Merge pull request #205 from sun7151887/push-sync-20251222

修复物料不能显示的问题

.gitignore

@@ -249,4 +249,3 @@ ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2
 test_config.py
 
 
-Uni-Lab-OS/

new_cellconfig3c.json

@@ -1,101 +1,95 @@
-      
 {
-    "nodes": [
+  "nodes": [
-      {
+    {
-        "id": "bioyond_cell_workstation",
+      "id": "bioyond_cell_workstation",
-        "name": "配液分液工站",
+      "name": "配液分液工站",
-        "parent": null,
+      "parent": null,
-        "children": [
+      "children": [
-          "YB_Bioyond_Deck"
+        "YB_Bioyond_Deck"
-        ],
+      ],
-        "type": "device",
+      "type": "device",
-        "class": "bioyond_cell",
+      "class": "bioyond_cell",
-        "config": {
+      "config": {
-          "deck": {
+        "deck": {
-            "data": {
+          "data": {
-              "_resource_child_name": "YB_Bioyond_Deck",
+            "_resource_child_name": "YB_Bioyond_Deck",
-              "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_YB_Deck"
+            "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_YB_Deck"
-            }
+          }
-          },
-          "protocol_type": []
         },
-        "data": {}
+        "protocol_type": []
       },
-      {
+      "data": {}
-        "id": "YB_Bioyond_Deck",
+    },
-        "name": "YB_Bioyond_Deck",
+    {
-        "children": [],
+      "id": "YB_Bioyond_Deck",
-        "parent": "bioyond_cell_workstation",
+      "name": "YB_Bioyond_Deck",
-        "type": "deck",
+      "children": [],
-        "class": "BIOYOND_YB_Deck",
+      "parent": "bioyond_cell_workstation",
-        "position": {
+      "type": "deck",
+      "class": "BIOYOND_YB_Deck",
+      "position": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "config": {
+        "type": "BIOYOND_YB_Deck",
+        "setup": true,
+        "rotation": {
           "x": 0,
           "y": 0,
-          "z": 0
+          "z": 0,
-        },
+          "type": "Rotation"
-        "config": {
-          "type": "BIOYOND_YB_Deck",
-          "setup": true,
-          "rotation": {
-            "x": 0,
-            "y": 0,
-            "z": 0,
-            "type": "Rotation"
-          }
-        },
-        "data": {}
-      },
-      {
-        "id": "BatteryStation",
-        "name": "扣电工作站",
-        "parent": null,
-        "children": [
-          "coin_cell_deck"
-        ],
-        "type": "device",
-        "class":"coincellassemblyworkstation_device",
-        "config": {
-          "deck": {
-            "data": {
-              "_resource_child_name": "YB_YH_Deck",
-              "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:CoincellDeck"
-            }
-          },
-          "protocol_type": []
-        },
-        "position": {
-          "size": {"height": 1450, "width": 1450, "depth": 2100},
-          "position": {
-            "x": -1500,
-            "y": 0,
-            "z": 0
-          }
         }
       },
-      {
+      "data": {}
-        "id": "YB_YH_Deck",
+    },
-        "name": "YB_YH_Deck",
+    {
-        "children": [],
+      "id": "BatteryStation",
-        "parent": "BatteryStation",
+      "name": "扣电工作站",
-        "type": "deck",
+      "parent": null,
-        "class": "CoincellDeck",
+      "children": [
-        "config": {
+        "coin_cell_deck"
-          "type": "CoincellDeck",
+      ],
-          "setup": true,
+      "type": "device",
-          "rotation": {
+      "class":"coincellassemblyworkstation_device",
-            "x": 0,
+      "config": {
-            "y": 0,
+        "deck": {
-            "z": 0,
+          "data": {
-            "type": "Rotation"
+            "_resource_child_name": "YB_YH_Deck",
+            "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:CoincellDeck"
           }
         },
-        "data": {}
+        "protocol_type": []
+      },
+      "position": {
+        "size": {"height": 1450, "width": 1450, "depth": 2100},
+        "position": {
+          "x": -1500,
+          "y": 0,
+          "z": 0
+        }
       }
-    ]
+    },
-  }
+    {
-  
+      "id": "YB_YH_Deck",
-  
+      "name": "YB_YH_Deck",
-  
+      "children": [],
-  
+      "parent": "BatteryStation",
-  
+      "type": "deck",
-      
+      "class": "CoincellDeck",
+      "config": {
+        "type": "CoincellDeck",
+        "setup": true,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        }
+      },
+      "data": {}
+    }
+  ],
+  "links": []
+}

test/experiments/reaction_station_bioyond.json

@@ -0,0 +1,72 @@
+{
+    "nodes": [
+        {
+            "id": "reaction_station_bioyond",
+            "name": "reaction_station_bioyond",
+            "parent": null,
+            "children": [
+                "Bioyond_Deck"
+            ],
+            "type": "device",
+            "class": "reaction_station.bioyond",
+            "config": {
+                "config": {
+                    "api_key": "DE9BDDA0",
+                    "api_host": "http://192.168.1.200:44402",
+                    "workflow_mappings": {
+                        "reactor_taken_out": "3a16081e-4788-ca37-eff4-ceed8d7019d1",
+                        "reactor_taken_in": "3a160df6-76b3-0957-9eb0-cb496d5721c6",
+                        "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)": "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": ["YB_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"],
+                        "试剂瓶": ["YB_1BottleCarrier", ""],
+                        "样品板": ["YB_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"],
+                        "分装板": ["YB_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"],
+                        "样品瓶": ["YB_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"],
+                        "90%分装小瓶": ["YB_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"],
+                        "10%分装小瓶": ["YB_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"]
+                    }
+                },
+                "deck": {
+                    "data": {
+                        "_resource_child_name": "Bioyond_Deck",
+                        "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck"
+                    }
+                },
+                "protocol_type": []
+            },
+            "data": {}
+        },
+        {
+            "id": "Bioyond_Deck",
+            "name": "Bioyond_Deck",
+            "children": [
+            ],
+            "parent": "reaction_station_bioyond",
+            "type": "deck",
+            "class": "BIOYOND_PolymerReactionStation_Deck",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "type": "BIOYOND_PolymerReactionStation_Deck",
+                "setup": true,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                }
+            },
+            "data": {}
+        }
+    ]
+}

unilabos/app/main.py

@@ -367,37 +367,10 @@ def main():
         graph, resource_tree_set, resource_links = read_node_link_json(request_startup_json)
     else:
         if not os.path.isfile(file_path):
-            # 尝试从 main.py 向上两级目录查找
             temp_file_path = os.path.abspath(str(os.path.join(__file__, "..", "..", file_path)))
             if os.path.isfile(temp_file_path):
                 print_status(f"使用相对路径{temp_file_path}", "info")
                 file_path = temp_file_path
-            else:
-                # 尝试在 working_dir 中查找
-                working_dir_file_path = os.path.join(working_dir, file_path)
-                if os.path.isfile(working_dir_file_path):
-                    print_status(f"在工作目录中找到文件: {working_dir_file_path}", "info")
-                    file_path = working_dir_file_path
-                else:
-                    # 尝试使用文件名在 working_dir 中查找
-                    file_name = os.path.basename(file_path)
-                    working_dir_file_path = os.path.join(working_dir, file_name)
-                    if os.path.isfile(working_dir_file_path):
-                        print_status(f"在工作目录中找到文件: {working_dir_file_path}", "info")
-                        file_path = working_dir_file_path
-        # 最终检查文件是否存在
-        if not os.path.isfile(file_path):
-            print_status(
-                f"无法找到设备加载文件: {file_path}\n"
-                f"已尝试在以下位置查找:\n"
-                f"  1. 原始路径: {args_dict.get('graph', BasicConfig.startup_json_path)}\n"
-                f"  2. 相对路径: {os.path.abspath(str(os.path.join(__file__, '..', '..', args_dict.get('graph', BasicConfig.startup_json_path) or '')))}\n"
-                f"  3. 工作目录: {os.path.join(working_dir, args_dict.get('graph', BasicConfig.startup_json_path) or '')}\n"
-                f"  4. 工作目录(仅文件名): {os.path.join(working_dir, os.path.basename(args_dict.get('graph', BasicConfig.startup_json_path) or ''))}\n"
-                f"请使用 -g 参数指定正确的文件路径，或在工作目录 {working_dir} 中放置文件",
-                "error"
-            )
-            os._exit(1)
         if file_path.endswith(".json"):
             graph, resource_tree_set, resource_links = read_node_link_json(file_path)
         else:

unilabos/devices/battery/battery.json

@@ -0,0 +1,29 @@
+{
+  "nodes": [
+    {
+      "id": "NEWARE_BATTERY_TEST_SYSTEM",
+      "name": "Neware Battery Test System",
+      "parent": null,
+      "type": "device",
+      "class": "neware_battery_test_system",
+      "position": {
+        "x": 620.6111111111111,
+        "y": 171,
+        "z": 0
+      },
+      "config": {
+        "ip": "127.0.0.1",
+        "port": 502,
+        "machine_id": 1,
+        "devtype": "27",
+        "timeout": 20,
+        "size_x": 500.0,
+        "size_y": 500.0,
+        "size_z": 2000.0
+      },
+      "data": {},
+      "children": []
+    }
+  ],
+  "links": []
+}

unilabos/devices/battery/neware_battery_test_system.py

@@ -13,8 +13,6 @@
 - 状态类型: working/stop/finish/protect/pause/false/unknown
 """
 
-import os
-import sys
 import socket
 import xml.etree.ElementTree as ET
 import json
@@ -23,6 +21,7 @@ from dataclasses import dataclass
 from typing import Any, Dict, List, Optional, TypedDict
 
 from pylabrobot.resources import ResourceHolder, Coordinate, create_ordered_items_2d, Deck, Plate
+
 from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
 from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
 
@@ -57,6 +56,13 @@ class BatteryTestPositionState(TypedDict):
     status: str  # 通道状态
     color: str  # 状态对应颜色
 
+    # 额外的inquire协议字段
+    relativetime: float  # 相对时间 (s)
+    open_or_close: int  # 0=关闭, 1=打开
+    step_type: str  # 步骤类型
+    cycle_id: int  # 循环ID
+    step_id: int  # 步骤ID
+    log_code: str  # 日志代码
 
 
 class BatteryTestPosition(ResourceHolder):
@@ -136,9 +142,9 @@ class NewareBatteryTestSystem:
         devtype: str = None, 
         timeout: int = None,
         
-        size_x: float = 50,
+        size_x: float = 500.0,
-        size_y: float = 50,
+        size_y: float = 500.0,
-        size_z: float = 20,
+        size_z: float = 2000.0,
     ):
         """
         初始化新威电池测试系统
@@ -156,12 +162,6 @@ class NewareBatteryTestSystem:
         self.machine_id = machine_id
         self.devtype = devtype or self.DEVTYPE
         self.timeout = timeout or self.TIMEOUT
-        
-        # 存储设备物理尺寸
-        self.size_x = size_x
-        self.size_y = size_y
-        self.size_z = size_z
-        
         self._last_status_update = None
         self._cached_status = {}
         self._ros_node: Optional[ROS2WorkstationNode] = None  # ROS节点引用，由框架设置
@@ -192,9 +192,8 @@ class NewareBatteryTestSystem:
     def _setup_material_management(self):
         """设置物料管理系统"""
         # 第1盘：5行8列网格 (A1-E8) - 5行对应subdevid 1-5，8列对应chlid 1-8
-        # 先给物料设置一个最大的Deck，并设置其在空间中的位置
+        # 先给物料设置一个最大的Deck
-        
+        deck_main = Deck("ADeckName", 200, 200, 200)
-        deck_main = Deck("ADeckName", 2000, 1800, 100, origin=Coordinate(2000,2000,0))
 
         plate1_resources: Dict[str, BatteryTestPosition] = create_ordered_items_2d(
             BatteryTestPosition,
@@ -203,8 +202,8 @@ class NewareBatteryTestSystem:
             dx=10,
             dy=10,
             dz=0,
-            item_dx=65,
+            item_dx=45,
-            item_dy=65
+            item_dy=45
         )
         plate1 = Plate("P1", 400, 300, 50, ordered_items=plate1_resources)
         deck_main.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
@@ -233,15 +232,11 @@ class NewareBatteryTestSystem:
             num_items_y=5,  # 5行（对应subdevid 6-10，即A-E）
             dx=10,
             dy=10,
-            dz=0,  
+            dz=100,  # Z轴偏移100mm
             item_dx=65,
             item_dy=65
         )
 
-        plate2 = Plate("P2", 400, 300, 50, ordered_items=plate2_resources)
-        deck_main.assign_child_resource(plate2, location=Coordinate(0, 350, 0))
-
-
         # 为第2盘资源添加P2_前缀
         self.station_resources_plate2 = {}
         for name, resource in plate2_resources.items():
@@ -311,132 +306,55 @@ class NewareBatteryTestSystem:
 
     def _update_plate_resources(self, subunits: Dict):
         """更新两盘电池资源的状态"""
-        # 第1盘：subdevid 1-5 映射到 8列5行网格 (列0-7, 行0-4)
+        # 第1盘：subdevid 1-5 映射到 P1_A1-P1_E8 (5行8列)
         for subdev_id in range(1, 6):  # subdevid 1-5
             status_row = subunits.get(subdev_id, {})
             
             for chl_id in range(1, 9):  # chlid 1-8
                 try:
-                    # 根据用户描述：第一个是(0,0)，最后一个是(7,4)
+                    # 计算在5×8网格中的位置
-                    # 说明是8列5行，列从0开始，行从0开始
+                    row_idx = (subdev_id - 1)  # 0-4 (对应A-E)
-                    col_idx = (chl_id - 1)      # 0-7 (chlid 1-8 -> 列0-7)
+                    col_idx = (chl_id - 1)     # 0-7 (对应1-8)
-                    row_idx = (subdev_id - 1)   # 0-4 (subdevid 1-5 -> 行0-4)
+                    resource_name = f"P1_{self.LETTERS[row_idx]}{col_idx + 1}"
-                    
-                    # 尝试多种可能的资源命名格式
-                    possible_names = [
-                        f"P1_batterytestposition_{col_idx}_{row_idx}",  # 用户提到的格式
-                        f"P1_{self.LETTERS[row_idx]}{col_idx + 1}",     # 原有的A1-E8格式
-                        f"P1_{self.LETTERS[row_idx].lower()}{col_idx + 1}",  # 小写字母格式
-                    ]
-                    
-                    r = None
-                    resource_name = None
-                    for name in possible_names:
-                        if name in self.station_resources:
-                            r = self.station_resources[name]
-                            resource_name = name
-                            break
                     
+                    r = self.station_resources.get(resource_name)
                     if r:
                         status_channel = status_row.get(chl_id, {})
-                        metrics = status_channel.get("metrics", {})
-                        # 构建BatteryTestPosition状态数据（移除capacity和energy）
                         channel_state = {
-                            # 基本测量数据
-                            "voltage": metrics.get("voltage_V", 0.0),
-                            "current": metrics.get("current_A", 0.0),
-                            "time": metrics.get("totaltime_s", 0.0),
-                            
-                            # 状态信息
                             "status": status_channel.get("state", "unknown"),
                             "color": status_channel.get("color", self.STATUS_COLOR["unknown"]),
-                            
+                            "voltage": status_channel.get("voltage_V", 0.0),
-                            # 通道名称标识
+                            "current": status_channel.get("current_A", 0.0),
-                            "Channel_Name": f"{self.machine_id}-{subdev_id}-{chl_id}",
+                            "time": status_channel.get("totaltime_s", 0.0),
-
                         }
                         r.load_state(channel_state)
-                  
+                except (KeyError, IndexError):
-                        # 调试信息
-                        if self._ros_node and hasattr(self._ros_node, 'lab_logger'):
-                            self._ros_node.lab_logger().debug(
-                                f"更新P1资源状态: {resource_name} <- subdev{subdev_id}/chl{chl_id} "
-                                f"状态:{channel_state['status']}"
-                            )
-                    else:
-                        # 如果找不到资源，记录调试信息
-                        if self._ros_node and hasattr(self._ros_node, 'lab_logger'):
-                            self._ros_node.lab_logger().debug(
-                                f"P1未找到资源: subdev{subdev_id}/chl{chl_id} -> 尝试的名称: {possible_names}"
-                            )
-                except (KeyError, IndexError) as e:
-                    if self._ros_node and hasattr(self._ros_node, 'lab_logger'):
-                        self._ros_node.lab_logger().debug(f"P1映射错误: subdev{subdev_id}/chl{chl_id} - {e}")
                     continue
         
-        # 第2盘：subdevid 6-10 映射到 8列5行网格 (列0-7, 行0-4)
+        # 第2盘：subdevid 6-10 映射到 P2_A1-P2_E8 (5行8列)
         for subdev_id in range(6, 11):  # subdevid 6-10
             status_row = subunits.get(subdev_id, {})
             
             for chl_id in range(1, 9):  # chlid 1-8
                 try:
-                    col_idx = (chl_id - 1)          # 0-7 (chlid 1-8 -> 列0-7)
+                    # 计算在5×8网格中的位置
-                    row_idx = (subdev_id - 6)       # 0-4 (subdevid 6-10 -> 行0-4)
+                    row_idx = (subdev_id - 6)  # 0-4 (subdevid 6->0, 7->1, ..., 10->4) (对应A-E)
-                    
+                    col_idx = (chl_id - 1)     # 0-7 (对应1-8)
-                    # 尝试多种可能的资源命名格式
+                    resource_name = f"P2_{self.LETTERS[row_idx]}{col_idx + 1}"
-                    possible_names = [
-                        f"P2_batterytestposition_{col_idx}_{row_idx}",  # 用户提到的格式
-                        f"P2_{self.LETTERS[row_idx]}{col_idx + 1}",     # 原有的A1-E8格式
-                        f"P2_{self.LETTERS[row_idx].lower()}{col_idx + 1}",  # 小写字母格式
-                    ]
-                    
-                    r = None
-                    resource_name = None
-                    for name in possible_names:
-                        if name in self.station_resources:
-                            r = self.station_resources[name]
-                            resource_name = name
-                            break
                     
+                    r = self.station_resources.get(resource_name)
                     if r:
                         status_channel = status_row.get(chl_id, {})
-                        metrics = status_channel.get("metrics", {})
-                        # 构建BatteryTestPosition状态数据（移除capacity和energy）
                         channel_state = {
-                            # 基本测量数据
-                            "voltage": metrics.get("voltage_V", 0.0),
-                            "current": metrics.get("current_A", 0.0),
-                            "time": metrics.get("totaltime_s", 0.0),
-                            
-                            # 状态信息
                             "status": status_channel.get("state", "unknown"),
                             "color": status_channel.get("color", self.STATUS_COLOR["unknown"]),
-                            
+                            "voltage": status_channel.get("voltage_V", 0.0),
-                            # 通道名称标识
+                            "current": status_channel.get("current_A", 0.0),
-                            "Channel_Name": f"{self.machine_id}-{subdev_id}-{chl_id}",
+                            "time": status_channel.get("totaltime_s", 0.0),
-                            
                         }
                         r.load_state(channel_state)
-                        
+                except (KeyError, IndexError):
-                        # 调试信息
-                        if self._ros_node and hasattr(self._ros_node, 'lab_logger'):
-                            self._ros_node.lab_logger().debug(
-                                f"更新P2资源状态: {resource_name} <- subdev{subdev_id}/chl{chl_id} "
-                                f"状态:{channel_state['status']}"
-                            )
-                    else:
-                        # 如果找不到资源，记录调试信息
-                        if self._ros_node and hasattr(self._ros_node, 'lab_logger'):
-                            self._ros_node.lab_logger().debug(
-                                f"P2未找到资源: subdev{subdev_id}/chl{chl_id} -> 尝试的名称: {possible_names}"
-                            )
-                except (KeyError, IndexError) as e:
-                    if self._ros_node and hasattr(self._ros_node, 'lab_logger'):
-                        self._ros_node.lab_logger().debug(f"P2映射错误: subdev{subdev_id}/chl{chl_id} - {e}")
                     continue
-        ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
-                    "resources": list(self.station_resources.values())
-                })
 
