Merge pull request #150 from WenzheG/dev_wzg/Xrd_Raman

添加Raman和xrd相关代码

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"],
-                        "试剂瓶": ["BIOYOND_PolymerStation_1BottleCarrier", ""],
-                        "样品板": ["BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"],
-                        "分装板": ["BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"],
-                        "样品瓶": ["BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"],
-                        "90%分装小瓶": ["BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"],
-                        "10%分装小瓶": ["BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"]
+                        "烧杯": [
+                            "BIOYOND_PolymerStation_1FlaskCarrier",
+                            "3a14196b-24f2-ca49-9081-0cab8021bf1a"
+                        ],
+                        "试剂瓶": [
+                            "BIOYOND_PolymerStation_1BottleCarrier",
+                            ""
+                        ],
+                        "样品板": [
+                            "BIOYOND_PolymerStation_6StockCarrier",
+                            "3a14196e-b7a0-a5da-1931-35f3000281e9"
+                        ],
+                        "分装板": [
+                            "BIOYOND_PolymerStation_6VialCarrier",
+                            "3a14196e-5dfe-6e21-0c79-fe2036d052c4"
+                        ],
+                        "样品瓶": [
+                            "BIOYOND_PolymerStation_Solid_Stock",
+                            "3a14196a-cf7d-8aea-48d8-b9662c7dba94"
+                        ],
+                        "90%分装小瓶": [
+                            "BIOYOND_PolymerStation_Solid_Vial",
+                            "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"
+                        ],
+                        "10%分装小瓶": [
+                            "BIOYOND_PolymerStation_Liquid_Vial",
+                            "3a14196c-76be-2279-4e22-7310d69aed68"
+                        ],
+                        "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",
@@ -69,4 +97,4 @@
             "data": {}
         }
     ]
-}
+}

test/registry/example_devices.py

@@ -3,7 +3,8 @@
 """
 
 import asyncio
-from typing import Dict, Any, Optional, List
+from typing import Dict, Any, List
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 
 class SmartPumpController:
@@ -14,6 +15,8 @@ class SmartPumpController:
     适用于实验室自动化系统中的液体处理任务。
     """
 
+    _ros_node: BaseROS2DeviceNode
+
     def __init__(self, device_id: str = "smart_pump_01", port: str = "/dev/ttyUSB0"):
         """
         初始化智能泵控制器
@@ -30,6 +33,9 @@ class SmartPumpController:
         self.calibration_factor = 1.0
         self.pump_mode = "continuous"  # continuous, volume, rate
 
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
     def connect_device(self, timeout: int = 10) -> bool:
         """
         连接到泵设备
@@ -90,7 +96,7 @@ class SmartPumpController:
         pump_time = (volume / flow_rate) * 60  # 转换为秒
 
         self.current_flow_rate = flow_rate
-        await asyncio.sleep(min(pump_time, 3.0))  # 模拟泵送过程
+        await self._ros_node.sleep(min(pump_time, 3.0))  # 模拟泵送过程
 
         self.total_volume_pumped += volume
         self.current_flow_rate = 0.0
@@ -170,6 +176,8 @@ class AdvancedTemperatureController:
     适用于需要精确温度控制的化学反应和材料处理过程。
     """
 
+    _ros_node: BaseROS2DeviceNode
+
     def __init__(self, controller_id: str = "temp_controller_01"):
         """
         初始化温度控制器
@@ -185,6 +193,9 @@ class AdvancedTemperatureController:
         self.pid_enabled = True
         self.temperature_history: List[Dict] = []
 
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
     def set_target_temperature(self, temperature: float, rate: float = 10.0) -> bool:
         """
         设置目标温度
@@ -238,7 +249,7 @@ class AdvancedTemperatureController:
                 }
             )
 
-            await asyncio.sleep(step_time)
+            await self._ros_node.sleep(step_time)
 
             # 保持历史记录不超过100条
             if len(self.temperature_history) > 100:
@@ -330,6 +341,8 @@ class MultiChannelAnalyzer:
     常用于光谱分析、电化学测量等应用场景。
     """
 
+    _ros_node: BaseROS2DeviceNode
+
     def __init__(self, analyzer_id: str = "analyzer_01", channels: int = 8):
         """
         初始化多通道分析仪
@@ -344,6 +357,9 @@ class MultiChannelAnalyzer:
         self.is_measuring = False
         self.sample_rate = 1000  # Hz
 
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
     def configure_channel(self, channel: int, enabled: bool = True, unit: str = "V") -> bool:
         """
         配置通道
@@ -376,7 +392,7 @@ class MultiChannelAnalyzer:
 
         # 模拟数据采集
         measurements = []
-        for second in range(duration):
+        for _ in range(duration):
             timestamp = asyncio.get_event_loop().time()
             frame_data = {}
 
@@ -391,7 +407,7 @@ class MultiChannelAnalyzer:
 
             measurements.append({"timestamp": timestamp, "data": frame_data})
 
-            await asyncio.sleep(1.0)  # 每秒采集一次
+            await self._ros_node.sleep(1.0)  # 每秒采集一次
 
         self.is_measuring = False
 
@@ -465,6 +481,8 @@ class AutomatedDispenser:
     集成称重功能，确保分配精度和重现性。
     """
 
+    _ros_node: BaseROS2DeviceNode
+
     def __init__(self, dispenser_id: str = "dispenser_01"):
         """
         初始化自动分配器
@@ -479,6 +497,9 @@ class AutomatedDispenser:
         self.container_capacity = 1000.0  # mL
         self.precision_mode = True
 
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
     def move_to_position(self, x: float, y: float, z: float) -> bool:
         """
         移动到指定位置
@@ -517,7 +538,7 @@ class AutomatedDispenser:
         if viscosity == "high":
             dispense_time *= 2  # 高粘度液体需要更长时间
 
-        await asyncio.sleep(min(dispense_time, 5.0))  # 最多等待5秒
+        await self._ros_node.sleep(min(dispense_time, 5.0))  # 最多等待5秒
 
         self.dispensed_total += volume
 

unilabos/devices/cnc/grbl_async.py

@@ -12,6 +12,7 @@ from serial import Serial
 from serial.serialutil import SerialException
 
 from unilabos.messages import Point3D
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 
 class GrblCNCConnectionError(Exception):
@@ -32,6 +33,7 @@ class GrblCNCInfo:
 class GrblCNCAsync:
     _status: str = "Offline"
     _position: Point3D = Point3D(x=0.0, y=0.0, z=0.0)
+    _ros_node: BaseROS2DeviceNode
     
     def __init__(self, port: str, address: str = "1", limits: tuple[int, int, int, int, int, int] = (-150, 150, -200, 0, 0, 60)):
         self.port = port
@@ -58,6 +60,9 @@ class GrblCNCAsync:
         self._run_future: Optional[Future[Any]] = None
         self._run_lock = Lock()
     
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
     def _read_all(self):
         data = self._serial.read_until(b"\n")
         data_decoded = data.decode()
@@ -148,7 +153,7 @@ class GrblCNCAsync:
             try:
                 await self._query(command)
                 while True:
-                    await asyncio.sleep(0.2)  # Wait for 0.5 seconds before polling again
+                    await self._ros_node.sleep(0.2)  # Wait for 0.5 seconds before polling again
                     
                     status = await self.get_status()
                     if "Idle" in status:
@@ -214,7 +219,7 @@ class GrblCNCAsync:
             self._pose_number = i
             self.pose_number_remaining = len(points) - i
             await self.set_position(point)
-            await asyncio.sleep(0.5)
+            await self._ros_node.sleep(0.5)
         self._step_number = -1
 
     async def stop_operation(self):
@@ -235,7 +240,7 @@ class GrblCNCAsync:
     async def open(self):
         if self._read_task:
             raise GrblCNCConnectionError
-        self._read_task = asyncio.create_task(self._read_loop())
+        self._read_task = self._ros_node.create_task(self._read_loop())
 
         try:
             await self.get_status()

unilabos/devices/cnc/mock.py

@@ -2,6 +2,8 @@ import time
 import asyncio
 from pydantic import BaseModel
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 
 class Point3D(BaseModel):
     x: float
@@ -14,9 +16,14 @@ def d(a: Point3D, b: Point3D) -> float:
 
 
 class MockCNCAsync:
+    _ros_node: BaseROS2DeviceNode["MockCNCAsync"]
+
     def __init__(self):
         self._position: Point3D = Point3D(x=0.0, y=0.0, z=0.0)
         self._status = "Idle"
+
+    def post_create(self, ros_node):
+        self._ros_node = ros_node
     
     @property
     def position(self) -> Point3D:
@@ -38,5 +45,5 @@ class MockCNCAsync:
             self._position.x = current_pos.x + (position.x - current_pos.x) / 20 * (i+1)
             self._position.y = current_pos.y + (position.y - current_pos.y) / 20 * (i+1)
             self._position.z = current_pos.z + (position.z - current_pos.z) / 20 * (i+1)
-            await asyncio.sleep(move_time / 20)
+            await self._ros_node.sleep(move_time / 20)
         self._status = "Idle"

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -25,6 +25,8 @@ from pylabrobot.resources import (
     Tip,
 )
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 
 class LiquidHandlerMiddleware(LiquidHandler):
     def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8):
@@ -536,6 +538,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
 class LiquidHandlerAbstract(LiquidHandlerMiddleware):
     """Extended LiquidHandler with additional operations."""
     support_touch_tip = True
+    _ros_node: BaseROS2DeviceNode
 
     def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8):
         """Initialize a LiquidHandler.
@@ -548,8 +551,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         self.group_info = dict()
         super().__init__(backend, deck, simulator, channel_num)
 
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
     @classmethod
-    def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]):
+    def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]):
         """Set the liquid in a well."""
         for well, liquid_name, volume in zip(wells, liquid_names, volumes):
             well.set_liquids([(liquid_name, volume)])  # type: ignore
@@ -1081,7 +1087,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 print(f"Waiting time: {msg}")
                 print(f"Current time: {time.strftime('%H:%M:%S')}")
                 print(f"Time to finish: {time.strftime('%H:%M:%S', time.localtime(time.time() + seconds))}")
-            await asyncio.sleep(seconds)
+            await self._ros_node.sleep(seconds)
             if msg:
                 print(f"Done: {msg}")
                 print(f"Current time: {time.strftime('%H:%M:%S')}")

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -30,6 +30,7 @@ from pylabrobot.liquid_handling.standard import (
 from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash
 
 from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 
 class PRCXIError(RuntimeError):
@@ -162,6 +163,10 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         )
         super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num)
 
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        super().post_init(ros_node)
+        self._unilabos_backend.post_init(ros_node)
+
     def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]):
         return super().set_liquid(wells, liquid_names, volumes)
 
@@ -424,6 +429,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
     _num_channels = 8  # 默认通道数为 8
     _is_reset_ok = False
+    _ros_node: BaseROS2DeviceNode
 
     @property
     def is_reset_ok(self) -> bool:
@@ -456,6 +462,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         self._execute_setup = setup
         self.debug = debug
 
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
     def create_protocol(self, protocol_name):
         self.protocol_name = protocol_name
         self.steps_todo_list = []
@@ -500,7 +509,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
                 self.api_client.call("IAutomation", "Reset")
                 while not self.is_reset_ok:
                     print("Waiting for PRCXI9300 to reset...")
-                    await asyncio.sleep(1)
+                    await self._ros_node.sleep(1)
                 print("PRCXI9300 reset successfully.")
         except ConnectionRefusedError as e:
             raise RuntimeError(
@@ -533,7 +542,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
             tipspot_index = tipspot.parent.children.index(tipspot)
             tip_columns.append(tipspot_index // 8)
         if len(set(tip_columns)) != 1:
-            raise ValueError("All pickups must be from the same tip column. Found different columns: " + str(tip_columns))
+            raise ValueError(
+                "All pickups must be from the same tip column. Found different columns: " + str(tip_columns)
+            )
         PlateNo = plate_indexes[0] + 1
         hole_col = tip_columns[0] + 1
         hole_row = 1
@@ -1109,12 +1120,15 @@ class PRCXI9300Api:
             "LiquidDispensingMethod": liquid_method,
         }
 
+
 class DefaultLayout:
 
     def __init__(self, product_name: str = "PRCXI9300"):
         self.labresource = {}
         if product_name not in ["PRCXI9300", "PRCXI9320"]:
-            raise ValueError(f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported.")
+            raise ValueError(
+                f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported."
+            )
 
         if product_name == "PRCXI9300":
             self.rows = 2
@@ -1129,25 +1143,93 @@ class DefaultLayout:
             self.layout = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]
             self.trash_slot = 16
             self.waste_liquid_slot = 12
-            self.default_layout =  {"MatrixId":f"{time.time()}","MatrixName":f"{time.time()}","MatrixCount":16,"WorkTablets":
-            [{"Number": 1, "Code": "T1", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 2, "Code": "T2", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 3, "Code": "T3", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 4, "Code": "T4", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 5, "Code": "T5", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 6, "Code": "T6", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 7, "Code": "T7", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 8, "Code": "T8", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 9, "Code": "T9", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 10, "Code": "T10", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 11, "Code": "T11", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 12, "Code": "T12", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}},  # 这个设置成废液槽，用储液槽表示
-  {"Number": 13, "Code": "T13", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 14, "Code": "T14", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 15, "Code": "T15", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
-  {"Number": 16, "Code": "T16", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}} # 这个设置成垃圾桶，用储液槽表示
-]
-}
+            self.default_layout = {
+                "MatrixId": f"{time.time()}",
+                "MatrixName": f"{time.time()}",
+                "MatrixCount": 16,
+                "WorkTablets": [
+                    {
+                        "Number": 1,
+                        "Code": "T1",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 2,
+                        "Code": "T2",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 3,
+                        "Code": "T3",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 4,
+                        "Code": "T4",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 5,
+                        "Code": "T5",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 6,
+                        "Code": "T6",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 7,
+                        "Code": "T7",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 8,
+                        "Code": "T8",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 9,
+                        "Code": "T9",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 10,
+                        "Code": "T10",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 11,
+                        "Code": "T11",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 12,
+                        "Code": "T12",
+                        "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0},
+                    },  # 这个设置成废液槽，用储液槽表示
+                    {
+                        "Number": 13,
+                        "Code": "T13",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 14,
+                        "Code": "T14",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 15,
+                        "Code": "T15",
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                    },
+                    {
+                        "Number": 16,
+                        "Code": "T16",
+                        "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0},
+                    },  # 这个设置成垃圾桶，用储液槽表示
+                ],
+            }
 
     def get_layout(self) -> Dict[str, Any]:
         return {
@@ -1155,7 +1237,7 @@ class DefaultLayout:
             "columns": self.columns,
             "layout": self.layout,
             "trash_slot": self.trash_slot,
-            "waste_liquid_slot": self.waste_liquid_slot
+            "waste_liquid_slot": self.waste_liquid_slot,
         }
 
     def get_trash_slot(self) -> int:
@@ -1178,17 +1260,19 @@ class DefaultLayout:
         reserved_positions = {12, 16}
         available_positions = [i for i in range(1, 17) if i not in reserved_positions]
 
-            # 计算总需求
+        # 计算总需求
         total_needed = sum(count for _, _, count in needs)
         if total_needed > len(available_positions):
-            raise ValueError(f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）")
+            raise ValueError(
+                f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）"
+            )
 
             # 依次分配位置
         current_pos = 0
         for reagent_name, material_name, count in needs:
 
-            material_uuid = self.labresource[material_name]['uuid']
-            material_enum = self.labresource[material_name]['materialEnum']
+            material_uuid = self.labresource[material_name]["uuid"]
+            material_enum = self.labresource[material_name]["materialEnum"]
 
             for _ in range(count):
                 if current_pos >= len(available_positions):
@@ -1196,17 +1280,18 @@ class DefaultLayout:
 
                 position = available_positions[current_pos]
                 # 找到对应的tablet并更新
-                for tablet in self.default_layout['WorkTablets']:
-                    if tablet['Number'] == position:
-                        tablet['Material']['uuid'] = material_uuid
-                        tablet['Material']['materialEnum'] = material_enum
-                        layout_list.append(dict(reagent_name=reagent_name, material_name=material_name, positions=position))
+                for tablet in self.default_layout["WorkTablets"]:
+                    if tablet["Number"] == position:
+                        tablet["Material"]["uuid"] = material_uuid
+                        tablet["Material"]["materialEnum"] = material_enum
+                        layout_list.append(
+                            dict(reagent_name=reagent_name, material_name=material_name, positions=position)
+                        )
                         break
                 current_pos += 1
         return self.default_layout, layout_list
 
 
-
 if __name__ == "__main__":
     # Example usage
     # 1. 用导出的json，给每个T1 T2板子设定相应的物料，如果是孔板和枪头盒，要对应区分
@@ -1302,10 +1387,7 @@ if __name__ == "__main__":
 
     # # # plate2.set_well_liquids(plate_2_liquids)
 
-
-
-
-    # handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999, 
+    # handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999,
     #                            timeout=10.0, setup=False, debug=False,
     #                            simulator=True,
     #                            matrix_id="71593",
@@ -1391,10 +1473,7 @@ if __name__ == "__main__":
     # # input("Press Enter to continue...")  # Wait for user input before proceeding
     # # print("PRCXI9300Handler initialized with deck and host settings.")
 
