添加 BIOYOND_PolymerStation_TipBox 到瓶子和小提示盒分类

- Deleted `templates.md` for workstation code templates.
- Removed `SKILL.md` and `reference.md` for editing experiment graphs.
- Deleted `SKILL.md` for validating device implementations.

.cursor/rules/device-drivers.mdc

@@ -0,0 +1,328 @@
+---
+description: 设备驱动开发规范
+globs: ["unilabos/devices/**/*.py"]
+---
+
+# 设备驱动开发规范
+
+## 目录结构
+
+```
+unilabos/devices/
+├── virtual/           # 虚拟设备（用于测试）
+│   ├── virtual_stirrer.py
+│   └── virtual_centrifuge.py
+├── liquid_handling/   # 液体处理设备
+├── balance/           # 天平设备
+├── hplc/              # HPLC设备
+├── pump_and_valve/    # 泵和阀门
+├── temperature/       # 温度控制设备
+├── workstation/       # 工作站（组合设备）
+└── ...
+```
+
+## 设备类完整模板
+
+```python
+import asyncio
+import logging
+import time as time_module
+from typing import Dict, Any, Optional
+
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
+
+class MyDevice:
+    """
+    设备类描述
+
+    Attributes:
+        device_id: 设备唯一标识
+        config: 设备配置字典
+        data: 设备状态数据
+    """
+
+    _ros_node: BaseROS2DeviceNode
+
+    def __init__(
+        self,
+        device_id: str = None,
+        config: Dict[str, Any] = None,
+        **kwargs
+    ):
+        """
+        初始化设备
+
+        Args:
+            device_id: 设备ID
+            config: 配置字典
+            **kwargs: 其他参数
+        """
+        # 兼容不同调用方式
+        if device_id is None and 'id' in kwargs:
+            device_id = kwargs.pop('id')
+        if config is None and 'config' in kwargs:
+            config = kwargs.pop('config')
+
+        self.device_id = device_id or "unknown_device"
+        self.config = config or {}
+        self.data = {}
+
+        # 从config读取参数
+        self.port = self.config.get('port') or kwargs.get('port', 'COM1')
+        self._max_value = self.config.get('max_value', 1000.0)
+
+        # 初始化日志
+        self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
+
+        self.logger.info(f"设备 {self.device_id} 已创建")
+
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        """
+        ROS节点注入 - 在ROS节点创建后调用
+
+        Args:
+            ros_node: ROS2设备节点实例
+        """
+        self._ros_node = ros_node
+
+    async def initialize(self) -> bool:
+        """
+        初始化设备 - 连接硬件、设置初始状态
+
+        Returns:
+            bool: 初始化是否成功
+        """
+        self.logger.info(f"初始化设备 {self.device_id}")
+
+        try:
+            # 执行硬件初始化
+            # await self._connect_hardware()
+
+            # 设置初始状态
+            self.data.update({
+                "status": "待机",
+                "is_running": False,
+                "current_value": 0.0,
+            })
+
+            self.logger.info(f"设备 {self.device_id} 初始化完成")
+            return True
+
+        except Exception as e:
+            self.logger.error(f"初始化失败: {e}")
+            self.data["status"] = f"错误: {e}"
+            return False
+
+    async def cleanup(self) -> bool:
+        """
+        清理设备 - 断开连接、释放资源
+
+        Returns:
+            bool: 清理是否成功
+        """
+        self.logger.info(f"清理设备 {self.device_id}")
+
+        self.data.update({
+            "status": "离线",
+            "is_running": False,
+        })
+
+        return True
+
+    # ==================== 设备动作 ====================
+
+    async def execute_action(
+        self,
+        param1: float,
+        param2: str = "",
+        **kwargs
+    ) -> bool:
+        """
+        执行设备动作
+
+        Args:
+            param1: 参数1
+            param2: 参数2（可选）
+
+        Returns:
+            bool: 动作是否成功
+        """
+        # 类型转换和验证
+        try:
+            param1 = float(param1)
+        except (ValueError, TypeError) as e:
+            self.logger.error(f"参数类型错误: {e}")
+            return False
+
+        # 参数验证
+        if param1 > self._max_value:
+            self.logger.error(f"参数超出范围: {param1} > {self._max_value}")
+            return False
+
+        self.logger.info(f"执行动作: param1={param1}, param2={param2}")
+
+        # 更新状态
+        self.data.update({
+            "status": "运行中",
+            "is_running": True,
+        })
+
+        # 执行动作（带进度反馈）
+        duration = 10.0  # 秒
+        start_time = time_module.time()
+
+        while True:
+            elapsed = time_module.time() - start_time
+            remaining = max(0, duration - elapsed)
+            progress = min(100, (elapsed / duration) * 100)
+
+            self.data.update({
+                "status": f"运行中: {progress:.0f}%",
+                "remaining_time": remaining,
+            })
+
+            if remaining <= 0:
+                break
+
+            await self._ros_node.sleep(1.0)
+
+        # 完成
+        self.data.update({
+            "status": "完成",
+            "is_running": False,
+        })
+
+        self.logger.info("动作执行完成")
+        return True
+
+    # ==================== 状态属性 ====================
+
+    @property
+    def status(self) -> str:
+        """设备状态 - 自动发布为ROS Topic"""
+        return self.data.get("status", "未知")
+
+    @property
+    def is_running(self) -> bool:
+        """是否正在运行"""
+        return self.data.get("is_running", False)
+
+    @property
+    def current_value(self) -> float:
+        """当前值"""
+        return self.data.get("current_value", 0.0)
+
+    # ==================== 辅助方法 ====================
+
+    def get_device_info(self) -> Dict[str, Any]:
+        """获取设备信息"""
+        return {
+            "device_id": self.device_id,
+            "status": self.status,
+            "is_running": self.is_running,
+            "current_value": self.current_value,
+        }
+
+    def __str__(self) -> str:
+        return f"MyDevice({self.device_id}: {self.status})"
+```
+
+## 关键规则
+
+### 1. 参数处理
+
+所有动作方法的参数都可能以字符串形式传入，必须进行类型转换：
+
+```python
+async def my_action(self, value: float, **kwargs) -> bool:
+    # 始终进行类型转换
+    try:
+        value = float(value)
+    except (ValueError, TypeError) as e:
+        self.logger.error(f"参数类型错误: {e}")
+        return False
+```
+
+### 2. vessel 参数处理
+
+vessel 参数可能是字符串ID或字典：
+
+```python
+def extract_vessel_id(vessel: Union[str, dict]) -> str:
+    if isinstance(vessel, dict):
+        return vessel.get("id", "")
+    return str(vessel) if vessel else ""
+```
+
+### 3. 状态更新
+
+使用 `self.data` 字典存储状态，属性读取状态：
+
+```python
+# 更新状态
+self.data["status"] = "运行中"
+self.data["current_speed"] = 300.0
+
+# 读取状态（通过属性）
+@property
+def status(self) -> str:
+    return self.data.get("status", "待机")
+```
+
+### 4. 异步等待
+
+使用 ROS 节点的 sleep 方法：
+
+```python
+# 正确
+await self._ros_node.sleep(1.0)
+
+# 避免（除非在纯 Python 测试环境）
+await asyncio.sleep(1.0)
+```
+
+### 5. 进度反馈
+
+长时间运行的操作需要提供进度反馈：
+
+```python
+while remaining > 0:
+    progress = (elapsed / total_time) * 100
+    self.data["status"] = f"运行中: {progress:.0f}%"
+    self.data["remaining_time"] = remaining
+
+    await self._ros_node.sleep(1.0)
+```
+
+## 虚拟设备
+
+虚拟设备用于测试和演示，放在 `unilabos/devices/virtual/` 目录：
+
+- 类名以 `Virtual` 开头
+- 文件名以 `virtual_` 开头
+- 模拟真实设备的行为和时序
+- 使用表情符号增强日志可读性（可选）
+
+## 工作站设备
+
+工作站是组合多个设备的复杂设备：
+
+```python
+from unilabos.devices.workstation.workstation_base import WorkstationBase
+
+class MyWorkstation(WorkstationBase):
+    """组合工作站"""
+
+    async def execute_workflow(self, workflow: Dict[str, Any]) -> bool:
+        """执行工作流"""
+        pass
+```
+
+## 设备注册
+
+设备类开发完成后，需要在注册表中注册：
+
+1. 创建/编辑 `unilabos/registry/devices/my_category.yaml`
+2. 添加设备配置（参考 `virtual_device.yaml`）
+3. 运行 `--complete_registry` 自动生成 schema

.cursor/rules/protocol-development.mdc

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+---
+description: 协议编译器开发规范
+globs: ["unilabos/compile/**/*.py"]
+---
+
+# 协议编译器开发规范
+
+## 概述
+
+协议编译器负责将高级实验操作（如 Stir、Add、Filter）编译为设备可执行的动作序列。
+
+## 文件命名
+
+- 位置: `unilabos/compile/`
+- 命名: `{operation}_protocol.py`
+- 示例: `stir_protocol.py`, `add_protocol.py`, `filter_protocol.py`
+
+## 协议函数模板
+
+```python
+from typing import List, Dict, Any, Union
+import networkx as nx
+import logging
+
+from .utils.unit_parser import parse_time_input
+from .utils.vessel_parser import extract_vessel_id
+
+logger = logging.getLogger(__name__)
+
+
+def generate_{operation}_protocol(
+    G: nx.DiGraph,
+    vessel: Union[str, dict],
+    param1: Union[str, float] = "0",
+    param2: float = 0.0,
+    **kwargs
+) -> List[Dict[str, Any]]:
+    """
+    生成{操作}协议序列
+
+    Args:
+        G: 物理拓扑图 (NetworkX DiGraph)
+        vessel: 容器ID或Resource字典
+        param1: 参数1（支持字符串单位，如 "5 min"）
+        param2: 参数2
+        **kwargs: 其他参数
+
+    Returns:
+        List[Dict]: 动作序列
+
+    Raises:
+        ValueError: 参数无效时
+    """
+    # 1. 提取 vessel_id
+    vessel_id = extract_vessel_id(vessel)
+
+    # 2. 验证参数
+    if not vessel_id:
+        raise ValueError("vessel 参数不能为空")
+
+    if vessel_id not in G.nodes():
+        raise ValueError(f"容器 '{vessel_id}' 不存在于系统中")
+
+    # 3. 解析参数（支持单位）
+    parsed_param1 = parse_time_input(param1)  # "5 min" -> 300.0
+
+    # 4. 查找设备
+    device_id = find_connected_device(G, vessel_id, device_type="my_device")
+
+    # 5. 生成动作序列
+    action_sequence = []
+
+    action = {
+        "device_id": device_id,
+        "action_name": "my_action",
+        "action_kwargs": {
+            "vessel": {"id": vessel_id},  # 始终使用字典格式
+            "param1": float(parsed_param1),
+            "param2": float(param2),
+        }
+    }
+    action_sequence.append(action)
+
+    logger.info(f"生成协议: {len(action_sequence)} 个动作")
+    return action_sequence
+
+
+def find_connected_device(
+    G: nx.DiGraph,
+    vessel_id: str,
+    device_type: str = ""
+) -> str:
+    """
+    查找与容器相连的设备
+
+    Args:
+        G: 拓扑图
+        vessel_id: 容器ID
+        device_type: 设备类型关键字
+
+    Returns:
+        str: 设备ID
+    """
+    # 查找所有匹配类型的设备
+    device_nodes = []
+    for node in G.nodes():
+        node_class = G.nodes[node].get('class', '') or ''
+        if device_type.lower() in node_class.lower():
+            device_nodes.append(node)
+
+    # 检查连接
+    if vessel_id and device_nodes:
+        for device in device_nodes:
+            if G.has_edge(device, vessel_id) or G.has_edge(vessel_id, device):
+                return device
+
+    # 返回第一个可用设备
+    if device_nodes:
+        return device_nodes[0]
+
+    # 默认设备
+    return f"{device_type}_1"
+```
+
+## 关键规则
+
+### 1. vessel 参数处理
+
+vessel 参数可能是字符串或字典，需要统一处理：
+
+```python
+def extract_vessel_id(vessel: Union[str, dict]) -> str:
+    """提取vessel_id"""
+    if isinstance(vessel, dict):
+        # 可能是 {"id": "xxx"} 或完整 Resource 对象
+        return vessel.get("id", list(vessel.values())[0].get("id", ""))
+    return str(vessel) if vessel else ""
+```
+
+### 2. action_kwargs 中的 vessel
+
+始终使用 `{"id": vessel_id}` 格式传递 vessel：
+
+```python
+# 正确
+"action_kwargs": {
+    "vessel": {"id": vessel_id},  # 字符串ID包装为字典
+}
+
+# 避免
+"action_kwargs": {
+    "vessel": vessel_resource,  # 不要传递完整 Resource 对象
+}
+```
+
+### 3. 单位解析
+
+使用 `parse_time_input` 解析时间参数：
+
+```python
+from .utils.unit_parser import parse_time_input
+
+# 支持格式: "5 min", "1 h", "300", "1.5 hours"
+time_seconds = parse_time_input("5 min")  # -> 300.0
+time_seconds = parse_time_input(120)      # -> 120.0
+time_seconds = parse_time_input("1 h")    # -> 3600.0
+```
+
+### 4. 参数验证
+
+所有参数必须进行验证和类型转换：
+
+```python
+# 验证范围
+if speed < 10.0 or speed > 1500.0:
+    logger.warning(f"速度 {speed} 超出范围，修正为 300")
+    speed = 300.0
+
+# 类型转换
+param = float(param) if not isinstance(param, (int, float)) else param
+```
+
+### 5. 日志记录
+
+使用项目日志记录器：
+
+```python
+logger = logging.getLogger(__name__)
+
+def generate_protocol(...):
+    logger.info(f"开始生成协议...")
+    logger.debug(f"参数: vessel={vessel_id}, time={time}")
+    logger.warning(f"参数修正: {old_value} -> {new_value}")
+```
+
+## 便捷函数
+
+为常用操作提供便捷函数：
+
+```python
+def stir_briefly(G: nx.DiGraph, vessel: Union[str, dict],
+                speed: float = 300.0) -> List[Dict[str, Any]]:
+    """短时间搅拌（30秒）"""
+    return generate_stir_protocol(G, vessel, time="30", stir_speed=speed)
+
+def stir_vigorously(G: nx.DiGraph, vessel: Union[str, dict],
+                   time: str = "5 min") -> List[Dict[str, Any]]:
+    """剧烈搅拌"""
+    return generate_stir_protocol(G, vessel, time=time, stir_speed=800.0)
+```
+
+## 测试函数
+
+每个协议文件应包含测试函数：
+
+```python
+def test_{operation}_protocol():
+    """测试协议生成"""
+    # 测试参数处理
+    vessel_dict = {"id": "flask_1", "name": "反应瓶1"}
+    vessel_id = extract_vessel_id(vessel_dict)
+    assert vessel_id == "flask_1"
+
+    # 测试单位解析
+    time_s = parse_time_input("5 min")
+    assert time_s == 300.0
+
+
+if __name__ == "__main__":
+    test_{operation}_protocol()
+```
+
+## 现有协议参考
+
+- `stir_protocol.py` - 搅拌操作
+- `add_protocol.py` - 添加物料
+- `filter_protocol.py` - 过滤操作
+- `heatchill_protocol.py` - 加热/冷却
+- `separate_protocol.py` - 分离操作
+- `evaporate_protocol.py` - 蒸发操作

.cursor/rules/registry-config.mdc

@@ -0,0 +1,319 @@
+---
+description: 注册表配置规范 (YAML)
+globs: ["unilabos/registry/**/*.yaml"]
+---
+
+# 注册表配置规范
+
+## 概述
+
+注册表使用 YAML 格式定义设备和资源类型，是 Uni-Lab-OS 的核心配置系统。
+
+## 目录结构
+
+```
+unilabos/registry/
+├── devices/              # 设备类型注册
+│   ├── virtual_device.yaml
+│   ├── liquid_handler.yaml
+│   └── ...
+├── device_comms/         # 通信设备配置
+│   ├── communication_devices.yaml
+│   └── modbus_ioboard.yaml
+└── resources/            # 资源类型注册
+    ├── bioyond/
+    ├── organic/
+    ├── opentrons/
+    └── ...
+```
+
+## 设备注册表格式
+
+### 基本结构
+
+```yaml
+device_type_id:
+  # 基本信息
+  description: "设备描述"
+  version: "1.0.0"
+  category:
+    - category_name
+  icon: "icon_device.webp"
+
+  # 类配置
+  class:
+    module: "unilabos.devices.my_module:MyClass"
+    type: python
+
+    # 状态类型（属性 -> ROS消息类型）
+    status_types:
+      status: String
+      temperature: Float64
+      is_running: Bool
+
+    # 动作映射
+    action_value_mappings:
+      action_name:
+        type: UniLabJsonCommand  # 或 UniLabJsonCommandAsync
+        goal: {}
+        feedback: {}
+        result: {}
+        schema: {...}
+        handles: {}
+```
+
+### action_value_mappings 详细格式
+
+```yaml
+action_value_mappings:
+  # 同步动作
+  my_sync_action:
+    type: UniLabJsonCommand
+    goal:
+      param1: param1
+      param2: param2
+    feedback: {}
+    result:
+      success: success
+      message: message
+    goal_default:
+      param1: 0.0
+      param2: ""
+    handles: {}
+    placeholder_keys:
+      device_param: unilabos_devices   # 设备选择器
+      resource_param: unilabos_resources  # 资源选择器
+    schema:
+      title: "动作名称参数"
+      description: "动作描述"
+      type: object
+      properties:
+        goal:
+          type: object
+          properties:
+            param1:
+              type: number
+            param2:
+              type: string
+          required:
+            - param1
+        feedback: {}
+        result:
+          type: object
+          properties:
+            success:
+              type: boolean
+            message:
+              type: string
+      required:
+        - goal
+
+  # 异步动作
+  my_async_action:
+    type: UniLabJsonCommandAsync
+    goal: {}
+    feedback:
+      progress: progress
+      current_status: status
+    result:
+      success: success
+    schema: {...}
+```
+
+### 自动生成的动作
+
+以 `auto-` 开头的动作由系统自动生成：
+
+```yaml
+action_value_mappings:
+  auto-initialize:
+    type: UniLabJsonCommandAsync
+    goal: {}
+    feedback: {}
+    result: {}
+    schema: {...}
+
+  auto-cleanup:
+    type: UniLabJsonCommandAsync
+    goal: {}
+    feedback: {}
+    result: {}
+    schema: {...}
+```
+
+### handles 配置
+
+用于工作流编辑器中的数据流连接：
+
+```yaml
+handles:
+  input:
+    - handler_key: "input_resource"
+      data_type: "resource"
+      label: "输入资源"
+      data_source: "handle"
+      data_key: "resources"
+  output:
+    - handler_key: "output_labware"
+      data_type: "resource"
+      label: "输出器皿"
+      data_source: "executor"
+      data_key: "created_resource.@flatten"
+```
+
+## 资源注册表格式
+
+```yaml
+resource_type_id:
+  description: "资源描述"
+  version: "1.0.0"
+  category:
+    - category_name
+  icon: ""
+  handles: []
+  init_param_schema: {}
+
+  class:
+    module: "unilabos.resources.my_module:MyResource"
+    type: pylabrobot  # 或 python
+```
+
+### PyLabRobot 资源示例
+
+```yaml
+BIOYOND_Electrolyte_6VialCarrier:
+  category:
+    - bottle_carriers
+    - bioyond
+  class:
+    module: "unilabos.resources.bioyond.bottle_carriers:BIOYOND_Electrolyte_6VialCarrier"
+    type: pylabrobot
+  version: "1.0.0"
+```
+
+## 状态类型映射
+
+Python 类型到 ROS 消息类型的映射：
+
+| Python 类型 | ROS 消息类型 |
+|------------|-------------|
+| `str` | `String` |
+| `bool` | `Bool` |
+| `int` | `Int64` |
+| `float` | `Float64` |
+| `list` | `String` (序列化) |
+| `dict` | `String` (序列化) |
+
+## 自动完善注册表
+
+使用 `--complete_registry` 参数自动生成 schema：
+
+```bash
+python -m unilabos.app.main --complete_registry
+```
+
+这会：
+1. 扫描设备类的方法签名
+2. 自动生成 `auto-` 前缀的动作
+3. 生成 JSON Schema
+4. 更新 YAML 文件
+
+## 验证规则
+
+1. **device_type_id** 必须唯一
+2. **module** 路径必须正确可导入
+3. **status_types** 的类型必须是有效的 ROS 消息类型
+4. **schema** 必须是有效的 JSON Schema
+
+## 示例：完整设备配置
+
+```yaml
+virtual_stirrer:
+  category:
+    - virtual_device
+  description: "虚拟搅拌器设备"
+  version: "1.0.0"
+  icon: "icon_stirrer.webp"
+  handles: []
+  init_param_schema: {}
+
+  class:
+    module: "unilabos.devices.virtual.virtual_stirrer:VirtualStirrer"
+    type: python
+
+    status_types:
+      status: String
+      operation_mode: String
+      current_speed: Float64
+      is_stirring: Bool
+      remaining_time: Float64
+
+    action_value_mappings:
+      auto-initialize:
+        type: UniLabJsonCommandAsync
+        goal: {}
+        feedback: {}
+        result: {}
+        schema:
+          title: "initialize参数"
+          type: object
+          properties:
+            goal:
+              type: object
+              properties: {}
+            feedback: {}
+            result: {}
+          required:
+            - goal
+
+      stir:
+        type: UniLabJsonCommandAsync
+        goal:
+          stir_time: stir_time
+          stir_speed: stir_speed
+          settling_time: settling_time
+        feedback:
+          current_speed: current_speed
+          remaining_time: remaining_time
+        result:
+          success: success
+        goal_default:
+          stir_time: 60.0
+          stir_speed: 300.0
+          settling_time: 30.0
+        handles: {}
+        schema:
+          title: "stir参数"
+          description: "搅拌操作"
+          type: object
+          properties:
+            goal:
+              type: object
+              properties:
+                stir_time:
+                  type: number
+                  description: "搅拌时间（秒）"
+                stir_speed:
+                  type: number
+                  description: "搅拌速度（RPM）"
+                settling_time:
+                  type: number
+                  description: "沉降时间（秒）"
+              required:
+                - stir_time
+                - stir_speed
+            feedback:
+              type: object
+              properties:
+                current_speed:
+                  type: number
+                remaining_time:
+                  type: number
+            result:
+              type: object
+              properties:
+                success:
+                  type: boolean
+          required:
+            - goal
+```

