Merge pull request #183 from sun7151887/yb_fix5

添加新威电池测试系统设备节点到配置文件

new_cellconfig3c.json

@@ -1,3 +1,4 @@
+      
 {
   "nodes": [
     {
@@ -53,11 +54,6 @@
       ],
       "type": "device",
       "class":"coincellassemblyworkstation_device",
-      "position": {
-        "x": -600,
-        "y": -400,
-        "z": 0
-      },
       "config": {
         "deck": {
           "data": {
@@ -66,6 +62,14 @@
           }
         },
         "protocol_type": []
+      },
+      "position": {
+        "size": {"height": 1450, "width": 1450, "depth": 2100},
+        "position": {
+          "x": -1500,
+          "y": 0,
+          "z": 0
+        }
       }
     },
     {
@@ -75,11 +79,6 @@
       "parent": "BatteryStation",
       "type": "deck",
       "class": "CoincellDeck",
-      "position": {
-        "x": 0,
-        "y": 0,
-        "z": 0
-      },
       "config": {
         "type": "CoincellDeck",
         "setup": true,
@@ -91,7 +90,48 @@
         }
       },
       "data": {}
+    },
+    {
+      "id": "NewareTester",
+      "name": "新威电池测试系统",
+      "parent": null,
+      "children": [],
+      "type": "device",
+      "class": "neware_battery_test_system",
+      "config": {
+        "ip": "127.0.0.1",
+        "port": 502,
+        "machine_id": 1,
+        "devtype": "27",
+        "timeout": 20,
+        "size_x": 500.0,
+        "size_y": 500.0,
+        "size_z": 2000.0
+      },
+      "position": {
+        "size": {
+          "height": 1600,
+          "width": 1200,
+          "depth": 800
+        },
+        "position": {
+          "x": 1500,
+          "y": 0,
+          "z": 0
+        }
+      },
+      "data": {
+        "功能说明": "新威电池测试系统，提供720通道监控和CSV批量提交功能",
+        "监控功能": "支持720个通道的实时状态监控、2盘电池物料管理、状态导出等",
+        "提交功能": "通过submit_from_csv action从CSV文件批量提交测试任务"
+      }
     }
   ],
   "links": []
 }
+
+
+
+
+
+    

unilabos/devices/battery/battery.json

@@ -1,29 +0,0 @@
-{
-  "nodes": [
-    {
-      "id": "NEWARE_BATTERY_TEST_SYSTEM",
-      "name": "Neware Battery Test System",
-      "parent": null,
-      "type": "device",
-      "class": "neware_battery_test_system",
-      "position": {
-        "x": 620.6111111111111,
-        "y": 171,
-        "z": 0
-      },
-      "config": {
-        "ip": "127.0.0.1",
-        "port": 502,
-        "machine_id": 1,
-        "devtype": "27",
-        "timeout": 20,
-        "size_x": 500.0,
-        "size_y": 500.0,
-        "size_z": 2000.0
-      },
-      "data": {},
-      "children": []
-    }
-  ],
-  "links": []
-}

unilabos/devices/neware_battery_test_system/__init__.py

@@ -0,0 +1,8 @@
+from .neware_battery_test_system import NewareBatteryTestSystem
+from .neware_driver import build_start_command, start_test
+
+__all__ = [
+    "NewareBatteryTestSystem",
+    "build_start_command",
+    "start_test",
+]

unilabos/devices/neware_battery_test_system/demo.csv

@@ -0,0 +1,3 @@
+Timestamp,Battery_Count,Assembly_Time,Open_Circuit_Voltage,Pole_Weight,Assembly_Pressure,Battery_Code,Electrolyte_Code,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʺ<EFBFBD><EFBFBD><EFBFBD>,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>mah/g,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ,<EFBFBD>豸<EFBFBD><EFBFBD>,<EFBFBD>ź<EFBFBD>,ͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+2025/10/29 17:32,7,5,0.11299999803304672,18.049999237060547,3593,Li000595,Si-Gr001,9.2,0.954,469,SiGr_Li,1,1,2
+2025/10/30 17:49,2,5,0,13.109999895095825,4094,YS101224,NoRead88,5.2,0.92,190,SiGr_Li,2,1,1

unilabos/devices/neware_battery_test_system/device.json

@@ -0,0 +1,33 @@
+{
+    "nodes": [
+        {
+            "id": "NEWARE_BATTERY_TEST_SYSTEM",
+            "name": "Neware Battery Test System",
+            "parent": null,
+            "type": "device",
+            "class": "neware_battery_test_system",
+            "position": {
+                "x": 620.0,
+                "y": 200.0,
+                "z": 0
+            },
+            "config": {
+                "ip": "127.0.0.1",
+                "port": 502,
+                "machine_id": 1,
+                "devtype": "27",
+                "timeout": 20,
+                "size_x": 500.0,
+                "size_y": 500.0,
+                "size_z": 2000.0
+            },
+            "data": {
+                "功能说明": "新威电池测试系统，提供720通道监控和CSV批量提交功能",
+                "监控功能": "支持720个通道的实时状态监控、2盘电池物料管理、状态导出等",
+                "提交功能": "通过submit_from_csv action从CSV文件批量提交测试任务。CSV必须包含: Battery_Code, Pole_Weight, 集流体质量, 活性物质含量, 克容量mah/g, 电池体系, 设备号, 排号, 通道号"
+            },
+            "children": []
+        }
+    ],
+    "links": []
+}

unilabos/devices/neware_battery_test_system/neware_battery_test_system.py

@@ -13,6 +13,8 @@
 - 状态类型: working/stop/finish/protect/pause/false/unknown
 """
 
+import os
+import sys
 import socket
 import xml.etree.ElementTree as ET
 import json
@@ -21,7 +23,6 @@ from dataclasses import dataclass
 from typing import Any, Dict, List, Optional, TypedDict
 
 from pylabrobot.resources import ResourceHolder, Coordinate, create_ordered_items_2d, Deck, Plate
-
 from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
 from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
 
@@ -56,13 +57,6 @@ class BatteryTestPositionState(TypedDict):
     status: str  # 通道状态
     color: str  # 状态对应颜色
 
-    # 额外的inquire协议字段
-    relativetime: float  # 相对时间 (s)
-    open_or_close: int  # 0=关闭, 1=打开
-    step_type: str  # 步骤类型
-    cycle_id: int  # 循环ID
-    step_id: int  # 步骤ID
-    log_code: str  # 日志代码
 
 
 class BatteryTestPosition(ResourceHolder):
@@ -142,9 +136,9 @@ class NewareBatteryTestSystem:
         devtype: str = None, 
         timeout: int = None,
         
-        size_x: float = 500.0,
-        size_y: float = 500.0,
-        size_z: float = 2000.0,
+        size_x: float = 50,
+        size_y: float = 50,
+        size_z: float = 20,
     ):
         """
         初始化新威电池测试系统
@@ -162,6 +156,12 @@ class NewareBatteryTestSystem:
         self.machine_id = machine_id
         self.devtype = devtype or self.DEVTYPE
         self.timeout = timeout or self.TIMEOUT
+        
+        # 存储设备物理尺寸
+        self.size_x = size_x
+        self.size_y = size_y
+        self.size_z = size_z
+        
         self._last_status_update = None
         self._cached_status = {}
         self._ros_node: Optional[ROS2WorkstationNode] = None  # ROS节点引用，由框架设置
@@ -192,8 +192,9 @@ class NewareBatteryTestSystem:
     def _setup_material_management(self):
         """设置物料管理系统"""
         # 第1盘：5行8列网格 (A1-E8) - 5行对应subdevid 1-5，8列对应chlid 1-8
-        # 先给物料设置一个最大的Deck
-        deck_main = Deck("ADeckName", 200, 200, 200)
+        # 先给物料设置一个最大的Deck，并设置其在空间中的位置
+        
+        deck_main = Deck("ADeckName", 2000, 1800, 100, origin=Coordinate(2000,2000,0))
 
         plate1_resources: Dict[str, BatteryTestPosition] = create_ordered_items_2d(
             BatteryTestPosition,
@@ -202,8 +203,8 @@ class NewareBatteryTestSystem:
             dx=10,
             dy=10,
             dz=0,
-            item_dx=45,
-            item_dy=45
+            item_dx=65,
+            item_dy=65
         )
         plate1 = Plate("P1", 400, 300, 50, ordered_items=plate1_resources)
         deck_main.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
@@ -232,11 +233,15 @@ class NewareBatteryTestSystem:
             num_items_y=5,  # 5行（对应subdevid 6-10，即A-E）
             dx=10,
             dy=10,
-            dz=100,  # Z轴偏移100mm
+            dz=0,  
             item_dx=65,
             item_dy=65
         )
 
+        plate2 = Plate("P2", 400, 300, 50, ordered_items=plate2_resources)
+        deck_main.assign_child_resource(plate2, location=Coordinate(0, 350, 0))
+
+
         # 为第2盘资源添加P2_前缀
         self.station_resources_plate2 = {}
         for name, resource in plate2_resources.items():
@@ -306,55 +311,132 @@ class NewareBatteryTestSystem:
 
     def _update_plate_resources(self, subunits: Dict):
         """更新两盘电池资源的状态"""
-        # 第1盘：subdevid 1-5 映射到 P1_A1-P1_E8 (5行8列)
+        # 第1盘：subdevid 1-5 映射到 8列5行网格 (列0-7, 行0-4)
         for subdev_id in range(1, 6):  # subdevid 1-5
             status_row = subunits.get(subdev_id, {})
             
             for chl_id in range(1, 9):  # chlid 1-8
                 try:
-                    # 计算在5×8网格中的位置
-                    row_idx = (subdev_id - 1)  # 0-4 (对应A-E)
-                    col_idx = (chl_id - 1)     # 0-7 (对应1-8)
-                    resource_name = f"P1_{self.LETTERS[row_idx]}{col_idx + 1}"
+                    # 根据用户描述：第一个是(0,0)，最后一个是(7,4)
+                    # 说明是8列5行，列从0开始，行从0开始
+                    col_idx = (chl_id - 1)      # 0-7 (chlid 1-8 -> 列0-7)
+                    row_idx = (subdev_id - 1)   # 0-4 (subdevid 1-5 -> 行0-4)
+                    
+                    # 尝试多种可能的资源命名格式
+                    possible_names = [
+                        f"P1_batterytestposition_{col_idx}_{row_idx}",  # 用户提到的格式
+                        f"P1_{self.LETTERS[row_idx]}{col_idx + 1}",     # 原有的A1-E8格式
+                        f"P1_{self.LETTERS[row_idx].lower()}{col_idx + 1}",  # 小写字母格式
+                    ]
+                    
+                    r = None
+                    resource_name = None
+                    for name in possible_names:
+                        if name in self.station_resources:
+                            r = self.station_resources[name]
+                            resource_name = name
+                            break
                     
