fix(bioyond/warehouses): 修正仓库尺寸和物品排列参数

调整仓库的x轴和z轴物品数量以及物品尺寸参数，使其符合4x1x4的规格要求

.github/workflows/conda-pack-build.yml

@@ -42,7 +42,7 @@ jobs:
     defaults:
       run:
         # Windows uses cmd for better conda/mamba compatibility, Unix uses bash
-        shell: ${{ matrix.platform == 'win-64' && 'cmd /C CALL {0}' || 'bash -el {0}' }}
+        shell: ${{ matrix.platform == 'win-64' && 'cmd' || 'bash' }}
 
     steps:
       - name: Check if platform should be built
@@ -73,7 +73,6 @@ jobs:
           channels: conda-forge,robostack-staging,uni-lab,defaults
           channel-priority: flexible
           activate-environment: unilab
-          auto-activate-base: true
           auto-update-conda: false
           show-channel-urls: true
 
@@ -82,7 +81,7 @@ jobs:
         run: |
           echo Installing unilabos and dependencies to unilab environment...
           echo Using mamba for faster and more reliable dependency resolution...
-          mamba install uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+          mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
 
       - name: Install conda-pack, unilabos and dependencies (Unix)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
@@ -90,15 +89,15 @@ jobs:
         run: |
           echo "Installing unilabos and dependencies to unilab environment..."
           echo "Using mamba for faster and more reliable dependency resolution..."
-          mamba install uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+          mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
 
       - name: Get latest ros-humble-unilabos-msgs version (Windows)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
         id: msgs_version_win
         run: |
           echo Checking installed ros-humble-unilabos-msgs version...
-          conda list ros-humble-unilabos-msgs
+          conda list -n unilab ros-humble-unilabos-msgs
-          for /f "tokens=2" %%i in ('conda list ros-humble-unilabos-msgs --json ^| python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')"') do set VERSION=%%i
+          for /f "tokens=2" %%i in ('conda list -n unilab ros-humble-unilabos-msgs --json ^| python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')"') do set VERSION=%%i
           echo installed_version=%VERSION% >> %GITHUB_OUTPUT%
           echo Installed ros-humble-unilabos-msgs version: %VERSION%
 
@@ -108,7 +107,7 @@ jobs:
         shell: bash
         run: |
           echo "Checking installed ros-humble-unilabos-msgs version..."
-          VERSION=$(conda list ros-humble-unilabos-msgs --json | python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')")
+          VERSION=$(conda list -n unilab ros-humble-unilabos-msgs --json | python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')")
           echo "installed_version=$VERSION" >> $GITHUB_OUTPUT
           echo "Installed ros-humble-unilabos-msgs version: $VERSION"
 
@@ -119,7 +118,7 @@ jobs:
           mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo Search completed
           echo.
           echo Updating ros-humble-unilabos-msgs to latest version...
-          mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo Already at latest version
+          mamba update -n unilab ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo Already at latest version
 
       - name: Check for newer ros-humble-unilabos-msgs (Unix)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
@@ -129,65 +128,65 @@ jobs:
           mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo "Search completed"
           echo ""
           echo "Updating ros-humble-unilabos-msgs to latest version..."
-          mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo "Already at latest version"
+          mamba update -n unilab ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo "Already at latest version"
 
       - name: Install latest unilabos from source (Windows)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
         run: |
           echo Uninstalling existing unilabos...
-          pip uninstall unilabos -y || echo unilabos not installed via pip
+          mamba run -n unilab pip uninstall unilabos -y || echo unilabos not installed via pip
           echo Installing unilabos from source (branch: ${{ github.event.inputs.branch }})...
-          pip install .
+          mamba run -n unilab pip install .
           echo Verifying installation...
-          pip show unilabos
+          mamba run -n unilab pip show unilabos
 
       - name: Install latest unilabos from source (Unix)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
         shell: bash
         run: |
           echo "Uninstalling existing unilabos..."
-          pip uninstall unilabos -y || echo "unilabos not installed via pip"
+          mamba run -n unilab pip uninstall unilabos -y || echo "unilabos not installed via pip"
           echo "Installing unilabos from source (branch: ${{ github.event.inputs.branch }})..."
-          pip install .
+          mamba run -n unilab pip install .
           echo "Verifying installation..."
-          pip show unilabos
+          mamba run -n unilab pip show unilabos
 
       - name: Display environment info (Windows)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
         run: |
           echo === Environment Information ===
-          conda env list
+          mamba env list
           echo.
           echo === Installed Packages ===
-          conda list | findstr /C:"unilabos" /C:"ros-humble-unilabos-msgs" || conda list
+          mamba list -n unilab | findstr /C:"unilabos" /C:"ros-humble-unilabos-msgs" || mamba list -n unilab
           echo.
           echo === Python Packages ===
-          pip list | findstr unilabos || pip list
+          mamba run -n unilab pip list | findstr unilabos || mamba run -n unilab pip list
 
       - name: Display environment info (Unix)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
         shell: bash
         run: |
           echo "=== Environment Information ==="
-          conda env list
+          mamba env list
           echo ""
           echo "=== Installed Packages ==="
-          conda list | grep -E "(unilabos|ros-humble-unilabos-msgs)" || conda list
+          mamba list -n unilab | grep -E "(unilabos|ros-humble-unilabos-msgs)" || mamba list -n unilab
           echo ""
           echo "=== Python Packages ==="
-          pip list | grep unilabos || pip list
+          mamba run -n unilab pip list | grep unilabos || mamba run -n unilab pip list
 
       - name: Verify environment integrity (Windows)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
         run: |
           echo Verifying Python version...
-          python -c "import sys; print(f'Python version: {sys.version}')"
+          mamba run -n unilab python -c "import sys; print(f'Python version: {sys.version}')"
           echo Verifying unilabos import...
-          python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo Warning: Could not import unilabos
+          mamba run -n unilab python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo Warning: Could not import unilabos
           echo Checking critical packages...
-          python -c "import rclpy; print('ROS2 rclpy: OK')"
+          mamba run -n unilab python -c "import rclpy; print('ROS2 rclpy: OK')"
           echo Running comprehensive verification script...
-          python scripts\verify_installation.py || echo Warning: Verification script reported issues
+          mamba run -n unilab python scripts\verify_installation.py --auto-install || echo Warning: Verification script reported issues
           echo Environment verification complete!
 
       - name: Verify environment integrity (Unix)
@@ -195,20 +194,20 @@ jobs:
         shell: bash
         run: |
           echo "Verifying Python version..."
-          python -c "import sys; print(f'Python version: {sys.version}')"
+          mamba run -n unilab python -c "import sys; print(f'Python version: {sys.version}')"
           echo "Verifying unilabos import..."
-          python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo "Warning: Could not import unilabos"
+          mamba run -n unilab python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo "Warning: Could not import unilabos"
           echo "Checking critical packages..."
-          python -c "import rclpy; print('ROS2 rclpy: OK')"
+          mamba run -n unilab python -c "import rclpy; print('ROS2 rclpy: OK')"
           echo "Running comprehensive verification script..."
-          python scripts/verify_installation.py || echo "Warning: Verification script reported issues"
+          mamba run -n unilab python scripts/verify_installation.py --auto-install || echo "Warning: Verification script reported issues"
           echo "Environment verification complete!"
 
       - name: Pack conda environment (Windows)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
         run: |
           echo Packing unilab environment with conda-pack...
-          conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
+          mamba activate unilab && conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
           echo Pack file created:
           dir unilab-env-${{ matrix.platform }}.tar.gz
 
@@ -217,6 +216,7 @@ jobs:
         shell: bash
         run: |
           echo "Packing unilab environment with conda-pack..."
+          mamba install conda-pack -c conda-forge -y
           conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
           echo "Pack file created:"
           ls -lh unilab-env-${{ matrix.platform }}.tar.gz
@@ -242,6 +242,10 @@ jobs:
           echo Adding: verify_installation.py
           copy scripts\verify_installation.py dist-package\
 
+          rem Copy source code repository (including .git)
+          echo Adding: Uni-Lab-OS source repository
+          robocopy . dist-package\Uni-Lab-OS /E /XD dist-package /NFL /NDL /NJH /NJS /NC /NS || if %ERRORLEVEL% LSS 8 exit /b 0
+
           rem Create README using Python script
           echo Creating: README.txt
           python scripts\create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package\README.txt
@@ -274,6 +278,10 @@ jobs:
           echo "Adding: verify_installation.py"
           cp scripts/verify_installation.py dist-package/
 
+          # Copy source code repository (including .git)
+          echo "Adding: Uni-Lab-OS source repository"
+          rsync -a --exclude='dist-package' . dist-package/Uni-Lab-OS
+
           # Create README using Python script
           echo "Creating: README.txt"
           python scripts/create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package/README.txt
@@ -283,46 +291,6 @@ jobs:
           ls -lh dist-package/
           echo ""
 
-      - name: Finalize Windows distribution package
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
-        run: |
-          echo ==========================================
-          echo Windows distribution package ready
-          echo.
-          echo Package will be uploaded as artifact
-          echo GitHub Actions will automatically create ZIP
-          echo.
-          echo Contents:
-          dir /b dist-package
-          echo.
-          echo Users will download a ZIP containing:
-          echo   - install_unilab.bat
-          echo   - unilab-env-${{ matrix.platform }}.tar.gz
-          echo   - verify_installation.py
-          echo   - README.txt
-          echo ==========================================
-
-      - name: Create Unix/Linux TAR.GZ archive
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        shell: bash
-        run: |
-          echo "=========================================="
-          echo "Creating Unix/Linux TAR.GZ archive..."
-          echo "Archive: unilab-pack-${{ matrix.platform }}.tar.gz"
-          echo "Contents: install_unilab.sh + unilab-env-${{ matrix.platform }}.tar.gz + extras"
-          tar -czf unilab-pack-${{ matrix.platform }}.tar.gz -C dist-package .
-          echo "=========================================="
-
-          echo ""
-          echo "Final package created:"
-          ls -lh unilab-pack-*
-          echo ""
-          echo "Users can now:"
-          echo "  1. Download unilab-pack-${{ matrix.platform }}.tar.gz"
-          echo "  2. Extract it: tar -xzf unilab-pack-${{ matrix.platform }}.tar.gz"
-          echo "  3. Run: bash install_unilab.sh"
-          echo ""
-
       - name: Upload distribution package
         if: steps.should_build.outputs.should_build == 'true'
         uses: actions/upload-artifact@v4
@@ -365,12 +333,8 @@ jobs:
           echo "Distribution package contents:"
           ls -lh dist-package/
           echo ""
-          echo "Package size (tar.gz):"
-          ls -lh unilab-pack-*.tar.gz
-          echo ""
           echo "Artifact name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}"
           echo ""
           echo "After download:"
-          echo "  - Windows/macOS: Extract ZIP, then: tar -xzf unilab-pack-${{ matrix.platform }}.tar.gz"
+          echo "  install_unilab.sh"
-          echo "  - Linux: Extract ZIP (or download tar.gz directly), run install_unilab.sh"
           echo "=========================================="

.github/workflows/deploy-docs.yml

@@ -39,24 +39,39 @@ jobs:
         uses: actions/checkout@v4
         with:
           ref: ${{ github.event.inputs.branch || github.ref }}
+          fetch-depth: 0
 
-      - name: Setup Python environment
+      - name: Setup Miniforge (with mamba)
-        uses: actions/setup-python@v5
+        uses: conda-incubator/setup-miniconda@v3
         with:
-          python-version: '3.10'
+          miniforge-version: latest
+          use-mamba: true
+          python-version: '3.11.11'
+          channels: conda-forge,robostack-staging,uni-lab,defaults
+          channel-priority: flexible
+          activate-environment: unilab
+          auto-update-conda: false
+          show-channel-urls: true
 
-      - name: Install system dependencies
+      - name: Install unilabos and dependencies
         run: |
-          sudo apt-get update
+          echo "Installing unilabos and dependencies to unilab environment..."
-          sudo apt-get install -y pandoc
+          echo "Using mamba for faster and more reliable dependency resolution..."
+          mamba install -n unilab uni-lab::unilabos -c uni-lab -c robostack-staging -c conda-forge -y
 
-      - name: Install Python dependencies
+      - name: Install latest unilabos from source
         run: |
-          python -m pip install --upgrade pip
+          echo "Uninstalling existing unilabos..."
-          # Install package in development mode to get version info
+          mamba run -n unilab pip uninstall unilabos -y || echo "unilabos not installed via pip"
-          pip install -e .
+          echo "Installing unilabos from source..."
-          # Install documentation dependencies
+          mamba run -n unilab pip install .
-          pip install -r docs/requirements.txt
+          echo "Verifying installation..."
+          mamba run -n unilab pip show unilabos
+
+      - name: Install documentation dependencies
+        run: |
+          echo "Installing documentation build dependencies..."
+          mamba run -n unilab pip install -r docs/requirements.txt
 
       - name: Setup Pages
         id: pages
@@ -68,8 +83,8 @@ jobs:
           cd docs
           # Clean previous builds
           rm -rf _build
-          # Build HTML documentation
+          # Build HTML documentation in conda environment
-          python -m sphinx -b html . _build/html -v
+          mamba run -n unilab python -m sphinx -b html . _build/html -v
 
       - name: Check build results
         run: |

README.md

@@ -31,7 +31,7 @@ Join the [Intelligent Organic Chemistry Synthesis Competition](https://bohrium.d
 
 Detailed documentation can be found at:
 
-- [Online Documentation](https://dptech-corp.github.io/Uni-Lab-OS/)
+- [Online Documentation](https://xuwznln.github.io/Uni-Lab-OS-Doc/)
 
 ## Quick Start
 
@@ -55,7 +55,7 @@ pip install .
 
 3. Start Uni-Lab System:
 
-Please refer to [Documentation - Boot Examples](https://dptech-corp.github.io/Uni-Lab-OS/boot_examples/index.html)
+Please refer to [Documentation - Boot Examples](https://xuwznln.github.io/Uni-Lab-OS-Doc/boot_examples/index.html)
 
 ## Message Format
 

README_zh.md

@@ -31,7 +31,7 @@ Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控
 
 详细文档可在以下位置找到:
 
-- [在线文档](https://dptech-corp.github.io/Uni-Lab-OS/)
+- [在线文档](https://xuwznln.github.io/Uni-Lab-OS-Doc/)
 
 ## 快速开始
 
@@ -57,7 +57,7 @@ pip install .
 
 3. 启动 Uni-Lab 系统:
 
-请见[文档-启动样例](https://dptech-corp.github.io/Uni-Lab-OS/boot_examples/index.html)
+请见[文档-启动样例](https://xuwznln.github.io/Uni-Lab-OS-Doc/boot_examples/index.html)
 
 ## 消息格式
 

docs/boot_examples/organic_synthesis.md

@@ -91,7 +91,7 @@
 使用以下命令启动模拟反应器：
 
 ```bash
-unilab -g test/experiments/mock_reactor.json --app_bridges ""
+unilab -g test/experiments/mock_reactor.json
 ```
 
 ### 2. 执行抽真空和充气操作

docs/conf.py

@@ -23,7 +23,7 @@ extensions = [
     "myst_parser",
     "sphinx.ext.autodoc",
     "sphinx.ext.napoleon",  # 如果您使用 Google 或 NumPy 风格的 docstrings
-    "sphinx_rtd_theme"
+    "sphinx_rtd_theme",
 ]
 
 source_suffix = {

scripts/create_readme.py

@@ -172,7 +172,7 @@ Examples:
         with open(output_path, "w", encoding="utf-8") as f:
             f.write(readme_content)
 
-        print(f"✓ README.txt created: {output_path}")
+        print(f"  README.txt created: {output_path}")
         print(f"  Platform: {args.platform}")
         print(f"  Branch:   {args.branch}")
 

scripts/verify_installation.py

@@ -8,7 +8,10 @@ This script verifies that UniLabOS and its dependencies are correctly installed.
 Run this script after installing the conda-pack environment to ensure everything works.
 
 Usage:
-    python verify_installation.py
+    python verify_installation.py [--auto-install]
+
+    Options:
+        --auto-install    Automatically install missing packages
 
     Or in the conda environment:
     conda activate unilab
@@ -17,14 +20,15 @@ Usage:
 
 import sys
 import os
+import argparse
 
 # IMPORTANT: Set UTF-8 encoding BEFORE any other imports
 # This ensures all subsequent imports (including unilabos) can output UTF-8 characters
 if sys.platform == "win32":
     # Method 1: Reconfigure stdout/stderr to use UTF-8 with error handling
     try:
-        sys.stdout.reconfigure(encoding="utf-8", errors="replace")
+        sys.stdout.reconfigure(encoding="utf-8", errors="replace")  # type: ignore
-        sys.stderr.reconfigure(encoding="utf-8", errors="replace")
+        sys.stderr.reconfigure(encoding="utf-8", errors="replace")  # type: ignore
     except (AttributeError, OSError):
         pass
 
@@ -49,7 +53,7 @@ CHECK_MARK = "[OK]"
 CROSS_MARK = "[FAIL]"
 
 
-def check_package(package_name: str, display_name: str = None) -> bool:
+def check_package(package_name: str, display_name: str | None = None) -> bool:
     """
     Check if a package can be imported.
 
@@ -87,9 +91,25 @@ def check_python_version() -> bool:
 
 def main():
     """Run all verification checks."""
+    # Parse command line arguments
+    parser = argparse.ArgumentParser(
+        description="Verify UniLabOS installation",
+        formatter_class=argparse.RawDescriptionHelpFormatter,
+    )
+    parser.add_argument(
+        "--auto-install",
+        action="store_true",
+        help="Automatically install missing packages",
+    )
+    args = parser.parse_args()
+
     print("=" * 60)
     print("UniLabOS Installation Verification")
     print("=" * 60)
+    if args.auto_install:
+        print("Mode: Auto-install missing packages")
+    else:
+        print("Mode: Verification only")
     print()
 
     all_passed = True
@@ -113,14 +133,16 @@ def main():
 
         print(f"  {CHECK_MARK} UniLabOS installed")
 
-        # Check environment without auto-install (verification only)
+        # Check environment with optional auto-install
         # Set show_details=False to suppress detailed Chinese output that may cause encoding issues
-        env_check_passed = check_environment(auto_install=False, show_details=False)
+        env_check_passed = check_environment(auto_install=args.auto_install, show_details=False)
 
         if env_check_passed:
             print(f"  {CHECK_MARK} All required packages available")
         else:
             print(f"  {CROSS_MARK} Some optional packages are missing")
+            if not args.auto_install:
+                print("  Hint: Run with --auto-install to automatically install missing packages")
     except ImportError:
         print(f"  {CROSS_MARK} UniLabOS not installed")
         all_passed = False

test/experiments/comprehensive_protocol/comprehensive_station.json

@@ -170,15 +170,16 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 1000.0
+                "max_volume": 1000.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 200,
+                "size_y": 150,
+                "size_z": 0
             },
             "data": {
-                "liquids": [
+                "liquids": [["DMF", 500.0]],
-                    {
+                "pending_liquids": [["DMF", 500.0]]
-                        "liquid_type": "DMF",
-                        "liquid_volume": 1000.0
-                    }
-                ]
             }
         },
         {
@@ -194,15 +195,16 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 1000.0
+                "max_volume": 1000.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 200,
+                "size_y": 150,
+                "size_z": 0
             },
             "data": {
-                "liquids": [
+                "liquids": [["ethyl_acetate", 1000.0]],
-                    {
+                "pending_liquids": [["ethyl_acetate", 1000.0]]
-                        "liquid_type": "ethyl_acetate",
-                        "liquid_volume": 1000.0
-                    }
-                ]
             }
         },
         {
@@ -218,15 +220,16 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 1000.0
+                "max_volume": 1000.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 300,
+                "size_y": 150,
+                "size_z": 0
             },
             "data": {
-                "liquids": [
+                "liquids": [["hexane", 1000.0]],
-                    {
+                "pending_liquids": [["hexane", 1000.0]]
-                        "liquid_type": "hexane",
-                        "liquid_volume": 1000.0
-                    }
-                ]
             }
         },
         {
@@ -242,15 +245,16 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 1000.0
+                "max_volume": 1000.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 900,
+                "size_y": 150,
+                "size_z": 0
             },
             "data": {
-                "liquids": [
+                "liquids": [["methanol", 1000.0]],
-                    {
+                "pending_liquids": [["methanol", 1000.0]]
-                        "liquid_type": "methanol",
-                        "liquid_volume": 1000.0
-                    }
-                ]
             }
         },
         {
@@ -266,15 +270,16 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 1000.0
+                "max_volume": 1000.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 950,
+                "size_y": 150,
+                "size_z": 0
             },
             "data": {
-                "liquids": [
+                "liquids": [["water", 1000.0]],
-                    {
+                "pending_liquids": [["water", 1000.0]]
-                        "liquid_type": "water",
-                        "liquid_volume": 1000.0
-                    }
-                ]
             }
         },
         {
@@ -335,14 +340,16 @@
             },
             "config": {
                 "max_volume": 500.0,
+                "type": "RegularContainer",
+                "category": "container",
                 "max_temp": 200.0,
                 "min_temp": -20.0,
                 "has_stirrer": true,
                 "has_heater": true
             },
             "data": {
-                "liquids": [
+                "liquids": [],
-                ]
+                "pending_liquids": []
             }
         },
         {
@@ -419,11 +426,16 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 2000.0
+                "max_volume": 2000.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 500,
+                "size_y": 400,
+                "size_z": 0
             },
             "data": {
-                "liquids": [
+                "liquids": [],
-                ]
+                "pending_liquids": []
             }
         },
         {
@@ -439,11 +451,16 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 2000.0
+                "max_volume": 2000.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 1100,
+                "size_y": 500,
+                "size_z": 0
             },
             "data": {
-                "liquids": [
+                "liquids": [],
-                ]
+                "pending_liquids": []
             }
         },
         {
@@ -649,11 +666,16 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 250.0
+                "max_volume": 250.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 900,
+                "size_y": 500,
+                "size_z": 0
             },
             "data": {
-                "liquids": [
+                "liquids": [],
-                ]
+                "pending_liquids": []
             }
         },
         {
@@ -669,11 +691,16 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 250.0
+                "max_volume": 250.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 950,
+                "size_y": 500,
+                "size_z": 0
             },
             "data": {
-                "liquids": [
+                "liquids": [],
-                ]
+                "pending_liquids": []
             }
         },
         {
@@ -689,11 +716,16 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 250.0
+                "max_volume": 250.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 1050,
+                "size_y": 500,
+                "size_z": 0
             },
             "data": {
-                "liquids": [
+                "liquids": [],
-                ]
+                "pending_liquids": []
             }
         },
         {
@@ -733,6 +765,11 @@
             },
             "config": {
                 "max_volume": 500.0,
+                "size_x": 550,
+                "size_y": 250,
+                "size_z": 0,
+                "type": "RegularContainer",
+                "category": "container",
                 "reagent": "sodium_chloride",
                 "physical_state": "solid"
             },
@@ -756,6 +793,11 @@
             },
             "config": {
                 "volume": 500.0,
+                "size_x": 600,
+                "size_y": 250,
+                "size_z": 0,
+                "type": "RegularContainer",
+                "category": "container",
                 "reagent": "sodium_carbonate",
                 "physical_state": "solid"
             },
@@ -779,6 +821,11 @@
             },
             "config": {
                 "volume": 500.0,
+                "size_x": 650,
+                "size_y": 250,
+                "size_z": 0,
+                "type": "RegularContainer",
+                "category": "container",
                 "reagent": "magnesium_chloride",
                 "physical_state": "solid"
             },

test/experiments/dispensing_station_bioyond.json

@@ -8,7 +8,7 @@
             ],
             "parent": null,
             "type": "device",
-            "class": "dispensing_station.bioyond",
+            "class": "workstation.bioyond_dispensing_station",
             "config": {
                 "config": {
                     "api_key": "DE9BDDA0",
@@ -20,13 +20,6 @@
                         "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerPreparationStation_Deck"
                     }
                 },
-                "station_config": {
-                    "station_type": "dispensing_station",
-                    "enable_dispensing_station": true,
-                    "enable_reaction_station": false,
-                    "station_name": "DispensingStation_001",
-                    "description": "Bioyond配液工作站"
-                },
                 "protocol_type": []
             },
             "data": {}

test/experiments/reaction_station_bioyond.json

@@ -10,7 +10,7 @@
             "type": "device",
             "class": "reaction_station.bioyond",
             "config": {
-                "bioyond_config": {
+                "config": {
                     "api_key": "DE9BDDA0",
                     "api_host": "http://192.168.1.200:44402",
                     "workflow_mappings": {
@@ -19,14 +19,18 @@
                         "Solid_feeding_vials": "3a160877-87e7-7699-7bc6-ec72b05eb5e6",
                         "Liquid_feeding_vials(non-titration)": "3a167d99-6158-c6f0-15b5-eb030f7d8e47",
                         "Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046",
-                        "Liquid_feeding(titration)": "3a160824-0665-01ed-285a-51ef817a9046",
+                        "Liquid_feeding(titration)": "3a16082a-96ac-0449-446a-4ed39f3365b6",
-                        "Liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
+                        "liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
                         "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a"
                     },
                     "material_type_mappings": {
-                        "烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
+                        "烧杯": ["BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"],
-                        "试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
+                        "试剂瓶": ["BIOYOND_PolymerStation_1BottleCarrier", ""],
-                        "样品板": "BIOYOND_PolymerStation_6VialCarrier"
+                        "样品板": ["BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"],
+                        "分装板": ["BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"],
+                        "样品瓶": ["BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"],
+                        "90%分装小瓶": ["BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"],
+                        "10%分装小瓶": ["BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"]
                     }
                 },
                 "deck": {
@@ -42,7 +46,6 @@
         {
             "id": "Bioyond_Deck",
             "name": "Bioyond_Deck",
-            "sample_id": null,
             "children": [
             ],
             "parent": "reaction_station_bioyond",

test/resources/test_converter_bioyond.py

@@ -12,23 +12,13 @@ lab_registry.setup()
 
 
 type_mapping = {
-    "烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
+    "烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"),
-    "试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
+    "试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""),
-    "样品板": "BIOYOND_PolymerStation_6StockCarrier",
+    "样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"),
-    "分装板": "BIOYOND_PolymerStation_6VialCarrier",
+    "分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),
-    "样品瓶": "BIOYOND_PolymerStation_Solid_Stock",
+    "样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"),
-    "90%分装小瓶": "BIOYOND_PolymerStation_Solid_Vial",
+    "90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"),
-    "10%分装小瓶": "BIOYOND_PolymerStation_Liquid_Vial",
+    "10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"),
-}
-
-type_uuid_mapping = {
-    "烧杯": "",
-    "试剂瓶": "",
-    "样品板": "",
-    "分装板": "3a14196e-5dfe-6e21-0c79-fe2036d052c4",
-    "样品瓶": "3a14196a-cf7d-8aea-48d8-b9662c7dba94",
-    "90%分装小瓶": "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea",
-    "10%分装小瓶": "3a14196c-76be-2279-4e22-7310d69aed68",
 }
 
