0.10.7 Update (#101)

* Cleanup registry to be easy-understanding (#76)

* delete deprecated mock devices

* rename categories

* combine chromatographic devices

* rename rviz simulation nodes

* organic virtual devices

* parse vessel_id

* run registry completion before merge

---------

Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com>

* fix: workstation handlers and vessel_id parsing

* fix: working dir error when input config path
feat: report publish topic when error

* modify default discovery_interval to 15s

* feat: add trace log level

* feat: 添加ChinWe设备控制类，支持串口通信和电机控制功能 (#79)

* fix: drop_tips not using auto resource select

* fix: discard_tips error

* fix: discard_tips

* fix: prcxi_res

* add: prcxi res
fix: startup slow

* feat: workstation example

* fix pumps and liquid_handler handle

* feat: 优化protocol node节点运行日志

* fix all protocol_compilers and remove deprecated devices

* feat: 新增use_remote_resource参数

* fix and remove redundant info

* bugfixes on organic protocols

* fix filter protocol

* fix protocol node

* 临时兼容错误的driver写法

* fix: prcxi import error

* use call_async in all service to avoid deadlock

* fix: figure_resource

* Update recipe.yaml

* add workstation template and battery example

* feat: add sk & ak

* update workstation base

* Create workstation_architecture.md

* refactor: workstation_base 重构为仅含业务逻辑，通信和子设备管理交给 ProtocolNode

* refactor: ProtocolNode→WorkstationNode

* Add:msgs.action (#83)

* update: Workstation dev 将版本号从 0.10.3 更新为 0.10.4 (#84)

* Add:msgs.action

* update: 将版本号从 0.10.3 更新为 0.10.4

* simplify resource system

* uncompleted refactor

* example for use WorkstationBase

* feat: websocket

* feat: websocket test

* feat: workstation example

* feat: action status

* fix: station自己的方法注册错误

* fix: 还原protocol node处理方法

* fix: build

* fix: missing job_id key

* ws test version 1

* ws test version 2

* ws protocol

* 增加物料关系上传日志

* 增加物料关系上传日志

* 修正物料关系上传

* 修复工站的tracker实例追踪失效问题

* 增加handle检测，增加material edge关系上传

* 修复event loop错误

* 修复edge上报错误

* 修复async错误

* 更新schema的title字段

* 主机节点信息等支持自动刷新

* 注册表编辑器

* 修复status密集发送时，消息出错

* 增加addr参数

* fix: addr param

* fix: addr param

* 取消labid 和 强制config输入

* Add action definitions for LiquidHandlerSetGroup and LiquidHandlerTransferGroup

- Created LiquidHandlerSetGroup.action with fields for group name, wells, and volumes.
- Created LiquidHandlerTransferGroup.action with fields for source and target group names and unit volume.
- Both actions include response fields for return information and success status.

* Add LiquidHandlerSetGroup and LiquidHandlerTransferGroup actions to CMakeLists

* Add set_group and transfer_group methods to PRCXI9300Handler and update liquid_handler.yaml

* result_info改为字典类型

* 新增uat的地址替换

* runze multiple pump support

(cherry picked from commit 49354fcf39)

* remove runze multiple software obtainer

(cherry picked from commit 8bcc92a394)

* support multiple backbone

(cherry picked from commit 4771ff2347)

* Update runze pump format

* Correct runze multiple backbone

* Update runze_multiple_backbone

* Correct runze pump multiple receive method.

* Correct runze pump multiple receive method.

* 对于PRCXI9320的transfer_group，一对多和多对多

* 移除MQTT，更新launch文档，提供注册表示例文件，更新到0.10.5

* fix import error

* fix dupe upload registry

* refactor ws client

* add server timeout

* Fix: run-column with correct vessel id (#86)

* fix run_column

* Update run_column_protocol.py

(cherry picked from commit e5aa4d940a)

* resource_update use resource_add

* 新增版位推荐功能

* 重新规定了版位推荐的入参

* update registry with nested obj

* fix protocol node log_message, added create_resource return value

* fix protocol node log_message, added create_resource return value

* try fix add protocol

* fix resource_add

* 修复移液站错误的aspirate注册表

* Feature/xprbalance-zhida (#80)

* feat(devices): add Zhida GC/MS pretreatment automation workstation

* feat(devices): add mettler_toledo xpr balance

* balance

* 重新补全zhida注册表

* PRCXI9320 json

* PRCXI9320 json

* PRCXI9320 json

* fix resource download

* remove class for resource

* bump version to 0.10.6

* 更新所有注册表

* 修复protocolnode的兼容性

* 修复protocolnode的兼容性

* Update install md

* Add Defaultlayout

* 更新物料接口

* fix dict to tree/nested-dict converter

* coin_cell_station draft

* refactor: rename "station_resource" to "deck"

* add standardized BIOYOND resources: bottle_carrier, bottle

* refactor and add BIOYOND resources tests

* add BIOYOND deck assignment and pass all tests

* fix: update resource with correct structure; remove deprecated liquid_handler set_group action

* feat: 将新威电池测试系统驱动与配置文件并入 workstation_dev_YB2 (#92)

* feat: 新威电池测试系统驱动与注册文件

* feat: bring neware driver & battery.json into workstation_dev_YB2

* add bioyond studio draft

* bioyond station with communication init and resource sync

* fix bioyond station and registry

* fix: update resource with correct structure; remove deprecated liquid_handler set_group action

* frontend_docs

* create/update resources with POST/PUT for big amount/ small amount data

* create/update resources with POST/PUT for big amount/ small amount data

* refactor: add itemized_carrier instead of carrier consists of ResourceHolder

* create warehouse by factory func

* update bioyond launch json

* add child_size for itemized_carrier

* fix bioyond resource io

* Workstation templates: Resources and its CRUD, and workstation tasks (#95)

* coin_cell_station draft

* refactor: rename "station_resource" to "deck"

* add standardized BIOYOND resources: bottle_carrier, bottle

* refactor and add BIOYOND resources tests

* add BIOYOND deck assignment and pass all tests

* fix: update resource with correct structure; remove deprecated liquid_handler set_group action

* feat: 将新威电池测试系统驱动与配置文件并入 workstation_dev_YB2 (#92)

* feat: 新威电池测试系统驱动与注册文件

* feat: bring neware driver & battery.json into workstation_dev_YB2

* add bioyond studio draft

* bioyond station with communication init and resource sync

* fix bioyond station and registry

* create/update resources with POST/PUT for big amount/ small amount data

* refactor: add itemized_carrier instead of carrier consists of ResourceHolder

* create warehouse by factory func

* update bioyond launch json

* add child_size for itemized_carrier

* fix bioyond resource io

---------

Co-authored-by: h840473807 <47357934+h840473807@users.noreply.github.com>
Co-authored-by: Xie Qiming <97236197+Andy6M@users.noreply.github.com>

* 更新物料接口

* Workstation dev yb2 (#100)

* Refactor and extend reaction station action messages

* Refactor dispensing station tasks to enhance parameter clarity and add batch processing capabilities

- Updated `create_90_10_vial_feeding_task` to include detailed parameters for 90%/10% vial feeding, improving clarity and usability.
- Introduced `create_batch_90_10_vial_feeding_task` for batch processing of 90%/10% vial feeding tasks with JSON formatted input.
- Added `create_batch_diamine_solution_task` for batch preparation of diamine solution, also utilizing JSON formatted input.
- Refined `create_diamine_solution_task` to include additional parameters for better task configuration.
- Enhanced schema descriptions and default values for improved user guidance.

