refactor(bioyond_cell_workstation): 重构物料创建与入库逻辑- 移除从CSV读取物料名称的功能

- 新增通过参数传递物料名称列表的方式- 抽离仓库位置加载逻辑至独立方法
- 简化物料创建与入库流程- 统一使用资源同步器进行数据同步
- 更新调用示例以适配新接口

.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
-          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
+          conda list -n unilab ros-humble-unilabos-msgs
+          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 "  - Linux: Extract ZIP (or download tar.gz directly), run install_unilab.sh"
+          echo "  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
-        uses: actions/setup-python@v5
+      - name: Setup Miniforge (with mamba)
+        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
-          sudo apt-get install -y pandoc
+          echo "Installing unilabos and dependencies to unilab environment..."
+          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
-          # Install package in development mode to get version info
-          pip install -e .
-          # Install documentation dependencies
-          pip install -r docs/requirements.txt
+          echo "Uninstalling existing unilabos..."
+          mamba run -n unilab pip uninstall unilabos -y || echo "unilabos not installed via pip"
+          echo "Installing unilabos from source..."
+          mamba run -n unilab pip install .
+          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
-          python -m sphinx -b html . _build/html -v
+          # Build HTML documentation in conda environment
+          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.stderr.reconfigure(encoding="utf-8", errors="replace")
+        sys.stdout.reconfigure(encoding="utf-8", errors="replace")  # type: ignore
+        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": [
-                    {
-                        "liquid_type": "DMF",
-                        "liquid_volume": 1000.0
-                    }
-                ]
+                "liquids": [["DMF", 500.0]],
+                "pending_liquids": [["DMF", 500.0]]
             }
         },
         {
@@ -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": [
-                    {
-                        "liquid_type": "ethyl_acetate",
-                        "liquid_volume": 1000.0
-                    }
-                ]
+                "liquids": [["ethyl_acetate", 1000.0]],
+                "pending_liquids": [["ethyl_acetate", 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": [
-                    {
-                        "liquid_type": "hexane",
-                        "liquid_volume": 1000.0
-                    }
-                ]
+                "liquids": [["hexane", 1000.0]],
+                "pending_liquids": [["hexane", 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": [
-                    {
-                        "liquid_type": "methanol",
-                        "liquid_volume": 1000.0
-                    }
-                ]
+                "liquids": [["methanol", 1000.0]],
+                "pending_liquids": [["methanol", 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": [
-                    {
-                        "liquid_type": "water",
-                        "liquid_volume": 1000.0
-                    }
-                ]
+                "liquids": [["water", 1000.0]],
+                "pending_liquids": [["water", 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": {}
@@ -57,4 +50,4 @@
             "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_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
+                        "Liquid_feeding(titration)": "3a16082a-96ac-0449-446a-4ed39f3365b6",
+                        "liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
                         "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a"
                     },
                     "material_type_mappings": {
-                        "烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
-                        "试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
-                        "样品板": "BIOYOND_PolymerStation_6VialCarrier"
+                        "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"]
                     }
                 },
                 "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",
-    "试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
-    "样品板": "BIOYOND_PolymerStation_6StockCarrier",
-    "分装板": "BIOYOND_PolymerStation_6VialCarrier",
-    "样品瓶": "BIOYOND_PolymerStation_Solid_Stock",
-    "90%分装小瓶": "BIOYOND_PolymerStation_Solid_Vial",
-    "10%分装小瓶": "BIOYOND_PolymerStation_Liquid_Vial",
-}
-
-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",
+    "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"),
 }
 
 

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):
-    """Bioyong系统同步器"""
+class BioyondResourceSynchronizer(ResourceSynchronizer):
+    """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/bioyond_cell/bioyond_workstation copy.py

