1103byxinyu

unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py

@@ -11,7 +11,6 @@ import re
 import threading
 import json
 from urllib3 import response
-from unilabos.devices.workstation.workstation_base import WorkstationBase
 from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation, BioyondResourceSynchronizer
 from unilabos.devices.workstation.bioyond_studio.config import (
     API_CONFIG, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING, SOLID_LIQUID_MAPPINGS
@@ -19,7 +18,6 @@ from unilabos.devices.workstation.bioyond_studio.config import (
 from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
 from unilabos.utils.log import logger
 from unilabos.registry.registry import lab_registry
-from unilabos.resources.bioyond.decks import YB_Deck, BIOYOND_YB_Deck
 
 def _iso_local_now_ms() -> str:
     # 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z
@@ -36,29 +34,25 @@ class BioyondCellWorkstation(BioyondWorkstation):
     查询实验(2.5/2.6) → 3-2-1 转运(2.32) → 样品/废料取出(2.28)
     """
 
-    def __init__(
-        self,
-        bioyond_config: Optional[Dict[str, Any]] = None,
-        deck: Optional[Dict[str, Any]] = None,
-        *args, **kwargs,
-        ):
+    def __init__(self, config: dict = None, deck=None, protocol_type=None, **kwargs):
 
         # 使用统一配置，支持自定义覆盖, 从 config.py 加载完整配置
-        self.bioyond_config = bioyond_config or  {
+        self.bioyond_config ={
             **API_CONFIG,
             "material_type_mappings": MATERIAL_TYPE_MAPPINGS,
-            "warehouse_mapping": WAREHOUSE_MAPPING
+            "warehouse_mapping": WAREHOUSE_MAPPING,
+            "debug_mode": False
     }
           
             # "material_type_mappings": MATERIAL_TYPE_MAPPINGS
             # "warehouse_mapping": WAREHOUSE_MAPPING
-        self.deck = BIOYOND_YB_Deck()
-        self.deck.setup()
-        print(self.bioyond_config)
+        if deck is None and config:
+            deck = config.get('deck')
+        # print(self.bioyond_config)
         self.debug_mode = self.bioyond_config["debug_mode"]
         self.http_service_started = self.debug_mode
-        self.device_id = kwargs.pop("device_id", "bioyond_cell_workstation")
-        super().__init__(bioyond_config=self.bioyond_config, deck=self.deck)
+        self._device_id = "bioyond_cell_workstation"  # 默认值，后续会从_ros_node获取
+        super().__init__(bioyond_config=config, deck=deck)
         self.update_push_ip() #直接修改奔耀端的报送ip地址
         logger.info("已更新奔耀端推送 IP 地址")
 
@@ -72,6 +66,13 @@ class BioyondCellWorkstation(BioyondWorkstation):
         self.last_order_code = None
         logger.info(f"Bioyond工作站初始化完成 (debug_mode={self.debug_mode})")
 
+    @property
+    def device_id(self):
+        """获取设备ID，优先从_ros_node获取，否则返回默认值"""
+        if hasattr(self, '_ros_node') and self._ros_node is not None:
+            return getattr(self._ros_node, 'device_id', self._device_id)
+        return self._device_id
+
     def _start_http_service(self):
         """启动 HTTP 服务"""
         host = self.bioyond_config.get("HTTP_host", "")

unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_workstation copy.py

@@ -1,715 +0,0 @@
-# -*- coding: utf-8 -*-
-from typing import Dict, Any, List, Optional
-from datetime import datetime, timezone
-import requests
-from pathlib import Path
-import pandas as pd
-import time
-from datetime import datetime, timezone, timedelta
-import re
-import threading
-from unilabos.devices.workstation.workstation_base import WorkstationBase
-from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
-from unilabos.utils.log import logger
-from pylabrobot.resources.deck import Deck
-
-
-def _iso_utc_now_ms() -> str:
-    # 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z
-    dt = datetime.now(timezone.utc)
-    return dt.strftime("%Y-%m-%dT%H:%M:%S.") + f"{int(dt.microsecond/1000):03d}Z"
-
-
-class BioyondWorkstation(WorkstationBase):
-    """
-    集成 Bioyond LIMS 的工作站示例，
-    覆盖：入库(2.17/2.18) → 新建实验(2.14) → 启动调度(2.7) →
-    运行中推送：物料变更(2.24)、步骤完成(2.21)、订单完成(2.23) →
-    查询实验(2.5/2.6) → 3-2-1 转运(2.32) → 样品/废料取出(2.28)
-    """
-
-    def __init__(
-        self,
-        bioyond_config: Optional[Dict[str, Any]] = None,
-        station_resource: Optional[Dict[str, Any]] = None,
-        debug_mode: bool = False,   # 增加调试模式开关
-        *args, **kwargs,
-    ):
-        self.bioyond_config = bioyond_config or {
-            "base_url": "http://192.168.1.200:44386",
-            "api_key": "8A819E5C",
-            "timeout": 30,
-            "report_token": "CHANGE_ME_TOKEN"
-        }
-
-        self.http_service_started = False
-        self.debug_mode = debug_mode
-        super().__init__(deck=Deck, station_resource=station_resource, *args, **kwargs)
-        logger.info(f"Bioyond工作站初始化完成 (debug_mode={self.debug_mode})")
-
-        # 实例化并在后台线程启动 HTTP 报送服务
-        self.order_status = {}
-        try:
-            t = threading.Thread(target=self._start_http_service_bg, daemon=True, name="unilab_http")
-            t.start()
-
-        except Exception as e:
-            logger.error(f"unilab-server后台启动报送服务失败: {e}")
-
-    @property
-    def device_id(self) -> str:
-        try:
-            return getattr(self, "_ros_node").device_id  # 兼容 ROS 场景
-        except Exception:
-            return "bioyond_workstation"
-
-    def _start_http_service_bg(self, host: str = "192.168.1.104", port: int = 8080) -> None:
-        logger.info("进入 _start_http_service_bg 函数")
-        try:
-            self.service = WorkstationHTTPService(self, host=host, port=port)
-            logger.info("WorkstationHTTPService 实例化完成")
-            self.service.start()
-            self.http_service_started = True
-            logger.info(f"unilab_HTTP 服务成功启动: {host}:{port}")
-
-            #一直挂着，直到进程退出
-            while True:
-                time.sleep(1)
-
-        except Exception as e:
-            self.http_service_started = False
-            logger.error(f"启动unilab_HTTP服务失败: {e}", exc_info=True)
-
-    # -------------------- 基础HTTP封装 --------------------
-    def _url(self, path: str) -> str:
-        return f"{self.bioyond_config['base_url'].rstrip('/')}/{path.lstrip('/')}"
-
-    def _post_lims(self, path: str, data: Optional[Any] = None) -> Dict[str, Any]:
-        """LIMS API：大多数接口用 {apiKey/requestTime,data} 包装"""
-        payload = {
-            "apiKey": self.bioyond_config["api_key"],
-            "requestTime": _iso_utc_now_ms()
-        }
-        if data is not None:
-            payload["data"] = data
-
-        if self.debug_mode:
-            # 模拟返回，不发真实请求
-            logger.info(f"[DEBUG] POST {path} with payload={payload}")
-            return {"debug": True, "url": self._url(path), "payload": payload, "status": "ok"}
-
-        try:
-            r = requests.post(
-                self._url(path),
-                json=payload,
-                timeout=self.bioyond_config.get("timeout", 30),
-                headers={"Content-Type": "application/json"}
-            )
-            r.raise_for_status()
-            return r.json()
-        except Exception as e:
-            logger.error(f"POST {path} 失败: {e}")
-            return {"error": str(e)}
-
-    # --- 修正：_post_report / _post_report_raw 同样走 debug_mode ---
-    def _post_report(self, path: str, data: Dict[str, Any]) -> Dict[str, Any]:
-        payload = {
-            "token": self.bioyond_config.get("report_token", ""),
-            "request_time": _iso_utc_now_ms(),
-            "data": data
-        }
-        if self.debug_mode:
-            logger.info(f"[DEBUG] POST {path} with payload={payload}")
-            return {"debug": True, "url": self._url(path), "payload": payload, "status": "ok"}
-        try:
-            r = requests.post(self._url(path), json=payload,
-                            timeout=self.bioyond_config.get("timeout", 30),
-                            headers={"Content-Type": "application/json"})
-            r.raise_for_status()
-            return r.json()
-        except Exception as e:
-            logger.error(f"POST {path} 失败: {e}")
-            return {"error": str(e)}
-
-    def _post_report_raw(self, path: str, body: Dict[str, Any]) -> Dict[str, Any]:
-        if self.debug_mode:
-            logger.info(f"[DEBUG] POST {path} with body={body}")
-            return {"debug": True, "url": self._url(path), "payload": body, "status": "ok"}
-        try:
-            r = requests.post(self._url(path), json=body,
-                            timeout=self.bioyond_config.get("timeout", 30),