     @property
     def connection_info(self) -> Dict[str, str]:
@@ -572,45 +490,6 @@ class NewareBatteryTestSystem:
 
 
 
-    def debug_resource_names(self) -> dict:
-        """
-        调试方法：显示所有资源的实际名称（ROS2动作）
-        
-        Returns:
-            dict: ROS2动作结果格式，包含所有资源名称信息
-        """
-        try:
-            debug_info = {
-                "total_resources": len(self.station_resources),
-                "plate1_resources": len(self.station_resources_plate1),
-                "plate2_resources": len(self.station_resources_plate2),
-                "plate1_names": list(self.station_resources_plate1.keys())[:10],  # 显示前10个
-                "plate2_names": list(self.station_resources_plate2.keys())[:10],  # 显示前10个
-                "all_resource_names": list(self.station_resources.keys())[:20],   # 显示前20个
-            }
-            
-            # 检查是否有用户提到的命名格式
-            batterytestposition_names = [name for name in self.station_resources.keys() 
-                                       if "batterytestposition" in name]
-            debug_info["batterytestposition_names"] = batterytestposition_names[:10]
-            
-            success_msg = f"资源调试信息获取成功，共{debug_info['total_resources']}个资源"
-            if self._ros_node:
-                self._ros_node.lab_logger().info(success_msg)
-                self._ros_node.lab_logger().info(f"调试信息: {debug_info}")
-            
-            return {
-                "return_info": success_msg,
-                "success": True,
-                "debug_data": debug_info
-            }
-            
-        except Exception as e:
-            error_msg = f"获取资源调试信息失败: {str(e)}"
-            if self._ros_node:
-                self._ros_node.lab_logger().error(error_msg)
-            return {"return_info": error_msg, "success": False}
-
     # ========================
     # 辅助方法
     # ========================
@@ -659,228 +538,6 @@ class NewareBatteryTestSystem:
         except Exception as e:
             print(f"   获取状态失败: {e}")
 
-    # ========================
-    # CSV批量提交功能（新增）
-    # ========================
-    
-    def _ensure_local_import_path(self):
-        """确保本地模块导入路径"""
-        base_dir = os.path.dirname(__file__)
-        if base_dir not in sys.path:
-            sys.path.insert(0, base_dir)
-    
-    def _canon(self, bs: str) -> str:
-        """规范化电池体系名称"""
-        return str(bs).strip().replace('-', '_').upper()
-    
-    def _compute_values(self, row):
-        """
-        计算活性物质质量和容量
-        
-        Args:
-            row: DataFrame行数据
-            
-        Returns:
-            tuple: (活性物质质量mg, 容量mAh)
-        """
-        pw = float(row['Pole_Weight'])
-        cm = float(row['集流体质量'])
-        am = row['活性物质含量']
-        if isinstance(am, str) and am.endswith('%'):
-            amv = float(am.rstrip('%')) / 100.0
-        else:
-            amv = float(am)
-        act_mass = (pw - cm) * amv
-        sc = float(row['克容量mah/g'])
-        cap = act_mass * sc / 1000.0
-        return round(act_mass, 2), round(cap, 3)
-    
-    def _get_xml_builder(self, gen_mod, key: str):
-        """
-        获取对应电池体系的XML生成函数
-        
-        Args:
-            gen_mod: generate_xml_content模块
-            key: 电池体系标识
-            
-        Returns:
-            callable: XML生成函数
-        """
-        fmap = {
-            'LB6': gen_mod.xml_LB6,
-            'GR_LI': gen_mod.xml_Gr_Li,
-            'LFP_LI': gen_mod.xml_LFP_Li,
-            'LFP_GR': gen_mod.xml_LFP_Gr,
-            '811_LI_002': gen_mod.xml_811_Li_002,
-            '811_LI_005': gen_mod.xml_811_Li_005,
-            'SIGR_LI_STEP': gen_mod.xml_SiGr_Li_Step,
-            'SIGR_LI': gen_mod.xml_SiGr_Li_Step,
-            '811_SIGR': gen_mod.xml_811_SiGr,
-        }
-        if key not in fmap:
-            raise ValueError(f"未定义电池体系映射: {key}")
-        return fmap[key]
-    
-    def _save_xml(self, xml: str, path: str):
-        """
-        保存XML文件
-        
-        Args:
-            xml: XML内容
-            path: 文件路径
-        """
-        with open(path, 'w', encoding='utf-8') as f:
-            f.write(xml)
-    
-    def submit_from_csv(self, csv_path: str, output_dir: str = ".") -> dict:
-        """
-        从CSV文件批量提交Neware测试任务（设备动作）
-        
-        Args:
-            csv_path (str): 输入CSV文件路径
-            output_dir (str): 输出目录，用于存储XML文件和备份，默认当前目录
-            
-        Returns:
-            dict: 执行结果 {"return_info": str, "success": bool, "submitted_count": int}
-        """
-        try:
-            # 确保可以导入本地模块
-            self._ensure_local_import_path()
-            import pandas as pd
-            import generate_xml_content as gen_mod
-            from neware_driver import start_test
-            
-            if self._ros_node:
-                self._ros_node.lab_logger().info(f"开始从CSV文件提交任务: {csv_path}")
-            
-            # 读取CSV文件
-            if not os.path.exists(csv_path):
-                error_msg = f"CSV文件不存在: {csv_path}"
-                if self._ros_node:
-                    self._ros_node.lab_logger().error(error_msg)
-                return {"return_info": error_msg, "success": False, "submitted_count": 0}
-            
-            df = pd.read_csv(csv_path, encoding='gbk')
-            
-            # 验证必需列
-            required = [
-                'Battery_Code', 'Pole_Weight', '集流体质量', '活性物质含量', 
-                '克容量mah/g', '电池体系', '设备号', '排号', '通道号'
-            ]
-            missing = [c for c in required if c not in df.columns]
-            if missing:
-                error_msg = f"CSV缺少必需列: {missing}"
-                if self._ros_node:
-                    self._ros_node.lab_logger().error(error_msg)
-                return {"return_info": error_msg, "success": False, "submitted_count": 0}
-            
-            # 创建输出目录
-            xml_dir = os.path.join(output_dir, 'xml_dir')
-            backup_dir = os.path.join(output_dir, 'backup_dir')
-            os.makedirs(xml_dir, exist_ok=True)
-            os.makedirs(backup_dir, exist_ok=True)
-            
-            if self._ros_node:
-                self._ros_node.lab_logger().info(
-                    f"输出目录: XML={xml_dir}, 备份={backup_dir}"
-                )
-            
-            # 逐行处理CSV数据
-            submitted_count = 0
-            results = []
-            
-            for idx, row in df.iterrows():
-                try:
-                    coin_id = str(row['Battery_Code'])
-                    
-                    # 计算活性物质质量和容量
-                    act_mass, cap_mAh = self._compute_values(row)
-                    
-                    if cap_mAh < 0:
-                        error_msg = (
-                            f"容量为负数: Battery_Code={coin_id}, "
-                            f"活性物质质量mg={act_mass}, 容量mah={cap_mAh}"
-                        )
-                        if self._ros_node:
-                            self._ros_node.lab_logger().warning(error_msg)
-                        results.append(f"行{idx+1} 失败: {error_msg}")
-                        continue
-                    
-                    # 获取电池体系对应的XML生成函数
-                    key = self._canon(row['电池体系'])
-                    builder = self._get_xml_builder(gen_mod, key)
-                    
-                    # 生成XML内容
-                    xml_content = builder(act_mass, cap_mAh)
-                    
-                    # 获取设备信息
-                    devid = int(row['设备号'])
-                    subdevid = int(row['排号'])
-                    chlid = int(row['通道号'])
-                    
-                    # 保存XML文件
-                    recipe_path = os.path.join(
-                        xml_dir, 
-                        f"{coin_id}_{devid}_{subdevid}_{chlid}.xml"
-                    )
-                    self._save_xml(xml_content, recipe_path)
-                    
-                    # 提交测试任务
-                    resp = start_test(
-                        ip=self.ip, 
-                        port=self.port, 
-                        devid=devid, 
-                        subdevid=subdevid, 
-                        chlid=chlid, 
-                        CoinID=coin_id, 
-                        recipe_path=recipe_path, 
-                        backup_dir=backup_dir
-                    )
-                    
-                    submitted_count += 1
-                    results.append(f"行{idx+1} {coin_id}: {resp}")
-                    
-                    if self._ros_node:
-                        self._ros_node.lab_logger().info(
-                            f"已提交 {coin_id} (设备{devid}-{subdevid}-{chlid}): {resp}"
-                        )
-                
-                except Exception as e:
-                    error_msg = f"行{idx+1} 处理失败: {str(e)}"
-                    results.append(error_msg)
-                    if self._ros_node:
-                        self._ros_node.lab_logger().error(error_msg)
-            
-            # 汇总结果
-            success_msg = (
-                f"批量提交完成: 成功{submitted_count}个，共{len(df)}行。"
-                f"\n详细结果:\n" + "\n".join(results)
-            )
-            
-            if self._ros_node:
-                self._ros_node.lab_logger().info(
-                    f"批量提交完成: 成功{submitted_count}/{len(df)}"
-                )
-            
-            return {
-                "return_info": success_msg,
-                "success": True,
-                "submitted_count": submitted_count,
-                "total_count": len(df),
-                "results": results
-            }
-        
-        except Exception as e:
-            error_msg = f"批量提交失败: {str(e)}"
-            if self._ros_node:
-                self._ros_node.lab_logger().error(error_msg)
-            return {
-                "return_info": error_msg, 
-                "success": False, 
-                "submitted_count": 0
-            }
-
-
     def get_device_summary(self) -> dict:
         """
         获取设备级别的摘要统计（设备动作）

unilabos/devices/neware_battery_test_system/__init__.py

@@ -1,8 +0,0 @@
-from .neware_battery_test_system import NewareBatteryTestSystem
-from .neware_driver import build_start_command, start_test
-
-__all__ = [
-    "NewareBatteryTestSystem",
-    "build_start_command",
-    "start_test",
-]

unilabos/devices/neware_battery_test_system/demo.csv

@@ -1,3 +0,0 @@
-Timestamp,Battery_Count,Assembly_Time,Open_Circuit_Voltage,Pole_Weight,Assembly_Pressure,Battery_Code,Electrolyte_Code,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʺ<EFBFBD><EFBFBD><EFBFBD>,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>mah/g,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ,<EFBFBD>豸<EFBFBD><EFBFBD>,<EFBFBD>ź<EFBFBD>,ͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-2025/10/29 17:32,7,5,0.11299999803304672,18.049999237060547,3593,Li000595,Si-Gr001,9.2,0.954,469,SiGr_Li,1,1,2
-2025/10/30 17:49,2,5,0,13.109999895095825,4094,YS101224,NoRead88,5.2,0.92,190,SiGr_Li,2,1,1

unilabos/devices/neware_battery_test_system/device.json

@@ -1,33 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "NEWARE_BATTERY_TEST_SYSTEM",
-            "name": "Neware Battery Test System",
-            "parent": null,
-            "type": "device",
-            "class": "neware_battery_test_system",
-            "position": {
-                "x": 620.0,
-                "y": 200.0,
-                "z": 0
-            },
-            "config": {
-                "ip": "127.0.0.1",
-                "port": 502,
-                "machine_id": 1,
-                "devtype": "27",
-                "timeout": 20,
-                "size_x": 500.0,
-                "size_y": 500.0,
-                "size_z": 2000.0
-            },
-            "data": {
-                "功能说明": "新威电池测试系统，提供720通道监控和CSV批量提交功能",
-                "监控功能": "支持720个通道的实时状态监控、2盘电池物料管理、状态导出等",
-                "提交功能": "通过submit_from_csv action从CSV文件批量提交测试任务。CSV必须包含: Battery_Code, Pole_Weight, 集流体质量, 活性物质含量, 克容量mah/g, 电池体系, 设备号, 排号, 通道号"
-            },
-            "children": []
-        }
-    ],
-    "links": []
-}

unilabos/devices/neware_battery_test_system/neware_driver.py

@@ -1,49 +0,0 @@
-import socket
-END_MARKS = [b"\r\n#\r\n", b"</bts>"]  # 读到任一标志即可判定完整响应
-
-def build_start_command(devid, subdevid, chlid, CoinID,
-                        ip_in_xml="127.0.0.1",
-                        devtype:int=27,
-                        recipe_path:str=f"D:\\HHM_test\\A001.xml",
-                        backup_dir:str=f"D:\\HHM_test\\backup") -> str:
-    lines = [
-        '<?xml version="1.0" encoding="UTF-8"?>',
-        '<bts version="1.0">',
-        '  <cmd>start</cmd>',
-        '  <list count="1">',
-        f'    <start ip="{ip_in_xml}" devtype="{devtype}" devid="{devid}" subdevid="{subdevid}" chlid="{chlid}" barcode="{CoinID}">{recipe_path}</start>',
-        f'    <backup backupdir="{backup_dir}" remotedir="" filenametype="1" customfilename="" createdirbydate="0" filetype="0" backupontime="1" backupontimeinterval="1" backupfree="0" />',
-        '  </list>',
-        '</bts>',
-    ]
-    # TCP 模式：请求必须以 #\r\n 结束（协议要求）
-    return "\r\n".join(lines) + "\r\n#\r\n"
-
-def recv_until_marks(sock: socket.socket, timeout=60):
-    sock.settimeout(timeout)  # 上限给足，协议允许到 30s:contentReference[oaicite:2]{index=2}
-    buf = bytearray()
-    while True:
-        chunk = sock.recv(8192)
-        if not chunk:
-            break
-        buf += chunk
-        # 读到结束标志就停，避免等对端断开
-        for m in END_MARKS:
-            if m in buf:
-                return bytes(buf)
-        # 保险：读到完整 XML 结束标签也停
-        if b"</bts>" in buf:
-            return bytes(buf)
-    return bytes(buf)
-
-def start_test(ip="127.0.0.1", port=502, devid=3, subdevid=2, chlid=1, CoinID="A001", recipe_path=f"D:\\HHM_test\\A001.xml", backup_dir=f"D:\\HHM_test\\backup"):
-    xml_cmd = build_start_command(devid=devid, subdevid=subdevid, chlid=chlid, CoinID=CoinID, recipe_path=recipe_path, backup_dir=backup_dir)
-    #print(xml_cmd)
-    with socket.create_connection((ip, port), timeout=60) as s:
-        s.sendall(xml_cmd.encode("utf-8"))
-        data = recv_until_marks(s, timeout=60)
-    return data.decode("utf-8", errors="replace")
-
-if __name__ == "__main__":
-    resp = start_test(ip="127.0.0.1", port=502, devid=4, subdevid=10, chlid=1, CoinID="A001", recipe_path=f"D:\\HHM_test\\A001.xml", backup_dir=f"D:\\HHM_test\\backup")
-    print(resp)

unilabos/devices/separator/chinwe.py

@@ -1,282 +1,649 @@
-import sys
+# -*- coding: utf-8 -*-
-import threading
+"""
-import serial
+Contains drivers for:
-import serial.tools.list_ports
+1. SyringePump: Runze Fluid SY-03B (ASCII)
-import re
+2. EmmMotor: Emm V5.0 Closed-loop Stepper (Modbus-RTU variant)
-import time
+3. XKCSensor: XKC Non-contact Level Sensor (Modbus-RTU)
-from typing import Optional, List, Dict, Tuple
+"""
 
