fix run async execution error

* feat: Enhance Bioyond synchronization and resource management

- Implemented synchronization for all material types (consumables, samples, reagents) from Bioyond, logging detailed information for each type.
- Improved error handling and logging during synchronization processes.
- Added functionality to save Bioyond material IDs in UniLab resources for future updates.
- Enhanced the `sync_to_external` method to handle material movements correctly, including querying and creating materials in Bioyond.
- Updated warehouse configurations to support new storage types and improved layout for better resource management.
- Introduced new resource types such as reactors and tip boxes, with detailed specifications.
- Modified warehouse factory to support column offsets for naming conventions (e.g., A05-D08).
- Improved resource tracking by merging extra attributes instead of overwriting them.
- Added a new method for updating resources in Bioyond, ensuring better synchronization of resource changes.

* feat: 添加TipBox和Reactor的配置到bottles.yaml

* fix: 修复液体投料方法中的volume参数处理逻辑

docs/conf.py

@@ -24,6 +24,7 @@ extensions = [
     "sphinx.ext.autodoc",
     "sphinx.ext.napoleon",  # 如果您使用 Google 或 NumPy 风格的 docstrings
     "sphinx_rtd_theme",
+    "sphinxcontrib.mermaid"
 ]
 
 source_suffix = {
@@ -42,6 +43,8 @@ myst_enable_extensions = [
     "substitution",
 ]
 
+myst_fence_as_directive = ["mermaid"]
+
 templates_path = ["_templates"]
 exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
 
@@ -203,3 +206,5 @@ def generate_action_includes(app):
 
 def setup(app):
     app.connect("builder-inited", generate_action_includes)
+    app.add_js_file("https://cdn.jsdelivr.net/npm/mermaid/dist/mermaid.min.js")
+    app.add_js_file(None, body="mermaid.initialize({startOnLoad:true});")

docs/developer_guide/action_includes.md

@@ -1,88 +1,26 @@
 ## 简单单变量动作函数
 
+
 ### `SendCmd`
 
 ```{literalinclude} ../../unilabos_msgs/action/SendCmd.action
 :language: yaml
 ```
 
----
+----
-
-### `StrSingleInput`
-
-```{literalinclude} ../../unilabos_msgs/action/StrSingleInput.action
-:language: yaml
-```
-
----
-
-### `IntSingleInput`
-
-```{literalinclude} ../../unilabos_msgs/action/IntSingleInput.action
-:language: yaml
-```
-
----
-
-### `FloatSingleInput`
-
-```{literalinclude} ../../unilabos_msgs/action/FloatSingleInput.action
-:language: yaml
-```
-
----
-
-### `Point3DSeparateInput`
-
-```{literalinclude} ../../unilabos_msgs/action/Point3DSeparateInput.action
-:language: yaml
-```
-
----
-
-### `Wait`
-
-```{literalinclude} ../../unilabos_msgs/action/Wait.action
-:language: yaml
-```
-
----
-
 ## 常量有机化学操作
 
 Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab.io/chemputer/xdl/standard/full_steps_specification.html#)，包含有机合成实验中常见的操作，如加热、搅拌、冷却等。
 
+
+
 ### `Clean`
 
 ```{literalinclude} ../../unilabos_msgs/action/Clean.action
 :language: yaml
 ```
 
----
+----
-
-### `EvacuateAndRefill`
-
-```{literalinclude} ../../unilabos_msgs/action/EvacuateAndRefill.action
-:language: yaml
-```
-
----
-
-### `Evaporate`
-
-```{literalinclude} ../../unilabos_msgs/action/Evaporate.action
-:language: yaml
-```
-
----
-
-### `HeatChill`
-
-```{literalinclude} ../../unilabos_msgs/action/HeatChill.action
-:language: yaml
-```
-
----
 
 ### `HeatChillStart`
 
@@ -90,7 +28,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
----
+----
 
 ### `HeatChillStop`
 
@@ -98,7 +36,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
----
+----
 
 ### `PumpTransfer`
 
@@ -106,195 +44,12 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
----
+----
-
-### `Separate`
-
-```{literalinclude} ../../unilabos_msgs/action/Separate.action
-:language: yaml
-```
-
----
-
-### `Stir`
-
-```{literalinclude} ../../unilabos_msgs/action/Stir.action
-:language: yaml
-```
-
----
-
-### `Add`
-
-```{literalinclude} ../../unilabos_msgs/action/Add.action
-:language: yaml
-```
-
----
-
-### `AddSolid`
-
-```{literalinclude} ../../unilabos_msgs/action/AddSolid.action
-:language: yaml
-```
-
----
-
-### `AdjustPH`
-
-```{literalinclude} ../../unilabos_msgs/action/AdjustPH.action
-:language: yaml
-```
-
----
-
-### `Centrifuge`
-
-```{literalinclude} ../../unilabos_msgs/action/Centrifuge.action
-:language: yaml
-```
-
----
-
-### `CleanVessel`
-
-```{literalinclude} ../../unilabos_msgs/action/CleanVessel.action
-:language: yaml
-```
-
----
-
-### `Crystallize`
-
-```{literalinclude} ../../unilabos_msgs/action/Crystallize.action
-:language: yaml
-```
-
----
-
-### `Dissolve`
-
-```{literalinclude} ../../unilabos_msgs/action/Dissolve.action
-:language: yaml
-```
-
----
-
-### `Dry`
-
-```{literalinclude} ../../unilabos_msgs/action/Dry.action
-:language: yaml
-```
-
----
-
-### `Filter`
-
-```{literalinclude} ../../unilabos_msgs/action/Filter.action
-:language: yaml
-```
-
----
-
-### `FilterThrough`
-
-```{literalinclude} ../../unilabos_msgs/action/FilterThrough.action
-:language: yaml
-```
-
----
-
-### `Hydrogenate`
-
-```{literalinclude} ../../unilabos_msgs/action/Hydrogenate.action
-:language: yaml
-```
-
----
-
-### `Purge`
-
-```{literalinclude} ../../unilabos_msgs/action/Purge.action
-:language: yaml
-```
-
----
-
-### `Recrystallize`
-
-```{literalinclude} ../../unilabos_msgs/action/Recrystallize.action
-:language: yaml
-```
-
----
-
-### `RunColumn`
-
-```{literalinclude} ../../unilabos_msgs/action/RunColumn.action
-:language: yaml
-```
-
----
-
-### `StartPurge`
-
-```{literalinclude} ../../unilabos_msgs/action/StartPurge.action
-:language: yaml
-```
-
----
-
-### `StartStir`
-
-```{literalinclude} ../../unilabos_msgs/action/StartStir.action
-:language: yaml
-```
-
----
-
-### `StopPurge`
-
-```{literalinclude} ../../unilabos_msgs/action/StopPurge.action
-:language: yaml
-```
-
----
-
-### `StopStir`
-
-```{literalinclude} ../../unilabos_msgs/action/StopStir.action
-:language: yaml
-```
-
----
-
-### `Transfer`
-
-```{literalinclude} ../../unilabos_msgs/action/Transfer.action
-:language: yaml
-```
-
----
-
-### `WashSolid`
-
-```{literalinclude} ../../unilabos_msgs/action/WashSolid.action
-:language: yaml
-```
-
----
-
 ## 移液工作站及相关生物自动化设备操作
 
 Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.org/user_guide/index.html)，包含生物实验中常见的操作，如移液、混匀、离心等。
 
-### `LiquidHandlerAspirate`
 
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAspirate.action
-:language: yaml
-```
-
----
 
 ### `LiquidHandlerDiscardTips`
 
@@ -302,15 +57,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
----
+----
-
-### `LiquidHandlerDispense`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerDispense.action
-:language: yaml
-```
-
----
 
