Merge pull request #177 from sun7151887/yb4-fix

Yb4默认仿真机

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

@@ -257,7 +257,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
     def auto_feeding4to3(
         self,
         # ★ 修改点：默认模板路径
-        xlsx_path: Optional[str] = "/Users/calvincao/Desktop/work/uni-lab-all/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,
@@ -324,7 +324,6 @@ class BioyondCellWorkstation(BioyondWorkstation):
                             "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]),
                             "materialName": str(row[5]).strip(),
                             "quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
-                            "temperature": 0,
                         })
                 # 四号手套箱原液瓶面
                 for _, row in df.iloc[14:23, 2:9].iterrows():
@@ -336,7 +335,6 @@ class BioyondCellWorkstation(BioyondWorkstation):
                             "quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
                             "materialType": str(row[7]).strip() if pd.notna(row[7]) else "",
                             "targetWH": str(row[8]).strip() if pd.notna(row[8]) else "",
-                            "temperature": 0,
                         })
                 # 三号手套箱人工堆栈
                 for _, row in df.iloc[25:40, 2:7].iterrows():
@@ -346,12 +344,11 @@ class BioyondCellWorkstation(BioyondWorkstation):
                             "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]),
                             "materialType": str(row[5]).strip() if pd.notna(row[5]) else "",
                             "materialId": str(row[6]).strip() if pd.notna(row[6]) else "",
-                            "quantity": 1,
-                            "temperature": 0,
+                            "quantity": 1
                         })
             else:
                 logger.warning(f"未找到 Excel 文件 {xlsx_path}，自动切换到手动参数模式。")
-        # TODO: 温度下面手动模式没改，上面的改了
+
         # ---------- 模式 2: 手动填写 ----------
         if not items:
             params = locals()
@@ -477,7 +474,7 @@ 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）
         """
-        default_path = Path("/Users/calvincao/Desktop/work/uni-lab-all/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx")
+        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:
@@ -1168,133 +1165,24 @@ class BioyondCellWorkstation(BioyondWorkstation):
 
 
 
