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

Update YB resources: add YB_ prefix to models and update deck configu…

bioyond_yihua_YB.json

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

new_cellconfig.json

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

new_cellconfig3c.json

@@ -3,35 +3,94 @@
     {
       "id": "bioyond_cell_workstation",
       "name": "配液分液工站",
-      "children": [
-      ],
       "parent": null,
+      "children": [
+        "YB_Bioyond_Deck"
+      ],
       "type": "device",
       "class": "bioyond_cell",
       "config": {
-          "protocol_type": [],
-          "station_resource": {}
+        "deck": {
+          "data": {
+            "_resource_child_name": "YB_Bioyond_Deck",
+            "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_YB_Deck"
+          }
+        },
+        "protocol_type": []
+      },
+      "data": {}
+    },
+    {
+      "id": "YB_Bioyond_Deck",
+      "name": "YB_Bioyond_Deck",
+      "children": [],
+      "parent": "bioyond_cell_workstation",
+      "type": "deck",
+      "class": "BIOYOND_YB_Deck",
+      "position": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "config": {
+        "type": "BIOYOND_YB_Deck",
+        "setup": true,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        }
       },
       "data": {}
     },
     {
       "id": "BatteryStation",
       "name": "扣电工作站",
+      "parent": null,
       "children": [
         "coin_cell_deck"
       ],
-      "parent": null,
       "type": "device",
       "class":"coincellassemblyworkstation_device",
       "position": {
-          "x": 600,
-          "y": 400,
+        "x": -600,
+        "y": -400,
         "z": 0
       },
       "config": {
-          "debug_mode": false,
+        "deck": {
+          "data": {
+            "_resource_child_name": "YB_YH_Deck",
+            "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:CoincellDeck"
+          }
+        },
         "protocol_type": []
       }
+    },
+    {
+      "id": "YB_YH_Deck",
+      "name": "YB_YH_Deck",
+      "children": [],
+      "parent": "BatteryStation",
+      "type": "deck",
+      "class": "CoincellDeck",
+      "position": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "config": {
+        "type": "CoincellDeck",
+        "setup": true,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        }
+      },
+      "data": {}
     }
   ],
   "links": []

test/registry/example_devices.py

@@ -3,7 +3,8 @@
 """
 
 import asyncio
-from typing import Dict, Any, Optional, List
+from typing import Dict, Any, List
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 
 class SmartPumpController:
@@ -14,6 +15,8 @@ class SmartPumpController:
     适用于实验室自动化系统中的液体处理任务。
     """
 
+    _ros_node: BaseROS2DeviceNode
+
     def __init__(self, device_id: str = "smart_pump_01", port: str = "/dev/ttyUSB0"):
         """
         初始化智能泵控制器
@@ -30,6 +33,9 @@ class SmartPumpController:
         self.calibration_factor = 1.0
         self.pump_mode = "continuous"  # continuous, volume, rate
 
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
     def connect_device(self, timeout: int = 10) -> bool:
         """
         连接到泵设备
@@ -90,7 +96,7 @@ class SmartPumpController:
         pump_time = (volume / flow_rate) * 60  # 转换为秒
 
         self.current_flow_rate = flow_rate
-        await asyncio.sleep(min(pump_time, 3.0))  # 模拟泵送过程
+        await self._ros_node.sleep(min(pump_time, 3.0))  # 模拟泵送过程
 
         self.total_volume_pumped += volume
         self.current_flow_rate = 0.0
@@ -170,6 +176,8 @@ class AdvancedTemperatureController:
     适用于需要精确温度控制的化学反应和材料处理过程。
     """
 
+    _ros_node: BaseROS2DeviceNode
+
     def __init__(self, controller_id: str = "temp_controller_01"):
         """
         初始化温度控制器
@@ -185,6 +193,9 @@ class AdvancedTemperatureController:
         self.pid_enabled = True
         self.temperature_history: List[Dict] = []
 
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
     def set_target_temperature(self, temperature: float, rate: float = 10.0) -> bool:
         """
         设置目标温度
@@ -238,7 +249,7 @@ class AdvancedTemperatureController:
                 }
             )
 
-            await asyncio.sleep(step_time)
+            await self._ros_node.sleep(step_time)
 
             # 保持历史记录不超过100条
             if len(self.temperature_history) > 100:
@@ -330,6 +341,8 @@ class MultiChannelAnalyzer:
     常用于光谱分析、电化学测量等应用场景。
     """
 
+    _ros_node: BaseROS2DeviceNode
+
     def __init__(self, analyzer_id: str = "analyzer_01", channels: int = 8):
         """
         初始化多通道分析仪
@@ -344,6 +357,9 @@ class MultiChannelAnalyzer:
         self.is_measuring = False
         self.sample_rate = 1000  # Hz
 
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
     def configure_channel(self, channel: int, enabled: bool = True, unit: str = "V") -> bool:
         """
         配置通道
@@ -376,7 +392,7 @@ class MultiChannelAnalyzer:
 
         # 模拟数据采集
         measurements = []
-        for second in range(duration):
+        for _ in range(duration):
             timestamp = asyncio.get_event_loop().time()
             frame_data = {}
 
@@ -391,7 +407,7 @@ class MultiChannelAnalyzer:
 
             measurements.append({"timestamp": timestamp, "data": frame_data})
 
-            await asyncio.sleep(1.0)  # 每秒采集一次
+            await self._ros_node.sleep(1.0)  # 每秒采集一次
 
         self.is_measuring = False
 
@@ -465,6 +481,8 @@ class AutomatedDispenser:
     集成称重功能，确保分配精度和重现性。
     """
 
+    _ros_node: BaseROS2DeviceNode
+
     def __init__(self, dispenser_id: str = "dispenser_01"):
         """
         初始化自动分配器
@@ -479,6 +497,9 @@ class AutomatedDispenser:
         self.container_capacity = 1000.0  # mL
         self.precision_mode = True
 
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
     def move_to_position(self, x: float, y: float, z: float) -> bool:
         """
         移动到指定位置
@@ -517,7 +538,7 @@ class AutomatedDispenser:
         if viscosity == "high":
             dispense_time *= 2  # 高粘度液体需要更长时间
 
-        await asyncio.sleep(min(dispense_time, 5.0))  # 最多等待5秒
+        await self._ros_node.sleep(min(dispense_time, 5.0))  # 最多等待5秒
 
         self.dispensed_total += volume
 

test/resources/test_resourcetreeset.py

@@ -15,9 +15,9 @@ lab_registry.setup()
 
 
 type_mapping = {
-    "加样头(大)": ("YB_jia_yang_tou_da_1X1_carrier", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
+    "加样头(大)": ("YB_jia_yang_tou_da", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
     "液": ("YB_1BottleCarrier", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"),
-    "配液瓶(小)板": ("YB_6x_SmallSolutionBottleCarrier", "3a190c8b-3284-af78-d29f-9a69463ad047"),
+    "配液瓶(小)板": ("YB_peiyepingxiaoban", "3a190c8b-3284-af78-d29f-9a69463ad047"),
     "配液瓶(小)": ("YB_pei_ye_xiao_Bottler", "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"),
 }
 

unilabos/app/backend.py

@@ -13,7 +13,7 @@ def start_backend(
     graph=None,
     controllers_config: dict = {},
     bridges=[],
-    without_host: bool = False,
+    is_slave: bool = False,
     visual: str = "None",
     resources_mesh_config: dict = {},
     **kwargs,
@@ -32,7 +32,7 @@ def start_backend(
         raise ValueError(f"Unsupported backend: {backend}")
 
     backend_thread = threading.Thread(
-        target=main if not without_host else slave,
+        target=main if not is_slave else slave,
         args=(
             devices_config,
             resources_config,

unilabos/app/main.py

@@ -375,15 +375,13 @@ def main():
 
     args_dict["bridges"] = []
 
-    # 获取通信客户端（仅支持WebSocket）
-    comm_client = get_communication_client()
-
-    if "websocket" in args_dict["app_bridges"]:
-        args_dict["bridges"].append(comm_client)
     if "fastapi" in args_dict["app_bridges"]:
         args_dict["bridges"].append(http_client)
+    # 获取通信客户端（仅支持WebSocket）
+    if BasicConfig.is_host_mode:
+        comm_client = get_communication_client()
         if "websocket" in args_dict["app_bridges"]:
-
+            args_dict["bridges"].append(comm_client)
             def _exit(signum, frame):
                 comm_client.stop()
                 sys.exit(0)
@@ -391,6 +389,9 @@ def main():
             signal.signal(signal.SIGINT, _exit)
             signal.signal(signal.SIGTERM, _exit)
             comm_client.start()
+    else:
+        print_status("SlaveMode跳过Websocket连接")
+
     args_dict["resources_mesh_config"] = {}
     args_dict["resources_edge_config"] = resource_edge_info
     # web visiualize 2D

unilabos/app/register.py

@@ -1,11 +1,12 @@
 import json
 import time
+from typing import Optional, Tuple, Dict, Any
 
 from unilabos.utils.log import logger
 from unilabos.utils.type_check import TypeEncoder
 
 
-def register_devices_and_resources(lab_registry):
+def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]:
     """
     注册设备和资源到服务器（仅支持HTTP）
     """
@@ -28,6 +29,8 @@ def register_devices_and_resources(lab_registry):
         resources_to_register[resource_info["id"]] = resource_info
         logger.debug(f"[UniLab Register] 收集资源: {resource_info['id']}")
 
+    if gather_only:
+        return devices_to_register, resources_to_register
     # 注册设备
     if devices_to_register:
         try:

unilabos/app/ws_client.py

@@ -421,7 +421,7 @@ class MessageProcessor:
                     ssl_context = ssl_module.create_default_context()
 
                 ws_logger = logging.getLogger("websockets.client")
-                ws_logger.setLevel(logging.INFO)
+                # 日志级别已在 unilabos.utils.log 中统一配置为 WARNING
 
                 async with websockets.connect(
                     self.websocket_url,
@@ -1197,7 +1197,7 @@ class WebSocketClient(BaseCommunicationClient):
             },
         }
         self.message_processor.send_message(message)
-        logger.debug(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
+        logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
 
     def publish_job_status(
         self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None

unilabos/devices/cnc/grbl_async.py

@@ -12,6 +12,7 @@ from serial import Serial
 from serial.serialutil import SerialException
 
 from unilabos.messages import Point3D
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 
 class GrblCNCConnectionError(Exception):
@@ -32,6 +33,7 @@ class GrblCNCInfo:
 class GrblCNCAsync:
     _status: str = "Offline"
     _position: Point3D = Point3D(x=0.0, y=0.0, z=0.0)
+    _ros_node: BaseROS2DeviceNode
     
     def __init__(self, port: str, address: str = "1", limits: tuple[int, int, int, int, int, int] = (-150, 150, -200, 0, 0, 60)):
         self.port = port
@@ -58,6 +60,9 @@ class GrblCNCAsync:
         self._run_future: Optional[Future[Any]] = None
         self._run_lock = Lock()
     
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
     def _read_all(self):
         data = self._serial.read_until(b"\n")
         data_decoded = data.decode()
@@ -148,7 +153,7 @@ class GrblCNCAsync:
             try:
                 await self._query(command)
                 while True:
-                    await asyncio.sleep(0.2)  # Wait for 0.5 seconds before polling again
+                    await self._ros_node.sleep(0.2)  # Wait for 0.5 seconds before polling again
                     
                     status = await self.get_status()
                     if "Idle" in status:
@@ -214,7 +219,7 @@ class GrblCNCAsync:
             self._pose_number = i
             self.pose_number_remaining = len(points) - i
             await self.set_position(point)
-            await asyncio.sleep(0.5)
+            await self._ros_node.sleep(0.5)
         self._step_number = -1
 
     async def stop_operation(self):
@@ -235,7 +240,7 @@ class GrblCNCAsync:
     async def open(self):
         if self._read_task:
             raise GrblCNCConnectionError
-        self._read_task = asyncio.create_task(self._read_loop())
+        self._read_task = self._ros_node.create_task(self._read_loop())
 
         try:
             await self.get_status()

unilabos/devices/cnc/mock.py

@@ -2,6 +2,8 @@ import time
 import asyncio
 from pydantic import BaseModel
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 
 class Point3D(BaseModel):
     x: float
@@ -14,10 +16,15 @@ def d(a: Point3D, b: Point3D) -> float:
 
 
 class MockCNCAsync:
+    _ros_node: BaseROS2DeviceNode["MockCNCAsync"]
+
     def __init__(self):
         self._position: Point3D = Point3D(x=0.0, y=0.0, z=0.0)
         self._status = "Idle"
 
+    def post_create(self, ros_node):
+        self._ros_node = ros_node
+    
     @property
     def position(self) -> Point3D:
         return self._position
@@ -38,5 +45,5 @@ class MockCNCAsync:
             self._position.x = current_pos.x + (position.x - current_pos.x) / 20 * (i+1)
             self._position.y = current_pos.y + (position.y - current_pos.y) / 20 * (i+1)
             self._position.z = current_pos.z + (position.z - current_pos.z) / 20 * (i+1)
-            await asyncio.sleep(move_time / 20)
+            await self._ros_node.sleep(move_time / 20)
         self._status = "Idle"

unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py

@@ -15,9 +15,12 @@ from typing import List, Optional, Dict, Any, Union, Tuple
 from dataclasses import dataclass
 from abc import ABC, abstractmethod
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 # 基础导入
 try:
     from pylabrobot.resources import Deck, Plate, TipRack, Tip, Resource, Well
+
     PYLABROBOT_AVAILABLE = True
 except ImportError:
     # 如果 pylabrobot 不可用，创建基础的模拟类
@@ -42,17 +45,16 @@ except ImportError:
     class Well(Resource):
         pass
 
+
 # LaiYu_Liquid 控制器导入
 try:
-    from .controllers.pipette_controller import (
-        PipetteController, TipStatus, LiquidClass, LiquidParameters
-    )
-    from .controllers.xyz_controller import (
-        XYZController, MachineConfig, CoordinateOrigin, MotorAxis
-    )
+    from .controllers.pipette_controller import PipetteController, TipStatus, LiquidClass, LiquidParameters
+    from .controllers.xyz_controller import XYZController, MachineConfig, CoordinateOrigin, MotorAxis
+
     CONTROLLERS_AVAILABLE = True
 except ImportError:
     CONTROLLERS_AVAILABLE = False
+
     # 创建模拟的控制器类
     class PipetteController:
         def __init__(self, *args, **kwargs):
@@ -71,17 +73,20 @@ except ImportError:
         def connect_device(self):
             return True
 
+
 logger = logging.getLogger(__name__)
 
 
 class LaiYuLiquidError(RuntimeError):
     """LaiYu_Liquid 设备异常"""
+
     pass
 
 
 @dataclass
 class LaiYuLiquidConfig:
     """LaiYu_Liquid 设备配置"""
+
     port: str = "/dev/cu.usbserial-3130"  # RS485转USB端口
     address: int = 1  # 设备地址
     baudrate: int = 9600  # 波特率
@@ -155,7 +160,17 @@ class LaiYuLiquidDeck:
 class LaiYuLiquidContainer:
     """LaiYu_Liquid 容器类"""
 
-    def __init__(self, name: str, size_x: float = 0, size_y: float = 0, size_z: float = 0, container_type: str = "", volume: float = 0.0, max_volume: float = 1000.0, lid_height: float = 0.0):
+    def __init__(
+        self,
+        name: str,
+        size_x: float = 0,
+        size_y: float = 0,
+        size_z: float = 0,
+        container_type: str = "",
+        volume: float = 0.0,
+        max_volume: float = 1000.0,
+        lid_height: float = 0.0,
+    ):
         self.name = name
         self.size_x = size_x
         self.size_y = size_y
@@ -197,17 +212,22 @@ class LaiYuLiquidContainer:
 
     def assign_child_resource(self, resource, location=None):
         """分配子资源 - 与 PyLabRobot 资源管理系统兼容"""
-        if hasattr(resource, 'name'):
-            self.child_resources[resource.name] = {
-                'resource': resource,
-                'location': location
-            }
+        if hasattr(resource, "name"):
+            self.child_resources[resource.name] = {"resource": resource, "location": location}
 
 
 class LaiYuLiquidTipRack:
     """LaiYu_Liquid 吸头架类"""
 
-    def __init__(self, name: str, size_x: float = 0, size_y: float = 0, size_z: float = 0, tip_count: int = 96, tip_volume: float = 1000.0):
+    def __init__(
+        self,
+        name: str,
+        size_x: float = 0,
+        size_y: float = 0,
+        size_z: float = 0,
+        tip_count: int = 96,
+        tip_volume: float = 1000.0,
+    ):
         self.name = name
         self.size_x = size_x
         self.size_y = size_y
@@ -240,10 +260,7 @@ class LaiYuLiquidTipRack:
 
     def assign_child_resource(self, resource, location=None):
         """分配子资源到指定位置"""
-        self.child_resources[resource.name] = {
-            'resource': resource,
-            'location': location
-        }
+        self.child_resources[resource.name] = {"resource": resource, "location": location}
 
 
 def get_module_info():
@@ -253,24 +270,17 @@ def get_module_info():
         "version": "1.0.0",
         "description": "LaiYu液体处理工作站模块，提供移液器控制、XYZ轴控制和资源管理功能",
         "author": "UniLabOS Team",
-        "capabilities": [
-            "移液器控制",
-            "XYZ轴运动控制", 
-            "吸头架管理",
-            "板和容器管理",
-            "资源位置管理"
-        ],
-        "dependencies": {
-            "required": ["serial"],
-            "optional": ["pylabrobot"]
-        }
+        "capabilities": ["移液器控制", "XYZ轴运动控制", "吸头架管理", "板和容器管理", "资源位置管理"],
+        "dependencies": {"required": ["serial"], "optional": ["pylabrobot"]},
     }
 
 
 class LaiYuLiquidBackend:
     """LaiYu_Liquid 硬件通信后端"""
 
-    def __init__(self, config: LaiYuLiquidConfig, deck: Optional['LaiYuLiquidDeck'] = None):
+    _ros_node: BaseROS2DeviceNode
+
+    def __init__(self, config: LaiYuLiquidConfig, deck: Optional["LaiYuLiquidDeck"] = None):
         self.config = config
         self.deck = deck  # 工作台引用，用于获取资源位置信息
         self.pipette_controller = None
@@ -283,6 +293,9 @@ class LaiYuLiquidBackend:
         self.tip_attached = False
         self.current_volume = 0.0
 
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
     def _validate_position(self, x: float, y: float, z: float) -> bool:
         """验证位置是否在安全范围内"""
         try:
@@ -348,7 +361,7 @@ class LaiYuLiquidBackend:
             safe_position = (
                 self.config.deck_width / 2,  # 工作台中心X
                 self.config.deck_height / 2,  # 工作台中心Y
-                self.config.safe_height  # 安全高度Z
+                self.config.safe_height,  # 安全高度Z
             )
 
             if not self._validate_position(*safe_position):
@@ -375,17 +388,12 @@ class LaiYuLiquidBackend:
         try:
             if CONTROLLERS_AVAILABLE:
                 # 初始化移液器控制器
-                self.pipette_controller = PipetteController(
-                    port=self.config.port,
-                    address=self.config.address
-                )
+                self.pipette_controller = PipetteController(port=self.config.port, address=self.config.address)
 
                 # 初始化XYZ控制器
                 machine_config = MachineConfig()
                 self.xyz_controller = XYZController(
-                    port=self.config.port,
-                    baudrate=self.config.baudrate,
-                    machine_config=machine_config
+                    port=self.config.port, baudrate=self.config.baudrate, machine_config=machine_config
                 )
 
                 # 连接设备
@@ -412,10 +420,10 @@ class LaiYuLiquidBackend:
     async def stop(self):
         """停止设备"""
         try:
-            if self.pipette_controller and hasattr(self.pipette_controller, 'disconnect'):
+            if self.pipette_controller and hasattr(self.pipette_controller, "disconnect"):
                 await asyncio.to_thread(self.pipette_controller.disconnect)
 
-            if self.xyz_controller and hasattr(self.xyz_controller, 'disconnect'):
+            if self.xyz_controller and hasattr(self.xyz_controller, "disconnect"):
                 await asyncio.to_thread(self.xyz_controller.disconnect)
 
             self.is_connected = False
@@ -432,7 +440,7 @@ class LaiYuLiquidBackend:
                 raise LaiYuLiquidError("设备未连接")
 
             # 模拟移动
-            await asyncio.sleep(0.1)  # 模拟移动时间
+            await self._ros_node.sleep(0.1)  # 模拟移动时间
             self.current_position = (x, y, z)
             logger.debug(f"移动到位置: ({x}, {y}, {z})")
             return True
@@ -472,9 +480,11 @@ class LaiYuLiquidBackend:
             pickup_z = tip_z - self.config.tip_pickup_force_depth
             retract_z = tip_z + self.config.tip_pickup_retract_height
 
-            if not (self._validate_position(tip_x, tip_y, safe_z) and 
-                    self._validate_position(tip_x, tip_y, pickup_z) and 
-                    self._validate_position(tip_x, tip_y, retract_z)):
+            if not (
+                self._validate_position(tip_x, tip_y, safe_z)
+                and self._validate_position(tip_x, tip_y, pickup_z)
+                and self._validate_position(tip_x, tip_y, retract_z)
+            ):
                 logger.error("枪头拾取位置超出安全范围")
                 return False
 
@@ -487,8 +497,7 @@ class LaiYuLiquidBackend:
                     safe_z = tip_z + self.config.tip_approach_height
                     logger.info(f"移动到枪头上方安全位置: ({tip_x:.2f}, {tip_y:.2f}, {safe_z:.2f})")
                     move_success = await asyncio.to_thread(
-                        self.xyz_controller.move_to_work_coord, 
-                        tip_x, tip_y, safe_z
+                        self.xyz_controller.move_to_work_coord, tip_x, tip_y, safe_z
                     )
                     if not move_success:
                         logger.error("移动到枪头上方失败")
@@ -498,22 +507,20 @@ class LaiYuLiquidBackend:
                     pickup_z = tip_z - self.config.tip_pickup_force_depth
                     logger.info(f"Z轴下降到枪头拾取位置: {pickup_z:.2f}mm")
                     z_down_success = await asyncio.to_thread(
-                        self.xyz_controller.move_to_work_coord,
-                        tip_x, tip_y, pickup_z
+                        self.xyz_controller.move_to_work_coord, tip_x, tip_y, pickup_z
                     )
                     if not z_down_success:
                         logger.error("Z轴下降到枪头位置失败")
                         return False
 
                     # 3. 等待一小段时间确保枪头牢固附着
-                    await asyncio.sleep(0.2)
+                    await self._ros_node.sleep(0.2)
 
                     # 4. Z轴上升到回退高度
                     retract_z = tip_z + self.config.tip_pickup_retract_height
                     logger.info(f"Z轴上升到回退高度: {retract_z:.2f}mm")
                     z_up_success = await asyncio.to_thread(
-                        self.xyz_controller.move_to_work_coord,
-                        tip_x, tip_y, retract_z
+                        self.xyz_controller.move_to_work_coord, tip_x, tip_y, retract_z
                     )
                     if not z_up_success:
                         logger.error("Z轴上升失败")
@@ -533,7 +540,7 @@ class LaiYuLiquidBackend:
             else:
                 # 模拟模式
                 logger.info("模拟模式：执行枪头拾取动作")
-                await asyncio.sleep(1.0)  # 模拟整个拾取过程的时间
+                await self._ros_node.sleep(1.0)  # 模拟整个拾取过程的时间
                 self.current_position = (tip_x, tip_y, tip_z + self.config.tip_pickup_retract_height)
 
             # 6. 标记枪头已附着
@@ -578,8 +585,10 @@ class LaiYuLiquidBackend:
             safe_z = drop_z + self.config.safe_height
             drop_height_z = drop_z + self.config.tip_drop_height
 
-            if not (self._validate_position(drop_x, drop_y, safe_z) and 
-                    self._validate_position(drop_x, drop_y, drop_height_z)):
+            if not (
+                self._validate_position(drop_x, drop_y, safe_z)
+                and self._validate_position(drop_x, drop_y, drop_height_z)
+            ):
                 logger.error("枪头丢弃位置超出安全范围")
                 return False
 
@@ -592,8 +601,7 @@ class LaiYuLiquidBackend:
                     safe_z = drop_z + self.config.tip_drop_height
                     logger.info(f"移动到丢弃位置上方: ({drop_x:.2f}, {drop_y:.2f}, {safe_z:.2f})")
                     move_success = await asyncio.to_thread(
-                        self.xyz_controller.move_to_work_coord,
-                        drop_x, drop_y, safe_z
+                        self.xyz_controller.move_to_work_coord, drop_x, drop_y, safe_z
                     )
                     if not move_success:
                         logger.error("移动到丢弃位置上方失败")
@@ -602,8 +610,7 @@ class LaiYuLiquidBackend:
                     # 2. Z轴下降到丢弃高度
                     logger.info(f"Z轴下降到丢弃高度: {drop_z:.2f}mm")
                     z_down_success = await asyncio.to_thread(
-                        self.xyz_controller.move_to_work_coord,
-                        drop_x, drop_y, drop_z
+                        self.xyz_controller.move_to_work_coord, drop_x, drop_y, drop_z
                     )
                     if not z_down_success:
                         logger.error("Z轴下降到丢弃位置失败")
@@ -619,13 +626,12 @@ class LaiYuLiquidBackend:
                             logger.warning(f"枪头弹出命令失败: {e}")
 
