Merge pull request #177 from sun7151887/yb4-fix

Yb4默认仿真机

bioyond_yihua_YB.json

@@ -99,7 +99,7 @@
         "z": 0
       },
       "config": {
-        "type": "ClipMagazine_four",
+        "type": "MagazineHolder_4",
         "size_x": 80,
         "size_y": 80,
         "size_z": 10,
@@ -140,7 +140,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -235,7 +235,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -330,7 +330,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -425,7 +425,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -523,7 +523,7 @@
         "z": 0
       },
       "config": {
-        "type": "ClipMagazine_four",
+        "type": "MagazineHolder_4",
         "size_x": 80,
         "size_y": 80,
         "size_z": 10,
@@ -564,7 +564,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -659,7 +659,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -754,7 +754,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -849,7 +849,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -949,7 +949,7 @@
         "z": 0
       },
       "config": {
-        "type": "ClipMagazine",
+        "type": "MagazineHolder_6",
         "size_x": 80,
         "size_y": 80,
         "size_z": 10,
@@ -992,7 +992,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -1087,7 +1087,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -1182,7 +1182,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -1277,7 +1277,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -1372,7 +1372,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -1467,7 +1467,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -1567,7 +1567,7 @@
         "z": 0
       },
       "config": {
-        "type": "ClipMagazine",
+        "type": "MagazineHolder_6",
         "size_x": 80,
         "size_y": 80,
         "size_z": 10,
@@ -1610,7 +1610,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -1705,7 +1705,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -1800,7 +1800,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -1895,7 +1895,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -1990,7 +1990,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -2085,7 +2085,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -2185,7 +2185,7 @@
         "z": 0
       },
       "config": {
-        "type": "ClipMagazine",
+        "type": "MagazineHolder_6",
         "size_x": 80,
         "size_y": 80,
         "size_z": 10,
@@ -2228,7 +2228,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -2323,7 +2323,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -2418,7 +2418,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -2513,7 +2513,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -2608,7 +2608,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -2703,7 +2703,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -2803,7 +2803,7 @@
         "z": 0
       },
       "config": {
-        "type": "ClipMagazine",
+        "type": "MagazineHolder_6",
         "size_x": 80,
         "size_y": 80,
         "size_z": 10,
@@ -2846,7 +2846,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -2941,7 +2941,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -3036,7 +3036,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -3131,7 +3131,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -3226,7 +3226,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -3321,7 +3321,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -3421,7 +3421,7 @@
         "z": 0
       },
       "config": {
-        "type": "ClipMagazine",
+        "type": "MagazineHolder_6",
         "size_x": 80,
         "size_y": 80,
         "size_z": 10,
@@ -3464,7 +3464,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -3559,7 +3559,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -3654,7 +3654,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -3749,7 +3749,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -3844,7 +3844,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -3939,7 +3939,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -4039,7 +4039,7 @@
         "z": 0
       },
       "config": {
-        "type": "ClipMagazine",
+        "type": "MagazineHolder_6",
         "size_x": 80,
         "size_y": 80,
         "size_z": 10,
@@ -4082,7 +4082,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -4177,7 +4177,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -4272,7 +4272,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -4367,7 +4367,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -4462,7 +4462,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -4557,7 +4557,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,

new_cellconfig.json

@@ -0,0 +1,54 @@
+{
+  "nodes": [
+    {
+      "id": "BatteryStation",
+      "name": "扣电工作站",
+      "parent": null,
+      "children": [
+        "coin_cell_deck"
+      ],
+      "type": "device",
+      "class":"coincellassemblyworkstation_device",
+      "position": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "config": {
+        "deck": {
+          "data": {
+            "_resource_child_name": "YB_YH_Deck",
+            "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:CoincellDeck"
+          }
+        },
+        "debug_mode": true,
+        "protocol_type": []
+      }
+    },
+    {
+      "id": "YB_YH_Deck",
+      "name": "YB_YH_Deck",
+      "children": [],
+      "parent": "BatteryStation",
+      "type": "deck",
+      "class": "CoincellDeck",
+      "position": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "config": {
+        "type": "CoincellDeck",
+        "setup": true,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        }
+      },
+      "data": {}
+    }
+  ],
+  "links": []
+}

new_cellconfig3c.json

@@ -1,3 +1,4 @@
+      
 {
   "nodes": [
     {
@@ -47,22 +48,51 @@
     {
       "id": "BatteryStation",
       "name": "扣电工作站",
+      "parent": null,
       "children": [
         "coin_cell_deck"
       ],
-      "parent": null,
       "type": "device",
-      "class": "coincellassemblyworkstation_device",
+      "class":"coincellassemblyworkstation_device",
-      "position": {
-        "x": 600,
-        "y": 400,
-        "z": 0
-      },
       "config": {
-        "debug_mode": false,
+        "deck": {
+          "data": {
+            "_resource_child_name": "YB_YH_Deck",
+            "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:CoincellDeck"
+          }
+        },
         "protocol_type": []
+      },
+      "position": {
+        "size": {"height": 1450, "width": 1450, "depth": 2100},
+        "position": {
+          "x": -1500,
+          "y": 0,
+          "z": 0
+        }
       }
+    },
+    {
+      "id": "YB_YH_Deck",
+      "name": "YB_YH_Deck",
+      "children": [],
+      "parent": "BatteryStation",
+      "type": "deck",
+      "class": "CoincellDeck",
+      "config": {
+        "type": "CoincellDeck",
+        "setup": true,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        }
+      },
+      "data": {}
     }
   ],
   "links": []
-}
+}
+
+    

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

@@ -11,12 +11,14 @@ from datetime import datetime, timedelta
 import re
 import threading
 import json
+from copy import deepcopy
 from urllib3 import response
 from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation, BioyondResourceSynchronizer
 from unilabos.devices.workstation.bioyond_studio.config import (
     API_CONFIG, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING, SOLID_LIQUID_MAPPINGS
 )
 from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
+from unilabos.resources.bioyond.decks import BIOYOND_YB_Deck
 from unilabos.utils.log import logger
 from unilabos.registry.registry import lab_registry
 
@@ -543,6 +545,14 @@ class BioyondCellWorkstation(BioyondWorkstation):
             except Exception:
                 return default
 
+        def _as_float(val, default=0.0) -> float:
+            try:
+                if pd.isna(val):
+                    return default
+                return float(val)
+            except Exception:
+                return default
+
         def _as_str(val, default="") -> str:
             if val is None or (isinstance(val, float) and pd.isna(val)):
                 return default
@@ -576,9 +586,9 @@ class BioyondCellWorkstation(BioyondWorkstation):
                 "createTime": _to_ymd_slash(row[col_create_time]) if col_create_time else _to_ymd_slash(None),
                 "bottleType": _as_str(row[col_bottle_type], default="配液小瓶") if col_bottle_type else "配液小瓶",
                 "mixTime": _as_int(row[col_mix_time]) if col_mix_time else 0,
-                "loadSheddingInfo": _as_int(row[col_load]) if col_load else 0,
+                "loadSheddingInfo": _as_float(row[col_load]) if col_load else 0.0,
-                "pouchCellInfo": _as_int(row[col_pouch]) if col_pouch else 0,
+                "pouchCellInfo": _as_float(row[col_pouch]) if col_pouch else 0,
-                "conductivityInfo": _as_int(row[col_cond]) if col_cond else 0,
+                "conductivityInfo": _as_float(row[col_cond]) if col_cond else 0,
                 "conductivityBottleCount": _as_int(row[col_cond_cnt]) if col_cond_cnt else 0,
                 "materialInfos": mats,
                 "totalMass": round(total_mass, 4)  # 自动汇总
@@ -594,7 +604,8 @@ class BioyondCellWorkstation(BioyondWorkstation):
                 print(f"[create_orders] ⚠️ 第 {idx+1} 行未找到有效物料")
 
             orders.append(order_data)
-
+        print("================================================")
+        print("orders:", orders)
 
         print(f"[create_orders] 即将提交订单数量: {len(orders)}")
         response = self._post_lims("/api/lims/order/orders", orders)
@@ -1075,7 +1086,12 @@ class BioyondCellWorkstation(BioyondWorkstation):
                     if bottle_moudle == moudle_name:
                         bottle_type = key
                         break
-                self.create_sample(plr_resource.name, board_type,bottle_type,site)
+                
+                # 从 parent_resource 获取仓库名称
+                warehouse_name = parent_resource.name if parent_resource else "手动堆栈"
+                logger.info(f"拖拽上料: {plr_resource.name} -> {warehouse_name} / {site}")
+                
+                self.create_sample(plr_resource.name, board_type, bottle_type, site, warehouse_name)
                 return
         self.lab_logger().warning(f"无库位的上料，不处理，{plr_resource} 挂载到 {parent_resource}")
 
@@ -1084,17 +1100,31 @@ class BioyondCellWorkstation(BioyondWorkstation):
         name: str,
         board_type: str,
         bottle_type: str,
-        location_code: str
+        location_code: str,
+        warehouse_name: str = "手动堆栈"
     ) -> Dict[str, Any]:
         """创建配液板物料并自动入库。
         Args:
-            material_name: 物料名称，支持 "5ml分液瓶板"/"5ml分液瓶"、"配液瓶(小)板"/"配液瓶(小)"。
+            name: 物料名称
-            quantity: 主物料与明细的数量，默认 1。
+            board_type: 板类型，如 "5ml分液瓶板"、"配液瓶(小)板"
-            location_code: 库位编号，例如 "A01"，将自动映射为 "手动堆栈" 下的 UUID。
+            bottle_type: 瓶类型，如 "5ml分液瓶"、"配液瓶(小)"
+            location_code: 库位编号，例如 "A01"
+            warehouse_name: 仓库名称，默认为 "手动堆栈"，支持 "自动堆栈-左"、"自动堆栈-右" 等
         """
         carrier_type_id = MATERIAL_TYPE_MAPPINGS[board_type][1]
         bottle_type_id  = MATERIAL_TYPE_MAPPINGS[bottle_type][1]
-        location_id = WAREHOUSE_MAPPING["手动堆栈"]["site_uuids"][location_code]
+        
+        # 从指定仓库获取库位UUID
+        if warehouse_name not in WAREHOUSE_MAPPING:
+            logger.error(f"未找到仓库: {warehouse_name}，回退到手动堆栈")
+            warehouse_name = "手动堆栈"
+        
+        if location_code not in WAREHOUSE_MAPPING[warehouse_name]["site_uuids"]:
+            logger.error(f"仓库 {warehouse_name} 中未找到库位 {location_code}")
+            raise ValueError(f"库位 {location_code} 在仓库 {warehouse_name} 中不存在")
+        
+        location_id = WAREHOUSE_MAPPING[warehouse_name]["site_uuids"][location_code]
+        logger.info(f"创建样品入库: {name} -> {warehouse_name}/{location_code} (UUID: {location_id})")
 
         # 新建小瓶
         details = []
@@ -1137,19 +1167,14 @@ class BioyondCellWorkstation(BioyondWorkstation):
 
 if __name__ == "__main__":
     lab_registry.setup()
-    ws = BioyondCellWorkstation()
+    deck = BIOYOND_YB_Deck(setup=True)
+    ws = BioyondCellWorkstation(deck=deck)
     # ws.create_sample(name="test", board_type="配液瓶(小)板", bottle_type="配液瓶(小)", location_code="B01")
     # logger.info(ws.scheduler_stop())
     # logger.info(ws.scheduler_start())
     
-    # results = ws.create_materials(SOLID_LIQUID_MAPPINGS)
-    # for r in results:
-        # logger.info(r)
-    # 从CSV文件读取物料列表并批量创建入库
-    # result = ws.create_and_inbound_materials()
-    
     # 继续后续流程
-    # logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱
+    logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱
     # # # 使用正斜杠或 Path 对象来指定文件路径
     # excel_path = Path("unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\2025092701.xlsx")
     # logger.info(ws.create_orders(excel_path))

unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_yihua_YB.json

@@ -113,7 +113,7 @@
         "z": 0
       },
       "config": {
-        "type": "ClipMagazine_four",
+        "type": "MagazineHolder_4",
         "size_x": 80,
         "size_y": 80,
         "size_z": 10,
@@ -154,7 +154,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -249,7 +249,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -344,7 +344,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -439,7 +439,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -537,7 +537,7 @@
         "z": 0
       },
       "config": {
-        "type": "ClipMagazine_four",
+        "type": "MagazineHolder_4",
         "size_x": 80,
         "size_y": 80,
         "size_z": 10,
@@ -578,7 +578,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -673,7 +673,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -768,7 +768,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -863,7 +863,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -963,7 +963,7 @@
         "z": 0
       },
       "config": {
-        "type": "ClipMagazine",
+        "type": "MagazineHolder_6",
         "size_x": 80,
         "size_y": 80,
         "size_z": 10,
@@ -1006,7 +1006,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -1101,7 +1101,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -1196,7 +1196,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -1291,7 +1291,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -1386,7 +1386,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -1481,7 +1481,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -1581,7 +1581,7 @@
         "z": 0
       },
       "config": {
-        "type": "ClipMagazine",
+        "type": "MagazineHolder_6",
         "size_x": 80,
         "size_y": 80,
         "size_z": 10,
@@ -1624,7 +1624,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -1719,7 +1719,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -1814,7 +1814,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -1909,7 +1909,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -2004,7 +2004,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -2099,7 +2099,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -2199,7 +2199,7 @@
         "z": 0
       },
       "config": {
-        "type": "ClipMagazine",
+        "type": "MagazineHolder_6",
         "size_x": 80,
         "size_y": 80,
         "size_z": 10,
@@ -2242,7 +2242,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -2337,7 +2337,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -2432,7 +2432,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -2527,7 +2527,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -2622,7 +2622,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -2717,7 +2717,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -2817,7 +2817,7 @@
         "z": 0
       },
       "config": {
-        "type": "ClipMagazine",
+        "type": "MagazineHolder_6",
         "size_x": 80,
         "size_y": 80,
         "size_z": 10,
@@ -2860,7 +2860,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -2955,7 +2955,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -3050,7 +3050,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -3145,7 +3145,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -3240,7 +3240,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -3335,7 +3335,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -3435,7 +3435,7 @@
         "z": 0
       },
       "config": {
-        "type": "ClipMagazine",
+        "type": "MagazineHolder_6",
         "size_x": 80,
         "size_y": 80,
         "size_z": 10,
@@ -3478,7 +3478,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -3573,7 +3573,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -3668,7 +3668,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -3763,7 +3763,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -3858,7 +3858,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -3953,7 +3953,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -4053,7 +4053,7 @@
         "z": 0
       },
       "config": {
-        "type": "ClipMagazine",
+        "type": "MagazineHolder_6",
         "size_x": 80,
         "size_y": 80,
         "size_z": 10,
@@ -4096,7 +4096,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -4191,7 +4191,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -4286,7 +4286,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -4381,7 +4381,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -4476,7 +4476,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,
@@ -4571,7 +4571,7 @@
         "z": 10
       },
       "config": {
-        "type": "ClipMagazineHole",
+        "type": "Magazine",
         "size_x": 14.0,
         "size_y": 14.0,
         "size_z": 10.0,

unilabos/devices/workstation/bioyond_studio/config.py

@@ -9,7 +9,7 @@ import os
 API_CONFIG = {
     # API 连接配置
     # "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.1.143:44389"),#实机
-    "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.7.149:44388"),# 仿真机
+    "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.11.219:44388"),# 仿真机
     "api_key": os.getenv("BIOYOND_API_KEY", "8A819E5C"),
     "timeout": int(os.getenv("BIOYOND_TIMEOUT", "30")),
     
