Merge pull request #181 from sun7151887/yb_fix5

修复遇到的参数错误和物料转换问题

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

@@ -1,7 +1,7 @@
 # -*- coding: utf-8 -*-
 from cgi import print_arguments
 from doctest import debug
-from typing import Dict, Any, List, Optional
+from typing import Dict, Any, List, Optional, Tuple
 import requests
 from pylabrobot.resources.resource import Resource as ResourcePLR
 from pathlib import Path
@@ -22,6 +22,7 @@ from unilabos.resources.bioyond.decks import BIOYOND_YB_Deck
 from unilabos.resources.graphio import resource_bioyond_to_plr
 from unilabos.utils.log import logger
 from unilabos.registry.registry import lab_registry
+from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
 
 def _iso_local_now_ms() -> str:
     # 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z
@@ -41,12 +42,14 @@ class BioyondCellWorkstation(BioyondWorkstation):
     def __init__(self, config: dict = None, deck=None, protocol_type=None, **kwargs):
 
         # 使用统一配置，支持自定义覆盖, 从 config.py 加载完整配置
-        self.bioyond_config ={
+        self.bioyond_config = {
             **API_CONFIG,
             "material_type_mappings": MATERIAL_TYPE_MAPPINGS,
             "warehouse_mapping": WAREHOUSE_MAPPING,
-            "debug_mode": False
-    }
+            "debug_mode": False,
+        }
+        if config:
+            self.bioyond_config.update(config)
           
             # "material_type_mappings": MATERIAL_TYPE_MAPPINGS
             # "warehouse_mapping": WAREHOUSE_MAPPING
@@ -57,6 +60,12 @@ class BioyondCellWorkstation(BioyondWorkstation):
         self.http_service_started = self.debug_mode
         self._device_id = "bioyond_cell_workstation"  # 默认值，后续会从_ros_node获取
         super().__init__(bioyond_config=config, deck=deck)
+        self.transfer_target_device_id = self.bioyond_config.get("transfer_target_device_id", "BatteryStation")
+        self.transfer_target_parent = self.bioyond_config.get("transfer_target_parent", "YB_YH_Deck")
+        self.transfer_timeout = float(self.bioyond_config.get("transfer_timeout", 180.0))
+        self.coin_cell_workflow_config = self.bioyond_config.get("coin_cell_workflow_config", {})
+        self.pending_transfer_materials: List[Dict[str, Any]] = []
+        self.pending_transfer_plr: List[ResourcePLR] = []
         self.update_push_ip() #直接修改奔耀端的报送ip地址
         logger.info("已更新奔耀端推送 IP 地址")
 
@@ -472,7 +481,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
         return response
 
     # 2.14 新建实验
-    def create_orders(self, xlsx_path: str) -> Dict[str, Any]:
+    def create_orders(self, xlsx_path: str, *, material_filter: Optional[str] = None) -> Dict[str, Any]:
         """
         从 Excel 解析并创建实验（2.14）
         约定：
@@ -629,7 +638,34 @@ class BioyondCellWorkstation(BioyondWorkstation):
             return response
         # 等待完成报送
         result = self.wait_for_order_finish(order_code)
-        return result
+        report_data = result.get("report") if isinstance(result, dict) else None
+        materials_from_report = (
+            report_data.get("usedMaterials") if isinstance(report_data, dict) else None
+        )
+        if materials_from_report:
+            materials = materials_from_report
+            logger.info(
+                "[create_orders] 使用订单完成报送中的物料信息: "
+                f"{len(materials)} 条"
+            )
+        else:
+            materials = self._fetch_bioyond_materials(filter_keyword=material_filter)
+            logger.info(
+                "[create_orders] 未收到订单报送物料信息，回退到实时查询"
+            )
+        print("materials_from_report:", materials_from_report)
+        # TODO: 需要将 materials 字典转换为 ResourceSlot 对象后才能转运
+        # self.transfer_resource_to_another(
+        #     resource=[materials],
+        #     mount_resource=["YB_YH_Deck"],
+        #     sites=[None],
+        #     mount_device_id="BatteryStation"
+        # )
+        return {
+            "api_response": response,
+            "order_finish": result,
+            "materials": materials,
+        }
 