-                            headers={"Content-Type": "application/json"})
-            r.raise_for_status()
-            return r.json()
-        except Exception as e:
-            logger.error(f"POST {path} 失败: {e}")
-            return {"error": str(e)}
-
-
-    # -------------------- 单点接口封装 --------------------
-    # 2.17 入库物料（单个）
-    def storage_inbound(self, material_id: str, location_id: str) -> Dict[str, Any]:
-        return self._post_lims("/api/lims/storage/inbound", {
-            "materialId": material_id,
-            "locationId": location_id
-        })
-
-    # 2.18 批量入库（多个）
-    def storage_batch_inbound(self, items: List[Dict[str, str]]) -> Dict[str, Any]:
-        """
-        items = [{"materialId": "...", "locationId": "..."}, ...]
-        """
-        return self._post_lims("/api/lims/storage/batch-inbound", items)
-
-    # 3.30 自动化上料（Excel -> JSON -> POST /api/lims/order/auto-feeding4to3）
-    def auto_feeding4to3_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]:
-        """
-        根据固定模板解析 Excel：
-        - 四号手套箱加样头面 (2-13行, 3-7列)
-        - 四号手套箱原液瓶面 (15-23行, 3-9列)
-        - 三号手套箱人工堆栈 (26-40行, 3-7列)
-        """
-        path = Path(xlsx_path)
-        if not path.exists():
-            raise FileNotFoundError(f"未找到 Excel 文件：{path}")
-
-        try:
-            df = pd.read_excel(path, sheet_name=0, header=None, engine="openpyxl")
-        except Exception as e:
-            raise RuntimeError(f"读取 Excel 失败：{e}")
-
-        items: List[Dict[str, Any]] = []
-
-        # 四号手套箱 - 加样头面（2-13行, 3-7列）
-        for _, row in df.iloc[1:13, 2:7].iterrows():
-            item = {
-                "sourceWHName": "四号手套箱堆栈",
-                "posX": int(row[2]),
-                "posY": int(row[3]),
-                "posZ": int(row[4]),
-                "materialName": str(row[5]).strip() if pd.notna(row[5]) else "",
-                "quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
-            }
-            if item["materialName"]:
-                items.append(item)
-
-        # 四号手套箱 - 原液瓶面（15-23行, 3-9列）
-        for _, row in df.iloc[14:23, 2:9].iterrows():
-            item = {
-                "sourceWHName": "四号手套箱堆栈",
-                "posX": int(row[2]),
-                "posY": int(row[3]),
-                "posZ": int(row[4]),
-                "materialName": str(row[5]).strip() if pd.notna(row[5]) else "",
-                "quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
-                "materialType": str(row[7]).strip() if pd.notna(row[7]) else "",
-                "targetWH": str(row[8]).strip() if pd.notna(row[8]) else "",
-            }
-            if item["materialName"]:
-                items.append(item)
-
-        # 三号手套箱人工堆栈（26-40行, 3-7列）
-        for _, row in df.iloc[25:40, 2:7].iterrows():
-            item = {
-                "sourceWHName": "三号手套箱人工堆栈",
-                "posX": int(row[2]),
-                "posY": int(row[3]),
-                "posZ": int(row[4]),
-                "materialType": str(row[5]).strip() if pd.notna(row[5]) else "",
-                "materialId": str(row[6]).strip() if pd.notna(row[6]) else "",
-                "quantity": 1  # 默认数量1
-            }
-            if item["materialId"] or item["materialType"]:
-                items.append(item)
-
-        return self._post_lims("/api/lims/order/auto-feeding4to3", items)
-
-
-
-    def auto_batch_outbound_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]:
-        """
-        3.31 自动化下料（Excel -> JSON -> POST /api/lims/storage/auto-batch-out-bound）
-        """
-        path = Path(xlsx_path)
-        if not path.exists():
-            raise FileNotFoundError(f"未找到 Excel 文件：{path}")
-
-        try:
-            df = pd.read_excel(path, sheet_name=0, engine="openpyxl")
-        except Exception as e:
-            raise RuntimeError(f"读取 Excel 失败：{e}")
-
-        def pick(names: List[str]) -> Optional[str]:
-            for n in names:
-                if n in df.columns:
-                    return n
-            return None
-
-        c_loc = pick(["locationId", "库位ID", "库位Id", "库位id"])
-        c_wh  = pick(["warehouseId", "仓库ID", "仓库Id", "仓库id"])
-        c_qty = pick(["数量", "quantity"])
-        c_x   = pick(["x", "X", "posX", "坐标X"])
-        c_y   = pick(["y", "Y", "posY", "坐标Y"])
-        c_z   = pick(["z", "Z", "posZ", "坐标Z"])
-
-        required = [c_loc, c_wh, c_qty, c_x, c_y, c_z]
-        if any(c is None for c in required):
-            raise KeyError("Excel 缺少必要列：locationId/warehouseId/数量/x/y/z（支持多别名，至少要能匹配到）。")
-
-        def as_int(v, d=0):
-            try:
-                if pd.isna(v): return d
-                return int(v)
-            except Exception:
-                try:
-                    return int(float(v))
-                except Exception:
-                    return d
-
-        def as_float(v, d=0.0):
-            try:
-                if pd.isna(v): return d
-                return float(v)
-            except Exception:
-                return d
-
-        def as_str(v, d=""):
-            if v is None or (isinstance(v, float) and pd.isna(v)): return d
-            s = str(v).strip()
-            return s if s else d
-
-        items: List[Dict[str, Any]] = []
-        for _, row in df.iterrows():
-            items.append({
-                "locationId": as_str(row[c_loc]),
-                "warehouseId": as_str(row[c_wh]),
-                "quantity": as_float(row[c_qty]),
