Support unilabos_samples key

(cherry picked from commit 554bcade24)

.conda/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: 0.10.10
+  version: 0.10.11
 
 source:
   path: ../unilabos

docs/advanced_usage/configuration.md

@@ -67,14 +67,6 @@ class WSConfig:
     max_reconnect_attempts = 999  # 最大重连次数
     ping_interval = 30  # ping间隔（秒）
 
-# OSS上传配置
-class OSSUploadConfig:
-    api_host = ""  # API主机地址
-    authorization = ""  # 授权信息
-    init_endpoint = ""  # 初始化端点
-    complete_endpoint = ""  # 完成端点
-    max_retries = 3  # 最大重试次数
-
 # HTTP配置
 class HTTPConfig:
     remote_addr = "https://uni-lab.bohrium.com/api/v1"  # 远程服务器地址
@@ -294,19 +286,7 @@ HTTP 客户端配置用于与云端服务通信：
 - UAT 环境：`https://uni-lab.uat.bohrium.com/api/v1`
 - 本地环境：`http://127.0.0.1:48197/api/v1`
 
-### 4. OSSUploadConfig - OSS 上传配置
-
-对象存储服务配置，用于文件上传功能：
-
-| 参数                | 类型 | 默认值 | 说明                 |
-| ------------------- | ---- | ------ | -------------------- |
-| `api_host`          | str  | `""`   | OSS API 主机地址     |
-| `authorization`     | str  | `""`   | 授权认证信息         |
-| `init_endpoint`     | str  | `""`   | 上传初始化端点       |
-| `complete_endpoint` | str  | `""`   | 上传完成端点         |
-| `max_retries`       | int  | `3`    | 上传失败最大重试次数 |
-
-### 5. ROSConfig - ROS 配置
+### 4. ROSConfig - ROS 配置
 
 配置 ROS 消息转换器需要加载的模块：
 

docs/developer_guide/add_registry.md

@@ -5,6 +5,7 @@
 ## 概述
 
 注册表（Registry）是 Uni-Lab 的设备配置系统，采用 YAML 格式定义设备的：
+
 - 可用动作（Actions）
 - 状态类型（Status Types）
 - 初始化参数（Init Parameters）
@@ -33,7 +34,7 @@
 ### 核心字段说明
 
 | 字段名            | 类型   | 需要手写 | 说明                              |
-| ----------------- | ------ | -------- | ----------------------------------- |
+| ----------------- | ------ | -------- | --------------------------------- |
 | 设备标识符        | string | 是       | 设备的唯一名字，如 `mock_chiller` |
 | class             | object | 部分     | 设备的核心信息，必须配置          |
 | description       | string | 否       | 设备描述，系统默认给空字符串      |
@@ -74,8 +75,8 @@ my_device:
         goal: { ... }
         result: { ... }
 
-  description: "设备描述"
-  version: "1.0.0"
+  description: '设备描述'
+  version: '1.0.0'
   category:
     - device_category
   handles: []
@@ -106,6 +107,7 @@ my_device:
 适合大多数场景，快速高效。
 
 **步骤**：
+
 1. 启动 Uni-Lab
 2. 访问 Web 界面的"注册表编辑器"
 3. 上传您的 Python 设备驱动文件
@@ -125,6 +127,7 @@ unilab -g dev.json --complete_registry --registry_path ./my_registry
 ```
 
 系统会：
+
 1. 扫描 Python 类
 2. 分析方法签名和类型
 3. 自动生成缺失的字段
@@ -186,6 +189,7 @@ my_device:
 | ROS 动作类型           | 标准 ROS 动作        | goal_default 和 schema |
 
 **常用的 ROS 动作类型**：
+
 - `SendCmd`：发送简单命令
 - `NavigateThroughPoses`：导航动作
 - `SingleJointPosition`：单关节位置控制
@@ -297,7 +301,7 @@ my_device:
 ### 识别规则
 
 | Python 类型          | placeholder_keys 值  | 前端效果       |
-|-----------|-------------------|---------|
+| -------------------- | -------------------- | -------------- |
 | `ResourceSlot`       | `unilabos_resources` | 单选资源下拉框 |
 | `List[ResourceSlot]` | `unilabos_resources` | 多选资源下拉框 |
 | `DeviceSlot`         | `unilabos_devices`   | 单选设备下拉框 |
@@ -313,6 +317,7 @@ placeholder_keys:
 ```
 
 **前端渲染**:
+
 ```
 Source: [下拉选择框 ▼]
         ├── plate_1 (96孔板)
@@ -329,6 +334,7 @@ placeholder_keys:
 ```
 
 **前端渲染**:
+
 ```
 Targets: [多选下拉框 ▼]
          ☑ plate_1 (96孔板)
@@ -345,6 +351,7 @@ placeholder_keys:
 ```
 
 **前端渲染**:
+
 ```
 Pump: [下拉选择框 ▼]
       ├── pump_1 (注射泵A)
@@ -360,6 +367,7 @@ placeholder_keys:
 ```
 
 **前端渲染**:
+
 ```
 Sync Devices: [多选下拉框 ▼]
               ☑ heater_1 (加热器A)
@@ -414,7 +422,7 @@ placeholder_keys:
 
 ### status_types
 
-系统会扫描你的 Python 类，从状态方法（property或get_方法）自动生成这部分：
+系统会扫描你的 Python 类，从状态方法（property 或 get\_方法）自动生成这部分：
 
 ```yaml
 status_types:
@@ -424,6 +432,7 @@ status_types:
 ```
 
 **注意事项**：
+
 - 系统会查找所有 `get_` 开头的方法和 `@property` 装饰的属性
 - 类型会自动转成相应的类型（如 `str`、`float`、`bool`）
 - 如果类型是 `Any`、`None` 或未知的，默认使用 `String`
@@ -459,6 +468,7 @@ init_param_schema:
 ```
 
