Revert opcua client & move electrolyte node

Revert log change & update registry
Workstation yb merge dev ready 260113 (#216 )
2026-02-04 13:25:13 +00:00 · 2026-01-17 16:49:52 +08:00 · 2026-01-17 16:48:54 +08:00 · 2026-01-17 15:44:18 +08:00 · 2026-01-14 20:15:05 +08:00 · 2026-01-14 14:17:29 +08:00
162 changed files with 99091 additions and 102518 deletions
--- a/.conda/recipe.yaml
+++ b/.conda/recipe.yaml
@@ -1,6 +1,6 @@
 package:
  name: unilabos
-  version: 0.10.12
+  version: 0.10.15

 source:
  path: ../unilabos
@@ -9,7 +9,7 @@ source:
 build:
  python:
    entry_points:
-     - unilab = unilabos.app.main:main
+    - unilab = unilabos.app.main:main
  script:
  - set PIP_NO_INDEX=
  - if: win
@@ -25,7 +25,6 @@ build:
    - cp $RECIPE_DIR/../setup.py $SRC_DIR
    - $PYTHON -m pip install $SRC_DIR

-
 requirements:
  host:
  - python ==3.11.11
@@ -87,6 +86,6 @@ requirements:
  - uni-lab::ros-humble-unilabos-msgs

 about:
-  repository: https://github.com/dptech-corp/Uni-Lab-OS
+  repository: https://github.com/deepmodeling/Uni-Lab-OS
  license: GPL-3.0-only
  description: "Uni-Lab-OS"
--- a/.cursorignore
+++ b/.cursorignore
@@ -0,0 +1,26 @@
+.conda
+# .github
+.idea
+# .vscode
+output
+pylabrobot_repo
+recipes
+scripts
+service
+temp
+# unilabos/test
+# unilabos/app/web
+unilabos/device_mesh
+unilabos_data
+unilabos_msgs
+unilabos.egg-info
+CONTRIBUTORS
+# LICENSE
+MANIFEST.in
+pyrightconfig.json
+# README.md
+# README_zh.md
+setup.py
+setup.cfg
+.gitattrubutes
+**/__pycache__
--- a/.github/workflows/conda-pack-build.yml
+++ b/.github/workflows/conda-pack-build.yml
@@ -24,7 +24,7 @@ jobs:
            platform: linux-64
            env_file: unilabos-linux-64.yaml
            script_ext: sh
-          - os: macos-13 # Intel
+          - os: macos-15 # Intel (via Rosetta)
            platform: osx-64
            env_file: unilabos-osx-64.yaml
            script_ext: sh
--- a/.github/workflows/multi-platform-build.yml
+++ b/.github/workflows/multi-platform-build.yml
@@ -27,7 +27,7 @@ jobs:
          - os: ubuntu-latest
            platform: linux-64
            env_file: unilabos-linux-64.yaml
-          - os: macos-13 # Intel
+          - os: macos-15 # Intel (via Rosetta)
            platform: osx-64
            env_file: unilabos-osx-64.yaml
          - os: macos-latest # ARM64
--- a/.github/workflows/unilabos-conda-build.yml
+++ b/.github/workflows/unilabos-conda-build.yml
@@ -26,7 +26,7 @@ jobs:
        include:
          - os: ubuntu-latest
            platform: linux-64
-          - os: macos-13 # Intel
+          - os: macos-15 # Intel (via Rosetta)
            platform: osx-64
          - os: macos-latest # ARM64
            platform: osx-arm64
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,4 @@
+cursor_docs/
 configs/
 temp/
 output/
--- a/17
+++ b/17
@@ -0,0 +1,17 @@
+# Uni-Lab-OS Licensing Notice
+
+This project uses a dual licensing structure:
+
+## 1. Main Framework - GPL-3.0
+
+- unilabos/ (except unilabos/devices/)
+- docs/
+- tests/
+
+See [LICENSE](LICENSE) for details.
+
+## 2. Device Drivers - DP Technology Proprietary License
+
+- unilabos/devices/
+
+See [unilabos/devices/LICENSE](unilabos/devices/LICENSE) for details.
--- a/README.md
+++ b/README.md
@@ -8,17 +8,13 @@

 **English** | [中文](README_zh.md)

-[![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
-[![GitHub Forks](https://img.shields.io/github/forks/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/network/members)
-[![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/issues)
-[![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE)
+[![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/stargazers)
+[![GitHub Forks](https://img.shields.io/github/forks/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/network/members)
+[![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/issues)
+[![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/blob/main/LICENSE)

 Uni-Lab-OS is a platform for laboratory automation, designed to connect and control various experimental equipment, enabling automation and standardization of experimental workflows.

-## 🏆 Competition
-
-Join the [Intelligent Organic Chemistry Synthesis Competition](https://bohrium.dp.tech/competitions/1451645258) to explore automated synthesis with Uni-Lab-OS!
-
 ## Key Features

 - Multi-device integration management
@@ -31,11 +27,13 @@ Join the [Intelligent Organic Chemistry Synthesis Competition](https://bohrium.d

 Detailed documentation can be found at:

- [Online Documentation](https://xuwznln.github.io/Uni-Lab-OS-Doc/)
+- [Online Documentation](https://deepmodeling.github.io/Uni-Lab-OS/)

 ## Quick Start

-Uni-Lab-OS recommends using `mamba` for environment management. Choose the appropriate environment file for your operating system:
+1. Setup Conda Environment
+
+Uni-Lab-OS recommends using `mamba` for environment management:

 ```bash
 # Create new environment
@@ -44,28 +42,54 @@ mamba activate unilab
 mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
 ```

-## Install Dev Uni-Lab-OS
+2. Install Dev Uni-Lab-OS

 ```bash
 # Clone the repository
-git clone https://github.com/dptech-corp/Uni-Lab-OS.git
+git clone https://github.com/deepmodeling/Uni-Lab-OS.git
 cd Uni-Lab-OS

 # Install Uni-Lab-OS
 pip install .
 ```

-3. Start Uni-Lab System:
+3. Start Uni-Lab System

-Please refer to [Documentation - Boot Examples](https://xuwznln.github.io/Uni-Lab-OS-Doc/boot_examples/index.html)
+Please refer to [Documentation - Boot Examples](https://deepmodeling.github.io/Uni-Lab-OS/boot_examples/index.html)
+
+4. Best Practice
+
+See [Best Practice Guide](https://deepmodeling.github.io/Uni-Lab-OS/user_guide/best_practice.html)

 ## Message Format

-Uni-Lab-OS uses pre-built `unilabos_msgs` for system communication. You can find the built versions on the [GitHub Releases](https://github.com/dptech-corp/Uni-Lab-OS/releases) page.
+Uni-Lab-OS uses pre-built `unilabos_msgs` for system communication. You can find the built versions on the [GitHub Releases](https://github.com/deepmodeling/Uni-Lab-OS/releases) page.
+
+## Citation
+
+If you use [Uni-Lab-OS](https://arxiv.org/abs/2512.21766) in academic research, please cite:
+
+```bibtex
+@article{gao2025unilabos,
+    title = {UniLabOS: An AI-Native Operating System for Autonomous Laboratories},
+    doi = {10.48550/arXiv.2512.21766},
+    publisher = {arXiv},
+    author = {Gao, Jing and Chang, Junhan and Que, Haohui and Xiong, Yanfei and
+              Zhang, Shixiang and Qi, Xianwei and Liu, Zhen and Wang, Jun-Jie and
+              Ding, Qianjun and Li, Xinyu and Pan, Ziwei and Xie, Qiming and
+              Yan, Zhuang and Yan, Junchi and Zhang, Linfeng},
+    year = {2025}
+}
+```

 ## License

-This project is licensed under GPL-3.0 - see the [LICENSE](LICENSE) file for details.
+This project uses a dual licensing structure:
+
+- **Main Framework**: GPL-3.0 - see [LICENSE](LICENSE)
+- **Device Drivers** (`unilabos/devices/`): DP Technology Proprietary License
+
+See [NOTICE](NOTICE) for complete licensing details.

 ## Project Statistics

@@ -77,4 +101,4 @@ This project is licensed under GPL-3.0 - see the [LICENSE](LICENSE) file for det

 ## Contact Us

- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
+- GitHub Issues: [https://github.com/deepmodeling/Uni-Lab-OS/issues](https://github.com/deepmodeling/Uni-Lab-OS/issues)
--- a/README_zh.md
+++ b/README_zh.md
@@ -8,17 +8,13 @@

 [English](README.md) | **中文**

-[![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
-[![GitHub Forks](https://img.shields.io/github/forks/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/network/members)
-[![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/issues)
-[![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE)
+[![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/stargazers)
+[![GitHub Forks](https://img.shields.io/github/forks/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/network/members)
+[![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/issues)
+[![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/blob/main/LICENSE)

 Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。

-## 🏆 比赛
-
-欢迎参加[有机化学合成智能实验大赛](https://bohrium.dp.tech/competitions/1451645258)，使用 Uni-Lab-OS 探索自动化合成！
-
 ## 核心特点

 - 多设备集成管理
@@ -31,7 +27,7 @@ Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控

 详细文档可在以下位置找到:

- [在线文档](https://xuwznln.github.io/Uni-Lab-OS-Doc/)
+- [在线文档](https://deepmodeling.github.io/Uni-Lab-OS/)

 ## 快速开始

@@ -50,24 +46,50 @@ mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge

 ```bash
 # 克隆仓库
-git clone https://github.com/dptech-corp/Uni-Lab-OS.git
+git clone https://github.com/deepmodeling/Uni-Lab-OS.git
 cd Uni-Lab-OS

 # 安装 Uni-Lab-OS
 pip install .
 ```

-3. 启动 Uni-Lab 系统:
+3. 启动 Uni-Lab 系统

-请见[文档-启动样例](https://xuwznln.github.io/Uni-Lab-OS-Doc/boot_examples/index.html)
+请见[文档-启动样例](https://deepmodeling.github.io/Uni-Lab-OS/boot_examples/index.html)
+
+4. 最佳实践
+
+请见[最佳实践指南](https://deepmodeling.github.io/Uni-Lab-OS/user_guide/best_practice.html)

 ## 消息格式

-Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在 [GitHub Releases](https://github.com/dptech-corp/Uni-Lab-OS/releases) 页面找到已构建的版本。
+Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在 [GitHub Releases](https://github.com/deepmodeling/Uni-Lab-OS/releases) 页面找到已构建的版本。
+
+## 引用
+
+如果您在学术研究中使用 [Uni-Lab-OS](https://arxiv.org/abs/2512.21766)，请引用：
+
+```bibtex
+@article{gao2025unilabos,
+    title = {UniLabOS: An AI-Native Operating System for Autonomous Laboratories},
+    doi = {10.48550/arXiv.2512.21766},
+    publisher = {arXiv},
+    author = {Gao, Jing and Chang, Junhan and Que, Haohui and Xiong, Yanfei and
+              Zhang, Shixiang and Qi, Xianwei and Liu, Zhen and Wang, Jun-Jie and
+              Ding, Qianjun and Li, Xinyu and Pan, Ziwei and Xie, Qiming and
+              Yan, Zhuang and Yan, Junchi and Zhang, Linfeng},
+    year = {2025}
+}
+```

 ## 许可证

-此项目采用 GPL-3.0 许可 - 详情请参阅 [LICENSE](LICENSE) 文件。
+本项目采用双许可证结构：
+
+- **主框架**：GPL-3.0 - 详见 [LICENSE](LICENSE)
+- **设备驱动** (`unilabos/devices/`)：深势科技专有许可证
+
+完整许可证说明请参阅 [NOTICE](NOTICE)。

 ## 项目统计

@@ -79,4 +101,4 @@ Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在

 ## 联系我们

- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
+- GitHub Issues: [https://github.com/deepmodeling/Uni-Lab-OS/issues](https://github.com/deepmodeling/Uni-Lab-OS/issues)
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -24,7 +24,7 @@ extensions = [
    "sphinx.ext.autodoc",
    "sphinx.ext.napoleon",  # 如果您使用 Google 或 NumPy 风格的 docstrings
    "sphinx_rtd_theme",
-    "sphinxcontrib.mermaid"
+    "sphinxcontrib.mermaid",
 ]

 source_suffix = {
@@ -58,7 +58,7 @@ html_theme = "sphinx_rtd_theme"

 # sphinx-book-theme 主题选项
 html_theme_options = {
-    "repository_url": "https://github.com/用户名/Uni-Lab",
+    "repository_url": "https://github.com/deepmodeling/Uni-Lab-OS",
    "use_repository_button": True,
    "use_issues_button": True,
    "use_edit_page_button": True,
--- a/docs/developer_guide/action_includes.md
+++ b/docs/developer_guide/action_includes.md
--- a/docs/requirements.txt
+++ b/docs/requirements.txt
@@ -12,3 +12,7 @@ sphinx-copybutton>=0.5.0

 # 用于自动摘要生成
 sphinx-autobuild>=2024.2.4
+
+# 用于PDF导出 (rinohtype方案，纯Python无需LaTeX)
+rinohtype>=0.5.4
+sphinx-simplepdf>=1.6.0
--- a/docs/user_guide/best_practice.md
+++ b/docs/user_guide/best_practice.md
@@ -1807,7 +1807,7 @@ unilab --ak your_ak --sk your_sk -g graph.json \

 #### 14.5 社区支持

- **GitHub Issues**：[https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
+- **GitHub Issues**：[https://github.com/deepmodeling/Uni-Lab-OS/issues](https://github.com/deepmodeling/Uni-Lab-OS/issues)
 - **官方网站**：[https://uni-lab.bohrium.com](https://uni-lab.bohrium.com)

 ---
--- a/docs/user_guide/graph_files.md
+++ b/docs/user_guide/graph_files.md
@@ -463,7 +463,7 @@ Uni-Lab 使用 `ResourceDictInstance.get_resource_instance_from_dict()` 方法
 ### 使用示例

 ```python
-from unilabos.ros.nodes.resource_tracker import ResourceDictInstance
+from unilabos.resources.resource_tracker import ResourceDictInstance

 # 旧格式节点
 old_format_node = {
@@ -477,10 +477,10 @@ old_format_node = {
 instance = ResourceDictInstance.get_resource_instance_from_dict(old_format_node)

 # 访问标准化后的数据
-print(instance.res_content.id)      # "pump_1"
-print(instance.res_content.uuid)    # 自动生成的 UUID
+print(instance.res_content.id)  # "pump_1"
+print(instance.res_content.uuid)  # 自动生成的 UUID
 print(instance.res_content.config)  # {}
-print(instance.res_content.data)    # {}
+print(instance.res_content.data)  # {}
 ```

 ### 格式迁移建议
@@ -857,4 +857,4 @@ class ResourceDictPosition(BaseModel):
 - 在 Web 界面中使用模板创建
 - 参考示例文件：`test/experiments/` 目录
 - 查看 ResourceDict 源码了解完整定义
- [GitHub 讨论区](https://github.com/dptech-corp/Uni-Lab-OS/discussions)
+- [GitHub 讨论区](https://github.com/deepmodeling/Uni-Lab-OS/discussions)
--- a/docs/user_guide/installation.md
+++ b/docs/user_guide/installation.md
@@ -37,7 +37,7 @@

 #### 第一步：下载预打包环境

-1. 访问 [GitHub Actions - Conda Pack Build](https://github.com/dptech-corp/Uni-Lab-OS/actions/workflows/conda-pack-build.yml)
+1. 访问 [GitHub Actions - Conda Pack Build](https://github.com/deepmodeling/Uni-Lab-OS/actions/workflows/conda-pack-build.yml)

 2. 选择最新的成功构建记录（绿色勾号 ✓）

@@ -189,13 +189,13 @@ conda activate unilab
 ### 第一步：克隆仓库

 ```bash
-git clone https://github.com/dptech-corp/Uni-Lab-OS.git
+git clone https://github.com/deepmodeling/Uni-Lab-OS.git
 cd Uni-Lab-OS
 ```

