refactor: ProtocolNode→WorkstationNode

docs/concepts/02-topology-and-chemputer-compile.md

@@ -19,7 +19,7 @@ Uni-Lab 的组态图当前支持 node-link json 和 graphml 格式，其中包
 对用户来说，“直接操作设备执行单个指令”不是个真实需求，真正的需求是**“执行对实验有意义的单个完整动作”——加入某种液体多少量；萃取分液；洗涤仪器等等。就像实验步骤文字书写的那样。**
 
 而这些对实验有意义的单个完整动作，**一般需要多个设备的协同**，还依赖于他们的**物理连接关系（管道相连；机械臂可转运）**。
-于是 Uni-Lab 实现了抽象的“工作站”，即注册表中的 `workstation` 设备（`ProtocolNode`类）来处理编译、规划操作。以泵骨架组成的自动有机实验室为例，设备管道连接关系如下：
+于是 Uni-Lab 实现了抽象的“工作站”，即注册表中的 `workstation` 设备（`WorkstationNode`类）来处理编译、规划操作。以泵骨架组成的自动有机实验室为例，设备管道连接关系如下：
 
 ![topology](image/02-topology-and-chemputer-compile/topology.png)
 

docs/developer_guide/workstation_architecture.md

@@ -6,7 +6,7 @@
 graph TB
     subgraph "工作站基础架构"
         WB[WorkstationBase]
-        WB --> |继承| RPN[ROS2ProtocolNode]
+        WB --> |继承| RPN[ROS2WorkstationNode]
         WB --> |组合| WCB[WorkstationCommunicationBase]
         WB --> |组合| MMB[MaterialManagementBase]
         WB --> |组合| WHS[WorkstationHTTPService]
@@ -73,7 +73,7 @@ classDiagram
         +get_device_status()
     }
     
-    class ROS2ProtocolNode {
+    class ROS2WorkstationNode {
         +sub_devices: Dict
         +protocol_names: List
         +execute_single_action()
@@ -131,7 +131,7 @@ classDiagram
         +_register_supported_workflows()
     }
     
-    WorkstationBase --|> ROS2ProtocolNode
+    WorkstationBase --|> ROS2WorkstationNode
     WorkstationBase *-- WorkstationCommunicationBase
     WorkstationBase *-- MaterialManagementBase
     WorkstationBase *-- WorkstationHTTPService
@@ -155,10 +155,10 @@ sequenceDiagram
     participant COMM as CommunicationModule
     participant MAT as MaterialManager
     participant HTTP as HTTPService
-    participant ROS as ROS2ProtocolNode
+    participant ROS as ROS2WorkstationNode
     
     APP->>WS: 创建工作站实例
-    WS->>ROS: 初始化ROS2ProtocolNode
+    WS->>ROS: 初始化ROS2WorkstationNode
     ROS->>ROS: 初始化子设备
     ROS->>ROS: 设置硬件接口代理
     
@@ -191,7 +191,7 @@ sequenceDiagram
     participant WS as WorkstationBase
     participant COMM as CommunicationModule
     participant MAT as MaterialManager
-    participant ROS as ROS2ProtocolNode
+    participant ROS as ROS2WorkstationNode
     participant DEV as SubDevice
     
     EXT->>WS: start_workflow(type, params)

unilabos/device_comms/modbus_plc/client.py

@@ -8,8 +8,8 @@ from pymodbus.client import ModbusSerialClient, ModbusTcpClient
 from pymodbus.framer import FramerType
 from typing import TypedDict
 
-from unilabos.device_comms.modbus_plc.node.modbus import DeviceType, HoldRegister, Coil, InputRegister, DiscreteInputs, DataType, WorderOrder
-from unilabos.device_comms.modbus_plc.node.modbus import Base as ModbusNodeBase
+from unilabos.device_comms.modbus_plc.modbus import DeviceType, HoldRegister, Coil, InputRegister, DiscreteInputs, DataType, WorderOrder
+from unilabos.device_comms.modbus_plc.modbus import Base as ModbusNodeBase
 from unilabos.device_comms.universal_driver import UniversalDriver
 from unilabos.utils.log import logger
 import pandas as pd

unilabos/device_comms/modbus_plc/test/client.py

@@ -1,6 +1,6 @@
 import time
 from pymodbus.client import ModbusTcpClient
-from unilabos.device_comms.modbus_plc.node.modbus import Coil, HoldRegister
+from unilabos.device_comms.modbus_plc.modbus import Coil, HoldRegister
 from pymodbus.payload import BinaryPayloadDecoder
 from pymodbus.constants import Endian
 

unilabos/device_comms/modbus_plc/test/node_test.py

@@ -1,6 +1,6 @@
 # coding=utf-8
 from pymodbus.client import ModbusTcpClient
-from unilabos.device_comms.modbus_plc.node.modbus import Coil
+from unilabos.device_comms.modbus_plc.modbus import Coil
 import time
 
