v0.11.3

Bumps [actions/deploy-pages](https://github.com/actions/deploy-pages) from 4 to 5.
- [Release notes](https://github.com/actions/deploy-pages/releases)
- [Commits](https://github.com/actions/deploy-pages/compare/v4...v5)

---
updated-dependencies:
- dependency-name: actions/deploy-pages
  dependency-version: '5'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

.conda/base/recipe.yaml

@@ -3,7 +3,7 @@
 
 package:
   name: unilabos
-  version: 0.10.19
+  version: 0.11.3
 
 source:
   path: ../../unilabos
@@ -54,7 +54,7 @@ requirements:
   - pymodbus
   - matplotlib
   - pylibftdi
-  - uni-lab::unilabos-env ==0.10.19
+  - uni-lab::unilabos-env ==0.11.3
 
 about:
   repository: https://github.com/deepmodeling/Uni-Lab-OS

.conda/environment/recipe.yaml

@@ -2,7 +2,7 @@
 
 package:
   name: unilabos-env
-  version: 0.10.19
+  version: 0.11.3
 
 build:
   noarch: generic

.conda/full/recipe.yaml

@@ -3,7 +3,7 @@
 
 package:
   name: unilabos-full
-  version: 0.10.19
+  version: 0.11.3
 
 build:
   noarch: generic
@@ -11,7 +11,7 @@ build:
 requirements:
   run:
   # Base unilabos package (includes unilabos-env)
-  - uni-lab::unilabos ==0.10.19
+  - uni-lab::unilabos ==0.11.3
   # Documentation tools
   - sphinx
   - sphinx_rtd_theme

.cursor/skills/add-device/SKILL.md

@@ -5,9 +5,98 @@ description: Guide for adding new devices to Uni-Lab-OS (接入新设备). Uses
 
 # 添加新设备到 Uni-Lab-OS
 
-**第一步：** 使用 Read 工具读取 `docs/ai_guides/add_device.md`，获取完整的设备接入指南。
+本 Skill 是自包含的设备接入指南，不依赖外部文档。迁移给别人时，只复制 `.cursor/skills/add-device/SKILL.md` 即可获得核心规则、模板、验证方式和常见错误清单。
 
-该指南包含设备类别（物模型）列表、通信协议模板、常见错误检查清单等。搜索 `unilabos/devices/` 获取已有设备的实现参考。
+开始实现前，仍应搜索 `unilabos/devices/` 获取同类别已有设备的接口、参数名、状态字符串和返回值风格作为参考。
+
+---
+
+## 接入工作流
+
+按下面顺序推进，并在工作中维护进度：
+
+```text
+设备接入进度：
+- [ ] 1. 确定设备类别（物模型）和对外单位
+- [ ] 2. 确定通信协议
+- [ ] 3. 收集指令协议（SDK、厂商文档、寄存器表、HTTP API、用户口述）
+- [ ] 4. 对齐同类设备接口（搜索 unilabos/devices/）
+- [ ] 5. 创建驱动 unilabos/devices/<category>/<file>.py
+- [ ] 6. 验证可导入、注册表扫描、启动测试
+- [ ] 7. 如需要，配置实验图文件
+```
+
+## 设备类别（物模型）
+
+优先使用已有类别。只有确实无法归类时才使用 `custom`。
+
+| 类别 ID | 说明 | 标准属性 | 标准动作 |
+|---|---|---|---|
+| `temperature` | 加热、冷却、温控 | `temp`, `temp_target`, `status` | `set_temperature`, `stop` |
+| `pump_and_valve` | 泵、阀门、注射器 | 见子类型表 | 见子类型表 |
+| `motor` | 电机、步进马达 | `position`, `status` | `enable`, `move_position`, `move_speed`, `stop` |
+| `heaterstirrer` | 加热搅拌一体机 | `temp`, `stir_speed`, `status` | `set_temperature`, `stir`, `stop` |
+| `balance` | 天平、称重 | `weight`, `unit`, `status` | `tare`, `read_weight` |
+| `sensor` | 传感器（液位、温度等） | `value`, `level`, `status` | `read_value`, `set_threshold` |
+| `liquid_handling` | 液体处理机器人 | `status`, `deck_state` | `transfer_liquid`, `aspirate`, `dispense` |
+| `robot_arm` | 机械臂 | `arm_pose`, `arm_status` | `moveit_task`, `pick_and_place` |
+| `workstation` | 工作站、组合设备 | `workflow_sequence`, `material_info` | `create_order`, `scheduler_start`, `scheduler_stop` |
+| `virtual` | 虚拟、模拟设备 | 按模拟的真实设备定义 | 按模拟的真实设备定义 |
+| `custom` | 不属于以上类别 | 用户自定义 | 用户自定义 |
+
+`pump_and_valve` 子类型：
+
+| 子类型 | 最小通用属性 | 最小通用动作 | 单位约定 |
+|---|---|---|---|
+| 注射泵（syringe pump） | `status`, `valve_position`, `position` | `initialize`, `set_valve_position`, `set_position`, `pull_plunger`, `push_plunger`, `stop_operation` | 体积=mL, 速度=mL/s |
+| 电磁阀（solenoid valve） | `status`, `valve_position` | `open`, `close`, `set_valve_position` | 无 |
+| 蠕动泵（peristaltic pump） | `status`, `speed` | `start`, `stop`, `set_speed` | 流速=mL/min |
+
+对外暴露的属性和动作参数必须使用用户友好的物理单位（mL、ul、degC、RPM 等），硬件原始值转换放在驱动内部。
+
+## 通信协议和指令来源
+
+先确认通信方式，再确认具体指令协议。物模型只定义设备“应该做什么”，不会告诉你硬件“具体发什么字节/请求”。
+
+| 协议 | 常用 config 参数 | 常用依赖 | 现有抽象 |
+|---|---|---|---|
+| Serial (RS232/RS485) | `port`, `baudrate`, `timeout` | `pyserial` | 直接使用 `serial.Serial` |
+| Modbus RTU | `port`, `baudrate`, `slave_id` | `pymodbus` | `device_comms/modbus_plc/` |
+| Modbus TCP | `host`, `port`, `slave_id` | `pymodbus` | `device_comms/modbus_plc/` |
+| TCP Socket | `host`, `port`, `timeout` | stdlib | 直接使用 `socket` |
+| HTTP API | `url`, `token`, `timeout` | `requests` | `device_comms/rpc.py` |
+| OPC UA | `url` | `opcua` | `device_comms/opcua_client/` |
+| 无通信（虚拟） | 无 | 无 | 在动作中模拟行为 |
+
+必须从以下来源之一获得指令细节：
+
+| 来源 | 处理方式 |
+|---|---|
+| 现成 SDK/驱动代码 | 读取代码，提取指令逻辑，包装进 Uni-Lab-OS 类 |
+| 协议文档/手册 | 解析命令、响应、校验、寄存器、错误码 |
+| 用户口述 | 按描述实现指令编解码，标出不确定点 |
+| 标准协议 | 使用标准实现，例如 Modbus 寄存器表、SCPI |
+| 虚拟设备 | 跳过硬件通信，在动作方法中维护模拟状态 |
+
+## 对齐已有实现（强制）
+
+实现前必须搜索 `unilabos/devices/` 中同类别设备：
+
+- 参数名必须与已有设备保持一致；动作方法参数名是接口契约，不要随意改成 `volume_ml`、`target_temp_c` 这类新名字。
+- `status` 字符串值要和同类设备一致，优先使用英文稳定值，例如 `Idle`、`Running`、`Error`。
+- 状态属性用 `@property` + `@topic_config()` 明确声明。
+- 返回值使用结构化 dict，至少包含 `success`，需要给前端展示的信息放在 `message`、`data`、`error` 等字段。
+
+## 架构选择
+
+| 场景 | 推荐方式 |
+|---|---|
+| 简单设备 | 纯 Python 类 + `@device` |
+| 工作站/组合设备 | `WorkstationBase` 或项目内已有工作站模式 |
+| 液体处理 | `LiquidHandlerAbstract` / PyLabRobot 相关模式 |
+| Modbus 设备 | 复用 `device_comms/modbus_plc/` 或项目内 Modbus 示例 |
+| OPC UA 设备 | 复用 `device_comms/opcua_client/` |
+| 外部独立包 | 使用 `create-device-package` skill |
 
 ---
 
@@ -71,6 +160,45 @@ from unilabos.registry.decorators import action
 - `_` 开头的方法 → 不扫描
 - `@not_action` 标记的方法 → 排除
 
