refactor: ProtocolNode→WorkstationNode

unilabos/devices/workstation/workflow_executors.py

@@ -0,0 +1,649 @@
+"""
+工作流执行器模块
+Workflow Executors Module
+
+基于单一硬件接口的工作流执行器实现
+支持Modbus、HTTP、PyLabRobot和代理模式
+"""
+import time
+import json
+import asyncio
+from typing import Dict, Any, List, Optional, TYPE_CHECKING
+from abc import ABC, abstractmethod
+
+if TYPE_CHECKING:
+    from unilabos.devices.work_station.workstation_base import WorkstationBase
+
+from unilabos.utils.log import logger
+
+
+class WorkflowExecutor(ABC):
+    """工作流执行器基类 - 基于单一硬件接口"""
+    
+    def __init__(self, workstation: 'WorkstationBase'):
+        self.workstation = workstation
+        self.hardware_interface = workstation.hardware_interface
+        self.material_management = workstation.material_management
+    
+    @abstractmethod
+    def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
+        """执行工作流"""
+        pass
+    
+    @abstractmethod
+    def stop_workflow(self, emergency: bool = False) -> bool:
+        """停止工作流"""
+        pass
+    
+    def call_device(self, method: str, *args, **kwargs) -> Any:
+        """调用设备方法的统一接口"""
+        return self.workstation.call_device_method(method, *args, **kwargs)
+    
+    def get_device_status(self) -> Dict[str, Any]:
+        """获取设备状态"""
+        return self.workstation.get_device_status()
+
+
+class ModbusWorkflowExecutor(WorkflowExecutor):
+    """Modbus工作流执行器 - 适配 coin_cell_assembly_system"""
+    
+    def __init__(self, workstation: 'WorkstationBase'):
+        super().__init__(workstation)
+        
+        # 验证Modbus接口
+        if not (hasattr(self.hardware_interface, 'write_register') and 
+                hasattr(self.hardware_interface, 'read_register')):
+            raise RuntimeError("工作站硬件接口不是有效的Modbus客户端")
+    
+    def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
+        """执行Modbus工作流"""
+        if workflow_name == "battery_manufacturing":
+            return self._execute_battery_manufacturing(parameters)
+        elif workflow_name == "material_loading":
+            return self._execute_material_loading(parameters)
+        elif workflow_name == "quality_check":
+            return self._execute_quality_check(parameters)
+        else:
+            logger.warning(f"不支持的Modbus工作流: {workflow_name}")
+            return False
+    
+    def _execute_battery_manufacturing(self, parameters: Dict[str, Any]) -> bool:
+        """执行电池制造工作流"""
+        try:
+            # 1. 物料准备检查
+            available_slot = self._find_available_press_slot()
+            if not available_slot:
+                raise RuntimeError("没有可用的压制槽")
+            
+            logger.info(f"找到可用压制槽: {available_slot}")
+            
+            # 2. 设置工艺参数（直接调用Modbus接口）
+            if "electrolyte_num" in parameters:
+                self.hardware_interface.write_register('REG_MSG_ELECTROLYTE_NUM', parameters["electrolyte_num"])
+                logger.info(f"设置电解液编号: {parameters['electrolyte_num']}")
+            
+            if "electrolyte_volume" in parameters:
+                self.hardware_interface.write_register('REG_MSG_ELECTROLYTE_VOLUME', 
+                                                      parameters["electrolyte_volume"], 
+                                                      data_type="FLOAT32")
+                logger.info(f"设置电解液体积: {parameters['electrolyte_volume']}")
+            
+            if "assembly_pressure" in parameters:
+                self.hardware_interface.write_register('REG_MSG_ASSEMBLY_PRESSURE',
+                                                      parameters["assembly_pressure"],
+                                                      data_type="FLOAT32")
+                logger.info(f"设置装配压力: {parameters['assembly_pressure']}")
+            
+            # 3. 启动制造流程
+            self.hardware_interface.write_register('COIL_SYS_START_CMD', True)
+            logger.info("启动电池制造流程")
+            
+            # 4. 确认启动成功
+            time.sleep(0.5)
+            status = self.hardware_interface.read_register('COIL_SYS_START_STATUS', count=1)
+            success = status[0] if status else False
+            
+            if success:
+                logger.info(f"电池制造工作流启动成功，参数: {parameters}")
+            else:
+                logger.error("电池制造工作流启动失败")
+            
+            return success
+            
+        except Exception as e:
+            logger.error(f"执行电池制造工作流失败: {e}")
+            return False
+    
+    def _execute_material_loading(self, parameters: Dict[str, Any]) -> bool:
+        """执行物料装载工作流"""
+        try:
+            material_type = parameters.get('material_type', 'cathode')
+            position = parameters.get('position', 'A1')
+            
+            logger.info(f"开始物料装载: {material_type} -> {position}")
+            
+            # 设置物料类型和位置
+            self.hardware_interface.write_register('REG_MATERIAL_TYPE', material_type)
+            self.hardware_interface.write_register('REG_MATERIAL_POSITION', position)
+            
+            # 启动装载
+            self.hardware_interface.write_register('COIL_LOAD_START', True)
+            
+            # 等待装载完成
+            timeout = parameters.get('timeout', 30)
+            start_time = time.time()
+            
+            while time.time() - start_time < timeout:
+                status = self.hardware_interface.read_register('COIL_LOAD_COMPLETE', count=1)
+                if status and status[0]:
+                    logger.info(f"物料装载完成: {material_type} -> {position}")
+                    return True
+                time.sleep(0.5)
+            
+            logger.error(f"物料装载超时: {material_type} -> {position}")
+            return False
+            
+        except Exception as e:
+            logger.error(f"执行物料装载失败: {e}")
+            return False
+    
+    def _execute_quality_check(self, parameters: Dict[str, Any]) -> bool:
+        """执行质量检测工作流"""
+        try:
+            check_type = parameters.get('check_type', 'dimensional')
+            
+            logger.info(f"开始质量检测: {check_type}")
+            
+            # 启动质量检测
+            self.hardware_interface.write_register('REG_QC_TYPE', check_type)
+            self.hardware_interface.write_register('COIL_QC_START', True)