* 修复to_plr_resources

* add update remove

* 支持选择器注册表自动生成
支持转运物料

* 修复资源添加

* 修复transfer_resource_to_another生成

* 更新transfer_resource_to_another参数，支持spot入参

* 新增test_resource动作

* fix host_node error

* fix host_node test_resource error

* fix host_node test_resource error

* 过滤本地动作

* 移动内部action以兼容host node

* 修复同步任务报错不显示的bug

* feat: 允许返回非本节点物料，后面可以通过decoration进行区分，就不进行warning了

* update todo

* modify bioyond/plr converter, bioyond resource registry, and tests

* pass the tests

* update todo

* add conda-pack-build.yml

* add auto install script for conda-pack-build.yml

(cherry picked from commit 172599adcf)

* update conda-pack-build.yml

* update conda-pack-build.yml

* update conda-pack-build.yml

* update conda-pack-build.yml

* update conda-pack-build.yml

* Add version in __init__.py
Update conda-pack-build.yml
Add create_zip_archive.py

* Update conda-pack-build.yml

* Update conda-pack-build.yml (with mamba)

* Update conda-pack-build.yml

* Fix FileNotFoundError

* Try fix 'charmap' codec can't encode characters in position 16-23: character maps to <undefined>

* Fix unilabos msgs search error

* Fix environment_check.py

* Update recipe.yaml

* Update registry. Update uuid loop figure method. Update install docs.

* Fix nested conda pack

* Fix one-key installation path error

* Bump version to 0.10.7

* Workshop bj (#99)

* Add LaiYu Liquid device integration and tests

Introduce LaiYu Liquid device implementation, including backend, controllers, drivers, configuration, and resource files. Add hardware connection, tip pickup, and simplified test scripts, as well as experiment and registry configuration for LaiYu Liquid. Documentation and .gitignore for the device are also included.

* feat(LaiYu_Liquid): 重构设备模块结构并添加硬件文档

refactor: 重新组织LaiYu_Liquid模块目录结构
docs: 添加SOPA移液器和步进电机控制指令文档
fix: 修正设备配置中的最大体积默认值
test: 新增工作台配置测试用例
chore: 删除过时的测试脚本和配置文件

* add

* 重构: 将 LaiYu_Liquid.py 重命名为 laiyu_liquid_main.py 并更新所有导入引用

- 使用 git mv 将 LaiYu_Liquid.py 重命名为 laiyu_liquid_main.py
- 更新所有相关文件中的导入引用
- 保持代码功能不变，仅改善命名一致性
- 测试确认所有导入正常工作

* 修复: 在 core/__init__.py 中添加 LaiYuLiquidBackend 导出

- 添加 LaiYuLiquidBackend 到导入列表
- 添加 LaiYuLiquidBackend 到 __all__ 导出列表
- 确保所有主要类都可以正确导入

* 修复大小写文件夹名字

* 电池装配工站二次开发教程（带目录）上传至dev (#94)

* 电池装配工站二次开发教程

* Update intro.md

* 物料教程

* 更新物料教程，json格式注释

* Update prcxi driver & fix transfer_liquid mix_times (#90)

* Update prcxi driver & fix transfer_liquid mix_times

* fix: correct mix_times type

* Update liquid_handler registry

* test: prcxi.py

* Update registry from pr

* fix ony-key script not exist

* clean files

---------

Co-authored-by: Junhan Chang <changjh@dp.tech>
Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com>
Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com>
Co-authored-by: Xie Qiming <97236197+Andy6M@users.noreply.github.com>
Co-authored-by: h840473807 <47357934+h840473807@users.noreply.github.com>
Co-authored-by: LccLink <1951855008@qq.com>
Co-authored-by: lixinyu1011 <61094742+lixinyu1011@users.noreply.github.com>
Co-authored-by: shiyubo0410 <shiyubo@dp.tech>

unilabos/devices/balance/mettler_toledo_xpr/MT.Laboratory.Balance.XprXsr.V03.wsdl.template

@@ -0,0 +1,51 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- 
+  WSDL Template for Mettler Toledo XPR/XSR Balance
+  
+  IMPORTANT: This is a template file. You need to obtain the actual WSDL file 
+  from Mettler Toledo for your specific balance model.
+  
+  To use this driver:
+  1. Contact Mettler Toledo support to obtain the official WSDL file
+  2. Replace this template with the actual WSDL file
+  3. Rename it to: MT.Laboratory.Balance.XprXsr.V03.wsdl
+  
+  The WSDL file contains proprietary information and cannot be distributed
+  with this open-source project.
+-->
+<wsdl:definitions xmlns:wsx="http://schemas.xmlsoap.org/ws/2004/09/mex" 
+                  xmlns:wsu="http://docs.oasis-open.org/wss/2004/01/oasis-200401-wss-wssecurity-utility-1.0.xsd" 
+                  xmlns:wsa10="http://www.w3.org/2005/08/addressing" 
+                  xmlns:wsp="http://schemas.xmlsoap.org/ws/2004/09/policy" 
+                  xmlns:wsap="http://schemas.xmlsoap.org/ws/2004/08/addressing/policy" 
+                  xmlns:msc="http://schemas.microsoft.com/ws/2005/12/wsdl/contract" 
+                  xmlns:soap12="http://schemas.xmlsoap.org/wsdl/soap12/" 
+                  xmlns:wsa="http://schemas.xmlsoap.org/ws/2004/08/addressing" 
+                  xmlns:wsam="http://www.w3.org/2007/05/addressing/metadata" 
+                  xmlns:xsd="http://www.w3.org/2001/XMLSchema" 
+                  xmlns:tns="http://MT/Laboratory/Balance/XprXsr/V03" 
+                  xmlns:soap="http://schemas.xmlsoap.org/wsdl/soap/" 
+                  xmlns:wsaw="http://www.w3.org/2006/05/addressing/wsdl" 
+                  xmlns:soapenc="http://schemas.xmlsoap.org/soap/encoding/" 
+                  targetNamespace="http://MT/Laboratory/Balance/XprXsr/V03" 
+                  xmlns:wsdl="http://schemas.xmlsoap.org/wsdl/">
+  
+  <!-- 
+    PLACEHOLDER CONTENT
+    
+    This template contains only the basic structure.
+    The actual WSDL file should contain:
+    - Service definitions
+    - Port types
+    - Message definitions
+    - Binding information
+    - Endpoint addresses with template variables: {{host}}, {{port}}, {{api_path}}
+  -->
+  
+  <wsdl:types>
+    <!-- Schema definitions will be here in the actual WSDL -->
+  </wsdl:types>
+  
+  <!-- Service definitions will be here in the actual WSDL -->
+  
+</wsdl:definitions>