 **生成规则**：
+
 - `config` 部分：分析 `__init__` 方法的参数、类型和默认值
 - `data` 部分：根据 `status_types` 生成前端显示用的类型定义
 
@@ -619,22 +629,22 @@ advanced_liquid_handler:
         result:
           success: success
         schema:
-          description: "转移液体"
+          description: '转移液体'
           properties:
             goal:
               properties:
                 source:
                   type: object
-                  description: "源容器"
+                  description: '源容器'
                 target:
                   type: object
-                  description: "目标容器"
+                  description: '目标容器'
                 volume:
                   type: number
-                  description: "体积(μL)"
+                  description: '体积(μL)'
                 tip:
                   type: object
-                  description: "枪头(可选)"
+                  description: '枪头(可选)'
               required:
                 - source
                 - target
@@ -668,12 +678,12 @@ advanced_liquid_handler:
         result:
           success: success
 
-  description: "高级液体处理工作站，支持多目标转移和设备协同"
-  version: "1.0.0"
+  description: '高级液体处理工作站，支持多目标转移和设备协同'
+  version: '1.0.0'
   category:
     - liquid_handling
   handles: []
-  icon: ""
+  icon: ''
 ```
 
 ### 另一个完整示例：温度控制器
@@ -895,6 +905,7 @@ cat unilabos/registry/devices/my_device.yaml
 ### 2. 验证 placeholder_keys
 
 确认：
+
 - ResourceSlot 参数有 `unilabos_resources`
 - DeviceSlot 参数有 `unilabos_devices`
 - List 类型被正确识别
@@ -919,8 +930,10 @@ python -c "from unilabos.devices.my_module.my_device import MyDevice"
 ### Q1: placeholder_keys 没有自动生成
 
 **检查**:
+
 1. 是否使用了`--complete_registry`参数？
 2. 类型注解是否正确？
+
    ```python
    # ✓ 正确
    def method(self, resource: ResourceSlot):
@@ -928,6 +941,7 @@ python -c "from unilabos.devices.my_module.my_device import MyDevice"
    # ✗ 错误（缺少类型注解）
    def method(self, resource):
    ```
+
 3. 是否正确导入？
    ```python
    from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
@@ -938,6 +952,7 @@ python -c "from unilabos.devices.my_module.my_device import MyDevice"
 **原因**: placeholder_keys 未正确配置
 
 **解决**:
+
 ```yaml
 # 检查YAML中是否有
 placeholder_keys:
@@ -947,6 +962,7 @@ placeholder_keys:
 ### Q3: 多选不工作
 
 **检查类型注解**:
+
 ```python
 # ✓ 正确 - 会生成多选
 def method(self, resources: List[ResourceSlot]):
@@ -960,6 +976,7 @@ def method(self, resources: ResourceSlot):
 **说明**: 运行时会自动转换
 
 前端传递：
+
 ```json
 {
   "resource": "plate_1" // 字符串ID
@@ -967,6 +984,7 @@ def method(self, resources: ResourceSlot):
 ```
 
 运行时收到：
+
 ```python
 resource.id        # "plate_1"
 resource.name      # "96孔板"
@@ -977,6 +995,7 @@ resource.type      # "resource"
 ### Q5: 设备加载不了
 
 **检查**:
+
 1. 确认 `class.module` 路径是否正确
 2. 确认 Python 驱动类能否正常导入
 3. 使用 yaml 验证器检查文件格式
@@ -985,6 +1004,7 @@ resource.type      # "resource"
 ### Q6: 自动生成失败
 
 **检查**:
+
 1. 确认类继承了正确的基类
 2. 确保状态方法的返回类型注解清晰
 3. 检查类能否被动态导入
@@ -993,6 +1013,7 @@ resource.type      # "resource"
 ### Q7: 前端显示问题
 
 **解决步骤**:
+
 1. 删除旧的 yaml 文件，用编辑器重新生成
 2. 清除浏览器缓存，重新加载页面
 3. 确认必需字段（如 `schema`）都存在
@@ -1001,6 +1022,7 @@ resource.type      # "resource"
 ### Q8: 动作执行出错
 
 **检查**:
+
 1. 确认动作方法名符合规范（如 `execute_<action_name>`）
 2. 检查 `goal` 字段的参数映射是否正确
 3. 确认方法返回值格式符合 `result` 映射
@@ -1075,6 +1097,7 @@ def method(
 ```
 
 5. **方法命名规范**
+
    - 状态方法使用 `@property` 装饰器或 `get_` 前缀
    - 动作方法使用动词开头
    - 保持命名清晰、一致
@@ -1114,5 +1137,3 @@ def method(
 - Python [typing 模块](https://docs.python.org/3/library/typing.html)
 - [YAML 语法](https://yaml.org/)
 - [JSON Schema](https://json-schema.org/)
-
-

docs/developer_guide/examples/battery_plc_workstation.md

@@ -50,8 +50,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         self.client = tcp.register_node_list(self.nodes)
 ```
 
-
-
 ## 2. 编写驱动与寄存器读写
 
 ### 2.1 寄存器示例
@@ -95,8 +93,8 @@ def start_and_read_metrics(self):
 
 完成工站类与驱动后，需要生成（或更新）工站注册表供系统识别。
 
-
 ### 3.1 新增工站设备（或资源）首次生成注册表
+
 首先通过以下命令启动 unilab。进入 unilab 系统状态检查页面
 
 ```bash
@@ -112,6 +110,7 @@ python unilabos\app\main.py -g celljson.json --ak <user的AK> --sk <user的SK>
 ![注册表生成流程](image_battery_plc/unilab_registry_process.png)
 
 步骤说明：
+
 1. 选择新增的工站`coin_cell_assembly.py`文件
 2. 点击分析按钮，分析`coin_cell_assembly.py`文件
 3. 选择`coin_cell_assembly.py`文件中继承`WorkstationBase`类
@@ -124,20 +123,16 @@ python unilabos\app\main.py -g celljson.json --ak <user的AK> --sk <user的SK>
 
