Add electrode sheet and bottle rack classes; enhance coin cell deck setup with new resources and configurations

new_cellconfig3c.json

@@ -1,4 +1,3 @@
-      
 {
   "nodes": [
     {
@@ -54,6 +53,11 @@
       ],
       "type": "device",
       "class":"coincellassemblyworkstation_device",
+      "position": {
+        "x": -600,
+        "y": -400,
+        "z": 0
+      },
       "config": {
         "deck": {
           "data": {
@@ -62,14 +66,6 @@
           }
         },
         "protocol_type": []
-      },
-      "position": {
-        "size": {"height": 1450, "width": 1450, "depth": 2100},
-        "position": {
-          "x": -1500,
-          "y": 0,
-          "z": 0
-        }
       }
     },
     {
@@ -79,6 +75,11 @@
       "parent": "BatteryStation",
       "type": "deck",
       "class": "CoincellDeck",
+      "position": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
       "config": {
         "type": "CoincellDeck",
         "setup": true,
@@ -93,6 +94,4 @@
     }
   ],
   "links": []
-}
-
-    
+}

unilabos/devices/battery/battery.json

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

unilabos/devices/battery/neware_battery_test_system.py

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

unilabos/devices/neware_battery_test_system/__init__.py

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

unilabos/devices/neware_battery_test_system/demo.csv

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

unilabos/devices/neware_battery_test_system/device.json

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

unilabos/devices/neware_battery_test_system/neware_driver.py

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

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

@@ -1,7 +1,7 @@
 # -*- coding: utf-8 -*-
 from cgi import print_arguments
 from doctest import debug
-from typing import Dict, Any, List, Optional, Tuple
+from typing import Dict, Any, List, Optional
 import requests
 from pylabrobot.resources.resource import Resource as ResourcePLR
 from pathlib import Path
@@ -11,7 +11,6 @@ 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 (
@@ -19,10 +18,8 @@ from unilabos.devices.workstation.bioyond_studio.config import (
 )
 from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
 from unilabos.resources.bioyond.decks import BIOYOND_YB_Deck
-from unilabos.resources.graphio import resource_bioyond_to_plr
 from unilabos.utils.log import logger
 from unilabos.registry.registry import lab_registry
-from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
 
 def _iso_local_now_ms() -> str:
     # 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z
@@ -42,14 +39,12 @@ class BioyondCellWorkstation(BioyondWorkstation):
     def __init__(self, config: dict = None, deck=None, protocol_type=None, **kwargs):
 
         # 使用统一配置，支持自定义覆盖, 从 config.py 加载完整配置
-        self.bioyond_config = {
+        self.bioyond_config ={
             **API_CONFIG,
             "material_type_mappings": MATERIAL_TYPE_MAPPINGS,
             "warehouse_mapping": WAREHOUSE_MAPPING,
-            "debug_mode": False,
-        }
-        if config:
-            self.bioyond_config.update(config)
+            "debug_mode": False
+    }
           
             # "material_type_mappings": MATERIAL_TYPE_MAPPINGS
             # "warehouse_mapping": WAREHOUSE_MAPPING
@@ -60,12 +55,6 @@ class BioyondCellWorkstation(BioyondWorkstation):
         self.http_service_started = self.debug_mode
         self._device_id = "bioyond_cell_workstation"  # 默认值，后续会从_ros_node获取
         super().__init__(bioyond_config=config, deck=deck)
-        self.transfer_target_device_id = self.bioyond_config.get("transfer_target_device_id", "BatteryStation")
-        self.transfer_target_parent = self.bioyond_config.get("transfer_target_parent", "YB_YH_Deck")
-        self.transfer_timeout = float(self.bioyond_config.get("transfer_timeout", 180.0))
-        self.coin_cell_workflow_config = self.bioyond_config.get("coin_cell_workflow_config", {})
-        self.pending_transfer_materials: List[Dict[str, Any]] = []
-        self.pending_transfer_plr: List[ResourcePLR] = []
         self.update_push_ip() #直接修改奔耀端的报送ip地址
         logger.info("已更新奔耀端推送 IP 地址")
 
@@ -334,7 +323,6 @@ class BioyondCellWorkstation(BioyondWorkstation):
                             "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]),
                             "materialName": str(row[5]).strip(),
                             "quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
-                            "temperature": 0,
                         })
                 # 四号手套箱原液瓶面
                 for _, row in df.iloc[14:23, 2:9].iterrows():
@@ -346,7 +334,6 @@ class BioyondCellWorkstation(BioyondWorkstation):
                             "quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
                             "materialType": str(row[7]).strip() if pd.notna(row[7]) else "",
                             "targetWH": str(row[8]).strip() if pd.notna(row[8]) else "",
-                            "temperature": 0,
                         })
                 # 三号手套箱人工堆栈
                 for _, row in df.iloc[25:40, 2:7].iterrows():
@@ -356,12 +343,11 @@ class BioyondCellWorkstation(BioyondWorkstation):
                             "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]),
                             "materialType": str(row[5]).strip() if pd.notna(row[5]) else "",
                             "materialId": str(row[6]).strip() if pd.notna(row[6]) else "",
-                            "quantity": 1,
-                            "temperature": 0,
+                            "quantity": 1
                         })
             else:
                 logger.warning(f"未找到 Excel 文件 {xlsx_path}，自动切换到手动参数模式。")
-        # TODO: 温度下面手动模式没改，上面的改了
+
         # ---------- 模式 2: 手动填写 ----------
         if not items:
             params = locals()
@@ -404,13 +390,10 @@ class BioyondCellWorkstation(BioyondWorkstation):
         order_code = response.get("data", {}).get("orderCode")
         if not order_code:
             logger.error("上料任务未返回有效 orderCode！")
-            return {"api_response": response, "order_finish": None}
-        # 等待完成报送
+            return response
+          # 等待完成报送
         result = self.wait_for_order_finish(order_code)
-        return {
-            "api_response": response,
-            "order_finish": result
-        }
+        return result
     
 
     def auto_batch_outbound_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]:
@@ -481,7 +464,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
         return response
 
