Merge pull request #183 from sun7151887/yb_fix5

添加新威电池测试系统设备节点到配置文件

new_cellconfig3c.json

@@ -90,9 +90,48 @@
         }
       },
       "data": {}
+    },
+    {
+      "id": "NewareTester",
+      "name": "新威电池测试系统",
+      "parent": null,
+      "children": [],
+      "type": "device",
+      "class": "neware_battery_test_system",
+      "config": {
+        "ip": "127.0.0.1",
+        "port": 502,
+        "machine_id": 1,
+        "devtype": "27",
+        "timeout": 20,
+        "size_x": 500.0,
+        "size_y": 500.0,
+        "size_z": 2000.0
+      },
+      "position": {
+        "size": {
+          "height": 1600,
+          "width": 1200,
+          "depth": 800
+        },
+        "position": {
+          "x": 1500,
+          "y": 0,
+          "z": 0
+        }
+      },
+      "data": {
+        "功能说明": "新威电池测试系统，提供720通道监控和CSV批量提交功能",
+        "监控功能": "支持720个通道的实时状态监控、2盘电池物料管理、状态导出等",
+        "提交功能": "通过submit_from_csv action从CSV文件批量提交测试任务"
+      }
     }
   ],
   "links": []
 }
 
 
+
+
+
+    

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
@@ -19,8 +19,22 @@ from unilabos.devices.workstation.bioyond_studio.config import (
 )
 from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
 from unilabos.resources.bioyond.decks import BIOYOND_YB_Deck
+from unilabos.resources.graphio import resource_bioyond_to_plr
 from unilabos.utils.log import logger
 from unilabos.registry.registry import lab_registry
+from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
+
+
+class device(BIOYOND_YB_Deck):
+
+    @classmethod
+    def deserialize(cls, data, allow_marshal=False):  # type: ignore[override]
+        patched = dict(data)
+        if patched.get("type") == "device":
+            patched["type"] = "Deck"
+        if patched.get("category") == "device":
+            patched["category"] = "deck"
+        return super().deserialize(patched, allow_marshal=allow_marshal)
 
 def _iso_local_now_ms() -> str:
     # 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z
@@ -44,8 +58,10 @@ class BioyondCellWorkstation(BioyondWorkstation):
             **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
@@ -56,6 +72,12 @@ 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")
 
@@ -257,7 +279,7 @@ 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,
@@ -394,10 +416,14 @@ class BioyondCellWorkstation(BioyondWorkstation):
         order_code = response.get("data", {}).get("orderCode")
         if not order_code:
             logger.error("上料任务未返回有效 orderCode！")
-            return response
+            return {"api_response": response, "order_finish": None}
         # 等待完成报送
         result = self.wait_for_order_finish(order_code)
-        return result
+        return {
+            "api_response": response,
+            "order_finish": result,
+            "items": items,
+        }
     
 
     def auto_batch_outbound_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]:
@@ -468,7 +494,7 @@ 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：
@@ -477,7 +503,7 @@ 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:
@@ -625,7 +651,34 @@ 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]:
@@ -697,6 +750,7 @@ 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)
@@ -1165,137 +1219,221 @@ class BioyondCellWorkstation(BioyondWorkstation):
         })
         return final_result
 
-
-
-
-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
+    def _fetch_bioyond_materials(
+        self,
+        *,
+        filter_keyword: Optional[str] = None,
+        type_mode: int = 2,
+    ) -> List[Dict[str, Any]]:
+        query: Dict[str, Any] = {
+            "typeMode": type_mode,
+            "includeDetail": True,
         }
+        if filter_keyword:
+            query["filter"] = filter_keyword
 
-    Returns:
-        执行完毕的 `BioyondCellWorkstation` 实例。
-    """
+        response = self._post_lims("/api/lims/storage/stock-material", query)
+        raw_materials = response.get("data")
+        if not isinstance(raw_materials, list):
+            raw_materials = []
 