@@ -0,0 +1,715 @@
+# -*- coding: utf-8 -*-
+from typing import Dict, Any, List, Optional
+from datetime import datetime, timezone
+import requests
+from pathlib import Path
+import pandas as pd
+import time
+from datetime import datetime, timezone, timedelta
+import re
+import threading
+from unilabos.devices.workstation.workstation_base import WorkstationBase
+from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
+from unilabos.utils.log import logger
+from pylabrobot.resources.deck import Deck
+
+
+def _iso_utc_now_ms() -> str:
+    # 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z
+    dt = datetime.now(timezone.utc)
+    return dt.strftime("%Y-%m-%dT%H:%M:%S.") + f"{int(dt.microsecond/1000):03d}Z"
+
+
+class BioyondWorkstation(WorkstationBase):
+    """
+    集成 Bioyond LIMS 的工作站示例，
+    覆盖：入库(2.17/2.18) → 新建实验(2.14) → 启动调度(2.7) →
+    运行中推送：物料变更(2.24)、步骤完成(2.21)、订单完成(2.23) →
+    查询实验(2.5/2.6) → 3-2-1 转运(2.32) → 样品/废料取出(2.28)
+    """
+
+    def __init__(
+        self,
+        bioyond_config: Optional[Dict[str, Any]] = None,
+        station_resource: Optional[Dict[str, Any]] = None,
+        debug_mode: bool = False,   # 增加调试模式开关
+        *args, **kwargs,
+    ):
+        self.bioyond_config = bioyond_config or {
+            "base_url": "http://192.168.1.200:44386",
+            "api_key": "8A819E5C",
+            "timeout": 30,
+            "report_token": "CHANGE_ME_TOKEN"
+        }
+
+        self.http_service_started = False
+        self.debug_mode = debug_mode
+        super().__init__(deck=Deck, station_resource=station_resource, *args, **kwargs)
+        logger.info(f"Bioyond工作站初始化完成 (debug_mode={self.debug_mode})")
+
+        # 实例化并在后台线程启动 HTTP 报送服务
+        self.order_status = {}
+        try:
+            t = threading.Thread(target=self._start_http_service_bg, daemon=True, name="unilab_http")
+            t.start()
+
+        except Exception as e:
+            logger.error(f"unilab-server后台启动报送服务失败: {e}")
+
+    @property
+    def device_id(self) -> str:
+        try:
+            return getattr(self, "_ros_node").device_id  # 兼容 ROS 场景
+        except Exception:
+            return "bioyond_workstation"
+
+    def _start_http_service_bg(self, host: str = "192.168.1.104", port: int = 8080) -> None:
+        logger.info("进入 _start_http_service_bg 函数")
+        try:
+            self.service = WorkstationHTTPService(self, host=host, port=port)
+            logger.info("WorkstationHTTPService 实例化完成")
+            self.service.start()
+            self.http_service_started = True
+            logger.info(f"unilab_HTTP 服务成功启动: {host}:{port}")
+
+            #一直挂着，直到进程退出
+            while True:
+                time.sleep(1)
+
+        except Exception as e:
+            self.http_service_started = False
+            logger.error(f"启动unilab_HTTP服务失败: {e}", exc_info=True)
+
+    # -------------------- 基础HTTP封装 --------------------
+    def _url(self, path: str) -> str:
+        return f"{self.bioyond_config['base_url'].rstrip('/')}/{path.lstrip('/')}"
+
+    def _post_lims(self, path: str, data: Optional[Any] = None) -> Dict[str, Any]:
+        """LIMS API：大多数接口用 {apiKey/requestTime,data} 包装"""
+        payload = {
+            "apiKey": self.bioyond_config["api_key"],
+            "requestTime": _iso_utc_now_ms()
+        }
+        if data is not None:
+            payload["data"] = data
+
+        if self.debug_mode:
+            # 模拟返回，不发真实请求
+            logger.info(f"[DEBUG] POST {path} with payload={payload}")
+            return {"debug": True, "url": self._url(path), "payload": payload, "status": "ok"}
+
+        try:
+            r = requests.post(
+                self._url(path),
+                json=payload,
+                timeout=self.bioyond_config.get("timeout", 30),
+                headers={"Content-Type": "application/json"}
+            )
+            r.raise_for_status()
+            return r.json()
+        except Exception as e:
+            logger.error(f"POST {path} 失败: {e}")
+            return {"error": str(e)}
+
+    # --- 修正：_post_report / _post_report_raw 同样走 debug_mode ---
+    def _post_report(self, path: str, data: Dict[str, Any]) -> Dict[str, Any]:
+        payload = {
+            "token": self.bioyond_config.get("report_token", ""),
+            "request_time": _iso_utc_now_ms(),
+            "data": data
+        }
+        if self.debug_mode:
+            logger.info(f"[DEBUG] POST {path} with payload={payload}")
+            return {"debug": True, "url": self._url(path), "payload": payload, "status": "ok"}
+        try:
+            r = requests.post(self._url(path), json=payload,
+                            timeout=self.bioyond_config.get("timeout", 30),
+                            headers={"Content-Type": "application/json"})
+            r.raise_for_status()
+            return r.json()
+        except Exception as e:
+            logger.error(f"POST {path} 失败: {e}")
+            return {"error": str(e)}
+
+    def _post_report_raw(self, path: str, body: Dict[str, Any]) -> Dict[str, Any]:
+        if self.debug_mode:
+            logger.info(f"[DEBUG] POST {path} with body={body}")
+            return {"debug": True, "url": self._url(path), "payload": body, "status": "ok"}
+        try:
+            r = requests.post(self._url(path), json=body,
+                            timeout=self.bioyond_config.get("timeout", 30),
+                            headers={"Content-Type": "application/json"})
+            r.raise_for_status()
+            return r.json()
+        except Exception as e:
+            logger.error(f"POST {path} 失败: {e}")
+            return {"error": str(e)}
+
+
+    # -------------------- 单点接口封装 --------------------
+    # 2.17 入库物料（单个）
+    def storage_inbound(self, material_id: str, location_id: str) -> Dict[str, Any]:
+        return self._post_lims("/api/lims/storage/inbound", {
+            "materialId": material_id,
+            "locationId": location_id
+        })
+
+    # 2.18 批量入库（多个）
+    def storage_batch_inbound(self, items: List[Dict[str, str]]) -> Dict[str, Any]:
+        """
+        items = [{"materialId": "...", "locationId": "..."}, ...]
+        """
+        return self._post_lims("/api/lims/storage/batch-inbound", items)
+
+    # 3.30 自动化上料（Excel -> JSON -> POST /api/lims/order/auto-feeding4to3）
+    def auto_feeding4to3_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]:
+        """
+        根据固定模板解析 Excel：
+        - 四号手套箱加样头面 (2-13行, 3-7列)
+        - 四号手套箱原液瓶面 (15-23行, 3-9列)
+        - 三号手套箱人工堆栈 (26-40行, 3-7列)
+        """
+        path = Path(xlsx_path)
+        if not path.exists():
+            raise FileNotFoundError(f"未找到 Excel 文件：{path}")
+
+        try:
+            df = pd.read_excel(path, sheet_name=0, header=None, engine="openpyxl")
+        except Exception as e:
+            raise RuntimeError(f"读取 Excel 失败：{e}")
+
+        items: List[Dict[str, Any]] = []
+
+        # 四号手套箱 - 加样头面（2-13行, 3-7列）
+        for _, row in df.iloc[1:13, 2:7].iterrows():
+            item = {
+                "sourceWHName": "四号手套箱堆栈",
+                "posX": int(row[2]),
+                "posY": int(row[3]),
+                "posZ": int(row[4]),
+                "materialName": str(row[5]).strip() if pd.notna(row[5]) else "",
+                "quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
+            }
+            if item["materialName"]:
+                items.append(item)
+
+        # 四号手套箱 - 原液瓶面（15-23行, 3-9列）
+        for _, row in df.iloc[14:23, 2:9].iterrows():
+            item = {
+                "sourceWHName": "四号手套箱堆栈",
+                "posX": int(row[2]),
+                "posY": int(row[3]),
+                "posZ": int(row[4]),
+                "materialName": str(row[5]).strip() if pd.notna(row[5]) else "",
+                "quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
+                "materialType": str(row[7]).strip() if pd.notna(row[7]) else "",
+                "targetWH": str(row[8]).strip() if pd.notna(row[8]) else "",
+            }
+            if item["materialName"]:
+                items.append(item)
+
+        # 三号手套箱人工堆栈（26-40行, 3-7列）
+        for _, row in df.iloc[25:40, 2:7].iterrows():
+            item = {
+                "sourceWHName": "三号手套箱人工堆栈",
+                "posX": int(row[2]),
+                "posY": int(row[3]),
+                "posZ": int(row[4]),
+                "materialType": str(row[5]).strip() if pd.notna(row[5]) else "",
+                "materialId": str(row[6]).strip() if pd.notna(row[6]) else "",
+                "quantity": 1  # 默认数量1
+            }
+            if item["materialId"] or item["materialType"]:
+                items.append(item)
+
+        return self._post_lims("/api/lims/order/auto-feeding4to3", items)
+
+
+
+    def auto_batch_outbound_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]:
+        """
+        3.31 自动化下料（Excel -> JSON -> POST /api/lims/storage/auto-batch-out-bound）
+        """
+        path = Path(xlsx_path)
+        if not path.exists():
+            raise FileNotFoundError(f"未找到 Excel 文件：{path}")
+
+        try:
+            df = pd.read_excel(path, sheet_name=0, engine="openpyxl")
+        except Exception as e:
+            raise RuntimeError(f"读取 Excel 失败：{e}")
+
+        def pick(names: List[str]) -> Optional[str]:
+            for n in names:
+                if n in df.columns:
+                    return n
+            return None
+
+        c_loc = pick(["locationId", "库位ID", "库位Id", "库位id"])
+        c_wh  = pick(["warehouseId", "仓库ID", "仓库Id", "仓库id"])
+        c_qty = pick(["数量", "quantity"])
+        c_x   = pick(["x", "X", "posX", "坐标X"])
+        c_y   = pick(["y", "Y", "posY", "坐标Y"])
+        c_z   = pick(["z", "Z", "posZ", "坐标Z"])
+
+        required = [c_loc, c_wh, c_qty, c_x, c_y, c_z]
+        if any(c is None for c in required):
+            raise KeyError("Excel 缺少必要列：locationId/warehouseId/数量/x/y/z（支持多别名，至少要能匹配到）。")
+
+        def as_int(v, d=0):
+            try:
+                if pd.isna(v): return d
+                return int(v)
+            except Exception:
+                try:
+                    return int(float(v))
+                except Exception:
+                    return d
+
+        def as_float(v, d=0.0):
+            try:
+                if pd.isna(v): return d
+                return float(v)
+            except Exception:
+                return d
+
+        def as_str(v, d=""):
+            if v is None or (isinstance(v, float) and pd.isna(v)): return d
+            s = str(v).strip()
+            return s if s else d
+
+        items: List[Dict[str, Any]] = []
+        for _, row in df.iterrows():
+            items.append({
+                "locationId": as_str(row[c_loc]),
+                "warehouseId": as_str(row[c_wh]),
+                "quantity": as_float(row[c_qty]),
+                "x": as_int(row[c_x]),
+                "y": as_int(row[c_y]),
+                "z": as_int(row[c_z]),
+            })
+
+        return self._post_lims("/api/lims/storage/auto-batch-out-bound", items)
+
+    # 2.14 新建实验
+    def create_orders(self, xlsx_path: str) -> Dict[str, Any]:
+        """
+        从 Excel 解析并创建实验（2.14）
+        约定：
+        - batchId = Excel 文件名（不含扩展名）
+        - 物料列：所有以 "(g)" 结尾（不再读取“总质量(g)”列）
+        - totalMass 自动计算为所有物料质量之和
+        - createTime 缺失或为空时自动填充为当前日期（YYYY/M/D）
+        """
+        path = Path(xlsx_path)
+        if not path.exists():
+            raise FileNotFoundError(f"未找到 Excel 文件：{path}")
+
+        try:
+            df = pd.read_excel(path, sheet_name=0, engine="openpyxl")
+        except Exception as e:
+            raise RuntimeError(f"读取 Excel 失败：{e}")
+
+        # 列名容错：返回可选列名，找不到则返回 None
+        def _pick(col_names: List[str]) -> Optional[str]:
+            for c in col_names:
+                if c in df.columns:
+                    return c
+            return None
+
+        col_order_name = _pick(["配方ID", "orderName", "订单编号"])
+        col_create_time = _pick(["创建日期", "createTime"])
+        col_bottle_type = _pick(["配液瓶类型", "bottleType"])
+        col_mix_time = _pick(["混匀时间(s)", "mixTime"])
+        col_load = _pick(["扣电组装分液体积", "loadSheddingInfo"])
+        col_pouch = _pick(["软包组装分液体积", "pouchCellInfo"])
+        col_cond = _pick(["电导测试分液体积", "conductivityInfo"])
+        col_cond_cnt = _pick(["电导测试分液瓶数", "conductivityBottleCount"])
+
+        # 物料列：所有以 (g) 结尾
+        material_cols = [c for c in df.columns if isinstance(c, str) and c.endswith("(g)")]
+        if not material_cols:
+            raise KeyError("未发现任何以“(g)”结尾的物料列，请检查表头。")
+
+        batch_id = path.stem
+
+        def _to_ymd_slash(v) -> str:
+            # 统一为 "YYYY/M/D"；为空或解析失败则用当前日期
+            if v is None or (isinstance(v, float) and pd.isna(v)) or str(v).strip() == "":
+                ts = datetime.now()
+            else:
+                try:
+                    ts = pd.to_datetime(v)
+                except Exception:
+                    ts = datetime.now()
+            return f"{ts.year}/{ts.month}/{ts.day}"
+
+        def _as_int(val, default=0) -> int:
+            try:
+                if pd.isna(val):
+                    return default
+                return int(val)
+            except Exception:
+                return default
+
+        def _as_str(val, default="") -> str:
+            if val is None or (isinstance(val, float) and pd.isna(val)):
+                return default
+            s = str(val).strip()
+            return s if s else default
+
+        orders: List[Dict[str, Any]] = []
+
+        for idx, row in df.iterrows():
+            mats: List[Dict[str, Any]] = []
+            total_mass = 0.0
+
+            for mcol in material_cols:
+                val = row.get(mcol, None)
+                if val is None or (isinstance(val, float) and pd.isna(val)):
+                    continue
+                try:
+                    mass = float(val)
+                except Exception:
+                    continue
+                if mass > 0:
+                    mats.append({"name": mcol.replace("(g)", ""), "mass": mass})
+                    total_mass += mass
+
+            order_data = {
+                "batchId": batch_id,
+                "orderName": _as_str(row[col_order_name], default=f"{batch_id}_order_{idx+1}") if col_order_name else f"{batch_id}_order_{idx+1}",
+                "createTime": _to_ymd_slash(row[col_create_time]) if col_create_time else _to_ymd_slash(None),
+                "bottleType": _as_str(row[col_bottle_type], default="配液小瓶") if col_bottle_type else "配液小瓶",
+                "mixTime": _as_int(row[col_mix_time]) if col_mix_time else 0,
+                "loadSheddingInfo": _as_int(row[col_load]) if col_load else 0,
+                "pouchCellInfo": _as_int(row[col_pouch]) if col_pouch else 0,
+                "conductivityInfo": _as_int(row[col_cond]) if col_cond else 0,
+                "conductivityBottleCount": _as_int(row[col_cond_cnt]) if col_cond_cnt else 0,
+                "materialInfos": mats,
+                "totalMass": round(total_mass, 4)  # 自动汇总
+            }
+            orders.append(order_data)
+
+        # print(orders)
+
+        response = self._post_lims("/api/lims/order/orders", orders)
+        self.order_status[response["data"]["orderCode"]] = "running"
+
+        while True:
+            time.sleep(5)
+            if self.order_status.get(response["data"]["orderCode"], None) == "finished":
+                logger.info(f"配液实验已完成 ，即将执行 3-2-1 转运")
+                break
+            logger.info(f"等待配液实验完成")
+
+        self.transfer_3_to_2_to_1()
+        r321 = self.wait_for_transfer_task()
+        logger.info(f"3-2-1 转运完成，返回结果")
+        return r321
+
+
+    # 2.7 启动调度
+    def scheduler_start(self) -> Dict[str, Any]:
+        return self._post_lims("/api/lims/scheduler/start")
+    # 3.10 停止调度
+    def scheduler_stop(self) -> Dict[str, Any]:
+        """
+        停止调度 (3.10)
+        请求体只包含 apiKey 和 requestTime
+        """
+        return self._post_lims("/api/lims/scheduler/stop")
+            # 2.9 继续调度
+    def scheduler_continue(self) -> Dict[str, Any]:
+        """
+        继续调度 (2.9)
+        请求体只包含 apiKey 和 requestTime
+        """
+        return self._post_lims("/api/lims/scheduler/continue")
+
+
+
+    # 2.24 物料变更推送
+    def report_material_change(self, material_obj: Dict[str, Any]) -> Dict[str, Any]:
+        """
+        material_obj 按 2.24 的裸对象格式（包含 id/typeName/locations/detail 等）
+        """
+        return self._post_report_raw("/report/material_change", material_obj)
+
+    # 2.21 步骤完成推送（BS → LIMS）
+    def report_step_finish(self,
+                           order_code: str,
+                           order_name: str,
+                           step_name: str,
+                           step_id: str,
+                           sample_id: str,
+                           start_time: str,
+                           end_time: str,
+                           execution_status: str = "completed") -> Dict[str, Any]:
+        data = {
+            "orderCode": order_code,
+            "orderName": order_name,
+            "stepName": step_name,
+            "stepId": step_id,
+            "sampleId": sample_id,
+            "startTime": start_time,
+            "endTime": end_time,
+            "executionStatus": execution_status
+        }
+        return self._post_report("/report/step_finish", data)
+
+    # 2.23 订单完成推送（BS → LIMS）
+    def report_order_finish(self,
+                            order_code: str,
+                            order_name: str,
+                            start_time: str,
+                            end_time: str,
+                            status: str = "30",  # 30 完成 / -11 异常停止 / -12 人工停止
+                            workflow_status: str = "Finished",
+                            completion_time: Optional[str] = None,
+                            used_materials: Optional[List[Dict[str, Any]]] = None) -> Dict[str, Any]:
+        data = {
+            "orderCode": order_code,
+            "orderName": order_name,
+            "startTime": start_time,
+            "endTime": end_time,
+            "status": status,
+            "workflowStatus": workflow_status,
+            "completionTime": completion_time or end_time,
+            "usedMaterials": used_materials or []
+        }
+        return self._post_report("/report/order_finish", data)
+
+    # 2.5 批量查询实验报告（用于轮询是否完成）
+    def order_list(self,
+                   status: Optional[str] = None,
+                   begin_time: Optional[str] = None,
+                   end_time: Optional[str] = None,
+                   filter_text: Optional[str] = None,
+                   skip: int = 0, page: int = 10) -> Dict[str, Any]:
+        data: Dict[str, Any] = {"skipCount": skip, "pageCount": page}
+        if status is not None:  # 80 成功 / 90 失败 / 100 执行中
+            data["status"] = status
+        if begin_time:
+            data["timeType"] = "CreationTime"
+            data["beginTime"] = begin_time
+        if end_time:
+            data["endTime"] = end_time
+        if filter_text:
+            data["filter"] = filter_text
+        return self._post_lims("/api/lims/order/order-list", data)
+
+    # 2.6 实验报告查询（根据任务ID拿详情）
+    def order_report(self, order_id: str) -> Dict[str, Any]:
+        return self._post_lims("/api/lims/order/order-report", order_id)
+
+    # 2.32 3-2-1 物料转运
+    def transfer_3_to_2_to_1(self,
+                            #  source_wh_id: Optional[str] = None,
+                            source_wh_id: Optional[str] = '3a19debc-84b4-0359-e2d4-b3beea49348b',
+                             source_x: int = 1, source_y: int = 1, source_z: int = 1) -> Dict[str, Any]:
+        payload: Dict[str, Any] = {
+            "sourcePosX": source_x, "sourcePosY": source_y, "sourcePosZ": source_z
+        }
+        if source_wh_id:
+            payload["sourceWHID"] = source_wh_id
+        return self._post_lims("/api/lims/order/transfer-task3To2To1", payload)
+
+    # 2.28 样品/废料取出
+    def take_out(self,
+                 order_id: str,
+                 preintake_ids: Optional[List[str]] = None,
+                 material_ids: Optional[List[str]] = None) -> Dict[str, Any]:
+        data = {
+            "orderId": order_id,
+            "preintakeIds": preintake_ids or [],
+            "materialIds": material_ids or []
+        }
+        return self._post_lims("/api/lims/order/take-out", data)
+
+    # --------（可选）占位方法：文档未定义的“1号站内部流程 / 1-2转运”--------
+    def start_station1_internal_flow(self, **kwargs) -> None:
+        logger.info("启动1号站内部流程（占位，按现场系统填充具体指令）")
+
+
+    # 3.x 1→2 物料转运
+    def transfer_1_to_2(self) -> Dict[str, Any]:
+        """
+        1→2 物料转运
+        URL: /api/lims/order/transfer-task1To2
+        只需要 apiKey 和 requestTime
+        """
+        return self._post_lims("/api/lims/order/transfer-task1To2")
+
+
+    # -------------------- 整体编排 --------------------
+    def run_full_workflow(self,
+                          inbound_items: List[Dict[str, str]],
+                          orders: List[Dict[str, Any]],
+                          poll_filter_code: Optional[str] = None,
+                          poll_timeout_s: int = 600,
+                          poll_interval_s: int = 5,
+                          transfer_source: Optional[Dict[str, Any]] = None,
+                          takeout_order_id: Optional[str] = None) -> None:
+        """
+        一键串联：
+        1) 入库 3-4 个物料 → 2) 新建实验 → 3) 启动调度
+        运行中（如需）：4) 物料变更推送 5) 步骤完成推送 6) 订单完成推送
+        完成后：查询实验（2.5/2.6）→ 7) 3-2-1 转运 → 8) 1号站内部流程
+        → 9) 1-2 转运 → 10) 样品/废料取出
+        """
+        # 1. 入库（多于1个就用批量接口 2.18）
+        if len(inbound_items) == 1:
+            r = self.storage_inbound(inbound_items[0]["materialId"], inbound_items[0]["locationId"])
+            logger.info(f"单个入库结果: {r}")
+        else:
+            r = self.storage_batch_inbound(inbound_items)
+            logger.info(f"批量入库结果: {r}")
+
+        # 2. 新建实验（2.14）
+        r = self.create_orders(orders)
+        logger.info(f"新建实验结果: {r}")
+
+        # 3. 启动调度（2.7）
+        r = self.scheduler_start()
+        logger.info(f"启动调度结果: {r}")
+
+        # —— 运行中各类推送（2.24 / 2.21 / 2.23），通常由实际任务驱动，这里提供调用方式 —— #
+        # self.report_material_change({...})
+        # self.report_step_finish(order_code="BSO...", order_name="配液分液", step_name="xxx", step_id="...", sample_id="...",
+        #                         start_time=_iso_utc_now_ms(), end_time=_iso_utc_now_ms(), execution_status="completed")
+        # self.report_order_finish(order_code="BSO...", order_name="配液分液", start_time="...", end_time=_iso_utc_now_ms())
+
+        # 完成后才能转运：用 2.5 批量查询配合 filter=任务编码 轮询到 status=80（成功）
+        if poll_filter_code:
+            import time
+            deadline = time.time() + poll_timeout_s
+            while time.time() < deadline:
+                res = self.order_list(status="80", filter_text=poll_filter_code, page=5)
+                if isinstance(res, dict) and res.get("data", {}).get("items"):
+                    logger.info(f"实验 {poll_filter_code} 已完成：{res['data']['items'][0]}")
+                    break
+                time.sleep(poll_interval_s)
+            else:
+                logger.warning(f"等待实验 {poll_filter_code} 完成超时（未到 status=80）")
+
+        # 7. 启动 3-2-1 转运（2.32）
+        if transfer_source:
+            r = self.transfer_3_to_2_to_1(
+                source_wh_id=transfer_source.get("sourceWHID"),
+                source_x=transfer_source.get("sourcePosX", 1),
+                source_y=transfer_source.get("sourcePosY", 1),
+                source_z=transfer_source.get("sourcePosZ", 1),
+            )
+            logger.info(f"3-2-1 转运结果: {r}")
+
+        # 8. 1号站内部流程（占位）
+        self.start_station1_internal_flow()
+
+        # 9. 1→2 转运（占位）
+        self.transfer_1_to_2()
+
+        # 10. 样品/废料取出（2.28）
+        if takeout_order_id:
+            r = self.take_out(order_id=takeout_order_id)
+            logger.info(f"样品/废料取出结果: {r}")
+
+    # 2.5 批量查询实验报告
+    def order_list_v2(self,
+                      timeType: str = "string",
+                      beginTime: str = "",
+                      endTime: str = "",
+                      status: str = "",
+                      filter: str = "物料转移任务",
+                      skipCount: int = 0,
+                      pageCount: int = 1,
+                      sorting: str = "") -> Dict[str, Any]:
+        """
+        批量查询实验报告的详细信息 (2.5)
+        URL: /api/lims/order/order-list
+        参数默认值和接口文档保持一致
+        """
+        data: Dict[str, Any] = {
+            "timeType": timeType,
+            "beginTime": beginTime,
+            "endTime": endTime,
+            "status": status,
+            "filter": filter,
+            "skipCount": skipCount,
+            "pageCount": pageCount,
+            "sorting": sorting
+        }
+        return self._post_lims("/api/lims/order/order-list", data)
+
+        
+    def wait_for_transfer_task(self, timeout: int = 600, interval: int = 3) -> bool:
+        """
+        轮询查询物料转移任务是否成功完成 (status=80)
+        - timeout: 最大等待秒数 (默认600秒)
+        - interval: 轮询间隔秒数 (默认3秒)
+        返回 True 表示找到并成功完成，False 表示超时未找到
+        """
+        now = datetime.now()
+        beginTime = now.strftime("%Y-%m-%dT%H:%M:%SZ")
+        endTime = (now + timedelta(minutes=5)).strftime("%Y-%m-%dT%H:%M:%SZ")
+        print(beginTime, endTime)
+
+        deadline = time.time() + timeout
+
+        while time.time() < deadline:
+            result = self.order_list_v2(
+                timeType="string",
+                beginTime=beginTime,
+                endTime=endTime,
+                status="",
+                filter="物料转移任务",
+                skipCount=0,
+                pageCount=1,
+                sorting=""
+            )
+            print(result)
+
+            items = result.get("data", {}).get("items", [])
+            for item in items:
+                name = item.get("name", "")
+                status = item.get("status")
+                if name.startswith("物料转移任务") and status == 80:
+                    logger.info(f"硬件转移动作完成: {name}")
+                    return True
+
+            time.sleep(interval)
+
+        logger.warning("超时未找到成功的物料转移任务")
+        return False
+
+
+# --------------------------------
+if __name__ == "__main__":
+    ws = BioyondWorkstation()
+    # ws.scheduler_stop()
+    ws.scheduler_start()
+    logger.info("调度启动完成")
+
+    # ws.scheduler_continue()
+    # 3.30 上料：读取模板 Excel 自动解析并 POST
+    r1 = ws.auto_feeding4to3_from_xlsx(r"C:\ML\GitHub\Uni-Lab-OS\unilabos\devices\workstation\bioyond_cell\样品导入模板 (8).xlsx")
+    ws.wait_for_transfer_task()
+    logger.info("4号箱向3号箱转运物料转移任务已完成")
+
+    # ws.scheduler_start()
+    # print(r1["payload"]["data"])   # 调试模式下可直接看到要发的 JSON items
+
+    # 新建实验
+    res = ws.create_orders("C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_cell/2025092501.xlsx")
+    # ws.scheduler_start()
+    # print(res)
+
+    #1号站启动
+    ws.transfer_1_to_2()
+    ws.wait_for_transfer_task()
+    logger.info("1号站向2号站转移任务完成")
+    logger.info("全流程结束")
+
+    # 3.31 下料：同理
+    # r2 = ws.auto_batch_outbound_from_xlsx(r"C:/path/样品导入模板 (8).xlsx")
+    # print(r2["payload"]["data"])

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

@@ -1,8 +1,23 @@
 {
   "nodes": [
+    {
+      "id": "bioyond_cell_workstation",
+      "name": "配液分液工站",
+      "children": [
+      ],
+      "parent": null,
+      "type": "device",
+      "class": "bioyond_cell",
+      "config": {
+          "protocol_type": [],
+          "station_resource": {}
+
+      },
+      "data": {}
+  },
     {
       "id": "BatteryStation",
-      "name": "扣电工作站",
+      "name": "扣电组装工作站",
       "children": [
           "coin_cell_deck"
       ],

unilabos/devices/workstation/bioyond_studio/bioyond_cell/solid_materials.csv

@@ -0,0 +1,7 @@
+material_name
+LiPF6
+LiDFOB
+DTD
+LiFSI
+LiPO2F2
+

unilabos/devices/workstation/bioyond_studio/config.py

@@ -2,27 +2,32 @@
 """
 配置文件 - 包含所有配置信息和映射关系
 """
+import os
 
-# API配置
+# ==================== API 基础配置 ====================
+# 支持通过环境变量覆盖默认值
 API_CONFIG = {
-    "api_key": "",
-    "api_host": ""
+    "api_key": os.getenv("BIOYOND_API_KEY", "8A819E5C"),
+    "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.11.219:44388"),
 }
 