+            
+            # 等待检测完成
+            timeout = parameters.get('timeout', 60)
+            start_time = time.time()
+            
+            while time.time() - start_time < timeout:
+                status = self.hardware_interface.read_register('COIL_QC_COMPLETE', count=1)
+                if status and status[0]:
+                    # 读取检测结果
+                    result = self.hardware_interface.read_register('REG_QC_RESULT', count=1)
+                    passed = result[0] if result else False
+                    
+                    if passed:
+                        logger.info(f"质量检测通过: {check_type}")
+                        return True
+                    else:
+                        logger.warning(f"质量检测失败: {check_type}")
+                        return False
+                        
+                time.sleep(1.0)
+            
+            logger.error(f"质量检测超时: {check_type}")
+            return False
+            
+        except Exception as e:
+            logger.error(f"执行质量检测失败: {e}")
+            return False
+    
+    def _find_available_press_slot(self) -> Optional[str]:
+        """查找可用压制槽"""
+        try:
+            press_slots = self.material_management.find_by_category("battery_press_slot")
+            for slot in press_slots:
+                if hasattr(slot, 'has_battery') and not slot.has_battery():
+                    return slot.name
+            return None
+        except:
+            # 如果物料管理系统不可用，返回默认槽位
+            return "A1"
+    
+    def stop_workflow(self, emergency: bool = False) -> bool:
+        """停止工作流"""
+        try:
+            if emergency:
+                self.hardware_interface.write_register('COIL_SYS_RESET_CMD', True)
+                logger.warning("执行紧急停止")
+            else:
+                self.hardware_interface.write_register('COIL_SYS_STOP_CMD', True)
+                logger.info("执行正常停止")
+            
+            time.sleep(0.5)
+            status = self.hardware_interface.read_register('COIL_SYS_STOP_STATUS', count=1)
+            return status[0] if status else False
+            
+        except Exception as e:
+            logger.error(f"停止Modbus工作流失败: {e}")
+            return False
+
+
+class HttpWorkflowExecutor(WorkflowExecutor):
+    """HTTP工作流执行器 - 适配 reaction_station_bioyong"""
+    
+    def __init__(self, workstation: 'WorkstationBase'):
+        super().__init__(workstation)
+        
+        # 验证HTTP接口
+        if not (hasattr(self.hardware_interface, 'post') or 
+                hasattr(self.hardware_interface, 'get')):
+            raise RuntimeError("工作站硬件接口不是有效的HTTP客户端")
+    
+    def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
+        """执行HTTP工作流"""
+        try:
+            if workflow_name == "reaction_synthesis":
+                return self._execute_reaction_synthesis(parameters)
+            elif workflow_name == "liquid_feeding":
+                return self._execute_liquid_feeding(parameters)
+            elif workflow_name == "temperature_control":
+                return self._execute_temperature_control(parameters)
+            else:
+                logger.warning(f"不支持的HTTP工作流: {workflow_name}")
+                return False
+                
+        except Exception as e:
+            logger.error(f"执行HTTP工作流失败: {e}")
+            return False
+    
+    def _execute_reaction_synthesis(self, parameters: Dict[str, Any]) -> bool:
+        """执行反应合成工作流"""
+        try:
+            # 1. 设置工作流序列
+            sequence = self._build_reaction_sequence(parameters)
+            self._call_rpc_method('set_workflow_sequence', json.dumps(sequence))
+            
+            # 2. 设置反应参数
+            if parameters.get('temperature'):
+                self._call_rpc_method('set_temperature', parameters['temperature'])
+            
+            if parameters.get('pressure'):
+                self._call_rpc_method('set_pressure', parameters['pressure'])
+            
+            if parameters.get('stirring_speed'):
+                self._call_rpc_method('set_stirring_speed', parameters['stirring_speed'])
+            
+            # 3. 执行工作流
+            result = self._call_rpc_method('execute_current_sequence', {
+                "task_name": "reaction_synthesis"
+            })
+            
+            success = result.get('success', False)
+            if success:
+                logger.info("反应合成工作流执行成功")
+            else:
+                logger.error(f"反应合成工作流执行失败: {result.get('error', '未知错误')}")
+            
+            return success
+            
+        except Exception as e:
+            logger.error(f"执行反应合成工作流失败: {e}")
+            return False
+    
+    def _execute_liquid_feeding(self, parameters: Dict[str, Any]) -> bool:
+        """执行液体投料工作流"""
+        try:
+            reagents = parameters.get('reagents', [])
+            volumes = parameters.get('volumes', [])
+            
+            if len(reagents) != len(volumes):
+                raise ValueError("试剂列表和体积列表长度不匹配")
+            
+            # 执行投料序列
+            for reagent, volume in zip(reagents, volumes):
+                result = self._call_rpc_method('feed_liquid', {
+                    'reagent': reagent,
+                    'volume': volume
+                })
+                
+                if not result.get('success', False):
+                    logger.error(f"投料失败: {reagent} {volume}mL")
+                    return False
+                
+                logger.info(f"投料成功: {reagent} {volume}mL")
+            
+            return True
+            
+        except Exception as e:
+            logger.error(f"执行液体投料失败: {e}")
+            return False
+    
+    def _execute_temperature_control(self, parameters: Dict[str, Any]) -> bool:
+        """执行温度控制工作流"""
+        try:
+            target_temp = parameters.get('temperature', 25)
+            hold_time = parameters.get('hold_time', 300)  # 秒
+            
+            # 设置目标温度
+            result = self._call_rpc_method('set_temperature', target_temp)
+            if not result.get('success', False):
+                logger.error(f"设置温度失败: {target_temp}°C")
+                return False
+            
+            # 等待温度稳定
