扣电驱动中增加多个组装参数，更新驱动与注册表 (#120)

扣电驱动中增加多个组装参数，elec_vol:int=50, assembly_type:int=7, assembly_pressure:int=4200，更新驱动与注册表

.conda/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: 0.10.5
+  version: 0.10.6
 
 source:
   path: ../unilabos

docs/concepts/02-topology-and-chemputer-compile.md

@@ -19,7 +19,7 @@ Uni-Lab 的组态图当前支持 node-link json 和 graphml 格式，其中包
 对用户来说，“直接操作设备执行单个指令”不是个真实需求，真正的需求是**“执行对实验有意义的单个完整动作”——加入某种液体多少量；萃取分液；洗涤仪器等等。就像实验步骤文字书写的那样。**
 
 而这些对实验有意义的单个完整动作，**一般需要多个设备的协同**，还依赖于他们的**物理连接关系（管道相连；机械臂可转运）**。
-于是 Uni-Lab 实现了抽象的“工作站”，即注册表中的 `workstation` 设备（`ProtocolNode`类）来处理编译、规划操作。以泵骨架组成的自动有机实验室为例，设备管道连接关系如下：
+于是 Uni-Lab 实现了抽象的“工作站”，即注册表中的 `workstation` 设备（`WorkstationNode`类）来处理编译、规划操作。以泵骨架组成的自动有机实验室为例，设备管道连接关系如下：
 
 ![topology](image/02-topology-and-chemputer-compile/topology.png)
 

docs/developer_guide/add_action.md

@@ -127,16 +127,16 @@ add_action_files(
 ```bash
 mamba remove --force ros-humble-unilabos-msgs
 mamba config set safety_checks disabled  # 如果没有提升版本号，会触发md5与网络上md5不一致，是正常现象，因此通过本指令关闭md5检查
-mamba install xxx.conda2 --offline
+mamba install xxx.conda --offline
 ```
 
 ## 常见问题
 
-**Q: 构建失败怎么办？**  
+**Q: 构建失败怎么办？**
 A: 检查 Actions 日志中的错误信息，通常是语法错误或依赖问题。修复后重新推送代码即可自动触发新的构建。
 
-**Q: 如何测试特定平台？**  
+**Q: 如何测试特定平台？**
 A: 在手动触发构建时，在平台选择中只填写你需要的平台，如 `linux-64` 或 `win-64`。
 
-**Q: 构建包在哪里下载？**  
+**Q: 构建包在哪里下载？**
 A: 在 Actions 页面的构建结果中，查找 "Artifacts" 部分，每个平台都有对应的构建包可供下载。

docs/developer_guide/workstation_architecture.md

@@ -0,0 +1,378 @@
+# 工作站基础架构设计文档
+
+## 1. 整体架构图
+
+```mermaid
+graph TB
+    subgraph "工作站基础架构"
+        WB[WorkstationBase]
+        WB --> |继承| RPN[ROS2WorkstationNode]
+        WB --> |组合| WCB[WorkstationCommunicationBase]
+        WB --> |组合| MMB[MaterialManagementBase]
+        WB --> |组合| WHS[WorkstationHTTPService]
+    end
+    
+    subgraph "通信层实现"
+        WCB --> |实现| PLC[PLCCommunication]
+        WCB --> |实现| SER[SerialCommunication]
+        WCB --> |实现| ETH[EthernetCommunication]
+    end
+    
+    subgraph "物料管理实现"
+        MMB --> |实现| PLR[PyLabRobotMaterialManager]
+        MMB --> |实现| BIO[BioyondMaterialManager]
+        MMB --> |实现| SIM[SimpleMaterialManager]
+    end
+    
+    subgraph "HTTP服务"
+        WHS --> |处理| LIMS[LIMS协议报送]
+        WHS --> |处理| MAT[物料变更报送]
+        WHS --> |处理| ERR[错误处理报送]
+    end
+    
+    subgraph "具体工作站实现"
+        WB --> |继承| WS1[PLCWorkstation]
+        WB --> |继承| WS2[ReportingWorkstation]
+        WB --> |继承| WS3[HybridWorkstation]
+    end
+    
+    subgraph "外部系统"
+        EXT1[PLC设备] --> |通信| PLC
+        EXT2[外部工作站] --> |HTTP报送| WHS
+        EXT3[LIMS系统] --> |HTTP报送| WHS
+        EXT4[Bioyond物料系统] --> |查询| BIO
+    end
+```
+
+## 2. 类关系图
+
+```mermaid
+classDiagram
+    class WorkstationBase {
+        <<abstract>>
+        +device_id: str
+        +communication: WorkstationCommunicationBase
+        +material_management: MaterialManagementBase
+        +http_service: WorkstationHTTPService
+        +workflow_status: WorkflowStatus
+        +supported_workflows: Dict
+        
+        +_create_communication_module()* 
+        +_create_material_management_module()*
+        +_register_supported_workflows()*
+        
+        +process_step_finish_report()
+        +process_sample_finish_report()
+        +process_order_finish_report()
+        +process_material_change_report()
+        +handle_external_error()
+        
+        +start_workflow()
+        +stop_workflow()
+        +get_workflow_status()
+        +get_device_status()
+    }
+    
+    class ROS2WorkstationNode {
+        +sub_devices: Dict
+        +protocol_names: List
+        +execute_single_action()
+        +create_ros_action_server()
+        +initialize_device()
+    }
+    
+    class WorkstationCommunicationBase {
+        <<abstract>>
+        +config: CommunicationConfig
+        +is_connected: bool
+        +connect()
+        +disconnect()
+        +start_workflow()*
+        +stop_workflow()*
+        +get_device_status()*
+        +write_register()
+        +read_register()
+    }
+    
+    class MaterialManagementBase {
+        <<abstract>>
+        +device_id: str
+        +deck_config: Dict
+        +resource_tracker: DeviceNodeResourceTracker
+        +plr_deck: Deck
+        +find_materials_by_type()
+        +update_material_location()
+        +convert_to_unilab_format()
+        +_create_resource_by_type()*
+    }
+    
+    class WorkstationHTTPService {
+        +workstation_instance: WorkstationBase
+        +host: str
+        +port: int
+        +start()
+        +stop()
+        +_handle_step_finish_report()
+        +_handle_material_change_report()
+    }
+    
+    class PLCWorkstation {
+        +plc_config: Dict
+        +modbus_client: ModbusTCPClient
+        +_create_communication_module()
+        +_create_material_management_module()
+        +_register_supported_workflows()
+    }
+    
+    class ReportingWorkstation {
+        +report_handlers: Dict
+        +_create_communication_module()
+        +_create_material_management_module()
+        +_register_supported_workflows()
+    }
+    
+    WorkstationBase --|> ROS2WorkstationNode
+    WorkstationBase *-- WorkstationCommunicationBase
+    WorkstationBase *-- MaterialManagementBase
+    WorkstationBase *-- WorkstationHTTPService
+    
+    PLCWorkstation --|> WorkstationBase
+    ReportingWorkstation --|> WorkstationBase
+    
+    WorkstationCommunicationBase <|-- PLCCommunication
+    WorkstationCommunicationBase <|-- DummyCommunication
+    
+    MaterialManagementBase <|-- PyLabRobotMaterialManager
+    MaterialManagementBase <|-- SimpleMaterialManager
+```
+
+## 3. 工作站启动时序图
+
+```mermaid
+sequenceDiagram
+    participant APP as Application
+    participant WS as WorkstationBase
+    participant COMM as CommunicationModule
+    participant MAT as MaterialManager
+    participant HTTP as HTTPService
+    participant ROS as ROS2WorkstationNode
+    
+    APP->>WS: 创建工作站实例
+    WS->>ROS: 初始化ROS2WorkstationNode
+    ROS->>ROS: 初始化子设备
+    ROS->>ROS: 设置硬件接口代理
+    
+    WS->>COMM: _create_communication_module()
+    COMM->>COMM: 初始化通信配置
+    COMM->>COMM: 建立PLC/串口连接
+    COMM-->>WS: 返回通信模块实例
+    
+    WS->>MAT: _create_material_management_module()
+    MAT->>MAT: 创建PyLabRobot Deck
+    MAT->>MAT: 初始化物料资源
+    MAT->>MAT: 注册到ResourceTracker
+    MAT-->>WS: 返回物料管理实例
+    
+    WS->>WS: _register_supported_workflows()
+    WS->>WS: _create_workstation_services()
+    WS->>HTTP: _start_http_service()
+    HTTP->>HTTP: 创建HTTP服务器
+    HTTP->>HTTP: 启动监听线程
+    HTTP-->>WS: HTTP服务启动完成
+    
+    WS-->>APP: 工作站初始化完成
+```
+
+## 4. 工作流执行时序图
+
+```mermaid
+sequenceDiagram
+    participant EXT as ExternalSystem
+    participant WS as WorkstationBase
+    participant COMM as CommunicationModule
+    participant MAT as MaterialManager
+    participant ROS as ROS2WorkstationNode
+    participant DEV as SubDevice
+    
+    EXT->>WS: start_workflow(type, params)
+    WS->>WS: 验证工作流类型
+    WS->>COMM: start_workflow(type, params)
+    COMM->>COMM: 发送启动命令到PLC
+    COMM-->>WS: 启动成功
+    
+    WS->>WS: 更新workflow_status = RUNNING
+    
+    loop 工作流步骤执行
+        WS->>ROS: execute_single_action(device_id, action, params)
+        ROS->>DEV: 发送ROS Action请求
+        DEV->>DEV: 执行设备动作
+        DEV-->>ROS: 返回执行结果
+        ROS-->>WS: 返回动作结果
+        
+        WS->>MAT: update_material_location(material_id, location)
+        MAT->>MAT: 更新PyLabRobot资源状态
+        MAT-->>WS: 更新完成
+    end
+    
+    WS->>COMM: get_workflow_status()
+    COMM->>COMM: 查询PLC状态寄存器
+    COMM-->>WS: 返回状态信息
+    
+    WS->>WS: 更新workflow_status = COMPLETED
+    WS-->>EXT: 工作流执行完成
+```
+
+## 5. HTTP报送处理时序图
+
+```mermaid
+sequenceDiagram
+    participant EXT as ExternalWorkstation
+    participant HTTP as HTTPService
+    participant WS as WorkstationBase
+    participant MAT as MaterialManager
+    participant DB as DataStorage
+    
+    EXT->>HTTP: POST /report/step_finish
+    HTTP->>HTTP: 解析请求数据
+    HTTP->>HTTP: 验证LIMS协议字段
+    HTTP->>WS: process_step_finish_report(request)
+    
+    WS->>WS: 增加接收计数
+    WS->>WS: 记录步骤完成事件
+    WS->>MAT: 更新相关物料状态
+    MAT->>MAT: 更新PyLabRobot资源
+    MAT-->>WS: 更新完成
+    
+    WS->>DB: 保存报送记录
+    DB-->>WS: 保存完成
+    
+    WS-->>HTTP: 返回处理结果
+    HTTP->>HTTP: 构造HTTP响应
+    HTTP-->>EXT: 200 OK + acknowledgment_id
+    
+    Note over EXT,DB: 类似处理sample_finish, order_finish, material_change等报送
+```
+
+## 6. 错误处理时序图
+
+```mermaid
+sequenceDiagram
+    participant DEV as Device
+    participant WS as WorkstationBase
+    participant COMM as CommunicationModule
+    participant HTTP as HTTPService
+    participant EXT as ExternalSystem
+    
+    DEV->>WS: 设备错误事件
+    WS->>WS: handle_external_error(error_data)
+    WS->>WS: 记录错误历史
+    
+    alt 关键错误
+        WS->>COMM: emergency_stop()
+        COMM->>COMM: 发送紧急停止命令
+        WS->>WS: 更新workflow_status = ERROR
+    else 普通错误
+        WS->>WS: 标记动作失败
+        WS->>WS: 触发重试逻辑
+    end
+    
+    WS->>HTTP: 记录错误报送
+    HTTP->>EXT: 主动通知错误状态
+    
+    WS-->>DEV: 错误处理完成
+```
+
+## 7. 典型工作站实现示例
+
+### 7.1 PLC工作站实现
+
+```python
+class PLCWorkstation(WorkstationBase):
+    def _create_communication_module(self):
+        return PLCCommunication(self.communication_config)
+    
+    def _create_material_management_module(self):
+        return PyLabRobotMaterialManager(
+            self.device_id, 
+            self.deck_config, 
+            self.resource_tracker
+        )
+    
+    def _register_supported_workflows(self):
+        self.supported_workflows = {
+            "battery_assembly": WorkflowInfo(...),
+            "quality_check": WorkflowInfo(...)
+        }
+```
+
+### 7.2 报送接收工作站实现
+
+```python
+class ReportingWorkstation(WorkstationBase):
+    def _create_communication_module(self):
+        return DummyCommunication(self.communication_config)
+    
+    def _create_material_management_module(self):
+        return SimpleMaterialManager(
+            self.device_id,
+            self.deck_config,
+            self.resource_tracker
+        )
+    
+    def _register_supported_workflows(self):
+        self.supported_workflows = {
+            "data_collection": WorkflowInfo(...),
+            "report_processing": WorkflowInfo(...)
+        }
+```
+
+## 8. 核心接口说明
+
+### 8.1 必须实现的抽象方法
+- `_create_communication_module()`: 创建通信模块
+- `_create_material_management_module()`: 创建物料管理模块
+- `_register_supported_workflows()`: 注册支持的工作流
+
+### 8.2 可重写的报送处理方法
+- `process_step_finish_report()`: 步骤完成处理
+- `process_sample_finish_report()`: 样本完成处理
+- `process_order_finish_report()`: 订单完成处理
+- `process_material_change_report()`: 物料变更处理
+- `handle_external_error()`: 错误处理
+
+### 8.3 工作流控制接口
+- `start_workflow()`: 启动工作流
+- `stop_workflow()`: 停止工作流
+- `get_workflow_status()`: 获取状态
+
+## 9. 配置参数说明
+
+```python
+workstation_config = {
+    "communication_config": {
+        "protocol": "modbus_tcp",
+        "host": "192.168.1.100",
+        "port": 502
+    },
+    "deck_config": {
+        "size_x": 1000.0,
+        "size_y": 1000.0,
+        "size_z": 500.0
+    },
+    "http_service_config": {
+        "enabled": True,
+        "host": "127.0.0.1",
+        "port": 8081
+    },
+    "communication_interfaces": {
+        "logical_device_1": CommunicationInterface(...)
+    }
+}
+```
+
+这个架构设计支持：
+1. **灵活的通信方式**: 通过CommunicationBase支持PLC、串口、以太网等
+2. **多样的物料管理**: 支持PyLabRobot、Bioyond、简单物料系统
+3. **统一的HTTP报送**: 基于LIMS协议的标准化报送接口
+4. **完整的工作流控制**: 支持动态和静态工作流
+5. **强大的错误处理**: 多层次的错误处理和恢复机制

docs/user_guide/installation.md

@@ -14,13 +14,30 @@ mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
 
 ```shell
 # 配置好conda环境后，克隆仓库
-git clone https://github.com/dptech-corp/Uni-Lab-OS.git
+git clone https://github.com/dptech-corp/Uni-Lab-OS.git -b dev
 cd Uni-Lab-OS
 
 # 安装 Uni-Lab-OS
-pip install .
+pip install -e .
 ```
 
-3. **启动 Uni-Lab 系统**
+3. **安装开发版 ros-humble-unilabos-msgs**
+
+**卸载老版本：**
+```shell
+conda activate unilab
+conda remove --force ros-humble-unilabos-msgs
+```
+有时相同的安装包版本会由于dev构建得到的md5不一样，触发安全检查，可输入 `config set safety_checks disabled` 来关闭安全检查。
+
+**安装新版本：**
+
+访问 https://github.com/dptech-corp/Uni-Lab-OS/actions/workflows/multi-platform-build.yml 选择最新的构建，下载对应平台的压缩包（仅解压一次，得到.conda文件）使用如下指令：
+```shell
+conda activate base
+conda install ros-humble-unilabos-msgs-<version>-<platform>.conda --offline -n <环境名>
+```
+
+4. **启动 Uni-Lab 系统**
 
 请参见{doc}`启动样例 <../boot_examples/index>`或{doc}`启动指南 <launch>`了解详细的启动方法。

recipes/msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.10.5
+  version: 0.10.6
 source:
   path: ../../unilabos_msgs
   target_directory: src

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.5"
+  version: "0.10.6"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.5',
+    version='0.10.6',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

test/experiments/dispensing_station_bioyond.json

@@ -0,0 +1,60 @@
+{
+    "nodes": [
+        {
+            "id": "dispensing_station_bioyond",
+            "name": "dispensing_station_bioyond",
+            "children": [
+                "Bioyond_Dispensing_Deck"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "dispensing_station.bioyond",
+            "config": {
+                "config": {
+                    "api_key": "DE9BDDA0",
+                    "api_host": "http://192.168.1.200:44388"
+                },
+                "deck": {
+                    "data": {
+                        "_resource_child_name": "Bioyond_Dispensing_Deck",
+                        "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerPreparationStation_Deck"
+                    }
+                },
+                "station_config": {
+                    "station_type": "dispensing_station",
+                    "enable_dispensing_station": true,
+                    "enable_reaction_station": false,
+                    "station_name": "DispensingStation_001",
+                    "description": "Bioyond配液工作站"
+                },
+                "protocol_type": []
+            },
+            "data": {}
+        },
+        {
+            "id": "Bioyond_Dispensing_Deck",
+            "name": "Bioyond_Dispensing_Deck",
+            "sample_id": null,
+            "children": [],
+            "parent": "dispensing_station_bioyond",
+            "type": "deck",
+            "class": "BIOYOND_PolymerPreparationStation_Deck",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "type": "BIOYOND_PolymerPreparationStation_Deck",
+                "setup": true,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                }
+            },
+            "data": {}
+        }
+    ]
+}

test/experiments/reaction_station_bioyond.json

@@ -0,0 +1,69 @@
+{
+    "nodes": [
+        {
+            "id": "reaction_station_bioyond",
+            "name": "reaction_station_bioyond",
+            "parent": null,
+            "children": [
+                "Bioyond_Deck"
+            ],
+            "type": "device",
+            "class": "reaction_station.bioyond",
+            "config": {
+                "bioyond_config": {
+                    "api_key": "DE9BDDA0",
+                    "api_host": "http://192.168.1.200:44402",
+                    "workflow_mappings": {
+                        "reactor_taken_out": "3a16081e-4788-ca37-eff4-ceed8d7019d1",
+                        "reactor_taken_in": "3a160df6-76b3-0957-9eb0-cb496d5721c6",
+                        "Solid_feeding_vials": "3a160877-87e7-7699-7bc6-ec72b05eb5e6",
+                        "Liquid_feeding_vials(non-titration)": "3a167d99-6158-c6f0-15b5-eb030f7d8e47",
+                        "Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046",
+                        "Liquid_feeding(titration)": "3a160824-0665-01ed-285a-51ef817a9046",
+                        "Liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
+                        "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a"
+                    },
+                    "material_type_mappings": {
+                        "烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
+                        "试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
+                        "样品板": "BIOYOND_PolymerStation_6VialCarrier"
+                    }
+                },
+                "deck": {
+                    "data": {
+                        "_resource_child_name": "Bioyond_Deck",
+                        "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck"
+                    }
+                },
+                "protocol_type": []
+            },
+            "data": {}
+        },
+        {
+            "id": "Bioyond_Deck",
+            "name": "Bioyond_Deck",
+            "sample_id": null,
+            "children": [
+            ],
+            "parent": "reaction_station_bioyond",
+            "type": "deck",
+            "class": "BIOYOND_PolymerReactionStation_Deck",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "type": "BIOYOND_PolymerReactionStation_Deck",
+                "setup": true,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                }
+            },
+            "data": {}
+        }
+    ]
+}

test/experiments/reaction_station_bioyond_test.json

@@ -0,0 +1,69 @@
+{
+    "nodes": [
+        {
+            "id": "reaction_station_bioyond",
+            "name": "reaction_station_bioyond",
+            "parent": null,
+            "children": [
+                "Bioyond_Deck"
+            ],
+            "type": "device",
+            "class": "workstation.bioyond",
+            "config": {
+                "bioyond_config": {
+                    "api_key": "DE9BDDA0",
+                    "api_host": "http://192.168.1.200:44388",
+                    "workflow_mappings": {
+                        "reactor_taken_out": "3a16081e-4788-ca37-eff4-ceed8d7019d1",
+                        "reactor_taken_in": "3a160df6-76b3-0957-9eb0-cb496d5721c6",
+                        "Solid_feeding_vials": "3a160877-87e7-7699-7bc6-ec72b05eb5e6",
+                        "Liquid_feeding_vials(non-titration)": "3a167d99-6158-c6f0-15b5-eb030f7d8e47",
+                        "Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046",
+                        "Liquid_feeding(titration)": "3a160824-0665-01ed-285a-51ef817a9046",
+                        "Liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
+                        "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a"
+                    },
+                    "material_type_mappings": {
+                        "烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
+                        "试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
+                        "样品板": "BIOYOND_PolymerStation_6VialCarrier"
+                    }
+                },
+                "deck": {
+                    "data": {
+                        "_resource_child_name": "Bioyond_Deck",
+                        "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck"
+                    }
+                },
+                "protocol_type": []
+            },
+            "data": {}
+        },
+        {
+            "id": "Bioyond_Deck",
+            "name": "Bioyond_Deck",
+            "sample_id": null,
+            "children": [
+            ],
+            "parent": "reaction_station_bioyond",
+            "type": "deck",
+            "class": "BIOYOND_PolymerReactionStation_Deck",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "type": "BIOYOND_PolymerReactionStation_Deck",
+                "setup": true,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                }
+            },
+            "data": {}
+        }
+    ]
+}

test/resources/bioyond_materials.json

@@ -0,0 +1,198 @@
+{
+    "data": [
+        {
+            "id": "3a1c67a9-aed7-b94d-9e24-bfdf10c8baa9",
+            "typeName": "烧杯",
+            "code": "0006-00160",
+            "barCode": "",
+            "name": "ODA",
+            "quantity": 120000.00000000000000000000000,
+            "lockQuantity": 695374.00000000000000000000000,
+            "unit": "微升",
+            "status": 1,
+            "isUse": false,
+            "locations": [
+                {
+                    "id": "3a14aa17-0d49-11d7-a6e1-f236b3e5e5a3",
+                    "whid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
+                    "whName": "堆栈1",
+                    "code": "0001-0001",
+                    "x": 1,
+                    "y": 1,
+                    "z": 1,
+                    "quantity": 0
+                }
+            ],
+            "detail": []
+        },
+        {
+            "id": "3a1c67a9-aed9-1ade-5fe1-cc04b24b171c",
+            "typeName": "烧杯",
+            "code": "0006-00161",
+            "barCode": "",
+            "name": "MPDA",
+            "quantity": 120000.00000000000000000000000,
+            "lockQuantity": 681618.00000000000000000000000,
+            "unit": "",
+            "status": 1,
+            "isUse": false,
+            "locations": [
+                {
+                    "id": "3a14aa17-0d49-4bc5-8836-517b75473f5f",
+                    "whid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
+                    "whName": "堆栈1",
+                    "code": "0001-0002",
+                    "x": 1,
+                    "y": 2,
+                    "z": 1,
+                    "quantity": 0
+                }
+            ],
+            "detail": []
+        },
+        {
+            "id": "3a1c67a9-aed9-2864-6783-2cee4e701ba6",
+            "typeName": "试剂瓶",
+            "code": "0004-00041",
+            "barCode": "",
+            "name": "NMP",
+            "quantity": 300000.00000000000000000000000,
+            "lockQuantity": 380000.00000000000000000000000,
+            "unit": "微升",
+            "status": 1,
+            "isUse": false,
+            "locations": [
+                {
+                    "id": "3a14aa3b-9fab-adac-7b9c-e1ee446b51d5",
+                    "whid": "3a14aa3b-9fab-9d8e-d1a7-828f01f51f0c",
+                    "whName": "站内试剂存放堆栈",
+                    "code": "0003-0001",
+                    "x": 1,
+                    "y": 1,
+                    "z": 1,
+                    "quantity": 0
+                }
+            ],
+            "detail": []
+        },
+        {
+            "id": "3a1c67a9-aed9-32c7-5809-3ba1b8db1aa1",
+            "typeName": "试剂瓶",
+            "code": "0004-00042",
+            "barCode": "",
+            "name": "PGME",
+            "quantity": 300000.00000000000000000000000,
+            "lockQuantity": 337892.00000000000000000000000,
+            "unit": "",
+            "status": 1,
+            "isUse": false,
+            "locations": [
+                {
+                    "id": "3a14aa3b-9fab-ca72-febc-b7c304476c78",
+                    "whid": "3a14aa3b-9fab-9d8e-d1a7-828f01f51f0c",
+                    "whName": "站内试剂存放堆栈",
+                    "code": "0003-0002",
+                    "x": 1,
+                    "y": 2,
+                    "z": 1,
+                    "quantity": 0
+                }
+            ],
+            "detail": []
+        },
+        {
+            "id": "3a1c68c8-0574-d748-725e-97a2e549f085",
+            "typeName": "样品板",
+            "code": "0001-00004",
+            "barCode": "",
+            "name": "0917",
+            "quantity": 1.0000000000000000000000000000,
+            "lockQuantity": 4.0000000000000000000000000000,
+            "unit": "块",
+            "status": 1,
+            "isUse": false,
+            "locations": [
+                {
+                    "id": "3a14aa17-0d49-f49c-6b66-b27f185a3b32",
+                    "whid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
+                    "whName": "堆栈1",
+                    "code": "0001-0009",
+                    "x": 2,
+                    "y": 1,
+                    "z": 1,
+                    "quantity": 0
+                }
+            ],
+            "detail": [
+                {
+                    "id": "3a1c68c8-0574-69a1-9858-4637e0193451",
+                    "detailMaterialId": "3a1c68c8-0574-3630-bd42-bbf3623c5208",
+                    "code": null,
+                    "name": "SIDA",
+                    "quantity": "300000",
+                    "lockQuantity": "4",
+                    "unit": "微升",
+                    "x": 1,
+                    "y": 2,
+                    "z": 1,
+                    "associateId": null
+                },
+                {
+                    "id": "3a1c68c8-0574-8d51-3191-a31f5be421e5",
+                    "detailMaterialId": "3a1c68c8-0574-3b20-9ad7-90755f123d53",
+                    "code": null,
+                    "name": "BTDA-2",
+                    "quantity": "300000",
+                    "lockQuantity": "4",
+                    "unit": "微升",
+                    "x": 2,
+                    "y": 2,
+                    "z": 1,
+                    "associateId": null
+                },
+                {
+                    "id": "3a1c68c8-0574-da80-735b-53ae2197a360",
+                    "detailMaterialId": "3a1c68c8-0574-f2e4-33b3-90d813567939",
+                    "code": null,
+                    "name": "BTDA-DD",
+                    "quantity": "300000",
+                    "lockQuantity": "28",
+                    "unit": "微升",
+                    "x": 1,
+                    "y": 1,
+                    "z": 1,
+                    "associateId": null
+                },
+                {
+                    "id": "3a1c68c8-0574-e717-1b1b-99891f875455",
+                    "detailMaterialId": "3a1c68c8-0574-a0ef-e636-68cdc98960e2",
+                    "code": null,
+                    "name": "BTDA-3",
+                    "quantity": "300000",
+                    "lockQuantity": "4",
+                    "unit": "微升",
+                    "x": 2,
+                    "y": 3,
+                    "z": 1,
+                    "associateId": null
+                },
+                {
+                    "id": "3a1c68c8-0574-e9bd-6cca-5e261b4f89cb",
+                    "detailMaterialId": "3a1c68c8-0574-9d11-5115-283e8e5510b1",
+                    "code": null,
+                    "name": "BTDA-1",
+                    "quantity": "300000",
+                    "lockQuantity": "4",
+                    "unit": "微升",
+                    "x": 2,
+                    "y": 1,
+                    "z": 1,
+                    "associateId": null
+                }
+            ]
+        }
+    ],
+    "code": 1,
+    "message": "",
+    "timestamp": 1758560573511
+}

test/resources/test_bottle_carrier.py

@@ -0,0 +1,48 @@
+import pytest
+
+from unilabos.resources.bioyond.bottle_carriers import BIOYOND_Electrolyte_6VialCarrier, BIOYOND_Electrolyte_1BottleCarrier
+from unilabos.resources.bioyond.bottles import BIOYOND_PolymerStation_Solid_Vial, BIOYOND_PolymerStation_Solution_Beaker, BIOYOND_PolymerStation_Reagent_Bottle
+
+
+def test_bottle_carrier() -> "BottleCarrier":
+    print("创建载架...")
+
+    # 创建6瓶载架
+    bottle_carrier = BIOYOND_Electrolyte_6VialCarrier("powder_carrier_01")
+    print(f"6瓶载架: {bottle_carrier.name}, 位置数: {len(bottle_carrier.sites)}")
+
+    # 创建1烧杯载架
+    beaker_carrier = BIOYOND_Electrolyte_1BottleCarrier("solution_carrier_01")
+    print(f"1烧杯载架: {beaker_carrier.name}, 位置数: {len(beaker_carrier.sites)}")
+
+    # 创建瓶子和烧杯
+    powder_bottle = BIOYOND_PolymerStation_Solid_Vial("powder_bottle_01")
+    solution_beaker = BIOYOND_PolymerStation_Solution_Beaker("solution_beaker_01")
+    reagent_bottle = BIOYOND_PolymerStation_Reagent_Bottle("reagent_bottle_01")
+
+    print(f"\n创建的物料:")
+    print(f"粉末瓶: {powder_bottle.name} - {powder_bottle.diameter}mm x {powder_bottle.height}mm, {powder_bottle.max_volume}μL")
+    print(f"溶液烧杯: {solution_beaker.name} - {solution_beaker.diameter}mm x {solution_beaker.height}mm, {solution_beaker.max_volume}μL")
+    print(f"试剂瓶: {reagent_bottle.name} - {reagent_bottle.diameter}mm x {reagent_bottle.height}mm, {reagent_bottle.max_volume}μL")
+
+    # 测试放置容器
+    print(f"\n测试放置容器...")
+
+    # 通过载架的索引操作来放置容器
+    # bottle_carrier[0] = powder_bottle  # 放置粉末瓶到第一个位置
+    print(f"粉末瓶已放置到6瓶载架的位置 0")
+
+    # beaker_carrier[0] = solution_beaker  # 放置烧杯到第一个位置
+    print(f"溶液烧杯已放置到1烧杯载架的位置 0")
+
+    # 验证放置结果
+    print(f"\n验证放置结果:")
+    bottle_at_0 = bottle_carrier[0].resource
+    beaker_at_0 = beaker_carrier[0].resource
+
+    if bottle_at_0:
+        print(f"位置 0 的瓶子: {bottle_at_0.name}")
+    if beaker_at_0:
+        print(f"位置 0 的烧杯: {beaker_at_0.name}")
+
+    print("\n载架设置完成！")

test/resources/test_converter_bioyond.py

@@ -0,0 +1,35 @@
+import pytest
+import json
+import os
+
+from unilabos.resources.graphio import resource_bioyond_to_plr
+from unilabos.registry.registry import lab_registry
+
+from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck
+
+lab_registry.setup()
+
+
+type_mapping = {
+    "烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
+    "试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
+    "样品板": "BIOYOND_PolymerStation_6VialCarrier",
+}
+
+@pytest.fixture
+def bioyond_materials() -> list[dict]:
+    print("加载 BioYond 物料数据...")
+    print(os.getcwd())
+    with open("bioyond_materials.json", "r", encoding="utf-8") as f:
+        data = json.load(f)["data"]
+    print(f"加载了 {len(data)} 条物料数据")
+    return data
+
+
+def test_bioyond_to_plr(bioyond_materials) -> list[dict]:
+    deck = BIOYOND_PolymerReactionStation_Deck("test_deck")
+    print("将 BioYond 物料数据转换为 PLR 格式...")
+    output = resource_bioyond_to_plr(bioyond_materials, type_mapping=type_mapping, deck=deck)
+    print(deck.summary())
+    print([resource.serialize() for resource in output])
+    print([resource.serialize_all_state() for resource in output])

unilabos/app/web/client.py

@@ -25,6 +25,7 @@ class HTTPClient:
             remote_addr: 远程服务器地址，如果不提供则从配置中获取
             auth: 授权信息
         """
+        self.initialized = False
         self.remote_addr = remote_addr or HTTPConfig.remote_addr
         if auth is not None:
             self.auth = auth
@@ -66,16 +67,25 @@ class HTTPClient:
 
         Args:
             resources: 要添加的资源列表
-            database_process_later: 后台处理资源
         Returns:
             Response: API响应对象
         """
-        response = requests.post(
-            f"{self.remote_addr}/lab/material",
-            json={"nodes": resources},
-            headers={"Authorization": f"Lab {self.auth}"},
-            timeout=100,
-        )
+        if not self.initialized:
+            self.initialized = True
+            info(f"首次添加资源，当前远程地址: {self.remote_addr}")
+            response = requests.post(
+                f"{self.remote_addr}/lab/material",
+                json={"nodes": resources},
+                headers={"Authorization": f"Lab {self.auth}"},
+                timeout=100,
+            )
+        else:
+            response = requests.put(
+                f"{self.remote_addr}/lab/material",
+                json={"nodes": resources},
+                headers={"Authorization": f"Lab {self.auth}"},
+                timeout=100,
+            )
         if response.status_code == 200:
             res = response.json()
             if "code" in res and res["code"] != 0:
@@ -131,14 +141,29 @@ class HTTPClient:
         Returns:
             Response: API响应对象
         """
-        return self.resource_add(resources)
-        response = requests.patch(
-            f"{self.remote_addr}/lab/resource/batch_update/?edge_format=1",
-            json=resources,
-            headers={"Authorization": f"Lab {self.auth}"},
-            timeout=100,
-        )
-        return response
+        if not self.initialized:
+            self.initialized = True
+            info(f"首次添加资源，当前远程地址: {self.remote_addr}")
+            response = requests.post(
+                f"{self.remote_addr}/lab/material",
+                json={"nodes": resources},
+                headers={"Authorization": f"Lab {self.auth}"},
+                timeout=100,
+            )
+        else:
+            response = requests.put(
+                f"{self.remote_addr}/lab/material",
+                json={"nodes": resources},
+                headers={"Authorization": f"Lab {self.auth}"},
+                timeout=100,
+            )
+        if response.status_code == 200:
+            res = response.json()
+            if "code" in res and res["code"] != 0:
+                logger.error(f"添加物料失败: {response.text}")
+        if response.status_code != 200:
+            logger.error(f"添加物料失败: {response.text}")
+        return response.json()
 
     def upload_file(self, file_path: str, scene: str = "models") -> requests.Response:
         """

unilabos/app/ws_client.py

@@ -1093,7 +1093,7 @@ class WebSocketClient(BaseCommunicationClient):
             },
         }
         self.message_processor.send_message(message)
-        logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
+        logger.debug(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
 
     def publish_job_status(
         self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None

unilabos/compile/add_protocol.py

@@ -155,7 +155,7 @@ def generate_add_protocol(
                             "device_id": stirrer_id,
                             "action_name": "start_stir",
                             "action_kwargs": {
-                                "vessel": vessel_id,  # 🔧 使用 vessel_id
+                                "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
                                 "stir_speed": stir_speed,
                                 "purpose": f"准备添加固体 {reagent}"
                             }
@@ -232,7 +232,7 @@ def generate_add_protocol(
                         "device_id": stirrer_id,
                         "action_name": "start_stir",
                         "action_kwargs": {
-                            "vessel": vessel_id,  # 🔧 使用 vessel_id
+                            "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
                             "stir_speed": stir_speed,
                             "purpose": f"准备添加液体 {reagent}"
                         }

unilabos/compile/adjustph_protocol.py

@@ -325,7 +325,7 @@ def generate_adjust_ph_protocol(
                     "device_id": stirrer_id,
                     "action_name": "start_stir",
                     "action_kwargs": {
-                        "vessel": vessel_id,
+                        "vessel": {"id": vessel_id},
                         "stir_speed": stir_speed,
                         "purpose": f"pH调节: 启动搅拌，准备添加 {reagent}"
                     }

unilabos/compile/centrifuge_protocol.py

@@ -156,7 +156,7 @@ def generate_centrifuge_protocol(
         "device_id": centrifuge_id,
         "action_name": "centrifuge",
         "action_kwargs": {
-            "vessel": centrifuge_vessel,
+            "vessel": {"id": centrifuge_vessel},
             "speed": speed,
             "time": time,
             "temp": temp

unilabos/compile/clean_vessel_protocol.py

@@ -143,7 +143,7 @@ def generate_clean_vessel_protocol(
             "device_id": heatchill_id,
             "action_name": "heat_chill_start",
             "action_kwargs": {
-                "vessel": vessel_id,  # 🔧 使用 vessel_id
+                "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
                 "temp": temp,
                 "purpose": f"cleaning with {solvent}"
             }
@@ -295,7 +295,7 @@ def generate_clean_vessel_protocol(
             "device_id": heatchill_id,
             "action_name": "heat_chill_stop",
             "action_kwargs": {
-                "vessel": vessel_id  # 🔧 使用 vessel_id
+                "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
             }
         }
         action_sequence.append(heatchill_stop_action)

unilabos/compile/dissolve_protocol.py

@@ -563,7 +563,7 @@ def generate_dissolve_protocol(
                     "device_id": heatchill_id,
                     "action_name": "heat_chill_start",
                     "action_kwargs": {
-                        "vessel": vessel_id,
+                        "vessel": {"id": vessel_id},
                         "temp": final_temp,
                         "purpose": f"溶解准备 - {event}" if event else "溶解准备"
                     }
@@ -587,7 +587,7 @@ def generate_dissolve_protocol(
                     "device_id": stirrer_id,
                     "action_name": "start_stir",
                     "action_kwargs": {
-                        "vessel": vessel_id,
+                        "vessel": {"id": vessel_id},
                         "stir_speed": stir_speed,
                         "purpose": f"溶解搅拌 - {event}" if event else "溶解搅拌"
                     }
@@ -612,7 +612,7 @@ def generate_dissolve_protocol(
                 
                 # 固体加样
                 add_kwargs = {
-                    "vessel": vessel_id,
+                    "vessel": {"id": vessel_id},
                     "reagent": reagent or amount or "solid reagent",
                     "purpose": f"溶解固体试剂 - {event}" if event else "溶解固体试剂",
                     "event": event
@@ -758,7 +758,7 @@ def generate_dissolve_protocol(
                     "device_id": heatchill_id,
                     "action_name": "heat_chill",
                     "action_kwargs": {
-                        "vessel": vessel_id,
+                        "vessel": {"id": vessel_id},
                         "temp": final_temp,
                         "time": final_time,
                         "stir": True,
@@ -776,7 +776,7 @@ def generate_dissolve_protocol(
                     "device_id": stirrer_id,
                     "action_name": "stir",
                     "action_kwargs": {
-                        "vessel": vessel_id,
+                        "vessel": {"id": vessel_id},
                         "stir_time": final_time,
                         "stir_speed": stir_speed,
                         "settling_time": 0,
@@ -802,7 +802,7 @@ def generate_dissolve_protocol(
                 "device_id": heatchill_id,
                 "action_name": "heat_chill_stop",
                 "action_kwargs": {
-                    "vessel": vessel_id
+                    "vessel": {"id": vessel_id},
                 }
             }
             action_sequence.append(stop_action)

unilabos/compile/dry_protocol.py

@@ -167,7 +167,7 @@ def generate_dry_protocol(
         "device_id": heater_id,
         "action_name": "heat_chill_start",
         "action_kwargs": {
-            "vessel": vessel_id,  # 🔧 使用 vessel_id
+            "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
             "temp": dry_temp,
             "purpose": f"干燥 {compound or '化合物'}"
         }
@@ -191,7 +191,7 @@ def generate_dry_protocol(
         "device_id": heater_id,
         "action_name": "heat_chill",
         "action_kwargs": {
-            "vessel": vessel_id,  # 🔧 使用 vessel_id
+            "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
             "temp": dry_temp,
             "time": simulation_time,
             "purpose": f"干燥 {compound or '化合物'}，保持温度 {dry_temp}°C"
@@ -251,7 +251,7 @@ def generate_dry_protocol(
         "device_id": heater_id,
         "action_name": "heat_chill_stop",
         "action_kwargs": {
-            "vessel": vessel_id,  # 🔧 使用 vessel_id
+            "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
             "purpose": f"干燥完成，停止加热"
         }
     })

unilabos/compile/evacuateandrefill_protocol.py

@@ -452,7 +452,7 @@ def generate_evacuateandrefill_protocol(
             "device_id": stirrer_id,
             "action_name": "start_stir",
             "action_kwargs": {
-                "vessel": vessel_id,  # 🔧 使用 vessel_id
+                "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
                 "stir_speed": STIR_SPEED,
                 "purpose": "抽真空充气前预搅拌"
             }
@@ -685,7 +685,7 @@ def generate_evacuateandrefill_protocol(
         action_sequence.append({
             "device_id": stirrer_id,
             "action_name": "stop_stir",
-            "action_kwargs": {"vessel": vessel_id}  # 🔧 使用 vessel_id
+            "action_kwargs": {"vessel": {"id": vessel_id},}  # 🔧 使用 vessel_id
         })
     else:
         action_sequence.append(create_action_log("跳过搅拌器停止", "⏭️"))

unilabos/compile/evaporate_protocol.py

@@ -329,7 +329,7 @@ def generate_evaporate_protocol(
         "device_id": rotavap_device,
         "action_name": "evaporate",
         "action_kwargs": {
-            "vessel": target_vessel,
+            "vessel": {"id": target_vessel},
             "pressure": float(pressure),
             "temp": float(temp),
             "time": float(final_time),  # 🔧 强制转换为float类型

unilabos/compile/heatchill_protocol.py

@@ -220,7 +220,7 @@ def generate_heat_chill_protocol(
         "device_id": heatchill_id,
         "action_name": "heat_chill",
         "action_kwargs": {
-            "vessel": vessel,
+            "vessel": {"id": vessel},
             "temp": float(final_temp),
             "time": float(final_time),
             "stir": bool(stir),
@@ -287,7 +287,8 @@ def generate_heat_chill_start_protocol(
         "action_name": "heat_chill_start",
         "action_kwargs": {
             "temp": temp,
-            "purpose": purpose or f"开始加热到 {temp}°C"
+            "purpose": purpose or f"开始加热到 {temp}°C",
+            "vessel": {"id": vessel_id},
         }
     }]
     

unilabos/compile/separate_protocol.py

@@ -265,7 +265,7 @@ def generate_separate_protocol(
                     "device_id": stirrer_device,
                     "action_name": "start_stir",
                     "action_kwargs": {
-                        "vessel": final_vessel_id,  # 🔧 使用 final_vessel_id
+                        "vessel": {"id": final_vessel_id},  # 🔧 使用 final_vessel_id
                         "stir_speed": stir_speed,
                         "purpose": f"分离混合 - {purpose}"
                     }

unilabos/compile/stir_protocol.py

@@ -234,7 +234,7 @@ def generate_stir_protocol(
         "action_name": "stir",
         "action_kwargs": {
             # 🔧 关键修复：传递vessel_id字符串，而不是完整的Resource对象
-            "vessel": vessel_id,  # 传递字符串ID，不是Resource对象
+            "vessel": {"id": vessel_id},  # 传递字符串ID，不是Resource对象
             "time": str(time),
             "event": event,
             "time_spec": time_spec,
@@ -323,7 +323,7 @@ def generate_start_stir_protocol(
         "action_name": "start_stir",
         "action_kwargs": {
             # 🔧 关键修复：传递vessel_id字符串，而不是完整的Resource对象
-            "vessel": vessel_id,  # 传递字符串ID，不是Resource对象
+            "vessel": {"id": vessel_id},  # 传递字符串ID，不是Resource对象
             "stir_speed": stir_speed,
             "purpose": purpose or f"启动搅拌 {stir_speed} RPM"
         }
@@ -383,7 +383,7 @@ def generate_stop_stir_protocol(
         "action_name": "stop_stir",
         "action_kwargs": {
             # 🔧 关键修复：传递vessel_id字符串，而不是完整的Resource对象
-            "vessel": vessel_id  # 传递字符串ID，不是Resource对象
+            "vessel": {"id": vessel_id},  # 传递字符串ID，不是Resource对象
         }
     }]
     

unilabos/compile/wash_solid_protocol.py

@@ -361,7 +361,7 @@ def generate_wash_solid_protocol(
                 "device_id": "stirrer_1",
                 "action_name": "stir",
                 "action_kwargs": {
-                    "vessel": vessel_id,  # 🔧 使用 vessel_id
+                    "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
                     "time": str(time),
                     "stir_time": final_time,
                     "stir_speed": stir_speed,
@@ -377,7 +377,7 @@ def generate_wash_solid_protocol(
             "device_id": "filter_1",
             "action_name": "filter",
             "action_kwargs": {
-                "vessel": vessel_id,  # 🔧 使用 vessel_id
+                "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
                 "filtrate_vessel": actual_filtrate_vessel,
                 "temp": temp,
                 "volume": final_volume