@@ -17,7 +17,7 @@ API_CONFIG = {
     "report_token": os.getenv("BIOYOND_REPORT_TOKEN", "CHANGE_ME_TOKEN"),
     
     # HTTP 服务配置
-    "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.16.2.140"),  # HTTP服务监听地址，监听计算机飞连ip地址
+    "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.16.11.2"),  # HTTP服务监听地址，监听计算机飞连ip地址
     "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")),
     "debug_mode": False,# 调试模式
 }
@@ -237,7 +237,7 @@ MATERIAL_TYPE_MAPPINGS = {
     "100ml液体": ("YB_100ml_yeti", "d37166b3-ecaa-481e-bd84-3032b795ba07"),
     "液": ("YB_ye", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"),
     "高粘液": ("YB_gaonianye", "abe8df30-563d-43d2-85e0-cabec59ddc16"),
-    "加样头(大)": ("YB_jia_yang_tou_da", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
+    "加样头(大)": ("YB_jia_yang_tou_da_Carrier", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
     # "加样头(大)板": ("YB_jia_yang_tou_da", "a8e714ae-2a4e-4eb9-9614-e4c140ec3f16"),
     "5ml分液瓶板": ("YB_5ml_fenyepingban", "3a192fa4-007d-ec7b-456e-2a8be7a13f23"),
     "5ml分液瓶": ("YB_5ml_fenyeping", "3a192c2a-ebb7-58a1-480d-8b3863bf74f4"),

unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py

@@ -18,67 +18,11 @@ from pylabrobot.resources.tip_rack import TipRack, TipSpot
 from pylabrobot.resources.trash import Trash
 from pylabrobot.resources.utils import create_ordered_items_2d
 
+from unilabos.resources.battery.magazine import MagazineHolder_4_Cathode, MagazineHolder_6_Cathode, MagazineHolder_6_Anode, MagazineHolder_6_Battery
+from unilabos.resources.battery.bottle_carriers import YIHUA_Electrolyte_12VialCarrier
+from unilabos.resources.battery.electrode_sheet import ElectrodeSheet
 
-class ElectrodeSheetState(TypedDict):
-    diameter: float  # 直径 (mm)
-    thickness: float  # 厚度 (mm)
-    mass: float  # 质量 (g)
-    material_type: str  # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等）
-    height: float
-    electrolyte_name: str
-    data_electrolyte_code: str
-    open_circuit_voltage: float
-    assembly_pressure: float
-    electrolyte_volume: float
 
-    info: Optional[str]  # 附加信息
-
-class ElectrodeSheet(Resource):
-    """极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料"""
-
-    def __init__(
-        self,
-        name: str = "极片",
-        size_x=10,
-        size_y=10,
-        size_z=10,
-        category: str = "electrode_sheet",
-        model: Optional[str] = None,
-    ):
-        """初始化极片
-
-        Args:
-            name: 极片名称
-            category: 类别
-            model: 型号
-        """
-        super().__init__(
-            name=name,
-            size_x=size_x,
-            size_y=size_y,
-            size_z=size_z,
-            category=category,
-            model=model,
-        )
-        self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState(
-            diameter=14,
-            thickness=0.1,
-            mass=0.5,
-            material_type="copper",
-            info=None
-        )
-
-    # TODO: 这个还要不要？给self._unilabos_state赋值的？
-    def load_state(self, state: Dict[str, Any]) -> None:
-        """格式不变"""
-        super().load_state(state)
-        self._unilabos_state = state
-    #序列化
-    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
-        """格式不变"""
-        data = super().serialize_state()
-        data.update(self._unilabos_state)  # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
-        return data
 
 # TODO: 这个应该只能放一个极片
 class MaterialHoleState(TypedDict):
@@ -165,7 +109,6 @@ class MaterialHole(Resource):
         return self.children[index]
 
 
-
 class MaterialPlateState(TypedDict):
     hole_spacing_x: float
     hole_spacing_y: float
@@ -327,132 +270,6 @@ class PlateSlot(ResourceStack):
         }
 
 
-class ClipMagazineHole(Container):
-    """子弹夹洞位类"""
-
-    def __init__(
-        self,
-        name: str,
-        diameter: float,
-        depth: float,
-        max_sheets: int = 100,
-        category: str = "clip_magazine_hole",
-    ):
-        """初始化子弹夹洞位
-
-        Args:
-            name: 洞位名称
-            diameter: 洞直径 (mm)
-            depth: 洞深度 (mm)
-            max_sheets: 最大极片数量
-            category: 类别
-        """
-        super().__init__(
-            name=name,
-            size_x=diameter,
-            size_y=diameter,
-            size_z=depth,
-            category=category,
-        )
-        self.diameter = diameter
-        self.depth = depth
-        self.max_sheets = max_sheets
-        self._sheets: List[ElectrodeSheet] = []
-
-    def can_add_sheet(self, sheet: ElectrodeSheet) -> bool:
-        """检查是否可以添加极片"""
-        return (len(self._sheets) < self.max_sheets and
-                sheet.diameter <= self.diameter)
-
-    def add_sheet(self, sheet: ElectrodeSheet) -> None:
-        """添加极片"""
-        if not self.can_add_sheet(sheet):
-            raise ValueError(f"无法向洞位 {self.name} 添加极片")
-        self._sheets.append(sheet)
-
-    def take_sheet(self) -> ElectrodeSheet:
-        """取出极片"""
-        if len(self._sheets) == 0:
-            raise ValueError(f"洞位 {self.name} 没有极片")
-        return self._sheets.pop()
-
-    def get_sheet_count(self) -> int:
-        """获取极片数量"""
-        return len(self._sheets)
-
-    def serialize_state(self) -> Dict[str, Any]:
-        return {
-            "sheet_count": len(self._sheets),
-            "sheets": [sheet.serialize() for sheet in self._sheets],
-        }
-
-# TODO: 这个要改
-class ClipMagazine(ItemizedResource[ClipMagazineHole]):
-    """子弹夹类 - 有6个洞位，每个洞位放多个极片"""
-    children: List[ClipMagazineHole]
-    def __init__(
-        self,
-        name: str,
-        size_x: float,
-        size_y: float,
-        size_z: float,
-        hole_diameter: float = 14.0,
-        hole_depth: float = 10.0,
-        hole_spacing: float = 25.0,
-        max_sheets_per_hole: int = 100,
-        category: str = "clip_magazine",
-        model: Optional[str] = None,
-    ):
-        """初始化子弹夹
-
-        Args:
-            name: 子弹夹名称
-            size_x: 长度 (mm)
-            size_y: 宽度 (mm)
-            size_z: 高度 (mm)
-            hole_diameter: 洞直径 (mm)
-            hole_depth: 洞深度 (mm)
-            hole_spacing: 洞位间距 (mm)
-            max_sheets_per_hole: 每个洞位最大极片数量
-            category: 类别
-            model: 型号
-        """
-        # 创建6个洞位，排成2x3布局
-        holes = create_ordered_items_2d(
-            klass=ClipMagazineHole,
-            num_items_x=3,
-            num_items_y=2,
-            dx=(size_x - 2 * hole_spacing) / 2,  # 居中
-            dy=(size_y - hole_spacing) / 2,     # 居中
-            dz=size_z - 0,
-            item_dx=hole_spacing,
-            item_dy=hole_spacing,
-            diameter=hole_diameter,
-            depth=hole_depth,
-        )
-
-        super().__init__(
-            name=name,
-            size_x=size_x,
-            size_y=size_y,
-            size_z=size_z,
-            ordered_items=holes,
-            category=category,
-            model=model,
-        )
-
-        # 保存洞位的直径和深度
-        self.hole_diameter = hole_diameter
-        self.hole_depth = hole_depth
-        self.max_sheets_per_hole = max_sheets_per_hole
-
-    def serialize(self) -> dict:
-        return {
-            **super().serialize(),
-            "hole_diameter": self.hole_diameter,
-            "hole_depth": self.hole_depth,
-            "max_sheets_per_hole": self.max_sheets_per_hole,
-        }
 #是一种类型注解，不用self
 class BatteryState(TypedDict):
     """电池状态字典"""
@@ -595,76 +412,56 @@ class BatteryPressSlot(Resource):
     def get_battery_info(self, index: int) -> Battery:
         return self.children[0]
 
-# TODO:这个移液枪架子看一下从哪继承
-class TipBox64State(TypedDict):
-    """电池状态字典"""
-    tip_diameter: float = 5.0
-    tip_length: float = 50.0
-    with_tips: bool = True
 
-class TipBox64(TipRack):
+def TipBox64(
-    """64孔枪头盒类"""
-
-    children: List[TipSpot] = []
-    def __init__(
-        self,
         name: str,
         size_x: float = 127.8,
         size_y: float = 85.5,
         size_z: float = 60.0,
-        category: str = "tip_box_64",
+        category: str = "tip_rack",
         model: Optional[str] = None,
-    ):
+):
-        """初始化64孔枪头盒
+    """64孔枪头盒类"""
+    from pylabrobot.resources.tip import Tip
 
-        Args:
+    # 创建12x8=96个枪头位
-            name: 枪头盒名称
+    def make_tip():
-            size_x: 长度 (mm)
+        return Tip(
-            size_y: 宽度 (mm)
+            has_filter=False,
-            size_z: 高度 (mm)
+            total_tip_length=20.0,
-            tip_diameter: 枪头直径 (mm)
+            maximal_volume=1000,  # 1mL
-            tip_length: 枪头长度 (mm)
+            fitting_depth=8.0,
-            category: 类别
-            model: 型号
-            with_tips: 是否带枪头
-        """
-        from pylabrobot.resources.tip import Tip
-
-        # 创建8x8=64个枪头位
-        def make_tip():
-            return Tip(
-                has_filter=False,
-                total_tip_length=20.0,
-                maximal_volume=1000,  # 1mL
-                fitting_depth=8.0,
-            )
-
-        tip_spots = create_ordered_items_2d(
-            klass=TipSpot,
-            num_items_x=8,
-            num_items_y=8,
-            dx=8.0,
-            dy=8.0,
-            dz=0.0,
-            item_dx=9.0,
-            item_dy=9.0,
-            size_x=10,
-            size_y=10,
-            size_z=0.0,
-            make_tip=make_tip,
-        )
-        self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate()
-        super().__init__(
-            name=name,
-            size_x=size_x,
-            size_y=size_y,
-            size_z=size_z,
-            ordered_items=tip_spots,
-            category=category,
-            model=model,
-            with_tips=True,
         )
 
+    tip_spots = create_ordered_items_2d(
+        klass=TipSpot,
+        num_items_x=12,
+        num_items_y=8,
+        dx=8.0,
+        dy=8.0,
+        dz=0.0,
+        item_dx=9.0,
+        item_dy=9.0,
+        size_x=10,
+        size_y=10,
+        size_z=0.0,
+        make_tip=make_tip,
+    )
+    idx_available = list(range(0, 32)) + list(range(64, 96))
+    tip_spots_available = {k: v for i, (k, v) in enumerate(tip_spots.items()) if i in idx_available}
+    tip_rack = TipRack(
+        name=name,
+        size_x=size_x,
+        size_y=size_y,
+        size_z=size_z,
+        # ordered_items=tip_spots_available,
+        ordered_items=tip_spots,
+        category=category,
+        model=model,
+        with_tips=False,
+    )
+    tip_rack.set_tip_state([True]*32 + [False]*32 + [True]*32)  # 前32和后32个有枪头，中间32个无枪头
+    return tip_rack
 
 
 class WasteTipBoxstate(TypedDict):
@@ -682,8 +479,12 @@ class WasteTipBox(Trash):
         size_x: float = 127.8,
         size_y: float = 85.5,
         size_z: float = 60.0,
-        category: str = "waste_tip_box",
+        material_z_thickness=0,
-        model: Optional[str] = None,
+        max_volume=float("inf"),
+        category="trash",
+        model=None,
+        compute_volume_from_height=None,
+        compute_height_from_volume=None,
     ):
         """初始化废枪头盒
 
