feat: 新增AGV批量物料转运功能

添加AGV工作站设备驱动、注册表定义、批量转运编译器和消息定义。
包含跨工作站批量转运协议、AGV路径规划、容量分批等功能。

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

unilabos/devices/transport/agv_workstation.py

@@ -0,0 +1,127 @@
+"""
+AGV 通用转运工站 Driver
+
+继承 WorkstationBase，通过 WorkstationNodeCreator 自动获得 ROS2WorkstationNode 能力。
+Warehouse 作为 children 中的资源节点，由 attach_resource() 自动注册到 resource_tracker。
+deck=None，不使用 PLR Deck 抽象。
+"""
+
+from typing import Any, Dict, List, Optional
+
+from pylabrobot.resources import Deck
+
+from unilabos.devices.workstation.workstation_base import WorkstationBase
+from unilabos.resources.warehouse import WareHouse
+from unilabos.utils import logger
+
+
+class AGVTransportStation(WorkstationBase):
+    """通用 AGV 转运工站
+
+    初始化链路（零框架改动）：
+        ROS2DeviceNode.__init__():
+          issubclass(AGVTransportStation, WorkstationBase) → True
+          → WorkstationNodeCreator.create_instance(data):
+              data["deck"] = None
+              → DeviceClassCreator.create_instance(data) → AGVTransportStation(deck=None, ...)
+              → attach_resource(): children 中 type="warehouse" → resource_tracker.add_resource(wh)
+          → ROS2WorkstationNode(protocol_type=[...], children=[nav, arm], ...)
+          → driver.post_init(ros_node):
+              self.carrier 从 resource_tracker 中获取 WareHouse
+    """
+
+    def __init__(
+        self,
+        deck: Optional[Deck] = None,
+        children: Optional[List[Any]] = None,
+        route_table: Optional[Dict[str, Dict[str, str]]] = None,
+        device_roles: Optional[Dict[str, str]] = None,
+        **kwargs,
+    ):
+        super().__init__(deck=None, **kwargs)
+        self.route_table: Dict[str, Dict[str, str]] = route_table or {}
+        self.device_roles: Dict[str, str] = device_roles or {}
+
+    # ============ 载具 (Warehouse) ============
+
+    @property
+    def carrier(self) -> Optional[WareHouse]:
+        """从 resource_tracker 中找到 AGV 载具 Warehouse"""
+        if not hasattr(self, "_ros_node"):
+            return None
+        for res in self._ros_node.resource_tracker.resources:
+            if isinstance(res, WareHouse):
+                return res
+        return None
+
+    @property
+    def capacity(self) -> int:
+        """AGV 载具总容量（slot 数）"""
+        wh = self.carrier
+        if wh is None:
+            return 0
+        return wh.num_items_x * wh.num_items_y * wh.num_items_z
+
+    @property
+    def free_slots(self) -> List[str]:
+        """返回当前空闲 slot 名称列表"""
+        wh = self.carrier
+        if wh is None:
+            return []
+        ordering = getattr(wh, "_ordering", {})
+        return [name for name, site in ordering.items() if site.resource is None]
+
+    @property
+    def occupied_slots(self) -> Dict[str, Any]:
+        """返回已占用的 slot → Resource 映射"""
+        wh = self.carrier
+        if wh is None:
+            return {}
+        ordering = getattr(wh, "_ordering", {})
+        return {name: site.resource for name, site in ordering.items() if site.resource is not None}
+
+    # ============ 路由查询 ============
+
+    def resolve_route(self, from_station: str, to_station: str) -> Dict[str, str]:
+        """查询路由表，返回导航和机械臂指令
+
+        Args:
+            from_station: 来源工站 ID
+            to_station: 目标工站 ID
+
+        Returns:
+            {"nav_command": "...", "arm_pick": "...", "arm_place": "..."}
+
+        Raises:
+            KeyError: 路由表中未找到对应路线
+        """
+        route_key = f"{from_station}->{to_station}"
+        if route_key not in self.route_table:
+            raise KeyError(f"路由表中未找到路线: {route_key}")
+        return self.route_table[route_key]
+
+    def get_device_id(self, role: str) -> str:
+        """获取子设备 ID
+
+        Args:
+            role: 设备角色，如 "navigator", "arm"
+
+        Returns:
+            设备 ID 字符串
+
+        Raises:
+            KeyError: 未配置该角色的设备
+        """
+        if role not in self.device_roles:
+            raise KeyError(f"未配置设备角色: {role}，当前已配置: {list(self.device_roles.keys())}")
+        return self.device_roles[role]
+
+    # ============ 生命周期 ============
+
+    def post_init(self, ros_node) -> None:
+        super().post_init(ros_node)
+        wh = self.carrier
+        if wh is not None:
+            logger.info(f"AGV {ros_node.device_id} 载具已就绪: {wh.name}, 容量={self.capacity}")
+        else:
+            logger.warning(f"AGV {ros_node.device_id} 未发现 Warehouse 载具资源")