 如果您需要贡献代码，建议先 Fork 仓库：

-1. 访问 https://github.com/dptech-corp/Uni-Lab-OS
+1. 访问 https://github.com/deepmodeling/Uni-Lab-OS
 2. 点击右上角的 "Fork" 按钮
 3. Clone 您的 Fork 版本：
   ```bash
@@ -240,7 +240,7 @@ pip uninstall unilabos -y

 # 克隆 dev 分支（如果还未克隆）
 cd /path/to/your/workspace
-git clone -b dev https://github.com/dptech-corp/Uni-Lab-OS.git
+git clone -b dev https://github.com/deepmodeling/Uni-Lab-OS.git
 # 或者如果已经克隆，切换到 dev 分支
 cd Uni-Lab-OS
 git checkout dev
@@ -503,9 +503,9 @@ mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-f
 ## 需要帮助？

 - **故障排查**: 查看更详细的故障排查信息
- **GitHub Issues**: [报告问题](https://github.com/dptech-corp/Uni-Lab-OS/issues)
+- **GitHub Issues**: [报告问题](https://github.com/deepmodeling/Uni-Lab-OS/issues)
 - **开发者文档**: 查看开发者指南获取更多技术细节
- **社区讨论**: [GitHub Discussions](https://github.com/dptech-corp/Uni-Lab-OS/discussions)
+- **社区讨论**: [GitHub Discussions](https://github.com/deepmodeling/Uni-Lab-OS/discussions)

 ---

--- a/recipes/msgs/recipe.yaml
+++ b/recipes/msgs/recipe.yaml
@@ -1,6 +1,6 @@
 package:
  name: ros-humble-unilabos-msgs
-  version: 0.10.12
+  version: 0.10.15
 source:
  path: ../../unilabos_msgs
  target_directory: src
@@ -17,7 +17,7 @@ build:
    - bash $SRC_DIR/build_ament_cmake.sh

 about:
-  repository: https://github.com/dptech-corp/Uni-Lab-OS
+  repository: https://github.com/deepmodeling/Uni-Lab-OS
  license: BSD-3-Clause
  description: "ros-humble-unilabos-msgs is a package that provides message definitions for Uni-Lab-OS."

--- a/recipes/unilabos/recipe.yaml
+++ b/recipes/unilabos/recipe.yaml
@@ -1,6 +1,6 @@
 package:
  name: unilabos
-  version: "0.10.12"
+  version: "0.10.15"

 source:
  path: ../..
--- a/scripts/create_readme.py
+++ b/scripts/create_readme.py
@@ -126,7 +126,7 @@ If installation fails:
 For more help:
  - Documentation: docs/user_guide/installation.md
  - Quick Start: QUICK_START_CONDA_PACK.md
-  - Issues: https://github.com/dptech-corp/Uni-Lab-OS/issues
+  - Issues: https://github.com/deepmodeling/Uni-Lab-OS/issues

 License:
 --------
@@ -134,7 +134,7 @@ License:
 UniLabOS is licensed under GPL-3.0-only.
 See LICENSE file for details.

-Repository: https://github.com/dptech-corp/Uni-Lab-OS
+Repository: https://github.com/deepmodeling/Uni-Lab-OS
 """

    return readme
--- a/setup.py
+++ b/setup.py
@@ -4,7 +4,7 @@ package_name = 'unilabos'

 setup(
    name=package_name,
-    version='0.10.12',
+    version='0.10.15',
    packages=find_packages(),
    include_package_data=True,
    install_requires=['setuptools'],
--- a/tests/init.py
+++ b/tests/init.py
@@ -0,0 +1,7 @@
+"""
+测试包根目录。
+
+让 `tests.*` 模块可以被正常 import（例如给 `unilabos` 下的测试入口使用）。
+"""
+
+
--- a/tests/devices/init.py
+++ b/tests/devices/init.py
@@ -0,0 +1 @@
+
--- a/tests/devices/liquid_handling/init.py
+++ b/tests/devices/liquid_handling/init.py
@@ -0,0 +1,5 @@
+"""
+液体处理设备相关测试。
+"""
+
+
--- a/tests/devices/liquid_handling/test_transfer_liquid.py
+++ b/tests/devices/liquid_handling/test_transfer_liquid.py
@@ -0,0 +1,505 @@
+import asyncio
+from dataclasses import dataclass
+from typing import Any, Iterable, List, Optional, Sequence, Tuple
+
+import pytest
+
+from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
+
+
+@dataclass(frozen=True)
+class DummyContainer:
+    name: str
+
+    def __repr__(self) -> str:  # pragma: no cover
+        return f"DummyContainer({self.name})"
+
+
+@dataclass(frozen=True)
+class DummyTipSpot:
+    name: str
+
+    def __repr__(self) -> str:  # pragma: no cover
+        return f"DummyTipSpot({self.name})"
+
+
+def make_tip_iter(n: int = 256) -> Iterable[List[DummyTipSpot]]:
+    """Yield lists so code can safely call `tip.extend(next(self.current_tip))`."""
+    for i in range(n):
+        yield [DummyTipSpot(f"tip_{i}")]
+
+
+class FakeLiquidHandler(LiquidHandlerAbstract):
+    """不初始化真实 backend/deck；仅用来记录 transfer_liquid 内部调用序列。"""
+
+    def __init__(self, channel_num: int = 8):
+        # 不调用 super().__init__，避免真实硬件/后端依赖
+        self.channel_num = channel_num
+        self.support_touch_tip = True
+        self.current_tip = iter(make_tip_iter())
+        self.calls: List[Tuple[str, Any]] = []
+
+    async def pick_up_tips(self, tip_spots, use_channels=None, offsets=None, **backend_kwargs):
+        self.calls.append(("pick_up_tips", {"tips": list(tip_spots), "use_channels": use_channels}))
+
+    async def aspirate(
+        self,
+        resources: Sequence[Any],
+        vols: List[float],
+        use_channels: Optional[List[int]] = None,
+        flow_rates: Optional[List[Optional[float]]] = None,
+        offsets: Any = None,
+        liquid_height: Any = None,
+        blow_out_air_volume: Any = None,
+        spread: str = "wide",
+        **backend_kwargs,
+    ):
+        self.calls.append(
+            (
+                "aspirate",
+                {
+                    "resources": list(resources),
+                    "vols": list(vols),
+                    "use_channels": list(use_channels) if use_channels is not None else None,
+                    "flow_rates": list(flow_rates) if flow_rates is not None else None,
+                    "offsets": list(offsets) if offsets is not None else None,
+                    "liquid_height": list(liquid_height) if liquid_height is not None else None,
+                    "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
+                },
+            )
+        )
+
+    async def dispense(
+        self,
+        resources: Sequence[Any],
+        vols: List[float],
+        use_channels: Optional[List[int]] = None,
+        flow_rates: Optional[List[Optional[float]]] = None,
+        offsets: Any = None,
+        liquid_height: Any = None,
+        blow_out_air_volume: Any = None,
+        spread: str = "wide",
+        **backend_kwargs,
+    ):
+        self.calls.append(
+            (
+                "dispense",
+                {
+                    "resources": list(resources),
+                    "vols": list(vols),
+                    "use_channels": list(use_channels) if use_channels is not None else None,
+                    "flow_rates": list(flow_rates) if flow_rates is not None else None,
+                    "offsets": list(offsets) if offsets is not None else None,
+                    "liquid_height": list(liquid_height) if liquid_height is not None else None,
+                    "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
+                },
+            )
+        )
+
+    async def discard_tips(self, use_channels=None, *args, **kwargs):
+        # 有的分支是 discard_tips(use_channels=[0])，有的分支是 discard_tips([0..7])（位置参数）
+        self.calls.append(("discard_tips", {"use_channels": list(use_channels) if use_channels is not None else None}))
+
+    async def custom_delay(self, seconds=0, msg=None):
+        self.calls.append(("custom_delay", {"seconds": seconds, "msg": msg}))
+
+    async def touch_tip(self, targets):
+        # 原实现会访问 targets.get_size_x() 等；测试里只记录调用
+        self.calls.append(("touch_tip", {"targets": targets}))
+
+    async def mix(self, targets, mix_time=None, mix_vol=None, height_to_bottom=None, offsets=None, mix_rate=None, none_keys=None):
+        self.calls.append(
+            (
+                "mix",
+                {
+                    "targets": targets,
+                    "mix_time": mix_time,
+                    "mix_vol": mix_vol,
+                },
+            )
+        )
+
+
+def run(coro):
+    return asyncio.run(coro)
+
+
+def test_one_to_one_single_channel_basic_calls():
+    lh = FakeLiquidHandler(channel_num=1)
+    lh.current_tip = iter(make_tip_iter(64))
+
+    sources = [DummyContainer(f"S{i}") for i in range(3)]
+    targets = [DummyContainer(f"T{i}") for i in range(3)]
+
+    run(
+        lh.transfer_liquid(
+            sources=sources,
+            targets=targets,
+            tip_racks=[],
+            use_channels=[0],
+            asp_vols=[1, 2, 3],
+            dis_vols=[4, 5, 6],
+            mix_times=None,  # 应该仍能执行（不 mix）
+        )
+    )
+
+    assert [c[0] for c in lh.calls].count("pick_up_tips") == 3
+    assert [c[0] for c in lh.calls].count("aspirate") == 3
+    assert [c[0] for c in lh.calls].count("dispense") == 3
+    assert [c[0] for c in lh.calls].count("discard_tips") == 3
+
+    # 每次 aspirate/dispense 都是单孔列表
+    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+    assert aspirates[0]["resources"] == [sources[0]]
+    assert aspirates[0]["vols"] == [1.0]
+
+    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+    assert dispenses[2]["resources"] == [targets[2]]
+    assert dispenses[2]["vols"] == [6.0]
+
+
+def test_one_to_one_single_channel_before_stage_mixes_prior_to_aspirate():
+    lh = FakeLiquidHandler(channel_num=1)
+    lh.current_tip = iter(make_tip_iter(16))
+
+    source = DummyContainer("S0")
+    target = DummyContainer("T0")
+
+    run(
+        lh.transfer_liquid(
+            sources=[source],
+            targets=[target],
+            tip_racks=[],
+            use_channels=[0],
+            asp_vols=[5],
+            dis_vols=[5],
+            mix_stage="before",
+            mix_times=1,
+            mix_vol=3,
+        )
+    )
+
+    names = [name for name, _ in lh.calls]
+    assert names.count("mix") == 1
+    assert names.index("mix") < names.index("aspirate")
+
+
+def test_one_to_one_eight_channel_groups_by_8():
+    lh = FakeLiquidHandler(channel_num=8)
+    lh.current_tip = iter(make_tip_iter(256))
+
+    sources = [DummyContainer(f"S{i}") for i in range(16)]
+    targets = [DummyContainer(f"T{i}") for i in range(16)]
+    asp_vols = list(range(1, 17))
+    dis_vols = list(range(101, 117))
+
+    run(
+        lh.transfer_liquid(
+            sources=sources,
+            targets=targets,
+            tip_racks=[],
+            use_channels=list(range(8)),
+            asp_vols=asp_vols,
+            dis_vols=dis_vols,
+            mix_times=0,  # 触发逻辑但不 mix
+        )
+    )
+
+    # 16 个任务 -> 2 组，每组 8 通道一起做
+    assert [c[0] for c in lh.calls].count("pick_up_tips") == 2
+    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+    assert len(aspirates) == 2
+    assert len(dispenses) == 2
+
+    assert aspirates[0]["resources"] == sources[0:8]
+    assert aspirates[0]["vols"] == [float(v) for v in asp_vols[0:8]]
+    assert dispenses[1]["resources"] == targets[8:16]
+    assert dispenses[1]["vols"] == [float(v) for v in dis_vols[8:16]]
+
+
+def test_one_to_one_eight_channel_requires_multiple_of_8_targets():
+    lh = FakeLiquidHandler(channel_num=8)
+    lh.current_tip = iter(make_tip_iter(64))
+
+    sources = [DummyContainer(f"S{i}") for i in range(9)]
+    targets = [DummyContainer(f"T{i}") for i in range(9)]
+
+    with pytest.raises(ValueError, match="multiple of 8"):
+        run(
+            lh.transfer_liquid(
+                sources=sources,
+                targets=targets,
+                tip_racks=[],
+                use_channels=list(range(8)),
+                asp_vols=[1] * 9,
+                dis_vols=[1] * 9,
+                mix_times=0,
+            )
+        )
+
+
+def test_one_to_one_eight_channel_parameter_lists_are_chunked_per_8():
+    lh = FakeLiquidHandler(channel_num=8)
+    lh.current_tip = iter(make_tip_iter(512))
+
+    sources = [DummyContainer(f"S{i}") for i in range(16)]
+    targets = [DummyContainer(f"T{i}") for i in range(16)]
+    asp_vols = [i + 1 for i in range(16)]
+    dis_vols = [200 + i for i in range(16)]
+    asp_flow_rates = [0.1 * (i + 1) for i in range(16)]
+    dis_flow_rates = [0.2 * (i + 1) for i in range(16)]
+    offsets = [f"offset_{i}" for i in range(16)]
+    liquid_heights = [i * 0.5 for i in range(16)]
+    blow_out_air_volume = [i + 0.05 for i in range(16)]
+
+    run(
+        lh.transfer_liquid(
+            sources=sources,
+            targets=targets,
+            tip_racks=[],
+            use_channels=list(range(8)),
+            asp_vols=asp_vols,
+            dis_vols=dis_vols,
+            asp_flow_rates=asp_flow_rates,
+            dis_flow_rates=dis_flow_rates,
+            offsets=offsets,
+            liquid_height=liquid_heights,
+            blow_out_air_volume=blow_out_air_volume,
+            mix_times=0,
+        )
+    )
+
+    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+    assert len(aspirates) == len(dispenses) == 2
+
+    for batch_idx in range(2):
+        start = batch_idx * 8
+        end = start + 8
+        asp_call = aspirates[batch_idx]
+        dis_call = dispenses[batch_idx]
+        assert asp_call["resources"] == sources[start:end]
+        assert asp_call["flow_rates"] == asp_flow_rates[start:end]
+        assert asp_call["offsets"] == offsets[start:end]
+        assert asp_call["liquid_height"] == liquid_heights[start:end]
+        assert asp_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
+        assert dis_call["flow_rates"] == dis_flow_rates[start:end]
+        assert dis_call["offsets"] == offsets[start:end]
+        assert dis_call["liquid_height"] == liquid_heights[start:end]
+        assert dis_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
+
+
+def test_one_to_one_eight_channel_handles_32_tasks_four_batches():
+    lh = FakeLiquidHandler(channel_num=8)
+    lh.current_tip = iter(make_tip_iter(1024))
+
+    sources = [DummyContainer(f"S{i}") for i in range(32)]
+    targets = [DummyContainer(f"T{i}") for i in range(32)]
+    asp_vols = [i + 1 for i in range(32)]
+    dis_vols = [300 + i for i in range(32)]
+
+    run(
+        lh.transfer_liquid(
+            sources=sources,
+            targets=targets,
+            tip_racks=[],
+            use_channels=list(range(8)),
+            asp_vols=asp_vols,
+            dis_vols=dis_vols,
+            mix_times=0,
+        )
+    )
+
+    pick_calls = [name for name, _ in lh.calls if name == "pick_up_tips"]
+    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+    assert len(pick_calls) == 4
+    assert len(aspirates) == len(dispenses) == 4
+    assert aspirates[0]["resources"] == sources[0:8]
+    assert aspirates[-1]["resources"] == sources[24:32]
+    assert dispenses[0]["resources"] == targets[0:8]
+    assert dispenses[-1]["resources"] == targets[24:32]
+
+
+def test_one_to_many_single_channel_aspirates_total_when_asp_vol_too_small():
+    lh = FakeLiquidHandler(channel_num=1)
+    lh.current_tip = iter(make_tip_iter(64))
+
+    source = DummyContainer("SRC")
+    targets = [DummyContainer(f"T{i}") for i in range(3)]
+    dis_vols = [10, 20, 30]  # sum=60
+
+    run(
+        lh.transfer_liquid(
+            sources=[source],
+            targets=targets,
+            tip_racks=[],
+            use_channels=[0],
+            asp_vols=10,  # 小于 sum(dis_vols) -> 应吸 60
+            dis_vols=dis_vols,
+            mix_times=0,
+        )
+    )
+
+    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+    assert len(aspirates) == 1
+    assert aspirates[0]["resources"] == [source]
+    assert aspirates[0]["vols"] == [60.0]
+    assert aspirates[0]["use_channels"] == [0]
+    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+    assert [d["vols"][0] for d in dispenses] == [10.0, 20.0, 30.0]
+
+
+def test_one_to_many_eight_channel_basic():
+    lh = FakeLiquidHandler(channel_num=8)
+    lh.current_tip = iter(make_tip_iter(128))
+
+    source = DummyContainer("SRC")
+    targets = [DummyContainer(f"T{i}") for i in range(8)]
+    dis_vols = [i + 1 for i in range(8)]
+
+    run(
+        lh.transfer_liquid(
+            sources=[source],
+            targets=targets,
+            tip_racks=[],
+            use_channels=list(range(8)),
+            asp_vols=999,  # one-to-many 8ch 会按 dis_vols 吸（每通道各自）
+            dis_vols=dis_vols,
+            mix_times=0,
+        )
+    )
+
+    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+    assert aspirates[0]["resources"] == [source] * 8
+    assert aspirates[0]["vols"] == [float(v) for v in dis_vols]
+    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+    assert dispenses[0]["resources"] == targets
+    assert dispenses[0]["vols"] == [float(v) for v in dis_vols]
+
+
+def test_many_to_one_single_channel_standard_dispense_equals_asp_by_default():
+    lh = FakeLiquidHandler(channel_num=1)
+    lh.current_tip = iter(make_tip_iter(128))
+
+    sources = [DummyContainer(f"S{i}") for i in range(3)]
+    target = DummyContainer("T")
+    asp_vols = [5, 6, 7]
+
+    run(
+        lh.transfer_liquid(
+            sources=sources,
+            targets=[target],
+            tip_racks=[],
+            use_channels=[0],
+            asp_vols=asp_vols,
+            dis_vols=1,  # many-to-one 允许标量；非比例模式下实际每次分液=对应 asp_vol
+            mix_times=0,
+        )
+    )
+
+    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+    assert [d["vols"][0] for d in dispenses] == [float(v) for v in asp_vols]
+    assert all(d["resources"] == [target] for d in dispenses)
+
+
+def test_many_to_one_single_channel_before_stage_mixes_target_once():
+    lh = FakeLiquidHandler(channel_num=1)
+    lh.current_tip = iter(make_tip_iter(128))
+
+    sources = [DummyContainer("S0"), DummyContainer("S1")]
+    target = DummyContainer("T")
+
+    run(
+        lh.transfer_liquid(
+            sources=sources,
+            targets=[target],
+            tip_racks=[],
+            use_channels=[0],
+            asp_vols=[5, 6],
+            dis_vols=1,
+            mix_stage="before",
+            mix_times=2,
+            mix_vol=4,
+        )
+    )
+
+    names = [name for name, _ in lh.calls]
+    assert names[0] == "mix"
+    assert names.count("mix") == 1
+
+
+def test_many_to_one_single_channel_proportional_mixing_uses_dis_vols_per_source():
+    lh = FakeLiquidHandler(channel_num=1)
+    lh.current_tip = iter(make_tip_iter(128))
+
+    sources = [DummyContainer(f"S{i}") for i in range(3)]
+    target = DummyContainer("T")
+    asp_vols = [5, 6, 7]
+    dis_vols = [1, 2, 3]
+
+    run(
+        lh.transfer_liquid(
+            sources=sources,
+            targets=[target],
+            tip_racks=[],
+            use_channels=[0],
+            asp_vols=asp_vols,
+            dis_vols=dis_vols,  # 比例模式
+            mix_times=0,
+        )
+    )
+
+    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+    assert [d["vols"][0] for d in dispenses] == [float(v) for v in dis_vols]
+
+
+def test_many_to_one_eight_channel_basic():
+    lh = FakeLiquidHandler(channel_num=8)
+    lh.current_tip = iter(make_tip_iter(256))
+
+    sources = [DummyContainer(f"S{i}") for i in range(8)]
+    target = DummyContainer("T")
+    asp_vols = [10 + i for i in range(8)]
+
+    run(
+        lh.transfer_liquid(
+            sources=sources,
+            targets=[target],
+            tip_racks=[],
+            use_channels=list(range(8)),
+            asp_vols=asp_vols,
+            dis_vols=999,  # 非比例模式下每通道分液=对应 asp_vol
+            mix_times=0,
+        )
+    )
+
+    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+    assert aspirates[0]["resources"] == sources
+    assert aspirates[0]["vols"] == [float(v) for v in asp_vols]
+    assert dispenses[0]["resources"] == [target] * 8
+    assert dispenses[0]["vols"] == [float(v) for v in asp_vols]
+
+
+def test_transfer_liquid_mode_detection_unsupported_shape_raises():
+    lh = FakeLiquidHandler(channel_num=8)
+    lh.current_tip = iter(make_tip_iter(64))
+
+    sources = [DummyContainer("S0"), DummyContainer("S1")]
+    targets = [DummyContainer("T0"), DummyContainer("T1"), DummyContainer("T2")]
+
+    with pytest.raises(ValueError, match="Unsupported transfer mode"):
+        run(
+            lh.transfer_liquid(
+                sources=sources,
+                targets=targets,
+                tip_racks=[],
+                use_channels=[0],
+                asp_vols=[1, 1],
+                dis_vols=[1, 1, 1],
+                mix_times=0,
+            )
+        )
+
--- a/tests/resources/init.py
+++ b/tests/resources/init.py
--- a/tests/resources/bioyond_materials_liquidhandling_1.json
+++ b/tests/resources/bioyond_materials_liquidhandling_1.json
--- a/tests/resources/bioyond_materials_liquidhandling_2.json
+++ b/tests/resources/bioyond_materials_liquidhandling_2.json
--- a/tests/resources/bioyond_materials_reaction.json
+++ b/tests/resources/bioyond_materials_reaction.json
--- a/tests/resources/test_bottle_carrier.py
+++ b/tests/resources/test_bottle_carrier.py
--- a/tests/resources/test_converter_bioyond.py
+++ b/tests/resources/test_converter_bioyond.py
--- a/tests/resources/test_itemized_carrier.py
+++ b/tests/resources/test_itemized_carrier.py
--- a/tests/resources/test_resourcetreeset.py
+++ b/tests/resources/test_resourcetreeset.py
@@ -2,9 +2,8 @@ import pytest
 import json
 import os

-from pylabrobot.resources import Resource as ResourcePLR
 from unilabos.resources.graphio import resource_bioyond_to_plr
-from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
+from unilabos.resources.resource_tracker import ResourceTreeSet
 from unilabos.registry.registry import lab_registry

 from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck
--- a/tests/ros/init.py
+++ b/tests/ros/init.py
--- a/tests/ros/msgs/init.py
+++ b/tests/ros/msgs/init.py
--- a/tests/ros/msgs/test_basic.py
+++ b/tests/ros/msgs/test_basic.py
--- a/tests/ros/msgs/test_conversion.py
+++ b/tests/ros/msgs/test_conversion.py
--- a/tests/ros/msgs/test_mapping.py
+++ b/tests/ros/msgs/test_mapping.py
--- a/tests/ros/msgs/test_runner.py
+++ b/tests/ros/msgs/test_runner.py
@@ -11,10 +11,10 @@ import os
 # 添加项目根目录到路径
 sys.path.append(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))))

-# 导入测试模块
-from test.ros.msgs.test_basic import TestBasicFunctionality
-from test.ros.msgs.test_conversion import TestBasicConversion, TestMappingConversion
-from test.ros.msgs.test_mapping import TestTypeMapping, TestFieldMapping
+# 导入测试模块（统一从 tests 包获取）
+from tests.ros.msgs.test_basic import TestBasicFunctionality
+from tests.ros.msgs.test_conversion import TestBasicConversion, TestMappingConversion
+from tests.ros.msgs.test_mapping import TestTypeMapping, TestFieldMapping


 def run_tests():
--- a/tests/workflow/init.py
+++ b/tests/workflow/init.py
--- a/tests/workflow/example_bio.json
+++ b/tests/workflow/example_bio.json
--- a/tests/workflow/example_bio_graph.png
+++ b/tests/workflow/example_bio_graph.png
--- a/tests/workflow/example_prcxi.json
+++ b/tests/workflow/example_prcxi.json
--- a/tests/workflow/example_prcxi_graph.png
+++ b/tests/workflow/example_prcxi_graph.png
--- a/tests/workflow/example_prcxi_graph_20251022_1359.png
+++ b/tests/workflow/example_prcxi_graph_20251022_1359.png
--- a/tests/workflow/merge_workflow.py
+++ b/tests/workflow/merge_workflow.py
--- a/unilabos/init.py
+++ b/unilabos/init.py
@@ -1 +1 @@
-__version__ = "0.10.12"
+__version__ = "0.10.15"
--- a/unilabos/app/backend.py
+++ b/unilabos/app/backend.py
@@ -1,6 +1,6 @@
 import threading

-from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
+from unilabos.resources.resource_tracker import ResourceTreeSet
 from unilabos.utils import logger


--- a/unilabos/app/main.py
+++ b/unilabos/app/main.py
@@ -19,6 +19,11 @@ if unilabos_dir not in sys.path:

 from unilabos.utils.banner_print import print_status, print_unilab_banner
 from unilabos.config.config import load_config, BasicConfig, HTTPConfig
+from unilabos.app.utils import cleanup_for_restart
+
+# Global restart flags (used by ws_client and web/server)
+_restart_requested: bool = False
+_restart_reason: str = ""


 def load_config_from_file(config_path):
@@ -156,6 +161,11 @@ def parse_args():
        default=False,
        help="Complete registry information",
    )
+    parser.add_argument(
+        "--no_update_feedback",
+        action="store_true",
+        help="Disable sending update feedback to server",
+    )
    # workflow upload subcommand
    workflow_parser = subparsers.add_parser(
        "workflow_upload",
@@ -297,6 +307,7 @@ def main():
    BasicConfig.is_host_mode = not args_dict.get("is_slave", False)
    BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
    BasicConfig.upload_registry = args_dict.get("upload_registry", False)
+    BasicConfig.no_update_feedback = args_dict.get("no_update_feedback", False)
    BasicConfig.communication_protocol = "websocket"
    machine_name = os.popen("hostname").read().strip()
    machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
@@ -315,7 +326,7 @@ def main():
    from unilabos.app.web import start_server
    from unilabos.app.register import register_devices_and_resources
    from unilabos.resources.graphio import modify_to_backend_format
-    from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDict
+    from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDict

    # 显示启动横幅
    print_unilab_banner(args_dict)
@@ -418,7 +429,7 @@ def main():
    # 如果从远端获取了物料信息，则与本地物料进行同步
    if request_startup_json and "nodes" in request_startup_json:
        print_status("开始同步远端物料到本地...", "info")
-        remote_tree_set = ResourceTreeSet.from_raw_list(request_startup_json["nodes"])
+        remote_tree_set = ResourceTreeSet.from_raw_dict_list(request_startup_json["nodes"])
        resource_tree_set.merge_remote_resources(remote_tree_set)
        print_status("远端物料同步完成", "info")

@@ -497,13 +508,19 @@ def main():
                time.sleep(1)
        else:
            start_backend(**args_dict)
-            start_server(
+            restart_requested = start_server(
                open_browser=not args_dict["disable_browser"],
                port=BasicConfig.port,
            )
+            if restart_requested:
+                print_status("[Main] Restart requested, cleaning up...", "info")
+                cleanup_for_restart()
+                return
    else:
        start_backend(**args_dict)
-        start_server(
+
+        # 启动服务器（默认支持WebSocket触发重启）
+        restart_requested = start_server(
            open_browser=not args_dict["disable_browser"],
            port=BasicConfig.port,
        )
--- a/unilabos/app/utils.py
+++ b/unilabos/app/utils.py
@@ -0,0 +1,144 @@
+"""
+UniLabOS 应用工具函数
+
+提供清理、重启等工具函数
+"""
+
+import gc
+import os
+import threading
+import time
+
+from unilabos.utils.banner_print import print_status
+
+
+def cleanup_for_restart() -> bool:
+    """
+    Clean up all resources for restart without exiting the process.
+
+    This function prepares the system for re-initialization by:
+    1. Stopping all communication clients
+    2. Destroying ROS nodes
+    3. Resetting singletons
+    4. Waiting for threads to finish
+
+    Returns:
+        bool: True if cleanup was successful, False otherwise
+    """
+    print_status("[Restart] Starting cleanup for restart...", "info")
+
+    # Step 1: Stop WebSocket communication client
+    print_status("[Restart] Step 1: Stopping WebSocket client...", "info")
+    try:
+        from unilabos.app.communication import get_communication_client
+
+        comm_client = get_communication_client()
+        if comm_client is not None:
+            comm_client.stop()
+            print_status("[Restart] WebSocket client stopped", "info")
+    except Exception as e:
+        print_status(f"[Restart] Error stopping WebSocket: {e}", "warning")
+
+    # Step 2: Get HostNode and cleanup ROS
+    print_status("[Restart] Step 2: Cleaning up ROS nodes...", "info")
+    try:
+        from unilabos.ros.nodes.presets.host_node import HostNode
+        import rclpy
+        from rclpy.timer import Timer
+
+        host_instance = HostNode.get_instance(timeout=5)
+        if host_instance is not None:
+            print_status(f"[Restart] Found HostNode: {host_instance.device_id}", "info")
+
+            # Gracefully shutdown background threads
+            print_status("[Restart] Shutting down background threads...", "info")
+            HostNode.shutdown_background_threads(timeout=5.0)
+            print_status("[Restart] Background threads shutdown complete", "info")
+
+            # Stop discovery timer
+            if hasattr(host_instance, "_discovery_timer") and isinstance(host_instance._discovery_timer, Timer):
+                host_instance._discovery_timer.cancel()
+                print_status("[Restart] Discovery timer cancelled", "info")
+
+            # Destroy device nodes
+            device_count = len(host_instance.devices_instances)
+            print_status(f"[Restart] Destroying {device_count} device instances...", "info")
+            for device_id, device_node in list(host_instance.devices_instances.items()):
+                try:
+                    if hasattr(device_node, "ros_node_instance") and device_node.ros_node_instance is not None:
+                        device_node.ros_node_instance.destroy_node()
+                        print_status(f"[Restart] Device {device_id} destroyed", "info")
+                except Exception as e:
+                    print_status(f"[Restart] Error destroying device {device_id}: {e}", "warning")
+
+            # Clear devices instances
+            host_instance.devices_instances.clear()
+            host_instance.devices_names.clear()
+
+            # Destroy host node
+            try:
+                host_instance.destroy_node()
+                print_status("[Restart] HostNode destroyed", "info")
+            except Exception as e:
+                print_status(f"[Restart] Error destroying HostNode: {e}", "warning")
+
+            # Reset HostNode state
+            HostNode.reset_state()
+            print_status("[Restart] HostNode state reset", "info")
+
+        # Shutdown executor first (to stop executor.spin() gracefully)
+        if hasattr(rclpy, "__executor") and rclpy.__executor is not None:
+            try:
+                rclpy.__executor.shutdown()
+                rclpy.__executor = None  # Clear for restart
+                print_status("[Restart] ROS executor shutdown complete", "info")
+            except Exception as e:
+                print_status(f"[Restart] Error shutting down executor: {e}", "warning")
+
+        # Shutdown rclpy
+        if rclpy.ok():
+            rclpy.shutdown()
+            print_status("[Restart] rclpy shutdown complete", "info")
+
+    except ImportError as e:
+        print_status(f"[Restart] ROS modules not available: {e}", "warning")
+    except Exception as e:
+        print_status(f"[Restart] Error in ROS cleanup: {e}", "warning")
+        return False
+
+    # Step 3: Reset communication client singleton
+    print_status("[Restart] Step 3: Resetting singletons...", "info")
+    try:
+        from unilabos.app import communication
+
+        if hasattr(communication, "_communication_client"):
+            communication._communication_client = None
+            print_status("[Restart] Communication client singleton reset", "info")
+    except Exception as e:
+        print_status(f"[Restart] Error resetting communication singleton: {e}", "warning")
+
+    # Step 4: Wait for threads to finish
+    print_status("[Restart] Step 4: Waiting for threads to finish...", "info")
+    time.sleep(3)  # Give threads time to finish
+
+    # Check remaining threads
+    remaining_threads = []
+    for t in threading.enumerate():
+        if t.name != "MainThread" and t.is_alive():
+            remaining_threads.append(t.name)
+
+    if remaining_threads:
+        print_status(
+            f"[Restart] Warning: {len(remaining_threads)} threads still running: {remaining_threads}", "warning"
+        )
+    else:
+        print_status("[Restart] All threads stopped", "info")
+
+    # Step 5: Force garbage collection
+    print_status("[Restart] Step 5: Running garbage collection...", "info")
+    gc.collect()
+    gc.collect()  # Run twice for weak references
+    print_status("[Restart] Garbage collection complete", "info")
+
+    print_status("[Restart] Cleanup complete. Ready for re-initialization.", "info")
+    return True
--- a/unilabos/app/web/client.py
+++ b/unilabos/app/web/client.py
@@ -6,12 +6,10 @@ HTTP客户端模块

 import json
 import os
-import time
-from threading import Thread
 from typing import List, Dict, Any, Optional

 import requests
-from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
+from unilabos.resources.resource_tracker import ResourceTreeSet
 from unilabos.utils.log import info
 from unilabos.config.config import HTTPConfig, BasicConfig
 from unilabos.utils import logger
--- a/unilabos/app/web/server.py
+++ b/unilabos/app/web/server.py
@@ -6,7 +6,6 @@ Web服务器模块

 import webbrowser

-import uvicorn
 from fastapi import FastAPI, Request
 from fastapi.middleware.cors import CORSMiddleware
 from starlette.responses import Response
@@ -96,7 +95,7 @@ def setup_server() -> FastAPI:
    return app


-def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = True) -> None:
+def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = True) -> bool:
    """
    启动服务器

@@ -104,7 +103,14 @@ def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = T
        host: 服务器主机
        port: 服务器端口
        open_browser: 是否自动打开浏览器
+
+    Returns:
+        bool: True if restart was requested, False otherwise
    """
+    import threading
+    import time
+    from uvicorn import Config, Server
+
    # 设置服务器
    setup_server()

@@ -123,7 +129,37 @@ def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = T

    # 启动服务器
    info(f"[Web] 启动FastAPI服务器: {host}:{port}")
-    uvicorn.run(app, host=host, port=port, log_config=log_config)
+
+    # 使用支持重启的模式
+    config = Config(app=app, host=host, port=port, log_config=log_config)
+    server = Server(config)
+
+    # 启动服务器线程
+    server_thread = threading.Thread(target=server.run, daemon=True, name="uvicorn_server")
+    server_thread.start()
+
+    info("[Web] Server started, monitoring for restart requests...")
+
+    # 监控重启标志
+    import unilabos.app.main as main_module
+
+    while server_thread.is_alive():
+        if hasattr(main_module, "_restart_requested") and main_module._restart_requested:
+            info(
+                f"[Web] Restart requested via WebSocket, reason: {getattr(main_module, '_restart_reason', 'unknown')}"
+            )
+            main_module._restart_requested = False
+
+            # 停止服务器
+            server.should_exit = True
+            server_thread.join(timeout=5)
+
+            info("[Web] Server stopped, ready for restart")
+            return True
+
+        time.sleep(1)
+
+    return False


 # 当脚本直接运行时启动服务器
--- a/unilabos/app/ws_client.py
+++ b/unilabos/app/ws_client.py
@@ -359,7 +359,7 @@ class MessageProcessor:
        self.device_manager = device_manager
        self.queue_processor = None  # 延迟设置
        self.websocket_client = None  # 延迟设置
-        self.session_id = ""
+        self.session_id = str(uuid.uuid4())[:6]  # 产生一个随机的session_id

        # WebSocket连接
        self.websocket = None
@@ -488,7 +488,16 @@ class MessageProcessor:
            async for message in self.websocket:
                try:
                    data = json.loads(message)
-                    await self._process_message(data)
+                    message_type = data.get("action", "")
+                    message_data = data.get("data")
+                    if self.session_id and self.session_id == data.get("edge_session"):
+                        await self._process_message(message_type, message_data)
+                    else:
+                        if message_type.endswith("_material"):
+                            logger.trace(f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}")
+                            logger.debug(f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}")
+                        else:
+                            await self._process_message(message_type, message_data)
                except json.JSONDecodeError:
                    logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
                except Exception as e:
@@ -554,11 +563,8 @@ class MessageProcessor:
        finally:
            logger.debug("[MessageProcessor] Send handler stopped")

-    async def _process_message(self, data: Dict[str, Any]):
+    async def _process_message(self, message_type: str, message_data: Dict[str, Any]):
        """处理收到的消息"""
-        message_type = data.get("action", "")
-        message_data = data.get("data")
-
        logger.debug(f"[MessageProcessor] Processing message: {message_type}")

        try:
@@ -571,14 +577,19 @@ class MessageProcessor:
            elif message_type == "cancel_action" or message_type == "cancel_task":
                await self._handle_cancel_action(message_data)
            elif message_type == "add_material":
+                # noinspection PyTypeChecker
                await self._handle_resource_tree_update(message_data, "add")
            elif message_type == "update_material":
+                # noinspection PyTypeChecker
                await self._handle_resource_tree_update(message_data, "update")
            elif message_type == "remove_material":
+                # noinspection PyTypeChecker
                await self._handle_resource_tree_update(message_data, "remove")
-            elif message_type == "session_id":
-                self.session_id = message_data.get("session_id")
-                logger.info(f"[MessageProcessor] Session ID: {self.session_id}")
+            # elif message_type == "session_id":
+            #     self.session_id = message_data.get("session_id")
+            #     logger.info(f"[MessageProcessor] Session ID: {self.session_id}")
+            elif message_type == "request_restart":
+                await self._handle_request_restart(message_data)
            else:
                logger.debug(f"[MessageProcessor] Unknown message type: {message_type}")

@@ -837,7 +848,7 @@ class MessageProcessor:
                    device_action_groups[key_add].append(item["uuid"])

                    logger.info(
-                        f"[MessageProcessor] Resource migrated: {item['uuid'][:8]} from {device_old_id} to {device_id}"
+                        f"[资源同步] 跨站Transfer: {item['uuid'][:8]} from {device_old_id} to {device_id}"
                    )
                else:
                    # 正常update
@@ -852,11 +863,11 @@ class MessageProcessor:
                    device_action_groups[key] = []
                device_action_groups[key].append(item["uuid"])

-        logger.info(f"触发物料更新 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}")
+        logger.trace(f"[资源同步] 动作 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}")

        # 为每个(device_id, action)创建独立的更新线程
        for (device_id, actual_action), items in device_action_groups.items():
-            logger.info(f"设备 {device_id} 物料更新 {actual_action} 数量: {len(items)}")
+            logger.trace(f"[资源同步] {device_id} 物料动作 {actual_action} 数量: {len(items)}")

            def _notify_resource_tree(dev_id, act, item_list):
                try:
@@ -888,6 +899,49 @@ class MessageProcessor:
            )
            thread.start()

+    async def _handle_request_restart(self, data: Dict[str, Any]):
+        """
+        处理重启请求
+
+        当LabGo发送request_restart时，执行清理并触发重启
+        """
+        reason = data.get("reason", "unknown")
+        delay = data.get("delay", 2)  # 默认延迟2秒
+        logger.info(f"[MessageProcessor] Received restart request, reason: {reason}, delay: {delay}s")
+
+        # 发送确认消息
+        if self.websocket_client:
+            await self.websocket_client.send_message({
+                "action": "restart_acknowledged",
+                "data": {"reason": reason, "delay": delay}
+            })
+
+        # 设置全局重启标志
+        import unilabos.app.main as main_module
+        main_module._restart_requested = True
+        main_module._restart_reason = reason
+
+        # 延迟后执行清理
+        await asyncio.sleep(delay)
+
+        # 在新线程中执行清理，避免阻塞当前事件循环
+        def do_cleanup():
+            import time
+            time.sleep(0.5)  # 给当前消息处理完成的时间
+            logger.info(f"[MessageProcessor] Starting cleanup for restart, reason: {reason}")
+            try:
+                from unilabos.app.utils import cleanup_for_restart
+                if cleanup_for_restart():
+                    logger.info("[MessageProcessor] Cleanup successful, main() will restart")
+                else:
+                    logger.error("[MessageProcessor] Cleanup failed")
+            except Exception as e:
+                logger.error(f"[MessageProcessor] Error during cleanup: {e}")
+
+        cleanup_thread = threading.Thread(target=do_cleanup, name="RestartCleanupThread", daemon=True)
+        cleanup_thread.start()
+        logger.info(f"[MessageProcessor] Restart cleanup scheduled")
+
    async def _send_action_state_response(
        self, device_id: str, action_name: str, task_id: str, job_id: str, typ: str, free: bool, need_more: int
    ):
@@ -1240,7 +1294,7 @@ class WebSocketClient(BaseCommunicationClient):
            },
        }
        self.message_processor.send_message(message)
-        logger.debug(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
+        logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")

    def publish_job_status(
        self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None
@@ -1282,7 +1336,7 @@ class WebSocketClient(BaseCommunicationClient):
        self.message_processor.send_message(message)

        job_log = format_job_log(item.job_id, item.task_id, item.device_id, item.action_name)
-        logger.debug(f"[WebSocketClient] Job status published: {job_log} - {status}")
+        logger.trace(f"[WebSocketClient] Job status published: {job_log} - {status}")

    def send_ping(self, ping_id: str, timestamp: float) -> None:
        """发送ping消息"""
@@ -1313,17 +1367,55 @@ class WebSocketClient(BaseCommunicationClient):
            logger.warning(f"[WebSocketClient] Failed to cancel job {job_log}")

    def publish_host_ready(self) -> None:
-        """发布host_node ready信号"""
+        """发布host_node ready信号，包含设备和动作信息"""
        if self.is_disabled or not self.is_connected():
            logger.debug("[WebSocketClient] Not connected, cannot publish host ready signal")
            return

+        # 收集设备信息
+        devices = []
+        machine_name = BasicConfig.machine_name