 ### `LiquidHandlerDropTips`
 
@@ -318,7 +65,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
----
+----
 
 ### `LiquidHandlerDropTips96`
 
@@ -326,7 +73,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
----
+----
 
 ### `LiquidHandlerMoveLid`
 
@@ -334,7 +81,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
----
+----
 
 ### `LiquidHandlerMovePlate`
 
@@ -342,7 +89,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
----
+----
 
 ### `LiquidHandlerMoveResource`
 
@@ -350,7 +97,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
----
+----
 
 ### `LiquidHandlerPickUpTips`
 
@@ -358,7 +105,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
----
+----
 
 ### `LiquidHandlerPickUpTips96`
 
@@ -366,7 +113,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
----
+----
 
 ### `LiquidHandlerReturnTips`
 
@@ -374,7 +121,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
----
+----
 
 ### `LiquidHandlerReturnTips96`
 
@@ -382,7 +129,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
----
+----
 
 ### `LiquidHandlerStamp`
 
@@ -390,129 +137,17 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
----
+----
-
-### `LiquidHandlerTransfer`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransfer.action
-:language: yaml
-```
-
----
-
-### `LiquidHandlerAdd`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAdd.action
-:language: yaml
-```
-
----
-
-### `LiquidHandlerIncubateBiomek`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerIncubateBiomek.action
-:language: yaml
-```
-
----
-
-### `LiquidHandlerMix`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMix.action
-:language: yaml
-```
-
----
-
-### `LiquidHandlerMoveBiomek`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveBiomek.action
-:language: yaml
-```
-
----
-
-### `LiquidHandlerMoveTo`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveTo.action
-:language: yaml
-```
-
----
-
-### `LiquidHandlerOscillateBiomek`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerOscillateBiomek.action
-:language: yaml
-```
-
----
-
-### `LiquidHandlerProtocolCreation`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerProtocolCreation.action
-:language: yaml
-```
-
----
-
-### `LiquidHandlerRemove`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerRemove.action
-:language: yaml
-```
-
----
-
-### `LiquidHandlerSetGroup`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetGroup.action
-:language: yaml
-```
-
----
-
-### `LiquidHandlerSetLiquid`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetLiquid.action
-:language: yaml
-```
-
----
-
-### `LiquidHandlerSetTipRack`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetTipRack.action
-:language: yaml
-```
-
----
-
-### `LiquidHandlerTransferBiomek`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferBiomek.action
-:language: yaml
-```
-
----
-
-### `LiquidHandlerTransferGroup`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferGroup.action
-:language: yaml
-```
-
----
-
 ## 多工作站及小车运行、物料转移
 
+
 ### `AGVTransfer`
 
 ```{literalinclude} ../../unilabos_msgs/action/AGVTransfer.action
 :language: yaml
 ```
 
----
+----
 
 ### `WorkStationRun`
 
@@ -520,64 +155,12 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
----
+----
-
-### `ResetHandling`
-
-```{literalinclude} ../../unilabos_msgs/action/ResetHandling.action
-:language: yaml
-```
-
----
-
-### `ResourceCreateFromOuter`
-
-```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuter.action
-:language: yaml
-```
-
----
-
-### `ResourceCreateFromOuterEasy`
-
-```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuterEasy.action
-:language: yaml
-```
-
----
-
-### `SetPumpPosition`
-
-```{literalinclude} ../../unilabos_msgs/action/SetPumpPosition.action
-:language: yaml
-```
-
----
-
-## 固体分配与处理设备操作
-
-### `SolidDispenseAddPowderTube`
-
-```{literalinclude} ../../unilabos_msgs/action/SolidDispenseAddPowderTube.action
-:language: yaml
-```
-
----
-
-## 其他设备操作
-
-### `EmptyIn`
-
-```{literalinclude} ../../unilabos_msgs/action/EmptyIn.action
-:language: yaml
-```
-
----
-
 ## 机械臂、夹爪等机器人设备
 
 Uni-Lab 机械臂、机器人、夹爪和导航指令集沿用 ROS2 的 `control_msgs` 和 `nav2_msgs`：
 
+
 ### `FollowJointTrajectory`
 
 ```yaml
@@ -645,8 +228,7 @@ trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error
 
 ```
 
----
+----
-
 ### `GripperCommand`
 
 ```yaml
@@ -664,19 +246,42 @@ bool reached_goal # True iff the gripper position has reached the commanded setp
 
 ```
 
----
+----
-
 ### `JointTrajectory`
 
 ```yaml
 trajectory_msgs/JointTrajectory trajectory
 ---
-
 ---
+
 ```
 
----
+----
+### `ParallelGripperCommand`
 
+```yaml
+# Parallel grippers refer to an end effector where two opposing fingers grasp an object from opposite sides.
+sensor_msgs/JointState command
+# name: the name(s) of the joint this command is requesting
+# position: desired position of each gripper joint (radians or meters)
+# velocity: (optional, not used if empty) max velocity of the joint allowed while moving (radians or meters / second)
+# effort: (optional, not used if empty) max effort of the joint allowed while moving (Newtons or Newton-meters)
+---
+sensor_msgs/JointState state # The current gripper state.
+# position of each joint (radians or meters)
+# optional: velocity of each joint (radians or meters / second)
+# optional: effort of each joint (Newtons or Newton-meters)
+bool stalled      # True if the gripper is exerting max effort and not moving
+bool reached_goal # True if the gripper position has reached the commanded setpoint
+---
+sensor_msgs/JointState state # The current gripper state.
+# position of each joint (radians or meters)
+# optional: velocity of each joint (radians or meters / second)
+# optional: effort of each joint (Newtons or Newton-meters)
+
+```
+
+----
 ### `PointHead`
 
 ```yaml
@@ -686,13 +291,12 @@ string pointing_frame
 builtin_interfaces/Duration min_duration
 float64 max_velocity
 ---
-
 ---
 float64 pointing_angle_error
+
 ```
 
----
+----
-
 ### `SingleJointPosition`
 
 ```yaml
@@ -700,16 +304,15 @@ float64 position
 builtin_interfaces/Duration min_duration
 float64 max_velocity
 ---
-
 ---
 std_msgs/Header header
 float64 position
 float64 velocity
 float64 error
+
 ```
 
----
+----
-
 ### `AssistedTeleop`
 
 ```yaml
@@ -721,10 +324,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback
 builtin_interfaces/Duration current_teleop_duration
+
 ```
 
----
+----
-
 ### `BackUp`
 
 ```yaml
@@ -738,10 +341,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 float32 distance_traveled
+
 ```
 
----
+----
-
 ### `ComputePathThroughPoses`
 
 ```yaml
@@ -756,10 +359,10 @@ nav_msgs/Path path
 builtin_interfaces/Duration planning_time
 ---
 #feedback definition
+
 ```
 
----
+----
-
 ### `ComputePathToPose`
 
 ```yaml
@@ -774,10 +377,10 @@ nav_msgs/Path path
 builtin_interfaces/Duration planning_time
 ---
 #feedback definition
+
 ```
 
----
+----
-
 ### `DriveOnHeading`
 
 ```yaml
@@ -791,10 +394,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 float32 distance_traveled
+
 ```
 
----
+----
-
 ### `DummyBehavior`
 
 ```yaml
@@ -805,10 +408,10 @@ std_msgs/String command
 builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
+
 ```
 
----
+----
-
 ### `FollowPath`
 
 ```yaml
@@ -823,10 +426,10 @@ std_msgs/Empty result
 #feedback definition
 float32 distance_to_goal
 float32 speed
+
 ```
 
----
+----
-
 ### `FollowWaypoints`
 
 ```yaml
@@ -838,10 +441,10 @@ int32[] missed_waypoints
 ---
 #feedback definition
 uint32 current_waypoint
+
 ```
 
----
+----
-
 ### `NavigateThroughPoses`
 
 ```yaml
@@ -859,10 +462,10 @@ builtin_interfaces/Duration estimated_time_remaining
 int16 number_of_recoveries
 float32 distance_remaining
 int16 number_of_poses_remaining
+
 ```
 
----
+----
-
 ### `NavigateToPose`
 
 ```yaml
@@ -879,10 +482,10 @@ builtin_interfaces/Duration navigation_time
 builtin_interfaces/Duration estimated_time_remaining
 int16 number_of_recoveries
 float32 distance_remaining
+
 ```
 
----
+----
-
 ### `SmoothPath`
 
 ```yaml
@@ -898,10 +501,10 @@ builtin_interfaces/Duration smoothing_duration
 bool was_completed
 ---
 #feedback definition
+
 ```
 
----
+----
-
 ### `Spin`
 
 ```yaml
@@ -914,10 +517,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 float32 angular_distance_traveled
+
 ```
 
----
+----
-
 ### `Wait`
 
 ```yaml
@@ -929,6 +532,7 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 builtin_interfaces/Duration time_left
+
 ```
 