.cursor/rules/ros-integration.mdc

@@ -0,0 +1,233 @@
+---
+description: ROS 2 集成开发规范
+globs: ["unilabos/ros/**/*.py", "**/*_node.py"]
+---
+
+# ROS 2 集成开发规范
+
+## 概述
+
+Uni-Lab-OS 使用 ROS 2 作为设备通信中间件，基于 rclpy 实现。
+
+## 核心组件
+
+### BaseROS2DeviceNode
+
+设备节点基类，提供：
+- ROS Topic 自动发布（状态属性）
+- Action Server 自动创建（设备动作）
+- 资源管理服务
+- 异步任务调度
+
+```python
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+```
+
+### 消息转换器
+
+```python
+from unilabos.ros.msgs.message_converter import (
+    convert_to_ros_msg,
+    convert_from_ros_msg_with_mapping,
+    msg_converter_manager,
+    ros_action_to_json_schema,
+    ros_message_to_json_schema,
+)
+```
+
+## 设备与 ROS 集成
+
+### post_init 方法
+
+设备类必须实现 `post_init` 方法接收 ROS 节点：
+
+```python
+class MyDevice:
+    _ros_node: BaseROS2DeviceNode
+
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        """ROS节点注入"""
+        self._ros_node = ros_node
+```
+
+### 状态属性发布
+
+设备的 `@property` 属性会自动发布为 ROS Topic：
+
+```python
+class MyDevice:
+    @property
+    def temperature(self) -> float:
+        return self._temperature
+
+    # 自动发布到 /{namespace}/temperature Topic
+```
+
+### Topic 配置装饰器
+
+```python
+from unilabos.utils.decorator import topic_config
+
+class MyDevice:
+    @property
+    @topic_config(period=1.0, print_publish=False, qos=10)
+    def fast_data(self) -> float:
+        """高频数据 - 每秒发布一次"""
+        return self._fast_data
+
+    @property
+    @topic_config(period=5.0)
+    def slow_data(self) -> str:
+        """低频数据 - 每5秒发布一次"""
+        return self._slow_data
+```
+
+### 订阅装饰器
+
+```python
+from unilabos.utils.decorator import subscribe
+
+class MyDevice:
+    @subscribe(topic="/external/sensor_data", qos=10)
+    def on_sensor_data(self, msg):
+        """订阅外部Topic"""
+        self._sensor_value = msg.data
+```
+
+## 异步操作
+
+### 使用 ROS 节点睡眠
+
+```python
+# 推荐：使用ROS节点的睡眠方法
+await self._ros_node.sleep(1.0)
+
+# 不推荐：直接使用asyncio（可能导致回调阻塞）
+await asyncio.sleep(1.0)
+```
+
+### 获取事件循环
+
+```python
+from unilabos.ros.x.rclpyx import get_event_loop
+
+loop = get_event_loop()
+```
+
+## 消息类型
+
+### unilabos_msgs 包
+
+```python
+from unilabos_msgs.msg import Resource
+from unilabos_msgs.srv import (
+    ResourceAdd,
+    ResourceDelete,
+    ResourceUpdate,
+    ResourceList,
+    SerialCommand,
+)
+from unilabos_msgs.action import SendCmd
+```
+
+### Resource 消息结构
+
+```python
+Resource:
+    id: str
+    name: str
+    category: str
+    type: str
+    parent: str
+    children: List[str]
+    config: str  # JSON字符串
+    data: str    # JSON字符串
+    sample_id: str
+    pose: Pose
+```
+
+## 日志适配器
+
+```python
+from unilabos.utils.log import info, debug, warning, error, trace
+
+class MyDevice:
+    def __init__(self):
+        # 创建设备专属日志器
+        self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
+```
+
+ROSLoggerAdapter 同时向自定义日志和 ROS 日志发送消息。
+
+## Action Server
+
+设备动作自动创建为 ROS Action Server：
+
+```yaml
+# 在注册表中配置
+action_value_mappings:
+  my_action:
+    type: UniLabJsonCommandAsync  # 异步Action
+    goal: {...}
+    feedback: {...}
+    result: {...}
+```
+
+### Action 类型
+
+- **UniLabJsonCommand**: 同步动作
+- **UniLabJsonCommandAsync**: 异步动作（支持feedback）
+
+## 服务客户端
+
+```python
+from rclpy.client import Client
+
+# 调用其他节点的服务
+response = await self._ros_node.call_service(
+    service_name="/other_node/service",
+    request=MyServiceRequest(...)
+)
+```
+
+## 命名空间
+
+设备节点使用命名空间隔离：
+
+```
+/{device_id}/                 # 设备命名空间
+/{device_id}/status          # 状态Topic
+/{device_id}/temperature     # 温度Topic
+/{device_id}/my_action       # 动作Server
+```
+
+## 调试
+
+### 查看 Topic
+
+```bash
+ros2 topic list
+ros2 topic echo /{device_id}/status
+```
+
+### 查看 Action
+
+```bash
+ros2 action list
+ros2 action info /{device_id}/my_action
+```
+
+### 查看 Service
+
+```bash
+ros2 service list
+ros2 service call /{device_id}/resource_list unilabos_msgs/srv/ResourceList
+```
+
+## 最佳实践
+
+1. **状态属性命名**: 使用蛇形命名法（snake_case）
+2. **Topic 频率**: 根据数据变化频率调整，避免过高频率
+3. **Action 反馈**: 长时间操作提供进度反馈
+4. **错误处理**: 使用 try-except 捕获并记录错误
+5. **资源清理**: 在 cleanup 方法中正确清理资源

.cursor/rules/testing-patterns.mdc

@@ -0,0 +1,357 @@
+---
+description: 测试开发规范
+globs: ["tests/**/*.py", "**/test_*.py"]
+---
+
+# 测试开发规范
+
+## 目录结构
+
+```
+tests/
+├── __init__.py
+├── devices/              # 设备测试
+│   └── liquid_handling/
+│       └── test_transfer_liquid.py
+├── resources/            # 资源测试
+│   ├── test_bottle_carrier.py
+│   └── test_resourcetreeset.py
+├── ros/                  # ROS消息测试
+│   └── msgs/
+│       ├── test_basic.py
+│       ├── test_conversion.py
+│       └── test_mapping.py
+└── workflow/             # 工作流测试
+    └── merge_workflow.py
+```
+
+## 测试框架
+
+使用 pytest 作为测试框架：
+
+```bash
+# 运行所有测试
+pytest tests/
+
+# 运行特定测试文件
+pytest tests/resources/test_bottle_carrier.py
+
+# 运行特定测试函数
+pytest tests/resources/test_bottle_carrier.py::test_bottle_carrier
+
+# 显示详细输出
+pytest -v tests/
+
+# 显示打印输出
+pytest -s tests/
+```
+
+## 测试文件模板
+
+```python
+import pytest
+from typing import List, Dict, Any
+
+# 导入被测试的模块
+from unilabos.resources.bioyond.bottle_carriers import (
+    BIOYOND_Electrolyte_6VialCarrier,
+)
+from unilabos.resources.bioyond.bottles import (
+    BIOYOND_PolymerStation_Solid_Vial,
+)
+
+
+class TestBottleCarrier:
+    """BottleCarrier 测试类"""
+
+    def setup_method(self):
+        """每个测试方法前执行"""
+        self.carrier = BIOYOND_Electrolyte_6VialCarrier("test_carrier")
+
+    def teardown_method(self):
+        """每个测试方法后执行"""
+        pass
+
+    def test_carrier_creation(self):
+        """测试载架创建"""
+        assert self.carrier.name == "test_carrier"
+        assert len(self.carrier.sites) == 6
+
+    def test_bottle_placement(self):
+        """测试瓶子放置"""
+        bottle = BIOYOND_PolymerStation_Solid_Vial("test_bottle")
+        # 测试逻辑...
+        assert bottle.name == "test_bottle"
+
+
+def test_standalone_function():
+    """独立测试函数"""
+    result = some_function()
+    assert result is True
+
+
+# 参数化测试
+@pytest.mark.parametrize("input,expected", [
+    ("5 min", 300.0),
+    ("1 h", 3600.0),
+    ("120", 120.0),
+    (60, 60.0),
+])
+def test_time_parsing(input, expected):
+    """测试时间解析"""
+    from unilabos.compile.utils.unit_parser import parse_time_input
+    assert parse_time_input(input) == expected
+
+
+# 异常测试
+def test_invalid_input_raises_error():
+    """测试无效输入抛出异常"""
+    with pytest.raises(ValueError) as exc_info:
+        invalid_function("bad_input")
+    assert "invalid" in str(exc_info.value).lower()
+
+
+# 跳过条件测试
+@pytest.mark.skipif(
+    not os.environ.get("ROS_DISTRO"),
+    reason="需要ROS环境"
+)
+def test_ros_feature():
+    """需要ROS环境的测试"""
+    pass
+```
+
+## 设备测试
+
+### 虚拟设备测试
+
+```python
+import pytest
+import asyncio
+from unittest.mock import MagicMock, AsyncMock
+
+from unilabos.devices.virtual.virtual_stirrer import VirtualStirrer
+
+
+class TestVirtualStirrer:
+    """VirtualStirrer 测试"""
+
+    @pytest.fixture
+    def stirrer(self):
+        """创建测试用搅拌器"""
+        device = VirtualStirrer(
+            device_id="test_stirrer",
+            config={"max_speed": 1500.0, "min_speed": 50.0}
+        )
+
+        # Mock ROS节点
+        mock_node = MagicMock()
+        mock_node.sleep = AsyncMock(return_value=None)
+        device.post_init(mock_node)
+
+        return device
+
+    @pytest.mark.asyncio
+    async def test_initialize(self, stirrer):
+        """测试初始化"""
+        result = await stirrer.initialize()
+        assert result is True
+        assert stirrer.status == "待机中"
+
+    @pytest.mark.asyncio
+    async def test_stir_action(self, stirrer):
+        """测试搅拌动作"""
+        await stirrer.initialize()
+
+        result = await stirrer.stir(
+            stir_time=5.0,
+            stir_speed=300.0,
+            settling_time=2.0
+        )
+
+        assert result is True
+        assert stirrer.operation_mode == "Completed"
+
+    @pytest.mark.asyncio
+    async def test_stir_invalid_speed(self, stirrer):
+        """测试无效速度"""
+        await stirrer.initialize()
+
+        # 速度超出范围
+        result = await stirrer.stir(
+            stir_time=5.0,
+            stir_speed=2000.0,  # 超过max_speed
+            settling_time=0.0
+        )
+
+        assert result is False
+        assert "错误" in stirrer.status
+```
+
+### 异步测试配置
+
+```python
+# conftest.py
+import pytest
+import asyncio
+
+
+@pytest.fixture(scope="session")
+def event_loop():
+    """创建事件循环"""
+    loop = asyncio.get_event_loop_policy().new_event_loop()
+    yield loop
+    loop.close()
+```
+
+## 资源测试
+
+```python
+import pytest
+from unilabos.resources.resource_tracker import (
+    ResourceTreeSet,
+    ResourceTreeInstance,
+)
+
+
+def test_resource_tree_creation():
+    """测试资源树创建"""
+    tree_set = ResourceTreeSet()
+
+    # 添加资源
+    resource = {"id": "res_1", "name": "Resource 1"}
+    tree_set.add_resource(resource)
+
+    # 验证
+    assert len(tree_set.all_nodes) == 1
+    assert tree_set.get_resource("res_1") is not None
+
+
+def test_resource_tree_merge():
+    """测试资源树合并"""
+    local_set = ResourceTreeSet()
+    remote_set = ResourceTreeSet()
+
+    # 设置数据...
+
+    local_set.merge_remote_resources(remote_set)
+
+    # 验证合并结果...
+```
+
+## ROS 消息测试
+
+```python
+import pytest
+from unilabos.ros.msgs.message_converter import (
+    convert_to_ros_msg,
+    convert_from_ros_msg_with_mapping,
+    msg_converter_manager,
+)
+
+
+def test_message_conversion():
+    """测试消息转换"""
+    # Python -> ROS
+    python_data = {"id": "test", "value": 42}
+    ros_msg = convert_to_ros_msg(python_data, MyMsgType)
+
+    assert ros_msg.id == "test"
+    assert ros_msg.value == 42
+
+    # ROS -> Python
+    result = convert_from_ros_msg_with_mapping(ros_msg, mapping)
+    assert result["id"] == "test"
+```
+
+## 协议测试
+
+```python
+import pytest
+import networkx as nx
+from unilabos.compile.stir_protocol import (
+    generate_stir_protocol,
+    extract_vessel_id,
+)
+
+
+@pytest.fixture
+def topology_graph():
+    """创建测试拓扑图"""
+    G = nx.DiGraph()
+    G.add_node("flask_1", **{"class": "flask"})
+    G.add_node("stirrer_1", **{"class": "virtual_stirrer"})
+    G.add_edge("stirrer_1", "flask_1")
+    return G
+
+
+def test_generate_stir_protocol(topology_graph):
+    """测试搅拌协议生成"""
+    actions = generate_stir_protocol(
+        G=topology_graph,
+        vessel="flask_1",
+        time="5 min",
+        stir_speed=300.0
+    )
+
+    assert len(actions) == 1
+    assert actions[0]["device_id"] == "stirrer_1"
+    assert actions[0]["action_name"] == "stir"
+
+
+def test_extract_vessel_id():
+    """测试vessel_id提取"""
+    # 字典格式
+    assert extract_vessel_id({"id": "flask_1"}) == "flask_1"
+
+    # 字符串格式
+    assert extract_vessel_id("flask_2") == "flask_2"
+
+    # 空值
+    assert extract_vessel_id("") == ""
+```
+
+## 测试标记
+
+```python
+# 慢速测试
+@pytest.mark.slow
+def test_long_running():
+    pass
+
+# 需要网络
+@pytest.mark.network
+def test_network_call():
+    pass
+
+# 需要ROS
+@pytest.mark.ros
+def test_ros_feature():
+    pass
+```
+
+运行特定标记的测试：
+
+```bash
+pytest -m "not slow"  # 排除慢速测试
+pytest -m ros         # 仅ROS测试
+```
+
+## 覆盖率
+
+```bash
+# 生成覆盖率报告
+pytest --cov=unilabos tests/
+
+# HTML报告
+pytest --cov=unilabos --cov-report=html tests/
+```
+
+## 最佳实践
+
+1. **测试命名**: `test_{功能}_{场景}_{预期结果}`
+2. **独立性**: 每个测试独立运行，不依赖其他测试
+3. **Mock外部依赖**: 使用 unittest.mock 模拟外部服务
+4. **参数化**: 使用 `@pytest.mark.parametrize` 减少重复代码
+5. **fixtures**: 使用 fixtures 共享测试设置
+6. **断言清晰**: 每个断言只验证一件事

.cursor/rules/unilabos-project.mdc

@@ -0,0 +1,353 @@
+---
+description: Uni-Lab-OS 实验室自动化平台开发规范 - 核心规则
+globs: ["**/*.py", "**/*.yaml", "**/*.json"]
+---
+
+# Uni-Lab-OS 项目开发规范
+
+## 项目概述
+
+Uni-Lab-OS 是一个实验室自动化操作系统，用于连接和控制各种实验设备，实现实验工作流的自动化和标准化。
+
+## 技术栈
+
+- **Python 3.11** - 核心开发语言
+- **ROS 2** - 设备通信中间件 (rclpy)
+- **Conda/Mamba** - 包管理 (robostack-staging, conda-forge)
+- **FastAPI** - Web API 服务
+- **WebSocket** - 实时通信
+- **NetworkX** - 拓扑图管理
+- **YAML** - 配置和注册表定义
+- **PyLabRobot** - 实验室自动化库集成
+- **pytest** - 测试框架
+- **asyncio** - 异步编程
+
+## 项目结构
+
+```
+unilabos/
+├── app/           # 应用入口、Web服务、后端
+├── compile/       # 协议编译器 (stir, add, filter 等)
+├── config/        # 配置管理
+├── devices/       # 设备驱动 (真实/虚拟)
+├── device_comms/  # 设备通信协议
+├── device_mesh/   # 3D网格和可视化
+├── registry/      # 设备和资源类型注册表 (YAML)
+├── resources/     # 资源定义
+├── ros/           # ROS 2 集成
+├── utils/         # 工具函数
+└── workflow/      # 工作流管理
+```
+
+## 代码规范
+
+### Python 风格
+
+1. **类型注解**：所有函数必须使用类型注解
+   ```python
+   def transfer_liquid(
+       source: str,
+       destination: str,
+       volume: float,
+       **kwargs
+   ) -> List[Dict[str, Any]]:
+   ```
+
+2. **Docstring**：使用 Google 风格的文档字符串
+   ```python
+   def initialize(self) -> bool:
+       """
+       初始化设备
+
+       Returns:
+           bool: 初始化是否成功
+       """
+   ```
+
+3. **导入顺序**：
+   - 标准库
+   - 第三方库
+   - ROS 相关 (rclpy, unilabos_msgs)
+   - 项目内部模块
+
+### 异步编程
+
+1. 设备操作方法使用 `async def`
+2. 使用 `await self._ros_node.sleep()` 而非 `asyncio.sleep()`
+3. 长时间运行操作需提供进度反馈
+
+```python
+async def stir(self, stir_time: float, stir_speed: float, **kwargs) -> bool:
+    """执行搅拌操作"""
+    start_time = time_module.time()
+    while True:
+        elapsed = time_module.time() - start_time
+        remaining = max(0, stir_time - elapsed)
+
+        self.data.update({
+            "remaining_time": remaining,
+            "status": f"搅拌中: {stir_speed} RPM"
+        })
+
+        if remaining <= 0:
+            break
+        await self._ros_node.sleep(1.0)
+    return True
+```
+
+### 日志规范
+
+使用项目自定义日志系统：
+
+```python
+from unilabos.utils.log import logger, info, debug, warning, error, trace
+
+# 在设备类中使用
+self.logger = logging.getLogger(f"DeviceName.{self.device_id}")
+self.logger.info("设备初始化完成")
+```
+
+## 设备驱动开发
+
+### 设备类结构
+
+```python
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
+class MyDevice:
+    """设备驱动类"""
+
+    _ros_node: BaseROS2DeviceNode
+
+    def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
+        self.device_id = device_id or "unknown_device"
+        self.config = config or {}
+        self.data = {}  # 设备状态数据
+
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        """ROS节点注入"""
+        self._ros_node = ros_node
+
+    async def initialize(self) -> bool:
+        """初始化设备"""
+        pass
+
+    async def cleanup(self) -> bool:
+        """清理设备"""
+        pass
+
+    # 状态属性 - 自动发布为 ROS Topic
+    @property
+    def status(self) -> str:
+        return self.data.get("status", "待机")
+```
+
+### 状态属性装饰器
+
+```python
+from unilabos.utils.decorator import topic_config
+
+class MyDevice:
+    @property
+    @topic_config(period=1.0, qos=10)  # 每秒发布一次
+    def temperature(self) -> float:
+        return self._temperature
+```
+
+### 虚拟设备
+
+虚拟设备放置在 `unilabos/devices/virtual/` 目录下，命名为 `virtual_*.py`
+
+## 注册表配置
+
+### 设备注册表 (YAML)
+
+位置: `unilabos/registry/devices/*.yaml`
+
+```yaml
+my_device_type:
+  category:
+    - my_category
+  description: "设备描述"
+  version: "1.0.0"
+  class:
+    module: "unilabos.devices.my_device:MyDevice"
+    type: python
+    status_types:
+      status: String
+      temperature: Float64
+    action_value_mappings:
+      auto-initialize:
+        type: UniLabJsonCommandAsync
+        goal: {}
+        feedback: {}
+        result: {}
+        schema: {...}
+```
+
+### 资源注册表 (YAML)
+
+位置: `unilabos/registry/resources/**/*.yaml`
+
+```yaml
+my_container:
+  category:
+    - container
+  class:
+    module: "unilabos.resources.my_resource:MyContainer"
+    type: pylabrobot
+  version: "1.0.0"
+```
+
+## 协议编译器
+
+位置: `unilabos/compile/*_protocol.py`
+
+### 协议生成函数模板
+
+```python
+from typing import List, Dict, Any, Union
+import networkx as nx
+
+def generate_my_protocol(
+    G: nx.DiGraph,
+    vessel: Union[str, dict],
+    param1: float = 0.0,
+    **kwargs
+) -> List[Dict[str, Any]]:
+    """
+    生成操作协议序列
+
+    Args:
+        G: 物理拓扑图
+        vessel: 容器ID或字典
+        param1: 参数1
+
+    Returns:
+        List[Dict]: 动作序列
+    """
+    # 提取vessel_id
+    vessel_id = vessel if isinstance(vessel, str) else vessel.get("id", "")
+
+    # 查找设备
+    device_id = find_connected_device(G, vessel_id)
+
+    # 生成动作
+    action_sequence = [{
+        "device_id": device_id,
+        "action_name": "my_action",
+        "action_kwargs": {
+            "vessel": {"id": vessel_id},
+            "param1": float(param1)
+        }
+    }]
+
+    return action_sequence
+```
+
+## 测试规范
+
+### 测试文件位置
+
+- 单元测试: `tests/` 目录
+- 设备测试: `tests/devices/`
+- 资源测试: `tests/resources/`
+- ROS消息测试: `tests/ros/msgs/`
+
+### 测试命名
+
+```python
+# tests/devices/my_device/test_my_device.py
+
+import pytest
+
+def test_device_initialization():
+    """测试设备初始化"""
+    pass
+
+def test_device_action():
+    """测试设备动作"""
+    pass
+```
+
+## 错误处理
+
+```python
+from unilabos.utils.exception import UniLabException
+
+try:
+    result = await device.execute_action()
+except ValueError as e:
+    self.logger.error(f"参数错误: {e}")
+    self.data["status"] = "错误: 参数无效"
+    return False
+except Exception as e:
+    self.logger.error(f"执行失败: {e}")
+    raise
+```
+
+## 配置管理
+
+```python
+from unilabos.config.config import BasicConfig, HTTPConfig
+
+# 读取配置
+port = BasicConfig.port
+is_host = BasicConfig.is_host_mode
+
+# 配置文件: local_config.py
+```
+
+## 常用工具
+
+### 单例模式
+
+```python
+from unilabos.utils.decorator import singleton
+
+@singleton
+class MyManager:
+    pass
+```
+
+### 类型检查
+
+```python
+from unilabos.utils.type_check import NoAliasDumper
+
+yaml.dump(data, f, Dumper=NoAliasDumper)
+```
+
+### 导入管理
+
+```python
+from unilabos.utils.import_manager import get_class
+
+device_class = get_class("unilabos.devices.my_device:MyDevice")
+```
+
+## Git 提交规范
+
+提交信息格式:
+```
+<type>(<scope>): <subject>
+
+<body>
+```
+
+类型:
+- `feat`: 新功能
+- `fix`: 修复bug
+- `docs`: 文档更新
+- `refactor`: 重构
+- `test`: 测试相关
+- `chore`: 构建/工具相关
+
+示例:
+```
+feat(devices): 添加虚拟搅拌器设备
+
+- 实现VirtualStirrer类
+- 支持定时搅拌和持续搅拌模式
+- 添加速度验证逻辑
+```

.cursorignore

@@ -0,0 +1,188 @@
+# ============================================================
+# Uni-Lab-OS Cursor Ignore 配置，控制 Cursor AI 的文件索引范围
+# ============================================================
+
+# ==================== 敏感配置文件 ====================
+# 本地配置（可能包含密钥）
+**/local_config.py
+test_config.py
+local_test*.py
+
+# 环境变量和密钥
+.env
+.env.*
+**/.certs/
+*.pem
+*.key
+credentials.json
+secrets.yaml
+
+# ==================== 二进制和 3D 模型文件 ====================
+# 3D 模型文件（无需索引）
+*.stl
+*.dae
+*.glb
+*.gltf
+*.obj
+*.fbx
+*.blend
+
+# URDF/Xacro 机器人描述文件（大型XML）
+*.xacro
+
+# 图片文件
+*.png
+*.jpg
+*.jpeg
+*.gif
+*.webp
+*.ico
+*.svg
+*.bmp
+
+# 压缩包
+*.zip
+*.tar
+*.tar.gz
+*.tgz
+*.bz2
+*.rar
+*.7z
+
+# ==================== Python 生成文件 ====================
+__pycache__/
+*.py[cod]
+*$py.class
+*.so
+*.pyd
+*.egg
+*.egg-info/
+.eggs/
+dist/
+build/
+*.manifest
+*.spec
+
+# ==================== IDE 和编辑器 ====================
+.idea/
+.vscode/
+*.swp
+*.swo
+*~
+.#*
+
+# ==================== 测试和覆盖率 ====================
+.pytest_cache/
+.coverage
+.coverage.*
+htmlcov/
+.tox/
+.nox/
+coverage.xml
+*.cover
+
+# ==================== 虚拟环境 ====================
+.venv/
+venv/
+env/
+ENV/
+
+# ==================== ROS 2 生成文件 ====================
+# ROS 构建目录
+build/
+install/
+log/
+logs/
+devel/
+
+# ROS 消息生成
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+srv/_*.py
+build_isolated/
+devel_isolated/
+
+# ROS 动态配置
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# ==================== 项目特定目录 ====================
+# 工作数据目录
+unilabos_data/
+
+# 临时和输出目录
+temp/
+output/
+cursor_docs/
+configs/
+
+# 文档构建
+docs/_build/
+/site
+
+# ==================== 大型数据文件 ====================
+# 点云数据
+*.pcd
+
+# GraphML 图形文件
+*.graphml
+
+# 日志文件
+*.log
+
+# 数据库
+*.sqlite3
+*.db
+
+# Jupyter 检查点
+.ipynb_checkpoints/
+
+# ==================== 设备网格资源 ====================
+# 3D 网格文件目录（包含大量 STL/DAE 文件）
+unilabos/device_mesh/devices/**/*.stl
+unilabos/device_mesh/devices/**/*.dae
+unilabos/device_mesh/resources/**/*.stl
+unilabos/device_mesh/resources/**/*.glb
+unilabos/device_mesh/resources/**/*.xacro
+
+# RViz 配置
+*.rviz
+
+# ==================== 系统文件 ====================
+.DS_Store
+Thumbs.db
+desktop.ini
+
+# ==================== 锁文件 ====================
+poetry.lock
+Pipfile.lock
+pdm.lock
+package-lock.json
+yarn.lock
+
+# ==================== 类型检查缓存 ====================
+.mypy_cache/
+.dmypy.json
+.pytype/
+.pyre/
+pyrightconfig.json
+
+# ==================== 其他 ====================
+# Catkin
+CATKIN_IGNORE
+
+# Eclipse/Qt
+.project
+.cproject
+CMakeLists.txt.user
+*.user
+qtcreator-*

.github/copilot-instructions.md

@@ -0,0 +1,11 @@
+## 设备接入
+
+当被要求添加设备驱动时，参考 `docs/ai_guides/add_device.md`。
+该指南包含完整的模板和已有设备接口参考。
+
+## 关键规则
+
+- 动作方法的参数名是接口契约，不可重命名
+- `status` 字符串必须与同类已有设备一致
+- `self.data` 必须在 `__init__` 中预填充所有属性字段
+- 异步方法中使用 `await self._ros_node.sleep()`，禁止 `time.sleep()`

