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Upgrade to py 3.11.14; ROS2 Humble 0.7; unilabos 0.10.16

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Workbench example, adjust log level, and ci check (#220)

* TestLatency Return Value Example & gitignore update

* Adjust log level & Add workbench virtual example & Add not action decorator & Add check_mode &

* Add CI Check

Fix/workstation yb revision (#217)

* Revert log change & update registry

* Revert opcua client & move electrolyte node

Workstation yb merge dev ready 260113 (#216)

* feat(bioyond): 添加计算实验设计功能，支持化合物配比和滴定比例参数

* feat(bioyond): 添加测量小瓶功能，支持基本参数配置

* feat(bioyond): 添加测量小瓶配置，支持新设备参数

* feat(bioyond): 更新仓库布局和尺寸，支持竖向排列的测量小瓶和试剂存放堆栈

* feat(bioyond): 优化任务创建流程，确保无论成功与否都清理任务队列以避免重复累积

* feat(bioyond): 添加设置反应器温度功能，支持温度范围和异常处理

* feat(bioyond): 调整反应器位置配置，统一坐标格式

* feat(bioyond): 添加调度器启动功能，支持任务队列执行并处理异常

* feat(bioyond): 优化调度器启动功能，添加异常处理并更新相关配置

* feat(opcua): 增强节点ID解析兼容性和数据类型处理

改进节点ID解析逻辑以支持多种格式，包括字符串和数字标识符
添加数据类型转换处理，确保写入值时类型匹配
优化错误提示信息，便于调试节点连接问题

* feat(registry): 新增后处理站的设备配置文件

添加后处理站的YAML配置文件，包含动作映射、状态类型和设备描述

* 添加调度器启动功能，合并物料参数配置，优化物料参数处理逻辑

* 添加从 Bioyond 系统自动同步工作流序列的功能，并更新相关配置

* fix：兼容 BioyondReactionStation 中 workflow_sequence 被重写为 property

* fix:同步工作流序列

* feat: remove commented workflow synchronization from `reaction_station.py`.

* 添加时间约束功能及相关配置

* fix：自动更新物料缓存功能，添加物料时更新缓存并在删除时移除缓存项

* fix：在添加物料时处理字符串和字典返回值，确保正确更新缓存

* fix：更新奔曜错误处理报送为物料变更报送，调整日志记录和响应消息

* feat：添加实验报告简化功能，去除冗余信息并保留关键信息

* feat: 添加任务状态事件发布功能，监控并报告任务运行、超时、完成和错误状态

* fix: 修复添加物料时数据格式错误

* Refactor bioyond_dispensing_station and reaction_station_bioyond YAML configurations

- Removed redundant action value mappings from bioyond_dispensing_station.
- Updated goal properties in bioyond_dispensing_station to use enums for target_stack and other parameters.
- Changed data types for end_point and start_point in reaction_station_bioyond to use string enums (Start, End).
- Simplified descriptions and updated measurement units from μL to mL where applicable.
- Removed unused commands from reaction_station_bioyond to streamline the configuration.

* fix：Change the material unit from μL to mL

* fix：refresh_material_cache

* feat: 动态获取工作流步骤ID，优化工作流配置

* feat: 添加清空服务端所有非核心工作流功能

* fix：修复Bottle类的序列化和反序列化方法

* feat：增强材料缓存更新逻辑，支持处理返回数据中的详细信息

* Add debug log

* feat(workstation): update bioyond config migration and coin cell material search logic

- Migrate bioyond_cell config to JSON structure and remove global variable dependencies
- Implement material search confirmation dialog auto-handling
- Add documentation: 20260113_物料搜寻确认弹窗自动处理功能.md and 20260113_配置迁移修改总结.md

* Refactor module paths for Bioyond devices in YAML configuration files

- Updated the module path for BioyondDispensingStation in bioyond_dispensing_station.yaml to reflect the new directory structure.
- Updated the module path for BioyondReactionStation and BioyondReactor in reaction_station_bioyond.yaml to align with the revised organization of the codebase.