     # 2.14 新建实验
-    def create_orders(self, xlsx_path: str, *, material_filter: Optional[str] = None) -> Dict[str, Any]:
+    def create_orders(self, xlsx_path: str) -> Dict[str, Any]:
         """
         从 Excel 解析并创建实验（2.14）
         约定：
@@ -561,14 +544,6 @@ 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
@@ -602,9 +577,9 @@ 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_float(row[col_load]) if col_load else 0.0,
-                "pouchCellInfo": _as_float(row[col_pouch]) if col_pouch else 0,
-                "conductivityInfo": _as_float(row[col_cond]) if col_cond else 0,
+                "loadSheddingInfo": _as_int(row[col_load]) if col_load else 0,
+                "pouchCellInfo": _as_int(row[col_pouch]) if col_pouch else 0,
+                "conductivityInfo": _as_int(row[col_cond]) if col_cond else 0,
                 "conductivityBottleCount": _as_int(row[col_cond_cnt]) if col_cond_cnt else 0,
                 "materialInfos": mats,
                 "totalMass": round(total_mass, 4)  # 自动汇总
@@ -636,36 +611,9 @@ class BioyondCellWorkstation(BioyondWorkstation):
         if not order_code:
             logger.error("上料任务未返回有效 orderCode！")
             return response
-        # 等待完成报送
+          # 等待完成报送
         result = self.wait_for_order_finish(order_code)
-        report_data = result.get("report") if isinstance(result, dict) else None
-        materials_from_report = (
-            report_data.get("usedMaterials") if isinstance(report_data, dict) else None
-        )
-        if materials_from_report:
-            materials = materials_from_report
-            logger.info(
-                "[create_orders] 使用订单完成报送中的物料信息: "
-                f"{len(materials)} 条"
-            )
-        else:
-            materials = self._fetch_bioyond_materials(filter_keyword=material_filter)
-            logger.info(
-                "[create_orders] 未收到订单报送物料信息，回退到实时查询"
-            )
-        print("materials_from_report:", materials_from_report)
-        # TODO: 需要将 materials 字典转换为 ResourceSlot 对象后才能转运
-        # self.transfer_resource_to_another(
-        #     resource=[materials],
-        #     mount_resource=["YB_YH_Deck"],
-        #     sites=[None],
-        #     mount_device_id="BatteryStation"
-        # )
-        return {
-            "api_response": response,
-            "order_finish": result,
-            "materials": materials,
-        }
+        return result
 
     # 2.7 启动调度
     def scheduler_start(self) -> Dict[str, Any]:
@@ -737,7 +685,6 @@ class BioyondCellWorkstation(BioyondWorkstation):
             return response
           # 等待完成报送
         result = self.wait_for_order_finish(order_code)
-        
         return result
    
     # 2.5 批量查询实验报告(post过滤关键字查询)
@@ -1206,217 +1153,28 @@ class BioyondCellWorkstation(BioyondWorkstation):
         })
         return final_result
 
-    def _fetch_bioyond_materials(
-        self,
-        *,
-        filter_keyword: Optional[str] = None,
-        type_mode: int = 2,
-    ) -> List[Dict[str, Any]]:
-        query: Dict[str, Any] = {
-            "typeMode": type_mode,
-            "includeDetail": True,
-        }
-        if filter_keyword:
-            query["filter"] = filter_keyword
 
-        response = self._post_lims("/api/lims/storage/stock-material", query)
-        raw_materials = response.get("data")
-        if not isinstance(raw_materials, list):
-            raw_materials = []
 
-        try:
-            resource_bioyond_to_plr(
-                raw_materials,
-                type_mapping=self.bioyond_config.get("material_type_mappings", MATERIAL_TYPE_MAPPINGS),
-                deck=self.deck,
-            )
-        except Exception as exc: 
-            logger.warning(f"转换奔曜物料到 PLR 失败: {exc}", exc_info=True)
 