unilabos/device_comms/coin_cell_assembly_workstation.py

@@ -0,0 +1,454 @@
+"""
+纽扣电池组装工作站
+Coin Cell Assembly Workstation
+
+继承工作站基类，实现纽扣电池特定功能
+"""
+from typing import Dict, Any, List, Optional, Union
+
+from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
+from unilabos.device_comms.workstation_base import WorkstationBase, WorkflowInfo
+from unilabos.device_comms.workstation_communication import (
+    WorkstationCommunicationBase, CommunicationConfig, CommunicationProtocol, CoinCellCommunication
+)
+from unilabos.device_comms.workstation_material_management import (
+    MaterialManagementBase, CoinCellMaterialManagement
+)
+from unilabos.utils.log import logger
+
+
+class CoinCellAssemblyWorkstation(WorkstationBase):
+    """纽扣电池组装工作站
+    
+    基于工作站基类，实现纽扣电池制造的特定功能：
+    1. 纽扣电池特定的通信协议
+    2. 纽扣电池物料管理（料板、极片、电池等）
+    3. 电池制造工作流
+    4. 质量检查工作流
+    """
+
+    def __init__(
+        self,
+        device_id: str,
+        children: Dict[str, Dict[str, Any]],
+        protocol_type: Union[str, List[str]] = "BatteryManufacturingProtocol",
+        resource_tracker: Optional[DeviceNodeResourceTracker] = None,
+        modbus_config: Optional[Dict[str, Any]] = None,
+        deck_config: Optional[Dict[str, Any]] = None,
+        csv_path: str = "./coin_cell_assembly.csv",
+        *args,
+        **kwargs,
+    ):
+        # 设置通信配置
+        modbus_config = modbus_config or {"host": "127.0.0.1", "port": 5021}
+        self.communication_config = CommunicationConfig(
+            protocol=CommunicationProtocol.MODBUS_TCP,
+            host=modbus_config["host"],
+            port=modbus_config["port"],
+            timeout=modbus_config.get("timeout", 5.0),
+            retry_count=modbus_config.get("retry_count", 3)
+        )
+        
+        # 设置台面配置
+        self.deck_config = deck_config or {
+            "size_x": 1620.0,
+            "size_y": 1270.0,
+            "size_z": 500.0
+        }
+        
+        # CSV地址映射文件路径
+        self.csv_path = csv_path
+        
+        # 创建资源跟踪器（如果没有提供）
+        if resource_tracker is None:
+            from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
+            resource_tracker = DeviceNodeResourceTracker()
+        
+        # 初始化基类
+        super().__init__(
+            device_id=device_id,
+            children=children,
+            protocol_type=protocol_type,
+            resource_tracker=resource_tracker,
+            communication_config=self.communication_config,
+            deck_config=self.deck_config,
+            *args,
+            **kwargs
+        )
+        
+        logger.info(f"纽扣电池组装工作站 {device_id} 初始化完成")
+
+    def _create_communication_module(self) -> WorkstationCommunicationBase:
+        """创建纽扣电池通信模块"""
+        return CoinCellCommunication(
+            communication_config=self.communication_config,
+            csv_path=self.csv_path
+        )
+
+    def _create_material_management_module(self) -> MaterialManagementBase:
+        """创建纽扣电池物料管理模块"""
+        return CoinCellMaterialManagement(
+            device_id=self.device_id,
+            deck_config=self.deck_config,
+            resource_tracker=self.resource_tracker,
+            children_config=self.children
+        )
+
+    def _register_supported_workflows(self):
+        """注册纽扣电池工作流"""
+        # 电池制造工作流
+        self.supported_workflows["battery_manufacturing"] = WorkflowInfo(
+            name="battery_manufacturing",
+            description="纽扣电池制造工作流",
+            estimated_duration=300.0,  # 5分钟
+            required_materials=["cathode_sheet", "anode_sheet", "separator", "electrolyte"],
+            output_product="coin_cell_battery",
+            parameters_schema={
+                "type": "object",
+                "properties": {
+                    "electrolyte_num": {
+                        "type": "integer",
+                        "description": "电解液瓶数",
+                        "minimum": 1,
+                        "maximum": 32
+                    },
+                    "electrolyte_volume": {
+                        "type": "number",
+                        "description": "电解液体积 (μL)",
+                        "minimum": 0.1,
+                        "maximum": 100.0
+                    },
+                    "assembly_pressure": {
+                        "type": "number",
+                        "description": "组装压力 (N)",
+                        "minimum": 100.0,
+                        "maximum": 5000.0
+                    },
+                    "cathode_material": {
+                        "type": "string",
+                        "description": "正极材料类型",
+                        "enum": ["LiFePO4", "LiCoO2", "NCM", "LMO"]
+                    },
+                    "anode_material": {
+                        "type": "string", 
+                        "description": "负极材料类型",
+                        "enum": ["Graphite", "LTO", "Silicon"]
+                    }
+                },
+                "required": ["electrolyte_num", "electrolyte_volume", "assembly_pressure"]
+            }
+        )
+        
+        # 质量检查工作流
+        self.supported_workflows["quality_inspection"] = WorkflowInfo(
+            name="quality_inspection",
+            description="产品质量检查工作流",
+            estimated_duration=60.0,  # 1分钟
+            required_materials=["finished_battery"],
+            output_product="quality_report",
+            parameters_schema={
+                "type": "object",
+                "properties": {
+                    "test_voltage": {
+                        "type": "boolean",
+                        "description": "是否测试电压",
+                        "default": True
+                    },
+                    "test_capacity": {
+                        "type": "boolean",
+                        "description": "是否测试容量",
+                        "default": False
+                    },
+                    "voltage_threshold": {
+                        "type": "number",
+                        "description": "电压阈值 (V)",
+                        "minimum": 2.0,
+                        "maximum": 4.5,
+                        "default": 3.0
+                    }
+                }
+            }
+        )
+        
+        # 设备初始化工作流
+        self.supported_workflows["device_initialization"] = WorkflowInfo(
+            name="device_initialization", 
+            description="设备初始化工作流",
+            estimated_duration=30.0,  # 30秒
+            required_materials=[],
+            output_product="ready_status",
+            parameters_schema={
+                "type": "object",
+                "properties": {
+                    "auto_mode": {
+                        "type": "boolean",
+                        "description": "是否启用自动模式",
+                        "default": True
+                    }
+                }
+            }
+        )
+
+    # ============ 纽扣电池特定方法 ============
+    
+    def get_electrode_sheet_inventory(self) -> Dict[str, int]:
+        """获取极片库存统计"""
+        try:
+            sheets = self.material_management.find_electrode_sheets()
+            inventory = {}
+            
+            for sheet in sheets:
+                material_type = getattr(sheet, 'material_type', 'unknown')
+                inventory[material_type] = inventory.get(material_type, 0) + 1
+            
+            return inventory
+            
+        except Exception as e:
+            logger.error(f"获取极片库存失败: {e}")
+            return {}
+
+    def get_battery_production_statistics(self) -> Dict[str, Any]:
+        """获取电池生产统计"""
+        try:
+            production_data = self.communication.get_production_data()
+            
+            # 添加物料统计
+            electrode_inventory = self.get_electrode_sheet_inventory()
+            battery_count = len(self.material_management.find_batteries())
+            
+            return {
+                **production_data,
+                "electrode_inventory": electrode_inventory,
+                "finished_battery_count": battery_count,
+                "material_plates": len(self.material_management.find_material_plates()),
+                "press_slots": len(self.material_management.find_press_slots())
+            }
+            
+        except Exception as e:
+            logger.error(f"获取生产统计失败: {e}")
+            return {"error": str(e)}
+
+    def create_new_battery(self, battery_spec: Dict[str, Any]) -> Optional[str]:
+        """创建新电池资源"""
+        try:
+            from unilabos.device_comms.button_battery_station import Battery
+            import uuid
+            
+            battery_id = f"battery_{uuid.uuid4().hex[:8]}"
+            
+            battery = Battery(
+                name=battery_id,
+                diameter=battery_spec.get("diameter", 20.0),
+                height=battery_spec.get("height", 3.2),
+                max_volume=battery_spec.get("max_volume", 100.0),
+                barcode=battery_spec.get("barcode", "")
+            )
+            
+            # 添加到物料管理系统
+            self.material_management.plr_resources[battery_id] = battery
+            self.material_management.resource_tracker.add_resource(battery)
+            
+            logger.info(f"创建新电池资源: {battery_id}")
+            return battery_id
+            
+        except Exception as e:
+            logger.error(f"创建电池资源失败: {e}")
+            return None
+
+    def find_available_press_slot(self) -> Optional[str]:
+        """查找可用的压制槽"""
+        try:
+            press_slots = self.material_management.find_press_slots()
+            
+            for slot in press_slots:
+                if hasattr(slot, 'has_battery') and not slot.has_battery():
+                    return slot.name
+            
+            return None
+            
+        except Exception as e:
+            logger.error(f"查找可用压制槽失败: {e}")
+            return None
+
+    def get_glove_box_environment(self) -> Dict[str, Any]:
+        """获取手套箱环境数据"""
+        try:
+            device_status = self.communication.get_device_status()
+            environment = device_status.get("environment", {})
+            
+            return {
+                "pressure": environment.get("glove_box_pressure", 0.0),
+                "o2_content": environment.get("o2_content", 0.0),
+                "water_content": environment.get("water_content", 0.0),
+                "is_safe": (
+                    environment.get("o2_content", 0.0) < 10.0 and  # 氧气含量 < 10ppm
+                    environment.get("water_content", 0.0) < 1.0      # 水分含量 < 1ppm
+                )
+            }
+            
+        except Exception as e:
+            logger.error(f"获取手套箱环境失败: {e}")
+            return {"error": str(e)}
+
+    def start_data_export(self, file_path: str) -> bool:
+        """开始生产数据导出"""
+        try:
+            return self.communication.start_data_export(file_path, export_interval=5.0)
+        except Exception as e:
+            logger.error(f"启动数据导出失败: {e}")
+            return False
+
+    def stop_data_export(self) -> bool:
+        """停止生产数据导出"""
+        try:
+            return self.communication.stop_data_export()
+        except Exception as e:
+            logger.error(f"停止数据导出失败: {e}")
+            return False
+
+    # ============ 重写基类方法以支持纽扣电池特定功能 ============
+    
+    def start_workflow(self, workflow_type: str, parameters: Dict[str, Any] = None) -> bool:
+        """启动工作流（重写以支持纽扣电池特定预处理）"""
+        try:
+            # 进行纽扣电池特定的预检查
+            if workflow_type == "battery_manufacturing":
+                # 检查手套箱环境
+                env = self.get_glove_box_environment()
+                if not env.get("is_safe", False):
+                    logger.error("手套箱环境不安全，无法启动电池制造工作流")
+                    return False
+                
+                # 检查是否有可用的压制槽
+                available_slot = self.find_available_press_slot()
+                if not available_slot:
+                    logger.error("没有可用的压制槽，无法启动电池制造工作流")
+                    return False
+                
+                # 检查极片库存
+                electrode_inventory = self.get_electrode_sheet_inventory()
+                if not electrode_inventory.get("cathode", 0) > 0 or not electrode_inventory.get("anode", 0) > 0:
+                    logger.error("极片库存不足，无法启动电池制造工作流")
+                    return False
+            
+            # 调用基类方法
+            return super().start_workflow(workflow_type, parameters)
+            
+        except Exception as e:
+            logger.error(f"启动纽扣电池工作流失败: {e}")
+            return False
+
+    # ============ 纽扣电池特定状态属性 ============
+    
+    @property
+    def electrode_sheet_count(self) -> int:
+        """极片总数"""
+        try:
+            return len(self.material_management.find_electrode_sheets())
+        except:
+            return 0
+
+    @property
+    def battery_count(self) -> int:
+        """电池总数"""
+        try:
+            return len(self.material_management.find_batteries())
+        except:
+            return 0
+
+    @property
+    def available_press_slots(self) -> int:
+        """可用压制槽数"""
+        try:
+            press_slots = self.material_management.find_press_slots()
+            available = 0
+            for slot in press_slots:
+                if hasattr(slot, 'has_battery') and not slot.has_battery():
+                    available += 1
+            return available
+        except:
+            return 0
+
+    @property
+    def environment_status(self) -> Dict[str, Any]:
+        """环境状态"""
+        return self.get_glove_box_environment()
+
+
+# ============ 工厂函数 ============
+
+def create_coin_cell_workstation(
+    device_id: str,
+    config_file: str,
+    modbus_host: str = "127.0.0.1",
+    modbus_port: int = 5021,
+    csv_path: str = "./coin_cell_assembly.csv"
+) -> CoinCellAssemblyWorkstation:
+    """工厂函数：创建纽扣电池组装工作站
+    
+    Args:
+        device_id: 设备ID
+        config_file: 配置文件路径（JSON格式）
+        modbus_host: Modbus主机地址
+        modbus_port: Modbus端口
+        csv_path: 地址映射CSV文件路径
+    
+    Returns:
+        CoinCellAssemblyWorkstation: 工作站实例
+    """
+    import json
+    
+    try:
+        # 加载配置文件
+        with open(config_file, 'r', encoding='utf-8') as f:
+            config = json.load(f)
+        
+        # 提取配置
+        children = config.get("children", {})
+        deck_config = config.get("deck_config", {})
+        
+        # 创建工作站
+        workstation = CoinCellAssemblyWorkstation(
+            device_id=device_id,
+            children=children,
+            modbus_config={
+                "host": modbus_host,
+                "port": modbus_port
+            },
+            deck_config=deck_config,
+            csv_path=csv_path
+        )
+        
+        logger.info(f"纽扣电池工作站创建成功: {device_id}")
+        return workstation
+        
+    except Exception as e:
+        logger.error(f"创建纽扣电池工作站失败: {e}")
+        raise
+
+
+if __name__ == "__main__":
+    # 示例用法
+    workstation = create_coin_cell_workstation(
+        device_id="coin_cell_station_01",
+        config_file="./button_battery_workstation.json",
+        modbus_host="127.0.0.1",
+        modbus_port=5021
+    )
+    
+    # 启动电池制造工作流
+    success = workstation.start_workflow(
+        "battery_manufacturing",
+        {
+            "electrolyte_num": 16,
+            "electrolyte_volume": 50.0,
+            "assembly_pressure": 2000.0,
+            "cathode_material": "LiFePO4",
+            "anode_material": "Graphite"
+        }
+    )
+    
+    if success:
+        print("电池制造工作流启动成功")
+    else:
+        print("电池制造工作流启动失败")

unilabos/device_comms/modbus_plc/client.py

@@ -8,8 +8,8 @@ from pymodbus.client import ModbusSerialClient, ModbusTcpClient
 from pymodbus.framer import FramerType
 from typing import TypedDict
 
-from unilabos.device_comms.modbus_plc.node.modbus import DeviceType, HoldRegister, Coil, InputRegister, DiscreteInputs, DataType, WorderOrder
-from unilabos.device_comms.modbus_plc.node.modbus import Base as ModbusNodeBase
+from unilabos.device_comms.modbus_plc.modbus import DeviceType, HoldRegister, Coil, InputRegister, DiscreteInputs, DataType, WorderOrder
+from unilabos.device_comms.modbus_plc.modbus import Base as ModbusNodeBase
 from unilabos.device_comms.universal_driver import UniversalDriver
 from unilabos.utils.log import logger
 import pandas as pd

unilabos/device_comms/modbus_plc/test/client.py

@@ -1,6 +1,6 @@
 import time
 from pymodbus.client import ModbusTcpClient
-from unilabos.device_comms.modbus_plc.node.modbus import Coil, HoldRegister
+from unilabos.device_comms.modbus_plc.modbus import Coil, HoldRegister
 from pymodbus.payload import BinaryPayloadDecoder
 from pymodbus.constants import Endian
 

unilabos/device_comms/modbus_plc/test/node_test.py

@@ -1,6 +1,6 @@
 # coding=utf-8
 from pymodbus.client import ModbusTcpClient
-from unilabos.device_comms.modbus_plc.node.modbus import Coil
+from unilabos.device_comms.modbus_plc.modbus import Coil
 import time
 
 

unilabos/device_comms/modbus_plc/test/test_workflow.py

@@ -1,7 +1,7 @@
 import time
 from typing import Callable
 from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusWorkflow, WorkflowAction, load_csv
-from unilabos.device_comms.modbus_plc.node.modbus import Base as ModbusNodeBase
+from unilabos.device_comms.modbus_plc.modbus import Base as ModbusNodeBase
 
 ############ 第一种写法 ##############
 

unilabos/devices/battery/battery.json

@@ -0,0 +1,29 @@
+{
+  "nodes": [
+    {
+      "id": "NEWARE_BATTERY_TEST_SYSTEM",
+      "name": "Neware Battery Test System",
+      "parent": null,
+      "type": "device",
+      "class": "neware_battery_test_system",
+      "position": {
+        "x": 620.6111111111111,
+        "y": 171,
+        "z": 0
+      },
+      "config": {
+        "ip": "127.0.0.1",
+        "port": 502,
+        "machine_id": 1,
+        "devtype": "27",
+        "timeout": 20,
+        "size_x": 500.0,
+        "size_y": 500.0,
+        "size_z": 2000.0
+      },
+      "data": {},
+      "children": []
+    }
+  ],
+  "links": []
+}

unilabos/devices/virtual/virtual_solid_dispenser.py

@@ -288,7 +288,7 @@ class VirtualSolidDispenser:
                 "return_info": f"dispensed_{actual_amount:.6f}g",
                 "dispensed_amount": actual_amount,
                 "reagent": reagent,
-                "vessel": vessel
+                "vessel": {"id": vessel},
             }
             
         except Exception as e:

unilabos/devices/workstation/README.md

@@ -0,0 +1,184 @@
+# 工作站抽象基类物料系统架构说明
+
+## 设计理念
+
+基于用户需求"请你帮我系统思考一下，工作站抽象基类的物料系统基类该如何构建"，我们最终确定了一个**PyLabRobot Deck为中心**的简化架构。
+
+### 核心原则
+
+1. **PyLabRobot为物料管理核心**：使用PyLabRobot的Deck系统作为物料管理的基础，利用其成熟的Resource体系
+2. **Graphio转换函数集成**：使用graphio中的`resource_ulab_to_plr`等转换函数实现UniLab与PLR格式的无缝转换
+3. **关注点分离**：基类专注核心物料系统，HTTP服务等功能在子类中实现
+4. **外部系统集成模式**：通过ResourceSynchronizer抽象类提供外部物料系统对接模式
+
+## 架构组成
+
+### 1. WorkstationBase（基类）
+**文件**: `workstation_base.py`
+
+**核心功能**：
+- 使用deck_config和children通过`resource_ulab_to_plr`转换为PLR物料self.deck
+- 基础的资源查找和管理功能
+- 抽象的工作流执行接口
+- ResourceSynchronizer集成点
+
+**关键代码**：
+```python
+def _initialize_material_system(self, deck_config: Dict[str, Any], children_config: Dict[str, Any] = None):
+    """初始化基于PLR的物料系统"""
+    # 合并deck_config和children
+    complete_config = self._merge_deck_and_children_config(deck_config, children_config)
+    
+    # 使用graphio转换函数转换为PLR资源
+    self.deck = resource_ulab_to_plr(complete_config)
+```
+
+### 2. ResourceSynchronizer（外部系统集成抽象类）
+**定义在**: `workstation_base.py`
+
+**设计目的**：
+- 提供外部物料系统（如Bioyong、LIMS等）集成的标准接口
+- 双向同步：从外部系统同步到本地deck，以及将本地变更同步到外部系统
+- 处理外部系统的变更通知
+
+**核心方法**：
+```python
+async def sync_from_external(self) -> bool:
+    """从外部系统同步物料到本地deck"""
+    
+async def sync_to_external(self, plr_resource) -> bool:
+    """将本地物料同步到外部系统"""
+    
+async def handle_external_change(self, change_info: Dict[str, Any]) -> bool:
+    """处理外部系统的变更通知"""
+```
+
+### 3. WorkstationWithHTTP（子类示例）
+**文件**: `workstation_with_http_example.py`
+
+**扩展功能**：
+- HTTP报送接收服务集成
+- 具体工作流实现（液体转移、板洗等）
+- Bioyong物料系统同步器示例
+- 外部报送处理方法
+
+## 技术栈
+
+### 核心依赖
+- **PyLabRobot**: 物料资源管理核心（Deck, Resource, Coordinate）
+- **GraphIO转换函数**: UniLab ↔ PLR格式转换
+  - `resource_ulab_to_plr`: UniLab格式转PLR格式
+  - `resource_plr_to_ulab`: PLR格式转UniLab格式
+  - `convert_resources_to_type`: 通用资源类型转换
+- **ROS2**: 基础设备节点通信（BaseROS2DeviceNode）
+
+### 可选依赖
+- **HTTP服务**: 仅在需要外部报送接收的子类中使用
+- **外部系统API**: 根据具体集成需求添加
+
+## 使用示例
+
+### 1. 简单工作站（仅PLR物料系统）
+
+```python
+from unilabos.devices.workstation.workstation_base import WorkstationBase
+
+# Deck配置
+deck_config = {
+    "size_x": 1200.0,
+    "size_y": 800.0,
+    "size_z": 100.0
+}
+
+# 子资源配置
+children_config = {
+    "source_plate": {
+        "name": "source_plate",
+        "type": "plate",
+        "position": {"x": 100, "y": 100, "z": 10},
+        "config": {"size_x": 127.8, "size_y": 85.5, "size_z": 14.4}
+    }
+}
+
+# 创建工作站
+workstation = WorkstationBase(
+    device_id="simple_workstation",
+    deck_config=deck_config,
+    children_config=children_config
+)
+
+# 查找资源
+plate = workstation.find_resource_by_name("source_plate")
+```
+
+### 2. 带HTTP服务的工作站
+
+```python
+from unilabos.devices.workstation.workstation_with_http_example import WorkstationWithHTTP
+
+# HTTP服务配置
+http_service_config = {
+    "enabled": True,
+    "host": "127.0.0.1",
+    "port": 8081
+}
+
+# 创建带HTTP服务的工作站
+workstation = WorkstationWithHTTP(
+    device_id="http_workstation",
+    deck_config=deck_config,
+    children_config=children_config,
+    http_service_config=http_service_config
+)
+
+# 执行工作流
+success = workstation.execute_workflow("liquid_transfer", {
+    "volume": 100.0,
+    "source_wells": ["A1", "A2"],
+    "dest_wells": ["B1", "B2"]
+})
+```
+
+### 3. 外部系统集成
+
+```python
+class BioyongResourceSynchronizer(ResourceSynchronizer):
+    """Bioyong系统同步器"""
+    
+    async def sync_from_external(self) -> bool:
+        # 从Bioyong API获取物料
+        external_materials = await self._fetch_bioyong_materials()
+        
+        # 转换并添加到本地deck
+        for material in external_materials:
+            await self._add_material_to_deck(material)
+        
+        return True
+```
+
+## 设计优势
+
+### 1. **简洁性**
+- 基类只专注核心物料管理，没有冗余功能
+- 使用成熟的PyLabRobot作为物料管理基础
+
+### 2. **可扩展性**
+- 通过子类添加HTTP服务、特定工作流等功能
+- ResourceSynchronizer模式支持任意外部系统集成
+
+### 3. **标准化**
+- PLR Deck提供标准的资源管理接口
+- Graphio转换函数确保格式一致性
+
+### 4. **灵活性**
+- 可选择性使用HTTP服务和外部系统集成
+- 支持不同类型的工作站需求
+
+## 发展历程
+
+1. **初始设计**: 复杂的统一物料系统，包含HTTP服务和多种功能
+2. **PyLabRobot集成**: 引入PLR Deck管理，但保留了ResourceTracker复杂性
+3. **Graphio转换**: 使用graphio转换函数简化初始化
+4. **最终简化**: 专注核心PLR物料系统，HTTP服务移至子类
+
+这个架构体现了"用PyLabRobot Deck来管理物料会更好；但是要做好和外部物料系统的对接"的设计理念，以及"现在我只需要在工作站创建的时候，整体使用deck_config和children，一起通过resource_ulab_to_plr转换为plr物料self.deck即可"的简化要求。

unilabos/devices/workstation/bioyond_cell/benyao_test.py

@@ -0,0 +1,49 @@
+import requests
+import json
+from datetime import datetime
+def test_benyao_api():
+    # 配置信息
+    ip_addr = "192.168.1.200"
+    port = 44386
+    #url = f"http://{ip_addr}:{port}/api/lims/scheduler/scheduler-status"
+    #url = f"http://{ip_addr}:{port}/api/lims/order/order-list-status"
+    url = f"http://{ip_addr}:{port}/api/lims/storage/stock-material"
+    apiKey = "8A819E5C"  # 请替换为实际apiKey
+    
+    # 构造请求体
+    request_data = {
+        "apiKey": apiKey,
+        "requestTime": datetime.now().strftime("%Y-%m-%dT%H:%M:%S.%fZ"),  # 示例：2025-08-15T10:00:00.000Z
+        "data": {
+                "typeMode": 1,
+                "includeDetail": True
+            }
+    
+    }
+    
+    #request_data = {
+    #    "apiKey": apiKey,
+    #    "requestTime": datetime.now().strftime("%Y-%m-%dT%H:%M:%S.%fZ"),  # 示例：2025-08-15T10:00:00.000Z
+    #    "data": 
+    #}
+    
+    
+    print(request_data)
+    # 发送POST请求
+    try:
+        response = requests.post(url, json=request_data, timeout=10)
+        response.raise_for_status()  # 检查HTTP状态码
+    
+        # 解析响应
+        result = response.json()
+        print("响应状态码:", response.status_code)
+        print("响应内容:")
+        print(json.dumps(result, indent=2, ensure_ascii=False))
+    
+    except requests.exceptions.RequestException as e:
+        print("请求失败:", e)
+    except json.JSONDecodeError as e:
+        print("JSON解析失败:", e)
+    
+if __name__ == "__main__":
+    test_benyao_api()

unilabos/devices/workstation/bioyond_cell/bioyond_material_management.py

@@ -0,0 +1,374 @@
+"""
+Bioyond物料管理实现
+Bioyond Material Management Implementation
+
+基于Bioyond系统的物料管理，支持从Bioyond系统同步物料到UniLab工作站
+"""
+from typing import Dict, Any, List, Optional, Union
+import json
+import asyncio
+from abc import ABC, abstractmethod
+
+from pylabrobot.resources import (
+    Resource as PLRResource,
+    Container,
+    Deck,
+    Coordinate as PLRCoordinate,
+)
+
+from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
+from unilabos.utils.log import logger
+from unilabos.resources.graphio import (
+    resource_plr_to_ulab, 
+    resource_ulab_to_plr,
+    resource_bioyond_to_ulab,
+    resource_bioyond_container_to_ulab,
+    resource_ulab_to_bioyond
+)
+from .workstation_material_management import MaterialManagementBase
+
+
+class BioyondMaterialManagement(MaterialManagementBase):
+    """Bioyond物料管理类
+    
+    实现从Bioyond系统同步物料到UniLab工作站的功能：
+    1. 从Bioyond系统获取物料数据
+    2. 转换为UniLab格式
+    3. 同步到PyLabRobot Deck
+    4. 支持双向同步
+    """
+    
+    def __init__(
+        self,
+        device_id: str,
+        deck_config: Dict[str, Any],
+        resource_tracker: DeviceNodeResourceTracker,
+        children_config: Dict[str, Dict[str, Any]] = None,
+        bioyond_config: Dict[str, Any] = None
+    ):
+        self.bioyond_config = bioyond_config or {}
+        self.bioyond_api_client = None
+        self.sync_interval = self.bioyond_config.get("sync_interval", 30)  # 同步间隔（秒）
+        
+        # 初始化父类
+        super().__init__(device_id, deck_config, resource_tracker, children_config)
+        
+        # 初始化Bioyond API客户端
+        self._initialize_bioyond_client()
+        
+        # 启动同步任务
+        self._start_sync_task()
+    
+    def _initialize_bioyond_client(self):
+        """初始化Bioyond API客户端"""
+        try:
+            # 这里应该根据实际的Bioyond API实现
+            # 暂时使用模拟客户端
+            self.bioyond_api_client = BioyondAPIClient(self.bioyond_config)
+            logger.info(f"Bioyond API客户端初始化成功")
+        except Exception as e:
+            logger.error(f"Bioyond API客户端初始化失败: {e}")
+            self.bioyond_api_client = None
+    
+    def _start_sync_task(self):
+        """启动同步任务"""
+        if self.bioyond_api_client:
+            # 创建异步同步任务
+            asyncio.create_task(self._periodic_sync())
+            logger.info(f"Bioyond同步任务已启动，间隔: {self.sync_interval}秒")
+    
+    async def _periodic_sync(self):
+        """定期同步任务"""
+        while True:
+            try:
+                await self.sync_from_bioyond()
+                await asyncio.sleep(self.sync_interval)
+            except Exception as e:
+                logger.error(f"Bioyond同步任务出错: {e}")
+                await asyncio.sleep(self.sync_interval)
+    
+    async def sync_from_bioyond(self) -> bool:
+        """从Bioyond系统同步物料"""
+        try:
+            if not self.bioyond_api_client:
+                logger.warning("Bioyond API客户端未初始化")
+                return False
+            
+            # 1. 从Bioyond获取物料数据
+            bioyond_data = await self.bioyond_api_client.get_materials()
+            if not bioyond_data:
+                logger.warning("从Bioyond获取物料数据为空")
+                return False
+            
+            # 2. 转换为UniLab格式
+            if isinstance(bioyond_data, dict) and "data" in bioyond_data:
+                # 容器格式数据
+                unilab_resources = resource_bioyond_container_to_ulab(bioyond_data)
+            else:
+                # 物料列表格式数据
+                unilab_resources = resource_bioyond_to_ulab(bioyond_data)
+            
+            # 3. 转换为PLR格式并分配到Deck
+            await self._assign_resources_to_deck(unilab_resources)
+            
+            logger.info(f"从Bioyond同步了 {len(unilab_resources)} 个资源")
+            return True
+            
+        except Exception as e:
+            logger.error(f"从Bioyond同步物料失败: {e}")
+            return False
+    
+    async def sync_to_bioyond(self, plr_resource: PLRResource) -> bool:
+        """将本地物料变更同步到Bioyond系统"""
+        try:
+            if not self.bioyond_api_client:
+                logger.warning("Bioyond API客户端未初始化")
+                return False
+            
+            # 1. 转换为UniLab格式
+            unilab_resource = resource_plr_to_ulab(plr_resource)
+            
+            # 2. 转换为Bioyond格式
+            bioyond_materials = resource_ulab_to_bioyond([unilab_resource])
+            
+            # 3. 发送到Bioyond系统
+            success = await self.bioyond_api_client.update_materials(bioyond_materials)
+            
+            if success:
+                logger.info(f"成功同步物料 {plr_resource.name} 到Bioyond")
+            else:
+                logger.warning(f"同步物料 {plr_resource.name} 到Bioyond失败")
+            
+            return success
+            
+        except Exception as e:
+            logger.error(f"同步物料到Bioyond失败: {e}")
+            return False
+    
+    async def _assign_resources_to_deck(self, unilab_resources: List[Dict[str, Any]]):
+        """将UniLab资源分配到Deck"""
+        try:
+            # 转换为PLR格式
+            from unilabos.resources.graphio import list_to_nested_dict
+            nested_resources = list_to_nested_dict(unilab_resources)
+            plr_resources = resource_ulab_to_plr(nested_resources)
+            
+            # 分配资源到Deck
+            if hasattr(plr_resources, 'children'):
+                resources_to_assign = plr_resources.children
+            elif isinstance(plr_resources, list):
+                resources_to_assign = plr_resources
+            else:
+                resources_to_assign = [plr_resources]
+            
+            for resource in resources_to_assign:
+                try:
+                    # 获取资源位置
+                    if hasattr(resource, 'location') and resource.location:
+                        location = PLRCoordinate(resource.location.x, resource.location.y, resource.location.z)
+                    else:
+                        location = PLRCoordinate(0, 0, 0)
+                    
+                    # 分配资源到Deck
+                    self.plr_deck.assign_child_resource(resource, location)
+                    
+                    # 注册到resource tracker
+                    self.resource_tracker.add_resource(resource)
+                    
+                    # 保存资源引用
+                    self.plr_resources[resource.name] = resource
+                    
+                except Exception as e:
+                    logger.error(f"分配资源 {resource.name} 到Deck失败: {e}")
+            
+            logger.info(f"成功分配了 {len(resources_to_assign)} 个资源到Deck")
+            
+        except Exception as e:
+            logger.error(f"分配资源到Deck失败: {e}")
+    
+    def _create_resource_by_type(
+        self, 
+        resource_id: str, 
+        resource_type: str, 
+        config: Dict[str, Any], 
+        data: Dict[str, Any], 
+        location: PLRCoordinate
+    ) -> Optional[PLRResource]:
+        """根据类型创建Bioyond相关资源"""
+        try:
+            # 这里可以根据需要实现特定的Bioyond资源类型
+            # 目前使用通用的容器类型
+            if resource_type in ["container", "plate", "well"]:
+                return self._create_generic_container(resource_id, resource_type, config, data, location)
+            else:
+                logger.warning(f"未知的Bioyond资源类型: {resource_type}")
+                return None
+                
+        except Exception as e:
+            logger.error(f"创建Bioyond资源失败 {resource_id} ({resource_type}): {e}")
+            return None
+    
+    def _create_generic_container(
+        self, 
+        resource_id: str, 
+        resource_type: str, 
+        config: Dict[str, Any], 
+        data: Dict[str, Any], 
+        location: PLRCoordinate
+    ) -> Optional[PLRResource]:
+        """创建通用容器资源"""
+        try:
+            from pylabrobot.resources import Plate, Well
+            
+            if resource_type == "plate":
+                return Plate(
+                    name=resource_id,
+                    size_x=config.get("size_x", 127.76),
+                    size_y=config.get("size_y", 85.48),
+                    size_z=config.get("size_z", 14.35),
+                    location=location,
+                    category="plate"
+                )
+            elif resource_type == "well":
+                return Well(
+                    name=resource_id,
+                    size_x=config.get("size_x", 9.0),
+                    size_y=config.get("size_y", 9.0),
+                    size_z=config.get("size_z", 10.0),
+                    location=location,
+                    category="well"
+                )
+            else:
+                return Container(
+                    name=resource_id,
+                    size_x=config.get("size_x", 50.0),
+                    size_y=config.get("size_y", 50.0),
+                    size_z=config.get("size_z", 10.0),
+                    location=location,
+                    category="container"
+                )
+                
+        except Exception as e:
+            logger.error(f"创建通用容器失败 {resource_id}: {e}")
+            return None
+    
+    def get_bioyond_materials(self) -> List[Dict[str, Any]]:
+        """获取当前Bioyond物料列表"""
+        try:
+            # 将当前PLR资源转换为Bioyond格式
+            bioyond_materials = []
+            for resource in self.plr_resources.values():
+                unilab_resource = resource_plr_to_ulab(resource)
+                bioyond_materials.extend(resource_ulab_to_bioyond([unilab_resource]))
+            return bioyond_materials
+        except Exception as e:
+            logger.error(f"获取Bioyond物料列表失败: {e}")
+            return []
+    
+    def update_material_from_bioyond(self, material_id: str, bioyond_data: Dict[str, Any]) -> bool:
+        """从Bioyond数据更新指定物料"""
+        try:
+            # 查找现有物料
+            material = self.find_material_by_id(material_id)
+            if not material:
+                logger.warning(f"未找到物料: {material_id}")
+                return False
+            
+            # 转换Bioyond数据为UniLab格式
+            unilab_resources = resource_bioyond_to_ulab([bioyond_data])
+            if not unilab_resources:
+                logger.warning(f"转换Bioyond数据失败: {material_id}")
+                return False
+            
+            # 更新物料属性
+            unilab_resource = unilab_resources[0]
+            material.name = unilab_resource.get("name", material.name)
+            
+            # 更新位置
+            position = unilab_resource.get("position", {})
+            if position:
+                material.location = PLRCoordinate(
+                    position.get("x", 0),
+                    position.get("y", 0),
+                    position.get("z", 0)
+                )
+            
+            logger.info(f"成功更新物料: {material_id}")
+            return True
+            
+        except Exception as e:
+            logger.error(f"更新物料失败 {material_id}: {e}")
+            return False
+
+
+class BioyondAPIClient:
+    """Bioyond API客户端（模拟实现）
+    
+    实际使用时需要根据Bioyond系统的API接口实现
+    """
+    
+    def __init__(self, config: Dict[str, Any]):
+        self.config = config
+        self.base_url = config.get("base_url", "http://localhost:8080")
+        self.api_key = config.get("api_key", "")
+        self.timeout = config.get("timeout", 30)
+    
+    async def get_materials(self) -> Optional[Union[Dict[str, Any], List[Dict[str, Any]]]]:
+        """从Bioyond系统获取物料数据"""
+        try:
+            # 这里应该实现实际的API调用
+            # 暂时返回模拟数据
+            logger.info("从Bioyond API获取物料数据")
+            
+            # 模拟API调用延迟
+            await asyncio.sleep(0.1)
+            
+            # 返回模拟数据（实际应该从API获取）
+            return {
+                "data": [],
+                "code": 1,
+                "message": "success",
+                "timestamp": 1234567890
+            }
+            
+        except Exception as e:
+            logger.error(f"Bioyond API调用失败: {e}")
+            return None
+    
+    async def update_materials(self, materials: List[Dict[str, Any]]) -> bool:
+        """更新Bioyond系统中的物料数据"""
+        try:
+            # 这里应该实现实际的API调用
+            logger.info(f"更新Bioyond系统中的 {len(materials)} 个物料")
+            
+            # 模拟API调用延迟
+            await asyncio.sleep(0.1)
+            
+            # 模拟成功响应
+            return True
+            
+        except Exception as e:
+            logger.error(f"更新Bioyond物料失败: {e}")
+            return False
+    
+    async def get_material_by_id(self, material_id: str) -> Optional[Dict[str, Any]]:
+        """根据ID获取单个物料"""
+        try:
+            # 这里应该实现实际的API调用
+            logger.info(f"从Bioyond API获取物料: {material_id}")
+            
+            # 模拟API调用延迟
+            await asyncio.sleep(0.1)
+            
+            # 返回模拟数据
+            return {
+                "id": material_id,
+                "name": f"material_{material_id}",
+                "type": "container",
+                "quantity": 1.0,
+                "unit": "个"
+            }
+            
+        except Exception as e:
+            logger.error(f"获取Bioyond物料失败 {material_id}: {e}")
+            return None