-                    r = self.station_resources.get(resource_name)
                     if r:
                         status_channel = status_row.get(chl_id, {})
+                        metrics = status_channel.get("metrics", {})
+                        # 构建BatteryTestPosition状态数据（移除capacity和energy）
                         channel_state = {
+                            # 基本测量数据
+                            "voltage": metrics.get("voltage_V", 0.0),
+                            "current": metrics.get("current_A", 0.0),
+                            "time": metrics.get("totaltime_s", 0.0),
+                            
+                            # 状态信息
                             "status": status_channel.get("state", "unknown"),
                             "color": status_channel.get("color", self.STATUS_COLOR["unknown"]),
-                            "voltage": status_channel.get("voltage_V", 0.0),
-                            "current": status_channel.get("current_A", 0.0),
-                            "time": status_channel.get("totaltime_s", 0.0),
+                            
+                            # 通道名称标识
+                            "Channel_Name": f"{self.machine_id}-{subdev_id}-{chl_id}",
+
                         }
                         r.load_state(channel_state)
-                except (KeyError, IndexError):
+                  
+                        # 调试信息
+                        if self._ros_node and hasattr(self._ros_node, 'lab_logger'):
+                            self._ros_node.lab_logger().debug(
+                                f"更新P1资源状态: {resource_name} <- subdev{subdev_id}/chl{chl_id} "
+                                f"状态:{channel_state['status']}"
+                            )
+                    else:
+                        # 如果找不到资源，记录调试信息
+                        if self._ros_node and hasattr(self._ros_node, 'lab_logger'):
+                            self._ros_node.lab_logger().debug(
+                                f"P1未找到资源: subdev{subdev_id}/chl{chl_id} -> 尝试的名称: {possible_names}"
+                            )
+                except (KeyError, IndexError) as e:
+                    if self._ros_node and hasattr(self._ros_node, 'lab_logger'):
+                        self._ros_node.lab_logger().debug(f"P1映射错误: subdev{subdev_id}/chl{chl_id} - {e}")
                     continue
         
-        # 第2盘：subdevid 6-10 映射到 P2_A1-P2_E8 (5行8列)
+        # 第2盘：subdevid 6-10 映射到 8列5行网格 (列0-7, 行0-4)
         for subdev_id in range(6, 11):  # subdevid 6-10
             status_row = subunits.get(subdev_id, {})
             
             for chl_id in range(1, 9):  # chlid 1-8
                 try:
-                    # 计算在5×8网格中的位置
-                    row_idx = (subdev_id - 6)  # 0-4 (subdevid 6->0, 7->1, ..., 10->4) (对应A-E)
-                    col_idx = (chl_id - 1)     # 0-7 (对应1-8)
-                    resource_name = f"P2_{self.LETTERS[row_idx]}{col_idx + 1}"
+                    col_idx = (chl_id - 1)          # 0-7 (chlid 1-8 -> 列0-7)
+                    row_idx = (subdev_id - 6)       # 0-4 (subdevid 6-10 -> 行0-4)
+                    
+                    # 尝试多种可能的资源命名格式
+                    possible_names = [
+                        f"P2_batterytestposition_{col_idx}_{row_idx}",  # 用户提到的格式
+                        f"P2_{self.LETTERS[row_idx]}{col_idx + 1}",     # 原有的A1-E8格式
+                        f"P2_{self.LETTERS[row_idx].lower()}{col_idx + 1}",  # 小写字母格式
+                    ]
+                    
+                    r = None
+                    resource_name = None
+                    for name in possible_names:
+                        if name in self.station_resources:
+                            r = self.station_resources[name]
+                            resource_name = name
+                            break
                     
-                    r = self.station_resources.get(resource_name)
                     if r:
                         status_channel = status_row.get(chl_id, {})
+                        metrics = status_channel.get("metrics", {})
+                        # 构建BatteryTestPosition状态数据（移除capacity和energy）
                         channel_state = {
+                            # 基本测量数据
+                            "voltage": metrics.get("voltage_V", 0.0),
+                            "current": metrics.get("current_A", 0.0),
+                            "time": metrics.get("totaltime_s", 0.0),
+                            
+                            # 状态信息
                             "status": status_channel.get("state", "unknown"),
                             "color": status_channel.get("color", self.STATUS_COLOR["unknown"]),
-                            "voltage": status_channel.get("voltage_V", 0.0),
-                            "current": status_channel.get("current_A", 0.0),
-                            "time": status_channel.get("totaltime_s", 0.0),
+                            
+                            # 通道名称标识
+                            "Channel_Name": f"{self.machine_id}-{subdev_id}-{chl_id}",
+                            
                         }
                         r.load_state(channel_state)
-                except (KeyError, IndexError):
+                        
+                        # 调试信息
+                        if self._ros_node and hasattr(self._ros_node, 'lab_logger'):
+                            self._ros_node.lab_logger().debug(
+                                f"更新P2资源状态: {resource_name} <- subdev{subdev_id}/chl{chl_id} "
+                                f"状态:{channel_state['status']}"
+                            )
+                    else:
+                        # 如果找不到资源，记录调试信息
+                        if self._ros_node and hasattr(self._ros_node, 'lab_logger'):
+                            self._ros_node.lab_logger().debug(
+                                f"P2未找到资源: subdev{subdev_id}/chl{chl_id} -> 尝试的名称: {possible_names}"
+                            )
+                except (KeyError, IndexError) as e:
+                    if self._ros_node and hasattr(self._ros_node, 'lab_logger'):
+                        self._ros_node.lab_logger().debug(f"P2映射错误: subdev{subdev_id}/chl{chl_id} - {e}")
                     continue
+        ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
+                    "resources": list(self.station_resources.values())
+                })
 
     @property
     def connection_info(self) -> Dict[str, str]:
@@ -490,6 +572,45 @@ class NewareBatteryTestSystem:
 
 
 
+    def debug_resource_names(self) -> dict:
+        """
+        调试方法：显示所有资源的实际名称（ROS2动作）
+        
+        Returns:
+            dict: ROS2动作结果格式，包含所有资源名称信息
+        """
+        try:
+            debug_info = {
+                "total_resources": len(self.station_resources),
+                "plate1_resources": len(self.station_resources_plate1),
+                "plate2_resources": len(self.station_resources_plate2),
+                "plate1_names": list(self.station_resources_plate1.keys())[:10],  # 显示前10个
+                "plate2_names": list(self.station_resources_plate2.keys())[:10],  # 显示前10个
+                "all_resource_names": list(self.station_resources.keys())[:20],   # 显示前20个
+            }
+            
+            # 检查是否有用户提到的命名格式
+            batterytestposition_names = [name for name in self.station_resources.keys() 
+                                       if "batterytestposition" in name]
+            debug_info["batterytestposition_names"] = batterytestposition_names[:10]
+            
+            success_msg = f"资源调试信息获取成功，共{debug_info['total_resources']}个资源"
+            if self._ros_node:
+                self._ros_node.lab_logger().info(success_msg)
+                self._ros_node.lab_logger().info(f"调试信息: {debug_info}")
+            
+            return {
+                "return_info": success_msg,
+                "success": True,
+                "debug_data": debug_info
+            }
+            
+        except Exception as e:
+            error_msg = f"获取资源调试信息失败: {str(e)}"
+            if self._ros_node:
+                self._ros_node.lab_logger().error(error_msg)
+            return {"return_info": error_msg, "success": False}
+
     # ========================
     # 辅助方法
     # ========================
@@ -538,6 +659,228 @@ class NewareBatteryTestSystem:
         except Exception as e:
             print(f"   获取状态失败: {e}")
 