-        return raw_materials
-
-    def _convert_materials_to_plr(self, materials: List[Dict[str, Any]]) -> List[ResourcePLR]:
-        try:
-            return resource_bioyond_to_plr(
-                deepcopy(materials),
-                type_mapping=self.bioyond_config.get("material_type_mappings", MATERIAL_TYPE_MAPPINGS),
-                deck=self.deck,
-            )
-        except Exception as exc:
-            logger.error(f"物料转换为 PLR 失败: {exc}", exc_info=True)
-            return []
-
-    def _wait_for_future(self, future, stage: str, timeout: Optional[float] = None):
-        if future is None:
-            return None
-        timeout = timeout or self.transfer_timeout
-        start = time.time()
-        while not future.done():
-            if (time.time() - start) > timeout:
-                raise TimeoutError(f"{stage} 超时 {timeout}s")
-            time.sleep(0.05)
-        return future.result()
-
-    def _register_plr_resources(self, resources: List[ResourcePLR]) -> None:
-        if not resources or not hasattr(self, "_ros_node") or self._ros_node is None:
-            return
-        future = ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, resources=resources)
-        self._wait_for_future(future, "update_resource")
-
-    def _get_target_resource(self, name: str) -> ResourcePLR:
-        if not hasattr(self, "_ros_node") or self._ros_node is None:
-            raise RuntimeError("ROS 节点未初始化，无法获取资源")
-        resource = self._ros_node.resource_tracker.figure_resource({"name": name}, try_mode=False)  # type: ignore
-        if resource is None:
-            raise ValueError(f"未找到目标资源: {name}")
-        return resource
-
-    def _allocate_sites(self, parent_resource: ResourcePLR, count: int) -> List[str]:
-        if not hasattr(parent_resource, "get_free_sites"):
-            raise ValueError(f"资源 {parent_resource} 不支持自动分配站位")
-        free_indices = list(parent_resource.get_free_sites())
-        if len(free_indices) < count:
-            raise ValueError(f"{parent_resource.name} 可用站位不足 (need {count}, have {len(free_indices)})")
-        ordering = list(getattr(parent_resource, "_ordering", {}).keys())
-        sites: List[str] = []
-        for idx in free_indices[:count]:
-            if ordering and idx < len(ordering):
-                sites.append(ordering[idx])
-            else:
-                sites.append(str(idx))
-        return sites
-
-    def _invoke_coin_cell_workflow(self, material_payload: List[Dict[str, Any]]) -> Any:
-        timeout = float(self.bioyond_config.get("coin_cell_workflow_timeout", 300.0))
-        workflow_payload: Dict[str, Any] = {}
-        if isinstance(self.coin_cell_workflow_config, dict):
-            workflow_payload.update(deepcopy(self.coin_cell_workflow_config))
-        workflow_payload["materials"] = deepcopy(material_payload)
-        return self._call_remote_device_method(
-            self.transfer_target_device_id,
-            "run_coin_cell_assembly_workflow",
-            timeout=timeout,
-            workflow_config=workflow_payload,
-        )
-
-    def _call_remote_device_method(
-        self,
-        device_id: str,
-        method: str,
-        *,
-        timeout: Optional[float] = None,
-        **kwargs,
-    ) -> Any:
-        if not hasattr(self, "_ros_node") or self._ros_node is None:
-            raise RuntimeError("ROS 节点未初始化，无法调用远程设备")
-        if not device_id:
-            raise ValueError("device_id 不能为空")
-        if not method:
-            raise ValueError("method 不能为空")
-
-        timeout = timeout or self.transfer_timeout
-        payload = json.dumps(
-            {
-                "function_name": method,
-                "function_args": kwargs,
-            },
-            ensure_ascii=False,
-        )
-        future = ROS2DeviceNode.run_async_func(
-            self._ros_node.execute_single_action,
-            True,
-            device_id=device_id,
-            action_name="_execute_driver_command_async",
-            action_kwargs={"string": payload},
-        )
-        result = self._wait_for_future(future, f"{device_id}.{method}", timeout)
-        if hasattr(result, "return_info"):
-            try:
-                return json.loads(result.return_info)
-            except Exception:
-                return result.return_info
-        return result
-
-    def run_feeding_stage(self) -> Dict[str, List[Dict[str, Any]]]:
-        self.create_sample(
-            board_type="配液瓶(小)板",
-            bottle_type="配液瓶(小)",
-            location_code="B01",
-            name="配液瓶",
-            warehouse_name="手动堆栈"
-        )
-        self.create_sample(
-            board_type="5ml分液瓶板",
-            bottle_type="5ml分液瓶",
-            location_code="B02",
-            name="分液瓶",
-            warehouse_name="手动堆栈"
-        )
-        self.scheduler_start()
-        self.auto_feeding4to3(
-            xlsx_path="/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx"
-        )
-        feeding_materials = self._fetch_bioyond_materials()
-        return {"feeding_materials": feeding_materials}
-
-    def run_liquid_preparation_stage(
-        self,
-        feeding_materials: Optional[List[Dict[str, Any]]] = None,
-    ) -> Dict[str, List[Dict[str, Any]]]:
-        result = self.create_orders(
-            xlsx_path="/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx"
-        )
-        filter_keyword = self.bioyond_config.get("mixing_material_filter") or None
-        materials = result.get("materials")
-        if materials is None:
-            materials = self._fetch_bioyond_materials(filter_keyword=filter_keyword)
-        return {
-            "feeding_materials": feeding_materials or [],
-            "liquid_materials": materials,
-        }
-
-    def run_transfer_stage(
-        self,
-        liquid_materials: Optional[List[Dict[str, Any]]] = None,
-        source_wh_id: Optional[str] = '3a19debc-84b4-0359-e2d4-b3beea49348b',
-        source_x: int = 1,
-        source_y: int = 1,
-        source_z: int = 1
-    ) -> Dict[str, Any]:
-        """转运阶段：调用transfer_3_to_2_to_1执行3到2到1转运"""
-        logger.info("开始执行转运阶段 (run_transfer_stage)")
-        
-        # 暂时注释掉物料转换和跨工站转运逻辑
-        # transfer_summary: Dict[str, Any] = {}
-        # try:
-        #     source_materials = liquid_materials or self._fetch_bioyond_materials()
-        #     transfer_plr = self._convert_materials_to_plr(source_materials)
-        #     transfer_summary["plr_count"] = len(transfer_plr)
-        #     ...
-        # except Exception as exc:
-        #     transfer_summary["error"] = str(exc)
-        #     logger.error(f"跨工站转运失败: {exc}", exc_info=True)
-        
-        # 只执行核心的3到2到1转运
-        transfer_result = self.transfer_3_to_2_to_1(
-            source_wh_id=source_wh_id,
-            source_x=source_x,
-            source_y=source_y,
-            source_z=source_z
-        )
-        
-        logger.info("转运阶段执行完成")
-        return {
-            "success": True,
-            "stage": "transfer",
-            "transfer_result": transfer_result
-        }
 if __name__ == "__main__":
+    lab_registry.setup()
     deck = BIOYOND_YB_Deck(setup=True)
-    w = BioyondCellWorkstation(deck=deck, address="172.16.28.102", port="502", debug_mode=False)
-    feeding = w.run_feeding_stage()
-    liquid = w.run_liquid_preparation_stage(feeding.get("feeding_materials"))
-    transfer = w.run_transfer_stage(liquid.get("liquid_materials"))
+    ws = BioyondCellWorkstation(deck=deck)
+    # ws.create_sample(name="test", board_type="配液瓶(小)板", bottle_type="配液瓶(小)", location_code="B01")
+    # logger.info(ws.scheduler_stop())
+    # logger.info(ws.scheduler_start())
+    
+    # 继续后续流程
+    # logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱
+    # # # 使用正斜杠或 Path 对象来指定文件路径
+    # excel_path = Path("unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\2025092701.xlsx")
+    # logger.info(ws.create_orders(excel_path))
+    # logger.info(ws.transfer_3_to_2_to_1())
+
+    # logger.info(ws.transfer_1_to_2())
+    # logger.info(ws.scheduler_start())
+
+
     while True:
         time.sleep(1)
     # re=ws.scheduler_stop()