+            logger.info(f"等待温度稳定到 {target_temp}°C")
+            
+            # 保持温度指定时间
+            if hold_time > 0:
+                logger.info(f"保持温度 {hold_time} 秒")
+                time.sleep(hold_time)
+            
+            return True
+            
+        except Exception as e:
+            logger.error(f"执行温度控制失败: {e}")
+            return False
+    
+    def _build_reaction_sequence(self, parameters: Dict[str, Any]) -> List[str]:
+        """构建反应合成工作流序列"""
+        sequence = []
+        
+        # 添加预处理步骤
+        if parameters.get('purge_with_inert'):
+            sequence.append("purge_inert_gas")
+        
+        # 添加温度设置
+        if parameters.get('temperature'):
+            sequence.append(f"set_temperature_{parameters['temperature']}")
+        
+        # 添加压力设置
+        if parameters.get('pressure'):
+            sequence.append(f"set_pressure_{parameters['pressure']}")
+        
+        # 添加搅拌设置
+        if parameters.get('stirring_speed'):
+            sequence.append(f"set_stirring_{parameters['stirring_speed']}")
+        
+        # 添加反应步骤
+        sequence.extend([
+            "start_reaction",
+            "monitor_progress", 
+            "complete_reaction"
+        ])
+        
+        # 添加后处理步骤
+        if parameters.get('cooling_required'):
+            sequence.append("cool_down")
+        
+        return sequence
+    
+    def _call_rpc_method(self, method: str, params: Any = None) -> Dict[str, Any]:
+        """调用RPC方法"""
+        try:
+            if hasattr(self.hardware_interface, method):
+                # 直接方法调用
+                if isinstance(params, dict):
+                    params = json.dumps(params)
+                elif params is None:
+                    params = ""
+                return getattr(self.hardware_interface, method)(params)
+            else:
+                # HTTP请求调用
+                if hasattr(self.hardware_interface, 'post'):
+                    response = self.hardware_interface.post(f"/api/{method}", json=params)
+                    return response.json()
+                else:
+                    raise AttributeError(f"HTTP接口不支持方法: {method}")
+        except Exception as e:
+            logger.error(f"调用RPC方法失败 {method}: {e}")
+            return {'success': False, 'error': str(e)}
+    
+    def stop_workflow(self, emergency: bool = False) -> bool:
+        """停止工作流"""
+        try:
+            if emergency:
+                result = self._call_rpc_method('scheduler_reset')
+            else:
+                result = self._call_rpc_method('scheduler_stop')
+            
+            return result.get('success', False)
+            
+        except Exception as e:
+            logger.error(f"停止HTTP工作流失败: {e}")
+            return False
+
+
+class PyLabRobotWorkflowExecutor(WorkflowExecutor):
+    """PyLabRobot工作流执行器 - 适配 prcxi.py"""
+    
+    def __init__(self, workstation: 'WorkstationBase'):
+        super().__init__(workstation)
+        
+        # 验证PyLabRobot接口
+        if not (hasattr(self.hardware_interface, 'transfer_liquid') or 
+                hasattr(self.hardware_interface, 'pickup_tips')):
+            raise RuntimeError("工作站硬件接口不是有效的PyLabRobot设备")
+    
+    def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
+        """执行PyLabRobot工作流"""
+        try:
+            if workflow_name == "liquid_transfer":
+                return self._execute_liquid_transfer(parameters)
+            elif workflow_name == "tip_pickup_drop":
+                return self._execute_tip_operations(parameters)
+            elif workflow_name == "plate_handling":
+                return self._execute_plate_handling(parameters)
+            else:
+                logger.warning(f"不支持的PyLabRobot工作流: {workflow_name}")
+                return False
+                
+        except Exception as e:
+            logger.error(f"执行PyLabRobot工作流失败: {e}")
+            return False
+    
+    def _execute_liquid_transfer(self, parameters: Dict[str, Any]) -> bool:
+        """执行液体转移工作流"""
+        try:
+            # 1. 解析物料引用
+            sources = self._resolve_containers(parameters.get('sources', []))
+            targets = self._resolve_containers(parameters.get('targets', []))
+            tip_racks = self._resolve_tip_racks(parameters.get('tip_racks', []))
+            
+            if not sources or not targets:
+                raise ValueError("液体转移需要指定源容器和目标容器")
+            
+            if not tip_racks:
+                logger.warning("未指定枪头架，将尝试自动查找")
+                tip_racks = self._find_available_tip_racks()
+            
+            # 2. 执行液体转移
+            volumes = parameters.get('volumes', [])
+            if not volumes:
+                volumes = [100.0] * len(sources)  # 默认体积
+            
+            # 如果是同步接口
+            if hasattr(self.hardware_interface, 'transfer_liquid'):
+                result = self.hardware_interface.transfer_liquid(
+                    sources=sources,
+                    targets=targets,
+                    tip_racks=tip_racks,
+                    asp_vols=volumes,
+                    dis_vols=volumes,
+                    **parameters.get('options', {})
+                )
+            else:
+                # 异步接口需要特殊处理
+                asyncio.run(self._async_liquid_transfer(sources, targets, tip_racks, volumes, parameters))
+                result = True
+            
+            if result:
+                logger.info(f"液体转移工作流完成: {len(sources)}个源 -> {len(targets)}个目标")
+            
+            return bool(result)
+            
+        except Exception as e:
+            logger.error(f"执行液体转移失败: {e}")
+            return False
+    
+    async def _async_liquid_transfer(self, sources, targets, tip_racks, volumes, parameters):
+        """异步液体转移"""
+        await self.hardware_interface.transfer_liquid(
+            sources=sources,
+            targets=targets,
+            tip_racks=tip_racks,
+            asp_vols=volumes,
+            dis_vols=volumes,
+            **parameters.get('options', {})
+        )
+    
+    def _execute_tip_operations(self, parameters: Dict[str, Any]) -> bool:
+        """执行枪头操作工作流"""
+        try:
+            operation = parameters.get('operation', 'pickup')
