Merge pull request #156 from dptech-corp/workstation_dev_YB3

Workstation dev yb3

test/resources/test_resourcetreeset.py

@@ -15,9 +15,9 @@ lab_registry.setup()
 
 
 type_mapping = {
-    "加样头(大)": ("YB_jia_yang_tou_da_1X1_carrier", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
+    "加样头(大)": ("YB_jia_yang_tou_da", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
     "液": ("YB_1BottleCarrier", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"),
-    "配液瓶(小)板": ("YB_6x_SmallSolutionBottleCarrier", "3a190c8b-3284-af78-d29f-9a69463ad047"),
+    "配液瓶(小)板": ("YB_peiyepingxiaoban", "3a190c8b-3284-af78-d29f-9a69463ad047"),
     "配液瓶(小)": ("YB_pei_ye_xiao_Bottler", "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"),
 }
 

unilabos/app/ws_client.py

@@ -421,7 +421,7 @@ class MessageProcessor:
                     ssl_context = ssl_module.create_default_context()
 
                 ws_logger = logging.getLogger("websockets.client")
-                ws_logger.setLevel(logging.INFO)
+                # 日志级别已在 unilabos.utils.log 中统一配置为 WARNING
 
                 async with websockets.connect(
                     self.websocket_url,
@@ -1197,7 +1197,7 @@ class WebSocketClient(BaseCommunicationClient):
             },
         }
         self.message_processor.send_message(message)
-        logger.debug(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
+        logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
 
     def publish_job_status(
         self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None

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

@@ -3,6 +3,7 @@ from cgi import print_arguments
 from doctest import debug
 from typing import Dict, Any, List, Optional
 import requests
+from pylabrobot.resources.resource import Resource as ResourcePLR
 from pathlib import Path
 import pandas as pd
 import time
@@ -255,7 +256,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
     def auto_feeding4to3(
         self,
         # ★ 修改点：默认模板路径
-        xlsx_path: Optional[str] = "C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx",
+        xlsx_path: Optional[str] = "/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx",
         # ---------------- WH4 - 加样头面 (Z=1, 12个点位) ----------------
         WH4_x1_y1_z1_1_materialName: str = "", WH4_x1_y1_z1_1_quantity: float = 0.0,
         WH4_x2_y1_z1_2_materialName: str = "", WH4_x2_y1_z1_2_quantity: float = 0.0,
@@ -307,7 +308,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
 
         # ---------- 模式 1: Excel 导入 ----------
         if xlsx_path:
-            path = Path(xlsx_path)
+            path = Path(__file__).parent / Path(xlsx_path)
             if path.exists():   # ★ 修改点：路径存在才加载
                 try:
                     df = pd.read_excel(path, sheet_name=0, header=None, engine="openpyxl")
@@ -472,14 +473,23 @@ class BioyondCellWorkstation(BioyondWorkstation):
         - totalMass 自动计算为所有物料质量之和
         - createTime 缺失或为空时自动填充为当前日期（YYYY/M/D）
         """
-        path = Path(xlsx_path)
+        default_path = Path("/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx")
+        path = Path(xlsx_path) if xlsx_path else default_path
+        print(f"[create_orders] 使用 Excel 路径: {path}")
+        if path != default_path:
+            print("[create_orders] 来源: 调用方传入自定义路径")
+        else:
+            print("[create_orders] 来源: 使用默认模板路径")
+
         if not path.exists():
+            print(f"[create_orders] ⚠️ Excel 文件不存在: {path}")
             raise FileNotFoundError(f"未找到 Excel 文件：{path}")
 
         try:
             df = pd.read_excel(path, sheet_name=0, engine="openpyxl")
         except Exception as e:
             raise RuntimeError(f"读取 Excel 失败：{e}")
+        print(f"[create_orders] Excel 读取成功，行数: {len(df)}, 列: {list(df.columns)}")
 
         # 列名容错：返回可选列名，找不到则返回 None
         def _pick(col_names: List[str]) -> Optional[str]:
@@ -496,9 +506,20 @@ class BioyondCellWorkstation(BioyondWorkstation):
         col_pouch = _pick(["软包组装分液体积", "pouchCellInfo"])
         col_cond = _pick(["电导测试分液体积", "conductivityInfo"])
         col_cond_cnt = _pick(["电导测试分液瓶数", "conductivityBottleCount"])
+        print("[create_orders] 列匹配结果:", {
+            "order_name": col_order_name,
+            "create_time": col_create_time,
+            "bottle_type": col_bottle_type,
+            "mix_time": col_mix_time,
+            "load": col_load,
+            "pouch": col_pouch,
+            "conductivity": col_cond,
+            "conductivity_bottle_count": col_cond_cnt,
+        })
 
         # 物料列：所有以 (g) 结尾
         material_cols = [c for c in df.columns if isinstance(c, str) and c.endswith("(g)")]
+        print(f"[create_orders] 识别到的物料列: {material_cols}")
         if not material_cols:
             raise KeyError("未发现任何以“(g)”结尾的物料列，请检查表头。")
 