----
+----

docs/intro.md

@@ -32,9 +32,8 @@ developer_guide/device_driver
 developer_guide/add_device
 developer_guide/add_action
 developer_guide/actions
+developer_guide/workstation_architecture
 developer_guide/add_protocol
-developer_guide/add_batteryPLC
-developer_guide/materials_tutorial.md
 ```
 
 ## 接口文档

docs/requirements.txt

@@ -2,6 +2,7 @@
 sphinx>=7.0.0
 sphinx-rtd-theme>=2.0.0
 myst-parser>=2.0.0
+sphinxcontrib-mermaid
 
 # 用于支持Jupyter notebook文档
 myst-nb>=1.0.0

test/experiments/reaction_station_bioyond.json

@@ -24,13 +24,42 @@
                         "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a"
                     },
                     "material_type_mappings": {
-                        "烧杯": ["BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"],
+                        "烧杯": [
-                        "试剂瓶": ["BIOYOND_PolymerStation_1BottleCarrier", ""],
+                            "BIOYOND_PolymerStation_1FlaskCarrier",
-                        "样品板": ["BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"],
+                            "3a14196b-24f2-ca49-9081-0cab8021bf1a"
-                        "分装板": ["BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"],
+                        ],
-                        "样品瓶": ["BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"],
+                        "试剂瓶": [
-                        "90%分装小瓶": ["BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"],
+                            "BIOYOND_PolymerStation_1BottleCarrier",
-                        "10%分装小瓶": ["BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"]
+                            ""
+                        ],
+                        "样品板": [
+                            "BIOYOND_PolymerStation_6StockCarrier",
+                            "3a14196e-b7a0-a5da-1931-35f3000281e9"
+                        ],
+                        "分装板": [
+                            "BIOYOND_PolymerStation_6VialCarrier",
+                            "3a14196e-5dfe-6e21-0c79-fe2036d052c4"
+                        ],
+                        "样品瓶": [
+                            "BIOYOND_PolymerStation_Solid_Stock",
+                            "3a14196a-cf7d-8aea-48d8-b9662c7dba94"
+                        ],
+                        "90%分装小瓶": [
+                            "BIOYOND_PolymerStation_Solid_Vial",
+                            "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"
+                        ],
+                        "10%分装小瓶": [
+                            "BIOYOND_PolymerStation_Liquid_Vial",
+                            "3a14196c-76be-2279-4e22-7310d69aed68"
+                        ],
+                        "枪头盒": [
+                            "BIOYOND_PolymerStation_TipBox",
+                            ""
+                        ],
+                        "反应器": [
+                            "BIOYOND_PolymerStation_Reactor",
+                            ""
+                        ]
                     }
                 },
                 "deck": {
@@ -46,8 +75,7 @@
         {
             "id": "Bioyond_Deck",
             "name": "Bioyond_Deck",
-            "children": [
+            "children": [],
-            ],
             "parent": "reaction_station_bioyond",
             "type": "deck",
             "class": "BIOYOND_PolymerReactionStation_Deck",

unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py

@@ -233,7 +233,7 @@ class BioyondV1RPC(BaseRequest):
         return response.get("data", {})
 
     def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
-        """指定库位出库物料"""
+        """指定库位出库物料（通过库位名称）"""
         location_id = LOCATION_MAPPING.get(location_name, location_name)
 
         params = {
@@ -251,7 +251,36 @@ class BioyondV1RPC(BaseRequest):
             })
 
         if not response or response['code'] != 1:
-            return {}
+            return None
+        return response
+
+    def material_outbound_by_id(self, material_id: str, location_id: str, quantity: int) -> dict:
+        """指定库位出库物料（直接使用location_id）
+
+        Args:
+            material_id: 物料ID
+            location_id: 库位ID（不是库位名称，是UUID）
+            quantity: 数量
+
+        Returns:
+            dict: API响应，失败返回None
+        """
+        params = {
+            "materialId": material_id,
+            "locationId": location_id,
+            "quantity": quantity
+        }
+
+        response = self.post(
+            url=f'{self.host}/api/lims/storage/outbound',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": params
+            })
+
+        if not response or response['code'] != 1:
+            return None
         return response
 
     # ==================== 工作流查询相关接口 ====================

unilabos/devices/workstation/bioyond_studio/reaction_station.py

@@ -232,7 +232,7 @@ class BioyondReactionStation(BioyondWorkstation):
             temperature: 温度设定(°C)
         """
         # 处理 volume 参数:优先使用直接传入的 volume,否则从 solvents 中提取
-        if volume is None and solvents is not None:
+        if not volume and solvents is not None:
             # 参数类型转换:如果是字符串则解析为字典
             if isinstance(solvents, str):
                 try:

unilabos/devices/workstation/bioyond_studio/station.py

@@ -85,8 +85,90 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
     def sync_to_external(self, resource: Any) -> bool:
         """将本地物料数据变更同步到Bioyond系统"""
         try:
-            if self.bioyond_api_client is None:
+            # ✅ 跳过仓库类型的资源 - 仓库是容器，不是物料
-                logger.error("Bioyond API客户端未初始化")
+            resource_category = getattr(resource, "category", None)
+            if resource_category == "warehouse":
+                logger.debug(f"[同步→Bioyond] 跳过仓库类型资源: {resource.name} (仓库是容器，不需要同步为物料)")
+                return True
+
+            logger.info(f"[同步→Bioyond] 收到物料变更: {resource.name}")
+
+            # 获取物料的 Bioyond ID
+            extra_info = getattr(resource, "unilabos_extra", {})
+            material_bioyond_id = extra_info.get("material_bioyond_id")
+
+            # ⭐ 如果没有 Bioyond ID，尝试从 Bioyond 系统中按名称查询
+            if not material_bioyond_id:
+                logger.warning(f"[同步→Bioyond] 物料 {resource.name} 没有 Bioyond ID，尝试按名称查询...")
+                try:
+                    # 查询所有类型的物料：0=耗材, 1=样品, 2=试剂
+                    import json
+                    all_materials = []
+
+                    for type_mode in [0, 1, 2]:
+                        query_params = json.dumps({
+                            "typeMode": type_mode,
+                            "filter": "",   # 空字符串表示查询所有
+                            "includeDetail": True
+                        })
+                        materials = self.bioyond_api_client.stock_material(query_params)
+                        if materials:
+                            all_materials.extend(materials)
+
+                    logger.info(f"[同步→Bioyond] 查询到 {len(all_materials)} 个物料")
+
+                    # 按名称匹配
+                    for mat in all_materials:
+                        if mat.get("name") == resource.name:
+                            material_bioyond_id = mat.get("id")
+                            mat_type = mat.get("typeName", "未知")
+                            logger.info(f"✅ 找到物料 {resource.name} ({mat_type}) 的 Bioyond ID: {material_bioyond_id[:8]}...")
+                            # 保存 ID 到资源对象
+                            extra_info["material_bioyond_id"] = material_bioyond_id
+                            setattr(resource, "unilabos_extra", extra_info)
+                            break
+
+                    if not material_bioyond_id:
+                        logger.warning(f"⚠️ 在 Bioyond 系统中未找到名为 {resource.name} 的物料")
+                        logger.info(f"[同步→Bioyond] 这是一个新物料，将创建并入库到 Bioyond 系统")
+                        # 不返回，继续执行后续的创建+入库流程
+                except Exception as e:
+                    logger.error(f"查询 Bioyond 物料失败: {e}")
+                    import traceback
+                    traceback.print_exc()
+                    return False
+
+            # 检查是否有位置更新请求
+            update_site = extra_info.get("update_resource_site")
+
+            if not update_site:
+                logger.debug(f"[同步→Bioyond] 无位置更新请求")
+                return True
+
+            # ===== 物料移动/创建流程 =====
+            if material_bioyond_id:
+                logger.info(f"[同步→Bioyond] 🔄 开始移动物料 {resource.name} 到 {update_site}")
+            else:
+                logger.info(f"[同步→Bioyond] ➕ 开始创建新物料 {resource.name} 并入库到 {update_site}")            # 第1步：获取仓库配置
+            from .config import WAREHOUSE_MAPPING
+            warehouse_mapping = WAREHOUSE_MAPPING
+
+            # 确定目标仓库名称（通过遍历所有仓库的库位配置）
+            parent_name = None
+            target_location_uuid = None
+
+            for warehouse_name, warehouse_info in warehouse_mapping.items():
+                site_uuids = warehouse_info.get("site_uuids", {})
+                if update_site in site_uuids:
+                    parent_name = warehouse_name
+                    target_location_uuid = site_uuids[update_site]
+                    logger.info(f"[同步] 目标仓库: {parent_name}/{update_site}")
+                    logger.info(f"[同步] 目标库位UUID: {target_location_uuid[:8]}...")
+                    break
+
+            if not parent_name or not target_location_uuid:
+                logger.error(f"❌ 库位 {update_site} 没有在 WAREHOUSE_MAPPING 中配置")
+                logger.debug(f"可用仓库: {list(warehouse_mapping.keys())}")
                 return False
 
             bioyond_material = resource_plr_to_bioyond(
@@ -171,11 +253,22 @@ class BioyondWorkstation(WorkstationBase):
 
     def post_init(self, ros_node: ROS2WorkstationNode):
         self._ros_node = ros_node
+
+        # ⭐ 上传 deck（包括所有 warehouses 及其中的物料）
+        # 注意：如果有从 Bioyond 同步的物料，它们已经被放置到 warehouse 中了
+        # 所以只需要上传 deck，物料会作为 warehouse 的 children 一起上传
+        logger.info("正在上传 deck（包括 warehouses 和物料）到云端...")
         ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
             "resources": [self.deck]
         })
 
+        # 清理临时变量（物料已经在 deck 的 warehouse children 中，不需要单独上传）
+        if hasattr(self, "_synced_resources"):
+            logger.info(f"✅ {len(self._synced_resources)} 个从Bioyond同步的物料已包含在 deck 中")
+            self._synced_resources = []
+
     def transfer_resource_to_another(self, resource: List[ResourceSlot], mount_resource: List[ResourceSlot], sites: List[str], mount_device_id: DeviceSlot):
+        time.sleep(3)
         ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True, **{
             "plr_resources": resource,
             "target_device_id": mount_device_id,

unilabos/devices/workstation/workstation_material_management.py

@@ -1,583 +0,0 @@
-"""
-工作站物料管理基类
-Workstation Material Management Base Class
-
-基于PyLabRobot的物料管理系统
-"""
-from typing import Dict, Any, List, Optional, Union, Type
-from abc import ABC, abstractmethod
-import json
-
-from pylabrobot.resources import (
-    Resource as PLRResource,
-    Container,
-    Deck,
-    Coordinate as PLRCoordinate,
-)
-
-from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
-from unilabos.utils.log import logger
-from unilabos.resources.graphio import resource_plr_to_ulab, resource_ulab_to_plr
-
-
-class MaterialManagementBase(ABC):
-    """物料管理基类
-    
-    定义工作站物料管理的标准接口：
-    1. 物料初始化 - 根据配置创建物料资源
-    2. 物料追踪 - 实时跟踪物料位置和状态
-    3. 物料查找 - 按类型、位置、状态查找物料
-    4. 物料转换 - PyLabRobot与UniLab资源格式转换
-    """
-
-    def __init__(
-        self,
-        device_id: str,
-        deck_config: Dict[str, Any],
-        resource_tracker: DeviceNodeResourceTracker,
-        children_config: Dict[str, Dict[str, Any]] = None
-    ):
-        self.device_id = device_id
-        self.deck_config = deck_config
-        self.resource_tracker = resource_tracker
-        self.children_config = children_config or {}
-        
-        # 创建主台面
-        self.plr_deck = self._create_deck()
-        
-        # 扩展ResourceTracker
-        self._extend_resource_tracker()
-        
-        # 注册deck到resource tracker
-        self.resource_tracker.add_resource(self.plr_deck)
-        
-        # 初始化子资源
-        self.plr_resources = {}
-        self._initialize_materials()
-
-    def _create_deck(self) -> Deck:
-        """创建主台面"""
-        return Deck(
-            name=f"{self.device_id}_deck",
-            size_x=self.deck_config.get("size_x", 1000.0),
-            size_y=self.deck_config.get("size_y", 1000.0),
-            size_z=self.deck_config.get("size_z", 500.0),
-            origin=PLRCoordinate(0, 0, 0)
-        )
-
-    def _extend_resource_tracker(self):
-        """扩展ResourceTracker以支持PyLabRobot特定功能"""
-        
-        def find_by_type(resource_type):
-            """按类型查找资源"""
-            return self._find_resources_by_type_recursive(self.plr_deck, resource_type)
-        
-        def find_by_category(category: str):
-            """按类别查找资源"""
-            found = []
-            for resource in self._get_all_resources():
-                if hasattr(resource, 'category') and resource.category == category:
-                    found.append(resource)
-            return found
-        
-        def find_by_name_pattern(pattern: str):
-            """按名称模式查找资源"""
-            import re
-            found = []
-            for resource in self._get_all_resources():
-                if re.search(pattern, resource.name):
-                    found.append(resource)
-            return found
-        
-        # 动态添加方法到resource_tracker
-        self.resource_tracker.find_by_type = find_by_type
-        self.resource_tracker.find_by_category = find_by_category
-        self.resource_tracker.find_by_name_pattern = find_by_name_pattern
-
-    def _find_resources_by_type_recursive(self, resource, target_type):
-        """递归查找指定类型的资源"""
-        found = []
-        if isinstance(resource, target_type):
-            found.append(resource)
-        
-        # 递归查找子资源
-        children = getattr(resource, "children", [])
-        for child in children:
-            found.extend(self._find_resources_by_type_recursive(child, target_type))
-        
-        return found
-
-    def _get_all_resources(self) -> List[PLRResource]:
-        """获取所有资源"""
-        all_resources = []
-        
-        def collect_resources(resource):
-            all_resources.append(resource)
-            children = getattr(resource, "children", [])
-            for child in children:
-                collect_resources(child)
-        
-        collect_resources(self.plr_deck)
-        return all_resources
-
-    def _initialize_materials(self):
-        """初始化物料"""
-        try:
-            # 确定创建顺序，确保父资源先于子资源创建
-            creation_order = self._determine_creation_order()
-            
-            # 按顺序创建资源
-            for resource_id in creation_order:
-                config = self.children_config[resource_id]
-                self._create_plr_resource(resource_id, config)
-            
-            logger.info(f"物料管理系统初始化完成，共创建 {len(self.plr_resources)} 个资源")
-            
-        except Exception as e:
-            logger.error(f"物料初始化失败: {e}")
-
-    def _determine_creation_order(self) -> List[str]:
-        """确定资源创建顺序"""
-        order = []
-        visited = set()
-        
-        def visit(resource_id: str):
-            if resource_id in visited:
-                return
-            visited.add(resource_id)
-            
-            config = self.children_config.get(resource_id, {})
-            parent_id = config.get("parent")
-            
-            # 如果有父资源，先访问父资源
-            if parent_id and parent_id in self.children_config:
-                visit(parent_id)
-            
-            order.append(resource_id)
-        
-        for resource_id in self.children_config:
-            visit(resource_id)
-        
-        return order
-
-    def _create_plr_resource(self, resource_id: str, config: Dict[str, Any]):
-        """创建PyLabRobot资源"""
-        try:
-            resource_type = config.get("type", "unknown")
-            data = config.get("data", {})
-            location_config = config.get("location", {})
-            
-            # 创建位置坐标
-            location = PLRCoordinate(
-                x=location_config.get("x", 0.0),
-                y=location_config.get("y", 0.0),
-                z=location_config.get("z", 0.0)
-            )
-            
-            # 根据类型创建资源
-            resource = self._create_resource_by_type(resource_id, resource_type, config, data, location)
-            
-            if resource:
-                # 设置父子关系
-                parent_id = config.get("parent")
-                if parent_id and parent_id in self.plr_resources:
-                    parent_resource = self.plr_resources[parent_id]