 

unilabos/device_comms/modbus_plc/test/test_workflow.py

@@ -1,7 +1,7 @@
 import time
 from typing import Callable
 from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusWorkflow, WorkflowAction, load_csv
-from unilabos.device_comms.modbus_plc.node.modbus import Base as ModbusNodeBase
+from unilabos.device_comms.modbus_plc.modbus import Base as ModbusNodeBase
 
 ############ 第一种写法 ##############
 

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 ============
 

unilabos/registry/devices/work_station.yaml

@@ -6112,7 +6112,7 @@ workstation:
           title: initialize_device参数
           type: object
         type: UniLabJsonCommand
-    module: unilabos.ros.nodes.presets.protocol_node:ROS2ProtocolNode
+    module: unilabos.ros.nodes.presets.protocol_node:ROS2WorkstationNode
     status_types: {}
     type: ros2
   config_info: []

unilabos/ros/msgs/message_converter.py

@@ -51,6 +51,8 @@ SendCmd = msg_converter_manager.get_class("unilabos_msgs.action:SendCmd")
 imsg = msg_converter_manager.get_module("unilabos.messages")
 Point3D = msg_converter_manager.get_class("unilabos.messages:Point3D")
 
+from control_msgs.action import *
+
 # 基本消息类型映射
 _msg_mapping: Dict[Type, Type] = {
     float: Float64,

unilabos/ros/nodes/base_device_node.py

@@ -50,7 +50,7 @@ from unilabos_msgs.msg import Resource  # type: ignore
 
 from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
 from unilabos.ros.x.rclpyx import get_event_loop
-from unilabos.ros.utils.driver_creator import ProtocolNodeCreator, PyLabRobotCreator, DeviceClassCreator
+from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
 from unilabos.utils.async_util import run_async_func
 from unilabos.utils.log import info, debug, warning, error, critical, logger, trace
 from unilabos.utils.type_check import get_type_class, TypeEncoder, serialize_result_info
@@ -340,14 +340,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             # 物料传输到对应的node节点
             rclient = self.create_client(ResourceAdd, "/resources/add")
             rclient.wait_for_service()
-            rclient2 = self.create_client(ResourceAdd, "/resources/add")
-            rclient2.wait_for_service()
             request = ResourceAdd.Request()
-            request2 = ResourceAdd.Request()
+            
             command_json = json.loads(req.command)
             namespace = command_json["namespace"]
             bind_parent_id = command_json["bind_parent_id"]
-            edge_device_id = command_json["edge_device_id"]
             location = command_json["bind_location"]
             other_calling_param = command_json["other_calling_param"]
             resources = command_json["resource"]
@@ -357,7 +354,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             LIQUID_VOLUME = other_calling_param.pop("LIQUID_VOLUME", [])
             LIQUID_INPUT_SLOT = other_calling_param.pop("LIQUID_INPUT_SLOT", [])
             slot = other_calling_param.pop("slot", "-1")
-            resource = None
+            parent = None
             if slot != "-1":  # slot为负数的时候采用assign方法
                 other_calling_param["slot"] = slot
             # 本地拿到这个物料，可能需要先做初始化?
@@ -385,20 +382,20 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     logger.info(f"添加物料{container_query_dict['name']}到资源跟踪器")
                 else:
                     assert len(found_resources) == 1, f"找到多个同名物料: {container_query_dict['name']}, 请检查物料系统"
-                    resource = found_resources[0]
-                    if isinstance(resource, Resource):
-                        regular_container = RegularContainer(resource.id)
-                        regular_container.ulr_resource = resource
+                    parent = found_resources[0]
+                    if isinstance(parent, Resource):
+                        regular_container = RegularContainer(parent.id)
+                        regular_container.ulr_resource = parent
                         regular_container.ulr_resource_data.update(json.loads(container_instance.data))
-                        logger.info(f"更新物料{container_query_dict['name']}的数据{resource.data} ULR")
-                    elif isinstance(resource, dict):
-                        if "data" not in resource:
-                            resource["data"] = {}
-                        resource["data"].update(json.loads(container_instance.data))
-                        request.resources[0].name = resource["name"]
-                        logger.info(f"更新物料{container_query_dict['name']}的数据{resource['data']} dict")
+                        logger.info(f"更新物料{container_query_dict['name']}的数据{parent.data} ULR")
+                    elif isinstance(parent, dict):
+                        if "data" not in parent:
+                            parent["data"] = {}
+                        parent["data"].update(json.loads(container_instance.data))
+                        request.resources[0].name = parent["name"]
+                        logger.info(f"更新物料{container_query_dict['name']}的数据{parent['data']} dict")
                     else:
-                        logger.info(f"更新物料{container_query_dict['name']}出现不支持的数据类型{type(resource)} {resource}")
+                        logger.info(f"更新物料{container_query_dict['name']}出现不支持的数据类型{type(parent)} {parent}")
             response = await rclient.call_async(request)
             # 应该先add_resource了
             res.response = "OK"
@@ -423,18 +420,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 return res
             # 接下来该根据bind_parent_id进行assign了，目前只有plr可以进行assign，不然没有办法输入到物料系统中
             if bind_parent_id != self.node_name:
-                resource = self.resource_tracker.figure_resource({"name": bind_parent_id})  # 拿到父节点，进行具体assign等操作
+                parent = self.resource_tracker.figure_resource({"name": bind_parent_id})  # 拿到父节点，进行具体assign等操作
             # request.resources = [convert_to_ros_msg(Resource, resources)]
 
