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2a5ddd611d906881c14c965c40d9dbb3cebc5d60
Uni-Lab-OS/unilabos/registry/devices/bioyond_dispensing_station.yaml
Xuwznln 2a5ddd611d Upgrade to py 3.11.14; ROS2 Humble 0.7; unilabos 0.10.16 
Workbench example, adjust log level, and ci check (#220)

* TestLatency Return Value Example & gitignore update

* Adjust log level & Add workbench virtual example & Add not action decorator & Add check_mode &

* Add CI Check

Fix/workstation yb revision (#217)

* Revert log change & update registry

* Revert opcua client & move electrolyte node

Workstation yb merge dev ready 260113 (#216)

* feat(bioyond): 添加计算实验设计功能，支持化合物配比和滴定比例参数

* feat(bioyond): 添加测量小瓶功能，支持基本参数配置

* feat(bioyond): 添加测量小瓶配置，支持新设备参数

* feat(bioyond): 更新仓库布局和尺寸，支持竖向排列的测量小瓶和试剂存放堆栈

* feat(bioyond): 优化任务创建流程，确保无论成功与否都清理任务队列以避免重复累积

* feat(bioyond): 添加设置反应器温度功能，支持温度范围和异常处理

* feat(bioyond): 调整反应器位置配置，统一坐标格式

* feat(bioyond): 添加调度器启动功能，支持任务队列执行并处理异常

* feat(bioyond): 优化调度器启动功能，添加异常处理并更新相关配置

* feat(opcua): 增强节点ID解析兼容性和数据类型处理

改进节点ID解析逻辑以支持多种格式，包括字符串和数字标识符
添加数据类型转换处理，确保写入值时类型匹配
优化错误提示信息，便于调试节点连接问题

* feat(registry): 新增后处理站的设备配置文件

添加后处理站的YAML配置文件，包含动作映射、状态类型和设备描述

* 添加调度器启动功能，合并物料参数配置，优化物料参数处理逻辑

* 添加从 Bioyond 系统自动同步工作流序列的功能，并更新相关配置

* fix：兼容 BioyondReactionStation 中 workflow_sequence 被重写为 property

* fix:同步工作流序列

* feat: remove commented workflow synchronization from `reaction_station.py`.

* 添加时间约束功能及相关配置

* fix：自动更新物料缓存功能，添加物料时更新缓存并在删除时移除缓存项

* fix：在添加物料时处理字符串和字典返回值，确保正确更新缓存

* fix：更新奔曜错误处理报送为物料变更报送，调整日志记录和响应消息

* feat：添加实验报告简化功能，去除冗余信息并保留关键信息

* feat: 添加任务状态事件发布功能，监控并报告任务运行、超时、完成和错误状态

* fix: 修复添加物料时数据格式错误

* Refactor bioyond_dispensing_station and reaction_station_bioyond YAML configurations

- Removed redundant action value mappings from bioyond_dispensing_station.
- Updated goal properties in bioyond_dispensing_station to use enums for target_stack and other parameters.
- Changed data types for end_point and start_point in reaction_station_bioyond to use string enums (Start, End).
- Simplified descriptions and updated measurement units from μL to mL where applicable.
- Removed unused commands from reaction_station_bioyond to streamline the configuration.

* fix：Change the material unit from μL to mL

* fix：refresh_material_cache

* feat: 动态获取工作流步骤ID，优化工作流配置

* feat: 添加清空服务端所有非核心工作流功能

* fix：修复Bottle类的序列化和反序列化方法

* feat：增强材料缓存更新逻辑，支持处理返回数据中的详细信息

* Add debug log

* feat(workstation): update bioyond config migration and coin cell material search logic

- Migrate bioyond_cell config to JSON structure and remove global variable dependencies
- Implement material search confirmation dialog auto-handling
- Add documentation: 20260113_物料搜寻确认弹窗自动处理功能.md and 20260113_配置迁移修改总结.md

* Refactor module paths for Bioyond devices in YAML configuration files

- Updated the module path for BioyondDispensingStation in bioyond_dispensing_station.yaml to reflect the new directory structure.
- Updated the module path for BioyondReactionStation and BioyondReactor in reaction_station_bioyond.yaml to align with the revised organization of the codebase.

