add unilabos/workflow and entrypoint

README.md

@@ -39,9 +39,7 @@ Uni-Lab-OS recommends using `mamba` for environment management. Choose the appro
 
 ```bash
 # Create new environment
-mamba create -n unilab python=3.11.11
-mamba activate unilab
-mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
 ```
 
 ## Install Dev Uni-Lab-OS

README_zh.md

@@ -41,9 +41,7 @@ Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适
 
 ```bash
 # 创建新环境
-mamba create -n unilab python=3.11.11
-mamba activate unilab
-mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
 ```
 
 2. 安装开发版 Uni-Lab-OS:

docs/user_guide/installation.md

@@ -317,6 +317,45 @@ unilab --help
 
 如果所有命令都正常输出，说明开发环境配置成功！
 
+### 开发工具推荐
+
+#### IDE
+
+- **PyCharm Professional**: 强大的 Python IDE，支持远程调试
+- **VS Code**: 轻量级，配合 Python 扩展使用
+- **Vim/Emacs**: 适合终端开发
+
+#### 推荐的 VS Code 扩展
+
+- Python
+- Pylance
+- ROS
+- URDF
+- YAML
+
+#### 调试工具
+
+```bash
+# 安装调试工具
+pip install ipdb pytest pytest-cov -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
+
+# 代码质量检查
+pip install black flake8 mypy -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
+```
+
+### 设置 pre-commit 钩子（可选）
+
+```bash
+# 安装 pre-commit
+pip install pre-commit -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
+
+# 设置钩子
+pre-commit install
+
+# 手动运行检查
+pre-commit run --all-files
+```
+
 ---
 
 ## 验证安装

test/workflow/merge_workflow.py

@@ -1,35 +0,0 @@
-import sys
-from datetime import datetime
-from pathlib import Path
-
-ROOT_DIR = Path(__file__).resolve().parents[2]
-if str(ROOT_DIR) not in sys.path:
-    sys.path.insert(0, str(ROOT_DIR))
-
-import pytest
-
-from unilabos.workflow.convert_from_json import (
-    convert_from_json,
-    normalize_steps as _normalize_steps,
-    normalize_labware as _normalize_labware,
-)
-from unilabos.workflow.common import draw_protocol_graph_with_ports
-
-
-@pytest.mark.parametrize(
-    "protocol_name",
-    [
-        "example_bio",
-        # "bioyond_materials_liquidhandling_1",
-        "example_prcxi",
-    ],
-)
-def test_build_protocol_graph(protocol_name):
-    data_path = Path(__file__).with_name(f"{protocol_name}.json")
-
-    graph = convert_from_json(data_path, workstation_name="PRCXi")
-
-    timestamp = datetime.now().strftime("%Y%m%d_%H%M")
-    output_path = data_path.with_name(f"{protocol_name}_graph_{timestamp}.png")
-    draw_protocol_graph_with_ports(graph, str(output_path))
-    print(graph)

unilabos/app/main.py

@@ -20,7 +20,6 @@ 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
 
-
 def load_config_from_file(config_path):
     if config_path is None:
         config_path = os.environ.get("UNILABOS_BASICCONFIG_CONFIG_PATH", None)
@@ -42,7 +41,7 @@ def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
     for i, arg in enumerate(sys.argv):
         for option_string in option_strings:
             if arg.startswith(option_string):
-                new_arg = arg[:2] + arg[2 : len(option_string)].replace("-", "_") + arg[len(option_string) :]
+                new_arg = arg[:2] + arg[2:len(option_string)].replace("-", "_") + arg[len(option_string):]
                 sys.argv[i] = new_arg
                 break
 
@@ -156,54 +155,32 @@ def parse_args():
         default=False,
         help="Complete registry information",
     )
-    # workflow upload subcommand
+
+    # label
     workflow_parser = subparsers.add_parser(
         "workflow_upload",
-        aliases=["wf"],
         help="Upload workflow from xdl/json/python files",
     )
-    workflow_parser.add_argument(
-        "-f",
-        "--workflow_file",
-        type=str,
-        required=True,
-        help="Path to the workflow file (JSON format)",
-    )
-    workflow_parser.add_argument(
-        "-n",
-        "--workflow_name",
-        type=str,
-        default=None,
-        help="Workflow name, if not provided will use the name from file or filename",
-    )
-    workflow_parser.add_argument(
-        "--tags",
-        type=str,
-        nargs="*",
-        default=[],
-        help="Tags for the workflow (space-separated)",
-    )
-    workflow_parser.add_argument(
-        "--published",
-        action="store_true",
-        default=False,
-        help="Whether to publish the workflow (default: False)",
-    )
+    workflow_parser.add_argument("-t", "--labeltype", default="singlepoint", type=str,
+                              help="QM calculation type, support 'singlepoint', 'optimize' and 'dimer' currently")
     return parser
 
 
 def main():
     """主函数"""
     # 解析命令行参数
-    parser = parse_args()
-    convert_argv_dashes_to_underscores(parser)
-    args = parser.parse_args()
-    args_dict = vars(args)
+    args = parse_args()
+    convert_argv_dashes_to_underscores(args)
+    args_dict = vars(args.parse_args())
+
+    # 显示启动横幅
+    print_unilab_banner(args_dict)
 
     # 环境检查 - 检查并自动安装必需的包 (可选)
     if not args_dict.get("skip_env_check", False):
         from unilabos.utils.environment_check import check_environment
 
+        print_status("正在进行环境依赖检查...", "info")
         if not check_environment(auto_install=True):
             print_status("环境检查失败，程序退出", "error")
             os._exit(1)
@@ -256,18 +233,17 @@ def main():
         logger.info(f"Log level set to '{BasicConfig.log_level}' from config file.")
     configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
 
-    if args.addr != parser.get_default("addr"):
-        if args.addr == "test":
-            print_status("使用测试环境地址", "info")
-            HTTPConfig.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
-        elif args.addr == "uat":
-            print_status("使用uat环境地址", "info")
-            HTTPConfig.remote_addr = "https://uni-lab.uat.bohrium.com/api/v1"
-        elif args.addr == "local":
-            print_status("使用本地环境地址", "info")
-            HTTPConfig.remote_addr = "http://127.0.0.1:48197/api/v1"
-        else:
-            HTTPConfig.remote_addr = args.addr
+    if args_dict["addr"] == "test":
+        print_status("使用测试环境地址", "info")
+        HTTPConfig.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
+    elif args_dict["addr"] == "uat":
+        print_status("使用uat环境地址", "info")
+        HTTPConfig.remote_addr = "https://uni-lab.uat.bohrium.com/api/v1"
+    elif args_dict["addr"] == "local":
+        print_status("使用本地环境地址", "info")
+        HTTPConfig.remote_addr = "http://127.0.0.1:48197/api/v1"
+    else:
+        HTTPConfig.remote_addr = args_dict.get("addr", "")
 
     # 设置BasicConfig参数
     if args_dict.get("ak", ""):
@@ -278,10 +254,18 @@ def main():
         print_status("传入了sk参数，优先采用传入参数！", "info")
     BasicConfig.working_dir = working_dir
 
-    workflow_upload = args_dict.get("command") in ("workflow_upload", "wf")
+    # 显示启动横幅
+    print_unilab_banner(args_dict)
 
+    #####################################
+    ######## 启动设备接入端(主入口) ########
+    #####################################
+    launch(args_dict)
+
+
+def launch(args_dict: Dict[str, Any]):
     # 使用远程资源启动
-    if not workflow_upload and args_dict["use_remote_resource"]:
+    if args_dict["use_remote_resource"]:
         print_status("使用远程资源启动", "info")
         from unilabos.app.web import http_client
 
@@ -317,36 +301,11 @@ def main():
     from unilabos.resources.graphio import modify_to_backend_format
     from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDict
 
-    # 显示启动横幅
-    print_unilab_banner(args_dict)
-
     # 注册表
     lab_registry = build_registry(
-        args_dict["registry_path"], args_dict.get("complete_registry", False), BasicConfig.upload_registry
+        args_dict["registry_path"], args_dict.get("complete_registry", False), args_dict["upload_registry"]
     )
 
-    if BasicConfig.upload_registry:
-        # 设备注册到服务端 - 需要 ak 和 sk
-        if BasicConfig.ak and BasicConfig.sk:
-            print_status("开始注册设备到服务端...", "info")
-            try:
-                register_devices_and_resources(lab_registry)
-                print_status("设备注册完成", "info")
-            except Exception as e:
-                print_status(f"设备注册失败: {e}", "error")
-        else:
-            print_status("未提供 ak 和 sk，跳过设备注册", "info")
-    else:
-        print_status("本次启动注册表不报送云端，如果您需要联网调试，请在启动命令增加--upload_registry", "warning")
-
-    # 处理 workflow_upload 子命令
-    if workflow_upload:
-        from unilabos.workflow.wf_utils import handle_workflow_upload_command
-
-        handle_workflow_upload_command(args_dict)
-        print_status("工作流上传完成，程序退出", "info")
-        os._exit(0)
-
     if not BasicConfig.ak or not BasicConfig.sk:
         print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning")
         os._exit(1)
@@ -388,10 +347,6 @@ def main():
     for ind, i in enumerate(resource_edge_info[::-1]):
         source_node: ResourceDict = nodes[i["source"]]
         target_node: ResourceDict = nodes[i["target"]]
-        if "sourceHandle" not in source_node:
-            continue
-        if "targetHandle" not in target_node:
-            continue
         source_handle = i["sourceHandle"]
         target_handle = i["targetHandle"]
         source_handler_keys = [
@@ -427,6 +382,20 @@ def main():
     args_dict["devices_config"] = resource_tree_set
     args_dict["graph"] = graph_res.physical_setup_graph
 
+    if BasicConfig.upload_registry:
+        # 设备注册到服务端 - 需要 ak 和 sk
+        if BasicConfig.ak and BasicConfig.sk:
+            print_status("开始注册设备到服务端...", "info")
+            try:
+                register_devices_and_resources(lab_registry)
+                print_status("设备注册完成", "info")
+            except Exception as e:
+                print_status(f"设备注册失败: {e}", "error")
+        else:
+            print_status("未提供 ak 和 sk，跳过设备注册", "info")
+    else:
+        print_status("本次启动注册表不报送云端，如果您需要联网调试，请在启动命令增加--upload_registry", "warning")
+
     if args_dict["controllers"] is not None:
         args_dict["controllers_config"] = yaml.safe_load(open(args_dict["controllers"], encoding="utf-8"))
     else:
@@ -441,7 +410,6 @@ def main():
         comm_client = get_communication_client()
         if "websocket" in args_dict["app_bridges"]:
             args_dict["bridges"].append(comm_client)
-
             def _exit(signum, frame):
                 comm_client.stop()
                 sys.exit(0)
@@ -483,13 +451,16 @@ def main():
                 resource_visualization.start()
             except OSError as e:
                 if "AMENT_PREFIX_PATH" in str(e):
-                    print_status(f"ROS 2环境未正确设置，跳过3D可视化启动。错误详情: {e}", "warning")
+                    print_status(
+                        f"ROS 2环境未正确设置，跳过3D可视化启动。错误详情: {e}",
+                        "warning"
+                    )
                     print_status(
                         "建议解决方案：\n"
                         "1. 激活Conda环境: conda activate unilab\n"
                         "2. 或使用 --backend simple 参数\n"
                         "3. 或使用 --visual disable 参数禁用可视化",
-                        "info",
+                        "info"
                     )
                 else:
                     raise

unilabos/app/web/client.py

@@ -76,8 +76,7 @@ class HTTPClient:
             Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
         """
         with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "w", encoding="utf-8") as f:
-            payload = {"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}
-            f.write(json.dumps(payload, indent=4))
+            f.write(json.dumps({"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}, indent=4))
         # 从序列化数据中提取所有节点的UUID（保存旧UUID）
         old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
         if not self.initialized or first_add:
@@ -300,10 +299,6 @@ class HTTPClient:
         )
         if response.status_code not in [200, 201]:
             logger.error(f"注册资源失败: {response.status_code}, {response.text}")
-        if response.status_code == 200:
-            res = response.json()
-            if "code" in res and res["code"] != 0:
-                logger.error(f"注册资源失败: {response.text}")
         return response
 
     def request_startup_json(self) -> Optional[Dict[str, Any]]:
@@ -336,67 +331,6 @@ class HTTPClient:
                 logger.error(f"响应内容: {response.text}")
         return None
 
-    def workflow_import(
-        self,
-        name: str,
-        workflow_uuid: str,
-        workflow_name: str,
-        nodes: List[Dict[str, Any]],
-        edges: List[Dict[str, Any]],
-        tags: Optional[List[str]] = None,
-        published: bool = False,
-    ) -> Dict[str, Any]:
-        """
-        导入工作流到服务器
-
-        Args:
-            name: 工作流名称（顶层）
-            workflow_uuid: 工作流UUID
-            workflow_name: 工作流名称（data内部）
-            nodes: 工作流节点列表
-            edges: 工作流边列表
-            tags: 工作流标签列表，默认为空列表
-            published: 是否发布工作流，默认为False
-
-        Returns:
-            Dict: API响应数据，包含 code 和 data (uuid, name)
-        """
-        # target_lab_uuid 暂时使用默认值，后续由后端根据 ak/sk 获取
-        payload = {
-            "target_lab_uuid": "28c38bb0-63f6-4352-b0d8-b5b8eb1766d5",
-            "name": name,
-            "data": {
-                "workflow_uuid": workflow_uuid,
-                "workflow_name": workflow_name,
-                "nodes": nodes,
-                "edges": edges,
-                "tags": tags if tags is not None else [],
-                "published": published,
-            },
-        }
-        # 保存请求到文件
-        with open(os.path.join(BasicConfig.working_dir, "req_workflow_upload.json"), "w", encoding="utf-8") as f:
-            f.write(json.dumps(payload, indent=4, ensure_ascii=False))
-
-        response = requests.post(
-            f"{self.remote_addr}/lab/workflow/owner/import",
-            json=payload,
-            headers={"Authorization": f"Lab {self.auth}"},
-            timeout=60,
-        )
-        # 保存响应到文件
-        with open(os.path.join(BasicConfig.working_dir, "res_workflow_upload.json"), "w", encoding="utf-8") as f:
-            f.write(f"{response.status_code}" + "\n" + response.text)
-
-        if response.status_code == 200:
-            res = response.json()
-            if "code" in res and res["code"] != 0:
-                logger.error(f"导入工作流失败: {response.text}")
-            return res
-        else:
-            logger.error(f"导入工作流失败: {response.status_code}, {response.text}")
-            return {"code": response.status_code, "message": response.text}
-
 
 # 创建默认客户端实例
 http_client = HTTPClient()

unilabos/app/ws_client.py

@@ -438,7 +438,7 @@ class MessageProcessor:
                     self.connected = True
                     self.reconnect_count = 0
 
-                    logger.trace(f"[MessageProcessor] Connected to {self.websocket_url}")
+                    logger.info(f"[MessageProcessor] Connected to {self.websocket_url}")
 
                     # 启动发送协程
                     send_task = asyncio.create_task(self._send_handler())
@@ -503,7 +503,7 @@ class MessageProcessor:
 
     async def _send_handler(self):
         """处理发送队列中的消息"""
-        logger.trace("[MessageProcessor] Send handler started")
+        logger.debug("[MessageProcessor] Send handler started")
 
         try:
             while self.connected and self.websocket:
@@ -965,7 +965,7 @@ class QueueProcessor:
 
     def _run(self):
         """运行队列处理主循环"""
-        logger.trace("[QueueProcessor] Queue processor started")
+        logger.debug("[QueueProcessor] Queue processor started")
 
         while self.is_running:
             try:
@@ -1175,6 +1175,7 @@ class WebSocketClient(BaseCommunicationClient):
         else:
             url = f"{scheme}://{parsed.netloc}/api/v1/ws/schedule"
 
+        logger.debug(f"[WebSocketClient] URL: {url}")
         return url
 
     def start(self) -> None:
@@ -1187,11 +1188,13 @@ class WebSocketClient(BaseCommunicationClient):
             logger.error("[WebSocketClient] WebSocket URL not configured")
             return
 
+        logger.info(f"[WebSocketClient] Starting connection to {self.websocket_url}")
+
         # 启动两个核心线程
         self.message_processor.start()
         self.queue_processor.start()
 
-        logger.trace("[WebSocketClient] All threads started")
+        logger.info("[WebSocketClient] All threads started")
 
     def stop(self) -> None:
         """停止WebSocket客户端"""

unilabos/config/config.py

@@ -21,8 +21,7 @@ class BasicConfig:
     startup_json_path = None  # 填写绝对路径
     disable_browser = False  # 禁止浏览器自动打开
     port = 8002  # 本地HTTP服务
-    # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
-    log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG"
+    log_level: Literal['TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'] = "DEBUG"  # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
 
     @classmethod
     def auth_secret(cls):
@@ -42,7 +41,7 @@ class WSConfig:
 
 # HTTP配置
 class HTTPConfig:
-    remote_addr = "https://uni-lab.bohrium.com/api/v1"
+    remote_addr = "http://127.0.0.1:48197/api/v1"
 
 
 # ROS配置
@@ -66,14 +65,13 @@ def _update_config_from_module(module):
                     if not attr.startswith("_"):
                         setattr(obj, attr, getattr(getattr(module, name), attr))
 
-
 def _update_config_from_env():
     prefix = "UNILABOS_"
     for env_key, env_value in os.environ.items():
         if not env_key.startswith(prefix):
             continue
         try:
-            key_path = env_key[len(prefix) :]  # Remove UNILAB_ prefix
+            key_path = env_key[len(prefix):]  # Remove UNILAB_ prefix
             class_field = key_path.upper().split("_", 1)
             if len(class_field) != 2:
                 logger.warning(f"[ENV] 环境变量格式不正确：{env_key}")

unilabos/device_comms/opcua_client/node/uniopcua.py

@@ -3,7 +3,7 @@ from enum import Enum
 from abc import ABC, abstractmethod
 from typing import Tuple, Union, Optional, Any, List
 
-from opcua import Client, Node, ua
+from opcua import Client, Node
 from opcua.ua import NodeId, NodeClass, VariantType
 
 
@@ -47,68 +47,23 @@ class Base(ABC):
     def _get_node(self) -> Node:
         if self._node is None:
             try:
-                # 尝试多种 NodeId 字符串格式解析，兼容不同服务器/库的输出
-                # 可能的格式示例: 'ns=2;i=1234', 'ns=2;s=SomeString',
-                # 'StringNodeId(ns=4;s=OPC|变量名)', 'NumericNodeId(ns=2;i=1234)' 等
-                import re
-
-                nid = self._node_id
-                # 如果已经是 NodeId/Node 对象（库用户可能传入），直接使用
-                try:
-                    from opcua.ua import NodeId as UaNodeId
-                    if isinstance(nid, UaNodeId):
-                        self._node = self._client.get_node(nid)
-                        return self._node
-                except Exception:
-                    # 若导入或类型判断失败，则继续下一步
-                    pass
-
-                # 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)
-                    if match_wrapped:
-                        # 提取括号内的实际 node_id 字符串
-                        nid = match_wrapped.group(2).strip()
-
-                    # 常见短格式 'ns=2;i=1234' 或 'ns=2;s=SomeString'
-                    if re.match(r'^ns=\d+;[is]=', nid):
-                        self._node = self._client.get_node(nid)
+                # 检查是否是NumericNodeId(ns=X;i=Y)格式
+                if "NumericNodeId" in self._node_id:
+                    # 从字符串中提取命名空间和标识符
+                    import re
+                    match = re.search(r'ns=(\d+);i=(\d+)', self._node_id)
+                    if match:
+                        ns = int(match.group(1))
+                        identifier = int(match.group(2))
+                        node_id = NodeId(identifier, ns)
+                        self._node = self._client.get_node(node_id)
                     else:
-                        # 尝试提取 ns 和 i 或 s
-                        # 对于字符串标识符，可能包含特殊字符，使用非贪婪匹配
-                        m_num = re.search(r'ns=(\d+);i=(\d+)', nid)
-                        m_str = re.search(r'ns=(\d+);s=(.+?)(?:\)|$)', nid)
-                        if m_num:
-                            ns = int(m_num.group(1))
-                            identifier = int(m_num.group(2))
-                            node_id = NodeId(identifier, ns)
-                            self._node = self._client.get_node(node_id)
-                        elif m_str:
-                            ns = int(m_str.group(1))
-                            identifier = m_str.group(2).strip()
-                            # 对于字符串标识符，直接使用字符串格式
-                            node_id_str = f"ns={ns};s={identifier}"
-                            self._node = self._client.get_node(node_id_str)
-                        else:
-                            # 回退：尝试直接传入字符串（有些实现接受其它格式）
-                            try:
-                                self._node = self._client.get_node(self._node_id)
-                            except Exception as e:
-                                # 输出更详细的错误信息供调试
-                                print(f"获取节点失败(尝试直接字符串): {self._node_id}, 错误: {e}")
-                                raise
+                        raise ValueError(f"无法解析节点ID: {self._node_id}")
                 else:
-                    # 非字符串，尝试直接使用
+                    # 直接使用节点ID字符串
                     self._node = self._client.get_node(self._node_id)
             except Exception as e:
                 print(f"获取节点失败: {self._node_id}, 错误: {e}")
-                # 添加额外提示，帮助定位 BadNodeIdUnknown 问题
-                print("提示: 请确认该 node_id 是否来自当前连接的服务器地址空间，" \
-                      "以及 CSV/配置中名称与服务器 BrowseName 是否匹配。")
                 raise
         return self._node
 
@@ -149,56 +104,7 @@ class Variable(Base):
 
     def write(self, value: Any) -> bool:
         try:
-            # 如果声明了数据类型，则尝试转换并使用对应的 Variant 写入
-            coerced = value
-            try:
-                if self._data_type is not None:
-                    # 基于声明的数据类型做简单类型转换
-                    dt = self._data_type
-                    if dt in (DataType.SBYTE, DataType.BYTE, DataType.INT16, DataType.UINT16,
-                              DataType.INT32, DataType.UINT32, DataType.INT64, DataType.UINT64):
-                        # 数值类型 -> int
-                        if isinstance(value, str):
-                            coerced = int(value)
-                        else:
-                            coerced = int(value)
-                    elif dt in (DataType.FLOAT, DataType.DOUBLE):
-                        if isinstance(value, str):
-                            coerced = float(value)
-                        else:
-                            coerced = float(value)
-                    elif dt == DataType.BOOLEAN:
-                        if isinstance(value, str):
-                            v = value.strip().lower()
-                            if v in ("true", "1", "yes", "on"):
-                                coerced = True
-                            elif v in ("false", "0", "no", "off"):
-                                coerced = False
-                            else:
-                                coerced = bool(value)
-                        else:
-                            coerced = bool(value)
-                    elif dt == DataType.STRING or dt == DataType.BYTESTRING or dt == DataType.DATETIME:
-                        coerced = str(value)
-
-                    # 使用 ua.Variant 明确指定 VariantType
-                    try:
-                        variant = ua.Variant(coerced, dt.value)
-                        self._get_node().set_value(variant)
-                    except Exception:
-                        # 回退：有些 set_value 实现接受 (value, variant_type)
-                        try:
-                            self._get_node().set_value(coerced, dt.value)
-                        except Exception:
-                            # 最后回退到直接写入（保持兼容性）
-                            self._get_node().set_value(coerced)
-                else:
-                    # 未声明数据类型，直接写入
-                    self._get_node().set_value(value)
-            except Exception:
-                # 若在转换或按数据类型写入失败，尝试直接写入原始值并让上层捕获错误
-                self._get_node().set_value(value)
-
+            self._get_node().set_value(value)
             return False
         except Exception as e:
             print(f"写入变量 {self._name} 失败: {e}")
@@ -214,50 +120,20 @@ class Method(Base):
     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
-                    if isinstance(nid, UaNodeId):
-                        self._parent_node = self._client.get_node(nid)
-                        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)
+                # 检查是否是NumericNodeId(ns=X;i=Y)格式
+                if "NumericNodeId" in self._parent_node_id:
+                    # 从字符串中提取命名空间和标识符
+                    import re
+                    match = re.search(r'ns=(\d+);i=(\d+)', self._parent_node_id)
+                    if match:
+                        ns = int(match.group(1))
+                        identifier = int(match.group(2))
+                        node_id = NodeId(identifier, ns)
+                        self._parent_node = self._client.get_node(node_id)
                     else:
-                        # 提取 ns 和 i 或 s
-                        m_num = re.search(r'ns=(\d+);i=(\d+)', nid)
-                        m_str = re.search(r'ns=(\d+);s=(.+?)(?:\)|$)', nid)
-                        if m_num:
-                            ns = int(m_num.group(1))
-                            identifier = int(m_num.group(2))
-                            node_id = NodeId(identifier, ns)
-                            self._parent_node = self._client.get_node(node_id)
-                        elif m_str:
-                            ns = int(m_str.group(1))
-                            identifier = m_str.group(2).strip()
-                            node_id_str = f"ns={ns};s={identifier}"
-                            self._parent_node = self._client.get_node(node_id_str)
-                        else:
-                            # 回退
-                            self._parent_node = self._client.get_node(self._parent_node_id)
+                        raise ValueError(f"无法解析父节点ID: {self._parent_node_id}")
                 else:
+                    # 直接使用节点ID字符串
                     self._parent_node = self._client.get_node(self._parent_node_id)
             except Exception as e:
                 print(f"获取父节点失败: {self._parent_node_id}, 错误: {e}")

unilabos/device_mesh/resource_visalization.py

@@ -128,21 +128,14 @@ class ResourceVisualization:
                         new_dev.set("device_name", node["id"]+"_")
                         # if node["parent"] is not None:
                         #     new_dev.set("station_name", node["parent"]+'_')
-                        if "position" in node:
-                            new_dev.set("x",str(float(node["position"]["position"]["x"])/1000))
-                            new_dev.set("y",str(float(node["position"]["position"]["y"])/1000))
-                            new_dev.set("z",str(float(node["position"]["position"]["z"])/1000))
+
+                        new_dev.set("x",str(float(node["position"]["position"]["x"])/1000))
+                        new_dev.set("y",str(float(node["position"]["position"]["y"])/1000))
+                        new_dev.set("z",str(float(node["position"]["position"]["z"])/1000))
                         if "rotation" in node["config"]:
                             new_dev.set("rx",str(float(node["config"]["rotation"]["x"])))
                             new_dev.set("ry",str(float(node["config"]["rotation"]["y"])))
                             new_dev.set("r",str(float(node["config"]["rotation"]["z"])))
-                        if "pose" in node:
-                            new_dev.set("x",str(float(node["pose"]["position"]["x"])/1000))
-                            new_dev.set("y",str(float(node["pose"]["position"]["y"])/1000))
-                            new_dev.set("z",str(float(node["pose"]["position"]["z"])/1000))
-                            new_dev.set("rx",str(float(node["pose"]["rotation"]["x"])))
-                            new_dev.set("ry",str(float(node["pose"]["rotation"]["y"])))
-                            new_dev.set("r",str(float(node["pose"]["rotation"]["z"])))
                         if "device_config" in node["config"]:
                             for key, value in node["config"]["device_config"].items():
                                 new_dev.set(key, str(value))

unilabos/devices/cameraSII/cameraDriver.py

@@ -1,712 +0,0 @@
-#!/usr/bin/env python3
-import asyncio
-import json
-import subprocess
-import sys
-import threading
-from typing import Optional, Dict, Any
-import logging
-
-import requests
-import websockets
-
-logging.getLogger("zeep").setLevel(logging.WARNING)
-logging.getLogger("zeep.xsd.schema").setLevel(logging.WARNING)
-logging.getLogger("zeep.xsd.schema.schema").setLevel(logging.WARNING)
-from onvif import ONVIFCamera  # 新增：ONVIF PTZ 控制
-
-
-# ======================= 独立的 PTZController =======================
-class PTZController:
-    def __init__(self, host: str, port: int, user: str, password: str):
-        """
-        :param host: 摄像机 IP 或域名（和 RTSP 的一样即可）
-        :param port: ONVIF 端口（多数为 80，看你的设备）
-        :param user: 摄像机用户名
-        :param password: 摄像机密码
-        """
-        self.host = host
-        self.port = port
-        self.user = user
-        self.password = password
-
-        self.cam: Optional[ONVIFCamera] = None
-        self.media_service = None
-        self.ptz_service = None
-        self.profile = None
-
-    def connect(self) -> bool:
-        """
-        建立 ONVIF 连接并初始化 PTZ 能力，失败返回 False（不抛异常）
-        Note: 首先 pip install onvif-zeep
-        """
-        try:
-            self.cam = ONVIFCamera(self.host, self.port, self.user, self.password)
-            self.media_service = self.cam.create_media_service()
-            self.ptz_service = self.cam.create_ptz_service()
-            profiles = self.media_service.GetProfiles()
-            if not profiles:
-                print("[PTZ] No media profiles found on camera.", file=sys.stderr)
-                return False
-            self.profile = profiles[0]
-            return True
-        except Exception as e:
-            print(f"[PTZ] Failed to init ONVIF PTZ: {e}", file=sys.stderr)
-            return False
-
-    def _continuous_move(self, pan: float, tilt: float, zoom: float, duration: float) -> bool:
-        """
-        连续移动一段时间（秒），之后自动停止。
-        此函数为阻塞模式：只有在 Stop 调用结束后，才返回 True/False。
-        """
-        if not self.ptz_service or not self.profile:
-            print("[PTZ] _continuous_move: ptz_service or profile not ready", file=sys.stderr)
-            return False
-
-        # 进入前先强行停一下，避免前一次残留动作
-        self._force_stop()
-
-        req = self.ptz_service.create_type("ContinuousMove")
-        req.ProfileToken = self.profile.token
-
-        req.Velocity = {
-            "PanTilt": {"x": pan, "y": tilt},
-            "Zoom": {"x": zoom},
-        }
-
-        try:
-            print(f"[PTZ] ContinuousMove start: pan={pan}, tilt={tilt}, zoom={zoom}, duration={duration}", file=sys.stderr)
-            self.ptz_service.ContinuousMove(req)
-        except Exception as e:
-            print(f"[PTZ] ContinuousMove failed: {e}", file=sys.stderr)
-            return False
-
-        # 阻塞等待：这里决定“运动时间”
-        import time
-        wait_seconds = max(2 * duration, 0.0)
-        time.sleep(wait_seconds)
-
-        # 运动完成后强制停止
-        return self._force_stop()
-
-    def stop(self) -> bool:
-        """
-        阻塞调用 Stop（带重试），成功 True，失败 False。
-        """
-        return self._force_stop()
-
-    # ------- 对外动作接口（给 CameraController 调用） -------
-    # 所有接口都为“阻塞模式”：只有在运动 + Stop 完成后才返回 True/False
-
-    def move_up(self, speed: float = 0.5, duration: float = 1.0) -> bool:
-        print(f"[PTZ] move_up called, speed={speed}, duration={duration}", file=sys.stderr)
-        return self._continuous_move(pan=0.0, tilt=+speed, zoom=0.0, duration=duration)
-
-    def move_down(self, speed: float = 0.5, duration: float = 1.0) -> bool:
-        print(f"[PTZ] move_down called, speed={speed}, duration={duration}", file=sys.stderr)
-        return self._continuous_move(pan=0.0, tilt=-speed, zoom=0.0, duration=duration)
-
-    def move_left(self, speed: float = 0.2, duration: float = 1.0) -> bool:
-        print(f"[PTZ] move_left called, speed={speed}, duration={duration}", file=sys.stderr)
-        return self._continuous_move(pan=-speed, tilt=0.0, zoom=0.0, duration=duration)
-
-    def move_right(self, speed: float = 0.2, duration: float = 1.0) -> bool:
-        print(f"[PTZ] move_right called, speed={speed}, duration={duration}", file=sys.stderr)
-        return self._continuous_move(pan=+speed, tilt=0.0, zoom=0.0, duration=duration)
-
-    # ------- 占位的变倍接口（当前设备不支持） -------
-    def zoom_in(self, speed: float = 0.2, duration: float = 1.0) -> bool:
-        """
-        当前设备不支持变倍；保留方法只是避免上层调用时报错。
-        """
-        print("[PTZ] zoom_in is disabled for this device.", file=sys.stderr)
-        return False
-
-    def zoom_out(self, speed: float = 0.2, duration: float = 1.0) -> bool:
-        """
-        当前设备不支持变倍；保留方法只是避免上层调用时报错。
-        """
-        print("[PTZ] zoom_out is disabled for this device.", file=sys.stderr)
-        return False
-
-    def _force_stop(self, retries: int = 3, delay: float = 0.1) -> bool:
-        """
-        尝试多次调用 Stop，作为“强制停止”手段。
-        :param retries: 重试次数
-        :param delay: 每次重试间隔（秒）
-        """
-        if not self.ptz_service or not self.profile:
-            print("[PTZ] _force_stop: ptz_service or profile not ready", file=sys.stderr)
-            return False
-
-        import time
-        last_error = None
-        for i in range(retries):
-            try:
-                print(f"[PTZ] _force_stop: calling Stop(), attempt={i+1}", file=sys.stderr)
-                self.ptz_service.Stop({"ProfileToken": self.profile.token})
-                print("[PTZ] _force_stop: Stop() returned OK", file=sys.stderr)
-                return True
-            except Exception as e:
-                last_error = e
-                print(f"[PTZ] _force_stop: Stop() failed at attempt {i+1}: {e}", file=sys.stderr)
-                time.sleep(delay)
-
-        print(f"[PTZ] _force_stop: all {retries} attempts failed, last error: {last_error}", file=sys.stderr)
-        return False
-
-# ======================= CameraController（加入 PTZ） =======================
-
-class CameraController:
-    """
-    Uni-Lab-OS 摄像头驱动（driver 形式）
-    启动 Uni-Lab-OS 后，立即开始推流
-
-    - WebSocket 信令：通过 signal_backend_url 连接到后端
-      例如: wss://sciol.ac.cn/api/realtime/signal/host/<host_id>
-    - 媒体服务器：通过 rtmp_url / webrtc_api / webrtc_stream_url
-      当前配置为 SRS，与独立 HostSimulator 独立运行脚本保持一致。
-    """
-
-    def __init__(
-        self,
-        host_id: str = "demo-host",
-
-        # （1）信令后端（WebSocket）
-        signal_backend_url: str = "wss://sciol.ac.cn/api/realtime/signal/host",
-
-        # （2）媒体后端（RTMP + WebRTC API）
-        rtmp_url: str = "rtmp://srs.sciol.ac.cn:4499/live/camera-01",
-        webrtc_api: str = "https://srs.sciol.ac.cn/rtc/v1/play/",
-        webrtc_stream_url: str = "webrtc://srs.sciol.ac.cn:4500/live/camera-01",
-        camera_rtsp_url: str = "",
-
-        # （3）PTZ 控制相关（ONVIF）
-        ptz_host: str = "",           # 一般就是摄像头 IP，比如 "192.168.31.164"
-        ptz_port: int = 80,           # ONVIF 端口，不一定是 80，按实际情况改
-        ptz_user: str = "",           # admin
-        ptz_password: str = "",       # admin123
-    ):
-        self.host_id = host_id
-        self.camera_rtsp_url = camera_rtsp_url
-
-        # 拼接最终的 WebSocket URL：.../host/<host_id>
-        signal_backend_url = signal_backend_url.rstrip("/")
-        if not signal_backend_url.endswith("/host"):
-            signal_backend_url = signal_backend_url + "/host"
-        self.signal_backend_url = f"{signal_backend_url}/{host_id}"
-
-        # 媒体服务器配置
-        self.rtmp_url = rtmp_url
-        self.webrtc_api = webrtc_api
-        self.webrtc_stream_url = webrtc_stream_url
-
-        # PTZ 控制
-        self.ptz_host = ptz_host
-        self.ptz_port = ptz_port
-        self.ptz_user = ptz_user
-        self.ptz_password = ptz_password
-        self._ptz: Optional[PTZController] = None
-        self._init_ptz_if_possible()
-
-        # 运行时状态
-        self._ws: Optional[object] = None
-        self._ffmpeg_process: Optional[subprocess.Popen] = None
-        self._running = False
-        self._loop_task: Optional[asyncio.Future] = None
-
-        # 事件循环 & 线程
-        self._loop: Optional[asyncio.AbstractEventLoop] = None
-        self._loop_thread: Optional[threading.Thread] = None
-
-        try:
-            self.start()
-        except Exception as e:
-            print(f"[CameraController] __init__ auto start failed: {e}", file=sys.stderr)
-
-    # ------------------------ PTZ 初始化 ------------------------
-
-    # ------------------------ PTZ 公开动作方法（一个动作一个函数） ------------------------
-
-    def ptz_move_up(self, speed: float = 0.5, duration: float = 1.0) -> bool:
-        print(f"[CameraController] ptz_move_up called, speed={speed}, duration={duration}")
-        return self._ptz.move_up(speed=speed, duration=duration)
-
-    def ptz_move_down(self, speed: float = 0.5, duration: float = 1.0) -> bool:
-        print(f"[CameraController] ptz_move_down called, speed={speed}, duration={duration}")
-        return self._ptz.move_down(speed=speed, duration=duration)
-
-    def ptz_move_left(self, speed: float = 0.2, duration: float = 1.0) -> bool:
-        print(f"[CameraController] ptz_move_left called, speed={speed}, duration={duration}")
-        return self._ptz.move_left(speed=speed, duration=duration)
-
-    def ptz_move_right(self, speed: float = 0.2, duration: float = 1.0) -> bool:
-        print(f"[CameraController] ptz_move_right called, speed={speed}, duration={duration}")
-        return self._ptz.move_right(speed=speed, duration=duration)
-
-    def zoom_in(self, speed: float = 0.2, duration: float = 1.0) -> bool:
-        """
-        当前设备不支持变倍；保留方法只是避免上层调用时报错。
-        """
-        print("[PTZ] zoom_in is disabled for this device.", file=sys.stderr)
-        return False
-
-    def zoom_out(self, speed: float = 0.2, duration: float = 1.0) -> bool:
-        """
-        当前设备不支持变倍；保留方法只是避免上层调用时报错。
-        """
-        print("[PTZ] zoom_out is disabled for this device.", file=sys.stderr)
-        return False
-
-    def ptz_stop(self):
-        if self._ptz is None:
-            print("[CameraController] PTZ not initialized.", file=sys.stderr)
-            return
-        self._ptz.stop()
-
-    def _init_ptz_if_possible(self):
-        """
-        根据 ptz_host / user / password 初始化 PTZ；
-        如果配置信息不全则不启用 PTZ（静默）。
-        """
-        if not (self.ptz_host and self.ptz_user and self.ptz_password):
-            return
-        ctrl = PTZController(
-            host=self.ptz_host,
-            port=self.ptz_port,
-            user=self.ptz_user,
-            password=self.ptz_password,
-        )
-        if ctrl.connect():
-            self._ptz = ctrl
-        else:
-            self._ptz = None
-
-    # ---------------------------------------------------------------------
-    # 对外暴露的方法：供 Uni-Lab-OS 调用
-    # ---------------------------------------------------------------------
-
-    def start(self, config: Optional[Dict[str, Any]] = None):
-        """
-        启动 Camera 连接 & 消息循环，并在启动时就开启 FFmpeg 推流，
-        """
-
-        if self._running:
-            return {"status": "already_running", "host_id": self.host_id}
-
-        # 应用 config 覆盖（如果有）
-        if config:
-            self.camera_rtsp_url = config.get("camera_rtsp_url", self.camera_rtsp_url)
-            cfg_host_id = config.get("host_id")
-            if cfg_host_id:
-                self.host_id = cfg_host_id
-
-            signal_backend_url = config.get("signal_backend_url")
-            if signal_backend_url:
-                signal_backend_url = signal_backend_url.rstrip("/")
-                if not signal_backend_url.endswith("/host"):
-                    signal_backend_url = signal_backend_url + "/host"
-                self.signal_backend_url = f"{signal_backend_url}/{self.host_id}"
-
-            self.rtmp_url = config.get("rtmp_url", self.rtmp_url)
-            self.webrtc_api = config.get("webrtc_api", self.webrtc_api)
-            self.webrtc_stream_url = config.get(
-                "webrtc_stream_url", self.webrtc_stream_url
-            )
-
-            # PTZ 相关配置也允许通过 config 注入
-            self.ptz_host = config.get("ptz_host", self.ptz_host)
-            self.ptz_port = int(config.get("ptz_port", self.ptz_port))
-            self.ptz_user = config.get("ptz_user", self.ptz_user)
-            self.ptz_password = config.get("ptz_password", self.ptz_password)
-            self._init_ptz_if_possible()
-
-        self._running = True
-
-        # === start 时启动 FFmpeg 推流 ===
-        self._start_ffmpeg()
-
-        # 创建新的事件循环和线程（用于 WebSocket 信令）
-        self._loop = asyncio.new_event_loop()
-
-        def loop_runner(loop: asyncio.AbstractEventLoop):
-            asyncio.set_event_loop(loop)
-            try:
-                loop.run_forever()
-            except Exception as e:
-                print(f"[CameraController] event loop error: {e}", file=sys.stderr)
-
-        self._loop_thread = threading.Thread(
-            target=loop_runner, args=(self._loop,), daemon=True
-        )
-        self._loop_thread.start()
-
-        self._loop_task = asyncio.run_coroutine_threadsafe(
-            self._run_main_loop(), self._loop
-        )
-
-        return {
-            "status": "started",
-            "host_id": self.host_id,
-            "signal_backend_url": self.signal_backend_url,
-            "rtmp_url": self.rtmp_url,
-            "webrtc_api": self.webrtc_api,
-            "webrtc_stream_url": self.webrtc_stream_url,
-        }
-
-    def stop(self) -> Dict[str, Any]:
-        """
-        停止推流 & 断开 WebSocket，并关闭事件循环线程。
-        """
-        self._running = False
-
-        self._stop_ffmpeg()
-
-        if self._ws and self._loop is not None:
-            async def close_ws():
-                try:
-                    await self._ws.close()
-                except Exception as e:
-                    print(
-                        f"[CameraController] error when closing WebSocket: {e}",
-                        file=sys.stderr,
-                    )
-
-            asyncio.run_coroutine_threadsafe(close_ws(), self._loop)
-
-        if self._loop_task is not None:
-            if not self._loop_task.done():
-                self._loop_task.cancel()
-            try:
-                self._loop_task.result()
-            except asyncio.CancelledError:
-                pass
-            except Exception as e:
-                print(
-                    f"[CameraController] main loop task error in stop(): {e}",
-                    file=sys.stderr,
-                )
-            finally:
-                self._loop_task = None
-
-        if self._loop is not None:
-            try:
-                self._loop.call_soon_threadsafe(self._loop.stop)
-            except Exception as e:
-                print(
-                    f"[CameraController] error when stopping event loop: {e}",
-                    file=sys.stderr,
-                )
-
-        if self._loop_thread is not None:
-            try:
-                self._loop_thread.join(timeout=5)
-            except Exception as e:
-                print(
-                    f"[CameraController] error when joining loop thread: {e}",
-                    file=sys.stderr,
-                )
-            finally:
-                self._loop_thread = None
-
-        self._ws = None
-        self._loop = None
-
-        return {"status": "stopped", "host_id": self.host_id}
-
-    def get_status(self) -> Dict[str, Any]:
-        """
-        查询当前状态，方便在 Uni-Lab-OS 中做监控。
-        """
-        ws_closed = None
-        if self._ws is not None:
-            ws_closed = getattr(self._ws, "closed", None)
-
-        if ws_closed is None:
-            websocket_connected = self._ws is not None
-        else:
-            websocket_connected = (self._ws is not None) and (not ws_closed)
-
-        return {
-            "host_id": self.host_id,
-            "running": self._running,
-            "websocket_connected": websocket_connected,
-            "ffmpeg_running": bool(
-                self._ffmpeg_process and self._ffmpeg_process.poll() is None
-            ),
-            "signal_backend_url": self.signal_backend_url,
-            "rtmp_url": self.rtmp_url,
-        }
-
-    # ---------------------------------------------------------------------
-    # 内部实现逻辑：WebSocket 循环 / FFmpeg / WebRTC Offer 处理
-    # ---------------------------------------------------------------------
-
-    async def _run_main_loop(self):
-        try:
-            while self._running:
-                try:
-                    async with websockets.connect(self.signal_backend_url) as ws:
-                        self._ws = ws
-                        await self._recv_loop()
-                except asyncio.CancelledError:
-                    raise
-                except Exception as e:
-                    if self._running:
-                        print(
-                            f"[CameraController] WebSocket connection error: {e}",
-                            file=sys.stderr,
-                        )
-                        await asyncio.sleep(3)
-        except asyncio.CancelledError:
-            pass
-
-    async def _recv_loop(self):
-        assert self._ws is not None
-        ws = self._ws
-
-        async for message in ws:
-            try:
-                data = json.loads(message)
-            except json.JSONDecodeError:
-                print(
-                    f"[CameraController] received non-JSON message: {message}",
-                    file=sys.stderr,
-                )
-                continue
-
-            try:
-                await self._handle_message(data)
-            except Exception as e:
-                print(
-                    f"[CameraController] error while handling message {data}: {e}",
-                    file=sys.stderr,
-                )
-
-    async def _handle_message(self, data: Dict[str, Any]):
-        """
-        处理来自信令后端的消息：
-        - command: start_stream / stop_stream / ptz_xxx
-        - type: offer (WebRTC)
-        """
-        cmd = data.get("command")
-
-        # ---------- 推流控制 ----------
-        if cmd == "start_stream":
-            try:
-                self._start_ffmpeg()
-            except Exception as e:
-                print(
-                    f"[CameraController] error when starting FFmpeg on start_stream: {e}",
-                    file=sys.stderr,
-                )
-            return
-
-        if cmd == "stop_stream":
-            try:
-                self._stop_ffmpeg()
-            except Exception as e:
-                print(
-                    f"[CameraController] error when stopping FFmpeg on stop_stream: {e}",
-                    file=sys.stderr,
-                )
-            return
-
-        # # ---------- PTZ 控制 ----------
-        # # 例如信令可以发：
-        # # {"command": "ptz_move", "direction": "down", "speed": 0.5, "duration": 0.5}
-        # if cmd == "ptz_move":
-        #     if self._ptz is None:
-        #         # 没有初始化 PTZ，静默忽略或打印一条
-        #         print("[CameraController] PTZ not initialized.", file=sys.stderr)
-        #         return
-
-        #     direction = data.get("direction", "")
-        #     speed = float(data.get("speed", 0.5))
-        #     duration = float(data.get("duration", 0.5))
-
-        #     try:
-        #         if direction == "up":
-        #             self._ptz.move_up(speed=speed, duration=duration)
-        #         elif direction == "down":
-        #             self._ptz.move_down(speed=speed, duration=duration)
-        #         elif direction == "left":
-        #             self._ptz.move_left(speed=speed, duration=duration)
-        #         elif direction == "right":
-        #             self._ptz.move_right(speed=speed, duration=duration)
-        #         elif direction == "zoom_in":
-        #             self._ptz.zoom_in(speed=speed, duration=duration)
-        #         elif direction == "zoom_out":
-        #             self._ptz.zoom_out(speed=speed, duration=duration)
-        #         elif direction == "stop":
-        #             self._ptz.stop()
-        #         else:
-        #             # 未知方向，忽略
-        #             pass
-        #     except Exception as e:
-        #         print(
-        #             f"[CameraController] error when handling PTZ move: {e}",
-        #             file=sys.stderr,
-        #         )
-        #     return
-
-        # ---------- WebRTC Offer ----------
-        if data.get("type") == "offer":
-            offer_sdp = data.get("sdp", "")
-            camera_id = data.get("cameraId", "camera-01")
-            try:
-                answer_sdp = await self._handle_webrtc_offer(offer_sdp)
-            except Exception as e:
-                print(
-                    f"[CameraController] error when handling WebRTC offer: {e}",
-                    file=sys.stderr,
-                )
-                return
-
-            if self._ws:
-                answer_payload = {
-                    "type": "answer",
-                    "sdp": answer_sdp,
-                    "cameraId": camera_id,
-                    "hostId": self.host_id,
-                }
-                try:
-                    await self._ws.send(json.dumps(answer_payload))
-                except Exception as e:
-                    print(
-                        f"[CameraController] error when sending WebRTC answer: {e}",
-                        file=sys.stderr,
-                    )
-
-    # ------------------------ FFmpeg 相关 ------------------------
-
-    def _start_ffmpeg(self):
-        if self._ffmpeg_process and self._ffmpeg_process.poll() is None:
-            return
-
-        cmd = [
-            "ffmpeg",
-            "-rtsp_transport", "tcp",
-            "-i", self.camera_rtsp_url,
-
-            "-c:v", "libx264",
-            "-preset", "ultrafast",
-            "-tune", "zerolatency",
-            "-profile:v", "baseline",
-            "-b:v", "1M",
-            "-maxrate", "1M",
-            "-bufsize", "2M",
-            "-g", "10",
-            "-keyint_min", "10",
-            "-sc_threshold", "0",
-            "-pix_fmt", "yuv420p",
-            "-x264-params", "bframes=0",
-
-            "-c:a", "aac",
-            "-ar", "44100",
-            "-ac", "1",
-            "-b:a", "64k",
-
-            "-f", "flv",
-            self.rtmp_url,
-        ]
-
-        try:
-            self._ffmpeg_process = subprocess.Popen(
-                cmd,
-                stdout=subprocess.DEVNULL,
-                stderr=subprocess.STDOUT,
-                shell=False,
-            )
-        except Exception as e:
-            print(f"[CameraController] failed to start FFmpeg: {e}", file=sys.stderr)
-            self._ffmpeg_process = None
-            raise
-
-    def _stop_ffmpeg(self):
-        proc = self._ffmpeg_process
-
-        if proc and proc.poll() is None:
-            try:
-                proc.terminate()
-                try:
-                    proc.wait(timeout=5)
-                except subprocess.TimeoutExpired:
-                    try:
-                        proc.kill()
-                        try:
-                            proc.wait(timeout=2)
-                        except subprocess.TimeoutExpired:
-                            print(
-                                f"[CameraController] FFmpeg process did not exit even after kill (pid={proc.pid})",
-                                file=sys.stderr,
-                            )
-                    except Exception as e:
-                        print(
-                            f"[CameraController] failed to kill FFmpeg process: {e}",
-                            file=sys.stderr,
-                        )
-            except Exception as e:
-                print(
-                    f"[CameraController] error when stopping FFmpeg: {e}",
-                    file=sys.stderr,
-                )
-
-        self._ffmpeg_process = None
-
-    # ------------------------ WebRTC Offer 相关 ------------------------
-
-    async def _handle_webrtc_offer(self, offer_sdp: str) -> str:
-        payload = {
-            "api": self.webrtc_api,
-            "streamurl": self.webrtc_stream_url,
-            "sdp": offer_sdp,
-        }
-
-        headers = {"Content-Type": "application/json"}
-
-        def _do_request():
-            return requests.post(
-                self.webrtc_api,
-                json=payload,
-                headers=headers,
-                timeout=10,
-            )
-
-        try:
-            loop = asyncio.get_running_loop()
-            resp = await loop.run_in_executor(None, _do_request)
-        except Exception as e:
-            print(
-                f"[CameraController] failed to send offer to media server: {e}",
-                file=sys.stderr,
-            )
-            raise
-
-        try:
-            resp.raise_for_status()
-        except Exception as e:
-            print(
-                f"[CameraController] media server HTTP error: {e}, "
-                f"status={resp.status_code}, body={resp.text[:200]}",
-                file=sys.stderr,
-            )
-            raise
-
-        try:
-            data = resp.json()
-        except Exception as e:
-            print(
-                f"[CameraController] failed to parse media server JSON: {e}, "
-                f"raw={resp.text[:200]}",
-                file=sys.stderr,
-            )
-            raise
-
-        answer_sdp = data.get("sdp", "")
-        if not answer_sdp:
-            msg = f"empty SDP from media server: {data}"
-            print(f"[CameraController] {msg}", file=sys.stderr)
-            raise RuntimeError(msg)
-
-        return answer_sdp