unilabos/devices/balance/mettler_toledo_xpr/Mettler_Toledo_Balance_ROS2_User_Guide.md

@@ -0,0 +1,255 @@
+# 梅特勒天平 ROS2 使用指南 / Mettler Toledo Balance ROS2 User Guide
+
+## 概述 / Overview
+
+梅特勒托利多XPR/XSR天平驱动支持通过ROS2动作进行操作，包括去皮、清零、读取重量等功能。
+
+The Mettler Toledo XPR/XSR balance driver supports operations through ROS2 actions, including tare, zero, weight reading, and other functions.
+
+## 主要功能 / Main Features
+
+### 1. 去皮操作 / Tare Operation (`tare`)
+
+- **功能 / Function**: 执行天平去皮操作 / Perform balance tare operation
+- **输入 / Input**: `{"immediate": bool}` - 是否立即去皮 / Whether to tare immediately
+- **输出 / Output**: `{"return_info": str, "success": bool}`
+
+### 2. 清零操作 / Zero Operation (`zero`)
+
+- **功能 / Function**: 执行天平清零操作 / Perform balance zero operation
+- **输入 / Input**: `{"immediate": bool}` - 是否立即清零 / Whether to zero immediately
+- **输出 / Output**: `{"return_info": str, "success": bool}`
+
+### 3. 读取重量 / Read Weight (`read` / `get_weight`)
+
+- **功能 / Function**: 读取当前天平重量 / Read current balance weight
+- **输入 / Input**: 无参数 / No parameters
+- **输出 / Output**: `{"return_info": str, "success": bool}` - 包含重量信息 / Contains weight information
+
+
+
+## 使用方法 / Usage Methods
+
+### ROS2命令行使用 / ROS2 Command Line Usage
+
+### 1. 去皮操作 / Tare Operation
+
+```bash
+ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
+  command: '{\"command\": \"tare\", \"params\": {\"immediate\": false}}'
+}"
+```
+
+### 2. 清零操作 / Zero Operation
+
+```bash
+ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
+  command: '{\"command\": \"zero\", \"params\": {\"immediate\": false}}'
+}"
+```
+
+### 3. 读取重量 / Read Weight
+
+```bash
+ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
+  command: '{\"command\": \"read\"}'
+}"
+```
+
+
+### 4. 推荐的去皮读取流程 / Recommended Tare and Read Workflow
+
+**步骤1: 去皮操作 / Step 1: Tare Operation**
+```bash
+# 放置空容器后执行去皮 / Execute tare after placing empty container
+ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
+  command: '{\"command\": \"tare\", \"params\": {\"immediate\": false}}'
+}"
+```
+
+**步骤2: 读取净重 / Step 2: Read Net Weight**
+```bash
+# 添加物质后读取净重 / Read net weight after adding substance
+ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
+  command: '{\"command\": \"read\"}'
+}"
+```
+
+**优势 / Advantages**:
+- 可以在去皮和读取之间进行确认 / Can confirm between taring and reading
+- 更好的错误处理和调试 / Better error handling and debugging
+- 操作流程更加清晰 / Clearer operation workflow
+
+
+
+## 命令格式说明 / Command Format Description
+
+所有命令都使用JSON格式，包含以下字段 / All commands use JSON format with the following fields：
+
+```json
+{
+  "command": "命令名称 / Command name",
+  "params": {
+    "参数名 / Parameter name": "参数值 / Parameter value"
+  }
+}
+```
+
+**注意事项 / Notes：**
+1. JSON字符串需要正确转义引号 / JSON strings need proper quote escaping
+2. 布尔值使用小写（true/false）/ Boolean values use lowercase (true/false)
+3. 如果命令不需要参数，可以省略`params`字段 / If command doesn't need parameters, `params` field can be omitted
+
+## 返回结果 / Return Results
+
+所有命令都会返回包含以下字段的结果 / All commands return results with the following fields：
+
+- `success`: 布尔值，表示操作是否成功 / Boolean value indicating operation success
+- `return_info`: 字符串，包含操作结果的详细信息 / String containing detailed operation result information
+
+## 成功执行示例 / Successful Execution Example
+
+以下是一个成功执行读取重量命令的示例 / Here is an example of successfully executing a weight reading command：
+
+```bash
+ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
+  command: '{\"command\": \"read\"}'
+}"
+```
+
+**成功返回结果 / Successful Return Result：**
+```
+Waiting for an action server to become available...
+Sending goal:
+     command: '{"command": "read"}'
+
+Goal accepted :)
+
+Result:
+    success: True
+    return_info: Weight: 0.24866 Milligram
+
+Goal finished with status: SUCCEEDED
+```
+
+### Python代码使用 / Python Code Usage
+
+```python
+import rclpy
+from rclpy.node import Node
+from rclpy.action import ActionClient
+from unilabos_msgs.action import SendCmd
+import json
+
+class BalanceController(Node):
+    """梅特勒天平控制器 / Mettler Balance Controller"""
+    def __init__(self):
+        super().__init__('balance_controller')
+        self._action_client = ActionClient(self, SendCmd, '/devices/BALANCE_STATION/send_cmd')
+    
+    def send_command(self, command, params=None):
+        """发送命令到天平 / Send command to balance"""
+        goal_msg = SendCmd.Goal()
+        
+        cmd_data = {'command': command}
+        if params:
+            cmd_data['params'] = params
+            
+        goal_msg.command = json.dumps(cmd_data)
+        
+        self._action_client.wait_for_server()
+        future = self._action_client.send_goal_async(goal_msg)
+        
+        return future
+    
+    def tare_balance(self, immediate=False):
+        """去皮操作 / Tare operation"""
+        return self.send_command('tare', {'immediate': immediate})
+    
+    def zero_balance(self, immediate=False):
+        """清零操作 / Zero operation"""
+        return self.send_command('zero', {'immediate': immediate})
+    
+    def read_weight(self):
+        """读取重量 / Read weight"""
+        return self.send_command('read')
+    
+
+
+
+# 使用示例 / Usage Example
+def main():
+    rclpy.init()
+    controller = BalanceController()
+    
+    # 去皮操作 / Tare operation
+    future = controller.tare_balance(immediate=False)
+    rclpy.spin_until_future_complete(controller, future)
+    result = future.result().result
+    print(f"去皮结果 / Tare result: {result.success}, 信息 / Info: {result.return_info}")
+    
+    # 读取重量 / Read weight
+    future = controller.read_weight()
+    rclpy.spin_until_future_complete(controller, future)
+    result = future.result().result
+    print(f"读取结果 / Read result: {result.success}, 信息 / Info: {result.return_info}")
+    
+    controller.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
+```
+
+## 使用注意事项 / Usage Notes
+
+1. **设备连接 / Device Connection**: 确保梅特勒天平设备已连接并可访问 / Ensure Mettler balance device is connected and accessible
+2. **命令格式 / Command Format**: JSON字符串需要正确转义引号 / JSON strings need proper quote escaping
+3. **参数类型 / Parameter Types**: 布尔值使用小写（true/false）/ Boolean values use lowercase (true/false)
+4. **权限 / Permissions**: 确保有操作天平的权限 / Ensure you have permission to operate the balance
+
+## 故障排除 / Troubleshooting
+
+### 常见问题 / Common Issues
+
+1. **JSON格式错误 / JSON Format Error**: 确保JSON字符串格式正确且引号已转义 / Ensure JSON string format is correct and quotes are escaped
+2. **未知命令名称 / Unknown Command Name**: 检查命令名称是否正确 / Check if command name is correct
+3. **设备连接失败 / Device Connection Failed**: 检查网络连接和设备状态 / Check network connection and device status
+4. **操作超时 / Operation Timeout**: 检查设备是否响应正常 / Check if device is responding normally
+
+### 错误处理 / Error Handling
+
+如果命令执行失败，返回结果中的`success`字段将为`false`，`return_info`字段将包含错误信息。
+
+If command execution fails, the `success` field in the return result will be `false`, and the `return_info` field will contain error information.
+
+### 调试技巧 / Debugging Tips
+
+1. 检查设备节点是否正在运行 / Check if device node is running：
+   ```bash
+   ros2 node list | grep BALANCE
+   ```
+
+2. 查看可用的action / View available actions：
+   ```bash
+   ros2 action list | grep BALANCE
+   ```
+
+3. 检查action接口 / Check action interface：
+   ```bash
+   ros2 action info /devices/BALANCE_STATION/send_cmd
+   ```
+
+4. 查看节点日志 / View node logs：
+   ```bash
+   ros2 topic echo /rosout
+   ```
+
+## 总结 / Summary
+
+梅特勒托利多天平设备现在支持 / Mettler Toledo balance device now supports:
+
+1. 通过ROS2 SendCmd动作进行统一操作 / Unified operations through ROS2 SendCmd actions
+2. 完整的天平功能支持（去皮、清零、读重等）/ Complete balance function support (tare, zero, weight reading, etc.)
+3. 完善的错误处理和日志记录 / Comprehensive error handling and logging
+4. 简化的操作流程和调试方法 / Simplified operation workflow and debugging methods