.github/workflows/ci-check.yml

@@ -25,7 +25,7 @@ jobs:
           fetch-depth: 0
 
       - name: Setup Miniforge
-        uses: conda-incubator/setup-miniconda@v4
+        uses: conda-incubator/setup-miniconda@v3
         with:
           miniforge-version: latest
           use-mamba: true

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

@@ -70,7 +70,7 @@ jobs:
 
       - name: Setup Miniforge (with mamba)
         if: steps.should_build.outputs.should_build == 'true'
-        uses: conda-incubator/setup-miniconda@v4
+        uses: conda-incubator/setup-miniconda@v3
         with:
           miniforge-version: latest
           use-mamba: true

.github/workflows/deploy-docs.yml

@@ -51,7 +51,7 @@ jobs:
           fetch-depth: 0
 
       - name: Setup Miniforge (with mamba)
-        uses: conda-incubator/setup-miniconda@v4
+        uses: conda-incubator/setup-miniconda@v3
         with:
           miniforge-version: latest
           use-mamba: true

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

@@ -98,7 +98,7 @@ jobs:
 
       - name: Setup Miniconda
         if: steps.should_build.outputs.should_build == 'true'
-        uses: conda-incubator/setup-miniconda@v4
+        uses: conda-incubator/setup-miniconda@v3
         with:
           miniconda-version: 'latest'
           channels: conda-forge,robostack-staging,defaults

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

@@ -98,7 +98,7 @@ jobs:
 
       - name: Setup Miniconda
         if: steps.should_build.outputs.should_build == 'true'
-        uses: conda-incubator/setup-miniconda@v4
+        uses: conda-incubator/setup-miniconda@v3
         with:
           miniconda-version: 'latest'
           channels: conda-forge,robostack-staging,uni-lab,defaults

docs/ai_guides/agent_prompt_template.md

@@ -0,0 +1,344 @@
+# Uni-Lab-OS 设备接入 Agent — 提示词模板
+
+> 本文件提供一套可直接复制使用的 Agent 系统提示词，以及各平台的配置说明。
+> 提示词模板与 `add_device.md`（领域知识）配合使用，前者控制 Agent 行为，后者提供完整的技术细节。
+
+---
+
+## 系统提示词模板
+
+以下内容可直接作为系统提示词 / Instructions / Custom Instructions 使用。`{{...}}` 标记的变量根据平台替换。
+
+---
+
+### 开始复制 ↓
+
+```
+你是 Uni-Lab-OS 设备接入专家。你的任务是帮助用户将新的实验室硬件设备接入 Uni-Lab-OS 系统。
+
+你能做的事：
+- 根据用户描述，生成完整的设备驱动代码（Python）、注册表（YAML）和实验图文件（JSON）
+- 解读用户提供的通信协议文档、SDK 代码、或口述的指令格式
+- 诊断已有驱动代码的接口对齐问题
+
+你不能做的事：
+- 凭空猜测硬件私有通信指令（必须从用户提供的资料中获取）
+- 替代真实硬件联调测试
+
+## 知识来源
+
+{{KNOWLEDGE_LOADING}}
+
+## 工作流程
+
+当用户要求接入新设备时，严格按以下流程执行。每个暂停点必须等待用户确认后再继续。
+
+### 阶段 1：设备画像（交互）
+
+向用户收集以下三个信息，可以一次性提问：
+
+1. **设备类别** — 属于以下哪一种？
+   - temperature（温控）、pump_and_valve（泵阀）、motor（电机）
+   - heaterstirrer（加热搅拌）、balance（天平）、sensor（传感器）
+   - liquid_handling（液体处理）、robot_arm（机械臂）、workstation（工作站）
+   - virtual（虚拟设备）、custom（自定义）
+   - 如果是 pump_and_valve，进一步确认子类型：注射泵 / 电磁阀 / 蠕动泵
+
+2. **设备英文名称** — 用于文件名和类名（如 my_heater、runze_sy03b）
+
+3. **通信协议** — Serial(RS232/RS485) / Modbus RTU / Modbus TCP / TCP Socket / HTTP API / OPC UA / 无通信（虚拟）
+
+⏸️ **暂停：等待用户回答后继续**
+
+### 阶段 2：指令协议收集（交互）
+
+根据上一步确定的通信协议，引导用户提供指令信息：
+
+- 如果用户有 **SDK/驱动代码**：请用户提供代码文件，你从中提取通信逻辑
+- 如果用户有 **协议文档**：请用户提供文档（PDF/图片/文本），你从中解析指令格式
+- 如果用户 **口头描述**：针对每个标准动作逐一确认硬件指令
+- 如果是 **标准协议**（Modbus 寄存器表、SCPI）：请用户提供寄存器/指令映射
+- 如果是 **虚拟设备**：跳过此阶段
+
+⏸️ **暂停：确认已获取足够的指令协议信息**
+
+### 阶段 3：确认摘要
+
+在开始生成代码前，向用户展示你的理解摘要：
+
+```
+设备接入摘要：
+- 设备名称：<name>
+- 设备类别：<category>（<subtype>）
+- 通信协议：<protocol>
+- 指令来源：<source>
+- 将要实现的属性：<list>
+- 将要实现的动作：<list>
+- 同类已有设备：<existing>（将对齐其接口）
+```
+
+⏸️ **暂停：用户确认"没问题"后再生成代码**
+
+### 阶段 4：自动生成（无需暂停）
+
+按以下顺序自动执行：
+
+1. **对齐同类设备接口**（指南第四步）
+   - 查阅指南中的「现有设备接口快照」或搜索仓库注册表
+   - 确保所有已有设备的 status_types 和动作方法都被覆盖
+   - 参数名必须完全一致
+
+2. **生成驱动代码** — `unilabos/devices/<category>/<name>.py`
+
+3. **生成注册表** — `unilabos/registry/devices/<name>.yaml`（最小配置）
+
+4. **生成图文件** — `unilabos/test/experiments/graph_example_<name>.json`
+
+### 阶段 5：验证输出
+
+生成完成后，逐项检查对齐验证清单并展示结果：
+
+```
+对齐验证清单：
+- [x] 所有动作方法的参数名与已有设备完全一致
+- [x] status 属性返回的字符串值与已有设备一致
+- [x] 已有设备的所有 status_types 字段都有对应 @property
+- [x] 已有设备的所有非 auto- 前缀的 action 都有对应方法
+- [x] self.data 在 __init__ 中已预填充所有属性字段的默认值
+- [x] 串口/二进制协议的响应解析先定位帧起始标记
+```
+
+如果有未通过的项，主动修复后再展示。
+
+## 硬约束（违反任何一条都会导致设备接入失败）
+
+1. **禁止重命名参数** — 动作方法的参数名（如 volume、position、max_velocity）是接口契约，框架通过参数名分派调用。绝不能加后缀（如 volume_ml）、改名（如 speed_ml_s）。单位写在 docstring 中。
+
+2. **status 字符串必须一致** — 如果同类已有设备用英文（如 "Idle" / "Busy"），新驱动必须用相同的字符串，不能改为中文（如 "就绪"）。
+
+3. **self.data 必须预填充** — 不能用空字典 {}。框架在 initialize() 之前就可能读取属性值。每个 @property 对应的键都必须在 __init__ 中有初始值。
+
+4. **禁止跳过接口对齐** — 对齐同类设备接口是强制步骤。缺失的属性和动作会导致设备在工作流中不可互换。
+
+5. **串口解析先找帧头** — RS-485 总线上响应前常有回声/噪声字节。必须先定位帧起始标记（如 /、0xFE），禁止用硬编码索引直接解析。
+
+6. **异步等待用 _ros_node.sleep** — 在 async 方法中使用 await self._ros_node.sleep()，禁止 time.sleep()（阻塞事件循环）和 asyncio.sleep()。
+
+7. **物理单位对外暴露** — 对外参数使用用户友好的物理单位（mL、°C、RPM），驱动内部负责转换到硬件原始值（步数、Hz、寄存器值）。
+
+## 代码骨架参考
+
+所有设备驱动遵循以下结构：
+
+```python
+import logging
+import time as time_module
+from typing import Dict, Any
+
+try:
+    from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+except ImportError:
+    BaseROS2DeviceNode = None
+
+class MyDevice:
+    _ros_node: "BaseROS2DeviceNode"
+
+    def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
+        if device_id is None and 'id' in kwargs:
+            device_id = kwargs.pop('id')
+        if config is None and 'config' in kwargs:
+            config = kwargs.pop('config')
+        self.device_id = device_id or "unknown_device"
+        self.config = config or {}
+        self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
+        self.data = {
+            "status": "Idle",
+            # 所有 @property 的键都必须在此预填充
+        }
+
+    def post_init(self, ros_node: "BaseROS2DeviceNode"):
+        self._ros_node = ros_node
+
+    async def initialize(self) -> bool:
+        self.data["status"] = "Idle"
+        return True
+
+    async def cleanup(self) -> bool:
+        self.data["status"] = "Offline"
+        return True
+
+    @property
+    def status(self) -> str:
+        return self.data.get("status", "Idle")
+```
+
+## 注册表最小配置
+
+```yaml
+my_device:
+  class:
+    module: unilabos.devices.<category>.<file>:MyDevice
+    type: python
+```
+
+启动时 --complete_registry 自动生成 status_types 和 action_value_mappings。
+
+## 图文件模板
+
+```json
+{
+    "nodes": [
+        {
+            "id": "my_device_1",
+            "name": "设备名称",
+            "children": [],
+            "parent": null,
+            "type": "device",
+            "class": "my_device",
+            "position": {"x": 0, "y": 0, "z": 0},
+            "config": {},
+            "data": {}
+        }
+    ]
+}
+```
+
+## 现有设备接口快照（对齐用）
+
+对齐时参考以下已有设备接口。如果能联网，优先从 GitHub 获取最新版本：
+https://github.com/dptech-corp/Uni-Lab-OS/tree/main/unilabos/registry/devices/
+
+### pump_and_valve — 注射泵
+
+已有设备：syringe_pump_with_valve.runze.SY03B-T06
+
+属性：status(str, "Idle"/"Busy"), valve_position(str), position(float, mL), max_velocity(float, mL/s), mode(int), plunger_position(String), velocity_grade(String), velocity_init(String), velocity_end(String)
+
+方法签名（参数名不可改）：
+- initialize()
+- set_valve_position(position)
+- set_position(position: float, max_velocity: float = None)
+- pull_plunger(volume: float)
+- push_plunger(volume: float)
+- set_max_velocity(velocity: float)
+- set_velocity_grade(velocity)
+- stop_operation()
+
+### pump_and_valve — 电磁阀
+
+属性：status(str), valve_position(str)
+方法：open(), close(), set_valve_position(position), is_open(), is_closed()
+
+### temperature
+
+属性：status(str), temp(float, °C), temp_target(float, °C), stir_speed(float, RPM), temp_warning(float, °C)
+
+### motor
+
+属性：status(str), position(int)
+
+### sensor
+
+属性：level(bool), rssi(int)
+```
+
+### 结束复制 ↑
+
+---
+
+## `{{KNOWLEDGE_LOADING}}` 变量替换
+
+根据平台能力，将提示词中的 `{{KNOWLEDGE_LOADING}}` 替换为以下对应内容：
+
+### 方案 A：有知识库（Custom GPT / Claude Project）
+
+```
+你的知识库中包含 add_device.md 文件，这是完整的设备接入指南。
+执行工作流时，参考该文件获取物模型模板、通信协议代码片段、指令协议模式和常见错误检查清单。
+本提示词中的「现有设备接口快照」和「硬约束」是从指南中提炼的关键内容，以确保即使知识库检索不完整也能正确工作。
+```
+
+### 方案 B：有联网能力
+
+```
+执行工作流前，从以下 URL 获取完整的设备接入指南：
+https://raw.githubusercontent.com/dptech-corp/Uni-Lab-OS/main/docs/ai_guides/add_device.md
+
+该指南包含物模型模板、通信协议代码片段、指令协议模式和常见错误检查清单。
+如果无法访问 URL，使用本提示词中内联的「现有设备接口快照」和「代码骨架参考」作为兜底。
+```
+
+### 方案 C：无知识库、无联网
+
+```
+完整的设备接入指南需要用户在对话中提供。
+如果用户未主动提供，请在阶段 1 开始前询问：
+"请将 add_device.md 的内容粘贴到对话中，或上传该文件。如果没有该文件，我将使用内置的精简规则工作。"
+
+本提示词已内联了最关键的内容（硬约束 + 代码骨架 + 接口快照），足以生成基本正确的驱动。
+但完整指南包含更多物模型模板和通信协议代码片段，能显著提升生成质量。
+```
+
+---
+
+## 各平台配置指南
+
+### OpenAI Custom GPT
+
+1. 进入 https://chat.openai.com/gpts/editor
+2. **Name**：Uni-Lab-OS 设备接入助手
+3. **Description**：帮助用户将实验室硬件设备接入 Uni-Lab-OS 系统，自动生成驱动代码、注册表和图文件。
+4. **Instructions**：粘贴上方系统提示词，`{{KNOWLEDGE_LOADING}}` 替换为方案 A
+5. **Knowledge**：上传 `docs/ai_guides/add_device.md`
+6. **Capabilities**：开启 Code Interpreter（用于代码验证）
+7. **Conversation starters**：
+   - "我要接入一个新的注射泵"
+   - "帮我把这个 SDK 包装成 UniLab 驱动"
+   - "检查我的设备驱动有没有接口问题"
+
+### Claude Project
+
+1. 创建新 Project
+2. **Custom Instructions**：粘贴系统提示词，`{{KNOWLEDGE_LOADING}}` 替换为方案 A
+3. **Project Knowledge**：上传 `docs/ai_guides/add_device.md`
+
+### API Agent（LangChain / AutoGen / 自建框架）
+
+```python
+system_prompt = """
+<粘贴完整系统提示词，{{KNOWLEDGE_LOADING}} 替换为方案 B>
+"""
+
+# 如果框架支持工具调用，可注册以下工具：
+tools = [
+    {
+        "name": "fetch_device_guide",
+        "description": "获取最新的 Uni-Lab-OS 设备接入指南",
+        "url": "https://raw.githubusercontent.com/dptech-corp/Uni-Lab-OS/main/docs/ai_guides/add_device.md"
+    },
+    {
+        "name": "fetch_registry",
+        "description": "获取最新的设备注册表",
+        "url": "https://raw.githubusercontent.com/dptech-corp/Uni-Lab-OS/main/unilabos/registry/devices/{category}.yaml"
+    },
+]
+```
+
+### Cursor Agent Mode
+
+无需使用本模板。Cursor 中使用已有的 `.cursor/skills/add-device/SKILL.md`，它会自动读取 `docs/ai_guides/add_device.md` 并利用 Cursor 的工具能力（Grep 搜索注册表、AskQuestion 收集信息等）。
+
+### 纯网页对话（ChatGPT / Claude 无 Project）
+
+1. 第一条消息粘贴系统提示词（`{{KNOWLEDGE_LOADING}}` 替换为方案 C）
+2. 第二条消息上传或粘贴 `add_device.md`
+3. 第三条消息开始描述设备
+
+---
+
+## 维护说明
+
+- **硬约束更新**：如果 `add_device.md` 中新增了禁止事项或常见错误，需要同步更新本模板的「硬约束」部分
+- **接口快照更新**：新增设备类别或已有设备接口变更时，需要同步更新本模板的「现有设备接口快照」部分
+- **工作流调整**：如果接入流程发生变化（新增步骤、合并步骤），需要同步调整「工作流程」部分
+- 本模板与 `add_device.md` 是**互补关系**：模板定义 Agent 行为，指南提供领域知识。两者独立维护

docs/developer_guide/add_old_device.md

@@ -18,13 +18,15 @@ Uni-Lab 开发团队在仓库中提供了 3 个样例：
 
 - 单一机械设备**电夹爪**，通讯协议可见 [增广夹爪通讯协议](https://doc.rmaxis.com/docs/communication/fieldbus/)，驱动代码位于 `unilabos/devices/gripper/rmaxis_v4.py`
 - 单一通信设备**IO 板卡**，驱动代码位于 `unilabos/device_comms/gripper/SRND_16_IO.py`
-- 执行多设备复杂任务逻辑的**PLC**，Uni-Lab 提供了基于地址表的接入方式和点动工作流编写，测试代码位于 `unilabos/device_comms/modbus_plc/test/test_workflow.py`
+- 执行多设备复杂任务逻辑的**PLC**，Uni-Lab 提供了基于地址表的接入方式和点动工作流编写，测试代码位于 `unilabos/device_comms/modbus_plc/test/test_workflow.py`。详细框架说明请参考 {doc}`plc_framework`
 
 ---
 
 ## 其他工业通信协议：CANopen, Ethernet, OPCUA...
 
-【敬请期待】
+Uni-Lab 已实现基于 OPC UA 协议的 PLC 接管框架，用于后处理工站等项目。与 Modbus 框架相比，OPC UA 框架额外提供了自动节点发现、订阅推送、断线重连等特性。详细说明请参考 {doc}`plc_framework`。
+
+其他协议（CANopen、EtherCAT 等）【敬请期待】
 
 ## 没有接口的老设备老软件：使用 PyWinAuto
 

docs/developer_guide/plc_framework.md

@@ -0,0 +1,281 @@
+# PLC 设备接管框架
+
+> 本文档面向初次接触 UniLab-OS 的开发者，介绍系统如何通过工业协议"接管"（连接并控制）PLC 设备。
+
+## 什么是"PLC 接管"？
+
+**PLC**（可编程逻辑控制器）是工厂设备的控制核心，驱动机械臂、泵、阀门等硬件。UniLab-OS 通过网络协议直接读写 PLC 内部变量，从而控制设备运行：
+
+```
+UniLab-OS（Python）  ←通信协议→  PLC  ←电信号→  电机/气缸/传感器
+```
+
+UniLab-OS 提供两套接管框架，对应两种工业协议：
+
+| 框架            | 协议             | 应用项目           | 核心文件                                                    |
+| --------------- | ---------------- | ------------------ | ----------------------------------------------------------- |
+| **Modbus 框架** | Modbus TCP / RTU | 扣式电池装配工站   | `unilabos/device_comms/modbus_plc/client.py`                |
+| **OPC UA 框架** | OPC UA           | 后处理工站（怀柔） | `unilabos/devices/workstation/post_process/post_process.py` |
+
+两套框架**设计思想完全一致**，底层通信协议不同。理解一个，另一个基本触类旁通。
+
+---
+
+## 核心概念
+
+### 节点（Node）
+
+节点是 PLC 内部一个具体的变量地址，可以理解为 PLC 的一个输入/输出端口。
+
+| 属性 | 说明                                   | 示例                 |
+| ---- | -------------------------------------- | -------------------- |
+| 名称 | 人类可读标识                           | `COIL_SYS_START_CMD` |
+| 地址 | PLC 内存地址                           | `0x0064`             |
+| 类型 | Coil / HoldRegister / InputRegister 等 | `coil`               |
+
+```
+PLC 内存空间
+├── Coil 区:    True / False  ← 控制开关量（启动/停止/复位）
+├── Hold Reg:   120, 35.5 …  ← 存参数值（速度、位置）
+└── Input Reg:  99.8, 42 …   ← 只读传感器数据
+```
+
+### 动作生命周期（Action Lifecycle）
+
+每个设备动作被拆分为 4 个阶段，用 `try/finally` 保证安全性：
+
+```python
+try:
+    init(...)    # 写入参数（速度、位置等）— 可选
+    start(...)   # 发触发信号 + 轮询等待完成
+    stop(...)    # 复位触发信号（成功时执行）
+except:
+    is_err = True
+finally:
+    cleanup(...) # 无论成败都执行，作为安全兜底
+```
+
+| 阶段      | 何时执行                | 典型内容                             |
+| --------- | ----------------------- | ------------------------------------ |
+| `init`    | 成功路径（可选）        | 写运动速度 = 20.0                    |
+| `start`   | 成功路径                | 写启动位 = True，等待完成位 = True   |
+| `stop`    | 成功路径                | 写启动位 = False（正常复位）         |
+| `cleanup` | **无论成败**（finally） | 安全兜底复位，防止异常时设备持续运动 |
+
+> **为什么 `cleanup` 无论成败都执行？**
+> 若 `start` 阶段因传感器故障抛出异常，`stop` 会被跳过，PLC 触发位仍为 `True`——设备可能持续运动。`cleanup` 放在 `finally` 块中，作为最后的安全保障，确保 PLC 一定被复位到安全状态。实际上大多数动作将 `cleanup` 设为 `null`，由 `stop` 负责正常复位即可。
+
+---
+
+## Modbus 框架
+
+**核心文件**：`unilabos/device_comms/modbus_plc/client.py`
+**参考实现**：`unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py`
+
+### 连接与节点注册
+
+```python
+from unilabos.device_comms.modbus_plc.client import TCPClient, BaseClient
+
+# 1. 建立 TCP 连接
+client = TCPClient(addr="172.16.28.102", port=502)
+client.client.connect()
+
+# 2. 从 CSV 加载节点定义
+nodes = BaseClient.load_csv("coin_cell_assembly_b.csv")
+
+# 3. 注册节点，之后可按名称访问
+client.register_node_list(nodes)
+
+# 访问节点
+client.use_node('COIL_SYS_START_CMD').write(True)
+value, err = client.use_node('COIL_SYS_START_STATUS').read(1)
+```
+
+**CSV 格式**（`Name` / `DeviceType` / `Address` / `DataType`）：
+
+| Name               | DeviceType    | Address | DataType |
+| ------------------ | ------------- | ------- | -------- |
+| COIL_SYS_START_CMD | coil          | 100     | INT16    |
+| REG_SPEED          | hold_register | 200     | FLOAT32  |
+
+### 三段式接管流程（扣式电池工站）
+
+PLC 设备通常需要按固定顺序切换模式，以扣式电池工站为例：
+
+```
+Python                             PLC
+  │── 写 HAND_CMD = True ─────────>│ 切换到手动模式
+  │<─ 读 HAND_STATUS = True ────────│ 确认进入手动
+  │── 写 INIT_CMD = True ──────────>│ 执行初始化
+  │<─ 读 INIT_STATUS = True ─────────│ 初始化完成
+  │── 写 HAND_CMD = False ──────────>│ 复位（脉冲信号）
+  │── 写 INIT_CMD = False ──────────>│ 复位
+  │── 写 AUTO_CMD = True ───────────>│ 切换自动模式
+  │<─ 读 AUTO_STATUS = True ─────────│ 自动模式就绪
+  │── 写 AUTO_CMD = False ──────────>│ 复位
+  │── 写 START_CMD = True ──────────>│ 开始运行
+  │<─ 读 START_STATUS = True ────────│ 运行确认
+  │── 写 START_CMD = False ──────────>│ 复位
+```
+
+> **脉冲信号模式**：命令写 `True` → 等待 PLC 状态位确认 → 命令写回 `False`，这是大多数 PLC 的标准触发方式，而不是保持高电平。
+
+### JSON 配置方式
+
+Modbus 框架支持纯 JSON 配置，无需手写 Python 流程：
+
+```json
+{
+    "register_node_list_from_csv_path": {"path": "M01.csv"},
+    "create_flow": [
+        {
+            "name": "归位",
+            "action": [{
+                "address_function_to_create": [
+                    {"func_name": "pos_tip",      "node_name": "M01_idlepos_coil_w",    "mode": "write", "value": true},
+                    {"func_name": "pos_tip_read", "node_name": "M01_idlepos_coil_r",    "mode": "read",  "value": 1},
+                    {"func_name": "manual_stop",  "node_name": "M01_manual_stop_coil_r","mode": "read",  "value": 1}
+                ],
+                "create_init_function":  {"func_name": "idel_init", "node_name": "M01_idlepos_velocity_rw", "mode": "write", "value": 20.0},
+                "create_start_function": {
+                    "func_name": "idel_position",
+                    "write_functions": ["pos_tip"],
+                    "condition_functions": ["pos_tip_read", "manual_stop"],
+                    "stop_condition_expression": "pos_tip_read[0] and manual_stop[0]"
+                },
+                "create_stop_function":  {"func_name": "idel_stop", "node_name": "M01_idlepos_coil_w", "mode": "write", "value": false},
+                "create_cleanup_function": null
+            }]
+        }
+    ],
+    "execute_flow": ["归位"]
+}
+```
+
+执行：
+
+```python
+client.execute_procedure_from_json(json_data)
+```
+
+---
+
+## OPC UA 框架
+
+**核心文件**：`unilabos/devices/workstation/post_process/post_process.py`
+**参考实现**：`unilabos/devices/workstation/post_process/opcua_huairou.json`
+
+### 与 Modbus 的主要区别
+
+| 特性       | Modbus               | OPC UA                            |
+| ---------- | -------------------- | --------------------------------- |
+| 节点发现   | 手动填写 CSV 地址    | **自动遍历**服务器节点树          |
+| 数据获取   | 轮询（主动问）       | **订阅推送**（有变化时通知）      |
+| 节点标识   | 数字地址（如 `100`） | 字符串 NodeId（如 `ns=2;s=速度`） |
+| 断线处理   | 无                   | **后台监控线程**自动重连          |
+| 认证安全   | 无                   | 支持用户名/密码                   |
+| 工作流调用 | 手动调用             | **自动注册为实例方法**            |
+
+### 连接与节点发现
+
+```python
+from unilabos.devices.workstation.post_process.post_process import OpcUaClient
+
+client = OpcUaClient(
+    url="opc.tcp://192.168.1.100:4840",
+    username="admin",              # 可选
+    password="123456",             # 可选
+    config_path="opcua_huairou.json",  # 自动加载工作流配置
+    cache_timeout=5.0,             # 节点值缓存 5 秒
+    subscription_interval=500,     # 每 500ms 接收推送
+)
+
+# 节点自动通过订阅保持最新值，读取直接查本地缓存
+value = client.get_node_value("grab_complete")
+```
+
+### JSON 配置方式
+
+```json
+{
+    "register_node_list_from_csv_path": {"path": "opcua_nodes_huairou.csv"},
+    "create_flow": [
+        {
+            "name": "trigger_grab_action",
+            "description": "触发反应罐及原料罐抓取动作",
+            "parameters": ["reaction_tank_number", "raw_tank_number"],
+            "action": [{
+                "init_function": {
+                    "func_name": "init_grab_params",
+                    "write_nodes": ["reaction_tank_number", "raw_tank_number"]
+                },
+                "start_function": {
+                    "func_name": "start_grab",
+                    "write_nodes": {"grab_trigger": true},
+                    "condition_nodes": ["grab_complete"],
+                    "stop_condition_expression": "grab_complete == True",
+                    "timeout_seconds": 999999.0
+                },
+                "stop_function": {
+                    "func_name": "stop_grab",
+                    "write_nodes": {"grab_trigger": false}
+                }
+            }]
+        }
+    ]
+}
+```
+
+配置加载后，工作流自动注册为实例方法：
+
+```python
+# 直接调用，传入参数，框架自动写入对应节点
+client.trigger_grab_action(reaction_tank_number=2, raw_tank_number=3)
+```
+
+---
+
+## 新增设备快速上手
+
+### 使用 Modbus 框架
+
+```
+1. 从 PLC 工程师处拿到地址表，按格式填写 CSV（Name/DeviceType/Address/DataType）
+2. 继承 BaseClient，在 __init__ 中连接并注册节点
+3. 参考 coin_cell_assembly.py 编写三段式接管函数（手动→初始化→自动→启动）
+4. 或直接编写 JSON 配置，调用 execute_procedure_from_json()
+```
+
+### 使用 OPC UA 框架
+
+```
+1. 确认设备支持 OPC UA，拿到服务器 URL（格式：opc.tcp://IP:PORT）
+2. 准备 CSV 节点定义文件（可选，也可让框架自动发现）
+3. 编写 JSON 配置：定义 parameters、init/start/stop 函数
+4. 实例化 OpcUaClient，传入 config_path，直接调用自动注册的工作流方法
+```
+
+---
+
+## 常见问题
+
+**Q: `node {name} is not registered` 报错？**
+A: 节点名不在 CSV 或未调用 `register_node_list_from_csv_path()`。
+
+**Q: 程序卡死在 `while not status(): sleep(1)`？**
+A: PLC 未返回预期完成信号。检查：PLC 是否在正确运行模式、状态位地址是否正确、PLC 有无报警。
+
+**Q: OPC UA 连接成功但读不到节点？**
+A: 检查节点名称是否与服务器显示名一致（区分中英文）。可调用 `_find_nodes()` 打印服务器全部节点。
+
+**Q: 应该选 Modbus 还是 OPC UA？**
+A: 取决于设备支持的协议，由 PLC 工程师决定。OPC UA 功能更完整，条件允许优先选择。
+
+---
+
+## 下一步
+
+- {doc}`add_device` - 将驱动集成进 UniLab-OS 设备节点
+- {doc}`add_action` - 为设备添加可调度的动作指令
+- {doc}`add_yaml` - 编写设备注册表 YAML 文件