@@ -546,6 +567,9 @@ class BioyondCellWorkstation(BioyondWorkstation):
                 if mass > 0:
                     mats.append({"name": mcol.replace("(g)", ""), "mass": mass})
                     total_mass += mass
+                else:
+                    if mass < 0:
+                        print(f"[create_orders] 第 {idx+1} 行物料 {mcol} 数值为负数: {mass}")
 
             order_data = {
                 "batchId": batch_id,
@@ -560,11 +584,22 @@ class BioyondCellWorkstation(BioyondWorkstation):
                 "materialInfos": mats,
                 "totalMass": round(total_mass, 4)  # 自动汇总
             }
+            print(f"[create_orders] 第 {idx+1} 行解析结果: orderName={order_data['orderName']}, "
+                  f"loadShedding={order_data['loadSheddingInfo']}, pouchCell={order_data['pouchCellInfo']}, "
+                  f"conductivity={order_data['conductivityInfo']}, totalMass={order_data['totalMass']}, "
+                  f"material_count={len(mats)}")
+
+            if order_data["totalMass"] <= 0:
+                print(f"[create_orders] ⚠️ 第 {idx+1} 行总质量 <= 0，可能导致 LIMS 校验失败")
+            if not mats:
+                print(f"[create_orders] ⚠️ 第 {idx+1} 行未找到有效物料")
+
             orders.append(order_data)
 
 
+        print(f"[create_orders] 即将提交订单数量: {len(orders)}")
         response = self._post_lims("/api/lims/order/orders", orders)
-        print(response)
+        print(f"[create_orders] 接口返回: {response}")
         # 等待任务报送成功
         data_list = response.get("data", [])
         if data_list:
@@ -1015,24 +1050,71 @@ class BioyondCellWorkstation(BioyondWorkstation):
             "create_result": create_result,
             "inbound_result": inbound_result,
         }
+    def resource_tree_transfer(self, old_parent: ResourcePLR, plr_resource: ResourcePLR, parent_resource: ResourcePLR):
+        # ROS2DeviceNode.run_async_func(self._ros_node.resource_tree_transfer, True, **{
+        #     "old_parent": old_parent,
+        #     "plr_resource": plr_resource,
+        #     "parent_resource": parent_resource,
+        # })
+        print("resource_tree_transfer", plr_resource, parent_resource)
+        if hasattr(plr_resource, "unilabos_extra") and plr_resource.unilabos_extra:
+            if "update_resource_site" in plr_resource.unilabos_extra:
+                site = plr_resource.unilabos_extra["update_resource_site"]
+                plr_model = plr_resource.model
+                board_type = None
+                for key, (moudle_name,moudle_uuid) in MATERIAL_TYPE_MAPPINGS.items():
+                    if plr_model == moudle_name:
+                        board_type = key
+                        break
+                if board_type is None:
+                    pass
+                bottle1 = plr_resource.children[0]
 
+                bottle_moudle = bottle1.model
+                bottle_type = None
+                for key, (moudle_name, moudle_uuid) in MATERIAL_TYPE_MAPPINGS.items():
+                    if bottle_moudle == moudle_name:
+                        bottle_type = key
+                        break
+                
+                # 从 parent_resource 获取仓库名称
+                warehouse_name = parent_resource.name if parent_resource else "手动堆栈"
+                logger.info(f"拖拽上料: {plr_resource.name} -> {warehouse_name} / {site}")
+                
+                self.create_sample(plr_resource.name, board_type, bottle_type, site, warehouse_name)
+                return
+        self.lab_logger().warning(f"无库位的上料，不处理，{plr_resource} 挂载到 {parent_resource}")
 
     def create_sample(
         self,
         name: str,
         board_type: str,
         bottle_type: str,
-        location_code: str
+        location_code: str,
+        warehouse_name: str = "手动堆栈"
     ) -> Dict[str, Any]:
         """创建配液板物料并自动入库。
         Args:
-            material_name: 物料名称，支持 "5ml分液瓶板"/"5ml分液瓶"、"配液瓶(小)板"/"配液瓶(小)"。
+            name: 物料名称
-            quantity: 主物料与明细的数量，默认 1。
+            board_type: 板类型，如 "5ml分液瓶板"、"配液瓶(小)板"
-            location_code: 库位编号，例如 "A01"，将自动映射为 "手动堆栈" 下的 UUID。
+            bottle_type: 瓶类型，如 "5ml分液瓶"、"配液瓶(小)"
+            location_code: 库位编号，例如 "A01"
+            warehouse_name: 仓库名称，默认为 "手动堆栈"，支持 "自动堆栈-左"、"自动堆栈-右" 等
         """
         carrier_type_id = MATERIAL_TYPE_MAPPINGS[board_type][1]
         bottle_type_id  = MATERIAL_TYPE_MAPPINGS[bottle_type][1]
-        location_id = WAREHOUSE_MAPPING["手动堆栈"]["site_uuids"][location_code]
+        
+        # 从指定仓库获取库位UUID
+        if warehouse_name not in WAREHOUSE_MAPPING:
+            logger.error(f"未找到仓库: {warehouse_name}，回退到手动堆栈")
+            warehouse_name = "手动堆栈"
+        
+        if location_code not in WAREHOUSE_MAPPING[warehouse_name]["site_uuids"]:
+            logger.error(f"仓库 {warehouse_name} 中未找到库位 {location_code}")
+            raise ValueError(f"库位 {location_code} 在仓库 {warehouse_name} 中不存在")
+        
+        location_id = WAREHOUSE_MAPPING[warehouse_name]["site_uuids"][location_code]
+        logger.info(f"创建样品入库: {name} -> {warehouse_name}/{location_code} (UUID: {location_id})")
 