-                "x": as_int(row[c_x]),
-                "y": as_int(row[c_y]),
-                "z": as_int(row[c_z]),
-            })
-
-        return self._post_lims("/api/lims/storage/auto-batch-out-bound", items)
-
-    # 2.14 新建实验
-    def create_orders(self, xlsx_path: str) -> Dict[str, Any]:
-        """
-        从 Excel 解析并创建实验（2.14）
-        约定：
-        - batchId = Excel 文件名（不含扩展名）
-        - 物料列：所有以 "(g)" 结尾（不再读取“总质量(g)”列）
-        - totalMass 自动计算为所有物料质量之和
-        - createTime 缺失或为空时自动填充为当前日期（YYYY/M/D）
-        """
-        path = Path(xlsx_path)
-        if not path.exists():
-            raise FileNotFoundError(f"未找到 Excel 文件：{path}")
-
-        try:
-            df = pd.read_excel(path, sheet_name=0, engine="openpyxl")
-        except Exception as e:
-            raise RuntimeError(f"读取 Excel 失败：{e}")
-
-        # 列名容错：返回可选列名，找不到则返回 None
-        def _pick(col_names: List[str]) -> Optional[str]:
-            for c in col_names:
-                if c in df.columns:
-                    return c
-            return None
-
-        col_order_name = _pick(["配方ID", "orderName", "订单编号"])
-        col_create_time = _pick(["创建日期", "createTime"])
-        col_bottle_type = _pick(["配液瓶类型", "bottleType"])
-        col_mix_time = _pick(["混匀时间(s)", "mixTime"])
-        col_load = _pick(["扣电组装分液体积", "loadSheddingInfo"])
-        col_pouch = _pick(["软包组装分液体积", "pouchCellInfo"])
-        col_cond = _pick(["电导测试分液体积", "conductivityInfo"])
-        col_cond_cnt = _pick(["电导测试分液瓶数", "conductivityBottleCount"])
-
-        # 物料列：所有以 (g) 结尾
-        material_cols = [c for c in df.columns if isinstance(c, str) and c.endswith("(g)")]
-        if not material_cols:
-            raise KeyError("未发现任何以“(g)”结尾的物料列，请检查表头。")
-
-        batch_id = path.stem
-
-        def _to_ymd_slash(v) -> str:
-            # 统一为 "YYYY/M/D"；为空或解析失败则用当前日期
-            if v is None or (isinstance(v, float) and pd.isna(v)) or str(v).strip() == "":
-                ts = datetime.now()
-            else:
-                try:
-                    ts = pd.to_datetime(v)
-                except Exception:
-                    ts = datetime.now()
-            return f"{ts.year}/{ts.month}/{ts.day}"
-
-        def _as_int(val, default=0) -> int:
-            try:
-                if pd.isna(val):
-                    return default
-                return int(val)
-            except Exception:
-                return default
-
-        def _as_str(val, default="") -> str:
-            if val is None or (isinstance(val, float) and pd.isna(val)):
-                return default
-            s = str(val).strip()
-            return s if s else default
-
-        orders: List[Dict[str, Any]] = []
-
-        for idx, row in df.iterrows():
-            mats: List[Dict[str, Any]] = []
-            total_mass = 0.0
-
-            for mcol in material_cols:
-                val = row.get(mcol, None)
-                if val is None or (isinstance(val, float) and pd.isna(val)):
-                    continue
-                try:
-                    mass = float(val)
-                except Exception:
-                    continue
-                if mass > 0:
-                    mats.append({"name": mcol.replace("(g)", ""), "mass": mass})
-                    total_mass += mass
-
-            order_data = {
-                "batchId": batch_id,
-                "orderName": _as_str(row[col_order_name], default=f"{batch_id}_order_{idx+1}") if col_order_name else f"{batch_id}_order_{idx+1}",
-                "createTime": _to_ymd_slash(row[col_create_time]) if col_create_time else _to_ymd_slash(None),
-                "bottleType": _as_str(row[col_bottle_type], default="配液小瓶") if col_bottle_type else "配液小瓶",
-                "mixTime": _as_int(row[col_mix_time]) if col_mix_time else 0,
-                "loadSheddingInfo": _as_int(row[col_load]) if col_load else 0,
-                "pouchCellInfo": _as_int(row[col_pouch]) if col_pouch else 0,
-                "conductivityInfo": _as_int(row[col_cond]) if col_cond else 0,
-                "conductivityBottleCount": _as_int(row[col_cond_cnt]) if col_cond_cnt else 0,
-                "materialInfos": mats,
-                "totalMass": round(total_mass, 4)  # 自动汇总
-            }
-            orders.append(order_data)
-
-        # print(orders)
-
-        response = self._post_lims("/api/lims/order/orders", orders)
-        self.order_status[response["data"]["orderCode"]] = "running"
-
-        while True:
-            time.sleep(5)
-            if self.order_status.get(response["data"]["orderCode"], None) == "finished":
-                logger.info(f"配液实验已完成 ，即将执行 3-2-1 转运")
-                break
-            logger.info(f"等待配液实验完成")
-
-        self.transfer_3_to_2_to_1()
-        r321 = self.wait_for_transfer_task()
-        logger.info(f"3-2-1 转运完成，返回结果")
-        return r321
-
-
-    # 2.7 启动调度
-    def scheduler_start(self) -> Dict[str, Any]:
-        return self._post_lims("/api/lims/scheduler/start")
-    # 3.10 停止调度
-    def scheduler_stop(self) -> Dict[str, Any]:
-        """
-        停止调度 (3.10)
-        请求体只包含 apiKey 和 requestTime
-        """
-        return self._post_lims("/api/lims/scheduler/stop")
-            # 2.9 继续调度
-    def scheduler_continue(self) -> Dict[str, Any]:
-        """
-        继续调度 (2.9)
-        请求体只包含 apiKey 和 requestTime
-        """
-        return self._post_lims("/api/lims/scheduler/continue")
-
-
-
-    # 2.24 物料变更推送