 ![生成的YAML文件](image_battery_plc/unilab_new_yaml.png)
 
-
-
-
-
-
 ### 3.2 添加新生成注册表
+
 在`unilabos\registry\devices`目录下新建一个 yaml 文件，此处新建文件命名为`coincellassemblyworkstation_device.yaml`，将上面生成的新的注册表信息粘贴到`coincellassemblyworkstation_device.yaml`文件中。
 
 在终端输入以下命令进行注册表补全操作。
+
 ```bash
 python unilabos\app\register.py --complete_registry
 ```
 
-
 ### 3.3 启动并上传注册表
 
 新增设备之后，启动 unilab 需要增加`--upload_registry`参数，来上传注册表信息。
@@ -159,6 +154,7 @@ module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinC
 ### 4.2 首次接入流程
 
 首次新增设备（或资源）需要完整流程：
+
 1. ✅ 在网页端生成注册表信息
 2. ✅ 使用 `--complete_registry` 补全注册表
 3. ✅ 使用 `--upload_registry` 上传注册表信息
@@ -166,6 +162,7 @@ module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinC
 ### 4.3 驱动更新流程
 
 如果不是新增设备，仅修改了工站驱动的 `.py` 文件：
+
 1. ✅ 运行 `--complete_registry` 补全注册表
 2. ✅ 运行 `--upload_registry` 上传注册表
 3. ❌ 不需要在网页端重新生成注册表
@@ -203,5 +200,3 @@ module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinC
 5. ✅ 新增设备与更新驱动的区别
 
 这个案例展示了完整的 PLC 设备接入流程，可以作为其他类似设备接入的参考模板。
-
-

docs/developer_guide/examples/workstation_architecture.md

@@ -592,7 +592,7 @@ class PLCWorkstation(WorkstationBase):
 ### 8.1 WorkstationBase 核心属性
 
 | 属性                      | 类型                    | 说明                            |
-| --------------------------- | ----------------------- | ----------------------------- |
+| ------------------------- | ----------------------- | ------------------------------- |
 | `_ros_node`               | ROS2WorkstationNode     | ROS 节点引用，由 post_init 设置 |
 | `deck`                    | Deck                    | PyLabRobot Deck，本地物料系统   |
 | `plr_resources`           | Dict[str, PLRResource]  | 物料资源映射                    |

docs/developer_guide/networking_overview.md

@@ -592,4 +592,3 @@ ros2 topic list
 - [ROS2 网络配置](https://docs.ros.org/en/humble/Tutorials/Advanced/Networking.html)
 - [DDS 配置](https://fast-dds.docs.eprosima.com/)
 - Uni-Lab 云平台文档
-

recipes/msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.10.10
+  version: 0.10.11
 source:
   path: ../../unilabos_msgs
   target_directory: src

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.10"
+  version: "0.10.11"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.10',
+    version='0.10.11',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

unilabos/__init__.py

@@ -1 +1 @@
-__version__ = "0.10.10"
+__version__ = "0.10.11"

unilabos/app/main.py

@@ -139,7 +139,7 @@ def parse_args():
     parser.add_argument(
         "--addr",
         type=str,
-        default=None,
+        default="https://uni-lab.bohrium.com/api/v1",
         help="Laboratory backend address",
     )
     parser.add_argument(
@@ -220,53 +220,17 @@ def main():
         logger.info(f"Log level set to '{BasicConfig.log_level}' from config file.")
         configure_logger(loglevel=BasicConfig.log_level)
 
-    # 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":
+    if args_dict["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 effective_addr == "uat":
+    elif args_dict["addr"] == "uat":
         print_status("使用uat环境地址", "info")
         HTTPConfig.remote_addr = "https://uni-lab.uat.bohrium.com/api/v1"
-    elif effective_addr == "local":
+    elif args_dict["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:
-        # 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")
+        HTTPConfig.remote_addr = args_dict.get("addr", "")
 
     # 设置BasicConfig参数
     if args_dict.get("ak", ""):
@@ -288,6 +252,8 @@ def main():
         else:
             print_status("远程资源不存在，本地将进行首次上报！", "info")
 
+    BasicConfig.port = args_dict["port"] if args_dict["port"] else BasicConfig.port
+    BasicConfig.disable_browser = args_dict["disable_browser"] or BasicConfig.disable_browser
     BasicConfig.working_dir = working_dir
     BasicConfig.is_host_mode = not args_dict.get("is_slave", False)
     BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
@@ -327,7 +293,9 @@ def main():
     resource_tree_set: ResourceTreeSet
     resource_links: List[Dict[str, Any]]
     request_startup_json = http_client.request_startup_json()
-    if args_dict["graph"] is None:
+
+    file_path = args_dict.get("graph", BasicConfig.startup_json_path)
+    if file_path is None:
         if not request_startup_json:
             print_status(
                 "未指定设备加载文件路径，尝试从HTTP获取失败，请检查网络或者使用-g参数指定设备加载文件路径", "error"
@@ -337,7 +305,6 @@ def main():
             print_status("联网获取设备加载文件成功", "info")
         graph, resource_tree_set, resource_links = read_node_link_json(request_startup_json)
     else:
-        file_path = args_dict["graph"]
         if not os.path.isfile(file_path):
             temp_file_path = os.path.abspath(str(os.path.join(__file__, "..", "..", file_path)))
             if os.path.isfile(temp_file_path):
@@ -454,8 +421,8 @@ def main():
             server_thread = threading.Thread(
                 target=start_server,
                 kwargs=dict(
-                    open_browser=not args_dict["disable_browser"],
-                    port=args_dict["port"],
+                    open_browser=not BasicConfig.disable_browser,
+                    port=BasicConfig.port,
                 ),
             )
             server_thread.start()

unilabos/app/oss_upload.py

@@ -1,161 +1,158 @@
 import argparse
 import os
 import time
-from typing import Dict, Optional, Tuple
+from datetime import datetime
+from pathlib import Path
+from typing import Dict, Optional, Tuple, Union
 
 import requests
 
-from unilabos.config.config import OSSUploadConfig
+from unilabos.app.web.client import http_client, HTTPClient
+from unilabos.utils import logger
 