unilabos/devices/workstation/bioyond_cell/bioyond_workstation.py

@@ -0,0 +1,796 @@
+# -*- coding: utf-8 -*-
+from typing import Dict, Any, List, Optional
+from datetime import datetime, timezone
+import requests
+from pathlib import Path
+import pandas as pd
+import time
+from datetime import datetime, timezone, timedelta
+import re
+import threading
+
+from urllib3 import response
+from unilabos.devices.workstation.workstation_base import WorkstationBase
+from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
+from unilabos.utils.log import logger
+from pylabrobot.resources.deck import Deck
+
+def _iso_utc_now_ms() -> str:
+    # 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z
+    dt = datetime.now()
+    return dt.strftime("%Y-%m-%dT%H:%M:%S.") + f"{int(dt.microsecond/1000):03d}Z"
+
+
+class BioyondWorkstation(WorkstationBase):
+    """
+    集成 Bioyond LIMS 的工作站示例，
+    覆盖：入库(2.17/2.18) → 新建实验(2.14) → 启动调度(2.7) →
+    运行中推送：物料变更(2.24)、步骤完成(2.21)、订单完成(2.23) →
+    查询实验(2.5/2.6) → 3-2-1 转运(2.32) → 样品/废料取出(2.28)
+    """
+
+    def __init__(
+        self,
+        bioyond_config: Optional[Dict[str, Any]] = None,
+        station_resource: Optional[Dict[str, Any]] = None,
+        debug_mode: bool = False,
+        *args, **kwargs,
+    ):
+        default_config = {
+            #"base_url": "http://192.168.1.200:44388",
+            "base_url": "http://61.169.57.196:44422",
+            "api_key": "8A819E5C",
+            "timeout": 30,
+            "report_token": "CHANGE_ME_TOKEN"
+        }
+        self.bioyond_config = {**default_config, **(bioyond_config or {})}
+
+        self.http_service_started = False
+        self.debug_mode = debug_mode
+        super().__init__(deck=Deck, station_resource=station_resource, *args, **kwargs)
+        logger.info(f"Bioyond工作站初始化完成 (debug_mode={self.debug_mode})")
+
+        # 实例化并在后台线程启动 HTTP 报送服务
+    #     self.order_status = {}
+    #     try:
+    #         t = threading.Thread(target=self._start_http_service_bg, daemon=True, name="unilab_http")
+    #         t.start()
+
+    #     except Exception as e:
+    #         logger.error(f"unilab-server后台启动报送服务失败: {e}")
+
+    # @property
+    # def device_id(self) -> str:
+    #     try:
+    #         return getattr(self, "_ros_node").device_id  # 兼容 ROS 场景
+    #     except Exception:
+    #         return "bioyond_workstation"
+
+    # def _start_http_service_bg(self, host: str = "192.168.1.104", port: int = 8080) -> None:
+    #     logger.info("进入 _start_http_service_bg 函数")
+    #     try:
+    #         self.service = WorkstationHTTPService(self, host=host, port=port)
+    #         logger.info("WorkstationHTTPService 实例化完成")
+    #         self.service.start()
+    #         self.http_service_started = True
+    #         logger.info(f"unilab_HTTP 服务成功启动: {host}:{port}")
+
+    #         一直挂着，直到进程退出
+    #         while True:
+    #             time.sleep(1)
+
+    #     except Exception as e:
+    #         self.http_service_started = False
+    #         logger.error(f"启动unilab_HTTP服务失败: {e}", exc_info=True)
+
+    # -------------------- 基础HTTP封装 --------------------
+    def _url(self, path: str) -> str:
+        return f"{self.bioyond_config['base_url'].rstrip('/')}/{path.lstrip('/')}"
+    def _post_lims(self, path: str, data: Optional[Any] = None) -> Dict[str, Any]:
+        """LIMS API：大多数接口用 {apiKey/requestTime,data} 包装"""
+        payload = {
+            "apiKey": self.bioyond_config["api_key"],
+            "requestTime": _iso_utc_now_ms()
+        }
+
+        if data is not None:
+            payload["data"] = data
+      
+        if self.debug_mode:
+            # 模拟返回，不发真实请求
+            logger.info(f"[DEBUG] POST {path} with payload={payload}")
+            return {"debug": True, "url": self._url(path), "payload": payload, "status": "ok"}
+        try:
+            r = requests.post(
+                self._url(path),
+                json=payload,
+                timeout=self.bioyond_config.get("timeout", 30),
+                headers={"Content-Type": "application/json"}
+            )
+            r.raise_for_status()
+            #print(r.json())
+            return r.json()
+        except Exception as e:
+            logger.error(f"POST {path} 失败: {e}")
+            return {"error": str(e)}
+
+    # --- 修正：_post_report / _post_report_raw 同样走 debug_mode ---
+    def _post_report(self, path: str, data: Dict[str, Any]) -> Dict[str, Any]:
+        payload = {
+            "token": self.bioyond_config.get("report_token", ""),
+            "request_time": _iso_utc_now_ms(),
+            "data": data
+        }
+        if self.debug_mode:
+            logger.info(f"[DEBUG] POST {path} with payload={payload}")
+            return {"debug": True, "url": self._url(path), "payload": payload, "status": "ok"}
+        try:
+            r = requests.post(self._url(path), json=payload,
+                            timeout=self.bioyond_config.get("timeout", 30),
+                            headers={"Content-Type": "application/json"})
+            r.raise_for_status()
+            return r.json()
+        except Exception as e:
+            logger.error(f"POST {path} 失败: {e}")
+            return {"error": str(e)}
+
+    def _post_report_raw(self, path: str, body: Dict[str, Any]) -> Dict[str, Any]:
+        if self.debug_mode:
+            logger.info(f"[DEBUG] POST {path} with body={body}")
+            return {"debug": True, "url": self._url(path), "payload": body, "status": "ok"}
+        try:
+            r = requests.post(self._url(path), json=body,
+                            timeout=self.bioyond_config.get("timeout", 30),
+                            headers={"Content-Type": "application/json"})
+            r.raise_for_status()
+            return r.json()
+        except Exception as e:
+            logger.error(f"POST {path} 失败: {e}")
+            return {"error": str(e)}
+
+
+    # -------------------- 单点接口封装 --------------------
+    # 2.17 入库物料（单个）
+    def storage_inbound(self, material_id: str, location_id: str) -> Dict[str, Any]:
+        return self._post_lims("/api/lims/storage/inbound", {
+            "materialId": material_id,
+            "locationId": location_id
+        })
+
+    # 2.18 批量入库（多个）
+    def storage_batch_inbound(self, items: List[Dict[str, str]]) -> Dict[str, Any]:
+        """
+        items = [{"materialId": "...", "locationId": "..."}, ...]
+        """
+        return self._post_lims("/api/lims/storage/batch-inbound", items)
+
+    # 3.30 自动化上料（Excel -> JSON -> POST /api/lims/order/auto-feeding4to3）
+    def auto_feeding4to3_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]:
+        """
+        根据固定模板解析 Excel：
+        - 四号手套箱加样头面 (2-13行, 3-7列)
+        - 四号手套箱原液瓶面 (15-23行, 3-9列)
+        - 三号手套箱人工堆栈 (26-40行, 3-7列)
+        """
+        path = Path(xlsx_path)
+        if not path.exists():
+            raise FileNotFoundError(f"未找到 Excel 文件：{path}")
+
+        try:
+            df = pd.read_excel(path, sheet_name=0, header=None, engine="openpyxl")
+        except Exception as e:
+            raise RuntimeError(f"读取 Excel 失败：{e}")
+
+        items: List[Dict[str, Any]] = []
+
+        # 四号手套箱 - 加样头面（2-13行, 3-7列）
+        for _, row in df.iloc[1:13, 2:7].iterrows():
+            item = {
+                "sourceWHName": "四号手套箱堆栈",
+                "posX": int(row[2]),
+                "posY": int(row[3]),
+                "posZ": int(row[4]),
+                "materialName": str(row[5]).strip() if pd.notna(row[5]) else "",
+                "quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
+            }
+            if item["materialName"]:
+                items.append(item)
+
+        # 四号手套箱 - 原液瓶面（15-23行, 3-9列）
+        for _, row in df.iloc[14:23, 2:9].iterrows():
+            item = {
+                "sourceWHName": "四号手套箱堆栈",
+                "posX": int(row[2]),
+                "posY": int(row[3]),
+                "posZ": int(row[4]),
+                "materialName": str(row[5]).strip() if pd.notna(row[5]) else "",
+                "quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
+                "materialType": str(row[7]).strip() if pd.notna(row[7]) else "",
+                "targetWH": str(row[8]).strip() if pd.notna(row[8]) else "",
+            }
+            if item["materialName"]:
+                items.append(item)
+
+        # 三号手套箱人工堆栈（26-40行, 3-7列）
+        for _, row in df.iloc[25:40, 2:7].iterrows():
+            item = {
+                "sourceWHName": "三号手套箱人工堆栈",
+                "posX": int(row[2]),
+                "posY": int(row[3]),
+                "posZ": int(row[4]),
+                "materialType": str(row[5]).strip() if pd.notna(row[5]) else "",
+                "materialId": str(row[6]).strip() if pd.notna(row[6]) else "",
+                "quantity": 1  # 默认数量1
+            }
+            if item["materialId"] or item["materialType"]:
+                items.append(item)
+
+        return self._post_lims("/api/lims/order/auto-feeding4to3", items)
+
+
+
+    def auto_batch_outbound_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]:
+        """
+        3.31 自动化下料（Excel -> JSON -> POST /api/lims/storage/auto-batch-out-bound）
+        """
+        path = Path(xlsx_path)
+        if not path.exists():
+            raise FileNotFoundError(f"未找到 Excel 文件：{path}")
+
+        try:
+            df = pd.read_excel(path, sheet_name=0, engine="openpyxl")
+        except Exception as e:
+            raise RuntimeError(f"读取 Excel 失败：{e}")
+
+        def pick(names: List[str]) -> Optional[str]:
+            for n in names:
+                if n in df.columns:
+                    return n
+            return None
+
+        c_loc = pick(["locationId", "库位ID", "库位Id", "库位id"])
+        c_wh  = pick(["warehouseId", "仓库ID", "仓库Id", "仓库id"])
+        c_qty = pick(["数量", "quantity"])
+        c_x   = pick(["x", "X", "posX", "坐标X"])
+        c_y   = pick(["y", "Y", "posY", "坐标Y"])
+        c_z   = pick(["z", "Z", "posZ", "坐标Z"])
+
+        required = [c_loc, c_wh, c_qty, c_x, c_y, c_z]
+        if any(c is None for c in required):
+            raise KeyError("Excel 缺少必要列：locationId/warehouseId/数量/x/y/z（支持多别名，至少要能匹配到）。")
+
+        def as_int(v, d=0):
+            try:
+                if pd.isna(v): return d
+                return int(v)
+            except Exception:
+                try:
+                    return int(float(v))
+                except Exception:
+                    return d
+
+        def as_float(v, d=0.0):
+            try:
+                if pd.isna(v): return d
+                return float(v)
+            except Exception:
+                return d
+
+        def as_str(v, d=""):
+            if v is None or (isinstance(v, float) and pd.isna(v)): return d
+            s = str(v).strip()
+            return s if s else d
+
+        items: List[Dict[str, Any]] = []
+        for _, row in df.iterrows():
+            items.append({
+                "locationId": as_str(row[c_loc]),
+                "warehouseId": as_str(row[c_wh]),
+                "quantity": as_float(row[c_qty]),
+                "x": as_int(row[c_x]),
+                "y": as_int(row[c_y]),
+                "z": as_int(row[c_z]),
+            })
+
+        return self._post_lims("/api/lims/storage/auto-batch-out-bound", items)
+
+    # 2.14 新建实验
+    def create_orders(self, xlsx_path: str) -> Dict[str, Any]:
+        """
+        从 Excel 解析并创建实验（2.14）
+        约定：
+        - batchId = Excel 文件名（不含扩展名）
+        - 物料列：所有以 "(g)" 结尾（不再读取“总质量(g)”列）
+        - totalMass 自动计算为所有物料质量之和
+        - createTime 缺失或为空时自动填充为当前日期（YYYY/M/D）
+        """
+        path = Path(xlsx_path)
+        if not path.exists():
+            raise FileNotFoundError(f"未找到 Excel 文件：{path}")
+
+        try:
+            df = pd.read_excel(path, sheet_name=0, engine="openpyxl")
+        except Exception as e:
+            raise RuntimeError(f"读取 Excel 失败：{e}")
+
+        # 列名容错：返回可选列名，找不到则返回 None
+        def _pick(col_names: List[str]) -> Optional[str]:
+            for c in col_names:
+                if c in df.columns:
+                    return c
+            return None
+
+        col_order_name = _pick(["配方ID", "orderName", "订单编号"])
+        col_create_time = _pick(["创建日期", "createTime"])
+        col_bottle_type = _pick(["配液瓶类型", "bottleType"])
+        col_mix_time = _pick(["混匀时间(s)", "mixTime"])
+        col_load = _pick(["扣电组装分液体积", "loadSheddingInfo"])
+        col_pouch = _pick(["软包组装分液体积", "pouchCellInfo"])
+        col_cond = _pick(["电导测试分液体积", "conductivityInfo"])
+        col_cond_cnt = _pick(["电导测试分液瓶数", "conductivityBottleCount"])
+
+        # 物料列：所有以 (g) 结尾
+        material_cols = [c for c in df.columns if isinstance(c, str) and c.endswith("(g)")]
+        if not material_cols:
+            raise KeyError("未发现任何以“(g)”结尾的物料列，请检查表头。")
+
+        batch_id = path.stem
+
+        def _to_ymd_slash(v) -> str:
+            # 统一为 "YYYY/M/D"；为空或解析失败则用当前日期
+            if v is None or (isinstance(v, float) and pd.isna(v)) or str(v).strip() == "":
+                ts = datetime.now()
+            else:
+                try:
+                    ts = pd.to_datetime(v)
+                except Exception:
+                    ts = datetime.now()
+            return f"{ts.year}/{ts.month}/{ts.day}"
+
+        def _as_int(val, default=0) -> int:
+            try:
+                if pd.isna(val):
+                    return default
+                return int(val)
+            except Exception:
+                return default
+
+        def _as_str(val, default="") -> str:
+            if val is None or (isinstance(val, float) and pd.isna(val)):
+                return default
+            s = str(val).strip()
+            return s if s else default
+
+        orders: List[Dict[str, Any]] = []
+
+        for idx, row in df.iterrows():
+            mats: List[Dict[str, Any]] = []
+            total_mass = 0.0
+
+            for mcol in material_cols:
+                val = row.get(mcol, None)
+                if val is None or (isinstance(val, float) and pd.isna(val)):
+                    continue
+                try:
+                    mass = float(val)
+                except Exception:
+                    continue
+                if mass > 0:
+                    mats.append({"name": mcol.replace("(g)", ""), "mass": mass})
+                    total_mass += mass
+
+            order_data = {
+                "batchId": batch_id,
+                "orderName": _as_str(row[col_order_name], default=f"{batch_id}_order_{idx+1}") if col_order_name else f"{batch_id}_order_{idx+1}",
+                "createTime": _to_ymd_slash(row[col_create_time]) if col_create_time else _to_ymd_slash(None),
+                "bottleType": _as_str(row[col_bottle_type], default="配液小瓶") if col_bottle_type else "配液小瓶",
+                "mixTime": _as_int(row[col_mix_time]) if col_mix_time else 0,
+                "loadSheddingInfo": _as_int(row[col_load]) if col_load else 0,
+                "pouchCellInfo": _as_int(row[col_pouch]) if col_pouch else 0,
+                "conductivityInfo": _as_int(row[col_cond]) if col_cond else 0,
+                "conductivityBottleCount": _as_int(row[col_cond_cnt]) if col_cond_cnt else 0,
+                "materialInfos": mats,
+                "totalMass": round(total_mass, 4)  # 自动汇总
+            }
+            orders.append(order_data)
+
+        # print(orders)
+        while True:
+            time.sleep(5)
+            response = self._post_lims("/api/lims/order/orders", orders)
+            if response.get("data", []):
+                break
+            logger.info(f"等待配液实验创建完成")
+
+
+       
+        # self.order_status[response["data"]["orderCode"]] = "running"
+
+        # while True:
+        #     time.sleep(5)
+        #     if self.order_status.get(response["data"]["orderCode"], None) == "finished":
+        #         logger.info(f"配液实验已完成 ，即将执行 3-2-1 转运")
+        #         break
+        #     logger.info(f"等待配液实验完成")
+
+        # self.transfer_3_to_2_to_1()
+        # self.wait_for_transfer_task()
+        # logger.info(f"3-2-1 转运完成，返回结果")
+        # return r321
+        return response
+
+    # 2.7 启动调度
+    def scheduler_start(self) -> Dict[str, Any]:
+        response = self._post_lims("/api/lims/scheduler/start")
+        print(response)
+        return response
+    # 3.10 停止调度
+    def scheduler_stop(self) -> Dict[str, Any]:
+        """
+        停止调度 (3.10)
+        请求体只包含 apiKey 和 requestTime
+        """
+        return self._post_lims("/api/lims/scheduler/stop")
+            # 2.9 继续调度
+    def scheduler_continue(self) -> Dict[str, Any]:
+        """
+        继续调度 (2.9)
+        请求体只包含 apiKey 和 requestTime
+        """
+        return self._post_lims("/api/lims/scheduler/continue")
+
+
+
+    # 2.24 物料变更推送
+    def report_material_change(self, material_obj: Dict[str, Any]) -> Dict[str, Any]:
+        """
+        material_obj 按 2.24 的裸对象格式（包含 id/typeName/locations/detail 等）
+        """
+        return self._post_report_raw("/report/material_change", material_obj)
+
+    # 2.21 步骤完成推送（BS → LIMS）
+    def report_step_finish(self,
+                           order_code: str,
+                           order_name: str,
+                           step_name: str,
+                           step_id: str,
+                           sample_id: str,
+                           start_time: str,
+                           end_time: str,
+                           execution_status: str = "completed") -> Dict[str, Any]:
+        data = {
+            "orderCode": order_code,
+            "orderName": order_name,
+            "stepName": step_name,
+            "stepId": step_id,
+            "sampleId": sample_id,
+            "startTime": start_time,
+            "endTime": end_time,
+            "executionStatus": execution_status
+        }
+        return self._post_report("/report/step_finish", data)
+
+    # 2.23 订单完成推送（BS → LIMS）
+    def report_order_finish(self,
+                            order_code: str,
+                            order_name: str,
+                            start_time: str,
+                            end_time: str,
+                            status: str = "30",  # 30 完成 / -11 异常停止 / -12 人工停止
+                            workflow_status: str = "Finished",
+                            completion_time: Optional[str] = None,
+                            used_materials: Optional[List[Dict[str, Any]]] = None) -> Dict[str, Any]:
+        data = {
+            "orderCode": order_code,
+            "orderName": order_name,
+            "startTime": start_time,
+            "endTime": end_time,
+            "status": status,
+            "workflowStatus": workflow_status,
+            "completionTime": completion_time or end_time,
+            "usedMaterials": used_materials or []
+        }
+        return self._post_report("/report/order_finish", data)
+
+    # 2.5 批量查询实验报告（用于轮询是否完成）
+    def order_list(self,
+                   status: Optional[str] = None,
+                   begin_time: Optional[str] = None,
+                   end_time: Optional[str] = None,
+                   filter_text: Optional[str] = None,
+                   skip: int = 0, page: int = 10) -> Dict[str, Any]:
+        data: Dict[str, Any] = {"skipCount": skip, "pageCount": page}
+        if status is not None:  # 80 成功 / 90 失败 / 100 执行中
+            data["status"] = status
+        if begin_time:
+            data["timeType"] = "CreationTime"
+            data["beginTime"] = begin_time
+        if end_time:
+            data["endTime"] = end_time
+        if filter_text:
+            data["filter"] = filter_text
+        return self._post_lims("/api/lims/order/order-list", data)
+
+    # 2.6 实验报告查询（根据任务ID拿详情）
+    def order_report(self, order_id: str) -> Dict[str, Any]:
+        return self._post_lims("/api/lims/order/order-report", order_id)
+
+    # 2.32 3-2-1 物料转运
+    def transfer_3_to_2_to_1(self,
+                            #  source_wh_id: Optional[str] = None,
+                            source_wh_id: Optional[str] = '3a19debc-84b4-0359-e2d4-b3beea49348b',
+                             source_x: int = 1, source_y: int = 1, source_z: int = 1) -> Dict[str, Any]:
+        payload: Dict[str, Any] = {
+            "sourcePosX": source_x, "sourcePosY": source_y, "sourcePosZ": source_z
+        }
+        if source_wh_id:
+            payload["sourceWHID"] = source_wh_id
+        return self._post_lims("/api/lims/order/transfer-task3To2To1", payload)
+
+    # 2.28 样品/废料取出
+    def take_out(self,
+                 order_id: str,
+                 preintake_ids: Optional[List[str]] = None,
+                 material_ids: Optional[List[str]] = None) -> Dict[str, Any]:
+        data = {
+            "orderId": order_id,
+            "preintakeIds": preintake_ids or [],
+            "materialIds": material_ids or []
+        }
+        return self._post_lims("/api/lims/order/take-out", data)
+
+    # --------（可选）占位方法：文档未定义的“1号站内部流程 / 1-2转运”--------
+    def start_station1_internal_flow(self, **kwargs) -> None:
+        logger.info("启动1号站内部流程（占位，按现场系统填充具体指令）")
+
+
+    # 3.x 1→2 物料转运
+    def transfer_1_to_2(self) -> Dict[str, Any]:
+        """
+        1→2 物料转运
+        URL: /api/lims/order/transfer-task1To2
+        只需要 apiKey 和 requestTime
+        """
+        return self._post_lims("/api/lims/order/transfer-task1To2")
+
+
+    # -------------------- 整体编排 --------------------
+    def run_full_workflow(self,
+                          inbound_items: List[Dict[str, str]],
+                          orders: List[Dict[str, Any]],
+                          poll_filter_code: Optional[str] = None,
+                          poll_timeout_s: int = 600,
+                          poll_interval_s: int = 5,
+                          transfer_source: Optional[Dict[str, Any]] = None,
+                          takeout_order_id: Optional[str] = None) -> None:
+        """
+        一键串联：
+        1) 入库 3-4 个物料 → 2) 新建实验 → 3) 启动调度
+        运行中（如需）：4) 物料变更推送 5) 步骤完成推送 6) 订单完成推送
+        完成后：查询实验（2.5/2.6）→ 7) 3-2-1 转运 → 8) 1号站内部流程
+        → 9) 1-2 转运 → 10) 样品/废料取出
+        """
+        # 1. 入库（多于1个就用批量接口 2.18）
+        if len(inbound_items) == 1:
+            r = self.storage_inbound(inbound_items[0]["materialId"], inbound_items[0]["locationId"])
+            logger.info(f"单个入库结果: {r}")
+        else:
+            r = self.storage_batch_inbound(inbound_items)
+            logger.info(f"批量入库结果: {r}")
+
+        # 2. 新建实验（2.14）
+        r = self.create_orders(orders)
+        logger.info(f"新建实验结果: {r}")
+
+        # 3. 启动调度（2.7）
+        r = self.scheduler_start()
+        logger.info(f"启动调度结果: {r}")
+
+        # —— 运行中各类推送（2.24 / 2.21 / 2.23），通常由实际任务驱动，这里提供调用方式 —— #
+        # self.report_material_change({...})
+        # self.report_step_finish(order_code="BSO...", order_name="配液分液", step_name="xxx", step_id="...", sample_id="...",
+        #                         start_time=_iso_utc_now_ms(), end_time=_iso_utc_now_ms(), execution_status="completed")
+        # self.report_order_finish(order_code="BSO...", order_name="配液分液", start_time="...", end_time=_iso_utc_now_ms())
+
+        # 完成后才能转运：用 2.5 批量查询配合 filter=任务编码 轮询到 status=80（成功）
+        if poll_filter_code:
+            import time
+            deadline = time.time() + poll_timeout_s
+            while time.time() < deadline:
+                res = self.order_list(status="80", filter_text=poll_filter_code, page=5)
+                if isinstance(res, dict) and res.get("data", {}).get("items"):
+                    logger.info(f"实验 {poll_filter_code} 已完成：{res['data']['items'][0]}")
+                    break
+                time.sleep(poll_interval_s)
+            else:
+                logger.warning(f"等待实验 {poll_filter_code} 完成超时（未到 status=80）")
+
+        # 7. 启动 3-2-1 转运（2.32）
+        if transfer_source:
+            r = self.transfer_3_to_2_to_1(
+                source_wh_id=transfer_source.get("sourceWHID"),
+                source_x=transfer_source.get("sourcePosX", 1),
+                source_y=transfer_source.get("sourcePosY", 1),
+                source_z=transfer_source.get("sourcePosZ", 1),
+            )
+            logger.info(f"3-2-1 转运结果: {r}")
+
+        # 8. 1号站内部流程（占位）
+        self.start_station1_internal_flow()
+
+        # 9. 1→2 转运（占位）
+        self.transfer_1_to_2()
+
+        # 10. 样品/废料取出（2.28）
+        if takeout_order_id:
+            r = self.take_out(order_id=takeout_order_id)
+            logger.info(f"样品/废料取出结果: {r}")
+
+    # 2.5 批量查询实验报告
+    def order_list_v2(self,
+                      timeType: str = "string",
+                      beginTime: str = "",
+                      endTime: str = "",
+                      status: str = "",
+                      filter: str = "",
+                      skipCount: int = 0,
+                      pageCount: int = 1,
+                      sorting: str = "") -> Dict[str, Any]:
+        """
+        批量查询实验报告的详细信息 (2.5)
+        URL: /api/lims/order/order-list
+        参数默认值和接口文档保持一致
+        """
+        data: Dict[str, Any] = {
+            "timeType": timeType,
+            "beginTime": beginTime,
+            "endTime": endTime,
+            "status": status,
+            "filter": filter,
+            "skipCount": skipCount,
+            "pageCount": pageCount,
+            "sorting": sorting
+        }
+        return self._post_lims("/api/lims/order/order-list", data)
+
+        
+    def wait_for_transfer_task(self, timeout: int = 3000, interval: int = 5, filter_text: Optional[str] = None) -> bool:
+        """
+        轮询查询物料转移任务是否成功完成 (status=80)
+        - timeout: 最大等待秒数 (默认600秒)
+        - interval: 轮询间隔秒数 (默认3秒)
+        返回 True 表示找到并成功完成，False 表示超时未找到
+        """
+        now = datetime.now()
+        beginTime = now.strftime("%Y-%m-%dT%H:%M:%SZ")
+        endTime = (now + timedelta(minutes=5)).strftime("%Y-%m-%dT%H:%M:%SZ")
+        print(beginTime, endTime)
+
+        deadline = time.time() + timeout
+
+        while time.time() < deadline:
+            result = self.order_list_v2(
+                timeType="string",
+                beginTime=beginTime,
+                endTime=endTime,
+                status="",
+                filter=filter_text,
+                skipCount=0,
+                pageCount=1,
+                sorting=""
+            )
+            print(result)
+
+            items = result.get("data", {}).get("items", [])
+            for item in items:
+                name = item.get("name", "")
+                status = item.get("status")
+                # 改成用 filter_text 判断
+                if (not filter_text or filter_text in name) and status == 80:
+                    logger.info(f"硬件转移动作完成: {name}, status={status}")
+                    return True
+
+                logger.info(f"等待中: {name}, status={status}")
+            time.sleep(interval)
+
+        logger.warning("超时未找到成功的物料转移任务")
+        return False
+    
+
+    def Bioystation_scheduler_start_task(self) -> bool:
+        logger.info("开始调度")
+        self.scheduler_start()
+        logger.info("调度已启动")
+
+    def Bioystation_scheduler_stop_task(self) -> bool:
+        logger.info("停止调度")
+        self.scheduler_stop()
+        logger.info("调度已停止")
+
+    def Bioystation_scheduler_continue_task(self) -> bool:
+        logger.info("继续调度")
+        self.scheduler_continue()
+        logger.info("调度已继续")
+
+    # 3.30 上料：读取模板 Excel 自动解析并 POST
+    def Bioystation_feeding4to3_from_xlsx_task(self) -> bool:
+        logger.info("4号箱自动上料开始")
+        r1 = self.auto_feeding4to3_from_xlsx(r"D:\Uni-lab\Uni-Lab-OS\unilabos\devices\workstation\bioyond_cell\样品导入模板.xlsx")
+        self.wait_for_transfer_task(filter_text="物料转移任务")
+        logger.info("4号箱向3号箱转运物料转移任务已完成")
+        return True
+    
+    # # 新建实验
+    def Bioystation_start_experiment_task(self) -> bool:
+        logger.info("3号箱内实验开始")
+        response = self.create_orders(r"D:\Uni-lab\Uni-Lab-OS\unilabos\devices\workstation\bioyond_cell\2025101301.xlsx")
+        logger.info(response)
+        data_list = response.get("data", [])
+        order_name = data_list[0].get("orderName", "")
+        self.wait_for_transfer_task(filter_text=order_name)
+        logger.info("3号站内实验完成")
+        return True
+
+    def Bioystation_3_to_2_task(self) -> bool:       
+        self.transfer_3_to_2_to_1()
+        self.wait_for_transfer_task(filter_text="物料转移任务")
+        logger.info("3号站向2号站向1号站转移任务完成")
+        return True
+
+    def Bioystation_1_to_2_task(self) -> bool:
+        self.transfer_1_to_2()
+        self.wait_for_transfer_task(filter_text="物料转移任务")
+        logger.info("1号站向2号站转移任务完成")
+        logger.info("全流程结束")
+        return True
+    
+    def test_benyao_workstation(self, num1, num2):
+        num1 = int(num1)
+        num2 = int(num2)
+        for i in range(num1):
+            print(f"num1 = {num1}")
+        for j in range(num2):
+            print(f"num1 = {num2}")        
+
+# --------------------------------
+if __name__ == "__main__":
+    ws = BioyondWorkstation()
+    #ws.scheduler_stop()
+    #ws.Bioystation_scheduler_start_task()
+    ws.scheduler_start()
+    # ws.scheduler_start()
+    # logger.info("调度启动完成")
+
+    # ws.scheduler_continue()
+    # 3.30 上料：读取模板 Excel 自动解析并 POST
+    # r1 = ws.auto_feeding4to3_from_xlsx(r"C:\ML\GitHub\Uni-Lab-OS\unilabos\devices\workstation\bioyond_cell\样品导入模板 (8).xlsx")
+    # ws.wait_for_transfer_task(filter_text="物料转移任务")
+    # logger.info("4号箱向3号箱转运物料转移任务已完成")
+
+    # ws.scheduler_start()
+    # print(r1["payload"]["data"])   # 调试模式下可直接看到要发的 JSON items
+
+    # # 新建实验
+    # response = ws.create_orders("C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_cell/2025092701.xlsx")
+    # logger.info(response)
+    # data_list = response.get("data", [])
+    # order_name = data_list[0].get("orderName", "")
+
+    # ws.wait_for_transfer_task(filter_text=order_name)
+    # ws.wait_for_transfer_task(filter_text='DP20250927001')
+    # logger.info("3号站内实验完成")
+    # # ws.scheduler_start()
+    # # print(res)
+    # ws.transfer_3_to_2_to_1()
+    # ws.wait_for_transfer_task(filter_text="物料转移任务")
+    # logger.info("3号站向2号站向1号站转移任务完成")
+        # r321 = self.wait_for_transfer_task()
+    #1号站启动
+    # ws.transfer_1_to_2()
+    #s.wait_for_transfer_task(filter_text="物料转移任务")
+    #ogger.info("1号站向2号站转移任务完成")
+    #ogger.info("全流程结束")
+
+    # 3.31 下料：同理
+    # r2 = ws.auto_batch_outbound_from_xlsx(r"C:/path/样品导入模板 (8).xlsx")
+    # print(r2["payload"]["data"])

unilabos/devices/workstation/bioyond_cell/bioyond_workstation_old (2).py

@@ -0,0 +1,772 @@
+# -*- coding: utf-8 -*-
+from typing import Dict, Any, List, Optional
+from datetime import datetime, timezone
+import requests
+from pathlib import Path
+import pandas as pd
+import time
+from datetime import datetime, timezone, timedelta
+import re
+import threading
+from unilabos.devices.workstation.workstation_base import WorkstationBase
+from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
+from unilabos.utils.log import logger
+from pylabrobot.resources.deck import Deck
+
+
+def _iso_utc_now_ms() -> str:
+    # 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z
+    dt = datetime.now(timezone.utc)
+    return dt.strftime("%Y-%m-%dT%H:%M:%S.") + f"{int(dt.microsecond/1000):03d}Z"
+
+
+class BioyondWorkstation(WorkstationBase):
+    """
+    集成 Bioyond LIMS 的工作站示例，
+    覆盖：入库(2.17/2.18) → 新建实验(2.14) → 启动调度(2.7) →
+    运行中推送：物料变更(2.24)、步骤完成(2.21)、订单完成(2.23) →
+    查询实验(2.5/2.6) → 3-2-1 转运(2.32) → 样品/废料取出(2.28)
+    """
+
+    def __init__(
+        self,
+        bioyond_config: Optional[Dict[str, Any]] = None,
+        station_resource: Optional[Dict[str, Any]] = None,
+        debug_mode: bool = False,   # 增加调试模式开关
+        *args, **kwargs,
+    ):
+        self.bioyond_config = bioyond_config or {
+            #"base_url": "http://192.168.1.200:44386",
+            #"base_url": "http://172.16.11.219:44388",
+            "base_url": "http://61.169.57.196:44422",
+            "api_key": "8A819E5C",
+            "timeout": 30,
+            "report_token": "CHANGE_ME_TOKEN"
+        }
+
+
+        self.debug_mode = debug_mode
+        super().__init__(deck=Deck, station_resource=station_resource, *args, **kwargs)
+        logger.info(f"Bioyond工作站初始化完成 (debug_mode={self.debug_mode})")
+
+        # 实例化并在后台线程启动 HTTP 报送服务
+        self.order_status = {}
+        try:
+            t = threading.Thread(target=self._start_http_service_bg, daemon=True, name="unilab_http")
+            t.start()
+
+        except Exception as e:
+            logger.error(f"unilab-server后台启动报送服务失败: {e}")
+
+    @property
+    def device_id(self) -> str:
+        try:
+            return getattr(self, "_ros_node").device_id  # 兼容 ROS 场景
+        except Exception:
+            return "bioyond_workstation"
+
+    def _start_http_service_bg(self, host: str = "192.168.1.104", port: int = 7000) -> None:
+        try:
+            self.service = WorkstationHTTPService(self, host=host, port=port)
+            self.service.start()
+
+        except Exception as e:
+            logger.error(f"启动HTTP服务失败: {e}")
+
+    # -------------------- 基础HTTP封装 --------------------
+    def _url(self, path: str) -> str:
+        return f"{self.bioyond_config['base_url'].rstrip('/')}/{path.lstrip('/')}"
+
+    def _post_lims(self, path: str, data: Optional[Any] = None) -> Dict[str, Any]:
+        """LIMS API：大多数接口用 {apiKey/requestTime,data} 包装"""
+        payload = {
+            "apiKey": self.bioyond_config["api_key"],
+            "requestTime": _iso_utc_now_ms()
+        }
+        if data is not None:
+            payload["data"] = data
+
+        if self.debug_mode:
+            # 模拟返回，不发真实请求
+            logger.info(f"[DEBUG] POST {path} with payload={payload}")
+            return {"debug": True, "url": self._url(path), "payload": payload, "status": "ok"}
+
+        try:
+            r = requests.post(
+                self._url(path),
+                json=payload,
+                timeout=self.bioyond_config.get("timeout", 30),
+                headers={"Content-Type": "application/json"}
+            )
+            r.raise_for_status()
+            return r.json()
+        except Exception as e:
+            logger.error(f"POST {path} 失败: {e}")
+            return {"error": str(e)}
+
+    # --- 修正：_post_report / _post_report_raw 同样走 debug_mode ---
+    def _post_report(self, path: str, data: Dict[str, Any]) -> Dict[str, Any]:
+        payload = {
+            "token": self.bioyond_config.get("report_token", ""),
+            "request_time": _iso_utc_now_ms(),
+            "data": data
+        }
+        if self.debug_mode:
+            logger.info(f"[DEBUG] POST {path} with payload={payload}")
+            return {"debug": True, "url": self._url(path), "payload": payload, "status": "ok"}
+        try:
+            r = requests.post(self._url(path), json=payload,
+                            timeout=self.bioyond_config.get("timeout", 30),
+                            headers={"Content-Type": "application/json"})
+            r.raise_for_status()
+            return r.json()
+        except Exception as e:
+            logger.error(f"POST {path} 失败: {e}")
+            return {"error": str(e)}
+
+    def _post_report_raw(self, path: str, body: Dict[str, Any]) -> Dict[str, Any]:
+        if self.debug_mode:
+            logger.info(f"[DEBUG] POST {path} with body={body}")
+            return {"debug": True, "url": self._url(path), "payload": body, "status": "ok"}
+        try:
+            r = requests.post(self._url(path), json=body,
+                            timeout=self.bioyond_config.get("timeout", 30),
+                            headers={"Content-Type": "application/json"})
+            r.raise_for_status()
+            return r.json()
+        except Exception as e:
+            logger.error(f"POST {path} 失败: {e}")
+            return {"error": str(e)}
+
+
+    # -------------------- 单点接口封装 --------------------
+    # 2.17 入库物料（单个）
+    def storage_inbound(self, material_id: str, location_id: str) -> Dict[str, Any]:
+        return self._post_lims("/api/lims/storage/inbound", {
+            "materialId": material_id,
+            "locationId": location_id
+        })
+
+    # 2.18 批量入库（多个）
+    def storage_batch_inbound(self, items: List[Dict[str, str]]) -> Dict[str, Any]:
+        """
+        items = [{"materialId": "...", "locationId": "..."}, ...]
+        """
+        return self._post_lims("/api/lims/storage/batch-inbound", items)
+
+    # 3.30 自动化上料（Excel -> JSON -> POST /api/lims/order/auto-feeding4to3）
+    def auto_feeding4to3_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]:
+        """
+        根据固定模板解析 Excel：
+        - 四号手套箱加样头面 (2-13行, 3-7列)
+        - 四号手套箱原液瓶面 (15-23行, 3-9列)
+        - 三号手套箱人工堆栈 (26-40行, 3-7列)
+        """
+        path = Path(xlsx_path)
+        if not path.exists():
+            raise FileNotFoundError(f"未找到 Excel 文件：{path}")
+
+        try:
+            df = pd.read_excel(path, sheet_name=0, header=None, engine="openpyxl")
+        except Exception as e:
+            raise RuntimeError(f"读取 Excel 失败：{e}")
+
+        items: List[Dict[str, Any]] = []
+
+        # 四号手套箱 - 加样头面（2-13行, 3-7列）
+        for _, row in df.iloc[1:13, 2:7].iterrows():
+            item = {
+                "sourceWHName": "四号手套箱堆栈",
+                "posX": int(row[2]),
+                "posY": int(row[3]),
+                "posZ": int(row[4]),
+                "materialName": str(row[5]).strip() if pd.notna(row[5]) else "",
+                "quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
+            }
+            if item["materialName"]:
+                items.append(item)
+
+        # 四号手套箱 - 原液瓶面（15-23行, 3-9列）
+        for _, row in df.iloc[14:23, 2:9].iterrows():
+            item = {
+                "sourceWHName": "四号手套箱堆栈",
+                "posX": int(row[2]),
+                "posY": int(row[3]),
+                "posZ": int(row[4]),
+                "materialName": str(row[5]).strip() if pd.notna(row[5]) else "",
+                "quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
+                "materialType": str(row[7]).strip() if pd.notna(row[7]) else "",
+                "targetWH": str(row[8]).strip() if pd.notna(row[8]) else "",
+            }
+            if item["materialName"]:
+                items.append(item)
+
+        # 三号手套箱人工堆栈（26-40行, 3-7列）
+        for _, row in df.iloc[25:40, 2:7].iterrows():
+            item = {
+                "sourceWHName": "三号手套箱人工堆栈",
+                "posX": int(row[2]),
+                "posY": int(row[3]),
+                "posZ": int(row[4]),
+                "materialType": str(row[5]).strip() if pd.notna(row[5]) else "",
+                "materialId": str(row[6]).strip() if pd.notna(row[6]) else "",
+                "quantity": 1  # 默认数量1
+            }
+            if item["materialId"] or item["materialType"]:
+                items.append(item)
+        print("items", items)
+        return self._post_lims("/api/lims/order/auto-feeding4to3", items)
+
+
+
+    def auto_batch_outbound_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]:
+        """
+        3.31 自动化下料（Excel -> JSON -> POST /api/lims/storage/auto-batch-out-bound）
+        """
+        path = Path(xlsx_path)
+        if not path.exists():
+            raise FileNotFoundError(f"未找到 Excel 文件：{path}")
+
+        try:
+            df = pd.read_excel(path, sheet_name=0, engine="openpyxl")
+        except Exception as e:
+            raise RuntimeError(f"读取 Excel 失败：{e}")
+
+        def pick(names: List[str]) -> Optional[str]:
+            for n in names:
+                if n in df.columns:
+                    return n
+            return None
+
+        c_loc = pick(["locationId", "库位ID", "库位Id", "库位id"])
+        c_wh  = pick(["warehouseId", "仓库ID", "仓库Id", "仓库id"])
+        c_qty = pick(["数量", "quantity"])
+        c_x   = pick(["x", "X", "posX", "坐标X"])
+        c_y   = pick(["y", "Y", "posY", "坐标Y"])
+        c_z   = pick(["z", "Z", "posZ", "坐标Z"])
+
+        required = [c_loc, c_wh, c_qty, c_x, c_y, c_z]
+        if any(c is None for c in required):
+            raise KeyError("Excel 缺少必要列：locationId/warehouseId/数量/x/y/z（支持多别名，至少要能匹配到）。")
+
+        def as_int(v, d=0):
+            try:
+                if pd.isna(v): return d
+                return int(v)
+            except Exception:
+                try:
+                    return int(float(v))
+                except Exception:
+                    return d
+
+        def as_float(v, d=0.0):
+            try:
+                if pd.isna(v): return d
+                return float(v)
+            except Exception:
+                return d
+
+        def as_str(v, d=""):
+            if v is None or (isinstance(v, float) and pd.isna(v)): return d
+            s = str(v).strip()
+            return s if s else d
+
+        items: List[Dict[str, Any]] = []
+        for _, row in df.iterrows():
+            items.append({
+                "locationId": as_str(row[c_loc]),
+                "warehouseId": as_str(row[c_wh]),
+                "quantity": as_float(row[c_qty]),
+                "x": as_int(row[c_x]),
+                "y": as_int(row[c_y]),
+                "z": as_int(row[c_z]),
+            })
+
+        return self._post_lims("/api/lims/storage/auto-batch-out-bound", items)
+
+    # 2.14 新建实验
+    def create_orders(self, xlsx_path: str) -> Dict[str, Any]:
+        """
+        从 Excel 解析并创建实验（2.14）
+        约定：
+        - batchId = Excel 文件名（不含扩展名）
+        - 物料列：所有以 "(g)" 结尾（不再读取“总质量(g)”列）
+        - totalMass 自动计算为所有物料质量之和
+        - createTime 缺失或为空时自动填充为当前日期（YYYY/M/D）
+        """
+        path = Path(xlsx_path)
+        if not path.exists():
+            raise FileNotFoundError(f"未找到 Excel 文件：{path}")
+
+        try:
+            df = pd.read_excel(path, sheet_name=0, engine="openpyxl")
+        except Exception as e:
+            raise RuntimeError(f"读取 Excel 失败：{e}")
+
+        # 列名容错：返回可选列名，找不到则返回 None
+        def _pick(col_names: List[str]) -> Optional[str]:
+            for c in col_names:
+                if c in df.columns:
+                    return c
+            return None
+
+        col_order_name = _pick(["配方ID", "orderName", "订单编号"])
+        col_create_time = _pick(["创建日期", "createTime"])
+        col_bottle_type = _pick(["配液瓶类型", "bottleType"])
+        col_mix_time = _pick(["混匀时间(s)", "mixTime"])
+        col_load = _pick(["扣电组装分液体积", "loadSheddingInfo"])
+        col_pouch = _pick(["软包组装分液体积", "pouchCellInfo"])
+        col_cond = _pick(["电导测试分液体积", "conductivityInfo"])
+        col_cond_cnt = _pick(["电导测试分液瓶数", "conductivityBottleCount"])
+
+        # 物料列：所有以 (g) 结尾
+        material_cols = [c for c in df.columns if isinstance(c, str) and c.endswith("(g)")]
+        if not material_cols:
+            raise KeyError("未发现任何以“(g)”结尾的物料列，请检查表头。")
+
+        batch_id = path.stem
+
+        def _to_ymd_slash(v) -> str:
+            # 统一为 "YYYY/M/D"；为空或解析失败则用当前日期
+            if v is None or (isinstance(v, float) and pd.isna(v)) or str(v).strip() == "":
+                ts = datetime.now()
+            else:
+                try:
+                    ts = pd.to_datetime(v)
+                except Exception:
+                    ts = datetime.now()
+            return f"{ts.year}/{ts.month}/{ts.day}"
+
+        def _as_int(val, default=0) -> int:
+            try:
+                if pd.isna(val):
+                    return default
+                return int(val)
+            except Exception:
+                return default
+
+        def _as_str(val, default="") -> str:
+            if val is None or (isinstance(val, float) and pd.isna(val)):
+                return default
+            s = str(val).strip()
+            return s if s else default
+
+        orders: List[Dict[str, Any]] = []
+
+        for idx, row in df.iterrows():
+            mats: List[Dict[str, Any]] = []
+            total_mass = 0.0
+
+            for mcol in material_cols:
+                val = row.get(mcol, None)
+                if val is None or (isinstance(val, float) and pd.isna(val)):
+                    continue
+                try:
+                    mass = float(val)
+                except Exception:
+                    continue
+                if mass > 0:
+                    mats.append({"name": mcol.replace("(g)", ""), "mass": mass})
+                    total_mass += mass
+
+            order_data = {
+                "batchId": batch_id,
+                "orderName": _as_str(row[col_order_name], default=f"{batch_id}_order_{idx+1}") if col_order_name else f"{batch_id}_order_{idx+1}",
+                "createTime": _to_ymd_slash(row[col_create_time]) if col_create_time else _to_ymd_slash(None),
+                "bottleType": _as_str(row[col_bottle_type], default="配液小瓶") if col_bottle_type else "配液小瓶",
+                "mixTime": _as_int(row[col_mix_time]) if col_mix_time else 0,
+                "loadSheddingInfo": _as_int(row[col_load]) if col_load else 0,
+                "pouchCellInfo": _as_int(row[col_pouch]) if col_pouch else 0,
+                "conductivityInfo": _as_int(row[col_cond]) if col_cond else 0,
+                "conductivityBottleCount": _as_int(row[col_cond_cnt]) if col_cond_cnt else 0,
+                "materialInfos": mats,
+                "totalMass": round(total_mass, 4)  # 自动汇总
+            }
+            orders.append(order_data)
+
+        # print(orders)
+
+        response = self._post_lims("/api/lims/order/orders", orders)
+        print(response["data"])
+
+        self.order_status[response["data"][0]["orderCode"]] = "running"
+
+        while True:
+            time.sleep(5)
+            if self.order_status.get(response["data"][0]["orderCode"], None) == "finished":
+                break
+        return response
+
+
+    # 2.7 启动调度
+    def scheduler_start(self) -> Dict[str, Any]:
+        return self._post_lims("/api/lims/scheduler/start")
+    # 3.10 停止调度
+    def scheduler_stop(self) -> Dict[str, Any]:
+        """
+        停止调度 (3.10)
+        请求体只包含 apiKey 和 requestTime
+        """
+        return self._post_lims("/api/lims/scheduler/stop")
+            # 2.9 继续调度
+    def scheduler_continue(self) -> Dict[str, Any]:
+        """
+        继续调度 (2.9)
+        请求体只包含 apiKey 和 requestTime
+        """
+        return self._post_lims("/api/lims/scheduler/continue")
+
+
+
+    # 2.24 物料变更推送
+    def report_material_change(self, material_obj: Dict[str, Any]) -> Dict[str, Any]:
+        """
+        material_obj 按 2.24 的裸对象格式（包含 id/typeName/locations/detail 等）
+        """
+        return self._post_report_raw("/report/material_change", material_obj)
+
+    # 2.21 步骤完成推送（BS → LIMS）
+    def report_step_finish(self,
+                           order_code: str,
+                           order_name: str,
+                           step_name: str,
+                           step_id: str,
+                           sample_id: str,
+                           start_time: str,
+                           end_time: str,
+                           execution_status: str = "completed") -> Dict[str, Any]:
+        data = {
+            "orderCode": order_code,
+            "orderName": order_name,
+            "stepName": step_name,
+            "stepId": step_id,
+            "sampleId": sample_id,
+            "startTime": start_time,
+            "endTime": end_time,
+            "executionStatus": execution_status
+        }
+        return self._post_report("/report/step_finish", data)
+
+    # 2.23 订单完成推送（BS → LIMS）
+    def report_order_finish(self,
+                            order_code: str,
+                            order_name: str,
+                            start_time: str,
+                            end_time: str,
+                            status: str = "30",  # 30 完成 / -11 异常停止 / -12 人工停止
+                            workflow_status: str = "Finished",
+                            completion_time: Optional[str] = None,
+                            used_materials: Optional[List[Dict[str, Any]]] = None) -> Dict[str, Any]:
+        data = {
+            "orderCode": order_code,
+            "orderName": order_name,
+            "startTime": start_time,
+            "endTime": end_time,
+            "status": status,
+            "workflowStatus": workflow_status,
+            "completionTime": completion_time or end_time,
+            "usedMaterials": used_materials or []
+        }
+        return self._post_report("/report/order_finish", data)
+
+    # 2.5 批量查询实验报告（用于轮询是否完成）
+    def order_list(self,
+                   status: Optional[str] = None,
+                   begin_time: Optional[str] = None,
+                   end_time: Optional[str] = None,
+                   filter_text: Optional[str] = None,
+                   skip: int = 0, page: int = 10) -> Dict[str, Any]:
+        data: Dict[str, Any] = {"skipCount": skip, "pageCount": page}
+        if status is not None:  # 80 成功 / 90 失败 / 100 执行中
+            data["status"] = status
+        if begin_time:
+            data["timeType"] = "CreationTime"
+            data["beginTime"] = begin_time
+        if end_time:
+            data["endTime"] = end_time
+        if filter_text:
+            data["filter"] = filter_text
+        return self._post_lims("/api/lims/order/order-list", data)
+
+    # 2.6 实验报告查询（根据任务ID拿详情）
+    def order_report(self, order_id: str) -> Dict[str, Any]:
+        return self._post_lims("/api/lims/order/order-report", order_id)
+
+    # 2.32 3-2-1 物料转运
+    def transfer_3_to_2_to_1(self,
+                            #  source_wh_id: Optional[str] = None,
+                            source_wh_id: Optional[str] = '3a19debc-84b4-0359-e2d4-b3beea49348b',
+                             source_x: int = 1, source_y: int = 1, source_z: int = 1) -> Dict[str, Any]:
+        payload: Dict[str, Any] = {
+            "sourcePosX": source_x, "sourcePosY": source_y, "sourcePosZ": source_z
+        }
+        if source_wh_id:
+            payload["sourceWHID"] = source_wh_id
+        return self._post_lims("/api/lims/order/transfer-task3To2To1", payload)
+
+    # 2.28 样品/废料取出
+    def take_out(self,
+                 order_id: str,
+                 preintake_ids: Optional[List[str]] = None,
+                 material_ids: Optional[List[str]] = None) -> Dict[str, Any]:
+        data = {
+            "orderId": order_id,
+            "preintakeIds": preintake_ids or [],
+            "materialIds": material_ids or []
+        }
+        return self._post_lims("/api/lims/order/take-out", data)
+
+    # --------（可选）占位方法：文档未定义的“1号站内部流程 / 1-2转运”--------
+    def start_station1_internal_flow(self, **kwargs) -> None:
+        logger.info("启动1号站内部流程（占位，按现场系统填充具体指令）")
+
+
+    # 3.x 1→2 物料转运
+    def transfer_1_to_2(self) -> Dict[str, Any]:
+        """
+        1→2 物料转运
+        URL: /api/lims/order/transfer-task1To2
+        只需要 apiKey 和 requestTime
+        """
+        return self._post_lims("/api/lims/order/transfer-task1To2")
+
+
+    # -------------------- 整体编排 --------------------
+    def run_full_workflow(self,
+                          inbound_items: List[Dict[str, str]],
+                          orders: List[Dict[str, Any]],
+                          poll_filter_code: Optional[str] = None,
+                          poll_timeout_s: int = 600,
+                          poll_interval_s: int = 5,
+                          transfer_source: Optional[Dict[str, Any]] = None,
+                          takeout_order_id: Optional[str] = None) -> None:
+        """
+        一键串联：
+        1) 入库 3-4 个物料 → 2) 新建实验 → 3) 启动调度
+        运行中（如需）：4) 物料变更推送 5) 步骤完成推送 6) 订单完成推送
+        完成后：查询实验（2.5/2.6）→ 7) 3-2-1 转运 → 8) 1号站内部流程
+        → 9) 1-2 转运 → 10) 样品/废料取出
+        """
+        # 1. 入库（多于1个就用批量接口 2.18）
+        if len(inbound_items) == 1:
+            r = self.storage_inbound(inbound_items[0]["materialId"], inbound_items[0]["locationId"])
+            logger.info(f"单个入库结果: {r}")
+        else:
+            r = self.storage_batch_inbound(inbound_items)
+            logger.info(f"批量入库结果: {r}")
+
+        # 2. 新建实验（2.14）
+        r = self.create_orders(orders)
+        logger.info(f"新建实验结果: {r}")
+
+        # 3. 启动调度（2.7）
+        r = self.scheduler_start()
+        logger.info(f"启动调度结果: {r}")
+
+        # —— 运行中各类推送（2.24 / 2.21 / 2.23），通常由实际任务驱动，这里提供调用方式 —— #
+        # self.report_material_change({...})
+        # self.report_step_finish(order_code="BSO...", order_name="配液分液", step_name="xxx", step_id="...", sample_id="...",
+        #                         start_time=_iso_utc_now_ms(), end_time=_iso_utc_now_ms(), execution_status="completed")
+        # self.report_order_finish(order_code="BSO...", order_name="配液分液", start_time="...", end_time=_iso_utc_now_ms())
+
+        # 完成后才能转运：用 2.5 批量查询配合 filter=任务编码 轮询到 status=80（成功）
+        if poll_filter_code:
+            import time
+            deadline = time.time() + poll_timeout_s
+            while time.time() < deadline:
+                res = self.order_list(status="80", filter_text=poll_filter_code, page=5)
+                if isinstance(res, dict) and res.get("data", {}).get("items"):
+                    logger.info(f"实验 {poll_filter_code} 已完成：{res['data']['items'][0]}")
+                    break
+                time.sleep(poll_interval_s)
+            else:
+                logger.warning(f"等待实验 {poll_filter_code} 完成超时（未到 status=80）")
+
+        # 7. 启动 3-2-1 转运（2.32）
+        if transfer_source:
+            r = self.transfer_3_to_2_to_1(
+                source_wh_id=transfer_source.get("sourceWHID"),
+                source_x=transfer_source.get("sourcePosX", 1),
+                source_y=transfer_source.get("sourcePosY", 1),
+                source_z=transfer_source.get("sourcePosZ", 1),
+            )
+            logger.info(f"3-2-1 转运结果: {r}")
+
+        # 8. 1号站内部流程（占位）
+        self.start_station1_internal_flow()
+
+        # 9. 1→2 转运（占位）
+        self.transfer_1_to_2()
+
+        # 10. 样品/废料取出（2.28）
+        if takeout_order_id:
+            r = self.take_out(order_id=takeout_order_id)
+            logger.info(f"样品/废料取出结果: {r}")
+
+    # 2.5 批量查询实验报告
+    def order_list_v2(self,
+                      timeType: str = "string",
+                      beginTime: str = "",
+                      endTime: str = "",
+                      status: str = "",
+                      filter: str = "物料转移任务",
+                      skipCount: int = 0,
+                      pageCount: int = 1,
+                      sorting: str = "") -> Dict[str, Any]:
+        """
+        批量查询实验报告的详细信息 (2.5)
+        URL: /api/lims/order/order-list
+        参数默认值和接口文档保持一致
+        """
+        data: Dict[str, Any] = {
+            "timeType": timeType,
+            "beginTime": beginTime,
+            "endTime": endTime,
+            "status": status,
+            "filter": filter,
+            "skipCount": skipCount,
+            "pageCount": pageCount,
+            "sorting": sorting
+        }
+        return self._post_lims("/api/lims/order/order-list", data)
+
+        
+    def wait_for_transfer_task(self, timeout: int = 600, interval: int = 3) -> bool:
+        """
+        轮询查询物料转移任务是否成功完成 (status=80)
+        - timeout: 最大等待秒数 (默认600秒)
+        - interval: 轮询间隔秒数 (默认3秒)
+        返回 True 表示找到并成功完成，False 表示超时未找到
+        """
+        now = datetime.now()
+        beginTime = now.strftime("%Y-%m-%dT%H:%M:%SZ")
+        endTime = (now + timedelta(minutes=5)).strftime("%Y-%m-%dT%H:%M:%SZ")
+        print(beginTime, endTime)
+
+        deadline = time.time() + timeout
+
+        while time.time() < deadline:
+            result = self.order_list_v2(
+                timeType="string",
+                beginTime=beginTime,
+                endTime=endTime,
+                status="",
+                filter="物料转移任务",
+                skipCount=0,
+                pageCount=1,
+                sorting=""
+            )
+            print(result)
+
+            items = result.get("data", {}).get("items", [])
+            for item in items:
+                name = item.get("name", "")
+                status = item.get("status")
+                if name.startswith("物料转移任务") and status == 80:
+                    logger.info(f"硬件转移动作完成: {name}")
+                    return True
+
+            time.sleep(interval)
+
+        logger.warning("超时未找到成功的物料转移任务")
+        return False
+    
+    def wait_for_recent_task(self, timeout: int = 600, interval: int = 3) -> bool:
+        """
+        轮询查询最近的任务是否成功完成 (status=80)
+        - timeout: 最大等待秒数 (默认600秒)
+        - interval: 轮询间隔秒数 (默认3秒)
+        返回 True 表示找到并成功完成，False 表示超时未找到
+        """
+        now = datetime.now()
+        beginTime = now.strftime("%Y-%m-%dT%H:%M:%SZ")
+        endTime = (now + timedelta(minutes=5)).strftime("%Y-%m-%dT%H:%M:%SZ")
+        print(beginTime, endTime)
+
+        deadline = time.time() + timeout
+
+        while time.time() < deadline:
+            result = self.order_list_v2(
+                timeType="string",
+                beginTime=beginTime,
+                endTime=endTime,
+                status="",
+                filter="",
+                skipCount=0,
+                pageCount=1,
+                sorting=""
+            )
+            print(result)
+
+            items = result.get("data", {}).get("items", [])
+            for item in items:
+                name = item.get("name", "")
+                status = item.get("status")
+                if name.startswith("物料转移任务") and status == 80:
+                    logger.info(f"硬件转移动作完成: {name}")
+                    return True
+
+            time.sleep(interval)
+
+        logger.warning("超时未找到成功的任务")
+        return False
+
+# --------------------------------
+if __name__ == "__main__":
+    ws = BioyondWorkstation()
+    ws.scheduler_stop()
+    ws.scheduler_start()
+    #物料入库
+    r1 = ws.auto_feeding4to3_from_xlsx(r"D:\Uni-lab\Uni-Lab-OS\unilabos\devices\workstation\bioyond_cell\样品导入模板.xlsx")
+#    print(r1)
+#    print("物料入库任务已提交0")
+#    #等待任务完成
+#    ws.wait_for_transfer_task()
+#
+#    print("物料入库任务已完成1")
+#    
+#    #新建实验
+#    res = ws.create_orders(r"D:\Uni-lab\Uni-Lab-OS\unilabos\devices\workstation\bioyond_cell\2025092501.xlsx")
+#    print(res)
+#    #等待任务完成
+#    ws.wait_for_recent_task()
+#    print("配液任务已完成")
+#
+#    #新建3-2-1转运任务
+#    r321 = ws.transfer_3_to_2_to_1()
+#    print(r321)
+#    #等待任务完成
+#    ws.wait_for_recent_task()
+#    
+#    ws.transfer_1_to_2()
+#    #等待任务完成
+#    ws.wait_for_recent_task()
+
+
+    #ws._start_http_service_bg()
+    # ws.scheduler_stop()
+    #ws.scheduler_start()
+    # ws.scheduler_continue()
+    # 3.30 上料：读取模板 Excel 自动解析并 POST
+    # r1 = ws.auto_feeding4to3_from_xlsx(r"C:\ML\GitHub\Uni-Lab-OS\unilabos\devices\workstation\bioyond_cell\样品导入模板 (8).xlsx")
+    #ws.wait_for_transfer_task()
+    #print("转运物料转移任务已完成")
+
+    # ws.scheduler_start()
+    # print(r1["payload"]["data"])   # 调试模式下可直接看到要发的 JSON items
+
+    # 新建实验
+    # res = ws.create_orders("C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_cell/2025092501.xlsx")
+    # ws.scheduler_start()
+    # print(res)
+    # r321 = ws.transfer_3_to_2_to_1()
+
+
+    # 3.31 下料：同理
+    # r2 = ws.auto_batch_outbound_from_xlsx(r"C:/path/样品导入模板 (8).xlsx")
+    # print(r2["payload"]["data"])
+    
+    # r321 = ws.transfer_3_to_2_to_1()
+    # ws.transfer_1_to_2()
+
+

