feat(workstation): 实现奔曜与扣电池装配工作流统一配置执行接口

- 新增 `run_bioyond_cell_workflow` 函数以支持通过配置驱动奔曜配液与转运流程
- 新增 `run_coin_cell_packaging_workflow` 函数以支持通过配置驱动扣电池装配流程
- 两个函数均接受字典配置参数，实现初始化、操作调用及日志记录等功能的灵活控制- 提供 keep_alive机制用于持续运行场景
- 更新主程序入口逻辑，使用新工作流函数替代原有手动调用方式
- 支持从配置中读取实验样本、调度器设置以及各项操作开关和日志选项- 添加对 Excel 订单创建路径的配置化支持- 引入路径对象处理文件输入，提升跨平台兼容性- 增强错误提示信息，确保必要字段如 create_orders 的 excel_path 存在
- 封装所有设备动作至标准化函数调用结构，便于维护和扩展

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

@@ -257,7 +257,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
     def auto_feeding4to3(
         self,
         # ★ 修改点：默认模板路径
-        xlsx_path: Optional[str] = "/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx",
+        xlsx_path: Optional[str] = "/Users/calvincao/Desktop/work/uni-lab-all/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx",
         # ---------------- WH4 - 加样头面 (Z=1, 12个点位) ----------------
         WH4_x1_y1_z1_1_materialName: str = "", WH4_x1_y1_z1_1_quantity: float = 0.0,
         WH4_x2_y1_z1_2_materialName: str = "", WH4_x2_y1_z1_2_quantity: float = 0.0,
@@ -324,6 +324,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
                             "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]),
                             "materialName": str(row[5]).strip(),
                             "quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
+                            "temperature": 0,
                         })
                 # 四号手套箱原液瓶面
                 for _, row in df.iloc[14:23, 2:9].iterrows():
@@ -335,6 +336,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
                             "quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
                             "materialType": str(row[7]).strip() if pd.notna(row[7]) else "",
                             "targetWH": str(row[8]).strip() if pd.notna(row[8]) else "",
+                            "temperature": 0,
                         })
                 # 三号手套箱人工堆栈
                 for _, row in df.iloc[25:40, 2:7].iterrows():
@@ -344,11 +346,12 @@ class BioyondCellWorkstation(BioyondWorkstation):
                             "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]),
                             "materialType": str(row[5]).strip() if pd.notna(row[5]) else "",
                             "materialId": str(row[6]).strip() if pd.notna(row[6]) else "",
-                            "quantity": 1
+                            "quantity": 1,
+                            "temperature": 0,
                         })
             else:
                 logger.warning(f"未找到 Excel 文件 {xlsx_path}，自动切换到手动参数模式。")
-
+        # TODO: 温度下面手动模式没改，上面的改了
         # ---------- 模式 2: 手动填写 ----------
         if not items:
             params = locals()
@@ -474,7 +477,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
         - totalMass 自动计算为所有物料质量之和
         - createTime 缺失或为空时自动填充为当前日期（YYYY/M/D）
         """
-        default_path = Path("/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx")
+        default_path = Path("/Users/calvincao/Desktop/work/uni-lab-all/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx")
         path = Path(xlsx_path) if xlsx_path else default_path
         print(f"[create_orders] 使用 Excel 路径: {path}")
         if path != default_path:
@@ -1165,24 +1168,133 @@ class BioyondCellWorkstation(BioyondWorkstation):
 
 
 