* fix: WareHouse 的不可哈希类型错误，优化父节点去重逻辑

* refactor: Move config from module to instance initialization

* fix: 修正 reaction_station 目录名拼写错误

* feat: Integrate material search logic and cleanup deprecated files

- Update coin_cell_assembly.py with material search dialog handling
- Update YB_warehouses.py with latest warehouse configurations
- Remove outdated documentation and test data files

* Refactor: Use instance attributes for action names and workflow step IDs

* refactor: Split tipbox storage into left and right warehouses

* refactor: Merge tipbox storage left and right into single warehouse

---------

Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com>
Co-authored-by: Andy6M <xieqiming1132@qq.com>

fix: WareHouse 的不可哈希类型错误，优化父节点去重逻辑

fix parent_uuid fetch when bind_parent_id == node_name

物料更新也是用父节点进行报送

Add None conversion for tube rack etc.

Add set_liquid example.

Add create_resource and test_resource example.

Add restart.
Temp allow action message.

Add no_update_feedback option.

Create session_id by edge.

bump version to 0.10.15

temp cancel update req
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# UniLabOS 资源注册架构详解
> **目标受众**: 主要开发 `unilabos/registry/devices` 抽象层的开发者
> **最后更新**: 2026-01-11
> **维护者**: Uni-Lab-OS 开发团队
本文档详细说明 UniLabOS 资源注册系统的架构、资源的完整生命周期，以及如何实现动态物料位置追踪。
---
## 📚 目录
- [核心概念](#核心概念)
- [三层架构详解](#三层架构详解)
- [资源注册机制](#资源注册机制)
- [物料生命周期管理](#物料生命周期管理)
- [动态物料位置追踪](#动态物料位置追踪)
- [实战案例](#实战案例)
- [常见问题排查](#常见问题排查)
---
## 核心概念
### 1. Resources vs Registry
UniLabOS 采用**声明式注册**模式，将资源的**定义**（Python）与**注册信息**（YAML）分离：
```
┌──────────────────────────────────────────────────────────┐
│ unilabos/resources (Python 实现) │
│ - 定义资源的物理属性、行为和创建逻辑 │
│ - 例如: 瓶子的尺寸、容量、材质 │
├──────────────────────────────────────────────────────────┤
│ unilabos/registry/resources (YAML 注册表) │
│ - 声明哪些资源可以被前端使用 │
│ - 定义资源的分类、图标、初始化参数 │
└──────────────────────────────────────────────────────────┘
```
**为什么要分离？**
1. **解耦**: Python 代码可以定义无限多的资源类，但只有在 YAML 中注册的才能被前端识别
2. **灵活性**: 无需修改 Python 代码，只需修改 YAML 就能添加/移除可用资源
3. **可扩展性**: 第三方开发者可以通过 YAML 注册自己的资源，无需修改核心代码
---
## 三层架构详解
UniLabOS 资源系统采用**三层架构**，实现从前端UI到底层硬件的完整映射：
### 架构图
```
┌─────────────────────────────────────────────────────┐
│ 第1层: YAML 注册表 (registry/resources) │
│ - 告诉系统"哪些资源可用" │
│ - 前端通过此层获取可用资源列表 │
│ - 文件: YB_bottle.yaml, YB_bottle_carriers.yaml │
├─────────────────────────────────────────────────────┤
│ 第2层: Python 实现 (resources/bioyond) │
│ - 定义资源的具体属性和行为 │
│ - 创建资源实例的工厂函数 │
│ - 文件: YB_bottles.py, YB_bottle_carriers.py │
├─────────────────────────────────────────────────────┤
│ 第3层: Hardware/API 集成 (devices/workstation) │
│ - 连接 Bioyond 系统 API │
│ - 同步物料位置和状态 │
│ - 文件: station.py, bioyond_rpc.py, config.py │
└─────────────────────────────────────────────────────┘
```
### 第1层: YAML 注册表
#### YB_bottle.yaml - 单个瓶子注册
```yaml
YB_5ml_fenyeping:
category:
- yb3 # 系统分类
- YB_bottle # 资源类型
class:
module: unilabos.resources.bioyond.YB_bottles:YB_5ml_fenyeping # Python 函数路径
type: pylabrobot # 框架类型
description: YB_5ml_fenyeping # 前端显示名称
handles: []
icon: '' # 图标路径
init_param_schema: {} # 初始化参数 schema
registry_type: resource
version: 1.0.0
```
**作用:**
- 前端通过读取此文件知道有一个叫 "YB_5ml_fenyeping" 的资源
- 用户拖拽时，系统会调用 `YB_bottles:YB_5ml_fenyeping()` 创建实例
#### YB_bottle_carriers.yaml - 载架（容器）注册
```yaml
YB_5ml_fenyepingban:
category:
- yb3
- YB_bottle_carriers
class:
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_5ml_fenyepingban
type: pylabrobot
description: YB_5ml_fenyepingban # 5ml分液瓶板
```
**作用:**
- 载架是容器，里面可以放多个瓶子
- 例如: `YB_5ml_fenyepingban` 是一个 4x2 布局的板，可以放 8 个 5ml 瓶子
### 第2层: Python 实现
#### YB_bottles.py - 瓶子工厂函数
```python
def YB_5ml_fenyeping(
name: str,
diameter: float = 20.0, # 直径 (mm)
height: float = 50.0, # 高度 (mm)
max_volume: float = 5000.0, # 最大容量 (μL)
barcode: str = None,
) -> Bottle:
\"\"\"创建5ml分液瓶\"\"\"
return Bottle(
name=name,
diameter=diameter,
height=height,
max_volume=max_volume,
barcode=barcode,
model="YB_5ml_fenyeping", # ⭐ 与 YAML 中的名称对应
)
```
**关键点:**
- 函数名 `YB_5ml_fenyeping` 必须与 YAML 中的 `module` 路径末尾一致
- 返回一个 `Bottle` 对象（PyLabRobot 资源类型）
- `model` 字段用于在 Bioyond 系统中识别资源类型
**详细文档请参考完整版 README**
---
## 相关文件索引
### 核心文件
| 文件 | 功能 | 路径 |
|------|------|------|
| `YB_bottle.yaml` | 瓶子注册表 | `unilabos/registry/resources/bioyond/` |
| `YB_bottle_carriers.yaml` | 载架注册表 | `unilabos/registry/resources/bioyond/` |
| `deck.yaml` | Deck注册表 | `unilabos/registry/resources/bioyond/` |
| `YB_bottles.py` | 瓶子实现 | `unilabos/resources/bioyond/` |
| `YB_bottle_carriers.py` | 载架实现 | `unilabos/resources/bioyond/` |
| `YB_warehouses.py` | 仓库实现 | `unilabos/resources/bioyond/` |
| `decks.py` | Deck布局 | `unilabos/resources/bioyond/` |
| `station.py` | 物料同步 | `unilabos/devices/workstation/bioyond_studio/` |
| `config.py` | UUID映射 | `unilabos/devices/workstation/bioyond_studio/` |
### 仓库相关文档
- [README_WAREHOUSE.md](../../resources/bioyond/README_WAREHOUSE.md) - 仓库系统开发指南
---
**维护者:** Uni-Lab-OS 开发团队
**最后更新:** 2026-01-11