-# 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
+# ==================== 完整的 Bioyond 配置 ====================
+# BioyondCellWorkstation 默认配置（包含所有必需参数）
+BIOYOND_FULL_CONFIG = {
+    # API 连接配置
+    "base_url": os.getenv("BIOYOND_API_HOST", "http://172.16.11.219:44388"),
+    "api_key": os.getenv("BIOYOND_API_KEY", "8A819E5C"),
+    "timeout": int(os.getenv("BIOYOND_TIMEOUT", "30")),
+    
+    # 报送配置
+    "report_token": os.getenv("BIOYOND_REPORT_TOKEN", "CHANGE_ME_TOKEN"),
+    
+    # HTTP 服务配置
+    "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "0.0.0.0"),  # HTTP服务监听地址（0.0.0.0 表示监听所有网络接口）
+    "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")),
+    "report_ip": os.getenv("BIOYOND_REPORT_IP", "172.21.32.172"),  # 报送给 Bioyond 的本机IP地址（留空则自动检测）
+    # 调试模式
+    "debug_mode": os.getenv("BIOYOND_DEBUG_MODE", "False").lower() == "true",
 }
 
 # 工作流映射配置
@@ -49,52 +54,116 @@ WORKFLOW_TO_SECTION_MAP = {
 }
 
 # 库位映射配置
-LOCATION_MAPPING = {
-    'A01': '',
-    'A02': '',
-    'A03': '',
-    'A04': '',
-    'A05': '',
-    'A06': '',
-    'A07': '',
-    'A08': '',
-    'B01': '',
-    'B02': '',
-    'B03': '',
-    'B04': '',
-    'B05': '',
-    'B06': '',
-    'B07': '',
-    'B08': '',
-    'C01': '',
-    'C02': '',
-    'C03': '',
-    'C04': '',
-    'C05': '',
-    'C06': '',
-    'C07': '',
-    'C08': '',
-    'D01': '',
-    'D02': '',
-    'D03': '',
-    'D04': '',
-    'D05': '',
-    'D06': '',
-    'D07': '',
-    'D08': '',
+WAREHOUSE_MAPPING = {
+    "粉末堆栈": {
+        "uuid": "",
+        "site_uuids": {
+            # 样品板
+            "A1": "3a14198e-6929-31f0-8a22-0f98f72260df",
+            "A2": "3a14198e-6929-4379-affa-9a2935c17f99",
+            "A3": "3a14198e-6929-56da-9a1c-7f5fbd4ae8af",
+            "A4": "3a14198e-6929-5e99-2b79-80720f7cfb54",
+            "B1": "3a14198e-6929-f525-9a1b-1857552b28ee",
+            "B2": "3a14198e-6929-bf98-0fd5-26e1d68bf62d",
+            "B3": "3a14198e-6929-2d86-a468-602175a2b5aa",
+            "B4": "3a14198e-6929-1a98-ae57-e97660c489ad",
+            # 分装板
+            "C1": "3a14198e-6929-46fe-841e-03dd753f1e4a",
+            "C2": "3a14198e-6929-1bc9-a9bd-3b7ca66e7f95",
+            "C3": "3a14198e-6929-72ac-32ce-9b50245682b8",
+            "C4": "3a14198e-6929-3bd8-e6c7-4a9fd93be118",
+            "D1": "3a14198e-6929-8a0b-b686-6f4a2955c4e2",
+            "D2": "3a14198e-6929-dde1-fc78-34a84b71afdf",
+            "D3": "3a14198e-6929-a0ec-5f15-c0f9f339f963",
+            "D4": "3a14198e-6929-7ac8-915a-fea51cb2e884"
+        }
+    },
+    "溶液堆栈": {
+        "uuid": "",
+        "site_uuids": {
+            "A1": "3a14198e-d724-e036-afdc-2ae39a7f3383",
+            "A2": "3a14198e-d724-afa4-fc82-0ac8a9016791",
+            "A3": "3a14198e-d724-ca48-bb9e-7e85751e55b6",
+            "A4": "3a14198e-d724-df6d-5e32-5483b3cab583",
+            "B1": "3a14198e-d724-d818-6d4f-5725191a24b5",
+            "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"
+        }
+    },
+    "粉末加样头堆栈": {
+        "uuid": "",
+        "site_uuids": {
+            "A01": "3a19da56-1379-20c8-5886-f7c4fbcb5733",
+            "B01": "3a19da56-1379-2424-d751-fe6e94cef938",
+            "C01": "3a19da56-1379-271c-03e3-6bdb590e395e",
+            "D01": "3a19da56-1379-277f-2b1b-0d11f7cf92c6",
+            "E01": "3a19da56-1379-2f1c-a15b-e01db90eb39a",
+            "F01": "3a19da56-1379-3fa1-846b-088158ac0b3d",
+            "G01": "3a19da56-1379-5aeb-d0cd-d3b4609d66e1",
+            "H01": "3a19da56-1379-6077-8258-bdc036870b78",
+            "I01": "3a19da56-1379-863b-a120-f606baf04617",
+            "J01": "3a19da56-1379-8a74-74e5-35a9b41d4fd5",
+            "K01": "3a19da56-1379-b270-b7af-f18773918abe",
+            "L01": "3a19da56-1379-ba54-6d78-fd770a671ffc",
+            "M01": "3a19da56-1379-c22d-c96f-0ceb5eb54a04",
+            "N01": "3a19da56-1379-d64e-c6c5-c72ea4829888",
+            "O01": "3a19da56-1379-d887-1a3c-6f9cce90f90e",
+            "P01": "3a19da56-1379-e77d-0e65-7463b238a3b9",
+            "Q01": "3a19da56-1379-edf6-1472-802ddb628774",
+            "R01": "3a19da56-1379-f281-0273-e0ef78f0fd97",
+            "S01": "3a19da56-1379-f924-7f68-df1fa51489f4",
+            "T01": "3a19da56-1379-ff7c-1745-07e200b44ce2"
+        }
+    }
 }
 
 # 物料类型配置
-MATERIAL_TYPE_IDS = {
-    "样品板": "",
-    "样品": "",
-    "烧杯": ""
-}
-
 MATERIAL_TYPE_MAPPINGS = {
-    "烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
-    "试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
-    "样品板": "BIOYOND_PolymerStation_6VialCarrier",
+    "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"),
+    "20ml分液瓶": ("BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),
+    "100ml液体": ("BIOYOND_PolymerStation_100ml_Liquid_Bottle", "d37166b3-ecaa-481e-bd84-3032b795ba07"),
+    "液": ("BIOYOND_PolymerStation_Liquid_Bottle", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"),
+    "高粘液": ("BIOYOND_PolymerStation_High_Viscosity_Liquid_Bottle", "abe8df30-563d-43d2-85e0-cabec59ddc16"),
+    "加样头(大)": ("BIOYOND_PolymerStation_Large_Dispense_Head", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
+    "5ml分液瓶板": ("BIOYOND_PolymerStation_6x5ml_DispensingVialCarrier", "3a192fa4-007d-ec7b-456e-2a8be7a13f23"),
+    "5ml分液瓶": ("BIOYOND_PolymerStation_5ml_Dispensing_Vial", "3a192c2a-ebb7-58a1-480d-8b3863bf74f4"),
+    "20ml分液瓶板": ("BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier", "3a192fa4-47db-3449-162a-eaf8aba57e27"),
+    "配液瓶(小)板": ("BIOYOND_PolymerStation_6x_SmallSolutionBottleCarrier", "3a190c8b-3284-af78-d29f-9a69463ad047"),
+    "配液瓶(小)": ("BIOYOND_PolymerStation_Small_Solution_Bottle", "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"),
+    "配液瓶(大)板": ("BIOYOND_PolymerStation_4x_LargeSolutionBottleCarrier", "53e50377-32dc-4781-b3c0-5ce45bc7dc27"),
+    "配液瓶(大)": ("BIOYOND_PolymerStation_Large_Solution_Bottle", "19c52ad1-51c5-494f-8854-576f4ca9c6ca"),
+    "加样头(大)板": ("BIOYOND_PolymerStation_6x_LargeDispenseHeadCarrier", "a8e714ae-2a4e-4eb9-9614-e4c140ec3f16"),
+    "适配器块": ("BIOYOND_PolymerStation_AdapterBlock", "efc3bb32-d504-4890-91c0-b64ed3ac80cf"),
+    "枪头盒": ("BIOYOND_PolymerStation_TipBox", "3a192c2e-20f3-a44a-0334-c8301839d0b3"),
+    "枪头": ("BIOYOND_PolymerStation_Pipette_Tip", "b6196971-1050-46da-9927-333e8dea062d"),
 }
 
 # 步骤参数配置（各工作流的步骤UUID）
@@ -127,3 +196,5 @@ 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

@@ -1,203 +1,205 @@
-# experiment_workflow.py
 """
 实验流程主程序
 """
 
 import json
-from bioyond_rpc import BioyondV1RPC
-from config import API_CONFIG, WORKFLOW_MAPPINGS
+from unilabos.devices.workstation.bioyond_studio.reaction_station import BioyondReactionStation
+from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG, WORKFLOW_MAPPINGS, DECK_CONFIG, MATERIAL_TYPE_MAPPINGS
 
 
 def run_experiment():
     """运行实验流程"""
-    
+
     # 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")
-    
+
     # 1. 反应器放入
     print("1. 添加反应器放入工作流，带参数...")
     Bioyond.reactor_taken_in(
-        assign_material_name="BTDA-DD", 
-        cutoff="10000", 
+        assign_material_name="BTDA-DD",
+        cutoff="10000",
         temperature="-10"
     )
-    
+
     # 2. 液体投料-烧杯 (第一个)
     print("2. 添加液体投料-烧杯，带参数...")
     Bioyond.liquid_feeding_beaker(
-        volume="34768.7", 
+        volume="34768.7",
         assign_material_name="ODA",
-        time="0", 
-        torque_variation="1", 
-        titrationType="1", 
+        time="0",
+        torque_variation="1",
+        titration_type="1",
         temperature=-10
     )
-    
+
     # 3. 液体投料-烧杯 (第二个)
     print("3. 添加液体投料-烧杯，带参数...")
     Bioyond.liquid_feeding_beaker(
-        volume="34080.9", 
+        volume="34080.9",
         assign_material_name="MPDA",
-        time="5", 
-        torque_variation="2", 
-        titrationType="1", 
+        time="5",
+        torque_variation="2",
+        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", 
-        assign_material_name="SIDA", 
-        titration_type="1", 
-        time="0", 
-        torque_variation="1", 
+        volume_formula="639.5",
+        assign_material_name="SIDA",
+        titration_type="1",
+        time="0",
+        torque_variation="1",
         temperature=-10
     )
-    
+
     # 5. 液体投料溶剂
     print("5. 添加液体投料溶剂，带参数...")
     Bioyond.liquid_feeding_solvents(
         assign_material_name="NMP",
-        volume="19000", 
-        titration_type="1", 
-        time="5", 
-        torque_variation="2", 
+        volume="19000",
+        titration_type="1",
+        time="5",
+        torque_variation="2",
         temperature=-10
     )
-    
+
     # 6-8. 固体进料小瓶 (三个)
     print("6. 添加固体进料小瓶，带参数...")
     Bioyond.solid_feeding_vials(
-        material_id="3", 
-        time="180", 
+        material_id="3",
+        time="180",
         torque_variation="2",
-        assign_material_name="BTDA-1", 
+        assign_material_name="BTDA1",
         temperature=-10.00
     )
-    
+
     print("7. 添加固体进料小瓶，带参数...")
     Bioyond.solid_feeding_vials(
-        material_id="3", 
-        time="180", 
+        material_id="3",
+        time="180",
         torque_variation="2",
-        assign_material_name="BTDA-2", 
+        assign_material_name="BTDA2",
         temperature=25.00
     )
-    
+
     print("8. 添加固体进料小瓶，带参数...")
     Bioyond.solid_feeding_vials(
-        material_id="3", 
-        time="480", 
+        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", 
-        torque_variation="2", 
+        titration_type="1",
+        time="360",
+        torque_variation="2",
         temperature="25.00"
     )
-    
+
     # 液体投料滴定（第二个）
     print("10. 添加液体投料滴定，带参数...")  # ODPA
     Bioyond.liquid_feeding_titration(
-        volume_formula="500", 
+        volume_formula="500",
         assign_material_name="BTDA-DD",
-        titration_type="1", 
-        time="360", 
-        torque_variation="2", 
+        titration_type="1",
+        time="360",
+        torque_variation="2",
         temperature="25.00"
     )
 
     # 液体投料滴定（第三个）
     print("11. 添加液体投料滴定，带参数...")  # ODPA
     Bioyond.liquid_feeding_titration(
-        volume_formula="500", 
+        volume_formula="500",
         assign_material_name="BTDA-DD",
-        titration_type="1", 
-        time="360", 
-        torque_variation="2", 
+        titration_type="1",
+        time="360",
+        torque_variation="2",
         temperature="25.00"
     )
-    
+
     print("12. 添加液体投料滴定，带参数...")  # ODPA
     Bioyond.liquid_feeding_titration(
-        volume_formula="500", 
+        volume_formula="500",
         assign_material_name="BTDA-DD",
-        titration_type="1", 
-        time="360", 
-        torque_variation="2", 
+        titration_type="1",
+        time="360",
+        torque_variation="2",
         temperature="25.00"
     )
-    
+
     print("13. 添加液体投料滴定，带参数...")  # ODPA
     Bioyond.liquid_feeding_titration(
-        volume_formula="500", 
+        volume_formula="500",
         assign_material_name="BTDA-DD",
-        titration_type="1", 
-        time="360", 
-        torque_variation="2", 
+        titration_type="1",
+        time="360",
+        torque_variation="2",
         temperature="25.00"
     )
-    
+
     print("14. 添加液体投料滴定，带参数...")  # ODPA
     Bioyond.liquid_feeding_titration(
-        volume_formula="500", 
+        volume_formula="500",
         assign_material_name="BTDA-DD",
-        titration_type="1", 
-        time="360", 
-        torque_variation="2", 
+        titration_type="1",
+        time="360",
+        torque_variation="2",
         temperature="25.00"
     )
 
-
-
     print("15. 添加液体投料溶剂，带参数...")
     Bioyond.liquid_feeding_solvents(
         assign_material_name="PGME",
-        volume="16894.6", 
-        titration_type="1", 
-        time="360", 
-        torque_variation="2", 
+        volume="16894.6",
+        titration_type="1",
+        time="360",
+        torque_variation="2",
         temperature=25.00
     )
-    
+
     # 16. 反应器取出
     print("16. 添加反应器取出工作流...")
     Bioyond.reactor_taken_out()
-    
+
     # 显示当前工作流序列
     sequence = Bioyond.get_workflow_sequence()
     print("\n当前工作流执行顺序:")
     print(sequence)
-    
+
     # 执行process_and_execute_workflow，合并工作流并创建任务
     print("\n4. 执行process_and_execute_workflow...")
-    
+
     result = Bioyond.process_and_execute_workflow(
-        workflow_name="test3_86", 
-        task_name="实验3_86"
+        workflow_name="test3",
+        task_name="实验3"
     )
-    
+
     # 显示执行结果
     print("\n5. 执行结果:")
     if isinstance(result, str):
@@ -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ID: {result_dict.get('workflow', {}).get('id')}")
-                print(f"- 任务结果: {result_dict.get('task')}")
+                # 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"- 任务结果: {result_dict.get('task')}")
             else:
                 print(f"任务创建失败: {result_dict.get('error')}")
         except:
@@ -220,179 +222,179 @@ def run_experiment():
             print(f"- 任务结果: {result.get('task')}")
         else:
             print(f"任务创建失败: {result.get('error')}")
-    
+
     # 可选：启动调度器
     # Bioyond.scheduler_start()
-    
+
     return Bioyond
 