unilabos/devices/workstation/bioyond_studio/config.py

@@ -8,8 +8,8 @@ import os
 # BioyondCellWorkstation 默认配置（包含所有必需参数）
 API_CONFIG = {
     # API 连接配置
-    # "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.1.143:44389"),#实机
-    "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.11.219:44388"),# 仿真机
+    "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.1.143:44389"),#实机
+    # "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.7.149:44388"),# 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", "172.16.11.2"),  # HTTP服务监听地址，监听计算机飞连ip地址
+    "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.16.2.140"),  # HTTP服务监听地址，监听计算机飞连ip地址
     "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")),
     "debug_mode": False,# 调试模式
 }

unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py

@@ -1,3 +1,4 @@
+      
 """
 纽扣电池组装工作站物料类定义
 Button Battery Assembly Station Resource Classes
@@ -18,11 +19,67 @@ 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):
@@ -109,6 +166,7 @@ class MaterialHole(Resource):
         return self.children[index]
 
 
+
 class MaterialPlateState(TypedDict):
     hole_spacing_x: float
     hole_spacing_y: float
@@ -270,6 +328,132 @@ 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"""
@@ -412,56 +596,76 @@ 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
 
-def TipBox64(
+class TipBox64(TipRack):
+    """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_rack",
+        category: str = "tip_box_64",
         model: Optional[str] = None,
-):
-    """64孔枪头盒类"""
-    from pylabrobot.resources.tip import Tip
+    ):
+        """初始化64孔枪头盒
 
-    # 创建12x8=96个枪头位
-    def make_tip():
-        return Tip(
-            has_filter=False,
-            total_tip_length=20.0,
-            maximal_volume=1000,  # 1mL
-            fitting_depth=8.0,
+        Args:
+            name: 枪头盒名称
+            size_x: 长度 (mm)
+            size_y: 宽度 (mm)
+            size_z: 高度 (mm)
+            tip_diameter: 枪头直径 (mm)
+            tip_length: 枪头长度 (mm)
+            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):
@@ -479,12 +683,8 @@ class WasteTipBox(Trash):
         size_x: float = 127.8,
         size_y: float = 85.5,
         size_z: float = 60.0,
-        material_z_thickness=0,
-        max_volume=float("inf"),
-        category="trash",
-        model=None,
-        compute_volume_from_height=None,
-        compute_height_from_volume=None,
+        category: str = "waste_tip_box",
+        model: Optional[str] = None,
     ):
         """初始化废枪头盒
 
@@ -534,16 +734,263 @@ 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 = 1450.0,  # 1m
-        size_y: float = 1450.0,  # 1m
-        size_z: float = 100.0,   # 0.9m
-        origin: Coordinate = Coordinate(-2200, 0, 0),
+        size_x: float = 3650.0,  # 1m
+        size_y: float = 1550.0,  # 1m
+        size_z: float = 2100.0,   # 0.9m
+        origin: Coordinate = Coordinate(-4000, 2000, 0),
         category: str = "coin_cell_deck",
         setup: bool = False,  # 是否自动执行 setup
     ):
@@ -560,10 +1007,11 @@ class CoincellDeck(Deck):
         """
         super().__init__(
             name=name,
-            size_x=1450.0,
-            size_y=1450.0,
-            size_z=100.0,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
             origin=origin,
+            category=category,
         )
         if setup:
             self.setup()
@@ -571,69 +1019,150 @@ 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))
         
-        # 正极片（4个洞位，2x2布局）
-        zhengji_zip = MagazineHolder_4_Cathode("正极&铝箔弹夹")
-        self.assign_child_resource(zhengji_zip, Coordinate(x=402.0, y=830.0, z=0))
-        
-        # 正极壳、平垫片（6个洞位，2x2+2布局）
-        zhengjike_zip = MagazineHolder_6_Cathode("正极壳&平垫片弹夹")
-        self.assign_child_resource(zhengjike_zip, Coordinate(x=566.0, y=272.0, z=0))
-        
-        # 负极壳、弹垫片（6个洞位，2x2+2布局）
-        fujike_zip = MagazineHolder_6_Anode("负极壳&弹垫片弹夹")
-        self.assign_child_resource(fujike_zip, Coordinate(x=474.0, y=276.0, z=0))
-        
-        # 成品弹夹（6个洞位，3x2布局）
-        chengpindanjia_zip = MagazineHolder_6_Battery("成品弹夹")
-        self.assign_child_resource(chengpindanjia_zip, Coordinate(x=260.0, y=156.0, z=0))
+        # 为子弹夹添加极片
+        for i in range(4):
+            jipian = ElectrodeSheet(name=f"zi_dan_jia_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
+            zip_dan_jia2.children[i].assign_child_resource(jipian, location=None)
+        for i in range(4):
+            jipian2 = ElectrodeSheet(name=f"zi_dan_jia2_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
+            zip_dan_jia.children[i].assign_child_resource(jipian2, location=None)
+        for i in range(6):
+            jipian3 = ElectrodeSheet(name=f"zi_dan_jia3_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
+            zip_dan_jia3.children[i].assign_child_resource(jipian3, location=None)
+        for i in range(6):
+            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)
+        for i in range(6):
+            jipian5 = ElectrodeSheet(name=f"zi_dan_jia5_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
+            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 ============================================
-        # 创建物料板（料盘carrier）- 4x4布局
-        # 负极料盘
-        fujiliaopan = MaterialPlate(name="负极料盘", size_x=120, size_y=100, size_z=10.0, fill=True)
-        self.assign_child_resource(fujiliaopan, Coordinate(x=708.0, y=794.0, z=0))
-        # for i in range(16):
-        #     fujipian = ElectrodeSheet(name=f"{fujiliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
-        #     fujiliaopan.children[i].assign_child_resource(fujipian, location=None)
+        # 创建6个4*4的物料板
+        liaopan1 = MaterialPlate(name="liaopan1", size_x=120, size_y=100, size_z=10.0, fill=True)
+        self.assign_child_resource(liaopan1, Coordinate(x=1010, y=50, z=0))
+        for i in range(16):
+            jipian_1 = ElectrodeSheet(name=f"{liaopan1.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
+            liaopan1.children[i].assign_child_resource(jipian_1, location=None)
 