+            tip_racks = self._resolve_tip_racks(parameters.get('tip_racks', []))
+            
+            if not tip_racks:
+                raise ValueError("枪头操作需要指定枪头架")
+            
+            if operation == 'pickup':
+                result = self.hardware_interface.pickup_tips(tip_racks[0])
+                logger.info("枪头拾取完成")
+            elif operation == 'drop':
+                result = self.hardware_interface.drop_tips()
+                logger.info("枪头丢弃完成")
+            else:
+                raise ValueError(f"不支持的枪头操作: {operation}")
+            
+            return bool(result)
+            
+        except Exception as e:
+            logger.error(f"执行枪头操作失败: {e}")
+            return False
+    
+    def _execute_plate_handling(self, parameters: Dict[str, Any]) -> bool:
+        """执行板类处理工作流"""
+        try:
+            operation = parameters.get('operation', 'move')
+            source_position = parameters.get('source_position')
+            target_position = parameters.get('target_position')
+            
+            if operation == 'move' and source_position and target_position:
+                # 移动板类
+                result = self.hardware_interface.move_plate(source_position, target_position)
+                logger.info(f"板类移动完成: {source_position} -> {target_position}")
+            else:
+                logger.warning(f"不支持的板类操作或参数不完整: {operation}")
+                return False
+            
+            return bool(result)
+            
+        except Exception as e:
+            logger.error(f"执行板类处理失败: {e}")
+            return False
+    
+    def _resolve_containers(self, container_names: List[str]):
+        """解析容器名称为实际容器对象"""
+        containers = []
+        for name in container_names:
+            try:
+                container = self.material_management.find_material_by_id(name)
+                if container:
+                    containers.append(container)
+                else:
+                    logger.warning(f"未找到容器: {name}")
+            except:
+                logger.warning(f"解析容器失败: {name}")
+        return containers
+    
+    def _resolve_tip_racks(self, tip_rack_names: List[str]):
+        """解析枪头架名称为实际对象"""
+        tip_racks = []
+        for name in tip_rack_names:
+            try:
+                tip_rack = self.material_management.find_by_category("tip_rack")
+                matching_racks = [rack for rack in tip_rack if rack.name == name]
+                if matching_racks:
+                    tip_racks.extend(matching_racks)
+                else:
+                    logger.warning(f"未找到枪头架: {name}")
+            except:
+                logger.warning(f"解析枪头架失败: {name}")
+        return tip_racks
+    
+    def _find_available_tip_racks(self):
+        """查找可用的枪头架"""
+        try:
+            tip_racks = self.material_management.find_by_category("tip_rack")
+            available_racks = [rack for rack in tip_racks if hasattr(rack, 'has_tips') and rack.has_tips()]
+            return available_racks[:1]  # 返回第一个可用的枪头架
+        except:
+            return []
+    
+    def stop_workflow(self, emergency: bool = False) -> bool:
+        """停止工作流"""
+        try:
+            if emergency:
+                if hasattr(self.hardware_interface, 'emergency_stop'):
+                    return self.hardware_interface.emergency_stop()
+                else:
+                    logger.warning("设备不支持紧急停止")
+                    return False
+            else:
+                if hasattr(self.hardware_interface, 'graceful_stop'):
+                    return self.hardware_interface.graceful_stop()
+                elif hasattr(self.hardware_interface, 'stop'):
+                    return self.hardware_interface.stop()
+                else:
+                    logger.warning("设备不支持优雅停止")
+                    return False
+                
+        except Exception as e:
+            logger.error(f"停止PyLabRobot工作流失败: {e}")
+            return False
+
+
+class ProxyWorkflowExecutor(WorkflowExecutor):
+    """代理工作流执行器 - 处理代理模式的工作流"""
+    
+    def __init__(self, workstation: 'WorkstationBase'):
+        super().__init__(workstation)
+        
+        # 验证代理接口
+        if not isinstance(self.hardware_interface, str) or not self.hardware_interface.startswith("proxy:"):
+            raise RuntimeError("工作站硬件接口不是有效的代理字符串")
+        
+        self.device_id = self.hardware_interface[6:]  # 移除 "proxy:" 前缀
+    
+    def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
+        """执行代理工作流"""
+        try:
+            # 通过协议节点调用目标设备的工作流
+            if self.workstation._protocol_node:
+                return self.workstation._protocol_node.call_device_method(
+                    self.device_id, 'execute_workflow', workflow_name, parameters
+                )
+            else:
+                logger.error("代理模式需要protocol_node")
+                return False
+                
+        except Exception as e:
+            logger.error(f"执行代理工作流失败: {e}")
+            return False
+    
+    def stop_workflow(self, emergency: bool = False) -> bool:
+        """停止代理工作流"""
+        try:
+            if self.workstation._protocol_node:
+                return self.workstation._protocol_node.call_device_method(
+                    self.device_id, 'stop_workflow', emergency
+                )
+            else:
+                logger.error("代理模式需要protocol_node")
+                return False
+                
+        except Exception as e:
+            logger.error(f"停止代理工作流失败: {e}")
+            return False
+
+
+# 辅助函数
+def get_executor_for_interface(hardware_interface) -> str:
+    """根据硬件接口类型获取执行器类型名称"""
+    if isinstance(hardware_interface, str) and hardware_interface.startswith("proxy:"):
+        return "ProxyWorkflowExecutor"
+    elif hasattr(hardware_interface, 'write_register') and hasattr(hardware_interface, 'read_register'):
+        return "ModbusWorkflowExecutor"
+    elif hasattr(hardware_interface, 'post') or hasattr(hardware_interface, 'get'):
+        return "HttpWorkflowExecutor"
+    elif hasattr(hardware_interface, 'transfer_liquid') or hasattr(hardware_interface, 'pickup_tips'):
+        return "PyLabRobotWorkflowExecutor"
+    else:
+        return "UnknownExecutor"