 

test/resources/test_itemized_carrier.py

@@ -0,0 +1,115 @@
+#!/usr/bin/env python3
+"""
+测试修改后的 get_child_identifier 函数
+"""
+
+from unilabos.resources.itemized_carrier import ItemizedCarrier, Bottle
+from pylabrobot.resources.coordinate import Coordinate
+
+def test_get_child_identifier_with_indices():
+    """测试返回x,y,z索引的 get_child_identifier 函数"""
+    
+    # 创建一些测试瓶子
+    bottle1 = Bottle("bottle1", diameter=25.0, height=50.0, max_volume=15.0)
+    bottle1.location = Coordinate(10, 20, 5)
+    
+    bottle2 = Bottle("bottle2", diameter=25.0, height=50.0, max_volume=15.0) 
+    bottle2.location = Coordinate(50, 20, 5)
+    
+    bottle3 = Bottle("bottle3", diameter=25.0, height=50.0, max_volume=15.0) 
+    bottle3.location = Coordinate(90, 20, 5)
+    
+    # 创建载架，指定维度
+    sites = {
+        "A1": bottle1,
+        "A2": bottle2, 
+        "A3": bottle3,
+        "B1": None,  # 空位
+        "B2": None,
+        "B3": None
+    }
+    
+    carrier = ItemizedCarrier(
+        name="test_carrier",
+        size_x=150,
+        size_y=100,
+        size_z=30,
+        num_items_x=3,  # 3列
+        num_items_y=2,  # 2行  
+        num_items_z=1,  # 1层
+        sites=sites
+    )
+    
+    print("测试载架维度:")
+    print(f"num_items_x: {carrier.num_items_x}")
+    print(f"num_items_y: {carrier.num_items_y}")
+    print(f"num_items_z: {carrier.num_items_z}")
+    print()
+    
+    # 测试获取bottle1的标识符信息 (A1 = idx:0, x:0, y:0, z:0)
+    result1 = carrier.get_child_identifier(bottle1)
+    print("测试bottle1 (A1):")
+    print(f"  identifier: {result1['identifier']}")
+    print(f"  idx: {result1['idx']}")
+    print(f"  x index: {result1['x']}")
+    print(f"  y index: {result1['y']}")
+    print(f"  z index: {result1['z']}")
+    
+    # Assert 验证 bottle1 (A1) 的结果
+    assert result1['identifier'] == 'A1', f"Expected identifier 'A1', got '{result1['identifier']}'"
+    assert result1['idx'] == 0, f"Expected idx 0, got {result1['idx']}"
+    assert result1['x'] == 0, f"Expected x index 0, got {result1['x']}"
+    assert result1['y'] == 0, f"Expected y index 0, got {result1['y']}"
+    assert result1['z'] == 0, f"Expected z index 0, got {result1['z']}"
+    print("  ✓ bottle1 (A1) 测试通过")
+    print()
+    
+    # 测试获取bottle2的标识符信息 (A2 = idx:1, x:1, y:0, z:0)
+    result2 = carrier.get_child_identifier(bottle2)
+    print("测试bottle2 (A2):")
+    print(f"  identifier: {result2['identifier']}")
+    print(f"  idx: {result2['idx']}")
+    print(f"  x index: {result2['x']}")
+    print(f"  y index: {result2['y']}")
+    print(f"  z index: {result2['z']}")
+    
+    # Assert 验证 bottle2 (A2) 的结果
+    assert result2['identifier'] == 'A2', f"Expected identifier 'A2', got '{result2['identifier']}'"
+    assert result2['idx'] == 1, f"Expected idx 1, got {result2['idx']}"
+    assert result2['x'] == 1, f"Expected x index 1, got {result2['x']}"
+    assert result2['y'] == 0, f"Expected y index 0, got {result2['y']}"
+    assert result2['z'] == 0, f"Expected z index 0, got {result2['z']}"
+    print("  ✓ bottle2 (A2) 测试通过")
+    print()
+        
+    # 测试获取bottle3的标识符信息 (A3 = idx:2, x:2, y:0, z:0)
+    result3 = carrier.get_child_identifier(bottle3)
+    print("测试bottle3 (A3):")
+    print(f"  identifier: {result3['identifier']}")
+    print(f"  idx: {result3['idx']}")
+    print(f"  x index: {result3['x']}")
+    print(f"  y index: {result3['y']}")
+    print(f"  z index: {result3['z']}")
+    
+    # Assert 验证 bottle3 (A3) 的结果
+    assert result3['identifier'] == 'A3', f"Expected identifier 'A3', got '{result3['identifier']}'"
+    assert result3['idx'] == 2, f"Expected idx 2, got {result3['idx']}"
+    assert result3['x'] == 2, f"Expected x index 2, got {result3['x']}"
+    assert result3['y'] == 0, f"Expected y index 0, got {result3['y']}"
+    assert result3['z'] == 0, f"Expected z index 0, got {result3['z']}"
+    print("  ✓ bottle3 (A3) 测试通过")
+    print()
+    
+    # 测试错误情况：查找不存在的资源
+    bottle_not_exists = Bottle("bottle_not_exists", diameter=25.0, height=50.0, max_volume=15.0)
+    try:
+        carrier.get_child_identifier(bottle_not_exists)
+        assert False, "应该抛出 ValueError 异常"
+    except ValueError as e:
+        print("✓ 正确抛出了 ValueError 异常：", str(e))
+        assert "is not assigned to this carrier" in str(e), "异常消息应该包含预期的文本"
+    
+    print("\n🎉 所有测试都通过了！")
+
+if __name__ == "__main__":
+    test_get_child_identifier_with_indices()

test/resources/test_resourcetreeset.py

@@ -0,0 +1,68 @@
+import pytest
+import json
+import os
+
+from pylabrobot.resources import Resource as ResourcePLR
+from unilabos.resources.graphio import resource_bioyond_to_plr
+from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
+from unilabos.registry.registry import lab_registry
+
+from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck
+
+lab_registry.setup()
+
+
+type_mapping = {
+    "烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"),
+    "试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""),
+    "样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"),
+    "分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),
+    "样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"),
+    "90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"),
+    "10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"),
+}
+
+
+@pytest.fixture
+def bioyond_materials_reaction() -> list[dict]:
+    print("加载 BioYond 物料数据...")
+    print(os.getcwd())
+    with open("bioyond_materials_reaction.json", "r", encoding="utf-8") as f:
+        data = json.load(f)
+    print(f"加载了 {len(data)} 条物料数据")
+    return data
+
+
+@pytest.fixture
+def bioyond_materials_liquidhandling_1() -> list[dict]:
+    print("加载 BioYond 物料数据...")
+    print(os.getcwd())
+    with open("bioyond_materials_liquidhandling_1.json", "r", encoding="utf-8") as f:
+        data = json.load(f)
+    print(f"加载了 {len(data)} 条物料数据")
+    return data
+
+
+@pytest.fixture
+def bioyond_materials_liquidhandling_2() -> list[dict]:
+    print("加载 BioYond 物料数据...")
+    print(os.getcwd())
+    with open("bioyond_materials_liquidhandling_2.json", "r", encoding="utf-8") as f:
+        data = json.load(f)
+    print(f"加载了 {len(data)} 条物料数据")
+    return data
+
+
+@pytest.mark.parametrize("materials_fixture", [
+    "bioyond_materials_reaction",
+    "bioyond_materials_liquidhandling_1",
+])
+def test_resourcetreeset_from_plr(materials_fixture, request) -> list[dict]:
+    materials = request.getfixturevalue(materials_fixture)
+    deck = BIOYOND_PolymerReactionStation_Deck("test_deck")
+    output = resource_bioyond_to_plr(materials, type_mapping=type_mapping, deck=deck)
+    print(deck.summary())
+
+    r = ResourceTreeSet.from_plr_resources([deck])
+    print(r.dump())
+    # json.dump(deck.serialize(), open("test.json", "w", encoding="utf-8"), indent=4)

unilabos/app/main.py

@@ -11,18 +11,14 @@ from typing import Dict, Any, List
 import networkx as nx
 import yaml
 
-from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDict
-
 # 首先添加项目根目录到路径
 current_dir = os.path.dirname(os.path.abspath(__file__))
 unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
 if unilabos_dir not in sys.path:
     sys.path.append(unilabos_dir)
 
-from unilabos.config.config import load_config, BasicConfig, HTTPConfig
 from unilabos.utils.banner_print import print_status, print_unilab_banner
-from unilabos.resources.graphio import modify_to_backend_format
+from unilabos.config.config import load_config, BasicConfig, HTTPConfig
-
 
 def load_config_from_file(config_path):
     if config_path is None:
@@ -184,6 +180,7 @@ def main():
         working_dir = os.path.abspath(os.getcwd())
     else:
         working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
+
     if args_dict.get("working_dir"):
         working_dir = args_dict.get("working_dir", "")
         if config_path and not os.path.exists(config_path):
@@ -215,6 +212,14 @@ def main():
     # 加载配置文件
     print_status(f"当前工作目录为 {working_dir}", "info")
     load_config_from_file(config_path)
+
+    # 根据配置重新设置日志级别
+    from unilabos.utils.log import configure_logger, logger
+
+    if hasattr(BasicConfig, "log_level"):
+        logger.info(f"Log level set to '{BasicConfig.log_level}' from config file.")
+        configure_logger(loglevel=BasicConfig.log_level)
+
     if args_dict["addr"] == "test":
         print_status("使用测试环境地址", "info")
         HTTPConfig.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
@@ -268,6 +273,8 @@ def main():
     from unilabos.app.web import http_client
     from unilabos.app.web import start_server
     from unilabos.app.register import register_devices_and_resources
+    from unilabos.resources.graphio import modify_to_backend_format
+    from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDict
 
     # 显示启动横幅
     print_unilab_banner(args_dict)
@@ -349,7 +356,7 @@ def main():
 
     if BasicConfig.upload_registry:
         # 设备注册到服务端 - 需要 ak 和 sk
-        if args_dict.get("ak") and args_dict.get("sk"):
+        if BasicConfig.ak and BasicConfig.sk:
             print_status("开始注册设备到服务端...", "info")
             try:
                 register_devices_and_resources(lab_registry)

unilabos/app/web/client.py

@@ -73,6 +73,8 @@ class HTTPClient:
         Returns:
             Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
         """
+        with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "w", encoding="utf-8") as f:
+            f.write(json.dumps({"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}, indent=4))
         # 从序列化数据中提取所有节点的UUID（保存旧UUID）
         old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
         if not self.initialized or first_add:
@@ -92,6 +94,8 @@ class HTTPClient:
                 timeout=100,
             )
 
+        with open(os.path.join(BasicConfig.working_dir, "res_resource_tree_add.json"), "w", encoding="utf-8") as f:
+            f.write(f"{response.status_code}" + "\n" + response.text)
         # 处理响应，构建UUID映射
         uuid_mapping = {}
         if response.status_code == 200:

unilabos/config/config.py

@@ -2,7 +2,7 @@ import base64
 import traceback
 import os
 import importlib.util
-from typing import Optional
+from typing import Optional, Literal
 from unilabos.utils import logger
 
 
@@ -18,6 +18,7 @@ class BasicConfig:
     vis_2d_enable = False
     enable_resource_load = True
     communication_protocol = "websocket"
+    log_level: Literal['TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'] = "DEBUG"  # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
 
     @classmethod
     def auth_secret(cls):

unilabos/devices/workstation/README.md

@@ -37,7 +37,7 @@ def _initialize_material_system(self, deck_config: Dict[str, Any], children_conf
 **定义在**: `workstation_base.py`
 
 **设计目的**：
-- 提供外部物料系统（如Bioyong、LIMS等）集成的标准接口
+- 提供外部物料系统（如Bioyond、LIMS等）集成的标准接口
 - 双向同步：从外部系统同步到本地deck，以及将本地变更同步到外部系统
 - 处理外部系统的变更通知
 
@@ -59,7 +59,7 @@ async def handle_external_change(self, change_info: Dict[str, Any]) -> bool:
 **扩展功能**：
 - HTTP报送接收服务集成
 - 具体工作流实现（液体转移、板洗等）
-- Bioyong物料系统同步器示例
+- Bioyond物料系统同步器示例
 - 外部报送处理方法
 