 
-def _init_upload(file_path: str, oss_path: str, filename: Optional[str] = None,
-                process_key: str = "file-upload", device_id: str = "default",
-                expires_hours: int = 1) -> Tuple[bool, Dict]:
+def _get_oss_token(
+    filename: str,
+    driver_name: str = "default",
+    exp_type: str = "default",
+    client: Optional[HTTPClient] = None,
+) -> Tuple[bool, Dict]:
     """
-    初始化上传过程
+    获取OSS上传Token
 
     Args:
-        file_path: 本地文件路径
-        oss_path: OSS目标路径
-        filename: 文件名，如果为None则使用file_path的文件名
-        process_key: 处理键
-        device_id: 设备ID
-        expires_hours: 链接过期小时数
+        filename: 文件名
+        driver_name: 驱动名称
+        exp_type: 实验类型
+        client: HTTPClient实例，如果不提供则使用默认的http_client
 
     Returns:
-        (成功标志, 响应数据)
+        (成功标志, Token数据字典包含token/path/host/expires)
     """
-    if filename is None:
-        filename = os.path.basename(file_path)
+    # 使用提供的client或默认的http_client
+    if client is None:
+        client = http_client
 
-    # 构造初始化请求
-    url = f"{OSSUploadConfig.api_host}{OSSUploadConfig.init_endpoint}"
-    headers = {
-        "Authorization": OSSUploadConfig.authorization,
-        "Content-Type": "application/json"
-    }
+    # 构造scene参数: driver_name-exp_type
+    scene = f"{driver_name}-{exp_type}"
 
-    payload = {
-        "device_id": device_id,
-        "process_key": process_key,
-        "filename": filename,
-        "path": oss_path,
-        "expires_hours": expires_hours
-    }
+    # 构造请求URL，使用client的remote_addr（已包含/api/v1/）
+    url = f"{client.remote_addr}/applications/token"
+    params = {"scene": scene, "filename": filename}
 
     try:
-        response = requests.post(url, headers=headers, json=payload)
-        if response.status_code == 201:
-            result = response.json()
-            if result.get("code") == "10000":
-                return True, result.get("data", {})
+        logger.info(f"[OSS] 请求预签名URL: scene={scene}, filename={filename}")
+        response = requests.get(url, params=params, headers={"Authorization": f"Lab {client.auth}"}, timeout=10)
 
-        print(f"初始化上传失败: {response.status_code}, {response.text}")
+        if response.status_code == 200:
+            result = response.json()
+            if result.get("code") == 0:
+                data = result.get("data", {})
+
+                # 转换expires时间戳为可读格式
+                expires_timestamp = data.get("expires", 0)
+                expires_datetime = datetime.fromtimestamp(expires_timestamp)
+                expires_str = expires_datetime.strftime("%Y-%m-%d %H:%M:%S")
+
+                logger.info(f"[OSS] 获取预签名URL成功")
+                logger.info(f"[OSS]   - URL: {data.get('url', 'N/A')}")
+                logger.info(f"[OSS]   - Expires: {expires_str} (timestamp: {expires_timestamp})")
+
+                return True, data
+
+        logger.error(f"[OSS] 获取预签名URL失败: {response.status_code}, {response.text}")
         return False, {}
     except Exception as e:
-        print(f"初始化上传异常: {str(e)}")
+        logger.error(f"[OSS] 获取预签名URL异常: {str(e)}")
         return False, {}
 
 
 def _put_upload(file_path: str, upload_url: str) -> bool:
     """
-    执行PUT上传
+    使用预签名URL上传文件到OSS
 
     Args:
         file_path: 本地文件路径
-        upload_url: 上传URL
+        upload_url: 完整的预签名上传URL
 
     Returns:
         是否成功
     """
     try:
+        logger.info(f"[OSS] 开始上传文件: {file_path}")
+
         with open(file_path, "rb") as f:
-            response = requests.put(upload_url, data=f)
+            # 使用预签名URL上传，不需要额外的认证header
+            response = requests.put(upload_url, data=f, timeout=300)
+
             if response.status_code == 200:
+                logger.info(f"[OSS] 文件上传成功")
                 return True
 
-        print(f"PUT上传失败: {response.status_code}, {response.text}")
+        logger.error(f"[OSS] 上传失败: {response.status_code}")
+        logger.error(f"[OSS] 响应内容: {response.text[:500] if response.text else '无响应内容'}")
         return False
     except Exception as e:
-        print(f"PUT上传异常: {str(e)}")
+        logger.error(f"[OSS] 上传异常: {str(e)}")
         return False
 
 
-def _complete_upload(uuid: str) -> bool:
-    """
-    完成上传过程
-
-    Args:
-        uuid: 上传的UUID
-
-    Returns:
-        是否成功
-    """
-    url = f"{OSSUploadConfig.api_host}{OSSUploadConfig.complete_endpoint}"
-    headers = {
-        "Authorization": OSSUploadConfig.authorization,
-        "Content-Type": "application/json"
-    }
-
-    payload = {
-        "uuid": uuid
-    }
-
-    try:
-        response = requests.post(url, headers=headers, json=payload)
-        if response.status_code == 200:
-            result = response.json()
-            if result.get("code") == "10000":
-                return True
-
-        print(f"完成上传失败: {response.status_code}, {response.text}")
-        return False
-    except Exception as e:
-        print(f"完成上传异常: {str(e)}")
-        return False
-
-
-def oss_upload(file_path: str, oss_path: str, filename: Optional[str] = None,
-              process_key: str = "file-upload", device_id: str = "default") -> bool:
+def oss_upload(
+    file_path: Union[str, Path],
+    filename: Optional[str] = None,
+    driver_name: str = "default",
+    exp_type: str = "default",
+    max_retries: int = 3,
+    client: Optional[HTTPClient] = None,
+) -> Dict:
     """
     文件上传主函数，包含重试机制
 