         # 新建小瓶
         details = []

unilabos/devices/workstation/bioyond_studio/config.py

@@ -8,8 +8,8 @@ import os
 # BioyondCellWorkstation 默认配置（包含所有必需参数）
 API_CONFIG = {
     # API 连接配置
-    # "api_host": os.getenv("BIOYOND_API_HOST", "http://172.21.32.65:44389"),#实机
+    "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.1.143:44389"),#实机
-    "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.10.169:44388"),# 仿真机
+    # "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.7.149:44388"),# 仿真机
     "api_key": os.getenv("BIOYOND_API_KEY", "8A819E5C"),
     "timeout": int(os.getenv("BIOYOND_TIMEOUT", "30")),
     
@@ -17,7 +17,7 @@ API_CONFIG = {
     "report_token": os.getenv("BIOYOND_REPORT_TOKEN", "CHANGE_ME_TOKEN"),
     
     # HTTP 服务配置
-    "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.21.32.115"),  # HTTP服务监听地址，监听计算机飞连ip地址
+    "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.16.2.140"),  # HTTP服务监听地址，监听计算机飞连ip地址
     "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")),
     "debug_mode": False,# 调试模式
 }
@@ -234,22 +234,22 @@ WAREHOUSE_MAPPING = {
 
 # 物料类型配置
 MATERIAL_TYPE_MAPPINGS = {
-    "100ml液体": ("YB_1Bottle100mlCarrier", "d37166b3-ecaa-481e-bd84-3032b795ba07"),
+    "100ml液体": ("YB_100ml_yeti", "d37166b3-ecaa-481e-bd84-3032b795ba07"),
-    "液": ("YB_1BottleCarrier", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"),
+    "液": ("YB_ye", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"),
-    "高粘液": ("YB_1GaoNianYeBottleCarrier", "abe8df30-563d-43d2-85e0-cabec59ddc16"),
+    "高粘液": ("YB_gaonianye", "abe8df30-563d-43d2-85e0-cabec59ddc16"),
-    "加样头(大)": ("YB_jia_yang_tou_da_1X1_carrier", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
+    "加样头(大)": ("YB_jia_yang_tou_da", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
-    # "加样头(大)板": ("YB_jia_yang_tou_da_1X1_carrier", "a8e714ae-2a4e-4eb9-9614-e4c140ec3f16"),
+    # "加样头(大)板": ("YB_jia_yang_tou_da", "a8e714ae-2a4e-4eb9-9614-e4c140ec3f16"),
-    "5ml分液瓶板": ("YB_6x5ml_DispensingVialCarrier", "3a192fa4-007d-ec7b-456e-2a8be7a13f23"),
+    "5ml分液瓶板": ("YB_5ml_fenyepingban", "3a192fa4-007d-ec7b-456e-2a8be7a13f23"),
-    "5ml分液瓶": ("YB_fen_ye_5ml_Bottle", "3a192c2a-ebb7-58a1-480d-8b3863bf74f4"),
+    "5ml分液瓶": ("YB_5ml_fenyeping", "3a192c2a-ebb7-58a1-480d-8b3863bf74f4"),
-    "20ml分液瓶板": ("YB_6x20ml_DispensingVialCarrier", "3a192fa4-47db-3449-162a-eaf8aba57e27"),
+    "20ml分液瓶板": ("YB_20ml_fenyepingban", "3a192fa4-47db-3449-162a-eaf8aba57e27"),
-    "20ml分液瓶": ("YB_fen_ye_20ml_Bottle", "3a192c2b-19e8-f0a3-035e-041ca8ca1035"),
+    "20ml分液瓶": ("YB_20ml_fenyeping", "3a192c2b-19e8-f0a3-035e-041ca8ca1035"),
-    "配液瓶(小)板": ("YB_6x_SmallSolutionBottleCarrier", "3a190c8b-3284-af78-d29f-9a69463ad047"),
+    "配液瓶(小)板": ("YB_peiyepingxiaoban", "3a190c8b-3284-af78-d29f-9a69463ad047"),
     "配液瓶(小)": ("YB_pei_ye_xiao_Bottle", "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"),
-    "配液瓶(大)板": ("YB_4x_LargeSolutionBottleCarrier", "53e50377-32dc-4781-b3c0-5ce45bc7dc27"),
+    "配液瓶(大)板": ("YB_peiyepingdaban", "53e50377-32dc-4781-b3c0-5ce45bc7dc27"),
     "配液瓶(大)": ("YB_pei_ye_da_Bottle", "19c52ad1-51c5-494f-8854-576f4ca9c6ca"),
-    "适配器块": ("YB_AdapterBlock", "efc3bb32-d504-4890-91c0-b64ed3ac80cf"),
+    "适配器块": ("YB_shi_pei_qi_kuai", "efc3bb32-d504-4890-91c0-b64ed3ac80cf"),
-    "枪头盒": ("YB_TipBox", "3a192c2e-20f3-a44a-0334-c8301839d0b3"),
+    "枪头盒": ("YB_qiang_tou_he", "3a192c2e-20f3-a44a-0334-c8301839d0b3"),
-    "枪头": ("YB_Pipette_Tip", "b6196971-1050-46da-9927-333e8dea062d"),
+    "枪头": ("YB_qiang_tou", "b6196971-1050-46da-9927-333e8dea062d"),
 }
 