-    def report_material_change(self, material_obj: Dict[str, Any]) -> Dict[str, Any]:
-        """
-        material_obj 按 2.24 的裸对象格式（包含 id/typeName/locations/detail 等）
-        """
-        return self._post_report_raw("/report/material_change", material_obj)
-
-    # 2.21 步骤完成推送（BS → LIMS）
-    def report_step_finish(self,
-                           order_code: str,
-                           order_name: str,
-                           step_name: str,
-                           step_id: str,
-                           sample_id: str,
-                           start_time: str,
-                           end_time: str,
-                           execution_status: str = "completed") -> Dict[str, Any]:
-        data = {
-            "orderCode": order_code,
-            "orderName": order_name,
-            "stepName": step_name,
-            "stepId": step_id,
-            "sampleId": sample_id,
-            "startTime": start_time,
-            "endTime": end_time,
-            "executionStatus": execution_status
-        }
-        return self._post_report("/report/step_finish", data)
-
-    # 2.23 订单完成推送（BS → LIMS）
-    def report_order_finish(self,
-                            order_code: str,
-                            order_name: str,
-                            start_time: str,
-                            end_time: str,
-                            status: str = "30",  # 30 完成 / -11 异常停止 / -12 人工停止
-                            workflow_status: str = "Finished",
-                            completion_time: Optional[str] = None,
-                            used_materials: Optional[List[Dict[str, Any]]] = None) -> Dict[str, Any]:
-        data = {
-            "orderCode": order_code,
-            "orderName": order_name,
-            "startTime": start_time,
-            "endTime": end_time,
-            "status": status,
-            "workflowStatus": workflow_status,
-            "completionTime": completion_time or end_time,
-            "usedMaterials": used_materials or []
-        }
-        return self._post_report("/report/order_finish", data)
-
-    # 2.5 批量查询实验报告（用于轮询是否完成）
-    def order_list(self,
-                   status: Optional[str] = None,
-                   begin_time: Optional[str] = None,
-                   end_time: Optional[str] = None,
-                   filter_text: Optional[str] = None,
-                   skip: int = 0, page: int = 10) -> Dict[str, Any]:
-        data: Dict[str, Any] = {"skipCount": skip, "pageCount": page}
-        if status is not None:  # 80 成功 / 90 失败 / 100 执行中
-            data["status"] = status
-        if begin_time:
-            data["timeType"] = "CreationTime"
-            data["beginTime"] = begin_time
-        if end_time:
-            data["endTime"] = end_time
-        if filter_text:
-            data["filter"] = filter_text
-        return self._post_lims("/api/lims/order/order-list", data)
-
-    # 2.6 实验报告查询（根据任务ID拿详情）
-    def order_report(self, order_id: str) -> Dict[str, Any]:
-        return self._post_lims("/api/lims/order/order-report", order_id)
-
-    # 2.32 3-2-1 物料转运
-    def transfer_3_to_2_to_1(self,
-                            #  source_wh_id: Optional[str] = None,
-                            source_wh_id: Optional[str] = '3a19debc-84b4-0359-e2d4-b3beea49348b',
-                             source_x: int = 1, source_y: int = 1, source_z: int = 1) -> Dict[str, Any]:
-        payload: Dict[str, Any] = {
-            "sourcePosX": source_x, "sourcePosY": source_y, "sourcePosZ": source_z
-        }
-        if source_wh_id:
-            payload["sourceWHID"] = source_wh_id
-        return self._post_lims("/api/lims/order/transfer-task3To2To1", payload)
-
-    # 2.28 样品/废料取出
-    def take_out(self,
-                 order_id: str,
-                 preintake_ids: Optional[List[str]] = None,
-                 material_ids: Optional[List[str]] = None) -> Dict[str, Any]:
-        data = {
-            "orderId": order_id,
-            "preintakeIds": preintake_ids or [],
-            "materialIds": material_ids or []
-        }
-        return self._post_lims("/api/lims/order/take-out", data)
-
-    # --------（可选）占位方法：文档未定义的“1号站内部流程 / 1-2转运”--------
-    def start_station1_internal_flow(self, **kwargs) -> None:
-        logger.info("启动1号站内部流程（占位，按现场系统填充具体指令）")
-
-
-    # 3.x 1→2 物料转运
-    def transfer_1_to_2(self) -> Dict[str, Any]:
-        """
-        1→2 物料转运
-        URL: /api/lims/order/transfer-task1To2
-        只需要 apiKey 和 requestTime
-        """
-        return self._post_lims("/api/lims/order/transfer-task1To2")
-
-
-    # -------------------- 整体编排 --------------------
-    def run_full_workflow(self,
-                          inbound_items: List[Dict[str, str]],
-                          orders: List[Dict[str, Any]],
-                          poll_filter_code: Optional[str] = None,
-                          poll_timeout_s: int = 600,
-                          poll_interval_s: int = 5,
-                          transfer_source: Optional[Dict[str, Any]] = None,
-                          takeout_order_id: Optional[str] = None) -> None:
-        """
-        一键串联：
-        1) 入库 3-4 个物料 → 2) 新建实验 → 3) 启动调度
-        运行中（如需）：4) 物料变更推送 5) 步骤完成推送 6) 订单完成推送
-        完成后：查询实验（2.5/2.6）→ 7) 3-2-1 转运 → 8) 1号站内部流程
-        → 9) 1-2 转运 → 10) 样品/废料取出
-        """
-        # 1. 入库（多于1个就用批量接口 2.18）
-        if len(inbound_items) == 1:
-            r = self.storage_inbound(inbound_items[0]["materialId"], inbound_items[0]["locationId"])