                     # 4. 等待一小段时间确保枪头完全脱离
-                    await asyncio.sleep(0.3)
+                    await self._ros_node.sleep(0.3)
 
                     # 5. Z轴上升到安全高度
                     logger.info(f"Z轴上升到安全高度: {safe_z:.2f}mm")
                     z_up_success = await asyncio.to_thread(
-                        self.xyz_controller.move_to_work_coord,
-                        drop_x, drop_y, safe_z
+                        self.xyz_controller.move_to_work_coord, drop_x, drop_y, safe_z
                     )
                     if not z_up_success:
                         logger.error("Z轴上升失败")
@@ -645,7 +651,7 @@ class LaiYuLiquidBackend:
             else:
                 # 模拟模式
                 logger.info("模拟模式：执行枪头丢弃动作")
-                await asyncio.sleep(0.8)  # 模拟整个丢弃过程的时间
+                await self._ros_node.sleep(0.8)  # 模拟整个丢弃过程的时间
                 self.current_position = (drop_x, drop_y, drop_z + self.config.tip_drop_height)
 
             # 7. 标记枪头已脱离，清空体积
@@ -671,7 +677,7 @@ class LaiYuLiquidBackend:
                 raise LaiYuLiquidError(f"体积超出范围: {volume}")
 
             # 模拟吸取
-            await asyncio.sleep(0.3)
+            await self._ros_node.sleep(0.3)
             self.current_volume += volume
             logger.debug(f"从 {location} 吸取 {volume} μL")
             return True
@@ -693,7 +699,7 @@ class LaiYuLiquidBackend:
                 raise LaiYuLiquidError(f"分配体积无效: {volume}")
 
             # 模拟分配
-            await asyncio.sleep(0.3)
+            await self._ros_node.sleep(0.3)
             self.current_volume -= volume
             logger.debug(f"向 {location} 分配 {volume} μL")
             return True
@@ -765,8 +771,9 @@ class LaiYuLiquid:
         await self.backend.stop()
         self.is_setup = False
 
-    async def transfer(self, source: str, target: str, volume: float, 
-                      tip_rack: str = "tip_rack_1", tip_position: int = 0) -> bool:
+    async def transfer(
+        self, source: str, target: str, volume: float, tip_rack: str = "tip_rack_1", tip_position: int = 0
+    ) -> bool:
         """液体转移"""
         try:
             if not self.is_setup:
@@ -788,7 +795,7 @@ class LaiYuLiquid:
                 ("吸取液体", self.backend.aspirate(volume, source)),
                 ("移动到目标位置", self.backend.move_to(*target_pos)),
                 ("分配液体", self.backend.dispense(volume, target)),
-                ("丢弃吸头", self.backend.drop_tip())
+                ("丢弃吸头", self.backend.drop_tip()),
             ]
 
             for step_name, step_coro in steps:
@@ -823,7 +830,7 @@ class LaiYuLiquid:
             "current_position": self.backend.current_position,
             "tip_attached": self.backend.tip_attached,
             "current_volume": self.backend.current_volume,
-            "resources": self.deck.list_resources()
+            "resources": self.deck.list_resources(),
         }
 
 
@@ -846,7 +853,7 @@ def create_quick_setup() -> LaiYuLiquidDeck:
             create_tip_rack_1000ul,
             create_tip_rack_200ul,
             create_96_well_plate,
-            create_waste_container
+            create_waste_container,
         )
 
         # 添加基本资源
@@ -877,5 +884,5 @@ __all__ = [
     "LaiYuLiquidTipRack",
     "LaiYuLiquidError",
     "create_quick_setup",
-    "get_module_info"
+    "get_module_info",
 ]

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -1,11 +1,11 @@
 from __future__ import annotations
-import re
-import traceback
-from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
-from collections import Counter
+
 import asyncio
 import time
-import pprint as pp
+import traceback
+from collections import Counter
+from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
+
 from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness
 from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod
 from pylabrobot.liquid_handling.standard import GripDirection
@@ -25,6 +25,8 @@ from pylabrobot.resources import (
     Tip,
 )
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 
 class LiquidHandlerMiddleware(LiquidHandler):
     def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8):
@@ -536,6 +538,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
 class LiquidHandlerAbstract(LiquidHandlerMiddleware):
     """Extended LiquidHandler with additional operations."""
     support_touch_tip = True
+    _ros_node: BaseROS2DeviceNode
 
     def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8):
         """Initialize a LiquidHandler.
@@ -548,8 +551,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         self.group_info = dict()
         super().__init__(backend, deck, simulator, channel_num)
 
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
     @classmethod
-    def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]):
+    def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]):
         """Set the liquid in a well."""
         for well, liquid_name, volume in zip(wells, liquid_names, volumes):
             well.set_liquids([(liquid_name, volume)])  # type: ignore
@@ -1081,7 +1087,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 print(f"Waiting time: {msg}")
                 print(f"Current time: {time.strftime('%H:%M:%S')}")
                 print(f"Time to finish: {time.strftime('%H:%M:%S', time.localtime(time.time() + seconds))}")
-            await asyncio.sleep(seconds)
+            await self._ros_node.sleep(seconds)
             if msg:
                 print(f"Done: {msg}")
                 print(f"Current time: {time.strftime('%H:%M:%S')}")

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -30,6 +30,7 @@ from pylabrobot.liquid_handling.standard import (
 from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash
 
 from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 
 class PRCXIError(RuntimeError):
@@ -162,6 +163,10 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         )
         super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num)
 
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        super().post_init(ros_node)
+        self._unilabos_backend.post_init(ros_node)
+
     def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]):
         return super().set_liquid(wells, liquid_names, volumes)
 
@@ -424,6 +429,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
     _num_channels = 8  # 默认通道数为 8
     _is_reset_ok = False
+    _ros_node: BaseROS2DeviceNode
 
     @property
     def is_reset_ok(self) -> bool:
@@ -456,6 +462,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         self._execute_setup = setup
         self.debug = debug
 
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
     def create_protocol(self, protocol_name):
         self.protocol_name = protocol_name
         self.steps_todo_list = []
@@ -500,7 +509,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
                 self.api_client.call("IAutomation", "Reset")
                 while not self.is_reset_ok:
                     print("Waiting for PRCXI9300 to reset...")
-                    await asyncio.sleep(1)
+                    await self._ros_node.sleep(1)
                 print("PRCXI9300 reset successfully.")
         except ConnectionRefusedError as e:
             raise RuntimeError(
@@ -533,7 +542,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
             tipspot_index = tipspot.parent.children.index(tipspot)
             tip_columns.append(tipspot_index // 8)
         if len(set(tip_columns)) != 1:
-            raise ValueError("All pickups must be from the same tip column. Found different columns: " + str(tip_columns))
+            raise ValueError(
+                "All pickups must be from the same tip column. Found different columns: " + str(tip_columns)
+            )
         PlateNo = plate_indexes[0] + 1
         hole_col = tip_columns[0] + 1
         hole_row = 1
@@ -1109,12 +1120,15 @@ class PRCXI9300Api:
             "LiquidDispensingMethod": liquid_method,
         }
 
+
 class DefaultLayout:
 
     def __init__(self, product_name: str = "PRCXI9300"):
         self.labresource = {}
         if product_name not in ["PRCXI9300", "PRCXI9320"]:
-            raise ValueError(f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported.")
+            raise ValueError(
+                f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported."
+            )
 
         if product_name == "PRCXI9300":
             self.rows = 2
@@ -1129,24 +1143,92 @@ class DefaultLayout:
             self.layout = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]
             self.trash_slot = 16
             self.waste_liquid_slot = 12
-            self.default_layout =  {"MatrixId":f"{time.time()}","MatrixName":f"{time.time()}","MatrixCount":16,"WorkTablets":
-            [{"Number": 1, "Code": "T1", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 2, "Code": "T2", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 3, "Code": "T3", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 4, "Code": "T4", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 5, "Code": "T5", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 6, "Code": "T6", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 7, "Code": "T7", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 8, "Code": "T8", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 9, "Code": "T9", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 10, "Code": "T10", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 11, "Code": "T11", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 12, "Code": "T12", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}},  # 这个设置成废液槽，用储液槽表示
-  {"Number": 13, "Code": "T13", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 14, "Code": "T14", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 15, "Code": "T15", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 16, "Code": "T16", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}} # 这个设置成垃圾桶，用储液槽表示
-]
+            self.default_layout = {
+                "MatrixId": f"{time.time()}",
+                "MatrixName": f"{time.time()}",
+                "MatrixCount": 16,
+                "WorkTablets": [
+                    {
+                        "Number": 1,
+                        "Code": "T1",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 2,
+                        "Code": "T2",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 3,
+                        "Code": "T3",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 4,
+                        "Code": "T4",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 5,
+                        "Code": "T5",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 6,
+                        "Code": "T6",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 7,
+                        "Code": "T7",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 8,
+                        "Code": "T8",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 9,
+                        "Code": "T9",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 10,
+                        "Code": "T10",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 11,
+                        "Code": "T11",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 12,
+                        "Code": "T12",
+                        "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0},
+                    },  # 这个设置成废液槽，用储液槽表示
+                    {
+                        "Number": 13,
+                        "Code": "T13",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 14,
+                        "Code": "T14",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 15,
+                        "Code": "T15",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 16,
+                        "Code": "T16",
+                        "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0},
+                    },  # 这个设置成垃圾桶，用储液槽表示
+                ],
             }
 
     def get_layout(self) -> Dict[str, Any]:
@@ -1155,7 +1237,7 @@ class DefaultLayout:
             "columns": self.columns,
             "layout": self.layout,
             "trash_slot": self.trash_slot,
-            "waste_liquid_slot": self.waste_liquid_slot
+            "waste_liquid_slot": self.waste_liquid_slot,
         }
 
     def get_trash_slot(self) -> int:
@@ -1181,14 +1263,16 @@ class DefaultLayout:
         # 计算总需求
         total_needed = sum(count for _, _, count in needs)
         if total_needed > len(available_positions):
-            raise ValueError(f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）")
+            raise ValueError(
+                f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）"
+            )
 
             # 依次分配位置
         current_pos = 0
         for reagent_name, material_name, count in needs:
 
-            material_uuid = self.labresource[material_name]['uuid']
-            material_enum = self.labresource[material_name]['materialEnum']
+            material_uuid = self.labresource[material_name]["uuid"]
+            material_enum = self.labresource[material_name]["materialEnum"]
 
             for _ in range(count):
                 if current_pos >= len(available_positions):
@@ -1196,17 +1280,18 @@ class DefaultLayout:
 
                 position = available_positions[current_pos]
                 # 找到对应的tablet并更新
-                for tablet in self.default_layout['WorkTablets']:
-                    if tablet['Number'] == position:
-                        tablet['Material']['uuid'] = material_uuid
-                        tablet['Material']['materialEnum'] = material_enum
-                        layout_list.append(dict(reagent_name=reagent_name, material_name=material_name, positions=position))
+                for tablet in self.default_layout["WorkTablets"]:
+                    if tablet["Number"] == position:
+                        tablet["Material"]["uuid"] = material_uuid
+                        tablet["Material"]["materialEnum"] = material_enum
+                        layout_list.append(
+                            dict(reagent_name=reagent_name, material_name=material_name, positions=position)
+                        )
                         break
                 current_pos += 1
         return self.default_layout, layout_list
 
 
-
 if __name__ == "__main__":
     # Example usage
     # 1. 用导出的json，给每个T1 T2板子设定相应的物料，如果是孔板和枪头盒，要对应区分
@@ -1302,9 +1387,6 @@ if __name__ == "__main__":
 
     # # # plate2.set_well_liquids(plate_2_liquids)
 
-
-
-
     # handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999,
     #                            timeout=10.0, setup=False, debug=False,
     #                            simulator=True,
@@ -1391,11 +1473,8 @@ if __name__ == "__main__":
     # # input("Press Enter to continue...")  # Wait for user input before proceeding
     # # print("PRCXI9300Handler initialized with deck and host settings.")
 
-
-
     ### 9320 ###
 
-
     deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)
 
     from pylabrobot.resources.opentrons.tip_racks import tipone_96_tiprack_200ul, opentrons_96_tiprack_10ul
@@ -1415,9 +1494,12 @@ if __name__ == "__main__":
     def get_tip_rack(name: str, child_prefix: str = "tip") -> PRCXI9300Container:
         tip_racks = opentrons_96_tiprack_10ul(name).serialize()
         tip_rack = PRCXI9300Container(
-            name=name, size_x=50, size_y=50, size_z=10, category="tip_rack", ordering=collections.OrderedDict({
-                k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()
-            })
+            name=name,
+            size_x=50,
+            size_y=50,
+            size_z=10,
+            category="tip_rack",
+            ordering=collections.OrderedDict({k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}),
         )
         tip_rack_serialized = tip_rack.serialize()
         tip_rack_serialized["parent_name"] = deck.name
@@ -1629,6 +1711,7 @@ if __name__ == "__main__":
     )
     backend: PRCXI9300Backend = handler.backend
     from pylabrobot.resources import set_volume_tracking
+
     set_volume_tracking(enabled=True)
     # res = backend.api_client.get_all_materials()
     asyncio.run(handler.setup())  # Initialize the handler and setup the connection
@@ -1671,7 +1754,6 @@ if __name__ == "__main__":
     # Initialize the backend and setup the connection
     asyncio.run(handler.transfer_group("water", "master_mix", 10))  # Reset tip tracking
 
-
     # asyncio.run(handler.pick_up_tips([plate8.children[8]],[0]))
     # print(plate8.children[8])
     # asyncio.run(handler.run_protocol())
@@ -1703,9 +1785,6 @@ if __name__ == "__main__":
 
     # asyncio.run(handler.run_protocol())  # Run the protocol
 
-
-
-
     # # #     asyncio.run(handler.transfer_liquid(
     # # #     asp_vols=[10]*2,
     # # #     dis_vols=[10]*2,
@@ -1740,7 +1819,6 @@ if __name__ == "__main__":
     # #     # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
     # #     #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
 
-
     # #     # asyncio.run(handler.remove_liquid(
     # #     #     vols=[100]*16,
     # #     #     sources=well_containers.children[-16:],
@@ -1775,31 +1853,32 @@ if __name__ == "__main__":
     # #     # input("Press Enter to continue...")  # Wait for user input before proceeding
     # #     # print("PRCXI9300Handler initialized with deck and host settings.")
 
-
     # 一些推荐版位组合的测试样例：
 
     # 一些推荐版位组合的测试样例：
 
-
-
     with open("prcxi_material.json", "r") as f:
         material_info = json.load(f)
 
     layout = DefaultLayout("PRCXI9320")
     layout.add_lab_resource(material_info)
-    MatrixLayout_1, dict_1 = layout.recommend_layout([
+    MatrixLayout_1, dict_1 = layout.recommend_layout(
+        [
             ("reagent_1", "96 细胞培养皿", 3),
             ("reagent_2", "12道储液槽", 1),
             ("reagent_3", "200μL Tip头", 7),
             ("reagent_4", "10μL加长 Tip头", 1),
-    ])
+        ]
+    )
     print(dict_1)
-    MatrixLayout_2, dict_2 = layout.recommend_layout([
+    MatrixLayout_2, dict_2 = layout.recommend_layout(
+        [
             ("reagent_1", "96深孔板", 4),
             ("reagent_2", "12道储液槽", 1),
             ("reagent_3", "200μL Tip头", 1),
             ("reagent_4", "10μL加长 Tip头", 1),
-    ])
+        ]
+    )
 
 # with open("prcxi_material.json", "r") as f:
 #     material_info = json.load(f)

unilabos/devices/pump_and_valve/runze_async.py

@@ -8,6 +8,8 @@ import serial.tools.list_ports
 from serial import Serial
 from serial.serialutil import SerialException
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 
 class RunzeSyringePumpMode(Enum):
     Normal = 0
@@ -77,6 +79,8 @@ class RunzeSyringePumpInfo:
 
 
 class RunzeSyringePumpAsync:
+    _ros_node: BaseROS2DeviceNode
+    
     def __init__(self, port: str, address: str = "1", volume: float = 25000, mode: RunzeSyringePumpMode = None):
         self.port = port
         self.address = address
@@ -102,6 +106,9 @@ class RunzeSyringePumpAsync:
         self._run_future: Optional[Future[Any]] = None
         self._run_lock = Lock()
     
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
     def _adjust_total_steps(self):
         self.total_steps = 6000 if self.mode == RunzeSyringePumpMode.Normal else 48000
         self.total_steps_vel = 48000 if self.mode == RunzeSyringePumpMode.AccuratePosVel else 6000
@@ -182,7 +189,7 @@ class RunzeSyringePumpAsync:
             try:
                 await self._query(command)
                 while True:
-                    await asyncio.sleep(0.5)  # Wait for 0.5 seconds before polling again
+                    await self._ros_node.sleep(0.5)  # Wait for 0.5 seconds before polling again
                     
                     status = await self.query_device_status()
                     if status == '`':
@@ -364,7 +371,7 @@ class RunzeSyringePumpAsync:
         if self._read_task:
             raise RunzeSyringePumpConnectionError
 
-        self._read_task = asyncio.create_task(self._read_loop())
+        self._read_task = self._ros_node.create_task(self._read_loop())
 
         try:
             await self.query_device_status()

unilabos/devices/virtual/virtual_centrifuge.py

@@ -3,10 +3,14 @@ import logging
 import time as time_module
 from typing import Dict, Any, Optional
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 
 class VirtualCentrifuge:
     """Virtual centrifuge device - 简化版，只保留核心功能"""
     
+    _ros_node: BaseROS2DeviceNode
+
     def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
         # 处理可能的不同调用方式
         if device_id is None and "id" in kwargs:
@@ -33,6 +37,9 @@ class VirtualCentrifuge:
             if key not in skip_keys and not hasattr(self, key):
                 setattr(self, key, value)
     
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
     async def initialize(self) -> bool:
         """Initialize virtual centrifuge"""
         self.logger.info(f"Initializing virtual centrifuge {self.device_id}")
@@ -132,7 +139,7 @@ class VirtualCentrifuge:
                     break
                 
                 # 每秒更新一次
-                await asyncio.sleep(1.0)
+                await self._ros_node.sleep(1.0)
             
             # 离心完成
             self.data.update({

unilabos/devices/virtual/virtual_column.py

@@ -2,9 +2,13 @@ import asyncio
 import logging
 from typing import Dict, Any, Optional
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 class VirtualColumn:
     """Virtual column device for RunColumn protocol 🏛️"""
     
+    _ros_node: BaseROS2DeviceNode
+    
     def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
         # 处理可能的不同调用方式
         if device_id is None and 'id' in kwargs:
@@ -28,6 +32,9 @@ class VirtualColumn:
         print(f"🏛️ === 虚拟色谱柱 {self.device_id} 已创建 === ✨")
         print(f"📏 柱参数: 流速={self._max_flow_rate}mL/min | 长度={self._column_length}cm | 直径={self._column_diameter}cm 🔬")
     
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
     async def initialize(self) -> bool:
         """Initialize virtual column 🚀"""
         self.logger.info(f"🔧 初始化虚拟色谱柱 {self.device_id} ✨")
@@ -101,7 +108,7 @@ class VirtualColumn:
         step_time = separation_time / steps
         
         for i in range(steps):
-            await asyncio.sleep(step_time)
+            await self._ros_node.sleep(step_time)
             
             progress = (i + 1) / steps * 100
             volume_processed = (i + 1) * 5.0  # 假设每步处理5mL

unilabos/devices/virtual/virtual_filter.py

@@ -4,16 +4,19 @@ import time as time_module
 from typing import Dict, Any, Optional
 
 from unilabos.compile.utils.vessel_parser import get_vessel
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 
 class VirtualFilter:
     """Virtual filter device - 完全按照 Filter.action 规范 🌊"""
 
+    _ros_node: BaseROS2DeviceNode
+
     def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
-        if device_id is None and 'id' in kwargs:
-            device_id = kwargs.pop('id')
-        if config is None and 'config' in kwargs:
-            config = kwargs.pop('config')
+        if device_id is None and "id" in kwargs:
+            device_id = kwargs.pop("id")
+        if config is None and "config" in kwargs:
+            config = kwargs.pop("config")
 
         self.device_id = device_id or "unknown_filter"
         self.config = config or {}
@@ -21,29 +24,34 @@ class VirtualFilter:
         self.data = {}
 
         # 从config或kwargs中获取配置参数
-        self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
-        self._max_temp = self.config.get('max_temp') or kwargs.get('max_temp', 100.0)
-        self._max_stir_speed = self.config.get('max_stir_speed') or kwargs.get('max_stir_speed', 1000.0)
-        self._max_volume = self.config.get('max_volume') or kwargs.get('max_volume', 500.0)
+        self.port = self.config.get("port") or kwargs.get("port", "VIRTUAL")
+        self._max_temp = self.config.get("max_temp") or kwargs.get("max_temp", 100.0)
+        self._max_stir_speed = self.config.get("max_stir_speed") or kwargs.get("max_stir_speed", 1000.0)
+        self._max_volume = self.config.get("max_volume") or kwargs.get("max_volume", 500.0)
 
         # 处理其他kwargs参数
-        skip_keys = {'port', 'max_temp', 'max_stir_speed', 'max_volume'}
+        skip_keys = {"port", "max_temp", "max_stir_speed", "max_volume"}
         for key, value in kwargs.items():
             if key not in skip_keys and not hasattr(self, key):
                 setattr(self, key, value)
 
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
     async def initialize(self) -> bool:
         """Initialize virtual filter 🚀"""
         self.logger.info(f"🔧 初始化虚拟过滤器 {self.device_id} ✨")
 
         # 按照 Filter.action 的 feedback 字段初始化
-        self.data.update({
+        self.data.update(
+            {
                 "status": "Idle",
                 "progress": 0.0,  # Filter.action feedback
                 "current_temp": 25.0,  # Filter.action feedback
                 "filtered_volume": 0.0,  # Filter.action feedback
-            "message": "Ready for filtration"
-        })
+                "message": "Ready for filtration",
+            }
+        )
 
         self.logger.info(f"✅ 过滤器 {self.device_id} 初始化完成 🌊")
         return True
@@ -52,9 +60,7 @@ class VirtualFilter:
         """Cleanup virtual filter 🧹"""
         self.logger.info(f"🧹 清理虚拟过滤器 {self.device_id} 🔚")
 
-        self.data.update({
-            "status": "Offline"
-        })
+        self.data.update({"status": "Offline"})
 
         self.logger.info(f"✅ 过滤器 {self.device_id} 清理完成 💤")
         return True
@@ -67,7 +73,7 @@ class VirtualFilter:
         stir_speed: float = 300.0,
         temp: float = 25.0,
         continue_heatchill: bool = False,
-        volume: float = 0.0
+        volume: float = 0.0,
     ) -> bool:
         """Execute filter action - 完全按照 Filter.action 参数 🌊"""
         vessel_id, _ = get_vessel(vessel)
@@ -92,41 +98,34 @@ class VirtualFilter:
         if temp > self._max_temp or temp < 4.0:
             error_msg = f"🌡️ 温度 {temp}°C 超出范围 (4-{self._max_temp}°C) ⚠️"
             self.logger.error(f"❌ {error_msg}")
-            self.data.update({
-                "status": f"Error: 温度超出范围 ⚠️",
-                "message": error_msg
-            })
+            self.data.update({"status": f"Error: 温度超出范围 ⚠️", "message": error_msg})
             return False
 
         if stir and stir_speed > self._max_stir_speed:
             error_msg = f"🌪️ 搅拌速度 {stir_speed} RPM 超出范围 (0-{self._max_stir_speed} RPM) ⚠️"
             self.logger.error(f"❌ {error_msg}")
-            self.data.update({
-                "status": f"Error: 搅拌速度超出范围 ⚠️",
-                "message": error_msg
-            })
+            self.data.update({"status": f"Error: 搅拌速度超出范围 ⚠️", "message": error_msg})
             return False
 
         if volume > self._max_volume:
             error_msg = f"💧 过滤体积 {volume} mL 超出范围 (0-{self._max_volume} mL) ⚠️"
             self.logger.error(f"❌ {error_msg}")
-            self.data.update({
-                "status": f"Error",
-                "message": error_msg
-            })
+            self.data.update({"status": f"Error", "message": error_msg})
             return False
 
         # 开始过滤
         filter_volume = volume if volume > 0 else 50.0
         self.logger.info(f"🚀 开始过滤 {filter_volume}mL 液体 💧")
 
-        self.data.update({
+        self.data.update(
+            {
                 "status": f"Running",
                 "current_temp": temp,
                 "filtered_volume": 0.0,
                 "progress": 0.0,
-            "message": f"🚀 Starting filtration: {vessel_id} → {filtrate_vessel_id}"
-        })
+                "message": f"🚀 Starting filtration: {vessel_id} → {filtrate_vessel_id}",
+            }
+        )
 
         try:
             # 过滤过程 - 实时更新进度
@@ -157,13 +156,15 @@ class VirtualFilter:
                     status_msg += f" | 🌪️ 搅拌: {stir_speed} RPM"
                 status_msg += f" | 🌡️ {temp}°C | 📊 {progress:.1f}% | 💧 已过滤: {current_filtered:.1f}mL"
 