@@ -733,263 +534,16 @@ class WasteTipBox(Trash):
         return data
 
 
-class BottleRackState(TypedDict):
-    """     bottle_diameter: 瓶子直径 (mm)
-            bottle_height: 瓶子高度 (mm)
-            position_spacing: 位置间距 (mm)"""
-    bottle_diameter: float
-    bottle_height: float
-    name_to_index: dict
-
-
-
-class BottleRack(Resource):
-    """瓶架类 - 12个待配位置+12个已配位置"""
-    children: List[Resource] = []
-
-    def __init__(
-            self,
-            name: str,
-            size_x: float,
-            size_y: float,
-            size_z: float,
-            category: str = "bottle_rack",
-            model: Optional[str] = None,
-            num_items_x: int = 3,
-            num_items_y: int = 4,
-            position_spacing: float = 35.0,
-            orientation: str = "horizontal",
-            padding_x: float = 20.0,
-            padding_y: float = 20.0,
-    ):
-        """初始化瓶架
-
-        Args:
-            name: 瓶架名称
-            size_x: 长度 (mm)
-            size_y: 宽度 (mm)
-            size_z: 高度 (mm)
-            category: 类别
-            model: 型号
-        """
-        super().__init__(
-            name=name,
-            size_x=size_x,
-            size_y=size_y,
-            size_z=size_z,
-            category=category,
-            model=model,
-        )
-        # 初始化状态
-        self._unilabos_state: BottleRackState = BottleRackState(
-            bottle_diameter=30.0,
-            bottle_height=100.0,
-            position_spacing=position_spacing,
-            name_to_index={},
-        )
-        # 基于网格生成瓶位坐标映射（居中摆放）
-        # 使用内边距，避免点跑到容器外（前端渲染不按mm等比缩放时更稳妥）
-        origin_x = padding_x
-        origin_y = padding_y
-        self.index_to_pos = {}
-        for j in range(num_items_y):
-            for i in range(num_items_x):
-                idx = j * num_items_x + i
-                if orientation == "vertical":
-                    # 纵向：沿 y 方向优先排列
-                    self.index_to_pos[idx] = Coordinate(
-                        x=origin_x + j * position_spacing,
-                        y=origin_y + i * position_spacing,
-                        z=0,
-                    )
-                else:
-                    # 横向（默认）：沿 x 方向优先排列
-                    self.index_to_pos[idx] = Coordinate(
-                        x=origin_x + i * position_spacing,
-                        y=origin_y + j * position_spacing,
-                        z=0,
-                    )
-        self.name_to_index = {}
-        self.name_to_pos = {}
-        self.num_items_x = num_items_x
-        self.num_items_y = num_items_y
-        self.orientation = orientation
-        self.padding_x = padding_x
-        self.padding_y = padding_y
-
-    def load_state(self, state: Dict[str, Any]) -> None:
-        """格式不变"""
-        super().load_state(state)
-        self._unilabos_state = state
-
-    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
-        """格式不变"""
-        data = super().serialize_state()
-        data.update(
-            self._unilabos_state)  # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
-        return data
-
-    # TODO: 这里有些问题要重新写一下
-    def assign_child_resource_old(self, resource: Resource, location=Coordinate.zero(), reassign=True):
-        capacity = self.num_items_x * self.num_items_y
-        assert len(self.children) < capacity, "瓶架已满，无法添加更多瓶子"
-        index = len(self.children)
-        location = self.index_to_pos.get(index, Coordinate.zero())
-        self.name_to_pos[resource.name] = location
-        self.name_to_index[resource.name] = index
-        return super().assign_child_resource(resource, location, reassign)
-
-    def assign_child_resource(self, resource: Resource, index: int):
-        capacity = self.num_items_x * self.num_items_y
-        assert 0 <= index < capacity, "无效的瓶子索引"
-        self.name_to_index[resource.name] = index
-        location = self.index_to_pos[index]
-        return super().assign_child_resource(resource, location)
-
-    def unassign_child_resource(self, resource: Bottle):
-        super().unassign_child_resource(resource)
-        self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None)
-
-    def serialize(self) -> dict:
-        return {
-            **super().serialize(),
-            "num_items_x": self.num_items_x,
-            "num_items_y": self.num_items_y,
-            "position_spacing": self._unilabos_state.get("position_spacing", 35.0),
-            "orientation": self.orientation,
-            "padding_x": self.padding_x,
-            "padding_y": self.padding_y,
-        }
-
-class BottleState(TypedDict):
-    diameter: float
-    height: float
-    electrolyte_name: str
-    electrolyte_volume: float
-    max_volume: float
-
-class Bottle(Resource):
-    """瓶子类 - 容纳电解液"""
-
-    def __init__(
-        self,
-        name: str,
-        category: str = "bottle",
-    ):
-        """初始化瓶子
-
-        Args:
-            name: 瓶子名称
-            diameter: 直径 (mm)
-            height: 高度 (mm)
-            max_volume: 最大体积 (μL)
-            barcode: 二维码
-            category: 类别
-            model: 型号
-        """
-        super().__init__(
-            name=name,
-            size_x=1,
-            size_y=1,
-            size_z=1,
-            category=category,
-        )
-        self._unilabos_state: BottleState = BottleState()
-    
-    def aspirate_electrolyte(self, volume: float) -> bool:
-        current_volume = self._unilabos_state["electrolyte_volume"]
-        assert current_volume > volume, f"Cannot aspirate {volume}μL, only {current_volume}μL available."
-        self._unilabos_state["electrolyte_volume"] -= volume
-        return True
-
-    def load_state(self, state: Dict[str, Any]) -> None:
-        """格式不变"""
-        super().load_state(state)
-        self._unilabos_state = state
-
-    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
-        """格式不变"""
-        data = super().serialize_state()
-        data.update(self._unilabos_state)  # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
-        return data
-
-class ClipMagazine_four(ItemizedResource[ClipMagazineHole]):
-    """子弹夹类 - 有4个洞位，每个洞位放多个极片"""
-    children: List[ClipMagazineHole]
-    def __init__(
-        self,
-        name: str,
-        size_x: float,
-        size_y: float,
-        size_z: float,
-        hole_diameter: float = 14.0,
-        hole_depth: float = 10.0,
-        hole_spacing: float = 25.0,
-        max_sheets_per_hole: int = 100,
-        category: str = "clip_magazine_four",
-        model: Optional[str] = None,
-    ):
-        """初始化子弹夹
-
-        Args:
-            name: 子弹夹名称
-            size_x: 长度 (mm)
-            size_y: 宽度 (mm)
-            size_z: 高度 (mm)
-            hole_diameter: 洞直径 (mm)
-            hole_depth: 洞深度 (mm)
-            hole_spacing: 洞位间距 (mm)
-            max_sheets_per_hole: 每个洞位最大极片数量
-            category: 类别
-            model: 型号
-        """
-        # 创建4个洞位，排成2x2布局
-        holes = create_ordered_items_2d(
-            klass=ClipMagazineHole,
-            num_items_x=2,
-            num_items_y=2,
-            dx=(size_x - 2 * hole_spacing) / 2,  # 居中
-            dy=(size_y - hole_spacing) / 2,     # 居中
-            dz=size_z - 0,
-            item_dx=hole_spacing,
-            item_dy=hole_spacing,
-            diameter=hole_diameter,
-            depth=hole_depth,
-        )
-
-        super().__init__(
-            name=name,
-            size_x=size_x,
-            size_y=size_y,
-            size_z=size_z,
-            ordered_items=holes,
-            category=category,
-            model=model,
-        )
-
-        # 保存洞位的直径和深度
-        self.hole_diameter = hole_diameter
-        self.hole_depth = hole_depth
-        self.max_sheets_per_hole = max_sheets_per_hole
-
-    def serialize(self) -> dict:
-        return {
-            **super().serialize(),
-            "hole_diameter": self.hole_diameter,
-            "hole_depth": self.hole_depth,
-            "max_sheets_per_hole": self.max_sheets_per_hole,
-        }
-
 class CoincellDeck(Deck):
     """纽扣电池组装工作站台面类"""
 
     def __init__(
         self,
         name: str = "coin_cell_deck",
-        size_x: float = 3650.0,  # 1m
+        size_x: float = 1450.0,  # 1m
-        size_y: float = 1550.0,  # 1m
+        size_y: float = 1450.0,  # 1m
-        size_z: float = 2100.0,   # 0.9m
+        size_z: float = 100.0,   # 0.9m
-        origin: Coordinate = Coordinate(-4000, 2000, 0),
+        origin: Coordinate = Coordinate(-2200, 0, 0),
         category: str = "coin_cell_deck",
         setup: bool = False,  # 是否自动执行 setup
     ):
@@ -1006,11 +560,10 @@ class CoincellDeck(Deck):
         """
         super().__init__(
             name=name,
-            size_x=size_x,
+            size_x=1450.0,
-            size_y=size_y,
+            size_y=1450.0,
-            size_z=size_z,
+            size_z=100.0,
             origin=origin,
-            category=category,
         )
         if setup:
             self.setup()
@@ -1018,146 +571,67 @@ class CoincellDeck(Deck):
     def setup(self) -> None:
         """设置工作站的标准布局 - 包含子弹夹、料盘、瓶架等完整配置"""
         # ====================================== 子弹夹 ============================================
-        zip_dan_jia = ClipMagazine_four("zi_dan_jia", 80, 80, 10)
-        self.assign_child_resource(zip_dan_jia, Coordinate(x=1400, y=50, z=0))
-        zip_dan_jia2 = ClipMagazine_four("zi_dan_jia2", 80, 80, 10)
-        self.assign_child_resource(zip_dan_jia2, Coordinate(x=1600, y=200, z=0))
-        zip_dan_jia3 = ClipMagazine("zi_dan_jia3", 80, 80, 10)
-        self.assign_child_resource(zip_dan_jia3, Coordinate(x=1500, y=200, z=0))
-        zip_dan_jia4 = ClipMagazine("zi_dan_jia4", 80, 80, 10)
-        self.assign_child_resource(zip_dan_jia4, Coordinate(x=1500, y=300, z=0))
-        zip_dan_jia5 = ClipMagazine("zi_dan_jia5", 80, 80, 10)
-        self.assign_child_resource(zip_dan_jia5, Coordinate(x=1600, y=300, z=0))
-        zip_dan_jia6 = ClipMagazine("zi_dan_jia6", 80, 80, 10)
-        self.assign_child_resource(zip_dan_jia6, Coordinate(x=1530, y=500, z=0))
-        zip_dan_jia7 = ClipMagazine("zi_dan_jia7", 80, 80, 10)
-        self.assign_child_resource(zip_dan_jia7, Coordinate(x=1180, y=400, z=0))
-        zip_dan_jia8 = ClipMagazine("zi_dan_jia8", 80, 80, 10)
-        self.assign_child_resource(zip_dan_jia8, Coordinate(x=1280, y=400, z=0))
         
-        # 为子弹夹添加极片
+        # 正极片（4个洞位，2x2布局）
-        for i in range(4):
+        zhengji_zip = MagazineHolder_4_Cathode("正极&铝箔弹夹")
-            jipian = ElectrodeSheet(name=f"zi_dan_jia_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
+        self.assign_child_resource(zhengji_zip, Coordinate(x=402.0, y=830.0, z=0))
-            zip_dan_jia2.children[i].assign_child_resource(jipian, location=None)
+        
-        for i in range(4):
+        # 正极壳、平垫片（6个洞位，2x2+2布局）
-            jipian2 = ElectrodeSheet(name=f"zi_dan_jia2_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
+        zhengjike_zip = MagazineHolder_6_Cathode("正极壳&平垫片弹夹")
-            zip_dan_jia.children[i].assign_child_resource(jipian2, location=None)
+        self.assign_child_resource(zhengjike_zip, Coordinate(x=566.0, y=272.0, z=0))
-        for i in range(6):
+        
-            jipian3 = ElectrodeSheet(name=f"zi_dan_jia3_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
+        # 负极壳、弹垫片（6个洞位，2x2+2布局）
-            zip_dan_jia3.children[i].assign_child_resource(jipian3, location=None)
+        fujike_zip = MagazineHolder_6_Anode("负极壳&弹垫片弹夹")
-        for i in range(6):
+        self.assign_child_resource(fujike_zip, Coordinate(x=474.0, y=276.0, z=0))
-            jipian4 = ElectrodeSheet(name=f"zi_dan_jia4_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
+        
-            zip_dan_jia4.children[i].assign_child_resource(jipian4, location=None)
+        # 成品弹夹（6个洞位，3x2布局）
-        for i in range(6):
+        chengpindanjia_zip = MagazineHolder_6_Battery("成品弹夹")
-            jipian5 = ElectrodeSheet(name=f"zi_dan_jia5_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
+        self.assign_child_resource(chengpindanjia_zip, Coordinate(x=260.0, y=156.0, z=0))
-            zip_dan_jia5.children[i].assign_child_resource(jipian5, location=None)
-        for i in range(6):
-            jipian6 = ElectrodeSheet(name=f"zi_dan_jia6_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
-            zip_dan_jia6.children[i].assign_child_resource(jipian6, location=None)
-        for i in range(6):
-            jipian7 = ElectrodeSheet(name=f"zi_dan_jia7_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
-            zip_dan_jia7.children[i].assign_child_resource(jipian7, location=None)
-        for i in range(6):
-            jipian8 = ElectrodeSheet(name=f"zi_dan_jia8_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
-            zip_dan_jia8.children[i].assign_child_resource(jipian8, location=None)
         