     Args:
         file_path: 本地文件路径
-        oss_path: OSS目标路径
         filename: 文件名，如果为None则使用file_path的文件名
-        process_key: 处理键
-        device_id: 设备ID
+        driver_name: 驱动名称，用于构造scene
+        exp_type: 实验类型，用于构造scene
+        max_retries: 最大重试次数
+        client: HTTPClient实例，如果不提供则使用默认的http_client
 
     Returns:
-        是否成功上传
+        Dict: {
+            "success": bool,  # 是否上传成功
+            "original_path": str,  # 原始文件路径
+            "oss_path": str  # OSS路径（成功时）或空字符串（失败时）
+        }
     """
-    max_retries = OSSUploadConfig.max_retries
+    file_path = Path(file_path)
+    if filename is None:
+        filename = os.path.basename(file_path)
+
+    if not os.path.exists(file_path):
+        logger.error(f"[OSS] 文件不存在: {file_path}")
+        return {"success": False, "original_path": file_path, "oss_path": ""}
+
     retry_count = 0
+    oss_path = ""
 
     while retry_count < max_retries:
         try:
-            # 步骤1：初始化上传
-            init_success, init_data = _init_upload(
-                file_path=file_path,
-                oss_path=oss_path,
-                filename=filename,
-                process_key=process_key,
-                device_id=device_id
+            # 步骤1：获取预签名URL
+            token_success, token_data = _get_oss_token(
+                filename=filename, driver_name=driver_name, exp_type=exp_type, client=client
             )
 
-            if not init_success:
-                print(f"初始化上传失败，重试 {retry_count + 1}/{max_retries}")
+            if not token_success:
+                logger.warning(f"[OSS] 获取预签名URL失败，重试 {retry_count + 1}/{max_retries}")
                 retry_count += 1
-                time.sleep(1)  # 等待1秒后重试
+                time.sleep(1)
                 continue
 
-            # 获取UUID和上传URL
-            uuid = init_data.get("uuid")
-            upload_url = init_data.get("upload_url")
+            # 获取预签名URL和OSS路径
+            upload_url = token_data.get("url")
+            oss_path = token_data.get("path", "")
 
-            if not uuid or not upload_url:
-                print(f"初始化上传返回数据不完整，重试 {retry_count + 1}/{max_retries}")
+            if not upload_url:
+                logger.warning(f"[OSS] 无法获取上传URL，API未返回url字段")
                 retry_count += 1
                 time.sleep(1)
                 continue
@@ -163,69 +160,82 @@ def oss_upload(file_path: str, oss_path: str, filename: Optional[str] = None,
             # 步骤2：PUT上传文件
             put_success = _put_upload(file_path, upload_url)
             if not put_success:
-                print(f"PUT上传失败，重试 {retry_count + 1}/{max_retries}")
-                retry_count += 1
-                time.sleep(1)
-                continue
-
-            # 步骤3：完成上传
-            complete_success = _complete_upload(uuid)
-            if not complete_success:
-                print(f"完成上传失败，重试 {retry_count + 1}/{max_retries}")
+                logger.warning(f"[OSS] PUT上传失败，重试 {retry_count + 1}/{max_retries}")
                 retry_count += 1
                 time.sleep(1)
                 continue
 
             # 所有步骤都成功
-            print(f"文件 {file_path} 上传成功")
-            return True
+            logger.info(f"[OSS] 文件 {file_path} 上传成功")
+            return {"success": True, "original_path": file_path, "oss_path": oss_path}
 
         except Exception as e:
-            print(f"上传过程异常: {str(e)}，重试 {retry_count + 1}/{max_retries}")
+            logger.error(f"[OSS] 上传过程异常: {str(e)}，重试 {retry_count + 1}/{max_retries}")
             retry_count += 1
             time.sleep(1)
 
-    print(f"文件 {file_path} 上传失败，已达到最大重试次数 {max_retries}")
-    return False
+    logger.error(f"[OSS] 文件 {file_path} 上传失败，已达到最大重试次数 {max_retries}")
+    return {"success": False, "original_path": file_path, "oss_path": oss_path}
 
 
 if __name__ == "__main__":
-    # python -m unilabos.app.oss_upload -f /path/to/your/file.txt
+    # python -m unilabos.app.oss_upload -f /path/to/your/file.txt --driver HPLC --type test
+    # python -m unilabos.app.oss_upload -f /path/to/your/file.txt --driver HPLC --type test \
+    #        --ak xxx --sk yyy --remote-addr http://xxx/api/v1
     # 命令行参数解析
-    parser = argparse.ArgumentParser(description='文件上传测试工具')
-    parser.add_argument('--file', '-f', type=str, required=True, help='要上传的本地文件路径')
-    parser.add_argument('--path', '-p', type=str, default='/HPLC1/Any', help='OSS目标路径')
-    parser.add_argument('--device', '-d', type=str, default='test-device', help='设备ID')
-    parser.add_argument('--process', '-k', type=str, default='HPLC-txt-result', help='处理键')
+    parser = argparse.ArgumentParser(description="文件上传测试工具")
+    parser.add_argument("--file", "-f", type=str, required=True, help="要上传的本地文件路径")
+    parser.add_argument("--driver", "-d", type=str, default="default", help="驱动名称")
+    parser.add_argument("--type", "-t", type=str, default="default", help="实验类型")
+    parser.add_argument("--ak", type=str, help="Access Key，如果提供则覆盖配置")
+    parser.add_argument("--sk", type=str, help="Secret Key，如果提供则覆盖配置")
+    parser.add_argument("--remote-addr", type=str, help="远程服务器地址（包含/api/v1），如果提供则覆盖配置")
 
     args = parser.parse_args()
 