unilabos/devices/balance/mettler_toledo_xpr/README.md

@@ -0,0 +1,123 @@
+# Mettler Toledo XPR/XSR Balance Driver
+
+## 概述
+
+本驱动程序为梅特勒托利多XPR/XSR系列天平提供标准接口，支持去皮、清零和重量读取等操作。
+
+## ⚠️ 重要说明 - WSDL文件配置
+
+### 问题说明
+
+本驱动程序需要使用梅特勒托利多官方提供的WSDL文件来与天平通信。由于该WSDL文件包含专有信息，不能随开源项目一起分发。
+
+### 配置步骤
+
+1. **获取WSDL文件**
+   - 联系梅特勒托利多技术支持
+   - 或从您的天平设备Web界面下载
+   - 或从梅特勒托利多官方SDK获取
+
+2. **安装WSDL文件**
+   ```bash
+   # 将获取的WSDL文件复制到驱动目录
+   cp /path/to/your/MT.Laboratory.Balance.XprXsr.V03.wsdl \
+      unilabos/devices/balance/mettler_toledo_xpr/
+   ```
+
+3. **验证安装**
+   - 确保文件名为：`MT.Laboratory.Balance.XprXsr.V03.wsdl`
+   - 确保文件包含Jinja2模板变量：`{{host}}`、`{{port}}`、`{{api_path}}`
+
+### WSDL文件要求
+
+- 文件必须是有效的WSDL格式
+- 必须包含SessionService和WeighingService的定义
+- 端点地址应使用模板变量以支持动态IP配置：
+  ```xml
+  <soap:address location="http://{{host}}:{{port}}/{{api_path}}/SessionService" />
+  <soap:address location="http://{{host}}:{{port}}/{{api_path}}/WeighingService" />
+  ```
+
+### 文件结构
+
+```
+mettler_toledo_xpr/
+├── MT.Laboratory.Balance.XprXsr.V03.wsdl          # 实际WSDL文件（用户提供）
+├── MT.Laboratory.Balance.XprXsr.V03.wsdl.template # 模板文件（仅供参考）
+├── mettler_toledo_xpr.py                          # 驱动程序
+├── balance.yaml                                   # 设备配置
+├── SendCmd_Usage_Guide.md                         # 使用指南
+└── README.md                                      # 本文件
+```
+
+## 使用方法
+
+### 基本配置
+
+```python
+from unilabos.devices.balance.mettler_toledo_xpr import MettlerToledoXPR
+
+# 创建天平实例
+balance = MettlerToledoXPR(
+    ip="192.168.1.10",      # 天平IP地址
+    port=81,                # 天平端口
+    password="123456",      # 天平密码
+    timeout=10              # 连接超时时间
+)
+
+# 执行操作
+balance.tare()              # 去皮
+balance.zero()              # 清零
+weight = balance.get_weight()  # 读取重量
+```
+
+### ROS2 SendCmd Action
+
+详细的ROS2使用方法请参考 [SendCmd_Usage_Guide.md](SendCmd_Usage_Guide.md)
+
+## 故障排除
+
+### 常见错误
+
+1. **FileNotFoundError: WSDL template not found**
+   - 确保WSDL文件已正确放置在驱动目录中
+   - 检查文件名是否正确
+
+2. **连接失败**
+   - 检查天平IP地址和端口配置
+   - 确保天平Web服务已启用
+   - 验证网络连接
+
+3. **认证失败**
+   - 检查天平密码是否正确
+   - 确保天平允许Web服务访问
+
+### 调试模式
+
+```python
+import logging
+logging.basicConfig(level=logging.DEBUG)
+
+# 创建天平实例，将显示详细日志
+balance = MettlerToledoXPR(ip="192.168.1.10")
+```
+
+## 支持的操作
+
+- **去皮 (Tare)**: 将当前重量设为零点
+- **清零 (Zero)**: 重新校准零点
+- **读取重量 (Get Weight)**: 获取当前重量值
+- **带去皮读取**: 先去皮再读取重量
+- **连接管理**: 自动连接和断开
+
+## 技术支持
+
+如果您在配置WSDL文件时遇到问题，请：
+
+1. 查看梅特勒托利多官方文档
+2. 联系梅特勒托利多技术支持
+3. 在项目GitHub页面提交Issue
+
+## 许可证
+
+本驱动程序遵循项目主许可证。WSDL文件的使用需遵循梅特勒托利多的许可条款。