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unilabos/registry/resources/bioyond/YB_bottle.yaml Normal file
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YB_20ml_fenyeping:
category:
- yb3
- YB_bottle
class:
module: unilabos.resources.bioyond.YB_bottles:YB_20ml_fenyeping
type: pylabrobot
description: YB_20ml_fenyeping
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_5ml_fenyeping:
category:
- yb3
- YB_bottle
class:
module: unilabos.resources.bioyond.YB_bottles:YB_5ml_fenyeping
type: pylabrobot
description: YB_5ml_fenyeping
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_jia_yang_tou_da:
category:
- yb3
- YB_bottle
class:
module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da
type: pylabrobot
description: YB_jia_yang_tou_da
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_pei_ye_da_Bottle:
category:
- yb3
- YB_bottle
class:
module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_da_Bottle
type: pylabrobot
description: YB_pei_ye_da_Bottle
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_pei_ye_xiao_Bottle:
category:
- yb3
- YB_bottle
class:
module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_xiao_Bottle
type: pylabrobot
description: YB_pei_ye_xiao_Bottle
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_qiang_tou:
category:
- yb3
- YB_bottle
class:
module: unilabos.resources.bioyond.YB_bottles:YB_qiang_tou
type: pylabrobot
description: YB_qiang_tou
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_ye_Bottle:
category:
- yb3
- YB_bottle_carriers
- YB_bottle
class:
module: unilabos.resources.bioyond.YB_bottles:YB_ye_Bottle
type: pylabrobot
description: YB_ye_Bottle
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0