-
-
-### 9320 ###
-
+    ### 9320 ###
 
     deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)
 
@@ -1412,12 +1491,15 @@ if __name__ == "__main__":
         new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
         return new_plate
 
-    def get_tip_rack(name: str, child_prefix: str="tip") -> PRCXI9300Container:
+    def get_tip_rack(name: str, child_prefix: str = "tip") -> PRCXI9300Container:
         tip_racks = opentrons_96_tiprack_10ul(name).serialize()
         tip_rack = PRCXI9300Container(
-            name=name, size_x=50, size_y=50, size_z=10, category="tip_rack", ordering=collections.OrderedDict({
-                k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()
-            })
+            name=name,
+            size_x=50,
+            size_y=50,
+            size_z=10,
+            category="tip_rack",
+            ordering=collections.OrderedDict({k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}),
         )
         tip_rack_serialized = tip_rack.serialize()
         tip_rack_serialized["parent_name"] = deck.name
@@ -1629,6 +1711,7 @@ if __name__ == "__main__":
     )
     backend: PRCXI9300Backend = handler.backend
     from pylabrobot.resources import set_volume_tracking
+
     set_volume_tracking(enabled=True)
     # res = backend.api_client.get_all_materials()
     asyncio.run(handler.setup())  # Initialize the handler and setup the connection
@@ -1640,10 +1723,10 @@ if __name__ == "__main__":
 
     for well in plate13.get_all_items():
         # well_pos = well.name.split("_")[1]       # 走一行
-        # if well_pos.startswith("A"):             
-        if well.name.startswith("PlateT13"):       # 走整个Plate
+        # if well_pos.startswith("A"):
+        if well.name.startswith("PlateT13"):  # 走整个Plate
             asyncio.run(handler.dispense([well], [0.01], [0]))
-        
+
     # asyncio.run(handler.dispense([plate10.get_item("H12")], [1], [0]))
     # asyncio.run(handler.dispense([plate13.get_item("A1")], [1], [0]))
     # asyncio.run(handler.dispense([plate14.get_item("C5")], [1], [0]))
@@ -1652,26 +1735,25 @@ if __name__ == "__main__":
     asyncio.run(handler.run_protocol())
     time.sleep(5)
     os._exit(0)
-# 第一种情景：一个孔往多个孔加液
+    # 第一种情景：一个孔往多个孔加液
     # plate_2_liquids = handler.set_group("water", [plate2.children[0]], [300])
     # plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23)
-# 第二个情景：多个孔往多个孔加液(但是个数得对应)
-    plate_2_liquids = handler.set_group("water", plate2.children[:23], [300]*23)
-    plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23)
+    # 第二个情景：多个孔往多个孔加液(但是个数得对应)
+    plate_2_liquids = handler.set_group("water", plate2.children[:23], [300] * 23)
+    plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100] * 23)
 
     # plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)])  # Set liquids for every 8 wells in plate8
 
     # plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)])  # Set liquids for every 8 wells in plate8
 
-#     A = tree_to_list([resource_plr_to_ulab(deck)])
-#     # with open("deck.json", "w", encoding="utf-8") as f:
-#     #     json.dump(A, f, indent=4, ensure_ascii=False)
+    #     A = tree_to_list([resource_plr_to_ulab(deck)])
+    #     # with open("deck.json", "w", encoding="utf-8") as f:
+    #     #     json.dump(A, f, indent=4, ensure_ascii=False)
 
-#     print(plate11.get_well(0).tracker.get_used_volume())
-     # Initialize the backend and setup the connection
+    #     print(plate11.get_well(0).tracker.get_used_volume())
+    # Initialize the backend and setup the connection
     asyncio.run(handler.transfer_group("water", "master_mix", 10))  # Reset tip tracking
 
-
     # asyncio.run(handler.pick_up_tips([plate8.children[8]],[0]))
     # print(plate8.children[8])
     # asyncio.run(handler.run_protocol())
@@ -1685,121 +1767,118 @@ if __name__ == "__main__":
     # print(plate1.children[0])
     # asyncio.run(handler.discard_tips([0]))
 
-#     asyncio.run(handler.add_liquid(
-#     asp_vols=[10]*7,
-#     dis_vols=[10]*7,
-#     reagent_sources=plate11.children[:7],
-#     targets=plate1.children[2:9],
-#     use_channels=[0],
-#     flow_rates=[None] * 7,
-#     offsets=[Coordinate(0, 0, 0)] * 7,
-#     liquid_height=[None] * 7,
-#     blow_out_air_volume=[None] * 2,
-#     delays=None,
-#     mix_time=3,
-#     mix_vol=5,
-#     spread="custom",
-# ))
+    #     asyncio.run(handler.add_liquid(
+    #     asp_vols=[10]*7,
+    #     dis_vols=[10]*7,
+    #     reagent_sources=plate11.children[:7],
+    #     targets=plate1.children[2:9],
+    #     use_channels=[0],
+    #     flow_rates=[None] * 7,
+    #     offsets=[Coordinate(0, 0, 0)] * 7,
+    #     liquid_height=[None] * 7,
+    #     blow_out_air_volume=[None] * 2,
+    #     delays=None,
+    #     mix_time=3,
+    #     mix_vol=5,
+    #     spread="custom",
+    # ))
 
     # asyncio.run(handler.run_protocol())  # Run the protocol
 
+    # # #     asyncio.run(handler.transfer_liquid(
+    # # #     asp_vols=[10]*2,
+    # # #     dis_vols=[10]*2,
+    # # #     sources=plate11.children[:2],
+    # # #     targets=plate11.children[-2:],
+    # # #     use_channels=[0],
+    # # #     offsets=[Coordinate(0, 0, 0)] * 4,
+    # # #     liquid_height=[None] * 2,
+    # # #     blow_out_air_volume=[None] * 2,
+    # # #     delays=None,
+    # # #     mix_times=3,
+    # # #     mix_vol=5,
+    # # #     spread="wide",
+    # # #     tip_racks=[plate8]
+    # # # ))
 
+    # # #     asyncio.run(handler.remove_liquid(
+    # # #     vols=[10]*2,
+    # # #     sources=plate11.children[:2],
+    # # #     waste_liquid=plate11.children[43],
+    # # #     use_channels=[0],
+    # # #     offsets=[Coordinate(0, 0, 0)] * 4,
+    # # #     liquid_height=[None] * 2,
+    # # #     blow_out_air_volume=[None] * 2,
+    # # #     delays=None,
+    # # #     spread="wide"
+    # # # ))
+    # #     asyncio.run(handler.run_protocol())
 
+    # #     # asyncio.run(handler.discard_tips())
+    # #     # asyncio.run(handler.mix(well_containers.children[:8
+    # #     # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
+    # #     #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
 
-# # #     asyncio.run(handler.transfer_liquid(
-# # #     asp_vols=[10]*2,
-# # #     dis_vols=[10]*2,
-# # #     sources=plate11.children[:2],
-# # #     targets=plate11.children[-2:],
-# # #     use_channels=[0],
-# # #     offsets=[Coordinate(0, 0, 0)] * 4,
-# # #     liquid_height=[None] * 2,
-# # #     blow_out_air_volume=[None] * 2,
-# # #     delays=None,
-# # #     mix_times=3,
-# # #     mix_vol=5,
-# # #     spread="wide",
-# # #     tip_racks=[plate8]
-# # # ))
-
-# # #     asyncio.run(handler.remove_liquid(
-# # #     vols=[10]*2,
-# # #     sources=plate11.children[:2],
-# # #     waste_liquid=plate11.children[43],
-# # #     use_channels=[0],
-# # #     offsets=[Coordinate(0, 0, 0)] * 4,
-# # #     liquid_height=[None] * 2,
-# # #     blow_out_air_volume=[None] * 2,
-# # #     delays=None,
-# # #     spread="wide"
-# # # ))
-# #     asyncio.run(handler.run_protocol())
-
-# #     # asyncio.run(handler.discard_tips())
-# #     # asyncio.run(handler.mix(well_containers.children[:8
-# #     # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
-# #     #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
-
-
-# #     # asyncio.run(handler.remove_liquid(
-# #     #     vols=[100]*16,
-# #     #     sources=well_containers.children[-16:],
-# #     #     waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
-# #     #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
-# #     #     flow_rates=[None] * 32,
-# #     #     offsets=[Coordinate(0, 0, 0)] * 32,
-# #     #     liquid_height=[None] * 32,
-# #     #     blow_out_air_volume=[None] * 32,
-# #     #     spread="wide",
-# #     # ))
-# #     # asyncio.run(handler.transfer_liquid(
-# #     #     asp_vols=[100]*16,
-# #     #     dis_vols=[100]*16,
-# #     #     tip_racks=[tip_rack],
-# #     #     sources=well_containers.children[-16:],
-# #     #     targets=well_containers.children[:16],
-# #     #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
-# #     #     offsets=[Coordinate(0, 0, 0)] * 32,
-# #     #     asp_flow_rates=[None] * 16,
-# #     #     dis_flow_rates=[None] * 16,
-# #     #     liquid_height=[None] * 32,
-# #     #     blow_out_air_volume=[None] * 32,
-# #     #     mix_times=3,
-# #     #     mix_vol=50,
-# #     #     spread="wide",
-# #     # ))
-#       # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
-# #     # input("pick_up_tips add step")
-     #asyncio.run(handler.run_protocol())  # Run the protocol
-# #     # input("Running protocol...")
-# #     # input("Press Enter to continue...")  # Wait for user input before proceeding
-# #     # print("PRCXI9300Handler initialized with deck and host settings.")
-
-
-# 一些推荐版位组合的测试样例：
-
-# 一些推荐版位组合的测试样例：
+    # #     # asyncio.run(handler.remove_liquid(
+    # #     #     vols=[100]*16,
+    # #     #     sources=well_containers.children[-16:],
+    # #     #     waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
+    # #     #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
+    # #     #     flow_rates=[None] * 32,
+    # #     #     offsets=[Coordinate(0, 0, 0)] * 32,
+    # #     #     liquid_height=[None] * 32,
+    # #     #     blow_out_air_volume=[None] * 32,
+    # #     #     spread="wide",
+    # #     # ))
+    # #     # asyncio.run(handler.transfer_liquid(
+    # #     #     asp_vols=[100]*16,
+    # #     #     dis_vols=[100]*16,
+    # #     #     tip_racks=[tip_rack],
+    # #     #     sources=well_containers.children[-16:],
+    # #     #     targets=well_containers.children[:16],
+    # #     #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
+    # #     #     offsets=[Coordinate(0, 0, 0)] * 32,
+    # #     #     asp_flow_rates=[None] * 16,
+    # #     #     dis_flow_rates=[None] * 16,
+    # #     #     liquid_height=[None] * 32,
+    # #     #     blow_out_air_volume=[None] * 32,
+    # #     #     mix_times=3,
+    # #     #     mix_vol=50,
+    # #     #     spread="wide",
+    # #     # ))
+    #       # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
+    # #     # input("pick_up_tips add step")
+    # asyncio.run(handler.run_protocol())  # Run the protocol
+    # #     # input("Running protocol...")
+    # #     # input("Press Enter to continue...")  # Wait for user input before proceeding
+    # #     # print("PRCXI9300Handler initialized with deck and host settings.")
 
+    # 一些推荐版位组合的测试样例：
 
+    # 一些推荐版位组合的测试样例：
 
     with open("prcxi_material.json", "r") as f:
         material_info = json.load(f)
 
     layout = DefaultLayout("PRCXI9320")
     layout.add_lab_resource(material_info)
-    MatrixLayout_1, dict_1 = layout.recommend_layout([
-        ("reagent_1", "96 细胞培养皿", 3),
-        ("reagent_2", "12道储液槽", 1),
-        ("reagent_3", "200μL Tip头", 7),
-        ("reagent_4", "10μL加长 Tip头", 1),
-    ])
+    MatrixLayout_1, dict_1 = layout.recommend_layout(
+        [
+            ("reagent_1", "96 细胞培养皿", 3),
+            ("reagent_2", "12道储液槽", 1),
+            ("reagent_3", "200μL Tip头", 7),
+            ("reagent_4", "10μL加长 Tip头", 1),
+        ]
+    )
     print(dict_1)
-    MatrixLayout_2, dict_2 = layout.recommend_layout([
-        ("reagent_1", "96深孔板", 4),
-        ("reagent_2", "12道储液槽", 1),
-        ("reagent_3", "200μL Tip头", 1),
-        ("reagent_4", "10μL加长 Tip头", 1),
-    ])
+    MatrixLayout_2, dict_2 = layout.recommend_layout(
+        [
+            ("reagent_1", "96深孔板", 4),
+            ("reagent_2", "12道储液槽", 1),
+            ("reagent_3", "200μL Tip头", 1),
+            ("reagent_4", "10μL加长 Tip头", 1),
+        ]
+    )
 
 # with open("prcxi_material.json", "r") as f:
 #     material_info = json.load(f)

unilabos/devices/opsky_Raman/devices.json

@@ -0,0 +1,20 @@
+{
+    "nodes": [
+        {
+            "id": "opsky_ATR30007",
+            "name": "opsky_ATR30007",
+            "parent": null,
+            "type": "device",
+            "class": "opsky_ATR30007",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {},
+            "data": {},
+            "children": []
+        }
+    ],
+    "links": []
+}

unilabos/devices/opsky_Raman/dmqfengzhuang.py

@@ -0,0 +1,71 @@
+import socket
+import time
+import csv
+from datetime import datetime
+import threading
+
+csv_lock = threading.Lock()  # 防止多线程写CSV冲突
+
+def scan_once(ip="192.168.1.50", port_in=2001, port_out=2002,
+              csv_file="scan_results.csv", timeout=5, retries=3):
+    """
+    改进版扫码函数：
+    - 自动重试
+    - 全程超时保护
+    - 更安全的socket关闭
+    - 文件写入加锁
+    """
+    def save_result(qrcode):
+        timestamp = datetime.now().strftime("%Y-%m-%d %H:%M:%S")
+        with csv_lock:
+            with open(csv_file, mode="a", newline="") as f:
+                writer = csv.writer(f)
+                writer.writerow([timestamp, qrcode])
+        print(f"✅ 已保存结果: {timestamp}, {qrcode}")
+
+    result = None
+
+    for attempt in range(1, retries + 1):
+        print(f"\n🟡 扫码尝试 {attempt}/{retries} ...")
+
+        try:
+            # -------- Step 1: 触发拍照 --------
+            with socket.create_connection((ip, port_in), timeout=2) as client_in:
+                cmd = "start"
+                client_in.sendall(cmd.encode("ascii"))  #把字符串转为byte字节流规则是ascii码
+                print(f"→ 已发送触发指令: {cmd}")
+
+            # -------- Step 2: 等待识别结果 --------
+            with socket.create_connection((ip, port_out), timeout=timeout) as client_out:
+                print(f" 已连接相机输出端口 {port_out}，等待结果...")
+
+                # recv最多阻塞timeout秒
+                client_out.settimeout(timeout)
+                data = client_out.recv(2048).decode("ascii", errors="ignore").strip() #结果输出为ascii字符串，遇到无法解析的字节则忽略
+                # .strip()：去掉字符串头尾的空白字符（包括 \n, \r, 空格等），便于后续判断是否为空或写入 CSV。
+                if data:
+                    print(f"📷 识别结果: {data}")
+                    save_result(data)   #调用 save_result(data) 把时间戳 + 识别字符串写入 CSV（线程安全）。
+                    result = data       #把局部变量 result 设为 data，用于函数返回值
+                    break               #如果读取成功跳出重试循环（for attempt in ...），不再进行后续重试。
+                else:
+                    print("⚠️ 相机返回空数据，重试中...")
+
+        except socket.timeout:
+            print("⏰ 超时未收到识别结果，重试中...")
+        except ConnectionRefusedError:
+            print("❌ 无法连接到扫码器端口，请检查设备是否在线。")
+        except OSError as e:
+            print(f"⚠️ 网络错误: {e}")
+        except Exception as e:
+            print(f"❌ 未知异常: {e}")
+
+        time.sleep(0.5)  # 两次扫描之间稍作延时
+
+    # -------- Step 3: 返回最终结果 --------
+    if result:
+        print(f"✅ 扫码成功：{result}")
+    else:
+        print("❌ 多次尝试后仍未获取二维码结果")
+
+    return result