-                self.data.update({
+                self.data.update(
+                    {
                         "progress": progress,  # Filter.action feedback
                         "current_temp": temp,  # Filter.action feedback
                         "filtered_volume": current_filtered,  # Filter.action feedback
                         "status": "Running",
-                    "message": f"🌊 Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered"
-                })
+                        "message": f"🌊 Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered",
+                    }
+                )
 
                 # 进度日志（每25%打印一次）
                 if progress >= 25 and progress % 25 < 1:
@@ -172,7 +173,7 @@ class VirtualFilter:
                 if remaining <= 0:
                     break
 
-                await asyncio.sleep(1.0)
+                await self._ros_node.sleep(1.0)
 
             # 过滤完成
             final_temp = temp if continue_heatchill else 25.0
@@ -181,13 +182,15 @@ class VirtualFilter:
                 final_status += " | 🔥 继续加热搅拌"
                 self.logger.info(f"🔥 继续保持加热搅拌状态 🌪️")
 
-            self.data.update({
+            self.data.update(
+                {
                     "status": final_status,
                     "progress": 100.0,  # Filter.action feedback
                     "current_temp": final_temp,  # Filter.action feedback
                     "filtered_volume": filter_volume,  # Filter.action feedback
-                "message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel_id}"
-            })
+                    "message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel_id}",
+                }
+            )
 
             self.logger.info(f"🎉 过滤完成! 💧 {filter_volume}mL 从 {vessel_id} 过滤到 {filtrate_vessel_id} ✨")
             self.logger.info(f"📊 最终状态: 温度 {final_temp}°C | 进度 100% | 体积 {filter_volume}mL 🏁")
@@ -196,10 +199,7 @@ class VirtualFilter:
         except Exception as e:
             error_msg = f"过滤过程中发生错误: {str(e)} 💥"
             self.logger.error(f"❌ {error_msg}")
-            self.data.update({
-                "status": f"Error",
-                "message": f"❌ Filtration failed: {str(e)}"
-            })
+            self.data.update({"status": f"Error", "message": f"❌ Filtration failed: {str(e)}"})
             return False
 
     # === 核心状态属性 - 按照 Filter.action feedback 字段 ===

unilabos/devices/virtual/virtual_heatchill.py

@@ -3,9 +3,13 @@ import logging
 import time as time_module  # 重命名time模块，避免与参数冲突
 from typing import Dict, Any
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 class VirtualHeatChill:
     """Virtual heat chill device for HeatChillProtocol testing 🌡️"""
     
+    _ros_node: BaseROS2DeviceNode
+    
     def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
         # 处理可能的不同调用方式
         if device_id is None and 'id' in kwargs:
@@ -35,6 +39,9 @@ class VirtualHeatChill:
         print(f"🌡️ === 虚拟温控设备 {self.device_id} 已创建 === ✨")
         print(f"🔥 温度范围: {self._min_temp}°C ~ {self._max_temp}°C | 🌪️ 最大搅拌: {self._max_stir_speed} RPM")
     
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
     async def initialize(self) -> bool:
         """Initialize virtual heat chill 🚀"""
         self.logger.info(f"🔧 初始化虚拟温控设备 {self.device_id} ✨")
@@ -177,7 +184,7 @@ class VirtualHeatChill:
                 break
             
             # 等待1秒后再次检查
-            await asyncio.sleep(1.0)
+            await self._ros_node.sleep(1.0)
         
         # 操作完成
         final_stir_info = f" | 🌪️ 搅拌: {stir_speed} RPM" if stir else ""

unilabos/devices/virtual/virtual_rotavap.py

@@ -3,13 +3,19 @@ import logging
 import time as time_module
 from typing import Dict, Any, Optional
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
+
 def debug_print(message):
     """调试输出 🔍"""
     print(f"🌪️ [ROTAVAP] {message}", flush=True)
 
+
 class VirtualRotavap:
     """Virtual rotary evaporator device - 简化版，只保留核心功能 🌪️"""
 
+    _ros_node: BaseROS2DeviceNode
+
     def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
         # 处理可能的不同调用方式
         if device_id is None and "id" in kwargs:
@@ -38,12 +44,16 @@ class VirtualRotavap:
         print(f"🌪️ === 虚拟旋转蒸发仪 {self.device_id} 已创建 === ✨")
         print(f"🔥 温度范围: 10°C ~ {self._max_temp}°C | 🌀 转速范围: 10 ~ {self._max_rotation_speed} RPM")
 
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
     async def initialize(self) -> bool:
         """Initialize virtual rotary evaporator 🚀"""
         self.logger.info(f"🔧 初始化虚拟旋转蒸发仪 {self.device_id} ✨")
 
         # 只保留核心状态
-        self.data.update({
+        self.data.update(
+            {
                 "status": "🏠 待机中",
                 "rotavap_state": "Ready",  # Ready, Evaporating, Completed, Error
                 "current_temp": 25.0,
@@ -53,25 +63,30 @@ class VirtualRotavap:
                 "evaporated_volume": 0.0,
                 "progress": 0.0,
                 "remaining_time": 0.0,
-            "message": "🌪️ Ready for evaporation"
-        })
+                "message": "🌪️ Ready for evaporation",
+            }
+        )
 
         self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 初始化完成 🌪️")
-        self.logger.info(f"📊 设备规格: 温度范围 10°C ~ {self._max_temp}°C | 转速范围 10 ~ {self._max_rotation_speed} RPM")
+        self.logger.info(
+            f"📊 设备规格: 温度范围 10°C ~ {self._max_temp}°C | 转速范围 10 ~ {self._max_rotation_speed} RPM"
+        )
         return True
 
     async def cleanup(self) -> bool:
         """Cleanup virtual rotary evaporator 🧹"""
         self.logger.info(f"🧹 清理虚拟旋转蒸发仪 {self.device_id} 🔚")
 
-        self.data.update({
+        self.data.update(
+            {
                 "status": "💤 离线",
                 "rotavap_state": "Offline",
                 "current_temp": 25.0,
                 "rotation_speed": 0.0,
                 "vacuum_pressure": 1.0,
-            "message": "💤 System offline"
-        })
+                "message": "💤 System offline",
+            }
+        )
 
         self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 清理完成 💤")
         return True
@@ -84,7 +99,7 @@ class VirtualRotavap:
         time: float = 180.0,
         stir_speed: float = 100.0,
         solvent: str = "",
-        **kwargs
+        **kwargs,
     ) -> bool:
         """Execute evaporate action - 简化版 🌪️"""
 
@@ -114,11 +129,11 @@ class VirtualRotavap:
             self.logger.info(f"🧪 识别到溶剂: {solvent}")
             # 根据溶剂调整参数
             solvent_lower = solvent.lower()
-            if any(s in solvent_lower for s in ['water', 'aqueous']):
+            if any(s in solvent_lower for s in ["water", "aqueous"]):
                 temp = max(temp, 80.0)
                 pressure = max(pressure, 0.2)
                 self.logger.info(f"💧 水系溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar")
-            elif any(s in solvent_lower for s in ['ethanol', 'methanol', 'acetone']):
+            elif any(s in solvent_lower for s in ["ethanol", "methanol", "acetone"]):
                 temp = min(temp, 50.0)
                 pressure = min(pressure, 0.05)
                 self.logger.info(f"⚡ 易挥发溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar")
@@ -136,46 +151,53 @@ class VirtualRotavap:
         if temp > self._max_temp or temp < 10.0:
             error_msg = f"🌡️ 温度 {temp}°C 超出范围 (10-{self._max_temp}°C) ⚠️"
             self.logger.error(f"❌ {error_msg}")
-            self.data.update({
+            self.data.update(
+                {
                     "status": f"❌ 错误: 温度超出范围",
                     "rotavap_state": "Error",
                     "current_temp": 25.0,
                     "progress": 0.0,
                     "evaporated_volume": 0.0,
-                "message": error_msg
-            })
+                    "message": error_msg,
+                }
+            )
             return False
 
         if stir_speed > self._max_rotation_speed or stir_speed < 10.0:
             error_msg = f"🌀 旋转速度 {stir_speed} RPM 超出范围 (10-{self._max_rotation_speed} RPM) ⚠️"
             self.logger.error(f"❌ {error_msg}")
-            self.data.update({
+            self.data.update(
+                {
                     "status": f"❌ 错误: 转速超出范围",
                     "rotavap_state": "Error",
                     "current_temp": 25.0,
                     "progress": 0.0,
                     "evaporated_volume": 0.0,
-                "message": error_msg
-            })
+                    "message": error_msg,
+                }
+            )
             return False
 
         if pressure < 0.01 or pressure > 1.0:
             error_msg = f"💨 真空度 {pressure} bar 超出范围 (0.01-1.0 bar) ⚠️"
             self.logger.error(f"❌ {error_msg}")
-            self.data.update({
+            self.data.update(
+                {
                     "status": f"❌ 错误: 压力超出范围",
                     "rotavap_state": "Error",
                     "current_temp": 25.0,
                     "progress": 0.0,
                     "evaporated_volume": 0.0,
-                "message": error_msg
-            })
+                    "message": error_msg,
+                }
+            )
             return False
 
         # 开始蒸发 - 🔧 现在time已经确保是float类型
         self.logger.info(f"🚀 启动蒸发程序! 预计用时 {time/60:.1f}分钟 ⏱️")
 
-        self.data.update({
+        self.data.update(
+            {
                 "status": f"🌪️ 蒸发中: {actual_vessel}",
                 "rotavap_state": "Evaporating",
                 "current_temp": temp,
@@ -185,8 +207,9 @@ class VirtualRotavap:
                 "remaining_time": time,
                 "progress": 0.0,
                 "evaporated_volume": 0.0,
-            "message": f"🌪️ Evaporating {actual_vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM"
-        })
+                "message": f"🌪️ Evaporating {actual_vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM",
+            }
+        )
 
         try:
             # 蒸发过程 - 实时更新进度
@@ -201,9 +224,9 @@ class VirtualRotavap:
                 progress = min(100.0, (elapsed / total_time) * 100)
 
                 # 模拟蒸发体积 - 根据溶剂类型调整
-                if solvent and any(s in solvent.lower() for s in ['water', 'aqueous']):
+                if solvent and any(s in solvent.lower() for s in ["water", "aqueous"]):
                     evaporated_vol = progress * 0.6  # 水系溶剂蒸发慢
-                elif solvent and any(s in solvent.lower() for s in ['ethanol', 'methanol', 'acetone']):
+                elif solvent and any(s in solvent.lower() for s in ["ethanol", "methanol", "acetone"]):
                     evaporated_vol = progress * 1.0  # 易挥发溶剂蒸发快
                 else:
                     evaporated_vol = progress * 0.8  # 默认蒸发量
@@ -211,18 +234,22 @@ class VirtualRotavap:
                 # 🔧 更新状态 - 确保包含所有必需字段
                 status_msg = f"🌪️ 蒸发中: {actual_vessel} | 🌡️ {temp}°C | 💨 {pressure} bar | 🌀 {stir_speed} RPM | 📊 {progress:.1f}% | ⏰ 剩余: {remaining:.0f}s"
 
-                self.data.update({
+                self.data.update(
+                    {
                         "remaining_time": remaining,
                         "progress": progress,
                         "evaporated_volume": evaporated_vol,
                         "current_temp": temp,
                         "status": status_msg,
-                    "message": f"🌪️ Evaporating: {progress:.1f}% complete, 💧 {evaporated_vol:.1f}mL evaporated, ⏰ {remaining:.0f}s remaining"
-                })
+                        "message": f"🌪️ Evaporating: {progress:.1f}% complete, 💧 {evaporated_vol:.1f}mL evaporated, ⏰ {remaining:.0f}s remaining",
+                    }
+                )
 
                 # 进度日志（每25%打印一次）
                 if progress >= 25 and int(progress) % 25 == 0 and int(progress) != last_logged_progress:
-                    self.logger.info(f"📊 蒸发进度: {progress:.0f}% | 💧 已蒸发: {evaporated_vol:.1f}mL | ⏰ 剩余: {remaining:.0f}s ✨")
+                    self.logger.info(
+                        f"📊 蒸发进度: {progress:.0f}% | 💧 已蒸发: {evaporated_vol:.1f}mL | ⏰ 剩余: {remaining:.0f}s ✨"
+                    )
                     last_logged_progress = int(progress)
 
                 # 时间到了，退出循环
@@ -230,17 +257,18 @@ class VirtualRotavap:
                     break
 
                 # 每秒更新一次
-                await asyncio.sleep(1.0)
+                await self._ros_node.sleep(1.0)
 
             # 蒸发完成
-            if solvent and any(s in solvent.lower() for s in ['water', 'aqueous']):
+            if solvent and any(s in solvent.lower() for s in ["water", "aqueous"]):
                 final_evaporated = 60.0  # 水系溶剂
-            elif solvent and any(s in solvent.lower() for s in ['ethanol', 'methanol', 'acetone']):
+            elif solvent and any(s in solvent.lower() for s in ["ethanol", "methanol", "acetone"]):
                 final_evaporated = 100.0  # 易挥发溶剂
             else:
                 final_evaporated = 80.0  # 默认
 
-            self.data.update({
+            self.data.update(
+                {
                     "status": f"✅ 蒸发完成: {actual_vessel} | 💧 蒸发量: {final_evaporated:.1f}mL",
                     "rotavap_state": "Completed",
                     "evaporated_volume": final_evaporated,
@@ -249,8 +277,9 @@ class VirtualRotavap:
                     "remaining_time": 0.0,
                     "rotation_speed": 0.0,
                     "vacuum_pressure": 1.0,
-                "message": f"✅ Evaporation completed: {final_evaporated}mL evaporated from {actual_vessel}"
-            })
+                    "message": f"✅ Evaporation completed: {final_evaporated}mL evaporated from {actual_vessel}",
+                }
+            )
 
             self.logger.info(f"🎉 蒸发操作完成! ✨")
             self.logger.info(f"📊 蒸发结果:")
@@ -270,7 +299,8 @@ class VirtualRotavap:
             error_msg = f"蒸发过程中发生错误: {str(e)} 💥"
             self.logger.error(f"❌ {error_msg}")
 
-            self.data.update({
+            self.data.update(
+                {
                     "status": f"❌ 蒸发错误: {str(e)}",
                     "rotavap_state": "Error",
                     "current_temp": 25.0,
@@ -278,8 +308,9 @@ class VirtualRotavap:
                     "evaporated_volume": 0.0,
                     "rotation_speed": 0.0,
                     "vacuum_pressure": 1.0,
-                "message": f"❌ Evaporation failed: {str(e)}"
-            })
+                    "message": f"❌ Evaporation failed: {str(e)}",
+                }
+            )
             return False
 
     # === 核心状态属性 ===

unilabos/devices/virtual/virtual_separator.py

@@ -2,10 +2,14 @@ import asyncio
 import logging
 from typing import Dict, Any, Optional
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 
 class VirtualSeparator:
     """Virtual separator device for SeparateProtocol testing"""
     
+    _ros_node: BaseROS2DeviceNode
+
     def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
         # 处理可能的不同调用方式
         if device_id is None and "id" in kwargs:
@@ -36,6 +40,9 @@ class VirtualSeparator:
             if key not in skip_keys and not hasattr(self, key):
                 setattr(self, key, value)
     
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
     async def initialize(self) -> bool:
         """Initialize virtual separator"""
         print(f"=== VirtualSeparator {self.device_id} initialize() called! ===")
@@ -119,14 +126,14 @@ class VirtualSeparator:
         for repeat in range(repeats):
             # 搅拌阶段
             for progress in range(0, 51, 10):
-                await asyncio.sleep(simulation_time / (repeats * 10))
+                await self._ros_node.sleep(simulation_time / (repeats * 10))
                 overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats
                 self.data["progress"] = overall_progress
                 self.data["message"] = f"第{repeat+1}次分离 - 搅拌中 ({progress}%)"
 
             # 静置分相阶段
             for progress in range(50, 101, 10):
-                await asyncio.sleep(simulation_time / (repeats * 10))
+                await self._ros_node.sleep(simulation_time / (repeats * 10))
                 overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats
                 self.data["progress"] = overall_progress
                 self.data["message"] = f"第{repeat+1}次分离 - 静置分相中 ({progress}%)"

unilabos/devices/virtual/virtual_solenoid_valve.py

@@ -2,11 +2,16 @@ import time
 import asyncio
 from typing import Union
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 
 class VirtualSolenoidValve:
     """
     虚拟电磁阀门 - 简单的开关型阀门，只有开启和关闭两个状态
     """
+    
+    _ros_node: BaseROS2DeviceNode
+    
     def __init__(self, device_id: str = None, config: dict = None, **kwargs):
         # 从配置中获取参数，提供默认值
         if config is None:
@@ -22,6 +27,9 @@ class VirtualSolenoidValve:
         self._valve_state = "Closed"  # "Open" or "Closed"
         self._is_open = False
     
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
     async def initialize(self) -> bool:
         """初始化设备"""
         self._status = "Idle"
@@ -63,7 +71,7 @@ class VirtualSolenoidValve:
         self._status = "Busy"
         
         # 模拟阀门响应时间
-        await asyncio.sleep(self.response_time)
+        await self._ros_node.sleep(self.response_time)
         
         # 处理不同的命令格式
         if isinstance(command, str):

unilabos/devices/virtual/virtual_solid_dispenser.py

@@ -3,6 +3,8 @@ import logging
 import re
 from typing import Dict, Any, Optional
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 class VirtualSolidDispenser:
     """
     虚拟固体粉末加样器 - 用于处理 Add Protocol 中的固体试剂添加 ⚗️
@@ -13,6 +15,8 @@ class VirtualSolidDispenser:
     - 简单反馈：成功/失败 + 消息 📊
     """
     
+    _ros_node: BaseROS2DeviceNode
+    
     def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
         self.device_id = device_id or "virtual_solid_dispenser"
         self.config = config or {}
@@ -32,6 +36,9 @@ class VirtualSolidDispenser:
         print(f"⚗️ === 虚拟固体分配器 {self.device_id} 创建成功! === ✨")
         print(f"📊 设备规格: 最大容量 {self.max_capacity}g | 精度 {self.precision}g 🎯")
     
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
     async def initialize(self) -> bool:
         """初始化固体加样器 🚀"""
         self.logger.info(f"🔧 初始化固体分配器 {self.device_id} ✨")
@@ -263,7 +270,7 @@ class VirtualSolidDispenser:
             
             for i in range(steps):
                 progress = (i + 1) / steps * 100
-                await asyncio.sleep(step_time)
+                await self._ros_node.sleep(step_time)
                 if i % 2 == 0:  # 每隔一步显示进度
                     self.logger.debug(f"📊 加样进度: {progress:.0f}% | {amount_emoji} 正在分配 {reagent}...")
             

unilabos/devices/virtual/virtual_stirrer.py

@@ -3,9 +3,13 @@ import logging
 import time as time_module
 from typing import Dict, Any
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 class VirtualStirrer:
     """Virtual stirrer device for StirProtocol testing - 功能完整版 🌪️"""
     
+    _ros_node: BaseROS2DeviceNode
+    
     def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
         # 处理可能的不同调用方式
         if device_id is None and 'id' in kwargs:
@@ -34,6 +38,9 @@ class VirtualStirrer:
         print(f"🌪️ === 虚拟搅拌器 {self.device_id} 已创建 === ✨")
         print(f"🔧 速度范围: {self._min_speed} ~ {self._max_speed} RPM | 📱 端口: {self.port}")
     
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
     async def initialize(self) -> bool:
         """Initialize virtual stirrer 🚀"""
         self.logger.info(f"🔧 初始化虚拟搅拌器 {self.device_id} ✨")
@@ -134,7 +141,7 @@ class VirtualStirrer:
             if remaining <= 0:
                 break
             
-            await asyncio.sleep(1.0)
+            await self._ros_node.sleep(1.0)
         
         self.logger.info(f"✅ 搅拌阶段完成! 🌪️ {stir_speed} RPM × {stir_time}s")
         
@@ -176,7 +183,7 @@ class VirtualStirrer:
                 if remaining <= 0:
                     break
                 
-                await asyncio.sleep(1.0)
+                await self._ros_node.sleep(1.0)
             
             self.logger.info(f"✅ 沉降阶段完成! 🛑 静置 {settling_time}s")
         

unilabos/devices/virtual/virtual_transferpump.py

@@ -4,6 +4,8 @@ from enum import Enum
 from typing import Union, Optional
 import logging
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 
 class VirtualPumpMode(Enum):
     Normal = 0
@@ -14,6 +16,8 @@ class VirtualPumpMode(Enum):
 class VirtualTransferPump:
     """虚拟转移泵类 - 模拟泵的基本功能，无需实际硬件 🚰"""
     
+    _ros_node: BaseROS2DeviceNode
+    
     def __init__(self, device_id: str = None, config: dict = None, **kwargs):
         """
         初始化虚拟转移泵
@@ -53,6 +57,9 @@ class VirtualTransferPump:
         print(f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s")
         print(f"📊 最大容量: {self.max_volume}mL | 端口: {self.port}")
     
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
     async def initialize(self) -> bool:
         """初始化虚拟泵 🚀"""
         self.logger.info(f"🔧 初始化虚拟转移泵 {self.device_id} ✨")
@@ -104,7 +111,7 @@ class VirtualTransferPump:
     async def _simulate_operation(self, duration: float):
         """模拟操作延时 ⏱️"""
         self._status = "Busy"
-        await asyncio.sleep(duration)
+        await self._ros_node.sleep(duration)
         self._status = "Idle"
     
     def _calculate_duration(self, volume: float, velocity: float = None) -> float:
@@ -223,7 +230,7 @@ class VirtualTransferPump:
                     
                     # 等待一小步时间
                     if i < steps and step_duration > 0:
-                        await asyncio.sleep(step_duration)
+                        await self._ros_node.sleep(step_duration)
             else:
                 # 移动距离很小，直接完成
                 self._position = target_position
@@ -341,7 +348,7 @@ class VirtualTransferPump:
         
         # 短暂停顿
         self.logger.debug("⏸️ 短暂停顿...")
-        await asyncio.sleep(0.1)
+        await self._ros_node.sleep(0.1)
         
         # 排液
         await self.dispense(volume, dispense_velocity)

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

@@ -3,6 +3,7 @@ from cgi import print_arguments
 from doctest import debug
 from typing import Dict, Any, List, Optional
 import requests
+from pylabrobot.resources.resource import Resource as ResourcePLR
 from pathlib import Path
 import pandas as pd
 import time
@@ -11,16 +12,15 @@ import re
 import threading
 import json
 from urllib3 import response
-from unilabos.devices.workstation.workstation_base import WorkstationBase
 from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation, BioyondResourceSynchronizer
 from unilabos.devices.workstation.bioyond_studio.config import (
     API_CONFIG, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING, SOLID_LIQUID_MAPPINGS
 )
 from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
+from unilabos.resources.bioyond.decks import BIOYOND_YB_Deck
 from unilabos.utils.log import logger
 from unilabos.registry.registry import lab_registry
 
-
 def _iso_local_now_ms() -> str:
     # 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z
     dt = datetime.now()
@@ -36,29 +36,25 @@ class BioyondCellWorkstation(BioyondWorkstation):
     查询实验(2.5/2.6) → 3-2-1 转运(2.32) → 样品/废料取出(2.28)
     """
 
-    def __init__(
-        self,
-        bioyond_config: Optional[Dict[str, Any]] = None,
-        station_resource: Optional[Dict[str, Any]] = None,
-        *args, **kwargs,
-        ):
+    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 = bioyond_config or  {
+        self.bioyond_config ={
             **API_CONFIG,
             "material_type_mappings": MATERIAL_TYPE_MAPPINGS,
-            "warehouse_mapping": WAREHOUSE_MAPPING
+            "warehouse_mapping": WAREHOUSE_MAPPING,
+            "debug_mode": False
     }
           
             # "material_type_mappings": MATERIAL_TYPE_MAPPINGS
             # "warehouse_mapping": WAREHOUSE_MAPPING
-
-        print(self.bioyond_config)
+        if deck is None and config:
+            deck = config.get('deck')
+        # print(self.bioyond_config)
         self.debug_mode = self.bioyond_config["debug_mode"]
         self.http_service_started = self.debug_mode
-        deck = kwargs.pop("deck", None)
-        self.device_id = kwargs.pop("device_id", "bioyond_cell_workstation")
-        super().__init__(bioyond_config=self.bioyond_config, deck=deck, station_resource=station_resource, *args, **kwargs)
+        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.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")
 
@@ -72,6 +68,13 @@ class BioyondCellWorkstation(BioyondWorkstation):
         self.last_order_code = None
         logger.info(f"Bioyond工作站初始化完成 (debug_mode={self.debug_mode})")
 