-        # 隔膜料盘
-        gemoliaopan = MaterialPlate(name="隔膜料盘", size_x=120, size_y=100, size_z=10.0, fill=True)
-        self.assign_child_resource(gemoliaopan, Coordinate(x=718.0, y=918.0, z=0))
-        # for i in range(16):
-        #     gemopian = ElectrodeSheet(name=f"{gemoliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
-        #     gemoliaopan.children[i].assign_child_resource(gemopian, location=None)
+        liaopan2 = MaterialPlate(name="liaopan2", size_x=120, size_y=100, size_z=10.0, fill=True)
+        self.assign_child_resource(liaopan2, Coordinate(x=1130, y=50, z=0))
 
+        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
-        # 奔耀上料5ml分液瓶小板 - 由奔曜跨站转运而来，不单独写，但是这里应该有一个堆栈用于摆放分液瓶小板
-        
-        # bottle_rack_3x4 = BottleRack(
-        #     name="bottle_rack_3x4",
-        #     size_x=210.0,
-        #     size_y=140.0,
-        #     size_z=100.0,
-        #     num_items_x=2,
-        #     num_items_y=4,
-        #     position_spacing=35.0,
-        #     orientation="vertical",
-        # )
-        # self.assign_child_resource(bottle_rack_3x4, Coordinate(x=1542.0, y=717.0, z=0))
-        
-        # 电解液缓存位 - 6x2布局
-        bottle_rack_6x2 = YIHUA_Electrolyte_12VialCarrier(name="bottle_rack_6x2")
-        self.assign_child_resource(bottle_rack_6x2, Coordinate(x=1050.0, y=358.0, z=0))
-        # 电解液回收位6x2
-        bottle_rack_6x2_2 = YIHUA_Electrolyte_12VialCarrier(name="bottle_rack_6x2_2")
-        self.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=914.0, y=358.0, z=0))
+        bottle_rack_3x4 = BottleRack(
+            name="bottle_rack_3x4",
+            size_x=210.0,
+            size_y=140.0,
+            size_z=100.0,
+            num_items_x=3,
+            num_items_y=4,
+            position_spacing=35.0,
+            orientation="vertical",
+        )
+        self.assign_child_resource(bottle_rack_3x4, Coordinate(x=100, y=200, z=0))
+
+        bottle_rack_6x2 = BottleRack(
+            name="bottle_rack_6x2",
+            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, 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=782.0, y=514.0, z=0))
+        self.assign_child_resource(tip_box, Coordinate(x=300, y=100, z=0))
 
         waste_tip_box = WasteTipBox(name="waste_tip_box")
-        self.assign_child_resource(waste_tip_box, Coordinate(x=778.0, y=622.0, z=0))
+        self.assign_child_resource(waste_tip_box, Coordinate(x=300, y=200, 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__":
     deck = create_coin_cell_deck()
-    print(deck)
+    print(deck)
+
+    

unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py

@@ -1,3 +1,4 @@
+      
 import csv
 import inspect
 import json
@@ -143,6 +144,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         else:
             print("测试模式，跳过连接")
             self.nodes, self.client = None, None
+
         """ 工站的配置 """
 
         self.success = False
@@ -159,27 +161,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
             "resources": [self.deck]
         })
 
-    def sync_transfer_resources(self) -> Dict[str, Any]:
-        """
-        供跨工站转运完成后调用，强制将当前台面资源同步到云端/前端。
-        """
-        if not hasattr(self, "_ros_node") or self._ros_node is None:
-            return {"status": "failed", "error": "ros_node_not_ready"}
-        if self.deck is None:
-            return {"status": "failed", "error": "deck_not_initialized"}
-        try:
-            future = ROS2DeviceNode.run_async_func(
-                self._ros_node.update_resource,
-                True,
-                resources=[self.deck],
-            )
-            if future:
-                future.result()
-            return {"status": "success"}
-        except Exception as exc:
-            logger.error(f"同步转运资源失败: {exc}", exc_info=True)
-            return {"status": "failed", "error": str(exc)}
-
     # 批量操作在这里写
     async def change_hole_sheet_to_2(self, hole: MaterialHole):
         hole._unilabos_state["max_sheets"] = 2
@@ -810,7 +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("成品弹夹")        
+        liaopan3 = self.deck.get_resource("chengpindanjia")        
         #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 = {
@@ -1005,31 +986,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         #self.success = True
         #return self.success
     
-    def run_packaging_workflow(self, workflow_config: Dict[str, Any]) -> "CoinCellAssemblyWorkstation":
-        config = workflow_config or {}
-
-        qiming_params = config.get("qiming") or {}
-        if qiming_params:
-            self.qiming_coin_cell_code(**qiming_params)
-
-        if config.get("init", True):
-            self.func_pack_device_init()
-        if config.get("auto", True):
-            self.func_pack_device_auto()
-        if config.get("start", True):
-            self.func_pack_device_start()
-
-        packaging_config = config.get("packaging") or {}
-        bottle_num = packaging_config.get("bottle_num")
-        if bottle_num is not None:
-            self.func_pack_send_bottle_num(bottle_num)
-
-        allpack_params = packaging_config.get("command") or {}
-        if allpack_params:
-            self.func_allpack_cmd(**allpack_params)
-
-        return self
-    
     def fun_wuliao_test(self) -> bool: 
         #找到data_init中构建的2个物料盘
         liaopan3 = self.deck.get_resource("\u7535\u6c60\u6599\u76d8")
@@ -1052,7 +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="/Users/sml/work"):
+    def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"):
         # 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"
@@ -1243,95 +1199,20 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         """移液枪头库存 (数量, INT16)"""
         inventory, read_err = self.client.register_node_list(self.nodes).use_node('REG_DATA_TIPS_INVENTORY').read(1)
         return inventory
-         
+        
     '''
 