-    if config.get("lab_registry", {}).get("setup", True):
-        lab_registry.setup()
+        try:
+            resource_bioyond_to_plr(
+                raw_materials,
+                type_mapping=self.bioyond_config.get("material_type_mappings", MATERIAL_TYPE_MAPPINGS),
+                deck=self.deck,
+            )
+        except Exception as exc: 
+            logger.warning(f"转换奔曜物料到 PLR 失败: {exc}", exc_info=True)
 
-    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)
+        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:
-        deck = deck_config
+                sites.append(str(idx))
+        return sites
 
-    workstation_kwargs = dict(config.get("workstation", {}))
-    if "deck" not in workstation_kwargs:
-        workstation_kwargs["deck"] = deck
-    ws = BioyondCellWorkstation(**workstation_kwargs)
+    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,
+        )
 
-    if config.get("update_push_ip", True):
-        ws.update_push_ip()
+    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")
 
-    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": [
+        timeout = timeout or self.transfer_timeout
+        payload = json.dumps(
             {
-                "name": "配液瓶",
-                "board_type": "配液瓶(小)板",
-                "bottle_type": "配液瓶(小)",
-                "location_code": "E01",
+                "function_name": method,
+                "function_args": kwargs,
             },
-            {
-                "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,
+            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, Any]:
+        self.create_sample(
+            board_type="配液瓶(小)板",
+            bottle_type="配液瓶(小)",
+            location_code="B01",
+            name="配液瓶",
+            warehouse_name="手动堆栈"
+        )
+        self.create_sample(
+            board_type="5ml分液瓶板",
+            bottle_type="5ml分液瓶",
+            location_code="B02",
+            name="分液瓶",
+            warehouse_name="手动堆栈"
+        )
+        self.scheduler_start()
+        feeding_task = self.auto_feeding4to3(
+            xlsx_path="/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx"
+        )
+        feeding_materials = self._fetch_bioyond_materials()
+        return {
+            "feeding_materials": feeding_materials,
+            "feeding_items": feeding_task.get("items", []),
+            "feeding_task": feeding_task,
         }
-    run_bioyond_cell_workflow(workflow_config)
 
-    # 1. location code
-    # 2. 实验文件
-    # 3. material template file
+    def run_liquid_preparation_stage(
+        self,
+        feeding_materials: Optional[List[Dict[str, Any]]] = None,
+    ) -> Dict[str, List[Dict[str, Any]]]:
+        result = self.create_orders(
+            xlsx_path="/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx"
+        )
+        filter_keyword = self.bioyond_config.get("mixing_material_filter") or None
+        materials = result.get("materials")
+        if materials is None:
+            materials = self._fetch_bioyond_materials(filter_keyword=filter_keyword)
+        return {
+            "feeding_materials": feeding_materials or [],
+            "liquid_materials": materials,
+        }
 
+    def run_transfer_stage(
+        self,
+        liquid_materials: Optional[List[Dict[str, Any]]] = None,
+        source_wh_id: Optional[str] = '3a19debc-84b4-0359-e2d4-b3beea49348b',
+        source_x: int = 1,
+        source_y: int = 1,
+        source_z: int = 1
+    ) -> Dict[str, Any]:
+        """转运阶段：调用transfer_3_to_2_to_1执行3到2到1转运"""
+        logger.info("开始执行转运阶段 (run_transfer_stage)")
+        
+        # 暂时注释掉物料转换和跨工站转运逻辑
+        # transfer_summary: Dict[str, Any] = {}
+        # try:
+        #     source_materials = liquid_materials or self._fetch_bioyond_materials()
+        #     transfer_plr = self._convert_materials_to_plr(source_materials)
+        #     transfer_summary["plr_count"] = len(transfer_plr)
+        #     ...
+        # except Exception as exc:
+        #     transfer_summary["error"] = str(exc)
+        #     logger.error(f"跨工站转运失败: {exc}", exc_info=True)
+        
+        # 只执行核心的3到2到1转运
+        transfer_result = self.transfer_3_to_2_to_1(
+            source_wh_id=source_wh_id,
+            source_x=source_x,
+            source_y=source_y,
+            source_z=source_z
+        )
+        
+        logger.info("转运阶段执行完成")
+        return {
+            "success": True,
+            "stage": "transfer",
+            "transfer_result": transfer_result
+        }
+if __name__ == "__main__":
+    deck = BIOYOND_YB_Deck(setup=True)
+    w = BioyondCellWorkstation(deck=deck, address="172.16.28.102", port="502", debug_mode=False)
+    feeding = w.run_feeding_stage()
+    liquid = w.run_liquid_preparation_stage(feeding.get("feeding_materials"))
+    transfer = w.run_transfer_stage(liquid.get("liquid_materials"))
     while True:
         time.sleep(1)
     # re=ws.scheduler_stop()