 ## 技术栈
@@ -142,11 +142,11 @@ success = workstation.execute_workflow("liquid_transfer", {
 ### 3. 外部系统集成
 
 ```python
-class BioyongResourceSynchronizer(ResourceSynchronizer):
+class BioyondResourceSynchronizer(ResourceSynchronizer):
-    """Bioyong系统同步器"""
+    """Bioyond系统同步器"""
     
     async def sync_from_external(self) -> bool:
-        # 从Bioyong API获取物料
+        # 从Bioyond API获取物料
         external_materials = await self._fetch_bioyong_materials()
         
         # 转换并添加到本地deck

unilabos/devices/workstation/bioyond_studio/config.py

@@ -9,22 +9,6 @@ API_CONFIG = {
     "api_host": ""
 }
 
-# 站点类型配置
-STATION_TYPES = {
-    "REACTION": "reaction_station",      # 仅反应站
-    "DISPENSING": "dispensing_station",  # 仅配液站
-    "HYBRID": "hybrid_station"           # 混合模式
-}
-
-# 默认站点配置
-DEFAULT_STATION_CONFIG = {
-    "station_type": STATION_TYPES["REACTION"],  # 默认反应站模式
-    "enable_reaction_station": True,            # 是否启用反应站功能
-    "enable_dispensing_station": False,         # 是否启用配液站功能
-    "station_name": "BioyondReactionStation",   # 站点名称
-    "description": "Bioyond反应工作站"          # 站点描述
-}
-
 # 工作流映射配置
 WORKFLOW_MAPPINGS = {
     "reactor_taken_out": "",
@@ -49,52 +33,75 @@ WORKFLOW_TO_SECTION_MAP = {
 }
 
 # 库位映射配置
-LOCATION_MAPPING = {
+WAREHOUSE_MAPPING = {
-    'A01': '',
+    "粉末堆栈": {
-    'A02': '',
+        "uuid": "",
-    'A03': '',
+        "site_uuids": {
-    'A04': '',
+            # 样品板
-    'A05': '',
+            "A1": "3a14198e-6929-31f0-8a22-0f98f72260df",
-    'A06': '',
+            "A2": "3a14198e-6929-4379-affa-9a2935c17f99",
-    'A07': '',
+            "A3": "3a14198e-6929-56da-9a1c-7f5fbd4ae8af",
-    'A08': '',
+            "A4": "3a14198e-6929-5e99-2b79-80720f7cfb54",
-    'B01': '',
+            "B1": "3a14198e-6929-f525-9a1b-1857552b28ee",
-    'B02': '',
+            "B2": "3a14198e-6929-bf98-0fd5-26e1d68bf62d",
-    'B03': '',
+            "B3": "3a14198e-6929-2d86-a468-602175a2b5aa",
-    'B04': '',
+            "B4": "3a14198e-6929-1a98-ae57-e97660c489ad",
-    'B05': '',
+            # 分装板
-    'B06': '',
+            "C1": "3a14198e-6929-46fe-841e-03dd753f1e4a",
-    'B07': '',
+            "C2": "3a14198e-6929-1bc9-a9bd-3b7ca66e7f95",
-    'B08': '',
+            "C3": "3a14198e-6929-72ac-32ce-9b50245682b8",
-    'C01': '',
+            "C4": "3a14198e-6929-3bd8-e6c7-4a9fd93be118",
-    'C02': '',
+            "D1": "3a14198e-6929-8a0b-b686-6f4a2955c4e2",
-    'C03': '',
+            "D2": "3a14198e-6929-dde1-fc78-34a84b71afdf",
-    'C04': '',
+            "D3": "3a14198e-6929-a0ec-5f15-c0f9f339f963",
-    'C05': '',
+            "D4": "3a14198e-6929-7ac8-915a-fea51cb2e884"
-    'C06': '',
+        }
-    'C07': '',
+    },
-    'C08': '',
+    "溶液堆栈": {
-    'D01': '',
+        "uuid": "",
-    'D02': '',
+        "site_uuids": {
-    'D03': '',
+            "A1": "3a14198e-d724-e036-afdc-2ae39a7f3383",
-    'D04': '',
+            "A2": "3a14198e-d724-afa4-fc82-0ac8a9016791",
-    'D05': '',
+            "A3": "3a14198e-d724-ca48-bb9e-7e85751e55b6",
-    'D06': '',
+            "A4": "3a14198e-d724-df6d-5e32-5483b3cab583",
-    'D07': '',
+            "B1": "3a14198e-d724-d818-6d4f-5725191a24b5",
-    'D08': '',
+            "B2": "3a14198e-d724-be8a-5e0b-012675e195c6",
+            "B3": "3a14198e-d724-cc1e-5c2c-228a130f40a8",
+            "B4": "3a14198e-d724-1e28-c885-574c3df468d0",
+            "C1": "3a14198e-d724-b5bb-adf3-4c5a0da6fb31",
+            "C2": "3a14198e-d724-ab4e-48cb-817c3c146707",
+            "C3": "3a14198e-d724-7f18-1853-39d0c62e1d33",
+            "C4": "3a14198e-d724-28a2-a760-baa896f46b66",
+            "D1": "3a14198e-d724-d378-d266-2508a224a19f",
+            "D2": "3a14198e-d724-f56e-468b-0110a8feb36a",
+            "D3": "3a14198e-d724-0cf1-dea9-a1f40fe7e13c",
+            "D4": "3a14198e-d724-0ddd-9654-f9352a421de9"
+        }
+    },
+    "试剂堆栈": {
+        "uuid": "",
+        "site_uuids": {
+            "A1": "3a14198c-c2cf-8b40-af28-b467808f1c36",
+            "A2": "3a14198c-c2d0-f3e7-871a-e470d144296f",
+            "A3": "3a14198c-c2d0-dc7d-b8d0-e1d88cee3094",
+            "A4": "3a14198c-c2d0-2070-efc8-44e245f10c6f",
+            "B1": "3a14198c-c2d0-354f-39ad-642e1a72fcb8",
+            "B2": "3a14198c-c2d0-1559-105d-0ea30682cab4",
+            "B3": "3a14198c-c2d0-725e-523d-34c037ac2440",
+            "B4": "3a14198c-c2d0-efce-0939-69ca5a7dfd39"
+        }
+    }
 }
 
 # 物料类型配置
-MATERIAL_TYPE_IDS = {
-    "样品板": "",
-    "样品": "",
-    "烧杯": ""
-}
-
 MATERIAL_TYPE_MAPPINGS = {
-    "烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
+    "烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"),
-    "试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
+    "试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""),
-    "样品板": "BIOYOND_PolymerStation_6VialCarrier",
+    "样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"),
+    "分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),
+    "样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"),
+    "90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"),
+    "10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"),
 }
 
 # 步骤参数配置（各工作流的步骤UUID）
@@ -127,3 +134,5 @@ WORKFLOW_STEP_IDS = {
         "observe": ""
     }
 }
+
+LOCATION_MAPPING = {}

unilabos/devices/workstation/bioyond_studio/dispensing_station.py

@@ -0,0 +1,831 @@
+from datetime import datetime
+import json
+
+from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondException
+from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation
+
+
+class BioyondDispensingStation(BioyondWorkstation):
+    def __init__(
+        self, 
+        config,
+            # 桌子
+        deck,
+        *args,
+        **kwargs,
+        ):
+        super().__init__(config, deck, *args, **kwargs)
+        # self.config = config
+        # self.api_key = config["api_key"]
+        # self.host = config["api_host"]
+        #
+        # # 使用简单的Logger替代原来的logger
+        # self._logger = SimpleLogger()
+        # self.is_running = False
+
+    # 90%10%小瓶投料任务创建方法
+    def create_90_10_vial_feeding_task(self,
+                                       order_name: str = None,
+                                       speed: str = None,
+                                       temperature: str = None,
+                                       delay_time: str = None,
+                                       percent_90_1_assign_material_name: str = None,
+                                       percent_90_1_target_weigh: str = None,
+                                       percent_90_2_assign_material_name: str = None,
+                                       percent_90_2_target_weigh: str = None,
+                                       percent_90_3_assign_material_name: str = None,
+                                       percent_90_3_target_weigh: str = None,
+                                       percent_10_1_assign_material_name: str = None,
+                                       percent_10_1_target_weigh: str = None,
+                                       percent_10_1_volume: str = None,
+                                       percent_10_1_liquid_material_name: str = None,
+                                       percent_10_2_assign_material_name: str = None,
+                                       percent_10_2_target_weigh: str = None,
+                                       percent_10_2_volume: str = None,
+                                       percent_10_2_liquid_material_name: str = None,
+                                       percent_10_3_assign_material_name: str = None,
+                                       percent_10_3_target_weigh: str = None,
+                                       percent_10_3_volume: str = None,
+                                       percent_10_3_liquid_material_name: str = None,
+                                       hold_m_name: str = None) -> dict:
+        """
+        创建90%10%小瓶投料任务
+
+        参数说明:
+        - order_name: 任务名称，如果为None则使用默认名称
+        - speed: 搅拌速度，如果为None则使用默认值400
+        - temperature: 温度，如果为None则使用默认值40
+        - delay_time: 延迟时间，如果为None则使用默认值600
+        - percent_90_1_assign_material_name: 90%_1物料名称
+        - percent_90_1_target_weigh: 90%_1目标重量
+        - percent_90_2_assign_material_name: 90%_2物料名称
+        - percent_90_2_target_weigh: 90%_2目标重量
+        - percent_90_3_assign_material_name: 90%_3物料名称
+        - percent_90_3_target_weigh: 90%_3目标重量
+        - percent_10_1_assign_material_name: 10%_1固体物料名称
+        - percent_10_1_target_weigh: 10%_1固体目标重量
+        - percent_10_1_volume: 10%_1液体体积
+        - percent_10_1_liquid_material_name: 10%_1液体物料名称
+        - percent_10_2_assign_material_name: 10%_2固体物料名称
+        - percent_10_2_target_weigh: 10%_2固体目标重量
+        - percent_10_2_volume: 10%_2液体体积
+        - percent_10_2_liquid_material_name: 10%_2液体物料名称
+        - percent_10_3_assign_material_name: 10%_3固体物料名称
+        - percent_10_3_target_weigh: 10%_3固体目标重量
+        - percent_10_3_volume: 10%_3液体体积
+        - percent_10_3_liquid_material_name: 10%_3液体物料名称
+        - hold_m_name: 库位名称，如"C01"，用于查找对应的holdMId
+
+        返回: 任务创建结果
+        
+        异常:
+        - BioyondException: 各种错误情况下的统一异常
+        """
+        try:
+            # 1. 参数验证
+            if not hold_m_name:
+                raise BioyondException("hold_m_name 是必填参数")
+            
+            # 检查90%物料参数的完整性
+            # 90%_1物料：如果有物料名称或目标重量，就必须有全部参数
+            if percent_90_1_assign_material_name or percent_90_1_target_weigh:
+                if not percent_90_1_assign_material_name:
+                    raise BioyondException("90%_1物料：如果提供了目标重量，必须同时提供物料名称")
+                if not percent_90_1_target_weigh:
+                    raise BioyondException("90%_1物料：如果提供了物料名称，必须同时提供目标重量")
+            
+            # 90%_2物料：如果有物料名称或目标重量，就必须有全部参数
+            if percent_90_2_assign_material_name or percent_90_2_target_weigh:
+                if not percent_90_2_assign_material_name:
+                    raise BioyondException("90%_2物料：如果提供了目标重量，必须同时提供物料名称")
+                if not percent_90_2_target_weigh:
+                    raise BioyondException("90%_2物料：如果提供了物料名称，必须同时提供目标重量")
+            
+            # 90%_3物料：如果有物料名称或目标重量，就必须有全部参数
+            if percent_90_3_assign_material_name or percent_90_3_target_weigh:
+                if not percent_90_3_assign_material_name:
+                    raise BioyondException("90%_3物料：如果提供了目标重量，必须同时提供物料名称")
+                if not percent_90_3_target_weigh:
+                    raise BioyondException("90%_3物料：如果提供了物料名称，必须同时提供目标重量")
+            
+            # 检查10%物料参数的完整性
+            # 10%_1物料：如果有物料名称、目标重量、体积或液体物料名称中的任何一个，就必须有全部参数
+            if any([percent_10_1_assign_material_name, percent_10_1_target_weigh, percent_10_1_volume, percent_10_1_liquid_material_name]):
+                if not percent_10_1_assign_material_name:
+                    raise BioyondException("10%_1物料：如果提供了其他参数，必须同时提供固体物料名称")
+                if not percent_10_1_target_weigh:
+                    raise BioyondException("10%_1物料：如果提供了其他参数，必须同时提供固体目标重量")
+                if not percent_10_1_volume:
+                    raise BioyondException("10%_1物料：如果提供了其他参数，必须同时提供液体体积")
+                if not percent_10_1_liquid_material_name:
+                    raise BioyondException("10%_1物料：如果提供了其他参数，必须同时提供液体物料名称")
+            
+            # 10%_2物料：如果有物料名称、目标重量、体积或液体物料名称中的任何一个，就必须有全部参数
+            if any([percent_10_2_assign_material_name, percent_10_2_target_weigh, percent_10_2_volume, percent_10_2_liquid_material_name]):
+                if not percent_10_2_assign_material_name:
+                    raise BioyondException("10%_2物料：如果提供了其他参数，必须同时提供固体物料名称")
+                if not percent_10_2_target_weigh:
+                    raise BioyondException("10%_2物料：如果提供了其他参数，必须同时提供固体目标重量")
+                if not percent_10_2_volume:
+                    raise BioyondException("10%_2物料：如果提供了其他参数，必须同时提供液体体积")
+                if not percent_10_2_liquid_material_name:
+                    raise BioyondException("10%_2物料：如果提供了其他参数，必须同时提供液体物料名称")
+            
+            # 10%_3物料：如果有物料名称、目标重量、体积或液体物料名称中的任何一个，就必须有全部参数
+            if any([percent_10_3_assign_material_name, percent_10_3_target_weigh, percent_10_3_volume, percent_10_3_liquid_material_name]):
+                if not percent_10_3_assign_material_name:
+                    raise BioyondException("10%_3物料：如果提供了其他参数，必须同时提供固体物料名称")
+                if not percent_10_3_target_weigh:
+                    raise BioyondException("10%_3物料：如果提供了其他参数，必须同时提供固体目标重量")
+                if not percent_10_3_volume:
+                    raise BioyondException("10%_3物料：如果提供了其他参数，必须同时提供液体体积")
+                if not percent_10_3_liquid_material_name:
+                    raise BioyondException("10%_3物料：如果提供了其他参数，必须同时提供液体物料名称")
+            
+            # 2. 生成任务编码和设置默认值
+            order_code = "task_vial_" + str(int(datetime.now().timestamp()))
+            if order_name is None:
+                order_name = "90%10%小瓶投料任务"
+            if speed is None:
+                speed = "400"
+            if temperature is None:
+                temperature = "40"
+            if delay_time is None:
+                delay_time = "600"
+                
+            # 3. 工作流ID
+            workflow_id = "3a19310d-16b9-9d81-b109-0748e953694b"
+
+            # 4. 查询工作流对应的holdMID
+            material_info = self.hardware_interface.material_id_query(workflow_id)
+            if not material_info:
+                raise BioyondException(f"无法查询工作流 {workflow_id} 的物料信息")
+            
+            # 获取locations列表
+            locations = material_info.get("locations", []) if isinstance(material_info, dict) else []
+            if not locations:
+                raise BioyondException(f"工作流 {workflow_id} 没有找到库位信息")
+            
+            # 查找指定名称的库位
+            hold_mid = None
+            for location in locations:
+                if location.get("holdMName") == hold_m_name:
+                    hold_mid = location.get("holdMId")
+                    break
+            
+            if not hold_mid:
+                raise BioyondException(f"未找到库位名称为 {hold_m_name} 的库位，请检查名称是否正确")
+            
+            extend_properties = f"{{\"{ hold_mid }\": {{}}}}"
+            self.hardware_interface._logger.info(f"找到库位 {hold_m_name} 对应的holdMId: {hold_mid}")
+
+            # 5. 构建任务参数
+            order_data = {
+                "orderCode": order_code,
+                "orderName": order_name,
+                "workflowId": workflow_id,
+                "borderNumber": 1,
+                "paramValues": {},
+                "ExtendProperties": extend_properties
+            }
+
+            # 添加搅拌参数
+            order_data["paramValues"]["e8264e47-c319-d9d9-8676-4dd5cb382b11"] = [
+                {"m": 0, "n": 3, "Key": "speed", "Value": speed},
+                {"m": 0, "n": 3, "Key": "temperature", "Value": temperature}
+            ]
+
+            # 添加延迟时间参数
+            order_data["paramValues"]["dc5dba79-5e4b-8eae-cbc5-e93482e43b1f"] = [
+                {"m": 0, "n": 4, "Key": "DelayTime", "Value": delay_time}
+            ]
+
+            # 添加90%_1参数
+            if percent_90_1_assign_material_name is not None and percent_90_1_target_weigh is not None:
+                order_data["paramValues"]["e7d3c0a3-25c2-c42d-c84b-860c4a5ef844"] = [
+                    {"m": 15, "n": 1, "Key": "targetWeigh", "Value": percent_90_1_target_weigh},
+                    {"m": 15, "n": 1, "Key": "assignMaterialName", "Value": percent_90_1_assign_material_name}
+                ]
+
+            # 添加90%_2参数
+            if percent_90_2_assign_material_name is not None and percent_90_2_target_weigh is not None:
+                order_data["paramValues"]["50b912c4-6c81-0734-1c8b-532428b2a4a5"] = [
+                    {"m": 18, "n": 1, "Key": "targetWeigh", "Value": percent_90_2_target_weigh},
+                    {"m": 18, "n": 1, "Key": "assignMaterialName", "Value": percent_90_2_assign_material_name}
+                ]
+
+            # 添加90%_3参数
+            if percent_90_3_assign_material_name is not None and percent_90_3_target_weigh is not None:
+                order_data["paramValues"]["9c3674b3-c7cb-946e-fa03-fa2861d8aec4"] = [
+                    {"m": 21, "n": 1, "Key": "targetWeigh", "Value": percent_90_3_target_weigh},
+                    {"m": 21, "n": 1, "Key": "assignMaterialName", "Value": percent_90_3_assign_material_name}
+                ]
+
+            # 添加10%_1固体参数
+            if percent_10_1_assign_material_name is not None and percent_10_1_target_weigh is not None:
+                order_data["paramValues"]["73a0bfd8-1967-45e9-4bab-c07ccd1a2727"] = [
+                    {"m": 3, "n": 1, "Key": "targetWeigh", "Value": percent_10_1_target_weigh},
+                    {"m": 3, "n": 1, "Key": "assignMaterialName", "Value": percent_10_1_assign_material_name}
+                ]
+
+            # 添加10%_1液体参数
+            if percent_10_1_liquid_material_name is not None and percent_10_1_volume is not None:
+                order_data["paramValues"]["39634d40-c623-473a-8e5f-bc301aca2522"] = [
+                    {"m": 3, "n": 3, "Key": "volume", "Value": percent_10_1_volume},
+                    {"m": 3, "n": 3, "Key": "assignMaterialName", "Value": percent_10_1_liquid_material_name}
+                ]
+
+            # 添加10%_2固体参数
+            if percent_10_2_assign_material_name is not None and percent_10_2_target_weigh is not None:
+                order_data["paramValues"]["2d9c16fa-2a19-cd47-a67b-3cadff9e3e3d"] = [
+                    {"m": 7, "n": 1, "Key": "targetWeigh", "Value": percent_10_2_target_weigh},
+                    {"m": 7, "n": 1, "Key": "assignMaterialName", "Value": percent_10_2_assign_material_name}
+                ]
+
+            # 添加10%_2液体参数
+            if percent_10_2_liquid_material_name is not None and percent_10_2_volume is not None:
+                order_data["paramValues"]["e60541bb-ed68-e839-7305-2b4abe38a13d"] = [
+                    {"m": 7, "n": 3, "Key": "volume", "Value": percent_10_2_volume},
+                    {"m": 7, "n": 3, "Key": "assignMaterialName", "Value": percent_10_2_liquid_material_name}
+                ]
+
+            # 添加10%_3固体参数
+            if percent_10_3_assign_material_name is not None and percent_10_3_target_weigh is not None:
+                order_data["paramValues"]["27494733-0f71-a916-7cd2-1929a0125f17"] = [
+                    {"m": 11, "n": 1, "Key": "targetWeigh", "Value": percent_10_3_target_weigh},
+                    {"m": 11, "n": 1, "Key": "assignMaterialName", "Value": percent_10_3_assign_material_name}
+                ]
+
+            # 添加10%_3液体参数
+            if percent_10_3_liquid_material_name is not None and percent_10_3_volume is not None:
+                order_data["paramValues"]["c8798c29-786f-6858-7d7f-5330b890f2a6"] = [
+                    {"m": 11, "n": 3, "Key": "volume", "Value": percent_10_3_volume},
+                    {"m": 11, "n": 3, "Key": "assignMaterialName", "Value": percent_10_3_liquid_material_name}
+                ]
+
+            # 6. 转换为JSON字符串并创建任务
+            json_str = json.dumps([order_data], ensure_ascii=False)
+            self.hardware_interface._logger.info(f"创建90%10%小瓶投料任务参数: {json_str}")
+
+            # 7. 调用create_order方法创建任务
+            result = self.hardware_interface.create_order(json_str)
+            self.hardware_interface._logger.info(f"创建90%10%小瓶投料任务结果: {result}")
+            return json.dumps({"suc": True})
+            
+        except BioyondException:
+            # 重新抛出BioyondException
+            raise
+        except Exception as e:
+            # 捕获其他未预期的异常，转换为BioyondException
+            error_msg = f"创建90%10%小瓶投料任务时发生未预期的错误: {str(e)}"
+            self.hardware_interface._logger.error(error_msg)
+            raise BioyondException(error_msg)
+
+    # 二胺溶液配置任务创建方法
+    def create_diamine_solution_task(self,
+                                    order_name: str = None,
+                                    material_name: str = None,
+                                    target_weigh: str = None,
+                                    volume: str = None,
+                                    liquid_material_name: str = "NMP",
+                                    speed: str = None,
+                                    temperature: str = None,
+                                    delay_time: str = None,
+                                    hold_m_name: str = None) -> dict:
+        """
+        创建二胺溶液配置任务
+
+        参数说明:
+        - order_name: 任务名称，如果为None则使用默认名称
+        - material_name: 固体物料名称，必填
+        - target_weigh: 固体目标重量，必填
+        - volume: 液体体积，必填
+        - liquid_material_name: 液体物料名称，默认为NMP
+        - speed: 搅拌速度，如果为None则使用默认值400
+        - temperature: 温度，如果为None则使用默认值20
+        - delay_time: 延迟时间，如果为None则使用默认值600
+        - hold_m_name: 库位名称，如"ODA-1"，用于查找对应的holdMId
+
+        返回: 任务创建结果
+        
+        异常:
+        - BioyondException: 各种错误情况下的统一异常
+        """
+        try:
+            # 1. 参数验证
+            if not material_name:
+                raise BioyondException("material_name 是必填参数")
+            if not target_weigh:
+                raise BioyondException("target_weigh 是必填参数")
+            if not volume:
+                raise BioyondException("volume 是必填参数")
+            if not hold_m_name:
+                raise BioyondException("hold_m_name 是必填参数")
+            
+            
+            # 2. 生成任务编码和设置默认值
+            order_code = "task_oda_" + str(int(datetime.now().timestamp()))
+            if order_name is None:
+                order_name = f"二胺溶液配置-{material_name}"
+            if speed is None:
+                speed = "400"
+            if temperature is None:
+                temperature = "20"
+            if delay_time is None:
+                delay_time = "600"
+                
+            # 3. 工作流ID - 二胺溶液配置工作流
+            workflow_id = "3a15d4a1-3bbe-76f9-a458-292896a338f5"
+            
+            # 4. 查询工作流对应的holdMID
+            material_info = self.material_id_query(workflow_id)
+            if not material_info:
+                raise BioyondException(f"无法查询工作流 {workflow_id} 的物料信息")
+            
+            # 获取locations列表
+            locations = material_info.get("locations", []) if isinstance(material_info, dict) else []
+            if not locations:
+                raise BioyondException(f"工作流 {workflow_id} 没有找到库位信息")
+            
+            # 查找指定名称的库位
+            hold_mid = None
+            for location in locations:
+                if location.get("holdMName") == hold_m_name:
+                    hold_mid = location.get("holdMId")
+                    break
+            
+            if not hold_mid:
+                raise BioyondException(f"未找到库位名称为 {hold_m_name} 的库位，请检查名称是否正确")
+            
+            extend_properties = f"{{\"{ hold_mid }\": {{}}}}"
+            self.hardware_interface._logger.info(f"找到库位 {hold_m_name} 对应的holdMId: {hold_mid}")
+
+            # 5. 构建任务参数
+            order_data = {
+                "orderCode": order_code,
+                "orderName": order_name,
+                "workflowId": workflow_id,
+                "borderNumber": 1,
+                "paramValues": {
+                    # 固体物料参数
+                    "3a15d4a1-3bde-f5bc-053f-1ae0bf1f357e": [
+                        {"m": 3, "n": 2, "Key": "targetWeigh", "Value": target_weigh},
+                        {"m": 3, "n": 2, "Key": "assignMaterialName", "Value": material_name}
+                    ],
+                    # 液体物料参数
+                    "3a15d4a1-3bde-d584-b309-e661ae8f1c01": [
+                        {"m": 3, "n": 3, "Key": "volume", "Value": volume},
+                        {"m": 3, "n": 3, "Key": "assignMaterialName", "Value": liquid_material_name}
+                    ],
+                    # 搅拌参数
+                    "3a15d4a1-3bde-8ec4-1ced-92efc97ed73d": [
+                        {"m": 3, "n": 6, "Key": "speed", "Value": speed},
+                        {"m": 3, "n": 6, "Key": "temperature", "Value": temperature}
+                    ],
+                    # 延迟时间参数
+                    "3a15d4a1-3bde-3b92-83ff-8923a0addbbc": [
+                        {"m": 3, "n": 7, "Key": "DelayTime", "Value": delay_time}
+                    ]
+                },
+                "ExtendProperties": extend_properties
+            }
+
+            # 6. 转换为JSON字符串并创建任务
+            json_str = json.dumps([order_data], ensure_ascii=False)
+            self.hardware_interface._logger.info(f"创建二胺溶液配置任务参数: {json_str}")
+
+            # 7. 调用create_order方法创建任务
+            result = self.hardware_interface.create_order(json_str)
+            self.hardware_interface._logger.info(f"创建二胺溶液配置任务结果: {result}")
+            
+            return json.dumps({"suc": True})
+            
+        except BioyondException:
+            # 重新抛出BioyondException
+            raise
+        except Exception as e:
+            # 捕获其他未预期的异常，转换为BioyondException
+            error_msg = f"创建二胺溶液配置任务时发生未预期的错误: {str(e)}"
+            self.hardware_interface._logger.error(error_msg)
+            raise BioyondException(error_msg)
+
+
+if __name__ == "__main__":
+    bioyond = BioyondDispensingStation(config={
+        "api_key": "DE9BDDA0",
+        "api_host": "http://192.168.1.200:44388"
+    })
+    
+    # 示例1：使用material_id_query查询工作流对应的holdMID
+    workflow_id_1 = "3a15d4a1-3bbe-76f9-a458-292896a338f5"  # 二胺溶液配置工作流ID
+    workflow_id_2 = "3a19310d-16b9-9d81-b109-0748e953694b"  # 90%10%小瓶投料工作流ID
+    
+    #示例2：创建二胺溶液配置任务 - ODA，指定库位名称
+    # bioyond.create_diamine_solution_task(
+    #         order_code="task_oda_" + str(int(datetime.now().timestamp())),
+    #         order_name="二胺溶液配置-ODA",
+    #         material_name="ODA-1",
+    #         target_weigh="12.000",
+    #         volume="60",
+    #         liquid_material_name= "NMP",
+    #         speed="400",
+    #         temperature="20",
+    #         delay_time="600",
+    #         hold_m_name="烧杯ODA"
+    #     )
+    
+    # bioyond.create_diamine_solution_task(
+    #         order_code="task_pda_" + str(int(datetime.now().timestamp())),
+    #         order_name="二胺溶液配置-PDA",
+    #         material_name="PDA-1",
+    #         target_weigh="4.178",
+    #         volume="60",
+    #         liquid_material_name= "NMP",
+    #         speed="400",
+    #         temperature="20",
+    #         delay_time="600",
+    #         hold_m_name="烧杯PDA-2"
+    #     )
+    
+    # bioyond.create_diamine_solution_task(
+    #         order_code="task_mpda_" + str(int(datetime.now().timestamp())),
+    #         order_name="二胺溶液配置-MPDA",
+    #         material_name="MPDA-1",
+    #         target_weigh="3.298",
+    #         volume="50",
+    #         liquid_material_name= "NMP",
+    #         speed="400",
+    #         temperature="20",
+    #         delay_time="600",
+    #         hold_m_name="烧杯MPDA"
+    #     )
+
+    bioyond.material_id_query("3a19310d-16b9-9d81-b109-0748e953694b")
+    bioyond.material_id_query("3a15d4a1-3bbe-76f9-a458-292896a338f5")
+    
+    
+    #示例4：创建90%10%小瓶投料任务
+    # vial_result = bioyond.create_90_10_vial_feeding_task(
+    #     order_code="task_vial_" + str(int(datetime.now().timestamp())),
+    #     order_name="90%10%小瓶投料-1",
+    #     percent_90_1_assign_material_name="BTDA-1",
+    #     percent_90_1_target_weigh="7.392",
+    #     percent_90_2_assign_material_name="BTDA-1",
+    #     percent_90_2_target_weigh="7.392",
+    #     percent_90_3_assign_material_name="BTDA-2",
+    #     percent_90_3_target_weigh="7.392",
+    #     percent_10_1_assign_material_name="BTDA-2",
+    #     percent_10_1_target_weigh="1.500",
+    #     percent_10_1_volume="20",
+    #     percent_10_1_liquid_material_name="NMP",
+    #     # percent_10_2_assign_material_name="BTDA-c",
+    #     # percent_10_2_target_weigh="1.2",
+    #     # percent_10_2_volume="20",
+    #     # percent_10_2_liquid_material_name="NMP",
+    #     speed="400",
+    #     temperature="60",
+    #     delay_time="1200",
+    #     hold_m_name="8.4分装板-1"
+    #     )
+    
+    # vial_result = bioyond.create_90_10_vial_feeding_task(
+    #     order_code="task_vial_" + str(int(datetime.now().timestamp())),
+    #     order_name="90%10%小瓶投料-2",
+    #     percent_90_1_assign_material_name="BPDA-1",
+    #     percent_90_1_target_weigh="5.006",
+    #     percent_90_2_assign_material_name="PMDA-1",
+    #     percent_90_2_target_weigh="3.810",
+    #     percent_90_3_assign_material_name="BPDA-1",
+    #     percent_90_3_target_weigh="8.399",
+    #     percent_10_1_assign_material_name="BPDA-1",
+    #     percent_10_1_target_weigh="1.200",
+    #     percent_10_1_volume="20",
+    #     percent_10_1_liquid_material_name="NMP",
+    #     percent_10_2_assign_material_name="BPDA-1",
+    #     percent_10_2_target_weigh="1.200",
+    #     percent_10_2_volume="20",
+    #     percent_10_2_liquid_material_name="NMP",
+    #     speed="400",
+    #     temperature="60",
+    #     delay_time="1200",
+    #     hold_m_name="8.4分装板-2"
+    #     )
+    
+    #启动调度器
+    #bioyond.scheduler_start()
+
+    #继续调度器
+    #bioyond.scheduler_continue()
+
+    result0 = bioyond.stock_material('{"typeMode": 0, "includeDetail": true}')
+    result1 = bioyond.stock_material('{"typeMode": 1, "includeDetail": true}')
+    result2 = bioyond.stock_material('{"typeMode": 2, "includeDetail": true}')
+
+    matpos1 = bioyond.query_warehouse_by_material_type("3a14196e-b7a0-a5da-1931-35f3000281e9")
+    matpos2 = bioyond.query_warehouse_by_material_type("3a14196e-5dfe-6e21-0c79-fe2036d052c4")
+    matpos3 = bioyond.query_warehouse_by_material_type("3a14196b-24f2-ca49-9081-0cab8021bf1a")
+
+    #样品板（里面有样品瓶）
+    material_data_yp = {
+    "typeId": "3a14196e-b7a0-a5da-1931-35f3000281e9",
+    #"code": "物料编码001",
+    #"barCode": "物料条码001", 
+    "name": "8.4样品板",
+    "unit": "个",
+    "quantity": 1,
+    "details": [
+        {
+        "typeId": "3a14196a-cf7d-8aea-48d8-b9662c7dba94",
+        #"code": "物料编码001",
+        "name": "BTDA-1",
+        "quantity": 20,
+        "x": 1,
+        "y": 1, 
+        #"unit": "单位"
+        "molecular": 1,
+        "Parameters":"{\"molecular\": 1}"
+        },
+        {