+
+        try:
+            host_node = HostNode.get_instance(0)
+            if host_node:
+                # 获取设备信息
+                for device_id, namespace in host_node.devices_names.items():
+                    device_key = f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
+                    is_online = device_key in host_node._online_devices
+
+                    # 获取设备的动作信息
+                    actions = {}
+                    for action_id, client in host_node._action_clients.items():
+                        # action_id 格式: /namespace/device_id/action_name
+                        if device_id in action_id:
+                            action_name = action_id.split("/")[-1]
+                            actions[action_name] = {
+                                "action_path": action_id,
+                                "action_type": str(type(client).__name__),
+                            }
+
+                    devices.append({
+                        "device_id": device_id,
+                        "namespace": namespace,
+                        "device_key": device_key,
+                        "is_online": is_online,
+                        "machine_name": host_node.device_machine_names.get(device_id, machine_name),
+                        "actions": actions,
+                    })
+
+                logger.info(f"[WebSocketClient] Collected {len(devices)} devices for host_ready")
+        except Exception as e:
+            logger.warning(f"[WebSocketClient] Error collecting device info: {e}")
+
        message = {
            "action": "host_node_ready",
            "data": {
                "status": "ready",
                "timestamp": time.time(),
+                "machine_name": machine_name,
+                "devices": devices,
            },
        }
        self.message_processor.send_message(message)
-        logger.info("[WebSocketClient] Host node ready signal published")
+        logger.info(f"[WebSocketClient] Host node ready signal published with {len(devices)} devices")
--- a/unilabos/config/config.py
+++ b/unilabos/config/config.py
@@ -16,6 +16,7 @@ class BasicConfig:
    upload_registry = False
    machine_name = "undefined"
    vis_2d_enable = False
+    no_update_feedback = False
    enable_resource_load = True
    communication_protocol = "websocket"
    startup_json_path = None  # 填写绝对路径
--- a/unilabos/device_comms/coin_cell_assembly_workstation.py
+++ b/unilabos/device_comms/coin_cell_assembly_workstation.py
@@ -6,7 +6,7 @@ Coin Cell Assembly Workstation
 """
 from typing import Dict, Any, List, Optional, Union

-from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
+from unilabos.resources.resource_tracker import DeviceNodeResourceTracker
 from unilabos.device_comms.workstation_base import WorkstationBase, WorkflowInfo
 from unilabos.device_comms.workstation_communication import (
    WorkstationCommunicationBase, CommunicationConfig, CommunicationProtocol, CoinCellCommunication
@@ -61,7 +61,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
        
        # 创建资源跟踪器（如果没有提供）
        if resource_tracker is None:
-            from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
+            from unilabos.resources.resource_tracker import DeviceNodeResourceTracker
            resource_tracker = DeviceNodeResourceTracker()
        
        # 初始化基类
--- a/unilabos/device_comms/opcua_client/client.py
+++ b/unilabos/device_comms/opcua_client/client.py
--- a/unilabos/device_comms/opcua_client/node/uniopcua.py
+++ b/unilabos/device_comms/opcua_client/node/uniopcua.py
@@ -43,7 +43,7 @@ class Base(ABC):
        self._type = typ
        self._data_type = data_type
        self._node: Optional[Node] = None
-        
+
    def _get_node(self) -> Node:
        if self._node is None:
            try:
@@ -66,7 +66,7 @@ class Base(ABC):
                # 直接以字符串形式处理
                if isinstance(nid, str):
                    nid = nid.strip()
-                    
+
                    # 处理包含类名的格式，如 'StringNodeId(ns=4;s=...)' 或 'NumericNodeId(ns=2;i=...)'
                    # 提取括号内的内容
                    match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid)
@@ -116,16 +116,16 @@ class Base(ABC):
    def read(self) -> Tuple[Any, bool]:
        """读取节点值，返回(值, 是否出错)"""
        pass
-    
+
    @abstractmethod
    def write(self, value: Any) -> bool:
        """写入节点值，返回是否出错"""
        pass
-    
+
    @property
    def type(self) -> NodeType:
        return self._type
-    
+
    @property
    def node_id(self) -> str:
        return self._node_id
@@ -210,15 +210,15 @@ class Method(Base):
        super().__init__(client, name, node_id, NodeType.METHOD, data_type)
        self._parent_node_id = parent_node_id
        self._parent_node = None
-        
+
    def _get_parent_node(self) -> Node:
        if self._parent_node is None:
            try:
                # 处理父节点ID，使用与_get_node相同的解析逻辑
                import re
-                
+
                nid = self._parent_node_id
-                
+
                # 如果已经是 NodeId 对象，直接使用
                try:
                    from opcua.ua import NodeId as UaNodeId
@@ -227,16 +227,16 @@ class Method(Base):
                        return self._parent_node
                except Exception:
                    pass
-                
+
                # 字符串处理
                if isinstance(nid, str):
                    nid = nid.strip()
-                    
+
                    # 处理包含类名的格式
                    match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid)
                    if match_wrapped:
                        nid = match_wrapped.group(2).strip()
-                    
+
                    # 常见短格式
                    if re.match(r'^ns=\d+;[is]=', nid):
                        self._parent_node = self._client.get_node(nid)
@@ -271,7 +271,7 @@ class Method(Base):
    def write(self, value: Any) -> bool:
        """方法节点不支持写入操作"""
        return True
-        
+
    def call(self, *args) -> Tuple[Any, bool]:
        """调用方法，返回(返回值, 是否出错)"""
        try:
@@ -285,7 +285,7 @@ class Method(Base):
 class Object(Base):
    def __init__(self, client: Client, name: str, node_id: str):
        super().__init__(client, name, node_id, NodeType.OBJECT, None)
-        
+
    def read(self) -> Tuple[Any, bool]:
        """对象节点不支持直接读取操作"""
        return None, True
@@ -293,7 +293,7 @@ class Object(Base):
    def write(self, value: Any) -> bool:
        """对象节点不支持直接写入操作"""
        return True
-    
+
    def get_children(self) -> Tuple[List[Node], bool]:
        """获取子节点列表，返回(子节点列表, 是否出错)"""
        try:
@@ -301,4 +301,4 @@ class Object(Base):
            return children, False
        except Exception as e:
            print(f"获取对象 {self._name} 的子节点失败: {e}")
-            return [], True 
+            return [], True
--- a/unilabos/devices/LICENSE
+++ b/unilabos/devices/LICENSE
@@ -0,0 +1,73 @@
+Uni-Lab-OS软件许可使用准则
+
+
+本软件使用准则（以下简称"本准则"）旨在规范用户在使用Uni-Lab-OS软件（以下简称"本软件"）过程中的行为和义务。在下载、安装、使用或以任何方式访问本软件之前，请务必仔细阅读并理解以下条款和条件。若您不同意本准则的全部或部分内容，请您立即停止使用本软件。一旦您开始访问、下载、安装、使用本软件，即表示您已阅读、理解并同意接受本准则的约束。
+
+1、使用许可
+1.1 本软件的所有权及版权归北京深势科技有限公司（以下简称"深势科技"）所有。在遵守本准则的前提下，深势科技特此授予学术用户（以下简称"您"）一个全球范围内的、非排他性的、免版权费用的使用许可，可为了满足学术目的而使用本软件。
+
+1.2 本准则下授予的许可仅适用于本软件的二进制代码版本。您不对本软件源代码拥有任何权利。
+
+2、使用限制
+2.1 本准则仅授予学术用户出于学术目的使用本软件，任何商业组织、商业机构或其他非学术用户不得使用本软件，如果违反本条款，深势科技将保留一切追诉的权利。
+2.2 您将本软件用于任何商业行为，应取得深势科技的商业许可。
+2.3 您不得将本软件或任何形式的衍生作品用于任何商业目的，也不得将其出售、出租、转让、分发或以其他方式提供给任何第三方。您必须确保本软件的使用仅限于您个人学术研究，禁止您为任何其他实体的利益使用本软件（无论是否收费）。
+2.4 您不得以任何方式修改、破解、反编译、反汇编、反向工程、隔离、分离或以其他方式从任何程序或文档中提取源代码或试图发现本软件的源代码。您不得以任何方式去除、修改或屏蔽本软件中的任何版权、商标或其他专有权利声明。您不得使用本软件进行任何非法活动，包括但不限于侵犯他人的知识产权、隐私权等。
+2.5 您同意将本软件仅用于合法的学术目的，且遵守您所在国家或地区的法律法规，您将承担因违反法律法规而产生的一切法律责任。
+
+3、软件所有权
+本软件在此仅作使用许可，并非出售。本软件及与软件有关的全部文档的所有权及其他所有权利（包括但不限于知识产权和商业秘密），始终是深势科技的专有财产，您不拥有任何权利，但本准则下被明确授予的有限的使用许可权利除外。
+
+4、衍生作品传播规范
+若您传播基于Uni-Lab-OS程序修改形成的作品，须同时满足以下全部条件：
+4.1 作品必须包含显著声明，明确标注修改内容及修改日期；
+4.2 作品必须声明本作品依据本许可协议发布；
+4.3 必须将整个作品（包括修改部分）作为整体授予获取副本者本许可协议的保障，且该许可将自动延伸适用于作品全组件（无论其以何种形式打包）；
+4.4 若衍生作品含交互式用户界面：每个界面均须显示合规法律声明，若原始Uni-Lab-OS程序的交互界面未展示法律声明，您的衍生作品可免除此义务。
+
+5、提出建议
+您可以对本软件提出建议，前提是：
+（i）您声明并保证，该建议未侵害任何第三方的任何知识产权；
+（ii）您承认，深势科技有权使用该建议，但无使用该建议的义务；
+（iii）您授予深势科技一项非独占的、不可撤销的、可分许可的、无版权费的、全球范围的著作权许可，以复制、分发、传播、公开展示、公开表演、修改、翻译、基于其制作衍生作品、生产、制作、推销、销售、提供销售和/或以其他方式整体或部分地使用该建议和基于其的衍生作品，包括但不限于，通过将该建议整体或部分地纳入深势科技的软件和/或其他软件，以及在现存的或将来任何时候存在的任何媒介中或通过该媒介体现，以及为从事上述活动而授予多个分许可；
+（iv）您特此授予深势科技一项永久的、全球范围的、非独占性的、免费的、免特许权使用费的、不可撤销的专利许可，许可其制造、委托制造、使用、要约销售、销售、进口及以其他方式转让该建议和基于其的衍生专利。上述专利许可的适用范围仅限于以下专利权利要求：您有权许可的、且仅因您的建议本身，或因您的建议与所提交的本软件结合而必然构成侵权的专利权利要求。若任何实体针对您或其他实体提起专利诉讼（包括诉讼中的交叉诉讼或反诉），主张该建议或您所贡献的软件构成直接或间接专利侵权，则依据本协议授予的、针对该建议或软件的任何专利许可，自该诉讼提起之日起终止。
+（v）您放弃对该建议的任何权利或主张，深势科技无需承担任何义务、版税或基于知识产权或其他方面的限制。
+
+6、引用要求
+如您使用本软件获得的成果发表在出版物上，您应在成果中承认对Uni-Lab-OS软件的使用并标注权利人名称。引用 Uni-Lab-OS时请使用以下内容：
+@article{gao2025unilabos,
+	title = {UniLabOS: An AI-Native Operating System for Autonomous Laboratories},
+	doi = {10.48550/arXiv.2512.21766},
+	publisher = {arXiv},
+	author = {Gao, Jing and Chang, Junhan and Que, Haohui and Xiong, Yanfei and Zhang, Shixiang and Qi, Xianwei and Liu, Zhen and Wang, Jun-Jie and Ding, Qianjun and Li, Xinyu and Pan, Ziwei and Xie, Qiming and Yan, Zhuang and Yan, Junchi and Zhang, Linfeng},
+	year = {2025}
+}
+
+7、保留权利
+您认可，所有未被明确授予您的本软件的权利，无论是当前或今后存在的，均由深势科技予以保留，任何未经深势科技明确授权而使用本软件的行为将被视为侵权，深势科技有权追究侵权者的一切法律责任。
+
+8、保密信息
+您同意将本软件代码及相关文档视为深势科技的机密信息，您不会向任何第三方提供相关代码，并将采取合理审慎的使用态度来防止本软件代码及相关文档被泄露。
+
+9、无保证
+该软件是"按原样"提供的，没有任何明示或暗示的保证，不包含任何代码或规范没有缺陷、适销性、适用于特定目的或不侵犯第三方权利的保证。您同意您自主承担使用本软件或与本准则有关的全部风险。
+
+10、免责条款 
+在任何情况下，无论基于侵权（包括过失）、合同或其他法律理论，除非适用法律强制规定（如故意或重大过失行为）或另有书面协议，深势科技不对被许可人因软件许可、使用或无法使用软件所致损害承担责任（包括任何性质的直接、间接、特殊、偶发或后果性损害，例如但不限于商誉损失、停工损失、计算机故障或失灵造成的损害，以及其他一切商业损害或损失），即使深势科技已被告知发生此类损害的可能性亦不例外。
+被许可人在再分发软件或其衍生作品时，仅能以自身名义独立承担责任进行操作，不得代表深势科技或其他被许可人。
+
+11、终止
+如果您以任何方式违反本准则或未能遵守本准则的任何重要条款或条件，则您被授予的所有权利将自动终止。
+
+12、举报
+如果您认为有人违反了本准则，请向深势科技进行举报，深势科技将对您的身份进行严格保密，举报邮箱changjh@dp.tech。
+
+13、法律管辖
+本准则中的任何内容均不得解释为通过暗示、禁止反悔或其他方式授予本准则中授予的许可或权利以外的任何许可或权利。如果本准则的任何条款被认定为不可执行，则仅在必要的范围内对该条款进行修改，使其可执行。本准则应受中华人民共和国法律管辖，不适用法律冲突条款及《联合国国际货物销售合同公约》，因本准则产生的一切争议由北京市海淀区人民法院管辖。
+
+14、未来版本
+深势科技保留不经事先通知随时变更或停止本软件或本准则的权利。
+
+15、语言优先
+本准则同时具有中文版本和英文版本，如果英文版本和中文版本有冲突，以中文版本为准。
+
--- a/unilabos/devices/LICENSE_eng
+++ b/unilabos/devices/LICENSE_eng
@@ -0,0 +1,73 @@
+Uni-Lab-OS License Agreement
+
+Preamble
+This License Agreement (the "Agreement") is instituted to govern user conduct and obligations in relation to the utilization of the Uni-Lab-OS (the "Software"). By accessing, downloading, installing, or utilizing the Software in any manner, you hereby acknowledge that you have meticulously reviewed, comprehended, and consented to be legally bound by the terms herein. If you dissent from any provision of this Agreement, you must forthwith cease all interaction with the Software.
+
+1. Grant of License
+1.1 The proprietary rights to the Software are exclusively retained by Beijing DP Technology Co., Ltd. ("DP Technology"). Subject to full compliance with this Agreement, DP Technology hereby grants academic users ("Licensee") a worldwide, non-exclusive, royalty-free license to untilise the Software solely for non-commercial academic pursuits.
+
+1.2 The foregoing license applies exclusively to the Software's executable binary code. No rights whatsoever are conferred to the Software's source code.
+
+2. Usage Restrictions
+2.1 This license is restricted to academic users engaging in scholastic activities. Commercial entities, institutions, or any non-academic parties are expressly prohibited from utilizing the Software. Violations of this clause shall entitle DP Technology to pursue all available legal remedies.
+2.2 The Licensee shall obtain a commercial license from DP Technology for any commercial use of the Software.
+2.3 The Licensee shall not utilise the Software or any derivative works for commercial purposes, nor distribute, sublicense, lease, transfer, or otherwise disseminate the Software to third parties. The Licensee is strictly prohibited from utilizing the Software for the benefit of any third-party entity, whether gratuitously or otherwise.
+2.4 Reverse engineering, decompilation, disassembly, code isolation, or any attempt to derive source code from the Software is strictly prohibited. The Licensee shall not alter, circumvent, or remove copyright notices, trademarks, or proprietary legends embedded in the Software. Use of the Software for unlawful activities—including but not limited to intellectual property infringement or privacy violations—is categorically barred.
+2.5 The Licensee warrants that the Software shall be utilised solely for lawful academic purposes in compliance with applicable jurisdictional statutes. All legal liabilities arising from noncompliance shall be borne exclusively by the Licensee.
+
+3. Proprietary Rights
+This Agreement confers a license to utilise the Software, not a transfer of ownership. All intellectual property rights—including copyrights, patents, trade secrets, and documentation—remain the exclusive dominion of DP Technology. The Licensee acquires no entitlements beyond the limited usage privileges expressly delineated herein.
+
+4. Derivative Work
+You may convey a work based on the Software, or the modifications to produce it from the Software, provided that you meet all of these conditions:
+4.1 The work must carry prominent notices stating that you modified it, and giving a relevant date.
+4.2 The work must carry prominent notices stating that it is released under this License.
+4.3 You must license the entire work, as a whole, under this License to anyone who comes into possession of a copy. This License will therefore apply to the whole of the work, and all its parts, regardless of how they are packaged. This License gives no permission to license the work in any other way, but it does not invalidate such permission if you have separately received it.
+4.4 If the work has interactive user interfaces, each must display Appropriate Legal Notices; however, if the Software has interactive interfaces that do not display Appropriate Legal Notices, your work need not make them do so.
+
+5. Feedback and Proposals
+Licensees may submit proposals, suggestions, or improvements pertaining to the Software ("Feedback") under the following conditions:
+(a) Licensee represents and warrants that such Feedback does not infringe upon any third-party intellectual property rights;
+(b) Licensee acknowledges that DP Technology reserves the right, but assumes no obligation, to utilize such Feedback;
+(c) Licensee irrevocably grants DP Technology a non-exclusive, royalty-free, perpetual, worldwide, sublicensable copyright license to reproduce, distribute, modify, publicly perform or display, translate, create derivative works of, commercialize, and otherwise exploit the Feedback in any medium or format, whether now known or hereafter devised, including the right to grant multiple tiers of sublicenses to enable such activities;
+(d) Licensee hereby grants DP Technology a perpetual, worldwide, non-exclusive, no-charge, royalty-free, irrevocable (except as stated in this section) patent license to make, have made, use, offer to sell, sell, import, and otherwise transfer the Feedback and such Derivative Works, where such license applies only to those patent claimss licensable by Licensee that are necessarily infringed by the Feedback(s) alone or by comibination of the Feedback(s) with the Software to which such Feedback(s) were submitted. If any entity institutes patent litigation against Licensee or any other entity (including a cross-claim orcounterclaim in a lawsuit) alleging that the Feedback, or the Software to which you have contributed, constitutes direct or contributory patent infringement, then any patent licenses granted under this Agreement for the Feedback or Software shall terminate as of the date such litigation is filed.
+(e) Licensee hereby waives all claims, proprietary rights, or restrictions related to DP Technology's use of such Feedback.
+
+6. Citation Requirement
+If academic or research output generated using the Software is published, Licensee must explicitly acknowledge the use of Uni-Lab-OS and attribute ownership to DP Technology. The following citation must be included:
+@article{gao2025unilabos,
+	title = {UniLabOS: An AI-Native Operating System for Autonomous Laboratories},
+	doi = {10.48550/arXiv.2512.21766},
+	publisher = {arXiv},
+	author = {Gao, Jing and Chang, Junhan and Que, Haohui and Xiong, Yanfei and Zhang, Shixiang and Qi, Xianwei and Liu, Zhen and Wang, Jun-Jie and Ding, Qianjun and Li, Xinyu and Pan, Ziwei and Xie, Qiming and Yan, Zhuang and Yan, Junchi and Zhang, Linfeng},
+	year = {2025}
+}
+
+7. Reservation of Rights
+All rights not expressly granted herein, whether existing now or arising in the future, are exclusively reserved by DP Technology. Any unauthorized use of the Software beyond the scope of this Agreement constitutes infringement, and DP Technology reserves all legal rights to pursue remedies against violators.
+
+8. Confidentiality
+Licensee agrees to treat the Software's code, documentation, and related materials as confidential information. Licensee shall not disclose such materials to third parties and shall employ reasonable safeguards to prevent unauthorized access, dissemination, or misuse.
+
+9. Disclaimer of Warranties
+The software is provided "as is," without warranties of any kind, express or implied, including but not limited to warranties of merchantability, fitness for a particular purpose, non-infringement, or error-free operation. Licensee accepts all risks associated with the use of the software.
+
+10. Limitation of Liability
+In no event and under no legal theory, whether in tort (including negligence), contract, or otherwise, unless required by applicable law (such as deliberate and grossly negligent acts) or agreed to in writing, shall DP Technology be liable to Licensee for damages, including any direct, indirect, special, incidental, or consequential damages of any character arising as a result of this License or out of the use or inability to use the software (including but not limited to damages for loss of goodwill, work stoppage, computer failure or malfunction, or any and all other commercial damages or losses), even if DP Technology has been advised of the possibility of such damages.
+While redistributing the Software or Derivative Works thereof, Licensee may act only on Licensee's own behalf and on Licensee's sole responsibility, not on behalf of DP Technology or any other Licensee.
+
+11. Termination
+All rights granted herein shall terminate immediately and automatically if Licensee materially breaches any provision of this Agreement.
+
+12. Reporting Violations
+To report suspected violations of this Agreement, notify DP Technology via the designated email address: changjh@dp.tech. DP Technology shall maintain the confidentiality of the reporter's identity.
+
+13. Governing Law and Dispute Resolution
+This Agreement shall be governed by the laws of the People's Republic of China, excluding its conflict of laws principles and the United Nations Convention on Contracts for the International Sale of Goods. Any dispute arising from this Agreement shall be exclusively adjudicated by the Haidian District People's Court in Beijing.
+
+14. Amendments and Updates
+DP Technology reserves the right to modify, suspend, or terminate the Software or this Agreement at any time without prior notice.
+
+15. Language Priority
+This Agreement is provided in both Chinese and English. In the event of any discrepancy, the Chinese version shall prevail.
+
--- a/unilabos/devices/liquid_handling/biomek.py
+++ b/unilabos/devices/liquid_handling/biomek.py
@@ -13,7 +13,7 @@ from pylabrobot.resources import (
 import copy
 from unilabos_msgs.msg import Resource

-from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker  # type: ignore
+from unilabos.resources.resource_tracker import DeviceNodeResourceTracker  # type: ignore


 class LiquidHandlerBiomek:
--- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py
+++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py
@@ -1042,11 +1042,19 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
            One or more TipRacks providing fresh tips.
        is_96_well
            Set *True* to use the 96‑channel head.
+        mix_stage
+            When to mix the target wells relative to dispensing. Default "none" means
+            no mixing occurs even if mix_times is provided. Use "before", "after", or
+            "both" to mix at the corresponding stage(s).
+        mix_times
+            Number of mix cycles. If *None* (default) no mixing occurs regardless of
+            mix_stage.
        """
        
        # 确保 use_channels 有默认值
        if use_channels is None:
-            use_channels = [0] if self.channel_num >= 1 else list(range(self.channel_num))
+            # 默认使用设备所有通道（例如 8 通道移液站默认就是 0-7）
+            use_channels = list(range(self.channel_num)) if self.channel_num > 0 else [0]
        
        if is_96_well:
            pass  # This mode is not verified.
@@ -1074,42 +1082,42 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
        if mix_times is not None:
            mix_times = int(mix_times)
            
-            # 识别传输模式
-            num_sources = len(sources)
-            num_targets = len(targets)
-            
-            if num_sources == 1 and num_targets > 1:
-                # 模式1: 一对多 (1 source -> N targets)
-                await self._transfer_one_to_many(
-                    sources[0], targets, tip_racks, use_channels,
-                    asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
-                    offsets, touch_tip, liquid_height, blow_out_air_volume,
-                    spread, mix_stage, mix_times, mix_vol, mix_rate,
-                    mix_liquid_height, delays
-                )
-            elif num_sources > 1 and num_targets == 1:
-                # 模式2: 多对一 (N sources -> 1 target)
-                await self._transfer_many_to_one(
-                    sources, targets[0], tip_racks, use_channels,
-                    asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
-                    offsets, touch_tip, liquid_height, blow_out_air_volume,
-                    spread, mix_stage, mix_times, mix_vol, mix_rate,
-                    mix_liquid_height, delays
-                )
-            elif num_sources == num_targets:
-                # 模式3: 一对一 (N sources -> N targets) - 原有逻辑
-                await self._transfer_one_to_one(
-                    sources, targets, tip_racks, use_channels,
-                    asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
-                    offsets, touch_tip, liquid_height, blow_out_air_volume,
-                    spread, mix_stage, mix_times, mix_vol, mix_rate,
-                    mix_liquid_height, delays
-                )
-            else:
-                raise ValueError(
-                    f"Unsupported transfer mode: {num_sources} sources -> {num_targets} targets. "
-                    "Supported modes: 1->N, N->1, or N->N."
-                )
+        # 识别传输模式（mix_times 为 None 也应该能正常移液，只是不做 mix）
+        num_sources = len(sources)
+        num_targets = len(targets)
+        
+        if num_sources == 1 and num_targets > 1:
+            # 模式1: 一对多 (1 source -> N targets)
+            await self._transfer_one_to_many(
+                sources[0], targets, tip_racks, use_channels,
+                asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
+                offsets, touch_tip, liquid_height, blow_out_air_volume,
+                spread, mix_stage, mix_times, mix_vol, mix_rate,
+                mix_liquid_height, delays
+            )
+        elif num_sources > 1 and num_targets == 1:
+            # 模式2: 多对一 (N sources -> 1 target)
+            await self._transfer_many_to_one(
+                sources, targets[0], tip_racks, use_channels,
+                asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
+                offsets, touch_tip, liquid_height, blow_out_air_volume,
+                spread, mix_stage, mix_times, mix_vol, mix_rate,
+                mix_liquid_height, delays
+            )
+        elif num_sources == num_targets:
+            # 模式3: 一对一 (N sources -> N targets)
+            await self._transfer_one_to_one(
+                sources, targets, tip_racks, use_channels,
+                asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
+                offsets, touch_tip, liquid_height, blow_out_air_volume,
+                spread, mix_stage, mix_times, mix_vol, mix_rate,
+                mix_liquid_height, delays
+            )
+        else:
+            raise ValueError(
+                f"Unsupported transfer mode: {num_sources} sources -> {num_targets} targets. "
+                "Supported modes: 1->N, N->1, or N->N."
+            )

    async def _transfer_one_to_one(
        self,
@@ -1149,6 +1157,16 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                    tip.extend(next(self.current_tip))
                await self.pick_up_tips(tip)

+                if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
+                    await self.mix(
+                        targets=[targets[_]],
+                        mix_time=mix_times,
+                        mix_vol=mix_vol,
+                        offsets=offsets if offsets else None,
+                        height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                        mix_rate=mix_rate if mix_rate else None,
+                    )
+
                await self.aspirate(
                    resources=[sources[_]],
                    vols=[asp_vols[_]],
@@ -1209,6 +1227,16 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
                current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None

+                if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
+                    await self.mix(
+                        targets=current_targets,
+                        mix_time=mix_times,
+                        mix_vol=mix_vol,
+                        offsets=offsets if offsets else None,
+                        height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                        mix_rate=mix_rate if mix_rate else None,
+                    )
+
                await self.aspirate(
                    resources=current_reagent_sources,
                    vols=current_asp_vols,
@@ -1290,6 +1318,17 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                tip.extend(next(self.current_tip))
            await self.pick_up_tips(tip)

+            if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
+                for idx, target in enumerate(targets):
+                    await self.mix(
+                        targets=[target],
+                        mix_time=mix_times,
+                        mix_vol=mix_vol,
+                        offsets=offsets[idx:idx + 1] if offsets and len(offsets) > idx else None,
+                        height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                        mix_rate=mix_rate if mix_rate else None,
+                    )
+
            # 从源容器吸液（总体积）
            await self.aspirate(
                resources=[source],
@@ -1354,6 +1393,16 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                current_asp_liquid_height = liquid_height[0:1] * 8 if liquid_height and len(liquid_height) > 0 else [None] * 8
                current_asp_blow_out_air_volume = blow_out_air_volume[0:1] * 8 if blow_out_air_volume and len(blow_out_air_volume) > 0 else [None] * 8
                
+                if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
+                    await self.mix(
+                        targets=current_targets,
+                        mix_time=mix_times,
+                        mix_vol=mix_vol,
+                        offsets=offsets[i:i + 8] if offsets else None,
+                        height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                        mix_rate=mix_rate if mix_rate else None,
+                    )
+                
                # 从源容器吸液（8个通道都从同一个源，但每个通道的吸液体积不同）
                await self.aspirate(
                    resources=[source] * 8,  # 8个通道都从同一个源
@@ -1452,8 +1501,14 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
            # 单通道模式：多次吸液，一次分液
            # 先混合前（如果需要）
            if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
-                # 注意：在吸液前混合源容器通常不常见，这里跳过
-                pass
+                await self.mix(
+                    targets=[target],
+                    mix_time=mix_times,
+                    mix_vol=mix_vol,
+                    offsets=offsets[0:1] if offsets else None,
+                    height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                    mix_rate=mix_rate if mix_rate else None,
+                )
            
            # 从每个源容器吸液并分液到目标容器
            for idx, source in enumerate(sources):
@@ -1528,6 +1583,16 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                raise ValueError(f"For 8-channel mode, number of sources {len(sources)} must be a multiple of 8.")
            
            # 每次处理8个源
+            if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
+                await self.mix(
+                    targets=[target],
+                    mix_time=mix_times,
+                    mix_vol=mix_vol,
+                    offsets=offsets[0:1] if offsets else None,
+                    height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                    mix_rate=mix_rate if mix_rate else None,
+                )
+
            for i in range(0, len(sources), 8):
                tip = []
                for _ in range(len(use_channels)):
--- a/unilabos/devices/liquid_handling/prcxi/prcxi.py
+++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py
@@ -70,7 +70,16 @@ class PRCXI9300Deck(Deck):

    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, **kwargs):
        super().__init__(name, size_x, size_y, size_z)
-        self.slots = [None] * 6  # PRCXI 9300 有 6 个槽位
+        self.slots = [None] * 16  # PRCXI 9300/9320 最大有 16 个槽位
+        self.slot_locations = [Coordinate(0, 0, 0)] * 16
+
+    def assign_child_at_slot(self, resource: Resource, slot: int, reassign: bool = False) -> None:
+        if self.slots[slot - 1] is not None and not reassign:
+            raise ValueError(f"Spot {slot} is already occupied")
+
+        self.slots[slot - 1] = resource
+        super().assign_child_resource(resource, location=self.slot_locations[slot - 1])
+
 class PRCXI9300Container(Plate):
    """PRCXI 9300 的专用 Container 类，继承自 Plate，用于槽位定位和未知模块。

--- a/unilabos/devices/liquid_handling/test_transfer_liquid.py
+++ b/unilabos/devices/liquid_handling/test_transfer_liquid.py
@@ -0,0 +1,13 @@
+"""
+说明：
+这里放一个“入口文件”，方便在 `unilabos/devices/liquid_handling` 目录下直接找到
+`transfer_liquid` 的测试。
+
+实际测试用例实现放在仓库标准测试目录：
+`tests/devices/liquid_handling/test_transfer_liquid.py`
+"""
+
+# 让 pytest 能从这里发现同一套测试（避免复制两份测试代码）。
+from tests.devices.liquid_handling.test_transfer_liquid import *  # noqa: F401,F403
+
+
--- a/unilabos/devices/workstation/README.md
+++ b/unilabos/devices/workstation/README.md
@@ -1,9 +1,5 @@
 # 工作站抽象基类物料系统架构说明

-## 设计理念
-
-基于用户需求"请你帮我系统思考一下，工作站抽象基类的物料系统基类该如何构建"，我们最终确定了一个**PyLabRobot Deck为中心**的简化架构。
-
 ### 核心原则

 1. **PyLabRobot为物料管理核心**：使用PyLabRobot的Deck系统作为物料管理的基础，利用其成熟的Resource体系
--- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20251229_多订单返回说明.md
+++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20251229_多订单返回说明.md
@@ -0,0 +1,113 @@
+# Bioyond Cell 工作站 - 多订单返回示例
+
+本文档说明了 `create_orders` 函数如何收集并返回所有订单的完成报文。
+
+## 问题描述
+
+之前的实现只会等待并返回第一个订单的完成报文，如果有多个订单（例如从 Excel 解析出 3 个订单），只能得到第一个订单的推送信息。
+
+## 解决方案
+
+修改后的 `create_orders` 函数现在会：
+
+1. **提取所有 orderCode**：从 LIMS 接口返回的 `data` 列表中提取所有订单编号
+2. **逐个等待完成**：遍历所有 orderCode，调用 `wait_for_order_finish` 等待每个订单完成
+3. **收集所有报文**：将每个订单的完成报文存入 `all_reports` 列表
+4. **统一返回**：返回包含所有订单报文的 JSON 格式数据
+
+## 返回格式
+
+```json
+{
+    "status": "all_completed",
+    "total_orders": 3,
+    "reports": [
+        {
+            "token": "",
+            "request_time": "2025-12-24T15:32:09.2148671+08:00",
+            "data": {
+                "orderId": "3a1e614d-a082-c44a-60be-68647a35e6f1",
+                "orderCode": "BSO2025122400024",
+                "orderName": "DP20251224001",
+                "status": "30",
+                "workflowStatus": "completed",
+                "usedMaterials": [...]
+            }
+        },
+        {
+            "token": "",
+            "request_time": "2025-12-24T15:32:09.9999039+08:00",
+            "data": {
+                "orderId": "3a1e614d-a0a2-f7a9-9360-610021c9479d",
+                "orderCode": "BSO2025122400025",
+                "orderName": "DP20251224002",
+                "status": "30",
+                "workflowStatus": "completed",
+                "usedMaterials": [...]
+            }
+        },
+        {
+            "token": "",
+            "request_time": "2025-12-24T15:34:00.4139986+08:00",
+            "data": {
+                "orderId": "3a1e614d-a0cd-81ca-9f7f-2f4e93af01cd",
+                "orderCode": "BSO2025122400026",
+                "orderName": "DP20251224003",
+                "status": "30",
+                "workflowStatus": "completed",
+                "usedMaterials": [...]
+            }
+        }
+    ],
+    "original_response": {...}
+}
+```
+
+## 使用示例
+
+```python
+# 调用 create_orders
+result = workstation.create_orders("20251224.xlsx")
+
+# 访问返回数据
+print(f"总订单数: {result['total_orders']}")
+print(f"状态: {result['status']}")
+
+# 遍历所有订单的报文
+for i, report in enumerate(result['reports'], 1):
+    order_data = report.get('data', {})
+    print(f"\n订单 {i}:")
+    print(f"  orderCode: {order_data.get('orderCode')}")
+    print(f"  orderName: {order_data.get('orderName')}")
+    print(f"  status: {order_data.get('status')}")
+    print(f"  使用物料数: {len(order_data.get('usedMaterials', []))}")
+```
+
+## 控制台输出示例
+
+```
+[create_orders] 即将提交订单数量: 3
+[create_orders] 接口返回: {...}
+[create_orders] 等待 3 个订单完成: ['BSO2025122400024', 'BSO2025122400025', 'BSO2025122400026']
+[create_orders] 正在等待第 1/3 个订单: BSO2025122400024
+[create_orders] ✓ 订单 BSO2025122400024 完成
+[create_orders] 正在等待第 2/3 个订单: BSO2025122400025
+[create_orders] ✓ 订单 BSO2025122400025 完成
+[create_orders] 正在等待第 3/3 个订单: BSO2025122400026
+[create_orders] ✓ 订单 BSO2025122400026 完成
+[create_orders] 所有订单已完成，共收集 3 个报文
+实验记录本========================create_orders========================
+返回报文数量: 3
+报文 1: orderCode=BSO2025122400024, status=30
+报文 2: orderCode=BSO2025122400025, status=30
+报文 3: orderCode=BSO2025122400026, status=30
+========================
+```
+
+## 关键改进
+
+1. ✅ **等待所有订单**：不再只等待第一个订单，而是遍历所有 orderCode
+2. ✅ **收集完整报文**：每个订单的完整推送报文都被保存在 `reports` 数组中
+3. ✅ **详细日志**：清晰显示正在等待哪个订单，以及完成情况
+4. ✅ **错误处理**：即使某个订单失败，也会记录其状态信息
+5. ✅ **统一格式**：返回的 JSON 格式便于后续处理和分析
--- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/202601091.xlsx
+++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/202601091.xlsx
--- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260113_JSON配置迁移经验.md
+++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260113_JSON配置迁移经验.md
@@ -0,0 +1,204 @@
+# BioyondCellWorkstation JSON 配置迁移经验总结
+
+**日期**: 2026-01-13  
+**目的**: 从 `config.py` 迁移到 JSON 配置文件
+
+---
+
+## 问题背景
+
+原系统通过 `config.py` 管理配置，导致：
+1. HTTP 服务重复启动（父类 `BioyondWorkstation` 和子类都启动）
+2. 配置分散在代码中，不便于管理
+3. 无法通过 JSON 统一配置所有参数
+
+---
+
+## 解决方案：嵌套配置结构
+
+### JSON 结构设计
+
+**正确示例** (嵌套在 `config` 中):
+```json
+{
+  "nodes": [{
+    "id": "bioyond_cell_workstation",
+    "config": {
+      "deck": {...},
+      "protocol_type": [],
+      "bioyond_config": {
+        "api_host": "http://172.16.11.219:44388",
+        "api_key": "8A819E5C",
+        "timeout": 30,
+        "HTTP_host": "172.16.11.206",
+        "HTTP_port": 8080,
+        "debug_mode": false,
+        "material_type_mappings": {...},
+        "warehouse_mapping": {...},
+        "solid_liquid_mappings": {...}
+      }
+    },
+    "data": {}
+  }]
+}
+```
+
+**关键点**：
+- ✅ `bioyond_config` 放在 `config` 中（会传递到 `__init__`）
+- ❌ **不要**放在 `data` 中（`data` 是运行时状态，不会传递）
+
+---
+
+## Python 代码适配
+
+### 1. 修改 `BioyondCellWorkstation.__init__` 签名
+
+**文件**: `bioyond_cell_workstation.py`
+
+```python
+def __init__(self, bioyond_config: dict = None, deck=None, protocol_type=None, **kwargs):
+    """
+    Args:
+        bioyond_config: 从 JSON 加载的配置字典
+        deck: Deck 配置
+        protocol_type: 协议类型
+    """
+    # 验证配置
+    if bioyond_config is None:
+        raise ValueError("需要 bioyond_config 参数")
+    
+    # 保存配置
+    self.bioyond_config = bioyond_config
+    
+    # 设置 HTTP 服务去重标志
+    self.bioyond_config["_disable_auto_http_service"] = True
+    
+    # 调用父类
+    super().__init__(bioyond_config=self.bioyond_config, deck=deck, **kwargs)
+```
+
+### 2. 替换全局变量引用
+
+**修改前**（使用全局变量）:
+```python
+from config import MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING
+
+def create_sample(self, board_type, ...):
+    carrier_type_id = MATERIAL_TYPE_MAPPINGS[board_type][1]
+    location_id = WAREHOUSE_MAPPING[warehouse_name]["site_uuids"][location_code]
+```
+
+**修改后**（从配置读取）:
+```python
+def create_sample(self, board_type, ...):
+    carrier_type_id = self.bioyond_config['material_type_mappings'][board_type][1]
+    location_id = self.bioyond_config['warehouse_mapping'][warehouse_name]["site_uuids"][location_code]
+```
+
+### 3. 修复父类配置访问
+
+在 `station.py` 中安全访问配置默认值：
+
+```python
+# 修改前（会 KeyError）
+self._http_service_config = {
+    "host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG["http_service_host"])
+}
+
+# 修改后（安全访问）
+self._http_service_config = {
+    "host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG.get("http_service_host", ""))
+}
+```
+
+---
+
+## 常见陷阱
+
+### ❌ 错误1：将配置放在 `data` 字段
+```json
+"config": {"deck": {...}},
+"data": {"bioyond_config": {...}}  // ❌ 不会传递到 __init__
+```
+
+### ❌ 错误2：扁平化配置（已废弃方案）
+虽然扁平化也能工作，但不推荐：
+```json
+"config": {
+  "deck": {...},
+  "api_host": "...",     // ❌ 不够清晰
+  "api_key": "...",
+  "HTTP_host": "..."
+}
+```
+
+### ❌ 错误3：忘记替换全局变量引用
+代码中直接使用 `MATERIAL_TYPE_MAPPINGS` 等全局变量会导致 `NameError`。
+
+---
+
+## 云端同步注意事项
+
+使用 `--upload_registry` 时，云端配置可能覆盖本地配置：
+- 首次上传时确保 JSON 完整
+- 或使用新的 `ak/sk` 避免旧配置干扰
+- 调试时可暂时移除 `--upload_registry` 参数
+
+---
+
+## 验证清单
+
+启动成功后应看到：
+```
+✅ 从 JSON 配置加载 bioyond_config 成功
+   API Host: http://...
+   HTTP Service: ...
+✅ BioyondCellWorkstation 初始化完成
+Loaded ResourceTreeSet with ... nodes
+```
+
+运行时不应出现：
+- ❌ `NameError: name 'MATERIAL_TYPE_MAPPINGS' is not defined`
+- ❌ `KeyError: 'http_service_host'`
+- ❌ `bioyond_config 缺少必需参数`
+
+---
+
+## 调试经验
+
+1. **添加调试日志**查看参数传递链路：
+   - `graphio.py`: JSON 加载后的 config 内容
+   - `initialize_device.py`: `device_config.res_content.config` 的键
+   - `bioyond_cell_workstation.py`: `__init__` 接收到的参数
+
+2. **config vs data 区别**：
+   - `config`: 初始化参数，传递给 `__init__`
+   - `data`: 运行时状态，不传递给 `__init__`
+
+3. **参数名必须匹配**：
+   - JSON 中的键名必须与 `__init__` 参数名完全一致
+
+4. **调试代码清理**：完成后记得删除调试日志（🔍 DEBUG 标记）
+
+---
+
+## 修改文件清单
+
+| 文件 | 修改内容 |
+|------|----------|
+| `yibin_electrolyte_config.json` | 创建嵌套 `config.bioyond_config` 结构 |
+| `bioyond_cell_workstation.py` | 修改 `__init__` 接收 `bioyond_config`，替换所有全局变量引用 |
+| `station.py` | 安全访问 `HTTP_SERVICE_CONFIG` 默认值 |
+
+---
+
+## 参考代码位置
+
+- JSON 配置示例: `yibin_electrolyte_config.json` L12-L353
+- `__init__` 实现: `bioyond_cell_workstation.py` L39-L94
+- 全局变量替换示例: `bioyond_cell_workstation.py` L2005, L1863, L1966
+- HTTP 服务配置: `station.py` L629-L634
+
+---
+
+**总结**: 使用嵌套结构将所有配置放在 `config.bioyond_config` 中，修改 `__init__` 直接接收该参数，并替换所有全局变量引用为 `self.bioyond_config` 访问。
--- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260113_配置迁移修改总结.md
+++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260113_配置迁移修改总结.md
@@ -0,0 +1,312 @@
+# BioyondCell 配置迁移修改总结
+
+**日期**: 2026-01-13  
+**目标**: 从 `config.py` 完全迁移到 JSON 配置，消除所有全局变量依赖
+
+---
+
+## 📋 修改概览
+
+本次修改完成了 BioyondCell 模块从 Python 配置文件到 JSON 配置的完整迁移，并清理了所有对 `config.py` 全局变量的依赖。
+
+### 核心成果
+
+- ✅ 完全移除对 `config.py` 的导入依赖
+- ✅ 使用嵌套 JSON 结构 `config.bioyond_config`
+- ✅ 修复 7 处 `bioyond_cell_workstation.py` 中的全局变量引用
+- ✅ 修复 3 处其他文件中的全局变量引用
+- ✅ HTTP 服务去重机制完善
+- ✅ 系统成功启动并正常运行
+
+---
+
+## 🔧 修改文件清单
+
+### 1. JSON 配置文件
+
+**文件**: `yibin_electrolyte_config.json`
+
+**修改**:
+- 采用嵌套结构将所有配置放在 `config.bioyond_config` 中
+- 包含：`api_host`, `api_key`, `HTTP_host`, `HTTP_port`, `material_type_mappings`, `warehouse_mapping`, `solid_liquid_mappings` 等
+
+**示例结构**:
+```json
+{
+  "nodes": [{
+    "id": "bioyond_cell_workstation",
+    "config": {
+      "deck": {...},
+      "protocol_type": [],
+      "bioyond_config": {
+        "api_host": "http://172.16.11.219:44388",
+        "api_key": "8A819E5C",
+        "HTTP_host": "172.16.11.206",
+        "HTTP_port": 8080,
+        "material_type_mappings": {...},
+        "warehouse_mapping": {...},
+        "solid_liquid_mappings": {...}
+      }
+    }
+  }]
+}
+```
+
+---
+
+### 2. bioyond_cell_workstation.py
+
+**位置**: `unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py`
+
+#### 修改 A: `__init__` 方法签名 (L39-99)
+
+**修改前**:
+```python
+def __init__(self, deck=None, protocol_type=None, **kwargs):
+    # 从 kwargs 收集配置字段
+    self.bioyond_config = {}
+    for field in bioyond_field_names:
+        if field in kwargs:
+            self.bioyond_config[field] = kwargs.pop(field)
+```
+
+**修改后**:
+```python
+def __init__(self, bioyond_config: dict = None, deck=None, protocol_type=None, **kwargs):
+    """直接接收 bioyond_config 参数"""
+    if bioyond_config is None:
+        raise ValueError("需要 bioyond_config 参数")
+    
+    self.bioyond_config = bioyond_config
+    
+    # 设置 HTTP 服务去重标志
+    self.bioyond_config["_disable_auto_http_service"] = True
+    
+    super().__init__(bioyond_config=self.bioyond_config, deck=deck, **kwargs)