unilabos/devices/cameraSII/cameraUSB.py

@@ -1,401 +0,0 @@
-#!/usr/bin/env python3
-import asyncio
-import json
-import subprocess
-import sys
-import threading
-from typing import Optional, Dict, Any
-
-import requests
-import websockets
-
-
-class CameraController:
-    """
-    Uni-Lab-OS 摄像头驱动（Linux USB 摄像头版，无 PTZ）
-
-    - WebSocket 信令：signal_backend_url 连接到后端
-      例如: wss://sciol.ac.cn/api/realtime/signal/host/<host_id>
-    - 媒体服务器：RTMP 推流到 rtmp_url；WebRTC offer 转发到 SRS 的 webrtc_api
-    - 视频源：本地 USB 摄像头（V4L2，默认 /dev/video0）
-    """
-
-    def __init__(
-        self,
-        host_id: str = "demo-host",
-        signal_backend_url: str = "wss://sciol.ac.cn/api/realtime/signal/host",
-        rtmp_url: str = "rtmp://srs.sciol.ac.cn:4499/live/camera-01",
-        webrtc_api: str = "https://srs.sciol.ac.cn/rtc/v1/play/",
-        webrtc_stream_url: str = "webrtc://srs.sciol.ac.cn:4500/live/camera-01",
-        video_device: str = "/dev/video0",
-        width: int = 1280,
-        height: int = 720,
-        fps: int = 30,
-        video_bitrate: str = "1500k",
-        audio_device: Optional[str] = None,  # 比如 "hw:1,0"，没有音频就保持 None
-        audio_bitrate: str = "64k",
-    ):
-        self.host_id = host_id
-
-        # 拼接最终 WebSocket URL：.../host/<host_id>
-        signal_backend_url = signal_backend_url.rstrip("/")
-        if not signal_backend_url.endswith("/host"):
-            signal_backend_url = signal_backend_url + "/host"
-        self.signal_backend_url = f"{signal_backend_url}/{host_id}"
-
-        # 媒体服务器配置
-        self.rtmp_url = rtmp_url
-        self.webrtc_api = webrtc_api
-        self.webrtc_stream_url = webrtc_stream_url
-
-        # 本地采集配置
-        self.video_device = video_device
-        self.width = int(width)
-        self.height = int(height)
-        self.fps = int(fps)
-        self.video_bitrate = video_bitrate
-        self.audio_device = audio_device
-        self.audio_bitrate = audio_bitrate
-
-        # 运行时状态
-        self._ws: Optional[object] = None
-        self._ffmpeg_process: Optional[subprocess.Popen] = None
-        self._running = False
-        self._loop_task: Optional[asyncio.Future] = None
-
-        # 事件循环 & 线程
-        self._loop: Optional[asyncio.AbstractEventLoop] = None
-        self._loop_thread: Optional[threading.Thread] = None
-
-        try:
-            self.start()
-        except Exception as e:
-            print(f"[CameraController] __init__ auto start failed: {e}", file=sys.stderr)
-
-    # ---------------------------------------------------------------------
-    # 对外方法
-    # ---------------------------------------------------------------------
-
-    def start(self, config: Optional[Dict[str, Any]] = None):
-        if self._running:
-            return {"status": "already_running", "host_id": self.host_id}
-
-        # 应用 config 覆盖（如果有）
-        if config:
-            cfg_host_id = config.get("host_id")
-            if cfg_host_id:
-                self.host_id = cfg_host_id
-
-            signal_backend_url = config.get("signal_backend_url")
-            if signal_backend_url:
-                signal_backend_url = signal_backend_url.rstrip("/")
-                if not signal_backend_url.endswith("/host"):
-                    signal_backend_url = signal_backend_url + "/host"
-                self.signal_backend_url = f"{signal_backend_url}/{self.host_id}"
-
-            self.rtmp_url = config.get("rtmp_url", self.rtmp_url)
-            self.webrtc_api = config.get("webrtc_api", self.webrtc_api)
-            self.webrtc_stream_url = config.get("webrtc_stream_url", self.webrtc_stream_url)
-
-            self.video_device = config.get("video_device", self.video_device)
-            self.width = int(config.get("width", self.width))
-            self.height = int(config.get("height", self.height))
-            self.fps = int(config.get("fps", self.fps))
-            self.video_bitrate = config.get("video_bitrate", self.video_bitrate)
-            self.audio_device = config.get("audio_device", self.audio_device)
-            self.audio_bitrate = config.get("audio_bitrate", self.audio_bitrate)
-
-        self._running = True
-
-        print("[CameraController] start(): starting FFmpeg streaming...", file=sys.stderr)
-        self._start_ffmpeg()
-
-        self._loop = asyncio.new_event_loop()
-
-        def loop_runner(loop: asyncio.AbstractEventLoop):
-            asyncio.set_event_loop(loop)
-            try:
-                loop.run_forever()
-            except Exception as e:
-                print(f"[CameraController] event loop error: {e}", file=sys.stderr)
-
-        self._loop_thread = threading.Thread(target=loop_runner, args=(self._loop,), daemon=True)
-        self._loop_thread.start()
-
-        self._loop_task = asyncio.run_coroutine_threadsafe(self._run_main_loop(), self._loop)
-
-        return {
-            "status": "started",
-            "host_id": self.host_id,
-            "signal_backend_url": self.signal_backend_url,
-            "rtmp_url": self.rtmp_url,
-            "webrtc_api": self.webrtc_api,
-            "webrtc_stream_url": self.webrtc_stream_url,
-            "video_device": self.video_device,
-            "width": self.width,
-            "height": self.height,
-            "fps": self.fps,
-            "video_bitrate": self.video_bitrate,
-            "audio_device": self.audio_device,
-        }
-
-    def stop(self) -> Dict[str, Any]:
-        self._running = False
-
-        # 先取消主任务（让 ws connect/sleep 尽快退出）
-        if self._loop_task is not None and not self._loop_task.done():
-            self._loop_task.cancel()
-
-        # 停止推流
-        self._stop_ffmpeg()
-
-        # 关闭 WebSocket（在 loop 中执行）
-        if self._ws and self._loop is not None:
-
-            async def close_ws():
-                try:
-                    await self._ws.close()
-                except Exception as e:
-                    print(f"[CameraController] error closing WebSocket: {e}", file=sys.stderr)
-
-            try:
-                asyncio.run_coroutine_threadsafe(close_ws(), self._loop)
-            except Exception:
-                pass
-
-        # 停止事件循环
-        if self._loop is not None:
-            try:
-                self._loop.call_soon_threadsafe(self._loop.stop)
-            except Exception as e:
-                print(f"[CameraController] error stopping loop: {e}", file=sys.stderr)
-
-        # 等待线程退出
-        if self._loop_thread is not None:
-            try:
-                self._loop_thread.join(timeout=5)
-            except Exception as e:
-                print(f"[CameraController] error joining loop thread: {e}", file=sys.stderr)
-
-        self._ws = None
-        self._loop_task = None
-        self._loop = None
-        self._loop_thread = None
-
-        return {"status": "stopped", "host_id": self.host_id}
-
-    def get_status(self) -> Dict[str, Any]:
-        ws_closed = None
-        if self._ws is not None:
-            ws_closed = getattr(self._ws, "closed", None)
-
-        if ws_closed is None:
-            websocket_connected = self._ws is not None
-        else:
-            websocket_connected = (self._ws is not None) and (not ws_closed)
-
-        return {
-            "host_id": self.host_id,
-            "running": self._running,
-            "websocket_connected": websocket_connected,
-            "ffmpeg_running": bool(self._ffmpeg_process and self._ffmpeg_process.poll() is None),
-            "signal_backend_url": self.signal_backend_url,
-            "rtmp_url": self.rtmp_url,
-            "video_device": self.video_device,
-            "width": self.width,
-            "height": self.height,
-            "fps": self.fps,
-            "video_bitrate": self.video_bitrate,
-        }
-
-    # ---------------------------------------------------------------------
-    # WebSocket / 信令
-    # ---------------------------------------------------------------------
-
-    async def _run_main_loop(self):
-        print("[CameraController] main loop started", file=sys.stderr)
-        try:
-            while self._running:
-                try:
-                    async with websockets.connect(self.signal_backend_url) as ws:
-                        self._ws = ws
-                        print(f"[CameraController] WebSocket connected: {self.signal_backend_url}", file=sys.stderr)
-                        await self._recv_loop()
-                except asyncio.CancelledError:
-                    raise
-                except Exception as e:
-                    if self._running:
-                        print(f"[CameraController] WebSocket connection error: {e}", file=sys.stderr)
-                        await asyncio.sleep(3)
-        except asyncio.CancelledError:
-            pass
-        finally:
-            print("[CameraController] main loop exited", file=sys.stderr)
-
-    async def _recv_loop(self):
-        assert self._ws is not None
-        ws = self._ws
-
-        async for message in ws:
-            try:
-                data = json.loads(message)
-            except json.JSONDecodeError:
-                print(f"[CameraController] non-JSON message: {message}", file=sys.stderr)
-                continue
-
-            try:
-                await self._handle_message(data)
-            except Exception as e:
-                print(f"[CameraController] error handling message {data}: {e}", file=sys.stderr)
-
-    async def _handle_message(self, data: Dict[str, Any]):
-        cmd = data.get("command")
-
-        if cmd == "start_stream":
-            self._start_ffmpeg()
-            return
-
-        if cmd == "stop_stream":
-            self._stop_ffmpeg()
-            return
-
-        if data.get("type") == "offer":
-            offer_sdp = data.get("sdp", "")
-            camera_id = data.get("cameraId", "camera-01")
-
-            answer_sdp = await self._handle_webrtc_offer(offer_sdp)
-
-            if self._ws:
-                answer_payload = {
-                    "type": "answer",
-                    "sdp": answer_sdp,
-                    "cameraId": camera_id,
-                    "hostId": self.host_id,
-                }
-                await self._ws.send(json.dumps(answer_payload))
-
-    # ---------------------------------------------------------------------
-    # FFmpeg 推流（V4L2 USB 摄像头）
-    # ---------------------------------------------------------------------
-
-    def _start_ffmpeg(self):
-        if self._ffmpeg_process and self._ffmpeg_process.poll() is None:
-            return
-
-        # 兼容性优先：不强制输入像素格式；失败再通过外部调整 width/height/fps
-        video_size = f"{self.width}x{self.height}"
-
-        cmd = [
-            "ffmpeg",
-            "-hide_banner",
-            "-loglevel",
-            "warning",
-
-            # video input
-            "-f", "v4l2",
-            "-framerate", str(self.fps),
-            "-video_size", video_size,
-            "-i", self.video_device,
-        ]
-
-        # optional audio input
-        if self.audio_device:
-            cmd += [
-                "-f", "alsa",
-                "-i", self.audio_device,
-                "-c:a", "aac",
-                "-b:a", self.audio_bitrate,
-                "-ar", "44100",
-                "-ac", "1",
-            ]
-        else:
-            cmd += ["-an"]
-
-        # video encode + rtmp out
-        cmd += [
-            "-c:v", "libx264",
-            "-preset", "ultrafast",
-            "-tune", "zerolatency",
-            "-profile:v", "baseline",
-            "-pix_fmt", "yuv420p",
-            "-b:v", self.video_bitrate,
-            "-maxrate", self.video_bitrate,
-            "-bufsize", "2M",
-            "-g", str(max(self.fps, 10)),
-            "-keyint_min", str(max(self.fps, 10)),
-            "-sc_threshold", "0",
-            "-x264-params", "bframes=0",
-
-            "-f", "flv",
-            self.rtmp_url,
-        ]
-
-        print(f"[CameraController] starting FFmpeg: {' '.join(cmd)}", file=sys.stderr)
-
-        try:
-            # 不再丢弃日志，至少能看到 ffmpeg 报错（调试很关键）
-            self._ffmpeg_process = subprocess.Popen(
-                cmd,
-                stdout=subprocess.DEVNULL,
-                stderr=sys.stderr,
-                shell=False,
-            )
-        except Exception as e:
-            self._ffmpeg_process = None
-            print(f"[CameraController] failed to start FFmpeg: {e}", file=sys.stderr)
-
-    def _stop_ffmpeg(self):
-        proc = self._ffmpeg_process
-        if proc and proc.poll() is None:
-            try:
-                proc.terminate()
-                try:
-                    proc.wait(timeout=5)
-                except subprocess.TimeoutExpired:
-                    proc.kill()
-            except Exception as e:
-                print(f"[CameraController] error stopping FFmpeg: {e}", file=sys.stderr)
-        self._ffmpeg_process = None
-
-    # ---------------------------------------------------------------------
-    # WebRTC offer -> SRS
-    # ---------------------------------------------------------------------
-
-    async def _handle_webrtc_offer(self, offer_sdp: str) -> str:
-        payload = {
-            "api": self.webrtc_api,
-            "streamurl": self.webrtc_stream_url,
-            "sdp": offer_sdp,
-        }
-        headers = {"Content-Type": "application/json"}
-
-        def _do_post():
-            return requests.post(self.webrtc_api, json=payload, headers=headers, timeout=10)
-
-        loop = asyncio.get_running_loop()
-        resp = await loop.run_in_executor(None, _do_post)
-
-        resp.raise_for_status()
-        data = resp.json()
-        answer_sdp = data.get("sdp", "")
-        if not answer_sdp:
-            raise RuntimeError(f"empty SDP from media server: {data}")
-        return answer_sdp
-
-
-if __name__ == "__main__":
-    # 直接运行用于手动测试
-    c = CameraController(
-        host_id="demo-host",
-        video_device="/dev/video0",
-        width=1280,
-        height=720,
-        fps=30,
-        video_bitrate="1500k",
-        audio_device=None,
-    )
-    try:
-        while True:
-            asyncio.sleep(1)
-    except KeyboardInterrupt:
-        c.stop()

unilabos/devices/cameraSII/cameraUSB_test.py

@@ -1,51 +0,0 @@
-#!/usr/bin/env python3
-import time
-import json
-
-from cameraUSB import CameraController
-
-
-def main():
-    # 按你的实际情况改
-    cfg = dict(
-        host_id="demo-host",
-        signal_backend_url="wss://sciol.ac.cn/api/realtime/signal/host",
-        rtmp_url="rtmp://srs.sciol.ac.cn:4499/live/camera-01",
-        webrtc_api="https://srs.sciol.ac.cn/rtc/v1/play/",
-        webrtc_stream_url="webrtc://srs.sciol.ac.cn:4500/live/camera-01",
-        video_device="/dev/video7",
-        width=1280,
-        height=720,
-        fps=30,
-        video_bitrate="1500k",
-        audio_device=None,
-    )
-
-    c = CameraController(**cfg)
-
-    # 可选：如果你不想依赖 __init__ 自动 start，可以这样显式调用：
-    # c = CameraController(host_id=cfg["host_id"])
-    # c.start(cfg)
-
-    run_seconds = 30  # 测试运行时长
-    t0 = time.time()
-
-    try:
-        while True:
-            st = c.get_status()
-            print(json.dumps(st, ensure_ascii=False, indent=2))
-
-            if time.time() - t0 >= run_seconds:
-                break
-
-            time.sleep(2)
-    except KeyboardInterrupt:
-        print("Interrupted, stopping...")
-    finally:
-        print("Stopping controller...")
-        c.stop()
-        print("Done.")
-
-
-if __name__ == "__main__":
-    main()

unilabos/devices/cameraSII/demo_camera_pic.py

@@ -1,36 +0,0 @@
-import cv2
-
-# 推荐把 @ 进行 URL 编码：@ -> %40
-RTSP_URL = "rtsp://admin:admin123@192.168.31.164:554/stream1"
-OUTPUT_IMAGE = "rtsp_test_frame.jpg"
-
-def main():
-    print(f"尝试连接 RTSP 流: {RTSP_URL}")
-    cap = cv2.VideoCapture(RTSP_URL)
-
-    if not cap.isOpened():
-        print("错误：无法打开 RTSP 流，请检查：")
-        print("  1. IP/端口是否正确")
-        print("  2. 账号密码（尤其是 @ 是否已转成 %40）是否正确")
-        print("  3. 摄像头是否允许当前主机访问（同一网段、防火墙等）")
-        return
-
-    print("连接成功，开始读取一帧...")
-    ret, frame = cap.read()
-
-    if not ret or frame is None:
-        print("错误：已连接但未能读取到帧数据（可能是码流未开启或网络抖动）")
-        cap.release()
-        return
-
-    # 保存当前帧
-    success = cv2.imwrite(OUTPUT_IMAGE, frame)
-    cap.release()
-
-    if success:
-        print(f"成功截取一帧并保存为: {OUTPUT_IMAGE}")
-    else:
-        print("错误：写入图片失败，请检查磁盘权限/路径")
-
-if __name__ == "__main__":
-    main()

unilabos/devices/cameraSII/demo_camera_push.py

@@ -1,21 +0,0 @@
-# run_camera_push.py
-import time
-from cameraDriver import CameraController  # 这里根据你的文件名调整
-
-if __name__ == "__main__":
-    controller = CameraController(
-        host_id="demo-host",
-        signal_backend_url="wss://sciol.ac.cn/api/realtime/signal/host",
-        rtmp_url="rtmp://srs.sciol.ac.cn:4499/live/camera-01",
-        webrtc_api="https://srs.sciol.ac.cn/rtc/v1/play/",
-        webrtc_stream_url="webrtc://srs.sciol.ac.cn:4500/live/camera-01",
-        camera_rtsp_url="rtsp://admin:admin123@192.168.31.164:554/stream1",
-    )
-
-    try:
-        while True:
-            status = controller.get_status()
-            print(status)
-            time.sleep(5)
-    except KeyboardInterrupt:
-        controller.stop()

unilabos/devices/cameraSII/ptz_cameracontroller_test.py

@@ -1,78 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-
-"""
-使用 CameraController 来测试 PTZ：
-让摄像头按顺序向下、向上、向左、向右运动几次。
-"""
-
-import time
-import sys
-
-# 根据你的工程结构修改导入路径：
-# 假设 CameraController 定义在 cameraController.py 里
-from cameraDriver import CameraController
-
-
-def main():
-    # === 根据你的实际情况填 IP、端口、账号密码 ===
-    ptz_host = "192.168.31.164"
-    ptz_port = 2020          # 注意要和你单独测试 PTZController 时保持一致
-    ptz_user = "admin"
-    ptz_password = "admin123"
-
-    # 1. 创建 CameraController 实例
-    cam = CameraController(
-        # 其他摄像机相关参数按你类的 __init__ 来补充
-        ptz_host=ptz_host,
-        ptz_port=ptz_port,
-        ptz_user=ptz_user,
-        ptz_password=ptz_password,
-    )
-
-    # 2. 启动 / 初始化（如果你的 CameraController 有 start(config) 之类的接口）
-    #    这里给一个最小的 config，重点是 PTZ 相关字段
-    config = {
-        "ptz_host": ptz_host,
-        "ptz_port": ptz_port,
-        "ptz_user": ptz_user,
-        "ptz_password": ptz_password,
-    }
-
-    try:
-        cam.start(config)
-    except Exception as e:
-        print(f"[TEST] CameraController start() 失败: {e}", file=sys.stderr)
-        return
-
-    # 这里可以判断一下内部 _ptz 是否初始化成功（如果你对 CameraController 做了封装）
-    if getattr(cam, "_ptz", None) is None:
-        print("[TEST] CameraController 内部 PTZ 未初始化成功，请检查 ptz_host/port/user/password 配置。", file=sys.stderr)
-        return
-
-    # 3. 依次调用 CameraController 的 PTZ 方法
-    #    这里假设你在 CameraController 中提供了这几个对外方法：
-    #    ptz_move_down / ptz_move_up / ptz_move_left / ptz_move_right
-    #    如果你命名不一样，把下面调用名改成你的即可。
-
-    print("向下移动（通过 CameraController）...")
-    cam.ptz_move_down(speed=0.5, duration=1.0)
-    time.sleep(1)
-
-    print("向上移动（通过 CameraController）...")
-    cam.ptz_move_up(speed=0.5, duration=1.0)
-    time.sleep(1)
-
-    print("向左移动（通过 CameraController）...")
-    cam.ptz_move_left(speed=0.5, duration=1.0)
-    time.sleep(1)
-
-    print("向右移动（通过 CameraController）...")
-    cam.ptz_move_right(speed=0.5, duration=1.0)
-    time.sleep(1)
-
-    print("测试结束。")
-
-
-if __name__ == "__main__":
-    main()

unilabos/devices/cameraSII/ptz_test.py

@@ -1,50 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-
-"""
-测试 cameraDriver.py中的 PTZController 类，让摄像头按顺序运动几次
-"""
-
-import time
-
-from cameraDriver import PTZController
-
-
-def main():
-    # 根据你的实际情况填 IP、端口、账号密码
-    host = "192.168.31.164"
-    port = 80
-    user = "admin"
-    password = "admin123"
-
-    ptz = PTZController(host=host, port=port, user=user, password=password)
-
-    # 1. 连接摄像头
-    if not ptz.connect():
-        print("连接 PTZ 失败，检查 IP/用户名/密码/端口。")
-        return
-
-    # 2. 依次测试几个动作
-    # 每个动作之间 sleep 一下方便观察
-
-    print("向下移动...")
-    ptz.move_down(speed=0.5, duration=1.0)
-    time.sleep(1)
-
-    print("向上移动...")
-    ptz.move_up(speed=0.5, duration=1.0)
-    time.sleep(1)
-
-    print("向左移动...")
-    ptz.move_left(speed=0.5, duration=1.0)
-    time.sleep(1)
-
-    print("向右移动...")
-    ptz.move_right(speed=0.5, duration=1.0)
-    time.sleep(1)
-
-    print("测试结束。")
-
-
-if __name__ == "__main__":
-    main()

unilabos/devices/laiyu_liquid/__init__.py

@@ -0,0 +1,307 @@
+"""
+LaiYu_Liquid 液体处理工作站集成模块
+
+该模块提供了 LaiYu_Liquid 工作站与 UniLabOS 的完整集成，包括：
+- 硬件后端和抽象接口
+- 资源定义和管理
+- 协议执行和液体传输
+- 工作台配置和布局
+
+主要组件：
+- LaiYuLiquidBackend: 硬件后端实现
+- LaiYuLiquid: 液体处理器抽象接口
+- 各种资源类：枪头架、板、容器等
+- 便捷创建函数和配置管理
+
+使用示例：
+    from unilabos.devices.laiyu_liquid import (
+        LaiYuLiquid, 
+        LaiYuLiquidBackend,
+        create_standard_deck,
+        create_tip_rack_1000ul
+    )
+    
+    # 创建后端和液体处理器
+    backend = LaiYuLiquidBackend()
+    lh = LaiYuLiquid(backend=backend)
+    
+    # 创建工作台
+    deck = create_standard_deck()
+    lh.deck = deck
+    
+    # 设置和运行
+    await lh.setup()
+"""
+
+# 版本信息
+__version__ = "1.0.0"
+__author__ = "LaiYu_Liquid Integration Team"
+__description__ = "LaiYu_Liquid 液体处理工作站 UniLabOS 集成模块"
+
+# 驱动程序导入
+from .drivers import (
+    XYZStepperController,
+    SOPAPipette,
+    MotorAxis,
+    MotorStatus,
+    SOPAConfig,
+    SOPAStatusCode,
+    StepperMotorDriver
+)
+
+# 控制器导入
+from .controllers import (
+    XYZController,
+    PipetteController,
+)
+
+# 后端导入
+from .backend.rviz_backend import (
+    LiquidHandlerRvizBackend,
+)
+
+# 资源类和创建函数导入
+from .core.laiyu_liquid_res import (
+    LaiYuLiquidDeck,
+    LaiYuLiquidContainer,
+    LaiYuLiquidTipRack
+)
+
+# 主设备类和配置
+from .core.laiyu_liquid_main import (
+    LaiYuLiquid,
+    LaiYuLiquidConfig,
+    LaiYuLiquidDeck,
+    LaiYuLiquidContainer,
+    LaiYuLiquidTipRack,
+    create_quick_setup
+)
+
+# 后端创建函数导入
+from .backend import (
+    LaiYuLiquidBackend,
+    create_laiyu_backend,
+)
+
+# 导出所有公共接口
+__all__ = [
+    # 版本信息
+    "__version__",
+    "__author__",
+    "__description__",
+    
+    # 驱动程序
+    "SOPAPipette",
+    "SOPAConfig", 
+    "StepperMotorDriver",
+    "XYZStepperController",
+    
+    # 控制器
+    "PipetteController",
+    "XYZController",
+    
+    # 后端
+    "LiquidHandlerRvizBackend",
+    
+    # 资源创建函数
+    "create_tip_rack_1000ul",
+    "create_tip_rack_200ul", 
+    "create_96_well_plate",
+    "create_deep_well_plate",
+    "create_8_tube_rack",
+    "create_standard_deck",
+    "create_waste_container",
+    "create_wash_container",
+    "create_reagent_container",
+    "load_deck_config",
+    
+    # 后端创建函数
+    "create_laiyu_backend",
+    
+    # 主要类
+    "LaiYuLiquid",
+    "LaiYuLiquidConfig", 
+    "LaiYuLiquidBackend",
+    "LaiYuLiquidDeck",
+    
+    # 工具函数
+    "get_version",
+    "get_supported_resources",
+    "create_quick_setup",
+    "validate_installation",
+    "print_module_info",
+    "setup_logging",
+]
+
+# 别名定义，为了向后兼容
+LaiYuLiquidDevice = LaiYuLiquid  # 主设备类别名
+LaiYuLiquidController = XYZController  # 控制器别名
+LaiYuLiquidDriver = XYZStepperController  # 驱动器别名
+
+# 模块级别的便捷函数
+
+def get_version() -> str:
+    """
+    获取模块版本
+    
+    Returns:
+        str: 版本号
+    """
+    return __version__
+
+
+def get_supported_resources() -> dict:
+    """
+    获取支持的资源类型
+    
+    Returns:
+        dict: 支持的资源类型字典
+    """
+    return {
+        "tip_racks": {
+            "LaiYuLiquidTipRack": LaiYuLiquidTipRack,
+        },
+        "containers": {
+            "LaiYuLiquidContainer": LaiYuLiquidContainer,
+        },
+        "decks": {
+            "LaiYuLiquidDeck": LaiYuLiquidDeck,
+        },
+        "devices": {
+            "LaiYuLiquid": LaiYuLiquid,
+        }
+    }
+
+
+def create_quick_setup() -> tuple:
+    """
+    快速创建基本设置
+    
+    Returns:
+        tuple: (backend, controllers, resources) 的元组
+    """
+    # 创建后端
+    backend = LiquidHandlerRvizBackend()
+    
+    # 创建控制器（使用默认端口进行演示）
+    pipette_controller = PipetteController(port="/dev/ttyUSB0", address=4)
+    xyz_controller = XYZController(port="/dev/ttyUSB1", auto_connect=False)
+    
+    # 创建测试资源
+    tip_rack_1000 = create_tip_rack_1000ul("tip_rack_1000")
+    tip_rack_200 = create_tip_rack_200ul("tip_rack_200")
+    well_plate = create_96_well_plate("96_well_plate")
+    
+    controllers = {
+        'pipette': pipette_controller,
+        'xyz': xyz_controller
+    }
+    
+    resources = {
+        'tip_rack_1000': tip_rack_1000,
+        'tip_rack_200': tip_rack_200,
+        'well_plate': well_plate
+    }
+    
+    return backend, controllers, resources
+
+
+def validate_installation() -> bool:
+    """
+    验证模块安装是否正确
+    
+    Returns:
+        bool: 安装是否正确
+    """
+    try:
+        # 检查核心类是否可以导入
+        from .core.laiyu_liquid_main import LaiYuLiquid, LaiYuLiquidConfig
+        from .backend import LaiYuLiquidBackend
+        from .controllers import XYZController, PipetteController
+        from .drivers import XYZStepperController, SOPAPipette
+        
+        # 尝试创建基本对象
+        config = LaiYuLiquidConfig()
+        backend = create_laiyu_backend("validation_test")
+        
+        print("模块安装验证成功")
+        return True
+        
+    except Exception as e:
+        print(f"模块安装验证失败: {e}")
+        return False
+
+
+def print_module_info():
+    """打印模块信息"""
+    print(f"LaiYu_Liquid 集成模块")
+    print(f"版本: {__version__}")
+    print(f"作者: {__author__}")
+    print(f"描述: {__description__}")
+    print(f"")
+    print(f"支持的资源类型:")
+    
+    resources = get_supported_resources()
+    for category, types in resources.items():
+        print(f"  {category}:")
+        for type_name, type_class in types.items():
+            print(f"    - {type_name}: {type_class.__name__}")
+    
+    print(f"")
+    print(f"主要功能:")
+    print(f"  - 硬件集成: LaiYuLiquidBackend")
+    print(f"  - 抽象接口: LaiYuLiquid")
+    print(f"  - 资源管理: 各种资源类和创建函数")
+    print(f"  - 协议执行: transfer_liquid 和相关函数")
+    print(f"  - 配置管理: deck.json 和加载函数")
+
+
+# 模块初始化时的检查
+def _check_dependencies():
+    """检查依赖项"""
+    try:
+        import pylabrobot
+        import asyncio
+        import json
+        import logging
+        return True
+    except ImportError as e:
+        import logging
+        logging.warning(f"缺少依赖项 {e}")
+        return False
+
+
+# 执行依赖检查
+_dependencies_ok = _check_dependencies()
+
+if not _dependencies_ok:
+    import logging
+    logging.warning("某些依赖项缺失，模块功能可能受限")
+
+
+# 模块级别的日志配置
+import logging
+
+def setup_logging(level: str = "INFO"):
+    """
+    设置模块日志
+    
+    Args:
+        level: 日志级别 (DEBUG, INFO, WARNING, ERROR)
+    """
+    logger = logging.getLogger("LaiYu_Liquid")
+    logger.setLevel(getattr(logging, level.upper()))
+    
+    if not logger.handlers:
+        handler = logging.StreamHandler()
+        formatter = logging.Formatter(
+            '%(asctime)s - %(name)s - %(levelname)s - %(message)s'
+        )
+        handler.setFormatter(formatter)
+        logger.addHandler(handler)
+    
+    return logger
+
+
+# 默认日志设置
+_logger = setup_logging()

unilabos/devices/laiyu_liquid/backend/__init__.py

@@ -0,0 +1,9 @@
+"""
+LaiYu液体处理设备后端模块
+
+提供设备后端接口和实现
+"""
+
+from .laiyu_backend import LaiYuLiquidBackend, create_laiyu_backend
+
+__all__ = ['LaiYuLiquidBackend', 'create_laiyu_backend']

unilabos/devices/laiyu_liquid/backend/laiyu_backend.py

@@ -0,0 +1,334 @@
+"""
+LaiYu液体处理设备后端实现
+
+提供设备的后端接口和控制逻辑
+"""
+
+import logging
+from typing import Dict, Any, Optional, List
+from abc import ABC, abstractmethod
+
+# 尝试导入PyLabRobot后端
+try:
+    from pylabrobot.liquid_handling.backends import LiquidHandlerBackend
+    PYLABROBOT_AVAILABLE = True
+except ImportError:
+    PYLABROBOT_AVAILABLE = False
+    # 创建模拟后端基类
+    class LiquidHandlerBackend:
+        def __init__(self, name: str):
+            self.name = name
+            self.is_connected = False
+        
+        def connect(self):
+            """连接设备"""
+            pass
+        
+        def disconnect(self):
+            """断开连接"""
+            pass
+
+
+class LaiYuLiquidBackend(LiquidHandlerBackend):
+    """LaiYu液体处理设备后端"""
+    
+    def __init__(self, name: str = "LaiYu_Liquid_Backend"):
+        """
+        初始化LaiYu液体处理设备后端
+        
+        Args:
+            name: 后端名称
+        """
+        if PYLABROBOT_AVAILABLE:
+            # PyLabRobot 的 LiquidHandlerBackend 不接受参数
+            super().__init__()
+        else:
+            # 模拟版本接受 name 参数
+            super().__init__(name)
+        
+        self.name = name
+        self.logger = logging.getLogger(__name__)
+        self.is_connected = False
+        self.device_info = {
+            "name": "LaiYu液体处理设备",
+            "version": "1.0.0",
+            "manufacturer": "LaiYu",
+            "model": "LaiYu_Liquid_Handler"
+        }
+    
+    def connect(self) -> bool:
+        """
+        连接到LaiYu液体处理设备
+        
+        Returns:
+            bool: 连接是否成功
+        """
+        try:
+            self.logger.info("正在连接到LaiYu液体处理设备...")
+            # 这里应该实现实际的设备连接逻辑
+            # 目前返回模拟连接成功
+            self.is_connected = True
+            self.logger.info("成功连接到LaiYu液体处理设备")
+            return True
+        except Exception as e:
+            self.logger.error(f"连接LaiYu液体处理设备失败: {e}")
+            self.is_connected = False
+            return False
+    
+    def disconnect(self) -> bool:
+        """
+        断开与LaiYu液体处理设备的连接
+        
+        Returns:
+            bool: 断开连接是否成功
+        """
+        try:
+            self.logger.info("正在断开与LaiYu液体处理设备的连接...")
+            # 这里应该实现实际的设备断开连接逻辑
+            self.is_connected = False
+            self.logger.info("成功断开与LaiYu液体处理设备的连接")
+            return True
+        except Exception as e:
+            self.logger.error(f"断开LaiYu液体处理设备连接失败: {e}")
+            return False
+    
+    def is_device_connected(self) -> bool:
+        """
+        检查设备是否已连接
+        
+        Returns:
+            bool: 设备是否已连接
+        """
+        return self.is_connected
+    
+    def get_device_info(self) -> Dict[str, Any]:
+        """
+        获取设备信息
+        
+        Returns:
+            Dict[str, Any]: 设备信息字典
+        """
+        return self.device_info.copy()
+    
+    def home_device(self) -> bool:
+        """
+        设备归零操作
+        
+        Returns:
+            bool: 归零是否成功
+        """
+        if not self.is_connected:
+            self.logger.error("设备未连接，无法执行归零操作")
+            return False
+        
+        try:
+            self.logger.info("正在执行设备归零操作...")
+            # 这里应该实现实际的设备归零逻辑
+            self.logger.info("设备归零操作完成")
+            return True
+        except Exception as e:
+            self.logger.error(f"设备归零操作失败: {e}")
+            return False
+    
+    def aspirate(self, volume: float, location: Dict[str, Any]) -> bool:
+        """
+        吸液操作
+        
+        Args:
+            volume: 吸液体积 (微升)
+            location: 吸液位置信息
+            
+        Returns:
+            bool: 吸液是否成功
+        """
+        if not self.is_connected:
+            self.logger.error("设备未连接，无法执行吸液操作")
+            return False
+        
+        try:
+            self.logger.info(f"正在执行吸液操作: 体积={volume}μL, 位置={location}")
+            # 这里应该实现实际的吸液逻辑
+            self.logger.info("吸液操作完成")
+            return True
+        except Exception as e:
+            self.logger.error(f"吸液操作失败: {e}")
+            return False
+    
+    def dispense(self, volume: float, location: Dict[str, Any]) -> bool:
+        """
+        排液操作
+        
+        Args:
+            volume: 排液体积 (微升)
+            location: 排液位置信息
+            
+        Returns:
+            bool: 排液是否成功
+        """
+        if not self.is_connected:
+            self.logger.error("设备未连接，无法执行排液操作")
+            return False
+        
+        try:
+            self.logger.info(f"正在执行排液操作: 体积={volume}μL, 位置={location}")
+            # 这里应该实现实际的排液逻辑
+            self.logger.info("排液操作完成")
+            return True
+        except Exception as e:
+            self.logger.error(f"排液操作失败: {e}")
+            return False
+    
+    def pick_up_tip(self, location: Dict[str, Any]) -> bool:
+        """
+        取枪头操作
+        
+        Args:
+            location: 枪头位置信息
+            
+        Returns:
+            bool: 取枪头是否成功
+        """
+        if not self.is_connected:
+            self.logger.error("设备未连接，无法执行取枪头操作")
+            return False
+        
+        try:
+            self.logger.info(f"正在执行取枪头操作: 位置={location}")
+            # 这里应该实现实际的取枪头逻辑
+            self.logger.info("取枪头操作完成")
+            return True
+        except Exception as e:
+            self.logger.error(f"取枪头操作失败: {e}")
+            return False
+    
+    def drop_tip(self, location: Dict[str, Any]) -> bool:
+        """
+        丢弃枪头操作
+        
+        Args:
+            location: 丢弃位置信息
+            
+        Returns:
+            bool: 丢弃枪头是否成功
+        """
+        if not self.is_connected:
+            self.logger.error("设备未连接，无法执行丢弃枪头操作")
+            return False
+        
+        try:
+            self.logger.info(f"正在执行丢弃枪头操作: 位置={location}")
+            # 这里应该实现实际的丢弃枪头逻辑
+            self.logger.info("丢弃枪头操作完成")
+            return True
+        except Exception as e:
+            self.logger.error(f"丢弃枪头操作失败: {e}")
+            return False
+    
+    def move_to(self, location: Dict[str, Any]) -> bool:
+        """
+        移动到指定位置
+        
+        Args:
+            location: 目标位置信息
+            
+        Returns:
+            bool: 移动是否成功
+        """
+        if not self.is_connected:
+            self.logger.error("设备未连接，无法执行移动操作")
+            return False
+        
+        try:
+            self.logger.info(f"正在移动到位置: {location}")
+            # 这里应该实现实际的移动逻辑
+            self.logger.info("移动操作完成")
+            return True
+        except Exception as e:
+            self.logger.error(f"移动操作失败: {e}")
+            return False
+    
+    def get_status(self) -> Dict[str, Any]:
+        """
+        获取设备状态
+        
+        Returns:
+            Dict[str, Any]: 设备状态信息
+        """
+        return {
+            "connected": self.is_connected,
+            "device_info": self.device_info,
+            "status": "ready" if self.is_connected else "disconnected"
+        }
+    
+    # PyLabRobot 抽象方法实现
+    def stop(self):
+        """停止所有操作"""
+        self.logger.info("停止所有操作")
+        pass
+    
+    @property
+    def num_channels(self) -> int:
+        """返回通道数量"""
+        return 1  # 单通道移液器
+    
+    def can_pick_up_tip(self, tip_rack, tip_position) -> bool:
+        """检查是否可以拾取吸头"""
+        return True  # 简化实现，总是返回True
+    
+    def pick_up_tips(self, tip_rack, tip_positions):
+        """拾取多个吸头"""
+        self.logger.info(f"拾取吸头: {tip_positions}")
+        pass
+    
+    def drop_tips(self, tip_rack, tip_positions):
+        """丢弃多个吸头"""
+        self.logger.info(f"丢弃吸头: {tip_positions}")
+        pass
+    
+    def pick_up_tips96(self, tip_rack):
+        """拾取96个吸头"""
+        self.logger.info("拾取96个吸头")
+        pass
+    
+    def drop_tips96(self, tip_rack):
+        """丢弃96个吸头"""
+        self.logger.info("丢弃96个吸头")
+        pass
+    
+    def aspirate96(self, volume, plate, well_positions):
+        """96通道吸液"""
+        self.logger.info(f"96通道吸液: 体积={volume}")
+        pass
+    
+    def dispense96(self, volume, plate, well_positions):
+        """96通道排液"""
+        self.logger.info(f"96通道排液: 体积={volume}")
+        pass
+    
+    def pick_up_resource(self, resource, location):
+        """拾取资源"""
+        self.logger.info(f"拾取资源: {resource}")
+        pass
+    
+    def drop_resource(self, resource, location):
+        """放置资源"""
+        self.logger.info(f"放置资源: {resource}")
+        pass
+    
+    def move_picked_up_resource(self, resource, location):
+        """移动已拾取的资源"""
+        self.logger.info(f"移动资源: {resource} 到 {location}")
+        pass
+
+
+def create_laiyu_backend(name: str = "LaiYu_Liquid_Backend") -> LaiYuLiquidBackend:
+    """
+    创建LaiYu液体处理设备后端实例
+    
+    Args:
+        name: 后端名称
+        
+    Returns:
+        LaiYuLiquidBackend: 后端实例
+    """
+    return LaiYuLiquidBackend(name)

unilabos/devices/laiyu_liquid/backend/rviz_backend.py

@@ -0,0 +1,209 @@
+      
+import json
+from typing import List, Optional, Union
+
+from pylabrobot.liquid_handling.backends.backend import (
+  LiquidHandlerBackend,
+)
+from pylabrobot.liquid_handling.standard import (
+  Drop,
+  DropTipRack,
+  MultiHeadAspirationContainer,
+  MultiHeadAspirationPlate,
+  MultiHeadDispenseContainer,
+  MultiHeadDispensePlate,
+  Pickup,
+  PickupTipRack,
+  ResourceDrop,
+  ResourceMove,
+  ResourcePickup,
+  SingleChannelAspiration,
+  SingleChannelDispense,
+)
+from pylabrobot.resources import Resource, Tip
+
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import JointState
+import time
+from rclpy.action import ActionClient
+from unilabos_msgs.action import SendCmd
+import re
+
+from unilabos.devices.ros_dev.liquid_handler_joint_publisher import JointStatePublisher
+
+
+class LiquidHandlerRvizBackend(LiquidHandlerBackend):
+  """Chatter box backend for device-free testing. Prints out all operations."""
+
+  _pip_length = 5
+  _vol_length = 8
+  _resource_length = 20
+  _offset_length = 16
+  _flow_rate_length = 10
+  _blowout_length = 10
+  _lld_z_length = 10
+  _kwargs_length = 15
+  _tip_type_length = 12
+  _max_volume_length = 16
+  _fitting_depth_length = 20
+  _tip_length_length = 16
+  # _pickup_method_length = 20
+  _filter_length = 10
+
+  def __init__(self, num_channels: int = 8):
+    """Initialize a chatter box backend."""
+    super().__init__()
+    self._num_channels = num_channels
+# rclpy.init()
+    if not rclpy.ok():
+        rclpy.init()
+    self.joint_state_publisher = None
+
+  async def setup(self):
+    self.joint_state_publisher = JointStatePublisher()
+    await super().setup()
+  async def stop(self):
+    pass
+
+  def serialize(self) -> dict:
+    return {**super().serialize(), "num_channels": self.num_channels}
+
+  @property
+  def num_channels(self) -> int:
+    return self._num_channels
+
+  async def assigned_resource_callback(self, resource: Resource):
+    pass
+
+  async def unassigned_resource_callback(self, name: str):
+    pass
+
+  async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int], **backend_kwargs):
+
+    for op, channel in zip(ops, use_channels):
+      offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}"
+      row = (
+        f"  p{channel}: "
+        f"{op.resource.name[-30:]:<{LiquidHandlerRvizBackend._resource_length}} "
+        f"{offset:<{LiquidHandlerRvizBackend._offset_length}} "
+        f"{op.tip.__class__.__name__:<{LiquidHandlerRvizBackend._tip_type_length}} "
+        f"{op.tip.maximal_volume:<{LiquidHandlerRvizBackend._max_volume_length}} "
+        f"{op.tip.fitting_depth:<{LiquidHandlerRvizBackend._fitting_depth_length}} "
+        f"{op.tip.total_tip_length:<{LiquidHandlerRvizBackend._tip_length_length}} "
+        # f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
+        f"{'Yes' if op.tip.has_filter else 'No':<{LiquidHandlerRvizBackend._filter_length}}"
+      )
+    coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
+    x = coordinate.x
+    y = coordinate.y
+    z = coordinate.z + 70
+    self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "pick")
+    #   goback()
+
+
+
+
+  async def drop_tips(self, ops: List[Drop], use_channels: List[int], **backend_kwargs):
+
+    coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
+    x = coordinate.x
+    y = coordinate.y
+    z = coordinate.z + 70
+    self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "drop_trash")
+    #   goback()
+
+  async def aspirate(
+    self,
+    ops: List[SingleChannelAspiration],
+    use_channels: List[int],
+    **backend_kwargs,
+  ):
+    # 执行吸液操作
+    pass
+
+    for o, p in zip(ops, use_channels):
+      offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
+      row = (
+        f"  p{p}: "
+        f"{o.volume:<{LiquidHandlerRvizBackend._vol_length}} "
+        f"{o.resource.name[-20:]:<{LiquidHandlerRvizBackend._resource_length}} "
+        f"{offset:<{LiquidHandlerRvizBackend._offset_length}} "
+        f"{str(o.flow_rate):<{LiquidHandlerRvizBackend._flow_rate_length}} "
+        f"{str(o.blow_out_air_volume):<{LiquidHandlerRvizBackend._blowout_length}} "
+        f"{str(o.liquid_height):<{LiquidHandlerRvizBackend._lld_z_length}} "
+        # f"{o.liquids if o.liquids is not None else 'none'}"
+      )
+      for key, value in backend_kwargs.items():
+        if isinstance(value, list) and all(isinstance(v, bool) for v in value):
+          value = "".join("T" if v else "F" for v in value)
+        if isinstance(value, list):
+          value = "".join(map(str, value))
+        row += f" {value:<15}"
+    coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
+    x = coordinate.x
+    y = coordinate.y
+    z = coordinate.z + 70 
+    self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "")
+
+
+  async def dispense(
+    self,
+    ops: List[SingleChannelDispense],
+    use_channels: List[int],
+    **backend_kwargs,
+  ):
+
+    for o, p in zip(ops, use_channels):
+      offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
+      row = (
+        f"  p{p}: "
+        f"{o.volume:<{LiquidHandlerRvizBackend._vol_length}} "
+        f"{o.resource.name[-20:]:<{LiquidHandlerRvizBackend._resource_length}} "
+        f"{offset:<{LiquidHandlerRvizBackend._offset_length}} "
+        f"{str(o.flow_rate):<{LiquidHandlerRvizBackend._flow_rate_length}} "
+        f"{str(o.blow_out_air_volume):<{LiquidHandlerRvizBackend._blowout_length}} "
+        f"{str(o.liquid_height):<{LiquidHandlerRvizBackend._lld_z_length}} "
+        # f"{o.liquids if o.liquids is not None else 'none'}"
+      )
+      for key, value in backend_kwargs.items():
+        if isinstance(value, list) and all(isinstance(v, bool) for v in value):
+          value = "".join("T" if v else "F" for v in value)
+        if isinstance(value, list):
+          value = "".join(map(str, value))
+        row += f" {value:<{LiquidHandlerRvizBackend._kwargs_length}}"
+    coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
+    x = coordinate.x
+    y = coordinate.y
+    z = coordinate.z + 70
+    self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "")
+
+  async def pick_up_tips96(self, pickup: PickupTipRack, **backend_kwargs):
+    pass
+
+  async def drop_tips96(self, drop: DropTipRack, **backend_kwargs):
+    pass
+
+  async def aspirate96(
+    self, aspiration: Union[MultiHeadAspirationPlate, MultiHeadAspirationContainer]
+  ):
+    pass
+
+  async def dispense96(self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]):
+    pass
+
+  async def pick_up_resource(self, pickup: ResourcePickup):
+    # 执行资源拾取操作
+    pass
+
+  async def move_picked_up_resource(self, move: ResourceMove):
+    # 执行资源移动操作
+    pass
+
+  async def drop_resource(self, drop: ResourceDrop):
+    # 执行资源放置操作
+    pass
+
+  def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool:
+    return True
+    

unilabos/devices/laiyu_liquid/config/deckconfig.md

@@ -0,0 +1,14 @@
+ goto 171 178 57  H1
+ goto 171 117 57  A1
+ goto 172 178 130
+ goto 173 179 133 
+  goto 173 180 133 
+goto 173 180 138
+goto 173 180 125 （+10mm，在空的上面边缘）
+goto 173 180 130 取不到
+goto 173 180 133 取不到
+goto 173 180 135
+goto 173 180 137 取到了！！！！
+goto 173 180 131 弹出枪头 H1
+
+goto 173 117 137 A1 （+10mm，可以取到新枪头了！！！！）

unilabos/devices/laiyu_liquid/controllers/__init__.py

@@ -0,0 +1,25 @@
+"""
+LaiYu_Liquid 控制器模块
+
+该模块包含了LaiYu_Liquid液体处理工作站的高级控制器：
+- 移液器控制器：提供液体处理的高级接口
+- XYZ运动控制器：提供三轴运动的高级接口
+"""
+
+# 移液器控制器导入
+from .pipette_controller import PipetteController
+
+# XYZ运动控制器导入
+from .xyz_controller import XYZController
+
+__all__ = [
+    # 移液器控制器
+    "PipetteController",
+    
+    # XYZ运动控制器
+    "XYZController",
+]
+
+__version__ = "1.0.0"
+__author__ = "LaiYu_Liquid Controller Team"
+__description__ = "LaiYu_Liquid 高级控制器集合"

unilabos/devices/laiyu_liquid/core/__init__.py

@@ -0,0 +1,44 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+LaiYu液体处理设备核心模块
+
+该模块包含LaiYu液体处理设备的核心功能组件：
+- LaiYu_Liquid.py: 主设备类和配置管理
+- abstract_protocol.py: 抽象协议定义
+- laiyu_liquid_res.py: 设备资源管理
+
+作者: UniLab团队
+版本: 2.0.0
+"""
+
+from .laiyu_liquid_main import (
+    LaiYuLiquid,
+    LaiYuLiquidConfig,
+    LaiYuLiquidBackend,
+    LaiYuLiquidDeck,
+    LaiYuLiquidContainer,
+    LaiYuLiquidTipRack,
+    create_quick_setup
+)
+
+from .laiyu_liquid_res import (
+    LaiYuLiquidDeck,
+    LaiYuLiquidContainer, 
+    LaiYuLiquidTipRack
+)
+
+__all__ = [
+    # 主设备类
+    'LaiYuLiquid',
+    'LaiYuLiquidConfig',
+    'LaiYuLiquidBackend',
+    
+    # 设备资源
+    'LaiYuLiquidDeck',
+    'LaiYuLiquidContainer',
+    'LaiYuLiquidTipRack',
+    
+    # 工具函数
+    'create_quick_setup'
+]

unilabos/devices/laiyu_liquid/core/abstract_protocol.py

@@ -0,0 +1,529 @@
+"""
+LaiYu_Liquid 抽象协议实现
+
+该模块提供了液体资源管理和转移的抽象协议，包括：
+- MaterialResource: 液体资源管理类
+- transfer_liquid: 液体转移函数
+- 相关的辅助类和函数
+
+主要功能：
+- 管理多孔位的液体资源
+- 计算和跟踪液体体积
+- 处理液体转移操作
+- 提供资源状态查询
+"""
+
+import logging
+from typing import Dict, List, Optional, Union, Any, Tuple
+from dataclasses import dataclass, field
+from enum import Enum
+import uuid
+import time
+
+# pylabrobot 导入
+from pylabrobot.resources import Resource, Well, Plate
+
+logger = logging.getLogger(__name__)
+
+
+class LiquidType(Enum):
+    """液体类型枚举"""
+    WATER = "water"
+    ETHANOL = "ethanol"
+    DMSO = "dmso"
+    BUFFER = "buffer"
+    SAMPLE = "sample"
+    REAGENT = "reagent"
+    WASTE = "waste"
+    UNKNOWN = "unknown"
+
+
+@dataclass
+class LiquidInfo:
+    """液体信息类"""
+    liquid_type: LiquidType = LiquidType.UNKNOWN
+    volume: float = 0.0  # 体积 (μL)
+    concentration: Optional[float] = None  # 浓度 (mg/ml, M等)
+    ph: Optional[float] = None  # pH值
+    temperature: Optional[float] = None  # 温度 (°C)
+    viscosity: Optional[float] = None  # 粘度 (cP)
+    density: Optional[float] = None  # 密度 (g/ml)
+    description: str = ""  # 描述信息
+    
+    def __str__(self) -> str:
+        return f"{self.liquid_type.value}({self.description})"
+
+
+@dataclass
+class WellContent:
+    """孔位内容类"""
+    volume: float = 0.0  # 当前体积 (ul)
+    max_volume: float = 1000.0  # 最大容量 (ul)
+    liquid_info: LiquidInfo = field(default_factory=LiquidInfo)
+    last_updated: float = field(default_factory=time.time)
+    
+    @property
+    def is_empty(self) -> bool:
+        """检查是否为空"""
+        return self.volume <= 0.0
+    
+    @property
+    def is_full(self) -> bool:
+        """检查是否已满"""
+        return self.volume >= self.max_volume
+    
+    @property
+    def available_volume(self) -> float:
+        """可用体积"""
+        return max(0.0, self.max_volume - self.volume)
+    
+    @property
+    def fill_percentage(self) -> float:
+        """填充百分比"""
+        return (self.volume / self.max_volume) * 100.0 if self.max_volume > 0 else 0.0
+    
+    def can_add_volume(self, volume: float) -> bool:
+        """检查是否可以添加指定体积"""
+        return (self.volume + volume) <= self.max_volume
+    
+    def can_remove_volume(self, volume: float) -> bool:
+        """检查是否可以移除指定体积"""
+        return self.volume >= volume
+    
+    def add_volume(self, volume: float, liquid_info: Optional[LiquidInfo] = None) -> bool:
+        """
+        添加液体体积
+        
+        Args:
+            volume: 要添加的体积 (ul)
+            liquid_info: 液体信息
+            
+        Returns:
+            bool: 是否成功添加
+        """
+        if not self.can_add_volume(volume):
+            return False
+        
+        self.volume += volume
+        if liquid_info:
+            self.liquid_info = liquid_info
+        self.last_updated = time.time()
+        return True
+    
+    def remove_volume(self, volume: float) -> bool:
+        """
+        移除液体体积
+        
+        Args:
+            volume: 要移除的体积 (ul)
+            
+        Returns:
+            bool: 是否成功移除
+        """
+        if not self.can_remove_volume(volume):
+            return False
+        
+        self.volume -= volume
+        self.last_updated = time.time()
+        
+        # 如果完全清空，重置液体信息
+        if self.volume <= 0.0:
+            self.volume = 0.0
+            self.liquid_info = LiquidInfo()
+        
+        return True
+
+
+class MaterialResource:
+    """
+    液体资源管理类
+    
+    该类用于管理液体处理过程中的资源状态，包括：
+    - 跟踪多个孔位的液体体积和类型
+    - 计算总体积和可用体积
+    - 处理液体的添加和移除
+    - 提供资源状态查询
+    """
+    
+    def __init__(
+        self,
+        resource: Resource,
+        wells: Optional[List[Well]] = None,
+        default_max_volume: float = 1000.0
+    ):
+        """
+        初始化材料资源
+        
+        Args:
+            resource: pylabrobot 资源对象
+            wells: 孔位列表，如果为None则自动获取
+            default_max_volume: 默认最大体积 (ul)
+        """
+        self.resource = resource
+        self.resource_id = str(uuid.uuid4())
+        self.default_max_volume = default_max_volume
+        
+        # 获取孔位列表
+        if wells is None:
+            if hasattr(resource, 'get_wells'):
+                self.wells = resource.get_wells()
+            elif hasattr(resource, 'wells'):
+                self.wells = resource.wells
+            else:
+                # 如果没有孔位，创建一个虚拟孔位
+                self.wells = [resource]
+        else:
+            self.wells = wells
+        
+        # 初始化孔位内容
+        self.well_contents: Dict[str, WellContent] = {}
+        for well in self.wells:
+            well_id = self._get_well_id(well)
+            self.well_contents[well_id] = WellContent(
+                max_volume=default_max_volume
+            )
+        
+        logger.info(f"初始化材料资源: {resource.name}, 孔位数: {len(self.wells)}")
+    
+    def _get_well_id(self, well: Union[Well, Resource]) -> str:
+        """获取孔位ID"""
+        if hasattr(well, 'name'):
+            return well.name
+        else:
+            return str(id(well))
+    
+    @property
+    def name(self) -> str:
+        """资源名称"""
+        return self.resource.name
+    
+    @property
+    def total_volume(self) -> float:
+        """总液体体积"""
+        return sum(content.volume for content in self.well_contents.values())
+    
+    @property
+    def total_max_volume(self) -> float:
+        """总最大容量"""
+        return sum(content.max_volume for content in self.well_contents.values())
+    
+    @property
+    def available_volume(self) -> float:
+        """总可用体积"""
+        return sum(content.available_volume for content in self.well_contents.values())
+    
+    @property
+    def well_count(self) -> int:
+        """孔位数量"""
+        return len(self.wells)
+    
+    @property
+    def empty_wells(self) -> List[str]:
+        """空孔位列表"""
+        return [well_id for well_id, content in self.well_contents.items() 
+                if content.is_empty]
+    
+    @property
+    def full_wells(self) -> List[str]:
+        """满孔位列表"""
+        return [well_id for well_id, content in self.well_contents.items() 
+                if content.is_full]
+    
+    @property
+    def occupied_wells(self) -> List[str]:
+        """有液体的孔位列表"""
+        return [well_id for well_id, content in self.well_contents.items() 
+                if not content.is_empty]
+    
+    def get_well_content(self, well_id: str) -> Optional[WellContent]:
+        """获取指定孔位的内容"""
+        return self.well_contents.get(well_id)
+    
+    def get_well_volume(self, well_id: str) -> float:
+        """获取指定孔位的体积"""
+        content = self.get_well_content(well_id)
+        return content.volume if content else 0.0
+    
+    def set_well_volume(
+        self,
+        well_id: str,
+        volume: float,
+        liquid_info: Optional[LiquidInfo] = None
+    ) -> bool:
+        """
+        设置指定孔位的体积
+        
+        Args:
+            well_id: 孔位ID
+            volume: 体积 (ul)
+            liquid_info: 液体信息
+            
+        Returns:
+            bool: 是否成功设置
+        """
+        if well_id not in self.well_contents:
+            logger.error(f"孔位 {well_id} 不存在")
+            return False
+        
+        content = self.well_contents[well_id]
+        if volume > content.max_volume:
+            logger.error(f"体积 {volume} 超过最大容量 {content.max_volume}")
+            return False
+        
+        content.volume = max(0.0, volume)
+        if liquid_info:
+            content.liquid_info = liquid_info
+        content.last_updated = time.time()
+        
+        logger.info(f"设置孔位 {well_id} 体积: {volume}ul")
+        return True
+    
+    def add_liquid(
+        self,
+        well_id: str,
+        volume: float,
+        liquid_info: Optional[LiquidInfo] = None
+    ) -> bool:
+        """
+        向指定孔位添加液体
+        
+        Args:
+            well_id: 孔位ID
+            volume: 添加的体积 (ul)
+            liquid_info: 液体信息
+            
+        Returns:
+            bool: 是否成功添加
+        """
+        if well_id not in self.well_contents:
+            logger.error(f"孔位 {well_id} 不存在")
+            return False
+        
+        content = self.well_contents[well_id]
+        success = content.add_volume(volume, liquid_info)
+        
+        if success:
+            logger.info(f"向孔位 {well_id} 添加 {volume}ul 液体")
+        else:
+            logger.error(f"无法向孔位 {well_id} 添加 {volume}ul 液体")
+        
+        return success
+    
+    def remove_liquid(self, well_id: str, volume: float) -> bool:
+        """
+        从指定孔位移除液体
+        
+        Args:
+            well_id: 孔位ID
+            volume: 移除的体积 (ul)
+            
+        Returns:
+            bool: 是否成功移除
+        """
+        if well_id not in self.well_contents:
+            logger.error(f"孔位 {well_id} 不存在")
+            return False
+        
+        content = self.well_contents[well_id]
+        success = content.remove_volume(volume)
+        
+        if success:
+            logger.info(f"从孔位 {well_id} 移除 {volume}ul 液体")
+        else:
+            logger.error(f"无法从孔位 {well_id} 移除 {volume}ul 液体")
+        
+        return success
+    
+    def find_wells_with_volume(self, min_volume: float) -> List[str]:
+        """
+        查找具有指定最小体积的孔位
+        
+        Args:
+            min_volume: 最小体积 (ul)
+            
+        Returns:
+            List[str]: 符合条件的孔位ID列表
+        """
+        return [well_id for well_id, content in self.well_contents.items()
+                if content.volume >= min_volume]
+    
+    def find_wells_with_space(self, min_space: float) -> List[str]:
+        """
+        查找具有指定最小空间的孔位
+        
+        Args:
+            min_space: 最小空间 (ul)
+            
+        Returns:
+            List[str]: 符合条件的孔位ID列表
+        """
+        return [well_id for well_id, content in self.well_contents.items()
+                if content.available_volume >= min_space]
+    
+    def get_status_summary(self) -> Dict[str, Any]:
+        """获取资源状态摘要"""
+        return {
+            "resource_name": self.name,
+            "resource_id": self.resource_id,
+            "well_count": self.well_count,
+            "total_volume": self.total_volume,
+            "total_max_volume": self.total_max_volume,
+            "available_volume": self.available_volume,
+            "fill_percentage": (self.total_volume / self.total_max_volume) * 100.0,
+            "empty_wells": len(self.empty_wells),
+            "full_wells": len(self.full_wells),
+            "occupied_wells": len(self.occupied_wells)
+        }
+    
+    def get_detailed_status(self) -> Dict[str, Any]:
+        """获取详细状态信息"""
+        well_details = {}
+        for well_id, content in self.well_contents.items():
+            well_details[well_id] = {
+                "volume": content.volume,
+                "max_volume": content.max_volume,
+                "available_volume": content.available_volume,
+                "fill_percentage": content.fill_percentage,
+                "liquid_type": content.liquid_info.liquid_type.value,
+                "description": content.liquid_info.description,
+                "last_updated": content.last_updated
+            }
+        
+        return {
+            "summary": self.get_status_summary(),
+            "wells": well_details
+        }
+
+
+def transfer_liquid(
+    source: MaterialResource,
+    target: MaterialResource,
+    volume: float,
+    source_well_id: Optional[str] = None,
+    target_well_id: Optional[str] = None,
+    liquid_info: Optional[LiquidInfo] = None
+) -> bool:
+    """
+    在两个材料资源之间转移液体
+    
+    Args:
+        source: 源资源
+        target: 目标资源
+        volume: 转移体积 (ul)
+        source_well_id: 源孔位ID，如果为None则自动选择
+        target_well_id: 目标孔位ID，如果为None则自动选择
+        liquid_info: 液体信息
+        
+    Returns:
+        bool: 转移是否成功
+    """
+    try:
+        # 自动选择源孔位
+        if source_well_id is None:
+            available_wells = source.find_wells_with_volume(volume)
+            if not available_wells:
+                logger.error(f"源资源 {source.name} 没有足够体积的孔位")
+                return False
+            source_well_id = available_wells[0]
+        
+        # 自动选择目标孔位
+        if target_well_id is None:
+            available_wells = target.find_wells_with_space(volume)
+            if not available_wells:
+                logger.error(f"目标资源 {target.name} 没有足够空间的孔位")
+                return False
+            target_well_id = available_wells[0]
+        
+        # 检查源孔位是否有足够液体
+        if not source.get_well_content(source_well_id).can_remove_volume(volume):
+            logger.error(f"源孔位 {source_well_id} 液体不足")
+            return False
+        
+        # 检查目标孔位是否有足够空间
+        if not target.get_well_content(target_well_id).can_add_volume(volume):
+            logger.error(f"目标孔位 {target_well_id} 空间不足")
+            return False
+        
+        # 获取源液体信息
+        source_content = source.get_well_content(source_well_id)
+        transfer_liquid_info = liquid_info or source_content.liquid_info
+        
+        # 执行转移
+        if source.remove_liquid(source_well_id, volume):
+            if target.add_liquid(target_well_id, volume, transfer_liquid_info):
+                logger.info(f"成功转移 {volume}ul 液体: {source.name}[{source_well_id}] -> {target.name}[{target_well_id}]")
+                return True
+            else:
+                # 如果目标添加失败，回滚源操作
+                source.add_liquid(source_well_id, volume, source_content.liquid_info)
+                logger.error("目标添加失败，已回滚源操作")
+                return False
+        else:
+            logger.error("源移除失败")
+            return False
+    
+    except Exception as e:
+        logger.error(f"液体转移失败: {e}")
+        return False
+
+
+def create_material_resource(
+    name: str,
+    resource: Resource,
+    initial_volumes: Optional[Dict[str, float]] = None,
+    liquid_info: Optional[LiquidInfo] = None,
+    max_volume: float = 1000.0
+) -> MaterialResource:
+    """
+    创建材料资源的便捷函数
+    
+    Args:
+        name: 资源名称
+        resource: pylabrobot 资源对象
+        initial_volumes: 初始体积字典 {well_id: volume}
+        liquid_info: 液体信息
+        max_volume: 最大体积
+        
+    Returns:
+        MaterialResource: 创建的材料资源
+    """
+    material_resource = MaterialResource(
+        resource=resource,
+        default_max_volume=max_volume
+    )
+    
+    # 设置初始体积
+    if initial_volumes:
+        for well_id, volume in initial_volumes.items():
+            material_resource.set_well_volume(well_id, volume, liquid_info)
+    
+    return material_resource
+
+
+def batch_transfer_liquid(
+    transfers: List[Tuple[MaterialResource, MaterialResource, float]],
+    liquid_info: Optional[LiquidInfo] = None
+) -> List[bool]:
+    """
+    批量液体转移
+    
+    Args:
+        transfers: 转移列表 [(source, target, volume), ...]
+        liquid_info: 液体信息
+        
+    Returns:
+        List[bool]: 每个转移操作的结果
+    """
+    results = []
+    
+    for source, target, volume in transfers:
+        result = transfer_liquid(source, target, volume, liquid_info=liquid_info)
+        results.append(result)
+        
+        if not result:
+            logger.warning(f"批量转移中的操作失败: {source.name} -> {target.name}")
+    
+    success_count = sum(results)
+    logger.info(f"批量转移完成: {success_count}/{len(transfers)} 成功")
+    
+    return results

unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py

@@ -0,0 +1,888 @@
+"""
+LaiYu_Liquid 液体处理工作站主要集成文件
+
+该模块实现了 LaiYu_Liquid 与 UniLabOS 系统的集成，提供标准化的液体处理接口。
+主要包含：
+- LaiYuLiquidBackend: 硬件通信后端
+- LaiYuLiquid: 主要接口类
+- 相关的异常类和容器类
+"""
+
+import asyncio
+import logging
+import time
+from typing import List, Optional, Dict, Any, Union, Tuple
+from dataclasses import dataclass
+from abc import ABC, abstractmethod
+
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
+# 基础导入
+try:
+    from pylabrobot.resources import Deck, Plate, TipRack, Tip, Resource, Well
+
+    PYLABROBOT_AVAILABLE = True
+except ImportError:
+    # 如果 pylabrobot 不可用，创建基础的模拟类
+    PYLABROBOT_AVAILABLE = False
+
+    class Resource:
+        def __init__(self, name: str):
+            self.name = name
+
+    class Deck(Resource):
+        pass
+
+    class Plate(Resource):
+        pass
+
+    class TipRack(Resource):
+        pass
+
+    class Tip(Resource):
+        pass
+
+    class Well(Resource):
+        pass
+
+
+# LaiYu_Liquid 控制器导入
+try:
+    from .controllers.pipette_controller import PipetteController, TipStatus, LiquidClass, LiquidParameters
+    from .controllers.xyz_controller import XYZController, MachineConfig, CoordinateOrigin, MotorAxis
+
+    CONTROLLERS_AVAILABLE = True
+except ImportError:
+    CONTROLLERS_AVAILABLE = False
+
+    # 创建模拟的控制器类
+    class PipetteController:
+        def __init__(self, *args, **kwargs):
+            pass
+
+        def connect(self):
+            return True
+
+        def initialize(self):
+            return True
+
+    class XYZController:
+        def __init__(self, *args, **kwargs):
+            pass
+
+        def connect_device(self):
+            return True
+
+
+logger = logging.getLogger(__name__)
+
+
+class LaiYuLiquidError(RuntimeError):
+    """LaiYu_Liquid 设备异常"""
+
+    pass
+
+
+@dataclass
+class LaiYuLiquidConfig:
+    """LaiYu_Liquid 设备配置"""
+
+    port: str = "/dev/cu.usbserial-3130"  # RS485转USB端口
+    address: int = 1  # 设备地址
+    baudrate: int = 9600  # 波特率
+    timeout: float = 5.0  # 通信超时时间
+
+    # 工作台尺寸
+    deck_width: float = 340.0  # 工作台宽度 (mm)
+    deck_height: float = 250.0  # 工作台高度 (mm)
+    deck_depth: float = 160.0  # 工作台深度 (mm)
+
+    # 移液参数
+    max_volume: float = 1000.0  # 最大体积 (μL)
+    min_volume: float = 0.1  # 最小体积 (μL)
+
+    # 运动参数
+    max_speed: float = 100.0  # 最大速度 (mm/s)
+    acceleration: float = 50.0  # 加速度 (mm/s²)
+
+    # 安全参数
+    safe_height: float = 50.0  # 安全高度 (mm)
+    tip_pickup_depth: float = 10.0  # 吸头拾取深度 (mm)
+    liquid_detection: bool = True  # 液面检测
+
+    # 取枪头相关参数
+    tip_pickup_speed: int = 30  # 取枪头时的移动速度 (rpm)
+    tip_pickup_acceleration: int = 500  # 取枪头时的加速度 (rpm/s)
+    tip_approach_height: float = 5.0  # 接近枪头时的高度 (mm)
+    tip_pickup_force_depth: float = 2.0  # 强制插入深度 (mm)
+    tip_pickup_retract_height: float = 20.0  # 取枪头后的回退高度 (mm)
+
+    # 丢弃枪头相关参数
+    tip_drop_height: float = 10.0  # 丢弃枪头时的高度 (mm)
+    tip_drop_speed: int = 50  # 丢弃枪头时的移动速度 (rpm)
+    trash_position: Tuple[float, float, float] = (300.0, 200.0, 0.0)  # 垃圾桶位置 (mm)
+
+    # 安全范围配置
+    deck_width: float = 300.0  # 工作台宽度 (mm)
+    deck_height: float = 200.0  # 工作台高度 (mm)
+    deck_depth: float = 100.0  # 工作台深度 (mm)
+    safe_height: float = 50.0  # 安全高度 (mm)
+    position_validation: bool = True  # 启用位置验证
+    emergency_stop_enabled: bool = True  # 启用紧急停止
+
+
+class LaiYuLiquidDeck:
+    """LaiYu_Liquid 工作台管理"""
+
+    def __init__(self, config: LaiYuLiquidConfig):
+        self.config = config
+        self.resources: Dict[str, Resource] = {}
+        self.positions: Dict[str, Tuple[float, float, float]] = {}
+
+    def add_resource(self, name: str, resource: Resource, position: Tuple[float, float, float]):
+        """添加资源到工作台"""
+        self.resources[name] = resource
+        self.positions[name] = position
+
+    def get_resource(self, name: str) -> Optional[Resource]:
+        """获取资源"""
+        return self.resources.get(name)
+
+    def get_position(self, name: str) -> Optional[Tuple[float, float, float]]:
+        """获取资源位置"""
+        return self.positions.get(name)
+
+    def list_resources(self) -> List[str]:
+        """列出所有资源"""
+        return list(self.resources.keys())
+
+
+class LaiYuLiquidContainer:
+    """LaiYu_Liquid 容器类"""
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float = 0,
+        size_y: float = 0,
+        size_z: float = 0,
+        container_type: str = "",
+        volume: float = 0.0,
+        max_volume: float = 1000.0,
+        lid_height: float = 0.0,
+    ):
+        self.name = name
+        self.size_x = size_x
+        self.size_y = size_y
+        self.size_z = size_z
+        self.lid_height = lid_height
+        self.container_type = container_type
+        self.volume = volume
+        self.max_volume = max_volume
+        self.last_updated = time.time()
+        self.child_resources = {}  # 存储子资源
+
+    @property
+    def is_empty(self) -> bool:
+        return self.volume <= 0.0
+
+    @property
+    def is_full(self) -> bool:
+        return self.volume >= self.max_volume
+
+    @property
+    def available_volume(self) -> float:
+        return max(0.0, self.max_volume - self.volume)
+
+    def add_volume(self, volume: float) -> bool:
+        """添加体积"""
+        if self.volume + volume <= self.max_volume:
+            self.volume += volume
+            self.last_updated = time.time()
+            return True
+        return False
+
+    def remove_volume(self, volume: float) -> bool:
+        """移除体积"""
+        if self.volume >= volume:
+            self.volume -= volume
+            self.last_updated = time.time()
+            return True
+        return False
+
+    def assign_child_resource(self, resource, location=None):
+        """分配子资源 - 与 PyLabRobot 资源管理系统兼容"""
+        if hasattr(resource, "name"):
+            self.child_resources[resource.name] = {"resource": resource, "location": location}
+
+
+class LaiYuLiquidTipRack:
+    """LaiYu_Liquid 吸头架类"""
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float = 0,
+        size_y: float = 0,
+        size_z: float = 0,
+        tip_count: int = 96,
+        tip_volume: float = 1000.0,
+    ):
+        self.name = name
+        self.size_x = size_x
+        self.size_y = size_y
+        self.size_z = size_z
+        self.tip_count = tip_count
+        self.tip_volume = tip_volume
+        self.tips_available = [True] * tip_count
+        self.child_resources = {}  # 存储子资源
+
+    @property
+    def available_tips(self) -> int:
+        return sum(self.tips_available)
+
+    @property
+    def is_empty(self) -> bool:
+        return self.available_tips == 0
+
+    def pick_tip(self, position: int) -> bool:
+        """拾取吸头"""
+        if 0 <= position < self.tip_count and self.tips_available[position]:
+            self.tips_available[position] = False
+            return True
+        return False
+
+    def has_tip(self, position: int) -> bool:
+        """检查位置是否有吸头"""
+        if 0 <= position < self.tip_count:
+            return self.tips_available[position]
+        return False
+
+    def assign_child_resource(self, resource, location=None):
+        """分配子资源到指定位置"""
+        self.child_resources[resource.name] = {"resource": resource, "location": location}
+
+
+def get_module_info():
+    """获取模块信息"""
+    return {
+        "name": "LaiYu_Liquid",
+        "version": "1.0.0",
+        "description": "LaiYu液体处理工作站模块，提供移液器控制、XYZ轴控制和资源管理功能",
+        "author": "UniLabOS Team",
+        "capabilities": ["移液器控制", "XYZ轴运动控制", "吸头架管理", "板和容器管理", "资源位置管理"],
+        "dependencies": {"required": ["serial"], "optional": ["pylabrobot"]},
+    }
+
+
+class LaiYuLiquidBackend:
+    """LaiYu_Liquid 硬件通信后端"""
+
+    _ros_node: BaseROS2DeviceNode
+
+    def __init__(self, config: LaiYuLiquidConfig, deck: Optional["LaiYuLiquidDeck"] = None):
+        self.config = config
+        self.deck = deck  # 工作台引用，用于获取资源位置信息
+        self.pipette_controller = None
+        self.xyz_controller = None
+        self.is_connected = False
+        self.is_initialized = False
+
+        # 状态跟踪
+        self.current_position = (0.0, 0.0, 0.0)
+        self.tip_attached = False
+        self.current_volume = 0.0
+
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
+    def _validate_position(self, x: float, y: float, z: float) -> bool:
+        """验证位置是否在安全范围内"""
+        try:
+            # 检查X轴范围
+            if not (0 <= x <= self.config.deck_width):
+                logger.error(f"X轴位置 {x:.2f}mm 超出范围 [0, {self.config.deck_width}]")
+                return False
+
+            # 检查Y轴范围
+            if not (0 <= y <= self.config.deck_height):
+                logger.error(f"Y轴位置 {y:.2f}mm 超出范围 [0, {self.config.deck_height}]")
+                return False
+
+            # 检查Z轴范围（负值表示向下，0为工作台表面）
+            if not (-self.config.deck_depth <= z <= self.config.safe_height):
+                logger.error(f"Z轴位置 {z:.2f}mm 超出安全范围 [{-self.config.deck_depth}, {self.config.safe_height}]")
+                return False
+
+            return True
+        except Exception as e:
+            logger.error(f"位置验证失败: {e}")
+            return False
+
+    def _check_hardware_ready(self) -> bool:
+        """检查硬件是否准备就绪"""
+        if not self.is_connected:
+            logger.error("设备未连接")
+            return False
+
+        if CONTROLLERS_AVAILABLE:
+            if self.xyz_controller is None:
+                logger.error("XYZ控制器未初始化")
+                return False
+
+        return True
+
+    async def emergency_stop(self) -> bool:
+        """紧急停止所有运动"""
+        try:
+            logger.warning("执行紧急停止")
+
+            if CONTROLLERS_AVAILABLE and self.xyz_controller:
+                # 停止XYZ控制器
+                await self.xyz_controller.stop_all_motion()
+                logger.info("XYZ控制器已停止")
+
+            if self.pipette_controller:
+                # 停止移液器控制器
+                await self.pipette_controller.stop()
+                logger.info("移液器控制器已停止")
+
+            return True
+        except Exception as e:
+            logger.error(f"紧急停止失败: {e}")
+            return False
+
+    async def move_to_safe_position(self) -> bool:
+        """移动到安全位置"""
+        try:
+            if not self._check_hardware_ready():
+                return False
+
+            safe_position = (
+                self.config.deck_width / 2,  # 工作台中心X
+                self.config.deck_height / 2,  # 工作台中心Y
+                self.config.safe_height,  # 安全高度Z
+            )
+
+            if not self._validate_position(*safe_position):
+                logger.error("安全位置无效")
+                return False
+
+            if CONTROLLERS_AVAILABLE and self.xyz_controller:
+                await self.xyz_controller.move_to_work_coord(*safe_position)
+                self.current_position = safe_position
+                logger.info(f"已移动到安全位置: {safe_position}")
+                return True
+            else:
+                # 模拟模式
+                self.current_position = safe_position
+                logger.info("模拟移动到安全位置")
+                return True
+
+        except Exception as e:
+            logger.error(f"移动到安全位置失败: {e}")
+            return False
+
+    async def setup(self) -> bool:
+        """设置硬件连接"""
+        try:
+            if CONTROLLERS_AVAILABLE:
+                # 初始化移液器控制器
+                self.pipette_controller = PipetteController(port=self.config.port, address=self.config.address)
+
+                # 初始化XYZ控制器
+                machine_config = MachineConfig()
+                self.xyz_controller = XYZController(
+                    port=self.config.port, baudrate=self.config.baudrate, machine_config=machine_config
+                )
+
+                # 连接设备
+                pipette_connected = await asyncio.to_thread(self.pipette_controller.connect)
+                xyz_connected = await asyncio.to_thread(self.xyz_controller.connect_device)
+
+                if pipette_connected and xyz_connected:
+                    self.is_connected = True
+                    logger.info("LaiYu_Liquid 硬件连接成功")
+                    return True
+                else:
+                    logger.error("LaiYu_Liquid 硬件连接失败")
+                    return False
+            else:
+                # 模拟模式
+                logger.info("LaiYu_Liquid 运行在模拟模式")
+                self.is_connected = True
+                return True
+
+        except Exception as e:
+            logger.error(f"LaiYu_Liquid 设置失败: {e}")
+            return False
+
+    async def stop(self):
+        """停止设备"""
+        try:
+            if self.pipette_controller and hasattr(self.pipette_controller, "disconnect"):
+                await asyncio.to_thread(self.pipette_controller.disconnect)
+
+            if self.xyz_controller and hasattr(self.xyz_controller, "disconnect"):
+                await asyncio.to_thread(self.xyz_controller.disconnect)
+
+            self.is_connected = False
+            self.is_initialized = False
+            logger.info("LaiYu_Liquid 已停止")
+
+        except Exception as e:
+            logger.error(f"LaiYu_Liquid 停止失败: {e}")
+
+    async def move_to(self, x: float, y: float, z: float) -> bool:
+        """移动到指定位置"""
+        try:
+            if not self.is_connected:
+                raise LaiYuLiquidError("设备未连接")
+
+            # 模拟移动
+            await self._ros_node.sleep(0.1)  # 模拟移动时间
+            self.current_position = (x, y, z)
+            logger.debug(f"移动到位置: ({x}, {y}, {z})")
+            return True
+
+        except Exception as e:
+            logger.error(f"移动失败: {e}")
+            return False
+
+    async def pick_up_tip(self, tip_rack: str, position: int) -> bool:
+        """拾取吸头 - 包含真正的Z轴下降控制"""
+        try:
+            # 硬件准备检查
+            if not self._check_hardware_ready():
+                return False
+
+            if self.tip_attached:
+                logger.warning("已有吸头附着，无法拾取新吸头")
+                return False
+
+            logger.info(f"开始从 {tip_rack} 位置 {position} 拾取吸头")
+
+            # 获取枪头架位置信息
+            if self.deck is None:
+                logger.error("工作台未初始化")
+                return False
+
+            tip_position = self.deck.get_position(tip_rack)
+            if tip_position is None:
+                logger.error(f"未找到枪头架 {tip_rack} 的位置信息")
+                return False
+
+            # 计算具体枪头位置（这里简化处理，实际应根据position计算偏移）
+            tip_x, tip_y, tip_z = tip_position
+
+            # 验证所有关键位置的安全性
+            safe_z = tip_z + self.config.tip_approach_height
+            pickup_z = tip_z - self.config.tip_pickup_force_depth
+            retract_z = tip_z + self.config.tip_pickup_retract_height
+
+            if not (
+                self._validate_position(tip_x, tip_y, safe_z)
+                and self._validate_position(tip_x, tip_y, pickup_z)
+                and self._validate_position(tip_x, tip_y, retract_z)
+            ):
+                logger.error("枪头拾取位置超出安全范围")
+                return False
+
+            if CONTROLLERS_AVAILABLE and self.xyz_controller:
+                # 真实硬件控制流程
+                logger.info("使用真实XYZ控制器进行枪头拾取")
+
+                try:
+                    # 1. 移动到枪头上方的安全位置
+                    safe_z = tip_z + self.config.tip_approach_height
+                    logger.info(f"移动到枪头上方安全位置: ({tip_x:.2f}, {tip_y:.2f}, {safe_z:.2f})")
+                    move_success = await asyncio.to_thread(
+                        self.xyz_controller.move_to_work_coord, tip_x, tip_y, safe_z
+                    )
+                    if not move_success:
+                        logger.error("移动到枪头上方失败")
+                        return False
+
+                    # 2. Z轴下降到枪头位置
+                    pickup_z = tip_z - self.config.tip_pickup_force_depth
+                    logger.info(f"Z轴下降到枪头拾取位置: {pickup_z:.2f}mm")
+                    z_down_success = await asyncio.to_thread(
+                        self.xyz_controller.move_to_work_coord, tip_x, tip_y, pickup_z
+                    )
+                    if not z_down_success:
+                        logger.error("Z轴下降到枪头位置失败")
+                        return False
+
+                    # 3. 等待一小段时间确保枪头牢固附着
+                    await self._ros_node.sleep(0.2)
+
+                    # 4. Z轴上升到回退高度
+                    retract_z = tip_z + self.config.tip_pickup_retract_height
+                    logger.info(f"Z轴上升到回退高度: {retract_z:.2f}mm")
+                    z_up_success = await asyncio.to_thread(
+                        self.xyz_controller.move_to_work_coord, tip_x, tip_y, retract_z
+                    )
+                    if not z_up_success:
+                        logger.error("Z轴上升失败")
+                        return False
+
+                    # 5. 更新当前位置
+                    self.current_position = (tip_x, tip_y, retract_z)
+
+                except Exception as move_error:
+                    logger.error(f"枪头拾取过程中发生错误: {move_error}")
+                    # 尝试移动到安全位置
+                    if self.config.emergency_stop_enabled:
+                        await self.emergency_stop()
+                        await self.move_to_safe_position()
+                    return False
+
+            else:
+                # 模拟模式
+                logger.info("模拟模式：执行枪头拾取动作")
+                await self._ros_node.sleep(1.0)  # 模拟整个拾取过程的时间
+                self.current_position = (tip_x, tip_y, tip_z + self.config.tip_pickup_retract_height)
+
+            # 6. 标记枪头已附着
+            self.tip_attached = True
+            logger.info("吸头拾取成功")
+            return True
+
+        except Exception as e:
+            logger.error(f"拾取吸头失败: {e}")
+            return False
+
+    async def drop_tip(self, location: str = "trash") -> bool:
+        """丢弃吸头 - 包含真正的Z轴控制"""
+        try:
+            # 硬件准备检查
+            if not self._check_hardware_ready():
+                return False
+
+            if not self.tip_attached:
+                logger.warning("没有吸头附着，无需丢弃")
+                return True
+
+            logger.info(f"开始丢弃吸头到 {location}")
+
+            # 确定丢弃位置
+            if location == "trash":
+                # 使用配置中的垃圾桶位置
+                drop_x, drop_y, drop_z = self.config.trash_position
+            else:
+                # 尝试从deck获取指定位置
+                if self.deck is None:
+                    logger.error("工作台未初始化")
+                    return False
+
+                drop_position = self.deck.get_position(location)
+                if drop_position is None:
+                    logger.error(f"未找到丢弃位置 {location} 的信息")
+                    return False
+                drop_x, drop_y, drop_z = drop_position
+
+            # 验证丢弃位置的安全性
+            safe_z = drop_z + self.config.safe_height
+            drop_height_z = drop_z + self.config.tip_drop_height
+
+            if not (
+                self._validate_position(drop_x, drop_y, safe_z)
+                and self._validate_position(drop_x, drop_y, drop_height_z)
+            ):
+                logger.error("枪头丢弃位置超出安全范围")
+                return False
+
+            if CONTROLLERS_AVAILABLE and self.xyz_controller:
+                # 真实硬件控制流程
+                logger.info("使用真实XYZ控制器进行枪头丢弃")
+
+                try:
+                    # 1. 移动到丢弃位置上方的安全高度
+                    safe_z = drop_z + self.config.tip_drop_height
+                    logger.info(f"移动到丢弃位置上方: ({drop_x:.2f}, {drop_y:.2f}, {safe_z:.2f})")
+                    move_success = await asyncio.to_thread(
+                        self.xyz_controller.move_to_work_coord, drop_x, drop_y, safe_z
+                    )
+                    if not move_success:
+                        logger.error("移动到丢弃位置上方失败")
+                        return False
+
+                    # 2. Z轴下降到丢弃高度
+                    logger.info(f"Z轴下降到丢弃高度: {drop_z:.2f}mm")
+                    z_down_success = await asyncio.to_thread(
+                        self.xyz_controller.move_to_work_coord, drop_x, drop_y, drop_z
+                    )
+                    if not z_down_success:
+                        logger.error("Z轴下降到丢弃位置失败")
+                        return False
+
+                    # 3. 执行枪头弹出动作（如果有移液器控制器）
+                    if self.pipette_controller:
+                        try:
+                            # 发送弹出枪头命令
+                            await asyncio.to_thread(self.pipette_controller.eject_tip)
+                            logger.info("执行枪头弹出命令")
+                        except Exception as e:
+                            logger.warning(f"枪头弹出命令失败: {e}")
+
+                    # 4. 等待一小段时间确保枪头完全脱离
+                    await self._ros_node.sleep(0.3)
+
+                    # 5. Z轴上升到安全高度
+                    logger.info(f"Z轴上升到安全高度: {safe_z:.2f}mm")
+                    z_up_success = await asyncio.to_thread(
+                        self.xyz_controller.move_to_work_coord, drop_x, drop_y, safe_z
+                    )
+                    if not z_up_success:
+                        logger.error("Z轴上升失败")
+                        return False
+
+                    # 6. 更新当前位置
+                    self.current_position = (drop_x, drop_y, safe_z)
+
+                except Exception as drop_error:
+                    logger.error(f"枪头丢弃过程中发生错误: {drop_error}")
+                    # 尝试移动到安全位置
+                    if self.config.emergency_stop_enabled:
+                        await self.emergency_stop()
+                        await self.move_to_safe_position()
+                    return False
+
+            else:
+                # 模拟模式
+                logger.info("模拟模式：执行枪头丢弃动作")
+                await self._ros_node.sleep(0.8)  # 模拟整个丢弃过程的时间
+                self.current_position = (drop_x, drop_y, drop_z + self.config.tip_drop_height)
+
+            # 7. 标记枪头已脱离，清空体积
+            self.tip_attached = False
+            self.current_volume = 0.0
+            logger.info("吸头丢弃成功")
+            return True
+
+        except Exception as e:
+            logger.error(f"丢弃吸头失败: {e}")
+            return False
+
+    async def aspirate(self, volume: float, location: str) -> bool:
+        """吸取液体"""
+        try:
+            if not self.is_connected:
+                raise LaiYuLiquidError("设备未连接")
+
+            if not self.tip_attached:
+                raise LaiYuLiquidError("没有吸头附着")
+
+            if volume <= 0 or volume > self.config.max_volume:
+                raise LaiYuLiquidError(f"体积超出范围: {volume}")
+
+            # 模拟吸取
+            await self._ros_node.sleep(0.3)
+            self.current_volume += volume
+            logger.debug(f"从 {location} 吸取 {volume} μL")
+            return True
+
+        except Exception as e:
+            logger.error(f"吸取失败: {e}")
+            return False
+
+    async def dispense(self, volume: float, location: str) -> bool:
+        """分配液体"""
+        try:
+            if not self.is_connected:
+                raise LaiYuLiquidError("设备未连接")
+
+            if not self.tip_attached:
+                raise LaiYuLiquidError("没有吸头附着")
+
+            if volume <= 0 or volume > self.current_volume:
+                raise LaiYuLiquidError(f"分配体积无效: {volume}")
+
+            # 模拟分配
+            await self._ros_node.sleep(0.3)
+            self.current_volume -= volume
+            logger.debug(f"向 {location} 分配 {volume} μL")
+            return True
+
+        except Exception as e:
+            logger.error(f"分配失败: {e}")
+            return False
+
+
+class LaiYuLiquid:
+    """LaiYu_Liquid 主要接口类"""
+
+    def __init__(self, config: Optional[LaiYuLiquidConfig] = None, **kwargs):
+        # 如果传入了关键字参数，创建配置对象
+        if kwargs and config is None:
+            # 从kwargs中提取配置参数
+            config_params = {}
+            for key, value in kwargs.items():
+                if hasattr(LaiYuLiquidConfig, key):
+                    config_params[key] = value
+            self.config = LaiYuLiquidConfig(**config_params)
+        else:
+            self.config = config or LaiYuLiquidConfig()
+
+        # 先创建deck，然后传递给backend
+        self.deck = LaiYuLiquidDeck(self.config)
+        self.backend = LaiYuLiquidBackend(self.config, self.deck)
+        self.is_setup = False
+
+    @property
+    def current_position(self) -> Tuple[float, float, float]:
+        """获取当前位置"""
+        return self.backend.current_position
+
+    @property
+    def current_volume(self) -> float:
+        """获取当前体积"""
+        return self.backend.current_volume
+
+    @property
+    def is_connected(self) -> bool:
+        """获取连接状态"""
+        return self.backend.is_connected
+
+    @property
+    def is_initialized(self) -> bool:
+        """获取初始化状态"""
+        return self.backend.is_initialized
+
+    @property
+    def tip_attached(self) -> bool:
+        """获取吸头附着状态"""
+        return self.backend.tip_attached
+
+    async def setup(self) -> bool:
+        """设置液体处理器"""
+        try:
+            success = await self.backend.setup()
+            if success:
+                self.is_setup = True
+                logger.info("LaiYu_Liquid 设置完成")
+            return success
+        except Exception as e:
+            logger.error(f"LaiYu_Liquid 设置失败: {e}")
+            return False
+
+    async def stop(self):
+        """停止液体处理器"""
+        await self.backend.stop()
+        self.is_setup = False
+
+    async def transfer(
+        self, source: str, target: str, volume: float, tip_rack: str = "tip_rack_1", tip_position: int = 0
+    ) -> bool:
+        """液体转移"""
+        try:
+            if not self.is_setup:
+                raise LaiYuLiquidError("设备未设置")
+
+            # 获取源和目标位置
+            source_pos = self.deck.get_position(source)
+            target_pos = self.deck.get_position(target)
+            tip_pos = self.deck.get_position(tip_rack)
+
+            if not all([source_pos, target_pos, tip_pos]):
+                raise LaiYuLiquidError("位置信息不完整")
+
+            # 执行转移步骤
+            steps = [
+                ("移动到吸头架", self.backend.move_to(*tip_pos)),
+                ("拾取吸头", self.backend.pick_up_tip(tip_rack, tip_position)),
+                ("移动到源位置", self.backend.move_to(*source_pos)),
+                ("吸取液体", self.backend.aspirate(volume, source)),
+                ("移动到目标位置", self.backend.move_to(*target_pos)),
+                ("分配液体", self.backend.dispense(volume, target)),
+                ("丢弃吸头", self.backend.drop_tip()),
+            ]
+
+            for step_name, step_coro in steps:
+                logger.debug(f"执行步骤: {step_name}")
+                success = await step_coro
+                if not success:
+                    raise LaiYuLiquidError(f"步骤失败: {step_name}")
+
+            logger.info(f"液体转移完成: {source} -> {target}, {volume} μL")
+            return True
+
+        except Exception as e:
+            logger.error(f"液体转移失败: {e}")
+            return False
+
+    def add_resource(self, name: str, resource_type: str, position: Tuple[float, float, float]):
+        """添加资源到工作台"""
+        if resource_type == "plate":
+            resource = Plate(name)
+        elif resource_type == "tip_rack":
+            resource = TipRack(name)
+        else:
+            resource = Resource(name)
+
+        self.deck.add_resource(name, resource, position)
+
+    def get_status(self) -> Dict[str, Any]:
+        """获取设备状态"""
+        return {
+            "connected": self.backend.is_connected,
+            "setup": self.is_setup,
+            "current_position": self.backend.current_position,
+            "tip_attached": self.backend.tip_attached,
+            "current_volume": self.backend.current_volume,
+            "resources": self.deck.list_resources(),
+        }
+
+
+def create_quick_setup() -> LaiYuLiquidDeck:
+    """
+    创建快速设置的LaiYu液体处理工作站
+
+    Returns:
+        LaiYuLiquidDeck: 配置好的工作台实例
+    """
+    # 创建默认配置
+    config = LaiYuLiquidConfig()
+
+    # 创建工作台
+    deck = LaiYuLiquidDeck(config)
+
+    # 导入资源创建函数
+    try:
+        from .laiyu_liquid_res import (
+            create_tip_rack_1000ul,
+            create_tip_rack_200ul,
+            create_96_well_plate,
+            create_waste_container,
+        )
+
+        # 添加基本资源
+        tip_rack_1000 = create_tip_rack_1000ul("tip_rack_1000")
+        tip_rack_200 = create_tip_rack_200ul("tip_rack_200")
+        plate_96 = create_96_well_plate("plate_96")
+        waste = create_waste_container("waste")
+
+        # 添加到工作台
+        deck.add_resource("tip_rack_1000", tip_rack_1000, (50, 50, 0))
+        deck.add_resource("tip_rack_200", tip_rack_200, (150, 50, 0))
+        deck.add_resource("plate_96", plate_96, (250, 50, 0))
+        deck.add_resource("waste", waste, (50, 150, 0))
+
+    except ImportError:
+        # 如果资源模块不可用，创建空的工作台
+        logger.warning("资源模块不可用，创建空的工作台")
+
+    return deck
+
+
+__all__ = [
+    "LaiYuLiquid",
+    "LaiYuLiquidBackend",
+    "LaiYuLiquidConfig",
+    "LaiYuLiquidDeck",
+    "LaiYuLiquidContainer",
+    "LaiYuLiquidTipRack",
+    "LaiYuLiquidError",
+    "create_quick_setup",
+    "get_module_info",
+]

unilabos/devices/laiyu_liquid/core/laiyu_liquid_res.py

@@ -0,0 +1,954 @@
+"""
+LaiYu_Liquid 资源定义模块
+
+该模块提供了 LaiYu_Liquid 工作站专用的资源定义函数，包括：
+- 各种规格的枪头架
+- 不同类型的板和容器
+- 特殊功能位置
+- 资源创建的便捷函数
+
+所有资源都基于 deck.json 中的配置参数创建。
+"""
+
+import json
+import os
+from typing import Dict, List, Optional, Tuple, Any
+from pathlib import Path
+
+# PyLabRobot 资源导入
+try:
+    from pylabrobot.resources import (
+        Resource, Deck, Plate, TipRack, Container, Tip,
+        Coordinate
+    )
+    from pylabrobot.resources.tip_rack import TipSpot
+    from pylabrobot.resources.well import Well as PlateWell
+    PYLABROBOT_AVAILABLE = True
+except ImportError:
+    # 如果 PyLabRobot 不可用，创建模拟类
+    PYLABROBOT_AVAILABLE = False
+    
+    class Resource:
+        def __init__(self, name: str):
+            self.name = name
+    
+    class Deck(Resource):
+        pass
+    
+    class Plate(Resource):
+        pass
+    
+    class TipRack(Resource):
+        pass
+    
+    class Container(Resource):
+        pass
+    
+    class Tip(Resource):
+        pass
+    
+    class TipSpot(Resource):
+        def __init__(self, name: str, **kwargs):
+            super().__init__(name)
+            # 忽略其他参数
+    
+    class PlateWell(Resource):
+        pass
+    
+    class Coordinate:
+        def __init__(self, x: float, y: float, z: float):
+            self.x = x
+            self.y = y
+            self.z = z
+
+# 本地导入
+from .laiyu_liquid_main import LaiYuLiquidDeck, LaiYuLiquidContainer, LaiYuLiquidTipRack
+
+
+def load_deck_config() -> Dict[str, Any]:
+    """
+    加载工作台配置文件
+    
+    Returns:
+        Dict[str, Any]: 配置字典
+    """
+    # 优先使用最新的deckconfig.json文件
+    config_path = Path(__file__).parent / "controllers" / "deckconfig.json"
+    
+    # 如果最新配置文件不存在，回退到旧配置文件
+    if not config_path.exists():
+        config_path = Path(__file__).parent / "config" / "deck.json"
+    
+    try:
+        with open(config_path, 'r', encoding='utf-8') as f:
+            return json.load(f)
+    except FileNotFoundError:
+        # 如果找不到配置文件，返回默认配置
+        return {
+            "name": "LaiYu_Liquid_Deck",
+            "size_x": 340.0,  
+            "size_y": 250.0,
+            "size_z": 160.0
+        }
+
+
+# 加载配置
+DECK_CONFIG = load_deck_config()
+
+
+class LaiYuTipRack1000(LaiYuLiquidTipRack):
+    """1000μL 枪头架"""
+    
+    def __init__(self, name: str):
+        """
+        初始化1000μL枪头架
+        
+        Args:
+            name: 枪头架名称
+        """
+        super().__init__(
+            name=name,
+            size_x=127.76,
+            size_y=85.48,
+            size_z=30.0,
+            tip_count=96,
+            tip_volume=1000.0
+        )
+        
+        # 创建枪头位置
+        self._create_tip_spots(
+            tip_count=96,
+            tip_spacing=9.0,
+            tip_type="1000ul"
+        )
+    
+    def _create_tip_spots(self, tip_count: int, tip_spacing: float, tip_type: str):
+        """
+        创建枪头位置 - 从配置文件中读取绝对坐标
+        
+        Args:
+            tip_count: 枪头数量
+            tip_spacing: 枪头间距
+            tip_type: 枪头类型
+        """
+        # 从配置文件中获取枪头架的孔位信息
+        config = DECK_CONFIG
+        tip_module = None
+        
+        # 查找枪头架模块
+        for module in config.get("children", []):
+            if module.get("type") == "tip_rack":
+                tip_module = module
+                break
+        
+        if not tip_module:
+            # 如果配置文件中没有找到，使用默认的相对坐标计算
+            rows = 8
+            cols = 12
+            
+            for row in range(rows):
+                for col in range(cols):
+                    spot_name = f"{chr(65 + row)}{col + 1:02d}"
+                    x = col * tip_spacing + tip_spacing / 2
+                    y = row * tip_spacing + tip_spacing / 2
+                    
+                    # 创建枪头 - 根据PyLabRobot或模拟类使用不同参数
+                    if PYLABROBOT_AVAILABLE:
+                        # PyLabRobot的Tip需要特定参数
+                        tip = Tip(
+                            has_filter=False,
+                            total_tip_length=95.0,  # 1000ul枪头长度
+                            maximal_volume=1000.0,  # 最大体积
+                            fitting_depth=8.0       # 安装深度
+                        )
+                    else:
+                        # 模拟类只需要name
+                        tip = Tip(name=f"tip_{spot_name}")
+                    
+                    # 创建枪头位置
+                    if PYLABROBOT_AVAILABLE:
+                        # PyLabRobot的TipSpot需要特定参数
+                        tip_spot = TipSpot(
+                            name=spot_name,
+                            size_x=9.0,  # 枪头位置宽度
+                            size_y=9.0,  # 枪头位置深度
+                            size_z=95.0,  # 枪头位置高度
+                            make_tip=lambda: tip  # 创建枪头的函数
+                        )
+                    else:
+                        # 模拟类只需要name
+                        tip_spot = TipSpot(name=spot_name)
+                    
+                    # 将吸头位置分配到吸头架
+                    self.assign_child_resource(
+                        tip_spot,
+                        location=Coordinate(x, y, 0)
+                    )
+            return
+        
+        # 使用配置文件中的绝对坐标
+        module_position = tip_module.get("position", {"x": 0, "y": 0, "z": 0})
+        
+        for well_config in tip_module.get("wells", []):
+            spot_name = well_config["id"]
+            well_pos = well_config["position"]
+            
+            # 计算相对于模块的坐标（绝对坐标减去模块位置）
+            relative_x = well_pos["x"] - module_position["x"]
+            relative_y = well_pos["y"] - module_position["y"]
+            relative_z = well_pos["z"] - module_position["z"]
+            
+            # 创建枪头 - 根据PyLabRobot或模拟类使用不同参数
+            if PYLABROBOT_AVAILABLE:
+                # PyLabRobot的Tip需要特定参数
+                tip = Tip(
+                    has_filter=False,
+                    total_tip_length=95.0,  # 1000ul枪头长度
+                    maximal_volume=1000.0,  # 最大体积
+                    fitting_depth=8.0       # 安装深度
+                )
+            else:
+                # 模拟类只需要name
+                tip = Tip(name=f"tip_{spot_name}")
+            
+            # 创建枪头位置
+            if PYLABROBOT_AVAILABLE:
+                # PyLabRobot的TipSpot需要特定参数
+                tip_spot = TipSpot(
+                    name=spot_name,
+                    size_x=well_config.get("diameter", 9.0),  # 使用配置中的直径
+                    size_y=well_config.get("diameter", 9.0),
+                    size_z=well_config.get("depth", 95.0),    # 使用配置中的深度
+                    make_tip=lambda: tip  # 创建枪头的函数
+                )
+            else:
+                # 模拟类只需要name
+                tip_spot = TipSpot(name=spot_name)
+            
+            # 将吸头位置分配到吸头架
+            self.assign_child_resource(
+                tip_spot,
+                location=Coordinate(relative_x, relative_y, relative_z)
+            )
+            
+            # 注意：在PyLabRobot中，Tip不是Resource，不需要分配给TipSpot
+            # TipSpot的make_tip函数会在需要时创建Tip
+
+
+class LaiYuTipRack200(LaiYuLiquidTipRack):
+    """200μL 枪头架"""
+    
+    def __init__(self, name: str):
+        """
+        初始化200μL枪头架
+        
+        Args:
+            name: 枪头架名称
+        """
+        super().__init__(
+            name=name,
+            size_x=127.76,
+            size_y=85.48,
+            size_z=30.0,
+            tip_count=96,
+            tip_volume=200.0
+        )
+        
+        # 创建枪头位置
+        self._create_tip_spots(
+            tip_count=96,
+            tip_spacing=9.0,
+            tip_type="200ul"
+        )
+    
+    def _create_tip_spots(self, tip_count: int, tip_spacing: float, tip_type: str):
+        """
+        创建枪头位置
+        
+        Args:
+            tip_count: 枪头数量
+            tip_spacing: 枪头间距
+            tip_type: 枪头类型
+        """
+        rows = 8
+        cols = 12
+        
+        for row in range(rows):
+            for col in range(cols):
+                spot_name = f"{chr(65 + row)}{col + 1:02d}"
+                x = col * tip_spacing + tip_spacing / 2
+                y = row * tip_spacing + tip_spacing / 2
+                
+                # 创建枪头 - 根据PyLabRobot或模拟类使用不同参数
+                if PYLABROBOT_AVAILABLE:
+                    # PyLabRobot的Tip需要特定参数
+                    tip = Tip(
+                        has_filter=False,
+                        total_tip_length=72.0,  # 200ul枪头长度
+                        maximal_volume=200.0,   # 最大体积
+                        fitting_depth=8.0       # 安装深度
+                    )
+                else:
+                    # 模拟类只需要name
+                    tip = Tip(name=f"tip_{spot_name}")
+                
+                # 创建枪头位置
+                if PYLABROBOT_AVAILABLE:
+                    # PyLabRobot的TipSpot需要特定参数
+                    tip_spot = TipSpot(
+                        name=spot_name,
+                        size_x=9.0,  # 枪头位置宽度
+                        size_y=9.0,  # 枪头位置深度
+                        size_z=72.0,  # 枪头位置高度
+                        make_tip=lambda: tip  # 创建枪头的函数
+                    )
+                else:
+                    # 模拟类只需要name
+                    tip_spot = TipSpot(name=spot_name)
+                
+                # 将吸头位置分配到吸头架
+                self.assign_child_resource(
+                    tip_spot,
+                    location=Coordinate(x, y, 0)
+                )
+                
+                # 注意：在PyLabRobot中，Tip不是Resource，不需要分配给TipSpot
+                # TipSpot的make_tip函数会在需要时创建Tip
+
+
+class LaiYu96WellPlate(LaiYuLiquidContainer):
+    """96孔板"""
+    
+    def __init__(self, name: str, lid_height: float = 0.0):
+        """
+        初始化96孔板
+        
+        Args:
+            name: 板名称
+            lid_height: 盖子高度
+        """
+        super().__init__(
+            name=name,
+            size_x=127.76,
+            size_y=85.48,
+            size_z=14.22,
+            container_type="96_well_plate",
+            volume=0.0,
+            max_volume=200.0,
+            lid_height=lid_height
+        )
+        
+        # 创建孔位
+        self._create_wells(
+            well_count=96,
+            well_volume=200.0,
+            well_spacing=9.0
+        )
+    
+    def get_size_z(self) -> float:
+        """获取孔位深度"""
+        return 10.0  # 96孔板孔位深度
+    
+    def _create_wells(self, well_count: int, well_volume: float, well_spacing: float):
+        """
+        创建孔位 - 从配置文件中读取绝对坐标
+        
+        Args:
+            well_count: 孔位数量
+            well_volume: 孔位体积
+            well_spacing: 孔位间距
+        """
+        # 从配置文件中获取96孔板的孔位信息
+        config = DECK_CONFIG
+        plate_module = None
+        
+        # 查找96孔板模块
+        for module in config.get("children", []):
+            if module.get("type") == "96_well_plate":
+                plate_module = module
+                break
+        
+        if not plate_module:
+            # 如果配置文件中没有找到，使用默认的相对坐标计算
+            rows = 8
+            cols = 12
+            
+            for row in range(rows):
+                for col in range(cols):
+                    well_name = f"{chr(65 + row)}{col + 1:02d}"
+                    x = col * well_spacing + well_spacing / 2
+                    y = row * well_spacing + well_spacing / 2
+                    
+                    # 创建孔位
+                    well = PlateWell(
+                        name=well_name,
+                        size_x=well_spacing * 0.8,
+                        size_y=well_spacing * 0.8,
+                        size_z=self.get_size_z(),
+                        max_volume=well_volume
+                    )
+                    
+                    # 添加到板
+                    self.assign_child_resource(
+                        well,
+                        location=Coordinate(x, y, 0)
+                    )
+            return
+        
+        # 使用配置文件中的绝对坐标
+        module_position = plate_module.get("position", {"x": 0, "y": 0, "z": 0})
+        
+        for well_config in plate_module.get("wells", []):
+            well_name = well_config["id"]
+            well_pos = well_config["position"]
+            
+            # 计算相对于模块的坐标（绝对坐标减去模块位置）
+            relative_x = well_pos["x"] - module_position["x"]
+            relative_y = well_pos["y"] - module_position["y"]
+            relative_z = well_pos["z"] - module_position["z"]
+            
+            # 创建孔位
+            well = PlateWell(
+                name=well_name,
+                size_x=well_config.get("diameter", 8.2) * 0.8,  # 使用配置中的直径
+                size_y=well_config.get("diameter", 8.2) * 0.8,
+                size_z=well_config.get("depth", self.get_size_z()),
+                max_volume=well_config.get("volume", well_volume)
+            )
+            
+            # 添加到板
+            self.assign_child_resource(
+                well,
+                location=Coordinate(relative_x, relative_y, relative_z)
+            )
+
+
+class LaiYuDeepWellPlate(LaiYuLiquidContainer):
+    """深孔板"""
+    
+    def __init__(self, name: str, lid_height: float = 0.0):
+        """
+        初始化深孔板
+        
+        Args:
+            name: 板名称
+            lid_height: 盖子高度
+        """
+        super().__init__(
+            name=name,
+            size_x=127.76,
+            size_y=85.48,
+            size_z=41.3,
+            container_type="deep_well_plate",
+            volume=0.0,
+            max_volume=2000.0,
+            lid_height=lid_height
+        )
+        
+        # 创建孔位
+        self._create_wells(
+            well_count=96,
+            well_volume=2000.0,
+            well_spacing=9.0
+        )
+    
+    def get_size_z(self) -> float:
+        """获取孔位深度"""
+        return 35.0  # 深孔板孔位深度
+    
+    def _create_wells(self, well_count: int, well_volume: float, well_spacing: float):
+        """
+        创建孔位 - 从配置文件中读取绝对坐标
+        
+        Args:
+            well_count: 孔位数量
+            well_volume: 孔位体积
+            well_spacing: 孔位间距
+        """
+        # 从配置文件中获取深孔板的孔位信息
+        config = DECK_CONFIG
+        plate_module = None
+        
+        # 查找深孔板模块（通常是第二个96孔板模块）
+        plate_modules = []
+        for module in config.get("children", []):
+            if module.get("type") == "96_well_plate":
+                plate_modules.append(module)
+        
+        # 如果有多个96孔板模块，选择第二个作为深孔板
+        if len(plate_modules) > 1:
+            plate_module = plate_modules[1]
+        elif len(plate_modules) == 1:
+            plate_module = plate_modules[0]
+        
+        if not plate_module:
+            # 如果配置文件中没有找到，使用默认的相对坐标计算
+            rows = 8
+            cols = 12
+            
+            for row in range(rows):
+                for col in range(cols):
+                    well_name = f"{chr(65 + row)}{col + 1:02d}"
+                    x = col * well_spacing + well_spacing / 2
+                    y = row * well_spacing + well_spacing / 2
+                    
+                    # 创建孔位
+                    well = PlateWell(
+                        name=well_name,
+                        size_x=well_spacing * 0.8,
+                        size_y=well_spacing * 0.8,
+                        size_z=self.get_size_z(),
+                        max_volume=well_volume
+                    )
+                    
+                    # 添加到板
+                    self.assign_child_resource(
+                        well,
+                        location=Coordinate(x, y, 0)
+                    )
+            return
+        
+        # 使用配置文件中的绝对坐标
+        module_position = plate_module.get("position", {"x": 0, "y": 0, "z": 0})
+        
+        for well_config in plate_module.get("wells", []):
+            well_name = well_config["id"]
+            well_pos = well_config["position"]
+            
+            # 计算相对于模块的坐标（绝对坐标减去模块位置）
+            relative_x = well_pos["x"] - module_position["x"]
+            relative_y = well_pos["y"] - module_position["y"]
+            relative_z = well_pos["z"] - module_position["z"]
+            
+            # 创建孔位
+            well = PlateWell(
+                name=well_name,
+                size_x=well_config.get("diameter", 8.2) * 0.8,  # 使用配置中的直径
+                size_y=well_config.get("diameter", 8.2) * 0.8,
+                size_z=well_config.get("depth", self.get_size_z()),
+                max_volume=well_config.get("volume", well_volume)
+            )
+            
+            # 添加到板
+            self.assign_child_resource(
+                well,
+                location=Coordinate(relative_x, relative_y, relative_z)
+            )
+
+
+class LaiYuWasteContainer(Container):
+    """废液容器"""
+    
+    def __init__(self, name: str):
+        """
+        初始化废液容器
+        
+        Args:
+            name: 容器名称
+        """
+        super().__init__(
+            name=name,
+            size_x=100.0,
+            size_y=100.0,
+            size_z=50.0,
+            max_volume=5000.0
+        )
+
+
+class LaiYuWashContainer(Container):
+    """清洗容器"""
+    
+    def __init__(self, name: str):
+        """
+        初始化清洗容器
+        
+        Args:
+            name: 容器名称
+        """
+        super().__init__(
+            name=name,
+            size_x=100.0,
+            size_y=100.0,
+            size_z=50.0,
+            max_volume=5000.0
+        )
+
+
+class LaiYuReagentContainer(Container):
+    """试剂容器"""
+    
+    def __init__(self, name: str):
+        """
+        初始化试剂容器
+        
+        Args:
+            name: 容器名称
+        """
+        super().__init__(
+            name=name,
+            size_x=50.0,
+            size_y=50.0,
+            size_z=100.0,
+            max_volume=2000.0
+        )
+
+
+class LaiYu8TubeRack(LaiYuLiquidContainer):
+    """8管试管架"""
+    
+    def __init__(self, name: str):
+        """
+        初始化8管试管架
+        
+        Args:
+            name: 试管架名称
+        """
+        super().__init__(
+            name=name,
+            size_x=151.0,
+            size_y=75.0,
+            size_z=75.0,
+            container_type="tube_rack",
+            volume=0.0,
+            max_volume=77000.0
+        )
+        
+        # 创建孔位
+        self._create_wells(
+            well_count=8,
+            well_volume=77000.0,
+            well_spacing=35.0
+        )
+    
+    def get_size_z(self) -> float:
+        """获取孔位深度"""
+        return 117.0  # 试管深度
+    
+    def _create_wells(self, well_count: int, well_volume: float, well_spacing: float):
+        """
+        创建孔位 - 从配置文件中读取绝对坐标
+        
+        Args:
+            well_count: 孔位数量
+            well_volume: 孔位体积
+            well_spacing: 孔位间距
+        """
+        # 从配置文件中获取8管试管架的孔位信息
+        config = DECK_CONFIG
+        tube_module = None
+        
+        # 查找8管试管架模块
+        for module in config.get("children", []):
+            if module.get("type") == "tube_rack":
+                tube_module = module
+                break
+        
+        if not tube_module:
+            # 如果配置文件中没有找到，使用默认的相对坐标计算
+            rows = 2
+            cols = 4
+            
+            for row in range(rows):
+                for col in range(cols):
+                    well_name = f"{chr(65 + row)}{col + 1}"
+                    x = col * well_spacing + well_spacing / 2
+                    y = row * well_spacing + well_spacing / 2
+                    
+                    # 创建孔位
+                    well = PlateWell(
+                        name=well_name,
+                        size_x=29.0,
+                        size_y=29.0,
+                        size_z=self.get_size_z(),
+                        max_volume=well_volume
+                    )
+                    
+                    # 添加到试管架
+                    self.assign_child_resource(
+                        well,
+                        location=Coordinate(x, y, 0)
+                    )
+            return
+        
+        # 使用配置文件中的绝对坐标
+        module_position = tube_module.get("position", {"x": 0, "y": 0, "z": 0})
+        
+        for well_config in tube_module.get("wells", []):
+            well_name = well_config["id"]
+            well_pos = well_config["position"]
+            
+            # 计算相对于模块的坐标（绝对坐标减去模块位置）
+            relative_x = well_pos["x"] - module_position["x"]
+            relative_y = well_pos["y"] - module_position["y"]
+            relative_z = well_pos["z"] - module_position["z"]
+            
+            # 创建孔位
+            well = PlateWell(
+                name=well_name,
+                size_x=well_config.get("diameter", 29.0),
+                size_y=well_config.get("diameter", 29.0),
+                size_z=well_config.get("depth", self.get_size_z()),
+                max_volume=well_config.get("volume", well_volume)
+            )
+            
+            # 添加到试管架
+            self.assign_child_resource(
+                well,
+                location=Coordinate(relative_x, relative_y, relative_z)
+            )
+
+
+class LaiYuTipDisposal(Resource):
+    """枪头废料位置"""
+    
+    def __init__(self, name: str):
+        """
+        初始化枪头废料位置
+        
+        Args:
+            name: 位置名称
+        """
+        super().__init__(
+            name=name,
+            size_x=100.0,
+            size_y=100.0,
+            size_z=50.0
+        )
+
+
+class LaiYuMaintenancePosition(Resource):
+    """维护位置"""
+    
+    def __init__(self, name: str):
+        """
+        初始化维护位置
+        
+        Args:
+            name: 位置名称
+        """
+        super().__init__(
+            name=name,
+            size_x=50.0,
+            size_y=50.0,
+            size_z=100.0
+        )
+
+
+# 资源创建函数
+def create_tip_rack_1000ul(name: str = "tip_rack_1000ul") -> LaiYuTipRack1000:
+    """
+    创建1000μL枪头架
+    
+    Args:
+        name: 枪头架名称
+        
+    Returns:
+        LaiYuTipRack1000: 1000μL枪头架实例
+    """
+    return LaiYuTipRack1000(name)
+
+
+def create_tip_rack_200ul(name: str = "tip_rack_200ul") -> LaiYuTipRack200:
+    """
+    创建200μL枪头架
+    
+    Args:
+        name: 枪头架名称
+        
+    Returns:
+        LaiYuTipRack200: 200μL枪头架实例
+    """
+    return LaiYuTipRack200(name)
+
+
+def create_96_well_plate(name: str = "96_well_plate", lid_height: float = 0.0) -> LaiYu96WellPlate:
+    """
+    创建96孔板
+    
+    Args:
+        name: 板名称
+        lid_height: 盖子高度
+        
+    Returns:
+        LaiYu96WellPlate: 96孔板实例
+    """
+    return LaiYu96WellPlate(name, lid_height)
+
+
+def create_deep_well_plate(name: str = "deep_well_plate", lid_height: float = 0.0) -> LaiYuDeepWellPlate:
+    """
+    创建深孔板
+    
+    Args:
+        name: 板名称
+        lid_height: 盖子高度
+        
+    Returns:
+        LaiYuDeepWellPlate: 深孔板实例
+    """
+    return LaiYuDeepWellPlate(name, lid_height)
+
+
+def create_8_tube_rack(name: str = "8_tube_rack") -> LaiYu8TubeRack:
+    """
+    创建8管试管架
+    
+    Args:
+        name: 试管架名称
+        
+    Returns:
+        LaiYu8TubeRack: 8管试管架实例
+    """
+    return LaiYu8TubeRack(name)
+
+
+def create_waste_container(name: str = "waste_container") -> LaiYuWasteContainer:
+    """
+    创建废液容器
+    
+    Args:
+        name: 容器名称
+        
+    Returns:
+        LaiYuWasteContainer: 废液容器实例
+    """
+    return LaiYuWasteContainer(name)
+
+
+def create_wash_container(name: str = "wash_container") -> LaiYuWashContainer:
+    """
+    创建清洗容器
+    
+    Args:
+        name: 容器名称
+        
+    Returns:
+        LaiYuWashContainer: 清洗容器实例
+    """
+    return LaiYuWashContainer(name)
+
+
+def create_reagent_container(name: str = "reagent_container") -> LaiYuReagentContainer:
+    """
+    创建试剂容器
+    
+    Args:
+        name: 容器名称
+        
+    Returns:
+        LaiYuReagentContainer: 试剂容器实例
+    """
+    return LaiYuReagentContainer(name)
+
+
+def create_tip_disposal(name: str = "tip_disposal") -> LaiYuTipDisposal:
+    """
+    创建枪头废料位置
+    
+    Args:
+        name: 位置名称
+        
+    Returns:
+        LaiYuTipDisposal: 枪头废料位置实例
+    """
+    return LaiYuTipDisposal(name)
+
+
+def create_maintenance_position(name: str = "maintenance_position") -> LaiYuMaintenancePosition:
+    """
+    创建维护位置
+    
+    Args:
+        name: 位置名称
+        
+    Returns:
+        LaiYuMaintenancePosition: 维护位置实例
+    """
+    return LaiYuMaintenancePosition(name)
+
+
+def create_standard_deck() -> LaiYuLiquidDeck:
+    """
+    创建标准工作台配置
+    
+    Returns:
+        LaiYuLiquidDeck: 配置好的工作台实例
+    """
+    # 从配置文件创建工作台
+    deck = LaiYuLiquidDeck(config=DECK_CONFIG)
+    
+    return deck
+
+
+def get_resource_by_name(deck: LaiYuLiquidDeck, name: str) -> Optional[Resource]:
+    """
+    根据名称获取资源
+    
+    Args:
+        deck: 工作台实例
+        name: 资源名称
+        
+    Returns:
+        Optional[Resource]: 找到的资源，如果不存在则返回None
+    """
+    for child in deck.children:
+        if child.name == name:
+            return child
+    return None
+
+
+def get_resources_by_type(deck: LaiYuLiquidDeck, resource_type: type) -> List[Resource]:
+    """
+    根据类型获取资源列表
+    
+    Args:
+        deck: 工作台实例
+        resource_type: 资源类型
+        
+    Returns:
+        List[Resource]: 匹配类型的资源列表
+    """
+    return [child for child in deck.children if isinstance(child, resource_type)]
+
+
+def list_all_resources(deck: LaiYuLiquidDeck) -> Dict[str, List[str]]:
+    """
+    列出所有资源
+    
+    Args:
+        deck: 工作台实例
+        
+    Returns:
+        Dict[str, List[str]]: 按类型分组的资源名称字典
+    """
+    resources = {
+        "tip_racks": [],
+        "plates": [],
+        "containers": [],
+        "positions": []
+    }
+    
+    for child in deck.children:
+        if isinstance(child, (LaiYuTipRack1000, LaiYuTipRack200)):
+            resources["tip_racks"].append(child.name)
+        elif isinstance(child, (LaiYu96WellPlate, LaiYuDeepWellPlate)):
+            resources["plates"].append(child.name)
+        elif isinstance(child, (LaiYuWasteContainer, LaiYuWashContainer, LaiYuReagentContainer)):
+            resources["containers"].append(child.name)
+        elif isinstance(child, (LaiYuTipDisposal, LaiYuMaintenancePosition)):
+            resources["positions"].append(child.name)
+    
+    return resources
+
+
+# 导出的类别名（向后兼容）
+TipRack1000ul = LaiYuTipRack1000
+TipRack200ul = LaiYuTipRack200
+Plate96Well = LaiYu96WellPlate
+Plate96DeepWell = LaiYuDeepWellPlate
+TubeRack8 = LaiYu8TubeRack
+WasteContainer = LaiYuWasteContainer
+WashContainer = LaiYuWashContainer
+ReagentContainer = LaiYuReagentContainer
+TipDisposal = LaiYuTipDisposal
+MaintenancePosition = LaiYuMaintenancePosition