             try:
                 from pylabrobot.resources.resource import Resource as ResourcePLR
                 from pylabrobot.resources.deck import Deck
-                from pylabrobot.resources import Coordinate
-                from pylabrobot.resources import OTDeck
-                from pylabrobot.resources import Plate
+                from pylabrobot.resources import Coordinate, OTDeck, Plate
 
-                contain_model = not isinstance(resource, Deck)
-                if isinstance(resource, ResourcePLR):
+                contain_model = not isinstance(parent, Deck)
+                if isinstance(parent, ResourcePLR):
                     # resources.list()
                     resources_tree = dict_to_tree(copy.deepcopy({r["id"]: r for r in resources}))
                     plr_instance = resource_ulab_to_plr(resources_tree[0], contain_model)
@@ -445,20 +440,22 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         ):
                             empty_liquid_info_in[liquid_input_slot] = (liquid_type, liquid_volume)
                         plr_instance.set_well_liquids(empty_liquid_info_in)
-                    if isinstance(resource, OTDeck) and "slot" in other_calling_param:
+                    if isinstance(parent, OTDeck) and "slot" in other_calling_param:
                         other_calling_param["slot"] = int(other_calling_param["slot"])
-                        resource.assign_child_at_slot(plr_instance, **other_calling_param)
+                        parent.assign_child_at_slot(plr_instance, **other_calling_param)
                     else:
                         _discard_slot = other_calling_param.pop("slot", "-1")
-                        resource.assign_child_resource(
+                        parent.assign_child_resource(
                             plr_instance,
                             Coordinate(location["x"], location["y"], location["z"]),
                             **other_calling_param,
                         )
+                    
+                    request2 = ResourceAdd.Request()
                     request2.resources = [
-                        convert_to_ros_msg(Resource, r) for r in tree_to_list([resource_plr_to_ulab(resource)])
+                        convert_to_ros_msg(Resource, r) for r in tree_to_list([resource_plr_to_ulab(parent)])
                     ]
-                    rclient2.call(request2)
+                    rclient.call(request2)
                 # 发送给ResourceMeshManager
                 action_client = ActionClient(
                     self,
@@ -947,7 +944,7 @@ class ROS2DeviceNode:
 
         # TODO: 要在创建之前预先请求服务器是否有当前id的物料，放到resource_tracker中，让pylabrobot进行创建
         # 创建设备类实例
-        # 判断是否包含设备子节点，决定是否使用ROS2ProtocolNode
+        # 判断是否包含设备子节点，决定是否使用ROS2WorkstationNode
         has_device_children = any(
             child_config.get("type", "device") == "device" 
             for child_config in children.values()
@@ -961,17 +958,17 @@ class ROS2DeviceNode:
                 driver_class, children=children, resource_tracker=self.resource_tracker
             )
         else:
-            from unilabos.ros.nodes.presets.protocol_node import ROS2ProtocolNode
-            from unilabos.device_comms.workstation_base import WorkstationBase
+            from unilabos.ros.nodes.presets.protocol_node import ROS2WorkstationNode
+            from unilabos.devices.work_station.workstation_base import WorkstationBase
 