+```
+
+#### 修改 B: 替换全局变量引用 (7 处)
+
+| 位置 | 原代码 | 修改后 |
+|------|--------|--------|
+| L2005 | `MATERIAL_TYPE_MAPPINGS[board_type][1]` | `self.bioyond_config['material_type_mappings'][board_type][1]` |
+| L2006 | `MATERIAL_TYPE_MAPPINGS[bottle_type][1]` | `self.bioyond_config['material_type_mappings'][bottle_type][1]` |
+| L2009 | `WAREHOUSE_MAPPING` | `self.bioyond_config['warehouse_mapping']` |
+| L2013 | `WAREHOUSE_MAPPING[warehouse_name]` | `self.bioyond_config['warehouse_mapping'][warehouse_name]` |
+| L2017 | `WAREHOUSE_MAPPING[warehouse_name]["site_uuids"]` | `self.bioyond_config['warehouse_mapping'][warehouse_name]["site_uuids"]` |
+| L1863 | `SOLID_LIQUID_MAPPINGS.get(material_name)` | `self.bioyond_config.get('solid_liquid_mappings', {}).get(material_name)` |
+| L1966, L1976 | `MATERIAL_TYPE_MAPPINGS.items()` | `self.bioyond_config['material_type_mappings'].items()` |
+
+---
+
+### 3. station.py
+
+**位置**: `unilabos/devices/workstation/bioyond_studio/station.py`
+
+#### 修改 A: 删除 config 导入 (L26-28)
+
+**修改前**:
+```python
+from unilabos.devices.workstation.bioyond_studio.config import (
+    API_CONFIG, WORKFLOW_MAPPINGS, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING, HTTP_SERVICE_CONFIG
+)
+```
+
+**修改后**:
+```python
+# 已删除此导入
+```
+
+#### 修改 B: `_create_communication_module` 方法 (L691-702)
+
+**修改前**:
+```python
+def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
+    default_config = {
+        **API_CONFIG,
+        "workflow_mappings": WORKFLOW_MAPPINGS,
+        "material_type_mappings": MATERIAL_TYPE_MAPPINGS,
+        "warehouse_mapping": WAREHOUSE_MAPPING
+    }
+    if config:
+        self.bioyond_config = {**default_config, **config}
+    else:
+        self.bioyond_config = default_config
+```
+
+**修改后**:
+```python
+def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
+    """创建Bioyond通信模块"""
+    # 使用传入的 config 参数（来自 bioyond_config）
+    # 不再依赖全局变量 API_CONFIG 等
+    if config:
+        self.bioyond_config = config
+    else:
+        # 如果没有传入配置，创建空配置（用于测试或兼容性）
+        self.bioyond_config = {}
+    
+    self.hardware_interface = BioyondV1RPC(self.bioyond_config)
+```
+
+#### 修改 C: HTTP 服务配置 (L627-632)
+
+**修改前**:
+```python
+self._http_service_config = {
+    "host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG.get("http_service_host", "")),
+    "port": bioyond_config.get("http_service_port", HTTP_SERVICE_CONFIG.get("http_service_port", 0))
+}
+```
+
+**修改后**:
+```python
+self._http_service_config = {
+    "host": bioyond_config.get("http_service_host", bioyond_config.get("HTTP_host", "")),
+    "port": bioyond_config.get("http_service_port", bioyond_config.get("HTTP_port", 0))
+}
+```
+
+---
+
+### 4. bioyond_rpc.py
+
+**位置**: `unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py`
+
+#### 修改 A: 删除 config 导入 (L12)
+
+**修改前**:
+```python
+from unilabos.devices.workstation.bioyond_studio.config import LOCATION_MAPPING
+```
+
+**修改后**:
+```python
+# 已删除此导入
+```
+
+#### 修改 B: `material_outbound` 方法 (L278-280)
+
+**修改前**:
+```python
+def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
+    """指定库位出库物料（通过库位名称）"""
+    location_id = LOCATION_MAPPING.get(location_name, location_name)
+```
+
+**修改后**:
+```python
+def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
+    """指定库位出库物料（通过库位名称）"""
+    # location_name 参数实际上应该直接是 location_id (UUID)
+    location_id = location_name
+```
+
+**说明**: `LOCATION_MAPPING` 在 `config-0113.py` 中本来就是空字典 `{}`，所以直接使用 `location_name` 逻辑等价。
+
+---
+
+## 🎯 关键设计决策
+
+### 1. 嵌套 vs 扁平配置
+
+**选择**: 嵌套结构 `config.bioyond_config`
+
+**理由**:
+- ✅ 语义清晰，配置分组明确
+- ✅ 参数传递直观，直接对应 `__init__` 参数
+- ✅ 易于维护，不需要硬编码字段列表
+- ✅ 符合 UniLab 设计模式
+
+### 2. HTTP 服务去重
+
+**实现**: 子类设置 `_disable_auto_http_service` 标志
+
+```python
+# bioyond_cell_workstation.py
+self.bioyond_config["_disable_auto_http_service"] = True
+
+# station.py (post_init)
+if self.bioyond_config.get("_disable_auto_http_service"):
+    logger.info("子类已自行管理HTTP服务，跳过自动启动")
+    return
+```
+
+### 3. 全局变量替换策略
+
+**原则**: 所有配置从 `self.bioyond_config` 获取
+
+**模式**:
+```python
+# 修改前
+from config import MATERIAL_TYPE_MAPPINGS
+carrier_type_id = MATERIAL_TYPE_MAPPINGS[board_type][1]
+
+# 修改后
+carrier_type_id = self.bioyond_config['material_type_mappings'][board_type][1]
+```
+
+---
+
+## ✅ 验证结果
+
+### 启动成功日志
+```
+✅ 从 JSON 配置加载 bioyond_config 成功
+   API Host: http://172.16.11.219:44388
+   HTTP Service: 172.16.11.206:8080
+🔧 已设置 _disable_auto_http_service 标志，防止 HTTP 服务重复启动
+✅ BioyondCellWorkstation 初始化完成
+Loaded ResourceTreeSet with 1 trees, 1785 total nodes
+```
+
+### 功能验证
+- ✅ 订单创建 (`create_orders_v2`)
+- ✅ 质量比计算
+- ✅ 物料转移 (`transfer_3_to_2_to_1`)
+- ✅ HTTP 报送接收 (step_finish, sample_finish, order_finish)
+- ✅ 等待机制 (`wait_for_order_finish`)
+- ✅ 仓库 UUID 映射
+- ✅ 物料类型映射
+
+---
+
+## 📚 相关文档
+
+- **配置迁移经验**: `2026-01-13_JSON配置迁移经验.md`
+- **任务清单**: `C:\Users\AndyXie\.gemini\antigravity\brain\...\task.md`
+- **实施计划**: `C:\Users\AndyXie\.gemini\antigravity\brain\...\implementation_plan.md`
+
+---
+
+## ⚠️ 注意事项
+
+### 其他工作站模块
+
+以下文件仍在使用 `config.py` 全局变量（未包含在本次修改中）:
+- `reaction_station.py` - 使用 `API_CONFIG`
+- `experiment.py` - 使用 `API_CONFIG`, `WORKFLOW_MAPPINGS`, `MATERIAL_TYPE_MAPPINGS`
+- `dispensing_station.py` - 使用 `API_CONFIG`, `WAREHOUSE_MAPPING`
+- `station.py` L176, L177, L529, L530 - 动态导入 `WAREHOUSE_MAPPING`
+
+**建议**: 后续可以统一迁移这些模块到 JSON 配置。
+
+### config.py 文件
+
+`config.py` 文件已恢复但**不再被 bioyond_cell 使用**。可以：
+- 保留作为其他模块的参考
+- 或者完全删除（如果其他模块也迁移完成）
+
+---
+
+## 🚀 下一步建议
+
+1. **清理调试代码** ✅ (已完成)
+2. **提交代码到 Git**
+3. **迁移其他工作站模块** (可选)
+4. **更新文档和启动脚本**
+
+---
+
+**修改完成日期**: 2026-01-13  
+**系统状态**: ✅ 稳定运行
--- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py
+++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py
--- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
+++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
--- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/outbound_template.xlsx
+++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/outbound_template.xlsx
--- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/批量出库模板使用说明.md
+++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/批量出库模板使用说明.md
@@ -0,0 +1,157 @@
+# 批量出库 Excel 模板使用说明
+
+**文件**: `outbound_template.xlsx`  
+**用途**: 配合 `auto_batch_outbound_from_xlsx()` 方法进行批量出库操作  
+**API 端点**: `/api/lims/storage/auto-batch-out-bound`
+
+---
+
+## 📋 Excel 列说明
+
+| 列名 | 说明 | 示例 | 必填 |
+|------|------|------|------|
+| `locationId` | **库位 ID（UUID）** | `3a19da43-57b5-294f-d663-154a1cc32270` | ✅ 是 |
+| `warehouseId` | **仓库 ID 或名称** | `配液站内试剂仓库` | ✅ 是 |
+| `quantity` | **出库数量** | `1.0`, `2.0` | ✅ 是 |
+| `x` | **X 坐标（库位横向位置）** | `1`, `2`, `3` | ✅ 是 |
+| `y` | **Y 坐标（库位纵向位置）** | `1`, `2`, `3` | ✅ 是 |
+| `z` | **Z 坐标（库位层数/高度）** | `1`, `2`, `3` | ✅ 是 |
+| `备注说明` | 可选备注信息 | `配液站内试剂仓库-A01` | ❌ 否 |
+
+### 📐 坐标说明
+
+**x, y, z** 是库位在仓库内的**三维坐标**：
+
+```
+仓库（例如 WH4）
+├── Z=1（第1层/加样头面）
+│   ├── X=1, Y=1（位置 A）
+│   ├── X=2, Y=1（位置 B）
+│   ├── X=3, Y=1（位置 C）
+│   └── ...
+│
+└── Z=2（第2层/原液瓶面）
+    ├── X=1, Y=1（位置 A）
+    ├── X=2, Y=1（位置 B）
+    └── ...
+```
+
+- **warehouseId**: 指定哪个仓库（WH3, WH4, 配液站等）
+- **x, y, z**: 在该仓库内的三维坐标
+- **locationId**: 该坐标位置的唯一 UUID
+
+### 🎯 起点与终点
+
+**重要说明**：批量出库模板**只规定了出库的"起点"**（从哪里取物料），**没有指定"终点"**（放到哪里）。
+
+```
+出库流程：
+起点（Excel 指定） → ？终点（LIMS/工作流决定）
+    ↓
+locationId, x, y, z    → 由 LIMS 系统或当前工作流自动分配
+```
+
+**终点由以下方式确定：**
+- **LIMS 系统自动分配**：根据当前任务自动规划目标位置
+- **工作流预定义**：在创建出库任务时已绑定目标位置
+- **暂存区**：默认放到出库暂存区，等待下一步操作
+
+💡 **对比**：上料操作（`auto_feeding4to3`）则有 `targetWH` 参数可以指定目标仓库
+
+---
+
+## 🔍 如何获取 UUID？
+
+### 方法 1：从配置文件获取
+
+参考 `yibin_electrolyte_config.json` 中的 `warehouse_mapping`：
+
+```json
+{
+  "warehouse_mapping": {
+    "配液站内试剂仓库": {
+      "site_uuids": {
+        "A01": "3a19da43-57b5-294f-d663-154a1cc32270",
+        "B01": "3a19da43-57b5-7394-5f49-54efe2c9bef2",
+        "C01": "3a19da43-57b5-5e75-552f-8dbd0ad1075f"
+      }
+    },
+    "手动堆栈": {
+      "site_uuids": {
+        "A01": "3a19deae-2c7a-36f5-5e41-02c5b66feaea",
+        "A02": "3a19deae-2c7a-dc6d-c41e-ef285d946cfe"
+      }
+    }
+  }
+}
+```
+
+### 方法 2：通过 API 查询
+
+```python
+material_info = hardware_interface.material_id_query(workflow_id)
+locations = material_info.get("locations", [])
+```
+
+---
+
+## 📝 填写示例
+
+### 示例 1：从配液站内试剂仓库出库
+
+| locationId | warehouseId | quantity | x | y | z | 备注说明 |
+|------------|-------------|----------|---|---|---|----------|
+| `3a19da43-57b5-294f-d663-154a1cc32270` | 配液站内试剂仓库 | 1 | 1 | 1 | 1 | A01 位置 |
+| `3a19da43-57b5-7394-5f49-54efe2c9bef2` | 配液站内试剂仓库 | 2 | 2 | 1 | 1 | B01 位置 |
+
+### 示例 2：从手动堆栈出库
+
+| locationId | warehouseId | quantity | x | y | z | 备注说明 |
+|------------|-------------|----------|---|---|---|----------|
+| `3a19deae-2c7a-36f5-5e41-02c5b66feaea` | 手动堆栈 | 1 | 1 | 1 | 1 | A01 |
+| `3a19deae-2c7a-dc6d-c41e-ef285d946cfe` | 手动堆栈 | 1 | 1 | 2 | 1 | A02 |
+
+---
+
+## 💻 使用方法
+
+```python
+from bioyond_cell_workstation import BioyondCellWorkstation
+
+# 初始化工作站
+workstation = BioyondCellWorkstation(config=config, deck=deck)
+
+# 调用批量出库方法
+result = workstation.auto_batch_outbound_from_xlsx(
+    xlsx_path="outbound_template.xlsx"
+)
+```
+
+---
+
+## ⚠️ 注意事项
+
+1. **locationId 必须是有效的 UUID**，不能使用库位名称
+2. **x, y, z 坐标必须与 locationId 对应**，表示该库位在仓库内的位置
+3. **quantity 必须是数字**，可以是整数或浮点数
+4. Excel 文件必须包含表头行
+5. 空行会被自动跳过
+6. 确保 UUID 与实际库位对应，否则 API 会报错
+
+---
+
+## 📚 相关文件
+
+- **配置文件**: `yibin_electrolyte_config.json`
+- **Python 代码**: `bioyond_cell_workstation.py` (L630-695)
+- **生成脚本**: `create_outbound_template.py`
+- **上料模板**: `material_template.xlsx`
+
+---
+
+## 🔄 重新生成模板
+
+```bash
+conda activate newunilab
+python create_outbound_template.py
+```
--- a/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py
+++ b/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py
@@ -9,7 +9,7 @@ from datetime import datetime, timezone
 from unilabos.device_comms.rpc import BaseRequest
 from typing import Optional, List, Dict, Any
 import json
-from unilabos.devices.workstation.bioyond_studio.config import LOCATION_MAPPING
+


 class SimpleLogger:
@@ -49,6 +49,14 @@ class BioyondV1RPC(BaseRequest):
        self.config = config
        self.api_key = config["api_key"]
        self.host = config["api_host"]
+
+        # 初始化 location_mapping
+        # 直接从 warehouse_mapping 构建，确保数据源所谓的单一和结构化
+        self.location_mapping = {}
+        warehouse_mapping = self.config.get("warehouse_mapping", {})
+        for warehouse_name, warehouse_config in warehouse_mapping.items():
+            if "site_uuids" in warehouse_config:
+                self.location_mapping.update(warehouse_config["site_uuids"])
        self._logger = SimpleLogger()
        self.material_cache = {}
        self._load_material_cache()
@@ -176,7 +184,40 @@ class BioyondV1RPC(BaseRequest):
            return {}

        print(f"add material data: {response['data']}")
-        return response.get("data", {})
+
+        # 自动更新缓存
+        data = response.get("data", {})
+        if data:
+            if isinstance(data, str):
+                # 如果返回的是字符串，通常是ID
+                mat_id = data
+                name = params.get("name")
+            else:
+                # 如果返回的是字典，尝试获取name和id
+                name = data.get("name") or params.get("name")
+                mat_id = data.get("id")
+
+            if name and mat_id:
+                self.material_cache[name] = mat_id
+                print(f"已自动更新缓存: {name} -> {mat_id}")
+
+            # 处理返回数据中的 details (如果有)
+            # 有些 API 返回结构可能直接包含 details，或者在 data 字段中
+            details = data.get("details", []) if isinstance(data, dict) else []
+            if not details and isinstance(data, dict):
+                 details = data.get("detail", [])
+
+            if details:
+                for detail in details:
+                    d_name = detail.get("name")
+                    # 尝试从不同字段获取 ID
+                    d_id = detail.get("id") or detail.get("detailMaterialId")
+
+                    if d_name and d_id:
+                        self.material_cache[d_name] = d_id
+                        print(f"已自动更新 detail 缓存: {d_name} -> {d_id}")
+
+        return data

    def query_matial_type_id(self, data) -> list:
        """查找物料typeid"""
@@ -203,7 +244,7 @@ class BioyondV1RPC(BaseRequest):
            params={
                "apiKey": self.api_key,
                "requestTime": self.get_current_time_iso8601(),
-                "data": {},
+                "data": 0,
            })
        if not response or response['code'] != 1:
            return []
@@ -273,11 +314,19 @@ class BioyondV1RPC(BaseRequest):

        if not response or response['code'] != 1:
            return {}
+
+        # 自动更新缓存 - 移除被删除的物料
+        for name, mid in list(self.material_cache.items()):
+            if mid == material_id:
+                del self.material_cache[name]
+                print(f"已从缓存移除物料: {name}")
+                break
+
        return response.get("data", {})

    def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
        """指定库位出库物料（通过库位名称）"""
-        location_id = LOCATION_MAPPING.get(location_name, location_name)
+        location_id = self.location_mapping.get(location_name, location_name)

        params = {
            "materialId": material_id,
@@ -1103,6 +1152,10 @@ class BioyondV1RPC(BaseRequest):
                    for detail_material in detail_materials:
                        detail_name = detail_material.get("name")
                        detail_id = detail_material.get("detailMaterialId")
+                        if not detail_id:
+                            # 尝试其他可能的字段
+                            detail_id = detail_material.get("id")
+
                        if detail_name and detail_id:
                            self.material_cache[detail_name] = detail_id
                            print(f"加载detail材料: {detail_name} -> ID: {detail_id}")
@@ -1123,6 +1176,14 @@ class BioyondV1RPC(BaseRequest):
            print(f"从缓存找到材料: {material_name_or_id} -> ID: {material_id}")
            return material_id

+        # 如果缓存中没有，尝试刷新缓存
+        print(f"缓存中未找到材料 '{material_name_or_id}'，尝试刷新缓存...")
+        self.refresh_material_cache()
+        if material_name_or_id in self.material_cache:
+            material_id = self.material_cache[material_name_or_id]
+            print(f"刷新缓存后找到材料: {material_name_or_id} -> ID: {material_id}")
+            return material_id
+
        print(f"警告: 未在缓存中找到材料名称 '{material_name_or_id}'，将使用原值")
        return material_name_or_id

--- a/unilabos/devices/workstation/bioyond_studio/config.py
+++ b/unilabos/devices/workstation/bioyond_studio/config.py
@@ -1,142 +0,0 @@
-# config.py
-"""
-配置文件 - 包含所有配置信息和映射关系
-"""
-
-# API配置
-API_CONFIG = {
-    "api_key": "",
-    "api_host": ""
-}
-
-# 工作流映射配置
-WORKFLOW_MAPPINGS = {
-    "reactor_taken_out": "",
-    "reactor_taken_in": "",
-    "Solid_feeding_vials": "",
-    "Liquid_feeding_vials(non-titration)": "",
-    "Liquid_feeding_solvents": "",
-    "Liquid_feeding(titration)": "",
-    "liquid_feeding_beaker": "",
-    "Drip_back": "",
-}
-
-# 工作流名称到DisplaySectionName的映射
-WORKFLOW_TO_SECTION_MAP = {
-    'reactor_taken_in': '反应器放入',
-    'liquid_feeding_beaker': '液体投料-烧杯',
-    'Liquid_feeding_vials(non-titration)': '液体投料-小瓶（非滴定）',
-    'Liquid_feeding_solvents': '液体投料-溶剂',
-    'Solid_feeding_vials': '固体投料-小瓶',
-    'Liquid_feeding(titration)': '液体投料-滴定',
-    'reactor_taken_out': '反应器取出'
-}
-
-# 库位映射配置
-WAREHOUSE_MAPPING = {
-    "粉末堆栈": {
-        "uuid": "",
-        "site_uuids": {
-            # 样品板
-            "A1": "3a14198e-6929-31f0-8a22-0f98f72260df",
-            "A2": "3a14198e-6929-4379-affa-9a2935c17f99",
-            "A3": "3a14198e-6929-56da-9a1c-7f5fbd4ae8af",
-            "A4": "3a14198e-6929-5e99-2b79-80720f7cfb54",
-            "B1": "3a14198e-6929-f525-9a1b-1857552b28ee",
-            "B2": "3a14198e-6929-bf98-0fd5-26e1d68bf62d",
-            "B3": "3a14198e-6929-2d86-a468-602175a2b5aa",
-            "B4": "3a14198e-6929-1a98-ae57-e97660c489ad",
-            # 分装板
-            "C1": "3a14198e-6929-46fe-841e-03dd753f1e4a",
-            "C2": "3a14198e-6929-1bc9-a9bd-3b7ca66e7f95",
-            "C3": "3a14198e-6929-72ac-32ce-9b50245682b8",
-            "C4": "3a14198e-6929-3bd8-e6c7-4a9fd93be118",
-            "D1": "3a14198e-6929-8a0b-b686-6f4a2955c4e2",
-            "D2": "3a14198e-6929-dde1-fc78-34a84b71afdf",
-            "D3": "3a14198e-6929-a0ec-5f15-c0f9f339f963",
-            "D4": "3a14198e-6929-7ac8-915a-fea51cb2e884"
-        }
-    },
-    "溶液堆栈": {
-        "uuid": "",
-        "site_uuids": {
-            "A1": "3a14198e-d724-e036-afdc-2ae39a7f3383",
-            "A2": "3a14198e-d724-afa4-fc82-0ac8a9016791",
-            "A3": "3a14198e-d724-ca48-bb9e-7e85751e55b6",
-            "A4": "3a14198e-d724-df6d-5e32-5483b3cab583",
-            "B1": "3a14198e-d724-d818-6d4f-5725191a24b5",
-            "B2": "3a14198e-d724-be8a-5e0b-012675e195c6",
-            "B3": "3a14198e-d724-cc1e-5c2c-228a130f40a8",
-            "B4": "3a14198e-d724-1e28-c885-574c3df468d0",
-            "C1": "3a14198e-d724-b5bb-adf3-4c5a0da6fb31",
-            "C2": "3a14198e-d724-ab4e-48cb-817c3c146707",
-            "C3": "3a14198e-d724-7f18-1853-39d0c62e1d33",
-            "C4": "3a14198e-d724-28a2-a760-baa896f46b66",
-            "D1": "3a14198e-d724-d378-d266-2508a224a19f",
-            "D2": "3a14198e-d724-f56e-468b-0110a8feb36a",
-            "D3": "3a14198e-d724-0cf1-dea9-a1f40fe7e13c",
-            "D4": "3a14198e-d724-0ddd-9654-f9352a421de9"
-        }
-    },
-    "试剂堆栈": {
-        "uuid": "",
-        "site_uuids": {
-            "A1": "3a14198c-c2cf-8b40-af28-b467808f1c36",
-            "A2": "3a14198c-c2d0-f3e7-871a-e470d144296f",
-            "A3": "3a14198c-c2d0-dc7d-b8d0-e1d88cee3094",
-            "A4": "3a14198c-c2d0-2070-efc8-44e245f10c6f",
-            "B1": "3a14198c-c2d0-354f-39ad-642e1a72fcb8",
-            "B2": "3a14198c-c2d0-1559-105d-0ea30682cab4",
-            "B3": "3a14198c-c2d0-725e-523d-34c037ac2440",
-            "B4": "3a14198c-c2d0-efce-0939-69ca5a7dfd39"
-        }
-    }
-}
-
-# 物料类型配置
-MATERIAL_TYPE_MAPPINGS = {
-    "烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"),
-    "试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""),
-    "样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"),
-    "分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),
-    "样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"),
-    "90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"),
-    "10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"),
-}
-
-# 步骤参数配置（各工作流的步骤UUID）
-WORKFLOW_STEP_IDS = {
-    "reactor_taken_in": {
-        "config": ""
-    },
-    "liquid_feeding_beaker": {
-        "liquid": "",
-        "observe": ""
-    },
-    "liquid_feeding_vials_non_titration": {
-        "liquid": "",
-        "observe": ""
-    },
-    "liquid_feeding_solvents": {
-        "liquid": "",
-        "observe": ""
-    },
-    "solid_feeding_vials": {
-        "feeding": "",
-        "observe": ""
-    },
-    "liquid_feeding_titration": {
-        "liquid": "",
-        "observe": ""
-    },
-    "drip_back": {
-        "liquid": "",
-        "observe": ""
-    }
-}
-
-LOCATION_MAPPING = {}
-
-ACTION_NAMES = {}
-
-HTTP_SERVICE_CONFIG = {}
--- a/unilabos/devices/workstation/bioyond_studio/config.py.deprecated
+++ b/unilabos/devices/workstation/bioyond_studio/config.py.deprecated
@@ -0,0 +1,329 @@
+# config.py
+"""
+Bioyond工作站配置文件
+包含API配置、工作流映射、物料类型映射、仓库库位映射等所有配置信息
+"""
+
+from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck
+
+# ============================================================================
+# 基础配置
+# ============================================================================
+
+# API配置
+API_CONFIG = {
+    "api_key": "DE9BDDA0",
+    "api_host": "http://192.168.1.200:44402"
+}
+
+# HTTP 报送服务配置
+HTTP_SERVICE_CONFIG = {
+    "http_service_host": "127.0.0.1",  # 监听地址
+    "http_service_port": 8080,        # 监听端口
+}
+
+# Deck配置 - 反应站工作台配置
+DECK_CONFIG = BIOYOND_PolymerReactionStation_Deck(setup=True)
+
+# ============================================================================
+# 工作流配置
+# ============================================================================
+
+# 工作流ID映射
+WORKFLOW_MAPPINGS = {
+    "reactor_taken_out": "3a16081e-4788-ca37-eff4-ceed8d7019d1",
+    "reactor_taken_in": "3a160df6-76b3-0957-9eb0-cb496d5721c6",
+    "Solid_feeding_vials": "3a160877-87e7-7699-7bc6-ec72b05eb5e6",
+    "Liquid_feeding_vials(non-titration)": "3a167d99-6158-c6f0-15b5-eb030f7d8e47",
+    "Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046",
+    "Liquid_feeding(titration)": "3a16082a-96ac-0449-446a-4ed39f3365b6",
+    "liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
+    "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a",
+}
+
+# 工作流名称到显示名称的映射
+WORKFLOW_TO_SECTION_MAP = {
+    'reactor_taken_in': '反应器放入',
+    'reactor_taken_out': '反应器取出',
+    'Solid_feeding_vials': '固体投料-小瓶',
+    'Liquid_feeding_vials(non-titration)': '液体投料-小瓶（非滴定）',
+    'Liquid_feeding_solvents': '液体投料-溶剂',
+    'Liquid_feeding(titration)': '液体投料-滴定',
+    'liquid_feeding_beaker': '液体投料-烧杯',
+    'Drip_back': '液体回滴'
+}
+
+# 工作流步骤ID配置
+WORKFLOW_STEP_IDS = {
+    "reactor_taken_in": {
+        "config": "60a06f85-c5b3-29eb-180f-4f62dd7e2154"
+    },
+    "liquid_feeding_beaker": {
+        "liquid": "6808cda7-fee7-4092-97f0-5f9c2ffa60e3",
+        "observe": "1753c0de-dffc-4ee6-8458-805a2e227362"
+    },
+    "liquid_feeding_vials_non_titration": {
+        "liquid": "62ea6e95-3d5d-43db-bc1e-9a1802673861",
+        "observe": "3a167d99-6172-b67b-5f22-a7892197142e"
+    },
+    "liquid_feeding_solvents": {
+        "liquid": "1fcea355-2545-462b-b727-350b69a313bf",
+        "observe": "0553dfb3-9ac5-4ace-8e00-2f11029919a8"
+    },
+    "solid_feeding_vials": {
+        "feeding": "f7ae7448-4f20-4c1d-8096-df6fbadd787a",
+        "observe": "263c7ed5-7277-426b-bdff-d6fbf77bcc05"
+    },
+    "liquid_feeding_titration": {
+        "liquid": "a00ec41b-e666-4422-9c20-bfcd3cd15c54",
+        "observe": "ac738ff6-4c58-4155-87b1-d6f65a2c9ab5"
+    },
+    "drip_back": {
+        "liquid": "371be86a-ab77-4769-83e5-54580547c48a",
+        "observe": "ce024b9d-bd20-47b8-9f78-ca5ce7f44cf1"
+    }
+}
+
+# 工作流动作名称配置
+ACTION_NAMES = {
+    "reactor_taken_in": {
+        "config": "通量-配置",
+        "stirring": "反应模块-开始搅拌"
+    },
+    "solid_feeding_vials": {
+        "feeding": "粉末加样模块-投料",
+        "observe": "反应模块-观察搅拌结果"
+    },
+    "liquid_feeding_vials_non_titration": {
+        "liquid": "稀释液瓶加液位-液体投料",
+        "observe": "反应模块-滴定结果观察"
+    },
+    "liquid_feeding_solvents": {
+        "liquid": "试剂AB放置位-试剂吸液分液",
+        "observe": "反应模块-观察搅拌结果"
+    },
+    "liquid_feeding_titration": {
+        "liquid": "稀释液瓶加液位-稀释液吸液分液",
+        "observe": "反应模块-滴定结果观察"
+    },
+    "liquid_feeding_beaker": {
+        "liquid": "烧杯溶液放置位-烧杯吸液分液",
+        "observe": "反应模块-观察搅拌结果"
+    },
+    "drip_back": {
+        "liquid": "试剂AB放置位-试剂吸液分液",
+        "observe": "反应模块-向下滴定结果观察"
+    }
+}
+
+# ============================================================================
+# 仓库配置
+# ============================================================================
+# 说明:
+# - 出库和入库操作都需要UUID
+WAREHOUSE_MAPPING = {
+    # ========== 反应站仓库 ==========
+
+    # 堆栈1左 - 反应站左侧堆栈 (4行×4列=16个库位, A01～D04)
+    "堆栈1左": {
+        "uuid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
+        "site_uuids": {
+            "A01": "3a14aa17-0d49-11d7-a6e1-f236b3e5e5a3",
+            "A02": "3a14aa17-0d49-4bc5-8836-517b75473f5f",
+            "A03": "3a14aa17-0d49-c2bc-6222-5cee8d2d94f8",
+            "A04": "3a14aa17-0d49-3ce2-8e9a-008c38d116fb",
+            "B01": "3a14aa17-0d49-f49c-6b66-b27f185a3b32",
+            "B02": "3a14aa17-0d49-cf46-df85-a979c9c9920c",
+            "B03": "3a14aa17-0d49-7698-4a23-f7ffb7d48ba3",
+            "B04": "3a14aa17-0d49-1231-99be-d5870e6478e9",
+            "C01": "3a14aa17-0d49-be34-6fae-4aed9d48b70b",
+            "C02": "3a14aa17-0d49-11d7-0897-34921dcf6b7c",
+            "C03": "3a14aa17-0d49-9840-0bd5-9c63c1bb2c29",
+            "C04": "3a14aa17-0d49-8335-3bff-01da69ea4911",
+            "D01": "3a14aa17-0d49-2bea-c8e5-2b32094935d5",
+            "D02": "3a14aa17-0d49-cff4-e9e8-5f5f0bc1ef32",
+            "D03": "3a14aa17-0d49-4948-cb0a-78f30d1ca9b8",
+            "D04": "3a14aa17-0d49-fd2f-9dfb-a29b11e84099",
+        },
+    },
+
+    # 堆栈1右 - 反应站右侧堆栈 (4行×4列=16个库位, A05～D08)
+    "堆栈1右": {
+        "uuid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
+        "site_uuids": {
+            "A05": "3a14aa17-0d49-2c61-edc8-72a8ca7192dd",
+            "A06": "3a14aa17-0d49-60c8-2b00-40b17198f397",
+            "A07": "3a14aa17-0d49-ec5b-0b75-634dce8eed25",
+            "A08": "3a14aa17-0d49-3ec9-55b3-f3189c4ec53d",
+            "B05": "3a14aa17-0d49-6a4e-abcf-4c113eaaeaad",
+            "B06": "3a14aa17-0d49-e3f6-2dd6-28c2e8194fbe",
+            "B07": "3a14aa17-0d49-11a6-b861-ee895121bf52",
+            "B08": "3a14aa17-0d49-9c7d-1145-d554a6e482f0",
+            "C05": "3a14aa17-0d49-45c4-7a34-5105bc3e2368",
+            "C06": "3a14aa17-0d49-867e-39ab-31b3fe9014be",
+            "C07": "3a14aa17-0d49-ec56-c4b4-39fd9b2131e7",
+            "C08": "3a14aa17-0d49-1128-d7d9-ffb1231c98c0",
+            "D05": "3a14aa17-0d49-e843-f961-ea173326a14b",
+            "D06": "3a14aa17-0d49-4d26-a985-f188359c4f8b",
+            "D07": "3a14aa17-0d49-223a-b520-bc092bb42fe0",
+            "D08": "3a14aa17-0d49-4fa3-401a-6a444e1cca22",
+        },
+    },
+
+    # 站内试剂存放堆栈
+    "站内试剂存放堆栈": {
+        "uuid": "3a14aa3b-9fab-9d8e-d1a7-828f01f51f0c",
+        "site_uuids": {
+            "A01": "3a14aa3b-9fab-adac-7b9c-e1ee446b51d5",
+            "A02": "3a14aa3b-9fab-ca72-febc-b7c304476c78"
+        }
+    },
+
+
+    # 测量小瓶仓库（测密度）
+    "测量小瓶仓库": {
+        "uuid": "3a15012f-705b-c0de-3f9e-950c205f9921",
+        "site_uuids": {
+            "A01": "3a15012f-705e-0524-3161-c523b5aebc97",
+            "A02": "3a15012f-705e-7cd1-32ab-ad4fd1ab75c8",
+            "A03": "3a15012f-705e-a5d6-edac-bdbfec236260",
+            "B01": "3a15012f-705e-e0ee-80e0-10a6b3fc500d",
+            "B02": "3a15012f-705e-e499-180d-de06d60d0b21",
+            "B03": "3a15012f-705e-eff6-63f1-09f742096b26"
+        }
+    },
+
+    # 站内Tip盒堆栈 - 用于存放枪头盒 (耗材)
+    "站内Tip盒堆栈": {
+        "uuid": "3a14aa3a-2d3c-b5c1-9ddf-7c4a957d459a",
+        "site_uuids": {
+            "A01": "3a14aa3a-2d3d-e700-411a-0ddf85e1f18a",
+            "A02": "3a14aa3a-2d3d-a7ce-099a-d5632fdafa24",
+            "A03": "3a14aa3a-2d3d-bdf6-a702-c60b38b08501",
+            "B01": "3a14aa3a-2d3d-d704-f076-2a8d5bc72cb8",
+            "B02": "3a14aa3a-2d3d-c350-2526-0778d173a5ac",
+            "B03": "3a14aa3a-2d3d-bc38-b356-f0de2e44e0c7"
+        }
+    },
+    # ========== 配液站仓库 ==========
+    "粉末堆栈": {
+        "uuid": "3a14198e-6928-121f-7ca6-88ad3ae7e6a0",
+        "site_uuids": {
+            "A01": "3a14198e-6929-31f0-8a22-0f98f72260df",
+            "A02": "3a14198e-6929-4379-affa-9a2935c17f99",
+            "A03": "3a14198e-6929-56da-9a1c-7f5fbd4ae8af",
+            "A04": "3a14198e-6929-5e99-2b79-80720f7cfb54",
+            "B01": "3a14198e-6929-f525-9a1b-1857552b28ee",
+            "B02": "3a14198e-6929-bf98-0fd5-26e1d68bf62d",
+            "B03": "3a14198e-6929-2d86-a468-602175a2b5aa",
+            "B04": "3a14198e-6929-1a98-ae57-e97660c489ad",
+            "C01": "3a14198e-6929-46fe-841e-03dd753f1e4a",
+            "C02": "3a14198e-6929-72ac-32ce-9b50245682b8",
+            "C03": "3a14198e-6929-8a0b-b686-6f4a2955c4e2",
+            "C04": "3a14198e-6929-a0ec-5f15-c0f9f339f963",
+            "D01": "3a14198e-6929-1bc9-a9bd-3b7ca66e7f95",
+            "D02": "3a14198e-6929-3bd8-e6c7-4a9fd93be118",
+            "D03": "3a14198e-6929-dde1-fc78-34a84b71afdf",
+            "D04": "3a14198e-6929-7ac8-915a-fea51cb2e884"
+        }
+    },
+    "溶液堆栈": {
+        "uuid": "3a14198e-d723-2c13-7d12-50143e190a23",
+        "site_uuids": {
+            "A01": "3a14198e-d724-e036-afdc-2ae39a7f3383",
+            "A02": "3a14198e-d724-d818-6d4f-5725191a24b5",
+            "A03": "3a14198e-d724-b5bb-adf3-4c5a0da6fb31",
+            "A04": "3a14198e-d724-d378-d266-2508a224a19f",
+            "B01": "3a14198e-d724-afa4-fc82-0ac8a9016791",
+            "B02": "3a14198e-d724-be8a-5e0b-012675e195c6",
+            "B03": "3a14198e-d724-ab4e-48cb-817c3c146707",
+            "B04": "3a14198e-d724-f56e-468b-0110a8feb36a",
+            "C01": "3a14198e-d724-ca48-bb9e-7e85751e55b6",
+            "C02": "3a14198e-d724-cc1e-5c2c-228a130f40a8",
+            "C03": "3a14198e-d724-7f18-1853-39d0c62e1d33",
+            "C04": "3a14198e-d724-0cf1-dea9-a1f40fe7e13c",
+            "D01": "3a14198e-d724-df6d-5e32-5483b3cab583",
+            "D02": "3a14198e-d724-1e28-c885-574c3df468d0",
+            "D03": "3a14198e-d724-28a2-a760-baa896f46b66",
+            "D04": "3a14198e-d724-0ddd-9654-f9352a421de9"
+        }
+    },
+    "试剂堆栈": {
+        "uuid": "3a14198c-c2cc-0290-e086-44a428fba248",
+        "site_uuids": {
+            "A01": "3a14198c-c2cf-8b40-af28-b467808f1c36",  # x=1, y=1, code=0001-0001
+            "A02": "3a14198c-c2d0-dc7d-b8d0-e1d88cee3094",  # x=1, y=2, code=0001-0002
+            "A03": "3a14198c-c2d0-354f-39ad-642e1a72fcb8",  # x=1, y=3, code=0001-0003
+            "A04": "3a14198c-c2d0-725e-523d-34c037ac2440",  # x=1, y=4, code=0001-0004
+            "B01": "3a14198c-c2d0-f3e7-871a-e470d144296f",  # x=2, y=1, code=0001-0005
+            "B02": "3a14198c-c2d0-2070-efc8-44e245f10c6f",  # x=2, y=2, code=0001-0006
+            "B03": "3a14198c-c2d0-1559-105d-0ea30682cab4",  # x=2, y=3, code=0001-0007
+            "B04": "3a14198c-c2d0-efce-0939-69ca5a7dfd39"   # x=2, y=4, code=0001-0008
+        }
+    }
+}
+
+# ============================================================================
+# 物料类型配置
+# ============================================================================
+# 说明:
+# - 格式: PyLabRobot资源类型名称 → Bioyond系统typeId的UUID
+# - 这个映射基于 resource.model 属性 (不是显示名称!)
+# - UUID为空表示该类型暂未在Bioyond系统中定义
+MATERIAL_TYPE_MAPPINGS = {
+    # ================================================配液站资源============================================================
+    # ==================================================样品===============================================================
+    "BIOYOND_PolymerStation_1FlaskCarrier": ("烧杯", "3a14196b-24f2-ca49-9081-0cab8021bf1a"),  # 配液站-样品-烧杯
+    "BIOYOND_PolymerStation_1BottleCarrier": ("试剂瓶", "3a14196b-8bcf-a460-4f74-23f21ca79e72"),  # 配液站-样品-试剂瓶
+    "BIOYOND_PolymerStation_6StockCarrier": ("分装板", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),  # 配液站-样品-分装板
+    "BIOYOND_PolymerStation_Liquid_Vial": ("10%分装小瓶", "3a14196c-76be-2279-4e22-7310d69aed68"),  # 配液站-样品-分装板-第一排小瓶
+    "BIOYOND_PolymerStation_Solid_Vial": ("90%分装小瓶", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"),  # 配液站-样品-分装板-第二排小瓶
+    # ==================================================试剂===============================================================
+    "BIOYOND_PolymerStation_8StockCarrier": ("样品板", "3a14196e-b7a0-a5da-1931-35f3000281e9"),  # 配液站-试剂-样品板（8孔）
+    "BIOYOND_PolymerStation_Solid_Stock": ("样品瓶", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"),  # 配液站-试剂-样品板-样品瓶
+
+}
+
+# ============================================================================
+# 动态生成的库位UUID映射（从WAREHOUSE_MAPPING中提取）
+# ============================================================================
+
+LOCATION_MAPPING = {}
+for warehouse_name, warehouse_config in WAREHOUSE_MAPPING.items():
+    if "site_uuids" in warehouse_config:
+        LOCATION_MAPPING.update(warehouse_config["site_uuids"])
+
+# ============================================================================
+# 物料默认参数配置
+# ============================================================================
+# 说明:
+# - 为特定物料名称自动添加默认参数（如密度、分子量、单位等）
+# - 格式: 物料名称 → {参数字典}
+# - 在创建或更新物料时，会自动合并这些参数到 Parameters 字段
+# - unit: 物料的计量单位（会用于 unit 字段）
+# - density/densityUnit: 密度信息（会添加到 Parameters 中）
+
+MATERIAL_DEFAULT_PARAMETERS = {
+    # 溶剂类
+    "NMP": {
+        "unit": "毫升",
+        "density": "1.03",
+        "densityUnit": "g/mL",
+        "description": "N-甲基吡咯烷酮 (N-Methyl-2-pyrrolidone)"
+    },
+    # 可以继续添加其他物料...
+}
+
+# ============================================================================
+# 物料类型默认参数配置
+# ============================================================================
+# 说明:
+# - 为特定物料类型（UUID）自动添加默认参数
+# - 格式: Bioyond类型UUID → {参数字典}
+# - 优先级低于按名称匹配的配置
+MATERIAL_TYPE_PARAMETERS = {
+    # 示例:
+    # "3a14196b-24f2-ca49-9081-0cab8021bf1a": {  # 烧杯
+    #     "unit": "个"
+    # }
+}
--- a/unilabos/devices/workstation/bioyond_studio/dispensing_station/dispensing_station.py
+++ b/unilabos/devices/workstation/bioyond_studio/dispensing_station/dispensing_station.py
@@ -4,7 +4,8 @@ import time
 from typing import Optional, Dict, Any, List
 from typing_extensions import TypedDict
 import requests
-from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG
+import pint
+

 from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondException
 from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation
@@ -25,13 +26,89 @@ class ComputeExperimentDesignReturn(TypedDict):
 class BioyondDispensingStation(BioyondWorkstation):
    def __init__(
        self,
-        config,
-            # 桌子
-        deck,
-        *args,
+        config: dict = None,
+        deck=None,
+        protocol_type=None,
        **kwargs,
-        ):
-        super().__init__(config, deck, *args, **kwargs)
+    ):
+        """初始化配液站
+
+        Args:
+            config: 配置字典,应包含material_type_mappings等配置
+            deck: Deck对象
+            protocol_type: 协议类型(由ROS系统传递,此处忽略)
+            **kwargs: 其他可能的参数
+        """
+        if config is None:
+            config = {}
+
+        # 将 kwargs 合并到 config 中 (处理扁平化配置如 api_key)
+        config.update(kwargs)
+
+        if deck is None and config:
+            deck = config.get('deck')
+
+        # 🔧 修复: 确保 Deck 上的 warehouses 具有正确的 UUID (必须在 super().__init__ 之前执行，因为父类会触发同步)
+        # 从配置中读取 warehouse_mapping，并应用到实际的 deck 资源上
+        if config and "warehouse_mapping" in config and deck:
+            warehouse_mapping = config["warehouse_mapping"]
+            print(f"正在根据配置更新 Deck warehouse UUIDs... (共有 {len(warehouse_mapping)} 个配置)")
+
+            user_deck = deck
+            # 初始化 warehouses 字典
+            if not hasattr(user_deck, "warehouses") or user_deck.warehouses is None:
+                user_deck.warehouses = {}
+
+            # 1. 尝试从 children 中查找匹配的资源
+            for child in user_deck.children:
+                # 简单判断: 如果名字在 mapping 中，就认为是 warehouse
+                if child.name in warehouse_mapping:
+                    user_deck.warehouses[child.name] = child
+                    print(f"  - 从子资源中找到 warehouse: {child.name}")
+
+            # 2. 如果还是没找到，且 Deck 类有 setup 方法，尝试调用 setup (针对 Deck 对象正确但未初始化的情况)
+            if not user_deck.warehouses and hasattr(user_deck, "setup"):
+                print("  - 尝试调用 deck.setup() 初始化仓库...")
+                try:
+                    user_deck.setup()
+                    # setup 后重新检查
+                    if hasattr(user_deck, "warehouses") and user_deck.warehouses:
+                            print(f"  - setup() 成功，找到 {len(user_deck.warehouses)} 个仓库")
+                except Exception as e:
+                    print(f"  - 调用 setup() 失败: {e}")
+
+            # 3. 如果仍然为空，可能需要手动创建 (仅针对特定已知的 Deck 类型进行补救，这里暂时只打印警告)
+            if not user_deck.warehouses:
+                    print("  - ⚠️ 仍然无法找到任何 warehouse 资源！")
+
+            for wh_name, wh_config in warehouse_mapping.items():
+                target_uuid = wh_config.get("uuid")
+
+                # 尝试在 deck.warehouses 中查找
+                wh_resource = None
+                if hasattr(user_deck, "warehouses") and wh_name in user_deck.warehouses:
+                    wh_resource = user_deck.warehouses[wh_name]
+
+                # 如果没找到，尝试在所有子资源中查找
+                if not wh_resource:
+                    wh_resource = user_deck.get_resource(wh_name)
+
+                if wh_resource:
+                    if target_uuid:
+                        current_uuid = getattr(wh_resource, "uuid", None)
+                        print(f"✅ 更新仓库 '{wh_name}' UUID: {current_uuid} -> {target_uuid}")
+
+                        # 动态添加 uuid 属性
+                        wh_resource.uuid = target_uuid
+                        # 同时也确保 category 正确，避免 graphio 识别错误
+                        # wh_resource.category = "warehouse"
+                    else:
+                            print(f"⚠️ 仓库 '{wh_name}' 在配置中没有 UUID")
+                else:
+                    print(f"❌ 在 Deck 中未找到配置的仓库: '{wh_name}'")
+
+        super().__init__(bioyond_config=config, deck=deck)
+
        # self.config = config
        # self.api_key = config["api_key"]
        # self.host = config["api_host"]
@@ -43,6 +120,41 @@ class BioyondDispensingStation(BioyondWorkstation):
        # 用于跟踪任务完成状态的字典: {orderCode: {status, order_id, timestamp}}
        self.order_completion_status = {}

+        # 初始化 pint 单位注册表
+        self.ureg = pint.UnitRegistry()
+
+        # 化合物信息
+        self.compound_info = {
+            "MolWt": {
+                "MDA": 108.14 * self.ureg.g / self.ureg.mol,
+                "TDA": 122.16 * self.ureg.g / self.ureg.mol,
+                "PAPP": 521.62 * self.ureg.g / self.ureg.mol,
+                "BTDA": 322.23 * self.ureg.g / self.ureg.mol,
+                "BPDA": 294.22 * self.ureg.g / self.ureg.mol,
+                "6FAP": 366.26 * self.ureg.g / self.ureg.mol,
+                "PMDA": 218.12 * self.ureg.g / self.ureg.mol,
+                "MPDA": 108.14 * self.ureg.g / self.ureg.mol,
+                "SIDA": 248.51 * self.ureg.g / self.ureg.mol,
+                "ODA": 200.236 * self.ureg.g / self.ureg.mol,
+                "4,4'-ODA": 200.236 * self.ureg.g / self.ureg.mol,
+                "134": 292.34 * self.ureg.g / self.ureg.mol,
+            },
+            "FuncGroup": {
+                "MDA": "Amine",
+                "TDA": "Amine",
+                "PAPP": "Amine",
+                "BTDA": "Anhydride",
+                "BPDA": "Anhydride",
+                "6FAP": "Amine",
+                "MPDA": "Amine",
+                "SIDA": "Amine",
+                "PMDA": "Anhydride",
+                "ODA": "Amine",
+                "4,4'-ODA": "Amine",
+                "134": "Amine",
+            }
+        }
+
    def _post_project_api(self, endpoint: str, data: Any) -> Dict[str, Any]:
        """项目接口通用POST调用

@@ -54,7 +166,7 @@ class BioyondDispensingStation(BioyondWorkstation):
            dict: 服务端响应，失败时返回 {code:0,message,...}
        """
        request_data = {
-            "apiKey": API_CONFIG["api_key"],
+            "apiKey": self.bioyond_config["api_key"],
            "requestTime": self.hardware_interface.get_current_time_iso8601(),
            "data": data
        }
@@ -85,7 +197,7 @@ class BioyondDispensingStation(BioyondWorkstation):
            dict: 服务端响应，失败时返回 {code:0,message,...}
        """
        request_data = {
-            "apiKey": API_CONFIG["api_key"],
+            "apiKey": self.bioyond_config["api_key"],
            "requestTime": self.hardware_interface.get_current_time_iso8601(),
            "data": data
        }
@@ -118,20 +230,22 @@ class BioyondDispensingStation(BioyondWorkstation):
                    ratio = json.loads(ratio)
                except Exception:
                    ratio = {}
-            root = str(Path(__file__).resolve().parents[3])
-            if root not in sys.path:
-                sys.path.append(root)
-            try:
-                mod = importlib.import_module("tem.compute")
-            except Exception as e:
-                raise BioyondException(f"无法导入计算模块: {e}")
            try:
                wp = float(wt_percent) if isinstance(wt_percent, str) else wt_percent
                mt = float(m_tot) if isinstance(m_tot, str) else m_tot
                tp = float(titration_percent) if isinstance(titration_percent, str) else titration_percent
            except Exception as e:
                raise BioyondException(f"参数解析失败: {e}")
-            res = mod.generate_experiment_design(ratio=ratio, wt_percent=wp, m_tot=mt, titration_percent=tp)
+
+            # 2. 调用内部计算方法
+            res = self._generate_experiment_design(
+                ratio=ratio,
+                wt_percent=wp,
+                m_tot=mt,
+                titration_percent=tp
+            )
+
+            # 3. 构造返回结果
            out = {
                "solutions": res.get("solutions", []),
                "titration": res.get("titration", {}),
@@ -140,11 +254,248 @@ class BioyondDispensingStation(BioyondWorkstation):
                "return_info": json.dumps(res, ensure_ascii=False)
            }
            return out
+
        except BioyondException:
            raise
        except Exception as e:
            raise BioyondException(str(e))

+    def _generate_experiment_design(
+        self,
+        ratio: dict,
+        wt_percent: float = 0.25,
+        m_tot: float = 70,
+        titration_percent: float = 0.03,
+    ) -> dict:
+        """内部方法：生成实验设计
+
+        根据FuncGroup自动区分二胺和二酐，每种二胺单独配溶液，严格按照ratio顺序投料。
+
+        参数:
+            ratio: 化合物配比字典，格式: {"compound_name": ratio_value}
+            wt_percent: 固体重量百分比
+            m_tot: 反应混合物总质量(g)
+            titration_percent: 滴定溶液百分比
+
+        返回:
+            包含实验设计详细参数的字典
+        """
+        # 溶剂密度
+        ρ_solvent = 1.03 * self.ureg.g / self.ureg.ml
+        # 二酐溶解度
+        solubility = 0.02 * self.ureg.g / self.ureg.ml
+        # 投入固体时最小溶剂体积
+        V_min = 30 * self.ureg.ml
+        m_tot = m_tot * self.ureg.g
+
+        # 保持ratio中的顺序
+        compound_names = list(ratio.keys())
+        compound_ratios = list(ratio.values())
+
+        # 验证所有化合物是否在 compound_info 中定义
+        undefined_compounds = [name for name in compound_names if name not in self.compound_info["MolWt"]]