+    # ========================
+    # CSV批量提交功能（新增）
+    # ========================
+    
+    def _ensure_local_import_path(self):
+        """确保本地模块导入路径"""
+        base_dir = os.path.dirname(__file__)
+        if base_dir not in sys.path:
+            sys.path.insert(0, base_dir)
+    
+    def _canon(self, bs: str) -> str:
+        """规范化电池体系名称"""
+        return str(bs).strip().replace('-', '_').upper()
+    
+    def _compute_values(self, row):
+        """
+        计算活性物质质量和容量
+        
+        Args:
+            row: DataFrame行数据
+            
+        Returns:
+            tuple: (活性物质质量mg, 容量mAh)
+        """
+        pw = float(row['Pole_Weight'])
+        cm = float(row['集流体质量'])
+        am = row['活性物质含量']
+        if isinstance(am, str) and am.endswith('%'):
+            amv = float(am.rstrip('%')) / 100.0
+        else:
+            amv = float(am)
+        act_mass = (pw - cm) * amv
+        sc = float(row['克容量mah/g'])
+        cap = act_mass * sc / 1000.0
+        return round(act_mass, 2), round(cap, 3)
+    
+    def _get_xml_builder(self, gen_mod, key: str):
+        """
+        获取对应电池体系的XML生成函数
+        
+        Args:
+            gen_mod: generate_xml_content模块
+            key: 电池体系标识
+            
+        Returns:
+            callable: XML生成函数
+        """
+        fmap = {
+            'LB6': gen_mod.xml_LB6,
+            'GR_LI': gen_mod.xml_Gr_Li,
+            'LFP_LI': gen_mod.xml_LFP_Li,
+            'LFP_GR': gen_mod.xml_LFP_Gr,
+            '811_LI_002': gen_mod.xml_811_Li_002,
+            '811_LI_005': gen_mod.xml_811_Li_005,
+            'SIGR_LI_STEP': gen_mod.xml_SiGr_Li_Step,
+            'SIGR_LI': gen_mod.xml_SiGr_Li_Step,
+            '811_SIGR': gen_mod.xml_811_SiGr,
+        }
+        if key not in fmap:
+            raise ValueError(f"未定义电池体系映射: {key}")
+        return fmap[key]
+    
+    def _save_xml(self, xml: str, path: str):
+        """
+        保存XML文件
+        
+        Args:
+            xml: XML内容
+            path: 文件路径
+        """
+        with open(path, 'w', encoding='utf-8') as f:
+            f.write(xml)
+    
+    def submit_from_csv(self, csv_path: str, output_dir: str = ".") -> dict:
+        """
+        从CSV文件批量提交Neware测试任务（设备动作）
+        
+        Args:
+            csv_path (str): 输入CSV文件路径
+            output_dir (str): 输出目录，用于存储XML文件和备份，默认当前目录
+            
+        Returns:
+            dict: 执行结果 {"return_info": str, "success": bool, "submitted_count": int}
+        """
+        try:
+            # 确保可以导入本地模块
+            self._ensure_local_import_path()
+            import pandas as pd
+            import generate_xml_content as gen_mod
+            from neware_driver import start_test
+            
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"开始从CSV文件提交任务: {csv_path}")
+            
+            # 读取CSV文件
+            if not os.path.exists(csv_path):
+                error_msg = f"CSV文件不存在: {csv_path}"
+                if self._ros_node:
+                    self._ros_node.lab_logger().error(error_msg)
+                return {"return_info": error_msg, "success": False, "submitted_count": 0}
+            
+            df = pd.read_csv(csv_path, encoding='gbk')
+            
+            # 验证必需列
+            required = [
+                'Battery_Code', 'Pole_Weight', '集流体质量', '活性物质含量', 
+                '克容量mah/g', '电池体系', '设备号', '排号', '通道号'
+            ]
+            missing = [c for c in required if c not in df.columns]
+            if missing:
+                error_msg = f"CSV缺少必需列: {missing}"
+                if self._ros_node:
+                    self._ros_node.lab_logger().error(error_msg)
+                return {"return_info": error_msg, "success": False, "submitted_count": 0}
+            
+            # 创建输出目录
+            xml_dir = os.path.join(output_dir, 'xml_dir')
+            backup_dir = os.path.join(output_dir, 'backup_dir')
+            os.makedirs(xml_dir, exist_ok=True)
+            os.makedirs(backup_dir, exist_ok=True)
+            
+            if self._ros_node:
+                self._ros_node.lab_logger().info(
+                    f"输出目录: XML={xml_dir}, 备份={backup_dir}"
+                )
+            
+            # 逐行处理CSV数据
+            submitted_count = 0
+            results = []
+            
+            for idx, row in df.iterrows():
+                try:
+                    coin_id = str(row['Battery_Code'])
+                    
+                    # 计算活性物质质量和容量
+                    act_mass, cap_mAh = self._compute_values(row)
+                    
+                    if cap_mAh < 0:
+                        error_msg = (
+                            f"容量为负数: Battery_Code={coin_id}, "
+                            f"活性物质质量mg={act_mass}, 容量mah={cap_mAh}"
+                        )
+                        if self._ros_node:
+                            self._ros_node.lab_logger().warning(error_msg)
+                        results.append(f"行{idx+1} 失败: {error_msg}")
+                        continue
+                    
+                    # 获取电池体系对应的XML生成函数
+                    key = self._canon(row['电池体系'])
+                    builder = self._get_xml_builder(gen_mod, key)
+                    
+                    # 生成XML内容
+                    xml_content = builder(act_mass, cap_mAh)
+                    
+                    # 获取设备信息
+                    devid = int(row['设备号'])
+                    subdevid = int(row['排号'])
+                    chlid = int(row['通道号'])
+                    
+                    # 保存XML文件
+                    recipe_path = os.path.join(
+                        xml_dir, 
+                        f"{coin_id}_{devid}_{subdevid}_{chlid}.xml"
+                    )
+                    self._save_xml(xml_content, recipe_path)
+                    
+                    # 提交测试任务
+                    resp = start_test(
+                        ip=self.ip, 
+                        port=self.port, 
+                        devid=devid, 
+                        subdevid=subdevid, 
+                        chlid=chlid, 
+                        CoinID=coin_id, 
+                        recipe_path=recipe_path, 
+                        backup_dir=backup_dir
+                    )
+                    
+                    submitted_count += 1
+                    results.append(f"行{idx+1} {coin_id}: {resp}")
+                    
+                    if self._ros_node:
+                        self._ros_node.lab_logger().info(
+                            f"已提交 {coin_id} (设备{devid}-{subdevid}-{chlid}): {resp}"
+                        )
+                
+                except Exception as e:
+                    error_msg = f"行{idx+1} 处理失败: {str(e)}"
+                    results.append(error_msg)
+                    if self._ros_node:
+                        self._ros_node.lab_logger().error(error_msg)
+            
+            # 汇总结果
+            success_msg = (
+                f"批量提交完成: 成功{submitted_count}个，共{len(df)}行。"
+                f"\n详细结果:\n" + "\n".join(results)
+            )
+            
+            if self._ros_node:
+                self._ros_node.lab_logger().info(
+                    f"批量提交完成: 成功{submitted_count}/{len(df)}"
+                )
+            
+            return {
+                "return_info": success_msg,
+                "success": True,
+                "submitted_count": submitted_count,
+                "total_count": len(df),
+                "results": results
+            }
+        
+        except Exception as e:
+            error_msg = f"批量提交失败: {str(e)}"
+            if self._ros_node:
+                self._ros_node.lab_logger().error(error_msg)
+            return {
+                "return_info": error_msg, 
+                "success": False, 
+                "submitted_count": 0
+            }
+
+
     def get_device_summary(self) -> dict:
         """
         获取设备级别的摘要统计（设备动作）

unilabos/devices/neware_battery_test_system/neware_driver.py

@@ -0,0 +1,49 @@
+import socket
+END_MARKS = [b"\r\n#\r\n", b"</bts>"]  # 读到任一标志即可判定完整响应
+
+def build_start_command(devid, subdevid, chlid, CoinID,
+                        ip_in_xml="127.0.0.1",
+                        devtype:int=27,
+                        recipe_path:str=f"D:\\HHM_test\\A001.xml",
+                        backup_dir:str=f"D:\\HHM_test\\backup") -> str:
+    lines = [
+        '<?xml version="1.0" encoding="UTF-8"?>',
+        '<bts version="1.0">',
+        '  <cmd>start</cmd>',
+        '  <list count="1">',
+        f'    <start ip="{ip_in_xml}" devtype="{devtype}" devid="{devid}" subdevid="{subdevid}" chlid="{chlid}" barcode="{CoinID}">{recipe_path}</start>',
+        f'    <backup backupdir="{backup_dir}" remotedir="" filenametype="1" customfilename="" createdirbydate="0" filetype="0" backupontime="1" backupontimeinterval="1" backupfree="0" />',
+        '  </list>',
+        '</bts>',
+    ]
+    # TCP 模式：请求必须以 #\r\n 结束（协议要求）
+    return "\r\n".join(lines) + "\r\n#\r\n"
+
+def recv_until_marks(sock: socket.socket, timeout=60):
+    sock.settimeout(timeout)  # 上限给足，协议允许到 30s:contentReference[oaicite:2]{index=2}
+    buf = bytearray()
+    while True:
+        chunk = sock.recv(8192)
+        if not chunk:
+            break
+        buf += chunk
+        # 读到结束标志就停，避免等对端断开
+        for m in END_MARKS:
+            if m in buf:
+                return bytes(buf)
+        # 保险：读到完整 XML 结束标签也停
+        if b"</bts>" in buf:
+            return bytes(buf)
+    return bytes(buf)
+
+def start_test(ip="127.0.0.1", port=502, devid=3, subdevid=2, chlid=1, CoinID="A001", recipe_path=f"D:\\HHM_test\\A001.xml", backup_dir=f"D:\\HHM_test\\backup"):
+    xml_cmd = build_start_command(devid=devid, subdevid=subdevid, chlid=chlid, CoinID=CoinID, recipe_path=recipe_path, backup_dir=backup_dir)
+    #print(xml_cmd)
+    with socket.create_connection((ip, port), timeout=60) as s:
+        s.sendall(xml_cmd.encode("utf-8"))
+        data = recv_until_marks(s, timeout=60)
+    return data.decode("utf-8", errors="replace")
+
+if __name__ == "__main__":
+    resp = start_test(ip="127.0.0.1", port=502, devid=4, subdevid=10, chlid=1, CoinID="A001", recipe_path=f"D:\\HHM_test\\A001.xml", backup_dir=f"D:\\HHM_test\\backup")
+    print(resp)

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

@@ -1,7 +1,7 @@
 # -*- coding: utf-8 -*-
 from cgi import print_arguments
 from doctest import debug
-from typing import Dict, Any, List, Optional
+from typing import Dict, Any, List, Optional, Tuple
 import requests
 from pylabrobot.resources.resource import Resource as ResourcePLR
 from pathlib import Path
@@ -11,6 +11,7 @@ from datetime import datetime, timedelta
 import re
 import threading
 import json
+from copy import deepcopy
 from urllib3 import response
 from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation, BioyondResourceSynchronizer
 from unilabos.devices.workstation.bioyond_studio.config import (
@@ -18,8 +19,22 @@ from unilabos.devices.workstation.bioyond_studio.config import (
 )
 from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
 from unilabos.resources.bioyond.decks import BIOYOND_YB_Deck
+from unilabos.resources.graphio import resource_bioyond_to_plr
 from unilabos.utils.log import logger
 from unilabos.registry.registry import lab_registry
+from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
+
+
+class device(BIOYOND_YB_Deck):
+
+    @classmethod
+    def deserialize(cls, data, allow_marshal=False):  # type: ignore[override]
+        patched = dict(data)
+        if patched.get("type") == "device":
+            patched["type"] = "Deck"
+        if patched.get("category") == "device":
+            patched["category"] = "deck"
+        return super().deserialize(patched, allow_marshal=allow_marshal)
 
 def _iso_local_now_ms() -> str:
     # 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z
@@ -39,12 +54,14 @@ class BioyondCellWorkstation(BioyondWorkstation):
     def __init__(self, config: dict = None, deck=None, protocol_type=None, **kwargs):
 
         # 使用统一配置，支持自定义覆盖, 从 config.py 加载完整配置
-        self.bioyond_config ={
+        self.bioyond_config = {
             **API_CONFIG,
             "material_type_mappings": MATERIAL_TYPE_MAPPINGS,
             "warehouse_mapping": WAREHOUSE_MAPPING,
-            "debug_mode": False
-    }
+            "debug_mode": False,
+        }
+        if config:
+            self.bioyond_config.update(config)
           