unilabos/devices/workstation/bioyond_cell/bioyond_workstation_old.py

@@ -0,0 +1,644 @@
+# -*- coding: utf-8 -*-
+from typing import Dict, Any, List, Optional
+from datetime import datetime, timezone
+import requests
+from pathlib import Path
+import pandas as pd
+import time
+import threading
+from unilabos.devices.workstation.workstation_base import WorkstationBase
+from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
+from unilabos.utils.log import logger
+from pylabrobot.resources.deck import Deck
+from .benyao_test import test_benyao_api
+
+def _iso_utc_now_ms() -> str:
+    # 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z
+    dt = datetime.now(timezone.utc)
+    return dt.strftime("%Y-%m-%dT%H:%M:%S.") + f"{int(dt.microsecond/1000):03d}Z"
+
+
+class BioyondWorkstation(WorkstationBase):
+    """
+    集成 Bioyond LIMS 的工作站示例，
+    覆盖：入库(2.17/2.18) → 新建实验(2.14) → 启动调度(2.7) →
+    运行中推送：物料变更(2.24)、步骤完成(2.21)、订单完成(2.23) →
+    查询实验(2.5/2.6) → 3-2-1 转运(2.32) → 样品/废料取出(2.28)
+    """
+
+    def __init__(
+        self,
+        bioyond_config: Optional[Dict[str, Any]] = None,
+        station_resource: Optional[Dict[str, Any]] = None,
+        debug_mode: bool = False,   # 增加调试模式开关
+        *args, **kwargs,
+    ):
+        self.bioyond_config = bioyond_config or {
+            "base_url": "http://192.168.1.200:44386",
+            "api_key": "8A819E5C",
+            "timeout": 30,
+            "report_token": "CHANGE_ME_TOKEN"
+        }
+
+
+        self.debug_mode = debug_mode
+        super().__init__(deck=Deck, station_resource=station_resource, *args, **kwargs)
+        logger.info(f"Bioyond工作站初始化完成 (debug_mode={self.debug_mode})")
+
+        # 实例化并在后台线程启动 HTTP 报送服务
+        self.order_status = {}
+        try:
+            t = threading.Thread(target=self._start_http_service_bg, daemon=True, name="unilab_http")
+            t.start()
+        except Exception as e:
+            logger.error(f"unilab-server后台启动报送服务失败: {e}")
+
+    @property
+    def device_id(self) -> str:
+        try:
+            return getattr(self, "_ros_node").device_id  # 兼容 ROS 场景
+        except Exception:
+            return "bioyond_workstation"
+
+    def _start_http_service_bg(self, host: str = "127.0.0.1", port: int = 8080) -> None:
+        try:
+            self.service = WorkstationHTTPService(self, host=host, port=port)
+            self.service.start()
+        except Exception as e:
+            logger.error(f"启动HTTP服务失败: {e}")
+
+    # -------------------- 基础HTTP封装 --------------------
+    def _url(self, path: str) -> str:
+        return f"{self.bioyond_config['base_url'].rstrip('/')}/{path.lstrip('/')}"
+
+    def _post_lims(self, path: str, data: Optional[Any] = None) -> Dict[str, Any]:
+        """LIMS API：大多数接口用 {apiKey/requestTime,data} 包装"""
+        payload = {
+            "apiKey": self.bioyond_config["api_key"],
+            "requestTime": _iso_utc_now_ms()
+        }
+        if data is not None:
+            payload["data"] = data
+
+        if self.debug_mode:
+            # 模拟返回，不发真实请求
+            logger.info(f"[DEBUG] POST {path} with payload={payload}")
+            return {"debug": True, "url": self._url(path), "payload": payload, "status": "ok"}
+
+        try:
+            r = requests.post(
+                self._url(path),
+                json=payload,
+                timeout=self.bioyond_config.get("timeout", 30),
+                headers={"Content-Type": "application/json"}
+            )
+            r.raise_for_status()
+            return r.json()
+        except Exception as e:
+            logger.error(f"POST {path} 失败: {e}")
+            return {"error": str(e)}
+
+    # --- 修正：_post_report / _post_report_raw 同样走 debug_mode ---
+    def _post_report(self, path: str, data: Dict[str, Any]) -> Dict[str, Any]:
+        payload = {
+            "token": self.bioyond_config.get("report_token", ""),
+            "request_time": _iso_utc_now_ms(),
+            "data": data
+        }
+        if self.debug_mode:
+            logger.info(f"[DEBUG] POST {path} with payload={payload}")
+            return {"debug": True, "url": self._url(path), "payload": payload, "status": "ok"}
+        try:
+            r = requests.post(self._url(path), json=payload,
+                            timeout=self.bioyond_config.get("timeout", 30),
+                            headers={"Content-Type": "application/json"})
+            r.raise_for_status()
+            return r.json()
+        except Exception as e:
+            logger.error(f"POST {path} 失败: {e}")
+            return {"error": str(e)}
+
+    def _post_report_raw(self, path: str, body: Dict[str, Any]) -> Dict[str, Any]:
+        if self.debug_mode:
+            logger.info(f"[DEBUG] POST {path} with body={body}")
+            return {"debug": True, "url": self._url(path), "payload": body, "status": "ok"}
+        try:
+            r = requests.post(self._url(path), json=body,
+                            timeout=self.bioyond_config.get("timeout", 30),
+                            headers={"Content-Type": "application/json"})
+            r.raise_for_status()
+            return r.json()
+        except Exception as e:
+            logger.error(f"POST {path} 失败: {e}")
+            return {"error": str(e)}
+
+
+    # -------------------- 单点接口封装 --------------------
+    # 2.17 入库物料（单个）
+    def storage_inbound(self, material_id: str, location_id: str) -> Dict[str, Any]:
+        return self._post_lims("/api/lims/storage/inbound", {
+            "materialId": material_id,
+            "locationId": location_id
+        })
+
+    # 2.18 批量入库（多个）
+    def storage_batch_inbound(self, items: List[Dict[str, str]]) -> Dict[str, Any]:
+        """
+        items = [{"materialId": "...", "locationId": "..."}, ...]
+        """
+        return self._post_lims("/api/lims/storage/batch-inbound", items)
+
+    # 3.30 自动化上料（Excel -> JSON -> POST /api/lims/order/auto-feeding4to3）
+    def auto_feeding4to3_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]:
+        """
+        根据固定模板解析 Excel：
+        - 四号手套箱加样头面 (2-13行, 3-7列)
+        - 四号手套箱原液瓶面 (15-23行, 3-9列)
+        - 三号手套箱人工堆栈 (26-40行, 3-7列)
+        """
+        path = Path(xlsx_path)
+        if not path.exists():
+            raise FileNotFoundError(f"未找到 Excel 文件：{path}")
+
+        try:
+            df = pd.read_excel(path, sheet_name=0, header=None, engine="openpyxl")
+        except Exception as e:
+            raise RuntimeError(f"读取 Excel 失败：{e}")
+
+        items: List[Dict[str, Any]] = []
+
+        # 四号手套箱 - 加样头面（2-13行, 3-7列）
+        for _, row in df.iloc[1:13, 2:7].iterrows():
+            item = {
+                "sourceWHName": "四号手套箱堆栈",
+                "posX": int(row[2]),
+                "posY": int(row[3]),
+                "posZ": int(row[4]),
+                "materialName": str(row[5]).strip() if pd.notna(row[5]) else "",
+                "quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
+            }
+            if item["materialName"]:
+                items.append(item)
+
+        # 四号手套箱 - 原液瓶面（15-23行, 3-9列）
+        for _, row in df.iloc[14:23, 2:9].iterrows():
+            item = {
+                "sourceWHName": "四号手套箱堆栈",
+                "posX": int(row[2]),
+                "posY": int(row[3]),
+                "posZ": int(row[4]),
+                "materialName": str(row[5]).strip() if pd.notna(row[5]) else "",
+                "quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
+                "materialType": str(row[7]).strip() if pd.notna(row[7]) else "",
+                "targetWH": str(row[8]).strip() if pd.notna(row[8]) else "",
+            }
+            if item["materialName"]:
+                items.append(item)
+
+        # 三号手套箱人工堆栈（26-40行, 3-7列）
+        for _, row in df.iloc[25:40, 2:7].iterrows():
+            item = {
+                "sourceWHName": "三号手套箱人工堆栈",
+                "posX": int(row[2]),
+                "posY": int(row[3]),
+                "posZ": int(row[4]),
+                "materialType": str(row[5]).strip() if pd.notna(row[5]) else "",
+                "materialId": str(row[6]).strip() if pd.notna(row[6]) else "",
+                "quantity": 1  # 默认数量1
+            }
+            if item["materialId"] or item["materialType"]:
+                items.append(item)
+
+        return self._post_lims("/api/lims/order/auto-feeding4to3", items)
+
+
+
+    def auto_batch_outbound_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]:
+        """
+        3.31 自动化下料（Excel -> JSON -> POST /api/lims/storage/auto-batch-out-bound）
+        """
+        path = Path(xlsx_path)
+        if not path.exists():
+            raise FileNotFoundError(f"未找到 Excel 文件：{path}")
+
+        try:
+            df = pd.read_excel(path, sheet_name=0, engine="openpyxl")
+        except Exception as e:
+            raise RuntimeError(f"读取 Excel 失败：{e}")
+
+        def pick(names: List[str]) -> Optional[str]:
+            for n in names:
+                if n in df.columns:
+                    return n
+            return None
+
+        c_loc = pick(["locationId", "库位ID", "库位Id", "库位id"])
+        c_wh  = pick(["warehouseId", "仓库ID", "仓库Id", "仓库id"])
+        c_qty = pick(["数量", "quantity"])
+        c_x   = pick(["x", "X", "posX", "坐标X"])
+        c_y   = pick(["y", "Y", "posY", "坐标Y"])
+        c_z   = pick(["z", "Z", "posZ", "坐标Z"])
+
+        required = [c_loc, c_wh, c_qty, c_x, c_y, c_z]
+        if any(c is None for c in required):
+            raise KeyError("Excel 缺少必要列：locationId/warehouseId/数量/x/y/z（支持多别名，至少要能匹配到）。")
+
+        def as_int(v, d=0):
+            try:
+                if pd.isna(v): return d
+                return int(v)
+            except Exception:
+                try:
+                    return int(float(v))
+                except Exception:
+                    return d
+
+        def as_float(v, d=0.0):
+            try:
+                if pd.isna(v): return d
+                return float(v)
+            except Exception:
+                return d
+
+        def as_str(v, d=""):
+            if v is None or (isinstance(v, float) and pd.isna(v)): return d
+            s = str(v).strip()
+            return s if s else d
+
+        items: List[Dict[str, Any]] = []
+        for _, row in df.iterrows():
+            items.append({
+                "locationId": as_str(row[c_loc]),
+                "warehouseId": as_str(row[c_wh]),
+                "quantity": as_float(row[c_qty]),
+                "x": as_int(row[c_x]),
+                "y": as_int(row[c_y]),
+                "z": as_int(row[c_z]),
+            })
+
+        return self._post_lims("/api/lims/storage/auto-batch-out-bound", items)
+
+    # 2.14 新建实验
+    def create_orders(self, xlsx_path: str) -> Dict[str, Any]:
+        """
+        从 Excel 解析并创建实验（2.14）
+        约定：
+        - batchId = Excel 文件名（不含扩展名）
+        - 物料列：所有以 "(g)" 结尾（不再读取“总质量(g)”列）
+        - totalMass 自动计算为所有物料质量之和
+        - createTime 缺失或为空时自动填充为当前日期（YYYY/M/D）
+        """
+        path = Path(xlsx_path)
+        if not path.exists():
+            raise FileNotFoundError(f"未找到 Excel 文件：{path}")
+
+        try:
+            df = pd.read_excel(path, sheet_name=0, engine="openpyxl")
+        except Exception as e:
+            raise RuntimeError(f"读取 Excel 失败：{e}")
+
+        # 列名容错：返回可选列名，找不到则返回 None
+        def _pick(col_names: List[str]) -> Optional[str]:
+            for c in col_names:
+                if c in df.columns:
+                    return c
+            return None
+
+        col_order_name = _pick(["配方ID", "orderName", "订单编号"])
+        col_create_time = _pick(["创建日期", "createTime"])
+        col_bottle_type = _pick(["配液瓶类型", "bottleType"])
+        col_mix_time = _pick(["混匀时间(s)", "mixTime"])
+        col_load = _pick(["扣电组装分液体积", "loadSheddingInfo"])
+        col_pouch = _pick(["软包组装分液体积", "pouchCellInfo"])
+        col_cond = _pick(["电导测试分液体积", "conductivityInfo"])
+        col_cond_cnt = _pick(["电导测试分液瓶数", "conductivityBottleCount"])
+
+        # 物料列：所有以 (g) 结尾
+        material_cols = [c for c in df.columns if isinstance(c, str) and c.endswith("(g)")]
+        if not material_cols:
+            raise KeyError("未发现任何以“(g)”结尾的物料列，请检查表头。")
+
+        batch_id = path.stem
+
+        def _to_ymd_slash(v) -> str:
+            # 统一为 "YYYY/M/D"；为空或解析失败则用当前日期
+            if v is None or (isinstance(v, float) and pd.isna(v)) or str(v).strip() == "":
+                ts = datetime.now()
+            else:
+                try:
+                    ts = pd.to_datetime(v)
+                except Exception:
+                    ts = datetime.now()
+            return f"{ts.year}/{ts.month}/{ts.day}"
+
+        def _as_int(val, default=0) -> int:
+            try:
+                if pd.isna(val):
+                    return default
+                return int(val)
+            except Exception:
+                return default
+
+        def _as_str(val, default="") -> str:
+            if val is None or (isinstance(val, float) and pd.isna(val)):
+                return default
+            s = str(val).strip()
+            return s if s else default
+
+        orders: List[Dict[str, Any]] = []
+
+        for idx, row in df.iterrows():
+            mats: List[Dict[str, Any]] = []
+            total_mass = 0.0
+
+            for mcol in material_cols:
+                val = row.get(mcol, None)
+                if val is None or (isinstance(val, float) and pd.isna(val)):
+                    continue
+                try:
+                    mass = float(val)
+                except Exception:
+                    continue
+                if mass > 0:
+                    mats.append({"name": mcol.replace("(g)", ""), "mass": mass})
+                    total_mass += mass
+
+            order_data = {
+                "batchId": batch_id,
+                "orderName": _as_str(row[col_order_name], default=f"{batch_id}_order_{idx+1}") if col_order_name else f"{batch_id}_order_{idx+1}",
+                "createTime": _to_ymd_slash(row[col_create_time]) if col_create_time else _to_ymd_slash(None),
+                "bottleType": _as_str(row[col_bottle_type], default="配液小瓶") if col_bottle_type else "配液小瓶",
+                "mixTime": _as_int(row[col_mix_time]) if col_mix_time else 0,
+                "loadSheddingInfo": _as_int(row[col_load]) if col_load else 0,
+                "pouchCellInfo": _as_int(row[col_pouch]) if col_pouch else 0,
+                "conductivityInfo": _as_int(row[col_cond]) if col_cond else 0,
+                "conductivityBottleCount": _as_int(row[col_cond_cnt]) if col_cond_cnt else 0,
+                "materialInfos": mats,
+                "totalMass": round(total_mass, 4)  # 自动汇总
+            }
+            orders.append(order_data)
+
+        # print(orders)
+
+        response = self._post_lims("/api/lims/order/orders", orders)
+        self.order_status[response["data"]["orderCode"]] = "running"
+
+        while True:
+            time.sleep(5)
+            if self.order_status.get(response["data"]["orderCode"], None) == "finished":
+                break
+        return response
+
+
+    # 2.7 启动调度
+    def scheduler_start(self) -> Dict[str, Any]:
+        return self._post_lims("/api/lims/scheduler/start")
+    # 3.10 停止调度
+    def scheduler_stop(self) -> Dict[str, Any]:
+        """
+        停止调度 (3.10)
+        请求体只包含 apiKey 和 requestTime
+        """
+        return self._post_lims("/api/lims/scheduler/stop")
+
+
+    # 2.24 物料变更推送
+    def report_material_change(self, material_obj: Dict[str, Any]) -> Dict[str, Any]:
+        """
+        material_obj 按 2.24 的裸对象格式（包含 id/typeName/locations/detail 等）
+        """
+        return self._post_report_raw("/report/material_change", material_obj)
+
+    # 2.21 步骤完成推送（BS → LIMS）
+    def report_step_finish(self,
+                           order_code: str,
+                           order_name: str,
+                           step_name: str,
+                           step_id: str,
+                           sample_id: str,
+                           start_time: str,
+                           end_time: str,
+                           execution_status: str = "completed") -> Dict[str, Any]:
+        data = {
+            "orderCode": order_code,
+            "orderName": order_name,
+            "stepName": step_name,
+            "stepId": step_id,
+            "sampleId": sample_id,
+            "startTime": start_time,
+            "endTime": end_time,
+            "executionStatus": execution_status
+        }
+        return self._post_report("/report/step_finish", data)
+
+    # 2.23 订单完成推送（BS → LIMS）
+    def report_order_finish(self,
+                            order_code: str,
+                            order_name: str,
+                            start_time: str,
+                            end_time: str,
+                            status: str = "30",  # 30 完成 / -11 异常停止 / -12 人工停止
+                            workflow_status: str = "Finished",
+                            completion_time: Optional[str] = None,
+                            used_materials: Optional[List[Dict[str, Any]]] = None) -> Dict[str, Any]:
+        data = {
+            "orderCode": order_code,
+            "orderName": order_name,
+            "startTime": start_time,
+            "endTime": end_time,
+            "status": status,
+            "workflowStatus": workflow_status,
+            "completionTime": completion_time or end_time,
+            "usedMaterials": used_materials or []
+        }
+        return self._post_report("/report/order_finish", data)
+
+    # 2.5 批量查询实验报告（用于轮询是否完成）
+    def order_list(self,
+                   status: Optional[str] = None,
+                   begin_time: Optional[str] = None,
+                   end_time: Optional[str] = None,
+                   filter_text: Optional[str] = None,
+                   skip: int = 0, page: int = 10) -> Dict[str, Any]:
+        data: Dict[str, Any] = {"skipCount": skip, "pageCount": page}
+        if status is not None:  # 80 成功 / 90 失败 / 100 执行中
+            data["status"] = status
+        if begin_time:
+            data["timeType"] = "CreationTime"
+            data["beginTime"] = begin_time
+        if end_time:
+            data["endTime"] = end_time
+        if filter_text:
+            data["filter"] = filter_text
+        return self._post_lims("/api/lims/order/order-list", data)
+
+    # 2.6 实验报告查询（根据任务ID拿详情）
+    def order_report(self, order_id: str) -> Dict[str, Any]:
+        return self._post_lims("/api/lims/order/order-report", order_id)
+
+    # 2.32 3-2-1 物料转运
+    def transfer_3_to_2_to_1(self,
+                            #  source_wh_id: Optional[str] = None,
+                            source_wh_id: Optional[str] = '3a19debc-84b4-0359-e2d4-b3beea49348b',
+                             source_x: int = 1, source_y: int = 1, source_z: int = 1) -> Dict[str, Any]:
+        payload: Dict[str, Any] = {
+            "sourcePosX": source_x, "sourcePosY": source_y, "sourcePosZ": source_z
+        }
+        if source_wh_id:
+            payload["sourceWHID"] = source_wh_id
+        return self._post_lims("/api/lims/order/transfer-task3To2To1", payload)
+
+    # 2.28 样品/废料取出
+    def take_out(self,
+                 order_id: str,
+                 preintake_ids: Optional[List[str]] = None,
+                 material_ids: Optional[List[str]] = None) -> Dict[str, Any]:
+        data = {
+            "orderId": order_id,
+            "preintakeIds": preintake_ids or [],
+            "materialIds": material_ids or []
+        }
+        return self._post_lims("/api/lims/order/take-out", data)
+
+    # --------（可选）占位方法：文档未定义的“1号站内部流程 / 1-2转运”--------
+    def start_station1_internal_flow(self, **kwargs) -> None:
+        logger.info("启动1号站内部流程（占位，按现场系统填充具体指令）")
+
+
+    # 3.x 1→2 物料转运
+    def transfer_1_to_2(self) -> Dict[str, Any]:
+        """
+        1→2 物料转运
+        URL: /api/lims/order/transfer-task1To2
+        只需要 apiKey 和 requestTime
+        """
+        return self._post_lims("/api/lims/order/transfer-task1To2")
+
+
+    # -------------------- 整体编排 --------------------
+    def run_full_workflow(self,
+                          inbound_items: List[Dict[str, str]],
+                          orders: List[Dict[str, Any]],
+                          poll_filter_code: Optional[str] = None,
+                          poll_timeout_s: int = 600,
+                          poll_interval_s: int = 5,
+                          transfer_source: Optional[Dict[str, Any]] = None,
+                          takeout_order_id: Optional[str] = None) -> None:
+        """
+        一键串联：
+        1) 入库 3-4 个物料 → 2) 新建实验 → 3) 启动调度
+        运行中（如需）：4) 物料变更推送 5) 步骤完成推送 6) 订单完成推送
+        完成后：查询实验（2.5/2.6）→ 7) 3-2-1 转运 → 8) 1号站内部流程
+        → 9) 1-2 转运 → 10) 样品/废料取出
+        """
+        # 1. 入库（多于1个就用批量接口 2.18）
+        if len(inbound_items) == 1:
+            r = self.storage_inbound(inbound_items[0]["materialId"], inbound_items[0]["locationId"])
+            logger.info(f"单个入库结果: {r}")
+        else:
+            r = self.storage_batch_inbound(inbound_items)
+            logger.info(f"批量入库结果: {r}")
+
+        # 2. 新建实验（2.14）
+        r = self.create_orders(orders)
+        logger.info(f"新建实验结果: {r}")
+
+        # 3. 启动调度（2.7）
+        r = self.scheduler_start()
+        logger.info(f"启动调度结果: {r}")
+
+        # —— 运行中各类推送（2.24 / 2.21 / 2.23），通常由实际任务驱动，这里提供调用方式 —— #
+        # self.report_material_change({...})
+        # self.report_step_finish(order_code="BSO...", order_name="配液分液", step_name="xxx", step_id="...", sample_id="...",
+        #                         start_time=_iso_utc_now_ms(), end_time=_iso_utc_now_ms(), execution_status="completed")
+        # self.report_order_finish(order_code="BSO...", order_name="配液分液", start_time="...", end_time=_iso_utc_now_ms())
+
+        # 完成后才能转运：用 2.5 批量查询配合 filter=任务编码 轮询到 status=80（成功）
+        if poll_filter_code:
+            import time
+            deadline = time.time() + poll_timeout_s
+            while time.time() < deadline:
+                res = self.order_list(status="80", filter_text=poll_filter_code, page=5)
+                if isinstance(res, dict) and res.get("data", {}).get("items"):
+                    logger.info(f"实验 {poll_filter_code} 已完成：{res['data']['items'][0]}")
+                    break
+                time.sleep(poll_interval_s)
+            else:
+                logger.warning(f"等待实验 {poll_filter_code} 完成超时（未到 status=80）")
+
+        # 7. 启动 3-2-1 转运（2.32）
+        if transfer_source:
+            r = self.transfer_3_to_2_to_1(
+                source_wh_id=transfer_source.get("sourceWHID"),
+                source_x=transfer_source.get("sourcePosX", 1),
+                source_y=transfer_source.get("sourcePosY", 1),
+                source_z=transfer_source.get("sourcePosZ", 1),
+            )
+            logger.info(f"3-2-1 转运结果: {r}")
+
+        # 8. 1号站内部流程（占位）
+        self.start_station1_internal_flow()
+
+        # 9. 1→2 转运（占位）
+        self.transfer_1_to_2()
+
+        # 10. 样品/废料取出（2.28）
+        if takeout_order_id:
+            r = self.take_out(order_id=takeout_order_id)
+            logger.info(f"样品/废料取出结果: {r}")
+
+
+    # 套接字服务端收到“步骤完成”时调用
+    def process_step_finish_report(self, report_request):
+        order_code = report_request.data.get("orderCode")
+        if order_code:
+            self.order_status[order_code] = "step_finished"
+            logger.info(f"[REPORT] 订单 {order_code} 步骤完成")
+        return {"ack": True}
+
+    def process_order_finish_report(self, report_request, used_materials=None):
+        order_code = report_request.data.get("orderCode")
+        if order_code:
+            self.order_status[order_code] = "finished"
+            logger.info(f"[REPORT] 订单 {order_code} 已完成，状态改为 finished")
+        return {"ack": True, "usedMaterials": used_materials or []}
+
+    # 收到“通量完成”时调用
+    def process_sample_finish_report(self, report_request):
+        order_code = report_request.data.get("orderCode")
+        if order_code:
+            self.order_status[order_code] = "sample_finished"
+            logger.info(f"[REPORT] 订单 {order_code} 通量完成")
+        return {"ack": True}
+
+    def test_benyao_workstation(self, num1, num2):
+        num1 = int(num1)
+        num2 = int(num2)
+        for i in range(num1):
+            print(f"num1 = {num1}")
+        for j in range(num2):
+            print(f"num1 = {num2}")
+        test_benyao_api()
+        
+        
+# --------------------------------
+if __name__ == "__main__":
+    ws = BioyondWorkstation()
+    # ws.scheduler_stop()
+    # 3.30 上料：读取模板 Excel 自动解析并 POST
+    # r1 = ws.auto_feeding4to3_from_xlsx(r"C:\ML\GitHub\Uni-Lab-OS\unilabos\devices\workstation\bioyond_cell\样品导入模板 (8).xlsx")
+    # ws.scheduler_start()
+    # print(r1["payload"]["data"])   # 调试模式下可直接看到要发的 JSON items
+
+    # 新建实验
+    # res = ws.create_orders("C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_cell/2025092501.xlsx")
+    # print(res)
+
+    # 3.31 下料：同理
+    # r2 = ws.auto_batch_outbound_from_xlsx(r"C:/path/样品导入模板 (8).xlsx")
+    # print(r2["payload"]["data"])
+    
+    # r321 = ws.transfer_3_to_2_to_1()
+    # ws.transfer_1_to_2()
+
+

unilabos/devices/workstation/bioyond_cell/cellconfig3c.json

@@ -0,0 +1,706 @@
+{
+  "nodes": [
+  {
+        "id": "bioyond_workstation",
+        "name": "配液分液工站",
+        "children": [
+        ],
+        "parent": null,
+        "type": "device",
+        "class": "bioyondworkstation_device",
+        "config": {
+            "protocol_type": [],
+            "station_resource": {}
+
+        },
+        "data": {}
+    },
+    {
+      "id": "BatteryStation",
+      "name": "扣电工作站",
+      "children": [
+          "coin_cell_deck"
+      ],
+      "parent": null,
+      "type": "device",
+      "class": "bettery_station_registry",
+      "position": {
+          "x": 600,
+          "y": 400,
+          "z": 0
+      },
+      "config": {
+          "debug_mode": false,
+          "_comment": "protocol_type接外部工站固定写法字段，一般为空，station_resource写法也固定",
+          "protocol_type": [],
+          "station_resource": {
+              "data": {
+                  "_resource_child_name": "coin_cell_deck",
+                  "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.button_battery_station:CoincellDeck"
+              }
+          },
+          
+          "address": "192.168.1.20",
+          "port": 502
+      },
+      "data": {}
+    },
+    {
+      "id": "coin_cell_deck",
+      "name": "coin_cell_deck",
+      "sample_id": null,
+      "children": [
+        "\u7535\u6c60\u6599\u76d8"
+      ],
+      "parent": null,
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "config": {
+        "type": "CoincellDeck",
+        "size_x": 1000,
+        "size_y": 1000,
+        "size_z": 900,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "coin_cell_deck",
+        "barcode": null
+      },
+      "data": {}
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8",
+      "name": "\u7535\u6c60\u6599\u76d8",
+      "sample_id": null,
+      "children": [
+        "\u7535\u6c60\u6599\u76d8_materialhole_0_0",
+        "\u7535\u6c60\u6599\u76d8_materialhole_0_1",
+        "\u7535\u6c60\u6599\u76d8_materialhole_0_2",
+        "\u7535\u6c60\u6599\u76d8_materialhole_0_3",
+        "\u7535\u6c60\u6599\u76d8_materialhole_1_0",
+        "\u7535\u6c60\u6599\u76d8_materialhole_1_1",
+        "\u7535\u6c60\u6599\u76d8_materialhole_1_2",
+        "\u7535\u6c60\u6599\u76d8_materialhole_1_3",
+        "\u7535\u6c60\u6599\u76d8_materialhole_2_0",
+        "\u7535\u6c60\u6599\u76d8_materialhole_2_1",
+        "\u7535\u6c60\u6599\u76d8_materialhole_2_2",
+        "\u7535\u6c60\u6599\u76d8_materialhole_2_3",
+        "\u7535\u6c60\u6599\u76d8_materialhole_3_0",
+        "\u7535\u6c60\u6599\u76d8_materialhole_3_1",
+        "\u7535\u6c60\u6599\u76d8_materialhole_3_2",
+        "\u7535\u6c60\u6599\u76d8_materialhole_3_3"
+      ],
+      "parent": "coin_cell_deck",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 100,
+        "y": 100,
+        "z": 0
+      },
+      "config": {
+        "type": "MaterialPlate",
+        "size_x": 120.8,
+        "size_y": 160.5,
+        "size_z": 10.0,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {
+          "A1": "\u7535\u6c60\u6599\u76d8_materialhole_0_0",
+          "B1": "\u7535\u6c60\u6599\u76d8_materialhole_0_1",
+          "C1": "\u7535\u6c60\u6599\u76d8_materialhole_0_2",
+          "D1": "\u7535\u6c60\u6599\u76d8_materialhole_0_3",
+          "A2": "\u7535\u6c60\u6599\u76d8_materialhole_1_0",
+          "B2": "\u7535\u6c60\u6599\u76d8_materialhole_1_1",
+          "C2": "\u7535\u6c60\u6599\u76d8_materialhole_1_2",
+          "D2": "\u7535\u6c60\u6599\u76d8_materialhole_1_3",
+          "A3": "\u7535\u6c60\u6599\u76d8_materialhole_2_0",
+          "B3": "\u7535\u6c60\u6599\u76d8_materialhole_2_1",
+          "C3": "\u7535\u6c60\u6599\u76d8_materialhole_2_2",
+          "D3": "\u7535\u6c60\u6599\u76d8_materialhole_2_3",
+          "A4": "\u7535\u6c60\u6599\u76d8_materialhole_3_0",
+          "B4": "\u7535\u6c60\u6599\u76d8_materialhole_3_1",
+          "C4": "\u7535\u6c60\u6599\u76d8_materialhole_3_2",
+          "D4": "\u7535\u6c60\u6599\u76d8_materialhole_3_3"
+        }
+      },
+      "data": {}
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_0_0",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_0_0",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 12.4,
+        "y": 104.25,
+        "z": 10.0
+      },
+      "config": {
+        "type": "MaterialHole",
+        "size_x": 16,
+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_0_1",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_0_1",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 12.4,
+        "y": 80.25,
+        "z": 10.0
+      },
+      "config": {
+        "type": "MaterialHole",
+        "size_x": 16,
+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_0_2",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_0_2",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 12.4,
+        "y": 56.25,
+        "z": 10.0
+      },
+      "config": {
+        "type": "MaterialHole",
+        "size_x": 16,
+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_0_3",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_0_3",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 12.4,
+        "y": 32.25,
+        "z": 10.0
+      },
+      "config": {
+        "type": "MaterialHole",
+        "size_x": 16,
+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_1_0",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_1_0",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 36.4,
+        "y": 104.25,
+        "z": 10.0
+      },
+      "config": {
+        "type": "MaterialHole",
+        "size_x": 16,
+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_1_1",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_1_1",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 36.4,
+        "y": 80.25,
+        "z": 10.0
+      },
+      "config": {
+        "type": "MaterialHole",
+        "size_x": 16,
+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_1_2",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_1_2",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 36.4,
+        "y": 56.25,
+        "z": 10.0
+      },
+      "config": {
+        "type": "MaterialHole",
+        "size_x": 16,
+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_1_3",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_1_3",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 36.4,
+        "y": 32.25,
+        "z": 10.0
+      },
+      "config": {
+        "type": "MaterialHole",
+        "size_x": 16,
+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_2_0",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_2_0",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 60.4,
+        "y": 104.25,
+        "z": 10.0
+      },
+      "config": {
+        "type": "MaterialHole",
+        "size_x": 16,
+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_2_1",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_2_1",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 60.4,
+        "y": 80.25,
+        "z": 10.0
+      },
+      "config": {
+        "type": "MaterialHole",
+        "size_x": 16,
+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_2_2",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_2_2",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 60.4,
+        "y": 56.25,
+        "z": 10.0
+      },
+      "config": {
+        "type": "MaterialHole",
+        "size_x": 16,
+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_2_3",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_2_3",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 60.4,
+        "y": 32.25,
+        "z": 10.0
+      },
+      "config": {
+        "type": "MaterialHole",
+        "size_x": 16,
+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_3_0",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_3_0",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 84.4,
+        "y": 104.25,
+        "z": 10.0
+      },
+      "config": {
+        "type": "MaterialHole",
+        "size_x": 16,
+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_3_1",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_3_1",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 84.4,
+        "y": 80.25,
+        "z": 10.0
+      },
+      "config": {
+        "type": "MaterialHole",
+        "size_x": 16,
+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_3_2",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_3_2",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 84.4,
+        "y": 56.25,
+        "z": 10.0
+      },
+      "config": {
+        "type": "MaterialHole",
+        "size_x": 16,
+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_3_3",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_3_3",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 84.4,
+        "y": 32.25,
+        "z": 10.0
+      },
+      "config": {
+        "type": "MaterialHole",
+        "size_x": 16,
+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    }
+  ],
+  "links": []
+}

unilabos/devices/workstation/bioyond_cell/cellconfig3ca.json

@@ -0,0 +1,20 @@
+{
+  "nodes": [
+  {
+        "id": "bioyond_workstation",
+        "name": "配液分液工站",
+        "children": [
+        ],
+        "parent": null,
+        "type": "device",
+        "class": "bioyondworkstation_device",
+        "config": {
+            "protocol_type": [],
+            "station_resource": {}
+
+        },
+        "data": {}
+    }
+  ],
+  "links": []
+}

unilabos/devices/workstation/bioyond_material_management.py

@@ -0,0 +1,374 @@
+"""
+Bioyond物料管理实现
+Bioyond Material Management Implementation
+
+基于Bioyond系统的物料管理，支持从Bioyond系统同步物料到UniLab工作站
+"""
+from typing import Dict, Any, List, Optional, Union
+import json
+import asyncio
+from abc import ABC, abstractmethod
+
+from pylabrobot.resources import (
+    Resource as PLRResource,
+    Container,
+    Deck,
+    Coordinate as PLRCoordinate,
+)
+
+from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
+from unilabos.utils.log import logger
+from unilabos.resources.graphio import (
+    resource_plr_to_ulab, 
+    resource_ulab_to_plr,
+    resource_bioyond_to_ulab,
+    resource_bioyond_container_to_ulab,
+    resource_ulab_to_bioyond
+)
+from .workstation_material_management import MaterialManagementBase
+
+
+class BioyondMaterialManagement(MaterialManagementBase):
+    """Bioyond物料管理类
+    
+    实现从Bioyond系统同步物料到UniLab工作站的功能：
+    1. 从Bioyond系统获取物料数据
+    2. 转换为UniLab格式
+    3. 同步到PyLabRobot Deck
+    4. 支持双向同步
+    """
+    
+    def __init__(
+        self,
+        device_id: str,
+        deck_config: Dict[str, Any],
+        resource_tracker: DeviceNodeResourceTracker,
+        children_config: Dict[str, Dict[str, Any]] = None,
+        bioyond_config: Dict[str, Any] = None
+    ):
+        self.bioyond_config = bioyond_config or {}
+        self.bioyond_api_client = None
+        self.sync_interval = self.bioyond_config.get("sync_interval", 30)  # 同步间隔（秒）
+        
+        # 初始化父类
+        super().__init__(device_id, deck_config, resource_tracker, children_config)
+        
+        # 初始化Bioyond API客户端
+        self._initialize_bioyond_client()
+        
+        # 启动同步任务
+        self._start_sync_task()
+    
+    def _initialize_bioyond_client(self):
+        """初始化Bioyond API客户端"""
+        try:
+            # 这里应该根据实际的Bioyond API实现
+            # 暂时使用模拟客户端
+            self.bioyond_api_client = BioyondAPIClient(self.bioyond_config)
+            logger.info(f"Bioyond API客户端初始化成功")
+        except Exception as e:
+            logger.error(f"Bioyond API客户端初始化失败: {e}")
+            self.bioyond_api_client = None
+    
+    def _start_sync_task(self):
+        """启动同步任务"""
+        if self.bioyond_api_client:
+            # 创建异步同步任务
+            asyncio.create_task(self._periodic_sync())
+            logger.info(f"Bioyond同步任务已启动，间隔: {self.sync_interval}秒")
+    
+    async def _periodic_sync(self):
+        """定期同步任务"""
+        while True:
+            try:
+                await self.sync_from_bioyond()
+                await asyncio.sleep(self.sync_interval)
+            except Exception as e:
+                logger.error(f"Bioyond同步任务出错: {e}")
+                await asyncio.sleep(self.sync_interval)
+    
+    async def sync_from_bioyond(self) -> bool:
+        """从Bioyond系统同步物料"""
+        try:
+            if not self.bioyond_api_client:
+                logger.warning("Bioyond API客户端未初始化")
+                return False
+            
+            # 1. 从Bioyond获取物料数据
+            bioyond_data = await self.bioyond_api_client.get_materials()
+            if not bioyond_data:
+                logger.warning("从Bioyond获取物料数据为空")
+                return False
+            
+            # 2. 转换为UniLab格式
+            if isinstance(bioyond_data, dict) and "data" in bioyond_data:
+                # 容器格式数据
+                unilab_resources = resource_bioyond_container_to_ulab(bioyond_data)
+            else:
+                # 物料列表格式数据
+                unilab_resources = resource_bioyond_to_ulab(bioyond_data)
+            
+            # 3. 转换为PLR格式并分配到Deck
+            await self._assign_resources_to_deck(unilab_resources)
+            
+            logger.info(f"从Bioyond同步了 {len(unilab_resources)} 个资源")
+            return True
+            
+        except Exception as e:
+            logger.error(f"从Bioyond同步物料失败: {e}")
+            return False
+    
+    async def sync_to_bioyond(self, plr_resource: PLRResource) -> bool:
+        """将本地物料变更同步到Bioyond系统"""
+        try:
+            if not self.bioyond_api_client:
+                logger.warning("Bioyond API客户端未初始化")
+                return False
+            
+            # 1. 转换为UniLab格式
+            unilab_resource = resource_plr_to_ulab(plr_resource)
+            
+            # 2. 转换为Bioyond格式
+            bioyond_materials = resource_ulab_to_bioyond([unilab_resource])
+            
+            # 3. 发送到Bioyond系统
+            success = await self.bioyond_api_client.update_materials(bioyond_materials)
+            
+            if success:
+                logger.info(f"成功同步物料 {plr_resource.name} 到Bioyond")
+            else:
+                logger.warning(f"同步物料 {plr_resource.name} 到Bioyond失败")
+            
+            return success
+            
+        except Exception as e:
+            logger.error(f"同步物料到Bioyond失败: {e}")
+            return False
+    
+    async def _assign_resources_to_deck(self, unilab_resources: List[Dict[str, Any]]):
+        """将UniLab资源分配到Deck"""
+        try:
+            # 转换为PLR格式
+            from unilabos.resources.graphio import list_to_nested_dict
+            nested_resources = list_to_nested_dict(unilab_resources)
+            plr_resources = resource_ulab_to_plr(nested_resources)
+            
+            # 分配资源到Deck
+            if hasattr(plr_resources, 'children'):
+                resources_to_assign = plr_resources.children
+            elif isinstance(plr_resources, list):
+                resources_to_assign = plr_resources
+            else:
+                resources_to_assign = [plr_resources]
+            
+            for resource in resources_to_assign:
+                try:
+                    # 获取资源位置
+                    if hasattr(resource, 'location') and resource.location:
+                        location = PLRCoordinate(resource.location.x, resource.location.y, resource.location.z)
+                    else:
+                        location = PLRCoordinate(0, 0, 0)
+                    
+                    # 分配资源到Deck
+                    self.plr_deck.assign_child_resource(resource, location)
+                    
+                    # 注册到resource tracker
+                    self.resource_tracker.add_resource(resource)
+                    
+                    # 保存资源引用
+                    self.plr_resources[resource.name] = resource
+                    
+                except Exception as e:
+                    logger.error(f"分配资源 {resource.name} 到Deck失败: {e}")
+            
+            logger.info(f"成功分配了 {len(resources_to_assign)} 个资源到Deck")
+            
+        except Exception as e:
+            logger.error(f"分配资源到Deck失败: {e}")
+    
+    def _create_resource_by_type(
+        self, 
+        resource_id: str, 
+        resource_type: str, 
+        config: Dict[str, Any], 
+        data: Dict[str, Any], 
+        location: PLRCoordinate
+    ) -> Optional[PLRResource]:
+        """根据类型创建Bioyond相关资源"""
+        try:
+            # 这里可以根据需要实现特定的Bioyond资源类型
+            # 目前使用通用的容器类型
+            if resource_type in ["container", "plate", "well"]:
+                return self._create_generic_container(resource_id, resource_type, config, data, location)
+            else:
+                logger.warning(f"未知的Bioyond资源类型: {resource_type}")
+                return None
+                
+        except Exception as e:
+            logger.error(f"创建Bioyond资源失败 {resource_id} ({resource_type}): {e}")
+            return None
+    
+    def _create_generic_container(
+        self, 
+        resource_id: str, 
+        resource_type: str, 
+        config: Dict[str, Any], 
+        data: Dict[str, Any], 
+        location: PLRCoordinate
+    ) -> Optional[PLRResource]:
+        """创建通用容器资源"""
+        try:
+            from pylabrobot.resources import Plate, Well
+            
+            if resource_type == "plate":
+                return Plate(
+                    name=resource_id,
+                    size_x=config.get("size_x", 127.76),
+                    size_y=config.get("size_y", 85.48),
+                    size_z=config.get("size_z", 14.35),
+                    location=location,
+                    category="plate"
+                )
+            elif resource_type == "well":
+                return Well(
+                    name=resource_id,
+                    size_x=config.get("size_x", 9.0),
+                    size_y=config.get("size_y", 9.0),
+                    size_z=config.get("size_z", 10.0),
+                    location=location,
+                    category="well"
+                )
+            else:
+                return Container(
+                    name=resource_id,
+                    size_x=config.get("size_x", 50.0),
+                    size_y=config.get("size_y", 50.0),
+                    size_z=config.get("size_z", 10.0),
+                    location=location,
+                    category="container"
+                )
+                
+        except Exception as e:
+            logger.error(f"创建通用容器失败 {resource_id}: {e}")
+            return None
+    
+    def get_bioyond_materials(self) -> List[Dict[str, Any]]:
+        """获取当前Bioyond物料列表"""
+        try:
+            # 将当前PLR资源转换为Bioyond格式
+            bioyond_materials = []
+            for resource in self.plr_resources.values():
+                unilab_resource = resource_plr_to_ulab(resource)
+                bioyond_materials.extend(resource_ulab_to_bioyond([unilab_resource]))
+            return bioyond_materials
+        except Exception as e:
+            logger.error(f"获取Bioyond物料列表失败: {e}")
+            return []
+    
+    def update_material_from_bioyond(self, material_id: str, bioyond_data: Dict[str, Any]) -> bool:
+        """从Bioyond数据更新指定物料"""
+        try:
+            # 查找现有物料
+            material = self.find_material_by_id(material_id)
+            if not material:
+                logger.warning(f"未找到物料: {material_id}")
+                return False
+            
+            # 转换Bioyond数据为UniLab格式
+            unilab_resources = resource_bioyond_to_ulab([bioyond_data])
+            if not unilab_resources:
+                logger.warning(f"转换Bioyond数据失败: {material_id}")
+                return False
+            
+            # 更新物料属性
+            unilab_resource = unilab_resources[0]
+            material.name = unilab_resource.get("name", material.name)
+            
+            # 更新位置
+            position = unilab_resource.get("position", {})
+            if position:
+                material.location = PLRCoordinate(
+                    position.get("x", 0),
+                    position.get("y", 0),
+                    position.get("z", 0)
+                )
+            
+            logger.info(f"成功更新物料: {material_id}")
+            return True
+            
+        except Exception as e:
+            logger.error(f"更新物料失败 {material_id}: {e}")
+            return False
+
+
+class BioyondAPIClient:
+    """Bioyond API客户端（模拟实现）
+    
+    实际使用时需要根据Bioyond系统的API接口实现
+    """
+    
+    def __init__(self, config: Dict[str, Any]):
+        self.config = config
+        self.base_url = config.get("base_url", "http://localhost:8080")
+        self.api_key = config.get("api_key", "")
+        self.timeout = config.get("timeout", 30)
+    
+    async def get_materials(self) -> Optional[Union[Dict[str, Any], List[Dict[str, Any]]]]:
+        """从Bioyond系统获取物料数据"""
+        try:
+            # 这里应该实现实际的API调用
+            # 暂时返回模拟数据
+            logger.info("从Bioyond API获取物料数据")
+            
+            # 模拟API调用延迟
+            await asyncio.sleep(0.1)
+            
+            # 返回模拟数据（实际应该从API获取）
+            return {
+                "data": [],
+                "code": 1,
+                "message": "success",
+                "timestamp": 1234567890
+            }
+            
+        except Exception as e:
+            logger.error(f"Bioyond API调用失败: {e}")
+            return None
+    
+    async def update_materials(self, materials: List[Dict[str, Any]]) -> bool:
+        """更新Bioyond系统中的物料数据"""
+        try:
+            # 这里应该实现实际的API调用
+            logger.info(f"更新Bioyond系统中的 {len(materials)} 个物料")
+            
+            # 模拟API调用延迟
+            await asyncio.sleep(0.1)
+            
+            # 模拟成功响应
+            return True
+            
+        except Exception as e:
+            logger.error(f"更新Bioyond物料失败: {e}")
+            return False
+    
+    async def get_material_by_id(self, material_id: str) -> Optional[Dict[str, Any]]:
+        """根据ID获取单个物料"""
+        try:
+            # 这里应该实现实际的API调用
+            logger.info(f"从Bioyond API获取物料: {material_id}")
+            
+            # 模拟API调用延迟
+            await asyncio.sleep(0.1)
+            
+            # 返回模拟数据
+            return {
+                "id": material_id,
+                "name": f"material_{material_id}",
+                "type": "container",
+                "quantity": 1.0,
+                "unit": "个"
+            }
+            
+        except Exception as e:
+            logger.error(f"获取Bioyond物料失败 {material_id}: {e}")
+            return None

unilabos/devices/workstation/bioyond_studio/experiment.py

@@ -0,0 +1,398 @@
+# experiment_workflow.py
+"""
+实验流程主程序
+"""
+
+import json
+from bioyond_rpc import BioyondV1RPC
+from config import API_CONFIG, WORKFLOW_MAPPINGS
+
+
+def run_experiment():
+    """运行实验流程"""
+    
+    # 初始化Bioyond客户端
+    config = {
+        **API_CONFIG,
+        "workflow_mappings": WORKFLOW_MAPPINGS
+    }
+    
+    Bioyond = BioyondV1RPC(config)
+    
+    print("\n============= 多工作流参数测试（简化接口+材料缓存）=============")
+    
+    # 显示可用的材料名称（前20个）
+    available_materials = Bioyond.get_available_materials()
+    print(f"可用材料名称（前20个）: {available_materials[:20]}")
+    print(f"总共有 {len(available_materials)} 个材料可用\n")
+    
+    # 1. 反应器放入
+    print("1. 添加反应器放入工作流，带参数...")
+    Bioyond.reactor_taken_in(
+        assign_material_name="BTDA-DD", 
+        cutoff="10000", 
+        temperature="-10"
+    )
+    
+    # 2. 液体投料-烧杯 (第一个)
+    print("2. 添加液体投料-烧杯，带参数...")
+    Bioyond.liquid_feeding_beaker(
+        volume="34768.7", 
+        assign_material_name="ODA",
+        time="0", 
+        torque_variation="1", 
+        titrationType="1", 
+        temperature=-10
+    )
+    
+    # 3. 液体投料-烧杯 (第二个)
+    print("3. 添加液体投料-烧杯，带参数...")
+    Bioyond.liquid_feeding_beaker(
+        volume="34080.9", 
+        assign_material_name="MPDA",
+        time="5", 
+        torque_variation="2", 
+        titrationType="1", 
+        temperature=0
+    )
+    
+    # 4. 液体投料-小瓶非滴定
+    print("4. 添加液体投料-小瓶非滴定，带参数...")
+    Bioyond.liquid_feeding_vials_non_titration(
+        volumeFormula="639.5", 
+        assign_material_name="SIDA", 
+        titration_type="1", 
+        time="0", 
+        torque_variation="1", 
+        temperature=-10
+    )
+    
+    # 5. 液体投料溶剂
+    print("5. 添加液体投料溶剂，带参数...")
+    Bioyond.liquid_feeding_solvents(
+        assign_material_name="NMP",
+        volume="19000", 
+        titration_type="1", 
+        time="5", 
+        torque_variation="2", 
+        temperature=-10
+    )
+    
+    # 6-8. 固体进料小瓶 (三个)
+    print("6. 添加固体进料小瓶，带参数...")
+    Bioyond.solid_feeding_vials(
+        material_id="3", 
+        time="180", 
+        torque_variation="2",
+        assign_material_name="BTDA-1", 
+        temperature=-10.00
+    )
+    
+    print("7. 添加固体进料小瓶，带参数...")
+    Bioyond.solid_feeding_vials(
+        material_id="3", 
+        time="180", 
+        torque_variation="2",
+        assign_material_name="BTDA-2", 
+        temperature=25.00
+    )
+    
+    print("8. 添加固体进料小瓶，带参数...")
+    Bioyond.solid_feeding_vials(
+        material_id="3", 
+        time="480", 
+        torque_variation="2",
+        assign_material_name="BTDA-3", 
+        temperature=25.00
+    )
+    
+    # 液体投料滴定（第一个）
+    print("9. 添加液体投料滴定，带参数...")  # ODPA
+    Bioyond.liquid_feeding_titration(
+        volume_formula="1000", 
+        assign_material_name="BTDA-DD",
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
+        temperature="25.00"
+    )
+    
+    # 液体投料滴定（第二个）
+    print("10. 添加液体投料滴定，带参数...")  # ODPA
+    Bioyond.liquid_feeding_titration(
+        volume_formula="500", 
+        assign_material_name="BTDA-DD",
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
+        temperature="25.00"
+    )
+
+    # 液体投料滴定（第三个）
+    print("11. 添加液体投料滴定，带参数...")  # ODPA
+    Bioyond.liquid_feeding_titration(
+        volume_formula="500", 
+        assign_material_name="BTDA-DD",
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
+        temperature="25.00"
+    )
+    
+    print("12. 添加液体投料滴定，带参数...")  # ODPA
+    Bioyond.liquid_feeding_titration(
+        volume_formula="500", 
+        assign_material_name="BTDA-DD",
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
+        temperature="25.00"
+    )
+    
+    print("13. 添加液体投料滴定，带参数...")  # ODPA
+    Bioyond.liquid_feeding_titration(
+        volume_formula="500", 
+        assign_material_name="BTDA-DD",
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
+        temperature="25.00"
+    )
+    
+    print("14. 添加液体投料滴定，带参数...")  # ODPA
+    Bioyond.liquid_feeding_titration(
+        volume_formula="500", 
+        assign_material_name="BTDA-DD",
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
+        temperature="25.00"
+    )
+
+
+
+    print("15. 添加液体投料溶剂，带参数...")
+    Bioyond.liquid_feeding_solvents(
+        assign_material_name="PGME",
+        volume="16894.6", 
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
+        temperature=25.00
+    )
+    
+    # 16. 反应器取出
+    print("16. 添加反应器取出工作流...")
+    Bioyond.reactor_taken_out()
+    
+    # 显示当前工作流序列
+    sequence = Bioyond.get_workflow_sequence()
+    print("\n当前工作流执行顺序:")
+    print(sequence)
+    
+    # 执行process_and_execute_workflow，合并工作流并创建任务
+    print("\n4. 执行process_and_execute_workflow...")
+    
+    result = Bioyond.process_and_execute_workflow(
+        workflow_name="test3_86", 
+        task_name="实验3_86"
+    )
+    
+    # 显示执行结果
+    print("\n5. 执行结果:")
+    if isinstance(result, str):
+        try:
+            result_dict = json.loads(result)
+            if result_dict.get("success"):
+                print("任务创建成功!")
+                print(f"- 工作流: {result_dict.get('workflow', {}).get('name')}")
+                print(f"- 工作流ID: {result_dict.get('workflow', {}).get('id')}")
+                print(f"- 任务结果: {result_dict.get('task')}")
+            else:
+                print(f"任务创建失败: {result_dict.get('error')}")
+        except:
+            print(f"结果解析失败: {result}")
+    else:
+        if result.get("success"):
+            print("任务创建成功!")
+            print(f"- 工作流: {result.get('workflow', {}).get('name')}")
+            print(f"- 工作流ID: {result.get('workflow', {}).get('id')}")
+            print(f"- 任务结果: {result.get('task')}")
+        else:
+            print(f"任务创建失败: {result.get('error')}")
+    
+    # 可选：启动调度器
+    # Bioyond.scheduler_start()
+    
+    return Bioyond
+
+
+def prepare_materials(bioyond):
+    """准备实验材料（可选）"""
+    
+    # 样品板材料数据定义
+    material_data_yp_1 = {
+        "typeId": "3a142339-80de-8f25-6093-1b1b1b6c322e",
+        "name": "样品板-1",
+        "unit": "个",
+        "quantity": 1,
+        "details": [
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BPDA-DD-1",
+                "quantity": 1,
+                "x": 1,
+                "y": 1,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "PEPA",
+                "quantity": 1,
+                "x": 1,
+                "y": 2,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BPDA-DD-2",
+                "quantity": 1,
+                "x": 1,
+                "y": 3,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BPDA-1",
+                "quantity": 1,
+                "x": 2,
+                "y": 1,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "PMDA",
+                "quantity": 1,
+                "x": 2,
+                "y": 2,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BPDA-2",
+                "quantity": 1,
+                "x": 2,
+                "y": 3,
+                "Parameters": "{\"molecular\": 1}"
+            }
+        ],
+        "Parameters": "{}"
+    }
+    
+    material_data_yp_2 = {
+        "typeId": "3a142339-80de-8f25-6093-1b1b1b6c322e",
+        "name": "样品板-2",
+        "unit": "个",
+        "quantity": 1,
+        "details": [
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BPDA-DD",
+                "quantity": 1,
+                "x": 1,
+                "y": 1,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "SIDA",
+                "quantity": 1,
+                "x": 1,
+                "y": 2,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BTDA-1",
+                "quantity": 1,
+                "x": 2,
+                "y": 1,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BTDA-2",
+                "quantity": 1,
+                "x": 2,
+                "y": 2,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BTDA-3",
+                "quantity": 1,
+                "x": 2,
+                "y": 3,
+                "Parameters": "{\"molecular\": 1}"
+            }
+        ],
+        "Parameters": "{}"
+    }
+    
+    # 烧杯材料数据定义
+    beaker_materials = [
+        {
+            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+            "name": "PDA-1",
+            "unit": "微升",
+            "quantity": 1,
+            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+        },
+        {
+            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+            "name": "TFDB",
+            "unit": "微升",
+            "quantity": 1,
+            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+        },
+        {
+            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+            "name": "ODA",
+            "unit": "微升",
+            "quantity": 1,
+            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+        },
+        {
+            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+            "name": "MPDA",
+            "unit": "微升",
+            "quantity": 1,
+            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+        },
+        {
+            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+            "name": "PDA-2",
+            "unit": "微升",
+            "quantity": 1,
+            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+        }
+    ]
+    
+    # 如果需要，可以在这里调用add_material方法添加材料
+    # 例如:
+    # result = bioyond.add_material(json.dumps(material_data_yp_1))
+    # print(f"添加材料结果: {result}")
+    
+    return {
+        "sample_plates": [material_data_yp_1, material_data_yp_2],
+        "beakers": beaker_materials
+    }
+
+
+if __name__ == "__main__":
+    # 运行主实验流程
+    bioyond_client = run_experiment()
+    
+    # 可选：准备材料数据
+    # materials = prepare_materials(bioyond_client)
+    # print(f"\n准备的材料数据: {materials}")

unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_0910.csv

@@ -0,0 +1,44 @@
+Name,DataType,InitValue,Comment,Attribute,DeviceType,Address
+COIL_SYS_START_CMD,BOOL,,设备启动命令,,coil,8010
+COIL_SYS_STOP_CMD,BOOL,,设备停止命令,,coil,8020
+COIL_SYS_RESET_CMD,BOOL,,设备复位命令,,coil,8030
+COIL_SYS_HAND_CMD,BOOL,,设备手动模式命令,,coil,8040
+COIL_SYS_AUTO_CMD,BOOL,,设备自动模式命令,,coil,8050
+COIL_SYS_INIT_CMD,BOOL,,设备初始化模式命令,,coil,8060
+COIL_UNILAB_SEND_MSG_SUCC_CMD,BOOL,,UNILAB发送配方完毕,,coil,8700
+COIL_UNILAB_REC_MSG_SUCC_CMD,BOOL,,UNILAB接受测试数据完毕,,coil,8710
+COIL_SYS_START_STATUS,BOOL,,设备启动中,,coil,8210
+COIL_SYS_STOP_STATUS,BOOL,,设备停止中,,coil,8220
+COIL_SYS_RESET_STATUS,BOOL,,设备复位中,,coil,8230
+COIL_SYS_HAND_STATUS,BOOL,,设备手动模式,,coil,8240
+COIL_SYS_AUTO_STATUS,BOOL,,设备自动模式,,coil,8250
+COIL_SYS_INIT_STATUS,BOOL,,设备初始化完成,,coil,8260
+COIL_REQUEST_REC_MSG_STATUS,BOOL,,设备请求接受配方,,coil,8510
+COIL_REQUEST_SEND_MSG_STATUS,BOOL,,设备请求发送测试数据,,coil,8500
+REG_MSG_ELECTROLYTE_USE_NUM,INT16,,单瓶电解液使用次数,,hold_register,11000
+REG_MSG_ELECTROLYTE_NUM,INT16,,电解液使用瓶数,,hold_register,11002
+REG_MSG_ELECTROLYTE_VOLUME,INT16,,电解液吸取量,,hold_register,11004
+REG_MSG_ASSEMBLY_TYPE,INT16,,组装参数：极片堆叠方式,,hold_register,11006
+REG_MSG_ASSEMBLY_PRESSURE,INT16,,电池组装压制力,,hold_register,11008
+REG_DATA_ASSEMBLY_COIN_CELL_NUM,INT16,,当前完成组装电池数量,,hold_register,10000
+REG_DATA_OPEN_CIRCUIT_VOLTAGE,FLOAT32,,当前电池电压数据,,hold_register,10002
+REG_DATA_AXIS_X_POS,FLOAT32,,分液X轴当前位置,,hold_register,10004
+REG_DATA_AXIS_Y_POS,FLOAT32,,分液Z轴当前位置,,hold_register,10006
+REG_DATA_AXIS_Z_POS,FLOAT32,,分液Y轴当前位置,,hold_register,10008
+REG_DATA_POLE_WEIGHT,FLOAT32,,当前电池正极片称重数据,,hold_register,10010
+REG_DATA_ASSEMBLY_PER_TIME,FLOAT32,,当前单颗电池组装时间,,hold_register,10012
+REG_DATA_ASSEMBLY_PRESSURE,INT16,,当前电池组装压制力,,hold_register,10014
+REG_DATA_ELECTROLYTE_VOLUME,INT16,,当前电解液加注量,,hold_register,10016
+REG_DATA_COIN_NUM,INT16,,当前电池物料数,,hold_register,10018
+REG_DATA_ELECTROLYTE_CODE,STRING,,电解液二维码序列号,,hold_register,10020
+REG_DATA_COIN_CELL_CODE,STRING,,电池二维码序列号,,hold_register,10030
+REG_DATA_STACK_VISON_CODE,STRING,,物料堆叠复检图片编码,,hold_register,12004
+REG_DATA_GLOVE_BOX_PRESSURE,FLOAT32,,手套箱压力,,hold_register,10050
+REG_DATA_GLOVE_BOX_WATER_CONTENT,FLOAT32,,手套箱水含量,,hold_register,10052
+REG_DATA_GLOVE_BOX_O2_CONTENT,FLOAT32,,手套箱氧含量,,hold_register,10054
+UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM,BOOL,,Unilab确认已发送电解液瓶数信号,,coil,8720
+UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM,BOOL,,Unilab可接受电解液瓶数,,coil,8520
+REG_MSG_ELECTROLYTE_NUM_USED,INT16,,电解液组装电池平行样数,,hold_register,496
+REG_DATA_ELECTROLYTE_USE_NUM,INT16,,当前已组装平行样数,,hold_register,10000
+UNILAB_SEND_FINISHED_CMD,BOOL,,Unilab发送收到完成信号,,coil,8730
+UNILAB_RECE_FINISHED_CMD,BOOL,,告知unilab结束信号,,coil,8530

unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv

@@ -0,0 +1,46 @@
+Name,DataType,InitValue,Comment,Attribute,DeviceType,Address,
+COIL_SYS_START_CMD,BOOL,,,,coil,8010,
+COIL_SYS_STOP_CMD,BOOL,,,,coil,8020,
+COIL_SYS_RESET_CMD,BOOL,,,,coil,8030,
+COIL_SYS_HAND_CMD,BOOL,,,,coil,8040,
+COIL_SYS_AUTO_CMD,BOOL,,,,coil,8050,
+COIL_SYS_INIT_CMD,BOOL,,,,coil,8060,
+COIL_UNILAB_SEND_MSG_SUCC_CMD,BOOL,,,,coil,8700,
+COIL_UNILAB_REC_MSG_SUCC_CMD,BOOL,,,,coil,8710,unilab_rec_msg_succ_cmd
+COIL_SYS_START_STATUS,BOOL,,,,coil,8210,
+COIL_SYS_STOP_STATUS,BOOL,,,,coil,8220,
+COIL_SYS_RESET_STATUS,BOOL,,,,coil,8230,
+COIL_SYS_HAND_STATUS,BOOL,,,,coil,8240,
+COIL_SYS_AUTO_STATUS,BOOL,,,,coil,8250,
+COIL_SYS_INIT_STATUS,BOOL,,,,coil,8260,
+COIL_REQUEST_REC_MSG_STATUS,BOOL,,,,coil,8500,
+COIL_REQUEST_SEND_MSG_STATUS,BOOL,,,,coil,8510,request_send_msg_status
+REG_MSG_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,11000,
+REG_MSG_ELECTROLYTE_NUM,INT16,,,,hold_register,11002,unilab_send_msg_electrolyte_num
+REG_MSG_ELECTROLYTE_VOLUME,INT16,,,,hold_register,11004,unilab_send_msg_electrolyte_vol
+REG_MSG_ASSEMBLY_TYPE,INT16,,,,hold_register,11006,unilab_send_msg_assembly_type
+REG_MSG_ASSEMBLY_PRESSURE,INT16,,,,hold_register,11008,unilab_send_msg_assembly_pressure
+REG_DATA_ASSEMBLY_COIN_CELL_NUM,INT16,,,,hold_register,10000,data_assembly_coin_cell_num
+REG_DATA_OPEN_CIRCUIT_VOLTAGE,FLOAT32,,,,hold_register,10002,data_open_circuit_voltage
+REG_DATA_AXIS_X_POS,FLOAT32,,,,hold_register,10004,
+REG_DATA_AXIS_Y_POS,FLOAT32,,,,hold_register,10006,
+REG_DATA_AXIS_Z_POS,FLOAT32,,,,hold_register,10008,
+REG_DATA_POLE_WEIGHT,FLOAT32,,,,hold_register,10010,data_pole_weight
+REG_DATA_ASSEMBLY_PER_TIME,FLOAT32,,,,hold_register,10012,data_assembly_time
+REG_DATA_ASSEMBLY_PRESSURE,INT16,,,,hold_register,10014,data_assembly_pressure
+REG_DATA_ELECTROLYTE_VOLUME,INT16,,,,hold_register,10016,data_electrolyte_volume
+REG_DATA_COIN_NUM,INT16,,,,hold_register,10018,data_coin_num
+REG_DATA_ELECTROLYTE_CODE,STRING,,,,hold_register,10020,data_electrolyte_code()
+REG_DATA_COIN_CELL_CODE,STRING,,,,hold_register,10030,data_coin_cell_code()
+REG_DATA_STACK_VISON_CODE,STRING,,,,hold_register,12004,data_stack_vision_code()
+REG_DATA_GLOVE_BOX_PRESSURE,FLOAT32,,,,hold_register,10050,data_glove_box_pressure
+REG_DATA_GLOVE_BOX_WATER_CONTENT,FLOAT32,,,,hold_register,10052,data_glove_box_water_content
+REG_DATA_GLOVE_BOX_O2_CONTENT,FLOAT32,,,,hold_register,10054,data_glove_box_o2_content
+UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,8720,
+UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,8520,
+REG_MSG_ELECTROLYTE_NUM_USED,INT16,,,,hold_register,496,
+REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,10000,
+UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,8730,
+UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,8530,
+REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,10018,ASSEMBLY_TYPE7or8
+COIL_ALUMINUM_FOIL,BOOL,,,,coil,8340,

unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3c.json

@@ -0,0 +1,691 @@
+{
+  "nodes": [
+    {
+      "id": "BatteryStation",
+      "name": "扣电工作站",
+      "children": [
+          "coin_cell_deck"
+      ],
+      "parent": null,
+      "type": "device",
+      "class": "bettery_station_registry",
+      "position": {
+          "x": 600,
+          "y": 400,
+          "z": 0
+      },
+      "config": {
+          "debug_mode": false,
+          "_comment": "protocol_type接外部工站固定写法字段，一般为空，station_resource写法也固定",
+          "protocol_type": [],
+          "station_resource": {
+              "data": {
+                  "_resource_child_name": "coin_cell_deck",
+                  "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.button_battery_station:CoincellDeck"
+              }
+          },
+          
+          "address": "192.168.1.20",
+          "port": 502
+      },
+      "data": {}
+    },
+    {
+      "id": "coin_cell_deck",
+      "name": "coin_cell_deck",
+      "sample_id": null,
+      "children": [
+        "\u7535\u6c60\u6599\u76d8"
+      ],
+      "parent": null,
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "config": {
+        "type": "CoincellDeck",
+        "size_x": 1000,
+        "size_y": 1000,
+        "size_z": 900,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "coin_cell_deck",
+        "barcode": null
+      },
+      "data": {}
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8",
+      "name": "\u7535\u6c60\u6599\u76d8",
+      "sample_id": null,
+      "children": [
+        "\u7535\u6c60\u6599\u76d8_materialhole_0_0",
+        "\u7535\u6c60\u6599\u76d8_materialhole_0_1",
+        "\u7535\u6c60\u6599\u76d8_materialhole_0_2",
+        "\u7535\u6c60\u6599\u76d8_materialhole_0_3",
+        "\u7535\u6c60\u6599\u76d8_materialhole_1_0",
+        "\u7535\u6c60\u6599\u76d8_materialhole_1_1",
+        "\u7535\u6c60\u6599\u76d8_materialhole_1_2",
+        "\u7535\u6c60\u6599\u76d8_materialhole_1_3",
+        "\u7535\u6c60\u6599\u76d8_materialhole_2_0",
+        "\u7535\u6c60\u6599\u76d8_materialhole_2_1",
+        "\u7535\u6c60\u6599\u76d8_materialhole_2_2",
+        "\u7535\u6c60\u6599\u76d8_materialhole_2_3",
+        "\u7535\u6c60\u6599\u76d8_materialhole_3_0",
+        "\u7535\u6c60\u6599\u76d8_materialhole_3_1",
+        "\u7535\u6c60\u6599\u76d8_materialhole_3_2",
+        "\u7535\u6c60\u6599\u76d8_materialhole_3_3"
+      ],
+      "parent": "coin_cell_deck",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 100,
+        "y": 100,
+        "z": 0
+      },
+      "config": {
+        "type": "MaterialPlate",
+        "size_x": 120.8,
+        "size_y": 160.5,
+        "size_z": 10.0,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {
+          "A1": "\u7535\u6c60\u6599\u76d8_materialhole_0_0",
+          "B1": "\u7535\u6c60\u6599\u76d8_materialhole_0_1",
+          "C1": "\u7535\u6c60\u6599\u76d8_materialhole_0_2",
+          "D1": "\u7535\u6c60\u6599\u76d8_materialhole_0_3",
+          "A2": "\u7535\u6c60\u6599\u76d8_materialhole_1_0",
+          "B2": "\u7535\u6c60\u6599\u76d8_materialhole_1_1",
+          "C2": "\u7535\u6c60\u6599\u76d8_materialhole_1_2",
+          "D2": "\u7535\u6c60\u6599\u76d8_materialhole_1_3",
+          "A3": "\u7535\u6c60\u6599\u76d8_materialhole_2_0",
+          "B3": "\u7535\u6c60\u6599\u76d8_materialhole_2_1",
+          "C3": "\u7535\u6c60\u6599\u76d8_materialhole_2_2",
+          "D3": "\u7535\u6c60\u6599\u76d8_materialhole_2_3",
+          "A4": "\u7535\u6c60\u6599\u76d8_materialhole_3_0",
+          "B4": "\u7535\u6c60\u6599\u76d8_materialhole_3_1",
+          "C4": "\u7535\u6c60\u6599\u76d8_materialhole_3_2",
+          "D4": "\u7535\u6c60\u6599\u76d8_materialhole_3_3"
+        }
+      },
+      "data": {}
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_0_0",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_0_0",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 12.4,
+        "y": 104.25,
+        "z": 10.0
+      },
+      "config": {
+        "type": "MaterialHole",
+        "size_x": 16,
+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_0_1",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_0_1",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 12.4,
+        "y": 80.25,
+        "z": 10.0
+      },
+      "config": {
+        "type": "MaterialHole",
+        "size_x": 16,
+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_0_2",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_0_2",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 12.4,
+        "y": 56.25,
+        "z": 10.0
+      },
+      "config": {
+        "type": "MaterialHole",
+        "size_x": 16,
+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_0_3",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_0_3",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
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+        "y": 32.25,
+        "z": 10.0
+      },
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+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
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+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_1_0",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_1_0",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
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+        "type": "MaterialHole",
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+        "size_z": 16,
+        "rotation": {
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+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_1_1",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_1_1",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
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+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
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+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_1_2",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_1_2",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
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+        "size_x": 16,
+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_1_3",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_1_3",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
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+        "y": 32.25,
+        "z": 10.0
+      },
+      "config": {
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+        "size_x": 16,
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+        "size_z": 16,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_2_0",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_2_0",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 60.4,
+        "y": 104.25,
+        "z": 10.0
+      },
+      "config": {
+        "type": "MaterialHole",
+        "size_x": 16,
+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_2_1",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_2_1",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 60.4,
+        "y": 80.25,
+        "z": 10.0
+      },
+      "config": {
+        "type": "MaterialHole",
+        "size_x": 16,
+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_2_2",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_2_2",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 60.4,
+        "y": 56.25,
+        "z": 10.0
+      },
+      "config": {
+        "type": "MaterialHole",
+        "size_x": 16,
+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_2_3",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_2_3",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 60.4,
+        "y": 32.25,
+        "z": 10.0
+      },
+      "config": {
+        "type": "MaterialHole",
+        "size_x": 16,
+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_3_0",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_3_0",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
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+        "y": 104.25,
+        "z": 10.0
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+      "config": {
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+        "size_z": 16,
+        "rotation": {
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+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_3_1",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_3_1",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
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+      "position": {
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+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
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+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_3_2",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_3_2",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 84.4,
+        "y": 56.25,
+        "z": 10.0
+      },
+      "config": {
+        "type": "MaterialHole",
+        "size_x": 16,
+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    },
+    {
+      "id": "\u7535\u6c60\u6599\u76d8_materialhole_3_3",
+      "name": "\u7535\u6c60\u6599\u76d8_materialhole_3_3",
+      "sample_id": null,
+      "children": [],
+      "parent": "\u7535\u6c60\u6599\u76d8",
+      "type": "container",
+      "class": "",
+      "position": {
+        "x": 84.4,
+        "y": 32.25,
+        "z": 10.0
+      },
+      "config": {
+        "type": "MaterialHole",
+        "size_x": 16,
+        "size_y": 16,
+        "size_z": 16,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "material_hole",
+        "model": null,
+        "barcode": null
+      },
+      "data": {
+        "diameter": 20,
+        "depth": 10,
+        "max_sheets": 1,
+        "info": null
+      }
+    }
+  ],
+  "links": []
+}

unilabos/devices/workstation/workflow_executors.py

@@ -0,0 +1,649 @@
+"""
+工作流执行器模块
+Workflow Executors Module
+
+基于单一硬件接口的工作流执行器实现
+支持Modbus、HTTP、PyLabRobot和代理模式
+"""
+import time
+import json
+import asyncio
+from typing import Dict, Any, List, Optional, TYPE_CHECKING
+from abc import ABC, abstractmethod
+
+if TYPE_CHECKING:
+    from unilabos.devices.work_station.workstation_base import WorkstationBase
+
+from unilabos.utils.log import logger
+
+
+class WorkflowExecutor(ABC):
+    """工作流执行器基类 - 基于单一硬件接口"""
+    
+    def __init__(self, workstation: 'WorkstationBase'):
+        self.workstation = workstation
+        self.hardware_interface = workstation.hardware_interface
+        self.material_management = workstation.material_management
+    
+    @abstractmethod
+    def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
+        """执行工作流"""
+        pass
+    
+    @abstractmethod
+    def stop_workflow(self, emergency: bool = False) -> bool:
+        """停止工作流"""
+        pass
+    
+    def call_device(self, method: str, *args, **kwargs) -> Any:
+        """调用设备方法的统一接口"""
+        return self.workstation.call_device_method(method, *args, **kwargs)
+    
+    def get_device_status(self) -> Dict[str, Any]:
+        """获取设备状态"""
+        return self.workstation.get_device_status()
+
+
+class ModbusWorkflowExecutor(WorkflowExecutor):
+    """Modbus工作流执行器 - 适配 coin_cell_assembly_system"""
+    
+    def __init__(self, workstation: 'WorkstationBase'):
+        super().__init__(workstation)
+        
+        # 验证Modbus接口
+        if not (hasattr(self.hardware_interface, 'write_register') and 
+                hasattr(self.hardware_interface, 'read_register')):
+            raise RuntimeError("工作站硬件接口不是有效的Modbus客户端")
+    
+    def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
+        """执行Modbus工作流"""
+        if workflow_name == "battery_manufacturing":
+            return self._execute_battery_manufacturing(parameters)
+        elif workflow_name == "material_loading":
+            return self._execute_material_loading(parameters)
+        elif workflow_name == "quality_check":
+            return self._execute_quality_check(parameters)
+        else:
+            logger.warning(f"不支持的Modbus工作流: {workflow_name}")
+            return False
+    
+    def _execute_battery_manufacturing(self, parameters: Dict[str, Any]) -> bool:
+        """执行电池制造工作流"""
+        try:
+            # 1. 物料准备检查
+            available_slot = self._find_available_press_slot()
+            if not available_slot:
+                raise RuntimeError("没有可用的压制槽")
+            
+            logger.info(f"找到可用压制槽: {available_slot}")
+            
+            # 2. 设置工艺参数（直接调用Modbus接口）
+            if "electrolyte_num" in parameters:
+                self.hardware_interface.write_register('REG_MSG_ELECTROLYTE_NUM', parameters["electrolyte_num"])
+                logger.info(f"设置电解液编号: {parameters['electrolyte_num']}")
+            
+            if "electrolyte_volume" in parameters:
+                self.hardware_interface.write_register('REG_MSG_ELECTROLYTE_VOLUME', 
+                                                      parameters["electrolyte_volume"], 
+                                                      data_type="FLOAT32")
+                logger.info(f"设置电解液体积: {parameters['electrolyte_volume']}")
+            
+            if "assembly_pressure" in parameters:
+                self.hardware_interface.write_register('REG_MSG_ASSEMBLY_PRESSURE',
+                                                      parameters["assembly_pressure"],
+                                                      data_type="FLOAT32")
+                logger.info(f"设置装配压力: {parameters['assembly_pressure']}")
+            
+            # 3. 启动制造流程
+            self.hardware_interface.write_register('COIL_SYS_START_CMD', True)
+            logger.info("启动电池制造流程")
+            
+            # 4. 确认启动成功
+            time.sleep(0.5)
+            status = self.hardware_interface.read_register('COIL_SYS_START_STATUS', count=1)
+            success = status[0] if status else False
+            
+            if success:
+                logger.info(f"电池制造工作流启动成功，参数: {parameters}")
+            else:
+                logger.error("电池制造工作流启动失败")
+            
+            return success
+            
+        except Exception as e:
+            logger.error(f"执行电池制造工作流失败: {e}")
+            return False
+    
+    def _execute_material_loading(self, parameters: Dict[str, Any]) -> bool:
+        """执行物料装载工作流"""
+        try:
+            material_type = parameters.get('material_type', 'cathode')
+            position = parameters.get('position', 'A1')
+            
+            logger.info(f"开始物料装载: {material_type} -> {position}")
+            
+            # 设置物料类型和位置
+            self.hardware_interface.write_register('REG_MATERIAL_TYPE', material_type)
+            self.hardware_interface.write_register('REG_MATERIAL_POSITION', position)
+            
+            # 启动装载
+            self.hardware_interface.write_register('COIL_LOAD_START', True)
+            
+            # 等待装载完成
+            timeout = parameters.get('timeout', 30)
+            start_time = time.time()
+            
+            while time.time() - start_time < timeout:
+                status = self.hardware_interface.read_register('COIL_LOAD_COMPLETE', count=1)
+                if status and status[0]:
+                    logger.info(f"物料装载完成: {material_type} -> {position}")
+                    return True
+                time.sleep(0.5)
+            
+            logger.error(f"物料装载超时: {material_type} -> {position}")
+            return False
+            
+        except Exception as e:
+            logger.error(f"执行物料装载失败: {e}")
+            return False
+    
+    def _execute_quality_check(self, parameters: Dict[str, Any]) -> bool:
+        """执行质量检测工作流"""
+        try:
+            check_type = parameters.get('check_type', 'dimensional')
+            
+            logger.info(f"开始质量检测: {check_type}")
+            
+            # 启动质量检测
+            self.hardware_interface.write_register('REG_QC_TYPE', check_type)
+            self.hardware_interface.write_register('COIL_QC_START', True)
+            
+            # 等待检测完成
+            timeout = parameters.get('timeout', 60)
+            start_time = time.time()
+            
+            while time.time() - start_time < timeout:
+                status = self.hardware_interface.read_register('COIL_QC_COMPLETE', count=1)
+                if status and status[0]:
+                    # 读取检测结果
+                    result = self.hardware_interface.read_register('REG_QC_RESULT', count=1)
+                    passed = result[0] if result else False
+                    
+                    if passed:
+                        logger.info(f"质量检测通过: {check_type}")
+                        return True
+                    else:
+                        logger.warning(f"质量检测失败: {check_type}")
+                        return False
+                        
+                time.sleep(1.0)
+            
+            logger.error(f"质量检测超时: {check_type}")
+            return False
+            
+        except Exception as e:
+            logger.error(f"执行质量检测失败: {e}")
+            return False
+    
+    def _find_available_press_slot(self) -> Optional[str]:
+        """查找可用压制槽"""
+        try:
+            press_slots = self.material_management.find_by_category("battery_press_slot")
+            for slot in press_slots:
+                if hasattr(slot, 'has_battery') and not slot.has_battery():
+                    return slot.name
+            return None
+        except:
+            # 如果物料管理系统不可用，返回默认槽位
+            return "A1"
+    
+    def stop_workflow(self, emergency: bool = False) -> bool:
+        """停止工作流"""
+        try:
+            if emergency:
+                self.hardware_interface.write_register('COIL_SYS_RESET_CMD', True)
+                logger.warning("执行紧急停止")
+            else:
+                self.hardware_interface.write_register('COIL_SYS_STOP_CMD', True)
+                logger.info("执行正常停止")
+            
+            time.sleep(0.5)
+            status = self.hardware_interface.read_register('COIL_SYS_STOP_STATUS', count=1)
+            return status[0] if status else False
+            
+        except Exception as e:
+            logger.error(f"停止Modbus工作流失败: {e}")
+            return False
+
+
+class HttpWorkflowExecutor(WorkflowExecutor):
+    """HTTP工作流执行器 - 适配 reaction_station_bioyong"""
+    
+    def __init__(self, workstation: 'WorkstationBase'):
+        super().__init__(workstation)
+        
+        # 验证HTTP接口
+        if not (hasattr(self.hardware_interface, 'post') or 
+                hasattr(self.hardware_interface, 'get')):
+            raise RuntimeError("工作站硬件接口不是有效的HTTP客户端")
+    
+    def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
+        """执行HTTP工作流"""
+        try:
+            if workflow_name == "reaction_synthesis":
+                return self._execute_reaction_synthesis(parameters)
+            elif workflow_name == "liquid_feeding":
+                return self._execute_liquid_feeding(parameters)
+            elif workflow_name == "temperature_control":
+                return self._execute_temperature_control(parameters)
+            else:
+                logger.warning(f"不支持的HTTP工作流: {workflow_name}")
+                return False
+                
+        except Exception as e:
+            logger.error(f"执行HTTP工作流失败: {e}")
+            return False
+    
+    def _execute_reaction_synthesis(self, parameters: Dict[str, Any]) -> bool:
+        """执行反应合成工作流"""
+        try:
+            # 1. 设置工作流序列
+            sequence = self._build_reaction_sequence(parameters)
+            self._call_rpc_method('set_workflow_sequence', json.dumps(sequence))
+            
+            # 2. 设置反应参数
+            if parameters.get('temperature'):
+                self._call_rpc_method('set_temperature', parameters['temperature'])
+            
+            if parameters.get('pressure'):
+                self._call_rpc_method('set_pressure', parameters['pressure'])
+            
+            if parameters.get('stirring_speed'):
+                self._call_rpc_method('set_stirring_speed', parameters['stirring_speed'])
+            
+            # 3. 执行工作流
+            result = self._call_rpc_method('execute_current_sequence', {
+                "task_name": "reaction_synthesis"
+            })
+            
+            success = result.get('success', False)
+            if success:
+                logger.info("反应合成工作流执行成功")
+            else:
+                logger.error(f"反应合成工作流执行失败: {result.get('error', '未知错误')}")
+            
+            return success
+            
+        except Exception as e:
+            logger.error(f"执行反应合成工作流失败: {e}")
+            return False
+    
+    def _execute_liquid_feeding(self, parameters: Dict[str, Any]) -> bool:
+        """执行液体投料工作流"""
+        try:
+            reagents = parameters.get('reagents', [])
+            volumes = parameters.get('volumes', [])
+            
+            if len(reagents) != len(volumes):
+                raise ValueError("试剂列表和体积列表长度不匹配")
+            
+            # 执行投料序列
+            for reagent, volume in zip(reagents, volumes):
+                result = self._call_rpc_method('feed_liquid', {
+                    'reagent': reagent,
+                    'volume': volume
+                })
+                
+                if not result.get('success', False):
+                    logger.error(f"投料失败: {reagent} {volume}mL")
+                    return False
+                
+                logger.info(f"投料成功: {reagent} {volume}mL")
+            
+            return True
+            
+        except Exception as e:
+            logger.error(f"执行液体投料失败: {e}")
+            return False
+    
+    def _execute_temperature_control(self, parameters: Dict[str, Any]) -> bool:
+        """执行温度控制工作流"""
+        try:
+            target_temp = parameters.get('temperature', 25)
+            hold_time = parameters.get('hold_time', 300)  # 秒
+            
+            # 设置目标温度
+            result = self._call_rpc_method('set_temperature', target_temp)
+            if not result.get('success', False):
+                logger.error(f"设置温度失败: {target_temp}°C")
+                return False
+            
+            # 等待温度稳定
+            logger.info(f"等待温度稳定到 {target_temp}°C")
+            
+            # 保持温度指定时间
+            if hold_time > 0:
+                logger.info(f"保持温度 {hold_time} 秒")
+                time.sleep(hold_time)
+            
+            return True
+            
+        except Exception as e:
+            logger.error(f"执行温度控制失败: {e}")
+            return False
+    
+    def _build_reaction_sequence(self, parameters: Dict[str, Any]) -> List[str]:
+        """构建反应合成工作流序列"""
+        sequence = []
+        
+        # 添加预处理步骤
+        if parameters.get('purge_with_inert'):
+            sequence.append("purge_inert_gas")
+        
+        # 添加温度设置
+        if parameters.get('temperature'):
+            sequence.append(f"set_temperature_{parameters['temperature']}")
+        
+        # 添加压力设置
+        if parameters.get('pressure'):
+            sequence.append(f"set_pressure_{parameters['pressure']}")
+        
+        # 添加搅拌设置
+        if parameters.get('stirring_speed'):
+            sequence.append(f"set_stirring_{parameters['stirring_speed']}")
+        
+        # 添加反应步骤
+        sequence.extend([
+            "start_reaction",
+            "monitor_progress", 
+            "complete_reaction"
+        ])
+        
+        # 添加后处理步骤
+        if parameters.get('cooling_required'):
+            sequence.append("cool_down")
+        
+        return sequence
+    
+    def _call_rpc_method(self, method: str, params: Any = None) -> Dict[str, Any]:
+        """调用RPC方法"""
+        try:
+            if hasattr(self.hardware_interface, method):
+                # 直接方法调用
+                if isinstance(params, dict):
+                    params = json.dumps(params)
+                elif params is None:
+                    params = ""
+                return getattr(self.hardware_interface, method)(params)
+            else:
+                # HTTP请求调用
+                if hasattr(self.hardware_interface, 'post'):
+                    response = self.hardware_interface.post(f"/api/{method}", json=params)
+                    return response.json()
+                else:
+                    raise AttributeError(f"HTTP接口不支持方法: {method}")
+        except Exception as e:
+            logger.error(f"调用RPC方法失败 {method}: {e}")
+            return {'success': False, 'error': str(e)}
+    
+    def stop_workflow(self, emergency: bool = False) -> bool:
+        """停止工作流"""
+        try:
+            if emergency:
+                result = self._call_rpc_method('scheduler_reset')
+            else:
+                result = self._call_rpc_method('scheduler_stop')
+            
+            return result.get('success', False)
+            
+        except Exception as e:
+            logger.error(f"停止HTTP工作流失败: {e}")
+            return False
+
+
+class PyLabRobotWorkflowExecutor(WorkflowExecutor):
+    """PyLabRobot工作流执行器 - 适配 prcxi.py"""
+    
+    def __init__(self, workstation: 'WorkstationBase'):
+        super().__init__(workstation)
+        
+        # 验证PyLabRobot接口
+        if not (hasattr(self.hardware_interface, 'transfer_liquid') or 
+                hasattr(self.hardware_interface, 'pickup_tips')):
+            raise RuntimeError("工作站硬件接口不是有效的PyLabRobot设备")
+    
+    def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
+        """执行PyLabRobot工作流"""
+        try:
+            if workflow_name == "liquid_transfer":
+                return self._execute_liquid_transfer(parameters)
+            elif workflow_name == "tip_pickup_drop":
+                return self._execute_tip_operations(parameters)
+            elif workflow_name == "plate_handling":
+                return self._execute_plate_handling(parameters)
+            else:
+                logger.warning(f"不支持的PyLabRobot工作流: {workflow_name}")
+                return False
+                
+        except Exception as e:
+            logger.error(f"执行PyLabRobot工作流失败: {e}")
+            return False
+    
+    def _execute_liquid_transfer(self, parameters: Dict[str, Any]) -> bool:
+        """执行液体转移工作流"""
+        try:
+            # 1. 解析物料引用
+            sources = self._resolve_containers(parameters.get('sources', []))
+            targets = self._resolve_containers(parameters.get('targets', []))
+            tip_racks = self._resolve_tip_racks(parameters.get('tip_racks', []))
+            
+            if not sources or not targets:
+                raise ValueError("液体转移需要指定源容器和目标容器")
+            
+            if not tip_racks:
+                logger.warning("未指定枪头架，将尝试自动查找")
+                tip_racks = self._find_available_tip_racks()
+            
+            # 2. 执行液体转移
+            volumes = parameters.get('volumes', [])
+            if not volumes:
+                volumes = [100.0] * len(sources)  # 默认体积
+            
+            # 如果是同步接口
+            if hasattr(self.hardware_interface, 'transfer_liquid'):
+                result = self.hardware_interface.transfer_liquid(
+                    sources=sources,
+                    targets=targets,
+                    tip_racks=tip_racks,
+                    asp_vols=volumes,
+                    dis_vols=volumes,
+                    **parameters.get('options', {})
+                )
+            else:
+                # 异步接口需要特殊处理
+                asyncio.run(self._async_liquid_transfer(sources, targets, tip_racks, volumes, parameters))
+                result = True
+            
+            if result:
+                logger.info(f"液体转移工作流完成: {len(sources)}个源 -> {len(targets)}个目标")
+            
+            return bool(result)
+            
+        except Exception as e:
+            logger.error(f"执行液体转移失败: {e}")
+            return False
+    
+    async def _async_liquid_transfer(self, sources, targets, tip_racks, volumes, parameters):
+        """异步液体转移"""
+        await self.hardware_interface.transfer_liquid(
+            sources=sources,
+            targets=targets,
+            tip_racks=tip_racks,
+            asp_vols=volumes,
+            dis_vols=volumes,
+            **parameters.get('options', {})
+        )
+    
+    def _execute_tip_operations(self, parameters: Dict[str, Any]) -> bool:
+        """执行枪头操作工作流"""
+        try:
+            operation = parameters.get('operation', 'pickup')
+            tip_racks = self._resolve_tip_racks(parameters.get('tip_racks', []))
+            
+            if not tip_racks:
+                raise ValueError("枪头操作需要指定枪头架")
+            
+            if operation == 'pickup':
+                result = self.hardware_interface.pickup_tips(tip_racks[0])
+                logger.info("枪头拾取完成")
+            elif operation == 'drop':
+                result = self.hardware_interface.drop_tips()
+                logger.info("枪头丢弃完成")
+            else:
+                raise ValueError(f"不支持的枪头操作: {operation}")
+            
+            return bool(result)
+            
+        except Exception as e:
+            logger.error(f"执行枪头操作失败: {e}")
+            return False
+    
+    def _execute_plate_handling(self, parameters: Dict[str, Any]) -> bool:
+        """执行板类处理工作流"""
+        try:
+            operation = parameters.get('operation', 'move')
+            source_position = parameters.get('source_position')
+            target_position = parameters.get('target_position')
+            
+            if operation == 'move' and source_position and target_position:
+                # 移动板类
+                result = self.hardware_interface.move_plate(source_position, target_position)
+                logger.info(f"板类移动完成: {source_position} -> {target_position}")
+            else:
+                logger.warning(f"不支持的板类操作或参数不完整: {operation}")
+                return False
+            
+            return bool(result)
+            
+        except Exception as e:
+            logger.error(f"执行板类处理失败: {e}")
+            return False
+    
+    def _resolve_containers(self, container_names: List[str]):
+        """解析容器名称为实际容器对象"""
+        containers = []
+        for name in container_names:
+            try:
+                container = self.material_management.find_material_by_id(name)
+                if container:
+                    containers.append(container)
+                else:
+                    logger.warning(f"未找到容器: {name}")
+            except:
+                logger.warning(f"解析容器失败: {name}")
+        return containers
+    
+    def _resolve_tip_racks(self, tip_rack_names: List[str]):
+        """解析枪头架名称为实际对象"""
+        tip_racks = []
+        for name in tip_rack_names:
+            try:
+                tip_rack = self.material_management.find_by_category("tip_rack")
+                matching_racks = [rack for rack in tip_rack if rack.name == name]
+                if matching_racks:
+                    tip_racks.extend(matching_racks)
+                else:
+                    logger.warning(f"未找到枪头架: {name}")
+            except:
+                logger.warning(f"解析枪头架失败: {name}")
+        return tip_racks
+    
+    def _find_available_tip_racks(self):
+        """查找可用的枪头架"""
+        try:
+            tip_racks = self.material_management.find_by_category("tip_rack")
+            available_racks = [rack for rack in tip_racks if hasattr(rack, 'has_tips') and rack.has_tips()]
+            return available_racks[:1]  # 返回第一个可用的枪头架
+        except:
+            return []
+    
+    def stop_workflow(self, emergency: bool = False) -> bool:
+        """停止工作流"""
+        try:
+            if emergency:
+                if hasattr(self.hardware_interface, 'emergency_stop'):
+                    return self.hardware_interface.emergency_stop()
+                else:
+                    logger.warning("设备不支持紧急停止")
+                    return False
+            else:
+                if hasattr(self.hardware_interface, 'graceful_stop'):
+                    return self.hardware_interface.graceful_stop()
+                elif hasattr(self.hardware_interface, 'stop'):
+                    return self.hardware_interface.stop()
+                else:
+                    logger.warning("设备不支持优雅停止")
+                    return False
+                
+        except Exception as e:
+            logger.error(f"停止PyLabRobot工作流失败: {e}")
+            return False
+
+
+class ProxyWorkflowExecutor(WorkflowExecutor):
+    """代理工作流执行器 - 处理代理模式的工作流"""
+    
+    def __init__(self, workstation: 'WorkstationBase'):
+        super().__init__(workstation)
+        
+        # 验证代理接口
+        if not isinstance(self.hardware_interface, str) or not self.hardware_interface.startswith("proxy:"):
+            raise RuntimeError("工作站硬件接口不是有效的代理字符串")
+        
+        self.device_id = self.hardware_interface[6:]  # 移除 "proxy:" 前缀
+    
+    def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
+        """执行代理工作流"""
+        try:
+            # 通过协议节点调用目标设备的工作流
+            if self.workstation._workstation_node:
+                return self.workstation._workstation_node.call_device_method(
+                    self.device_id, 'execute_workflow', workflow_name, parameters
+                )
+            else:
+                logger.error("代理模式需要workstation_node")
+                return False
+                
+        except Exception as e:
+            logger.error(f"执行代理工作流失败: {e}")
+            return False
+    
+    def stop_workflow(self, emergency: bool = False) -> bool:
+        """停止代理工作流"""
+        try:
+            if self.workstation._workstation_node:
+                return self.workstation._workstation_node.call_device_method(
+                    self.device_id, 'stop_workflow', emergency
+                )
+            else:
+                logger.error("代理模式需要workstation_node")
+                return False
+                
+        except Exception as e:
+            logger.error(f"停止代理工作流失败: {e}")
+            return False
+
+
+# 辅助函数
+def get_executor_for_interface(hardware_interface) -> str:
+    """根据硬件接口类型获取执行器类型名称"""
+    if isinstance(hardware_interface, str) and hardware_interface.startswith("proxy:"):
+        return "ProxyWorkflowExecutor"
+    elif hasattr(hardware_interface, 'write_register') and hasattr(hardware_interface, 'read_register'):
+        return "ModbusWorkflowExecutor"
+    elif hasattr(hardware_interface, 'post') or hasattr(hardware_interface, 'get'):
+        return "HttpWorkflowExecutor"
+    elif hasattr(hardware_interface, 'transfer_liquid') or hasattr(hardware_interface, 'pickup_tips'):
+        return "PyLabRobotWorkflowExecutor"
+    else:
+        return "UnknownExecutor"