* fix: WareHouse 的不可哈希类型错误，优化父节点去重逻辑

* refactor: Move config from module to instance initialization

* fix: 修正 reaction_station 目录名拼写错误

* feat: Integrate material search logic and cleanup deprecated files

- Update coin_cell_assembly.py with material search dialog handling
- Update YB_warehouses.py with latest warehouse configurations
- Remove outdated documentation and test data files

* Refactor: Use instance attributes for action names and workflow step IDs

* refactor: Split tipbox storage into left and right warehouses

* refactor: Merge tipbox storage left and right into single warehouse

---------

Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com>
Co-authored-by: Andy6M <xieqiming1132@qq.com>

fix: WareHouse 的不可哈希类型错误，优化父节点去重逻辑

fix parent_uuid fetch when bind_parent_id == node_name

物料更新也是用父节点进行报送

Add None conversion for tube rack etc.

Add set_liquid example.

Add create_resource and test_resource example.

Add restart.
Temp allow action message.

Add no_update_feedback option.

Create session_id by edge.

bump version to 0.10.15

temp cancel update req
2026-01-27 15:21:55 +08:00

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bioyond_dispensing_station:
category:
- workstation
- bioyond
- bioyond_dispensing_station
class:
action_value_mappings:
auto-brief_step_parameters:
feedback: {}
goal: {}
goal_default:
data: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
data:
type: object
required:
- data
type: object
result: {}
required:
- goal
title: brief_step_parameters参数
type: object
type: UniLabJsonCommand
auto-process_order_finish_report:
feedback: {}
goal: {}
goal_default:
report_request: null
used_materials: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
report_request:
type: string
used_materials:
type: string
required:
- report_request
- used_materials
type: object
result: {}
required:
- goal
title: process_order_finish_report参数
type: object
type: UniLabJsonCommand
auto-project_order_report:
feedback: {}
goal: {}
goal_default:
order_id: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
order_id:
type: string
required:
- order_id
type: object
result: {}
required:
- goal
title: project_order_report参数
type: object
type: UniLabJsonCommand
auto-query_resource_by_name:
feedback: {}
goal: {}
goal_default:
material_name: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
material_name:
type: string
required:
- material_name
type: object
result: {}
required:
- goal
title: query_resource_by_name参数
type: object
type: UniLabJsonCommand
auto-workflow_sample_locations:
feedback: {}
goal: {}
goal_default:
workflow_id: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
workflow_id:
type: string
required:
- workflow_id
type: object
result: {}
required:
- goal
title: workflow_sample_locations参数
type: object
type: UniLabJsonCommand
batch_create_90_10_vial_feeding_tasks:
feedback: {}
goal:
delay_time: delay_time
hold_m_name: hold_m_name
liquid_material_name: liquid_material_name
speed: speed
temperature: temperature
titration: titration
goal_default:
delay_time: '600'
hold_m_name: ''
liquid_material_name: NMP
speed: '400'
temperature: '40'
titration: ''
handles:
input:
- data_key: titration
data_source: handle
data_type: object
handler_key: titration
io_type: source
label: Titration Data From Calculation Node
output:
- data_key: return_info
data_source: executor
data_type: string
handler_key: BATCH_CREATE_RESULT
io_type: sink
label: Complete Batch Create Result JSON (contains order_codes and order_ids)
result:
return_info: return_info
schema:
description: 批量创建90%10%小瓶投料任务。从计算节点接收titration数据,包含物料名称、主称固体质量、滴定固体质量和滴定溶剂体积。返回的return_info中包含order_codes和order_ids列表。
properties:
feedback:
properties: {}
required: []
title: BatchCreate9010VialFeedingTasks_Feedback
type: object
goal:
properties:
delay_time:
default: '600'
description: 延迟时间(秒),默认600
type: string
hold_m_name:
description: 库位名称,如"C01",必填参数
type: string
liquid_material_name:
default: NMP
description: 10%物料的液体物料名称,默认为"NMP"
type: string
speed:
default: '400'
description: 搅拌速度,默认400
type: string
temperature:
default: '40'
description: 温度(℃),默认40
type: string
titration:
description: '滴定信息对象,包含: name(物料名称), main_portion(主称固体质量g), titration_portion(滴定固体质量g),
