feat(反应站): 添加反应器子设备支持

- 在设备注册表中添加反应器子设备配置
- 实现BioyondReactor类用于处理反应器数据
- 更新反应站主设备以支持子设备数据同步
- 在测试配置中添加5个反应器实例

test/experiments/reaction_station_bioyond.json

@@ -5,10 +5,16 @@
             "name": "reaction_station_bioyond",
             "parent": null,
             "children": [
-                "Bioyond_Deck"
+                "Bioyond_Deck",
+                "reactor_1",
+                "reactor_2",
+                "reactor_3",
+                "reactor_4",
+                "reactor_5"
             ],
             "type": "device",
             "class": "reaction_station.bioyond",
+            "position": {"x": 0, "y": 3800, "z": 0},
             "config": {
                 "config": {
                     "api_key": "DE9BDDA0",
@@ -64,6 +70,61 @@
             },
             "data": {}
         },
+        {
+            "id": "reactor_1",
+            "name": "reactor_1",
+            "children": [],
+            "parent": "reaction_station_bioyond",
+            "type": "device",
+            "class": "reaction_station.reactor",
+            "position": {"x": 1150, "y": 380, "z": 0},
+            "config": {},
+            "data": {}
+        },
+        {
+            "id": "reactor_2",
+            "name": "reactor_2",
+            "children": [],
+            "parent": "reaction_station_bioyond",
+            "type": "device",
+            "class": "reaction_station.reactor",
+            "position": {"x": 1365, "y": 380, "z": 0},
+            "config": {},
+            "data": {}
+        },
+        {
+            "id": "reactor_3",
+            "name": "reactor_3",
+            "children": [],
+            "parent": "reaction_station_bioyond",
+            "type": "device",
+            "class": "reaction_station.reactor",
+            "position": {"x": 1580, "y": 380, "z": 0},
+            "config": {},
+            "data": {}
+        },
+        {
+            "id": "reactor_4",
+            "name": "reactor_4",
+            "children": [],
+            "parent": "reaction_station_bioyond",
+            "type": "device",
+            "class": "reaction_station.reactor",
+            "position": {"x": 1790, "y": 380, "z": 0},
+            "config": {},
+            "data": {}
+        },
+        {
+            "id": "reactor_5",
+            "name": "reactor_5",
+            "children": [],
+            "parent": "reaction_station_bioyond",
+            "type": "device",
+            "class": "reaction_station.reactor",
+            "position": {"x": 2010, "y": 380, "z": 0},
+            "config": {},
+            "data": {}
+        },
         {
             "id": "Bioyond_Deck",
             "name": "Bioyond_Deck",

unilabos/app/main.py

@@ -105,7 +105,7 @@ def parse_args():
     parser.add_argument(
         "--port",
         type=int,
-        default=8002,
+        default=None,
         help="Port for web service information page",
     )
     parser.add_argument(
@@ -139,7 +139,7 @@ def parse_args():
     parser.add_argument(
         "--addr",
         type=str,
-        default="https://uni-lab.bohrium.com/api/v1",
+        default=None,
         help="Laboratory backend address",
     )
     parser.add_argument(
@@ -220,17 +220,53 @@ def main():
         logger.info(f"Log level set to '{BasicConfig.log_level}' from config file.")
         configure_logger(loglevel=BasicConfig.log_level)
 