docs/index.md

@@ -17,6 +17,9 @@ developer_guide/http_api.md
 developer_guide/networking_overview.md
 developer_guide/add_device.md
 developer_guide/add_action.md
+developer_guide/add_old_device.md
+developer_guide/plc_framework.md
+developer_guide/add_protocol.md
 developer_guide/add_registry.md
 developer_guide/add_yaml.md
 developer_guide/action_includes.md

unilabos/devices/liquid_handling/laiyu/backend/__init__.py

@@ -1,9 +1,7 @@
 """
 LaiYu液体处理设备后端模块
-
-提供设备后端接口和实现
 """
 
-from .laiyu_backend import LaiYuLiquidBackend, create_laiyu_backend
+from .laiyu_v_backend import UniLiquidHandlerLaiyuBackend
 
-__all__ = ['LaiYuLiquidBackend', 'create_laiyu_backend']
+__all__ = ['UniLiquidHandlerLaiyuBackend']

unilabos/devices/liquid_handling/laiyu/backend/laiyu_backend.py

@@ -1,334 +0,0 @@
-"""
-LaiYu液体处理设备后端实现
-
-提供设备的后端接口和控制逻辑
-"""
-
-import logging
-from typing import Dict, Any, Optional, List
-from abc import ABC, abstractmethod
-
-# 尝试导入PyLabRobot后端
-try:
-    from pylabrobot.liquid_handling.backends import LiquidHandlerBackend
-    PYLABROBOT_AVAILABLE = True
-except ImportError:
-    PYLABROBOT_AVAILABLE = False
-    # 创建模拟后端基类
-    class LiquidHandlerBackend:
-        def __init__(self, name: str):
-            self.name = name
-            self.is_connected = False
-        
-        def connect(self):
-            """连接设备"""
-            pass
-        
-        def disconnect(self):
-            """断开连接"""
-            pass
-
-
-class LaiYuLiquidBackend(LiquidHandlerBackend):
-    """LaiYu液体处理设备后端"""
-    
-    def __init__(self, name: str = "LaiYu_Liquid_Backend"):
-        """
-        初始化LaiYu液体处理设备后端
-        
-        Args:
-            name: 后端名称
-        """
-        if PYLABROBOT_AVAILABLE:
-            # PyLabRobot 的 LiquidHandlerBackend 不接受参数
-            super().__init__()
-        else:
-            # 模拟版本接受 name 参数
-            super().__init__(name)
-        
-        self.name = name
-        self.logger = logging.getLogger(__name__)
-        self.is_connected = False
-        self.device_info = {
-            "name": "LaiYu液体处理设备",
-            "version": "1.0.0",
-            "manufacturer": "LaiYu",
-            "model": "LaiYu_Liquid_Handler"
-        }
-    
-    def connect(self) -> bool:
-        """
-        连接到LaiYu液体处理设备
-        
-        Returns:
-            bool: 连接是否成功
-        """
-        try:
-            self.logger.info("正在连接到LaiYu液体处理设备...")
-            # 这里应该实现实际的设备连接逻辑
-            # 目前返回模拟连接成功
-            self.is_connected = True
-            self.logger.info("成功连接到LaiYu液体处理设备")
-            return True
-        except Exception as e:
-            self.logger.error(f"连接LaiYu液体处理设备失败: {e}")
-            self.is_connected = False
-            return False
-    
-    def disconnect(self) -> bool:
-        """
-        断开与LaiYu液体处理设备的连接
-        
-        Returns:
-            bool: 断开连接是否成功
-        """
-        try:
-            self.logger.info("正在断开与LaiYu液体处理设备的连接...")
-            # 这里应该实现实际的设备断开连接逻辑
-            self.is_connected = False
-            self.logger.info("成功断开与LaiYu液体处理设备的连接")
-            return True
-        except Exception as e:
-            self.logger.error(f"断开LaiYu液体处理设备连接失败: {e}")
-            return False
-    
-    def is_device_connected(self) -> bool:
-        """
-        检查设备是否已连接
-        
-        Returns:
-            bool: 设备是否已连接
-        """
-        return self.is_connected
-    
-    def get_device_info(self) -> Dict[str, Any]:
-        """
-        获取设备信息
-        
-        Returns:
-            Dict[str, Any]: 设备信息字典
-        """
-        return self.device_info.copy()
-    
-    def home_device(self) -> bool:
-        """
-        设备归零操作
-        
-        Returns:
-            bool: 归零是否成功
-        """
-        if not self.is_connected:
-            self.logger.error("设备未连接，无法执行归零操作")
-            return False
-        
-        try:
-            self.logger.info("正在执行设备归零操作...")
-            # 这里应该实现实际的设备归零逻辑
-            self.logger.info("设备归零操作完成")
-            return True
-        except Exception as e:
-            self.logger.error(f"设备归零操作失败: {e}")
-            return False
-    
-    def aspirate(self, volume: float, location: Dict[str, Any]) -> bool:
-        """
-        吸液操作
-        
-        Args:
-            volume: 吸液体积 (微升)
-            location: 吸液位置信息
-            
-        Returns:
-            bool: 吸液是否成功
-        """
-        if not self.is_connected:
-            self.logger.error("设备未连接，无法执行吸液操作")
-            return False
-        
-        try:
-            self.logger.info(f"正在执行吸液操作: 体积={volume}μL, 位置={location}")
-            # 这里应该实现实际的吸液逻辑
-            self.logger.info("吸液操作完成")
-            return True
-        except Exception as e:
-            self.logger.error(f"吸液操作失败: {e}")
-            return False
-    
-    def dispense(self, volume: float, location: Dict[str, Any]) -> bool:
-        """
-        排液操作
-        
-        Args:
-            volume: 排液体积 (微升)
-            location: 排液位置信息
-            
-        Returns:
-            bool: 排液是否成功
-        """
-        if not self.is_connected:
-            self.logger.error("设备未连接，无法执行排液操作")
-            return False
-        
-        try:
-            self.logger.info(f"正在执行排液操作: 体积={volume}μL, 位置={location}")
-            # 这里应该实现实际的排液逻辑
-            self.logger.info("排液操作完成")
-            return True
-        except Exception as e:
-            self.logger.error(f"排液操作失败: {e}")
-            return False
-    
-    def pick_up_tip(self, location: Dict[str, Any]) -> bool:
-        """
-        取枪头操作
-        
-        Args:
-            location: 枪头位置信息
-            
-        Returns:
-            bool: 取枪头是否成功
-        """
-        if not self.is_connected:
-            self.logger.error("设备未连接，无法执行取枪头操作")
-            return False
-        
-        try:
-            self.logger.info(f"正在执行取枪头操作: 位置={location}")
-            # 这里应该实现实际的取枪头逻辑
-            self.logger.info("取枪头操作完成")
-            return True
-        except Exception as e:
-            self.logger.error(f"取枪头操作失败: {e}")
-            return False
-    
-    def drop_tip(self, location: Dict[str, Any]) -> bool:
-        """
-        丢弃枪头操作
-        
-        Args:
-            location: 丢弃位置信息
-            
-        Returns:
-            bool: 丢弃枪头是否成功
-        """
-        if not self.is_connected:
-            self.logger.error("设备未连接，无法执行丢弃枪头操作")
-            return False
-        
-        try:
-            self.logger.info(f"正在执行丢弃枪头操作: 位置={location}")
-            # 这里应该实现实际的丢弃枪头逻辑
-            self.logger.info("丢弃枪头操作完成")
-            return True
-        except Exception as e:
-            self.logger.error(f"丢弃枪头操作失败: {e}")
-            return False
-    
-    def move_to(self, location: Dict[str, Any]) -> bool:
-        """
-        移动到指定位置
-        
-        Args:
-            location: 目标位置信息
-            
-        Returns:
-            bool: 移动是否成功
-        """
-        if not self.is_connected:
-            self.logger.error("设备未连接，无法执行移动操作")
-            return False
-        
-        try:
-            self.logger.info(f"正在移动到位置: {location}")
-            # 这里应该实现实际的移动逻辑
-            self.logger.info("移动操作完成")
-            return True
-        except Exception as e:
-            self.logger.error(f"移动操作失败: {e}")
-            return False
-    
-    def get_status(self) -> Dict[str, Any]:
-        """
-        获取设备状态
-        
-        Returns:
-            Dict[str, Any]: 设备状态信息
-        """
-        return {
-            "connected": self.is_connected,
-            "device_info": self.device_info,
-            "status": "ready" if self.is_connected else "disconnected"
-        }
-    
-    # PyLabRobot 抽象方法实现
-    def stop(self):
-        """停止所有操作"""
-        self.logger.info("停止所有操作")
-        pass
-    
-    @property
-    def num_channels(self) -> int:
-        """返回通道数量"""
-        return 1  # 单通道移液器
-    
-    def can_pick_up_tip(self, tip_rack, tip_position) -> bool:
-        """检查是否可以拾取吸头"""
-        return True  # 简化实现，总是返回True
-    
-    def pick_up_tips(self, tip_rack, tip_positions):
-        """拾取多个吸头"""
-        self.logger.info(f"拾取吸头: {tip_positions}")
-        pass
-    
-    def drop_tips(self, tip_rack, tip_positions):
-        """丢弃多个吸头"""
-        self.logger.info(f"丢弃吸头: {tip_positions}")
-        pass
-    
-    def pick_up_tips96(self, tip_rack):
-        """拾取96个吸头"""
-        self.logger.info("拾取96个吸头")
-        pass
-    
-    def drop_tips96(self, tip_rack):
-        """丢弃96个吸头"""
-        self.logger.info("丢弃96个吸头")
-        pass
-    
-    def aspirate96(self, volume, plate, well_positions):
-        """96通道吸液"""
-        self.logger.info(f"96通道吸液: 体积={volume}")
-        pass
-    
-    def dispense96(self, volume, plate, well_positions):
-        """96通道排液"""
-        self.logger.info(f"96通道排液: 体积={volume}")
-        pass
-    
-    def pick_up_resource(self, resource, location):
-        """拾取资源"""
-        self.logger.info(f"拾取资源: {resource}")
-        pass
-    
-    def drop_resource(self, resource, location):
-        """放置资源"""
-        self.logger.info(f"放置资源: {resource}")
-        pass
-    
-    def move_picked_up_resource(self, resource, location):
-        """移动已拾取的资源"""
-        self.logger.info(f"移动资源: {resource} 到 {location}")
-        pass
-
-
-def create_laiyu_backend(name: str = "LaiYu_Liquid_Backend") -> LaiYuLiquidBackend:
-    """
-    创建LaiYu液体处理设备后端实例
-    
-    Args:
-        name: 后端名称
-        
-    Returns:
-        LaiYuLiquidBackend: 后端实例
-    """
-    return LaiYuLiquidBackend(name)

unilabos/devices/liquid_handling/laiyu/backend/laiyu_v_backend.py

@@ -1,385 +1,307 @@
-      
-import json
+"""LaiYu PLR 后端 — 对齐路径 B 硬件交互模式
+
+硬件初始化顺序与 laiyu_liquid_station.py (路径 B) 一致:
+  1. XYZController(auto_connect=True) — 先开串口
+  2. PipetteController.connect_shared() — 共享 XYZ 的串口 / 锁
+  3. home_all_axes() + pipette.initialize()
+"""
+
+import logging
 from typing import List, Optional, Union
 
-from pylabrobot.liquid_handling.backends.backend import (
-  LiquidHandlerBackend,
-)
+from pylabrobot.liquid_handling.backends.backend import LiquidHandlerBackend
 from pylabrobot.liquid_handling.standard import (
-  Drop,
-  DropTipRack,
-  MultiHeadAspirationContainer,
-  MultiHeadAspirationPlate,
-  MultiHeadDispenseContainer,
-  MultiHeadDispensePlate,
-  Pickup,
-  PickupTipRack,
-  ResourceDrop,
-  ResourceMove,
-  ResourcePickup,
-  SingleChannelAspiration,
-  SingleChannelDispense,
+    Drop,
+    DropTipRack,
+    MultiHeadAspirationContainer,
+    MultiHeadAspirationPlate,
+    MultiHeadDispenseContainer,
+    MultiHeadDispensePlate,
+    Pickup,
+    PickupTipRack,
+    ResourceDrop,
+    ResourceMove,
+    ResourcePickup,
+    SingleChannelAspiration,
+    SingleChannelDispense,
 )
 from pylabrobot.resources import Resource, Tip
 
-import rclpy
-from rclpy.node import Node
-from sensor_msgs.msg import JointState
-import time
-from rclpy.action import ActionClient
-from unilabos_msgs.action import SendCmd
-import re
+from unilabos.devices.liquid_handling.laiyu.controllers.xyz_controller import XYZController
+from unilabos.devices.liquid_handling.laiyu.controllers.pipette_controller import (
+    PipetteController,
+    TipStatus,
+)
 
-from unilabos.devices.ros_dev.liquid_handler_joint_publisher import JointStatePublisher
-from unilabos.devices.liquid_handling.laiyu.controllers.pipette_controller import PipetteController, TipStatus
+logger = logging.getLogger(__name__)
 
 
 class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend):
-  """Chatter box backend for device-free testing. Prints out all operations."""
+    """LaiYu 硬件后端 — PLR Backend 接口实现"""
 
-  _pip_length = 5
-  _vol_length = 8
-  _resource_length = 20
-  _offset_length = 16
-  _flow_rate_length = 10
-  _blowout_length = 10
-  _lld_z_length = 10
-  _kwargs_length = 15
-  _tip_type_length = 12
-  _max_volume_length = 16
-  _fitting_depth_length = 20
-  _tip_length_length = 16
-  # _pickup_method_length = 20
-  _filter_length = 10
+    def __init__(
+        self,
+        num_channels: int = 1,
+        tip_length: float = 0,
+        total_height: float = 310,
+        port: str = "/dev/ttyUSB0",
+        baudrate: int = 115200,
+        pipette_address: int = 4,
+    ):
+        super().__init__()
+        self._num_channels = num_channels
+        self.tip_length = tip_length
+        self.total_height = total_height
 
-  def __init__(self, num_channels: int = 8 , tip_length: float = 0 , total_height: float = 310, port: str = "/dev/ttyUSB0"):
-    """Initialize a chatter box backend."""
-    super().__init__()
-    self._num_channels = num_channels
-    self.tip_length = tip_length
-    self.total_height = total_height
-# rclpy.init()
-    if not rclpy.ok():
-        rclpy.init()
-    self.joint_state_publisher = None
-    self.hardware_interface = PipetteController(port=port)
+        # 保存配置，延迟到 setup() 再创建硬件对象
+        self._port = port
+        self._baudrate = baudrate
+        self._pipette_address = pipette_address
 
-  async def setup(self):
-    # self.joint_state_publisher = JointStatePublisher()
-    # self.hardware_interface.xyz_controller.connect_device()
-    # self.hardware_interface.xyz_controller.home_all_axes()
-    await super().setup()
-    self.hardware_interface.connect()
-    self.hardware_interface.initialize()
+        self._xyz: Optional[XYZController] = None
+        self._pipette_ctrl: Optional[PipetteController] = None
+        self._ros_node = None
 
-    print("Setting up the liquid handler.")
+    # ------------------------------------------------------------------ lifecycle
 
-  async def stop(self):
-    print("Stopping the liquid handler.")
+    def post_init(self, ros_node):
+        """接收 ROS 节点引用（由 Handler.post_init 调用）"""
+        self._ros_node = ros_node
 
-  def serialize(self) -> dict:
-    return {**super().serialize(), "num_channels": self.num_channels}
+    async def setup(self):
+        """按路径 B 顺序初始化硬件"""
+        await super().setup()
 
-  def pipette_aspirate(self, volume: float, flow_rate: float):
+        # 1. XYZ 先开串口
+        self._xyz = XYZController(
+            port=self._port,
+            baudrate=self._baudrate,
+            auto_connect=True,
+        )
+        if not self._xyz.is_connected:
+            raise RuntimeError("XYZ 控制器连接失败")
 
-    self.hardware_interface.pipette.set_max_speed(flow_rate)
-    res = self.hardware_interface.pipette.aspirate(volume=volume)
-    
-    if not res:
-        self.hardware_interface.logger.error("吸取失败，当前体积: {self.hardware_interface.current_volume}")
-        return
+        # 2. PipetteController 共享 XYZ 串口
+        self._pipette_ctrl = PipetteController(
+            port=self._port,
+            address=self._pipette_address,
+        )
+        self._pipette_ctrl.connect_shared(
+            serial_conn=self._xyz.serial_conn,
+            serial_lock=self._xyz.serial_lock,
+            xyz_controller=self._xyz,
+        )
 
-    self.hardware_interface.current_volume += volume 
+        # 3. 回零 + 移液器初始化
+        self._xyz.home_all_axes()
+        self._pipette_ctrl.initialize()
 
-  def pipette_dispense(self, volume: float, flow_rate: float):
+        logger.info("LaiYu 后端硬件初始化完成")
 
-    self.hardware_interface.pipette.set_max_speed(flow_rate)
-    res = self.hardware_interface.pipette.dispense(volume=volume)
-    if not res:
-        self.hardware_interface.logger.error("排液失败，当前体积: {self.hardware_interface.current_volume}")
-        return
-    self.hardware_interface.current_volume -= volume
+    async def stop(self):
+        """正确断开硬件"""
+        try:
+            if self._pipette_ctrl:
+                self._pipette_ctrl.disconnect_shared()
+            if self._xyz:
+                self._xyz.disconnect()
+            logger.info("LaiYu 后端硬件已断开")
+        except Exception as e:
+            logger.error(f"停止后端失败: {e}")
 
-  @property
-  def num_channels(self) -> int:
-    return self._num_channels
+    # ------------------------------------------------------------------ helpers
 
-  async def assigned_resource_callback(self, resource: Resource):
-    print(f"Resource {resource.name} was assigned to the liquid handler.")
+    def _plr_to_machine_coords(self, resource, offset):
+        """PLR Resource 坐标 → 机器坐标 (倒置龙门架: total_height - z, -y)"""
+        coordinate = resource.get_absolute_location(x="c", y="c")
+        x = coordinate.x + offset.x
+        y = coordinate.y + offset.y
+        z_plr = coordinate.z + offset.z
+        return x, -y, self.total_height - (z_plr + self.tip_length)
 
-  async def unassigned_resource_callback(self, name: str):
-    print(f"Resource {name} was unassigned from the liquid handler.")
+    def _pipette_aspirate(self, volume: float, flow_rate: float):
+        self._pipette_ctrl.pipette.set_max_speed(flow_rate)
+        res = self._pipette_ctrl.pipette.aspirate(volume=volume)
+        if not res:
+            logger.error(f"吸取失败，当前体积: {self._pipette_ctrl.current_volume}")
+            return
+        self._pipette_ctrl.current_volume += volume
 
-  async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int], **backend_kwargs):
-    print("Picking up tips:")
-    # print(ops.tip)
-    header = (
-      f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
-      f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
-      f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
-      f"{'tip type':<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
-      f"{'max volume (µL)':<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
-      f"{'fitting depth (mm)':<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
-      f"{'tip length (mm)':<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
-      # f"{'pickup method':<{ChatterboxBackend._pickup_method_length}} "
-      f"{'filter':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
-    )
-    # print(header)
+    def _pipette_dispense(self, volume: float, flow_rate: float):
+        self._pipette_ctrl.pipette.set_max_speed(flow_rate)
+        res = self._pipette_ctrl.pipette.dispense(volume=volume)
+        if not res:
+            logger.error(f"排液失败，当前体积: {self._pipette_ctrl.current_volume}")
+            return
+        self._pipette_ctrl.current_volume -= volume
 
-    for op, channel in zip(ops, use_channels):
-      offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}"
-      row = (
-        f"  p{channel}: "
-        f"{op.resource.name[-30:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
-        f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
-        f"{op.tip.__class__.__name__:<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
-        f"{op.tip.maximal_volume:<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
-        f"{op.tip.fitting_depth:<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
-        f"{op.tip.total_tip_length:<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
-        # f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
-        f"{'Yes' if op.tip.has_filter else 'No':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
-      )
-      # print(row)
-      # print(op.resource.get_absolute_location())
-    
-    self.tip_length = ops[0].tip.total_tip_length
-    coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
-    offset_xyz = ops[0].offset
-    x = coordinate.x + offset_xyz.x
-    y = coordinate.y + offset_xyz.y
-    z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
-    # print("moving")
-    self.hardware_interface._update_tip_status()
-    if self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED:
-        print("已有枪头，无需重复拾取")
-        return
-    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
-    self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height,speed=100)
-    # self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "pick",channels=use_channels)
-    #   goback()
+    # ------------------------------------------------------------------ properties
 
+    def serialize(self) -> dict:
+        return {**super().serialize(), "num_channels": self.num_channels}
 
+    @property
+    def num_channels(self) -> int:
+        return self._num_channels
 
+    # ------------------------------------------------------------------ resource callbacks
 
-  async def drop_tips(self, ops: List[Drop], use_channels: List[int], **backend_kwargs):
-    print("Dropping tips:")
-    header = (
-      f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
-      f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
-      f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
-      f"{'tip type':<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
-      f"{'max volume (µL)':<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
-      f"{'fitting depth (mm)':<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
-      f"{'tip length (mm)':<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
-      # f"{'pickup method':<{ChatterboxBackend._pickup_method_length}} "
-      f"{'filter':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
-    )
-    # print(header)
+    async def assigned_resource_callback(self, resource: Resource):
+        logger.info(f"Resource {resource.name} was assigned to the liquid handler.")
 