         # ====================================== 物料板 ============================================
-        # 创建6个4*4的物料板
+        # 创建物料板（料盘carrier）- 4x4布局
-        liaopan1 = MaterialPlate(name="liaopan1", size_x=120, size_y=100, size_z=10.0, fill=True)
+        # 负极料盘
-        self.assign_child_resource(liaopan1, Coordinate(x=1010, y=50, z=0))
+        fujiliaopan = MaterialPlate(name="负极料盘", size_x=120, size_y=100, size_z=10.0, fill=True)
-        for i in range(16):
+        self.assign_child_resource(fujiliaopan, Coordinate(x=708.0, y=794.0, z=0))
-            jipian_1 = ElectrodeSheet(name=f"{liaopan1.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
+        # for i in range(16):
-            liaopan1.children[i].assign_child_resource(jipian_1, location=None)
+        #     fujipian = ElectrodeSheet(name=f"{fujiliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
+        #     fujiliaopan.children[i].assign_child_resource(fujipian, location=None)
 
-        liaopan2 = MaterialPlate(name="liaopan2", size_x=120, size_y=100, size_z=10.0, fill=True)
+        # 隔膜料盘
-        self.assign_child_resource(liaopan2, Coordinate(x=1130, y=50, z=0))
+        gemoliaopan = MaterialPlate(name="隔膜料盘", size_x=120, size_y=100, size_z=10.0, fill=True)
+        self.assign_child_resource(gemoliaopan, Coordinate(x=718.0, y=918.0, z=0))
+        # for i in range(16):
+        #     gemopian = ElectrodeSheet(name=f"{gemoliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
+        #     gemoliaopan.children[i].assign_child_resource(gemopian, location=None)
 
-        liaopan3 = MaterialPlate(name="liaopan3", size_x=120, size_y=100, size_z=10.0, fill=True)
-        self.assign_child_resource(liaopan3, Coordinate(x=1250, y=50, z=0))
-
-        liaopan4 = MaterialPlate(name="liaopan4", size_x=120, size_y=100, size_z=10.0, fill=True)
-        self.assign_child_resource(liaopan4, Coordinate(x=1010, y=150, z=0))
-        for i in range(16):
-            jipian_4 = ElectrodeSheet(name=f"{liaopan4.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
-            liaopan4.children[i].assign_child_resource(jipian_4, location=None)
-            
-        liaopan5 = MaterialPlate(name="liaopan5", size_x=120, size_y=100, size_z=10.0, fill=True)
-        self.assign_child_resource(liaopan5, Coordinate(x=1130, y=150, z=0))
-        
-        liaopan6 = MaterialPlate(name="liaopan6", size_x=120, size_y=100, size_z=10.0, fill=True)
-        self.assign_child_resource(liaopan6, Coordinate(x=1250, y=150, z=0))
-        
         # ====================================== 瓶架、移液枪 ============================================
         # 在台面上放置 3x4 瓶架、6x2 瓶架 与 64孔移液枪头盒
-        bottle_rack_3x4 = BottleRack(
+        # 奔耀上料5ml分液瓶小板 - 由奔曜跨站转运而来，不单独写，但是这里应该有一个堆栈用于摆放分液瓶小板
-            name="bottle_rack_3x4",
+        
-            size_x=210.0,
+        # bottle_rack_3x4 = BottleRack(
-            size_y=140.0,
+        #     name="bottle_rack_3x4",
-            size_z=100.0,
+        #     size_x=210.0,
-            num_items_x=3,
+        #     size_y=140.0,
-            num_items_y=4,
+        #     size_z=100.0,
-            position_spacing=35.0,
+        #     num_items_x=2,
-            orientation="vertical",
+        #     num_items_y=4,
-        )
+        #     position_spacing=35.0,
-        self.assign_child_resource(bottle_rack_3x4, Coordinate(x=100, y=200, z=0))
+        #     orientation="vertical",
-
+        # )
-        bottle_rack_6x2 = BottleRack(
+        # self.assign_child_resource(bottle_rack_3x4, Coordinate(x=1542.0, y=717.0, z=0))
-            name="bottle_rack_6x2",
+        
-            size_x=120.0,
+        # 电解液缓存位 - 6x2布局
-            size_y=250.0,
+        bottle_rack_6x2 = YIHUA_Electrolyte_12VialCarrier(name="bottle_rack_6x2")
-            size_z=100.0,
+        self.assign_child_resource(bottle_rack_6x2, Coordinate(x=1050.0, y=358.0, z=0))
-            num_items_x=6,
+        # 电解液回收位6x2
-            num_items_y=2,
+        bottle_rack_6x2_2 = YIHUA_Electrolyte_12VialCarrier(name="bottle_rack_6x2_2")
-            position_spacing=35.0,
+        self.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=914.0, y=358.0, z=0))
-            orientation="vertical",
-        )
-        self.assign_child_resource(bottle_rack_6x2, Coordinate(x=300, y=300, z=0))
-
-        bottle_rack_6x2_2 = BottleRack(
-            name="bottle_rack_6x2_2",
-            size_x=120.0,
-            size_y=250.0,
-            size_z=100.0,
-            num_items_x=6,
-            num_items_y=2,
-            position_spacing=35.0,
-            orientation="vertical",
-        )
-        self.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=430, y=300, z=0))
-
-        # 将 ElectrodeSheet 放满 3x4 与 6x2 的所有孔位
-        for idx in range(bottle_rack_3x4.num_items_x * bottle_rack_3x4.num_items_y):
-            sheet = ElectrodeSheet(name=f"sheet_3x4_{idx}", size_x=12, size_y=12, size_z=0.1)
-            bottle_rack_3x4.assign_child_resource(sheet, index=idx)
-
-        for idx in range(bottle_rack_6x2.num_items_x * bottle_rack_6x2.num_items_y):
-            sheet = ElectrodeSheet(name=f"sheet_6x2_{idx}", size_x=12, size_y=12, size_z=0.1)
-            bottle_rack_6x2.assign_child_resource(sheet, index=idx)
 
         tip_box = TipBox64(name="tip_box_64")
-        self.assign_child_resource(tip_box, Coordinate(x=300, y=100, z=0))
+        self.assign_child_resource(tip_box, Coordinate(x=782.0, y=514.0, z=0))
 
         waste_tip_box = WasteTipBox(name="waste_tip_box")
-        self.assign_child_resource(waste_tip_box, Coordinate(x=300, y=200, z=0))
+        self.assign_child_resource(waste_tip_box, Coordinate(x=778.0, y=622.0, z=0))
-        
-        print(self)
-
-
-def create_coin_cell_deck(name: str = "coin_cell_deck", size_x: float = 1000.0, size_y: float = 1000.0, size_z: float = 900.0) -> CoincellDeck:
-    """创建并配置标准的纽扣电池组装工作站台面
-    
-    Args:
-        name: 台面名称
-        size_x: 长度 (mm)
-        size_y: 宽度 (mm)
-        size_z: 高度 (mm)
-    
-    Returns:
-        已配置好的 CoincellDeck 对象
-    """
-    # 创建 CoincellDeck 实例并自动执行 setup 配置
-    deck = CoincellDeck(name=name, size_x=size_x, size_y=size_y, size_z=size_z, setup=True)
-    return deck
 
 
 if __name__ == "__main__":

unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py

@@ -109,44 +109,22 @@ def _coerce_deck_input(deck: Any) -> Optional[Deck]:
 #构建物料系统
 
 class CoinCellAssemblyWorkstation(WorkstationBase):
-    def __init__(
+    def __init__(self, 
-        self,
+        config: dict = None, 
-        deck: Deck=None,
+        deck=None, 
         address: str = "172.16.28.102",
         port: str = "502",
         debug_mode: bool = False,
         *args,
-        **kwargs,
+        **kwargs):
-    ):
-        if deck is None and "deck" in kwargs:
-            deck = kwargs.pop("deck")
-        else:
-            kwargs.pop("deck", None)
 
-        normalized_deck = _coerce_deck_input(deck)
+        if deck is None and config:
-
+            deck = config.get('deck')
-        if deck is None and isinstance(normalized_deck, Deck):
+        if deck is None:
-            deck = normalized_deck
+            logger.info("没有传入依华deck，检查启动json文件")
-
+        super().__init__(deck=deck, *args, **kwargs,)
-        super().__init__(
-            #桌子
-            deck=deck,
-            *args,
-            **kwargs,
-        )
         self.debug_mode = debug_mode
-
+ 
-        # 如果没有传入 deck，则创建标准配置的 deck
-        if self.deck is None:
-            self.deck = CoincellDeck(size_x=1000, size_y=1000, size_z=900, origin=Coordinate(-800, 0, 0),setup=True)
-        else:
-            # 如果传入了 deck 但还没有 setup，可以选择是否 setup
-            if self.deck is not None and len(self.deck.children) == 0:
-                # deck 为空，执行 setup
-                self.deck.setup()
-            # 否则使用传入的 deck（可能已经配置好了）
-            self.deck = self.deck
-
         """ 连接初始化 """
         modbus_client = TCPClient(addr=address, port=port)
         logger.debug(f"创建 Modbus 客户端: {modbus_client}")
@@ -161,26 +139,21 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
                 time.sleep(2)
             if not modbus_client.client.is_socket_open():
                 raise ValueError('modbus tcp connection failed')
+            self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_1105.csv'))
+            self.client = modbus_client.register_node_list(self.nodes)
         else:
             print("测试模式，跳过连接")
+            self.nodes, self.client = None, None
 
         """ 工站的配置 """
-        self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_1105.csv'))
+
-        self.client  = modbus_client.register_node_list(self.nodes)
         self.success = False
         self.allow_data_read = False  #允许读取函数运行标志位
         self.csv_export_thread = None
         self.csv_export_running = False
         self.csv_export_file = None
         self.coin_num_N = 0  #已组装电池数量
-        #创建一个物料台面，包含两个极片板
-        #self._ros_node.update_resource(self.deck)
-        
-        #ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
-        #    "resources": [self.deck]
-        #})
 
-    
     def post_init(self, ros_node: ROS2WorkstationNode):
         self._ros_node = ros_node
         #self.deck = create_a_coin_cell_deck()
@@ -818,7 +791,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         logger.debug(f"data_electrolyte_code: {data_electrolyte_code}")
         logger.debug(f"data_coin_cell_code: {data_coin_cell_code}")
         #接收完信息后，读取完毕标志位置True
-        liaopan3 = self.deck.get_resource("\u7535\u6c60\u6599\u76d8")        
+        liaopan3 = self.deck.get_resource("成品弹夹")        
         #把物料解绑后放到另一盘上
         battery = ElectrodeSheet(name=f"battery_{self.coin_num_N}", size_x=14, size_y=14, size_z=2)
         battery._unilabos_state = {
@@ -1035,7 +1008,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
             #     time.sleep(1)
             # time.sleep(40)
     # 数据读取与输出
-    def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"):
+    def func_read_data_and_output(self, file_path: str="/Users/sml/work"):
         # 检查CSV导出是否正在运行，已运行则跳出，防止同时启动两个while循环
         if self.csv_export_running:
             return False, "读取已在运行中"
@@ -1233,7 +1206,13 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
 
 if __name__ == "__main__":
     # 简单测试
-    workstation = CoinCellAssemblyWorkstation()
+    workstation = CoinCellAssemblyWorkstation(deck=CoincellDeck(setup=True, name="coin_cell_deck"))
-    workstation.qiming_coin_cell_code(fujipian_panshu=1, fujipian_juzhendianwei=2, gemopanshu=3, gemo_juzhendianwei=4, lvbodian=False, battery_pressure_mode=False, battery_pressure=4200, battery_clean_ignore=False)
+    # workstation.qiming_coin_cell_code(fujipian_panshu=1, fujipian_juzhendianwei=2, gemopanshu=3, gemo_juzhendianwei=4, lvbodian=False, battery_pressure_mode=False, battery_pressure=4200, battery_clean_ignore=False)
-    print(f"工作站创建成功: {workstation.deck.name}")
+    # print(f"工作站创建成功: {workstation.deck.name}")
-    print(f"料盘数量: {len(workstation.deck.children)}")
+    # print(f"料盘数量: {len(workstation.deck.children)}")
+    workstation.func_pack_device_init()
+    workstation.func_pack_device_auto()
+    workstation.func_pack_device_start()
+    workstation.func_pack_send_bottle_num(16)
+    workstation.func_allpack_cmd(elec_num=16, elec_use_num=16, elec_vol=50, assembly_type=7, assembly_pressure=4200, file_path="/Users/calvincao/Desktop/work/Uni-Lab-OS-hhm")
+    