182
unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml Normal file
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@@ -0,0 +1,182 @@
YB_100ml_yeti:
category:
- yb3
- YB_bottle_carriers
class:
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_100ml_yeti
type: pylabrobot
description: YB_100ml_yeti
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_20ml_fenyepingban:
category:
- yb3
- YB_bottle_carriers
class:
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_20ml_fenyepingban
type: pylabrobot
description: YB_20ml_fenyepingban
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_5ml_fenyepingban:
category:
- yb3
- YB_bottle_carriers
class:
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_5ml_fenyepingban
type: pylabrobot
description: YB_5ml_fenyepingban
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_6StockCarrier:
category:
- yb3
- YB_bottle_carriers
class:
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6StockCarrier
type: pylabrobot
description: YB_6StockCarrier
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_6VialCarrier:
category:
- yb3
- YB_bottle_carriers
class:
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6VialCarrier
type: pylabrobot
description: YB_6VialCarrier
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_gao_nian_ye_Bottle:
category:
- yb3
- YB_bottle_carriers
class:
module: unilabos.resources.bioyond.YB_bottles:YB_gao_nian_ye_Bottle
type: pylabrobot
description: YB_gao_nian_ye_Bottle
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_gaonianye:
category:
- yb3
- YB_bottle_carriers
class:
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_gaonianye
type: pylabrobot
description: YB_gaonianye
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_jia_yang_tou_da_Carrier:
category:
- yb3
- YB_bottle_carriers
class:
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_jia_yang_tou_da_Carrier
type: pylabrobot
description: YB_jia_yang_tou_da_Carrier
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_peiyepingdaban:
category:
- yb3
- YB_bottle_carriers
class:
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingdaban
type: pylabrobot
description: YB_peiyepingdaban
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_peiyepingxiaoban:
category:
- yb3
- YB_bottle_carriers
class:
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingxiaoban
type: pylabrobot
description: YB_peiyepingxiaoban
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_qiang_tou_he:
category:
- yb3
- YB_bottle_carriers
class:
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_qiang_tou_he
type: pylabrobot
description: YB_qiang_tou_he
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_shi_pei_qi_kuai:
category:
- yb3
- YB_bottle_carriers
class:
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_shi_pei_qi_kuai
type: pylabrobot
description: YB_shi_pei_qi_kuai
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_ye:
category:
- yb3
- YB_bottle_carriers
class:
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_ye
type: pylabrobot
description: YB_ye_Bottle_Carrier
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_ye_100ml_Bottle:
category:
- yb3
- YB_bottle_carriers
class:
module: unilabos.resources.bioyond.YB_bottles:YB_ye_100ml_Bottle
type: pylabrobot
description: YB_ye_100ml_Bottle
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0

11
unilabos/registry/resources/bioyond/bottles.yaml
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@@ -20,6 +20,17 @@ BIOYOND_PolymerStation_Liquid_Vial:
icon: ''
init_param_schema: {}
version: 1.0.0
BIOYOND_PolymerStation_Measurement_Vial:
category:
- bottles
class:
module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Measurement_Vial
type: pylabrobot
description: 聚合站-测量小瓶（测密度）
handles: []
icon: ''
init_param_schema: {}
version: 1.0.0
BIOYOND_PolymerStation_Reactor:
category:
- bottles

16
unilabos/registry/resources/bioyond/deck.yaml
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@@ -22,15 +22,27 @@ BIOYOND_PolymerReactionStation_Deck:
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_Deck11:
BIOYOND_YB_Deck:
category:
- deck
class:
module: unilabos.resources.bioyond.decks:YB_Deck
type: pylabrobot
description: BIOYOND PolymerReactionStation Deck
description: BIOYOND ElectrolyteFormulationStation Deck
handles: []
icon: 配液站.webp
init_param_schema: {}
registry_type: resource
version: 1.0.0
CoincellDeck:
category:
- deck
class:
module: unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:YH_Deck
type: pylabrobot
description: YIHUA CoinCellAssembly Deck
handles: []
icon: koudian.webp
init_param_schema: {}
registry_type: resource
version: 1.0.0