unilabos/devices/opsky_Raman/opsky_ATR30007.py

@@ -0,0 +1,398 @@
+# opsky_atr30007.py
+import logging
+import time as time_mod
+import csv
+from datetime import datetime
+from typing import Optional, Dict, Any
+
+# 兼容 pymodbus 在不同版本中的位置与 API
+try:
+    from pymodbus.client import ModbusTcpClient
+except Exception:
+    ModbusTcpClient = None
+
+# 导入 run_raman_test（假定与本文件同目录）
+# 如果你的项目是包结构且原先使用相对导入，请改回 `from .raman_module import run_raman_test`
+try:
+    from .raman_module import run_raman_test
+except Exception:
+    # 延迟导入失败不会阻止主流程（在 run 时会再尝试）
+    run_raman_test = None
+
+logger = logging.getLogger("opsky")
+logger.setLevel(logging.INFO)
+ch = logging.StreamHandler()
+formatter = logging.Formatter("%(asctime)s [%(levelname)s] %(message)s", "%y-%m-%d %H:%M:%S")
+ch.setFormatter(formatter)
+logger.addHandler(ch)
+
+
+class opsky_ATR30007:
+    """
+    封装 UniLabOS 设备动作逻辑，兼容 pymodbus 2.x / 3.x。
+    放在独立文件中：opsky_atr30007.py
+    """
+
+    def __init__(
+        self,
+        plc_ip: str = "192.168.1.88",
+        plc_port: int = 502,
+        robot_ip: str = "192.168.1.200",
+        robot_port: int = 502,
+        scan_csv_file: str = "scan_results.csv",
+    ):
+        self.plc_ip = plc_ip
+        self.plc_port = plc_port
+        self.robot_ip = robot_ip
+        self.robot_port = robot_port
+        self.scan_csv_file = scan_csv_file
+
+    # ----------------- 参数字符串转换 helpers -----------------
+    @staticmethod
+    def _str_to_int(s, default):
+        try:
+            return int(float(str(s).strip()))
+        except Exception:
+            return int(default)
+
+    @staticmethod
+    def _str_to_float(s, default):
+        try:
+            return float(str(s).strip())
+        except Exception:
+            return float(default)
+
+    @staticmethod
+    def _str_to_bool(s, default):
+        try:
+            v = str(s).strip().lower()
+            if v in ("true", "1", "yes", "y", "t"):
+                return True
+            if v in ("false", "0", "no", "n", "f"):
+                return False
+            return default
+        except Exception:
+            return default
+
+    # ----------------- Modbus / 安全读写 -----------------
+    @staticmethod
+    def _adapt_req_kwargs_for_read(func_name: str, args: tuple, kwargs: dict):
+        # 如果调用方传的是 (address, count) positional，在新版接口可能是 address=..., count=...
+        if len(args) == 2 and func_name.startswith("read_"):
+            address, count = args
+            args = ()
+            kwargs.setdefault("address", address)
+            kwargs.setdefault("count", count)
+        return args, kwargs
+
+    @staticmethod
+    def _adapt_req_kwargs_for_write(func_name: str, args: tuple, kwargs: dict):
+        if len(args) == 2 and func_name.startswith("write_"):
+            address, value = args
+            args = ()
+            kwargs.setdefault("address", address)
+            kwargs.setdefault("value", value)
+        return args, kwargs
+
+    def ensure_connected(self, client, name, ip, port):
+        """确保连接存在，失败则尝试重连并返回新的 client 或 None"""
+        if client is None:
+            return None
+        try:
+            # 不同 pymodbus 版本可能有不同方法检测 socket
+            is_open = False
+            try:
+                is_open = bool(client.is_socket_open())
+            except Exception:
+                # fallback: try to read nothing or attempt connection test
+                try:
+                    # 轻试一次
+                    is_open = client.connected if hasattr(client, "connected") else False
+                except Exception:
+                    is_open = False
+
+            if not is_open:
+                logger.warning("%s 掉线，尝试重连...", name)
+                try:
+                    client.close()
+                except Exception:
+                    pass
+                time_mod.sleep(0.5)
+                if ModbusTcpClient:
+                    new_client = ModbusTcpClient(ip, port=port)
+                    try:
+                        if new_client.connect():
+                            logger.info("%s 重新连接成功 (%s:%s)", name, ip, port)
+                            return new_client
+                    except Exception:
+                        pass
+                logger.warning("%s 重连失败", name)
+                time_mod.sleep(1)
+                return None
+            return client
+        except Exception as e:
+            logger.exception("%s 连接检查异常: %s", name, e)
+            return None
+
+    def safe_read(self, client, name, func, *args, retries=3, delay=0.3, **kwargs):
+        """兼容 pymodbus 2.x/3.x 的读函数，返回 response 或 None"""
+        if client is None:
+            return None
+        for attempt in range(1, retries + 1):
+            try:
+                # adapt args/kwargs for different API styles
+                args, kwargs = self._adapt_req_kwargs_for_read(func.__name__, args, kwargs)
+                # unit->slave compatibility
+                if "unit" in kwargs:
+                    kwargs["slave"] = kwargs.pop("unit")
+                res = func(*args, **kwargs)
+                # pymodbus Response 在不同版本表现不同，尽量检测错误
+                if res is None:
+                    raise RuntimeError("返回 None")
+                if hasattr(res, "isError") and res.isError():
+                    raise RuntimeError("Modbus 返回 isError()")
+                return res
+            except Exception as e:
+                logger.warning("%s 读异常 (尝试 %d/%d): %s", name, attempt, retries, e)
+            time_mod.sleep(delay)
+        logger.error("%s 连续读取失败 %d 次", name, retries)
+        return None
+
+    def safe_write(self, client, name, func, *args, retries=3, delay=0.3, **kwargs):
+        """兼容 pymodbus 2.x/3.x 的写函数，返回 True/False"""
+        if client is None:
+            return False
+        for attempt in range(1, retries + 1):
+            try:
+                args, kwargs = self._adapt_req_kwargs_for_write(func.__name__, args, kwargs)
+                if "unit" in kwargs:
+                    kwargs["slave"] = kwargs.pop("unit")
+                res = func(*args, **kwargs)
+                if res is None:
+                    raise RuntimeError("返回 None")
+                if hasattr(res, "isError") and res.isError():
+                    raise RuntimeError("Modbus 返回 isError()")
+                return True
+            except Exception as e:
+                logger.warning("%s 写异常 (尝试 %d/%d): %s", name, attempt, retries, e)
+            time_mod.sleep(delay)
+        logger.error("%s 连续写入失败 %d 次", name, retries)
+        return False
+
+    def wait_with_quit_check(self, robot, seconds, addr_quit=270):
+        """等待指定时间，同时每 0.2s 检查 R270 是否为 1（立即退出）"""
+        if robot is None:
+            time_mod.sleep(seconds)
+            return False
+        checks = max(1, int(seconds / 0.2))
+        for _ in range(checks):
+            rr = self.safe_read(robot, "机器人", robot.read_holding_registers, address=addr_quit, count=1)
+            if rr and getattr(rr, "registers", [None])[0] == 1:
+                logger.info("检测到 R270=1，立即退出等待")
+                return True
+            time_mod.sleep(0.2)
+        return False
+
+    # ----------------- 主流程 run_once -----------------
+    def run_once(
+        self,
+        integration_time: str = "5000",
+        laser_power: str = "200",
+        save_csv: str = "true",
+        save_plot: str = "true",
+        normalize: str = "true",
+        norm_max: str = "1.0",
+        **_: Any,
+    ) -> Dict[str, Any]:
+        result: Dict[str, Any] = {"success": False, "event": "none", "details": {}}
+
+        integration_time_v = self._str_to_int(integration_time, 5000)
+        laser_power_v = self._str_to_int(laser_power, 200)
+        save_csv_v = self._str_to_bool(save_csv, True)
+        save_plot_v = self._str_to_bool(save_plot, True)
+        normalize_v = self._str_to_bool(normalize, True)
+        norm_max_v = None if norm_max in (None, "", "none", "null") else self._str_to_float(norm_max, 1.0)
+
+        if ModbusTcpClient is None:
+            result["details"]["error"] = "未安装 pymodbus，无法执行连接"
+            logger.error(result["details"]["error"])
+            return result
+
+        # 建立连接
+        plc = ModbusTcpClient(self.plc_ip, port=self.plc_port)
+        robot = ModbusTcpClient(self.robot_ip, port=self.robot_port)
+        try:
+            if not plc.connect():
+                result["details"]["error"] = "无法连接 PLC"
+                logger.error(result["details"]["error"])
+                return result
+            if not robot.connect():
+                plc.close()
+                result["details"]["error"] = "无法连接 机器人"
+                logger.error(result["details"]["error"])
+                return result
+
+            logger.info("✅ PLC 与 机器人连接成功")
+            time_mod.sleep(0.2)
+
+            # 伺服使能 (coil 写示例)
+            if self.safe_write(plc, "PLC", plc.write_coil, 10, True):
+                logger.info("✅ 伺服使能成功 (M10=True)")
+            else:
+                logger.warning("⚠️ 伺服使能失败")
+
+            # 初始化 CSV 文件
+            try:
+                with open(self.scan_csv_file, "w", newline="", encoding="utf-8") as f:
+                    csv.writer(f).writerow(["Bottle_No", "Scan_Result", "Time"])
+            except Exception as e:
+                logger.warning("⚠️ 初始化CSV失败: %s", e)
+
+            bottle_count = 0
+            logger.info("🟢 等待机器人触发信号... (R260=1扫码 / R256=1拉曼 / R270=1退出)")
+
+            # 主循环：仅响应事件（每次循环后短暂 sleep）
+            while True:
+                plc = self.ensure_connected(plc, "PLC", self.plc_ip, self.plc_port) or plc
+                robot = self.ensure_connected(robot, "机器人", self.robot_ip, self.robot_port) or robot
+
+                # 检查退出寄存器
+                quit_signal = self.safe_read(robot, "机器人", robot.read_holding_registers, 270, 1)
+                if quit_signal and getattr(quit_signal, "registers", [None])[0] == 1:
+                    logger.info("🟥 检测到 R270=1，准备退出...")
+                    result["event"] = "quit"
+                    result["success"] = True
+                    break
+
+                # 读取关键寄存器（256..260）
+                rr = self.safe_read(robot, "机器人", robot.read_holding_registers, 256, 5)
+                if not rr or not hasattr(rr, "registers"):
+                    time_mod.sleep(0.3)
+                    continue
+
+                r256, r257, r258, r259, r260 = (rr.registers + [0, 0, 0, 0, 0])[:5]
+
+                # ---------- 扫码逻辑 ----------
+                if r260 == 1:
+                    bottle_count += 1
+                    logger.info("📸 第 %d 瓶触发扫码 (R260=1)", bottle_count)
+                    try:
+                        # 调用外部扫码函数（用户实现）
+                        from .dmqfengzhuang import scan_once as scan_once_local
+                        scan_result = scan_once_local(ip="192.168.1.50", port_in=2001, port_out=2002)
+                        if scan_result:
+                            logger.info("✅ 扫码成功: %s", scan_result)
+                            timestamp = datetime.now().strftime("%Y-%m-%d %H:%M:%S")
+                            with open(self.scan_csv_file, "a", newline="", encoding="utf-8") as f:
+                                csv.writer(f).writerow([bottle_count, scan_result, timestamp])
+                        else:
+                            logger.warning("⚠️ 扫码失败或无返回")
+                    except Exception as e:
+                        logger.exception("❌ 扫码异常: %s", e)
+
+                    # 写 R260->0, R261->1
+                    self.safe_write(robot, "机器人", robot.write_register, 260, 0)
+                    time_mod.sleep(0.15)
+                    self.safe_write(robot, "机器人", robot.write_register, 261, 1)
+                    logger.info("➡️ 扫码完成 (R260→0, R261→1)")
+                    result["event"] = "scan"
+                    result["success"] = True
+
+                # ---------- 拉曼逻辑 ----------
+                if r256 == 1:
+                    logger.info("⚙️ 检测到 R256=1（放瓶完成）")
+                    # PLC 电机右转指令
+                    self.safe_write(plc, "PLC", plc.write_register, 1199, 1)
+                    self.safe_write(plc, "PLC", plc.write_register, 1200, 1)
+                    logger.info("➡️ 电机右转中...")
+                    if self.wait_with_quit_check(robot, 3):
+                        result["event"] = "quit"
+                        break
+                    self.safe_write(plc, "PLC", plc.write_register, 1199, 0)
+                    logger.info("✅ 电机右转完成")
+
+                    # 调用拉曼测试（尽量捕获异常并记录）
+                    logger.info("🧪 开始拉曼测试...")
+                    try:
+                        # 尝试使用模块导入好的 run_raman_test，否则再动态导入
+                        rr_func = run_raman_test
+                        if rr_func is None:
+                            from raman_module import run_raman_test as rr_func
+                        success, file_prefix, df = rr_func(
+                            integration_time=integration_time_v,
+                            laser_power=laser_power_v,
+                            save_csv=save_csv_v,
+                            save_plot=save_plot_v,
+                            normalize=normalize_v,
+                            norm_max=norm_max_v,
+                        )
+                        if success:
+                            logger.info("✅ 拉曼测试完成: %s", file_prefix)
+                            result["event"] = "raman"
+                            result["success"] = True
+                        else:
+                            logger.warning("⚠️ 拉曼测试失败")
+                    except Exception as e:
+                        logger.exception("❌ 拉曼模块异常: %s", e)
+
+                    # 电机左转回位
+                    self.safe_write(plc, "PLC", plc.write_register, address=1299, value=1)
+                    self.safe_write(plc, "PLC", plc.write_register, address=1300, value=1)
+                    logger.info("⬅️ 电机左转中...")
+                    if self.wait_with_quit_check(robot, 3):
+                        result["event"] = "quit"
+                        break
+                    self.safe_write(plc, "PLC", plc.write_register, address=1299, value=0)
+                    logger.info("✅ 电机左转完成")
+
+                    # 通知机器人拉曼完成 R257=1
+                    self.safe_write(robot, "机器人", robot.write_register, address=257, value=1)
+                    logger.info("✅ 已写入 R257=1（拉曼完成）")
+
+                    # 延迟后清零 R256
+                    logger.info("⏳ 延迟4秒后清零 R256")
+                    if self.wait_with_quit_check(robot, 4):
+                        result["event"] = "quit"
+                        break
+                    self.safe_write(robot, "机器人", robot.write_register, address=256, value=0)
+                    logger.info("✅ 已清零 R256")
+
+                    # 等待机器人清 R257
+                    logger.info("等待 R257 清零中...")
+                    while True:
+                        rr2 = self.safe_read(robot, "机器人", robot.read_holding_registers, address=257, count=1)
+                        if rr2 and getattr(rr2, "registers", [None])[0] == 0:
+                            logger.info("✅ 检测到 R257=0，准备下一循环")
+                            break
+                        if self.wait_with_quit_check(robot, 1):
+                            result["event"] = "quit"
+                            break
+                        time_mod.sleep(0.2)
+
+                time_mod.sleep(0.25)
+
+        finally:
+            logger.info("🧹 开始清理...")
+            try:
+                self.safe_write(plc, "PLC", plc.write_coil, address=10, value=False)
+            except Exception:
+                pass
+            for addr in [256, 257, 260, 261, 270]:
+                try:
+                    self.safe_write(robot, "机器人", robot.write_register, address=addr, value=0)
+                except Exception:
+                    pass
+
+            try:
+                if plc:
+                    plc.close()
+            except Exception:
+                pass
+            try:
+                if robot:
+                    robot.close()
+            except Exception:
+                pass
+            logger.info("🔚 已关闭所有连接")
+
+        return result

unilabos/devices/opsky_Raman/raman_module.py

@@ -0,0 +1,180 @@
+# raman_module.py
+import os
+import time as time_mod
+import numpy as np
+import pandas as pd
+
+# clr / ATRWrapper 依赖：在真实环境中使用 Windows + .NET wrapper
+# 本模块对缺少 clr 或 Wrapper 的情况提供“仿真”回退，方便离线/调试运行。
+try:
+    import clr
+    has_clr = True
+except Exception:
+    clr = None
+    has_clr = False
+
+# 本函数返回 (success: bool, file_prefix: str|None, df: pandas.DataFrame|None)
+def run_raman_test(integration_time=5000, laser_power=200,
+                   save_csv=True, save_plot=True,
+                   normalize=False, norm_max=None,
+                   max_wavenum=1300):
+    """
+    拉曼测试流程（更稳健的实现）：
+    - 若能加载 ATRWrapper 则使用之
+    - 否则生成模拟光谱（方便调试）
+    返回 (success, file_prefix, df)
+    """
+    timestamp = time_mod.strftime("%Y%m%d_%H%M%S")
+    file_prefix = f"raman_{timestamp}"
+
+    wrapper = None
+    used_real_device = False
+
+    try:
+        if has_clr:
+            try:
+                # 请根据你的 DLL 路径调整
+                dll_path = r"D:\Raman\Raman_RS\ATRWrapper\ATRWrapper.dll"
+                if os.path.exists(dll_path):
+                    clr.AddReference(dll_path)
+                else:
+                    # 试图直接 AddReference 名称（若已在 PATH）
+                    try:
+                        clr.AddReference("ATRWrapper")
+                    except Exception:
+                        pass
+
+                from Optosky.Wrapper import ATRWrapper  # May raise
+                wrapper = ATRWrapper()
+                used_real_device = True
+            except Exception as e:
+                # 无法加载真实 wrapper -> fallback
+                print("⚠️ 未能加载 ATRWrapper，使用模拟数据。详细:", e)
+                wrapper = None
+
+        if wrapper is None:
+            # 生成模拟光谱（方便调试）
+            # 模拟波数轴 50..1300
+            WaveNum = np.linspace(50, max_wavenum, 1024)
+            # 合成几条高斯峰 + 噪声
+            def gauss(x, mu, sig, A):
+                return A * np.exp(-0.5 * ((x - mu) / sig) ** 2)
+            Spect_data = (gauss(WaveNum, 200, 8, 1000) +
+                          gauss(WaveNum, 520, 12, 600) +
+                          gauss(WaveNum, 810, 20, 400) +
+                          50 * np.random.normal(scale=1.0, size=WaveNum.shape))
+            Spect_bLC = Spect_data - np.min(Spect_data) * 0.05  # 简单 baseline
+            Spect_smooth = np.convolve(Spect_bLC, np.ones(3) / 3, mode="same")
+            df = pd.DataFrame({
+                "WaveNum": WaveNum,
+                "Raw_Spect": Spect_data,
+                "BaseLineCorrected": Spect_bLC,
+                "Smooth_Spect": Spect_smooth
+            })
+            success = True
+            file_prefix = f"raman_sim_{timestamp}"
+            # 保存 CSV / 绘图 等同真实设备
+        else:
+            # 使用真实设备 API（根据你提供的 wrapper 调用）
+            On_flag = wrapper.OpenDevice()
+            print("通讯连接状态:", On_flag)
+            if not On_flag:
+                wrapper.CloseDevice()
+                return False, None, None
+
+            wrapper.SetIntegrationTime(int(integration_time))
+            wrapper.SetLdPower(int(laser_power), 1)
+            # 可能的冷却设置（如果 wrapper 支持）
+            try:
+                wrapper.SetCool(-5)
+            except Exception:
+                pass
+
+            Spect = wrapper.AcquireSpectrum()
+            Spect_data = np.array(Spect.get_Data())
+            if not Spect.get_Success():
+                print("光谱采集失败")
+                try:
+                    wrapper.CloseDevice()
+                except Exception:
+                    pass
+                return False, None, None
+            WaveNum = np.array(wrapper.GetWaveNum())
+            Spect_bLC = np.array(wrapper.BaseLineCorrect(Spect_data))
+            Spect_smooth = np.array(wrapper.SmoothBoxcar(Spect_bLC, 3))
+            df = pd.DataFrame({
+                "WaveNum": WaveNum,
+                "Raw_Spect": Spect_data,
+                "BaseLineCorrected": Spect_bLC,
+                "Smooth_Spect": Spect_smooth
+            })
+            wrapper.CloseDevice()
+            success = True
+
+        # 如果需要限定波数范围
+        mask = df["WaveNum"] <= max_wavenum
+        df = df[mask].reset_index(drop=True)
+
+        # 可选归一化
+        if normalize:
+            arr = df["Smooth_Spect"].values
+            mn, mx = arr.min(), arr.max()
+            if mx == mn:
+                df["Smooth_Spect"] = 0.0
+            else:
+                scale = 1.0 if norm_max is None else float(norm_max)
+                df["Smooth_Spect"] = (arr - mn) / (mx - mn) * scale
+            # 同时处理其它列（可选）
+            arr_raw = df["Raw_Spect"].values
+            mn_r, mx_r = arr_raw.min(), arr_raw.max()
+            if mx_r == mn_r:
+                df["Raw_Spect"] = 0.0
+            else:
+                scale = 1.0 if norm_max is None else float(norm_max)
+                df["Raw_Spect"] = (arr_raw - mn_r) / (mx_r - mn_r) * scale
+
+        # 保存 CSV
+        if save_csv:
+            csv_filename = f"{file_prefix}.csv"
+            df.to_csv(csv_filename, index=False)
+            print("✅ CSV 文件已生成:", csv_filename)
+
+        # 绘图（使用 matplotlib），注意：不要启用 GUI 后台
+        if save_plot:
+            try:
+                import matplotlib
+                matplotlib.use("Agg")
+                import matplotlib.pyplot as plt
+
+                plt.figure(figsize=(8, 5))
+                plt.plot(df["WaveNum"], df["Raw_Spect"], linestyle='-', alpha=0.6, label="原始")
+                plt.plot(df["WaveNum"], df["BaseLineCorrected"], linestyle='--', alpha=0.8, label="基线校正")
+                plt.plot(df["WaveNum"], df["Smooth_Spect"], linewidth=1.2, label="平滑")
+                plt.xlabel("WaveNum (cm^-1)")
+                plt.ylabel("Intensity (a.u.)")
+                plt.title(f"Raman {file_prefix}")
+                plt.grid(True)
+                plt.legend()
+                plt.tight_layout()
+                plot_filename = f"{file_prefix}.png"
+                plt.savefig(plot_filename, dpi=300, bbox_inches="tight")
+                plt.close()
+                # 小短暂等待以确保文件系统刷新
+                time_mod.sleep(0.2)
+                print("✅ 图像已生成:", plot_filename)
+            except Exception as e:
+                print("⚠️ 绘图失败:", e)
+
+        return success, file_prefix, df
+
+    except Exception as e:
+        print("拉曼测试异常:", e)
+        try:
+            if wrapper is not None:
+                try:
+                    wrapper.CloseDevice()
+                except Exception:
+                    pass
+        except Exception:
+            pass
+        return False, None, None