unilabos/devices/workstation/workstation_base.py

@@ -1,74 +1,25 @@
 """
 工作站基类
-Workstation Base Class
+Workstation Base Class - 单接口模式
 
-集成通信、物料管理和工作流的工作站基类
-融合子设备管理、动态工作流注册等高级功能
+基于单一硬件接口的简化工作站架构
+支持直接模式和代理模式的自动工作流执行器选择
 """
-import asyncio
-import json
 import time
 import traceback
-from typing import Dict, Any, List, Optional, Union, Callable
+from typing import Dict, Any, List, Optional, Union, TYPE_CHECKING
 from abc import ABC, abstractmethod
 from dataclasses import dataclass
 from enum import Enum
 
-from rclpy.action import ActionServer, ActionClient
-from rclpy.action.server import ServerGoalHandle
-from rclpy.callback_groups import ReentrantCallbackGroup
-from rclpy.service import Service
-from unilabos_msgs.srv import SerialCommand
-from unilabos_msgs.msg import Resource
+if TYPE_CHECKING:
+    from unilabos.ros.nodes.presets.protocol_node import ROS2WorkstationNode
 
-from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
-from unilabos.device_comms.workstation_material_management import MaterialManagementBase
-from unilabos.device_comms.workstation_http_service import (
+from unilabos.devices.work_station.workstation_material_management import MaterialManagementBase
+from unilabos.devices.work_station.workstation_http_service import (
     WorkstationHTTPService, WorkstationReportRequest, MaterialUsage
 )
-from unilabos.ros.msgs.message_converter import convert_to_ros_msg, convert_from_ros_msg
 from unilabos.utils.log import logger
-from unilabos.utils.type_check import serialize_result_info
-
-
-class DeviceType(Enum):
-    """设备类型枚举"""
-    LOGICAL = "logical"      # 逻辑设备
-    COMMUNICATION = "communication"  # 通信设备 (modbus/opcua/serial)
-    PROTOCOL = "protocol"    # 协议设备
-
-
-@dataclass
-class CommunicationInterface:
-    """通信接口配置"""
-    device_id: str          # 通信设备ID
-    read_method: str        # 读取方法名
-    write_method: str       # 写入方法名
-    protocol_type: str      # 协议类型 (modbus/opcua/serial)
-    config: Dict[str, Any]  # 协议特定配置
-
-
-@dataclass
-class WorkflowStep:
-    """工作流步骤定义"""
-    device_id: str
-    action_name: str
-    action_kwargs: Dict[str, Any]
-    depends_on: Optional[List[str]] = None  # 依赖的步骤ID
-    step_id: Optional[str] = None
-    timeout: Optional[float] = None
-    retry_count: int = 0
-
-
-@dataclass
-class WorkflowDefinition:
-    """工作流定义"""
-    name: str
-    description: str
-    steps: List[WorkflowStep]
-    input_schema: Dict[str, Any]
-    output_schema: Dict[str, Any]
-    metadata: Dict[str, Any]
 
 
 class WorkflowStatus(Enum):
@@ -94,65 +45,57 @@ class WorkflowInfo:
     parameters_schema: Dict[str, Any]  # 参数架构
 