-class ChinweDevice:
+import socket
+import serial
+import time
+import threading
+import struct
+import re
+import traceback
+import queue
+from typing import Optional, Dict, List, Any
+
+try:
+    from unilabos.device_comms.universal_driver import UniversalDriver
+except ImportError:
+    import logging
+    class UniversalDriver:
+        def __init__(self):
+            self.logger = logging.getLogger(self.__class__.__name__)
+
+        def execute_command_from_outer(self, command: str):
+            pass
+
+# ==============================================================================
+# 1. Transport Layer (通信层)
+# ==============================================================================
+
+class TransportManager:
     """
-    ChinWe设备控制类
+    统一通信管理类。
-    提供串口通信、电机控制、传感器数据读取等功能
+    自动识别 串口 (Serial) 或 网络 (TCP) 连接。
     """
-    
+    def __init__(self, port: str, baudrate: int = 9600, timeout: float = 3.0, logger=None):
-    def __init__(self, port: str, baudrate: int = 115200, debug: bool = False):
-        """
-        初始化ChinWe设备
-        
-        Args:
-            port: 串口名称，如果为None则自动检测
-            baudrate: 波特率，默认115200
-        """
-        self.debug = debug
         self.port = port
         self.baudrate = baudrate
-        self.serial_port: Optional[serial.Serial] = None
+        self.timeout = timeout
-        self._voltage: float = 0.0
+        self.logger = logger
-        self._ec_value: float = 0.0
+        self.lock = threading.RLock() # 线程锁，确保多设备共用一个连接时不冲突
-        self._ec_adc_value: int = 0
+
+        self.is_tcp = False
+        self.serial = None
+        self.socket = None
+
+        # 简单判断: 如果包含 ':' (如 192.168.1.1:8899) 或者看起来像 IP，则认为是 TCP
+        if ':' in self.port or (self.port.count('.') == 3 and not self.port.startswith('/')):
+            self.is_tcp = True
+            self._connect_tcp()
+        else:
+            self._connect_serial()
+
+    def _log(self, msg):
+        if self.logger:
+             pass
+            # self.logger.debug(f"[Transport] {msg}")
+
+    def _connect_tcp(self):
+        try:
+            if ':' in self.port:
+                host, p = self.port.split(':')
+                self.tcp_host = host
+                self.tcp_port = int(p)
+            else:
+                self.tcp_host = self.port
+                self.tcp_port = 8899 # 默认端口
+
+            # if self.logger: self.logger.info(f"Connecting TCP {self.tcp_host}:{self.tcp_port} ...")
+            self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+            self.socket.settimeout(self.timeout)
+            self.socket.connect((self.tcp_host, self.tcp_port))
+        except Exception as e:
+            raise ConnectionError(f"TCP connection failed: {e}")
+
+    def _connect_serial(self):
+        try:
+            # if self.logger: self.logger.info(f"Opening Serial {self.port} (Baud: {self.baudrate}) ...")
+            self.serial = serial.Serial(
+                port=self.port,
+                baudrate=self.baudrate,
+                timeout=self.timeout
+            )
+        except Exception as e:
+            raise ConnectionError(f"Serial open failed: {e}")
+
+    def close(self):
+        """关闭连接"""
+        if self.is_tcp and self.socket:
+            try: self.socket.close()
+            except: pass
+        elif not self.is_tcp and self.serial and self.serial.is_open:
+            self.serial.close()
+
+    def clear_buffer(self):
+        """清空缓冲区 (Thread-safe)"""
+        with self.lock:
+            if self.is_tcp:
+                self.socket.setblocking(False)
+                try:
+                    while True:
+                        if not self.socket.recv(1024): break
+                except: pass
+                finally: self.socket.settimeout(self.timeout)
+            else:
+                self.serial.reset_input_buffer()
+
+    def write(self, data: bytes):
+        """发送原始字节"""
+        with self.lock:
+            if self.is_tcp:
+                self.socket.sendall(data)
+            else:
+                self.serial.write(data)
+
+    def read(self, size: int) -> bytes:
+        """读取指定长度字节"""
+        if self.is_tcp:
+            data = b''
+            start = time.time()
+            while len(data) < size:
+                if time.time() - start > self.timeout: break
+                try:
+                    chunk = self.socket.recv(size - len(data))
+                    if not chunk: break
+                    data += chunk
+                except socket.timeout: break
+            return data
+        else:
+            return self.serial.read(size)
+
+    def send_ascii_command(self, command: str) -> str:
+        """
+        发送 ASCII 字符串命令 (如注射泵指令)，读取直到 '\r'。
+        """
+        with self.lock:
+            data = command.encode('ascii') if isinstance(command, str) else command
+            self.clear_buffer()
+            self.write(data)
+
+            # Read until \r
+            if self.is_tcp:
+                resp = b''
+                start = time.time()
+                while True:
+                    if time.time() - start > self.timeout: break
+                    try:
+                        char = self.socket.recv(1)
+                        if not char: break
+                        resp += char
+                        if char == b'\r': break
+                    except: break
+                return resp.decode('ascii', errors='ignore').strip()
+            else:
+                return self.serial.read_until(b'\r').decode('ascii', errors='ignore').strip()
+
+# ==============================================================================
+# 2. Syringe Pump Driver (注射泵)
+# ==============================================================================
+
+class SyringePump:
+    """SY-03B 注射泵驱动 (ASCII协议)"""
+
+    CMD_INITIALIZE = "Z{speed},{drain_port},{output_port}R"
+    CMD_SWITCH_VALVE = "I{port}R"
+    CMD_ASPIRATE = "P{vol}R"
+    CMD_DISPENSE = "D{vol}R"
+    CMD_DISPENSE_ALL = "A0R"
+    CMD_STOP = "TR"
+    CMD_QUERY_STATUS = "Q"
+    CMD_QUERY_PLUNGER = "?0"
+
+    def __init__(self, device_id: int, transport: TransportManager):
+        if not 1 <= device_id <= 15:
+            pass # Allow all IDs for now
+        self.id = str(device_id)
+        self.transport = transport
+
+    def _send(self, template: str, **kwargs) -> str:
+        cmd = f"/{self.id}" + template.format(**kwargs) + "\r"
+        return self.transport.send_ascii_command(cmd)
+
+    def is_busy(self) -> bool:
+        """查询繁忙状态"""
+        resp = self._send(self.CMD_QUERY_STATUS)
+        # 响应如 /0` (Ready, 0x60) 或 /0@ (Busy, 0x40)
+        if len(resp) >= 3:
+            status_byte = ord(resp[2])
+            # Bit 5: 1=Ready, 0=Busy
+            return (status_byte & 0x20) == 0
+        return False
+
+    def wait_until_idle(self, timeout=30):
+        """阻塞等待直到空闲"""
+        start = time.time()
+        while time.time() - start < timeout:
+            if not self.is_busy(): return
+            time.sleep(0.5)
+        # raise TimeoutError(f"Pump {self.id} wait idle timeout")
+        pass
+
+    def initialize(self, drain_port=0, output_port=0, speed=10):
+        """初始化"""
+        self._send(self.CMD_INITIALIZE, speed=speed, drain_port=drain_port, output_port=output_port)
+
+    def switch_valve(self, port: int):
+        """切换阀门 (1-8)"""
+        self._send(self.CMD_SWITCH_VALVE, port=port)
+
+    def aspirate(self, steps: int):
+        """吸液 (相对步数)"""
+        self._send(self.CMD_ASPIRATE, vol=steps)
+
+    def dispense(self, steps: int):
+        """排液 (相对步数)"""
+        self._send(self.CMD_DISPENSE, vol=steps)
+
+    def stop(self):
+        """停止"""
+        self._send(self.CMD_STOP)
+
+    def get_position(self) -> int:
+        """获取柱塞位置 (步数)"""
+        resp = self._send(self.CMD_QUERY_PLUNGER)
+        m = re.search(r'\d+', resp)
+        return int(m.group()) if m else -1
+
+# ==============================================================================
+# 3. Stepper Motor Driver (步进电机)
+# ==============================================================================
+
+class EmmMotor:
+    """Emm V5.0 闭环步进电机驱动"""
+
+    def __init__(self, device_id: int, transport: TransportManager):
+        self.id = device_id
+        self.transport = transport
+
+    def _send(self, func_code: int, payload: list) -> bytes:
+        with self.transport.lock:
+            self.transport.clear_buffer()
+            # 格式: [ID] [Func] [Data...] [Check=0x6B]
+            body = [self.id, func_code] + payload
+            body.append(0x6B) # Checksum
+            self.transport.write(bytes(body))
+
+            # 根据指令不同，读取不同长度响应
+            read_len = 10 if func_code in [0x31, 0x32, 0x35, 0x24, 0x27] else 4
+            return self.transport.read(read_len)
+
+    def enable(self, on=True):
+        """使能 (True=锁轴, False=松轴)"""
+        state = 1 if on else 0
+        self._send(0xF3, [0xAB, state, 0])
+
+    def run_speed(self, speed_rpm: int, direction=0, acc=10):
+        """速度模式运行"""
+        sp = struct.pack('>H', int(speed_rpm))
+        self._send(0xF6, [direction, sp[0], sp[1], acc, 0])
+
+    def run_position(self, pulses: int, speed_rpm: int, direction=0, acc=10, absolute=False):
+        """位置模式运行"""
+        sp = struct.pack('>H', int(speed_rpm))
+        pl = struct.pack('>I', int(pulses))
+        is_abs = 1 if absolute else 0
+        self._send(0xFD, [direction, sp[0], sp[1], acc, pl[0], pl[1], pl[2], pl[3], is_abs, 0])
+
+    def stop(self):
+        """停止"""
+        self._send(0xFE, [0x98, 0])
+
+    def set_zero(self):
+        """清零位置"""
+        self._send(0x0A, [])
+
+    def get_position(self) -> int:
+        """获取当前脉冲位置"""
+        resp = self._send(0x32, [])
+        if len(resp) >= 8:
+            sign = resp[2]
+            val = struct.unpack('>I', resp[3:7])[0]
+            return -val if sign == 1 else val
+        return 0
+
+# ==============================================================================
+# 4. Liquid Sensor Driver (液位传感器)
+# ==============================================================================
+
+class XKCSensor:
+    """XKC RS485 液位传感器 (Modbus RTU)"""
+
+    def __init__(self, device_id: int, transport: TransportManager, threshold: int = 300):
+        self.id = device_id
+        self.transport = transport
+        self.threshold = threshold
+
+    def _crc(self, data: bytes) -> bytes:
+        crc = 0xFFFF
+        for byte in data:
+            crc ^= byte
+            for _ in range(8):
+                if crc & 0x0001: crc = (crc >> 1) ^ 0xA001
+                else: crc >>= 1
+        return struct.pack('<H', crc)
+
+    def read_level(self) -> Optional[Dict[str, Any]]:
+        """
+        读取液位。
+        返回: {'level': bool, 'rssi': int}
+        """
+        with self.transport.lock:
+            self.transport.clear_buffer()
+            # Modbus Read Registers: 01 03 00 01 00 02 CRC
+            payload = struct.pack('>HH', 0x0001, 0x0002)
+            msg = struct.pack('BB', self.id, 0x03) + payload
+            msg += self._crc(msg)
+            self.transport.write(msg)
+
+            # Read header
+            h = self.transport.read(3) # Addr, Func, Len
+            if len(h) < 3: return None
+            length = h[2]
+
+            # Read body + CRC
+            body = self.transport.read(length + 2)
+            if len(body) < length + 2:
+                # Firmware bug fix specific to some modules
+                if len(body) == 4 and length == 4:
+                    pass
+                else:
+                    return None
+
+            data = body[:-2]
+            if len(data) == 2:
+                rssi = data[1]
+            elif len(data) >= 4:
+                rssi = (data[2] << 8) | data[3]
+            else:
+                return None
+
+            return {
+                'level': rssi > self.threshold,
+                'rssi': rssi
+            }
+
+# ==============================================================================
+# 5. Main Device Class (ChinweDevice)
+# ==============================================================================
+
+class ChinweDevice(UniversalDriver):
+    """
+    ChinWe 工作站主驱动
+    继承自 UniversalDriver，管理所有子设备（泵、电机、传感器）
+    """
+
+    def __init__(self, port: str = "192.168.1.200:8899", baudrate: int = 9600,
+                 pump_ids: List[int] = None, motor_ids: List[int] = None,
+                 sensor_id: int = 6, sensor_threshold: int = 300,
+                 timeout: float = 10.0):
+        """
+        初始化 ChinWe 工作站
+        :param port: 串口号 或 IP:Port
+        :param baudrate: 串口波特率
+        :param pump_ids: 注射泵 ID列表 (默认 [1, 2, 3])
+        :param motor_ids: 步进电机 ID列表 (默认 [4, 5])
+        :param sensor_id: 液位传感器 ID (默认 6)
+        :param sensor_threshold: 传感器液位判定阈值
+        :param timeout: 通信超时时间 (默认 10秒)
+        """
+        super().__init__()
+        self.port = port
+        self.baudrate = baudrate
+        self.timeout = timeout
+        self.mgr = None
         self._is_connected = False
-        self.connect()
+
-    
+        # 默认配置
+        if pump_ids is None: pump_ids = [1, 2, 3]
+        if motor_ids is None: motor_ids = [4, 5]
+
+        # 配置信息
+        self.pump_ids = pump_ids
+        self.motor_ids = motor_ids
+        self.sensor_id = sensor_id
+        self.sensor_threshold = sensor_threshold
+
+        # 子设备实例容器
+        self.pumps: Dict[int, SyringePump] = {}
+        self.motors: Dict[int, EmmMotor] = {}
+        self.sensor: Optional[XKCSensor] = None
+
+        # 轮询线程控制
+        self._stop_event = threading.Event()
+        self._poll_thread = None
+
+        # 实时状态缓存
+        self.status_cache = {
+             "sensor_rssi": 0,
+             "sensor_level": False,
+             "connected": False
+        }
+
+        # 自动连接
+        if self.port:
+            self.connect()
+
+    def connect(self) -> bool:
+        if self._is_connected: return True
+        try:
+            self.logger.info(f"Connecting to {self.port} (timeout={self.timeout})...")
+            self.mgr = TransportManager(self.port, baudrate=self.baudrate, timeout=self.timeout, logger=self.logger)
+
+            # 初始化所有泵
+            for pid in self.pump_ids:
+                self.pumps[pid] = SyringePump(pid, self.mgr)
+
+            # 初始化所有电机
+            for mid in self.motor_ids:
+                self.motors[mid] = EmmMotor(mid, self.mgr)
+
+            # 初始化传感器
+            self.sensor = XKCSensor(self.sensor_id, self.mgr, self.sensor_threshold)
+
+            self._is_connected = True
+            self.status_cache["connected"] = True
+
+            # 启动轮询线程
+            self._start_polling()
+            return True
+        except Exception as e:
+            self.logger.error(f"Connection failed: {e}")
+            self._is_connected = False
+            self.status_cache["connected"] = False
+            return False
+
+    def disconnect(self):
+        self._stop_event.set()
+        if self._poll_thread:
+            self._poll_thread.join(timeout=2.0)
+
+        if self.mgr:
+            self.mgr.close()
+
+        self._is_connected = False
+        self.status_cache["connected"] = False
+        self.logger.info("Disconnected.")
+
+    def _start_polling(self):
+        """启动传感器轮询线程"""
+        if self._poll_thread and self._poll_thread.is_alive():
+            return
+
+        self._stop_event.clear()
+        self._poll_thread = threading.Thread(target=self._polling_loop, daemon=True, name="ChinwePoll")
+        self._poll_thread.start()
+
+    def _polling_loop(self):
+        """轮询主循环"""
+        self.logger.info("Sensor polling started.")
+        error_count = 0
+        while not self._stop_event.is_set():
+            if not self._is_connected or not self.sensor:
+                time.sleep(1)
+                continue
+
+            try:
+                # 获取传感器数据
+                data = self.sensor.read_level()
+                if data:
+                    self.status_cache["sensor_rssi"] = data['rssi']
+                    self.status_cache["sensor_level"] = data['level']
+                    error_count = 0
+                else:
+                    error_count += 1
+
+                # 降低轮询频率防止总线拥塞
+                time.sleep(0.2)
+
+            except Exception as e:
+                error_count += 1
+                if error_count > 10: # 连续错误记录日志
+                    # self.logger.error(f"Polling error: {e}")
+                    error_count = 0
+                time.sleep(1)
+
+    # --- 对外暴露属性 (Properties) ---
+
+    @property
+    def sensor_level(self) -> bool:
+        return self.status_cache["sensor_level"]
+
+    @property
+    def sensor_rssi(self) -> int:
+        return self.status_cache["sensor_rssi"]
+
     @property
     def is_connected(self) -> bool:
-        """获取连接状态"""
+        return self._is_connected
-        return self._is_connected and self.serial_port and self.serial_port.is_open
-    
-    @property
-    def voltage(self) -> float:
-        """获取电源电压值"""
-        return self._voltage
-    
-    @property
-    def ec_value(self) -> float:
-        """获取电导率值 (ms/cm)"""
-        return self._ec_value
 
-    @property
+    # --- 对外功能指令 (Actions) ---
-    def ec_adc_value(self) -> int:
-        """获取EC ADC原始值"""
-        return self._ec_adc_value
-    
 
-    @property
+    def pump_initialize(self, pump_id: int, drain_port=0, output_port=0, speed=10):
-    def device_status(self) -> Dict[str, any]:
+        """指定泵初始化"""
-        """
+        pump_id = int(pump_id)
-        获取设备状态信息
+        if pump_id in self.pumps:
-        
+            self.pumps[pump_id].initialize(drain_port, output_port, speed)
-        Returns:
+            self.pumps[pump_id].wait_until_idle()
-            包含设备状态的字典
-        """
-        return {
-            "connected": self.is_connected,
-            "port": self.port,
-            "baudrate": self.baudrate,
-            "voltage": self.voltage,
-            "ec_value": self.ec_value,
-            "ec_adc_value": self.ec_adc_value
-        }
-    
-    def connect(self, port: Optional[str] = None, baudrate: Optional[int] = None) -> bool:
-        """
-        连接到串口设备
-        
-        Args:
-            port: 串口名称，如果为None则使用初始化时的port或自动检测
-            baudrate: 波特率，如果为None则使用初始化时的baudrate
-            
-        Returns:
-            连接是否成功
-        """
-        if self.is_connected:
             return True
-            
+        return False
-        target_port = port or self.port
+
-        target_baudrate = baudrate or self.baudrate
+    def pump_aspirate(self, pump_id: int, volume: int, valve_port: int):
-        
+        """
-        try:
+        泵吸液 (阻塞)
-            self.serial_port = serial.Serial(target_port, target_baudrate, timeout=0.5)
+        :param valve_port: 阀门端口 (1-8)
-            self._is_connected = True
+        """
-            self.port = target_port
+        pump_id = int(pump_id)
-            self.baudrate = target_baudrate
+        valve_port = int(valve_port)
-            connect_allow_times = 5
+        if pump_id in self.pumps:
-            while not self.serial_port.is_open and connect_allow_times > 0:
+            pump = self.pumps[pump_id]
-                time.sleep(0.5)
+            # 1. 切换阀门
-                connect_allow_times -= 1
+            pump.switch_valve(valve_port)
-                print(f"尝试连接到 {target_port} @ {target_baudrate}，剩余尝试次数: {connect_allow_times}", self.debug)
+            pump.wait_until_idle()
-                raise ValueError("串口未打开，请检查设备连接")
+            # 2. 吸液
-            print(f"已连接到 {target_port} @ {target_baudrate}", self.debug)
+            pump.aspirate(volume)
-            threading.Thread(target=self._read_data, daemon=True).start()
+            pump.wait_until_idle()
             return True
-        except Exception as e:
+        return False
-            print(f"ChinweDevice连接失败: {e}")
+
-            self._is_connected = False
+    def pump_dispense(self, pump_id: int, volume: int, valve_port: int):
-            return False
-    
-    def disconnect(self) -> bool:
         """
-        断开串口连接
+        泵排液 (阻塞)
-        
+        :param valve_port: 阀门端口 (1-8)
-        Returns:
-            断开是否成功
         """
-        if self.serial_port and self.serial_port.is_open:
+        pump_id = int(pump_id)
-            try:
+        valve_port = int(valve_port)
-                self.serial_port.close()
+        if pump_id in self.pumps:
-                self._is_connected = False
+            pump = self.pumps[pump_id]
-                print("已断开串口连接")
+            # 1. 切换阀门
-                return True
+            pump.switch_valve(valve_port)
-            except Exception as e:
+            pump.wait_until_idle()
-                print(f"断开连接失败: {e}")
+            # 2. 排液
-                return False
+            pump.dispense(volume)
+            pump.wait_until_idle()
+            return True
+        return False
+
+    def pump_valve(self, pump_id: int, port: int):
+        """泵切换阀门 (阻塞)"""
+        pump_id = int(pump_id)
+        port = int(port)
+        if pump_id in self.pumps:
+            pump = self.pumps[pump_id]
+            pump.switch_valve(port)
+            pump.wait_until_idle()
+            return True
+        return False
+
+    def motor_run_continuous(self, motor_id: int, speed: int, direction: str = "顺时针"):
+        """
+        电机一直旋转 (速度模式)
+        :param direction: "顺时针" or "逆时针"
+        """
+        motor_id = int(motor_id)
+        if motor_id not in self.motors: return False
+
+        dir_val = 0 if direction == "顺时针" else 1
+        self.motors[motor_id].run_speed(speed, dir_val)
         return True
-    
+
-    def _send_motor_command(self, command: str) -> bool:
+    def motor_rotate_quarter(self, motor_id: int, speed: int = 60, direction: str = "顺时针"):
         """
-        发送电机控制命令
+        电机旋转1/4圈 (阻塞)
-        
+        假设电机设置为 3200 脉冲/圈，1/4圈 = 800脉冲
-        Args:
-            command: 电机命令字符串，例如 "M 1 CW 1.5"
-            
-        Returns:
-            发送是否成功
         """
-        if not self.is_connected:
+        motor_id = int(motor_id)
-            print("设备未连接")
+        if motor_id not in self.motors: return False
-            return False
+
-            
+        pulses = 800
-        try:
+        dir_val = 0 if direction == "顺时针" else 1
-            self.serial_port.write((command + "\n").encode('utf-8'))
+
-            print(f"发送命令: {command}")
+        self.motors[motor_id].run_position(pulses, speed, dir_val, absolute=False)
+
+        # 预估时间阻塞 (单位: 分钟 -> 秒)
+        # Time(s) = revs / (RPM/60). revs = 0.25. time = 15 / RPM.
+        estimated_time = 15.0 / max(1, speed)
+        time.sleep(estimated_time + 0.5)
+
+        return True
+
+    def motor_stop(self, motor_id: int):
+        """电机停止"""
+        motor_id = int(motor_id)
+        if motor_id in self.motors:
+            self.motors[motor_id].stop()
             return True
-        except Exception as e:
+        return False
-            print(f"发送命令失败: {e}")
-            return False
-    
-    def rotate_motor(self, motor_id: int, turns: float, clockwise: bool = True) -> bool:
-        """
-        使电机转动指定圈数
-        
-        Args:
-            motor_id: 电机ID（1, 2, 3...）
-            turns: 转动圈数，支持小数
-            clockwise: True为顺时针，False为逆时针
-            
-        Returns:
-            命令发送是否成功
-        """
-        if clockwise:
-            command = f"M {motor_id} CW {turns}"
-        else:
-            command = f"M {motor_id} CCW {turns}"
-        return self._send_motor_command(command)
 