-    def run_coin_cell_assembly_workflow(
-        self,
-        workflow_config: Optional[Dict[str, Any]] = None,
-    ) -> Dict[str, Any]:
-        config: Dict[str, Any]
-        if workflow_config is None:
-            config = {}
-        elif isinstance(workflow_config, list):
-            config = {"materials": workflow_config}
-        else:
-            config = workflow_config
-        qiming_defaults = {
-            "fujipian_panshu": 1,
-            "fujipian_juzhendianwei": 0,
-            "gemopanshu": 1,
-            "gemo_juzhendianwei": 0,
-            "lvbodian": True,
-            "battery_pressure_mode": True,
-            "battery_pressure": 4200,
-            "battery_clean_ignore": False,
-        }
-        qiming_params = {**qiming_defaults, **(config.get("qiming") or {})}
-        qiming_success = self.qiming_coin_cell_code(**qiming_params)
-
-        step_results: Dict[str, Any] = {}
-        try:
-            self.func_pack_device_init()
-            step_results["init"] = True
-        except Exception as exc:
-            step_results["init"] = f"error: {exc}"
-
-        try:
-            self.func_pack_device_auto()
-            step_results["auto"] = True
-        except Exception as exc:
-            step_results["auto"] = f"error: {exc}"
-
-        try:
-            self.func_pack_device_start()
-            step_results["start"] = True
-        except Exception as exc:
-            step_results["start"] = f"error: {exc}"
-
-        packaging_cfg = config.get("packaging") or {}
-        bottle_num = packaging_cfg.get("bottle_num", 1)
-        try:
-            self.func_pack_send_bottle_num(bottle_num)
-            step_results["send_bottle_num"] = True
-        except Exception as exc:
-            step_results["send_bottle_num"] = f"error: {exc}"
-
-        command_defaults = {
-            "elec_num": 1,
-            "elec_use_num": 1,
-            "elec_vol": 50,
-            "assembly_type": 7,
-            "assembly_pressure": 4200,
-            "file_path": "/Users/sml/work",
-        }
-        command_params = {**command_defaults, **(packaging_cfg.get("command") or {})}
-        packaging_result = self.func_allpack_cmd(**command_params)
-
-        finished_result = self.func_pack_send_finished_cmd()
-        stop_result = self.func_pack_device_stop()
-
-        return {
-            "qiming": {
-                "params": qiming_params,
-                "success": qiming_success,
-            },
-            "workflow_steps": step_results,
-            "packaging": {
-                "bottle_num": bottle_num,
-                "command": command_params,
-                "result": packaging_result,
-            },
-            "finish": {
-                "send_finished": finished_result,
-                "stop": stop_result,
-            },
-        }
 
 
 if __name__ == "__main__":
-    deck = CoincellDeck(setup=True, name="coin_cell_deck")
-    w = CoinCellAssemblyWorkstation(deck=deck, address="172.16.28.102", port="502", debug_mode=False)
-    w.run_coin_cell_assembly_workflow()
-        
-       
+    # 简单测试
+    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)
+    # print(f"工作站创建成功: {workstation.deck.name}")
+    # 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/registry/devices/bioyond_cell.yaml