 SOLID_LIQUID_MAPPINGS = {

unilabos/devices/workstation/bioyond_studio/station.py

@@ -177,7 +177,18 @@ class BioyondWorkstation(WorkstationBase):
         ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
             "resources": [self.deck]
         })
-
+    def resource_tree_transfer(self, old_parent: ResourcePLR, plr_resource: ResourcePLR, parent_resource: ResourcePLR):
+        # ROS2DeviceNode.run_async_func(self._ros_node.resource_tree_transfer, True, **{
+        #     "old_parent": old_parent,
+        #     "plr_resource": plr_resource,
+        #     "parent_resource": parent_resource,
+        # })
+        print("resource_tree_transfer", plr_resource, parent_resource)
+        if hasattr(plr_resource, "unilabos_data") and plr_resource.unilabos_data:
+            if "update_resource_site" in plr_resource.unilabos_data:
+                site = plr_resource.unilabos_data["update_resource_site"]
+                return
+        self.lab_logger().warning(f"无库位的上料，不处理，{plr_resource} 挂载到 {parent_resource}")
     def transfer_resource_to_another(self, resource: List[ResourceSlot], mount_resource: List[ResourceSlot], sites: List[str], mount_device_id: DeviceSlot):
         ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True, **{
             "plr_resources": resource,

unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py

@@ -636,5 +636,5 @@ class CoincellDeck(Deck):
 
 
 if __name__ == "__main__":
-    deck = CoincellDeck(setup=True)
+    deck = create_coin_cell_deck()
     print(deck)

unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py

@@ -879,7 +879,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         
         return self.success
 
-    def func_allpack_cmd(self, elec_num, elec_use_num, elec_vol:int=50, assembly_type:int=7, assembly_pressure:int=4200, file_path: str="C:\\Users\\67484\\Desktop") -> bool:
+    def func_allpack_cmd(self, elec_num, elec_use_num, elec_vol:int=50, assembly_type:int=7, assembly_pressure:int=4200, file_path: str="/Users/sml/work") -> bool:
         elec_num, elec_use_num, elec_vol, assembly_type, assembly_pressure = int(elec_num), int(elec_use_num), int(elec_vol), int(assembly_type), int(assembly_pressure)
         summary_csv_file = os.path.join(file_path, "duandian.csv")
         # 如果断点文件存在，先读取之前的进度

unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_1105.csv

@@ -0,0 +1,64 @@
+Name,DataType,InitValue,Comment,Attribute,DeviceType,Address,
+COIL_SYS_START_CMD,BOOL,,,,coil,9010,
+COIL_SYS_STOP_CMD,BOOL,,,,coil,9020,
+COIL_SYS_RESET_CMD,BOOL,,,,coil,9030,
+COIL_SYS_HAND_CMD,BOOL,,,,coil,9040,
+COIL_SYS_AUTO_CMD,BOOL,,,,coil,9050,
+COIL_SYS_INIT_CMD,BOOL,,,,coil,9060,
+COIL_UNILAB_SEND_MSG_SUCC_CMD,BOOL,,,,coil,9700,
+COIL_UNILAB_REC_MSG_SUCC_CMD,BOOL,,,,coil,9710,unilab_rec_msg_succ_cmd
+COIL_SYS_START_STATUS,BOOL,,,,coil,9210,
+COIL_SYS_STOP_STATUS,BOOL,,,,coil,9220,
+COIL_SYS_RESET_STATUS,BOOL,,,,coil,9230,
+COIL_SYS_HAND_STATUS,BOOL,,,,coil,9240,
+COIL_SYS_AUTO_STATUS,BOOL,,,,coil,9250,
+COIL_SYS_INIT_STATUS,BOOL,,,,coil,9260,
+COIL_REQUEST_REC_MSG_STATUS,BOOL,,,,coil,9500,
+COIL_REQUEST_SEND_MSG_STATUS,BOOL,,,,coil,9510,request_send_msg_status
+REG_MSG_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,17000,
+REG_MSG_ELECTROLYTE_NUM,INT16,,,,hold_register,17002,unilab_send_msg_electrolyte_num
+REG_MSG_ELECTROLYTE_VOLUME,INT16,,,,hold_register,17004,unilab_send_msg_electrolyte_vol
+REG_MSG_ASSEMBLY_TYPE,INT16,,,,hold_register,17006,unilab_send_msg_assembly_type
+REG_MSG_ASSEMBLY_PRESSURE,INT16,,,,hold_register,17008,unilab_send_msg_assembly_pressure
+REG_DATA_ASSEMBLY_COIN_CELL_NUM,INT16,,,,hold_register,16000,data_assembly_coin_cell_num
+REG_DATA_OPEN_CIRCUIT_VOLTAGE,FLOAT32,,,,hold_register,16002,data_open_circuit_voltage
+REG_DATA_AXIS_X_POS,FLOAT32,,,,hold_register,16004,
+REG_DATA_AXIS_Y_POS,FLOAT32,,,,hold_register,16006,
+REG_DATA_AXIS_Z_POS,FLOAT32,,,,hold_register,16008,
+REG_DATA_POLE_WEIGHT,FLOAT32,,,,hold_register,16010,data_pole_weight
+REG_DATA_ASSEMBLY_PER_TIME,FLOAT32,,,,hold_register,16012,data_assembly_time
+REG_DATA_ASSEMBLY_PRESSURE,INT16,,,,hold_register,16014,data_assembly_pressure
+REG_DATA_ELECTROLYTE_VOLUME,INT16,,,,hold_register,16016,data_electrolyte_volume
+REG_DATA_COIN_NUM,INT16,,,,hold_register,16018,data_coin_num
+REG_DATA_ELECTROLYTE_CODE,STRING,,,,hold_register,16020,data_electrolyte_code()
+REG_DATA_COIN_CELL_CODE,STRING,,,,hold_register,16030,data_coin_cell_code()
+REG_DATA_STACK_VISON_CODE,STRING,,,,hold_register,18004,data_stack_vision_code()
+REG_DATA_GLOVE_BOX_PRESSURE,FLOAT32,,,,hold_register,16050,data_glove_box_pressure
+REG_DATA_GLOVE_BOX_WATER_CONTENT,FLOAT32,,,,hold_register,16052,data_glove_box_water_content
+REG_DATA_GLOVE_BOX_O2_CONTENT,FLOAT32,,,,hold_register,16054,data_glove_box_o2_content
+UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,9720,
+UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,9520,
+REG_MSG_ELECTROLYTE_NUM_USED,INT16,,,,hold_register,17496,
+REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,16000,
+UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,9730,
+UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,9530,
+REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,16018,ASSEMBLY_TYPE7or8
+COIL_ALUMINUM_FOIL,BOOL,,使用铝箔垫,,coil,9340,
+REG_MSG_NE_PLATE_MATRIX,INT16,,负极片矩阵点位,,hold_register,17440,
+REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,隔膜矩阵点位,,hold_register,17450,
+REG_MSG_TIP_BOX_MATRIX,INT16,,移液枪头矩阵点位,,hold_register,17480,
+REG_MSG_NE_PLATE_NUM,INT16,,负极片盘数,,hold_register,17443,
+REG_MSG_SEPARATOR_PLATE_NUM,INT16,,隔膜盘数,,hold_register,17453,
+REG_MSG_PRESS_MODE,BOOL,,压制模式（false:压力检测模式，True:距离模式）,,coil,9360,电池压制模式
+,,,,,,,
+,BOOL,,视觉对位（false:使用，true:忽略）,,coil,9300,视觉对位
+,BOOL,,复检（false:使用，true:忽略）,,coil,9310,视觉复检
+,BOOL,,手套箱_左仓（false:使用，true:忽略）,,coil,9320,手套箱左仓
+,BOOL,,手套箱_右仓（false:使用，true:忽略）,,coil,9420,手套箱右仓
+,BOOL,,真空检知（false:使用，true:忽略）,,coil,9350,真空检知
+,BOOL,,电解液添加模式（false:单次滴液，true:二次滴液）,,coil,9370,滴液模式
+,BOOL,,正极片称重（false:使用，true:忽略）,,coil,9380,正极片称重
+,BOOL,,正负极片组装方式（false:正装，true:倒装）,,coil,9390,正负极反装
+,BOOL,,压制清洁（false:使用，true:忽略）,,coil,9400,压制清洁
+,BOOL,,物料盘摆盘方式（false:水平摆盘，true:堆叠摆盘）,,coil,9410,负极片摆盘方式
+REG_MSG_BATTERY_CLEAN_IGNORE,BOOL,,忽略电池清洁（false:使用，true:忽略）,,coil,9460,

unilabos/registry/devices/coin_cell_workstation.yaml

@@ -502,7 +502,7 @@ coincellassemblyworkstation_device:
   config_info: []
   description: ''
   handles: []
-  icon: ''
+  icon: coin_cell_assembly_picture.webp
   init_param_schema:
     config:
       properties:

unilabos/registry/resources/bioyond/YB_bottle.yaml

@@ -1,37 +1,37 @@
-YB_Pipette_Tip:
+YB_qiang_tou:
   category:
   - yb3
   - YB_bottle
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_Pipette_Tip
+    module: unilabos.resources.bioyond.YB_bottles:YB_qiang_tou
     type: pylabrobot
-  description: YB_Pipette_Tip
+  description: YB_qiang_tou
   handles: []
   icon: ''
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_fen_ye_20ml_Bottle:
+YB_20ml_fenyeping:
   category:
   - yb3
   - YB_bottle
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_fen_ye_20ml_Bottle
+    module: unilabos.resources.bioyond.YB_bottles:YB_20ml_fenyeping
     type: pylabrobot
-  description: YB_fen_ye_20ml_Bottle
+  description: YB_20ml_fenyeping
   handles: []
   icon: ''
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_fen_ye_5ml_Bottle:
+YB_5ml_fenyeping:
   category:
   - yb3
   - YB_bottle
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_fen_ye_5ml_Bottle
+    module: unilabos.resources.bioyond.YB_bottles:YB_5ml_fenyeping
     type: pylabrobot
-  description: YB_fen_ye_5ml_Bottle
+  description: YB_5ml_fenyeping
   handles: []
   icon: ''
   init_param_schema: {}

unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml

@@ -1,11 +1,11 @@
-YB_1Bottle100mlCarrier:
+YB_100ml_yeti:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_1Bottle100mlCarrier
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_100ml_yeti
     type: pylabrobot
-  description: YB_1Bottle100mlCarrier
+  description: YB_100ml_yeti
   handles: []
   icon: ''
   init_param_schema: {}
@@ -24,27 +24,27 @@ YB_1BottleCarrier:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_1GaoNianYeBottleCarrier:
+YB_gaonianye:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_1GaoNianYeBottleCarrier
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_gaonianye
     type: pylabrobot
-  description: YB_1GaoNianYeBottleCarrier
+  description: YB_gaonianye
   handles: []
   icon: ''
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_4x_LargeSolutionBottleCarrier:
+YB_peiyepingdaban:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_4x_LargeSolutionBottleCarrier
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingdaban
     type: pylabrobot
-  description: YB_4x_LargeSolutionBottleCarrier
+  description: YB_peiyepingdaban
   handles: []
   icon: ''
   init_param_schema: {}
@@ -76,66 +76,66 @@ YB_6VialCarrier:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_6x20ml_DispensingVialCarrier:
+YB_20ml_fenyepingban:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6x20ml_DispensingVialCarrier
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_20ml_fenyepingban
     type: pylabrobot
-  description: YB_6x20ml_DispensingVialCarrier
+  description: YB_20ml_fenyepingban
   handles: []
   icon: ''
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_6x5ml_DispensingVialCarrier:
+YB_5ml_fenyepingban:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6x5ml_DispensingVialCarrier
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_5ml_fenyepingban
     type: pylabrobot
-  description: YB_6x5ml_DispensingVialCarrier
+  description: YB_5ml_fenyepingban
   handles: []
   icon: ''
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_6x_SmallSolutionBottleCarrier:
+YB_peiyepingxiaoban:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6x_SmallSolutionBottleCarrier
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingxiaoban
     type: pylabrobot
-  description: YB_6x_SmallSolutionBottleCarrier
+  description: YB_peiyepingxiaoban
   handles: []
   icon: ''
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_AdapterBlock:
+YB_shi_pei_qi_kuai:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_AdapterBlock
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_shi_pei_qi_kuai
     type: pylabrobot
-  description: YB_AdapterBlock
+  description: YB_shi_pei_qi_kuai
   handles: []
   icon: ''
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_TipBox:
+YB_qiang_tou_he:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_TipBox
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_qiang_tou_he
     type: pylabrobot
-  description: YB_TipBox
+  description: YB_qiang_tou_he
   handles: []
   icon: ''
   init_param_schema: {}
@@ -167,14 +167,14 @@ YB_jia_yang_tou_da:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_jia_yang_tou_da_1X1_carrier:
+YB_jia_yang_tou_da_Carrier:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_jia_yang_tou_da_1X1_carrier
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_jia_yang_tou_da_Carrier
     type: pylabrobot
-  description: YB_jia_yang_tou_da_1X1_carrier
+  description: YB_jia_yang_tou_da_Carrier
   handles: []
   icon: ''
   init_param_schema: {}

unilabos/resources/bioyond/YB_bottle_carriers.py

@@ -6,11 +6,11 @@ from unilabos.resources.bioyond.YB_bottles import (
     YB_ye_Bottle,
     YB_ye_100ml_Bottle,
     YB_gao_nian_ye_Bottle,
-    YB_fen_ye_5ml_Bottle,
+    YB_5ml_fenyeping,
-    YB_fen_ye_20ml_Bottle,
+    YB_20ml_fenyeping,
     YB_pei_ye_xiao_Bottle,
     YB_pei_ye_da_Bottle,
-    YB_Pipette_Tip,
+    YB_qiang_tou,
 )
 # 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
 
@@ -233,7 +233,7 @@ def YB_1BottleCarrier(name: str) -> BottleCarrier:
             resource_size_y=beaker_diameter,
             name_prefix=name,
         ),
-        model="1BottleCarrier",
+        model="YB_1BottleCarrier",
     )
     carrier.num_items_x = 1
     carrier.num_items_y = 1
@@ -243,7 +243,7 @@ def YB_1BottleCarrier(name: str) -> BottleCarrier:
 
 
 # 高粘液瓶载架 - 单个中央位置
-def YB_1GaoNianYeBottleCarrier(name: str) -> BottleCarrier:
+def YB_gaonianye(name: str) -> BottleCarrier:
     
     # 载架尺寸 (mm)
     carrier_size_x = 127.8
@@ -270,7 +270,7 @@ def YB_1GaoNianYeBottleCarrier(name: str) -> BottleCarrier:
             resource_size_y=beaker_diameter,
             name_prefix=name,
         ),
-        model="1GaoNianYeBottleCarrier",
+        model="YB_gaonianye",
     )
     carrier.num_items_x = 1
     carrier.num_items_y = 1
@@ -280,7 +280,7 @@ def YB_1GaoNianYeBottleCarrier(name: str) -> BottleCarrier:
 
 
 # 100ml液体瓶载架 - 单个中央位置
-def YB_1Bottle100mlCarrier(name: str) -> BottleCarrier:
+def YB_100ml_yeti(name: str) -> BottleCarrier:
     