unilabos/devices/workstation/workstation_base.py

@@ -0,0 +1,489 @@
+"""
+工作站基类
+Workstation Base Class - 简化版
+
+基于PLR Deck的简化工作站架构
+专注于核心物料系统和工作流管理
+"""
+
+import collections
+import time
+from typing import Dict, Any, List, Optional, Union
+from abc import ABC, abstractmethod
+from dataclasses import dataclass
+from enum import Enum
+from pylabrobot.resources import Deck, Plate, Resource as PLRResource
+
+from pylabrobot.resources.coordinate import Coordinate
+from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
+
+from unilabos.utils.log import logger
+
+
+class WorkflowStatus(Enum):
+    """工作流状态"""
+
+    IDLE = "idle"
+    INITIALIZING = "initializing"
+    RUNNING = "running"
+    PAUSED = "paused"
+    STOPPING = "stopping"
+    STOPPED = "stopped"
+    ERROR = "error"
+    COMPLETED = "completed"
+
+
+@dataclass
+class WorkflowInfo:
+    """工作流信息"""
+
+    name: str
+    description: str
+    estimated_duration: float  # 预估持续时间（秒）
+    required_materials: List[str]  # 所需物料类型
+    output_product: str  # 输出产品类型
+    parameters_schema: Dict[str, Any]  # 参数架构
+
+
+class WorkStationContainer(Plate):
+    """
+    WorkStation 专用 Container 类，继承自 Plate和TipRack
+    注意这个物料必须通过plr_additional_res_reg.py注册到edge，才能正常序列化
+    """
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        category: str,
+        ordering: collections.OrderedDict,
+        model: Optional[str] = None,
+    ):
+        """
+        这里的初始化入参要和plr的保持一致
+        """
+        super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model)
+        self._unilabos_state = {}  # 必须有此行，自己的类描述的是物料的
+
+    def load_state(self, state: Dict[str, Any]) -> None:
+        """从给定的状态加载工作台信息。"""
+        super().load_state(state)
+        self._unilabos_state = state
+
+    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
+        data = super().serialize_state()
+        data.update(
+            self._unilabos_state
+        )  # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
+        return data
+
+
+def get_workstation_plate_resource(name: str) -> PLRResource:  # 要给定一个返回plr的方法
+    """
+    用于获取一些模板，例如返回一个带有特定信息/子物料的 Plate，这里需要到注册表注册，例如unilabos/registry/resources/organic/workstation.yaml
+    可以直接运行该函数或者利用注册表补全机制，来检查是否资源出错
+    :param name: 资源名称
+    :return: Resource对象
+    """
+    plate = WorkStationContainer(
+        name, size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()
+    )
+    tip_rack = WorkStationContainer(
+        "tip_rack_inside_plate",
+        size_x=50,
+        size_y=50,
+        size_z=10,
+        category="tip_rack",
+        ordering=collections.OrderedDict(),
+    )
+    plate.assign_child_resource(tip_rack, Coordinate.zero())
+    return plate
+
+
+class ResourceSynchronizer(ABC):
+    """资源同步器基类
+
+    负责与外部物料系统的同步，并对 self.deck 做修改
+    """
+
+    def __init__(self, workstation: "WorkstationBase"):
+        self.workstation = workstation
+
+    @abstractmethod
+    async def sync_from_external(self) -> bool:
+        """从外部系统同步物料到本地deck"""
+        pass
+
+    @abstractmethod
+    async def sync_to_external(self, plr_resource: PLRResource) -> bool:
+        """将本地物料同步到外部系统"""
+        pass
+
+    @abstractmethod
+    async def handle_external_change(self, change_info: Dict[str, Any]) -> bool:
+        """处理外部系统的变更通知"""
+        pass
+
+
+class WorkstationBase(ABC):
+    """工作站基类 - 简化版
+
+    核心功能：
+    1. 基于 PLR Deck 的物料系统，支持格式转换
+    2. 可选的资源同步器支持外部物料系统
+    3. 简化的工作流管理
+    """
+
+    _ros_node: ROS2WorkstationNode
+
+    @property
+    def _children(self) -> Dict[str, Any]:  # 不要删除这个下划线，不然会自动导入注册表，后面改成装饰器识别
+        return self._ros_node.children
+
+    async def update_resource_example(self):
+        return await self._ros_node.update_resource([get_workstation_plate_resource("test")])
+
+    def __init__(
+        self,
+        station_resource: PLRResource,
+        *args,
+        **kwargs,  # 必须有kwargs
+    ):
+        # 基本配置
+        print(station_resource)
+        self.deck_config = station_resource
+
+        # PLR 物料系统
+        self.deck: Optional[Deck] = None
+        self.plr_resources: Dict[str, PLRResource] = {}
+
+        # 资源同步器（可选）
+        # self.resource_synchronizer = ResourceSynchronizer(self)  # 要在driver中自行初始化，只有workstation用
+
+        # 硬件接口
+        self.hardware_interface: Union[Any, str] = None
+
+        # 工作流状态
+        self.current_workflow_status = WorkflowStatus.IDLE
+        self.current_workflow_info = None
+        self.workflow_start_time = None
+        self.workflow_parameters = {}
+
+        # 支持的工作流（静态预定义）
+        self.supported_workflows: Dict[str, WorkflowInfo] = {}
+
+        # 初始化物料系统
+        self._initialize_material_system()
+
+        # 注册支持的工作流
+        # self._register_supported_workflows()
+
+        # logger.info(f"工作站 {device_id} 初始化完成（简化版）")
+
+    def _initialize_material_system(self):
+        """初始化物料系统 - 使用 graphio 转换"""
+        try:
+            from unilabos.resources.graphio import resource_ulab_to_plr
+
+            # # 1. 合并 deck_config 和 children 创建完整的资源树
+            # complete_resource_config = self._create_complete_resource_config()
+
+            # # 2. 使用 graphio 转换为 PLR 资源
+            # self.deck = resource_ulab_to_plr(complete_resource_config, plr_model=True)
+
+            # # 3. 建立资源映射
+            # self._build_resource_mappings(self.deck)
+
+            # # 4. 如果有资源同步器，执行初始同步
+            # if self.resource_synchronizer:
+            #     # 这里可以异步执行，暂时跳过
+            #     pass
+
+            # logger.info(f"工作站 {self.device_id} 物料系统初始化成功，创建了 {len(self.plr_resources)} 个资源")
+            pass
+        except Exception as e:
+            # logger.error(f"工作站 {self.device_id} 物料系统初始化失败: {e}")
+            raise
+
+    def _create_complete_resource_config(self) -> Dict[str, Any]:
+        """创建完整的资源配置 - 合并 deck_config 和 children"""
+        # 创建主 deck 配置
+        deck_resource = {
+            "id": f"{self.device_id}_deck",
+            "name": f"{self.device_id}_deck",
+            "type": "deck",
+            "position": {"x": 0, "y": 0, "z": 0},
+            "config": {
+                "size_x": self.deck_config.get("size_x", 1000.0),
+                "size_y": self.deck_config.get("size_y", 1000.0),
+                "size_z": self.deck_config.get("size_z", 100.0),
+                **{k: v for k, v in self.deck_config.items() if k not in ["size_x", "size_y", "size_z"]},
+            },
+            "data": {},
+            "children": [],
+            "parent": None,
+        }
+
+        # 添加子资源
+        if self._children:
+            children_list = []
+            for child_id, child_config in self._children.items():
+                child_resource = self._normalize_child_resource(child_id, child_config, deck_resource["id"])
+                children_list.append(child_resource)
+            deck_resource["children"] = children_list
+
+        return deck_resource
+
+    def _normalize_child_resource(self, resource_id: str, config: Dict[str, Any], parent_id: str) -> Dict[str, Any]:
+        """标准化子资源配置"""
+        return {
+            "id": resource_id,
+            "name": config.get("name", resource_id),
+            "type": config.get("type", "container"),
+            "position": self._normalize_position(config.get("position", {})),
+            "config": config.get("config", {}),
+            "data": config.get("data", {}),
+            "children": [],  # 简化版本：只支持一层子资源
+            "parent": parent_id,
+        }
+
+    def _normalize_position(self, position: Any) -> Dict[str, float]:
+        """标准化位置信息"""
+        if isinstance(position, dict):
+            return {
+                "x": float(position.get("x", 0)),
+                "y": float(position.get("y", 0)),
+                "z": float(position.get("z", 0)),
+            }
+        elif isinstance(position, (list, tuple)) and len(position) >= 2:
+            return {
+                "x": float(position[0]),
+                "y": float(position[1]),
+                "z": float(position[2]) if len(position) > 2 else 0.0,
+            }
+        else:
+            return {"x": 0.0, "y": 0.0, "z": 0.0}
+
+    def _build_resource_mappings(self, deck: Deck):
+        """递归构建资源映射"""
+
+        def add_resource_recursive(resource: PLRResource):
+            if hasattr(resource, "name"):
+                self.plr_resources[resource.name] = resource
+
+            if hasattr(resource, "children"):
+                for child in resource.children:
+                    add_resource_recursive(child)
+
+        add_resource_recursive(deck)
+
+    # ============ 硬件接口管理 ============
+
+    def set_hardware_interface(self, hardware_interface: Union[Any, str]):
+        """设置硬件接口"""
+        self.hardware_interface = hardware_interface
+        logger.info(f"工作站 {self.device_id} 硬件接口设置: {type(hardware_interface).__name__}")
+
+    def set_workstation_node(self, workstation_node: "ROS2WorkstationNode"):
+        """设置协议节点引用（用于代理模式）"""
+        self._ros_node = workstation_node
+        logger.info(f"工作站 {self.device_id} 关联协议节点")
+
+    # ============ 设备操作接口 ============
+
+    def call_device_method(self, method: str, *args, **kwargs) -> Any:
+        """调用设备方法的统一接口"""
+        # 1. 代理模式：通过协议节点转发
+        if isinstance(self.hardware_interface, str) and self.hardware_interface.startswith("proxy:"):
+            if not self._ros_node:
+                raise RuntimeError("代理模式需要设置workstation_node")
+
+            device_id = self.hardware_interface[6:]  # 移除 "proxy:" 前缀
+            return self._ros_node.call_device_method(device_id, method, *args, **kwargs)
+
+        # 2. 直接模式：直接调用硬件接口方法
+        elif self.hardware_interface and hasattr(self.hardware_interface, method):
+            return getattr(self.hardware_interface, method)(*args, **kwargs)
+
+        else:
+            raise AttributeError(f"硬件接口不支持方法: {method}")
+
+    def get_device_status(self) -> Dict[str, Any]:
+        """获取设备状态"""
+        try:
+            return self.call_device_method("get_status")
+        except AttributeError:
+            # 如果设备不支持get_status方法，返回基础状态
+            return {
+                "status": "unknown",
+                "interface_type": type(self.hardware_interface).__name__,
+                "timestamp": time.time(),
+            }
+
+    def is_device_available(self) -> bool:
+        """检查设备是否可用"""
+        try:
+            self.get_device_status()
+            return True
+        except:
+            return False
+
+    # ============ 物料系统接口 ============
+
+    def get_deck(self) -> Deck:
+        """获取主 Deck"""
+        return self.deck
+
+    def get_all_resources(self) -> Dict[str, PLRResource]:
+        """获取所有 PLR 资源"""
+        return self.plr_resources.copy()
+
+    def find_resource_by_name(self, name: str) -> Optional[PLRResource]:
+        """按名称查找资源"""
+        return self.plr_resources.get(name)
+
+    def find_resources_by_type(self, resource_type: type) -> List[PLRResource]:
+        """按类型查找资源"""
+        return [res for res in self.plr_resources.values() if isinstance(res, resource_type)]
+
+    async def sync_with_external_system(self) -> bool:
+        """与外部物料系统同步"""
+        if not self.resource_synchronizer:
+            logger.info(f"工作站 {self.device_id} 没有配置资源同步器")
+            return True
+
+        try:
+            success = await self.resource_synchronizer.sync_from_external()
+            if success:
+                logger.info(f"工作站 {self.device_id} 外部同步成功")
+            else:
+                logger.warning(f"工作站 {self.device_id} 外部同步失败")
+            return success
+        except Exception as e:
+            logger.error(f"工作站 {self.device_id} 外部同步异常: {e}")
+            return False
+
+    # ============ 简化的工作流控制 ============
+
+    def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
+        """执行工作流"""
+        try:
+            # 设置工作流状态
+            self.current_workflow_status = WorkflowStatus.INITIALIZING
+            self.workflow_parameters = parameters
+            self.workflow_start_time = time.time()
+
+            # 委托给子类实现
+            success = self._execute_workflow_impl(workflow_name, parameters)
+
+            if success:
+                self.current_workflow_status = WorkflowStatus.RUNNING
+                logger.info(f"工作站 {self.device_id} 工作流 {workflow_name} 启动成功")
+            else:
+                self.current_workflow_status = WorkflowStatus.ERROR
+                logger.error(f"工作站 {self.device_id} 工作流 {workflow_name} 启动失败")
+
+            return success
+
+        except Exception as e:
+            self.current_workflow_status = WorkflowStatus.ERROR
+            logger.error(f"工作站 {self.device_id} 执行工作流失败: {e}")
+            return False
+
+    def stop_workflow(self, emergency: bool = False) -> bool:
+        """停止工作流"""
+        try:
+            if self.current_workflow_status in [WorkflowStatus.IDLE, WorkflowStatus.STOPPED]:
+                logger.warning(f"工作站 {self.device_id} 没有正在运行的工作流")
+                return True
+
+            self.current_workflow_status = WorkflowStatus.STOPPING
+
+            # 委托给子类实现
+            success = self._stop_workflow_impl(emergency)
+
+            if success:
+                self.current_workflow_status = WorkflowStatus.STOPPED
+                logger.info(f"工作站 {self.device_id} 工作流停止成功 (紧急: {emergency})")
+            else:
+                self.current_workflow_status = WorkflowStatus.ERROR
+                logger.error(f"工作站 {self.device_id} 工作流停止失败")
+
+            return success
+
+        except Exception as e:
+            self.current_workflow_status = WorkflowStatus.ERROR
+            logger.error(f"工作站 {self.device_id} 停止工作流失败: {e}")
+            return False
+
+    # ============ 状态属性 ============
+
+    @property
+    def workflow_status(self) -> WorkflowStatus:
+        """获取当前工作流状态"""
+        return self.current_workflow_status
+
+    @property
+    def is_busy(self) -> bool:
+        """检查工作站是否忙碌"""
+        return self.current_workflow_status in [
+            WorkflowStatus.INITIALIZING,
+            WorkflowStatus.RUNNING,
+            WorkflowStatus.STOPPING,
+        ]
+
+    @property
+    def workflow_runtime(self) -> float:
+        """获取工作流运行时间（秒）"""
+        if self.workflow_start_time is None:
+            return 0.0
+        return time.time() - self.workflow_start_time
+
+    # ============ 抽象方法 - 子类必须实现 ============
+
+    # @abstractmethod
+    # def _register_supported_workflows(self):
+    #     """注册支持的工作流 - 子类必须实现"""
+    #     pass
+
+    # @abstractmethod
+    # def _execute_workflow_impl(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
+    #     """执行工作流的具体实现 - 子类必须实现"""
+    #     pass
+
+    # @abstractmethod
+    # def _stop_workflow_impl(self, emergency: bool = False) -> bool:
+    #     """停止工作流的具体实现 - 子类必须实现"""
+    #     pass
+
+class WorkstationExample(WorkstationBase):
+    """工作站示例实现"""
+
+    def _register_supported_workflows(self):
+        """注册支持的工作流"""
+        self.supported_workflows["example_workflow"] = WorkflowInfo(
+            name="example_workflow",
+            description="这是一个示例工作流",
+            estimated_duration=300.0,
+            required_materials=["sample_plate"],
+            output_product="processed_plate",
+            parameters_schema={"param1": "string", "param2": "integer"},
+        )
+
+    def _execute_workflow_impl(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
+        """执行工作流的具体实现"""
+        if workflow_name not in self.supported_workflows:
+            logger.error(f"工作站 {self.device_id} 不支持工作流: {workflow_name}")
+            return False
+
+        # 这里添加实际的工作流逻辑
+        logger.info(f"工作站 {self.device_id} 正在执行工作流: {workflow_name} with parameters {parameters}")
+        return True
+
+    def _stop_workflow_impl(self, emergency: bool = False) -> bool:
+        """停止工作流的具体实现"""
+        # 这里添加实际的停止逻辑
+        logger.info(f"工作站 {self.device_id} 正在停止工作流 (紧急: {emergency})")
+        return True

unilabos/devices/workstation/workstation_http_service.py

@@ -0,0 +1,605 @@
+"""
+工作站HTTP服务模块
+Workstation HTTP Service Module
+
+统一的工作站报送接收服务，基于LIMS协议规范：
+1. 步骤完成报送 - POST /report/step_finish
+2. 通量完成报送 - POST /report/sample_finish  
+3. 任务完成报送 - POST /report/order_finish
+4. 批量更新报送 - POST /report/batch_update
+5. 物料变更报送 - POST /report/material_change
+6. 错误处理报送 - POST /report/error_handling
+7. 健康检查和状态查询
+
+统一使用LIMS协议字段规范，简化接口避免功能重复
+"""
+import json
+import threading
+import time
+import traceback
+from typing import Dict, Any, Optional, List
+from http.server import BaseHTTPRequestHandler, HTTPServer
+from urllib.parse import urlparse
+from dataclasses import dataclass, asdict
+from datetime import datetime
+
+from unilabos.utils.log import logger
+
+
+@dataclass
+class WorkstationReportRequest:
+    """统一工作站报送请求（基于LIMS协议规范）"""
+    token: str                     # 授权令牌
+    request_time: str              # 请求时间，格式：2024-12-12 12:12:12.xxx
+    data: Dict[str, Any]           # 报送数据
+
+
+@dataclass
+class MaterialUsage:
+    """物料使用记录"""
+    materialId: str                # 物料Id（GUID）
+    locationId: str                # 库位Id（GUID）
+    typeMode: str                  # 物料类型（样品1、试剂2、耗材0）
+    usedQuantity: float            # 使用的数量（数字）
+
+
+@dataclass
+class HttpResponse:
+    """HTTP响应"""
+    success: bool
+    message: str
+    data: Optional[Dict[str, Any]] = None
+    acknowledgment_id: Optional[str] = None
+
+
+class WorkstationHTTPHandler(BaseHTTPRequestHandler):
+    """工作站HTTP请求处理器"""
+    
+    def __init__(self, workstation_instance, *args, **kwargs):
+        self.workstation = workstation_instance
+        super().__init__(*args, **kwargs)
+    
+    def do_POST(self):
+        """处理POST请求 - 统一的工作站报送接口"""
+        try:
+            # 解析请求路径
+            parsed_path = urlparse(self.path)
+            endpoint = parsed_path.path
+            
+            # 读取请求体
+            content_length = int(self.headers.get('Content-Length', 0))
+            if content_length > 0:
+                post_data = self.rfile.read(content_length)
+                request_data = json.loads(post_data.decode('utf-8'))
+            else:
+                request_data = {}
+            
+            logger.info(f"收到工作站报送: {endpoint} - {request_data.get('token', 'unknown')}")
+            
+            # 统一的报送端点路由（基于LIMS协议规范）
+            if endpoint == '/report/step_finish':
+                response = self._handle_step_finish_report(request_data)
+            elif endpoint == '/report/sample_finish':
+                response = self._handle_sample_finish_report(request_data)
+            elif endpoint == '/report/order_finish':
+                response = self._handle_order_finish_report(request_data)
+            elif endpoint == '/report/batch_update':
+                response = self._handle_batch_update_report(request_data)
+            # 扩展报送端点
+            elif endpoint == '/report/material_change':
+                response = self._handle_material_change_report(request_data)
+            elif endpoint == '/report/error_handling':
+                response = self._handle_error_handling_report(request_data)
+            # 保留LIMS协议端点以兼容现有系统
+            elif endpoint == '/LIMS/step_finish':
+                response = self._handle_step_finish_report(request_data)
+            elif endpoint == '/LIMS/preintake_finish':
+                response = self._handle_sample_finish_report(request_data)
+            elif endpoint == '/LIMS/order_finish':
+                response = self._handle_order_finish_report(request_data)
+            else:
+                response = HttpResponse(
+                    success=False,
+                    message=f"不支持的报送端点: {endpoint}",
+                    data={"supported_endpoints": [
+                        "/report/step_finish", 
+                        "/report/sample_finish", 
+                        "/report/order_finish",
+                        "/report/batch_update",
+                        "/report/material_change",
+                        "/report/error_handling"
+                    ]}
+                )
+            
+            # 发送响应
+            self._send_response(response)
+            
+        except Exception as e:
+            logger.error(f"处理工作站报送失败: {e}\\n{traceback.format_exc()}")
+            error_response = HttpResponse(
+                success=False,
+                message=f"请求处理失败: {str(e)}"
+            )
+            self._send_response(error_response)
+    
+    def do_GET(self):
+        """处理GET请求 - 健康检查和状态查询"""
+        try:
+            parsed_path = urlparse(self.path)
+            endpoint = parsed_path.path
+            
+            if endpoint == '/status':
+                response = self._handle_status_check()
+            elif endpoint == '/health':
+                response = HttpResponse(success=True, message="服务健康")
+            else:
+                response = HttpResponse(
+                    success=False,
+                    message=f"不支持的查询端点: {endpoint}",
+                    data={"supported_endpoints": ["/status", "/health"]}
+                )
+            
+            self._send_response(response)
+            
+        except Exception as e:
+            logger.error(f"GET请求处理失败: {e}")
+            error_response = HttpResponse(
+                success=False,
+                message=f"GET请求处理失败: {str(e)}"
+            )
+            self._send_response(error_response)
+    
+    def _handle_step_finish_report(self, request_data: Dict[str, Any]) -> HttpResponse:
+        """处理步骤完成报送（统一LIMS协议规范）"""
+        try:
+            # 验证基本字段
+            required_fields = ['token', 'request_time', 'data']
+            if missing_fields := [field for field in required_fields if field not in request_data]:
+                return HttpResponse(
+                    success=False,
+                    message=f"缺少必要字段: {', '.join(missing_fields)}"
+                )
+            
+            # 验证data字段内容
+            data = request_data['data']
+            data_required_fields = ['orderCode', 'orderName', 'stepName', 'stepId', 'sampleId', 'startTime', 'endTime']
+            if data_missing_fields := [field for field in data_required_fields if field not in data]:
+                return HttpResponse(
+                    success=False,
+                    message=f"data字段缺少必要内容: {', '.join(data_missing_fields)}"
+                )
+            
+            # 创建统一请求对象
+            report_request = WorkstationReportRequest(
+                token=request_data['token'],
+                request_time=request_data['request_time'],
+                data=data
+            )
+            
+            # 调用工作站处理方法
+            result = self.workstation.process_step_finish_report(report_request)
+            
+            return HttpResponse(
+                success=True,
+                message=f"步骤完成报送已处理: {data['stepName']} ({data['orderCode']})",
+                acknowledgment_id=f"STEP_{int(time.time() * 1000)}_{data['stepId']}",
+                data=result
+            )
+                
+        except Exception as e:
+            logger.error(f"处理步骤完成报送失败: {e}")
+            return HttpResponse(
+                success=False,
+                message=f"步骤完成报送处理失败: {str(e)}"
+            )
+    
+    def _handle_sample_finish_report(self, request_data: Dict[str, Any]) -> HttpResponse:
+        """处理通量完成报送（统一LIMS协议规范）"""
+        try:
+            # 验证基本字段
+            required_fields = ['token', 'request_time', 'data']
+            if missing_fields := [field for field in required_fields if field not in request_data]:
+                return HttpResponse(
+                    success=False,
+                    message=f"缺少必要字段: {', '.join(missing_fields)}"
+                )
+            
+            # 验证data字段内容
+            data = request_data['data']
+            data_required_fields = ['orderCode', 'orderName', 'sampleId', 'startTime', 'endTime', 'Status']
+            if data_missing_fields := [field for field in data_required_fields if field not in data]:
+                return HttpResponse(
+                    success=False,
+                    message=f"data字段缺少必要内容: {', '.join(data_missing_fields)}"
+                )
+            
+            # 创建统一请求对象
+            report_request = WorkstationReportRequest(
+                token=request_data['token'],
+                request_time=request_data['request_time'],
+                data=data
+            )
+            
+            # 调用工作站处理方法
+            result = self.workstation.process_sample_finish_report(report_request)
+            
+            status_names = {
+                "0": "待生产", "2": "进样", "10": "开始", 
+                "20": "完成", "-2": "异常停止", "-3": "人工停止"
+            }
+            status_desc = status_names.get(str(data['Status']), f"状态{data['Status']}")
+            
+            return HttpResponse(
+                success=True,
+                message=f"通量完成报送已处理: {data['sampleId']} ({data['orderCode']}) - {status_desc}",
+                acknowledgment_id=f"SAMPLE_{int(time.time() * 1000)}_{data['sampleId']}",
+                data=result
+            )
+                
+        except Exception as e:
+            logger.error(f"处理通量完成报送失败: {e}")
+            return HttpResponse(
+                success=False,
+                message=f"通量完成报送处理失败: {str(e)}"
+            )
+    
+    def _handle_order_finish_report(self, request_data: Dict[str, Any]) -> HttpResponse:
+        """处理任务完成报送（统一LIMS协议规范）"""
+        try:
+            # 验证基本字段
+            required_fields = ['token', 'request_time', 'data']
+            if missing_fields := [field for field in required_fields if field not in request_data]:
+                return HttpResponse(
+                    success=False,
+                    message=f"缺少必要字段: {', '.join(missing_fields)}"
+                )
+            
+            # 验证data字段内容
+            data = request_data['data']
+            data_required_fields = ['orderCode', 'orderName', 'startTime', 'endTime', 'status']
+            if data_missing_fields := [field for field in data_required_fields if field not in data]:
+                return HttpResponse(
+                    success=False,
+                    message=f"data字段缺少必要内容: {', '.join(data_missing_fields)}"
+                )
+            
+            # 处理物料使用记录
+            used_materials = []
+            if 'usedMaterials' in data:
+                for material_data in data['usedMaterials']:
+                    material = MaterialUsage(
+                        materialId=material_data.get('materialId', ''),
+                        locationId=material_data.get('locationId', ''),
+                        typeMode=material_data.get('typeMode', ''),
+                        usedQuantity=material_data.get('usedQuantity', 0.0)
+                    )
+                    used_materials.append(material)
+            
+            # 创建统一请求对象
+            report_request = WorkstationReportRequest(
+                token=request_data['token'],
+                request_time=request_data['request_time'],
+                data=data
+            )
+            
+            # 调用工作站处理方法
+            result = self.workstation.process_order_finish_report(report_request, used_materials)
+            
+            status_names = {"30": "完成", "-11": "异常停止", "-12": "人工停止"}
+            status_desc = status_names.get(str(data['status']), f"状态{data['status']}")
+            
+            return HttpResponse(
+                success=True,
+                message=f"任务完成报送已处理: {data['orderName']} ({data['orderCode']}) - {status_desc}",
+                acknowledgment_id=f"ORDER_{int(time.time() * 1000)}_{data['orderCode']}",
+                data=result
+            )
+                
+        except Exception as e:
+            logger.error(f"处理任务完成报送失败: {e}")
+            return HttpResponse(
+                success=False,
+                message=f"任务完成报送处理失败: {str(e)}"
+            )
+    
+    def _handle_batch_update_report(self, request_data: Dict[str, Any]) -> HttpResponse:
+        """处理批量报送"""
+        try:
+            step_updates = request_data.get('step_updates', [])
+            sample_updates = request_data.get('sample_updates', [])
+            order_updates = request_data.get('order_updates', [])
+            
+            results = {
+                'step_results': [],
+                'sample_results': [],
+                'order_results': [],
+                'total_processed': 0,
+                'total_failed': 0
+            }
+            
+            # 处理批量步骤更新
+            for step_data in step_updates:
+                try:
+                    step_data['token'] = request_data.get('token', step_data.get('token'))
+                    step_data['request_time'] = request_data.get('request_time', step_data.get('request_time'))
+                    result = self._handle_step_finish_report(step_data)
+                    results['step_results'].append(result)
+                    if result.success:
+                        results['total_processed'] += 1
+                    else:
+                        results['total_failed'] += 1
+                except Exception as e:
+                    results['step_results'].append(HttpResponse(success=False, message=str(e)))
+                    results['total_failed'] += 1
+            
+            # 处理批量通量更新
+            for sample_data in sample_updates:
+                try:
+                    sample_data['token'] = request_data.get('token', sample_data.get('token'))
+                    sample_data['request_time'] = request_data.get('request_time', sample_data.get('request_time'))
+                    result = self._handle_sample_finish_report(sample_data)
+                    results['sample_results'].append(result)
+                    if result.success:
+                        results['total_processed'] += 1
+                    else:
+                        results['total_failed'] += 1
+                except Exception as e:
+                    results['sample_results'].append(HttpResponse(success=False, message=str(e)))
+                    results['total_failed'] += 1
+            
+            # 处理批量任务更新
+            for order_data in order_updates:
+                try:
+                    order_data['token'] = request_data.get('token', order_data.get('token'))
+                    order_data['request_time'] = request_data.get('request_time', order_data.get('request_time'))
+                    result = self._handle_order_finish_report(order_data)
+                    results['order_results'].append(result)
+                    if result.success:
+                        results['total_processed'] += 1
+                    else:
+                        results['total_failed'] += 1
+                except Exception as e:
+                    results['order_results'].append(HttpResponse(success=False, message=str(e)))
+                    results['total_failed'] += 1
+            
+            return HttpResponse(
+                success=results['total_failed'] == 0,
+                message=f"批量报送处理完成: {results['total_processed']} 成功, {results['total_failed']} 失败",
+                acknowledgment_id=f"BATCH_{int(time.time() * 1000)}",
+                data=results
+            )
+            
+        except Exception as e:
+            logger.error(f"处理批量报送失败: {e}")
+            return HttpResponse(
+                success=False,
+                message=f"批量报送处理失败: {str(e)}"
+            )
+    
+    def _handle_material_change_report(self, request_data: Dict[str, Any]) -> HttpResponse:
+        """处理物料变更报送"""
+        try:
+            # 验证必需字段
+            required_fields = ['workstation_id', 'timestamp', 'resource_id', 'change_type']
+            if missing_fields := [field for field in required_fields if field not in request_data]:
+                return HttpResponse(
+                    success=False,
+                    message=f"缺少必要字段: {', '.join(missing_fields)}"
+                )
+            
+            # 调用工作站的处理方法
+            result = self.workstation.process_material_change_report(request_data)
+            
+            return HttpResponse(
+                success=True,
+                message=f"物料变更报送已处理: {request_data['resource_id']} ({request_data['change_type']})",
+                acknowledgment_id=f"MATERIAL_{int(time.time() * 1000)}_{request_data['resource_id']}",
+                data=result
+            )
+                
+        except Exception as e:
+            logger.error(f"处理物料变更报送失败: {e}")
+            return HttpResponse(
+                success=False,
+                message=f"物料变更报送处理失败: {str(e)}"
+            )
+    
+    def _handle_error_handling_report(self, request_data: Dict[str, Any]) -> HttpResponse:
+        """处理错误处理报送"""
+        try:
+            # 验证必需字段
+            required_fields = ['workstation_id', 'timestamp', 'error_type', 'error_message']
+            if missing_fields := [field for field in required_fields if field not in request_data]:
+                return HttpResponse(
+                    success=False,
+                    message=f"缺少必要字段: {', '.join(missing_fields)}"
+                )
+            
+            # 调用工作站的处理方法
+            result = self.workstation.handle_external_error(request_data)
+            
+            return HttpResponse(
+                success=True,
+                message=f"错误处理报送已处理: {request_data['error_type']} - {request_data['error_message']}",
+                acknowledgment_id=f"ERROR_{int(time.time() * 1000)}_{request_data.get('action_id', 'unknown')}",
+                data=result
+            )
+                
+        except Exception as e:
+            logger.error(f"处理错误处理报送失败: {e}")
+            return HttpResponse(
+                success=False,
+                message=f"错误处理报送处理失败: {str(e)}"
+            )
+    
+    def _handle_status_check(self) -> HttpResponse:
+        """处理状态查询"""
+        try:
+            return HttpResponse(
+                success=True,
+                message="工作站报送服务正常运行",
+                data={
+                    "workstation_id": self.workstation.device_id,
+                    "service_type": "unified_reporting_service",
+                    "uptime": time.time() - getattr(self.workstation, '_start_time', time.time()),
+                    "reports_received": getattr(self.workstation, '_reports_received_count', 0),
+                    "supported_endpoints": [
+                        "POST /report/step_finish",
+                        "POST /report/sample_finish", 
+                        "POST /report/order_finish",
+                        "POST /report/batch_update",
+                        "POST /report/material_change",
+                        "POST /report/error_handling",
+                        "GET /status",
+                        "GET /health"
+                    ]
+                }
+            )
+        except Exception as e:
+            logger.error(f"处理状态查询失败: {e}")
+            return HttpResponse(
+                success=False,
+                message=f"状态查询失败: {str(e)}"
+            )
+    
+    def _send_response(self, response: HttpResponse):
+        """发送响应"""
+        try:
+            # 设置响应状态码
+            status_code = 200 if response.success else 400
+            self.send_response(status_code)
+            
+            # 设置响应头
+            self.send_header('Content-Type', 'application/json; charset=utf-8')
+            self.send_header('Access-Control-Allow-Origin', '*')
+            self.send_header('Access-Control-Allow-Methods', 'GET, POST, OPTIONS')
+            self.send_header('Access-Control-Allow-Headers', 'Content-Type')
+            self.end_headers()
+            
+            # 发送响应体
+            response_json = json.dumps(asdict(response), ensure_ascii=False, indent=2)
+            self.wfile.write(response_json.encode('utf-8'))
+            
+        except Exception as e:
+            logger.error(f"发送响应失败: {e}")
+    
+    def log_message(self, format, *args):
+        """重写日志方法"""
+        logger.debug(f"HTTP请求: {format % args}")
+
+
+class WorkstationHTTPService:
+    """工作站HTTP服务"""
+    
+    def __init__(self, workstation_instance, host: str = "127.0.0.1", port: int = 8080):
+        self.workstation = workstation_instance
+        self.host = host
+        self.port = port
+        self.server = None
+        self.server_thread = None
+        self.running = False
+        
+        # 初始化统计信息
+        self.workstation._start_time = time.time()
+        self.workstation._reports_received_count = 0
+    
+    def start(self):
+        """启动HTTP服务"""
+        try:
+            # 创建处理器工厂函数
+            def handler_factory(*args, **kwargs):
+                return WorkstationHTTPHandler(self.workstation, *args, **kwargs)
+            
+            # 创建HTTP服务器
+            self.server = HTTPServer((self.host, self.port), handler_factory)
+            
+            # 在单独线程中运行服务器
+            self.server_thread = threading.Thread(
+                target=self._run_server,
+                daemon=True,
+                name=f"WorkstationHTTP-{self.workstation.device_id}"
+            )
+            
+            self.running = True
+            self.server_thread.start()
+            
+            logger.info(f"工作站HTTP报送服务已启动: http://{self.host}:{self.port}")
+            logger.info("统一的报送端点 (基于LIMS协议规范):")
+            logger.info("  - POST /report/step_finish    # 步骤完成报送")
+            logger.info("  - POST /report/sample_finish  # 通量完成报送")
+            logger.info("  - POST /report/order_finish   # 任务完成报送")
+            logger.info("  - POST /report/batch_update   # 批量更新报送")
+            logger.info("扩展报送端点:")
+            logger.info("  - POST /report/material_change # 物料变更报送")
+            logger.info("  - POST /report/error_handling  # 错误处理报送")
+            logger.info("兼容端点:")
+            logger.info("  - POST /LIMS/step_finish      # 兼容LIMS步骤完成")
+            logger.info("  - POST /LIMS/preintake_finish # 兼容LIMS通量完成")
+            logger.info("  - POST /LIMS/order_finish     # 兼容LIMS任务完成")
+            logger.info("服务端点:")
+            logger.info("  - GET  /status                # 服务状态查询")
+            logger.info("  - GET  /health                # 健康检查")
+            
+        except Exception as e:
+            logger.error(f"启动HTTP服务失败: {e}")
+            raise
+    
+    def stop(self):
+        """停止HTTP服务"""
+        try:
+            if self.running and self.server:
+                self.running = False
+                self.server.shutdown()
+                self.server.server_close()
+                
+                if self.server_thread and self.server_thread.is_alive():
+                    self.server_thread.join(timeout=5.0)
+                
+                logger.info("工作站HTTP报送服务已停止")
+                
+        except Exception as e:
+            logger.error(f"停止HTTP服务失败: {e}")
+    
+    def _run_server(self):
+        """运行HTTP服务器"""
+        try:
+            while self.running:
+                self.server.handle_request()
+        except Exception as e:
+            if self.running:  # 只在非正常停止时记录错误
+                logger.error(f"HTTP服务运行错误: {e}")
+    
+    @property
+    def is_running(self) -> bool:
+        """检查服务是否正在运行"""
+        return self.running and self.server_thread and self.server_thread.is_alive()
+    
+    @property
+    def service_url(self) -> str:
+        """获取服务URL"""
+        return f"http://{self.host}:{self.port}"
+
+
+# 导出主要类 - 保持向后兼容
+@dataclass
+class MaterialChangeReport:
+    """已废弃：物料变更报送，请使用统一的WorkstationReportRequest"""
+    pass
+
+
+@dataclass 
+class TaskExecutionReport:
+    """已废弃：任务执行报送，请使用统一的WorkstationReportRequest"""
+    pass
+
+
+# 导出列表
+__all__ = [
+    'WorkstationReportRequest',
+    'MaterialUsage',
+    'HttpResponse',
+    'WorkstationHTTPService',
+    # 向后兼容
+    'MaterialChangeReport',
+    'TaskExecutionReport'
+]

unilabos/devices/workstation/workstation_material_management.py

@@ -0,0 +1,583 @@
+"""
+工作站物料管理基类
+Workstation Material Management Base Class
+
+基于PyLabRobot的物料管理系统
+"""
+from typing import Dict, Any, List, Optional, Union, Type
+from abc import ABC, abstractmethod
+import json
+
+from pylabrobot.resources import (
+    Resource as PLRResource,
+    Container,
+    Deck,
+    Coordinate as PLRCoordinate,
+)
+
+from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
+from unilabos.utils.log import logger
+from unilabos.resources.graphio import resource_plr_to_ulab, resource_ulab_to_plr
+
+
+class MaterialManagementBase(ABC):
+    """物料管理基类
+    
+    定义工作站物料管理的标准接口：
+    1. 物料初始化 - 根据配置创建物料资源
+    2. 物料追踪 - 实时跟踪物料位置和状态
+    3. 物料查找 - 按类型、位置、状态查找物料
+    4. 物料转换 - PyLabRobot与UniLab资源格式转换
+    """
+
+    def __init__(
+        self,
+        device_id: str,
+        deck_config: Dict[str, Any],
+        resource_tracker: DeviceNodeResourceTracker,
+        children_config: Dict[str, Dict[str, Any]] = None
+    ):
+        self.device_id = device_id
+        self.deck_config = deck_config
+        self.resource_tracker = resource_tracker
+        self.children_config = children_config or {}
+        
+        # 创建主台面
+        self.plr_deck = self._create_deck()
+        
+        # 扩展ResourceTracker
+        self._extend_resource_tracker()
+        
+        # 注册deck到resource tracker
+        self.resource_tracker.add_resource(self.plr_deck)
+        
+        # 初始化子资源
+        self.plr_resources = {}
+        self._initialize_materials()
+
+    def _create_deck(self) -> Deck:
+        """创建主台面"""
+        return Deck(
+            name=f"{self.device_id}_deck",
+            size_x=self.deck_config.get("size_x", 1000.0),
+            size_y=self.deck_config.get("size_y", 1000.0),
+            size_z=self.deck_config.get("size_z", 500.0),
+            origin=PLRCoordinate(0, 0, 0)
+        )
+
+    def _extend_resource_tracker(self):
+        """扩展ResourceTracker以支持PyLabRobot特定功能"""
+        
+        def find_by_type(resource_type):
+            """按类型查找资源"""
+            return self._find_resources_by_type_recursive(self.plr_deck, resource_type)
+        
+        def find_by_category(category: str):
+            """按类别查找资源"""
+            found = []
+            for resource in self._get_all_resources():
+                if hasattr(resource, 'category') and resource.category == category:
+                    found.append(resource)
+            return found
+        
+        def find_by_name_pattern(pattern: str):
+            """按名称模式查找资源"""
+            import re
+            found = []
+            for resource in self._get_all_resources():
+                if re.search(pattern, resource.name):
+                    found.append(resource)
+            return found
+        
+        # 动态添加方法到resource_tracker
+        self.resource_tracker.find_by_type = find_by_type
+        self.resource_tracker.find_by_category = find_by_category
+        self.resource_tracker.find_by_name_pattern = find_by_name_pattern
+
+    def _find_resources_by_type_recursive(self, resource, target_type):
+        """递归查找指定类型的资源"""
+        found = []
+        if isinstance(resource, target_type):
+            found.append(resource)
+        
+        # 递归查找子资源
+        children = getattr(resource, "children", [])
+        for child in children:
+            found.extend(self._find_resources_by_type_recursive(child, target_type))
+        
+        return found
+
+    def _get_all_resources(self) -> List[PLRResource]:
+        """获取所有资源"""
+        all_resources = []
+        
+        def collect_resources(resource):
+            all_resources.append(resource)
+            children = getattr(resource, "children", [])
+            for child in children:
+                collect_resources(child)
+        
+        collect_resources(self.plr_deck)
+        return all_resources
+
+    def _initialize_materials(self):
+        """初始化物料"""
+        try:
+            # 确定创建顺序，确保父资源先于子资源创建
+            creation_order = self._determine_creation_order()
+            
+            # 按顺序创建资源
+            for resource_id in creation_order:
+                config = self.children_config[resource_id]
+                self._create_plr_resource(resource_id, config)
+            
+            logger.info(f"物料管理系统初始化完成，共创建 {len(self.plr_resources)} 个资源")
+            
+        except Exception as e:
+            logger.error(f"物料初始化失败: {e}")
+
+    def _determine_creation_order(self) -> List[str]:
+        """确定资源创建顺序"""
+        order = []
+        visited = set()
+        
+        def visit(resource_id: str):
+            if resource_id in visited:
+                return
+            visited.add(resource_id)
+            
+            config = self.children_config.get(resource_id, {})
+            parent_id = config.get("parent")
+            
+            # 如果有父资源，先访问父资源
+            if parent_id and parent_id in self.children_config:
+                visit(parent_id)
+            
+            order.append(resource_id)
+        
+        for resource_id in self.children_config:
+            visit(resource_id)
+        
+        return order
+
+    def _create_plr_resource(self, resource_id: str, config: Dict[str, Any]):
+        """创建PyLabRobot资源"""
+        try:
+            resource_type = config.get("type", "unknown")
+            data = config.get("data", {})
+            location_config = config.get("location", {})
+            
+            # 创建位置坐标
+            location = PLRCoordinate(
+                x=location_config.get("x", 0.0),
+                y=location_config.get("y", 0.0),
+                z=location_config.get("z", 0.0)
+            )
+            
+            # 根据类型创建资源
+            resource = self._create_resource_by_type(resource_id, resource_type, config, data, location)
+            
+            if resource:
+                # 设置父子关系
+                parent_id = config.get("parent")
+                if parent_id and parent_id in self.plr_resources:
+                    parent_resource = self.plr_resources[parent_id]
+                    parent_resource.assign_child_resource(resource, location)
+                else:
+                    # 直接放在deck上
+                    self.plr_deck.assign_child_resource(resource, location)
+                
+                # 保存资源引用
+                self.plr_resources[resource_id] = resource
+                
+                # 注册到resource tracker
+                self.resource_tracker.add_resource(resource)
+                
+                logger.debug(f"创建资源成功: {resource_id} ({resource_type})")
+            
+        except Exception as e:
+            logger.error(f"创建资源失败 {resource_id}: {e}")
+
+    @abstractmethod
+    def _create_resource_by_type(
+        self, 
+        resource_id: str, 
+        resource_type: str, 
+        config: Dict[str, Any], 
+        data: Dict[str, Any], 
+        location: PLRCoordinate
+    ) -> Optional[PLRResource]:
+        """根据类型创建资源 - 子类必须实现"""
+        pass
+
+    # ============ 物料查找接口 ============
+    
+    def find_materials_by_type(self, material_type: str) -> List[PLRResource]:
+        """按材料类型查找物料"""
+        return self.resource_tracker.find_by_category(material_type)
+
+    def find_material_by_id(self, resource_id: str) -> Optional[PLRResource]:
+        """按ID查找物料"""
+        return self.plr_resources.get(resource_id)
+
+    def find_available_positions(self, position_type: str) -> List[PLRResource]:
+        """查找可用位置"""
+        positions = self.resource_tracker.find_by_category(position_type)
+        available = []
+        
+        for pos in positions:
+            if hasattr(pos, 'is_available') and pos.is_available():
+                available.append(pos)
+            elif hasattr(pos, 'children') and len(pos.children) == 0:
+                available.append(pos)
+        
+        return available
+
+    def get_material_inventory(self) -> Dict[str, int]:
+        """获取物料库存统计"""
+        inventory = {}
+        
+        for resource in self._get_all_resources():
+            if hasattr(resource, 'category'):
+                category = resource.category
+                inventory[category] = inventory.get(category, 0) + 1
+        
+        return inventory
+
+    # ============ 物料状态更新接口 ============
+    
+    def update_material_location(self, material_id: str, new_location: PLRCoordinate) -> bool:
+        """更新物料位置"""
+        try:
+            material = self.find_material_by_id(material_id)
+            if material:
+                material.location = new_location
+                return True
+            return False
+        except Exception as e:
+            logger.error(f"更新物料位置失败: {e}")
+            return False
+
+    def move_material(self, material_id: str, target_container_id: str) -> bool:
+        """移动物料到目标容器"""
+        try:
+            material = self.find_material_by_id(material_id)
+            target = self.find_material_by_id(target_container_id)
+            
+            if material and target:
+                # 从原位置移除
+                if material.parent:
+                    material.parent.unassign_child_resource(material)
+                
+                # 添加到新位置
+                target.assign_child_resource(material)
+                return True
+            
+            return False
+            
+        except Exception as e:
+            logger.error(f"移动物料失败: {e}")
+            return False
+
+    # ============ 资源转换接口 ============
+    
+    def convert_to_unilab_format(self, plr_resource: PLRResource) -> Dict[str, Any]:
+        """将PyLabRobot资源转换为UniLab格式"""
+        return resource_plr_to_ulab(plr_resource)
+
+    def convert_from_unilab_format(self, unilab_resource: Dict[str, Any]) -> PLRResource:
+        """将UniLab格式转换为PyLabRobot资源"""
+        return resource_ulab_to_plr(unilab_resource)
+
+    def get_deck_state(self) -> Dict[str, Any]:
+        """获取Deck状态"""
+        try:
+            return {
+                "deck_info": {
+                    "name": self.plr_deck.name,
+                    "size": {
+                        "x": self.plr_deck.size_x,
+                        "y": self.plr_deck.size_y,
+                        "z": self.plr_deck.size_z
+                    },
+                    "children_count": len(self.plr_deck.children)
+                },
+                "resources": {
+                    resource_id: self.convert_to_unilab_format(resource)
+                    for resource_id, resource in self.plr_resources.items()
+                },
+                "inventory": self.get_material_inventory()
+            }
+        except Exception as e:
+            logger.error(f"获取Deck状态失败: {e}")
+            return {"error": str(e)}
+
+    # ============ 数据持久化接口 ============
+    
+    def save_state_to_file(self, file_path: str) -> bool:
+        """保存状态到文件"""
+        try:
+            state = self.get_deck_state()
+            with open(file_path, 'w', encoding='utf-8') as f:
+                json.dump(state, f, indent=2, ensure_ascii=False)
+            logger.info(f"状态已保存到: {file_path}")
+            return True
+        except Exception as e:
+            logger.error(f"保存状态失败: {e}")
+            return False
+
+    def load_state_from_file(self, file_path: str) -> bool:
+        """从文件加载状态"""
+        try:
+            with open(file_path, 'r', encoding='utf-8') as f:
+                state = json.load(f)
+            
+            # 重新创建资源
+            self._recreate_resources_from_state(state)
+            logger.info(f"状态已从文件加载: {file_path}")
+            return True
+            
+        except Exception as e:
+            logger.error(f"加载状态失败: {e}")
+            return False
+
+    def _recreate_resources_from_state(self, state: Dict[str, Any]):
+        """从状态重新创建资源"""
+        # 清除现有资源
+        self.plr_resources.clear()
+        self.plr_deck.children.clear()
+        
+        # 从状态重新创建
+        resources_data = state.get("resources", {})
+        for resource_id, resource_data in resources_data.items():
+            try:
+                plr_resource = self.convert_from_unilab_format(resource_data)
+                self.plr_resources[resource_id] = plr_resource
+                self.plr_deck.assign_child_resource(plr_resource)
+            except Exception as e:
+                logger.error(f"重新创建资源失败 {resource_id}: {e}")
+
+
+class CoinCellMaterialManagement(MaterialManagementBase):
+    """纽扣电池物料管理类
+    
+    从 button_battery_station 抽取的物料管理功能
+    """
+
+    def _create_resource_by_type(
+        self, 
+        resource_id: str, 
+        resource_type: str, 
+        config: Dict[str, Any], 
+        data: Dict[str, Any], 
+        location: PLRCoordinate
+    ) -> Optional[PLRResource]:
+        """根据类型创建纽扣电池相关资源"""
+        
+        # 导入纽扣电池资源类
+        from unilabos.device_comms.button_battery_station import (
+            MaterialPlate, PlateSlot, ClipMagazine, BatteryPressSlot,
+            TipBox64, WasteTipBox, BottleRack, Battery, ElectrodeSheet
+        )
+        
+        try:
+            if resource_type == "material_plate":
+                return self._create_material_plate(resource_id, config, data, location)
+            
+            elif resource_type == "plate_slot":
+                return self._create_plate_slot(resource_id, config, data, location)
+            
+            elif resource_type == "clip_magazine":
+                return self._create_clip_magazine(resource_id, config, data, location)
+            
+            elif resource_type == "battery_press_slot":
+                return self._create_battery_press_slot(resource_id, config, data, location)
+            
+            elif resource_type == "tip_box":
+                return self._create_tip_box(resource_id, config, data, location)
+            
+            elif resource_type == "waste_tip_box":
+                return self._create_waste_tip_box(resource_id, config, data, location)
+            
+            elif resource_type == "bottle_rack":
+                return self._create_bottle_rack(resource_id, config, data, location)
+            
+            elif resource_type == "battery":
+                return self._create_battery(resource_id, config, data, location)
+            
+            else:
+                logger.warning(f"未知的资源类型: {resource_type}")
+                return None
+                
+        except Exception as e:
+            logger.error(f"创建资源失败 {resource_id} ({resource_type}): {e}")
+            return None
+
+    def _create_material_plate(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
+        """创建料板"""
+        from unilabos.device_comms.button_battery_station import MaterialPlate, ElectrodeSheet
+        
+        plate = MaterialPlate(
+            name=resource_id,
+            size_x=config.get("size_x", 80.0),
+            size_y=config.get("size_y", 80.0),
+            size_z=config.get("size_z", 10.0),
+            hole_diameter=config.get("hole_diameter", 15.0),
+            hole_depth=config.get("hole_depth", 8.0),
+            hole_spacing_x=config.get("hole_spacing_x", 20.0),
+            hole_spacing_y=config.get("hole_spacing_y", 20.0),
+            number=data.get("number", "")
+        )
+        plate.location = location
+        
+        # 如果有预填充的极片数据，创建极片
+        electrode_sheets = data.get("electrode_sheets", [])
+        for i, sheet_data in enumerate(electrode_sheets):
+            if i < len(plate.children):  # 确保不超过洞位数量
+                hole = plate.children[i]
+                sheet = ElectrodeSheet(
+                    name=f"{resource_id}_sheet_{i}",
+                    diameter=sheet_data.get("diameter", 14.0),
+                    thickness=sheet_data.get("thickness", 0.1),
+                    mass=sheet_data.get("mass", 0.01),
+                    material_type=sheet_data.get("material_type", "cathode"),
+                    info=sheet_data.get("info", "")
+                )
+                hole.place_electrode_sheet(sheet)
+        
+        return plate
+
+    def _create_plate_slot(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
+        """创建板槽位"""
+        from unilabos.device_comms.button_battery_station import PlateSlot
+        
+        slot = PlateSlot(
+            name=resource_id,
+            max_plates=config.get("max_plates", 8)
+        )
+        slot.location = location
+        return slot
+
+    def _create_clip_magazine(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
+        """创建子弹夹"""
+        from unilabos.device_comms.button_battery_station import ClipMagazine
+        
+        magazine = ClipMagazine(
+            name=resource_id,
+            size_x=config.get("size_x", 150.0),
+            size_y=config.get("size_y", 100.0),
+            size_z=config.get("size_z", 50.0),
+            hole_diameter=config.get("hole_diameter", 15.0),
+            hole_depth=config.get("hole_depth", 40.0),
+            hole_spacing=config.get("hole_spacing", 25.0),
+            max_sheets_per_hole=config.get("max_sheets_per_hole", 100)
+        )
+        magazine.location = location
+        return magazine
+
+    def _create_battery_press_slot(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
+        """创建电池压制槽"""
+        from unilabos.device_comms.button_battery_station import BatteryPressSlot
+        
+        slot = BatteryPressSlot(
+            name=resource_id,
+            diameter=config.get("diameter", 20.0),
+            depth=config.get("depth", 15.0)
+        )
+        slot.location = location
+        return slot
+
+    def _create_tip_box(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
+        """创建枪头盒"""
+        from unilabos.device_comms.button_battery_station import TipBox64
+        
+        tip_box = TipBox64(
+            name=resource_id,
+            size_x=config.get("size_x", 127.8),
+            size_y=config.get("size_y", 85.5),
+            size_z=config.get("size_z", 60.0),
+            with_tips=data.get("with_tips", True)
+        )
+        tip_box.location = location
+        return tip_box
+
+    def _create_waste_tip_box(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
+        """创建废枪头盒"""
+        from unilabos.device_comms.button_battery_station import WasteTipBox
+        
+        waste_box = WasteTipBox(
+            name=resource_id,
+            size_x=config.get("size_x", 127.8),
+            size_y=config.get("size_y", 85.5),
+            size_z=config.get("size_z", 60.0),
+            max_tips=config.get("max_tips", 100)
+        )
+        waste_box.location = location
+        return waste_box
+
+    def _create_bottle_rack(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
+        """创建瓶架"""
+        from unilabos.device_comms.button_battery_station import BottleRack
+        
+        rack = BottleRack(
+            name=resource_id,
+            size_x=config.get("size_x", 210.0),
+            size_y=config.get("size_y", 140.0),
+            size_z=config.get("size_z", 100.0),
+            bottle_diameter=config.get("bottle_diameter", 30.0),
+            bottle_height=config.get("bottle_height", 100.0),
+            position_spacing=config.get("position_spacing", 35.0)
+        )
+        rack.location = location
+        return rack
+
+    def _create_battery(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
+        """创建电池"""
+        from unilabos.device_comms.button_battery_station import Battery
+        
+        battery = Battery(
+            name=resource_id,
+            diameter=config.get("diameter", 20.0),
+            height=config.get("height", 3.2),
+            max_volume=config.get("max_volume", 100.0),
+            barcode=data.get("barcode", "")
+        )
+        battery.location = location
+        return battery
+
+    # ============ 纽扣电池特定查找方法 ============
+    
+    def find_material_plates(self):
+        """查找所有料板"""
+        from unilabos.device_comms.button_battery_station import MaterialPlate
+        return self.resource_tracker.find_by_type(MaterialPlate)
+    
+    def find_batteries(self):
+        """查找所有电池"""
+        from unilabos.device_comms.button_battery_station import Battery
+        return self.resource_tracker.find_by_type(Battery)
+    
+    def find_electrode_sheets(self):
+        """查找所有极片"""
+        found = []
+        plates = self.find_material_plates()
+        for plate in plates:
+            for hole in plate.children:
+                if hasattr(hole, 'has_electrode_sheet') and hole.has_electrode_sheet():
+                    found.append(hole._electrode_sheet)
+        return found
+    
+    def find_plate_slots(self):
+        """查找所有板槽位"""
+        from unilabos.device_comms.button_battery_station import PlateSlot
+        return self.resource_tracker.find_by_type(PlateSlot)
+    
+    def find_clip_magazines(self):
+        """查找所有子弹夹"""
+        from unilabos.device_comms.button_battery_station import ClipMagazine
+        return self.resource_tracker.find_by_type(ClipMagazine)
+    
+    def find_press_slots(self):
+        """查找所有压制槽"""
+        from unilabos.device_comms.button_battery_station import BatteryPressSlot
+        return self.resource_tracker.find_by_type(BatteryPressSlot)