+### 参数文档 → JSON Schema 元数据
+
+在 `__init__` 和 action 方法 docstring 的 `Args:` 小节里，使用以下格式生成入参 schema 的显示信息：
+
+```python
+"""
+Args:
+    param[显示名称]: 参数说明，会写入 JSON Schema 的 description。
+"""
+```
+
+- `param[显示名称]` 的显示名称会写入 goal property 的 `title`。
+- `:` 后面的说明会写入 goal property 的 `description`。
+- 如果只写 `param: 参数说明`，`title` 会兜底为字段名，`description` 使用参数说明。
+- 如果没有写参数文档，生成器也会兜底补齐 `title=<字段名>` 和 `description=""`，但新设备应优先写清楚显示名和说明。
+
+### 特殊参数类型：ResourceSlot / DeviceSlot
+
+需要前端选择资源或设备时，用特殊类型注解，registry 会自动生成 `placeholder_keys`：
+
+```python
+from typing import List
+from unilabos.registry.placeholder_type import DeviceSlot, ResourceSlot
+
+@action(description="转移液体")
+def transfer(self, source: ResourceSlot, target: ResourceSlot, volume_ul: float) -> dict:
+    """
+    Args:
+        source[源资源]: 源容器或孔位。
+        target[目标资源]: 目标容器或孔位。
+        volume_ul[体积(ul)]: 转移体积。
+    """
+    return {"success": True}
+
+@action(description="同步设备")
+def sync_devices(self, devices: List[DeviceSlot]) -> dict:
+    return {"success": True, "count": len(devices)}
+```
+
 ### @topic_config — 状态属性配置
 
 ```python
@@ -105,13 +233,27 @@ import logging
 from typing import Any, Dict, Optional
 
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-from unilabos.registry.decorators import device, action, topic_config, not_action
+from unilabos.registry.decorators import action, device, not_action, topic_config
 
-@device(id="my_device", category=["my_category"], description="设备描述")
+@device(
+    id="my_device",
+    category=["my_category"],
+    description="设备描述",
+    display_name="设备显示名",
+)
 class MyDevice:
+    """设备类说明。"""
+
     _ros_node: BaseROS2DeviceNode
 
     def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
+        """
+        初始化设备。
+
+        Args:
+            device_id[设备ID]: 设备实例 ID，默认使用 my_device。
+            config[设备配置]: 设备启动配置。
+        """
         self.device_id = device_id or "my_device"
         self.config = config or {}
         self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
@@ -133,7 +275,13 @@ class MyDevice:
 
     @action(description="执行操作")
     def my_action(self, param: float = 0.0, name: str = "") -> Dict[str, Any]:
-        """带 @action 装饰器 → 注册为 'my_action' 动作"""
+        """
+        带 @action 装饰器 → 注册为 'my_action' 动作。
+
+        Args:
+            param[操作数值]: 操作使用的数值参数。
+            name[操作名称]: 操作名称或备注。
+        """
         return {"success": True}
 
     def get_info(self) -> Dict[str, Any]:
@@ -158,3 +306,154 @@ class MyDevice:
 - `post_init` 用 `@not_action` 标记，参数类型标注为 `BaseROS2DeviceNode`
 - 运行时状态存储在 `self.data` 字典中
 - 设备文件放在 `unilabos/devices/<category>/` 目录下
+
+---
+
+## 通信实现片段
+
+Serial 文本指令：
+
+```python
+def _send_command(self, cmd: str) -> str:
+    self.ser.write(f"{cmd}\r\n".encode())
+    return self.ser.readline().decode().strip()
+```
+
+RS-485 响应解析要先定位帧头，不要用硬编码索引直接解析原始响应：
+
+```python
+def _normalize_response(self, raw: str, start_marker: str = "/") -> str:
+    pos = raw.find(start_marker)
+    return raw[pos:] if pos >= 0 else raw
+```
+
+自定义二进制帧：
+
+```python
+def _build_frame(self, func_code: int, data: bytes) -> bytes:
+    frame = bytearray([0xFE, func_code]) + bytearray(data)
+    checksum = sum(frame[1:]) % 256
+    frame.append(checksum)
+    return bytes(frame)
+```
+
+Modbus 寄存器映射：
+
+```python
+REGISTER_MAP = {
+    "temp_target": {"addr": 0x000B, "scale": 10},
+}
+
+def set_temperature(self, temp: float, **kwargs) -> bool:
+    reg = REGISTER_MAP["temp_target"]
+    value = int(float(temp) * reg["scale"]) & 0xFFFF
+    self.client.write_register(reg["addr"], value, slave=self.slave_id)
+    self.data["temp_target"] = temp
+    return True
+```
+
+HTTP API 映射：
+
+```python
+API_MAP = {
+    "set_temperature": {
+        "method": "POST",
+        "endpoint": "/api/temperature",
+        "body_key": "target",
+    },
+}
+```
+
+SDK 封装：
+
+```python
+from my_device_sdk import DeviceController
+
+class MyDevice:
+    def __init__(self, device_id=None, config=None, **kwargs):
+        self.config = config or {}
+        self.controller = DeviceController(port=self.config.get("port", "COM1"))
+```
+
+---
+
+## 验证
+
+无需手写注册表 YAML。`@device` 装饰器 + AST 扫描会在启动或检查时生成注册表条目。
+
+```bash
+# 1. 模块可导入
+python -c "from unilabos.devices.<category>.<file> import <ClassName>"
+
+# 2. 启动测试
+unilab -g <graph>.json
+
+# 3. 仅检查注册表
+unilab --check_mode --skip_env_check
+```
+
+仅在旧代码无 `@device`、需要覆盖特殊字段、或做 `--complete_registry` 旧设备补全时，才考虑 YAML。新设备默认不要手写 YAML。
+
+## 图文件节点模板
+
+实验图 JSON 中的 `class` 对应 `@device(id=...)`，`config` 会传入 `__init__` 的 `config` 字典：
+
+```json
+{
+  "id": "my_device_1",
+  "name": "我的设备",
+  "children": [],
+  "parent": null,
+  "type": "device",
+  "class": "my_device",
+  "position": {"x": 0, "y": 0, "z": 0},
+  "config": {
+    "port": "/dev/ttyUSB0",
+    "baudrate": 9600
+  },
+  "data": {}
+}
+```
+
+工作站需要同时配置 `deck` 和 `children`：
+
+```json
+{
+  "nodes": [
+    {
+      "id": "my_station",
+      "type": "device",
+      "class": "my_workstation",
+      "children": ["my_deck"],
+      "config": {},
+      "deck": {
+        "data": {
+          "_resource_child_name": "my_deck",
+          "_resource_type": "unilabos.resources.my_module:MyDeck"
+        }
+      }
+    },
+    {
+      "id": "my_deck",
+      "type": "deck",
+      "class": "MyDeckClass",
+      "parent": "my_station",
+      "config": {"type": "MyDeckClass", "setup": true}
+    }
+  ]
+}
+```
+
+---
+
+## 常见错误清单
+
+- 缺少 `@device`：设备不会被 AST 扫描发现。
+- 只有 `@property` 没有 `@topic_config()`：属性不会稳定广播到 `status_types`。
+- `post_init` 没有 `@not_action`：会被误暴露为动作。
+- `self.data = {}`：空字典会导致属性读取和 schema 初始数据不稳定，必须预填充每个状态键。
+- 动作参数重命名：不要把同类设备已有的 `volume` 改成 `volume_ml`，参数名是接口契约。
+- `status` 使用中文或临时文本：前端和工作流依赖稳定英文状态值。
+- async 方法中使用 `time.sleep()`：应使用 `await self._ros_node.sleep(seconds)`。
+- 硬编码串口响应索引：RS-485 响应前可能有噪声字节，应先定位帧头。
+- 把硬件寄存器单位暴露给用户：对外使用物理单位，驱动内部做 scale 转换。

.cursor/skills/filter-workflow-by-tags/SKILL.md

@@ -0,0 +1,450 @@
+---
+name: filter-workflow-by-tags
+description: Query backend workflow list, aggregate all tags, and filter workflows by domain/scenario requirements using tags. Use when the user wants to search workflows, find workflows by tags, list available workflow tags, filter workflows by category/domain/scenario, or mentions 工作流筛选/标签查询/workflow tags/按领域查找工作流.
+---
+# Uni-Lab 工作流标签筛选指南
+
+通过 Uni-Lab 云端 API 查询工作流列表，汇总所有可用标签（tags），并根据领域和场景要求筛选工作流。
+
+> **重要**：本指南中的 `Authorization: Lab <token>` 是 **Uni-Lab 平台专用的认证方式**，`Lab` 是 Uni-Lab 的 auth scheme 关键字，**不是** HTTP Basic 认证。请勿将其替换为 `Basic`。
+
+## 使用模式识别
+
+**用户可能一开始就给出场景目标**（如"我要做有机合成实验"、"找柱层析相关的 protocol"）。此时：
+
+1. **识别场景关键词** → 映射到可能的 tags（如 synthesis、organic、chromatography、purification）
+2. **直接执行完整流程**（获取 ak/sk/addr → 拉取所有工作流 → 汇总 tags → 按场景筛选）
+3. **展示筛选结果** → 引导用户从候选 workflow 中**选择明确的实验 protocol**
+4. **如果用户确认某个 workflow** → 记录 `workflow_uuid`，准备对接“与其他 Skill 的协作”
+
+**如果用户未给场景目标**，则按标准 checklist 询问筛选条件。
+
+---
+
+## 前置条件
+
+使用本指南前，**必须**先确认以下信息。如果缺少任何一项，**立即向用户询问并终止**，等补齐后再继续。
+
+### 1. ak / sk → AUTH
+
+询问用户的启动参数，从 `--ak` `--sk` 或 config.py 中获取。
+
+生成 AUTH token：
+
+```bash
+python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
+```
+
+### 2. --addr → BASE URL
+
+| `--addr` 值 | BASE                                  |
+| ------------- | ------------------------------------- |
+| `test`      | `https://leap-lab.test.bohrium.com` |
+| `uat`       | `https://leap-lab.uat.bohrium.com`  |
+| `local`     | `http://127.0.0.1:48197`            |
+| 不传（默认）  | `https://leap-lab.bohrium.com`      |
+
+确认后设置：
+
+```bash
+BASE="<根据 addr 确定的 URL>"
+AUTH="Authorization: Lab <上面命令输出的 token>"
+```
+
+### 3. lab_uuid（实验室 UUID）
+
+如果用户未提供 `lab_uuid`，通过以下 API 自动获取：
+
+```bash
+curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
+```
+
+返回 `data.uuid` 即为 `lab_uuid`。
+
+**三项全部就绪后才可开始。**
+
+## Session State
+
+在整个对话过程中，agent 需要记住以下状态：
+
+- `lab_uuid` — 实验室 UUID
+- `all_workflows` — 完整工作流列表（分页获取后缓存到内存或临时文件）
+- `all_tags` — 所有工作流的标签汇总
+
+---
+
+## API 端点
+
+### 查询工作流列表（支持分页）
+
+```
+GET $BASE/api/v1/lab/workflow/owner/list?page=<page>&page_size=<page_size>&lab_uuid=$lab_uuid
+```
+
+**参数：**
+
+- `page` — 页码，从 1 开始
+- `page_size` — 每页数量，建议 1000
+- `lab_uuid` — 实验室 UUID
+
+**返回结构：**
+
+```json
+{
+  "code": 0,
+  "data": {
+    "has_more": true,
+    "data": [
+      {
+        "uuid": "9661bba2-1b9f-4687-a63d-910245df174b",
+        "name": "Untitled",
+        "description": "",
+        "user_id": "114211",
+        "published": false,
+        "tags": null
+      },
+      {
+        "uuid": "e0436638-190b-46bc-b1a1-2711d9602f6a",
+        "name": "Synthesis v2",
+        "user_id": "114211",
+        "published": true,
+        "tags": ["synthesis", "organic"]
+      }
+    ]
+  }
+}
+```
+
+**字段说明：**
+
+- `has_more` — 若为 `true`，需要继续请求 `page+1`
+- `tags` — 可能为 `null`、空数组或字符串数组；聚合时必须容忍 `null`
+
+### 启动工作流（直接运行）
+
+```
+POST $BASE/api/v1/lab/workflow/<workflow_uuid>/run
+```
+
+**用途：** 直接启动一个 workflow 的默认执行（使用模板中预设的参数），无需创建 notebook。适用于快速测试或无参数变化的重复执行。
+
+**请求体：** 空 JSON `{}` 或省略
+
+**返回：**
+
+```json
+{
+  "code": 0,
+  "data": "<run_uuid>"
+}
+```
+
+- `run_uuid` — 本次执行的唯一标识（不是 notebook UUID）
+
+**注意：**
+
+- 该接口会使用 workflow 模板中保存的默认参数直接执行
+- 如果 workflow 需要动态参数（如 CSV 路径、样品 UUID），应使用 `POST /lab/notebook` 创建 notebook 并传入 `node_params`
+- 返回的 `run_uuid` 可直接传入下方「查询任务状态」接口查询实时进度
+
+### 查询任务状态
+
+```
+GET $BASE/api/v1/lab/mcp/task/<task_uuid>
+```
+
+**用途：** 查询由 `POST /lab/workflow/<uuid>/run` 返回的 `run_uuid`（即 task_uuid）的实时执行状态，包括整体状态和每个节点（JOS：Job On Station）的执行详情。
+
+**路径参数：**
+
+- `task_uuid` — 等同于启动工作流接口返回的 `run_uuid`
+
+**返回：**
+
+```json
+{
+  "code": 0,
+  "data": {
+    "status": "running",
+    "jos_status": [
+      {
+        "uuid": "d0e24bfe-8d99-450e-b19d-f25849dfbaad",
+        "node_name": "PRCXI_BioER_96_wellplate_slot_1",
+        "action_name": "create_resource",
+        "status": "success",
+        "return_info": {
+          "suc": true,
+          "error": "",
+          "return_value": { ... }
+        }
+      },
+      {
+        "uuid": "...",
+        "node_name": "...",
+        "action_name": "transfer_liquid",
+        "status": "pending",
+        "return_info": null
+      }
+    ]
+  }
+}
+```
+
+**字段说明：**
+
+- `data.status` — 整体任务状态
+  - `running` — 正在执行（至少一个节点 pending 或 running）
+  - `success` — 全部节点成功
+  - `failed` — 有节点失败
+- `data.jos_status[]` — 节点级执行列表（按执行顺序）
+  - `uuid` — 节点执行实例 UUID
+  - `node_name` — 节点名称（资源/设备名或工位名）
+  - `action_name` — 动作类型（`create_resource`、`transfer_liquid`、`centrifuge`、等）
+  - `status` — 节点状态：`success`、`pending`、`running`、`failed`
+  - `return_info` — 执行返回，失败时 `suc=false` 且 `error` 有错误信息
+
+**注意：**
+
+- 此接口的 `task_uuid` **是** `POST /lab/workflow/<uuid>/run` 返回的 `run_uuid`，二者为同一个 ID 的不同称呼
+- **不要**把 notebook UUID（`POST /lab/notebook` 返回）传进来——那条路径用 `GET /lab/notebook/status` 查询
+- `jos_status` 数组按节点执行顺序给出；从 pending 数量可以估算剩余进度
+- 返回体可能较大（`return_info.return_value` 中可能包含完整 resource tree），可在脚本中只提取 `status` + `node_name` + `action_name` 做摘要
+
+**状态轮询示例：**
+
+```bash
+# 每 5 秒轮询一次直至完成
+TASK="b183d97e-d2b5-4b24-b14b-820df04d87c0"
+while :; do
+  st=$(curl -s -X GET "$BASE/api/v1/lab/mcp/task/$TASK" -H "$AUTH" \
+    | python3 -c "import json,sys; d=json.load(sys.stdin)['data']; \
+      print(d['status'], '|', sum(1 for j in d['jos_status'] if j['status']=='success'), '/', len(d['jos_status']))")
+  echo "$(date +%H:%M:%S) $st"
+  [[ "$st" == success* || "$st" == failed* ]] && break
+  sleep 5
+done
+```
+
+---
+
+## 完整工作流 Checklist
+
+```
+Task Progress:
+- [ ] Step 0: 识别用户是否已给出场景目标（如"有机合成"、"柱层析"）
+       - 若已给出 → 记录场景关键词，自动进入后续步骤
+       - 若未给出 → 在 Step 6 询问用户
+- [ ] Step 1: 确认 ak/sk → 生成 AUTH token
+- [ ] Step 2: 确认 --addr → 设置 BASE URL
+- [ ] Step 3: GET /edge/lab/info → 获取 lab_uuid（如用户未提供）
+- [ ] Step 4: 分页获取所有工作流（从 page=1 开始直到 has_more=false）
+- [ ] Step 5: 汇总所有非空 tags → 生成 all_tags（去重、排序、附出现次数）
+- [ ] Step 6: 根据场景关键词（Step 0 或新询问）在 all_tags 中做语义映射 → 确定候选 tags
+       - 若语义映射不唯一，列出候选 tags 让用户确认
+- [ ] Step 7: 按候选 tags 筛选工作流（默认 any 模式，召回优先）
+- [ ] Step 8: 展示筛选结果（uuid、name、description、tags、published）
+- [ ] Step 9: 引导用户从结果中选择**明确的实验 protocol**
+       - 若结果只有 1 条 → 直接确认该 workflow_uuid
+       - 若结果 2–10 条 → 让用户按编号选择
+       - 若结果过多 → 提示收紧条件（加 tag、切换 all 模式、仅 published）
+       - 若结果为空 → 放宽条件（去掉最稀有 tag）或提示用户换关键词
+- [ ] Step 10: 记录用户选中的 workflow_uuid，并提示提交实验或查看详情
+```
+
+---
+
+## 推荐路径：使用脚本
+
+同目录下提供 `scripts/filter_workflows.py`，一次完成分页抓取、标签聚合与筛选：
+
+```bash
+# 1. 仅汇总标签（不筛选）
+python scripts/filter_workflows.py \
+  --auth "<Lab base64token>" \
+  --base "$BASE" \
+  --lab-uuid "$lab_uuid" \
+  --summary-only
+
+# 2. 按标签筛选（ANY 模式：包含任一）
+python scripts/filter_workflows.py \
+  --auth "<Lab base64token>" \
+  --base "$BASE" \
+  --lab-uuid "$lab_uuid" \
+  --tags synthesis organic \
+  --mode any
+
+# 3. 按标签筛选（ALL 模式：必须同时包含）
+python scripts/filter_workflows.py \
+  --auth "<Lab base64token>" \
+  --base "$BASE" \
+  --lab-uuid "$lab_uuid" \
+  --tags synthesis organic \
+  --mode all \
+  --output filtered.json
+
+# 4. 仅筛选已发布
+python scripts/filter_workflows.py \
+  --auth "<Lab base64token>" \
+  --base "$BASE" \
+  --lab-uuid "$lab_uuid" \
+  --tags synthesis \
+  --published-only
+```
+
+**`--auth` 参数说明**：传入 `Authorization` 头中 `Lab` 之后的 base64 token（不带 `Lab ` 前缀），脚本内部会自动补上 scheme。
+
+**输出结构：**
+
+```json
+{
+  "total_workflows": 150,
+  "tag_counts": {"synthesis": 12, "organic": 8, "analysis": 5},
+  "all_tags": ["analysis", "organic", "synthesis"],
+  "filter": {"tags": ["synthesis", "organic"], "mode": "any"},
+  "filtered_workflows": [
+    {"uuid": "...", "name": "...", "description": "...", "tags": [...], "published": true}
+  ]
+}
+```
+
+---
+
+## 手动路径：curl + jq
+
+如果脚本不可用或环境缺少 Python，可用 shell 实现。
+
+### 1. 分页抓取（写入 `all_workflows.json`）
+
+```bash
+page=1
+echo "[]" > all_workflows.json
+
+while :; do
+  resp=$(curl -s -X GET \
+    "$BASE/api/v1/lab/workflow/owner/list?page=$page&page_size=1000&lab_uuid=$lab_uuid" \
+    -H "$AUTH")
+
+  page_data=$(echo "$resp" | jq -c '.data.data // []')
+  jq -c --argjson p "$page_data" '. + $p' all_workflows.json > _tmp.json && mv _tmp.json all_workflows.json
+
+  has_more=$(echo "$resp" | jq -r '.data.has_more')
+  [ "$has_more" != "true" ] && break
+  page=$((page + 1))
+done
+
+echo "Total: $(jq 'length' all_workflows.json)"
+```
+
+### 2. 汇总所有标签（含出现次数）
+
+```bash
+jq '[.[].tags // [] | .[]] | group_by(.) | map({tag: .[0], count: length}) | sort_by(-.count)' \
+  all_workflows.json
+```
+
+### 3. 按标签筛选
+
+```bash
+# ANY：包含任一指定标签
+jq --argjson want '["synthesis","organic"]' \
+  '[.[] | select((.tags // []) | any(. as $t | $want | index($t)))]' \
+  all_workflows.json
+
+# ALL：同时包含所有指定标签
+jq --argjson want '["synthesis","organic"]' \
+  '[.[] | select(($want | all(. as $w | (.tags // []) | index($w))))]' \
+  all_workflows.json
+```
+
+---
+
+## 筛选策略
+
+agent 拿到用户的「领域 + 场景」自然语言描述时，按如下顺序选择 tag：
+
+1. **优先用户显式指定的 tags**：若用户明确给出标签词，直接精确匹配。
+2. **从 all_tags 中做语义映射**：若用户描述是自然语言（如"有机合成、柱层析"），在 all_tags 中找语义相关项（如 `synthesis`、`organic`、`chromatography`）。必要时展示候选 tag 让用户确认。
+3. **模式选择**：
+   - 默认 `any`（更多召回），给出 tag 集合的并集匹配
+   - 用户强调"必须同时满足"时用 `all`
+4. **空结果兜底**：如果筛选为空，放宽条件（去掉最稀有 tag、切换 any 模式），并提醒用户。
+
+---
+
+## 引导到明确的 Protocol
+
+筛选完成后，**最终目标是让用户确认一个具体的 workflow_uuid**，而不是停留在"一堆候选"上。按结果数量采取不同策略：
+
+| 结果数量  | 策略                                                                                                                               |
+| --------- | ---------------------------------------------------------------------------------------------------------------------------------- |
+| 0 条      | 放宽筛选（去掉最稀有 tag → 切换 any 模式 → 去掉 `--published-only`）。仍为空则提示换关键词，或列出 `all_tags` 让用户重新选。 |
+| 1 条      | 直接确认："找到唯一匹配：`<name>` (uuid `<uuid>`)，是否用它？"用户确认后记录 `workflow_uuid`。                               |
+| 2–10 条  | 编号列表展示，让用户选编号。每项给出 name、tags、description 摘要、published 状态。                                                |
+| 10–30 条 | 先展示 tag 分布帮助用户进一步收紧：列出匹配结果中最常见的子标签，提示"加一个 tag 可将结果缩小到 N 条"。                            |
+| >30 条    | 强制要求用户补充条件：仅 published、指定具体 tag 组合、或按名称关键词过滤。                                                        |
+
+**确认 workflow 后**：
+
+1. 将 `workflow_uuid` 写入 session state
+2. 提示用户下一步可用的 skill：
+   - 提交实验 → 引导到“与其他 Skill 的协作”
+   - 查看 workflow 详细节点 → `GET /api/v1/lab/workflow/template/detail/<workflow_uuid>`
+3. 若用户想换一个，回到筛选步骤。
+
+---
+
+## 展示结果
+
+推荐格式（表格 + 汇总统计）：
+
+```
+共 150 个工作流，其中 32 个匹配筛选条件 [tags: synthesis OR organic]
+
+| UUID (短) | 名称                     | Tags                         | 已发布 |
+|-----------|--------------------------|------------------------------|--------|
+| e0436638  | Synthesis v2             | synthesis, organic           | ✓      |
+| 5b60dbb8  | Grignard Protocol        | synthesis, organometallic    | ✓      |
+| ...       | ...                      | ...                          | ...    |
+
+所有可用标签（按频次）：
+  synthesis (12), organic (8), analysis (5), purification (4), ...
+```
+
+如果用户下一步想执行某工作流 → 引导到“与其他 Skill 的协作”。
+
+---
+
+## 常见问题
+
+### Q: tags 为 null 的工作流要不要展示？
+
+默认**不展示**在筛选结果中（因为无法按 tag 匹配）。但在 `--summary-only` 或无筛选条件时，这些工作流仍会计入总数，并在输出中单独列出"未打标签"计数。
+
+### Q: 如何按名称/描述做模糊匹配？
+
+脚本未内置，但可在 jq 中组合：
+
+```bash
+jq '[.[] | select((.name + " " + (.description // "")) | test("organic"; "i"))]' all_workflows.json
+```
+
+### Q: `page_size=1000` 是否会被服务端限制？
+
+接口通常允许最大 1000；如果返回量少于 1000 且 `has_more=false`，说明已到末页。极端情况下若服务端返回错误，可降到 200 或 500 再试。
+
+### Q: 工作流数量极大（>10k）怎么办？
+
+1. 先跑 `--summary-only` 了解 tag 分布
+2. 提示用户先限定 `--published-only` 或指定 tag
+3. 考虑将 `all_workflows.json` 缓存到本地，下次直接复用
+
+---
+
+## 与其他 Skill 的协作
+
+- 正常情况下，找到 workflow 之后可以直接用它提交实验（启动工作流的 api 端点 POST $BASE/api/v1/lab/workflow/<workflow_uuid>/run，不用别的 skill）
+- **仅当需要进行多次实验时，使用 batch-submit-experiment** — 筛选到目标工作流后，`workflow_uuid` 直接用于实验提交
+
+## 脚本依赖
+
+`scripts/filter_workflows.py` 仅使用 Python 标准库（`urllib`、`json`、`argparse`），无需额外安装。

.cursor/skills/filter-workflow-by-tags/scripts/filter_workflows.py

@@ -0,0 +1,191 @@
+#!/usr/bin/env python3
+"""分页拉取 Uni-Lab 工作流列表，汇总 tags 并按 tag 筛选。
+
+使用示例:
+    python filter_workflows.py \
+        --auth <base64token> \
+        --base https://leap-lab.test.bohrium.com \
+        --lab-uuid a9059772-... \
+        --tags synthesis organic --mode any
+
+仅依赖 Python 标准库。
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import sys
+import urllib.error
+import urllib.parse
+import urllib.request
+from collections import Counter
+
+
+def fetch_all_workflows(base: str, auth_token: str, lab_uuid: str, page_size: int = 1000) -> list[dict]:
+    """分页拉取所有 owner 工作流，直到 has_more=false。"""
+    workflows: list[dict] = []
+    page = 1
+    while True:
+        query = urllib.parse.urlencode(
+            {"page": page, "page_size": page_size, "lab_uuid": lab_uuid}
+        )
+        url = f"{base.rstrip('/')}/api/v1/lab/workflow/owner/list?{query}"
+        req = urllib.request.Request(
+            url,
+            headers={
+                "Authorization": f"Lab {auth_token}",
+                "Accept": "application/json",
+            },
+        )
+        try:
+            with urllib.request.urlopen(req, timeout=30) as resp:
+                payload = json.loads(resp.read().decode("utf-8"))
+        except urllib.error.HTTPError as e:
+            sys.exit(f"[ERROR] HTTP {e.code} on page {page}: {e.read().decode('utf-8', 'ignore')}")
+        except urllib.error.URLError as e:
+            sys.exit(f"[ERROR] URL error on page {page}: {e.reason}")
+
+        if payload.get("code") != 0:
+            sys.exit(f"[ERROR] API returned non-zero code: {payload}")
+
+        data = payload.get("data") or {}
+        page_items = data.get("data") or []
+        workflows.extend(page_items)
+
+        if not data.get("has_more"):
+            break
+        page += 1
+        # 防御性兜底，避免接口异常导致无限循环
+        if page > 1000:
+            print(f"[WARN] page count exceeded 1000, stopping early", file=sys.stderr)
+            break
+
+    return workflows
+
+
+def aggregate_tags(workflows: list[dict]) -> tuple[list[str], dict[str, int], int]:
+    """返回 (sorted_tags, tag_counts, untagged_count)。"""
+    counter: Counter[str] = Counter()
+    untagged = 0
+    for wf in workflows:
+        tags = wf.get("tags")
+        if not tags:
+            untagged += 1
+            continue
+        for t in tags:
+            if isinstance(t, str) and t.strip():
+                counter[t.strip()] += 1
+    return sorted(counter.keys()), dict(counter), untagged
+
+
+def filter_workflows(
+    workflows: list[dict],
+    want_tags: list[str],
+    mode: str,
+    published_only: bool,
+) -> list[dict]:
+    """按 tag 筛选。mode 取值 any / all。"""
+    want_set = {t.strip() for t in want_tags if t.strip()}
+    out: list[dict] = []
+    for wf in workflows:
+        if published_only and not wf.get("published"):
+            continue
+        if not want_set:
+            out.append(wf)
+            continue
+        tags = wf.get("tags") or []
+        tag_set = {t for t in tags if isinstance(t, str)}
+        if mode == "all":
+            if want_set.issubset(tag_set):
+                out.append(wf)
+        else:  # any
+            if want_set & tag_set:
+                out.append(wf)
+    return out
+
+
+def project_workflow(wf: dict) -> dict:
+    """精简输出字段。"""
+    return {
+        "uuid": wf.get("uuid"),
+        "name": wf.get("name"),
+        "description": wf.get("description", ""),
+        "tags": wf.get("tags") or [],
+        "published": bool(wf.get("published")),
+        "user_id": wf.get("user_id"),
+    }
+
+
+def parse_args() -> argparse.Namespace:
+    p = argparse.ArgumentParser(description="Fetch & filter Uni-Lab workflows by tags.")
+    p.add_argument("--auth", required=True, help="Base64 token (the part after `Lab `).")
+    p.add_argument("--base", required=True, help="Base URL, e.g. https://leap-lab.test.bohrium.com")
+    p.add_argument("--lab-uuid", required=True, help="Lab UUID.")
+    p.add_argument("--tags", nargs="*", default=[], help="Tags to filter by (space separated).")
+    p.add_argument(
+        "--mode",
+        choices=["any", "all"],
+        default="any",
+        help="any: workflow contains at least one tag; all: workflow contains every tag.",
+    )
+    p.add_argument("--published-only", action="store_true", help="Only include published workflows.")
+    p.add_argument("--page-size", type=int, default=1000, help="Page size, default 1000.")
+    p.add_argument(
+        "--summary-only",
+        action="store_true",
+        help="Print tag summary without applying filter (still fetches everything).",
+    )
+    p.add_argument("--output", help="Write JSON result to this path. If omitted, print to stdout.")
+    return p.parse_args()
+
+
+def main() -> None:
+    args = parse_args()
+    workflows = fetch_all_workflows(
+        base=args.base,
+        auth_token=args.auth,
+        lab_uuid=args.lab_uuid,
+        page_size=args.page_size,
+    )
+    sorted_tags, tag_counts, untagged = aggregate_tags(workflows)
+
+    if args.summary_only:
+        result = {
+            "total_workflows": len(workflows),
+            "untagged_count": untagged,
+            "tag_counts": tag_counts,
+            "all_tags": sorted_tags,
+        }
+    else:
+        filtered = filter_workflows(
+            workflows,
+            want_tags=args.tags,
+            mode=args.mode,
+            published_only=args.published_only,
+        )
+        result = {
+            "total_workflows": len(workflows),
+            "untagged_count": untagged,
+            "tag_counts": tag_counts,
+            "all_tags": sorted_tags,
+            "filter": {
+                "tags": args.tags,
+                "mode": args.mode,
+                "published_only": args.published_only,
+            },
+            "matched_count": len(filtered),
+            "filtered_workflows": [project_workflow(wf) for wf in filtered],
+        }
+
+    payload = json.dumps(result, ensure_ascii=False, indent=2)
+    if args.output:
+        with open(args.output, "w", encoding="utf-8") as f:
+            f.write(payload)
+        print(f"Wrote {len(workflows)} workflows summary → {args.output}", file=sys.stderr)
+    else:
+        print(payload)
+
+
+if __name__ == "__main__":
+    main()

.cursor/skills/virtual-workbench/SKILL.md

@@ -10,7 +10,8 @@ description: Operate Virtual Workbench via REST API — prepare materials, move
 - **device_id**: `virtual_workbench`
 - **Python 源码**: `unilabos/devices/virtual/workbench.py`
 - **设备类**: `VirtualWorkbench`
-- **动作数**: 6（`auto-prepare_materials`, `auto-move_to_heating_station`, `auto-start_heating`, `auto-move_to_output`, `transfer`, `manual_confirm`）
+- **当前纳入动作**: 5 个（`auto-prepare_materials`, `auto-move_to_heating_station`, `auto-start_heating`, `auto-move_to_output`, `transfer`）
+- **暂跳过动作**: `manual_confirm`、扣电测试 `test`（需要启用时先从最新注册表重新提取 schema）
 - **设备描述**: 模拟工作台，包含 1 个机械臂（每次操作 2s，独占锁）和 3 个加热台（每次加热 60s，可并行）
 
 ### 典型工作流程
@@ -151,7 +152,8 @@ curl -s -X POST "$BASE/api/v1/lab/mcp/run/action" \
 | `auto-start_heating` | `UniLabJsonCommand` |
 | `auto-move_to_output` | `UniLabJsonCommand` |
 | `transfer` | `UniLabJsonCommandAsync` |
-| `manual_confirm` | `UniLabJsonCommand` |
+
+> `manual_confirm` 和扣电测试 `test` 当前不纳入本 skill 的推荐操作范围；不要基于历史 JSON 直接调用，需先重新生成并校验 schema。
 
 ### 10. 查询任务状态
 
@@ -225,11 +227,9 @@ curl -s -X PUT "$BASE/api/v1/edge/material/node" \
 | `transfer`        | `resource`       | ResourceSlot | 待转移物料数组       |
 | `transfer`        | `target_device`  | DeviceSlot   | 目标设备路径         |
 | `transfer`        | `mount_resource` | ResourceSlot | 目标孔位数组         |
-| `manual_confirm`  | `resource`       | ResourceSlot | 确认用物料数组       |
-| `manual_confirm`  | `target_device`  | DeviceSlot   | 确认用目标设备       |
-| `manual_confirm`  | `mount_resource` | ResourceSlot | 确认用目标孔位数组   |
 
 > `prepare_materials`、`move_to_heating_station`、`start_heating`、`move_to_output` 这 4 个动作**无 Slot 字段**，参数为纯数值/整数。
+> `manual_confirm` 先跳过，不维护其 Slot 字段表。
 
 ---
 
@@ -270,3 +270,13 @@ prepare_materials (count=5)
 ```
 