+    @property
+    def device_id(self):
+        """获取设备ID，优先从_ros_node获取，否则返回默认值"""
+        if hasattr(self, '_ros_node') and self._ros_node is not None:
+            return getattr(self._ros_node, 'device_id', self._device_id)
+        return self._device_id
+
     def _start_http_service(self):
         """启动 HTTP 服务"""
         host = self.bioyond_config.get("HTTP_host", "")
@@ -253,7 +256,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
     def auto_feeding4to3(
         self,
         # ★ 修改点：默认模板路径
-        xlsx_path: Optional[str] = "C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx",
+        xlsx_path: Optional[str] = "/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx",
         # ---------------- WH4 - 加样头面 (Z=1, 12个点位) ----------------
         WH4_x1_y1_z1_1_materialName: str = "", WH4_x1_y1_z1_1_quantity: float = 0.0,
         WH4_x2_y1_z1_2_materialName: str = "", WH4_x2_y1_z1_2_quantity: float = 0.0,
@@ -305,7 +308,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
 
         # ---------- 模式 1: Excel 导入 ----------
         if xlsx_path:
-            path = Path(xlsx_path)
+            path = Path(__file__).parent / Path(xlsx_path)
             if path.exists():   # ★ 修改点：路径存在才加载
                 try:
                     df = pd.read_excel(path, sheet_name=0, header=None, engine="openpyxl")
@@ -470,14 +473,23 @@ class BioyondCellWorkstation(BioyondWorkstation):
         - totalMass 自动计算为所有物料质量之和
         - createTime 缺失或为空时自动填充为当前日期（YYYY/M/D）
         """
-        path = Path(xlsx_path)
+        default_path = Path("/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx")
+        path = Path(xlsx_path) if xlsx_path else default_path
+        print(f"[create_orders] 使用 Excel 路径: {path}")
+        if path != default_path:
+            print("[create_orders] 来源: 调用方传入自定义路径")
+        else:
+            print("[create_orders] 来源: 使用默认模板路径")
+
         if not path.exists():
+            print(f"[create_orders] ⚠️ Excel 文件不存在: {path}")
             raise FileNotFoundError(f"未找到 Excel 文件：{path}")
 
         try:
             df = pd.read_excel(path, sheet_name=0, engine="openpyxl")
         except Exception as e:
             raise RuntimeError(f"读取 Excel 失败：{e}")
+        print(f"[create_orders] Excel 读取成功，行数: {len(df)}, 列: {list(df.columns)}")
 
         # 列名容错：返回可选列名，找不到则返回 None
         def _pick(col_names: List[str]) -> Optional[str]:
@@ -494,9 +506,20 @@ class BioyondCellWorkstation(BioyondWorkstation):
         col_pouch = _pick(["软包组装分液体积", "pouchCellInfo"])
         col_cond = _pick(["电导测试分液体积", "conductivityInfo"])
         col_cond_cnt = _pick(["电导测试分液瓶数", "conductivityBottleCount"])
+        print("[create_orders] 列匹配结果:", {
+            "order_name": col_order_name,
+            "create_time": col_create_time,
+            "bottle_type": col_bottle_type,
+            "mix_time": col_mix_time,
+            "load": col_load,
+            "pouch": col_pouch,
+            "conductivity": col_cond,
+            "conductivity_bottle_count": col_cond_cnt,
+        })
 
         # 物料列：所有以 (g) 结尾
         material_cols = [c for c in df.columns if isinstance(c, str) and c.endswith("(g)")]
+        print(f"[create_orders] 识别到的物料列: {material_cols}")
         if not material_cols:
             raise KeyError("未发现任何以“(g)”结尾的物料列，请检查表头。")
 
@@ -544,6 +567,9 @@ class BioyondCellWorkstation(BioyondWorkstation):
                 if mass > 0:
                     mats.append({"name": mcol.replace("(g)", ""), "mass": mass})
                     total_mass += mass
+                else:
+                    if mass < 0:
+                        print(f"[create_orders] 第 {idx+1} 行物料 {mcol} 数值为负数: {mass}")
 
             order_data = {
                 "batchId": batch_id,
@@ -558,11 +584,23 @@ class BioyondCellWorkstation(BioyondWorkstation):
                 "materialInfos": mats,
                 "totalMass": round(total_mass, 4)  # 自动汇总
             }
+            print(f"[create_orders] 第 {idx+1} 行解析结果: orderName={order_data['orderName']}, "
+                  f"loadShedding={order_data['loadSheddingInfo']}, pouchCell={order_data['pouchCellInfo']}, "
+                  f"conductivity={order_data['conductivityInfo']}, totalMass={order_data['totalMass']}, "
+                  f"material_count={len(mats)}")
+
+            if order_data["totalMass"] <= 0:
+                print(f"[create_orders] ⚠️ 第 {idx+1} 行总质量 <= 0，可能导致 LIMS 校验失败")
+            if not mats:
+                print(f"[create_orders] ⚠️ 第 {idx+1} 行未找到有效物料")
+
             orders.append(order_data)
+        print("================================================")
+        print("orders:", orders)
 
-
+        print(f"[create_orders] 即将提交订单数量: {len(orders)}")
         response = self._post_lims("/api/lims/order/orders", orders)
-        print(response)
+        print(f"[create_orders] 接口返回: {response}")
         # 等待任务报送成功
         data_list = response.get("data", [])
         if data_list:
@@ -1013,24 +1051,71 @@ class BioyondCellWorkstation(BioyondWorkstation):
             "create_result": create_result,
             "inbound_result": inbound_result,
         }
+    def resource_tree_transfer(self, old_parent: ResourcePLR, plr_resource: ResourcePLR, parent_resource: ResourcePLR):
+        # ROS2DeviceNode.run_async_func(self._ros_node.resource_tree_transfer, True, **{
+        #     "old_parent": old_parent,
+        #     "plr_resource": plr_resource,
+        #     "parent_resource": parent_resource,
+        # })
+        print("resource_tree_transfer", plr_resource, parent_resource)
+        if hasattr(plr_resource, "unilabos_extra") and plr_resource.unilabos_extra:
+            if "update_resource_site" in plr_resource.unilabos_extra:
+                site = plr_resource.unilabos_extra["update_resource_site"]
+                plr_model = plr_resource.model
+                board_type = None
+                for key, (moudle_name,moudle_uuid) in MATERIAL_TYPE_MAPPINGS.items():
+                    if plr_model == moudle_name:
+                        board_type = key
+                        break
+                if board_type is None:
+                    pass
+                bottle1 = plr_resource.children[0]
 
+                bottle_moudle = bottle1.model
+                bottle_type = None
+                for key, (moudle_name, moudle_uuid) in MATERIAL_TYPE_MAPPINGS.items():
+                    if bottle_moudle == moudle_name:
+                        bottle_type = key
+                        break
+                
+                # 从 parent_resource 获取仓库名称
+                warehouse_name = parent_resource.name if parent_resource else "手动堆栈"
+                logger.info(f"拖拽上料: {plr_resource.name} -> {warehouse_name} / {site}")
+                
+                self.create_sample(plr_resource.name, board_type, bottle_type, site, warehouse_name)
+                return
+        self.lab_logger().warning(f"无库位的上料，不处理，{plr_resource} 挂载到 {parent_resource}")
 
     def create_sample(
         self,
         name: str,
         board_type: str,
         bottle_type: str,
-        location_code: str
+        location_code: str,
+        warehouse_name: str = "手动堆栈"
     ) -> Dict[str, Any]:
         """创建配液板物料并自动入库。
         Args:
-            material_name: 物料名称，支持 "5ml分液瓶板"/"5ml分液瓶"、"配液瓶(小)板"/"配液瓶(小)"。
-            quantity: 主物料与明细的数量，默认 1。
-            location_code: 库位编号，例如 "A01"，将自动映射为 "手动堆栈" 下的 UUID。
+            name: 物料名称
+            board_type: 板类型，如 "5ml分液瓶板"、"配液瓶(小)板"
+            bottle_type: 瓶类型，如 "5ml分液瓶"、"配液瓶(小)"
+            location_code: 库位编号，例如 "A01"
+            warehouse_name: 仓库名称，默认为 "手动堆栈"，支持 "自动堆栈-左"、"自动堆栈-右" 等
         """
         carrier_type_id = MATERIAL_TYPE_MAPPINGS[board_type][1]
         bottle_type_id  = MATERIAL_TYPE_MAPPINGS[bottle_type][1]
-        location_id = WAREHOUSE_MAPPING["手动堆栈"]["site_uuids"][location_code]
+        
+        # 从指定仓库获取库位UUID
+        if warehouse_name not in WAREHOUSE_MAPPING:
+            logger.error(f"未找到仓库: {warehouse_name}，回退到手动堆栈")
+            warehouse_name = "手动堆栈"
+        
+        if location_code not in WAREHOUSE_MAPPING[warehouse_name]["site_uuids"]:
+            logger.error(f"仓库 {warehouse_name} 中未找到库位 {location_code}")
+            raise ValueError(f"库位 {location_code} 在仓库 {warehouse_name} 中不存在")
+        
+        location_id = WAREHOUSE_MAPPING[warehouse_name]["site_uuids"][location_code]
+        logger.info(f"创建样品入库: {name} -> {warehouse_name}/{location_code} (UUID: {location_id})")
 
         # 新建小瓶
         details = []
@@ -1073,19 +1158,14 @@ class BioyondCellWorkstation(BioyondWorkstation):
 
 if __name__ == "__main__":
     lab_registry.setup()
-    ws = BioyondCellWorkstation()
-    ws.create_sample(name="test", board_type="配液瓶(小)板", bottle_type="配液瓶(小)", location_code="B01")
+    deck = BIOYOND_YB_Deck(setup=True)
+    ws = BioyondCellWorkstation(deck=deck)
+    # ws.create_sample(name="test", board_type="配液瓶(小)板", bottle_type="配液瓶(小)", location_code="B01")
     # logger.info(ws.scheduler_stop())
     # logger.info(ws.scheduler_start())
     
-    # results = ws.create_materials(SOLID_LIQUID_MAPPINGS)
-    # for r in results:
-        # logger.info(r)
-    # 从CSV文件读取物料列表并批量创建入库
-    # result = ws.create_and_inbound_materials()
-    
     # 继续后续流程
-    logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱
+    # logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱
     # # # 使用正斜杠或 Path 对象来指定文件路径
     # excel_path = Path("unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\2025092701.xlsx")
     # logger.info(ws.create_orders(excel_path))

unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_workstation copy.py

@@ -1,715 +0,0 @@
-# -*- coding: utf-8 -*-
-from typing import Dict, Any, List, Optional
-from datetime import datetime, timezone
-import requests
-from pathlib import Path
-import pandas as pd
-import time
-from datetime import datetime, timezone, timedelta
-import re
-import threading
-from unilabos.devices.workstation.workstation_base import WorkstationBase
-from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
-from unilabos.utils.log import logger
-from pylabrobot.resources.deck import Deck
-
-
-def _iso_utc_now_ms() -> str:
-    # 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z
-    dt = datetime.now(timezone.utc)
-    return dt.strftime("%Y-%m-%dT%H:%M:%S.") + f"{int(dt.microsecond/1000):03d}Z"
-
-
-class BioyondWorkstation(WorkstationBase):
-    """
-    集成 Bioyond LIMS 的工作站示例，
-    覆盖：入库(2.17/2.18) → 新建实验(2.14) → 启动调度(2.7) →
-    运行中推送：物料变更(2.24)、步骤完成(2.21)、订单完成(2.23) →
-    查询实验(2.5/2.6) → 3-2-1 转运(2.32) → 样品/废料取出(2.28)
-    """
-
-    def __init__(
-        self,
-        bioyond_config: Optional[Dict[str, Any]] = None,
-        station_resource: Optional[Dict[str, Any]] = None,
-        debug_mode: bool = False,   # 增加调试模式开关
-        *args, **kwargs,
-    ):
-        self.bioyond_config = bioyond_config or {
-            "base_url": "http://192.168.1.200:44386",
-            "api_key": "8A819E5C",
-            "timeout": 30,
-            "report_token": "CHANGE_ME_TOKEN"
-        }
-
-        self.http_service_started = False
-        self.debug_mode = debug_mode
-        super().__init__(deck=Deck, station_resource=station_resource, *args, **kwargs)
-        logger.info(f"Bioyond工作站初始化完成 (debug_mode={self.debug_mode})")
-
-        # 实例化并在后台线程启动 HTTP 报送服务
-        self.order_status = {}
-        try:
-            t = threading.Thread(target=self._start_http_service_bg, daemon=True, name="unilab_http")
-            t.start()
-
-        except Exception as e:
-            logger.error(f"unilab-server后台启动报送服务失败: {e}")
-
-    @property
-    def device_id(self) -> str:
-        try:
-            return getattr(self, "_ros_node").device_id  # 兼容 ROS 场景
-        except Exception:
-            return "bioyond_workstation"
-
-    def _start_http_service_bg(self, host: str = "192.168.1.104", port: int = 8080) -> None:
-        logger.info("进入 _start_http_service_bg 函数")
-        try:
-            self.service = WorkstationHTTPService(self, host=host, port=port)
-            logger.info("WorkstationHTTPService 实例化完成")
-            self.service.start()
-            self.http_service_started = True
-            logger.info(f"unilab_HTTP 服务成功启动: {host}:{port}")
-
-            #一直挂着，直到进程退出
-            while True:
-                time.sleep(1)
-
-        except Exception as e:
-            self.http_service_started = False
-            logger.error(f"启动unilab_HTTP服务失败: {e}", exc_info=True)
-
-    # -------------------- 基础HTTP封装 --------------------
-    def _url(self, path: str) -> str:
-        return f"{self.bioyond_config['base_url'].rstrip('/')}/{path.lstrip('/')}"
-
-    def _post_lims(self, path: str, data: Optional[Any] = None) -> Dict[str, Any]:
-        """LIMS API：大多数接口用 {apiKey/requestTime,data} 包装"""
-        payload = {
-            "apiKey": self.bioyond_config["api_key"],
-            "requestTime": _iso_utc_now_ms()
-        }
-        if data is not None:
-            payload["data"] = data
-
-        if self.debug_mode:
-            # 模拟返回，不发真实请求
-            logger.info(f"[DEBUG] POST {path} with payload={payload}")
-            return {"debug": True, "url": self._url(path), "payload": payload, "status": "ok"}
-
-        try:
-            r = requests.post(
-                self._url(path),
-                json=payload,
-                timeout=self.bioyond_config.get("timeout", 30),
-                headers={"Content-Type": "application/json"}
-            )
-            r.raise_for_status()
-            return r.json()
-        except Exception as e:
-            logger.error(f"POST {path} 失败: {e}")
-            return {"error": str(e)}
-
-    # --- 修正：_post_report / _post_report_raw 同样走 debug_mode ---
-    def _post_report(self, path: str, data: Dict[str, Any]) -> Dict[str, Any]:
-        payload = {
-            "token": self.bioyond_config.get("report_token", ""),
-            "request_time": _iso_utc_now_ms(),
-            "data": data
-        }
-        if self.debug_mode:
-            logger.info(f"[DEBUG] POST {path} with payload={payload}")
-            return {"debug": True, "url": self._url(path), "payload": payload, "status": "ok"}
-        try:
-            r = requests.post(self._url(path), json=payload,
-                            timeout=self.bioyond_config.get("timeout", 30),
-                            headers={"Content-Type": "application/json"})
-            r.raise_for_status()
-            return r.json()
-        except Exception as e:
-            logger.error(f"POST {path} 失败: {e}")
-            return {"error": str(e)}
-
-    def _post_report_raw(self, path: str, body: Dict[str, Any]) -> Dict[str, Any]:
-        if self.debug_mode:
-            logger.info(f"[DEBUG] POST {path} with body={body}")
-            return {"debug": True, "url": self._url(path), "payload": body, "status": "ok"}
-        try:
-            r = requests.post(self._url(path), json=body,
-                            timeout=self.bioyond_config.get("timeout", 30),
-                            headers={"Content-Type": "application/json"})
-            r.raise_for_status()
-            return r.json()
-        except Exception as e:
-            logger.error(f"POST {path} 失败: {e}")
-            return {"error": str(e)}
-
-
-    # -------------------- 单点接口封装 --------------------
-    # 2.17 入库物料（单个）
-    def storage_inbound(self, material_id: str, location_id: str) -> Dict[str, Any]:
-        return self._post_lims("/api/lims/storage/inbound", {
-            "materialId": material_id,
-            "locationId": location_id
-        })
-
-    # 2.18 批量入库（多个）
-    def storage_batch_inbound(self, items: List[Dict[str, str]]) -> Dict[str, Any]:
-        """
-        items = [{"materialId": "...", "locationId": "..."}, ...]
-        """
-        return self._post_lims("/api/lims/storage/batch-inbound", items)
-
-    # 3.30 自动化上料（Excel -> JSON -> POST /api/lims/order/auto-feeding4to3）
-    def auto_feeding4to3_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]:
-        """
-        根据固定模板解析 Excel：
-        - 四号手套箱加样头面 (2-13行, 3-7列)
-        - 四号手套箱原液瓶面 (15-23行, 3-9列)
-        - 三号手套箱人工堆栈 (26-40行, 3-7列)
-        """
-        path = Path(xlsx_path)
-        if not path.exists():
-            raise FileNotFoundError(f"未找到 Excel 文件：{path}")
-
-        try:
-            df = pd.read_excel(path, sheet_name=0, header=None, engine="openpyxl")
-        except Exception as e:
-            raise RuntimeError(f"读取 Excel 失败：{e}")
-
-        items: List[Dict[str, Any]] = []
-
-        # 四号手套箱 - 加样头面（2-13行, 3-7列）
-        for _, row in df.iloc[1:13, 2:7].iterrows():
-            item = {
-                "sourceWHName": "四号手套箱堆栈",
-                "posX": int(row[2]),
-                "posY": int(row[3]),
-                "posZ": int(row[4]),
-                "materialName": str(row[5]).strip() if pd.notna(row[5]) else "",
-                "quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
-            }
-            if item["materialName"]:
-                items.append(item)
-
-        # 四号手套箱 - 原液瓶面（15-23行, 3-9列）
-        for _, row in df.iloc[14:23, 2:9].iterrows():
-            item = {
-                "sourceWHName": "四号手套箱堆栈",
-                "posX": int(row[2]),
-                "posY": int(row[3]),
-                "posZ": int(row[4]),
-                "materialName": str(row[5]).strip() if pd.notna(row[5]) else "",
-                "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 "",
-            }
-            if item["materialName"]:
-                items.append(item)
-
-        # 三号手套箱人工堆栈（26-40行, 3-7列）
-        for _, row in df.iloc[25:40, 2:7].iterrows():
-            item = {
-                "sourceWHName": "三号手套箱人工堆栈",
-                "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  # 默认数量1
-            }
-            if item["materialId"] or item["materialType"]:
-                items.append(item)
-
-        return self._post_lims("/api/lims/order/auto-feeding4to3", items)
-
-
-
-    def auto_batch_outbound_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]:
-        """
-        3.31 自动化下料（Excel -> JSON -> POST /api/lims/storage/auto-batch-out-bound）
-        """
-        path = Path(xlsx_path)
-        if not path.exists():
-            raise FileNotFoundError(f"未找到 Excel 文件：{path}")
-
-        try:
-            df = pd.read_excel(path, sheet_name=0, engine="openpyxl")
-        except Exception as e:
-            raise RuntimeError(f"读取 Excel 失败：{e}")
-
-        def pick(names: List[str]) -> Optional[str]:
-            for n in names:
-                if n in df.columns:
-                    return n
-            return None
-
-        c_loc = pick(["locationId", "库位ID", "库位Id", "库位id"])
-        c_wh  = pick(["warehouseId", "仓库ID", "仓库Id", "仓库id"])
-        c_qty = pick(["数量", "quantity"])
-        c_x   = pick(["x", "X", "posX", "坐标X"])
-        c_y   = pick(["y", "Y", "posY", "坐标Y"])
-        c_z   = pick(["z", "Z", "posZ", "坐标Z"])
-
-        required = [c_loc, c_wh, c_qty, c_x, c_y, c_z]
-        if any(c is None for c in required):
-            raise KeyError("Excel 缺少必要列：locationId/warehouseId/数量/x/y/z（支持多别名，至少要能匹配到）。")
-
-        def as_int(v, d=0):
-            try:
-                if pd.isna(v): return d
-                return int(v)
-            except Exception:
-                try:
-                    return int(float(v))
-                except Exception:
-                    return d
-
-        def as_float(v, d=0.0):
-            try:
-                if pd.isna(v): return d
-                return float(v)
-            except Exception:
-                return d
-
-        def as_str(v, d=""):
-            if v is None or (isinstance(v, float) and pd.isna(v)): return d
-            s = str(v).strip()
-            return s if s else d
-
-        items: List[Dict[str, Any]] = []
-        for _, row in df.iterrows():
-            items.append({
-                "locationId": as_str(row[c_loc]),
-                "warehouseId": as_str(row[c_wh]),
-                "quantity": as_float(row[c_qty]),
-                "x": as_int(row[c_x]),
-                "y": as_int(row[c_y]),
-                "z": as_int(row[c_z]),
-            })
-
-        return self._post_lims("/api/lims/storage/auto-batch-out-bound", items)
-
-    # 2.14 新建实验
-    def create_orders(self, xlsx_path: str) -> Dict[str, Any]:
-        """
-        从 Excel 解析并创建实验（2.14）
-        约定：
-        - batchId = Excel 文件名（不含扩展名）
-        - 物料列：所有以 "(g)" 结尾（不再读取“总质量(g)”列）
-        - totalMass 自动计算为所有物料质量之和
-        - createTime 缺失或为空时自动填充为当前日期（YYYY/M/D）
-        """
-        path = Path(xlsx_path)
-        if not path.exists():
-            raise FileNotFoundError(f"未找到 Excel 文件：{path}")
-
-        try:
-            df = pd.read_excel(path, sheet_name=0, engine="openpyxl")
-        except Exception as e:
-            raise RuntimeError(f"读取 Excel 失败：{e}")
-
-        # 列名容错：返回可选列名，找不到则返回 None
-        def _pick(col_names: List[str]) -> Optional[str]:
-            for c in col_names:
-                if c in df.columns:
-                    return c
-            return None
-
-        col_order_name = _pick(["配方ID", "orderName", "订单编号"])
-        col_create_time = _pick(["创建日期", "createTime"])
-        col_bottle_type = _pick(["配液瓶类型", "bottleType"])
-        col_mix_time = _pick(["混匀时间(s)", "mixTime"])
-        col_load = _pick(["扣电组装分液体积", "loadSheddingInfo"])
-        col_pouch = _pick(["软包组装分液体积", "pouchCellInfo"])
-        col_cond = _pick(["电导测试分液体积", "conductivityInfo"])
-        col_cond_cnt = _pick(["电导测试分液瓶数", "conductivityBottleCount"])
-
-        # 物料列：所有以 (g) 结尾
-        material_cols = [c for c in df.columns if isinstance(c, str) and c.endswith("(g)")]
-        if not material_cols:
-            raise KeyError("未发现任何以“(g)”结尾的物料列，请检查表头。")
-
-        batch_id = path.stem
-
-        def _to_ymd_slash(v) -> str:
-            # 统一为 "YYYY/M/D"；为空或解析失败则用当前日期
-            if v is None or (isinstance(v, float) and pd.isna(v)) or str(v).strip() == "":
-                ts = datetime.now()
-            else:
-                try:
-                    ts = pd.to_datetime(v)
-                except Exception:
-                    ts = datetime.now()
-            return f"{ts.year}/{ts.month}/{ts.day}"
-
-        def _as_int(val, default=0) -> int:
-            try:
-                if pd.isna(val):
-                    return default
-                return int(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
-            s = str(val).strip()
-            return s if s else default
-
-        orders: List[Dict[str, Any]] = []
-
-        for idx, row in df.iterrows():
-            mats: List[Dict[str, Any]] = []
-            total_mass = 0.0
-
-            for mcol in material_cols:
-                val = row.get(mcol, None)
-                if val is None or (isinstance(val, float) and pd.isna(val)):
-                    continue
-                try:
-                    mass = float(val)
-                except Exception:
-                    continue
-                if mass > 0:
-                    mats.append({"name": mcol.replace("(g)", ""), "mass": mass})
-                    total_mass += mass
-
-            order_data = {
-                "batchId": batch_id,
-                "orderName": _as_str(row[col_order_name], default=f"{batch_id}_order_{idx+1}") if col_order_name else f"{batch_id}_order_{idx+1}",
-                "createTime": _to_ymd_slash(row[col_create_time]) if col_create_time else _to_ymd_slash(None),
-                "bottleType": _as_str(row[col_bottle_type], default="配液小瓶") if col_bottle_type else "配液小瓶",
-                "mixTime": _as_int(row[col_mix_time]) if col_mix_time else 0,
-                "loadSheddingInfo": _as_int(row[col_load]) if col_load else 0,
-                "pouchCellInfo": _as_int(row[col_pouch]) if col_pouch else 0,
-                "conductivityInfo": _as_int(row[col_cond]) if col_cond else 0,
-                "conductivityBottleCount": _as_int(row[col_cond_cnt]) if col_cond_cnt else 0,
-                "materialInfos": mats,
-                "totalMass": round(total_mass, 4)  # 自动汇总
-            }
-            orders.append(order_data)
-
-        # print(orders)
-
-        response = self._post_lims("/api/lims/order/orders", orders)
-        self.order_status[response["data"]["orderCode"]] = "running"
-
-        while True:
-            time.sleep(5)
-            if self.order_status.get(response["data"]["orderCode"], None) == "finished":
-                logger.info(f"配液实验已完成 ，即将执行 3-2-1 转运")
-                break
-            logger.info(f"等待配液实验完成")
-
-        self.transfer_3_to_2_to_1()
-        r321 = self.wait_for_transfer_task()
-        logger.info(f"3-2-1 转运完成，返回结果")
-        return r321
-
-
-    # 2.7 启动调度
-    def scheduler_start(self) -> Dict[str, Any]:
-        return self._post_lims("/api/lims/scheduler/start")
-    # 3.10 停止调度
-    def scheduler_stop(self) -> Dict[str, Any]:
-        """
-        停止调度 (3.10)
-        请求体只包含 apiKey 和 requestTime
-        """
-        return self._post_lims("/api/lims/scheduler/stop")
-            # 2.9 继续调度
-    def scheduler_continue(self) -> Dict[str, Any]:
-        """
-        继续调度 (2.9)
-        请求体只包含 apiKey 和 requestTime
-        """
-        return self._post_lims("/api/lims/scheduler/continue")
-
-
-
-    # 2.24 物料变更推送
-    def report_material_change(self, material_obj: Dict[str, Any]) -> Dict[str, Any]:
-        """
-        material_obj 按 2.24 的裸对象格式（包含 id/typeName/locations/detail 等）
-        """
-        return self._post_report_raw("/report/material_change", material_obj)
-
-    # 2.21 步骤完成推送（BS → LIMS）
-    def report_step_finish(self,
-                           order_code: str,
-                           order_name: str,
-                           step_name: str,
-                           step_id: str,
-                           sample_id: str,
-                           start_time: str,
-                           end_time: str,
-                           execution_status: str = "completed") -> Dict[str, Any]:
-        data = {
-            "orderCode": order_code,
-            "orderName": order_name,
-            "stepName": step_name,
-            "stepId": step_id,
-            "sampleId": sample_id,
-            "startTime": start_time,
-            "endTime": end_time,
-            "executionStatus": execution_status
-        }
-        return self._post_report("/report/step_finish", data)
-
-    # 2.23 订单完成推送（BS → LIMS）
-    def report_order_finish(self,
-                            order_code: str,
-                            order_name: str,
-                            start_time: str,
-                            end_time: str,
-                            status: str = "30",  # 30 完成 / -11 异常停止 / -12 人工停止
-                            workflow_status: str = "Finished",
-                            completion_time: Optional[str] = None,
-                            used_materials: Optional[List[Dict[str, Any]]] = None) -> Dict[str, Any]:
-        data = {
-            "orderCode": order_code,
-            "orderName": order_name,
-            "startTime": start_time,
-            "endTime": end_time,
-            "status": status,
-            "workflowStatus": workflow_status,
-            "completionTime": completion_time or end_time,
-            "usedMaterials": used_materials or []
-        }
-        return self._post_report("/report/order_finish", data)
-
-    # 2.5 批量查询实验报告（用于轮询是否完成）
-    def order_list(self,
-                   status: Optional[str] = None,
-                   begin_time: Optional[str] = None,
-                   end_time: Optional[str] = None,
-                   filter_text: Optional[str] = None,
-                   skip: int = 0, page: int = 10) -> Dict[str, Any]:
-        data: Dict[str, Any] = {"skipCount": skip, "pageCount": page}
-        if status is not None:  # 80 成功 / 90 失败 / 100 执行中
-            data["status"] = status
-        if begin_time:
-            data["timeType"] = "CreationTime"
-            data["beginTime"] = begin_time
-        if end_time:
-            data["endTime"] = end_time
-        if filter_text:
-            data["filter"] = filter_text
-        return self._post_lims("/api/lims/order/order-list", data)
-
-    # 2.6 实验报告查询（根据任务ID拿详情）
-    def order_report(self, order_id: str) -> Dict[str, Any]:
-        return self._post_lims("/api/lims/order/order-report", order_id)
-
-    # 2.32 3-2-1 物料转运
-    def transfer_3_to_2_to_1(self,
-                            #  source_wh_id: Optional[str] = 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]:
-        payload: Dict[str, Any] = {
-            "sourcePosX": source_x, "sourcePosY": source_y, "sourcePosZ": source_z
-        }
-        if source_wh_id:
-            payload["sourceWHID"] = source_wh_id
-        return self._post_lims("/api/lims/order/transfer-task3To2To1", payload)
-
-    # 2.28 样品/废料取出
-    def take_out(self,
-                 order_id: str,
-                 preintake_ids: Optional[List[str]] = None,
-                 material_ids: Optional[List[str]] = None) -> Dict[str, Any]:
-        data = {
-            "orderId": order_id,
-            "preintakeIds": preintake_ids or [],
-            "materialIds": material_ids or []
-        }
-        return self._post_lims("/api/lims/order/take-out", data)
-
-    # --------（可选）占位方法：文档未定义的“1号站内部流程 / 1-2转运”--------
-    def start_station1_internal_flow(self, **kwargs) -> None:
-        logger.info("启动1号站内部流程（占位，按现场系统填充具体指令）")
-
-
-    # 3.x 1→2 物料转运
-    def transfer_1_to_2(self) -> Dict[str, Any]:
-        """
-        1→2 物料转运
-        URL: /api/lims/order/transfer-task1To2
-        只需要 apiKey 和 requestTime
-        """
-        return self._post_lims("/api/lims/order/transfer-task1To2")
-
-
-    # -------------------- 整体编排 --------------------
-    def run_full_workflow(self,
-                          inbound_items: List[Dict[str, str]],
-                          orders: List[Dict[str, Any]],
-                          poll_filter_code: Optional[str] = None,
-                          poll_timeout_s: int = 600,
-                          poll_interval_s: int = 5,
-                          transfer_source: Optional[Dict[str, Any]] = None,
-                          takeout_order_id: Optional[str] = None) -> None:
-        """
-        一键串联：
-        1) 入库 3-4 个物料 → 2) 新建实验 → 3) 启动调度
-        运行中（如需）：4) 物料变更推送 5) 步骤完成推送 6) 订单完成推送
-        完成后：查询实验（2.5/2.6）→ 7) 3-2-1 转运 → 8) 1号站内部流程
-        → 9) 1-2 转运 → 10) 样品/废料取出
-        """
-        # 1. 入库（多于1个就用批量接口 2.18）
-        if len(inbound_items) == 1:
-            r = self.storage_inbound(inbound_items[0]["materialId"], inbound_items[0]["locationId"])
-            logger.info(f"单个入库结果: {r}")
-        else:
-            r = self.storage_batch_inbound(inbound_items)
-            logger.info(f"批量入库结果: {r}")
-
-        # 2. 新建实验（2.14）
-        r = self.create_orders(orders)
-        logger.info(f"新建实验结果: {r}")
-
-        # 3. 启动调度（2.7）
-        r = self.scheduler_start()
-        logger.info(f"启动调度结果: {r}")
-
-        # —— 运行中各类推送（2.24 / 2.21 / 2.23），通常由实际任务驱动，这里提供调用方式 —— #
-        # self.report_material_change({...})
-        # self.report_step_finish(order_code="BSO...", order_name="配液分液", step_name="xxx", step_id="...", sample_id="...",
-        #                         start_time=_iso_utc_now_ms(), end_time=_iso_utc_now_ms(), execution_status="completed")
-        # self.report_order_finish(order_code="BSO...", order_name="配液分液", start_time="...", end_time=_iso_utc_now_ms())
-
-        # 完成后才能转运：用 2.5 批量查询配合 filter=任务编码 轮询到 status=80（成功）
-        if poll_filter_code:
-            import time
-            deadline = time.time() + poll_timeout_s
-            while time.time() < deadline:
-                res = self.order_list(status="80", filter_text=poll_filter_code, page=5)
-                if isinstance(res, dict) and res.get("data", {}).get("items"):
-                    logger.info(f"实验 {poll_filter_code} 已完成：{res['data']['items'][0]}")
-                    break
-                time.sleep(poll_interval_s)
-            else:
-                logger.warning(f"等待实验 {poll_filter_code} 完成超时（未到 status=80）")
-
-        # 7. 启动 3-2-1 转运（2.32）
-        if transfer_source:
-            r = self.transfer_3_to_2_to_1(
-                source_wh_id=transfer_source.get("sourceWHID"),
-                source_x=transfer_source.get("sourcePosX", 1),
-                source_y=transfer_source.get("sourcePosY", 1),
-                source_z=transfer_source.get("sourcePosZ", 1),
-            )
-            logger.info(f"3-2-1 转运结果: {r}")
-
-        # 8. 1号站内部流程（占位）
-        self.start_station1_internal_flow()
-
-        # 9. 1→2 转运（占位）
-        self.transfer_1_to_2()
-
-        # 10. 样品/废料取出（2.28）
-        if takeout_order_id:
-            r = self.take_out(order_id=takeout_order_id)
-            logger.info(f"样品/废料取出结果: {r}")
-
-    # 2.5 批量查询实验报告
-    def order_list_v2(self,
-                      timeType: str = "string",
-                      beginTime: str = "",
-                      endTime: str = "",
-                      status: str = "",
-                      filter: str = "物料转移任务",
-                      skipCount: int = 0,
-                      pageCount: int = 1,
-                      sorting: str = "") -> Dict[str, Any]:
-        """
-        批量查询实验报告的详细信息 (2.5)
-        URL: /api/lims/order/order-list
-        参数默认值和接口文档保持一致
-        """
-        data: Dict[str, Any] = {
-            "timeType": timeType,
-            "beginTime": beginTime,
-            "endTime": endTime,
-            "status": status,
-            "filter": filter,
-            "skipCount": skipCount,
-            "pageCount": pageCount,
-            "sorting": sorting
-        }
-        return self._post_lims("/api/lims/order/order-list", data)
-
-        
-    def wait_for_transfer_task(self, timeout: int = 600, interval: int = 3) -> bool:
-        """
-        轮询查询物料转移任务是否成功完成 (status=80)
-        - timeout: 最大等待秒数 (默认600秒)
-        - interval: 轮询间隔秒数 (默认3秒)
-        返回 True 表示找到并成功完成，False 表示超时未找到
-        """
-        now = datetime.now()
-        beginTime = now.strftime("%Y-%m-%dT%H:%M:%SZ")
-        endTime = (now + timedelta(minutes=5)).strftime("%Y-%m-%dT%H:%M:%SZ")
-        print(beginTime, endTime)
-
-        deadline = time.time() + timeout
-
-        while time.time() < deadline:
-            result = self.order_list_v2(
-                timeType="string",
-                beginTime=beginTime,
-                endTime=endTime,
-                status="",
-                filter="物料转移任务",
-                skipCount=0,
-                pageCount=1,
-                sorting=""
-            )
-            print(result)
-
-            items = result.get("data", {}).get("items", [])
-            for item in items:
-                name = item.get("name", "")
-                status = item.get("status")
-                if name.startswith("物料转移任务") and status == 80:
-                    logger.info(f"硬件转移动作完成: {name}")
-                    return True
-
-            time.sleep(interval)
-
-        logger.warning("超时未找到成功的物料转移任务")
-        return False
-
-
-# --------------------------------
-if __name__ == "__main__":
-    ws = BioyondWorkstation()
-    # ws.scheduler_stop()
-    ws.scheduler_start()
-    logger.info("调度启动完成")
-
-    # ws.scheduler_continue()
-    # 3.30 上料：读取模板 Excel 自动解析并 POST
-    r1 = ws.auto_feeding4to3_from_xlsx(r"C:\ML\GitHub\Uni-Lab-OS\unilabos\devices\workstation\bioyond_cell\样品导入模板 (8).xlsx")
-    ws.wait_for_transfer_task()
-    logger.info("4号箱向3号箱转运物料转移任务已完成")
-
-    # ws.scheduler_start()
-    # print(r1["payload"]["data"])   # 调试模式下可直接看到要发的 JSON items
-
-    # 新建实验
-    res = ws.create_orders("C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_cell/2025092501.xlsx")
-    # ws.scheduler_start()
-    # print(res)
-
-    #1号站启动
-    ws.transfer_1_to_2()
-    ws.wait_for_transfer_task()
-    logger.info("1号站向2号站转移任务完成")
-    logger.info("全流程结束")
-
-    # 3.31 下料：同理
-    # r2 = ws.auto_batch_outbound_from_xlsx(r"C:/path/样品导入模板 (8).xlsx")
-    # print(r2["payload"]["data"])