unilabos/devices/balance/mettler_toledo_xpr/__init__.py

@@ -0,0 +1,5 @@
+# Mettler Toledo XPR Balance Driver Module
+
+from .mettler_toledo_xpr import MettlerToledoXPR
+
+__all__ = ['MettlerToledoXPR']

unilabos/devices/balance/mettler_toledo_xpr/balance.yaml

@@ -0,0 +1,256 @@
+balance.mettler_toledo_xpr:
+  category:
+  - balance
+  class:
+    action_value_mappings:
+      disconnect:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result:
+          success: success
+        schema:
+          description: Disconnect from balance
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result:
+              properties:
+                success:
+                  description: Whether disconnect was successful
+                  type: boolean
+              required:
+              - success
+              type: object
+          required:
+          - goal
+          type: object
+        type: UniLabJsonCommand
+      get_weight:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result:
+          unit: unit
+          weight: weight
+        schema:
+          description: Get current weight reading
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result:
+              properties:
+                unit:
+                  description: Weight unit (e.g., g, kg)
+                  type: string
+                weight:
+                  description: Weight value
+                  type: number
+              required:
+              - weight
+              - unit
+              type: object
+          required:
+          - goal
+          type: object
+        type: UniLabJsonCommand
+      read_with_tare:
+        feedback: {}
+        goal:
+          immediate_tare: immediate_tare
+        goal_default:
+          immediate_tare: true
+        handles: []
+        result:
+          unit: unit
+          weight: weight
+        schema:
+          description: Perform tare then read weight (standard read operation)
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                immediate_tare:
+                  default: true
+                  description: Whether to use immediate tare
+                  type: boolean
+              required: []
+              type: object
+            result:
+              properties:
+                unit:
+                  description: Weight unit (e.g., g, kg)
+                  type: string
+                weight:
+                  description: Weight value after tare
+                  type: number
+              required:
+              - weight
+              - unit
+              type: object
+          required:
+          - goal
+          type: object
+        type: UniLabJsonCommand
+      send_cmd:
+        feedback: {}
+        goal:
+          command: command
+        goal_default:
+          command: ''
+        handles: []
+        result:
+          return_info: return_info
+          success: success
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+      tare:
+        feedback: {}
+        goal:
+          immediate: immediate
+        goal_default:
+          immediate: false
+        handles: []
+        result:
+          success: success
+        schema:
+          description: Tare operation for balance
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                immediate:
+                  default: false
+                  description: Whether to perform immediate tare
+                  type: boolean
+              required: []
+              type: object
+            result:
+              properties:
+                success:
+                  description: Whether tare operation was successful
+                  type: boolean
+              required:
+              - success
+              type: object
+          required:
+          - goal
+          type: object
+        type: UniLabJsonCommand
+      zero:
+        feedback: {}
+        goal:
+          immediate: immediate
+        goal_default:
+          immediate: false
+        handles: []
+        result:
+          success: success
+        schema:
+          description: Zero operation for balance
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                immediate:
+                  default: false
+                  description: Whether to perform immediate zero
+                  type: boolean
+              required: []
+              type: object
+            result:
+              properties:
+                success:
+                  description: Whether zero operation was successful
+                  type: boolean
+              required:
+              - success
+              type: object
+          required:
+          - goal
+          type: object
+        type: UniLabJsonCommand
+    module: unilabos.devices.balance.mettler_toledo_xpr.mettler_toledo_xpr:MettlerToledoXPR
+    status_types:
+      error_message: str
+      is_stable: bool
+      status: str
+      unit: str
+      weight: float
+    type: python
+  config_info: []
+  description: Mettler Toledo XPR/XSR Balance Driver
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: MettlerToledoXPR __init__ parameters
+    properties:
+      feedback: {}
+      goal:
+        description: Initialization parameters for Mettler Toledo XPR balance
+        properties:
+          ip:
+            default: 192.168.1.10
+            description: Balance IP address
+            type: string
+          password:
+            default: '123456'
+            description: Balance password
+            type: string
+          port:
+            default: 81
+            description: Balance port number
+            type: integer
+          timeout:
+            default: 10
+            description: Connection timeout in seconds
+            type: integer
+        required: []
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ command parameters
+    type: object
+  version: 1.0.0

unilabos/devices/balance/mettler_toledo_xpr/balance_test.json

@@ -0,0 +1,25 @@
+{
+    "nodes": [
+        {
+            "id": "BALANCE_STATION",
+            "name": "METTLER_TOLEDO_XPR",
+            "parent": null,
+            "type": "device",
+            "class": "balance.mettler_toledo_xpr",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "ip": "192.168.1.10",
+                "port": 81,
+                "password": "123456",
+                "timeout": 10
+            },
+            "data": {},
+            "children": []
+        }
+    ],
+  "links": []
+}