+        if undefined_compounds:
+            available = list(self.compound_info["MolWt"].keys())
+            raise ValueError(
+                f"以下化合物未在 compound_info 中定义: {undefined_compounds}。"
+                f"可用的化合物: {available}"
+            )
+
+        # 获取各化合物的分子量和官能团类型
+        molecular_weights = [self.compound_info["MolWt"][name] for name in compound_names]
+        func_groups = [self.compound_info["FuncGroup"][name] for name in compound_names]
+
+        # 记录化合物信息用于调试
+        self.hardware_interface._logger.info(f"化合物名称: {compound_names}")
+        self.hardware_interface._logger.info(f"官能团类型: {func_groups}")
+
+        # 按原始顺序分离二胺和二酐
+        ordered_compounds = list(zip(compound_names, compound_ratios, molecular_weights, func_groups))
+        diamine_compounds = [(name, ratio_val, mw, i) for i, (name, ratio_val, mw, fg) in enumerate(ordered_compounds) if fg == "Amine"]
+        anhydride_compounds = [(name, ratio_val, mw, i) for i, (name, ratio_val, mw, fg) in enumerate(ordered_compounds) if fg == "Anhydride"]
+
+        if not diamine_compounds or not anhydride_compounds:
+            raise ValueError(
+                f"需要同时包含二胺(Amine)和二酐(Anhydride)化合物。"
+                f"当前二胺: {[c[0] for c in diamine_compounds]}, "
+                f"当前二酐: {[c[0] for c in anhydride_compounds]}"
+            )
+
+        # 计算加权平均分子量 (基于摩尔比)
+        total_molar_ratio = sum(compound_ratios)
+        weighted_molecular_weight = sum(ratio_val * mw for ratio_val, mw in zip(compound_ratios, molecular_weights))
+
+        # 取最后一个二酐用于滴定
+        titration_anhydride = anhydride_compounds[-1]
+        solid_anhydrides = anhydride_compounds[:-1] if len(anhydride_compounds) > 1 else []
+
+        # 二胺溶液配制参数 - 每种二胺单独配制
+        diamine_solutions = []
+        total_diamine_volume = 0 * self.ureg.ml
+
+        # 计算反应物的总摩尔量
+        n_reactant = m_tot * wt_percent / weighted_molecular_weight
+
+        for name, ratio_val, mw, order_index in diamine_compounds:
+            # 跳过 SIDA
+            if name == "SIDA":
+                continue
+
+            # 计算该二胺需要的摩尔数
+            n_diamine_needed = n_reactant * ratio_val
+
+            # 二胺溶液配制参数 (每种二胺固定配制参数)
+            m_diamine_solid = 5.0 * self.ureg.g  # 每种二胺固体质量
+            V_solvent_for_this = 20 * self.ureg.ml  # 每种二胺溶剂体积
+            m_solvent_for_this = ρ_solvent * V_solvent_for_this
+
+            # 计算该二胺溶液的浓度
+            c_diamine = (m_diamine_solid / mw) / V_solvent_for_this
+
+            # 计算需要移取的溶液体积
+            V_diamine_needed = n_diamine_needed / c_diamine
+
+            diamine_solutions.append({
+                "name": name,
+                "order": order_index,
+                "solid_mass": m_diamine_solid.magnitude,
+                "solvent_volume": V_solvent_for_this.magnitude,
+                "concentration": c_diamine.magnitude,
+                "volume_needed": V_diamine_needed.magnitude,
+                "molar_ratio": ratio_val
+            })
+
+            total_diamine_volume += V_diamine_needed
+
+        # 按原始顺序排序
+        diamine_solutions.sort(key=lambda x: x["order"])
+
+        # 计算滴定二酐的质量
+        titration_name, titration_ratio, titration_mw, _ = titration_anhydride
+        m_titration_anhydride = n_reactant * titration_ratio * titration_mw
+        m_titration_90 = m_titration_anhydride * (1 - titration_percent)
+        m_titration_10 = m_titration_anhydride * titration_percent
+
+        # 计算其他固体二酐的质量 (按顺序)
+        solid_anhydride_masses = []
+        for name, ratio_val, mw, order_index in solid_anhydrides:
+            mass = n_reactant * ratio_val * mw
+            solid_anhydride_masses.append({
+                "name": name,
+                "order": order_index,
+                "mass": mass.magnitude,
+                "molar_ratio": ratio_val
+            })
+
+        # 按原始顺序排序
+        solid_anhydride_masses.sort(key=lambda x: x["order"])
+
+        # 计算溶剂用量
+        total_diamine_solution_mass = sum(
+            sol["volume_needed"] * ρ_solvent for sol in diamine_solutions
+        ) * self.ureg.ml
+
+        # 预估滴定溶剂量、计算补加溶剂量
+        m_solvent_titration = m_titration_10 / solubility * ρ_solvent
+        m_solvent_add = m_tot * (1 - wt_percent) - total_diamine_solution_mass - m_solvent_titration
+
+        # 检查最小溶剂体积要求
+        total_liquid_volume = (total_diamine_solution_mass + m_solvent_add) / ρ_solvent
+        m_tot_min = V_min / total_liquid_volume * m_tot
+
+        # 如果需要，按比例放大
+        scale_factor = 1.0
+        if m_tot_min > m_tot:
+            scale_factor = (m_tot_min / m_tot).magnitude
+            m_titration_90 *= scale_factor
+            m_titration_10 *= scale_factor
+            m_solvent_add *= scale_factor
+            m_solvent_titration *= scale_factor
+
+            # 更新二胺溶液用量
+            for sol in diamine_solutions:
+                sol["volume_needed"] *= scale_factor
+
+            # 更新固体二酐用量
+            for anhydride in solid_anhydride_masses:
+                anhydride["mass"] *= scale_factor
+
+            m_tot = m_tot_min
+
+        # 生成投料顺序
+        feeding_order = []
+
+        # 1. 固体二酐 (按顺序)
+        for anhydride in solid_anhydride_masses:
+            feeding_order.append({
+                "step": len(feeding_order) + 1,
+                "type": "solid_anhydride",
+                "name": anhydride["name"],
+                "amount": anhydride["mass"],
+                "order": anhydride["order"]
+            })
+
+        # 2. 二胺溶液 (按顺序)
+        for sol in diamine_solutions:
+            feeding_order.append({
+                "step": len(feeding_order) + 1,
+                "type": "diamine_solution",
+                "name": sol["name"],
+                "amount": sol["volume_needed"],
+                "order": sol["order"]
+            })
+
+        # 3. 主要二酐粉末
+        feeding_order.append({
+            "step": len(feeding_order) + 1,
+            "type": "main_anhydride",
+            "name": titration_name,
+            "amount": m_titration_90.magnitude,
+            "order": titration_anhydride[3]
+        })
+
+        # 4. 补加溶剂
+        if m_solvent_add > 0:
+            feeding_order.append({
+                "step": len(feeding_order) + 1,
+                "type": "additional_solvent",
+                "name": "溶剂",
+                "amount": m_solvent_add.magnitude,
+                "order": 999
+            })
+
+        # 5. 滴定二酐溶液
+        feeding_order.append({
+            "step": len(feeding_order) + 1,
+            "type": "titration_anhydride",
+            "name": f"{titration_name} 滴定液",
+            "amount": m_titration_10.magnitude,
+            "titration_solvent": m_solvent_titration.magnitude,
+            "order": titration_anhydride[3]
+        })
+
+        # 返回实验设计结果
+        results = {
+            "total_mass": m_tot.magnitude,
+            "scale_factor": scale_factor,
+            "solutions": diamine_solutions,
+            "solids": solid_anhydride_masses,
+            "titration": {
+                "name": titration_name,
+                "main_portion": m_titration_90.magnitude,
+                "titration_portion": m_titration_10.magnitude,
+                "titration_solvent": m_solvent_titration.magnitude,
+            },
+            "solvents": {
+                "additional_solvent": m_solvent_add.magnitude,
+                "total_liquid_volume": total_liquid_volume.magnitude
+            },
+            "feeding_order": feeding_order,
+            "minimum_required_mass": m_tot_min.magnitude
+        }
+
+        return results
+
    # 90%10%小瓶投料任务创建方法
    def create_90_10_vial_feeding_task(self,
                                       order_name: str = None,
@@ -961,6 +1312,108 @@ class BioyondDispensingStation(BioyondWorkstation):
            'actualVolume': actual_volume
        }

+    def _simplify_report(self, report) -> Dict[str, Any]:
+        """简化实验报告，只保留关键信息，去除冗余的工作流参数"""
+        if not isinstance(report, dict):
+            return report
+
+        data = report.get('data', {})
+        if not isinstance(data, dict):
+            return report
+
+        # 提取关键信息
+        simplified = {
+            'name': data.get('name'),
+            'code': data.get('code'),
+            'requester': data.get('requester'),
+            'workflowName': data.get('workflowName'),
+            'workflowStep': data.get('workflowStep'),
+            'requestTime': data.get('requestTime'),
+            'startPreparationTime': data.get('startPreparationTime'),
+            'completeTime': data.get('completeTime'),
+            'useTime': data.get('useTime'),
+            'status': data.get('status'),
+            'statusName': data.get('statusName'),
+        }
+
+        # 提取物料信息（简化版）
+        pre_intakes = data.get('preIntakes', [])
+        if pre_intakes and isinstance(pre_intakes, list):
+            first_intake = pre_intakes[0]
+            sample_materials = first_intake.get('sampleMaterials', [])
+
+            # 简化物料信息
+            simplified_materials = []
+            for material in sample_materials:
+                if isinstance(material, dict):
+                    mat_info = {
+                        'materialName': material.get('materialName'),
+                        'materialTypeName': material.get('materialTypeName'),
+                        'materialCode': material.get('materialCode'),
+                        'materialLocation': material.get('materialLocation'),
+                    }
+
+                    # 解析parameters中的关键信息（如密度、加料历史等）
+                    params_str = material.get('parameters', '{}')
+                    try:
+                        params = json.loads(params_str) if isinstance(params_str, str) else params_str
+                        if isinstance(params, dict):
+                            # 只保留关键参数
+                            if 'density' in params:
+                                mat_info['density'] = params['density']
+                            if 'feedingHistory' in params:
+                                mat_info['feedingHistory'] = params['feedingHistory']
+                            if 'liquidVolume' in params:
+                                mat_info['liquidVolume'] = params['liquidVolume']
+                            if 'm_diamine_tot' in params:
+                                mat_info['m_diamine_tot'] = params['m_diamine_tot']
+                            if 'wt_diamine' in params:
+                                mat_info['wt_diamine'] = params['wt_diamine']
+                    except:
+                        pass
+
+                    simplified_materials.append(mat_info)
+
+            simplified['sampleMaterials'] = simplified_materials
+
+            # 提取extraProperties中的实际值
+            extra_props = first_intake.get('extraProperties', {})
+            if isinstance(extra_props, dict):
+                simplified_extra = {}
+                for key, value in extra_props.items():
+                    try:
+                        parsed_value = json.loads(value) if isinstance(value, str) else value
+                        simplified_extra[key] = parsed_value
+                    except:
+                        simplified_extra[key] = value
+                simplified['extraProperties'] = simplified_extra
+
+        return {
+            'data': simplified,
+            'code': report.get('code'),
+            'message': report.get('message'),
+            'timestamp': report.get('timestamp')
+        }
+
+    def scheduler_start(self) -> dict:
+        """启动调度器 - 启动Bioyond工作站的任务调度器，开始执行队列中的任务
+
+        Returns:
+            dict: 包含return_info的字典，return_info为整型(1=成功)
+
+        Raises:
+            BioyondException: 调度器启动失败时抛出异常
+        """
+        result = self.hardware_interface.scheduler_start()
+        self.hardware_interface._logger.info(f"调度器启动结果: {result}")
+
+        if result != 1:
+            error_msg = "启动调度器失败: 有未处理错误，调度无法启动。请检查Bioyond系统状态。"
+            self.hardware_interface._logger.error(error_msg)
+            raise BioyondException(error_msg)
+
+        return {"return_info": result}
+
    # 等待多个任务完成并获取实验报告
    def wait_for_multiple_orders_and_get_reports(self,
                                                  batch_create_result: str = None,
@@ -1002,7 +1455,12 @@ class BioyondDispensingStation(BioyondWorkstation):

            # 验证batch_create_result参数
            if not batch_create_result or batch_create_result == "":
-                raise BioyondException("batch_create_result参数为空，请确保从batch_create节点正确连接handle")
+                raise BioyondException(
+                    "batch_create_result参数为空，请确保:\n"
+                    "1. batch_create节点与wait节点之间正确连接了handle\n"
+                    "2. batch_create节点成功执行并返回了结果\n"
+                    "3. 检查上游batch_create任务是否成功创建了订单"
+                )

            # 解析batch_create_result JSON对象
            try:
@@ -1031,7 +1489,17 @@ class BioyondDispensingStation(BioyondWorkstation):

            # 验证提取的数据
            if not order_codes:
-                raise BioyondException("batch_create_result中未找到order_codes字段或为空")
+                self.hardware_interface._logger.error(
+                    f"batch_create任务未生成任何订单。batch_create_result内容: {batch_create_result}"
+                )
+                raise BioyondException(
+                    "batch_create_result中未找到order_codes或为空。\n"
+                    "可能的原因:\n"
+                    "1. batch_create任务执行失败（检查任务是否报错）\n"
+                    "2. 物料配置问题（如'物料样品板分配失败'）\n"
+                    "3. Bioyond系统状态异常\n"
+                    f"请检查batch_create任务的执行结果"
+                )
            if not order_ids:
                raise BioyondException("batch_create_result中未找到order_ids字段或为空")

@@ -1114,6 +1582,8 @@ class BioyondDispensingStation(BioyondWorkstation):
                                self.hardware_interface._logger.info(
                                    f"成功获取任务 {order_code} 的实验报告"
                                )
+                                # 简化报告，去除冗余信息
+                                report = self._simplify_report(report)

                            reports.append({
                                "order_code": order_code,
@@ -1288,7 +1758,7 @@ class BioyondDispensingStation(BioyondWorkstation):
                f"开始执行批量物料转移: {len(transfer_groups)}组任务 -> {target_device_id}"
            )

-            from .config import WAREHOUSE_MAPPING
+            warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})
            results = []
            successful_count = 0
            failed_count = 0
--- a/unilabos/devices/workstation/bioyond_studio/reaction_station/reaction_station.py
+++ b/unilabos/devices/workstation/bioyond_studio/reaction_station/reaction_station.py
--- a/unilabos/devices/workstation/bioyond_studio/station.py
+++ b/unilabos/devices/workstation/bioyond_studio/station.py
@@ -6,6 +6,7 @@ Bioyond Workstation Implementation
 """
 import time
 import traceback
+import threading
 from datetime import datetime
 from typing import Dict, Any, List, Optional, Union
 import json
@@ -23,12 +24,94 @@ from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
 from unilabos.ros.msgs.message_converter import convert_to_ros_msg, Float64, String
 from pylabrobot.resources.resource import Resource as ResourcePLR

-from unilabos.devices.workstation.bioyond_studio.config import (
-    API_CONFIG, WORKFLOW_MAPPINGS, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING, HTTP_SERVICE_CONFIG
-)
+
 from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService


+class ConnectionMonitor:
+    """Bioyond连接监控器"""
+    def __init__(self, workstation, check_interval=30):
+        self.workstation = workstation
+        self.check_interval = check_interval
+        self._running = False
+        self._thread = None
+        self._last_status = "unknown"
+
+    def start(self):
+        if self._running:
+            return
+        self._running = True
+        self._thread = threading.Thread(target=self._monitor_loop, daemon=True, name="BioyondConnectionMonitor")
+        self._thread.start()
+        logger.info("Bioyond连接监控器已启动")
+
+    def stop(self):
+        self._running = False
+        if self._thread:
+            self._thread.join(timeout=2)
+            logger.info("Bioyond连接监控器已停止")
+
+    def _monitor_loop(self):
+        while self._running:
+            try:
+                # 使用 lightweight API 检查连接
+                # query_matial_type_list 是比较快的查询
+                start_time = time.time()
+                result = self.workstation.hardware_interface.material_type_list()
+
+                status = "online" if result else "offline"
+                msg = "Connection established" if status == "online" else "Failed to get material type list"
+
+                if status != self._last_status:
+                    logger.info(f"Bioyond连接状态变更: {self._last_status} -> {status}")
+                    self._publish_event(status, msg)
+                    self._last_status = status
+
+                # 发布心跳 (可选，或者只在状态变更时发布)
+                # self._publish_event(status, msg)
+
+            except Exception as e:
+                logger.error(f"Bioyond连接检查异常: {e}")
+                if self._last_status != "error":
+                    self._publish_event("error", str(e))
+                    self._last_status = "error"
+
+            time.sleep(self.check_interval)
+
+    def _publish_event(self, status, message):
+        try:
+            if hasattr(self.workstation, "_ros_node") and self.workstation._ros_node:
+                event_data = {
+                    "status": status,
+                    "message": message,
+                    "timestamp": datetime.now().isoformat()
+                }
+
+                # 动态发布消息，需要在 ROS2DeviceNode 中有对应支持
+                # 这里假设通用事件发布机制，使用 String 类型的 topic
+                # 话题: /<namespace>/events/device_status
+                ns = self.workstation._ros_node.namespace
+                topic = f"{ns}/events/device_status"
+
+                # 使用 ROS2DeviceNode 的发布功能
+                # 如果没有预定义的 publisher，需要动态创建
+                # 注意：workstation base node 可能没有自动创建 arbitrary publishers 的机制
+                # 这里我们先尝试用 String json 发布
+
+                # 在 ROS2DeviceNode 中通常需要先 create_publisher
+                # 为了简单起见，我们检查是否已有 publisher，没有则创建
+                if not hasattr(self.workstation, "_device_status_pub"):
+                    self.workstation._device_status_pub = self.workstation._ros_node.create_publisher(
+                        String, topic, 10
+                    )
+
+                self.workstation._device_status_pub.publish(
+                    convert_to_ros_msg(String, json.dumps(event_data, ensure_ascii=False))
+                )
+        except Exception as e:
+            logger.error(f"发布设备状态事件失败: {e}")
+
+
 class BioyondResourceSynchronizer(ResourceSynchronizer):
    """Bioyond资源同步器

@@ -174,9 +257,8 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
            else:
                logger.info(f"[同步→Bioyond] ➕ 物料不存在于 Bioyond，将创建新物料并入库")

-            # 第1步：获取仓库配置
-            from .config import WAREHOUSE_MAPPING
-            warehouse_mapping = WAREHOUSE_MAPPING
+            # 第1步：从配置中获取仓库配置
+            warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})

            # 确定目标仓库名称
            parent_name = None
@@ -238,14 +320,20 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
            # 第2步：转换为 Bioyond 格式
            logger.info(f"[同步→Bioyond] 🔄 转换物料为 Bioyond 格式...")

-            # 导入物料默认参数配置
-            from .config import MATERIAL_DEFAULT_PARAMETERS
+            # 从配置中获取物料默认参数
+            material_default_params = self.workstation.bioyond_config.get("material_default_parameters", {})
+            material_type_params = self.workstation.bioyond_config.get("material_type_parameters", {})
+
+            # 合并参数配置：物料名称参数 + typeId参数（转换为 type:<uuid> 格式）
+            merged_params = material_default_params.copy()
+            for type_id, params in material_type_params.items():
+                merged_params[f"type:{type_id}"] = params

            bioyond_material = resource_plr_to_bioyond(
                [resource],
                type_mapping=self.workstation.bioyond_config["material_type_mappings"],
                warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"],
-                material_params=MATERIAL_DEFAULT_PARAMETERS
+                material_params=merged_params
            )[0]

            logger.info(f"[同步→Bioyond] 🔧 准备覆盖locations字段，目标仓库: {parent_name}, 库位: {update_site}, UUID: {target_location_uuid[:8]}...")
@@ -468,13 +556,20 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
                return material_bioyond_id

            # 转换为 Bioyond 格式
-            from .config import MATERIAL_DEFAULT_PARAMETERS
+            # 从配置中获取物料默认参数
+            material_default_params = self.workstation.bioyond_config.get("material_default_parameters", {})
+            material_type_params = self.workstation.bioyond_config.get("material_type_parameters", {})
+
+            # 合并参数配置：物料名称参数 + typeId参数（转换为 type:<uuid> 格式）
+            merged_params = material_default_params.copy()
+            for type_id, params in material_type_params.items():
+                merged_params[f"type:{type_id}"] = params

            bioyond_material = resource_plr_to_bioyond(
                [resource],
                type_mapping=self.workstation.bioyond_config["material_type_mappings"],
                warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"],
-                material_params=MATERIAL_DEFAULT_PARAMETERS
+                material_params=merged_params
            )[0]

            # ⚠️ 关键：创建物料时不设置 locations，让 Bioyond 系统暂不分配库位
@@ -528,8 +623,7 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
            logger.info(f"[物料入库] 目标库位: {update_site}")

            # 获取仓库配置和目标库位 UUID
-            from .config import WAREHOUSE_MAPPING
-            warehouse_mapping = WAREHOUSE_MAPPING
+            warehouse_mapping = self.workstation.bioyond_config.get("warehouse_mapping", {})

            parent_name = None
            target_location_uuid = None
@@ -584,6 +678,44 @@ class BioyondWorkstation(WorkstationBase):
    集成Bioyond物料管理的工作站实现
    """

+    def _publish_task_status(
+        self,
+        task_id: str,
+        task_type: str,
+        status: str,
+        result: dict = None,
+        progress: float = 0.0,
+        task_code: str = None
+    ):
+        """发布任务状态事件"""
+        try:
+            if not getattr(self, "_ros_node", None):
+                return
+
+            event_data = {
+                "task_id": task_id,
+                "task_code": task_code,
+                "task_type": task_type,
+                "status": status,
+                "progress": progress,
+                "timestamp": datetime.now().isoformat()
+            }
+            if result:
+                event_data["result"] = result
+
+            topic = f"{self._ros_node.namespace}/events/task_status"
+
+            if not hasattr(self, "_task_status_pub"):
+                self._task_status_pub = self._ros_node.create_publisher(
+                    String, topic, 10
+                )
+
+            self._task_status_pub.publish(
+                convert_to_ros_msg(String, json.dumps(event_data, ensure_ascii=False))
+            )
+        except Exception as e:
+            logger.error(f"发布任务状态事件失败: {e}")
+
    def __init__(
        self,
        bioyond_config: Optional[Dict[str, Any]] = None,
@@ -605,10 +737,28 @@ class BioyondWorkstation(WorkstationBase):
            raise ValueError("Deck 配置不能为空，请在配置文件中添加正确的 deck 配置")

        # 初始化 warehouses 属性
-        self.deck.warehouses = {}
-        for resource in self.deck.children:
-            if isinstance(resource, WareHouse):
-                self.deck.warehouses[resource.name] = resource
+        if not hasattr(self.deck, "warehouses") or self.deck.warehouses is None:
+            self.deck.warehouses = {}
+
+        # 仅当 warehouses 为空时尝试重新扫描（避免覆盖子类的修复）
+        if not self.deck.warehouses:
+            for resource in self.deck.children:
+                # 兼容性增强: 只要是仓库类别或者是 WareHouse 实例均可
+                is_warehouse = isinstance(resource, WareHouse) or getattr(resource, "category", "") == "warehouse"
+
+                # 如果配置中有定义，也可以认定为 warehouse
+                if not is_warehouse and "warehouse_mapping" in bioyond_config:
+                    if resource.name in bioyond_config["warehouse_mapping"]:
+                        is_warehouse = True
+
+                if is_warehouse:
+                    self.deck.warehouses[resource.name] = resource
+                    # 确保 category 被正确设置，方便后续使用
+                    if getattr(resource, "category", "") != "warehouse":
+                        try:
+                            resource.category = "warehouse"
+                        except:
+                            pass

        # 创建通信模块
        self._create_communication_module(bioyond_config)
@@ -627,18 +777,22 @@ class BioyondWorkstation(WorkstationBase):
            self._set_workflow_mappings(bioyond_config["workflow_mappings"])

        # 准备 HTTP 报送接收服务配置（延迟到 post_init 启动）
-        # 从 bioyond_config 中获取，如果没有则使用 HTTP_SERVICE_CONFIG 的默认值
+        # 从 bioyond_config 中的 http_service_config 获取
+        http_service_cfg = bioyond_config.get("http_service_config", {})
        self._http_service_config = {
-            "host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG["http_service_host"]),
-            "port": bioyond_config.get("http_service_port", HTTP_SERVICE_CONFIG["http_service_port"])
+            "host": http_service_cfg.get("http_service_host", "127.0.0.1"),
+            "port": http_service_cfg.get("http_service_port", 8080)
        }
-        self.http_service = None  # 将在 post_init 中启动
+        self.http_service = None  # 将在 post_init 启动
+        self.connection_monitor = None # 将在 post_init 启动

        logger.info(f"Bioyond工作站初始化完成")

    def __del__(self):
        """析构函数：清理资源，停止 HTTP 服务"""
        try:
+            if hasattr(self, 'connection_monitor') and self.connection_monitor:
+                self.connection_monitor.stop()
            if hasattr(self, 'http_service') and self.http_service is not None:
                logger.info("正在停止 HTTP 报送服务...")
                self.http_service.stop()
@@ -648,8 +802,19 @@ class BioyondWorkstation(WorkstationBase):
    def post_init(self, ros_node: ROS2WorkstationNode):
        self._ros_node = ros_node

+        # 启动连接监控
+        try:
+            self.connection_monitor = ConnectionMonitor(self)
+            self.connection_monitor.start()
+        except Exception as e:
+            logger.error(f"启动连接监控失败: {e}")
+
        # 启动 HTTP 报送接收服务（现在 device_id 已可用）
-        if hasattr(self, '_http_service_config'):
+        # ⚠️ 检查子类是否已经自己管理 HTTP 服务
+        if self.bioyond_config.get("_disable_auto_http_service"):
+            logger.info("🔧 检测到 _disable_auto_http_service 标志，跳过自动启动 HTTP 服务")
+            logger.info("   子类（BioyondCellWorkstation）已自行管理 HTTP 服务")
+        elif hasattr(self, '_http_service_config'):
            try:
                self.http_service = WorkstationHTTPService(
                    workstation_instance=self,
@@ -688,19 +853,14 @@ class BioyondWorkstation(WorkstationBase):

    def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
        """创建Bioyond通信模块"""
-        # 创建默认配置
-        default_config = {
-            **API_CONFIG,
-            "workflow_mappings": WORKFLOW_MAPPINGS,
-            "material_type_mappings": MATERIAL_TYPE_MAPPINGS,
-            "warehouse_mapping": WAREHOUSE_MAPPING
-        }
-
-        # 如果传入了 config，合并配置（config 中的值会覆盖默认值）
+        # 直接使用传入的配置，不再使用默认值
+        # 所有配置必须从 JSON 文件中提供
        if config:
-            self.bioyond_config = {**default_config, **config}
+            self.bioyond_config = config
        else:
-            self.bioyond_config = default_config
+            # 如果没有配置，使用空字典（会导致后续错误，但这是预期的）
+            self.bioyond_config = {}
+            print("警告: 未提供 bioyond_config，请确保在 JSON 配置文件中提供完整配置")

        self.hardware_interface = BioyondV1RPC(self.bioyond_config)

@@ -1014,7 +1174,15 @@ class BioyondWorkstation(WorkstationBase):

        workflow_id = self._get_workflow(actual_workflow_name)
        if workflow_id:
-            self.workflow_sequence.append(workflow_id)
+            # 兼容 BioyondReactionStation 中 workflow_sequence 被重写为 property 的情况
+            if isinstance(self.workflow_sequence, list):
+                self.workflow_sequence.append(workflow_id)
+            elif hasattr(self, "_cached_workflow_sequence") and isinstance(self._cached_workflow_sequence, list):
+                self._cached_workflow_sequence.append(workflow_id)
+            else:
+                print(f"❌ 无法添加工作流: workflow_sequence 类型错误 {type(self.workflow_sequence)}")
+                return False
+
            print(f"添加工作流到执行顺序: {actual_workflow_name} -> {workflow_id}")
            return True
        return False
@@ -1215,6 +1383,22 @@ class BioyondWorkstation(WorkstationBase):
            # TODO: 根据实际业务需求处理步骤完成逻辑
            # 例如：更新数据库、触发后续流程等

+            # 发布任务状态事件 (running/progress update)
+            self._publish_task_status(
+                task_id=data.get('orderCode'), # 使用 OrderCode 作为关联 ID
+                task_code=data.get('orderCode'),
+                task_type="bioyond_step",
+                status="running",
+                progress=0.5, # 步骤完成视为任务进行中
+                result={"step_name": data.get('stepName'), "step_id": data.get('stepId')}
+            )
+
+            # 更新物料信息
+            # 步骤完成后，物料状态可能发生变化（如位置、用量等），触发同步
+            logger.info(f"[步骤完成报送] 触发物料同步...")
+            self.resource_synchronizer.sync_from_external()
+
+
            return {
                "processed": True,
                "step_id": data.get('stepId'),
@@ -1249,6 +1433,17 @@ class BioyondWorkstation(WorkstationBase):

            # TODO: 根据实际业务需求处理通量完成逻辑

+            # 发布任务状态事件
+            self._publish_task_status(
+                task_id=data.get('orderCode'),
+                task_code=data.get('orderCode'),
+                task_type="bioyond_sample",
+                status="running",
+                progress=0.7,
+                result={"sample_id": data.get('sampleId'), "status": status_desc}
+            )
+
+
            return {
                "processed": True,
                "sample_id": data.get('sampleId'),
@@ -1288,6 +1483,32 @@ class BioyondWorkstation(WorkstationBase):
            # TODO: 根据实际业务需求处理任务完成逻辑
            # 例如：更新物料库存、生成报表等

+            # 映射状态到事件状态
+            event_status = "completed"
+            if str(data.get('status')) in ["-11", "-12"]:
+                event_status = "error"
+            elif str(data.get('status')) == "30":
+                event_status = "completed"
+            else:
+                event_status = "running" # 其他状态视为运行中（或根据实际定义）
+
+            # 发布任务状态事件
+            self._publish_task_status(
+                task_id=data.get('orderCode'),
+                task_code=data.get('orderCode'),
+                task_type="bioyond_order",
+                status=event_status,
+                progress=1.0 if event_status in ["completed", "error"] else 0.9,
+                result={"order_name": data.get('orderName'), "status": status_desc, "materials_count": len(used_materials)}
+            )
+
+            # 更新物料信息
+            # 任务完成后，且状态为完成时，触发同步以更新最终物料状态
+            if event_status == "completed":
+                logger.info(f"[任务完成报送] 触发物料同步...")
+                self.resource_synchronizer.sync_from_external()
+
+
            return {
                "processed": True,
                "order_code": data.get('orderCode'),
--- a/unilabos/devices/workstation/coin_cell_assembly/20251230_Modbus_CSV_Mapping_Guide.md
+++ b/unilabos/devices/workstation/coin_cell_assembly/20251230_Modbus_CSV_Mapping_Guide.md
@@ -0,0 +1,84 @@
+# Modbus CSV 地址映射说明
+
+本文档说明 `coin_cell_assembly_a.csv` 文件如何将命名节点映射到实际的 Modbus 地址，以及如何在代码中使用它们。
+
+## 1. CSV 文件结构
+
+地址表文件位于同级目录下：`coin_cell_assembly_a.csv`
+
+每一行定义了一个 Modbus 节点，包含以下关键列：
+
+| 列名 | 说明 | 示例 |
+|------|------|------|
+| **Name** | **节点名称** (代码中引用的 Key) | `COIL_ALUMINUM_FOIL` |
+| **DataType** | 数据类型 (BOOL, INT16, FLOAT32, STRING) | `BOOL` |
+| **Comment** | 注释说明 | `使用铝箔垫` |
+| **Attribute** | 属性 (通常留空或用于额外标记) | |
+| **DeviceType** | Modbus 寄存器类型 (`coil`, `hold_register`) | `coil` |
+| **Address** | **Modbus 地址** (十进制) | `8340` |
+
+### 示例行 (铝箔垫片)
+
+```csv
+COIL_ALUMINUM_FOIL,BOOL,,使用铝箔垫,,coil,8340,
+```
+
+- **名称**: `COIL_ALUMINUM_FOIL`
+- **类型**: `coil` (线圈，读写单个位)
+- **地址**: `8340`
+
+---
+
+## 2. 加载与注册流程
+
+在 `coin_cell_assembly.py` 的初始化代码中：
+
+1. **加载 CSV**: `BaseClient.load_csv()` 读取 CSV 并解析每行定义。
+2. **注册节点**: `modbus_client.register_node_list()` 将解析后的节点注册到 Modbus 客户端实例中。
+
+```python
+# 代码位置: coin_cell_assembly.py (L174-175)
+self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv'))                            
+self.client = modbus_client.register_node_list(self.nodes)
+```
+
+---
+
+## 3. 代码中的使用方式
+
+注册后，通过 `self.client.use_node('节点名称')` 即可获取该节点对象并进行读写操作，无需关心具体地址。
+
+### 控制铝箔垫片 (COIL_ALUMINUM_FOIL)
+
+```python
+# 代码位置: qiming_coin_cell_code 函数 (L1048)
+self.client.use_node('COIL_ALUMINUM_FOIL').write(not lvbodian)
+```
+
+- **写入 True**: 对应 Modbus 功能码 05 (Write Single Coil)，向地址 `8340` 写入 `1` (ON)。
+- **写入 False**: 向地址 `8340` 写入 `0` (OFF)。
+
+> **注意**: 代码中使用了 `not lvbodian`，这意味着逻辑是反转的。如果 `lvbodian` 参数为 `True` (默认)，写入的是 `False` (不使用铝箔垫)。
+
+---
+
+## 4. 地址转换注意事项 (Modbus vs PLC)
+
+CSV 中的 `Address` 列（如 `8340`）是 **Modbus 协议地址**。
+
+如果使用 InoProShop (汇川 PLC 编程软件)，看到的可能是 **PLC 内部地址** (如 `%QX...` 或 `%MW...`)。这两者之间通常需要转换。
+
+### 常见的转换规则 (示例)
+
+- **Coil (线圈) %QX**: 
+  - `Modbus地址 = 字节地址 * 8 + 位偏移`
+  - *例子*: `%QX834.0` -> `834 * 8 + 0` = `6672`
+  - *注意*: 如果 CSV 中配置的是 `8340`，这可能是一个自定义映射，或者是基于不同规则（如直接对应 Word 地址的某种映射，或者可能就是地址写错了/使用了非标准映射）。
+
+- **Register (寄存器) %MW**:
+  - 通常直接对应，或者有偏移量 (如 Modbus 40001 = PLC MW0)。
+
+### 验证方法
+由于 `test_unilab_interact.py` 中发现 `8450` (CSV风格) 不工作，而 `6760` (%QX845.0 计算值) 工作正常，**建议对 CSV 中的其他地址也进行核实**，特别是像 `8340` 这样以 0 结尾看起来像是 "字节地址+0" 的数值，可能实际上应该是 `%QX834.0` 对应的 `6672`。
+
+如果发现设备控制无反应，请尝试按照标准的 Modbus 计算方式转换 PLC 地址。
--- a/unilabos/devices/workstation/coin_cell_assembly/20260113_物料搜寻确认弹窗自动处理功能.md
+++ b/unilabos/devices/workstation/coin_cell_assembly/20260113_物料搜寻确认弹窗自动处理功能.md
@@ -0,0 +1,352 @@
+# 2026-01-13 物料搜寻确认弹窗自动处理功能
+
+## 概述
+
+本次更新为设备初始化流程添加了**物料搜寻确认弹窗自动检测与处理功能**。在设备初始化过程中，PLC 会弹出物料搜寻确认对话框，现在系统可以根据用户参数自动点击"是"或"否"按钮，无需手动干预。
+
+## 背景问题
+
+### 原有流程
+1. 调用 `func_pack_device_init_auto_start_combined()` 初始化设备
+2. PLC 在初始化过程中弹出物料搜寻确认对话框
+3. **需要人工手动点击**"是"或"否"按钮
+4. PLC 继续完成初始化并启动
+
+### 存在的问题
+- 需要人工干预，无法实现全自动化
+- 影响批量生产效率
+- 容易遗忘点击导致流程卡住
+
+## 解决方案
+
+### 新增 Modbus 地址配置
+
+在 `coin_cell_assembly_b.csv` 第 69-71 行添加三个 coil：
+
+| Name | DeviceType | Address | 说明 |
+|------|-----------|---------|------|
+| COIL_MATERIAL_SEARCH_DIALOG_APPEAR | coil | 6470 | 物料搜寻确认弹窗画面是否出现 |
+| COIL_MATERIAL_SEARCH_CONFIRM_YES | coil | 6480 | 初始化物料搜寻确认按钮"是" |
+| COIL_MATERIAL_SEARCH_CONFIRM_NO | coil | 6490 | 初始化物料搜寻确认按钮"否" |
+
+**Modbus 地址转换：**
+- CSV 6470 → Modbus 5176 (弹窗出现)
+- CSV 6480 → Modbus 5184 (按钮"是")
+- CSV 6490 → Modbus 5192 (按钮"否")
+
+## 代码修改详情
+
+### 1. coin_cell_assembly.py
+
+#### 1.1 新增辅助方法 `_handle_material_search_dialog()`
+
+**位置：** 第 799-901 行
+
+**功能：**
+- 监测物料搜寻确认弹窗是否出现（Coil 5176）
+- 根据 `enable_search` 参数自动点击对应按钮
+- 使用**脉冲模式**模拟真实按钮操作：`True` → 保持 0.5 秒 → `False`
+
+**参数：**
+- `enable_search: bool` - True=点击"是"(启用物料搜寻), False=点击"否"(不启用)
+- `timeout: int = 30` - 等待弹窗出现的最大时间（秒）
+
+**逻辑流程：**
+```python
+1. 监测 COIL_MATERIAL_SEARCH_DIALOG_APPEAR (每 0.5 秒检查一次)
+2. 检测到弹窗出现 (Coil = True)
+3. 选择按钮：
+   - enable_search=True  → COIL_MATERIAL_SEARCH_CONFIRM_YES
+   - enable_search=False → COIL_MATERIAL_SEARCH_CONFIRM_NO
+4. 执行脉冲操作：
+   - 写入 True (按下按钮)
+   - 等待 0.5 秒
+   - 写入 False (释放按钮)
+   - 验证状态
+```
+
+#### 1.2 修改 `func_pack_device_init_auto_start_combined()`
+
+**位置：** 第 904-1115 行
+
+**主要改动：**
+
+1. **添加新参数**
+   ```python
+   def func_pack_device_init_auto_start_combined(
+       self, 
+       material_search_enable: bool = False  # 新增参数
+   ) -> bool:
+   ```
+
+2. **内联初始化逻辑并集成弹窗检测**
+   - 不再调用 `self.func_pack_device_init()`
+   - 将初始化逻辑直接实现在函数内
+   - **在等待初始化完成的循环中实时检测弹窗**
+   - 避免死锁：PLC 等待弹窗确认 ↔ 代码等待初始化完成
+
+3. **关键代码片段**
+   ```python
+   # 等待初始化完成，同时检测物料搜寻弹窗
+   while (self._sys_init_status()) == False:
+       # 检查超时
+       if time.time() - start_wait > max_wait_time:
+           raise RuntimeError(f"初始化超时")
+       
+       # 如果还没处理弹窗，检测弹窗是否出现
+       if not dialog_handled:
+           dialog_state = self.client.use_node('COIL_MATERIAL_SEARCH_DIALOG_APPEAR').read(1)
+           if dialog_actual:  # 弹窗出现
+               # 执行脉冲按钮点击
+               button_node.write(True)   # 按下
+               time.sleep(0.5)            # 保持
+               button_node.write(False)   # 释放
+               dialog_handled = True
+       
+       time.sleep(1)
+   ```
+
+4. **步骤调整**
+   - 步骤 0: 前置条件检查
+   - 步骤 1: 设备初始化（**包含弹窗检测**）
+   - 步骤 1.5: 已在步骤 1 中完成
+   - 步骤 2: 切换自动模式
+   - 步骤 3: 启动设备
+
+### 2. coin_cell_workstation.yaml
+
+**位置：** 第 292-312 行
+
+**修改内容：**
+
+```yaml
+auto-func_pack_device_init_auto_start_combined:
+  goal_default:
+    material_search_enable: false  # 新增默认值
+  
+  schema:
+    description: 组合函数:设备初始化 + 物料搜寻确认 + 切换自动模式 + 启动。初始化过程中会自动检测物料搜寻确认弹窗，并根据参数自动点击"是"或"否"按钮
+    
+    goal:
+      properties:
+        material_search_enable:  # 新增参数配置
+          default: false
+          description: 是否启用物料搜寻功能。设备初始化后会弹出物料搜寻确认弹窗，此参数控制自动点击"是"(启用)或"否"(不启用)。默认为false(不启用物料搜寻)
+          type: boolean
+```
+
+### 3. 测试脚本（已创建，用户已删除）
+
+#### 3.1 test_material_search_dialog.py
+- 从 CSV 动态加载 Modbus 地址
+- 支持 4 种测试模式：
+  - `query` - 查询所有状态
+  - `dialog <0|1>` - 设置弹窗出现/消失
+  - `yes` - 脉冲点击"是"按钮
+  - `no` - 脉冲点击"否"按钮
+- 兼容 pymodbus 3.x API
+
+#### 3.2 更新其他测试脚本
+- `test_coin_cell_reset.py` - 更新为 pymodbus 3.x API
+- `test_unilab_interact.py` - 更新为 pymodbus 3.x API
+
+## 使用方法
+
+### 参数说明
+
+| 参数 | 类型 | 默认值 | 说明 |
+|------|------|--------|------|
+| `material_search_enable` | boolean | `false` | 是否启用物料搜寻功能 |
+
+### 调用示例
+
+#### 1. 不启用物料搜寻（默认）
+```python
+# 默认参数，点击"否"按钮
+await device.func_pack_device_init_auto_start_combined()
+```
+
+或在 YAML workflow 中：
+```yaml
+# 使用默认值 false，不启用物料搜寻
+- BatteryStation/auto-func_pack_device_init_auto_start_combined: {}
+```
+
+#### 2. 启用物料搜寻
+```python
+# 显式设置为 True，点击"是"按钮
+await device.func_pack_device_init_auto_start_combined(
+    material_search_enable=True
+)
+```
+
+或在 YAML workflow 中：
+```yaml
+- BatteryStation/auto-func_pack_device_init_auto_start_combined:
+    goal:
+      material_search_enable: true  # 启用物料搜寻
+```
+
+## 执行日志示例
+
+```
+26-01-13 [21:32:44] [INFO] 开始组合操作：设备初始化 → 物料搜寻确认 → 自动模式 → 启动
+26-01-13 [21:32:44] [INFO] 【步骤 0/4】前置条件检查...
+26-01-13 [21:32:44] [INFO]   ✓ REG_UNILAB_INTERACT 检查通过
+26-01-13 [21:32:44] [INFO]   ✓ COIL_GB_L_IGNORE_CMD 检查通过
+26-01-13 [21:32:44] [INFO] 【步骤 1/4】设备初始化...
+26-01-13 [21:32:44] [INFO] 切换手动模式...
+26-01-13 [21:32:46] [INFO] 发送初始化命令...
+26-01-13 [21:32:47] [INFO] 等待初始化完成（同时监测物料搜寻弹窗）...
+26-01-13 [21:33:05] [INFO] ✓ 在初始化过程中检测到物料搜寻确认弹窗！
+26-01-13 [21:33:05] [INFO] 用户选择: 不启用物料搜寻（点击否）
+26-01-13 [21:33:05] [INFO]   → 按下按钮 '否'
+26-01-13 [21:33:06] [INFO]   → 释放按钮 '否'
+26-01-13 [21:33:07] [INFO] ✓ 成功处理物料搜寻确认弹窗（选择: 否）
+26-01-13 [21:33:08] [INFO] ✓ 初始化状态完成
+26-01-13 [21:33:12] [INFO] ✓ 设备初始化完成
+26-01-13 [21:33:12] [INFO] 【步骤 1.5/4】物料搜寻确认已在初始化过程中完成
+26-01-13 [21:33:12] [INFO] 【步骤 2/4】切换自动模式...
+26-01-13 [21:33:15] [INFO] ✓ 切换自动模式完成
+26-01-13 [21:33:15] [INFO] 【步骤 3/4】启动设备...
+26-01-13 [21:33:18] [INFO] ✓ 启动设备完成
+26-01-13 [21:33:18] [INFO] 组合操作完成：设备已成功初始化、确认物料搜寻、切换自动模式并启动
+```
+
+## 技术要点
+
+### 1. 脉冲模式按钮操作
+模拟真实按钮按压过程：
+1. 写入 `True` (按下)
+2. 保持 0.5 秒
+3. 写入 `False` (释放)
+4. 验证状态
+
+### 2. 避免死锁
+**问题：** PLC 在初始化过程中等待弹窗确认，而代码等待初始化完成  
+**解决：** 在初始化等待循环中实时检测弹窗，一旦出现立即处理
+
+### 3. 超时保护
+- 弹窗检测超时：30 秒（在 `_handle_material_search_dialog` 中）
+- 初始化超时：120 秒（在 `func_pack_device_init_auto_start_combined` 中）
+
+### 4. PyModbus 3.x API 兼容
+所有 Modbus 操作使用 keyword arguments：
+```python
+# 读取
+client.read_coils(address=5176, count=1)
+
+# 写入
+client.write_coil(address=5184, value=True)
+```
+
+## 向后兼容性
+
+### 保留的原有函数
+- `func_pack_device_init()` - 单独的初始化函数，不包含弹窗处理
+- 仍可在 YAML 中通过 `auto-func_pack_device_init` 调用
+- 用于不需要自动处理弹窗的场景
+
+### 新增的功能
+- 在 `func_pack_device_init_auto_start_combined()` 中集成弹窗处理
+- 通过参数控制，默认行为与之前兼容（点击"否"）
+
+## 验证测试
+
+### 测试场景
+
+#### 场景 1：默认参数（不启用物料搜寻）
+```bash
+# 调用时不传参数
+BatteryStation/auto-func_pack_device_init_auto_start_combined: {}
+```
+**预期结果：**
+- ✅ 检测到弹窗
+- ✅ 自动点击"否"按钮
+- ✅ 初始化完成并启动成功
+
+#### 场景 2：启用物料搜寻
+```bash
+# 设置 material_search_enable=true
+BatteryStation/auto-func_pack_device_init_auto_start_combined:
+  goal:
+    material_search_enable: true
+```
+**预期结果：**
+- ✅ 检测到弹窗
+- ✅ 自动点击"是"按钮
+- ✅ 初始化完成并启动成功
+
+### 实际测试结果
+
+**测试时间：** 2026-01-13 21:32:43  
+**测试参数：** `material_search_enable: false`  
+**测试结果：** ✅ 成功
+
+**关键时间节点：**
+- 21:33:05 - 检测到弹窗
+- 21:33:05 - 按下"否"按钮
+- 21:33:06 - 释放"否"按钮  
+- 21:33:07 - 弹窗处理完成
+- 21:33:08 - 初始化状态完成
+- 21:33:18 - 整个流程完成
+
+**总耗时：** 约 35 秒（包含初始化全过程）
+
+## 注意事项
+
+1. **CSV 配置依赖**
+   - 确保 `coin_cell_assembly_b.csv` 包含 69-71 行的 coil 配置
+   - 地址转换逻辑：`modbus_addr = (csv_addr // 10) * 8 + (csv_addr % 10)`
+
+2. **默认行为**
+   - 默认 `material_search_enable=false`，即不启用物料搜寻
+   - 如需启用，必须显式设置为 `true`
+
+3. **日志级别**
+   - 弹窗检测过程中的 `waiting for init_cmd` 使用 DEBUG 级别
+   - 关键操作（检测到弹窗、按钮操作）使用 INFO 级别
+
+4. **原有函数保留**
+   - `func_pack_device_init()` 仍然可用，但不包含弹窗处理
+   - 如果单独调用此函数，仍需手动处理弹窗
+
+## 文件清单
+
+### 修改的文件
+1. `d:\UniLabdev\Uni-Lab-OS\unilabos\devices\workstation\coin_cell_assembly\coin_cell_assembly.py`
+   - 新增 `_handle_material_search_dialog()` 方法
+   - 修改 `func_pack_device_init_auto_start_combined()` 函数
+
+2. `d:\UniLabdev\Uni-Lab-OS\unilabos\registry\devices\coin_cell_workstation.yaml`
+   - 更新 `auto-func_pack_device_init_auto_start_combined` 配置
+   - 添加 `material_search_enable` 参数说明