unilabos/devices/workstation/workstation_material_management.py

@@ -1,583 +0,0 @@
-"""
-工作站物料管理基类
-Workstation Material Management Base Class
-
-基于PyLabRobot的物料管理系统
-"""
-from typing import Dict, Any, List, Optional, Union, Type
-from abc import ABC, abstractmethod
-import json
-
-from pylabrobot.resources import (
-    Resource as PLRResource,
-    Container,
-    Deck,
-    Coordinate as PLRCoordinate,
-)
-
-from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
-from unilabos.utils.log import logger
-from unilabos.resources.graphio import resource_plr_to_ulab, resource_ulab_to_plr
-
-
-class MaterialManagementBase(ABC):
-    """物料管理基类
-    
-    定义工作站物料管理的标准接口：
-    1. 物料初始化 - 根据配置创建物料资源
-    2. 物料追踪 - 实时跟踪物料位置和状态
-    3. 物料查找 - 按类型、位置、状态查找物料
-    4. 物料转换 - PyLabRobot与UniLab资源格式转换
-    """
-
-    def __init__(
-        self,
-        device_id: str,
-        deck_config: Dict[str, Any],
-        resource_tracker: DeviceNodeResourceTracker,
-        children_config: Dict[str, Dict[str, Any]] = None
-    ):
-        self.device_id = device_id
-        self.deck_config = deck_config
-        self.resource_tracker = resource_tracker
-        self.children_config = children_config or {}
-        
-        # 创建主台面
-        self.plr_deck = self._create_deck()
-        
-        # 扩展ResourceTracker
-        self._extend_resource_tracker()
-        
-        # 注册deck到resource tracker
-        self.resource_tracker.add_resource(self.plr_deck)
-        
-        # 初始化子资源
-        self.plr_resources = {}
-        self._initialize_materials()
-
-    def _create_deck(self) -> Deck:
-        """创建主台面"""
-        return Deck(
-            name=f"{self.device_id}_deck",
-            size_x=self.deck_config.get("size_x", 1000.0),
-            size_y=self.deck_config.get("size_y", 1000.0),
-            size_z=self.deck_config.get("size_z", 500.0),
-            origin=PLRCoordinate(0, 0, 0)
-        )
-
-    def _extend_resource_tracker(self):
-        """扩展ResourceTracker以支持PyLabRobot特定功能"""
-        
-        def find_by_type(resource_type):
-            """按类型查找资源"""
-            return self._find_resources_by_type_recursive(self.plr_deck, resource_type)
-        
-        def find_by_category(category: str):
-            """按类别查找资源"""
-            found = []
-            for resource in self._get_all_resources():
-                if hasattr(resource, 'category') and resource.category == category:
-                    found.append(resource)
-            return found
-        
-        def find_by_name_pattern(pattern: str):
-            """按名称模式查找资源"""
-            import re
-            found = []
-            for resource in self._get_all_resources():
-                if re.search(pattern, resource.name):
-                    found.append(resource)
-            return found
-        
-        # 动态添加方法到resource_tracker
-        self.resource_tracker.find_by_type = find_by_type
-        self.resource_tracker.find_by_category = find_by_category
-        self.resource_tracker.find_by_name_pattern = find_by_name_pattern
-
-    def _find_resources_by_type_recursive(self, resource, target_type):
-        """递归查找指定类型的资源"""
-        found = []
-        if isinstance(resource, target_type):
-            found.append(resource)
-        
-        # 递归查找子资源
-        children = getattr(resource, "children", [])
-        for child in children:
-            found.extend(self._find_resources_by_type_recursive(child, target_type))
-        
-        return found
-
-    def _get_all_resources(self) -> List[PLRResource]:
-        """获取所有资源"""
-        all_resources = []
-        
-        def collect_resources(resource):
-            all_resources.append(resource)
-            children = getattr(resource, "children", [])
-            for child in children:
-                collect_resources(child)
-        
-        collect_resources(self.plr_deck)
-        return all_resources
-
-    def _initialize_materials(self):
-        """初始化物料"""
-        try:
-            # 确定创建顺序，确保父资源先于子资源创建
-            creation_order = self._determine_creation_order()
-            
-            # 按顺序创建资源
-            for resource_id in creation_order:
-                config = self.children_config[resource_id]
-                self._create_plr_resource(resource_id, config)
-            
-            logger.info(f"物料管理系统初始化完成，共创建 {len(self.plr_resources)} 个资源")
-            
-        except Exception as e:
-            logger.error(f"物料初始化失败: {e}")
-
-    def _determine_creation_order(self) -> List[str]:
-        """确定资源创建顺序"""
-        order = []
-        visited = set()
-        
-        def visit(resource_id: str):
-            if resource_id in visited:
-                return
-            visited.add(resource_id)
-            
-            config = self.children_config.get(resource_id, {})
-            parent_id = config.get("parent")
-            
-            # 如果有父资源，先访问父资源
-            if parent_id and parent_id in self.children_config:
-                visit(parent_id)
-            
-            order.append(resource_id)
-        
-        for resource_id in self.children_config:
-            visit(resource_id)
-        
-        return order
-
-    def _create_plr_resource(self, resource_id: str, config: Dict[str, Any]):
-        """创建PyLabRobot资源"""
-        try:
-            resource_type = config.get("type", "unknown")
-            data = config.get("data", {})
-            location_config = config.get("location", {})
-            
-            # 创建位置坐标
-            location = PLRCoordinate(
-                x=location_config.get("x", 0.0),
-                y=location_config.get("y", 0.0),
-                z=location_config.get("z", 0.0)
-            )
-            
-            # 根据类型创建资源
-            resource = self._create_resource_by_type(resource_id, resource_type, config, data, location)
-            
-            if resource:
-                # 设置父子关系
-                parent_id = config.get("parent")
-                if parent_id and parent_id in self.plr_resources:
-                    parent_resource = self.plr_resources[parent_id]
-                    parent_resource.assign_child_resource(resource, location)
-                else:
-                    # 直接放在deck上
-                    self.plr_deck.assign_child_resource(resource, location)
-                
-                # 保存资源引用
-                self.plr_resources[resource_id] = resource
-                
-                # 注册到resource tracker
-                self.resource_tracker.add_resource(resource)
-                
-                logger.debug(f"创建资源成功: {resource_id} ({resource_type})")
-            
-        except Exception as e:
-            logger.error(f"创建资源失败 {resource_id}: {e}")
-
-    @abstractmethod
-    def _create_resource_by_type(
-        self, 
-        resource_id: str, 
-        resource_type: str, 
-        config: Dict[str, Any], 
-        data: Dict[str, Any], 
-        location: PLRCoordinate
-    ) -> Optional[PLRResource]:
-        """根据类型创建资源 - 子类必须实现"""
-        pass
-
-    # ============ 物料查找接口 ============
-    
-    def find_materials_by_type(self, material_type: str) -> List[PLRResource]:
-        """按材料类型查找物料"""
-        return self.resource_tracker.find_by_category(material_type)
-
-    def find_material_by_id(self, resource_id: str) -> Optional[PLRResource]:
-        """按ID查找物料"""
-        return self.plr_resources.get(resource_id)
-
-    def find_available_positions(self, position_type: str) -> List[PLRResource]:
-        """查找可用位置"""
-        positions = self.resource_tracker.find_by_category(position_type)
-        available = []
-        
-        for pos in positions:
-            if hasattr(pos, 'is_available') and pos.is_available():
-                available.append(pos)
-            elif hasattr(pos, 'children') and len(pos.children) == 0:
-                available.append(pos)
-        
-        return available
-
-    def get_material_inventory(self) -> Dict[str, int]:
-        """获取物料库存统计"""
-        inventory = {}
-        
-        for resource in self._get_all_resources():
-            if hasattr(resource, 'category'):
-                category = resource.category
-                inventory[category] = inventory.get(category, 0) + 1
-        
-        return inventory
-
-    # ============ 物料状态更新接口 ============
-    
-    def update_material_location(self, material_id: str, new_location: PLRCoordinate) -> bool:
-        """更新物料位置"""
-        try:
-            material = self.find_material_by_id(material_id)
-            if material:
-                material.location = new_location
-                return True
-            return False
-        except Exception as e:
-            logger.error(f"更新物料位置失败: {e}")
-            return False
-
-    def move_material(self, material_id: str, target_container_id: str) -> bool:
-        """移动物料到目标容器"""
-        try:
-            material = self.find_material_by_id(material_id)
-            target = self.find_material_by_id(target_container_id)
-            
-            if material and target:
-                # 从原位置移除
-                if material.parent:
-                    material.parent.unassign_child_resource(material)
-                
-                # 添加到新位置
-                target.assign_child_resource(material)
-                return True
-            
-            return False
-            
-        except Exception as e:
-            logger.error(f"移动物料失败: {e}")
-            return False
-
-    # ============ 资源转换接口 ============
-    
-    def convert_to_unilab_format(self, plr_resource: PLRResource) -> Dict[str, Any]:
-        """将PyLabRobot资源转换为UniLab格式"""
-        return resource_plr_to_ulab(plr_resource)
-
-    def convert_from_unilab_format(self, unilab_resource: Dict[str, Any]) -> PLRResource:
-        """将UniLab格式转换为PyLabRobot资源"""
-        return resource_ulab_to_plr(unilab_resource)
-
-    def get_deck_state(self) -> Dict[str, Any]:
-        """获取Deck状态"""
-        try:
-            return {
-                "deck_info": {
-                    "name": self.plr_deck.name,
-                    "size": {
-                        "x": self.plr_deck.size_x,
-                        "y": self.plr_deck.size_y,
-                        "z": self.plr_deck.size_z
-                    },
-                    "children_count": len(self.plr_deck.children)
-                },
-                "resources": {
-                    resource_id: self.convert_to_unilab_format(resource)
-                    for resource_id, resource in self.plr_resources.items()
-                },
-                "inventory": self.get_material_inventory()
-            }
-        except Exception as e:
-            logger.error(f"获取Deck状态失败: {e}")
-            return {"error": str(e)}
-
-    # ============ 数据持久化接口 ============
-    
-    def save_state_to_file(self, file_path: str) -> bool:
-        """保存状态到文件"""
-        try:
-            state = self.get_deck_state()
-            with open(file_path, 'w', encoding='utf-8') as f:
-                json.dump(state, f, indent=2, ensure_ascii=False)
-            logger.info(f"状态已保存到: {file_path}")
-            return True
-        except Exception as e:
-            logger.error(f"保存状态失败: {e}")
-            return False
-
-    def load_state_from_file(self, file_path: str) -> bool:
-        """从文件加载状态"""
-        try:
-            with open(file_path, 'r', encoding='utf-8') as f:
-                state = json.load(f)
-            
-            # 重新创建资源
-            self._recreate_resources_from_state(state)
-            logger.info(f"状态已从文件加载: {file_path}")
-            return True
-            
-        except Exception as e:
-            logger.error(f"加载状态失败: {e}")
-            return False
-
-    def _recreate_resources_from_state(self, state: Dict[str, Any]):
-        """从状态重新创建资源"""
-        # 清除现有资源
-        self.plr_resources.clear()
-        self.plr_deck.children.clear()
-        
-        # 从状态重新创建
-        resources_data = state.get("resources", {})
-        for resource_id, resource_data in resources_data.items():
-            try:
-                plr_resource = self.convert_from_unilab_format(resource_data)
-                self.plr_resources[resource_id] = plr_resource
-                self.plr_deck.assign_child_resource(plr_resource)
-            except Exception as e:
-                logger.error(f"重新创建资源失败 {resource_id}: {e}")
-
-
-class CoinCellMaterialManagement(MaterialManagementBase):
-    """纽扣电池物料管理类
-    
-    从 button_battery_station 抽取的物料管理功能
-    """
-
-    def _create_resource_by_type(
-        self, 
-        resource_id: str, 
-        resource_type: str, 
-        config: Dict[str, Any], 
-        data: Dict[str, Any], 
-        location: PLRCoordinate
-    ) -> Optional[PLRResource]:
-        """根据类型创建纽扣电池相关资源"""
-        
-        # 导入纽扣电池资源类
-        from unilabos.device_comms.button_battery_station import (
-            MaterialPlate, PlateSlot, ClipMagazine, BatteryPressSlot,
-            TipBox64, WasteTipBox, BottleRack, Battery, ElectrodeSheet
-        )
-        
-        try:
-            if resource_type == "material_plate":
-                return self._create_material_plate(resource_id, config, data, location)
-            
-            elif resource_type == "plate_slot":
-                return self._create_plate_slot(resource_id, config, data, location)
-            
-            elif resource_type == "clip_magazine":
-                return self._create_clip_magazine(resource_id, config, data, location)
-            
-            elif resource_type == "battery_press_slot":
-                return self._create_battery_press_slot(resource_id, config, data, location)
-            
-            elif resource_type == "tip_box":
-                return self._create_tip_box(resource_id, config, data, location)
-            
-            elif resource_type == "waste_tip_box":
-                return self._create_waste_tip_box(resource_id, config, data, location)
-            
-            elif resource_type == "bottle_rack":
-                return self._create_bottle_rack(resource_id, config, data, location)
-            
-            elif resource_type == "battery":
-                return self._create_battery(resource_id, config, data, location)
-            
-            else:
-                logger.warning(f"未知的资源类型: {resource_type}")
-                return None
-                
-        except Exception as e:
-            logger.error(f"创建资源失败 {resource_id} ({resource_type}): {e}")
-            return None
-
-    def _create_material_plate(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
-        """创建料板"""
-        from unilabos.device_comms.button_battery_station import MaterialPlate, ElectrodeSheet
-        
-        plate = MaterialPlate(
-            name=resource_id,
-            size_x=config.get("size_x", 80.0),
-            size_y=config.get("size_y", 80.0),
-            size_z=config.get("size_z", 10.0),
-            hole_diameter=config.get("hole_diameter", 15.0),
-            hole_depth=config.get("hole_depth", 8.0),
-            hole_spacing_x=config.get("hole_spacing_x", 20.0),
-            hole_spacing_y=config.get("hole_spacing_y", 20.0),
-            number=data.get("number", "")
-        )
-        plate.location = location
-        
-        # 如果有预填充的极片数据，创建极片
-        electrode_sheets = data.get("electrode_sheets", [])
-        for i, sheet_data in enumerate(electrode_sheets):
-            if i < len(plate.children):  # 确保不超过洞位数量
-                hole = plate.children[i]
-                sheet = ElectrodeSheet(
-                    name=f"{resource_id}_sheet_{i}",
-                    diameter=sheet_data.get("diameter", 14.0),
-                    thickness=sheet_data.get("thickness", 0.1),
-                    mass=sheet_data.get("mass", 0.01),
-                    material_type=sheet_data.get("material_type", "cathode"),
-                    info=sheet_data.get("info", "")
-                )
-                hole.place_electrode_sheet(sheet)
-        
-        return plate
-
-    def _create_plate_slot(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
-        """创建板槽位"""
-        from unilabos.device_comms.button_battery_station import PlateSlot
-        
-        slot = PlateSlot(
-            name=resource_id,
-            max_plates=config.get("max_plates", 8)
-        )
-        slot.location = location
-        return slot
-
-    def _create_clip_magazine(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
-        """创建子弹夹"""
-        from unilabos.device_comms.button_battery_station import ClipMagazine
-        
-        magazine = ClipMagazine(
-            name=resource_id,
-            size_x=config.get("size_x", 150.0),
-            size_y=config.get("size_y", 100.0),
-            size_z=config.get("size_z", 50.0),
-            hole_diameter=config.get("hole_diameter", 15.0),
-            hole_depth=config.get("hole_depth", 40.0),
-            hole_spacing=config.get("hole_spacing", 25.0),
-            max_sheets_per_hole=config.get("max_sheets_per_hole", 100)
-        )
-        magazine.location = location
-        return magazine
-
-    def _create_battery_press_slot(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
-        """创建电池压制槽"""
-        from unilabos.device_comms.button_battery_station import BatteryPressSlot
-        
-        slot = BatteryPressSlot(
-            name=resource_id,
-            diameter=config.get("diameter", 20.0),
-            depth=config.get("depth", 15.0)
-        )
-        slot.location = location
-        return slot
-
-    def _create_tip_box(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
-        """创建枪头盒"""
-        from unilabos.device_comms.button_battery_station import TipBox64
-        
-        tip_box = TipBox64(
-            name=resource_id,
-            size_x=config.get("size_x", 127.8),
-            size_y=config.get("size_y", 85.5),
-            size_z=config.get("size_z", 60.0),
-            with_tips=data.get("with_tips", True)
-        )
-        tip_box.location = location
-        return tip_box
-
-    def _create_waste_tip_box(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
-        """创建废枪头盒"""
-        from unilabos.device_comms.button_battery_station import WasteTipBox
-        
-        waste_box = WasteTipBox(
-            name=resource_id,
-            size_x=config.get("size_x", 127.8),
-            size_y=config.get("size_y", 85.5),
-            size_z=config.get("size_z", 60.0),
-            max_tips=config.get("max_tips", 100)
-        )
-        waste_box.location = location
-        return waste_box
-
-    def _create_bottle_rack(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
-        """创建瓶架"""
-        from unilabos.device_comms.button_battery_station import BottleRack
-        
-        rack = BottleRack(
-            name=resource_id,
-            size_x=config.get("size_x", 210.0),
-            size_y=config.get("size_y", 140.0),
-            size_z=config.get("size_z", 100.0),
-            bottle_diameter=config.get("bottle_diameter", 30.0),
-            bottle_height=config.get("bottle_height", 100.0),
-            position_spacing=config.get("position_spacing", 35.0)
-        )
-        rack.location = location
-        return rack
-
-    def _create_battery(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
-        """创建电池"""
-        from unilabos.device_comms.button_battery_station import Battery
-        
-        battery = Battery(
-            name=resource_id,
-            diameter=config.get("diameter", 20.0),
-            height=config.get("height", 3.2),
-            max_volume=config.get("max_volume", 100.0),
-            barcode=data.get("barcode", "")
-        )
-        battery.location = location
-        return battery
-
-    # ============ 纽扣电池特定查找方法 ============
-    
-    def find_material_plates(self):
-        """查找所有料板"""
-        from unilabos.device_comms.button_battery_station import MaterialPlate
-        return self.resource_tracker.find_by_type(MaterialPlate)
-    
-    def find_batteries(self):
-        """查找所有电池"""
-        from unilabos.device_comms.button_battery_station import Battery
-        return self.resource_tracker.find_by_type(Battery)
-    
-    def find_electrode_sheets(self):
-        """查找所有极片"""
-        found = []
-        plates = self.find_material_plates()
-        for plate in plates:
-            for hole in plate.children:
-                if hasattr(hole, 'has_electrode_sheet') and hole.has_electrode_sheet():
-                    found.append(hole._electrode_sheet)
-        return found
-    
-    def find_plate_slots(self):
-        """查找所有板槽位"""
-        from unilabos.device_comms.button_battery_station import PlateSlot
-        return self.resource_tracker.find_by_type(PlateSlot)
-    
-    def find_clip_magazines(self):
-        """查找所有子弹夹"""
-        from unilabos.device_comms.button_battery_station import ClipMagazine
-        return self.resource_tracker.find_by_type(ClipMagazine)
-    
-    def find_press_slots(self):
-        """查找所有压制槽"""
-        from unilabos.device_comms.button_battery_station import BatteryPressSlot
-        return self.resource_tracker.find_by_type(BatteryPressSlot)