-    def set_motor_speed(self, motor_id: int, speed: float) -> bool:
+    def wait_sensor_level(self, target_state: str = "有液", timeout: int = 30) -> bool:
         """
-        设置电机转速（如果设备支持）
+        等待传感器达到指定电平
-        
+        :param target_state: "有液" or "无液"
-        Args:
-            motor_id: 电机ID（1, 2, 3...）
-            speed: 转速值
-            
-        Returns:
-            命令发送是否成功
         """
-        command = f"M {motor_id} SPEED {speed}"
+        target_bool = True if target_state == "有液" else False
-        return self._send_motor_command(command)
 
-    def _read_data(self) -> List[str]:
+        self.logger.info(f"Wait sensor: {target_state} ({target_bool}), timeout: {timeout}")
-        """
+        start = time.time()
-        读取串口数据并解析
+        while time.time() - start < timeout:
-        
+            if self.sensor_level == target_bool:
-        Returns:
+                return True
-            读取到的数据行列表
+            time.sleep(0.1)
-        """
+        self.logger.warning("Wait sensor level timeout")
-        print("开始读取串口数据...")
+        return False
-        if not self.is_connected:
-            return []
-            
-        data_lines = []
-        try:
-            while self.serial_port.in_waiting:
-                time.sleep(0.1)  # 等待数据稳定
-                try:
-                    line = self.serial_port.readline().decode('utf-8', errors='ignore').strip()
-                    if line:
-                        data_lines.append(line)
-                        self._parse_sensor_data(line)
-                except Exception as ex:
-                    print(f"解码数据错误: {ex}")
-        except Exception as e:
-            print(f"读取串口数据错误: {e}")
-            
-        return data_lines
-    
-    def _parse_sensor_data(self, line: str) -> None:
-        """
-        解析传感器数据
-        
-        Args:
-            line: 接收到的数据行
-        """
-        # 解析电源电压
-        if "电源电压" in line:
-            try:
-                val = float(line.split("：")[1].replace("V", "").strip())
-                self._voltage = val
-                if self.debug:
-                    print(f"电源电压更新: {val}V")
-            except Exception:
-                pass
 
-        # 解析电导率和ADC原始值（支持两种格式）
+    def wait_time(self, duration: int) -> bool:
-        if "电导率" in line and "ADC原始值" in line:
+        """
-            try:
+        等待指定时间 (秒)
-                # 支持格式如：电导率：2.50ms/cm, ADC原始值：2052
+        :param duration: 秒
-                ec_match = re.search(r"电导率[:：]\s*([\d\.]+)", line)
+        """
-                adc_match = re.search(r"ADC原始值[:：]\s*(\d+)", line)
+        self.logger.info(f"Waiting for {duration} seconds...")
-                if ec_match:
+        time.sleep(duration)
-                    ec_val = float(ec_match.group(1))
+        return True
-                    self._ec_value = ec_val
+
-                    if self.debug:
+    def execute_command_from_outer(self, command_dict: Dict[str, Any]) -> bool:
-                        print(f"电导率更新: {ec_val:.2f} ms/cm")
+        """支持标准 JSON 指令调用"""
-                if adc_match:
+        return super().execute_command_from_outer(command_dict)
-                    adc_val = int(adc_match.group(1))
-                    self._ec_adc_value = adc_val
-                    if self.debug:
-                        print(f"EC ADC原始值更新: {adc_val}")
-            except Exception:
-                pass
-        # 仅电导率，无ADC原始值
-        elif "电导率" in line:
-            try:
-                val = float(line.split("：")[1].replace("ms/cm", "").strip())
-                self._ec_value = val
-                if self.debug:
-                    print(f"电导率更新: {val:.2f} ms/cm")
-            except Exception:
-                pass
-        # 仅ADC原始值（如有分开回传场景）
-        elif "ADC原始值" in line:
-            try:
-                adc_val = int(line.split("：")[1].strip())
-                self._ec_adc_value = adc_val
-                if self.debug:
-                    print(f"EC ADC原始值更新: {adc_val}")
-            except Exception:
-                pass
-    
-    def spin_when_ec_ge_0():
-        pass
-    
 
-def main():
-    """测试函数"""
-    print("=== ChinWe设备测试 ===")
-    
-    # 创建设备实例
-    device = ChinweDevice("/dev/tty.usbserial-A5069RR4", debug=True)
-    try:
-        # 测试5: 发送电机命令
-        print("\n5. 发送电机命令测试:")
-        print("  5.3 使用通用函数控制电机20顺时针转2圈:")
-        device.rotate_motor(2, 20.0, clockwise=True)
-        time.sleep(0.5)
-    finally:
-        time.sleep(10)
-        # 测试7: 断开连接
-        print("\n7. 断开连接:")
-        device.disconnect()
 if __name__ == "__main__":
-    main()
+    # Test
+    logging.basicConfig(level=logging.INFO)
+    dev = ChinweDevice(port="192.168.31.201:8899")
+    try:
+        if dev.is_connected:
+            print(f"Status: Level={dev.sensor_level}, RSSI={dev.sensor_rssi}")
+
+            # Test pump 1
+            # dev.pump_valve(1, 1)
+            # dev.pump_move(1, 1000, "aspirate")
+
+            # Test motor 4
+             # dev.motor_run(4, 60, 0, 2)
+
+            for _ in range(5):
+                print(f"Level={dev.sensor_level}, RSSI={dev.sensor_rssi}")
+                time.sleep(1)
+    finally:
+        dev.disconnect()

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

@@ -1,7 +1,7 @@
 # -*- coding: utf-8 -*-
 from cgi import print_arguments
 from doctest import debug
-from typing import Dict, Any, List, Optional, Tuple
+from typing import Dict, Any, List, Optional
 import requests
 from pylabrobot.resources.resource import Resource as ResourcePLR
 from pathlib import Path
@@ -19,22 +19,8 @@ from unilabos.devices.workstation.bioyond_studio.config import (
 )
 from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
 from unilabos.resources.bioyond.decks import BIOYOND_YB_Deck
-from unilabos.resources.graphio import resource_bioyond_to_plr
 from unilabos.utils.log import logger
 from unilabos.registry.registry import lab_registry
-from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
-
-
-class device(BIOYOND_YB_Deck):
-
-    @classmethod
-    def deserialize(cls, data, allow_marshal=False):  # type: ignore[override]
-        patched = dict(data)
-        if patched.get("type") == "device":
-            patched["type"] = "Deck"
-        if patched.get("category") == "device":
-            patched["category"] = "deck"
-        return super().deserialize(patched, allow_marshal=allow_marshal)
 
 def _iso_local_now_ms() -> str:
     # 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z
@@ -54,14 +40,12 @@ class BioyondCellWorkstation(BioyondWorkstation):
     def __init__(self, config: dict = None, deck=None, protocol_type=None, **kwargs):
 
         # 使用统一配置，支持自定义覆盖, 从 config.py 加载完整配置
-        self.bioyond_config = {
+        self.bioyond_config ={
             **API_CONFIG,
             "material_type_mappings": MATERIAL_TYPE_MAPPINGS,
             "warehouse_mapping": WAREHOUSE_MAPPING,
-            "debug_mode": False,
+            "debug_mode": False
-        }
+    }
-        if config:
-            self.bioyond_config.update(config)
           
             # "material_type_mappings": MATERIAL_TYPE_MAPPINGS
             # "warehouse_mapping": WAREHOUSE_MAPPING
@@ -72,12 +56,6 @@ class BioyondCellWorkstation(BioyondWorkstation):
         self.http_service_started = self.debug_mode
         self._device_id = "bioyond_cell_workstation"  # 默认值，后续会从_ros_node获取
         super().__init__(bioyond_config=config, deck=deck)
-        self.transfer_target_device_id = self.bioyond_config.get("transfer_target_device_id", "BatteryStation")
-        self.transfer_target_parent = self.bioyond_config.get("transfer_target_parent", "YB_YH_Deck")
-        self.transfer_timeout = float(self.bioyond_config.get("transfer_timeout", 180.0))
-        self.coin_cell_workflow_config = self.bioyond_config.get("coin_cell_workflow_config", {})
-        self.pending_transfer_materials: List[Dict[str, Any]] = []
-        self.pending_transfer_plr: List[ResourcePLR] = []
         self.update_push_ip() #直接修改奔耀端的报送ip地址
         logger.info("已更新奔耀端推送 IP 地址")
 
@@ -279,7 +257,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
     def auto_feeding4to3(
         self,
         # ★ 修改点：默认模板路径
-        xlsx_path: Optional[str] = "/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx",
+        xlsx_path: Optional[str] = "/Users/sml/work/Unilab/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx",
         # ---------------- WH4 - 加样头面 (Z=1, 12个点位) ----------------
         WH4_x1_y1_z1_1_materialName: str = "", WH4_x1_y1_z1_1_quantity: float = 0.0,
         WH4_x2_y1_z1_2_materialName: str = "", WH4_x2_y1_z1_2_quantity: float = 0.0,
@@ -346,7 +324,6 @@ class BioyondCellWorkstation(BioyondWorkstation):
                             "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]),
                             "materialName": str(row[5]).strip(),
                             "quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
-                            "temperature": 0,
                         })
                 # 四号手套箱原液瓶面
                 for _, row in df.iloc[14:23, 2:9].iterrows():
@@ -358,7 +335,6 @@ class BioyondCellWorkstation(BioyondWorkstation):
                             "quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
                             "materialType": str(row[7]).strip() if pd.notna(row[7]) else "",
                             "targetWH": str(row[8]).strip() if pd.notna(row[8]) else "",
-                            "temperature": 0,
                         })
                 # 三号手套箱人工堆栈
                 for _, row in df.iloc[25:40, 2:7].iterrows():
@@ -368,12 +344,11 @@ class BioyondCellWorkstation(BioyondWorkstation):
                             "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]),
                             "materialType": str(row[5]).strip() if pd.notna(row[5]) else "",
                             "materialId": str(row[6]).strip() if pd.notna(row[6]) else "",
-                            "quantity": 1,
+                            "quantity": 1
-                            "temperature": 0,
                         })
             else:
                 logger.warning(f"未找到 Excel 文件 {xlsx_path}，自动切换到手动参数模式。")
-        # TODO: 温度下面手动模式没改，上面的改了
+
         # ---------- 模式 2: 手动填写 ----------
         if not items:
             params = locals()
@@ -416,16 +391,16 @@ class BioyondCellWorkstation(BioyondWorkstation):
         order_code = response.get("data", {}).get("orderCode")
         if not order_code:
             logger.error("上料任务未返回有效 orderCode！")
-            return {"api_response": response, "order_finish": None}
+            return response
-        # 等待完成报送
+          # 等待完成报送
         result = self.wait_for_order_finish(order_code)
-        return {
+        print("\n" + "="*60)
-            "api_response": response,
+        print("实验记录本结果auto_feeding4to3")
-            "order_finish": result,
+        print("="*60)
-            "items": items,
+        print(json.dumps(result, indent=2, ensure_ascii=False))
-        }
+        print("="*60 + "\n")
+        return result
     
-
     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）
@@ -494,7 +469,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
         return response
 
     # 2.14 新建实验
-    def create_orders(self, xlsx_path: str, *, material_filter: Optional[str] = None) -> Dict[str, Any]:
+    def create_orders(self, xlsx_path: str) -> Dict[str, Any]:
         """
         从 Excel 解析并创建实验（2.14）
         约定：
@@ -503,7 +478,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
         - totalMass 自动计算为所有物料质量之和
         - createTime 缺失或为空时自动填充为当前日期（YYYY/M/D）
         """
-        default_path = Path("/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx")
+        default_path = Path("/Users/sml/work/Unilab/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx")
         path = Path(xlsx_path) if xlsx_path else default_path
         print(f"[create_orders] 使用 Excel 路径: {path}")
         if path != default_path:
@@ -649,36 +624,12 @@ class BioyondCellWorkstation(BioyondWorkstation):
         if not order_code:
             logger.error("上料任务未返回有效 orderCode！")
             return response
-        # 等待完成报送
+          # 等待完成报送
         result = self.wait_for_order_finish(order_code)
-        report_data = result.get("report") if isinstance(result, dict) else None
+        print("实验记录本========================create_orders========================")
-        materials_from_report = (
+        print(result)
-            report_data.get("usedMaterials") if isinstance(report_data, dict) else None
+        print("========================")
-        )
+        return result
-        if materials_from_report:
-            materials = materials_from_report
-            logger.info(
-                "[create_orders] 使用订单完成报送中的物料信息: "
-                f"{len(materials)} 条"
-            )
-        else:
-            materials = self._fetch_bioyond_materials(filter_keyword=material_filter)
-            logger.info(
-                "[create_orders] 未收到订单报送物料信息，回退到实时查询"
-            )
-        print("materials_from_report:", materials_from_report)
-        # TODO: 需要将 materials 字典转换为 ResourceSlot 对象后才能转运
-        # self.transfer_resource_to_another(
-        #     resource=[materials],
-        #     mount_resource=["YB_YH_Deck"],
-        #     sites=[None],
-        #     mount_device_id="BatteryStation"
-        # )
-        return {
-            "api_response": response,
-            "order_finish": result,
-            "materials": materials,
-        }
 
     # 2.7 启动调度
     def scheduler_start(self) -> Dict[str, Any]:
@@ -750,7 +701,6 @@ class BioyondCellWorkstation(BioyondWorkstation):
             return response
           # 等待完成报送
         result = self.wait_for_order_finish(order_code)
-        
         return result
    
     # 2.5 批量查询实验报告(post过滤关键字查询)
@@ -1219,221 +1169,28 @@ class BioyondCellWorkstation(BioyondWorkstation):
         })
         return final_result
 
-    def _fetch_bioyond_materials(
-        self,
-        *,
-        filter_keyword: Optional[str] = None,
-        type_mode: int = 2,
-    ) -> List[Dict[str, Any]]:
-        query: Dict[str, Any] = {
-            "typeMode": type_mode,
-            "includeDetail": True,
-        }
-        if filter_keyword:
-            query["filter"] = filter_keyword
 
-        response = self._post_lims("/api/lims/storage/stock-material", query)
-        raw_materials = response.get("data")
-        if not isinstance(raw_materials, list):
-            raw_materials = []
 
-        try:
-            resource_bioyond_to_plr(
-                raw_materials,
-                type_mapping=self.bioyond_config.get("material_type_mappings", MATERIAL_TYPE_MAPPINGS),
-                deck=self.deck,
-            )
-        except Exception as exc: 
-            logger.warning(f"转换奔曜物料到 PLR 失败: {exc}", exc_info=True)
 