             # 检查是否是WorkstationBase的子类且包含设备子节点
             if issubclass(self._driver_class, WorkstationBase) and has_device_children:
-                # WorkstationBase + 设备子节点 -> 使用ProtocolNode作为ros_instance
+                # WorkstationBase + 设备子节点 -> 使用WorkstationNode作为ros_instance
                 self._use_protocol_node_ros = True
                 self._driver_creator = DeviceClassCreator(driver_class, children=children, resource_tracker=self.resource_tracker)
-            elif issubclass(self._driver_class, ROS2ProtocolNode):  # 是ProtocolNode的子节点，就要调用ProtocolNodeCreator
+            elif issubclass(self._driver_class, ROS2WorkstationNode):  # 是WorkstationNode的子节点，就要调用WorkstationNodeCreator
                 self._use_protocol_node_ros = False
-                self._driver_creator = ProtocolNodeCreator(driver_class, children=children, resource_tracker=self.resource_tracker)
+                self._driver_creator = WorkstationNodeCreator(driver_class, children=children, resource_tracker=self.resource_tracker)
             else:
                 self._use_protocol_node_ros = False
                 self._driver_creator = DeviceClassCreator(driver_class, children=children, resource_tracker=self.resource_tracker)
@@ -988,8 +985,8 @@ class ROS2DeviceNode:
         if driver_is_ros:
             self._ros_node = self._driver_instance  # type: ignore
         elif hasattr(self, '_use_protocol_node_ros') and self._use_protocol_node_ros:
-            # WorkstationBase + 设备子节点 -> 创建ROS2ProtocolNode作为ros_instance
-            from unilabos.ros.nodes.presets.protocol_node import ROS2ProtocolNode
+            # WorkstationBase + 设备子节点 -> 创建ROS2WorkstationNode作为ros_instance
+            from unilabos.ros.nodes.presets.protocol_node import ROS2WorkstationNode
             
             # 从children提取设备协议类型
             protocol_types = set()
@@ -1006,7 +1003,7 @@ class ROS2DeviceNode:
             if not protocol_types:
                 protocol_types = ["default_protocol"]
             
-            self._ros_node = ROS2ProtocolNode(
+            self._ros_node = ROS2WorkstationNode(
                 device_id=device_id,
                 children=children,
                 protocol_type=list(protocol_types),

unilabos/ros/nodes/presets/host_node.py

@@ -523,7 +523,7 @@ class HostNode(BaseROS2DeviceNode):
 
                 # 解析设备名和属性名
                 parts = topic.split("/")
-                if len(parts) >= 4:  # 可能有ProtocolNode，创建更长的设备
+                if len(parts) >= 4:  # 可能有WorkstationNode，创建更长的设备
                     device_id = "/".join(parts[2:-1])
                     property_name = parts[-1]
 

unilabos/ros/nodes/presets/protocol_node.py

@@ -28,9 +28,9 @@ from unilabos.utils.log import error
 from unilabos.utils.type_check import serialize_result_info
 
 
-class ROS2ProtocolNode(BaseROS2DeviceNode):
+class ROS2WorkstationNode(BaseROS2DeviceNode):
     """
-    ROS2ProtocolNode代表管理ROS2环境中设备通信和动作的协议节点。
+    ROS2WorkstationNode代表管理ROS2环境中设备通信和动作的协议节点。
     它初始化设备节点，处理动作客户端，并基于指定的协议执行工作流。
     它还物理上代表一组协同工作的设备，如带夹持器的机械臂，带传送带的CNC机器等。
     """
@@ -43,7 +43,8 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
         children: dict,
         protocol_type: Union[str, list[str]],
         resource_tracker: DeviceNodeResourceTracker,
-        workstation_config: dict = None,  # 新增：工作站配置
+        workstation_config: dict = {},
+        workstation_instance: object = None,
         *args,
         **kwargs,
     ):
@@ -55,10 +56,12 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
         self.communication_interfaces = self.workstation_config.get('communication_interfaces', {})  # 从工作站配置获取通信接口
         
         # 新增：获取工作站实例（如果存在）
-        self.workstation_instance = self.workstation_config.get('workstation_instance')
+        self.workstation_instance = workstation_instance
         
         self._busy = False
         self.sub_devices = {}
+        self.communication_devices = {}
+        self.logical_devices = {}
         self._goals = {}
         self._protocol_servers = {}
         self._action_clients = {}
@@ -72,73 +75,38 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
             device_id=device_id,
             status_types={},
             action_value_mappings=self.protocol_action_mappings,
-            hardware_interface={},
+            hardware_interface={"name": "hardware_interface", "write": "send_command", "read": "read_data", "extra_info": []},
             print_publish=False,
             resource_tracker=resource_tracker,
         )
 