unilabos/registry/devices/bioyond_cell.yaml

@@ -4,7 +4,6 @@ bioyond_cell:
   class:
     action_value_mappings:
       auto-auto_batch_outbound_from_xlsx:
-        display_name: 批量导入上料
         feedback: {}
         goal: {}
         goal_default:
@@ -33,112 +32,7 @@ bioyond_cell:
         feedback: {}
         goal: {}
         goal_default:
-          WH3_x1_y1_z3_1_materialId: ''
+          xlsx_path: /Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
-          WH3_x1_y1_z3_1_materialType: ''
-          WH3_x1_y1_z3_1_quantity: 0
-          WH3_x1_y2_z3_4_materialId: ''
-          WH3_x1_y2_z3_4_materialType: ''
-          WH3_x1_y2_z3_4_quantity: 0
-          WH3_x1_y3_z3_7_materialId: ''
-          WH3_x1_y3_z3_7_materialType: ''
-          WH3_x1_y3_z3_7_quantity: 0
-          WH3_x1_y4_z3_10_materialId: ''
-          WH3_x1_y4_z3_10_materialType: ''
-          WH3_x1_y4_z3_10_quantity: 0
-          WH3_x1_y5_z3_13_materialId: ''
-          WH3_x1_y5_z3_13_materialType: ''
-          WH3_x1_y5_z3_13_quantity: 0
-          WH3_x2_y1_z3_2_materialId: ''
-          WH3_x2_y1_z3_2_materialType: ''
-          WH3_x2_y1_z3_2_quantity: 0
-          WH3_x2_y2_z3_5_materialId: ''
-          WH3_x2_y2_z3_5_materialType: ''
-          WH3_x2_y2_z3_5_quantity: 0
-          WH3_x2_y3_z3_8_materialId: ''
-          WH3_x2_y3_z3_8_materialType: ''
-          WH3_x2_y3_z3_8_quantity: 0
-          WH3_x2_y4_z3_11_materialId: ''
-          WH3_x2_y4_z3_11_materialType: ''
-          WH3_x2_y4_z3_11_quantity: 0
-          WH3_x2_y5_z3_14_materialId: ''
-          WH3_x2_y5_z3_14_materialType: ''
-          WH3_x2_y5_z3_14_quantity: 0
-          WH3_x3_y1_z3_3_materialId: ''
-          WH3_x3_y1_z3_3_materialType: ''
-          WH3_x3_y1_z3_3_quantity: 0
-          WH3_x3_y2_z3_6_materialId: ''
-          WH3_x3_y2_z3_6_materialType: ''
-          WH3_x3_y2_z3_6_quantity: 0
-          WH3_x3_y3_z3_9_materialId: ''
-          WH3_x3_y3_z3_9_materialType: ''
-          WH3_x3_y3_z3_9_quantity: 0
-          WH3_x3_y4_z3_12_materialId: ''
-          WH3_x3_y4_z3_12_materialType: ''
-          WH3_x3_y4_z3_12_quantity: 0
-          WH3_x3_y5_z3_15_materialId: ''
-          WH3_x3_y5_z3_15_materialType: ''
-          WH3_x3_y5_z3_15_quantity: 0
-          WH4_x1_y1_z1_1_materialName: ''
-          WH4_x1_y1_z1_1_quantity: 0.0
-          WH4_x1_y1_z2_1_materialName: ''
-          WH4_x1_y1_z2_1_materialType: ''
-          WH4_x1_y1_z2_1_quantity: 0.0
-          WH4_x1_y1_z2_1_targetWH: ''
-          WH4_x1_y2_z1_6_materialName: ''
-          WH4_x1_y2_z1_6_quantity: 0.0
-          WH4_x1_y2_z2_4_materialName: ''
-          WH4_x1_y2_z2_4_materialType: ''
-          WH4_x1_y2_z2_4_quantity: 0.0
-          WH4_x1_y2_z2_4_targetWH: ''
-          WH4_x1_y3_z1_11_materialName: ''
-          WH4_x1_y3_z1_11_quantity: 0.0
-          WH4_x1_y3_z2_7_materialName: ''
-          WH4_x1_y3_z2_7_materialType: ''
-          WH4_x1_y3_z2_7_quantity: 0.0
-          WH4_x1_y3_z2_7_targetWH: ''
-          WH4_x2_y1_z1_2_materialName: ''
-          WH4_x2_y1_z1_2_quantity: 0.0
-          WH4_x2_y1_z2_2_materialName: ''
-          WH4_x2_y1_z2_2_materialType: ''
-          WH4_x2_y1_z2_2_quantity: 0.0
-          WH4_x2_y1_z2_2_targetWH: ''
-          WH4_x2_y2_z1_7_materialName: ''
-          WH4_x2_y2_z1_7_quantity: 0.0
-          WH4_x2_y2_z2_5_materialName: ''
-          WH4_x2_y2_z2_5_materialType: ''
-          WH4_x2_y2_z2_5_quantity: 0.0
-          WH4_x2_y2_z2_5_targetWH: ''
-          WH4_x2_y3_z1_12_materialName: ''
-          WH4_x2_y3_z1_12_quantity: 0.0
-          WH4_x2_y3_z2_8_materialName: ''
-          WH4_x2_y3_z2_8_materialType: ''
-          WH4_x2_y3_z2_8_quantity: 0.0
-          WH4_x2_y3_z2_8_targetWH: ''
-          WH4_x3_y1_z1_3_materialName: ''
-          WH4_x3_y1_z1_3_quantity: 0.0
-          WH4_x3_y1_z2_3_materialName: ''
-          WH4_x3_y1_z2_3_materialType: ''
-          WH4_x3_y1_z2_3_quantity: 0.0
-          WH4_x3_y1_z2_3_targetWH: ''
-          WH4_x3_y2_z1_8_materialName: ''
-          WH4_x3_y2_z1_8_quantity: 0.0
-          WH4_x3_y2_z2_6_materialName: ''
-          WH4_x3_y2_z2_6_materialType: ''
-          WH4_x3_y2_z2_6_quantity: 0.0
-          WH4_x3_y2_z2_6_targetWH: ''
-          WH4_x3_y3_z2_9_materialName: ''
-          WH4_x3_y3_z2_9_materialType: ''
-          WH4_x3_y3_z2_9_quantity: 0.0
-          WH4_x3_y3_z2_9_targetWH: ''
-          WH4_x4_y1_z1_4_materialName: ''
-          WH4_x4_y1_z1_4_quantity: 0.0
-          WH4_x4_y2_z1_9_materialName: ''
-          WH4_x4_y2_z1_9_quantity: 0.0
-          WH4_x5_y1_z1_5_materialName: ''
-          WH4_x5_y1_z1_5_quantity: 0.0
-          WH4_x5_y2_z1_10_materialName: ''
-          WH4_x5_y2_z1_10_quantity: 0.0
-          xlsx_path: C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -464,7 +358,7 @@ bioyond_cell:
                   default: 0.0
                   type: number
                 xlsx_path:
-                  default: C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
+                  default: /Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
                   type: string
               required: []
               type: object
@@ -600,6 +494,7 @@ bioyond_cell:
           bottle_type: null
           location_code: null
           name: null
+          warehouse_name: 手动堆栈
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -617,6 +512,9 @@ bioyond_cell:
                   type: string
                 name:
                   type: string
+                warehouse_name:
+                  default: 手动堆栈
+                  type: string
               required:
               - name
               - board_type
@@ -785,6 +683,39 @@ bioyond_cell:
           title: report_material_change参数
           type: object
         type: UniLabJsonCommand
+      auto-resource_tree_transfer:
+        feedback: {}
+        goal: {}
+        goal_default:
+          old_parent: null
+          parent_resource: null
+          plr_resource: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                old_parent:
+                  type: object
+                parent_resource:
+                  type: object
+                plr_resource:
+                  type: object
+              required:
+              - old_parent
+              - plr_resource
+              - parent_resource
+              type: object
+            result: {}
+          required:
+          - goal
+          title: resource_tree_transfer参数
+          type: object
+        type: UniLabJsonCommand
       auto-scheduler_continue:
         feedback: {}
         goal: {}
@@ -1072,12 +1003,13 @@ bioyond_cell:
           type: object
         type: UniLabJsonCommand
     module: unilabos.devices.workstation.bioyond_studio.bioyond_cell.bioyond_cell_workstation:BioyondCellWorkstation
-    status_types: {}
+    status_types:
+      device_id: String
     type: python
   config_info: []
   description: ''
   handles: []
-  icon: ''
+  icon: benyao2.webp
   init_param_schema:
     config:
       properties:
@@ -1090,8 +1022,11 @@ bioyond_cell:
       required: []
       type: object
     data:
-      properties: {}
+      properties:
-      required: []
+        device_id:
+          type: string
+      required:
+      - device_id
       type: object
   registry_type: device
   version: 1.0.0

unilabos/registry/devices/coin_cell_workstation.yaml

@@ -79,7 +79,7 @@ coincellassemblyworkstation_device:
           elec_num: null
           elec_use_num: null
           elec_vol: 50
-          file_path: C:\Users\67484\Desktop
+          file_path: /Users/sml/work
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -103,7 +103,7 @@ coincellassemblyworkstation_device:
                   default: 50
                   type: integer
                 file_path:
-                  default: C:\Users\67484\Desktop
+                  default: /Users/sml/work
                   type: string
               required:
               - elec_num
@@ -332,7 +332,7 @@ coincellassemblyworkstation_device:
         feedback: {}
         goal: {}
         goal_default:
-          file_path: D:\coin_cell_data
+          file_path: /Users/sml/work
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -343,7 +343,7 @@ coincellassemblyworkstation_device:
             goal:
               properties:
                 file_path:
-                  default: D:\coin_cell_data
+                  default: /Users/sml/work
                   type: string
               required: []
               type: object
@@ -502,18 +502,20 @@ coincellassemblyworkstation_device:
   config_info: []
   description: ''
   handles: []
-  icon: coin_cell_assembly_picture.webp
+  icon: koudian.webp
   init_param_schema:
     config:
       properties:
         address:
-          default: 172.21.32.111
+          default: 172.16.28.102
           type: string
+        config:
+          type: object
         debug_mode:
           default: false
           type: boolean
         deck:
-          type: object
+          type: string
         port:
           default: '502'
           type: string