     # 检查文件是否存在
     if not os.path.exists(args.file):
-        print(f"错误：文件 {args.file} 不存在")
+        logger.error(f"错误：文件 {args.file} 不存在")
         exit(1)
 
-    print("=" * 50)
-    print(f"开始上传文件: {args.file}")
-    print(f"目标路径: {args.path}")
-    print(f"设备ID: {args.device}")
-    print(f"处理键: {args.process}")
-    print("=" * 50)
+    # 如果提供了ak/sk/remote_addr，创建临时HTTPClient
+    temp_client = None
+    if args.ak and args.sk:
+        import base64
+
+        auth = base64.b64encode(f"{args.ak}:{args.sk}".encode("utf-8")).decode("utf-8")
+        remote_addr = args.remote_addr if args.remote_addr else http_client.remote_addr
+        temp_client = HTTPClient(remote_addr=remote_addr, auth=auth)
+        logger.info(f"[配置] 使用自定义配置: remote_addr={remote_addr}")
+    elif args.remote_addr:
+        temp_client = HTTPClient(remote_addr=args.remote_addr, auth=http_client.auth)
+        logger.info(f"[配置] 使用自定义remote_addr: {args.remote_addr}")
+    else:
+        logger.info(f"[配置] 使用默认配置: remote_addr={http_client.remote_addr}")
+
+    logger.info("=" * 50)
+    logger.info(f"开始上传文件: {args.file}")
+    logger.info(f"驱动名称: {args.driver}")
+    logger.info(f"实验类型: {args.type}")
+    logger.info(f"Scene: {args.driver}-{args.type}")
+    logger.info("=" * 50)
 
     # 执行上传
-    success = oss_upload(
+    result = oss_upload(
         file_path=args.file,
-        oss_path=args.path,
         filename=None,  # 使用默认文件名
-        process_key=args.process,
-        device_id=args.device
+        driver_name=args.driver,
+        exp_type=args.type,
+        client=temp_client,
     )
 
     # 输出结果
-    if success:
-        print("\n√ 文件上传成功！")
+    if result["success"]:
+        logger.info(f"\n√ 文件上传成功！")
+        logger.info(f"原始路径: {result['original_path']}")
+        logger.info(f"OSS路径: {result['oss_path']}")
         exit(0)
     else:
-        print("\n× 文件上传失败！")
+        logger.error(f"\n× 文件上传失败！")
+        logger.error(f"原始路径: {result['original_path']}")
         exit(1)
-

unilabos/config/config.py

@@ -18,6 +18,9 @@ class BasicConfig:
     vis_2d_enable = False
     enable_resource_load = True
     communication_protocol = "websocket"
+    startup_json_path = None  # 填写绝对路径
+    disable_browser = False  # 禁止浏览器自动打开
+    port = 8002  # 本地HTTP服务
     log_level: Literal['TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'] = "DEBUG"  # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
 
     @classmethod
@@ -36,15 +39,6 @@ class WSConfig:
     ping_interval = 30  # ping间隔（秒）
 
 
-# OSS上传配置
-class OSSUploadConfig:
-    api_host = ""
-    authorization = ""
-    init_endpoint = ""
-    complete_endpoint = ""
-    max_retries = 3
-
-
 # HTTP配置
 class HTTPConfig:
     remote_addr = "http://127.0.0.1:48197/api/v1"

unilabos/devices/hplc/AgilentHPLC.py

@@ -405,9 +405,19 @@ class RunningResultChecker(DriverChecker):
                 for i in range(self.driver._finished, temp):
                     sample_id = self.driver._get_resource_sample_id(self.driver._wf_name, i)  # 从0开始计数
                     pdf, txt = self.driver.get_data_file(i + 1)
-                    device_id = self.driver.device_id if hasattr(self.driver, "device_id") else "default"
-                    oss_upload(pdf, f"hplc/{sample_id}/{os.path.basename(pdf)}", process_key="example", device_id=device_id)
-                    oss_upload(txt, f"hplc/{sample_id}/{os.path.basename(txt)}", process_key="HPLC-txt-result", device_id=device_id)
+                    # 使用新的OSS上传接口，传入driver_name和exp_type
+                    pdf_result = oss_upload(pdf, filename=os.path.basename(pdf), driver_name="HPLC", exp_type="analysis")
+                    txt_result = oss_upload(txt, filename=os.path.basename(txt), driver_name="HPLC", exp_type="result")
+                    
+                    if pdf_result["success"]:
+                        print(f"PDF上传成功: {pdf_result['oss_path']}")
+                    else:
+                        print(f"PDF上传失败: {pdf_result['original_path']}")
+                    
+                    if txt_result["success"]:
+                        print(f"TXT上传成功: {txt_result['oss_path']}")
+                    else:
+                        print(f"TXT上传失败: {txt_result['original_path']}")
                     # self.driver.extract_data_from_txt()
         except Exception as ex:
             self.driver._finished = 0
@@ -456,8 +466,12 @@ if __name__ == "__main__":
     }
     sample_id = obj._get_resource_sample_id("test", 0)
     pdf, txt = obj.get_data_file("1", after_time=datetime(2024, 11, 6, 19, 3, 6))
-    oss_upload(pdf, f"hplc/{sample_id}/{os.path.basename(pdf)}", process_key="example")
-    oss_upload(txt, f"hplc/{sample_id}/{os.path.basename(txt)}", process_key="HPLC-txt-result")
+    # 使用新的OSS上传接口，传入driver_name和exp_type
+    pdf_result = oss_upload(pdf, filename=os.path.basename(pdf), driver_name="HPLC", exp_type="analysis")
+    txt_result = oss_upload(txt, filename=os.path.basename(txt), driver_name="HPLC", exp_type="result")
+    
+    print(f"PDF上传结果: {pdf_result}")
+    print(f"TXT上传结果: {txt_result}")
     # driver = HPLCDriver()
     # for i in range(10000):
     #     print({k: v for k, v in driver._device_status.items() if isinstance(v, str)})

unilabos/resources/bioyond/decks.py

@@ -15,8 +15,9 @@ from unilabos.resources.bioyond.warehouses import (
     bioyond_warehouse_5x1x1,
     bioyond_warehouse_1x8x4,
     bioyond_warehouse_reagent_storage,
-    bioyond_warehouse_liquid_preparation,
+    # bioyond_warehouse_liquid_preparation,
     bioyond_warehouse_tipbox_storage,  # 新增：Tip盒堆栈
+    bioyond_warehouse_density_vial,
 )
 