+
+3. `d:\UniLabdev\Uni-Lab-OS\unilabos\devices\workstation\coin_cell_assembly\coin_cell_assembly_b.csv`
+   - 第 69-71 行添加三个 coil 配置
+
+### 创建的测试文件（已删除）
+1. `test_material_search_dialog.py` - 物料搜寻弹窗测试脚本
+2. `test_coin_cell_reset.py` - 复位功能测试（更新为 pymodbus 3.x）
+3. `test_unilab_interact.py` - Unilab 交互测试（更新为 pymodbus 3.x）
+
+## 总结
+
+本次更新成功实现了设备初始化过程中物料搜寻确认弹窗的自动化处理，主要优势：
+
+✅ **全自动化** - 无需人工干预  
+✅ **参数可配** - 灵活控制是否启用物料搜寻  
+✅ **实时检测** - 在初始化等待循环中检测，避免死锁  
+✅ **脉冲模式** - 模拟真实按钮操作  
+✅ **向后兼容** - 保留原有函数，不影响现有流程  
+✅ **完整日志** - 详细记录每一步操作  
+✅ **超时保护** - 防止无限等待  
+
+该功能已通过实际测试验证，可投入生产使用。
+
+---
+
+**文档版本：** 1.0  
+**创建日期：** 2026-01-13  
+**作者：** Antigravity AI Assistant  
+**最后更新：** 2026-01-13 21:36
--- a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py
+++ b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py
@@ -0,0 +1,645 @@
+"""
+纽扣电池组装工作站物料类定义
+Button Battery Assembly Station Resource Classes
+"""
+
+from __future__ import annotations
+
+from collections import OrderedDict
+from typing import Any, Dict, List, Optional, TypedDict, Union, cast
+
+from pylabrobot.resources.coordinate import Coordinate
+from pylabrobot.resources.container import Container
+from pylabrobot.resources.deck import Deck
+from pylabrobot.resources.itemized_resource import ItemizedResource
+from pylabrobot.resources.resource import Resource
+from pylabrobot.resources.resource_stack import ResourceStack
+from pylabrobot.resources.tip_rack import TipRack, TipSpot
+from pylabrobot.resources.trash import Trash
+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
+
+
+
+# TODO: 这个应该只能放一个极片
+class MaterialHoleState(TypedDict):
+    diameter: int
+    depth: int
+    max_sheets: int
+    info: Optional[str]  # 附加信息
+
+class MaterialHole(Resource):
+    """料板洞位类"""
+    children: List[ElectrodeSheet] = []
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        category: str = "material_hole",
+        **kwargs
+    ):
+        super().__init__(
+            name=name,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
+            category=category,
+        )
+        self._unilabos_state: MaterialHoleState = MaterialHoleState(
+            diameter=20,
+            depth=10,
+            max_sheets=1,
+            info=None
+        )
+
+    def get_all_sheet_info(self):
+        info_list = []
+        for sheet in self.children:
+            info_list.append(sheet._unilabos_state["info"])
+        return info_list
+    
+    #这个函数函数好像没用，一般不会集中赋值质量
+    def set_all_sheet_mass(self):
+        for sheet in self.children:
+            sheet._unilabos_state["mass"] = 0.5  # 示例：设置质量为0.5g
+
+    def load_state(self, state: Dict[str, Any]) -> None:
+        """格式不变"""
+        super().load_state(state)
+        self._unilabos_state = state
+
+    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
+        """格式不变"""
+        data = super().serialize_state()
+        data.update(self._unilabos_state)  # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
+        return data
+    #移动极片前先取出对象
+    def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]:
+        for sheet in self.children:
+            if sheet.name == name:
+                return sheet
+        return None
+
+    def has_electrode_sheet(self) -> bool:
+        """检查洞位是否有极片"""
+        return len(self.children) > 0
+
+    def assign_child_resource(
+        self,
+        resource: ElectrodeSheet,
+        location: Optional[Coordinate],
+        reassign: bool = True,
+    ):
+        """放置极片"""
+        # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题
+        #if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]:
+        #    raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}")
+        #if len(self.children) >= self._unilabos_state["max_sheets"]:
+        #    raise ValueError(f"洞位已满，无法放置更多极片")
+        super().assign_child_resource(resource, location, reassign)
+
+    # 根据children的编号取物料对象。
+    def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet:
+        return self.children[index]
+
+
+class MaterialPlateState(TypedDict):
+    hole_spacing_x: float
+    hole_spacing_y: float
+    hole_diameter: float
+    info: Optional[str]  # 附加信息
+
+class MaterialPlate(ItemizedResource[MaterialHole]):
+    """料板类 - 4x4个洞位，每个洞位放1个极片"""
+    
+    children: List[MaterialHole]
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        ordered_items: Optional[Dict[str, MaterialHole]] = None,
+        ordering: Optional[OrderedDict[str, str]] = None,
+        category: str = "material_plate",
+        model: Optional[str] = None,
+        fill: bool = False
+    ):
+        """初始化料板
+
+        Args:
+            name: 料板名称
+            size_x: 长度 (mm)
+            size_y: 宽度 (mm)
+            size_z: 高度 (mm)
+            hole_diameter: 洞直径 (mm)
+            hole_depth: 洞深度 (mm)
+            hole_spacing_x: X方向洞位间距 (mm)
+            hole_spacing_y: Y方向洞位间距 (mm)
+            number: 编号
+            category: 类别
+            model: 型号
+        """
+        self._unilabos_state: MaterialPlateState = MaterialPlateState(
+            hole_spacing_x=24.0,
+            hole_spacing_y=24.0,
+            hole_diameter=20.0,
+            info="",
+        )
+        # 创建4x4的洞位
+        # TODO: 这里要改，对应不同形状
+        holes = create_ordered_items_2d(
+            klass=MaterialHole,
+            num_items_x=4,
+            num_items_y=4,
+            dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2,  # 居中
+            dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2,  # 居中
+            dz=size_z,
+            item_dx=self._unilabos_state["hole_spacing_x"],
+            item_dy=self._unilabos_state["hole_spacing_y"],
+            size_x = 16,
+            size_y = 16,
+            size_z = 16,
+        )
+        if fill:
+            super().__init__(
+                name=name,
+                size_x=size_x,
+                size_y=size_y,
+                size_z=size_z,
+                ordered_items=holes,
+                category=category,
+                model=model,
+            )
+        else:
+            super().__init__(
+                name=name,
+                size_x=size_x,
+                size_y=size_y,
+                size_z=size_z,
+                ordered_items=ordered_items,
+                ordering=ordering,
+                category=category,
+                model=model,
+            )
+
+    def update_locations(self):
+        # TODO:调多次相加
+        holes = create_ordered_items_2d(
+            klass=MaterialHole,
+            num_items_x=4,
+            num_items_y=4,
+            dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2,  # 居中
+            dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2,  # 居中
+            dz=self._size_z,
+            item_dx=self._unilabos_state["hole_spacing_x"],
+            item_dy=self._unilabos_state["hole_spacing_y"],
+            size_x = 1,
+            size_y = 1,
+            size_z = 1,
+        )
+        for item, original_item in zip(holes.items(), self.children):
+            original_item.location = item[1].location
+
+
+class PlateSlot(ResourceStack):
+    """板槽位类 - 1个槽上能堆放8个板，移板只能操作最上方的板"""
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        max_plates: int = 8,
+        category: str = "plate_slot",
+        model: Optional[str] = None
+    ):
+        """初始化板槽位
+
+        Args:
+            name: 槽位名称
+            max_plates: 最大板数量
+            category: 类别
+        """
+        super().__init__(
+            name=name,
+            direction="z",  # Z方向堆叠
+            resources=[],
+        )
+        self.max_plates = max_plates
+        self.category = category
+
+    def can_add_plate(self) -> bool:
+        """检查是否可以添加板"""
+        return len(self.children) < self.max_plates
+
+    def add_plate(self, plate: MaterialPlate) -> None:
+        """添加料板"""
+        if not self.can_add_plate():
+            raise ValueError(f"槽位 {self.name} 已满，无法添加更多板")
+        self.assign_child_resource(plate)
+
+    def get_top_plate(self) -> MaterialPlate:
+        """获取最上方的板"""
+        if len(self.children) == 0:
+            raise ValueError(f"槽位 {self.name} 为空")
+        return cast(MaterialPlate, self.get_top_item())
+
+    def take_top_plate(self) -> MaterialPlate:
+        """取出最上方的板"""
+        top_plate = self.get_top_plate()
+        self.unassign_child_resource(top_plate)
+        return top_plate
+
+    def can_access_for_picking(self) -> bool:
+        """检查是否可以进行取料操作（只有最上方的板能进行取料操作）"""
+        return len(self.children) > 0
+
+    def serialize(self) -> dict:
+        return {
+            **super().serialize(),
+            "max_plates": self.max_plates,
+        }
+
+
+#是一种类型注解，不用self
+class BatteryState(TypedDict):
+    """电池状态字典"""
+    diameter: float
+    height: float
+    assembly_pressure: float
+    electrolyte_volume: float
+    electrolyte_name: str
+
+class Battery(Resource):
+    """电池类 - 可容纳极片"""
+    children: List[ElectrodeSheet] = []
+
+    def __init__(
+        self,
+        name: str,
+        size_x=1,
+        size_y=1,
+        size_z=1,
+        category: str = "battery",
+    ):
+        """初始化电池
+
+        Args:
+            name: 电池名称
+            diameter: 直径 (mm)
+            height: 高度 (mm)
+            max_volume: 最大容量 (μL)
+            barcode: 二维码编号
+            category: 类别
+            model: 型号
+        """
+        super().__init__(
+            name=name,
+            size_x=1,
+            size_y=1,
+            size_z=1,
+            category=category,
+        )
+        self._unilabos_state: BatteryState = BatteryState(
+                                 diameter = 1.0,
+                                 height = 1.0,
+                                 assembly_pressure = 1.0,
+                                 electrolyte_volume = 1.0,
+                                 electrolyte_name = "DP001"
+                                 )
+
+    def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool:
+        to_add_name = bottle._unilabos_state["electrolyte_name"]
+        if bottle.aspirate_electrolyte(10):
+            if self.add_electrolyte(to_add_name, 10):
+                pass
+            else:
+                bottle._unilabos_state["electrolyte_volume"] += 10
+
+    def set_electrolyte(self, name: str, volume: float) -> None:
+        """设置电解液信息"""
+        self._unilabos_state["electrolyte_name"] = name
+        self._unilabos_state["electrolyte_volume"] = volume
+    #这个应该没用，不会有加了后再加的事情
+    def add_electrolyte(self, name: str, volume: float) -> bool:
+        """添加电解液信息"""
+        if name != self._unilabos_state["electrolyte_name"]:
+            return False
+        self._unilabos_state["electrolyte_volume"] += volume
+
+    def load_state(self, state: Dict[str, Any]) -> None:
+        """格式不变"""
+        super().load_state(state)
+        self._unilabos_state = state
+
+    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
+        """格式不变"""
+        data = super().serialize_state()
+        data.update(self._unilabos_state)  # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
+        return data
+
+# 电解液作为属性放进去
+
+class BatteryPressSlotState(TypedDict):
+    """电池状态字典"""
+    diameter: float =20.0
+    depth: float = 4.0
+
+class BatteryPressSlot(Resource):
+    """电池压制槽类 - 设备，可容纳一个电池"""
+    children: List[Battery] = []
+
+    def __init__(
+        self,
+        name: str = "BatteryPressSlot",
+        category: str = "battery_press_slot",
+    ):
+        """初始化电池压制槽
+
+        Args:
+            name: 压制槽名称
+            diameter: 直径 (mm)
+            depth: 深度 (mm)
+            category: 类别
+            model: 型号
+        """
+        super().__init__(
+            name=name,
+            size_x=10,
+            size_y=12,
+            size_z=13,
+            category=category,
+        )
+        self._unilabos_state: BatteryPressSlotState = BatteryPressSlotState()
+
+    def has_battery(self) -> bool:
+        """检查是否有电池"""
+        return len(self.children) > 0
+
+    def load_state(self, state: Dict[str, Any]) -> None:
+        """格式不变"""
+        super().load_state(state)
+        self._unilabos_state = state
+
+    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
+        """格式不变"""
+        data = super().serialize_state()
+        data.update(self._unilabos_state)  # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
+        return data
+    
+    def assign_child_resource(
+        self,
+        resource: Battery,
+        location: Optional[Coordinate],
+        reassign: bool = True,
+    ):
+        """放置极片"""
+        # TODO: 让高京看下槽位只有一个电池时是否这么写。
+        if self.has_battery():
+            raise ValueError(f"槽位已含有一个电池，无法再放置其他电池")
+        super().assign_child_resource(resource, location, reassign)
+
+    # 根据children的编号取物料对象。
+    def get_battery_info(self, index: int) -> Battery:
+        return self.children[0]
+
+
+def TipBox64(
+        name: str,
+        size_x: float = 127.8,
+        size_y: float = 85.5,
+        size_z: float = 60.0,
+        category: str = "tip_rack",
+        model: Optional[str] = None,
+):
+    """64孔枪头盒类"""
+    from pylabrobot.resources.tip import Tip
+
+    # 创建12x8=96个枪头位
+    def make_tip():
+        return Tip(
+            has_filter=False,
+            total_tip_length=20.0,
+            maximal_volume=1000,  # 1mL
+            fitting_depth=8.0,
+        )
+
+    tip_spots = create_ordered_items_2d(
+        klass=TipSpot,
+        num_items_x=12,
+        num_items_y=8,
+        dx=8.0,
+        dy=8.0,
+        dz=0.0,
+        item_dx=9.0,
+        item_dy=9.0,
+        size_x=10,
+        size_y=10,
+        size_z=0.0,
+        make_tip=make_tip,
+    )
+    idx_available = list(range(0, 32)) + list(range(64, 96))
+    tip_spots_available = {k: v for i, (k, v) in enumerate(tip_spots.items()) if i in idx_available}
+    tip_rack = TipRack(
+        name=name,
+        size_x=size_x,
+        size_y=size_y,
+        size_z=size_z,
+        # ordered_items=tip_spots_available,
+        ordered_items=tip_spots,
+        category=category,
+        model=model,
+        with_tips=False,
+    )
+    tip_rack.set_tip_state([True]*32 + [False]*32 + [True]*32)  # 前32和后32个有枪头，中间32个无枪头
+    return tip_rack
+
+
+class WasteTipBoxstate(TypedDict):
+    """"废枪头盒状态字典"""
+    max_tips: int = 100
+    tip_count: int = 0
+
+#枪头不是一次性的（同一溶液则反复使用），根据寄存器判断
+class WasteTipBox(Trash):
+    """废枪头盒类 - 100个枪头容量"""
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float = 127.8,
+        size_y: float = 85.5,
+        size_z: float = 60.0,
+        material_z_thickness=0,
+        max_volume=float("inf"),
+        category="trash",
+        model=None,
+        compute_volume_from_height=None,
+        compute_height_from_volume=None,
+    ):
+        """初始化废枪头盒
+
+        Args:
+            name: 废枪头盒名称
+            size_x: 长度 (mm)
+            size_y: 宽度 (mm)
+            size_z: 高度 (mm)
+            max_tips: 最大枪头容量
+            category: 类别
+            model: 型号
+        """
+        super().__init__(
+            name=name,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
+            category=category,
+            model=model,
+        )
+        self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate()
+
+    def add_tip(self) -> None:
+        """添加废枪头"""
+        if self._unilabos_state["tip_count"] >= self._unilabos_state["max_tips"]:
+            raise ValueError(f"废枪头盒 {self.name} 已满")
+        self._unilabos_state["tip_count"] += 1
+
+    def get_tip_count(self) -> int:
+        """获取枪头数量"""
+        return self._unilabos_state["tip_count"]
+
+    def empty(self) -> None:
+        """清空废枪头盒"""
+        self._unilabos_state["tip_count"] = 0
+
+
+    def load_state(self, state: Dict[str, Any]) -> None:
+        """格式不变"""
+        super().load_state(state)
+        self._unilabos_state = state
+
+    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
+        """格式不变"""
+        data = super().serialize_state()
+        data.update(self._unilabos_state)  # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
+        return data
+
+
+class CoincellDeck(Deck):
+    """纽扣电池组装工作站台面类"""
+
+    def __init__(
+        self,
+        name: str = "coin_cell_deck",
+        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
+    ):
+        """初始化纽扣电池组装工作站台面
+
+        Args:
+            name: 台面名称
+            size_x: 长度 (mm) - 1m
+            size_y: 宽度 (mm) - 1m
+            size_z: 高度 (mm) - 0.9m
+            origin: 原点坐标
+            category: 类别
+            setup: 是否自动执行 setup 配置标准布局
+        """
+        super().__init__(
+            name=name,
+            size_x=1450.0,
+            size_y=1450.0,
+            size_z=100.0,
+            origin=origin,
+        )
+        if setup:
+            self.setup()
+
+    def setup(self) -> None:
+        """设置工作站的标准布局 - 包含子弹夹、料盘、瓶架等完整配置"""
+        # ====================================== 子弹夹 ============================================
+        
+        # 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=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=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=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=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=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=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)
+
+        # ====================================== 瓶架、移液枪 ============================================
+        # 在台面上放置 3x4 瓶架、6x2 瓶架 与 64孔移液枪头盒
+        # 奔耀上料5ml分液瓶小板 - 由奔曜跨站转运而来，不单独写，但是这里应该有一个堆栈用于摆放分液瓶小板
+        
+        # bottle_rack_3x4 = BottleRack(
+        #     name="bottle_rack_3x4",
+        #     size_x=210.0,
+        #     size_y=140.0,
+        #     size_z=100.0,
+        #     num_items_x=2,
+        #     num_items_y=4,
+        #     position_spacing=35.0,
+        #     orientation="vertical",
+        # )
+        # self.assign_child_resource(bottle_rack_3x4, Coordinate(x=1542.0, y=717.0, z=0))
+        
+        # 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=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=914.0, y=358.0, z=0))
+
+        tip_box = TipBox64(name="tip_box_64")
+        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=778.0, y=622.0, z=0))
+
+
+def YH_Deck(name=""):
+    cd = CoincellDeck(name=name)
+    cd.setup()
+    return cd
+
+
+if __name__ == "__main__":
+    deck = create_coin_cell_deck()
+    print(deck)
--- a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py
+++ b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py
--- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py
+++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py
--- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_b.csv
+++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_b.csv
@@ -0,0 +1,133 @@
+Name,DataType,InitValue,Comment,Attribute,DeviceType,Address,
+COIL_SYS_START_CMD,BOOL,,,,coil,8010,
+COIL_SYS_STOP_CMD,BOOL,,,,coil,8020,
+COIL_SYS_RESET_CMD,BOOL,,,,coil,8030,
+COIL_SYS_HAND_CMD,BOOL,,,,coil,8040,
+COIL_SYS_AUTO_CMD,BOOL,,,,coil,8050,
+COIL_SYS_INIT_CMD,BOOL,,,,coil,8060,
+COIL_UNILAB_SEND_MSG_SUCC_CMD,BOOL,,,,coil,8700,
+COIL_UNILAB_REC_MSG_SUCC_CMD,BOOL,,,,coil,8710,unilab_rec_msg_succ_cmd
+COIL_SYS_START_STATUS,BOOL,,,,coil,8210,
+COIL_SYS_STOP_STATUS,BOOL,,,,coil,8220,
+COIL_SYS_RESET_STATUS,BOOL,,,,coil,8230,
+COIL_SYS_HAND_STATUS,BOOL,,,,coil,8240,
+COIL_SYS_AUTO_STATUS,BOOL,,,,coil,8250,
+COIL_SYS_INIT_STATUS,BOOL,,,,coil,8260,
+COIL_REQUEST_REC_MSG_STATUS,BOOL,,,,coil,8500,
+COIL_REQUEST_SEND_MSG_STATUS,BOOL,,,,coil,8510,request_send_msg_status
+REG_MSG_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,11000,
+REG_MSG_ELECTROLYTE_NUM,INT16,,,,hold_register,11002,unilab_send_msg_electrolyte_num
+REG_MSG_ELECTROLYTE_VOLUME,INT16,,,,hold_register,11004,unilab_send_msg_electrolyte_vol
+REG_MSG_ASSEMBLY_TYPE,INT16,,,,hold_register,11006,unilab_send_msg_assembly_type
+REG_MSG_ASSEMBLY_PRESSURE,INT16,,,,hold_register,11008,unilab_send_msg_assembly_pressure
+REG_DATA_ASSEMBLY_COIN_CELL_NUM,INT16,,,,hold_register,10000,data_assembly_coin_cell_num
+REG_DATA_OPEN_CIRCUIT_VOLTAGE,FLOAT32,,,,hold_register,10002,data_open_circuit_voltage
+REG_DATA_AXIS_X_POS,FLOAT32,,,,hold_register,10004,
+REG_DATA_AXIS_Y_POS,FLOAT32,,,,hold_register,10006,
+REG_DATA_AXIS_Z_POS,FLOAT32,,,,hold_register,10008,
+REG_DATA_POLE_WEIGHT,FLOAT32,,,,hold_register,10010,data_pole_weight
+REG_DATA_ASSEMBLY_PER_TIME,FLOAT32,,,,hold_register,10012,data_assembly_time
+REG_DATA_ASSEMBLY_PRESSURE,INT16,,,,hold_register,10014,data_assembly_pressure
+REG_DATA_ELECTROLYTE_VOLUME,INT16,,,,hold_register,10016,data_electrolyte_volume
+REG_DATA_COIN_NUM,INT16,,,,hold_register,10018,data_coin_num
+REG_DATA_ELECTROLYTE_CODE,STRING,,,,hold_register,10020,data_electrolyte_code()
+REG_DATA_COIN_CELL_CODE,STRING,,,,hold_register,10030,data_coin_cell_code()
+REG_DATA_STACK_VISON_CODE,STRING,,,,hold_register,12004,data_stack_vision_code()
+REG_DATA_GLOVE_BOX_PRESSURE,FLOAT32,,,,hold_register,10050,data_glove_box_pressure
+REG_DATA_GLOVE_BOX_WATER_CONTENT,FLOAT32,,,,hold_register,10052,data_glove_box_water_content
+REG_DATA_GLOVE_BOX_O2_CONTENT,FLOAT32,,,,hold_register,10054,data_glove_box_o2_content
+UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,8720,
+UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,8520,
+REG_MSG_ELECTROLYTE_NUM_USED,INT16,,,,hold_register,496,
+REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,10000,
+UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,8730,
+UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,8530,
+REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,10018,ASSEMBLY_TYPE7or8
+REG_UNILAB_INTERACT,BOOL,,,,coil,8450,
+,,,,,coil,8320,
+COIL_ALUMINUM_FOIL,BOOL,,,,coil,8340,
+REG_MSG_NE_PLATE_MATRIX,INT16,,,,hold_register,440,
+REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,,,hold_register,450,
+REG_MSG_TIP_BOX_MATRIX,INT16,,,,hold_register,480,
+REG_MSG_NE_PLATE_NUM,INT16,,,,hold_register,443,
+REG_MSG_SEPARATOR_PLATE_NUM,INT16,,,,hold_register,453,
+REG_MSG_PRESS_MODE,BOOL,,,,coil,8360,
+,BOOL,,,,coil,8300,
+,BOOL,,,,coil,8310,
+COIL_GB_L_IGNORE_CMD,BOOL,,,,coil,8320,
+COIL_GB_R_IGNORE_CMD,BOOL,,,,coil,8420,
+,BOOL,,,,coil,8350,
+COIL_ELECTROLYTE_DUAL_DROP_MODE,BOOL,,,,coil,8370,
+,BOOL,,,,coil,8380,
+,BOOL,,,,coil,8390,
+,BOOL,,,,coil,8400,
+,BOOL,,,,coil,8410,
+REG_MSG_DUAL_DROP_FIRST_VOLUME,INT16,,,,hold_register,4001,
+COIL_DUAL_DROP_SUCTION_TIMING,BOOL,,,,coil,8430,
+COIL_DUAL_DROP_START_TIMING,BOOL,,,,coil,8470,
+REG_MSG_BATTERY_CLEAN_IGNORE,BOOL,,,,coil,8460,
+COIL_MATERIAL_SEARCH_DIALOG_APPEAR,BOOL,,,,coil,6470,
+COIL_MATERIAL_SEARCH_CONFIRM_YES,BOOL,,,,coil,6480,
+COIL_MATERIAL_SEARCH_CONFIRM_NO,BOOL,,,,coil,6490,
+COIL_ALARM_100_SYSTEM_ERROR,BOOL,,,,coil,1000,异常100-系统异常
+COIL_ALARM_101_EMERGENCY_STOP,BOOL,,,,coil,1010,异常101-急停
+COIL_ALARM_111_GLOVEBOX_EMERGENCY_STOP,BOOL,,,,coil,1110,异常111-手套箱急停
+COIL_ALARM_112_GLOVEBOX_GRATING_BLOCKED,BOOL,,,,coil,1120,异常112-手套箱内光栅遮挡
+COIL_ALARM_160_PIPETTE_TIP_SHORTAGE,BOOL,,,,coil,1600,异常160-移液枪头缺料
+COIL_ALARM_161_POSITIVE_SHELL_SHORTAGE,BOOL,,,,coil,1610,异常161-正极壳缺料
+COIL_ALARM_162_ALUMINUM_FOIL_SHORTAGE,BOOL,,,,coil,1620,异常162-铝箔垫缺料
+COIL_ALARM_163_POSITIVE_PLATE_SHORTAGE,BOOL,,,,coil,1630,异常163-正极片缺料
+COIL_ALARM_164_SEPARATOR_SHORTAGE,BOOL,,,,coil,1640,异常164-隔膜缺料
+COIL_ALARM_165_NEGATIVE_PLATE_SHORTAGE,BOOL,,,,coil,1650,异常165-负极片缺料
+COIL_ALARM_166_FLAT_WASHER_SHORTAGE,BOOL,,,,coil,1660,异常166-平垫缺料
+COIL_ALARM_167_SPRING_WASHER_SHORTAGE,BOOL,,,,coil,1670,异常167-弹垫缺料
+COIL_ALARM_168_NEGATIVE_SHELL_SHORTAGE,BOOL,,,,coil,1680,异常168-负极壳缺料
+COIL_ALARM_169_FINISHED_BATTERY_FULL,BOOL,,,,coil,1690,异常169-成品电池满料
+COIL_ALARM_201_SERVO_AXIS_01_ERROR,BOOL,,,,coil,2010,异常201-伺服轴01异常
+COIL_ALARM_202_SERVO_AXIS_02_ERROR,BOOL,,,,coil,2020,异常202-伺服轴02异常
+COIL_ALARM_203_SERVO_AXIS_03_ERROR,BOOL,,,,coil,2030,异常203-伺服轴03异常
+COIL_ALARM_204_SERVO_AXIS_04_ERROR,BOOL,,,,coil,2040,异常204-伺服轴04异常
+COIL_ALARM_205_SERVO_AXIS_05_ERROR,BOOL,,,,coil,2050,异常205-伺服轴05异常
+COIL_ALARM_206_SERVO_AXIS_06_ERROR,BOOL,,,,coil,2060,异常206-伺服轴06异常
+COIL_ALARM_207_SERVO_AXIS_07_ERROR,BOOL,,,,coil,2070,异常207-伺服轴07异常
+COIL_ALARM_208_SERVO_AXIS_08_ERROR,BOOL,,,,coil,2080,异常208-伺服轴08异常
+COIL_ALARM_209_SERVO_AXIS_09_ERROR,BOOL,,,,coil,2090,异常209-伺服轴09异常
+COIL_ALARM_210_SERVO_AXIS_10_ERROR,BOOL,,,,coil,2100,异常210-伺服轴10异常
+COIL_ALARM_211_SERVO_AXIS_11_ERROR,BOOL,,,,coil,2110,异常211-伺服轴11异常
+COIL_ALARM_212_SERVO_AXIS_12_ERROR,BOOL,,,,coil,2120,异常212-伺服轴12异常
+COIL_ALARM_213_SERVO_AXIS_13_ERROR,BOOL,,,,coil,2130,异常213-伺服轴13异常
+COIL_ALARM_214_SERVO_AXIS_14_ERROR,BOOL,,,,coil,2140,异常214-伺服轴14异常
+COIL_ALARM_250_OTHER_COMPONENT_ERROR,BOOL,,,,coil,2500,异常250-其他元件异常
+COIL_ALARM_251_PIPETTE_COMM_ERROR,BOOL,,,,coil,2510,异常251-移液枪通讯异常
+COIL_ALARM_252_PIPETTE_ALARM,BOOL,,,,coil,2520,异常252-移液枪报警
+COIL_ALARM_256_ELECTRIC_GRIPPER_ERROR,BOOL,,,,coil,2560,异常256-电爪异常
+COIL_ALARM_262_RB_UNKNOWN_POSITION_ERROR,BOOL,,,,coil,2620,异常262-RB报警：未知点位错误
+COIL_ALARM_263_RB_XYZ_PARAM_LIMIT_ERROR,BOOL,,,,coil,2630,异常263-RB报警：X、Y、Z参数超限制
+COIL_ALARM_264_RB_VISION_PARAM_ERROR,BOOL,,,,coil,2640,异常264-RB报警：视觉参数误差过大
+COIL_ALARM_265_RB_NOZZLE_1_PICK_FAIL,BOOL,,,,coil,2650,异常265-RB报警：1#吸嘴取料失败
+COIL_ALARM_266_RB_NOZZLE_2_PICK_FAIL,BOOL,,,,coil,2660,异常266-RB报警：2#吸嘴取料失败
+COIL_ALARM_267_RB_NOZZLE_3_PICK_FAIL,BOOL,,,,coil,2670,异常267-RB报警：3#吸嘴取料失败
+COIL_ALARM_268_RB_NOZZLE_4_PICK_FAIL,BOOL,,,,coil,2680,异常268-RB报警：4#吸嘴取料失败
+COIL_ALARM_269_RB_TRAY_PICK_FAIL,BOOL,,,,coil,2690,异常269-RB报警：取物料盘失败
+COIL_ALARM_280_RB_COLLISION_ERROR,BOOL,,,,coil,2800,异常280-RB碰撞异常
+COIL_ALARM_290_VISION_SYSTEM_COMM_ERROR,BOOL,,,,coil,2900,异常290-视觉系统通讯异常
+COIL_ALARM_291_VISION_ALIGNMENT_NG,BOOL,,,,coil,2910,异常291-视觉对位NG异常
+COIL_ALARM_292_BARCODE_SCANNER_COMM_ERROR,BOOL,,,,coil,2920,异常292-扫码枪通讯异常
+COIL_ALARM_310_OCV_TRANSFER_NOZZLE_SUCTION_ERROR,BOOL,,,,coil,3100,异常310-开电移载吸嘴吸真空异常
+COIL_ALARM_311_OCV_TRANSFER_NOZZLE_BREAK_ERROR,BOOL,,,,coil,3110,异常311-开电移载吸嘴破真空异常
+COIL_ALARM_312_WEIGHT_TRANSFER_NOZZLE_SUCTION_ERROR,BOOL,,,,coil,3120,异常312-称重移载吸嘴吸真空异常
+COIL_ALARM_313_WEIGHT_TRANSFER_NOZZLE_BREAK_ERROR,BOOL,,,,coil,3130,异常313-称重移载吸嘴破真空异常
+COIL_ALARM_340_OCV_NOZZLE_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3400,异常340-开路电压吸嘴移载气缸异常
+COIL_ALARM_342_OCV_NOZZLE_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3420,异常342-开路电压吸嘴升降气缸异常
+COIL_ALARM_344_OCV_CRIMPING_CYLINDER_ERROR,BOOL,,,,coil,3440,异常344-开路电压旋压气缸异常
+COIL_ALARM_350_WEIGHT_NOZZLE_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3500,异常350-称重吸嘴移载气缸异常
+COIL_ALARM_352_WEIGHT_NOZZLE_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3520,异常352-称重吸嘴升降气缸异常
+COIL_ALARM_354_CLEANING_CLOTH_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3540,异常354-清洗无尘布移载气缸异常
+COIL_ALARM_356_CLEANING_CLOTH_PRESS_CYLINDER_ERROR,BOOL,,,,coil,3560,异常356-清洗无尘布压紧气缸异常
+COIL_ALARM_360_ELECTROLYTE_BOTTLE_POSITION_CYLINDER_ERROR,BOOL,,,,coil,3600,异常360-电解液瓶定位气缸异常
+COIL_ALARM_362_PIPETTE_TIP_BOX_POSITION_CYLINDER_ERROR,BOOL,,,,coil,3620,异常362-移液枪头盒定位气缸异常
+COIL_ALARM_364_REAGENT_BOTTLE_GRIPPER_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3640,异常364-试剂瓶夹爪升降气缸异常
+COIL_ALARM_366_REAGENT_BOTTLE_GRIPPER_CYLINDER_ERROR,BOOL,,,,coil,3660,异常366-试剂瓶夹爪气缸异常
+COIL_ALARM_370_PRESS_MODULE_BLOW_CYLINDER_ERROR,BOOL,,,,coil,3700,异常370-压制模块吹气气缸异常
+COIL_ALARM_151_ELECTROLYTE_BOTTLE_POSITION_ERROR,BOOL,,,,coil,1510,异常151-电解液瓶定位在籍异常
+COIL_ALARM_152_ELECTROLYTE_BOTTLE_CAP_ERROR,BOOL,,,,coil,1520,异常152-电解液瓶盖在籍异常
--- a/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json
+++ b/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json
--- a/unilabos/devices/workstation/workstation_http_service.py
+++ b/unilabos/devices/workstation/workstation_http_service.py
@@ -459,12 +459,12 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
            # 验证必需字段
            if 'brand' in request_data:
                if request_data['brand'] == "bioyond":  # 奔曜
-                    error_msg = request_data["text"]
-                    logger.info(f"收到奔曜错误处理报送: {error_msg}")
+                    material_data = request_data["text"]
+                    logger.info(f"收到奔曜物料变更报送: {material_data}")
                    return HttpResponse(
                        success=True,
-                        message=f"错误处理报送已收到: {error_msg}",
-                        acknowledgment_id=f"ERROR_{int(time.time() * 1000)}_{error_msg.get('action_id', 'unknown')}",
+                        message=f"物料变更报送已收到: {material_data}",
+                        acknowledgment_id=f"MATERIAL_{int(time.time() * 1000)}_{material_data.get('id', 'unknown')}",
                        data=None
                    )
            else:
--- a/unilabos/registry/devices/bioyond.yaml
+++ b/unilabos/registry/devices/bioyond.yaml
@@ -1,589 +0,0 @@
-workstation.bioyond_dispensing_station:
-  category:
-  - workstation
-  - bioyond
-  class:
-    action_value_mappings:
-      auto-batch_create_90_10_vial_feeding_tasks:
-        feedback: {}
-        goal: {}
-        goal_default:
-          delay_time: null
-          hold_m_name: null
-          liquid_material_name: NMP
-          speed: null
-          temperature: null
-          titration: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                delay_time:
-                  type: string
-                hold_m_name:
-                  type: string
-                liquid_material_name:
-                  default: NMP
-                  type: string
-                speed:
-                  type: string
-                temperature:
-                  type: string
-                titration:
-                  type: string
-              required:
-              - titration
-              type: object
-            result: {}
-          required:
-          - goal
-          title: batch_create_90_10_vial_feeding_tasks参数
-          type: object
-        type: UniLabJsonCommand
-      auto-batch_create_diamine_solution_tasks:
-        feedback: {}
-        goal: {}
-        goal_default:
-          delay_time: null
-          liquid_material_name: NMP
-          solutions: null
-          speed: null
-          temperature: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                delay_time:
-                  type: string
-                liquid_material_name:
-                  default: NMP
-                  type: string
-                solutions:
-                  type: string
-                speed:
-                  type: string
-                temperature:
-                  type: string
-              required:
-              - solutions
-              type: object
-            result: {}
-          required:
-          - goal
-          title: batch_create_diamine_solution_tasks参数
-          type: object
-        type: UniLabJsonCommand
-      auto-brief_step_parameters:
-        feedback: {}
-        goal: {}
-        goal_default:
-          data: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                data:
-                  type: object
-              required:
-              - data
-              type: object
-            result: {}
-          required:
-          - goal
-          title: brief_step_parameters参数
-          type: object
-        type: UniLabJsonCommand
-      auto-compute_experiment_design:
-        feedback: {}
-        goal: {}
-        goal_default:
-          m_tot: '70'
-          ratio: null
-          titration_percent: '0.03'
-          wt_percent: '0.25'
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                m_tot:
-                  default: '70'
-                  type: string
-                ratio:
-                  type: object
-                titration_percent:
-                  default: '0.03'
-                  type: string
-                wt_percent:
-                  default: '0.25'
-                  type: string
-              required:
-              - ratio
-              type: object
-            result:
-              properties:
-                feeding_order:
-                  items: {}
-                  title: Feeding Order
-                  type: array
-                return_info:
-                  title: Return Info
-                  type: string
-                solutions:
-                  items: {}
-                  title: Solutions
-                  type: array
-                solvents:
-                  additionalProperties: true
-                  title: Solvents
-                  type: object
-                titration:
-                  additionalProperties: true
-                  title: Titration
-                  type: object
-              required:
-              - solutions
-              - titration
-              - solvents
-              - feeding_order
-              - return_info
-              title: ComputeExperimentDesignReturn
-              type: object
-          required:
-          - goal
-          title: compute_experiment_design参数
-          type: object
-        type: UniLabJsonCommand
-      auto-process_order_finish_report:
-        feedback: {}
-        goal: {}
-        goal_default:
-          report_request: null
-          used_materials: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                report_request:
-                  type: string
-                used_materials:
-                  type: string
-              required:
-              - report_request
-              - used_materials
-              type: object
-            result: {}
-          required:
-          - goal
-          title: process_order_finish_report参数
-          type: object
-        type: UniLabJsonCommand
-      auto-project_order_report:
-        feedback: {}
-        goal: {}
-        goal_default:
-          order_id: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                order_id:
-                  type: string
-              required:
-              - order_id
-              type: object
-            result: {}
-          required:
-          - goal
-          title: project_order_report参数
-          type: object
-        type: UniLabJsonCommand
-      auto-query_resource_by_name:
-        feedback: {}
-        goal: {}
-        goal_default:
-          material_name: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                material_name:
-                  type: string
-              required:
-              - material_name
-              type: object
-            result: {}
-          required:
-          - goal
-          title: query_resource_by_name参数
-          type: object
-        type: UniLabJsonCommand
-      auto-transfer_materials_to_reaction_station:
-        feedback: {}
-        goal: {}
-        goal_default:
-          target_device_id: null
-          transfer_groups: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                target_device_id:
-                  type: string
-                transfer_groups:
-                  type: array
-              required:
-              - target_device_id
-              - transfer_groups
-              type: object
-            result: {}
-          required:
-          - goal
-          title: transfer_materials_to_reaction_station参数
-          type: object
-        type: UniLabJsonCommand
-      auto-wait_for_multiple_orders_and_get_reports:
-        feedback: {}
-        goal: {}
-        goal_default:
-          batch_create_result: null
-          check_interval: 10
-          timeout: 7200
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                batch_create_result:
-                  type: string
-                check_interval:
-                  default: 10
-                  type: integer
-                timeout:
-                  default: 7200
-                  type: integer
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: wait_for_multiple_orders_and_get_reports参数
-          type: object
-        type: UniLabJsonCommand
-      auto-workflow_sample_locations:
-        feedback: {}
-        goal: {}
-        goal_default:
-          workflow_id: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                workflow_id:
-                  type: string
-              required:
-              - workflow_id
-              type: object
-            result: {}
-          required:
-          - goal
-          title: workflow_sample_locations参数
-          type: object
-        type: UniLabJsonCommand
-      create_90_10_vial_feeding_task:
-        feedback: {}
-        goal:
-          delay_time: delay_time
-          hold_m_name: hold_m_name
-          order_name: order_name
-          percent_10_1_assign_material_name: percent_10_1_assign_material_name
-          percent_10_1_liquid_material_name: percent_10_1_liquid_material_name
-          percent_10_1_target_weigh: percent_10_1_target_weigh
-          percent_10_1_volume: percent_10_1_volume
-          percent_10_2_assign_material_name: percent_10_2_assign_material_name
-          percent_10_2_liquid_material_name: percent_10_2_liquid_material_name
-          percent_10_2_target_weigh: percent_10_2_target_weigh
-          percent_10_2_volume: percent_10_2_volume
-          percent_10_3_assign_material_name: percent_10_3_assign_material_name
-          percent_10_3_liquid_material_name: percent_10_3_liquid_material_name
-          percent_10_3_target_weigh: percent_10_3_target_weigh
-          percent_10_3_volume: percent_10_3_volume
-          percent_90_1_assign_material_name: percent_90_1_assign_material_name
-          percent_90_1_target_weigh: percent_90_1_target_weigh
-          percent_90_2_assign_material_name: percent_90_2_assign_material_name
-          percent_90_2_target_weigh: percent_90_2_target_weigh
-          percent_90_3_assign_material_name: percent_90_3_assign_material_name
-          percent_90_3_target_weigh: percent_90_3_target_weigh
-          speed: speed
-          temperature: temperature
-        goal_default:
-          delay_time: ''
-          hold_m_name: ''
-          order_name: ''
-          percent_10_1_assign_material_name: ''
-          percent_10_1_liquid_material_name: ''
-          percent_10_1_target_weigh: ''
-          percent_10_1_volume: ''
-          percent_10_2_assign_material_name: ''
-          percent_10_2_liquid_material_name: ''
-          percent_10_2_target_weigh: ''
-          percent_10_2_volume: ''
-          percent_10_3_assign_material_name: ''
-          percent_10_3_liquid_material_name: ''
-          percent_10_3_target_weigh: ''
-          percent_10_3_volume: ''
-          percent_90_1_assign_material_name: ''
-          percent_90_1_target_weigh: ''
-          percent_90_2_assign_material_name: ''
-          percent_90_2_target_weigh: ''
-          percent_90_3_assign_material_name: ''
-          percent_90_3_target_weigh: ''
-          speed: ''
-          temperature: ''
-        handles: {}
-        result:
-          return_info: return_info
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: DispenStationVialFeed_Feedback
-              type: object
-            goal:
-              properties:
-                delay_time:
-                  type: string
-                hold_m_name:
-                  type: string
-                order_name:
-                  type: string
-                percent_10_1_assign_material_name:
-                  type: string
-                percent_10_1_liquid_material_name:
-                  type: string
-                percent_10_1_target_weigh:
-                  type: string
-                percent_10_1_volume:
-                  type: string
-                percent_10_2_assign_material_name:
-                  type: string
-                percent_10_2_liquid_material_name:
-                  type: string
-                percent_10_2_target_weigh:
-                  type: string
-                percent_10_2_volume:
-                  type: string
-                percent_10_3_assign_material_name:
-                  type: string
-                percent_10_3_liquid_material_name:
-                  type: string
-                percent_10_3_target_weigh:
-                  type: string
-                percent_10_3_volume:
-                  type: string
-                percent_90_1_assign_material_name:
-                  type: string
-                percent_90_1_target_weigh:
-                  type: string
-                percent_90_2_assign_material_name:
-                  type: string
-                percent_90_2_target_weigh:
-                  type: string
-                percent_90_3_assign_material_name:
-                  type: string
-                percent_90_3_target_weigh:
-                  type: string
-                speed:
-                  type: string
-                temperature:
-                  type: string
-              required:
-              - order_name
-              - percent_90_1_assign_material_name
-              - percent_90_1_target_weigh
-              - percent_90_2_assign_material_name
-              - percent_90_2_target_weigh
-              - percent_90_3_assign_material_name
-              - percent_90_3_target_weigh
-              - percent_10_1_assign_material_name
-              - percent_10_1_target_weigh
-              - percent_10_1_volume
-              - percent_10_1_liquid_material_name
-              - percent_10_2_assign_material_name
-              - percent_10_2_target_weigh
-              - percent_10_2_volume
-              - percent_10_2_liquid_material_name
-              - percent_10_3_assign_material_name
-              - percent_10_3_target_weigh
-              - percent_10_3_volume
-              - percent_10_3_liquid_material_name
-              - speed
-              - temperature
-              - delay_time
-              - hold_m_name
-              title: DispenStationVialFeed_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-              required:
-              - return_info
-              title: DispenStationVialFeed_Result
-              type: object
-          required:
-          - goal