 
-def prepare_materials(bioyond):
-    """准备实验材料（可选）"""
-    
-    # 样品板材料数据定义
-    material_data_yp_1 = {
-        "typeId": "3a142339-80de-8f25-6093-1b1b1b6c322e",
-        "name": "样品板-1",
-        "unit": "个",
-        "quantity": 1,
-        "details": [
-            {
-                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-                "name": "BPDA-DD-1",
-                "quantity": 1,
-                "x": 1,
-                "y": 1,
-                "Parameters": "{\"molecular\": 1}"
-            },
-            {
-                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-                "name": "PEPA",
-                "quantity": 1,
-                "x": 1,
-                "y": 2,
-                "Parameters": "{\"molecular\": 1}"
-            },
-            {
-                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-                "name": "BPDA-DD-2",
-                "quantity": 1,
-                "x": 1,
-                "y": 3,
-                "Parameters": "{\"molecular\": 1}"
-            },
-            {
-                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-                "name": "BPDA-1",
-                "quantity": 1,
-                "x": 2,
-                "y": 1,
-                "Parameters": "{\"molecular\": 1}"
-            },
-            {
-                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-                "name": "PMDA",
-                "quantity": 1,
-                "x": 2,
-                "y": 2,
-                "Parameters": "{\"molecular\": 1}"
-            },
-            {
-                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-                "name": "BPDA-2",
-                "quantity": 1,
-                "x": 2,
-                "y": 3,
-                "Parameters": "{\"molecular\": 1}"
-            }
-        ],
-        "Parameters": "{}"
-    }
-    
-    material_data_yp_2 = {
-        "typeId": "3a142339-80de-8f25-6093-1b1b1b6c322e",
-        "name": "样品板-2",
-        "unit": "个",
-        "quantity": 1,
-        "details": [
-            {
-                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-                "name": "BPDA-DD",
-                "quantity": 1,
-                "x": 1,
-                "y": 1,
-                "Parameters": "{\"molecular\": 1}"
-            },
-            {
-                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-                "name": "SIDA",
-                "quantity": 1,
-                "x": 1,
-                "y": 2,
-                "Parameters": "{\"molecular\": 1}"
-            },
-            {
-                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-                "name": "BTDA-1",
-                "quantity": 1,
-                "x": 2,
-                "y": 1,
-                "Parameters": "{\"molecular\": 1}"
-            },
-            {
-                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-                "name": "BTDA-2",
-                "quantity": 1,
-                "x": 2,
-                "y": 2,
-                "Parameters": "{\"molecular\": 1}"
-            },
-            {
-                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-                "name": "BTDA-3",
-                "quantity": 1,
-                "x": 2,
-                "y": 3,
-                "Parameters": "{\"molecular\": 1}"
-            }
-        ],
-        "Parameters": "{}"
-    }
-    
-    # 烧杯材料数据定义
-    beaker_materials = [
-        {
-            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
-            "name": "PDA-1",
-            "unit": "微升",
-            "quantity": 1,
-            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
-        },
-        {
-            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
-            "name": "TFDB",
-            "unit": "微升",
-            "quantity": 1,
-            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
-        },
-        {
-            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
-            "name": "ODA",
-            "unit": "微升",
-            "quantity": 1,
-            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
-        },
-        {
-            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
-            "name": "MPDA",
-            "unit": "微升",
-            "quantity": 1,
-            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
-        },
-        {
-            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
-            "name": "PDA-2",
-            "unit": "微升",
-            "quantity": 1,
-            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
-        }
-    ]
-    
-    # 如果需要，可以在这里调用add_material方法添加材料
-    # 例如:
-    # result = bioyond.add_material(json.dumps(material_data_yp_1))
-    # print(f"添加材料结果: {result}")
-    
-    return {
-        "sample_plates": [material_data_yp_1, material_data_yp_2],
-        "beakers": beaker_materials
-    }
+# def prepare_materials(bioyond):
+#     """准备实验材料（可选）"""
+
+#     # 样品板材料数据定义
+#     material_data_yp_1 = {
+#         "typeId": "3a142339-80de-8f25-6093-1b1b1b6c322e",
+#         "name": "样品板-1",
+#         "unit": "个",
+#         "quantity": 1,
+#         "details": [
+#             {
+#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+#                 "name": "BPDA-DD-1",
+#                 "quantity": 1,
+#                 "x": 1,
+#                 "y": 1,
+#                 "Parameters": "{\"molecular\": 1}"
+#             },
+#             {
+#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+#                 "name": "PEPA",
+#                 "quantity": 1,
+#                 "x": 1,
+#                 "y": 2,
+#                 "Parameters": "{\"molecular\": 1}"
+#             },
+#             {
+#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+#                 "name": "BPDA-DD-2",
+#                 "quantity": 1,
+#                 "x": 1,
+#                 "y": 3,
+#                 "Parameters": "{\"molecular\": 1}"
+#             },
+#             {
+#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+#                 "name": "BPDA-1",
+#                 "quantity": 1,
+#                 "x": 2,
+#                 "y": 1,
+#                 "Parameters": "{\"molecular\": 1}"
+#             },
+#             {
+#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+#                 "name": "PMDA",
+#                 "quantity": 1,
+#                 "x": 2,
+#                 "y": 2,
+#                 "Parameters": "{\"molecular\": 1}"
+#             },
+#             {
+#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+#                 "name": "BPDA-2",
+#                 "quantity": 1,
+#                 "x": 2,
+#                 "y": 3,
+#                 "Parameters": "{\"molecular\": 1}"
+#             }
+#         ],
+#         "Parameters": "{}"
+#     }
+
+#     material_data_yp_2 = {
+#         "typeId": "3a142339-80de-8f25-6093-1b1b1b6c322e",
+#         "name": "样品板-2",
+#         "unit": "个",
+#         "quantity": 1,
+#         "details": [
+#             {
+#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+#                 "name": "BPDA-DD",
+#                 "quantity": 1,
+#                 "x": 1,
+#                 "y": 1,
+#                 "Parameters": "{\"molecular\": 1}"
+#             },
+#             {
+#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+#                 "name": "SIDA",
+#                 "quantity": 1,
+#                 "x": 1,
+#                 "y": 2,
+#                 "Parameters": "{\"molecular\": 1}"
+#             },
+#             {
+#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+#                 "name": "BTDA-1",
+#                 "quantity": 1,
+#                 "x": 2,
+#                 "y": 1,
+#                 "Parameters": "{\"molecular\": 1}"
+#             },
+#             {
+#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+#                 "name": "BTDA-2",
+#                 "quantity": 1,
+#                 "x": 2,
+#                 "y": 2,
+#                 "Parameters": "{\"molecular\": 1}"
+#             },
+#             {
+#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+#                 "name": "BTDA-3",
+#                 "quantity": 1,
+#                 "x": 2,
+#                 "y": 3,
+#                 "Parameters": "{\"molecular\": 1}"
+#             }
+#         ],
+#         "Parameters": "{}"
+#     }
+
+#     # 烧杯材料数据定义
+#     beaker_materials = [
+#         {
+#             "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+#             "name": "PDA-1",
+#             "unit": "微升",
+#             "quantity": 1,
+#             "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+#         },
+#         {
+#             "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+#             "name": "TFDB",
+#             "unit": "微升",
+#             "quantity": 1,
+#             "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+#         },
+#         {
+#             "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+#             "name": "ODA",
+#             "unit": "微升",
+#             "quantity": 1,
+#             "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+#         },
+#         {
+#             "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+#             "name": "MPDA",
+#             "unit": "微升",
+#             "quantity": 1,
+#             "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+#         },
+#         {
+#             "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+#             "name": "PDA-2",
+#             "unit": "微升",
+#             "quantity": 1,
+#             "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+#         }
+#     ]
+
+#     # 如果需要，可以在这里调用add_material方法添加材料
+#     # 例如:
+#     # result = bioyond.add_material(json.dumps(material_data_yp_1))
+#     # print(f"添加材料结果: {result}")
+
+#     return {
+#         "sample_plates": [material_data_yp_1, material_data_yp_2],
+#         "beakers": beaker_materials
+#     }
 
 
 if __name__ == "__main__":
     # 运行主实验流程
     bioyond_client = run_experiment()
-    
+
     # 可选：准备材料数据
     # materials = prepare_materials(bioyond_client)
     # print(f"\n准备的材料数据: {materials}")

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

@@ -71,11 +71,11 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
             if content_length > 0:
                 post_data = self.rfile.read(content_length)
                 request_data = json.loads(post_data.decode('utf-8'))
+                
             else:
                 request_data = {}
-            
-            logger.info(f"收到工作站报送: {endpoint} - {request_data.get('token', 'unknown')}")
-            
+            logger.info(f"收到工作站报送: {endpoint} 收到接受数据：{request_data}")
+            # logger.info(f"收到的json数据: {request_data}")
             # 统一的报送端点路由（基于LIMS协议规范）
             if endpoint == '/report/step_finish':
                 response = self._handle_step_finish_report(request_data)
@@ -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 +1,255 @@
+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
+        deck:
+          type: string
+      required:
+      - config
+      - deck
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object
+  version: 1.0.0

