Merge pull request #138 from lixinyu1011/workstation_dev_YB3

新建入库物料系统

test/resources/test copy.json

@@ -0,0 +1,99 @@
+ {
+        "typeId": "3a190c8b-3284-af78-d29f-9a69463ad047",
+        "code": "",
+        "barCode": "",
+        "name": "test",
+        "unit": "",
+        "parameters": "{}",
+        "quantity": "",
+        "details": [
+            {
+                "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
+                "code": "",
+                "name": "配液瓶(小)11",
+                "quantity": "1",
+                "x": 1,
+                "y": 1,
+                "z": 1,
+                "unit": "",
+                "parameters": "{}"
+            },
+            {
+                "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
+                "code": "",
+                "name": "配液瓶(小)21",
+                "quantity": "1",
+                "x": 2,
+                "y": 1,
+                "z": 1,
+                "unit": "",
+                "parameters": "{}"
+            },
+            {
+                "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
+                "code": "",
+                "name": "配液瓶(小)12",
+                "quantity": "1",
+                "x": 1,
+                "y": 2,
+                "z": 1,
+                "unit": "",
+                "parameters": "{}"
+            },
+            {
+                "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
+                "code": "",
+                "name": "配液瓶(小)22",
+                "quantity": "1",
+                "x": 2,
+                "y": 2,
+                "z": 1,
+                "unit": "",
+                "parameters": "{}"
+            },
+            {
+                "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
+                "code": "",
+                "name": "配液瓶(小)13",
+                "quantity": "1",
+                "x": 1,
+                "y": 3,
+                "z": 1,
+                "unit": "",
+                "parameters": "{}"
+            },
+            {
+                "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
+                "code": "",
+                "name": "配液瓶(小)23",
+                "quantity": "1",
+                "x": 2,
+                "y": 3,
+                "z": 1,
+                "unit": "",
+                "parameters": "{}"
+            },
+            {
+                "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
+                "code": "",
+                "name": "配液瓶(小)14",
+                "quantity": "1",
+                "x": 1,
+                "y": 4,
+                "z": 1,
+                "unit": "",
+                "parameters": "{}"
+            },
+            {
+                "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
+                "code": "",
+                "name": "配液瓶(小)24",
+                "quantity": "1",
+                "x": 2,
+                "y": 4,
+                "z": 1,
+                "unit": "",
+                "parameters": "{}"
+            }
+        ]
+    }