unilabos/devices/balance/mettler_toledo_xpr/mettler_toledo_xpr.py

@@ -0,0 +1,571 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+"""
+Mettler Toledo XPR/XSR Balance Driver for Uni-Lab OS
+
+This driver provides standard interface for Mettler Toledo XPR/XSR balance operations
+including tare, zero, and weight reading functions.
+"""
+
+import enum
+import base64
+import hashlib
+import logging
+import time
+from pathlib import Path
+from decimal import Decimal
+from typing import Tuple, Optional
+
+from jinja2 import Template
+from requests import Session
+from zeep import Client
+from zeep.transports import Transport
+import pprp
+
+# Import UniversalDriver - handle import error gracefully
+try:
+    from unilabos.device_comms.universal_driver import UniversalDriver
+except ImportError:
+    # Fallback for standalone testing
+    class UniversalDriver:
+        """Fallback UniversalDriver for standalone testing"""
+        def __init__(self):
+            self.success = False
+
+
+class Outcome(enum.Enum):
+    """Balance operation outcome enumeration"""
+    SUCCESS = "Success"
+    ERROR = "Error"
+
+
+class MettlerToledoXPR(UniversalDriver):
+    """Mettler Toledo XPR/XSR Balance Driver
+    
+    Provides standard interface for balance operations including:
+    - Tare (去皮)
+    - Zero (清零) 
+    - Weight reading (读数)
+    """
+    
+    def __init__(self, ip: str = "192.168.1.10", port: int = 81, 
+                 password: str = "123456", timeout: int = 10):
+        """Initialize the balance driver
+        
+        Args:
+            ip: Balance IP address
+            port: Balance port number
+            password: Balance password
+            timeout: Connection timeout in seconds
+        """
+        super().__init__()
+        
+        self.ip = ip
+        self.port = port
+        self.password = password
+        self.timeout = timeout
+        self.api_path = "MT/Laboratory/Balance/XprXsr/V03"
+        
+        # Status properties
+        self._status = "Disconnected"
+        self._last_weight = 0.0
+        self._last_unit = "g"
+        self._is_stable = False
+        self._error_message = ""
+        
+        # ROS2 action result properties
+        self.success = False
+        self.return_info = ""
+        
+        # Service objects
+        self.client = None
+        self.session_svc = None
+        self.weighing_svc = None
+        self.session_id = None
+        
+        # WSDL template path
+        self.wsdl_template = Path(__file__).parent / "MT.Laboratory.Balance.XprXsr.V03.wsdl"
+        
+        # Bindings
+        self.bindings = {
+            "session": "{http://MT/Laboratory/Balance/XprXsr/V03}BasicHttpBinding_ISessionService",
+            "weigh": "{http://MT/Laboratory/Balance/XprXsr/V03}BasicHttpBinding_IWeighingService",
+        }
+        
+        # Setup logging
+        self.logger = logging.getLogger(f"MettlerToledoXPR-{ip}")
+        
+        # Initialize connection
+        self._connect()
+    
+    @property
+    def status(self) -> str:
+        """Current device status"""
+        return self._status
+    
+    @property
+    def weight(self) -> float:
+        """Last measured weight value"""
+        return self._last_weight
+    
+    @property
+    def unit(self) -> str:
+        """Weight unit (e.g., 'g', 'kg')"""
+        return self._last_unit
+    
+    @property
+    def is_stable(self) -> bool:
+        """Whether the weight reading is stable"""
+        return self._is_stable
+    
+    @property
+    def error_message(self) -> str:
+        """Last error message"""
+        return self._error_message
+    
+    def _decrypt_session_id(self, pw: str, enc_sid: str, salt: str) -> str:
+        """Decrypt session ID using password and salt"""
+        key = hashlib.pbkdf2_hmac("sha1", pw.encode(),
+                                  base64.b64decode(salt), 1000, dklen=32)
+        plain = pprp.decrypt_sink(
+            pprp.rijndael_decrypt_gen(
+                key, pprp.data_source_gen(base64.b64decode(enc_sid))))
+        return plain.decode()
+    
+    def _render_wsdl(self) -> Path:
+        """Render WSDL template with current connection parameters"""
+        if not self.wsdl_template.exists():
+            raise FileNotFoundError(f"WSDL template not found: {self.wsdl_template}")
+        
+        text = Template(self.wsdl_template.read_text(encoding="utf-8")).render(
+            host=self.ip, port=self.port, api_path=self.api_path)
+        
+        wsdl_path = self.wsdl_template.parent / f"rendered_{self.ip}_{self.port}.wsdl"
+        wsdl_path.write_text(text, encoding="utf-8")
+        
+        return wsdl_path
+    
+    def _connect(self):
+        """Establish connection to the balance"""
+        try:
+            self._status = "Connecting"
+            
+            # Render WSDL
+            wsdl_path = self._render_wsdl()
+            self.logger.info(f"WSDL rendered to {wsdl_path}")
+            
+            # Create SOAP client
+            transport = Transport(session=Session(), timeout=self.timeout)
+            self.client = Client(wsdl=str(wsdl_path), transport=transport)
+            
+            # Create service proxies
+            base_url = f"http://{self.ip}:{self.port}/{self.api_path}"
+            self.session_svc = self.client.create_service(
+                self.bindings["session"], f"{base_url}/SessionService")
+            self.weighing_svc = self.client.create_service(
+                self.bindings["weigh"], f"{base_url}/WeighingService")
+            
+            self.logger.info("Zeep service proxies created")
+            
+            # Open session
+            self.logger.info("Opening session...")
+            reply = self.session_svc.OpenSession()
+            if reply.Outcome != Outcome.SUCCESS.value:
+                raise RuntimeError(f"OpenSession failed: {getattr(reply, 'ErrorMessage', '')}")
+            
+            self.session_id = self._decrypt_session_id(
+                self.password, reply.SessionId, reply.Salt)
+            
+            self.logger.info(f"Session established successfully, SessionId={self.session_id}")
+            self._status = "Connected"
+            self._error_message = ""
+            
+        except Exception as e:
+            self._status = "Error"
+            self._error_message = str(e)
+            self.logger.error(f"Connection failed: {e}")
+            raise
+    
+    def _ensure_connected(self):
+        """Ensure the device is connected"""
+        if self._status != "Connected" or self.session_id is None:
+            self._connect()
+    
+    def tare(self, immediate: bool = False) -> bool:
+        """Perform tare operation (去皮)
+        
+        Args:
+            immediate: Whether to perform immediate tare
+            
+        Returns:
+            bool: True if successful, False otherwise
+        """
+        try:
+            self._ensure_connected()
+            self._status = "Taring"
+            
+            self.logger.info(f"Performing tare (immediate={immediate})...")
+            reply = self.weighing_svc.Tare(self.session_id, immediate)
+            
+            if reply.Outcome != Outcome.SUCCESS.value:
+                error_msg = getattr(reply, 'ErrorMessage', 'Unknown error')
+                self.logger.error(f"Tare failed: {error_msg}")
+                self._error_message = f"Tare failed: {error_msg}"
+                self._status = "Error"
+                return False
+            
+            self.logger.info("Tare completed successfully")
+            self._status = "Connected"