 创建节点时，`prepare_materials` 的 5 个 output handle（`channel_1` ~ `channel_5`）分别连接到 5 个 `move_to_heating_station` 节点的 `material_input` handle。每个 `move_to_heating_station` 的 `heating_station_output` 和 `material_number_output` 连接到对应 `start_heating` 的 `station_id_input` 和 `material_number_input`。
+
+`start_heating` 完成后还需要继续连接到 `move_to_output`，否则加热完成的物料不会移出加热台：
+
+| source action | source handle | target action | target handle | 传递参数 |
+| ------------- | ------------- | ------------- | ------------- | -------- |
+| `auto-prepare_materials` | `channel_N` | `auto-move_to_heating_station` | `material_input` | `material_number` |
+| `auto-move_to_heating_station` | `heating_station_output` | `auto-start_heating` | `station_id_input` | `station_id` |
+| `auto-move_to_heating_station` | `material_number_output` | `auto-start_heating` | `material_number_input` | `material_number` |
+| `auto-start_heating` | `heating_done_station` | `auto-move_to_output` | `output_station_input` | `station_id` |
+| `auto-start_heating` | `heating_done_material` | `auto-move_to_output` | `output_material_input` | `material_number` |

.cursor/skills/virtual-workbench/action-index.md

@@ -1,6 +1,8 @@
 # Action Index — virtual_workbench
 
-6 个动作，按功能分类。每个动作的完整 JSON Schema 在 `actions/<name>.json`。
+当前纳入 5 个动作，按功能分类。每个动作的完整 JSON Schema 在 `actions/<name>.json`。
+
+暂跳过：`manual_confirm`、扣电测试 `test`。这两个动作需要启用时，先从最新 `req_device_registry_upload.json` 重新提取 schema 并校验参数。
 
 ---
 
@@ -60,17 +62,18 @@
 
 ---
 
-## 人工确认
+## 暂跳过动作
 
 ### `manual_confirm`
 
-创建人工确认节点，等待用户手动确认后继续（含物料转移上下文）
+创建人工确认节点，等待用户手动确认后继续（含物料转移上下文）。当前先不纳入推荐操作范围。
 
 - **action_type**: `UniLabJsonCommand`
 - **Schema**: [`actions/manual_confirm.json`](actions/manual_confirm.json)
-- **核心参数**: `resource`, `target_device`, `mount_resource`, `timeout_seconds`, `assignee_user_ids`
+- **状态**: 暂跳过。源码参数已包含扣电测试相关字段，历史 JSON 可能过期；需要启用时重新提取 schema。
-- **占位符字段**:
+
-  - `resource` — **ResourceSlot**，物料数组
+### `test`
-  - `target_device` — **DeviceSlot**，目标设备路径
+
-  - `mount_resource` — **ResourceSlot**，目标孔位数组
+启动扣电测试。当前先不纳入本 skill。
-  - `assignee_user_ids` — `unilabos_manual_confirm` 类型
+
+- **状态**: 暂跳过。需要启用时从注册表生成 `actions/test.json` 后再补充索引。

.cursor/skills/yibin-electrolyte-submit/SKILL.md

@@ -1,483 +0,0 @@
----
-name: yibin-electrolyte-submit
-description: >-
-  通过 Uni-Lab Notebook API 向宜宾电解液工站提交实验，覆盖配液分液（Bioyond LIMS）、
-  扣电组装（CoinCellAssembly）、扣电测试全流程。
-  包含 Excel 解析、formulation 构建、工作流节点参数填写、notebook 提交与状态轮询。
-  Use when the user wants to submit electrolyte experiments, assemble or test coin cells,
-  parse experiment Excel files, build notebook payloads, or mentions
-  宜宾/配液/分液/扣电/电解液实验/notebook提交/CoinCell/BioyondLIMS.
----
-
-# 宜宾电解液产线 API 操作指南
-
-本 skill 覆盖两个设备的完整操作流程：
-1. **配液分液工站** (`bioyond_cell_workstation`) — Bioyond LIMS 配液/分液/转运
-2. **扣电组装站** (`BatteryStation`) — Modbus PLC 扣电组装/数据采集
-
-## 设备信息
-
-| 属性 | 配液分液工站 | 扣电组装站 |
-|------|------------|-----------|
-| device_id | `bioyond_cell_workstation` | `BatteryStation` |
-| 显示名 | 配液分液工站 | 扣电工作站 |
-| 源码 | `unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py` | `unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py` |
-| 类名 | `BioyondCellWorkstation` | `CoinCellAssemblyWorkstation` |
-| 通讯 | HTTP REST (Bioyond LIMS API) | Modbus TCP (PLC 寄存器) |
-
-## 前置条件
-
-### 认证信息
-
-```
-AUTH="Authorization: Lab OTdlY2FkNmUtZmZmMi00YjhiLThhOWEtNWM5ODAyOTJmOTUxOmU0OGM2YWJkLTA4ZmEtNDFjMy04NzhhLTc4M2FiODlhZjYxMw=="
-BASE="https://uni-lab.test.bohrium.com"
-```
-
-来源：`--ak 97ecad6e-fff2-4b8b-8a9a-5c980292f951 --sk e48c6abd-08fa-41c3-878a-783ab89af613 --addr test`
-
-### 启动 unilab（云端模式）
-
-> **重要**：提交实验前必须确保 unilab 正在运行且已连接云端 WebSocket。
-
-```powershell
-$env:PYTHONIOENCODING="utf-8"
-conda activate newunilab2603
-cd D:\UniLabdev\Uni-Lab-OS\unilabos\devices\workstation
-unilab -g D:\UniLabdev\Uni-Lab-OS\yibin_electrolyte_config.json --ak 97ecad6e-fff2-4b8b-8a9a-5c980292f951 --sk e48c6abd-08fa-41c3-878a-783ab89af613 --upload_registry --addr test --disable_browser --skip_env_check
-```
-
-**启动要点**：
-1. 必须先激活虚拟环境 `newunilab2603`
-2. 工作目录切到 `unilabos/devices/workstation`（设备驱动所在目录）
-3. `--upload_registry` 将 64 个设备 + 142 个资源注册到云端
-4. `--skip_env_check` + `PYTHONIOENCODING=utf-8` 避免 Windows GBK 编码崩溃
-5. 启动后后台运行，等待日志出现 `Application startup complete` 和 `Host node ready signal published with 3 devices`
-
-**验证连接成功的标志**：
-- 日志出现 `[MessageProcessor] ... wss://uni-lab.test.bohrium.com/api/v1/ws/schedule`
-- 日志出现 `[WebSocketClient] Host node ready signal published with 3 devices`
-- 日志出现 `Resource tree add completed`（资源树同步完成）
-
-### 云端物料上架与入库（启动后必做）
-
-> **在提交实验之前，必须提醒用户完成以下云端操作，否则实验会因物料缺失而失败。**
-
-1. **拖拽上料**：在云端 UI（`$BASE/laboratory/<lab_uuid>`）的资源树视图中，将物料拖拽到对应的仓库/库位上。unilab 启动后资源树会自动同步到云端，但物料的**上架位置**需要用户在 UI 上手动确认或调整。
-
-2. **确认配液物料入库**：确保所有配液实验需要的试剂（如 LiPF6、EC、DMC、EMC 等）已在 LIMS 系统中完成入库。可通过以下方式验证：
-   - 云端 UI 资源树中对应仓库（如"粉末加样头堆栈"、"配液站内试剂仓库"）下有物料节点
-   - 或通过 API #8 获取资源树后检查物料节点是否存在
-
-3. **告知 AI 可以提交**：用户完成上述操作后，告知 AI "物料已上架，可以提交实验"，AI 再执行 notebook 提交流程。
-
-**提醒话术模板**（AI 应在启动成功后发送给用户）：
-```
-unilab 已成功启动并连接云端。提交实验前请完成以下操作：
-1. 在云端 UI 上确认资源树中的物料位置，必要时拖拽调整上料位
-2. 确保配液所需的试剂（粉末、液体）已在 LIMS 中完成入库
-3. 完成后告诉我，我将为您提交实验
-```
-
-### 生成 Action Schema（首次使用）
-
-启动 unilab 后，在 `unilabos_data/` 目录下会生成 `req_device_registry_upload.json`。运行以下命令提取两个设备的 action JSON：
-
-```bash
-python .cursor/skills/create-device-skill/scripts/extract_device_actions.py --registry unilabos_data/req_device_registry_upload.json bioyond_cell_workstation .cursor/skills/yibin-electrolyte-submit/actions/
-python .cursor/skills/create-device-skill/scripts/extract_device_actions.py --registry unilabos_data/req_device_registry_upload.json BatteryStation .cursor/skills/yibin-electrolyte-submit/actions/
-```
-
-## 请求约定
-
-- Windows 平台**必须用 `curl.exe`**（非 PowerShell 的 curl 别名）
-- 所有请求带 `$AUTH` 头
-- URL 格式：`$BASE/api/v1/<endpoint>`
-- POST/PATCH 请求体写入临时 JSON 文件后用 `-d '@tmp.json'` 传参（避免 PowerShell 转义问题）
-- 本地 API 基址：`http://127.0.0.1:8002/api/v1/`
-
-## Session State
-
-每次会话开始时，依次获取以下信息：
-
-```bash
-# 1. lab_uuid
-curl.exe -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
-# → data.uuid → $lab_uuid
-
-# 2. project_uuid
-curl.exe -s -X GET "$BASE/api/v1/lab/project/list?lab_uuid=$lab_uuid" -H "$AUTH"
-# → data.items[].uuid/name → 让用户选择或取唯一项 → $project_uuid
-```
-
-## 工作流模板（重要）
-
-> **必须向用户索要已有的工作流模板 UUID 或 URL，不要自行创建。**
->
-> 原因：通过 `edge/workflow/node` API 创建节点会报 `resource_node_template not found`——
-> 云端的工作流节点模板系统和设备注册表是独立的，需要用户在云端 UI 上预先配置好工作流模板。
-
-**获取方式**：
-- 用户提供工作流页面 URL，如 `$BASE/laboratory/<lab_uuid>/workflow/<workflow_uuid>`
-- 从 URL 中提取 `workflow_uuid`
-- 用 API 获取模板详情：
-
-```
-GET /api/v1/lab/workflow/template/detail/<workflow_uuid>
-```
-
-返回 `data.nodes[]`：每个节点的 uuid、name、param、device_name、handles、disabled。
-
-**示例**：
-```
-工作流 URL: https://uni-lab.test.bohrium.com/laboratory/e9ed9102-d709-4741-b7a0-d1e8578e2065/workflow/b49f80d9-58d6-4456-a521-56f4dd39cda0
-→ workflow_uuid = b49f80d9-58d6-4456-a521-56f4dd39cda0
-```
-
-从模板详情中提取**未 disabled** 的节点的 `uuid` 和 `name`，后续提交 notebook 时使用。
-
-## API Endpoints
-
-### #1 获取 lab_uuid
-
-```
-GET /api/v1/edge/lab/info
-```
-
-### #2 列出项目
-
-```
-GET /api/v1/lab/project/list?lab_uuid=$lab_uuid
-```
-
-返回 `data.items[]`，取 `uuid` 和 `name`。
-
-### #3 获取工作流模板详情
-
-```
-GET /api/v1/lab/workflow/template/detail/<workflow_uuid>
-```
-
-返回 `data.nodes[]`：每个节点的 uuid、name、param、device_name、handles。
-提取活跃节点（`disabled != true`）的 `uuid` 用于构建 notebook 请求。
-
-### #4 提交实验（创建 notebook）— 核心 API
-
-```
-POST /api/v1/lab/notebook
-Body: {
-  "lab_uuid": "<lab_uuid>",
-  "project_uuid": "<project_uuid>",
-  "workflow_uuid": "<workflow_uuid>",
-  "name": "<实验名称>",
-  "node_params": [
-    {
-      "sample_uuids": [],
-      "datas": [
-        {
-          "node_uuid": "<模板中的节点UUID>",
-          "param": { <参数键值对> },
-          "sample_params": []
-        }
-      ]
-    }
-  ]
-}
-```
-
-**关键注意事项**：
-- `node_params` 是数组，每个元素代表一轮实验
-- `datas` 中每个节点对应模板中的一个活跃节点
-- `param` 中的字段名**必须使用 Python 函数参数名**，不能用模板中存储的 LIMS 字段名（见下方映射表）
-
-### #5 查询 notebook 状态
-
-```
-GET /api/v1/lab/notebook/status?uuid=<notebook_uuid>
-```
-
-| status | 含义 |
-|--------|------|
-| `running` | 执行中 |
-| `success` | 成功 |
-| `fail` | 失败 |
-
-### #6 运行设备单动作（本地 API）
-
-```
-POST http://127.0.0.1:8002/api/v1/job/add
-Body: {
-  "device_id": "<device_id>",
-  "action": "<action_name>",
-  "action_args": { <参数键值对> },
-  "sample_material": {}
-}
-```
-
-本地 API 可自动解析 `action_type`，无需手动指定。适用于快速调试或云端未连接时。
-
-### #7 查询本地任务状态
-
-```
-GET http://127.0.0.1:8002/api/v1/job/<job_id>/status
-```
-
-| status | 含义 |
-|--------|------|
-| 0 | UNKNOWN |
-| 1 | ACCEPTED |
-| 2 | EXECUTING |
-| 4 | SUCCEEDED |
-| 5 | CANCELED |
-| 6 | ABORTED |
-
-### #8 获取资源树
-
-```
-GET /api/v1/lab/material/download/<lab_uuid>
-```
-
-返回所有节点（`id`, `name`, `uuid`, `type`, `parent`）。填写 Slot 字段时用此接口筛选节点。
-
-## Placeholder Slot 填写规则
-
-action JSON 中 `placeholder_keys` 标记了哪些字段需要填 Slot：
-
-| placeholder 值 | Slot 类型 | 填写格式 |
-|---------------|-----------|---------|
-| `unilabos_resources` | ResourceSlot | `{"id": "/path/name", "name": "name", "uuid": "xxx"}` |
-| `unilabos_devices` | DeviceSlot | `"/parent/device_name"` 路径字符串 |
-| `unilabos_nodes` | NodeSlot | `"/parent/node_name"` 路径字符串 |
-| `unilabos_class` | ClassSlot | `"class_name"` 字符串 |
-| `unilabos_formulation` | FormulationSlot | `[{well_name, liquids: [{name, volume}]}]` |
-
-### ResourceSlot 填写
-
-从 API #8 资源树中筛选**物料**节点：
-
-```json
-{"id": "/bioyond_cell_workstation/YB_Bioyond_Deck/自动堆栈-左", "name": "自动堆栈-左", "uuid": "3a19debc-..."}
-```
-
-数组字段：`[{id, name, uuid}, ...]`
-特例：`create_resource` 的 `res_id` 允许填不存在的路径。
-
-### DeviceSlot 填写
-
-从资源树筛选 `type=device` 的节点，填路径字符串：
-
-```
-"/BatteryStation"
-"/bioyond_cell_workstation"
-```
-
-### FormulationSlot 填写
-
-```json
-[
-  {
-    "sample_uuid": "",
-    "well_name": "YB_PrepBottle_15mL_Carrier_bottle_A1",
-    "liquids": [
-      { "name": "LiPF6", "mass": 12.5 },
-      { "name": "EC", "mass": 50.0 }
-    ]
-  }
-]
-```
-
-`well_name` 从资源树中取物料节点的 `name`。
-
-## 参数名映射（重要的坑）
-
-> 工作流模板中存储的参数名和 Python 函数实际接受的参数名**不一定相同**。
-> 提交 notebook 时必须使用 **Python 函数参数名**。
-
-### `create_orders_formulation` 参数映射
-
-| 模板中的 param 键 | 实际 Python 参数名 | 说明 |
-|-------------------|-------------------|------|
-| `pouch_cell_info` | `pouch_cell_volume` | 软包组装分液体积 (mL) |
-| `conductivity_info` | `conductivity_volume` | 电导测试分液体积 (mL) |
-| `load_shedding_info` | `coin_cell_volume` | 扣电组装分液体积 (mL) |
-| `formulation` | `formulation` | 配方数组（名称一致） |
-| `batch_id` | `batch_id` | 批次号（名称一致） |
-| `bottle_type` | `bottle_type` | 配液瓶类型（名称一致） |
-| `mix_time` | `mix_time` | 混匀时间(秒)（名称一致） |
-| `conductivity_bottle_count` | `conductivity_bottle_count` | 电导瓶数（名称一致） |
-
-当从模板中读到 `param` 包含 `pouch_cell_info` 等 LIMS 字段名时，提交 notebook 时要用右列的 Python 函数参数名。否则会报 `TypeError: got an unexpected keyword argument`。
-
-## 典型工作流
-
-### 方式一：通过 Notebook API 批量提交（推荐）
-
-**适用场景**：多组配方的批量实验，云端管理实验记录
-
-```
-1. 向用户索要工作流模板 URL（不要自行创建）
-2. 获取 lab_uuid（API #1）和 project_uuid（API #2）
-3. 获取工作流模板详情（API #3），提取活跃节点 UUID
-4. 解析用户提供的 Excel 文件，构建 formulation 数组
-5. 提交 notebook（API #4）
-6. 轮询 notebook 状态（API #5）直到完成
-```
-
-**Excel 解析规则**：
-- 全局参数在第一个数据行：`batch_id`、`bottle_type`、`mix_time`、`coin_cell_volume`、`pouch_cell_volume`、`conductivity_volume`、`conductivity_bottle_count`
-- 配方列从"试剂名1"开始，交替排列：试剂名列 + 质量列（以 `(g)` 结尾）
-- 每行一个配方，`order_name` = 配方ID列
-- formulation 中每个配方的 materials 数组只包含 `mass > 0` 的试剂
-
-**node_params 构建**：所有配方放入同一个 round 的同一个 datas 条目中，因为只有一个节点（`create_orders_formulation`）。
-
-### 方式二：设备单步操作（本地 API）
-
-**适用场景**：调试、快速测试
-
-```
-1. 确保 unilab 已在本地启动
-2. 通过 POST http://127.0.0.1:8002/api/v1/job/add 提交任务
-3. 通过 GET /api/v1/job/<job_id>/status 查询状态
-```
-
-### 设备操作流程：配液 → 转运 → 扣电
-
-```
-1. [配液站] scheduler_start_and_auto_feeding  → 启动调度 + 上料
-2. [配液站] create_orders_formulation          → 创建配液实验（配方输入）
-3. [配液站] transfer_3_to_2_to_1_auto         → 分液瓶板转运到扣电站
-4. [扣电站] func_pack_device_init_auto_start_combined → 初始化+自动+启动
-5. [扣电站] func_sendbottle_allpack_multi      → 发送瓶数+批量组装
-```
-
-## 云端使用心得
-
-### 环境准备
-- Windows 必须设置 `$env:PYTHONIOENCODING="utf-8"` 防止编码崩溃
-- 使用 `--skip_env_check` 跳过依赖检查，加快启动
-- 工作目录建议在 `unilabos/devices/workstation` 下启动
-
-### 连接与注册
-- `--upload_registry` 会自动将设备和资源注册到云端
-- WebSocket 连接建立后，本地和云端的资源树会自动同步
-- 注册成功后用户需在云端 UI 完成**物料拖放上架**操作
-- 如果 unilab 断开重连，资源树会重新同步
-
-### 工作流模板
-- **不要自行调用 API 创建工作流或节点**——云端工作流节点模板需要预配置
-- 始终向用户索要已有的工作流模板 URL
-- 从 URL 中提取 `workflow_uuid`，通过 API #3 获取详情
-- 模板中 `disabled: true` 的节点跳过，只处理活跃节点
-
-### Notebook 实验提交
-- Notebook 是云端管理实验的标准方式
-- 一个 notebook 可包含多轮（`node_params` 数组），每轮可包含多组参数
-- 提交后通过 API #5 轮询状态，LIMS 配液流程通常需要较长时间（8 个配方约 30-60 分钟）
-- 实验进度可在云端 UI 和本地 unilab 日志中同步查看
-
-### 常见错误
-| 错误 | 原因 | 解决 |
-|------|------|------|
-| `edge not started error` | unilab 未连接云端 WebSocket | 检查 unilab 是否在运行、重启 |
-| `resource_node_template not found` | 云端没有该设备的工作流模板 | 向用户索要已有模板，不要自行创建 |
-| `got an unexpected keyword argument` | 参数名用了模板字段名而非 Python 函数参数名 | 参照上方映射表转换 |
-| `UnicodeEncodeError: 'gbk'` | Windows 默认编码不支持特殊字符 | 设置 `PYTHONIOENCODING=utf-8` |
-| `parse parameter error` | 云端 API 字段名错误 | `device_id` (非 `device_name`)、`action` (非 `action_name`)、必须带 `action_type` |
-
-## 渐进加载策略
-
-1. 先读本文件了解 API 端点、参数映射和云端注意事项
-2. 需要具体 action 参数时，读 [action-index.md](action-index.md) 查找 action 名称和核心参数
-3. 需要完整 schema 时，读 `actions/<action_name>.json`（需先运行提取命令生成）
-4. 需要理解参数含义时，读设备源码
-
-## 完整 Notebook 提交 Checklist
-
-```
-- [ ] 确认 unilab 已在本地启动并连接云端 WebSocket
-- [ ] 提醒用户在云端 UI 拖拽上料、确认物料位置
-- [ ] 提醒用户确认配液所需试剂已在 LIMS 完成入库
-- [ ] 等待用户确认物料就绪后再继续
-- [ ] 向用户索要工作流模板 URL → 提取 workflow_uuid
-- [ ] 获取 lab_uuid（API #1）
-- [ ] 获取 project_uuid（API #2）
-- [ ] 获取工作流模板详情（API #3），提取活跃节点 UUID
-- [ ] 解析用户 Excel 文件 → 构建 formulation + 全局参数
-- [ ] 注意参数名映射（模板字段名 → Python 函数参数名）
-- [ ] 提交 notebook（API #4）
-- [ ] 轮询 notebook 状态（API #5）直到完成
-```
-
----
-
-## 真实场景：宜宾产线 Excel 提交提示词模板
-
-> 以下为已验证可用的标准提示词，适用于配液-分液-扣电全流程。
-
-### 场景说明
-
-- unilab 运行在本地 Windows 机器（miniforge 环境），连接云端 WebSocket
-- AI（Cursor / OpenClaw）在任意设备上，通过云端 API 操作，**不需要本地 127.0.0.1**
-- 工作流为 5 节点串联：`create_orders_formulation` → `transfer_3_to_2_to_1_auto` → `func_pack_device_init_auto_start_combined` → `func_sendbottle_allpack_multi` → `transfer_1_to_2`
-
-### 已知固定参数（宜宾产线）
-
-```
-BASE     = https://uni-lab.test.bohrium.com
-lab_uuid = e9ed9102-d709-4741-b7a0-d1e8578e2065
-project  = YiBinElectrolyte (bc5224b4-8120-4765-9961-9dfc1802a1f6)
-workflow = 配液分液formulation全流程 (2bc59938-db79-4415-ac2d-9897ef125f2f)
-```
-
-#### 工作流节点 UUID（固定，无需重新查询）
-
-| 顺序 | action | node_uuid |
-|------|--------|-----------|
-| Step1 | auto-create_orders_formulation | `ece6744a-81ac-4ae4-8cd1-1c8eeda1dab6` |
-| Step2 | auto-transfer_3_to_2_to_1_auto | `1c37a8dd-5ba0-413d-81db-94b9c936a171` |
-| Step3 | auto-func_pack_device_init_auto_start_combined | `97a676a2-d257-4479-9096-073b40300970` |
-| Step4 | auto-func_sendbottle_allpack_multi | `cf69017a-d29c-4aad-a63b-309d63dac2e9` |
-| Step5 | auto-transfer_1_to_2 | `80d1c1aa-dbc3-4601-86b7-5c22a992dd9e` |
-
-### 标准提示词
-
-```
-请使用 yibin-electrolyte-submit skill，提交以下实验：
-
-工作流模板 URL：https://uni-lab.test.bohrium.com/laboratory/e9ed9102-d709-4741-b7a0-d1e8578e2065/workflow/2bc59938-db79-4415-ac2d-9897ef125f2f
-Excel 文件路径：<粘贴或上传 xlsx 路径>
-
-注意事项：
-- lab_uuid、project_uuid、workflow节点UUID均已固定，无需重新查询
-- 直接解析 Excel → 构建 payload → 提交
-- mix_time 传标量整数即可（已兼容）
-- 试剂名以 Excel 为准，注意区分 LiDFOB / LiDOFB 等拼写
-- csv_export_path 取 Excel 中 csv_export_path 列的值
-- 提交后告知 notebook UUID，无需自动轮询（实验耗时较长）
-```
-
-### Excel 列结构说明（experment_template_0415sim-*.xlsx）
-
-| 列范围 | 内容 |
-|--------|------|
-| C | batch_id |
-| D | bottle_type |
-| E-H | coin_cell_volume / conductivity_bottle_count / conductivity_volume / csv_export_path |
-| I-T | 试剂名+质量 交替排列（最多6对）|
-| U | mix_time |
-| V | order_name（每行配方的订单号）|
-| W | pouch_cell_volume |
-| X-Y | target_device / target_location（Step2参数）|
-| AA | material_search_enable（Step3参数）|
-| AB-AS | 扣电站参数（Step4）|
-
-### CSV 导出说明
-
-每次 `create_orders_formulation` 完成后，在 `csv_export_path` 目录下生成：
-```
-electrolyte_orders_<YYYYMMDD_HHMMSS>.csv
-```
-列：`orderCode, orderName, 配液瓶类型, 配液瓶二维码, 分液瓶类型, 分液瓶二维码, 目标配液质量比, 真实配液质量比, 时间`
-
-> **注意**：barCode 为 `null` 或 `"nullBarCode123456"` 是正常现象，表示 LIMS 中该物料尚未扫码。配液瓶缺失通常是因为物料未放在手动传递窗（`locationId` 前缀 `3a19deae-2c7a-`）。