unilabos/devices/laiyu_liquid/docs/CHANGELOG.md

@@ -0,0 +1,69 @@
+# 更新日志
+
+本文档记录了 LaiYu_Liquid 模块的所有重要变更。
+
+## [1.0.0] - 2024-01-XX
+
+### 新增功能
+- ✅ 完整的液体处理工作站集成
+- ✅ RS485 通信协议支持
+- ✅ SOPA 气动式移液器驱动
+- ✅ XYZ 三轴步进电机控制
+- ✅ PyLabRobot 兼容后端
+- ✅ 标准化资源管理系统
+- ✅ 96孔板、离心管架、枪头架支持
+- ✅ RViz 可视化后端
+- ✅ 完整的配置管理系统
+- ✅ 抽象协议实现
+- ✅ 生产级错误处理和日志记录
+
+### 技术特性
+- **硬件支持**: SOPA移液器 + XYZ三轴运动平台
+- **通信协议**: RS485总线，波特率115200
+- **坐标系统**: 机械坐标与工作坐标自动转换
+- **安全机制**: 限位保护、紧急停止、错误恢复
+- **兼容性**: 完全兼容 PyLabRobot 框架
+
+### 文件结构
+```
+LaiYu_Liquid/
+├── core/
+│   └── LaiYu_Liquid.py      # 主模块文件
+├── __init__.py              # 模块初始化
+├── abstract_protocol.py    # 抽象协议
+├── laiyu_liquid_res.py     # 资源管理
+├── rviz_backend.py         # RViz后端
+├── backend/                # 后端驱动
+├── config/                 # 配置文件
+├── controllers/           # 控制器
+├── docs/                  # 技术文档
+└── drivers/               # 底层驱动
+```
+
+### 已知问题
+- 无
+
+### 依赖要求
+- Python 3.8+
+- PyLabRobot
+- pyserial
+- asyncio
+
+---
+
+## 版本说明
+
+### 版本号格式
+采用语义化版本控制 (Semantic Versioning): `MAJOR.MINOR.PATCH`
+
+- **MAJOR**: 不兼容的API变更
+- **MINOR**: 向后兼容的功能新增
+- **PATCH**: 向后兼容的问题修复
+
+### 变更类型
+- **新增功能**: 新的功能特性
+- **变更**: 现有功能的变更
+- **弃用**: 即将移除的功能
+- **移除**: 已移除的功能
+- **修复**: 问题修复
+- **安全**: 安全相关的修复

unilabos/devices/laiyu_liquid/docs/hardware/SOPA气动式移液器RS485控制指令.md

@@ -0,0 +1,267 @@
+# SOPA气动式移液器RS485控制指令合集
+
+## 1. RS485通信基本配置
+
+### 1.1 支持的设备型号
+- **仅SC-STxxx-00-13支持RS485通信**
+- 其他型号主要使用CAN通信
+
+### 1.2 通信参数
+- **波特率**: 9600, 115200（默认值）
+- **地址范围**: 1~254个设备，255为广播地址
+- **通信接口**: RS485差分信号
+
+### 1.3 引脚分配（10位LIF连接器）
+- **引脚7**: RS485+ (RS485通信正极)
+- **引脚8**: RS485- (RS485通信负极)
+
+## 2. RS485通信协议格式
+
+### 2.1 发送数据格式
+```
+头码 | 地址 | 命令/数据 | 尾码 | 校验和
+```
+
+### 2.2 从机回应格式
+```
+头码 | 地址 | 数据（固定9字节） | 尾码 | 校验和
+```
+
+### 2.3 格式详细说明
+- **头码**: 
+  - 终端调试: '/' (0x2F)
+  - OEM通信: '[' (0x5B) 
+- **地址**: 设备节点地址，1~254，多字节ASCII（注意：地址不可为47，69，91）
+- **命令/数据**: ASCII格式的命令字符串
+- **尾码**: 'E' (0x45)
+- **校验和**: 以上数据的累加值，1字节
+
+## 3. 初始化和基本控制指令
+
+### 3.1 初始化指令
+```bash
+# 初始化活塞驱动机构
+HE
+
+# 示例（OEM通信）：
+# 主机发送: 5B 32 48 45 1A
+# 从机回应开始: 2F 02 06 0A 30 00 00 00 00 00 00 45 B6
+# 从机回应完成: 2F 02 06 00 30 00 00 00 00 00 00 45 AC
+```
+
+### 3.2 枪头操作指令
+```bash
+# 顶出枪头
+RE
+
+# 枪头检测状态报告
+Q28  # 返回枪头存在状态（0=不存在，1=存在）
+```
+
+## 4. 移液控制指令
+
+### 4.1 位置控制指令
+```bash
+# 绝对位置移动（微升）
+A[n]E
+# 示例：移动到位置0
+A0E
+
+# 相对抽吸（向上移动）
+P[n]E
+# 示例：抽吸200微升
+P200E
+
+# 相对分配（向下移动）  
+D[n]E
+# 示例：分配200微升
+D200E
+```
+
+### 4.2 速度设置指令
+```bash
+# 设置最高速度（0.1ul/秒为单位）
+s[n]E
+# 示例：设置最高速度为2000（200ul/秒）
+s2000E
+
+# 设置启动速度
+b[n]E
+# 示例：设置启动速度为100（10ul/秒）
+b100E
+
+# 设置断流速度
+c[n]E
+# 示例：设置断流速度为100（10ul/秒）
+c100E
+
+# 设置加速度
+a[n]E
+# 示例：设置加速度为30000
+a30000E
+```
+
+## 5. 液体检测和安全控制指令
+
+### 5.1 吸排液检测控制
+```bash
+# 开启吸排液检测
+f1E  # 开启
+f0E  # 关闭
+
+# 设置空吸门限
+$[n]E
+# 示例：设置空吸门限为4
+$4E
+
+# 设置泡沫门限
+![n]E
+# 示例：设置泡沫门限为20
+!20E
+
+# 设置堵塞门限
+%[n]E
+# 示例：设置堵塞门限为350
+%350E
+```
+
+### 5.2 液位检测指令
+```bash
+# 压力式液位检测
+m0E  # 设置为压力探测模式
+L[n]E  # 执行液位检测，[n]为灵敏度(3~40)
+k[n]E  # 设置检测速度(100~2000)
+
+# 电容式液位检测  
+m1E  # 设置为电容探测模式
+```
+
+## 6. 状态查询和报告指令
+
+### 6.1 基本状态查询
+```bash
+# 查询固件版本
+V
+
+# 查询设备状态
+Q[n]
+# 常用查询参数：
+Q01  # 报告加速度
+Q02  # 报告启动速度  
+Q03  # 报告断流速度
+Q06  # 报告最大速度
+Q08  # 报告节点地址
+Q11  # 报告波特率
+Q18  # 报告当前位置
+Q28  # 报告枪头存在状态
+Q29  # 报告校准系数
+Q30  # 报告空吸门限
+Q31  # 报告堵针门限
+Q32  # 报告泡沫门限
+```
+
+## 7. 配置和校准指令
+
+### 7.1 校准参数设置
+```bash
+# 设置校准系数
+j[n]E
+# 示例：设置校准系数为1.04
+j1.04E
+
+# 设置补偿偏差
+e[n]E  
+# 示例：设置补偿偏差为2.03
+e2.03E
+
+# 设置吸头容量
+C[n]E
+# 示例：设置1000ul吸头
+C1000E
+```
+
+### 7.2 高级控制参数
+```bash
+# 设置回吸粘度
+][n]E
+# 示例：设置回吸粘度为30
+]30E
+
+# 延时控制
+M[n]E
+# 示例：延时1000毫秒
+M1000E
+```
+
+## 8. 复合操作指令示例
+
+### 8.1 标准移液操作
+```bash
+# 完整的200ul移液操作
+a30000b200c200s2000P200E
+# 解析：设置加速度30000 + 启动速度200 + 断流速度200 + 最高速度2000 + 抽吸200ul + 执行
+```
+
+### 8.2 带检测的移液操作
+```bash
+# 带空吸检测的200ul抽吸
+a30000b200c200s2000f1P200f0E
+# 解析：设置参数 + 开启检测 + 抽吸200ul + 关闭检测 + 执行
+```
+
+### 8.3 液面检测操作
+```bash
+# 压力式液面检测
+m0k200L5E
+# 解析：压力模式 + 检测速度200 + 灵敏度5 + 执行检测
+
+# 电容式液面检测  
+m1L3E
+# 解析：电容模式 + 灵敏度3 + 执行检测
+```
+
+## 9. 错误处理
+
+### 9.1 状态字节说明
+- **00h**: 无错误
+- **01h**: 上次动作未完成
+- **02h**: 设备未初始化  
+- **03h**: 设备过载
+- **04h**: 无效指令
+- **05h**: 液位探测故障
+- **0Dh**: 空吸
+- **0Eh**: 堵针
+- **10h**: 泡沫
+- **11h**: 吸液超过吸头容量
+
+### 9.2 错误查询
+```bash
+# 查询当前错误状态
+Q  # 返回状态字节和错误代码
+```
+
+## 10. 通信示例
+
+### 10.1 基本通信流程
+1. **执行命令**: 主机发送命令 → 从机确认 → 从机执行 → 从机回应完成
+2. **读取数据**: 主机发送查询 → 从机确认 → 从机返回数据
+
+### 10.2 快速指令表
+| 操作 | 指令 | 说明 |
+|------|------|------|
+| 初始化 | `HE` | 初始化设备 |
+| 退枪头 | `RE` | 顶出枪头 |
+| 吸液200ul | `a30000b200c200s2000P200E` | 基本吸液 |
+| 带检测吸液 | `a30000b200c200s2000f1P200f0E` | 开启空吸检测 |
+| 吐液200ul | `a300000b500c500s6000D200E` | 基本分配 |
+| 压力液面检测 | `m0k200L5E` | pLLD检测 |
+| 电容液面检测 | `m1L3E` | cLLD检测 |
+
+## 11. 注意事项
+
+1. **地址限制**: RS485地址不可设为47、69、91
+2. **校验和**: 终端调试时不关心校验和，OEM通信需要校验
+3. **ASCII格式**: 所有命令和参数都使用ASCII字符
+4. **执行指令**: 大部分命令需要以'E'结尾才能执行
+5. **设备支持**: 只有SC-STxxx-00-13型号支持RS485通信
+6. **波特率设置**: 默认115200，可设置为9600

unilabos/devices/laiyu_liquid/docs/hardware/步进电机控制指令.md

@@ -0,0 +1,162 @@
+# 步进电机B系列控制指令详解
+
+## 基本通信参数
+- **通信方式**: RS485
+- **协议**: Modbus
+- **波特率**: 115200 (默认)
+- **数据位**: 8位
+- **停止位**: 1位
+- **校验位**: 无
+- **默认站号**: 1 (可设置1-254)
+
+## 支持的功能码
+- **03H**: 读取寄存器
+- **06H**: 写入单个寄存器  
+- **10H**: 写入多个寄存器
+
+## 寄存器地址表
+
+### 状态监控寄存器 (只读)
+| 地址 | 功能码 | 内容 | 说明 |
+|------|--------|------|------|
+| 00H | 03H | 电机状态 | 0000H-待机/到位, 0001H-运行中, 0002H-碰撞停, 0003H-正光电停, 0004H-反光电停 |
+| 01H | 03H | 实际步数高位 | 当前电机位置的高16位 |
+| 02H | 03H | 实际步数低位 | 当前电机位置的低16位 |
+| 03H | 03H | 实际速度 | 当前转速 (rpm) |
+| 05H | 03H | 电流 | 当前工作电流 (mA) |
+
+### 控制寄存器 (读写)
+| 地址 | 功能码 | 内容 | 说明 |
+|------|--------|------|------|
+| 04H | 03H/06H/10H | 急停指令 | 紧急停止控制 |
+| 06H | 03H/06H/10H | 失能控制 | 1-使能, 0-失能 |
+| 07H | 03H/06H/10H | PWM输出 | 0-1000对应0%-100%占空比 |
+| 0EH | 03H/06H/10H | 单圈绝对值归零 | 归零指令 |
+| 0FH | 03H/06H/10H | 归零指令 | 定点模式归零速度设置 |
+
+### 位置模式寄存器
+| 地址 | 功能码 | 内容 | 说明 |
+|------|--------|------|------|
+| 10H | 03H/06H/10H | 目标步数高位 | 目标位置高16位 |
+| 11H | 03H/06H/10H | 目标步数低位 | 目标位置低16位 |
+| 12H | 03H/06H/10H | 保留 | - |
+| 13H | 03H/06H/10H | 速度 | 运行速度 (rpm) |
+| 14H | 03H/06H/10H | 加速度 | 0-60000 rpm/s |
+| 15H | 03H/06H/10H | 精度 | 到位精度设置 |
+
+### 速度模式寄存器
+| 地址 | 功能码 | 内容 | 说明 |
+|------|--------|------|------|
+| 60H | 03H/06H/10H | 保留 | - |
+| 61H | 03H/06H/10H | 速度 | 正值正转，负值反转 |
+| 62H | 03H/06H/10H | 加速度 | 0-60000 rpm/s |
+
+### 设备参数寄存器
+| 地址 | 功能码 | 内容 | 默认值 | 说明 |
+|------|--------|------|--------|------|
+| E0H | 03H/06H/10H | 设备地址 | 0001H | Modbus从站地址 |
+| E1H | 03H/06H/10H | 堵转电流 | 0BB8H | 堵转检测电流阈值 |
+| E2H | 03H/06H/10H | 保留 | 0258H | - |
+| E3H | 03H/06H/10H | 每圈步数 | 0640H | 细分设置 |
+| E4H | 03H/06H/10H | 限位开关使能 | F000H | 1-使能, 0-禁用 |
+| E5H | 03H/06H/10H | 堵转逻辑 | 0000H | 00-断电, 01-对抗 |
+| E6H | 03H/06H/10H | 堵转时间 | 0000H | 堵转检测时间(ms) |
+| E7H | 03H/06H/10H | 默认速度 | 1388H | 上电默认速度 |
+| E8H | 03H/06H/10H | 默认加速度 | EA60H | 上电默认加速度 |
+| E9H | 03H/06H/10H | 默认精度 | 0064H | 上电默认精度 |
+| EAH | 03H/06H/10H | 波特率高位 | 0001H | 通信波特率设置 |
+| EBH | 03H/06H/10H | 波特率低位 | C200H | 115200对应01C200H |
+
+### 版本信息寄存器 (只读)
+| 地址 | 功能码 | 内容 | 说明 |
+|------|--------|------|------|
+| F0H | 03H | 版本号 | 固件版本信息 |
+| F1H-F4H | 03H | 型号 | 产品型号信息 |
+
+## 常用控制指令示例
+
+### 读取电机状态
+```
+发送: 01 03 00 00 00 01 84 0A
+接收: 01 03 02 00 01 79 84
+说明: 电机状态为0001H (正在运行)
+```
+
+### 读取当前位置
+```
+发送: 01 03 00 01 00 02 95 CB  
+接收: 01 03 04 00 19 00 00 2B F4
+说明: 当前位置为1638400步 (100圈)
+```
+
+### 停止电机
+```
+发送: 01 10 00 04 00 01 02 00 00 A7 D4
+接收: 01 10 00 04 00 01 40 08
+说明: 急停指令
+```
+
+### 位置模式运动
+```
+发送: 01 10 00 10 00 06 0C 00 19 00 00 00 00 13 88 00 00 00 00 9F FB
+接收: 01 10 00 10 00 06 41 CE
+说明: 以5000rpm速度运动到1638400步位置
+```
+
+### 速度模式 - 正转
+```
+发送: 01 10 00 60 00 04 08 00 00 13 88 00 FA 00 00 F4 77
+接收: 01 10 00 60 00 04 C1 D4
+说明: 以5000rpm速度正转
+```
+
+### 速度模式 - 反转
+```
+发送: 01 10 00 60 00 04 08 00 00 EC 78 00 FA 00 00 A0 6D
+接收: 01 10 00 60 00 04 C1 D4
+说明: 以5000rpm速度反转 (EC78H = -5000)
+```
+
+### 设置设备地址
+```
+发送: 00 06 00 E0 00 02 C9 F1
+接收: 00 06 00 E0 00 02 C9 F1
+说明: 将设备地址设置为2
+```
+
+## 错误码
+| 状态码 | 含义 |
+|--------|------|
+| 0001H | 功能码错误 |
+| 0002H | 地址错误 |
+| 0003H | 长度错误 |
+
+## CRC校验算法
+```c
+public static byte[] ModBusCRC(byte[] data, int offset, int cnt) {
+    int wCrc = 0x0000FFFF;
+    byte[] CRC = new byte[2];
+    for (int i = 0; i < cnt; i++) {
+        wCrc ^= ((data[i + offset]) & 0xFF);
+        for (int j = 0; j < 8; j++) {
+            if ((wCrc & 0x00000001) == 1) {
+                wCrc >>= 1;
+                wCrc ^= 0x0000A001;
+            } else {
+                wCrc >>= 1;
+            }
+        }
+    }
+    CRC[1] = (byte) ((wCrc & 0x0000FF00) >> 8);
+    CRC[0] = (byte) (wCrc & 0x000000FF);
+    return CRC;
+}
+```
+
+## 注意事项
+1. 所有16位数据采用大端序传输
+2. 步数计算: 实际步数 = 高位<<16 | 低位
+3. 负数使用补码表示
+4. PWM输出K脚: 0%开漏, 100%接地, 其他输出1KHz PWM
+5. 光电开关需使用NPN开漏型
+6. 限位开关: LF正向, LB反向

unilabos/devices/laiyu_liquid/docs/readme.md

@@ -0,0 +1,269 @@
+# LaiYu_Liquid 液体处理工作站
+
+## 概述
+
+LaiYu_Liquid 是一个完全集成到 UniLabOS 的自动化液体处理工作站，基于 RS485 通信协议，专为精确的液体分配和转移操作而设计。本模块已完成生产环境部署准备，提供完整的硬件控制、资源管理和标准化接口。
+
+## 系统组成
+
+### 硬件组件
+- **XYZ三轴运动平台**: 3个RS485步进电机驱动（地址：X轴=0x01, Y轴=0x02, Z轴=0x03）
+- **SOPA气动式移液器**: RS485总线控制，支持精密液体处理操作
+- **通信接口**: RS485转USB模块，默认波特率115200
+- **机械结构**: 稳固工作台面，支持离心管架、96孔板等标准实验耗材
+
+### 软件架构
+- **驱动层**: 底层硬件通信驱动，支持RS485协议
+- **控制层**: 高级控制逻辑和坐标系管理
+- **抽象层**: 完全符合UniLabOS标准的液体处理接口
+- **资源层**: 标准化的实验器具和耗材管理
+
+## 🎯 生产就绪组件
+
+### ✅ 核心驱动程序 (`drivers/`)
+- **`sopa_pipette_driver.py`** - SOPA移液器完整驱动
+  - 支持液体吸取、分配、检测
+  - 完整的错误处理和状态管理
+  - 生产级别的通信协议实现
+  
+- **`xyz_stepper_driver.py`** - XYZ三轴步进电机驱动
+  - 精确的位置控制和运动规划
+  - 安全限位和错误检测
+  - 高性能运动控制算法
+
+### ✅ 高级控制器 (`controllers/`)
+- **`pipette_controller.py`** - 移液控制器
+  - 封装高级液体处理功能
+  - 支持多种液体类型和处理参数
+  - 智能错误恢复机制
+  
+- **`xyz_controller.py`** - XYZ运动控制器
+  - 坐标系管理和转换
+  - 运动路径优化
+  - 安全运动控制
+
+### ✅ UniLabOS集成 (`core/LaiYu_Liquid.py`)
+- **完整的液体处理抽象接口**
+- **标准化的资源管理系统**
+- **与PyLabRobot兼容的后端实现**
+- **生产级别的错误处理和日志记录**
+
+### ✅ 资源管理系统
+- **`laiyu_liquid_res.py`** - 标准化资源定义
+  - 96孔板、离心管架、枪头架等标准器具
+  - 自动化的资源创建和配置函数
+  - 与工作台布局的完美集成
+
+### ✅ 配置管理 (`config/`)
+- **`config/deck.json`** - 工作台布局配置
+  - 精确的空间定义和槽位管理
+  - 支持多种实验器具的标准化放置
+  - 可扩展的配置架构
+
+- **`__init__.py`** - 模块集成和导出
+  - 完整的API导出和版本管理
+  - 依赖检查和安装验证
+  - 专业的模块信息展示
+
+<!-- ### ✅ 可视化支持
+- **`rviz_backend.py`** - RViz可视化后端
+  - 实时运动状态可视化
+  - 液体处理过程监控
+  - 与ROS系统的无缝集成 -->
+
+## 🚀 核心功能特性
+
+### 液体处理能力
+- **精密体积控制**: 支持1-1000μL精确分配
+- **多种液体类型**: 水性、有机溶剂、粘稠液体等
+- **智能检测**: 液位检测、气泡检测、堵塞检测
+- **自动化流程**: 完整的吸取-转移-分配工作流
+
+### 运动控制系统
+- **三轴精密定位**: 微米级精度控制
+- **路径优化**: 智能运动规划和碰撞避免
+- **安全机制**: 限位保护、紧急停止、错误恢复
+- **坐标系管理**: 工作坐标与机械坐标的自动转换
+
+### 资源管理
+- **标准化器具**: 支持96孔板、离心管架、枪头架等
+- **状态跟踪**: 实时监控液体体积、枪头状态等
+- **自动配置**: 基于JSON的灵活配置系统
+- **扩展性**: 易于添加新的器具类型
+
+## 📁 目录结构
+
+```
+LaiYu_Liquid/
+├── __init__.py              # 模块初始化和API导出
+├── readme.md               # 本文档
+├── backend/                # 后端驱动模块
+│   ├── __init__.py
+│   └── laiyu_backend.py    # PyLabRobot兼容后端
+├── core/                   # 核心模块
+│   ├── core/
+│   │   └── LaiYu_Liquid.py    # 主设备类
+│   ├── abstract_protocol.py # 抽象协议
+│   └── laiyu_liquid_res.py # 设备资源定义
+├── config/                 # 配置文件目录
+│   └── deck.json          # 工作台布局配置
+├── controllers/           # 高级控制器
+│   ├── __init__.py
+│   ├── pipette_controller.py  # 移液控制器
+│   └── xyz_controller.py      # XYZ运动控制器
+├── docs/                  # 技术文档
+│   ├── SOPA气动式移液器RS485控制指令.md
+│   ├── 步进电机控制指令.md
+│   └── hardware/          # 硬件相关文档
+├── drivers/               # 底层驱动程序
+│   ├── __init__.py
+│   ├── sopa_pipette_driver.py  # SOPA移液器驱动
+│   └── xyz_stepper_driver.py   # XYZ步进电机驱动
+└── tests/                 # 测试文件
+```
+
+## 🔧 快速开始
+
+### 1. 安装和验证
+
+```python
+# 验证模块安装
+from unilabos.devices.laiyu_liquid import (
+    LaiYuLiquid,
+    LaiYuLiquidConfig,
+    create_quick_setup,
+    print_module_info
+)
+
+# 查看模块信息
+print_module_info()
+
+# 快速创建默认资源
+resources = create_quick_setup()
+print(f"已创建 {len(resources)} 个资源")
+```
+
+### 2. 基本使用示例
+
+```python
+from unilabos.devices.LaiYu_Liquid import (
+    create_quick_setup, 
+    create_96_well_plate,
+    create_laiyu_backend
+)
+
+# 快速创建默认资源
+resources = create_quick_setup()
+print(f"创建了以下资源: {list(resources.keys())}")
+
+# 创建96孔板
+plate_96 = create_96_well_plate("test_plate")
+print(f"96孔板包含 {len(plate_96.children)} 个孔位")
+
+# 创建后端实例（用于PyLabRobot集成）
+backend = create_laiyu_backend("LaiYu_Device")
+print(f"后端设备: {backend.name}")
+```
+
+### 3. 后端驱动使用
+
+```python
+from unilabos.devices.laiyu_liquid.backend import create_laiyu_backend
+
+# 创建后端实例
+backend = create_laiyu_backend("LaiYu_Liquid_Station")
+
+# 连接设备
+await backend.connect()
+
+# 设备归位
+await backend.home_device()
+
+# 获取设备状态
+status = await backend.get_status()
+print(f"设备状态: {status}")
+
+# 断开连接
+await backend.disconnect()
+```
+
+### 4. 资源管理示例
+
+```python
+from unilabos.devices.LaiYu_Liquid import (
+    create_centrifuge_tube_rack,
+    create_tip_rack,
+    load_deck_config
+)
+
+# 加载工作台配置
+deck_config = load_deck_config()
+print(f"工作台尺寸: {deck_config['size_x']}x{deck_config['size_y']}mm")
+
+# 创建不同类型的资源
+tube_rack = create_centrifuge_tube_rack("sample_rack")
+tip_rack = create_tip_rack("tip_rack_200ul")
+
+print(f"离心管架: {tube_rack.name}, 容量: {len(tube_rack.children)} 个位置")
+print(f"枪头架: {tip_rack.name}, 容量: {len(tip_rack.children)} 个枪头")
+```
+
+## 🔍 技术架构
+
+### 坐标系统
+- **机械坐标**: 基于步进电机的原始坐标系统
+- **工作坐标**: 用户友好的实验室坐标系统
+- **自动转换**: 透明的坐标系转换和校准
+
+### 通信协议
+- **RS485总线**: 高可靠性工业通信标准
+- **Modbus协议**: 标准化的设备通信协议
+- **错误检测**: 完整的通信错误检测和恢复
+
+### 安全机制
+- **限位保护**: 硬件和软件双重限位保护
+- **紧急停止**: 即时停止所有运动和操作
+- **状态监控**: 实时设备状态监控和报警
+
+## 🧪 验证和测试
+
+### 功能验证
+```python
+# 验证模块安装
+from unilabos.devices.laiyu_liquid import validate_installation
+validate_installation()
+
+# 查看模块信息
+from unilabos.devices.laiyu_liquid import print_module_info
+print_module_info()
+```
+
+### 硬件连接测试
+```python
+# 测试SOPA移液器连接
+from unilabos.devices.laiyu_liquid.drivers import SOPAPipette, SOPAConfig
+
+config = SOPAConfig(port="/dev/cu.usbserial-3130", address=4)
+pipette = SOPAPipette(config)
+success = pipette.connect()
+print(f"SOPA连接状态: {'成功' if success else '失败'}")
+```
+
+## 📚 维护和支持
+
+### 日志记录
+- **结构化日志**: 使用Python logging模块的专业日志记录
+- **错误追踪**: 详细的错误信息和堆栈跟踪
+- **性能监控**: 操作时间和性能指标记录
+
+### 配置管理
+- **JSON配置**: 灵活的JSON格式配置文件
+- **参数验证**: 自动配置参数验证和错误提示
+- **热重载**: 支持配置文件的动态重载
+
+### 扩展性
+- **模块化设计**: 易于扩展和定制的模块化架构
+- **插件接口**: 支持第三方插件和扩展
+- **API兼容**: 向后兼容的API设计
+
+

unilabos/devices/laiyu_liquid/drivers/__init__.py

@@ -0,0 +1,30 @@
+"""
+LaiYu_Liquid 驱动程序模块
+
+该模块包含了LaiYu_Liquid液体处理工作站的硬件驱动程序：
+- SOPA移液器驱动程序
+- XYZ步进电机驱动程序
+"""
+
+# SOPA移液器驱动程序导入
+from .sopa_pipette_driver import SOPAPipette, SOPAConfig, SOPAStatusCode
+
+# XYZ步进电机驱动程序导入  
+from .xyz_stepper_driver import StepperMotorDriver, XYZStepperController, MotorAxis, MotorStatus
+
+__all__ = [
+    # SOPA移液器
+    "SOPAPipette",
+    "SOPAConfig",
+    "SOPAStatusCode",
+    
+    # XYZ步进电机
+    "StepperMotorDriver", 
+    "XYZStepperController",
+    "MotorAxis",
+    "MotorStatus",
+]
+
+__version__ = "1.0.0"
+__author__ = "LaiYu_Liquid Driver Team"
+__description__ = "LaiYu_Liquid 硬件驱动程序集合"

unilabos/devices/laiyu_liquid/drivers/xyz_stepper_driver.py

@@ -0,0 +1,663 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+XYZ三轴步进电机B系列驱动程序
+支持RS485通信，Modbus协议
+"""
+
+import serial
+import struct
+import time
+import logging
+from typing import Optional, Tuple, Dict, Any
+from enum import Enum
+from dataclasses import dataclass
+
+# 配置日志
+logging.basicConfig(level=logging.INFO)
+logger = logging.getLogger(__name__)
+
+
+class MotorAxis(Enum):
+    """电机轴枚举"""
+    X = 1
+    Y = 2
+    Z = 3
+
+
+class MotorStatus(Enum):
+    """电机状态枚举"""
+    STANDBY = 0x0000  # 待机/到位
+    RUNNING = 0x0001  # 运行中
+    COLLISION_STOP = 0x0002  # 碰撞停
+    FORWARD_LIMIT_STOP = 0x0003  # 正光电停
+    REVERSE_LIMIT_STOP = 0x0004  # 反光电停
+
+
+class ModbusFunction(Enum):
+    """Modbus功能码"""
+    READ_HOLDING_REGISTERS = 0x03
+    WRITE_SINGLE_REGISTER = 0x06
+    WRITE_MULTIPLE_REGISTERS = 0x10
+
+
+@dataclass
+class MotorPosition:
+    """电机位置信息"""
+    steps: int
+    speed: int
+    current: int
+    status: MotorStatus
+
+
+class ModbusException(Exception):
+    """Modbus通信异常"""
+    pass
+
+
+class StepperMotorDriver:
+    """步进电机驱动器基类"""
+    
+    # 寄存器地址常量
+    REG_STATUS = 0x00
+    REG_POSITION_HIGH = 0x01
+    REG_POSITION_LOW = 0x02
+    REG_ACTUAL_SPEED = 0x03
+    REG_EMERGENCY_STOP = 0x04
+    REG_CURRENT = 0x05
+    REG_ENABLE = 0x06
+    REG_PWM_OUTPUT = 0x07
+    REG_ZERO_SINGLE = 0x0E
+    REG_ZERO_COMMAND = 0x0F
+    
+    # 位置模式寄存器
+    REG_TARGET_POSITION_HIGH = 0x10
+    REG_TARGET_POSITION_LOW = 0x11
+    REG_POSITION_SPEED = 0x13
+    REG_POSITION_ACCELERATION = 0x14
+    REG_POSITION_PRECISION = 0x15
+    
+    # 速度模式寄存器
+    REG_SPEED_MODE_SPEED = 0x61
+    REG_SPEED_MODE_ACCELERATION = 0x62
+    
+    # 设备参数寄存器
+    REG_DEVICE_ADDRESS = 0xE0
+    REG_DEFAULT_SPEED = 0xE7
+    REG_DEFAULT_ACCELERATION = 0xE8
+    
+    def __init__(self, port: str, baudrate: int = 115200, timeout: float = 1.0):
+        """
+        初始化步进电机驱动器
+        
+        Args:
+            port: 串口端口名
+            baudrate: 波特率
+            timeout: 通信超时时间
+        """
+        self.port = port
+        self.baudrate = baudrate
+        self.timeout = timeout
+        self.serial_conn: Optional[serial.Serial] = None
+        
+    def connect(self) -> bool:
+        """
+        建立串口连接
+        
+        Returns:
+            连接是否成功
+        """
+        try:
+            self.serial_conn = serial.Serial(
+                port=self.port,
+                baudrate=self.baudrate,
+                bytesize=serial.EIGHTBITS,
+                parity=serial.PARITY_NONE,
+                stopbits=serial.STOPBITS_ONE,
+                timeout=self.timeout
+            )
+            logger.info(f"已连接到串口: {self.port}")
+            return True
+        except Exception as e:
+            logger.error(f"串口连接失败: {e}")
+            return False
+    
+    def disconnect(self) -> None:
+        """关闭串口连接"""
+        if self.serial_conn and self.serial_conn.is_open:
+            self.serial_conn.close()
+            logger.info("串口连接已关闭")
+    
+    def __enter__(self):
+        """上下文管理器入口"""
+        if self.connect():
+            return self
+        raise ModbusException("无法建立串口连接")
+    
+    def __exit__(self, exc_type, exc_val, exc_tb):
+        """上下文管理器出口"""
+        self.disconnect()
+    
+    @staticmethod
+    def calculate_crc(data: bytes) -> bytes:
+        """
+        计算Modbus CRC校验码
+        
+        Args:
+            data: 待校验的数据
+            
+        Returns:
+            CRC校验码 (2字节)
+        """
+        crc = 0xFFFF
+        for byte in data:
+            crc ^= byte
+            for _ in range(8):
+                if crc & 0x0001:
+                    crc >>= 1
+                    crc ^= 0xA001
+                else:
+                    crc >>= 1
+        return struct.pack('<H', crc)
+    
+    def _send_command(self, slave_addr: int, data: bytes) -> bytes:
+        """
+        发送Modbus命令并接收响应
+        
+        Args:
+            slave_addr: 从站地址
+            data: 命令数据
+            
+        Returns:
+            响应数据
+            
+        Raises:
+            ModbusException: 通信异常
+        """
+        if not self.serial_conn or not self.serial_conn.is_open:
+            raise ModbusException("串口未连接")
+        
+        # 构建完整命令
+        command = bytes([slave_addr]) + data
+        crc = self.calculate_crc(command)
+        full_command = command + crc
+        
+        # 清空接收缓冲区
+        self.serial_conn.reset_input_buffer()
+        
+        # 发送命令
+        self.serial_conn.write(full_command)
+        logger.debug(f"发送命令: {' '.join(f'{b:02X}' for b in full_command)}")
+        
+        # 等待响应
+        time.sleep(0.01)  # 短暂延时
+        
+        # 读取响应
+        response = self.serial_conn.read(256)  # 最大读取256字节
+        if not response:
+            raise ModbusException("未收到响应")
+        
+        logger.debug(f"接收响应: {' '.join(f'{b:02X}' for b in response)}")
+        
+        # 验证CRC
+        if len(response) < 3:
+            raise ModbusException("响应数据长度不足")
+        
+        data_part = response[:-2]
+        received_crc = response[-2:]
+        calculated_crc = self.calculate_crc(data_part)
+        
+        if received_crc != calculated_crc:
+            raise ModbusException("CRC校验失败")
+        
+        return response
+    
+    def read_registers(self, slave_addr: int, start_addr: int, count: int) -> list:
+        """
+        读取保持寄存器
+        
+        Args:
+            slave_addr: 从站地址
+            start_addr: 起始地址
+            count: 寄存器数量
+            
+        Returns:
+            寄存器值列表
+        """
+        data = struct.pack('>BHH', ModbusFunction.READ_HOLDING_REGISTERS.value, start_addr, count)
+        response = self._send_command(slave_addr, data)
+        
+        if len(response) < 5:
+            raise ModbusException("响应长度不足")
+        
+        if response[1] != ModbusFunction.READ_HOLDING_REGISTERS.value:
+            raise ModbusException(f"功能码错误: {response[1]:02X}")
+        
+        byte_count = response[2]
+        values = []
+        for i in range(0, byte_count, 2):
+            value = struct.unpack('>H', response[3+i:5+i])[0]
+            values.append(value)
+        
+        return values
+    
+    def write_single_register(self, slave_addr: int, addr: int, value: int) -> bool:
+        """
+        写入单个寄存器
+        
+        Args:
+            slave_addr: 从站地址
+            addr: 寄存器地址
+            value: 寄存器值
+            
+        Returns:
+            写入是否成功
+        """
+        data = struct.pack('>BHH', ModbusFunction.WRITE_SINGLE_REGISTER.value, addr, value)
+        response = self._send_command(slave_addr, data)
+        
+        return len(response) >= 8 and response[1] == ModbusFunction.WRITE_SINGLE_REGISTER.value
+    
+    def write_multiple_registers(self, slave_addr: int, start_addr: int, values: list) -> bool:
+        """
+        写入多个寄存器
+        
+        Args:
+            slave_addr: 从站地址
+            start_addr: 起始地址
+            values: 寄存器值列表
+            
+        Returns:
+            写入是否成功
+        """
+        byte_count = len(values) * 2
+        data = struct.pack('>BHHB', ModbusFunction.WRITE_MULTIPLE_REGISTERS.value, 
+                          start_addr, len(values), byte_count)
+        
+        for value in values:
+            data += struct.pack('>H', value)
+        
+        response = self._send_command(slave_addr, data)
+        
+        return len(response) >= 8 and response[1] == ModbusFunction.WRITE_MULTIPLE_REGISTERS.value
+
+
+class XYZStepperController(StepperMotorDriver):
+    """XYZ三轴步进电机控制器"""
+    
+    # 电机配置常量
+    STEPS_PER_REVOLUTION = 16384  # 每圈步数
+    
+    def __init__(self, port: str, baudrate: int = 115200, timeout: float = 1.0):
+        """
+        初始化XYZ三轴步进电机控制器
+        
+        Args:
+            port: 串口端口名
+            baudrate: 波特率
+            timeout: 通信超时时间
+        """
+        super().__init__(port, baudrate, timeout)
+        self.axis_addresses = {
+            MotorAxis.X: 1,
+            MotorAxis.Y: 2,
+            MotorAxis.Z: 3
+        }
+    
+    def degrees_to_steps(self, degrees: float) -> int:
+        """
+        将角度转换为步数
+        
+        Args:
+            degrees: 角度值
+            
+        Returns:
+            对应的步数
+        """
+        return int(degrees * self.STEPS_PER_REVOLUTION / 360.0)
+    
+    def steps_to_degrees(self, steps: int) -> float:
+        """
+        将步数转换为角度
+        
+        Args:
+            steps: 步数
+            
+        Returns:
+            对应的角度值
+        """
+        return steps * 360.0 / self.STEPS_PER_REVOLUTION
+    
+    def revolutions_to_steps(self, revolutions: float) -> int:
+        """
+        将圈数转换为步数
+        
+        Args:
+            revolutions: 圈数
+            
+        Returns:
+            对应的步数
+        """
+        return int(revolutions * self.STEPS_PER_REVOLUTION)
+    
+    def steps_to_revolutions(self, steps: int) -> float:
+        """
+        将步数转换为圈数
+        
+        Args:
+            steps: 步数
+            
+        Returns:
+            对应的圈数
+        """
+        return steps / self.STEPS_PER_REVOLUTION
+    
+    def get_motor_status(self, axis: MotorAxis) -> MotorPosition:
+        """
+        获取电机状态信息
+        
+        Args:
+            axis: 电机轴
+            
+        Returns:
+            电机位置信息
+        """
+        addr = self.axis_addresses[axis]
+        
+        # 读取状态、位置、速度、电流
+        values = self.read_registers(addr, self.REG_STATUS, 6)
+        
+        status = MotorStatus(values[0])
+        position_high = values[1]
+        position_low = values[2]
+        speed = values[3]
+        current = values[5]
+        
+        # 合并32位位置
+        position = (position_high << 16) | position_low
+        # 处理有符号数
+        if position > 0x7FFFFFFF:
+            position -= 0x100000000
+        
+        return MotorPosition(position, speed, current, status)
+    
+    def emergency_stop(self, axis: MotorAxis) -> bool:
+        """
+        紧急停止电机
+        
+        Args:
+            axis: 电机轴
+            
+        Returns:
+            操作是否成功
+        """
+        addr = self.axis_addresses[axis]
+        return self.write_single_register(addr, self.REG_EMERGENCY_STOP, 0x0000)
+    
+    def enable_motor(self, axis: MotorAxis, enable: bool = True) -> bool:
+        """
+        使能/失能电机
+        
+        Args:
+            axis: 电机轴
+            enable: True为使能，False为失能
+            
+        Returns:
+            操作是否成功
+        """
+        addr = self.axis_addresses[axis]
+        value = 0x0001 if enable else 0x0000
+        return self.write_single_register(addr, self.REG_ENABLE, value)
+    
+    def move_to_position(self, axis: MotorAxis, position: int, speed: int = 5000, 
+                        acceleration: int = 1000, precision: int = 100) -> bool:
+        """
+        移动到指定位置
+        
+        Args:
+            axis: 电机轴
+            position: 目标位置(步数)
+            speed: 运行速度(rpm)
+            acceleration: 加速度(rpm/s)
+            precision: 到位精度
+            
+        Returns:
+            操作是否成功
+        """
+        addr = self.axis_addresses[axis]
+        
+        # 处理32位位置
+        if position < 0:
+            position += 0x100000000
+        
+        position_high = (position >> 16) & 0xFFFF
+        position_low = position & 0xFFFF
+        
+        values = [
+            position_high,     # 目标位置高位
+            position_low,      # 目标位置低位
+            0x0000,           # 保留
+            speed,            # 速度
+            acceleration,     # 加速度
+            precision         # 精度
+        ]
+        
+        return self.write_multiple_registers(addr, self.REG_TARGET_POSITION_HIGH, values)
+    
+    def set_speed_mode(self, axis: MotorAxis, speed: int, acceleration: int = 1000) -> bool:
+        """
+        设置速度模式运行
+        
+        Args:
+            axis: 电机轴
+            speed: 运行速度(rpm)，正值正转，负值反转
+            acceleration: 加速度(rpm/s)
+            
+        Returns:
+            操作是否成功
+        """
+        addr = self.axis_addresses[axis]
+        
+        # 处理负数
+        if speed < 0:
+            speed = 0x10000 + speed  # 补码表示
+        
+        values = [0x0000, speed, acceleration, 0x0000]
+        
+        return self.write_multiple_registers(addr, 0x60, values)
+    
+    def home_axis(self, axis: MotorAxis) -> bool:
+        """
+        轴归零操作
+        
+        Args:
+            axis: 电机轴
+            
+        Returns:
+            操作是否成功
+        """
+        addr = self.axis_addresses[axis]
+        return self.write_single_register(addr, self.REG_ZERO_SINGLE, 0x0001)
+    
+    def wait_for_completion(self, axis: MotorAxis, timeout: float = 30.0) -> bool:
+        """
+        等待电机运动完成
+        
+        Args:
+            axis: 电机轴
+            timeout: 超时时间(秒)
+            
+        Returns:
+            是否在超时前完成
+        """
+        start_time = time.time()
+        
+        while time.time() - start_time < timeout:
+            status = self.get_motor_status(axis)
+            if status.status == MotorStatus.STANDBY:
+                return True
+            time.sleep(0.1)
+        
+        logger.warning(f"{axis.name}轴运动超时")
+        return False
+    
+    def move_xyz(self, x: Optional[int] = None, y: Optional[int] = None, z: Optional[int] = None,
+                speed: int = 5000, acceleration: int = 1000) -> Dict[MotorAxis, bool]:
+        """
+        同时控制XYZ轴移动
+        
+        Args:
+            x: X轴目标位置
+            y: Y轴目标位置
+            z: Z轴目标位置
+            speed: 运行速度
+            acceleration: 加速度
+            
+        Returns:
+            各轴操作结果字典
+        """
+        results = {}
+        
+        if x is not None:
+            results[MotorAxis.X] = self.move_to_position(MotorAxis.X, x, speed, acceleration)
+        
+        if y is not None:
+            results[MotorAxis.Y] = self.move_to_position(MotorAxis.Y, y, speed, acceleration)
+        
+        if z is not None:
+            results[MotorAxis.Z] = self.move_to_position(MotorAxis.Z, z, speed, acceleration)
+        
+        return results
+    
+    def move_xyz_degrees(self, x_deg: Optional[float] = None, y_deg: Optional[float] = None, 
+                        z_deg: Optional[float] = None, speed: int = 5000, 
+                        acceleration: int = 1000) -> Dict[MotorAxis, bool]:
+        """
+        使用角度值同时移动多个轴到指定位置
+        
+        Args:
+            x_deg: X轴目标角度（度）
+            y_deg: Y轴目标角度（度）
+            z_deg: Z轴目标角度（度）
+            speed: 移动速度
+            acceleration: 加速度
+            
+        Returns:
+            各轴移动操作结果
+        """
+        # 将角度转换为步数
+        x_steps = self.degrees_to_steps(x_deg) if x_deg is not None else None
+        y_steps = self.degrees_to_steps(y_deg) if y_deg is not None else None
+        z_steps = self.degrees_to_steps(z_deg) if z_deg is not None else None
+        
+        return self.move_xyz(x_steps, y_steps, z_steps, speed, acceleration)
+    
+    def move_xyz_revolutions(self, x_rev: Optional[float] = None, y_rev: Optional[float] = None, 
+                           z_rev: Optional[float] = None, speed: int = 5000, 
+                           acceleration: int = 1000) -> Dict[MotorAxis, bool]:
+        """
+        使用圈数值同时移动多个轴到指定位置
+        
+        Args:
+            x_rev: X轴目标圈数
+            y_rev: Y轴目标圈数
+            z_rev: Z轴目标圈数
+            speed: 移动速度
+            acceleration: 加速度
+            
+        Returns:
+            各轴移动操作结果
+        """
+        # 将圈数转换为步数
+        x_steps = self.revolutions_to_steps(x_rev) if x_rev is not None else None
+        y_steps = self.revolutions_to_steps(y_rev) if y_rev is not None else None
+        z_steps = self.revolutions_to_steps(z_rev) if z_rev is not None else None
+        
+        return self.move_xyz(x_steps, y_steps, z_steps, speed, acceleration)
+    
+    def move_to_position_degrees(self, axis: MotorAxis, degrees: float, speed: int = 5000, 
+                               acceleration: int = 1000, precision: int = 100) -> bool:
+        """
+        使用角度值移动单个轴到指定位置
+        
+        Args:
+            axis: 电机轴
+            degrees: 目标角度（度）
+            speed: 移动速度
+            acceleration: 加速度
+            precision: 精度
+            
+        Returns:
+            移动操作是否成功
+        """
+        steps = self.degrees_to_steps(degrees)
+        return self.move_to_position(axis, steps, speed, acceleration, precision)
+    
+    def move_to_position_revolutions(self, axis: MotorAxis, revolutions: float, speed: int = 5000, 
+                                   acceleration: int = 1000, precision: int = 100) -> bool:
+        """
+        使用圈数值移动单个轴到指定位置
+        
+        Args:
+            axis: 电机轴
+            revolutions: 目标圈数
+            speed: 移动速度
+            acceleration: 加速度
+            precision: 精度
+            
+        Returns:
+            移动操作是否成功
+        """
+        steps = self.revolutions_to_steps(revolutions)
+        return self.move_to_position(axis, steps, speed, acceleration, precision)
+    
+    def stop_all_axes(self) -> Dict[MotorAxis, bool]:
+        """
+        紧急停止所有轴
+        
+        Returns:
+            各轴停止结果字典
+        """
+        results = {}
+        for axis in MotorAxis:
+            results[axis] = self.emergency_stop(axis)
+        return results
+    
+    def enable_all_axes(self, enable: bool = True) -> Dict[MotorAxis, bool]:
+        """
+        使能/失能所有轴
+        
+        Args:
+            enable: True为使能，False为失能
+            
+        Returns:
+            各轴操作结果字典
+        """
+        results = {}
+        for axis in MotorAxis:
+            results[axis] = self.enable_motor(axis, enable)
+        return results
+    
+    def get_all_positions(self) -> Dict[MotorAxis, MotorPosition]:
+        """
+        获取所有轴的位置信息
+        
+        Returns:
+            各轴位置信息字典
+        """
+        positions = {}
+        for axis in MotorAxis:
+            positions[axis] = self.get_motor_status(axis)
+        return positions
+    
+    def home_all_axes(self) -> Dict[MotorAxis, bool]:
+        """
+        所有轴归零
+        
+        Returns:
+            各轴归零结果字典
+        """
+        results = {}
+        for axis in MotorAxis:
+            results[axis] = self.home_axis(axis)
+        return results

unilabos/devices/laiyu_liquid/tests/__init__.py

@@ -0,0 +1,13 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+LaiYu液体处理设备测试模块
+
+该模块包含LaiYu液体处理设备的测试用例：
+- test_deck_config.py: 工作台配置测试
+
+作者: UniLab团队
+版本: 2.0.0
+"""
+
+__all__ = []

unilabos/devices/laiyu_liquid/tests/test_deck_config.py

@@ -0,0 +1,315 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+测试脚本：验证更新后的deck配置是否正常工作
+"""
+
+import sys
+import os
+import json
+
+# 添加项目根目录到Python路径
+project_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
+sys.path.insert(0, project_root)
+
+def test_config_loading():
+    """测试配置文件加载功能"""
+    print("=" * 50)
+    print("测试配置文件加载功能")
+    print("=" * 50)
+    
+    try:
+        # 直接测试配置文件加载
+        config_path = os.path.join(os.path.dirname(__file__), "controllers", "deckconfig.json")
+        fallback_path = os.path.join(os.path.dirname(__file__), "config", "deck.json")
+        
+        config = None
+        config_source = ""
+        
+        if os.path.exists(config_path):
+            with open(config_path, 'r', encoding='utf-8') as f:
+                config = json.load(f)
+            config_source = "config/deckconfig.json"
+        elif os.path.exists(fallback_path):
+            with open(fallback_path, 'r', encoding='utf-8') as f:
+                config = json.load(f)
+            config_source = "config/deck.json"
+        else:
+            print("❌ 配置文件不存在")
+            return False
+        
+        print(f"✅ 配置文件加载成功: {config_source}")
+        print(f"   - 甲板尺寸: {config.get('size_x', 'N/A')} x {config.get('size_y', 'N/A')} x {config.get('size_z', 'N/A')}")
+        print(f"   - 子模块数量: {len(config.get('children', []))}")
+        
+        # 检查各个模块是否存在
+        modules = config.get('children', [])
+        module_types = [module.get('type') for module in modules]
+        module_names = [module.get('name') for module in modules]
+        
+        print(f"   - 模块类型: {', '.join(set(filter(None, module_types)))}")
+        print(f"   - 模块名称: {', '.join(filter(None, module_names))}")
+        
+        return config
+    except Exception as e:
+        print(f"❌ 配置文件加载失败: {e}")
+        return None
+
+def test_module_coordinates(config):
+    """测试各模块的坐标信息"""
+    print("\n" + "=" * 50)
+    print("测试模块坐标信息")
+    print("=" * 50)
+    
+    if not config:
+        print("❌ 配置为空，无法测试")
+        return False
+    
+    modules = config.get('children', [])
+    
+    for module in modules:
+        module_name = module.get('name', '未知模块')
+        module_type = module.get('type', '未知类型')
+        position = module.get('position', {})
+        size = module.get('size', {})
+        
+        print(f"\n模块: {module_name} ({module_type})")
+        print(f"   - 位置: ({position.get('x', 0)}, {position.get('y', 0)}, {position.get('z', 0)})")
+        print(f"   - 尺寸: {size.get('x', 0)} x {size.get('y', 0)} x {size.get('z', 0)}")
+        
+        # 检查孔位信息
+        wells = module.get('wells', [])
+        if wells:
+            print(f"   - 孔位数量: {len(wells)}")
+            
+            # 显示前几个和后几个孔位的坐标
+            sample_wells = wells[:3] + wells[-3:] if len(wells) > 6 else wells
+            for well in sample_wells:
+                well_id = well.get('id', '未知')
+                well_pos = well.get('position', {})
+                print(f"     {well_id}: ({well_pos.get('x', 0)}, {well_pos.get('y', 0)}, {well_pos.get('z', 0)})")
+        else:
+            print(f"   - 无孔位信息")
+    
+    return True
+
+def test_coordinate_ranges(config):
+    """测试坐标范围的合理性"""
+    print("\n" + "=" * 50)
+    print("测试坐标范围合理性")
+    print("=" * 50)
+    
+    if not config:
+        print("❌ 配置为空，无法测试")
+        return False
+    
+    deck_size = {
+        'x': config.get('size_x', 340),
+        'y': config.get('size_y', 250),
+        'z': config.get('size_z', 160)
+    }
+    
+    print(f"甲板尺寸: {deck_size['x']} x {deck_size['y']} x {deck_size['z']}")
+    
+    modules = config.get('children', [])
+    all_coordinates = []
+    
+    for module in modules:
+        module_name = module.get('name', '未知模块')
+        wells = module.get('wells', [])
+        
+        for well in wells:
+            well_pos = well.get('position', {})
+            x, y, z = well_pos.get('x', 0), well_pos.get('y', 0), well_pos.get('z', 0)
+            all_coordinates.append((x, y, z, f"{module_name}:{well.get('id', '未知')}"))
+    
+    if not all_coordinates:
+        print("❌ 没有找到任何坐标信息")
+        return False
+    
+    # 计算坐标范围
+    x_coords = [coord[0] for coord in all_coordinates]
+    y_coords = [coord[1] for coord in all_coordinates]
+    z_coords = [coord[2] for coord in all_coordinates]
+    
+    x_range = (min(x_coords), max(x_coords))
+    y_range = (min(y_coords), max(y_coords))
+    z_range = (min(z_coords), max(z_coords))
+    
+    print(f"X坐标范围: {x_range[0]:.2f} ~ {x_range[1]:.2f}")
+    print(f"Y坐标范围: {y_range[0]:.2f} ~ {y_range[1]:.2f}")
+    print(f"Z坐标范围: {z_range[0]:.2f} ~ {z_range[1]:.2f}")
+    
+    # 检查是否超出甲板范围
+    issues = []
+    if x_range[1] > deck_size['x']:
+        issues.append(f"X坐标超出甲板范围: {x_range[1]} > {deck_size['x']}")
+    if y_range[1] > deck_size['y']:
+        issues.append(f"Y坐标超出甲板范围: {y_range[1]} > {deck_size['y']}")
+    if z_range[1] > deck_size['z']:
+        issues.append(f"Z坐标超出甲板范围: {z_range[1]} > {deck_size['z']}")
+    
+    if x_range[0] < 0:
+        issues.append(f"X坐标为负值: {x_range[0]}")
+    if y_range[0] < 0:
+        issues.append(f"Y坐标为负值: {y_range[0]}")
+    if z_range[0] < 0:
+        issues.append(f"Z坐标为负值: {z_range[0]}")
+    
+    if issues:
+        print("⚠️  发现坐标问题:")
+        for issue in issues:
+            print(f"   - {issue}")
+        return False
+    else:
+        print("✅ 所有坐标都在合理范围内")
+        return True
+
+def test_well_spacing(config):
+    """测试孔位间距的一致性"""
+    print("\n" + "=" * 50)
+    print("测试孔位间距一致性")
+    print("=" * 50)
+    
+    if not config:
+        print("❌ 配置为空，无法测试")
+        return False
+    
+    modules = config.get('children', [])
+    
+    for module in modules:
+        module_name = module.get('name', '未知模块')
+        module_type = module.get('type', '未知类型')
+        wells = module.get('wells', [])
+        
+        if len(wells) < 2:
+            continue
+        
+        print(f"\n模块: {module_name} ({module_type})")
+        
+        # 计算相邻孔位的间距
+        spacings_x = []
+        spacings_y = []
+        
+        # 按行列排序孔位
+        wells_by_row = {}
+        for well in wells:
+            well_id = well.get('id', '')
+            if len(well_id) >= 3:  # 如A01格式
+                row = well_id[0]
+                col = int(well_id[1:])
+                if row not in wells_by_row:
+                    wells_by_row[row] = {}
+                wells_by_row[row][col] = well
+        
+        # 计算同行相邻孔位的X间距
+        for row, cols in wells_by_row.items():
+            sorted_cols = sorted(cols.keys())
+            for i in range(len(sorted_cols) - 1):
+                col1, col2 = sorted_cols[i], sorted_cols[i + 1]
+                if col2 == col1 + 1:  # 相邻列
+                    pos1 = cols[col1].get('position', {})
+                    pos2 = cols[col2].get('position', {})
+                    spacing = abs(pos2.get('x', 0) - pos1.get('x', 0))
+                    spacings_x.append(spacing)
+        
+        # 计算同列相邻孔位的Y间距
+        cols_by_row = {}
+        for well in wells:
+            well_id = well.get('id', '')
+            if len(well_id) >= 3:
+                row = ord(well_id[0]) - ord('A')
+                col = int(well_id[1:])
+                if col not in cols_by_row:
+                    cols_by_row[col] = {}
+                cols_by_row[col][row] = well
+        
+        for col, rows in cols_by_row.items():
+            sorted_rows = sorted(rows.keys())
+            for i in range(len(sorted_rows) - 1):
+                row1, row2 = sorted_rows[i], sorted_rows[i + 1]
+                if row2 == row1 + 1:  # 相邻行
+                    pos1 = rows[row1].get('position', {})
+                    pos2 = rows[row2].get('position', {})
+                    spacing = abs(pos2.get('y', 0) - pos1.get('y', 0))
+                    spacings_y.append(spacing)
+        
+        # 检查间距一致性
+        if spacings_x:
+            avg_x = sum(spacings_x) / len(spacings_x)
+            max_diff_x = max(abs(s - avg_x) for s in spacings_x)
+            print(f"   - X方向平均间距: {avg_x:.2f}mm, 最大偏差: {max_diff_x:.2f}mm")
+            
+        if spacings_y:
+            avg_y = sum(spacings_y) / len(spacings_y)
+            max_diff_y = max(abs(s - avg_y) for s in spacings_y)
+            print(f"   - Y方向平均间距: {avg_y:.2f}mm, 最大偏差: {max_diff_y:.2f}mm")
+    
+    return True
+
+def main():
+    """主测试函数"""
+    print("LaiYu液体处理设备配置测试")
+    print("测试时间:", os.popen('date').read().strip())
+    
+    # 运行所有测试
+    tests = [
+        ("配置文件加载", test_config_loading),
+    ]
+    
+    config = None
+    results = []
+    
+    for test_name, test_func in tests:
+        try:
+            if test_name == "配置文件加载":
+                result = test_func()
+                config = result if result else None
+                results.append((test_name, bool(result)))
+            else:
+                result = test_func(config)
+                results.append((test_name, result))
+        except Exception as e:
+            print(f"❌ 测试 {test_name} 执行失败: {e}")
+            results.append((test_name, False))
+    
+    # 如果配置加载成功，运行其他测试
+    if config:
+        additional_tests = [
+            ("模块坐标信息", test_module_coordinates),
+            ("坐标范围合理性", test_coordinate_ranges),
+            ("孔位间距一致性", test_well_spacing)
+        ]
+        
+        for test_name, test_func in additional_tests:
+            try:
+                result = test_func(config)
+                results.append((test_name, result))
+            except Exception as e:
+                print(f"❌ 测试 {test_name} 执行失败: {e}")
+                results.append((test_name, False))
+    
+    # 输出测试总结
+    print("\n" + "=" * 50)
+    print("测试总结")
+    print("=" * 50)
+    
+    passed = sum(1 for _, result in results if result)
+    total = len(results)
+    
+    for test_name, result in results:
+        status = "✅ 通过" if result else "❌ 失败"
+        print(f"   {test_name}: {status}")
+    
+    print(f"\n总计: {passed}/{total} 个测试通过")
+    
+    if passed == total:
+        print("🎉 所有测试通过！配置更新成功。")
+        return True
+    else:
+        print("⚠️  部分测试失败，需要进一步检查。")
+        return False
+
+if __name__ == "__main__":
+    success = main()
+    sys.exit(0 if success else 1)