+        "typeId": "3a14196a-cf7d-8aea-48d8-b9662c7dba94",
+        #"code": "物料编码001",
+        "name": "BPDA-1",
+        "quantity": 20,
+        "x": 2,
+        "y": 1, #x1y2是A02
+        #"unit": "单位"
+        "molecular": 1,
+        "Parameters":"{\"molecular\": 1}"
+        },
+        {
+        "typeId": "3a14196a-cf7d-8aea-48d8-b9662c7dba94",
+        #"code": "物料编码001",
+        "name": "BTDA-2",
+        "quantity": 20,
+        "x": 1,
+        "y": 2, #x1y2是A02
+        #"unit": "单位"
+        "molecular": 1,
+        "Parameters":"{\"molecular\": 1}"
+        },
+        {
+        "typeId": "3a14196a-cf7d-8aea-48d8-b9662c7dba94",
+        #"code": "物料编码001",
+        "name": "PMDA-1",
+        "quantity": 20,
+        "x": 2,
+        "y": 2, #x1y2是A02
+        #"unit": "单位"
+        "molecular": 1,
+        "Parameters":"{\"molecular\": 1}"
+        }
+    ],
+    "Parameters":"{}"
+    }
+
+    material_data_yp = {
+    "typeId": "3a14196e-b7a0-a5da-1931-35f3000281e9",
+    #"code": "物料编码001",
+    #"barCode": "物料条码001", 
+    "name": "8.7样品板",
+    "unit": "个",
+    "quantity": 1,
+    "details": [
+        {
+        "typeId": "3a14196a-cf7d-8aea-48d8-b9662c7dba94",
+        #"code": "物料编码001",
+        "name": "mianfen",
+        "quantity": 13,
+        "x": 1,
+        "y": 1, 
+        #"unit": "单位"
+        "molecular": 1,
+        "Parameters":"{\"molecular\": 1}"
+        },
+        {
+        "typeId": "3a14196a-cf7d-8aea-48d8-b9662c7dba94",
+        #"code": "物料编码001",
+        "name": "mianfen2",
+        "quantity": 13,
+        "x": 1,
+        "y": 2, #x1y2是A02
+        #"unit": "单位"
+        "molecular": 1,
+        "Parameters":"{\"molecular\": 1}"
+        }
+    ],
+    "Parameters":"{}"
+    }
+
+    #分装板
+    material_data_fzb_1 = {
+    "typeId": "3a14196e-5dfe-6e21-0c79-fe2036d052c4",
+    #"code": "物料编码001",
+    #"barCode": "物料条码001", 
+    "name": "8.7分装板",
+    "unit": "个",
+    "quantity": 1,
+    "details": [
+        {
+        "typeId": "3a14196c-76be-2279-4e22-7310d69aed68",
+        #"code": "物料编码001",
+        "name": "10%小瓶1",
+        "quantity": 1,
+        "x": 1,
+        "y": 1, 
+        #"unit": "单位"
+        "molecular": 1,
+        "Parameters":"{\"molecular\": 1}"
+        },
+        {
+        "typeId": "3a14196c-76be-2279-4e22-7310d69aed68",
+        #"code": "物料编码001",
+        "name": "10%小瓶2",
+        "quantity": 1,
+        "x": 1,
+        "y": 2, 
+        #"unit": "单位"
+        "molecular": 1,
+        "Parameters":"{\"molecular\": 1}"
+        },
+        {
+        "typeId": "3a14196c-76be-2279-4e22-7310d69aed68",
+        #"code": "物料编码001",
+        "name": "10%小瓶3",
+        "quantity": 1,
+        "x": 1,
+        "y": 3, 
+        #"unit": "单位"
+        "molecular": 1,
+        "Parameters":"{\"molecular\": 1}"
+        },
+        {
+        "typeId": "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea",
+        #"code": "物料编码001",
+        "name": "90%小瓶1",
+        "quantity": 1,
+        "x": 2,
+        "y": 1, #x1y2是A02
+        #"unit": "单位"
+        "molecular": 1,
+        "Parameters":"{\"molecular\": 1}"
+        },
+        {
+        "typeId": "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea",
+        #"code": "物料编码001",
+        "name": "90%小瓶2",
+        "quantity": 1,
+        "x": 2,
+        "y": 2,
+        #"unit": "单位"
+        "molecular": 1,
+        "Parameters":"{\"molecular\": 1}"
+        },
+        {
+        "typeId": "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea",
+        #"code": "物料编码001",
+        "name": "90%小瓶3",
+        "quantity": 1,
+        "x": 2,
+        "y": 3,
+        "molecular": 1,
+        "Parameters":"{\"molecular\": 1}"
+        }
+    ],
+    "Parameters":"{}"
+    }
+
+    material_data_fzb_2 = {
+    "typeId": "3a14196e-5dfe-6e21-0c79-fe2036d052c4",
+    #"code": "物料编码001",
+    #"barCode": "物料条码001", 
+    "name": "8.4分装板-2",
+    "unit": "个",
+    "quantity": 1,
+    "details": [
+        {
+        "typeId": "3a14196c-76be-2279-4e22-7310d69aed68",
+        #"code": "物料编码001",
+        "name": "10%小瓶1",
+        "quantity": 1,
+        "x": 1,
+        "y": 1, 
+        #"unit": "单位"
+        "molecular": 1,
+        "Parameters":"{\"molecular\": 1}"
+        },
+        {
+        "typeId": "3a14196c-76be-2279-4e22-7310d69aed68",
+        #"code": "物料编码001",
+        "name": "10%小瓶2",
+        "quantity": 1,
+        "x": 1,
+        "y": 2, 
+        #"unit": "单位"
+        "molecular": 1,
+        "Parameters":"{\"molecular\": 1}"
+        },
+        {
+        "typeId": "3a14196c-76be-2279-4e22-7310d69aed68",
+        #"code": "物料编码001",
+        "name": "10%小瓶3",
+        "quantity": 1,
+        "x": 1,
+        "y": 3, 
+        #"unit": "单位"
+        "molecular": 1,
+        "Parameters":"{\"molecular\": 1}"
+        },
+        {
+        "typeId": "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea",
+        #"code": "物料编码001",
+        "name": "90%小瓶1",
+        "quantity": 1,
+        "x": 2,
+        "y": 1, #x1y2是A02
+        #"unit": "单位"
+        "molecular": 1,
+        "Parameters":"{\"molecular\": 1}"
+        },
+        {
+        "typeId": "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea",
+        #"code": "物料编码001",
+        "name": "90%小瓶2",
+        "quantity": 1,
+        "x": 2,
+        "y": 2,
+        #"unit": "单位"
+        "molecular": 1,
+        "Parameters":"{\"molecular\": 1}"
+        },
+        {
+        "typeId": "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea",
+        #"code": "物料编码001",
+        "name": "90%小瓶3",
+        "quantity": 1,
+        "x": 2,
+        "y": 3,
+        "molecular": 1,
+        "Parameters":"{\"molecular\": 1}"
+        }
+    ],
+    "Parameters":"{}"
+    }
+
+    #烧杯
+    material_data_sb_oda = {
+    "typeId": "3a14196b-24f2-ca49-9081-0cab8021bf1a",
+    #"code": "物料编码001",
+    #"barCode": "物料条码001", 
+    "name": "mianfen1",
+    "unit": "个",
+    "quantity": 1,
+    "Parameters":"{}"
+    }
+
+    material_data_sb_pda_2 = {
+    "typeId": "3a14196b-24f2-ca49-9081-0cab8021bf1a",
+    #"code": "物料编码001",
+    #"barCode": "物料条码001", 
+    "name": "mianfen2",
+    "unit": "个",
+    "quantity": 1,
+    "Parameters":"{}"
+    }
+
+    # material_data_sb_mpda = {
+    # "typeId": "3a14196b-24f2-ca49-9081-0cab8021bf1a",
+    # #"code": "物料编码001",
+    # #"barCode": "物料条码001", 
+    # "name": "烧杯MPDA",
+    # "unit": "个",
+    # "quantity": 1,
+    # "Parameters":"{}"
+    # }
+
+
+    #result_1 = bioyond.add_material(json.dumps(material_data_yp, ensure_ascii=False))
+    #result_2 = bioyond.add_material(json.dumps(material_data_fzb_1, ensure_ascii=False))
+    # result_3 = bioyond.add_material(json.dumps(material_data_fzb_2, ensure_ascii=False))
+    # result_4 = bioyond.add_material(json.dumps(material_data_sb_oda, ensure_ascii=False))
+    # result_5 = bioyond.add_material(json.dumps(material_data_sb_pda_2, ensure_ascii=False))
+    # #result会返回id
+    # #样品板1id：3a1b3e7d-339d-0291-dfd3-13e2a78fe521
+
+
+    # #将指定物料入库到指定库位
+    #bioyond.material_inbound(result_1, "3a14198e-6929-31f0-8a22-0f98f72260df")
+    #bioyond.material_inbound(result_2, "3a14198e-6929-46fe-841e-03dd753f1e4a")
+    # bioyond.material_inbound(result_3, "3a14198e-6929-72ac-32ce-9b50245682b8")
+    # bioyond.material_inbound(result_4, "3a14198e-d724-e036-afdc-2ae39a7f3383")
+    # bioyond.material_inbound(result_5, "3a14198e-d724-d818-6d4f-5725191a24b5")
+
+    #bioyond.material_outbound(result_1, "3a14198e-6929-31f0-8a22-0f98f72260df")
+
+    # bioyond.stock_material('{"typeMode": 2, "includeDetail": true}')
+
+    query_order = {"status":"100", "pageCount": "10"}
+    bioyond.order_query(json.dumps(query_order, ensure_ascii=False))
+
+    # id = "3a1bce3c-4f31-c8f3-5525-f3b273bc34dc"
+    # bioyond.sample_waste_removal(id)
+

unilabos/devices/workstation/bioyond_studio/experiment.py

@@ -1,11 +1,10 @@
-# experiment_workflow.py
 """
 实验流程主程序
 """
 
 import json
-from bioyond_rpc import BioyondV1RPC
+from unilabos.devices.workstation.bioyond_studio.reaction_station import BioyondReactionStation
-from config import API_CONFIG, WORKFLOW_MAPPINGS
+from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG, WORKFLOW_MAPPINGS, DECK_CONFIG, MATERIAL_TYPE_MAPPINGS
 
 
 def run_experiment():
@@ -14,15 +13,20 @@ def run_experiment():
     # 初始化Bioyond客户端
     config = {
         **API_CONFIG,
-        "workflow_mappings": WORKFLOW_MAPPINGS
+        "workflow_mappings": WORKFLOW_MAPPINGS,
+        "material_type_mappings": MATERIAL_TYPE_MAPPINGS
     }
 
-    Bioyond = BioyondV1RPC(config)
+    # 创建BioyondReactionStation实例，传入deck配置
+    Bioyond = BioyondReactionStation(
+        config=config,
+        deck=DECK_CONFIG
+    )
 
     print("\n============= 多工作流参数测试（简化接口+材料缓存）=============")
 
     # 显示可用的材料名称（前20个）
-    available_materials = Bioyond.get_available_materials()
+    available_materials = Bioyond.hardware_interface.get_available_materials()
     print(f"可用材料名称（前20个）: {available_materials[:20]}")
     print(f"总共有 {len(available_materials)} 个材料可用\n")
 
@@ -41,7 +45,7 @@ def run_experiment():
         assign_material_name="ODA",
         time="0",
         torque_variation="1",
-        titrationType="1", 
+        titration_type="1",
         temperature=-10
     )
 
@@ -52,14 +56,14 @@ def run_experiment():
         assign_material_name="MPDA",
         time="5",
         torque_variation="2",
-        titrationType="1", 
+        titration_type="1",
         temperature=0
     )
 
     # 4. 液体投料-小瓶非滴定
     print("4. 添加液体投料-小瓶非滴定，带参数...")
     Bioyond.liquid_feeding_vials_non_titration(
-        volumeFormula="639.5", 
+        volume_formula="639.5",
         assign_material_name="SIDA",
         titration_type="1",
         time="0",
@@ -84,7 +88,7 @@ def run_experiment():
         material_id="3",
         time="180",
         torque_variation="2",
-        assign_material_name="BTDA-1", 
+        assign_material_name="BTDA1",
         temperature=-10.00
     )
 
@@ -93,7 +97,7 @@ def run_experiment():
         material_id="3",
         time="180",
         torque_variation="2",
-        assign_material_name="BTDA-2", 
+        assign_material_name="BTDA2",
         temperature=25.00
     )
 
@@ -102,14 +106,14 @@ def run_experiment():
         material_id="3",
         time="480",
         torque_variation="2",
-        assign_material_name="BTDA-3", 
+        assign_material_name="BTDA3",
         temperature=25.00
     )
 
     # 液体投料滴定（第一个）
     print("9. 添加液体投料滴定，带参数...")  # ODPA
     Bioyond.liquid_feeding_titration(
-        volume_formula="1000", 
+        volume_formula="{{6-0-5}}+{{7-0-5}}+{{8-0-5}}",
         assign_material_name="BTDA-DD",
         titration_type="1",
         time="360",
@@ -169,8 +173,6 @@ def run_experiment():
         temperature="25.00"
     )
 
-
-
     print("15. 添加液体投料溶剂，带参数...")
     Bioyond.liquid_feeding_solvents(
         assign_material_name="PGME",
@@ -194,8 +196,8 @@ def run_experiment():
     print("\n4. 执行process_and_execute_workflow...")
 
     result = Bioyond.process_and_execute_workflow(
-        workflow_name="test3_86", 
+        workflow_name="test3",
-        task_name="实验3_86"
+        task_name="实验3"
     )
 
     # 显示执行结果
@@ -205,9 +207,9 @@ def run_experiment():
             result_dict = json.loads(result)
             if result_dict.get("success"):
                 print("任务创建成功!")
-                print(f"- 工作流: {result_dict.get('workflow', {}).get('name')}")
+                # print(f"- 工作流: {result_dict.get('workflow', {}).get('name')}")
-                print(f"- 工作流ID: {result_dict.get('workflow', {}).get('id')}")
+                # print(f"- 工作流ID: {result_dict.get('workflow', {}).get('id')}")
-                print(f"- 任务结果: {result_dict.get('task')}")
+                # print(f"- 任务结果: {result_dict.get('task')}")
             else:
                 print(f"任务创建失败: {result_dict.get('error')}")
         except:
@@ -227,166 +229,166 @@ def run_experiment():
     return Bioyond
 
 
-def prepare_materials(bioyond):
+# def prepare_materials(bioyond):
-    """准备实验材料（可选）"""
+#     """准备实验材料（可选）"""
 
-    # 样品板材料数据定义
+#     # 样品板材料数据定义
-    material_data_yp_1 = {
+#     material_data_yp_1 = {
-        "typeId": "3a142339-80de-8f25-6093-1b1b1b6c322e",
+#         "typeId": "3a142339-80de-8f25-6093-1b1b1b6c322e",
-        "name": "样品板-1",
+#         "name": "样品板-1",
-        "unit": "个",
+#         "unit": "个",
-        "quantity": 1,
+#         "quantity": 1,
-        "details": [
+#         "details": [
-            {
+#             {
-                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-                "name": "BPDA-DD-1",
+#                 "name": "BPDA-DD-1",
-                "quantity": 1,
+#                 "quantity": 1,
-                "x": 1,
+#                 "x": 1,
-                "y": 1,
+#                 "y": 1,
-                "Parameters": "{\"molecular\": 1}"
+#                 "Parameters": "{\"molecular\": 1}"
-            },
+#             },
-            {
+#             {
-                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-                "name": "PEPA",
+#                 "name": "PEPA",
-                "quantity": 1,
+#                 "quantity": 1,
-                "x": 1,
+#                 "x": 1,
-                "y": 2,
+#                 "y": 2,
-                "Parameters": "{\"molecular\": 1}"
+#                 "Parameters": "{\"molecular\": 1}"
-            },
+#             },
-            {
+#             {
-                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-                "name": "BPDA-DD-2",
+#                 "name": "BPDA-DD-2",
-                "quantity": 1,
+#                 "quantity": 1,
-                "x": 1,
+#                 "x": 1,
-                "y": 3,
+#                 "y": 3,
-                "Parameters": "{\"molecular\": 1}"
+#                 "Parameters": "{\"molecular\": 1}"
-            },
+#             },
-            {
+#             {
-                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-                "name": "BPDA-1",
+#                 "name": "BPDA-1",
-                "quantity": 1,
+#                 "quantity": 1,
-                "x": 2,
+#                 "x": 2,
-                "y": 1,
+#                 "y": 1,
-                "Parameters": "{\"molecular\": 1}"
+#                 "Parameters": "{\"molecular\": 1}"
-            },
+#             },
-            {
+#             {
-                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-                "name": "PMDA",
+#                 "name": "PMDA",
-                "quantity": 1,
+#                 "quantity": 1,
-                "x": 2,
+#                 "x": 2,
-                "y": 2,
+#                 "y": 2,
-                "Parameters": "{\"molecular\": 1}"
+#                 "Parameters": "{\"molecular\": 1}"
-            },
+#             },
-            {
+#             {
-                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-                "name": "BPDA-2",
+#                 "name": "BPDA-2",
-                "quantity": 1,
+#                 "quantity": 1,
-                "x": 2,
+#                 "x": 2,
-                "y": 3,
+#                 "y": 3,
-                "Parameters": "{\"molecular\": 1}"
+#                 "Parameters": "{\"molecular\": 1}"
-            }
+#             }
-        ],
+#         ],
-        "Parameters": "{}"
+#         "Parameters": "{}"
-    }
+#     }
 
-    material_data_yp_2 = {
+#     material_data_yp_2 = {
-        "typeId": "3a142339-80de-8f25-6093-1b1b1b6c322e",
+#         "typeId": "3a142339-80de-8f25-6093-1b1b1b6c322e",
-        "name": "样品板-2",
+#         "name": "样品板-2",
-        "unit": "个",
+#         "unit": "个",
-        "quantity": 1,
+#         "quantity": 1,
-        "details": [
+#         "details": [
-            {
+#             {
-                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-                "name": "BPDA-DD",
+#                 "name": "BPDA-DD",
-                "quantity": 1,
+#                 "quantity": 1,
-                "x": 1,
+#                 "x": 1,
-                "y": 1,
+#                 "y": 1,
-                "Parameters": "{\"molecular\": 1}"
+#                 "Parameters": "{\"molecular\": 1}"
-            },
+#             },
-            {
+#             {
-                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-                "name": "SIDA",
+#                 "name": "SIDA",
-                "quantity": 1,
+#                 "quantity": 1,
-                "x": 1,
+#                 "x": 1,
-                "y": 2,
+#                 "y": 2,
-                "Parameters": "{\"molecular\": 1}"
+#                 "Parameters": "{\"molecular\": 1}"
-            },
+#             },
-            {
+#             {
-                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-                "name": "BTDA-1",
+#                 "name": "BTDA-1",
-                "quantity": 1,
+#                 "quantity": 1,
-                "x": 2,
+#                 "x": 2,
-                "y": 1,
+#                 "y": 1,
-                "Parameters": "{\"molecular\": 1}"
+#                 "Parameters": "{\"molecular\": 1}"
-            },
+#             },
-            {
+#             {
-                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-                "name": "BTDA-2",
+#                 "name": "BTDA-2",
-                "quantity": 1,
+#                 "quantity": 1,
-                "x": 2,
+#                 "x": 2,
-                "y": 2,
+#                 "y": 2,
-                "Parameters": "{\"molecular\": 1}"
+#                 "Parameters": "{\"molecular\": 1}"
-            },
+#             },
-            {
+#             {
-                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-                "name": "BTDA-3",
+#                 "name": "BTDA-3",
-                "quantity": 1,
+#                 "quantity": 1,
-                "x": 2,
+#                 "x": 2,
-                "y": 3,
+#                 "y": 3,
-                "Parameters": "{\"molecular\": 1}"
+#                 "Parameters": "{\"molecular\": 1}"
-            }
+#             }
-        ],
+#         ],
-        "Parameters": "{}"
+#         "Parameters": "{}"
-    }
+#     }
 
-    # 烧杯材料数据定义
+#     # 烧杯材料数据定义
-    beaker_materials = [
+#     beaker_materials = [
-        {
+#         {
-            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+#             "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
-            "name": "PDA-1",
+#             "name": "PDA-1",
-            "unit": "微升",
+#             "unit": "微升",
-            "quantity": 1,
+#             "quantity": 1,
-            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+#             "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
-        },
+#         },
-        {
+#         {
-            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+#             "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
-            "name": "TFDB",
+#             "name": "TFDB",
-            "unit": "微升",
+#             "unit": "微升",
-            "quantity": 1,
+#             "quantity": 1,
-            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+#             "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
-        },
+#         },
-        {
+#         {
-            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+#             "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
-            "name": "ODA",
+#             "name": "ODA",
-            "unit": "微升",
+#             "unit": "微升",
-            "quantity": 1,
+#             "quantity": 1,
-            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+#             "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
-        },
+#         },
-        {
+#         {
-            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+#             "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
-            "name": "MPDA",
+#             "name": "MPDA",
-            "unit": "微升",
+#             "unit": "微升",
-            "quantity": 1,
+#             "quantity": 1,
-            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+#             "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
-        },
+#         },
-        {
+#         {
-            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+#             "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
-            "name": "PDA-2",
+#             "name": "PDA-2",
-            "unit": "微升",
+#             "unit": "微升",
-            "quantity": 1,
+#             "quantity": 1,
-            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+#             "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
-        }
+#         }
-    ]
+#     ]
 
-    # 如果需要，可以在这里调用add_material方法添加材料
+#     # 如果需要，可以在这里调用add_material方法添加材料
-    # 例如:
+#     # 例如:
-    # result = bioyond.add_material(json.dumps(material_data_yp_1))
+#     # result = bioyond.add_material(json.dumps(material_data_yp_1))
-    # print(f"添加材料结果: {result}")
+#     # print(f"添加材料结果: {result}")
 
-    return {
+#     return {
-        "sample_plates": [material_data_yp_1, material_data_yp_2],
+#         "sample_plates": [material_data_yp_1, material_data_yp_2],
-        "beakers": beaker_materials
+#         "beakers": beaker_materials
-    }
+#     }
 
 
 if __name__ == "__main__":

unilabos/devices/workstation/bioyond_studio/reaction_station.py

@@ -0,0 +1,752 @@
+import json
+import requests
+from typing import List, Dict, Any
+from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation
+from unilabos.devices.workstation.bioyond_studio.config import (
+    WORKFLOW_STEP_IDS,
+    WORKFLOW_TO_SECTION_MAP,
+    ACTION_NAMES
+)
+from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG
+
+
+class BioyondReactionStation(BioyondWorkstation):
+    """Bioyond反应站类
+
+    继承自BioyondWorkstation，提供反应站特定的业务方法
+    """
+
+    def __init__(self, config: dict = None, deck=None, protocol_type=None, **kwargs):
+        """初始化反应站
+
+        Args:
+            config: 配置字典，应包含workflow_mappings等配置
+            deck: Deck对象
+            protocol_type: 协议类型（由ROS系统传递，此处忽略）
+            **kwargs: 其他可能的参数
+        """
+        if deck is None and config:
+            deck = config.get('deck')
+
+        print(f"BioyondReactionStation初始化 - config包含workflow_mappings: {'workflow_mappings' in (config or {})}")
+        if config and 'workflow_mappings' in config:
+            print(f"workflow_mappings内容: {config['workflow_mappings']}")
+
+        super().__init__(bioyond_config=config, deck=deck)
+
+        print(f"BioyondReactionStation初始化完成 - workflow_mappings: {self.workflow_mappings}")
+        print(f"workflow_mappings长度: {len(self.workflow_mappings)}")
+
+    # ==================== 工作流方法 ====================
+
+    def reactor_taken_out(self):
+        """反应器取出"""
+        self.append_to_workflow_sequence('{"web_workflow_name": "reactor_taken_out"}')
+        reactor_taken_out_params = {"param_values": {}}
+        self.pending_task_params.append(reactor_taken_out_params)
+        print(f"成功添加反应器取出工作流")
+        print(f"当前队列长度: {len(self.pending_task_params)}")
+        return json.dumps({"suc": True})
+
+    def reactor_taken_in(
+        self,
+        assign_material_name: str,
+        cutoff: str = "900000",
+        temperature: float = -10.00
+    ):
+        """反应器放入
+
+        Args:
+            assign_material_name: 物料名称（不能为空）
+            cutoff: 截止值/通量配置（需为有效数字字符串，默认 "900000"）
+            temperature: 温度上限（°C，范围：-50.00 至 100.00）
+
+        Returns:
+            str: JSON 字符串，格式为 {"suc": True}
+
+        Raises:
+            ValueError: 若物料名称无效或 cutoff 格式错误
+        """
+        if not assign_material_name:
+            raise ValueError("物料名称不能为空")
+        try:
+            float(cutoff)
+        except ValueError:
+            raise ValueError("cutoff 必须是有效的数字字符串")
+
+        self.append_to_workflow_sequence('{"web_workflow_name": "reactor_taken_in"}')
+        material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
+        if material_id is None:
+            raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
+
+        if isinstance(temperature, str):
+            temperature = float(temperature)
+
+        step_id = WORKFLOW_STEP_IDS["reactor_taken_in"]["config"]
+        reactor_taken_in_params = {
+            "param_values": {
+                step_id: {
+                    ACTION_NAMES["reactor_taken_in"]["config"]: [
+                        {"m": 0, "n": 3, "Key": "cutoff", "Value": cutoff},
+                        {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id}
+                    ],
+                    ACTION_NAMES["reactor_taken_in"]["stirring"]: [
+                        {"m": 0, "n": 3, "Key": "temperature", "Value": f"{temperature:.2f}"}
+                    ]
+                }
+            }
+        }
+
+        self.pending_task_params.append(reactor_taken_in_params)
+        print(f"成功添加反应器放入参数: material={assign_material_name}->ID:{material_id}, cutoff={cutoff}, temp={temperature:.2f}")
+        print(f"当前队列长度: {len(self.pending_task_params)}")
+        return json.dumps({"suc": True})
+
+    def solid_feeding_vials(
+        self,
+        material_id: str,
+        time: str = "0",
+        torque_variation: int = 1,
+        assign_material_name: str = None,
+        temperature: float = 25.00
+    ):
+        """固体进料小瓶
+
+        Args:
+            material_id: 粉末类型ID
+            time: 观察时间(分钟)
+            torque_variation: 是否观察扭矩变化(int类型, 1=否, 2=是)
+            assign_material_name: 物料名称(用于获取试剂瓶位ID)
+            temperature: 温度上限(°C)
+        """
+        self.append_to_workflow_sequence('{"web_workflow_name": "Solid_feeding_vials"}')
+        material_id_m = self.hardware_interface._get_material_id_by_name(assign_material_name) if assign_material_name else None
+
+        if isinstance(temperature, str):
+            temperature = float(temperature)
+
+        feeding_step_id = WORKFLOW_STEP_IDS["solid_feeding_vials"]["feeding"]
+        observe_step_id = WORKFLOW_STEP_IDS["solid_feeding_vials"]["observe"]
+
+        solid_feeding_vials_params = {
+            "param_values": {
+                feeding_step_id: {
+                    ACTION_NAMES["solid_feeding_vials"]["feeding"]: [
+                        {"m": 0, "n": 3, "Key": "materialId", "Value": material_id},
+                        {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id_m} if material_id_m else {}
+                    ]
+                },
+                observe_step_id: {
+                    ACTION_NAMES["solid_feeding_vials"]["observe"]: [
+                        {"m": 1, "n": 0, "Key": "time", "Value": time},
+                        {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
+                        {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
+                    ]
+                }
+            }
+        }
+
+        self.pending_task_params.append(solid_feeding_vials_params)
+        print(f"成功添加固体进料小瓶参数: material_id={material_id}, time={time}min, torque={torque_variation}, temp={temperature:.2f}°C")
+        print(f"当前队列长度: {len(self.pending_task_params)}")
+        return json.dumps({"suc": True})
+
+    def liquid_feeding_vials_non_titration(
+        self,
+        volume_formula: str,
+        assign_material_name: str,
+        titration_type: str = "1",
+        time: str = "0",
+        torque_variation: int = 1,
+        temperature: float = 25.00
+    ):
+        """液体进料小瓶(非滴定)
+
+        Args:
+            volume_formula: 分液公式(μL)
+            assign_material_name: 物料名称
+            titration_type: 是否滴定(1=滴定, 其他=非滴定)
+            time: 观察时间(分钟)
+            torque_variation: 是否观察扭矩变化(int类型, 1=否, 2=是)
+            temperature: 温度(°C)
+        """
+        self.append_to_workflow_sequence('{"web_workflow_name": "Liquid_feeding_vials(non-titration)"}')
+        material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
+        if material_id is None:
+            raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
+
+        if isinstance(temperature, str):
+            temperature = float(temperature)
+
+        liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_vials_non_titration"]["liquid"]
+        observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_vials_non_titration"]["observe"]
+
+        params = {
+            "param_values": {
+                liquid_step_id: {
+                    ACTION_NAMES["liquid_feeding_vials_non_titration"]["liquid"]: [
+                        {"m": 0, "n": 3, "Key": "volumeFormula", "Value": volume_formula},
+                        {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id},
+                        {"m": 0, "n": 3, "Key": "titrationType", "Value": titration_type}
+                    ]
+                },
+                observe_step_id: {
+                    ACTION_NAMES["liquid_feeding_vials_non_titration"]["observe"]: [
+                        {"m": 1, "n": 0, "Key": "time", "Value": time},
+                        {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
+                        {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
+                    ]
+                }
+            }
+        }
+
+        self.pending_task_params.append(params)
+        print(f"成功添加液体进料小瓶(非滴定)参数: volume={volume_formula}μL, material={assign_material_name}->ID:{material_id}")
+        print(f"当前队列长度: {len(self.pending_task_params)}")
+        return json.dumps({"suc": True})
+
+    def liquid_feeding_solvents(
+        self,
+        assign_material_name: str,
+        volume: str,
+        titration_type: str = "1",
+        time: str = "360",
+        torque_variation: int = 2,
+        temperature: float = 25.00
+    ):
+        """液体进料-溶剂
+
+        Args:
+            assign_material_name: 物料名称
+            volume: 分液量(μL)
+            titration_type: 是否滴定
+            time: 观察时间(分钟)
+            torque_variation: 是否观察扭矩变化(int类型, 1=否, 2=是)