+            self._error_message = ""
+            return True
+            
+        except Exception as e:
+            self.logger.error(f"Tare operation failed: {e}")
+            self._error_message = str(e)
+            self._status = "Error"
+            return False
+    
+    def zero(self, immediate: bool = False) -> bool:
+        """Perform zero operation (清零)
+        
+        Args:
+            immediate: Whether to perform immediate zero
+            
+        Returns:
+            bool: True if successful, False otherwise
+        """
+        try:
+            self._ensure_connected()
+            self._status = "Zeroing"
+            
+            self.logger.info(f"Performing zero (immediate={immediate})...")
+            reply = self.weighing_svc.Zero(self.session_id, immediate)
+            
+            if reply.Outcome != Outcome.SUCCESS.value:
+                error_msg = getattr(reply, 'ErrorMessage', 'Unknown error')
+                self.logger.error(f"Zero failed: {error_msg}")
+                self._error_message = f"Zero failed: {error_msg}"
+                self._status = "Error"
+                return False
+            
+            self.logger.info("Zero completed successfully")
+            self._status = "Connected"
+            self._error_message = ""
+            return True
+            
+        except Exception as e:
+            self.logger.error(f"Zero operation failed: {e}")
+            self._error_message = str(e)
+            self._status = "Error"
+            return False
+    
+    def get_weight(self) -> float:
+        """Get current weight reading (读数)
+        
+        Returns:
+            float: Weight value
+        """
+        try:
+            self._ensure_connected()
+            self._status = "Reading"
+            
+            self.logger.info("Getting weight...")
+            reply = self.weighing_svc.GetWeight(self.session_id)
+            
+            if reply.Outcome != Outcome.SUCCESS.value:
+                error_msg = getattr(reply, 'ErrorMessage', 'Unknown error')
+                self.logger.error(f"GetWeight failed: {error_msg}")
+                self._error_message = f"GetWeight failed: {error_msg}"
+                self._status = "Error"
+                return 0.0
+            
+            # Handle different response structures
+            if hasattr(reply, 'WeightSample'):
+                # Handle WeightSample structure (most common for XPR)
+                weight_sample = reply.WeightSample
+                if hasattr(weight_sample, 'NetWeight'):
+                    weight_val = float(Decimal(weight_sample.NetWeight.Value))
+                    weight_unit = weight_sample.NetWeight.Unit
+                elif hasattr(weight_sample, 'GrossWeight'):
+                    weight_val = float(Decimal(weight_sample.GrossWeight.Value))
+                    weight_unit = weight_sample.GrossWeight.Unit
+                else:
+                    weight_val = 0.0
+                    weight_unit = 'g'
+                is_stable = getattr(weight_sample, 'Stable', True)
+            elif hasattr(reply, 'Weight'):
+                weight_val = float(Decimal(reply.Weight.Value))
+                weight_unit = reply.Weight.Unit
+                is_stable = getattr(reply.Weight, 'IsStable', True)
+            elif hasattr(reply, 'Value'):
+                weight_val = float(Decimal(reply.Value))
+                weight_unit = getattr(reply, 'Unit', 'g')
+                is_stable = getattr(reply, 'IsStable', True)
+            else:
+                # Try to extract from reply attributes
+                weight_val = float(Decimal(getattr(reply, 'WeightValue', getattr(reply, 'Value', '0'))))
+                weight_unit = getattr(reply, 'WeightUnit', getattr(reply, 'Unit', 'g'))
+                is_stable = getattr(reply, 'IsStable', True)
+            
+            # Convert to grams for consistent output (ROS2 requirement)
+            if weight_unit.lower() in ['milligram', 'mg']:
+                weight_val_grams = weight_val / 1000.0
+            elif weight_unit.lower() in ['kilogram', 'kg']:
+                weight_val_grams = weight_val * 1000.0
+            elif weight_unit.lower() in ['gram', 'g']:
+                weight_val_grams = weight_val
+            else:
+                # Default to assuming grams if unit is unknown
+                weight_val_grams = weight_val
+                self.logger.warning(f"Unknown weight unit: {weight_unit}, assuming grams")
+            
+            # Update internal state (keep original values for reference)
+            self._last_weight = weight_val
+            self._last_unit = weight_unit
+            self._is_stable = is_stable
+            
+            self.logger.info(f"Weight: {weight_val_grams} g (original: {weight_val} {weight_unit})")
+            self._status = "Connected"
+            self._error_message = ""
+            
+            return weight_val_grams
+            
+        except Exception as e:
+            self.logger.error(f"Get weight failed: {e}")
+            self._error_message = str(e)
+            self._status = "Error"
+            return 0.0
+    
+    def get_weight_with_unit(self) -> Tuple[float, str]:
+        """Get current weight reading with unit (读数含单位)
+        
+        Returns:
+            Tuple[float, str]: Weight value and unit
+        """
+        try:
+            self._ensure_connected()
+            self._status = "Reading"
+            
+            self.logger.info("Getting weight with unit...")
+            reply = self.weighing_svc.GetWeight(self.session_id)
+            
+            if reply.Outcome != Outcome.SUCCESS.value:
+                error_msg = getattr(reply, 'ErrorMessage', 'Unknown error')
+                self.logger.error(f"GetWeight failed: {error_msg}")
+                self._error_message = f"GetWeight failed: {error_msg}"
+                self._status = "Error"
+                return 0.0, ""
+            
+            # Handle different response structures
+            if hasattr(reply, 'WeightSample'):
+                # Handle WeightSample structure (most common for XPR)
+                weight_sample = reply.WeightSample
+                if hasattr(weight_sample, 'NetWeight'):
+                    weight_val = float(Decimal(weight_sample.NetWeight.Value))
+                    weight_unit = weight_sample.NetWeight.Unit
+                elif hasattr(weight_sample, 'GrossWeight'):
+                    weight_val = float(Decimal(weight_sample.GrossWeight.Value))
+                    weight_unit = weight_sample.GrossWeight.Unit
+                else:
+                    weight_val = 0.0
+                    weight_unit = 'g'
+                is_stable = getattr(weight_sample, 'Stable', True)
+            elif hasattr(reply, 'Weight'):
+                weight_val = float(Decimal(reply.Weight.Value))
+                weight_unit = reply.Weight.Unit
+                is_stable = getattr(reply.Weight, 'IsStable', True)
+            elif hasattr(reply, 'Value'):
+                weight_val = float(Decimal(reply.Value))
+                weight_unit = getattr(reply, 'Unit', 'g')
+                is_stable = getattr(reply, 'IsStable', True)
+            else:
+                # Try to extract from reply attributes
+                weight_val = float(Decimal(getattr(reply, 'WeightValue', getattr(reply, 'Value', '0'))))
+                weight_unit = getattr(reply, 'WeightUnit', getattr(reply, 'Unit', 'g'))
+                is_stable = getattr(reply, 'IsStable', True)
+            
+            # Update internal state