     # 载架尺寸 (mm)
     carrier_size_x = 127.8
@@ -307,7 +307,7 @@ def YB_1Bottle100mlCarrier(name: str) -> BottleCarrier:
             resource_size_y=beaker_diameter,
             name_prefix=name,
         ),
-        model="1Bottle100mlCarrier",
+        model="YB_100ml_yeti",
     )
     carrier.num_items_x = 1
     carrier.num_items_y = 1
@@ -316,7 +316,7 @@ def YB_1Bottle100mlCarrier(name: str) -> BottleCarrier:
     return carrier
 
 # 5ml分液瓶板 - 4x2布局，8个位置
-def YB_6x5ml_DispensingVialCarrier(name: str) -> BottleCarrier:
+def YB_5ml_fenyepingban(name: str) -> BottleCarrier:
     
 
     # 载架尺寸 (mm)
@@ -355,18 +355,18 @@ def YB_6x5ml_DispensingVialCarrier(name: str) -> BottleCarrier:
         size_y=carrier_size_y,
         size_z=carrier_size_z,
         sites=sites,
-        model="6x5ml_DispensingVialCarrier",
+        model="YB_5ml_fenyepingban",
     )
     carrier.num_items_x = 4
     carrier.num_items_y = 2
     carrier.num_items_z = 1
     ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
     for i in range(8):
-        carrier[i] = YB_fen_ye_5ml_Bottle(f"{name}_vial_{ordering[i]}")
+        carrier[i] = YB_5ml_fenyeping(f"{name}_vial_{ordering[i]}")
     return carrier
 
 # 20ml分液瓶板 - 4x2布局，8个位置
-def YB_6x20ml_DispensingVialCarrier(name: str) -> BottleCarrier:
+def YB_20ml_fenyepingban(name: str) -> BottleCarrier:
 
 
     # 载架尺寸 (mm)
@@ -405,18 +405,18 @@ def YB_6x20ml_DispensingVialCarrier(name: str) -> BottleCarrier:
         size_y=carrier_size_y,
         size_z=carrier_size_z,
         sites=sites,
-        model="6x20ml_DispensingVialCarrier",
+        model="YB_20ml_fenyepingban",
     )
     carrier.num_items_x = 4
     carrier.num_items_y = 2
     carrier.num_items_z = 1
     ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
     for i in range(8):
-        carrier[i] = YB_fen_ye_20ml_Bottle(f"{name}_vial_{ordering[i]}")
+        carrier[i] = YB_20ml_fenyeping(f"{name}_vial_{ordering[i]}")
     return carrier
 
 # 配液瓶(小)板 - 4x2布局，8个位置
-def YB_6x_SmallSolutionBottleCarrier(name: str) -> BottleCarrier:
+def YB_peiyepingxiaoban(name: str) -> BottleCarrier:
     
 
     # 载架尺寸 (mm)
@@ -455,7 +455,7 @@ def YB_6x_SmallSolutionBottleCarrier(name: str) -> BottleCarrier:
         size_y=carrier_size_y,
         size_z=carrier_size_z,
         sites=sites,
-        model="6x_SmallSolutionBottleCarrier",
+        model="YB_peiyepingxiaoban",
     )
     carrier.num_items_x = 4
     carrier.num_items_y = 2
@@ -467,7 +467,7 @@ def YB_6x_SmallSolutionBottleCarrier(name: str) -> BottleCarrier:
 
 
 # 配液瓶(大)板 - 2x2布局，4个位置
-def YB_4x_LargeSolutionBottleCarrier(name: str) -> BottleCarrier:
+def YB_peiyepingdaban(name: str) -> BottleCarrier:
 
     # 载架尺寸 (mm)
     carrier_size_x = 127.8
@@ -505,7 +505,7 @@ def YB_4x_LargeSolutionBottleCarrier(name: str) -> BottleCarrier:
         size_y=carrier_size_y,
         size_z=carrier_size_z,
         sites=sites,
-        model="4x_LargeSolutionBottleCarrier",
+        model="YB_peiyepingdaban",
     )
     carrier.num_items_x = 2
     carrier.num_items_y = 2
@@ -516,7 +516,7 @@ def YB_4x_LargeSolutionBottleCarrier(name: str) -> BottleCarrier:
     return carrier
 
 # 加样头(大)板 - 1x1布局，1个位置
-def YB_jia_yang_tou_da_1X1_carrier(name: str) -> BottleCarrier:
+def YB_jia_yang_tou_da_Carrier(name: str) -> BottleCarrier:
     
     # 载架尺寸 (mm)
     carrier_size_x = 127.8
@@ -554,7 +554,7 @@ def YB_jia_yang_tou_da_1X1_carrier(name: str) -> BottleCarrier:
         size_y=carrier_size_y,
         size_z=carrier_size_z,
         sites=sites,
-        model="6x_LargeDispenseHeadCarrier",
+        model="YB_jia_yang_tou_da_Carrier",
     )
     carrier.num_items_x = 1
     carrier.num_items_y = 1
@@ -563,7 +563,7 @@ def YB_jia_yang_tou_da_1X1_carrier(name: str) -> BottleCarrier:
     return carrier
 
 
-def YB_AdapterBlock(name: str) -> BottleCarrier:
+def YB_shi_pei_qi_kuai(name: str) -> BottleCarrier:
     """适配器块 - 单个中央位置"""
 