+def run_bioyond_cell_workflow(config: Dict[str, Any]) -> BioyondCellWorkstation:
+    """按照统一配置执行奔曜配液与转运工作流。
+
+    Args:
+        config: 统一的工作流配置。字段示例:
+            {
+                "lab_registry": {"setup": True},
+                "deck": {"setup": True},
+                "workstation": {"config": {...}},
+                "update_push_ip": True,
+                "samples": [
+                    {"name": "...", "board_type": "...", "bottle_type": "...", "location_code": "...", "warehouse_name": "..."}
+                ],
+                "scheduler": {"start": True, "log": True},
+                "operations": {
+                    "auto_feeding4to3": {"enabled": True},
+                    "create_orders": {"excel_path": "...", "log": True},
+                    "transfer_3_to_2_to_1": {"enabled": True, "log": True},
+                    "transfer_1_to_2": {"enabled": True, "log": True}
+                },
+                "keep_alive": False,
+                "keep_alive_interval": 1
+            }
+
+    Returns:
+        执行完毕的 `BioyondCellWorkstation` 实例。
+    """
+
+    if config.get("lab_registry", {}).get("setup", True):
+        lab_registry.setup()
+
+    deck_config = config.get("deck")
+    if isinstance(deck_config, dict):
+        deck = BIOYOND_YB_Deck(**deck_config)
+    elif deck_config is None:
+        deck = BIOYOND_YB_Deck(setup=True)
+    else:
+        deck = deck_config
+
+    workstation_kwargs = dict(config.get("workstation", {}))
+    if "deck" not in workstation_kwargs:
+        workstation_kwargs["deck"] = deck
+    ws = BioyondCellWorkstation(**workstation_kwargs)
+
+    if config.get("update_push_ip", True):
+        ws.update_push_ip()
+
+    for sample_cfg in config.get("samples", []):
+        ws.create_sample(**sample_cfg)
+
+    scheduler_cfg = config.get("scheduler", {})
+    if scheduler_cfg.get("start", True):
+        result = ws.scheduler_start()
+        if scheduler_cfg.get("log", True):
+            logger.info(result)
+
+    operations_cfg = config.get("operations", {})
+
+    auto_feeding_cfg = operations_cfg.get("auto_feeding4to3", {})
+    if auto_feeding_cfg.get("enabled", True):
+        result = ws.auto_feeding4to3()
+        if auto_feeding_cfg.get("log", True):
+            logger.info(result)
+
+    create_orders_cfg = operations_cfg.get("create_orders")
+    if create_orders_cfg:
+        excel_path = create_orders_cfg.get("excel_path")
+        if not excel_path:
+            raise ValueError("create_orders 需要提供 excel_path。")
+        result = ws.create_orders(Path(excel_path))
+        if create_orders_cfg.get("log", True):
+            logger.info(result)
+
+    transfer_321_cfg = operations_cfg.get("transfer_3_to_2_to_1", {})
+    if transfer_321_cfg.get("enabled", True):
+        result = ws.transfer_3_to_2_to_1()
+        if transfer_321_cfg.get("log", True):
+            logger.info(result)
+
+    transfer_12_cfg = operations_cfg.get("transfer_1_to_2", {})
+    if transfer_12_cfg.get("enabled", True):
+        result = ws.transfer_1_to_2()
+        if transfer_12_cfg.get("log", True):
+            logger.info(result)
+
+    if config.get("keep_alive", False):
+        interval = config.get("keep_alive_interval", 1)
+        while True:
+            time.sleep(interval)
+
+    return ws
+
+
 if __name__ == "__main__":
-    lab_registry.setup()
-    deck = BIOYOND_YB_Deck(setup=True)
-    ws = BioyondCellWorkstation(deck=deck)
-    # ws.create_sample(name="test", board_type="配液瓶(小)板", bottle_type="配液瓶(小)", location_code="B01")
-    # logger.info(ws.scheduler_stop())
-    # logger.info(ws.scheduler_start())
-    
-    # 继续后续流程
-    logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱
-    # # # 使用正斜杠或 Path 对象来指定文件路径
-    # excel_path = Path("unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\2025092701.xlsx")
-    # logger.info(ws.create_orders(excel_path))
-    # logger.info(ws.transfer_3_to_2_to_1())
-
-    # logger.info(ws.transfer_1_to_2())
-    # logger.info(ws.scheduler_start())
+    workflow_config = {
+        "deck": {"setup": True},
+        "update_push_ip": True,
+        "samples": [
+            {
+                "name": "配液瓶",
+                "board_type": "配液瓶(小)板",
+                "bottle_type": "配液瓶(小)",
+                "location_code": "E01",
+            },
+            {
+                "name": "分液瓶",
+                "board_type": "5ml分液瓶板",
+                "bottle_type": "5ml分液瓶",
+                "location_code": "D01",
+            },
+        ],
+        "operations": {
+            "auto_feeding4to3": {"enabled": True, "log": True},
+            "create_orders": {
+                "excel_path": "/Users/calvincao/Desktop/work/uni-lab-all/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx",
+                "log": True,
+            },
+            "transfer_3_to_2_to_1": {"enabled": True, "log": True},
+            "transfer_1_to_2": {"enabled": True, "log": True},
+        },
+        "keep_alive": True,
+    }
+    run_bioyond_cell_workflow(workflow_config)
 