unilabos/devices/laiyu_liquid_test/driver_enable_move_test.py

@@ -0,0 +1,138 @@
+
+import os
+import time
+import json
+import logging
+from xyz_stepper_driver import ModbusRTUTransport, ModbusClient, XYZStepperController, MotorStatus
+
+# ========== 日志配置 ==========
+logging.basicConfig(level=logging.INFO)
+logger = logging.getLogger("XYZ_Debug")
+
+
+def create_controller(port: str = "/dev/ttyUSB1", baudrate: int = 115200) -> XYZStepperController:
+    """
+    初始化通信层与三轴控制器
+    """
+    logger.info(f"🔧 初始化控制器: {port} @ {baudrate}bps")
+    transport = ModbusRTUTransport(port=port, baudrate=baudrate)
+    transport.open()
+    client = ModbusClient(transport)
+    return XYZStepperController(client=client, port=port, baudrate=baudrate)
+
+
+def load_existing_soft_zero(ctrl: XYZStepperController, path: str = "work_origin.json") -> bool:
+    """
+    如果已存在软零点文件则加载，否则返回 False
+    """
+    if not os.path.exists(path):
+        logger.warning("⚠ 未找到已有软零点文件，将等待人工定义新零点。")
+        return False
+
+    try:
+        with open(path, "r", encoding="utf-8") as f:
+            data = json.load(f)
+        origin = data.get("work_origin_steps", {})
+        ctrl.work_origin_steps = origin
+        ctrl.is_homed = True
+        logger.info(f"✔ 已加载软零点文件：{path}")
+        logger.info(f"当前软零点步数: {origin}")
+        return True
+    except Exception as e:
+        logger.error(f"读取软零点文件失败: {e}")
+        return False
+
+
+def test_enable_axis(ctrl: XYZStepperController):
+    """
+    依次使能 X / Y / Z 三轴
+    """
+    logger.info("=== 测试各轴使能 ===")
+    for axis in ["X", "Y", "Z"]:
+        try:
+            result = ctrl.enable(axis, True)
+            if result:
+                vals = ctrl.get_status(axis)
+                st = MotorStatus(vals[3])
+                logger.info(f"{axis} 轴使能成功，当前状态: {st.name}")
+            else:
+                logger.error(f"{axis} 轴使能失败")
+        except Exception as e:
+            logger.error(f"{axis} 轴使能异常: {e}")
+        time.sleep(0.5)
+
+
+def test_status_read(ctrl: XYZStepperController):
+    """
+    读取各轴当前状态（调试）
+    """
+    logger.info("=== 当前各轴状态 ===")
+    for axis in ["X", "Y", "Z"]:
+        try:
+            vals = ctrl.get_status(axis)
+            st = MotorStatus(vals[3])
+            logger.info(
+                f"{axis}: steps={vals[0]}, speed={vals[1]}, "
+                f"current={vals[2]}, status={st.name}"
+            )
+        except Exception as e:
+            logger.error(f"获取 {axis} 状态失败: {e}")
+        time.sleep(0.2)
+
+
+def redefine_soft_zero(ctrl: XYZStepperController):
+    """
+    手动重新定义软零点
+    """
+    logger.info("=== ⚙️ 重新定义软零点 ===")
+    ctrl.define_current_as_zero("work_origin.json")
+    logger.info("✅ 新软零点已写入 work_origin.json")
+
+
+def test_soft_zero_move(ctrl: XYZStepperController):
+    """
+    以软零点为基准执行三轴运动测试
+    """
+    logger.info("=== 测试软零点相对运动 ===")
+    ctrl.move_xyz_work(x=100.0, y=100.0, z=40.0, speed=100, acc=800)
+
+    for axis in ["X", "Y", "Z"]:
+        ctrl.wait_complete(axis)
+
+    test_status_read(ctrl)
+    logger.info("✅ 软零点运动测试完成")
+
+
+def main():
+    ctrl = create_controller(port="/dev/ttyUSB1", baudrate=115200)
+
+    try:
+        test_enable_axis(ctrl)
+        test_status_read(ctrl)
+
+        # === 初始化或加载软零点 ===
+        loaded = load_existing_soft_zero(ctrl)
+        if not loaded:
+            logger.info("👣 首次运行，定义软零点并保存。")
+            ctrl.define_current_as_zero("work_origin.json")
+
+        # === 软零点回归动作 ===
+        ctrl.return_to_work_origin()
+
+        # === 可选软零点运动测试 ===
+        # test_soft_zero_move(ctrl)
+
+    except KeyboardInterrupt:
+        logger.info("🛑 手动中断退出")
+
+    except Exception as e:
+        logger.exception(f"❌ 调试出错: {e}")
+
+    finally:
+        if hasattr(ctrl.client, "transport"):
+            ctrl.client.transport.close()
+        logger.info("串口已安全关闭 ✅")
+
+
+if __name__ == "__main__":
+    main()

unilabos/devices/laiyu_liquid_test/driver_status_test.py

@@ -0,0 +1,58 @@
+
+import logging
+from xyz_stepper_driver import (
+    ModbusRTUTransport,
+    ModbusClient,
+    XYZStepperController,
+    MotorAxis,
+)
+
+logger = logging.getLogger("XYZStepperCommTest")
+logging.basicConfig(level=logging.INFO, format="%(asctime)s [%(levelname)s] %(message)s")
+
+
+def test_xyz_stepper_comm():
+    """仅测试 Modbus 通信是否正常（并输出寄存器数据，不做电机运动）"""
+    port = "/dev/ttyUSB1"
+    baudrate = 115200
+    timeout = 1.2  # 略长避免响应被截断
+
+    logger.info(f"尝试连接 Modbus 设备 {port} ...")
+    transport = ModbusRTUTransport(port, baudrate=baudrate, timeout=timeout)
+    transport.open()
+
+    client = ModbusClient(transport)
+    ctrl = XYZStepperController(client)
+
+    try:
+        logger.info("✅ 串口已打开，开始读取三个轴状态（打印寄存器内容） ...")
+        for axis in [MotorAxis.X, MotorAxis.Y, MotorAxis.Z]:
+            addr = ctrl.axis_addr[axis]
+
+            try:
+                # # 在 get_status 前打印原始寄存器内容
+                # regs = client.read_registers(addr, ctrl.REG_STATUS, 6)
+                # hex_regs = [f"0x{val:04X}" for val in regs]
+                # logger.info(f"[{axis.name}] 原始寄存器 ({len(regs)} 个): {regs} -> {hex_regs}")
+
+                # 调用 get_status() 正常解析
+                status = ctrl.get_status(axis)
+                logger.info(
+                    f"[{axis.name}] ✅ 通信正常: steps={status.steps}, speed={status.speed}, "
+                    f"current={status.current}, status={status.status.name}"
+                )
+
+            except Exception as e_axis:
+                logger.error(f"[{axis.name}] ❌ 通信失败: {e_axis}")
+
+
+    except Exception as e:
+        logger.error(f"❌ 通讯测试失败: {e}")
+
+    finally:
+        transport.close()
+        logger.info("🔌 串口已关闭")
+
+
+if __name__ == "__main__":
+    test_xyz_stepper_comm()

unilabos/devices/laiyu_liquid_test/work_origin.json

@@ -0,0 +1,8 @@
+{
+    "work_origin_steps": {
+        "x": 11799,
+        "y": 11476,
+        "z": 3312
+    },
+    "timestamp": "2025-11-04T15:31:09.802155"
+}

unilabos/devices/laiyu_liquid_test/xyz_stepper_driver.py

@@ -0,0 +1,336 @@
+
+"""
+XYZ 三轴步进电机驱动（统一字符串参数版）
+基于 Modbus RTU 协议
+Author: Xiuyu Chen (Modified by Assistant)
+"""
+
+import serial  # type: ignore
+import struct
+import time
+import logging
+from enum import Enum
+from dataclasses import dataclass
+from typing import Optional, List, Dict
+
+# ========== 日志配置 ==========
+logging.basicConfig(level=logging.INFO)
+logger = logging.getLogger("XYZStepper")
+
+
+# ========== 层 1：Modbus RTU ==========
+class ModbusException(Exception):
+    pass
+
+
+class ModbusRTUTransport:
+    """底层串口通信层"""
+
+    def __init__(self, port: str, baudrate: int = 115200, timeout: float = 1.2):
+        self.port = port
+        self.baudrate = baudrate
+        self.timeout = timeout
+        self.ser: Optional[serial.Serial] = None
+
+    def open(self):
+        try:
+            self.ser = serial.Serial(
+                port=self.port,
+                baudrate=self.baudrate,
+                bytesize=serial.EIGHTBITS,
+                parity=serial.PARITY_NONE,
+                stopbits=serial.STOPBITS_ONE,
+                timeout=0.02,
+                write_timeout=0.5,
+            )
+            logger.info(f"[RTU] 串口连接成功: {self.port}")
+        except Exception as e:
+            raise ModbusException(f"无法打开串口 {self.port}: {e}")
+
+    def close(self):
+        if self.ser and self.ser.is_open:
+            self.ser.close()
+            logger.info("[RTU] 串口已关闭")
+
+    def send(self, frame: bytes):
+        if not self.ser or not self.ser.is_open:
+            raise ModbusException("串口未连接")
+
+        self.ser.reset_input_buffer()
+        self.ser.write(frame)
+        self.ser.flush()
+        logger.debug(f"[TX] {frame.hex(' ').upper()}")
+
+    def receive(self, expected_len: int) -> bytes:
+        if not self.ser or not self.ser.is_open:
+            raise ModbusException("串口未连接")
+
+        start = time.time()
+        buf = bytearray()
+        while len(buf) < expected_len and (time.time() - start) < self.timeout:
+            chunk = self.ser.read(expected_len - len(buf))
+            if chunk:
+                buf.extend(chunk)
+            else:
+                time.sleep(0.01)
+        return bytes(buf)
+
+
+# ========== 层 2：Modbus 协议 ==========
+class ModbusFunction(Enum):
+    READ_HOLDING_REGISTERS = 0x03
+    WRITE_SINGLE_REGISTER = 0x06
+    WRITE_MULTIPLE_REGISTERS = 0x10
+
+
+class ModbusClient:
+    """Modbus RTU 客户端"""
+
+    def __init__(self, transport: ModbusRTUTransport):
+        self.transport = transport
+
+    @staticmethod
+    def calc_crc(data: bytes) -> bytes:
+        crc = 0xFFFF
+        for b in data:
+            crc ^= b
+            for _ in range(8):
+                crc = (crc >> 1) ^ 0xA001 if crc & 1 else crc >> 1
+        return struct.pack("<H", crc)
+
+    def send_request(self, addr: int, func: int, payload: bytes) -> bytes:
+        frame = bytes([addr, func]) + payload
+        full = frame + self.calc_crc(frame)
+        self.transport.send(full)
+        time.sleep(0.01)
+        resp = self.transport.ser.read(256)
+        if not resp:
+            raise ModbusException("未收到响应")
+
+        start = resp.find(bytes([addr, func]))
+        if start > 0:
+            resp = resp[start:]
+        if len(resp) < 5:
+            raise ModbusException(f"响应长度不足: {resp.hex(' ').upper()}")
+        if self.calc_crc(resp[:-2]) != resp[-2:]:
+            raise ModbusException("CRC 校验失败")
+        return resp
+
+    def read_registers(self, addr: int, start: int, count: int) -> List[int]:
+        payload = struct.pack(">HH", start, count)
+        resp = self.send_request(addr, ModbusFunction.READ_HOLDING_REGISTERS.value, payload)
+        byte_count = resp[2]
+        regs = [struct.unpack(">H", resp[3 + i:5 + i])[0] for i in range(0, byte_count, 2)]
+        return regs
+
+    def write_single_register(self, addr: int, reg: int, val: int) -> bool:
+        payload = struct.pack(">HH", reg, val)
+        resp = self.send_request(addr, ModbusFunction.WRITE_SINGLE_REGISTER.value, payload)
+        return resp[1] == ModbusFunction.WRITE_SINGLE_REGISTER.value
+
+    def write_multiple_registers(self, addr: int, start: int, values: List[int]) -> bool:
+        byte_count = len(values) * 2
+        payload = struct.pack(">HHB", start, len(values), byte_count)
+        payload += b"".join(struct.pack(">H", v & 0xFFFF) for v in values)
+        resp = self.send_request(addr, ModbusFunction.WRITE_MULTIPLE_REGISTERS.value, payload)
+        return resp[1] == ModbusFunction.WRITE_MULTIPLE_REGISTERS.value
+
+
+# ========== 层 3：业务逻辑 ==========
+class MotorAxis(Enum):
+    X = 1
+    Y = 2
+    Z = 3
+
+
+class MotorStatus(Enum):
+    STANDBY = 0
+    RUNNING = 1
+    COLLISION_STOP = 2
+    FORWARD_LIMIT_STOP = 3
+    REVERSE_LIMIT_STOP = 4
+
+
+@dataclass
+class MotorPosition:
+    steps: int
+    speed: int
+    current: int
+    status: MotorStatus
+
+
+class XYZStepperController:
+    """XYZ 三轴步进控制器（字符串接口版）"""
+
+    STEPS_PER_REV = 16384
+    LEAD_MM_X, LEAD_MM_Y, LEAD_MM_Z = 80.0, 80.0, 5.0
+    STEPS_PER_MM_X = STEPS_PER_REV / LEAD_MM_X
+    STEPS_PER_MM_Y = STEPS_PER_REV / LEAD_MM_Y
+    STEPS_PER_MM_Z = STEPS_PER_REV / LEAD_MM_Z
+
+    REG_STATUS, REG_POS_HIGH, REG_POS_LOW = 0x00, 0x01, 0x02
+    REG_ACTUAL_SPEED, REG_CURRENT, REG_ENABLE = 0x03, 0x05, 0x06
+    REG_ZERO_CMD, REG_TARGET_HIGH, REG_TARGET_LOW = 0x0F, 0x10, 0x11
+    REG_SPEED, REG_ACCEL, REG_PRECISION, REG_START = 0x13, 0x14, 0x15, 0x16
+    REG_COMMAND = 0x60
+
+    def __init__(self, client: Optional[ModbusClient] = None, 
+                port="/dev/ttyUSB0", baudrate=115200, 
+                origin_path="unilabos/devices/laiyu_liquid_test/work_origin.json"):
+        if client is None:
+            transport = ModbusRTUTransport(port, baudrate)
+            transport.open()
+            self.client = ModbusClient(transport)
+        else:
+            self.client = client
+
+        self.axis_addr = {MotorAxis.X: 1, MotorAxis.Y: 2, MotorAxis.Z: 3}
+        self.work_origin_steps = {"x": 0, "y": 0, "z": 0}
+        self.is_homed = False
+        self._load_work_origin(origin_path)
+
+    # ========== 基础工具 ==========
+    @staticmethod
+    def s16(v: int) -> int:
+        return v - 0x10000 if v & 0x8000 else v
+
+    @staticmethod
+    def s32(h: int, l: int) -> int:
+        v = (h << 16) | l
+        return v - 0x100000000 if v & 0x80000000 else v
+
+    @classmethod
+    def mm_to_steps(cls, axis: str, mm: float = 0.0) -> int:
+        axis = axis.upper()
+        if axis == "X":
+            return int(mm * cls.STEPS_PER_MM_X)
+        elif axis == "Y":
+            return int(mm * cls.STEPS_PER_MM_Y)
+        elif axis == "Z":
+            return int(mm * cls.STEPS_PER_MM_Z)
+        raise ValueError(f"未知轴: {axis}")
+
+    @classmethod
+    def steps_to_mm(cls, axis: str, steps: int) -> float:
+        axis = axis.upper()
+        if axis == "X":
+            return steps / cls.STEPS_PER_MM_X
+        elif axis == "Y":
+            return steps / cls.STEPS_PER_MM_Y
+        elif axis == "Z":
+            return steps / cls.STEPS_PER_MM_Z
+        raise ValueError(f"未知轴: {axis}")
+
+    # ========== 状态与控制 ==========
+    def get_status(self, axis: str = "Z") -> list:
+        """返回简化数组格式: [steps, speed, current, status_value]"""
+        if isinstance(axis, MotorAxis):
+            axis_enum = axis
+        elif isinstance(axis, str):
+            axis_enum = MotorAxis[axis.upper()]
+        else:
+            raise TypeError("axis 参数必须为 str 或 MotorAxis")
+
+        vals = self.client.read_registers(self.axis_addr[axis_enum], self.REG_STATUS, 6)
+        return [
+            self.s32(vals[1], vals[2]),
+            self.s16(vals[3]),
+            vals[4],
+            int(MotorStatus(vals[0]).value)
+        ]
+
+    def enable(self, axis: str, state: bool) -> bool:
+        a = MotorAxis[axis.upper()]
+        return self.client.write_single_register(self.axis_addr[a], self.REG_ENABLE, 1 if state else 0)
+
+    def wait_complete(self, axis: str, timeout=30.0) -> bool:
+        a = axis.upper()
+        start = time.time()
+        while time.time() - start < timeout:
+            vals = self.get_status(a)
+            st = MotorStatus(vals[3])  # 第4个元素是状态值
+            if st == MotorStatus.STANDBY:
+                return True
+            if st in (MotorStatus.COLLISION_STOP, MotorStatus.FORWARD_LIMIT_STOP, MotorStatus.REVERSE_LIMIT_STOP):
+                logger.warning(f"{a} 轴异常停止: {st.name}")
+                return False
+            time.sleep(0.1)
+        logger.warning(f"{a} 轴运动超时")
+        return False
+
+    # ========== 控制命令 ==========
+    def move_to(self, axis: str, steps: int, speed: int = 2000, acc: int = 500, precision: int = 50) -> bool:
+        a = MotorAxis[axis.upper()]
+        addr = self.axis_addr[a]
+        hi, lo = (steps >> 16) & 0xFFFF, steps & 0xFFFF
+        values = [hi, lo, speed, acc, precision]
+        ok = self.client.write_multiple_registers(addr, self.REG_TARGET_HIGH, values)
+        if ok:
+            self.client.write_single_register(addr, self.REG_START, 1)
+        return ok
+
+    def move_xyz_work(self, x: float = 0.0, y: float = 0.0, z: float = 0.0, speed: int = 100, acc: int = 1500):
+        logger.info("🧭 执行安全多轴运动：Z→XY→Z")
+        if z is not None:
+            safe_z = self._to_machine_steps("Z", 0.0)
+            self.move_to("Z", safe_z, speed, acc)
+            self.wait_complete("Z")
+
+        if x is not None or y is not None:
+            if x is not None:
+                self.move_to("X", self._to_machine_steps("X", x), speed, acc)
+            if y is not None:
+                self.move_to("Y", self._to_machine_steps("Y", y), speed, acc)
+            if x is not None:
+                self.wait_complete("X")
+            if y is not None:
+                self.wait_complete("Y")
+
+        if z is not None:
+            self.move_to("Z", self._to_machine_steps("Z", z), speed, acc)
+            self.wait_complete("Z")
+        logger.info("✅ 多轴顺序运动完成")
+
+    # ========== 坐标与零点 ==========
+    def _to_machine_steps(self, axis: str, mm: float) -> int:
+        base = self.work_origin_steps.get(axis.lower(), 0)
+        return base + self.mm_to_steps(axis, mm)
+
+    def define_current_as_zero(self, save_path="work_origin.json"):
+        import json
+        from datetime import datetime
+
+        origin = {}
+        for axis in ["X", "Y", "Z"]:
+            vals = self.get_status(axis)
+            origin[axis.lower()] = int(vals[0])  # 第1个是步数
+        with open(save_path, "w", encoding="utf-8") as f:
+            json.dump({"work_origin_steps": origin, "timestamp": datetime.now().isoformat()}, f, indent=2)
+        self.work_origin_steps = origin
+        self.is_homed = True
+        logger.info(f"✅ 零点已定义并保存至 {save_path}")
+
+    def _load_work_origin(self, path: str) -> bool:
+        import json, os
+
+        if not os.path.exists(path):
+            logger.warning("⚠️ 未找到软零点文件")
+            return False
+        with open(path, "r", encoding="utf-8") as f:
+            data = json.load(f)
+        self.work_origin_steps = data.get("work_origin_steps", {"x": 0, "y": 0, "z": 0})
+        self.is_homed = True
+        logger.info(f"📂 软零点已加载: {self.work_origin_steps}")
+        return True
+
+    def return_to_work_origin(self, speed: int = 200, acc: int = 800):
+        logger.info("🏁 回工件软零点")
+        self.move_to("Z", self._to_machine_steps("Z", 0.0), speed, acc)
+        self.wait_complete("Z")
+        self.move_to("X", self.work_origin_steps.get("x", 0), speed, acc)
+        self.move_to("Y", self.work_origin_steps.get("y", 0), speed, acc)
+        self.wait_complete("X")
+        self.wait_complete("Y")
+        self.move_to("Z", self.work_origin_steps.get("z", 0), speed, acc)
+        self.wait_complete("Z")
+        logger.info("🎯 回软零点完成 ✅")

unilabos/devices/liquid_handling/laiyu/backend/laiyu_v_backend.py

@@ -153,7 +153,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend):
     if self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED:
         print("已有枪头，无需重复拾取")
         return
-    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
+    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=100)
     self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height,speed=100)
     # self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "pick",channels=use_channels)
     #   goback()
@@ -202,7 +202,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend):
     if self.hardware_interface.tip_status == TipStatus.NO_TIP:
         print("无枪头，无需丢弃")
         return
-    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
+    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z)
     self.hardware_interface.eject_tip
     self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height)  
 
@@ -267,7 +267,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend):
         return
 
     # 移动到吸液位置
-    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
+    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z)
     self.pipette_aspirate(volume=ops[0].volume, flow_rate=flow_rate)
 
 
@@ -340,7 +340,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend):
 
     
     # 移动到排液位置  
-    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
+    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z)
     self.pipette_dispense(volume=ops[0].volume, flow_rate=flow_rate)
 
 

unilabos/devices/liquid_handling/laiyu/controllers/pipette_controller.py

@@ -128,7 +128,6 @@ class PipetteController:
             baudrate=115200
         )
         self.pipette = SOPAPipette(self.config)
-        self.pipette_port = port
         self.tip_status = TipStatus.NO_TIP
         self.current_volume = 0.0
         self.max_volume = 1000.0  # 默认1000ul
@@ -155,7 +154,7 @@ class PipetteController:
             logger.info("移液器连接成功")
             
             # 连接XYZ步进电机控制器（如果提供了端口）
-            if self.xyz_port != self.pipette_port:
+            if self.xyz_port:
                 try:
                     self.xyz_controller = XYZController(self.xyz_port)
                     if self.xyz_controller.connect():
@@ -169,12 +168,7 @@ class PipetteController:
                     self.xyz_controller = None
                     self.xyz_connected = False
             else:
-                try:
-                    self.xyz_controller = XYZController(self.xyz_port, auto_connect=False)
-                    self.xyz_controller.serial_conn = self.pipette.serial_port
-                    self.xyz_controller.is_connected = True
-                except Exception as e:
-                    logger.info("未配置XYZ步进电机端口，跳过运动控制器连接")
+                logger.info("未配置XYZ步进电机端口，跳过运动控制器连接")
             
             return True
         except Exception as e:

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -6,7 +6,6 @@ import traceback
 from collections import Counter
 from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
 
-from typing_extensions import TypedDict
 from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness
 from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
 from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend
@@ -29,15 +28,12 @@ from pylabrobot.resources import (
 )
 
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-class SimpleReturn(TypedDict):
-    samples: list
-    volumes: list
+
 
 class LiquidHandlerMiddleware(LiquidHandler):
     def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8, **kwargs):
         self._simulator = simulator
         self.channel_num = channel_num
-        self.pending_liquids_dict = {}
         joint_config = kwargs.get("joint_config", None)
         if simulator:
             if joint_config:
@@ -135,9 +131,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
             return await self._simulate_handler.drop_tips(
                 tip_spots, use_channels, offsets, allow_nonzero_volume, **backend_kwargs
             )
-        await super().drop_tips(tip_spots, use_channels, offsets, allow_nonzero_volume, **backend_kwargs)
-        self.pending_liquids_dict = {}
-        return 
+        return await super().drop_tips(tip_spots, use_channels, offsets, allow_nonzero_volume, **backend_kwargs)
 
     async def return_tips(
         self, use_channels: Optional[list[int]] = None, allow_nonzero_volume: bool = False, **backend_kwargs
@@ -160,10 +154,8 @@ class LiquidHandlerMiddleware(LiquidHandler):
             offsets = [Coordinate.zero()] * len(use_channels)
         if self._simulator:
             return await self._simulate_handler.discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs)
-        await super().discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs)
-        self.pending_liquids_dict = {}
-        return 
-        
+        return await super().discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs)
+
     def _check_containers(self, resources: Sequence[Resource]):
         super()._check_containers(resources)
 
@@ -179,8 +171,6 @@ class LiquidHandlerMiddleware(LiquidHandler):
         spread: Literal["wide", "tight", "custom"] = "wide",
         **backend_kwargs,
     ):
-
-        
         if self._simulator:
             return await self._simulate_handler.aspirate(
                 resources,
@@ -193,7 +183,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
                 spread,
                 **backend_kwargs,
             )
-        await super().aspirate(
+        return await super().aspirate(
             resources,
             vols,
             use_channels,
@@ -205,18 +195,6 @@ class LiquidHandlerMiddleware(LiquidHandler):
             **backend_kwargs,
         )
 
-        res_samples = []
-        res_volumes = []
-        for resource, volume, channel in zip(resources, vols, use_channels):
-            res_samples.append({"name": resource.name, "sample_uuid": resource.unilabos_extra.get("sample_uuid", None)})
-            res_volumes.append(volume)
-            self.pending_liquids_dict[channel] = {
-                "sample_uuid": resource.unilabos_extra.get("sample_uuid", None),
-                "volume": volume
-            }
-        return SimpleReturn(samples=res_samples, volumes=res_volumes)
-
-
     async def dispense(
         self,
         resources: Sequence[Container],
@@ -228,7 +206,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
         blow_out_air_volume: Optional[List[Optional[float]]] = None,
         spread: Literal["wide", "tight", "custom"] = "wide",
         **backend_kwargs,
-    ) -> SimpleReturn:
+    ):
         if self._simulator:
             return await self._simulate_handler.dispense(
                 resources,
@@ -241,7 +219,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
                 spread,
                 **backend_kwargs,
             )
-        await super().dispense(
+        return await super().dispense(
             resources,
             vols,
             use_channels,
@@ -251,17 +229,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
             blow_out_air_volume,
             **backend_kwargs,
         )
-        res_samples = []
-        res_volumes = []
-        for resource, volume, channel in zip(resources, vols, use_channels):
-            res_uuid = self.pending_liquids_dict[channel]["sample_uuid"]
-            self.pending_liquids_dict[channel]["volume"] -= volume
-            resource.unilabos_extra["sample_uuid"] = res_uuid
-            res_samples.append({"name": resource.name, "sample_uuid": res_uuid})
-            res_volumes.append(volume)
 
-        return SimpleReturn(samples=res_samples, volumes=res_volumes)
-        
     async def transfer(
         self,
         source: Well,
@@ -581,66 +549,25 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
     support_touch_tip = True
     _ros_node: BaseROS2DeviceNode
 
-    def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8, total_height:float = 310):
+    def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8):
         """Initialize a LiquidHandler.
 
         Args:
           backend: Backend to use.
           deck: Deck to use.
         """
-        backend_type = None
-        if isinstance(backend, dict) and "type" in backend:
-            backend_dict = backend.copy()
-            type_str = backend_dict.pop("type")
-            try:
-                # Try to get class from string using globals (current module), or fallback to pylabrobot or unilabos namespaces
-                backend_cls = None
-                if type_str in globals():
-                    backend_cls = globals()[type_str]
-                else:
-                    # Try resolving dotted notation, e.g. "xxx.yyy.ClassName"
-                    components = type_str.split(".")
-                    mod = None
-                    if len(components) > 1:
-                        module_name = ".".join(components[:-1])
-                        try:
-                            import importlib
-                            mod = importlib.import_module(module_name)
-                        except ImportError:
-                            mod = None
-                        if mod is not None:
-                            backend_cls = getattr(mod, components[-1], None)
-                    if backend_cls is None:
-                        # Try pylabrobot style import (if available)
-                        try:
-                            import pylabrobot
-                            backend_cls = getattr(pylabrobot, type_str, None)
-                        except Exception:
-                            backend_cls = None
-                if backend_cls is not None and isinstance(backend_cls, type):
-                    backend_type = backend_cls(**backend_dict)  # pass the rest of dict as kwargs
-            except Exception as exc:
-                raise RuntimeError(f"Failed to convert backend type '{type_str}' to class: {exc}")
-        else:
-            backend_type = backend
         self._simulator = simulator
         self.group_info = dict()
-        super().__init__(backend_type, deck, simulator, channel_num)
+        super().__init__(backend, deck, simulator, channel_num)
 
     def post_init(self, ros_node: BaseROS2DeviceNode):
         self._ros_node = ros_node
 
     @classmethod
-    def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SimpleReturn:
+    def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]):
         """Set the liquid in a well."""
-        res_samples = []
-        res_volumes = []
         for well, liquid_name, volume in zip(wells, liquid_names, volumes):
             well.set_liquids([(liquid_name, volume)])  # type: ignore
-            res_samples.append({"name": well.name, "sample_uuid": well.unilabos_extra.get("sample_uuid", None)})
-            res_volumes.append(volume)
-        
-        return SimpleReturn(samples=res_samples, volumes=res_volumes)
     # ---------------------------------------------------------------
     # REMOVE LIQUID --------------------------------------------------
     # ---------------------------------------------------------------
@@ -1061,18 +988,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 dis_vols = [float(dis_vols)]
             else:
                 dis_vols = [float(v) for v in dis_vols]
-
-        # 统一混合次数为标量，防止数组/列表与 int 比较时报错
-        if mix_times is not None and not isinstance(mix_times, (int, float)):
-            try:
-                mix_times = mix_times[0] if len(mix_times) > 0 else None
-            except Exception:
-                try:
-                    mix_times = next(iter(mix_times))
-                except Exception:
-                    pass
-        if mix_times is not None:
-            mix_times = int(mix_times)
             
             # 识别传输模式
             num_sources = len(sources)

unilabos/devices/liquid_handling/prcxi/base_material.json

@@ -1,954 +0,0 @@
-[
-  {
-    "uuid": "3b6f33ffbf734014bcc20e3c63e124d4",
-    "Code": "ZX-58-1250",
-    "Name": "Tip头适配器 1250uL",
-    "SummaryName": "Tip头适配器 1250uL",
-    "SupplyType": 2,
-    "Factory": "宁静致远",
-    "LengthNum": 128,
-    "WidthNum": 85,
-    "HeightNum": 20,
-    "DepthNum": 4,
-    "StandardHeight": 0,
-    "PipetteHeight": null,
-    "HoleColum": 1,
-    "HoleRow": 1,
-    "HoleDiameter": 0,
-    "Volume": 1250,
-    "ImagePath": "/images/20220624015044.jpg",
-    "QRCode": null,
-    "Qty": 10,
-    "CreateName": null,
-    "CreateTime": "2021-12-30 16:03:52.6583727",
-    "UpdateName": null,
-    "UpdateTime": "2022-06-24 13:50:44.8123474",
-    "IsStright": 0,
-    "IsGeneral": 0,
-    "IsControl": 1,
-    "ArmCode": null,
-    "XSpacing": null,
-    "YSpacing": null,
-    "materialEnum": null,
-    "Margins_X": 0,
-    "Margins_Y": 0
-  },
-  {
-    "uuid": "7c822592b360451fb59690e49ac6b181",
-    "Code": "ZX-58-300",
-    "Name": "ZHONGXI 适配器 300uL",
-    "SummaryName": "ZHONGXI 适配器 300uL",
-    "SupplyType": 2,
-    "Factory": "宁静致远",
-    "LengthNum": 127,
-    "WidthNum": 85,
-    "HeightNum": 81,
-    "DepthNum": 4,
-    "StandardHeight": 0,
-    "PipetteHeight": null,
-    "HoleColum": 1,
-    "HoleRow": 1,
-    "HoleDiameter": 0,
-    "Volume": 300,
-    "ImagePath": "/images/20220623102838.jpg",
-    "QRCode": null,
-    "Qty": 10,
-    "CreateName": null,
-    "CreateTime": "2021-12-30 16:07:53.7453351",
-    "UpdateName": null,
-    "UpdateTime": "2022-06-23 10:28:38.6190575",
-    "IsStright": 0,
-    "IsGeneral": 0,
-    "IsControl": 1,
-    "ArmCode": null,
-    "XSpacing": null,
-    "YSpacing": null,
-    "materialEnum": null,
-    "Margins_X": 0,
-    "Margins_Y": 0
-  },
-  {
-    "uuid": "8cc3dce884ac41c09f4570d0bcbfb01c",
-    "Code": "ZX-58-10",
-    "Name": "吸头10ul 适配器",
-    "SummaryName": "吸头10ul 适配器",
-    "SupplyType": 2,
-    "Factory": "宁静致远",
-    "LengthNum": 128,
-    "WidthNum": 85,
-    "HeightNum": 72.3,
-    "DepthNum": 0,
-    "StandardHeight": 0,
-    "PipetteHeight": 0,
-    "HoleColum": 1,
-    "HoleRow": 1,
-    "HoleDiameter": 127,
-    "Volume": 1000,
-    "ImagePath": "",
-    "QRCode": null,
-    "Qty": 10,
-    "CreateName": null,
-    "CreateTime": "2021-12-30 16:37:40.7073733",
-    "UpdateName": null,
-    "UpdateTime": "2025-05-30 15:17:01.8231737",
-    "IsStright": 0,
-    "IsGeneral": 1,
-    "IsControl": 1,
-    "ArmCode": null,
-    "XSpacing": 0,
-    "YSpacing": 0,
-    "materialEnum": 0,
-    "Margins_X": 0,
-    "Margins_Y": 0
-  },
-  {
-    "uuid": "7960f49ddfe9448abadda89bd1556936",
-    "Code": "ZX-001-1250",
-    "Name": "1250μL Tip头",
-    "SummaryName": "1250μL Tip头",
-    "SupplyType": 1,
-    "Factory": "宁静致远",
-    "LengthNum": 118.09,
-    "WidthNum": 80.7,
-    "HeightNum": 107.67,
-    "DepthNum": 100,
-    "StandardHeight": 0,
-    "PipetteHeight": null,
-    "HoleColum": 12,
-    "HoleRow": 8,
-    "HoleDiameter": 7.95,
-    "Volume": 1250,
-    "ImagePath": "/images/20220623102536.jpg",
-    "QRCode": null,
-    "Qty": 96,
-    "CreateName": null,
-    "CreateTime": "2021-12-30 20:53:27.8591195",
-    "UpdateName": null,
-    "UpdateTime": "2022-06-23 10:25:36.2592442",
-    "IsStright": 0,
-    "IsGeneral": 0,
-    "IsControl": 1,
-    "ArmCode": null,
-    "XSpacing": 9,
-    "YSpacing": 9,
-    "materialEnum": null,
-    "Margins_X": 0,
-    "Margins_Y": 0
-  },
-  {
-    "uuid": "45f2ed3ad925484d96463d675a0ebf66",
-    "Code": "ZX-001-10",
-    "Name": "10μL Tip头",
-    "SummaryName": "10μL Tip头",
-    "SupplyType": 1,
-    "Factory": "宁静致远",
-    "LengthNum": 120.98,
-    "WidthNum": 82.12,
-    "HeightNum": 67,
-    "DepthNum": 39.1,
-    "StandardHeight": 0,
-    "PipetteHeight": null,
-    "HoleColum": 12,
-    "HoleRow": 8,
-    "HoleDiameter": 5,
-    "Volume": 10,
-    "ImagePath": "/images/20221119041031.jpg",
-    "QRCode": null,
-    "Qty": -21,
-    "CreateName": null,
-    "CreateTime": "2021-12-30 20:56:53.462015",
-    "UpdateName": null,
-    "UpdateTime": "2022-11-19 16:10:31.126801",
-    "IsStright": 0,
-    "IsGeneral": 1,
-    "IsControl": 1,
-    "ArmCode": null,
-    "XSpacing": 9,
-    "YSpacing": 9,
-    "materialEnum": null,
-    "Margins_X": 0,
-    "Margins_Y": 0
-  },
-  {
-    "uuid": "068b3815e36b4a72a59bae017011b29f",
-    "Code": "ZX-001-10+",
-    "Name": "10μL加长 Tip头",
-    "SummaryName": "10μL加长 Tip头",
-    "SupplyType": 1,
-    "Factory": "宁静致远",
-    "LengthNum": 122.11,
-    "WidthNum": 80.05,
-    "HeightNum": 58.23,
-    "DepthNum": 45.1,
-    "StandardHeight": 0,
-    "PipetteHeight": 60,
-    "HoleColum": 12,
-    "HoleRow": 8,
-    "HoleDiameter": 7,
-    "Volume": 10,
-    "ImagePath": "",
-    "QRCode": null,
-    "Qty": 42,
-    "CreateName": null,
-    "CreateTime": "2021-12-30 20:57:57.331211",
-    "UpdateName": null,
-    "UpdateTime": "2025-09-17 17:02:51.2070383",
-    "IsStright": 0,
-    "IsGeneral": 0,
-    "IsControl": 1,
-    "ArmCode": null,
-    "XSpacing": 9,
-    "YSpacing": 9,
-    "materialEnum": 1,
-    "Margins_X": 7.97,
-    "Margins_Y": 5
-  },
-  {
-    "uuid": "80652665f6a54402b2408d50b40398df",
-    "Code": "ZX-001-1000",
-    "Name": "1000μL Tip头",
-    "SummaryName": "1000μL Tip头",
-    "SupplyType": 1,
-    "Factory": "宁静致远",
-    "LengthNum": 128.09,
-    "WidthNum": 85.8,
-    "HeightNum": 98,
-    "DepthNum": 88,
-    "StandardHeight": 0,
-    "PipetteHeight": 100,
-    "HoleColum": 12,
-    "HoleRow": 8,
-    "HoleDiameter": 7.95,
-    "Volume": 1000,
-    "ImagePath": "",
-    "QRCode": null,
-    "Qty": 47,
-    "CreateName": null,
-    "CreateTime": "2021-12-30 20:59:20.5534915",
-    "UpdateName": null,
-    "UpdateTime": "2025-05-30 14:49:53.639727",
-    "IsStright": 0,
-    "IsGeneral": 0,
-    "IsControl": 1,
-    "ArmCode": null,
-    "XSpacing": 9,
-    "YSpacing": 9,
-    "materialEnum": 1,
-    "Margins_X": 14.5,
-    "Margins_Y": 11.4
-  },
-  {
-    "uuid": "076250742950465b9d6ea29a225dfb00",
-    "Code": "ZX-001-300",
-    "Name": "300μL Tip头",
-    "SummaryName": "300μL Tip头",
-    "SupplyType": 1,
-    "Factory": "宁静致远",
-    "LengthNum": 122.11,
-    "WidthNum": 80.05,
-    "HeightNum": 58.23,
-    "DepthNum": 45.1,
-    "StandardHeight": 0,
-    "PipetteHeight": 60,
-    "HoleColum": 12,
-    "HoleRow": 8,
-    "HoleDiameter": 7,
-    "Volume": 300,
-    "ImagePath": "",
-    "QRCode": null,
-    "Qty": 11,
-    "CreateName": null,
-    "CreateTime": "2021-12-30 21:00:24.7266192",
-    "UpdateName": null,
-    "UpdateTime": "2025-09-17 17:02:40.6676947",
-    "IsStright": 0,
-    "IsGeneral": 0,
-    "IsControl": 1,
-    "ArmCode": null,
-    "XSpacing": 9,
-    "YSpacing": 9,
-    "materialEnum": 1,
-    "Margins_X": 7.97,
-    "Margins_Y": 5
-  },
-  {
-    "uuid": "7a73bb9e5c264515a8fcbe88aed0e6f7",
-    "Code": "ZX-001-200",
-    "Name": "200μL Tip头",
-    "SummaryName": "200μL Tip头",
-    "SupplyType": 1,
-    "Factory": "宁静致远",
-    "LengthNum": 120.98,
-    "WidthNum": 82.12,
-    "HeightNum": 66.9,
-    "DepthNum": 52,
-    "StandardHeight": 0,
-    "PipetteHeight": 30,
-    "HoleColum": 12,
-    "HoleRow": 8,
-    "HoleDiameter": 5.5,
-    "Volume": 200,
-    "ImagePath": "",
-    "QRCode": null,
-    "Qty": 19,
-    "CreateName": null,
-    "CreateTime": "2021-12-30 21:01:17.626704",
-    "UpdateName": null,
-    "UpdateTime": "2025-05-27 11:42:24.6021522",
-    "IsStright": 0,
-    "IsGeneral": 0,
-    "IsControl": 1,
-    "ArmCode": null,
-    "XSpacing": 9,
-    "YSpacing": 9,
-    "materialEnum": 0,
-    "Margins_X": 0,
-    "Margins_Y": 0
-  },
-  {
-    "uuid": "73bb9b10bc394978b70e027bf45ce2d3",
-    "Code": "ZX-023-0.2",
-    "Name": "0.2ml PCR板",
-    "SummaryName": "0.2ml PCR板",
-    "SupplyType": 1,
-    "Factory": "中析",
-    "LengthNum": 126,
-    "WidthNum": 86,
-    "HeightNum": 21.2,
-    "DepthNum": 15.17,
-    "StandardHeight": 0,
-    "PipetteHeight": null,
-    "HoleColum": 12,
-    "HoleRow": 8,
-    "HoleDiameter": 6,
-    "Volume": 1000,
-    "ImagePath": "",
-    "QRCode": null,
-    "Qty": -12,
-    "CreateName": null,
-    "CreateTime": "2021-12-30 21:06:02.7746392",
-    "UpdateName": null,
-    "UpdateTime": "2024-02-20 16:17:16.7921748",
-    "IsStright": 0,
-    "IsGeneral": 1,
-    "IsControl": 1,
-    "ArmCode": null,
-    "XSpacing": 9,
-    "YSpacing": 9,
-    "materialEnum": null,
-    "Margins_X": 0,
-    "Margins_Y": 0
-  },
-  {
-    "uuid": "ca877b8b114a4310b429d1de4aae96ee",
-    "Code": "ZX-019-2.2",
-    "Name": "2.2ml 深孔板",
-    "SummaryName": "2.2ml 深孔板",
-    "SupplyType": 1,
-    "Factory": "宁静致远",
-    "LengthNum": 127.3,
-    "WidthNum": 85.35,
-    "HeightNum": 44,
-    "DepthNum": 42,
-    "StandardHeight": 0,
-    "PipetteHeight": null,
-    "HoleColum": 12,
-    "HoleRow": 8,
-    "HoleDiameter": 8.2,
-    "Volume": 2200,
-    "ImagePath": "",
-    "QRCode": null,
-    "Qty": 34,
-    "CreateName": null,
-    "CreateTime": "2021-12-30 21:07:16.4538022",
-    "UpdateName": null,
-    "UpdateTime": "2023-08-12 13:11:26.3993472",
-    "IsStright": 0,
-    "IsGeneral": 1,
-    "IsControl": 1,
-    "ArmCode": null,
-    "XSpacing": 9,
-    "YSpacing": 9,
-    "materialEnum": null,
-    "Margins_X": 0,
-    "Margins_Y": 0
-  },
-  {
-    "uuid": "04211a2dc93547fe9bf6121eac533650",
-    "Code": "ZX-58-10000",
-    "Name": "储液槽",
-    "SummaryName": "储液槽",
-    "SupplyType": 1,
-    "Factory": "宁静致远",
-    "LengthNum": 125.02,
-    "WidthNum": 82.97,
-    "HeightNum": 31.2,
-    "DepthNum": 24,
-    "StandardHeight": 0,
-    "PipetteHeight": 0,
-    "HoleColum": 1,
-    "HoleRow": 1,
-    "HoleDiameter": 99.33,
-    "Volume": 1250,
-    "ImagePath": "",
-    "QRCode": null,
-    "Qty": -172,
-    "CreateName": null,
-    "CreateTime": "2021-12-31 18:37:56.7949909",
-    "UpdateName": null,
-    "UpdateTime": "2025-09-17 17:22:22.8543991",
-    "IsStright": 0,
-    "IsGeneral": 0,
-    "IsControl": 1,
-    "ArmCode": null,
-    "XSpacing": 9,
-    "YSpacing": 9,
-    "materialEnum": 0,
-    "Margins_X": 8.5,
-    "Margins_Y": 5.5
-  },
-  {
-    "uuid": "4a043a07c65a4f9bb97745e1f129b165",
-    "Code": "ZX-58-0001",
-    "Name": "全裙边 PCR适配器",
-    "SummaryName": "全裙边 PCR适配器",
-    "SupplyType": 2,
-    "Factory": "宁静致远",
-    "LengthNum": 125.42,
-    "WidthNum": 83.13,
-    "HeightNum": 15.69,
-    "DepthNum": 13.41,
-    "StandardHeight": 0,
-    "PipetteHeight": 0,
-    "HoleColum": 12,
-    "HoleRow": 8,
-    "HoleDiameter": 5.1,
-    "Volume": 1250,
-    "ImagePath": "",
-    "QRCode": null,
-    "Qty": 100,
-    "CreateName": null,
-    "CreateTime": "2022-01-02 19:21:35.8664843",
-    "UpdateName": null,
-    "UpdateTime": "2025-09-17 17:14:36.1210193",
-    "IsStright": 1,
-    "IsGeneral": 1,
-    "IsControl": 1,
-    "ArmCode": null,
-    "XSpacing": 9,
-    "YSpacing": 9,
-    "materialEnum": 3,
-    "Margins_X": 9.78,
-    "Margins_Y": 7.72
-  },
-  {
-    "uuid": "6bdfdd7069df453896b0806df50f2f4d",
-    "Code": "ZX-ADP-001",
-    "Name": "储液槽 适配器",
-    "SummaryName": "储液槽 适配器",
-    "SupplyType": 2,
-    "Factory": "宁静致远",
-    "LengthNum": 133,
-    "WidthNum": 91.8,
-    "HeightNum": 70,
-    "DepthNum": 4,
-    "StandardHeight": 0,
-    "PipetteHeight": null,
-    "HoleColum": 1,
-    "HoleRow": 1,
-    "HoleDiameter": 1,
-    "Volume": 1250,
-    "ImagePath": "",
-    "QRCode": null,
-    "Qty": null,
-    "CreateName": null,
-    "CreateTime": "2022-02-16 17:31:26.413594",
-    "UpdateName": null,
-    "UpdateTime": "2023-08-12 13:10:58.786996",
-    "IsStright": 0,
-    "IsGeneral": 1,
-    "IsControl": 0,
-    "ArmCode": null,
-    "XSpacing": 0,
-    "YSpacing": 0,
-    "materialEnum": null,
-    "Margins_X": 0,
-    "Margins_Y": 0
-  },
-  {
-    "uuid": "9a439bed8f3344549643d6b3bc5a5eb4",
-    "Code": "ZX-002-300",
-    "Name": "300ul深孔板适配器",
-    "SummaryName": "300ul深孔板适配器",
-    "SupplyType": 2,
-    "Factory": "宁静致远",
-    "LengthNum": 136.4,
-    "WidthNum": 93.8,
-    "HeightNum": 96,
-    "DepthNum": 7,
-    "StandardHeight": 0,
-    "PipetteHeight": null,
-    "HoleColum": 12,
-    "HoleRow": 8,
-    "HoleDiameter": 8.1,
-    "Volume": 300,
-    "ImagePath": "",
-    "QRCode": null,
-    "Qty": null,
-    "CreateName": null,
-    "CreateTime": "2022-06-18 15:17:42.7917763",
-    "UpdateName": null,
-    "UpdateTime": "2023-08-12 13:10:46.1526635",
-    "IsStright": 0,
-    "IsGeneral": 1,
-    "IsControl": 0,
-    "ArmCode": null,
-    "XSpacing": 9,
-    "YSpacing": 9,
-    "materialEnum": null,
-    "Margins_X": 0,
-    "Margins_Y": 0
-  },
-  {
-    "uuid": "4dc8d6ecfd0449549683b8ef815a861b",
-    "Code": "ZX-002-10",
-    "Name": "10ul专用深孔板适配器",
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unilabos/devices/liquid_handling/prcxi/deck.json

@@ -156,7 +156,7 @@
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+            "type": "PRCXI9300Container",
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-            "type": "PRCXI9300Plate",
+            "type": "PRCXI9300Container",
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@@ -8297,7 +8297,7 @@
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-            "type": "PRCXI9300Plate",
+            "type": "PRCXI9300Container",
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@@ -8425,7 +8425,7 @@
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-            "type": "PRCXI9300Plate",
+            "type": "PRCXI9300Container",
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@@ -12496,7 +12496,7 @@
             "z": 0
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         "config": {
-            "type": "PRCXI9300TipRack",
+            "type": "PRCXI9300Container",
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@@ -16664,7 +16664,7 @@
             "z": 0
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         "config": {
-            "type": "PRCXI9300Plate",
+            "type": "PRCXI9300Container",
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@@ -20640,7 +20640,7 @@
             "z": 0
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         "config": {
-            "type": "PRCXI9300Plate",
+            "type": "PRCXI9300Container",
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@@ -20671,7 +20671,7 @@
             "z": 0
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         "config": {
-            "type": "PRCXI9300Plate",
+            "type": "PRCXI9300Container",
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@@ -20799,7 +20799,7 @@
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+            "type": "PRCXI9300Container",
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@@ -24872,7 +24872,7 @@
             "z": 0
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-            "type": "PRCXI9300Plate",
+            "type": "PRCXI9300Container",
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@@ -28848,7 +28848,7 @@
             "z": 0
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         "config": {
-            "type": "PRCXI9300Plate",
+            "type": "PRCXI9300Container",
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@@ -28879,7 +28879,7 @@
             "z": 0
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-            "type": "PRCXI9300Plate",
+            "type": "PRCXI9300Container",
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@@ -29007,7 +29007,7 @@
             "z": 0
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-            "type": "PRCXI9300Plate",
+            "type": "PRCXI9300Container",
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@@ -33080,7 +33080,7 @@
             "z": 0
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-            "type": "PRCXI9300Plate",
+            "type": "PRCXI9300Container",
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@@ -37153,7 +37153,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Plate",
+            "type": "PRCXI9300Container",
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@@ -41151,5 +41151,6 @@
                 "uuid": "730067cf07ae43849ddf4034299030e9"
             }
         }
-    }
-]
+    ],
+    "links": []
+}

unilabos/devices/liquid_handling/prcxi/json_output/CodeDataEntity.json

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unilabos/devices/liquid_handling/prcxi/json_output/CurveCompensate.json

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unilabos/devices/liquid_handling/prcxi/json_output/_base_material_old_20240226.json

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unilabos/devices/liquid_handling/prcxi/json_output/_base_plan_master_old_20240416.json

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unilabos/devices/liquid_handling/prcxi/json_output/_base_plate_position_detail_old_20240221.json

@@ -1,302 +0,0 @@
-[
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unilabos/devices/liquid_handling/prcxi/json_output/base_arm_model.json

@@ -1,74 +0,0 @@
-[
-  {
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-    "ArmCode": "SC10",
-    "ArmName": "单道-10uL",
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-    "CreateName": "admin",
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unilabos/devices/liquid_handling/prcxi/json_output/base_layout_detail.json

@@ -1,10 +0,0 @@
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unilabos/devices/liquid_handling/prcxi/json_output/base_layout_master.json

@@ -1,20 +0,0 @@
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unilabos/devices/liquid_handling/prcxi/json_output/base_plate_position.json

@@ -1,98 +0,0 @@
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-    "create_time": "2025-09-03 13:23:51.781",
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-    "create_time": "2025-10-27 14:36:03.266",
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-    "remark": "TEST",
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unilabos/devices/liquid_handling/prcxi/json_output/base_plate_position_detail.json