test/resources/test.json

@@ -0,0 +1,114 @@
+[
+    {
+        "id": "3a1d4b7e-4bdc-16bf-7169-f60350d03c7e",
+        "typeName": "配液瓶(小)板",
+        "code": "0001-00088",
+        "barCode": "",
+        "name": "test1",
+        "quantity": 1.0,
+        "lockQuantity": 0.0,
+        "unit": "块",
+        "status": 1,
+        "isUse": false,
+        "locations": [
+            {
+                "id": "3a19deae-2c7a-2426-6d71-e9de3cb158b1",
+                "whid": "3a19deae-2c79-05a3-9c76-8e6760424841",
+                "whName": "手动堆栈",
+                "code": "4",
+                "x": 2,
+                "y": 1,
+                "z": 1,
+                "quantity": 0
+            }
+        ],
+        "detail": [
+            {
+                "id": "3a1d4b7e-4bdc-12e8-4d26-dddc77b03f63",
+                "detailMaterialId": "3a1d4b7e-4bdc-4e9e-8a3c-e9ba4a26457e",
+                "code": null,
+                "name": "test1",
+                "quantity": "1",
+                "lockQuantity": "0",
+                "unit": "块",
+                "x": 1,
+                "y": 2,
+                "z": 1,
+                "associateId": null,
+                "typeName": "配液瓶(小)",
+                "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"
+            },
+            {
+                "id": "3a1d4b7e-4bdc-35b6-22d4-e6f3235e1c27",
+                "detailMaterialId": "3a1d4b7e-4bdc-ce0f-1fbb-b88de76fce98",
+                "code": null,
+                "name": "test1",
+                "quantity": "1",
+                "lockQuantity": "0",
+                "unit": "块",
+                "x": 1,
+                "y": 1,
+                "z": 1,
+                "associateId": null,
+                "typeName": "配液瓶(小)",
+                "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"
+            }
+        ]
+    },
+    {
+        "id": "3a1d4b7e-ee61-ae87-9cd0-31c7e6621b18",
+        "typeName": "5ml分液瓶板",
+        "code": "0010-00089",
+        "barCode": "",
+        "name": "test2",
+        "quantity": 1.0,
+        "lockQuantity": 0.0,
+        "unit": "块",
+        "status": 1,
+        "isUse": false,
+        "locations": [
+            {
+                "id": "3a19deae-2c7a-79b0-5e44-efaafd1e4cf3",
+                "whid": "3a19deae-2c79-05a3-9c76-8e6760424841",
+                "whName": "手动堆栈",
+                "code": "5",
+                "x": 2,
+                "y": 2,
+                "z": 1,
+                "quantity": 0
+            }
+        ],
+        "detail": [
+            {
+                "id": "3a1d4b7e-ee61-8fb3-9a39-2c2841c3c8d0",
+                "detailMaterialId": "3a1d4b7e-ee61-305c-fe30-2620017ca1bd",
+                "code": null,
+                "name": "test2",
+                "quantity": "1",
+                "lockQuantity": "0",
+                "unit": "块",
+                "x": 1,
+                "y": 1,
+                "z": 1,
+                "associateId": null,
+                "typeName": "5ml分液瓶",
+                "typeId": "3a192c2a-ebb7-58a1-480d-8b3863bf74f4"
+            },
+            {
+                "id": "3a1d4b7e-ee61-ef5f-a7d1-f9399a4d3145",
+                "detailMaterialId": "3a1d4b7e-ee61-2f1d-6969-202ad3cbe226",
+                "code": null,
+                "name": "test2",
+                "quantity": "1",
+                "lockQuantity": "0",
+                "unit": "块",
+                "x": 1,
+                "y": 2,
+                "z": 1,
+                "associateId": null,
+                "typeName": "5ml分液瓶",
+                "typeId": "3a192c2a-ebb7-58a1-480d-8b3863bf74f4"
+            }
+        ]
+    }
+]

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

@@ -253,7 +253,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
     def auto_feeding4to3(
         self,
         # ★ 修改点：默认模板路径
-        xlsx_path: Optional[str] = "unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\样品导入模板.xlsx",
+        xlsx_path: Optional[str] = "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,
@@ -630,7 +630,12 @@ class BioyondCellWorkstation(BioyondWorkstation):
         response = self._post_lims("/api/lims/order/orders", orders)
         print(response)
         # 等待任务报送成功
-        order_code = response.get("data", {}).get("orderCode")
+        data_list = response.get("data", [])
+        if data_list:
+            order_code = data_list[0].get("orderCode")
+        else:
+            order_code = None
+
         if not order_code:
             logger.error("上料任务未返回有效 orderCode！")
             return response
@@ -963,13 +968,179 @@ class BioyondCellWorkstation(BioyondWorkstation):
             logger.error(f"✗ 执行失败: {e}")
             return {"success": False, "error": str(e)}
 