@@ -4,6 +4,7 @@ bioyond_cell:
   class:
     action_value_mappings:
       auto-auto_batch_outbound_from_xlsx:
+        display_name: 批量导入上料
         feedback: {}
         goal: {}
         goal_default:
@@ -137,7 +138,7 @@ bioyond_cell:
           WH4_x5_y1_z1_5_quantity: 0.0
           WH4_x5_y2_z1_10_materialName: ''
           WH4_x5_y2_z1_10_quantity: 0.0
-          xlsx_path: /Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
+          xlsx_path: C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -463,7 +464,7 @@ bioyond_cell:
                   default: 0.0
                   type: number
                 xlsx_path:
-                  default: /Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
+                  default: C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
                   type: string
               required: []
               type: object
@@ -599,7 +600,6 @@ bioyond_cell:
           bottle_type: null
           location_code: null
           name: null
-          warehouse_name: 手动堆栈
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -617,9 +617,6 @@ bioyond_cell:
                   type: string
                 name:
                   type: string
-                warehouse_name:
-                  default: 手动堆栈
-                  type: string
               required:
               - name
               - board_type
@@ -788,187 +785,6 @@ bioyond_cell:
           title: report_material_change参数
           type: object
         type: UniLabJsonCommand
-      auto-resource_tree_transfer:
-        feedback: {}
-        goal: {}
-        goal_default:
-          old_parent: null
-          parent_resource: null
-          plr_resource: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                old_parent:
-                  type: object
-                parent_resource:
-                  type: object
-                plr_resource:
-                  type: object
-              required:
-              - old_parent
-              - plr_resource
-              - parent_resource
-              type: object
-            result: {}
-          required:
-          - goal
-          title: resource_tree_transfer参数
-          type: object
-        type: UniLabJsonCommand
-      auto-run_feeding_stage:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles:
-          input: []
-          output:
-          - data_key: feeding_materials
-            data_source: executor
-            data_type: resource
-            handler_key: feeding_materials
-            label: Feeding Materials
-        placeholder_keys: {}
-        result:
-          properties:
-            feeding_materials:
-              items:
-                type: object
-              type: array
-          required:
-          - feeding_materials
-          type: object
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: run_feeding_stage参数
-          type: object
-        type: UniLabJsonCommand
-      auto-run_liquid_preparation_stage:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles:
-          input:
-          - data_key: feeding_materials
-            data_source: handle
-            data_type: resource
-            handler_key: feeding_materials
-            label: Feeding Materials
-          output:
-          - data_key: liquid_materials
-            data_source: executor
-            data_type: resource
-            handler_key: liquid_materials
-            label: Liquid Materials
-        placeholder_keys: {}
-        result:
-          properties:
-            feeding_materials:
-              items:
-                type: object
-              type: array
-            liquid_materials:
-              items:
-                type: object
-              type: array
-          required:
-          - liquid_materials
-          type: object
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                feeding_materials:
-                  items:
-                    type: object
-                  type: array
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: run_liquid_preparation_stage参数
-          type: object
-        type: UniLabJsonCommand
-      auto-run_transfer_stage:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles:
-          input:
-          - data_key: liquid_materials
-            data_source: handle
-            data_type: resource
-            handler_key: liquid_materials
-            label: Liquid Materials
-          output:
-          - data_key: transfer_materials
-            data_source: executor
-            data_type: resource
-            handler_key: transfer_materials
-            label: Transfer Materials
-        placeholder_keys: {}
-        result:
-          properties:
-            liquid_materials:
-              items:
-                type: object
-              type: array
-            transfer_materials:
-              items:
-                type: object
-              type: array
-            transfer_summary:
-              type: object
-          required:
-          - transfer_materials
-          type: object
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                liquid_materials:
-                  items:
-                    type: object
-                  type: array
-              required: []
-              type: object
-            result:
-              properties:
-                liquid_materials:
-                  items:
-                    type: object
-                  type: array
-                transfer_materials:
-                  items:
-                    type: object
-                  type: array
-                transfer_summary:
-                  type: object
-              type: object
-          required:
-          - goal
-          title: run_transfer_stage参数
-          type: object
-        type: UniLabJsonCommand
       auto-scheduler_continue:
         feedback: {}
         goal: {}
@@ -1256,13 +1072,12 @@ bioyond_cell:
           type: object
         type: UniLabJsonCommand
     module: unilabos.devices.workstation.bioyond_studio.bioyond_cell.bioyond_cell_workstation:BioyondCellWorkstation
-    status_types:
-      device_id: String
+    status_types: {}
     type: python
   config_info: []
-  description: 配液工站
+  description: ''
   handles: []
-  icon: benyao2.webp
+  icon: ''
   init_param_schema:
     config:
       properties:
@@ -1275,11 +1090,8 @@ bioyond_cell:
       required: []
       type: object
     data:
-      properties:
-        device_id:
-          type: string
-      required:
-      - device_id
+      properties: {}
+      required: []
       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: /Users/sml/work
+          file_path: C:\Users\67484\Desktop
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -103,7 +103,7 @@ coincellassemblyworkstation_device:
                   default: 50
                   type: integer
                 file_path:
-                  default: /Users/sml/work
+                  default: C:\Users\67484\Desktop
                   type: string
               required:
               - elec_num
@@ -332,7 +332,7 @@ coincellassemblyworkstation_device:
         feedback: {}
         goal: {}
         goal_default:
-          file_path: /Users/sml/work
+          file_path: D:\coin_cell_data
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -343,7 +343,7 @@ coincellassemblyworkstation_device:
             goal:
               properties:
                 file_path:
-                  default: /Users/sml/work
+                  default: D:\coin_cell_data
                   type: string
               required: []
               type: object
@@ -477,171 +477,6 @@ coincellassemblyworkstation_device:
           title: qiming_coin_cell_code参数
           type: object
         type: UniLabJsonCommand
-      auto-run_coin_cell_assembly_workflow:
-        feedback: {}
-        goal:
-          properties:
-            workflow_config:
-              type: object
-          required: []
-          type: object
-        goal_default:
-          workflow_config: {}
-        handles:
-          input:
-          - data_key: workflow_config
-            data_source: handle
-            data_type: resource
-            handler_key: WorkflowConfig
-            label: Workflow Config
-          output:
-          - data_key: qiming
-            data_source: executor
-            data_type: resource
-            handler_key: QimingResult
-            label: Qiming Result
-          - data_key: workflow_steps
-            data_source: executor
-            data_type: resource
-            handler_key: WorkflowSteps
-            label: Workflow Steps
-          - data_key: packaging
-            data_source: executor
-            data_type: resource
-            handler_key: PackagingResult
-            label: Packaging Result
-          - data_key: finish
-            data_source: executor
-            data_type: resource
-            handler_key: FinishResult
-            label: Finish Result
-        placeholder_keys: {}
-        result:
-          properties:
-            finish:
-              properties:
-                send_finished:
-                  type: object
-                stop:
-                  type: object
-              required:
-              - send_finished
-              - stop
-              type: object
-            packaging:
-              properties:
-                bottle_num:
-                  type: integer
-                command:
-                  type: object
-                result:
-                  type: object
-              required:
-              - bottle_num
-              - command
-              - result
-              type: object
-            qiming:
-              properties:
-                params:
-                  type: object
-                success:
-                  type: boolean
-              required:
-              - params
-              - success
-              type: object
-            workflow_steps:
-              type: object
-          required:
-          - qiming
-          - workflow_steps
-          - packaging
-          - finish
-          type: object
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                workflow_config:
-                  type: object
-              required: []
-              type: object
-            result:
-              properties:
-                finish:
-                  properties:
-                    send_finished:
-                      type: object
-                    stop:
-                      type: object
-                  required:
-                  - send_finished
-                  - stop
-                  type: object
-                packaging:
-                  properties:
-                    bottle_num:
-                      type: integer
-                    command:
-                      type: object
-                    result:
-                      type: object
-                  required:
-                  - bottle_num
-                  - command
-                  - result
-                  type: object
-                qiming:
-                  properties:
-                    params:
-                      type: object
-                    success:
-                      type: boolean
-                  required:
-                  - params
-                  - success
-                  type: object
-                workflow_steps:
-                  type: object
-              required:
-              - qiming
-              - workflow_steps
-              - packaging
-              - finish
-              type: object
-          required:
-          - goal
-          title: run_coin_cell_assembly_workflow参数
-          type: object
-        type: UniLabJsonCommand
-      auto-run_packaging_workflow:
-        feedback: {}
-        goal: {}
-        goal_default:
-          workflow_config: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                workflow_config:
-                  type: object
-              required:
-              - workflow_config
-              type: object
-            result: {}
-          required:
-          - goal
-          title: run_packaging_workflow参数
-          type: object
-        type: UniLabJsonCommand
     module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation
     status_types:
       data_assembly_coin_cell_num: int
@@ -665,22 +500,20 @@ coincellassemblyworkstation_device:
       sys_status: str
     type: python
   config_info: []
-  description: 扣电工站
+  description: ''
   handles: []
-  icon: koudian.webp
+  icon: coin_cell_assembly_picture.webp
   init_param_schema:
     config:
       properties:
         address:
-          default: 172.16.28.102
+          default: 172.21.32.111
           type: string
-        config:
-          type: object
         debug_mode:
           default: false
           type: boolean
         deck:
-          type: string
+          type: object
         port:
           default: '502'
           type: string