     # 载架尺寸 (mm)
@@ -591,7 +591,7 @@ def YB_AdapterBlock(name: str) -> BottleCarrier:
             resource_size_y=adapter_diameter,
             name_prefix=name,
         ),
-        model="AdapterBlock",
+        model="YB_shi_pei_qi_kuai",
     )
     carrier.num_items_x = 1
     carrier.num_items_y = 1
@@ -600,7 +600,7 @@ def YB_AdapterBlock(name: str) -> BottleCarrier:
     return carrier
 
 
-def YB_TipBox(name: str) -> BottleCarrier:
+def YB_qiang_tou_he(name: str) -> BottleCarrier:
     """枪头盒 - 8x12布局，96个位置"""
 
     # 载架尺寸 (mm)
@@ -639,7 +639,7 @@ def YB_TipBox(name: str) -> BottleCarrier:
         size_y=carrier_size_y,
         size_z=carrier_size_z,
         sites=sites,
-        model="TipBox",
+        model="YB_qiang_tou_he",
     )
     carrier.num_items_x = 12
     carrier.num_items_y = 8
@@ -648,6 +648,6 @@ def YB_TipBox(name: str) -> BottleCarrier:
     for i in range(96):
         row = chr(65 + i // 12)  # A-H
         col = (i % 12) + 1  # 1-12
-        carrier[i] = YB_Pipette_Tip(f"{name}_tip_{row}{col}")
+        carrier[i] = YB_qiang_tou(f"{name}_tip_{row}{col}")
     return carrier
 

unilabos/resources/bioyond/YB_bottles.py

@@ -15,7 +15,7 @@ def YB_jia_yang_tou_da(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="Solid_Stock",
+        model="YB_jia_yang_tou_da",
     )
 
 """液1x1"""
@@ -51,7 +51,7 @@ def YB_ye_100ml_Bottle(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="Liquid_Bottle_100ml",
+        model="YB_100ml_yeti",
     )
 
 """高粘液"""
@@ -73,7 +73,7 @@ def YB_gao_nian_ye_Bottle(
     )
 
 """5ml分液瓶"""
-def YB_fen_ye_5ml_Bottle(
+def YB_5ml_fenyeping(
     name: str,
     diameter: float = 20.0,
     height: float = 50.0,
@@ -87,11 +87,11 @@ def YB_fen_ye_5ml_Bottle(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="Separation_Bottle_5ml",
+        model="YB_5ml_fenyeping",
     )
 
 """20ml分液瓶"""
-def YB_fen_ye_20ml_Bottle(
+def YB_20ml_fenyeping(
     name: str,
     diameter: float = 30.0,
     height: float = 65.0,
@@ -105,7 +105,7 @@ def YB_fen_ye_20ml_Bottle(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="Separation_Bottle_20ml",
+        model="YB_20ml_fenyeping",
     )
 
 """配液瓶(小)"""
@@ -123,7 +123,7 @@ def YB_pei_ye_xiao_Bottle(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="Mixing_Bottle_Small",
+        model="YB_pei_ye_xiao_Bottle",
     )
 
 """配液瓶(大)"""
@@ -141,11 +141,11 @@ def YB_pei_ye_da_Bottle(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="Mixing_Bottle_Large",
+        model="YB_pei_ye_da_Bottle",
     )
 
 """枪头"""
-def YB_Pipette_Tip(
+def YB_qiang_tou(
     name: str,
     diameter: float = 10.0,
     height: float = 50.0,
@@ -159,5 +159,5 @@ def YB_Pipette_Tip(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="Pipette_Tip",
+        model="YB_qiang_tou",
     )    

unilabos/ros/nodes/presets/host_node.py

@@ -652,7 +652,7 @@ class HostNode(BaseROS2DeviceNode):
                         if bCreate:
                             self.lab_logger().trace(f"Status created: {device_id}.{property_name} = {msg.data}")
                         else:
-                            self.lab_logger().debug(f"Status updated: {device_id}.{property_name} = {msg.data}")
+                            self.lab_logger().trace(f"Status updated: {device_id}.{property_name} = {msg.data}")
 
     def send_goal(
         self,

unilabos/utils/log.py

@@ -191,8 +191,19 @@ def configure_logger(loglevel=None):
 
     # 添加处理器到根日志记录器
     root_logger.addHandler(console_handler)
-    logging.getLogger("asyncio").setLevel(logging.INFO)
+    
-    logging.getLogger("urllib3").setLevel(logging.INFO)
+    # 降低第三方库的日志级别，避免过多输出
+    # pymodbus 库的日志太详细，设置为 WARNING
+    logging.getLogger('pymodbus').setLevel(logging.WARNING)
+    logging.getLogger('pymodbus.logging').setLevel(logging.WARNING)
+    logging.getLogger('pymodbus.logging.base').setLevel(logging.WARNING)
+    logging.getLogger('pymodbus.logging.decoders').setLevel(logging.WARNING)
+    
+    # websockets 库的日志输出较多，设置为 WARNING
+    logging.getLogger('websockets').setLevel(logging.WARNING)
+    logging.getLogger('websockets.client').setLevel(logging.WARNING)
+    logging.getLogger('websockets.server').setLevel(logging.WARNING)
+
 
 # 配置日志系统
 configure_logger()