-                    parent_resource.assign_child_resource(resource, location)
-                else:
-                    # 直接放在deck上
-                    self.plr_deck.assign_child_resource(resource, location)
-                
-                # 保存资源引用
-                self.plr_resources[resource_id] = resource
-                
-                # 注册到resource tracker
-                self.resource_tracker.add_resource(resource)
-                
-                logger.debug(f"创建资源成功: {resource_id} ({resource_type})")
-            
-        except Exception as e:
-            logger.error(f"创建资源失败 {resource_id}: {e}")
-
-    @abstractmethod
-    def _create_resource_by_type(
-        self, 
-        resource_id: str, 
-        resource_type: str, 
-        config: Dict[str, Any], 
-        data: Dict[str, Any], 
-        location: PLRCoordinate
-    ) -> Optional[PLRResource]:
-        """根据类型创建资源 - 子类必须实现"""
-        pass
-
-    # ============ 物料查找接口 ============
-    
-    def find_materials_by_type(self, material_type: str) -> List[PLRResource]:
-        """按材料类型查找物料"""
-        return self.resource_tracker.find_by_category(material_type)
-
-    def find_material_by_id(self, resource_id: str) -> Optional[PLRResource]:
-        """按ID查找物料"""
-        return self.plr_resources.get(resource_id)
-
-    def find_available_positions(self, position_type: str) -> List[PLRResource]:
-        """查找可用位置"""
-        positions = self.resource_tracker.find_by_category(position_type)
-        available = []
-        
-        for pos in positions:
-            if hasattr(pos, 'is_available') and pos.is_available():
-                available.append(pos)
-            elif hasattr(pos, 'children') and len(pos.children) == 0:
-                available.append(pos)
-        
-        return available
-
-    def get_material_inventory(self) -> Dict[str, int]:
-        """获取物料库存统计"""
-        inventory = {}
-        
-        for resource in self._get_all_resources():
-            if hasattr(resource, 'category'):
-                category = resource.category
-                inventory[category] = inventory.get(category, 0) + 1
-        
-        return inventory
-
-    # ============ 物料状态更新接口 ============
-    
-    def update_material_location(self, material_id: str, new_location: PLRCoordinate) -> bool:
-        """更新物料位置"""
-        try:
-            material = self.find_material_by_id(material_id)
-            if material:
-                material.location = new_location
-                return True
-            return False
-        except Exception as e:
-            logger.error(f"更新物料位置失败: {e}")
-            return False
-
-    def move_material(self, material_id: str, target_container_id: str) -> bool:
-        """移动物料到目标容器"""
-        try:
-            material = self.find_material_by_id(material_id)
-            target = self.find_material_by_id(target_container_id)
-            
-            if material and target:
-                # 从原位置移除
-                if material.parent:
-                    material.parent.unassign_child_resource(material)
-                
-                # 添加到新位置
-                target.assign_child_resource(material)
-                return True
-            
-            return False
-            
-        except Exception as e:
-            logger.error(f"移动物料失败: {e}")
-            return False
-
-    # ============ 资源转换接口 ============
-    
-    def convert_to_unilab_format(self, plr_resource: PLRResource) -> Dict[str, Any]:
-        """将PyLabRobot资源转换为UniLab格式"""
-        return resource_plr_to_ulab(plr_resource)
-
-    def convert_from_unilab_format(self, unilab_resource: Dict[str, Any]) -> PLRResource:
-        """将UniLab格式转换为PyLabRobot资源"""
-        return resource_ulab_to_plr(unilab_resource)
-
-    def get_deck_state(self) -> Dict[str, Any]:
-        """获取Deck状态"""
-        try:
-            return {
-                "deck_info": {
-                    "name": self.plr_deck.name,
-                    "size": {
-                        "x": self.plr_deck.size_x,
-                        "y": self.plr_deck.size_y,
-                        "z": self.plr_deck.size_z
-                    },
-                    "children_count": len(self.plr_deck.children)
-                },
-                "resources": {
-                    resource_id: self.convert_to_unilab_format(resource)
-                    for resource_id, resource in self.plr_resources.items()
-                },
-                "inventory": self.get_material_inventory()
-            }
-        except Exception as e:
-            logger.error(f"获取Deck状态失败: {e}")
-            return {"error": str(e)}
-
-    # ============ 数据持久化接口 ============
-    
-    def save_state_to_file(self, file_path: str) -> bool:
-        """保存状态到文件"""
-        try:
-            state = self.get_deck_state()
-            with open(file_path, 'w', encoding='utf-8') as f:
-                json.dump(state, f, indent=2, ensure_ascii=False)
-            logger.info(f"状态已保存到: {file_path}")
-            return True
-        except Exception as e:
-            logger.error(f"保存状态失败: {e}")
-            return False
-
-    def load_state_from_file(self, file_path: str) -> bool:
-        """从文件加载状态"""
-        try:
-            with open(file_path, 'r', encoding='utf-8') as f:
-                state = json.load(f)
-            
-            # 重新创建资源
-            self._recreate_resources_from_state(state)
-            logger.info(f"状态已从文件加载: {file_path}")
-            return True
-            
-        except Exception as e:
-            logger.error(f"加载状态失败: {e}")
-            return False
-
-    def _recreate_resources_from_state(self, state: Dict[str, Any]):
-        """从状态重新创建资源"""
-        # 清除现有资源
-        self.plr_resources.clear()
-        self.plr_deck.children.clear()
-        
-        # 从状态重新创建
-        resources_data = state.get("resources", {})
-        for resource_id, resource_data in resources_data.items():
-            try:
-                plr_resource = self.convert_from_unilab_format(resource_data)
-                self.plr_resources[resource_id] = plr_resource
-                self.plr_deck.assign_child_resource(plr_resource)
-            except Exception as e:
-                logger.error(f"重新创建资源失败 {resource_id}: {e}")
-
-
-class CoinCellMaterialManagement(MaterialManagementBase):
-    """纽扣电池物料管理类
-    
-    从 button_battery_station 抽取的物料管理功能
-    """
-
-    def _create_resource_by_type(
-        self, 
-        resource_id: str, 
-        resource_type: str, 
-        config: Dict[str, Any], 
-        data: Dict[str, Any], 
-        location: PLRCoordinate
-    ) -> Optional[PLRResource]:
-        """根据类型创建纽扣电池相关资源"""
-        
-        # 导入纽扣电池资源类
-        from unilabos.device_comms.button_battery_station import (
-            MaterialPlate, PlateSlot, ClipMagazine, BatteryPressSlot,
-            TipBox64, WasteTipBox, BottleRack, Battery, ElectrodeSheet
-        )
-        
-        try:
-            if resource_type == "material_plate":
-                return self._create_material_plate(resource_id, config, data, location)
-            
-            elif resource_type == "plate_slot":
-                return self._create_plate_slot(resource_id, config, data, location)
-            
-            elif resource_type == "clip_magazine":
-                return self._create_clip_magazine(resource_id, config, data, location)
-            
-            elif resource_type == "battery_press_slot":
-                return self._create_battery_press_slot(resource_id, config, data, location)
-            
-            elif resource_type == "tip_box":
-                return self._create_tip_box(resource_id, config, data, location)
-            
-            elif resource_type == "waste_tip_box":
-                return self._create_waste_tip_box(resource_id, config, data, location)
-            
-            elif resource_type == "bottle_rack":
-                return self._create_bottle_rack(resource_id, config, data, location)
-            
-            elif resource_type == "battery":
-                return self._create_battery(resource_id, config, data, location)
-            
-            else:
-                logger.warning(f"未知的资源类型: {resource_type}")
-                return None
-                
-        except Exception as e:
-            logger.error(f"创建资源失败 {resource_id} ({resource_type}): {e}")