-    for op, channel in zip(ops, use_channels):
-      offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}"
-      row = (
-        f"  p{channel}: "
-        f"{op.resource.name[-30:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
-        f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
-        f"{op.tip.__class__.__name__:<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
-        f"{op.tip.maximal_volume:<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
-        f"{op.tip.fitting_depth:<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
-        f"{op.tip.total_tip_length:<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
-        # f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
-        f"{'Yes' if op.tip.has_filter else 'No':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
-      )
-      # print(row)
+    async def unassigned_resource_callback(self, name: str):
+        logger.info(f"Resource {name} was unassigned from the liquid handler.")
 
-    coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
-    offset_xyz = ops[0].offset
-    x = coordinate.x + offset_xyz.x
-    y = coordinate.y + offset_xyz.y
-    z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z -20
-    # print(x, y, z)
-    # print("moving")
-    self.hardware_interface._update_tip_status()
-    if self.hardware_interface.tip_status == TipStatus.NO_TIP:
-        print("无枪头，无需丢弃")
-        return
-    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
-    self.hardware_interface.eject_tip
-    self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height)  
+    # ------------------------------------------------------------------ pick_up_tips
 
-  async def aspirate(
-    self,
-    ops: List[SingleChannelAspiration],
-    use_channels: List[int],
-    **backend_kwargs,
-  ):
-    print("Aspirating:")
-    header = (
-      f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
-      f"{'vol(ul)':<{UniLiquidHandlerLaiyuBackend._vol_length}} "
-      f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
-      f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
-      f"{'flow rate':<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
-      f"{'blowout':<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
-      f"{'lld_z':<{UniLiquidHandlerLaiyuBackend._lld_z_length}}  "
-      # f"{'liquids':<20}" # TODO: add liquids
-    )
-    for key in backend_kwargs:
-      header += f"{key:<{UniLiquidHandlerLaiyuBackend._kwargs_length}} "[-16:]
-    # print(header)
+    async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int], **backend_kwargs):
+        tip = ops[0].tip
+        self.tip_length = tip.total_tip_length
+        x, y, z_top = self._plr_to_machine_coords(ops[0].resource, ops[0].offset)
 
-    for o, p in zip(ops, use_channels):
-      offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
-      row = (
-        f"  p{p}: "
-        f"{o.volume:<{UniLiquidHandlerLaiyuBackend._vol_length}} "
-        f"{o.resource.name[-20:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
-        f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
-        f"{str(o.flow_rate):<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
-        f"{str(o.blow_out_air_volume):<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
-        f"{str(o.liquid_height):<{UniLiquidHandlerLaiyuBackend._lld_z_length}} "
-        # f"{o.liquids if o.liquids is not None else 'none'}"
-      )
-      for key, value in backend_kwargs.items():
-        if isinstance(value, list) and all(isinstance(v, bool) for v in value):
-          value = "".join("T" if v else "F" for v in value)
-        if isinstance(value, list):
-          value = "".join(map(str, value))
-        row += f" {value:<15}"
-      # print(row)
-    coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
-    offset_xyz = ops[0].offset
-    x = coordinate.x + offset_xyz.x
-    y = coordinate.y + offset_xyz.y
-    z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
-    # print(x, y, z)
-    # print("moving")
+        self._pipette_ctrl._update_tip_status()
+        if self._pipette_ctrl.tip_status == TipStatus.TIP_ATTACHED:
+            logger.warning("已有枪头，无需重复拾取")
+            return
 
-    # 判断枪头是否存在
-    self.hardware_interface._update_tip_status()
-    if not self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED:
-        print("无枪头，无法吸液")
-        return
-    # 判断吸液量是否超过枪头容量
-    flow_rate = backend_kwargs["flow_rate"] if "flow_rate" in backend_kwargs else 500
-    blow_out_air_volume = backend_kwargs["blow_out_air_volume"] if "blow_out_air_volume" in backend_kwargs else 0
-    if self.hardware_interface.current_volume + ops[0].volume + blow_out_air_volume > self.hardware_interface.max_volume:
-        self.hardware_interface.logger.error(f"吸液量超过枪头容量: {self.hardware_interface.current_volume + ops[0].volume} > {self.hardware_interface.max_volume}")
-        return
+        try:
+            # 1. 移到枪头正上方
+            self._xyz.move_to_work_coord_safe(x=x, y=y, z=z_top, speed=200)
+            # 2. 下压到套枪头深度（fitting_depth 是枪头套入长度）
+            z_pickup = z_top + tip.fitting_depth
+            self._xyz.move_to_work_coord_safe(z=z_pickup, speed=100)
+            # 3. 退回安全高度
+            self._xyz.move_to_work_coord_safe(
+                z=self._xyz.machine_config.safe_z_height, speed=100
+            )
+        except Exception as e:
+            logger.error(f"pick_up_tips 移动失败: {e}")
+            raise
 
-    # 移动到吸液位置
-    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
-    self.pipette_aspirate(volume=ops[0].volume, flow_rate=flow_rate)
+    # ------------------------------------------------------------------ drop_tips
 
+    async def drop_tips(self, ops: List[Drop], use_channels: List[int], **backend_kwargs):
+        x, y, z = self._plr_to_machine_coords(ops[0].resource, ops[0].offset)
+        z -= 20  # 额外下移补偿
 
-    self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height)
-    if blow_out_air_volume >0: 
-        self.pipette_aspirate(volume=blow_out_air_volume, flow_rate=flow_rate)
+        self._pipette_ctrl._update_tip_status()
+        if self._pipette_ctrl.tip_status == TipStatus.NO_TIP:
+            logger.warning("无枪头，无需丢弃")
+            return
 
+        try:
+            self._xyz.move_to_work_coord_safe(x=x, y=y, z=z, speed=200)
+            self._pipette_ctrl.eject_tip()  # 修复: 原来缺少 ()
+            self._xyz.move_to_work_coord_safe(
+                z=self._xyz.machine_config.safe_z_height
+            )
+        except Exception as e:
+            logger.error(f"drop_tips 失败: {e}")
+            raise
 
+    # ------------------------------------------------------------------ aspirate
 
+    async def aspirate(
+        self,
+        ops: List[SingleChannelAspiration],
+        use_channels: List[int],
+        **backend_kwargs,
+    ):
+        x, y, z = self._plr_to_machine_coords(ops[0].resource, ops[0].offset)
 
-  async def dispense(
-    self,
-    ops: List[SingleChannelDispense],
-    use_channels: List[int],
-    **backend_kwargs,
-  ):
-    # print("Dispensing:")
-    header = (
-      f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
-      f"{'vol(ul)':<{UniLiquidHandlerLaiyuBackend._vol_length}} "
-      f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
-      f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
-      f"{'flow rate':<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
-      f"{'blowout':<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
-      f"{'lld_z':<{UniLiquidHandlerLaiyuBackend._lld_z_length}}  "
-      # f"{'liquids':<20}" # TODO: add liquids
-    )
-    for key in backend_kwargs:
-      header += f"{key:<{UniLiquidHandlerLaiyuBackend._kwargs_length}} "[-16:]
-    # print(header)
+        self._pipette_ctrl._update_tip_status()
+        if self._pipette_ctrl.tip_status != TipStatus.TIP_ATTACHED:
+            raise RuntimeError("无枪头，无法吸液")
 
-    for o, p in zip(ops, use_channels):
-      offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
-      row = (
-        f"  p{p}: "
-        f"{o.volume:<{UniLiquidHandlerLaiyuBackend._vol_length}} "
-        f"{o.resource.name[-20:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
-        f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
-        f"{str(o.flow_rate):<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
-        f"{str(o.blow_out_air_volume):<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
-        f"{str(o.liquid_height):<{UniLiquidHandlerLaiyuBackend._lld_z_length}} "
-        # f"{o.liquids if o.liquids is not None else 'none'}"
-      )
-      for key, value in backend_kwargs.items():
-        if isinstance(value, list) and all(isinstance(v, bool) for v in value):
-          value = "".join("T" if v else "F" for v in value)
-        if isinstance(value, list):
-          value = "".join(map(str, value))
-        row += f" {value:<{UniLiquidHandlerLaiyuBackend._kwargs_length}}"
-      # print(row)
-    coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
-    offset_xyz = ops[0].offset
-    x = coordinate.x + offset_xyz.x
-    y = coordinate.y + offset_xyz.y
-    z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
-    # print(x, y, z)
-    # print("moving")
+        flow_rate = backend_kwargs.get("flow_rate", 500)
+        blow_out_air_volume = backend_kwargs.get("blow_out_air_volume", 0)
 
-    # 判断枪头是否存在
-    self.hardware_interface._update_tip_status()
-    if not self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED:
-        print("无枪头，无法排液")
-        return
-    # 判断排液量是否超过枪头容量
-    flow_rate = backend_kwargs["flow_rate"] if "flow_rate" in backend_kwargs else 500
-    blow_out_air_volume = backend_kwargs["blow_out_air_volume"] if "blow_out_air_volume" in backend_kwargs else 0
-    if self.hardware_interface.current_volume - ops[0].volume - blow_out_air_volume < 0:
-        self.hardware_interface.logger.error(f"排液量超过枪头容量: {self.hardware_interface.current_volume - ops[0].volume - blow_out_air_volume} < 0")
-        return
+        if (
+            self._pipette_ctrl.current_volume + ops[0].volume + blow_out_air_volume
+            > self._pipette_ctrl.max_volume
+        ):
+            raise RuntimeError(
+                f"吸液量超过枪头容量: "
+                f"{self._pipette_ctrl.current_volume + ops[0].volume} > {self._pipette_ctrl.max_volume}"
+            )
 
-    
-    # 移动到排液位置  
-    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
-    self.pipette_dispense(volume=ops[0].volume, flow_rate=flow_rate)
+        self._xyz.move_to_work_coord_safe(x=x, y=y, z=z, speed=200)
+        self._pipette_aspirate(volume=ops[0].volume, flow_rate=flow_rate)
 
+        self._xyz.move_to_work_coord_safe(
+            z=self._xyz.machine_config.safe_z_height
+        )
+        if blow_out_air_volume > 0:
+            self._pipette_aspirate(volume=blow_out_air_volume, flow_rate=flow_rate)
 
-    self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height)
-    if blow_out_air_volume > 0: 
-        self.pipette_dispense(volume=blow_out_air_volume, flow_rate=flow_rate)
-    # self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "",channels=use_channels)
+    # ------------------------------------------------------------------ dispense
 
-  async def pick_up_tips96(self, pickup: PickupTipRack, **backend_kwargs):
-    print(f"Picking up tips from {pickup.resource.name}.")
+    async def dispense(
+        self,
+        ops: List[SingleChannelDispense],
+        use_channels: List[int],
+        **backend_kwargs,
+    ):
+        x, y, z = self._plr_to_machine_coords(ops[0].resource, ops[0].offset)
 
-  async def drop_tips96(self, drop: DropTipRack, **backend_kwargs):
-    print(f"Dropping tips to {drop.resource.name}.")
+        self._pipette_ctrl._update_tip_status()
+        if self._pipette_ctrl.tip_status != TipStatus.TIP_ATTACHED:
+            raise RuntimeError("无枪头，无法排液")
 
-  async def aspirate96(
-    self, aspiration: Union[MultiHeadAspirationPlate, MultiHeadAspirationContainer]
-  ):
-    if isinstance(aspiration, MultiHeadAspirationPlate):
-      resource = aspiration.wells[0].parent
-    else:
-      resource = aspiration.container
-    print(f"Aspirating {aspiration.volume} from {resource}.")
+        flow_rate = backend_kwargs.get("flow_rate", 500)
+        blow_out_air_volume = backend_kwargs.get("blow_out_air_volume", 0)
 
-  async def dispense96(self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]):
-    if isinstance(dispense, MultiHeadDispensePlate):
-      resource = dispense.wells[0].parent
-    else:
-      resource = dispense.container
-    print(f"Dispensing {dispense.volume} to {resource}.")
+        if (
+            self._pipette_ctrl.current_volume - ops[0].volume - blow_out_air_volume < 0
+        ):
+            raise RuntimeError(
+                f"排液量超过当前体积: "
+                f"{self._pipette_ctrl.current_volume - ops[0].volume - blow_out_air_volume} < 0"
+            )
 
-  async def pick_up_resource(self, pickup: ResourcePickup):
-    print(f"Picking up resource: {pickup}")
+        self._xyz.move_to_work_coord_safe(x=x, y=y, z=z, speed=200)
+        self._pipette_dispense(volume=ops[0].volume, flow_rate=flow_rate)
 
-  async def move_picked_up_resource(self, move: ResourceMove):
-    print(f"Moving picked up resource: {move}")
+        self._xyz.move_to_work_coord_safe(
+            z=self._xyz.machine_config.safe_z_height
+        )
+        if blow_out_air_volume > 0:
+            self._pipette_dispense(volume=blow_out_air_volume, flow_rate=flow_rate)
 
-  async def drop_resource(self, drop: ResourceDrop):
-    print(f"Dropping resource: {drop}")
+    # ------------------------------------------------------------------ 96-channel stubs
 
-  def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool:
-    return True
-    
+    async def pick_up_tips96(self, pickup: PickupTipRack, **backend_kwargs):
+        logger.info(f"Picking up tips from {pickup.resource.name}.")
+
+    async def drop_tips96(self, drop: DropTipRack, **backend_kwargs):
+        logger.info(f"Dropping tips to {drop.resource.name}.")
+
+    async def aspirate96(
+        self, aspiration: Union[MultiHeadAspirationPlate, MultiHeadAspirationContainer]
+    ):
+        if isinstance(aspiration, MultiHeadAspirationPlate):
+            resource = aspiration.wells[0].parent
+        else:
+            resource = aspiration.container
+        logger.info(f"Aspirating {aspiration.volume} from {resource}.")
+
+    async def dispense96(
+        self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]
+    ):
+        if isinstance(dispense, MultiHeadDispensePlate):
+            resource = dispense.wells[0].parent
+        else:
+            resource = dispense.container
+        logger.info(f"Dispensing {dispense.volume} to {resource}.")
+
+    async def pick_up_resource(self, pickup: ResourcePickup):
+        logger.info(f"Picking up resource: {pickup}")
+
+    async def move_picked_up_resource(self, move: ResourceMove):
+        logger.info(f"Moving picked up resource: {move}")
+
+    async def drop_resource(self, drop: ResourceDrop):
+        logger.info(f"Dropping resource: {drop}")
+
+    def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool:
+        return True

unilabos/devices/liquid_handling/laiyu/controllers/pipette_controller.py

@@ -5,21 +5,16 @@
 封装SOPA移液器的高级控制功能
 """
 
-# 添加项目根目录到Python路径以解决模块导入问题
 import sys
 import os
-from tkinter import N
+
+_current_file = os.path.abspath(__file__)
+_project_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(_current_file)))))
+if _project_root not in sys.path:
+    sys.path.insert(0, _project_root)
 
 from unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver import ModbusException
 
-# 无论如何都添加项目根目录到路径
-current_file = os.path.abspath(__file__)
-# 从 .../Uni-Lab-OS/unilabos/devices/LaiYu_Liquid/controllers/pipette_controller.py
-# 向上5级到 .../Uni-Lab-OS
-project_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(current_file)))))
-# 强制添加项目根目录到sys.path的开头
-sys.path.insert(0, project_root)
-
 import time
 import logging
 from typing import Optional, List, Dict, Tuple
@@ -153,7 +148,7 @@ class PipetteController:
                 logger.error("移液器连接失败")
                 return False
             logger.info("移液器连接成功")
-            
+
             # 连接XYZ步进电机控制器（如果提供了端口）
             if self.xyz_port != self.pipette_port:
                 try:
@@ -172,24 +167,62 @@ class PipetteController:
                 try:
                     self.xyz_controller = XYZController(self.xyz_port, auto_connect=False)
                     self.xyz_controller.serial_conn = self.pipette.serial_port
+                    self.xyz_controller.serial_lock = self.pipette.lock
                     self.xyz_controller.is_connected = True
+                    logger.info("XYZ控制器与移液器共享串口和互斥锁")
                 except Exception as e:
-                    logger.info("未配置XYZ步进电机端口，跳过运动控制器连接")
-            
+                    logger.warning(f"共享端口 XYZ 控制器创建失败: {e}")
+                    self.xyz_controller = None
+                    self.xyz_connected = False
+
             return True
         except Exception as e:
             logger.error(f"设备连接失败: {e}")
             return False
 
+    def connect_shared(self, serial_conn, serial_lock, xyz_controller: XYZController) -> bool:
+        """使用已连接的串口和XYZ控制器（路径 B 模式：XYZ 先开串口，移液器共享）
+
+        Args:
+            serial_conn: 已打开的串口连接（来自 XYZController）
+            serial_lock: 串口互斥锁（来自 XYZController）
+            xyz_controller: 已连接的 XYZController 实例
+        """
+        try:
+            self.pipette.serial_port = serial_conn
+            self.pipette.lock = serial_lock
+            self.pipette.is_connected = True
+
+            self.xyz_controller = xyz_controller
+            self.xyz_connected = True
+
+            logger.info("移液控制器已通过 connect_shared 共享 XYZ 串口")
+            return True
+        except Exception as e:
+            logger.error(f"connect_shared 失败: {e}")
+            return False
+
+    def disconnect_shared(self) -> None:
+        """释放共享串口引用（与 connect_shared 对称）。
+
+        注意：不关闭串口本身，串口由 XYZController 负责关闭。
+        """
+        try:
+            self.pipette.serial_port = None
+            self.pipette.lock = None
+            self.pipette.is_connected = False
+            self.xyz_controller = None
+            self.xyz_connected = False
+            logger.info("移液控制器已释放共享串口引用")
+        except Exception as e:
+            logger.error(f"disconnect_shared 失败: {e}")
+
     def initialize(self) -> bool:
         """初始化移液器"""
         try:
             if self.pipette.initialize():
                 logger.info("移液器初始化成功")
-                # 检查枪头状态
                 self._update_tip_status()
-                self.xyz_controller.home_all_axes()
-                self.xyz_controller.move_to_work_coord_safe(x=0, y=-150, z=0)
                 return True
             return False
         except Exception as e:
@@ -198,56 +231,58 @@ class PipetteController:
 
     def disconnect(self):
         """断开连接"""
-        # 断开移液器连接
+        if self.xyz_controller and self.xyz_connected:
+            if self.xyz_port != self.pipette_port:
+                try:
+                    self.xyz_controller.disconnect()
+                    logger.info("XYZ 步进电机已断开")
+                except Exception as e:
+                    logger.error(f"断开 XYZ 步进电机失败: {e}")
+            else:
+                self.xyz_controller.serial_conn = None
+            self.xyz_connected = False
+            self.xyz_controller = None
+
         self.pipette.disconnect()
         logger.info("移液器已断开")
-        
-        # 断开 XYZ 步进电机连接
-        if self.xyz_controller and self.xyz_connected:
-            try:
-                self.xyz_controller.disconnect()
-                self.xyz_connected = False
-                logger.info("XYZ 步进电机已断开")
-            except Exception as e:
-                logger.error(f"断开 XYZ 步进电机失败: {e}")
 
     def _check_xyz_safety(self, axis: MotorAxis, target_position: int) -> bool:
         """
         检查 XYZ 轴移动的安全性
-        
+
         Args:
             axis: 电机轴
             target_position: 目标位置(步数)
-            
+
         Returns:
             是否安全
         """
         try:
             # 获取当前电机状态
             motor_position = self.xyz_controller.get_motor_status(axis)
-            
+
             # 检查电机状态是否正常 (不是碰撞停止或限位停止)
-            if motor_position.status in [MotorStatus.COLLISION_STOP, 
-                                       MotorStatus.FORWARD_LIMIT_STOP, 
+            if motor_position.status in [MotorStatus.COLLISION_STOP,
+                                       MotorStatus.FORWARD_LIMIT_STOP,
                                        MotorStatus.REVERSE_LIMIT_STOP]:
                 logger.error(f"{axis.name} 轴电机处于错误状态: {motor_position.status.name}")
                 return False
-                
+
             # 检查位置限制 (扩大安全范围以适应实际硬件)
             # 步进电机的位置范围通常很大，这里设置更合理的范围
             if target_position < -500000 or target_position > 500000:
                 logger.error(f"{axis.name} 轴目标位置超出安全范围: {target_position}")
                 return False
-                
+
             # 检查移动距离是否过大 (单次移动不超过 20000 步，约12mm)
             current_position = motor_position.steps
             move_distance = abs(target_position - current_position)
             if move_distance > 20000:
                 logger.error(f"{axis.name} 轴单次移动距离过大: {move_distance}步")
                 return False
-                
+
             return True
-            
+
         except Exception as e:
             logger.error(f"安全检查失败: {e}")
             return False
@@ -255,48 +290,48 @@ class PipetteController:
     def move_z_relative(self, distance_mm: float, speed: int = 2000, acceleration: int = 500) -> bool:
         """
         Z轴相对移动
-        
+
         Args:
             distance_mm: 移动距离(mm)，正值向下，负值向上
             speed: 移动速度(rpm)
             acceleration: 加速度(rpm/s)
-            
+
         Returns:
             移动是否成功
         """
         if not self.xyz_controller or not self.xyz_connected:
             logger.error("XYZ 步进电机未连接，无法执行移动")
             return False
-            
+
         try:
             # 参数验证
             if abs(distance_mm) > 15.0:
                 logger.error(f"移动距离过大: {distance_mm}mm，最大允许15mm")
                 return False
-                
+
             if speed < 100 or speed > 5000:
                 logger.error(f"速度参数无效: {speed}rpm，范围应为100-5000")
                 return False
-                
+
             # 获取当前 Z 轴位置
             current_status = self.xyz_controller.get_motor_status(MotorAxis.Z)
             current_z_position = current_status.steps
-            
+
             # 计算移动距离对应的步数 (1mm = 1638.4步)
             mm_to_steps = 1638.4
             move_distance_steps = int(distance_mm * mm_to_steps)
-            
+
             # 计算目标位置
             target_z_position = current_z_position + move_distance_steps
-            
+
             # 安全检查
             if not self._check_xyz_safety(MotorAxis.Z, target_z_position):
                 logger.error("Z轴移动安全检查失败")
                 return False
-            
+
             logger.info(f"Z轴相对移动: {distance_mm}mm ({move_distance_steps}步)")
             logger.info(f"当前位置: {current_z_position}步 -> 目标位置: {target_z_position}步")
-            
+
             # 执行移动
             success = self.xyz_controller.move_to_position(
                 axis=MotorAxis.Z,
@@ -305,28 +340,28 @@ class PipetteController:
                 acceleration=acceleration,
                 precision=50
             )
-            
+
             if not success:
                 logger.error("Z轴移动命令发送失败")
                 return False
-                
+
             # 等待移动完成
             if not self.xyz_controller.wait_for_completion(MotorAxis.Z, timeout=10.0):
                 logger.error("Z轴移动超时")
                 return False
-                
+
             # 验证移动结果
             final_status = self.xyz_controller.get_motor_status(MotorAxis.Z)
             final_position = final_status.steps
             position_error = abs(final_position - target_z_position)
-            
+
             logger.info(f"Z轴移动完成，最终位置: {final_position}步，误差: {position_error}步")
-            
+
             if position_error > 100:
                 logger.warning(f"Z轴位置误差较大: {position_error}步")
-                
+
             return True
-            
+
         except ModbusException as e:
             logger.error(f"Modbus通信错误: {e}")
             return False
@@ -337,21 +372,20 @@ class PipetteController:
     def emergency_stop(self) -> bool:
         """
         紧急停止所有运动
-        
+
         Returns:
             停止是否成功
         """
         success = True
-        
-        # 停止移液器操作
+
         try:
-            if self.pipette and self.connected:
-                # 这里可以添加移液器的紧急停止逻辑
+            if self.pipette and self.pipette.is_connected:
+                self.pipette.emergency_stop()
                 logger.info("移液器紧急停止")
         except Exception as e:
             logger.error(f"移液器紧急停止失败: {e}")
             success = False
-            
+
         # 停止 XYZ 轴运动
         try:
             if self.xyz_controller and self.xyz_connected:
@@ -360,7 +394,7 @@ class PipetteController:
         except Exception as e:
             logger.error(f"XYZ 轴紧急停止失败: {e}")
             success = False
-            
+
         return success
 