-            logger.info(f"单个入库结果: {r}")
-        else:
-            r = self.storage_batch_inbound(inbound_items)
-            logger.info(f"批量入库结果: {r}")
-
-        # 2. 新建实验（2.14）
-        r = self.create_orders(orders)
-        logger.info(f"新建实验结果: {r}")
-
-        # 3. 启动调度（2.7）
-        r = self.scheduler_start()
-        logger.info(f"启动调度结果: {r}")
-
-        # —— 运行中各类推送（2.24 / 2.21 / 2.23），通常由实际任务驱动，这里提供调用方式 —— #
-        # self.report_material_change({...})
-        # self.report_step_finish(order_code="BSO...", order_name="配液分液", step_name="xxx", step_id="...", sample_id="...",
-        #                         start_time=_iso_utc_now_ms(), end_time=_iso_utc_now_ms(), execution_status="completed")
-        # self.report_order_finish(order_code="BSO...", order_name="配液分液", start_time="...", end_time=_iso_utc_now_ms())
-
-        # 完成后才能转运：用 2.5 批量查询配合 filter=任务编码 轮询到 status=80（成功）
-        if poll_filter_code:
-            import time
-            deadline = time.time() + poll_timeout_s
-            while time.time() < deadline:
-                res = self.order_list(status="80", filter_text=poll_filter_code, page=5)
-                if isinstance(res, dict) and res.get("data", {}).get("items"):
-                    logger.info(f"实验 {poll_filter_code} 已完成：{res['data']['items'][0]}")
-                    break
-                time.sleep(poll_interval_s)
-            else:
-                logger.warning(f"等待实验 {poll_filter_code} 完成超时（未到 status=80）")
-
-        # 7. 启动 3-2-1 转运（2.32）
-        if transfer_source:
-            r = self.transfer_3_to_2_to_1(
-                source_wh_id=transfer_source.get("sourceWHID"),
-                source_x=transfer_source.get("sourcePosX", 1),
-                source_y=transfer_source.get("sourcePosY", 1),
-                source_z=transfer_source.get("sourcePosZ", 1),
-            )
-            logger.info(f"3-2-1 转运结果: {r}")
-
-        # 8. 1号站内部流程（占位）
-        self.start_station1_internal_flow()
-
-        # 9. 1→2 转运（占位）
-        self.transfer_1_to_2()
-
-        # 10. 样品/废料取出（2.28）
-        if takeout_order_id:
-            r = self.take_out(order_id=takeout_order_id)
-            logger.info(f"样品/废料取出结果: {r}")
-
-    # 2.5 批量查询实验报告
-    def order_list_v2(self,
-                      timeType: str = "string",
-                      beginTime: str = "",
-                      endTime: str = "",
-                      status: str = "",
-                      filter: str = "物料转移任务",
-                      skipCount: int = 0,
-                      pageCount: int = 1,
-                      sorting: str = "") -> Dict[str, Any]:
-        """
-        批量查询实验报告的详细信息 (2.5)
-        URL: /api/lims/order/order-list
-        参数默认值和接口文档保持一致
-        """
-        data: Dict[str, Any] = {
-            "timeType": timeType,
-            "beginTime": beginTime,
-            "endTime": endTime,
-            "status": status,
-            "filter": filter,
-            "skipCount": skipCount,
-            "pageCount": pageCount,
-            "sorting": sorting
-        }
-        return self._post_lims("/api/lims/order/order-list", data)
-
-        
-    def wait_for_transfer_task(self, timeout: int = 600, interval: int = 3) -> bool:
-        """
-        轮询查询物料转移任务是否成功完成 (status=80)
-        - timeout: 最大等待秒数 (默认600秒)
-        - interval: 轮询间隔秒数 (默认3秒)
-        返回 True 表示找到并成功完成，False 表示超时未找到
-        """
-        now = datetime.now()
-        beginTime = now.strftime("%Y-%m-%dT%H:%M:%SZ")
-        endTime = (now + timedelta(minutes=5)).strftime("%Y-%m-%dT%H:%M:%SZ")
-        print(beginTime, endTime)
-
-        deadline = time.time() + timeout
-
-        while time.time() < deadline:
-            result = self.order_list_v2(
-                timeType="string",
-                beginTime=beginTime,
-                endTime=endTime,
-                status="",
-                filter="物料转移任务",
-                skipCount=0,
-                pageCount=1,
-                sorting=""
-            )
-            print(result)
-
-            items = result.get("data", {}).get("items", [])
-            for item in items:
-                name = item.get("name", "")
-                status = item.get("status")
-                if name.startswith("物料转移任务") and status == 80:
-                    logger.info(f"硬件转移动作完成: {name}")
-                    return True
-
-            time.sleep(interval)
-
-        logger.warning("超时未找到成功的物料转移任务")
-        return False
-
-
-# --------------------------------
-if __name__ == "__main__":
-    ws = BioyondWorkstation()
-    # ws.scheduler_stop()
-    ws.scheduler_start()
-    logger.info("调度启动完成")
-
-    # ws.scheduler_continue()
-    # 3.30 上料：读取模板 Excel 自动解析并 POST
-    r1 = ws.auto_feeding4to3_from_xlsx(r"C:\ML\GitHub\Uni-Lab-OS\unilabos\devices\workstation\bioyond_cell\样品导入模板 (8).xlsx")
-    ws.wait_for_transfer_task()
-    logger.info("4号箱向3号箱转运物料转移任务已完成")
-
-    # ws.scheduler_start()
-    # print(r1["payload"]["data"])   # 调试模式下可直接看到要发的 JSON items
-
-    # 新建实验
-    res = ws.create_orders("C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_cell/2025092501.xlsx")
-    # ws.scheduler_start()
-    # print(res)
-
-    #1号站启动
-    ws.transfer_1_to_2()
-    ws.wait_for_transfer_task()
-    logger.info("1号站向2号站转移任务完成")
-    logger.info("全流程结束")
-
-    # 3.31 下料：同理
-    # r2 = ws.auto_batch_outbound_from_xlsx(r"C:/path/样品导入模板 (8).xlsx")
-    # print(r2["payload"]["data"])