+    # 1. location code
+    # 2. 实验文件
+    # 3. material template file
 
     while True:
         time.sleep(1)

unilabos/devices/workstation/bioyond_studio/config.py

@@ -8,8 +8,8 @@ import os
 # BioyondCellWorkstation 默认配置（包含所有必需参数）
 API_CONFIG = {
     # API 连接配置
-    # "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.1.143:44389"),#实机
-    "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.11.219:44388"),# 仿真机
+    "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.1.143:44389"),#实机
+    # "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.7.149:44388"),# 仿真机
     "api_key": os.getenv("BIOYOND_API_KEY", "8A819E5C"),
     "timeout": int(os.getenv("BIOYOND_TIMEOUT", "30")),
     
@@ -17,7 +17,7 @@ API_CONFIG = {
     "report_token": os.getenv("BIOYOND_REPORT_TOKEN", "CHANGE_ME_TOKEN"),
     
     # HTTP 服务配置
-    "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.16.11.2"),  # HTTP服务监听地址，监听计算机飞连ip地址
+    "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.16.2.140"),  # HTTP服务监听地址，监听计算机飞连ip地址
     "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")),
     "debug_mode": False,# 调试模式
 }

unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py

@@ -139,7 +139,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
                 time.sleep(2)
             if not modbus_client.client.is_socket_open():
                 raise ValueError('modbus tcp connection failed')
-            self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_1105.csv'))
+            self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv'))
             self.client = modbus_client.register_node_list(self.nodes)
         else:
             print("测试模式，跳过连接")
@@ -1202,17 +1202,93 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         
     '''
 
+def run_coin_cell_packaging_workflow(config: Dict[str, Any]) -> CoinCellAssemblyWorkstation:
+    """根据统一配置顺序执行扣电池装配工作流。
+
+    Args:
+        config: 统一的工作流配置。字段示例:
+            {
+                "deck": {"setup": True, "name": "coin_cell_deck"},
+                "workstation": {"address": "...", "port": "...", "debug_mode": False},
+                "qiming": {...},
+                "init": True,
+                "auto": True,
+                "start": True,
+                "packaging": {
+                    "bottle_num": 16,
+                    "command": {...}
+                }
+            }
+
+    Returns:
+        执行完毕的 `CoinCellAssemblyWorkstation` 实例。
+    """
+
+    deck_config = config.get("deck")
+    if isinstance(deck_config, Deck):
+        deck = deck_config
+    elif isinstance(deck_config, dict):
+        deck = CoincellDeck(**deck_config)
+    elif deck_config is None:
+        deck = CoincellDeck(setup=True, name="coin_cell_deck")
+    else:
+        raise ValueError("deck 配置需为 Deck 实例或 dict。")
+
+    workstation_config = dict(config.get("workstation", {}))
+    workstation_config.setdefault("deck", deck)
+    workstation = CoinCellAssemblyWorkstation(**workstation_config)
+
+    qiming_params = config.get("qiming", {})
+    if qiming_params:
+        workstation.qiming_coin_cell_code(**qiming_params)
+
+    if config.get("init", True):
+        workstation.func_pack_device_init()
+    if config.get("auto", True):
+        workstation.func_pack_device_auto()
+    if config.get("start", True):
+        workstation.func_pack_device_start()
+
+    packaging_config = config.get("packaging", {})
+    bottle_num = packaging_config.get("bottle_num")
+    if bottle_num is not None:
+        workstation.func_pack_send_bottle_num(bottle_num)
+
+    allpack_params = packaging_config.get("command", {})
+    if allpack_params:
+        workstation.func_allpack_cmd(**allpack_params)
+
+    return workstation
 