unilabos/registry/devices/liquid_handler.yaml

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

unilabos/registry/devices/virtual_device.yaml

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

unilabos/registry/resources/bioyond/YB_bottle.yaml

@@ -1,16 +1,3 @@
-YB_qiang_tou:
-  category:
-  - yb3
-  - YB_bottle
-  class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_qiang_tou
-    type: pylabrobot
-  description: YB_qiang_tou
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
 YB_20ml_fenyeping:
   category:
   - yb3
@@ -37,6 +24,19 @@ YB_5ml_fenyeping:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
+YB_jia_yang_tou_da:
+  category:
+  - yb3
+  - YB_bottle
+  class:
+    module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da
+    type: pylabrobot
+  description: YB_jia_yang_tou_da
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
 YB_pei_ye_da_Bottle:
   category:
   - yb3
@@ -63,3 +63,30 @@ YB_pei_ye_xiao_Bottle:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
+YB_qiang_tou:
+  category:
+  - yb3
+  - YB_bottle
+  class:
+    module: unilabos.resources.bioyond.YB_bottles:YB_qiang_tou
+    type: pylabrobot
+  description: YB_qiang_tou
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+YB_ye_Bottle:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  - YB_bottle
+  class:
+    module: unilabos.resources.bioyond.YB_bottles:YB_ye_Bottle
+    type: pylabrobot
+  description: YB_ye_Bottle
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0

unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml

@@ -11,71 +11,6 @@ YB_100ml_yeti:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_1BottleCarrier:
-  category:
-  - yb3
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_1BottleCarrier
-    type: pylabrobot
-  description: YB_1BottleCarrier
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_gaonianye:
-  category:
-  - yb3
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_gaonianye
-    type: pylabrobot
-  description: YB_gaonianye
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_peiyepingdaban:
-  category:
-  - yb3
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingdaban
-    type: pylabrobot
-  description: YB_peiyepingdaban
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_6StockCarrier:
-  category:
-  - yb3
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6StockCarrier
-    type: pylabrobot
-  description: YB_6StockCarrier
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_6VialCarrier:
-  category:
-  - yb3
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6VialCarrier
-    type: pylabrobot
-  description: YB_6VialCarrier
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
 YB_20ml_fenyepingban:
   category:
   - yb3
@@ -102,40 +37,27 @@ YB_5ml_fenyepingban:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_peiyepingxiaoban:
+YB_6StockCarrier:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingxiaoban
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6StockCarrier
     type: pylabrobot
-  description: YB_peiyepingxiaoban
+  description: YB_6StockCarrier
   handles: []
   icon: ''
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_shi_pei_qi_kuai:
+YB_6VialCarrier:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_shi_pei_qi_kuai
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6VialCarrier
     type: pylabrobot
-  description: YB_shi_pei_qi_kuai
+  description: YB_6VialCarrier
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_qiang_tou_he:
-  category:
-  - yb3
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_qiang_tou_he
-    type: pylabrobot
-  description: YB_qiang_tou_he
   handles: []
   icon: ''
   init_param_schema: {}
@@ -154,14 +76,14 @@ YB_gao_nian_ye_Bottle:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_jia_yang_tou_da:
+YB_gaonianye:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_gaonianye
     type: pylabrobot
-  description: YB_jia_yang_tou_da
+  description: YB_gaonianye
   handles: []
   icon: ''
   init_param_schema: {}
@@ -180,6 +102,71 @@ YB_jia_yang_tou_da_Carrier:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
+YB_peiyepingdaban:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingdaban
+    type: pylabrobot
+  description: YB_peiyepingdaban
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+YB_peiyepingxiaoban:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingxiaoban
+    type: pylabrobot
+  description: YB_peiyepingxiaoban
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+YB_qiang_tou_he:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_qiang_tou_he
+    type: pylabrobot
+  description: YB_qiang_tou_he
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+YB_shi_pei_qi_kuai:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_shi_pei_qi_kuai
+    type: pylabrobot
+  description: YB_shi_pei_qi_kuai
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+YB_ye:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_ye
+    type: pylabrobot
+  description: YB_ye_Bottle_Carrier
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
 YB_ye_100ml_Bottle:
   category:
   - yb3
@@ -193,16 +180,3 @@ YB_ye_100ml_Bottle:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_ye_Bottle:
-  category:
-  - yb3
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_ye_Bottle
-    type: pylabrobot
-  description: YB_ye_Bottle
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0

unilabos/registry/resources/bioyond/deck.yaml

@@ -34,3 +34,15 @@ BIOYOND_YB_Deck:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
+CoincellDeck:
+  category:
+  - deck
+  class:
+    module: unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:CoincellDeck
+    type: pylabrobot
+  description: CoincellDeck
+  handles: []
+  icon: yihua.webp
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0

unilabos/resources/battery/bottle_carriers.py

@@ -0,0 +1,56 @@
+from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
+
+from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
+from unilabos.resources.bioyond.YB_bottles import (
+    YB_pei_ye_xiao_Bottle,
+)
+# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
+
+
+def YIHUA_Electrolyte_12VialCarrier(name: str) -> BottleCarrier:
+    """12瓶载架 - 2x6布局"""
+    # 载架尺寸 (mm)
+    carrier_size_x = 120.0
+    carrier_size_y = 250.0
+    carrier_size_z = 50.0
+
+    # 瓶位尺寸
+    bottle_diameter = 35.0
+    bottle_spacing_x = 35.0  # X方向间距
+    bottle_spacing_y = 35.0  # Y方向间距
+
+    # 计算起始位置 (居中排列)
+    start_x = (carrier_size_x - (2 - 1) * bottle_spacing_x - bottle_diameter) / 2
+    start_y = (carrier_size_y - (6 - 1) * bottle_spacing_y - bottle_diameter) / 2
+
+    sites = create_ordered_items_2d(
+        klass=ResourceHolder,
+        num_items_x=2,
+        num_items_y=6,
+        dx=start_x,
+        dy=start_y,
+        dz=5.0,
+        item_dx=bottle_spacing_x,
+        item_dy=bottle_spacing_y,
+
+        size_x=bottle_diameter,
+        size_y=bottle_diameter,
+        size_z=carrier_size_z,
+    )
+    for k, v in sites.items():
+        v.name = f"{name}_{v.name}"
+
+    carrier = BottleCarrier(
+        name=name,
+        size_x=carrier_size_x,
+        size_y=carrier_size_y,
+        size_z=carrier_size_z,
+        sites=sites,
+        model="Electrolyte_12VialCarrier",
+    )
+    carrier.num_items_x = 2
+    carrier.num_items_y = 6
+    carrier.num_items_z = 1
+    for i in range(12):
+        carrier[i] = YB_pei_ye_xiao_Bottle(f"{name}_vial_{i+1}")
+    return carrier

unilabos/resources/battery/electrode_sheet.py

@@ -0,0 +1,179 @@
+from typing import Any, Dict, Optional, TypedDict
+
+from pylabrobot.resources import Resource as ResourcePLR
+from pylabrobot.resources import Container
+
+
+electrode_colors = {
+    "PositiveCan": "#ff0000",
+    "PositiveElectrode": "#cc3333",
+    "NegativeCan": "#000000",
+    "NegativeElectrode": "#666666",
+    "SpringWasher": "#8b7355",
+    "FlatWasher": "a9a9a9",
+    "AluminumFoil": "#ffcccc",
+    "Battery": "#00ff00",
+}
+
+class ElectrodeSheetState(TypedDict):
+    mass: float  # 质量 (g)
+    material_type: str  # 材料类型（铜、铝、不锈钢、弹簧钢等）
+    color: str  # 材料类型对应的颜色
+
+
+class ElectrodeSheet(ResourcePLR):
+    """极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料"""
+
+    def __init__(
+        self,
+        name: str = "极片",
+        size_x=10,
+        size_y=10,
+        size_z=10,
+        category: str = "electrode_sheet",
+        model: Optional[str] = None,
+    ):
+        """初始化极片
+
+        Args:
+            name: 极片名称
+            category: 类别
+            model: 型号
+        """
+        super().__init__(
+            name=name,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
+            category=category,
+            model=model,
+        )
+        self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState(
+            diameter=14,
+            thickness=0.1,
+            mass=0.5,
+            material_type="copper",
+            info=None
+        )
+
+    # TODO: 这个还要不要？给self._unilabos_state赋值的？
+    def load_state(self, state: Dict[str, Any]) -> None:
+        """格式不变"""
+        super().load_state(state)
+        self._unilabos_state = state
+    #序列化
+    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
+        """格式不变"""
+        data = super().serialize_state()
+        data.update(self._unilabos_state)  # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
+        return data
+
+
+def PositiveCan(name: str) -> ElectrodeSheet:
+    """创建正极壳"""
+    sheet = ElectrodeSheet(name=name, size_x=12, size_y=12, size_z=3.0, model="PositiveCan")
+    sheet.load_state({"material_type": "aluminum", "color": electrode_colors["PositiveCan"]})
+    return sheet
+
+
+def PositiveElectrode(name: str) -> ElectrodeSheet:
+    """创建正极片"""
+    sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.1, model="PositiveElectrode")
+    sheet.load_state({"material_type": "positive_electrode", "color": electrode_colors["PositiveElectrode"]})
+    return sheet
+
+
+def NegativeCan(name: str) -> ElectrodeSheet:
+    """创建负极壳"""
+    sheet = ElectrodeSheet(name=name, size_x=12, size_y=12, size_z=2.0, model="NegativeCan")
+    sheet.load_state({"material_type": "steel", "color": electrode_colors["NegativeCan"]})
+    return sheet
+
+
+def NegativeElectrode(name: str) -> ElectrodeSheet:
+    """创建负极片"""
+    sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.1, model="NegativeElectrode")
+    sheet.load_state({"material_type": "negative_electrode", "color": electrode_colors["NegativeElectrode"]})
+    return sheet
+
+
+def SpringWasher(name: str) -> ElectrodeSheet:
+    """创建弹片"""
+    sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.5, model="SpringWasher")
+    sheet.load_state({"material_type": "spring_steel", "color": electrode_colors["SpringWasher"]})
+    return sheet
+
+
+def FlatWasher(name: str) -> ElectrodeSheet:
+    """创建垫片"""
+    sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.2, model="FlatWasher")
+    sheet.load_state({"material_type": "steel", "color": electrode_colors["FlatWasher"]})
+    return sheet
+
+
+def AluminumFoil(name: str) -> ElectrodeSheet:
+    """创建铝箔"""
+    sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.05, model="AluminumFoil")
+    sheet.load_state({"material_type": "aluminum", "color": electrode_colors["AluminumFoil"]})
+    return sheet
+
+
+class BatteryState(TypedDict):
+    color: str  # 材料类型对应的颜色
+    electrolyte_name: str
+    data_electrolyte_code: str
+    open_circuit_voltage: float
+    assembly_pressure: float
+    electrolyte_volume: float
+
+    info: Optional[str]  # 附加信息
+
+
+class Battery(Container):
+    """电池类 - 包含组装好的电池"""
+
+    def __init__(
+        self,
+        name: str = "电池",
+        size_x=12,
+        size_y=12,
+        size_z=6,
+        category: str = "battery",
+        model: Optional[str] = None,
+    ):
+        """初始化电池
+
+        Args:
+            name: 电池名称
+            category: 类别
+            model: 型号
+        """
+        super().__init__(
+            name=name,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
+            category=category,
+            model=model,
+        )
+        self._unilabos_state: BatteryState = BatteryState(
+            color=electrode_colors["Battery"],
+            electrolyte_name="无",
+            data_electrolyte_code="",
+            open_circuit_voltage=0.0,
+            assembly_pressure=0.0,
+            electrolyte_volume=0.0,
+            info=None
+        )
+
+    def load_state(self, state: Dict[str, Any]) -> None:
+        """格式不变"""
+        super().load_state(state)
+        self._unilabos_state = state
+
+    #序列化
+    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
+        """格式不变"""
+        data = super().serialize_state()
+        data.update(self._unilabos_state)  # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
+        return data