     def pickup_tip(self) -> bool:
@@ -376,7 +410,7 @@ class PipetteController:
             return True
 
         logger.info("开始装载枪头 - Z轴向下移动10mm")
-        
+
         # 使用相对移动方法，向下移动10mm
         if self.move_z_relative(distance_mm=10.0, speed=2000, acceleration=500):
             # 更新枪头状态
@@ -688,31 +722,31 @@ class PipetteController:
 if __name__ == "__main__":
     # 配置日志
     import logging
-    
+
     # 设置日志级别
     logging.basicConfig(
         level=logging.INFO,
         format='%(asctime)s - %(name)s - %(levelname)s - %(message)s'
     )
-    
+
     def interactive_test():
         """交互式测试模式 - 适用于已连接的设备"""
         print("\n" + "=" * 60)
         print("🧪 移液器交互式测试模式")
         print("=" * 60)
-        
+
         # 获取用户输入的连接参数
         print("\n📡 设备连接配置:")
         port = input("请输入移液器串口端口 (默认: /dev/ttyUSB_CH340): ").strip() or "/dev/ttyUSB_CH340"
         address_input = input("请输入移液器设备地址 (默认: 4): ").strip()
         address = int(address_input) if address_input else 4
-        
+
         # 询问是否连接 XYZ 步进电机控制器
         xyz_enable = input("是否连接 XYZ 步进电机控制器? (y/N): ").strip().lower()
         xyz_port = None
         if xyz_enable not in ['n', 'no']:
             xyz_port = input("请输入 XYZ 控制器串口端口 (默认: /dev/ttyUSB_CH340): ").strip() or "/dev/ttyUSB_CH340"
-        
+
         try:
             # 创建移液控制器实例
             if xyz_port:
@@ -721,21 +755,21 @@ if __name__ == "__main__":
             else:
                 print(f"\n🔧 创建移液控制器实例 (端口: {port}, 地址: {address})...")
                 pipette = PipetteController(port=port, address=address)
-            
+
             # 连接设备
             print("\n📞 连接移液器设备...")
             if not pipette.connect():
                 print("❌ 设备连接失败，请检查连接")
                 return
             print("✅ 设备连接成功")
-            
+
             # 初始化设备
             print("\n🚀 初始化设备...")
             if not pipette.initialize():
                 print("❌ 设备初始化失败")
                 return
             print("✅ 设备初始化成功")
-            
+
             # 交互式菜单
             while True:
                 print("\n" + "=" * 50)
@@ -755,9 +789,9 @@ if __name__ == "__main__":
                 print("99. 🚨 紧急停止")
                 print("0. 🚪 退出程序")
                 print("=" * 50)
-                
+
                 choice = input("\n请选择操作 (0-12, 99): ").strip()
-                
+
                 if choice == "0":
                     print("\n👋 退出程序...")
                     break
@@ -773,7 +807,7 @@ if __name__ == "__main__":
                     # print(f"    🔧 枪头使用次数: {status['statistics']['tip_count']}")
                     print(f"    ⬆️  吸液次数: {status['statistics']['aspirate_count']}")
                     print(f"    ⬇️  排液次数: {status['statistics']['dispense_count']}")
-                
+
                 elif choice == "2":
                     # 装载枪头
                     print("\n🔧 装载枪头...")
@@ -781,14 +815,14 @@ if __name__ == "__main__":
                         print("📍 使用 XYZ 控制器进行 Z 轴定位 (下移 10mm)")
                     else:
                         print("⚠️  未连接 XYZ 控制器，仅执行移液器枪头装载")
-                    
+
                     if pipette.pickup_tip():
                         print("✅ 枪头装载成功")
                         if pipette.xyz_connected:
                             print("📍 Z 轴已移动到装载位置")
                     else:
                         print("❌ 枪头装载失败")
-                
+
                 elif choice == "3":
                     # 弹出枪头
                     print("\n🗑️ 弹出枪头...")
@@ -796,7 +830,7 @@ if __name__ == "__main__":
                         print("✅ 枪头弹出成功")
                     else:
                         print("❌ 枪头弹出失败")
-                
+
                 elif choice == "4":
                     # 吸液操作
                     try:
@@ -810,7 +844,7 @@ if __name__ == "__main__":
                             print("❌ 吸液失败")
                     except ValueError:
                         print("❌ 请输入有效的数字")
-                
+
                 elif choice == "5":
                     # 排液操作
                     try:
@@ -824,7 +858,7 @@ if __name__ == "__main__":
                             print("❌ 排液失败")
                     except ValueError:
                         print("❌ 请输入有效的数字")
-                
+
                 elif choice == "6":
                     # 混合操作
                     try:
@@ -838,7 +872,7 @@ if __name__ == "__main__":
                             print("❌ 混合失败")
                     except ValueError:
                         print("❌ 请输入有效的数字")
-                
+
                 elif choice == "7":
                     # 液体转移
                     try:
@@ -846,7 +880,7 @@ if __name__ == "__main__":
                         source = input("源孔位 (可选, 如A1): ").strip() or None
                         dest = input("目标孔位 (可选, 如B1): ").strip() or None
                         new_tip = input("是否使用新枪头? (y/n, 默认y): ").strip().lower() != 'n'
-                        
+
                         print(f"\n🔄 执行液体转移 ({volume}ul)...")
                         if pipette.transfer(volume=volume, source_well=source, dest_well=dest, new_tip=new_tip):
                             print("✅ 液体转移完成")
@@ -854,7 +888,7 @@ if __name__ == "__main__":
                             print("❌ 液体转移失败")
                     except ValueError:
                         print("❌ 请输入有效的数字")
-                
+
                 elif choice == "8":
                     # 设置液体类型
                     print("\n🧪 可用液体类型:")
@@ -864,16 +898,16 @@ if __name__ == "__main__":
                         "3": (LiquidClass.VISCOUS, "粘稠液体"),
                         "4": (LiquidClass.VOLATILE, "挥发性液体")
                     }
-                    
+
                     for key, (liquid_class, description) in liquid_options.items():
                         print(f"  {key}. {description}")
-                    
+
                     liquid_choice = input("请选择液体类型 (1-4): ").strip()
                     if liquid_choice in liquid_options:
                         liquid_class, description = liquid_options[liquid_choice]
                         pipette.set_liquid_class(liquid_class)
                         print(f"✅ 液体类型设置为: {description}")
-                        
+
                         # 显示参数
                         params = pipette.liquid_params
                         print(f"📋 参数设置:")
@@ -883,7 +917,7 @@ if __name__ == "__main__":
                         print(f"  💧 预润湿: {'是' if params.pre_wet else '否'}")
                     else:
                         print("❌ 无效选择")
-                
+
                 elif choice == "9":
                     # 自定义参数
                     try:
@@ -892,19 +926,19 @@ if __name__ == "__main__":
                         dispense_speed = input("排液速度 (默认800): ").strip()
                         air_gap = input("空气间隙 (ul, 默认10.0): ").strip()
                         pre_wet = input("预润湿 (y/n, 默认n): ").strip().lower() == 'y'
-                        
+
                         custom_params = LiquidParameters(
                             aspirate_speed=int(aspirate_speed) if aspirate_speed else 500,
                             dispense_speed=int(dispense_speed) if dispense_speed else 800,
                             air_gap=float(air_gap) if air_gap else 10.0,
                             pre_wet=pre_wet
                         )
-                        
+
                         pipette.set_custom_parameters(custom_params)
                         print("✅ 自定义参数设置完成")
                     except ValueError:
                         print("❌ 请输入有效的数字")
-                
+
                 elif choice == "10":
                     # 校准体积
                     try:
@@ -914,12 +948,12 @@ if __name__ == "__main__":
                         print(f"✅ 校准完成，校准系数: {actual/expected:.3f}")
                     except ValueError:
                         print("❌ 请输入有效的数字")
-                
+
                 elif choice == "11":
                     # 重置统计
                     pipette.reset_statistics()
                     print("✅ 统计信息已重置")
-                
+
                 elif choice == "12":
                     # 液体类型测试
                     print("\n🧪 液体类型参数对比:")
@@ -929,7 +963,7 @@ if __name__ == "__main__":
                         (LiquidClass.VISCOUS, "粘稠液体"),
                         (LiquidClass.VOLATILE, "挥发性液体")
                     ]
-                    
+
                     for liquid_class, description in liquid_tests:
                         params = pipette.LIQUID_PARAMS[liquid_class]
                         print(f"\n📋 {description} ({liquid_class.value}):")
@@ -938,7 +972,7 @@ if __name__ == "__main__":
                         print(f"  💨 空气间隙: {params.air_gap}ul")
                         print(f"  💧 预润湿: {'是' if params.pre_wet else '否'}")
                         print(f"  ⏱️ 吸液后延时: {params.delay_after_aspirate}s")
-                
+
                 elif choice == "99":
                     # 紧急停止
                     print("\n🚨 执行紧急停止...")
@@ -949,19 +983,19 @@ if __name__ == "__main__":
                     else:
                         print("❌ 紧急停止执行失败")
                         print("⚠️ 请手动检查设备状态并采取必要措施")
-                    
+
                     # 紧急停止后询问是否继续
                     continue_choice = input("\n是否继续操作？(y/n): ").strip().lower()
                     if continue_choice != 'y':
                         print("🚪 退出程序")
                         break
-                
+
                 else:
                     print("❌ 无效选择，请重新输入")
-                
+
                 # 等待用户确认继续
                 input("\n按回车键继续...")
-            
+
         except KeyboardInterrupt:
             print("\n\n⚠️ 用户中断操作")
         except Exception as e:
@@ -974,19 +1008,19 @@ if __name__ == "__main__":
                 print("✅ 连接已断开")
             except:
                 print("⚠️ 断开连接时出现问题")
-    
+
     def demo_test():
         """演示测试模式 - 完整功能演示"""
         print("\n" + "=" * 60)
         print("🎬 移液控制器演示测试")
         print("=" * 60)
-        
+
         try:
             # 创建移液控制器实例
             print("1. 🔧 创建移液控制器实例...")
             pipette = PipetteController(port="/dev/ttyUSB0", address=4)
             print("✅ 移液控制器实例创建成功")
-            
+
             # 连接设备
             print("\n2. 📞 连接移液器设备...")
             if pipette.connect():
@@ -994,7 +1028,7 @@ if __name__ == "__main__":
             else:
                 print("❌ 设备连接失败")
                 return False
-            
+
             # 初始化设备
             print("\n3. 🚀 初始化设备...")
             if pipette.initialize():
@@ -1002,19 +1036,19 @@ if __name__ == "__main__":
             else:
                 print("❌ 设备初始化失败")
                 return False
-            
+
             # 装载枪头
             print("\n4. 🔧 装载枪头...")
             if pipette.pickup_tip():
                 print("✅ 枪头装载成功")
             else:
                 print("❌ 枪头装载失败")
-            
+
             # 设置液体类型
             print("\n5. 🧪 设置液体类型为血清...")
             pipette.set_liquid_class(LiquidClass.SERUM)
             print("✅ 液体类型设置完成")
-            
+
             # 吸液操作
             print("\n6. 💧 执行吸液操作...")
             volume_to_aspirate = 100.0
@@ -1023,7 +1057,7 @@ if __name__ == "__main__":
                 print(f"📊 当前体积: {pipette.current_volume}ul")
             else:
                 print("❌ 吸液失败")
-            
+
             # 排液操作
             print("\n7. 💦 执行排液操作...")
             volume_to_dispense = 50.0
@@ -1032,14 +1066,14 @@ if __name__ == "__main__":
                 print(f"📊 剩余体积: {pipette.current_volume}ul")
             else:
                 print("❌ 排液失败")
-            
+
             # 混合操作
             print("\n8. 🌀 执行混合操作...")
             if pipette.mix(cycles=3, volume=30.0):
                 print("✅ 混合完成")
             else:
                 print("❌ 混合失败")
-            
+
             # 获取状态信息
             print("\n9. 📊 获取设备状态...")
             status = pipette.get_status()
@@ -1052,30 +1086,30 @@ if __name__ == "__main__":
             # print(f"    🔧 枪头使用次数: {status['statistics']['tip_count']}")
             print(f"    ⬆️ 吸液次数: {status['statistics']['aspirate_count']}")
             print(f"    ⬇️ 排液次数: {status['statistics']['dispense_count']}")
-            
+
             # 弹出枪头
             print("\n10. 🗑️ 弹出枪头...")
             if pipette.eject_tip():
                 print("✅ 枪头弹出成功")
             else:
                 print("❌ 枪头弹出失败")
-            
+
             print("\n" + "=" * 60)
             print("✅ 移液控制器演示测试完成")
             print("=" * 60)
-            
+
             return True
-            
+
         except Exception as e:
             print(f"\n❌ 测试过程中发生异常: {e}")
             return False
-            
+
         finally:
             # 断开连接
             print("\n📞 断开连接...")
             pipette.disconnect()
             print("✅ 连接已断开")
-    
+
     # 主程序入口
     print("🧪 移液器控制器测试程序")
     print("=" * 40)
@@ -1083,9 +1117,9 @@ if __name__ == "__main__":
     print("2. 🎬 演示测试")
     print("0. 🚪 退出")
     print("=" * 40)
-    
+
     mode = input("请选择测试模式 (0-2): ").strip()
-    
+
     if mode == "1":
         interactive_test()
     elif mode == "2":
@@ -1094,7 +1128,7 @@ if __name__ == "__main__":
         print("👋 再见！")
     else:
         print("❌ 无效选择")
-    
+
     print("\n🎉 程序结束！")
     print("\n💡 使用说明:")
     print("1. 确保移液器硬件已正确连接")

unilabos/devices/liquid_handling/laiyu/laiyu.py

@@ -13,7 +13,7 @@ from pylabrobot.liquid_handling import (
     SingleChannelDispense,
     PickupTipRack,
     DropTipRack,
-    MultiHeadAspirationPlate, ChatterBoxBackend, LiquidHandlerChatterboxBackend,
+    MultiHeadAspirationPlate,
 )
 from pylabrobot.liquid_handling.standard import (
     MultiHeadAspirationContainer,
@@ -41,12 +41,6 @@ class TransformXYZDeck(Deck):
         super().__init__(name, size_x, size_y, size_z)
         self.name = name
 
-class TransformXYZBackend(LiquidHandlerBackend):
-    def __init__(self, name: str, host: str, port: int, timeout: float):
-        super().__init__()
-        self.host = host
-        self.port = port
-        self.timeout = timeout
 
 class TransformXYZRvizBackend(UniLiquidHandlerRvizBackend):
     def __init__(self, name: str, channel_num: int):
@@ -86,7 +80,9 @@ class TransformXYZContainer(Plate, TipRack):
 class TransformXYZHandler(LiquidHandlerAbstract):
     support_touch_tip = False
 
-    def __init__(self, deck: Deck, host: str = "127.0.0.1", port: int = 9999, timeout: float = 10.0, channel_num=1, simulator=True, **backend_kwargs):
+    def __init__(self, deck: Deck, host: str = "127.0.0.1", port: int = 9999, timeout: float = 10.0, channel_num=1, simulator=True,
+                 serial_port: str = "/dev/ttyUSB0", baudrate: int = 115200, pipette_address: int = 4,
+                 total_height: float = 310, **backend_kwargs):
         # Handle case where deck is passed as a dict (from serialization)
         if isinstance(deck, dict):
             # Try to create a TransformXYZDeck from the dict
@@ -102,11 +98,22 @@ class TransformXYZHandler(LiquidHandlerAbstract):
                 deck = TransformXYZDeck(name='deck', size_x=100, size_y=100, size_z=100)
 
         if simulator:
-            self._unilabos_backend = TransformXYZRvizBackend(name="laiyu",channel_num=channel_num)
+            self._unilabos_backend = TransformXYZRvizBackend(name="laiyu", channel_num=channel_num)
         else:
-            self._unilabos_backend = TransformXYZBackend(name="laiyu",host=host, port=port, timeout=timeout)
+            self._unilabos_backend = UniLiquidHandlerLaiyuBackend(
+                num_channels=channel_num,
+                total_height=total_height,
+                port=serial_port,
+                baudrate=baudrate,
+                pipette_address=pipette_address,
+            )
         super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num)
 
+    def post_init(self, ros_node):
+        super().post_init(ros_node)
+        if hasattr(self._unilabos_backend, 'post_init'):
+            self._unilabos_backend.post_init(ros_node)
+
     async def add_liquid(
         self,
         asp_vols: Union[List[float], float],
@@ -128,7 +135,25 @@ class TransformXYZHandler(LiquidHandlerAbstract):
         mix_liquid_height: Optional[float] = None,
         none_keys: List[str] = [],
     ):
-        pass
+        return await super().add_liquid(
+            asp_vols=asp_vols,
+            dis_vols=dis_vols,
+            reagent_sources=reagent_sources,
+            targets=targets,
+            use_channels=use_channels,
+            flow_rates=flow_rates,
+            offsets=offsets,
+            liquid_height=liquid_height,
+            blow_out_air_volume=blow_out_air_volume,
+            spread=spread,
+            is_96_well=is_96_well,
+            delays=delays,
+            mix_time=mix_time,
+            mix_vol=mix_vol,
+            mix_rate=mix_rate,
+            mix_liquid_height=mix_liquid_height,
+            none_keys=none_keys,
+        )
 
     async def aspirate(
         self,
@@ -142,7 +167,17 @@ class TransformXYZHandler(LiquidHandlerAbstract):
         spread: Literal["wide", "tight", "custom"] = "wide",
         **backend_kwargs,
     ):
-        pass
+        return await super().aspirate(
+            resources=resources,
+            vols=vols,
+            use_channels=use_channels,
+            flow_rates=flow_rates,
+            offsets=offsets,
+            liquid_height=liquid_height,
+            blow_out_air_volume=blow_out_air_volume,
+            spread=spread,
+            **backend_kwargs,
+        )
 
     async def dispense(
         self,
@@ -156,7 +191,17 @@ class TransformXYZHandler(LiquidHandlerAbstract):
         spread: Literal["wide", "tight", "custom"] = "wide",
         **backend_kwargs,
     ):
-        pass
+        return await super().dispense(
+            resources=resources,
+            vols=vols,
+            use_channels=use_channels,
+            flow_rates=flow_rates,
+            offsets=offsets,
+            liquid_height=liquid_height,
+            blow_out_air_volume=blow_out_air_volume,
+            spread=spread,
+            **backend_kwargs,
+        )
 
     async def drop_tips(
         self,
@@ -166,7 +211,13 @@ class TransformXYZHandler(LiquidHandlerAbstract):
         allow_nonzero_volume: bool = False,
         **backend_kwargs,
     ):
-        pass
+        return await super().drop_tips(
+            tip_spots=tip_spots,
+            use_channels=use_channels,
+            offsets=offsets,
+            allow_nonzero_volume=allow_nonzero_volume,
+            **backend_kwargs,
+        )
 
     async def mix(
         self,
@@ -178,7 +229,15 @@ class TransformXYZHandler(LiquidHandlerAbstract):
         mix_rate: Optional[float] = None,
         none_keys: List[str] = [],
     ):
-        pass
+        return await super().mix(
+            targets=targets,
+            mix_time=mix_time,
+            mix_vol=mix_vol,
+            height_to_bottom=height_to_bottom,
+            offsets=offsets,
+            mix_rate=mix_rate,
+            none_keys=none_keys,
+        )
 
     async def pick_up_tips(
         self,
@@ -187,7 +246,12 @@ class TransformXYZHandler(LiquidHandlerAbstract):
         offsets: Optional[List[Coordinate]] = None,
         **backend_kwargs,
     ):
-        pass
+        return await super().pick_up_tips(
+            tip_spots=tip_spots,
+            use_channels=use_channels,
+            offsets=offsets,
+            **backend_kwargs,
+        )
 
     async def transfer_liquid(
         self,
@@ -214,5 +278,26 @@ class TransformXYZHandler(LiquidHandlerAbstract):
         delays: Optional[List[int]] = None,
         none_keys: List[str] = [],
     ):
-        pass
-    
+        return await super().transfer_liquid(
+            sources=sources,
+            targets=targets,
+            tip_racks=tip_racks,
+            use_channels=use_channels,
+            asp_vols=asp_vols,
+            dis_vols=dis_vols,
+            asp_flow_rates=asp_flow_rates,
+            dis_flow_rates=dis_flow_rates,
+            offsets=offsets,
+            touch_tip=touch_tip,
+            liquid_height=liquid_height,
+            blow_out_air_volume=blow_out_air_volume,
+            spread=spread,
+            is_96_well=is_96_well,
+            mix_stage=mix_stage,
+            mix_times=mix_times,
+            mix_vol=mix_vol,
+            mix_rate=mix_rate,
+            mix_liquid_height=mix_liquid_height,
+            delays=delays,
+            none_keys=none_keys,
+        )

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -57,6 +57,18 @@ class TransferLiquidReturn(TypedDict):
     targets: List[List[ResourceDict]]
 
 
+
+class SetLiquidReturn(TypedDict):
+    wells: list
+    volumes: list
+
+
+class SetLiquidFromPlateReturn(TypedDict):
+    plate: list
+    wells: list
+    volumes: list
+
+
 class LiquidHandlerMiddleware(LiquidHandler):
     def __init__(
         self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8, **kwargs