.cursor/skills/yibin-electrolyte-submit/action-index.md

@@ -1,295 +0,0 @@
-# Action 索引
-
-> Action JSON 文件需运行提取命令生成，详见 [SKILL.md](SKILL.md) 中「生成 Action Schema」。
-> 以下描述和参数信息基于源码分析。
-
----
-
-## 配液分液工站 (`bioyond_cell_workstation`)
-
-源码：`unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py`
-
-### 调度控制
-
-#### `scheduler_start`
-
-启动 Bioyond LIMS 调度系统
-
-- **核心参数**: 无（仅需 apiKey/requestTime，由设备内部处理）
-- **返回**: LIMS 响应 `{code, message, data}`
-
-#### `scheduler_stop`
-
-停止调度
-
-- **核心参数**: 无
-
-#### `scheduler_continue`
-
-继续调度（从暂停状态恢复）
-
-- **核心参数**: 无
-
-#### `scheduler_reset`
-
-复位调度
-
-- **核心参数**: 无
-
-#### `scheduler_start_and_auto_feeding`
-
-**组合操作**：启动调度 + 自动化上料（4号→3号手套箱）
-
-- **核心参数**: `xlsx_path`（Excel 物料模板路径，可选）
-- **可选参数**: WH4 加样头面 12 个点位（materialName + quantity）、WH4 原液瓶面 9 个点位（materialName + quantity + materialType + targetWH）、WH3 人工堆栈 15 个点位（materialType + materialId + quantity）
-- **流程**: 先 `scheduler_start()`，成功后执行 `auto_feeding4to3()`
-- **备注**: 支持 Excel 模式和手动参数模式，Excel 路径存在时优先使用 Excel
-
-### 物料上料/下料
-
-#### `auto_feeding4to3`
-
-自动化上料：从 4 号手套箱转运物料到 3 号手套箱
-
-- **核心参数**: `xlsx_path`（Excel 物料模板路径）
-- **可选参数**: 同 `scheduler_start_and_auto_feeding` 的 WH4/WH3 点位参数
-- **返回**: 等待上料任务完成后返回结果
-
-#### `auto_batch_outbound_from_xlsx`
-
-自动化下料（从 Excel 读取下料信息）
-
-- **核心参数**: `xlsx_path`（Excel 下料模板）
-- **Excel 列**: locationId, warehouseId, 数量, x, y, z
-
-### 物料管理
-
-#### `create_and_inbound_materials`
-
-批量创建固体物料并入库
-
-- **核心参数**: `material_names`（物料名称列表，默认 `["LiPF6", "LiDFOB", "DTD", "LiFSI", "LiPO2F2"]`）
-- **可选参数**: `type_id`（物料类型ID）, `warehouse_name`（目标仓库，默认 "粉末加样头堆栈"）
-- **流程**: 创建物料 → 批量入库 → 同步
-
-#### `create_material`
-
-创建单个物料并可选入库
-
-- **核心参数**: `material_name`, `type_id`, `warehouse_name`
-- **可选参数**: `location_name_or_id`（库位编号如 "A01" 或 UUID）
-
-#### `create_sample`
-
-创建配液板物料（含子瓶）并入库
-
-- **核心参数**: `name`, `board_type`（如 "5ml分液瓶板"）, `bottle_type`（如 "5ml分液瓶"）, `location_code`（如 "A01"）
-- **可选参数**: `warehouse_name`（默认 "手动堆栈"）
-- **备注**: 自动创建 2x4=8 个子瓶
-
-#### `storage_inbound`
-
-单个物料入库
-
-- **核心参数**: `material_id`, `location_id`
-
-#### `storage_batch_inbound`
-
-批量物料入库
-
-- **核心参数**: `items`（`[{materialId, locationId}, ...]`）
-
-### 配液实验
-
-#### `create_orders`
-
-从 Excel 文件创建配液实验订单
-
-- **核心参数**: `xlsx_path`（Excel 文件路径）
-- **Excel 列**: 配方ID, 创建日期, 配液瓶类型, 混匀时间(s), 扣电组装分液体积, 软包组装分液体积, 电导测试分液体积, 电导测试分液瓶数, 以及所有以 `(g)` 结尾的物料列
-- **流程**: 解析 Excel → 提交订单 → 等待全部完成 → 计算质量比 → 提取分液瓶板 → 创建资源树对象
-- **返回**: `{status, total_orders, bottle_count, reports, mass_ratios, vial_plates}`
-
-#### `create_orders_formulation`
-
-从配方列表创建配液实验订单（前端/API 输入版本）
-
-- **核心参数**: `formulation`（配方数组）
-- **可选参数**: `batch_id`, `bottle_type`（默认 "配液小瓶"）, `mix_time`（秒，列表）, `coin_cell_volume`, `pouch_cell_volume`, `conductivity_volume`, `conductivity_bottle_count`
-- **formulation 格式**:
-  ```json
-  [
-    {
-      "order_name": "配方A",
-      "materials": [
-        {"name": "LiPF6", "mass": 12.5},
-        {"name": "EC", "mass": 50.0},
-        {"name": "DMC", "mass": 37.5}
-      ]
-    }
-  ]
-  ```
-- **返回**: 同 `create_orders`
-
-### 物料转运
-
-#### `transfer_3_to_2_to_1_auto`
-
-**自动转运**：从 create_orders 结果中自动定位分液瓶板并转运到目标设备
-
-- **核心参数**: `vial_plates`（分液瓶板列表，来自 create_orders 返回的 `vial_plates`）
-- **可选参数**: `target_device`（默认 "BatteryStation"）, `target_location`（默认 "bottle_rack_6x2"）, `mass_ratios`（配方信息）
-- **流程**: 遍历瓶板 → 解析 locationId → 调用 LIMS 转运 API → 更新资源树
-- **返回**: `{total, success, failed, results}`
-
-#### `transfer_3_to_2_to_1`
-
-3→2→1 物料转运（手动指定坐标）
-
-- **核心参数**: `source_wh_id`, `source_x`, `source_y`, `source_z`
-
-#### `transfer_3_to_2`
-
-3→2 物料转运
-
-- **核心参数**: `source_wh_id`, `source_x`, `source_y`, `source_z`
-
-#### `transfer_1_to_2`
-
-1→2 物料转运
-
-- **核心参数**: 无
-
-### 查询
-
-#### `order_list_v2`
-
-批量查询实验报告
-
-- **可选参数**: `timeType`, `beginTime`, `endTime`, `status`（60=运行中, 80=完成, 90=失败）, `filter`, `skipCount`, `pageCount`, `sorting`
-
----
-
-## 扣电组装站 (`BatteryStation`)
-
-源码：`unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py`
-
-### 设备控制（组合操作）
-
-#### `func_pack_device_init_auto_start_combined`
-
-**组合操作**：设备初始化 → 物料搜寻确认 → 切换自动模式 → 启动
-
-- **核心参数**: `material_search_enable`（是否启用物料搜寻，默认 `False`）
-- **前置检查**: REG_UNILAB_INTERACT=False, COIL_GB_L_IGNORE_CMD=False, 所有握手寄存器无残留
-- **流程**: 手动模式 → 初始化命令 → 监测物料搜寻弹窗并自动处理 → 自动模式 → 启动
-- **返回**: `True`/`False`
-- **备注**: 第一次运行必须调用此函数；后续批次调用 `func_sendbottle_allpack_multi`
-
-### 批量组装
-
-#### `func_sendbottle_allpack_multi`
-
-**发送瓶数 + 批量组装**（适用于第二批次及后续批次）
-
-- **核心参数**: `elec_num`（电解液瓶数）, `elec_use_num`（每瓶组装电池数）, `elec_vol`（电解液吸液量 μL，默认 50）
-- **可选参数**:
-  - 双滴模式：`dual_drop_mode`(bool), `dual_drop_first_volume`(μL), `dual_drop_suction_timing`(bool), `dual_drop_start_timing`(bool)
-  - 组装参数：`assembly_type`(7=不用铝箔垫/8=用), `assembly_pressure`(N，默认 4200)
-  - 物料参数：`fujipian_panshu`, `fujipian_juzhendianwei`, `gemopanshu`, `gemo_juzhendianwei`, `qiangtou_juzhendianwei`
-  - 开关：`lvbodian`(铝箔垫片), `battery_pressure_mode`(压力模式), `battery_clean_ignore`(忽略清洁)
-  - 其他：`file_path`(CSV保存路径), `formulations`(配方信息，用于CSV追溯)
-- **流程**: 发送瓶数触发物料搬运 → 设置PLC参数 → 循环（等待PLC请求→下发参数→读取电池数据→写入CSV→更新资源树）→ 完成握手
-- **返回**: `{success, total_batteries, batteries, summary}`
-- **备注**: 设备已初始化后直接调用；`formulations` 来自 create_orders 的 `mass_ratios`
-
-#### `func_allpack_cmd`
-
-全套组装（基础版本，含断点续传）
-
-- **核心参数**: `elec_num`, `elec_use_num`, `elec_vol`, `assembly_type`, `assembly_pressure`, `file_path`
-- **返回**: `{success, total_batteries, batteries, summary}`
-
-#### `func_allpack_cmd_simp`
-
-增强版组装（含双滴模式 + 负极片/隔膜/枪头参数）
-
-- **核心参数**: 同 `func_sendbottle_allpack_multi`
-- **备注**: 被 `func_sendbottle_allpack_multi` 内部调用
-
-### 设备控制（单步操作）
-
-#### `func_pack_device_init`
-
-设备初始化（手动模式 → 初始化 → 复位标志）
-
-#### `func_pack_device_auto`
-
-切换自动模式
-
-#### `func_pack_device_start`
-
-启动设备
-
-#### `func_pack_device_stop`
-
-设备停止
-
-#### `func_pack_send_bottle_num`
-
-发送电解液瓶数（触发物料搬运）
-
-- **核心参数**: `bottle_num`（瓶数）
-
-### PLC 参数设置
-
-#### `qiming_coin_cell_code`
-
-设置组装物料参数
-
-- **核心参数**: `fujipian_panshu`（负极片盘数）
-- **可选参数**: `fujipian_juzhendianwei`, `gemopanshu`, `gemo_juzhendianwei`, `lvbodian`, `battery_pressure_mode`, `battery_pressure`, `battery_clean_ignore`
-
-### 数据采集
-
-#### `func_read_data_and_output`
-
-持续数据采集并导出 CSV（后台循环运行）
-
-- **核心参数**: `file_path`（CSV 保存目录）
-- **采集字段**: 开路电压, 极片质量, 组装时间, 压制力, 电解液加注量, 电池类型, 电解液二维码, 电池二维码
-
-#### `func_stop_read_data`
-
-停止 CSV 数据采集
-
-### 设备状态属性（只读）
-
-| 属性 | 类型 | 说明 |
-|------|------|------|
-| `sys_status` | str | 设备状态（启动中/停止中/复位中/初始化中） |
-| `sys_mode` | str | 设备模式（手动/自动） |
-| `data_assembly_coin_cell_num` | int | 已完成电池数量 |
-| `data_assembly_time` | float | 单颗电池组装时间(秒) |
-| `data_open_circuit_voltage` | float | 开路电压(V) |
-| `data_pole_weight` | float | 正极片称重(g) |
-| `data_glove_box_pressure` | float | 手套箱压力(mbar) |
-| `data_glove_box_o2_content` | float | 手套箱氧含量(ppm) |
-| `data_glove_box_water_content` | float | 手套箱水含量(ppm) |
-| `data_coin_cell_code` | str | 电池二维码 |
-| `data_electrolyte_code` | str | 电解液二维码 |
-
----
-
-## 配置参考
-
-设备图文件 `yibin_electrolyte_config.json` 中的仓库映射（`warehouse_mapping`）：
-
-| 仓库名称 | 说明 | 典型操作 |
-|---------|------|---------|
-| 粉末加样头堆栈 | 20 个点位 (A01-T01) | `create_and_inbound_materials` 入库目标 |
-| 配液站内试剂仓库 | 9 个点位 (A01-C03) | 试剂存储 |
-| 自动堆栈-左 | 4 个点位 | 分液瓶板存放，`transfer_3_to_2_to_1_auto` 的源位置 |
-| 自动堆栈-右 | 4 个点位 | 分液瓶板存放 |
-| 手动传递窗左/右 | 各 15 个点位 | 人工上料/下料 |
-| 4号手套箱内部堆栈 | 12 个点位 | `auto_feeding4to3` 的源位置 |

.github/workflows/ci-check.yml

@@ -25,7 +25,7 @@ jobs:
           fetch-depth: 0
 
       - name: Setup Miniforge
-        uses: conda-incubator/setup-miniconda@v3
+        uses: conda-incubator/setup-miniconda@v4
         with:
           miniforge-version: latest
           use-mamba: true
@@ -38,7 +38,7 @@ jobs:
       - name: Install ROS dependencies, uv and unilabos-msgs
         run: |
           echo Installing ROS dependencies...
-          mamba install -n check-env conda-forge::uv conda-forge::opencv robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs robostack-staging::ros-humble-nav2-msgs uni-lab::ros-humble-unilabos-msgs robostack-staging::ros-humble-cv-bridge robostack-staging::ros-humble-vision-opencv robostack-staging::ros-humble-tf-transformations robostack-staging::ros-humble-moveit-msgs robostack-staging::ros-humble-tf2-ros robostack-staging::ros-humble-tf2-ros-py conda-forge::transforms3d -c robostack-staging -c conda-forge -c uni-lab -y
+          mamba install -n check-env --override-channels -c robostack-staging -c conda-forge -c uni-lab conda-forge::uv conda-forge::opencv robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs robostack-staging::ros-humble-nav2-msgs uni-lab::ros-humble-unilabos-msgs robostack-staging::ros-humble-cv-bridge robostack-staging::ros-humble-vision-opencv robostack-staging::ros-humble-tf-transformations robostack-staging::ros-humble-moveit-msgs robostack-staging::ros-humble-tf2-ros robostack-staging::ros-humble-tf2-ros-py conda-forge::transforms3d -y
 
       - name: Install pip dependencies and unilabos
         run: |

.github/workflows/conda-pack-build.yml

@@ -1,6 +1,10 @@
 name: Build Conda-Pack Environment
 
 on:
+  # 在 UniLabOS Conda Build 成功上传后自动构建非全量 conda-pack
+  workflow_run:
+    workflows: ["UniLabOS Conda Build"]
+    types: [completed]
   workflow_dispatch:
     inputs:
       branch:
@@ -21,6 +25,16 @@ on:
 
 jobs:
   build-conda-pack:
+    if: |
+      github.event_name == 'workflow_dispatch' ||
+      (
+        github.event_name == 'workflow_run' &&
+        github.event.workflow_run.conclusion == 'success' &&
+        github.event.workflow_run.event == 'workflow_run'
+      )
+    env:
+      BUILD_FULL: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.build_full == 'true' }}
+      PACKAGE_REF: ${{ github.event.inputs.branch || github.event.workflow_run.head_sha || github.ref_name }}
     strategy:
       fail-fast: false
       matrix:
@@ -29,7 +43,7 @@ jobs:
             platform: linux-64
             env_file: unilabos-linux-64.yaml
             script_ext: sh
-          - os: macos-15 # Intel (via Rosetta)
+          - os: macos-15-intel # Intel x86_64
             platform: osx-64
             env_file: unilabos-osx-64.yaml
             script_ext: sh
@@ -54,7 +68,9 @@ jobs:
         id: should_build
         shell: bash
         run: |
-          if [[ -z "${{ github.event.inputs.platforms }}" ]]; then
+          if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then
+            echo "should_build=true" >> $GITHUB_OUTPUT
+          elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then
             echo "should_build=true" >> $GITHUB_OUTPUT
           elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
             echo "should_build=true" >> $GITHUB_OUTPUT
@@ -65,17 +81,17 @@ jobs:
       - uses: actions/checkout@v6
         if: steps.should_build.outputs.should_build == 'true'
         with:
-          ref: ${{ github.event.inputs.branch }}
+          ref: ${{ github.event.inputs.branch || github.event.workflow_run.head_sha || github.ref }}
           fetch-depth: 0
 
       - name: Setup Miniforge (with mamba)
         if: steps.should_build.outputs.should_build == 'true'
-        uses: conda-incubator/setup-miniconda@v3
+        uses: conda-incubator/setup-miniconda@v4
         with:
           miniforge-version: latest
           use-mamba: true
           python-version: '3.11.14'
-          channels: conda-forge,robostack-staging,uni-lab,defaults
+          channels: conda-forge,robostack-staging,uni-lab
           channel-priority: flexible
           activate-environment: unilab
           auto-update-conda: false
@@ -86,13 +102,13 @@ jobs:
         run: |
           echo Installing unilabos and dependencies to unilab environment...
           echo Using mamba for faster and more reliable dependency resolution...
-          echo Build full: ${{ github.event.inputs.build_full }}
+          echo Build full: ${{ env.BUILD_FULL }}
-          if "${{ github.event.inputs.build_full }}"=="true" (
+          if "${{ env.BUILD_FULL }}"=="true" (
             echo Installing unilabos-full ^(complete package^)...
-            mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+            mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos-full conda-pack zstandard -y
           ) else (
             echo Installing unilabos ^(minimal package^)...
-            mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+            mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos conda-pack zstandard -y
           )
 
