Merge pull request #177 from sun7151887/yb4-fix

Yb4默认仿真机

new_cellconfig3c.json

@@ -90,48 +90,9 @@
         }
       },
       "data": {}
-    },
-    {
-      "id": "NewareTester",
-      "name": "新威电池测试系统",
-      "parent": null,
-      "children": [],
-      "type": "device",
-      "class": "neware_battery_test_system",
-      "config": {
-        "ip": "127.0.0.1",
-        "port": 502,
-        "machine_id": 1,
-        "devtype": "27",
-        "timeout": 20,
-        "size_x": 500.0,
-        "size_y": 500.0,
-        "size_z": 2000.0
-      },
-      "position": {
-        "size": {
-          "height": 1600,
-          "width": 1200,
-          "depth": 800
-        },
-        "position": {
-          "x": 1500,
-          "y": 0,
-          "z": 0
-        }
-      },
-      "data": {
-        "功能说明": "新威电池测试系统，提供720通道监控和CSV批量提交功能",
-        "监控功能": "支持720个通道的实时状态监控、2盘电池物料管理、状态导出等",
-        "提交功能": "通过submit_from_csv action从CSV文件批量提交测试任务"
-      }
     }
   ],
   "links": []
 }
 
-
-
-
-
     

unilabos/devices/battery/battery.json

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

unilabos/devices/battery/neware_battery_test_system.py

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

unilabos/devices/neware_battery_test_system/__init__.py

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

unilabos/devices/neware_battery_test_system/demo.csv

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

unilabos/devices/neware_battery_test_system/device.json

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

unilabos/devices/neware_battery_test_system/neware_driver.py

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

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

@@ -1,7 +1,7 @@
 # -*- coding: utf-8 -*-
 from cgi import print_arguments
 from doctest import debug
-from typing import Dict, Any, List, Optional, Tuple
+from typing import Dict, Any, List, Optional
 import requests
 from pylabrobot.resources.resource import Resource as ResourcePLR
 from pathlib import Path
@@ -19,22 +19,8 @@ from unilabos.devices.workstation.bioyond_studio.config import (
 )
 from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
 from unilabos.resources.bioyond.decks import BIOYOND_YB_Deck
-from unilabos.resources.graphio import resource_bioyond_to_plr
 from unilabos.utils.log import logger
 from unilabos.registry.registry import lab_registry
-from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
-
-
-class device(BIOYOND_YB_Deck):
-
-    @classmethod
-    def deserialize(cls, data, allow_marshal=False):  # type: ignore[override]
-        patched = dict(data)
-        if patched.get("type") == "device":
-            patched["type"] = "Deck"
-        if patched.get("category") == "device":
-            patched["category"] = "deck"
-        return super().deserialize(patched, allow_marshal=allow_marshal)
 
 def _iso_local_now_ms() -> str:
     # 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z
@@ -54,14 +40,12 @@ class BioyondCellWorkstation(BioyondWorkstation):
     def __init__(self, config: dict = None, deck=None, protocol_type=None, **kwargs):
 
         # 使用统一配置，支持自定义覆盖, 从 config.py 加载完整配置
-        self.bioyond_config = {
+        self.bioyond_config ={
             **API_CONFIG,
             "material_type_mappings": MATERIAL_TYPE_MAPPINGS,
             "warehouse_mapping": WAREHOUSE_MAPPING,
-            "debug_mode": False,
-        }
-        if config:
-            self.bioyond_config.update(config)
+            "debug_mode": False
+    }
           
             # "material_type_mappings": MATERIAL_TYPE_MAPPINGS
             # "warehouse_mapping": WAREHOUSE_MAPPING
@@ -72,12 +56,6 @@ class BioyondCellWorkstation(BioyondWorkstation):
         self.http_service_started = self.debug_mode
         self._device_id = "bioyond_cell_workstation"  # 默认值，后续会从_ros_node获取
         super().__init__(bioyond_config=config, deck=deck)
-        self.transfer_target_device_id = self.bioyond_config.get("transfer_target_device_id", "BatteryStation")
-        self.transfer_target_parent = self.bioyond_config.get("transfer_target_parent", "YB_YH_Deck")
-        self.transfer_timeout = float(self.bioyond_config.get("transfer_timeout", 180.0))
-        self.coin_cell_workflow_config = self.bioyond_config.get("coin_cell_workflow_config", {})
-        self.pending_transfer_materials: List[Dict[str, Any]] = []
-        self.pending_transfer_plr: List[ResourcePLR] = []
         self.update_push_ip() #直接修改奔耀端的报送ip地址
         logger.info("已更新奔耀端推送 IP 地址")
 