             # "material_type_mappings": MATERIAL_TYPE_MAPPINGS
             # "warehouse_mapping": WAREHOUSE_MAPPING
@@ -55,6 +72,12 @@ class BioyondCellWorkstation(BioyondWorkstation):
         self.http_service_started = self.debug_mode
         self._device_id = "bioyond_cell_workstation"  # 默认值，后续会从_ros_node获取
         super().__init__(bioyond_config=config, deck=deck)
+        self.transfer_target_device_id = self.bioyond_config.get("transfer_target_device_id", "BatteryStation")
+        self.transfer_target_parent = self.bioyond_config.get("transfer_target_parent", "YB_YH_Deck")
+        self.transfer_timeout = float(self.bioyond_config.get("transfer_timeout", 180.0))
+        self.coin_cell_workflow_config = self.bioyond_config.get("coin_cell_workflow_config", {})
+        self.pending_transfer_materials: List[Dict[str, Any]] = []
+        self.pending_transfer_plr: List[ResourcePLR] = []
         self.update_push_ip() #直接修改奔耀端的报送ip地址
         logger.info("已更新奔耀端推送 IP 地址")
 
@@ -323,6 +346,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
                             "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]),
                             "materialName": str(row[5]).strip(),
                             "quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
+                            "temperature": 0,
                         })
                 # 四号手套箱原液瓶面
                 for _, row in df.iloc[14:23, 2:9].iterrows():
@@ -334,6 +358,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
                             "quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
                             "materialType": str(row[7]).strip() if pd.notna(row[7]) else "",
                             "targetWH": str(row[8]).strip() if pd.notna(row[8]) else "",
+                            "temperature": 0,
                         })
                 # 三号手套箱人工堆栈
                 for _, row in df.iloc[25:40, 2:7].iterrows():
@@ -343,11 +368,12 @@ class BioyondCellWorkstation(BioyondWorkstation):
                             "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]),
                             "materialType": str(row[5]).strip() if pd.notna(row[5]) else "",
                             "materialId": str(row[6]).strip() if pd.notna(row[6]) else "",
-                            "quantity": 1
+                            "quantity": 1,
+                            "temperature": 0,
                         })
             else:
                 logger.warning(f"未找到 Excel 文件 {xlsx_path}，自动切换到手动参数模式。")
-
+        # TODO: 温度下面手动模式没改，上面的改了
         # ---------- 模式 2: 手动填写 ----------
         if not items:
             params = locals()
@@ -390,10 +416,14 @@ class BioyondCellWorkstation(BioyondWorkstation):
         order_code = response.get("data", {}).get("orderCode")
         if not order_code:
             logger.error("上料任务未返回有效 orderCode！")
-            return response
-          # 等待完成报送
+            return {"api_response": response, "order_finish": None}
+        # 等待完成报送
         result = self.wait_for_order_finish(order_code)
-        return result
+        return {
+            "api_response": response,
+            "order_finish": result,
+            "items": items,
+        }
     
 
     def auto_batch_outbound_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]:
@@ -464,7 +494,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
         return response
 
     # 2.14 新建实验
-    def create_orders(self, xlsx_path: str) -> Dict[str, Any]:
+    def create_orders(self, xlsx_path: str, *, material_filter: Optional[str] = None) -> Dict[str, Any]:
         """
         从 Excel 解析并创建实验（2.14）
         约定：
@@ -544,6 +574,14 @@ class BioyondCellWorkstation(BioyondWorkstation):
             except Exception:
                 return default
 
+        def _as_float(val, default=0.0) -> float:
+            try:
+                if pd.isna(val):
+                    return default
+                return float(val)
+            except Exception:
+                return default
+
         def _as_str(val, default="") -> str:
             if val is None or (isinstance(val, float) and pd.isna(val)):
                 return default
@@ -577,9 +615,9 @@ class BioyondCellWorkstation(BioyondWorkstation):
                 "createTime": _to_ymd_slash(row[col_create_time]) if col_create_time else _to_ymd_slash(None),
                 "bottleType": _as_str(row[col_bottle_type], default="配液小瓶") if col_bottle_type else "配液小瓶",
                 "mixTime": _as_int(row[col_mix_time]) if col_mix_time else 0,
-                "loadSheddingInfo": _as_int(row[col_load]) if col_load else 0,
-                "pouchCellInfo": _as_int(row[col_pouch]) if col_pouch else 0,
-                "conductivityInfo": _as_int(row[col_cond]) if col_cond else 0,
+                "loadSheddingInfo": _as_float(row[col_load]) if col_load else 0.0,
+                "pouchCellInfo": _as_float(row[col_pouch]) if col_pouch else 0,
+                "conductivityInfo": _as_float(row[col_cond]) if col_cond else 0,
                 "conductivityBottleCount": _as_int(row[col_cond_cnt]) if col_cond_cnt else 0,
                 "materialInfos": mats,
                 "totalMass": round(total_mass, 4)  # 自动汇总
@@ -611,9 +649,36 @@ class BioyondCellWorkstation(BioyondWorkstation):
         if not order_code:
             logger.error("上料任务未返回有效 orderCode！")
             return response
-          # 等待完成报送
+        # 等待完成报送
         result = self.wait_for_order_finish(order_code)
-        return result
+        report_data = result.get("report") if isinstance(result, dict) else None
+        materials_from_report = (
+            report_data.get("usedMaterials") if isinstance(report_data, dict) else None
+        )
+        if materials_from_report:
+            materials = materials_from_report
+            logger.info(
+                "[create_orders] 使用订单完成报送中的物料信息: "
+                f"{len(materials)} 条"
+            )
+        else:
+            materials = self._fetch_bioyond_materials(filter_keyword=material_filter)
+            logger.info(
+                "[create_orders] 未收到订单报送物料信息，回退到实时查询"
+            )
+        print("materials_from_report:", materials_from_report)
+        # TODO: 需要将 materials 字典转换为 ResourceSlot 对象后才能转运
+        # self.transfer_resource_to_another(
+        #     resource=[materials],
+        #     mount_resource=["YB_YH_Deck"],
+        #     sites=[None],
+        #     mount_device_id="BatteryStation"
+        # )
+        return {
+            "api_response": response,
+            "order_finish": result,
+            "materials": materials,
+        }
 
     # 2.7 启动调度
     def scheduler_start(self) -> Dict[str, Any]:
@@ -685,6 +750,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
             return response
           # 等待完成报送
         result = self.wait_for_order_finish(order_code)
+        
         return result
    
     # 2.5 批量查询实验报告(post过滤关键字查询)
@@ -1153,28 +1219,221 @@ class BioyondCellWorkstation(BioyondWorkstation):
         })
         return final_result
 
+    def _fetch_bioyond_materials(
+        self,
+        *,
+        filter_keyword: Optional[str] = None,
+        type_mode: int = 2,
+    ) -> List[Dict[str, Any]]:
+        query: Dict[str, Any] = {
+            "typeMode": type_mode,
+            "includeDetail": True,
+        }
+        if filter_keyword:
+            query["filter"] = filter_keyword
 
+        response = self._post_lims("/api/lims/storage/stock-material", query)
+        raw_materials = response.get("data")
+        if not isinstance(raw_materials, list):
+            raw_materials = []
 
+        try:
+            resource_bioyond_to_plr(
+                raw_materials,
+                type_mapping=self.bioyond_config.get("material_type_mappings", MATERIAL_TYPE_MAPPINGS),
+                deck=self.deck,
+            )
+        except Exception as exc: 
+            logger.warning(f"转换奔曜物料到 PLR 失败: {exc}", exc_info=True)
 