unilabos/registry/devices/balance.yaml

@@ -1,256 +1 @@
-balance.mettler_toledo_xpr:
-  category:
-  - balance
-  class:
-    action_value_mappings:
-      disconnect:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        result:
-          success: success
-        schema:
-          description: Disconnect from balance
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result:
-              properties:
-                success:
-                  description: Whether disconnect was successful
-                  type: boolean
-              required:
-              - success
-              type: object
-          required:
-          - goal
-          type: object
-        type: UniLabJsonCommand
-      get_weight:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        result:
-          unit: unit
-          weight: weight
-        schema:
-          description: Get current weight reading
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result:
-              properties:
-                unit:
-                  description: Weight unit (e.g., g, kg)
-                  type: string
-                weight:
-                  description: Weight value
-                  type: number
-              required:
-              - weight
-              - unit
-              type: object
-          required:
-          - goal
-          type: object
-        type: UniLabJsonCommand
-      read_with_tare:
-        feedback: {}
-        goal:
-          immediate_tare: immediate_tare
-        goal_default:
-          immediate_tare: true
-        handles: {}
-        result:
-          unit: unit
-          weight: weight
-        schema:
-          description: Perform tare then read weight (standard read operation)
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                immediate_tare:
-                  default: true
-                  description: Whether to use immediate tare
-                  type: boolean
-              required: []
-              type: object
-            result:
-              properties:
-                unit:
-                  description: Weight unit (e.g., g, kg)
-                  type: string
-                weight:
-                  description: Weight value after tare
-                  type: number
-              required:
-              - weight
-              - unit
-              type: object
-          required:
-          - goal
-          type: object
-        type: UniLabJsonCommand
-      send_cmd:
-        feedback: {}
-        goal:
-          command: command
-        goal_default:
-          command: ''
-        handles: {}
-        result:
-          return_info: return_info
-          success: success
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties:
-                status:
-                  type: string
-              required:
-              - status
-              title: SendCmd_Feedback
-              type: object
-            goal:
-              properties:
-                command:
-                  type: string
-              required:
-              - command
-              title: SendCmd_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: SendCmd_Result
-              type: object
-          required:
-          - goal
-          title: SendCmd
-          type: object
-        type: SendCmd
-      tare:
-        feedback: {}
-        goal:
-          immediate: immediate
-        goal_default:
-          immediate: false
-        handles: {}
-        result:
-          success: success
-        schema:
-          description: Tare operation for balance
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                immediate:
-                  default: false
-                  description: Whether to perform immediate tare
-                  type: boolean
-              required: []
-              type: object
-            result:
-              properties:
-                success:
-                  description: Whether tare operation was successful
-                  type: boolean
-              required:
-              - success
-              type: object
-          required:
-          - goal
-          type: object
-        type: UniLabJsonCommand
-      zero:
-        feedback: {}
-        goal:
-          immediate: immediate
-        goal_default:
-          immediate: false
-        handles: {}
-        result:
-          success: success
-        schema:
-          description: Zero operation for balance
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                immediate:
-                  default: false
-                  description: Whether to perform immediate zero
-                  type: boolean
-              required: []
-              type: object
-            result:
-              properties:
-                success:
-                  description: Whether zero operation was successful
-                  type: boolean
-              required:
-              - success
-              type: object
-          required:
-          - goal
-          type: object
-        type: UniLabJsonCommand
-    module: unilabos.devices.balance.mettler_toledo_xpr.mettler_toledo_xpr:MettlerToledoXPR
-    status_types:
-      error_message: str
-      is_stable: bool
-      status: str
-      unit: str
-      weight: float
-    type: python
-  config_info: []
-  description: Mettler Toledo XPR/XSR Balance Driver
-  handles: []
-  icon: ''
-  init_param_schema:
-    description: MettlerToledoXPR __init__ parameters
-    properties:
-      feedback: {}
-      goal:
-        description: Initialization parameters for Mettler Toledo XPR balance
-        properties:
-          ip:
-            default: 192.168.1.10
-            description: Balance IP address
-            type: string
-          password:
-            default: '123456'
-            description: Balance password
-            type: string
-          port:
-            default: 81
-            description: Balance port number
-            type: integer
-          timeout:
-            default: 10
-            description: Connection timeout in seconds
-            type: integer
-        required: []
-        type: object
-      result: {}
-    required:
-    - goal
-    title: __init__ command parameters
-    type: object
-  version: 1.0.0
+{}

unilabos/registry/devices/bioyond_workstation.yaml

@@ -0,0 +1,812 @@
+bioyondworkstation_device:
+  category:
+  - bioyond_workstation
+  class:
+    action_value_mappings:
+      auto-Bioystation_1_to_2_task:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: Bioystation_1_to_2_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-Bioystation_3_to_2_task:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: Bioystation_3_to_2_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-Bioystation_feeding4to3_from_xlsx_task:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: Bioystation_feeding4to3_from_xlsx_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-Bioystation_scheduler_continue_task:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: Bioystation_scheduler_continue_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-Bioystation_scheduler_start_task:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: Bioystation_scheduler_start_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-Bioystation_scheduler_stop_task:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: Bioystation_scheduler_stop_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-Bioystation_start_experiment_task:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: Bioystation_start_experiment_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-auto_batch_outbound_from_xlsx:
+        feedback: {}
+        goal: {}
+        goal_default:
+          xlsx_path: null
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                xlsx_path:
+                  type: string
+              required:
+              - xlsx_path
+              type: object
+            result: {}
+          required:
+          - goal
+          title: auto_batch_outbound_from_xlsx参数
+          type: object
+        type: UniLabJsonCommand
+      auto-auto_feeding4to3_from_xlsx:
+        feedback: {}
+        goal: {}
+        goal_default:
+          xlsx_path: null
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                xlsx_path:
+                  type: string
+              required:
+              - xlsx_path
+              type: object
+            result: {}
+          required:
+          - goal
+          title: auto_feeding4to3_from_xlsx参数
+          type: object
+        type: UniLabJsonCommand
+      auto-create_orders:
+        feedback: {}
+        goal: {}
+        goal_default:
+          xlsx_path: null
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                xlsx_path:
+                  type: string
+              required:
+              - xlsx_path
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_orders参数
+          type: object
+        type: UniLabJsonCommand
+      auto-order_list:
+        feedback: {}
+        goal: {}
+        goal_default:
+          begin_time: null
+          end_time: null
+          filter_text: null
+          page: 10
+          skip: 0
+          status: null
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                begin_time:
+                  type: string
+                end_time:
+                  type: string
+                filter_text:
+                  type: string
+                page:
+                  default: 10
+                  type: integer
+                skip:
+                  default: 0
+                  type: integer
+                status:
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: order_list参数
+          type: object
+        type: UniLabJsonCommand
+      auto-order_list_v2:
+        feedback: {}
+        goal: {}
+        goal_default:
+          beginTime: ''
+          endTime: ''
+          filter: ''
+          pageCount: 1
+          skipCount: 0
+          sorting: ''
+          status: ''
+          timeType: string
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                beginTime:
+                  default: ''
+                  type: string
+                endTime:
+                  default: ''
+                  type: string
+                filter:
+                  default: ''
+                  type: string
+                pageCount:
+                  default: 1
+                  type: integer
+                skipCount:
+                  default: 0
+                  type: integer
+                sorting:
+                  default: ''
+                  type: string
+                status:
+                  default: ''
+                  type: string
+                timeType:
+                  default: string
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: order_list_v2参数
+          type: object
+        type: UniLabJsonCommand
+      auto-order_report:
+        feedback: {}
+        goal: {}
+        goal_default:
+          order_id: null
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                order_id:
+                  type: string
+              required:
+              - order_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: order_report参数
+          type: object
+        type: UniLabJsonCommand
+      auto-report_material_change:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_obj: null
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_obj:
+                  type: object
+              required:
+              - material_obj
+              type: object
+            result: {}
+          required:
+          - goal
+          title: report_material_change参数
+          type: object
+        type: UniLabJsonCommand
+      auto-report_order_finish:
+        feedback: {}
+        goal: {}
+        goal_default:
+          completion_time: null
+          end_time: null
+          order_code: null
+          order_name: null
+          start_time: null
+          status: '30'
+          used_materials: null
+          workflow_status: Finished
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                completion_time:
+                  type: string
+                end_time:
+                  type: string
+                order_code:
+                  type: string
+                order_name:
+                  type: string
+                start_time:
+                  type: string
+                status:
+                  default: '30'
+                  type: string
+                used_materials:
+                  type: string
+                workflow_status:
+                  default: Finished
+                  type: string
+              required:
+              - order_code
+              - order_name
+              - start_time
+              - end_time
+              type: object
+            result: {}
+          required:
+          - goal
+          title: report_order_finish参数
+          type: object
+        type: UniLabJsonCommand
+      auto-report_step_finish:
+        feedback: {}
+        goal: {}
+        goal_default:
+          end_time: null
+          execution_status: completed
+          order_code: null
+          order_name: null
+          sample_id: null
+          start_time: null
+          step_id: null
+          step_name: null
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                end_time:
+                  type: string
+                execution_status:
+                  default: completed
+                  type: string
+                order_code:
+                  type: string
+                order_name:
+                  type: string
+                sample_id:
+                  type: string
+                start_time:
+                  type: string
+                step_id:
+                  type: string
+                step_name:
+                  type: string
+              required:
+              - order_code
+              - order_name
+              - step_name
+              - step_id
+              - sample_id
+              - start_time
+              - end_time
+              type: object
+            result: {}
+          required:
+          - goal
+          title: report_step_finish参数
+          type: object
+        type: UniLabJsonCommand
+      auto-run_full_workflow:
+        feedback: {}
+        goal: {}
+        goal_default:
+          inbound_items: null
+          orders: null
+          poll_filter_code: null
+          poll_interval_s: 5
+          poll_timeout_s: 600
+          takeout_order_id: null
+          transfer_source: null
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                inbound_items:
+                  items:
+                    type: object
+                  type: array
+                orders:
+                  items:
+                    type: object
+                  type: array
+                poll_filter_code:
+                  type: string
+                poll_interval_s:
+                  default: 5
+                  type: integer
+                poll_timeout_s:
+                  default: 600
+                  type: integer
+                takeout_order_id:
+                  type: string
+                transfer_source:
+                  type: string
+              required:
+              - inbound_items
+              - orders
+              type: object
+            result: {}
+          required:
+          - goal
+          title: run_full_workflow参数
+          type: object
+        type: UniLabJsonCommand
+      auto-scheduler_continue:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: scheduler_continue参数
+          type: object
+        type: UniLabJsonCommand
+      auto-scheduler_start:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: scheduler_start参数
+          type: object
+        type: UniLabJsonCommand
+      auto-scheduler_stop:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: scheduler_stop参数
+          type: object
+        type: UniLabJsonCommand
+      auto-start_station1_internal_flow:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: start_station1_internal_flow参数
+          type: object
+        type: UniLabJsonCommand
+      auto-storage_batch_inbound:
+        feedback: {}
+        goal: {}
+        goal_default:
+          items: null
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                items:
+                  items:
+                    type: object
+                  type: array
+              required:
+              - items
+              type: object
+            result: {}
+          required:
+          - goal
+          title: storage_batch_inbound参数
+          type: object
+        type: UniLabJsonCommand
+      auto-storage_inbound:
+        feedback: {}
+        goal: {}
+        goal_default:
+          location_id: null
+          material_id: null
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                location_id:
+                  type: string
+                material_id:
+                  type: string
+              required:
+              - material_id
+              - location_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: storage_inbound参数
+          type: object
+        type: UniLabJsonCommand
+      auto-take_out:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_ids: null
+          order_id: null
+          preintake_ids: null
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_ids:
+                  type: string
+                order_id:
+                  type: string
+                preintake_ids:
+                  type: string
+              required:
+              - order_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: take_out参数
+          type: object
+        type: UniLabJsonCommand
+      auto-test_benyao_workstation:
+        feedback: {}
+        goal: {}
+        goal_default:
+          num1: null
+          num2: null
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                num1:
+                  type: string
+                num2:
+                  type: string
+              required:
+              - num1
+              - num2
+              type: object
+            result: {}
+          required:
+          - goal
+          title: test_benyao_workstation参数
+          type: object
+        type: UniLabJsonCommand
+      auto-transfer_1_to_2:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: transfer_1_to_2参数
+          type: object
+        type: UniLabJsonCommand
+      auto-transfer_3_to_2_to_1:
+        feedback: {}
+        goal: {}
+        goal_default:
+          source_wh_id: 3a19debc-84b4-0359-e2d4-b3beea49348b
+          source_x: 1
+          source_y: 1
+          source_z: 1
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                source_wh_id:
+                  default: 3a19debc-84b4-0359-e2d4-b3beea49348b
+                  type: string
+                source_x:
+                  default: 1
+                  type: integer
+                source_y:
+                  default: 1
+                  type: integer
+                source_z:
+                  default: 1
+                  type: integer
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: transfer_3_to_2_to_1参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_for_transfer_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          filter_text: null
+          interval: 5
+          timeout: 3000
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                filter_text:
+                  type: string
+                interval:
+                  default: 5
+                  type: integer
+                timeout:
+                  default: 3000
+                  type: integer
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_for_transfer_task参数
+          type: object
+        type: UniLabJsonCommand
+    module: unilabos.devices.workstation.bioyond_cell.bioyond_workstation:BioyondWorkstation
+    status_types: {}
+    type: python
+  config_info: []
+  description: 宜宾配液分液工站
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        bioyond_config:
+          type: string
+        debug_mode:
+          default: false
+          type: boolean
+        station_resource:
+          type: string
+      required: []
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object
+  registry_type: device
+  version: 1.0.0

unilabos/registry/devices/dispensing_station_bioyond.yaml

@@ -0,0 +1,506 @@
+dispensing_station.bioyond:
+  category:
+  - work_station
+  - dispensing_station_bioyond
+  class:
+    action_value_mappings:
+      bioyond_sync:
+        feedback: {}
+        goal:
+          force_sync: force_sync
+          sync_type: sync_type
+        goal_default:
+          force_sync: false
+          sync_type: full
+        handles: {}
+        result: {}
+        schema:
+          description: 从Bioyond系统同步物料
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                force_sync:
+                  description: 是否强制同步
+                  type: boolean
+                sync_type:
+                  description: 同步类型
+                  enum:
+                  - full
+                  - incremental
+                  type: string
+              required:
+              - sync_type
+              type: object
+            result: {}
+          required:
+          - goal
+          title: bioyond_sync参数
+          type: object
+        type: UniLabJsonCommand
+      bioyond_update:
+        feedback: {}
+        goal:
+          material_ids: material_ids
+          sync_all: sync_all
+        goal_default:
+          material_ids: []
+          sync_all: true
+        handles: {}
+        result: {}
+        schema:
+          description: 将本地物料变更同步到Bioyond
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_ids:
+                  description: 要同步的物料ID列表
+                  items:
+                    type: string
+                  type: array
+                sync_all:
+                  description: 是否同步所有物料
+                  type: boolean
+              required:
+              - sync_all
+              type: object
+            result: {}
+          required:
+          - goal
+          title: bioyond_update参数
+          type: object
+        type: UniLabJsonCommand
+      create_90_10_vial_feeding_task:
+        feedback: {}
+        goal:
+          delay_time: delay_time
+          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_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: '600'
+          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_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: '400'
+          temperature: '20'
+        handles: {}
+        result: {}
+        schema:
+          description: 创建90%/10%小瓶投料任务
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                delay_time:
+                  default: '600'
+                  description: 延迟时间(s)
+                  type: string
+                order_name:
+                  description: 任务名称
+                  type: string
+                percent_10_1_assign_material_name:
+                  description: 10%组分1物料名称
+                  type: string
+                percent_10_1_liquid_material_name:
+                  description: 10%组分1液体物料名称
+                  type: string
+                percent_10_1_target_weigh:
+                  description: 10%组分1目标重量(g)
+                  type: string
+                percent_10_1_volume:
+                  description: 10%组分1液体体积(mL)
+                  type: string
+                percent_10_2_assign_material_name:
+                  description: 10%组分2物料名称
+                  type: string
+                percent_10_2_liquid_material_name:
+                  description: 10%组分2液体物料名称
+                  type: string
+                percent_10_2_target_weigh:
+                  description: 10%组分2目标重量(g)
+                  type: string
+                percent_10_2_volume:
+                  description: 10%组分2液体体积(mL)
+                  type: string
+                percent_90_1_assign_material_name:
+                  description: 90%组分1物料名称
+                  type: string
+                percent_90_1_target_weigh:
+                  description: 90%组分1目标重量(g)
+                  type: string
+                percent_90_2_assign_material_name:
+                  description: 90%组分2物料名称
+                  type: string
+                percent_90_2_target_weigh:
+                  description: 90%组分2目标重量(g)
+                  type: string
+                percent_90_3_assign_material_name:
+                  description: 90%组分3物料名称
+                  type: string
+                percent_90_3_target_weigh:
+                  description: 90%组分3目标重量(g)
+                  type: string
+                speed:
+                  default: '400'
+                  description: 搅拌速度(rpm)
+                  type: string
+                temperature:
+                  default: '20'
+                  description: 温度(°C)
+                  type: string
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_90_10_vial_feeding_task参数
+          type: object
+        type: UniLabJsonCommand
+      create_batch_90_10_vial_feeding_task:
+        feedback: {}
+        goal:
+          batch_data: batch_data
+        goal_default:
+          batch_data: '{}'
+        handles: {}
+        result: {}
+        schema:
+          description: 创建批量90%10%小瓶投料任务
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                batch_data:
+                  description: 批量90%10%小瓶投料任务数据(JSON格式)，包含batch_name、tasks列表和global_settings
+                  type: string
+              required:
+              - batch_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_batch_90_10_vial_feeding_task参数
+          type: object
+        type: UniLabJsonCommand
+      create_batch_diamine_solution_task:
+        feedback: {}
+        goal:
+          batch_data: batch_data
+        goal_default:
+          batch_data: '{}'
+        handles: {}
+        result: {}
+        schema:
+          description: 创建批量二胺溶液配制任务
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                batch_data:
+                  description: 批量二胺溶液配制任务数据(JSON格式)，包含batch_name、tasks列表和global_settings
+                  type: string
+              required:
+              - batch_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_batch_diamine_solution_task参数
+          type: object
+        type: UniLabJsonCommand
+      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: '600'
+          hold_m_name: ''
+          liquid_material_name: NMP
+          material_name: ''
+          order_name: ''
+          speed: '400'
+          target_weigh: ''
+          temperature: '20'
+          volume: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 创建二胺溶液配制任务
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                delay_time:
+                  default: '600'
+                  description: 延迟时间(s)
+                  type: string
+                hold_m_name:
+                  description: 库位名称(如ODA-1)
+                  type: string
+                liquid_material_name:
+                  default: NMP
+                  description: 液体物料名称
+                  type: string
+                material_name:
+                  description: 固体物料名称
+                  type: string
+                order_name:
+                  description: 任务名称
+                  type: string
+                speed:
+                  default: '400'
+                  description: 搅拌速度(rpm)
+                  type: string
+                target_weigh:
+                  description: 固体目标重量(g)
+                  type: string
+                temperature:
+                  default: '20'
+                  description: 温度(°C)
+                  type: string
+                volume:
+                  description: 液体体积(mL)
+                  type: string
+              required:
+              - material_name
+              - target_weigh
+              - volume
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_diamine_solution_task参数
+          type: object
+        type: UniLabJsonCommand
+      create_resource:
+        feedback: {}
+        goal:
+          resource_config: resource_config
+          resource_type: resource_type
+        goal_default:
+          resource_config: {}
+          resource_type: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 创建资源操作
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                resource_config:
+                  description: 资源配置
+                  type: object
+                resource_type:
+                  description: 资源类型
+                  type: string
+              required:
+              - resource_type
+              - resource_config
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_resource参数
+          type: object
+        type: UniLabJsonCommand
+      dispensing_material_inbound:
+        feedback: {}
+        goal:
+          location: location
+          material_id: material_id
+        goal_default:
+          location: ''
+          material_id: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 配液站物料入库操作
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                location:
+                  description: 存储位置
+                  type: string
+                material_id:
+                  description: 物料ID
+                  type: string
+              required:
+              - material_id
+              - location
+              type: object
+            result: {}
+          required:
+          - goal
+          title: dispensing_material_inbound参数
+          type: object
+        type: UniLabJsonCommand
+      dispensing_material_outbound:
+        feedback: {}
+        goal:
+          material_id: material_id
+          quantity: quantity
+        goal_default:
+          material_id: ''
+          quantity: 0.0
+        handles: {}
+        result: {}
+        schema:
+          description: 配液站物料出库操作
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_id:
+                  description: 物料ID
+                  type: string
+                quantity:
+                  description: 出库数量
+                  type: number
+              required:
+              - material_id
+              - quantity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: dispensing_material_outbound参数
+          type: object
+        type: UniLabJsonCommand
+      sample_waste_removal:
+        feedback: {}
+        goal:
+          sample_id: sample_id
+          waste_type: waste_type
+        goal_default:
+          sample_id: ''
+          waste_type: general
+        handles: {}
+        result: {}
+        schema:
+          description: 样品废料移除操作
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                sample_id:
+                  description: 样品ID
+                  type: string
+                waste_type:
+                  description: 废料类型
+                  enum:
+                  - general
+                  - hazardous
+                  - organic
+                  - inorganic
+                  type: string
+              required:
+              - sample_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: sample_waste_removal参数
+          type: object
+        type: UniLabJsonCommand
+    module: unilabos.devices.workstation.bioyond_studio.station:BioyondWorkstation
+    protocol_type: []
+    status_types:
+      bioyond_status: dict
+      enable_dispensing_station: bool
+      enable_reaction_station: bool
+      station_type: str
+    type: python
+  config_info: []
+  description: Bioyond配液站 - 专门用于物料配制和管理的工作站
+  handles: []
+  icon: 配液站.webp
+  init_param_schema:
+    config:
+      properties:
+        bioyond_config:
+          description: Bioyond API配置
+          properties:
+            api_host:
+              description: Bioyond API主机地址
+              type: string
+            api_key:
+              description: Bioyond API密钥
+              type: string
+            material_type_mappings:
+              description: 物料类型映射配置
+              type: object
+            workflow_mappings:
+              description: 工作流映射配置
+              type: object
+          type: object
+        deck:
+          description: Deck配置
+          type: object
+        station_config:
+          description: 配液站配置
+          properties:
+            description:
+              description: 配液站描述
+              type: string
+            enable_dispensing_station:
+              default: true
+              description: 启用配液站功能
+              type: boolean
+            enable_reaction_station:
+              default: false
+              description: 禁用反应站功能
+              type: boolean
+            station_name:
+              description: 配液站名称
+              type: string
+            station_type:
+              default: dispensing_station
+              description: 站点类型 - 配液站
+              enum:
+              - dispensing_station
+              type: string
+          type: object
+      required: []
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object
+  version: 1.0.0

unilabos/registry/devices/liquid_handler.yaml

@@ -7304,151 +7304,6 @@ liquid_handler.prcxi:
           title: LiquidHandlerRemove
           type: object
         type: LiquidHandlerRemove
-      set_group:
-        feedback: {}
-        goal:
-          group_name: group_name
-          volumes: volumes
-          wells: wells
-        goal_default:
-          group_name: ''
-          volumes:
-          - 0.0
-          wells:
-          - category: ''
-            children: []
-            config: ''
-            data: ''
-            id: ''
-            name: ''
-            parent: ''
-            pose:
-              orientation:
-                w: 1.0
-                x: 0.0
-                y: 0.0
-                z: 0.0
-              position:
-                x: 0.0
-                y: 0.0
-                z: 0.0
-            sample_id: ''
-            type: ''
-        handles: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: LiquidHandlerSetGroup_Feedback
-              type: object
-            goal:
-              properties:
-                group_name:
-                  type: string
-                volumes:
-                  items:
-                    type: number
-                  type: array
-                wells:
-                  items:
-                    properties:
-                      category:
-                        type: string
-                      children:
-                        items:
-                          type: string
-                        type: array
-                      config:
-                        type: string
-                      data:
-                        type: string
-                      id:
-                        type: string
-                      name:
-                        type: string
-                      parent:
-                        type: string
-                      pose:
-                        properties:
-                          orientation:
-                            properties:
-                              w:
-                                type: number
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            - w
-                            title: orientation
-                            type: object
-                          position:
-                            properties:
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            title: position
-                            type: object
-                        required:
-                        - position
-                        - orientation
-                        title: pose
-                        type: object
-                      sample_id:
-                        type: string
-                      type:
-                        type: string
-                    required:
-                    - id
-                    - name
-                    - sample_id
-                    - children
-                    - parent
-                    - type
-                    - category
-                    - pose
-                    - config
-                    - data
-                    title: wells
-                    type: object
-                  type: array
-              required:
-              - group_name
-              - wells
-              - volumes
-              title: LiquidHandlerSetGroup_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: LiquidHandlerSetGroup_Result
-              type: object
-          required:
-          - goal
-          title: LiquidHandlerSetGroup
-          type: object
-        type: LiquidHandlerSetGroup
       set_liquid:
         feedback: {}
         goal:
@@ -7824,56 +7679,6 @@ liquid_handler.prcxi:
           title: Transfer
           type: object
         type: Transfer
-      transfer_group:
-        feedback: {}
-        goal:
-          source_group_name: source_group_name
-          target_group_name: target_group_name
-          unit_volume: unit_volume
-        goal_default:
-          source_group_name: ''
-          target_group_name: ''
-          unit_volume: 0.0
-        handles: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: LiquidHandlerTransferGroup_Feedback
-              type: object
-            goal:
-              properties:
-                source_group_name:
-                  type: string
-                target_group_name:
-                  type: string
-                unit_volume:
-                  type: number
-              required:
-              - source_group_name
-              - target_group_name
-              - unit_volume
-              title: LiquidHandlerTransferGroup_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: LiquidHandlerTransferGroup_Result
-              type: object
-          required:
-          - goal
-          title: LiquidHandlerTransferGroup
-          type: object
-        type: LiquidHandlerTransferGroup
       transfer_liquid:
         feedback: {}
         goal:
@@ -8375,6 +8180,9 @@ liquid_handler.prcxi:
           type: object
         host:
           type: string
+        is_9320:
+          default: false
+          type: string
         matrix_id:
           default: ''
           type: string

unilabos/registry/devices/neware_battery_test_system.yaml

@@ -0,0 +1,344 @@
+neware_battery_test_system:
+  category:
+  - neware_battery_test_system
+  class:
+    action_value_mappings:
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
+      auto-print_status_summary:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: print_status_summary参数
+          type: object
+        type: UniLabJsonCommand
+      auto-test_connection:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: test_connection参数
+          type: object
+        type: UniLabJsonCommand
+      export_status_json:
+        feedback: {}
+        goal:
+          filepath: filepath
+        goal_default:
+          filepath: bts_status.json
+        handles: {}
+        result:
+          return_info: return_info
+          success: success
+        schema:
+          description: 导出当前状态数据到JSON文件
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                filepath:
+                  default: bts_status.json
+                  description: 输出JSON文件路径
+                  type: string
+              required: []
+              type: object
+            result:
+              properties:
+                return_info:
+                  description: 导出操作结果信息
+                  type: string
+                success:
+                  description: 导出是否成功
+                  type: boolean
+              required:
+              - return_info
+              - success
+              type: object
+          required:
+          - goal
+          type: object
+        type: UniLabJsonCommand
+      get_device_summary:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result:
+          return_info: return_info
+          success: success
+        schema:
+          description: 获取设备级别的摘要统计信息
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result:
+              properties:
+                return_info:
+                  description: 设备摘要信息JSON格式
+                  type: string
+                success:
+                  description: 查询是否成功
+                  type: boolean
+              required:
+              - return_info
+              - success
+              type: object
+          required:
+          - goal
+          type: object
+        type: UniLabJsonCommand
+      get_plate_status:
+        feedback: {}
+        goal:
+          plate_num: plate_num
+        goal_default:
+          plate_num: 1
+        handles: {}
+        result:
+          return_info: return_info
+          success: success
+        schema:
+          description: 获取指定盘(1或2)的电池状态信息
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                plate_num:
+                  description: 盘号 (1 或 2)
+                  maximum: 2
+                  minimum: 1
+                  type: integer
+              required:
+              - plate_num
+              type: object
+            result:
+              properties:
+                return_info:
+                  description: 盘状态信息JSON格式
+                  type: string
+                success:
+                  description: 查询是否成功
+                  type: boolean
+              required:
+              - return_info
+              - success
+              type: object
+          required:
+          - goal
+          type: object
+        type: UniLabJsonCommand
+      print_status_summary_action:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result:
+          return_info: return_info
+          success: success
+        schema:
+          description: 打印通道状态摘要信息到控制台
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result:
+              properties:
+                return_info:
+                  description: 打印操作结果信息
+                  type: string
+                success:
+                  description: 打印是否成功
+                  type: boolean
+              required:
+              - return_info
+              - success
+              type: object
+          required:
+          - goal
+          type: object
+        type: UniLabJsonCommand
+      query_plate_action:
+        feedback: {}
+        goal:
+          string: plate_id
+        goal_default:
+          string: ''
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: StrSingleInput_Feedback
+              type: object
+            goal:
+              properties:
+                string:
+                  type: string
+              required:
+              - string
+              title: StrSingleInput_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: StrSingleInput_Result
+              type: object
+          required:
+          - goal
+          title: StrSingleInput
+          type: object
+        type: StrSingleInput
+      test_connection_action:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result:
+          return_info: return_info
+          success: success
+        schema:
+          description: 测试与电池测试系统的TCP连接
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result:
+              properties:
+                return_info:
+                  description: 连接测试结果信息
+                  type: string
+                success:
+                  description: 连接测试是否成功
+                  type: boolean
+              required:
+              - return_info
+              - success
+              type: object
+          required:
+          - goal
+          type: object
+        type: UniLabJsonCommand
+    module: unilabos.devices.battery.neware_battery_test_system:NewareBatteryTestSystem
+    status_types:
+      channel_status: dict
+      connection_info: dict
+      device_summary: dict
+      plate_status: dict
+      status: str
+      total_channels: int
+    type: python
+  config_info: []
+  description: 新威电池测试系统驱动，支持720个通道的电池测试状态监控和数据导出。通过TCP通信实现远程控制，包含完整的物料管理系统，支持2盘电池的状态映射和监控。
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        devtype:
+          type: string
+        ip:
+          type: string
+        machine_id:
+          default: 1
+          type: integer
+        port:
+          type: integer
+        size_x:
+          default: 500.0
+          type: number
+        size_y:
+          default: 500.0
+          type: number
+        size_z:
+          default: 2000.0
+          type: number
+        timeout:
+          type: integer
+      required: []
+      type: object
+    data:
+      properties:
+        channel_status:
+          type: object
+        connection_info:
+          type: object
+        device_summary:
+          type: object
+        plate_status:
+          type: object
+        status:
+          type: string
+        total_channels:
+          type: integer
+      required:
+      - status
+      - channel_status
+      - connection_info
+      - total_channels
+      - plate_status
+      - device_summary
+      type: object
+  version: 1.0.0

unilabos/registry/devices/reaction_station_bioyond.yaml

@@ -0,0 +1,384 @@
+reaction_station.bioyond:
+  category:
+  - work_station
+  - reaction_station_bioyond
+  class:
+    action_value_mappings:
+      bioyond_sync:
+        feedback: {}
+        goal:
+          force_sync: force_sync
+          sync_type: sync_type
+        goal_default:
+          force_sync: false
+          sync_type: full
+        handles: {}
+        result: {}
+        schema:
+          description: 从Bioyond系统同步物料
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                force_sync:
+                  description: 是否强制同步
+                  type: boolean
+                sync_type:
+                  description: 同步类型
+                  enum:
+                  - full
+                  - incremental
+                  type: string
+              required:
+              - sync_type
+              type: object
+            result: {}
+          required:
+          - goal
+          title: bioyond_sync参数
+          type: object
+        type: UniLabJsonCommand
+      bioyond_update:
+        feedback: {}
+        goal:
+          material_ids: material_ids
+          sync_all: sync_all
+        goal_default:
+          material_ids: []
+          sync_all: true
+        handles: {}
+        result: {}
+        schema:
+          description: 将本地物料变更同步到Bioyond
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_ids:
+                  description: 要同步的物料ID列表
+                  items:
+                    type: string
+                  type: array
+                sync_all:
+                  description: 是否同步所有物料
+                  type: boolean
+              required:
+              - sync_all
+              type: object
+            result: {}
+          required:
+          - goal
+          title: bioyond_update参数
+          type: object
+        type: UniLabJsonCommand
+      reaction_station_drip_back:
+        feedback: {}
+        goal:
+          assign_material_name: assign_material_name
+          time: time
+          torque_variation: torque_variation
+          volume: volume
+        goal_default:
+          assign_material_name: ''
+          time: ''
+          torque_variation: ''
+          volume: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 反应站滴回操作
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  description: 溶剂名称
+                  type: string
+                time:
+                  description: 观察时间（单位min）
+                  type: string
+                torque_variation:
+                  description: 是否观察1否2是
+                  type: string
+                volume:
+                  description: 投料体积
+                  type: string
+              required:
+              - volume
+              - assign_material_name
+              - time
+              - torque_variation
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reaction_station_drip_back参数
+          type: object
+        type: UniLabJsonCommand
+      reaction_station_liquid_feed:
+        feedback: {}
+        goal:
+          assign_material_name: assign_material_name
+          time: time
+          titration_type: titration_type
+          torque_variation: torque_variation
+          volume: volume
+        goal_default:
+          assign_material_name: ''
+          time: ''
+          titration_type: ''
+          torque_variation: ''
+          volume: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 反应站液体进料操作
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  description: 溶剂名称
+                  type: string
+                time:
+                  description: 观察时间（单位min）
+                  type: string
+                titration_type:
+                  description: 滴定类型1否2是
+                  type: string
+                torque_variation:
+                  description: 是否观察1否2是
+                  type: string
+                volume:
+                  description: 投料体积
+                  type: string
+              required:
+              - titration_type
+              - volume
+              - assign_material_name
+              - time
+              - torque_variation
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reaction_station_liquid_feed参数
+          type: object
+        type: UniLabJsonCommand
+      reaction_station_process_execute:
+        feedback: {}
+        goal:
+          task_name: task_name
+          workflow_name: workflow_name
+        goal_default:
+          task_name: ''
+          workflow_name: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 反应站流程执行
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                task_name:
+                  description: 任务名称
+                  type: string
+                workflow_name:
+                  description: 工作流名称
+                  type: string
+              required:
+              - workflow_name
+              - task_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reaction_station_process_execute参数
+          type: object
+        type: UniLabJsonCommand
+      reaction_station_reactor_taken_out:
+        feedback: {}
+        goal:
+          order_id: order_id
+          preintake_id: preintake_id
+        goal_default:
+          order_id: ''
+          preintake_id: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 反应站反应器取出操作 - 通过订单ID和预取样ID进行精确控制
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                order_id:
+                  description: 订单ID，用于标识要取出的订单
+                  type: string
+                preintake_id:
+                  description: 预取样ID，用于标识具体的取样任务
+                  type: string
+              required: []
+              type: object
+            result:
+              properties:
+                code:
+                  description: 操作结果代码（1表示成功，0表示失败）
+                  type: integer
+                return_info:
+                  description: 操作结果详细信息
+                  type: string
+              type: object
+          required:
+          - goal
+          title: reaction_station_reactor_taken_out参数
+          type: object
+        type: UniLabJsonCommand
+      reaction_station_solid_feed_vial:
+        feedback: {}
+        goal:
+          assign_material_name: assign_material_name
+          material_id: material_id
+          time: time
+          torque_variation: torque_variation
+        goal_default:
+          assign_material_name: ''
+          material_id: ''
+          time: ''
+          torque_variation: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 反应站固体进料操作
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  description: 固体名称_粉末加样模块-投料
+                  type: string
+                material_id:
+                  description: 固体投料类型_粉末加样模块-投料
+                  type: string
+                time:
+                  description: 观察时间_反应模块-观察搅拌结果
+                  type: string
+                torque_variation:
+                  description: 是否观察1否2是_反应模块-观察搅拌结果
+                  type: string
+              required:
+              - assign_material_name
+              - material_id
+              - time
+              - torque_variation
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reaction_station_solid_feed_vial参数
+          type: object
+        type: UniLabJsonCommand
+      reaction_station_take_in:
+        feedback: {}
+        goal:
+          assign_material_name: assign_material_name
+          cutoff: cutoff
+          temperature: temperature
+        goal_default:
+          assign_material_name: ''
+          cutoff: ''
+          temperature: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 反应站取入操作
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  description: 物料名称
+                  type: string
+                cutoff:
+                  description: 截止参数
+                  type: string
+                temperature:
+                  description: 温度
+                  type: string
+              required:
+              - cutoff
+              - temperature
+              - assign_material_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reaction_station_take_in参数
+          type: object
+        type: UniLabJsonCommand
+    module: unilabos.devices.workstation.bioyond_studio.station:BioyondWorkstation
+    protocol_type: []
+    status_types:
+      bioyond_status: dict
+      enable_dispensing_station: bool
+      enable_reaction_station: bool
+      station_type: str
+    type: python
+  config_info: []
+  description: Bioyond反应站 - 专门用于化学反应操作的工作站
+  handles: []
+  icon: 反应站.webp
+  init_param_schema:
+    config:
+      properties:
+        bioyond_config:
+          description: Bioyond API配置
+          properties:
+            api_host:
+              description: Bioyond API主机地址
+              type: string
+            api_key:
+              description: Bioyond API密钥
+              type: string
+            material_type_mappings:
+              description: 物料类型映射配置
+              type: object
+            workflow_mappings:
+              description: 工作流映射配置
+              type: object
+          type: object
+        deck:
+          description: Deck配置
+          type: object
+        station_config:
+          description: 反应站配置
+          properties:
+            description:
+              description: 反应站描述
+              type: string
+            enable_dispensing_station:
+              default: false
+              description: 禁用配液站功能
+              type: boolean
+            enable_reaction_station:
+              default: true
+              description: 启用反应站功能
+              type: boolean
+            station_name:
+              description: 反应站名称
+              type: string
+            station_type:
+              default: reaction_station
+              description: 站点类型 - 反应站
+              enum:
+              - reaction_station
+              type: string
+          type: object
+      required: []
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object
+  version: 1.0.0

unilabos/registry/devices/work_station.yaml

@@ -1,3 +1,517 @@
+bettery_station_registry:
+  category:
+  - work_station
+  class:
+    action_value_mappings:
+      auto-change_hole_sheet_to_2:
+        feedback: {}
+        goal: {}
+        goal_default:
+          hole: null
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                hole:
+                  type: object
+              required:
+              - hole
+              type: object
+            result: {}
+          required:
+          - goal
+          title: change_hole_sheet_to_2参数
+          type: object
+        type: UniLabJsonCommandAsync
+      auto-fill_plate:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: fill_plate参数
+          type: object
+        type: UniLabJsonCommandAsync
+      auto-fun_wuliao_test:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: fun_wuliao_test参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_allpack_cmd:
+        feedback: {}
+        goal: {}
+        goal_default:
+          assembly_pressure: 4200
+          assembly_type: 7
+          elec_num: null
+          elec_use_num: null
+          elec_vol: 50
+          file_path: D:\coin_cell_data
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assembly_pressure:
+                  default: 4200
+                  type: integer
+                assembly_type:
+                  default: 7
+                  type: integer
+                elec_num:
+                  type: string
+                elec_use_num:
+                  type: string
+                elec_vol:
+                  default: 50
+                  type: integer
+                file_path:
+                  default: D:\coin_cell_data
+                  type: string
+              required:
+              - elec_num
+              - elec_use_num
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_allpack_cmd参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_get_csv_export_status:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_get_csv_export_status参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_pack_device_auto:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_pack_device_auto参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_pack_device_init:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_pack_device_init参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_pack_device_start:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_pack_device_start参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_pack_device_stop:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_pack_device_stop参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_pack_get_msg_cmd:
+        feedback: {}
+        goal: {}
+        goal_default:
+          file_path: D:\coin_cell_data
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                file_path:
+                  default: D:\coin_cell_data
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_pack_get_msg_cmd参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_pack_send_bottle_num:
+        feedback: {}
+        goal: {}
+        goal_default:
+          bottle_num: null
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                bottle_num:
+                  type: string
+              required:
+              - bottle_num
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_pack_send_bottle_num参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_pack_send_finished_cmd:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_pack_send_finished_cmd参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_pack_send_msg_cmd:
+        feedback: {}
+        goal: {}
+        goal_default:
+          assembly_pressure: null
+          assembly_type: null
+          elec_use_num: null
+          elec_vol: null
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assembly_pressure:
+                  type: string
+                assembly_type:
+                  type: string
+                elec_use_num:
+                  type: string
+                elec_vol:
+                  type: string
+              required:
+              - elec_use_num
+              - elec_vol
+              - assembly_type
+              - assembly_pressure
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_pack_send_msg_cmd参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_read_data_and_output:
+        feedback: {}
+        goal: {}
+        goal_default:
+          file_path: D:\coin_cell_data
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                file_path:
+                  default: D:\coin_cell_data
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_read_data_and_output参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_stop_read_data:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_stop_read_data参数
+          type: object
+        type: UniLabJsonCommand
+      auto-modify_deck_name:
+        feedback: {}
+        goal: {}
+        goal_default:
+          resource_name: null
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                resource_name:
+                  type: string
+              required:
+              - resource_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: modify_deck_name参数
+          type: object
+        type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: object
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
+    module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation
+    status_types:
+      data_assembly_coin_cell_num: int
+      data_assembly_pressure: int
+      data_assembly_time: float
+      data_axis_x_pos: float
+      data_axis_y_pos: float
+      data_axis_z_pos: float
+      data_coin_cell_code: str
+      data_coin_num: int
+      data_electrolyte_code: str
+      data_electrolyte_volume: int
+      data_glove_box_o2_content: float
+      data_glove_box_pressure: float
+      data_glove_box_water_content: float
+      data_open_circuit_voltage: float
+      data_pole_weight: float
+      request_rec_msg_status: bool
+      request_send_msg_status: bool
+      sys_mode: str
+      sys_status: str
+    type: python
+  config_info: []
+  description: ''
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        address:
+          default: 192.168.1.20
+          type: string
+        debug_mode:
+          default: true
+          type: boolean
+        port:
+          default: '502'
+          type: string
+        station_resource:
+          type: object
+      required:
+      - station_resource
+      type: object
+    data:
+      properties:
+        data_assembly_coin_cell_num:
+          type: integer
+        data_assembly_pressure:
+          type: integer
+        data_assembly_time:
+          type: number
+        data_axis_x_pos:
+          type: number
+        data_axis_y_pos:
+          type: number
+        data_axis_z_pos:
+          type: number
+        data_coin_cell_code:
+          type: string
+        data_coin_num:
+          type: integer
+        data_electrolyte_code:
+          type: string
+        data_electrolyte_volume:
+          type: integer
+        data_glove_box_o2_content:
+          type: number
+        data_glove_box_pressure:
+          type: number
+        data_glove_box_water_content:
+          type: number
+        data_open_circuit_voltage:
+          type: number
+        data_pole_weight:
+          type: number
+        request_rec_msg_status:
+          type: boolean
+        request_send_msg_status:
+          type: boolean
+        sys_mode:
+          type: string
+        sys_status:
+          type: string
+      required:
+      - sys_status
+      - sys_mode
+      - request_rec_msg_status
+      - request_send_msg_status
+      - data_assembly_coin_cell_num
+      - data_assembly_time
+      - data_open_circuit_voltage
+      - data_axis_x_pos
+      - data_axis_y_pos
+      - data_axis_z_pos
+      - data_pole_weight
+      - data_assembly_pressure
+      - data_electrolyte_volume
+      - data_coin_num
+      - data_coin_cell_code
+      - data_electrolyte_code
+      - data_glove_box_pressure
+      - data_glove_box_o2_content
+      - data_glove_box_water_content
+      type: object
+  version: 1.0.0
 workstation:
   category:
   - work_station
@@ -6112,7 +6626,7 @@ workstation:
           title: initialize_device参数
           type: object
         type: UniLabJsonCommand
-    module: unilabos.ros.nodes.presets.protocol_node:ROS2ProtocolNode
+    module: unilabos.ros.nodes.presets.workstation:ROS2WorkstationNode
     status_types: {}
     type: ros2
   config_info: []
@@ -6122,19 +6636,35 @@ workstation:
   init_param_schema:
     config:
       properties:
+        action_value_mappings:
+          type: object
         children:
           type: object
         device_id:
           type: string
-        protocol_type:
+        driver_instance:
           type: string
+        hardware_interface:
+          type: object
+        print_publish:
+          default: true
+          type: string
+        protocol_type:
+          items:
+            type: string
+          type: array
         resource_tracker:
+          type: string
+        status_types:
           type: object
       required:
-      - device_id
-      - children
       - protocol_type
-      - resource_tracker
+      - children
+      - driver_instance
+      - device_id
+      - status_types
+      - action_value_mappings
+      - hardware_interface
       type: object
     data:
       properties: {}
@@ -6145,126 +6675,10 @@ workstation.example:
   category:
   - work_station
   class:
-    action_value_mappings:
-      auto-create_resource:
-        feedback: {}
-        goal: {}
-        goal_default:
-          bind_location: null
-          bind_parent_id: null
-          liquid_input_slot: null
-          liquid_type: null
-          liquid_volume: null
-          resource_tracker: null
-          resources: null
-          slot_on_deck: null
-        handles: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                bind_location:
-                  type: object
-                bind_parent_id:
-                  type: string
-                liquid_input_slot:
-                  items:
-                    type: integer
-                  type: array
-                liquid_type:
-                  items:
-                    type: string
-                  type: array
-                liquid_volume:
-                  items:
-                    type: integer
-                  type: array
-                resource_tracker:
-                  type: object
-                resources:
-                  items:
-                    type: object
-                  type: array
-                slot_on_deck:
-                  type: integer
-              required:
-              - resource_tracker
-              - resources
-              - bind_parent_id
-              - bind_location
-              - liquid_input_slot
-              - liquid_type
-              - liquid_volume
-              - slot_on_deck
-              type: object
-            result: {}
-          required:
-          - goal
-          title: create_resource参数
-          type: object
-        type: UniLabJsonCommand
-      auto-transfer_bottle:
-        feedback: {}
-        goal: {}
-        goal_default:
-          base_plate: null
-          tip_rack: null
-        handles: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                base_plate:
-                  type: object
-                tip_rack:
-                  type: object
-              required:
-              - tip_rack
-              - base_plate
-              type: object
-            result: {}
-          required:
-          - goal
-          title: transfer_bottle参数
-          type: object
-        type: UniLabJsonCommand
-      auto-trigger_resource_update:
-        feedback: {}
-        goal: {}
-        goal_default:
-          from_plate: null
-          to_base_plate: null
-        handles: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                from_plate:
-                  type: object
-                to_base_plate:
-                  type: object
-              required:
-              - from_plate
-              - to_base_plate
-              type: object
-            result: {}
-          required:
-          - goal
-          title: trigger_resource_update参数
-          type: object
-        type: UniLabJsonCommand
-    module: unilabos.ros.nodes.presets.workstation:WorkStationExample
+    action_value_mappings: {}
+    module: unilabos.devices.workstation.workstation_base:WorkstationExample
     status_types: {}
-    type: ros2
+    type: python
   config_info: []
   description: ''
   handles: []
@@ -6272,19 +6686,10 @@ workstation.example:
   init_param_schema:
     config:
       properties:
-        children:
-          type: object
-        device_id:
-          type: string
-        protocol_type:
-          type: string
-        resource_tracker:
+        station_resource:
           type: object
       required:
-      - device_id
-      - children
-      - protocol_type
-      - resource_tracker
+      - station_resource
       type: object
     data:
       properties: {}

unilabos/registry/devices/zhida_gcms.yaml

@@ -52,7 +52,7 @@ zhida_gcms:
             result: {}
           required:
           - goal
-          title: close 参数
+          title: close参数
           type: object
         type: UniLabJsonCommand
       auto-connect:
@@ -72,7 +72,31 @@ zhida_gcms:
             result: {}
           required:
           - goal
-          title: connect 参数
+          title: connect参数
+          type: object
+        type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
           type: object
         type: UniLabJsonCommand
       get_methods:
@@ -284,32 +308,40 @@ zhida_gcms:
           type: object
         type: StrSingleInput
     module: unilabos.devices.zhida_gcms.zhida:ZhidaClient
-    status_types: {}
+    status_types:
+      methods: dict
+      status: str
+      version: dict
     type: python
   config_info: []
   description: 智达气相色谱-质谱联用（GC-MS）分析设备，通过 TCP 通信实现远程控制与状态监控，支持方法管理与任务启动等功能。
   handles: []
   icon: ''
   init_param_schema:
-    feedback:
-      properties: {}
-      required: []
-      type: object
-    goal:
+    config:
       properties:
         host:
           default: 192.168.3.184
           type: string
         port:
           default: 5792
-          type: integer
+          type: string
         timeout:
           default: 10.0
-          type: number
+          type: string
       required: []
       type: object
-    result:
-      properties: {}
-      required: []
+    data:
+      properties:
+        methods:
+          type: object
+        status:
+          type: string
+        version:
+          type: object
+      required:
+      - status
+      - methods
+      - version
       type: object
   version: 1.0.0

unilabos/registry/registry.py

@@ -19,6 +19,9 @@ from unilabos.utils.type_check import NoAliasDumper
 
 DEFAULT_PATHS = [Path(__file__).absolute().parent]
 