unilabos/devices/opsky_Raman/test2.py

@@ -0,0 +1,209 @@
+import time
+import csv
+from datetime import datetime
+from pymodbus.client import ModbusTcpClient
+from dmqfengzhuang import scan_once
+from raman_module import run_raman_test
+
+# =================== 配置 ===================
+PLC_IP = "192.168.1.88"
+PLC_PORT = 502
+ROBOT_IP = "192.168.1.200"
+ROBOT_PORT = 502
+SCAN_CSV_FILE = "scan_results.csv"
+
+# =================== 通用函数 ===================
+def ensure_connected(client, name, ip, port):
+    if not client.is_socket_open():
+        print(f"{name} 掉线，正在重连...")
+        client.close()
+        time.sleep(1)
+
+        new_client = ModbusTcpClient(ip, port=port)
+        if new_client.connect():
+            print(f"{name} 重新连接成功 ({ip}:{port})")
+            return new_client
+        else:
+            print(f"{name} 重连失败，稍后重试...")
+            time.sleep(3)
+            return None
+    return client
+
+def safe_read(client, name, func, *args, retries=3, delay=0.3, **kwargs):
+    for _ in range(retries):
+        try:
+            res = func(*args, **kwargs)
+            if res and not (hasattr(res, "isError") and res.isError()):
+                return res
+        except Exception as e:
+            print(f"{name} 读异常: {e}")
+        time.sleep(delay)
+    print(f"{name} 连续读取失败 {retries} 次")
+    return None
+
+def safe_write(client, name, func, *args, retries=3, delay=0.3, **kwargs):
+    for _ in range(retries):
+        try:
+            res = func(*args, **kwargs)
+            if res and not (hasattr(res, "isError") and res.isError()):
+                return True
+        except Exception as e:
+            print(f"{name} 写异常: {e}")
+        time.sleep(delay)
+    print(f"{name} 连续写入失败 {retries} 次")
+    return False
+
+def wait_with_quit_check(robot, seconds, addr_quit=270):
+    for _ in range(int(seconds / 0.2)):
+        rr = safe_read(robot, "机器人", robot.read_holding_registers,
+                       address=addr_quit, count=1)
+        if rr and rr.registers[0] == 1:
+            print("检测到 R270=1，立即退出循环")
+            return True
+        time.sleep(0.2)
+    return False
+
+# =================== 初始化 ===================
+plc = ModbusTcpClient(PLC_IP, port=PLC_PORT)
+robot = ModbusTcpClient(ROBOT_IP, port=ROBOT_PORT)
+
+if not plc.connect():
+    print("无法连接 PLC")
+    exit()
+if not robot.connect():
+    print("无法连接 机器人")
+    plc.close()
+    exit()
+
+print("✅ PLC 与 机器人连接成功")
+time.sleep(0.5)
+
+# 伺服使能
+if safe_write(plc, "PLC", plc.write_coil, address=10, value=True):
+    print("✅ 伺服使能成功 (M10=True)")
+else:
+    print("⚠️ 伺服使能失败")
+
+# 初始化扫码 CSV
+with open(SCAN_CSV_FILE, "w", newline="", encoding="utf-8") as f:
+    csv.writer(f).writerow(["Bottle_No", "Scan_Result", "Time"])
+
+bottle_count = 0
+print("🟢 等待机器人触发信号... (R260=1扫码 / R256=1拉曼 / R270=1退出)")
+
+# =================== 主监听循环 ===================
+while True:
+    plc = ensure_connected(plc, "PLC", PLC_IP, PLC_PORT) or plc
+    robot = ensure_connected(robot, "机器人", ROBOT_IP, ROBOT_PORT) or robot
+
+    # 退出命令检测
+    quit_signal = safe_read(robot, "机器人", robot.read_holding_registers,
+                            address=270, count=1)
+    if quit_signal and quit_signal.registers[0] == 1:
+        print("🟥 检测到 R270=1，准备退出程序...")
+        break
+
+    # 读取关键寄存器
+    rr = safe_read(robot, "机器人", robot.read_holding_registers,
+                   address=256, count=5)
+    if not rr:
+        time.sleep(0.3)
+        continue
+
+    r256, _, r258, r259, r260 = rr.registers[:5]
+
+    # ----------- 扫码部分 (R260=1) -----------
+    if r260 == 1:
+        bottle_count += 1
+        print(f"📸 第 {bottle_count} 瓶触发扫码 (R260=1)")
+
+        try:
+            result = scan_once(ip="192.168.1.50", port_in=2001, port_out=2002)
+            if result:
+                print(f"✅ 扫码成功: {result}")
+                timestamp = datetime.now().strftime("%Y-%m-%d %H:%M:%S")
+                with open(SCAN_CSV_FILE, "a", newline="", encoding="utf-8") as f:
+                    csv.writer(f).writerow([bottle_count, result, timestamp])
+            else:
+                print("⚠️ 扫码失败或无返回")
+        except Exception as e:
+            print(f"❌ 扫码异常: {e}")
+
+        safe_write(robot, "机器人", robot.write_register, address=260, value=0)
+        time.sleep(0.2)
+        safe_write(robot, "机器人", robot.write_register, address=261, value=1)
+        print("➡️ 扫码完成 (R260→0, R261→1)")
+
+    # ----------- 拉曼 + 电机部分 (R256=1) -----------
+    if r256 == 1:
+        print("⚙️ 检测到 R256=1（放瓶完成）")
+
+        # 电机右转
+        safe_write(plc, "PLC", plc.write_register, address=1199, value=1)
+        safe_write(plc, "PLC", plc.write_register, address=1200, value=1)
+        print("➡️ 电机右转中...")
+        if wait_with_quit_check(robot, 3):
+            break
+        safe_write(plc, "PLC", plc.write_register, address=1199, value=0)
+        print("✅ 电机右转完成")
+
+        # 拉曼测试
+        print("🧪 开始拉曼测试...")
+        try:
+            success, file_prefix, df = run_raman_test(
+                integration_time=5000,
+                laser_power=200,
+                save_csv=True,
+                save_plot=True,
+                normalize=True,
+                norm_max=1.0
+            )
+            if success:
+                print(f"✅ 拉曼完成：{file_prefix}.csv / .png")
+            else:
+                print("⚠️ 拉曼失败")
+        except Exception as e:
+            print(f"❌ 拉曼测试异常: {e}")
+
+        # 电机左转
+        safe_write(plc, "PLC", plc.write_register, address=1299, value=1)
+        safe_write(plc, "PLC", plc.write_register, address=1300, value=1)
+        print("⬅️ 电机左转中...")
+        if wait_with_quit_check(robot, 3):
+            break
+        safe_write(plc, "PLC", plc.write_register, address=1299, value=0)
+        print("✅ 电机左转完成")
+
+        # 写入拉曼完成信号
+        safe_write(robot, "机器人", robot.write_register, address=257, value=1)
+        print("✅ 已写入 R257=1（拉曼完成）")
+
+        # 延迟清零 R256
+        print("⏳ 延迟4秒后清零 R256")
+        if wait_with_quit_check(robot, 4):
+            break
+        safe_write(robot, "机器人", robot.write_register, address=256, value=0)
+        print("✅ 已清零 R256")
+
+        # 等待机器人清零 R257
+        print("等待 R257 清零中...")
+        while True:
+            rr2 = safe_read(robot, "机器人", robot.read_holding_registers, address=257, count=1)
+            if rr2 and rr2.registers[0] == 0:
+                print("✅ 检测到 R257=0，准备下一循环")
+                break
+            if wait_with_quit_check(robot, 1):
+                break
+            time.sleep(0.2)
+
+    time.sleep(0.2)
+
+# =================== 程序退出清理 ===================
+print("🧹 开始清理...")
+safe_write(plc, "PLC", plc.write_coil, address=10, value=False)
+for addr in [256, 257, 260, 261, 270]:
+    safe_write(robot, "机器人", robot.write_register, address=addr, value=0)
+
+plc.close()
+robot.close()
+print("✅ 程序已退出，设备全部复位。")

unilabos/devices/pump_and_valve/runze_async.py

@@ -8,6 +8,8 @@ import serial.tools.list_ports
 from serial import Serial
 from serial.serialutil import SerialException
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 
 class RunzeSyringePumpMode(Enum):
     Normal = 0
@@ -77,6 +79,8 @@ class RunzeSyringePumpInfo:
 
 
 class RunzeSyringePumpAsync:
+    _ros_node: BaseROS2DeviceNode
+    
     def __init__(self, port: str, address: str = "1", volume: float = 25000, mode: RunzeSyringePumpMode = None):
         self.port = port
         self.address = address
@@ -102,6 +106,9 @@ class RunzeSyringePumpAsync:
         self._run_future: Optional[Future[Any]] = None
         self._run_lock = Lock()
     
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
     def _adjust_total_steps(self):
         self.total_steps = 6000 if self.mode == RunzeSyringePumpMode.Normal else 48000
         self.total_steps_vel = 48000 if self.mode == RunzeSyringePumpMode.AccuratePosVel else 6000
@@ -182,7 +189,7 @@ class RunzeSyringePumpAsync:
             try:
                 await self._query(command)
                 while True:
-                    await asyncio.sleep(0.5)  # Wait for 0.5 seconds before polling again
+                    await self._ros_node.sleep(0.5)  # Wait for 0.5 seconds before polling again
                     
                     status = await self.query_device_status()
                     if status == '`':
@@ -364,7 +371,7 @@ class RunzeSyringePumpAsync:
         if self._read_task:
             raise RunzeSyringePumpConnectionError
 
-        self._read_task = asyncio.create_task(self._read_loop())
+        self._read_task = self._ros_node.create_task(self._read_loop())
 
         try:
             await self.query_device_status()

unilabos/devices/virtual/virtual_centrifuge.py

@@ -3,9 +3,13 @@ import logging
 import time as time_module
 from typing import Dict, Any, Optional
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 
 class VirtualCentrifuge:
     """Virtual centrifuge device - 简化版，只保留核心功能"""
+    
+    _ros_node: BaseROS2DeviceNode
 
     def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
         # 处理可能的不同调用方式
@@ -32,6 +36,9 @@ class VirtualCentrifuge:
         for key, value in kwargs.items():
             if key not in skip_keys and not hasattr(self, key):
                 setattr(self, key, value)
+    
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
 
     async def initialize(self) -> bool:
         """Initialize virtual centrifuge"""
@@ -132,7 +139,7 @@ class VirtualCentrifuge:
                     break
                 
                 # 每秒更新一次
-                await asyncio.sleep(1.0)
+                await self._ros_node.sleep(1.0)
             
             # 离心完成
             self.data.update({

unilabos/devices/virtual/virtual_column.py

@@ -2,9 +2,13 @@ import asyncio
 import logging
 from typing import Dict, Any, Optional
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 class VirtualColumn:
     """Virtual column device for RunColumn protocol 🏛️"""
     
+    _ros_node: BaseROS2DeviceNode
+    
     def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
         # 处理可能的不同调用方式
         if device_id is None and 'id' in kwargs:
@@ -28,6 +32,9 @@ class VirtualColumn:
         print(f"🏛️ === 虚拟色谱柱 {self.device_id} 已创建 === ✨")
         print(f"📏 柱参数: 流速={self._max_flow_rate}mL/min | 长度={self._column_length}cm | 直径={self._column_diameter}cm 🔬")
     
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
     async def initialize(self) -> bool:
         """Initialize virtual column 🚀"""
         self.logger.info(f"🔧 初始化虚拟色谱柱 {self.device_id} ✨")
@@ -101,7 +108,7 @@ class VirtualColumn:
         step_time = separation_time / steps
         
         for i in range(steps):
-            await asyncio.sleep(step_time)
+            await self._ros_node.sleep(step_time)
             
             progress = (i + 1) / steps * 100
             volume_processed = (i + 1) * 5.0  # 假设每步处理5mL

unilabos/devices/virtual/virtual_filter.py

@@ -4,70 +4,76 @@ import time as time_module
 from typing import Dict, Any, Optional
 
 from unilabos.compile.utils.vessel_parser import get_vessel
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 
 class VirtualFilter:
     """Virtual filter device - 完全按照 Filter.action 规范 🌊"""
-    
+
+    _ros_node: BaseROS2DeviceNode
+
     def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
-        if device_id is None and 'id' in kwargs:
-            device_id = kwargs.pop('id')
-        if config is None and 'config' in kwargs:
-            config = kwargs.pop('config')
-        
+        if device_id is None and "id" in kwargs:
+            device_id = kwargs.pop("id")
+        if config is None and "config" in kwargs:
+            config = kwargs.pop("config")
+
         self.device_id = device_id or "unknown_filter"
         self.config = config or {}
         self.logger = logging.getLogger(f"VirtualFilter.{self.device_id}")
         self.data = {}
-        
+
         # 从config或kwargs中获取配置参数
-        self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
-        self._max_temp = self.config.get('max_temp') or kwargs.get('max_temp', 100.0)
-        self._max_stir_speed = self.config.get('max_stir_speed') or kwargs.get('max_stir_speed', 1000.0)
-        self._max_volume = self.config.get('max_volume') or kwargs.get('max_volume', 500.0)
-        
+        self.port = self.config.get("port") or kwargs.get("port", "VIRTUAL")
+        self._max_temp = self.config.get("max_temp") or kwargs.get("max_temp", 100.0)
+        self._max_stir_speed = self.config.get("max_stir_speed") or kwargs.get("max_stir_speed", 1000.0)
+        self._max_volume = self.config.get("max_volume") or kwargs.get("max_volume", 500.0)
+
         # 处理其他kwargs参数
-        skip_keys = {'port', 'max_temp', 'max_stir_speed', 'max_volume'}
+        skip_keys = {"port", "max_temp", "max_stir_speed", "max_volume"}
         for key, value in kwargs.items():
             if key not in skip_keys and not hasattr(self, key):
                 setattr(self, key, value)
-    
+
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
     async def initialize(self) -> bool:
         """Initialize virtual filter 🚀"""
         self.logger.info(f"🔧 初始化虚拟过滤器 {self.device_id} ✨")
-        
+
         # 按照 Filter.action 的 feedback 字段初始化
-        self.data.update({
-            "status": "Idle",
-            "progress": 0.0,           # Filter.action feedback
-            "current_temp": 25.0,      # Filter.action feedback
-            "filtered_volume": 0.0,    # Filter.action feedback
-            "message": "Ready for filtration"
-        })
-        
+        self.data.update(
+            {
+                "status": "Idle",
+                "progress": 0.0,  # Filter.action feedback
+                "current_temp": 25.0,  # Filter.action feedback
+                "filtered_volume": 0.0,  # Filter.action feedback
+                "message": "Ready for filtration",
+            }
+        )
+
         self.logger.info(f"✅ 过滤器 {self.device_id} 初始化完成 🌊")
         return True
-    
+
     async def cleanup(self) -> bool:
         """Cleanup virtual filter 🧹"""
         self.logger.info(f"🧹 清理虚拟过滤器 {self.device_id} 🔚")
-        
-        self.data.update({
-            "status": "Offline"
-        })
-        
+
+        self.data.update({"status": "Offline"})
+
         self.logger.info(f"✅ 过滤器 {self.device_id} 清理完成 💤")
         return True
-    
+
     async def filter(
-        self, 
+        self,
         vessel: dict,
         filtrate_vessel: dict = {},
-        stir: bool = False, 
-        stir_speed: float = 300.0, 
-        temp: float = 25.0, 
-        continue_heatchill: bool = False, 
-        volume: float = 0.0
+        stir: bool = False,
+        stir_speed: float = 300.0,
+        temp: float = 25.0,
+        continue_heatchill: bool = False,
+        volume: float = 0.0,
     ) -> bool:
         """Execute filter action - 完全按照 Filter.action 参数 🌊"""
         vessel_id, _ = get_vessel(vessel)
@@ -79,59 +85,52 @@ class VirtualFilter:
             temp = 25.0  # 0度自动设置为室温
             self.logger.info(f"🌡️ 温度自动调整: {original_temp}°C → {temp}°C (室温) 🏠")
         elif temp < 4.0:
-            temp = 4.0   # 小于4度自动设置为4度
+            temp = 4.0  # 小于4度自动设置为4度
             self.logger.info(f"🌡️ 温度自动调整: {original_temp}°C → {temp}°C (最低温度) ❄️")
-        
+
         self.logger.info(f"🌊 开始过滤操作: {vessel_id} → {filtrate_vessel_id} 🚰")
         self.logger.info(f"  🌪️ 搅拌: {stir} ({stir_speed} RPM)")
         self.logger.info(f"  🌡️ 温度: {temp}°C")
         self.logger.info(f"  💧 体积: {volume}mL")
         self.logger.info(f"  🔥 保持加热: {continue_heatchill}")
-        
+
         # 验证参数
         if temp > self._max_temp or temp < 4.0:
             error_msg = f"🌡️ 温度 {temp}°C 超出范围 (4-{self._max_temp}°C) ⚠️"
             self.logger.error(f"❌ {error_msg}")
-            self.data.update({
-                "status": f"Error: 温度超出范围 ⚠️",
-                "message": error_msg
-            })
+            self.data.update({"status": f"Error: 温度超出范围 ⚠️", "message": error_msg})
             return False
-        
+
         if stir and stir_speed > self._max_stir_speed:
             error_msg = f"🌪️ 搅拌速度 {stir_speed} RPM 超出范围 (0-{self._max_stir_speed} RPM) ⚠️"
             self.logger.error(f"❌ {error_msg}")
-            self.data.update({
-                "status": f"Error: 搅拌速度超出范围 ⚠️",
-                "message": error_msg
-            })
+            self.data.update({"status": f"Error: 搅拌速度超出范围 ⚠️", "message": error_msg})
             return False
-        
+
         if volume > self._max_volume:
             error_msg = f"💧 过滤体积 {volume} mL 超出范围 (0-{self._max_volume} mL) ⚠️"
             self.logger.error(f"❌ {error_msg}")
-            self.data.update({
-                "status": f"Error",
-                "message": error_msg
-            })
+            self.data.update({"status": f"Error", "message": error_msg})
             return False
-        
+
         # 开始过滤
         filter_volume = volume if volume > 0 else 50.0
         self.logger.info(f"🚀 开始过滤 {filter_volume}mL 液体 💧")
-        
-        self.data.update({
-            "status": f"Running",
-            "current_temp": temp,
-            "filtered_volume": 0.0,
-            "progress": 0.0,
-            "message": f"🚀 Starting filtration: {vessel_id} → {filtrate_vessel_id}"
-        })
-        
+
+        self.data.update(
+            {
+                "status": f"Running",
+                "current_temp": temp,
+                "filtered_volume": 0.0,
+                "progress": 0.0,
+                "message": f"🚀 Starting filtration: {vessel_id} → {filtrate_vessel_id}",
+            }
+        )
+
         try:
             # 过滤过程 - 实时更新进度
             start_time = time_module.time()
-            
+
             # 根据体积和搅拌估算过滤时间
             base_time = filter_volume / 5.0  # 5mL/s 基础速度
             if stir:
@@ -140,78 +139,79 @@ class VirtualFilter:
             if temp > 50.0:
                 base_time *= 0.7  # 高温加速过滤
                 self.logger.info(f"🔥 高温加速过滤，预计时间减少30% ⚡")
-            
+
             filter_time = max(base_time, 10.0)  # 最少10秒
             self.logger.info(f"⏱️ 预计过滤时间: {filter_time:.1f}秒 ⌛")
-            
+
             while True:
                 current_time = time_module.time()
                 elapsed = current_time - start_time
                 remaining = max(0, filter_time - elapsed)
                 progress = min(100.0, (elapsed / filter_time) * 100)
                 current_filtered = (progress / 100.0) * filter_volume
-                
+
                 # 更新状态 - 按照 Filter.action feedback 字段
                 status_msg = f"🌊 过滤中: {vessel}"
                 if stir:
                     status_msg += f" | 🌪️ 搅拌: {stir_speed} RPM"
                 status_msg += f" | 🌡️ {temp}°C | 📊 {progress:.1f}% | 💧 已过滤: {current_filtered:.1f}mL"
-                
-                self.data.update({
-                    "progress": progress,               # Filter.action feedback
-                    "current_temp": temp,              # Filter.action feedback
-                    "filtered_volume": current_filtered, # Filter.action feedback
-                    "status": "Running",
-                    "message": f"🌊 Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered"
-                })
-                
+
+                self.data.update(
+                    {
+                        "progress": progress,  # Filter.action feedback
+                        "current_temp": temp,  # Filter.action feedback
+                        "filtered_volume": current_filtered,  # Filter.action feedback
+                        "status": "Running",
+                        "message": f"🌊 Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered",
+                    }
+                )
+
                 # 进度日志（每25%打印一次）
                 if progress >= 25 and progress % 25 < 1:
                     self.logger.info(f"📊 过滤进度: {progress:.0f}% | 💧 {current_filtered:.1f}mL 完成 ✨")
-                
+
                 if remaining <= 0:
                     break
-                
-                await asyncio.sleep(1.0)
-            
+
+                await self._ros_node.sleep(1.0)
+
             # 过滤完成
             final_temp = temp if continue_heatchill else 25.0
             final_status = f"✅ 过滤完成: {vessel} | 💧 {filter_volume}mL → {filtrate_vessel}"
             if continue_heatchill:
                 final_status += " | 🔥 继续加热搅拌"
                 self.logger.info(f"🔥 继续保持加热搅拌状态 🌪️")
-            
-            self.data.update({
-                "status": final_status,
-                "progress": 100.0,                    # Filter.action feedback
-                "current_temp": final_temp,           # Filter.action feedback
-                "filtered_volume": filter_volume,     # Filter.action feedback
-                "message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel_id}"
-            })
-            
+
+            self.data.update(
+                {
+                    "status": final_status,
+                    "progress": 100.0,  # Filter.action feedback
+                    "current_temp": final_temp,  # Filter.action feedback
+                    "filtered_volume": filter_volume,  # Filter.action feedback
+                    "message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel_id}",
+                }
+            )
+
             self.logger.info(f"🎉 过滤完成! 💧 {filter_volume}mL 从 {vessel_id} 过滤到 {filtrate_vessel_id} ✨")
             self.logger.info(f"📊 最终状态: 温度 {final_temp}°C | 进度 100% | 体积 {filter_volume}mL 🏁")
             return True
-            
+
         except Exception as e:
             error_msg = f"过滤过程中发生错误: {str(e)} 💥"
             self.logger.error(f"❌ {error_msg}")
-            self.data.update({
-                "status": f"Error",
-                "message": f"❌ Filtration failed: {str(e)}"
-            })
+            self.data.update({"status": f"Error", "message": f"❌ Filtration failed: {str(e)}"})
             return False
-    
+
     # === 核心状态属性 - 按照 Filter.action feedback 字段 ===
     @property
     def status(self) -> str:
         return self.data.get("status", "❓ Unknown")
-    
+
     @property
     def progress(self) -> float:
         """Filter.action feedback 字段 📊"""
         return self.data.get("progress", 0.0)
-    
+
     @property
     def current_temp(self) -> float:
         """Filter.action feedback 字段 🌡️"""
@@ -230,15 +230,15 @@ class VirtualFilter:
     @property
     def message(self) -> str:
         return self.data.get("message", "")
-    
+
     @property
     def max_temp(self) -> float:
         return self._max_temp
-    
+
     @property
     def max_stir_speed(self) -> float:
         return self._max_stir_speed
-    
+
     @property
     def max_volume(self) -> float:
-        return self._max_volume
+        return self._max_volume