titration_solvent(滴定溶液体积mL)'
type: string
required:
- titration
- hold_m_name
title: BatchCreate9010VialFeedingTasks_Goal
type: object
result:
properties:
return_info:
description: 批量任务创建结果汇总JSON字符串，包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息)
type: string
required:
- return_info
title: BatchCreate9010VialFeedingTasks_Result
type: object
required:
- goal
title: BatchCreate9010VialFeedingTasks
type: object
type: UniLabJsonCommand
batch_create_diamine_solution_tasks:
feedback: {}
goal:
delay_time: delay_time
liquid_material_name: liquid_material_name
solutions: solutions
speed: speed
temperature: temperature
goal_default:
delay_time: '600'
liquid_material_name: NMP
solutions: ''
speed: '400'
temperature: '20'
handles:
input:
- data_key: solutions
data_source: handle
data_type: array
handler_key: solutions
io_type: source
label: Solution Data From Python
output:
- data_key: return_info
data_source: executor
data_type: string
handler_key: BATCH_CREATE_RESULT
io_type: sink
label: Complete Batch Create Result JSON (contains order_codes and order_ids)
result:
return_info: return_info
schema:
description: 批量创建二胺溶液配置任务。自动为多个二胺样品创建溶液配置任务，每个任务包含固体物料称量、溶剂添加、搅拌混合等步骤。返回的return_info中包含order_codes和order_ids列表。
properties:
feedback:
properties: {}
required: []
title: BatchCreateDiamineSolutionTasks_Feedback
type: object
goal:
properties:
delay_time:
default: '600'
description: 溶液配置完成后的延迟时间（秒），用于充分混合和溶解，默认600秒
type: string
liquid_material_name:
default: NMP
description: 液体溶剂名称，用于溶解固体物料，默认为NMP（N-甲基吡咯烷酮）
type: string
solutions:
description: '溶液列表，JSON数组格式，每个元素包含: name(物料名称), order(序号), solid_mass(固体质量g),
solvent_volume(溶剂体积mL)。示例: [{"name": "MDA", "order": 0, "solid_mass":
5.0, "solvent_volume": 20}, {"name": "MPDA", "order": 1, "solid_mass":
4.5, "solvent_volume": 18}]'
type: string
speed:
default: '400'
description: 搅拌速度（rpm），用于混合溶液，默认400转/分钟
type: string
temperature:
default: '20'
description: 配置温度（℃），溶液配置过程的目标温度，默认20℃（室温）
type: string
required:
- solutions
title: BatchCreateDiamineSolutionTasks_Goal
type: object
result:
properties:
return_info:
description: 批量任务创建结果汇总JSON字符串，包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息)
type: string
required:
- return_info
title: BatchCreateDiamineSolutionTasks_Result
type: object
required:
- goal
title: BatchCreateDiamineSolutionTasks
type: object
type: UniLabJsonCommand
compute_experiment_design:
feedback: {}
goal:
m_tot: m_tot
ratio: ratio
titration_percent: titration_percent
wt_percent: wt_percent
goal_default:
m_tot: '70'
ratio: ''
titration_percent: '0.03'
wt_percent: '0.25'
handles:
output:
- data_key: solutions
data_source: executor
data_type: array
handler_key: solutions
io_type: sink
label: Solution Data From Python
- data_key: titration
data_source: executor
data_type: object
handler_key: titration
io_type: sink
label: Titration Data From Calculation Node
- data_key: solvents
data_source: executor
data_type: object
handler_key: solvents
io_type: sink
label: Solvents Data From Calculation Node
- data_key: feeding_order
data_source: executor
data_type: array
handler_key: feeding_order
io_type: sink
label: Feeding Order Data From Calculation Node
result:
feeding_order: feeding_order
return_info: return_info
solutions: solutions
solvents: solvents
titration: titration
schema:
description: 计算实验设计，输出solutions/titration/solvents/feeding_order用于后续节点。
properties:
feedback: {}
goal:
properties:
m_tot:
default: '70'
description: 总质量(g)
type: string
ratio:
description: 组分摩尔比的对象，保持输入顺序，如{"MDA":1,"BTDA":1}
type: string
titration_percent:
default: '0.03'
description: 滴定比例(10%部分)
type: string
wt_percent:
default: '0.25'
description: 目标固含质量分数
type: string
required:
- ratio
type: object
result:
properties:
feeding_order:
type: array
return_info:
type: string
solutions:
type: array
solvents:
type: object
titration:
type: object
required:
- solutions
- titration
- solvents
- feeding_order
- return_info
title: ComputeExperimentDesign_Result
type: object
required:
- goal
title: ComputeExperimentDesign
type: object
type: UniLabJsonCommand
create_90_10_vial_feeding_task:
feedback: {}
goal:
delay_time: delay_time
hold_m_name: hold_m_name
order_name: order_name
percent_10_1_assign_material_name: percent_10_1_assign_material_name