       - name: Install conda-pack, unilabos and dependencies (Unix)
@@ -101,13 +117,13 @@ jobs:
         run: |
           echo "Installing unilabos and dependencies to unilab environment..."
           echo "Using mamba for faster and more reliable dependency resolution..."
-          echo "Build full: ${{ github.event.inputs.build_full }}"
+          echo "Build full: ${{ env.BUILD_FULL }}"
-          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
+          if [[ "${{ env.BUILD_FULL }}" == "true" ]]; then
             echo "Installing unilabos-full (complete package)..."
-            mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+            mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos-full conda-pack zstandard -y
           else
             echo "Installing unilabos (minimal package)..."
-            mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+            mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos conda-pack zstandard -y
           fi
 
       - name: Get latest ros-humble-unilabos-msgs version (Windows)
@@ -134,27 +150,27 @@ jobs:
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
         run: |
           echo Checking for available ros-humble-unilabos-msgs versions...
-          mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo Search completed
+          mamba search --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs || echo Search completed
           echo.
           echo Updating ros-humble-unilabos-msgs to latest version...
-          mamba update -n unilab ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo Already at latest version
+          mamba update -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs -y || echo Already at latest version
 
       - name: Check for newer ros-humble-unilabos-msgs (Unix)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
         shell: bash
         run: |
           echo "Checking for available ros-humble-unilabos-msgs versions..."
-          mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo "Search completed"
+          mamba search --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs || echo "Search completed"
           echo ""
           echo "Updating ros-humble-unilabos-msgs to latest version..."
-          mamba update -n unilab ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo "Already at latest version"
+          mamba update -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs -y || echo "Already at latest version"
 
       - name: Install latest unilabos from source (Windows)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
         run: |
           echo Uninstalling existing unilabos...
           mamba run -n unilab pip uninstall unilabos -y || echo unilabos not installed via pip
-          echo Installing unilabos from source (branch: ${{ github.event.inputs.branch }})...
+          echo Installing unilabos from source (ref: ${{ env.PACKAGE_REF }})...
           mamba run -n unilab pip install .
           echo Verifying installation...
           mamba run -n unilab pip show unilabos
@@ -165,7 +181,7 @@ jobs:
         run: |
           echo "Uninstalling existing unilabos..."
           mamba run -n unilab pip uninstall unilabos -y || echo "unilabos not installed via pip"
-          echo "Installing unilabos from source (branch: ${{ github.event.inputs.branch }})..."
+          echo "Installing unilabos from source (ref: ${{ env.PACKAGE_REF }})..."
           mamba run -n unilab pip install .
           echo "Verifying installation..."
           mamba run -n unilab pip show unilabos
@@ -226,7 +242,9 @@ jobs:
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
         run: |
           echo Packing unilab environment with conda-pack...
-          mamba activate unilab && conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
+          for /f "delims=" %%i in ('mamba run -n unilab python -c "import os; print(os.environ['CONDA_PREFIX'])"') do set "UNILAB_PREFIX=%%i"
+          echo Packing environment at: %UNILAB_PREFIX%
+          mamba run -n unilab conda-pack -p "%UNILAB_PREFIX%" -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
           echo Pack file created:
           dir unilab-env-${{ matrix.platform }}.tar.gz
 
@@ -235,8 +253,9 @@ jobs:
         shell: bash
         run: |
           echo "Packing unilab environment with conda-pack..."
-          mamba install conda-pack -c conda-forge -y
+          UNILAB_PREFIX="$(mamba run -n unilab python -c 'import os; print(os.environ["CONDA_PREFIX"])')"
-          conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
+          echo "Packing environment at: $UNILAB_PREFIX"
+          mamba run -n unilab conda-pack -p "$UNILAB_PREFIX" -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
           echo "Pack file created:"
           ls -lh unilab-env-${{ matrix.platform }}.tar.gz
 
@@ -267,7 +286,7 @@ jobs:
 
           rem Create README using Python script
           echo Creating: README.txt
-          python scripts\create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package\README.txt
+          python scripts\create_readme.py ${{ matrix.platform }} ${{ env.PACKAGE_REF }} dist-package\README.txt
 
           echo.
           echo Distribution package contents:
@@ -303,7 +322,7 @@ jobs:
 
           # Create README using Python script
           echo "Creating: README.txt"
-          python scripts/create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package/README.txt
+          python scripts/create_readme.py ${{ matrix.platform }} ${{ env.PACKAGE_REF }} dist-package/README.txt
 
           echo ""
           echo "Distribution package contents:"
@@ -314,7 +333,7 @@ jobs:
         if: steps.should_build.outputs.should_build == 'true'
         uses: actions/upload-artifact@v6
         with:
-          name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
+          name: unilab-pack-${{ matrix.platform }}-${{ env.PACKAGE_REF }}
           path: dist-package/
           retention-days: 90
           if-no-files-found: error
@@ -326,9 +345,9 @@ jobs:
           echo Build Summary
           echo ==========================================
           echo Platform: ${{ matrix.platform }}
-          echo Branch: ${{ github.event.inputs.branch }}
+          echo Branch: ${{ env.PACKAGE_REF }}
           echo Python version: 3.11.14
-          if "${{ github.event.inputs.build_full }}"=="true" (
+          if "${{ env.BUILD_FULL }}"=="true" (
             echo Package: unilabos-full ^(complete^)
           ) else (
             echo Package: unilabos ^(minimal^)
@@ -337,7 +356,7 @@ jobs:
           echo Distribution package contents:
           dir dist-package
           echo.
-          echo Artifact name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
+          echo Artifact name: unilab-pack-${{ matrix.platform }}-${{ env.PACKAGE_REF }}
           echo.
           echo After download, extract the ZIP and run:
           echo   install_unilab.bat
@@ -351,9 +370,9 @@ jobs:
           echo "Build Summary"
           echo "=========================================="
           echo "Platform: ${{ matrix.platform }}"
-          echo "Branch: ${{ github.event.inputs.branch }}"
+          echo "Branch: ${{ env.PACKAGE_REF }}"
           echo "Python version: 3.11.14"
-          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
+          if [[ "${{ env.BUILD_FULL }}" == "true" ]]; then
             echo "Package: unilabos-full (complete)"
           else
             echo "Package: unilabos (minimal)"
@@ -362,7 +381,7 @@ jobs:
           echo "Distribution package contents:"
           ls -lh dist-package/
           echo ""
-          echo "Artifact name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}"
+          echo "Artifact name: unilab-pack-${{ matrix.platform }}-${{ env.PACKAGE_REF }}"
           echo ""
           echo "After download:"
           echo "  install_unilab.sh"

.github/workflows/deploy-docs.yml

@@ -51,12 +51,12 @@ jobs:
           fetch-depth: 0
 
       - name: Setup Miniforge (with mamba)
-        uses: conda-incubator/setup-miniconda@v3
+        uses: conda-incubator/setup-miniconda@v4
         with:
           miniforge-version: latest
           use-mamba: true
           python-version: '3.11.14'
-          channels: conda-forge,robostack-staging,uni-lab,defaults
+          channels: conda-forge,robostack-staging,uni-lab
           channel-priority: flexible
           activate-environment: unilab
           auto-update-conda: false
@@ -66,7 +66,7 @@ jobs:
         run: |
           echo "Installing unilabos and dependencies to unilab environment..."
           echo "Using mamba for faster and more reliable dependency resolution..."
-          mamba install -n unilab uni-lab::unilabos -c uni-lab -c robostack-staging -c conda-forge -y
+          mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos -y
 
       - name: Install latest unilabos from source
         run: |
@@ -84,7 +84,7 @@ jobs:
 
       - name: Setup Pages
         id: pages
-        uses: actions/configure-pages@v5
+        uses: actions/configure-pages@v6
         if: |
           github.event.workflow_run.head_branch == 'main' ||
           (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
@@ -105,7 +105,7 @@ jobs:
           test -f docs/_build/html/index.html && echo "✓ index.html exists" || echo "✗ index.html missing"
 
       - name: Upload build artifacts
-        uses: actions/upload-pages-artifact@v4
+        uses: actions/upload-pages-artifact@v5
         if: |
           github.event.workflow_run.head_branch == 'main' ||
           (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
@@ -125,4 +125,4 @@ jobs:
     steps:
       - name: Deploy to GitHub Pages
         id: deployment
-        uses: actions/deploy-pages@v4
+        uses: actions/deploy-pages@v5

.github/workflows/multi-platform-build.yml

@@ -10,6 +10,9 @@ on:
   # 支持 tag 推送（不依赖 CI Check）
   push:
     tags: ['v*']
+  # GitHub Release 发布时自动构建并上传
+  release:
+    types: [published]
   # 手动触发
   workflow_dispatch:
     inputs:
@@ -60,7 +63,7 @@ jobs:
           - os: ubuntu-latest
             platform: linux-64
             env_file: unilabos-linux-64.yaml
-          - os: macos-15 # Intel (via Rosetta)
+          - os: macos-15-intel # Intel x86_64
             platform: osx-64
             env_file: unilabos-osx-64.yaml
           - os: macos-latest # ARM64
@@ -80,7 +83,7 @@ jobs:
       - uses: actions/checkout@v6
         with:
           # 如果是 workflow_run 触发，使用触发 CI Check 的 commit
-          ref: ${{ github.event.workflow_run.head_sha || github.ref }}
+          ref: ${{ github.event.workflow_run.head_sha || github.event.release.tag_name || github.ref }}
           fetch-depth: 0
 
       - name: Check if platform should be built
@@ -96,12 +99,14 @@ jobs:
             echo "should_build=false" >> $GITHUB_OUTPUT
           fi
 
-      - name: Setup Miniconda
+      - name: Setup Miniforge
         if: steps.should_build.outputs.should_build == 'true'
-        uses: conda-incubator/setup-miniconda@v3
+        uses: conda-incubator/setup-miniconda@v4
         with:
-          miniconda-version: 'latest'
+          miniforge-version: latest
-          channels: conda-forge,robostack-staging,defaults
+          use-mamba: true
+          python-version: '3.11.14'
+          channels: conda-forge,robostack-staging
           channel-priority: strict
           activate-environment: build-env
           auto-update-conda: false
@@ -110,24 +115,22 @@ jobs:
       - name: Install rattler-build and anaconda-client
         if: steps.should_build.outputs.should_build == 'true'
         run: |
-          conda install -c conda-forge rattler-build anaconda-client
+          mamba install -n build-env --override-channels -c conda-forge rattler-build anaconda-client -y
 
       - name: Show environment info
         if: steps.should_build.outputs.should_build == 'true'
         run: |
           conda info
-          conda list | grep -E "(rattler-build|anaconda-client)"
+          conda list -n build-env | grep -E "(rattler-build|anaconda-client)"
+          conda run -n build-env rattler-build --version
+          conda run -n build-env anaconda --version
           echo "Platform: ${{ matrix.platform }}"
           echo "OS: ${{ matrix.os }}"
 
       - name: Build conda package
         if: steps.should_build.outputs.should_build == 'true'
         run: |
-          if [[ "${{ matrix.platform }}" == "osx-arm64" ]]; then
+          conda run -n build-env rattler-build build -r ./recipes/msgs/recipe.yaml --target-platform ${{ matrix.platform }} -c robostack -c robostack-staging -c conda-forge
-            rattler-build build -r ./recipes/msgs/recipe.yaml -c robostack -c robostack-staging -c conda-forge
-          else
-            rattler-build build -r ./recipes/msgs/recipe.yaml -c robostack -c robostack-staging -c conda-forge
-          fi
 
       - name: List built packages
         if: steps.should_build.outputs.should_build == 'true'
@@ -157,9 +160,15 @@ jobs:
           retention-days: 30
 
       - name: Upload to Anaconda.org (unilab organization)
-        if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
+        if: |
+          steps.should_build.outputs.should_build == 'true' &&
+          (
+            github.event_name == 'release' ||
+            startsWith(github.ref, 'refs/tags/') ||
+            github.event.inputs.upload_to_anaconda == 'true'
+          )
         run: |
           for package in $(find ./output -name "*.conda"); do
             echo "Uploading $package to unilab organization..."
-            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
+            conda run -n build-env anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
           done

.github/workflows/unilabos-conda-build.yml

@@ -1,14 +1,10 @@
 name: UniLabOS Conda Build
 
 on:
-  # 在 CI Check 成功后自动触发
+  # 在 Multi-Platform Conda Build 成功上传 msgs 后自动触发
   workflow_run:
-    workflows: ["CI Check"]
+    workflows: ["Multi-Platform Conda Build"]
     types: [completed]
-    branches: [main, dev]
-  # 标签推送时直接触发（发布版本）
-  push:
-    tags: ['v*']
   # 手动触发
   workflow_dispatch:
     inputs:
@@ -33,37 +29,37 @@ on:
         type: boolean
 
 jobs:
-  # 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
+  # 等待上游 msgs 构建完成的 job (仅用于 workflow_run 触发)
-  wait-for-ci:
+  wait-for-upstream:
     runs-on: ubuntu-latest
     if: github.event_name == 'workflow_run'
     outputs:
       should_continue: ${{ steps.check.outputs.should_continue }}
     steps:
-      - name: Check CI status
+      - name: Check upstream workflow status
         id: check
         run: |
-          if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
+          if [[ "${{ github.event.workflow_run.conclusion }}" == "success" && ( "${{ github.event.workflow_run.event }}" == "release" || "${{ github.event.workflow_run.event }}" == "push" ) ]]; then
             echo "should_continue=true" >> $GITHUB_OUTPUT
-            echo "CI Check passed, proceeding with build"
+            echo "Multi-Platform Conda Build passed for release/tag, proceeding with UniLabOS build"
           else
             echo "should_continue=false" >> $GITHUB_OUTPUT
-            echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
+            echo "Upstream workflow is not a successful release/tag build (status: ${{ github.event.workflow_run.conclusion }}, event: ${{ github.event.workflow_run.event }}), skipping build"
           fi
 
   build:
-    needs: [wait-for-ci]
+    needs: [wait-for-upstream]
-    # 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
+    # 运行条件：workflow_run 触发且上游成功，或者手动触发
     if: |
       always() &&
-      (needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
+      (needs.wait-for-upstream.result == 'skipped' || needs.wait-for-upstream.outputs.should_continue == 'true')
     strategy:
       fail-fast: false
       matrix:
         include:
           - os: ubuntu-latest
             platform: linux-64
-          - os: macos-15 # Intel (via Rosetta)
+          - os: macos-15-intel # Intel x86_64
             platform: osx-64
           - os: macos-latest # ARM64
             platform: osx-arm64
@@ -79,7 +75,7 @@ jobs:
     steps:
       - uses: actions/checkout@v6
         with:
-          # 如果是 workflow_run 触发，使用触发 CI Check 的 commit
+          # 如果是 workflow_run 触发，使用上游 conda 包构建的 commit
           ref: ${{ github.event.workflow_run.head_sha || github.ref }}
           fetch-depth: 0
 
@@ -96,12 +92,14 @@ jobs:
             echo "should_build=false" >> $GITHUB_OUTPUT
           fi
 
-      - name: Setup Miniconda
+      - name: Setup Miniforge
         if: steps.should_build.outputs.should_build == 'true'
-        uses: conda-incubator/setup-miniconda@v3
+        uses: conda-incubator/setup-miniconda@v4
         with:
-          miniconda-version: 'latest'
+          miniforge-version: latest
-          channels: conda-forge,robostack-staging,uni-lab,defaults
+          use-mamba: true
+          python-version: '3.11.14'
+          channels: conda-forge,robostack-staging,uni-lab
           channel-priority: strict
           activate-environment: build-env
           auto-update-conda: false
@@ -110,20 +108,22 @@ jobs:
       - name: Install rattler-build and anaconda-client
         if: steps.should_build.outputs.should_build == 'true'
         run: |
-          conda install -c conda-forge rattler-build anaconda-client
+          mamba install -n build-env --override-channels -c conda-forge rattler-build anaconda-client -y
 
       - name: Show environment info
         if: steps.should_build.outputs.should_build == 'true'
         run: |
           conda info
-          conda list | grep -E "(rattler-build|anaconda-client)"
+          conda list -n build-env | grep -E "(rattler-build|anaconda-client)"
+          conda run -n build-env rattler-build --version
+          conda run -n build-env anaconda --version
           echo "Platform: ${{ matrix.platform }}"
           echo "OS: ${{ matrix.os }}"
-          echo "Build full package: ${{ github.event.inputs.build_full || 'false' }}"
+          echo "Build full package: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.build_full == 'true' }}"
           echo "Building packages:"
           echo "  - unilabos-env (environment dependencies)"
           echo "  - unilabos (with pip package)"
-          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
+          if [[ "${{ github.event_name == 'workflow_dispatch' && github.event.inputs.build_full == 'true' }}" == "true" ]]; then
             echo "  - unilabos-full (complete package)"
           fi
 
@@ -131,14 +131,19 @@ jobs:
         if: steps.should_build.outputs.should_build == 'true'
         run: |
           echo "Building unilabos-env (conda environment dependencies)..."
-          rattler-build build -r .conda/environment/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
+          conda run -n build-env rattler-build build -r .conda/environment/recipe.yaml --target-platform ${{ matrix.platform }} -c uni-lab -c robostack-staging -c conda-forge
 
       - name: Upload unilabos-env to Anaconda.org (if enabled)
-        if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
+        if: |
+          steps.should_build.outputs.should_build == 'true' &&
+          (
+            github.event_name == 'workflow_run' ||
+            github.event.inputs.upload_to_anaconda == 'true'
+          )
         run: |
           echo "Uploading unilabos-env to uni-lab organization..."
           for package in $(find ./output -name "unilabos-env*.conda"); do
-            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
+            conda run -n build-env anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
           done
 
       - name: Build unilabos (with pip package)
@@ -146,33 +151,40 @@ jobs:
         run: |
           echo "Building unilabos package..."
           # 如果已上传到 Anaconda，从 uni-lab channel 获取 unilabos-env；否则从本地 output 获取
-          rattler-build build -r .conda/base/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
+          conda run -n build-env rattler-build build -r .conda/base/recipe.yaml --target-platform ${{ matrix.platform }} -c uni-lab -c robostack-staging -c conda-forge --channel ./output
 
       - name: Upload unilabos to Anaconda.org (if enabled)
-        if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
+        if: |
+          steps.should_build.outputs.should_build == 'true' &&
+          (
+            github.event_name == 'workflow_run' ||
+            github.event.inputs.upload_to_anaconda == 'true'
+          )
         run: |
           echo "Uploading unilabos to uni-lab organization..."
           for package in $(find ./output -name "unilabos-0*.conda" -o -name "unilabos-[0-9]*.conda"); do
-            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
+            conda run -n build-env anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
           done
 
       - name: Build unilabos-full - Only when explicitly requested
         if: |
           steps.should_build.outputs.should_build == 'true' && 
+          github.event_name == 'workflow_dispatch' &&
           github.event.inputs.build_full == 'true'
         run: |
           echo "Building unilabos-full package on ${{ matrix.platform }}..."
-          rattler-build build -r .conda/full/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
+          conda run -n build-env rattler-build build -r .conda/full/recipe.yaml --target-platform ${{ matrix.platform }} -c uni-lab -c robostack-staging -c conda-forge --channel ./output
 
       - name: Upload unilabos-full to Anaconda.org (if enabled)
         if: |
           steps.should_build.outputs.should_build == 'true' && 
+          github.event_name == 'workflow_dispatch' &&
           github.event.inputs.build_full == 'true' &&
           github.event.inputs.upload_to_anaconda == 'true'
         run: |
           echo "Uploading unilabos-full to uni-lab organization..."
           for package in $(find ./output -name "unilabos-full*.conda"); do
-            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
+            conda run -n build-env anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
           done
 
       - name: List built packages

.gitignore

@@ -251,7 +251,4 @@ ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2
 *.bz2
 test_config.py
 
-# Local config files with secrets
+
-yibin_coin_cell_only_config.json
-yibin_electrolyte_config.json
-yibin_electrolyte_only_config.json