unilabos/devices/virtual/virtual_heatchill.py

@@ -3,9 +3,13 @@ import logging
 import time as time_module  # 重命名time模块，避免与参数冲突
 from typing import Dict, Any
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 class VirtualHeatChill:
     """Virtual heat chill device for HeatChillProtocol testing 🌡️"""
     
+    _ros_node: BaseROS2DeviceNode
+    
     def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
         # 处理可能的不同调用方式
         if device_id is None and 'id' in kwargs:
@@ -35,6 +39,9 @@ class VirtualHeatChill:
         print(f"🌡️ === 虚拟温控设备 {self.device_id} 已创建 === ✨")
         print(f"🔥 温度范围: {self._min_temp}°C ~ {self._max_temp}°C | 🌪️ 最大搅拌: {self._max_stir_speed} RPM")
     
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
     async def initialize(self) -> bool:
         """Initialize virtual heat chill 🚀"""
         self.logger.info(f"🔧 初始化虚拟温控设备 {self.device_id} ✨")
@@ -177,7 +184,7 @@ class VirtualHeatChill:
                 break
             
             # 等待1秒后再次检查
-            await asyncio.sleep(1.0)
+            await self._ros_node.sleep(1.0)
         
         # 操作完成
         final_stir_info = f" | 🌪️ 搅拌: {stir_speed} RPM" if stir else ""

unilabos/devices/virtual/virtual_rotavap.py

@@ -3,13 +3,19 @@ import logging
 import time as time_module
 from typing import Dict, Any, Optional
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
+
 def debug_print(message):
     """调试输出 🔍"""
     print(f"🌪️ [ROTAVAP] {message}", flush=True)
 
+
 class VirtualRotavap:
     """Virtual rotary evaporator device - 简化版，只保留核心功能 🌪️"""
 
+    _ros_node: BaseROS2DeviceNode
+
     def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
         # 处理可能的不同调用方式
         if device_id is None and "id" in kwargs:
@@ -38,56 +44,65 @@ class VirtualRotavap:
         print(f"🌪️ === 虚拟旋转蒸发仪 {self.device_id} 已创建 === ✨")
         print(f"🔥 温度范围: 10°C ~ {self._max_temp}°C | 🌀 转速范围: 10 ~ {self._max_rotation_speed} RPM")
 
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+
     async def initialize(self) -> bool:
         """Initialize virtual rotary evaporator 🚀"""
         self.logger.info(f"🔧 初始化虚拟旋转蒸发仪 {self.device_id} ✨")
-        
+
         # 只保留核心状态
-        self.data.update({
-            "status": "🏠 待机中",
-            "rotavap_state": "Ready",  # Ready, Evaporating, Completed, Error
-            "current_temp": 25.0,
-            "target_temp": 25.0,
-            "rotation_speed": 0.0,
-            "vacuum_pressure": 1.0,  # 大气压
-            "evaporated_volume": 0.0,
-            "progress": 0.0,
-            "remaining_time": 0.0,
-            "message": "🌪️ Ready for evaporation"
-        })
-        
+        self.data.update(
+            {
+                "status": "🏠 待机中",
+                "rotavap_state": "Ready",  # Ready, Evaporating, Completed, Error
+                "current_temp": 25.0,
+                "target_temp": 25.0,
+                "rotation_speed": 0.0,
+                "vacuum_pressure": 1.0,  # 大气压
+                "evaporated_volume": 0.0,
+                "progress": 0.0,
+                "remaining_time": 0.0,
+                "message": "🌪️ Ready for evaporation",
+            }
+        )
+
         self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 初始化完成 🌪️")
-        self.logger.info(f"📊 设备规格: 温度范围 10°C ~ {self._max_temp}°C | 转速范围 10 ~ {self._max_rotation_speed} RPM")
+        self.logger.info(
+            f"📊 设备规格: 温度范围 10°C ~ {self._max_temp}°C | 转速范围 10 ~ {self._max_rotation_speed} RPM"
+        )
         return True
 
     async def cleanup(self) -> bool:
         """Cleanup virtual rotary evaporator 🧹"""
         self.logger.info(f"🧹 清理虚拟旋转蒸发仪 {self.device_id} 🔚")
-        
-        self.data.update({
-            "status": "💤 离线",
-            "rotavap_state": "Offline",
-            "current_temp": 25.0,
-            "rotation_speed": 0.0,
-            "vacuum_pressure": 1.0,
-            "message": "💤 System offline"
-        })
-        
+
+        self.data.update(
+            {
+                "status": "💤 离线",
+                "rotavap_state": "Offline",
+                "current_temp": 25.0,
+                "rotation_speed": 0.0,
+                "vacuum_pressure": 1.0,
+                "message": "💤 System offline",
+            }
+        )
+
         self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 清理完成 💤")
         return True
 
     async def evaporate(
-        self, 
-        vessel: str, 
-        pressure: float = 0.1, 
-        temp: float = 60.0, 
+        self,
+        vessel: str,
+        pressure: float = 0.1,
+        temp: float = 60.0,
         time: float = 180.0,
         stir_speed: float = 100.0,
         solvent: str = "",
-        **kwargs
+        **kwargs,
     ) -> bool:
         """Execute evaporate action - 简化版 🌪️"""
-        
+
         # 🔧 新增：确保time参数是数值类型
         if isinstance(time, str):
             try:
@@ -98,31 +113,31 @@ class VirtualRotavap:
         elif not isinstance(time, (int, float)):
             self.logger.error(f"❌ 时间参数类型无效: {type(time)}，使用默认值180.0秒")
             time = 180.0
-        
+
         # 确保time是float类型; 并加速
         time = float(time) / 10.0
-        
+
         # 🔧 简化处理：如果vessel就是设备自己，直接操作
         if vessel == self.device_id:
             debug_print(f"🎯 在设备 {self.device_id} 上直接执行蒸发操作")
             actual_vessel = self.device_id
         else:
             actual_vessel = vessel
-        
+
         # 参数预处理
         if solvent:
             self.logger.info(f"🧪 识别到溶剂: {solvent}")
             # 根据溶剂调整参数
             solvent_lower = solvent.lower()
-            if any(s in solvent_lower for s in ['water', 'aqueous']):
+            if any(s in solvent_lower for s in ["water", "aqueous"]):
                 temp = max(temp, 80.0)
                 pressure = max(pressure, 0.2)
                 self.logger.info(f"💧 水系溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar")
-            elif any(s in solvent_lower for s in ['ethanol', 'methanol', 'acetone']):
+            elif any(s in solvent_lower for s in ["ethanol", "methanol", "acetone"]):
                 temp = min(temp, 50.0)
                 pressure = min(pressure, 0.05)
                 self.logger.info(f"⚡ 易挥发溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar")
-        
+
         self.logger.info(f"🌪️ 开始蒸发操作: {actual_vessel}")
         self.logger.info(f"  🥽 容器: {actual_vessel}")
         self.logger.info(f"  🌡️ 温度: {temp}°C")
@@ -131,126 +146,140 @@ class VirtualRotavap:
         self.logger.info(f"  🌀 转速: {stir_speed} RPM")
         if solvent:
             self.logger.info(f"  🧪 溶剂: {solvent}")
-        
+
         # 验证参数
         if temp > self._max_temp or temp < 10.0:
             error_msg = f"🌡️ 温度 {temp}°C 超出范围 (10-{self._max_temp}°C) ⚠️"
             self.logger.error(f"❌ {error_msg}")
-            self.data.update({
-                "status": f"❌ 错误: 温度超出范围",
-                "rotavap_state": "Error",
-                "current_temp": 25.0,
-                "progress": 0.0,
-                "evaporated_volume": 0.0,
-                "message": error_msg
-            })
+            self.data.update(
+                {
+                    "status": f"❌ 错误: 温度超出范围",
+                    "rotavap_state": "Error",
+                    "current_temp": 25.0,
+                    "progress": 0.0,
+                    "evaporated_volume": 0.0,
+                    "message": error_msg,
+                }
+            )
             return False
 
         if stir_speed > self._max_rotation_speed or stir_speed < 10.0:
             error_msg = f"🌀 旋转速度 {stir_speed} RPM 超出范围 (10-{self._max_rotation_speed} RPM) ⚠️"
             self.logger.error(f"❌ {error_msg}")
-            self.data.update({
-                "status": f"❌ 错误: 转速超出范围",
-                "rotavap_state": "Error",
-                "current_temp": 25.0,
-                "progress": 0.0,
-                "evaporated_volume": 0.0,
-                "message": error_msg
-            })
+            self.data.update(
+                {
+                    "status": f"❌ 错误: 转速超出范围",
+                    "rotavap_state": "Error",
+                    "current_temp": 25.0,
+                    "progress": 0.0,
+                    "evaporated_volume": 0.0,
+                    "message": error_msg,
+                }
+            )
             return False
 
         if pressure < 0.01 or pressure > 1.0:
             error_msg = f"💨 真空度 {pressure} bar 超出范围 (0.01-1.0 bar) ⚠️"
             self.logger.error(f"❌ {error_msg}")
-            self.data.update({
-                "status": f"❌ 错误: 压力超出范围",
-                "rotavap_state": "Error",
-                "current_temp": 25.0,
-                "progress": 0.0,
-                "evaporated_volume": 0.0,
-                "message": error_msg
-            })
+            self.data.update(
+                {
+                    "status": f"❌ 错误: 压力超出范围",
+                    "rotavap_state": "Error",
+                    "current_temp": 25.0,
+                    "progress": 0.0,
+                    "evaporated_volume": 0.0,
+                    "message": error_msg,
+                }
+            )
             return False
 
         # 开始蒸发 - 🔧 现在time已经确保是float类型
         self.logger.info(f"🚀 启动蒸发程序! 预计用时 {time/60:.1f}分钟 ⏱️")
-        
-        self.data.update({
-            "status": f"🌪️ 蒸发中: {actual_vessel}",
-            "rotavap_state": "Evaporating",
-            "current_temp": temp,
-            "target_temp": temp,
-            "rotation_speed": stir_speed,
-            "vacuum_pressure": pressure,
-            "remaining_time": time,
-            "progress": 0.0,
-            "evaporated_volume": 0.0,
-            "message": f"🌪️ Evaporating {actual_vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM"
-        })
+
+        self.data.update(
+            {
+                "status": f"🌪️ 蒸发中: {actual_vessel}",
+                "rotavap_state": "Evaporating",
+                "current_temp": temp,
+                "target_temp": temp,
+                "rotation_speed": stir_speed,
+                "vacuum_pressure": pressure,
+                "remaining_time": time,
+                "progress": 0.0,
+                "evaporated_volume": 0.0,
+                "message": f"🌪️ Evaporating {actual_vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM",
+            }
+        )
 
         try:
             # 蒸发过程 - 实时更新进度
             start_time = time_module.time()
             total_time = time
             last_logged_progress = 0
-            
+
             while True:
                 current_time = time_module.time()
                 elapsed = current_time - start_time
                 remaining = max(0, total_time - elapsed)
                 progress = min(100.0, (elapsed / total_time) * 100)
-                
+
                 # 模拟蒸发体积 - 根据溶剂类型调整
-                if solvent and any(s in solvent.lower() for s in ['water', 'aqueous']):
+                if solvent and any(s in solvent.lower() for s in ["water", "aqueous"]):
                     evaporated_vol = progress * 0.6  # 水系溶剂蒸发慢
-                elif solvent and any(s in solvent.lower() for s in ['ethanol', 'methanol', 'acetone']):
+                elif solvent and any(s in solvent.lower() for s in ["ethanol", "methanol", "acetone"]):
                     evaporated_vol = progress * 1.0  # 易挥发溶剂蒸发快
                 else:
                     evaporated_vol = progress * 0.8  # 默认蒸发量
-                
+
                 # 🔧 更新状态 - 确保包含所有必需字段
                 status_msg = f"🌪️ 蒸发中: {actual_vessel} | 🌡️ {temp}°C | 💨 {pressure} bar | 🌀 {stir_speed} RPM | 📊 {progress:.1f}% | ⏰ 剩余: {remaining:.0f}s"
-                
-                self.data.update({
-                    "remaining_time": remaining,
-                    "progress": progress,
-                    "evaporated_volume": evaporated_vol,
-                    "current_temp": temp,
-                    "status": status_msg,
-                    "message": f"🌪️ Evaporating: {progress:.1f}% complete, 💧 {evaporated_vol:.1f}mL evaporated, ⏰ {remaining:.0f}s remaining"
-                })
-                
+
+                self.data.update(
+                    {
+                        "remaining_time": remaining,
+                        "progress": progress,
+                        "evaporated_volume": evaporated_vol,
+                        "current_temp": temp,
+                        "status": status_msg,
+                        "message": f"🌪️ Evaporating: {progress:.1f}% complete, 💧 {evaporated_vol:.1f}mL evaporated, ⏰ {remaining:.0f}s remaining",
+                    }
+                )
+
                 # 进度日志（每25%打印一次）
                 if progress >= 25 and int(progress) % 25 == 0 and int(progress) != last_logged_progress:
-                    self.logger.info(f"📊 蒸发进度: {progress:.0f}% | 💧 已蒸发: {evaporated_vol:.1f}mL | ⏰ 剩余: {remaining:.0f}s ✨")
+                    self.logger.info(
+                        f"📊 蒸发进度: {progress:.0f}% | 💧 已蒸发: {evaporated_vol:.1f}mL | ⏰ 剩余: {remaining:.0f}s ✨"
+                    )
                     last_logged_progress = int(progress)
-                
+
                 # 时间到了，退出循环
                 if remaining <= 0:
                     break
-                
+
                 # 每秒更新一次
-                await asyncio.sleep(1.0)
-            
+                await self._ros_node.sleep(1.0)
+
             # 蒸发完成
-            if solvent and any(s in solvent.lower() for s in ['water', 'aqueous']):
+            if solvent and any(s in solvent.lower() for s in ["water", "aqueous"]):
                 final_evaporated = 60.0  # 水系溶剂
-            elif solvent and any(s in solvent.lower() for s in ['ethanol', 'methanol', 'acetone']):
+            elif solvent and any(s in solvent.lower() for s in ["ethanol", "methanol", "acetone"]):
                 final_evaporated = 100.0  # 易挥发溶剂
             else:
                 final_evaporated = 80.0  # 默认
-            
-            self.data.update({
-                "status": f"✅ 蒸发完成: {actual_vessel} | 💧 蒸发量: {final_evaporated:.1f}mL",
-                "rotavap_state": "Completed",
-                "evaporated_volume": final_evaporated,
-                "progress": 100.0,
-                "current_temp": temp,
-                "remaining_time": 0.0,
-                "rotation_speed": 0.0,
-                "vacuum_pressure": 1.0,
-                "message": f"✅ Evaporation completed: {final_evaporated}mL evaporated from {actual_vessel}"
-            })
+
+            self.data.update(
+                {
+                    "status": f"✅ 蒸发完成: {actual_vessel} | 💧 蒸发量: {final_evaporated:.1f}mL",
+                    "rotavap_state": "Completed",
+                    "evaporated_volume": final_evaporated,
+                    "progress": 100.0,
+                    "current_temp": temp,
+                    "remaining_time": 0.0,
+                    "rotation_speed": 0.0,
+                    "vacuum_pressure": 1.0,
+                    "message": f"✅ Evaporation completed: {final_evaporated}mL evaporated from {actual_vessel}",
+                }
+            )
 
             self.logger.info(f"🎉 蒸发操作完成! ✨")
             self.logger.info(f"📊 蒸发结果:")
@@ -262,24 +291,26 @@ class VirtualRotavap:
             self.logger.info(f"  ⏱️ 总用时: {total_time:.0f}s")
             if solvent:
                 self.logger.info(f"  🧪 处理溶剂: {solvent} 🏁")
-            
+
             return True
 
         except Exception as e:
             # 出错处理
             error_msg = f"蒸发过程中发生错误: {str(e)} 💥"
             self.logger.error(f"❌ {error_msg}")
-            
-            self.data.update({
-                "status": f"❌ 蒸发错误: {str(e)}",
-                "rotavap_state": "Error",
-                "current_temp": 25.0,
-                "progress": 0.0,
-                "evaporated_volume": 0.0,
-                "rotation_speed": 0.0,
-                "vacuum_pressure": 1.0,
-                "message": f"❌ Evaporation failed: {str(e)}"
-            })
+
+            self.data.update(
+                {
+                    "status": f"❌ 蒸发错误: {str(e)}",
+                    "rotavap_state": "Error",
+                    "current_temp": 25.0,
+                    "progress": 0.0,
+                    "evaporated_volume": 0.0,
+                    "rotation_speed": 0.0,
+                    "vacuum_pressure": 1.0,
+                    "message": f"❌ Evaporation failed: {str(e)}",
+                }
+            )
             return False
 