+            temperature: 温度上限(°C)
+        """
+        self.append_to_workflow_sequence('{"web_workflow_name": "Liquid_feeding_solvents"}')
+        material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
+        if material_id is None:
+            raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
+
+        if isinstance(temperature, str):
+            temperature = float(temperature)
+
+        liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_solvents"]["liquid"]
+        observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_solvents"]["observe"]
+
+        params = {
+            "param_values": {
+                liquid_step_id: {
+                    ACTION_NAMES["liquid_feeding_solvents"]["liquid"]: [
+                        {"m": 0, "n": 1, "Key": "titrationType", "Value": titration_type},
+                        {"m": 0, "n": 1, "Key": "volume", "Value": volume},
+                        {"m": 0, "n": 1, "Key": "assignMaterialName", "Value": material_id}
+                    ]
+                },
+                observe_step_id: {
+                    ACTION_NAMES["liquid_feeding_solvents"]["observe"]: [
+                        {"m": 1, "n": 0, "Key": "time", "Value": time},
+                        {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
+                        {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
+                    ]
+                }
+            }
+        }
+
+        self.pending_task_params.append(params)
+        print(f"成功添加液体进料溶剂参数: material={assign_material_name}->ID:{material_id}, volume={volume}μL")
+        print(f"当前队列长度: {len(self.pending_task_params)}")
+        return json.dumps({"suc": True})
+
+    def liquid_feeding_titration(
+        self,
+        volume_formula: str,
+        assign_material_name: str,
+        titration_type: str = "1",
+        time: str = "90",
+        torque_variation: int = 2,
+        temperature: float = 25.00
+    ):
+        """液体进料(滴定)
+
+        Args:
+            volume_formula: 分液公式(μL)
+            assign_material_name: 物料名称
+            titration_type: 是否滴定
+            time: 观察时间(分钟)
+            torque_variation: 是否观察扭矩变化(int类型, 1=否, 2=是)
+            temperature: 温度(°C)
+        """
+        self.append_to_workflow_sequence('{"web_workflow_name": "Liquid_feeding(titration)"}')
+        material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
+        if material_id is None:
+            raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
+
+        if isinstance(temperature, str):
+            temperature = float(temperature)
+
+        liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_titration"]["liquid"]
+        observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_titration"]["observe"]
+
+        params = {
+            "param_values": {
+                liquid_step_id: {
+                    ACTION_NAMES["liquid_feeding_titration"]["liquid"]: [
+                        {"m": 0, "n": 3, "Key": "volumeFormula", "Value": volume_formula},
+                        {"m": 0, "n": 3, "Key": "titrationType", "Value": titration_type},
+                        {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id}
+                    ]
+                },
+                observe_step_id: {
+                    ACTION_NAMES["liquid_feeding_titration"]["observe"]: [
+                        {"m": 1, "n": 0, "Key": "time", "Value": time},
+                        {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
+                        {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
+                    ]
+                }
+            }
+        }
+
+        self.pending_task_params.append(params)
+        print(f"成功添加液体进料滴定参数: volume={volume_formula}μL, material={assign_material_name}->ID:{material_id}")
+        print(f"当前队列长度: {len(self.pending_task_params)}")
+        return json.dumps({"suc": True})
+
+    def liquid_feeding_beaker(
+        self,
+        volume: str = "35000",
+        assign_material_name: str = "BAPP",
+        time: str = "0",
+        torque_variation: int = 1,
+        titration_type: str = "1",
+        temperature: float = 25.00
+    ):
+        """液体进料烧杯
+
+        Args:
+            volume: 分液量(μL)
+            assign_material_name: 物料名称(试剂瓶位)
+            time: 观察时间(分钟)
+            torque_variation: 是否观察扭矩变化(int类型, 1=否, 2=是)
+            titration_type: 是否滴定
+            temperature: 温度上限(°C)
+        """
+        self.append_to_workflow_sequence('{"web_workflow_name": "liquid_feeding_beaker"}')
+        material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
+        if material_id is None:
+            raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
+
+        if isinstance(temperature, str):
+            temperature = float(temperature)
+
+        liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_beaker"]["liquid"]
+        observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_beaker"]["observe"]
+
+        params = {
+            "param_values": {
+                liquid_step_id: {
+                    ACTION_NAMES["liquid_feeding_beaker"]["liquid"]: [
+                        {"m": 0, "n": 2, "Key": "volume", "Value": volume},
+                        {"m": 0, "n": 2, "Key": "assignMaterialName", "Value": material_id},
+                        {"m": 0, "n": 2, "Key": "titrationType", "Value": titration_type}
+                    ]
+                },
+                observe_step_id: {
+                    ACTION_NAMES["liquid_feeding_beaker"]["observe"]: [
+                        {"m": 1, "n": 0, "Key": "time", "Value": time},
+                        {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
+                        {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
+                    ]
+                }
+            }
+        }
+
+        self.pending_task_params.append(params)
+        print(f"成功添加液体进料烧杯参数: volume={volume}μL, material={assign_material_name}->ID:{material_id}")
+        print(f"当前队列长度: {len(self.pending_task_params)}")
+        return json.dumps({"suc": True})
+
+    def drip_back(
+        self,
+        assign_material_name: str,
+        volume: str,
+        titration_type: str = "1",
+        time: str = "90",
+        torque_variation: int = 2,
+        temperature: float = 25.00
+    ):
+        """滴回去
+
+        Args:
+            assign_material_name: 物料名称(液体种类)
+            volume: 分液量(μL)
+            titration_type: 是否滴定
+            time: 观察时间(分钟)
+            torque_variation: 是否观察扭矩变化(int类型, 1=否, 2=是)
+            temperature: 温度(°C)
+        """
+        self.append_to_workflow_sequence('{"web_workflow_name": "drip_back"}')
+        material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
+        if material_id is None:
+            raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
+
+        if isinstance(temperature, str):
+            temperature = float(temperature)
+
+        liquid_step_id = WORKFLOW_STEP_IDS["drip_back"]["liquid"]
+        observe_step_id = WORKFLOW_STEP_IDS["drip_back"]["observe"]
+
+        params = {
+            "param_values": {
+                liquid_step_id: {
+                    ACTION_NAMES["drip_back"]["liquid"]: [
+                        {"m": 0, "n": 1, "Key": "titrationType", "Value": titration_type},
+                        {"m": 0, "n": 1, "Key": "assignMaterialName", "Value": material_id},
+                        {"m": 0, "n": 1, "Key": "volume", "Value": volume}
+                    ]
+                },
+                observe_step_id: {
+                    ACTION_NAMES["drip_back"]["observe"]: [
+                        {"m": 1, "n": 0, "Key": "time", "Value": time},
+                        {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
+                        {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
+                    ]
+                }
+            }
+        }
+
+        self.pending_task_params.append(params)
+        print(f"成功添加滴回去参数: material={assign_material_name}->ID:{material_id}, volume={volume}μL")
+        print(f"当前队列长度: {len(self.pending_task_params)}")
+        return json.dumps({"suc": True})
+
+    # ==================== 工作流管理方法 ====================
+
+    def get_workflow_sequence(self) -> List[str]:
+        """获取当前工作流执行顺序
+
+        Returns:
+            工作流名称列表
+        """
+        id_to_name = {workflow_id: name for name, workflow_id in self.workflow_mappings.items()}
+        workflow_names = []
+        for workflow_id in self.workflow_sequence:
+            workflow_name = id_to_name.get(workflow_id, workflow_id)
+            workflow_names.append(workflow_name)
+        print(f"工作流序列: {workflow_names}")
+        return workflow_names
+
+    def workflow_step_query(self, workflow_id: str) -> dict:
+        """查询工作流步骤参数
+
+        Args:
+            workflow_id: 工作流ID
+
+        Returns:
+            工作流步骤参数字典
+        """
+        return self.hardware_interface.workflow_step_query(workflow_id)
+
+    def create_order(self, json_str: str) -> dict:
+        """创建订单
+
+        Args:
+            json_str: 订单参数的JSON字符串
+
+        Returns:
+            创建结果
+        """
+        return self.hardware_interface.create_order(json_str)
+
+    # ==================== 工作流执行核心方法 ====================
+
+    def process_web_workflows(self, web_workflow_json: str) -> List[Dict[str, str]]:
+        """处理网页工作流列表
+
+        Args:
+            web_workflow_json: JSON 格式的网页工作流列表
+
+        Returns:
+            List[Dict[str, str]]: 包含工作流 ID 和名称的字典列表
+        """
+        try:
+            web_workflow_data = json.loads(web_workflow_json)
+            web_workflow_list = web_workflow_data.get("web_workflow_list", [])
+            workflows_result = []
+            for name in web_workflow_list:
+                workflow_id = self.workflow_mappings.get(name, "")
+                if not workflow_id:
+                    print(f"警告：未找到工作流名称 {name} 对应的 ID")
+                    continue
+                workflows_result.append({"id": workflow_id, "name": name})
+            print(f"process_web_workflows 输出: {workflows_result}")
+            return workflows_result
+        except json.JSONDecodeError as e:
+            print(f"错误：无法解析 web_workflow_json: {e}")
+            return []
+        except Exception as e:
+            print(f"错误：处理工作流失败: {e}")
+            return []
+
+    def process_and_execute_workflow(self, workflow_name: str, task_name: str) -> dict:
+        """
+        一站式处理工作流程：解析网页工作流列表，合并工作流(带参数)，然后发布任务
+
+        Args:
+            workflow_name: 合并后的工作流名称
+            task_name: 任务名称
+
+        Returns:
+            任务创建结果
+        """
+        web_workflow_list = self.get_workflow_sequence()
+        print(f"\n{'='*60}")
+        print(f"📋 处理网页工作流列表: {web_workflow_list}")
+        print(f"{'='*60}")
+
+        web_workflow_json = json.dumps({"web_workflow_list": web_workflow_list})
+        workflows_result = self.process_web_workflows(web_workflow_json)
+
+        if not workflows_result:
+            return self._create_error_result("处理网页工作流列表失败", "process_web_workflows")
+
+        print(f"workflows_result 类型: {type(workflows_result)}")
+        print(f"workflows_result 内容: {workflows_result}")
+
+        workflows_with_params = self._build_workflows_with_parameters(workflows_result)
+
+        merge_data = {
+            "name": workflow_name,
+            "workflows": workflows_with_params
+        }
+
+        # print(f"\n🔄 合并工作流（带参数），名称: {workflow_name}")
+        merged_workflow = self.merge_workflow_with_parameters(json.dumps(merge_data))
+
+        if not merged_workflow:
+            return self._create_error_result("合并工作流失败", "merge_workflow_with_parameters")
+
+        workflow_id = merged_workflow.get("subWorkflows", [{}])[0].get("id", "")
+        # print(f"\n📤 使用工作流创建任务: {workflow_name} (ID: {workflow_id})")
+
+        order_params = [{
+            "orderCode": f"task_{self.hardware_interface.get_current_time_iso8601()}",
+            "orderName": task_name,
+            "workFlowId": workflow_id,
+            "borderNumber": 1,
+            "paramValues": {}
+        }]
+
+        result = self.create_order(json.dumps(order_params))
+
+        if not result:
+            return self._create_error_result("创建任务失败", "create_order")
+
+        # 清空工作流序列和参数，防止下次执行时累积重复
+        self.pending_task_params = []
+        self.clear_workflows()  # 清空工作流序列，避免重复累积
+
+        # print(f"\n✅ 任务创建成功: {result}")
+        # print(f"\n✅ 任务创建成功")
+        print(f"{'='*60}\n")
+        return json.dumps({"success": True, "result": result})
+
+    def _build_workflows_with_parameters(self, workflows_result: list) -> list:
+        """
+        构建带参数的工作流列表
+
+        Args:
+            workflows_result: 处理后的工作流列表（应为包含 id 和 name 的字典列表）
+
+        Returns:
+            符合新接口格式的工作流参数结构
+        """
+        workflows_with_params = []
+        total_params = 0
+        successful_params = 0
+        failed_params = []
+
+        for idx, workflow_info in enumerate(workflows_result):
+            if not isinstance(workflow_info, dict):
+                print(f"错误：workflows_result[{idx}] 不是字典，而是 {type(workflow_info)}: {workflow_info}")
+                continue
+            workflow_id = workflow_info.get("id")
+            if not workflow_id:
+                print(f"警告：workflows_result[{idx}] 缺少 'id' 键")
+                continue
+            workflow_name = workflow_info.get("name", "")
+            # print(f"\n🔧 处理工作流 [{idx}]: {workflow_name} (ID: {workflow_id})")
+
+            if idx >= len(self.pending_task_params):
+                # print(f"   ⚠️ 无对应参数，跳过")
+                workflows_with_params.append({"id": workflow_id})
+                continue
+
+            param_data = self.pending_task_params[idx]
+            param_values = param_data.get("param_values", {})
+            if not param_values:
+                # print(f"   ⚠️ 参数为空，跳过")
+                workflows_with_params.append({"id": workflow_id})
+                continue
+
+            step_parameters = {}
+            for step_id, actions_dict in param_values.items():
+                # print(f"   📍 步骤ID: {step_id}")
+                for action_name, param_list in actions_dict.items():
+                    # print(f"      🔹 模块: {action_name}, 参数数量: {len(param_list)}")
+                    if step_id not in step_parameters:
+                        step_parameters[step_id] = {}
+                    if action_name not in step_parameters[step_id]:
+                        step_parameters[step_id][action_name] = []
+                    for param_item in param_list:
+                        param_key = param_item.get("Key", "")
+                        param_value = param_item.get("Value", "")
+                        total_params += 1
+                        step_parameters[step_id][action_name].append({
+                            "Key": param_key,
+                            "DisplayValue": param_value
+                        })
+                        successful_params += 1
+                        # print(f"         ✓ {param_key} = {param_value}")
+
+            workflows_with_params.append({
+                "id": workflow_id,
+                "stepParameters": step_parameters
+            })
+
+        self._print_mapping_stats(total_params, successful_params, failed_params)
+        return workflows_with_params
+
+    def _print_mapping_stats(self, total: int, success: int, failed: list):
+        """打印参数映射统计"""
+        print(f"\n{'='*20} 参数映射统计 {'='*20}")
+        print(f"📊 总参数数量: {total}")
+        print(f"✅ 成功映射: {success}")
+        print(f"❌ 映射失败: {len(failed)}")
+        if not failed:
+            print("🎉 成功映射所有参数！")
+        else:
+            print(f"⚠️ 失败的参数: {', '.join(failed)}")
+        success_rate = (success/total*100) if total > 0 else 0
+        print(f"📈 映射成功率: {success_rate:.1f}%")
+        print("="*60)
+
+    def _create_error_result(self, error_msg: str, step: str) -> str:
+        """创建统一的错误返回格式"""
+        print(f"❌ {error_msg}")
+        return json.dumps({
+            "success": False,
+            "error": f"process_and_execute_workflow: {error_msg}",
+            "method": "process_and_execute_workflow",
+            "step": step
+        })
+
+    def merge_workflow_with_parameters(self, json_str: str) -> dict:
+        """
+        调用新接口：合并工作流并传递参数
+
+        Args:
+            json_str: JSON格式的字符串，包含:
+                - name: 工作流名称
+                - workflows: [{"id": "工作流ID", "stepParameters": {...}}]
+
+        Returns:
+            合并后的工作流信息
+        """
+        try:
+            data = json.loads(json_str)
+
+            # 在工作流名称后面添加时间戳，避免重复
+            if "name" in data and data["name"]:
+                timestamp = self.hardware_interface.get_current_time_iso8601().replace(":", "-").replace(".", "-")
+                original_name = data["name"]
+                data["name"] = f"{original_name}_{timestamp}"
+                print(f"🕒 工作流名称已添加时间戳: {original_name} -> {data['name']}")
+
+            request_data = {
+                "apiKey": API_CONFIG["api_key"],
+                "requestTime": self.hardware_interface.get_current_time_iso8601(),
+                "data": data
+            }
+            print(f"\n📤 发送合并请求:")
+            print(f"   工作流名称: {data.get('name')}")
+            print(f"   子工作流数量: {len(data.get('workflows', []))}")
+
+            # 打印完整的POST请求内容
+            print(f"\n🔍 POST请求详细内容:")
+            print(f"   URL: {self.hardware_interface.host}/api/lims/workflow/merge-workflow-with-parameters")
+            print(f"   Headers: {{'Content-Type': 'application/json'}}")
+            print(f"   Request Data:")
+            print(f"   {json.dumps(request_data, indent=4, ensure_ascii=False)}")
+            #
+            response = requests.post(
+                f"{self.hardware_interface.host}/api/lims/workflow/merge-workflow-with-parameters",
+                json=request_data,
+                headers={"Content-Type": "application/json"},
+                timeout=30
+            )
+
+            # # 打印响应详细内容
+            # print(f"\n📥 POST响应详细内容:")
+            # print(f"   状态码: {response.status_code}")
+            # print(f"   响应头: {dict(response.headers)}")
+            # print(f"   响应体: {response.text}")
+            # #
+            try:
+                result = response.json()
+                # #
+                # print(f"\n📋 解析后的响应JSON:")
+                # print(f"   {json.dumps(result, indent=4, ensure_ascii=False)}")
+                # #
+            except json.JSONDecodeError:
+                print(f"❌ 服务器返回非 JSON 格式响应: {response.text}")
+                return None
+
+            if result.get("code") == 1:
+                print(f"✅ 工作流合并成功（带参数）")
+                return result.get("data", {})
+            else:
+                error_msg = result.get('message', '未知错误')
+                print(f"❌ 工作流合并失败: {error_msg}")
+                return None
+
+        except requests.exceptions.Timeout:
+            print(f"❌ 合并工作流请求超时")
+            return None
+        except requests.exceptions.RequestException as e:
+            print(f"❌ 合并工作流网络异常: {str(e)}")
+            return None
+        except json.JSONDecodeError as e:
+            print(f"❌ 合并工作流响应解析失败: {str(e)}")
+            return None
+        except Exception as e:
+            print(f"❌ 合并工作流异常: {str(e)}")
+            return None
+
+    def _validate_and_refresh_workflow_if_needed(self, workflow_name: str) -> bool:
+        """验证工作流ID是否有效，如果无效则重新合并
+
+        Args:
+            workflow_name: 工作流名称
+
+        Returns:
+            bool: 验证或刷新是否成功
+        """
+        print(f"\n🔍 验证工作流ID有效性...")
+        if not self.workflow_sequence:
+            print(f"   ⚠️ 工作流序列为空，需要重新合并")
+            return False
+        first_workflow_id = self.workflow_sequence[0]
+        try:
+            structure = self.workflow_step_query(first_workflow_id)
+            if structure:
+                print(f"   ✅ 工作流ID有效")
+                return True
+            else:
+                print(f"   ⚠️ 工作流ID已过期，需要重新合并")
+                return False
+        except Exception as e:
+            print(f"   ❌ 工作流ID验证失败: {e}")
+            print(f"   💡 将重新合并工作流")
+            return False

unilabos/devices/workstation/workstation_base.py

@@ -171,7 +171,6 @@ class WorkstationBase(ABC):
     def post_init(self, ros_node: ROS2WorkstationNode) -> None:
         # 初始化物料系统
         self._ros_node = ros_node
-        self._ros_node.update_resource([self.deck])
 
     def _build_resource_mappings(self, deck: Deck):
         """递归构建资源映射"""

unilabos/devices/workstation/workstation_http_service.py

@@ -668,7 +668,7 @@ __all__ = [
 
 if __name__ == "__main__":
     # 简单测试HTTP服务
-    class DummyWorkstation:
+    class BioyondWorkstation:
         device_id = "WS-001"
         
         def process_step_finish_report(self, report_request):

unilabos/registry/devices/bioyond.yaml

@@ -0,0 +1,252 @@
+workstation.bioyond_dispensing_station:
+  category:
+  - workstation
+  - bioyond
+  class:
+    action_value_mappings:
+      create_90_10_vial_feeding_task:
+        feedback: {}
+        goal:
+          delay_time: delay_time
+          hold_m_name: hold_m_name
+          order_name: order_name
+          percent_10_1_assign_material_name: percent_10_1_assign_material_name
+          percent_10_1_liquid_material_name: percent_10_1_liquid_material_name
+          percent_10_1_target_weigh: percent_10_1_target_weigh
+          percent_10_1_volume: percent_10_1_volume
+          percent_10_2_assign_material_name: percent_10_2_assign_material_name
+          percent_10_2_liquid_material_name: percent_10_2_liquid_material_name
+          percent_10_2_target_weigh: percent_10_2_target_weigh
+          percent_10_2_volume: percent_10_2_volume
+          percent_10_3_assign_material_name: percent_10_3_assign_material_name
+          percent_10_3_liquid_material_name: percent_10_3_liquid_material_name
+          percent_10_3_target_weigh: percent_10_3_target_weigh
+          percent_10_3_volume: percent_10_3_volume
+          percent_90_1_assign_material_name: percent_90_1_assign_material_name
+          percent_90_1_target_weigh: percent_90_1_target_weigh
+          percent_90_2_assign_material_name: percent_90_2_assign_material_name
+          percent_90_2_target_weigh: percent_90_2_target_weigh
+          percent_90_3_assign_material_name: percent_90_3_assign_material_name
+          percent_90_3_target_weigh: percent_90_3_target_weigh
+          speed: speed
+          temperature: temperature
+        goal_default:
+          delay_time: ''
+          hold_m_name: ''
+          order_name: ''
+          percent_10_1_assign_material_name: ''
+          percent_10_1_liquid_material_name: ''
+          percent_10_1_target_weigh: ''
+          percent_10_1_volume: ''
+          percent_10_2_assign_material_name: ''
+          percent_10_2_liquid_material_name: ''
+          percent_10_2_target_weigh: ''
+          percent_10_2_volume: ''
+          percent_10_3_assign_material_name: ''
+          percent_10_3_liquid_material_name: ''
+          percent_10_3_target_weigh: ''
+          percent_10_3_volume: ''
+          percent_90_1_assign_material_name: ''
+          percent_90_1_target_weigh: ''
+          percent_90_2_assign_material_name: ''
+          percent_90_2_target_weigh: ''
+          percent_90_3_assign_material_name: ''
+          percent_90_3_target_weigh: ''
+          speed: ''
+          temperature: ''
+        handles: {}
+        result:
+          return_info: return_info
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: DispenStationVialFeed_Feedback
+              type: object
+            goal:
+              properties:
+                delay_time:
+                  type: string
+                hold_m_name:
+                  type: string
+                order_name:
+                  type: string
+                percent_10_1_assign_material_name:
+                  type: string
+                percent_10_1_liquid_material_name:
+                  type: string
+                percent_10_1_target_weigh:
+                  type: string
+                percent_10_1_volume:
+                  type: string
+                percent_10_2_assign_material_name:
+                  type: string
+                percent_10_2_liquid_material_name:
+                  type: string
+                percent_10_2_target_weigh:
+                  type: string
+                percent_10_2_volume:
+                  type: string
+                percent_10_3_assign_material_name:
+                  type: string
+                percent_10_3_liquid_material_name:
+                  type: string
+                percent_10_3_target_weigh:
+                  type: string
+                percent_10_3_volume:
+                  type: string
+                percent_90_1_assign_material_name:
+                  type: string
+                percent_90_1_target_weigh:
+                  type: string
+                percent_90_2_assign_material_name:
+                  type: string
+                percent_90_2_target_weigh:
+                  type: string
+                percent_90_3_assign_material_name:
+                  type: string
+                percent_90_3_target_weigh:
+                  type: string
+                speed:
+                  type: string
+                temperature:
+                  type: string
+              required:
+              - order_name
+              - percent_90_1_assign_material_name
+              - percent_90_1_target_weigh
+              - percent_90_2_assign_material_name
+              - percent_90_2_target_weigh
+              - percent_90_3_assign_material_name
+              - percent_90_3_target_weigh
+              - percent_10_1_assign_material_name
+              - percent_10_1_target_weigh
+              - percent_10_1_volume
+              - percent_10_1_liquid_material_name
+              - percent_10_2_assign_material_name
+              - percent_10_2_target_weigh
+              - percent_10_2_volume
+              - percent_10_2_liquid_material_name
+              - percent_10_3_assign_material_name
+              - percent_10_3_target_weigh
+              - percent_10_3_volume
+              - percent_10_3_liquid_material_name
+              - speed
+              - temperature
+              - delay_time
+              - hold_m_name
+              title: DispenStationVialFeed_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: DispenStationVialFeed_Result
+              type: object
+          required:
+          - goal
+          title: DispenStationVialFeed
+          type: object
+        type: DispenStationVialFeed
+      create_diamine_solution_task:
+        feedback: {}
+        goal:
+          delay_time: delay_time
+          hold_m_name: hold_m_name
+          liquid_material_name: liquid_material_name
+          material_name: material_name
+          order_name: order_name
+          speed: speed
+          target_weigh: target_weigh
+          temperature: temperature
+          volume: volume
+        goal_default:
+          delay_time: ''
+          hold_m_name: ''
+          liquid_material_name: ''
+          material_name: ''
+          order_name: ''
+          speed: ''
+          target_weigh: ''
+          temperature: ''
+          volume: ''
+        handles: {}
+        result:
+          return_info: return_info
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: DispenStationSolnPrep_Feedback
+              type: object
+            goal:
+              properties:
+                delay_time:
+                  type: string
+                hold_m_name:
+                  type: string
+                liquid_material_name:
+                  type: string
+                material_name:
+                  type: string
+                order_name:
+                  type: string
+                speed:
+                  type: string
+                target_weigh:
+                  type: string
+                temperature:
+                  type: string
+                volume:
+                  type: string
+              required:
+              - order_name
+              - material_name
+              - target_weigh
+              - volume
+              - liquid_material_name
+              - speed
+              - temperature
+              - delay_time
+              - hold_m_name
+              title: DispenStationSolnPrep_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: DispenStationSolnPrep_Result
+              type: object
+          required:
+          - goal
+          title: DispenStationSolnPrep
+          type: object
+        type: DispenStationSolnPrep
+    module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation
+    status_types: {}
+    type: python
+  config_info: []
+  description: ''
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        config:
+          type: string
+      required:
+      - config
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object
+  version: 1.0.0

unilabos/registry/devices/laiyu_liquid.yaml

@@ -1361,8 +1361,7 @@ laiyu_liquid:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times:
+          mix_times: 0
-          - 0
           mix_vol: 0
           none_keys:
           - ''
@@ -1492,11 +1491,9 @@ laiyu_liquid:
                 mix_stage:
                   type: string
                 mix_times:
-                  items:
+                  maximum: 2147483647
-                    maximum: 2147483647
+                  minimum: -2147483648
-                    minimum: -2147483648
+                  type: integer
-                    type: integer
-                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648

unilabos/registry/devices/liquid_handler.yaml

@@ -3994,8 +3994,7 @@ liquid_handler:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times:
+          mix_times: 0
-          - 0
           mix_vol: 0
           none_keys:
           - ''
@@ -4151,11 +4150,9 @@ liquid_handler:
                 mix_stage:
                   type: string
                 mix_times:
-                  items:
+                  maximum: 2147483647
-                    maximum: 2147483647