+        return raw_materials
+
+    def _convert_materials_to_plr(self, materials: List[Dict[str, Any]]) -> List[ResourcePLR]:
+        try:
+            return resource_bioyond_to_plr(
+                deepcopy(materials),
+                type_mapping=self.bioyond_config.get("material_type_mappings", MATERIAL_TYPE_MAPPINGS),
+                deck=self.deck,
+            )
+        except Exception as exc:
+            logger.error(f"物料转换为 PLR 失败: {exc}", exc_info=True)
+            return []
+
+    def _wait_for_future(self, future, stage: str, timeout: Optional[float] = None):
+        if future is None:
+            return None
+        timeout = timeout or self.transfer_timeout
+        start = time.time()
+        while not future.done():
+            if (time.time() - start) > timeout:
+                raise TimeoutError(f"{stage} 超时 {timeout}s")
+            time.sleep(0.05)
+        return future.result()
+
+    def _register_plr_resources(self, resources: List[ResourcePLR]) -> None:
+        if not resources or not hasattr(self, "_ros_node") or self._ros_node is None:
+            return
+        future = ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, resources=resources)
+        self._wait_for_future(future, "update_resource")
+
+    def _get_target_resource(self, name: str) -> ResourcePLR:
+        if not hasattr(self, "_ros_node") or self._ros_node is None:
+            raise RuntimeError("ROS 节点未初始化，无法获取资源")
+        resource = self._ros_node.resource_tracker.figure_resource({"name": name}, try_mode=False)  # type: ignore
+        if resource is None:
+            raise ValueError(f"未找到目标资源: {name}")
+        return resource
+
+    def _allocate_sites(self, parent_resource: ResourcePLR, count: int) -> List[str]:
+        if not hasattr(parent_resource, "get_free_sites"):
+            raise ValueError(f"资源 {parent_resource} 不支持自动分配站位")
+        free_indices = list(parent_resource.get_free_sites())
+        if len(free_indices) < count:
+            raise ValueError(f"{parent_resource.name} 可用站位不足 (need {count}, have {len(free_indices)})")
+        ordering = list(getattr(parent_resource, "_ordering", {}).keys())
+        sites: List[str] = []
+        for idx in free_indices[:count]:
+            if ordering and idx < len(ordering):
+                sites.append(ordering[idx])
+            else:
+                sites.append(str(idx))
+        return sites
+
+    def _invoke_coin_cell_workflow(self, material_payload: List[Dict[str, Any]]) -> Any:
+        timeout = float(self.bioyond_config.get("coin_cell_workflow_timeout", 300.0))
+        workflow_payload: Dict[str, Any] = {}
+        if isinstance(self.coin_cell_workflow_config, dict):
+            workflow_payload.update(deepcopy(self.coin_cell_workflow_config))
+        workflow_payload["materials"] = deepcopy(material_payload)
+        return self._call_remote_device_method(
+            self.transfer_target_device_id,
+            "run_coin_cell_assembly_workflow",
+            timeout=timeout,
+            workflow_config=workflow_payload,
+        )
+
+    def _call_remote_device_method(
+        self,
+        device_id: str,
+        method: str,
+        *,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ) -> Any:
+        if not hasattr(self, "_ros_node") or self._ros_node is None:
+            raise RuntimeError("ROS 节点未初始化，无法调用远程设备")
+        if not device_id:
+            raise ValueError("device_id 不能为空")
+        if not method:
+            raise ValueError("method 不能为空")
+
+        timeout = timeout or self.transfer_timeout
+        payload = json.dumps(
+            {
+                "function_name": method,
+                "function_args": kwargs,
+            },
+            ensure_ascii=False,
+        )
+        future = ROS2DeviceNode.run_async_func(
+            self._ros_node.execute_single_action,
+            True,
+            device_id=device_id,
+            action_name="_execute_driver_command_async",
+            action_kwargs={"string": payload},
+        )
+        result = self._wait_for_future(future, f"{device_id}.{method}", timeout)
+        if hasattr(result, "return_info"):
+            try:
+                return json.loads(result.return_info)
+            except Exception:
+                return result.return_info
+        return result
+
+    def run_feeding_stage(self) -> Dict[str, Any]:
+        self.create_sample(
+            board_type="配液瓶(小)板",
+            bottle_type="配液瓶(小)",
+            location_code="B01",
+            name="配液瓶",
+            warehouse_name="手动堆栈"
+        )
+        self.create_sample(
+            board_type="5ml分液瓶板",
+            bottle_type="5ml分液瓶",
+            location_code="B02",
+            name="分液瓶",
+            warehouse_name="手动堆栈"
+        )
+        self.scheduler_start()
+        feeding_task = self.auto_feeding4to3(
+            xlsx_path="/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx"
+        )
+        feeding_materials = self._fetch_bioyond_materials()
+        return {
+            "feeding_materials": feeding_materials,
+            "feeding_items": feeding_task.get("items", []),
+            "feeding_task": feeding_task,
+        }
+
+    def run_liquid_preparation_stage(
+        self,
+        feeding_materials: Optional[List[Dict[str, Any]]] = None,
+    ) -> Dict[str, List[Dict[str, Any]]]:
+        result = self.create_orders(
+            xlsx_path="/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx"
+        )
+        filter_keyword = self.bioyond_config.get("mixing_material_filter") or None
+        materials = result.get("materials")
+        if materials is None:
+            materials = self._fetch_bioyond_materials(filter_keyword=filter_keyword)
+        return {
+            "feeding_materials": feeding_materials or [],
+            "liquid_materials": materials,
+        }
+
+    def run_transfer_stage(
+        self,
+        liquid_materials: Optional[List[Dict[str, Any]]] = None,
+        source_wh_id: Optional[str] = '3a19debc-84b4-0359-e2d4-b3beea49348b',
+        source_x: int = 1,
+        source_y: int = 1,
+        source_z: int = 1
+    ) -> Dict[str, Any]:
+        """转运阶段：调用transfer_3_to_2_to_1执行3到2到1转运"""
+        logger.info("开始执行转运阶段 (run_transfer_stage)")
+        
+        # 暂时注释掉物料转换和跨工站转运逻辑
+        # transfer_summary: Dict[str, Any] = {}
+        # try:
+        #     source_materials = liquid_materials or self._fetch_bioyond_materials()
+        #     transfer_plr = self._convert_materials_to_plr(source_materials)
+        #     transfer_summary["plr_count"] = len(transfer_plr)
+        #     ...
+        # except Exception as exc:
+        #     transfer_summary["error"] = str(exc)
+        #     logger.error(f"跨工站转运失败: {exc}", exc_info=True)
+        
+        # 只执行核心的3到2到1转运
+        transfer_result = self.transfer_3_to_2_to_1(
+            source_wh_id=source_wh_id,
+            source_x=source_x,
+            source_y=source_y,
+            source_z=source_z
+        )
+        
+        logger.info("转运阶段执行完成")
+        return {
+            "success": True,
+            "stage": "transfer",
+            "transfer_result": transfer_result
+        }
 if __name__ == "__main__":
-    lab_registry.setup()
     deck = BIOYOND_YB_Deck(setup=True)
-    ws = BioyondCellWorkstation(deck=deck)
-    # 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())
-    
-    # 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
-    # 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())
-
-    # logger.info(ws.transfer_1_to_2())
-    # logger.info(ws.scheduler_start())
-
-
+    w = BioyondCellWorkstation(deck=deck, address="172.16.28.102", port="502", debug_mode=False)
+    feeding = w.run_feeding_stage()
+    liquid = w.run_liquid_preparation_stage(feeding.get("feeding_materials"))
+    transfer = w.run_transfer_stage(liquid.get("liquid_materials"))
     while True:
         time.sleep(1)
     # re=ws.scheduler_stop()

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://172.16.1.143:44389"),#实机
-    # "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.7.149:44388"),# 仿真机
+    # "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.1.143:44389"),#实机
+    "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.11.219:44388"),# 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", "172.16.2.140"),  # HTTP服务监听地址，监听计算机飞连ip地址
+    "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.16.11.2"),  # 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
 }

unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py

@@ -20,7 +20,7 @@ from pylabrobot.resources.utils import create_ordered_items_2d
 
 from unilabos.resources.battery.magazine import MagazineHolder_4_Cathode, MagazineHolder_6_Cathode, MagazineHolder_6_Anode, MagazineHolder_6_Battery
 from unilabos.resources.battery.bottle_carriers import YIHUA_Electrolyte_12VialCarrier
-
+from unilabos.resources.battery.electrode_sheet import ElectrodeSheet
 
 
 
@@ -540,10 +540,10 @@ class CoincellDeck(Deck):
     def __init__(
         self,
         name: str = "coin_cell_deck",
-        size_x: float = 3650.0,  # 1m
-        size_y: float = 1550.0,  # 1m
-        size_z: float = 2100.0,   # 0.9m
-        origin: Coordinate = Coordinate(-4000, 2000, 0),
+        size_x: float = 1450.0,  # 1m
+        size_y: float = 1450.0,  # 1m
+        size_z: float = 100.0,   # 0.9m
+        origin: Coordinate = Coordinate(-2200, 0, 0),
         category: str = "coin_cell_deck",
         setup: bool = False,  # 是否自动执行 setup
     ):
@@ -560,11 +560,10 @@ class CoincellDeck(Deck):
         """
         super().__init__(
             name=name,
-            size_x=size_x,
-            size_y=size_y,
-            size_z=size_z,
+            size_x=1450.0,
+            size_y=1450.0,
+            size_z=100.0,
             origin=origin,
-            category=category,
         )
         if setup:
             self.setup()
@@ -575,32 +574,32 @@ class CoincellDeck(Deck):
         
         # 正极片（4个洞位，2x2布局）
         zhengji_zip = MagazineHolder_4_Cathode("正极&铝箔弹夹")
-        self.assign_child_resource(zhengji_zip, Coordinate(x=2799.0, y=356.0, z=0))
+        self.assign_child_resource(zhengji_zip, Coordinate(x=402.0, y=830.0, z=0))
         
         # 正极壳、平垫片（6个洞位，2x2+2布局）
         zhengjike_zip = MagazineHolder_6_Cathode("正极壳&平垫片弹夹")
-        self.assign_child_resource(zhengjike_zip, Coordinate(x=2586.0, y=1143.0, z=0))
+        self.assign_child_resource(zhengjike_zip, Coordinate(x=566.0, y=272.0, z=0))
         
         # 负极壳、弹垫片（6个洞位，2x2+2布局）
         fujike_zip = MagazineHolder_6_Anode("负极壳&弹垫片弹夹")
-        self.assign_child_resource(fujike_zip, Coordinate(x=2492.0, y=1144.0, z=0))
+        self.assign_child_resource(fujike_zip, Coordinate(x=474.0, y=276.0, z=0))
         
         # 成品弹夹（6个洞位，3x2布局）
         chengpindanjia_zip = MagazineHolder_6_Battery("成品弹夹")
-        self.assign_child_resource(chengpindanjia_zip, Coordinate(x=3112.0, y=1295.0, z=0))
+        self.assign_child_resource(chengpindanjia_zip, Coordinate(x=260.0, y=156.0, z=0))
         
         # ====================================== 物料板 ============================================
         # 创建物料板（料盘carrier）- 4x4布局
         # 负极料盘
         fujiliaopan = MaterialPlate(name="负极料盘", size_x=120, size_y=100, size_z=10.0, fill=True)
-        self.assign_child_resource(fujiliaopan, Coordinate(x=2107.0, y=304.0, z=0))
+        self.assign_child_resource(fujiliaopan, Coordinate(x=708.0, y=794.0, z=0))
         # for i in range(16):
         #     fujipian = ElectrodeSheet(name=f"{fujiliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
         #     fujiliaopan.children[i].assign_child_resource(fujipian, location=None)
 
         # 隔膜料盘
         gemoliaopan = MaterialPlate(name="隔膜料盘", size_x=120, size_y=100, size_z=10.0, fill=True)
-        self.assign_child_resource(gemoliaopan, Coordinate(x=2107.0, y=146.0, z=0))
+        self.assign_child_resource(gemoliaopan, Coordinate(x=718.0, y=918.0, z=0))
         # for i in range(16):
         #     gemopian = ElectrodeSheet(name=f"{gemoliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
         #     gemoliaopan.children[i].assign_child_resource(gemopian, location=None)
@@ -623,16 +622,16 @@ class CoincellDeck(Deck):
         
         # 电解液缓存位 - 6x2布局
         bottle_rack_6x2 = YIHUA_Electrolyte_12VialCarrier(name="bottle_rack_6x2")
-        self.assign_child_resource(bottle_rack_6x2, Coordinate(x=300, y=300, z=0))
+        self.assign_child_resource(bottle_rack_6x2, Coordinate(x=1050.0, y=358.0, z=0))
         # 电解液回收位6x2
         bottle_rack_6x2_2 = YIHUA_Electrolyte_12VialCarrier(name="bottle_rack_6x2_2")
-        self.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=1765.0, y=869.0, z=0))
+        self.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=914.0, y=358.0, z=0))
 
         tip_box = TipBox64(name="tip_box_64")
-        self.assign_child_resource(tip_box, Coordinate(x=1938.0, y=743.0, z=0))
+        self.assign_child_resource(tip_box, Coordinate(x=782.0, y=514.0, z=0))
 
         waste_tip_box = WasteTipBox(name="waste_tip_box")
-        self.assign_child_resource(waste_tip_box, Coordinate(x=1960.0, y=639.0, z=0))
+        self.assign_child_resource(waste_tip_box, Coordinate(x=778.0, y=622.0, z=0))
 
 
 if __name__ == "__main__":

unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py

@@ -1,4 +1,3 @@
-      
 import csv
 import inspect
 import json
@@ -139,12 +138,11 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
                 time.sleep(2)
             if not modbus_client.client.is_socket_open():
                 raise ValueError('modbus tcp connection failed')
-            self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv'))
+            self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_1105.csv'))
             self.client = modbus_client.register_node_list(self.nodes)
         else:
             print("测试模式，跳过连接")
             self.nodes, self.client = None, None
-
         """ 工站的配置 """
 
         self.success = False
@@ -161,6 +159,27 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
             "resources": [self.deck]
         })
 