-def run_bioyond_cell_workflow(config: Dict[str, Any]) -> BioyondCellWorkstation:
-    """按照统一配置执行奔曜配液与转运工作流。
-
-    Args:
-        config: 统一的工作流配置。字段示例:
-            {
-                "lab_registry": {"setup": True},
-                "deck": {"setup": True},
-                "workstation": {"config": {...}},
-                "update_push_ip": True,
-                "samples": [
-                    {"name": "...", "board_type": "...", "bottle_type": "...", "location_code": "...", "warehouse_name": "..."}
-                ],
-                "scheduler": {"start": True, "log": True},
-                "operations": {
-                    "auto_feeding4to3": {"enabled": True},
-                    "create_orders": {"excel_path": "...", "log": True},
-                    "transfer_3_to_2_to_1": {"enabled": True, "log": True},
-                    "transfer_1_to_2": {"enabled": True, "log": True}
-                },
-                "keep_alive": False,
-                "keep_alive_interval": 1
-            }
-
-    Returns:
-        执行完毕的 `BioyondCellWorkstation` 实例。
-    """
-
-    if config.get("lab_registry", {}).get("setup", True):
-        lab_registry.setup()
-
-    deck_config = config.get("deck")
-    if isinstance(deck_config, dict):
-        deck = BIOYOND_YB_Deck(**deck_config)
-    elif deck_config is None:
-        deck = BIOYOND_YB_Deck(setup=True)
-    else:
-        deck = deck_config
-
-    workstation_kwargs = dict(config.get("workstation", {}))
-    if "deck" not in workstation_kwargs:
-        workstation_kwargs["deck"] = deck
-    ws = BioyondCellWorkstation(**workstation_kwargs)
-
-    if config.get("update_push_ip", True):
-        ws.update_push_ip()
-
-    for sample_cfg in config.get("samples", []):
-        ws.create_sample(**sample_cfg)
-
-    scheduler_cfg = config.get("scheduler", {})
-    if scheduler_cfg.get("start", True):
-        result = ws.scheduler_start()
-        if scheduler_cfg.get("log", True):
-            logger.info(result)
-
-    operations_cfg = config.get("operations", {})
-
-    auto_feeding_cfg = operations_cfg.get("auto_feeding4to3", {})
-    if auto_feeding_cfg.get("enabled", True):
-        result = ws.auto_feeding4to3()
-        if auto_feeding_cfg.get("log", True):
-            logger.info(result)
-
-    create_orders_cfg = operations_cfg.get("create_orders")
-    if create_orders_cfg:
-        excel_path = create_orders_cfg.get("excel_path")
-        if not excel_path:
-            raise ValueError("create_orders 需要提供 excel_path。")
-        result = ws.create_orders(Path(excel_path))
-        if create_orders_cfg.get("log", True):
-            logger.info(result)
-
-    transfer_321_cfg = operations_cfg.get("transfer_3_to_2_to_1", {})
-    if transfer_321_cfg.get("enabled", True):
-        result = ws.transfer_3_to_2_to_1()
-        if transfer_321_cfg.get("log", True):
-            logger.info(result)
-
-    transfer_12_cfg = operations_cfg.get("transfer_1_to_2", {})
-    if transfer_12_cfg.get("enabled", True):
-        result = ws.transfer_1_to_2()
-        if transfer_12_cfg.get("log", True):
-            logger.info(result)
-
-    if config.get("keep_alive", False):
-        interval = config.get("keep_alive_interval", 1)
-        while True:
-            time.sleep(interval)
-
-    return ws
-
-
 if __name__ == "__main__":
-    workflow_config = {
-        "deck": {"setup": True},
-        "update_push_ip": True,
-        "samples": [
-            {
-                "name": "配液瓶",
-                "board_type": "配液瓶(小)板",
-                "bottle_type": "配液瓶(小)",
-                "location_code": "E01",
-            },
-            {
-                "name": "分液瓶",
-                "board_type": "5ml分液瓶板",
-                "bottle_type": "5ml分液瓶",
-                "location_code": "D01",
-            },
-        ],
-        "operations": {
-            "auto_feeding4to3": {"enabled": True, "log": True},
-            "create_orders": {
-                "excel_path": "/Users/calvincao/Desktop/work/uni-lab-all/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx",
-                "log": True,
-            },
-            "transfer_3_to_2_to_1": {"enabled": True, "log": True},
-            "transfer_1_to_2": {"enabled": True, "log": True},
-        },
-        "keep_alive": True,
-    }
-    run_bioyond_cell_workflow(workflow_config)
+    lab_registry.setup()
+    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())
+    
+    # 继续后续流程
+    logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱
+    # # # 使用正斜杠或 Path 对象来指定文件路径
+    # excel_path = Path("unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\2025092701.xlsx")
+    # logger.info(ws.create_orders(excel_path))
+    # logger.info(ws.transfer_3_to_2_to_1())
+
+    # logger.info(ws.transfer_1_to_2())
+    # logger.info(ws.scheduler_start())
 
-    # 1. location code
-    # 2. 实验文件
-    # 3. material template file
 
     while True:
         time.sleep(1)

unilabos/devices/workstation/bioyond_studio/config.py

@@ -8,8 +8,8 @@ import os
 # BioyondCellWorkstation 默认配置（包含所有必需参数）
 API_CONFIG = {
     # API 连接配置
-    "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.1.143:44389"),#实机
-    # "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.7.149:44388"),# 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://172.16.11.219:44388"),# 仿真机
     "api_key": os.getenv("BIOYOND_API_KEY", "8A819E5C"),
     "timeout": int(os.getenv("BIOYOND_TIMEOUT", "30")),
     
@@ -17,7 +17,7 @@ API_CONFIG = {
     "report_token": os.getenv("BIOYOND_REPORT_TOKEN", "CHANGE_ME_TOKEN"),
     
     # HTTP 服务配置
-    "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.16.2.140"),  # HTTP服务监听地址，监听计算机飞连ip地址
+    "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.16.11.2"),  # HTTP服务监听地址，监听计算机飞连ip地址
     "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")),
     "debug_mode": False,# 调试模式
 }

unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py

@@ -139,7 +139,7 @@ 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_a.csv'))
+            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")
@@ -1202,93 +1202,17 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         
     '''
 