-            return None
-
-    def _create_material_plate(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
-        """创建料板"""
-        from unilabos.device_comms.button_battery_station import MaterialPlate, ElectrodeSheet
-        
-        plate = MaterialPlate(
-            name=resource_id,
-            size_x=config.get("size_x", 80.0),
-            size_y=config.get("size_y", 80.0),
-            size_z=config.get("size_z", 10.0),
-            hole_diameter=config.get("hole_diameter", 15.0),
-            hole_depth=config.get("hole_depth", 8.0),
-            hole_spacing_x=config.get("hole_spacing_x", 20.0),
-            hole_spacing_y=config.get("hole_spacing_y", 20.0),
-            number=data.get("number", "")
-        )
-        plate.location = location
-        
-        # 如果有预填充的极片数据，创建极片
-        electrode_sheets = data.get("electrode_sheets", [])
-        for i, sheet_data in enumerate(electrode_sheets):
-            if i < len(plate.children):  # 确保不超过洞位数量
-                hole = plate.children[i]
-                sheet = ElectrodeSheet(
-                    name=f"{resource_id}_sheet_{i}",
-                    diameter=sheet_data.get("diameter", 14.0),
-                    thickness=sheet_data.get("thickness", 0.1),
-                    mass=sheet_data.get("mass", 0.01),
-                    material_type=sheet_data.get("material_type", "cathode"),
-                    info=sheet_data.get("info", "")
-                )
-                hole.place_electrode_sheet(sheet)
-        
-        return plate
-
-    def _create_plate_slot(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
-        """创建板槽位"""
-        from unilabos.device_comms.button_battery_station import PlateSlot
-        
-        slot = PlateSlot(
-            name=resource_id,
-            max_plates=config.get("max_plates", 8)
-        )
-        slot.location = location
-        return slot
-
-    def _create_clip_magazine(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
-        """创建子弹夹"""
-        from unilabos.device_comms.button_battery_station import ClipMagazine
-        
-        magazine = ClipMagazine(
-            name=resource_id,
-            size_x=config.get("size_x", 150.0),
-            size_y=config.get("size_y", 100.0),
-            size_z=config.get("size_z", 50.0),
-            hole_diameter=config.get("hole_diameter", 15.0),
-            hole_depth=config.get("hole_depth", 40.0),
-            hole_spacing=config.get("hole_spacing", 25.0),
-            max_sheets_per_hole=config.get("max_sheets_per_hole", 100)
-        )
-        magazine.location = location
-        return magazine
-
-    def _create_battery_press_slot(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
-        """创建电池压制槽"""
-        from unilabos.device_comms.button_battery_station import BatteryPressSlot
-        
-        slot = BatteryPressSlot(
-            name=resource_id,
-            diameter=config.get("diameter", 20.0),
-            depth=config.get("depth", 15.0)
-        )
-        slot.location = location
-        return slot
-
-    def _create_tip_box(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
-        """创建枪头盒"""
-        from unilabos.device_comms.button_battery_station import TipBox64
-        
-        tip_box = TipBox64(
-            name=resource_id,
-            size_x=config.get("size_x", 127.8),
-            size_y=config.get("size_y", 85.5),
-            size_z=config.get("size_z", 60.0),
-            with_tips=data.get("with_tips", True)
-        )
-        tip_box.location = location
-        return tip_box
-
-    def _create_waste_tip_box(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
-        """创建废枪头盒"""
-        from unilabos.device_comms.button_battery_station import WasteTipBox
-        
-        waste_box = WasteTipBox(
-            name=resource_id,
-            size_x=config.get("size_x", 127.8),
-            size_y=config.get("size_y", 85.5),
-            size_z=config.get("size_z", 60.0),
-            max_tips=config.get("max_tips", 100)
-        )
-        waste_box.location = location
-        return waste_box
-
-    def _create_bottle_rack(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
-        """创建瓶架"""
-        from unilabos.device_comms.button_battery_station import BottleRack
-        
-        rack = BottleRack(
-            name=resource_id,
-            size_x=config.get("size_x", 210.0),
-            size_y=config.get("size_y", 140.0),
-            size_z=config.get("size_z", 100.0),
-            bottle_diameter=config.get("bottle_diameter", 30.0),
-            bottle_height=config.get("bottle_height", 100.0),
-            position_spacing=config.get("position_spacing", 35.0)
-        )
-        rack.location = location
-        return rack
-
-    def _create_battery(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
-        """创建电池"""
-        from unilabos.device_comms.button_battery_station import Battery
-        
-        battery = Battery(
-            name=resource_id,
-            diameter=config.get("diameter", 20.0),
-            height=config.get("height", 3.2),
-            max_volume=config.get("max_volume", 100.0),
-            barcode=data.get("barcode", "")
-        )
-        battery.location = location
-        return battery
-
-    # ============ 纽扣电池特定查找方法 ============
-    
-    def find_material_plates(self):
-        """查找所有料板"""
-        from unilabos.device_comms.button_battery_station import MaterialPlate
-        return self.resource_tracker.find_by_type(MaterialPlate)
-    
-    def find_batteries(self):
-        """查找所有电池"""
-        from unilabos.device_comms.button_battery_station import Battery
-        return self.resource_tracker.find_by_type(Battery)
-    
-    def find_electrode_sheets(self):
-        """查找所有极片"""
-        found = []
-        plates = self.find_material_plates()
-        for plate in plates:
-            for hole in plate.children:
-                if hasattr(hole, 'has_electrode_sheet') and hole.has_electrode_sheet():
-                    found.append(hole._electrode_sheet)
-        return found
-    
-    def find_plate_slots(self):
-        """查找所有板槽位"""
-        from unilabos.device_comms.button_battery_station import PlateSlot
-        return self.resource_tracker.find_by_type(PlateSlot)
-    
-    def find_clip_magazines(self):
-        """查找所有子弹夹"""
-        from unilabos.device_comms.button_battery_station import ClipMagazine
-        return self.resource_tracker.find_by_type(ClipMagazine)
-    
-    def find_press_slots(self):
-        """查找所有压制槽"""
-        from unilabos.device_comms.button_battery_station import BatteryPressSlot
-        return self.resource_tracker.find_by_type(BatteryPressSlot)

unilabos/registry/resources/bioyond/bottles.yaml

@@ -48,3 +48,25 @@ BIOYOND_PolymerStation_Solution_Beaker:
   icon: ''
   init_param_schema: {}
   version: 1.0.0
+BIOYOND_PolymerStation_TipBox:
+  category:
+  - bottles
+  - tip_boxes
+  class:
+    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_TipBox
+    type: pylabrobot
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+BIOYOND_PolymerStation_Reactor:
+  category:
+  - bottles
+  - reactors
+  class:
+    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Reactor
+    type: pylabrobot
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0

unilabos/resources/bioyond/bottles.py

@@ -90,3 +90,89 @@ def BIOYOND_PolymerStation_Reagent_Bottle(
         barcode=barcode,
         model="BIOYOND_PolymerStation_Reagent_Bottle",
     )
+
+
+def BIOYOND_PolymerStation_Reactor(
+    name: str,
+    diameter: float = 30.0,
+    height: float = 80.0,
+    max_volume: float = 50000.0,  # 50mL
+    barcode: str = None,
+) -> Bottle:
+    """创建反应器"""
+    return Bottle(
+        name=name,
+        diameter=diameter,
+        height=height,
+        max_volume=max_volume,
+        barcode=barcode,
+        model="BIOYOND_PolymerStation_Reactor",
+    )
+
+
+def BIOYOND_PolymerStation_TipBox(
+    name: str,
+    size_x: float = 127.76,  # 枪头盒宽度
+    size_y: float = 85.48,   # 枪头盒长度
+    size_z: float = 100.0,   # 枪头盒高度
+    barcode: str = None,
+):
+    """创建4×6枪头盒 (24个枪头)
+
+    Args:
+        name: 枪头盒名称
+        size_x: 枪头盒宽度 (mm)
+        size_y: 枪头盒长度 (mm)
+        size_z: 枪头盒高度 (mm)
+        barcode: 条形码
+
+    Returns:
+        TipBoxCarrier: 包含24个枪头孔位的枪头盒
+    """