 
 if __name__ == "__main__":
-    # 简单测试
-    workstation = CoinCellAssemblyWorkstation(deck=CoincellDeck(setup=True, name="coin_cell_deck"))
-    # workstation.qiming_coin_cell_code(fujipian_panshu=1, fujipian_juzhendianwei=2, gemopanshu=3, gemo_juzhendianwei=4, lvbodian=False, battery_pressure_mode=False, battery_pressure=4200, battery_clean_ignore=False)
-    # print(f"工作站创建成功: {workstation.deck.name}")
-    # print(f"料盘数量: {len(workstation.deck.children)}")
-    workstation.func_pack_device_init()
-    workstation.func_pack_device_auto()
-    workstation.func_pack_device_start()
-    workstation.func_pack_send_bottle_num(16)
-    workstation.func_allpack_cmd(elec_num=16, elec_use_num=16, elec_vol=50, assembly_type=7, assembly_pressure=4200, file_path="/Users/calvincao/Desktop/work/Uni-Lab-OS-hhm")
-    
+    workflow_config = {
+        "deck": {"setup": True, "name": "coin_cell_deck"},
+        "workstation": {
+            "address": "172.16.28.102",
+            "port": "502",
+            "debug_mode": False,
+        },
+        "qiming": {
+            "fujipian_panshu": 1,
+            "fujipian_juzhendianwei": 2,
+            "gemopanshu": 3,
+            "gemo_juzhendianwei": 4,
+            "lvbodian": False,
+            "battery_pressure_mode": False,
+            "battery_pressure": 4200,
+            "battery_clean_ignore": False,
+        },
+        "packaging": {
+            "bottle_num": 16,
+            "command": {
+                "elec_num": 16,
+                "elec_use_num": 16,
+                "elec_vol": 50,
+                "assembly_type": 7,
+                "assembly_pressure": 4200,
+                "file_path": "/Users/calvincao/Desktop/work/Uni-Lab-OS-hhm",
+            },
+        },
+    }
+    run_coin_cell_packaging_workflow(workflow_config)