-        return raw_materials
-
-    def _convert_materials_to_plr(self, materials: List[Dict[str, Any]]) -> List[ResourcePLR]:
-        try:
-            return resource_bioyond_to_plr(
-                deepcopy(materials),
-                type_mapping=self.bioyond_config.get("material_type_mappings", MATERIAL_TYPE_MAPPINGS),
-                deck=self.deck,
-            )
-        except Exception as exc:
-            logger.error(f"物料转换为 PLR 失败: {exc}", exc_info=True)
-            return []
-
-    def _wait_for_future(self, future, stage: str, timeout: Optional[float] = None):
-        if future is None:
-            return None
-        timeout = timeout or self.transfer_timeout
-        start = time.time()
-        while not future.done():
-            if (time.time() - start) > timeout:
-                raise TimeoutError(f"{stage} 超时 {timeout}s")
-            time.sleep(0.05)
-        return future.result()
-
-    def _register_plr_resources(self, resources: List[ResourcePLR]) -> None:
-        if not resources or not hasattr(self, "_ros_node") or self._ros_node is None:
-            return
-        future = ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, resources=resources)
-        self._wait_for_future(future, "update_resource")
-
-    def _get_target_resource(self, name: str) -> ResourcePLR:
-        if not hasattr(self, "_ros_node") or self._ros_node is None:
-            raise RuntimeError("ROS 节点未初始化，无法获取资源")
-        resource = self._ros_node.resource_tracker.figure_resource({"name": name}, try_mode=False)  # type: ignore
-        if resource is None:
-            raise ValueError(f"未找到目标资源: {name}")
-        return resource
-
-    def _allocate_sites(self, parent_resource: ResourcePLR, count: int) -> List[str]:
-        if not hasattr(parent_resource, "get_free_sites"):
-            raise ValueError(f"资源 {parent_resource} 不支持自动分配站位")
-        free_indices = list(parent_resource.get_free_sites())
-        if len(free_indices) < count:
-            raise ValueError(f"{parent_resource.name} 可用站位不足 (need {count}, have {len(free_indices)})")
-        ordering = list(getattr(parent_resource, "_ordering", {}).keys())
-        sites: List[str] = []
-        for idx in free_indices[:count]:
-            if ordering and idx < len(ordering):
-                sites.append(ordering[idx])
-            else:
-                sites.append(str(idx))
-        return sites
-
-    def _invoke_coin_cell_workflow(self, material_payload: List[Dict[str, Any]]) -> Any:
-        timeout = float(self.bioyond_config.get("coin_cell_workflow_timeout", 300.0))
-        workflow_payload: Dict[str, Any] = {}
-        if isinstance(self.coin_cell_workflow_config, dict):
-            workflow_payload.update(deepcopy(self.coin_cell_workflow_config))
-        workflow_payload["materials"] = deepcopy(material_payload)
-        return self._call_remote_device_method(
-            self.transfer_target_device_id,
-            "run_coin_cell_assembly_workflow",
-            timeout=timeout,
-            workflow_config=workflow_payload,
-        )
-
-    def _call_remote_device_method(
-        self,
-        device_id: str,
-        method: str,
-        *,
-        timeout: Optional[float] = None,
-        **kwargs,
-    ) -> Any:
-        if not hasattr(self, "_ros_node") or self._ros_node is None:
-            raise RuntimeError("ROS 节点未初始化，无法调用远程设备")
-        if not device_id:
-            raise ValueError("device_id 不能为空")
-        if not method:
-            raise ValueError("method 不能为空")
-
-        timeout = timeout or self.transfer_timeout
-        payload = json.dumps(
-            {
-                "function_name": method,
-                "function_args": kwargs,
-            },
-            ensure_ascii=False,
-        )
-        future = ROS2DeviceNode.run_async_func(
-            self._ros_node.execute_single_action,
-            True,
-            device_id=device_id,
-            action_name="_execute_driver_command_async",
-            action_kwargs={"string": payload},
-        )
-        result = self._wait_for_future(future, f"{device_id}.{method}", timeout)
-        if hasattr(result, "return_info"):
-            try:
-                return json.loads(result.return_info)
-            except Exception:
-                return result.return_info
-        return result
-
-    def run_feeding_stage(self) -> Dict[str, Any]:
-        self.create_sample(
-            board_type="配液瓶(小)板",
-            bottle_type="配液瓶(小)",
-            location_code="B01",
-            name="配液瓶",
-            warehouse_name="手动堆栈"
-        )
-        self.create_sample(
-            board_type="5ml分液瓶板",
-            bottle_type="5ml分液瓶",
-            location_code="B02",
-            name="分液瓶",
-            warehouse_name="手动堆栈"
-        )
-        self.scheduler_start()
-        feeding_task = self.auto_feeding4to3(
-            xlsx_path="/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx"
-        )
-        feeding_materials = self._fetch_bioyond_materials()
-        return {
-            "feeding_materials": feeding_materials,
-            "feeding_items": feeding_task.get("items", []),
-            "feeding_task": feeding_task,
-        }
-
-    def run_liquid_preparation_stage(
-        self,
-        feeding_materials: Optional[List[Dict[str, Any]]] = None,
-    ) -> Dict[str, List[Dict[str, Any]]]:
-        result = self.create_orders(
-            xlsx_path="/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx"
-        )
-        filter_keyword = self.bioyond_config.get("mixing_material_filter") or None
-        materials = result.get("materials")
-        if materials is None:
-            materials = self._fetch_bioyond_materials(filter_keyword=filter_keyword)
-        return {
-            "feeding_materials": feeding_materials or [],
-            "liquid_materials": materials,
-        }
-
-    def run_transfer_stage(
-        self,
-        liquid_materials: Optional[List[Dict[str, Any]]] = None,
-        source_wh_id: Optional[str] = '3a19debc-84b4-0359-e2d4-b3beea49348b',
-        source_x: int = 1,
-        source_y: int = 1,
-        source_z: int = 1
-    ) -> Dict[str, Any]:
-        """转运阶段：调用transfer_3_to_2_to_1执行3到2到1转运"""
-        logger.info("开始执行转运阶段 (run_transfer_stage)")
-        
-        # 暂时注释掉物料转换和跨工站转运逻辑
-        # transfer_summary: Dict[str, Any] = {}
-        # try:
-        #     source_materials = liquid_materials or self._fetch_bioyond_materials()
-        #     transfer_plr = self._convert_materials_to_plr(source_materials)
-        #     transfer_summary["plr_count"] = len(transfer_plr)
-        #     ...
-        # except Exception as exc:
-        #     transfer_summary["error"] = str(exc)
-        #     logger.error(f"跨工站转运失败: {exc}", exc_info=True)
-        
-        # 只执行核心的3到2到1转运
-        transfer_result = self.transfer_3_to_2_to_1(
-            source_wh_id=source_wh_id,
-            source_x=source_x,
-            source_y=source_y,
-            source_z=source_z
-        )
-        
-        logger.info("转运阶段执行完成")
-        return {
-            "success": True,
-            "stage": "transfer",
-            "transfer_result": transfer_result
-        }
 if __name__ == "__main__":
+    lab_registry.setup()
     deck = BIOYOND_YB_Deck(setup=True)
-    w = BioyondCellWorkstation(deck=deck, address="172.16.28.102", port="502", debug_mode=False)
+    ws = BioyondCellWorkstation(deck=deck)
-    feeding = w.run_feeding_stage()
+    # ws.create_sample(name="test", board_type="配液瓶(小)板", bottle_type="配液瓶(小)", location_code="B01")
-    liquid = w.run_liquid_preparation_stage(feeding.get("feeding_materials"))
+    # logger.info(ws.scheduler_stop())
-    transfer = w.run_transfer_stage(liquid.get("liquid_materials"))
+    # logger.info(ws.scheduler_start())
+    
+    # 继续后续流程
+    logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱
+    # # # 使用正斜杠或 Path 对象来指定文件路径
+    # excel_path = Path("unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\2025092701.xlsx")
+    # logger.info(ws.create_orders(excel_path))
+    # logger.info(ws.transfer_3_to_2_to_1())
+
+    # logger.info(ws.transfer_1_to_2())
+    # logger.info(ws.scheduler_start())
+
+
     while True:
         time.sleep(1)
     # re=ws.scheduler_stop()

unilabos/devices/workstation/bioyond_studio/config.py

@@ -8,7 +8,7 @@ import os
 # BioyondCellWorkstation 默认配置（包含所有必需参数）
 API_CONFIG = {
     # API 连接配置
-    # "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.1.143:44389"),#实机
+    # "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.11.118:44389"),#实机
     "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.11.219:44388"),# 仿真机
     "api_key": os.getenv("BIOYOND_API_KEY", "8A819E5C"),
     "timeout": int(os.getenv("BIOYOND_TIMEOUT", "30")),
@@ -17,7 +17,7 @@ API_CONFIG = {
     "report_token": os.getenv("BIOYOND_REPORT_TOKEN", "CHANGE_ME_TOKEN"),
     
     # HTTP 服务配置
-    "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.16.11.6"),  # HTTP服务监听地址，监听计算机飞连ip地址
+    "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.16.10.148"),  # HTTP服务监听地址，监听计算机飞连ip地址
     "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")),
     "debug_mode": False,# 调试模式
 }

unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py

@@ -634,6 +634,12 @@ class CoincellDeck(Deck):
         self.assign_child_resource(waste_tip_box, Coordinate(x=778.0, y=622.0, z=0))
 
 
+def YH_Deck(name=""):
+    cd = CoincellDeck(name=name)
+    cd.setup()
+    return cd
+
+
 if __name__ == "__main__":
     deck = create_coin_cell_deck()
     print(deck)

unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py

@@ -1,3 +1,4 @@
+      
 import csv
 import inspect
 import json
@@ -143,6 +144,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         else:
             print("测试模式，跳过连接")
             self.nodes, self.client = None, None
+
         """ 工站的配置 """
 
         self.success = False
@@ -159,27 +161,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
             "resources": [self.deck]
         })
 
-    def sync_transfer_resources(self) -> Dict[str, Any]:
-        """
-        供跨工站转运完成后调用，强制将当前台面资源同步到云端/前端。
-        """
-        if not hasattr(self, "_ros_node") or self._ros_node is None:
-            return {"status": "failed", "error": "ros_node_not_ready"}
-        if self.deck is None:
-            return {"status": "failed", "error": "deck_not_initialized"}
-        try:
-            future = ROS2DeviceNode.run_async_func(
-                self._ros_node.update_resource,
-                True,
-                resources=[self.deck],
-            )
-            if future:
-                future.result()
-            return {"status": "success"}
-        except Exception as exc:
-            logger.error(f"同步转运资源失败: {exc}", exc_info=True)
-            return {"status": "failed", "error": str(exc)}
-
     # 批量操作在这里写
     async def change_hole_sheet_to_2(self, hole: MaterialHole):
         hole._unilabos_state["max_sheets"] = 2
@@ -1005,31 +986,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         #self.success = True
         #return self.success
     
-    def run_packaging_workflow(self, workflow_config: Dict[str, Any]) -> "CoinCellAssemblyWorkstation":
-        config = workflow_config or {}
-
-        qiming_params = config.get("qiming") or {}
-        if qiming_params:
-            self.qiming_coin_cell_code(**qiming_params)
-
-        if config.get("init", True):
-            self.func_pack_device_init()
-        if config.get("auto", True):
-            self.func_pack_device_auto()
-        if config.get("start", True):
-            self.func_pack_device_start()
-
-        packaging_config = config.get("packaging") or {}
-        bottle_num = packaging_config.get("bottle_num")
-        if bottle_num is not None:
-            self.func_pack_send_bottle_num(bottle_num)
-
-        allpack_params = packaging_config.get("command") or {}
-        if allpack_params:
-            self.func_allpack_cmd(**allpack_params)
-
-        return self
-    
     def fun_wuliao_test(self) -> bool: 
         #找到data_init中构建的2个物料盘
         liaopan3 = self.deck.get_resource("\u7535\u6c60\u6599\u76d8")
@@ -1243,95 +1199,20 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         """移液枪头库存 (数量, INT16)"""
         inventory, read_err = self.client.register_node_list(self.nodes).use_node('REG_DATA_TIPS_INVENTORY').read(1)
         return inventory
-         
+        
     '''
 
-    def run_coin_cell_assembly_workflow(
-        self,
-        workflow_config: Optional[Dict[str, Any]] = None,
-    ) -> Dict[str, Any]:
-        config: Dict[str, Any]
-        if workflow_config is None:
-            config = {}
-        elif isinstance(workflow_config, list):
-            config = {"materials": workflow_config}
-        else:
-            config = workflow_config
-        qiming_defaults = {
-            "fujipian_panshu": 1,
-            "fujipian_juzhendianwei": 0,
-            "gemopanshu": 1,
-            "gemo_juzhendianwei": 0,
-            "lvbodian": True,
-            "battery_pressure_mode": True,
-            "battery_pressure": 4200,
-            "battery_clean_ignore": False,
-        }
-        qiming_params = {**qiming_defaults, **(config.get("qiming") or {})}
-        qiming_success = self.qiming_coin_cell_code(**qiming_params)
-
-        step_results: Dict[str, Any] = {}
-        try:
-            self.func_pack_device_init()
-            step_results["init"] = True
-        except Exception as exc:
-            step_results["init"] = f"error: {exc}"
-
-        try:
-            self.func_pack_device_auto()
-            step_results["auto"] = True
-        except Exception as exc:
-            step_results["auto"] = f"error: {exc}"
-
-        try:
-            self.func_pack_device_start()
-            step_results["start"] = True
-        except Exception as exc:
-            step_results["start"] = f"error: {exc}"
-
-        packaging_cfg = config.get("packaging") or {}
-        bottle_num = packaging_cfg.get("bottle_num", 1)
-        try:
-            self.func_pack_send_bottle_num(bottle_num)
-            step_results["send_bottle_num"] = True
-        except Exception as exc:
-            step_results["send_bottle_num"] = f"error: {exc}"
-
-        command_defaults = {
-            "elec_num": 1,
-            "elec_use_num": 1,
-            "elec_vol": 50,
-            "assembly_type": 7,
-            "assembly_pressure": 4200,
-            "file_path": "/Users/sml/work",
-        }
-        command_params = {**command_defaults, **(packaging_cfg.get("command") or {})}
-        packaging_result = self.func_allpack_cmd(**command_params)
-
-        finished_result = self.func_pack_send_finished_cmd()
-        stop_result = self.func_pack_device_stop()
-
-        return {
-            "qiming": {
-                "params": qiming_params,
-                "success": qiming_success,
-            },
-            "workflow_steps": step_results,
-            "packaging": {
-                "bottle_num": bottle_num,
-                "command": command_params,
-                "result": packaging_result,
-            },
-            "finish": {
-                "send_finished": finished_result,
-                "stop": stop_result,
-            },
-        }
 
 
 if __name__ == "__main__":
-    deck = CoincellDeck(setup=True, name="coin_cell_deck")
+    # 简单测试
-    w = CoinCellAssemblyWorkstation(deck=deck, address="172.16.28.102", port="502", debug_mode=False)
+    workstation = CoinCellAssemblyWorkstation(deck=CoincellDeck(setup=True, name="coin_cell_deck"))
-    w.run_coin_cell_assembly_workflow()
+    # workstation.qiming_coin_cell_code(fujipian_panshu=1, fujipian_juzhendianwei=2, gemopanshu=3, gemo_juzhendianwei=4, lvbodian=False, battery_pressure_mode=False, battery_pressure=4200, battery_clean_ignore=False)
-        
+    # print(f"工作站创建成功: {workstation.deck.name}")
-       
+    # print(f"料盘数量: {len(workstation.deck.children)}")
+    workstation.func_pack_device_init()
+    workstation.func_pack_device_auto()
+    workstation.func_pack_device_start()
+    workstation.func_pack_send_bottle_num(16)
+    workstation.func_allpack_cmd(elec_num=16, elec_use_num=16, elec_vol=50, assembly_type=7, assembly_pressure=4200, file_path="/Users/calvincao/Desktop/work/Uni-Lab-OS-hhm")
+    

unilabos/registry/devices/bioyond.yaml

@@ -1,589 +0,0 @@
-workstation.bioyond_dispensing_station:
-  category:
-  - workstation
-  - bioyond
-  class:
-    action_value_mappings:
-      auto-batch_create_90_10_vial_feeding_tasks:
-        feedback: {}
-        goal: {}
-        goal_default:
-          delay_time: null
-          hold_m_name: null
-          liquid_material_name: NMP
-          speed: null
-          temperature: null
-          titration: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                delay_time:
-                  type: string
-                hold_m_name:
-                  type: string
-                liquid_material_name:
-                  default: NMP
-                  type: string
-                speed:
-                  type: string
-                temperature:
-                  type: string
-                titration:
-                  type: string
-              required:
-              - titration
-              type: object
-            result: {}
-          required:
-          - goal
-          title: batch_create_90_10_vial_feeding_tasks参数
-          type: object
-        type: UniLabJsonCommand
-      auto-batch_create_diamine_solution_tasks:
-        feedback: {}
-        goal: {}
-        goal_default:
-          delay_time: null
-          liquid_material_name: NMP
-          solutions: null
-          speed: null
-          temperature: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                delay_time:
-                  type: string
-                liquid_material_name:
-                  default: NMP
-                  type: string
-                solutions:
-                  type: string
-                speed:
-                  type: string
-                temperature:
-                  type: string
-              required:
-              - solutions
-              type: object
-            result: {}
-          required:
-          - goal
-          title: batch_create_diamine_solution_tasks参数
-          type: object
-        type: UniLabJsonCommand
-      auto-brief_step_parameters:
-        feedback: {}
-        goal: {}
-        goal_default:
-          data: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                data:
-                  type: object
-              required:
-              - data
-              type: object
-            result: {}
-          required:
-          - goal
-          title: brief_step_parameters参数
-          type: object
-        type: UniLabJsonCommand
-      auto-compute_experiment_design:
-        feedback: {}
-        goal: {}
-        goal_default:
-          m_tot: '70'
-          ratio: null
-          titration_percent: '0.03'
-          wt_percent: '0.25'
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                m_tot:
-                  default: '70'
-                  type: string
-                ratio:
-                  type: object
-                titration_percent:
-                  default: '0.03'
-                  type: string
-                wt_percent:
-                  default: '0.25'
-                  type: string
-              required:
-              - ratio
-              type: object
-            result:
-              properties:
-                feeding_order:
-                  items: {}
-                  title: Feeding Order
-                  type: array
-                return_info:
-                  title: Return Info
-                  type: string
-                solutions:
-                  items: {}
-                  title: Solutions
-                  type: array
-                solvents:
-                  additionalProperties: true
-                  title: Solvents
-                  type: object
-                titration:
-                  additionalProperties: true
-                  title: Titration
-                  type: object
-              required:
-              - solutions
-              - titration
-              - solvents
-              - feeding_order
-              - return_info
-              title: ComputeExperimentDesignReturn
-              type: object
-          required:
-          - goal
-          title: compute_experiment_design参数
-          type: object
-        type: UniLabJsonCommand
-      auto-process_order_finish_report:
-        feedback: {}
-        goal: {}
-        goal_default:
-          report_request: null
-          used_materials: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                report_request:
-                  type: string
-                used_materials:
-                  type: string
-              required:
-              - report_request
-              - used_materials
-              type: object
-            result: {}
-          required:
-          - goal
-          title: process_order_finish_report参数
-          type: object
-        type: UniLabJsonCommand
-      auto-project_order_report:
-        feedback: {}
-        goal: {}
-        goal_default:
-          order_id: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                order_id:
-                  type: string
-              required:
-              - order_id
-              type: object
-            result: {}
-          required:
-          - goal
-          title: project_order_report参数
-          type: object
-        type: UniLabJsonCommand
-      auto-query_resource_by_name:
-        feedback: {}
-        goal: {}
-        goal_default:
-          material_name: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                material_name:
-                  type: string
-              required:
-              - material_name
-              type: object
-            result: {}
-          required:
-          - goal
-          title: query_resource_by_name参数
-          type: object
-        type: UniLabJsonCommand
-      auto-transfer_materials_to_reaction_station:
-        feedback: {}
-        goal: {}
-        goal_default:
-          target_device_id: null
-          transfer_groups: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                target_device_id:
-                  type: string
-                transfer_groups:
-                  type: array
-              required:
-              - target_device_id
-              - transfer_groups
-              type: object
-            result: {}
-          required:
-          - goal
-          title: transfer_materials_to_reaction_station参数
-          type: object
-        type: UniLabJsonCommand
-      auto-wait_for_multiple_orders_and_get_reports:
-        feedback: {}
-        goal: {}
-        goal_default:
-          batch_create_result: null
-          check_interval: 10
-          timeout: 7200
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                batch_create_result:
-                  type: string
-                check_interval:
-                  default: 10
-                  type: integer
-                timeout:
-                  default: 7200
-                  type: integer
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: wait_for_multiple_orders_and_get_reports参数
-          type: object
-        type: UniLabJsonCommand
-      auto-workflow_sample_locations:
-        feedback: {}
-        goal: {}
-        goal_default:
-          workflow_id: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                workflow_id:
-                  type: string
-              required:
-              - workflow_id
-              type: object
-            result: {}
-          required:
-          - goal
-          title: workflow_sample_locations参数
-          type: object
-        type: UniLabJsonCommand
-      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