@@ -346,7 +324,6 @@ class BioyondCellWorkstation(BioyondWorkstation):
                             "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]),
                             "materialName": str(row[5]).strip(),
                             "quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
-                            "temperature": 0,
                         })
                 # 四号手套箱原液瓶面
                 for _, row in df.iloc[14:23, 2:9].iterrows():
@@ -358,7 +335,6 @@ class BioyondCellWorkstation(BioyondWorkstation):
                             "quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
                             "materialType": str(row[7]).strip() if pd.notna(row[7]) else "",
                             "targetWH": str(row[8]).strip() if pd.notna(row[8]) else "",
-                            "temperature": 0,
                         })
                 # 三号手套箱人工堆栈
                 for _, row in df.iloc[25:40, 2:7].iterrows():
@@ -368,12 +344,11 @@ class BioyondCellWorkstation(BioyondWorkstation):
                             "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]),
                             "materialType": str(row[5]).strip() if pd.notna(row[5]) else "",
                             "materialId": str(row[6]).strip() if pd.notna(row[6]) else "",
-                            "quantity": 1,
-                            "temperature": 0,
+                            "quantity": 1
                         })
             else:
                 logger.warning(f"未找到 Excel 文件 {xlsx_path}，自动切换到手动参数模式。")
-        # TODO: 温度下面手动模式没改，上面的改了
+
         # ---------- 模式 2: 手动填写 ----------
         if not items:
             params = locals()
@@ -416,14 +391,10 @@ class BioyondCellWorkstation(BioyondWorkstation):
         order_code = response.get("data", {}).get("orderCode")
         if not order_code:
             logger.error("上料任务未返回有效 orderCode！")
-            return {"api_response": response, "order_finish": None}
-        # 等待完成报送
+            return response
+          # 等待完成报送
         result = self.wait_for_order_finish(order_code)
-        return {
-            "api_response": response,
-            "order_finish": result,
-            "items": items,
-        }
+        return result
     
 
     def auto_batch_outbound_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]:
@@ -494,7 +465,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
         return response
 
     # 2.14 新建实验
-    def create_orders(self, xlsx_path: str, *, material_filter: Optional[str] = None) -> Dict[str, Any]:
+    def create_orders(self, xlsx_path: str) -> Dict[str, Any]:
         """
         从 Excel 解析并创建实验（2.14）
         约定：
@@ -649,36 +620,9 @@ class BioyondCellWorkstation(BioyondWorkstation):
         if not order_code:
             logger.error("上料任务未返回有效 orderCode！")
             return response
-        # 等待完成报送
+          # 等待完成报送
         result = self.wait_for_order_finish(order_code)
-        report_data = result.get("report") if isinstance(result, dict) else None
-        materials_from_report = (
-            report_data.get("usedMaterials") if isinstance(report_data, dict) else None
-        )
-        if materials_from_report:
-            materials = materials_from_report
-            logger.info(
-                "[create_orders] 使用订单完成报送中的物料信息: "
-                f"{len(materials)} 条"
-            )
-        else:
-            materials = self._fetch_bioyond_materials(filter_keyword=material_filter)
-            logger.info(
-                "[create_orders] 未收到订单报送物料信息，回退到实时查询"
-            )
-        print("materials_from_report:", materials_from_report)
-        # TODO: 需要将 materials 字典转换为 ResourceSlot 对象后才能转运
-        # self.transfer_resource_to_another(
-        #     resource=[materials],
-        #     mount_resource=["YB_YH_Deck"],
-        #     sites=[None],
-        #     mount_device_id="BatteryStation"
-        # )
-        return {
-            "api_response": response,
-            "order_finish": result,
-            "materials": materials,
-        }
+        return result
 
     # 2.7 启动调度
     def scheduler_start(self) -> Dict[str, Any]:
@@ -750,7 +694,6 @@ class BioyondCellWorkstation(BioyondWorkstation):
             return response
           # 等待完成报送
         result = self.wait_for_order_finish(order_code)
-        
         return result
    
     # 2.5 批量查询实验报告(post过滤关键字查询)
@@ -1219,221 +1162,28 @@ class BioyondCellWorkstation(BioyondWorkstation):
         })
         return final_result
 
-    def _fetch_bioyond_materials(
-        self,
-        *,
-        filter_keyword: Optional[str] = None,
-        type_mode: int = 2,
-    ) -> List[Dict[str, Any]]:
-        query: Dict[str, Any] = {
-            "typeMode": type_mode,
-            "includeDetail": True,
-        }
-        if filter_keyword:
-            query["filter"] = filter_keyword
 
-        response = self._post_lims("/api/lims/storage/stock-material", query)
-        raw_materials = response.get("data")
-        if not isinstance(raw_materials, list):
-            raw_materials = []
 