+                  minimum: -2147483648
-                    minimum: -2147483648
+                  type: integer
-                    type: integer
-                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648
@@ -5015,8 +5012,7 @@ liquid_handler.biomek:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times:
+          mix_times: 0
-          - 0
           mix_vol: 0
           none_keys:
           - ''
@@ -5159,11 +5155,9 @@ liquid_handler.biomek:
                 mix_stage:
                   type: string
                 mix_times:
-                  items:
+                  maximum: 2147483647
-                    maximum: 2147483647
+                  minimum: -2147483648
-                    minimum: -2147483648
+                  type: integer
-                    type: integer
-                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648
@@ -7807,8 +7801,7 @@ liquid_handler.prcxi:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times:
+          mix_times: 0
-          - 0
           mix_vol: 0
           none_keys:
           - ''
@@ -7937,11 +7930,9 @@ liquid_handler.prcxi:
                 mix_stage:
                   type: string
                 mix_times:
-                  items:
+                  maximum: 2147483647
-                    maximum: 2147483647
+                  minimum: -2147483648
-                    minimum: -2147483648
+                  type: integer
-                    type: integer
-                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648

unilabos/registry/devices/reaction_station_bioyond.yaml

@@ -4,11 +4,11 @@ reaction_station.bioyond:
   - reaction_station_bioyond
   class:
     action_value_mappings:
-      auto-add_material:
+      auto-append_to_workflow_sequence:
         feedback: {}
         goal: {}
         goal_default:
-          material_data: null
+          web_workflow_name: null
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -18,22 +18,21 @@ reaction_station.bioyond:
             feedback: {}
             goal:
               properties:
-                material_data:
+                web_workflow_name:
-                  type: object
+                  type: string
               required:
-              - material_data
+              - web_workflow_name
               type: object
             result: {}
           required:
           - goal
-          title: add_material参数
+          title: append_to_workflow_sequence参数
           type: object
         type: UniLabJsonCommand
-      auto-create_90_10_vial_feeding_task:
+      auto-clear_workflows:
         feedback: {}
         goal: {}
-        goal_default:
+        goal_default: {}
-          task_data: null
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -42,470 +41,13 @@ reaction_station.bioyond:
           properties:
             feedback: {}
             goal:
-              properties:
+              properties: {}
-                task_data:
-                  type: string
-              required:
-              - task_data
-              type: object
-            result: {}
-          required:
-          - goal
-          title: create_90_10_vial_feeding_task参数
-          type: object
-        type: UniLabJsonCommand
-      auto-create_batch_90_10_vial_feeding_task:
-        feedback: {}
-        goal: {}
-        goal_default:
-          batch_data: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                batch_data:
-                  type: string
-              required:
-              - batch_data
-              type: object
-            result: {}
-          required:
-          - goal
-          title: create_batch_90_10_vial_feeding_task参数
-          type: object
-        type: UniLabJsonCommand
-      auto-create_batch_diamine_solution_task:
-        feedback: {}
-        goal: {}
-        goal_default:
-          batch_data: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                batch_data:
-                  type: string
-              required:
-              - batch_data
-              type: object
-            result: {}
-          required:
-          - goal
-          title: create_batch_diamine_solution_task参数
-          type: object
-        type: UniLabJsonCommand
-      auto-create_diamine_solution_task:
-        feedback: {}
-        goal: {}
-        goal_default:
-          solution_data: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                solution_data:
-                  type: string
-              required:
-              - solution_data
-              type: object
-            result: {}
-          required:
-          - goal
-          title: create_diamine_solution_task参数
-          type: object
-        type: UniLabJsonCommand
-      auto-create_order:
-        feedback: {}
-        goal: {}
-        goal_default:
-          parameters: null
-          task_name: null
-          workflow_name: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                parameters:
-                  type: object
-                task_name:
-                  type: string
-                workflow_name:
-                  type: string
-              required:
-              - workflow_name
-              - task_name
-              type: object
-            result: {}
-          required:
-          - goal
-          title: create_order参数
-          type: object
-        type: UniLabJsonCommand
-      auto-create_resource:
-        feedback: {}
-        goal: {}
-        goal_default:
-          resource_data: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                resource_data:
-                  type: string
-              required:
-              - resource_data
-              type: object
-            result: {}
-          required:
-          - goal
-          title: create_resource参数
-          type: object
-        type: UniLabJsonCommand
-      auto-delete_material:
-        feedback: {}
-        goal: {}
-        goal_default:
-          material_data: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                material_data:
-                  type: string
-              required:
-              - material_data
-              type: object
-            result: {}
-          required:
-          - goal
-          title: delete_material参数
-          type: object
-        type: UniLabJsonCommand
-      auto-device_operation:
-        feedback: {}
-        goal: {}
-        goal_default:
-          device_id: null
-          operation: null
-          parameters: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                device_id:
-                  type: string
-                operation:
-                  type: string
-                parameters:
-                  type: object
-              required:
-              - device_id
-              - operation
-              type: object
-            result: {}
-          required:
-          - goal
-          title: device_operation参数
-          type: object
-        type: UniLabJsonCommand
-      auto-dispensing_material_inbound:
-        feedback: {}
-        goal: {}
-        goal_default:
-          material_data: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                material_data:
-                  type: string
-              required:
-              - material_data
-              type: object
-            result: {}
-          required:
-          - goal
-          title: dispensing_material_inbound参数
-          type: object
-        type: UniLabJsonCommand
-      auto-dispensing_material_outbound:
-        feedback: {}
-        goal: {}
-        goal_default:
-          material_data: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                material_data:
-                  type: string
-              required:
-              - material_data
-              type: object
-            result: {}
-          required:
-          - goal
-          title: dispensing_material_outbound参数
-          type: object
-        type: UniLabJsonCommand
-      auto-drip_back:
-        feedback: {}
-        goal: {}
-        goal_default:
-          assign_material_name: Reactor
-          temperature: 25.0
-          time: '0'
-          torque_variation: '1'
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                assign_material_name:
-                  default: Reactor
-                  type: string
-                temperature:
-                  default: 25.0
-                  type: number
-                time:
-                  default: '0'
-                  type: string
-                torque_variation:
-                  default: '1'
-                  type: string
               required: []
               type: object
             result: {}
           required:
           - goal
-          title: drip_back参数
+          title: clear_workflows参数
-          type: object
-        type: UniLabJsonCommand
-      auto-execute_bioyond_sync_workflow:
-        feedback: {}
-        goal: {}
-        goal_default:
-          parameters: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                parameters:
-                  type: object
-              required:
-              - parameters
-              type: object
-            result: {}
-          required:
-          - goal
-          title: execute_bioyond_sync_workflow参数
-          type: object
-        type: UniLabJsonCommandAsync
-      auto-execute_bioyond_update_workflow:
-        feedback: {}
-        goal: {}
-        goal_default:
-          parameters: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                parameters:
-                  type: object
-              required:
-              - parameters
-              type: object
-            result: {}
-          required:
-          - goal
-          title: execute_bioyond_update_workflow参数
-          type: object
-        type: UniLabJsonCommandAsync
-      auto-liquid_feeding_beaker:
-        feedback: {}
-        goal: {}
-        goal_default:
-          material_name: ''
-          volume: ''
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                material_name:
-                  default: ''
-                  type: string
-                volume:
-                  default: ''
-                  type: string
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: liquid_feeding_beaker参数
-          type: object
-        type: UniLabJsonCommand
-      auto-liquid_feeding_solvents:
-        feedback: {}
-        goal: {}
-        goal_default:
-          material_name: ''
-          volume: ''
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                material_name:
-                  default: ''
-                  type: string
-                volume:
-                  default: ''
-                  type: string
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: liquid_feeding_solvents参数
-          type: object
-        type: UniLabJsonCommand
-      auto-liquid_feeding_titration:
-        feedback: {}
-        goal: {}
-        goal_default:
-          material_name: ''
-          time: '120'
-          titration_type: '1'
-          torque_variation: '2'
-          volume: ''
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                material_name:
-                  default: ''
-                  type: string
-                time:
-                  default: '120'
-                  type: string
-                titration_type:
-                  default: '1'
-                  type: string
-                torque_variation:
-                  default: '2'
-                  type: string
-                volume:
-                  default: ''
-                  type: string
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: liquid_feeding_titration参数
-          type: object
-        type: UniLabJsonCommand
-      auto-liquid_feeding_vials_non_titration:
-        feedback: {}
-        goal: {}
-        goal_default:
-          material_name: ''
-          volume: ''
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                material_name:
-                  default: ''
-                  type: string
-                volume:
-                  default: ''
-                  type: string
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: liquid_feeding_vials_non_titration参数
           type: object
         type: UniLabJsonCommand
       auto-load_bioyond_data_from_file:
@@ -533,74 +75,11 @@ reaction_station.bioyond:
           title: load_bioyond_data_from_file参数
           type: object
         type: UniLabJsonCommand
-      auto-material_inbound:
-        feedback: {}
-        goal: {}
-        goal_default:
-          location_name: null
-          material_id: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                location_name:
-                  type: string
-                material_id:
-                  type: string
-              required:
-              - material_id
-              - location_name
-              type: object
-            result: {}
-          required:
-          - goal
-          title: material_inbound参数
-          type: object
-        type: UniLabJsonCommand
-      auto-material_outbound:
-        feedback: {}
-        goal: {}
-        goal_default:
-          location_name: null
-          material_id: null
-          quantity: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                location_name:
-                  type: string
-                material_id:
-                  type: string
-                quantity:
-                  type: integer
-              required:
-              - material_id
-              - location_name
-              - quantity
-              type: object
-            result: {}
-          required:
-          - goal
-          title: material_outbound参数
-          type: object
-        type: UniLabJsonCommand
       auto-merge_workflow_with_parameters:
         feedback: {}
         goal: {}
         goal_default:
-          name: null
+          json_str: null
-          workflows: null
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -610,15 +89,10 @@ reaction_station.bioyond:
             feedback: {}
             goal:
               properties:
-                name:
+                json_str:
                   type: string
-                workflows:
-                  items:
-                    type: object
-                  type: array
               required:
-              - name
+              - json_str
-              - workflows
               type: object
             result: {}
           required:
@@ -626,31 +100,6 @@ reaction_station.bioyond:
           title: merge_workflow_with_parameters参数
           type: object
         type: UniLabJsonCommand
-      auto-order_query:
-        feedback: {}
-        goal: {}
-        goal_default:
-          query_data: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                query_data:
-                  type: string
-              required:
-              - query_data
-              type: object
-            result: {}
-          required:
-          - goal
-          title: order_query参数
-          type: object
-        type: UniLabJsonCommand
       auto-post_init:
         feedback: {}
         goal: {}
@@ -676,33 +125,11 @@ reaction_station.bioyond:
           title: post_init参数
           type: object
         type: UniLabJsonCommand
-      auto-reactor_taken_in:
+      auto-process_web_workflows:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: reactor_taken_in参数
-          type: object
-        type: UniLabJsonCommand
-      auto-reactor_taken_out:
         feedback: {}
         goal: {}
         goal_default:
-          order_id: ''
+          json_str: null
-          preintake_id: ''
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -712,18 +139,15 @@ reaction_station.bioyond:
             feedback: {}
             goal:
               properties:
-                order_id:
+                json_str:
-                  default: ''
                   type: string
-                preintake_id:
+              required:
-                  default: ''
+              - json_str
-                  type: string
-              required: []
               type: object
             result: {}
           required:
           - goal
-          title: reactor_taken_out参数
+          title: process_web_workflows参数
           type: object
         type: UniLabJsonCommand
       auto-reset_workstation:
@@ -747,11 +171,11 @@ reaction_station.bioyond:
           title: reset_workstation参数
           type: object
         type: UniLabJsonCommand
-      auto-sample_waste_removal:
+      auto-resource_tree_add:
         feedback: {}
         goal: {}
         goal_default:
-          waste_data: null
+          resources: null
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -761,119 +185,42 @@ reaction_station.bioyond:
             feedback: {}
             goal:
               properties:
-                waste_data:
+                resources:
+                  items:
+                    type: object
+                  type: array
+              required:
+              - resources
+              type: object
+            result: {}
+          required:
+          - goal
+          title: resource_tree_add参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_workflow_sequence:
+        feedback: {}
+        goal: {}
+        goal_default:
+          json_str: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                json_str:
                   type: string
               required:
-              - waste_data
+              - json_str
               type: object
             result: {}
           required:
           - goal
-          title: sample_waste_removal参数
+          title: set_workflow_sequence参数
-          type: object
-        type: UniLabJsonCommand
-      auto-solid_feeding_vials:
-        feedback: {}
-        goal: {}
-        goal_default:
-          material_name: ''
-          volume: ''
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                material_name:
-                  default: ''
-                  type: string
-                volume:
-                  default: ''
-                  type: string
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: solid_feeding_vials参数
-          type: object
-        type: UniLabJsonCommand
-      auto-start_scheduler:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: start_scheduler参数
-          type: object
-        type: UniLabJsonCommand
-      auto-stock_material:
-        feedback: {}
-        goal: {}
-        goal_default:
-          location: null
-          material_id: null
-          quantity: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                location:
-                  type: string
-                material_id:
-                  type: string
-                quantity:
-                  type: integer
-              required:
-              - material_id
-              - location
-              - quantity
-              type: object
-            result: {}
-          required:
-          - goal
-          title: stock_material参数
-          type: object
-        type: UniLabJsonCommand
-      auto-stop_scheduler:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: stop_scheduler参数
           type: object
         type: UniLabJsonCommand
       auto-transfer_resource_to_another:
@@ -1064,33 +411,6 @@ reaction_station.bioyond:
           title: transfer_resource_to_another参数
           type: object
         type: UniLabJsonCommand
-      auto-validate_workflow_parameters:
-        feedback: {}
-        goal: {}
-        goal_default:
-          workflows: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                workflows:
-                  items:
-                    type: object
-                  type: array
-              required:
-              - workflows
-              type: object
-            result: {}
-          required:
-          - goal
-          title: validate_workflow_parameters参数
-          type: object
-        type: UniLabJsonCommand
       bioyond_sync:
         feedback: {}
         goal:
@@ -1407,11 +727,8 @@ reaction_station.bioyond:
     module: unilabos.devices.workstation.bioyond_studio.station:BioyondWorkstation
     protocol_type: []
     status_types:
+      all_workflows: dict
       bioyond_status: dict
-      device_list: dict
-      scheduler_status: dict
-      station_info: dict
-      workflow_parameter_template: dict
       workstation_status: dict
     type: python
   config_info: []
@@ -1431,24 +748,15 @@ reaction_station.bioyond:
       type: object
     data:
       properties:
+        all_workflows:
+          type: object
         bioyond_status:
           type: object
-        device_list:
-          type: object
-        scheduler_status:
-          type: object
-        station_info:
-          type: object
-        workflow_parameter_template:
-          type: object
         workstation_status:
           type: object
       required:
-      - station_info
       - bioyond_status
-      - workflow_parameter_template
+      - all_workflows
-      - scheduler_status
-      - device_list
       - workstation_status
       type: object
   version: 1.0.0

unilabos/registry/registry.py

@@ -708,6 +708,8 @@ class Registry:
                         for status_name, status_type in device_config["class"]["status_types"].items():
                             device_config["class"]["status_types"][status_name] = status_str_type_mapping[status_type]
                         for action_name, action_config in device_config["class"]["action_value_mappings"].items():
+                            if action_config["type"] not in action_str_type_mapping:
+                                continue
                             action_config["type"] = action_str_type_mapping[action_config["type"]]
                         # 添加内置的驱动命令动作
                         self._add_builtin_actions(device_config, device_id)

unilabos/registry/resources/organic/container.yaml

@@ -3,7 +3,7 @@ container:
   - container
   class:
     module: unilabos.resources.container:RegularContainer
-    type: unilabos
+    type: pylabrobot
   description: regular organic container
   handles:
   - data_key: fluid_in

unilabos/resources/bioyond/warehouses.py

@@ -5,15 +5,15 @@ def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
     """创建BioYond 4x1x4仓库"""
     return warehouse_factory(
         name=name,
-        num_items_x=1,
+        num_items_x=4,
         num_items_y=4,
-        num_items_z=4,
+        num_items_z=1,
         dx=10.0,
         dy=10.0,
         dz=10.0,
-        item_dx=137.0,
+        item_dx=147.0,
-        item_dy=96.0,
+        item_dy=106.0,
-        item_dz=120.0,
+        item_dz=130.0,
         category="warehouse",
     )
 

unilabos/resources/container.py

@@ -1,67 +1,84 @@
 import json
+from typing import Dict, Any
 
+from pylabrobot.resources import Container
 from unilabos_msgs.msg import Resource
 
 from unilabos.ros.msgs.message_converter import convert_from_ros_msg
 
 
-class RegularContainer(object):
+class RegularContainer(Container):
-    # 第一个参数必须是id传入
+    def __init__(self, *args, **kwargs):
-    # noinspection PyShadowingBuiltins
+        if "size_x" not in kwargs:
-    def __init__(self, id: str):
+            kwargs["size_x"] = 0
-        self.id = id
+        if "size_y" not in kwargs:
-        self.ulr_resource = Resource()
+            kwargs["size_y"] = 0
-        self._data = None
+        if "size_z" not in kwargs:
+            kwargs["size_z"] = 0
+        self.kwargs = kwargs
+        self.state = {}
+        super().__init__(*args, **kwargs)
 
-    @property
+    def load_state(self, state: Dict[str, Any]):
-    def ulr_resource_data(self):
+        self.state = state
-        if self._data is None:
+#
-            self._data = json.loads(self.ulr_resource.data) if self.ulr_resource.data else {}
+# class RegularContainer(object):
-        return self._data
+#     # 第一个参数必须是id传入
-
+#     # noinspection PyShadowingBuiltins
-    @ulr_resource_data.setter
+#     def __init__(self, id: str):
-    def ulr_resource_data(self, value: dict):
+#         self.id = id
-        self._data = value
+#         self.ulr_resource = Resource()
-        self.ulr_resource.data = json.dumps(self._data)
+#         self._data = None
-
+#
-    @property
+#     @property
-    def liquid_type(self):
+#     def ulr_resource_data(self):
-        return self.ulr_resource_data.get("liquid_type", None)
+#         if self._data is None:
-
+#             self._data = json.loads(self.ulr_resource.data) if self.ulr_resource.data else {}
-    @liquid_type.setter
+#         return self._data
-    def liquid_type(self, value: str):
+#
-        if value is not None:
+#     @ulr_resource_data.setter
-            self.ulr_resource_data["liquid_type"] = value
+#     def ulr_resource_data(self, value: dict):
-        else:
+#         self._data = value
-            self.ulr_resource_data.pop("liquid_type", None)
+#         self.ulr_resource.data = json.dumps(self._data)
-
+#
-    @property
+#     @property
-    def liquid_volume(self):
+#     def liquid_type(self):
-        return self.ulr_resource_data.get("liquid_volume", None)
+#         return self.ulr_resource_data.get("liquid_type", None)
-
+#
-    @liquid_volume.setter
+#     @liquid_type.setter
-    def liquid_volume(self, value: float):
+#     def liquid_type(self, value: str):
-        if value is not None:
+#         if value is not None:
-            self.ulr_resource_data["liquid_volume"] = value
+#             self.ulr_resource_data["liquid_type"] = value
-        else:
+#         else:
-            self.ulr_resource_data.pop("liquid_volume", None)
+#             self.ulr_resource_data.pop("liquid_type", None)
-
+#
-    def get_ulr_resource(self) -> Resource:
+#     @property
-        """
+#     def liquid_volume(self):
-        获取UlrResource对象
+#         return self.ulr_resource_data.get("liquid_volume", None)
-        :return: UlrResource对象
+#
-        """
+#     @liquid_volume.setter
-        self.ulr_resource_data = self.ulr_resource_data  # 确保数据被更新
+#     def liquid_volume(self, value: float):
-        return self.ulr_resource
+#         if value is not None:
-
+#             self.ulr_resource_data["liquid_volume"] = value
-    def get_ulr_resource_as_dict(self) -> Resource:
+#         else:
-        """
+#             self.ulr_resource_data.pop("liquid_volume", None)
-        获取UlrResource对象
+#
-        :return: UlrResource对象
+#     def get_ulr_resource(self) -> Resource:
-        """
+#         """
-        to_dict = convert_from_ros_msg(self.get_ulr_resource())
+#         获取UlrResource对象
-        to_dict["type"] = "container"
+#         :return: UlrResource对象
-        return to_dict
+#         """
-
+#         self.ulr_resource_data = self.ulr_resource_data  # 确保数据被更新
-    def __str__(self):
+#         return self.ulr_resource
-        return f"{self.id}"
+#
+#     def get_ulr_resource_as_dict(self) -> Resource:
+#         """
+#         获取UlrResource对象
+#         :return: UlrResource对象
+#         """
+#         to_dict = convert_from_ros_msg(self.get_ulr_resource())
+#         to_dict["type"] = "container"
+#         return to_dict
+#
+#     def __str__(self):
+#         return f"{self.id}"

unilabos/resources/graphio.py

@@ -1,18 +1,23 @@
 import importlib
 import inspect
 import json
+import os.path
 import traceback
-from typing import Union, Any, Dict, List
+from typing import Union, Any, Dict, List, Tuple
+import uuid
 import networkx as nx
 from pylabrobot.resources import ResourceHolder
 from unilabos_msgs.msg import Resource
 
+from unilabos.config.config import BasicConfig
 from unilabos.resources.container import RegularContainer
+from unilabos.resources.itemized_carrier import ItemizedCarrier
 from unilabos.ros.msgs.message_converter import convert_to_ros_msg
 from unilabos.ros.nodes.resource_tracker import (
     ResourceDictInstance,
     ResourceTreeSet,
 )
+from unilabos.utils import logger
 from unilabos.utils.banner_print import print_status
 
 try:
@@ -44,6 +49,33 @@ def canonicalize_nodes_data(
         if node.get("label") is not None:
             node_id = node.pop("label")
             node["id"] = node["name"] = node_id
+        if not isinstance(node.get("config"), dict):
+            node["config"] = {}
+        if not node.get("type"):
+            node["type"] = "device"
+            print_status(f"Warning: Node {node.get('id', 'unknown')} missing 'type', defaulting to 'device'", "warning")
+        if node.get("name", None) is None:
+            node["name"] = node.get("id")
+            print_status(f"Warning: Node {node.get('id', 'unknown')} missing 'name', defaulting to {node['name']}", "warning")
+        if not isinstance(node.get("position"), dict):
+            node["position"] = {"position": {}}
+            x = node.pop("x", None)
+            if x is not None:
+                node["position"]["position"]["x"] = x
+            y = node.pop("y", None)
+            if y is not None:
+                node["position"]["position"]["y"] = y
+            z = node.pop("z", None)
+            if z is not None:
+                node["position"]["position"]["z"] = z
+        if "sample_id" in node:
+            sample_id = node.pop("sample_id")
+            if sample_id:
+                logger.error(f"{node}的sample_id参数已弃用，sample_id: {sample_id}")
+        for k in list(node.keys()):
+            if k not in ["id", "uuid", "name", "description", "schema", "model", "icon", "parent_uuid", "parent", "type", "class", "position", "config", "data", "children"]:
+                v = node.pop(k)
+                node["config"][k] = v
 
     # 第二步：处理parent_relation
     id2idx = {node["id"]: idx for idx, node in enumerate(nodes)}
@@ -301,6 +333,10 @@ def read_graphml(graphml_file: str) -> tuple[nx.Graph, ResourceTreeSet, List[Dic
         "nodes": [node.res_content.model_dump(by_alias=True) for node in resource_tree_set.all_nodes],
         "links": standardized_links,
     }
+    dump_json_path = os.path.join(BasicConfig.working_dir, os.path.basename(graphml_file).rsplit(".")[0] + ".json")
+    with open(dump_json_path, "w", encoding="utf-8") as f:
+        f.write(json.dumps(graph_data, indent=4, ensure_ascii=False))
+        print_status(f"GraphML converted to JSON and saved to {dump_json_path}", "info")
     physical_setup_graph = nx.node_link_graph(graph_data, link="links", multigraph=False)
     handle_communications(physical_setup_graph)
 
@@ -576,13 +612,13 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
     return r
 
 
-def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: dict = {}, deck: Any = None) -> list[dict]:
+def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[str, Tuple[str, str]] = {}, deck: Any = None) -> list[dict]:
     """
     将 bioyond 物料格式转换为 ulab 物料格式
 
     Args:
         bioyond_materials: bioyond 系统的物料查询结果列表
-        type_mapping: 物料类型映射字典，格式 {bioyond_type: plr_class_name}
+        type_mapping: 物料类型映射字典，格式 {bioyond_type: [plr_class_name, class_uuid]}
         location_id_mapping: 库位 ID 到名称的映射字典，格式 {location_id: location_name}
 
     Returns:
@@ -592,35 +628,35 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: dict =
 
     for material in bioyond_materials:
         className = (
-            type_mapping.get(material.get("typeName"), "RegularContainer") if type_mapping else "RegularContainer"
+            type_mapping.get(material.get("typeName"), ("RegularContainer", ""))[0] if type_mapping else "RegularContainer"
         )
 
         plr_material: ResourcePLR = initialize_resource(
             {"name": material["name"], "class": className}, resource_type=ResourcePLR
         )
         plr_material.code = material.get("code", "") and material.get("barCode", "") or ""
+        plr_material.unilabos_uuid = str(uuid.uuid4())
 
         # 处理子物料（detail）
         if material.get("detail") and len(material["detail"]) > 0:
+            for bottle in reversed(plr_material.children):
+                plr_material.unassign_child_resource(bottle)
             child_ids = []
             for detail in material["detail"]:
                 number = (
                     (detail.get("z", 0) - 1) * plr_material.num_items_x * plr_material.num_items_y
-                    + (detail.get("x", 0) - 1) * plr_material.num_items_x
+                    + (detail.get("y", 0) - 1) * plr_material.num_items_y
-                    + (detail.get("y", 0) - 1)
+                    + (detail.get("x", 0) - 1)
                 )
-                bottle = plr_material[number]
+                typeName = detail.get("typeName", detail.get("name", ""))
-                if detail["name"] in type_mapping:
+                if typeName in type_mapping:
-                    # plr_material.unassign_child_resource(bottle)
+                    bottle = plr_material[number] = initialize_resource(
-                    plr_material.sites[number] = None
+                        {"name": f'{detail["name"]}_{number}', "class": type_mapping[typeName][0]}, resource_type=ResourcePLR
-                    plr_material[number] = initialize_resource(
-                        {"name": f'{detail["name"]}_{number}', "class": type_mapping[detail["name"]]}, resource_type=ResourcePLR
                     )
-                else:
                     bottle.tracker.liquids = [
                         (detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
                     ]
-                bottle.code = detail.get("code", "")
+                    bottle.code = detail.get("code", "")
         else:
             bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
             bottle.tracker.liquids = [
@@ -645,32 +681,59 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: dict =
     return plr_materials
 
 
-def resource_plr_to_bioyond(plr_materials: list[ResourcePLR], type_mapping: dict = {}, warehouse_mapping: dict = {}) -> list[dict]:
+def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict = {}, warehouse_mapping: dict = {}) -> list[dict]:
     bioyond_materials = []
-    for plr_material in plr_materials:
+    for resource in plr_resources:
-        material = {
+        if hasattr(resource, "capacity") and resource.capacity > 1:
-            "name": plr_material.name,
+            material = {
-            "typeName": plr_material.__class__.__name__,
+                "typeId": type_mapping.get(resource.model)[1],
-            "code": plr_material.code,
+                "name": resource.name,
-            "quantity": 0,
+                "unit": "个",
-            "detail": [],
+                "quantity": 1,
-            "locations": [],
+                "details": [],
-        }
+                "Parameters": "{}"
-        if hasattr(plr_material, "capacity") and plr_material.capacity > 1:
+            }
-            for idx in range(plr_material.capacity):
+            for bottle in resource.children:
-                bottle = plr_material[idx]
+                if isinstance(resource, ItemizedCarrier):
-                detail = {
+                    site = resource.get_child_identifier(bottle)
-                    "x": (idx // (plr_material.num_items_x * plr_material.num_items_y)) + 1,
+                else:
-                    "y": ((idx % (plr_material.num_items_x * plr_material.num_items_y)) // plr_material.num_items_x) + 1,
+                    site = {"x": bottle.location.x - 1, "y": bottle.location.y - 1}
-                    "z": (idx % plr_material.num_items_x) + 1,
+                detail_item = {
+                    "typeId": type_mapping.get(bottle.model)[1],
+                    "name": bottle.name,
                     "code": bottle.code if hasattr(bottle, "code") else "",
                     "quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
+                    "x": site["x"] + 1,
+                    "y": site["y"] + 1,
+                    "molecular": 1,
+                    "Parameters": json.dumps({"molecular": 1})
                 }
-                material["detail"].append(detail)
+                material["details"].append(detail_item)
-            material["quantity"] = 1.0
         else:
-            bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
+            bottle = resource[0] if resource.capacity > 0 else resource
-            material["quantity"] = sum(qty for _, qty in bottle.tracker.liquids) if hasattr(plr_material, "tracker") else 0
+            material = {
+                "typeId": "3a14196b-24f2-ca49-9081-0cab8021bf1a",
+                "name": resource.get("name", ""),
+                "unit": "",
+                "quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
+                "Parameters": "{}"
+            }
+
+        if resource.parent is not None and isinstance(resource.parent, ItemizedCarrier):
+            site_in_parent = resource.parent.get_child_identifier(resource)
+            material["locations"] = [
+                {
+                    "id": warehouse_mapping[resource.parent.name]["site_uuids"][site_in_parent["identifier"]],
+                    "whid": warehouse_mapping[resource.parent.name]["uuid"],
+                    "whName": resource.parent.name,
+                    "x": site_in_parent["z"] + 1,
+                    "y": site_in_parent["y"] + 1,
+                    "z": 1,
+                    "quantity": 0
+                }
+            ],
+
+        print(f"material_data: {material}")
         bioyond_materials.append(material)
     return bioyond_materials
 
@@ -717,6 +780,7 @@ def initialize_resource(resource_config: dict, resource_type: Any = None) -> Uni
             else:
                 r = resource_plr
         elif resource_class_config["type"] == "unilabos":
+            raise ValueError(f"No more support for unilabos Resource class {resource_class_config}")
             res_instance: RegularContainer = RESOURCE(id=resource_config["name"])
             res_instance.ulr_resource = convert_to_ros_msg(
                 Resource, {k: v for k, v in resource_config.items() if k != "class"}

unilabos/resources/itemized_carrier.py

@@ -32,6 +32,7 @@ class Bottle(Well):
         barcode: Optional[str] = "",
         category: str = "container",
         model: Optional[str] = None,
+        **kwargs,
     ):
         super().__init__(
             name=name,
@@ -73,6 +74,7 @@ class ItemizedCarrier(ResourcePLR):
     num_items_x: int = 0,
     num_items_y: int = 0,
     num_items_z: int = 0,
+    layout: str = "x-y",
     sites: Optional[Dict[Union[int, str], Optional[ResourcePLR]]] = None,
     category: Optional[str] = "carrier",
     model: Optional[str] = None,
@@ -87,6 +89,8 @@ class ItemizedCarrier(ResourcePLR):
     )
     self.num_items = len(sites)
     self.num_items_x, self.num_items_y, self.num_items_z = num_items_x, num_items_y, num_items_z
+    self.layout = "z-y" if self.num_items_z > 1 and self.num_items_x == 1 else "x-z" if self.num_items_z > 1 and self.num_items_y == 1 else "x-y"
+
     if isinstance(sites, dict):
       sites = sites or {}
       self.sites: List[Optional[ResourcePLR]] = list(sites.values())
@@ -149,7 +153,7 @@ class ItemizedCarrier(ResourcePLR):
   def assign_resource_to_site(self, resource: ResourcePLR, spot: int):
     if self.sites[spot] is not None and not isinstance(self.sites[spot], ResourceHolder):
       raise ValueError(f"spot {spot} already has a resource, {resource}")
-    self.assign_child_resource(resource, location=self.child_locations.get(str(spot)), spot=spot)
+    self.assign_child_resource(resource, location=self.child_locations.get(list(self._ordering.keys())[spot]), spot=spot)
 
   def unassign_child_resource(self, resource: ResourcePLR):
     found = False
@@ -160,8 +164,92 @@ class ItemizedCarrier(ResourcePLR):
         break
     if not found:
       raise ValueError(f"Resource {resource} is not assigned to this carrier")
-    if hasattr(resource, "unassign"):
+    super().unassign_child_resource(resource)
-      resource.unassign()
+    # if hasattr(resource, "unassign"):
+    #   resource.unassign()
+
+  def get_child_identifier(self, child: ResourcePLR):
+    """Get the identifier information for a given child resource.
+    
+    Args:
+        child: The Resource object to find the identifier for
+        
+    Returns:
+        dict: A dictionary containing:
+            - identifier: The string identifier (e.g. "A1", "B2")
+            - idx: The integer index in the sites list
+            - x: The x index (column index, 0-based)
+            - y: The y index (row index, 0-based)  
+            - z: The z index (layer index, 0-based)
+            
+    Raises:
+        ValueError: If the child resource is not found in this carrier
+    """
+    # Find the child resource in sites
+    for idx, resource in enumerate(self.sites):
+      if resource is child:
+        # Get the identifier from ordering keys
+        identifier = list(self._ordering.keys())[idx]
+        
+        # Parse identifier to get x, y, z indices
+        x_idx, y_idx, z_idx = self._parse_identifier_to_indices(identifier, idx)
+        
+        return {
+          "identifier": identifier,
+          "idx": idx,
+          "x": x_idx,
+          "y": y_idx,
+          "z": z_idx
+        }
+    
+    # If not found, raise an error
+    raise ValueError(f"Resource {child} is not assigned to this carrier")
+
+  def _parse_identifier_to_indices(self, identifier: str, idx: int) -> Tuple[int, int, int]:
+    """Parse identifier string to get x, y, z indices.
+    
+    Args:
+        identifier: String identifier like "A1", "B2", etc.
+        idx: Linear index as fallback for calculation
+        
+    Returns:
+        Tuple of (x_idx, y_idx, z_idx)
+    """
+    # If we have explicit dimensions, calculate from idx
+    if self.num_items_x > 0 and self.num_items_y > 0:
+      # Calculate 3D indices from linear index
+      z_idx = idx // (self.num_items_x * self.num_items_y) if self.num_items_z > 0 else 0
+      remaining = idx % (self.num_items_x * self.num_items_y)
+      y_idx = remaining // self.num_items_x
+      x_idx = remaining % self.num_items_x
+      return x_idx, y_idx, z_idx
+    
+    # Fallback: parse from Excel-style identifier
+    if isinstance(identifier, str) and len(identifier) >= 2:
+      # Extract row (letter) and column (number)
+      row_letters = ""
+      col_numbers = ""
+      
+      for char in identifier:
+        if char.isalpha():
+          row_letters += char
+        elif char.isdigit():
+          col_numbers += char
+      
+      if row_letters and col_numbers:
+        # Convert letter(s) to row index (A=0, B=1, etc.)
+        y_idx = 0
+        for char in row_letters:
+          y_idx = y_idx * 26 + (ord(char.upper()) - ord('A'))
+        
+        # Convert number to column index (1-based to 0-based)
+        x_idx = int(col_numbers) - 1
+        z_idx = 0  # Default layer
+        
+        return x_idx, y_idx, z_idx
+    
+    # If all else fails, assume linear arrangement
+    return idx, 0, 0
 
   def __getitem__(
     self,
@@ -319,6 +407,7 @@ class ItemizedCarrier(ResourcePLR):
       "num_items_x": self.num_items_x,
       "num_items_y": self.num_items_y,
       "num_items_z": self.num_items_z,
+      "layout": self.layout,
       "sites": [{
         "label": str(identifier),
         "visible": True if self[identifier] is not None else False,
@@ -344,6 +433,7 @@ class BottleCarrier(ItemizedCarrier):
         sites: Optional[Dict[Union[int, str], ResourceHolder]] = None,
         category: str = "bottle_carrier",
         model: Optional[str] = None,
+        **kwargs,
     ):
         super().__init__(
             name=name,

unilabos/resources/warehouse.py

@@ -5,10 +5,13 @@ from pylabrobot.resources.carrier import ResourceHolder, create_homogeneous_reso
 from unilabos.resources.itemized_carrier import ItemizedCarrier, ResourcePLR
 
 
+LETTERS = "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
+
+
 def warehouse_factory(
     name: str,
-    num_items_x: int = 4,
+    num_items_x: int = 1,
-    num_items_y: int = 1,
+    num_items_y: int = 4,
     num_items_z: int = 4,
     dx: float = 137.0,
     dy: float = 96.0,
@@ -33,13 +36,16 @@ def warehouse_factory(
                 locations.append(Coordinate(x, y, z))
     if removed_positions:
         locations = [loc for i, loc in enumerate(locations) if i not in removed_positions]
-    sites = create_homogeneous_resources(
+    _sites = create_homogeneous_resources(
         klass=ResourceHolder,
         locations=locations,
         resource_size_x=127.0,
         resource_size_y=86.0,
         name_prefix=name,
     )
+    len_x, len_y = (num_items_x, num_items_y) if num_items_z == 1 else (num_items_y, num_items_z) if num_items_x == 1 else (num_items_x, num_items_z)
+    keys = [f"{LETTERS[j]}{i + 1}" for i in range(len_x) for j in range(len_y)]
+    sites = {i: site for i, site in zip(keys, _sites.values())}
     
     return WareHouse(
         name=name,
@@ -68,6 +74,7 @@ class WareHouse(ItemizedCarrier):
         num_items_x: int,
         num_items_y: int,
         num_items_z: int,
+        layout: str = "x-y",
         sites: Optional[Dict[Union[int, str], Optional[ResourcePLR]]] = None,
         category: str = "warehouse",
         model: Optional[str] = None,
@@ -83,6 +90,7 @@ class WareHouse(ItemizedCarrier):
             num_items_x=num_items_x,
             num_items_y=num_items_y,
             num_items_z=num_items_z,
+            layout=layout,
             sites=sites,
             category=category,
             model=model,

unilabos/ros/initialize_device.py

@@ -26,6 +26,7 @@ def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2Device
     d = None
     original_device_config = copy.deepcopy(device_config)
     device_class_config = device_config["class"]
+    uid = device_config["uuid"]
     if isinstance(device_class_config, str):  # 如果是字符串，则直接去lab_registry中查找，获取class
         if len(device_class_config) == 0:
             raise DeviceClassInvalid(f"Device [{device_id}] class cannot be an empty string. {device_config}")
@@ -50,7 +51,7 @@ def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2Device
         )
         try:
             d = DEVICE(
-                device_id=device_id, driver_is_ros=device_class_config["type"] == "ros2", driver_params=device_config.get("config", {})
+                device_id=device_id, device_uuid=uid, driver_is_ros=device_class_config["type"] == "ros2", driver_params=device_config.get("config", {})
             )
         except DeviceInitError as ex:
             return d

unilabos/ros/nodes/base_device_node.py

@@ -6,7 +6,7 @@ import threading
 import time
 import traceback
 import uuid
-from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING
+from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING, Union
 
 from concurrent.futures import ThreadPoolExecutor
 import asyncio
@@ -132,6 +132,7 @@ class ROSLoggerAdapter:
 def init_wrapper(
     self,
     device_id: str,
+    device_uuid: str,
     driver_class: type[T],
     device_config: Dict[str, Any],
     status_types: Dict[str, Any],
@@ -150,6 +151,7 @@ def init_wrapper(
     if children is None:
         children = []
     kwargs["device_id"] = device_id
+    kwargs["device_uuid"] = device_uuid
     kwargs["driver_class"] = driver_class
     kwargs["device_config"] = device_config
     kwargs["driver_params"] = driver_params
@@ -266,6 +268,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         self,
         driver_instance: T,
         device_id: str,
+        device_uuid: str,
         status_types: Dict[str, Any],
         action_value_mappings: Dict[str, Any],
         hardware_interface: Dict[str, Any],
@@ -278,6 +281,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         Args:
             driver_instance: 设备实例
             device_id: 设备标识符
+            device_uuid: 设备标识符
             status_types: 需要发布的状态和传感器信息
             action_value_mappings: 设备动作
             hardware_interface: 硬件接口配置
@@ -285,7 +289,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         """
         self.driver_instance = driver_instance
         self.device_id = device_id
-        self.uuid = str(uuid.uuid4())
+        self.uuid = device_uuid
         self.publish_high_frequency = False
         self.callback_group = ReentrantCallbackGroup()
         self.resource_tracker = resource_tracker
@@ -554,6 +558,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
     async def update_resource(self, resources: List["ResourcePLR"]):
         r = SerialCommand.Request()
         tree_set = ResourceTreeSet.from_plr_resources(resources)
+        for tree in tree_set.trees:
+            root_node = tree.root_node
+            if not root_node.res_content.uuid_parent:
+                logger.warning(f"更新无父节点物料{root_node}，自动以当前设备作为根节点")
+                root_node.res_content.parent_uuid = self.uuid
         r.command = json.dumps({"data": {"data": tree_set.dump()}, "action": "update"})
         response: SerialCommand_Response = await self._resource_clients["c2s_update_resource_tree"].call_async(r)  # type: ignore
         try:
@@ -573,6 +582,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         - update: 更新现有资源
         - remove: 从资源树中移除资源
         """
+        from pylabrobot.resources.resource import Resource as ResourcePLR
         try:
             data = json.loads(req.command)
             results = []
@@ -648,15 +658,28 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             results.append({"success": True, "action": "update"})
                     elif action == "remove":
                         # 移除资源
-                        plr_resources: List[ResourcePLR] = [
+                        found_resources: List[List[Union[ResourcePLR, dict]]] = self.resource_tracker.figure_resource(
-                            self.resource_tracker.uuid_to_resources[i] for i in resources_uuid
+                            [{"uuid": uid} for uid in resources_uuid], try_mode=True
-                        ]
+                        )
+                        found_plr_resources = []
+                        other_plr_resources = []
+                        for found_resource in found_resources:
+                            for resource in found_resource:
+                                if issubclass(resource.__class__, ResourcePLR):
+                                    found_plr_resources.append(resource)
+                                else:
+                                    other_plr_resources.append(resource)
                         func = getattr(self.driver_instance, "resource_tree_remove", None)
                         if callable(func):
-                            func(plr_resources)
+                            func(found_plr_resources)
-                        for plr_resource in plr_resources:
+                        for plr_resource in found_plr_resources:
-                            plr_resource.parent.unassign_child_resource(plr_resource)
+                            if plr_resource.parent is not None:
+                                plr_resource.parent.unassign_child_resource(plr_resource)
                             self.resource_tracker.remove_resource(plr_resource)
+                            self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点")
+                        for other_plr_resource in other_plr_resources:
+                            self.resource_tracker.remove_resource(other_plr_resource)
+                            self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点")
                         results.append({"success": True, "action": "remove"})
                 except Exception as e:
                     error_msg = f"Error processing {action} operation: {str(e)}"
@@ -920,7 +943,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             queried_resources = []
                             for resource_data in resource_inputs:
                                 r = SerialCommand.Request()
-                                r.command = json.dumps({"id": resource_data["id"], "with_children": True})
+                                r.command = json.dumps({"id": resource_data["id"], "uuid": resource_data.get("uuid", None), "with_children": True})
                                 # 发送请求并等待响应
                                 response: SerialCommand_Response = await self._resource_clients[
                                     "resource_get"
@@ -936,7 +959,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
                             # 通过资源跟踪器获取本地实例
                             final_resources = queried_resources if is_sequence else queried_resources[0]
-                            action_kwargs[k] = self.resource_tracker.figure_resource(final_resources, try_mode=False)
+                            final_resources = self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False) if not is_sequence else [
+                                self.resource_tracker.figure_resource({"name": res.name}, try_mode=False) for res in queried_resources
+                            ]
+                            action_kwargs[k] = final_resources
 
                         except Exception as e:
                             self.lab_logger().error(f"{action_name} 物料实例获取失败: {e}\n{traceback.format_exc()}")
@@ -1347,6 +1373,7 @@ class ROS2DeviceNode:
     def __init__(
         self,
         device_id: str,
+        device_uuid: str,
         driver_class: Type[T],
         device_config: Dict[str, Any],
         driver_params: Dict[str, Any],
@@ -1362,6 +1389,7 @@ class ROS2DeviceNode:
 
         Args:
             device_id: 设备标识符
+            device_uuid: 设备uuid
             driver_class: 设备类
             device_config: 原始初始化的json
             driver_params: driver初始化的参数
@@ -1436,6 +1464,7 @@ class ROS2DeviceNode:
                 children=children,
                 driver_instance=self._driver_instance,  # type: ignore
                 device_id=device_id,
+                device_uuid=device_uuid,
                 status_types=status_types,
                 action_value_mappings=action_value_mappings,
                 hardware_interface=hardware_interface,
@@ -1446,6 +1475,7 @@ class ROS2DeviceNode:
             self._ros_node = BaseROS2DeviceNode(
                 driver_instance=self._driver_instance,
                 device_id=device_id,
+                device_uuid=device_uuid,
                 status_types=status_types,
                 action_value_mappings=action_value_mappings,
                 hardware_interface=hardware_interface,

unilabos/ros/nodes/presets/host_node.py

@@ -18,7 +18,7 @@ from unilabos_msgs.srv import (
     ResourceDelete,
     ResourceUpdate,
     ResourceList,
-    SerialCommand,
+    SerialCommand, ResourceGet,
 )  # type: ignore
 from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 from unique_identifier_msgs.msg import UUID
@@ -41,6 +41,7 @@ from unilabos.ros.nodes.resource_tracker import (
     ResourceTreeSet,
     ResourceTreeInstance,
 )
+from unilabos.utils import logger
 from unilabos.utils.exception import DeviceClassInvalid
 from unilabos.utils.type_check import serialize_result_info
 from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
@@ -99,17 +100,6 @@ class HostNode(BaseROS2DeviceNode):
         """
         if self._instance is not None:
             self._instance.lab_logger().critical("[Host Node] HostNode instance already exists.")
-        # 初始化Node基类，传递空参数覆盖列表
-        BaseROS2DeviceNode.__init__(
-            self,
-            driver_instance=self,
-            device_id=device_id,
-            status_types={},
-            action_value_mappings=lab_registry.device_type_registry["host_node"]["class"]["action_value_mappings"],
-            hardware_interface={},
-            print_publish=False,
-            resource_tracker=self._resource_tracker,  # host node并不是通过initialize 包一层传进来的
-        )
 
         # 设置单例实例
         self.__class__._instance = self
@@ -127,6 +117,91 @@ class HostNode(BaseROS2DeviceNode):
             bridges = []
         self.bridges = bridges
 
+        # 创建 host_node 作为一个单独的 ResourceTree
+        host_node_dict = {
+            "id": "host_node",
+            "uuid": str(uuid.uuid4()),
+            "parent_uuid": "",
+            "name": "host_node",
+            "type": "device",
+            "class": "host_node",
+            "config": {},
+            "data": {},
+            "children": [],
+            "description": "",
+            "schema": {},
+            "model": {},
+            "icon": "",
+        }
+
+        # 创建 host_node 的 ResourceTree
+        host_node_instance = ResourceDictInstance.get_resource_instance_from_dict(host_node_dict)
+        host_node_tree = ResourceTreeInstance(host_node_instance)
+        resources_config.trees.insert(0, host_node_tree)
+        try:
+            for bridge in self.bridges:
+                if hasattr(bridge, "resource_tree_add") and resources_config:
+                    from unilabos.app.web.client import HTTPClient
+
+                    client: HTTPClient = bridge
+                    resource_start_time = time.time()
+                    # 传递 ResourceTreeSet 对象，在 client 中转换为字典并获取 UUID 映射
+                    uuid_mapping = client.resource_tree_add(resources_config, "", True)
+                    device_uuid = resources_config.root_nodes[0].res_content.uuid
+                    resource_end_time = time.time()
+                    logger.info(
+                        f"[Host Node-Resource] 物料上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
+                    )
+                    for edge in self.resources_edge_config:
+                        edge["source_uuid"] = uuid_mapping.get(edge["source_uuid"], edge["source_uuid"])
+                        edge["target_uuid"] = uuid_mapping.get(edge["target_uuid"], edge["target_uuid"])
+                    resource_add_res = client.resource_edge_add(self.resources_edge_config)
+                    resource_edge_end_time = time.time()
+                    logger.info(
+                        f"[Host Node-Resource] 物料关系上传 {round(resource_edge_end_time - resource_end_time, 5) * 1000} ms"
+                    )
+                    # resources_config 通过各个设备的 resource_tracker 进行uuid更新，利用uuid_mapping
+                    # resources_config 的 root node 是
+                    # # 创建反向映射：new_uuid -> old_uuid
+                    # reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()}
+                    # for tree in resources_config.trees:
+                    #     node = tree.root_node
+                    #     if node.res_content.type == "device":
+                    #         if node.res_content.id == "host_node":
+                    #             continue
+                    #         # slave节点走c2s更新接口，拿到add自行update uuid
+                    #         device_tracker = self.devices_instances[node.res_content.id].resource_tracker
+                    #         old_uuid = reverse_uuid_mapping.get(node.res_content.uuid)
+                    #         if old_uuid:
+                    #             # 找到旧UUID，使用UUID查找
+                    #             resource_instance = device_tracker.uuid_to_resources.get(old_uuid)
+                    #         else:
+                    #             # 未找到旧UUID，使用name查找
+                    #             resource_instance = device_tracker.figure_resource(
+                    #                 {"name": node.res_content.name}
+                    #             )
+                    #         device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
+                    #     else:
+                    #         try:
+                    #             for plr_resource in ResourceTreeSet([tree]).to_plr_resources():
+                    #                 self.resource_tracker.add_resource(plr_resource)
+                    #         except Exception as ex:
+                    #             self.lab_logger().warning("[Host Node-Resource] 根节点物料序列化失败！")
+        except Exception as ex:
+            logger.error(f"[Host Node-Resource] 添加物料出错！\n{traceback.format_exc()}")
+        # 初始化Node基类，传递空参数覆盖列表
+        BaseROS2DeviceNode.__init__(
+            self,
+            driver_instance=self,
+            device_id=device_id,
+            device_uuid=host_node_dict["uuid"],
+            status_types={},
+            action_value_mappings=lab_registry.device_type_registry["host_node"]["class"]["action_value_mappings"],