-def run_coin_cell_packaging_workflow(config: Dict[str, Any]) -> CoinCellAssemblyWorkstation:
-    """根据统一配置顺序执行扣电池装配工作流。
-
-    Args:
-        config: 统一的工作流配置。字段示例:
-            {
-                "deck": {"setup": True, "name": "coin_cell_deck"},
-                "workstation": {"address": "...", "port": "...", "debug_mode": False},
-                "qiming": {...},
-                "init": True,
-                "auto": True,
-                "start": True,
-                "packaging": {
-                    "bottle_num": 16,
-                    "command": {...}
-                }
-            }
-
-    Returns:
-        执行完毕的 `CoinCellAssemblyWorkstation` 实例。
-    """
-
-    deck_config = config.get("deck")
-    if isinstance(deck_config, Deck):
-        deck = deck_config
-    elif isinstance(deck_config, dict):
-        deck = CoincellDeck(**deck_config)
-    elif deck_config is None:
-        deck = CoincellDeck(setup=True, name="coin_cell_deck")
-    else:
-        raise ValueError("deck 配置需为 Deck 实例或 dict。")
-
-    workstation_config = dict(config.get("workstation", {}))
-    workstation_config.setdefault("deck", deck)
-    workstation = CoinCellAssemblyWorkstation(**workstation_config)
-
-    qiming_params = config.get("qiming", {})
-    if qiming_params:
-        workstation.qiming_coin_cell_code(**qiming_params)
-
-    if config.get("init", True):
-        workstation.func_pack_device_init()
-    if config.get("auto", True):
-        workstation.func_pack_device_auto()
-    if config.get("start", True):
-        workstation.func_pack_device_start()
-
-    packaging_config = config.get("packaging", {})
-    bottle_num = packaging_config.get("bottle_num")
-    if bottle_num is not None:
-        workstation.func_pack_send_bottle_num(bottle_num)
-
-    allpack_params = packaging_config.get("command", {})
-    if allpack_params:
-        workstation.func_allpack_cmd(**allpack_params)
-
-    return workstation
 
 
 if __name__ == "__main__":
-    workflow_config = {
-        "deck": {"setup": True, "name": "coin_cell_deck"},
-        "workstation": {
-            "address": "172.16.28.102",
-            "port": "502",
-            "debug_mode": False,
-        },
-        "qiming": {
-            "fujipian_panshu": 1,
-            "fujipian_juzhendianwei": 2,
-            "gemopanshu": 3,
-            "gemo_juzhendianwei": 4,
-            "lvbodian": False,
-            "battery_pressure_mode": False,
-            "battery_pressure": 4200,
-            "battery_clean_ignore": False,
-        },
-        "packaging": {
-            "bottle_num": 16,
-            "command": {
-                "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",
-            },
-        },
-    }
-    run_coin_cell_packaging_workflow(workflow_config)
+    # 简单测试
+    workstation = CoinCellAssemblyWorkstation(deck=CoincellDeck(setup=True, name="coin_cell_deck"))
+    # workstation.qiming_coin_cell_code(fujipian_panshu=1, fujipian_juzhendianwei=2, gemopanshu=3, gemo_juzhendianwei=4, lvbodian=False, battery_pressure_mode=False, battery_pressure=4200, battery_clean_ignore=False)
+    # print(f"工作站创建成功: {workstation.deck.name}")
+    # print(f"料盘数量: {len(workstation.deck.children)}")
+    workstation.func_pack_device_init()
+    workstation.func_pack_device_auto()
+    workstation.func_pack_device_start()
+    workstation.func_pack_send_bottle_num(16)
+    workstation.func_allpack_cmd(elec_num=16, elec_use_num=16, elec_vol=50, assembly_type=7, assembly_pressure=4200, file_path="/Users/calvincao/Desktop/work/Uni-Lab-OS-hhm")
+    