-    if args_dict["addr"] == "test":
+    # 选择地址优先级：命令行 > 配置文件 > 默认线上
+    addr_cli = args_dict.get("addr", None)
+    addr_cfg = getattr(BasicConfig, "addr", None)
+    effective_addr = addr_cli if (addr_cli not in (None, "")) else addr_cfg
+
+    if effective_addr == "test":
         print_status("使用测试环境地址", "info")
         HTTPConfig.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
-    elif args_dict["addr"] == "uat":
+    elif effective_addr == "uat":
         print_status("使用uat环境地址", "info")
         HTTPConfig.remote_addr = "https://uni-lab.uat.bohrium.com/api/v1"
-    elif args_dict["addr"] == "local":
+    elif effective_addr == "local":
         print_status("使用本地环境地址", "info")
         HTTPConfig.remote_addr = "http://127.0.0.1:48197/api/v1"
+    elif effective_addr:
+        HTTPConfig.remote_addr = effective_addr
+        print_status(f"使用配置/命令行提供的自定义地址: {effective_addr}", "info")
     else:
-        HTTPConfig.remote_addr = args_dict.get("addr", "")
+        # 默认地址
+        HTTPConfig.remote_addr = "https://uni-lab.bohrium.com/api/v1"
+        print_status("未提供地址，使用默认线上地址", "info")
+
+    # 选择端口优先级：命令行 > 配置文件 > 默认 8002
+    port_cli = args_dict.get("port", None)
+    port_cfg = getattr(BasicConfig, "port", None) if hasattr(BasicConfig, "port") else None
+    effective_port = port_cli if (port_cli is not None) else (port_cfg if (port_cfg is not None) else 8002)
+    args_dict["port"] = effective_port
+    if port_cli is not None:
+        print_status(f"使用命令行端口 {effective_port}", "info")
+    elif port_cfg is not None:
+        print_status(f"使用配置文件端口 {effective_port}", "info")
+    else:
+        print_status(f"未提供端口，使用默认端口 {effective_port}", "info")
+
+    # 选择是否打开浏览器：命令行(是否包含 --disable_browser) > 配置文件 > 默认 False
+    disable_browser_cli = "--disable_browser" in sys.argv
+    if disable_browser_cli:
+        args_dict["disable_browser"] = True
+        print_status("使用命令行设置：禁用浏览器", "info")
+    else:
+        disable_cfg = getattr(BasicConfig, "disable_browser", None)
+        if isinstance(disable_cfg, bool):
+            args_dict["disable_browser"] = disable_cfg
+            print_status(f"使用配置文件设置：disable_browser={disable_cfg}", "info")
+        else:
+            args_dict["disable_browser"] = False
+            print_status("未提供 disable_browser，默认开启浏览器", "info")
 
     # 设置BasicConfig参数
     if args_dict.get("ak", ""):

unilabos/devices/workstation/bioyond_studio/reaction_station.py

@@ -14,6 +14,37 @@ from unilabos.devices.workstation.bioyond_studio.config import (
 from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG
 
 
+class BioyondReactor:
+    def __init__(self, config: dict = None, deck=None, protocol_type=None, **kwargs):
+        self.in_temperature = 0.0
+        self.out_temperature = 0.0
+        self.pt100_temperature = 0.0
+        self.sensor_average_temperature = 0.0
+        self.target_temperature = 0.0
+        self.setting_temperature = 0.0
+        self.viscosity = 0.0
+        self.average_viscosity = 0.0
+        self.speed = 0.0
+        self.force = 0.0
+
+    def update_metrics(self, payload: Dict[str, Any]):
+        def _f(v):
+            try:
+                return float(v)
+            except Exception:
+                return 0.0
+        self.target_temperature = _f(payload.get("targetTemperature"))
+        self.setting_temperature = _f(payload.get("settingTemperature"))
+        self.in_temperature = _f(payload.get("inTemperature"))
+        self.out_temperature = _f(payload.get("outTemperature"))
+        self.pt100_temperature = _f(payload.get("pt100Temperature"))
+        self.sensor_average_temperature = _f(payload.get("sensorAverageTemperature"))
+        self.speed = _f(payload.get("speed"))
+        self.force = _f(payload.get("force"))
+        self.viscosity = _f(payload.get("viscosity"))
+        self.average_viscosity = _f(payload.get("averageViscosity"))
+
+
 class BioyondReactionStation(BioyondWorkstation):
     """Bioyond反应站类
 
@@ -52,6 +83,8 @@ class BioyondReactionStation(BioyondWorkstation):
         self.speed = 0.0
         self.force = 0.0
 