unilabos/registry/devices/bioyond_cell.yaml

@@ -0,0 +1,834 @@
+bioyond_cell:
+  category:
+  - bioyond_cell
+  class:
+    action_value_mappings:
+      auto-auto_batch_outbound_from_xlsx:
+        feedback: {}
+        goal: {}
+        goal_default:
+          xlsx_path: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                xlsx_path:
+                  type: string
+              required:
+              - xlsx_path
+              type: object
+            result: {}
+          required:
+          - goal
+          title: auto_batch_outbound_from_xlsx参数
+          type: object
+        type: UniLabJsonCommand
+      auto-auto_feeding4to3:
+        feedback: {}
+        goal: {}
+        goal_default:
+          WH3_x1_y1_z3_1_materialId: ''
+          WH3_x1_y1_z3_1_materialType: ''
+          WH3_x1_y1_z3_1_quantity: 0
+          WH3_x1_y2_z3_4_materialId: ''
+          WH3_x1_y2_z3_4_materialType: ''
+          WH3_x1_y2_z3_4_quantity: 0
+          WH3_x1_y3_z3_7_materialId: ''
+          WH3_x1_y3_z3_7_materialType: ''
+          WH3_x1_y3_z3_7_quantity: 0
+          WH3_x1_y4_z3_10_materialId: ''
+          WH3_x1_y4_z3_10_materialType: ''
+          WH3_x1_y4_z3_10_quantity: 0
+          WH3_x1_y5_z3_13_materialId: ''
+          WH3_x1_y5_z3_13_materialType: ''
+          WH3_x1_y5_z3_13_quantity: 0
+          WH3_x2_y1_z3_2_materialId: ''
+          WH3_x2_y1_z3_2_materialType: ''
+          WH3_x2_y1_z3_2_quantity: 0
+          WH3_x2_y2_z3_5_materialId: ''
+          WH3_x2_y2_z3_5_materialType: ''
+          WH3_x2_y2_z3_5_quantity: 0
+          WH3_x2_y3_z3_8_materialId: ''
+          WH3_x2_y3_z3_8_materialType: ''
+          WH3_x2_y3_z3_8_quantity: 0
+          WH3_x2_y4_z3_11_materialId: ''
+          WH3_x2_y4_z3_11_materialType: ''
+          WH3_x2_y4_z3_11_quantity: 0
+          WH3_x2_y5_z3_14_materialId: ''
+          WH3_x2_y5_z3_14_materialType: ''
+          WH3_x2_y5_z3_14_quantity: 0
+          WH3_x3_y1_z3_3_materialId: ''
+          WH3_x3_y1_z3_3_materialType: ''
+          WH3_x3_y1_z3_3_quantity: 0
+          WH3_x3_y2_z3_6_materialId: ''
+          WH3_x3_y2_z3_6_materialType: ''
+          WH3_x3_y2_z3_6_quantity: 0
+          WH3_x3_y3_z3_9_materialId: ''
+          WH3_x3_y3_z3_9_materialType: ''
+          WH3_x3_y3_z3_9_quantity: 0
+          WH3_x3_y4_z3_12_materialId: ''
+          WH3_x3_y4_z3_12_materialType: ''
+          WH3_x3_y4_z3_12_quantity: 0
+          WH3_x3_y5_z3_15_materialId: ''
+          WH3_x3_y5_z3_15_materialType: ''
+          WH3_x3_y5_z3_15_quantity: 0
+          WH4_x1_y1_z1_1_materialName: ''
+          WH4_x1_y1_z1_1_quantity: 0.0
+          WH4_x1_y1_z2_1_materialName: ''
+          WH4_x1_y1_z2_1_materialType: ''
+          WH4_x1_y1_z2_1_quantity: 0.0
+          WH4_x1_y1_z2_1_targetWH: ''
+          WH4_x1_y2_z1_6_materialName: ''
+          WH4_x1_y2_z1_6_quantity: 0.0
+          WH4_x1_y2_z2_4_materialName: ''
+          WH4_x1_y2_z2_4_materialType: ''
+          WH4_x1_y2_z2_4_quantity: 0.0
+          WH4_x1_y2_z2_4_targetWH: ''
+          WH4_x1_y3_z1_11_materialName: ''
+          WH4_x1_y3_z1_11_quantity: 0.0
+          WH4_x1_y3_z2_7_materialName: ''
+          WH4_x1_y3_z2_7_materialType: ''
+          WH4_x1_y3_z2_7_quantity: 0.0
+          WH4_x1_y3_z2_7_targetWH: ''
+          WH4_x2_y1_z1_2_materialName: ''
+          WH4_x2_y1_z1_2_quantity: 0.0
+          WH4_x2_y1_z2_2_materialName: ''
+          WH4_x2_y1_z2_2_materialType: ''
+          WH4_x2_y1_z2_2_quantity: 0.0
+          WH4_x2_y1_z2_2_targetWH: ''
+          WH4_x2_y2_z1_7_materialName: ''
+          WH4_x2_y2_z1_7_quantity: 0.0
+          WH4_x2_y2_z2_5_materialName: ''
+          WH4_x2_y2_z2_5_materialType: ''
+          WH4_x2_y2_z2_5_quantity: 0.0
+          WH4_x2_y2_z2_5_targetWH: ''
+          WH4_x2_y3_z1_12_materialName: ''
+          WH4_x2_y3_z1_12_quantity: 0.0
+          WH4_x2_y3_z2_8_materialName: ''
+          WH4_x2_y3_z2_8_materialType: ''
+          WH4_x2_y3_z2_8_quantity: 0.0
+          WH4_x2_y3_z2_8_targetWH: ''
+          WH4_x3_y1_z1_3_materialName: ''
+          WH4_x3_y1_z1_3_quantity: 0.0
+          WH4_x3_y1_z2_3_materialName: ''
+          WH4_x3_y1_z2_3_materialType: ''
+          WH4_x3_y1_z2_3_quantity: 0.0
+          WH4_x3_y1_z2_3_targetWH: ''
+          WH4_x3_y2_z1_8_materialName: ''
+          WH4_x3_y2_z1_8_quantity: 0.0
+          WH4_x3_y2_z2_6_materialName: ''
+          WH4_x3_y2_z2_6_materialType: ''
+          WH4_x3_y2_z2_6_quantity: 0.0
+          WH4_x3_y2_z2_6_targetWH: ''
+          WH4_x3_y3_z2_9_materialName: ''
+          WH4_x3_y3_z2_9_materialType: ''
+          WH4_x3_y3_z2_9_quantity: 0.0
+          WH4_x3_y3_z2_9_targetWH: ''
+          WH4_x4_y1_z1_4_materialName: ''
+          WH4_x4_y1_z1_4_quantity: 0.0
+          WH4_x4_y2_z1_9_materialName: ''
+          WH4_x4_y2_z1_9_quantity: 0.0
+          WH4_x5_y1_z1_5_materialName: ''
+          WH4_x5_y1_z1_5_quantity: 0.0
+          WH4_x5_y2_z1_10_materialName: ''
+          WH4_x5_y2_z1_10_quantity: 0.0
+          xlsx_path: unilabos/devices/workstation/bioyond_cell/样品导入模板.xlsx
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                WH3_x1_y1_z3_1_materialId:
+                  default: ''
+                  type: string
+                WH3_x1_y1_z3_1_materialType:
+                  default: ''
+                  type: string
+                WH3_x1_y1_z3_1_quantity:
+                  default: 0
+                  type: number
+                WH3_x1_y2_z3_4_materialId:
+                  default: ''
+                  type: string
+                WH3_x1_y2_z3_4_materialType:
+                  default: ''
+                  type: string
+                WH3_x1_y2_z3_4_quantity:
+                  default: 0
+                  type: number
+                WH3_x1_y3_z3_7_materialId:
+                  default: ''
+                  type: string
+                WH3_x1_y3_z3_7_materialType:
+                  default: ''
+                  type: string
+                WH3_x1_y3_z3_7_quantity:
+                  default: 0
+                  type: number
+                WH3_x1_y4_z3_10_materialId:
+                  default: ''
+                  type: string
+                WH3_x1_y4_z3_10_materialType:
+                  default: ''
+                  type: string
+                WH3_x1_y4_z3_10_quantity:
+                  default: 0
+                  type: number
+                WH3_x1_y5_z3_13_materialId:
+                  default: ''
+                  type: string
+                WH3_x1_y5_z3_13_materialType:
+                  default: ''
+                  type: string
+                WH3_x1_y5_z3_13_quantity:
+                  default: 0
+                  type: number
+                WH3_x2_y1_z3_2_materialId:
+                  default: ''
+                  type: string
+                WH3_x2_y1_z3_2_materialType:
+                  default: ''
+                  type: string
+                WH3_x2_y1_z3_2_quantity:
+                  default: 0
+                  type: number
+                WH3_x2_y2_z3_5_materialId:
+                  default: ''
+                  type: string
+                WH3_x2_y2_z3_5_materialType:
+                  default: ''
+                  type: string
+                WH3_x2_y2_z3_5_quantity:
+                  default: 0
+                  type: number
+                WH3_x2_y3_z3_8_materialId:
+                  default: ''
+                  type: string
+                WH3_x2_y3_z3_8_materialType:
+                  default: ''
+                  type: string
+                WH3_x2_y3_z3_8_quantity:
+                  default: 0
+                  type: number
+                WH3_x2_y4_z3_11_materialId:
+                  default: ''
+                  type: string
+                WH3_x2_y4_z3_11_materialType:
+                  default: ''
+                  type: string
+                WH3_x2_y4_z3_11_quantity:
+                  default: 0
+                  type: number
+                WH3_x2_y5_z3_14_materialId:
+                  default: ''
+                  type: string
+                WH3_x2_y5_z3_14_materialType:
+                  default: ''
+                  type: string
+                WH3_x2_y5_z3_14_quantity:
+                  default: 0
+                  type: number
+                WH3_x3_y1_z3_3_materialId:
+                  default: ''
+                  type: string
+                WH3_x3_y1_z3_3_materialType:
+                  default: ''
+                  type: string
+                WH3_x3_y1_z3_3_quantity:
+                  default: 0
+                  type: number
+                WH3_x3_y2_z3_6_materialId:
+                  default: ''
+                  type: string
+                WH3_x3_y2_z3_6_materialType:
+                  default: ''
+                  type: string
+                WH3_x3_y2_z3_6_quantity:
+                  default: 0
+                  type: number
+                WH3_x3_y3_z3_9_materialId:
+                  default: ''
+                  type: string
+                WH3_x3_y3_z3_9_materialType:
+                  default: ''
+                  type: string
+                WH3_x3_y3_z3_9_quantity:
+                  default: 0
+                  type: number
+                WH3_x3_y4_z3_12_materialId:
+                  default: ''
+                  type: string
+                WH3_x3_y4_z3_12_materialType:
+                  default: ''
+                  type: string
+                WH3_x3_y4_z3_12_quantity:
+                  default: 0
+                  type: number
+                WH3_x3_y5_z3_15_materialId:
+                  default: ''
+                  type: string
+                WH3_x3_y5_z3_15_materialType:
+                  default: ''
+                  type: string
+                WH3_x3_y5_z3_15_quantity:
+                  default: 0
+                  type: number
+                WH4_x1_y1_z1_1_materialName:
+                  default: ''
+                  type: string
+                WH4_x1_y1_z1_1_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x1_y1_z2_1_materialName:
+                  default: ''
+                  type: string
+                WH4_x1_y1_z2_1_materialType:
+                  default: ''
+                  type: string
+                WH4_x1_y1_z2_1_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x1_y1_z2_1_targetWH:
+                  default: ''
+                  type: string
+                WH4_x1_y2_z1_6_materialName:
+                  default: ''
+                  type: string
+                WH4_x1_y2_z1_6_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x1_y2_z2_4_materialName:
+                  default: ''
+                  type: string
+                WH4_x1_y2_z2_4_materialType:
+                  default: ''
+                  type: string
+                WH4_x1_y2_z2_4_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x1_y2_z2_4_targetWH:
+                  default: ''
+                  type: string
+                WH4_x1_y3_z1_11_materialName:
+                  default: ''
+                  type: string
+                WH4_x1_y3_z1_11_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x1_y3_z2_7_materialName:
+                  default: ''
+                  type: string
+                WH4_x1_y3_z2_7_materialType:
+                  default: ''
+                  type: string
+                WH4_x1_y3_z2_7_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x1_y3_z2_7_targetWH:
+                  default: ''
+                  type: string
+                WH4_x2_y1_z1_2_materialName:
+                  default: ''
+                  type: string
+                WH4_x2_y1_z1_2_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x2_y1_z2_2_materialName:
+                  default: ''
+                  type: string
+                WH4_x2_y1_z2_2_materialType:
+                  default: ''
+                  type: string
+                WH4_x2_y1_z2_2_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x2_y1_z2_2_targetWH:
+                  default: ''
+                  type: string
+                WH4_x2_y2_z1_7_materialName:
+                  default: ''
+                  type: string
+                WH4_x2_y2_z1_7_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x2_y2_z2_5_materialName:
+                  default: ''
+                  type: string
+                WH4_x2_y2_z2_5_materialType:
+                  default: ''
+                  type: string
+                WH4_x2_y2_z2_5_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x2_y2_z2_5_targetWH:
+                  default: ''
+                  type: string
+                WH4_x2_y3_z1_12_materialName:
+                  default: ''
+                  type: string
+                WH4_x2_y3_z1_12_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x2_y3_z2_8_materialName:
+                  default: ''
+                  type: string
+                WH4_x2_y3_z2_8_materialType:
+                  default: ''
+                  type: string
+                WH4_x2_y3_z2_8_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x2_y3_z2_8_targetWH:
+                  default: ''
+                  type: string
+                WH4_x3_y1_z1_3_materialName:
+                  default: ''
+                  type: string
+                WH4_x3_y1_z1_3_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x3_y1_z2_3_materialName:
+                  default: ''
+                  type: string
+                WH4_x3_y1_z2_3_materialType:
+                  default: ''
+                  type: string
+                WH4_x3_y1_z2_3_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x3_y1_z2_3_targetWH:
+                  default: ''
+                  type: string
+                WH4_x3_y2_z1_8_materialName:
+                  default: ''
+                  type: string
+                WH4_x3_y2_z1_8_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x3_y2_z2_6_materialName:
+                  default: ''
+                  type: string
+                WH4_x3_y2_z2_6_materialType:
+                  default: ''
+                  type: string
+                WH4_x3_y2_z2_6_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x3_y2_z2_6_targetWH:
+                  default: ''
+                  type: string
+                WH4_x3_y3_z2_9_materialName:
+                  default: ''
+                  type: string
+                WH4_x3_y3_z2_9_materialType:
+                  default: ''
+                  type: string
+                WH4_x3_y3_z2_9_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x3_y3_z2_9_targetWH:
+                  default: ''
+                  type: string
+                WH4_x4_y1_z1_4_materialName:
+                  default: ''
+                  type: string
+                WH4_x4_y1_z1_4_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x4_y2_z1_9_materialName:
+                  default: ''
+                  type: string
+                WH4_x4_y2_z1_9_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x5_y1_z1_5_materialName:
+                  default: ''
+                  type: string
+                WH4_x5_y1_z1_5_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x5_y2_z1_10_materialName:
+                  default: ''
+                  type: string
+                WH4_x5_y2_z1_10_quantity:
+                  default: 0.0
+                  type: number
+                xlsx_path:
+                  default: unilabos/devices/workstation/bioyond_cell/样品导入模板.xlsx
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: auto_feeding4to3参数
+          type: object
+        type: UniLabJsonCommand
+      auto-auto_feeding4to3_from_xlsx:
+        feedback: {}
+        goal: {}
+        goal_default:
+          xlsx_path: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                xlsx_path:
+                  type: string
+              required:
+              - xlsx_path
+              type: object
+            result: {}
+          required:
+          - goal
+          title: auto_feeding4to3_from_xlsx参数
+          type: object
+        type: UniLabJsonCommand
+      auto-create_orders:
+        feedback: {}
+        goal: {}
+        goal_default:
+          xlsx_path: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                xlsx_path:
+                  type: string
+              required:
+              - xlsx_path
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_orders参数
+          type: object
+        type: UniLabJsonCommand
+      auto-order_list_v2:
+        feedback: {}
+        goal: {}
+        goal_default:
+          beginTime: ''
+          endTime: ''
+          filter: ''
+          pageCount: 1
+          skipCount: 0
+          sorting: ''
+          status: ''
+          timeType: ''
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                beginTime:
+                  default: ''
+                  type: string
+                endTime:
+                  default: ''
+                  type: string
+                filter:
+                  default: ''
+                  type: string
+                pageCount:
+                  default: 1
+                  type: integer
+                skipCount:
+                  default: 0
+                  type: integer
+                sorting:
+                  default: ''
+                  type: string
+                status:
+                  default: ''
+                  type: string
+                timeType:
+                  default: ''
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: order_list_v2参数
+          type: object
+        type: UniLabJsonCommand
+      auto-report_material_change:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_obj: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_obj:
+                  type: object
+              required:
+              - material_obj
+              type: object
+            result: {}
+          required:
+          - goal
+          title: report_material_change参数
+          type: object
+        type: UniLabJsonCommand
+      auto-scheduler_continue:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: scheduler_continue参数
+          type: object
+        type: UniLabJsonCommand
+      auto-scheduler_start:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: scheduler_start参数
+          type: object
+        type: UniLabJsonCommand
+      auto-scheduler_stop:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: scheduler_stop参数
+          type: object
+        type: UniLabJsonCommand
+      auto-storage_batch_inbound:
+        feedback: {}
+        goal: {}
+        goal_default:
+          items: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                items:
+                  items:
+                    type: object
+                  type: array
+              required:
+              - items
+              type: object
+            result: {}
+          required:
+          - goal
+          title: storage_batch_inbound参数
+          type: object
+        type: UniLabJsonCommand
+      auto-storage_inbound:
+        feedback: {}
+        goal: {}
+        goal_default:
+          location_id: null
+          material_id: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                location_id:
+                  type: string
+                material_id:
+                  type: string
+              required:
+              - material_id
+              - location_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: storage_inbound参数
+          type: object
+        type: UniLabJsonCommand
+      auto-transfer_1_to_2:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: transfer_1_to_2参数
+          type: object
+        type: UniLabJsonCommand
+      auto-transfer_3_to_2_to_1:
+        feedback: {}
+        goal: {}
+        goal_default:
+          source_wh_id: 3a19debc-84b4-0359-e2d4-b3beea49348b
+          source_x: 1
+          source_y: 1
+          source_z: 1
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                source_wh_id:
+                  default: 3a19debc-84b4-0359-e2d4-b3beea49348b
+                  type: string
+                source_x:
+                  default: 1
+                  type: integer
+                source_y:
+                  default: 1
+                  type: integer
+                source_z:
+                  default: 1
+                  type: integer
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: transfer_3_to_2_to_1参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_for_transfer_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          filter_text: null
+          interval: 5
+          timeout: 3000
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                filter_text:
+                  type: string
+                interval:
+                  default: 5
+                  type: integer
+                timeout:
+                  default: 3000
+                  type: integer
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_for_transfer_task参数
+          type: object
+        type: UniLabJsonCommand
+    module: unilabos.devices.workstation.bioyond_studio.bioyond_cell.bioyond_cell_workstation:BioyondCellWorkstation
+    status_types: {}
+    type: python
+  config_info: []
+  description: ''
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        bioyond_config:
+          type: string
+        station_resource:
+          type: string
+      required: []
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object
+  registry_type: device
+  version: 1.0.0

unilabos/registry/devices/characterization_chromatic.yaml

@@ -1,231 +1,3 @@
-hplc.agilent:
-  category:
-  - characterization_chromatic
-  class:
-    action_value_mappings:
-      auto-check_status:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 检查安捷伦HPLC设备状态的函数。用于监控设备的运行状态、连接状态、错误信息等关键指标。该函数定期查询设备状态，确保系统稳定运行，及时发现和报告设备异常。适用于自动化流程中的设备监控、故障诊断、系统维护等场景。
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: check_status参数
-          type: object
-        type: UniLabJsonCommand
-      auto-extract_data_from_txt:
-        feedback: {}
-        goal: {}
-        goal_default:
-          file_path: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 从文本文件中提取分析数据的函数。用于解析安捷伦HPLC生成的结果文件，提取峰面积、保留时间、浓度等关键分析数据。支持多种文件格式的自动识别和数据结构化处理，为后续数据分析和报告生成提供标准化的数据格式。适用于批量数据处理、结果验证、质量控制等分析工作流程。
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                file_path:
-                  type: string
-              required:
-              - file_path
-              type: object
-            result: {}
-          required:
-          - goal
-          title: extract_data_from_txt参数
-          type: object
-        type: UniLabJsonCommand
-      auto-start_sequence:
-        feedback: {}
-        goal: {}
-        goal_default:
-          params: null
-          resource: null
-          wf_name: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 启动安捷伦HPLC分析序列的函数。用于执行预定义的分析方法序列，包括样品进样、色谱分离、检测等完整的分析流程。支持参数配置、资源分配、工作流程管理等功能，实现全自动的样品分析。适用于批量样品处理、标准化分析、质量检测等需要连续自动分析的应用场景。
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                params:
-                  type: string
-                resource:
-                  type: object
-                wf_name:
-                  type: string
-              required:
-              - wf_name
-              type: object
-            result: {}
-          required:
-          - goal
-          title: start_sequence参数
-          type: object
-        type: UniLabJsonCommand
-      auto-try_close_sub_device:
-        feedback: {}
-        goal: {}
-        goal_default:
-          device_name: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 尝试关闭HPLC子设备的函数。用于安全地关闭泵、检测器、进样器等各个子模块，确保设备正常断开连接并保护硬件安全。该函数提供错误处理和状态确认机制，避免强制关闭可能造成的设备损坏。适用于设备维护、系统重启、紧急停机等需要安全关闭设备的场景。
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                device_name:
-                  type: string
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: try_close_sub_device参数
-          type: object
-        type: UniLabJsonCommand
-      auto-try_open_sub_device:
-        feedback: {}
-        goal: {}
-        goal_default:
-          device_name: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 尝试打开HPLC子设备的函数。用于初始化和连接泵、检测器、进样器等各个子模块，建立设备通信并进行自检。该函数提供连接验证和错误恢复机制，确保子设备正常启动并准备就绪。适用于设备初始化、系统启动、设备重连等需要建立设备连接的场景。
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                device_name:
-                  type: string
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: try_open_sub_device参数
-          type: object
-        type: UniLabJsonCommand
-      execute_command_from_outer:
-        feedback: {}
-        goal:
-          command: command
-        goal_default:
-          command: ''
-        handles: {}
-        result:
-          success: success
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties:
-                status:
-                  type: string
-              required:
-              - status
-              title: SendCmd_Feedback
-              type: object
-            goal:
-              properties:
-                command:
-                  type: string
-              required:
-              - command
-              title: SendCmd_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: SendCmd_Result
-              type: object
-          required:
-          - goal
-          title: SendCmd
-          type: object
-        type: SendCmd
-    module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
-    status_types:
-      could_run: bool
-      data_file: String
-      device_status: str
-      driver_init_ok: bool
-      finish_status: str
-      is_running: bool
-      status_text: str
-      success: bool
-    type: python
-  config_info: []
-  description: 安捷伦高效液相色谱（HPLC）分析设备，用于复杂化合物的分离、检测和定量分析。该设备通过UI自动化技术控制安捷伦ChemStation软件，实现全自动的样品分析流程。具备序列启动、设备状态监控、数据文件提取、结果处理等功能。支持多样品批量处理和实时状态反馈，适用于药物分析、环境检测、食品安全、化学研究等需要高精度色谱分析的实验室应用。
-  handles: []
-  icon: ''
-  init_param_schema:
-    config:
-      properties:
-        driver_debug:
-          default: false
-          type: string
-      required: []
-      type: object
-    data:
-      properties:
-        could_run:
-          type: boolean
-        data_file:
-          items:
-            type: string
-          type: array
-        device_status:
-          type: string
-        driver_init_ok:
-          type: boolean
-        finish_status:
-          type: string
-        is_running:
-          type: boolean
-        status_text:
-          type: string
-        success:
-          type: boolean
-      required:
-      - status_text
-      - device_status
-      - could_run
-      - driver_init_ok
-      - is_running
-      - success
-      - finish_status
-      - data_file
-      type: object
-  version: 1.0.0
 hplc.agilent-zhida:
   category:
   - characterization_chromatic