unilabos/registry/devices/bioyond_cell.yaml

@@ -32,6 +32,111 @@ bioyond_cell:
         feedback: {}
         goal: {}
         goal_default:
+          WH3_x1_y1_z3_1_materialId: ''
+          WH3_x1_y1_z3_1_materialType: ''
+          WH3_x1_y1_z3_1_quantity: 0
+          WH3_x1_y2_z3_4_materialId: ''
+          WH3_x1_y2_z3_4_materialType: ''
+          WH3_x1_y2_z3_4_quantity: 0
+          WH3_x1_y3_z3_7_materialId: ''
+          WH3_x1_y3_z3_7_materialType: ''
+          WH3_x1_y3_z3_7_quantity: 0
+          WH3_x1_y4_z3_10_materialId: ''
+          WH3_x1_y4_z3_10_materialType: ''
+          WH3_x1_y4_z3_10_quantity: 0
+          WH3_x1_y5_z3_13_materialId: ''
+          WH3_x1_y5_z3_13_materialType: ''
+          WH3_x1_y5_z3_13_quantity: 0
+          WH3_x2_y1_z3_2_materialId: ''
+          WH3_x2_y1_z3_2_materialType: ''
+          WH3_x2_y1_z3_2_quantity: 0
+          WH3_x2_y2_z3_5_materialId: ''
+          WH3_x2_y2_z3_5_materialType: ''
+          WH3_x2_y2_z3_5_quantity: 0
+          WH3_x2_y3_z3_8_materialId: ''
+          WH3_x2_y3_z3_8_materialType: ''
+          WH3_x2_y3_z3_8_quantity: 0
+          WH3_x2_y4_z3_11_materialId: ''
+          WH3_x2_y4_z3_11_materialType: ''
+          WH3_x2_y4_z3_11_quantity: 0
+          WH3_x2_y5_z3_14_materialId: ''
+          WH3_x2_y5_z3_14_materialType: ''
+          WH3_x2_y5_z3_14_quantity: 0
+          WH3_x3_y1_z3_3_materialId: ''
+          WH3_x3_y1_z3_3_materialType: ''
+          WH3_x3_y1_z3_3_quantity: 0
+          WH3_x3_y2_z3_6_materialId: ''
+          WH3_x3_y2_z3_6_materialType: ''
+          WH3_x3_y2_z3_6_quantity: 0
+          WH3_x3_y3_z3_9_materialId: ''
+          WH3_x3_y3_z3_9_materialType: ''
+          WH3_x3_y3_z3_9_quantity: 0
+          WH3_x3_y4_z3_12_materialId: ''
+          WH3_x3_y4_z3_12_materialType: ''
+          WH3_x3_y4_z3_12_quantity: 0
+          WH3_x3_y5_z3_15_materialId: ''
+          WH3_x3_y5_z3_15_materialType: ''
+          WH3_x3_y5_z3_15_quantity: 0
+          WH4_x1_y1_z1_1_materialName: ''
+          WH4_x1_y1_z1_1_quantity: 0.0
+          WH4_x1_y1_z2_1_materialName: ''
+          WH4_x1_y1_z2_1_materialType: ''
+          WH4_x1_y1_z2_1_quantity: 0.0
+          WH4_x1_y1_z2_1_targetWH: ''
+          WH4_x1_y2_z1_6_materialName: ''
+          WH4_x1_y2_z1_6_quantity: 0.0
+          WH4_x1_y2_z2_4_materialName: ''
+          WH4_x1_y2_z2_4_materialType: ''
+          WH4_x1_y2_z2_4_quantity: 0.0
+          WH4_x1_y2_z2_4_targetWH: ''
+          WH4_x1_y3_z1_11_materialName: ''
+          WH4_x1_y3_z1_11_quantity: 0.0
+          WH4_x1_y3_z2_7_materialName: ''
+          WH4_x1_y3_z2_7_materialType: ''
+          WH4_x1_y3_z2_7_quantity: 0.0
+          WH4_x1_y3_z2_7_targetWH: ''
+          WH4_x2_y1_z1_2_materialName: ''
+          WH4_x2_y1_z1_2_quantity: 0.0
+          WH4_x2_y1_z2_2_materialName: ''
+          WH4_x2_y1_z2_2_materialType: ''
+          WH4_x2_y1_z2_2_quantity: 0.0
+          WH4_x2_y1_z2_2_targetWH: ''
+          WH4_x2_y2_z1_7_materialName: ''
+          WH4_x2_y2_z1_7_quantity: 0.0
+          WH4_x2_y2_z2_5_materialName: ''
+          WH4_x2_y2_z2_5_materialType: ''
+          WH4_x2_y2_z2_5_quantity: 0.0
+          WH4_x2_y2_z2_5_targetWH: ''
+          WH4_x2_y3_z1_12_materialName: ''
+          WH4_x2_y3_z1_12_quantity: 0.0
+          WH4_x2_y3_z2_8_materialName: ''
+          WH4_x2_y3_z2_8_materialType: ''
+          WH4_x2_y3_z2_8_quantity: 0.0
+          WH4_x2_y3_z2_8_targetWH: ''
+          WH4_x3_y1_z1_3_materialName: ''
+          WH4_x3_y1_z1_3_quantity: 0.0
+          WH4_x3_y1_z2_3_materialName: ''
+          WH4_x3_y1_z2_3_materialType: ''
+          WH4_x3_y1_z2_3_quantity: 0.0
+          WH4_x3_y1_z2_3_targetWH: ''
+          WH4_x3_y2_z1_8_materialName: ''
+          WH4_x3_y2_z1_8_quantity: 0.0
+          WH4_x3_y2_z2_6_materialName: ''
+          WH4_x3_y2_z2_6_materialType: ''
+          WH4_x3_y2_z2_6_quantity: 0.0
+          WH4_x3_y2_z2_6_targetWH: ''
+          WH4_x3_y3_z2_9_materialName: ''
+          WH4_x3_y3_z2_9_materialType: ''
+          WH4_x3_y3_z2_9_quantity: 0.0
+          WH4_x3_y3_z2_9_targetWH: ''
+          WH4_x4_y1_z1_4_materialName: ''
+          WH4_x4_y1_z1_4_quantity: 0.0
+          WH4_x4_y2_z1_9_materialName: ''
+          WH4_x4_y2_z1_9_quantity: 0.0
+          WH4_x5_y1_z1_5_materialName: ''
+          WH4_x5_y1_z1_5_quantity: 0.0
+          WH4_x5_y2_z1_10_materialName: ''
+          WH4_x5_y2_z1_10_quantity: 0.0
           xlsx_path: /Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
         handles: {}
         placeholder_keys: {}