         # 初始化子设备
-        self.communication_node_id_to_instance = {}
         self._initialize_child_devices()
         
-        # 设置硬件接口代理
-        self._setup_hardware_proxies()
-
-        # 新增：如果有工作站实例，建立双向引用
-        if self.workstation_instance:
-            self.workstation_instance._protocol_node = self
-            self._setup_workstation_method_proxies()
-            self.lab_logger().info(f"ROS2ProtocolNode {device_id} 与工作站实例 {type(self.workstation_instance).__name__} 关联")
-
-        self.lab_logger().info(f"ROS2ProtocolNode {device_id} initialized with protocols: {self.protocol_names}")
-
-    def _setup_workstation_method_proxies(self):
-        """设置工作站方法代理"""
-        if not self.workstation_instance:
-            return
-        
-        # 代理工作站的核心方法
-        workstation_methods = [
-            'start_workflow', 'stop_workflow', 'workflow_status', 'is_busy',
-            'process_material_change_report', 'process_step_finish_report', 
-            'process_sample_finish_report', 'process_order_finish_report',
-            'handle_external_error'
-        ]
-        
-        for method_name in workstation_methods:
-            if hasattr(self.workstation_instance, method_name):
-                # 创建代理方法
-                setattr(self, method_name, getattr(self.workstation_instance, method_name))
-                self.lab_logger().debug(f"代理工作站方法: {method_name}")
-
-    # ============ 工作站方法代理 ============
-    
-    def get_workstation_status(self) -> Dict[str, Any]:
-        """获取工作站状态"""
-        if self.workstation_instance:
-            return {
-                'workflow_status': str(self.workstation_instance.workflow_status.value),
-                'is_busy': self.workstation_instance.is_busy,
-                'workflow_runtime': self.workstation_instance.workflow_runtime,
-                'error_count': self.workstation_instance.error_count,
-                'last_error': self.workstation_instance.last_error
-            }
-        return {'status': 'no_workstation_instance'}
-
-    def delegate_to_workstation(self, method_name: str, *args, **kwargs):
-        """委托方法调用给工作站实例"""
-        if self.workstation_instance and hasattr(self.workstation_instance, method_name):
-            method = getattr(self.workstation_instance, method_name)
-            return method(*args, **kwargs)
+        if isinstance(getattr(driver_instance, "hardware_interface", None), str):
+            self.logical_devices[device_id] = driver_instance
         else:
-            self.lab_logger().warning(f"工作站实例不存在或没有方法: {method_name}")
-            return None
+            self.communication_devices[device_id] = driver_instance
+
+        # 设置硬件接口代理
+        for device_id, device_node in self.logical_devices.items():
+            if device_node and hasattr(device_node, 'ros_node_instance'):
+                self._setup_device_hardware_proxy(device_id, device_node)
+
+        # 新增：如果有工作站实例，建立双向引用和硬件接口设置
+        if self.workstation_instance:
+            self._setup_workstation_integration()
+
+    def _setup_workstation_integration(self):
+        """设置工作站集成 - 统一设备处理模式"""
+        # 1. 建立协议节点引用
+        self.workstation_instance.set_protocol_node(self)
+        
+        self.lab_logger().info(f"ROS2WorkstationNode {self.device_id} 与工作站实例 {type(self.workstation_instance).__name__} 集成完成")
 
     def _initialize_child_devices(self):
         """初始化子设备 - 重构为更清晰的方法"""
         # 设备分类字典 - 统一管理
-        self.communication_devices = {}
-        self.logical_devices = {}
         
         for device_id, device_config in self.children.items():
             if device_config.get("type", "device") != "device":
@@ -157,7 +125,6 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
                 
                 # 兼容旧的ID匹配方式和新的配置方式
                 if device_type == "communication" or "serial_" in device_id or "io_" in device_id:
-                    self.communication_node_id_to_instance[device_id] = d  # 保持向后兼容
                     self.communication_devices[device_id] = d  # 新的统一方式
                     self.lab_logger().info(f"通信设备 {device_id} 初始化并分类成功")
                 elif device_type == "logical":
@@ -171,91 +138,100 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
             except Exception as ex:
                 self.lab_logger().error(f"[Protocol Node] Failed to initialize device {device_id}: {ex}\n{traceback.format_exc()}")
 
-    def _setup_hardware_proxies(self):
-        """设置硬件接口代理 - 重构为独立方法，支持工作站配置"""
-        # 1. 传统的协议节点硬件代理设置
-        for device_id, device_config in self.children.items():
-            if device_config.get("type", "device") != "device":
-                continue
-                
-            # 设置硬件接口代理
-            if device_id not in self.sub_devices:
-                self.lab_logger().error(f"[Protocol Node] {device_id} 还没有正确初始化，跳过...")
-                continue
-                
-            d = self.sub_devices[device_id]
-            if d:
-                self._setup_device_hardware_proxy(device_id, d)
+    def _setup_device_hardware_proxy(self, device_id: str, device: ROS2DeviceNode):
+        """统一的设备硬件接口代理设置方法
         