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

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

unilabos/devices/workstation/bioyond_studio/config.py

@@ -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://172.21.32.65:44389"),#实机
-    "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.10.169:44388"),# 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", "172.21.32.83"),  # 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
 }
@@ -234,22 +234,22 @@ WAREHOUSE_MAPPING = {
 
 # 物料类型配置
 MATERIAL_TYPE_MAPPINGS = {
-    "100ml液体": ("YB_1Bottle100mlCarrier", "d37166b3-ecaa-481e-bd84-3032b795ba07"),
-    "液": ("YB_1BottleCarrier", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"),
-    "高粘液": ("YB_1GaoNianYeBottleCarrier", "abe8df30-563d-43d2-85e0-cabec59ddc16"),
-    "加样头(大)": ("YB_jia_yang_tou_da", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
-    "加样头(大)板": ("YB_jia_yang_tou_da_1X1_carrier", "a8e714ae-2a4e-4eb9-9614-e4c140ec3f16"),
-    "5ml分液瓶板": ("YB_6x5ml_DispensingVialCarrier", "3a192fa4-007d-ec7b-456e-2a8be7a13f23"),
-    "5ml分液瓶": ("YB_fen_ye_5ml_Bottle", "3a192c2a-ebb7-58a1-480d-8b3863bf74f4"),
-    "20ml分液瓶板": ("YB_6x20ml_DispensingVialCarrier", "3a192fa4-47db-3449-162a-eaf8aba57e27"),
-    "20ml分液瓶": ("YB_fen_ye_20ml_Bottle", "3a192c2b-19e8-f0a3-035e-041ca8ca1035"),
-    "配液瓶(小)板": ("YB_6x_SmallSolutionBottleCarrier", "3a190c8b-3284-af78-d29f-9a69463ad047"),
+    "100ml液体": ("YB_100ml_yeti", "d37166b3-ecaa-481e-bd84-3032b795ba07"),
+    "液": ("YB_ye", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"),
+    "高粘液": ("YB_gaonianye", "abe8df30-563d-43d2-85e0-cabec59ddc16"),
+    "加样头(大)": ("YB_jia_yang_tou_da_Carrier", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
+    # "加样头(大)板": ("YB_jia_yang_tou_da", "a8e714ae-2a4e-4eb9-9614-e4c140ec3f16"),
+    "5ml分液瓶板": ("YB_5ml_fenyepingban", "3a192fa4-007d-ec7b-456e-2a8be7a13f23"),
+    "5ml分液瓶": ("YB_5ml_fenyeping", "3a192c2a-ebb7-58a1-480d-8b3863bf74f4"),
+    "20ml分液瓶板": ("YB_20ml_fenyepingban", "3a192fa4-47db-3449-162a-eaf8aba57e27"),
+    "20ml分液瓶": ("YB_20ml_fenyeping", "3a192c2b-19e8-f0a3-035e-041ca8ca1035"),
+    "配液瓶(小)板": ("YB_peiyepingxiaoban", "3a190c8b-3284-af78-d29f-9a69463ad047"),
     "配液瓶(小)": ("YB_pei_ye_xiao_Bottle", "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"),
-    "配液瓶(大)板": ("YB_4x_LargeSolutionBottleCarrier", "53e50377-32dc-4781-b3c0-5ce45bc7dc27"),
+    "配液瓶(大)板": ("YB_peiyepingdaban", "53e50377-32dc-4781-b3c0-5ce45bc7dc27"),
     "配液瓶(大)": ("YB_pei_ye_da_Bottle", "19c52ad1-51c5-494f-8854-576f4ca9c6ca"),
-    "适配器块": ("YB_AdapterBlock", "efc3bb32-d504-4890-91c0-b64ed3ac80cf"),
-    "枪头盒": ("YB_TipBox", "3a192c2e-20f3-a44a-0334-c8301839d0b3"),
-    "枪头": ("YB_Pipette_Tip", "b6196971-1050-46da-9927-333e8dea062d"),
+    "适配器块": ("YB_shi_pei_qi_kuai", "efc3bb32-d504-4890-91c0-b64ed3ac80cf"),
+    "枪头盒": ("YB_qiang_tou_he", "3a192c2e-20f3-a44a-0334-c8301839d0b3"),
+    "枪头": ("YB_qiang_tou", "b6196971-1050-46da-9927-333e8dea062d"),
 }
 
 SOLID_LIQUID_MAPPINGS = {

unilabos/devices/workstation/bioyond_studio/station.py

@@ -21,7 +21,6 @@ from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNo
 from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
 from pylabrobot.resources.resource import Resource as ResourcePLR
 
-from unilabos.resources.bioyond.decks import YB_Deck
 from unilabos.devices.workstation.bioyond_studio.config import (
     API_CONFIG, WORKFLOW_MAPPINGS, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING
 )
@@ -64,7 +63,7 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
                 logger.error("Bioyond API客户端未初始化")
                 return False
 
-            bioyond_data = self.bioyond_api_client.stock_material('{"typeMode": 1, "includeDetail": true}')
+            bioyond_data = self.bioyond_api_client.stock_material('{"typeMode": 2, "includeDetail": true}')
             if not bioyond_data:
                 logger.warning("从Bioyond获取的物料数据为空")
                 return False
@@ -138,7 +137,7 @@ class BioyondWorkstation(WorkstationBase):
         # 初始化父类
         super().__init__(
             # 桌子
-            deck=YB_Deck("YB_Deck14"),
+            deck=deck,
             *args,
             **kwargs,
         )
@@ -173,10 +172,23 @@ class BioyondWorkstation(WorkstationBase):
 
     def post_init(self, ros_node: ROS2WorkstationNode):
         self._ros_node = ros_node
+        print("~~~",self._ros_node)
+        print("deck",self.deck)
         ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
             "resources": [self.deck]
         })
-
+    def resource_tree_transfer(self, old_parent: ResourcePLR, plr_resource: ResourcePLR, parent_resource: ResourcePLR):
+        # ROS2DeviceNode.run_async_func(self._ros_node.resource_tree_transfer, True, **{
+        #     "old_parent": old_parent,
+        #     "plr_resource": plr_resource,
+        #     "parent_resource": parent_resource,
+        # })
+        print("resource_tree_transfer", plr_resource, parent_resource)
+        if hasattr(plr_resource, "unilabos_data") and plr_resource.unilabos_data:
+            if "update_resource_site" in plr_resource.unilabos_data:
+                site = plr_resource.unilabos_data["update_resource_site"]
+                return
+        self.lab_logger().warning(f"无库位的上料，不处理，{plr_resource} 挂载到 {parent_resource}")
     def transfer_resource_to_another(self, resource: List[ResourceSlot], mount_resource: List[ResourceSlot], sites: List[str], mount_device_id: DeviceSlot):
         ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True, **{
             "plr_resources": resource,

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
@@ -387,17 +388,17 @@ class ClipMagazineHole(Container):
         }
 
 # TODO: 这个要改
-class ClipMagazine(Resource):
+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 = 20.0,
-        hole_depth: float = 50.0,
+        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",
@@ -441,6 +442,7 @@ class ClipMagazine(Resource):
             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
@@ -744,7 +746,7 @@ class BottleRackState(TypedDict):
 
 class BottleRack(Resource):
     """瓶架类 - 12个待配位置+12个已配位置"""
-    children: List[Bottle] = []
+    children: List[Resource] = []
 
     def __init__(
             self,
@@ -754,6 +756,12 @@ class BottleRack(Resource):
             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
 
@@ -773,13 +781,42 @@ class BottleRack(Resource):
             category=category,
             model=model,
         )
-        # TODO: 添加瓶位坐标映射
-        self.index_to_pos = {
-            0: Coordinate.zero(),
-            1: Coordinate(x=1, y=2, z=3)  # 添加
-        }
+        # 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"""
@@ -789,20 +826,23 @@ class BottleRack(Resource):
     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）
+        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(self, resource: Bottle, location=Coordinate.zero(), reassign = True):
-        assert len(self.children) <= 12, "瓶架已满，无法添加更多瓶子"
+    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 = Coordinate(x=20 + (index % 4) * 15, y=20 + (index // 4) * 15, z=0)
+        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_by_index(self, resource: Bottle, index: int):
-        assert 0 <= index < 12, "无效的瓶子索引"
+    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)
@@ -811,10 +851,16 @@ class BottleRack(Resource):
         super().unassign_child_resource(resource)
         self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None)
 
-    # def serialize(self):
-    #     self.children.sort(key=lambda x: self.name_to_index.get(x.name, 0))
-    #     return super().serialize()
-
+    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
@@ -868,16 +914,83 @@ class Bottle(Resource):
         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 = 1000.0,  # 1m
-        size_y: float = 1000.0,  # 1m
-        size_z: float = 900.0,   # 0.9m
-        origin: Coordinate = Coordinate(0, 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
     ):
@@ -904,59 +1017,131 @@ class CoincellDeck(Deck):
             self.setup()
 
     def setup(self) -> None:
-        """设置工作站的标准布局 - 包含3个料盘"""
-        # 步骤 1: 创建所有料盘
-        self.plates = {
-            "liaopan1": MaterialPlate(
-                name="liaopan1", 
-                size_x=120.8, 
-                size_y=120.5, 
-                size_z=10.0, 
-                fill=True
-            ),
-            "liaopan2": MaterialPlate(
-                name="liaopan2", 
-                size_x=120.8, 
-                size_y=120.5, 
-                size_z=10.0, 
-                fill=True
-            ),
-            "电池料盘": MaterialPlate(
-                name="电池料盘", 
-                size_x=120.8, 
-                size_y=160.5, 
-                size_z=10.0, 
-                fill=True
-            ),
-        }
+        """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))
         
-        # 步骤 2: 定义料盘在 deck 上的位置
-        # Deck 尺寸: 1000×1000mm，料盘尺寸: 120.8×120.5mm 或 120.8×160.5mm
-        self.plate_locations = {
-            "liaopan1": Coordinate(x=50, y=50, z=0),      # 左上角，留 50mm 边距
-            "liaopan2": Coordinate(x=250, y=50, z=0),     # 中间，liaopan1 右侧
-            "电池料盘": Coordinate(x=450, y=50, z=0),     # 右侧
-        }
+        # 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)
         
-        # 步骤 3: 将料盘分配到 deck 上
-        for plate_name, plate in self.plates.items():
-            self.assign_child_resource(
-                plate, 
-                location=self.plate_locations[plate_name]
-            )
-        
-        # 步骤 4: 为 liaopan1 添加初始极片
+        # ====================================== 物料板 ============================================
+        # 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 = ElectrodeSheet(
-                name=f"jipian1_{i}", 
-                size_x=12, 
-                size_y=12, 
-                size_z=0.1
+            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)
+
+        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
+        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.plates["liaopan1"].children[i].assign_child_resource(
-                jipian, 
-                location=None
+        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=300, y=100, z=0))
+
+        waste_tip_box = WasteTipBox(name="waste_tip_box")
+        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:
@@ -971,6 +1156,13 @@ def create_coin_cell_deck(name: str = "coin_cell_deck", size_x: float = 1000.0,
     Returns:
         已配置好的 CoincellDeck 对象
     """
-    deck = CoincellDeck(name=name, size_x=size_x, size_y=size_y, size_z=size_z)
-    deck.setup()
+    # 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)
+
+    

unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py

@@ -109,47 +109,25 @@ def _coerce_deck_input(deck: Any) -> Optional[Deck]:
 #构建物料系统
 
 class CoinCellAssemblyWorkstation(WorkstationBase):
-    def __init__(
-        self,
-        deck: Deck=None,
-        address: str = "172.21.32.111",
+    def __init__(self, 
+        config: dict = None, 
+        deck=None, 
+        address: str = "172.16.28.102",
         port: str = "502",
         debug_mode: bool = False,
         *args,
-        **kwargs,
-    ):
-        if deck is None and "deck" in kwargs:
-            deck = kwargs.pop("deck")
-        else:
-            kwargs.pop("deck", None)
+        **kwargs):
 
-        normalized_deck = _coerce_deck_input(deck)
-
-        if deck is None and isinstance(normalized_deck, Deck):
-            deck = normalized_deck
-
-        super().__init__(
-            #桌子
-            deck=deck,
-            *args,
-            **kwargs,
-        )
+        if deck is None and config:
+            deck = config.get('deck')
+        if deck is None:
+            logger.info("没有传入依华deck，检查启动json文件")
+        super().__init__(deck=deck, *args, **kwargs,)
         self.debug_mode = debug_mode
  