unilabos/devices/motor/ZDT_X42.py

@@ -0,0 +1,376 @@
+# -*- coding: utf-8 -*-
+"""
+ZDT X42 Closed-Loop Stepper Motor Driver
+RS485 Serial Communication via USB-Serial Converter
+
+- Baudrate: 115200
+"""
+
+import serial
+import time
+import threading
+import struct
+import logging
+from typing import Optional, Any
+
+try:
+    from unilabos.device_comms.universal_driver import UniversalDriver
+except ImportError:
+    class UniversalDriver:
+        def __init__(self, *args, **kwargs):
+            self.logger = logging.getLogger(self.__class__.__name__)
+        def execute_command_from_outer(self, command: Any): pass
+
+from serial.rs485 import RS485Settings
+
+
+class ZDTX42Driver(UniversalDriver):
+    """
+    ZDT X42 闭环步进电机驱动器
+
+    支持功能:
+    - 速度模式运行
+    - 位置模式运行 (相对/绝对)
+    - 位置读取和清零
+    - 使能/禁用控制
+
+    通信协议:
+    - 帧格式: [设备ID] [功能码] [数据...] [校验位=0x6B]
+    - 响应长度根据功能码决定
+    """
+
+    def __init__(
+        self,
+        port: str,
+        baudrate: int = 115200,
+        device_id: int = 1,
+        timeout: float = 0.5,
+        debug: bool = False
+    ):
+        """
+        初始化 ZDT X42 电机驱动
+
+        Args:
+            port: 串口设备路径
+            baudrate: 波特率 (默认 115200)
+            device_id: 设备地址 (1-255)
+            timeout: 通信超时时间(秒)
+            debug: 是否启用调试输出
+        """
+        super().__init__()
+        self.id = device_id
+        self.debug = debug
+        self.lock = threading.RLock()
+        self.status = "idle"         # 对应注册表中的 status (str)
+        self.position = 0             # 对应注册表中的 position (int)
+
+        try:
+            self.ser = serial.Serial(
+                port=port,
+                baudrate=baudrate,
+                timeout=timeout,
+                bytesize=serial.EIGHTBITS,
+                parity=serial.PARITY_NONE,
+                stopbits=serial.STOPBITS_ONE
+            )
+
+            # 启用 RS485 模式
+            try:
+                self.ser.rs485_mode = RS485Settings(
+                    rts_level_for_tx=True,
+                    rts_level_for_rx=False
+                )
+            except Exception:
+                pass  # RS485 模式是可选的
+
+            self.logger.info(
+                f"ZDT X42 Motor connected: {port} "
+                f"(Baud: {baudrate}, ID: {device_id})"
+            )
+            # 自动使能电机，确保初始状态可运动
+            self.enable(True)
+
+            # 启动背景轮询线程，确保 position 实时刷新
+            self._stop_event = threading.Event()
+            self._polling_thread = threading.Thread(
+                target=self._update_loop,
+                name=f"ZDTPolling_{port}",
+                daemon=True
+            )
+            self._polling_thread.start()
+        except Exception as e:
+            self.logger.error(f"Failed to open serial port {port}: {e}")
+            self.ser = None
+
+    def _update_loop(self):
+        """背景循环读取电机位置"""
+        while not self._stop_event.is_set():
+            try:
+                self.get_position()
+            except Exception as e:
+                if self.debug:
+                    self.logger.error(f"Polling error: {e}")
+            time.sleep(1.0) # 每1秒刷新一次位置数据
+
+    def _send(self, func_code: int, payload: list) -> bytes:
+        """
+        发送指令并接收响应
+
+        Args:
+            func_code: 功能码
+            payload: 数据负载 (list of bytes)
+
+        Returns:
+            响应数据 (bytes)
+        """
+        if not self.ser:
+            self.logger.error("Serial port not available")
+            return b""
+
+        with self.lock:
+            # 清空输入缓冲区
+            self.ser.reset_input_buffer()
+
+            # 构建消息: [ID] [功能码] [数据...] [校验位=0x6B]
+            message = bytes([self.id, func_code] + payload + [0x6B])
+
+            # 发送
+            self.ser.write(message)
+
+            # 根据功能码决定响应长度
+            # 查询类指令返回 10 字节，控制类指令返回 4 字节
+            read_len = 10 if func_code in [0x31, 0x32, 0x35, 0x24, 0x27] else 4
+            response = self.ser.read(read_len)
+
+            # 调试输出
+            if self.debug:
+                sent_hex = message.hex().upper()
+                recv_hex = response.hex().upper() if response else 'TIMEOUT'
+                print(f"[ID {self.id}] TX: {sent_hex} → RX: {recv_hex}")
+
+            return response
+
+    def enable(self, on: bool = True) -> bool:
+        """
+        使能/禁用电机
+
+        Args:
+            on: True=使能(锁轴), False=禁用(松轴)
+
+        Returns:
+            是否成功
+        """
+        state = 1 if on else 0
+        resp = self._send(0xF3, [0xAB, state, 0])
+        return len(resp) >= 4
+
+    def move_speed(
+        self,
+        speed_rpm: int,
+        direction: str = "CW",
+        acceleration: int = 10
+    ) -> bool:
+        """
+        速度模式运行
+
+        Args:
+            speed_rpm: 转速 (RPM)
+            direction: 方向 ("CW"=顺时针, "CCW"=逆时针)
+            acceleration: 加速度 (0-255)
+
+        Returns:
+            是否成功
+        """
+        dir_val = 0 if direction.upper() in ["CW", "顺时针"] else 1
+        speed_bytes = struct.pack('>H', int(speed_rpm))
+        self.status = f"moving@{speed_rpm}rpm"
+        resp = self._send(0xF6, [dir_val, speed_bytes[0], speed_bytes[1], acceleration, 0])
+        return len(resp) >= 4
+
+    def move_position(
+        self,
+        pulses: int,
+        speed_rpm: int,
+        direction: str = "CW",
+        acceleration: int = 10,
+        absolute: bool = False
+    ) -> bool:
+        """
+        位置模式运行
+
+        Args:
+            pulses: 脉冲数
+            speed_rpm: 转速 (RPM)
+            direction: 方向 ("CW"=顺时针, "CCW"=逆时针)
+            acceleration: 加速度 (0-255)
+            absolute: True=绝对位置, False=相对位置
+
+        Returns:
+            是否成功
+        """
+        dir_val = 0 if direction.upper() in ["CW", "顺时针"] else 1
+        speed_bytes = struct.pack('>H', int(speed_rpm))
+        self.status = f"moving_to_{pulses}"
+        pulse_bytes = struct.pack('>I', int(pulses))
+        abs_flag = 1 if absolute else 0
+
+        payload = [
+            dir_val,
+            speed_bytes[0], speed_bytes[1],
+            acceleration,
+            pulse_bytes[0], pulse_bytes[1], pulse_bytes[2], pulse_bytes[3],
+            abs_flag,
+            0
+        ]
+
+        resp = self._send(0xFD, payload)
+        return len(resp) >= 4
+
+    def stop(self) -> bool:
+        """
+        停止电机
+
+        Returns:
+            是否成功
+        """
+        self.status = "idle"
+        resp = self._send(0xFE, [0x98, 0])
+        return len(resp) >= 4
+
+    def rotate_quarter(self, speed_rpm: int = 60, direction: str = "CW") -> bool:
+        """
+        电机旋转 1/4 圈 (阻塞式)
+        假设电机细分为 3200 脉冲/圈，1/4 圈 = 800 脉冲
+        """
+        pulses = 800
+        success = self.move_position(pulses=pulses, speed_rpm=speed_rpm, direction=direction, absolute=False)
+
+        if success:
+            # 计算预估旋转时间并进行阻塞等待 (Time = revolutions / (RPM/60))
+            # 1/4 rev / (RPM/60) = 15.0 / RPM
+            estimated_time = 15.0 / max(1, speed_rpm)
+            time.sleep(estimated_time + 0.5)  # 额外给 0.5 秒缓冲
+            self.status = "idle"
+
+        return success
+
+    def wait_time(self, duration_s: float) -> bool:
+        """
+        等待指定时间 (秒)
+        """
+        self.logger.info(f"Waiting for {duration_s} seconds...")
+        time.sleep(duration_s)
+        return True
+
+    def set_zero(self) -> bool:
+        """
+        清零当前位置
+
+        Returns:
+            是否成功
+        """
+        resp = self._send(0x0A, [])
+        return len(resp) >= 4
+
+    def get_position(self) -> Optional[int]:
+        """
+        读取当前位置 (脉冲数)
+
+        Returns:
+            当前位置脉冲数，失败返回 None
+        """
+        resp = self._send(0x32, [])
+
+        if len(resp) >= 8:
+            # 响应格式: [ID] [Func] [符号位] [数值4字节] [校验]
+            sign = resp[2]  # 0=正, 1=负
+            value = struct.unpack('>I', resp[3:7])[0]
+            self.position = -value if sign == 1 else value
+
+            if self.debug:
+                print(f"[Position] Raw: {resp.hex().upper()}, Parsed: {self.position}")
+
+            return self.position
+
+        self.logger.warning("Failed to read position")
+        return None
+
+    def close(self):
+        """关闭串口连接并停止线程"""
+        if hasattr(self, '_stop_event'):
+            self._stop_event.set()
+
+        if self.ser and self.ser.is_open:
+            self.ser.close()
+            self.logger.info("Serial port closed")
+
+
+# ============================================================
+# 测试和调试代码
+# ============================================================
+
+def test_motor():
+    """基础功能测试"""
+    logging.basicConfig(level=logging.INFO)
+
+    print("="*60)
+    print("ZDT X42 电机驱动测试")
+    print("="*60)
+
+    driver = ZDTX42Driver(
+        port="/dev/tty.usbserial-3110",
+        baudrate=115200,
+        device_id=2,
+        debug=True
+    )
+
+    if not driver.ser:
+        print("❌ 串口打开失败")
+        return
+
+    try:
+        # 测试 1: 读取位置
+        print("\n[1] 读取当前位置")
+        pos = driver.get_position()
+        print(f"✓ 当前位置: {pos} 脉冲")
+
+        # 测试 2: 使能
+        print("\n[2] 使能电机")
+        driver.enable(True)
+        time.sleep(0.3)
+        print("✓ 电机已锁定")
+
+        # 测试 3: 相对位置运动
+        print("\n[3] 相对位置运动 (1000脉冲)")
+        driver.move_position(pulses=1000, speed_rpm=60, direction="CW")
+        time.sleep(2)
+        pos = driver.get_position()
+        print(f"✓ 新位置: {pos}")
+
+        # 测试 4: 速度运动
+        print("\n[4] 速度模式 (30RPM, 3秒)")
+        driver.move_speed(speed_rpm=30, direction="CW")
+        time.sleep(3)
+        driver.stop()
+        pos = driver.get_position()
+        print(f"✓ 停止后位置: {pos}")
+
+        # 测试 5: 禁用
+        print("\n[5] 禁用电机")
+        driver.enable(False)
+        print("✓ 电机已松开")
+
+        print("\n" + "="*60)
+        print("✅ 测试完成")
+        print("="*60)
+
+    except Exception as e:
+        print(f"\n❌ 测试失败: {e}")
+        import traceback
+        traceback.print_exc()
+    finally:
+        driver.close()
+
+
+if __name__ == "__main__":
+    test_motor()

unilabos/devices/separator/chinwe.py

@@ -623,6 +623,119 @@ class ChinweDevice(UniversalDriver):
         time.sleep(duration)
         return True
 
+    def separation_step(self, motor_id: int = 5, speed: int = 60, pulses: int = 700,
+                       max_cycles: int = 0, timeout: int = 300) -> bool:
+        """
+        分液步骤 - 液位传感器与电机联动
+        当液位传感器检测到"有液"时,电机顺时针旋转指定脉冲数
+        当液位传感器检测到"无液"时,电机逆时针旋转指定脉冲数
+
+        :param motor_id: 电机ID (必须在初始化时配置的motor_ids中)
+        :param speed: 电机转速 (RPM)
+        :param pulses: 每次旋转的脉冲数 (默认700约为1/4圈,假设3200脉冲/圈)
+        :param max_cycles: 最大执行循环次数 (0=无限制,默认0)
+        :param timeout: 整体超时时间 (秒)
+        :return: 成功返回True,超时或失败返回False
+        """
+        motor_id = int(motor_id)
+        speed = int(speed)
+        pulses = int(pulses)
+        max_cycles = int(max_cycles)
+        timeout = int(timeout)
+
+        # 检查电机是否存在
+        if motor_id not in self.motors:
+            self.logger.error(f"Motor {motor_id} not found in configured motors: {list(self.motors.keys())}")
+            return False
+
+        # 检查传感器是否可用
+        if not self.sensor:
+            self.logger.error("Sensor not initialized")
+            return False
+
+        motor = self.motors[motor_id]
+
+        # 停止轮询线程，避免与 separation_step 同时读取传感器造成串口冲突
+        self.logger.info("Stopping polling thread for separation_step...")
+        self._stop_event.set()
+        if self._poll_thread and self._poll_thread.is_alive():
+            self._poll_thread.join(timeout=2.0)
+
+        # 使能电机
+        self.logger.info(f"Enabling motor {motor_id}...")
+        motor.enable(True)
+        time.sleep(0.2)
+
+        self.logger.info(f"Starting separation step: motor_id={motor_id}, speed={speed} RPM, "
+                        f"pulses={pulses}, max_cycles={max_cycles}, timeout={timeout}s")
+
+        # 记录上一次的液位状态
+        last_level = None
+        cycle_count = 0
+        start_time = time.time()
+        error_count = 0
+
+        try:
+            while True:
+                # 检查超时
+                if time.time() - start_time > timeout:
+                    self.logger.warning(f"Separation step timeout after {timeout} seconds")
+                    return False
+
+                # 检查循环次数限制
+                if max_cycles > 0 and cycle_count >= max_cycles:
+                    self.logger.info(f"Separation step completed: reached max_cycles={max_cycles}")
+                    return True
+
+                # 读取传感器数据
+                data = self.sensor.read_level()
+
+                if data is None:
+                    error_count += 1
+                    if error_count > 5:
+                        self.logger.warning("Sensor read failed multiple times, retrying...")
+                        error_count = 0
+                    time.sleep(0.5)
+                    continue
+
+                error_count = 0
+                current_level = data['level']
+                rssi = data['rssi']
+
+                # 检测状态变化 (包括首次检测)
+                if current_level != last_level:
+                    cycle_count += 1
+
+                    if current_level:
+                        # 有液 -> 电机顺时针旋转
+                        self.logger.info(f"[Cycle {cycle_count}] Liquid detected (RSSI={rssi}), "
+                                       f"rotating motor {motor_id} clockwise {pulses} pulses")
+                        motor.run_position(pulses=pulses, speed_rpm=speed, direction=0, absolute=False)
+
+                        # 等待电机完成 (预估时间)
+                        estimated_time = 15.0 / max(1, speed)
+                        time.sleep(estimated_time + 0.5)
+
+                    else:
+                        # 无液 -> 电机逆时针旋转
+                        self.logger.info(f"[Cycle {cycle_count}] No liquid detected (RSSI={rssi}), "
+                                       f"rotating motor {motor_id} counter-clockwise {pulses} pulses")
+                        motor.run_position(pulses=pulses, speed_rpm=speed, direction=1, absolute=False)
+
+                        # 等待电机完成 (预估时间)
+                        estimated_time = 15.0 / max(1, speed)
+                        time.sleep(estimated_time + 0.5)
+
+                # 更新状态
+                last_level = current_level
+
+                # 轮询间隔
+                time.sleep(0.1)
+        finally:
+            # 恢复轮询线程
+            self.logger.info("Restarting polling thread...")
+            self._start_polling()
+
     def execute_command_from_outer(self, command_dict: Dict[str, Any]) -> bool:
         """支持标准 JSON 指令调用"""
         return super().execute_command_from_outer(command_dict)

unilabos/devices/separator/xkc_sensor.py

@@ -0,0 +1,379 @@
+# -*- coding: utf-8 -*-
+"""
+XKC RS485 液位传感器 (Modbus RTU)
+
+说明:
+    1. 遵循 Modbus-RTU 协议。
+    2. 数据寄存器: 0x0001 (液位状态, 1=有液, 0=无液), 0x0002 (RSSI 信号强度)。
+    3. 地址寄存器: 0x0004 (可读写, 范围 1-254)。
+    4. 波特率寄存器: 0x0005 (可写, 代码表见 change_baudrate 方法)。
+"""
+
+import struct
+import threading
+import time
+import logging
+import serial
+from typing import Optional, Dict, Any, List
+
+from unilabos.device_comms.universal_driver import UniversalDriver
+
+class TransportManager:
+    """
+    统一通信管理类。
+    仅支持 串口 (Serial/有线) 连接。
+    """
+    def __init__(self, port: str, baudrate: int = 9600, timeout: float = 3.0, logger=None):
+        self.port = port
+        self.baudrate = baudrate
+        self.timeout = timeout
+        self.logger = logger
+        self.lock = threading.RLock() # 线程锁，确保多设备共用一个连接时不冲突
+
+        self.serial = None
+        self._connect_serial()
+
+    def _connect_serial(self):
+        try:
+            self.serial = serial.Serial(
+                port=self.port,
+                baudrate=self.baudrate,
+                timeout=self.timeout
+            )
+        except Exception as e:
+            raise ConnectionError(f"Serial open failed: {e}")
+
+    def close(self):
+        """关闭连接"""
+        if self.serial and self.serial.is_open:
+            self.serial.close()
+
+    def clear_buffer(self):
+        """清空缓冲区 (Thread-safe)"""
+        with self.lock:
+            if self.serial:
+                self.serial.reset_input_buffer()
+
+    def write(self, data: bytes):
+        """发送原始字节"""
+        with self.lock:
+            if self.serial:
+                self.serial.write(data)
+
+    def read(self, size: int) -> bytes:
+        """读取指定长度字节"""
+        if self.serial:
+            return self.serial.read(size)
+        return b''
+
+class XKCSensorDriver(UniversalDriver):
+    """XKC RS485 液位传感器 (Modbus RTU)"""
+
+    def __init__(self, port: str, baudrate: int = 9600, device_id: int = 6,
+                 threshold: int = 300, timeout: float = 3.0, debug: bool = False):
+        super().__init__()
+        self.port = port
+        self.baudrate = baudrate
+        self.device_id = device_id
+        self.threshold = threshold
+        self.timeout = timeout
+        self.debug = debug
+        self.level = False
+        self.rssi = 0
+        self.status = {"level": self.level, "rssi": self.rssi}
+
+        try:
+            self.transport = TransportManager(port, baudrate, timeout, logger=self.logger)
+            self.logger.info(f"XKCSensorDriver connected to {port} (ID: {device_id})")
+        except Exception as e:
+            self.logger.error(f"Failed to connect XKCSensorDriver: {e}")
+            self.transport = None
+
+        # 启动背景轮询线程，确保 status 实时刷新
+        self._stop_event = threading.Event()
+        self._polling_thread = threading.Thread(
+            target=self._update_loop,
+            name=f"XKCPolling_{port}",
+            daemon=True
+        )
+        if self.transport:
+            self._polling_thread.start()
+
+    def _update_loop(self):
+        """背景循环读取传感器数据"""
+        while not self._stop_event.is_set():
+            try:
+                self.read_level()
+            except Exception as e:
+                if self.debug:
+                    self.logger.error(f"Polling error: {e}")
+            time.sleep(2.0) # 每2秒刷新一次数据
+
+    def _crc(self, data: bytes) -> bytes:
+        crc = 0xFFFF
+        for byte in data:
+            crc ^= byte
+            for _ in range(8):
+                if crc & 0x0001: crc = (crc >> 1) ^ 0xA001
+                else: crc >>= 1
+        return struct.pack('<H', crc)
+
+    def read_level(self) -> Optional[Dict[str, Any]]:
+        """
+        读取液位。
+        返回: {'level': bool, 'rssi': int}
+        """
+        if not self.transport:
+            return None
+
+        with self.transport.lock:
+            self.transport.clear_buffer()
+            # Modbus Read Registers: 01 03 00 01 00 02 CRC
+            payload = struct.pack('>HH', 0x0001, 0x0002)
+            msg = struct.pack('BB', self.device_id, 0x03) + payload
+            msg += self._crc(msg)
+
+            if self.debug:
+                self.logger.info(f"TX (ID {self.device_id}): {msg.hex().upper()}")
+
+            self.transport.write(msg)
+
+            # Read header
+            h = self.transport.read(3) # Addr, Func, Len
+            if self.debug:
+                self.logger.info(f"RX Header: {h.hex().upper()}")
+
+            if len(h) < 3: return None
+            length = h[2]
+
+            # Read body + CRC
+            body = self.transport.read(length + 2)
+            if self.debug:
+                self.logger.info(f"RX Body+CRC: {body.hex().upper()}")
+            if len(body) < length + 2:
+                # Firmware bug fix specific to some modules
+                if len(body) == 4 and length == 4:
+                    pass
+                else:
+                    return None
+
+            data = body[:-2]
+            # 根据手册说明:
+            # 寄存器 0x0001 (data[0:2]): 液位状态 (00 01 为有液, 00 00 为无液)
+            # 寄存器 0x0002 (data[2:4]): 信号强度 RSSI
+
+            hw_level = False
+            rssi = 0
+
+            if len(data) >= 4:
+                hw_level = ((data[0] << 8) | data[1]) == 1
+                rssi = (data[2] << 8) | data[3]
+            elif len(data) == 2:
+                # 兼容模式: 某些老固件可能只返回 1 个寄存器
+                rssi = (data[0] << 8) | data[1]
+                hw_level = rssi > self.threshold
+            else:
+                return None
+
+            # 最终判定: 优先使用硬件层级的 level 判定，但 RSSI 阈值逻辑作为补充/校验
+            # 注意: 如果用户显式设置了 THRESHOLD，我们可以在逻辑中做权衡
+            self.level = hw_level or (rssi > self.threshold)
+            self.rssi = rssi
+            result = {
+                'level': self.level,
+                'rssi': self.rssi
+            }
+            self.status = result
+            return result
+
+    def wait_level(self, target_state: bool, timeout: float = 60.0) -> bool:
+        """
+        等待液位达到目标状态 (阻塞式)
+        """
+        self.logger.info(f"Waiting for level: {target_state}")
+        start_time = time.time()
+        while (time.time() - start_time) < timeout:
+            res = self.read_level()
+            if res and res.get('level') == target_state:
+                return True
+            time.sleep(0.5)
+        self.logger.warning(f"Wait level timeout ({timeout}s)")
+        return False
+
+    def wait_for_liquid(self, target_state: bool, timeout: float = 120.0) -> bool:
+        """
+        实时检测电导率(RSSI)并等待用户指定的“有液”或“无液”状态。
+        一旦检测到符合目标状态，立即返回。
+
+        Args:
+            target_state: True 为“有液”, False 为“无液”
+            timeout: 最大等待时间(秒)
+        """
+        state_str = "有液" if target_state else "无液"
+        self.logger.info(f"开始实时检测电导率，等待状态: {state_str} (超时: {timeout}s)")
+
+        start_time = time.time()
+        while (time.time() - start_time) < timeout:
+            res = self.read_level() # 内部已更新 self.level 和 self.rssi
+            if res:
+                current_level = res.get('level')
+                current_rssi = res.get('rssi')
+                if current_level == target_state:
+                    self.logger.info(f"✅ 检测到目标状态: {state_str} (当前电导率/RSSI: {current_rssi})")
+                    return True
+
+                if self.debug:
+                    self.logger.debug(f"当前状态: {'有液' if current_level else '无液'}, RSSI: {current_rssi}")
+
+            time.sleep(0.2) # 高频采样
+
+        self.logger.warning(f"❌ 等待 {state_str} 状态超时 ({timeout}s)")
+        return False
+
+    def set_threshold(self, threshold: int):
+        """设置液位判定阈值"""
+        self.threshold = int(threshold)
+        self.logger.info(f"Threshold updated to: {self.threshold}")
+
+    def change_device_id(self, new_id: int) -> bool:
+        """
+        修改设备的 Modbus 从站地址。
+        寄存器: 0x0004, 功能码: 0x06
+        """
+        if not (1 <= new_id <= 254):
+            self.logger.error(f"Invalid device ID: {new_id}. Must be 1-254.")
+            return False
+
+        self.logger.info(f"Changing device ID from {self.device_id} to {new_id}")
+        success = self._write_single_register(0x0004, new_id)
+        if success:
+            self.device_id = new_id # 更新内存中的地址
+            self.logger.info(f"Device ID update command sent successfully (target {new_id}).")
+        return success
+
+    def change_baudrate(self, baud_code: int) -> bool:
+        """
+        更改通讯波特率 (寄存器: 0x0005)。
+        设置成功后传感器 LED 会闪烁，通常无数据返回。
+
+        波特率代码对照表 (16进制):
+        05: 2400
+        06: 4800
+        07: 9600 (默认)
+        08: 14400
+        09: 19200
+        0A: 28800
+        0C: 57600
+        0D: 115200
+        0E: 128000
+        0F: 256000
+        """
+        self.logger.info(f"Sending baudrate change command (Code: {baud_code:02X})")
+        # 写入寄存器 0x0005
+        self._write_single_register(0x0005, baud_code)
+        self.logger.info("Baudrate change command executed. Device LED should flash. Please update connection settings.")
+        return True
+
+    def factory_reset(self) -> bool:
+        """
+        恢复出厂设置 (通过广播地址 FF)。
+        设置地址为 01，逻辑为向 0x0004 写入 0x0002
+        """
+        self.logger.info("Sending factory reset command via broadcast address FF...")
+        # 广播指令通常无回显
+        self._write_single_register(0x0004, 0x0002, slave_id=0xFF)
+        self.logger.info("Factory reset command sent. Device address should be 01 now.")
+        return True
+
+    def _write_single_register(self, reg_addr: int, value: int, slave_id: Optional[int] = None) -> bool:
+        """内部辅助函数: Modbus 功能码 06 写单个寄存器"""
+        if not self.transport: return False
+
+        target_id = slave_id if slave_id is not None else self.device_id
+        msg = struct.pack('BBHH', target_id, 0x06, reg_addr, value)
+        msg += self._crc(msg)
+
+        with self.transport.lock:
+            self.transport.clear_buffer()
+            if self.debug:
+                self.logger.info(f"TX Write (Reg {reg_addr:#06x}): {msg.hex().upper()}")
+
+            self.transport.write(msg)
+
+            # 广播地址、波特率修改或厂家特定指令可能无回显
+            if target_id == 0xFF or reg_addr == 0x0005:
+                time.sleep(0.5)
+                return True
+
+            # 等待返回 (正常应返回相同报文)
+            resp = self.transport.read(len(msg))
+            if self.debug:
+                self.logger.info(f"RX Write Response: {resp.hex().upper()}")
+
+            return resp == msg
+
+    def close(self):
+        if self.transport:
+            self.transport.close()
+
+if __name__ == "__main__":
+    # 快速实例化测试
+    import logging
+    # 减少冗余日志，仅显示重要信息
+    logging.basicConfig(level=logging.INFO, format='%(levelname)s: %(message)s')
+
+    # 硬件配置 (根据实际情况修改)
+    TEST_PORT = "/dev/tty.usbserial-3110"
+    SLAVE_ID = 1
+    THRESHOLD = 300
+
+    print("\n" + "="*50)
+    print(f"  XKC RS485 传感器独立测试程序")
+    print(f"  端口: {TEST_PORT} | 地址: {SLAVE_ID} | 阈值: {THRESHOLD}")
+    print("="*50)
+
+    sensor = XKCSensorDriver(port=TEST_PORT, device_id=SLAVE_ID, threshold=THRESHOLD, debug=False)
+
+    try:
+        if sensor.transport:
+            print(f"\n开始实时连续采样测试 (持续 15 秒)...")
+            print(f"按 Ctrl+C 可提前停止\n")
+
+            start_time = time.time()
+            duration = 15
+            count = 0
+
+            while time.time() - start_time < duration:
+                count += 1
+                res = sensor.read_level()
+                if res:
+                    rssi = res['rssi']
+                    level = res['level']
+                    status_str = "【有液】" if level else "【无液】"
+                    # 使用 \r 实现单行刷新显示 (或者不刷，直接打印历史)
+                    # 为了方便查看变化，我们直接打印
+                    elapsed = time.time() - start_time
+                    print(f" [{elapsed:4.1f}s] 采样 {count:<3}: 电导率/RSSI = {rssi:<5} | 判定结果: {status_str}")
+                else:
+                    print(f" [{time.time()-start_time:4.1f}s] 采样 {count:<3}: 通信失败 (无响应)")
+
+                time.sleep(0.5) # 每秒采样 2 次
+
+            print(f"\n--- 15 秒采样测试完成 (总计 {count} 次) ---")
+
+            # [3] 测试动态修改阈值
+            print(f"\n[3] 动态修改阈值演示...")
+            new_threshold = 400
+            sensor.set_threshold(new_threshold)
+            res = sensor.read_level()
+            if res:
+                print(f"  采样 (当前阈值={new_threshold}): 电导率/RSSI = {res['rssi']:<5} | 判定结果: {'【有液】' if res['level'] else '【无液】'}")
+            sensor.set_threshold(THRESHOLD) # 还原
+
+    except KeyboardInterrupt:
+        print("\n[!] 用户中断测试")
+    except Exception as e:
+        print(f"\n[!] 测试运行出错: {e}")
+    finally:
+        sensor.close()
+        print("\n--- 测试程序已退出 ---\n")

unilabos/devices/workstation/bioyond_studio/station.py

@@ -258,7 +258,7 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
                 logger.info(f"[同步→Bioyond] ➕ 物料不存在于 Bioyond，将创建新物料并入库")
 