-        # 2. 工作站配置的通信接口代理设置
-        if hasattr(self, 'communication_interfaces') and self.communication_interfaces:
-            self._setup_workstation_communication_interfaces()
-
-        self.lab_logger().info(f"ROS2ProtocolNode {self.device_id} initialized with protocols: {self.protocol_names}")
-
-    def _setup_workstation_communication_interfaces(self):
-        """设置工作站特定的通信接口代理"""
-        for logical_device_id, logical_device in self.logical_devices.items():
-            # 检查是否有配置的通信接口
-            interface_config = getattr(self, 'communication_interfaces', {}).get(logical_device_id)
-            if not interface_config:
-                continue
-            
-            comm_device = self.communication_devices.get(interface_config.device_id)
-            if not comm_device:
-                self.lab_logger().error(f"通信设备 {interface_config.device_id} 不存在")
-                continue
-            
-            # 设置工作站级别的通信代理
-            self._setup_workstation_hardware_proxy(
-                logical_device, 
-                comm_device, 
-                interface_config
-            )
-
-    def _setup_workstation_hardware_proxy(self, logical_device, comm_device, interface_config):
-        """为逻辑设备设置工作站级通信代理"""
-        try:
-            # 获取通信设备的读写方法
-            read_func = getattr(comm_device.driver_instance, interface_config.read_method, None)
-            write_func = getattr(comm_device.driver_instance, interface_config.write_method, None)
-            
-            if read_func:
-                setattr(logical_device.driver_instance, 'comm_read', read_func)
-            if write_func:
-                setattr(logical_device.driver_instance, 'comm_write', write_func)
-            
-            # 设置通信配置
-            setattr(logical_device.driver_instance, 'comm_config', interface_config.config)
-            setattr(logical_device.driver_instance, 'comm_protocol', interface_config.protocol_type)
-            
-            self.lab_logger().info(f"为逻辑设备 {logical_device.device_id} 设置工作站通信代理 -> {comm_device.device_id}")
-            
-        except Exception as e:
-            self.lab_logger().error(f"设置工作站通信代理失败: {e}")
-
-    def _setup_device_hardware_proxy(self, device_id: str, device):
-        """为单个设备设置硬件接口代理"""
+        Args:
+            device_id: 设备ID
+            device: 设备实例
+        """
         hardware_interface = device.ros_node_instance._hardware_interface
-        if (
+        if not self._validate_hardware_interface(device, hardware_interface):
+            return
+            
+        # 获取硬件接口名称
+        interface_name = getattr(device.driver_instance, hardware_interface["name"])
+        
+        # 情况1: 如果interface_name是字符串，说明需要转发到其他设备
+        if isinstance(interface_name, str):
+            # 查找目标设备
+            communication_device = self.communication_devices.get(device_id, None)
+            if not communication_device:
+                self.lab_logger().error(f"转发目标设备 {device_id} 不存在")
+                return
+
+            read_method = hardware_interface.get("read", None)
+            write_method = hardware_interface.get("write", None)
+
+            # 设置传统硬件代理
+            communicate_hardware_info = communication_device.ros_node_instance._hardware_interface
+            self._setup_hardware_proxy(device, communication_device, read_method, write_method)
+            self.lab_logger().info(
+                f"传统通信代理：为子设备{device.device_id} "
+                f"添加了{read_method}方法(来源：{communication_device.device_id} {communicate_hardware_info['read']}) "
+                f"添加了{write_method}方法(来源：{communication_device.device_id} {communicate_hardware_info['write']})"
+            )
+            self.lab_logger().info(f"字符串转发代理：设备 {device.device_id} -> {device_id}")
+            
+        # 情况2: 如果设备有communication_interface配置，设置协议代理
+        elif hasattr(self, 'communication_interfaces') and device_id in self.communication_interfaces:
+            interface_config = self._get_communication_interface_config(device_id)
+            protocol_type = interface_config.get('protocol_type', 'modbus')
+            self._setup_communication_proxy(device, interface_config, protocol_type)
+            
+        # 情况3: 其他情况，使用默认处理
+        else:
+            self.lab_logger().debug(f"设备 {device_id} 使用默认硬件接口处理")
+
+    def _get_communication_interface_config(self, device_id: str) -> dict:
+        """获取设备的通信接口配置"""
+        # 优先从工作站配置获取
+        if hasattr(self, 'communication_interfaces') and device_id in self.communication_interfaces:
+            return self.communication_interfaces[device_id]
+        
+        # 从设备自身配置获取
+        device_node = self.logical_devices[device_id]
+        if device_node and hasattr(device_node.driver_instance, 'communication_interface'):
+            return getattr(device_node.driver_instance, 'communication_interface')
+            
+        return {}
+
+    def _validate_hardware_interface(self, device: ROS2DeviceNode, hardware_interface: dict) -> bool:
+        """验证硬件接口配置"""
+        return (
             hasattr(device.driver_instance, hardware_interface["name"])
             and hasattr(device.driver_instance, hardware_interface["write"])
             and (hardware_interface["read"] is None or hasattr(device.driver_instance, hardware_interface["read"]))
-        ):
-            name = getattr(device.driver_instance, hardware_interface["name"])
-            read = hardware_interface.get("read", None)
-            write = hardware_interface.get("write", None)
+        )
 