 
-@dataclass
-class CommunicationConfig:
-    """通信配置"""
-    protocol: str
-    host: str
-    port: int
-    timeout: float = 5.0
-    retry_count: int = 3
-    extra_params: Dict[str, Any] = None
-
-
 class WorkstationBase(ABC):
-    """工作站基类
+    """工作站基类 - 单接口模式
     
-    提供工作站的核心功能：
-    1. 物料管理 - 基于PyLabRobot的物料系统
-    2. 工作流控制 - 支持动态注册和静态预定义工作流
-    3. 状态监控 - 设备状态和生产数据监控
-    4. HTTP服务 - 接收外部报送和状态查询
-    
-    注意：子设备管理和通信转发功能已移入ROS2ProtocolNode
+    核心设计原则：
+    1. 每个工作站只有一个 hardware_interface
+    2. 根据接口类型自动选择工作流执行器
+    3. 支持直接模式和代理模式
+    4. 统一的设备操作接口
     """
 
     def __init__(
         self,
         device_id: str,
         deck_config: Optional[Dict[str, Any]] = None,
-        http_service_config: Optional[Dict[str, Any]] = None,  # HTTP服务配置
+        http_service_config: Optional[Dict[str, Any]] = None,
         *args,
         **kwargs,
     ):
-        # 保存工作站基本配置
+        # 基本配置
         self.device_id = device_id
         self.deck_config = deck_config or {"size_x": 1000.0, "size_y": 1000.0, "size_z": 500.0}
         
-        # HTTP服务配置 - 现在专门用于报送接收
+        # HTTP服务配置
         self.http_service_config = http_service_config or {
             "enabled": True,
             "host": "127.0.0.1", 
-            "port": 8081  # 默认使用8081端口作为报送接收服务
+            "port": 8081
         }
         
-        # 错误处理和动作追踪
-        self.current_action_context = None  # 当前正在执行的动作上下文
-        self.error_history = []  # 错误历史记录
-        self.action_results = {}  # 动作结果缓存
+        # 单一硬件接口 - 可以是具体客户端对象或代理字符串
+        self.hardware_interface: Union[Any, str] = None
         
-        # 工作流状态 - 支持静态和动态工作流
+        # 协议节点引用（用于代理模式）
+        self._protocol_node: Optional['ROS2WorkstationNode'] = None
+        
+        # 工作流执行器（基于通信接口类型自动选择）
+        self.workflow_executor: Optional['WorkflowExecutor'] = None
+        
+        # 工作流状态
         self.current_workflow_status = WorkflowStatus.IDLE
         self.current_workflow_info = None
         self.workflow_start_time = None
         self.workflow_parameters = {}
         
+        # 错误处理
+        self.error_history = []
+        self.action_results = {}
+        
         # 支持的工作流（静态预定义）
         self.supported_workflows: Dict[str, WorkflowInfo] = {}
         
-        # 动态注册的工作流
-        self.registered_workflows: Dict[str, WorkflowDefinition] = {}
-        
         # 初始化工作站模块
         self.material_management: MaterialManagementBase = self._create_material_management_module()
         
@@ -163,113 +106,166 @@ class WorkstationBase(ABC):
         self.http_service = None
         self._start_http_service()
         
-        logger.info(f"工作站基类 {device_id} 初始化完成")
+        logger.info(f"工作站 {device_id} 初始化完成（单接口模式）")
 
-    @abstractmethod
-    def _create_material_management_module(self) -> MaterialManagementBase:
-        """创建物料管理模块 - 子类必须实现"""
-        pass
+    def set_hardware_interface(self, hardware_interface: Union[Any, str]):
+        """设置硬件接口"""
+        self.hardware_interface = hardware_interface
+        
+        # 根据接口类型自动创建工作流执行器
+        self._setup_workflow_executor()
+        
+        logger.info(f"工作站 {self.device_id} 硬件接口设置: {type(hardware_interface).__name__}")
 
-    @abstractmethod
-    def _register_supported_workflows(self):
-        """注册支持的工作流 - 子类必须实现"""
-        pass
+    def set_protocol_node(self, protocol_node: 'ROS2WorkstationNode'):
+        """设置协议节点引用（用于代理模式）"""
+        self._protocol_node = protocol_node
+        logger.info(f"工作站 {self.device_id} 关联协议节点")
 