-        # 如果没有传入 deck，则创建标准配置的 deck
-        if self.deck is None:
-            self.deck = CoincellDeck(size_x=1000, size_y=1000, size_z=900, setup=True)
-        else:
-            # 如果传入了 deck 但还没有 setup，可以选择是否 setup
-            if self.deck is not None and len(self.deck.children) == 0:
-                # deck 为空，执行 setup
-                self.deck.setup()
-            # 否则使用传入的 deck（可能已经配置好了）
-            self.deck = self.deck
-
         """ 连接初始化 """
         modbus_client = TCPClient(addr=address, port=port)
-        print("modbus_client", modbus_client)
+        logger.debug(f"创建 Modbus 客户端: {modbus_client}")
         _ensure_modbus_slave_kw_alias(modbus_client.client)
         if not debug_mode:
             modbus_client.client.connect()
@@ -161,25 +139,20 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
                 time.sleep(2)
             if not modbus_client.client.is_socket_open():
                 raise ValueError('modbus tcp connection failed')
+            self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_1105.csv'))
+            self.client = modbus_client.register_node_list(self.nodes)
         else:
             print("测试模式，跳过连接")
+            self.nodes, self.client = None, None
 
         """ 工站的配置 """
-        self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv'))
-        self.client  = modbus_client.register_node_list(self.nodes)
+
         self.success = False
         self.allow_data_read = False  #允许读取函数运行标志位
         self.csv_export_thread = None
         self.csv_export_running = False
         self.csv_export_file = None
         self.coin_num_N = 0  #已组装电池数量
-        #创建一个物料台面，包含两个极片板
-        #self._ros_node.update_resource(self.deck)
-        
-        #ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
-        #    "resources": [self.deck]
-        #})
-
 
     def post_init(self, ros_node: ROS2WorkstationNode):
         self._ros_node = ros_node
@@ -602,11 +575,11 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         try:
             # 尝试不同的字节序读取
             code_little, read_err = self.client.use_node('REG_DATA_COIN_CELL_CODE').read(10, word_order=WorderOrder.LITTLE)
-            print(code_little)
+            # logger.debug(f"读取电池二维码原始数据: {code_little}")
             clean_code = code_little[-8:][::-1]
             return clean_code
         except Exception as e:
-            print(f"读取电池二维码失败: {e}")
+            logger.error(f"读取电池二维码失败: {e}")
             return "N/A"
 
 
@@ -615,11 +588,11 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         try:
             # 尝试不同的字节序读取
             code_little, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_CODE').read(10, word_order=WorderOrder.LITTLE)
-            print(code_little)
+            # logger.debug(f"读取电解液二维码原始数据: {code_little}")
             clean_code = code_little[-8:][::-1]
             return clean_code
         except Exception as e:
-            print(f"读取电解液二维码失败: {e}")
+            logger.error(f"读取电解液二维码失败: {e}")
             return "N/A"
 
     # ===================== 环境监控区 ======================
@@ -809,16 +782,16 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         data_coin_num = self.data_coin_num
         data_electrolyte_code = self.data_electrolyte_code
         data_coin_cell_code = self.data_coin_cell_code
-        print("data_open_circuit_voltage", data_open_circuit_voltage)
-        print("data_pole_weight", data_pole_weight)
-        print("data_assembly_time", data_assembly_time)
-        print("data_assembly_pressure", data_assembly_pressure)
-        print("data_electrolyte_volume", data_electrolyte_volume)
-        print("data_coin_num", data_coin_num)
-        print("data_electrolyte_code", data_electrolyte_code)
-        print("data_coin_cell_code", data_coin_cell_code)
+        logger.debug(f"data_open_circuit_voltage: {data_open_circuit_voltage}")
+        logger.debug(f"data_pole_weight: {data_pole_weight}")
+        logger.debug(f"data_assembly_time: {data_assembly_time}")
+        logger.debug(f"data_assembly_pressure: {data_assembly_pressure}")
+        logger.debug(f"data_electrolyte_volume: {data_electrolyte_volume}")
+        logger.debug(f"data_coin_num: {data_coin_num}")
+        logger.debug(f"data_electrolyte_code: {data_electrolyte_code}")
+        logger.debug(f"data_coin_cell_code: {data_coin_cell_code}")
         #接收完信息后，读取完毕标志位置True
-        liaopan3 = self.deck.get_resource("\u7535\u6c60\u6599\u76d8")        
+        liaopan3 = self.deck.get_resource("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 = {
@@ -906,7 +879,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         
         return self.success
 
-    def func_allpack_cmd(self, elec_num, elec_use_num, elec_vol:int=50, assembly_type:int=7, assembly_pressure:int=4200, file_path: str="C:\\Users\\67484\\Desktop") -> bool:
+    def func_allpack_cmd(self, elec_num, elec_use_num, elec_vol:int=50, assembly_type:int=7, assembly_pressure:int=4200, file_path: str="/Users/sml/work") -> bool:
         elec_num, elec_use_num, elec_vol, assembly_type, assembly_pressure = int(elec_num), int(elec_use_num), int(elec_vol), int(assembly_type), int(assembly_pressure)
         summary_csv_file = os.path.join(file_path, "duandian.csv")
         # 如果断点文件存在，先读取之前的进度
@@ -1233,7 +1206,13 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
 
 if __name__ == "__main__":
     # 简单测试
-    workstation = CoinCellAssemblyWorkstation()
-    workstation.qiming_coin_cell_code(fujipian_panshu=1, fujipian_juzhendianwei=2, gemopanshu=3, gemo_juzhendianwei=4, lvbodian=False, battery_pressure_mode=False, battery_pressure=4200, battery_clean_ignore=False)
-    print(f"工作站创建成功: {workstation.deck.name}")
-    print(f"料盘数量: {len(workstation.deck.children)}")
+    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/devices/workstation/coin_cell_assembly/coin_cell_assembly_1105.csv

@@ -0,0 +1,64 @@
+Name,DataType,InitValue,Comment,Attribute,DeviceType,Address,
+COIL_SYS_START_CMD,BOOL,,,,coil,9010,
+COIL_SYS_STOP_CMD,BOOL,,,,coil,9020,
+COIL_SYS_RESET_CMD,BOOL,,,,coil,9030,
+COIL_SYS_HAND_CMD,BOOL,,,,coil,9040,
+COIL_SYS_AUTO_CMD,BOOL,,,,coil,9050,
+COIL_SYS_INIT_CMD,BOOL,,,,coil,9060,
+COIL_UNILAB_SEND_MSG_SUCC_CMD,BOOL,,,,coil,9700,
+COIL_UNILAB_REC_MSG_SUCC_CMD,BOOL,,,,coil,9710,unilab_rec_msg_succ_cmd
+COIL_SYS_START_STATUS,BOOL,,,,coil,9210,
+COIL_SYS_STOP_STATUS,BOOL,,,,coil,9220,
+COIL_SYS_RESET_STATUS,BOOL,,,,coil,9230,
+COIL_SYS_HAND_STATUS,BOOL,,,,coil,9240,
+COIL_SYS_AUTO_STATUS,BOOL,,,,coil,9250,
+COIL_SYS_INIT_STATUS,BOOL,,,,coil,9260,
+COIL_REQUEST_REC_MSG_STATUS,BOOL,,,,coil,9500,
+COIL_REQUEST_SEND_MSG_STATUS,BOOL,,,,coil,9510,request_send_msg_status
+REG_MSG_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,17000,
+REG_MSG_ELECTROLYTE_NUM,INT16,,,,hold_register,17002,unilab_send_msg_electrolyte_num
+REG_MSG_ELECTROLYTE_VOLUME,INT16,,,,hold_register,17004,unilab_send_msg_electrolyte_vol
+REG_MSG_ASSEMBLY_TYPE,INT16,,,,hold_register,17006,unilab_send_msg_assembly_type
+REG_MSG_ASSEMBLY_PRESSURE,INT16,,,,hold_register,17008,unilab_send_msg_assembly_pressure
+REG_DATA_ASSEMBLY_COIN_CELL_NUM,INT16,,,,hold_register,16000,data_assembly_coin_cell_num
+REG_DATA_OPEN_CIRCUIT_VOLTAGE,FLOAT32,,,,hold_register,16002,data_open_circuit_voltage
+REG_DATA_AXIS_X_POS,FLOAT32,,,,hold_register,16004,
+REG_DATA_AXIS_Y_POS,FLOAT32,,,,hold_register,16006,
+REG_DATA_AXIS_Z_POS,FLOAT32,,,,hold_register,16008,
+REG_DATA_POLE_WEIGHT,FLOAT32,,,,hold_register,16010,data_pole_weight
+REG_DATA_ASSEMBLY_PER_TIME,FLOAT32,,,,hold_register,16012,data_assembly_time
+REG_DATA_ASSEMBLY_PRESSURE,INT16,,,,hold_register,16014,data_assembly_pressure
+REG_DATA_ELECTROLYTE_VOLUME,INT16,,,,hold_register,16016,data_electrolyte_volume
+REG_DATA_COIN_NUM,INT16,,,,hold_register,16018,data_coin_num
+REG_DATA_ELECTROLYTE_CODE,STRING,,,,hold_register,16020,data_electrolyte_code()
+REG_DATA_COIN_CELL_CODE,STRING,,,,hold_register,16030,data_coin_cell_code()
+REG_DATA_STACK_VISON_CODE,STRING,,,,hold_register,18004,data_stack_vision_code()
+REG_DATA_GLOVE_BOX_PRESSURE,FLOAT32,,,,hold_register,16050,data_glove_box_pressure
+REG_DATA_GLOVE_BOX_WATER_CONTENT,FLOAT32,,,,hold_register,16052,data_glove_box_water_content
+REG_DATA_GLOVE_BOX_O2_CONTENT,FLOAT32,,,,hold_register,16054,data_glove_box_o2_content
+UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,9720,
+UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,9520,
+REG_MSG_ELECTROLYTE_NUM_USED,INT16,,,,hold_register,17496,
+REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,16000,
+UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,9730,
+UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,9530,
+REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,16018,ASSEMBLY_TYPE7or8
+COIL_ALUMINUM_FOIL,BOOL,,使用铝箔垫,,coil,9340,
+REG_MSG_NE_PLATE_MATRIX,INT16,,负极片矩阵点位,,hold_register,17440,
+REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,隔膜矩阵点位,,hold_register,17450,
+REG_MSG_TIP_BOX_MATRIX,INT16,,移液枪头矩阵点位,,hold_register,17480,
+REG_MSG_NE_PLATE_NUM,INT16,,负极片盘数,,hold_register,17443,
+REG_MSG_SEPARATOR_PLATE_NUM,INT16,,隔膜盘数,,hold_register,17453,
+REG_MSG_PRESS_MODE,BOOL,,压制模式（false:压力检测模式，True:距离模式）,,coil,9360,电池压制模式
+,,,,,,,
+,BOOL,,视觉对位（false:使用，true:忽略）,,coil,9300,视觉对位
+,BOOL,,复检（false:使用，true:忽略）,,coil,9310,视觉复检
+,BOOL,,手套箱_左仓（false:使用，true:忽略）,,coil,9320,手套箱左仓
+,BOOL,,手套箱_右仓（false:使用，true:忽略）,,coil,9420,手套箱右仓
+,BOOL,,真空检知（false:使用，true:忽略）,,coil,9350,真空检知
+,BOOL,,电解液添加模式（false:单次滴液，true:二次滴液）,,coil,9370,滴液模式
+,BOOL,,正极片称重（false:使用，true:忽略）,,coil,9380,正极片称重
+,BOOL,,正负极片组装方式（false:正装，true:倒装）,,coil,9390,正负极反装
+,BOOL,,压制清洁（false:使用，true:忽略）,,coil,9400,压制清洁
+,BOOL,,物料盘摆盘方式（false:水平摆盘，true:堆叠摆盘）,,coil,9410,负极片摆盘方式
+REG_MSG_BATTERY_CLEAN_IGNORE,BOOL,,忽略电池清洁（false:使用，true:忽略）,,coil,9460,

unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3c.json

@@ -14,6 +14,7 @@
       },
       "data": {}
   },
+
   {
       "id": "BatteryStation",
       "name": "扣电工作站",
@@ -24,8 +25,8 @@
       "type": "device",
       "class": "coincellassemblyworkstation_device",
       "position": {
-          "x": 600,
-          "y": 400,
+          "x": -600,
+          "y": -400,
           "z": 0
       },
       "config": {

unilabos/devices/workstation/workstation_material_management.py

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

unilabos/registry/devices/bioyond_cell.yaml

@@ -4,6 +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: 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: 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
@@ -473,31 +474,6 @@ bioyond_cell:
           title: auto_feeding4to3参数
           type: object
         type: UniLabJsonCommand
-      auto-auto_feeding4to3_from_xlsx:
-        feedback: {}
-        goal: {}
-        goal_default:
-          xlsx_path: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                xlsx_path:
-                  type: string
-              required:
-              - xlsx_path
-              type: object
-            result: {}
-          required:
-          - goal
-          title: auto_feeding4to3_from_xlsx参数
-          type: object
-        type: UniLabJsonCommand
       auto-create_and_inbound_materials:
         feedback: {}
         goal: {}
@@ -1039,7 +1015,7 @@ bioyond_cell:
         goal: {}
         goal_default:
           order_code: null
-          timeout: 1800
+          timeout: 36000
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -1052,7 +1028,7 @@ bioyond_cell:
                 order_code:
                   type: string
                 timeout:
-                  default: 1800
+                  default: 36000
                   type: integer
               required:
               - order_code
@@ -1105,9 +1081,11 @@ bioyond_cell:
   init_param_schema:
     config:
       properties:
-        bioyond_config:
+        config:
+          type: object
+        deck:
           type: string
-        station_resource:
+        protocol_type:
           type: string
       required: []
       type: object

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: D:\coin_cell_data
+          file_path: C:\Users\67484\Desktop
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -103,7 +103,7 @@ coincellassemblyworkstation_device:
                   default: 50
                   type: integer
                 file_path:
-                  default: D:\coin_cell_data
+                  default: C:\Users\67484\Desktop
                   type: string
               required:
               - elec_num
@@ -502,7 +502,7 @@ coincellassemblyworkstation_device:
   config_info: []
   description: ''
   handles: []
-  icon: ''
+  icon: coin_cell_assembly_picture.webp
   init_param_schema:
     config:
       properties:

unilabos/registry/resources/bioyond/YB_bottle.yaml

@@ -1,37 +1,37 @@
-YB_Pipette_Tip:
+YB_qiang_tou:
   category:
   - yb3
   - YB_bottle
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_Pipette_Tip
+    module: unilabos.resources.bioyond.YB_bottles:YB_qiang_tou
     type: pylabrobot
-  description: YB_Pipette_Tip
+  description: YB_qiang_tou
   handles: []
   icon: ''
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_fen_ye_20ml_Bottle:
+YB_20ml_fenyeping:
   category:
   - yb3
   - YB_bottle
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_fen_ye_20ml_Bottle
+    module: unilabos.resources.bioyond.YB_bottles:YB_20ml_fenyeping
     type: pylabrobot
-  description: YB_fen_ye_20ml_Bottle
+  description: YB_20ml_fenyeping
   handles: []
   icon: ''
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_fen_ye_5ml_Bottle:
+YB_5ml_fenyeping:
   category:
   - yb3
   - YB_bottle
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_fen_ye_5ml_Bottle
+    module: unilabos.resources.bioyond.YB_bottles:YB_5ml_fenyeping
     type: pylabrobot
-  description: YB_fen_ye_5ml_Bottle
+  description: YB_5ml_fenyeping
   handles: []
   icon: ''
   init_param_schema: {}
@@ -63,3 +63,29 @@ YB_pei_ye_xiao_Bottle:
   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_ye_Bottle:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottles:YB_ye_Bottle
+    type: pylabrobot
+  description: YB_ye_Bottle
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0

unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml

@@ -1,50 +1,50 @@
-YB_1Bottle100mlCarrier:
+YB_100ml_yeti:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_1Bottle100mlCarrier
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_100ml_yeti
     type: pylabrobot
-  description: YB_1Bottle100mlCarrier
+  description: YB_100ml_yeti
   handles: []
   icon: ''
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_1BottleCarrier:
+# 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_1BottleCarrier
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_gaonianye
     type: pylabrobot
-  description: YB_1BottleCarrier
+  description: YB_gaonianye
   handles: []
   icon: ''
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_1GaoNianYeBottleCarrier:
+YB_peiyepingdaban:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_1GaoNianYeBottleCarrier
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingdaban
     type: pylabrobot
-  description: YB_1GaoNianYeBottleCarrier
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_4x_LargeSolutionBottleCarrier:
-  category:
-  - yb3
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_4x_LargeSolutionBottleCarrier
-    type: pylabrobot
-  description: YB_4x_LargeSolutionBottleCarrier
+  description: YB_peiyepingdaban
   handles: []
   icon: ''
   init_param_schema: {}
@@ -76,66 +76,66 @@ YB_6VialCarrier:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_6x20ml_DispensingVialCarrier:
+YB_20ml_fenyepingban:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6x20ml_DispensingVialCarrier
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_20ml_fenyepingban
     type: pylabrobot
-  description: YB_6x20ml_DispensingVialCarrier
+  description: YB_20ml_fenyepingban
   handles: []
   icon: ''
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_6x5ml_DispensingVialCarrier:
+YB_5ml_fenyepingban:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6x5ml_DispensingVialCarrier
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_5ml_fenyepingban
     type: pylabrobot
-  description: YB_6x5ml_DispensingVialCarrier
+  description: YB_5ml_fenyepingban
   handles: []
   icon: ''
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_6x_SmallSolutionBottleCarrier:
+YB_peiyepingxiaoban:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6x_SmallSolutionBottleCarrier
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingxiaoban
     type: pylabrobot
-  description: YB_6x_SmallSolutionBottleCarrier
+  description: YB_peiyepingxiaoban
   handles: []
   icon: ''
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_AdapterBlock:
+YB_shi_pei_qi_kuai:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_AdapterBlock
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_shi_pei_qi_kuai
     type: pylabrobot
-  description: YB_AdapterBlock
+  description: YB_shi_pei_qi_kuai
   handles: []
   icon: ''
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_TipBox:
+YB_qiang_tou_he:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_TipBox
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_qiang_tou_he
     type: pylabrobot
-  description: YB_TipBox
+  description: YB_qiang_tou_he
   handles: []
   icon: ''
   init_param_schema: {}
@@ -154,27 +154,27 @@ YB_gao_nian_ye_Bottle:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_jia_yang_tou_da:
+# 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_bottles:YB_jia_yang_tou_da
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_jia_yang_tou_da_Carrier
     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_1X1_carrier:
-  category:
-  - yb3
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_jia_yang_tou_da_1X1_carrier
-    type: pylabrobot
-  description: YB_jia_yang_tou_da_1X1_carrier
+  description: YB_jia_yang_tou_da_Carrier
   handles: []
   icon: ''
   init_param_schema: {}
@@ -193,14 +193,14 @@ YB_ye_100ml_Bottle:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_ye_Bottle:
+YB_ye:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_ye_Bottle
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_ye
     type: pylabrobot
-  description: YB_ye_Bottle
+  description: YB_ye_Bottle_Carrier
   handles: []
   icon: ''
   init_param_schema: {}

unilabos/registry/resources/bioyond/deck.yaml

@@ -22,15 +22,27 @@ BIOYOND_PolymerReactionStation_Deck:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_Deck16:
+BIOYOND_YB_Deck:
   category:
   - deck
   class:
-    module: unilabos.resources.bioyond.decks:YB_Deck
+    module: unilabos.resources.bioyond.decks:BIOYOND_YB_Deck
     type: pylabrobot
-  description: BIOYOND PolymerReactionStation Deck
+  description: BIOYOND_YB_Deck
   handles: []
   icon: 配液站.webp
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
+CoincellDeck:
+  category:
+  - deck
+  class:
+    module: unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:CoincellDeck
+    type: pylabrobot
+  description: CoincellDeck
+  handles: []
+  icon: yihua.webp
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0

unilabos/resources/battery/bottle_carriers.py

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

unilabos/resources/battery/electrode_sheet.py

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

unilabos/resources/battery/magazine.py

@@ -0,0 +1,335 @@
+from typing import Dict, List, Optional, OrderedDict, Union, Callable
+import math
+
+from pylabrobot.resources.coordinate import Coordinate
+from pylabrobot.resources import Resource, ResourceStack, ItemizedResource
+from pylabrobot.resources.carrier import create_homogeneous_resources
+
+from unilabos.resources.battery.electrode_sheet import (
+    PositiveCan, PositiveElectrode,
+    NegativeCan, NegativeElectrode,
+    SpringWasher, FlatWasher,
+    AluminumFoil,
+    Battery
+)
+
+
+class Magazine(ResourceStack):
+    """子弹夹洞位类"""
+
+    def __init__(
+        self,
+        name: str,
+        direction: str = 'z',
+        resources: Optional[List[Resource]] = None,
+        max_sheets: int = 100,
+        **kwargs
+    ):
+        """初始化子弹夹洞位
+
+        Args:
+            name: 洞位名称
+            direction: 堆叠方向
+            resources: 资源列表
+            max_sheets: 最大极片数量
+        """
+        super().__init__(
+            name=name,
+            direction=direction,
+            resources=resources,
+        )
+        self.max_sheets = max_sheets
+
+    @property
+    def size_x(self) -> float:
+        return self.get_size_x()
+
+    @property
+    def size_y(self) -> float:
+        return self.get_size_y()
+
+    @property
+    def size_z(self) -> float:
+        return self.get_size_z()
+
+
+class MagazineHolder(ItemizedResource):
+    """子弹夹类 - 有多个洞位，每个洞位放多个极片"""
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        ordered_items: Optional[Dict[str, Magazine]] = None,
+        ordering: Optional[OrderedDict[str, str]] = None,
+        hole_diameter: float = 14.0,
+        hole_depth: float = 10.0,
+        max_sheets_per_hole: int = 100,
+        cross_section_type: str = "circle",
+        category: str = "magazine_holder",
+        model: Optional[str] = None,
+    ):
+        """初始化子弹夹
+
+        Args:
+            name: 子弹夹名称
+            size_x: 长度 (mm)
+            size_y: 宽度 (mm)
+            size_z: 高度 (mm)
+            hole_diameter: 洞直径 (mm)
+            hole_depth: 洞深度 (mm)
+            max_sheets_per_hole: 每个洞位最大极片数量
+            category: 类别
+            model: 型号
+        """
+
+        super().__init__(
+            name=name,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
+            ordered_items=ordered_items,
+            ordering=ordering,
+            category=category,
+            model=model,
+        )
+
+        # 保存洞位的直径和深度
+        self.hole_diameter = hole_diameter
+        self.hole_depth = hole_depth
+        self.max_sheets_per_hole = max_sheets_per_hole
+        self.cross_section_type = cross_section_type
+
+    def serialize(self) -> dict:
+        return {
+            **super().serialize(),
+            "hole_diameter": self.hole_diameter,
+            "hole_depth": self.hole_depth,
+            "max_sheets_per_hole": self.max_sheets_per_hole,
+            "cross_section_type": self.cross_section_type,
+        }
+
+
+def magazine_factory(
+    name: str,
+    size_x: float,
+    size_y: float,
+    size_z: float,
+    locations: List[Coordinate],
+    klasses: Optional[List[Callable[[str], str]]] = None,
+    hole_diameter: float = 14.0,
+    hole_depth: float = 10.0,
+    max_sheets_per_hole: int = 100,
+    category: str = "magazine_holder",
+    model: Optional[str] = None,
+) -> 'MagazineHolder':
+    """工厂函数：创建子弹夹
+    
+    Args:
+        name: 子弹夹名称
+        size_x: 长度 (mm)
+        size_y: 宽度 (mm)
+        size_z: 高度 (mm)
+        locations: 洞位坐标列表
+        klasses: 每个洞位中极片的类列表
+        hole_diameter: 洞直径 (mm)
+        hole_depth: 洞深度 (mm)
+        max_sheets_per_hole: 每个洞位最大极片数量
+        category: 类别
+        model: 型号
+    """
+    for loc in locations:
+        loc.x -= hole_diameter / 2
+        loc.y -= hole_diameter / 2
+
+    # 创建洞位
+    _sites = create_homogeneous_resources(
+        klass=Magazine,
+        locations=locations,
+        resource_size_x=hole_diameter,
+        resource_size_y=hole_diameter,
+        name_prefix=name,
+        max_sheets=max_sheets_per_hole,
+    )
+    
+    # 生成编号键
+    keys = [f"A{i+1}" for i in range(len(locations))]
+    sites = dict(zip(keys, _sites.values()))
+    
+    holder = MagazineHolder(
+        name=name,
+        size_x=size_x,
+        size_y=size_y,
+        size_z=size_z,
+        ordered_items=sites,
+        hole_diameter=hole_diameter,
+        hole_depth=hole_depth,
+        max_sheets_per_hole=max_sheets_per_hole,
+        category=category,
+        model=model,
+    )
+
+    if klasses is not None:
+        for i, klass in enumerate(klasses):
+            hole_key = keys[i]
+            hole = holder.children[i]
+            for j in reversed(range(max_sheets_per_hole)):
+                item_name = f"{hole_key}_sheet{j+1}"
+                item = klass(name=item_name)
+                hole.assign_child_resource(item)
+    return holder
+
+
+def MagazineHolder_6_Cathode(
+    name: str,
+    size_x: float = 80.0,
+    size_y: float = 80.0,
+    size_z: float = 40.0,
+    hole_diameter: float = 14.0,
+    hole_depth: float = 10.0,
+    hole_spacing: float = 20.0,
+    max_sheets_per_hole: int = 100,
+) -> MagazineHolder:
+    """创建6孔子弹夹 - 六边形排布"""
+    center_x = size_x / 2
+    center_y = size_y / 2
+
+    locations = []
+
+    # 周围6个孔，按六边形排布
+    for i in range(6):
+        angle = i * 60 * math.pi / 180  # 每60度一个孔
+        x = center_x + hole_spacing * math.cos(angle)
+        y = center_y + hole_spacing * math.sin(angle)
+        locations.append(Coordinate(x, y, size_z - hole_depth))
+
+    return magazine_factory(
+        name=name,
+        size_x=size_x,
+        size_y=size_y,
+        size_z=size_z,
+        locations=locations,
+        klasses=[FlatWasher, PositiveCan, PositiveCan, FlatWasher, PositiveCan, PositiveCan],
+        hole_diameter=hole_diameter,
+        hole_depth=hole_depth,
+        max_sheets_per_hole=max_sheets_per_hole,
+        category="magazine_holder",
+        model="MagazineHolder_6_Cathode",
+    )
+
+
+def MagazineHolder_6_Anode(
+    name: str,
+    size_x: float = 80.0,
+    size_y: float = 80.0,
+    size_z: float = 40.0,
+    hole_diameter: float = 14.0,
+    hole_depth: float = 10.0,
+    hole_spacing: float = 20.0,
+    max_sheets_per_hole: int = 100,
+) -> MagazineHolder:
+    """创建6孔子弹夹 - 六边形排布"""
+    center_x = size_x / 2
+    center_y = size_y / 2
+
+    locations = []
+
+    # 周围6个孔，按六边形排布
+    for i in range(6):
+        angle = i * 60 * math.pi / 180  # 每60度一个孔
+        x = center_x + hole_spacing * math.cos(angle)
+        y = center_y + hole_spacing * math.sin(angle)
+        locations.append(Coordinate(x, y, size_z - hole_depth))
+
+    return magazine_factory(
+        name=name,
+        size_x=size_x,
+        size_y=size_y,
+        size_z=size_z,
+        locations=locations,
+        klasses=[SpringWasher, NegativeCan, NegativeCan, SpringWasher, NegativeCan, NegativeCan],
+        hole_diameter=hole_diameter,
+        hole_depth=hole_depth,
+        max_sheets_per_hole=max_sheets_per_hole,
+        category="magazine_holder",
+        model="MagazineHolder_6_Anode",
+    )
+
+
+def MagazineHolder_6_Battery(
+    name: str,
+    size_x: float = 80.0,
+    size_y: float = 80.0,
+    size_z: float = 40.0,
+    hole_diameter: float = 14.0,
+    hole_depth: float = 10.0,
+    hole_spacing: float = 20.0,
+    max_sheets_per_hole: int = 100,
+) -> MagazineHolder:
+    """创建6孔子弹夹 - 六边形排布"""
+    center_x = size_x / 2
+    center_y = size_y / 2
+
+    locations = []
+
+    # 周围6个孔，按六边形排布
+    for i in range(6):
+        angle = i * 60 * math.pi / 180  # 每60度一个孔
+        x = center_x + hole_spacing * math.cos(angle)
+        y = center_y + hole_spacing * math.sin(angle)
+        locations.append(Coordinate(x, y, size_z - hole_depth))
+
+    return magazine_factory(
+        name=name,
+        size_x=size_x,
+        size_y=size_y,
+        size_z=size_z,
+        locations=locations,
+        klasses=None, # 初始化时，不放入装好的电池
+        hole_diameter=hole_diameter,
+        hole_depth=hole_depth,
+        max_sheets_per_hole=max_sheets_per_hole,
+        category="magazine_holder",
+        model="MagazineHolder_6_Battery",
+    )
+
+
+def MagazineHolder_4_Cathode(
+    name: str,
+) -> MagazineHolder:
+    """创建4孔子弹夹 - 正方形四角排布"""
+    size_x: float = 80.0
+    size_y: float = 80.0
+    size_z: float = 10.0
+    hole_diameter: float = 14.0
+    hole_depth: float = 10.0
+    hole_spacing: float = 25.0
+    max_sheets_per_hole: int = 100
+
+    # 计算4个洞位的坐标（正方形四角排布）
+    center_x = size_x / 2
+    center_y = size_y / 2
+    offset = hole_spacing / 2
+    
+    locations = [
+        Coordinate(center_x - offset, center_y - offset, size_z - hole_depth),  # 左下
+        Coordinate(center_x + offset, center_y - offset, size_z - hole_depth),  # 右下
+        Coordinate(center_x - offset, center_y + offset, size_z - hole_depth),  # 左上
+        Coordinate(center_x + offset, center_y + offset, size_z - hole_depth),  # 右上
+    ]
+    
+    return magazine_factory(
+        name=name,
+        size_x=size_x,
+        size_y=size_y,
+        size_z=size_z,
+        locations=locations,
+        klasses=[AluminumFoil, PositiveElectrode, PositiveElectrode, PositiveElectrode],
+        hole_diameter=hole_diameter,
+        hole_depth=hole_depth,
+        max_sheets_per_hole=max_sheets_per_hole,
+        category="magazine_holder",
+        model="MagazineHolder_4_Cathode",
+    )