-            # 如果硬件接口是字符串，通过通信设备提供
-            if isinstance(name, str) and name in self.sub_devices:
-                communicate_device = self.sub_devices[name]
-                communicate_hardware_info = communicate_device.ros_node_instance._hardware_interface
-                self._setup_hardware_proxy(device, self.sub_devices[name], read, write)
-                self.lab_logger().info(
-                    f"\n通信代理：为子设备{device_id}\n    "
-                    f"添加了{read}方法(来源：{name} {communicate_hardware_info['write']}) \n    "
-                    f"添加了{write}方法(来源：{name} {communicate_hardware_info['read']})"
-                )
+    def _setup_communication_proxy(self, logical_device: ROS2DeviceNode, interface_config, protocol_type):
+        """为逻辑设备设置通信代理 - 统一方法"""
+        try:
+            # 获取通信设备
+            comm_device_id = interface_config.get('device_id')
+            comm_device = self.communication_devices.get(comm_device_id)
+            
+            if not comm_device:
+                self.lab_logger().error(f"通信设备 {comm_device_id} 不存在")
+                return
+            
+            # 根据协议类型设置不同的代理方法
+            if protocol_type == 'modbus':
+                self._setup_modbus_proxy(logical_device, comm_device, interface_config)
+            elif protocol_type == 'opcua':
+                self._setup_opcua_proxy(logical_device, comm_device, interface_config)
+            elif protocol_type == 'http':
+                self._setup_http_proxy(logical_device, comm_device, interface_config)
+            elif protocol_type == 'serial':
+                self._setup_serial_proxy(logical_device, comm_device, interface_config)
+            else:
+                self.lab_logger().warning(f"不支持的协议类型: {protocol_type}")
+                return
+            
+            self.lab_logger().info(f"通信代理：为逻辑设备 {logical_device.device_id} 设置{protocol_type}通信代理 -> {comm_device_id}")
+            
+        except Exception as e:
+            self.lab_logger().error(f"设置通信代理失败: {e}")
 
     def _setup_protocol_names(self, protocol_type):
         # 处理协议类型
@@ -493,6 +469,99 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
 
     """还没有改过的部分"""
 
+    def _setup_modbus_proxy(self, logical_device: ROS2DeviceNode, comm_device: ROS2DeviceNode, interface_config):
+        """设置Modbus通信代理"""
+        config = interface_config.get('config', {})
+        
+        # 设置Modbus读写方法
+        def modbus_read(address, count=1, function_code=3):
+            """Modbus读取方法"""
+            return comm_device.driver_instance.read_holding_registers(
+                address=address,
+                count=count,
+                slave_id=config.get('slave_id', 1)
+            )
+        
+        def modbus_write(address, value, function_code=6):
+            """Modbus写入方法"""
+            if isinstance(value, (list, tuple)):
+                return comm_device.driver_instance.write_multiple_registers(
+                    address=address,
+                    values=value,
+                    slave_id=config.get('slave_id', 1)
+                )
+            else:
+                return comm_device.driver_instance.write_single_register(
+                    address=address,
+                    value=value,
+                    slave_id=config.get('slave_id', 1)
+                )
+        
+        # 绑定方法到逻辑设备
+        setattr(logical_device.driver_instance, 'comm_read', modbus_read)
+        setattr(logical_device.driver_instance, 'comm_write', modbus_write)
+        setattr(logical_device.driver_instance, 'comm_config', config)
+        setattr(logical_device.driver_instance, 'comm_protocol', 'modbus')
+
+    def _setup_opcua_proxy(self, logical_device: ROS2DeviceNode, comm_device: ROS2DeviceNode, interface_config):
+        """设置OPC UA通信代理"""
+        config = interface_config.get('config', {})
+        
+        def opcua_read(node_id):
+            """OPC UA读取方法"""
+            return comm_device.driver_instance.read_node_value(node_id)
+        
+        def opcua_write(node_id, value):
+            """OPC UA写入方法"""
+            return comm_device.driver_instance.write_node_value(node_id, value)
+        
+        # 绑定方法到逻辑设备
+        setattr(logical_device.driver_instance, 'comm_read', opcua_read)
+        setattr(logical_device.driver_instance, 'comm_write', opcua_write)
+        setattr(logical_device.driver_instance, 'comm_config', config)
+        setattr(logical_device.driver_instance, 'comm_protocol', 'opcua')
+
+    def _setup_http_proxy(self, logical_device: ROS2DeviceNode, comm_device: ROS2DeviceNode, interface_config):
+        """设置HTTP/RPC通信代理"""
+        config = interface_config.get('config', {})
+        base_url = config.get('base_url', 'http://localhost:8080')
+        
+        def http_read(endpoint, params=None):
+            """HTTP GET请求"""
+            url = f"{base_url.rstrip('/')}/{endpoint.lstrip('/')}"
+            return comm_device.driver_instance.get_request(url, params=params)
+        
+        def http_write(endpoint, data):
+            """HTTP POST请求"""
+            url = f"{base_url.rstrip('/')}/{endpoint.lstrip('/')}"
+            return comm_device.driver_instance.post_request(url, data=data)
+        
+        # 绑定方法到逻辑设备
+        setattr(logical_device.driver_instance, 'comm_read', http_read)
+        setattr(logical_device.driver_instance, 'comm_write', http_write)
+        setattr(logical_device.driver_instance, 'comm_config', config)
+        setattr(logical_device.driver_instance, 'comm_protocol', 'http')
+
+    def _setup_serial_proxy(self, logical_device: ROS2DeviceNode, comm_device: ROS2DeviceNode, interface_config):
+        """设置串口通信代理"""
+        config = interface_config.get('config', {})
+        
+        def serial_read(timeout=1.0):
+            """串口读取方法"""
+            return comm_device.driver_instance.read_data(timeout=timeout)
+        
+        def serial_write(data):
+            """串口写入方法"""
+            if isinstance(data, str):
+                data = data.encode('utf-8')
+            return comm_device.driver_instance.write_data(data)
+        
+        # 绑定方法到逻辑设备
+        setattr(logical_device.driver_instance, 'comm_read', serial_read)
+        setattr(logical_device.driver_instance, 'comm_write', serial_write)
+        setattr(logical_device.driver_instance, 'comm_config', config)
+        setattr(logical_device.driver_instance, 'comm_protocol', 'serial')
+
     def _setup_hardware_proxy(
         self, device: ROS2DeviceNode, communication_device: ROS2DeviceNode, read_method, write_method
     ):