     # === 核心状态属性 ===

unilabos/devices/virtual/virtual_separator.py

@@ -2,9 +2,13 @@ import asyncio
 import logging
 from typing import Dict, Any, Optional
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 
 class VirtualSeparator:
     """Virtual separator device for SeparateProtocol testing"""
+    
+    _ros_node: BaseROS2DeviceNode
 
     def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
         # 处理可能的不同调用方式
@@ -35,6 +39,9 @@ class VirtualSeparator:
         for key, value in kwargs.items():
             if key not in skip_keys and not hasattr(self, key):
                 setattr(self, key, value)
+    
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
 
     async def initialize(self) -> bool:
         """Initialize virtual separator"""
@@ -119,14 +126,14 @@ class VirtualSeparator:
         for repeat in range(repeats):
             # 搅拌阶段
             for progress in range(0, 51, 10):
-                await asyncio.sleep(simulation_time / (repeats * 10))
+                await self._ros_node.sleep(simulation_time / (repeats * 10))
                 overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats
                 self.data["progress"] = overall_progress
                 self.data["message"] = f"第{repeat+1}次分离 - 搅拌中 ({progress}%)"
 
             # 静置分相阶段
             for progress in range(50, 101, 10):
-                await asyncio.sleep(simulation_time / (repeats * 10))
+                await self._ros_node.sleep(simulation_time / (repeats * 10))
                 overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats
                 self.data["progress"] = overall_progress
                 self.data["message"] = f"第{repeat+1}次分离 - 静置分相中 ({progress}%)"

unilabos/devices/virtual/virtual_solenoid_valve.py

@@ -2,11 +2,16 @@ import time
 import asyncio
 from typing import Union
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 
 class VirtualSolenoidValve:
     """
     虚拟电磁阀门 - 简单的开关型阀门，只有开启和关闭两个状态
     """
+    
+    _ros_node: BaseROS2DeviceNode
+    
     def __init__(self, device_id: str = None, config: dict = None, **kwargs):
         # 从配置中获取参数，提供默认值
         if config is None:
@@ -21,6 +26,9 @@ class VirtualSolenoidValve:
         self._status = "Idle"
         self._valve_state = "Closed"  # "Open" or "Closed"
         self._is_open = False
+    
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
 
     async def initialize(self) -> bool:
         """初始化设备"""
@@ -63,7 +71,7 @@ class VirtualSolenoidValve:
         self._status = "Busy"
         
         # 模拟阀门响应时间
-        await asyncio.sleep(self.response_time)
+        await self._ros_node.sleep(self.response_time)
         
         # 处理不同的命令格式
         if isinstance(command, str):

unilabos/devices/virtual/virtual_solid_dispenser.py

@@ -3,6 +3,8 @@ import logging
 import re
 from typing import Dict, Any, Optional
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 class VirtualSolidDispenser:
     """
     虚拟固体粉末加样器 - 用于处理 Add Protocol 中的固体试剂添加 ⚗️
@@ -13,6 +15,8 @@ class VirtualSolidDispenser:
     - 简单反馈：成功/失败 + 消息 📊
     """
     
+    _ros_node: BaseROS2DeviceNode
+    
     def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
         self.device_id = device_id or "virtual_solid_dispenser"
         self.config = config or {}
@@ -32,6 +36,9 @@ class VirtualSolidDispenser:
         print(f"⚗️ === 虚拟固体分配器 {self.device_id} 创建成功! === ✨")
         print(f"📊 设备规格: 最大容量 {self.max_capacity}g | 精度 {self.precision}g 🎯")
     
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
     async def initialize(self) -> bool:
         """初始化固体加样器 🚀"""
         self.logger.info(f"🔧 初始化固体分配器 {self.device_id} ✨")
@@ -263,7 +270,7 @@ class VirtualSolidDispenser:
             
             for i in range(steps):
                 progress = (i + 1) / steps * 100
-                await asyncio.sleep(step_time)
+                await self._ros_node.sleep(step_time)
                 if i % 2 == 0:  # 每隔一步显示进度
                     self.logger.debug(f"📊 加样进度: {progress:.0f}% | {amount_emoji} 正在分配 {reagent}...")
             

unilabos/devices/virtual/virtual_stirrer.py

@@ -3,9 +3,13 @@ import logging
 import time as time_module
 from typing import Dict, Any
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 class VirtualStirrer:
     """Virtual stirrer device for StirProtocol testing - 功能完整版 🌪️"""
     
+    _ros_node: BaseROS2DeviceNode
+    
     def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
         # 处理可能的不同调用方式
         if device_id is None and 'id' in kwargs:
@@ -34,6 +38,9 @@ class VirtualStirrer:
         print(f"🌪️ === 虚拟搅拌器 {self.device_id} 已创建 === ✨")
         print(f"🔧 速度范围: {self._min_speed} ~ {self._max_speed} RPM | 📱 端口: {self.port}")
     
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
     async def initialize(self) -> bool:
         """Initialize virtual stirrer 🚀"""
         self.logger.info(f"🔧 初始化虚拟搅拌器 {self.device_id} ✨")
@@ -134,7 +141,7 @@ class VirtualStirrer:
             if remaining <= 0:
                 break
             
-            await asyncio.sleep(1.0)
+            await self._ros_node.sleep(1.0)
         
         self.logger.info(f"✅ 搅拌阶段完成! 🌪️ {stir_speed} RPM × {stir_time}s")
         
@@ -176,7 +183,7 @@ class VirtualStirrer:
                 if remaining <= 0:
                     break
                 
-                await asyncio.sleep(1.0)
+                await self._ros_node.sleep(1.0)
             
             self.logger.info(f"✅ 沉降阶段完成! 🛑 静置 {settling_time}s")
         

unilabos/devices/virtual/virtual_transferpump.py

@@ -4,6 +4,8 @@ from enum import Enum
 from typing import Union, Optional
 import logging
 
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
 
 class VirtualPumpMode(Enum):
     Normal = 0
@@ -14,6 +16,8 @@ class VirtualPumpMode(Enum):
 class VirtualTransferPump:
     """虚拟转移泵类 - 模拟泵的基本功能，无需实际硬件 🚰"""
     
+    _ros_node: BaseROS2DeviceNode
+    
     def __init__(self, device_id: str = None, config: dict = None, **kwargs):
         """
         初始化虚拟转移泵
@@ -53,6 +57,9 @@ class VirtualTransferPump:
         print(f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s")
         print(f"📊 最大容量: {self.max_volume}mL | 端口: {self.port}")
     
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+    
     async def initialize(self) -> bool:
         """初始化虚拟泵 🚀"""
         self.logger.info(f"🔧 初始化虚拟转移泵 {self.device_id} ✨")
@@ -104,7 +111,7 @@ class VirtualTransferPump:
     async def _simulate_operation(self, duration: float):
         """模拟操作延时 ⏱️"""
         self._status = "Busy"
-        await asyncio.sleep(duration)
+        await self._ros_node.sleep(duration)
         self._status = "Idle"
     
     def _calculate_duration(self, volume: float, velocity: float = None) -> float:
@@ -223,7 +230,7 @@ class VirtualTransferPump:
                     
                     # 等待一小步时间
                     if i < steps and step_duration > 0:
-                        await asyncio.sleep(step_duration)
+                        await self._ros_node.sleep(step_duration)
             else:
                 # 移动距离很小，直接完成
                 self._position = target_position
@@ -341,7 +348,7 @@ class VirtualTransferPump:
         
         # 短暂停顿
         self.logger.debug("⏸️ 短暂停顿...")
-        await asyncio.sleep(0.1)
+        await self._ros_node.sleep(0.1)
         
         # 排液
         await self.dispense(volume, dispense_velocity)

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 ====================
@@ -703,10 +732,10 @@ class BioyondV1RPC(BaseRequest):
         """预加载材料列表到缓存中"""
         try:
             print("正在加载材料列表缓存...")
-            
+
             # 加载所有类型的材料：耗材(0)、样品(1)、试剂(2)
             material_types = [1, 2]
-            
+
             for type_mode in material_types:
                 print(f"正在加载类型 {type_mode} 的材料...")
                 stock_query = f'{{"typeMode": {type_mode}, "includeDetail": true}}'
@@ -723,7 +752,7 @@ class BioyondV1RPC(BaseRequest):
                     material_id = material.get("id")
                     if material_name and material_id:
                         self.material_cache[material_name] = material_id
-                    
+
                     # 处理样品板等容器中的detail材料
                     detail_materials = material.get("detail", [])
                     for detail_material in detail_materials:

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:
-                logger.error("Bioyond API客户端未初始化")
+            # ✅ 跳过仓库类型的资源 - 仓库是容器，不是物料
+            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,
@@ -246,7 +339,7 @@ class BioyondWorkstation(WorkstationBase):
             }
 
     # ==================== 工作流合并与参数设置 API ====================
-    
+
     def append_to_workflow_sequence(self, web_workflow_name: str) -> bool:
         # 检查是否为JSON格式的字符串
         actual_workflow_name = web_workflow_name
@@ -257,7 +350,7 @@ class BioyondWorkstation(WorkstationBase):
                 print(f"解析JSON格式工作流名称: {web_workflow_name} -> {actual_workflow_name}")
             except json.JSONDecodeError:
                 print(f"JSON解析失败，使用原始字符串: {web_workflow_name}")
-        
+
         workflow_id = self._get_workflow(actual_workflow_name)
         if workflow_id:
             self.workflow_sequence.append(workflow_id)
@@ -322,7 +415,7 @@ class BioyondWorkstation(WorkstationBase):
     # ============ 工作站状态管理 ============
     def get_station_info(self) -> Dict[str, Any]:
         """获取工作站基础信息
-        
+
         Returns:
             Dict[str, Any]: 工作站基础信息，包括设备ID、状态等
         """
@@ -450,8 +543,8 @@ class BioyondWorkstation(WorkstationBase):
 
             # 转换为UniLab格式
             unilab_resources = resource_bioyond_to_plr(
-                bioyond_data, 
-                type_mapping=self.bioyond_config["material_type_mappings"], 
+                bioyond_data,
+                type_mapping=self.bioyond_config["material_type_mappings"],
                 deck=self.deck
             )
 

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/devices/xrd_d7mate/device.json

@@ -0,0 +1,26 @@
+{
+    "nodes": [
+        {
+            "id": "XRD_D7MATE_STATION",
+            "name": "XRD_D7MATE",
+            "parent": null,
+            "type": "device",
+            "class": "xrd_d7mate",
+            "position": {
+                "x": 720.0,
+                "y": 200.0,
+                "z": 0
+            },
+            "config": {
+                "host": "127.0.0.1",
+                "port": 6001,
+                "timeout": 10.0
+            },
+            "data": {
+                "input_hint": "start 支持单字符串输入：'sample_name 样品A start_theta 10.0 end_theta 80.0 increment 0.02 exp_time 0.1 [wait_minutes 3]'；也支持等号形式 'sample_id=样品A start_theta=10.0 end_theta=80.0 increment=0.02 exp_time=0.1 wait_minutes=3'"
+            },
+            "children": []
+        }
+    ],
+    "links": []
+}