+    def create_material(
+        self,
+        material_name: str,
+        type_id: str,
+        warehouse_name: str,
+        location_name_or_id: Optional[str] = None
+    ) -> Dict[str, Any]:
+        """创建单个物料并可选入库。
+        Args:
+            material_name: 物料名称（会优先匹配配置模板）。
+            type_id: 物料类型 ID（若为空则尝试从配置推断）。
+            warehouse_name: 需要入库的仓库名称；若为空则仅创建不入库。
+            location_name_or_id: 具体库位名称（如 A01）或库位 UUID，由用户指定。
+        Returns:
+            包含创建结果、物料ID以及入库结果的字典。
+        """
+        material_name = (material_name or "").strip()
+
+        resolved_type_id = (type_id or "").strip()
+        # 优先从 SOLID_LIQUID_MAPPINGS 中获取模板数据
+        template = SOLID_LIQUID_MAPPINGS.get(material_name)
+        if not template:
+            raise ValueError(f"在配置中未找到物料 {material_name} 的模板，请检查 SOLID_LIQUID_MAPPINGS。")
+        material_data: Dict[str, Any]
+        material_data = deepcopy(template)
+        # 最终确保 typeId 为调用方传入的值
+        if resolved_type_id:
+            material_data["typeId"] = resolved_type_id
+        material_data["name"] = material_name
+        # 生成唯一编码
+        def _generate_code(prefix: str) -> str:
+            normalized = re.sub(r"\W+", "_", prefix)
+            normalized = normalized.strip("_") or "material"
+            return f"{normalized}_{datetime.now().strftime('%Y%m%d%H%M%S')}"
+        if not material_data.get("code"):
+            material_data["code"] = _generate_code(material_name)
+        if not material_data.get("barCode"):
+            material_data["barCode"] = ""
+        # 处理数量字段类型
+        def _to_number(value: Any, default: float = 0.0) -> float:
+            try:
+                if value is None:
+                    return default
+                if isinstance(value, (int, float)):
+                    return float(value)
+                if isinstance(value, str) and value.strip() == "":
+                    return default
+                return float(value)
+            except (TypeError, ValueError):
+                return default
+        material_data["quantity"] = _to_number(material_data.get("quantity"), 1.0)
+        material_data["warningQuantity"] = _to_number(material_data.get("warningQuantity"), 0.0)
+        unit = material_data.get("unit") or "个"
+        material_data["unit"] = unit
+        if not material_data.get("parameters"):
+            material_data["parameters"] = json.dumps({"unit": unit}, ensure_ascii=False)
+        # 补充子物料信息
+        details = material_data.get("details") or []
+        if not isinstance(details, list):
+            logger.warning("details 字段不是列表，已忽略。")
+            details = []
+        else:
+            for idx, detail in enumerate(details, start=1):
+                if not isinstance(detail, dict):
+                    continue
+                if not detail.get("code"):
+                    detail["code"] = f"{material_data['code']}_{idx:02d}"
+                if not detail.get("name"):
+                    detail["name"] = f"{material_name}_detail_{idx:02d}"
+                if not detail.get("unit"):
+                    detail["unit"] = unit
+                if not detail.get("parameters"):
+                    detail["parameters"] = json.dumps({"unit": detail.get("unit", unit)}, ensure_ascii=False)
+                if "quantity" in detail:
+                    detail["quantity"] = _to_number(detail.get("quantity"), 1.0)
+        material_data["details"] = details
+        create_result = self._post_lims("/api/lims/storage/material", material_data)
+        # 解析创建结果中的物料 ID
+        material_id: Optional[str] = None
+        if isinstance(create_result, dict):
+            data_field = create_result.get("data")
+            if isinstance(data_field, str):
+                material_id = data_field
+            elif isinstance(data_field, dict):
+                material_id = data_field.get("id") or data_field.get("materialId")
+        inbound_result: Optional[Dict[str, Any]] = None
+        location_id: Optional[str] = None
+        # 按用户指定位置入库
+        if warehouse_name and material_id and location_name_or_id:
+            try:
+                location_ids, position_names = self._load_warehouse_locations(warehouse_name)
+                position_to_id = {name: loc_id for name, loc_id in zip(position_names, location_ids)}
+                target_location_id = position_to_id.get(location_name_or_id, location_name_or_id)
+                if target_location_id:
+                    location_id = target_location_id
+                    inbound_result = self.storage_inbound(material_id, target_location_id)
+                else:
+                    inbound_result = {"error": f"未找到匹配的库位: {location_name_or_id}"}
+            except Exception as exc:
+                logger.error(f"获取仓库 {warehouse_name} 位置失败: {exc}")
+                inbound_result = {"error": str(exc)}
+        return {
+            "success": bool(isinstance(create_result, dict) and create_result.get("code") == 1 and material_id),
+            "material_name": material_name,
+            "material_id": material_id,
+            "warehouse": warehouse_name,
+            "location_id": location_id,
+            "location_name_or_id": location_name_or_id,
+            "create_result": create_result,
+            "inbound_result": inbound_result,
+        }
+
+
+    def create_sample(
+        self,
+        name: str,
+        board_type: str,
+        bottle_type: str,
+        location_code: str
+    ) -> 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)"。
+            quantity: 主物料与明细的数量，默认 1。
+            location_code: 库位编号，例如 "A01"，将自动映射为 "手动堆栈" 下的 UUID。
+        """
+        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]
+
+        # 新建小瓶
+        details = []
+        for y in range(1, 5):
+            for x in range(1, 3):
+                details.append({
+                    "typeId": bottle_type_id,
+                    "code": "",
+                    "name": str(bottle_type) + str(x) + str(y),
+                    "quantity": "1",
+                    "x": x,
+                    "y": y,
+                    "z": 1,
+                    "unit": "个",
+                    "parameters": json.dumps({"unit": "个"}, ensure_ascii=False),
+                })
+
+        data = {
+                "typeId": carrier_type_id,
+                "code": "",
+                "barCode": "",
+                "name": name,
+                "unit": "块",
+                "parameters": json.dumps({"unit": "块"}, ensure_ascii=False),
+                "quantity": "1",
+                "details": details,
+            }
+        # print("xxx:",data)
+        create_result = self._post_lims("/api/lims/storage/material", data)
+        sample_uuid = create_result.get("data")
+
+        final_result = self._post_lims("/api/lims/storage/inbound", {
+            "materialId": sample_uuid,
+            "locationId": location_id,
+        })
+        return final_result
+
 