@@ -1,872 +0,0 @@
-[
-  {
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-    "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
-  },
-  {
-    "id": "b4b6b063-5a0b-45a2-aa47-f427d4cd06f6",
-    "number": 11,
-    "name": "T11",
-    "row": 3,
-    "col": 1,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
-  },
-  {
-    "id": "af02c689-7bca-476b-bd05-ce21d3e83f27",
-    "number": 12,
-    "name": "T12",
-    "row": 3,
-    "col": 2,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
-  },
-  {
-    "id": "52a42e58-c0d6-420c-bc0b-575f749c7e3b",
-    "number": 13,
-    "name": "T13",
-    "row": 3,
-    "col": 3,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
-  },
-  {
-    "id": "169c12fe-e2f4-465e-9fd3-e58eac83a502",
-    "number": 1,
-    "name": "T1",
-    "row": 0,
-    "col": 0,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
-  },
-  {
-    "id": "b6072651-1df5-4946-a5b4-fbff3fa54e6a",
-    "number": 2,
-    "name": "T2",
-    "row": 0,
-    "col": 1,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
-  },
-  {
-    "id": "d0b8ea7c-f06e-4d94-98a8-70ffcba73c47",
-    "number": 3,
-    "name": "T3",
-    "row": 0,
-    "col": 2,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
-  },
-  {
-    "id": "a7a8eb69-63f6-494e-a441-b7aef0f7c8a4",
-    "number": 4,
-    "name": "T4",
-    "row": 0,
-    "col": 3,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
-  },
-  {
-    "id": "21966669-6761-4e37-947c-12fec82173fb",
-    "number": 5,
-    "name": "T5",
-    "row": 1,
-    "col": 0,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
-  },
-  {
-    "id": "2227b825-fe1d-4fa3-bcb2-6e4b3c10ea53",
-    "number": 6,
-    "name": "T6",
-    "row": 1,
-    "col": 1,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
-  },
-  {
-    "id": "b799da88-c2d9-4ec4-81ec-bc0991a50fe5",
-    "number": 7,
-    "name": "T7",
-    "row": 1,
-    "col": 2,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
-  },
-  {
-    "id": "adaaa00a-ff6b-4bd8-b8f1-bb100488f306",
-    "number": 8,
-    "name": "T8",
-    "row": 1,
-    "col": 3,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
-  },
-  {
-    "id": "3bc98311-b548-46d3-a0e0-4f1edcf10e24",
-    "number": 9,
-    "name": "T9",
-    "row": 2,
-    "col": 0,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
-  },
-  {
-    "id": "81befc70-d249-49af-93dd-2efbe88c0211",
-    "number": 10,
-    "name": "T10",
-    "row": 2,
-    "col": 1,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
-  },
-  {
-    "id": "45dd5535-0293-4d27-beab-1e486657b148",
-    "number": 11,
-    "name": "T11",
-    "row": 2,
-    "col": 2,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
-  },
-  {
-    "id": "12ccf33a-6fe7-44a4-8643-b0b0ac6dd181",
-    "number": 12,
-    "name": "T12",
-    "row": 2,
-    "col": 3,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
-  },
-  {
-    "id": "900272dd-23fd-41a4-a366-254999a30487",
-    "number": 13,
-    "name": "T13",
-    "row": 3,
-    "col": 0,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
-  },
-  {
-    "id": "c366710d-2b81-4cee-8667-2b86e77e5c34",
-    "number": 14,
-    "name": "T14",
-    "row": 3,
-    "col": 1,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
-  },
-  {
-    "id": "e18a9271-bc66-4c2b-8bc1-0fb129b5cc2f",
-    "number": 15,
-    "name": "T15",
-    "row": 3,
-    "col": 2,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
-  },
-  {
-    "id": "6737cba0-de84-4c1f-992d-645e7f159b0c",
-    "number": 16,
-    "name": "T16",
-    "row": 3,
-    "col": 3,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
-  },
-  {
-    "id": "8ace38ab-dbc7-48a1-8226-0fe92d176e07",
-    "number": 1,
-    "name": "T1",
-    "row": 0,
-    "col": 0,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
-  },
-  {
-    "id": "033fec53-c52d-4b59-aec6-2135ae0e18b9",
-    "number": 2,
-    "name": "T2",
-    "row": 0,
-    "col": 1,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
-  },
-  {
-    "id": "fa730930-8709-4250-928f-f757fce57b60",
-    "number": 3,
-    "name": "T3",
-    "row": 0,
-    "col": 2,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
-  },
-  {
-    "id": "e279d6f1-5243-4224-8953-1033dbea25ac",
-    "number": 4,
-    "name": "T4",
-    "row": 0,
-    "col": 3,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
-  },
-  {
-    "id": "76bd9426-6324-4af2-b12f-6ec0ff8c416e",
-    "number": 5,
-    "name": "T5",
-    "row": 1,
-    "col": 0,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
-  },
-  {
-    "id": "3f4ff652-3d87-4254-a235-bafde3359dae",
-    "number": 6,
-    "name": "T6",
-    "row": 1,
-    "col": 1,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
-  },
-  {
-    "id": "a38e94af-e91e-4e7a-b49d-8668001bb356",
-    "number": 7,
-    "name": "T7",
-    "row": 1,
-    "col": 2,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
-  },
-  {
-    "id": "9e45da24-1346-4886-a303-932880a79954",
-    "number": 8,
-    "name": "T8",
-    "row": 1,
-    "col": 3,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
-  },
-  {
-    "id": "1ac46e58-86ae-42d9-b230-d476b984507a",
-    "number": 9,
-    "name": "T9",
-    "row": 2,
-    "col": 0,
-    "row_span": 1,
-    "col_span": 1,
-    "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
-  }
-]

unilabos/devices/liquid_handling/prcxi/json_output/base_process_detail.json

@@ -1 +0,0 @@
-[]

unilabos/devices/liquid_handling/prcxi/json_output/base_process_master.json

@@ -1 +0,0 @@
-[]

unilabos/devices/liquid_handling/prcxi/json_output/base_qrcode.json

@@ -1,58 +0,0 @@
-[
-  {
-    "uuid": "4034fa042e7f418db42ab80b0044a8cd",
-    "Code": "MDHC-001-10",
-    "Key": "c28ae2cb",
-    "Value": "MDHC-001-1000522001001612db9dc",
-    "CreateTime": "2022-01-22 17:07:00.8651386"
-  },
-  {
-    "uuid": "8fb6d7589fdd42df93c1e1989ff13a62",
-    "Code": "MDHC-001-10",
-    "Key": "52980979",
-    "Value": "MDHC-001-100052200100119bb6731",
-    "CreateTime": "2022-01-22 20:19:20.9444209"
-  },
-  {
-    "uuid": "efc4c92b40a94de6b0662c64486c18d1",
-    "Code": "MDHC-001-10",
-    "Key": "79da8402",
-    "Value": "MDHC-001-1000522001001e24ea780",
-    "CreateTime": "2022-01-22 20:19:26.8107506"
-  },
-  {
-    "uuid": "3b81b1a9eabc4449b4dcbbbde47cb17f",
-    "Code": "MDHC-001-10",
-    "Key": "daa51755",
-    "Value": "MDHC-001-100052200100185dd22e2",
-    "CreateTime": "2022-01-22 20:19:36.1581374"
-  },
-  {
-    "uuid": "d005a70801544e42ab9d216ad68dbf50",
-    "Code": "MDHC-023-0.2",
-    "Key": "992bbdab",
-    "Value": "MDHC-023-0.2005220010014871a385",
-    "CreateTime": "2022-02-16 15:49:53.760377"
-  },
-  {
-    "uuid": "222315afb8e04320b0fcff10e3ddb8ae",
-    "Code": "MDHC-023-0.2",
-    "Key": "76d23270",
-    "Value": "MDHC-023-0.200522001001e61547ee",
-    "CreateTime": "2022-02-16 15:50:05.1932055"
-  },
-  {
-    "uuid": "31e2a5d4f884419aa9ba96cef98b7385",
-    "Code": "MDHC-023-0.2",
-    "Key": "ba2b8a46",
-    "Value": "MDHC-023-0.2005220010013bfed6cf",
-    "CreateTime": "2022-02-16 17:26:20.0024235"
-  },
-  {
-    "uuid": "9ccb8e0c5ca64ef09b8aced680395335",
-    "Code": "MDHC-023-0.2",
-    "Key": "1d1276d0",
-    "Value": "MDHC-023-0.2005220010015c039a9c",
-    "CreateTime": "2022-02-16 17:26:31.8479966"
-  }
-]

unilabos/devices/liquid_handling/prcxi/json_output/sys_role.json

@@ -1,22 +0,0 @@
-[
-  {
-    "uuid": "f3932aeae93533f19c0519c4c14702aa",
-    "RoleCode": "admin",
-    "RoleName": "管理员",
-    "RoleMenu": "all",
-    "CreateTime": "2022-02-26 00:00:00.000",
-    "CreateName": "admin",
-    "UpdateTime": "2022-02-26 14:50:10.000",
-    "UpdateName": "admin"
-  },
-  {
-    "uuid": "8c822592b360345fb59690e49ac6b181",
-    "RoleCode": "user",
-    "RoleName": "实验员",
-    "RoleMenu": "nosetting",
-    "CreateTime": "2022-02-26 14:54:16.000",
-    "CreateName": "admin",
-    "UpdateTime": "2022-02-26 14:54:19.000",
-    "UpdateName": "admin"
-  }
-]

unilabos/devices/liquid_handling/prcxi/json_output/sys_user.json

@@ -1,54 +0,0 @@
-[
-  {
-    "uuid": "f3932aeae93533f19c0519c4c14702dd",
-    "UserName": "admin",
-    "Password": "NuGlByx4NZBm7XcV9f89qA==",
-    "RealName": "管理员",
-    "IsEnable": 1,
-    "uuidRole": "f3932aeae93533f19c0519c4c14702aa",
-    "IsDel": 0,
-    "CreateTime": "2022-02-26 14:51:41.000",
-    "CreateName": "admin",
-    "UpdateTime": "2022-02-26 14:51:49.000",
-    "UpdateName": "admin"
-  },
-  {
-    "uuid": "5c522592b366645fb55690e49ac6b166",
-    "UserName": "user",
-    "Password": "4QrcOUm6Wau+VuBX8g+IPg==",
-    "RealName": "实验员",
-    "IsEnable": 1,
-    "uuidRole": "8c822592b360345fb59690e49ac6b181",
-    "IsDel": 0,
-    "CreateTime": "2022-02-26 14:56:57.000",
-    "CreateName": "admin",
-    "UpdateTime": "2022-02-26 14:58:39.000",
-    "UpdateName": "admin"
-  },
-  {
-    "uuid": "ju0514zjhi9267mz8s0buspq8b9s0bgb",
-    "UserName": "Administrator",
-    "Password": "3J17Il4KOR+wKPszf/0cHQ==",
-    "RealName": "超级管理员",
-    "IsEnable": 1,
-    "uuidRole": "f3932aeae93533f19c0519c4c14702aa",
-    "IsDel": 0,
-    "CreateTime": "2023-08-12 00:00:00.000",
-    "CreateName": "admin",
-    "UpdateTime": "2023-08-12 00:00:00.000",
-    "UpdateName": "admin"
-  },
-  {
-    "uuid": "2",
-    "UserName": "shortcut",
-    "Password": "4QrcOUm6Wau+VuBX8g+IPg==",
-    "RealName": "实验员",
-    "IsEnable": 1,
-    "uuidRole": "8c822592b360345fb59690e49ac6b181",
-    "IsDel": 0,
-    "CreateTime": null,
-    "CreateName": "admin",
-    "UpdateTime": "2023-10-23 00:00:00.000",
-    "UpdateName": null
-  }
-]

unilabos/devices/liquid_handling/prcxi/prcxi_labware.py

@@ -1,841 +0,0 @@
-from typing import Optional
-from pylabrobot.resources import Tube, Coordinate
-from pylabrobot.resources.well import Well, WellBottomType, CrossSectionType
-from pylabrobot.resources.tip import Tip, TipCreator
-from pylabrobot.resources.tip_rack import TipRack, TipSpot
-from pylabrobot.resources.utils import create_ordered_items_2d
-from pylabrobot.resources.height_volume_functions import (
-  compute_height_from_volume_rectangle,
-  compute_volume_from_height_rectangle,
-)
-
-from .prcxi import PRCXI9300Plate, PRCXI9300TipRack, PRCXI9300Trash, PRCXI9300TubeRack, PRCXI9300PlateAdapter
-
-def _make_tip_helper(volume: float, length: float, depth: float) -> Tip:
-    """
-    PLR 的 Tip 类参数名为: maximal_volume, total_tip_length, fitting_depth
-    """
-    return Tip(
-        has_filter=False, # 默认无滤芯
-        maximal_volume=volume, 
-        total_tip_length=length, 
-        fitting_depth=depth
-    )
-
-# =========================================================================
-# 标准品 参照 PLR 标准库的参数，但是用 PRCXI9300Plate 实例化，并注入 UUID
-# =========================================================================
-def PRCXI_BioER_96_wellplate(name: str) -> PRCXI9300Plate: 
-    """
-    对应 JSON Code: ZX-019-2.2 (2.2ml 深孔板)
-    原型: pylabrobot.resources.bioer.BioER_96_wellplate_Vb_2200uL
-    """
-    return PRCXI9300Plate(
-        name=name,
-        size_x=127.1, 
-        size_y=85.0, 
-        size_z=44.2, 
-        lid=None,
-        model="PRCXI_BioER_96_wellplate", 
-        category="plate",
-        material_info={
-            "uuid": "ca877b8b114a4310b429d1de4aae96ee",
-            "Code": "ZX-019-2.2",
-            "Name": "2.2ml 深孔板",
-            "materialEnum": 0,
-            "SupplyType": 1
-        },
-
-        ordered_items=create_ordered_items_2d(
-            Well,
-            size_x=8.25,  
-            size_y=8.25, 
-            size_z=39.3,  # 修改过
-            dx=9.5,  
-            dy=7.5, 
-            dz=6, 
-            material_z_thickness=0.8,
-            item_dx=9.0,
-            item_dy=9.0,
-            num_items_x=12, 
-            num_items_y=8,
-            cross_section_type=CrossSectionType.RECTANGLE,
-            bottom_type=WellBottomType.V,  # 是否需要修改？
-            max_volume=2200, 
-        ),
-    )
-def PRCXI_nest_1_troughplate(name: str) -> PRCXI9300Plate: 
-    """
-    对应 JSON Code: ZX-58-10000 (储液槽)
-    原型: pylabrobot.resources.nest.nest_1_troughplate_195000uL_Vb
-    """
-    well_size_x = 127.76 - (14.38 - 9 / 2) * 2  
-    well_size_y = 85.48 - (11.24 - 9 / 2) * 2   
-    well_kwargs = {
-        "size_x": well_size_x,
-        "size_y": well_size_y,
-        "size_z": 26.85,
-        "bottom_type": WellBottomType.V,
-        "compute_height_from_volume": lambda liquid_volume: compute_height_from_volume_rectangle(
-            liquid_volume=liquid_volume, well_length=well_size_x, well_width=well_size_y
-        ),
-        "compute_volume_from_height": lambda liquid_height: compute_volume_from_height_rectangle(
-            liquid_height=liquid_height, well_length=well_size_x, well_width=well_size_y
-        ),
-        "material_z_thickness": 31.4 - 26.85 - 3.55,
-    }
-
-    return PRCXI9300Plate(
-        name=name,
-        size_x=127.76,
-        size_y=85.48,
-        size_z=31.4,
-        lid=None,
-        model="PRCXI_Nest_1_troughplate", 
-        category="plate",
-        material_info={
-            "uuid": "04211a2dc93547fe9bf6121eac533650",
-            "Code": "ZX-58-10000",
-            "Name": "储液槽",
-            "materialEnum": 0,
-            "SupplyType": 1
-        },
-
-        ordered_items=create_ordered_items_2d(
-            Well,
-            num_items_x=1,
-            num_items_y=1,
-            dx=14.38 - 9 / 2, 
-            dy=11.24 - 9 / 2,  
-            dz=3.55,        
-            item_dx=9.0,       
-            item_dy=9.0,
-            **well_kwargs,     # 传入上面计算好的孔参数
-        ),
-    )
-def PRCXI_BioRad_384_wellplate(name: str) -> PRCXI9300Plate: 
-    """
-    对应 JSON Code: q3 (384板)
-    原型: pylabrobot.resources.biorad.BioRad_384_wellplate_50uL_Vb
-    """
-    return PRCXI9300Plate(
-        name=name,
-        # 直接抄录 PLR 标准品的物理尺寸
-        size_x=127.76,
-        size_y=85.48,
-        size_z=10.40,
-        model="BioRad_384_wellplate_50uL_Vb",
-        category="plate",
-        # 2. 注入 Unilab 必须的 UUID 信息
-        material_info={
-            "uuid": "853dcfb6226f476e8b23c250217dc7da",
-            "Code": "q3",
-            "Name": "384板",
-            "SupplyType": 1,
-        },
-        # 3. 定义孔的排列 (抄录标准参数)
-        ordered_items=create_ordered_items_2d(
-            Well,
-            num_items_x=24,
-            num_items_y=16,
-            dx=10.58,   # A1 左边缘距离板子左边缘 需要进一步测量
-            dy=7.44,    # P1 下边缘距离板子下边缘 需要进一步测量
-            dz=1.05,
-            item_dx=4.5,
-            item_dy=4.5,
-            size_x=3.10,
-            size_y=3.10,
-            size_z=9.35,
-            max_volume=50,
-            material_z_thickness=1,
-            bottom_type=WellBottomType.V,
-            cross_section_type=CrossSectionType.CIRCLE,
-        )
-    )
-def PRCXI_AGenBio_4_troughplate(name: str) -> PRCXI9300Plate:
-  """
-    对应 JSON Code: sdfrth654 (4道储液槽)
-    原型: pylabrobot.resources.agenbio.AGenBio_4_troughplate_75000uL_Vb
-  """
-  INNER_WELL_WIDTH = 26.1  
-  INNER_WELL_LENGTH = 71.2 
-  well_kwargs = {
-    "size_x": 26,
-    "size_y": 71.2,  
-    "size_z": 42.55,
-    "bottom_type": WellBottomType.FLAT,
-    "cross_section_type": CrossSectionType.RECTANGLE,
-    "compute_height_from_volume": lambda liquid_volume: compute_height_from_volume_rectangle(
-      liquid_volume,
-      INNER_WELL_LENGTH,
-      INNER_WELL_WIDTH,
-    ),
-    "compute_volume_from_height": lambda liquid_height: compute_volume_from_height_rectangle(
-      liquid_height,
-      INNER_WELL_LENGTH,
-      INNER_WELL_WIDTH,
-    ),
-    "material_z_thickness": 1,
-  }
-
-  return PRCXI9300Plate(
-    name=name,
-    size_x=127.76,
-    size_y=85.48,
-    size_z=43.80,
-    model="PRCXI_AGenBio_4_troughplate",
-    category="plate",
-    material_info={
-        "uuid": "01953864f6f140ccaa8ddffd4f3e46f5",
-        "Code": "sdfrth654",
-        "Name": "4道储液槽",
-        "materialEnum": 0,
-        "SupplyType": 1
-    },
-        
-    ordered_items=create_ordered_items_2d(
-      Well,
-      num_items_x=4,
-      num_items_y=1,
-      dx=9.8,
-      dy=7.2,
-      dz=0.9, 
-      item_dx=INNER_WELL_WIDTH + 1,  # 1 mm wall thickness
-      item_dy=INNER_WELL_LENGTH,
-      **well_kwargs,
-    ),
-  )
-def PRCXI_nest_12_troughplate(name: str) -> PRCXI9300Plate:
-  """
-    对应 JSON Code: 12道储液槽 (12道储液槽)
-    原型: pylabrobot.resources.nest.nest_12_troughplate_15000uL_Vb
-    """
-  well_size_x = 8.2 
-  well_size_y = 71.2
-  well_kwargs = {
-    "size_x": well_size_x,
-    "size_y": well_size_y,
-    "size_z": 26.85,
-    "bottom_type": WellBottomType.V,
-    "compute_height_from_volume": lambda liquid_volume: compute_height_from_volume_rectangle(
-      liquid_volume=liquid_volume, well_length=well_size_x, well_width=well_size_y
-    ),
-    "compute_volume_from_height": lambda liquid_height: compute_volume_from_height_rectangle(
-      liquid_height=liquid_height, well_length=well_size_x, well_width=well_size_y
-    ),
-    "material_z_thickness": 31.4 - 26.85 - 3.55,
-  }
-
-  return PRCXI9300Plate(
-    name=name,
-    size_x=127.76, 
-    size_y=85.48, 
-    size_z=31.4,
-    lid=None,
-    model="PRCXI_nest_12_troughplate",
-    category="plate",
-    material_info={
-        "uuid": "0f1639987b154e1fac78f4fb29a1f7c1",
-        "Code": "12道储液槽",
-        "Name": "12道储液槽",
-        "materialEnum": 0,
-        "SupplyType": 1
-    },
-    ordered_items=create_ordered_items_2d(
-      Well,
-      num_items_x=12,
-      num_items_y=1,
-      dx=14.38 - 8.2 / 2, 
-      dy=(85.48 - 71.2) / 2, 
-      dz=3.55, 
-      item_dx=9.0, 
-      item_dy=9.0,  
-      **well_kwargs,
-    ),
-  )
-def PRCXI_CellTreat_96_wellplate(name: str) -> PRCXI9300Plate:
-  """
-    对应 JSON Code: ZX-78-096 (细菌培养皿)
-    原型: pylabrobot.resources.celltreat.CellTreat_96_wellplate_350ul_Fb
-    """
-  well_kwargs = {
-    "size_x": 6.96,
-    "size_y": 6.96,
-    "size_z": 10.04,
-    "bottom_type": WellBottomType.FLAT,
-    "material_z_thickness": 1.75,
-    "cross_section_type": CrossSectionType.CIRCLE,
-    "max_volume": 300,
-  }
-
-  return PRCXI9300Plate(
-    name=name,
-    size_x=127.61,
-    size_y=85.24,
-    size_z=14.30, 
-    lid=None,
-    model="PRCXI_CellTreat_96_wellplate",
-    category="plate",
-    material_info={
-        "uuid": "b05b3b2aafd94ec38ea0cd3215ecea8f",
-        "Code": "ZX-78-096",
-        "Name": "细菌培养皿",
-        "materialEnum": 4,
-        "SupplyType": 1
-    },
-    ordered_items=create_ordered_items_2d(
-      Well,
-      num_items_x=12,
-      num_items_y=8,
-      dx=10.83, 
-      dy=7.67, 
-      dz=4.05, 
-      item_dx=9,
-      item_dy=9,
-      **well_kwargs,
-    ),
-  )
-# =========================================================================
-# 自定义/需测量品 (Custom Measurement)
-# =========================================================================
-def PRCXI_10ul_eTips(name: str) -> PRCXI9300TipRack:
-    """
-    对应 JSON Code: ZX-001-10+
-    """
-    return PRCXI9300TipRack(
-        name=name,
-        size_x=122.11,
-        size_y=85.48, #修改
-        size_z=58.23,
-        model="PRCXI_10ul_eTips",
-        material_info={
-            "uuid": "068b3815e36b4a72a59bae017011b29f",
-            "Code": "ZX-001-10+",
-            "Name": "10μL加长 Tip头",
-            "SupplyType": 1
-        },
-        ordered_items=create_ordered_items_2d(
-            TipSpot,
-            num_items_x=12,
-            num_items_y=8,
-            dx=7.97,  #需要修改
-            dy=5.0,   #需修改
-            dz=2.0,   #需修改
-            item_dx=9.0,
-            item_dy=9.0,
-            size_x=7.0,
-            size_y=7.0,
-            size_z=0,
-            make_tip=lambda: _make_tip_helper(volume=10, length=52.0, depth=45.1)
-        )
-    )
-def PRCXI_300ul_Tips(name: str) -> PRCXI9300TipRack:
-    """
-    对应 JSON Code: ZX-001-300
-    吸头盒通常比较特殊，需要定义 Tip 对象
-    """
-    return PRCXI9300TipRack(
-        name=name,
-        size_x=122.11,
-        size_y=85.48, #修改
-        size_z=58.23,
-        model="PRCXI_300ul_Tips",
-        material_info={
-            "uuid": "076250742950465b9d6ea29a225dfb00",
-            "Code": "ZX-001-300",
-            "Name": "300μL Tip头",
-            "SupplyType": 1
-        },
-        ordered_items=create_ordered_items_2d(
-            TipSpot,
-            num_items_x=12,
-            num_items_y=8,
-            dx=7.97,  #需要修改
-            dy=5.0,   #需修改
-            dz=2.0,   #需修改
-            item_dx=9.0,
-            item_dy=9.0,
-            size_x=7.0,
-            size_y=7.0,
-            size_z=0,
-            make_tip=lambda: _make_tip_helper(volume=300, length=60.0, depth=51.0)
-        )
-    )
-def PRCXI_PCR_Plate_200uL_nonskirted(name: str) -> PRCXI9300Plate:
-    """
-    对应 JSON Code: ZX-023-0.2 (0.2ml PCR 板)
-    """
-    return PRCXI9300Plate(
-    name=name,
-    size_x=119.5,
-    size_y=80.0,
-    size_z=26.0,
-    model="PRCXI_PCR_Plate_200uL_nonskirted",
-    plate_type="non-skirted",
-    category="plate",
-    material_info={
-        "uuid": "73bb9b10bc394978b70e027bf45ce2d3",
-        "Code": "ZX-023-0.2",
-        "Name": "0.2ml PCR 板",
-        "materialEnum": 0,
-        "SupplyType": 1
-    },
-    ordered_items=create_ordered_items_2d(
-      Well,
-      num_items_x=12,
-      num_items_y=8,
-      dx=7,
-      dy=5,
-      dz=0.0,
-      item_dx=9,
-      item_dy=9,
-      size_x=6,
-      size_y=6,
-      size_z=15.17,
-      bottom_type=WellBottomType.V,
-      cross_section_type=CrossSectionType.CIRCLE,
-    ),
-)
-def PRCXI_PCR_Plate_200uL_semiskirted(name: str) -> PRCXI9300Plate:
-    """
-    对应 JSON Code: ZX-023-0.2 (0.2ml PCR 板)
-    """
-    return PRCXI9300Plate(
-    name=name,
-    size_x=126,
-    size_y=86,
-    size_z=21.2,
-    model="PRCXI_PCR_Plate_200uL_semiskirted",
-    plate_type="semi-skirted",
-    category="plate",
-    material_info={
-        "uuid": "73bb9b10bc394978b70e027bf45ce2d3",
-        "Code": "ZX-023-0.2",
-        "Name": "0.2ml PCR 板",
-        "materialEnum": 0,
-        "SupplyType": 1
-    },
-    ordered_items=create_ordered_items_2d(
-      Well,
-      num_items_x=12,
-      num_items_y=8,
-      dx=11,
-      dy=8,
-      dz=0.0,
-      item_dx=9,
-      item_dy=9,
-      size_x=6,
-      size_y=6,
-      size_z=15.17,
-      bottom_type=WellBottomType.V,
-      cross_section_type=CrossSectionType.CIRCLE,
-    ),
-)
-def PRCXI_PCR_Plate_200uL_skirted(name: str) -> PRCXI9300Plate:
-    """
-    对应 JSON Code: ZX-023-0.2 (0.2ml PCR 板)
-    """
-    return PRCXI9300Plate(
-    name=name,
-    size_x=127.76,
-    size_y=86,
-    size_z=16.1,
-    model="PRCXI_PCR_Plate_200uL_skirted",
-    plate_type="skirted",
-    category="plate",
-    material_info={
-        "uuid": "73bb9b10bc394978b70e027bf45ce2d3",
-        "Code": "ZX-023-0.2",
-        "Name": "0.2ml PCR 板",
-        "materialEnum": 0,
-        "SupplyType": 1
-    },
-    ordered_items=create_ordered_items_2d(
-      Well,
-      num_items_x=12,
-      num_items_y=8,
-      dx=11,
-      dy=8.49,
-      dz=0.8,
-      item_dx=9,
-      item_dy=9,
-      size_x=6,
-      size_y=6,
-      size_z=15.1,
-      bottom_type=WellBottomType.V,
-      cross_section_type=CrossSectionType.CIRCLE,
-    ),
-)
-def PRCXI_trash(name: str = "trash") -> PRCXI9300Trash:
-    """
-    对应 JSON Code: q1 (废弃槽)
-    """
-    return PRCXI9300Trash(
-        name="trash",
-        size_x=126.59,
-        size_y=84.87, 
-        size_z=89.5,  # 修改
-        category="trash",
-        model="PRCXI_trash",
-        material_info={
-            "uuid": "730067cf07ae43849ddf4034299030e9",
-            "Code": "q1",
-            "Name": "废弃槽",
-            "materialEnum": 0,
-            "SupplyType": 1
-        }
-    )
-def PRCXI_96_DeepWell(name: str) -> PRCXI9300Plate:
-    """
-    对应 JSON Code: q2 (96深孔板)
-    """ 
-    return PRCXI9300Plate(
-        name=name,
-        size_x=127.3,
-        size_y=85.35,
-        size_z=45.0,   #修改
-        model="PRCXI_96_DeepWell",
-        material_info={
-            "uuid": "57b1e4711e9e4a32b529f3132fc5931f", # 对应 q2 uuid
-            "Code": "q2",
-            "Name": "96深孔板",
-            "materialEnum": 0
-        },
-        ordered_items=create_ordered_items_2d(
-            Well,
-            num_items_x=12,
-            num_items_y=8,
-            dx=10.9, 
-            dy=8.25, 
-            dz=2.0, 
-            item_dx=9.0,
-            item_dy=9.0,
-            size_x=8.2,
-            size_y=8.2,
-            size_z=42.0,
-            max_volume=2200
-        )
-    )
-def PRCXI_EP_Adapter(name: str) -> PRCXI9300TubeRack:
-    """
-    对应 JSON Code: 1 (ep适配器)
-    这是一个 4x6 的 EP 管架，适配 1.5mL/2.0mL 离心管
-    """
-    ep_tube_prototype = Tube(
-        name="EP_Tube_1.5mL",
-        size_x=10.6,
-        size_y=10.6,
-        size_z=40.0,  # 管子本身的高度，通常比架子孔略高或持平
-        max_volume=1500,
-        model="EP_Tube_1.5mL"
-    )
-
-    # 计算 PRCXI9300TubeRack 中孔的起始位置 dx, dy
-    dy_calc = 85.8 - 10.5 - (3 * 18) - 10.6 
-    dx_calc = 3.54
-    return PRCXI9300TubeRack(
-        name=name,
-        size_x=128.04,
-        size_y=85.8,
-        size_z=42.66,
-        model="PRCXI_EP_Adapter",
-        category="tube_rack",
-        material_info={
-            "uuid": "e146697c395e4eabb3d6b74f0dd6aaf7",
-            "Code": "1",
-            "Name": "ep适配器",
-            "materialEnum": 0,
-            "SupplyType": 1
-        },
-        ordered_items=create_ordered_items_2d(
-            Tube, 
-            num_items_x=6,
-            num_items_y=4,
-            dx=dx_calc, 
-            dy=dy_calc, 
-            dz=42.66 - 38.08, # 架高 - 孔深
-            item_dx=21.0,  
-            item_dy=18.0, 
-            size_x=10.6,
-            size_y=10.6,
-            size_z=40.0,
-            max_volume=1500
-        )
-    )
-# =========================================================================
-# 无实物，需要测量
-# =========================================================================
-def PRCXI_Tip1250_Adapter(name: str) -> PRCXI9300PlateAdapter:
-    """ Code: ZX-58-1250 """
-    return PRCXI9300PlateAdapter(
-        name=name, 
-        size_x=128, 
-        size_y=85, 
-        size_z=20,
-        material_info={
-            "uuid": "3b6f33ffbf734014bcc20e3c63e124d4", 
-            "Code": "ZX-58-1250", 
-            "Name": "Tip头适配器 1250uL", 
-            "SupplyType": 2
-            }
-    )
-def PRCXI_Tip300_Adapter(name: str) -> PRCXI9300PlateAdapter:
-    """ Code: ZX-58-300 """
-    return PRCXI9300PlateAdapter(
-        name=name, 
-        size_x=127, 
-        size_y=85, 
-        size_z=81,
-        material_info={
-            "uuid": "7c822592b360451fb59690e49ac6b181", 
-            "Code": "ZX-58-300", 
-            "Name": "ZHONGXI 适配器 300uL", 
-            "SupplyType": 2
-            }
-    )
-def PRCXI_Tip10_Adapter(name: str) -> PRCXI9300PlateAdapter:
-    """ Code: ZX-58-10 """
-    return PRCXI9300PlateAdapter(
-        name=name, 
-        size_x=128, 
-        size_y=85, 
-        size_z=72.3,
-        material_info={
-            "uuid": "8cc3dce884ac41c09f4570d0bcbfb01c", 
-            "Code": "ZX-58-10", 
-            "Name": "吸头10ul 适配器", 
-            "SupplyType": 2
-            }
-    )
-def PRCXI_1250uL_Tips(name: str) -> PRCXI9300TipRack:
-    """ Code: ZX-001-1250 """
-    return PRCXI9300TipRack(
-        name=name,
-        size_x=118.09, 
-        size_y=80.7, 
-        size_z=107.67,
-        model="PRCXI_1250uL_Tips",
-        material_info={
-            "uuid": "7960f49ddfe9448abadda89bd1556936", 
-            "Code": "ZX-001-1250", 
-            "Name": "1250μL Tip头", 
-            "SupplyType": 1
-            },
-        ordered_items=create_ordered_items_2d(
-            TipSpot, 
-            num_items_x=12, 
-            num_items_y=8,
-            dx=9.545 - 7.95/2, 
-            dy=8.85 - 7.95/2, 
-            dz=2.0,
-            item_dx=9, 
-            item_dy=9,
-            size_x=7.0,
-            size_y=7.0,
-            size_z=0,
-            make_tip=lambda: _make_tip_helper(volume=1250, length=107.67, depth=8)
-        )
-    )
-def PRCXI_10uL_Tips(name: str) -> PRCXI9300TipRack:
-    """ Code: ZX-001-10 """
-    return PRCXI9300TipRack(
-        name=name,
-        size_x=120.98, 
-        size_y=82.12, 
-        size_z=67,
-        model="PRCXI_10uL_Tips",
-        material_info={
-            "uuid": "45f2ed3ad925484d96463d675a0ebf66", 
-            "Code": "ZX-001-10", 
-            "Name": "10μL Tip头", 
-            "SupplyType": 1
-            },
-        ordered_items=create_ordered_items_2d(
-            TipSpot, 
-            num_items_x=12, 
-            num_items_y=8,
-            dx=10.99 - 5/2, 
-            dy=9.56 - 5/2, 
-            dz=2.0,
-            item_dx=9, 
-            item_dy=9,
-            size_x=7.0,
-            size_y=7.0,
-            size_z=0,
-            make_tip=lambda: _make_tip_helper(volume=1250, length=52.0, depth=5)
-        )
-    )
-def PRCXI_1000uL_Tips(name: str) -> PRCXI9300TipRack:
-    """ Code: ZX-001-1000 """
-    return PRCXI9300TipRack(
-        name=name,
-        size_x=128.09, 
-        size_y=85.8, 
-        size_z=98,
-        model="PRCXI_1000uL_Tips",
-        material_info={
-            "uuid": "80652665f6a54402b2408d50b40398df", 
-            "Code": "ZX-001-1000", 
-            "Name": "1000μL Tip头", 
-            "SupplyType": 1
-            },
-        ordered_items=create_ordered_items_2d(
-            TipSpot, 
-            num_items_x=12, 
-            num_items_y=8,
-            dx=14.5 - 7.95/2, 
-            dy=7.425, 
-            dz=2.0,
-            item_dx=9, 
-            item_dy=9,
-            size_x=7.0,
-            size_y=7.0,
-            size_z=0,
-            make_tip=lambda: _make_tip_helper(volume=1000, length=55.0, depth=8)
-        )
-    )
-def PRCXI_200uL_Tips(name: str) -> PRCXI9300TipRack:
-    """ Code: ZX-001-200 """
-    return PRCXI9300TipRack(
-        name=name,
-        size_x=120.98, 
-        size_y=82.12, 
-        size_z=66.9,
-        model="PRCXI_200uL_Tips",
-        material_info={
-            "uuid": "7a73bb9e5c264515a8fcbe88aed0e6f7", 
-            "Code": "ZX-001-200", 
-            "Name": "200μL Tip头", 
-            "SupplyType": 1},
-        ordered_items=create_ordered_items_2d(
-            TipSpot, 
-            num_items_x=12, 
-            num_items_y=8,
-            dx=10.99 - 5.5/2, 
-            dy=9.56 - 5.5/2, 
-            dz=2.0,
-            item_dx=9, 
-            item_dy=9,
-            size_x=7.0,
-            size_z=0,
-            size_y=7.0,
-            make_tip=lambda: _make_tip_helper(volume=200, length=52.0, depth=5)
-        )
-    )
-def PRCXI_PCR_Adapter(name: str) -> PRCXI9300PlateAdapter:
-    """
-    对应 JSON Code: ZX-58-0001 (全裙边 PCR适配器)
-    """
-    return PRCXI9300PlateAdapter(
-        name=name,
-        size_x=127.76,
-        size_y=85.48,
-        size_z=21.69,
-        model="PRCXI_PCR_Adapter",
-        material_info={
-            "uuid": "4a043a07c65a4f9bb97745e1f129b165",
-            "Code": "ZX-58-0001",
-            "Name": "全裙边 PCR适配器",
-            "materialEnum": 3,
-            "SupplyType": 2
-        }
-    )
-def PRCXI_Reservoir_Adapter(name: str) -> PRCXI9300PlateAdapter:
-    """ Code: ZX-ADP-001 """
-    return PRCXI9300PlateAdapter(
-        name=name, 
-        size_x=133, 
-        size_y=91.8, 
-        size_z=70,
-        material_info={
-            "uuid": "6bdfdd7069df453896b0806df50f2f4d", 
-            "Code": "ZX-ADP-001", 
-            "Name": "储液槽 适配器", 
-            "SupplyType": 2
-            }
-    )
-def PRCXI_Deep300_Adapter(name: str) -> PRCXI9300PlateAdapter:
-    """ Code: ZX-002-300 """
-    return PRCXI9300PlateAdapter(
-        name=name, 
-        size_x=136.4, 
-        size_y=93.8, 
-        size_z=96,
-        material_info={
-            "uuid": "9a439bed8f3344549643d6b3bc5a5eb4", 
-            "Code": "ZX-002-300", 
-            "Name": "300ul深孔板适配器", 
-            "SupplyType": 2
-            }
-    )
-def PRCXI_Deep10_Adapter(name: str) -> PRCXI9300PlateAdapter:
-    """ Code: ZX-002-10 """
-    return PRCXI9300PlateAdapter(
-        name=name, 
-        size_x=136.5, 
-        size_y=93.8, 
-        size_z=121.5,
-        material_info={
-            "uuid": "4dc8d6ecfd0449549683b8ef815a861b", 
-            "Code": "ZX-002-10", 
-            "Name": "10ul专用深孔板适配器", 
-            "SupplyType": 2
-            }
-    )
-def PRCXI_Adapter(name: str) -> PRCXI9300PlateAdapter:
-    """ Code: Fhh478 """
-    return PRCXI9300PlateAdapter(
-        name=name, 
-        size_x=120, 
-        size_y=90, 
-        size_z=86,
-        material_info={
-            "uuid": "adfabfffa8f24af5abfbba67b8d0f973", 
-            "Code": "Fhh478", 
-            "Name": "适配器", 
-            "SupplyType": 2
-            }
-    )
-def PRCXI_48_DeepWell(name: str) -> PRCXI9300Plate:
-    """ Code: 22 (48孔深孔板) """
-    print("Warning: Code '22' (48孔深孔板) dimensions are null in JSON.")
-    return PRCXI9300Plate(
-        name=name, 
-        size_x=127, 
-        size_y=85, 
-        size_z=44, 
-        model="PRCXI_48_DeepWell",
-        material_info={
-            "uuid": "026c5d5cf3d94e56b4e16b7fb53a995b", 
-            "Code": "22", 
-            "Name": "48孔深孔板", 
-            "SupplyType": 1
-            },
-        ordered_items=create_ordered_items_2d(
-            Well, 
-            num_items_x=6, 
-            num_items_y=8, 
-            dx=10, 
-            dy=10, 
-            dz=1, 
-            item_dx=18.5, 
-            item_dy=9, 
-            size_x=8, 
-            size_y=8, 
-            size_z=40
-        )
-    )
-def PRCXI_30mm_Adapter(name: str) -> PRCXI9300PlateAdapter:
-    """ Code: ZX-58-30 """
-    return PRCXI9300PlateAdapter(
-        name=name, 
-        size_x=132, 
-        size_y=93.5, 
-        size_z=30,
-        material_info={
-            "uuid": "a0757a90d8e44e81a68f306a608694f2", 
-            "Code": "ZX-58-30", 
-            "Name": "30mm适配器", 
-            "SupplyType": 2
-            }
-    )

unilabos/devices/liquid_handling/prcxi/prcxi_material.json

@@ -0,0 +1,31 @@
+{
+  "Tip头适配器 1250uL": {"uuid": "3b6f33ffbf734014bcc20e3c63e124d4", "materialEnum": "0"},
+  "ZHONGXI 适配器 300uL": {"uuid": "7c822592b360451fb59690e49ac6b181", "materialEnum": "0"},
+  "吸头10ul 适配器": {"uuid": "8cc3dce884ac41c09f4570d0bcbfb01c", "materialEnum": "0"},
+  "1250μL Tip头": {"uuid": "7960f49ddfe9448abadda89bd1556936", "materialEnum": "0"},
+  "10μL Tip头": {"uuid": "45f2ed3ad925484d96463d675a0ebf66", "materialEnum": "0"},
+  "10μL加长 Tip头": {"uuid": "068b3815e36b4a72a59bae017011b29f", "materialEnum": "1"},
+  "1000μL Tip头": {"uuid": "80652665f6a54402b2408d50b40398df", "materialEnum": "1"},
+  "300μL Tip头": {"uuid": "076250742950465b9d6ea29a225dfb00", "materialEnum": "1"},
+  "200μL Tip头": {"uuid": "7a73bb9e5c264515a8fcbe88aed0e6f7", "materialEnum": "0"},
+  "0.2ml PCR板": {"uuid": "73bb9b10bc394978b70e027bf45ce2d3", "materialEnum": "0"},
+  "2.2ml 深孔板": {"uuid": "ca877b8b114a4310b429d1de4aae96ee", "materialEnum": "0"},
+  "储液槽": {"uuid": "04211a2dc93547fe9bf6121eac533650", "materialEnum": "0"},
+  "全裙边 PCR适配器": {"uuid": "4a043a07c65a4f9bb97745e1f129b165", "materialEnum": "3"},
+  "储液槽 适配器": {"uuid": "6bdfdd7069df453896b0806df50f2f4d", "materialEnum": "0"},
+  "300ul深孔板适配器": {"uuid": "9a439bed8f3344549643d6b3bc5a5eb4", "materialEnum": "0"},
+  "10ul专用深孔板适配器": {"uuid": "4dc8d6ecfd0449549683b8ef815a861b", "materialEnum": "0"},
+  "爱津": {"uuid": "b01627718d3341aba649baa81c2c083c", "materialEnum": "0"},
+  "适配器": {"uuid": "adfabfffa8f24af5abfbba67b8d0f973", "materialEnum": "0"},
+  "废弃槽": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": "0"},
+  "96深孔板": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": "0"},
+  "384板": {"uuid": "853dcfb6226f476e8b23c250217dc7da", "materialEnum": "0"},
+  "4道储液槽": {"uuid": "01953864f6f140ccaa8ddffd4f3e46f5", "materialEnum": "0"},
+  "48孔深孔板": {"uuid": "026c5d5cf3d94e56b4e16b7fb53a995b", "materialEnum": "2"},
+  "12道储液槽": {"uuid": "0f1639987b154e1fac78f4fb29a1f7c1", "materialEnum": "0"},
+  "HPLC料盘": {"uuid": "548bbc3df0d4447586f2c19d2c0c0c55", "materialEnum": "0"},
+  "ep适配器": {"uuid": "e146697c395e4eabb3d6b74f0dd6aaf7", "materialEnum": "0"},
+  "30mm适配器": {"uuid": "a0757a90d8e44e81a68f306a608694f2", "materialEnum": "0"},
+  "细菌培养皿": {"uuid": "b05b3b2aafd94ec38ea0cd3215ecea8f", "materialEnum": "4"},
+  "96 细胞培养皿":{ "uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": "0"}
+}

unilabos/devices/liquid_handling/prcxi/prcxi_materials.py

@@ -0,0 +1,21 @@
+import collections
+import json
+from pathlib import Path
+
+from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container
+
+
+prcxi_materials_path = str(Path(__file__).parent / "prcxi_material.json")
+with open(prcxi_materials_path, mode="r", encoding="utf-8") as f:
+    prcxi_materials = json.loads(f.read())
+
+
+def tip_adaptor_1250ul(name="Tip头适配器 1250uL") -> PRCXI9300Container:  # 必须传入一个name参数，是plr的规范要求
+    # tip_rack = PRCXI9300Container(name, prcxi_materials["name"]["Height"])
+    tip_rack = PRCXI9300Container(name, 1000,400,800, "tip_rack", collections.OrderedDict())
+    tip_rack.load_state({
+        "Materials": {"uuid": "7960f49ddfe9448abadda89bd1556936", "materialEnum": "0"}
+    })
+    return tip_rack
+
+

unilabos/devices/liquid_handling/prcxi/prcxi_res.py

@@ -0,0 +1,44 @@
+import collections
+
+from pylabrobot.resources import opentrons_96_tiprack_10ul
+from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
+
+from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container, PRCXI9300Trash
+
+
+def get_well_container(name: str) -> PRCXI9300Container:
+    well_containers = corning_96_wellplate_360ul_flat(name).serialize()
+    plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
+                               ordering=collections.OrderedDict())
+    plate_serialized = plate.serialize()
+    well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
+    new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
+    return new_plate
+
+def get_tip_rack(name: str) -> PRCXI9300Container:
+    tip_racks = opentrons_96_tiprack_10ul("name").serialize()
+    tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
+                       ordering=collections.OrderedDict())
+    tip_rack_serialized = tip_rack.serialize()
+    tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
+    new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
+    return new_tip_rack
+
+def prcxi_96_wellplate_360ul_flat(name: str):
+    return get_well_container(name)
+
+def prcxi_opentrons_96_tiprack_10ul(name: str):
+    return get_tip_rack(name)
+
+def prcxi_trash(name: str = None):
+    return PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash")
+
+if __name__ == "__main__":
+    # Example usage
+    test_plate = prcxi_96_wellplate_360ul_flat("test_plate")
+    test_rack = prcxi_opentrons_96_tiprack_10ul("test_rack")
+    tash = prcxi_trash("trash")
+    print(test_plate)
+    print(test_rack)
+    print(tash)
+    # Output will be a dictionary representation of the PRCXI9300Container with well details

unilabos/devices/neware_battery_test_system/OSS_UPLOAD_README_CN.md

@@ -1,560 +0,0 @@
-# 新威电池测试系统 - OSS 上传功能说明
-
-## 功能概述
-
-本次更新为新威电池测试系统添加了**阿里云 OSS 文件上传功能**，采用统一的 API 方式，允许将测试数据备份文件上传到云端存储。
-
-## 版本更新说明
-
-### ⚠️ 重大变更（2025-12-17）
-
-本次更新将 OSS 上传方式从 **`oss2` 库** 改为 **统一 API 方式**，实现与团队其他系统的统一。
-
-**主要变化**：
-- ✅ 用 `requests` 库
-- ✅ 通过统一 API 获取预签名 URL 进行上传
-- ✅ 简化环境变量配置（仅需要 JWT Token）
-- ✅ 返回文件访问 URL
-
-## 主要改动
-
-### 1. OSS 上传工具函数重构（第30-200行）
-
-#### 新增函数
-
-- **`get_upload_token(base_url, auth_token, scene, filename)`**  
-  从统一 API 获取文件上传的预签名 URL
-  
-- **`upload_file_with_presigned_url(upload_info, file_path)`**  
-  使用预签名 URL 上传文件到 OSS
-
-#### 更新的函数
-
-- **`upload_file_to_oss(local_file_path, oss_object_name)`**  
-  上传单个文件到阿里云 OSS（使用统一 API 方式）
-  - 返回值变更：成功时返回文件访问 URL，失败时返回 `False`
-  
-- **`upload_files_to_oss(file_paths, oss_prefix)`**  
-  批量上传文件列表
-  - `oss_prefix` 参数保留但暂不使用（接口兼容性）
-  
-- **`upload_directory_to_oss(local_dir, oss_prefix)`**  
-  上传整个目录
-  - 简化实现，直接使用文件名上传
-
-### 2. 环境变量配置简化
-
-#### 新方式（推荐）
-```bash
-# ✅ 必需
-UNI_LAB_AUTH_TOKEN  # API Key 格式: "Api xxxxxx"
-
-# ✅ 可选（有默认值）
-UNI_LAB_BASE_URL (默认: https://uni-lab.test.bohrium.com)
-UNI_LAB_UPLOAD_SCENE (默认: job，其他值会被改成 default)
-```
-
-### 3. 初始化方法（保持不变）
-
-`__init__` 方法中的 OSS 相关配置参数：
-
-```python
-# OSS 上传配置
-self.oss_upload_enabled = False  # 默认不启用 OSS 上传
-self.oss_prefix = "neware_backup"  # OSS 对象路径前缀
-self._last_backup_dir = None  # 记录最近一次的 backup_dir
-```
-
-**默认行为**：OSS 上传功能默认关闭（`oss_upload_enabled=False`），不影响现有系统。
-
-### 4. upload_backup_to_oss 方法（保持不变）
-
-```python
-def upload_backup_to_oss(
-    self, 
-    backup_dir: str = None,
-    file_pattern: str = "*",
-    oss_prefix: str = None
-) -> dict
-```
-
-## 使用说明
-
-### 前置条件
-
-#### 1. 安装依赖
-
-```bash
-# requests 库（通常已安装）
-pip install requests
-```
-
-#### 2. 配置环境变量
-
-根据您使用的终端类型配置环境变量：
-
-##### PowerShell（推荐）
-
-```powershell
-# 必需：设置认证 Token（API Key 格式）
-$env:UNI_LAB_AUTH_TOKEN = "Api xxxx"
-
-# 可选：自定义服务器地址（默认为 test 环境）
-$env:UNI_LAB_BASE_URL = "https://uni-lab.test.bohrium.com"
-
-# 可选：自定义上传场景（默认为 job）
-$env:UNI_LAB_UPLOAD_SCENE = "job"
-
-# 验证是否设置成功
-echo $env:UNI_LAB_AUTH_TOKEN
-```
-
-##### CMD / 命令提示符
-
-```cmd
-REM 必需：设置认证 Token（API Key 格式）
-set UNI_LAB_AUTH_TOKEN=Api xxxx
-
-REM 可选：自定义配置
-set UNI_LAB_BASE_URL=https://uni-lab.test.bohrium.com
-set UNI_LAB_UPLOAD_SCENE=job
-
-REM 验证是否设置成功
-echo %UNI_LAB_AUTH_TOKEN%
-```
-
-##### Linux/Mac
-
-```bash
-# 必需：设置认证 Token（API Key 格式）
-export UNI_LAB_AUTH_TOKEN="Api xxxx"
-
-# 可选：自定义配置
-export UNI_LAB_BASE_URL="https://uni-lab.test.bohrium.com"
-export UNI_LAB_UPLOAD_SCENE="job"
-
-# 验证是否设置成功
-echo $UNI_LAB_AUTH_TOKEN
-```
-
-#### 3. 获取认证 Token
-
-> **重要**：从 Uni-Lab 主页 → 账号安全 中获取 API Key。
-
-**获取步骤**：
-1. 登录 Uni-Lab 系统
-2. 进入主页 → 账号安全
-3. 复制 API Key
-
-Token 格式示例：
-```
-Api 48ccxx336fba44f39e1e37db93xxxxx
-```
-
-> **提示**：
-> - 如果 Token 已经包含 `Api ` 前缀，直接使用
-> - 如果没有前缀，代码会自动添加 `Api ` 前缀
-> - 旧版 `Bearer` JWT Token 格式仍然兼容
-
-#### 4. 持久化配置（可选）
-
-**临时配置**：上述命令设置的环境变量只在当前终端会话中有效。
-
-**持久化方式 1：PowerShell 配置文件**
-```powershell
-# 编辑 PowerShell 配置文件
-notepad $PROFILE
-
-# 在打开的文件中添加：
-$env:UNI_LAB_AUTH_TOKEN = "Api 你的API_Key"
-```
-
-**持久化方式 2：Windows 系统环境变量**
-- 右键"此电脑" → "属性" → "高级系统设置" → "环境变量"
-- 添加用户变量或系统变量：
-  - 变量名：`UNI_LAB_AUTH_TOKEN`
-  - 变量值：`Api 你的API_Key`
-
-### 使用流程
-
-#### 步骤 1：启用 OSS 上传功能
-
-**推荐方式：在 `device.json` 中配置**
-
-编辑设备配置文件 `unilabos/devices/neware_battery_test_system/device.json`，在 `config` 中添加：
-
-```json
-{
-    "nodes": [
-        {
-            "id": "NEWARE_BATTERY_TEST_SYSTEM",
-            "config": {
-                "ip": "127.0.0.1",
-                "port": 502,
-                "machine_id": 1,
-                "oss_upload_enabled": true,
-                "oss_prefix": "neware_backup/2025-12"
-            }
-        }
-    ]
-}
-```
-
-**参数说明**：
-- `oss_upload_enabled`: 设置为 `true` 启用 OSS 上传
-- `oss_prefix`: OSS 文件路径前缀，建议按日期或项目组织（暂时未使用，保留接口兼容性）
-
-**其他方式：通过初始化参数**
-
-```python
-device = NewareBatteryTestSystem(
-    ip="127.0.0.1",
-    port=502,
-    oss_upload_enabled=True,  # 启用 OSS 上传
-    oss_prefix="neware_backup/2025-12"  # 可选：自定义路径前缀
-)
-```
-
-**配置完成后，重启 ROS 节点使配置生效。**
-
-#### 步骤 2：提交测试任务
-
-使用 `submit_from_csv` 提交测试任务：
-
-```python
-result = device.submit_from_csv(
-    csv_path="test_data.csv",
-    output_dir="D:/neware_output"
-)
-```
-
-此时会创建以下目录结构：
-```
-D:/neware_output/
-├── xml_dir/          # XML 配置文件
-└── backup_dir/       # 测试数据备份（由新威设备生成）
-```
-
-#### 步骤 3：等待测试完成
-
-等待新威设备完成测试，备份文件会生成到 `backup_dir` 中。
-
-#### 步骤 4：上传备份文件到 OSS
-
-**方法 A：使用默认设置（推荐）**
-```python
-# 自动使用最近一次的 backup_dir，上传所有文件
-result = device.upload_backup_to_oss()
-```
-
-**方法 B：指定备份目录**
-```python
-# 手动指定备份目录
-result = device.upload_backup_to_oss(
-    backup_dir="D:/neware_output/backup_dir"
-)
-```
-
-**方法 C：筛选特定文件**
-```python
-# 仅上传 CSV 文件
-result = device.upload_backup_to_oss(
-    backup_dir="D:/neware_output/backup_dir",
-    file_pattern="*.csv"
-)
-
-# 仅上传特定电池编号的文件
-result = device.upload_backup_to_oss(
-    file_pattern="Battery_A001_*.nda"
-)
-```
-
-### 返回结果示例
-
-**成功上传所有文件**：
-```python
-{
-    "return_info": "全部上传成功: 15/15 个文件",
-    "success": True,
-    "uploaded_count": 15,
-    "total_count": 15,
-    "failed_files": [],
-    "uploaded_files": [
-        {
-            "filename": "Battery_A001.ndax",
-            "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A001.ndax"
-        },
-        {
-            "filename": "Battery_A002.ndax",
-            "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A002.ndax"
-        }
-        # ... 其他 13 个文件
-    ]
-}
-```
-
-**部分上传成功**：
-```python
-{
-    "return_info": "部分上传成功: 12/15 个文件，失败 3 个",
-    "success": True,
-    "uploaded_count": 12,
-    "total_count": 15,
-    "failed_files": ["Battery_A003.csv", "Battery_A007.csv", "test.log"],
-    "uploaded_files": [
-        {
-            "filename": "Battery_A001.ndax",
-            "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A001.ndax"
-        },
-        {
-            "filename": "Battery_A002.ndax",
-            "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A002.ndax"
-        }
-        # ... 其他 10 个成功上传的文件
-    ]
-}
-```
-
-> **说明**：`uploaded_files` 字段包含所有成功上传文件的详细信息：
-> - `filename`: 文件名（不含路径）
-> - `url`: 文件在 OSS 上的完整访问 URL
-
-## 错误处理
-
-### OSS 上传未启用
-
-如果 `oss_upload_enabled=False`，调用 `upload_backup_to_oss` 会返回：
-```python
-{
-    "return_info": "OSS 上传未启用 (oss_upload_enabled=False)，跳过上传。备份目录: ...",
-    "success": False,
-    "uploaded_count": 0,
-    "total_count": 0,
-    "failed_files": []
-}
-```
-
-**解决方法**：设置 `device.oss_upload_enabled = True`
-
-### 环境变量未配置
-
-如果缺少 `UNI_LAB_AUTH_TOKEN`，会返回：
-```python
-{
-    "return_info": "OSS 环境变量配置错误: 请设置环境变量: UNI_LAB_AUTH_TOKEN",
-    "success": False,
-    ...
-}
-```
-
-**解决方法**：按照前置条件配置环境变量
-
-### 备份目录不存在
-
-如果指定的备份目录不存在，会返回：
-```python
-{
-    "return_info": "备份目录不存在: D:/neware_output/backup_dir",
-    "success": False,
-    ...
-}
-```
-
-**解决方法**：检查目录路径是否正确，或等待测试生成备份文件
-
-### API 认证失败
-
-如果 Token 无效或过期，会返回：
-```python
-{
-    "return_info": "获取凭证失败: 认证失败",
-    "success": False,
-    ...
-}
-```
-
-**解决方法**：检查 Token 是否正确，或联系开发团队获取新 Token
-
-## 技术细节
-
-### OSS 上传流程（新方式）
-
-```mermaid
-flowchart TD
-    A[开始上传] --> B[验证配置和环境变量]
-    B --> C[扫描备份目录]
-    C --> D[筛选符合 pattern 的文件]
-    D --> E[遍历每个文件]
-    E --> F[调用 API 获取预签名 URL]
-    F --> G{获取成功?}
-    G -->|是| H[使用预签名 URL 上传文件]
-    G -->|否| I[记录失败]
-    H --> J{上传成功?}
-    J -->|是| K[记录成功 + 文件 URL]
-    J -->|否| I
-    I --> L{还有文件?}
-    K --> L
-    L -->|是| E
-    L -->|否| M[返回统计结果]
-```
-
-### 上传 API 流程
-
-1. **获取预签名 URL**
-   - 请求：`GET /api/v1/applications/token?scene={scene}&filename={filename}`
-   - 认证：`Authorization: Bearer {token}`
-   - 响应：`{code: 0, data: {url: "预签名URL", path: "文件路径"}}`
-
-2. **上传文件**
-   - 请求：`PUT {预签名URL}`
-   - 内容：文件二进制数据
-   - 响应：HTTP 200 表示成功
-
-3. **生成访问 URL**
-   - 格式：`https://{OSS_PUBLIC_HOST}/{path}`
-   - 示例：`https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/20251217/battery_data.csv`
-
-### 日志记录
-
-所有上传操作都会通过 ROS 日志系统记录：
-- `INFO` 级别：上传进度和成功信息
-- `WARNING` 级别：空目录、未启用等警告
-- `ERROR` 级别：上传失败、配置错误
-
-## 注意事项
-
-1. **上传时机**：`backup_dir` 中的文件是在新威设备执行测试过程中实时生成的，请确保测试已完成再上传。
-
-2. **文件命名**：上传到 OSS 的文件会保留原始文件名，路径由统一 API 分配。
-
-3. **网络要求**：上传需要稳定的网络连接到阿里云 OSS 服务。
-
-4. **Token 有效期**：JWT Token 有过期时间，过期后需要重新获取。
-
-5. **成本考虑**：OSS 存储和流量会产生费用，请根据需要合理设置文件筛选规则。
-
-6. **并发上传**：当前实现为串行上传，大量文件上传可能需要较长时间。
-
-7. **文件大小限制**：请注意单个文件大小是否有上传限制（由统一 API 控制）。
-
-## 兼容性
-
-- ✅ **向后兼容**：默认 `oss_upload_enabled=False`，不影响现有系统
-- ✅ **可选功能**：仅在需要时启用
-- ✅ **独立操作**：上传失败不会影响测试任务的提交和执行
-- ⚠️ **环境变量变更**：需要更新环境变量配置（从 OSS AK/SK 改为 JWT Token）
-
-## 迁移指南
-
-如果您之前使用 `oss2` 库方式，请按以下步骤迁移：
-
-### 1. 卸载旧依赖（可选）
-```bash
-pip uninstall oss2
-```
-
-### 2. 删除旧环境变量
-```powershell
-# PowerShell
-Remove-Item Env:\OSS_ACCESS_KEY_ID
-Remove-Item Env:\OSS_ACCESS_KEY_SECRET
-Remove-Item Env:\OSS_BUCKET_NAME
-Remove-Item Env:\OSS_ENDPOINT
-```
-
-### 3. 设置新环境变量
-```powershell
-# PowerShell
-$env:UNI_LAB_AUTH_TOKEN = "Bearer 你的token..."
-```
-
-### 4. 测试上传功能
-```python
-# 验证上传是否正常工作
-result = device.upload_backup_to_oss(backup_dir="测试目录")
-print(result)
-```
-
-## 常见问题
-
-**Q: 为什么要从 `oss2` 改为统一 API？**  
-A: 为了与团队其他系统保持一致，简化配置，并统一认证方式。
-
-**Q: Token 在哪里获取？**  
-A: 请联系开发团队获取有效的 JWT Token。
-
-**Q: Token 过期了怎么办？**  
-A: 重新获取新的 Token 并更新环境变量 `UNI_LAB_AUTH_TOKEN`。
-
-**Q: 可以自定义上传路径吗？**  
-A: 当前版本路径由统一 API 自动分配，`oss_prefix` 参数暂不使用（保留接口兼容性）。
-
-**Q: 为什么不在 `submit_from_csv` 中自动上传？**  
-A: 因为备份文件在测试进行中逐步生成，方法返回时可能文件尚未完全生成，因此提供独立的上传方法更灵活。
-
-**Q: 上传后如何访问文件？**  
-A: 上传成功后会返回文件访问 URL，格式为 `https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/{path}`
-
-**Q: 如何删除已上传的文件？**  
-A: 需要通过 OSS 控制台或 API 操作，本功能仅负责上传。
-
-## 验证上传结果
-
-### 方法1：通过阿里云控制台查看
-
-1. 登录 [阿里云 OSS 控制台](https://oss.console.aliyun.com/)
-2. 点击左侧 **Bucket列表**
-3. 选择 `uni-lab-test` Bucket
-4. 点击 **文件管理**
-5. 查看上传的文件列表
-
-### 方法2：使用返回的文件 URL
-
-上传成功后，`upload_file_to_oss()` 会返回文件访问 URL：
-```python
-url = upload_file_to_oss("local_file.csv")
-print(f"文件访问 URL: {url}")
-# 输出示例：https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/20251217/local_file.csv
-```
-
-> **注意**：OSS 文件默认为私有访问，直接访问 URL 可能需要签名认证。
-
-### 方法3：使用 ossutil 命令行工具
-
-安装 [ossutil](https://help.aliyun.com/document_detail/120075.html) 后：
-
-```bash
-# 列出文件
-ossutil ls oss://uni-lab-test/job/
-
-# 下载文件到本地
-ossutil cp oss://uni-lab-test/job/20251217/文件名 ./本地路径
-
-# 生成签名URL（有效期1小时）
-ossutil sign oss://uni-lab-test/job/20251217/文件名 --timeout 3600
-```
-
-## 更新日志
-
-- **2025-12-17**: v2.0（重大更新）
-  - ⚠️ 从 `oss2` 库改为统一 API 方式
-  - 简化环境变量配置（仅需 JWT Token）
-  - 新增 `get_upload_token()` 和 `upload_file_with_presigned_url()` 函数
-  - `upload_file_to_oss()` 返回值改为文件访问 URL
-  - 更新文档和迁移指南
-
-- **2025-12-15**: v1.1
-  - 添加初始化参数 `oss_upload_enabled` 和 `oss_prefix`
-  - 支持在 `device.json` 中配置 OSS 上传
-  - 更新使用说明，添加验证方法
-
-- **2025-12-13**: v1.0 初始版本
-  - 添加 OSS 上传工具函数（基于 `oss2` 库）
-  - 创建 `upload_backup_to_oss` 动作方法
-  - 支持文件筛选和自定义 OSS 路径
-
-## 参考资料
-
-- [Uni-Lab 统一文件上传 API 文档](https://uni-lab.test.bohrium.com/api/docs)（如有）
-- [阿里云 OSS 控制台](https://oss.console.aliyun.com/)
-- [ossutil 工具文档](https://help.aliyun.com/document_detail/120075.html)