-          title: DispenStationVialFeed
-          type: object
-        type: DispenStationVialFeed
-      create_diamine_solution_task:
-        feedback: {}
-        goal:
-          delay_time: delay_time
-          hold_m_name: hold_m_name
-          liquid_material_name: liquid_material_name
-          material_name: material_name
-          order_name: order_name
-          speed: speed
-          target_weigh: target_weigh
-          temperature: temperature
-          volume: volume
-        goal_default:
-          delay_time: ''
-          hold_m_name: ''
-          liquid_material_name: ''
-          material_name: ''
-          order_name: ''
-          speed: ''
-          target_weigh: ''
-          temperature: ''
-          volume: ''
-        handles: {}
-        result:
-          return_info: return_info
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: DispenStationSolnPrep_Feedback
-              type: object
-            goal:
-              properties:
-                delay_time:
-                  type: string
-                hold_m_name:
-                  type: string
-                liquid_material_name:
-                  type: string
-                material_name:
-                  type: string
-                order_name:
-                  type: string
-                speed:
-                  type: string
-                target_weigh:
-                  type: string
-                temperature:
-                  type: string
-                volume:
-                  type: string
-              required:
-              - order_name
-              - material_name
-              - target_weigh
-              - volume
-              - liquid_material_name
-              - speed
-              - temperature
-              - delay_time
-              - hold_m_name
-              title: DispenStationSolnPrep_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-              required:
-              - return_info
-              title: DispenStationSolnPrep_Result
-              type: object
-          required:
-          - goal
-          title: DispenStationSolnPrep
-          type: object
-        type: DispenStationSolnPrep
-    module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation
-    status_types: {}
-    type: python
-  config_info: []
-  description: ''
-  handles: []
-  icon: ''
-  init_param_schema:
-    config:
-      properties:
-        config:
-          type: string
-        deck:
-          type: string
-      required:
-      - config
-      - deck
-      type: object
-    data:
-      properties: {}
-      required: []
-      type: object
-  version: 1.0.0
--- a/unilabos/registry/devices/bioyond_cell.yaml
+++ b/unilabos/registry/devices/bioyond_cell.yaml
--- a/unilabos/registry/devices/bioyond_dispensing_station.yaml
+++ b/unilabos/registry/devices/bioyond_dispensing_station.yaml
@@ -30,71 +30,6 @@ bioyond_dispensing_station:
          title: brief_step_parameters参数
          type: object
        type: UniLabJsonCommand
-      auto-compute_experiment_design:
-        feedback: {}
-        goal: {}
-        goal_default:
-          m_tot: '70'
-          ratio: null
-          titration_percent: '0.03'
-          wt_percent: '0.25'
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                m_tot:
-                  default: '70'
-                  type: string
-                ratio:
-                  type: object
-                titration_percent:
-                  default: '0.03'
-                  type: string
-                wt_percent:
-                  default: '0.25'
-                  type: string
-              required:
-              - ratio
-              type: object
-            result:
-              properties:
-                feeding_order:
-                  items: {}
-                  title: Feeding Order
-                  type: array
-                return_info:
-                  title: Return Info
-                  type: string
-                solutions:
-                  items: {}
-                  title: Solutions
-                  type: array
-                solvents:
-                  additionalProperties: true
-                  title: Solvents
-                  type: object
-                titration:
-                  additionalProperties: true
-                  title: Titration
-                  type: object
-              required:
-              - solutions
-              - titration
-              - solvents
-              - feeding_order
-              - return_info
-              title: ComputeExperimentDesignReturn
-              type: object
-          required:
-          - goal
-          title: compute_experiment_design参数
-          type: object
-        type: UniLabJsonCommand
      auto-process_order_finish_report:
        feedback: {}
        goal: {}
@@ -365,6 +300,99 @@ bioyond_dispensing_station:
          title: BatchCreateDiamineSolutionTasks
          type: object
        type: UniLabJsonCommand
+      compute_experiment_design:
+        feedback: {}
+        goal:
+          m_tot: m_tot
+          ratio: ratio
+          titration_percent: titration_percent
+          wt_percent: wt_percent
+        goal_default:
+          m_tot: '70'
+          ratio: ''
+          titration_percent: '0.03'
+          wt_percent: '0.25'
+        handles:
+          output:
+          - data_key: solutions
+            data_source: executor
+            data_type: array
+            handler_key: solutions
+            io_type: sink
+            label: Solution Data From Python
+          - data_key: titration
+            data_source: executor
+            data_type: object
+            handler_key: titration
+            io_type: sink
+            label: Titration Data From Calculation Node
+          - data_key: solvents
+            data_source: executor
+            data_type: object
+            handler_key: solvents
+            io_type: sink
+            label: Solvents Data From Calculation Node
+          - data_key: feeding_order
+            data_source: executor
+            data_type: array
+            handler_key: feeding_order
+            io_type: sink
+            label: Feeding Order Data From Calculation Node
+        result:
+          feeding_order: feeding_order
+          return_info: return_info
+          solutions: solutions
+          solvents: solvents
+          titration: titration
+        schema:
+          description: 计算实验设计，输出solutions/titration/solvents/feeding_order用于后续节点。
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                m_tot:
+                  default: '70'
+                  description: 总质量(g)
+                  type: string
+                ratio:
+                  description: 组分摩尔比的对象，保持输入顺序，如{"MDA":1,"BTDA":1}
+                  type: string
+                titration_percent:
+                  default: '0.03'
+                  description: 滴定比例(10%部分)
+                  type: string
+                wt_percent:
+                  default: '0.25'
+                  description: 目标固含质量分数
+                  type: string
+              required:
+              - ratio
+              type: object
+            result:
+              properties:
+                feeding_order:
+                  type: array
+                return_info:
+                  type: string
+                solutions:
+                  type: array
+                solvents:
+                  type: object
+                titration:
+                  type: object
+              required:
+              - solutions
+              - titration
+              - solvents
+              - feeding_order
+              - return_info
+              title: ComputeExperimentDesign_Result
+              type: object
+          required:
+          - goal
+          title: ComputeExperimentDesign
+          type: object
+        type: UniLabJsonCommand
      create_90_10_vial_feeding_task:
        feedback: {}
        goal:
@@ -591,6 +619,89 @@ bioyond_dispensing_station:
          title: DispenStationSolnPrep
          type: object
        type: DispenStationSolnPrep
+      scheduler_start:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result:
+          return_info: return_info
+        schema:
+          description: 启动调度器 - 启动Bioyond配液站的任务调度器，开始执行队列中的任务
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result:
+              properties:
+                return_info:
+                  description: 调度器启动结果，成功返回1，失败返回0
+                  type: integer
+              required:
+              - return_info
+              title: scheduler_start结果
+              type: object
+          required:
+          - goal
+          title: scheduler_start参数
+          type: object
+        type: UniLabJsonCommand
+      transfer_materials_to_reaction_station:
+        feedback: {}
+        goal:
+          target_device_id: target_device_id
+          transfer_groups: transfer_groups
+        goal_default:
+          target_device_id: ''
+          transfer_groups: ''
+        handles: {}
+        placeholder_keys:
+          target_device_id: unilabos_devices
+        result: {}
+        schema:
+          description: 将配液站完成的物料（溶液、样品等）转移到指定反应站的堆栈库位。支持配置多组转移任务，每组包含物料名称、目标堆栈和目标库位。
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                target_device_id:
+                  description: 目标反应站设备ID（从设备列表中选择，所有转移组都使用同一个目标设备）
+                  type: string
+                transfer_groups:
+                  description: 转移任务组列表，每组包含物料名称、目标堆栈和目标库位，可以添加多组
+                  items:
+                    properties:
+                      materials:
+                        description: 物料名称（手动输入，系统将通过RPC查询验证）
+                        type: string
+                      target_sites:
+                        description: 目标库位（手动输入，如"A01"）
+                        type: string
+                      target_stack:
+                        description: 目标堆栈名称（从列表选择）
+                        enum:
+                        - 堆栈1左
+                        - 堆栈1右
+                        - 站内试剂存放堆栈
+                        type: string
+                    required:
+                    - materials
+                    - target_stack
+                    - target_sites
+                    type: object
+                  type: array
+              required:
+              - target_device_id
+              - transfer_groups
+              type: object
+            result: {}
+          required:
+          - goal
+          title: transfer_materials_to_reaction_station参数
+          type: object
+        type: UniLabJsonCommand
      wait_for_multiple_orders_and_get_reports:
        feedback: {}
        goal:
@@ -659,7 +770,7 @@ bioyond_dispensing_station:
          title: WaitForMultipleOrdersAndGetReports
          type: object
        type: UniLabJsonCommand
-    module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation
+    module: unilabos.devices.workstation.bioyond_studio.dispensing_station.dispensing_station:BioyondDispensingStation
    status_types: {}
    type: python
  config_info: []
@@ -670,15 +781,16 @@ bioyond_dispensing_station:
    config:
      properties:
        config:
-          type: string
+          type: object
        deck:
          type: string
-      required:
-      - config
-      - deck
+        protocol_type:
+          type: string
+      required: []
      type: object
    data:
      properties: {}
      required: []
      type: object
+  model: {}
  version: 1.0.0
--- a/unilabos/registry/devices/cameraSII.yaml
+++ b/unilabos/registry/devices/cameraSII.yaml
@@ -9,6 +9,7 @@ cameracontroller_device:
        goal_default:
          config: null
        handles: {}
+        placeholder_keys: {}
        result: {}
        schema:
          description: ''
@@ -31,6 +32,7 @@ cameracontroller_device:
        goal: {}
        goal_default: {}
        handles: {}
+        placeholder_keys: {}
        result: {}
        schema:
          description: ''
--- a/unilabos/registry/devices/chinwe.yaml
+++ b/unilabos/registry/devices/chinwe.yaml
@@ -4,6 +4,73 @@ separator.chinwe:
  - chinwe
  class:
    action_value_mappings:
+      auto-connect:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: connect参数
+          type: object
+        type: UniLabJsonCommand
+      auto-disconnect:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: disconnect参数
+          type: object
+        type: UniLabJsonCommand
+      auto-execute_command_from_outer:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command_dict: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                command_dict:
+                  type: object
+              required:
+              - command_dict
+              type: object
+            result: {}
+          required:
+          - goal
+          title: execute_command_from_outer参数
+          type: object
+        type: UniLabJsonCommand
      motor_rotate_quarter:
        goal:
          direction: 顺时针
@@ -303,42 +370,44 @@ separator.chinwe:
  handles: []
  icon: ''
  init_param_schema:
-    goal:
-      baudrate:
-        default: 9600
-        description: 串口波特率
-        type: integer
-      motor_ids:
-        default:
-        - 4
-        - 5
-        description: 步进电机ID列表
-        items:
+    config:
+      properties:
+        baudrate:
+          default: 9600
          type: integer
-        type: array
-      port:
-        default: 192.168.1.200:8899
-        description: 串口号或 IP:Port
-        type: string
-      pump_ids:
-        default:
-        - 1
-        - 2
-        - 3
-        description: 注射泵ID列表
-        items:
+        motor_ids:
+          items:
+            type: integer
+          type: array
+        port:
+          default: 192.168.1.200:8899
+          type: string
+        pump_ids:
+          items:
+            type: integer
+          type: array
+        sensor_id:
+          default: 6
          type: integer
-        type: array
-      sensor_id:
-        default: 6
-        description: XKC传感器ID
-        type: integer
-      sensor_threshold:
-        default: 300
-        description: 传感器液位判定阈值
-        type: integer
-      timeout:
-        default: 10
-        description: 通信超时时间 (秒)
-        type: integer
+        sensor_threshold:
+          default: 300
+          type: integer
+        timeout:
+          default: 10.0
+          type: number
+      required: []
+      type: object
+    data:
+      properties:
+        is_connected:
+          type: boolean
+        sensor_level:
+          type: boolean
+        sensor_rssi:
+          type: integer
+      required:
+      - sensor_level
+      - sensor_rssi
+      - is_connected
+      type: object
  version: 2.1.0
--- a/unilabos/registry/devices/coin_cell_workstation.yaml
+++ b/unilabos/registry/devices/coin_cell_workstation.yaml
@@ -0,0 +1,850 @@
+coincellassemblyworkstation_device:
+  category:
+  - coin_cell_workstation
+  class:
+    action_value_mappings:
+      auto-change_hole_sheet_to_2:
+        feedback: {}
+        goal: {}
+        goal_default:
+          hole: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                hole:
+                  type: object
+              required:
+              - hole
+              type: object
+            result: {}
+          required:
+          - goal
+          title: change_hole_sheet_to_2参数
+          type: object
+        type: UniLabJsonCommandAsync
+      auto-fill_plate:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: fill_plate参数
+          type: object
+        type: UniLabJsonCommandAsync
+      auto-fun_wuliao_test:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: fun_wuliao_test参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_allpack_cmd:
+        feedback: {}
+        goal: {}
+        goal_default:
+          assembly_pressure: 4200
+          assembly_type: 7
+          elec_num: null
+          elec_use_num: null
+          elec_vol: 50
+          file_path: /Users/sml/work
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assembly_pressure:
+                  default: 4200
+                  type: integer
+                assembly_type:
+                  default: 7
+                  type: integer
+                elec_num:
+                  type: string
+                elec_use_num:
+                  type: string
+                elec_vol:
+                  default: 50
+                  type: integer
+                file_path:
+                  default: /Users/sml/work
+                  type: string
+              required:
+              - elec_num
+              - elec_use_num
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_allpack_cmd参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_allpack_cmd_simp:
+        feedback: {}
+        goal: {}
+        goal_default:
+          assembly_pressure: 4200
+          assembly_type: 7
+          battery_clean_ignore: false
+          battery_pressure_mode: true
+          dual_drop_first_volume: 25
+          dual_drop_mode: false
+          dual_drop_start_timing: false
+          dual_drop_suction_timing: false
+          elec_num: null
+          elec_use_num: null
+          elec_vol: 50
+          file_path: /Users/sml/work
+          fujipian_juzhendianwei: 0
+          fujipian_panshu: 0
+          gemo_juzhendianwei: 0
+          gemopanshu: 0
+          lvbodian: true
+          qiangtou_juzhendianwei: 0
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 简化版电池组装函数，整合了参数设置和双滴模式
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assembly_pressure:
+                  default: 4200
+                  description: 电池压制力(N)
+                  type: integer
+                assembly_type:
+                  default: 7
+                  description: 组装类型(7=不用铝箔垫, 8=使用铝箔垫)
+                  type: integer
+                battery_clean_ignore:
+                  default: false
+                  description: 是否忽略电池清洁步骤
+                  type: boolean
+                battery_pressure_mode:
+                  default: true
+                  description: 是否启用压力模式
+                  type: boolean
+                dual_drop_first_volume:
+                  default: 25
+                  description: 二次滴液第一次排液体积(μL)
+                  type: integer
+                dual_drop_mode:
+                  default: false
+                  description: 电解液添加模式(false=单次滴液, true=二次滴液)
+                  type: boolean
+                dual_drop_start_timing:
+                  default: false
+                  description: 二次滴液开始滴液时机(false=正极片前, true=正极片后)
+                  type: boolean
+                dual_drop_suction_timing:
+                  default: false
+                  description: 二次滴液吸液时机(false=正常吸液, true=先吸液)
+                  type: boolean
+                elec_num:
+                  description: 电解液瓶数
+                  type: string
+                elec_use_num:
+                  description: 每瓶电解液组装电池数
+                  type: string
+                elec_vol:
+                  default: 50
+                  description: 电解液吸液量(μL)
+                  type: integer
+                file_path:
+                  default: /Users/sml/work
+                  description: 实验记录保存路径
+                  type: string
+                fujipian_juzhendianwei:
+                  default: 0
+                  description: 负极片矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  type: integer
+                fujipian_panshu:
+                  default: 0
+                  description: 负极片盘数
+                  type: integer
+                gemo_juzhendianwei:
+                  default: 0
+                  description: 隔膜矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  type: integer
+                gemopanshu:
+                  default: 0
+                  description: 隔膜盘数
+                  type: integer
+                lvbodian:
+                  default: true
+                  description: 是否使用铝箔垫片
+                  type: boolean
+                qiangtou_juzhendianwei:
+                  default: 0
+                  description: 枪头盒矩阵点位。盘位置从1开始计数，有效范围：1-32, 64-96 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  type: integer
+              required:
+              - elec_num
+              - elec_use_num
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_allpack_cmd_simp参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_get_csv_export_status:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_get_csv_export_status参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_pack_device_auto:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_pack_device_auto参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_pack_device_init:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_pack_device_init参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_pack_device_init_auto_start_combined:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_search_enable: false
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 组合函数:设备初始化 + 物料搜寻确认 + 切换自动模式 + 启动。初始化过程中会自动检测物料搜寻确认弹窗，并根据参数自动点击"是"或"否"按钮
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_search_enable:
+                  default: false
+                  description: 是否启用物料搜寻功能。设备初始化后会弹出物料搜寻确认弹窗，此参数控制自动点击"是"(启用)或"否"(不启用)。默认为false(不启用物料搜寻)
+                  type: boolean
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_pack_device_init_auto_start_combined参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_pack_device_start:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_pack_device_start参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_pack_device_stop:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_pack_device_stop参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_pack_get_msg_cmd:
+        feedback: {}
+        goal: {}
+        goal_default:
+          file_path: D:\coin_cell_data
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                file_path:
+                  default: D:\coin_cell_data
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_pack_get_msg_cmd参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_pack_send_bottle_num:
+        feedback: {}
+        goal: {}
+        goal_default:
+          bottle_num: null
+        handles:
+          input:
+          - data_key: bottle_num
+            data_source: workflow
+            data_type: integer
+            handler_key: bottle_count
+            io_type: source
+            label: 配液瓶数
+            required: true
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                bottle_num:
+                  type: string
+              required:
+              - bottle_num
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_pack_send_bottle_num参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_pack_send_finished_cmd:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_pack_send_finished_cmd参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_pack_send_msg_cmd:
+        feedback: {}
+        goal: {}
+        goal_default:
+          assembly_pressure: null
+          assembly_type: null
+          elec_use_num: null
+          elec_vol: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assembly_pressure:
+                  type: string
+                assembly_type:
+                  type: string
+                elec_use_num:
+                  type: string
+                elec_vol:
+                  type: string
+              required:
+              - elec_use_num
+              - elec_vol
+              - assembly_type
+              - assembly_pressure
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_pack_send_msg_cmd参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_read_data_and_output:
+        feedback: {}
+        goal: {}
+        goal_default:
+          file_path: /Users/sml/work
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                file_path:
+                  default: /Users/sml/work
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_read_data_and_output参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_sendbottle_allpack_multi:
+        feedback: {}
+        goal: {}
+        goal_default:
+          assembly_pressure: 4200
+          assembly_type: 7
+          battery_clean_ignore: false
+          battery_pressure_mode: true
+          dual_drop_first_volume: 25
+          dual_drop_mode: false
+          dual_drop_start_timing: false
+          dual_drop_suction_timing: false
+          elec_num: null
+          elec_use_num: null
+          elec_vol: 50
+          file_path: /Users/sml/work
+          fujipian_juzhendianwei: 0
+          fujipian_panshu: 0
+          gemo_juzhendianwei: 0
+          gemopanshu: 0
+          lvbodian: true
+          qiangtou_juzhendianwei: 0
+        handles:
+          input:
+          - data_key: elec_num
+            data_source: workflow
+            data_type: integer
+            handler_key: bottle_count
+            io_type: source
+            label: 配液瓶数
+            required: true
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 发送瓶数+简化组装函数(适用于第二批次及后续批次)，合并了发送瓶数和简化组装流程
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assembly_pressure:
+                  default: 4200
+                  description: 电池压制力(N)
+                  type: integer
+                assembly_type:
+                  default: 7
+                  description: 组装类型(7=不用铝箔垫, 8=使用铝箔垫)
+                  type: integer
+                battery_clean_ignore:
+                  default: false
+                  description: 是否忽略电池清洁步骤
+                  type: boolean
+                battery_pressure_mode:
+                  default: true
+                  description: 是否启用压力模式
+                  type: boolean
+                dual_drop_first_volume:
+                  default: 25
+                  description: 二次滴液第一次排液体积(μL)
+                  type: integer
+                dual_drop_mode:
+                  default: false
+                  description: 电解液添加模式(false=单次滴液, true=二次滴液)
+                  type: boolean
+                dual_drop_start_timing:
+                  default: false
+                  description: 二次滴液开始滴液时机(false=正极片前, true=正极片后)
+                  type: boolean
+                dual_drop_suction_timing:
+                  default: false
+                  description: 二次滴液吸液时机(false=正常吸液, true=先吸液)
+                  type: boolean
+                elec_num:
+                  description: 电解液瓶数，如果在workflow中已通过handles连接上游(create_orders的bottle_count输出)，则此参数会自动从上游获取，无需手动填写；如果单独使用此函数(没有上游连接)，则必须手动填写电解液瓶数
+                  type: string
+                elec_use_num:
+                  description: 每瓶电解液组装电池数
+                  type: string
+                elec_vol:
+                  default: 50
+                  description: 电解液吸液量(μL)
+                  type: integer
+                file_path:
+                  default: /Users/sml/work
+                  description: 实验记录保存路径
+                  type: string
+                fujipian_juzhendianwei:
+                  default: 0
+                  description: 负极片矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  type: integer
+                fujipian_panshu:
+                  default: 0
+                  description: 负极片盘数
+                  type: integer
+                gemo_juzhendianwei:
+                  default: 0
+                  description: 隔膜矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  type: integer
+                gemopanshu:
+                  default: 0
+                  description: 隔膜盘数
+                  type: integer
+                lvbodian:
+                  default: true
+                  description: 是否使用铝箔垫片
+                  type: boolean
+                qiangtou_juzhendianwei:
+                  default: 0
+                  description: 枪头盒矩阵点位。盘位置从1开始计数，有效范围：1-32, 64-96 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  type: integer
+              required:
+              - elec_num
+              - elec_use_num
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_sendbottle_allpack_multi参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_stop_read_data:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_stop_read_data参数
+          type: object
+        type: UniLabJsonCommand
+      auto-modify_deck_name:
+        feedback: {}
+        goal: {}
+        goal_default:
+          resource_name: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                resource_name:
+                  type: string
+              required:
+              - resource_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: modify_deck_name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-qiming_coin_cell_code:
+        feedback: {}
+        goal: {}
+        goal_default:
+          battery_clean_ignore: false
+          battery_pressure: 4000
+          battery_pressure_mode: true
+          fujipian_juzhendianwei: 0
+          fujipian_panshu: null
+          gemo_juzhendianwei: 0
+          gemopanshu: 0
+          lvbodian: true
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                battery_clean_ignore:
+                  default: false
+                  type: boolean
+                battery_pressure:
+                  default: 4000
+                  type: integer
+                battery_pressure_mode:
+                  default: true
+                  type: boolean
+                fujipian_juzhendianwei:
+                  default: 0
+                  type: integer
+                fujipian_panshu:
+                  type: integer
+                gemo_juzhendianwei:
+                  default: 0
+                  type: integer
+                gemopanshu:
+                  default: 0
+                  type: integer
+                lvbodian:
+                  default: true
+                  type: boolean
+              required:
+              - fujipian_panshu
+              type: object
+            result: {}
+          required:
+          - goal
+          title: qiming_coin_cell_code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
+      data_assembly_pressure: int
+      data_assembly_time: float
+      data_axis_x_pos: float
+      data_axis_y_pos: float
+      data_axis_z_pos: float
+      data_coin_cell_code: str
+      data_coin_num: int
+      data_electrolyte_code: str
+      data_electrolyte_volume: int
+      data_glove_box_o2_content: float
+      data_glove_box_pressure: float
+      data_glove_box_water_content: float
+      data_open_circuit_voltage: float
+      data_pole_weight: float
+      request_rec_msg_status: bool
+      request_send_msg_status: bool
+      sys_mode: str
+      sys_status: str
+    type: python
+  config_info: []
+  description: ''
+  handles: []
+  icon: koudian.webp
+  init_param_schema:
+    config:
+      properties:
+        address:
+          default: 172.16.28.102
+          type: string
+        config:
+          type: object
+        debug_mode:
+          default: false
+          type: boolean
+        deck:
+          type: string
+        port:
+          default: '502'
+          type: string
+      required: []
+      type: object
+    data:
+      properties:
+        data_assembly_coin_cell_num:
+          type: integer
+        data_assembly_pressure:
+          type: integer
+        data_assembly_time:
+          type: number
+        data_axis_x_pos:
+          type: number
+        data_axis_y_pos:
+          type: number
+        data_axis_z_pos:
+          type: number
+        data_coin_cell_code:
+          type: string
+        data_coin_num:
+          type: integer
+        data_electrolyte_code:
+          type: string
+        data_electrolyte_volume:
+          type: integer
+        data_glove_box_o2_content:
+          type: number
+        data_glove_box_pressure:
+          type: number
+        data_glove_box_water_content:
+          type: number
+        data_open_circuit_voltage:
+          type: number
+        data_pole_weight:
+          type: number
+        request_rec_msg_status:
+          type: boolean
+        request_send_msg_status:
+          type: boolean
+        sys_mode:
+          type: string
+        sys_status:
+          type: string
+      required:
+      - sys_status
+      - sys_mode
+      - request_rec_msg_status
+      - request_send_msg_status
+      - data_assembly_coin_cell_num
+      - data_assembly_time
+      - data_open_circuit_voltage
+      - data_axis_x_pos
+      - data_axis_y_pos
+      - data_axis_z_pos
+      - data_pole_weight
+      - data_assembly_pressure
+      - data_electrolyte_volume
+      - data_coin_num
+      - data_coin_cell_code
+      - data_electrolyte_code
+      - data_glove_box_pressure
+      - data_glove_box_o2_content
+      - data_glove_box_water_content
+      type: object
+  registry_type: device
+  version: 1.0.0
--- a/unilabos/registry/devices/laiyu_liquid.yaml
+++ b/unilabos/registry/devices/laiyu_liquid.yaml
--- a/unilabos/registry/devices/laiyu_liquid_test.yaml
+++ b/unilabos/registry/devices/laiyu_liquid_test.yaml
@@ -3,11 +3,11 @@ xyz_stepper_controller:
  - laiyu_liquid_test
  class:
    action_value_mappings:
-      auto-define_current_as_zero:
+      auto-degrees_to_steps:
        feedback: {}
        goal: {}
        goal_default:
-          save_path: work_origin.json
+          degrees: null
        handles: {}
        placeholder_keys: {}
        result: {}
@@ -17,23 +17,22 @@ xyz_stepper_controller:
            feedback: {}
            goal:
              properties:
-                save_path:
-                  default: work_origin.json
-                  type: string
-              required: []
+                degrees:
+                  type: number
+              required:
+              - degrees
              type: object
            result: {}
          required:
          - goal
-          title: define_current_as_zero参数
+          title: degrees_to_steps参数
          type: object
        type: UniLabJsonCommand
-      auto-enable:
+      auto-emergency_stop:
        feedback: {}
        goal: {}
        goal_default:
          axis: null
-          state: null
        handles: {}
        placeholder_keys: {}
        result: {}
@@ -44,27 +43,415 @@ xyz_stepper_controller:
            goal:
              properties:
                axis:
-                  type: string
-                state:
-                  type: boolean
+                  type: object
              required:
              - axis
-              - state
              type: object
            result: {}
          required:
          - goal
-          title: enable参数
+          title: emergency_stop参数
          type: object
        type: UniLabJsonCommand
-      auto-move_to:
+      auto-enable_all_axes:
+        feedback: {}
+        goal: {}
+        goal_default:
+          enable: true
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                enable:
+                  default: true
+                  type: boolean
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: enable_all_axes参数
+          type: object
+        type: UniLabJsonCommand
+      auto-enable_motor:
        feedback: {}
        goal: {}
        goal_default:
-          acc: 500
          axis: null
-          precision: 50
-          speed: 2000
+          enable: true
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                axis:
+                  type: object
+                enable:
+                  default: true
+                  type: boolean
+              required:
+              - axis
+              type: object
+            result: {}
+          required:
+          - goal
+          title: enable_motor参数
+          type: object
+        type: UniLabJsonCommand
+      auto-home_all_axes:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: home_all_axes参数
+          type: object
+        type: UniLabJsonCommand
+      auto-home_axis:
+        feedback: {}
+        goal: {}
+        goal_default:
+          axis: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                axis:
+                  type: object
+              required:
+              - axis
+              type: object
+            result: {}
+          required:
+          - goal
+          title: home_axis参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_to_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          acceleration: 1000
+          axis: null
+          position: null
+          precision: 100
+          speed: 5000
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                acceleration:
+                  default: 1000
+                  type: integer
+                axis:
+                  type: object
+                position:
+                  type: integer
+                precision:
+                  default: 100
+                  type: integer
+                speed:
+                  default: 5000
+                  type: integer
+              required:
+              - axis
+              - position
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_to_position参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_to_position_degrees:
+        feedback: {}
+        goal: {}
+        goal_default:
+          acceleration: 1000
+          axis: null
+          degrees: null
+          precision: 100
+          speed: 5000
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                acceleration:
+                  default: 1000
+                  type: integer
+                axis:
+                  type: object
+                degrees:
+                  type: number
+                precision:
+                  default: 100
+                  type: integer
+                speed:
+                  default: 5000
+                  type: integer
+              required:
+              - axis
+              - degrees
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_to_position_degrees参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_to_position_revolutions:
+        feedback: {}
+        goal: {}
+        goal_default:
+          acceleration: 1000
+          axis: null
+          precision: 100
+          revolutions: null
+          speed: 5000
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                acceleration:
+                  default: 1000
+                  type: integer
+                axis:
+                  type: object
+                precision:
+                  default: 100
+                  type: integer
+                revolutions:
+                  type: number
+                speed:
+                  default: 5000
+                  type: integer
+              required:
+              - axis
+              - revolutions
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_to_position_revolutions参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_xyz:
+        feedback: {}
+        goal: {}
+        goal_default:
+          acceleration: 1000
+          speed: 5000
+          x: null
+          y: null
+          z: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                acceleration:
+                  default: 1000
+                  type: integer
+                speed:
+                  default: 5000
+                  type: integer
+                x:
+                  type: string
+                y:
+                  type: string
+                z:
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_xyz参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_xyz_degrees:
+        feedback: {}
+        goal: {}
+        goal_default:
+          acceleration: 1000
+          speed: 5000
+          x_deg: null
+          y_deg: null
+          z_deg: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                acceleration:
+                  default: 1000
+                  type: integer
+                speed:
+                  default: 5000
+                  type: integer
+                x_deg:
+                  type: string
+                y_deg:
+                  type: string
+                z_deg:
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_xyz_degrees参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_xyz_revolutions:
+        feedback: {}
+        goal: {}
+        goal_default:
+          acceleration: 1000
+          speed: 5000
+          x_rev: null
+          y_rev: null
+          z_rev: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                acceleration:
+                  default: 1000
+                  type: integer
+                speed:
+                  default: 5000
+                  type: integer
+                x_rev:
+                  type: string
+                y_rev:
+                  type: string
+                z_rev:
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_xyz_revolutions参数
+          type: object
+        type: UniLabJsonCommand
+      auto-revolutions_to_steps:
+        feedback: {}
+        goal: {}
+        goal_default:
+          revolutions: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                revolutions:
+                  type: number
+              required:
+              - revolutions
+              type: object
+            result: {}
+          required:
+          - goal
+          title: revolutions_to_steps参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_speed_mode:
+        feedback: {}
+        goal: {}
+        goal_default:
+          acceleration: 1000
+          axis: null
+          speed: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                acceleration:
+                  default: 1000
+                  type: integer
+                axis:
+                  type: object
+                speed:
+                  type: integer
+              required:
+              - axis
+              - speed
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_speed_mode参数
+          type: object