unilabos/registry/devices/coin_cell_workstation.yaml

@@ -79,7 +79,7 @@ coincellassemblyworkstation_device:
           elec_num: null
           elec_use_num: null
           elec_vol: 50
-          file_path: /Users/sml/work
+          file_path: C:\Users\67484\Desktop
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -103,7 +103,7 @@ coincellassemblyworkstation_device:
                   default: 50
                   type: integer
                 file_path:
-                  default: /Users/sml/work
+                  default: C:\Users\67484\Desktop
                   type: string
               required:
               - elec_num
@@ -332,7 +332,7 @@ coincellassemblyworkstation_device:
         feedback: {}
         goal: {}
         goal_default:
-          file_path: /Users/sml/work
+          file_path: D:\coin_cell_data
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -343,7 +343,7 @@ coincellassemblyworkstation_device:
             goal:
               properties:
                 file_path:
-                  default: /Users/sml/work
+                  default: D:\coin_cell_data
                   type: string
               required: []
               type: object
@@ -507,15 +507,13 @@ coincellassemblyworkstation_device:
     config:
       properties:
         address:
-          default: 172.16.28.102
+          default: 172.21.32.111
           type: string
-        config:
-          type: object
         debug_mode:
           default: false
           type: boolean
         deck:
-          type: string
+          type: object
         port:
           default: '502'
           type: string

unilabos/registry/devices/liquid_handler.yaml

@@ -654,31 +654,6 @@ liquid_handler:
           title: iter_tips参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        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
       auto-set_group:
         feedback: {}
         goal: {}
@@ -6195,31 +6170,6 @@ liquid_handler.prcxi:
           title: move_to参数
           type: object
         type: UniLabJsonCommandAsync
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: object
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-run_protocol:
         feedback: {}
         goal: {}

unilabos/registry/devices/virtual_device.yaml

@@ -45,31 +45,6 @@ virtual_centrifuge:
           title: initialize参数
           type: object
         type: UniLabJsonCommandAsync
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: object
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       centrifuge:
         feedback:
           current_speed: current_speed
@@ -360,31 +335,6 @@ virtual_column:
           title: initialize参数
           type: object
         type: UniLabJsonCommandAsync
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: object
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       run_column:
         feedback:
           current_status: current_status
@@ -782,31 +732,6 @@ virtual_filter:
           title: initialize参数
           type: object
         type: UniLabJsonCommandAsync
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: object
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       filter:
         feedback:
           current_status: current_status
@@ -1433,31 +1358,6 @@ virtual_heatchill:
           title: initialize参数
           type: object
         type: UniLabJsonCommandAsync
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: object
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       heat_chill:
         feedback:
           status: status
@@ -2458,31 +2358,6 @@ virtual_rotavap:
           title: initialize参数
           type: object
         type: UniLabJsonCommandAsync
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: object
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       evaporate:
         feedback:
           current_device: current_device
@@ -2815,31 +2690,6 @@ virtual_separator:
           title: initialize参数
           type: object
         type: UniLabJsonCommandAsync
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: object
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       separate:
         feedback:
           current_status: status
@@ -3750,31 +3600,6 @@ virtual_solenoid_valve:
           title: is_closed参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: object
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-reset:
         feedback: {}
         goal: {}
@@ -4352,31 +4177,6 @@ virtual_solid_dispenser:
           title: parse_mol_string参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: object
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
     module: unilabos.devices.virtual.virtual_solid_dispenser:VirtualSolidDispenser
     status_types:
       current_reagent: str
@@ -4478,31 +4278,6 @@ virtual_stirrer:
           title: initialize参数
           type: object
         type: UniLabJsonCommandAsync
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: object
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       start_stir:
         feedback:
           status: status
@@ -5220,31 +4995,6 @@ virtual_transfer_pump:
           title: is_full参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: object
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-pull_plunger:
         feedback: {}
         goal: {}

unilabos/registry/resources/bioyond/YB_bottle.yaml

@@ -1,3 +1,16 @@
+YB_qiang_tou:
+  category:
+  - yb3
+  - YB_bottle
+  class:
+    module: unilabos.resources.bioyond.YB_bottles:YB_qiang_tou
+    type: pylabrobot
+  description: YB_qiang_tou
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
 YB_20ml_fenyeping:
   category:
   - yb3
@@ -24,19 +37,6 @@ YB_5ml_fenyeping:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_jia_yang_tou_da:
-  category:
-  - yb3
-  - YB_bottle
-  class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da
-    type: pylabrobot
-  description: YB_jia_yang_tou_da
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
 YB_pei_ye_da_Bottle:
   category:
   - yb3
@@ -63,14 +63,14 @@ YB_pei_ye_xiao_Bottle:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_qiang_tou:
+YB_jia_yang_tou_da:
   category:
   - yb3
   - YB_bottle
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_qiang_tou
+    module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da
     type: pylabrobot
-  description: YB_qiang_tou
+  description: YB_jia_yang_tou_da
   handles: []
   icon: ''
   init_param_schema: {}
@@ -80,7 +80,6 @@ YB_ye_Bottle:
   category:
   - yb3
   - YB_bottle_carriers
-  - YB_bottle
   class:
     module: unilabos.resources.bioyond.YB_bottles:YB_ye_Bottle
     type: pylabrobot
@@ -89,4 +88,4 @@ YB_ye_Bottle:
   icon: ''
   init_param_schema: {}
   registry_type: resource
-  version: 1.0.0
+  version: 1.0.0

unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml

@@ -11,27 +11,40 @@ YB_100ml_yeti:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_20ml_fenyepingban:
+# YB_1BottleCarrier:
+#   category:
+#   - yb3
+#   - YB_bottle_carriers
+#   class:
+#     module: unilabos.resources.bioyond.YB_bottle_carriers:YB_1BottleCarrier
+#     type: pylabrobot
+#   description: YB_1BottleCarrier
+#   handles: []
+#   icon: ''
+#   init_param_schema: {}
+#   registry_type: resource
+#   version: 1.0.0
+YB_gaonianye:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_20ml_fenyepingban
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_gaonianye
     type: pylabrobot
-  description: YB_20ml_fenyepingban
+  description: YB_gaonianye
   handles: []
   icon: ''
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_5ml_fenyepingban:
+YB_peiyepingdaban:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_5ml_fenyepingban
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingdaban
     type: pylabrobot
-  description: YB_5ml_fenyepingban
+  description: YB_peiyepingdaban
   handles: []
   icon: ''
   init_param_schema: {}
@@ -63,53 +76,27 @@ YB_6VialCarrier:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_gao_nian_ye_Bottle:
+YB_20ml_fenyepingban:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_gao_nian_ye_Bottle
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_20ml_fenyepingban
     type: pylabrobot
-  description: YB_gao_nian_ye_Bottle
+  description: YB_20ml_fenyepingban
   handles: []
   icon: ''
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_gaonianye:
+YB_5ml_fenyepingban:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_gaonianye
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_5ml_fenyepingban
     type: pylabrobot
-  description: YB_gaonianye
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_jia_yang_tou_da_Carrier:
-  category:
-  - yb3
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_jia_yang_tou_da_Carrier
-    type: pylabrobot
-  description: YB_jia_yang_tou_da_Carrier
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_peiyepingdaban:
-  category:
-  - yb3
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingdaban
-    type: pylabrobot
-  description: YB_peiyepingdaban
+  description: YB_5ml_fenyepingban
   handles: []
   icon: ''
   init_param_schema: {}
@@ -128,19 +115,6 @@ YB_peiyepingxiaoban:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_qiang_tou_he:
-  category:
-  - yb3
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_qiang_tou_he
-    type: pylabrobot
-  description: YB_qiang_tou_he
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
 YB_shi_pei_qi_kuai:
   category:
   - yb3
@@ -154,14 +128,53 @@ YB_shi_pei_qi_kuai:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-YB_ye:
+YB_qiang_tou_he:
   category:
   - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_ye
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_qiang_tou_he
     type: pylabrobot
-  description: YB_ye_Bottle_Carrier
+  description: YB_qiang_tou_he
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+YB_gao_nian_ye_Bottle:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottles:YB_gao_nian_ye_Bottle
+    type: pylabrobot
+  description: YB_gao_nian_ye_Bottle
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+# YB_jia_yang_tou_da:
+#   category:
+#   - yb3
+#   - YB_bottle_carriers
+#   class:
+#     module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da
+#     type: pylabrobot
+#   description: YB_jia_yang_tou_da
+#   handles: []
+#   icon: ''
+#   init_param_schema: {}
+#   registry_type: resource
+#   version: 1.0.0
+YB_jia_yang_tou_da_Carrier:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_jia_yang_tou_da_Carrier
+    type: pylabrobot
+  description: YB_jia_yang_tou_da_Carrier
   handles: []
   icon: ''
   init_param_schema: {}
@@ -180,3 +193,16 @@ YB_ye_100ml_Bottle:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
+YB_ye:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_ye
+    type: pylabrobot
+  description: YB_ye_Bottle_Carrier
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0