unilabos/resources/battery/magazine.py

@@ -0,0 +1,344 @@
+from typing import Dict, List, Optional, OrderedDict, Union, Callable
+import math
+
+from pylabrobot.resources.coordinate import Coordinate
+from pylabrobot.resources import Resource, ResourceStack, ItemizedResource
+from pylabrobot.resources.carrier import create_homogeneous_resources
+
+from unilabos.resources.battery.electrode_sheet import (
+    PositiveCan, PositiveElectrode,
+    NegativeCan, NegativeElectrode,
+    SpringWasher, FlatWasher,
+    AluminumFoil,
+    Battery
+)
+
+
+class Magazine(ResourceStack):
+    """子弹夹洞位类"""
+
+    def __init__(
+        self,
+        name: str,
+        direction: str = 'z',
+        resources: Optional[List[Resource]] = None,
+        max_sheets: int = 100,
+        **kwargs
+    ):
+        """初始化子弹夹洞位
+
+        Args:
+            name: 洞位名称
+            direction: 堆叠方向
+            resources: 资源列表
+            max_sheets: 最大极片数量
+        """
+        super().__init__(
+            name=name,
+            direction=direction,
+            resources=resources,
+        )
+        self.max_sheets = max_sheets
+
+    @property
+    def size_x(self) -> float:
+        return self.get_size_x()
+
+    @property
+    def size_y(self) -> float:
+        return self.get_size_y()
+
+    @property
+    def size_z(self) -> float:
+        return self.get_size_z()
+
+    def serialize(self) -> dict:
+        return {
+            **super().serialize(),
+            "size_x": self.size_x or 10.0,
+            "size_y": self.size_y or 10.0,
+            "size_z": self.size_z or 10.0,
+            "max_sheets": self.max_sheets,
+        }
+
+
+class MagazineHolder(ItemizedResource):
+    """子弹夹类 - 有多个洞位，每个洞位放多个极片"""
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        ordered_items: Optional[Dict[str, Magazine]] = None,
+        ordering: Optional[OrderedDict[str, str]] = None,
+        hole_diameter: float = 14.0,
+        hole_depth: float = 10.0,
+        max_sheets_per_hole: int = 100,
+        cross_section_type: str = "circle",
+        category: str = "magazine_holder",
+        model: Optional[str] = None,
+    ):
+        """初始化子弹夹
+
+        Args:
+            name: 子弹夹名称
+            size_x: 长度 (mm)
+            size_y: 宽度 (mm)
+            size_z: 高度 (mm)
+            hole_diameter: 洞直径 (mm)
+            hole_depth: 洞深度 (mm)
+            max_sheets_per_hole: 每个洞位最大极片数量
+            category: 类别
+            model: 型号
+        """
+
+        super().__init__(
+            name=name,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
+            ordered_items=ordered_items,
+            ordering=ordering,
+            category=category,
+            model=model,
+        )
+
+        # 保存洞位的直径和深度
+        self.hole_diameter = hole_diameter
+        self.hole_depth = hole_depth
+        self.max_sheets_per_hole = max_sheets_per_hole
+        self.cross_section_type = cross_section_type
+
+    def serialize(self) -> dict:
+        return {
+            **super().serialize(),
+            "hole_diameter": self.hole_diameter,
+            "hole_depth": self.hole_depth,
+            "max_sheets_per_hole": self.max_sheets_per_hole,
+            "cross_section_type": self.cross_section_type,
+        }
+
+
+def magazine_factory(
+    name: str,
+    size_x: float,
+    size_y: float,
+    size_z: float,
+    locations: List[Coordinate],
+    klasses: Optional[List[Callable[[str], str]]] = None,
+    hole_diameter: float = 14.0,
+    hole_depth: float = 10.0,
+    max_sheets_per_hole: int = 100,
+    category: str = "magazine_holder",
+    model: Optional[str] = None,
+) -> 'MagazineHolder':
+    """工厂函数：创建子弹夹
+    
+    Args:
+        name: 子弹夹名称
+        size_x: 长度 (mm)
+        size_y: 宽度 (mm)
+        size_z: 高度 (mm)
+        locations: 洞位坐标列表
+        klasses: 每个洞位中极片的类列表
+        hole_diameter: 洞直径 (mm)
+        hole_depth: 洞深度 (mm)
+        max_sheets_per_hole: 每个洞位最大极片数量
+        category: 类别
+        model: 型号
+    """
+    for loc in locations:
+        loc.x -= hole_diameter / 2
+        loc.y -= hole_diameter / 2
+
+    # 创建洞位
+    _sites = create_homogeneous_resources(
+        klass=Magazine,
+        locations=locations,
+        resource_size_x=hole_diameter,
+        resource_size_y=hole_diameter,
+        name_prefix=name,
+        max_sheets=max_sheets_per_hole,
+    )
+    
+    # 生成编号键
+    keys = [f"A{i+1}" for i in range(len(locations))]
+    sites = dict(zip(keys, _sites.values()))
+    
+    holder = MagazineHolder(
+        name=name,
+        size_x=size_x,
+        size_y=size_y,
+        size_z=size_z,
+        ordered_items=sites,
+        hole_diameter=hole_diameter,
+        hole_depth=hole_depth,
+        max_sheets_per_hole=max_sheets_per_hole,
+        category=category,
+        model=model,
+    )
+
+    if klasses is not None:
+        for i, klass in enumerate(klasses):
+            hole_key = keys[i]
+            hole = holder.children[i]
+            for j in reversed(range(max_sheets_per_hole)):
+                item_name = f"{hole_key}_sheet{j+1}"
+                item = klass(name=item_name)
+                hole.assign_child_resource(item)
+    return holder
+
+
+def MagazineHolder_6_Cathode(
+    name: str,
+    size_x: float = 80.0,
+    size_y: float = 80.0,
+    size_z: float = 40.0,
+    hole_diameter: float = 14.0,
+    hole_depth: float = 10.0,
+    hole_spacing: float = 20.0,
+    max_sheets_per_hole: int = 100,
+) -> MagazineHolder:
+    """创建6孔子弹夹 - 六边形排布"""
+    center_x = size_x / 2
+    center_y = size_y / 2
+
+    locations = []
+
+    # 周围6个孔，按六边形排布
+    for i in range(6):
+        angle = i * 60 * math.pi / 180  # 每60度一个孔
+        x = center_x + hole_spacing * math.cos(angle)
+        y = center_y + hole_spacing * math.sin(angle)
+        locations.append(Coordinate(x, y, size_z - hole_depth))
+
+    return magazine_factory(
+        name=name,
+        size_x=size_x,
+        size_y=size_y,
+        size_z=size_z,
+        locations=locations,
+        klasses=[FlatWasher, PositiveCan, PositiveCan, FlatWasher, PositiveCan, PositiveCan],
+        hole_diameter=hole_diameter,
+        hole_depth=hole_depth,
+        max_sheets_per_hole=max_sheets_per_hole,
+        category="magazine_holder",
+        model="MagazineHolder_6_Cathode",
+    )
+
+
+def MagazineHolder_6_Anode(
+    name: str,
+    size_x: float = 80.0,
+    size_y: float = 80.0,
+    size_z: float = 40.0,
+    hole_diameter: float = 14.0,
+    hole_depth: float = 10.0,
+    hole_spacing: float = 20.0,
+    max_sheets_per_hole: int = 100,
+) -> MagazineHolder:
+    """创建6孔子弹夹 - 六边形排布"""
+    center_x = size_x / 2
+    center_y = size_y / 2
+
+    locations = []
+
+    # 周围6个孔，按六边形排布
+    for i in range(6):
+        angle = i * 60 * math.pi / 180  # 每60度一个孔
+        x = center_x + hole_spacing * math.cos(angle)
+        y = center_y + hole_spacing * math.sin(angle)
+        locations.append(Coordinate(x, y, size_z - hole_depth))
+
+    return magazine_factory(
+        name=name,
+        size_x=size_x,
+        size_y=size_y,
+        size_z=size_z,
+        locations=locations,
+        klasses=[SpringWasher, NegativeCan, NegativeCan, SpringWasher, NegativeCan, NegativeCan],
+        hole_diameter=hole_diameter,
+        hole_depth=hole_depth,
+        max_sheets_per_hole=max_sheets_per_hole,
+        category="magazine_holder",
+        model="MagazineHolder_6_Anode",
+    )
+
+
+def MagazineHolder_6_Battery(
+    name: str,
+    size_x: float = 80.0,
+    size_y: float = 80.0,
+    size_z: float = 40.0,
+    hole_diameter: float = 14.0,
+    hole_depth: float = 10.0,
+    hole_spacing: float = 20.0,
+    max_sheets_per_hole: int = 100,
+) -> MagazineHolder:
+    """创建6孔子弹夹 - 六边形排布"""
+    center_x = size_x / 2
+    center_y = size_y / 2
+
+    locations = []
+
+    # 周围6个孔，按六边形排布
+    for i in range(6):
+        angle = i * 60 * math.pi / 180  # 每60度一个孔
+        x = center_x + hole_spacing * math.cos(angle)
+        y = center_y + hole_spacing * math.sin(angle)
+        locations.append(Coordinate(x, y, size_z - hole_depth))
+
+    return magazine_factory(
+        name=name,
+        size_x=size_x,
+        size_y=size_y,
+        size_z=size_z,
+        locations=locations,
+        klasses=None, # 初始化时，不放入装好的电池
+        hole_diameter=hole_diameter,
+        hole_depth=hole_depth,
+        max_sheets_per_hole=max_sheets_per_hole,
+        category="magazine_holder",
+        model="MagazineHolder_6_Battery",
+    )
+
+
+def MagazineHolder_4_Cathode(
+    name: str,
+) -> MagazineHolder:
+    """创建4孔子弹夹 - 正方形四角排布"""
+    size_x: float = 80.0
+    size_y: float = 80.0
+    size_z: float = 10.0
+    hole_diameter: float = 14.0
+    hole_depth: float = 10.0
+    hole_spacing: float = 25.0
+    max_sheets_per_hole: int = 100
+
+    # 计算4个洞位的坐标（正方形四角排布）
+    center_x = size_x / 2
+    center_y = size_y / 2
+    offset = hole_spacing / 2
+    
+    locations = [
+        Coordinate(center_x - offset, center_y - offset, size_z - hole_depth),  # 左下
+        Coordinate(center_x + offset, center_y - offset, size_z - hole_depth),  # 右下
+        Coordinate(center_x - offset, center_y + offset, size_z - hole_depth),  # 左上
+        Coordinate(center_x + offset, center_y + offset, size_z - hole_depth),  # 右上
+    ]
+    
+    return magazine_factory(
+        name=name,
+        size_x=size_x,
+        size_y=size_y,
+        size_z=size_z,
+        locations=locations,
+        klasses=[AluminumFoil, PositiveElectrode, PositiveElectrode, PositiveElectrode],
+        hole_diameter=hole_diameter,
+        hole_depth=hole_depth,
+        max_sheets_per_hole=max_sheets_per_hole,
+        category="magazine_holder",
+        model="MagazineHolder_4_Cathode",
+    )

unilabos/resources/bioyond/YB_bottle_carriers.py

@@ -206,7 +206,7 @@ def YB_6VialCarrier(name: str) -> BottleCarrier:
     return carrier
 
 # 1瓶载架 - 单个中央位置
-def YB_1BottleCarrier(name: str) -> BottleCarrier:
+def YB_ye(name: str) -> BottleCarrier:
     
     # 载架尺寸 (mm)
     carrier_size_x = 127.8
@@ -233,7 +233,7 @@ def YB_1BottleCarrier(name: str) -> BottleCarrier:
             resource_size_y=beaker_diameter,
             name_prefix=name,
         ),
-        model="YB_1BottleCarrier",
+        model="YB_ye",
     )
     carrier.num_items_x = 1
     carrier.num_items_y = 1

unilabos/resources/bioyond/YB_bottles.py

@@ -33,7 +33,7 @@ def YB_ye_Bottle(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="Liquid_Bottle",
+        model="YB_ye_Bottle",
     )
 
 """100ml液体"""

unilabos/resources/bioyond/decks.py

@@ -89,23 +89,19 @@ class BIOYOND_YB_Deck(Deck):
             "自动堆栈-右": bioyond_warehouse_2x2x1("自动堆栈-右"),
             "手动堆栈-左": bioyond_warehouse_3x5x1("手动堆栈-左"),
             "手动堆栈-右": bioyond_warehouse_3x5x1("手动堆栈-右"),
-            "粉末加样头堆栈-左": bioyond_warehouse_10x1x1("粉末加样头堆栈-左"),
+            "粉末加样头堆栈": bioyond_warehouse_20x1x1("粉末加样头堆栈"),
-            "粉末加样头堆栈-右": bioyond_warehouse_10x1x1("粉末加样头堆栈-右"),
             "配液站内试剂仓库": bioyond_warehouse_3x3x1("配液站内试剂仓库"),
-            "试剂替换仓库-左": bioyond_warehouse_5x1x1("试剂替换仓库-左"),
+            "试剂替换仓库": bioyond_warehouse_10x1x1("试剂替换仓库"),
-            "试剂替换仓库-右": bioyond_warehouse_5x1x1("试剂替换仓库-右"),
         }
         # warehouse 的位置
         self.warehouse_locations = {
-            "自动堆栈-左": Coordinate(-300.0, 158.0, 0.0),
+            "自动堆栈-左": Coordinate(-100.3, 171.5, 0.0),
-            "自动堆栈-右": Coordinate(4160.0, 158.0, 0.0),
+            "自动堆栈-右": Coordinate(3960.1, 155.9, 0.0),
-            "手动堆栈-左": Coordinate(-400.0, 877.0, 0.0),
+            "手动堆栈-左": Coordinate(-213.3, 804.4, 0.0),
-            "手动堆栈-右": Coordinate(4160.0, 877.0, 0.0),
+            "手动堆栈-右": Coordinate(3960.1, 807.6, 0.0),
-            "粉末加样头堆栈-左": Coordinate(415.0, 1301.0, 0.0),
+            "粉末加样头堆栈": Coordinate(415.0, 1301.0, 0.0),
-            "粉末加样头堆栈-右": Coordinate(2200.0, 1304.0, 0.0),
+            "配液站内试剂仓库": Coordinate(2162.0, 437.0, 0.0),
-            "配液站内试剂仓库": Coordinate(2162.0, 337.0, 0.0),
+            "试剂替换仓库": Coordinate(1173.0, 802.0, 0.0),
-            "试剂替换仓库-左": Coordinate(1173.0, 702.0, 0.0),
-            "试剂替换仓库-右": Coordinate(2721.0, 739.0, 0.0),
         }
 
         for warehouse_name, warehouse in self.warehouses.items():

unilabos/resources/itemized_carrier.py

@@ -29,7 +29,7 @@ class Bottle(Well):
         size_x: float = 0.0,
         size_y: float = 0.0,
         size_z: float = 0.0,
-        barcode: Optional[str] = "",
+        barcode: Optional[str] = None,
         category: str = "container",
         model: Optional[str] = None,
         **kwargs,