260415csv_export_walkthrough.md

@@ -1,72 +0,0 @@
-# CSV 导出功能变更概要
-
-## 修改的文件
-
-### 1. [bioyond_cell_workstation.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py)
-
-#### 新增导入
-- `import csv` 和 `import os`（L14-15）
-
-#### 新增方法
-
-| 方法 | 功能 |
-|------|------|
-| `_extract_prep_bottle_from_report` | 从 order_finish 报文提取**配液瓶**信息（每订单最多1个） |
-| `_extract_vial_bottles_from_report` | 从 order_finish 报文提取**分液瓶**信息（每订单可多个，返回数组） |
-| `_export_order_csv` | 汇总所有信息写入 CSV 文件 |
-
-#### 配液瓶筛选逻辑 (`_extract_prep_bottle_from_report`)
-- `typemode="1"`, `realQuantity=1`, `usedQuantity=1`
-- `locationId` 以 `3a19deae-2c7a-` 开头（手动传递窗）
-- LIMS API 二次确认：`typeName` 含"配液瓶(小)"或"配液瓶(大)"
-
-#### 分液瓶筛选逻辑 (`_extract_vial_bottles_from_report`)
-- `typemode="1"`, `realQuantity=1`, `usedQuantity=1`
-- `locationId` 以 `3a19debc-84b5-` 或 `3a19debe-5200` 开头（自动堆栈-左/右）
-- LIMS API 二次确认：`typeName` 为"5ml分液瓶"或"20ml分液瓶"
-- **返回数组**，支持 1×5ml + n×20ml 的组合
-
-#### 修改的方法
-
-| 方法 | 变更 |
-|------|------|
-| `_submit_and_wait_orders` | 新增配液瓶+分液瓶提取步骤，将 `prep_bottles` 和 `vial_bottles` 存入 `final_result` |
-| `create_orders` | 添加 `csv_export_path` 参数，末尾调用 `_export_order_csv` |
-| `create_orders_formulation` | 添加 `csv_export_path` 参数，末尾调用 `_export_order_csv` |
-
-#### CSV 输出格式
-```
-orderCode, orderName, 配液瓶类型, 配液瓶二维码, 分液瓶类型, 分液瓶二维码, 目标配液质量比, 真实配液质量比, 时间
-```
-- 单个分液瓶时直接写值；多个分液瓶时类型和二维码用 JSON 数组表示
-- CSV 编码使用 `utf-8-sig`（兼容 Excel 打开）
-- `csv_export_path` 默认为空字符串，不传则不导出（向后兼容）
-
----
-
-### 2. [bioyond_cell.yaml](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/registry/devices/bioyond_cell.yaml)
-
-为两个 action 注册了 `csv_export_path` 参数：
-
-- `auto-create_orders`: `goal_default` + `schema.properties.goal.properties` 中添加 `csv_export_path`
-- `auto-create_orders_formulation`: 同上
-
----
-
-### 3. [coin_cell_assembly.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py) 的 CSV 改动与全流程追溯
-
-在 `bioyond_cell_workstation.py` 的 `_submit_and_wait_orders` 最后阶段，提取 `prep_bottles`（配液瓶）和 `vial_bottles`（分液瓶）的条码并随 `mass_ratios` 数组一起下发给各下游工站（例如扣电组装站），实现跨站的全流程配方追溯。
-
-并在扣电站生成的 `date_xxx.csv` 中，**替换并新增**了以下列：
-- 移除了原有的 `formulation_order_code` 与合并的 `formulation_ratio` 列。
-- 新增 `orderName` 导出
-- 新增 `prep_bottle_barcode`（奔曜传递的配液瓶二维码）
-- 新增 `vial_bottle_barcodes`（奔曜传递的分液瓶二维码，多瓶时存 JSON 数组）
-- 新增 `target_mass_ratio` 理论目标质量比
-- 新增 `real_mass_ratio` 实际称量真实质量比
-
-*注意：这与操作人员在手套箱内扫码传入扣电站的 `electrolyte_code` 是单独记录的，方便做数据核对。*
-
-## 向后兼容性
-- `csv_export_path` 默认值为 `""`（空字符串），现有调用不受影响
-- 新增的 `prep_bottles` 和 `vial_bottles` 字段为 `final_result` 和 `mass_ratios` 内部的新增附属字段，不破坏现有数据结构。

CHANGES_2026_03_24.md

@@ -1,168 +0,0 @@
-# 变更说明 2026-03-24
-
-## 问题背景
-
-`BioyondElectrolyteDeck`（原 `BIOYOND_YB_Deck`）迁移后，前端物料未能正常上传/同步。
-
----
-
-## 修复内容
-
-### 1. `unilabos/resources/bioyond/decks.py`
-
-- 补回 `setup: bool = False` 参数及 `if setup: self.setup()` 逻辑，与旧版 `BIOYOND_YB_Deck` 保持一致
-- 工厂函数 `bioyond_electrolyte_deck` 保留显式调用 `deck.setup()`，避免重复初始化
-
-```python
-# 修复前（缺少 setup 参数，无法通过 setup=True 触发初始化）
-def __init__(self, name, size_x, size_y, size_z, category):
-    super().__init__(...)
-
-# 修复后
-def __init__(self, name, size_x, size_y, size_z, category, setup: bool = False):
-    super().__init__(...)
-    if setup:
-        self.setup()
-```
-
----
-
-### 2. `unilabos/resources/graphio.py`
-
-- 修复 `resource_bioyond_to_plr` 中两处 `bottle.tracker.liquids` 直接赋值导致的崩溃
-- `ResourceHolder`（如枪头盒的 TipSpot 槽位）没有 `tracker` 属性，直接访问会抛出 `AttributeError`，阻断整个 Bioyond 同步流程
-
-```python
-# 修复前
-bottle.tracker.liquids = [...]
-
-# 修复后
-if hasattr(bottle, 'tracker') and bottle.tracker is not None:
-    bottle.tracker.liquids = [...]
-```
-
----
-
-### 3. `unilabos/app/main.py`
-
-- 保留 `file_path is not None` 条件不变（已还原），并补充注释说明原因
-- 该逻辑只在**本地文件模式**下有意义：本地 graph 文件只含设备结构，远端有已保存物料，merge 才能将两者合并
-- 远端模式（`file_path=None`）下，`resource_tree_set` 和 `request_startup_json` 来自同一份数据，merge 为空操作，条件是否加 `file_path is not None` 对结果没有影响
-
----
-
-### 4. `unilabos/devices/workstation/bioyond_studio/station.py` ⭐ 核心修复
-
-- 当 deck 通过反序列化创建时，不会自动调用 `setup()`，导致 `deck.children` 为空，`warehouses` 始终是 `{}`
-- 增加兜底逻辑：仓库扫描后仍为空，则主动调用 `deck.setup()` 初始化仓库
-- 这是导致所有物料放置失败（`warehouse '...' 在deck中不存在。可用warehouses: []`）的根本原因
-
-```python
-# 新增兜底
-if not self.deck.warehouses and hasattr(self.deck, "setup") and callable(self.deck.setup):
-    logger.info("Deck 无仓库子节点，调用 setup() 初始化仓库")
-    self.deck.setup()
-```
-
----
-
----
-
-## 补充修复 2026-03-25：依华扣电组装工站子物料未上传
-
-### 问题
-
-`CoinCellAssemblyWorkstation.post_init` 直接上传空 deck，未调用 `deck.setup()`，导致：
-- 前端子物料（成品弹夹、料盘、瓶架等）不显示
-- 运行时 `self.deck.get_resource("成品弹夹")` 抛出 `ResourceNotFoundError`
-
-### 修复文件
-
-**`unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py`**
-- `YihuaCoinCellDeck.__init__` 补回 `setup: bool = False` 参数及 `if setup: self.setup()` 逻辑
-
-**`unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py`**
-- `post_init` 中增加与 Bioyond 工站相同的兜底逻辑：deck 无子节点时调用 `deck.setup()` 初始化
-
-```python
-# post_init 中新增
-if self.deck and not self.deck.children and hasattr(self.deck, "setup") and callable(self.deck.setup):
-    logger.info("YihuaCoinCellDeck 无子节点，调用 setup() 初始化")
-    self.deck.setup()
-```
-
-### 联动 Bug：`MaterialPlate.create_with_holes` 构造顺序错误
-
-**现象**：`deck.setup()` 被调用后，启动时抛出：
-```
-设备后初始化失败: Must specify either `ordered_items` or `ordering`.
-```
-
-**根因**：`create_with_holes` 原来的逻辑是先构造空的 `MaterialPlate` 实例，再 assign 洞位：
-```python
-# 旧（错误）：cls(...) 时 ordered_items=None → ItemizedResource.__init__ 立即报错
-plate = cls(name=name, ...)          # ← 这里就崩了
-holes = create_ordered_items_2d(...) # ← 根本没走到这里
-for hole_name, hole in holes.items():
-    plate.assign_child_resource(...)
-```
-pylabrobot 的 `ItemizedResource.__init__` 强制要求 `ordered_items` 和 `ordering` 必须有一个不为 `None`，空构造直接失败。
-
-**修复**：先建洞位，再作为 `ordered_items` 传给构造函数：
-```python
-# 新（正确）：先建洞位，再一次性传入构造函数
-holes = create_ordered_items_2d(klass=MaterialHole, num_items_x=4, ...)
-return cls(name=name, ..., ordered_items=holes)
-```
-
-> 此 bug 此前未被触发，是因为 `deck.setup()` 从未被调用到——正是上面 `post_init` 兜底修复引出的联动问题。
-
----
-
-## 补充修复 2026-03-25：3→2→1 转运资源同步失败
-
-### 问题
-
-配液工站（Bioyond）完成分液后，调用 `transfer_3_to_2_to_1_auto` 将分液瓶板转运到扣电工站（BatteryStation）。物理 LIMS 转运成功，但数字孪生资源树同步始终失败：
-```
-[资源同步] ❌ 失败: 目标设备 'BatteryStation' 中未找到资源 'bottle_rack_6x2'
-```
-
-### 根因
-
-`_get_resource_from_device` 方法负责跨设备查找资源对象，有两个问题：
-
-1. **原始路径完全失效**：尝试 `from unilabos.app.ros2_app import get_device_plr_resource_by_name`，但该模块不存在，`ImportError` 被 `except Exception: pass` 静默吞掉
-2. **降级路径搜错地方**：遍历 `self._plr_resources`（Bioyond 自己的资源），不可能找到 BatteryStation 的 `bottle_rack_6x2`
-
-### 修复文件
-
-**`unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py`**
-
-改用全局设备注册表 `registered_devices` 跨设备访问目标 deck：
-
-```python
-# 修复前（失效）
-from unilabos.app.ros2_app import get_device_plr_resource_by_name  # 模块不存在
-return get_device_plr_resource_by_name(device_id, resource_name)
-
-# 修复后
-from unilabos.ros.nodes.base_device_node import registered_devices
-device_info = registered_devices.get(device_id)
-if device_info is not None:
-    driver = device_info.get("driver_instance")  # TypedDict 是 dict，必须用 .get()
-    if driver is not None:
-        deck = getattr(driver, "deck", None)
-        if deck is not None:
-            res = deck.get_resource(resource_name)
-```
-
-关键细节：`DeviceInfoType` 是 `TypedDict`（即普通 `dict`），必须用 `device_info.get("driver_instance")` 而非 `getattr(device_info, "driver_instance", None)`——后者对字典永远返回 `None`。
-
----
-
-## 根本原因分析
-
-旧版以**本地文件模式**启动（有 `graph` 文件），deck 在启动前已通过 `merge_remote_resources` 获得仓库子节点，反序列化时能正确恢复 warehouses。
-
-新版以**远端模式**启动（`file_path=None`），deck 反序列化时没有仓库子节点，`station.py` 扫描为空，所有物料的 warehouse 匹配失败，Bioyond 同步的 16 个资源全部无法放置到对应仓库位，前端不显示。