     # 2.7 启动调度
     def scheduler_start(self) -> Dict[str, Any]:
@@ -701,6 +737,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
             return response
           # 等待完成报送
         result = self.wait_for_order_finish(order_code)
+        
         return result
    
     # 2.5 批量查询实验报告(post过滤关键字查询)
@@ -1198,6 +1235,108 @@ class BioyondCellWorkstation(BioyondWorkstation):
 
         return raw_materials
 
+    def _convert_materials_to_plr(self, materials: List[Dict[str, Any]]) -> List[ResourcePLR]:
+        try:
+            return resource_bioyond_to_plr(
+                deepcopy(materials),
+                type_mapping=self.bioyond_config.get("material_type_mappings", MATERIAL_TYPE_MAPPINGS),
+                deck=self.deck,
+            )
+        except Exception as exc:
+            logger.error(f"物料转换为 PLR 失败: {exc}", exc_info=True)
+            return []
+
+    def _wait_for_future(self, future, stage: str, timeout: Optional[float] = None):
+        if future is None:
+            return None
+        timeout = timeout or self.transfer_timeout
+        start = time.time()
+        while not future.done():
+            if (time.time() - start) > timeout:
+                raise TimeoutError(f"{stage} 超时 {timeout}s")
+            time.sleep(0.05)
+        return future.result()
+
+    def _register_plr_resources(self, resources: List[ResourcePLR]) -> None:
+        if not resources or not hasattr(self, "_ros_node") or self._ros_node is None:
+            return
+        future = ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, resources=resources)
+        self._wait_for_future(future, "update_resource")
+
+    def _get_target_resource(self, name: str) -> ResourcePLR:
+        if not hasattr(self, "_ros_node") or self._ros_node is None:
+            raise RuntimeError("ROS 节点未初始化，无法获取资源")
+        resource = self._ros_node.resource_tracker.figure_resource({"name": name}, try_mode=False)  # type: ignore
+        if resource is None:
+            raise ValueError(f"未找到目标资源: {name}")
+        return resource
+
+    def _allocate_sites(self, parent_resource: ResourcePLR, count: int) -> List[str]:
+        if not hasattr(parent_resource, "get_free_sites"):
+            raise ValueError(f"资源 {parent_resource} 不支持自动分配站位")
+        free_indices = list(parent_resource.get_free_sites())
+        if len(free_indices) < count:
+            raise ValueError(f"{parent_resource.name} 可用站位不足 (need {count}, have {len(free_indices)})")
+        ordering = list(getattr(parent_resource, "_ordering", {}).keys())
+        sites: List[str] = []
+        for idx in free_indices[:count]:
+            if ordering and idx < len(ordering):
+                sites.append(ordering[idx])
+            else:
+                sites.append(str(idx))
+        return sites
+
+    def _invoke_coin_cell_workflow(self, material_payload: List[Dict[str, Any]]) -> Any:
+        timeout = float(self.bioyond_config.get("coin_cell_workflow_timeout", 300.0))
+        workflow_payload: Dict[str, Any] = {}
+        if isinstance(self.coin_cell_workflow_config, dict):
+            workflow_payload.update(deepcopy(self.coin_cell_workflow_config))
+        workflow_payload["materials"] = deepcopy(material_payload)
+        return self._call_remote_device_method(
+            self.transfer_target_device_id,
+            "run_coin_cell_assembly_workflow",