unilabos/devices/xrd_d7mate/xrd_d7mate.py

@@ -0,0 +1,939 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+XRD D7-Mate设备驱动
+
+支持XRD D7-Mate设备的TCP通信协议，包括自动模式控制、上样流程、数据获取、下样流程和高压电源控制等功能。
+通信协议版本：1.0.0
+"""
+
+import json
+import socket
+import struct
+import time
+from typing import Dict, List, Optional, Tuple, Any, Union
+
+
+class XRDClient:
+    def __init__(self, host='127.0.0.1', port=6001, timeout=10.0):
+        """
+        初始化XRD D7-Mate客户端
+        
+        Args:
+            host (str): 设备IP地址
+            port (int): 通信端口，默认6001
+            timeout (float): 超时时间，单位秒
+        """
+        self.host = host
+        self.port = port
+        self.timeout = timeout
+        self.sock = None
+        self._ros_node = None  # ROS节点引用，由框架设置
+    
+    def post_init(self, ros_node):
+        """
+        ROS节点初始化后的回调方法，保存ROS节点引用但不自动连接
+        
+        Args:
+            ros_node: ROS节点实例
+        """
+        self._ros_node = ros_node
+        ros_node.lab_logger().info(f"XRD D7-Mate设备已初始化，将在需要时连接: {self.host}:{self.port}")
+        # 不自动连接，只有在调用具体功能时才建立连接
+
+    def connect(self):
+        """
+        建立TCP连接到XRD D7-Mate设备
+        
+        Raises:
+            ConnectionError: 连接失败时抛出
+        """
+        try:
+            self.sock = socket.create_connection((self.host, self.port), timeout=self.timeout)
+            self.sock.settimeout(self.timeout)
+        except Exception as e:
+            raise ConnectionError(f"Failed to connect to {self.host}:{self.port} - {str(e)}")
+
+    def close(self):
+        """
+        关闭与XRD D7-Mate设备的TCP连接
+        """
+        if self.sock:
+            try:
+                self.sock.close()
+            except Exception:
+                pass  # 忽略关闭时的错误
+            finally:
+                self.sock = None
+
+    def _ensure_connection(self) -> bool:
+        """
+        确保连接存在，如果不存在则尝试建立连接
+        
+        Returns:
+            bool: 连接是否成功建立
+        """
+        if self.sock is None:
+            try:
+                self.connect()
+                return True
+            except Exception as e:
+                if self._ros_node:
+                    self._ros_node.lab_logger().error(f"建立连接失败: {e}")
+                return False
+        return True
+
+    def _receive_with_length_prefix(self) -> dict:
+        """
+        使用长度前缀协议接收数据
+        
+        Returns:
+            dict: 解析后的JSON响应数据
+            
+        Raises:
+            ConnectionError: 连接错误
+            TimeoutError: 超时错误
+        """
+        try:
+            # 首先接收4字节的长度信息
+            length_data = bytearray()
+            while len(length_data) < 4:
+                chunk = self.sock.recv(4 - len(length_data))
+                if not chunk:
+                    raise ConnectionError("Connection closed while receiving length prefix")
+                length_data.extend(chunk)
+            
+            # 解析长度（大端序无符号整数）
+            data_length = struct.unpack('>I', length_data)[0]
+            
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"接收到数据长度: {data_length} 字节")
+            
+            # 根据长度接收实际数据
+            json_data = bytearray()
+            while len(json_data) < data_length:
+                remaining = data_length - len(json_data)
+                chunk = self.sock.recv(min(4096, remaining))
+                if not chunk:
+                    raise ConnectionError("Connection closed while receiving JSON data")
+                json_data.extend(chunk)
+            
+            # 解码JSON数据，优先使用UTF-8，失败时尝试GBK
+            try:
+                json_str = json_data.decode('utf-8')
+            except UnicodeDecodeError:
+                json_str = json_data.decode('gbk')
+            
+            # 解析JSON
+            result = json.loads(json_str)
+            
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"成功解析JSON响应: {result}")
+            
+            return result
+            
+        except socket.timeout:
+            if self._ros_node:
+                self._ros_node.lab_logger().warning(f"接收超时")
+            raise TimeoutError(f"recv() timed out after {self.timeout:.1f}s")
+        except Exception as e:
+            if self._ros_node:
+                self._ros_node.lab_logger().error(f"接收数据失败: {e}")
+            raise ConnectionError(f"Failed to receive data: {str(e)}")
+
+    def _send_command(self, cmd: dict) -> dict:
+        """
+        使用长度前缀协议发送命令到XRD D7-Mate设备并接收响应
+        
+        Args:
+            cmd (dict): 要发送的命令字典
+            
+        Returns:
+            dict: 设备响应的JSON数据
+            
+        Raises:
+            ConnectionError: 连接错误
+            TimeoutError: 超时错误
+        """
+        # 确保连接存在，如果不存在则建立连接
+        if not self.sock:
+            try:
+                self.connect()
+                if self._ros_node:
+                    self._ros_node.lab_logger().info(f"为命令重新建立连接")
+            except Exception as e:
+                raise ConnectionError(f"Failed to establish connection: {str(e)}")
+
+        try:
+            # 序列化命令为JSON
+            json_str = json.dumps(cmd, ensure_ascii=False)
+            payload = json_str.encode('utf-8')
+            
+            # 计算JSON数据长度并打包为4字节大端序无符号整数
+            length_prefix = struct.pack('>I', len(payload))
+            
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"发送JSON命令到XRD D7-Mate: {json_str}")
+                self._ros_node.lab_logger().info(f"发送数据长度: {len(payload)} 字节")
+            
+            # 发送长度前缀
+            self.sock.sendall(length_prefix)
+            
+            # 发送JSON数据
+            self.sock.sendall(payload)
+            
+            # 使用长度前缀协议接收响应
+            response = self._receive_with_length_prefix()
+            
+            return response
+            
+        except Exception as e:
+            # 如果是连接错误，尝试重新连接一次
+            if "远程主机强迫关闭了一个现有的连接" in str(e) or "10054" in str(e):
+                if self._ros_node:
+                    self._ros_node.lab_logger().warning(f"连接被远程主机关闭，尝试重新连接: {e}")
+                try:
+                    self.close()
+                    self.connect()
+                    # 重新发送命令
+                    json_str = json.dumps(cmd, ensure_ascii=False)
+                    payload = json_str.encode('utf-8')
+                    if self._ros_node:
+                        self._ros_node.lab_logger().info(f"重新发送JSON命令到XRD D7-Mate: {json_str}")
+                    self.sock.sendall(payload)
+                    
+                    # 重新接收响应
+                    buffer = bytearray()
+                    start = time.time()
+                    while True:
+                        try:
+                            chunk = self.sock.recv(4096)
+                            if not chunk:
+                                break
+                            buffer.extend(chunk)
+                            
+                            # 尝试解码和解析JSON
+                            try:
+                                text = buffer.decode('utf-8', errors='strict')
+                                text = text.strip()
+                                if text.startswith('{'):
+                                    brace_count = 0
+                                    json_end = -1
+                                    for i, char in enumerate(text):
+                                        if char == '{':
+                                            brace_count += 1
+                                        elif char == '}':
+                                            brace_count -= 1
+                                            if brace_count == 0:
+                                                json_end = i + 1
+                                                break
+                                    if json_end > 0:
+                                        text = text[:json_end]
+                                result = json.loads(text)
+                                
+                                if self._ros_node:
+                                    self._ros_node.lab_logger().info(f"重连后成功解析JSON响应: {result}")
+                                return result
+                                    
+                            except (UnicodeDecodeError, json.JSONDecodeError):
+                                pass
+                                
+                        except socket.timeout:
+                            if self._ros_node:
+                                self._ros_node.lab_logger().warning(f"重连后接收超时")
+                            raise TimeoutError(f"recv() timed out after reconnection")
+                        
+                        if time.time() - start > self.timeout * 2:
+                            raise TimeoutError(f"No complete JSON received after reconnection")
+                    
+                except Exception as retry_e:
+                    if self._ros_node:
+                        self._ros_node.lab_logger().error(f"重连失败: {retry_e}")
+                    raise ConnectionError(f"Connection retry failed: {str(retry_e)}")
+            
+            if isinstance(e, (ConnectionError, TimeoutError)):
+                raise
+            else:
+                raise ConnectionError(f"Command send failed: {str(e)}")
+
+    # ==================== 自动模式控制 ====================
+    
+    def start_auto_mode(self, status: bool) -> dict:
+        """
+        启动或停止自动模式
+        
+        Args:
+            status (bool): True-启动自动模式，False-停止自动模式
+            
+        Returns:
+            dict: 响应结果，包含status、timestamp、message
+        """
+        if not self.sock:
+            try:
+                self.connect()
+                if self._ros_node:
+                    self._ros_node.lab_logger().info("XRD D7-Mate设备重新连接成功")
+            except Exception as e:
+                if self._ros_node:
+                    self._ros_node.lab_logger().warning(f"XRD D7-Mate设备连接失败: {e}")
+                return {"status": False, "message": "设备连接异常"}
+        
+        try:
+            # 按协议要求，content 直接为布尔值，使用传入的status参数
+            cmd = {
+                "command": "START_AUTO_MODE",
+                "content": {
+                    "status": bool(True)
+                }
+            }
+            
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"发送自动模式控制命令: {cmd}")
+            
+            response = self._send_command(cmd)
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"收到自动模式控制响应: {response}")
+            
+            return response
+        except Exception as e:
+            if self._ros_node:
+                self._ros_node.lab_logger().error(f"自动模式控制失败: {e}")
+            return {"status": False, "message": f"自动模式控制失败: {str(e)}"}
+
+    # ==================== 上样流程 ====================
+    
+    def get_sample_request(self) -> dict:
+        """
+        上样请求，检查是否允许上样
+        
+        Returns:
+            dict: 响应结果，包含status、timestamp、message
+        """
+        if not self.sock:
+            try:
+                self.connect()
+                if self._ros_node:
+                    self._ros_node.lab_logger().info("XRD D7-Mate设备重新连接成功")
+            except Exception as e:
+                if self._ros_node:
+                    self._ros_node.lab_logger().warning(f"XRD D7-Mate设备连接失败: {e}")
+                return {"status": False, "message": "设备连接异常"}
+        
+        try:
+            cmd = {
+                "command": "GET_SAMPLE_REQUEST",
+            }
+            
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"发送上样请求命令: {cmd}")
+            
+            response = self._send_command(cmd)
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"收到上样请求响应: {response}")
+            
+            return response
+        except Exception as e:
+            if self._ros_node:
+                self._ros_node.lab_logger().error(f"上样请求失败: {e}")
+            return {"status": False, "message": f"上样请求失败: {str(e)}"}
+
+    def send_sample_ready(self, sample_id: str, start_theta: float, end_theta: float, 
+                         increment: float, exp_time: float) -> dict:
+        """
+        送样完成后，发送样品信息和采集参数
+        
+        Args:
+            sample_id (str): 样品标识符
+            start_theta (float): 起始角度（≥5°）
+            end_theta (float): 结束角度（≥5.5°，且必须大于start_theta）
+            increment (float): 角度增量（≥0.005）
+            exp_time (float): 曝光时间（0.1-5.0秒）
+            
+        Returns:
+            dict: 响应结果，包含status、timestamp、message等
+        """
+        # 参数验证
+        if start_theta < 5.0:
+            return {"status": False, "message": "起始角度必须≥5°"}
+        if end_theta < 5.5:
+            return {"status": False, "message": "结束角度必须≥5.5°"}
+        if end_theta <= start_theta:
+            return {"status": False, "message": "结束角度必须大于起始角度"}
+        if increment < 0.005:
+            return {"status": False, "message": "角度增量必须≥0.005"}
+        if not (0.1 <= exp_time <= 5.0):
+            return {"status": False, "message": "曝光时间必须在0.1-5.0秒之间"}
+        
+        if not self.sock:
+            try:
+                self.connect()
+                if self._ros_node:
+                    self._ros_node.lab_logger().info("XRD D7-Mate设备重新连接成功")
+            except Exception as e:
+                if self._ros_node:
+                    self._ros_node.lab_logger().warning(f"XRD D7-Mate设备连接失败: {e}")
+                return {"status": False, "message": "设备连接异常"}
+        
+        try:
+            cmd = {
+                "command": "SEND_SAMPLE_READY",
+                "content": {
+                    "sample_id": sample_id,
+                    "start_theta": start_theta,
+                    "end_theta": end_theta,
+                    "increment": increment,
+                    "exp_time": exp_time
+                }
+            }
+            
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"发送样品准备完成命令: {cmd}")
+            
+            response = self._send_command(cmd)
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"收到样品准备完成响应: {response}")
+            
+            return response
+        except Exception as e:
+            if self._ros_node:
+                self._ros_node.lab_logger().error(f"样品准备完成失败: {e}")
+            return {"status": False, "message": f"样品准备完成失败: {str(e)}"}
+
+    # ==================== 数据获取 ====================
+    
+    def get_current_acquire_data(self) -> dict:
+        """
+        获取当前正在采集的样品数据
+        
+        Returns:
+            dict: 响应结果，包含status、timestamp、sample_id、Energy、Intensity等
+        """
+        if not self.sock:
+            try:
+                self.connect()
+                if self._ros_node:
+                    self._ros_node.lab_logger().info("XRD D7-Mate设备重新连接成功")
+            except Exception as e:
+                if self._ros_node:
+                    self._ros_node.lab_logger().warning(f"XRD D7-Mate设备连接失败: {e}")
+                return {"status": False, "message": "设备连接异常"}
+        
+        try:
+            cmd = {
+                "command": "GET_CURRENT_ACQUIRE_DATA",
+            }
+            
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"发送获取采集数据命令: {cmd}")
+            
+            response = self._send_command(cmd)
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"收到获取采集数据响应: {response}")
+            
+            return response
+        except Exception as e:
+            if self._ros_node:
+                self._ros_node.lab_logger().error(f"获取采集数据失败: {e}")
+            return {"status": False, "message": f"获取采集数据失败: {str(e)}"}
+
+    def get_sample_status(self) -> dict:
+        """
+        获取工位样品状态及设备状态
+        
+        Returns:
+            dict: 响应结果，包含status、timestamp、Station等
+        """
+        if not self.sock:
+            try:
+                self.connect()
+                if self._ros_node:
+                    self._ros_node.lab_logger().info("XRD D7-Mate设备重新连接成功")
+            except Exception as e:
+                if self._ros_node:
+                    self._ros_node.lab_logger().warning(f"XRD D7-Mate设备连接失败: {e}")
+                return {"status": False, "message": "设备连接异常"}
+        
+        try:
+            cmd = {
+                "command": "GET_SAMPLE_STATUS",
+            }
+            
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"发送获取样品状态命令: {cmd}")
+            
+            response = self._send_command(cmd)
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"收到获取样品状态响应: {response}")
+            
+            return response
+        except Exception as e:
+            if self._ros_node:
+                self._ros_node.lab_logger().error(f"获取样品状态失败: {e}")
+            return {"status": False, "message": f"获取样品状态失败: {str(e)}"}
+
+    # ==================== 下样流程 ====================
+    
+    def get_sample_down(self, sample_station: int) -> dict:
+        """
+        下样请求
+        
+        Args:
+            sample_station (int): 下样工位（1, 2, 3）
+            
+        Returns:
+            dict: 响应结果，包含status、timestamp、sample_info等
+        """
+        # 参数验证
+        if sample_station not in [1, 2, 3]:
+            return {"status": False, "message": "下样工位必须是1、2或3"}
+        
+        if not self.sock:
+            try:
+                self.connect()
+                if self._ros_node:
+                    self._ros_node.lab_logger().info("XRD D7-Mate设备重新连接成功")
+            except Exception as e:
+                if self._ros_node:
+                    self._ros_node.lab_logger().warning(f"XRD D7-Mate设备连接失败: {e}")
+                return {"status": False, "message": "设备连接异常"}
+        
+        try:
+            # 按协议要求，content 直接为整数工位号
+            cmd = {
+                "command": "GET_SAMPLE_DOWN",
+                "content": {
+                    "Sample station":int(3)
+                }
+            }
+            
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"发送下样请求命令: {cmd}")
+            
+            response = self._send_command(cmd)
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"收到下样请求响应: {response}")
+            
+            return response
+        except Exception as e:
+            if self._ros_node:
+                self._ros_node.lab_logger().error(f"下样请求失败: {e}")
+            return {"status": False, "message": f"下样请求失败: {str(e)}"}
+
+    def send_sample_down_ready(self) -> dict:
+        """
+        下样完成命令
+        
+        Returns:
+            dict: 响应结果，包含status、timestamp、message
+        """
+        if not self.sock:
+            try:
+                self.connect()
+                if self._ros_node:
+                    self._ros_node.lab_logger().info("XRD D7-Mate设备重新连接成功")
+            except Exception as e:
+                if self._ros_node:
+                    self._ros_node.lab_logger().warning(f"XRD D7-Mate设备连接失败: {e}")
+                return {"status": False, "message": "设备连接异常"}
+        
+        try:
+            cmd = {
+                "command": "SEND_SAMPLE_DOWN_READY",
+            }
+            
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"发送下样完成命令: {cmd}")
+            
+            response = self._send_command(cmd)
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"收到下样完成响应: {response}")
+            
+            return response
+        except Exception as e:
+            if self._ros_node:
+                self._ros_node.lab_logger().error(f"下样完成失败: {e}")
+            return {"status": False, "message": f"下样完成失败: {str(e)}"}
+
+    # ==================== 高压电源控制 ====================
+    
+    def set_power_on(self) -> dict:
+        """
+        高压电源开启
+        
+        Returns:
+            dict: 响应结果，包含status、timestamp、message
+        """
+        if not self.sock:
+            try:
+                self.connect()
+                if self._ros_node:
+                    self._ros_node.lab_logger().info("XRD D7-Mate设备重新连接成功")
+            except Exception as e:
+                if self._ros_node:
+                    self._ros_node.lab_logger().warning(f"XRD D7-Mate设备连接失败: {e}")
+                return {"status": False, "message": "设备连接异常"}
+        
+        try:
+            cmd = {
+                "command": "SET_POWER_ON",
+            }
+            
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"发送高压电源开启命令: {cmd}")
+            
+            response = self._send_command(cmd)
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"收到高压开启响应: {response}")
+            
+            return response
+        except Exception as e:
+            if self._ros_node:
+                self._ros_node.lab_logger().error(f"高压开启失败: {e}")
+            return {"status": False, "message": f"高压开启失败: {str(e)}"}
+
+    def set_power_off(self) -> dict:
+        """
+        高压电源关闭
+        
+        Returns:
+            dict: 响应结果，包含status、timestamp、message
+        """
+        if not self.sock:
+            try:
+                self.connect()
+                if self._ros_node:
+                    self._ros_node.lab_logger().info("XRD D7-Mate设备重新连接成功")
+            except Exception as e:
+                if self._ros_node:
+                    self._ros_node.lab_logger().warning(f"XRD D7-Mate设备连接失败: {e}")
+                return {"status": False, "message": "设备连接异常"}
+        
+        try:
+            cmd = {
+                "command": "SET_POWER_OFF",
+            }
+            
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"发送高压电源关闭命令: {cmd}")
+            
+            response = self._send_command(cmd)
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"收到高压关闭响应: {response}")
+            
+            return response
+        except Exception as e:
+            if self._ros_node:
+                self._ros_node.lab_logger().error(f"高压关闭失败: {e}")
+            return {"status": False, "message": f"高压关闭失败: {str(e)}"}
+
+    def set_voltage_current(self, voltage: float, current: float) -> dict:
+        """
+        设置高压电源电压和电流
+        
+        Args:
+            voltage (float): 电压值（kV）
+            current (float): 电流值（mA）
+            
+        Returns:
+            dict: 响应结果，包含status、timestamp、message
+        """
+        if not self.sock:
+            try:
+                self.connect()
+                if self._ros_node:
+                    self._ros_node.lab_logger().info("XRD D7-Mate设备重新连接成功")
+            except Exception as e:
+                if self._ros_node:
+                    self._ros_node.lab_logger().warning(f"XRD D7-Mate设备连接失败: {e}")
+                return {"status": False, "message": "设备连接异常"}
+        
+        try:
+            cmd = {
+                "command": "SET_VOLTAGE_CURRENT",
+                "content": {
+                    "voltage": voltage,
+                    "current": current
+                }
+            }
+            
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"发送设置电压电流命令: {cmd}")
+            
+            response = self._send_command(cmd)
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"收到设置电压电流响应: {response}")
+            
+            return response
+        except Exception as e:
+            if self._ros_node:
+                self._ros_node.lab_logger().error(f"设置电压电流失败: {e}")
+            return {"status": False, "message": f"设置电压电流失败: {str(e)}"}
+
+    def start(self, sample_id: str = "", start_theta: float = 10.0, end_theta: float = 80.0,
+                 increment: float = 0.05, exp_time: float = 0.1, wait_minutes: float = 3.0, 
+                 string: str = "") -> dict:
+        """
+        Start 主流程：
+        1) 启动自动模式；
+        2) 发送上样请求并等待允许；
+        3) 等待指定分钟后发送样品准备完成（携带采集参数）；
+        4) 周期性轮询采集数据与工位状态；
+        5) 一旦任一下样位变为 True，执行下样流程（GET_SAMPLE_DOWN + SEND_SAMPLE_DOWN_READY）。
+
+        Args:
+            sample_id: 样品名称
+            start_theta: 起始角度（≥5°）
+            end_theta: 结束角度（≥5.5°，且必须大于 start_theta）
+            increment: 角度增量（≥0.005）
+            exp_time: 曝光时间（0.1-5.0 秒）
+            wait_minutes: 在允许上样后、发送样品准备完成前的等待分钟数（默认 3 分钟）
+            string: 字符串格式的参数输入，如果提供则优先解析使用
+
+        Returns:
+            dict: {"return_info": str, "success": bool}
+        """
+        try:
+            # 强制类型转换：除 sample_id 外的所有输入均转换为 float（若为字符串）
+            def _to_float(v, default):
+                try:
+                    return float(v)
+                except (TypeError, ValueError):
+                    return float(default)
+
+            if not isinstance(sample_id, str):
+                sample_id = str(sample_id)
+            if isinstance(start_theta, str):
+                start_theta = _to_float(start_theta, 10.0)
+            if isinstance(end_theta, str):
+                end_theta = _to_float(end_theta, 80.0)
+            if isinstance(increment, str):
+                increment = _to_float(increment, 0.05)
+            if isinstance(exp_time, str):
+                exp_time = _to_float(exp_time, 0.1)
+            if isinstance(wait_minutes, str):
+                wait_minutes = _to_float(wait_minutes, 3.0)
+
+            # 不再从 string 参数解析覆盖；保留参数但忽略字符串解析，统一使用结构化输入
+
+            # 确保设备连接
+            if not self.sock:
+                try:
+                    self.connect()
+                    if self._ros_node:
+                        self._ros_node.lab_logger().info("XRD D7-Mate设备连接成功，开始执行start流程")
+                except Exception as e:
+                    if self._ros_node:
+                        self._ros_node.lab_logger().error(f"XRD D7-Mate设备连接失败: {e}")
+                    return {"return_info": f"设备连接失败: {str(e)}", "success": False}
+
+            # 1) 启动自动模式
+            r_auto = self.start_auto_mode(True)
+            if not r_auto.get("status", False):
+                return {"return_info": f"启动自动模式失败: {r_auto.get('message', '未知')}", "success": False}
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"自动模式已启动: {r_auto}")
+
+            # 2) 上样请求
+            r_req = self.get_sample_request()
+            if not r_req.get("status", False):
+                return {"return_info": f"上样请求未允许: {r_req.get('message', '未知')}", "success": False}
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"上样已允许: {r_req}")
+
+            # 3) 等待指定分钟后发送样品准备完成
+            wait_seconds = max(0.0, float(wait_minutes)) * 60.0
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"等待 {wait_minutes} 分钟后发送样品准备完成")
+            time.sleep(wait_seconds)
+
+            r_ready = self.send_sample_ready(sample_id=sample_id,
+                                             start_theta=start_theta,
+                                             end_theta=end_theta,
+                                             increment=increment,
+                                             exp_time=exp_time)
+            if not r_ready.get("status", False):
+                return {"return_info": f"样品准备完成失败: {r_ready.get('message', '未知')}", "success": False}
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"样品准备完成已发送: {r_ready}")
+
+            # 4) 轮询采集数据与工位状态
+            polling_interval = 5.0  # 秒
+            down_station_idx: Optional[int] = None
+            while True:
+                try:
+                    r_data = self.get_current_acquire_data()
+                    if self._ros_node:
+                        self._ros_node.lab_logger().info(f"采集中数据: {r_data}")
+                except Exception as e:
+                    if self._ros_node:
+                        self._ros_node.lab_logger().warning(f"获取采集数据失败: {e}")
+
+                try:
+                    r_status = self.get_sample_status()
+                    if self._ros_node:
+                        self._ros_node.lab_logger().info(f"工位状态: {r_status}")
+
+                    station = r_status.get("Station", {})
+                    if isinstance(station, dict):
+                        for idx in (1, 2, 3):
+                            key = f"DownStation{idx}"
+                            val = station.get(key)
+                            if isinstance(val, bool) and val:
+                                down_station_idx = idx
+                                break
+                    if down_station_idx is not None:
+                        break
+                except Exception as e:
+                    if self._ros_node:
+                        self._ros_node.lab_logger().warning(f"获取工位状态失败: {e}")
+
+                time.sleep(polling_interval)
+
+            if down_station_idx is None:
+                return {"return_info": "未检测到任一下样位 True，流程未完成", "success": False}
+
+            # 5) 下样流程
+            r_down = self.get_sample_down(down_station_idx)
+            if not r_down.get("status", False):
+                return {"return_info": f"下样请求失败(工位 {down_station_idx}): {r_down.get('message', '未知')}", "success": False}
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"下样请求成功(工位 {down_station_idx}): {r_down}")
+
+            r_ready_down = self.send_sample_down_ready()
+            if not r_ready_down.get("status", False):
+                return {"return_info": f"下样完成发送失败: {r_ready_down.get('message', '未知')}", "success": False}
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"下样完成已发送: {r_ready_down}")
+
+            return {"return_info": f"Start流程完成，工位 {down_station_idx} 已下样", "success": True}
+
+        except Exception as e:
+            if self._ros_node:
+                self._ros_node.lab_logger().error(f"Start流程异常: {e}")
+            return {"return_info": f"Start流程异常: {str(e)}", "success": False}
+
+    def _parse_start_params(self, params: Union[str, Dict[str, Any]]) -> Dict[str, Any]:
+        """
+        解析UI输入参数为 Start 流程参数。
+        - 从UI字典中读取各个字段的字符串值
+        - 将数值字段从字符串转换为 float 类型
+        - 保留 sample_id 为字符串类型
+
+        返回:
+            dict: {sample_id, start_theta, end_theta, increment, exp_time, wait_minutes}
+        """
+        # 如果传入为字典，则直接按键读取；否则给出警告并使用空字典
+        if isinstance(params, dict):
+            p = params
+        else:
+            p = {}
+            if self._ros_node:
+                self._ros_node.lab_logger().warning("start 参数应为结构化字典")
+
+        def _to_float(v, default):
+            """将UI输入的字符串值转换为float，处理空值和无效值"""
+            if v is None or v == '':
+                return float(default)
+            try:
+                # 处理字符串输入（来自UI）
+                if isinstance(v, str):
+                    v = v.strip()
+                    if v == '':
+                        return float(default)
+                return float(v)
+            except (TypeError, ValueError):
+                return float(default)
+
+        # 从UI输入字典中读取参数
+        sample_id = p.get('sample_id') or p.get('sample_name') or '样品名称'
+        if not isinstance(sample_id, str):
+            sample_id = str(sample_id)
+
+        # 将UI字符串输入转换为float
+        result: Dict[str, Any] = {
+            'sample_id': sample_id,
+            'start_theta': _to_float(p.get('start_theta'), 10.0),
+            'end_theta': _to_float(p.get('end_theta'), 80.0),
+            'increment': _to_float(p.get('increment'), 0.05),
+            'exp_time': _to_float(p.get('exp_time'), 0.1),
+            'wait_minutes': _to_float(p.get('wait_minutes'), 3.0),
+        }
+
+        return result
+
+    def start_from_string(self, params: Union[str, Dict[str, Any]]) -> dict:
+        """
+        从UI输入参数执行 Start 主流程。
+        接收来自用户界面的参数字典，其中数值字段为字符串格式，自动转换为正确的类型。
+
+        参数:
+            params: UI输入参数字典，例如:
+                {
+                    'sample_id': 'teste',
+                    'start_theta': '10.0',      # UI字符串输入
+                    'end_theta': '25.0',        # UI字符串输入
+                    'increment': '0.05',        # UI字符串输入
+                    'exp_time': '0.10',         # UI字符串输入
+                    'wait_minutes': '0.5'       # UI字符串输入
+                }
+
+        返回:
+            dict: 执行结果
+        """
+        parsed = self._parse_start_params(params)
+
+        sample_id = parsed.get('sample_id', '样品名称')
+        start_theta = float(parsed.get('start_theta', 10.0))
+        end_theta = float(parsed.get('end_theta', 80.0))
+        increment = float(parsed.get('increment', 0.05))
+        exp_time = float(parsed.get('exp_time', 0.1))
+        wait_minutes = float(parsed.get('wait_minutes', 3.0))
+
+        return self.start(
+            sample_id=sample_id,
+            start_theta=start_theta,
+            end_theta=end_theta,
+            increment=increment,
+            exp_time=exp_time,
+            wait_minutes=wait_minutes,
+        )
+
+# 测试函数
+def test_xrd_client():
+    """
+    测试XRD客户端功能
+    """
+    client = XRDClient(host='127.0.0.1', port=6001)
+    
+    try:
+        # 测试连接
+        client.connect()
+        print("连接成功")
+        
+        # 测试启动自动模式
+        result = client.start_auto_mode(True)
+        print(f"启动自动模式: {result}")
+        
+        # 测试上样请求
+        result = client.get_sample_request()
+        print(f"上样请求: {result}")
+        
+        # 测试获取样品状态
+        result = client.get_sample_status()
+        print(f"样品状态: {result}")
+        
+        # 测试高压开启
+        result = client.set_power_on()
+        print(f"高压开启: {result}")
+        
+    except Exception as e:
+        print(f"测试失败: {e}")
+    finally:
+        client.close()
+
+
+if __name__ == "__main__":
+    test_xrd_client()
+
+# 为了兼容性，提供别名
+XRD_D7Mate = XRDClient