docs/developer_guide/add_PLC.md

@@ -0,0 +1,611 @@
+# PLC 通信标准与设备驱动编写指南（基于 AI4M 工站）
+
+> 本文档以 `unilabos/devices/workstation/AI4M`（水凝胶检测工站）为参考实现，
+> 介绍如何将 PLC 控制的实验设备接入 Uni-Lab-OS：包含通信协议选型、节点表标准、
+> 通信基类、设备驱动、Registry 配置以及调试方法。
+>
+> 阅读对象：负责现场调试与设备接入的同学。
+
+---
+
+## 0. 总览：一台 PLC 设备从硬件到云端的链路
+
+```
+       PLC（西门子 / 倍福 / 三菱 / 汇川 / 国产 PLC ...）
+                   ▲
+                   │  各家 PLC 私有协议（S7 / Modbus / EtherCAT ...）
+                   │
+        ┌──────────┴──────────┐
+        │  OPC UA Server      │  ← 统一在 PLC 侧或独立网关上配置
+        │  （内置或 KEPServer）│
+        └──────────┬──────────┘
+                   │  OPC UA over TCP（标准协议）
+                   │
+        ┌──────────┴──────────┐
+        │  Uni-Lab 设备驱动    │  ← 本教程主体
+        │  AI4MDevice         │
+        │  ├─ base_opcua_client.py  通信基类
+        │  ├─ opcua_nodes_*.csv     节点表（标准）
+        │  └─ AI4M.py               动作函数
+        └──────────┬──────────┘
+                   │  ROS2 Action / 云端 HTTP
+                   ▼
+              实验记录本 / 云端调度
+```
+
+**统一约定**：所有 PLC 设备**只暴露 OPC UA 接口**给 Uni-Lab，PC 端不直接处理 S7 / Modbus 等底层协议。
+这是 Uni-Lab 在工站类设备上的 PLC 通信标准。
+
+---
+
+## 1. 为什么选 OPC UA 作为标准？
+
+| 维度 | 自研 TCP/串口协议 | Modbus | **OPC UA** |
+|---|---|---|---|
+| 厂家无关 | ✗ | 部分 | **✓** |
+| 自带类型系统 | ✗ | ✗（裸寄存器） | **✓（Boolean/Int16/Float...）** |
+| 命名空间 / 节点树 | ✗ | ✗（地址=魔数） | **✓（带名字、可分组）** |
+| 订阅推送 | ✗ | ✗ | **✓（DataChange Notification）** |
+| 鉴权 / 加密 | 自己造 | ✗ | **✓** |
+| 与 PLC 工程师沟通成本 | 高 | 中 | **低（按变量名沟通）** |
+
+实际接入时，PLC 工程师只需要在 PLC 侧把约定的"上位通讯变量"暴露到 OPC UA Server，
+我们在 PC 侧就能用 `节点名 + 数据类型` 直接读写，不用管底层是 S7 还是 Modbus。
+
+---
+
+## 2. 节点表标准：`opcua_nodes_xxx.csv`
+
+PLC 侧暴露的所有变量统一**用一张 CSV 表**描述，这是 PC 端和 PLC 端**唯一的接口契约**。
+位置示例：`unilabos/devices/workstation/AI4M/opcua_nodes_AI4M.csv`。
+
+### 2.1 列定义
+
+| 列名 | 是否必填 | 说明 |
+|---|---|---|
+| `Name` | ✅ | 节点名（PLC 工程师在 PLC 项目中真实使用的变量名，通常是中文/原始名） |
+| `EnglishName` | 推荐 | 英文别名，**PC 端代码全部用这个名字**调用 |
+| `NodeType` | ✅ | `VARIABLE`（变量）或 `METHOD`（方法），AI4M 全部用变量 |
+| `DataType` | ✅ | `BOOLEAN` / `INT16` / `INT32` / `FLOAT` / `DOUBLE` / `STRING` ... |
+| `NodeLanguage` | 推荐 | `Chinese` / `English`，配合 `EnglishName` 做映射 |
+| `NodeId` | ✅ | OPC UA 标准 NodeId，格式 `ns=<namespace>;s=<string>` 或 `ns=<n>;i=<int>` |
+
+### 2.2 真实样例（节选自 `opcua_nodes_AI4M.csv`）
+
+| Name | EnglishName | NodeType | DataType | NodeLanguage | NodeId |
+|---|---|---|---|---|---|
+| 机器人空闲 | `robot_ready` | VARIABLE | BOOLEAN | Chinese | `ns=4;s=上位通讯变量\|机器人空闲` |
+| 机器人取烧杯编号 | `robot_pick_beaker_id` | VARIABLE | INT16 | Chinese | `ns=4;s=上位通讯变量\|机器人取烧杯编号` |
+| 检测1请求参数 | `station_1_request_params` | VARIABLE | BOOLEAN | Chinese | `ns=4;s=上位通讯变量\|检测1请求参数` |
+| 检测1工艺完成 | `station_1_process_complete` | VARIABLE | BOOLEAN | Chinese | `ns=4;s=上位通讯变量\|检测1工艺完成` |
+| 磁力搅拌参数设置_C[0].搅拌速度 | `mag_stirrer_c0_stir_speed` | VARIABLE | INT16 | Chinese | `ns=4;s=上位通讯变量\|磁力搅拌参数设置_C[0].搅拌速度` |
+| 报警复位 | `alarm_reset` | VARIABLE | BOOLEAN | Chinese | `ns=4;s=上位通讯变量\|报警复位` |
+
+### 2.3 设计规范（必读）
+
+1. **命名按"角色-编号-属性"分层**，便于代码批量寻址：
+   - `mag_stirrer_c{0..4}_stir_speed`（搅拌仪 0~4 的搅拌速度）
+   - `station_{1..3}_process_complete`（检测站 1~3 的完成信号）
+   - `robot_rack_pick_beaker_{1..5}_complete`（取烧杯 1~5 的完成信号）
+
+   这样在驱动里可以直接 `f"mag_stirrer_c{idx}_stir_speed"` 拼出节点名。
+
+2. **数据类型与 PLC 侧严格一致**：
+   - `BOOL` → `BOOLEAN`，`INT/WORD` → `INT16/UINT16`，`DINT` → `INT32`，`REAL` → `FLOAT`。
+   - 类型不一致会触发 `BadTypeMismatch`，写入失败。
+
+3. **NodeId 必须从 PLC 工程或 OPC UA Server 中导出**，不要自己拼。
+   常见格式：
+   - 西门子 1500：`ns=4;s=上位通讯变量|<变量名>`
+   - 倍福 TwinCAT：`ns=4;s=PLC1.MAIN.<变量名>`
+   - KEPServerEX：`ns=2;s=Channel1.Device1.<Tag>`
+
+4. **每个工站一个独立 CSV**，不要共用。
+   AI4M 中真机用 `opcua_nodes_AI4M.csv`，仿真用 `opcua_nodes_AI4M_sim.csv`。
+
+---
+
+## 3. 通信基类架构
+
+文件：`unilabos/devices/workstation/AI4M/base_opcua_client.py`
+
+整个通信层分两层：
+
+```
+BaseOpcUaClient                       # 最小可用：连接 + 节点注册 + 读写 + 方法调用
+        ▲
+        │ 继承
+        │
+OpcUaClientWithSubscription           # 生产可用：+ 订阅推送 + 缓存 + 自动重连
+        ▲
+        │ 继承
+        │
+AI4MDevice                            # 业务驱动：在它之上写设备动作函数
+```
+
+### 3.1 `BaseOpcUaClient` 核心能力
+
+```python
+class BaseOpcUaClient(UniversalDriver):
+    client: Optional[Client] = None
+    _node_registry: Dict[str, OpcUaNodeBase] = {}     # name -> Variable/Method
+    _name_mapping: Dict[str, str] = {}                # 英文名 -> 中文名
+    _reverse_mapping: Dict[str, str] = {}             # 中文名 -> 英文名
+    _found_node_objects: Dict[str, Any] = {}          # 缓存 ua.Node 用于订阅
+
+    @classmethod
+    def load_csv(cls, file_path) -> Tuple[List[OpcUaNode], dict, dict]: ...
+    def register_node_list(self, node_list) -> "BaseOpcUaClient": ...
+    def use_node(self, name) -> OpcUaNodeBase: ...
+    def read_node(self, node_name: str) -> str: ...   # 返回 JSON
+    def write_node(self, json_input: str) -> str: ...
+    def call_method(self, node_name, *args) -> Tuple[Any, bool]: ...
+```
+
+它做的事情可以归纳为四步：
+
+1. **`load_csv`**：读取节点表，建立 `Name ↔ EnglishName` 双向映射。
+2. **`register_node_list`**：把节点登记进 `_variables_to_find` 待查找列表。
+3. **`_connect` → `_find_nodes`**：连上 OPC UA 后，按 `NodeId` 把每个节点解析成 `Variable` / `Method` 对象，放进 `_node_registry`。
+4. **`use_node(name)`**：业务代码取节点的唯一入口，**支持中英文混用**，找不到会自动重试一次。
+
+### 3.2 `OpcUaClientWithSubscription` 增强能力
+
+在 `BaseOpcUaClient` 基础上提供三个生产环境必备的能力：
+
+#### a) 订阅缓存（高频读零开销）
+
+```python
+def _setup_subscriptions(self):
+    self._subscription = self.client.create_subscription(
+        self._subscription_interval,    # 默认 500ms
+        SubscriptionHandler(self),
+    )
+    for node_name, node in self._node_registry.items():
+        if node.type == NodeType.VARIABLE and node.node_id:
+            handle = self._subscription.subscribe_data_change(ua_node)
+            self._subscription_handles[node_name] = handle
+```
+
+当 PLC 侧变量变化时，`datachange_notification` 回调会把新值写进 `self._node_values[name]`，
+后续 `get_node_value` 优先读缓存——**业务代码可以放心地写 `while not self.get_node_value(...): time.sleep(1)` 而不用担心 OPC UA 频繁请求**。
+
+#### b) 智能缓存的 `get_node_value`
+
+```python
+def get_node_value(self, name, use_cache=True, force_read=False):
+    # 1. 中英文名归一化
+    chinese_name = self._name_mapping.get(name, name)
+
+    # 2. force_read=True 强制透传到 OPC UA Server
+    if force_read: ...
+
+    # 3. 命中订阅推送 → 直接返回缓存
+    # 4. 命中按需读 + 未过期（cache_timeout=5s）→ 返回缓存
+    # 5. 否则发起 read 并更新缓存
+```
+
+#### c) 连接监控 + 自动重连
+
+后台线程每 30s 调一次 `client.get_namespace_array()` 探活，断线则自动 `disconnect → connect → 重新订阅`，最多重试 5 次。
+
+### 3.3 数据类型 / 节点类型
+
+`unilabos/device_comms/opcua_client/node/uniopcua.py`：
+
+```python
+class DataType(Enum):
+    BOOLEAN = VariantType.Boolean
+    INT16   = VariantType.Int16
+    INT32   = VariantType.Int32
+    FLOAT   = VariantType.Float
+    STRING  = VariantType.String
+    # ...
+
+class NodeType(Enum):
+    VARIABLE = NodeClass.Variable
+    METHOD   = NodeClass.Method
+    OBJECT   = NodeClass.Object
+```
+
+`Variable.write()` 内部会按 `DataType` 做强制类型转换，
+所以 CSV 里的 `DataType` 列就是"PC 端转换写入值的类型说明书"。
+
+---
+
+## 4. 编写设备驱动：以 `AI4MDevice` 为例
+
+文件：`unilabos/devices/workstation/AI4M/AI4M.py`
+
+### 4.1 继承通信基类，最小骨架
+
+```python
+from typing import Optional
+from unilabos.devices.workstation.AI4M.base_opcua_client import OpcUaClientWithSubscription
+
+class AI4MDevice(OpcUaClientWithSubscription):
+    def __init__(
+        self,
+        url: str,                              # opc.tcp://192.168.1.10:4840
+        deck: Optional[AI4M_deck] = None,      # 物料台面（资源树）
+        csv_path: str = None,                  # 节点表 CSV
+        username: str = None,
+        password: str = None,
+        use_subscription: bool = True,
+        cache_timeout: float = 5.0,
+        subscription_interval: int = 500,
+        *args, **kwargs,
+    ):
+        super().__init__(
+            url=url, username=username, password=password,
+            use_subscription=use_subscription,
+            cache_timeout=cache_timeout,
+            subscription_interval=subscription_interval,
+            *args, **kwargs,
+        )
+
+        # 物料台面初始化（见教程 4. 物料系统）
+        self.deck = deck or AI4M_deck(setup=True)
+        self._robot_lock = threading.Lock()
+
+        # 关键：加载节点表
+        if csv_path:
+            self.load_nodes_from_csv(csv_path)
+```
+
+`load_nodes_from_csv` 会一次性完成：解析 CSV → 注册节点 → 解析 NodeId → 建立订阅，
+**之后整个驱动都通过 `self.get_node_value(name)` / `self.set_node_value(name, value)` 操作 PLC**。
+
+### 4.2 PLC 通信的核心模式：握手协议（Handshake）
+
+PLC 编程的本质是"扫描周期 + 状态机"，PC 端**绝对不能用 fire-and-forget 的方式发指令**。
+和 PLC 配合的标准模式是 **"PC 写指令 → PC 等待 PLC 回执 → PC 复位指令"**。
+
+AI4M 中所有 `trigger_*` 函数都遵循以下三种握手范式之一：
+
+#### 范式 A：脉冲触发 + 完成信号（最常用）
+
+```python
+def trigger_init(self) -> dict:
+    # ① 复位上一轮残留
+    self.set_node_value("alarm_reset", True); time.sleep(1.0)
+    self.set_node_value("alarm_reset", False)
+    self.set_node_value("manual_auto_switch", False)
+
+    # ② 等待 PLC 退出自动模式
+    while self.get_node_value("auto_mode"):
+        time.sleep(1.0)
+
+    # ③ 发起初始化脉冲（True → False）
+    self.set_node_value("initialize", True); time.sleep(1.0)
+    self.set_node_value("initialize", False)
+
+    # ④ 等待 PLC 给出完成信号
+    while not self.get_node_value("init finished"):
+        time.sleep(1.0)
+
+    return {"message": "设备初始化完成"}
+```
+
+要点：
+- **"PC 写一个 BOOL 拉高再拉低"** 模拟脉冲，PLC 用上升沿触发动作。
+- **`get_node_value` 要在 while 循环里轮询**，配合订阅缓存基本无压力。
+- **每个动作必须有"开始"和"完成"两个独立的 BOOL 节点**，不能复用。
+
+#### 范式 B：参数下发 + 请求/已执行/完成 三步握手（带数据的工艺）
+
+```python
+def trigger_station_process(self, station_id: int, mag_stir_speed: int, ...):
+    request_node        = f"station_{station_id}_request_params"
+    params_received_node = f"station_{station_id}_params_received"
+    start_node          = f"station_{station_id}_start"
+    complete_node       = f"station_{station_id}_process_complete"
+
+    # ① PC 复位三个状态位（避免上一轮影响）
+    self._reset_station_process_flags(station_id)
+
+    # ② 等 PLC 主动请求参数（PLC 准备好了才接收）
+    while not self.get_node_value(request_node):
+        time.sleep(1.0)
+
+    # ③ PC 下发参数（注意：PLC 内部数组是 0-based，PC 暴露给用户是 1-based）
+    station_idx = station_id - 1
+    self.set_node_value(f"mag_stirrer_c{station_idx}_stir_speed", mag_stir_speed)
+    self.set_node_value(f"mag_stirrer_c{station_idx}_heat_temp",  mag_stir_heat_temp)
+    self.set_node_value(f"mag_stirrer_c{station_idx}_time_set",   mag_stir_time_set)
+    self.set_node_value(f"syringe_pump_{station_idx}_abs_position_set", syringe_pump_abs_pos)
+
+    # ④ PC 通知 PLC "参数已就绪"，等 PLC 回复"已执行"
+    self.set_node_value(start_node, True)
+    while not self.get_node_value(params_received_node):
+        time.sleep(1.0)
+
+    # ⑤ 等 PLC 完成整个工艺
+    while not self.get_node_value(complete_node):
+        time.sleep(5.0)
+
+    self.set_node_value(start_node, False)   # 复位，方便下一轮
+    return {"station_id": station_id, "message": "..."}
+```
+
+四个状态位的语义：
+
+| 信号 | 方向 | 含义 |
+|---|---|---|
+| `station_X_request_params` | **PLC → PC** | "我准备好了，把参数给我" |
+| `station_X_start` | **PC → PLC** | "参数我已经写好了，开干" |
+| `station_X_params_received` | **PLC → PC** | "参数我已经吃下了" |
+| `station_X_process_complete` | **PLC → PC** | "工艺已经做完" |
+
+**这是 PLC 通信教科书级别的标准范式**，所有带数据下发的动作都建议照抄。
+
+#### 范式 C：编号下发 + 编号对应的完成信号（多目标互锁）
+
+```python
+def trigger_robot_pick_beaker(self, pick_beaker_id: int, place_station_id: int = None, ...):
+    # ① 等机器人空闲（互锁）
+    while not self.get_node_value("robot_ready"):
+        time.sleep(1.0)
+
+    # ② 阶段一：下发"取哪一杯"编号 + 等"取这一杯完成"
+    pick_complete_node  = f"robot_rack_pick_beaker_{pick_beaker_id}_complete"
+    self.set_node_value("robot_pick_beaker_id", pick_beaker_id)
+    while not self.get_node_value(pick_complete_node):
+        time.sleep(1.0)
+
+    # ③ 阶段二：下发"放到哪个工站"编号 + 等"放完成"
+    place_complete_node = f"robot_place_station_{place_station_id}_complete"
+    self._reset_station_process_flags(place_station_id)
+    self.set_node_value("robot_place_station_id", place_station_id)
+    while not self.get_node_value(place_complete_node):
+        time.sleep(1.0)
+```
+
+要点：
+- **同一个动作的多个目标用"编号变量 + 编号对应的完成信号"实现**，不要每个目标都开一个开始位。
+- **配合 Python 端 `threading.Lock()` 做软互锁**，避免多个线程争抢机器人。
+- **每个阶段有独立的完成信号**，串行等待，不能合并。
+
+### 4.3 一些容易踩坑的细节
+
+1. **节点名映射**
+   `set_node_value("alarm_reset", True)` 实际写入的是 CSV 中文名 `报警复位`，
+   `get_node_value` 同理。**业务代码全部用 EnglishName**，不要直接用中文。
+
+2. **PLC 数组索引和 PC 不一致**
+   AI4M 里 PC 暴露 `station_id ∈ {1, 2, 3}`，但 PLC 内部数组是 `C[0..2]`，
+   驱动里要做 `station_idx = station_id - 1`，**这种映射只在驱动层做一次**，
+   不要让上层（registry / 实验记录本）感知。
+
+3. **订阅模式下 BOOL 节点的边沿同步**
+   订阅有 ~500ms 延迟。如果你刚 `set_node_value(x, True)` 就立刻 `get_node_value(x)`，
+   读到的可能还是 `False`（订阅还没推回来）。
+   解决方案：**写完后用 `force_read=True` 透传一次** 或加一段 `time.sleep`。
+
+4. **永远不要忘记复位**
+   `start` 拉 True 后必须有地方拉回 False，否则下一轮 PLC 上升沿不触发。
+   AI4M 在 `_reset_station_process_flags` 中统一做：
+
+   ```python
+   def _reset_station_process_flags(self, station_id: int) -> None:
+       self.set_node_value(f"station_{station_id}_process_complete", False)
+       self.set_node_value(f"station_{station_id}_start", False)
+       self.set_node_value(f"station_{station_id}_params_received", False)
+   ```
+
+5. **耗时长的等待 sleep 加大**
+   工艺等待用 `time.sleep(5.0)`，机器人等待用 `time.sleep(1.0)`，初始化等待 `time.sleep(1.0)`，
+   不要全部用 0.1s 轮询，会把日志刷爆。
+
+---
+
+## 5. 把驱动接到 Uni-Lab：Registry + Graph
+
+### 5.1 Registry YAML（动作 schema）
+
+文件：`unilabos/registry/devices/AI4M_station.yaml`
+
+```yaml
+AI4M_station:
+  category: [AI4M_station]
+  class:
+    module: unilabos.devices.workstation.AI4M.AI4M:AI4MDevice    # ← 入口类
+    type: python
+    action_value_mappings:
+      auto-trigger_init:
+        schema:
+          description: 设备初始化...
+          properties:
+            goal:    { properties: {}, required: [], type: object }
+            result:
+              properties: { message: { type: string } }
+              required: [message]
+              type: object
+          type: object
+        type: UniLabJsonCommand
+
+      auto-trigger_station_process:
+        always_free: true
+        schema:
+          description: 执行检测工艺流程
+          properties:
+            goal:
+              properties:
+                station_id:                   { type: integer, description: 检测编号 1-3 }
+                mag_stir_stir_speed:          { type: integer }
+                mag_stir_heat_temp:           { type: integer }
+                mag_stir_time_set:            { type: integer }
+                syringe_pump_abs_position_set:{ type: integer }
+              required: [station_id, mag_stir_stir_speed, mag_stir_heat_temp,
+                         mag_stir_time_set, syringe_pump_abs_position_set]
+              type: object
+            result: { ... }
+        type: UniLabJsonCommand
+
+  init_param_schema:
+    config:
+      type: object
+      required: [url]
+      properties:
+        url:                   { type: string,  description: OPC UA 服务器地址 }
+        csv_path:              { type: string,  description: 节点配置 CSV 路径 }
+        deck:                  { type: string,  description: 资源树配置 }
+        username:              { type: string }
+        password:              { type: string }
+        use_subscription:      { type: boolean, default: true }
+        cache_timeout:         { type: number,  default: 5.0 }
+        subscription_interval: { type: integer, default: 500 }
+```
+
+规则总结：
+- `class.module` 指向驱动类（`module:ClassName`）。
+- `action_value_mappings` 中的 key 形如 `auto-<方法名>`，对应驱动里的同名 Python 方法。
+- `schema.goal` 自动转成 ROS2 Action 的 goal 消息，`schema.result` 转 result。
+- `init_param_schema.config` 对应 `__init__` 的入参，**所有需要现场改的参数都要列出来**（最重要的就是 `url` 和 `csv_path`）。
+- `always_free: true` 表示该动作不占用工站独占锁（多检测站可并发执行）。
+
+### 5.2 Graph JSON（实例化）
+
+文件：`unilabos/devices/workstation/AI4M/AI4M.json`
+
+```json
+{
+  "nodes": [
+    {
+      "id": "AI4M_station",
+      "name": "AI4M_station",
+      "type": "device",
+      "class": "AI4M_station",
+      "children": ["AI4M_deck"],
+      "parent": null,
+      "config": {
+        "url": "opc.tcp://192.168.1.10:4840",
+        "csv_path": "opcua_nodes_AI4M.csv",
+        "deck": {
+          "data": {
+            "_resource_child_name": "AI4M_deck",
+            "_resource_type": "unilabos.devices.workstation.AI4M.decks:AI4M_deck"
+          }
+        }
+      }
+    },
+    {
+      "id": "AI4M_deck",
+      "type": "deck",
+      "class": "AI4M_deck",
+      "parent": "AI4M_station",
+      "config": { "type": "AI4M_deck" }
+    }
+  ]
+}
+```
+
+要点：
+- `class` 必须和 Registry YAML 的顶层 key 完全一致（`AI4M_station`）。
+- `config` 字段**逐字传给驱动 `__init__`**，所以 Graph JSON = "现场参数表"。
+- 多套相同设备时拷贝一份，把 `id` / `url` 改掉即可（参考 `AI4M002_station`）。
+
+### 5.3 启动命令（来自 `start.md`）
+
+```cmd
+# 真机
+python unilabos/app/main.py -g unilabos/devices/workstation/AI4M/AI4M.json `
+  --ak <ak> --sk <sk> --upload_registry --addr <api_url> --disable_browser
+
+# 仿真（KEPServerEX 跑在本机 49320 端口）
+python unilabos/app/main.py -g unilabos/devices/workstation/AI4M/AI4Msim.json `
+  --ak <ak> --sk <sk> --upload_registry --disable_browser
+```
+
+`--upload_registry` 会把 `AI4M_station.yaml` 的 schema 上传到云端，
+之后实验记录本就能看到所有 `auto-*` 动作。
+
+---
+
+## 6. 调试方法
+
+### 6.1 用 KEPServerEX 仿真 PLC
+
+不带 PLC 的开发机上，可以用 KEPServerEX（或 `python-opcua` 自建 server）模拟。
+AI4M 提供了一份仿真节点表 `opcua_nodes_AI4M_sim.csv`，**只改 NodeId 不改语义**，
+所以驱动代码无需任何改动即可在本机调试。
+
+### 6.2 单独跑驱动（不开 ROS）
+
+在驱动文件末尾的 `if __name__ == '__main__':` 段：
+
+```python
+if __name__ == '__main__':
+    A4 = AI4MDevice(
+        url="opc.tcp://192.168.1.10:4840",
+        csv_path="opcua_nodes_AI4M.csv",
+    )
+    A4.trigger_init()
+    print("初始化完成")
+    A4.trigger_robot_pick_beaker(1, 1)
+```
+
+**新动作上线前一定要在这里裸跑一遍**，确认握手时序正确，再往上接 ROS。
+
+### 6.3 看日志判断卡在哪
+
+`base_opcua_client.py` 的日志已经覆盖了所有关键节点：
+
+```
+✓ 客户端已连接!
+✓ 找到变量节点: 'robot_ready', NodeId: ns=4;s=...
+✓ 已订阅节点: robot_ready
+✓ 节点查找完成：所有 142 个节点均已找到
+```
+
+如果看到 `⚠ 以下 N 个节点未找到`，**99% 是 CSV 里的 NodeId 写错了**，回去对一下 PLC 工程导出的 NodeId。
+
+### 6.4 检查节点是否能直接读写
+
+```python
+# 透传读，绕过订阅缓存
+A4.get_node_value("robot_ready", force_read=True)
+
+# 直接读 JSON 形式（适合从 HTTP/调试面板调）
+A4.read_node("robot_ready")
+
+# 写
+A4.set_node_value("alarm_reset", True)
+A4.write_node('{"node_name": "alarm_reset", "value": false}')
+```
+
+---
+
+## 7. 接入新 PLC 设备的 Checklist
+
+接到一台新工站时，按下面顺序做就能保证不漏：
+
+- [ ] 1. 让 PLC 工程师把上位通讯变量整理到 OPC UA Server，导出 NodeId 清单。
+- [ ] 2. 在 `unilabos/devices/workstation/<设备名>/` 下新建目录，复制 `AI4M/base_opcua_client.py` 不动。
+- [ ] 3. 整理 `opcua_nodes_<设备名>.csv`，6 列填齐，并补上 `EnglishName`。
+- [ ] 4. 在该目录写设备驱动 `<设备名>.py`，继承 `OpcUaClientWithSubscription`：
+  - [ ] `__init__` 调用 `super().__init__` + `self.load_nodes_from_csv(csv_path)`。
+  - [ ] 每个动作函数用范式 A/B/C 写握手协议。
+  - [ ] 每个动作函数都返回 `dict`，至少含 `message` 字段。
+- [ ] 5. 在 `unilabos/registry/devices/` 下新建 `<设备名>_station.yaml`，配置 `init_param_schema` 和 `action_value_mappings`。
+- [ ] 6. 在该目录新建 `<设备名>.json`（Graph），填好 `url` 和 `csv_path`。
+- [ ] 7. 用 `if __name__ == '__main__':` 单独跑驱动确认握手 OK。
+- [ ] 8. 用 `python unilabos/app/main.py -g <Graph> --upload_registry ...` 上线，到实验记录本下发动作回归。
+
+---
+
+## 8. 参考实现速查
+
+| 关注点 | 在 AI4M 中看哪里 |
+|---|---|
+| OPC UA 通信基类 | `base_opcua_client.py` |
+| 节点定义类型系统 | `unilabos/device_comms/opcua_client/node/uniopcua.py` |
+| 节点表 CSV 标准 | `opcua_nodes_AI4M.csv` |
+| 设备驱动入口类 | `AI4M.py: AI4MDevice` |
+| 握手范式 A（脉冲+完成） | `AI4M.py: trigger_init` |
+| 握手范式 B（请求/参数/完成） | `AI4M.py: trigger_station_process` |
+| 握手范式 C（编号+完成） | `AI4M.py: trigger_robot_pick_beaker` |
+| 自动模式批量参数下发 | `AI4M.py: download_auto_params` |
+| Registry schema | `unilabos/registry/devices/AI4M_station.yaml` |
+| Graph 实例化 | `AI4M.json` / `AI4Msim.json` |
+| 启动命令 | `start.md` |

recipes/conda_build_config.yaml

@@ -1,5 +1,5 @@
 channel_sources:
-  - robostack,robostack-staging,conda-forge,defaults
+  - robostack,robostack-staging,conda-forge
   
 gazebo:
   - '11'

recipes/msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.10.19
+  version: 0.11.3
 source:
   path: ../../unilabos_msgs
   target_directory: src

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.19"
+  version: "0.11.3"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.19',
+    version='0.11.3',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

unilabos/__init__.py

@@ -1 +1 @@
-__version__ = "0.10.19"
+__version__ = "0.11.3"

unilabos/app/main.py

@@ -12,6 +12,15 @@ from typing import Dict, Any, List
 import networkx as nx
 import yaml
 
+# Windows 中文系统 stdout 默认 GBK，无法编码 banner / emoji 日志中的 Unicode 字符
+# 强制 stdout/stderr 用 UTF-8，避免 print 触发 UnicodeEncodeError 导致进程崩溃
+if sys.platform == "win32":
+    for _stream in (sys.stdout, sys.stderr):
+        try:
+            _stream.reconfigure(encoding="utf-8", errors="replace")  # type: ignore[attr-defined]
+        except (AttributeError, OSError):
+            pass
+
 # 首先添加项目根目录到路径
 current_dir = os.path.dirname(os.path.abspath(__file__))
 unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
@@ -621,8 +630,6 @@ def main():
             continue
 
