test: 新增编译器全链路测试和资源转换测试

- test_pump_separate_full_chain: PumpTransfer和Separate全链路测试，
  验证bug修复后separate不再crash
- test_full_chain_conversion_to_compile: HeatChill/Add协议结构验证
- test_resource_conversion_path: ResourceDictInstance转换路径测试
- test_batch_transfer_protocol: AGV批量转运编译器测试
- test_agv_transport_station: AGV工作站设备测试

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

tests/devices/test_agv_transport_station.py

@@ -0,0 +1,137 @@
+"""
+AGVTransportStation driver 测试
+
+覆盖：初始化、carrier property、slot 查询、路由查询、capacity 计算。
+"""
+
+import pytest
+from unittest.mock import MagicMock, patch
+
+from unilabos.devices.transport.agv_workstation import AGVTransportStation
+from unilabos.resources.warehouse import WareHouse, warehouse_factory
+
+
+class TestAGVTransportStation:
+    def _make_driver(self, route_table=None, device_roles=None):
+        """创建一个 AGVTransportStation 实例"""
+        return AGVTransportStation(
+            deck=None,
+            route_table=route_table or {
+                "A->B": {"nav_command": '{"target":"LM1"}', "arm_pick": "pick.urp", "arm_place": "place.urp"}
+            },
+            device_roles=device_roles or {"navigator": "agv_nav", "arm": "agv_arm"},
+        )
+
+    def _make_warehouse(self, name="agv_platform", nx=2, ny=1, nz=1):
+        """创建一个测试用 Warehouse"""
+        return warehouse_factory(name=name, num_items_x=nx, num_items_y=ny, num_items_z=nz)
+
+    def test_init_deck_none(self):
+        """AGVTransportStation 初始化时 deck=None"""
+        driver = self._make_driver()
+        assert driver.deck is None
+
+    def test_init_route_table(self):
+        """路由表正确存储"""
+        driver = self._make_driver()
+        assert "A->B" in driver.route_table
+
+    def test_init_device_roles(self):
+        """设备角色正确存储"""
+        driver = self._make_driver()
+        assert driver.device_roles["navigator"] == "agv_nav"
+        assert driver.device_roles["arm"] == "agv_arm"
+
+    def test_carrier_without_ros_node(self):
+        """未 post_init 时 carrier 返回 None"""
+        driver = self._make_driver()
+        assert driver.carrier is None
+
+    def test_carrier_with_warehouse(self):
+        """post_init 后 carrier 返回正确的 WareHouse"""
+        driver = self._make_driver()
+        wh = self._make_warehouse()
+
+        # 模拟 ros_node 和 resource_tracker
+        mock_ros_node = MagicMock()
+        mock_ros_node.resource_tracker.resources = [wh]
+        mock_ros_node.device_id = "AGV"
+        driver.post_init(mock_ros_node)
+
+        assert driver.carrier is wh
+        assert isinstance(driver.carrier, WareHouse)
+
+    def test_capacity(self):
+        """容量计算正确"""
+        driver = self._make_driver()
+        wh = self._make_warehouse(nx=2, ny=1, nz=1)
+        mock_ros_node = MagicMock()
+        mock_ros_node.resource_tracker.resources = [wh]
+        mock_ros_node.device_id = "AGV"
+        driver.post_init(mock_ros_node)
+
+        assert driver.capacity == 2
+
+    def test_capacity_multi_layer(self):
+        """多层 Warehouse 容量"""
+        driver = self._make_driver()
+        wh = self._make_warehouse(nx=1, ny=2, nz=3)
+        mock_ros_node = MagicMock()
+        mock_ros_node.resource_tracker.resources = [wh]
+        mock_ros_node.device_id = "AGV"
+        driver.post_init(mock_ros_node)
+
+        assert driver.capacity == 6
+
+    def test_capacity_no_carrier(self):
+        """无 carrier 时容量为 0"""
+        driver = self._make_driver()
+        assert driver.capacity == 0
+
+    def test_free_slots(self):
+        """空载时所有 slot 为空闲"""
+        driver = self._make_driver()
+        wh = self._make_warehouse(nx=2, ny=1, nz=1)
+        mock_ros_node = MagicMock()
+        mock_ros_node.resource_tracker.resources = [wh]
+        mock_ros_node.device_id = "AGV"
+        driver.post_init(mock_ros_node)
+
+        free = driver.free_slots
+        assert len(free) == 2
+
+    def test_occupied_slots_empty(self):
+        """空载时 occupied_slots 为空"""
+        driver = self._make_driver()
+        wh = self._make_warehouse(nx=2, ny=1, nz=1)
+        mock_ros_node = MagicMock()
+        mock_ros_node.resource_tracker.resources = [wh]
+        mock_ros_node.device_id = "AGV"
+        driver.post_init(mock_ros_node)
+
+        assert len(driver.occupied_slots) == 0
+
+    def test_resolve_route(self):
+        """路由查询返回正确的指令"""
+        driver = self._make_driver()
+        route = driver.resolve_route("A", "B")
+        assert route["nav_command"] == '{"target":"LM1"}'
+        assert route["arm_pick"] == "pick.urp"
+
+    def test_resolve_route_not_found(self):
+        """查询不存在的路线时抛出 KeyError"""
+        driver = self._make_driver()
+        with pytest.raises(KeyError, match="路由表"):
+            driver.resolve_route("X", "Y")
+
+    def test_get_device_id(self):
+        """获取子设备 ID"""
+        driver = self._make_driver()
+        assert driver.get_device_id("navigator") == "agv_nav"
+        assert driver.get_device_id("arm") == "agv_arm"
+
+    def test_get_device_id_not_found(self):
+        """获取不存在的角色时抛出 KeyError"""
+        driver = self._make_driver()
+        with pytest.raises(KeyError, match="未配置设备角色"):
+            driver.get_device_id("gripper")