+            self._last_weight = weight_val
+            self._last_unit = weight_unit
+            self._is_stable = is_stable
+            
+            self.logger.info(f"Weight: {weight_val} {weight_unit}")
+            self._status = "Connected"
+            self._error_message = ""
+            
+            return weight_val, weight_unit
+            
+        except Exception as e:
+            self.logger.error(f"Get weight with unit failed: {e}")
+            self._error_message = str(e)
+            self._status = "Error"
+            return 0.0, ""
+    
+
+    
+
+    
+    def send_cmd(self, command: str) -> dict:
+        """ROS2 SendCmd action handler
+        
+        Args:
+            command: JSON string containing command and parameters
+            
+        Returns:
+            dict: Result containing success status and return_info
+        """
+        return self.execute_command_from_outer(command)
+    
+    def execute_command_from_outer(self, command: str) -> dict:
+        """Execute command from ROS2 SendCmd action
+        
+        Args:
+            command: JSON string containing command and parameters
+            
+        Returns:
+            dict: Result containing success status and return_info
+        """
+        try:
+            import json
+            # Parse JSON command
+            cmd_data = json.loads(command.replace("'", '"').replace("False", "false").replace("True", "true"))
+            
+            # Extract command name and parameters
+            cmd_name = cmd_data.get('command', '')
+            params = cmd_data.get('params', {})
+            
+            self.logger.info(f"Executing command: {cmd_name} with params: {params}")
+            
+            # Execute different commands
+            if cmd_name == 'tare':
+                immediate = params.get('immediate', False)
+                success = self.tare(immediate)
+                result = {
+                    'success': success,
+                    'return_info': f"Tare operation {'successful' if success else 'failed'}"
+                }
+                # Update instance attributes for ROS2 action system
+                self.success = result['success']
+                self.return_info = result['return_info']
+                return result
+            
+            elif cmd_name == 'zero':
+                immediate = params.get('immediate', False)
+                success = self.zero(immediate)
+                result = {
+                    'success': success,
+                    'return_info': f"Zero operation {'successful' if success else 'failed'}"
+                }
+                # Update instance attributes for ROS2 action system
+                self.success = result['success']
+                self.return_info = result['return_info']
+                return result
+            
+            elif cmd_name == 'read' or cmd_name == 'get_weight':
+                try:
+                    self.logger.info(f"Executing {cmd_name} command via ROS2...")
+                    self.logger.info(f"Current status: {self._status}")
+                    
+                    # Use get_weight to get weight value (returns float in grams)
+                    weight_grams = self.get_weight()
+                    self.logger.info(f"get_weight() returned: {weight_grams} g")
+                    
+                    # Get the original weight and unit for display
+                    original_weight = getattr(self, '_last_weight', weight_grams)
+                    original_unit = getattr(self, '_last_unit', 'g')
+                    self.logger.info(f"Original reading: {original_weight} {original_unit}")
+                    
+                    result = {
+                        'success': True,
+                        'return_info': f"Weight: {original_weight} {original_unit}"
+                    }
+                except Exception as e:
+                    self.logger.error(f"Exception in {cmd_name}: {str(e)}")
+                    self.logger.error(f"Exception type: {type(e).__name__}")
+                    import traceback
+                    self.logger.error(f"Traceback: {traceback.format_exc()}")
+                    result = {
+                        'success': False,
+                        'return_info': f"Failed to read weight: {str(e)}"
+                    }
+                # Update instance attributes for ROS2 action system
+                self.success = result['success']
+                self.return_info = result['return_info']
+                return result
+            
+
+
+            else:
+                result = {
+                    'success': False,
+                    'return_info': f"Unknown command: {cmd_name}. Available commands: tare, zero, read"
+                }
+                # Update instance attributes for ROS2 action system
+                self.success = result['success']
+                self.return_info = result['return_info']
+                return result
+                
+        except json.JSONDecodeError as e:
+            self.logger.error(f"JSON parsing failed: {e}")
+            result = {
+                'success': False,
+                'return_info': f"JSON parsing failed: {str(e)}"
+            }
+            # Update instance attributes for ROS2 action system
+            self.success = result['success']
+            self.return_info = result['return_info']
+            return result
+        except Exception as e:
+            self.logger.error(f"Command execution failed: {e}")
+            result = {
+                'success': False,
+                'return_info': f"Command execution failed: {str(e)}"
+            }
+            # Update instance attributes for ROS2 action system
+            self.success = result['success']
+            self.return_info = result['return_info']
+            return result
+    
+    def __del__(self):
+        """Cleanup when object is destroyed"""
+        self.disconnect()
+
+
+if __name__ == "__main__":
+    # Test the driver
+    import argparse
+    
+    parser = argparse.ArgumentParser(description="Mettler Toledo XPR Balance Driver Test")
+    parser.add_argument("--ip", default="192.168.1.10", help="Balance IP address")
+    parser.add_argument("--port", type=int, default=81, help="Balance port")
+    parser.add_argument("--password", default="123456", help="Balance password")
+    parser.add_argument("action", choices=["tare", "zero", "read"], 
+                       nargs="?", default="read", help="Action to perform")
+    parser.add_argument("--immediate", action="store_true", help="Use immediate mode")
+    
+    args = parser.parse_args()
+    
+    # Setup logging
+    logging.basicConfig(level=logging.INFO, 
+                       format="%(asctime)s %(levelname)s: %(message)s")
+    
+    # Create driver instance
+    balance = MettlerToledoXPR(ip=args.ip, port=args.port, password=args.password)
+    
+    try:
+        if args.action == "tare":
+            success = balance.tare(args.immediate)
+            print(f"Tare {'successful' if success else 'failed'}")
+        elif args.action == "zero":
+            success = balance.zero(args.immediate)
+            print(f"Zero {'successful' if success else 'failed'}")
+        else:  # read
+            # Perform tare first, then read weight
+            if balance.tare(args.immediate):
+                weight, unit = balance.get_weight_with_unit()
+                print(f"Weight: {weight} {unit}")
+            else:
+                print("Tare operation failed, cannot read weight")
+    
+    finally:
+        balance.disconnect()