@@ -32,111 +32,6 @@ bioyond_cell:
         feedback: {}
         goal: {}
         goal_default:
-          WH3_x1_y1_z3_1_materialId: ''
-          WH3_x1_y1_z3_1_materialType: ''
-          WH3_x1_y1_z3_1_quantity: 0
-          WH3_x1_y2_z3_4_materialId: ''
-          WH3_x1_y2_z3_4_materialType: ''
-          WH3_x1_y2_z3_4_quantity: 0
-          WH3_x1_y3_z3_7_materialId: ''
-          WH3_x1_y3_z3_7_materialType: ''
-          WH3_x1_y3_z3_7_quantity: 0
-          WH3_x1_y4_z3_10_materialId: ''
-          WH3_x1_y4_z3_10_materialType: ''
-          WH3_x1_y4_z3_10_quantity: 0
-          WH3_x1_y5_z3_13_materialId: ''
-          WH3_x1_y5_z3_13_materialType: ''
-          WH3_x1_y5_z3_13_quantity: 0
-          WH3_x2_y1_z3_2_materialId: ''
-          WH3_x2_y1_z3_2_materialType: ''
-          WH3_x2_y1_z3_2_quantity: 0
-          WH3_x2_y2_z3_5_materialId: ''
-          WH3_x2_y2_z3_5_materialType: ''
-          WH3_x2_y2_z3_5_quantity: 0
-          WH3_x2_y3_z3_8_materialId: ''
-          WH3_x2_y3_z3_8_materialType: ''
-          WH3_x2_y3_z3_8_quantity: 0
-          WH3_x2_y4_z3_11_materialId: ''
-          WH3_x2_y4_z3_11_materialType: ''
-          WH3_x2_y4_z3_11_quantity: 0
-          WH3_x2_y5_z3_14_materialId: ''
-          WH3_x2_y5_z3_14_materialType: ''
-          WH3_x2_y5_z3_14_quantity: 0
-          WH3_x3_y1_z3_3_materialId: ''
-          WH3_x3_y1_z3_3_materialType: ''
-          WH3_x3_y1_z3_3_quantity: 0
-          WH3_x3_y2_z3_6_materialId: ''
-          WH3_x3_y2_z3_6_materialType: ''
-          WH3_x3_y2_z3_6_quantity: 0
-          WH3_x3_y3_z3_9_materialId: ''
-          WH3_x3_y3_z3_9_materialType: ''
-          WH3_x3_y3_z3_9_quantity: 0
-          WH3_x3_y4_z3_12_materialId: ''
-          WH3_x3_y4_z3_12_materialType: ''
-          WH3_x3_y4_z3_12_quantity: 0
-          WH3_x3_y5_z3_15_materialId: ''
-          WH3_x3_y5_z3_15_materialType: ''
-          WH3_x3_y5_z3_15_quantity: 0
-          WH4_x1_y1_z1_1_materialName: ''
-          WH4_x1_y1_z1_1_quantity: 0.0
-          WH4_x1_y1_z2_1_materialName: ''
-          WH4_x1_y1_z2_1_materialType: ''
-          WH4_x1_y1_z2_1_quantity: 0.0
-          WH4_x1_y1_z2_1_targetWH: ''
-          WH4_x1_y2_z1_6_materialName: ''
-          WH4_x1_y2_z1_6_quantity: 0.0
-          WH4_x1_y2_z2_4_materialName: ''
-          WH4_x1_y2_z2_4_materialType: ''
-          WH4_x1_y2_z2_4_quantity: 0.0
-          WH4_x1_y2_z2_4_targetWH: ''
-          WH4_x1_y3_z1_11_materialName: ''
-          WH4_x1_y3_z1_11_quantity: 0.0
-          WH4_x1_y3_z2_7_materialName: ''
-          WH4_x1_y3_z2_7_materialType: ''
-          WH4_x1_y3_z2_7_quantity: 0.0
-          WH4_x1_y3_z2_7_targetWH: ''
-          WH4_x2_y1_z1_2_materialName: ''
-          WH4_x2_y1_z1_2_quantity: 0.0
-          WH4_x2_y1_z2_2_materialName: ''
-          WH4_x2_y1_z2_2_materialType: ''
-          WH4_x2_y1_z2_2_quantity: 0.0
-          WH4_x2_y1_z2_2_targetWH: ''
-          WH4_x2_y2_z1_7_materialName: ''
-          WH4_x2_y2_z1_7_quantity: 0.0
-          WH4_x2_y2_z2_5_materialName: ''
-          WH4_x2_y2_z2_5_materialType: ''
-          WH4_x2_y2_z2_5_quantity: 0.0
-          WH4_x2_y2_z2_5_targetWH: ''
-          WH4_x2_y3_z1_12_materialName: ''
-          WH4_x2_y3_z1_12_quantity: 0.0
-          WH4_x2_y3_z2_8_materialName: ''
-          WH4_x2_y3_z2_8_materialType: ''
-          WH4_x2_y3_z2_8_quantity: 0.0
-          WH4_x2_y3_z2_8_targetWH: ''
-          WH4_x3_y1_z1_3_materialName: ''
-          WH4_x3_y1_z1_3_quantity: 0.0
-          WH4_x3_y1_z2_3_materialName: ''
-          WH4_x3_y1_z2_3_materialType: ''
-          WH4_x3_y1_z2_3_quantity: 0.0
-          WH4_x3_y1_z2_3_targetWH: ''
-          WH4_x3_y2_z1_8_materialName: ''
-          WH4_x3_y2_z1_8_quantity: 0.0
-          WH4_x3_y2_z2_6_materialName: ''
-          WH4_x3_y2_z2_6_materialType: ''
-          WH4_x3_y2_z2_6_quantity: 0.0
-          WH4_x3_y2_z2_6_targetWH: ''
-          WH4_x3_y3_z2_9_materialName: ''
-          WH4_x3_y3_z2_9_materialType: ''
-          WH4_x3_y3_z2_9_quantity: 0.0
-          WH4_x3_y3_z2_9_targetWH: ''
-          WH4_x4_y1_z1_4_materialName: ''
-          WH4_x4_y1_z1_4_quantity: 0.0
-          WH4_x4_y2_z1_9_materialName: ''
-          WH4_x4_y2_z1_9_quantity: 0.0
-          WH4_x5_y1_z1_5_materialName: ''
-          WH4_x5_y1_z1_5_quantity: 0.0
-          WH4_x5_y2_z1_10_materialName: ''
-          WH4_x5_y2_z1_10_quantity: 0.0
           xlsx_path: /Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
         handles: {}
         placeholder_keys: {}
@@ -821,154 +716,6 @@ bioyond_cell:
           title: resource_tree_transfer参数
           type: object
         type: UniLabJsonCommand
-      auto-run_feeding_stage:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles:
-          input: []
-          output:
-          - data_key: feeding_materials
-            data_source: executor
-            data_type: resource
-            handler_key: feeding_materials
-            label: Feeding Materials
-        placeholder_keys: {}
-        result:
-          properties:
-            feeding_materials:
-              items:
-                type: object
-              type: array
-          required:
-          - feeding_materials
-          type: object
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: run_feeding_stage参数
-          type: object
-        type: UniLabJsonCommand
-      auto-run_liquid_preparation_stage:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles:
-          input:
-          - data_key: feeding_materials
-            data_source: handle
-            data_type: resource
-            handler_key: feeding_materials
-            label: Feeding Materials
-          output:
-          - data_key: liquid_materials
-            data_source: executor
-            data_type: resource
-            handler_key: liquid_materials
-            label: Liquid Materials
-        placeholder_keys: {}
-        result:
-          properties:
-            feeding_materials:
-              items:
-                type: object
-              type: array
-            liquid_materials:
-              items:
-                type: object
-              type: array
-          required:
-          - liquid_materials
-          type: object
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                feeding_materials:
-                  items:
-                    type: object
-                  type: array
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: run_liquid_preparation_stage参数
-          type: object
-        type: UniLabJsonCommand
-      auto-run_transfer_stage:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles:
-          input:
-          - data_key: liquid_materials
-            data_source: handle
-            data_type: resource
-            handler_key: liquid_materials
-            label: Liquid Materials
-          output:
-          - data_key: transfer_materials
-            data_source: executor
-            data_type: resource
-            handler_key: transfer_materials
-            label: Transfer Materials
-        placeholder_keys: {}
-        result:
-          properties:
-            liquid_materials:
-              items:
-                type: object
-              type: array
-            transfer_materials:
-              items:
-                type: object
-              type: array
-            transfer_summary:
-              type: object
-          required:
-          - transfer_materials
-          type: object
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                liquid_materials:
-                  items:
-                    type: object
-                  type: array
-              required: []
-              type: object
-            result:
-              properties:
-                liquid_materials:
-                  items:
-                    type: object
-                  type: array
-                transfer_materials:
-                  items:
-                    type: object
-                  type: array
-                transfer_summary:
-                  type: object
-              type: object
-          required:
-          - goal
-          title: run_transfer_stage参数
-          type: object
-        type: UniLabJsonCommand
       auto-scheduler_continue:
         feedback: {}
         goal: {}
@@ -1260,7 +1007,7 @@ bioyond_cell:
       device_id: String
     type: python
   config_info: []
-  description: 配液工站
+  description: ''
   handles: []
   icon: benyao2.webp
   init_param_schema:

unilabos/registry/devices/chinwe.yaml

@@ -0,0 +1,344 @@
+separator.chinwe:
+  category:
+  - separator
+  - chinwe
+  class:
+    action_value_mappings:
+      motor_rotate_quarter:
+        goal:
+          direction: 顺时针
+          motor_id: 4
+          speed: 60
+        handles: {}
+        schema:
+          description: 电机旋转 1/4 圈
+          properties:
+            goal:
+              properties:
+                direction:
+                  default: 顺时针
+                  description: 旋转方向
+                  enum:
+                  - 顺时针
+                  - 逆时针
+                  type: string
+                motor_id:
+                  default: '4'
+                  description: 选择电机 (4:搅拌, 5:旋钮)
+                  enum:
+                  - '4'
+                  - '5'
+                  type: string
+                speed:
+                  default: 60
+                  description: 速度 (RPM)
+                  type: integer
+              required:
+              - motor_id
+              - speed
+              type: object
+        type: UniLabJsonCommand
+      motor_run_continuous:
+        goal:
+          direction: 顺时针
+          motor_id: 4
+          speed: 60
+        handles: {}
+        schema:
+          description: 电机一直旋转 (速度模式)
+          properties:
+            goal:
+              properties:
+                direction:
+                  default: 顺时针
+                  description: 旋转方向
+                  enum:
+                  - 顺时针
+                  - 逆时针
+                  type: string
+                motor_id:
+                  default: '4'
+                  description: 选择电机 (4:搅拌, 5:旋钮)
+                  enum:
+                  - '4'
+                  - '5'
+                  type: string
+                speed:
+                  default: 60
+                  description: 速度 (RPM)
+                  type: integer
+              required:
+              - motor_id
+              - speed
+              type: object
+        type: UniLabJsonCommand
+      motor_stop:
+        goal:
+          motor_id: 4
+        handles: {}
+        schema:
+          description: 停止指定步进电机
+          properties:
+            goal:
+              properties:
+                motor_id:
+                  default: '4'
+                  description: 选择电机
+                  enum:
+                  - '4'
+                  - '5'
+                  title: '注: 4=搅拌, 5=旋钮'
+                  type: string
+              required:
+              - motor_id
+              type: object
+        type: UniLabJsonCommand
+      pump_aspirate:
+        goal:
+          pump_id: 1
+          valve_port: 1
+          volume: 1000
+        handles: {}
+        schema:
+          description: 注射泵吸液
+          properties:
+            goal:
+              properties:
+                pump_id:
+                  default: '1'
+                  description: 选择泵
+                  enum:
+                  - '1'
+                  - '2'
+                  - '3'
+                  type: string
+                valve_port:
+                  default: '1'
+                  description: 阀门端口
+                  enum:
+                  - '1'
+                  - '2'
+                  - '3'
+                  - '4'
+                  - '5'
+                  - '6'
+                  - '7'
+                  - '8'
+                  type: string
+                volume:
+                  default: 1000
+                  description: 吸液步数
+                  type: integer
+              required:
+              - pump_id
+              - volume
+              - valve_port
+              type: object
+        type: UniLabJsonCommand
+      pump_dispense:
+        goal:
+          pump_id: 1
+          valve_port: 1
+          volume: 1000
+        handles: {}
+        schema:
+          description: 注射泵排液
+          properties:
+            goal:
+              properties:
+                pump_id:
+                  default: '1'
+                  description: 选择泵
+                  enum:
+                  - '1'
+                  - '2'
+                  - '3'
+                  type: string
+                valve_port:
+                  default: '1'
+                  description: 阀门端口
+                  enum:
+                  - '1'
+                  - '2'
+                  - '3'
+                  - '4'
+                  - '5'
+                  - '6'
+                  - '7'
+                  - '8'
+                  type: string
+                volume:
+                  default: 1000
+                  description: 排液步数
+                  type: integer
+              required:
+              - pump_id
+              - volume
+              - valve_port
+              type: object
+        type: UniLabJsonCommand
+      pump_initialize:
+        goal:
+          drain_port: 0
+          output_port: 0
+          pump_id: 1
+          speed: 10
+        handles: {}
+        schema:
+          description: 初始化指定注射泵
+          properties:
+            goal:
+              properties:
+                drain_port:
+                  default: 0
+                  description: 排液口索引
+                  type: integer
+                output_port:
+                  default: 0
+                  description: 输出口索引
+                  type: integer
+                pump_id:
+                  default: '1'
+                  description: 选择泵
+                  enum:
+                  - '1'
+                  - '2'
+                  - '3'
+                  title: '注: 1号泵, 2号泵, 3号泵'
+                  type: string
+                speed:
+                  default: 10
+                  description: 运动速度
+                  type: integer
+              required:
+              - pump_id
+              type: object
+        type: UniLabJsonCommand
+      pump_valve:
+        goal:
+          port: 1
+          pump_id: 1
+        handles: {}
+        schema:
+          description: 切换指定泵的阀门端口
+          properties:
+            goal:
+              properties:
+                port:
+                  default: '1'
+                  description: 阀门端口号 (1-8)
+                  enum:
+                  - '1'
+                  - '2'
+                  - '3'
+                  - '4'
+                  - '5'
+                  - '6'
+                  - '7'
+                  - '8'
+                  type: string
+                pump_id:
+                  default: '1'
+                  description: 选择泵
+                  enum:
+                  - '1'
+                  - '2'
+                  - '3'
+                  type: string
+              required:
+              - pump_id
+              - port
+              type: object
+        type: UniLabJsonCommand
+      wait_sensor_level:
+        goal:
+          target_state: 有液
+          timeout: 30
+        handles: {}
+        schema:
+          description: 等待传感器液位条件
+          properties:
+            goal:
+              properties:
+                target_state:
+                  default: 有液
+                  description: 目标液位状态
+                  enum:
+                  - 有液
+                  - 无液
+                  type: string
+                timeout:
+                  default: 30
+                  description: 超时时间 (秒)
+                  type: integer
+              required:
+              - target_state
+              type: object
+        type: UniLabJsonCommand
+      wait_time:
+        goal:
+          duration: 10
+        handles: {}
+        schema:
+          description: 等待指定时间
+          properties:
+            goal:
+              properties:
+                duration:
+                  default: 10
+                  description: 等待时间 (秒)
+                  type: integer
+              required:
+              - duration
+              type: object
+        type: UniLabJsonCommand
+    module: unilabos.devices.separator.chinwe:ChinweDevice
+    status_types:
+      is_connected: bool
+      sensor_level: bool
+      sensor_rssi: int
+    type: python
+  config_info: []
+  description: ChinWe 简易工作站控制器 (3泵, 2电机, 1传感器)
+  handles: []
+  icon: ''
+  init_param_schema:
+    goal:
+      baudrate:
+        default: 9600
+        description: 串口波特率
+        type: integer
+      motor_ids:
+        default:
+        - 4
+        - 5
+        description: 步进电机ID列表
+        items:
+          type: integer
+        type: array
+      port:
+        default: 192.168.1.200:8899
+        description: 串口号或 IP:Port
+        type: string
+      pump_ids:
+        default:
+        - 1
+        - 2
+        - 3
+        description: 注射泵ID列表
+        items:
+          type: integer
+        type: array
+      sensor_id:
+        default: 6
+        description: XKC传感器ID
+        type: integer
+      sensor_threshold:
+        default: 300
+        description: 传感器液位判定阈值
+        type: integer
+      timeout:
+        default: 10
+        description: 通信超时时间 (秒)
+        type: integer
+  version: 2.1.0

unilabos/registry/devices/coin_cell_workstation.yaml

@@ -477,171 +477,6 @@ coincellassemblyworkstation_device:
           title: qiming_coin_cell_code参数
           type: object
         type: UniLabJsonCommand
-      auto-run_coin_cell_assembly_workflow:
-        feedback: {}
-        goal:
-          properties:
-            workflow_config:
-              type: object
-          required: []
-          type: object
-        goal_default:
-          workflow_config: {}
-        handles:
-          input:
-          - data_key: workflow_config
-            data_source: handle
-            data_type: resource
-            handler_key: WorkflowConfig
-            label: Workflow Config
-          output:
-          - data_key: qiming
-            data_source: executor
-            data_type: resource
-            handler_key: QimingResult
-            label: Qiming Result
-          - data_key: workflow_steps
-            data_source: executor
-            data_type: resource
-            handler_key: WorkflowSteps
-            label: Workflow Steps
-          - data_key: packaging
-            data_source: executor
-            data_type: resource
-            handler_key: PackagingResult
-            label: Packaging Result
-          - data_key: finish
-            data_source: executor
-            data_type: resource
-            handler_key: FinishResult
-            label: Finish Result
-        placeholder_keys: {}
-        result:
-          properties:
-            finish:
-              properties:
-                send_finished:
-                  type: object
-                stop:
-                  type: object
-              required:
-              - send_finished
-              - stop
-              type: object
-            packaging:
-              properties:
-                bottle_num:
-                  type: integer
-                command:
-                  type: object
-                result:
-                  type: object
-              required:
-              - bottle_num
-              - command
-              - result
-              type: object
-            qiming:
-              properties:
-                params:
-                  type: object
-                success:
-                  type: boolean
-              required:
-              - params
-              - success
-              type: object
-            workflow_steps:
-              type: object
-          required:
-          - qiming
-          - workflow_steps
-          - packaging
-          - finish
-          type: object
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                workflow_config:
-                  type: object
-              required: []
-              type: object
-            result:
-              properties:
-                finish:
-                  properties:
-                    send_finished:
-                      type: object
-                    stop:
-                      type: object
-                  required:
-                  - send_finished
-                  - stop
-                  type: object
-                packaging:
-                  properties:
-                    bottle_num:
-                      type: integer
-                    command:
-                      type: object
-                    result:
-                      type: object
-                  required:
-                  - bottle_num
-                  - command
-                  - result
-                  type: object
-                qiming:
-                  properties:
-                    params:
-                      type: object
-                    success:
-                      type: boolean
-                  required:
-                  - params
-                  - success
-                  type: object
-                workflow_steps:
-                  type: object
-              required:
-              - qiming
-              - workflow_steps
-              - packaging
-              - finish
-              type: object
-          required:
-          - goal
-          title: run_coin_cell_assembly_workflow参数
-          type: object
-        type: UniLabJsonCommand
-      auto-run_packaging_workflow:
-        feedback: {}
-        goal: {}
-        goal_default:
-          workflow_config: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                workflow_config:
-                  type: object
-              required:
-              - workflow_config
-              type: object
-            result: {}
-          required:
-          - goal
-          title: run_packaging_workflow参数
-          type: object
-        type: UniLabJsonCommand
     module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation
     status_types:
       data_assembly_coin_cell_num: int
@@ -665,7 +500,7 @@ coincellassemblyworkstation_device:
       sys_status: str
     type: python
   config_info: []
-  description: 扣电工站
+  description: ''
   handles: []
   icon: koudian.webp
   init_param_schema:

unilabos/registry/devices/neware_battery_test_system.yaml

@@ -1,8 +1,6 @@
 neware_battery_test_system:
   category:
   - neware_battery_test_system
-  - neware
-  - battery_test
   class:
     action_value_mappings:
       auto-post_init:
@@ -72,38 +70,6 @@ neware_battery_test_system:
           title: test_connection参数
           type: object
         type: UniLabJsonCommand
-      debug_resource_names:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        result:
-          return_info: return_info
-          success: success
-        schema:
-          description: 调试方法：显示所有资源的实际名称
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result:
-              properties:
-                return_info:
-                  description: 资源调试信息
-                  type: string
-                success:
-                  description: 是否成功
-                  type: boolean
-              required:
-              - return_info
-              - success
-              type: object
-          required:
-          - goal
-          type: object
-        type: UniLabJsonCommand
       export_status_json:
         feedback: {}
         goal:
@@ -253,9 +219,7 @@ neware_battery_test_system:
         goal_default:
           string: ''
         handles: {}
-        result:
+        result: {}
-          return_info: return_info
-          success: success
         schema:
           description: ''
           properties:
@@ -288,56 +252,6 @@ neware_battery_test_system:
           title: StrSingleInput
           type: object
         type: StrSingleInput
-      submit_from_csv:
-        feedback: {}
-        goal:
-          csv_path: string
-          output_dir: string
-        goal_default:
-          csv_path: ''
-          output_dir: .
-        handles: {}
-        result:
-          return_info: return_info
-          submitted_count: submitted_count
-          success: success
-        schema:
-          description: 从CSV文件批量提交Neware测试任务
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                csv_path:
-                  description: 输入CSV文件的绝对路径
-                  type: string
-                output_dir:
-                  description: 输出目录（用于存储XML和备份文件），默认当前目录
-                  type: string
-              required:
-              - csv_path
-              type: object
-            result:
-              properties:
-                return_info:
-                  description: 执行结果详细信息
-                  type: string
-                submitted_count:
-                  description: 成功提交的任务数量
-                  type: integer
-                success:
-                  description: 是否成功
-                  type: boolean
-                total_count:
-                  description: CSV文件中的总行数
-                  type: integer
-              required:
-              - return_info
-              - success
-              type: object
-          required:
-          - goal
-          type: object
-        type: UniLabJsonCommand
       test_connection_action:
         feedback: {}
         goal: {}
@@ -370,7 +284,7 @@ neware_battery_test_system:
           - goal
           type: object
         type: UniLabJsonCommand
-    module: unilabos.devices.neware_battery_test_system.neware_battery_test_system:NewareBatteryTestSystem
+    module: unilabos.devices.battery.neware_battery_test_system:NewareBatteryTestSystem
     status_types:
       channel_status: dict
       connection_info: dict
@@ -380,7 +294,7 @@ neware_battery_test_system:
       total_channels: int
     type: python
   config_info: []
-  description: 新威电池测试系统驱动，提供720个通道的电池测试状态监控、物料管理和CSV批量提交功能。支持TCP通信实现远程控制，包含完整的物料管理系统（2盘电池状态映射），以及从CSV文件批量提交测试任务的能力。
+  description: 新威电池测试系统驱动，支持720个通道的电池测试状态监控和数据导出。通过TCP通信实现远程控制，包含完整的物料管理系统，支持2盘电池的状态映射和监控。
   handles: []
   icon: ''
   init_param_schema:
@@ -396,13 +310,13 @@ neware_battery_test_system:
         port:
           type: integer
         size_x:
-          default: 50
+          default: 500.0
           type: number
         size_y:
-          default: 50
+          default: 500.0
           type: number
         size_z:
-          default: 20
+          default: 2000.0
           type: number
         timeout:
           type: integer

unilabos/registry/resources/bioyond/deck.yaml

@@ -22,7 +22,7 @@ BIOYOND_PolymerReactionStation_Deck:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_Deck11:
+BIOYOND_YB_Deck:
   category:
   - deck
   class:
@@ -34,3 +34,15 @@ YB_Deck11:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
+CoincellDeck:
+  category:
+  - deck
+  class:
+    module: unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:YH_Deck
+    type: pylabrobot
+  description: BIOYOND PolymerReactionStation Deck
+  handles: []
+  icon: koudian.webp
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0

unilabos/resources/battery/__init__.py

@@ -1,4 +0,0 @@
-"""Battery-related resource classes for coin cell assembly"""
-
-
-

unilabos/resources/battery/bottle_carriers.py

@@ -1,45 +1,56 @@
-"""
+from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
-瓶架类定义 - 用于纽扣电池组装工作站
-Bottle Carrier Resource Classes
-"""
 
-from __future__ import annotations
+from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
-from pylabrobot.resources import ResourceHolder
+from unilabos.resources.bioyond.YB_bottles import (
-from pylabrobot.resources.utils import create_ordered_items_2d
+    YB_pei_ye_xiao_Bottle,
-from unilabos.resources.itemized_carrier import ItemizedCarrier
+)
+# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
 
 
-def YIHUA_Electrolyte_12VialCarrier(name: str) -> ItemizedCarrier:
+def YIHUA_Electrolyte_12VialCarrier(name: str) -> BottleCarrier:
-    """依华电解液12瓶架 - 3x4布局
+    """12瓶载架 - 2x6布局"""
-    
+    # 载架尺寸 (mm)
-    Args:
+    carrier_size_x = 120.0
-        name: 瓶架名称
+    carrier_size_y = 250.0
-        
+    carrier_size_z = 50.0
-    Returns:
+
-        ItemizedCarrier: 包含12个瓶位的瓶架
+    # 瓶位尺寸
-    """
+    bottle_diameter = 35.0
+    bottle_spacing_x = 35.0  # 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 - (2 - 1) * bottle_spacing_x - bottle_diameter) / 2
+    start_y = (carrier_size_y - (6 - 1) * bottle_spacing_y - bottle_diameter) / 2
+
     sites = create_ordered_items_2d(
         klass=ResourceHolder,
-        num_items_x=4,
+        num_items_x=2,
-        num_items_y=3,
+        num_items_y=6,
-        dx=10.0,
+        dx=start_x,
-        dy=10.0,
+        dy=start_y,
         dz=5.0,
-        item_dx=70.0,
+        item_dx=bottle_spacing_x,
-        item_dy=26.67,
+        item_dy=bottle_spacing_y,
-        size_x=60.0,
-        size_y=20.0,
-        size_z=70.0,
-    )
-    
-    return ItemizedCarrier(
-        name=name,
-        size_x=300.0,
-        size_y=100.0,
-        size_z=80.0,
-        num_items_x=4,
-        num_items_y=3,
-        sites=sites,
-        category="bottle_carrier",
-    )
 
+        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="Electrolyte_12VialCarrier",
+    )
+    carrier.num_items_x = 2
+    carrier.num_items_y = 6
+    carrier.num_items_z = 1
+    for i in range(12):
+        carrier[i] = YB_pei_ye_xiao_Bottle(f"{name}_vial_{i+1}")
+    return carrier

unilabos/resources/battery/electrode_sheet.py

@@ -1,35 +1,52 @@
-"""
+from typing import Any, Dict, Optional, TypedDict
-电极片类定义
-Electrode Sheet Resource Classes
-"""
 
-from __future__ import annotations
+from pylabrobot.resources import Resource as ResourcePLR
-from typing import Any, Dict, Optional
+from pylabrobot.resources import Container
-from pylabrobot.resources.resource import Resource
 
 
-class ElectrodeSheet(Resource):
+electrode_colors = {
-    """电极片类 - 用于纽扣电池组装"""
+    "PositiveCan": "#ff0000",
-    
+    "PositiveElectrode": "#cc3333",
+    "NegativeCan": "#000000",
+    "NegativeElectrode": "#666666",
+    "SpringWasher": "#8b7355",
+    "FlatWasher": "a9a9a9",
+    "AluminumFoil": "#ffcccc",
+    "Battery": "#00ff00",
+}
+
+class ElectrodeSheetState(TypedDict):
+    diameter: float  # 直径 (mm)
+    thickness: float  # 厚度 (mm)
+    mass: float  # 质量 (g)
+    material_type: str  # 材料类型（铜、铝、不锈钢、弹簧钢等）
+    color: str  # 材料类型对应的颜色
+    info: Optional[str]  # 附加信息
+
+
+class ElectrodeSheet(ResourcePLR):
+    """极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料"""
+
     def __init__(
         self,
-        name: str,
+        name: str = "极片",
-        size_x: float = 12.0,
+        size_x: float = 10,
-        size_y: float = 12.0,
+        size_y: float = 10,
-        size_z: float = 0.1,
+        size_z: float = 10,
         category: str = "electrode_sheet",
-        electrode_type: str = "anode",  # "anode" 负极, "cathode" 正极, "separator" 隔膜
+        model: Optional[str] = None,
         **kwargs
     ):
-        """初始化电极片
+        """初始化极片
-        
+
         Args:
-            name: 电极片名称
+            name: 极片名称
-            size_x: X方向尺寸 (mm)
+            size_x: 长度 (mm)
-            size_y: Y方向尺寸 (mm)
+            size_y: 宽度 (mm)
-            size_z: Z方向尺寸/厚度 (mm)
+            size_z: 高度 (mm)
             category: 类别
-            electrode_type: 电极类型
+            model: 型号
+            **kwargs: 其他参数传递给父类
         """
         super().__init__(
             name=name,
@@ -37,31 +54,142 @@ class ElectrodeSheet(Resource):
             size_y=size_y,
             size_z=size_z,
             category=category,
+            model=model,
             **kwargs
         )
-        self._electrode_type = electrode_type
+        self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState(
-        self._unilabos_state: Dict[str, Any] = {
+            diameter=14,
-            "electrode_type": electrode_type,
+            thickness=0.1,
-            "material": "",
+            mass=0.5,
-            "thickness": size_z,
+            material_type="copper",
-        }
+            color="#8b4513",
-    
+            info=None
-    @property
+        )
-    def electrode_type(self) -> str:
+
-        """获取电极类型"""
+    # TODO: 这个还要不要？给self._unilabos_state赋值的？
-        return self._electrode_type
-    
     def load_state(self, state: Dict[str, Any]) -> None:
-        """加载状态"""
+        """格式不变"""
         super().load_state(state)
-        if isinstance(state, dict):
+        self._unilabos_state = state
-            self._unilabos_state.update(state)
+    #序列化
-    
+    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
-    def serialize_state(self) -> Dict[str, Any]:
+        """格式不变"""
-        """序列化状态"""
         data = super().serialize_state()
-        data.update(self._unilabos_state)
+        data.update(self._unilabos_state)  # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
         return data
 
 
+def PositiveCan(name: str) -> ElectrodeSheet:
+    """创建正极壳"""
+    sheet = ElectrodeSheet(name=name, size_x=12, size_y=12, size_z=3.0, model="PositiveCan")
+    sheet.load_state({"diameter": 20.0, "thickness": 0.5, "mass": 0.5, "material_type": "aluminum", "color": electrode_colors["PositiveCan"], "info": None})
+    return sheet
 
+
+def PositiveElectrode(name: str) -> ElectrodeSheet:
+    """创建正极片"""
+    sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.1, model="PositiveElectrode")
+    sheet.load_state({"material_type": "positive_electrode", "color": electrode_colors["PositiveElectrode"]})
+    return sheet
+
+
+def NegativeCan(name: str) -> ElectrodeSheet:
+    """创建负极壳"""
+    sheet = ElectrodeSheet(name=name, size_x=12, size_y=12, size_z=2.0, model="NegativeCan")
+    sheet.load_state({"material_type": "steel", "color": electrode_colors["NegativeCan"]})
+    return sheet
+
+
+def NegativeElectrode(name: str) -> ElectrodeSheet:
+    """创建负极片"""
+    sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.1, model="NegativeElectrode")
+    sheet.load_state({"material_type": "negative_electrode", "color": electrode_colors["NegativeElectrode"]})
+    return sheet
+
+
+def SpringWasher(name: str) -> ElectrodeSheet:
+    """创建弹片"""
+    sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.5, model="SpringWasher")
+    sheet.load_state({"material_type": "spring_steel", "color": electrode_colors["SpringWasher"]})
+    return sheet
+
+
+def FlatWasher(name: str) -> ElectrodeSheet:
+    """创建垫片"""
+    sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.2, model="FlatWasher")
+    sheet.load_state({"material_type": "steel", "color": electrode_colors["FlatWasher"]})
+    return sheet
+
+
+def AluminumFoil(name: str) -> ElectrodeSheet:
+    """创建铝箔"""
+    sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.05, model="AluminumFoil")
+    sheet.load_state({"material_type": "aluminum", "color": electrode_colors["AluminumFoil"]})
+    return sheet
+
+
+class BatteryState(TypedDict):
+    color: str  # 材料类型对应的颜色
+    electrolyte_name: str
+    data_electrolyte_code: str
+    open_circuit_voltage: float
+    assembly_pressure: float
+    electrolyte_volume: float
+
+    info: Optional[str]  # 附加信息
+
+
+class Battery(Container):
+    """电池类 - 包含组装好的电池"""
+
+    def __init__(
+        self,
+        name: str = "电池",
+        size_x: float = 12,
+        size_y: float = 12,
+        size_z: float = 6,
+        category: str = "battery",
+        model: Optional[str] = None,
+        **kwargs
+    ):
+        """初始化电池
+
+        Args:
+            name: 电池名称
+            size_x: 长度 (mm)
+            size_y: 宽度 (mm)
+            size_z: 高度 (mm)
+            category: 类别
+            model: 型号
+            **kwargs: 其他参数传递给父类
+        """
+        super().__init__(
+            name=name,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
+            category=category,
+            model=model,
+            **kwargs
+        )
+        self._unilabos_state: BatteryState = BatteryState(
+            color=electrode_colors["Battery"],
+            electrolyte_name="无",
+            data_electrolyte_code="",
+            open_circuit_voltage=0.0,
+            assembly_pressure=0.0,
+            electrolyte_volume=0.0,
+            info=None
+        )
+
+    def load_state(self, state: Dict[str, Any]) -> None:
+        """格式不变"""
+        super().load_state(state)
+        self._unilabos_state = state
+
+    #序列化
+    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
+        """格式不变"""
+        data = super().serialize_state()
+        data.update(self._unilabos_state)  # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
+        return data

unilabos/resources/battery/magazine.py

@@ -1,152 +1,344 @@
-"""
+from typing import Dict, List, Optional, OrderedDict, Union, Callable
-弹夹架类定义 - 用于纽扣电池组装工作站
+import math
-Magazine Holder Resource Classes
-"""
 
-from __future__ import annotations
-from typing import List, Optional
 from pylabrobot.resources.coordinate import Coordinate
-from pylabrobot.resources import ResourceHolder
+from pylabrobot.resources import Resource, ResourceStack, ItemizedResource
-from pylabrobot.resources.utils import create_ordered_items_2d
+from pylabrobot.resources.carrier import create_homogeneous_resources
-from unilabos.resources.itemized_carrier import ItemizedCarrier
+
+from unilabos.resources.battery.electrode_sheet import (
+    PositiveCan, PositiveElectrode,
+    NegativeCan, NegativeElectrode,
+    SpringWasher, FlatWasher,
+    AluminumFoil,
+    Battery
+)
 
 
-def MagazineHolder_4_Cathode(name: str) -> ItemizedCarrier:
+class Magazine(ResourceStack):
-    """正极&铝箔弹夹 - 4个洞位 (2x2布局)
+    """子弹夹洞位类"""
+
+    def __init__(
+        self,
+        name: str,
+        direction: str = 'z',
+        resources: Optional[List[Resource]] = None,
+        max_sheets: int = 100,
+        **kwargs
+    ):
+        """初始化子弹夹洞位
+
+        Args:
+            name: 洞位名称
+            direction: 堆叠方向
+            resources: 资源列表
+            max_sheets: 最大极片数量
+        """
+        super().__init__(
+            name=name,
+            direction=direction,
+            resources=resources,
+        )
+        self.max_sheets = max_sheets
+
+    @property
+    def size_x(self) -> float:
+        return self.get_size_x()
+
+    @property
+    def size_y(self) -> float:
+        return self.get_size_y()
+
+    @property
+    def size_z(self) -> float:
+        return self.get_size_z()
+
+    def serialize(self) -> dict:
+        return {
+            **super().serialize(),
+            "size_x": self.size_x or 10.0,
+            "size_y": self.size_y or 10.0,
+            "size_z": self.size_z or 10.0,
+            "max_sheets": self.max_sheets,
+        }
+
+
+class MagazineHolder(ItemizedResource):
+    """子弹夹类 - 有多个洞位，每个洞位放多个极片"""
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        ordered_items: Optional[Dict[str, Magazine]] = None,
+        ordering: Optional[OrderedDict[str, str]] = None,
+        hole_diameter: float = 14.0,
+        hole_depth: float = 10.0,
+        max_sheets_per_hole: int = 100,
+        cross_section_type: str = "circle",
+        category: str = "magazine_holder",
+        model: Optional[str] = None,
+    ):
+        """初始化子弹夹
+
+        Args:
+            name: 子弹夹名称
+            size_x: 长度 (mm)
+            size_y: 宽度 (mm)
+            size_z: 高度 (mm)
+            hole_diameter: 洞直径 (mm)
+            hole_depth: 洞深度 (mm)
+            max_sheets_per_hole: 每个洞位最大极片数量
+            category: 类别
+            model: 型号
+        """
+
+        super().__init__(
+            name=name,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
+            ordered_items=ordered_items,
+            ordering=ordering,
+            category=category,
+            model=model,
+        )
+
+        # 保存洞位的直径和深度
+        self.hole_diameter = hole_diameter
+        self.hole_depth = hole_depth
+        self.max_sheets_per_hole = max_sheets_per_hole
+        self.cross_section_type = cross_section_type
+
+    def serialize(self) -> dict:
+        return {
+            **super().serialize(),
+            "hole_diameter": self.hole_diameter,
+            "hole_depth": self.hole_depth,
+            "max_sheets_per_hole": self.max_sheets_per_hole,
+            "cross_section_type": self.cross_section_type,
+        }
+
+
+def magazine_factory(
+    name: str,
+    size_x: float,
+    size_y: float,
+    size_z: float,
+    locations: List[Coordinate],
+    klasses: Optional[List[Callable[[str], str]]] = None,
+    hole_diameter: float = 14.0,
+    hole_depth: float = 10.0,
+    max_sheets_per_hole: int = 100,
+    category: str = "magazine_holder",
+    model: Optional[str] = None,
+) -> 'MagazineHolder':
+    """工厂函数：创建子弹夹
     
     Args:
-        name: 弹夹名称
+        name: 子弹夹名称
-        
+        size_x: 长度 (mm)
-    Returns:
+        size_y: 宽度 (mm)
-        ItemizedCarrier: 包含4个槽位的弹夹架
+        size_z: 高度 (mm)
+        locations: 洞位坐标列表
+        klasses: 每个洞位中极片的类列表
+        hole_diameter: 洞直径 (mm)
+        hole_depth: 洞深度 (mm)
+        max_sheets_per_hole: 每个洞位最大极片数量
+        category: 类别
+        model: 型号
     """
-    sites = create_ordered_items_2d(
+    for loc in locations:
-        klass=ResourceHolder,
+        loc.x -= hole_diameter / 2
-        num_items_x=2,
+        loc.y -= hole_diameter / 2
-        num_items_y=2,
+
-        dx=10.0,
+    # 创建洞位
-        dy=10.0,
+    _sites = create_homogeneous_resources(
-        dz=0.0,
+        klass=Magazine,
-        item_dx=50.0,
+        locations=locations,
-        item_dy=30.0,
+        resource_size_x=hole_diameter,
-        size_x=40.0,
+        resource_size_y=hole_diameter,
-        size_y=25.0,
+        name_prefix=name,
-        size_z=40.0,
+        max_sheets=max_sheets_per_hole,
     )
     