+        type: UniLabJsonCommand
+      auto-steps_to_degrees:
+        feedback: {}
+        goal: {}
+        goal_default:
          steps: null
        handles: {}
        placeholder_keys: {}
@@ -75,38 +462,22 @@ xyz_stepper_controller:
            feedback: {}
            goal:
              properties:
-                acc:
-                  default: 500
-                  type: integer
-                axis:
-                  type: string
-                precision:
-                  default: 50
-                  type: integer
-                speed:
-                  default: 2000
-                  type: integer
                steps:
                  type: integer
              required:
-              - axis
              - steps
              type: object
            result: {}
          required:
          - goal
-          title: move_to参数
+          title: steps_to_degrees参数
          type: object
        type: UniLabJsonCommand
-      auto-move_xyz_work:
+      auto-steps_to_revolutions:
        feedback: {}
        goal: {}
        goal_default:
-          acc: 1500
-          speed: 100
-          x: 0.0
-          y: 0.0
-          z: 0.0
+          steps: null
        handles: {}
        placeholder_keys: {}
        result: {}
@@ -116,35 +487,21 @@ xyz_stepper_controller:
            feedback: {}
            goal:
              properties:
-                acc:
-                  default: 1500
+                steps:
                  type: integer
-                speed:
-                  default: 100
-                  type: integer
-                x:
-                  default: 0.0
-                  type: number
-                y:
-                  default: 0.0
-                  type: number
-                z:
-                  default: 0.0
-                  type: number
-              required: []
+              required:
+              - steps
              type: object
            result: {}
          required:
          - goal
-          title: move_xyz_work参数
+          title: steps_to_revolutions参数
          type: object
        type: UniLabJsonCommand
-      auto-return_to_work_origin:
+      auto-stop_all_axes:
        feedback: {}
        goal: {}
-        goal_default:
-          acc: 800
-          speed: 200
+        goal_default: {}
        handles: {}
        placeholder_keys: {}
        result: {}
@@ -153,22 +510,16 @@ xyz_stepper_controller:
          properties:
            feedback: {}
            goal:
-              properties:
-                acc:
-                  default: 800
-                  type: integer
-                speed:
-                  default: 200
-                  type: integer
+              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
-          title: return_to_work_origin参数
+          title: stop_all_axes参数
          type: object
        type: UniLabJsonCommand
-      auto-wait_complete:
+      auto-wait_for_completion:
        feedback: {}
        goal: {}
        goal_default:
@@ -184,22 +535,23 @@ xyz_stepper_controller:
            goal:
              properties:
                axis:
-                  type: string
+                  type: object
                timeout:
                  default: 30.0
-                  type: string
+                  type: number
              required:
              - axis
              type: object
            result: {}
          required:
          - goal
-          title: wait_complete参数
+          title: wait_for_completion参数
          type: object
        type: UniLabJsonCommand
-    module: unilabos.devices.laiyu_liquid_test.xyz_stepper_driver:XYZStepperController
+    module: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:XYZStepperController
    status_types:
-      status: list
+      all_positions: dict
+      motor_status: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:MotorPosition
    type: python
  config_info: []
  description: 新XYZ控制器
@@ -210,23 +562,24 @@ xyz_stepper_controller:
      properties:
        baudrate:
          default: 115200
-          type: string
-        client:
-          type: string
-        origin_path:
-          default: unilabos/devices/laiyu_liquid_test/work_origin.json
-          type: string
+          type: integer
        port:
-          default: /dev/ttyUSB0
          type: string
-      required: []
+        timeout:
+          default: 1.0
+          type: number
+      required:
+      - port
      type: object
    data:
      properties:
-        status:
-          type: array
+        all_positions:
+          type: object
+        motor_status:
+          type: object
      required:
-      - status
+      - motor_status
+      - all_positions
      type: object
  registry_type: device
  version: 1.0.0
--- a/unilabos/registry/devices/liquid_handler.yaml
+++ b/unilabos/registry/devices/liquid_handler.yaml
@@ -4019,8 +4019,7 @@ liquid_handler:
          mix_liquid_height: 0.0
          mix_rate: 0
          mix_stage: ''
-          mix_times:
-          - 0
+          mix_times: 0
          mix_vol: 0
          none_keys:
          - ''
@@ -4176,11 +4175,9 @@ liquid_handler:
                mix_stage:
                  type: string
                mix_times:
-                  items:
-                    maximum: 2147483647
-                    minimum: -2147483648
-                    type: integer
-                  type: array
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
                mix_vol:
                  maximum: 2147483647
                  minimum: -2147483648
@@ -5043,8 +5040,7 @@ liquid_handler.biomek:
          mix_liquid_height: 0.0
          mix_rate: 0
          mix_stage: ''
-          mix_times:
-          - 0
+          mix_times: 0
          mix_vol: 0
          none_keys:
          - ''
@@ -5187,11 +5183,9 @@ liquid_handler.biomek:
                mix_stage:
                  type: string
                mix_times:
-                  items:
-                    maximum: 2147483647
-                    minimum: -2147483648
-                    type: integer
-                  type: array
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
                mix_vol:
                  maximum: 2147483647
                  minimum: -2147483648
@@ -9284,7 +9278,13 @@ liquid_handler.prcxi:
                z: 0.0
            sample_id: ''
            type: ''
-        handles: {}
+        handles:
+          input:
+          - data_key: wells
+            data_source: handle
+            data_type: resource
+            handler_key: input_wells
+            label: InputWells
        placeholder_keys:
          wells: unilabos_resources
        result: {}
@@ -9671,8 +9671,7 @@ liquid_handler.prcxi:
          mix_liquid_height: 0.0
          mix_rate: 0
          mix_stage: ''
-          mix_times:
-          - 0
+          mix_times: 0
          mix_vol: 0
          none_keys:
          - ''
@@ -9828,11 +9827,9 @@ liquid_handler.prcxi:
                mix_stage:
                  type: string
                mix_times:
-                  items:
-                    maximum: 2147483647
-                    minimum: -2147483648
-                    type: integer
-                  type: array
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
                mix_vol:
                  maximum: 2147483647
                  minimum: -2147483648
--- a/unilabos/registry/devices/neware_battery_test_system.yaml
+++ b/unilabos/registry/devices/neware_battery_test_system.yaml
@@ -5,6 +5,73 @@ neware_battery_test_system:
  - battery_test
  class:
    action_value_mappings:
+      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-print_status_summary:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: print_status_summary参数
+          type: object
+        type: UniLabJsonCommand
+      auto-test_connection:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: test_connection参数
+          type: object
+        type: UniLabJsonCommand
      debug_resource_names:
        feedback: {}
        goal: {}
@@ -407,6 +474,8 @@ neware_battery_test_system:
    status_types:
      channel_status: dict
      connection_info: dict
+      device_summary: dict
+      plate_status: dict
      status: str
      total_channels: int
    type: python
@@ -418,36 +487,30 @@ neware_battery_test_system:
    config:
      properties:
        devtype:
-          default: '27'
          type: string
        ip:
-          default: 127.0.0.1
          type: string
        machine_id:
          default: 1
          type: integer
        oss_prefix:
          default: neware_backup
-          description: OSS对象路径前缀
          type: string
        oss_upload_enabled:
          default: false
-          description: 是否启用OSS上传功能
          type: boolean
        port:
-          default: 502
          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:
-          default: 20
          type: integer
      required: []
      type: object
@@ -459,6 +522,8 @@ neware_battery_test_system:
          type: object
        device_summary:
          type: object
+        plate_status:
+          type: object
        status:
          type: string
        total_channels:
@@ -468,6 +533,7 @@ neware_battery_test_system:
      - channel_status
      - connection_info
      - total_channels
+      - plate_status
      - device_summary
      type: object
  version: 1.0.0
--- a/unilabos/registry/devices/post_process_station.yaml
+++ b/unilabos/registry/devices/post_process_station.yaml
@@ -3,6 +3,106 @@ post_process_station:
  - post_process_station
  class:
    action_value_mappings:
+      auto-load_config:
+        feedback: {}
+        goal: {}
+        goal_default:
+          config_path: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                config_path:
+                  type: string
+              required:
+              - config_path
+              type: object
+            result: {}
+          required:
+          - goal
+          title: load_config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-print_cache_stats:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: print_cache_stats参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_node_value:
+        feedback: {}
+        goal: {}
+        goal_default:
+          name: null
+          value: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                name:
+                  type: string
+                value:
+                  type: string
+              required:
+              - name
+              - value
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_node_value参数
+          type: object
+        type: UniLabJsonCommand
      disconnect:
        feedback: {}
        goal:
@@ -602,29 +702,46 @@ post_process_station:
        type: SendCmd
    module: unilabos.devices.workstation.post_process.post_process:OpcUaClient
    status_types:
-      acetone_tank_empty_alarm: Bool
-      atomization_fast_speed: Float64
-      atomization_pressure_kpa: Int32
-      cleaning_complete: Bool
-      device_ready: Bool
-      door_open_alarm: Bool
-      grab_complete: Bool
-      grab_trigger: Bool
-      injection_pump_push_speed: Int32
-      injection_pump_suction_speed: Int32
-      nmp_tank_empty_alarm: Bool
-      post_process_complete: Bool
-      post_process_trigger: Bool
-      raw_tank_number: Int32
-      reaction_tank_number: Int32
-      remote_mode: Bool
-      wash_slow_speed: Float64
-      waste_tank_full_alarm: Bool
-      water_tank_empty_alarm: Bool
+      cache_stats: dict
+      node_value: String
    type: python
  config_info: []
  description: 后处理站
  handles: []
  icon: post_process_station.webp
-  init_param_schema: {}
+  init_param_schema:
+    config:
+      properties:
+        cache_timeout:
+          default: 5.0
+          type: number
+        config_path:
+          type: string
+        deck:
+          type: string
+        password:
+          type: string
+        subscription_interval:
+          default: 500
+          type: integer
+        url:
+          type: string
+        use_subscription:
+          default: true
+          type: boolean
+        username:
+          type: string
+      required:
+      - url
+      type: object
+    data:
+      properties:
+        cache_stats:
+          type: object
+        node_value:
+          type: string
+      required:
+      - node_value
+      - cache_stats
+      type: object
  version: 1.0.0
--- a/unilabos/registry/devices/reaction_station_bioyond.yaml
+++ b/unilabos/registry/devices/reaction_station_bioyond.yaml
@@ -4,6 +4,81 @@ reaction_station.bioyond:
  - reaction_station_bioyond
  class:
    action_value_mappings:
+      add_time_constraint:
+        feedback: {}
+        goal:
+          duration: duration
+          end_point: end_point
+          end_step_key: end_step_key
+          start_point: start_point
+          start_step_key: start_step_key
+        goal_default:
+          duration: 0
+          end_point: 0
+          end_step_key: ''
+          start_point: 0
+          start_step_key: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 添加时间约束 - 在两个工作流之间添加时间约束
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                duration:
+                  description: 时间(秒)
+                  type: integer
+                end_point:
+                  default: Start
+                  description: 终点计时点 (Start=开始前, End=结束后)
+                  enum:
+                  - Start
+                  - End
+                  type: string
+                end_step_key:
+                  description: 终点步骤Key (可选, 默认为空则自动选择)
+                  type: string
+                start_point:
+                  default: Start
+                  description: 起点计时点 (Start=开始前, End=结束后)
+                  enum:
+                  - Start
+                  - End
+                  type: string
+                start_step_key:
+                  description: 起点步骤Key (例如 "feeding", "liquid", 可选, 默认为空则自动选择)
+                  type: string
+              required:
+              - duration
+              type: object
+            result: {}
+          required:
+          - goal
+          title: add_time_constraint参数
+          type: object
+        type: UniLabJsonCommand
+      auto-clear_workflows:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: clear_workflows参数
+          type: object
+        type: UniLabJsonCommand
      auto-create_order:
        feedback: {}
        goal: {}
@@ -131,6 +206,35 @@ reaction_station.bioyond:
          title: process_web_workflows参数
          type: object
        type: UniLabJsonCommand
+      auto-set_reactor_temperature:
+        feedback: {}
+        goal: {}
+        goal_default:
+          reactor_id: null
+          temperature: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                reactor_id:
+                  type: integer
+                temperature:
+                  type: number
+              required:
+              - reactor_id
+              - temperature
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_reactor_temperature参数
+          type: object
+        type: UniLabJsonCommand
      auto-skip_titration_steps:
        feedback: {}
        goal: {}
@@ -156,6 +260,27 @@ reaction_station.bioyond:
          title: skip_titration_steps参数
          type: object
        type: UniLabJsonCommand
+      auto-sync_workflow_sequence_from_bioyond:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: sync_workflow_sequence_from_bioyond参数
+          type: object
+        type: UniLabJsonCommand
      auto-wait_for_multiple_orders_and_get_reports:
        feedback: {}
        goal: {}
@@ -188,6 +313,33 @@ reaction_station.bioyond:
          title: wait_for_multiple_orders_and_get_reports参数
          type: object
        type: UniLabJsonCommand
+      auto-workflow_sequence:
+        feedback: {}
+        goal: {}
+        goal_default:
+          value: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                value:
+                  items:
+                    type: string
+                  type: array
+              required:
+              - value
+              type: object
+            result: {}
+          required:
+          - goal
+          title: workflow_sequence参数
+          type: object
+        type: UniLabJsonCommand
      auto-workflow_step_query:
        feedback: {}
        goal: {}
@@ -213,6 +365,36 @@ reaction_station.bioyond:
          title: workflow_step_query参数
          type: object
        type: UniLabJsonCommand
+      clean_all_server_workflows:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result:
+          code: code
+          message: message
+        schema:
+          description: 清空服务端所有非核心工作流 (保留核心流程)
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result:
+              properties:
+                code:
+                  description: 操作结果代码(1表示成功)
+                  type: integer
+                message:
+                  description: 结果描述
+                  type: string
+              type: object
+          required:
+          - goal
+          title: clean_all_server_workflows参数
+          type: object
+        type: UniLabJsonCommand
      drip_back:
        feedback: {}
        goal:
@@ -247,13 +429,19 @@ reaction_station.bioyond:
                  description: 观察时间(分钟)
                  type: string
                titration_type:
-                  description: 是否滴定(1=否, 2=是)
+                  description: 是否滴定(NO=否, YES=是)
+                  enum:
+                  - 'NO'
+                  - 'YES'
                  type: string
                torque_variation:
-                  description: 是否观察 (1=否, 2=是)
+                  description: 是否观察 (NO=否, YES=是)
+                  enum:
+                  - 'NO'
+                  - 'YES'
                  type: string
                volume:
-                  description: 分液公式(μL)
+                  description: 分液公式(mL)
                  type: string
              required:
              - volume
@@ -353,13 +541,19 @@ reaction_station.bioyond:
                  description: 观察时间(分钟)
                  type: string
                titration_type:
-                  description: 是否滴定(1=否, 2=是)
+                  description: 是否滴定(NO=否, YES=是)
+                  enum:
+                  - 'NO'
+                  - 'YES'
                  type: string
                torque_variation:
-                  description: 是否观察 (1=否, 2=是)
+                  description: 是否观察 (NO=否, YES=是)
+                  enum:
+                  - 'NO'
+                  - 'YES'
                  type: string
                volume:
-                  description: 分液公式(μL)
+                  description: 分液公式(mL)
                  type: string
              required:
              - volume
@@ -403,7 +597,7 @@ reaction_station.bioyond:
            label: Solvents Data From Calculation Node
        result: {}
        schema:
-          description: 液体投料-溶剂。可以直接提供volume(μL),或通过solvents对象自动从additional_solvent(mL)计算volume。
+          description: 液体投料-溶剂。可以直接提供volume(mL),或通过solvents对象自动从additional_solvent(mL)计算volume。
          properties:
            feedback: {}
            goal:
@@ -423,15 +617,21 @@ reaction_station.bioyond:
                  description: 观察时间(分钟),默认360
                  type: string
                titration_type:
-                  default: '1'
-                  description: 是否滴定(1=否, 2=是),默认1
+                  default: 'NO'
+                  description: 是否滴定(NO=否, YES=是),默认NO
+                  enum:
+                  - 'NO'
+                  - 'YES'
                  type: string
                torque_variation:
-                  default: '2'
-                  description: 是否观察 (1=否, 2=是),默认2
+                  default: 'YES'
+                  description: 是否观察 (NO=否, YES=是),默认YES
+                  enum:
+                  - 'NO'
+                  - 'YES'
                  type: string
                volume:
-                  description: 分液量(μL)。可直接提供,或通过solvents参数自动计算
+                  description: 分液量(mL)。可直接提供,或通过solvents参数自动计算
                  type: string
              required:
              - assign_material_name
@@ -504,15 +704,21 @@ reaction_station.bioyond:
                  description: 观察时间(分钟),默认90
                  type: string
                titration_type:
-                  default: '2'
-                  description: 是否滴定(1=否, 2=是),默认2
+                  default: 'YES'
+                  description: 是否滴定(NO=否, YES=是),默认YES
+                  enum:
+                  - 'NO'
+                  - 'YES'
                  type: string
                torque_variation:
-                  default: '2'
-                  description: 是否观察 (1=否, 2=是),默认2
+                  default: 'YES'
+                  description: 是否观察 (NO=否, YES=是),默认YES
+                  enum:
+                  - 'NO'
+                  - 'YES'
                  type: string
                volume_formula:
-                  description: 分液公式(μL)。可直接提供固定公式,或留空由系统根据x_value、feeding_order_data、extracted_actuals自动生成
+                  description: 分液公式(mL)。可直接提供固定公式,或留空由系统根据x_value、feeding_order_data、extracted_actuals自动生成
                  type: string
                x_value:
                  description: 公式中的x值,手工输入,格式为"{{1-2-3}}"(包含双花括号)。用于自动公式计算
@@ -560,13 +766,19 @@ reaction_station.bioyond:
                  description: 观察时间(分钟)
                  type: string
                titration_type:
-                  description: 是否滴定(1=否, 2=是)
+                  description: 是否滴定(NO=否, YES=是)
+                  enum:
+                  - 'NO'
+                  - 'YES'
                  type: string
                torque_variation:
-                  description: 是否观察 (1=否, 2=是)
+                  description: 是否观察 (NO=否, YES=是)
+                  enum:
+                  - 'NO'
+                  - 'YES'
                  type: string
                volume_formula:
-                  description: 分液公式(μL)
+                  description: 分液公式(mL)
                  type: string
              required:
              - volume_formula
@@ -680,6 +892,35 @@ reaction_station.bioyond:
          title: reactor_taken_out参数
          type: object
        type: UniLabJsonCommand
+      scheduler_start:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result:
+          return_info: return_info
+        schema:
+          description: 启动调度器 - 启动Bioyond工作站的任务调度器，开始执行队列中的任务
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result:
+              properties:
+                return_info:
+                  description: 调度器启动结果，成功返回1，失败返回0
+                  type: integer
+              required:
+              - return_info
+              title: scheduler_start结果
+              type: object
+          required:
+          - goal
+          title: scheduler_start参数
+          type: object
+        type: UniLabJsonCommand
      solid_feeding_vials:
        feedback: {}
        goal:
@@ -706,7 +947,11 @@ reaction_station.bioyond:
                  description: 物料名称(用于获取试剂瓶位ID)
                  type: string
                material_id:
-                  description: 粉末类型ID，1=盐（21分钟），2=面粉（27分钟），3=BTDA（38分钟）
+                  description: 粉末类型ID，Salt=盐（21分钟），Flour=面粉（27分钟），BTDA=BTDA（38分钟）
+                  enum:
+                  - Salt
+                  - Flour
+                  - BTDA
                  type: string
                temperature:
                  description: 温度设定(°C)
@@ -715,7 +960,10 @@ reaction_station.bioyond:
                  description: 观察时间(分钟)
                  type: string
                torque_variation:
-                  description: 是否观察 (1=否, 2=是)
+                  description: 是否观察 (NO=否, YES=是)
+                  enum:
+                  - 'NO'
+                  - 'YES'
                  type: string
              required:
              - assign_material_name
@@ -730,10 +978,10 @@ reaction_station.bioyond:
          title: solid_feeding_vials参数
          type: object
        type: UniLabJsonCommand
-    module: unilabos.devices.workstation.bioyond_studio.reaction_station:BioyondReactionStation
+    module: unilabos.devices.workstation.bioyond_studio.reaction_station.reaction_station:BioyondReactionStation
    protocol_type: []
    status_types:
-      workflow_sequence: String
+      workflow_sequence: str
    type: python
  config_info: []
  description: Bioyond反应站
@@ -753,9 +1001,7 @@ reaction_station.bioyond:
    data:
      properties:
        workflow_sequence:
-          items:
-            type: string
-          type: array
+          type: string
      required:
      - workflow_sequence
      type: object
@@ -791,7 +1037,7 @@ reaction_station.reactor:
          title: update_metrics参数
          type: object
        type: UniLabJsonCommand
-    module: unilabos.devices.workstation.bioyond_studio.reaction_station:BioyondReactor
+    module: unilabos.devices.workstation.bioyond_studio.reaction_station.reaction_station:BioyondReactor
    status_types: {}
    type: python
  config_info: []
--- a/unilabos/registry/registry.py
+++ b/unilabos/registry/registry.py
@@ -124,11 +124,25 @@ class Registry:
                                    "output": [
                                        {
                                            "handler_key": "labware",
-                                            "label": "Labware",
                                            "data_type": "resource",
-                                            "data_source": "handle",
-                                            "data_key": "liquid",
-                                        }
+                                            "label": "Labware",
+                                            "data_source": "executor",
+                                            "data_key": "created_resource_tree.@flatten",
+                                        },
+                                        {
+                                            "handler_key": "liquid_slots",
+                                            "data_type": "resource",
+                                            "label": "LiquidSlots",
+                                            "data_source": "executor",
+                                            "data_key": "liquid_input_resource_tree.@flatten",
+                                        },
+                                        {
+                                            "handler_key": "materials",
+                                            "data_type": "resource",
+                                            "label": "AllMaterials",
+                                            "data_source": "executor",
+                                            "data_key": "[created_resource_tree,liquid_input_resource_tree].@flatten.@flatten",
+                                        },
                                    ]
                                },
                                "placeholder_keys": {
@@ -186,7 +200,17 @@ class Registry:
                                    "resources": "unilabos_resources",
                                },
                                "goal_default": {},
-                                "handles": {},
+                                "handles": {
+                                    "input": [
+                                        {
+                                            "handler_key": "input_resources",
+                                            "data_type": "resource",
+                                            "label": "InputResources",
+                                            "data_source": "handle",
+                                            "data_key": "resources",  # 不为空
+                                        },
+                                    ]
+                                },
                            },
                        },
                    },
@@ -455,7 +479,11 @@ class Registry:
        return status_schema

    def _generate_unilab_json_command_schema(
-        self, method_args: List[Dict[str, Any]], method_name: str, return_annotation: Any = None
+        self,
+        method_args: List[Dict[str, Any]],
+        method_name: str,
+        return_annotation: Any = None,
+        previous_schema: Dict[str, Any] | None = None,
    ) -> Dict[str, Any]:
        """
        根据UniLabJsonCommand方法信息生成JSON Schema，暂不支持嵌套类型
@@ -464,6 +492,7 @@ class Registry:
            method_args: 方法信息字典，包含args等
            method_name: 方法名称
            return_annotation: 返回类型注解，用于生成result schema（仅支持TypedDict）
+            previous_schema: 之前的 schema，用于保留 goal/feedback/result 下一级字段的 description

        Returns:
            JSON Schema格式的参数schema
@@ -497,7 +526,7 @@ class Registry:
        if return_annotation is not None and self._is_typed_dict(return_annotation):
            result_schema = self._generate_typed_dict_result_schema(return_annotation)

-        return {
+        final_schema = {
            "title": f"{method_name}参数",
            "description": f"",
            "type": "object",
@@ -505,6 +534,39 @@ class Registry:
            "required": ["goal"],
        }

+        # 保留之前 schema 中 goal/feedback/result 下一级字段的 description
+        if previous_schema:
+            self._preserve_field_descriptions(final_schema, previous_schema)
+
+        return final_schema
+
+    def _preserve_field_descriptions(
+        self, new_schema: Dict[str, Any], previous_schema: Dict[str, Any]
+    ) -> None:
+        """
+        保留之前 schema 中 goal/feedback/result 下一级字段的 description
+
+        Args:
+            new_schema: 新生成的 schema（会被修改）
+            previous_schema: 之前的 schema
+        """
+        for section in ["goal", "feedback", "result"]:
+            new_section = new_schema.get("properties", {}).get(section, {})
+            prev_section = previous_schema.get("properties", {}).get(section, {})
+
+            if not new_section or not prev_section:
+                continue
+
+            new_props = new_section.get("properties", {})
+            prev_props = prev_section.get("properties", {})
+
+            for field_name, field_schema in new_props.items():
+                if field_name in prev_props:
+                    prev_field = prev_props[field_name]
+                    # 保留字段的 description
+                    if "description" in prev_field and prev_field["description"]:
+                        field_schema["description"] = prev_field["description"]
+
    def _is_typed_dict(self, annotation: Any) -> bool:
        """
        检查类型注解是否是TypedDict
@@ -673,13 +735,10 @@ class Registry:
                            sorted(device_config["class"]["status_types"].items())
                        )
                        if complete_registry:
-                            # 保存原有的description信息
-                            old_descriptions = {}
+                            # 保存原有的 action 配置（用于保留 schema 的 description 和 handles 等）
+                            old_action_configs = {}
                            for action_name, action_config in device_config["class"]["action_value_mappings"].items():
-                                if "description" in action_config.get("schema", {}):
-                                    description = action_config["schema"]["description"]
-                                    if len(description):
-                                        old_descriptions[action_name] = action_config["schema"]["description"]
+                                old_action_configs[action_name] = action_config

                            device_config["class"]["action_value_mappings"] = {
                                k: v
@@ -695,10 +754,15 @@ class Registry:
                                        "feedback": {},
                                        "result": {},
                                        "schema": self._generate_unilab_json_command_schema(
-                                            v["args"], k, v.get("return_annotation")
+                                            v["args"],
+                                            k,
+                                            v.get("return_annotation"),
+                                            # 传入旧的 schema 以保留字段 description
+                                            old_action_configs.get(f"auto-{k}", {}).get("schema"),
                                        ),
                                        "goal_default": {i["name"]: i["default"] for i in v["args"]},
-                                        "handles": [],
+                                        # 保留原有的 handles 配置
+                                        "handles": old_action_configs.get(f"auto-{k}", {}).get("handles", []),
                                        "placeholder_keys": {
                                            i["name"]: (
                                                "unilabos_resources"
@@ -722,12 +786,14 @@ class Registry:
                                    if k not in device_config["class"]["action_value_mappings"]
                                }
                            )
-                            # 恢复原有的description信息（auto开头的不修改）
-                            for action_name, description in old_descriptions.items():
+                            # 恢复原有的 description 信息（非 auto- 开头的动作）
+                            for action_name, old_config in old_action_configs.items():
                                if action_name in device_config["class"]["action_value_mappings"]:  # 有一些会被删除
-                                    device_config["class"]["action_value_mappings"][action_name]["schema"][
-                                        "description"
-                                    ] = description
+                                    old_schema = old_config.get("schema", {})
+                                    if "description" in old_schema and old_schema["description"]:
+                                        device_config["class"]["action_value_mappings"][action_name]["schema"][
+                                            "description"
+                                        ] = old_schema["description"]
                            device_config["init_param_schema"] = {}
                            device_config["init_param_schema"]["config"] = self._generate_unilab_json_command_schema(
                                enhanced_info["init_params"], "__init__"
--- a/unilabos/registry/resources/bioyond/README_RESOURCE_ARCHITECTURE.md
+++ b/unilabos/registry/resources/bioyond/README_RESOURCE_ARCHITECTURE.md
@@ -0,0 +1,170 @@
+# UniLabOS 资源注册架构详解
+
+> **目标受众**: 主要开发 `unilabos/registry/devices` 抽象层的开发者  
+> **最后更新**: 2026-01-11  
+> **维护者**: Uni-Lab-OS 开发团队
+
+本文档详细说明 UniLabOS 资源注册系统的架构、资源的完整生命周期，以及如何实现动态物料位置追踪。
+
+---
+
+## 📚 目录
+
+- [核心概念](#核心概念)
+- [三层架构详解](#三层架构详解)
+- [资源注册机制](#资源注册机制)
+- [物料生命周期管理](#物料生命周期管理)
+- [动态物料位置追踪](#动态物料位置追踪)
+- [实战案例](#实战案例)
+- [常见问题排查](#常见问题排查)
+
+---
+
+## 核心概念
+
+### 1. Resources vs Registry
+
+UniLabOS 采用**声明式注册**模式，将资源的**定义**（Python）与**注册信息**（YAML）分离：
+
+```
+┌──────────────────────────────────────────────────────────┐
+│          unilabos/resources (Python 实现)                 │
+│  - 定义资源的物理属性、行为和创建逻辑                       │
+│  - 例如: 瓶子的尺寸、容量、材质                            │
+├──────────────────────────────────────────────────────────┤
+│       unilabos/registry/resources (YAML 注册表)           │
+│  - 声明哪些资源可以被前端使用                              │
+│  - 定义资源的分类、图标、初始化参数                         │
+└──────────────────────────────────────────────────────────┘
+```
+
+**为什么要分离？**
+
+1. **解耦**: Python 代码可以定义无限多的资源类，但只有在 YAML 中注册的才能被前端识别
+2. **灵活性**: 无需修改 Python 代码，只需修改 YAML 就能添加/移除可用资源
+3. **可扩展性**: 第三方开发者可以通过 YAML 注册自己的资源，无需修改核心代码
+
+---
+
+## 三层架构详解
+
+UniLabOS 资源系统采用**三层架构**，实现从前端UI到底层硬件的完整映射：
+
+### 架构图
+
+```
+┌─────────────────────────────────────────────────────┐
+│  第1层: YAML 注册表 (registry/resources)             │
+│  - 告诉系统"哪些资源可用"                             │
+│  - 前端通过此层获取可用资源列表                        │
+│  - 文件: YB_bottle.yaml, YB_bottle_carriers.yaml    │
+├─────────────────────────────────────────────────────┤
+│  第2层: Python 实现 (resources/bioyond)              │
+│  - 定义资源的具体属性和行为                           │
+│  - 创建资源实例的工厂函数                             │
+│  - 文件: YB_bottles.py, YB_bottle_carriers.py       │
+├─────────────────────────────────────────────────────┤
+│  第3层: Hardware/API 集成 (devices/workstation)      │
+│  - 连接 Bioyond 系统 API                            │
+│  - 同步物料位置和状态                                │
+│  - 文件: station.py, bioyond_rpc.py, config.py     │
+└─────────────────────────────────────────────────────┘
+```
+
+### 第1层: YAML 注册表
+
+#### YB_bottle.yaml - 单个瓶子注册
+
+```yaml
+YB_5ml_fenyeping:
+  category:
+  - yb3              # 系统分类
+  - YB_bottle        # 资源类型
+  class:
+    module: unilabos.resources.bioyond.YB_bottles:YB_5ml_fenyeping  # Python 函数路径
+    type: pylabrobot  # 框架类型
+  description: YB_5ml_fenyeping  # 前端显示名称
+  handles: []
+  icon: ''           # 图标路径
+  init_param_schema: {}  # 初始化参数 schema
+  registry_type: resource
+  version: 1.0.0
+```
+
+**作用:**
+- 前端通过读取此文件知道有一个叫 "YB_5ml_fenyeping" 的资源
+- 用户拖拽时，系统会调用 `YB_bottles:YB_5ml_fenyeping()` 创建实例
+
+#### YB_bottle_carriers.yaml - 载架（容器）注册
+
+```yaml
+YB_5ml_fenyepingban:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_5ml_fenyepingban
+    type: pylabrobot
+  description: YB_5ml_fenyepingban  # 5ml分液瓶板
+```
+
+**作用:**  
+- 载架是容器，里面可以放多个瓶子
+- 例如: `YB_5ml_fenyepingban` 是一个 4x2 布局的板，可以放 8 个 5ml 瓶子
+
+### 第2层: Python 实现
+
+#### YB_bottles.py - 瓶子工厂函数
+
+```python
+def YB_5ml_fenyeping(
+    name: str,
+    diameter: float = 20.0,    # 直径 (mm)
+    height: float = 50.0,      # 高度 (mm)
+    max_volume: float = 5000.0,  # 最大容量 (μL)
+    barcode: str = None,
+) -> Bottle:
+    \"\"\"创建5ml分液瓶\"\"\"
+    return Bottle(
+        name=name,
+        diameter=diameter,
+        height=height,
+        max_volume=max_volume,
+        barcode=barcode,
+        model="YB_5ml_fenyeping",  # ⭐ 与 YAML 中的名称对应
+    )
+```
+
+**关键点:**
+- 函数名 `YB_5ml_fenyeping` 必须与 YAML 中的 `module` 路径末尾一致
+- 返回一个 `Bottle` 对象（PyLabRobot 资源类型）
+- `model` 字段用于在 Bioyond 系统中识别资源类型
+
+**详细文档请参考完整版 README**
+
+---
+
+## 相关文件索引
+
+### 核心文件
+
+| 文件 | 功能 | 路径 |
+|------|------|------|
+| `YB_bottle.yaml` | 瓶子注册表 | `unilabos/registry/resources/bioyond/` |
+| `YB_bottle_carriers.yaml` | 载架注册表 | `unilabos/registry/resources/bioyond/` |
+| `deck.yaml` | Deck注册表 | `unilabos/registry/resources/bioyond/` |
+| `YB_bottles.py` | 瓶子实现 | `unilabos/resources/bioyond/` |
+| `YB_bottle_carriers.py` | 载架实现 | `unilabos/resources/bioyond/` |
+| `YB_warehouses.py` | 仓库实现 | `unilabos/resources/bioyond/` |
+| `decks.py` | Deck布局 | `unilabos/resources/bioyond/` |
+| `station.py` | 物料同步 | `unilabos/devices/workstation/bioyond_studio/` |
+| `config.py` | UUID映射 | `unilabos/devices/workstation/bioyond_studio/` |
+
+### 仓库相关文档
+
+- [README_WAREHOUSE.md](../../resources/bioyond/README_WAREHOUSE.md) - 仓库系统开发指南
+
+---
+
+**维护者:** Uni-Lab-OS 开发团队  
+**最后更新:** 2026-01-11
--- a/unilabos/registry/resources/bioyond/YB_bottle.yaml
+++ b/unilabos/registry/resources/bioyond/YB_bottle.yaml
@@ -0,0 +1,92 @@
+YB_20ml_fenyeping:
+  category:
+  - yb3
+  - YB_bottle
+  class:
+    module: unilabos.resources.bioyond.YB_bottles:YB_20ml_fenyeping
+    type: pylabrobot
+  description: YB_20ml_fenyeping
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+YB_5ml_fenyeping:
+  category:
+  - yb3
+  - YB_bottle
+  class:
+    module: unilabos.resources.bioyond.YB_bottles:YB_5ml_fenyeping
+    type: pylabrobot
+  description: YB_5ml_fenyeping
+  handles: []
+  icon: ''
+  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
+  - YB_bottle
+  class:
+    module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_da_Bottle
+    type: pylabrobot
+  description: YB_pei_ye_da_Bottle
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+YB_pei_ye_xiao_Bottle:
+  category:
+  - yb3
+  - YB_bottle
+  class:
+    module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_xiao_Bottle
+    type: pylabrobot
+  description: YB_pei_ye_xiao_Bottle
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+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_ye_Bottle:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  - YB_bottle
+  class:
+    module: unilabos.resources.bioyond.YB_bottles:YB_ye_Bottle
+    type: pylabrobot
+  description: YB_ye_Bottle
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
--- a/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml
+++ b/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml
@@ -0,0 +1,182 @@
+YB_100ml_yeti:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_100ml_yeti
+    type: pylabrobot
+  description: YB_100ml_yeti
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+YB_20ml_fenyepingban:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_20ml_fenyepingban
+    type: pylabrobot
+  description: YB_20ml_fenyepingban
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+YB_5ml_fenyepingban:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_5ml_fenyepingban
+    type: pylabrobot
+  description: YB_5ml_fenyepingban
+  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_gao_nian_ye_Bottle:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottles:YB_gao_nian_ye_Bottle
+    type: pylabrobot
+  description: YB_gao_nian_ye_Bottle
+  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
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_jia_yang_tou_da_Carrier
+    type: pylabrobot
+  description: YB_jia_yang_tou_da_Carrier
+  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_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: {}
+  registry_type: resource
+  version: 1.0.0
+YB_ye:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_ye
+    type: pylabrobot
+  description: YB_ye_Bottle_Carrier
+  handles: []
+  icon: ''
+  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
--- a/Show More
+++ b/Show More