-        try:
-            resource_bioyond_to_plr(
-                raw_materials,
-                type_mapping=self.bioyond_config.get("material_type_mappings", MATERIAL_TYPE_MAPPINGS),
-                deck=self.deck,
-            )
-        except Exception as exc: 
-            logger.warning(f"转换奔曜物料到 PLR 失败: {exc}", exc_info=True)
 
-        return raw_materials
-
-    def _convert_materials_to_plr(self, materials: List[Dict[str, Any]]) -> List[ResourcePLR]:
-        try:
-            return resource_bioyond_to_plr(
-                deepcopy(materials),
-                type_mapping=self.bioyond_config.get("material_type_mappings", MATERIAL_TYPE_MAPPINGS),
-                deck=self.deck,
-            )
-        except Exception as exc:
-            logger.error(f"物料转换为 PLR 失败: {exc}", exc_info=True)
-            return []
-
-    def _wait_for_future(self, future, stage: str, timeout: Optional[float] = None):
-        if future is None:
-            return None
-        timeout = timeout or self.transfer_timeout
-        start = time.time()
-        while not future.done():
-            if (time.time() - start) > timeout:
-                raise TimeoutError(f"{stage} 超时 {timeout}s")
-            time.sleep(0.05)
-        return future.result()
-
-    def _register_plr_resources(self, resources: List[ResourcePLR]) -> None:
-        if not resources or not hasattr(self, "_ros_node") or self._ros_node is None:
-            return
-        future = ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, resources=resources)
-        self._wait_for_future(future, "update_resource")
-
-    def _get_target_resource(self, name: str) -> ResourcePLR:
-        if not hasattr(self, "_ros_node") or self._ros_node is None:
-            raise RuntimeError("ROS 节点未初始化，无法获取资源")
-        resource = self._ros_node.resource_tracker.figure_resource({"name": name}, try_mode=False)  # type: ignore
-        if resource is None:
-            raise ValueError(f"未找到目标资源: {name}")
-        return resource
-
-    def _allocate_sites(self, parent_resource: ResourcePLR, count: int) -> List[str]:
-        if not hasattr(parent_resource, "get_free_sites"):
-            raise ValueError(f"资源 {parent_resource} 不支持自动分配站位")
-        free_indices = list(parent_resource.get_free_sites())
-        if len(free_indices) < count:
-            raise ValueError(f"{parent_resource.name} 可用站位不足 (need {count}, have {len(free_indices)})")
-        ordering = list(getattr(parent_resource, "_ordering", {}).keys())
-        sites: List[str] = []
-        for idx in free_indices[:count]:
-            if ordering and idx < len(ordering):
-                sites.append(ordering[idx])
-            else:
-                sites.append(str(idx))
-        return sites
-
-    def _invoke_coin_cell_workflow(self, material_payload: List[Dict[str, Any]]) -> Any:
-        timeout = float(self.bioyond_config.get("coin_cell_workflow_timeout", 300.0))
-        workflow_payload: Dict[str, Any] = {}
-        if isinstance(self.coin_cell_workflow_config, dict):
-            workflow_payload.update(deepcopy(self.coin_cell_workflow_config))
-        workflow_payload["materials"] = deepcopy(material_payload)
-        return self._call_remote_device_method(
-            self.transfer_target_device_id,
-            "run_coin_cell_assembly_workflow",
-            timeout=timeout,
-            workflow_config=workflow_payload,
-        )
-
-    def _call_remote_device_method(
-        self,
-        device_id: str,
-        method: str,
-        *,
-        timeout: Optional[float] = None,
-        **kwargs,
-    ) -> Any:
-        if not hasattr(self, "_ros_node") or self._ros_node is None:
-            raise RuntimeError("ROS 节点未初始化，无法调用远程设备")
-        if not device_id:
-            raise ValueError("device_id 不能为空")
-        if not method:
-            raise ValueError("method 不能为空")
-
-        timeout = timeout or self.transfer_timeout
-        payload = json.dumps(
-            {
-                "function_name": method,
-                "function_args": kwargs,
-            },
-            ensure_ascii=False,
-        )
-        future = ROS2DeviceNode.run_async_func(
-            self._ros_node.execute_single_action,
-            True,
-            device_id=device_id,
-            action_name="_execute_driver_command_async",
-            action_kwargs={"string": payload},
-        )
-        result = self._wait_for_future(future, f"{device_id}.{method}", timeout)
-        if hasattr(result, "return_info"):
-            try:
-                return json.loads(result.return_info)
-            except Exception:
-                return result.return_info
-        return result
-
-    def run_feeding_stage(self) -> Dict[str, Any]:
-        self.create_sample(
-            board_type="配液瓶(小)板",
-            bottle_type="配液瓶(小)",
-            location_code="B01",
-            name="配液瓶",
-            warehouse_name="手动堆栈"
-        )
-        self.create_sample(
-            board_type="5ml分液瓶板",
-            bottle_type="5ml分液瓶",
-            location_code="B02",
-            name="分液瓶",
-            warehouse_name="手动堆栈"
-        )
-        self.scheduler_start()
-        feeding_task = self.auto_feeding4to3(
-            xlsx_path="/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx"
-        )
-        feeding_materials = self._fetch_bioyond_materials()
-        return {
-            "feeding_materials": feeding_materials,
-            "feeding_items": feeding_task.get("items", []),
-            "feeding_task": feeding_task,
-        }
-
-    def run_liquid_preparation_stage(
-        self,
-        feeding_materials: Optional[List[Dict[str, Any]]] = None,
-    ) -> Dict[str, List[Dict[str, Any]]]:
-        result = self.create_orders(
-            xlsx_path="/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx"
-        )
-        filter_keyword = self.bioyond_config.get("mixing_material_filter") or None
-        materials = result.get("materials")
-        if materials is None:
-            materials = self._fetch_bioyond_materials(filter_keyword=filter_keyword)
-        return {
-            "feeding_materials": feeding_materials or [],
-            "liquid_materials": materials,
-        }
-
-    def run_transfer_stage(
-        self,
-        liquid_materials: Optional[List[Dict[str, Any]]] = None,
-        source_wh_id: Optional[str] = '3a19debc-84b4-0359-e2d4-b3beea49348b',
-        source_x: int = 1,
-        source_y: int = 1,
-        source_z: int = 1
-    ) -> Dict[str, Any]:
-        """转运阶段：调用transfer_3_to_2_to_1执行3到2到1转运"""
-        logger.info("开始执行转运阶段 (run_transfer_stage)")
-        
-        # 暂时注释掉物料转换和跨工站转运逻辑
-        # transfer_summary: Dict[str, Any] = {}
-        # try:
-        #     source_materials = liquid_materials or self._fetch_bioyond_materials()
-        #     transfer_plr = self._convert_materials_to_plr(source_materials)
-        #     transfer_summary["plr_count"] = len(transfer_plr)
-        #     ...
-        # except Exception as exc:
-        #     transfer_summary["error"] = str(exc)
-        #     logger.error(f"跨工站转运失败: {exc}", exc_info=True)
-        
-        # 只执行核心的3到2到1转运
-        transfer_result = self.transfer_3_to_2_to_1(
-            source_wh_id=source_wh_id,
-            source_x=source_x,
-            source_y=source_y,
-            source_z=source_z
-        )
-        
-        logger.info("转运阶段执行完成")
-        return {
-            "success": True,
-            "stage": "transfer",
-            "transfer_result": transfer_result
-        }
 if __name__ == "__main__":
+    lab_registry.setup()
     deck = BIOYOND_YB_Deck(setup=True)
-    w = BioyondCellWorkstation(deck=deck, address="172.16.28.102", port="502", debug_mode=False)
-    feeding = w.run_feeding_stage()
-    liquid = w.run_liquid_preparation_stage(feeding.get("feeding_materials"))
-    transfer = w.run_transfer_stage(liquid.get("liquid_materials"))
+    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())
+
+
     while True:
         time.sleep(1)
     # re=ws.scheduler_stop()

unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py

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

unilabos/registry/devices/bioyond_cell.yaml

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

unilabos/registry/devices/coin_cell_workstation.yaml

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

unilabos/registry/devices/neware_battery_test_system.yaml

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

unilabos/resources/graphio.py

@@ -674,15 +674,10 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
             for loc in material.get("locations", []):
                 if hasattr(deck, "warehouses") and loc.get("whName") in deck.warehouses:
                     warehouse = deck.warehouses[loc["whName"]]
-                    num_x = getattr(warehouse, "num_items_x", 0) or 0
-                    num_y = getattr(warehouse, "num_items_y", 0) or 0
-                    num_z = getattr(warehouse, "num_items_z", 0) or 0
-                    if num_x <= 0 or num_y <= 0 or num_z <= 0:
-                        continue
                     idx = (
-                        (loc.get("z", 0) - 1) * num_x * num_y
-                        + (loc.get("y", 0) - 1) * num_x
-                        + (loc.get("x", 0) - 1)
+                        (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)
                     )
                     if 0 <= idx < warehouse.capacity:
                         if warehouse[idx] is None or isinstance(warehouse[idx], ResourceHolder):

unilabos/ros/nodes/presets/workstation.py

@@ -402,6 +402,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
 
         return result_future.result
 
+    """还没有改过的部分"""
 
     def _setup_hardware_proxy(
         self, device: ROS2DeviceNode, communication_device: ROS2DeviceNode, read_method, write_method