             # 第1步：从配置中获取仓库配置
-            warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})
+            warehouse_mapping = self.workstation.bioyond_config.get("warehouse_mapping", {})
 
             # 确定目标仓库名称
             parent_name = None

unilabos/registry/devices/chinwe.yaml

@@ -336,6 +336,47 @@ separator.chinwe:
           title: pump_valve参数
           type: object
         type: UniLabJsonCommand
+      separation_step:
+        goal:
+          max_cycles: 0
+          motor_id: 5
+          pulses: 700
+          speed: 60
+          timeout: 300
+        handles: {}
+        schema:
+          description: 分液步骤 - 液位传感器与电机联动 (有液→顺时针, 无液→逆时针)
+          properties:
+            goal:
+              properties:
+                max_cycles:
+                  default: 0
+                  description: 最大循环次数 (0=无限制)
+                  type: integer
+                motor_id:
+                  default: '5'
+                  description: 选择电机
+                  enum:
+                  - '4'
+                  - '5'
+                  title: '注: 4=搅拌, 5=旋钮'
+                  type: string
+                pulses:
+                  default: 700
+                  description: 每次旋转脉冲数 (约1/4圈)
+                  type: integer
+                speed:
+                  default: 60
+                  description: 电机转速 (RPM)
+                  type: integer
+                timeout:
+                  default: 300
+                  description: 超时时间 (秒)
+                  type: integer
+              required:
+              - motor_id
+              type: object
+        type: UniLabJsonCommand
       wait_sensor_level:
         feedback: {}
         goal:

unilabos/registry/devices/liquid_handler.yaml

@@ -6973,7 +6973,7 @@ liquid_handler.laiyu:
       properties:
         channel_num:
           default: 1
-          type: string
+          type: integer
         deck:
           type: object
         host:
@@ -6984,10 +6984,25 @@ liquid_handler.laiyu:
           type: integer
         simulator:
           default: true
-          type: string
+          type: boolean
         timeout:
           default: 10.0
           type: number
+        serial_port:
+          default: /dev/ttyUSB0
+          description: 硬件串口端口（非 simulator 模式下使用）
+          type: string
+        baudrate:
+          default: 115200
+          type: integer
+        pipette_address:
+          default: 4
+          description: SOPA 移液器 RS485 地址
+          type: integer
+        total_height:
+          default: 310
+          description: 龙门架总高度 (mm)，用于坐标转换
+          type: number
       required:
       - deck
       type: object

unilabos/registry/devices/motor.yaml

@@ -0,0 +1,286 @@
+motor.zdt_x42:
+  category:
+  - motor
+  class:
+    action_value_mappings:
+      auto-enable:
+        feedback: {}
+        goal: {}
+        goal_default:
+          'on': true
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 使能或禁用电机。使能后电机进入锁轴状态，可接收运动指令；禁用后电机进入松轴状态。
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                'on':
+                  default: true
+                  type: boolean
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: enable参数
+          type: object
+        type: UniLabJsonCommand
+      auto-get_position:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 获取当前电机脉冲位置。
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result:
+              properties:
+                position:
+                  type: integer
+              type: object
+          required:
+          - goal
+          title: get_position参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          absolute: false
+          acceleration: 10
+          direction: CW
+          pulses: 1000
+          speed_rpm: 60
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 位置模式运行。控制电机移动到指定脉冲位置或相对于当前位置移动指定脉冲数。
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                absolute:
+                  default: false
+                  type: boolean
+                acceleration:
+                  default: 10
+                  maximum: 255
+                  minimum: 0
+                  type: integer
+                direction:
+                  default: CW
+                  enum:
+                  - CW
+                  - CCW
+                  type: string
+                pulses:
+                  default: 1000
+                  type: integer
+                speed_rpm:
+                  default: 60
+                  minimum: 0
+                  type: integer
+              required:
+              - pulses
+              - speed_rpm
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_position参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_speed:
+        feedback: {}
+        goal: {}
+        goal_default:
+          acceleration: 10
+          direction: CW
+          speed_rpm: 60
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 速度模式运行。控制电机以指定转速和方向持续转动。
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                acceleration:
+                  default: 10
+                  maximum: 255
+                  minimum: 0
+                  type: integer
+                direction:
+                  default: CW
+                  enum:
+                  - CW
+                  - CCW
+                  type: string
+                speed_rpm:
+                  default: 60
+                  minimum: 0
+                  type: integer
+              required:
+              - speed_rpm
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_speed参数
+          type: object
+        type: UniLabJsonCommand
+      auto-rotate_quarter:
+        feedback: {}
+        goal: {}
+        goal_default:
+          direction: CW
+          speed_rpm: 60
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 电机旋转 1/4 圈 (阻塞式)。
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                direction:
+                  default: CW
+                  enum:
+                  - CW
+                  - CCW
+                  type: string
+                speed_rpm:
+                  default: 60
+                  minimum: 1
+                  type: integer
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: rotate_quarter参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_zero:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 将当前电机位置设为零点。
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_zero参数
+          type: object
+        type: UniLabJsonCommand
+      auto-stop:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 立即停止电机运动。
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: stop参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_time:
+        feedback: {}
+        goal: {}
+        goal_default:
+          duration_s: 1.0
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 等待指定时间 (秒)。
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                duration_s:
+                  default: 1.0
+                  minimum: 0
+                  type: number
+              required:
+              - duration_s
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_time参数
+          type: object
+        type: UniLabJsonCommand
+    module: unilabos.devices.motor.ZDT_X42:ZDTX42Driver
+    status_types:
+      position: int
+      status: str
+    type: python
+  config_info: []
+  description: ZDT X42 闭环步进电机驱动。支持速度运行、精确位置控制、位置查询和清零功能。适用于各种需要精确运动控制的实验室自动化场景。
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        baudrate:
+          default: 115200
+          type: integer
+        debug:
+          default: false
+          type: boolean
+        device_id:
+          default: 1
+          type: integer
+        port:
+          type: string
+        timeout:
+          default: 0.5
+          type: number
+      required:
+      - port
+      type: object
+    data:
+      properties:
+        position:
+          type: integer
+        status:
+          type: string
+      required:
+      - status
+      - position
+      type: object
+  version: 1.0.0

unilabos/registry/devices/sensor.yaml

@@ -0,0 +1,148 @@
+sensor.xkc_rs485:
+  category:
+  - sensor
+  - separator
+  class:
+    action_value_mappings:
+      auto-change_baudrate:
+        goal:
+          baud_code: 7
+        handles: {}
+        schema:
+          description: '更改通讯波特率 (设置成功后无返回，且需手动切换波特率重连)。代码表 (16进制): 05=2400, 06=4800,
+            07=9600, 08=14400, 09=19200, 0A=28800, 0C=57600, 0D=115200, 0E=128000,
+            0F=256000'
+          properties:
+            goal:
+              properties:
+                baud_code:
+                  description: '波特率代码 (例如: 7 为 9600, 13 即 0x0D 为 115200)'
+                  type: integer
+              required:
+              - baud_code
+              type: object
+        type: UniLabJsonCommand
+      auto-change_device_id:
+        goal:
+          new_id: 1
+        handles: {}
+        schema:
+          description: 修改传感器的 Modbus 从站地址
+          properties:
+            goal:
+              properties:
+                new_id:
+                  description: 新的从站地址 (1-254)
+                  maximum: 254
+                  minimum: 1
+                  type: integer
+              required:
+              - new_id
+              type: object
+        type: UniLabJsonCommand
+      auto-factory_reset:
+        goal: {}
+        handles: {}
+        schema:
+          description: 恢复出厂设置 (地址重置为 01)
+          properties:
+            goal:
+              type: object
+        type: UniLabJsonCommand
+      auto-read_level:
+        goal: {}
+        handles: {}
+        schema:
+          description: 直接读取当前液位及信号强度
+          properties:
+            goal:
+              type: object
+          type: object
+        type: UniLabJsonCommand
+      auto-set_threshold:
+        goal:
+          threshold: 300
+        handles: {}
+        schema:
+          description: 设置液位判定阈值
+          properties:
+            goal:
+              properties:
+                threshold:
+                  type: integer
+              required:
+              - threshold
+              type: object
+        type: UniLabJsonCommand
+      auto-wait_for_liquid:
+        goal:
+          target_state: true
+          timeout: 120
+        handles: {}
+        schema:
+          description: 实时检测电导率(RSSI)并等待用户指定的状态
+          properties:
+            goal:
+              properties:
+                target_state:
+                  default: true
+                  description: 目标状态 (True=有液, False=无液)
+                  type: boolean
+                timeout:
+                  default: 120
+                  description: 超时时间 (秒)
+              required:
+              - target_state
+              type: object
+        type: UniLabJsonCommand
+      auto-wait_level:
+        goal:
+          level: true
+          timeout: 10
+        handles: {}
+        schema:
+          description: 等待液位达到目标状态
+          properties:
+            goal:
+              properties:
+                level:
+                  type: boolean
+                timeout:
+                  type: number
+              required:
+              - level
+              type: object
+        type: UniLabJsonCommand
+    module: unilabos.devices.separator.xkc_sensor:XKCSensorDriver
+    status_types:
+      level: bool
+      rssi: int
+    type: python
+  config_info: []
+  description: XKC RS485 非接触式液位传感器 (Modbus RTU)
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        baudrate:
+          default: 9600
+          type: integer
+        debug:
+          default: false
+          type: boolean
+        device_id:
+          default: 1
+          type: integer
+        port:
+          type: string
+        threshold:
+          default: 300
+          type: integer
+        timeout:
+          default: 3.0
+          type: number
+      required:
+      - port
+      type: object
+  version: 1.0.0

unilabos/resources/bioyond/bottle_carriers.py

@@ -1,4 +1,4 @@
-from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
+from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d, Container
 
 from unilabos.resources.itemized_carrier import BottleCarrier
 from unilabos.resources.bioyond.bottles import (
@@ -9,6 +9,28 @@ from unilabos.resources.bioyond.bottles import (
     BIOYOND_PolymerStation_Reagent_Bottle,
     BIOYOND_PolymerStation_Flask,
 )
+
+
+def BIOYOND_PolymerStation_Tip(name: str, size_x: float = 8.0, size_y: float = 8.0, size_z: float = 50.0) -> Container:
+    """创建单个枪头资源
+
+    Args:
+        name: 枪头名称
+        size_x: 枪头宽度 (mm)
+        size_y: 枪头长度 (mm)
+        size_z: 枪头高度 (mm)
+
+    Returns:
+        Container: 枪头容器
+    """
+    return Container(
+        name=name,
+        size_x=size_x,
+        size_y=size_y,
+        size_z=size_z,
+        category="tip",
+        model="BIOYOND_PolymerStation_Tip",
+    )
 # 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask,小瓶-Vial
 
 
@@ -322,3 +344,88 @@ def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier:
     carrier.num_items_z = 1
     carrier[0] = BIOYOND_PolymerStation_Solution_Beaker(f"{name}_beaker_1")
     return carrier
+
+
+def BIOYOND_PolymerStation_TipBox(
+    name: str,
+    size_x: float = 127.76,  # 枪头盒宽度
+    size_y: float = 85.48,   # 枪头盒长度
+    size_z: float = 100.0,   # 枪头盒高度
+    barcode: str = None,
+) -> BottleCarrier:
+    """创建4×6枪头盒 (24个枪头) - 使用 BottleCarrier 结构
+
+    Args:
+        name: 枪头盒名称
+        size_x: 枪头盒宽度 (mm)
+        size_y: 枪头盒长度 (mm)
+        size_z: 枪头盒高度 (mm)
+        barcode: 条形码
+
+    Returns:
+        BottleCarrier: 包含24个枪头孔位的枪头盒载架
+
+    布局说明:
+        - 4行×6列 (A-D, 1-6)
+        - 枪头孔位间距: 18mm (x方向) × 18mm (y方向)
+        - 起始位置居中对齐
+        - 索引顺序: 列优先 (0=A1, 1=B1, 2=C1, 3=D1, 4=A2, ...)
+    """
+    # 枪头孔位参数
+    num_cols = 6  # 1-6 (x方向)
+    num_rows = 4  # A-D (y方向)
+    tip_diameter = 8.0  # 枪头孔位直径
+    tip_spacing_x = 18.0  # 列间距 (增加到18mm，更宽松)
+    tip_spacing_y = 18.0  # 行间距 (增加到18mm，更宽松)
+
+    # 计算起始位置 (居中对齐)
+    total_width = (num_cols - 1) * tip_spacing_x + tip_diameter
+    total_height = (num_rows - 1) * tip_spacing_y + tip_diameter
+    start_x = (size_x - total_width) / 2
+    start_y = (size_y - total_height) / 2
+
+    # 使用 create_ordered_items_2d 创建孔位
+    # create_ordered_items_2d 返回的 key 是数字索引: 0, 1, 2, ...
+    # 顺序是列优先: 先y后x (即 0=A1, 1=B1, 2=C1, 3=D1, 4=A2, 5=B2, ...)
+    sites = create_ordered_items_2d(
+        klass=ResourceHolder,
+        num_items_x=num_cols,
+        num_items_y=num_rows,
+        dx=start_x,
+        dy=start_y,
+        dz=5.0,
+        item_dx=tip_spacing_x,
+        item_dy=tip_spacing_y,
+        size_x=tip_diameter,
+        size_y=tip_diameter,
+        size_z=50.0,  # 枪头深度
+    )
+
+    # 更新 sites 中每个 ResourceHolder 的名称
+    for k, v in sites.items():
+        v.name = f"{name}_{v.name}"
+
+    # 创建枪头盒载架
+    # 注意：不设置 category，使用默认的 "bottle_carrier"，这样前端会显示为完整的矩形载架
+    tip_box = BottleCarrier(
+        name=name,
+        size_x=size_x,
+        size_y=size_y,
+        size_z=size_z,
+        sites=sites,  # 直接使用数字索引的 sites
+        model="BIOYOND_PolymerStation_TipBox",
+    )
+
+    # 设置自定义属性
+    tip_box.barcode = barcode
+    tip_box.tip_count = 24  # 4行×6列
+    tip_box.num_items_x = num_cols
+    tip_box.num_items_y = num_rows
+    tip_box.num_items_z = 1
+
+    # ⭐ 枪头盒不需要放入子资源
+    # 与其他 carrier 不同，枪头盒在 Bioyond 中是一个整体
+    # 不需要追踪每个枪头的状态，保持为空的 ResourceHolder 即可
+    # 这样前端会显示24个空槽位，可以用于放置枪头
+
+    return tip_box

unilabos/resources/bioyond/bottles.py

@@ -116,7 +116,9 @@ def BIOYOND_PolymerStation_TipBox(
     size_z: float = 100.0,   # 枪头盒高度
     barcode: str = None,
 ):
-    """创建4×6枪头盒 (24个枪头)
+    """创建4×6枪头盒 (24个枪头) - 使用 BottleCarrier 结构
+
+    注意：此函数已弃用，请使用 bottle_carriers.py 中的版本
 
     Args:
         name: 枪头盒名称
@@ -126,55 +128,11 @@ def BIOYOND_PolymerStation_TipBox(
         barcode: 条形码
 
     Returns:
-        TipBoxCarrier: 包含24个枪头孔位的枪头盒
+        BottleCarrier: 包含24个枪头孔位的枪头盒载架
     """
-    from pylabrobot.resources import Container, Coordinate
-
-    # 创建枪头盒容器
-    tip_box = Container(
-        name=name,
-        size_x=size_x,
-        size_y=size_y,
-        size_z=size_z,
-        category="tip_rack",
-        model="BIOYOND_PolymerStation_TipBox_4x6",
-    )
-
-    # 设置自定义属性
-    tip_box.barcode = barcode
-    tip_box.tip_count = 24  # 4行×6列
-    tip_box.num_items_x = 6  # 6列
-    tip_box.num_items_y = 4  # 4行
-
-    # 创建24个枪头孔位 (4行×6列)
-    # 假设孔位间距为 9mm
-    tip_spacing_x = 9.0  # 列间距
-    tip_spacing_y = 9.0  # 行间距
-    start_x = 14.38  # 第一个孔位的x偏移
-    start_y = 11.24  # 第一个孔位的y偏移
-
-    for row in range(4):  # A, B, C, D
-        for col in range(6):  # 1-6
-            spot_name = f"{chr(65 + row)}{col + 1}"  # A1, A2, ..., D6
-            x = start_x + col * tip_spacing_x
-            y = start_y + row * tip_spacing_y
-
-            # 创建枪头孔位容器
-            tip_spot = Container(
-                name=spot_name,
-                size_x=8.0,  # 单个枪头孔位大小
-                size_y=8.0,
-                size_z=size_z - 10.0,  # 略低于盒子高度
-                category="tip_spot",
-            )
-
-            # 添加到枪头盒
-            tip_box.assign_child_resource(
-                tip_spot,
-                location=Coordinate(x=x, y=y, z=0)
-            )
-
-    return tip_box
+    # 重定向到 bottle_carriers.py 中的实现
+    from unilabos.resources.bioyond.bottle_carriers import BIOYOND_PolymerStation_TipBox as TipBox_Carrier
+    return TipBox_Carrier(name=name, size_x=size_x, size_y=size_y, size_z=size_z, barcode=barcode)
 
 
 def BIOYOND_PolymerStation_Flask(

unilabos/resources/graphio.py

@@ -797,9 +797,12 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
                     bottle = plr_material[number] = initialize_resource(
                         {"name": f'{detail["name"]}_{number}', "class": reverse_type_mapping[typeName][0]}, resource_type=ResourcePLR
                     )
-                    bottle.tracker.liquids = [
-                        (detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
-                    ]
+                    # 只有具有 tracker 属性的容器才设置液体信息（如 Bottle, Well）
+                    # ResourceHolder 等不支持液体追踪的容器跳过
+                    if hasattr(bottle, "tracker"):
+                        bottle.tracker.liquids = [
+                            (detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
+                        ]
                     bottle.code = detail.get("code", "")
                     logger.debug(f"  └─ [子物料] {detail['name']} → {plr_material.name}[{number}] (类型:{typeName})")
                 else:
@@ -808,9 +811,11 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
             # 只对有 capacity 属性的容器（液体容器）处理液体追踪
             if hasattr(plr_material, 'capacity'):
                 bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
-                bottle.tracker.liquids = [
-                    (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
-                ]
+                # 确保 bottle 有 tracker 属性才设置液体信息
+                if hasattr(bottle, "tracker"):
+                    bottle.tracker.liquids = [
+                        (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
+                    ]
 
         plr_materials.append(plr_material)
 
@@ -839,24 +844,29 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
                 wh_name = loc.get("whName")
                 logger.debug(f"[物料位置] {unique_name} 尝试放置到 warehouse: {wh_name} (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')}, z={loc.get('z')})")
 
+                # Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
+                # 必须在warehouse映射之前先获取坐标，以便后续调整
+                x = loc.get("x", 1)  # 行号 (1-based: 1=A, 2=B, 3=C, 4=D)
+                y = loc.get("y", 1)  # 列号 (1-based: 1=01, 2=02, 3=03...)
+                z = loc.get("z", 1)  # 层号 (1-based, 通常为1)
+
                 # 特殊处理: Bioyond的"堆栈1"需要映射到"堆栈1左"或"堆栈1右"
-                # 根据列号(x)判断: 1-4映射到左侧, 5-8映射到右侧
+                # 根据列号(y)判断: 1-4映射到左侧, 5-8映射到右侧
                 if wh_name == "堆栈1":
-                    x_val = loc.get("x", 1)
-                    if 1 <= x_val <= 4:
+                    if 1 <= y <= 4:
                         wh_name = "堆栈1左"
-                    elif 5 <= x_val <= 8:
+                    elif 5 <= y <= 8:
                         wh_name = "堆栈1右"
+                        y = y - 4  # 调整列号: 5-8映射到1-4
                     else:
-                        logger.warning(f"物料 {material['name']} 的列号 x={x_val} 超出范围，无法映射到堆栈1左或堆栈1右")
+                        logger.warning(f"物料 {material['name']} 的列号 y={y} 超出范围，无法映射到堆栈1左或堆栈1右")
                         continue
 
                 # 特殊处理: Bioyond的"站内Tip盒堆栈"也需要进行拆分映射
                 if wh_name == "站内Tip盒堆栈":
-                    y_val = loc.get("y", 1)
-                    if y_val == 1:
+                    if y == 1:
                         wh_name = "站内Tip盒堆栈(右)"
-                    elif y_val in [2, 3]:
+                    elif y in [2, 3]:
                         wh_name = "站内Tip盒堆栈(左)"
                         y = y - 1  # 调整列号，因为左侧仓库对应的 Bioyond y=2 实际上是它的第1列
 
@@ -864,15 +874,6 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
                     warehouse = deck.warehouses[wh_name]
                     logger.debug(f"[Warehouse匹配] 找到warehouse: {wh_name} (容量: {warehouse.capacity}, 行×列: {warehouse.num_items_x}×{warehouse.num_items_y})")
 
-                    # Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
-                    x = loc.get("x", 1)  # 行号 (1-based: 1=A, 2=B, 3=C, 4=D)
-                    y = loc.get("y", 1)  # 列号 (1-based: 1=01, 2=02, 3=03...)
-                    z = loc.get("z", 1)  # 层号 (1-based, 通常为1)
-
-                    # 如果是右侧堆栈，需要调整列号 (5→1, 6→2, 7→3, 8→4)
-                    if wh_name == "堆栈1右":
-                        y = y - 4  # 将5-8映射到1-4
-
                     # 特殊处理竖向warehouse（站内试剂存放堆栈、测量小瓶仓库）
                     # 这些warehouse使用 vertical-col-major 布局
                     if wh_name in ["站内试剂存放堆栈", "测量小瓶仓库(测密度)"]:

unilabos/resources/plr_additional_res_reg.py

@@ -18,3 +18,9 @@ def register():
     from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
     from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend
 
+    # noinspection PyUnresolvedReferences
+    from unilabos.resources.bioyond.decks import (
+        BIOYOND_PolymerReactionStation_Deck,
+        BIOYOND_PolymerPreparationStation_Deck,
+        BIOYOND_YB_Deck,
+    )

unilabos/resources/resource_tracker.py

@@ -423,6 +423,7 @@ class ResourceTreeSet(object):
                 "deck": "deck",
                 "tip_rack": "tip_rack",
                 "tip_spot": "tip_spot",
+                "tip": "tip",  # 添加 tip 类型支持
                 "tube": "tube",
                 "bottle_carrier": "bottle_carrier",
                 "material_hole": "material_hole",

unilabos/test/experiments/xkc_sensor_test.json

@@ -0,0 +1,29 @@
+{
+    "nodes": [
+        {
+            "id": "Liquid_Sensor_1",
+            "name": "XKC Sensor",
+            "children": [],
+            "parent": null,
+            "type": "device",
+            "class": "sensor.xkc_rs485",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "port": "/dev/tty.usbserial-3110",
+                "baudrate": 9600,
+                "device_id": 1,
+                "threshold": 300,
+                "timeout": 3.0
+            },
+            "data": {
+                "level": false,
+                "rssi": 0
+            }
+        }
+    ],
+    "links": []
+}

unilabos/test/experiments/zdt_motor_test.json

@@ -0,0 +1,28 @@
+{
+    "nodes": [
+        {
+            "id": "ZDT_Motor",
+            "name": "ZDT Motor",
+            "children": [],
+            "parent": null,
+            "type": "device",
+            "class": "motor.zdt_x42",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "port": "/dev/tty.usbserial-3110",
+                "baudrate": 115200,
+                "device_id": 1,
+                "debug": true
+            },
+            "data": {
+                "position": 0,
+                "status": "idle"
+            }
+        }
+    ],
+    "links": []
+}