+    from pylabrobot.resources import Container, Coordinate
+
+    # 创建枪头盒容器
+    tip_box = Container(
+        name=name,
+        size_x=size_x,
+        size_y=size_y,
+        size_z=size_z,
+        category="tip_rack",
+        model="BIOYOND_PolymerStation_TipBox_4x6",
+    )
+
+    # 设置自定义属性
+    tip_box.barcode = barcode
+    tip_box.tip_count = 24  # 4行×6列
+    tip_box.num_items_x = 6  # 6列
+    tip_box.num_items_y = 4  # 4行
+
+    # 创建24个枪头孔位 (4行×6列)
+    # 假设孔位间距为 9mm
+    tip_spacing_x = 9.0  # 列间距
+    tip_spacing_y = 9.0  # 行间距
+    start_x = 14.38  # 第一个孔位的x偏移
+    start_y = 11.24  # 第一个孔位的y偏移
+
+    for row in range(4):  # A, B, C, D
+        for col in range(6):  # 1-6
+            spot_name = f"{chr(65 + row)}{col + 1}"  # A1, A2, ..., D6
+            x = start_x + col * tip_spacing_x
+            y = start_y + row * tip_spacing_y
+
+            # 创建枪头孔位容器
+            tip_spot = Container(
+                name=spot_name,
+                size_x=8.0,  # 单个枪头孔位大小
+                size_y=8.0,
+                size_z=size_z - 10.0,  # 略低于盒子高度
+                category="tip_spot",
+            )
+
+            # 添加到枪头盒
+            tip_box.assign_child_resource(
+                tip_spot,
+                location=Coordinate(x=x, y=y, z=0)
+            )
+
+    return tip_box

unilabos/resources/bioyond/decks.py

@@ -1,7 +1,22 @@
 from os import name
 from pylabrobot.resources import Deck, Coordinate, Rotation
 
-from unilabos.resources.bioyond.warehouses import bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x2, bioyond_warehouse_liquid_and_lid_handling, bioyond_warehouse_1x2x2, bioyond_warehouse_1x3x3, bioyond_warehouse_10x1x1, bioyond_warehouse_3x3x1, bioyond_warehouse_3x3x1_2, bioyond_warehouse_5x1x1
+from unilabos.resources.bioyond.warehouses import (
+    bioyond_warehouse_1x4x4,
+    bioyond_warehouse_1x4x4_right,  # 新增：右侧仓库 (A05～D08)
+    bioyond_warehouse_1x4x2,
+    bioyond_warehouse_liquid_and_lid_handling,
+    bioyond_warehouse_1x2x2,
+    bioyond_warehouse_1x3x3,
+    bioyond_warehouse_10x1x1,
+    bioyond_warehouse_3x3x1,
+    bioyond_warehouse_3x3x1_2,
+    bioyond_warehouse_5x1x1,
+    bioyond_warehouse_1x8x4,
+    bioyond_warehouse_reagent_storage,
+    bioyond_warehouse_liquid_preparation,
+    bioyond_warehouse_tipbox_storage,  # 新增：Tip盒堆栈
+)
 
 
 class BIOYOND_PolymerReactionStation_Deck(Deck):
@@ -20,15 +35,22 @@ class BIOYOND_PolymerReactionStation_Deck(Deck):
 
     def setup(self) -> None:
         # 添加仓库
+        # 说明: 堆栈1物理上分为左右两部分
+        #   - 堆栈1左: A01～D04 (4行×4列, 位于反应站左侧)
+        #   - 堆栈1右: A05～D08 (4行×4列, 位于反应站右侧)
         self.warehouses = {
-            "堆栈1": bioyond_warehouse_1x4x4("堆栈1"),
+            "堆栈1左": bioyond_warehouse_1x4x4("堆栈1左"),  # 左侧堆栈: A01～D04
-            "堆栈2": bioyond_warehouse_1x4x4("堆栈2"),
+            "堆栈1右": bioyond_warehouse_1x4x4_right("堆栈1右"),  # 右侧堆栈: A05～D08
-            "站内试剂存放堆栈": bioyond_warehouse_liquid_and_lid_handling("站内试剂存放堆栈"),
+            "站内试剂存放堆栈": bioyond_warehouse_reagent_storage("站内试剂存放堆栈"),  # A01～A02
+            "移液站内10%分装液体准备仓库": bioyond_warehouse_liquid_preparation("移液站内10%分装液体准备仓库"),  # A01～B04
+            "站内Tip盒堆栈": bioyond_warehouse_tipbox_storage("站内Tip盒堆栈"),  # A01～B03, 存放枪头盒
         }
         self.warehouse_locations = {
-            "堆栈1": Coordinate(0.0, 430.0, 0.0),
+            "堆栈1左": Coordinate(0.0, 430.0, 0.0),  # 左侧位置
-            "堆栈2": Coordinate(2550.0, 430.0, 0.0),
+            "堆栈1右": Coordinate(2500.0, 430.0, 0.0),  # 右侧位置
-            "站内试剂存放堆栈": Coordinate(800.0, 475.0, 0.0),
+            "站内试剂存放堆栈": Coordinate(1100.0, 475.0, 0.0),
+            "移液站内10%分装液体准备仓库": Coordinate(1500.0, 300.0, 0.0),
+            "站内Tip盒堆栈": Coordinate(1800.0, 300.0, 0.0),  # TODO: 根据实际位置调整坐标
         }
         self.warehouses["站内试剂存放堆栈"].rotation = Rotation(z=90)
 

unilabos/resources/bioyond/warehouses.py

@@ -2,7 +2,7 @@ from unilabos.resources.warehouse import WareHouse, warehouse_factory
 
 
 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 warehouse_factory(
         name=name,
         num_items_x=4,
@@ -15,6 +15,25 @@ def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
         item_dy=106.0,
         item_dz=130.0,
         category="warehouse",
+        col_offset=0,  # 从01开始: A01, A02, A03, A04
+    )
+
+
+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=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
     )
 
 
@@ -159,3 +178,71 @@ def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse:
         category="warehouse",
         removed_positions=None
     )
+
+
+def bioyond_warehouse_1x8x4(name: str) -> WareHouse:
+    """创建BioYond 8x4x1反应站堆栈（A01～D08）"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=8,  # 8列（01-08）
+        num_items_y=4,  # 4行（A-D）
+        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",
+    )
+
+
+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,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+    )
+
+
+def bioyond_warehouse_liquid_preparation(name: str) -> WareHouse:
+    """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",
+    )
+
+
+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",
+    )

unilabos/resources/graphio.py

@@ -580,6 +580,8 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
             "trash": "trash",
             "deck": "deck",
             "tip_rack": "tip_rack",
+            "warehouse": "warehouse",
+            "container": "container",
         }
         if source in replace_info:
             return replace_info[source]
@@ -632,9 +634,24 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
             type_mapping.get(material.get("typeName"), ("RegularContainer", ""))[0] if type_mapping else "RegularContainer"
         )
 
-        plr_material: ResourcePLR = initialize_resource(
+        plr_material_result = initialize_resource(
             {"name": material["name"], "class": className}, resource_type=ResourcePLR
         )
+
+        # initialize_resource 可能返回列表或单个对象
+        if isinstance(plr_material_result, list):
+            if len(plr_material_result) == 0:
+                logger.warning(f"物料 {material['name']} 初始化失败，跳过")
+                continue
+            plr_material = plr_material_result[0]
+        else:
+            plr_material = plr_material_result
+
+        # 确保 plr_material 是 ResourcePLR 实例
+        if not isinstance(plr_material, ResourcePLR):
+            logger.warning(f"物料 {material['name']} 不是有效的 ResourcePLR 实例，类型: {type(plr_material)}")
+            continue
+
         plr_material.code = material.get("code", "") and material.get("barCode", "") or ""
         plr_material.unilabos_uuid = str(uuid.uuid4())
 
@@ -659,25 +676,66 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
                     ]
                     bottle.code = detail.get("code", "")
         else:
-            bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
+            # 只对有 capacity 属性的容器（液体容器）处理液体追踪
-            bottle.tracker.liquids = [
+            if hasattr(plr_material, 'capacity'):
-                (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
+                bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
-            ]
+                bottle.tracker.liquids = [
+                    (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
+                ]
 
         plr_materials.append(plr_material)
 
         if deck and hasattr(deck, "warehouses"):
             for loc in material.get("locations", []):
-                if hasattr(deck, "warehouses") and loc.get("whName") in deck.warehouses:
+                wh_name = loc.get("whName")
-                    warehouse = deck.warehouses[loc["whName"]]
+
-                    idx = (
+                # 特殊处理: Bioyond的"堆栈1"需要映射到"堆栈1左"或"堆栈1右"
-                        (loc.get("y", 0) - 1) * warehouse.num_items_x * warehouse.num_items_y
+                # 根据列号(x)判断: 1-4映射到左侧, 5-8映射到右侧
-                        + (loc.get("x", 0) - 1) * warehouse.num_items_x
+                if wh_name == "堆栈1":
-                        + (loc.get("z", 0) - 1)
+                    x_val = loc.get("x", 1)
-                    )
+                    if 1 <= x_val <= 4:
+                        wh_name = "堆栈1左"
+                    elif 5 <= x_val <= 8:
+                        wh_name = "堆栈1右"
+                    else:
+                        logger.warning(f"物料 {material['name']} 的列号 x={x_val} 超出范围，无法映射到堆栈1左或堆栈1右")