unilabos/devices/neware_battery_test_system/OSS_UPLOAD_README_EN.md

@@ -1,574 +0,0 @@
-# Neware Battery Test System - OSS Upload Feature
-
-## Overview
-
-This update adds **Aliyun OSS file upload functionality** to the Neware Battery Test System using a unified API approach, allowing test data backup files to be uploaded to cloud storage.
-
-## Version Updates
-
-### ⚠️ Breaking Changes (2025-12-17)
-
-This update changes the OSS upload method from **`oss2` library** to **unified API approach** to align with other team systems.
-
-**Main Changes**:
-- ✅ Use `requests` library
-- ✅ Upload via presigned URLs obtained through unified API
-- ✅ Simplified environment variable configuration (only API Key required)
-- ✅ Returns file access URLs
-
-## Main Changes
-
-### 1. OSS Upload Functions Refactored (Lines 30-200)
-
-#### New Functions
-
-- **`get_upload_token(base_url, auth_token, scene, filename)`**  
-  Obtain presigned URL for file upload from unified API
-  
-- **`upload_file_with_presigned_url(upload_info, file_path)`**  
-  Upload file to OSS using presigned URL
-
-#### Updated Functions
-
-- **`upload_file_to_oss(local_file_path, oss_object_name)`**  
-  Upload single file to Aliyun OSS (using unified API approach)
-  - Return value changed: returns file access URL on success, `False` on failure
-  
-- **`upload_files_to_oss(file_paths, oss_prefix)`**  
-  Batch upload file list
-  - `oss_prefix` parameter retained but not used (interface compatibility)
-  
-- **`upload_directory_to_oss(local_dir, oss_prefix)`**  
-  Upload entire directory
-  - Simplified implementation, uploads using filenames directly
-
-### 2. Simplified Environment Variable Configuration
-
-#### Old Method (Deprecated)
-```bash
-# ❌ No longer used
-OSS_ACCESS_KEY_ID
-OSS_ACCESS_KEY_SECRET
-OSS_BUCKET_NAME
-OSS_ENDPOINT
-```
-
-#### New Method (Recommended)
-```bash
-# ✅ Required
-UNI_LAB_AUTH_TOKEN  # API Key format: "Api xxxxxx"
-
-# ✅ Optional (with defaults)
-UNI_LAB_BASE_URL (default: https://uni-lab.test.bohrium.com)
-UNI_LAB_UPLOAD_SCENE (default: job, other values will be changed to default)
-```
-
-### 3. Initialization Method (Unchanged)
-
-OSS-related configuration parameters in `__init__` method:
-
-```python
-# OSS upload configuration
-self.oss_upload_enabled = False  # OSS upload disabled by default
-self.oss_prefix = "neware_backup"  # OSS object path prefix
-self._last_backup_dir = None  # Record last backup_dir
-```
-
-**Default Behavior**: OSS upload is disabled by default (`oss_upload_enabled=False`), does not affect existing systems.
-
-### 4. upload_backup_to_oss Method (Unchanged)
-
-```python
-def upload_backup_to_oss(
-    self, 
-    backup_dir: str = None,
-    file_pattern: str = "*",
-    oss_prefix: str = None
-) -> dict
-```
-
-## Usage Guide
-
-### Prerequisites
-
-#### 1. Install Dependencies
-
-```bash
-# requests library (usually pre-installed)
-pip install requests
-```
-
-> **Note**: No longer need to install `oss2` library
-
-#### 2. Configure Environment Variables
-
-Configure environment variables based on your terminal type:
-
-##### PowerShell (Recommended)
-
-```powershell
-# Required: Set authentication Token (API Key format)
-$env:UNI_LAB_AUTH_TOKEN = "Api xxxx"
-
-# Optional: Custom server URL (defaults to test environment)
-$env:UNI_LAB_BASE_URL = "https://uni-lab.test.bohrium.com"
-
-# Optional: Custom upload scene (defaults to job)
-$env:UNI_LAB_UPLOAD_SCENE = "job"
-
-# Verify if set successfully
-echo $env:UNI_LAB_AUTH_TOKEN
-```
-
-##### CMD / Command Prompt
-
-```cmd
-REM Required: Set authentication Token (API Key format)
-set UNI_LAB_AUTH_TOKEN=Api xxxx
-
-REM Optional: Custom configuration
-set UNI_LAB_BASE_URL=https://uni-lab.test.bohrium.com
-set UNI_LAB_UPLOAD_SCENE=job
-
-REM Verify if set successfully
-echo %UNI_LAB_AUTH_TOKEN%
-```
-
-##### Linux/Mac
-
-```bash
-# Required: Set authentication Token (API Key format)
-export UNI_LAB_AUTH_TOKEN="Api xxxx"
-
-# Optional: Custom configuration
-export UNI_LAB_BASE_URL="https://uni-lab.test.bohrium.com"
-export UNI_LAB_UPLOAD_SCENE="job"
-
-# Verify if set successfully
-echo $UNI_LAB_AUTH_TOKEN
-```
-
-#### 3. Obtain Authentication Token
-
-> **Important**: Obtain API Key from Uni-Lab Homepage → Account Security.
-
-**Steps to Obtain**:
-1. Login to Uni-Lab system
-2. Go to Homepage → Account Security
-3. Copy your API Key
-
-Token format example:
-```
-Api 48ccxx336fba44f39e1e37db93xxxxx
-```
-
-> **Tips**:
-> - If Token already includes `Api ` prefix, use directly
-> - If no prefix, code will automatically add `Api ` prefix
-> - Old `Bearer` JWT Token format is still compatible
-
-#### 4. Persistent Configuration (Optional)
-
-**Temporary Configuration**: Environment variables set with the above commands are only valid for the current terminal session.
-
-**Persistence Method 1: PowerShell Profile**
-```powershell
-# Edit PowerShell profile
-notepad $PROFILE
-
-# Add to the opened file:
-$env:UNI_LAB_AUTH_TOKEN = "Api your_API_Key"
-```
-
-**Persistence Method 2: Windows System Environment Variables**
-- Right-click "This PC" → "Properties" → "Advanced system settings" → "Environment Variables"
-- Add user or system variable:
-  - Variable name: `UNI_LAB_AUTH_TOKEN`
-  - Variable value: `Api your_API_Key`
-
-### Usage Workflow
-
-#### Step 1: Enable OSS Upload Feature
-
-**Recommended: Configure in `device.json`**
-
-Edit device configuration file `unilabos/devices/neware_battery_test_system/device.json`, add to `config`:
-
-```json
-{
-    "nodes": [
-        {
-            "id": "NEWARE_BATTERY_TEST_SYSTEM",
-            "config": {
-                "ip": "127.0.0.1",
-                "port": 502,
-                "machine_id": 1,
-                "oss_upload_enabled": true,
-                "oss_prefix": "neware_backup/2025-12"
-            }
-        }
-    ]
-}
-```
-
-**Parameter Description**:
-- `oss_upload_enabled`: Set to `true` to enable OSS upload
-- `oss_prefix`: OSS file path prefix, recommended to organize by date or project (currently unused, retained for interface compatibility)
-
-**Alternative: Via Initialization Parameters**
-
-```python
-device = NewareBatteryTestSystem(
-    ip="127.0.0.1",
-    port=502,
-    oss_upload_enabled=True,  # Enable OSS upload
-    oss_prefix="neware_backup/2025-12"  # Optional: custom path prefix
-)
-```
-
-**After configuration, restart the ROS node for changes to take effect.**
-
-#### Step 2: Submit Test Tasks
-
-Use `submit_from_csv` to submit test tasks:
-
-```python
-result = device.submit_from_csv(
-    csv_path="test_data.csv",
-    output_dir="D:/neware_output"
-)
-```
-
-This creates the following directory structure:
-```
-D:/neware_output/
-├── xml_dir/          # XML configuration files
-└── backup_dir/       # Test data backup (generated by Neware device)
-```
-
-#### Step 3: Wait for Test Completion
-
-Wait for the Neware device to complete testing. Backup files will be generated in the `backup_dir`.
-
-#### Step 4: Upload Backup Files to OSS
-
-**Method A: Use Default Settings (Recommended)**
-```python
-# Automatically uses the last backup_dir, uploads all files
-result = device.upload_backup_to_oss()
-```
-
-**Method B: Specify Backup Directory**
-```python
-# Manually specify backup directory
-result = device.upload_backup_to_oss(
-    backup_dir="D:/neware_output/backup_dir"
-)
-```
-
-**Method C: Filter Specific Files**
-```python
-# Upload only CSV files
-result = device.upload_backup_to_oss(
-    backup_dir="D:/neware_output/backup_dir",
-    file_pattern="*.csv"
-)
-
-# Upload files for specific battery IDs
-result = device.upload_backup_to_oss(
-    file_pattern="Battery_A001_*.nda"
-)
-```
-
-### Return Result Examples
-
-**All Files Uploaded Successfully**:
-```python
-{
-    "return_info": "All uploads successful: 15/15 files",
-    "success": True,
-    "uploaded_count": 15,
-    "total_count": 15,
-    "failed_files": [],
-    "uploaded_files": [
-        {
-            "filename": "Battery_A001.ndax",
-            "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A001.ndax"
-        },
-        {
-            "filename": "Battery_A002.ndax",
-            "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A002.ndax"
-        }
-        # ... other 13 files
-    ]
-}
-```
-
-**Partial Upload Success**:
-```python
-{
-    "return_info": "Partial upload success: 12/15 files, 3 failed",
-    "success": True,
-    "uploaded_count": 12,
-    "total_count": 15,
-    "failed_files": ["Battery_A003.csv", "Battery_A007.csv", "test.log"],
-    "uploaded_files": [
-        {
-            "filename": "Battery_A001.ndax",
-            "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A001.ndax"
-        },
-        {
-            "filename": "Battery_A002.ndax",
-            "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A002.ndax"
-        }
-        # ... other 10 successfully uploaded files
-    ]
-}
-```
-
-> **Note**: The `uploaded_files` field contains detailed information for all successfully uploaded files:
-> - `filename`: Filename (without path)
-> - `url`: Complete OSS access URL for the file
-
-## Error Handling
-
-### OSS Upload Not Enabled
-
-If `oss_upload_enabled=False`, calling `upload_backup_to_oss` returns:
-```python
-{
-    "return_info": "OSS upload not enabled (oss_upload_enabled=False), skipping upload. Backup directory: ...",
-    "success": False,
-    "uploaded_count": 0,
-    "total_count": 0,
-    "failed_files": []
-}
-```
-
-**Solution**: Set `device.oss_upload_enabled = True`
-
-### Environment Variables Not Configured
-
-If `UNI_LAB_AUTH_TOKEN` is missing, returns:
-```python
-{
-    "return_info": "OSS environment variable configuration error: Please set environment variable: UNI_LAB_AUTH_TOKEN",
-    "success": False,
-    ...
-}
-```
-
-**Solution**: Configure environment variables as per prerequisites
-
-### Backup Directory Does Not Exist
-
-If specified backup directory doesn't exist, returns:
-```python
-{
-    "return_info": "Backup directory does not exist: D:/neware_output/backup_dir",
-    "success": False,
-    ...
-}
-```
-
-**Solution**: Check if directory path is correct, or wait for test to generate backup files
-
-### API Authentication Failed
-
-If Token is invalid or expired, returns:
-```python
-{
-    "return_info": "Failed to get credentials: Authentication failed",
-    "success": False,
-    ...
-}
-```
-
-**Solution**: Check if Token is correct, or contact development team for new Token
-
-## Technical Details
-
-### OSS Upload Process (New Method)
-
-```mermaid
-flowchart TD
-    A[Start Upload] --> B[Verify Configuration and Environment Variables]
-    B --> C[Scan Backup Directory]
-    C --> D[Filter Files Matching Pattern]
-    D --> E[Iterate Each File]
-    E --> F[Call API to Get Presigned URL]
-    F --> G{Success?}
-    G -->|Yes| H[Upload File Using Presigned URL]
-    G -->|No| I[Record Failure]
-    H --> J{Upload Success?}
-    J -->|Yes| K[Record Success + File URL]
-    J -->|No| I
-    I --> L{More Files?}
-    K --> L
-    L -->|Yes| E
-    L -->|No| M[Return Statistics]
-```
-
-### Upload API Flow
-
-1. **Get Presigned URL**
-   - Request: `GET /api/v1/lab/storage/token?scene={scene}&filename={filename}&path={path}`
-   - Authentication: `Authorization: Api {api_key}` or `Authorization: Bearer {token}`
-   - Response: `{code: 0, data: {url: "presigned_url", path: "file_path"}}`
-
-2. **Upload File**
-   - Request: `PUT {presigned_url}`
-   - Content: File binary data
-   - Response: HTTP 200 indicates success
-
-3. **Generate Access URL**
-   - Format: `https://{OSS_PUBLIC_HOST}/{path}`
-   - Example: `https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/20251217/battery_data.csv`
-
-### Logging
-
-All upload operations are logged through ROS logging system:
-- `INFO` level: Upload progress and success information
-- `WARNING` level: Empty directory, not enabled warnings
-- `ERROR` level: Upload failures, configuration errors
-
-## Important Notes
-
-1. **Upload Timing**: Files in `backup_dir` are generated in real-time during test execution. Ensure testing is complete before uploading.
-
-2. **File Naming**: Files uploaded to OSS retain original filenames. Paths are assigned by unified API.
-
-3. **Network Requirements**: Upload requires stable network connection to Aliyun OSS service.
-
-4. **Token Expiration**: JWT Tokens have expiration time. Need to obtain new token after expiration.
-
-5. **Cost Considerations**: OSS storage and traffic incur costs. Set file filtering rules appropriately.
-
-6. **Concurrent Upload**: Current implementation uses serial upload. Large number of files may take considerable time.
-
-7. **File Size Limits**: Note single file size upload limits (controlled by unified API).
-
-## Compatibility
-
-- ✅ **Backward Compatible**: Default `oss_upload_enabled=False`, does not affect existing systems
-- ✅ **Optional Feature**: Enable only when needed
-- ✅ **Independent Operation**: Upload failures do not affect test task submission and execution
-- ⚠️ **Environment Variable Changes**: Need to update environment variable configuration (from OSS AK/SK to API Key)
-
-## Migration Guide
-
-If you previously used the `oss2` library method, follow these steps to migrate:
-
-### 1. Uninstall Old Dependencies (Optional)
-```bash
-pip uninstall oss2
-```
-
-### 2. Remove Old Environment Variables
-```powershell
-# PowerShell
-Remove-Item Env:\OSS_ACCESS_KEY_ID
-Remove-Item Env:\OSS_ACCESS_KEY_SECRET
-Remove-Item Env:\OSS_BUCKET_NAME
-Remove-Item Env:\OSS_ENDPOINT
-```
-
-### 3. Set New Environment Variables
-```powershell
-# PowerShell
-$env:UNI_LAB_AUTH_TOKEN = "Api your_API_Key"
-```
-
-### 4. Test Upload Functionality
-```python
-# Verify upload works correctly
-result = device.upload_backup_to_oss(backup_dir="test_directory")
-print(result)
-```
-
-## FAQ
-
-**Q: Why change from `oss2` to unified API?**  
-A: To maintain consistency with other team systems, simplify configuration, and unify authentication methods.
-
-**Q: Where to get the Token?**  
-A: Obtain API Key from Uni-Lab Homepage → Account Security.
-
-**Q: What if Token expires?**  
-A: Obtain a new API Key and update the `UNI_LAB_AUTH_TOKEN` environment variable.
-
-**Q: Can I customize upload paths?**  
-A: Current version has paths automatically assigned by unified API. `oss_prefix` parameter is currently unused (retained for interface compatibility).
-
-**Q: Why not auto-upload in `submit_from_csv`?**  
-A: Because backup files are generated progressively during testing, they may not be fully generated when the method returns. A separate upload method provides more flexibility.
-
-**Q: How to access files after upload?**  
-A: Upload success returns file access URL in format `https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/{path}`
-
-**Q: How to delete uploaded files?**  
-A: Need to operate through OSS console or API. This feature only handles uploads.
-
-## Verifying Upload Results
-
-### Method 1: Via Aliyun Console
-
-1. Login to [Aliyun OSS Console](https://oss.console.aliyun.com/)
-2. Click **Bucket List** on the left
-3. Select the `uni-lab-test` Bucket
-4. Click **File Management**
-5. View uploaded file list
-
-### Method 2: Using Returned File URL
-
-After successful upload, `upload_file_to_oss()` returns file access URL:
-```python
-url = upload_file_to_oss("local_file.csv")
-print(f"File access URL: {url}")
-# Example output: https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/20251217/local_file.csv
-```
-
-> **Note**: OSS files are private by default, direct URL access may require signature authentication.
-
-### Method 3: Using ossutil CLI Tool
-
-After installing [ossutil](https://help.aliyun.com/document_detail/120075.html):
-
-```bash
-# List files
-ossutil ls oss://uni-lab-test/job/
-
-# Download file to local
-ossutil cp oss://uni-lab-test/job/20251217/filename ./local_path
-
-# Generate signed URL (valid for 1 hour)
-ossutil sign oss://uni-lab-test/job/20251217/filename --timeout 3600
-```
-
-## Changelog
-
-- **2025-12-17**: v2.0 (Major Update)
-  - ⚠️ Changed from `oss2` library to unified API approach
-  - Simplified environment variable configuration (only API Key required)
-  - Added `get_upload_token()` and `upload_file_with_presigned_url()` functions
-  - `upload_file_to_oss()` return value changed to file access URL
-  - Updated documentation and migration guide
-  - Token format: Support both `Api Key` and `Bearer JWT`
-  - API endpoint: `/api/v1/lab/storage/token`
-  - Scene parameter: Fixed to `job` (other values changed to `default`)
-
-- **2025-12-15**: v1.1
-  - Added initialization parameters `oss_upload_enabled` and `oss_prefix`
-  - Support OSS upload configuration in `device.json`
-  - Updated usage guide, added verification methods
-
-- **2025-12-13**: v1.0 Initial Version
-  - Added OSS upload utility functions (based on `oss2` library)
-  - Created `upload_backup_to_oss` action method
-  - Support file filtering and custom OSS paths
-
-## References
-
-- [Uni-Lab Unified File Upload API Documentation](https://uni-lab.test.bohrium.com/api/docs) (if available)
-- [Aliyun OSS Console](https://oss.console.aliyun.com/)
-- [ossutil Tool Documentation](https://help.aliyun.com/document_detail/120075.html)

unilabos/devices/neware_battery_test_system/device.json

@@ -1,35 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "NEWARE_BATTERY_TEST_SYSTEM",
-            "name": "Neware Battery Test System",
-            "parent": null,
-            "type": "device",
-            "class": "neware_battery_test_system",
-            "position": {
-                "x": 620.0,
-                "y": 200.0,
-                "z": 0
-            },
-            "config": {
-                "ip": "127.0.0.1",
-                "port": 502,
-                "machine_id": 1,
-                "devtype": "27",
-                "timeout": 20,
-                "size_x": 500.0,
-                "size_y": 500.0,
-                "size_z": 2000.0,
-                "oss_upload_enabled": true,
-                "oss_prefix": "neware_backup/2025-12"
-            },
-            "data": {
-                "功能说明": "新威电池测试系统，提供720通道监控和CSV批量提交功能",
-                "监控功能": "支持720个通道的实时状态监控、2盘电池物料管理、状态导出等",
-                "提交功能": "通过submit_from_csv action从CSV文件批量提交测试任务。CSV必须包含: Battery_Code, Pole_Weight, 集流体质量, 活性物质含量, 克容量mah/g, 电池体系, 设备号, 排号, 通道号"
-            },
-            "children": []
-        }
-    ],
-    "links": []
-}

unilabos/devices/separator/chinwe.py

@@ -1,649 +1,282 @@
-# -*- coding: utf-8 -*-
-"""
-Contains drivers for:
-1. SyringePump: Runze Fluid SY-03B (ASCII)
-2. EmmMotor: Emm V5.0 Closed-loop Stepper (Modbus-RTU variant)
-3. XKCSensor: XKC Non-contact Level Sensor (Modbus-RTU)
-"""
-
-import socket
-import serial
-import time
+import sys
 import threading
-import struct
+import serial
+import serial.tools.list_ports
 import re
-import traceback
-import queue
-from typing import Optional, Dict, List, Any
+import time
+from typing import Optional, List, Dict, Tuple
 
-try:
-    from unilabos.device_comms.universal_driver import UniversalDriver
-except ImportError:
-    import logging
-    class UniversalDriver:
-        def __init__(self):
-            self.logger = logging.getLogger(self.__class__.__name__)
-
-        def execute_command_from_outer(self, command: str):
-            pass
-
-# ==============================================================================
-# 1. Transport Layer (通信层)
-# ==============================================================================
-
-class TransportManager:
+class ChinweDevice:
     """
-    统一通信管理类。
-    自动识别 串口 (Serial) 或 网络 (TCP) 连接。
+    ChinWe设备控制类
+    提供串口通信、电机控制、传感器数据读取等功能
     """
-    def __init__(self, port: str, baudrate: int = 9600, timeout: float = 3.0, logger=None):
+    
+    def __init__(self, port: str, baudrate: int = 115200, debug: bool = False):
+        """
+        初始化ChinWe设备
+        
+        Args:
+            port: 串口名称，如果为None则自动检测
+            baudrate: 波特率，默认115200
+        """
+        self.debug = debug
         self.port = port
         self.baudrate = baudrate
-        self.timeout = timeout
-        self.logger = logger
-        self.lock = threading.RLock() # 线程锁，确保多设备共用一个连接时不冲突
-
-        self.is_tcp = False
-        self.serial = None
-        self.socket = None
-
-        # 简单判断: 如果包含 ':' (如 192.168.1.1:8899) 或者看起来像 IP，则认为是 TCP
-        if ':' in self.port or (self.port.count('.') == 3 and not self.port.startswith('/')):
-            self.is_tcp = True
-            self._connect_tcp()
-        else:
-            self._connect_serial()
-
-    def _log(self, msg):
-        if self.logger:
-             pass
-            # self.logger.debug(f"[Transport] {msg}")
-
-    def _connect_tcp(self):
-        try:
-            if ':' in self.port:
-                host, p = self.port.split(':')
-                self.tcp_host = host
-                self.tcp_port = int(p)
-            else:
-                self.tcp_host = self.port
-                self.tcp_port = 8899 # 默认端口
-
-            # if self.logger: self.logger.info(f"Connecting TCP {self.tcp_host}:{self.tcp_port} ...")
-            self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-            self.socket.settimeout(self.timeout)
-            self.socket.connect((self.tcp_host, self.tcp_port))
-        except Exception as e:
-            raise ConnectionError(f"TCP connection failed: {e}")
-
-    def _connect_serial(self):
-        try:
-            # if self.logger: self.logger.info(f"Opening Serial {self.port} (Baud: {self.baudrate}) ...")
-            self.serial = serial.Serial(
-                port=self.port,
-                baudrate=self.baudrate,
-                timeout=self.timeout
-            )
-        except Exception as e:
-            raise ConnectionError(f"Serial open failed: {e}")
-
-    def close(self):
-        """关闭连接"""
-        if self.is_tcp and self.socket:
-            try: self.socket.close()
-            except: pass
-        elif not self.is_tcp and self.serial and self.serial.is_open:
-            self.serial.close()
-
-    def clear_buffer(self):
-        """清空缓冲区 (Thread-safe)"""
-        with self.lock:
-            if self.is_tcp:
-                self.socket.setblocking(False)
-                try:
-                    while True:
-                        if not self.socket.recv(1024): break
-                except: pass
-                finally: self.socket.settimeout(self.timeout)
-            else:
-                self.serial.reset_input_buffer()
-
-    def write(self, data: bytes):
-        """发送原始字节"""
-        with self.lock:
-            if self.is_tcp:
-                self.socket.sendall(data)
-            else:
-                self.serial.write(data)
-
-    def read(self, size: int) -> bytes:
-        """读取指定长度字节"""
-        if self.is_tcp:
-            data = b''
-            start = time.time()
-            while len(data) < size:
-                if time.time() - start > self.timeout: break
-                try:
-                    chunk = self.socket.recv(size - len(data))
-                    if not chunk: break
-                    data += chunk
-                except socket.timeout: break
-            return data
-        else:
-            return self.serial.read(size)
-
-    def send_ascii_command(self, command: str) -> str:
-        """
-        发送 ASCII 字符串命令 (如注射泵指令)，读取直到 '\r'。
-        """
-        with self.lock:
-            data = command.encode('ascii') if isinstance(command, str) else command
-            self.clear_buffer()
-            self.write(data)
-
-            # Read until \r
-            if self.is_tcp:
-                resp = b''
-                start = time.time()
-                while True:
-                    if time.time() - start > self.timeout: break
-                    try:
-                        char = self.socket.recv(1)
-                        if not char: break
-                        resp += char
-                        if char == b'\r': break
-                    except: break
-                return resp.decode('ascii', errors='ignore').strip()
-            else:
-                return self.serial.read_until(b'\r').decode('ascii', errors='ignore').strip()
-
-# ==============================================================================
-# 2. Syringe Pump Driver (注射泵)
-# ==============================================================================
-
-class SyringePump:
-    """SY-03B 注射泵驱动 (ASCII协议)"""
-
-    CMD_INITIALIZE = "Z{speed},{drain_port},{output_port}R"
-    CMD_SWITCH_VALVE = "I{port}R"
-    CMD_ASPIRATE = "P{vol}R"
-    CMD_DISPENSE = "D{vol}R"
-    CMD_DISPENSE_ALL = "A0R"
-    CMD_STOP = "TR"
-    CMD_QUERY_STATUS = "Q"
-    CMD_QUERY_PLUNGER = "?0"
-
-    def __init__(self, device_id: int, transport: TransportManager):
-        if not 1 <= device_id <= 15:
-            pass # Allow all IDs for now
-        self.id = str(device_id)
-        self.transport = transport
-
-    def _send(self, template: str, **kwargs) -> str:
-        cmd = f"/{self.id}" + template.format(**kwargs) + "\r"
-        return self.transport.send_ascii_command(cmd)
-
-    def is_busy(self) -> bool:
-        """查询繁忙状态"""
-        resp = self._send(self.CMD_QUERY_STATUS)
-        # 响应如 /0` (Ready, 0x60) 或 /0@ (Busy, 0x40)
-        if len(resp) >= 3:
-            status_byte = ord(resp[2])
-            # Bit 5: 1=Ready, 0=Busy
-            return (status_byte & 0x20) == 0
-        return False
-
-    def wait_until_idle(self, timeout=30):
-        """阻塞等待直到空闲"""
-        start = time.time()
-        while time.time() - start < timeout:
-            if not self.is_busy(): return
-            time.sleep(0.5)
-        # raise TimeoutError(f"Pump {self.id} wait idle timeout")
-        pass
-
-    def initialize(self, drain_port=0, output_port=0, speed=10):
-        """初始化"""
-        self._send(self.CMD_INITIALIZE, speed=speed, drain_port=drain_port, output_port=output_port)
-
-    def switch_valve(self, port: int):
-        """切换阀门 (1-8)"""
-        self._send(self.CMD_SWITCH_VALVE, port=port)
-
-    def aspirate(self, steps: int):
-        """吸液 (相对步数)"""
-        self._send(self.CMD_ASPIRATE, vol=steps)
-
-    def dispense(self, steps: int):
-        """排液 (相对步数)"""
-        self._send(self.CMD_DISPENSE, vol=steps)
-
-    def stop(self):
-        """停止"""
-        self._send(self.CMD_STOP)
-
-    def get_position(self) -> int:
-        """获取柱塞位置 (步数)"""
-        resp = self._send(self.CMD_QUERY_PLUNGER)
-        m = re.search(r'\d+', resp)
-        return int(m.group()) if m else -1
-
-# ==============================================================================
-# 3. Stepper Motor Driver (步进电机)
-# ==============================================================================
-
-class EmmMotor:
-    """Emm V5.0 闭环步进电机驱动"""
-
-    def __init__(self, device_id: int, transport: TransportManager):
-        self.id = device_id
-        self.transport = transport
-
-    def _send(self, func_code: int, payload: list) -> bytes:
-        with self.transport.lock:
-            self.transport.clear_buffer()
-            # 格式: [ID] [Func] [Data...] [Check=0x6B]
-            body = [self.id, func_code] + payload
-            body.append(0x6B) # Checksum
-            self.transport.write(bytes(body))
-
-            # 根据指令不同，读取不同长度响应
-            read_len = 10 if func_code in [0x31, 0x32, 0x35, 0x24, 0x27] else 4
-            return self.transport.read(read_len)
-
-    def enable(self, on=True):
-        """使能 (True=锁轴, False=松轴)"""
-        state = 1 if on else 0
-        self._send(0xF3, [0xAB, state, 0])
-
-    def run_speed(self, speed_rpm: int, direction=0, acc=10):
-        """速度模式运行"""
-        sp = struct.pack('>H', int(speed_rpm))
-        self._send(0xF6, [direction, sp[0], sp[1], acc, 0])
-
-    def run_position(self, pulses: int, speed_rpm: int, direction=0, acc=10, absolute=False):
-        """位置模式运行"""
-        sp = struct.pack('>H', int(speed_rpm))
-        pl = struct.pack('>I', int(pulses))
-        is_abs = 1 if absolute else 0
-        self._send(0xFD, [direction, sp[0], sp[1], acc, pl[0], pl[1], pl[2], pl[3], is_abs, 0])
-
-    def stop(self):
-        """停止"""
-        self._send(0xFE, [0x98, 0])
-
-    def set_zero(self):
-        """清零位置"""
-        self._send(0x0A, [])
-
-    def get_position(self) -> int:
-        """获取当前脉冲位置"""
-        resp = self._send(0x32, [])
-        if len(resp) >= 8:
-            sign = resp[2]
-            val = struct.unpack('>I', resp[3:7])[0]
-            return -val if sign == 1 else val
-        return 0
-
-# ==============================================================================
-# 4. Liquid Sensor Driver (液位传感器)
-# ==============================================================================
-
-class XKCSensor:
-    """XKC RS485 液位传感器 (Modbus RTU)"""
-
-    def __init__(self, device_id: int, transport: TransportManager, threshold: int = 300):
-        self.id = device_id
-        self.transport = transport
-        self.threshold = threshold
-
-    def _crc(self, data: bytes) -> bytes:
-        crc = 0xFFFF
-        for byte in data:
-            crc ^= byte
-            for _ in range(8):
-                if crc & 0x0001: crc = (crc >> 1) ^ 0xA001
-                else: crc >>= 1
-        return struct.pack('<H', crc)
-
-    def read_level(self) -> Optional[Dict[str, Any]]:
-        """
-        读取液位。
-        返回: {'level': bool, 'rssi': int}
-        """
-        with self.transport.lock:
-            self.transport.clear_buffer()
-            # Modbus Read Registers: 01 03 00 01 00 02 CRC
-            payload = struct.pack('>HH', 0x0001, 0x0002)
-            msg = struct.pack('BB', self.id, 0x03) + payload
-            msg += self._crc(msg)
-            self.transport.write(msg)
-
-            # Read header
-            h = self.transport.read(3) # Addr, Func, Len
-            if len(h) < 3: return None
-            length = h[2]
-
-            # Read body + CRC
-            body = self.transport.read(length + 2)
-            if len(body) < length + 2:
-                # Firmware bug fix specific to some modules
-                if len(body) == 4 and length == 4:
-                    pass
-                else:
-                    return None
-
-            data = body[:-2]
-            if len(data) == 2:
-                rssi = data[1]
-            elif len(data) >= 4:
-                rssi = (data[2] << 8) | data[3]
-            else:
-                return None
-
-            return {
-                'level': rssi > self.threshold,
-                'rssi': rssi
-            }
-
-# ==============================================================================
-# 5. Main Device Class (ChinweDevice)
-# ==============================================================================
-
-class ChinweDevice(UniversalDriver):
-    """
-    ChinWe 工作站主驱动
-    继承自 UniversalDriver，管理所有子设备（泵、电机、传感器）
-    """
-
-    def __init__(self, port: str = "192.168.1.200:8899", baudrate: int = 9600,
-                 pump_ids: List[int] = None, motor_ids: List[int] = None,
-                 sensor_id: int = 6, sensor_threshold: int = 300,
-                 timeout: float = 10.0):
-        """
-        初始化 ChinWe 工作站
-        :param port: 串口号 或 IP:Port
-        :param baudrate: 串口波特率
-        :param pump_ids: 注射泵 ID列表 (默认 [1, 2, 3])
-        :param motor_ids: 步进电机 ID列表 (默认 [4, 5])
-        :param sensor_id: 液位传感器 ID (默认 6)
-        :param sensor_threshold: 传感器液位判定阈值
-        :param timeout: 通信超时时间 (默认 10秒)
-        """
-        super().__init__()
-        self.port = port
-        self.baudrate = baudrate
-        self.timeout = timeout
-        self.mgr = None
+        self.serial_port: Optional[serial.Serial] = None
+        self._voltage: float = 0.0
+        self._ec_value: float = 0.0
+        self._ec_adc_value: int = 0
         self._is_connected = False
-
-        # 默认配置
-        if pump_ids is None: pump_ids = [1, 2, 3]
-        if motor_ids is None: motor_ids = [4, 5]
-
-        # 配置信息
-        self.pump_ids = pump_ids
-        self.motor_ids = motor_ids
-        self.sensor_id = sensor_id
-        self.sensor_threshold = sensor_threshold
-
-        # 子设备实例容器
-        self.pumps: Dict[int, SyringePump] = {}
-        self.motors: Dict[int, EmmMotor] = {}
-        self.sensor: Optional[XKCSensor] = None
-
-        # 轮询线程控制
-        self._stop_event = threading.Event()
-        self._poll_thread = None
-
-        # 实时状态缓存
-        self.status_cache = {
-             "sensor_rssi": 0,
-             "sensor_level": False,
-             "connected": False
-        }
-
-        # 自动连接
-        if self.port:
-            self.connect()
-
-    def connect(self) -> bool:
-        if self._is_connected: return True
-        try:
-            self.logger.info(f"Connecting to {self.port} (timeout={self.timeout})...")
-            self.mgr = TransportManager(self.port, baudrate=self.baudrate, timeout=self.timeout, logger=self.logger)
-
-            # 初始化所有泵
-            for pid in self.pump_ids:
-                self.pumps[pid] = SyringePump(pid, self.mgr)
-
-            # 初始化所有电机
-            for mid in self.motor_ids:
-                self.motors[mid] = EmmMotor(mid, self.mgr)
-
-            # 初始化传感器
-            self.sensor = XKCSensor(self.sensor_id, self.mgr, self.sensor_threshold)
-
-            self._is_connected = True
-            self.status_cache["connected"] = True
-
-            # 启动轮询线程
-            self._start_polling()
-            return True
-        except Exception as e:
-            self.logger.error(f"Connection failed: {e}")
-            self._is_connected = False
-            self.status_cache["connected"] = False
-            return False
-
-    def disconnect(self):
-        self._stop_event.set()
-        if self._poll_thread:
-            self._poll_thread.join(timeout=2.0)
-
-        if self.mgr:
-            self.mgr.close()
-
-        self._is_connected = False
-        self.status_cache["connected"] = False
-        self.logger.info("Disconnected.")
-
-    def _start_polling(self):
-        """启动传感器轮询线程"""
-        if self._poll_thread and self._poll_thread.is_alive():
-            return
-
-        self._stop_event.clear()
-        self._poll_thread = threading.Thread(target=self._polling_loop, daemon=True, name="ChinwePoll")
-        self._poll_thread.start()
-
-    def _polling_loop(self):
-        """轮询主循环"""
-        self.logger.info("Sensor polling started.")
-        error_count = 0
-        while not self._stop_event.is_set():
-            if not self._is_connected or not self.sensor:
-                time.sleep(1)
-                continue
-
-            try:
-                # 获取传感器数据
-                data = self.sensor.read_level()
-                if data:
-                    self.status_cache["sensor_rssi"] = data['rssi']
-                    self.status_cache["sensor_level"] = data['level']
-                    error_count = 0
-                else:
-                    error_count += 1
-
-                # 降低轮询频率防止总线拥塞
-                time.sleep(0.2)
-
-            except Exception as e:
-                error_count += 1
-                if error_count > 10: # 连续错误记录日志
-                    # self.logger.error(f"Polling error: {e}")
-                    error_count = 0
-                time.sleep(1)
-
-    # --- 对外暴露属性 (Properties) ---
-
-    @property
-    def sensor_level(self) -> bool:
-        return self.status_cache["sensor_level"]
-
-    @property
-    def sensor_rssi(self) -> int:
-        return self.status_cache["sensor_rssi"]
-
+        self.connect()
+    
     @property
     def is_connected(self) -> bool:
-        return self._is_connected
+        """获取连接状态"""
+        return self._is_connected and self.serial_port and self.serial_port.is_open
+    
+    @property
+    def voltage(self) -> float:
+        """获取电源电压值"""
+        return self._voltage
+    
+    @property
+    def ec_value(self) -> float:
+        """获取电导率值 (ms/cm)"""
+        return self._ec_value
 
-    # --- 对外功能指令 (Actions) ---
+    @property
+    def ec_adc_value(self) -> int:
+        """获取EC ADC原始值"""
+        return self._ec_adc_value
+    
 
-    def pump_initialize(self, pump_id: int, drain_port=0, output_port=0, speed=10):
-        """指定泵初始化"""
-        pump_id = int(pump_id)
-        if pump_id in self.pumps:
-            self.pumps[pump_id].initialize(drain_port, output_port, speed)
-            self.pumps[pump_id].wait_until_idle()
+    @property
+    def device_status(self) -> Dict[str, any]:
+        """
+        获取设备状态信息
+        
+        Returns:
+            包含设备状态的字典
+        """
+        return {
+            "connected": self.is_connected,
+            "port": self.port,
+            "baudrate": self.baudrate,
+            "voltage": self.voltage,
+            "ec_value": self.ec_value,
+            "ec_adc_value": self.ec_adc_value
+        }
+    
+    def connect(self, port: Optional[str] = None, baudrate: Optional[int] = None) -> bool:
+        """
+        连接到串口设备
+        
+        Args:
+            port: 串口名称，如果为None则使用初始化时的port或自动检测
+            baudrate: 波特率，如果为None则使用初始化时的baudrate
+            
+        Returns:
+            连接是否成功
+        """
+        if self.is_connected:
             return True
-        return False
-
-    def pump_aspirate(self, pump_id: int, volume: int, valve_port: int):
-        """
-        泵吸液 (阻塞)
-        :param valve_port: 阀门端口 (1-8)
-        """
-        pump_id = int(pump_id)
-        valve_port = int(valve_port)
-        if pump_id in self.pumps:
-            pump = self.pumps[pump_id]
-            # 1. 切换阀门
-            pump.switch_valve(valve_port)
-            pump.wait_until_idle()
-            # 2. 吸液
-            pump.aspirate(volume)
-            pump.wait_until_idle()
+            
+        target_port = port or self.port
+        target_baudrate = baudrate or self.baudrate
+        
+        try:
+            self.serial_port = serial.Serial(target_port, target_baudrate, timeout=0.5)
+            self._is_connected = True
+            self.port = target_port
+            self.baudrate = target_baudrate
+            connect_allow_times = 5
+            while not self.serial_port.is_open and connect_allow_times > 0:
+                time.sleep(0.5)
+                connect_allow_times -= 1
+                print(f"尝试连接到 {target_port} @ {target_baudrate}，剩余尝试次数: {connect_allow_times}", self.debug)
+                raise ValueError("串口未打开，请检查设备连接")
+            print(f"已连接到 {target_port} @ {target_baudrate}", self.debug)
+            threading.Thread(target=self._read_data, daemon=True).start()
             return True
-        return False
-
-    def pump_dispense(self, pump_id: int, volume: int, valve_port: int):
+        except Exception as e:
+            print(f"ChinweDevice连接失败: {e}")
+            self._is_connected = False
+            return False
+    
+    def disconnect(self) -> bool:
         """
-        泵排液 (阻塞)
-        :param valve_port: 阀门端口 (1-8)
+        断开串口连接
+        
+        Returns:
+            断开是否成功
         """
-        pump_id = int(pump_id)
-        valve_port = int(valve_port)
-        if pump_id in self.pumps:
-            pump = self.pumps[pump_id]
-            # 1. 切换阀门
-            pump.switch_valve(valve_port)
-            pump.wait_until_idle()
-            # 2. 排液
-            pump.dispense(volume)
-            pump.wait_until_idle()
-            return True
-        return False
-
-    def pump_valve(self, pump_id: int, port: int):
-        """泵切换阀门 (阻塞)"""
-        pump_id = int(pump_id)
-        port = int(port)
-        if pump_id in self.pumps:
-            pump = self.pumps[pump_id]
-            pump.switch_valve(port)
-            pump.wait_until_idle()
-            return True
-        return False
-
-    def motor_run_continuous(self, motor_id: int, speed: int, direction: str = "顺时针"):
-        """
-        电机一直旋转 (速度模式)
-        :param direction: "顺时针" or "逆时针"
-        """
-        motor_id = int(motor_id)
-        if motor_id not in self.motors: return False
-
-        dir_val = 0 if direction == "顺时针" else 1
-        self.motors[motor_id].run_speed(speed, dir_val)
-        return True
-
-    def motor_rotate_quarter(self, motor_id: int, speed: int = 60, direction: str = "顺时针"):
-        """
-        电机旋转1/4圈 (阻塞)
-        假设电机设置为 3200 脉冲/圈，1/4圈 = 800脉冲
-        """
-        motor_id = int(motor_id)
-        if motor_id not in self.motors: return False
-
-        pulses = 800
-        dir_val = 0 if direction == "顺时针" else 1
-
-        self.motors[motor_id].run_position(pulses, speed, dir_val, absolute=False)
-
-        # 预估时间阻塞 (单位: 分钟 -> 秒)
-        # Time(s) = revs / (RPM/60). revs = 0.25. time = 15 / RPM.
-        estimated_time = 15.0 / max(1, speed)
-        time.sleep(estimated_time + 0.5)
-
-        return True
-
-    def motor_stop(self, motor_id: int):
-        """电机停止"""
-        motor_id = int(motor_id)
-        if motor_id in self.motors:
-            self.motors[motor_id].stop()
-            return True
-        return False
-
-    def wait_sensor_level(self, target_state: str = "有液", timeout: int = 30) -> bool:
-        """
-        等待传感器达到指定电平
-        :param target_state: "有液" or "无液"
-        """
-        target_bool = True if target_state == "有液" else False
-
-        self.logger.info(f"Wait sensor: {target_state} ({target_bool}), timeout: {timeout}")
-        start = time.time()
-        while time.time() - start < timeout:
-            if self.sensor_level == target_bool:
+        if self.serial_port and self.serial_port.is_open:
+            try:
+                self.serial_port.close()
+                self._is_connected = False
+                print("已断开串口连接")
                 return True
-            time.sleep(0.1)
-        self.logger.warning("Wait sensor level timeout")
-        return False
-
-    def wait_time(self, duration: int) -> bool:
-        """
-        等待指定时间 (秒)
-        :param duration: 秒
-        """
-        self.logger.info(f"Waiting for {duration} seconds...")
-        time.sleep(duration)
+            except Exception as e:
+                print(f"断开连接失败: {e}")
+                return False
         return True
+    
+    def _send_motor_command(self, command: str) -> bool:
+        """
+        发送电机控制命令
+        
+        Args:
+            command: 电机命令字符串，例如 "M 1 CW 1.5"
+            
+        Returns:
+            发送是否成功
+        """
+        if not self.is_connected:
+            print("设备未连接")
+            return False
+            
+        try:
+            self.serial_port.write((command + "\n").encode('utf-8'))
+            print(f"发送命令: {command}")
+            return True
+        except Exception as e:
+            print(f"发送命令失败: {e}")
+            return False
+    
+    def rotate_motor(self, motor_id: int, turns: float, clockwise: bool = True) -> bool:
+        """
+        使电机转动指定圈数
+        
+        Args:
+            motor_id: 电机ID（1, 2, 3...）
+            turns: 转动圈数，支持小数
+            clockwise: True为顺时针，False为逆时针
+            
+        Returns:
+            命令发送是否成功
+        """
+        if clockwise:
+            command = f"M {motor_id} CW {turns}"
+        else:
+            command = f"M {motor_id} CCW {turns}"
+        return self._send_motor_command(command)
 
-    def execute_command_from_outer(self, command_dict: Dict[str, Any]) -> bool:
-        """支持标准 JSON 指令调用"""
-        return super().execute_command_from_outer(command_dict)
+    def set_motor_speed(self, motor_id: int, speed: float) -> bool:
+        """
+        设置电机转速（如果设备支持）
+        
+        Args:
+            motor_id: 电机ID（1, 2, 3...）
+            speed: 转速值
+            
+        Returns:
+            命令发送是否成功
+        """
+        command = f"M {motor_id} SPEED {speed}"
+        return self._send_motor_command(command)
 
-if __name__ == "__main__":
-    # Test
-    logging.basicConfig(level=logging.INFO)
-    dev = ChinweDevice(port="192.168.31.201:8899")
+    def _read_data(self) -> List[str]:
+        """
+        读取串口数据并解析
+        
+        Returns:
+            读取到的数据行列表
+        """
+        print("开始读取串口数据...")
+        if not self.is_connected:
+            return []
+            
+        data_lines = []
+        try:
+            while self.serial_port.in_waiting:
+                time.sleep(0.1)  # 等待数据稳定
+                try:
+                    line = self.serial_port.readline().decode('utf-8', errors='ignore').strip()
+                    if line:
+                        data_lines.append(line)
+                        self._parse_sensor_data(line)
+                except Exception as ex:
+                    print(f"解码数据错误: {ex}")
+        except Exception as e:
+            print(f"读取串口数据错误: {e}")
+            
+        return data_lines
+    
+    def _parse_sensor_data(self, line: str) -> None:
+        """
+        解析传感器数据
+        
+        Args:
+            line: 接收到的数据行
+        """
+        # 解析电源电压
+        if "电源电压" in line:
+            try:
+                val = float(line.split("：")[1].replace("V", "").strip())
+                self._voltage = val
+                if self.debug:
+                    print(f"电源电压更新: {val}V")
+            except Exception:
+                pass
+
+        # 解析电导率和ADC原始值（支持两种格式）
+        if "电导率" in line and "ADC原始值" in line:
+            try:
+                # 支持格式如：电导率：2.50ms/cm, ADC原始值：2052
+                ec_match = re.search(r"电导率[:：]\s*([\d\.]+)", line)
+                adc_match = re.search(r"ADC原始值[:：]\s*(\d+)", line)
+                if ec_match:
+                    ec_val = float(ec_match.group(1))
+                    self._ec_value = ec_val
+                    if self.debug:
+                        print(f"电导率更新: {ec_val:.2f} ms/cm")
+                if adc_match:
+                    adc_val = int(adc_match.group(1))
+                    self._ec_adc_value = adc_val
+                    if self.debug:
+                        print(f"EC ADC原始值更新: {adc_val}")
+            except Exception:
+                pass
+        # 仅电导率，无ADC原始值
+        elif "电导率" in line:
+            try:
+                val = float(line.split("：")[1].replace("ms/cm", "").strip())
+                self._ec_value = val
+                if self.debug:
+                    print(f"电导率更新: {val:.2f} ms/cm")
+            except Exception:
+                pass
+        # 仅ADC原始值（如有分开回传场景）
+        elif "ADC原始值" in line:
+            try:
+                adc_val = int(line.split("：")[1].strip())
+                self._ec_adc_value = adc_val
+                if self.debug:
+                    print(f"EC ADC原始值更新: {adc_val}")
+            except Exception:
+                pass
+    
+    def spin_when_ec_ge_0():
+        pass
+    
+
+def main():
+    """测试函数"""
+    print("=== ChinWe设备测试 ===")
+    
+    # 创建设备实例
+    device = ChinweDevice("/dev/tty.usbserial-A5069RR4", debug=True)
     try:
-        if dev.is_connected:
-            print(f"Status: Level={dev.sensor_level}, RSSI={dev.sensor_rssi}")
-
-            # Test pump 1
-            # dev.pump_valve(1, 1)
-            # dev.pump_move(1, 1000, "aspirate")
-
-            # Test motor 4
-             # dev.motor_run(4, 60, 0, 2)
-
-            for _ in range(5):
-                print(f"Level={dev.sensor_level}, RSSI={dev.sensor_rssi}")
-                time.sleep(1)
+        # 测试5: 发送电机命令
+        print("\n5. 发送电机命令测试:")
+        print("  5.3 使用通用函数控制电机20顺时针转2圈:")
+        device.rotate_motor(2, 20.0, clockwise=True)
+        time.sleep(0.5)
     finally:
-        dev.disconnect()
+        time.sleep(10)
+        # 测试7: 断开连接
+        print("\n7. 断开连接:")
+        device.disconnect()
+if __name__ == "__main__":
+    main()

unilabos/devices/workstation/post_process/bottle_carriers.py

@@ -1,93 +0,0 @@
-from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
-
-from unilabos.resources.itemized_carrier import BottleCarrier
-from unilabos.devices.workstation.post_process.bottles import POST_PROCESS_PolymerStation_Reagent_Bottle
-
-# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask,小瓶-Vial
-
-
-# ============================================================================
-# 聚合站（PolymerStation）载体定义（统一入口）
-# ============================================================================
-
-def POST_PROCESS_Raw_1BottleCarrier(name: str) -> BottleCarrier:
-    """聚合站-单试剂瓶载架
-
-    参数:
-    - name: 载架名称前缀
-    """
-
-    # 载架尺寸 (mm)
-    carrier_size_x = 127.8
-    carrier_size_y = 85.5
-    carrier_size_z = 20.0
-
-    # 烧杯/试剂瓶占位尺寸（使用圆形占位）
-    beaker_diameter = 60.0
-
-    # 计算中央位置
-    center_x = (carrier_size_x - beaker_diameter) / 2
-    center_y = (carrier_size_y - beaker_diameter) / 2
-    center_z = 5.0
-
-    carrier = BottleCarrier(
-        name=name,
-        size_x=carrier_size_x,
-        size_y=carrier_size_y,
-        size_z=carrier_size_z,
-        sites=create_homogeneous_resources(
-            klass=ResourceHolder,
-            locations=[Coordinate(center_x, center_y, center_z)],
-            resource_size_x=beaker_diameter,
-            resource_size_y=beaker_diameter,
-            name_prefix=name,
-        ),
-        model="POST_PROCESS_Raw_1BottleCarrier",
-    )
-    carrier.num_items_x = 1
-    carrier.num_items_y = 1
-    carrier.num_items_z = 1
-    # 统一后缀采用 "flask_1" 命名（可按需调整）
-    carrier[0] = POST_PROCESS_PolymerStation_Reagent_Bottle(f"{name}_flask_1")
-    return carrier
-
-def POST_PROCESS_Reaction_1BottleCarrier(name: str) -> BottleCarrier:
-    """聚合站-单试剂瓶载架
-
-    参数:
-    - name: 载架名称前缀
-    """
-
-    # 载架尺寸 (mm)
-    carrier_size_x = 127.8
-    carrier_size_y = 85.5
-    carrier_size_z = 20.0
-
-    # 烧杯/试剂瓶占位尺寸（使用圆形占位）
-    beaker_diameter = 60.0
-
-    # 计算中央位置
-    center_x = (carrier_size_x - beaker_diameter) / 2
-    center_y = (carrier_size_y - beaker_diameter) / 2
-    center_z = 5.0
-
-    carrier = BottleCarrier(
-        name=name,
-        size_x=carrier_size_x,
-        size_y=carrier_size_y,
-        size_z=carrier_size_z,
-        sites=create_homogeneous_resources(
-            klass=ResourceHolder,
-            locations=[Coordinate(center_x, center_y, center_z)],
-            resource_size_x=beaker_diameter,
-            resource_size_y=beaker_diameter,
-            name_prefix=name,
-        ),
-        model="POST_PROCESS_Reaction_1BottleCarrier",
-    )
-    carrier.num_items_x = 1
-    carrier.num_items_y = 1
-    carrier.num_items_z = 1
-    # 统一后缀采用 "flask_1" 命名（可按需调整）
-    carrier[0] = POST_PROCESS_PolymerStation_Reagent_Bottle(f"{name}_flask_1")
-    return carrier

unilabos/devices/workstation/post_process/bottles.py

@@ -1,20 +0,0 @@
-from unilabos.resources.itemized_carrier import Bottle
-
-
-def POST_PROCESS_PolymerStation_Reagent_Bottle(
-    name: str,
-    diameter: float = 70.0,
-    height: float = 120.0,
-    max_volume: float = 500000.0,  # 500mL
-    barcode: str = None,
-) -> Bottle:
-    """创建试剂瓶"""
-    return Bottle(
-        name=name,
-        diameter=diameter,
-        height=height,
-        max_volume=max_volume,
-        barcode=barcode,
-        model="POST_PROCESS_PolymerStation_Reagent_Bottle",
-    )
-

unilabos/devices/workstation/post_process/decks.py

@@ -1,46 +0,0 @@
-from os import name
-from pylabrobot.resources import Deck, Coordinate, Rotation
-
-from unilabos.devices.workstation.post_process.warehouses import (
-    post_process_warehouse_4x3x1,
-    post_process_warehouse_4x3x1_2, 
-)
-
-
-
-class post_process_deck(Deck):
-    def __init__(
-        self,
-        name: str = "post_process_deck",
-        size_x: float = 2000.0,
-        size_y: float = 1000.0,
-        size_z: float = 2670.0,
-        category: str = "deck",
-        setup: bool = True,
-    ) -> None:
-        super().__init__(name=name, size_x=1700.0, size_y=1350.0, size_z=2670.0)
-        if setup:
-            self.setup()
-
-    def setup(self) -> None:
-        # 添加仓库
-        self.warehouses = {
-            "原料罐堆栈": post_process_warehouse_4x3x1("原料罐堆栈"),
-            "反应罐堆栈": post_process_warehouse_4x3x1_2("反应罐堆栈"),
-            
-        }
-        # warehouse 的位置
-        self.warehouse_locations = {
-            "原料罐堆栈": Coordinate(350.0, 55.0, 0.0),
-            "反应罐堆栈": Coordinate(1000.0, 55.0, 0.0),
-
-        }
-
-        for warehouse_name, warehouse in self.warehouses.items():
-            self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
-
-
-
-
-
-

unilabos/devices/workstation/post_process/opcua_huairou.json

@@ -1,157 +0,0 @@
-{
-    "register_node_list_from_csv_path": {
-        "path": "opcua_nodes_huairou.csv"
-    },
-    "create_flow": [
-        {
-            "name": "trigger_grab_action",
-            "description": "触发反应罐及原料罐抓取动作",
-            "parameters": ["reaction_tank_number", "raw_tank_number"],
-            "action": [
-                {
-                    "init_function": {
-                        "func_name": "init_grab_params",
-                        "write_nodes": ["reaction_tank_number", "raw_tank_number"]
-                    },
-                    "start_function": {
-                        "func_name": "start_grab",
-                        "write_nodes": {"grab_trigger": true},
-                        "condition_nodes": ["grab_complete"],
-                        "stop_condition_expression": "grab_complete == True",
-                        "timeout_seconds": 999999.0
-                    },
-                    "stop_function": {
-                        "func_name": "stop_grab",
-                        "write_nodes": {"grab_trigger": false}
-                    }
-                }
-            ]
-        },
-        {
-            "name": "trigger_post_processing",
-            "description": "触发后处理动作",
-            "parameters": ["atomization_fast_speed", "wash_slow_speed","injection_pump_suction_speed",
-            "injection_pump_push_speed","raw_liquid_suction_count","first_wash_water_amount",
-            "second_wash_water_amount","first_powder_mixing_time","second_powder_mixing_time",
-            "first_powder_wash_count","second_powder_wash_count","initial_water_amount",
-            "pre_filtration_mixing_time","atomization_pressure_kpa"],
-            "action": [
-                {
-                    "init_function": {
-                        "func_name": "init_post_processing_params",
-                        "write_nodes": ["atomization_fast_speed", "wash_slow_speed","injection_pump_suction_speed",
-                        "injection_pump_push_speed","raw_liquid_suction_count","first_wash_water_amount",
-                        "second_wash_water_amount","first_powder_mixing_time","second_powder_mixing_time",
-                        "first_powder_wash_count","second_powder_wash_count","initial_water_amount",
-                        "pre_filtration_mixing_time","atomization_pressure_kpa"]
-                    },
-                    "start_function": {
-                        "func_name": "start_post_processing",
-                        "write_nodes": {"post_process_trigger": true},
-                        "condition_nodes": ["post_process_complete"],
-                        "stop_condition_expression": "post_process_complete == True",
-                        "timeout_seconds": 999999.0
-                    },
-                    "stop_function": {
-                        "func_name": "stop_post_processing",
-                        "write_nodes": {"post_process_trigger": false}
-                    }
-                }
-            ]
-        },
-        {
-            "name": "trigger_cleaning_action",
-            "description": "触发清洗及管路吹气动作",
-            "parameters": ["nmp_outer_wall_cleaning_injection", "nmp_outer_wall_cleaning_count","nmp_outer_wall_cleaning_wait_time",
-                            "nmp_outer_wall_cleaning_waste_time","nmp_inner_wall_cleaning_injection","nmp_inner_wall_cleaning_count",
-                            "nmp_pump_cleaning_suction_count",
-                            "nmp_inner_wall_cleaning_waste_time",
-                            "nmp_stirrer_cleaning_injection",
-                            "nmp_stirrer_cleaning_count",
-                            "nmp_stirrer_cleaning_wait_time",
-                            "nmp_stirrer_cleaning_waste_time",
-                            "water_outer_wall_cleaning_injection",
-                            "water_outer_wall_cleaning_count",
-                            "water_outer_wall_cleaning_wait_time",
-                            "water_outer_wall_cleaning_waste_time",
-                            "water_inner_wall_cleaning_injection",
-                            "water_inner_wall_cleaning_count",
-                            "water_pump_cleaning_suction_count",
-                            "water_inner_wall_cleaning_waste_time",
-                            "water_stirrer_cleaning_injection",
-                            "water_stirrer_cleaning_count",
-                            "water_stirrer_cleaning_wait_time",
-                            "water_stirrer_cleaning_waste_time",
-                            "acetone_outer_wall_cleaning_injection",
-                            "acetone_outer_wall_cleaning_count",
-                            "acetone_outer_wall_cleaning_wait_time",
-                            "acetone_outer_wall_cleaning_waste_time",
-                            "acetone_inner_wall_cleaning_injection",
-                            "acetone_inner_wall_cleaning_count",
-                            "acetone_pump_cleaning_suction_count",
-                            "acetone_inner_wall_cleaning_waste_time",
-                            "acetone_stirrer_cleaning_injection",
-                            "acetone_stirrer_cleaning_count",
-                            "acetone_stirrer_cleaning_wait_time",
-                            "acetone_stirrer_cleaning_waste_time",
-                            "pipe_blowing_time",
-                            "injection_pump_forward_empty_suction_count",
-                            "injection_pump_reverse_empty_suction_count",
-                            "filtration_liquid_selection"],
-            "action": [
-                {
-                    "init_function": {
-                        "func_name": "init_cleaning_params",
-                        "write_nodes": ["nmp_outer_wall_cleaning_injection", "nmp_outer_wall_cleaning_count","nmp_outer_wall_cleaning_wait_time",
-                        "nmp_outer_wall_cleaning_waste_time","nmp_inner_wall_cleaning_injection","nmp_inner_wall_cleaning_count",
-                        "nmp_pump_cleaning_suction_count",
-                        "nmp_inner_wall_cleaning_waste_time",
-                        "nmp_stirrer_cleaning_injection",
-                        "nmp_stirrer_cleaning_count",
-                        "nmp_stirrer_cleaning_wait_time",
-                        "nmp_stirrer_cleaning_waste_time",
-                        "water_outer_wall_cleaning_injection",
-                        "water_outer_wall_cleaning_count",
-                        "water_outer_wall_cleaning_wait_time",
-                        "water_outer_wall_cleaning_waste_time",
-                        "water_inner_wall_cleaning_injection",
-                        "water_inner_wall_cleaning_count",
-                        "water_pump_cleaning_suction_count",
-                        "water_inner_wall_cleaning_waste_time",
-                        "water_stirrer_cleaning_injection",
-                        "water_stirrer_cleaning_count",
-                        "water_stirrer_cleaning_wait_time",
-                        "water_stirrer_cleaning_waste_time",
-                        "acetone_outer_wall_cleaning_injection",
-                        "acetone_outer_wall_cleaning_count",
-                        "acetone_outer_wall_cleaning_wait_time",
-                        "acetone_outer_wall_cleaning_waste_time",
-                        "acetone_inner_wall_cleaning_injection",
-                        "acetone_inner_wall_cleaning_count",
-                        "acetone_pump_cleaning_suction_count",
-                        "acetone_inner_wall_cleaning_waste_time",
-                        "acetone_stirrer_cleaning_injection",
-                        "acetone_stirrer_cleaning_count",
-                        "acetone_stirrer_cleaning_wait_time",
-                        "acetone_stirrer_cleaning_waste_time",
-                        "pipe_blowing_time",
-                        "injection_pump_forward_empty_suction_count",
-                        "injection_pump_reverse_empty_suction_count",
-                        "filtration_liquid_selection"]
-                    },
-                    "start_function": {
-                        "func_name": "start_cleaning",
-                        "write_nodes": {"cleaning_and_pipe_blowing_trigger": true},
-                        "condition_nodes": ["cleaning_complete"],
-                        "stop_condition_expression": "cleaning_complete == True",
-                        "timeout_seconds": 999999.0
-                    },
-                    "stop_function": {
-                        "func_name": "stop_cleaning",
-                        "write_nodes": {"cleaning_and_pipe_blowing_trigger": false}
-                    }
-                }
-            ]
-        }
-    ]
-}