unilabos/registry/devices/opsky_ATR30007.yaml

@@ -0,0 +1,86 @@
+opsky_ATR30007:
+  category:
+  - characterization_optic
+  - opsky_ATR30007
+  class:
+    action_value_mappings:
+      auto-run_once:
+        feedback: {}
+        goal: {}
+        goal_default:
+          integration_time: '5000'
+          laser_power: '200'
+          norm_max: '1.0'
+          normalize: 'true'
+          save_csv: 'true'
+          save_plot: 'true'
+        handles: {}
+        result: {}
+        schema:
+          description: 执行一次站控-扫码-拉曼流程的大函数入口，参数以字符串形式传入。
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                integration_time:
+                  default: '5000'
+                  type: string
+                laser_power:
+                  default: '200'
+                  type: string
+                norm_max:
+                  default: '1.0'
+                  type: string
+                normalize:
+                  default: 'true'
+                  type: string
+                save_csv:
+                  default: 'true'
+                  type: string
+                save_plot:
+                  default: 'true'
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required: []
+          title: run_once 参数
+          type: object
+        type: UniLabJsonCommand
+    module: unilabos.devices.opsky_Raman.opsky_ATR30007:opsky_ATR30007
+    status_types: {}
+    type: python
+  config_info: []
+  description: OPSKY ATR30007 光纤拉曼模块，提供单一入口大函数以执行一次完整流程。
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        plc_ip:
+          default: 192.168.1.88
+          type: string
+        plc_port:
+          default: 502
+          type: integer
+        robot_ip:
+          default: 192.168.1.200
+          type: string
+        robot_port:
+          default: 502
+          type: integer
+        scan_csv_file:
+          default: scan_results.csv
+          type: string
+      required:
+      - plc_ip
+      - plc_port
+      - robot_ip
+      - robot_port
+      - scan_csv_file
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object
+  version: 1.0.0

unilabos/registry/devices/xrd_d7mate.yaml

@@ -0,0 +1,557 @@
+xrd_d7mate:
+  category:
+  - xrd_d7mate
+  class:
+    action_value_mappings:
+      auto-close:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: 安全关闭与XRD D7-Mate设备的TCP连接，释放网络资源。
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: close参数
+          type: object
+        type: UniLabJsonCommand
+      auto-connect:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: 与XRD D7-Mate设备建立TCP连接，配置超时参数。
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: connect参数
+          type: object
+        type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
+      get_current_acquire_data:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              properties: {}
+              required: []
+              title: EmptyIn_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
+      get_sample_down:
+        feedback: {}
+        goal:
+          sample_station: 1
+        goal_default:
+          int_input: 0
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: IntSingleInput_Feedback
+              type: object
+            goal:
+              properties:
+                int_input:
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
+              required:
+              - int_input
+              title: IntSingleInput_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: IntSingleInput_Result
+              type: object
+          required:
+          - goal
+          title: IntSingleInput
+          type: object
+        type: IntSingleInput
+      get_sample_request:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              properties: {}
+              required: []
+              title: EmptyIn_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
+      get_sample_status:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              properties: {}
+              required: []
+              title: EmptyIn_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
+      send_sample_down_ready:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              properties: {}
+              required: []
+              title: EmptyIn_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
+      send_sample_ready:
+        feedback: {}
+        goal:
+          end_theta: 80.0
+          exp_time: 0.5
+          increment: 0.02
+          sample_id: ''
+          start_theta: 10.0
+        goal_default:
+          end_theta: 80.0
+          exp_time: 0.5
+          increment: 0.02
+          sample_id: Sample001
+          start_theta: 10.0
+        handles: {}
+        result: {}
+        schema:
+          description: 送样完成后，发送样品信息和采集参数
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: SampleReadyInput_Feedback
+              type: object
+            goal:
+              properties:
+                end_theta:
+                  description: 结束角度（≥5.5°，且必须大于start_theta）
+                  minimum: 5.5
+                  type: number
+                exp_time:
+                  description: 曝光时间（0.1-5.0秒）
+                  maximum: 5.0
+                  minimum: 0.1
+                  type: number
+                increment:
+                  description: 角度增量（≥0.005）
+                  minimum: 0.005
+                  type: number
+                sample_id:
+                  description: 样品标识符
+                  type: string
+                start_theta:
+                  description: 起始角度（≥5°）
+                  minimum: 5.0
+                  type: number
+              required:
+              - sample_id
+              - start_theta
+              - end_theta
+              - increment
+              - exp_time
+              title: SampleReadyInput_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SampleReadyInput_Result
+              type: object
+          required:
+          - goal
+          title: SampleReadyInput
+          type: object
+        type: UniLabJsonCommand
+      set_power_off:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              properties: {}
+              required: []
+              title: EmptyIn_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
+      set_power_on:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              properties: {}
+              required: []
+              title: EmptyIn_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
+      set_voltage_current:
+        feedback: {}
+        goal:
+          current: 30.0
+          voltage: 40.0
+        goal_default:
+          current: 30.0
+          voltage: 40.0
+        handles: {}
+        result: {}
+        schema:
+          description: 设置高压电源电压和电流
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: VoltageCurrentInput_Feedback
+              type: object
+            goal:
+              properties:
+                current:
+                  description: 电流值（mA）
+                  type: number
+                voltage:
+                  description: 电压值（kV）
+                  type: number
+              required:
+              - voltage
+              - current
+              title: VoltageCurrentInput_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: VoltageCurrentInput_Result
+              type: object
+          required:
+          - goal
+          title: VoltageCurrentInput
+          type: object
+        type: UniLabJsonCommand
+      start:
+        feedback: {}
+        goal: {}
+        goal_default:
+          end_theta: 80.0
+          exp_time: 0.1
+          increment: 0.05
+          sample_id: 样品名称
+          start_theta: 10.0
+          string: ''
+          wait_minutes: 3.0
+        handles: {}
+        result: {}
+        schema:
+          description: 启动自动模式→上样→等待→样品准备→监控→检测下样位→执行下样流程。
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                end_theta:
+                  description: 结束角度（≥5.5°，且必须大于start_theta）
+                  minimum: 5.5
+                  type: string
+                exp_time:
+                  description: 曝光时间（0.1-5.0秒）
+                  maximum: 5.0
+                  minimum: 0.1
+                  type: string
+                increment:
+                  description: 角度增量（≥0.005）
+                  minimum: 0.005
+                  type: string
+                sample_id:
+                  description: 样品标识符
+                  type: string
+                start_theta:
+                  description: 起始角度（≥5°）
+                  minimum: 5.0
+                  type: string
+                string:
+                  description: 字符串格式的参数输入，如果提供则优先解析使用
+                  type: string
+                wait_minutes:
+                  description: 允许上样后等待分钟数
+                  minimum: 0.0
+                  type: number
+              required:
+              - sample_id
+              - start_theta
+              - end_theta
+              - increment
+              - exp_time
+              title: StartWorkflow_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: StartWorkflow_Result
+              type: object
+          required:
+          - goal
+          title: StartWorkflow
+          type: object
+        type: UniLabJsonCommand
+      start_auto_mode:
+        feedback: {}
+        goal:
+          status: true
+        goal_default:
+          status: true
+        handles: {}
+        result: {}
+        schema:
+          description: 启动或停止自动模式
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: BoolSingleInput_Feedback
+              type: object
+            goal:
+              properties:
+                status:
+                  description: True-启动自动模式，False-停止自动模式
+                  type: boolean
+              required:
+              - status
+              title: BoolSingleInput_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: BoolSingleInput_Result
+              type: object
+          required:
+          - goal
+          title: BoolSingleInput
+          type: object
+        type: UniLabJsonCommand
+    module: unilabos.devices.xrd_d7mate.xrd_d7mate:XRDClient
+    status_types: {}
+    type: python
+  config_info: []
+  description: XRD D7-Mate X射线衍射分析设备，通过TCP通信实现远程控制与状态监控，支持自动模式控制、上样流程、数据获取、下样流程和高压电源控制等功能。
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        host:
+          default: 127.0.0.1
+          type: string
+        port:
+          default: 6001
+          type: string
+        timeout:
+          default: 10.0
+          type: string
+      required: []
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object
+  version: 1.0.0

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

@@ -1,12 +1,27 @@
 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):
     def __init__(
-        self, 
+        self,
         name: str = "PolymerReactionStation_Deck",
         size_x: float = 2700.0,
         size_y: float = 1080.0,
@@ -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2": bioyond_warehouse_1x4x4("堆栈2"),
-            "站内试剂存放堆栈": bioyond_warehouse_liquid_and_lid_handling("站内试剂存放堆栈"),
+            "堆栈1左": bioyond_warehouse_1x4x4("堆栈1左"),  # 左侧堆栈: A01～D04
+            "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_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2": Coordinate(2550.0, 430.0, 0.0),
-            "站内试剂存放堆栈": Coordinate(800.0, 475.0, 0.0),
+            "堆栈1左": Coordinate(0.0, 430.0, 0.0),  # 左侧位置
+            "堆栈1右": Coordinate(2500.0, 430.0, 0.0),  # 右侧位置
+            "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)
 
@@ -38,7 +60,7 @@ class BIOYOND_PolymerReactionStation_Deck(Deck):
 
 class BIOYOND_PolymerPreparationStation_Deck(Deck):
     def __init__(
-        self, 
+        self,
         name: str = "PolymerPreparationStation_Deck",
         size_x: float = 2700.0,
         size_y: float = 1080.0,
@@ -70,7 +92,7 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck):
 
 class BIOYOND_YB_Deck(Deck):
     def __init__(
-        self, 
+        self,
         name: str = "YB_Deck",
         size_x: float = 4150,
         size_y: float = 1400.0,
@@ -114,7 +136,7 @@ class BIOYOND_YB_Deck(Deck):
 
         for warehouse_name, warehouse in self.warehouses.items():
             self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
-            
+
 def YB_Deck(name: str) -> Deck:
     by=BIOYOND_YB_Deck(name=name)
     by.setup()

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
     )
 
 
@@ -158,4 +177,72 @@ def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse:
         item_dz=120.0,
         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
-            bottle.tracker.liquids = [
-                (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
-            ]
+            # 只对有 capacity 属性的容器（液体容器）处理液体追踪
+            if hasattr(plr_material, 'capacity'):
+                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:
-                    warehouse = deck.warehouses[loc["whName"]]
-                    idx = (
-                        (loc.get("y", 0) - 1) * warehouse.num_items_x * warehouse.num_items_y
-                        + (loc.get("x", 0) - 1) * warehouse.num_items_x
-                        + (loc.get("z", 0) - 1)
-                    )
+                wh_name = loc.get("whName")
+
+                # 特殊处理: Bioyond的"堆栈1"需要映射到"堆栈1左"或"堆栈1右"
+                # 根据列号(x)判断: 1-4映射到左侧, 5-8映射到右侧
+                if wh_name == "堆栈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", ""),
-                "unit": "",
+                "name": resource.name if hasattr(resource, "name") else "",
+                "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 = []
@@ -44,9 +45,11 @@ 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(
         name=name,
         size_x=dx + item_dx * num_items_x,

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, Future
 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
@@ -555,6 +555,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         rclpy.get_global_executor().add_node(self)
         self.lab_logger().debug(f"ROS节点初始化完成")
 
+    async def sleep(self, rel_time: float, callback_group=None):
+        if callback_group is None:
+            callback_group = self.callback_group
+        await ROS2DeviceNode.async_wait_for(self, rel_time, callback_group)
+
+    @classmethod
+    async def create_task(cls, func, trace_error=True, **kwargs) -> Task:
+        return ROS2DeviceNode.run_async_func(func, trace_error, **kwargs)
+
     async def update_resource(self, resources: List["ResourcePLR"]):
         r = SerialCommand.Request()
         tree_set = ResourceTreeSet.from_plr_resources(resources)
@@ -647,7 +656,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     ].call_async(
                         SerialCommand.Request(
                             command=json.dumps(
-                                {"data": {"data": resources_uuid, "with_children": False}, "action": "get"}
+                                {"data": {"data": resources_uuid, "with_children": True if action == "add" else "update"}, "action": "get"}
                             )
                         )
                     )  # type: ignore
@@ -1385,18 +1394,27 @@ 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 run_async_func(cls, func, trace_error=True, **kwargs) -> Task:
+        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 = rclpy.get_global_executor().create_task(func(**kwargs))
+        if trace_error:
+            future.add_done_callback(_handle_future_exception)
+        return future
 
     @classmethod
-    def get_loop(cls):
-        return cls._loop
-
-    @classmethod
-    def run_async_func(cls, func, trace_error=True, **kwargs):
-        return run_async_func(func, loop=cls._loop, trace_error=trace_error, **kwargs)
+    async def async_wait_for(cls, node: Node, wait_time: float, callback_group=None):
+        future = Future()
+        timer = node.create_timer(wait_time, lambda : future.set_result(None), callback_group=callback_group, clock=node.get_clock())
+        await future
+        timer.cancel()
+        node.destroy_timer(timer)
 
     @property
     def driver_instance(self):
@@ -1436,11 +1454,6 @@ 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 +1542,6 @@ 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/presets/host_node.py

@@ -18,7 +18,8 @@ from unilabos_msgs.srv import (
     ResourceDelete,
     ResourceUpdate,
     ResourceList,
-    SerialCommand, ResourceGet,
+    SerialCommand,
+    ResourceGet,
 )  # type: ignore
 from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 from unique_identifier_msgs.msg import UUID

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