unilabos/ros/nodes/presets/workstation.py

@@ -3,7 +3,7 @@ from typing import Union, Dict, Any, Optional
 
 from unilabos_msgs.msg import Resource
 from pylabrobot.resources import Resource as PLRResource, Plate, TipRack, Coordinate
-from unilabos.ros.nodes.presets.protocol_node import ROS2ProtocolNode
+from unilabos.ros.nodes.presets.protocol_node import ROS2WorkstationNode
 from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
 
 
@@ -44,7 +44,7 @@ def get_workstation_plate_resource(name: str) -> PLRResource:  # 要给定一个
     return plate
 
 
-class WorkStationExample(ROS2ProtocolNode):
+class WorkStationExample(ROS2WorkstationNode):
     def __init__(self,
                  # 你可以在这里增加任意的参数，对应启动json填写相应的参数内容
                  device_id: str,

unilabos/ros/utils/driver_creator.py

@@ -267,40 +267,40 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
             ROS2DeviceNode.run_async_func(getattr(self.device_instance, "setup")).add_done_callback(done_cb)
 
 
-class ProtocolNodeCreator(DeviceClassCreator[T]):
+class WorkstationNodeCreator(DeviceClassCreator[T]):
     """
-    ProtocolNode设备类创建器
+    WorkstationNode设备类创建器
 
-    这个类提供了针对ProtocolNode设备类的实例创建方法，处理children参数。
+    这个类提供了针对WorkstationNode设备类的实例创建方法，处理children参数。
     """
 
     def __init__(self, cls: Type[T], children: Dict[str, Any], resource_tracker: DeviceNodeResourceTracker):
         """
-        初始化ProtocolNode设备类创建器
+        初始化WorkstationNode设备类创建器
 
         Args:
-            cls: ProtocolNode设备类
+            cls: WorkstationNode设备类
             children: 子资源字典，用于资源替换
         """
         super().__init__(cls, children, resource_tracker)
 
     def create_instance(self, data: Dict[str, Any]) -> T:
         """
-        从数据创建ProtocolNode设备实例
+        从数据创建WorkstationNode设备实例
 
         Args:
             data: 用于创建实例的数据
 
         Returns:
-            ProtocolNode设备类实例
+            WorkstationNode设备类实例
         """
         try:
             # 创建实例，额外补充一个给protocol node的字段，后面考虑取消
             data["children"] = self.children
-            self.device_instance = super(ProtocolNodeCreator, self).create_instance(data)
+            self.device_instance = super(WorkstationNodeCreator, self).create_instance(data)
             self.post_create()
             return self.device_instance
         except Exception as e:
-            logger.error(f"ProtocolNode创建实例失败: {e}")
-            logger.error(f"ProtocolNode创建实例堆栈: {traceback.format_exc()}")
+            logger.error(f"WorkstationNode创建实例失败: {e}")
+            logger.error(f"WorkstationNode创建实例堆栈: {traceback.format_exc()}")
             raise