unilabos/devices/workstation/post_process/opcua_nodes_huairou.csv

@@ -1,70 +0,0 @@
-Name,EnglishName,NodeType,DataType,NodeLanguage,NodeId
-原料罐号码,raw_tank_number,VARIABLE,INT16,Chinese,ns=4;s=OPC|原料罐号码
-反应罐号码,reaction_tank_number,VARIABLE,INT16,Chinese,ns=4;s=OPC|反应罐号码
-反应罐及原料罐抓取触发,grab_trigger,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|反应罐及原料罐抓取触发
-后处理动作触发,post_process_trigger,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|后处理动作触发
-搅拌桨雾化快速,atomization_fast_speed,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|搅拌桨雾化快速
-搅拌桨洗涤慢速,wash_slow_speed,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|搅拌桨洗涤慢速
-注射泵抽液速度,injection_pump_suction_speed,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵抽液速度
-注射泵推液速度,injection_pump_push_speed,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵推液速度
-抽原液次数,raw_liquid_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|抽原液次数
-第1次洗涤加水量,first_wash_water_amount,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|第1次洗涤加水量
-第2次洗涤加水量,second_wash_water_amount,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|第2次洗涤加水量
-第1次粉末搅拌时间,first_powder_mixing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|第1次粉末搅拌时间
-第2次粉末搅拌时间,second_powder_mixing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|第2次粉末搅拌时间
-第1次粉末洗涤次数,first_powder_wash_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|第1次粉末洗涤次数
-第2次粉末洗涤次数,second_powder_wash_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|第2次粉末洗涤次数
-最开始加水量,initial_water_amount,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|最开始加水量
-抽滤前搅拌时间,pre_filtration_mixing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|抽滤前搅拌时间
-雾化压力Kpa,atomization_pressure_kpa,VARIABLE,INT16,Chinese,ns=4;s=OPC|雾化压力Kpa
-清洗及管路吹气触发,cleaning_and_pipe_blowing_trigger,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|清洗及管路吹气触发
-废液桶满报警,waste_tank_full_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|废液桶满报警
-清水桶空报警,water_tank_empty_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|清水桶空报警
-NMP桶空报警,nmp_tank_empty_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|NMP桶空报警
-丙酮桶空报警,acetone_tank_empty_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|丙酮桶空报警
-门开报警,door_open_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|门开报警
-反应罐及原料罐抓取完成PLCtoPC,grab_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|反应罐及原料罐抓取完成PLCtoPC
-后处理动作完成PLCtoPC,post_process_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|后处理动作完成PLCtoPC
-清洗及管路吹气完成PLCtoPC,cleaning_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|清洗及管路吹气完成PLCtoPC
-远程模式PLCtoPC,remote_mode,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|远程模式PLCtoPC
-设备准备就绪PLCtoPC,device_ready,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|设备准备就绪PLCtoPC
-NMP外壁清洗加注,nmp_outer_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|NMP外壁清洗加注
-NMP外壁清洗次数,nmp_outer_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP外壁清洗次数
-NMP外壁清洗等待时间,nmp_outer_wall_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP外壁清洗等待时间
-NMP外壁清洗抽废时间,nmp_outer_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP外壁清洗抽废时间
-NMP内壁清洗加注,nmp_inner_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|NMP内壁清洗加注
-NMP内壁清洗次数,nmp_inner_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP内壁清洗次数
-NMP泵清洗抽次数,nmp_pump_cleaning_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP泵清洗抽次数
-NMP内壁清洗抽废时间,nmp_inner_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP内壁清洗抽废时间
-NMP搅拌桨清洗加注,nmp_stirrer_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|NMP搅拌桨清洗加注
-NMP搅拌桨清洗次数,nmp_stirrer_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP搅拌桨清洗次数
-NMP搅拌桨清洗等待时间,nmp_stirrer_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP搅拌桨清洗等待时间
-NMP搅拌桨清洗抽废时间,nmp_stirrer_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP搅拌桨清洗抽废时间
-清水外壁清洗加注,water_outer_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|清水外壁清洗加注
-清水外壁清洗次数,water_outer_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水外壁清洗次数
-清水外壁清洗等待时间,water_outer_wall_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水外壁清洗等待时间
-清水外壁清洗抽废时间,water_outer_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水外壁清洗抽废时间
-清水内壁清洗加注,water_inner_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|清水内壁清洗加注
-清水内壁清洗次数,water_inner_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水内壁清洗次数
-清水泵清洗抽次数,water_pump_cleaning_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水泵清洗抽次数
-清水内壁清洗抽废时间,water_inner_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水内壁清洗抽废时间
-清水搅拌桨清洗加注,water_stirrer_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|清水搅拌桨清洗加注
-清水搅拌桨清洗次数,water_stirrer_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水搅拌桨清洗次数
-清水搅拌桨清洗等待时间,water_stirrer_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水搅拌桨清洗等待时间
-清水搅拌桨清洗抽废时间,water_stirrer_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水搅拌桨清洗抽废时间
-丙酮外壁清洗加注,acetone_outer_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|丙酮外壁清洗加注
-丙酮外壁清洗次数,acetone_outer_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮外壁清洗次数
-丙酮外壁清洗等待时间,acetone_outer_wall_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮外壁清洗等待时间
-丙酮外壁清洗抽废时间,acetone_outer_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮外壁清洗抽废时间
-丙酮内壁清洗加注,acetone_inner_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|丙酮内壁清洗加注
-丙酮内壁清洗次数,acetone_inner_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮内壁清洗次数
-丙酮泵清洗抽次数,acetone_pump_cleaning_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮泵清洗抽次数
-丙酮内壁清洗抽废时间,acetone_inner_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮内壁清洗抽废时间
-丙酮搅拌桨清洗加注,acetone_stirrer_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗加注
-丙酮搅拌桨清洗次数,acetone_stirrer_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗次数
-丙酮搅拌桨清洗等待时间,acetone_stirrer_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗等待时间
-丙酮搅拌桨清洗抽废时间,acetone_stirrer_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗抽废时间
-管道吹气时间,pipe_blowing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|管道吹气时间
-注射泵正向空抽次数,injection_pump_forward_empty_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵正向空抽次数
-注射泵反向空抽次数,injection_pump_reverse_empty_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵反向空抽次数
-抽滤液选择0水1丙酮,filtration_liquid_selection,VARIABLE,INT16,Chinese,ns=4;s=OPC|抽滤液选择0水1丙酮

unilabos/devices/workstation/post_process/post_process_station.json

@@ -1,45 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "post_process_station",
-            "name": "post_process_station",
-            "children": [
-                "post_process_deck"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "post_process_station",
-            "config": {
-                "url": "opc.tcp://LAPTOP-AN6QGCSD:53530/OPCUA/SimulationServer",
-                "config_path": "C:\\Users\\Roy\\Desktop\\DPLC\\Uni-Lab-OS\\unilabos\\devices\\workstation\\post_process\\opcua_huairou.json",
-                "deck": {
-                    "data": {
-                        "_resource_child_name": "post_process_deck",
-                        "_resource_type": "unilabos.devices.workstation.post_process.decks:post_process_deck"
-                    }
-                }
-            },
-            "data": {
-            }
-        },
-        {
-            "id": "post_process_deck",
-            "name": "post_process_deck",
-            "sample_id": null,
-            "children": [],
-            "parent": "post_process_station",
-            "type": "deck",
-            "class": "post_process_deck",
-            "position": {
-                "x": 0,
-                "y": 0,
-                "z": 0
-            },
-            "config": {
-                "type": "post_process_deck",
-                "setup": true
-            },
-            "data": {}
-        }
-    ]
-}

unilabos/devices/workstation/post_process/post_process_warehouse.py

@@ -1,160 +0,0 @@
-from typing import Dict, Optional, List, Union
-from pylabrobot.resources import Coordinate
-from pylabrobot.resources.carrier import ResourceHolder, create_homogeneous_resources
-
-from unilabos.resources.itemized_carrier import ItemizedCarrier, ResourcePLR
-
-
-LETTERS = "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
-
-
-def warehouse_factory(
-    name: str,
-    num_items_x: int = 1,
-    num_items_y: int = 4,
-    num_items_z: int = 4,
-    dx: float = 137.0,
-    dy: float = 96.0,
-    dz: float = 120.0,
-    item_dx: float = 10.0,
-    item_dy: float = 10.0,
-    item_dz: float = 10.0,
-    resource_size_x: float = 127.0,
-    resource_size_y: float = 86.0,
-    resource_size_z: float = 25.0,
-    removed_positions: Optional[List[int]] = None,
-    empty: bool = False,
-    category: str = "warehouse",
-    model: Optional[str] = None,
-    col_offset: int = 0,  # 列起始偏移量，用于生成5-8等命名
-    layout: str = "col-major",  # 新增：排序方式，"col-major"=列优先，"row-major"=行优先
-):
-    # 创建位置坐标
-    locations = []
-
-    for layer in range(num_items_z):  # 层
-        for row in range(num_items_y):  # 行
-            for col in range(num_items_x):  # 列
-                # 计算位置
-                x = dx + col * item_dx
-
-                # 根据 layout 决定 y 坐标计算
-                if layout == "row-major":
-                    # 行优先：row=0(第1行) 应该显示在上方，y 值最小
-                    y = dy + row * item_dy
-                else:
-                    # 列优先：保持原逻辑
-                    y = dy + (num_items_y - row - 1) * item_dy
-
-                z = dz + (num_items_z - layer - 1) * item_dz
-                locations.append(Coordinate(x, y, z))
-    
-    if removed_positions:
-        locations = [loc for i, loc in enumerate(locations) if i not in removed_positions]
-    
-    _sites = create_homogeneous_resources(
-        klass=ResourceHolder,
-        locations=locations,
-        resource_size_x=resource_size_x,
-        resource_size_y=resource_size_y,
-        resource_size_z=resource_size_z,
-        name_prefix=name,
-    )
-    
-    len_x, len_y = (num_items_x, num_items_y) if num_items_z == 1 else (num_items_y, num_items_z) if num_items_x == 1 else (num_items_x, num_items_z)
-
-    # 🔑 修改：使用数字命名，最上面是4321，最下面是12,11,10,9
-    # 命名顺序必须与坐标生成顺序一致：层 → 行 → 列
-    keys = []
-    for layer in range(num_items_z):  # 遍历每一层
-        for row in range(num_items_y):  # 遍历每一行
-            for col in range(num_items_x):  # 遍历每一列
-                # 倒序计算全局行号：row=0 应该对应 global_row=0（第1行：4321）
-                # row=1 应该对应 global_row=1（第2行：8765）
-                # row=2 应该对应 global_row=2（第3行：12,11,10,9）
-                # 但前端显示时 row=2 在最上面，所以需要反转
-                reversed_row = (num_items_y - 1 - row)  # row=0→reversed_row=2, row=1→reversed_row=1, row=2→reversed_row=0
-                global_row = layer * num_items_y + reversed_row
-                
-                # 每行的最大数字 = (global_row + 1) * num_items_x + col_offset
-                base_num = (global_row + 1) * num_items_x + col_offset
-                
-                # 从右到左递减：4,3,2,1
-                key = str(base_num - col)
-                keys.append(key)
-
-    sites = {i: site for i, site in zip(keys, _sites.values())}
-
-    return WareHouse(
-        name=name,
-        size_x=dx + item_dx * num_items_x,
-        size_y=dy + item_dy * num_items_y,
-        size_z=dz + item_dz * num_items_z,
-        num_items_x = num_items_x,
-        num_items_y = num_items_y,
-        num_items_z = num_items_z,
-        ordering_layout=layout,  # 传递排序方式到 ordering_layout
-        sites=sites,
-        category=category,
-        model=model,
-    )
-
-
-class WareHouse(ItemizedCarrier):
-    """堆栈载体类 - 可容纳16个板位的载体（4层x4行x1列）"""
-    def __init__(
-        self,
-        name: str,
-        size_x: float,
-        size_y: float,
-        size_z: float,
-        num_items_x: int,
-        num_items_y: int,
-        num_items_z: int,
-        layout: str = "x-y",
-        sites: Optional[Dict[Union[int, str], Optional[ResourcePLR]]] = None,
-        category: str = "warehouse",
-        model: Optional[str] = None,
-        ordering_layout: str = "col-major",
-        **kwargs
-    ):
-        super().__init__(
-            name=name,
-            size_x=size_x,
-            size_y=size_y,
-            size_z=size_z,
-            # ordered_items=ordered_items,
-            # ordering=ordering,
-            num_items_x=num_items_x,
-            num_items_y=num_items_y,
-            num_items_z=num_items_z,
-            layout=layout,
-            sites=sites,
-            category=category,
-            model=model,
-        )
-
-        # 保存排序方式，供graphio.py的坐标映射使用
-        # 使用独立属性避免与父类的layout冲突
-        self.ordering_layout = ordering_layout
-
-    def serialize(self) -> dict:
-        """序列化时保存 ordering_layout 属性"""
-        data = super().serialize()
-        data['ordering_layout'] = self.ordering_layout
-        return data
-
-    def get_site_by_layer_position(self, row: int, col: int, layer: int) -> ResourceHolder:
-        if not (0 <= layer < 4 and 0 <= row < 4 and 0 <= col < 1):
-            raise ValueError("无效的位置: layer={}, row={}, col={}".format(layer, row, col))
-
-        site_index = layer * 4 + row * 1 + col
-        return self.sites[site_index]
-
-    def add_rack_to_position(self, row: int, col: int, layer: int, rack) -> None:
-        site = self.get_site_by_layer_position(row, col, layer)
-        site.assign_child_resource(rack)
-
-    def get_rack_at_position(self, row: int, col: int, layer: int):
-        site = self.get_site_by_layer_position(row, col, layer)
-        return site.resource

unilabos/devices/workstation/post_process/warehouses.py

@@ -1,38 +0,0 @@
-from unilabos.devices.workstation.post_process.post_process_warehouse import WareHouse, warehouse_factory
-
-
-
-# =================== Other ===================
-
-
-def post_process_warehouse_4x3x1(name: str) -> WareHouse:
-    """创建post_process 4x3x1仓库"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=4,
-        num_items_y=3,
-        num_items_z=1,
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
-        category="warehouse",
-    )
-
-def post_process_warehouse_4x3x1_2(name: str) -> WareHouse:
-    """已弃用：创建post_process 4x3x1仓库"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=4,
-        num_items_y=3,
-        num_items_z=1,
-        dx=12.0,
-        dy=12.0,
-        dz=12.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
-        category="warehouse",
-    )

unilabos/registry/devices/bioyond_dispensing_station.yaml

@@ -174,6 +174,35 @@ bioyond_dispensing_station:
           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-workflow_sample_locations:
         feedback: {}
         goal: {}
@@ -591,6 +620,56 @@ bioyond_dispensing_station:
           title: DispenStationSolnPrep
           type: object
         type: DispenStationSolnPrep
+      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（手动输入，如"堆栈1左"）
+                        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:

unilabos/registry/devices/cameraSII.yaml

@@ -1,105 +0,0 @@
-cameracontroller_device:
-  category:
-  - cameraSII
-  class:
-    action_value_mappings:
-      auto-start:
-        feedback: {}
-        goal: {}
-        goal_default:
-          config: null
-        handles: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                config:
-                  type: string
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: start参数
-          type: object
-        type: UniLabJsonCommand
-      auto-stop:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: stop参数
-          type: object
-        type: UniLabJsonCommand
-    module: unilabos.devices.cameraSII.cameraUSB:CameraController
-    status_types:
-      status: dict
-    type: python
-  config_info: []
-  description: Uni-Lab-OS 摄像头驱动（Linux USB 摄像头版，无 PTZ）
-  handles: []
-  icon: ''
-  init_param_schema:
-    config:
-      properties:
-        audio_bitrate:
-          default: 64k
-          type: string
-        audio_device:
-          type: string
-        fps:
-          default: 30
-          type: integer
-        height:
-          default: 720
-          type: integer
-        host_id:
-          default: demo-host
-          type: string
-        rtmp_url:
-          default: rtmp://srs.sciol.ac.cn:4499/live/camera-01
-          type: string
-        signal_backend_url:
-          default: wss://sciol.ac.cn/api/realtime/signal/host
-          type: string
-        video_bitrate:
-          default: 1500k
-          type: string
-        video_device:
-          default: /dev/video0
-          type: string
-        webrtc_api:
-          default: https://srs.sciol.ac.cn/rtc/v1/play/
-          type: string
-        webrtc_stream_url:
-          default: webrtc://srs.sciol.ac.cn:4500/live/camera-01
-          type: string
-        width:
-          default: 1280
-          type: integer
-      required: []
-      type: object
-    data:
-      properties:
-        status:
-          type: object
-      required:
-      - status
-      type: object
-  registry_type: device
-  version: 1.0.0

unilabos/registry/devices/chinwe.yaml

@@ -1,344 +0,0 @@
-separator.chinwe:
-  category:
-  - separator
-  - chinwe
-  class:
-    action_value_mappings:
-      motor_rotate_quarter:
-        goal:
-          direction: 顺时针
-          motor_id: 4
-          speed: 60
-        handles: {}
-        schema:
-          description: 电机旋转 1/4 圈
-          properties:
-            goal:
-              properties:
-                direction:
-                  default: 顺时针
-                  description: 旋转方向
-                  enum:
-                  - 顺时针
-                  - 逆时针
-                  type: string
-                motor_id:
-                  default: '4'
-                  description: 选择电机 (4:搅拌, 5:旋钮)
-                  enum:
-                  - '4'
-                  - '5'
-                  type: string
-                speed:
-                  default: 60
-                  description: 速度 (RPM)
-                  type: integer
-              required:
-              - motor_id
-              - speed
-              type: object
-        type: UniLabJsonCommand
-      motor_run_continuous:
-        goal:
-          direction: 顺时针
-          motor_id: 4
-          speed: 60
-        handles: {}
-        schema:
-          description: 电机一直旋转 (速度模式)
-          properties:
-            goal:
-              properties:
-                direction:
-                  default: 顺时针
-                  description: 旋转方向
-                  enum:
-                  - 顺时针
-                  - 逆时针
-                  type: string
-                motor_id:
-                  default: '4'
-                  description: 选择电机 (4:搅拌, 5:旋钮)
-                  enum:
-                  - '4'
-                  - '5'
-                  type: string
-                speed:
-                  default: 60
-                  description: 速度 (RPM)
-                  type: integer
-              required:
-              - motor_id
-              - speed
-              type: object
-        type: UniLabJsonCommand
-      motor_stop:
-        goal:
-          motor_id: 4
-        handles: {}
-        schema:
-          description: 停止指定步进电机
-          properties:
-            goal:
-              properties:
-                motor_id:
-                  default: '4'
-                  description: 选择电机
-                  enum:
-                  - '4'
-                  - '5'
-                  title: '注: 4=搅拌, 5=旋钮'
-                  type: string
-              required:
-              - motor_id
-              type: object
-        type: UniLabJsonCommand
-      pump_aspirate:
-        goal:
-          pump_id: 1
-          valve_port: 1
-          volume: 1000
-        handles: {}
-        schema:
-          description: 注射泵吸液
-          properties:
-            goal:
-              properties:
-                pump_id:
-                  default: '1'
-                  description: 选择泵
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  type: string
-                valve_port:
-                  default: '1'
-                  description: 阀门端口
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  - '4'
-                  - '5'
-                  - '6'
-                  - '7'
-                  - '8'
-                  type: string
-                volume:
-                  default: 1000
-                  description: 吸液步数
-                  type: integer
-              required:
-              - pump_id
-              - volume
-              - valve_port
-              type: object
-        type: UniLabJsonCommand
-      pump_dispense:
-        goal:
-          pump_id: 1
-          valve_port: 1
-          volume: 1000
-        handles: {}
-        schema:
-          description: 注射泵排液
-          properties:
-            goal:
-              properties:
-                pump_id:
-                  default: '1'
-                  description: 选择泵
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  type: string
-                valve_port:
-                  default: '1'
-                  description: 阀门端口
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  - '4'
-                  - '5'
-                  - '6'
-                  - '7'
-                  - '8'
-                  type: string
-                volume:
-                  default: 1000
-                  description: 排液步数
-                  type: integer
-              required:
-              - pump_id
-              - volume
-              - valve_port
-              type: object
-        type: UniLabJsonCommand
-      pump_initialize:
-        goal:
-          drain_port: 0
-          output_port: 0
-          pump_id: 1
-          speed: 10
-        handles: {}
-        schema:
-          description: 初始化指定注射泵
-          properties:
-            goal:
-              properties:
-                drain_port:
-                  default: 0
-                  description: 排液口索引
-                  type: integer
-                output_port:
-                  default: 0
-                  description: 输出口索引
-                  type: integer
-                pump_id:
-                  default: '1'
-                  description: 选择泵
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  title: '注: 1号泵, 2号泵, 3号泵'
-                  type: string
-                speed:
-                  default: 10
-                  description: 运动速度
-                  type: integer
-              required:
-              - pump_id
-              type: object
-        type: UniLabJsonCommand
-      pump_valve:
-        goal:
-          port: 1
-          pump_id: 1
-        handles: {}
-        schema:
-          description: 切换指定泵的阀门端口
-          properties:
-            goal:
-              properties:
-                port:
-                  default: '1'
-                  description: 阀门端口号 (1-8)
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  - '4'
-                  - '5'
-                  - '6'
-                  - '7'
-                  - '8'
-                  type: string
-                pump_id:
-                  default: '1'
-                  description: 选择泵
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  type: string
-              required:
-              - pump_id
-              - port
-              type: object
-        type: UniLabJsonCommand
-      wait_sensor_level:
-        goal:
-          target_state: 有液
-          timeout: 30
-        handles: {}
-        schema:
-          description: 等待传感器液位条件
-          properties:
-            goal:
-              properties:
-                target_state:
-                  default: 有液
-                  description: 目标液位状态
-                  enum:
-                  - 有液
-                  - 无液
-                  type: string
-                timeout:
-                  default: 30
-                  description: 超时时间 (秒)
-                  type: integer
-              required:
-              - target_state
-              type: object
-        type: UniLabJsonCommand
-      wait_time:
-        goal:
-          duration: 10
-        handles: {}
-        schema:
-          description: 等待指定时间
-          properties:
-            goal:
-              properties:
-                duration:
-                  default: 10
-                  description: 等待时间 (秒)
-                  type: integer
-              required:
-              - duration
-              type: object
-        type: UniLabJsonCommand
-    module: unilabos.devices.separator.chinwe:ChinweDevice
-    status_types:
-      is_connected: bool
-      sensor_level: bool
-      sensor_rssi: int
-    type: python
-  config_info: []
-  description: ChinWe 简易工作站控制器 (3泵, 2电机, 1传感器)
-  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:
-          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:
-          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
-  version: 2.1.0

unilabos/registry/devices/laiyu_liquid.yaml

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

unilabos/registry/devices/liquid_handler.yaml

@@ -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
@@ -4500,9 +4497,6 @@ liquid_handler:
         simulator:
           default: false
           type: boolean
-        total_height:
-          default: 310
-          type: number
       required:
       - backend
       - deck
@@ -5043,8 +5037,7 @@ 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 +5180,9 @@ 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
@@ -7556,35 +7547,6 @@ liquid_handler.prcxi:
           title: custom_delay参数
           type: object
         type: UniLabJsonCommandAsync
-      auto-heater_action:
-        feedback: {}
-        goal: {}
-        goal_default:
-          temperature: null
-          time: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                temperature:
-                  type: number
-                time:
-                  type: integer
-              required:
-              - temperature
-              - time
-              type: object
-            result: {}
-          required:
-          - goal
-          title: heater_action参数
-          type: object
-        type: UniLabJsonCommandAsync
       auto-iter_tips:
         feedback: {}
         goal: {}
@@ -7726,43 +7688,6 @@ liquid_handler.prcxi:
           title: set_group参数
           type: object
         type: UniLabJsonCommand
-      auto-shaker_action:
-        feedback: {}
-        goal: {}
-        goal_default:
-          amplitude: null
-          is_wait: null
-          module_no: null
-          time: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                amplitude:
-                  type: integer
-                is_wait:
-                  type: boolean
-                module_no:
-                  type: integer
-                time:
-                  type: integer
-              required:
-              - time
-              - module_no
-              - amplitude
-              - is_wait
-              type: object
-            result: {}
-          required:
-          - goal
-          title: shaker_action参数
-          type: object
-        type: UniLabJsonCommandAsync
       auto-touch_tip:
         feedback: {}
         goal: {}
@@ -8422,341 +8347,6 @@ liquid_handler.prcxi:
           title: LiquidHandlerMix
           type: object
         type: LiquidHandlerMix
-      move_plate:
-        feedback: {}
-        goal:
-          destination_offset: destination_offset
-          drop_direction: drop_direction
-          get_direction: get_direction
-          intermediate_locations: intermediate_locations
-          pickup_direction: pickup_direction
-          pickup_offset: pickup_offset
-          plate: plate
-          put_direction: put_direction
-          resource_offset: resource_offset
-          to: to
-        goal_default:
-          destination_offset:
-            x: 0.0
-            y: 0.0
-            z: 0.0
-          drop_direction: ''
-          get_direction: ''
-          intermediate_locations:
-          - x: 0.0
-            y: 0.0
-            z: 0.0
-          pickup_direction: ''
-          pickup_distance_from_top: 0.0
-          pickup_offset:
-            x: 0.0
-            y: 0.0
-            z: 0.0
-          plate:
-            category: ''
-            children: []
-            config: ''
-            data: ''
-            id: ''
-            name: ''
-            parent: ''
-            pose:
-              orientation:
-                w: 1.0
-                x: 0.0
-                y: 0.0
-                z: 0.0
-              position:
-                x: 0.0
-                y: 0.0
-                z: 0.0
-            sample_id: ''
-            type: ''
-          put_direction: ''
-          resource_offset:
-            x: 0.0
-            y: 0.0
-            z: 0.0
-          to:
-            category: ''
-            children: []
-            config: ''
-            data: ''
-            id: ''
-            name: ''
-            parent: ''
-            pose:
-              orientation:
-                w: 1.0
-                x: 0.0
-                y: 0.0
-                z: 0.0
-              position:
-                x: 0.0
-                y: 0.0
-                z: 0.0
-            sample_id: ''
-            type: ''
-        handles: {}
-        placeholder_keys:
-          plate: unilabos_resources
-          to: unilabos_resources
-        result:
-          name: name
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: LiquidHandlerMovePlate_Feedback
-              type: object
-            goal:
-              properties:
-                destination_offset:
-                  properties:
-                    x:
-                      type: number
-                    y:
-                      type: number
-                    z:
-                      type: number
-                  required:
-                  - x
-                  - y
-                  - z
-                  title: destination_offset
-                  type: object
-                drop_direction:
-                  type: string
-                get_direction:
-                  type: string
-                intermediate_locations:
-                  items:
-                    properties:
-                      x:
-                        type: number
-                      y:
-                        type: number
-                      z:
-                        type: number
-                    required:
-                    - x
-                    - y
-                    - z
-                    title: intermediate_locations
-                    type: object
-                  type: array
-                pickup_direction:
-                  type: string
-                pickup_distance_from_top:
-                  type: number
-                pickup_offset:
-                  properties:
-                    x:
-                      type: number
-                    y:
-                      type: number
-                    z:
-                      type: number
-                  required:
-                  - x
-                  - y
-                  - z
-                  title: pickup_offset
-                  type: object
-                plate:
-                  properties:
-                    category:
-                      type: string
-                    children:
-                      items:
-                        type: string
-                      type: array
-                    config:
-                      type: string
-                    data:
-                      type: string
-                    id:
-                      type: string
-                    name:
-                      type: string
-                    parent:
-                      type: string
-                    pose:
-                      properties:
-                        orientation:
-                          properties:
-                            w:
-                              type: number
-                            x:
-                              type: number
-                            y:
-                              type: number
-                            z:
-                              type: number
-                          required:
-                          - x
-                          - y
-                          - z
-                          - w
-                          title: orientation
-                          type: object
-                        position:
-                          properties:
-                            x:
-                              type: number
-                            y:
-                              type: number
-                            z:
-                              type: number
-                          required:
-                          - x
-                          - y
-                          - z
-                          title: position
-                          type: object
-                      required:
-                      - position
-                      - orientation
-                      title: pose
-                      type: object
-                    sample_id:
-                      type: string
-                    type:
-                      type: string
-                  required:
-                  - id
-                  - name
-                  - sample_id
-                  - children
-                  - parent
-                  - type
-                  - category
-                  - pose
-                  - config
-                  - data
-                  title: plate
-                  type: object
-                put_direction:
-                  type: string
-                resource_offset:
-                  properties:
-                    x:
-                      type: number
-                    y:
-                      type: number
-                    z:
-                      type: number
-                  required:
-                  - x
-                  - y
-                  - z
-                  title: resource_offset
-                  type: object
-                to:
-                  properties:
-                    category:
-                      type: string
-                    children:
-                      items:
-                        type: string
-                      type: array
-                    config:
-                      type: string
-                    data:
-                      type: string
-                    id:
-                      type: string
-                    name:
-                      type: string
-                    parent:
-                      type: string
-                    pose:
-                      properties:
-                        orientation:
-                          properties:
-                            w:
-                              type: number
-                            x:
-                              type: number
-                            y:
-                              type: number
-                            z:
-                              type: number
-                          required:
-                          - x
-                          - y
-                          - z
-                          - w
-                          title: orientation
-                          type: object
-                        position:
-                          properties:
-                            x:
-                              type: number
-                            y:
-                              type: number
-                            z:
-                              type: number
-                          required:
-                          - x
-                          - y
-                          - z
-                          title: position
-                          type: object
-                      required:
-                      - position
-                      - orientation
-                      title: pose
-                      type: object
-                    sample_id:
-                      type: string
-                    type:
-                      type: string
-                  required:
-                  - id
-                  - name
-                  - sample_id
-                  - children
-                  - parent
-                  - type
-                  - category
-                  - pose
-                  - config
-                  - data
-                  title: to
-                  type: object
-              required:
-              - plate
-              - to
-              - intermediate_locations
-              - resource_offset
-              - pickup_offset
-              - destination_offset
-              - pickup_direction
-              - drop_direction
-              - get_direction
-              - put_direction
-              - pickup_distance_from_top
-              title: LiquidHandlerMovePlate_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: LiquidHandlerMovePlate_Result
-              type: object
-          required:
-          - goal
-          title: LiquidHandlerMovePlate
-          type: object
-        type: LiquidHandlerMovePlate
       pick_up_tips:
         feedback: {}
         goal:
@@ -9671,8 +9261,7 @@ liquid_handler.prcxi:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times:
-          - 0
+          mix_times: 0
           mix_vol: 0
           none_keys:
           - ''
@@ -9744,34 +9333,7 @@ liquid_handler.prcxi:
           touch_tip: false
           use_channels:
           - 0
-        handles:
-          input:
-          - data_key: liquid
-            data_source: handle
-            data_type: resource
-            handler_key: sources
-            label: sources
-          - data_key: liquid
-            data_source: executor
-            data_type: resource
-            handler_key: targets
-            label: targets
-          - data_key: liquid
-            data_source: executor
-            data_type: resource
-            handler_key: tip_rack
-            label: tip_rack
-          output:
-          - data_key: liquid
-            data_source: handle
-            data_type: resource
-            handler_key: sources_out
-            label: sources
-          - data_key: liquid
-            data_source: executor
-            data_type: resource
-            handler_key: targets_out
-            label: targets
+        handles: {}
         placeholder_keys:
           sources: unilabos_resources
           targets: unilabos_resources
@@ -9828,11 +9390,9 @@ 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

unilabos/registry/devices/neware_battery_test_system.yaml

@@ -1,40 +1,73 @@
 neware_battery_test_system:
   category:
   - neware_battery_test_system
-  - neware
-  - battery_test
   class:
     action_value_mappings:
-      debug_resource_names:
+      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: {}
-        result:
-          return_info: return_info
-          success: success
+        placeholder_keys: {}
+        result: {}
         schema:
-          description: 调试方法：显示所有资源的实际名称
+          description: ''
           properties:
             feedback: {}
             goal:
               properties: {}
               required: []
               type: object
-            result:
-              properties:
-                return_info:
-                  description: 资源调试信息
-                  type: string
-                success:
-                  description: 是否成功
-                  type: boolean
-              required:
-              - return_info
-              - success
-              type: object
+            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
       export_status_json:
@@ -112,32 +145,29 @@ neware_battery_test_system:
         goal:
           plate_num: plate_num
         goal_default:
-          plate_num: null
+          plate_num: 1
         handles: {}
         result:
-          plate_data: plate_data
           return_info: return_info
           success: success
         schema:
-          description: 获取指定盘或所有盘的状态信息
+          description: 获取指定盘(1或2)的电池状态信息
           properties:
             feedback: {}
             goal:
               properties:
                 plate_num:
-                  description: 盘号 (1 或 2)，如果为null则返回所有盘的状态
+                  description: 盘号 (1 或 2)
                   maximum: 2
                   minimum: 1
                   type: integer
-              required: []
+              required:
+              - plate_num
               type: object
             result:
               properties:
-                plate_data:
-                  description: 盘状态数据（单盘或所有盘）
-                  type: object
                 return_info:
-                  description: 操作结果信息
+                  description: 盘状态信息JSON格式
                   type: string
                 success:
                   description: 查询是否成功
@@ -145,7 +175,6 @@ neware_battery_test_system:
               required:
               - return_info
               - success
-              - plate_data
               type: object
           required:
           - goal
@@ -190,9 +219,7 @@ neware_battery_test_system:
         goal_default:
           string: ''
         handles: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
         schema:
           description: ''
           properties:
@@ -225,56 +252,6 @@ neware_battery_test_system:
           title: StrSingleInput
           type: object
         type: StrSingleInput
-      submit_from_csv:
-        feedback: {}
-        goal:
-          csv_path: string
-          output_dir: string
-        goal_default:
-          csv_path: ''
-          output_dir: .
-        handles: {}
-        result:
-          return_info: return_info
-          submitted_count: submitted_count
-          success: success
-        schema:
-          description: 从CSV文件批量提交Neware测试任务
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                csv_path:
-                  description: 输入CSV文件的绝对路径
-                  type: string
-                output_dir:
-                  description: 输出目录（用于存储XML和备份文件），默认当前目录
-                  type: string
-              required:
-              - csv_path
-              type: object
-            result:
-              properties:
-                return_info:
-                  description: 执行结果详细信息
-                  type: string
-                submitted_count:
-                  description: 成功提交的任务数量
-                  type: integer
-                success:
-                  description: 是否成功
-                  type: boolean
-                total_count:
-                  description: CSV文件中的总行数
-                  type: integer
-              required:
-              - return_info
-              - success
-              type: object
-          required:
-          - goal
-          type: object
-        type: UniLabJsonCommand
       test_connection_action:
         feedback: {}
         goal: {}
@@ -307,135 +284,30 @@ neware_battery_test_system:
           - goal
           type: object
         type: UniLabJsonCommand
-      upload_backup_to_oss:
-        feedback: {}
-        goal:
-          backup_dir: backup_dir
-          file_pattern: file_pattern
-          oss_prefix: oss_prefix
-        goal_default:
-          backup_dir: null
-          file_pattern: '*'
-          oss_prefix: null
-        handles:
-          output:
-          - data_key: uploaded_files
-            data_source: executor
-            data_type: array
-            handler_key: uploaded_files
-            io_type: sink
-            label: Uploaded Files (with standard flow info)
-        result:
-          failed_files: failed_files
-          return_info: return_info
-          success: success
-          total_count: total_count
-          uploaded_count: uploaded_count
-        schema:
-          description: 上传备份文件到阿里云OSS
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                backup_dir:
-                  description: 备份目录路径（默认使用最近一次submit_from_csv的backup_dir）
-                  type: string
-                file_pattern:
-                  default: '*'
-                  description: 文件通配符模式，例如 *.csv 或 Battery_*.nda
-                  type: string
-                oss_prefix:
-                  description: OSS对象路径前缀（默认使用self.oss_prefix）
-                  type: string
-              required: []
-              type: object
-            result:
-              properties:
-                failed_files:
-                  description: 上传失败的文件名列表
-                  items:
-                    type: string
-                  type: array
-                return_info:
-                  description: 上传操作结果信息
-                  type: string
-                success:
-                  description: 上传是否成功
-                  type: boolean
-                total_count:
-                  description: 总文件数
-                  type: integer
-                uploaded_count:
-                  description: 成功上传的文件数
-                  type: integer
-                uploaded_files:
-                  description: 成功上传的文件详情列表
-                  items:
-                    properties:
-                      Battery_Code:
-                        description: 电池编码
-                        type: string
-                      Electrolyte_Code:
-                        description: 电解液编码
-                        type: string
-                      filename:
-                        description: 文件名
-                        type: string
-                      url:
-                        description: OSS下载链接
-                        type: string
-                    required:
-                    - filename
-                    - url
-                    - Battery_Code
-                    - Electrolyte_Code
-                    type: object
-                  type: array
-              required:
-              - return_info
-              - success
-              - uploaded_count
-              - total_count
-              - failed_files
-              - uploaded_files
-              type: object
-          required:
-          - goal
-          type: object
-        type: UniLabJsonCommand
-    module: unilabos.devices.neware_battery_test_system.neware_battery_test_system:NewareBatteryTestSystem
+    module: unilabos.devices.battery.neware_battery_test_system:NewareBatteryTestSystem
     status_types:
       channel_status: dict
       connection_info: dict
+      device_summary: dict
+      plate_status: dict
       status: str
       total_channels: int
     type: python
   config_info: []
-  description: 新威电池测试系统驱动，提供720个通道的电池测试状态监控、物料管理和CSV批量提交功能。支持TCP通信实现远程控制，包含完整的物料管理系统（2盘电池状态映射），以及从CSV文件批量提交测试任务的能力。
+  description: 新威电池测试系统驱动，支持720个通道的电池测试状态监控和数据导出。通过TCP通信实现远程控制，包含完整的物料管理系统，支持2盘电池的状态映射和监控。
   handles: []
   icon: ''
   init_param_schema:
     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
@@ -447,7 +319,6 @@ neware_battery_test_system:
           default: 2000.0
           type: number
         timeout:
-          default: 20
           type: integer
       required: []
       type: object
@@ -459,6 +330,8 @@ neware_battery_test_system:
           type: object
         device_summary:
           type: object
+        plate_status:
+          type: object
         status:
           type: string
         total_channels:
@@ -468,6 +341,7 @@ neware_battery_test_system:
       - channel_status
       - connection_info
       - total_channels
+      - plate_status
       - device_summary
       type: object
   version: 1.0.0

unilabos/registry/devices/post_process_station.yaml

@@ -1,630 +0,0 @@
-post_process_station:
-  category:
-  - post_process_station
-  class:
-    action_value_mappings:
-      disconnect:
-        feedback: {}
-        goal:
-          command: {}
-        goal_default:
-          command: ''
-        handles: {}
-        result:
-          success: success
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties:
-                status:
-                  type: string
-              required:
-              - status
-              title: SendCmd_Feedback
-              type: object
-            goal:
-              properties:
-                command:
-                  type: string
-              required:
-              - command
-              title: SendCmd_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: SendCmd_Result
-              type: object
-          required:
-          - goal
-          title: SendCmd
-          type: object
-        type: SendCmd
-      read_node:
-        feedback:
-          result: result
-        goal:
-          command: node_name
-        goal_default:
-          command: ''
-        handles: {}
-        result:
-          success: success
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties:
-                status:
-                  type: string
-              required:
-              - status
-              title: SendCmd_Feedback
-              type: object
-            goal:
-              properties:
-                command:
-                  type: string
-              required:
-              - command
-              title: SendCmd_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: SendCmd_Result
-              type: object
-          required:
-          - goal
-          title: SendCmd
-          type: object
-        type: SendCmd
-      trigger_cleaning_action:
-        feedback: {}
-        goal:
-          acetone_inner_wall_cleaning_count: acetone_inner_wall_cleaning_count
-          acetone_inner_wall_cleaning_injection: acetone_inner_wall_cleaning_injection
-          acetone_inner_wall_cleaning_waste_time: acetone_inner_wall_cleaning_waste_time
-          acetone_outer_wall_cleaning_count: acetone_outer_wall_cleaning_count
-          acetone_outer_wall_cleaning_injection: acetone_outer_wall_cleaning_injection
-          acetone_outer_wall_cleaning_wait_time: acetone_outer_wall_cleaning_wait_time
-          acetone_outer_wall_cleaning_waste_time: acetone_outer_wall_cleaning_waste_time
-          acetone_pump_cleaning_suction_count: acetone_pump_cleaning_suction_count
-          acetone_stirrer_cleaning_count: acetone_stirrer_cleaning_count
-          acetone_stirrer_cleaning_injection: acetone_stirrer_cleaning_injection
-          acetone_stirrer_cleaning_wait_time: acetone_stirrer_cleaning_wait_time
-          acetone_stirrer_cleaning_waste_time: acetone_stirrer_cleaning_waste_time
-          filtration_liquid_selection: filtration_liquid_selection
-          injection_pump_forward_empty_suction_count: injection_pump_forward_empty_suction_count
-          injection_pump_reverse_empty_suction_count: injection_pump_reverse_empty_suction_count
-          nmp_inner_wall_cleaning_count: nmp_inner_wall_cleaning_count
-          nmp_inner_wall_cleaning_injection: nmp_inner_wall_cleaning_injection
-          nmp_inner_wall_cleaning_waste_time: nmp_inner_wall_cleaning_waste_time
-          nmp_outer_wall_cleaning_count: nmp_outer_wall_cleaning_count
-          nmp_outer_wall_cleaning_injection: nmp_outer_wall_cleaning_injection
-          nmp_outer_wall_cleaning_wait_time: nmp_outer_wall_cleaning_wait_time
-          nmp_outer_wall_cleaning_waste_time: nmp_outer_wall_cleaning_waste_time
-          nmp_pump_cleaning_suction_count: nmp_pump_cleaning_suction_count
-          nmp_stirrer_cleaning_count: nmp_stirrer_cleaning_count
-          nmp_stirrer_cleaning_injection: nmp_stirrer_cleaning_injection
-          nmp_stirrer_cleaning_wait_time: nmp_stirrer_cleaning_wait_time
-          nmp_stirrer_cleaning_waste_time: nmp_stirrer_cleaning_waste_time
-          pipe_blowing_time: pipe_blowing_time
-          water_inner_wall_cleaning_count: water_inner_wall_cleaning_count
-          water_inner_wall_cleaning_injection: water_inner_wall_cleaning_injection
-          water_inner_wall_cleaning_waste_time: water_inner_wall_cleaning_waste_time
-          water_outer_wall_cleaning_count: water_outer_wall_cleaning_count
-          water_outer_wall_cleaning_injection: water_outer_wall_cleaning_injection
-          water_outer_wall_cleaning_wait_time: water_outer_wall_cleaning_wait_time
-          water_outer_wall_cleaning_waste_time: water_outer_wall_cleaning_waste_time
-          water_pump_cleaning_suction_count: water_pump_cleaning_suction_count
-          water_stirrer_cleaning_count: water_stirrer_cleaning_count
-          water_stirrer_cleaning_injection: water_stirrer_cleaning_injection
-          water_stirrer_cleaning_wait_time: water_stirrer_cleaning_wait_time
-          water_stirrer_cleaning_waste_time: water_stirrer_cleaning_waste_time
-        goal_default:
-          acetone_inner_wall_cleaning_count: 0
-          acetone_inner_wall_cleaning_injection: 0.0
-          acetone_inner_wall_cleaning_waste_time: 0
-          acetone_outer_wall_cleaning_count: 0
-          acetone_outer_wall_cleaning_injection: 0.0
-          acetone_outer_wall_cleaning_wait_time: 0
-          acetone_outer_wall_cleaning_waste_time: 0
-          acetone_pump_cleaning_suction_count: 0
-          acetone_stirrer_cleaning_count: 0
-          acetone_stirrer_cleaning_injection: 0.0
-          acetone_stirrer_cleaning_wait_time: 0
-          acetone_stirrer_cleaning_waste_time: 0
-          filtration_liquid_selection: 0
-          injection_pump_forward_empty_suction_count: 0
-          injection_pump_reverse_empty_suction_count: 0
-          nmp_inner_wall_cleaning_count: 0
-          nmp_inner_wall_cleaning_injection: 0.0
-          nmp_inner_wall_cleaning_waste_time: 0
-          nmp_outer_wall_cleaning_count: 0
-          nmp_outer_wall_cleaning_injection: 0.0
-          nmp_outer_wall_cleaning_wait_time: 0
-          nmp_outer_wall_cleaning_waste_time: 0
-          nmp_pump_cleaning_suction_count: 0
-          nmp_stirrer_cleaning_count: 0
-          nmp_stirrer_cleaning_injection: 0.0
-          nmp_stirrer_cleaning_wait_time: 0
-          nmp_stirrer_cleaning_waste_time: 0
-          pipe_blowing_time: 0
-          water_inner_wall_cleaning_count: 0
-          water_inner_wall_cleaning_injection: 0.0
-          water_inner_wall_cleaning_waste_time: 0
-          water_outer_wall_cleaning_count: 0
-          water_outer_wall_cleaning_injection: 0.0
-          water_outer_wall_cleaning_wait_time: 0
-          water_outer_wall_cleaning_waste_time: 0
-          water_pump_cleaning_suction_count: 0
-          water_stirrer_cleaning_count: 0
-          water_stirrer_cleaning_injection: 0.0
-          water_stirrer_cleaning_wait_time: 0
-          water_stirrer_cleaning_waste_time: 0
-        handles: {}
-        result:
-          return_info: return_info
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: PostProcessTriggerClean_Feedback
-              type: object
-            goal:
-              properties:
-                acetone_inner_wall_cleaning_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                acetone_inner_wall_cleaning_injection:
-                  type: number
-                acetone_inner_wall_cleaning_waste_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                acetone_outer_wall_cleaning_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                acetone_outer_wall_cleaning_injection:
-                  type: number
-                acetone_outer_wall_cleaning_wait_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                acetone_outer_wall_cleaning_waste_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                acetone_pump_cleaning_suction_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                acetone_stirrer_cleaning_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                acetone_stirrer_cleaning_injection:
-                  type: number
-                acetone_stirrer_cleaning_wait_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                acetone_stirrer_cleaning_waste_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                filtration_liquid_selection:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                injection_pump_forward_empty_suction_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                injection_pump_reverse_empty_suction_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                nmp_inner_wall_cleaning_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                nmp_inner_wall_cleaning_injection:
-                  type: number
-                nmp_inner_wall_cleaning_waste_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                nmp_outer_wall_cleaning_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                nmp_outer_wall_cleaning_injection:
-                  type: number
-                nmp_outer_wall_cleaning_wait_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                nmp_outer_wall_cleaning_waste_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                nmp_pump_cleaning_suction_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                nmp_stirrer_cleaning_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                nmp_stirrer_cleaning_injection:
-                  type: number
-                nmp_stirrer_cleaning_wait_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                nmp_stirrer_cleaning_waste_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                pipe_blowing_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                water_inner_wall_cleaning_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                water_inner_wall_cleaning_injection:
-                  type: number
-                water_inner_wall_cleaning_waste_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                water_outer_wall_cleaning_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                water_outer_wall_cleaning_injection:
-                  type: number
-                water_outer_wall_cleaning_wait_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                water_outer_wall_cleaning_waste_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                water_pump_cleaning_suction_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                water_stirrer_cleaning_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                water_stirrer_cleaning_injection:
-                  type: number
-                water_stirrer_cleaning_wait_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                water_stirrer_cleaning_waste_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-              required:
-              - nmp_outer_wall_cleaning_injection
-              - nmp_outer_wall_cleaning_count
-              - nmp_outer_wall_cleaning_wait_time
-              - nmp_outer_wall_cleaning_waste_time
-              - nmp_inner_wall_cleaning_injection
-              - nmp_inner_wall_cleaning_count
-              - nmp_pump_cleaning_suction_count
-              - nmp_inner_wall_cleaning_waste_time
-              - nmp_stirrer_cleaning_injection
-              - nmp_stirrer_cleaning_count
-              - nmp_stirrer_cleaning_wait_time
-              - nmp_stirrer_cleaning_waste_time
-              - water_outer_wall_cleaning_injection
-              - water_outer_wall_cleaning_count
-              - water_outer_wall_cleaning_wait_time
-              - water_outer_wall_cleaning_waste_time
-              - water_inner_wall_cleaning_injection
-              - water_inner_wall_cleaning_count
-              - water_pump_cleaning_suction_count
-              - water_inner_wall_cleaning_waste_time
-              - water_stirrer_cleaning_injection
-              - water_stirrer_cleaning_count
-              - water_stirrer_cleaning_wait_time
-              - water_stirrer_cleaning_waste_time
-              - acetone_outer_wall_cleaning_injection
-              - acetone_outer_wall_cleaning_count
-              - acetone_outer_wall_cleaning_wait_time
-              - acetone_outer_wall_cleaning_waste_time
-              - acetone_inner_wall_cleaning_injection
-              - acetone_inner_wall_cleaning_count
-              - acetone_pump_cleaning_suction_count
-              - acetone_inner_wall_cleaning_waste_time
-              - acetone_stirrer_cleaning_injection
-              - acetone_stirrer_cleaning_count
-              - acetone_stirrer_cleaning_wait_time
-              - acetone_stirrer_cleaning_waste_time
-              - pipe_blowing_time
-              - injection_pump_forward_empty_suction_count
-              - injection_pump_reverse_empty_suction_count
-              - filtration_liquid_selection
-              title: PostProcessTriggerClean_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-              required:
-              - return_info
-              title: PostProcessTriggerClean_Result
-              type: object
-          required:
-          - goal
-          title: PostProcessTriggerClean
-          type: object
-        type: PostProcessTriggerClean
-      trigger_grab_action:
-        feedback: {}
-        goal:
-          raw_tank_number: raw_tank_number
-          reaction_tank_number: reaction_tank_number
-        goal_default:
-          raw_tank_number: 0
-          reaction_tank_number: 0
-        handles: {}
-        result:
-          return_info: return_info
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: PostProcessGrab_Feedback
-              type: object
-            goal:
-              properties:
-                raw_tank_number:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                reaction_tank_number:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-              required:
-              - reaction_tank_number
-              - raw_tank_number
-              title: PostProcessGrab_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-              required:
-              - return_info
-              title: PostProcessGrab_Result
-              type: object
-          required:
-          - goal
-          title: PostProcessGrab
-          type: object
-        type: PostProcessGrab
-      trigger_post_processing:
-        feedback: {}
-        goal:
-          atomization_fast_speed: atomization_fast_speed
-          atomization_pressure_kpa: atomization_pressure_kpa
-          first_powder_mixing_tim: first_powder_mixing_tim
-          first_powder_wash_count: first_powder_wash_count
-          first_wash_water_amount: first_wash_water_amount
-          initial_water_amount: initial_water_amount
-          injection_pump_push_speed: injection_pump_push_speed
-          injection_pump_suction_speed: injection_pump_suction_speed
-          pre_filtration_mixing_time: pre_filtration_mixing_time
-          raw_liquid_suction_count: raw_liquid_suction_count
-          second_powder_mixing_time: second_powder_mixing_time
-          second_powder_wash_count: second_powder_wash_count
-          second_wash_water_amount: second_wash_water_amount
-          wash_slow_speed: wash_slow_speed
-        goal_default:
-          atomization_fast_speed: 0.0
-          atomization_pressure_kpa: 0
-          first_powder_mixing_tim: 0
-          first_powder_wash_count: 0
-          first_wash_water_amount: 0.0
-          initial_water_amount: 0.0
-          injection_pump_push_speed: 0
-          injection_pump_suction_speed: 0
-          pre_filtration_mixing_time: 0
-          raw_liquid_suction_count: 0
-          second_powder_mixing_time: 0
-          second_powder_wash_count: 0
-          second_wash_water_amount: 0.0
-          wash_slow_speed: 0.0
-        handles: {}
-        result:
-          return_info: return_info
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: PostProcessTriggerPostPro_Feedback
-              type: object
-            goal:
-              properties:
-                atomization_fast_speed:
-                  type: number
-                atomization_pressure_kpa:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                first_powder_mixing_tim:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                first_powder_wash_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                first_wash_water_amount:
-                  type: number
-                initial_water_amount:
-                  type: number
-                injection_pump_push_speed:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                injection_pump_suction_speed:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                pre_filtration_mixing_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                raw_liquid_suction_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                second_powder_mixing_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                second_powder_wash_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                second_wash_water_amount:
-                  type: number
-                wash_slow_speed:
-                  type: number
-              required:
-              - atomization_fast_speed
-              - wash_slow_speed
-              - injection_pump_suction_speed
-              - injection_pump_push_speed
-              - raw_liquid_suction_count
-              - first_wash_water_amount
-              - second_wash_water_amount
-              - first_powder_mixing_tim
-              - second_powder_mixing_time
-              - first_powder_wash_count
-              - second_powder_wash_count
-              - initial_water_amount
-              - pre_filtration_mixing_time
-              - atomization_pressure_kpa
-              title: PostProcessTriggerPostPro_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-              required:
-              - return_info
-              title: PostProcessTriggerPostPro_Result
-              type: object
-          required:
-          - goal
-          title: PostProcessTriggerPostPro
-          type: object
-        type: PostProcessTriggerPostPro
-      write_node:
-        feedback:
-          result: result
-        goal:
-          command: json_input
-        goal_default:
-          command: ''
-        handles: {}
-        result:
-          success: success
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties:
-                status:
-                  type: string
-              required:
-              - status
-              title: SendCmd_Feedback
-              type: object
-            goal:
-              properties:
-                command:
-                  type: string
-              required:
-              - command
-              title: SendCmd_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: SendCmd_Result
-              type: object
-          required:
-          - goal
-          title: SendCmd
-          type: object
-        type: SendCmd
-    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
-    type: python
-  config_info: []
-  description: 后处理站
-  handles: []
-  icon: post_process_station.webp
-  init_param_schema: {}
-  version: 1.0.0

unilabos/registry/registry.py

@@ -222,7 +222,7 @@ class Registry:
         abs_path = Path(path).absolute()
         resource_path = abs_path / "resources"
         files = list(resource_path.glob("*/*.yaml"))
-        logger.trace(f"[UniLab Registry] load resources? {resource_path.exists()}, total: {len(files)}")
+        logger.debug(f"[UniLab Registry] resources: {resource_path.exists()}, total: {len(files)}")
         current_resource_number = len(self.resource_type_registry) + 1
         for i, file in enumerate(files):
             with open(file, encoding="utf-8", mode="r") as f:
@@ -237,8 +237,6 @@ class Registry:
                         resource_info["category"] = [file.stem]
                     elif file.stem not in resource_info["category"]:
                         resource_info["category"].append(file.stem)
-                    elif not isinstance(resource_info.get("category"), list):
-                        resource_info["category"] = [resource_info["category"]]
                     if "config_info" not in resource_info:
                         resource_info["config_info"] = []
                     if "icon" not in resource_info:

unilabos/registry/resources/post_process/bottle_carriers.yaml

@@ -1,25 +0,0 @@
-POST_PROCESS_Raw_1BottleCarrier:
-  category:
-  - bottle_carriers
-  class:
-    module: unilabos.devices.workstation.post_process.bottle_carriers:POST_PROCESS_Raw_1BottleCarrier
-    type: pylabrobot
-  description: POST_PROCESS_Raw_1BottleCarrier
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-
-POST_PROCESS_Reaction_1BottleCarrier:
-  category:
-  - bottle_carriers
-  class:
-    module: unilabos.devices.workstation.post_process.bottle_carriers:POST_PROCESS_Reaction_1BottleCarrier
-    type: pylabrobot
-  description: POST_PROCESS_Reaction_1BottleCarrier
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0

unilabos/registry/resources/post_process/bottles.yaml

@@ -1,11 +0,0 @@
-POST_PROCESS_PolymerStation_Reagent_Bottle:
-  category:
-  - bottles
-  class:
-    module: unilabos.devices.workstation.post_process.bottles:POST_PROCESS_PolymerStation_Reagent_Bottle
-    type: pylabrobot
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  version: 1.0.0
-