unilabos/devices/workstation/bioyond_studio/config.py

@@ -17,7 +17,7 @@ API_CONFIG = {
     "report_token": os.getenv("BIOYOND_REPORT_TOKEN", "CHANGE_ME_TOKEN"),
     
     # HTTP 服务配置
-    "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.21.33.30"),  # HTTP服务监听地址，监听计算机飞连ip地址
+    "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.21.32.115"),  # HTTP服务监听地址，监听计算机飞连ip地址
     "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")),
     "debug_mode": False,# 调试模式
 }
@@ -155,8 +155,9 @@ MATERIAL_TYPE_MAPPINGS = {
     "100ml液体": ("YB_1Bottle100mlCarrier", "d37166b3-ecaa-481e-bd84-3032b795ba07"),
     "液": ("YB_1BottleCarrier", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"),
     "高粘液": ("YB_1GaoNianYeBottleCarrier", "abe8df30-563d-43d2-85e0-cabec59ddc16"),
-    "加样头(大)": ("YB_jia_yang_tou_da", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
-    "加样头(大)板": ("YB_jia_yang_tou_da_1X1_carrier", "a8e714ae-2a4e-4eb9-9614-e4c140ec3f16"),
+    # "加样头(大)": ("YB_jia_yang_tou_da", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
+    "加样头(大)": ("YB_jia_yang_tou_da_1X1_carrier", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
+    # "加样头(大)板": ("YB_jia_yang_tou_da_1X1_carrier", "a8e714ae-2a4e-4eb9-9614-e4c140ec3f16"),
     "5ml分液瓶板": ("YB_6x5ml_DispensingVialCarrier", "3a192fa4-007d-ec7b-456e-2a8be7a13f23"),
     "5ml分液瓶": ("YB_fen_ye_5ml_Bottle", "3a192c2a-ebb7-58a1-480d-8b3863bf74f4"),
     "20ml分液瓶板": ("YB_6x20ml_DispensingVialCarrier", "3a192fa4-47db-3449-162a-eaf8aba57e27"),

unilabos/devices/workstation/bioyond_studio/station.py

@@ -21,7 +21,6 @@ from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNo
 from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
 from pylabrobot.resources.resource import Resource as ResourcePLR
 