-# --------------------------------
 
 
 if __name__ == "__main__":
     lab_registry.setup()
     ws = BioyondCellWorkstation()
+    ws.create_sample(name="test", board_type="配液瓶(小)板", bottle_type="配液瓶(小)", location_code="B01")
     # logger.info(ws.scheduler_stop())
     # logger.info(ws.scheduler_start())
     
@@ -981,7 +1152,7 @@ if __name__ == "__main__":
     
     # 继续后续流程
     # logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱
-    # # 使用正斜杠或 Path 对象来指定文件路径
+    # # # 使用正斜杠或 Path 对象来指定文件路径
     # excel_path = Path("unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\2025092701.xlsx")
     # logger.info(ws.create_orders(excel_path))
     # logger.info(ws.transfer_3_to_2_to_1())

unilabos/devices/workstation/bioyond_studio/config.py

@@ -8,7 +8,7 @@ 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://172.21.32.103:44388"),
+    "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.10.169:44388"),
     "api_key": os.getenv("BIOYOND_API_KEY", "8A819E5C"),
     "timeout": int(os.getenv("BIOYOND_TIMEOUT", "30")),
     
@@ -16,7 +16,7 @@ API_CONFIG = {
     "report_token": os.getenv("BIOYOND_REPORT_TOKEN", "CHANGE_ME_TOKEN"),
     