unilabos/registry/devices/characterization_optic.yaml

@@ -1,194 +1 @@
-raman.home_made:
-  category:
-  - characterization_optic
-  class:
-    action_value_mappings:
-      auto-ccd_time:
-        feedback: {}
-        goal: {}
-        goal_default:
-          int_time: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 设置CCD检测器积分时间的函数。用于配置拉曼光谱仪的信号采集时间，控制光谱数据的质量和信噪比。较长的积分时间可获得更高的信号强度和更好的光谱质量，但会增加测量时间。该函数允许根据样品特性和测量要求动态调整检测参数，优化测量效果。
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                int_time:
-                  type: string
-              required:
-              - int_time
-              type: object
-            result: {}
-          required:
-          - goal
-          title: ccd_time参数
-          type: object
-        type: UniLabJsonCommand
-      auto-laser_on_power:
-        feedback: {}
-        goal: {}
-        goal_default:
-          output_voltage_laser: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 设置激光器输出功率的函数。用于控制拉曼光谱仪激光器的功率输出，调节激光强度以适应不同样品的测量需求。适当的激光功率能够获得良好的拉曼信号同时避免样品损伤。该函数支持精确的功率控制，确保测量结果的稳定性和重现性。
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                output_voltage_laser:
-                  type: string
-              required:
-              - output_voltage_laser
-              type: object
-            result: {}
-          required:
-          - goal
-          title: laser_on_power参数
-          type: object
-        type: UniLabJsonCommand
-      auto-raman_without_background:
-        feedback: {}
-        goal: {}
-        goal_default:
-          int_time: null
-          laser_power: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 执行无背景扣除的拉曼光谱测量函数。用于直接采集样品的拉曼光谱信号，不进行背景校正处理。该函数配置积分时间和激光功率参数，获取原始光谱数据用于后续的数据处理分析。适用于对光谱数据质量要求较高或需要自定义背景处理流程的测量场景。
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                int_time:
-                  type: string
-                laser_power:
-                  type: string
-              required:
-              - int_time
-              - laser_power
-              type: object
-            result: {}
-          required:
-          - goal
-          title: raman_without_background参数
-          type: object
-        type: UniLabJsonCommand
-      auto-raman_without_background_average:
-        feedback: {}
-        goal: {}
-        goal_default:
-          average: null
-          int_time: null
-          laser_power: null
-          sample_name: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 执行多次平均的无背景拉曼光谱测量函数。通过多次测量取平均值来提高光谱数据的信噪比和测量精度，减少随机噪声影响。该函数支持自定义平均次数、积分时间、激光功率等参数，并可为样品指定名称便于数据管理。适用于对测量精度要求较高的定量分析和研究应用。
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                average:
-                  type: string
-                int_time:
-                  type: string
-                laser_power:
-                  type: string
-                sample_name:
-                  type: string
-              required:
-              - sample_name
-              - int_time
-              - laser_power
-              - average
-              type: object
-            result: {}
-          required:
-          - goal
-          title: raman_without_background_average参数
-          type: object
-        type: UniLabJsonCommand
-      raman_cmd:
-        feedback: {}
-        goal:
-          command: command
-        goal_default:
-          command: ''
-        handles: {}
-        result:
-          success: success
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties:
-                status:
-                  type: string
-              required:
-              - status
-              title: SendCmd_Feedback
-              type: object
-            goal:
-              properties:
-                command:
-                  type: string
-              required:
-              - command
-              title: SendCmd_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: SendCmd_Result
-              type: object
-          required:
-          - goal
-          title: SendCmd
-          type: object
-        type: SendCmd
-    module: unilabos.devices.raman_uv.home_made_raman:RamanObj
-    status_types: {}
-    type: python
-  config_info: []
-  description: 拉曼光谱分析设备，用于物质的分子结构和化学成分表征。该设备集成激光器和CCD检测器，通过串口通信控制激光功率和光谱采集。具备背景扣除、多次平均、自动数据处理等功能，支持高精度的拉曼光谱测量。适用于材料表征、化学分析、质量控制、研究开发等需要分子指纹识别和结构分析的实验应用。
-  handles: []
-  icon: ''
-  init_param_schema:
-    config:
-      properties:
-        baudrate_ccd:
-          default: 921600
-          type: string
-        baudrate_laser:
-          default: 9600
-          type: string
-        port_ccd:
-          type: string
-        port_laser:
-          type: string
-      required:
-      - port_laser
-      - port_ccd
-      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:
-          - 0
+          mix_times: 0
           mix_vol: 0
           none_keys:
           - ''
@@ -1492,11 +1491,9 @@ laiyu_liquid:
                 mix_stage:
                   type: string
                 mix_times:
-                  items:
-                    maximum: 2147483647
-                    minimum: -2147483648
-                    type: integer
-                  type: array
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
                 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:
-          - 0
+          mix_times: 0
           mix_vol: 0
           none_keys:
           - ''
@@ -4151,11 +4150,9 @@ liquid_handler:
                 mix_stage:
                   type: string
                 mix_times:
-                  items:
-                    maximum: 2147483647
-                    minimum: -2147483648
-                    type: integer
-                  type: array
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
                 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:
-          - 0
+          mix_times: 0
           mix_vol: 0
           none_keys:
           - ''
@@ -5159,11 +5155,9 @@ liquid_handler.biomek:
                 mix_stage:
                   type: string
                 mix_times:
-                  items:
-                    maximum: 2147483647
-                    minimum: -2147483648
-                    type: integer
-                  type: array
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
                 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:
-          - 0
+          mix_times: 0
           mix_vol: 0
           none_keys:
           - ''
@@ -7937,11 +7930,9 @@ liquid_handler.prcxi:
                 mix_stage:
                   type: string
                 mix_times:
-                  items:
-                    maximum: 2147483647
-                    minimum: -2147483648
-                    type: integer
-                  type: array
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
                 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:
-                  type: object
+                web_workflow_name:
+                  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:
-          task_data: null
+        goal_default: {}
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -42,470 +41,13 @@ reaction_station.bioyond:
           properties:
             feedback: {}
             goal:
-              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
+              properties: {}
               required: []
               type: object
             result: {}
           required:
           - goal
-          title: drip_back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
+          title: clear_workflows参数
           type: object
         type: UniLabJsonCommand
       auto-load_bioyond_data_from_file:
@@ -533,124 +75,6 @@ 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
-          workflows: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                name:
-                  type: string
-                workflows:
-                  items:
-                    type: object
-                  type: array
-              required:
-              - name
-              - workflows
-              type: object
-            result: {}
-          required:
-          - goal
-          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 +100,11 @@ reaction_station.bioyond:
           title: post_init参数
           type: object
         type: UniLabJsonCommand
-      auto-reactor_taken_in:
-        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:
+      auto-process_web_workflows:
         feedback: {}
         goal: {}
         goal_default:
-          order_id: ''
-          preintake_id: ''
+          json_str: null
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -712,18 +114,15 @@ reaction_station.bioyond:
             feedback: {}
             goal:
               properties:
-                order_id:
-                  default: ''
+                json_str:
                   type: string
-                preintake_id:
-                  default: ''
-                  type: string
-              required: []
+              required:
+              - json_str
               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 +146,11 @@ 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 +160,42 @@ 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
-          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
+          title: set_workflow_sequence参数
           type: object
         type: UniLabJsonCommand
       auto-transfer_resource_to_another:
@@ -1064,33 +386,6 @@ 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 +702,9 @@ 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: []
@@ -1425,30 +718,22 @@ reaction_station.bioyond:
           type: string
         deck:
           type: string
-        station_config:
-          type: string
       required: []
       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
-      - scheduler_status
-      - device_list
+      - all_workflows
+      - station_info
       - workstation_status
       type: object
   version: 1.0.0

unilabos/registry/devices/robot_linear_motion.yaml

@@ -834,174 +834,3 @@ linear_motion.toyo_xyz.sim:
     mesh: toyo_xyz
     type: device
   version: 1.0.0
-motor.iCL42:
-  category:
-  - robot_linear_motion
-  class:
-    action_value_mappings:
-      auto-execute_run_motor:
-        feedback: {}
-        goal: {}
-        goal_default:
-          mode: null
-          position: null
-          velocity: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 步进电机执行运动函数。直接执行电机运动命令，包括位置设定、速度控制和路径规划。该函数处理底层的电机控制协议，消除警告信息，设置运动参数并启动电机运行。适用于需要直接控制电机运动的应用场景。
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                mode:
-                  type: string
-                position:
-                  type: number
-                velocity:
-                  type: integer
-              required:
-              - mode
-              - position
-              - velocity
-              type: object
-            result: {}
-          required:
-          - goal
-          title: execute_run_motor参数
-          type: object
-        type: UniLabJsonCommand
-      auto-init_device:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: iCL42电机设备初始化函数。建立与iCL42步进电机驱动器的串口通信连接，配置通信参数包括波特率、数据位、校验位等。该函数是电机使用前的必要步骤，确保驱动器处于可控状态并准备接收运动指令。
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: init_device参数
-          type: object
-        type: UniLabJsonCommand
-      auto-run_motor:
-        feedback: {}
-        goal: {}
-        goal_default:
-          mode: null
-          position: null
-          velocity: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 步进电机运动控制函数。根据指定的运动模式、目标位置和速度参数控制电机运动。支持多种运动模式和精确的位置控制，自动处理运动轨迹规划和执行。该函数提供异步执行和状态反馈，确保运动的准确性和可靠性。
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                mode:
-                  type: string
-                position:
-                  type: number
-                velocity:
-                  type: integer
-              required:
-              - mode
-              - position
-              - velocity
-              type: object
-            result: {}
-          required:
-          - goal
-          title: run_motor参数
-          type: object
-        type: UniLabJsonCommand
-      execute_command_from_outer:
-        feedback: {}
-        goal:
-          command: command
-        goal_default:
-          command: ''
-        handles: {}
-        result:
-          success: success
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties:
-                status:
-                  type: string
-              required:
-              - status
-              title: SendCmd_Feedback
-              type: object
-            goal:
-              properties:
-                command:
-                  type: string
-              required:
-              - command
-              title: SendCmd_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: SendCmd_Result
-              type: object
-          required:
-          - goal
-          title: SendCmd
-          type: object
-        type: SendCmd
-    module: unilabos.devices.motor.iCL42:iCL42Driver
-    status_types:
-      is_executing_run: bool
-      motor_position: int
-      success: bool
-    type: python
-  config_info: []
-  description: iCL42步进电机驱动器，用于实验室设备的精密线性运动控制。该设备通过串口通信控制iCL42型步进电机驱动器，支持多种运动模式和精确的位置、速度控制。具备位置反馈、运行状态监控和故障检测功能。适用于自动进样器、样品传送、精密定位平台等需要准确线性运动控制的实验室自动化设备。
-  handles: []
-  icon: ''
-  init_param_schema:
-    config:
-      properties:
-        device_address:
-          default: 1
-          type: integer
-        device_com:
-          default: COM9
-          type: string
-      required: []
-      type: object
-    data:
-      properties:
-        is_executing_run:
-          type: boolean
-        motor_position:
-          type: integer
-        success:
-          type: boolean
-      required:
-      - motor_position
-      - is_executing_run
-      - success
-      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/bioyond/bottle_carriers.yaml

@@ -1,46 +1,130 @@
-BIOYOND_PolymerStation_1BottleCarrier:
+1BottleCarrier:
   category:
   - bottle_carriers
   class:
     module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_1BottleCarrier
     type: pylabrobot
-  description: BIOYOND_PolymerStation_1BottleCarrier
+  description: 1BottleCarrier
   handles: []
   icon: ''
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-BIOYOND_PolymerStation_1FlaskCarrier:
+1FlaskCarrier:
   category:
   - bottle_carriers
   class:
     module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_1FlaskCarrier
     type: pylabrobot
-  description: BIOYOND_PolymerStation_1FlaskCarrier
+  description: 1FlaskCarrier
   handles: []
   icon: ''
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-BIOYOND_PolymerStation_6StockCarrier:
+6StockCarrier:
   category:
   - bottle_carriers
   class:
     module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6StockCarrier
     type: pylabrobot
-  description: BIOYOND_PolymerStation_6StockCarrier
+  description: 6StockCarrier
   handles: []
   icon: ''
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-BIOYOND_PolymerStation_6VialCarrier:
+6VialCarrier:
   category:
   - bottle_carriers
   class:
     module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6VialCarrier
     type: pylabrobot
-  description: BIOYOND_PolymerStation_6VialCarrier
+  description: 6VialCarrier
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+6x5ml_DispensingVialCarrier:
+  category:
+  - yb3
+  class:
+    module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6x5ml_DispensingVialCarrier
+    type: pylabrobot
+  description: 6x5ml_DispensingVialCarrier
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+6x20ml_DispensingVialCarrier:
+  category:
+  - yb3
+  class:
+    module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier
+    type: pylabrobot
+  description: 6x20ml_DispensingVialCarrier
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+6x_SmallSolutionBottleCarrier:
+  category:
+  - yb3
+  class:
+    module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6x_SmallSolutionBottleCarrier
+    type: pylabrobot
+  description: 6x_SmallSolutionBottleCarrier
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+4x_LargeSolutionBottleCarrier:
+  category:
+  - yb3
+  class:
+    module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_4x_LargeSolutionBottleCarrier
+    type: pylabrobot
+  description: 4x_LargeSolutionBottleCarrier
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+6x_LargeDispenseHeadCarrier:
+  category:
+  - yb3
+  class:
+    module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6x_LargeDispenseHeadCarrier
+    type: pylabrobot
+  description: 6x_LargeDispenseHeadCarrier
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+AdapterBlock:
+  category:
+  - yb3
+  class:
+    module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_AdapterBlock
+    type: pylabrobot
+  description: AdapterBlock
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+TipBox:
+  category:
+  - yb3
+  class:
+    module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_TipBox
+    type: pylabrobot
+  description: TipBox
   handles: []
   icon: ''
   init_param_schema: {}

unilabos/registry/resources/bioyond/bottles.yaml

@@ -1,4 +1,4 @@
-BIOYOND_PolymerStation_Liquid_Vial:
+Liquid_Vial:
   category:
   - bottles
   class:
@@ -8,7 +8,7 @@ BIOYOND_PolymerStation_Liquid_Vial:
   icon: ''
   init_param_schema: {}
   version: 1.0.0
-BIOYOND_PolymerStation_Reagent_Bottle:
+Reagent_Bottle:
   category:
   - bottles
   class:
@@ -18,7 +18,7 @@ BIOYOND_PolymerStation_Reagent_Bottle:
   icon: ''
   init_param_schema: {}
   version: 1.0.0
-BIOYOND_PolymerStation_Solid_Stock:
+Solid_Stock:
   category:
   - bottles
   class:
@@ -28,7 +28,7 @@ BIOYOND_PolymerStation_Solid_Stock:
   icon: ''
   init_param_schema: {}
   version: 1.0.0
-BIOYOND_PolymerStation_Solid_Vial:
+Solid_Vial:
   category:
   - bottles
   class:
@@ -38,7 +38,7 @@ BIOYOND_PolymerStation_Solid_Vial:
   icon: ''
   init_param_schema: {}
   version: 1.0.0
-BIOYOND_PolymerStation_Solution_Beaker:
+Solution_Beaker:
   category:
   - bottles
   class:
@@ -48,3 +48,93 @@ BIOYOND_PolymerStation_Solution_Beaker:
   icon: ''
   init_param_schema: {}
   version: 1.0.0
+100ml_Liquid_Bottle:
+  category:
+  - yb3
+  class:
+    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_100ml_Liquid_Bottle
+    type: pylabrobot
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+Liquid_Bottle:
+  category:
+  - yb3
+  class:
+    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Liquid_Bottle
+    type: pylabrobot
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+High_Viscosity_Liquid_Bottle:
+  category:
+  - yb3
+  class:
+    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_High_Viscosity_Liquid_Bottle
+    type: pylabrobot
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+Large_Dispense_Head:
+  category:
+  - yb3
+  class:
+    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Large_Dispense_Head
+    type: pylabrobot
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+5ml_Dispensing_Vial:
+  category:
+  - yb3
+  class:
+    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_5ml_Dispensing_Vial
+    type: pylabrobot
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+20ml_Dispensing_Vial:
+  category:
+  - yb3
+  class:
+    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_20ml_Dispensing_Vial
+    type: pylabrobot
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+Small_Solution_Bottle:
+  category:
+  - yb3
+  class:
+    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Small_Solution_Bottle
+    type: pylabrobot
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+Large_Solution_Bottle:
+  category:
+  - yb3
+  class:
+    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Large_Solution_Bottle
+    type: pylabrobot
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+Pipette_Tip:
+  category:
+  - yb3
+  class:
+    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Pipette_Tip
+    type: pylabrobot
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0

unilabos/registry/resources/bioyond/deck.yaml

@@ -22,3 +22,15 @@ BIOYOND_PolymerReactionStation_Deck:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
+YB_Deck15:
+  category:
+  - deck
+  class:
+    module: unilabos.resources.bioyond.decks:YB_Deck
+    type: pylabrobot
+  description: BIOYOND PolymerReactionStation Deck
+  handles: []
+  icon: 配液站.webp
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0

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/bottle_carriers.py

@@ -6,7 +6,13 @@ from unilabos.resources.bioyond.bottles import (
     BIOYOND_PolymerStation_Solid_Vial,
     BIOYOND_PolymerStation_Liquid_Vial,
     BIOYOND_PolymerStation_Solution_Beaker,
-    BIOYOND_PolymerStation_Reagent_Bottle
+    BIOYOND_PolymerStation_Reagent_Bottle,
+    BIOYOND_PolymerStation_5ml_Dispensing_Vial,
+    BIOYOND_PolymerStation_20ml_Dispensing_Vial,
+    BIOYOND_PolymerStation_Small_Solution_Bottle,
+    BIOYOND_PolymerStation_Large_Solution_Bottle,
+    BIOYOND_PolymerStation_Large_Dispense_Head,
+    BIOYOND_PolymerStation_Pipette_Tip
 )
 # 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
 