unilabos/devices/workstation/bioyond_studio/config.py

@@ -8,8 +8,8 @@ import os
 # BioyondCellWorkstation 默认配置（包含所有必需参数）
 API_CONFIG = {
     # API 连接配置
-    "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.1.143:44389"),#实机
-    # "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.7.149:44388"),# 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

@@ -1,4 +1,3 @@
-      
 import csv
 import inspect
 import json
@@ -139,12 +138,11 @@ 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")
             self.nodes, self.client = None, None
-
         """ 工站的配置 """
 
         self.success = False
@@ -161,6 +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
@@ -986,6 +1005,31 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         #self.success = True
         #return self.success
     
+    def run_packaging_workflow(self, workflow_config: Dict[str, Any]) -> "CoinCellAssemblyWorkstation":
+        config = workflow_config or {}
+
+        qiming_params = config.get("qiming") or {}
+        if qiming_params:
+            self.qiming_coin_cell_code(**qiming_params)
+
+        if config.get("init", True):
+            self.func_pack_device_init()
+        if config.get("auto", True):
+            self.func_pack_device_auto()
+        if config.get("start", True):
+            self.func_pack_device_start()
+
+        packaging_config = config.get("packaging") or {}
+        bottle_num = packaging_config.get("bottle_num")
+        if bottle_num is not None:
+            self.func_pack_send_bottle_num(bottle_num)
+
+        allpack_params = packaging_config.get("command") or {}
+        if allpack_params:
+            self.func_allpack_cmd(**allpack_params)
+
+        return self
+    
     def fun_wuliao_test(self) -> bool: 
         #找到data_init中构建的2个物料盘
         liaopan3 = self.deck.get_resource("\u7535\u6c60\u6599\u76d8")
@@ -1202,93 +1246,92 @@ 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")
+    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:
-        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": {
+            config = workflow_config
+        qiming_defaults = {
             "fujipian_panshu": 1,
-            "fujipian_juzhendianwei": 2,
-            "gemopanshu": 3,
-            "gemo_juzhendianwei": 4,
-            "lvbodian": False,
-            "battery_pressure_mode": False,
+            "fujipian_juzhendianwei": 0,
+            "gemopanshu": 1,
+            "gemo_juzhendianwei": 0,
+            "lvbodian": True,
+            "battery_pressure_mode": True,
             "battery_pressure": 4200,
             "battery_clean_ignore": False,
-        },
-        "packaging": {
-            "bottle_num": 16,
-            "command": {
-                "elec_num": 16,
-                "elec_use_num": 16,
+        }
+        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/calvincao/Desktop/work/Uni-Lab-OS-hhm",
+            "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,
             },
         }
-    run_coin_cell_packaging_workflow(workflow_config)
+
+
+if __name__ == "__main__":
+    deck = CoincellDeck(setup=True, name="coin_cell_deck")
+    w = CoinCellAssemblyWorkstation(deck=deck, address="172.16.28.102", port="502", debug_mode=False)
+    w.run_coin_cell_assembly_workflow()
+        
+       