unilabos/resources/bioyond/YB_bottle_carriers.py

@@ -6,11 +6,11 @@ from unilabos.resources.bioyond.YB_bottles import (
     YB_ye_Bottle,
     YB_ye_100ml_Bottle,
     YB_gao_nian_ye_Bottle,
-    YB_fen_ye_5ml_Bottle,
-    YB_fen_ye_20ml_Bottle,
+    YB_5ml_fenyeping,
+    YB_20ml_fenyeping,
     YB_pei_ye_xiao_Bottle,
     YB_pei_ye_da_Bottle,
-    YB_Pipette_Tip,
+    YB_qiang_tou,
 )
 # 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
 
@@ -206,7 +206,7 @@ def YB_6VialCarrier(name: str) -> BottleCarrier:
     return carrier
 
 # 1瓶载架 - 单个中央位置
-def YB_1BottleCarrier(name: str) -> BottleCarrier:
+def YB_ye(name: str) -> BottleCarrier:
     
     # 载架尺寸 (mm)
     carrier_size_x = 127.8
@@ -233,7 +233,7 @@ def YB_1BottleCarrier(name: str) -> BottleCarrier:
             resource_size_y=beaker_diameter,
             name_prefix=name,
         ),
-        model="1BottleCarrier",
+        model="YB_ye",
     )
     carrier.num_items_x = 1
     carrier.num_items_y = 1
@@ -243,7 +243,7 @@ def YB_1BottleCarrier(name: str) -> BottleCarrier:
 
 
 # 高粘液瓶载架 - 单个中央位置
-def YB_1GaoNianYeBottleCarrier(name: str) -> BottleCarrier:
+def YB_gaonianye(name: str) -> BottleCarrier:
     
     # 载架尺寸 (mm)
     carrier_size_x = 127.8
@@ -270,7 +270,7 @@ def YB_1GaoNianYeBottleCarrier(name: str) -> BottleCarrier:
             resource_size_y=beaker_diameter,
             name_prefix=name,
         ),
-        model="1GaoNianYeBottleCarrier",
+        model="YB_gaonianye",
     )
     carrier.num_items_x = 1
     carrier.num_items_y = 1
@@ -280,7 +280,7 @@ def YB_1GaoNianYeBottleCarrier(name: str) -> BottleCarrier:
 
 
 # 100ml液体瓶载架 - 单个中央位置
-def YB_1Bottle100mlCarrier(name: str) -> BottleCarrier:
+def YB_100ml_yeti(name: str) -> BottleCarrier:
     
     # 载架尺寸 (mm)
     carrier_size_x = 127.8
@@ -307,7 +307,7 @@ def YB_1Bottle100mlCarrier(name: str) -> BottleCarrier:
             resource_size_y=beaker_diameter,
             name_prefix=name,
         ),
-        model="1Bottle100mlCarrier",
+        model="YB_100ml_yeti",
     )
     carrier.num_items_x = 1
     carrier.num_items_y = 1
@@ -316,7 +316,7 @@ def YB_1Bottle100mlCarrier(name: str) -> BottleCarrier:
     return carrier
 
 # 5ml分液瓶板 - 4x2布局，8个位置
-def YB_6x5ml_DispensingVialCarrier(name: str) -> BottleCarrier:
+def YB_5ml_fenyepingban(name: str) -> BottleCarrier:
     
 
     # 载架尺寸 (mm)
@@ -355,18 +355,18 @@ def YB_6x5ml_DispensingVialCarrier(name: str) -> BottleCarrier:
         size_y=carrier_size_y,
         size_z=carrier_size_z,
         sites=sites,
-        model="6x5ml_DispensingVialCarrier",
+        model="YB_5ml_fenyepingban",
     )
     carrier.num_items_x = 4
     carrier.num_items_y = 2
     carrier.num_items_z = 1
     ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
     for i in range(8):
-        carrier[i] = YB_fen_ye_5ml_Bottle(f"{name}_vial_{ordering[i]}")
+        carrier[i] = YB_5ml_fenyeping(f"{name}_vial_{ordering[i]}")
     return carrier
 
 # 20ml分液瓶板 - 4x2布局，8个位置
-def YB_6x20ml_DispensingVialCarrier(name: str) -> BottleCarrier:
+def YB_20ml_fenyepingban(name: str) -> BottleCarrier:
 
 
     # 载架尺寸 (mm)
@@ -405,18 +405,18 @@ def YB_6x20ml_DispensingVialCarrier(name: str) -> BottleCarrier:
         size_y=carrier_size_y,
         size_z=carrier_size_z,
         sites=sites,
-        model="6x20ml_DispensingVialCarrier",
+        model="YB_20ml_fenyepingban",
     )
     carrier.num_items_x = 4
     carrier.num_items_y = 2
     carrier.num_items_z = 1
     ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
     for i in range(8):
-        carrier[i] = YB_fen_ye_20ml_Bottle(f"{name}_vial_{ordering[i]}")
+        carrier[i] = YB_20ml_fenyeping(f"{name}_vial_{ordering[i]}")
     return carrier
 
 # 配液瓶(小)板 - 4x2布局，8个位置
-def YB_6x_SmallSolutionBottleCarrier(name: str) -> BottleCarrier:
+def YB_peiyepingxiaoban(name: str) -> BottleCarrier:
     
 
     # 载架尺寸 (mm)
@@ -455,7 +455,7 @@ def YB_6x_SmallSolutionBottleCarrier(name: str) -> BottleCarrier:
         size_y=carrier_size_y,
         size_z=carrier_size_z,
         sites=sites,
-        model="6x_SmallSolutionBottleCarrier",
+        model="YB_peiyepingxiaoban",
     )
     carrier.num_items_x = 4
     carrier.num_items_y = 2
@@ -467,7 +467,7 @@ def YB_6x_SmallSolutionBottleCarrier(name: str) -> BottleCarrier:
 
 
 # 配液瓶(大)板 - 2x2布局，4个位置
-def YB_4x_LargeSolutionBottleCarrier(name: str) -> BottleCarrier:
+def YB_peiyepingdaban(name: str) -> BottleCarrier:
 
     # 载架尺寸 (mm)
     carrier_size_x = 127.8
@@ -505,7 +505,7 @@ def YB_4x_LargeSolutionBottleCarrier(name: str) -> BottleCarrier:
         size_y=carrier_size_y,
         size_z=carrier_size_z,
         sites=sites,
-        model="4x_LargeSolutionBottleCarrier",
+        model="YB_peiyepingdaban",
     )
     carrier.num_items_x = 2
     carrier.num_items_y = 2
@@ -516,7 +516,7 @@ def YB_4x_LargeSolutionBottleCarrier(name: str) -> BottleCarrier:
     return carrier
 
 # 加样头(大)板 - 1x1布局，1个位置
-def YB_jia_yang_tou_da_1X1_carrier(name: str) -> BottleCarrier:
+def YB_jia_yang_tou_da_Carrier(name: str) -> BottleCarrier:
     
     # 载架尺寸 (mm)
     carrier_size_x = 127.8
@@ -554,7 +554,7 @@ def YB_jia_yang_tou_da_1X1_carrier(name: str) -> BottleCarrier:
         size_y=carrier_size_y,
         size_z=carrier_size_z,
         sites=sites,
-        model="6x_LargeDispenseHeadCarrier",
+        model="YB_jia_yang_tou_da_Carrier",
     )
     carrier.num_items_x = 1
     carrier.num_items_y = 1
@@ -563,7 +563,7 @@ def YB_jia_yang_tou_da_1X1_carrier(name: str) -> BottleCarrier:
     return carrier
 
 
-def YB_AdapterBlock(name: str) -> BottleCarrier:
+def YB_shi_pei_qi_kuai(name: str) -> BottleCarrier:
     """适配器块 - 单个中央位置"""
 
     # 载架尺寸 (mm)
@@ -591,7 +591,7 @@ def YB_AdapterBlock(name: str) -> BottleCarrier:
             resource_size_y=adapter_diameter,
             name_prefix=name,
         ),
-        model="AdapterBlock",
+        model="YB_shi_pei_qi_kuai",
     )
     carrier.num_items_x = 1
     carrier.num_items_y = 1
@@ -600,7 +600,7 @@ def YB_AdapterBlock(name: str) -> BottleCarrier:
     return carrier
 
 
-def YB_TipBox(name: str) -> BottleCarrier:
+def YB_qiang_tou_he(name: str) -> BottleCarrier:
     """枪头盒 - 8x12布局，96个位置"""
 
     # 载架尺寸 (mm)
@@ -639,7 +639,7 @@ def YB_TipBox(name: str) -> BottleCarrier:
         size_y=carrier_size_y,
         size_z=carrier_size_z,
         sites=sites,
-        model="TipBox",
+        model="YB_qiang_tou_he",
     )
     carrier.num_items_x = 12
     carrier.num_items_y = 8
@@ -648,6 +648,6 @@ def YB_TipBox(name: str) -> BottleCarrier:
     for i in range(96):
         row = chr(65 + i // 12)  # A-H
         col = (i % 12) + 1  # 1-12
-        carrier[i] = YB_Pipette_Tip(f"{name}_tip_{row}{col}")
+        carrier[i] = YB_qiang_tou(f"{name}_tip_{row}{col}")
     return carrier
 

unilabos/resources/bioyond/YB_bottles.py

@@ -15,7 +15,7 @@ def YB_jia_yang_tou_da(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="Solid_Stock",
+        model="YB_jia_yang_tou_da",
     )
 
 """液1x1"""
@@ -33,7 +33,7 @@ def YB_ye_Bottle(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="Liquid_Bottle",
+        model="YB_ye_Bottle",
     )
 
 """100ml液体"""
@@ -51,7 +51,7 @@ def YB_ye_100ml_Bottle(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="Liquid_Bottle_100ml",
+        model="YB_100ml_yeti",
     )
 
 """高粘液"""
@@ -73,7 +73,7 @@ def YB_gao_nian_ye_Bottle(
     )
 
 """5ml分液瓶"""
-def YB_fen_ye_5ml_Bottle(
+def YB_5ml_fenyeping(
     name: str,
     diameter: float = 20.0,
     height: float = 50.0,
@@ -87,11 +87,11 @@ def YB_fen_ye_5ml_Bottle(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="Separation_Bottle_5ml",
+        model="YB_5ml_fenyeping",
     )
 
 """20ml分液瓶"""
-def YB_fen_ye_20ml_Bottle(
+def YB_20ml_fenyeping(
     name: str,
     diameter: float = 30.0,
     height: float = 65.0,
@@ -105,7 +105,7 @@ def YB_fen_ye_20ml_Bottle(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="Separation_Bottle_20ml",
+        model="YB_20ml_fenyeping",
     )
 
 """配液瓶(小)"""
@@ -123,7 +123,7 @@ def YB_pei_ye_xiao_Bottle(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="Mixing_Bottle_Small",
+        model="YB_pei_ye_xiao_Bottle",
     )
 
 """配液瓶(大)"""
@@ -141,11 +141,11 @@ def YB_pei_ye_da_Bottle(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="Mixing_Bottle_Large",
+        model="YB_pei_ye_da_Bottle",
     )
 
 """枪头"""
-def YB_Pipette_Tip(
+def YB_qiang_tou(
     name: str,
     diameter: float = 10.0,
     height: float = 50.0,
@@ -159,5 +159,5 @@ def YB_Pipette_Tip(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="Pipette_Tip",
+        model="YB_qiang_tou",
     )    

unilabos/resources/bioyond/decks.py

@@ -1,4 +1,5 @@
 from os import name
+from pickle import TRUE
 from pylabrobot.resources import Deck, Coordinate, Rotation
 
 from unilabos.resources.bioyond.YB_warehouses import bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x2, bioyond_warehouse_liquid_and_lid_handling, bioyond_warehouse_1x2x2, bioyond_warehouse_1x3x3, bioyond_warehouse_10x1x1, bioyond_warehouse_3x3x1, bioyond_warehouse_3x3x1_2, bioyond_warehouse_5x1x1, bioyond_warehouse_20x1x1, bioyond_warehouse_2x2x1, bioyond_warehouse_3x5x1
@@ -35,7 +36,6 @@ class BIOYOND_PolymerReactionStation_Deck(Deck):
         for warehouse_name, warehouse in self.warehouses.items():
             self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
 
-
 class BIOYOND_PolymerPreparationStation_Deck(Deck):
     def __init__(
         self, 
@@ -99,18 +99,18 @@ class BIOYOND_YB_Deck(Deck):
             "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(385.0, 1300.0, 0.0),
-            "配液站内试剂仓库": Coordinate(1164.0, 676.0, 0.0),
-            "试剂替换仓库": Coordinate(2717.0, 676.0, 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, 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():
             self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
            
-def YB_Deck(name: str) -> Deck:
-    by=BIOYOND_YB_Deck(name=name)
-    by.setup()
-    return by
+# def YB_Deck(name: str) -> Deck:
+# #     by=BIOYOND_YB_Deck(name=name)
+# #     by.setup()
+#     return None
 
 
 

unilabos/resources/itemized_carrier.py

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

unilabos/ros/main_slave_run.py

@@ -6,11 +6,12 @@ from typing import Optional, Dict, Any, List
 import rclpy
 from unilabos_msgs.srv._serial_command import SerialCommand_Response
 
+from unilabos.app.register import register_devices_and_resources
 from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager
 from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet
 from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher
 from unilabos_msgs.srv import SerialCommand  # type: ignore
-from rclpy.executors import MultiThreadedExecutor, SingleThreadedExecutor
+from rclpy.executors import MultiThreadedExecutor
 from rclpy.node import Node
 from rclpy.timer import Timer
 
@@ -108,66 +109,51 @@ def slave(
     rclpy_init_args: List[str] = ["--log-level", "debug"],
 ) -> None:
     """从节点函数"""
+    # 1. 初始化 ROS2
     if not rclpy.ok():
         rclpy.init(args=rclpy_init_args)
     executor = rclpy.__executor
     if not executor:
         executor = rclpy.__executor = MultiThreadedExecutor()
-    devices_instances = {}
-    for device_config in devices_config.root_nodes:
-        device_id = device_config.res_content.id
-        if device_config.res_content.type != "device":
-            d = initialize_device_from_dict(device_id, device_config.get_nested_dict())
-            devices_instances[device_id] = d
-        # 默认初始化
-        # if d is not None and isinstance(d, Node):
-        #     executor.add_node(d)
-        # else:
-        #     print(f"Warning: Device {device_id} could not be initialized or is not a valid Node")
 
-    n = Node(f"slaveMachine_{BasicConfig.machine_name}", parameter_overrides=[])
-    executor.add_node(n)
-
-    if visual != "disable":
-        from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
-
-        resource_mesh_manager = ResourceMeshManager(
-            resources_mesh_config,
-            resources_config,  # type: ignore FIXME
-            resource_tracker=DeviceNodeResourceTracker(),
-            device_id="resource_mesh_manager",
-        )
-        joint_republisher = JointRepublisher("joint_republisher", DeviceNodeResourceTracker())
-
-        executor.add_node(resource_mesh_manager)
-        executor.add_node(joint_republisher)
+    # 1.5 启动 executor 线程
     thread = threading.Thread(target=executor.spin, daemon=True, name="slave_executor_thread")
     thread.start()
 
+    # 2. 创建 Slave Machine Node
+    n = Node(f"slaveMachine_{BasicConfig.machine_name}", parameter_overrides=[])
+    executor.add_node(n)
+
+    # 3. 向 Host 报送节点信息和物料，获取 UUID 映射
+    uuid_mapping = {}
     if not BasicConfig.slave_no_host:
+        # 3.1 报送节点信息
         sclient = n.create_client(SerialCommand, "/node_info_update")
         sclient.wait_for_service()
 
+        registry_config = {}
+        devices_to_register, resources_to_register = register_devices_and_resources(lab_registry, True)
+        registry_config.update(devices_to_register)
+        registry_config.update(resources_to_register)
         request = SerialCommand.Request()
         request.command = json.dumps(
             {
                 "machine_name": BasicConfig.machine_name,
                 "type": "slave",
                 "devices_config": devices_config.dump(),
-                "registry_config": lab_registry.obtain_registry_device_info(),
+                "registry_config": registry_config,
             },
             ensure_ascii=False,
             cls=TypeEncoder,
         )
-        response = sclient.call_async(request).result()
+        sclient.call_async(request).result()
         logger.info(f"Slave node info updated.")
 
-        # 使用新的 c2s_update_resource_tree 服务
+        # 3.2 报送物料树，获取 UUID 映射
+        if resources_config:
             rclient = n.create_client(SerialCommand, "/c2s_update_resource_tree")
             rclient.wait_for_service()
 
-        # 序列化 ResourceTreeSet 为 JSON
-        if resources_config:
             request = SerialCommand.Request()
             request.command = json.dumps(
                 {
@@ -180,35 +166,61 @@ def slave(
                 },
                 ensure_ascii=False,
             )
-            tree_response: SerialCommand_Response = rclient.call_async(request).result()
+            tree_response: SerialCommand_Response = rclient.call(request)
             uuid_mapping = json.loads(tree_response.response)
-            # 创建反向映射：new_uuid -> old_uuid
-            reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()}
-            for node in resources_config.root_nodes:
-                if node.res_content.type == "device":
-                    for sub_node in node.children:
-                        # 只有二级子设备
-                        if sub_node.res_content.type != "device":
-                            device_tracker = devices_instances[node.res_content.id].resource_tracker
-                            # sub_node.res_content.uuid 已经是新UUID，需要用旧UUID去查找
-                            old_uuid = reverse_uuid_mapping.get(sub_node.res_content.uuid)
-                            if old_uuid:
-                                # 找到旧UUID，使用UUID查找
-                                resource_instance = device_tracker.figure_resource({"uuid": old_uuid})
+            logger.info(f"Slave resource tree added. UUID mapping: {len(uuid_mapping)} nodes")
+
+            # 3.3 使用 UUID 映射更新 resources_config 的 UUID（参考 client.py 逻辑）
+            old_uuids = {node.res_content.uuid: node for node in resources_config.all_nodes}
+            for old_uuid, node in old_uuids.items():
+                if old_uuid in uuid_mapping:
+                    new_uuid = uuid_mapping[old_uuid]
+                    node.res_content.uuid = new_uuid
+                    # 更新所有子节点的 parent_uuid
+                    for child in node.children:
+                        child.res_content.parent_uuid = new_uuid
                 else:
-                                # 未找到旧UUID，使用name查找
-                                resource_instance = device_tracker.figure_resource({"name": sub_node.res_content.name})
-                            device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
-                else:
-                    logger.error("Slave模式不允许新增非设备节点下的物料")
-                    continue
-            if tree_response:
-                logger.info(f"Slave resource tree added. Response: {tree_response.response}")
-            else:
-                logger.warning("Slave resource tree add response is None")
+                    logger.warning(f"资源UUID未更新: {old_uuid}")
         else:
             logger.info("No resources to add.")
 