 
@@ -43,17 +44,20 @@ class BIOYOND_PolymerReactionStation_Deck(Deck):
             "堆栈1左": bioyond_warehouse_1x4x4("堆栈1左"),  # 左侧堆栈: A01～D04
             "堆栈1右": bioyond_warehouse_1x4x4_right("堆栈1右"),  # 右侧堆栈: A05～D08
             "站内试剂存放堆栈": bioyond_warehouse_reagent_storage("站内试剂存放堆栈"),  # A01～A02
-            "移液站内10%分装液体准备仓库": bioyond_warehouse_liquid_preparation("移液站内10%分装液体准备仓库"),  # A01～B04
-            "站内Tip盒堆栈": bioyond_warehouse_tipbox_storage("站内Tip盒堆栈"),  # A01～B03, 存放枪头盒
+            # "移液站内10%分装液体准备仓库": bioyond_warehouse_liquid_preparation("移液站内10%分装液体准备仓库"),  # A01～B04
+            "站内Tip盒堆栈": bioyond_warehouse_tipbox_storage("站内Tip盒堆栈"),  # A01～B03, 存放枪头盒.
+            "测量小瓶仓库(测密度)": bioyond_warehouse_density_vial("测量小瓶仓库(测密度)"),  # A01～B03
         }
         self.warehouse_locations = {
             "堆栈1左": Coordinate(0.0, 430.0, 0.0),  # 左侧位置
             "堆栈1右": Coordinate(2500.0, 430.0, 0.0),  # 右侧位置
             "站内试剂存放堆栈": Coordinate(640.0, 480.0, 0.0),
-            "移液站内10%分装液体准备仓库": Coordinate(1200.0, 600.0, 0.0),
+            # "移液站内10%分装液体准备仓库": Coordinate(1200.0, 600.0, 0.0),
             "站内Tip盒堆栈": Coordinate(300.0, 150.0, 0.0),
+            "测量小瓶仓库(测密度)": Coordinate(922.0, 552.0, 0.0),
         }
         self.warehouses["站内试剂存放堆栈"].rotation = Rotation(z=90)
+        self.warehouses["测量小瓶仓库(测密度)"].rotation = Rotation(z=270)
 
         for warehouse_name, warehouse in self.warehouses.items():
             self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])

unilabos/resources/bioyond/warehouses.py

@@ -1,5 +1,6 @@
 from unilabos.resources.warehouse import WareHouse, warehouse_factory
 
+# ================ 反应站相关堆栈 ================
 
 def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
     """创建BioYond 4x4x1仓库 (左侧堆栈: A01～D04)
@@ -26,7 +27,6 @@ def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
         layout="row-major",  # ⭐ 改为行优先排序
     )
 
-
 def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
     """创建BioYond 4x4x1仓库 (右侧堆栈: A05～D08)"""
     return warehouse_factory(
@@ -45,15 +45,35 @@ def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
         layout="row-major",  # ⭐ 改为行优先排序
     )
 
-
-
-def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
-    """创建BioYond 4x1x2仓库"""
+def bioyond_warehouse_density_vial(name: str) -> WareHouse:
+    """创建测量小瓶仓库(测密度) A01～B03"""
     return warehouse_factory(
         name=name,
-        num_items_x=1,
-        num_items_y=4,
-        num_items_z=2,
+        num_items_x=3,  # 3列（01-03）
+        num_items_y=2,  # 2行（A-B）
+        num_items_z=1,  # 1层
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=40.0,
+        item_dy=40.0,
+        item_dz=50.0,
+        # 用更小的 resource_size 来表现 "小点的孔位"
+        resource_size_x=30.0,
+        resource_size_y=30.0,
+        resource_size_z=12.0,
+        category="warehouse",
+        col_offset=0,
+        layout="row-major",
+    )
+
+def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
+    """创建BioYond站内试剂存放堆栈（A01～A02, 1行×2列）"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=2,  # 2列（01-02）
+        num_items_y=1,  # 1行（A）
+        num_items_z=1,  # 1层
         dx=10.0,
         dy=10.0,
         dz=10.0,
@@ -61,9 +81,46 @@ def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
         item_dy=96.0,
         item_dz=120.0,
         category="warehouse",
-        removed_positions=None
     )
 
+def bioyond_warehouse_tipbox_storage(name: str) -> WareHouse:
+    """创建BioYond站内Tip盒堆栈（A01～B03），用于存放枪头盒"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=3,  # 3列（01-03）
+        num_items_y=2,  # 2行（A-B）
+        num_items_z=1,  # 1层
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+        col_offset=0,
+        layout="row-major",
+    )
+
+def bioyond_warehouse_liquid_preparation(name: str) -> WareHouse:
+    """已弃用,创建BioYond移液站内10%分装液体准备仓库（A01～B04）"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=4,  # 4列（01-04）
+        num_items_y=2,  # 2行（A-B）
+        num_items_z=1,  # 1层
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+        col_offset=0,
+        layout="row-major",
+    )
+
+# ================ 配液站相关堆栈 ================
+
 def bioyond_warehouse_reagent_stack(name: str) -> WareHouse:
     """创建BioYond 试剂堆栈 2x4x1 (2行×4列: A01-A04, B01-B04)
 
@@ -88,8 +145,28 @@ def bioyond_warehouse_reagent_stack(name: str) -> WareHouse:
     )
 