+    def sync_transfer_resources(self) -> Dict[str, Any]:
+        """
+        供跨工站转运完成后调用，强制将当前台面资源同步到云端/前端。
+        """
+        if not hasattr(self, "_ros_node") or self._ros_node is None:
+            return {"status": "failed", "error": "ros_node_not_ready"}
+        if self.deck is None:
+            return {"status": "failed", "error": "deck_not_initialized"}
+        try:
+            future = ROS2DeviceNode.run_async_func(
+                self._ros_node.update_resource,
+                True,
+                resources=[self.deck],
+            )
+            if future:
+                future.result()
+            return {"status": "success"}
+        except Exception as exc:
+            logger.error(f"同步转运资源失败: {exc}", exc_info=True)
+            return {"status": "failed", "error": str(exc)}
+
     # 批量操作在这里写
     async def change_hole_sheet_to_2(self, hole: MaterialHole):
         hole._unilabos_state["max_sheets"] = 2
@@ -791,7 +810,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         logger.debug(f"data_electrolyte_code: {data_electrolyte_code}")
         logger.debug(f"data_coin_cell_code: {data_coin_cell_code}")
         #接收完信息后，读取完毕标志位置True
-        liaopan3 = self.deck.get_resource("\u7535\u6c60\u6599\u76d8")        
+        liaopan3 = self.deck.get_resource("成品弹夹")        
         #把物料解绑后放到另一盘上
         battery = ElectrodeSheet(name=f"battery_{self.coin_num_N}", size_x=14, size_y=14, size_z=2)
         battery._unilabos_state = {
@@ -986,6 +1005,31 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         #self.success = True
         #return self.success
     
+    def run_packaging_workflow(self, workflow_config: Dict[str, Any]) -> "CoinCellAssemblyWorkstation":
+        config = workflow_config or {}
+
+        qiming_params = config.get("qiming") or {}
+        if qiming_params:
+            self.qiming_coin_cell_code(**qiming_params)
+
+        if config.get("init", True):
+            self.func_pack_device_init()
+        if config.get("auto", True):
+            self.func_pack_device_auto()
+        if config.get("start", True):
+            self.func_pack_device_start()
+
+        packaging_config = config.get("packaging") or {}
+        bottle_num = packaging_config.get("bottle_num")
+        if bottle_num is not None:
+            self.func_pack_send_bottle_num(bottle_num)
+
+        allpack_params = packaging_config.get("command") or {}
+        if allpack_params:
+            self.func_allpack_cmd(**allpack_params)
+
+        return self
+    
     def fun_wuliao_test(self) -> bool: 
         #找到data_init中构建的2个物料盘
         liaopan3 = self.deck.get_resource("\u7535\u6c60\u6599\u76d8")
@@ -1008,7 +1052,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
             #     time.sleep(1)
             # time.sleep(40)
     # 数据读取与输出
-    def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"):
+    def func_read_data_and_output(self, file_path: str="/Users/sml/work"):
         # 检查CSV导出是否正在运行，已运行则跳出，防止同时启动两个while循环
         if self.csv_export_running:
             return False, "读取已在运行中"
@@ -1202,11 +1246,92 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
          
     '''
 
+    def run_coin_cell_assembly_workflow(
+        self,
+        workflow_config: Optional[Dict[str, Any]] = None,
+    ) -> Dict[str, Any]:
+        config: Dict[str, Any]
+        if workflow_config is None:
+            config = {}
+        elif isinstance(workflow_config, list):
+            config = {"materials": workflow_config}
+        else:
+            config = workflow_config
+        qiming_defaults = {
+            "fujipian_panshu": 1,
+            "fujipian_juzhendianwei": 0,
+            "gemopanshu": 1,
+            "gemo_juzhendianwei": 0,
+            "lvbodian": True,
+            "battery_pressure_mode": True,
+            "battery_pressure": 4200,
+            "battery_clean_ignore": False,
+        }
+        qiming_params = {**qiming_defaults, **(config.get("qiming") or {})}
+        qiming_success = self.qiming_coin_cell_code(**qiming_params)
+
+        step_results: Dict[str, Any] = {}
+        try:
+            self.func_pack_device_init()
+            step_results["init"] = True
+        except Exception as exc:
+            step_results["init"] = f"error: {exc}"
+
+        try:
+            self.func_pack_device_auto()
+            step_results["auto"] = True
+        except Exception as exc:
+            step_results["auto"] = f"error: {exc}"
+
+        try:
+            self.func_pack_device_start()
+            step_results["start"] = True
+        except Exception as exc:
+            step_results["start"] = f"error: {exc}"
+
+        packaging_cfg = config.get("packaging") or {}
+        bottle_num = packaging_cfg.get("bottle_num", 1)
+        try:
+            self.func_pack_send_bottle_num(bottle_num)
+            step_results["send_bottle_num"] = True
+        except Exception as exc:
+            step_results["send_bottle_num"] = f"error: {exc}"
+
+        command_defaults = {
+            "elec_num": 1,
+            "elec_use_num": 1,
+            "elec_vol": 50,
+            "assembly_type": 7,
+            "assembly_pressure": 4200,
+            "file_path": "/Users/sml/work",
+        }
+        command_params = {**command_defaults, **(packaging_cfg.get("command") or {})}
+        packaging_result = self.func_allpack_cmd(**command_params)
+
+        finished_result = self.func_pack_send_finished_cmd()
+        stop_result = self.func_pack_device_stop()
+
+        return {
+            "qiming": {
+                "params": qiming_params,
+                "success": qiming_success,
+            },
+            "workflow_steps": step_results,
+            "packaging": {
+                "bottle_num": bottle_num,
+                "command": command_params,
+                "result": packaging_result,
+            },
+            "finish": {
+                "send_finished": finished_result,
+                "stop": stop_result,
+            },
+        }
 
 
 if __name__ == "__main__":
-    # 简单测试
-    workstation = CoinCellAssemblyWorkstation()
-    workstation.qiming_coin_cell_code(fujipian_panshu=1, fujipian_juzhendianwei=2, gemopanshu=3, gemo_juzhendianwei=4, lvbodian=False, battery_pressure_mode=False, battery_pressure=4200, battery_clean_ignore=False)
-    print(f"工作站创建成功: {workstation.deck.name}")
-    print(f"料盘数量: {len(workstation.deck.children)}")
+    deck = CoincellDeck(setup=True, name="coin_cell_deck")
+    w = CoinCellAssemblyWorkstation(deck=deck, address="172.16.28.102", port="502", debug_mode=False)
+    w.run_coin_cell_assembly_workflow()
+        
+       

unilabos/registry/devices/bioyond_cell.yaml

@@ -4,7 +4,6 @@ bioyond_cell:
   class:
     action_value_mappings:
       auto-auto_batch_outbound_from_xlsx:
-        display_name: 批量导入上料
         feedback: {}
         goal: {}
         goal_default:
@@ -138,7 +137,7 @@ bioyond_cell:
           WH4_x5_y1_z1_5_quantity: 0.0
           WH4_x5_y2_z1_10_materialName: ''
           WH4_x5_y2_z1_10_quantity: 0.0
-          xlsx_path: C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
+          xlsx_path: /Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -464,7 +463,7 @@ bioyond_cell:
                   default: 0.0
                   type: number
                 xlsx_path:
-                  default: C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
+                  default: /Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
                   type: string
               required: []
               type: object
@@ -600,6 +599,7 @@ bioyond_cell:
           bottle_type: null
           location_code: null
           name: null
+          warehouse_name: 手动堆栈
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -617,6 +617,9 @@ bioyond_cell:
                   type: string
                 name:
                   type: string
+                warehouse_name:
+                  default: 手动堆栈
+                  type: string
               required:
               - name
               - board_type
@@ -785,6 +788,187 @@ bioyond_cell:
           title: report_material_change参数
           type: object
         type: UniLabJsonCommand
+      auto-resource_tree_transfer:
+        feedback: {}
+        goal: {}
+        goal_default:
+          old_parent: null
+          parent_resource: null
+          plr_resource: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                old_parent:
+                  type: object
+                parent_resource:
+                  type: object
+                plr_resource:
+                  type: object
+              required:
+              - old_parent
+              - plr_resource
+              - parent_resource
+              type: object
+            result: {}
+          required:
+          - goal
+          title: resource_tree_transfer参数
+          type: object
+        type: UniLabJsonCommand
+      auto-run_feeding_stage:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles:
+          input: []
+          output:
+          - data_key: feeding_materials
+            data_source: executor
+            data_type: resource
+            handler_key: feeding_materials
+            label: Feeding Materials
+        placeholder_keys: {}
+        result:
+          properties:
+            feeding_materials:
+              items:
+                type: object
+              type: array
+          required:
+          - feeding_materials
+          type: object
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: run_feeding_stage参数
+          type: object
+        type: UniLabJsonCommand
+      auto-run_liquid_preparation_stage:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles:
+          input:
+          - data_key: feeding_materials
+            data_source: handle
+            data_type: resource
+            handler_key: feeding_materials
+            label: Feeding Materials
+          output:
+          - data_key: liquid_materials
+            data_source: executor
+            data_type: resource
+            handler_key: liquid_materials
+            label: Liquid Materials
+        placeholder_keys: {}
+        result:
+          properties:
+            feeding_materials:
+              items:
+                type: object
+              type: array
+            liquid_materials:
+              items:
+                type: object
+              type: array
+          required:
+          - liquid_materials
+          type: object
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                feeding_materials:
+                  items:
+                    type: object
+                  type: array
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: run_liquid_preparation_stage参数
+          type: object
+        type: UniLabJsonCommand
+      auto-run_transfer_stage:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles:
+          input:
+          - data_key: liquid_materials
+            data_source: handle
+            data_type: resource
+            handler_key: liquid_materials
+            label: Liquid Materials
+          output:
+          - data_key: transfer_materials
+            data_source: executor
+            data_type: resource
+            handler_key: transfer_materials
+            label: Transfer Materials
+        placeholder_keys: {}
+        result:
+          properties:
+            liquid_materials:
+              items:
+                type: object
+              type: array
+            transfer_materials:
+              items:
+                type: object
+              type: array
+            transfer_summary:
+              type: object
+          required:
+          - transfer_materials
+          type: object
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                liquid_materials:
+                  items:
+                    type: object
+                  type: array
+              required: []
+              type: object
+            result:
+              properties:
+                liquid_materials:
+                  items:
+                    type: object
+                  type: array
+                transfer_materials:
+                  items:
+                    type: object
+                  type: array
+                transfer_summary:
+                  type: object
+              type: object
+          required:
+          - goal
+          title: run_transfer_stage参数
+          type: object
+        type: UniLabJsonCommand
       auto-scheduler_continue:
         feedback: {}
         goal: {}
@@ -1072,12 +1256,13 @@ bioyond_cell:
           type: object
         type: UniLabJsonCommand
     module: unilabos.devices.workstation.bioyond_studio.bioyond_cell.bioyond_cell_workstation:BioyondCellWorkstation
-    status_types: {}
+    status_types:
+      device_id: String
     type: python
   config_info: []
-  description: ''
+  description: 配液工站
   handles: []
-  icon: ''
+  icon: benyao2.webp
   init_param_schema:
     config:
       properties:
@@ -1090,8 +1275,11 @@ bioyond_cell:
       required: []
       type: object
     data:
-      properties: {}
-      required: []
+      properties:
+        device_id:
+          type: string
+      required:
+      - device_id
       type: object
   registry_type: device
   version: 1.0.0