-    def _create_workstation_services(self):
-        """创建工作站ROS服务"""
-    def _start_http_service(self):
-        """启动HTTP报送接收服务"""
-        if self.http_service_config.get("enabled", True):
-            try:
-                self.http_service = WorkstationHTTPService(
-                    host=self.http_service_config.get("host", "127.0.0.1"),
-                    port=self.http_service_config.get("port", 8081),
-                    workstation_handler=self
-                )
-                logger.info(f"HTTP报送接收服务已启动: {self.http_service_config['host']}:{self.http_service_config['port']}")
-            except Exception as e:
-                logger.error(f"启动HTTP报送接收服务失败: {e}")
-        else:
-            logger.info("HTTP报送接收服务已禁用")
-
-    def _stop_http_service(self):
-        """停止HTTP报送接收服务"""
-        if self.http_service:
-            try:
-                self.http_service.stop()
-                logger.info("HTTP报送接收服务已停止")
-            except Exception as e:
-                logger.error(f"停止HTTP报送接收服务失败: {e}")
-
-    # ============ 核心业务方法 ============
-
-    def start_workflow(self, workflow_type: str, parameters: Dict[str, Any] = None) -> bool:
-        """启动工作流 - 业务逻辑层"""
+    def _setup_workflow_executor(self):
+        """根据硬件接口类型自动设置工作流执行器"""
+        if self.hardware_interface is None:
+            return
+        
+        # 动态导入工作流执行器类
         try:
-            if self.current_workflow_status != WorkflowStatus.IDLE:
-                logger.warning(f"工作流 {workflow_type} 启动失败：当前状态为 {self.current_workflow_status}")
-                return False
+            from unilabos.devices.work_station.workflow_executors import (
+                ProxyWorkflowExecutor, ModbusWorkflowExecutor, 
+                HttpWorkflowExecutor, PyLabRobotWorkflowExecutor
+            )
+        except ImportError:
+            logger.warning("工作流执行器模块未找到，将使用基础执行器")
+            self.workflow_executor = None
+            return
+        
+        # 检查是否为代理字符串
+        if isinstance(self.hardware_interface, str) and self.hardware_interface.startswith("proxy:"):
+            self.workflow_executor = ProxyWorkflowExecutor(self)
+            logger.info(f"工作站 {self.device_id} 使用代理工作流执行器")
             
+        # 检查是否为Modbus客户端
+        elif hasattr(self.hardware_interface, 'write_register') and hasattr(self.hardware_interface, 'read_register'):
+            self.workflow_executor = ModbusWorkflowExecutor(self)
+            logger.info(f"工作站 {self.device_id} 使用Modbus工作流执行器")
+            
+        # 检查是否为HTTP客户端
+        elif hasattr(self.hardware_interface, 'post') or hasattr(self.hardware_interface, 'get'):
+            self.workflow_executor = HttpWorkflowExecutor(self)
+            logger.info(f"工作站 {self.device_id} 使用HTTP工作流执行器")
+            
+        # 检查是否为PyLabRobot设备
+        elif hasattr(self.hardware_interface, 'transfer_liquid') or hasattr(self.hardware_interface, 'pickup_tips'):
+            self.workflow_executor = PyLabRobotWorkflowExecutor(self)
+            logger.info(f"工作站 {self.device_id} 使用PyLabRobot工作流执行器")
+            
+        else:
+            logger.warning(f"工作站 {self.device_id} 无法识别硬件接口类型: {type(self.hardware_interface)}")
+            self.workflow_executor = None
+
+    # ============ 统一的设备操作接口 ============
+    
+    def call_device_method(self, method: str, *args, **kwargs) -> Any:
+        """调用设备方法的统一接口"""
+        # 1. 代理模式：通过协议节点转发
+        if isinstance(self.hardware_interface, str) and self.hardware_interface.startswith("proxy:"):
+            if not self._protocol_node:
+                raise RuntimeError("代理模式需要设置protocol_node")
+            
+            device_id = self.hardware_interface[6:]  # 移除 "proxy:" 前缀
+            return self._protocol_node.call_device_method(device_id, method, *args, **kwargs)
+        
+        # 2. 直接模式：直接调用硬件接口方法
+        elif self.hardware_interface and hasattr(self.hardware_interface, method):
+            return getattr(self.hardware_interface, method)(*args, **kwargs)
+        
+        else:
+            raise AttributeError(f"硬件接口不支持方法: {method}")
+
+    def get_device_status(self) -> Dict[str, Any]:
+        """获取设备状态"""
+        try:
+            return self.call_device_method('get_status')
+        except AttributeError:
+            # 如果设备不支持get_status方法，返回基础状态
+            return {
+                "status": "unknown",
+                "interface_type": type(self.hardware_interface).__name__,
+                "timestamp": time.time()
+            }
+
+    def is_device_available(self) -> bool:
+        """检查设备是否可用"""
+        try:
+            self.get_device_status()
+            return True
+        except:
+            return False
+
+    # ============ 工作流控制接口 ============
+
+    def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
+        """执行工作流 - 委托给工作流执行器"""
+        if not self.workflow_executor:
+            logger.error(f"工作站 {self.device_id} 工作流执行器未初始化")
+            return False
+        
+        try:
             # 设置工作流状态
             self.current_workflow_status = WorkflowStatus.INITIALIZING
-            self.workflow_parameters = parameters or {}
+            self.workflow_parameters = parameters
             self.workflow_start_time = time.time()
             