+class ROSMsgNotFound(Exception):
+    pass
+
 
 @singleton
 class Registry:
@@ -308,7 +311,7 @@ class Registry:
             return type_class
         else:
             logger.error(f"[UniLab Registry] 无法找到类型 '{type_name}' 用于设备 {device_id} 的 {field_name}")
-            sys.exit(1)
+            raise ROSMsgNotFound(f"类型 '{type_name}' 未找到，用于设备 {device_id} 的 {field_name}")
 
     def _get_json_schema_type(self, type_str: str) -> str:
         """
@@ -495,7 +498,10 @@ class Registry:
                             if isinstance(status_type, tuple) or status_type in ["Any", "None", "Unknown"]:
                                 status_type = "String"  # 替换成ROS的String，便于显示
                                 device_config["class"]["status_types"][status_name] = status_type
-                            target_type = self._replace_type_with_class(status_type, device_id, f"状态 {status_name}")
+                            try:
+                                target_type = self._replace_type_with_class(status_type, device_id, f"状态 {status_name}")
+                            except ROSMsgNotFound:
+                                continue
                             if target_type in [
                                 dict,
                                 list,
@@ -568,9 +574,12 @@ class Registry:
                                 action_type_str: str = action_config["type"]
                                 # 通过Json发放指令，而不是通过特殊的ros action进行处理
                                 if not action_type_str.startswith("UniLabJsonCommand"):
-                                    target_type = self._replace_type_with_class(
-                                        action_type_str, device_id, f"动作 {action_name}"
-                                    )
+                                    try:
+                                        target_type = self._replace_type_with_class(
+                                            action_type_str, device_id, f"动作 {action_name}"
+                                        )
+                                    except ROSMsgNotFound:
+                                        continue
                                     action_str_type_mapping[action_type_str] = target_type
                                     if target_type is not None:
                                         action_config["goal_default"] = yaml.safe_load(

unilabos/registry/resources/bioyond/bottle_carriers.yaml

@@ -0,0 +1,36 @@
+BIOYOND_PolymerStation_1BottleCarrier:
+  category:
+  - bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_1BottleCarrier
+    type: pylabrobot
+  description: BIOYOND_PolymerStation_1BottleCarrier
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+BIOYOND_PolymerStation_1FlaskCarrier:
+  category:
+  - bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_1FlaskCarrier
+    type: pylabrobot
+  description: BIOYOND_PolymerStation_1FlaskCarrier
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+BIOYOND_PolymerStation_6VialCarrier:
+  category:
+  - bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6VialCarrier
+    type: pylabrobot
+  description: BIOYOND_PolymerStation_6VialCarrier
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0

unilabos/registry/resources/bioyond/deck.yaml

@@ -0,0 +1,24 @@
+BIOYOND_PolymerReactionStation_Deck:
+  category:
+  - deck
+  class:
+    module: unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck
+    type: pylabrobot
+  description: BIOYOND PolymerReactionStation Deck
+  handles: []
+  icon: '反应站.webp'
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+BIOYOND_PolymerPreparationStation_Deck:
+  category:
+  - deck
+  class:
+    module: unilabos.resources.bioyond.decks:BIOYOND_PolymerPreparationStation_Deck
+    type: pylabrobot
+  description: BIOYOND PolymerPreparationStation Deck
+  handles: []
+  icon: '配液站.webp'
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0

unilabos/resources/bioyond/bottle_carriers.py

@@ -0,0 +1,217 @@
+from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
+
+from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
+from unilabos.resources.bioyond.bottles import BIOYOND_PolymerStation_Solid_Vial, BIOYOND_PolymerStation_Solution_Beaker, BIOYOND_PolymerStation_Reagent_Bottle
+# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
+
+
+def BIOYOND_Electrolyte_6VialCarrier(name: str) -> BottleCarrier:
+    """6瓶载架 - 2x3布局"""
+
+    # 载架尺寸 (mm)
+    carrier_size_x = 127.8
+    carrier_size_y = 85.5
+    carrier_size_z = 50.0
+
+    # 瓶位尺寸
+    bottle_diameter = 30.0
+    bottle_spacing_x = 42.0  # X方向间距
+    bottle_spacing_y = 35.0  # Y方向间距
+
+    # 计算起始位置 (居中排列)
+    start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
+    start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
+
+    sites = create_ordered_items_2d(
+        klass=ResourceHolder,
+        num_items_x=3,
+        num_items_y=2,
+        dx=start_x,
+        dy=start_y,
+        dz=5.0,
+        item_dx=bottle_spacing_x,
+        item_dy=bottle_spacing_y,
+
+        size_x=bottle_diameter,
+        size_y=bottle_diameter,
+        size_z=carrier_size_z,
+    )
+    for k, v in sites.items():
+        v.name = f"{name}_{v.name}"
+
+    carrier = BottleCarrier(
+        name=name,
+        size_x=carrier_size_x,
+        size_y=carrier_size_y,
+        size_z=carrier_size_z,
+        sites=sites,
+        model="BIOYOND_Electrolyte_6VialCarrier",
+    )
+    carrier.num_items_x = 3
+    carrier.num_items_y = 2
+    carrier.num_items_z = 1
+    for i in range(6):
+        carrier[i] = BIOYOND_PolymerStation_Solid_Vial(f"{name}_vial_{i+1}")
+    return carrier
+
+
+def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier:
+    """1瓶载架 - 单个中央位置"""
+
+    # 载架尺寸 (mm)
+    carrier_size_x = 127.8
+    carrier_size_y = 85.5
+    carrier_size_z = 100.0
+
+    # 烧杯尺寸
+    beaker_diameter = 80.0
+
+    # 计算中央位置
+    center_x = (carrier_size_x - beaker_diameter) / 2
+    center_y = (carrier_size_y - beaker_diameter) / 2
+    center_z = 5.0
+
+    carrier = BottleCarrier(
+        name=name,
+        size_x=carrier_size_x,
+        size_y=carrier_size_y,
+        size_z=carrier_size_z,
+        sites=create_homogeneous_resources(
+            klass=ResourceHolder,
+            locations=[Coordinate(center_x, center_y, center_z)],
+            resource_size_x=beaker_diameter,
+            resource_size_y=beaker_diameter,
+            name_prefix=name,
+        ),
+        model="BIOYOND_Electrolyte_1BottleCarrier",
+    )
+    carrier.num_items_x = 1
+    carrier.num_items_y = 1
+    carrier.num_items_z = 1
+    carrier[0] = BIOYOND_PolymerStation_Solution_Beaker(f"{name}_beaker_1")
+    return carrier
+
+
+def BIOYOND_PolymerStation_6VialCarrier(name: str) -> BottleCarrier:
+    """6瓶载架 - 2x3布局"""
+
+    # 载架尺寸 (mm)
+    carrier_size_x = 127.8
+    carrier_size_y = 85.5
+    carrier_size_z = 50.0
+
+    # 瓶位尺寸
+    bottle_diameter = 30.0
+    bottle_spacing_x = 42.0  # X方向间距
+    bottle_spacing_y = 35.0  # Y方向间距
+
+    # 计算起始位置 (居中排列)
+    start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
+    start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
+
+    sites = create_ordered_items_2d(
+        klass=ResourceHolder,
+        num_items_x=3,
+        num_items_y=2,
+        dx=start_x,
+        dy=start_y,
+        dz=5.0,
+        item_dx=bottle_spacing_x,
+        item_dy=bottle_spacing_y,
+
+        size_x=bottle_diameter,
+        size_y=bottle_diameter,
+        size_z=carrier_size_z,
+    )
+    for k, v in sites.items():
+        v.name = f"{name}_{v.name}"
+
+    carrier = BottleCarrier(
+        name=name,
+        size_x=carrier_size_x,
+        size_y=carrier_size_y,
+        size_z=carrier_size_z,
+        sites=sites,
+        model="BIOYOND_PolymerStation_6VialCarrier",
+    )
+    carrier.num_items_x = 3
+    carrier.num_items_y = 2
+    carrier.num_items_z = 1
+    ordering = ["A1", "A2", "A3", "B1", "B2", "B3"]  # 自定义顺序
+    for i in range(6):
+        carrier[i] = BIOYOND_PolymerStation_Solid_Vial(f"{name}_vial_{ordering[i]}")
+    return carrier
+
+
+def BIOYOND_PolymerStation_1BottleCarrier(name: str) -> BottleCarrier:
+    """1瓶载架 - 单个中央位置"""
+
+    # 载架尺寸 (mm)
+    carrier_size_x = 127.8
+    carrier_size_y = 85.5
+    carrier_size_z = 20.0
+
+    # 烧杯尺寸
+    beaker_diameter = 60.0
+
+    # 计算中央位置
+    center_x = (carrier_size_x - beaker_diameter) / 2
+    center_y = (carrier_size_y - beaker_diameter) / 2
+    center_z = 5.0
+
+    carrier = BottleCarrier(
+        name=name,
+        size_x=carrier_size_x,
+        size_y=carrier_size_y,
+        size_z=carrier_size_z,
+        sites=create_homogeneous_resources(
+            klass=ResourceHolder,
+            locations=[Coordinate(center_x, center_y, center_z)],
+            resource_size_x=beaker_diameter,
+            resource_size_y=beaker_diameter,
+            name_prefix=name,
+        ),
+        model="BIOYOND_PolymerStation_1BottleCarrier",
+    )
+    carrier.num_items_x = 1
+    carrier.num_items_y = 1
+    carrier.num_items_z = 1
+    carrier[0] = BIOYOND_PolymerStation_Reagent_Bottle(f"{name}_flask_1")
+    return carrier
+
+
+def BIOYOND_PolymerStation_1FlaskCarrier(name: str) -> BottleCarrier:
+    """1瓶载架 - 单个中央位置"""
+
+    # 载架尺寸 (mm)
+    carrier_size_x = 127.8
+    carrier_size_y = 85.5
+    carrier_size_z = 20.0
+
+    # 烧杯尺寸
+    beaker_diameter = 70.0
+
+    # 计算中央位置
+    center_x = (carrier_size_x - beaker_diameter) / 2
+    center_y = (carrier_size_y - beaker_diameter) / 2
+    center_z = 5.0
+
+    carrier = BottleCarrier(
+        name=name,
+        size_x=carrier_size_x,
+        size_y=carrier_size_y,
+        size_z=carrier_size_z,
+        sites=create_homogeneous_resources(
+            klass=ResourceHolder,
+            locations=[Coordinate(center_x, center_y, center_z)],
+            resource_size_x=beaker_diameter,
+            resource_size_y=beaker_diameter,
+            name_prefix=name,
+        ),
+        model="BIOYOND_PolymerStation_1FlaskCarrier",
+    )
+    carrier.num_items_x = 1
+    carrier.num_items_y = 1
+    carrier.num_items_z = 1
+    carrier[0] = BIOYOND_PolymerStation_Reagent_Bottle(f"{name}_bottle_1")
+    return carrier

unilabos/resources/bioyond/bottles.py

@@ -0,0 +1,56 @@
+from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
+# 工厂函数
+
+
+def BIOYOND_PolymerStation_Solid_Vial(
+    name: str,
+    diameter: float = 20.0,
+    height: float = 100.0,
+    max_volume: float = 30000.0,  # 30mL
+    barcode: str = None,
+) -> Bottle:
+    """创建粉末瓶"""
+    return Bottle(
+        name=name,
+        diameter=diameter,
+        height=height,
+        max_volume=max_volume,
+        barcode=barcode,
+        model="BIOYOND_PolymerStation_Solid_Vial",
+    )
+
+
+def BIOYOND_PolymerStation_Solution_Beaker(
+    name: str,
+    diameter: float = 60.0,
+    height: float = 70.0,
+    max_volume: float = 200000.0,  # 200mL
+    barcode: str = None,
+) -> Bottle:
+    """创建溶液烧杯"""
+    return Bottle(
+        name=name,
+        diameter=diameter,
+        height=height,
+        max_volume=max_volume,
+        barcode=barcode,
+        model="BIOYOND_PolymerStation_Solution_Beaker",
+    )
+
+
+def BIOYOND_PolymerStation_Reagent_Bottle(
+    name: str,
+    diameter: float = 70.0,
+    height: float = 120.0,
+    max_volume: float = 500000.0,  # 500mL
+    barcode: str = None,
+) -> Bottle:
+    """创建试剂瓶"""
+    return Bottle(
+        name=name,
+        diameter=diameter,
+        height=height,
+        max_volume=max_volume,
+        barcode=barcode,
+        model="BIOYOND_PolymerStation_Reagent_Bottle",
+    )

unilabos/resources/bioyond/decks.py

@@ -0,0 +1,68 @@
+from pylabrobot.resources import Deck, Coordinate, Rotation
+
+from unilabos.resources.bioyond.warehouses import bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x2, bioyond_warehouse_liquid_and_lid_handling
+
+
+class BIOYOND_PolymerReactionStation_Deck(Deck):
+    def __init__(
+        self, 
+        name: str = "PolymerReactionStation_Deck",
+        size_x: float = 2700.0,
+        size_y: float = 1080.0,
+        size_z: float = 1500.0,
+        category: str = "deck",
+        setup: bool = False
+    ) -> None:
+        super().__init__(name=name, size_x=2700.0, size_y=1080.0, size_z=1500.0)
+        if setup:
+            self.setup()
+
+    def setup(self) -> None:
+        # 添加仓库
+        self.warehouses = {
+            "堆栈1": bioyond_warehouse_1x4x4("堆栈1"),
+            "堆栈2": bioyond_warehouse_1x4x4("堆栈2"),
+            "站内试剂存放堆栈": bioyond_warehouse_liquid_and_lid_handling("站内试剂存放堆栈"),
+        }
+        self.warehouse_locations = {
+            "堆栈1": Coordinate(0.0, 430.0, 0.0),
+            "堆栈2": Coordinate(2550.0, 430.0, 0.0),
+            "站内试剂存放堆栈": Coordinate(800.0, 475.0, 0.0),
+        }
+        self.warehouses["站内试剂存放堆栈"].rotation = Rotation(z=90)
+
+        for warehouse_name, warehouse in self.warehouses.items():
+            self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
+
+
+class BIOYOND_PolymerPreparationStation_Deck(Deck):
+    def __init__(
+        self, 
+        name: str = "PolymerPreparationStation_Deck",
+        size_x: float = 2700.0,
+        size_y: float = 1080.0,
+        size_z: float = 1500.0,
+        category: str = "deck",
+        setup: bool = False
+    ) -> None:
+        super().__init__(name=name, size_x=2700.0, size_y=1080.0, size_z=1500.0)
+        if setup:
+            self.setup()
+
+    def setup(self) -> None:
+        # 添加仓库
+        self.warehouses = {
+            "io_warehouse_left": bioyond_warehouse_1x4x4("io_warehouse_left"),
+            "io_warehouse_right": bioyond_warehouse_1x4x4("io_warehouse_right"),
+            "solutions": bioyond_warehouse_1x4x2("warehouse_solutions"),
+            "liquid_and_lid_handling": bioyond_warehouse_liquid_and_lid_handling("warehouse_liquid_and_lid_handling"),
+        }
+        self.warehouse_locations = {
+            "io_warehouse_left": Coordinate(0.0, 650.0, 0.0),
+            "io_warehouse_right": Coordinate(2550.0, 650.0, 0.0),
+            "solutions": Coordinate(1915.0, 900.0, 0.0),
+            "liquid_and_lid_handling": Coordinate(1330.0, 490.0, 0.0),
+        }
+
+        for warehouse_name, warehouse in self.warehouses.items():
+            self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])

unilabos/resources/bioyond/warehouses.py

@@ -0,0 +1,54 @@
+from unilabos.resources.warehouse import WareHouse, warehouse_factory
+
+
+def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
+    """创建BioYond 4x1x4仓库"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=1,
+        num_items_y=4,
+        num_items_z=4,
+        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_1x4x2(name: str) -> WareHouse:
+    """创建BioYond 4x1x2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_liquid_and_lid_handling(name: str) -> WareHouse:
+    """创建BioYond开关盖加液模块台面"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=2,
+        num_items_y=5,
+        num_items_z=1,
+        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
+    )

unilabos/resources/graphio.py

@@ -4,16 +4,17 @@ import json
 from typing import Union, Any, Dict
 import numpy as np
 import networkx as nx
+from pylabrobot.resources import ResourceHolder
 from unilabos_msgs.msg import Resource
 
 from unilabos.resources.container import RegularContainer
-from unilabos.ros.msgs.message_converter import convert_from_ros_msg_with_mapping, convert_to_ros_msg
+from unilabos.ros.msgs.message_converter import convert_to_ros_msg
 
 try:
     from pylabrobot.resources.resource import Resource as ResourcePLR
 except ImportError:
     pass
-from typing import Union, get_origin, get_args
+from typing import Union, get_origin
 
 physical_setup_graph: nx.Graph = None
 
@@ -218,14 +219,20 @@ def dict_to_tree(nodes: dict, devices_only: bool = False) -> list[dict]:
     # 将节点转换为字典，以便通过 ID 快速查找
     nodes_list = [node for node in nodes.values() if node.get("type") == "device" or not devices_only]
     id_list = [node["id"] for node in nodes_list]
+    is_root = {node["id"]: True for node in nodes_list}
 
     # 初始化每个节点的 children 为包含节点字典的列表
     for node in nodes_list:
         node["children"] = [nodes[child_id] for child_id in node.get("children", [])]
+        for child_id in node.get("children", []):
+            if child_id in is_root:
+                is_root[child_id] = False
 
     # 找到根节点并返回
     root_nodes = [
-        node for node in nodes_list if len(nodes_list) == 1 or node.get("parent", node.get("parent_name")) in [None, "", "None", np.nan] or node.get("parent", node.get("parent_name")) not in id_list
+        node
+        for node in nodes_list
+        if is_root.get(node["id"], False) or len(nodes_list) == 1
     ]
 
     # 如果存在多个根节点，返回所有根节点
@@ -235,6 +242,7 @@ def dict_to_tree(nodes: dict, devices_only: bool = False) -> list[dict]:
 def dict_to_nested_dict(nodes: dict, devices_only: bool = False) -> dict:
     # 将节点转换为字典，以便通过 ID 快速查找
     nodes_list = [node for node in nodes.values() if node.get("type") == "device" or not devices_only]
+    is_root = {node["id"]: True for node in nodes_list}
 
     # 初始化每个节点的 children 为包含节点字典的列表
     for node in nodes_list:
@@ -243,14 +251,17 @@ def dict_to_nested_dict(nodes: dict, devices_only: bool = False) -> dict:
             for child_id in node.get("children", [])
             if nodes[child_id].get("type") == "device" or not devices_only
         }
-        if len(node["children"]) > 0 and node["type"].lower() == "device" and devices_only:
+        for child_id in node.get("children", []):
+            if child_id in is_root:
+                is_root[child_id] = False
+        if len(node["children"]) > 0 and node["type"].lower() == "device":
             node["config"]["children"] = node["children"]
 
     # 找到根节点并返回
     root_nodes = {
         node["id"]: node
         for node in nodes_list
-        if node.get("parent", node.get("parent_name")) in [None, "", "None", np.nan] or len(nodes_list) == 1
+        if is_root.get(node["id"], False) or len(nodes_list) == 1
     }
 
     # 如果存在多个根节点，返回所有根节点
@@ -327,7 +338,7 @@ def nested_dict_to_list(nested_dict: dict) -> list[dict]:  # FIXME 是tree？
     return result
 
 def convert_resources_to_type(
-    resources_list: list[dict], resource_type: type, *, plr_model: bool = False
+    resources_list: list[dict], resource_type: Union[type, list[type]], *, plr_model: bool = False
 ) -> Union[list[dict], dict, None, "ResourcePLR"]:
     """
     Convert resources to a given type (PyLabRobot or NestedDict) from flattened list of dictionaries.
@@ -358,7 +369,7 @@ def convert_resources_to_type(
         return None
 
 
-def convert_resources_from_type(resources_list, resource_type: type) -> Union[list[dict], dict, None, "ResourcePLR"]:
+def convert_resources_from_type(resources_list, resource_type: Union[type, list[type]], *, is_plr: bool = False) -> Union[list[dict], dict, None, "ResourcePLR"]:
     """
     Convert resources from a given type (PyLabRobot or NestedDict) to flattened list of dictionaries.
 
@@ -374,11 +385,11 @@ def convert_resources_from_type(resources_list, resource_type: type) -> Union[li
     elif isinstance(resource_type, type) and issubclass(resource_type, ResourcePLR):
         resources_tree = [resource_plr_to_ulab(resources_list)]
         return tree_to_list(resources_tree)
-    elif isinstance(resource_type, list) :
+    elif isinstance(resource_type, list):
         if all((get_origin(t) is Union) for t in resource_type):
             resources_tree = [resource_plr_to_ulab(r) for r in resources_list]
             return tree_to_list(resources_tree)
-        elif all(issubclass(t, ResourcePLR) for t in resource_type):
+        elif is_plr or all(issubclass(t, ResourcePLR) for t in resource_type):
             resources_tree = [resource_plr_to_ulab(r) for r in resources_list]
             return tree_to_list(resources_tree)
     else:
@@ -470,7 +481,54 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
     return r
 
 
-def initialize_resource(resource_config: dict) -> list[dict]:
+def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: dict = {}, deck: Any = None) -> list[dict]:
+    """
+    将 bioyond 物料格式转换为 ulab 物料格式
+
+    Args:
+        bioyond_materials: bioyond 系统的物料查询结果列表
+        type_mapping: 物料类型映射字典，格式 {bioyond_type: plr_class_name}
+        location_id_mapping: 库位 ID 到名称的映射字典，格式 {location_id: location_name}
+
+    Returns:
+        pylabrobot 格式的物料列表
+    """
+    plr_materials = []
+
+    for material in bioyond_materials:
+        className = type_mapping.get(material.get("typeName"), "RegularContainer") if type_mapping else "RegularContainer"
+        
+        plr_material: ResourcePLR = initialize_resource({"name": material["name"], "class": className}, resource_type=ResourcePLR)
+        plr_material.code = material.get("code", "") and material.get("barCode", "") or ""
+
+        # 处理子物料（detail）
+        if material.get("detail") and len(material["detail"]) > 0:
+            child_ids = []
+            for detail in material["detail"]:
+                number = (detail.get("z", 0) - 1) * plr_material.num_items_x * plr_material.num_items_y + \
+                         (detail.get("x", 0) - 1) * plr_material.num_items_x + \
+                         (detail.get("y", 0) - 1)
+                bottle = plr_material[number]
+                bottle.code = detail.get("code", "")
+                bottle.tracker.liquids = [(detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)]
+                
+        plr_materials.append(plr_material)
+
+        if deck and hasattr(deck, "warehouses"):
+            for loc in material.get("locations", []):
+                if hasattr(deck, "warehouses") and loc.get("whName") in deck.warehouses:
+                    warehouse = deck.warehouses[loc["whName"]]
+                    idx = (loc.get("y", 0) - 1) * warehouse.num_items_x * warehouse.num_items_y + \
+                          (loc.get("x", 0) - 1) * warehouse.num_items_x + \
+                          (loc.get("z", 0) - 1)
+                    if 0 <= idx < warehouse.capacity:
+                        if warehouse[idx] is None or isinstance(warehouse[idx], ResourceHolder):
+                            warehouse[idx] = plr_material
+
+    return plr_materials
+
+
+def initialize_resource(resource_config: dict, resource_type: Any = None) -> Union[list[dict], ResourcePLR]:
     """Initializes a resource based on its configuration.
 
     If the config is detailed, then do nothing;
@@ -502,11 +560,14 @@ def initialize_resource(resource_config: dict) -> list[dict]:
 
         if resource_class_config["type"] == "pylabrobot":
             resource_plr = RESOURCE(name=resource_config["name"])
-            r = resource_plr_to_ulab(resource_plr=resource_plr, parent_name=resource_config.get("parent", None))
-            # r = resource_plr_to_ulab(resource_plr=resource_plr)
-            if resource_config.get("position") is not None:
-                r["position"] = resource_config["position"]
-            r = tree_to_list([r])
+            if resource_type != ResourcePLR:
+                r = resource_plr_to_ulab(resource_plr=resource_plr, parent_name=resource_config.get("parent", None))
+                # r = resource_plr_to_ulab(resource_plr=resource_plr)
+                if resource_config.get("position") is not None:
+                    r["position"] = resource_config["position"]
+                r = tree_to_list([r])
+            else:
+                r = resource_plr
         elif resource_class_config["type"] == "unilabos":
             res_instance: RegularContainer = RESOURCE(id=resource_config["name"])
             res_instance.ulr_resource = convert_to_ros_msg(Resource, {k:v for k,v in resource_config.items() if k != "class"})

unilabos/resources/itemized_carrier.py

@@ -0,0 +1,357 @@
+"""
+自动化液体处理工作站物料类定义 - 简化版
+Automated Liquid Handling Station Resource Classes - Simplified Version
+"""
+
+from __future__ import annotations
+
+from typing import Dict, Optional
+
+from pylabrobot.resources.coordinate import Coordinate
+from pylabrobot.resources.container import Container
+from pylabrobot.resources.resource_holder import ResourceHolder
+from pylabrobot.resources import Resource as ResourcePLR
+
+
+class Bottle(Container):
+    """瓶子类 - 简化版，不追踪瓶盖"""
+
+    def __init__(
+        self,
+        name: str,
+        diameter: float,
+        height: float,
+        max_volume: float,
+        size_x: float = 0.0,
+        size_y: float = 0.0,
+        size_z: float = 0.0,
+        barcode: Optional[str] = "",
+        category: str = "container",
+        model: Optional[str] = None,
+    ):
+        super().__init__(
+            name=name,
+            size_x=diameter,
+            size_y=diameter,
+            size_z=height,
+            max_volume=max_volume,
+            category=category,
+            model=model,
+        )
+        self.diameter = diameter
+        self.height = height
+        self.barcode = barcode
+
+    def serialize(self) -> dict:
+        return {
+            **super().serialize(),
+            "diameter": self.diameter,
+            "height": self.height,
+            "barcode": self.barcode,
+        }
+
+
+from string import ascii_uppercase as LETTERS
+from typing import Dict, List, Optional, Type, TypeVar, Union, Sequence, Tuple
+
+import pylabrobot
+from pylabrobot.resources.resource_holder import ResourceHolder
+
+T = TypeVar("T", bound=ResourceHolder)
+
+S = TypeVar("S", bound=ResourceHolder)
+
+
+class ItemizedCarrier(ResourcePLR):
+  """Base class for all carriers."""
+
+  def __init__(
+    self,
+    name: str,
+    size_x: float,
+    size_y: float,
+    size_z: float,
+    num_items_x: int = 0,
+    num_items_y: int = 0,
+    num_items_z: int = 0,
+    sites: Optional[Dict[Union[int, str], Optional[ResourcePLR]]] = None,
+    category: Optional[str] = "carrier",
+    model: Optional[str] = None,
+  ):
+    super().__init__(
+      name=name,
+      size_x=size_x,
+      size_y=size_y,
+      size_z=size_z,
+      category=category,
+      model=model,
+    )
+    self.num_items = len(sites)
+    self.num_items_x, self.num_items_y, self.num_items_z = num_items_x, num_items_y, num_items_z
+    if isinstance(sites, dict):
+      sites = sites or {}
+      self.sites: List[Optional[ResourcePLR]] = list(sites.values())
+      self._ordering = sites
+      self.child_locations: Dict[str, Coordinate] = {}
+      self.child_size: Dict[str, dict] = {}
+      for spot, resource in sites.items():
+        if resource is not None and getattr(resource, "location", None) is None:
+          raise ValueError(f"resource {resource} has no location")
+        if resource is not None:
+          self.child_locations[spot] = resource.location
+          self.child_size[spot] = {"width": resource._size_x, "height": resource._size_y, "depth": resource._size_z}
+        else:
+          self.child_locations[spot] = Coordinate.zero()
+          self.child_size[spot] = {"width": 0, "height": 0, "depth": 0}
+    elif isinstance(sites, list):
+      # deserialize时走这里；还需要根据 self.sites 索引children
+      self.child_locations = {site["label"]: Coordinate(**site["position"]) for site in sites}
+      self.child_size = {site["label"]: site["size"] for site in sites}
+      self.sites = [site["occupied_by"] for site in sites]
+      self._ordering = {site["label"]: site["position"] for site in sites}
+    else:
+      print("sites:", sites)
+
+  @property
+  def capacity(self):
+    """The number of sites on this carrier."""
+    return len(self.sites)
+
+  def __len__(self) -> int:
+    """Return the number of sites on this carrier."""
+    return len(self.sites)
+
+  def assign_child_resource(
+    self,
+    resource: ResourcePLR,
+    location: Optional[Coordinate],
+    reassign: bool = True,
+    spot: Optional[int] = None,
+  ):
+    idx = spot
+    # 如果只给 location，根据坐标和 deserialize 后的 self.sites（持有names）来寻找 resource 该摆放的位置
+    if spot is not None:
+      idx = spot
+    else:
+      for i, site in enumerate(self.sites):
+        site_location = list(self.child_locations.values())[i]
+        if type(site) == str and site == resource.name:
+          idx = i
+          break
+        if site_location == location:
+          idx = i
+          break
+        
+    if not reassign and self.sites[idx] is not None:
+      raise ValueError(f"a site with index {idx} already exists")
+    super().assign_child_resource(resource, location=location, reassign=reassign)
+    self.sites[idx] = resource
+
+  def assign_resource_to_site(self, resource: ResourcePLR, spot: int):
+    if self.sites[spot] is not None and not isinstance(self.sites[spot], ResourceHolder):
+      raise ValueError(f"spot {spot} already has a resource, {resource}")
+    self.assign_child_resource(resource, location=self.child_locations.get(str(spot)), spot=spot)
+
+  def unassign_child_resource(self, resource: ResourcePLR):
+    found = False
+    for spot, res in enumerate(self.sites):
+      if res == resource:
+        self.sites[spot] = None
+        found = True
+        break
+    if not found:
+      raise ValueError(f"Resource {resource} is not assigned to this carrier")
+    if hasattr(resource, "unassign"):
+      resource.unassign()
+
+  def __getitem__(
+    self,
+    identifier: Union[str, int, Sequence[int], Sequence[str], slice, range],
+  ) -> Union[List[T], T]:
+    """Get the items with the given identifier.
+
+    This is a convenience method for getting the items with the given identifier. It is equivalent
+    to :meth:`get_items`, but adds support for slicing and supports single items in the same
+    functional call. Note that the return type will always be a list, even if a single item is
+    requested.
+
+    Examples:
+      Getting the items with identifiers "A1" through "E1":
+
+        >>> items["A1:E1"]
+
+        [<Item A1>, <Item B1>, <Item C1>, <Item D1>, <Item E1>]
+
+      Getting the items with identifiers 0 through 4 (note that this is the same as above):
+
+        >>> items[range(5)]
+
+        [<Item A1>, <Item B1>, <Item C1>, <Item D1>, <Item E1>]
+
+      Getting items with a slice (note that this is the same as above):
+
+        >>> items[0:5]
+
+        [<Item A1>, <Item B1>, <Item C1>, <Item D1>, <Item E1>]
+
+      Getting a single item:
+
+        >>> items[0]
+
+        [<Item A1>]
+    """
+
+    if isinstance(identifier, str):
+      if ":" in identifier:  # multiple # TODO: deprecate this, use `"A1":"E1"` instead (slice)
+        return self.get_items(identifier)
+
+      return self.get_item(identifier)  # single
+
+    if isinstance(identifier, int):
+      return self.get_item(identifier)
+
+    if isinstance(identifier, (slice, range)):
+      start, stop = identifier.start, identifier.stop
+      if isinstance(identifier.start, str):
+        start = list(self._ordering.keys()).index(identifier.start)
+      elif identifier.start is None:
+        start = 0
+      if isinstance(identifier.stop, str):
+        stop = list(self._ordering.keys()).index(identifier.stop)
+      elif identifier.stop is None:
+        stop = self.num_items
+      identifier = list(range(start, stop, identifier.step or 1))
+      return self.get_items(identifier)
+
+    if isinstance(identifier, (list, tuple)):
+      return self.get_items(identifier)
+
+    raise TypeError(f"Invalid identifier type: {type(identifier)}")
+
+  def get_item(self, identifier: Union[str, int, Tuple[int, int]]) -> T:
+    """Get the item with the given identifier.
+
+    Args:
+      identifier: The identifier of the item. Either a string, an integer, or a tuple. If an
+      integer, it is the index of the item in the list of items (counted from 0, top to bottom, left
+      to right).  If a string, it uses transposed MS Excel style notation, e.g. "A1" for the first
+      item, "B1" for the item below that, etc. If a tuple, it is (row, column).
+
+    Raises:
+      IndexError: If the identifier is out of range. The range is 0 to self.num_items-1 (inclusive).
+    """
+
+    if isinstance(identifier, tuple):
+      row, column = identifier
+      identifier = LETTERS[row] + str(column + 1)  # standard transposed-Excel style notation
+    if isinstance(identifier, str):
+      try:
+        identifier = list(self._ordering.keys()).index(identifier)
+      except ValueError as e:
+        raise IndexError(
+          f"Item with identifier '{identifier}' does not exist on " f"resource '{self.name}'."
+        ) from e
+
+    if not 0 <= identifier < self.capacity:
+      raise IndexError(
+        f"Item with identifier '{identifier}' does not exist on " f"resource '{self.name}'."
+      )
+
+    # Cast child to item type. Children will always be `T`, but the type checker doesn't know that.
+    return self.sites[identifier]
+
+  def get_items(self, identifiers: Union[str, Sequence[int], Sequence[str]]) -> List[T]:
+    """Get the items with the given identifier.
+
+    Args:
+      identifier: Deprecated. Use `identifiers` instead. # TODO(deprecate-ordered-items)
+      identifiers: The identifiers of the items. Either a string range or a list of integers. If a
+        string, it uses transposed MS Excel style notation. Regions of items can be specified using
+        a colon, e.g. "A1:H1" for the first column. If a list of integers, it is the indices of the
+        items in the list of items (counted from 0, top to bottom, left to right).
+
+    Examples:
+      Getting the items with identifiers "A1" through "E1":
+
+        >>> items.get_items("A1:E1")
+
+        [<Item A1>, <Item B1>, <Item C1>, <Item D1>, <Item E1>]
+
+      Getting the items with identifiers 0 through 4:
+
+        >>> items.get_items(range(5))
+
+        [<Item A1>, <Item B1>, <Item C1>, <Item D1>, <Item E1>]
+    """
+
+    if isinstance(identifiers, str):
+      identifiers = pylabrobot.utils.expand_string_range(identifiers)
+    return [self.get_item(i) for i in identifiers]
+
+  def __setitem__(self, idx: Union[int, str], resource: Optional[ResourcePLR]):
+    """Assign a resource to this carrier."""
+    if resource is None:  # setting to None
+      assigned_resource = self[idx]
+      if assigned_resource is not None:
+        self.unassign_child_resource(assigned_resource)
+    else:
+      idx = list(self._ordering.keys()).index(idx) if isinstance(idx, str) else idx
+      self.assign_resource_to_site(resource, spot=idx)
+
+  def __delitem__(self, idx: int):
+    """Unassign a resource from this carrier."""
+    assigned_resource = self[idx]
+    if assigned_resource is not None:
+      self.unassign_child_resource(assigned_resource)
+
+  def get_resources(self) -> List[ResourcePLR]:
+    """Get all resources assigned to this carrier."""
+    return [resource for resource in self.sites.values() if resource is not None]
+
+  def __eq__(self, other):
+    return super().__eq__(other) and self.sites == other.sites
+
+  def get_free_sites(self) -> List[int]:
+    return [spot for spot, resource in self.sites.items() if resource is None]
+
+  def serialize(self):
+    return {
+      **super().serialize(),
+      "num_items_x": self.num_items_x,
+      "num_items_y": self.num_items_y,
+      "num_items_z": self.num_items_z,
+      "sites": [{
+        "label": str(identifier),
+        "visible": True if self[identifier] is not None else False,
+        "occupied_by": self[identifier].name 
+                        if isinstance(self[identifier], ResourcePLR) and not isinstance(self[identifier], ResourceHolder) else 
+                        self[identifier] if isinstance(self[identifier], str) else None,
+        "position": {"x": location.x, "y": location.y, "z": location.z},
+        "size": self.child_size[identifier],
+        "content_type": ["bottle", "container", "tube", "bottle_carrier", "tip_rack"]
+      } for identifier, location in self.child_locations.items()]
+    }
+
+
+class BottleCarrier(ItemizedCarrier):
+    """瓶载架 - 直接继承自 TubeCarrier"""
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        sites: Optional[Dict[Union[int, str], ResourceHolder]] = None,
+        category: str = "bottle_carrier",
+        model: Optional[str] = None,
+    ):
+        super().__init__(
+            name=name,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
+            sites=sites,
+            category=category,
+            model=model,
+        )

unilabos/resources/plr_additional_res_reg.py

@@ -6,4 +6,4 @@ def register():
     # noinspection PyUnresolvedReferences
     from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container
     # noinspection PyUnresolvedReferences
-    from unilabos.ros.nodes.presets.workstation import WorkStationContainer
+    from unilabos.devices.workstation.workstation_base import WorkStationContainer

unilabos/resources/warehouse.py

@@ -0,0 +1,104 @@
+from typing import Dict, Optional, List, Union
+from pylabrobot.resources import Coordinate
+from pylabrobot.resources.carrier import ResourceHolder, create_homogeneous_resources
+
+from unilabos.resources.itemized_carrier import ItemizedCarrier, ResourcePLR
+
+
+def warehouse_factory(
+    name: str,
+    num_items_x: int = 4,
+    num_items_y: int = 1,
+    num_items_z: int = 4,
+    dx: float = 137.0,
+    dy: float = 96.0,
+    dz: float = 120.0,
+    item_dx: float = 10.0,
+    item_dy: float = 10.0,
+    item_dz: float = 10.0,
+    removed_positions: Optional[List[int]] = None,
+    empty: bool = False,
+    category: str = "warehouse",
+    model: Optional[str] = None,
+):
+    # 创建16个板架位 (4层 x 4位置)
+    locations = []
+    for layer in range(num_items_z):  # 4层
+        for row in range(num_items_y):  # 4行
+            for col in range(num_items_x):  # 1列 (每层4x1=4个位置)
+                # 计算位置
+                x = dx + col * item_dx
+                y = dy + (num_items_y - row - 1) * item_dy
+                z = dz + (num_items_z - layer - 1) * item_dz
+                locations.append(Coordinate(x, y, z))
+    if removed_positions:
+        locations = [loc for i, loc in enumerate(locations) if i not in removed_positions]
+    sites = create_homogeneous_resources(
+        klass=ResourceHolder,
+        locations=locations,
+        resource_size_x=127.0,
+        resource_size_y=86.0,
+        name_prefix=name,
+    )
+    
+    return WareHouse(
+        name=name,
+        size_x=dx + item_dx * num_items_x,
+        size_y=dy + item_dy * num_items_y,
+        size_z=dz + item_dz * num_items_z,
+        num_items_x = num_items_x,
+        num_items_y = num_items_y,
+        num_items_z = num_items_z,
+        # ordered_items=ordered_items,
+        # ordering=ordering,
+        sites=sites,
+        category=category,
+        model=model,
+    )
+
+
+class WareHouse(ItemizedCarrier):
+    """堆栈载体类 - 可容纳16个板位的载体（4层x4行x1列）"""
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        num_items_x: int,
+        num_items_y: int,
+        num_items_z: int,
+        sites: Optional[Dict[Union[int, str], Optional[ResourcePLR]]] = None,
+        category: str = "warehouse",
+        model: Optional[str] = None,
+    ):
+
+        super().__init__(
+            name=name,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
+            # ordered_items=ordered_items,
+            # ordering=ordering,
+            num_items_x=num_items_x,
+            num_items_y=num_items_y,
+            num_items_z=num_items_z,
+            sites=sites,
+            category=category,
+            model=model,
+        )
+
+    def get_site_by_layer_position(self, row: int, col: int, layer: int) -> ResourceHolder:
+        if not (0 <= layer < 4 and 0 <= row < 4 and 0 <= col < 1):
+            raise ValueError("无效的位置: layer={}, row={}, col={}".format(layer, row, col))
+
+        site_index = layer * 4 + row * 1 + col
+        return self.sites[site_index]
+
+    def add_rack_to_position(self, row: int, col: int, layer: int, rack) -> None:
+        site = self.get_site_by_layer_position(row, col, layer)
+        site.assign_child_resource(rack)
+
+    def get_rack_at_position(self, row: int, col: int, layer: int):
+        site = self.get_site_by_layer_position(row, col, layer)
+        return site.resource

unilabos/ros/msgs/message_converter.py

@@ -51,6 +51,8 @@ SendCmd = msg_converter_manager.get_class("unilabos_msgs.action:SendCmd")
 imsg = msg_converter_manager.get_module("unilabos.messages")
 Point3D = msg_converter_manager.get_class("unilabos.messages:Point3D")
 
+from control_msgs.action import *
+
 # 基本消息类型映射
 _msg_mapping: Dict[Type, Type] = {
     float: Float64,
@@ -193,7 +195,7 @@ _msg_converter_back: Dict[Type, Any] = {
         "children": list(x.children),
         "parent": x.parent if x.parent else None,
         "type": x.type,
-        "class": x.category,
+        "class": "",
         "position": {"x": x.pose.position.x, "y": x.pose.position.y, "z": x.pose.position.z},
         "config": json_or_yaml_loads(x.config or "{}"),
         "data": json_or_yaml_loads(x.data or "{}"),

unilabos/ros/nodes/base_device_node.py

@@ -5,7 +5,7 @@ import threading
 import time
 import traceback
 import uuid
-from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional
+from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, Union
 
 from concurrent.futures import ThreadPoolExecutor
 import asyncio
@@ -51,7 +51,7 @@ from unilabos_msgs.msg import Resource  # type: ignore
 
 from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
 from unilabos.ros.x.rclpyx import get_event_loop
-from unilabos.ros.utils.driver_creator import ProtocolNodeCreator, PyLabRobotCreator, DeviceClassCreator
+from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
 from unilabos.utils.async_util import run_async_func
 from unilabos.utils.log import info, debug, warning, error, critical, logger, trace
 from unilabos.utils.type_check import get_type_class, TypeEncoder, serialize_result_info, get_result_info_str
@@ -518,6 +518,17 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         rclpy.get_global_executor().add_node(self)
         self.lab_logger().debug(f"ROS节点初始化完成")
 
+    async def update_resource(self, resources: List[Any]):
+        r = ResourceUpdate.Request()
+        unique_resources = []
+        for resource in resources:  # resource是list[ResourcePLR]
+            # 目前更新资源只支持传入plr的对象，后面要更新convert_resources_from_type函数
+            converted_list = convert_resources_from_type([resource], resource_type=[object], is_plr=True)
+            unique_resources.extend([convert_to_ros_msg(Resource, converted) for converted in converted_list])
+        r.resources = unique_resources
+        response = await self._resource_clients["resource_update"].call_async(r)
+        self.lab_logger().debug(f"资源更新结果: {response}")
+
     def register_device(self):
         """向注册表中注册设备信息"""
         topics_info = self._property_publishers.copy()
@@ -672,8 +683,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             if action_name not in ["create_resource_detailed", "create_resource"]:
                 for k, v in goal.get_fields_and_field_types().items():
                     if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
-                        self.lab_logger().info(f"查询资源状态: Key: {k} Type: {v}")
-                        current_resources = []
+                        self.lab_logger().info(f"{action_name} 查询资源状态: Key: {k} Type: {v}")
+                        current_resources: Union[List[Resource], List[List[Resource]]] = []
                         # TODO: resource后面需要分组
                         only_one_resource = False
                         try:
@@ -683,7 +694,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                     r.id = i["id"]  # splash optional
                                     r.with_children = True
                                     response = await self._resource_clients["resource_get"].call_async(r)
-                                    current_resources.extend(response.resources)
+                                    current_resources.append(response.resources)
                             else:
                                 only_one_resource = True
                                 r = ResourceGet.Request()
@@ -698,19 +709,20 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         except Exception:
                             logger.error(f"资源查询失败，默认使用本地资源")
                         # 删除对response.resources的检查，因为它总是存在
-                        resources_list = [convert_from_ros_msg(rs) for rs in current_resources]  # type: ignore  # FIXME
-                        self.lab_logger().debug(f"资源查询结果: {len(resources_list)} 个资源")
                         type_hint = action_paramtypes[k]
                         final_type = get_type_class(type_hint)
-                        # 判断 ACTION 是否需要特殊的物料类型如 pylabrobot.resources.Resource，并做转换
                         if only_one_resource:
+                            resources_list: List[Dict[str, Any]] = [convert_from_ros_msg(rs) for rs in current_resources]  # type: ignore
+                            self.lab_logger().debug(f"资源查询结果: {len(resources_list)} 个资源")
                             final_resource = convert_resources_to_type(resources_list, final_type)
+                        # 判断 ACTION 是否需要特殊的物料类型如 pylabrobot.resources.Resource，并做转换
                         else:
-                            final_resource = [convert_resources_to_type([i], final_type)[0] for i in resources_list]
+                            resources_list: List[List[Dict[str, Any]]] = [[convert_from_ros_msg(rs) for rs in sub_res_list] for sub_res_list in current_resources]  # type: ignore
+                            final_resource = [convert_resources_to_type(sub_res_list, final_type)[0] for sub_res_list in resources_list]
                         try:
                             action_kwargs[k] = self.resource_tracker.figure_resource(final_resource, try_mode=False)
                         except Exception as e:
-                            self.lab_logger().error(f"物料实例获取失败: {e}\n{traceback.format_exc()}")
+                            self.lab_logger().error(f"{action_name} 物料实例获取失败: {e}\n{traceback.format_exc()}")
                             error_skip = True
                             execution_error = traceback.format_exc()
                             break
@@ -946,6 +958,7 @@ class ROS2DeviceNode:
         self._driver_class = driver_class
         self.device_config = device_config
         self.driver_is_ros = driver_is_ros
+        self.driver_is_workstation = False
         self.resource_tracker = DeviceNodeResourceTracker()
 
         # use_pylabrobot_creator 使用 cls的包路径检测
@@ -966,10 +979,10 @@ class ROS2DeviceNode:
                 driver_class, children=children, resource_tracker=self.resource_tracker
             )
         else:
-            from unilabos.ros.nodes.presets.protocol_node import ROS2ProtocolNode
-
-            if issubclass(self._driver_class, ROS2ProtocolNode):  # 是ProtocolNode的子节点，就要调用ProtocolNodeCreator
-                self._driver_creator = ProtocolNodeCreator(driver_class, children=children, resource_tracker=self.resource_tracker)
+            from unilabos.devices.workstation.workstation_base import WorkstationBase
+            if issubclass(self._driver_class, WorkstationBase):  # 是WorkstationNode的子节点，就要调用WorkstationNodeCreator
+                self.driver_is_workstation = True
+                self._driver_creator = WorkstationNodeCreator(driver_class, children=children, resource_tracker=self.resource_tracker)
             else:
                 self._driver_creator = DeviceClassCreator(driver_class, children=children, resource_tracker=self.resource_tracker)
 
@@ -984,6 +997,19 @@ class ROS2DeviceNode:
         # 创建ROS2节点
         if driver_is_ros:
             self._ros_node = self._driver_instance  # type: ignore
+        elif self.driver_is_workstation:
+            from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
+            self._ros_node = ROS2WorkstationNode(
+                protocol_type=driver_params["protocol_type"],
+                children=children,
+                driver_instance=self._driver_instance,  # type: ignore
+                device_id=device_id,
+                status_types=status_types,
+                action_value_mappings=action_value_mappings,
+                hardware_interface=hardware_interface,
+                print_publish=print_publish,
+                resource_tracker=self.resource_tracker,
+            )
         else:
             self._ros_node = BaseROS2DeviceNode(
                 driver_instance=self._driver_instance,