+            hardware_interface={},
+            print_publish=False,
+            resource_tracker=self._resource_tracker,  # host node并不是通过initialize 包一层传进来的
+        )
+
         # 创建设备、动作客户端和目标存储
         self.devices_names: Dict[str, str] = {device_id: self.namespace}  # 存储设备名称和命名空间的映射
         self.devices_instances: Dict[str, ROS2DeviceNode] = {}  # 存储设备实例
@@ -207,81 +282,7 @@ class HostNode(BaseROS2DeviceNode):
             ].items():
                 controller_config["update_rate"] = update_rate
                 self.initialize_controller(controller_id, controller_config)
-        # 创建 host_node 作为一个单独的 ResourceTree
 
-        host_node_dict = {
-            "id": "host_node",
-            "uuid": str(uuid.uuid4()),
-            "parent_uuid": "",
-            "name": "host_node",
-            "type": "device",
-            "class": "host_node",
-            "config": {},
-            "data": {},
-            "children": [],
-            "description": "",
-            "schema": {},
-            "model": {},
-            "icon": "",
-        }
-
-        # 创建 host_node 的 ResourceTree
-        host_node_instance = ResourceDictInstance.get_resource_instance_from_dict(host_node_dict)
-        host_node_tree = ResourceTreeInstance(host_node_instance)
-        resources_config.trees.insert(0, host_node_tree)
-        try:
-            for bridge in self.bridges:
-                if hasattr(bridge, "resource_tree_add") and resources_config:
-                    from unilabos.app.web.client import HTTPClient
-
-                    client: HTTPClient = bridge
-                    resource_start_time = time.time()
-                    # 传递 ResourceTreeSet 对象，在 client 中转换为字典并获取 UUID 映射
-                    uuid_mapping = client.resource_tree_add(resources_config, "", True)
-                    resource_end_time = time.time()
-                    self.lab_logger().info(
-                        f"[Host Node-Resource] 物料上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
-                    )
-                    for edge in self.resources_edge_config:
-                        edge["source_uuid"] = uuid_mapping.get(edge["source_uuid"], edge["source_uuid"])
-                        edge["target_uuid"] = uuid_mapping.get(edge["target_uuid"], edge["target_uuid"])
-                    resource_add_res = client.resource_edge_add(self.resources_edge_config)
-                    resource_edge_end_time = time.time()
-                    self.lab_logger().info(
-                        f"[Host Node-Resource] 物料关系上传 {round(resource_edge_end_time - resource_end_time, 5) * 1000} ms"
-                    )
-                    # resources_config 通过各个设备的 resource_tracker 进行uuid更新，利用uuid_mapping
-                    # resources_config 的 root node 是
-                    # 创建反向映射：new_uuid -> old_uuid
-                    reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()}
-                    for tree in resources_config.trees:
-                        node = tree.root_node
-                        if node.res_content.type == "device":
-                            for sub_node in node.children:
-                                # 只有二级子设备
-                                if sub_node.res_content.type != "device":
-                                    # slave节点走c2s更新接口，拿到add自行update uuid
-                                    device_tracker = self.devices_instances[node.res_content.id].resource_tracker
-                                    # sub_node.res_content.uuid 已经是新UUID，需要用旧UUID去查找
-                                    old_uuid = reverse_uuid_mapping.get(sub_node.res_content.uuid)
-                                    if old_uuid:
-                                        # 找到旧UUID，使用UUID查找
-                                        resource_instance = device_tracker.figure_resource({"uuid": old_uuid})
-                                    else:
-                                        # 未找到旧UUID，使用name查找
-                                        resource_instance = device_tracker.figure_resource(
-                                            {"name": sub_node.res_content.name}
-                                        )
-                                    device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
-                        else:
-                            try:
-                                for plr_resource in ResourceTreeSet([tree]).to_plr_resources():
-                                    self.resource_tracker.add_resource(plr_resource)
-                            except Exception as ex:
-                                self.lab_logger().warning("[Host Node-Resource] 根节点物料序列化失败！")
-        except Exception as ex:
-            self.lab_logger().error("[Host Node-Resource] 添加物料出错！")
-            self.lab_logger().error(traceback.format_exc())
         # 创建定时器，定期发现设备
         self._discovery_timer = self.create_timer(
             discovery_interval, self._discovery_devices_callback, callback_group=ReentrantCallbackGroup()
@@ -862,7 +863,7 @@ class HostNode(BaseROS2DeviceNode):
             ),
         }
 
-    def _resource_tree_action_add_callback(self, data: dict, response: SerialCommand_Response):  # OK
+    async def _resource_tree_action_add_callback(self, data: dict, response: SerialCommand_Response):  # OK
         resource_tree_set = ResourceTreeSet.load(data["data"])
         mount_uuid = data["mount_uuid"]
         first_add = data["first_add"]
@@ -903,7 +904,7 @@ class HostNode(BaseROS2DeviceNode):
         response.response = json.dumps(uuid_mapping) if success else "FAILED"
         self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")
 
-    def _resource_tree_action_get_callback(self, data: dict, response: SerialCommand_Response):  # OK
+    async def _resource_tree_action_get_callback(self, data: dict, response: SerialCommand_Response):  # OK
         uuid_list: List[str] = data["data"]
         with_children: bool = data["with_children"]
         from unilabos.app.web.client import http_client
@@ -911,7 +912,7 @@ class HostNode(BaseROS2DeviceNode):
         resource_response = http_client.resource_tree_get(uuid_list, with_children)
         response.response = json.dumps(resource_response)
 
-    def _resource_tree_action_remove_callback(self, data: dict, response: SerialCommand_Response):
+    async def _resource_tree_action_remove_callback(self, data: dict, response: SerialCommand_Response):
         """
         子节点通知Host物料树删除
         """
@@ -919,7 +920,7 @@ class HostNode(BaseROS2DeviceNode):
         response.response = "OK"
         self.lab_logger().info(f"[Host Node-Resource] Resource tree remove completed")
 
-    def _resource_tree_action_update_callback(self, data: dict, response: SerialCommand_Response):
+    async def _resource_tree_action_update_callback(self, data: dict, response: SerialCommand_Response):
         """
         子节点通知Host物料树更新
         """
@@ -932,20 +933,29 @@ class HostNode(BaseROS2DeviceNode):
 
         from unilabos.app.web.client import http_client
 
-        resource_start_time = time.time()
+        uuid_to_trees: Dict[str, List[ResourceTreeInstance]] = collections.defaultdict(list)
-        uuid_mapping = http_client.resource_tree_update(resource_tree_set, "", False)
+        for tree in resource_tree_set.trees:
-        success = bool(uuid_mapping)
+            uuid_to_trees[tree.root_node.res_content.parent_uuid].append(tree)
-        resource_end_time = time.time()
-        self.lab_logger().info(
-            f"[Host Node-Resource] 物料更新上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
-        )
-        if uuid_mapping:
-            self.lab_logger().info(f"[Host Node-Resource] UUID映射: {len(uuid_mapping)} 个节点")
-        # 还需要加入到资源图中，暂不实现，考虑资源图新的获取方式
-        response.response = json.dumps(uuid_mapping)
-        self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")
 
-    def _resource_tree_update_callback(self, request: SerialCommand_Request, response: SerialCommand_Response):
+        for uid, trees in uuid_to_trees.items():
+            new_tree_set = ResourceTreeSet(trees)
+            resource_start_time = time.time()
+            self.lab_logger().info(
+                f"[Host Node-Resource] 物料 {[root_node.res_content.id for root_node in new_tree_set.root_nodes]} {uid} 挂载 {trees[0].root_node.res_content.parent_uuid} 请求更新上传"
+            )
+            uuid_mapping = http_client.resource_tree_add(new_tree_set, uid, False)
+            success = bool(uuid_mapping)
+            resource_end_time = time.time()
+            self.lab_logger().info(
+                f"[Host Node-Resource] 物料更新上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
+            )
+            if uuid_mapping:
+                self.lab_logger().info(f"[Host Node-Resource] UUID映射: {len(uuid_mapping)} 个节点")
+            # 还需要加入到资源图中，暂不实现，考虑资源图新的获取方式
+            response.response = json.dumps(uuid_mapping)
+            self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")
+
+    async def _resource_tree_update_callback(self, request: SerialCommand_Request, response: SerialCommand_Response):
         """
         子节点通知Host物料树更新
 
@@ -958,13 +968,13 @@ class HostNode(BaseROS2DeviceNode):
             action = data["action"]
             data = data["data"]
             if action == "add":
-                self._resource_tree_action_add_callback(data, response)
+                await self._resource_tree_action_add_callback(data, response)
             elif action == "get":
-                self._resource_tree_action_get_callback(data, response)
+                await self._resource_tree_action_get_callback(data, response)
             elif action == "update":
-                self._resource_tree_action_update_callback(data, response)
+                await self._resource_tree_action_update_callback(data, response)
             elif action == "remove":
-                self._resource_tree_action_remove_callback(data, response)
+                await self._resource_tree_action_remove_callback(data, response)
             else:
                 self.lab_logger().error(f"[Host Node-Resource] Invalid action: {action}")
                 response.response = "ERROR"
@@ -1060,7 +1070,12 @@ class HostNode(BaseROS2DeviceNode):
         """
         try:
             data = json.loads(request.command)
-            http_req = self.bridges[-1].resource_get(data["id"], data["with_children"])
+            if "uuid" in data and data["uuid"] is not None:
+                http_req = self.bridges[-1].resource_tree_get([data["uuid"]], data["with_children"])
+            elif "id" in data and data["id"].startswith("/"):
+                http_req = self.bridges[-1].resource_get(data["id"], data["with_children"])
+            else:
+                raise ValueError("没有使用正确的物料 id 或 uuid")
             response.response = json.dumps(http_req["data"])
             return response
         except Exception as e:

unilabos/ros/nodes/presets/workstation.py

@@ -6,13 +6,14 @@ from typing import List, Dict, Any, Optional, TYPE_CHECKING
 
 import rclpy
 from rosidl_runtime_py import message_to_ordereddict
+from unilabos_msgs.msg import Resource
+from unilabos_msgs.srv import ResourceUpdate
 
 from unilabos.messages import *  # type: ignore  # protocol names
 from rclpy.action import ActionServer, ActionClient
 from rclpy.action.server import ServerGoalHandle
 from rclpy.callback_groups import ReentrantCallbackGroup
-from unilabos_msgs.msg import Resource  # type: ignore
+from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
-from unilabos_msgs.srv import ResourceGet, ResourceUpdate  # type: ignore
 
 from unilabos.compile import action_protocol_generators
 from unilabos.resources.graphio import list_to_nested_dict, nested_dict_to_list
@@ -20,11 +21,11 @@ from unilabos.ros.initialize_device import initialize_device_from_dict
 from unilabos.ros.msgs.message_converter import (
     get_action_type,
     convert_to_ros_msg,
-    convert_from_ros_msg,
     convert_from_ros_msg_with_mapping,
 )
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
-from unilabos.utils.type_check import serialize_result_info, get_result_info_str
+from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
+from unilabos.utils.type_check import get_result_info_str
 
 if TYPE_CHECKING:
     from unilabos.devices.workstation.workstation_base import WorkstationBase
@@ -50,6 +51,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
         *,
         driver_instance: "WorkstationBase",
         device_id: str,
+        device_uuid: str,
         status_types: Dict[str, Any],
         action_value_mappings: Dict[str, Any],
         hardware_interface: Dict[str, Any],
@@ -64,6 +66,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
         super().__init__(
             driver_instance=driver_instance,
             device_id=device_id,
+            device_uuid=device_uuid,
             status_types=status_types,
             action_value_mappings={**action_value_mappings, **self.protocol_action_mappings},
             hardware_interface=hardware_interface,
@@ -222,16 +225,29 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                 # 向Host查询物料当前状态
                 for k, v in goal.get_fields_and_field_types().items():
                     if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
-                        r = ResourceGet.Request()
+                        self.lab_logger().info(f"{protocol_name} 查询资源状态: Key: {k} Type: {v}")
-                        resource_id = (
+
-                            protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
+                        try:
-                        )
+                            # 统一处理单个或多个资源
-                        r.id = resource_id
+                            resource_id = (
-                        r.with_children = True
+                                protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
-                        response = await self._resource_clients["resource_get"].call_async(r)
+                            )
-                        protocol_kwargs[k] = list_to_nested_dict(
+                            resource_uuid = protocol_kwargs[k].get("uuid", None)
-                            [convert_from_ros_msg(rs) for rs in response.resources]
+                            r = SerialCommand_Request()
-                        )
+                            r.command = json.dumps({"id": resource_id, "uuid": resource_uuid, "with_children": True})
+                            # 发送请求并等待响应
+                            response: SerialCommand_Response = await self._resource_clients[
+                                "resource_get"
+                            ].call_async(
+                                r
+                            )  # type: ignore
+                            raw_data = json.loads(response.response)
+                            tree_set = ResourceTreeSet.from_raw_list(raw_data)
+                            target = tree_set.dump()
+                            protocol_kwargs[k] = target[0][0] if v == "unilabos_msgs/Resource" else target
+                        except Exception as ex:
+                            self.lab_logger().error(f"查询资源失败: {k}, 错误: {ex}\n{traceback.format_exc()}")
+                            raise
 
                 self.lab_logger().info(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
 

unilabos/ros/nodes/resource_tracker.py

@@ -1,3 +1,4 @@
+import traceback
 import uuid
 from pydantic import BaseModel, field_serializer, field_validator
 from pydantic import Field
@@ -31,7 +32,7 @@ class ResourceDictPositionObject(BaseModel):
 class ResourceDictPosition(BaseModel):
     size: ResourceDictPositionSize = Field(description="Resource size", default_factory=ResourceDictPositionSize)
     scale: ResourceDictPositionScale = Field(description="Resource scale", default_factory=ResourceDictPositionScale)
-    layout: Literal["2d"] = Field(description="Resource layout", default="2d")
+    layout: Literal["2d", "x-y", "z-y", "x-z"] = Field(description="Resource layout", default="x-y")
     position: ResourceDictPositionObject = Field(
         description="Resource position", default_factory=ResourceDictPositionObject
     )
@@ -41,6 +42,7 @@ class ResourceDictPosition(BaseModel):
     rotation: ResourceDictPositionObject = Field(
         description="Resource rotation", default_factory=ResourceDictPositionObject
     )
+    cross_section_type: Literal["rectangle", "circle", "rounded_rectangle"] = Field(description="Cross section type", default="rectangle")
 
 
 # 统一的资源字典模型，parent 自动序列化为 parent_uuid，children 不序列化
@@ -49,7 +51,7 @@ class ResourceDict(BaseModel):
     uuid: str = Field(description="Resource UUID")
     name: str = Field(description="Resource name")
     description: str = Field(description="Resource description", default="")
-    schema: Dict[str, Any] = Field(description="Resource schema", default_factory=dict)
+    resource_schema: Dict[str, Any] = Field(description="Resource schema", default_factory=dict, serialization_alias="schema", validation_alias="schema")
     model: Dict[str, Any] = Field(description="Resource model", default_factory=dict)
     icon: str = Field(description="Resource icon", default="")
     parent_uuid: Optional["str"] = Field(description="Parent resource uuid", default=None)  # 先设定parent_uuid
@@ -57,6 +59,7 @@ class ResourceDict(BaseModel):
     type: Literal["device"] | str = Field(description="Resource type")
     klass: str = Field(alias="class", description="Resource class name")
     position: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition)
+    pose: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition)
     config: Dict[str, Any] = Field(description="Resource configuration")
     data: Dict[str, Any] = Field(description="Resource data")
 
@@ -135,12 +138,14 @@ class ResourceDictInstance(object):
             content["config"] = {}
         if not content.get("data"):
             content["data"] = {}
+        if "pose" not in content:
+            content["pose"] = content.get("position", {})
         return ResourceDictInstance(ResourceDict.model_validate(content))
 
     def get_nested_dict(self) -> Dict[str, Any]:
         """获取资源实例的嵌套字典表示"""
         res_dict = self.res_content.model_dump(by_alias=True)
-        res_dict["children"] = {child.res_content.name: child.get_nested_dict() for child in self.children}
+        res_dict["children"] = {child.res_content.id: child.get_nested_dict() for child in self.children}
         res_dict["parent"] = self.res_content.parent_instance_name
         res_dict["position"] = self.res_content.position.position.model_dump()
         return res_dict
@@ -213,7 +218,7 @@ class ResourceTreeInstance(object):
             if node.res_content.uuid:
                 known_uuids.add(node.res_content.uuid)
             else:
-                print(f"警告: 资源 {node.res_content.id} 没有uuid")
+                logger.warning(f"警告: 资源 {node.res_content.id} 没有uuid")
 
             # 验证并递归处理子节点
             for child in node.children:
@@ -289,8 +294,6 @@ class ResourceTreeSet(object):
         elif isinstance(resource_list[0], ResourceTreeInstance):
             # 已经是ResourceTree列表
             self.trees = cast(List[ResourceTreeInstance], resource_list)
-        elif isinstance(resource_list[0], list):
-            pass
         else:
             raise TypeError(
                 f"不支持的类型: {type(resource_list[0])}。"
@@ -307,10 +310,7 @@ class ResourceTreeSet(object):
             replace_info = {
                 "plate": "plate",
                 "well": "well",
-                "tip_spot": "container",
-                "trash": "container",
                 "deck": "deck",
-                "tip_rack": "container",
             }
             if source in replace_info:
                 return replace_info[source]
@@ -320,7 +320,12 @@ class ResourceTreeSet(object):
 
         def build_uuid_mapping(res: "PLRResource", uuid_list: list):
             """递归构建uuid映射字典"""
-            uuid_list.append(getattr(res, "unilabos_uuid", ""))
+            uid = getattr(res, "unilabos_uuid", "")
+            if not uid:
+                uid = str(uuid.uuid4())
+                res.unilabos_uuid = uid
+                logger.warning(f"{res}没有uuid，请设置后再传入，默认填充{uid}！\n{traceback.format_exc()}")
+            uuid_list.append(uid)
             for child in res.children:
                 build_uuid_mapping(child, uuid_list)
 
@@ -329,6 +334,21 @@ class ResourceTreeSet(object):
         ) -> ResourceDictInstance:
             current_uuid = uuids.pop(0)
 
+            raw_pos = (
+                {"x": d["location"]["x"], "y": d["location"]["y"], "z": d["location"]["z"]}
+                if d["location"]
+                else {"x": 0, "y": 0, "z": 0}
+            )
+            pos = {
+                "size": {"width": d["size_x"], "height": d["size_y"], "depth": d["size_z"]},
+                "scale": {"x": 1.0, "y": 1.0, "z": 1.0},
+                "layout": d.get("layout", "x-y"),
+                "position": raw_pos,
+                "position3d": raw_pos,
+                "rotation": d["rotation"],
+                "cross_section_type": d.get("cross_section_type", "rectangle"),
+            }
+
             # 先构建当前节点的字典（不包含children）
             r_dict = {
                 "id": d["name"],
@@ -337,12 +357,10 @@ class ResourceTreeSet(object):
                 "parent": parent_resource,  # 直接传入 ResourceDict 对象
                 "type": replace_plr_type(d.get("category", "")),
                 "class": d.get("class", ""),
-                "position": (
+                "position": pos,
-                    {"x": d["location"]["x"], "y": d["location"]["y"], "z": d["location"]["z"]}
+                "pose": pos,
-                    if d["location"]
+                "config": {k: v for k, v in d.items() if k not in
-                    else {"x": 0, "y": 0, "z": 0}
+                           ["name", "children", "parent_name", "location", "rotation", "size_x", "size_y", "size_z", "cross_section_type", "bottom_type"]},
-                ),
-                "config": {k: v for k, v in d.items() if k not in ["name", "children", "parent_name", "location"]},
                 "data": states[d["name"]],
             }
 
@@ -384,7 +402,7 @@ class ResourceTreeSet(object):
         import inspect
 
         # 类型映射
-        TYPE_MAP = {"plate": "plate", "well": "well", "container": "tip_spot", "deck": "deck", "tip_rack": "tip_rack"}
+        TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck"}
 
         def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict):
             """一次遍历收集 name_to_uuid 和 all_states"""
@@ -396,13 +414,13 @@ class ResourceTreeSet(object):
         def node_to_plr_dict(node: ResourceDictInstance, has_model: bool):
             """转换节点为 PLR 字典格式"""
             res = node.res_content
-            plr_type = TYPE_MAP.get(res.type, "tip_spot")
+            plr_type = TYPE_MAP.get(res.type, res.type)
             if res.type not in TYPE_MAP:
-                logger.warning(f"未知类型 {res.type}，使用默认类型 tip_spot")
+                logger.warning(f"未知类型 {res.type}")
 
             d = {
                 "name": res.name,
-                "type": plr_type,
+                "type": res.config.get("type", plr_type),
                 "size_x": res.config.get("size_x", 0),
                 "size_y": res.config.get("size_y", 0),
                 "size_z": res.config.get("size_z", 0),
@@ -413,7 +431,7 @@ class ResourceTreeSet(object):
                     "type": "Coordinate",
                 },
                 "rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},
-                "category": plr_type,
+                "category": res.config.get("category", plr_type),
                 "children": [node_to_plr_dict(child, has_model) for child in node.children],
                 "parent_name": res.parent_instance_name,
                 **res.config,
@@ -435,7 +453,7 @@ class ResourceTreeSet(object):
             try:
                 sub_cls = find_subclass(plr_dict["type"], PLRResource)
                 if sub_cls is None:
-                    raise ValueError(f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类")
+                    raise ValueError(f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类。原始信息：{tree.root_node.res_content}")
                 spec = inspect.signature(sub_cls)
                 if "category" not in spec.parameters:
                     plr_dict.pop("category", None)
@@ -715,16 +733,9 @@ class ResourceTreeSet(object):
         Returns:
             ResourceTreeSet: 反序列化后的资源树集合
         """
-        # 将每个字典转换为 ResourceInstanceDict
-        # FIXME: 需要重新确定parent关系
         nested_lists = []
         for tree_data in data:
-            flatten_instances = [
+            nested_lists.extend(ResourceTreeSet.from_raw_list(tree_data).trees)
-                ResourceDictInstance.get_resource_instance_from_dict(node_dict) for node_dict in tree_data
-            ]
-            nested_lists.append(flatten_instances)
-
-        # 使用现有的构造函数创建 ResourceTreeSet
         return cls(nested_lists)
 
 
@@ -777,7 +788,8 @@ class DeviceNodeResourceTracker(object):
         else:
             return getattr(resource, uuid_attr, None)
 
-    def _set_resource_uuid(self, resource, new_uuid: str):
+    @classmethod
+    def set_resource_uuid(cls, resource, new_uuid: str):
         """
         设置资源的 uuid，统一处理 dict 和 instance 两种类型
 
@@ -830,7 +842,7 @@ class DeviceNodeResourceTracker(object):
             resource_name = self._get_resource_attr(res, "name")
             if resource_name and resource_name in name_to_uuid_map:
                 new_uuid = name_to_uuid_map[resource_name]
-                self._set_resource_uuid(res, new_uuid)
+                self.set_resource_uuid(res, new_uuid)
                 self.uuid_to_resources[new_uuid] = res
                 logger.debug(f"设置资源UUID: {resource_name} -> {new_uuid}")
                 return 1
@@ -842,7 +854,7 @@ class DeviceNodeResourceTracker(object):
         """
         递归遍历资源树，更新所有节点的uuid
 
-        Args:
+        Args:0
             resource: 资源对象（可以是dict或实例）
             uuid_map: uuid映射字典，{old_uuid: new_uuid}
 
@@ -852,17 +864,18 @@ class DeviceNodeResourceTracker(object):
 
         def process(res):
             current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
+            replaced = 0
             if current_uuid and current_uuid in uuid_map:
                 new_uuid = uuid_map[current_uuid]
                 if current_uuid != new_uuid:
-                    self._set_resource_uuid(res, new_uuid)
+                    self.set_resource_uuid(res, new_uuid)
                     # 更新uuid_to_resources映射
                     if current_uuid in self.uuid_to_resources:
                         self.uuid_to_resources.pop(current_uuid)
                     self.uuid_to_resources[new_uuid] = res
                     logger.debug(f"更新uuid: {current_uuid} -> {new_uuid}")
-                    return 1
+                    replaced = 1
-            return 0
+            return replaced
 
         return self._traverse_and_process(resource, process)
 
@@ -877,8 +890,9 @@ class DeviceNodeResourceTracker(object):
         def process(res):
             current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
             if current_uuid:
+                old = self.uuid_to_resources.get(current_uuid)
                 self.uuid_to_resources[current_uuid] = res
-                logger.debug(f"收集资源UUID映射: {current_uuid} -> {res}")
+                logger.debug(f"收集资源UUID映射: {current_uuid} -> {res} {'' if old is None else f'(覆盖旧值: {old})'}")
             return 0
 
         self._traverse_and_process(resource, process)
@@ -913,9 +927,23 @@ class DeviceNodeResourceTracker(object):
         Args:
             resource: 资源对象（可以是dict或实例）
         """
+        root_uuids = {}
         for r in self.resources:
+            res_uuid = r.get("uuid") if isinstance(r, dict) else getattr(r, "unilabos_uuid", None)
+            if res_uuid:
+                root_uuids[res_uuid] = r
             if id(r) == id(resource):
                 return
+
+        # 这里只做uuid的根节点比较
+        if isinstance(resource, dict):
+            res_uuid = resource.get("uuid")
+        else:
+            res_uuid = getattr(resource, "unilabos_uuid", None)
+        if res_uuid in root_uuids:
+            old_res = root_uuids[res_uuid]
+            # self.remove_resource(old_res)
+            logger.warning(f"资源{resource}已存在，旧资源: {old_res}")
         self.resources.append(resource)
         # 递归收集uuid映射
         self._collect_uuid_mapping(resource)
@@ -1046,13 +1074,19 @@ class DeviceNodeResourceTracker(object):
     ) -> List[Tuple[Any, Any]]:
         res_list = []
         # print(resource, target_resource_cls_type, identifier_key, compare_value)
-        children = getattr(resource, "children", [])
+        children = []
+        if not isinstance(resource, dict):
+            children = getattr(resource, "children", [])
+        else:
+            children = resource.get("children")
+            if children is not None:
+                children = list(children.values()) if isinstance(children, dict) else children
         for child in children:
             res_list.extend(
                 self.loop_find_resource(child, target_resource_cls_type, identifier_key, compare_value, resource)
             )
         if issubclass(type(resource), target_resource_cls_type):
-            if target_resource_cls_type == dict:
+            if type(resource) == dict:
                 # 对于字典类型，直接检查 identifier_key
                 if identifier_key in resource:
                     if resource[identifier_key] == compare_value:

unilabos/ros/utils/driver_creator.py

@@ -336,6 +336,9 @@ class WorkstationNodeCreator(DeviceClassCreator[T]):
         try:
             # 创建实例，额外补充一个给protocol node的字段，后面考虑取消
             data["children"] = self.children
+            for material_id, child in self.children.items():
+                if child["type"] != "device":
+                    self.resource_tracker.add_resource(self.children[material_id])
             deck_dict = data.get("deck")
             if deck_dict:
                 from pylabrobot.resources import Deck, Resource