-            # 执行具体的工作流启动逻辑
-            success = self._execute_start_workflow(workflow_type, parameters or {})
+            # 委托给工作流执行器
+            success = self.workflow_executor.execute_workflow(workflow_name, parameters)
             
             if success:
                 self.current_workflow_status = WorkflowStatus.RUNNING
-                logger.info(f"工作流 {workflow_type} 启动成功")
+                logger.info(f"工作站 {self.device_id} 工作流 {workflow_name} 启动成功")
             else:
                 self.current_workflow_status = WorkflowStatus.ERROR
-                logger.error(f"工作流 {workflow_type} 启动失败")
+                logger.error(f"工作站 {self.device_id} 工作流 {workflow_name} 启动失败")
             
             return success
             
         except Exception as e:
             self.current_workflow_status = WorkflowStatus.ERROR
-            logger.error(f"启动工作流失败: {e}")
+            logger.error(f"工作站 {self.device_id} 执行工作流失败: {e}")
             return False
 
+    def start_workflow(self, workflow_type: str, parameters: Dict[str, Any] = None) -> bool:
+        """启动工作流 - 兼容旧接口"""
+        return self.execute_workflow(workflow_type, parameters or {})
+
     def stop_workflow(self, emergency: bool = False) -> bool:
-        """停止工作流 - 业务逻辑层"""
+        """停止工作流"""
+        if not self.workflow_executor:
+            logger.warning(f"工作站 {self.device_id} 工作流执行器未初始化")
+            return True
+        
         try:
             if self.current_workflow_status in [WorkflowStatus.IDLE, WorkflowStatus.STOPPED]:
-                logger.warning("没有正在运行的工作流")
+                logger.warning(f"工作站 {self.device_id} 没有正在运行的工作流")
                 return True
             
             self.current_workflow_status = WorkflowStatus.STOPPING
             
-            # 执行具体的工作流停止逻辑
-            success = self._execute_stop_workflow(emergency)
+            # 委托给工作流执行器
+            success = self.workflow_executor.stop_workflow(emergency)
             
             if success:
                 self.current_workflow_status = WorkflowStatus.STOPPED
-                logger.info(f"工作流停止成功 (紧急: {emergency})")
+                logger.info(f"工作站 {self.device_id} 工作流停止成功 (紧急: {emergency})")
             else:
                 self.current_workflow_status = WorkflowStatus.ERROR
-                logger.error(f"工作流停止失败")
+                logger.error(f"工作站 {self.device_id} 工作流停止失败")
             
             return success
             
         except Exception as e:
             self.current_workflow_status = WorkflowStatus.ERROR
-            logger.error(f"停止工作流失败: {e}")
+            logger.error(f"工作站 {self.device_id} 停止工作流失败: {e}")
             return False
 
-    # ============ 抽象方法 - 子类必须实现具体的工作流控制 ============
-    
-    @abstractmethod
-    def _execute_start_workflow(self, workflow_type: str, parameters: Dict[str, Any]) -> bool:
-        """执行启动工作流的具体逻辑 - 子类实现"""
-        pass
-
-    @abstractmethod  
-    def _execute_stop_workflow(self, emergency: bool) -> bool:
-        """执行停止工作流的具体逻辑 - 子类实现"""
-        pass
-
     # ============ 状态属性 ============
     
     @property
@@ -303,11 +299,25 @@ class WorkstationBase(ABC):
         """获取最后一个错误"""
         return self.error_history[-1] if self.error_history else None
 
+    # ============ 抽象方法 - 子类必须实现 ============
+    
+    @abstractmethod
+    def _create_material_management_module(self) -> MaterialManagementBase:
+        """创建物料管理模块 - 子类必须实现"""
+        pass
+
+    @abstractmethod
+    def _register_supported_workflows(self):
+        """注册支持的工作流 - 子类必须实现"""
+        pass
+
+    # ============ HTTP服务管理 ============
+
     def _start_http_service(self):
         """启动HTTP报送接收服务"""
         try:
             if not self.http_service_config.get("enabled", True):
-                logger.info("HTTP报送接收服务已禁用")
+                logger.info(f"工作站 {self.device_id} HTTP报送接收服务已禁用")
                 return
             
             host = self.http_service_config.get("host", "127.0.0.1")
@@ -322,7 +332,7 @@ class WorkstationBase(ABC):
             logger.info(f"工作站 {self.device_id} HTTP报送接收服务启动成功: {host}:{port}")
             
         except Exception as e:
-            logger.error(f"启动HTTP报送接收服务失败: {e}")
+            logger.error(f"工作站 {self.device_id} 启动HTTP报送接收服务失败: {e}")
             self.http_service = None
 
     def _stop_http_service(self):
@@ -331,12 +341,9 @@ class WorkstationBase(ABC):
             if self.http_service:
                 self.http_service.stop()
                 self.http_service = None
-                logger.info("HTTP报送接收服务已停止")
+                logger.info(f"工作站 {self.device_id} HTTP报送接收服务已停止")
         except Exception as e:
-            logger.error(f"停止HTTP报送接收服务失败: {e}")
-            logger.error(f"停止HTTP报送接收服务失败: {e}")
-
-    # ============ 报送处理方法 ============
+            logger.error(f"工作站 {self.device_id} 停止HTTP报送接收服务失败: {e}")
 
     # ============ 报送处理方法 ============