unilabos/registry/devices/bioyond_cell.yaml

@@ -821,6 +821,154 @@ bioyond_cell:
           title: resource_tree_transfer参数
           type: object
         type: UniLabJsonCommand
+      auto-run_feeding_stage:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles:
+          input: []
+          output:
+          - data_key: feeding_materials
+            data_source: executor
+            data_type: resource
+            handler_key: feeding_materials
+            label: Feeding Materials
+        placeholder_keys: {}
+        result:
+          properties:
+            feeding_materials:
+              items:
+                type: object
+              type: array
+          required:
+          - feeding_materials
+          type: object
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: run_feeding_stage参数
+          type: object
+        type: UniLabJsonCommand
+      auto-run_liquid_preparation_stage:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles:
+          input:
+          - data_key: feeding_materials
+            data_source: handle
+            data_type: resource
+            handler_key: feeding_materials
+            label: Feeding Materials
+          output:
+          - data_key: liquid_materials
+            data_source: executor
+            data_type: resource
+            handler_key: liquid_materials
+            label: Liquid Materials
+        placeholder_keys: {}
+        result:
+          properties:
+            feeding_materials:
+              items:
+                type: object
+              type: array
+            liquid_materials:
+              items:
+                type: object
+              type: array
+          required:
+          - liquid_materials
+          type: object
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                feeding_materials:
+                  items:
+                    type: object
+                  type: array
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: run_liquid_preparation_stage参数
+          type: object
+        type: UniLabJsonCommand
+      auto-run_transfer_stage:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles:
+          input:
+          - data_key: liquid_materials
+            data_source: handle
+            data_type: resource
+            handler_key: liquid_materials
+            label: Liquid Materials
+          output:
+          - data_key: transfer_materials
+            data_source: executor
+            data_type: resource
+            handler_key: transfer_materials
+            label: Transfer Materials
+        placeholder_keys: {}
+        result:
+          properties:
+            liquid_materials:
+              items:
+                type: object
+              type: array
+            transfer_materials:
+              items:
+                type: object
+              type: array
+            transfer_summary:
+              type: object
+          required:
+          - transfer_materials
+          type: object
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                liquid_materials:
+                  items:
+                    type: object
+                  type: array
+              required: []
+              type: object
+            result:
+              properties:
+                liquid_materials:
+                  items:
+                    type: object
+                  type: array
+                transfer_materials:
+                  items:
+                    type: object
+                  type: array
+                transfer_summary:
+                  type: object
+              type: object
+          required:
+          - goal
+          title: run_transfer_stage参数
+          type: object
+        type: UniLabJsonCommand
       auto-scheduler_continue:
         feedback: {}
         goal: {}
@@ -1112,7 +1260,7 @@ bioyond_cell:
       device_id: String
     type: python
   config_info: []
-  description: ''
+  description: 配液工站
   handles: []
   icon: benyao2.webp
   init_param_schema:

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
@@ -477,6 +477,171 @@ coincellassemblyworkstation_device:
           title: qiming_coin_cell_code参数
           type: object
         type: UniLabJsonCommand
+      auto-run_coin_cell_assembly_workflow:
+        feedback: {}
+        goal:
+          properties:
+            workflow_config:
+              type: object
+          required: []
+          type: object
+        goal_default:
+          workflow_config: {}
+        handles:
+          input:
+          - data_key: workflow_config
+            data_source: handle
+            data_type: resource
+            handler_key: WorkflowConfig
+            label: Workflow Config
+          output:
+          - data_key: qiming
+            data_source: executor
+            data_type: resource
+            handler_key: QimingResult
+            label: Qiming Result
+          - data_key: workflow_steps
+            data_source: executor
+            data_type: resource
+            handler_key: WorkflowSteps
+            label: Workflow Steps
+          - data_key: packaging
+            data_source: executor
+            data_type: resource
+            handler_key: PackagingResult
+            label: Packaging Result
+          - data_key: finish
+            data_source: executor
+            data_type: resource
+            handler_key: FinishResult
+            label: Finish Result
+        placeholder_keys: {}
+        result:
+          properties:
+            finish:
+              properties:
+                send_finished:
+                  type: object
+                stop:
+                  type: object
+              required:
+              - send_finished
+              - stop
+              type: object
+            packaging:
+              properties:
+                bottle_num:
+                  type: integer
+                command:
+                  type: object
+                result:
+                  type: object
+              required:
+              - bottle_num
+              - command
+              - result
+              type: object
+            qiming:
+              properties:
+                params:
+                  type: object
+                success:
+                  type: boolean
+              required:
+              - params
+              - success
+              type: object
+            workflow_steps:
+              type: object
+          required:
+          - qiming
+          - workflow_steps
+          - packaging
+          - finish
+          type: object
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                workflow_config:
+                  type: object
+              required: []
+              type: object
+            result:
+              properties:
+                finish:
+                  properties:
+                    send_finished:
+                      type: object
+                    stop:
+                      type: object
+                  required:
+                  - send_finished
+                  - stop
+                  type: object
+                packaging:
+                  properties:
+                    bottle_num:
+                      type: integer
+                    command:
+                      type: object
+                    result:
+                      type: object
+                  required:
+                  - bottle_num
+                  - command
+                  - result
+                  type: object
+                qiming:
+                  properties:
+                    params:
+                      type: object
+                    success:
+                      type: boolean
+                  required:
+                  - params
+                  - success
+                  type: object
+                workflow_steps:
+                  type: object
+              required:
+              - qiming
+              - workflow_steps
+              - packaging
+              - finish
+              type: object
+          required:
+          - goal
+          title: run_coin_cell_assembly_workflow参数
+          type: object
+        type: UniLabJsonCommand
+      auto-run_packaging_workflow:
+        feedback: {}
+        goal: {}
+        goal_default:
+          workflow_config: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                workflow_config:
+                  type: object
+              required:
+              - workflow_config
+              type: object
+            result: {}
+          required:
+          - goal
+          title: run_packaging_workflow参数
+          type: object
+        type: UniLabJsonCommand
     module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation
     status_types:
       data_assembly_coin_cell_num: int
@@ -500,20 +665,22 @@ coincellassemblyworkstation_device:
       sys_status: str
     type: python
   config_info: []
-  description: ''
+  description: 扣电工站
   handles: []
   icon: koudian.webp
   init_param_schema:
     config:
       properties:
         address:
-          default: 172.21.32.111
+          default: 172.16.28.102
           type: string
+        config:
+          type: object
         debug_mode:
           default: false
           type: boolean
         deck:
-          type: object
+          type: string
         port:
           default: '502'
           type: string

unilabos/registry/devices/liquid_handler.yaml

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

unilabos/registry/devices/neware_battery_test_system.yaml

@@ -5,6 +5,73 @@ neware_battery_test_system:
   - battery_test
   class:
     action_value_mappings:
+      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-print_status_summary:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: print_status_summary参数
+          type: object
+        type: UniLabJsonCommand
+      auto-test_connection:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: test_connection参数
+          type: object
+        type: UniLabJsonCommand
       debug_resource_names:
         feedback: {}
         goal: {}
@@ -320,28 +387,24 @@ neware_battery_test_system:
     config:
       properties:
         devtype:
-          default: '27'
           type: string
         ip:
-          default: 127.0.0.1
           type: string
         machine_id:
           default: 1
           type: integer
         port:
-          default: 502
           type: integer
         size_x:
-          default: 50.0
+          default: 50
           type: number
         size_y:
-          default: 50.0
+          default: 50
           type: number
         size_z:
-          default: 20.0
+          default: 20
           type: number
         timeout:
-          default: 20
           type: integer
       required: []
       type: object

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

unilabos/resources/graphio.py

@@ -674,10 +674,15 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
             for loc in material.get("locations", []):
                 if hasattr(deck, "warehouses") and loc.get("whName") in deck.warehouses:
                     warehouse = deck.warehouses[loc["whName"]]
+                    num_x = getattr(warehouse, "num_items_x", 0) or 0
+                    num_y = getattr(warehouse, "num_items_y", 0) or 0
+                    num_z = getattr(warehouse, "num_items_z", 0) or 0
+                    if num_x <= 0 or num_y <= 0 or num_z <= 0:
+                        continue
                     idx = (
-                        (loc.get("y", 0) - 1) * warehouse.num_items_x * warehouse.num_items_y
-                        + (loc.get("x", 0) - 1) * warehouse.num_items_x
-                        + (loc.get("z", 0) - 1)
+                        (loc.get("z", 0) - 1) * num_x * num_y
+                        + (loc.get("y", 0) - 1) * num_x
+                        + (loc.get("x", 0) - 1)
                     )
                     if 0 <= idx < warehouse.capacity:
                         if warehouse[idx] is None or isinstance(warehouse[idx], ResourceHolder):

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