unilabos/registry/devices/liquid_handler.yaml

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

unilabos/registry/devices/neware_battery_test_system.yaml

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

unilabos/registry/devices/virtual_device.yaml

@@ -45,31 +45,6 @@ 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
@@ -360,31 +335,6 @@ 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
@@ -782,31 +732,6 @@ 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
@@ -1433,31 +1358,6 @@ 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
@@ -2458,31 +2358,6 @@ 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
@@ -2815,31 +2690,6 @@ 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
@@ -3750,31 +3600,6 @@ 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: {}
@@ -4352,31 +4177,6 @@ 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
@@ -4478,31 +4278,6 @@ 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
@@ -5220,31 +4995,6 @@ 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

@@ -1,3 +1,16 @@
+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
@@ -24,19 +37,6 @@ YB_5ml_fenyeping:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_jia_yang_tou_da:
-  category:
-  - yb3
-  - YB_bottle
-  class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da
-    type: pylabrobot
-  description: YB_jia_yang_tou_da
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
 YB_pei_ye_da_Bottle:
   category:
   - yb3
@@ -63,14 +63,14 @@ YB_pei_ye_xiao_Bottle:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_qiang_tou:
+YB_jia_yang_tou_da:
   category:
   - yb3
   - YB_bottle
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_qiang_tou
+    module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da
     type: pylabrobot
-  description: YB_qiang_tou
+  description: YB_jia_yang_tou_da
   handles: []
   icon: ''
   init_param_schema: {}
@@ -80,7 +80,6 @@ YB_ye_Bottle:
   category:
   - yb3
   - YB_bottle_carriers
-  - YB_bottle
   class:
     module: unilabos.resources.bioyond.YB_bottles:YB_ye_Bottle
     type: pylabrobot
@@ -89,4 +88,4 @@ YB_ye_Bottle:
   icon: ''
   init_param_schema: {}
   registry_type: resource
-  version: 1.0.0
+  version: 1.0.0

unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml

@@ -11,27 +11,40 @@ YB_100ml_yeti:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_20ml_fenyepingban:
+# 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_20ml_fenyepingban
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_gaonianye
     type: pylabrobot
-  description: YB_20ml_fenyepingban
+  description: YB_gaonianye
   handles: []
   icon: ''
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_5ml_fenyepingban:
+YB_peiyepingdaban:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_5ml_fenyepingban
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingdaban
     type: pylabrobot
-  description: YB_5ml_fenyepingban
+  description: YB_peiyepingdaban
   handles: []
   icon: ''
   init_param_schema: {}
@@ -63,53 +76,27 @@ YB_6VialCarrier:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_gao_nian_ye_Bottle:
+YB_20ml_fenyepingban:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_gao_nian_ye_Bottle
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_20ml_fenyepingban
     type: pylabrobot
-  description: YB_gao_nian_ye_Bottle
+  description: YB_20ml_fenyepingban
   handles: []
   icon: ''
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_gaonianye:
+YB_5ml_fenyepingban:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_gaonianye
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_5ml_fenyepingban
     type: pylabrobot
-  description: YB_gaonianye
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_jia_yang_tou_da_Carrier:
-  category:
-  - yb3
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_jia_yang_tou_da_Carrier
-    type: pylabrobot
-  description: YB_jia_yang_tou_da_Carrier
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_peiyepingdaban:
-  category:
-  - yb3
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingdaban
-    type: pylabrobot
-  description: YB_peiyepingdaban
+  description: YB_5ml_fenyepingban
   handles: []
   icon: ''
   init_param_schema: {}
@@ -128,19 +115,6 @@ YB_peiyepingxiaoban:
   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
@@ -154,14 +128,53 @@ YB_shi_pei_qi_kuai:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_ye:
+YB_qiang_tou_he:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_ye
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_qiang_tou_he
     type: pylabrobot
-  description: YB_ye_Bottle_Carrier
+  description: YB_qiang_tou_he
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+YB_gao_nian_ye_Bottle:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottles:YB_gao_nian_ye_Bottle
+    type: pylabrobot
+  description: YB_gao_nian_ye_Bottle
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+# YB_jia_yang_tou_da:
+#   category:
+#   - yb3
+#   - YB_bottle_carriers
+#   class:
+#     module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da
+#     type: pylabrobot
+#   description: YB_jia_yang_tou_da
+#   handles: []
+#   icon: ''
+#   init_param_schema: {}
+#   registry_type: resource
+#   version: 1.0.0
+YB_jia_yang_tou_da_Carrier:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_jia_yang_tou_da_Carrier
+    type: pylabrobot
+  description: YB_jia_yang_tou_da_Carrier
   handles: []
   icon: ''
   init_param_schema: {}
@@ -180,3 +193,16 @@ YB_ye_100ml_Bottle:
   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

unilabos/resources/battery/magazine.py

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

unilabos/resources/bioyond/decks.py

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

unilabos/ros/nodes/presets/workstation.py

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