-from unilabos.resources.bioyond.decks import YB_Deck
 from unilabos.devices.workstation.bioyond_studio.config import (
     API_CONFIG, WORKFLOW_MAPPINGS, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING
 )
@@ -64,7 +63,7 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
                 logger.error("Bioyond API客户端未初始化")
                 return False
 
-            bioyond_data = self.bioyond_api_client.stock_material('{"typeMode": 1, "includeDetail": true}')
+            bioyond_data = self.bioyond_api_client.stock_material('{"typeMode": 2, "includeDetail": true}')
             if not bioyond_data:
                 logger.warning("从Bioyond获取的物料数据为空")
                 return False
@@ -138,7 +137,7 @@ class BioyondWorkstation(WorkstationBase):
         # 初始化父类
         super().__init__(
             # 桌子
-            deck=YB_Deck("YB_Deck14"),
+            deck=deck,
             *args,
             **kwargs,
         )

unilabos/registry/devices/bioyond_cell.yaml

@@ -137,7 +137,7 @@ bioyond_cell:
           WH4_x5_y1_z1_5_quantity: 0.0
           WH4_x5_y2_z1_10_materialName: ''
           WH4_x5_y2_z1_10_quantity: 0.0
-          xlsx_path: unilabos\devices\workstation\bioyond_studio\bioyond_cell\material_template.xlsx
+          xlsx_path: C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -463,7 +463,7 @@ bioyond_cell:
                   default: 0.0
                   type: number
                 xlsx_path:
-                  default: unilabos\devices\workstation\bioyond_studio\bioyond_cell\material_template.xlsx
+                  default: C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
                   type: string
               required: []
               type: object
@@ -473,31 +473,6 @@ bioyond_cell:
           title: auto_feeding4to3参数
           type: object
         type: UniLabJsonCommand
-      auto-auto_feeding4to3_from_xlsx:
-        feedback: {}
-        goal: {}
-        goal_default:
-          xlsx_path: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                xlsx_path:
-                  type: string
-              required:
-              - xlsx_path
-              type: object
-            result: {}
-          required:
-          - goal
-          title: auto_feeding4to3_from_xlsx参数
-          type: object
-        type: UniLabJsonCommand
       auto-create_and_inbound_materials:
         feedback: {}
         goal: {}
@@ -1039,7 +1014,7 @@ bioyond_cell:
         goal: {}
         goal_default:
           order_code: null
-          timeout: 1800
+          timeout: 36000
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -1052,7 +1027,7 @@ bioyond_cell:
                 order_code:
                   type: string
                 timeout:
-                  default: 1800
+                  default: 36000
                   type: integer
               required:
               - order_code
@@ -1105,9 +1080,11 @@ bioyond_cell:
   init_param_schema:
     config:
       properties:
-        bioyond_config:
+        config:
+          type: object
+        deck:
           type: string
-        station_resource:
+        protocol_type:
           type: string
       required: []
       type: object

unilabos/registry/resources/bioyond/deck.yaml

@@ -22,13 +22,13 @@ BIOYOND_PolymerReactionStation_Deck:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_Deck16:
+BIOYOND_YB_Deck:
   category:
   - deck
   class:
-    module: unilabos.resources.bioyond.decks:YB_Deck
+    module: unilabos.resources.bioyond.decks:BIOYOND_YB_Deck
     type: pylabrobot
-  description: BIOYOND PolymerReactionStation Deck
+  description: BIOYOND_YB_Deck
   handles: []
   icon: 配液站.webp
   init_param_schema: {}

unilabos/resources/bioyond/decks.py

@@ -1,4 +1,5 @@
 from os import name
+from pickle import TRUE
 from pylabrobot.resources import Deck, Coordinate, Rotation
 
 from unilabos.resources.bioyond.warehouses import bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x2, bioyond_warehouse_liquid_and_lid_handling, bioyond_warehouse_1x2x2, bioyond_warehouse_1x3x3, bioyond_warehouse_10x1x1, bioyond_warehouse_3x3x1, bioyond_warehouse_3x3x1_2, bioyond_warehouse_5x1x1
@@ -71,7 +72,7 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck):
 class BIOYOND_YB_Deck(Deck):
     def __init__(
         self, 
-        name: str = "YB_Deck",
+        name: str = "YB_Bioyond_Deck",
         size_x: float = 4150,
         size_y: float = 1400.0,
         size_z: float = 2670.0,
@@ -115,10 +116,10 @@ class BIOYOND_YB_Deck(Deck):
         for warehouse_name, warehouse in self.warehouses.items():
             self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
             
-def YB_Deck(name: str) -> Deck:
-    by=BIOYOND_YB_Deck(name=name)
-    by.setup()
-    return by
+# def YB_Deck(name: str) -> Deck:
+# #     by=BIOYOND_YB_Deck(name=name)
+# #     by.setup()
+#     return None