unilabos/registry/devices/bioyond_cell.yaml

@@ -32,111 +32,6 @@ bioyond_cell:
         feedback: {}
         goal: {}
         goal_default:
-          WH3_x1_y1_z3_1_materialId: ''
-          WH3_x1_y1_z3_1_materialType: ''
-          WH3_x1_y1_z3_1_quantity: 0
-          WH3_x1_y2_z3_4_materialId: ''
-          WH3_x1_y2_z3_4_materialType: ''
-          WH3_x1_y2_z3_4_quantity: 0
-          WH3_x1_y3_z3_7_materialId: ''
-          WH3_x1_y3_z3_7_materialType: ''
-          WH3_x1_y3_z3_7_quantity: 0
-          WH3_x1_y4_z3_10_materialId: ''
-          WH3_x1_y4_z3_10_materialType: ''
-          WH3_x1_y4_z3_10_quantity: 0
-          WH3_x1_y5_z3_13_materialId: ''
-          WH3_x1_y5_z3_13_materialType: ''
-          WH3_x1_y5_z3_13_quantity: 0
-          WH3_x2_y1_z3_2_materialId: ''
-          WH3_x2_y1_z3_2_materialType: ''
-          WH3_x2_y1_z3_2_quantity: 0
-          WH3_x2_y2_z3_5_materialId: ''
-          WH3_x2_y2_z3_5_materialType: ''
-          WH3_x2_y2_z3_5_quantity: 0
-          WH3_x2_y3_z3_8_materialId: ''
-          WH3_x2_y3_z3_8_materialType: ''
-          WH3_x2_y3_z3_8_quantity: 0
-          WH3_x2_y4_z3_11_materialId: ''
-          WH3_x2_y4_z3_11_materialType: ''
-          WH3_x2_y4_z3_11_quantity: 0
-          WH3_x2_y5_z3_14_materialId: ''
-          WH3_x2_y5_z3_14_materialType: ''
-          WH3_x2_y5_z3_14_quantity: 0
-          WH3_x3_y1_z3_3_materialId: ''
-          WH3_x3_y1_z3_3_materialType: ''
-          WH3_x3_y1_z3_3_quantity: 0
-          WH3_x3_y2_z3_6_materialId: ''
-          WH3_x3_y2_z3_6_materialType: ''
-          WH3_x3_y2_z3_6_quantity: 0
-          WH3_x3_y3_z3_9_materialId: ''
-          WH3_x3_y3_z3_9_materialType: ''
-          WH3_x3_y3_z3_9_quantity: 0
-          WH3_x3_y4_z3_12_materialId: ''
-          WH3_x3_y4_z3_12_materialType: ''
-          WH3_x3_y4_z3_12_quantity: 0
-          WH3_x3_y5_z3_15_materialId: ''
-          WH3_x3_y5_z3_15_materialType: ''
-          WH3_x3_y5_z3_15_quantity: 0
-          WH4_x1_y1_z1_1_materialName: ''
-          WH4_x1_y1_z1_1_quantity: 0.0
-          WH4_x1_y1_z2_1_materialName: ''
-          WH4_x1_y1_z2_1_materialType: ''
-          WH4_x1_y1_z2_1_quantity: 0.0
-          WH4_x1_y1_z2_1_targetWH: ''
-          WH4_x1_y2_z1_6_materialName: ''
-          WH4_x1_y2_z1_6_quantity: 0.0
-          WH4_x1_y2_z2_4_materialName: ''
-          WH4_x1_y2_z2_4_materialType: ''
-          WH4_x1_y2_z2_4_quantity: 0.0
-          WH4_x1_y2_z2_4_targetWH: ''
-          WH4_x1_y3_z1_11_materialName: ''
-          WH4_x1_y3_z1_11_quantity: 0.0
-          WH4_x1_y3_z2_7_materialName: ''
-          WH4_x1_y3_z2_7_materialType: ''
-          WH4_x1_y3_z2_7_quantity: 0.0
-          WH4_x1_y3_z2_7_targetWH: ''
-          WH4_x2_y1_z1_2_materialName: ''
-          WH4_x2_y1_z1_2_quantity: 0.0
-          WH4_x2_y1_z2_2_materialName: ''
-          WH4_x2_y1_z2_2_materialType: ''
-          WH4_x2_y1_z2_2_quantity: 0.0
-          WH4_x2_y1_z2_2_targetWH: ''
-          WH4_x2_y2_z1_7_materialName: ''
-          WH4_x2_y2_z1_7_quantity: 0.0
-          WH4_x2_y2_z2_5_materialName: ''
-          WH4_x2_y2_z2_5_materialType: ''
-          WH4_x2_y2_z2_5_quantity: 0.0
-          WH4_x2_y2_z2_5_targetWH: ''
-          WH4_x2_y3_z1_12_materialName: ''
-          WH4_x2_y3_z1_12_quantity: 0.0
-          WH4_x2_y3_z2_8_materialName: ''
-          WH4_x2_y3_z2_8_materialType: ''
-          WH4_x2_y3_z2_8_quantity: 0.0
-          WH4_x2_y3_z2_8_targetWH: ''
-          WH4_x3_y1_z1_3_materialName: ''
-          WH4_x3_y1_z1_3_quantity: 0.0
-          WH4_x3_y1_z2_3_materialName: ''
-          WH4_x3_y1_z2_3_materialType: ''
-          WH4_x3_y1_z2_3_quantity: 0.0
-          WH4_x3_y1_z2_3_targetWH: ''
-          WH4_x3_y2_z1_8_materialName: ''
-          WH4_x3_y2_z1_8_quantity: 0.0
-          WH4_x3_y2_z2_6_materialName: ''
-          WH4_x3_y2_z2_6_materialType: ''
-          WH4_x3_y2_z2_6_quantity: 0.0
-          WH4_x3_y2_z2_6_targetWH: ''
-          WH4_x3_y3_z2_9_materialName: ''
-          WH4_x3_y3_z2_9_materialType: ''
-          WH4_x3_y3_z2_9_quantity: 0.0
-          WH4_x3_y3_z2_9_targetWH: ''
-          WH4_x4_y1_z1_4_materialName: ''
-          WH4_x4_y1_z1_4_quantity: 0.0
-          WH4_x4_y2_z1_9_materialName: ''
-          WH4_x4_y2_z1_9_quantity: 0.0
-          WH4_x5_y1_z1_5_materialName: ''
-          WH4_x5_y1_z1_5_quantity: 0.0
-          WH4_x5_y2_z1_10_materialName: ''
-          WH4_x5_y2_z1_10_quantity: 0.0
           xlsx_path: /Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
         handles: {}
         placeholder_keys: {}