+        self._frame_to_reactor_id = {1: "reactor_1", 2: "reactor_2", 3: "reactor_3", 4: "reactor_4", 5: "reactor_5"}
+
     # ==================== 工作流方法 ====================
 
     def reactor_taken_out(self):
@@ -558,6 +591,21 @@ class BioyondReactionStation(BioyondWorkstation):
                         pub = self._ros_node._property_publishers.get(name)
                         if pub:
                             pub.publish_property()
+                    frame = data.get("frameCode")
+                    reactor_id = None
+                    try:
+                        reactor_id = self._frame_to_reactor_id.get(int(frame))
+                    except Exception:
+                        reactor_id = None
+                    if reactor_id and hasattr(self._ros_node, "sub_devices"):
+                        child = self._ros_node.sub_devices.get(reactor_id)
+                        if child and hasattr(child, "driver_instance"):
+                            child.driver_instance.update_metrics(data)
+                            pubs = getattr(child.ros_node_instance, "_property_publishers", {})
+                            for name in props:
+                                p = pubs.get(name)
+                                if p:
+                                    p.publish_property()
             except Exception:
                 pass
             event = {
@@ -575,6 +623,7 @@ class BioyondReactionStation(BioyondWorkstation):
                 "averageViscosity": data.get("averageViscosity"),
                 "request_time": report_request.request_time,
                 "timestamp": datetime.now().isoformat(),
+                "reactor_id": self._frame_to_reactor_id.get(int(data.get("frameCode", 0))) if str(data.get("frameCode", "")).isdigit() else None,
             }
 
             base_dir = Path(__file__).resolve().parents[3] / "unilabos_data"

unilabos/registry/devices/camera.yaml

@@ -1,4 +1,4 @@
-camera.USB:
+camera:
   category:
   - camera
   class:

unilabos/registry/devices/reaction_station_bioyond.yaml

@@ -565,3 +565,58 @@ reaction_station.bioyond:
       - workstation_status
       type: object
   version: 1.0.0
+reaction_station.reactor:
+  category:
+  - reactor
+  - reaction_station_bioyond
+  class:
+    action_value_mappings: {}
+    module: unilabos.devices.workstation.bioyond_studio.reaction_station:BioyondReactor
+    status_types:
+      average_viscosity: float
+      force: float
+      in_temperature: float
+      out_temperature: float
+      pt100_temperature: float
+      sensor_average_temperature: float
+      setting_temperature: float
+      speed: float
+      target_temperature: float
+      viscosity: float
+    type: python
+  config_info: []
+  description: 反应站子设备-反应器
+  handles: []
+  icon: reaction_station.webp
+  init_param_schema:
+    config:
+      properties:
+        config:
+          type: object
+      required: []
+      type: object
+    data:
+      properties:
+        average_viscosity:
+          type: number
+        force:
+          type: number
+        in_temperature:
+          type: number
+        out_temperature:
+          type: number
+        pt100_temperature:
+          type: number
+        sensor_average_temperature:
+          type: number
+        setting_temperature:
+          type: number
+        speed:
+          type: number
+        target_temperature:
+          type: number
+        viscosity:
+          type: number
+      required: []
+      type: object
+  version: 1.0.0

unilabos/ros/nodes/presets/camera.py

@@ -6,12 +6,13 @@ from cv_bridge import CvBridge
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker
 
 class VideoPublisher(BaseROS2DeviceNode):
-    def __init__(self, device_id='video_publisher', camera_index=0, period: float = 0.1, resource_tracker: DeviceNodeResourceTracker = None):
+    def __init__(self, device_id='video_publisher', device_uuid='', camera_index=0, period: float = 0.1, resource_tracker: DeviceNodeResourceTracker = None):
         # 初始化BaseROS2DeviceNode，使用自身作为driver_instance
         BaseROS2DeviceNode.__init__(
             self,
             driver_instance=self,
             device_id=device_id,
+            device_uuid=device_uuid,
             status_types={},
             action_value_mappings={},
             hardware_interface="camera",