  # 定义bioyond的堆栈
+
+# =================== Other ===================
+
+def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
+    """创建BioYond 4x2x1仓库"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=1,
+        num_items_y=4,
+        num_items_z=2,
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+        removed_positions=None
+    )
+
 def bioyond_warehouse_1x2x2(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
+    """创建BioYond 1x2x2仓库"""
     return warehouse_factory(
         name=name,
         num_items_x=1,
@@ -103,8 +180,9 @@ def bioyond_warehouse_1x2x2(name: str) -> WareHouse:
         item_dz=120.0,
         category="warehouse",
     )
+
 def bioyond_warehouse_10x1x1(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
+    """创建BioYond 10x1x1仓库"""
     return warehouse_factory(
         name=name,
         num_items_x=10,
@@ -118,8 +196,9 @@ def bioyond_warehouse_10x1x1(name: str) -> WareHouse:
         item_dz=120.0,
         category="warehouse",
     )
+
 def bioyond_warehouse_1x3x3(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
+    """创建BioYond 1x3x3仓库"""
     return warehouse_factory(
         name=name,
         num_items_x=1,
@@ -133,8 +212,9 @@ def bioyond_warehouse_1x3x3(name: str) -> WareHouse:
         item_dz=120.0,
         category="warehouse",
     )
+
 def bioyond_warehouse_2x1x3(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
+    """创建BioYond 2x1x3仓库"""
     return warehouse_factory(
         name=name,
         num_items_x=2,
@@ -150,7 +230,7 @@ def bioyond_warehouse_2x1x3(name: str) -> WareHouse:
     )
 
 def bioyond_warehouse_3x3x1(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
+    """创建BioYond 3x3x1仓库"""
     return warehouse_factory(
         name=name,
         num_items_x=3,
@@ -164,8 +244,9 @@ def bioyond_warehouse_3x3x1(name: str) -> WareHouse:
         item_dz=120.0,
         category="warehouse",
     )
+
 def bioyond_warehouse_5x1x1(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
+    """已弃用：创建BioYond 5x1x1仓库"""
     return warehouse_factory(
         name=name,
         num_items_x=5,
@@ -179,8 +260,9 @@ def bioyond_warehouse_5x1x1(name: str) -> WareHouse:
         item_dz=120.0,
         category="warehouse",
     )
+
 def bioyond_warehouse_3x3x1_2(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
+    """已弃用：创建BioYond 3x3x1仓库"""
     return warehouse_factory(
         name=name,
         num_items_x=3,
@@ -212,7 +294,6 @@ def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse:
         removed_positions=None
     )
 
-
 def bioyond_warehouse_1x8x4(name: str) -> WareHouse:
     """创建BioYond 8x4x1反应站堆栈（A01～D08）"""
     return warehouse_factory(
@@ -228,58 +309,3 @@ def bioyond_warehouse_1x8x4(name: str) -> WareHouse:
         item_dz=130.0,
         category="warehouse",
     )
-
-
-def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
-    """创建BioYond站内试剂存放堆栈（A01～A02, 1行×2列）"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=2,  # 2列（01-02）
-        num_items_y=1,  # 1行（A）
-        num_items_z=1,  # 1层
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
-        category="warehouse",
-    )
-
-
-def bioyond_warehouse_liquid_preparation(name: str) -> WareHouse:
-    """创建BioYond移液站内10%分装液体准备仓库（A01～B04）"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=4,  # 4列（01-04）
-        num_items_y=2,  # 2行（A-B）
-        num_items_z=1,  # 1层
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
-        category="warehouse",
-        col_offset=0,
-        layout="row-major",
-    )
-
-
-def bioyond_warehouse_tipbox_storage(name: str) -> WareHouse:
-    """创建BioYond站内Tip盒堆栈（A01～B03），用于存放枪头盒"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=3,  # 3列（01-03）
-        num_items_y=2,  # 2行（A-B）
-        num_items_z=1,  # 1层
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
-        category="warehouse",
-        col_offset=0,
-        layout="row-major",
-    )

unilabos/resources/warehouse.py

@@ -19,6 +19,9 @@ def warehouse_factory(
     item_dx: float = 10.0,
     item_dy: float = 10.0,
     item_dz: float = 10.0,
+    resource_size_x: float = 127.0,
+    resource_size_y: float = 86.0,
+    resource_size_z: float = 25.0,
     removed_positions: Optional[List[int]] = None,
     empty: bool = False,
     category: str = "warehouse",
@@ -50,8 +53,9 @@ def warehouse_factory(
     _sites = create_homogeneous_resources(
         klass=ResourceHolder,
         locations=locations,
-        resource_size_x=127.0,
-        resource_size_y=86.0,
+        resource_size_x=resource_size_x,
+        resource_size_y=resource_size_y,
+        resource_size_z=resource_size_z,
         name_prefix=name,
     )
     len_x, len_y = (num_items_x, num_items_y) if num_items_z == 1 else (num_items_y, num_items_z) if num_items_x == 1 else (num_items_x, num_items_z)

unilabos/ros/nodes/presets/host_node.py

@@ -752,6 +752,12 @@ class HostNode(BaseROS2DeviceNode):
                 if return_info_str is not None:
                     try:
                         return_info = json.loads(return_info_str)
+                        # 适配后端的一些额外处理
+                        return_value = return_info.get("return_value")
+                        if isinstance(return_value, dict):
+                            unilabos_samples = return_info.get("unilabos_samples")
+                            if isinstance(unilabos_samples, list):
+                                return_info["unilabos_samples"] = unilabos_samples
                         suc = return_info.get("suc", False)
                         if not suc:
                             status = "failed"

unilabos_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>unilabos_msgs</name>
-  <version>0.10.10</version>
+  <version>0.10.11</version>
   <description>ROS2 Messages package for unilabos devices</description>
   <maintainer email="changjh@pku.edu.cn">Junhan Chang</maintainer>
   <maintainer email="18435084+Xuwznln@users.noreply.github.com">Xuwznln</maintainer>