     # HTTP 服务配置
-    "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.21.32.210"),  # HTTP服务监听地址，监听计算机飞连ip地址
+    "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.21.33.174"),  # 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
 }
@@ -154,19 +154,19 @@ MATERIAL_TYPE_MAPPINGS = {
     "100ml液体": ("YB_1Bottle100mlCarrier", "d37166b3-ecaa-481e-bd84-3032b795ba07"),
     "液": ("YB_1BottleCarrier", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"),
     "高粘液": ("YB_1GaoNianYeBottleCarrier", "abe8df30-563d-43d2-85e0-cabec59ddc16"),
-    "加样头(大)": ("YB_jia_yang_tou_da_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"),
     "5ml分液瓶板": ("YB_6x5ml_DispensingVialCarrier", "3a192fa4-007d-ec7b-456e-2a8be7a13f23"),
-    "5ml分液瓶": ("YB_6x5ml_DispensingVialCarrier", "3a192c2a-ebb7-58a1-480d-8b3863bf74f4"),
+    "5ml分液瓶": ("YB_fen_ye_5ml_Bottle", "3a192c2a-ebb7-58a1-480d-8b3863bf74f4"),
     "20ml分液瓶板": ("YB_6x20ml_DispensingVialCarrier", "3a192fa4-47db-3449-162a-eaf8aba57e27"),
-    "20ml分液瓶": ("YB_6x20ml_DispensingVialCarrier", "3a192c2b-19e8-f0a3-035e-041ca8ca1035"),
+    "20ml分液瓶": ("YB_fen_ye_20ml_Bottler", "3a192c2b-19e8-f0a3-035e-041ca8ca1035"),
     "配液瓶(小)板": ("YB_6x_SmallSolutionBottleCarrier", "3a190c8b-3284-af78-d29f-9a69463ad047"),
-    "配液瓶(小)": ("YB_6x_SmallSolutionBottleCarrier", "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"),
+    "配液瓶(小)": ("YB_pei_ye_xiao_Bottler", "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"),
     "配液瓶(大)板": ("YB_4x_LargeSolutionBottleCarrier", "53e50377-32dc-4781-b3c0-5ce45bc7dc27"),
-    "配液瓶(大)": ("YB_4x_LargeSolutionBottleCarrier", "19c52ad1-51c5-494f-8854-576f4ca9c6ca"),
+    "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"),
     "枪头盒": ("YB_TipBox", "3a192c2e-20f3-a44a-0334-c8301839d0b3"),
-    "枪头": ("YB_TipBox", "b6196971-1050-46da-9927-333e8dea062d"),
+    "枪头": ("YB_Pipette_Tip", "b6196971-1050-46da-9927-333e8dea062d"),
 }
 
 SOLID_LIQUID_MAPPINGS = {

unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py

@@ -766,7 +766,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
     #    self.success = True
     #    return self.success
 
-    def func_pack_send_msg_cmd(self, elec_use_num, elec_vol, assembly_type) -> bool:
+    def func_pack_send_msg_cmd(self, elec_use_num, elec_vol, assembly_type, assembly_pressure) -> bool:
         """UNILAB写参数"""    
         while (self.request_rec_msg_status) == False: 
             print("wait for request_rec_msg_status to True")
@@ -782,6 +782,9 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         #发送电解液组装类型
         self._unilab_send_msg_assembly_type(assembly_type)
         time.sleep(1)
+        #发送电池压制力
+        self._unilab_send_msg_assembly_pressure(assembly_pressure)
+        time.sleep(1)
         self._unilab_send_msg_succ_cmd(True)
         time.sleep(1)
         while (self.request_rec_msg_status) == True: 
@@ -895,16 +898,16 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         self.client.use_node('REG_MSG_NE_PLATE_MATRIX').write(fujipian_juzhendianwei)
         self.client.use_node('REG_MSG_SEPARATOR_PLATE_NUM').write(gemopanshu)
         self.client.use_node('REG_MSG_SEPARATOR_PLATE_MATRIX').write(gemo_juzhendianwei)
-        self.client.use_node('COIL_ALUMINUM_FOIL').write(lvbodian)
-        self.client.use_node('REG_MSG_PRESS_MODE').write(battery_pressure_mode)
+        self.client.use_node('COIL_ALUMINUM_FOIL').write(not lvbodian)
+        self.client.use_node('REG_MSG_PRESS_MODE').write(not battery_pressure_mode)
         # self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').write(battery_pressure)
         self.client.use_node('REG_MSG_BATTERY_CLEAN_IGNORE').write(battery_clean_ignore)
         self.success = True
         