unilabos/registry/devices/coin_cell_workstation.yaml

@@ -79,7 +79,7 @@ coincellassemblyworkstation_device:
           elec_num: null
           elec_use_num: null
           elec_vol: 50
-          file_path: C:\Users\67484\Desktop
+          file_path: /Users/sml/work
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -103,7 +103,7 @@ coincellassemblyworkstation_device:
                   default: 50
                   type: integer
                 file_path:
-                  default: C:\Users\67484\Desktop
+                  default: /Users/sml/work
                   type: string
               required:
               - elec_num
@@ -332,7 +332,7 @@ coincellassemblyworkstation_device:
         feedback: {}
         goal: {}
         goal_default:
-          file_path: D:\coin_cell_data
+          file_path: /Users/sml/work
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -343,7 +343,7 @@ coincellassemblyworkstation_device:
             goal:
               properties:
                 file_path:
-                  default: D:\coin_cell_data
+                  default: /Users/sml/work
                   type: string
               required: []
               type: object
@@ -477,6 +477,171 @@ coincellassemblyworkstation_device:
           title: qiming_coin_cell_code参数
           type: object
         type: UniLabJsonCommand
+      auto-run_coin_cell_assembly_workflow:
+        feedback: {}
+        goal:
+          properties:
+            workflow_config:
+              type: object
+          required: []
+          type: object
+        goal_default:
+          workflow_config: {}
+        handles:
+          input:
+          - data_key: workflow_config
+            data_source: handle
+            data_type: resource
+            handler_key: WorkflowConfig
+            label: Workflow Config
+          output:
+          - data_key: qiming
+            data_source: executor
+            data_type: resource
+            handler_key: QimingResult
+            label: Qiming Result
+          - data_key: workflow_steps
+            data_source: executor
+            data_type: resource
+            handler_key: WorkflowSteps
+            label: Workflow Steps
+          - data_key: packaging
+            data_source: executor
+            data_type: resource
+            handler_key: PackagingResult
+            label: Packaging Result
+          - data_key: finish
+            data_source: executor
+            data_type: resource
+            handler_key: FinishResult
+            label: Finish Result
+        placeholder_keys: {}
+        result:
+          properties:
+            finish:
+              properties:
+                send_finished:
+                  type: object
+                stop:
+                  type: object
+              required:
+              - send_finished
+              - stop
+              type: object
+            packaging:
+              properties:
+                bottle_num:
+                  type: integer
+                command:
+                  type: object
+                result:
+                  type: object
+              required:
+              - bottle_num
+              - command
+              - result
+              type: object
+            qiming:
+              properties:
+                params:
+                  type: object
+                success:
+                  type: boolean
+              required:
+              - params
+              - success
+              type: object
+            workflow_steps:
+              type: object
+          required:
+          - qiming
+          - workflow_steps
+          - packaging
+          - finish
+          type: object
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                workflow_config:
+                  type: object
+              required: []
+              type: object
+            result:
+              properties:
+                finish:
+                  properties:
+                    send_finished:
+                      type: object
+                    stop:
+                      type: object
+                  required:
+                  - send_finished
+                  - stop
+                  type: object
+                packaging:
+                  properties:
+                    bottle_num:
+                      type: integer
+                    command:
+                      type: object
+                    result:
+                      type: object
+                  required:
+                  - bottle_num
+                  - command
+                  - result
+                  type: object
+                qiming:
+                  properties:
+                    params:
+                      type: object
+                    success:
+                      type: boolean
+                  required:
+                  - params
+                  - success
+                  type: object
+                workflow_steps:
+                  type: object
+              required:
+              - qiming
+              - workflow_steps
+              - packaging
+              - finish
+              type: object
+          required:
+          - goal
+          title: run_coin_cell_assembly_workflow参数
+          type: object
+        type: UniLabJsonCommand
+      auto-run_packaging_workflow:
+        feedback: {}
+        goal: {}
+        goal_default:
+          workflow_config: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                workflow_config:
+                  type: object
+              required:
+              - workflow_config
+              type: object
+            result: {}
+          required:
+          - goal
+          title: run_packaging_workflow参数
+          type: object
+        type: UniLabJsonCommand
     module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation
     status_types:
       data_assembly_coin_cell_num: int
@@ -500,20 +665,22 @@ coincellassemblyworkstation_device:
       sys_status: str
     type: python
   config_info: []
-  description: ''
+  description: 扣电工站
   handles: []
-  icon: coin_cell_assembly_picture.webp
+  icon: koudian.webp
   init_param_schema:
     config:
       properties:
         address:
-          default: 172.21.32.111
+          default: 172.16.28.102
           type: string
+        config:
+          type: object
         debug_mode:
           default: false
           type: boolean
         deck:
-          type: object
+          type: string
         port:
           default: '502'
           type: string

unilabos/registry/devices/liquid_handler.yaml

@@ -654,6 +654,31 @@ liquid_handler:
           title: iter_tips参数
           type: object
         type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
       auto-set_group:
         feedback: {}
         goal: {}
@@ -6170,6 +6195,31 @@ liquid_handler.prcxi:
           title: move_to参数
           type: object
         type: UniLabJsonCommandAsync
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: object
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
       auto-run_protocol:
         feedback: {}
         goal: {}

unilabos/registry/devices/neware_battery_test_system.yaml

@@ -1,6 +1,8 @@
 neware_battery_test_system:
   category:
   - neware_battery_test_system
+  - neware
+  - battery_test
   class:
     action_value_mappings:
       auto-post_init:
@@ -70,6 +72,38 @@ neware_battery_test_system:
           title: test_connection参数
           type: object
         type: UniLabJsonCommand
+      debug_resource_names:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result:
+          return_info: return_info
+          success: success
+        schema:
+          description: 调试方法：显示所有资源的实际名称
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result:
+              properties:
+                return_info:
+                  description: 资源调试信息
+                  type: string
+                success:
+                  description: 是否成功
+                  type: boolean
+              required:
+              - return_info
+              - success
+              type: object
+          required:
+          - goal
+          type: object
+        type: UniLabJsonCommand
       export_status_json:
         feedback: {}
         goal:
@@ -219,7 +253,9 @@ neware_battery_test_system:
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
@@ -252,6 +288,56 @@ neware_battery_test_system:
           title: StrSingleInput
           type: object
         type: StrSingleInput
+      submit_from_csv:
+        feedback: {}
+        goal:
+          csv_path: string
+          output_dir: string
+        goal_default:
+          csv_path: ''
+          output_dir: .
+        handles: {}
+        result:
+          return_info: return_info
+          submitted_count: submitted_count
+          success: success
+        schema:
+          description: 从CSV文件批量提交Neware测试任务
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                csv_path:
+                  description: 输入CSV文件的绝对路径
+                  type: string
+                output_dir:
+                  description: 输出目录（用于存储XML和备份文件），默认当前目录
+                  type: string
+              required:
+              - csv_path
+              type: object
+            result:
+              properties:
+                return_info:
+                  description: 执行结果详细信息
+                  type: string
+                submitted_count:
+                  description: 成功提交的任务数量
+                  type: integer
+                success:
+                  description: 是否成功
+                  type: boolean
+                total_count:
+                  description: CSV文件中的总行数
+                  type: integer
+              required:
+              - return_info
+              - success
+              type: object
+          required:
+          - goal
+          type: object
+        type: UniLabJsonCommand
       test_connection_action:
         feedback: {}
         goal: {}
@@ -284,7 +370,7 @@ neware_battery_test_system:
           - goal
           type: object
         type: UniLabJsonCommand
-    module: unilabos.devices.battery.neware_battery_test_system:NewareBatteryTestSystem
+    module: unilabos.devices.neware_battery_test_system.neware_battery_test_system:NewareBatteryTestSystem
     status_types:
       channel_status: dict
       connection_info: dict
@@ -294,7 +380,7 @@ neware_battery_test_system:
       total_channels: int
     type: python
   config_info: []
-  description: 新威电池测试系统驱动，支持720个通道的电池测试状态监控和数据导出。通过TCP通信实现远程控制，包含完整的物料管理系统，支持2盘电池的状态映射和监控。
+  description: 新威电池测试系统驱动，提供720个通道的电池测试状态监控、物料管理和CSV批量提交功能。支持TCP通信实现远程控制，包含完整的物料管理系统（2盘电池状态映射），以及从CSV文件批量提交测试任务的能力。
   handles: []
   icon: ''
   init_param_schema:
@@ -310,13 +396,13 @@ neware_battery_test_system:
         port:
           type: integer
         size_x:
-          default: 500.0
+          default: 50
           type: number
         size_y:
-          default: 500.0
+          default: 50
           type: number
         size_z:
-          default: 2000.0
+          default: 20
           type: number
         timeout:
           type: integer