+            timeout=timeout,
+            workflow_config=workflow_payload,
+        )
+
+    def _call_remote_device_method(
+        self,
+        device_id: str,
+        method: str,
+        *,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ) -> Any:
+        if not hasattr(self, "_ros_node") or self._ros_node is None:
+            raise RuntimeError("ROS 节点未初始化，无法调用远程设备")
+        if not device_id:
+            raise ValueError("device_id 不能为空")
+        if not method:
+            raise ValueError("method 不能为空")
+
+        timeout = timeout or self.transfer_timeout
+        payload = json.dumps(
+            {
+                "function_name": method,
+                "function_args": kwargs,
+            },
+            ensure_ascii=False,
+        )
+        future = ROS2DeviceNode.run_async_func(
+            self._ros_node.execute_single_action,
+            True,
+            device_id=device_id,
+            action_name="_execute_driver_command_async",
+            action_kwargs={"string": payload},
+        )
+        result = self._wait_for_future(future, f"{device_id}.{method}", timeout)
+        if hasattr(result, "return_info"):
+            try:
+                return json.loads(result.return_info)
+            except Exception:
+                return result.return_info
+        return result
+
     def run_feeding_stage(self) -> Dict[str, List[Dict[str, Any]]]:
         self.create_sample(
             board_type="配液瓶(小)板",
@@ -1239,17 +1378,38 @@ class BioyondCellWorkstation(BioyondWorkstation):
     def run_transfer_stage(
         self,
         liquid_materials: Optional[List[Dict[str, Any]]] = None,
-    ) -> Dict[str, List[Dict[str, Any]]]:
-        self.transfer_3_to_2_to_1(
-            source_wh_id="3a19debc-84b4-0359-e2d4-b3beea49348b",
-            source_x=1,
-            source_y=1,
-            source_z=1,
+        source_wh_id: Optional[str] = '3a19debc-84b4-0359-e2d4-b3beea49348b',
+        source_x: int = 1,
+        source_y: int = 1,
+        source_z: int = 1
+    ) -> Dict[str, Any]:
+        """转运阶段：调用transfer_3_to_2_to_1执行3到2到1转运"""
+        logger.info("开始执行转运阶段 (run_transfer_stage)")
+        
+        # 暂时注释掉物料转换和跨工站转运逻辑
+        # transfer_summary: Dict[str, Any] = {}
+        # try:
+        #     source_materials = liquid_materials or self._fetch_bioyond_materials()
+        #     transfer_plr = self._convert_materials_to_plr(source_materials)
+        #     transfer_summary["plr_count"] = len(transfer_plr)
+        #     ...
+        # except Exception as exc:
+        #     transfer_summary["error"] = str(exc)
+        #     logger.error(f"跨工站转运失败: {exc}", exc_info=True)
+        
+        # 只执行核心的3到2到1转运
+        transfer_result = self.transfer_3_to_2_to_1(
+            source_wh_id=source_wh_id,
+            source_x=source_x,
+            source_y=source_y,
+            source_z=source_z
         )
-        transfer_materials = self._fetch_bioyond_materials()
+        
+        logger.info("转运阶段执行完成")
         return {
-            "liquid_materials": liquid_materials or [],
-            "transfer_materials": transfer_materials,
+            "success": True,
+            "stage": "transfer",
+            "transfer_result": transfer_result
         }
 if __name__ == "__main__":
     deck = BIOYOND_YB_Deck(setup=True)

unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py

@@ -159,6 +159,27 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
             "resources": [self.deck]
         })
 
+    def sync_transfer_resources(self) -> Dict[str, Any]:
+        """
+        供跨工站转运完成后调用，强制将当前台面资源同步到云端/前端。
+        """
+        if not hasattr(self, "_ros_node") or self._ros_node is None:
+            return {"status": "failed", "error": "ros_node_not_ready"}
+        if self.deck is None:
+            return {"status": "failed", "error": "deck_not_initialized"}
+        try:
+            future = ROS2DeviceNode.run_async_func(
+                self._ros_node.update_resource,
+                True,
+                resources=[self.deck],
+            )
+            if future:
+                future.result()
+            return {"status": "success"}
+        except Exception as exc:
+            logger.error(f"同步转运资源失败: {exc}", exc_info=True)
+            return {"status": "failed", "error": str(exc)}
+
     # 批量操作在这里写
     async def change_hole_sheet_to_2(self, hole: MaterialHole):
         hole._unilabos_state["max_sheets"] = 2
@@ -1225,26 +1246,87 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
          
     '''
 
-    def run_coin_cell_assembly_workflow(self):
-        self.qiming_coin_cell_code(
-            fujipian_panshu=1,
-            fujipian_juzhendianwei=0,
-            gemopanshu=0,
-            gemo_juzhendianwei=0,
-            lvbodian=True,
-            battery_pressure_mode=True,
-            battery_pressure=4200,
-            battery_clean_ignore=False,
-        )
-        self.func_pack_device_init()
-        self.func_pack_device_auto()
-        self.func_pack_device_start()
-        self.func_pack_send_bottle_num(1)
-        self.func_allpack_cmd(elec_num = 1, elec_use_num = 1, elec_vol=50, assembly_type=7, assembly_pressure=4200, file_path="/Users/sml/work")
-        self.func_pack_send_finished_cmd()
-        self.func_pack_device_stop()
-        # 物料转换
-        return self
+    def run_coin_cell_assembly_workflow(
+        self,
+        workflow_config: Optional[Dict[str, Any]] = None,
+    ) -> Dict[str, Any]:
+        config: Dict[str, Any]
+        if workflow_config is None:
+            config = {}
+        elif isinstance(workflow_config, list):
+            config = {"materials": workflow_config}
+        else:
+            config = workflow_config
+        qiming_defaults = {
+            "fujipian_panshu": 1,
+            "fujipian_juzhendianwei": 0,
+            "gemopanshu": 1,
+            "gemo_juzhendianwei": 0,
+            "lvbodian": True,
+            "battery_pressure_mode": True,
+            "battery_pressure": 4200,
+            "battery_clean_ignore": False,
+        }
+        qiming_params = {**qiming_defaults, **(config.get("qiming") or {})}
+        qiming_success = self.qiming_coin_cell_code(**qiming_params)
+
+        step_results: Dict[str, Any] = {}
+        try:
+            self.func_pack_device_init()
+            step_results["init"] = True
+        except Exception as exc:
+            step_results["init"] = f"error: {exc}"
+
+        try:
+            self.func_pack_device_auto()
+            step_results["auto"] = True
+        except Exception as exc:
+            step_results["auto"] = f"error: {exc}"
+
+        try:
+            self.func_pack_device_start()
+            step_results["start"] = True
+        except Exception as exc:
+            step_results["start"] = f"error: {exc}"
+
+        packaging_cfg = config.get("packaging") or {}
+        bottle_num = packaging_cfg.get("bottle_num", 1)
+        try:
+            self.func_pack_send_bottle_num(bottle_num)
+            step_results["send_bottle_num"] = True
+        except Exception as exc:
+            step_results["send_bottle_num"] = f"error: {exc}"
+
+        command_defaults = {
+            "elec_num": 1,
+            "elec_use_num": 1,
+            "elec_vol": 50,
+            "assembly_type": 7,
+            "assembly_pressure": 4200,
+            "file_path": "/Users/sml/work",
+        }
+        command_params = {**command_defaults, **(packaging_cfg.get("command") or {})}
+        packaging_result = self.func_allpack_cmd(**command_params)
+
+        finished_result = self.func_pack_send_finished_cmd()
+        stop_result = self.func_pack_device_stop()
+
+        return {
+            "qiming": {
+                "params": qiming_params,
+                "success": qiming_success,
+            },
+            "workflow_steps": step_results,
+            "packaging": {
+                "bottle_num": bottle_num,
+                "command": command_params,
+                "result": packaging_result,
+            },
+            "finish": {
+                "send_finished": finished_result,
+                "stop": stop_result,
+            },
+        }
 
 
 if __name__ == "__main__":