-    return ItemizedCarrier(
+    # 生成编号键
+    keys = [f"A{i+1}" for i in range(len(locations))]
+    sites = dict(zip(keys, _sites.values()))
+    
+    holder = MagazineHolder(
         name=name,
-        size_x=120.0,
+        size_x=size_x,
-        size_y=80.0,
+        size_y=size_y,
-        size_z=50.0,
+        size_z=size_z,
-        num_items_x=2,
+        ordered_items=sites,
-        num_items_y=2,
+        hole_diameter=hole_diameter,
-        sites=sites,
+        hole_depth=hole_depth,
-        category="magazine_holder",
+        max_sheets_per_hole=max_sheets_per_hole,
+        category=category,
+        model=model,
     )
 
+    if klasses is not None:
+        for i, klass in enumerate(klasses):
+            hole_key = keys[i]
+            hole = holder.children[i]
+            for j in reversed(range(max_sheets_per_hole)):
+                item_name = f"{hole_key}_sheet{j+1}"
+                item = klass(name=item_name)
+                hole.assign_child_resource(item)
+    return holder
 
-def MagazineHolder_6_Cathode(name: str) -> ItemizedCarrier:
+
-    """正极壳&平垫片弹夹 - 6个洞位 (2x3布局)
+def MagazineHolder_6_Cathode(
-    
+    name: str,
-    Args:
+    size_x: float = 80.0,
-        name: 弹夹名称
+    size_y: float = 80.0,
-        
+    size_z: float = 40.0,
-    Returns:
+    hole_diameter: float = 14.0,
-        ItemizedCarrier: 包含6个槽位的弹夹架
+    hole_depth: float = 10.0,
-    """
+    hole_spacing: float = 20.0,
-    sites = create_ordered_items_2d(
+    max_sheets_per_hole: int = 100,
-        klass=ResourceHolder,
+) -> MagazineHolder:
-        num_items_x=3,
+    """创建6孔子弹夹 - 六边形排布"""
-        num_items_y=2,
+    center_x = size_x / 2
-        dx=10.0,
+    center_y = size_y / 2
-        dy=10.0,
+
-        dz=0.0,
+    locations = []
-        item_dx=40.0,
+
-        item_dy=30.0,
+    # 周围6个孔，按六边形排布
-        size_x=35.0,
+    for i in range(6):
-        size_y=25.0,
+        angle = i * 60 * math.pi / 180  # 每60度一个孔
-        size_z=40.0,
+        x = center_x + hole_spacing * math.cos(angle)
-    )
+        y = center_y + hole_spacing * math.sin(angle)
-    
+        locations.append(Coordinate(x, y, size_z - hole_depth))
-    return ItemizedCarrier(
+
+    return magazine_factory(
         name=name,
-        size_x=150.0,
+        size_x=size_x,
-        size_y=80.0,
+        size_y=size_y,
-        size_z=50.0,
+        size_z=size_z,
-        num_items_x=3,
+        locations=locations,
-        num_items_y=2,
+        klasses=[FlatWasher, PositiveCan, PositiveCan, FlatWasher, PositiveCan, PositiveCan],
-        sites=sites,
+        hole_diameter=hole_diameter,
+        hole_depth=hole_depth,
+        max_sheets_per_hole=max_sheets_per_hole,
         category="magazine_holder",
+        model="MagazineHolder_6_Cathode",
     )
 
 
-def MagazineHolder_6_Anode(name: str) -> ItemizedCarrier:
+def MagazineHolder_6_Anode(
-    """负极壳&弹垫片弹夹 - 6个洞位 (2x3布局)
+    name: str,
-    
+    size_x: float = 80.0,
-    Args:
+    size_y: float = 80.0,
-        name: 弹夹名称
+    size_z: float = 40.0,
-        
+    hole_diameter: float = 14.0,
-    Returns:
+    hole_depth: float = 10.0,
-        ItemizedCarrier: 包含6个槽位的弹夹架
+    hole_spacing: float = 20.0,
-    """
+    max_sheets_per_hole: int = 100,
-    sites = create_ordered_items_2d(
+) -> MagazineHolder:
-        klass=ResourceHolder,
+    """创建6孔子弹夹 - 六边形排布"""
-        num_items_x=3,
+    center_x = size_x / 2
-        num_items_y=2,
+    center_y = size_y / 2
-        dx=10.0,
+
-        dy=10.0,
+    locations = []
-        dz=0.0,
+
-        item_dx=40.0,
+    # 周围6个孔，按六边形排布
-        item_dy=30.0,
+    for i in range(6):
-        size_x=35.0,
+        angle = i * 60 * math.pi / 180  # 每60度一个孔
-        size_y=25.0,
+        x = center_x + hole_spacing * math.cos(angle)
-        size_z=40.0,
+        y = center_y + hole_spacing * math.sin(angle)
-    )
+        locations.append(Coordinate(x, y, size_z - hole_depth))
-    
+
-    return ItemizedCarrier(
+    return magazine_factory(
         name=name,
-        size_x=150.0,
+        size_x=size_x,
-        size_y=80.0,
+        size_y=size_y,
-        size_z=50.0,
+        size_z=size_z,
-        num_items_x=3,
+        locations=locations,
-        num_items_y=2,
+        klasses=[SpringWasher, NegativeCan, NegativeCan, SpringWasher, NegativeCan, NegativeCan],
-        sites=sites,
+        hole_diameter=hole_diameter,
+        hole_depth=hole_depth,
+        max_sheets_per_hole=max_sheets_per_hole,
         category="magazine_holder",
+        model="MagazineHolder_6_Anode",
     )
 
 
-def MagazineHolder_6_Battery(name: str) -> ItemizedCarrier:
+def MagazineHolder_6_Battery(
-    """成品弹夹 - 6个洞位 (3x2布局)
+    name: str,
-    
+    size_x: float = 80.0,
-    Args:
+    size_y: float = 80.0,
-        name: 弹夹名称
+    size_z: float = 40.0,
-        
+    hole_diameter: float = 14.0,
-    Returns:
+    hole_depth: float = 10.0,
-        ItemizedCarrier: 包含6个槽位的弹夹架
+    hole_spacing: float = 20.0,
-    """
+    max_sheets_per_hole: int = 100,
-    sites = create_ordered_items_2d(
+) -> MagazineHolder:
-        klass=ResourceHolder,
+    """创建6孔子弹夹 - 六边形排布"""
-        num_items_x=3,
+    center_x = size_x / 2
-        num_items_y=2,
+    center_y = size_y / 2
-        dx=10.0,
+
-        dy=10.0,
+    locations = []
-        dz=0.0,
+
-        item_dx=33.0,
+    # 周围6个孔，按六边形排布
-        item_dy=40.0,
+    for i in range(6):
-        size_x=30.0,
+        angle = i * 60 * math.pi / 180  # 每60度一个孔
-        size_y=35.0,
+        x = center_x + hole_spacing * math.cos(angle)
-        size_z=40.0,
+        y = center_y + hole_spacing * math.sin(angle)
-    )
+        locations.append(Coordinate(x, y, size_z - hole_depth))
-    
+
-    return ItemizedCarrier(
+    return magazine_factory(
         name=name,
-        size_x=120.0,
+        size_x=size_x,
-        size_y=100.0,
+        size_y=size_y,
-        size_z=50.0,
+        size_z=size_z,
-        num_items_x=3,
+        locations=locations,
-        num_items_y=2,
+        klasses=None, # 初始化时，不放入装好的电池
-        sites=sites,
+        hole_diameter=hole_diameter,
+        hole_depth=hole_depth,
+        max_sheets_per_hole=max_sheets_per_hole,
         category="magazine_holder",
+        model="MagazineHolder_6_Battery",
     )
 
+
+def MagazineHolder_4_Cathode(
+    name: str,
+) -> MagazineHolder:
+    """创建4孔子弹夹 - 正方形四角排布"""
+    size_x: float = 80.0
+    size_y: float = 80.0
+    size_z: float = 10.0
+    hole_diameter: float = 14.0
+    hole_depth: float = 10.0
+    hole_spacing: float = 25.0
+    max_sheets_per_hole: int = 100
+
+    # 计算4个洞位的坐标（正方形四角排布）
+    center_x = size_x / 2
+    center_y = size_y / 2
+    offset = hole_spacing / 2
+    
+    locations = [
+        Coordinate(center_x - offset, center_y - offset, size_z - hole_depth),  # 左下
+        Coordinate(center_x + offset, center_y - offset, size_z - hole_depth),  # 右下
+        Coordinate(center_x - offset, center_y + offset, size_z - hole_depth),  # 左上
+        Coordinate(center_x + offset, center_y + offset, size_z - hole_depth),  # 右上
+    ]
+    
+    return magazine_factory(
+        name=name,
+        size_x=size_x,
+        size_y=size_y,
+        size_z=size_z,
+        locations=locations,
+        klasses=[AluminumFoil, PositiveElectrode, PositiveElectrode, PositiveElectrode],
+        hole_diameter=hole_diameter,
+        hole_depth=hole_depth,
+        max_sheets_per_hole=max_sheets_per_hole,
+        category="magazine_holder",
+        model="MagazineHolder_4_Cathode",
+    )

unilabos/resources/bioyond/YB_warehouses.py

@@ -1,13 +1,79 @@
-from unilabos.resources.warehouse import WareHouse, YB_warehouse_factory
+from unilabos.resources.warehouse import WareHouse, warehouse_factory
 
+# ================ 反应站相关堆栈 ================
 
 def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
+    """创建BioYond 4x4x1仓库 (左侧堆栈: A01～D04)
-    return YB_warehouse_factory(
+
+    使用行优先排序，前端展示为:
+    A01 | A02 | A03 | A04
+    B01 | B02 | B03 | B04
+    C01 | C02 | C03 | C04
+    D01 | D02 | D03 | D04
+    """
+    return warehouse_factory(
         name=name,
-        num_items_x=1,
+        num_items_x=4,  # 4列
+        num_items_y=4,  # 4行
+        num_items_z=1,
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=147.0,
+        item_dy=106.0,
+        item_dz=130.0,
+        category="warehouse",
+        col_offset=0,  # 从01开始: A01, A02, A03, A04
+        layout="row-major",  # ⭐ 改为行优先排序
+    )
+
+def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
+    """创建BioYond 4x4x1仓库 (右侧堆栈: A05～D08)"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=4,
         num_items_y=4,
-        num_items_z=4,
+        num_items_z=1,
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=147.0,
+        item_dy=106.0,
+        item_dz=130.0,
+        category="warehouse",
+        col_offset=4,  # 从05开始: A05, A06, A07, A08
+        layout="row-major",  # ⭐ 改为行优先排序
+    )
+
+def bioyond_warehouse_density_vial(name: str) -> WareHouse:
+    """创建测量小瓶仓库(测密度) A01～B03"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=3,  # 3列（01-03）
+        num_items_y=2,  # 2行（A-B）
+        num_items_z=1,  # 1层
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=40.0,
+        item_dy=40.0,
+        item_dz=50.0,
+        # 用更小的 resource_size 来表现 "小点的孔位"
+        resource_size_x=30.0,
+        resource_size_y=30.0,
+        resource_size_z=12.0,
+        category="warehouse",
+        col_offset=0,
+        layout="row-major",
+    )
+
+def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
+    """创建BioYond站内试剂存放堆栈（A01～A02, 1行×2列）"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=2,  # 2列（01-02）
+        num_items_y=1,  # 1行（A）
+        num_items_z=1,  # 1层
         dx=10.0,
         dy=10.0,
         dz=10.0,
@@ -17,10 +83,74 @@ def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
         category="warehouse",
     )
 
+def bioyond_warehouse_tipbox_storage(name: str) -> WareHouse:
+    """创建BioYond站内Tip盒堆栈（A01～B03），用于存放枪头盒"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=3,  # 3列（01-03）
+        num_items_y=2,  # 2行（A-B）
+        num_items_z=1,  # 1层
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+        col_offset=0,
+        layout="row-major",
+    )
+
+def bioyond_warehouse_liquid_preparation(name: str) -> WareHouse:
+    """已弃用,创建BioYond移液站内10%分装液体准备仓库（A01～B04）"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=4,  # 4列（01-04）
+        num_items_y=2,  # 2行（A-B）
+        num_items_z=1,  # 1层
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+        col_offset=0,
+        layout="row-major",
+    )
+
+# ================ 配液站相关堆栈 ================
+
+def bioyond_warehouse_reagent_stack(name: str) -> WareHouse:
+    """创建BioYond 试剂堆栈 2x4x1 (2行×4列: A01-A04, B01-B04)
+
+    使用行优先排序，前端展示为:
+    A01 | A02 | A03 | A04
+    B01 | B02 | B03 | B04
+    """
+    return warehouse_factory(
+        name=name,
+        num_items_x=4,  # 4列 (01-04)
+        num_items_y=2,  # 2行 (A-B)
+        num_items_z=1,  # 1层
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=147.0,
+        item_dy=106.0,
+        item_dz=130.0,
+        category="warehouse",
+        col_offset=0,  # 从01开始
+        layout="row-major",  # ⭐ 使用行优先排序: A01,A02,A03,A04, B01,B02,B03,B04
+    )
+
+ # 定义bioyond的堆栈
+
+# =================== Other ===================
 
 def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
-    """创建BioYond 4x1x2仓库"""
+    """创建BioYond 4x2x1仓库"""
-    return YB_warehouse_factory(
+    return warehouse_factory(
         name=name,
         num_items_x=1,
         num_items_y=4,
@@ -34,42 +164,26 @@ 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 YB_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="YB_warehouse",
-    )
 
-def bioyond_warehouse_2x2x1(name: str) -> WareHouse:
+def bioyond_warehouse_1x2x2(name: str) -> WareHouse:
-    """创建BioYond 2x2x1仓库（自动堆栈）"""
+    """创建BioYond 1x2x2仓库"""
-    return YB_warehouse_factory(
+    return warehouse_factory(
         name=name,
-        num_items_x=2,
+        num_items_x=1,
         num_items_y=2,
-        num_items_z=1,
+        num_items_z=2,
         dx=10.0,
         dy=10.0,
         dz=10.0,
         item_dx=137.0,
         item_dy=96.0,
         item_dz=120.0,
-        category="YB_warehouse",
+        category="warehouse",
     )
 
 def bioyond_warehouse_10x1x1(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
+    """创建BioYond 10x1x1仓库"""
-    return YB_warehouse_factory(
+    return warehouse_factory(
         name=name,
         num_items_x=10,
         num_items_y=1,
@@ -82,9 +196,10 @@ def bioyond_warehouse_10x1x1(name: str) -> WareHouse:
         item_dz=120.0,
         category="warehouse",
     )
+
 def bioyond_warehouse_1x3x3(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
+    """创建BioYond 1x3x3仓库"""
-    return YB_warehouse_factory(
+    return warehouse_factory(
         name=name,
         num_items_x=1,
         num_items_y=3,
@@ -97,9 +212,10 @@ def bioyond_warehouse_1x3x3(name: str) -> WareHouse:
         item_dz=120.0,
         category="warehouse",
     )
+
 def bioyond_warehouse_2x1x3(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
+    """创建BioYond 2x1x3仓库"""
-    return YB_warehouse_factory(
+    return warehouse_factory(
         name=name,
         num_items_x=2,
         num_items_y=1,
@@ -114,8 +230,8 @@ def bioyond_warehouse_2x1x3(name: str) -> WareHouse:
     )
 
 def bioyond_warehouse_3x3x1(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
+    """创建BioYond 3x3x1仓库"""
-    return YB_warehouse_factory(
+    return warehouse_factory(
         name=name,
         num_items_x=3,
         num_items_y=3,
@@ -128,9 +244,10 @@ def bioyond_warehouse_3x3x1(name: str) -> WareHouse:
         item_dz=120.0,
         category="warehouse",
     )
+
 def bioyond_warehouse_5x1x1(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
+    """已弃用：创建BioYond 5x1x1仓库"""
-    return YB_warehouse_factory(
+    return warehouse_factory(
         name=name,
         num_items_x=5,
         num_items_y=1,
@@ -143,9 +260,10 @@ def bioyond_warehouse_5x1x1(name: str) -> WareHouse:
         item_dz=120.0,
         category="warehouse",
     )
+
 def bioyond_warehouse_3x3x1_2(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
+    """已弃用：创建BioYond 3x3x1仓库"""
-    return YB_warehouse_factory(
+    return warehouse_factory(
         name=name,
         num_items_x=3,
         num_items_y=3,
@@ -161,7 +279,7 @@ def bioyond_warehouse_3x3x1_2(name: str) -> WareHouse:
 
 def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse:
     """创建BioYond开关盖加液模块台面"""
-    return YB_warehouse_factory(
+    return warehouse_factory(
         name=name,
         num_items_x=2,
         num_items_y=5,
@@ -176,34 +294,18 @@ def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse:
         removed_positions=None
     )
 
-def bioyond_warehouse_3x5x1(name: str) -> WareHouse:
+def bioyond_warehouse_1x8x4(name: str) -> WareHouse:
-    """创建BioYond 3x5x1仓库（手动堆栈）"""
+    """创建BioYond 8x4x1反应站堆栈（A01～D08）"""
-    return YB_warehouse_factory(
+    return warehouse_factory(
         name=name,
-        num_items_x=3,
+        num_items_x=8,  # 8列（01-08）
-        num_items_y=5,
+        num_items_y=4,  # 4行（A-D）
-        num_items_z=1,
+        num_items_z=1,  # 1层
         dx=10.0,
         dy=10.0,
         dz=10.0,
-        item_dx=137.0,
+        item_dx=147.0,
-        item_dy=96.0,
+        item_dy=106.0,
-        item_dz=120.0,
+        item_dz=130.0,
         category="warehouse",
     )
-
-def bioyond_warehouse_20x1x1(name: str) -> WareHouse:
-    """创建BioYond 20x1x1仓库（粉末加样头堆栈）"""
-    return YB_warehouse_factory(
-        name=name,
-        num_items_x=20,
-        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",
-    )

unilabos/resources/bioyond/decks.py

@@ -1,7 +1,7 @@
 from os import name
 from pylabrobot.resources import Deck, Coordinate, Rotation
 
-from unilabos.resources.bioyond.warehouses import (
+from unilabos.resources.bioyond.YB_warehouses import (
     bioyond_warehouse_1x4x4,
     bioyond_warehouse_1x4x4_right,  # 新增：右侧仓库 (A05～D08)
     bioyond_warehouse_1x4x2,

unilabos/ros/nodes/presets/workstation.py

@@ -404,6 +404,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
 
         return result_future.result
 
+    """还没有改过的部分"""
 
     def _setup_hardware_proxy(
         self, device: ROS2DeviceNode, communication_device: ROS2DeviceNode, read_method, write_method

unilabos/test/experiments/chinwe.json

@@ -0,0 +1,34 @@
+{
+    "nodes": [
+        {
+            "id": "ChinWeStation",
+            "name": "分液工作站",
+            "children": [],
+            "parent": null,
+            "type": "device",
+            "class": "separator.chinwe",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "port": "192.168.31.13:8899",
+                "baudrate": 9600,
+                "pump_ids": [
+                    1,
+                    2,
+                    3
+                ],
+                "motor_ids": [
+                    4,
+                    5
+                ],
+                "sensor_id": 6,
+                "sensor_threshold": 300
+            },
+            "data": {}
+        }
+    ],
+    "links": []
+}