unilabos/registry/devices/virtual_device.yaml

@@ -45,6 +45,31 @@ virtual_centrifuge:
           title: initialize参数
           type: object
         type: UniLabJsonCommandAsync
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: object
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
       centrifuge:
         feedback:
           current_speed: current_speed
@@ -335,6 +360,31 @@ virtual_column:
           title: initialize参数
           type: object
         type: UniLabJsonCommandAsync
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: object
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
       run_column:
         feedback:
           current_status: current_status
@@ -732,6 +782,31 @@ virtual_filter:
           title: initialize参数
           type: object
         type: UniLabJsonCommandAsync
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: object
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
       filter:
         feedback:
           current_status: current_status
@@ -1358,6 +1433,31 @@ virtual_heatchill:
           title: initialize参数
           type: object
         type: UniLabJsonCommandAsync
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: object
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
       heat_chill:
         feedback:
           status: status
@@ -2358,6 +2458,31 @@ virtual_rotavap:
           title: initialize参数
           type: object
         type: UniLabJsonCommandAsync
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: object
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
       evaporate:
         feedback:
           current_device: current_device
@@ -2690,6 +2815,31 @@ virtual_separator:
           title: initialize参数
           type: object
         type: UniLabJsonCommandAsync
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: object
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
       separate:
         feedback:
           current_status: status
@@ -3600,6 +3750,31 @@ virtual_solenoid_valve:
           title: is_closed参数
           type: object
         type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: object
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
       auto-reset:
         feedback: {}
         goal: {}
@@ -4177,6 +4352,31 @@ virtual_solid_dispenser:
           title: parse_mol_string参数
           type: object
         type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: object
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
     module: unilabos.devices.virtual.virtual_solid_dispenser:VirtualSolidDispenser
     status_types:
       current_reagent: str
@@ -4278,6 +4478,31 @@ virtual_stirrer:
           title: initialize参数
           type: object
         type: UniLabJsonCommandAsync
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: object
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
       start_stir:
         feedback:
           status: status
@@ -4995,6 +5220,31 @@ virtual_transfer_pump:
           title: is_full参数
           type: object
         type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: object
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
       auto-pull_plunger:
         feedback: {}
         goal: {}

unilabos/registry/resources/bioyond/YB_bottle.yaml

@@ -1,16 +1,3 @@
-YB_qiang_tou:
-  category:
-  - yb3
-  - YB_bottle
-  class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_qiang_tou
-    type: pylabrobot
-  description: YB_qiang_tou
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
 YB_20ml_fenyeping:
   category:
   - yb3
@@ -37,6 +24,19 @@ YB_5ml_fenyeping:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
+YB_jia_yang_tou_da:
+  category:
+  - yb3
+  - YB_bottle
+  class:
+    module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da
+    type: pylabrobot
+  description: YB_jia_yang_tou_da
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
 YB_pei_ye_da_Bottle:
   category:
   - yb3
@@ -63,14 +63,14 @@ YB_pei_ye_xiao_Bottle:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_jia_yang_tou_da:
+YB_qiang_tou:
   category:
   - yb3
   - YB_bottle
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da
+    module: unilabos.resources.bioyond.YB_bottles:YB_qiang_tou
     type: pylabrobot
-  description: YB_jia_yang_tou_da
+  description: YB_qiang_tou
   handles: []
   icon: ''
   init_param_schema: {}
@@ -80,6 +80,7 @@ YB_ye_Bottle:
   category:
   - yb3
   - YB_bottle_carriers
+  - YB_bottle
   class:
     module: unilabos.resources.bioyond.YB_bottles:YB_ye_Bottle
     type: pylabrobot

unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml

@@ -11,71 +11,6 @@ YB_100ml_yeti:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-# YB_1BottleCarrier:
-#   category:
-#   - yb3
-#   - YB_bottle_carriers
-#   class:
-#     module: unilabos.resources.bioyond.YB_bottle_carriers:YB_1BottleCarrier
-#     type: pylabrobot
-#   description: YB_1BottleCarrier
-#   handles: []
-#   icon: ''
-#   init_param_schema: {}
-#   registry_type: resource
-#   version: 1.0.0
-YB_gaonianye:
-  category:
-  - yb3
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_gaonianye
-    type: pylabrobot
-  description: YB_gaonianye
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_peiyepingdaban:
-  category:
-  - yb3
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingdaban
-    type: pylabrobot
-  description: YB_peiyepingdaban
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_6StockCarrier:
-  category:
-  - yb3
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6StockCarrier
-    type: pylabrobot
-  description: YB_6StockCarrier
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_6VialCarrier:
-  category:
-  - yb3
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6VialCarrier
-    type: pylabrobot
-  description: YB_6VialCarrier
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
 YB_20ml_fenyepingban:
   category:
   - yb3
@@ -102,40 +37,27 @@ YB_5ml_fenyepingban:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_peiyepingxiaoban:
+YB_6StockCarrier:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingxiaoban
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6StockCarrier
     type: pylabrobot
-  description: YB_peiyepingxiaoban
+  description: YB_6StockCarrier
   handles: []
   icon: ''
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_shi_pei_qi_kuai:
+YB_6VialCarrier:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_shi_pei_qi_kuai
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6VialCarrier
     type: pylabrobot
-  description: YB_shi_pei_qi_kuai
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_qiang_tou_he:
-  category:
-  - yb3
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_qiang_tou_he
-    type: pylabrobot
-  description: YB_qiang_tou_he
+  description: YB_6VialCarrier
   handles: []
   icon: ''
   init_param_schema: {}
@@ -154,19 +76,19 @@ YB_gao_nian_ye_Bottle:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-# YB_jia_yang_tou_da:
-#   category:
-#   - yb3
-#   - YB_bottle_carriers
-#   class:
-#     module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da
-#     type: pylabrobot
-#   description: YB_jia_yang_tou_da
-#   handles: []
-#   icon: ''
-#   init_param_schema: {}
-#   registry_type: resource
-#   version: 1.0.0
+YB_gaonianye:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_gaonianye
+    type: pylabrobot
+  description: YB_gaonianye
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
 YB_jia_yang_tou_da_Carrier:
   category:
   - yb3
@@ -180,14 +102,53 @@ YB_jia_yang_tou_da_Carrier:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_ye_100ml_Bottle:
+YB_peiyepingdaban:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_ye_100ml_Bottle
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingdaban
     type: pylabrobot
-  description: YB_ye_100ml_Bottle
+  description: YB_peiyepingdaban
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+YB_peiyepingxiaoban:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingxiaoban
+    type: pylabrobot
+  description: YB_peiyepingxiaoban
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+YB_qiang_tou_he:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_qiang_tou_he
+    type: pylabrobot
+  description: YB_qiang_tou_he
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+YB_shi_pei_qi_kuai:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_shi_pei_qi_kuai
+    type: pylabrobot
+  description: YB_shi_pei_qi_kuai
   handles: []
   icon: ''
   init_param_schema: {}
@@ -206,3 +167,16 @@ YB_ye:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
+YB_ye_100ml_Bottle:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottles:YB_ye_100ml_Bottle
+    type: pylabrobot
+  description: YB_ye_100ml_Bottle
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0

unilabos/resources/battery/magazine.py

@@ -52,6 +52,15 @@ class Magazine(ResourceStack):
     def size_z(self) -> float:
         return self.get_size_z()
 
+    def serialize(self) -> dict:
+        return {
+            **super().serialize(),
+            "size_x": self.size_x or 10.0,
+            "size_y": self.size_y or 10.0,
+            "size_z": self.size_z or 10.0,
+            "max_sheets": self.max_sheets,
+        }
+
 
 class MagazineHolder(ItemizedResource):
     """子弹夹类 - 有多个洞位，每个洞位放多个极片"""

unilabos/resources/bioyond/decks.py

@@ -95,13 +95,13 @@ class BIOYOND_YB_Deck(Deck):
         }
         # warehouse 的位置
         self.warehouse_locations = {
-            "自动堆栈-左": Coordinate(-300.0, 158.0, 0.0),
-            "自动堆栈-右": Coordinate(4160.0, 158.0, 0.0),
-            "手动堆栈-左": Coordinate(-400.0, 877.0, 0.0),
-            "手动堆栈-右": Coordinate(4160.0, 877.0, 0.0),
+            "自动堆栈-左": Coordinate(-100.3, 171.5, 0.0),
+            "自动堆栈-右": Coordinate(3960.1, 155.9, 0.0),
+            "手动堆栈-左": Coordinate(-213.3, 804.4, 0.0),
+            "手动堆栈-右": Coordinate(3960.1, 807.6, 0.0),
             "粉末加样头堆栈": Coordinate(415.0, 1301.0, 0.0),
-            "配液站内试剂仓库": Coordinate(2162.0, 337.0, 0.0),
-            "试剂替换仓库": Coordinate(1173.0, 702.0, 0.0),
+            "配液站内试剂仓库": Coordinate(2162.0, 437.0, 0.0),
+            "试剂替换仓库": Coordinate(1173.0, 802.0, 0.0),
         }
 
         for warehouse_name, warehouse in self.warehouses.items():

unilabos/resources/graphio.py

@@ -674,10 +674,15 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
             for loc in material.get("locations", []):
                 if hasattr(deck, "warehouses") and loc.get("whName") in deck.warehouses:
                     warehouse = deck.warehouses[loc["whName"]]
+                    num_x = getattr(warehouse, "num_items_x", 0) or 0
+                    num_y = getattr(warehouse, "num_items_y", 0) or 0
+                    num_z = getattr(warehouse, "num_items_z", 0) or 0
+                    if num_x <= 0 or num_y <= 0 or num_z <= 0:
+                        continue
                     idx = (
-                        (loc.get("y", 0) - 1) * warehouse.num_items_x * warehouse.num_items_y
-                        + (loc.get("x", 0) - 1) * warehouse.num_items_x
-                        + (loc.get("z", 0) - 1)
+                        (loc.get("z", 0) - 1) * num_x * num_y
+                        + (loc.get("y", 0) - 1) * num_x
+                        + (loc.get("x", 0) - 1)
                     )
                     if 0 <= idx < warehouse.capacity:
                         if warehouse[idx] is None or isinstance(warehouse[idx], ResourceHolder):

unilabos/ros/nodes/presets/workstation.py

@@ -402,7 +402,6 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
 
         return result_future.result
 
-    """还没有改过的部分"""
 
     def _setup_hardware_proxy(
         self, device: ROS2DeviceNode, communication_device: ROS2DeviceNode, read_method, write_method