@@ -51,7 +57,7 @@ def BIOYOND_Electrolyte_6VialCarrier(name: str) -> BottleCarrier:
         size_y=carrier_size_y,
         size_z=carrier_size_z,
         sites=sites,
-        model="BIOYOND_Electrolyte_6VialCarrier",
+        model="Electrolyte_6VialCarrier",
     )
     carrier.num_items_x = 3
     carrier.num_items_y = 2
@@ -89,7 +95,7 @@ def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier:
             resource_size_y=beaker_diameter,
             name_prefix=name,
         ),
-        model="BIOYOND_Electrolyte_1BottleCarrier",
+        model="Electrolyte_1BottleCarrier",
     )
     carrier.num_items_x = 1
     carrier.num_items_y = 1
@@ -138,7 +144,7 @@ def BIOYOND_PolymerStation_6StockCarrier(name: str) -> BottleCarrier:
         size_y=carrier_size_y,
         size_z=carrier_size_z,
         sites=sites,
-        model="BIOYOND_PolymerStation_6VialCarrier",
+        model="6StockCarrier",
     )
     carrier.num_items_x = 3
     carrier.num_items_y = 2
@@ -189,7 +195,7 @@ def BIOYOND_PolymerStation_6VialCarrier(name: str) -> BottleCarrier:
         size_y=carrier_size_y,
         size_z=carrier_size_z,
         sites=sites,
-        model="BIOYOND_PolymerStation_6VialCarrier",
+        model="6VialCarrier",
     )
     carrier.num_items_x = 3
     carrier.num_items_y = 2
@@ -230,7 +236,7 @@ def BIOYOND_PolymerStation_1BottleCarrier(name: str) -> BottleCarrier:
             resource_size_y=beaker_diameter,
             name_prefix=name,
         ),
-        model="BIOYOND_PolymerStation_1BottleCarrier",
+        model="1BottleCarrier",
     )
     carrier.num_items_x = 1
     carrier.num_items_y = 1
@@ -267,10 +273,348 @@ def BIOYOND_PolymerStation_1FlaskCarrier(name: str) -> BottleCarrier:
             resource_size_y=beaker_diameter,
             name_prefix=name,
         ),
-        model="BIOYOND_PolymerStation_1FlaskCarrier",
+        model="1FlaskCarrier",
     )
     carrier.num_items_x = 1
     carrier.num_items_y = 1
     carrier.num_items_z = 1
     carrier[0] = BIOYOND_PolymerStation_Reagent_Bottle(f"{name}_bottle_1")
     return carrier
+
+
+def BIOYOND_PolymerStation_6x5ml_DispensingVialCarrier(name: str) -> BottleCarrier:
+    """5ml分液瓶板 - 4x2布局，8个位置"""
+
+    # 载架尺寸 (mm)
+    carrier_size_x = 127.8
+    carrier_size_y = 85.5
+    carrier_size_z = 50.0
+
+    # 瓶位尺寸
+    bottle_diameter = 15.0
+    bottle_spacing_x = 42.0  # X方向间距
+    bottle_spacing_y = 35.0  # Y方向间距
+
+    # 计算起始位置 (居中排列)
+    start_x = (carrier_size_x - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2
+    start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
+
+    sites = create_ordered_items_2d(
+        klass=ResourceHolder,
+        num_items_x=4,
+        num_items_y=2,
+        dx=start_x,
+        dy=start_y,
+        dz=5.0,
+        item_dx=bottle_spacing_x,
+        item_dy=bottle_spacing_y,
+        size_x=bottle_diameter,
+        size_y=bottle_diameter,
+        size_z=carrier_size_z,
+    )
+    for k, v in sites.items():
+        v.name = f"{name}_{v.name}"
+
+    carrier = BottleCarrier(
+        name=name,
+        size_x=carrier_size_x,
+        size_y=carrier_size_y,
+        size_z=carrier_size_z,
+        sites=sites,
+        model="6x5ml_DispensingVialCarrier",
+    )
+    carrier.num_items_x = 4
+    carrier.num_items_y = 2
+    carrier.num_items_z = 1
+    ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
+    for i in range(8):
+        carrier[i] = BIOYOND_PolymerStation_5ml_Dispensing_Vial(f"{name}_vial_{ordering[i]}")
+    return carrier
+
+
+def BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier(name: str) -> BottleCarrier:
+    """20ml分液瓶板 - 4x2布局，8个位置"""
+
+    # 载架尺寸 (mm)
+    carrier_size_x = 127.8
+    carrier_size_y = 85.5
+    carrier_size_z = 70.0
+
+    # 瓶位尺寸
+    bottle_diameter = 20.0
+    bottle_spacing_x = 42.0  # X方向间距
+    bottle_spacing_y = 35.0  # Y方向间距
+
+    # 计算起始位置 (居中排列)
+    start_x = (carrier_size_x - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2
+    start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
+
+    sites = create_ordered_items_2d(
+        klass=ResourceHolder,
+        num_items_x=4,
+        num_items_y=2,
+        dx=start_x,
+        dy=start_y,
+        dz=5.0,
+        item_dx=bottle_spacing_x,
+        item_dy=bottle_spacing_y,
+        size_x=bottle_diameter,
+        size_y=bottle_diameter,
+        size_z=carrier_size_z,
+    )
+    for k, v in sites.items():
+        v.name = f"{name}_{v.name}"
+
+    carrier = BottleCarrier(
+        name=name,
+        size_x=carrier_size_x,
+        size_y=carrier_size_y,
+        size_z=carrier_size_z,
+        sites=sites,
+        model="6x20ml_DispensingVialCarrier",
+    )
+    carrier.num_items_x = 4
+    carrier.num_items_y = 2
+    carrier.num_items_z = 1
+    ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
+    for i in range(8):
+        carrier[i] = BIOYOND_PolymerStation_20ml_Dispensing_Vial(f"{name}_vial_{ordering[i]}")
+    return carrier
+
+
+def BIOYOND_PolymerStation_6x_SmallSolutionBottleCarrier(name: str) -> BottleCarrier:
+    """配液瓶(小)板 - 4x2布局，8个位置"""
+
+    # 载架尺寸 (mm)
+    carrier_size_x = 127.8
+    carrier_size_y = 85.5
+    carrier_size_z = 65.0
+
+    # 瓶位尺寸
+    bottle_diameter = 35.0
+    bottle_spacing_x = 42.0  # X方向间距
+    bottle_spacing_y = 35.0  # Y方向间距
+
+    # 计算起始位置 (居中排列)
+    start_x = (carrier_size_x - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2
+    start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
+
+    sites = create_ordered_items_2d(
+        klass=ResourceHolder,
+        num_items_x=4,
+        num_items_y=2,
+        dx=start_x,
+        dy=start_y,
+        dz=5.0,
+        item_dx=bottle_spacing_x,
+        item_dy=bottle_spacing_y,
+        size_x=bottle_diameter,
+        size_y=bottle_diameter,
+        size_z=carrier_size_z,
+    )
+    for k, v in sites.items():
+        v.name = f"{name}_{v.name}"
+
+    carrier = BottleCarrier(
+        name=name,
+        size_x=carrier_size_x,
+        size_y=carrier_size_y,
+        size_z=carrier_size_z,
+        sites=sites,
+        model="6x_SmallSolutionBottleCarrier",
+    )
+    carrier.num_items_x = 4
+    carrier.num_items_y = 2
+    carrier.num_items_z = 1
+    ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
+    for i in range(8):
+        carrier[i] = BIOYOND_PolymerStation_Small_Solution_Bottle(f"{name}_bottle_{ordering[i]}")
+    return carrier
+
+
+def BIOYOND_PolymerStation_4x_LargeSolutionBottleCarrier(name: str) -> BottleCarrier:
+    """配液瓶(大)板 - 2x2布局，4个位置"""
+
+    # 载架尺寸 (mm)
+    carrier_size_x = 127.8
+    carrier_size_y = 85.5
+    carrier_size_z = 95.0
+
+    # 瓶位尺寸
+    bottle_diameter = 55.0
+    bottle_spacing_x = 60.0  # X方向间距
+    bottle_spacing_y = 60.0  # Y方向间距
+
+    # 计算起始位置 (居中排列)
+    start_x = (carrier_size_x - (2 - 1) * bottle_spacing_x - bottle_diameter) / 2
+    start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
+
+    sites = create_ordered_items_2d(
+        klass=ResourceHolder,
+        num_items_x=2,
+        num_items_y=2,
+        dx=start_x,
+        dy=start_y,
+        dz=5.0,
+        item_dx=bottle_spacing_x,
+        item_dy=bottle_spacing_y,
+        size_x=bottle_diameter,
+        size_y=bottle_diameter,
+        size_z=carrier_size_z,
+    )
+    for k, v in sites.items():
+        v.name = f"{name}_{v.name}"
+
+    carrier = BottleCarrier(
+        name=name,
+        size_x=carrier_size_x,
+        size_y=carrier_size_y,
+        size_z=carrier_size_z,
+        sites=sites,
+        model="4x_LargeSolutionBottleCarrier",
+    )
+    carrier.num_items_x = 2
+    carrier.num_items_y = 2
+    carrier.num_items_z = 1
+    ordering = ["A1", "A2", "B1", "B2"]
+    for i in range(4):
+        carrier[i] = BIOYOND_PolymerStation_Large_Solution_Bottle(f"{name}_bottle_{ordering[i]}")
+    return carrier
+
+
+def BIOYOND_PolymerStation_6x_LargeDispenseHeadCarrier(name: str) -> BottleCarrier:
+    """加样头(大)板 - 1x1布局，1个位置"""
+
+    # 载架尺寸 (mm)
+    carrier_size_x = 127.8
+    carrier_size_y = 85.5
+    carrier_size_z = 95.0
+
+    # 瓶位尺寸
+    bottle_diameter = 35.0
+    bottle_spacing_x = 42.0  # X方向间距
+    bottle_spacing_y = 35.0  # Y方向间距
+
+    # 计算起始位置 (居中排列)
+    start_x = (carrier_size_x - (1 - 1) * bottle_spacing_x - bottle_diameter) / 2
+    start_y = (carrier_size_y - (1 - 1) * bottle_spacing_y - bottle_diameter) / 2
+
+    sites = create_ordered_items_2d(
+        klass=ResourceHolder,
+        num_items_x=1,
+        num_items_y=1,
+        dx=start_x,
+        dy=start_y,
+        dz=5.0,
+        item_dx=bottle_spacing_x,
+        item_dy=bottle_spacing_y,
+        size_x=bottle_diameter,
+        size_y=bottle_diameter,
+        size_z=carrier_size_z,
+    )
+    for k, v in sites.items():
+        v.name = f"{name}_{v.name}"
+
+    carrier = BottleCarrier(
+        name=name,
+        size_x=carrier_size_x,
+        size_y=carrier_size_y,
+        size_z=carrier_size_z,
+        sites=sites,
+        model="6x_LargeDispenseHeadCarrier",
+    )
+    carrier.num_items_x = 1
+    carrier.num_items_y = 1
+    carrier.num_items_z = 1
+    carrier[0] = BIOYOND_PolymerStation_Large_Dispense_Head(f"{name}_head_1")
+    return carrier
+
+
+def BIOYOND_PolymerStation_AdapterBlock(name: str) -> BottleCarrier:
+    """适配器块 - 单个中央位置"""
+
+    # 载架尺寸 (mm)
+    carrier_size_x = 127.8
+    carrier_size_y = 85.5
+    carrier_size_z = 30.0
+
+    # 适配器尺寸
+    adapter_diameter = 80.0
+
+    # 计算中央位置
+    center_x = (carrier_size_x - adapter_diameter) / 2
+    center_y = (carrier_size_y - adapter_diameter) / 2
+    center_z = 0.0
+
+    carrier = BottleCarrier(
+        name=name,
+        size_x=carrier_size_x,
+        size_y=carrier_size_y,
+        size_z=carrier_size_z,
+        sites=create_homogeneous_resources(
+            klass=ResourceHolder,
+            locations=[Coordinate(center_x, center_y, center_z)],
+            resource_size_x=adapter_diameter,
+            resource_size_y=adapter_diameter,
+            name_prefix=name,
+        ),
+        model="AdapterBlock",
+    )
+    carrier.num_items_x = 1
+    carrier.num_items_y = 1
+    carrier.num_items_z = 1
+    # 适配器块本身不包含瓶子，只是一个支撑结构
+    return carrier
+
+
+def BIOYOND_PolymerStation_TipBox(name: str) -> BottleCarrier:
+    """枪头盒 - 8x12布局，96个位置"""
+
+    # 载架尺寸 (mm)
+    carrier_size_x = 127.8
+    carrier_size_y = 85.5
+    carrier_size_z = 55.0
+
+    # 枪头尺寸
+    tip_diameter = 10.0
+    tip_spacing_x = 9.0  # X方向间距
+    tip_spacing_y = 9.0  # Y方向间距
+
+    # 计算起始位置 (居中排列)
+    start_x = (carrier_size_x - (12 - 1) * tip_spacing_x - tip_diameter) / 2
+    start_y = (carrier_size_y - (8 - 1) * tip_spacing_y - tip_diameter) / 2
+
+    sites = create_ordered_items_2d(
+        klass=ResourceHolder,
+        num_items_x=12,
+        num_items_y=8,
+        dx=start_x,
+        dy=start_y,
+        dz=5.0,
+        item_dx=tip_spacing_x,
+        item_dy=tip_spacing_y,
+        size_x=tip_diameter,
+        size_y=tip_diameter,
+        size_z=carrier_size_z,
+    )
+    for k, v in sites.items():
+        v.name = f"{name}_{v.name}"
+
+    carrier = BottleCarrier(
+        name=name,
+        size_x=carrier_size_x,
+        size_y=carrier_size_y,
+        size_z=carrier_size_z,
+        sites=sites,
+        model="TipBox",
+    )
+    carrier.num_items_x = 12
+    carrier.num_items_y = 8
+    carrier.num_items_z = 1
+    # 创建96个枪头
+    for i in range(96):
+        row = chr(65 + i // 12)  # A-H
+        col = (i % 12) + 1  # 1-12
+        carrier[i] = BIOYOND_PolymerStation_Pipette_Tip(f"{name}_tip_{row}{col}")
+    return carrier
+

unilabos/resources/bioyond/bottles.py

@@ -16,7 +16,7 @@ def BIOYOND_PolymerStation_Solid_Stock(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="BIOYOND_PolymerStation_Solid_Stock",
+        model="Solid_Stock",
     )
 
 
@@ -34,7 +34,7 @@ def BIOYOND_PolymerStation_Solid_Vial(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="BIOYOND_PolymerStation_Solid_Vial",
+        model="Solid_Vial",
     )
 
 
@@ -52,7 +52,7 @@ def BIOYOND_PolymerStation_Liquid_Vial(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="BIOYOND_PolymerStation_Liquid_Vial",
+        model="Liquid_Vial",
     )
 
 
@@ -70,7 +70,7 @@ def BIOYOND_PolymerStation_Solution_Beaker(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="BIOYOND_PolymerStation_Solution_Beaker",
+        model="Solution_Beaker",
     )
 