+                        continue
+
+                if hasattr(deck, "warehouses") and wh_name in deck.warehouses:
+                    warehouse = deck.warehouses[wh_name]
+
+                    # Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
+                    # PyLabRobot warehouse是列优先存储: A01,B01,C01,D01, A02,B02,C02,D02, ...
+                    x = loc.get("x", 1)  # 行号 (1-based: 1=A, 2=B, 3=C, 4=D)
+                    y = loc.get("y", 1)  # 列号 (1-based: 1=01, 2=02, 3=03...)
+                    z = loc.get("z", 1)  # 层号 (1-based, 通常为1)
+
+                    # 如果是右侧堆栈，需要调整列号 (5→1, 6→2, 7→3, 8→4)
+                    if wh_name == "堆栈1右":
+                        y = y - 4  # 将5-8映射到1-4
+
+                    # 特殊处理：对于1行×N列的横向warehouse（如站内试剂存放堆栈）
+                    # Bioyond的y坐标表示线性位置序号，而不是列号
+                    if warehouse.num_items_y == 1:
+                        # 1行warehouse: 直接用y作为线性索引
+                        idx = y - 1
+                        logger.debug(f"1行warehouse {wh_name}: y={y} → idx={idx}")
+                    else:
+                        # 多行warehouse: 使用列优先索引 (与Bioyond坐标系统一致)
+                        # warehouse keys顺序: A01,B01,C01,D01, A02,B02,C02,D02, ...
+                        # 索引计算: idx = (col-1) * num_rows + (row-1) + (layer-1) * (rows * cols)
+                        row_idx = x - 1  # x表示行: 转为0-based
+                        col_idx = y - 1  # y表示列: 转为0-based
+                        layer_idx = z - 1  # 转为0-based
+                        idx = layer_idx * (warehouse.num_items_x * warehouse.num_items_y) + col_idx * warehouse.num_items_y + row_idx
+                        logger.debug(f"多行warehouse {wh_name}: x={x}(行),y={y}(列) → row={row_idx},col={col_idx} → idx={idx}")
+
                     if 0 <= idx < warehouse.capacity:
                         if warehouse[idx] is None or isinstance(warehouse[idx], ResourceHolder):
                             warehouse[idx] = plr_material
+                            logger.debug(f"✅ 物料 {material['name']} 放置到 {wh_name}[{idx}] (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')})")
+                    else:
+                        logger.warning(f"物料 {material['name']} 的索引 {idx} 超出仓库 {wh_name} 容量 {warehouse.capacity}")
 
     return plr_materials
 
@@ -714,8 +772,8 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
             bottle = resource[0] if resource.capacity > 0 else resource
             material = {
                 "typeId": "3a14196b-24f2-ca49-9081-0cab8021bf1a",
-                "name": resource.get("name", ""),
+                "name": resource.name if hasattr(resource, "name") else "",
-                "unit": "",
+                "unit": "个",  # 修复：Bioyond API 要求 unit 字段不能为空
                 "quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
                 "Parameters": "{}"
             }
@@ -759,6 +817,8 @@ def initialize_resource(resource_config: dict, resource_type: Any = None) -> Uni
     elif type(resource_class_config) == str:
         # Allow special resource class names to be used
         if resource_class_config not in lab_registry.resource_type_registry:
+            logger.warning(f"❌ 类 {resource_class_config} 不在 registry 中，返回原始配置")
+            logger.debug(f"   可用的类: {list(lab_registry.resource_type_registry.keys())[:10]}...")
             return [resource_config]
         # If the resource class is a string, look up the class in the
         # resource_type_registry and import it

unilabos/resources/warehouse.py

@@ -23,6 +23,7 @@ def warehouse_factory(
     empty: bool = False,
     category: str = "warehouse",
     model: Optional[str] = None,
+    col_offset: int = 0,  # 新增：列起始偏移量，用于生成A05-D08等命名
 ):
     # 创建16个板架位 (4层 x 4位置)
     locations = []
@@ -44,7 +45,9 @@ def warehouse_factory(
         name_prefix=name,
     )
     len_x, len_y = (num_items_x, num_items_y) if num_items_z == 1 else (num_items_y, num_items_z) if num_items_x == 1 else (num_items_x, num_items_z)
-    keys = [f"{LETTERS[j]}{i + 1}" for i in range(len_x) for j in range(len_y)]
+    # 应用列偏移量，支持A05-D08等命名
+    # 使用列优先顺序生成keys (与Bioyond坐标系统一致): A01,B01,C01,D01, A02,B02,C02,D02, ...
+    keys = [f"{LETTERS[j]}{i + 1 + col_offset:02d}" for i in range(len_x) for j in range(len_y)]
     sites = {i: site for i, site in zip(keys, _sites.values())}
 
     return WareHouse(

unilabos/ros/nodes/base_device_node.py

@@ -53,7 +53,7 @@ from unilabos.ros.nodes.resource_tracker import (
 )
 from unilabos.ros.x.rclpyx import get_event_loop
 from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
-from unilabos.utils.async_util import run_async_func
+from rclpy.task import Task
 from unilabos.utils.import_manager import default_manager
 from unilabos.utils.log import info, debug, warning, error, critical, logger, trace
 from unilabos.utils.type_check import get_type_class, TypeEncoder, get_result_info_str
@@ -1385,18 +1385,19 @@ class ROS2DeviceNode:
     它不继承设备类，而是通过代理模式访问设备类的属性和方法。
     """
 
-    # 类变量，用于循环管理
-    _loop = None
-    _loop_running = False
-    _loop_thread = None
-
     @classmethod
-    def get_loop(cls):
+    def run_async_func(cls, func, trace_error=True, **kwargs) -> Task:
-        return cls._loop
+        def _handle_future_exception(fut):
+            try:
+                fut.result()
+            except Exception as e:
+                error(f"异步任务 {func.__name__} 报错了")
+                error(traceback.format_exc())
 
-    @classmethod
+        future = rclpy.get_global_executor().create_task(func(**kwargs))
-    def run_async_func(cls, func, trace_error=True, **kwargs):
+        if trace_error:
-        return run_async_func(func, loop=cls._loop, trace_error=trace_error, **kwargs)
+            future.add_done_callback(_handle_future_exception)
+        return future
 
     @property
     def driver_instance(self):
@@ -1436,11 +1437,6 @@ class ROS2DeviceNode:
             print_publish: 是否打印发布信息
             driver_is_ros:
         """
-        # 在初始化时检查循环状态
-        if ROS2DeviceNode._loop_running and ROS2DeviceNode._loop_thread is not None:
-            pass
-        elif ROS2DeviceNode._loop_thread is None:
-            self._start_loop()
 
         # 保存设备类是否支持异步上下文
         self._has_async_context = hasattr(driver_class, "__aenter__") and hasattr(driver_class, "__aexit__")
@@ -1529,17 +1525,6 @@ class ROS2DeviceNode:
             except Exception as e:
                 self._ros_node.lab_logger().error(f"设备后初始化失败: {e}")
 
-    def _start_loop(self):
-        def run_event_loop():
-            loop = asyncio.new_event_loop()
-            ROS2DeviceNode._loop = loop
-            asyncio.set_event_loop(loop)
-            loop.run_forever()
-
-        ROS2DeviceNode._loop_thread = threading.Thread(target=run_event_loop, daemon=True, name="ROS2DeviceNodeLoop")
-        ROS2DeviceNode._loop_thread.start()
-        logger.info(f"循环线程已启动")
-
 
 class DeviceInfoType(TypedDict):
     id: str

unilabos/ros/nodes/resource_tracker.py

@@ -848,9 +848,15 @@ class DeviceNodeResourceTracker(object):
             extra: extra字典值
         """
         if isinstance(resource, dict):
-            resource["extra"] = extra
+            # ⭐ 修复：合并extra而不是覆盖
+            current_extra = resource.get("extra", {})
+            current_extra.update(extra)
+            resource["extra"] = current_extra
         else:
-            setattr(resource, "unilabos_extra", extra)
+            # ⭐ 修复：合并unilabos_extra而不是覆盖
+            current_extra = getattr(resource, "unilabos_extra", {})
+            current_extra.update(extra)
+            setattr(resource, "unilabos_extra", current_extra)
 
     def _traverse_and_process(self, resource, process_func) -> int:
         """

unilabos/utils/async_util.py

@@ -1,22 +0,0 @@
-import asyncio
-import traceback
-from asyncio import get_event_loop
-
-from unilabos.utils.log import error
-
-
-def run_async_func(func, *, loop=None, trace_error=True, **kwargs):
-    if loop is None:
-        loop = get_event_loop()
-
-    def _handle_future_exception(fut):
-        try:
-            fut.result()
-        except Exception as e:
-            error(f"异步任务 {func.__name__} 报错了")
-            error(traceback.format_exc())
-
-    future = asyncio.run_coroutine_threadsafe(func(**kwargs), loop)
-    if trace_error:
-        future.add_done_callback(_handle_future_exception)
-    return future