unilabos/registry/devices/coin_cell_workstation.yaml

@@ -79,7 +79,7 @@ coincellassemblyworkstation_device:
           elec_num: null
           elec_use_num: null
           elec_vol: 50
-          file_path: C:\Users\67484\Desktop
+          file_path: /Users/sml/work
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -103,7 +103,7 @@ coincellassemblyworkstation_device:
                   default: 50
                   type: integer
                 file_path:
-                  default: C:\Users\67484\Desktop
+                  default: /Users/sml/work
                   type: string
               required:
               - elec_num
@@ -332,7 +332,7 @@ coincellassemblyworkstation_device:
         feedback: {}
         goal: {}
         goal_default:
-          file_path: D:\coin_cell_data
+          file_path: /Users/sml/work
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -343,7 +343,7 @@ coincellassemblyworkstation_device:
             goal:
               properties:
                 file_path:
-                  default: D:\coin_cell_data
+                  default: /Users/sml/work
                   type: string
               required: []
               type: object
@@ -507,13 +507,15 @@ coincellassemblyworkstation_device:
     config:
       properties:
         address:
-          default: 172.21.32.111
+          default: 172.16.28.102
           type: string
+        config:
+          type: object
         debug_mode:
           default: false
           type: boolean
         deck:
-          type: object
+          type: string
         port:
           default: '502'
           type: string

unilabos/registry/devices/liquid_handler.yaml

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

unilabos/registry/devices/virtual_device.yaml

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

unilabos/registry/resources/bioyond/YB_bottle.yaml

@@ -1,16 +1,3 @@
-YB_qiang_tou:
-  category:
-  - yb3
-  - YB_bottle
-  class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_qiang_tou
-    type: pylabrobot
-  description: YB_qiang_tou
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
 YB_20ml_fenyeping:
   category:
   - yb3
@@ -37,6 +24,19 @@ YB_5ml_fenyeping:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
+YB_jia_yang_tou_da:
+  category:
+  - yb3
+  - YB_bottle
+  class:
+    module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da
+    type: pylabrobot
+  description: YB_jia_yang_tou_da
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
 YB_pei_ye_da_Bottle:
   category:
   - yb3
@@ -63,14 +63,14 @@ YB_pei_ye_xiao_Bottle:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_jia_yang_tou_da:
+YB_qiang_tou:
   category:
   - yb3
   - YB_bottle
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da
+    module: unilabos.resources.bioyond.YB_bottles:YB_qiang_tou
     type: pylabrobot
-  description: YB_jia_yang_tou_da
+  description: YB_qiang_tou
   handles: []
   icon: ''
   init_param_schema: {}
@@ -80,6 +80,7 @@ YB_ye_Bottle:
   category:
   - yb3
   - YB_bottle_carriers
+  - YB_bottle
   class:
     module: unilabos.resources.bioyond.YB_bottles:YB_ye_Bottle
     type: pylabrobot

unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml

@@ -11,71 +11,6 @@ YB_100ml_yeti:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-# YB_1BottleCarrier:
-#   category:
-#   - yb3
-#   - YB_bottle_carriers
-#   class:
-#     module: unilabos.resources.bioyond.YB_bottle_carriers:YB_1BottleCarrier
-#     type: pylabrobot
-#   description: YB_1BottleCarrier
-#   handles: []
-#   icon: ''
-#   init_param_schema: {}
-#   registry_type: resource
-#   version: 1.0.0
-YB_gaonianye:
-  category:
-  - yb3
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_gaonianye
-    type: pylabrobot
-  description: YB_gaonianye
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_peiyepingdaban:
-  category:
-  - yb3
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingdaban
-    type: pylabrobot
-  description: YB_peiyepingdaban
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_6StockCarrier:
-  category:
-  - yb3
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6StockCarrier
-    type: pylabrobot
-  description: YB_6StockCarrier
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_6VialCarrier:
-  category:
-  - yb3
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6VialCarrier
-    type: pylabrobot
-  description: YB_6VialCarrier
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
 YB_20ml_fenyepingban:
   category:
   - yb3
@@ -102,40 +37,27 @@ YB_5ml_fenyepingban:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_peiyepingxiaoban:
+YB_6StockCarrier:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingxiaoban
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6StockCarrier
     type: pylabrobot
-  description: YB_peiyepingxiaoban
+  description: YB_6StockCarrier
   handles: []
   icon: ''
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_shi_pei_qi_kuai:
+YB_6VialCarrier:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_shi_pei_qi_kuai
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6VialCarrier
     type: pylabrobot
-  description: YB_shi_pei_qi_kuai
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_qiang_tou_he:
-  category:
-  - yb3
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_qiang_tou_he
-    type: pylabrobot
-  description: YB_qiang_tou_he
+  description: YB_6VialCarrier
   handles: []
   icon: ''
   init_param_schema: {}
@@ -154,19 +76,19 @@ YB_gao_nian_ye_Bottle:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-# YB_jia_yang_tou_da:
-#   category:
-#   - yb3
-#   - YB_bottle_carriers
-#   class:
-#     module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da
-#     type: pylabrobot
-#   description: YB_jia_yang_tou_da
-#   handles: []
-#   icon: ''
-#   init_param_schema: {}
-#   registry_type: resource
-#   version: 1.0.0
+YB_gaonianye:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_gaonianye
+    type: pylabrobot
+  description: YB_gaonianye
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
 YB_jia_yang_tou_da_Carrier:
   category:
   - yb3
@@ -180,14 +102,53 @@ YB_jia_yang_tou_da_Carrier:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_ye_100ml_Bottle:
+YB_peiyepingdaban:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_ye_100ml_Bottle
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingdaban
     type: pylabrobot
-  description: YB_ye_100ml_Bottle
+  description: YB_peiyepingdaban
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+YB_peiyepingxiaoban:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingxiaoban
+    type: pylabrobot
+  description: YB_peiyepingxiaoban
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+YB_qiang_tou_he:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_qiang_tou_he
+    type: pylabrobot
+  description: YB_qiang_tou_he
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+YB_shi_pei_qi_kuai:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_shi_pei_qi_kuai
+    type: pylabrobot
+  description: YB_shi_pei_qi_kuai
   handles: []
   icon: ''
   init_param_schema: {}
@@ -206,3 +167,16 @@ YB_ye:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
+YB_ye_100ml_Bottle:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottles:YB_ye_100ml_Bottle
+    type: pylabrobot
+  description: YB_ye_100ml_Bottle
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0