unilabos/registry/devices/bioyond_cell.yaml

@@ -837,6 +837,8 @@ bioyond_cell:
         result:
           properties:
             feeding_materials:
+              items:
+                type: object
               type: array
           required:
           - feeding_materials
@@ -876,8 +878,12 @@ bioyond_cell:
         result:
           properties:
             feeding_materials:
+              items:
+                type: object
               type: array
             liquid_materials:
+              items:
+                type: object
               type: array
           required:
           - liquid_materials
@@ -889,6 +895,8 @@ bioyond_cell:
             goal:
               properties:
                 feeding_materials:
+                  items:
+                    type: object
                   type: array
               required: []
               type: object
@@ -919,9 +927,15 @@ bioyond_cell:
         result:
           properties:
             liquid_materials:
+              items:
+                type: object
               type: array
             transfer_materials:
+              items:
+                type: object
               type: array
+            transfer_summary:
+              type: object
           required:
           - transfer_materials
           type: object
@@ -932,10 +946,24 @@ bioyond_cell:
             goal:
               properties:
                 liquid_materials:
+                  items:
+                    type: object
                   type: array
               required: []
               type: object
-            result: {}
+            result:
+              properties:
+                liquid_materials:
+                  items:
+                    type: object
+                  type: array
+                transfer_materials:
+                  items:
+                    type: object
+                  type: array
+                transfer_summary:
+                  type: object
+              type: object
           required:
           - goal
           title: run_transfer_stage参数
@@ -1234,7 +1262,7 @@ bioyond_cell:
   config_info: []
   description: 配液工站
   handles: []
-  icon: ''
+  icon: benyao2.webp
   init_param_schema:
     config:
       properties:

unilabos/registry/devices/coin_cell_workstation.yaml

@@ -479,20 +479,139 @@ coincellassemblyworkstation_device:
         type: UniLabJsonCommand
       auto-run_coin_cell_assembly_workflow:
         feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
+        goal:
+          properties:
+            workflow_config:
+              type: object
+          required: []
+          type: object
+        goal_default:
+          workflow_config: {}
+        handles:
+          input:
+          - data_key: workflow_config
+            data_source: handle
+            data_type: resource
+            handler_key: WorkflowConfig
+            label: Workflow Config
+          output:
+          - data_key: qiming
+            data_source: executor
+            data_type: resource
+            handler_key: QimingResult
+            label: Qiming Result
+          - data_key: workflow_steps
+            data_source: executor
+            data_type: resource
+            handler_key: WorkflowSteps
+            label: Workflow Steps
+          - data_key: packaging
+            data_source: executor
+            data_type: resource
+            handler_key: PackagingResult
+            label: Packaging Result
+          - data_key: finish
+            data_source: executor
+            data_type: resource
+            handler_key: FinishResult
+            label: Finish Result
         placeholder_keys: {}
-        result: {}
+        result:
+          properties:
+            finish:
+              properties:
+                send_finished:
+                  type: object
+                stop:
+                  type: object
+              required:
+              - send_finished
+              - stop
+              type: object
+            packaging:
+              properties:
+                bottle_num:
+                  type: integer
+                command:
+                  type: object
+                result:
+                  type: object
+              required:
+              - bottle_num
+              - command
+              - result
+              type: object
+            qiming:
+              properties:
+                params:
+                  type: object
+                success:
+                  type: boolean
+              required:
+              - params
+              - success
+              type: object
+            workflow_steps:
+              type: object
+          required:
+          - qiming
+          - workflow_steps
+          - packaging
+          - finish
+          type: object
         schema:
           description: ''
           properties:
             feedback: {}
             goal:
-              properties: {}
+              properties:
+                workflow_config:
+                  type: object
               required: []
               type: object
-            result: {}
+            result:
+              properties:
+                finish:
+                  properties:
+                    send_finished:
+                      type: object
+                    stop:
+                      type: object
+                  required:
+                  - send_finished
+                  - stop
+                  type: object
+                packaging:
+                  properties:
+                    bottle_num:
+                      type: integer
+                    command:
+                      type: object
+                    result:
+                      type: object
+                  required:
+                  - bottle_num
+                  - command
+                  - result
+                  type: object
+                qiming:
+                  properties:
+                    params:
+                      type: object
+                    success:
+                      type: boolean
+                  required:
+                  - params
+                  - success
+                  type: object
+                workflow_steps:
+                  type: object
+              required:
+              - qiming
+              - workflow_steps
+              - packaging
+              - finish
+              type: object
           required:
           - goal
           title: run_coin_cell_assembly_workflow参数
@@ -548,7 +667,7 @@ coincellassemblyworkstation_device:
   config_info: []
   description: 扣电工站
   handles: []
-  icon: ''
+  icon: koudian.webp
   init_param_schema:
     config:
       properties:

unilabos/ros/nodes/presets/workstation.py

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