 
@@ -88,5 +88,168 @@ def BIOYOND_PolymerStation_Reagent_Bottle(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="BIOYOND_PolymerStation_Reagent_Bottle",
+        model="Reagent_Bottle",
     )
+
+
+def BIOYOND_PolymerStation_100ml_Liquid_Bottle(
+    name: str,
+    diameter: float = 50.0,
+    height: float = 80.0,
+    max_volume: float = 100000.0,  # 100mL
+    barcode: str = None,
+) -> Bottle:
+    """创建100ml液体瓶"""
+    return Bottle(
+        name=name,
+        diameter=diameter,
+        height=height,
+        max_volume=max_volume,
+        barcode=barcode,
+        model="100ml_Liquid_Bottle",
+    )
+
+
+def BIOYOND_PolymerStation_Liquid_Bottle(
+    name: str,
+    diameter: float = 40.0,
+    height: float = 70.0,
+    max_volume: float = 50000.0,  # 50mL
+    barcode: str = None,
+) -> Bottle:
+    """创建液体瓶"""
+    return Bottle(
+        name=name,
+        diameter=diameter,
+        height=height,
+        max_volume=max_volume,
+        barcode=barcode,
+        model="Liquid_Bottle",
+    )
+
+
+def BIOYOND_PolymerStation_High_Viscosity_Liquid_Bottle(
+    name: str,
+    diameter: float = 45.0,
+    height: float = 75.0,
+    max_volume: float = 60000.0,  # 60mL
+    barcode: str = None,
+) -> Bottle:
+    """创建高粘液瓶"""
+    return Bottle(
+        name=name,
+        diameter=diameter,
+        height=height,
+        max_volume=max_volume,
+        barcode=barcode,
+        model="High_Viscosity_Liquid_Bottle",
+    )
+
+
+def BIOYOND_PolymerStation_Large_Dispense_Head(
+    name: str,
+    diameter: float = 35.0,
+    height: float = 90.0,
+    max_volume: float = 50000.0,  # 50mL
+    barcode: str = None,
+) -> Bottle:
+    """创建加样头(大)"""
+    return Bottle(
+        name=name,
+        diameter=diameter,
+        height=height,
+        max_volume=max_volume,
+        barcode=barcode,
+        model="Large_Dispense_Head",
+    )
+
+
+def BIOYOND_PolymerStation_5ml_Dispensing_Vial(
+    name: str,
+    diameter: float = 15.0,
+    height: float = 45.0,
+    max_volume: float = 5000.0,  # 5mL
+    barcode: str = None,
+) -> Bottle:
+    """创建5ml分液瓶"""
+    return Bottle(
+        name=name,
+        diameter=diameter,
+        height=height,
+        max_volume=max_volume,
+        barcode=barcode,
+        model="5ml_Dispensing_Vial",
+    )
+
+
+def BIOYOND_PolymerStation_20ml_Dispensing_Vial(
+    name: str,
+    diameter: float = 20.0,
+    height: float = 65.0,
+    max_volume: float = 20000.0,  # 20mL
+    barcode: str = None,
+) -> Bottle:
+    """创建20ml分液瓶"""
+    return Bottle(
+        name=name,
+        diameter=diameter,
+        height=height,
+        max_volume=max_volume,
+        barcode=barcode,
+        model="20ml_Dispensing_Vial",
+    )
+
+
+def BIOYOND_PolymerStation_Small_Solution_Bottle(
+    name: str,
+    diameter: float = 35.0,
+    height: float = 60.0,
+    max_volume: float = 40000.0,  # 40mL
+    barcode: str = None,
+) -> Bottle:
+    """创建配液瓶(小)"""
+    return Bottle(
+        name=name,
+        diameter=diameter,
+        height=height,
+        max_volume=max_volume,
+        barcode=barcode,
+        model="Small_Solution_Bottle",
+    )
+
+
+def BIOYOND_PolymerStation_Large_Solution_Bottle(
+    name: str,
+    diameter: float = 55.0,
+    height: float = 90.0,
+    max_volume: float = 150000.0,  # 150mL
+    barcode: str = None,
+) -> Bottle:
+    """创建配液瓶(大)"""
+    return Bottle(
+        name=name,
+        diameter=diameter,
+        height=height,
+        max_volume=max_volume,
+        barcode=barcode,
+        model="Large_Solution_Bottle",
+    )
+
+
+def BIOYOND_PolymerStation_Pipette_Tip(
+    name: str,
+    diameter: float = 10.0,
+    height: float = 50.0,
+    max_volume: float = 1000.0,  # 1mL
+    barcode: str = None,
+) -> Bottle:
+    """创建枪头"""
+    return Bottle(
+        name=name,
+        diameter=diameter,
+        height=height,
+        max_volume=max_volume,
+        barcode=barcode,
+        model="Pipette_Tip",
+    )
+

unilabos/resources/bioyond/decks.py

@@ -1,6 +1,7 @@
+from os import name
 from pylabrobot.resources import Deck, Coordinate, Rotation
 
-from unilabos.resources.bioyond.warehouses import bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x2, bioyond_warehouse_liquid_and_lid_handling
+from unilabos.resources.bioyond.warehouses import bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x2, bioyond_warehouse_liquid_and_lid_handling, bioyond_warehouse_1x2x2, bioyond_warehouse_1x3x3, bioyond_warehouse_10x1x1, bioyond_warehouse_3x3x1, bioyond_warehouse_3x3x1_2, bioyond_warehouse_5x1x1
 
 
 class BIOYOND_PolymerReactionStation_Deck(Deck):
@@ -66,3 +67,60 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck):
 
         for warehouse_name, warehouse in self.warehouses.items():
             self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
+
+class BIOYOND_YB_Deck(Deck):
+    def __init__(
+        self, 
+        name: str = "YB_Deck",
+        size_x: float = 4150,
+        size_y: float = 1400.0,
+        size_z: float = 2670.0,
+        category: str = "deck",
+        setup: bool = False
+    ) -> None:
+        super().__init__(name=name, size_x=4150.0, size_y=1400.0, size_z=2670.0)
+        if setup:
+            self.setup()
+
+    def setup(self) -> None:
+        # 添加仓库
+        self.warehouses = {
+            "321窗口": bioyond_warehouse_1x2x2("321窗口"),
+            "43窗口": bioyond_warehouse_1x2x2("43窗口"),
+            "手动传递窗左": bioyond_warehouse_1x3x3("手动传递窗左"),
+            "手动传递窗右": bioyond_warehouse_1x3x3("手动传递窗右"),
+            "加样头堆栈左": bioyond_warehouse_10x1x1("加样头堆栈左"),
+            "加样头堆栈右": bioyond_warehouse_10x1x1("加样头堆栈右"),
+
+            "15ml配液堆栈左": bioyond_warehouse_3x3x1("15ml配液堆栈左"),
+            "母液加样右": bioyond_warehouse_3x3x1_2("母液加样右"),
+            "大瓶母液堆栈左": bioyond_warehouse_5x1x1("大瓶母液堆栈左"),
+            "大瓶母液堆栈右": bioyond_warehouse_5x1x1("大瓶母液堆栈右"),
+        }
+        # warehouse 的位置
+        self.warehouse_locations = {
+            "321窗口": Coordinate(-150.0, 158.0, 0.0),
+            "43窗口": Coordinate(4160.0, 158.0, 0.0),
+            "手动传递窗左": Coordinate(-150.0, 877.0, 0.0),
+            "手动传递窗右": Coordinate(4160.0, 877.0, 0.0),
+            "加样头堆栈左": Coordinate(385.0, 1300.0, 0.0),
+            "加样头堆栈右": Coordinate(2187.0, 1300.0, 0.0),
+
+            "15ml配液堆栈左": Coordinate(749.0, 355.0, 0.0),
+            "母液加样右": Coordinate(2152.0, 333.0, 0.0),
+            "大瓶母液堆栈左": Coordinate(1164.0, 676.0, 0.0),
+            "大瓶母液堆栈右": Coordinate(2717.0, 676.0, 0.0),
+        }
+
+        for warehouse_name, warehouse in self.warehouses.items():
+            self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
+            
+def YB_Deck(name: str) -> Deck:
+    by=BIOYOND_YB_Deck(name=name)
+    by.setup()
+    return by
+
+
+
+
+

unilabos/resources/bioyond/warehouses.py

@@ -34,7 +34,113 @@ def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
         category="warehouse",
         removed_positions=None
     )
+ # 定义benyond的堆栈
+def bioyond_warehouse_1x2x2(name: str) -> WareHouse:
+    """创建BioYond 4x1x4仓库"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=2,
+        num_items_y=2,
+        num_items_z=1,
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+    )
+def bioyond_warehouse_10x1x1(name: str) -> WareHouse:
+    """创建BioYond 4x1x4仓库"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=10,
+        num_items_y=1,
+        num_items_z=1,
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+    )
+def bioyond_warehouse_1x3x3(name: str) -> WareHouse:
+    """创建BioYond 4x1x4仓库"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=1,
+        num_items_y=3,
+        num_items_z=3,
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+    )
+def bioyond_warehouse_2x1x3(name: str) -> WareHouse:
+    """创建BioYond 4x1x4仓库"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=2,
+        num_items_y=1,
+        num_items_z=3,
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+    )
 
+def bioyond_warehouse_3x3x1(name: str) -> WareHouse:
+    """创建BioYond 4x1x4仓库"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=3,
+        num_items_y=3,
+        num_items_z=1,
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+    )
+def bioyond_warehouse_5x1x1(name: str) -> WareHouse:
+    """创建BioYond 4x1x4仓库"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=5,
+        num_items_y=1,
+        num_items_z=1,
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+    )
+def bioyond_warehouse_3x3x1_2(name: str) -> WareHouse:
+    """创建BioYond 4x1x4仓库"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=3,
+        num_items_y=3,
+        num_items_z=1,
+        dx=12.0,
+        dy=12.0,
+        dz=12.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+    )
 
 def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse:
     """创建BioYond开关盖加液模块台面"""

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):
-    # 第一个参数必须是id传入
-    # noinspection PyShadowingBuiltins
-    def __init__(self, id: str):
-        self.id = id
-        self.ulr_resource = Resource()
-        self._data = None
+class RegularContainer(Container):
+    def __init__(self, *args, **kwargs):
+        if "size_x" not in kwargs:
+            kwargs["size_x"] = 0
+        if "size_y" not in kwargs:
+            kwargs["size_y"] = 0
+        if "size_z" not in kwargs:
+            kwargs["size_z"] = 0
+        self.kwargs = kwargs
+        self.state = {}
+        super().__init__(*args, **kwargs)
 
-    @property
-    def ulr_resource_data(self):
-        if self._data is None:
-            self._data = json.loads(self.ulr_resource.data) if self.ulr_resource.data else {}
-        return self._data
-
-    @ulr_resource_data.setter
-    def ulr_resource_data(self, value: dict):
-        self._data = value
-        self.ulr_resource.data = json.dumps(self._data)
-
-    @property
-    def liquid_type(self):
-        return self.ulr_resource_data.get("liquid_type", None)
-
-    @liquid_type.setter
-    def liquid_type(self, value: str):
-        if value is not None:
-            self.ulr_resource_data["liquid_type"] = value
-        else:
-            self.ulr_resource_data.pop("liquid_type", None)
-
-    @property
-    def liquid_volume(self):
-        return self.ulr_resource_data.get("liquid_volume", None)
-
-    @liquid_volume.setter
-    def liquid_volume(self, value: float):
-        if value is not None:
-            self.ulr_resource_data["liquid_volume"] = value
-        else:
-            self.ulr_resource_data.pop("liquid_volume", None)
-
-    def get_ulr_resource(self) -> Resource:
-        """
-        获取UlrResource对象
-        :return: UlrResource对象
-        """
-        self.ulr_resource_data = self.ulr_resource_data  # 确保数据被更新
-        return self.ulr_resource
-
-    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}"
+    def load_state(self, state: Dict[str, Any]):
+        self.state = state
+#
+# class RegularContainer(object):
+#     # 第一个参数必须是id传入
+#     # noinspection PyShadowingBuiltins
+#     def __init__(self, id: str):
+#         self.id = id
+#         self.ulr_resource = Resource()
+#         self._data = None
+#
+#     @property
+#     def ulr_resource_data(self):
+#         if self._data is None:
+#             self._data = json.loads(self.ulr_resource.data) if self.ulr_resource.data else {}
+#         return self._data
+#
+#     @ulr_resource_data.setter
+#     def ulr_resource_data(self, value: dict):
+#         self._data = value
+#         self.ulr_resource.data = json.dumps(self._data)
+#
+#     @property
+#     def liquid_type(self):
+#         return self.ulr_resource_data.get("liquid_type", None)
+#
+#     @liquid_type.setter
+#     def liquid_type(self, value: str):
+#         if value is not None:
+#             self.ulr_resource_data["liquid_type"] = value
+#         else:
+#             self.ulr_resource_data.pop("liquid_type", None)
+#
+#     @property
+#     def liquid_volume(self):
+#         return self.ulr_resource_data.get("liquid_volume", None)
+#
+#     @liquid_volume.setter
+#     def liquid_volume(self, value: float):
+#         if value is not None:
+#             self.ulr_resource_data["liquid_volume"] = value
+#         else:
+#             self.ulr_resource_data.pop("liquid_volume", None)
+#
+#     def get_ulr_resource(self) -> Resource:
+#         """
+#         获取UlrResource对象
+#         :return: UlrResource对象
+#         """
+#         self.ulr_resource_data = self.ulr_resource_data  # 确保数据被更新
+#         return self.ulr_resource
+#
+#     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)
+                    + (detail.get("y", 0) - 1) * plr_material.num_items_y
+                    + (detail.get("x", 0) - 1)
                 )
-                bottle = plr_material[number]
-                if detail["name"] in type_mapping:
-                    # plr_material.unassign_child_resource(bottle)
-                    plr_material.sites[number] = None
-                    plr_material[number] = initialize_resource(
-                        {"name": f'{detail["name"]}_{number}', "class": type_mapping[detail["name"]]}, resource_type=ResourcePLR
+                typeName = detail.get("typeName", detail.get("name", ""))
+                if typeName in type_mapping:
+                    bottle = plr_material[number] = initialize_resource(
+                        {"name": f'{detail["name"]}_{number}', "class": type_mapping[typeName][0]}, 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:
-        material = {
-            "name": plr_material.name,
-            "typeName": plr_material.__class__.__name__,
-            "code": plr_material.code,
-            "quantity": 0,
-            "detail": [],
-            "locations": [],
-        }
-        if hasattr(plr_material, "capacity") and plr_material.capacity > 1:
-            for idx in range(plr_material.capacity):
-                bottle = plr_material[idx]
-                detail = {
-                    "x": (idx // (plr_material.num_items_x * plr_material.num_items_y)) + 1,
-                    "y": ((idx % (plr_material.num_items_x * plr_material.num_items_y)) // plr_material.num_items_x) + 1,
-                    "z": (idx % plr_material.num_items_x) + 1,
+    for resource in plr_resources:
+        if hasattr(resource, "capacity") and resource.capacity > 1:
+            material = {
+                "typeId": type_mapping.get(resource.model)[1],
+                "name": resource.name,
+                "unit": "个",
+                "quantity": 1,
+                "details": [],
+                "Parameters": "{}"
+            }
+            for bottle in resource.children:
+                if isinstance(resource, ItemizedCarrier):
+                    site = resource.get_child_identifier(bottle)
+                else:
+                    site = {"x": bottle.location.x - 1, "y": bottle.location.y - 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["quantity"] = 1.0
+                material["details"].append(detail_item)
         else:
-            bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
-            material["quantity"] = sum(qty for _, qty in bottle.tracker.liquids) if hasattr(plr_material, "tracker") else 0
+            bottle = resource[0] if resource.capacity > 0 else resource
+            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"):
-      resource.unassign()
+    super().unassign_child_resource(resource)
+    # 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_y: int = 1,
+    num_items_x: 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] = [
-                            self.resource_tracker.uuid_to_resources[i] for i in resources_uuid
-                        ]
+                        found_resources: List[List[Union[ResourcePLR, dict]]] = self.resource_tracker.figure_resource(
+                            [{"uuid": uid} for uid in resources_uuid], try_mode=True
+                        )
+                        found_plr_resources = []
+                        other_plr_resources = []
+                        for found_resource in found_resources:
+                            for resource in found_resource:
+                                if issubclass(resource.__class__, ResourcePLR):
+                                    found_plr_resources.append(resource)
+                                else:
+                                    other_plr_resources.append(resource)
                         func = getattr(self.driver_instance, "resource_tree_remove", None)
                         if callable(func):
-                            func(plr_resources)
-                        for plr_resource in plr_resources:
-                            plr_resource.parent.unassign_child_resource(plr_resource)
+                            func(found_plr_resources)
+                        for plr_resource in found_plr_resources:
+                            if plr_resource.parent is not None:
+                                plr_resource.parent.unassign_child_resource(plr_resource)
                             self.resource_tracker.remove_resource(plr_resource)
+                            self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点")
+                        for other_plr_resource in other_plr_resources:
+                            self.resource_tracker.remove_resource(other_plr_resource)
+                            self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点")
                         results.append({"success": True, "action": "remove"})
                 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_mapping = http_client.resource_tree_update(resource_tree_set, "", 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}")
+        uuid_to_trees: Dict[str, List[ResourceTreeInstance]] = collections.defaultdict(list)
+        for tree in resource_tree_set.trees:
+            uuid_to_trees[tree.root_node.res_content.parent_uuid].append(tree)
 
-    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 import ResourceGet, ResourceUpdate  # type: ignore
+from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 
 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()
-                        resource_id = (
-                            protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
-                        )
-                        r.id = resource_id
-                        r.with_children = True
-                        response = await self._resource_clients["resource_get"].call_async(r)
-                        protocol_kwargs[k] = list_to_nested_dict(
-                            [convert_from_ros_msg(rs) for rs in response.resources]
-                        )
+                        self.lab_logger().info(f"{protocol_name} 查询资源状态: Key: {k} Type: {v}")
+
+                        try:
+                            # 统一处理单个或多个资源
+                            resource_id = (
+                                protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
+                            )
+                            resource_uuid = protocol_kwargs[k].get("uuid", None)
+                            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": (
-                    {"x": d["location"]["x"], "y": d["location"]["y"], "z": d["location"]["z"]}
-                    if d["location"]
-                    else {"x": 0, "y": 0, "z": 0}
-                ),
-                "config": {k: v for k, v in d.items() if k not in ["name", "children", "parent_name", "location"]},
+                "position": pos,
+                "pose": pos,
+                "config": {k: v for k, v in d.items() if k not in
+                           ["name", "children", "parent_name", "location", "rotation", "size_x", "size_y", "size_z", "cross_section_type", "bottom_type"]},
                 "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 = [
-                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
+            nested_lists.extend(ResourceTreeSet.from_raw_list(tree_data).trees)
         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
-            return 0
+                    replaced = 1
+            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