percent_10_1_liquid_material_name: percent_10_1_liquid_material_name
percent_10_1_target_weigh: percent_10_1_target_weigh
percent_10_1_volume: percent_10_1_volume
percent_10_2_assign_material_name: percent_10_2_assign_material_name
percent_10_2_liquid_material_name: percent_10_2_liquid_material_name
percent_10_2_target_weigh: percent_10_2_target_weigh
percent_10_2_volume: percent_10_2_volume
percent_10_3_assign_material_name: percent_10_3_assign_material_name
percent_10_3_liquid_material_name: percent_10_3_liquid_material_name
percent_10_3_target_weigh: percent_10_3_target_weigh
percent_10_3_volume: percent_10_3_volume
percent_90_1_assign_material_name: percent_90_1_assign_material_name
percent_90_1_target_weigh: percent_90_1_target_weigh
percent_90_2_assign_material_name: percent_90_2_assign_material_name
percent_90_2_target_weigh: percent_90_2_target_weigh
percent_90_3_assign_material_name: percent_90_3_assign_material_name
percent_90_3_target_weigh: percent_90_3_target_weigh
speed: speed
temperature: temperature
goal_default:
delay_time: ''
hold_m_name: ''
order_name: ''
percent_10_1_assign_material_name: ''
percent_10_1_liquid_material_name: ''
percent_10_1_target_weigh: ''
percent_10_1_volume: ''
percent_10_2_assign_material_name: ''
percent_10_2_liquid_material_name: ''
percent_10_2_target_weigh: ''
percent_10_2_volume: ''
percent_10_3_assign_material_name: ''
percent_10_3_liquid_material_name: ''
percent_10_3_target_weigh: ''
percent_10_3_volume: ''
percent_90_1_assign_material_name: ''
percent_90_1_target_weigh: ''
percent_90_2_assign_material_name: ''
percent_90_2_target_weigh: ''
percent_90_3_assign_material_name: ''
percent_90_3_target_weigh: ''
speed: ''
temperature: ''
handles: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
title: DispenStationVialFeed_Feedback
type: object
goal:
properties:
delay_time:
type: string
hold_m_name:
type: string
order_name:
type: string
percent_10_1_assign_material_name:
type: string
percent_10_1_liquid_material_name:
type: string
percent_10_1_target_weigh:
type: string
percent_10_1_volume:
type: string
percent_10_2_assign_material_name:
type: string
percent_10_2_liquid_material_name:
type: string
percent_10_2_target_weigh:
type: string
percent_10_2_volume:
type: string
percent_10_3_assign_material_name:
type: string
percent_10_3_liquid_material_name:
type: string
percent_10_3_target_weigh:
type: string
percent_10_3_volume:
type: string
percent_90_1_assign_material_name:
type: string
percent_90_1_target_weigh:
type: string
percent_90_2_assign_material_name:
type: string
percent_90_2_target_weigh:
type: string
percent_90_3_assign_material_name:
type: string
percent_90_3_target_weigh:
type: string
speed:
type: string
temperature:
type: string
required:
- order_name
- percent_90_1_assign_material_name
- percent_90_1_target_weigh
- percent_90_2_assign_material_name
- percent_90_2_target_weigh
- percent_90_3_assign_material_name
- percent_90_3_target_weigh
- percent_10_1_assign_material_name
- percent_10_1_target_weigh
- percent_10_1_volume
- percent_10_1_liquid_material_name
- percent_10_2_assign_material_name
- percent_10_2_target_weigh
- percent_10_2_volume
- percent_10_2_liquid_material_name
- percent_10_3_assign_material_name
- percent_10_3_target_weigh
- percent_10_3_volume
- percent_10_3_liquid_material_name
- speed
- temperature
- delay_time
- hold_m_name
title: DispenStationVialFeed_Goal
type: object
result:
properties:
return_info:
type: string
required:
- return_info
title: DispenStationVialFeed_Result
type: object
required:
- goal
title: DispenStationVialFeed
type: object
type: DispenStationVialFeed
create_diamine_solution_task:
feedback: {}
goal:
delay_time: delay_time
hold_m_name: hold_m_name
liquid_material_name: liquid_material_name
material_name: material_name
order_name: order_name
speed: speed
target_weigh: target_weigh
temperature: temperature
volume: volume
goal_default:
delay_time: ''
hold_m_name: ''
liquid_material_name: ''
material_name: ''
order_name: ''
speed: ''
target_weigh: ''
temperature: ''
volume: ''
handles: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
title: DispenStationSolnPrep_Feedback
type: object
goal:
properties:
delay_time:
type: string
hold_m_name:
type: string
liquid_material_name:
type: string
material_name:
type: string
order_name:
type: string
speed:
type: string
target_weigh:
type: string
temperature:
type: string
volume:
type: string
required:
- order_name
- material_name
- target_weigh
- volume
- liquid_material_name
- speed
- temperature
- delay_time
- hold_m_name
title: DispenStationSolnPrep_Goal
type: object
result:
properties:
return_info:
type: string
required:
- return_info
title: DispenStationSolnPrep_Result
type: object
required:
- goal
title: DispenStationSolnPrep
type: object
type: DispenStationSolnPrep
scheduler_start:
feedback: {}
goal: {}
goal_default: {}
handles: {}
result:
return_info: return_info
schema:
description: 启动调度器 - 启动Bioyond配液站的任务调度器，开始执行队列中的任务
properties:
feedback: {}
goal:
properties: {}
required: []
type: object
result:
properties:
return_info:
description: 调度器启动结果，成功返回1，失败返回0
type: integer
required:
- return_info
title: scheduler_start结果
type: object
required:
- goal
title: scheduler_start参数
type: object
type: UniLabJsonCommand
transfer_materials_to_reaction_station:
feedback: {}
goal:
target_device_id: target_device_id
transfer_groups: transfer_groups
goal_default:
target_device_id: ''
transfer_groups: ''
handles: {}
placeholder_keys:
target_device_id: unilabos_devices
result: {}
schema:
description: 将配液站完成的物料（溶液、样品等）转移到指定反应站的堆栈库位。支持配置多组转移任务，每组包含物料名称、目标堆栈和目标库位。
properties:
feedback: {}
goal:
properties:
target_device_id:
description: 目标反应站设备ID（从设备列表中选择，所有转移组都使用同一个目标设备）
type: string
transfer_groups:
description: 转移任务组列表，每组包含物料名称、目标堆栈和目标库位，可以添加多组
items:
properties:
materials:
description: 物料名称（手动输入，系统将通过RPC查询验证）
type: string
target_sites:
description: 目标库位（手动输入，如"A01"）
type: string
target_stack:
description: 目标堆栈名称（从列表选择）
enum:
- 堆栈1左
- 堆栈1右
- 站内试剂存放堆栈
type: string
required:
- materials
- target_stack
- target_sites
type: object
type: array
required:
- target_device_id
- transfer_groups
type: object
result: {}
required:
- goal
title: transfer_materials_to_reaction_station参数
type: object
type: UniLabJsonCommand
wait_for_multiple_orders_and_get_reports:
feedback: {}
goal:
batch_create_result: batch_create_result
check_interval: check_interval
timeout: timeout
goal_default:
batch_create_result: ''
check_interval: '10'
timeout: '7200'
handles:
input:
- data_key: batch_create_result
data_source: handle
data_type: string
handler_key: BATCH_CREATE_RESULT
io_type: source
label: Batch Task Creation Result From Previous Step
output:
- data_key: return_info
data_source: handle
data_type: string
handler_key: batch_reports_result
io_type: sink
label: Batch Order Completion Reports
result:
return_info: return_info
schema:
description: 同时等待多个任务完成并获取所有实验报告。从上游batch_create任务接收包含order_codes和order_ids的结果对象，并行监控所有任务状态并返回每个任务的报告。
properties:
feedback:
properties: {}
required: []
title: WaitForMultipleOrdersAndGetReports_Feedback
type: object
goal:
properties:
batch_create_result:
description: 批量创建任务的返回结果对象，包含order_codes和order_ids数组。从上游batch_create节点通过handle传递
type: string
check_interval:
default: '10'
description: 检查任务状态的时间间隔（秒），默认每10秒检查一次所有待完成任务
type: string
timeout:
default: '7200'
description: 等待超时时间（秒），默认7200秒（2小时）。超过此时间未完成的任务将标记为timeout
type: string
required:
- batch_create_result
title: WaitForMultipleOrdersAndGetReports_Goal
type: object
result:
properties:
return_info:
description: 'JSON格式的批量任务完成信息，包含: total(总数), completed(成功数), timeout(超时数),
error(错误数), elapsed_time(总耗时), reports(报告数组，每个元素包含order_code,
order_id, status, completion_status, report, elapsed_time)'
type: string
required:
- return_info
title: WaitForMultipleOrdersAndGetReports_Result
type: object
required:
- goal
title: WaitForMultipleOrdersAndGetReports
type: object
type: UniLabJsonCommand
module: unilabos.devices.workstation.bioyond_studio.dispensing_station.dispensing_station:BioyondDispensingStation
status_types: {}
type: python
config_info: []
description: ''
handles: []
icon: preparation_station.webp
init_param_schema:
config:
properties:
config:
type: object
deck:
type: string
protocol_type:
type: string
required: []
type: object
data:
properties: {}
required: []
type: object
model: {}
version: 1.0.0
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