+    # 4. 初始化所有设备实例（此时 resources_config 的 UUID 已更新）
+    devices_instances = {}
+    for device_config in devices_config.root_nodes:
+        device_id = device_config.res_content.id
+        if device_config.res_content.type == "device":
+            d = initialize_device_from_dict(device_id, device_config.get_nested_dict())
+            if d is not None:
+                devices_instances[device_id] = d
+                logger.info(f"Device {device_id} initialized.")
+            else:
+                logger.warning(f"Device {device_id} initialization failed.")
+
+    # 5. 如果启用可视化，创建可视化相关节点
+    if visual != "disable":
+        from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
+
+        # 将 ResourceTreeSet 转换为 list 用于 visual 组件
+        resources_list = (
+            [node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes]
+            if resources_config
+            else []
+        )
+        resource_mesh_manager = ResourceMeshManager(
+            resources_mesh_config,
+            resources_list,
+            resource_tracker=DeviceNodeResourceTracker(),
+            device_id="resource_mesh_manager",
+        )
+        joint_republisher = JointRepublisher("joint_republisher", DeviceNodeResourceTracker())
+        lh_joint_pub = LiquidHandlerJointPublisher(
+            resources_config=resources_list, resource_tracker=DeviceNodeResourceTracker()
+        )
+        executor.add_node(resource_mesh_manager)
+        executor.add_node(joint_republisher)
+        executor.add_node(lh_joint_pub)
+
+    # 7. 保持运行
     while True:
         time.sleep(1)
 

unilabos/ros/nodes/base_device_node.py

@@ -53,7 +53,7 @@ from unilabos.ros.nodes.resource_tracker import (
 )
 from unilabos.ros.x.rclpyx import get_event_loop
 from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
-from unilabos.utils.async_util import run_async_func
+from rclpy.task import Task, Future
 from unilabos.utils.import_manager import default_manager
 from unilabos.utils.log import info, debug, warning, error, critical, logger, trace
 from unilabos.utils.type_check import get_type_class, TypeEncoder, get_result_info_str
@@ -555,6 +555,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         rclpy.get_global_executor().add_node(self)
         self.lab_logger().debug(f"ROS节点初始化完成")
 
+    async def sleep(self, rel_time: float, callback_group=None):
+        if callback_group is None:
+            callback_group = self.callback_group
+        await ROS2DeviceNode.async_wait_for(self, rel_time, callback_group)
+
+    @classmethod
+    async def create_task(cls, func, trace_error=True, **kwargs) -> Task:
+        return ROS2DeviceNode.run_async_func(func, trace_error, **kwargs)
+
     async def update_resource(self, resources: List["ResourcePLR"]):
         r = SerialCommand.Request()
         tree_set = ResourceTreeSet.from_plr_resources(resources)
@@ -629,6 +638,145 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         - remove: 从资源树中移除资源
         """
         from pylabrobot.resources.resource import Resource as ResourcePLR
+
+        def _handle_add(
+            plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
+        ) -> Dict[str, Any]:
+            """
+            处理资源添加操作的内部函数
+
+            Args:
+                plr_resources: PLR资源列表
+                tree_set: 资源树集合
+                additional_add_params: 额外的添加参数
+
+            Returns:
+                操作结果字典
+            """
+            for plr_resource, tree in zip(plr_resources, tree_set.trees):
+                self.resource_tracker.add_resource(plr_resource)
+                self.transfer_to_new_resource(plr_resource, tree, additional_add_params)
+
+            func = getattr(self.driver_instance, "resource_tree_add", None)
+            if callable(func):
+                func(plr_resources)
+
+            return {"success": True, "action": "add"}
+
+        def _handle_remove(resources_uuid: List[str]) -> Dict[str, Any]:
+            """
+            处理资源移除操作的内部函数
+
+            Args:
+                resources_uuid: 要移除的资源UUID列表
+
+            Returns:
+                操作结果字典，包含移除的资源列表
+            """
+            found_resources: List[List[Union[ResourcePLR, dict]]] = self.resource_tracker.figure_resource(
+                [{"uuid": uid} for uid in resources_uuid], try_mode=True
+            )
+            found_plr_resources = []
+            other_plr_resources = []
+
+            for found_resource in found_resources:
+                for resource in found_resource:
+                    if issubclass(resource.__class__, ResourcePLR):
+                        found_plr_resources.append(resource)
+                    else:
+                        other_plr_resources.append(resource)
+
+            # 调用driver的remove回调
+            func = getattr(self.driver_instance, "resource_tree_remove", None)
+            if callable(func):
+                func(found_plr_resources)
+
+            # 从parent卸载并从tracker移除
+            for plr_resource in found_plr_resources:
+                if plr_resource.parent is not None:
+                    plr_resource.parent.unassign_child_resource(plr_resource)
+                self.resource_tracker.remove_resource(plr_resource)
+                self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点")
+
+            for other_plr_resource in other_plr_resources:
+                self.resource_tracker.remove_resource(other_plr_resource)
+                self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点")
+
+            return {
+                "success": True,
+                "action": "remove",
+                # "removed_plr": found_plr_resources,
+                # "removed_other": other_plr_resources,
+            }
+
+        def _handle_update(
+            plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
+        ) -> Dict[str, Any]:
+            """
+            处理资源更新操作的内部函数
+
+            Args:
+                plr_resources: PLR资源列表（包含新状态）
+                tree_set: 资源树集合
+                additional_add_params: 额外的参数
+
+            Returns:
+                操作结果字典
+            """
+            for plr_resource, tree in zip(plr_resources, tree_set.trees):
+                states = plr_resource.serialize_all_state()
+                original_instance: ResourcePLR = self.resource_tracker.figure_resource(
+                    {"uuid": tree.root_node.res_content.uuid}, try_mode=False
+                )
+
+                # Update操作中包含改名：需要先remove再add
+                if original_instance.name != plr_resource.name:
+                    old_name = original_instance.name
+                    new_name = plr_resource.name
+                    self.lab_logger().info(f"物料改名操作：{old_name} -> {new_name}")
+
+                    # 收集所有相关的uuid（包括子节点）
+                    _handle_remove([original_instance.unilabos_uuid])
+                    original_instance.name = new_name
+                    _handle_add([original_instance], tree_set, additional_add_params)
+
+                    self.lab_logger().info(f"物料改名完成：{old_name} -> {new_name}")
+
+                # 常规更新：不涉及改名
+                original_parent_resource = original_instance.parent
+                original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None)
+                target_parent_resource_uuid = tree.root_node.res_content.uuid_parent
+
+                self.lab_logger().info(
+                    f"物料{original_instance} 原始父节点{original_parent_resource_uuid} "
+                    f"目标父节点{target_parent_resource_uuid} 更新"
+                )
+
+                # 更新extra
+                if getattr(plr_resource, "unilabos_extra", None) is not None:
+                    original_instance.unilabos_extra = getattr(plr_resource, "unilabos_extra")  # type: ignore  # noqa: E501
+
+                # 如果父节点变化，需要重新挂载
+                if (
+                    original_parent_resource_uuid != target_parent_resource_uuid
+                    and original_parent_resource is not None
+                ):
+                    self.transfer_to_new_resource(original_instance, tree, additional_add_params)
+
+                # 加载状态
+                original_instance.load_all_state(states)
+                child_count = len(original_instance.get_all_children())
+                self.lab_logger().info(
+                    f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] " f"及其子节点 {child_count} 个"
+                )
+
+            # 调用driver的update回调
+            func = getattr(self.driver_instance, "resource_tree_update", None)
+            if callable(func):
+                func(plr_resources)
+
+            return {"success": True, "action": "update"}
+
         try:
             data = json.loads(req.command)
             results = []
@@ -647,7 +795,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     ].call_async(
                         SerialCommand.Request(
                             command=json.dumps(
-                                {"data": {"data": resources_uuid, "with_children": False}, "action": "get"}
+                                {"data": {"data": resources_uuid, "with_children": True if action == "add" else False}, "action": "get"}
                             )
                         )
                     )  # type: ignore
@@ -655,68 +803,20 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     tree_set = ResourceTreeSet.from_raw_list(raw_nodes)
                 try:
                     if action == "add":
-                        # 添加资源到资源跟踪器
+                        if tree_set is None:
+                            raise ValueError("tree_set不能为None")
                         plr_resources = tree_set.to_plr_resources()
-                        for plr_resource, tree in zip(plr_resources, tree_set.trees):
-                            self.resource_tracker.add_resource(plr_resource)
-                            self.transfer_to_new_resource(plr_resource, tree, additional_add_params)
-                        func = getattr(self.driver_instance, "resource_tree_add", None)
-                        if callable(func):
-                            func(plr_resources)
-                            results.append({"success": True, "action": "add"})
+                        result = _handle_add(plr_resources, tree_set, additional_add_params)
+                        results.append(result)
                     elif action == "update":
-                        # 更新资源
+                        if tree_set is None:
+                            raise ValueError("tree_set不能为None")
                         plr_resources = tree_set.to_plr_resources()
-                        for plr_resource, tree in zip(plr_resources, tree_set.trees):
-                            states = plr_resource.serialize_all_state()
-                            original_instance: ResourcePLR = self.resource_tracker.figure_resource(
-                                {"uuid": tree.root_node.res_content.uuid}, try_mode=False
-                            )
-                            original_parent_resource = original_instance.parent
-                            original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None)
-                            target_parent_resource_uuid = tree.root_node.res_content.uuid_parent
-                            self.lab_logger().info(
-                                f"物料{original_instance} 原始父节点{original_parent_resource_uuid} 目标父节点{target_parent_resource_uuid} 更新"
-                            )
-                            # todo: 对extra进行update
-                            if getattr(plr_resource, "unilabos_extra", None) is not None:
-                                original_instance.unilabos_extra = getattr(plr_resource, "unilabos_extra")
-                            if original_parent_resource_uuid != target_parent_resource_uuid and original_parent_resource is not None:
-                                self.transfer_to_new_resource(original_instance, tree, additional_add_params)
-                            original_instance.load_all_state(states)
-                            self.lab_logger().info(
-                                f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] 及其子节点 {len(original_instance.get_all_children())} 个"
-                            )
-
-                        func = getattr(self.driver_instance, "resource_tree_update", None)
-                        if callable(func):
-                            func(plr_resources)
-                            results.append({"success": True, "action": "update"})
+                        result = _handle_update(plr_resources, tree_set, additional_add_params)
+                        results.append(result)
                     elif action == "remove":
-                        # 移除资源
-                        found_resources: List[List[Union[ResourcePLR, dict]]] = self.resource_tracker.figure_resource(
-                            [{"uuid": uid} for uid in resources_uuid], try_mode=True
-                        )
-                        found_plr_resources = []
-                        other_plr_resources = []
-                        for found_resource in found_resources:
-                            for resource in found_resource:
-                                if issubclass(resource.__class__, ResourcePLR):
-                                    found_plr_resources.append(resource)
-                                else:
-                                    other_plr_resources.append(resource)
-                        func = getattr(self.driver_instance, "resource_tree_remove", None)
-                        if callable(func):
-                            func(found_plr_resources)
-                        for plr_resource in found_plr_resources:
-                            if plr_resource.parent is not None:
-                                plr_resource.parent.unassign_child_resource(plr_resource)
-                            self.resource_tracker.remove_resource(plr_resource)
-                            self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点")
-                        for other_plr_resource in other_plr_resources:
-                            self.resource_tracker.remove_resource(other_plr_resource)
-                            self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点")
-                        results.append({"success": True, "action": "remove"})
+                        result = _handle_remove(resources_uuid)
+                        results.append(result)
                 except Exception as e:
                     error_msg = f"Error processing {action} operation: {str(e)}"
                     self.lab_logger().error(f"[Resource Tree Update] {error_msg}")
@@ -725,7 +825,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
             # 返回处理结果
             result_json = {"results": results, "total": len(data)}
-            res.response = json.dumps(result_json, ensure_ascii=False)
+            res.response = json.dumps(result_json, ensure_ascii=False, cls=TypeEncoder)
             self.lab_logger().info(f"[Resource Tree Update] Completed processing {len(data)} operations")
 
         except json.JSONDecodeError as e:
@@ -995,9 +1095,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
                             # 通过资源跟踪器获取本地实例
                             final_resources = queried_resources if is_sequence else queried_resources[0]
-                            final_resources = self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False) if not is_sequence else [
-                                self.resource_tracker.figure_resource({"name": res.name}, try_mode=False) for res in queried_resources
+                            final_resources = (
+                                self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False)
+                                if not is_sequence
+                                else [
+                                    self.resource_tracker.figure_resource({"name": res.name}, try_mode=False)
+                                    for res in queried_resources
                                 ]
+                            )
                             action_kwargs[k] = final_resources
 
                         except Exception as e:
@@ -1218,6 +1323,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             raise JsonCommandInitError(
                 f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}"
             )
+
     def _convert_resource_sync(self, resource_data: Dict[str, Any]):
         """同步转换资源数据为实例"""
         # 创建资源查询请求
@@ -1385,18 +1491,27 @@ class ROS2DeviceNode:
     它不继承设备类，而是通过代理模式访问设备类的属性和方法。
     """
 
-    # 类变量，用于循环管理
-    _loop = None
-    _loop_running = False
-    _loop_thread = None
+    @classmethod
+    def run_async_func(cls, func, trace_error=True, **kwargs) -> Task:
+        def _handle_future_exception(fut):
+            try:
+                fut.result()
+            except Exception as e:
+                error(f"异步任务 {func.__name__} 报错了")
+                error(traceback.format_exc())
+
+        future = rclpy.get_global_executor().create_task(func(**kwargs))
+        if trace_error:
+            future.add_done_callback(_handle_future_exception)
+        return future
 
     @classmethod
-    def get_loop(cls):
-        return cls._loop
-
-    @classmethod
-    def run_async_func(cls, func, trace_error=True, **kwargs):
-        return run_async_func(func, loop=cls._loop, trace_error=trace_error, **kwargs)
+    async def async_wait_for(cls, node: Node, wait_time: float, callback_group=None):
+        future = Future()
+        timer = node.create_timer(wait_time, lambda : future.set_result(None), callback_group=callback_group, clock=node.get_clock())
+        await future
+        timer.cancel()
+        node.destroy_timer(timer)
 
     @property
     def driver_instance(self):
@@ -1436,11 +1551,6 @@ class ROS2DeviceNode:
             print_publish: 是否打印发布信息
             driver_is_ros:
         """
-        # 在初始化时检查循环状态
-        if ROS2DeviceNode._loop_running and ROS2DeviceNode._loop_thread is not None:
-            pass
-        elif ROS2DeviceNode._loop_thread is None:
-            self._start_loop()
 
         # 保存设备类是否支持异步上下文
         self._has_async_context = hasattr(driver_class, "__aenter__") and hasattr(driver_class, "__aexit__")
@@ -1529,17 +1639,6 @@ class ROS2DeviceNode:
             except Exception as e:
                 self._ros_node.lab_logger().error(f"设备后初始化失败: {e}")
 
-    def _start_loop(self):
-        def run_event_loop():
-            loop = asyncio.new_event_loop()
-            ROS2DeviceNode._loop = loop
-            asyncio.set_event_loop(loop)
-            loop.run_forever()
-
-        ROS2DeviceNode._loop_thread = threading.Thread(target=run_event_loop, daemon=True, name="ROS2DeviceNodeLoop")
-        ROS2DeviceNode._loop_thread.start()
-        logger.info(f"循环线程已启动")
-
 
 class DeviceInfoType(TypedDict):
     id: str

unilabos/ros/nodes/presets/host_node.py

@@ -18,7 +18,8 @@ from unilabos_msgs.srv import (
     ResourceDelete,
     ResourceUpdate,
     ResourceList,
-    SerialCommand, ResourceGet,
+    SerialCommand,
+    ResourceGet,
 )  # type: ignore
 from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 from unique_identifier_msgs.msg import UUID
@@ -164,29 +165,16 @@ class HostNode(BaseROS2DeviceNode):
                     # resources_config 的 root node 是
                     # # 创建反向映射：new_uuid -> old_uuid
                     # reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()}
-                    # for tree in resources_config.trees:
-                    #     node = tree.root_node
-                    #     if node.res_content.type == "device":
-                    #         if node.res_content.id == "host_node":
-                    #             continue
-                    #         # slave节点走c2s更新接口，拿到add自行update uuid
-                    #         device_tracker = self.devices_instances[node.res_content.id].resource_tracker
-                    #         old_uuid = reverse_uuid_mapping.get(node.res_content.uuid)
-                    #         if old_uuid:
-                    #             # 找到旧UUID，使用UUID查找
-                    #             resource_instance = device_tracker.uuid_to_resources.get(old_uuid)
-                    #         else:
-                    #             # 未找到旧UUID，使用name查找
-                    #             resource_instance = device_tracker.figure_resource(
-                    #                 {"name": node.res_content.name}
-                    #             )
-                    #         device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
-                    #     else:
-                    #         try:
-                    #             for plr_resource in ResourceTreeSet([tree]).to_plr_resources():
-                    #                 self.resource_tracker.add_resource(plr_resource)
-                    #         except Exception as ex:
-                    #             self.lab_logger().warning("[Host Node-Resource] 根节点物料序列化失败！")
+                    for tree in resources_config.trees:
+                        node = tree.root_node
+                        if node.res_content.type == "device":
+                            continue
+                        else:
+                            try:
+                                for plr_resource in ResourceTreeSet([tree]).to_plr_resources():
+                                    self._resource_tracker.add_resource(plr_resource)
+                            except Exception as ex:
+                                self.lab_logger().warning(f"[Host Node-Resource] 根节点物料{tree}序列化失败！")
         except Exception as ex:
             logger.error(f"[Host Node-Resource] 添加物料出错！\n{traceback.format_exc()}")
         # 初始化Node基类，传递空参数覆盖列表
@@ -664,7 +652,7 @@ class HostNode(BaseROS2DeviceNode):
                         if bCreate:
                             self.lab_logger().trace(f"Status created: {device_id}.{property_name} = {msg.data}")
                         else:
-                            self.lab_logger().debug(f"Status updated: {device_id}.{property_name} = {msg.data}")
+                            self.lab_logger().trace(f"Status updated: {device_id}.{property_name} = {msg.data}")
 
     def send_goal(
         self,
@@ -877,11 +865,10 @@ class HostNode(BaseROS2DeviceNode):
         success = False
         uuid_mapping = {}
         if len(self.bridges) > 0:
-            from unilabos.app.web.client import HTTPClient
+            from unilabos.app.web.client import HTTPClient, http_client
 
-            client: HTTPClient = self.bridges[-1]
             resource_start_time = time.time()
-            uuid_mapping = client.resource_tree_add(resource_tree_set, mount_uuid, first_add)
+            uuid_mapping = http_client.resource_tree_add(resource_tree_set, mount_uuid, first_add)
             success = True
             resource_end_time = time.time()
             self.lab_logger().info(
@@ -989,9 +976,10 @@ class HostNode(BaseROS2DeviceNode):
         """
         更新节点信息回调
         """
-        self.lab_logger().info(f"[Host Node] Node info update request received: {request}")
+        # self.lab_logger().info(f"[Host Node] Node info update request received: {request}")
         try:
             from unilabos.app.communication import get_communication_client
+            from unilabos.app.web.client import HTTPClient, http_client
 
             info = json.loads(request.command)
             if "SYNC_SLAVE_NODE_INFO" in info:
@@ -1000,10 +988,10 @@ class HostNode(BaseROS2DeviceNode):
                 edge_device_id = info["edge_device_id"]
                 self.device_machine_names[edge_device_id] = machine_name
             else:
-                comm_client = get_communication_client()
-                registry_config = info["registry_config"]
-                for device_config in registry_config:
-                    comm_client.publish_registry(device_config["id"], device_config)
+                devices_config = info.pop("devices_config")
+                registry_config = info.pop("registry_config")
+                if registry_config:
+                    http_client.resource_registry({"resources": registry_config})
             self.lab_logger().debug(f"[Host Node] Node info update: {info}")
             response.response = "OK"
         except Exception as e:
@@ -1029,10 +1017,9 @@ class HostNode(BaseROS2DeviceNode):
 
         success = False
         if len(self.bridges) > 0:  # 边的提交待定
-            from unilabos.app.web.client import HTTPClient
+            from unilabos.app.web.client import HTTPClient, http_client
 
-            client: HTTPClient = self.bridges[-1]
-            r = client.resource_add(add_schema(resources))
+            r = http_client.resource_add(add_schema(resources))
             success = bool(r)
 
         response.success = success

unilabos/ros/nodes/resource_tracker.py

@@ -2,7 +2,7 @@ import traceback
 import uuid
 from pydantic import BaseModel, field_serializer, field_validator
 from pydantic import Field
-from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING
+from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING, Union
 
 from unilabos.utils.log import logger
 
@@ -894,7 +894,7 @@ class DeviceNodeResourceTracker(object):
                 new_uuid = name_to_uuid_map[resource_name]
                 self.set_resource_uuid(res, new_uuid)
                 self.uuid_to_resources[new_uuid] = res
-                logger.debug(f"设置资源UUID: {resource_name} -> {new_uuid}")
+                logger.trace(f"设置资源UUID: {resource_name} -> {new_uuid}")
                 return 1
             return 0
 
@@ -917,6 +917,7 @@ class DeviceNodeResourceTracker(object):
             if resource_name and resource_name in name_to_extra_map:
                 extra = name_to_extra_map[resource_name]
                 self.set_resource_extra(res, extra)
+                if len(extra):
                     logger.debug(f"设置资源Extra: {resource_name} -> {extra}")
                 return 1
             return 0
@@ -927,7 +928,7 @@ class DeviceNodeResourceTracker(object):
         """
         递归遍历资源树，更新所有节点的uuid
 
-        Args:0
+        Args:
             resource: 资源对象（可以是dict或实例）
             uuid_map: uuid映射字典，{old_uuid: new_uuid}
 
@@ -952,6 +953,27 @@ class DeviceNodeResourceTracker(object):
 
         return self._traverse_and_process(resource, process)
 
+    def loop_gather_uuid(self, resource) -> List[str]:
+        """
+        递归遍历资源树，收集所有节点的uuid
+
+        Args:
+            resource: 资源对象（可以是dict或实例）
+
+        Returns:
+            收集到的uuid列表
+        """
+        uuid_list = []
+
+        def process(res):
+            current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
+            if current_uuid:
+                uuid_list.append(current_uuid)
+            return 0
+
+        self._traverse_and_process(resource, process)
+        return uuid_list
+
     def _collect_uuid_mapping(self, resource):
         """
         递归收集资源的 uuid 映射到 uuid_to_resources
@@ -965,14 +987,15 @@ class DeviceNodeResourceTracker(object):
             if current_uuid:
                 old = self.uuid_to_resources.get(current_uuid)
                 self.uuid_to_resources[current_uuid] = res
-                logger.debug(
+                logger.trace(
                     f"收集资源UUID映射: {current_uuid} -> {res} {'' if old is None else f'(覆盖旧值: {old})'}"
                 )
+                return 1
             return 0
 
         self._traverse_and_process(resource, process)
 
-    def _remove_uuid_mapping(self, resource):
+    def _remove_uuid_mapping(self, resource) -> int:
         """
         递归清除资源的 uuid 映射
 
@@ -984,10 +1007,11 @@ class DeviceNodeResourceTracker(object):
             current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
             if current_uuid and current_uuid in self.uuid_to_resources:
                 self.uuid_to_resources.pop(current_uuid)
-                logger.debug(f"移除资源UUID映射: {current_uuid} -> {res}")
+                logger.trace(f"移除资源UUID映射: {current_uuid} -> {res}")
+                return 1
             return 0
 
-        self._traverse_and_process(resource, process)
+        return self._traverse_and_process(resource, process)
 
     def parent_resource(self, resource):
         if id(resource) in self.resource2parent_resource:
@@ -1042,13 +1066,12 @@ class DeviceNodeResourceTracker(object):
                 removed = True
                 break
 
-        if not removed:
+        # 递归清除uuid映射
+        count = self._remove_uuid_mapping(resource)
+        if not count:
             logger.warning(f"尝试移除不存在的资源: {resource}")
             return False
 
-        # 递归清除uuid映射
-        self._remove_uuid_mapping(resource)
-
         # 清除 resource2parent_resource 中与该资源相关的映射
         # 需要清除：1) 该资源作为 key 的映射 2) 该资源作为 value 的映射
         keys_to_remove = []
@@ -1071,7 +1094,9 @@ class DeviceNodeResourceTracker(object):
         self.uuid_to_resources.clear()
         self.resource2parent_resource.clear()
 
-    def figure_resource(self, query_resource, try_mode=False):
+    def figure_resource(
+        self, query_resource: Union[List[Union[dict, "PLRResource"]], dict, "PLRResource"], try_mode=False
+    ) -> Union[List[Union[dict, "PLRResource", List[Union[dict, "PLRResource"]]]], dict, "PLRResource"]:
         if isinstance(query_resource, list):
             return [self.figure_resource(r, try_mode) for r in query_resource]
         elif (

unilabos/utils/async_util.py

@@ -1,22 +0,0 @@
-import asyncio
-import traceback
-from asyncio import get_event_loop
-
-from unilabos.utils.log import error
-
-
-def run_async_func(func, *, loop=None, trace_error=True, **kwargs):
-    if loop is None:
-        loop = get_event_loop()
-
-    def _handle_future_exception(fut):
-        try:
-            fut.result()
-        except Exception as e:
-            error(f"异步任务 {func.__name__} 报错了")
-            error(traceback.format_exc())
-
-    future = asyncio.run_coroutine_threadsafe(func(**kwargs), loop)
-    if trace_error:
-        future.add_done_callback(_handle_future_exception)
-    return future

unilabos/utils/log.py

@@ -192,6 +192,18 @@ def configure_logger(loglevel=None):
     # 添加处理器到根日志记录器
     root_logger.addHandler(console_handler)
     
+    # 降低第三方库的日志级别，避免过多输出
+    # pymodbus 库的日志太详细，设置为 WARNING
+    logging.getLogger('pymodbus').setLevel(logging.WARNING)
+    logging.getLogger('pymodbus.logging').setLevel(logging.WARNING)
+    logging.getLogger('pymodbus.logging.base').setLevel(logging.WARNING)
+    logging.getLogger('pymodbus.logging.decoders').setLevel(logging.WARNING)
+    
+    # websockets 库的日志输出较多，设置为 WARNING
+    logging.getLogger('websockets').setLevel(logging.WARNING)
+    logging.getLogger('websockets.client').setLevel(logging.WARNING)
+    logging.getLogger('websockets.server').setLevel(logging.WARNING)
+
 
 # 配置日志系统
 configure_logger()