         return self.success
 
-    def func_allpack_cmd(self, elec_num, elec_use_num, elec_vol:int=50, assembly_type:int=7, file_path: str="D:\\coin_cell_data") -> bool:
-        elec_num, elec_use_num, elec_vol, assembly_type = int(elec_num), int(elec_use_num), int(elec_vol), int(assembly_type)
+    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="D:\\coin_cell_data") -> 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
         if os.path.exists(summary_csv_file):
@@ -954,7 +957,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
             print(f"开始第{last_i+i+1}瓶电解液的组装")
             #第一个循环从上次断点继续，后续循环从0开始
             j_start = last_j if i == last_i else 0
-            self.func_pack_send_msg_cmd(elec_use_num-j_start, elec_vol, assembly_type)
+            self.func_pack_send_msg_cmd(elec_use_num-j_start, elec_vol, assembly_type, assembly_pressure)
 
             for j in range(j_start, elec_use_num):
                 print(f"开始第{last_i+i+1}瓶电解液的第{j+j_start+1}个电池组装")

unilabos/registry/devices/coin_cell_workstation.yaml

@@ -74,6 +74,7 @@ coincellassemblyworkstation_device:
         feedback: {}
         goal: {}
         goal_default:
+          assembly_pressure: 4200
           assembly_type: 7
           elec_num: null
           elec_use_num: null
@@ -88,6 +89,9 @@ coincellassemblyworkstation_device:
             feedback: {}
             goal:
               properties:
+                assembly_pressure:
+                  default: 4200
+                  type: integer
                 assembly_type:
                   default: 7
                   type: integer
@@ -291,6 +295,7 @@ coincellassemblyworkstation_device:
         feedback: {}
         goal: {}
         goal_default:
+          assembly_pressure: null
           assembly_type: null
           elec_use_num: null
           elec_vol: null
@@ -303,6 +308,8 @@ coincellassemblyworkstation_device:
             feedback: {}
             goal:
               properties:
+                assembly_pressure:
+                  type: string
                 assembly_type:
                   type: string
                 elec_use_num:
@@ -313,6 +320,7 @@ coincellassemblyworkstation_device:
               - elec_use_num
               - elec_vol
               - assembly_type
+              - assembly_pressure
               type: object
             result: {}
           required:

unilabos/registry/devices/laiyu_liquid.yaml

@@ -1361,8 +1361,7 @@ laiyu_liquid:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times:
-          - 0
+          mix_times: 0
           mix_vol: 0
           none_keys:
           - ''
@@ -1492,11 +1491,9 @@ laiyu_liquid:
                 mix_stage:
                   type: string
                 mix_times:
-                  items:
-                    maximum: 2147483647
-                    minimum: -2147483648
-                    type: integer
-                  type: array
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648

unilabos/registry/devices/liquid_handler.yaml

@@ -3994,8 +3994,7 @@ liquid_handler:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times:
-          - 0
+          mix_times: 0
           mix_vol: 0
           none_keys:
           - ''
@@ -4151,11 +4150,9 @@ liquid_handler:
                 mix_stage:
                   type: string
                 mix_times:
-                  items:
-                    maximum: 2147483647
-                    minimum: -2147483648
-                    type: integer
-                  type: array
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648
@@ -5015,8 +5012,7 @@ liquid_handler.biomek:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times:
-          - 0
+          mix_times: 0
           mix_vol: 0
           none_keys:
           - ''
@@ -5159,11 +5155,9 @@ liquid_handler.biomek:
                 mix_stage:
                   type: string
                 mix_times:
-                  items:
-                    maximum: 2147483647
-                    minimum: -2147483648
-                    type: integer
-                  type: array
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648
@@ -7807,8 +7801,7 @@ liquid_handler.prcxi:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times:
-          - 0
+          mix_times: 0
           mix_vol: 0
           none_keys:
           - ''
@@ -7937,11 +7930,9 @@ liquid_handler.prcxi:
                 mix_stage:
                   type: string
                 mix_times:
-                  items:
-                    maximum: 2147483647
-                    minimum: -2147483648
-                    type: integer
-                  type: array
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648