     # 如果从远端获取了物料信息，则与本地物料进行同步
-    # 仅在本地文件模式下有意义：本地文件只含设备结构，远端有已保存的物料，需要 merge
-    # 远端模式下 resource_tree_set 与 request_startup_json 来自同一份数据，merge 为空操作
     if file_path is not None and request_startup_json and "nodes" in request_startup_json:
         print_status("开始同步远端物料到本地...", "info")
         remote_tree_set = ResourceTreeSet.from_raw_dict_list(request_startup_json["nodes"])

unilabos/app/model.py

@@ -59,6 +59,7 @@ class JobAddReq(BaseModel):
     task_id: str = Field(examples=["task_id"], description="task uuid (auto-generated if empty)", default="")
     job_id: str = Field(examples=["job_id"], description="goal uuid (auto-generated if empty)", default="")
     node_id: str = Field(examples=["node_id"], description="node uuid", default="")
+    notebook_id: str = Field(examples=["notebook_id"], description="notebook uuid", default="")
     server_info: dict = Field(
         examples=[{"send_timestamp": 1717000000.0}],
         description="server info (auto-generated if empty)",

unilabos/app/utils.py

@@ -10,29 +10,170 @@ import shutil
 import sys
 
 
+_PATCH_MARKER = "# UniLabOS DLL Patch"
+_PATCH_END_MARKER = "# End UniLabOS DLL Patch"
+
+# 75 = EX_TEMPFAIL: 临时失败、重试即可，避免与业务退出码冲突
+_RESTART_EXIT_CODE = 75
+
+
+def _build_dll_patch(lib_bin: str, preload_pyd: str = "") -> str:
+    """生成一段加在目标文件顶部的 DLL 加载补丁源码。
+
+    - 始终把 ``lib_bin`` 加入 DLL 搜索路径，并把 handle 挂在模块属性上，
+      防止 GC 清掉搜索路径（``os.add_dll_directory`` 的句柄被回收时
+      目录会被移除）。
+    - 可选地用 ``ctypes.CDLL`` 预加载一个 .pyd，把它的依赖 DLL 提前装入
+      进程内存，作为 ``rclpy._rclpy_pybind11`` 这类首次加载点的兜底。
+    """
+    # 用 repr() 序列化路径：Python 解析 repr 的结果会还原成原始字符串，
+    # 不需要也不能再叠加 raw-string 前缀（叠了反而会让 \\ 变成两个反斜杠）。
+    lines = [
+        _PATCH_MARKER,
+        "import os as _ulab_os",
+        f"_ulab_p = {lib_bin!r}",
+        'if hasattr(_ulab_os, "add_dll_directory") and _ulab_os.path.isdir(_ulab_p):',
+        "    try: _UNILAB_DLL_HANDLE = _ulab_os.add_dll_directory(_ulab_p)",
+        "    except Exception: _UNILAB_DLL_HANDLE = None",
+    ]
+    if preload_pyd:
+        lines.extend(
+            [
+                "import ctypes as _ulab_ctypes",
+                f"try: _ulab_ctypes.CDLL({preload_pyd!r})",
+                "except Exception: pass",
+            ]
+        )
+    lines.append(_PATCH_END_MARKER)
+    return "\n".join(lines) + "\n"
+
+
+def _apply_dll_patch(file_path: str, lib_bin: str, preload_pyd: str = "") -> bool:
+    """把 DLL 补丁前置到 ``file_path``。文件不存在或已打过补丁则返回 False。"""
+    if not os.path.isfile(file_path):
+        return False
+    with open(file_path, "r", encoding="utf-8") as f:
+        content = f.read()
+    if _PATCH_MARKER in content:
+        return False
+    shutil.copy2(file_path, file_path + ".bak")
+    with open(file_path, "w", encoding="utf-8") as f:
+        f.write(_build_dll_patch(lib_bin, preload_pyd) + content)
+    return True
+
+
+def _print_restart_banner(patched_files):
+    """打印重启提示并以 EX_TEMPFAIL 退出。
+
+    - 不使用 ANSI 颜色码：Windows 旧版 cmd / PowerShell 5 默认不开 VT 处理，
+      会把 ``\\033[1;33m`` 当做字面字符显示，反而让用户看不到正文。
+    - 同时写入 stderr 与 stdout：某些上层 launcher / supervisor 只重定向
+      其中一路，写两遍能保证用户至少看到一份。
+    - 写入前防御性把流切到 UTF-8 with replace：``main.py`` 里已经做过一次，
+      但本模块也可能被绕过 ``main.py`` 的代码路径直接 import；reconfigure
+      失败也只是退回 errors=replace，不影响整体流程。
+    """
+    if sys.platform == "win32":
+        for _stream in (sys.stdout, sys.stderr):
+            try:
+                _stream.reconfigure(encoding="utf-8", errors="replace")  # type: ignore[attr-defined]
+            except (AttributeError, OSError):
+                pass
+
+    bar = "#" * 78
+    files_lines = [f"[UniLabOS]   - {p}" for p in patched_files]
+    body = "\n".join(
+        [
+            "",
+            bar,
+            bar,
+            "##",
+            "##  [UniLabOS] Windows + conda 下检测到 DLL 加载失败，已自动打补丁。",
+            "##  [UniLabOS] DLL load failure detected on Windows + conda;",
+            "##  [UniLabOS] the following files have been auto-patched:",
+            "##",
+            *[f"##  {line}" for line in files_lines],
+            "##",
+            "##  [UniLabOS] 当前进程的 rclpy 状态已损坏，补丁需要在新进程才生效。",
+            "##  [UniLabOS] The current process is unusable; the patch only takes",
+            "##  [UniLabOS] effect on a fresh process.",
+            "##",
+            "##  >>> 请重新运行刚才的命令 / Please re-run the same command. <<<",
+            "##",
+            bar,
+            bar,
+            "",
+        ]
+    )
+
+    for stream in (sys.stderr, sys.stdout):
+        try:
+            stream.write(body)
+            stream.flush()
+        except Exception:
+            try:
+                print(body, file=stream)
+            except Exception:
+                pass
+
+    sys.exit(_RESTART_EXIT_CODE)
+
+
 def patch_rclpy_dll_windows():
-    """在 Windows + conda 环境下为 rclpy 打 DLL 加载补丁"""
+    """在 Windows + conda 环境下修复 rclpy / rosidl typesupport 的 DLL 加载。
+
+    背景：conda 安装的 ros 系列包，其原生扩展依赖 ``$CONDA_PREFIX/Library/bin``
+    下的 DLL；只有 conda 环境被正确激活、且 PATH 中含 ``Library/bin`` 时，
+    ``os.add_dll_directory`` 才能找到它们。当从快捷方式 / IDE / 子进程 /
+    没激活的 shell 启动 ``unilab`` 时，会出现 ``DLL load failed``。
+
+    本函数会:
+        1) 修补 ``rclpy/impl/implementation_singleton.py`` —— rclpy 自身的 C 扩展入口；
+        2) 修补 ``rpyutils/add_dll_directories.py`` —— 所有 ``*_s__rosidl_typesupport_c.pyd``
+           （``geometry_msgs`` / ``std_msgs`` / ``sensor_msgs`` 等）的统一加载入口。
+
+    打完补丁后**必须重启进程**才能生效（当前进程的 rclpy 已经发生过
+    ``ImportError``，子模块仍处于损坏状态）。因此函数会主动退出，并在
+    stdout/stderr 同时打印明显的重启提示，避免用户被后续报错淹没。
+    """
     if sys.platform != "win32" or not os.environ.get("CONDA_PREFIX"):
         return
+
     try:
-        import rclpy
+        import rclpy  # noqa: F401
 
         return
     except ImportError as e:
         if not str(e).startswith("DLL load failed"):
             return
+
     cp = os.environ["CONDA_PREFIX"]
-    impl = os.path.join(cp, "Lib", "site-packages", "rclpy", "impl", "implementation_singleton.py")
+    lib_bin = os.path.join(cp, "Library", "bin")
-    pyd = glob.glob(os.path.join(cp, "Lib", "site-packages", "rclpy", "_rclpy_pybind11*.pyd"))
+    site_packages = os.path.join(cp, "Lib", "site-packages")
-    if not os.path.exists(impl) or not pyd:
+    if not os.path.isdir(lib_bin):
         return
-    with open(impl, "r", encoding="utf-8") as f:
+
-        content = f.read()
+    patched = []
-    lib_bin = os.path.join(cp, "Library", "bin").replace("\\", "/")
+
-    patch = f'# UniLabOS DLL Patch\nimport os,ctypes\nos.add_dll_directory("{lib_bin}") if hasattr(os,"add_dll_directory") else None\ntry: ctypes.CDLL("{pyd[0].replace(chr(92),"/")}")\nexcept: pass\n# End Patch\n'
+    # 1) rclpy 自身的入口
-    shutil.copy2(impl, impl + ".bak")
+    rclpy_impl = os.path.join(site_packages, "rclpy", "impl", "implementation_singleton.py")
-    with open(impl, "w", encoding="utf-8") as f:
+    rclpy_pyd_matches = glob.glob(os.path.join(site_packages, "rclpy", "_rclpy_pybind11*.pyd"))
-        f.write(patch + content)
+    rclpy_pyd = rclpy_pyd_matches[0] if rclpy_pyd_matches else ""
+    if rclpy_pyd and _apply_dll_patch(rclpy_impl, lib_bin, preload_pyd=rclpy_pyd):
+        patched.append(rclpy_impl)
+
+    # 2) rpyutils —— 所有 rosidl typesupport pyd 的加载点；放在 rclpy 之后
+    #    例：geometry_msgs/geometry_msgs_s__rosidl_typesupport_c.pyd
+    rpyutils_dll = os.path.join(site_packages, "rpyutils", "add_dll_directories.py")
+    if _apply_dll_patch(rpyutils_dll, lib_bin):
+        patched.append(rpyutils_dll)
+
+    if not patched:
+        # 已经打过补丁但 rclpy 仍然加载失败：原因不是缺 DLL 搜索路径，
+        # 不要再次打补丁污染文件，让上层看到真实的 ImportError。
+        return
+
+    _print_restart_banner(patched)
 
 
 patch_rclpy_dll_windows()

unilabos/app/web/controller.py

@@ -320,6 +320,7 @@ def job_add(req: JobAddReq) -> JobData:
             action_name=action_name,
             task_id=task_id,
             job_id=job_id,
+            notebook_id=req.notebook_id,
             device_action_key=device_action_key,
         )
 

unilabos/app/ws_client.py

@@ -59,6 +59,7 @@ class QueueItem:
     action_name: str
     task_id: str
     job_id: str
+    notebook_id: str
     device_action_key: str
     next_run_time: float = 0  # 下次执行时间戳
     retry_count: int = 0  # 重试次数
@@ -71,6 +72,7 @@ class JobInfo:
     job_id: str
     task_id: str
     device_id: str
+    notebook_id: str
     action_name: str
     device_action_key: str
     status: JobStatus
@@ -539,7 +541,10 @@ class MessageProcessor:
                 self.reconnect_count += 1
                 backoff = WSConfig.reconnect_interval
                 logger.info(
-                    f"[MessageProcessor] 即将在 {backoff} 秒后重连 (已尝试 {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
+                    "[MessageProcessor] 即将在 %s 秒后重连 (已尝试 %s/%s)",
+                    backoff,
+                    self.reconnect_count,
+                    WSConfig.max_reconnect_attempts,
                 )
                 await asyncio.sleep(backoff)
             else:
@@ -703,6 +708,7 @@ class MessageProcessor:
         action_name = data.get("action_name", "")
         task_id = data.get("task_id", "")
         job_id = data.get("job_id", "")
+        notebook_id = data.get("notebook_id", "")
 
         if not all([device_id, action_name, task_id, job_id]):
             logger.error("[MessageProcessor] Missing required fields in query_action_state")
@@ -718,6 +724,7 @@ class MessageProcessor:
             job_id=job_id,
             task_id=task_id,
             device_id=device_id,
+            notebook_id=notebook_id,
             action_name=action_name,
             device_action_key=device_action_key,
             status=JobStatus.QUEUE,
@@ -732,13 +739,27 @@ class MessageProcessor:
         if can_start_immediately:
             # 可以立即开始
             await self._send_action_state_response(
-                device_id, action_name, task_id, job_id, "query_action_status", True, 0
+                device_id,
+                action_name,
+                task_id,
+                job_id,
+                "query_action_status",
+                True,
+                0,
+                notebook_id=notebook_id,
             )
             logger.trace(f"[MessageProcessor] Job {job_log} can start immediately")
         else:
             # 需要排队
             await self._send_action_state_response(
-                device_id, action_name, task_id, job_id, "query_action_status", False, 10
+                device_id,
+                action_name,
+                task_id,
+                job_id,
+                "query_action_status",
+                False,
+                10,
+                notebook_id=notebook_id,
             )
             logger.trace(f"[MessageProcessor] Job {job_log} queued")
 
@@ -768,6 +789,7 @@ class MessageProcessor:
                         job_id=req.job_id,
                         task_id=req.task_id,
                         device_id=req.device_id,
+                        notebook_id=req.notebook_id,
                         action_name=action_name,
                         device_action_key=device_action_key,
                         status=JobStatus.QUEUE,
@@ -775,11 +797,16 @@ class MessageProcessor:
                         always_free=True,
                     )
                     self.device_manager.add_queue_request(job_info)
+                    existing_job = job_info
                     logger.info(f"[MessageProcessor] Job {job_log} always_free, auto-registered from direct job_start")
                 else:
                     logger.error(f"[MessageProcessor] Job {job_log} not registered (missing query_action_state)")
                     return
 
+            if existing_job and req.notebook_id and not existing_job.notebook_id:
+                existing_job.notebook_id = req.notebook_id
+            notebook_id = req.notebook_id or (existing_job.notebook_id if existing_job else "")
+
             success = self.device_manager.start_job(req.job_id)
             if not success:
                 logger.error(f"[MessageProcessor] Failed to start job {job_log}")
@@ -795,6 +822,7 @@ class MessageProcessor:
                 action_name=req.action,
                 task_id=req.task_id,
                 job_id=req.job_id,
+                notebook_id=notebook_id,
                 device_action_key=device_action_key,
             )
 
@@ -834,6 +862,7 @@ class MessageProcessor:
                             "job_id": req.job_id,
                             "task_id": req.task_id,
                             "device_id": req.device_id,
+                            "notebook_id": queue_item.notebook_id,
                             "action_name": req.action,
                             "status": "failed",
                             "feedback_data": {},
@@ -855,6 +884,7 @@ class MessageProcessor:
                             "query_action_status",
                             True,
                             0,
+                            notebook_id=next_job.notebook_id,
                         )
                         next_job_log = format_job_log(
                             next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
@@ -1004,11 +1034,16 @@ class MessageProcessor:
 
                     success = host_node.notify_resource_tree_update(dev_id, act, item_list)
 
-                    if success:
+                    if success is True:
                         logger.info(
                             f"[MessageProcessor] Resource tree {act} completed for device {dev_id}, "
                             f"items: {len(item_list)}"
                         )
+                    elif success is None:
+                        logger.info(
+                            f"[MessageProcessor] Resource tree {act} skipped for device {dev_id}: "
+                            "在线增加设备暂不支持"
+                        )
                     else:
                         logger.warning(f"[MessageProcessor] Resource tree {act} failed for device {dev_id}")
 
@@ -1032,6 +1067,11 @@ class MessageProcessor:
 
         for item in device_list:
             target_node_id = item.get("target_node_id", "host_node")
+            if action == "add":
+                logger.info(
+                    f"[DeviceManage] 在线增加设备暂不支持，跳过 add_device: {item.get('id', '')}"
+                )
+                continue
 
             def _notify(target_id: str, act: str, cfg: ResourceDictType):
                 try:
@@ -1101,7 +1141,15 @@ class MessageProcessor:
         logger.info(f"[MessageProcessor] Restart cleanup scheduled")
 
     async def _send_action_state_response(
-        self, device_id: str, action_name: str, task_id: str, job_id: str, typ: str, free: bool, need_more: int
+        self,
+        device_id: str,
+        action_name: str,
+        task_id: str,
+        job_id: str,
+        typ: str,
+        free: bool,
+        need_more: int,
+        notebook_id: str = "",
     ):
         """发送动作状态响应"""
         message = {
@@ -1112,6 +1160,7 @@ class MessageProcessor:
                 "action_name": action_name,
                 "task_id": task_id,
                 "job_id": job_id,
+                "notebook_id": notebook_id,
                 "free": free,
                 "need_more": need_more + 1,
             },
@@ -1194,6 +1243,7 @@ class QueueProcessor:
                             action_name=timeout_job.action_name,
                             task_id=timeout_job.task_id,
                             job_id=timeout_job.job_id,
+                            notebook_id=timeout_job.notebook_id,
                             device_action_key=timeout_job.device_action_key,
                         )
                         # 发布超时失败状态，这会触发正常的job完成流程
@@ -1252,6 +1302,7 @@ class QueueProcessor:
                     "action_name": job_info.action_name,
                     "task_id": job_info.task_id,
                     "job_id": job_info.job_id,
+                    "notebook_id": job_info.notebook_id,
                     "free": False,
                     "need_more": 10 + 1,
                 },
@@ -1291,6 +1342,7 @@ class QueueProcessor:
                     "action_name": job_info.action_name,
                     "task_id": job_info.task_id,
                     "job_id": job_info.job_id,
+                    "notebook_id": job_info.notebook_id,
                     "free": False,
                     "need_more": 10 + 1,
                 },
@@ -1336,12 +1388,15 @@ class QueueProcessor:
                     "action_name": next_job.action_name,
                     "task_id": next_job.task_id,
                     "job_id": next_job.job_id,
+                    "notebook_id": next_job.notebook_id,
                     "free": True,
                     "need_more": 0,
                 },
             }
             self.message_processor.send_message(message)
-            # next_job_log = format_job_log(next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name)
+            # next_job_log = format_job_log(
+            #     next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
+            # )
             # logger.debug(f"[QueueProcessor] Notified next job {next_job_log} can start")
 
             # 立即触发下一轮状态检查
@@ -1510,6 +1565,7 @@ class WebSocketClient(BaseCommunicationClient):
                 "job_id": item.job_id,
                 "task_id": item.task_id,
                 "device_id": item.device_id,
+                "notebook_id": item.notebook_id,
                 "action_name": item.action_name,
                 "status": status,
                 "feedback_data": feedback_data,

unilabos/devices/neware_battery_test_system/OSS_UPLOAD_README_CN.md

@@ -219,10 +219,10 @@ device = NewareBatteryTestSystem(
 
 #### 步骤 2：提交测试任务
 
-使用 `submit_from_csv_export_ndax` 提交测试任务：
+使用 `submit_from_csv` 提交测试任务：
 
 ```python
-result = device.submit_from_csv_export_ndax(
+result = device.submit_from_csv(
     csv_path="test_data.csv",
     output_dir="D:/neware_output"
 )
@@ -489,7 +489,7 @@ A: 重新获取新的 Token 并更新环境变量 `UNI_LAB_AUTH_TOKEN`。
 **Q: 可以自定义上传路径吗？**  
 A: 当前版本路径由统一 API 自动分配，`oss_prefix` 参数暂不使用（保留接口兼容性）。
 
-**Q: 为什么不在 `submit_from_csv_export_ndax` 中自动上传？**  
+**Q: 为什么不在 `submit_from_csv` 中自动上传？**  
 A: 因为备份文件在测试进行中逐步生成，方法返回时可能文件尚未完全生成，因此提供独立的上传方法更灵活。
 
 **Q: 上传后如何访问文件？**  

unilabos/devices/neware_battery_test_system/OSS_UPLOAD_README_EN.md

@@ -230,10 +230,10 @@ device = NewareBatteryTestSystem(
 
 #### Step 2: Submit Test Tasks
 
-Use `submit_from_csv_export_ndax` to submit test tasks:
+Use `submit_from_csv` to submit test tasks:
 
 ```python
-result = device.submit_from_csv_export_ndax(
+result = device.submit_from_csv(
     csv_path="test_data.csv",
     output_dir="D:/neware_output"
 )
@@ -500,7 +500,7 @@ A: Obtain a new API Key and update the `UNI_LAB_AUTH_TOKEN` environment variable
 **Q: Can I customize upload paths?**  
 A: Current version has paths automatically assigned by unified API. `oss_prefix` parameter is currently unused (retained for interface compatibility).
 
-**Q: Why not auto-upload in `submit_from_csv_export_ndax`?**  
+**Q: Why not auto-upload in `submit_from_csv`?**  
 A: Because backup files are generated progressively during testing, they may not be fully generated when the method returns. A separate upload method provides more flexibility.
 
 **Q: How to access files after upload?**  

unilabos/devices/neware_battery_test_system/device.json

@@ -14,7 +14,7 @@
             "config": {
                 "ip": "127.0.0.1",
                 "port": 502,
-                "machine_ids": [1, 2, 3, 4, 5, 6, 86],
+                "machine_id": 1,
                 "devtype": "27",
                 "timeout": 20,
                 "size_x": 500.0,
@@ -26,7 +26,7 @@
             "data": {
                 "功能说明": "新威电池测试系统，提供720通道监控和CSV批量提交功能",
                 "监控功能": "支持720个通道的实时状态监控、2盘电池物料管理、状态导出等",
-                "提交功能": "通过submit_from_csv action从CSV文件批量提交测试任务（NDA备份），或通过submit_from_csv_export_excel action提交并备份为Excel格式。CSV必须包含: Battery_Code, Pole_Weight, 集流体质量, 活性物质含量, 克容量mah/g, 电池体系, 设备号, 排号, 通道号"
+                "提交功能": "通过submit_from_csv action从CSV文件批量提交测试任务。CSV必须包含: Battery_Code, Pole_Weight, 集流体质量, 活性物质含量, 克容量mah/g, 电池体系, 设备号, 排号, 通道号"
             },
             "children": []
         }

unilabos/devices/neware_battery_test_system/neware_driver.py

@@ -1,56 +0,0 @@
-import socket
-END_MARKS = [b"\r\n#\r\n", b"</bts>"]  # 读到任一标志即可判定完整响应
-
-def build_start_command(devid, subdevid, chlid, CoinID,
-                        ip_in_xml="127.0.0.1",
-                        devtype:int=27,
-                        recipe_path:str=f"D:\\HHM_test\\A001.xml",
-                        backup_dir:str=f"D:\\HHM_test\\backup",
-                        filetype:int=1) -> str:
-    """
-    filetype: 备份文件类型。0=NDA（新威原生），1=Excel。默认 1。
-    """
-    lines = [
-        '<?xml version="1.0" encoding="UTF-8"?>',
-        '<bts version="1.0">',
-        '  <cmd>start</cmd>',
-        '  <list count="1">',
-        f'    <start ip="{ip_in_xml}" devtype="{devtype}" devid="{devid}" subdevid="{subdevid}" chlid="{chlid}" barcode="{CoinID}">{recipe_path}</start>',
-        f'    <backup backupdir="{backup_dir}" remotedir="" filenametype="1" customfilename="" createdirbydate="0" filetype="{int(filetype)}" backupontime="1" backupontimeinterval="1" backupfree="0" />',
-        '  </list>',
-        '</bts>',
-    ]
-    # TCP 模式：请求必须以 #\r\n 结束（协议要求）
-    return "\r\n".join(lines) + "\r\n#\r\n"
-
-def recv_until_marks(sock: socket.socket, timeout=60):
-    sock.settimeout(timeout)  # 上限给足，协议允许到 30s:contentReference[oaicite:2]{index=2}
-    buf = bytearray()
-    while True:
-        chunk = sock.recv(8192)
-        if not chunk:
-            break
-        buf += chunk
-        # 读到结束标志就停，避免等对端断开
-        for m in END_MARKS:
-            if m in buf:
-                return bytes(buf)
-        # 保险：读到完整 XML 结束标签也停
-        if b"</bts>" in buf:
-            return bytes(buf)
-    return bytes(buf)
-
-def start_test(ip="127.0.0.1", port=502, devid=3, subdevid=2, chlid=1, CoinID="A001", recipe_path=f"D:\\HHM_test\\A001.xml", backup_dir=f"D:\\HHM_test\\backup", filetype:int=1):
-    """
-    filetype: 备份文件类型，0=NDA，1=Excel。默认 1。
-    """
-    xml_cmd = build_start_command(devid=devid, subdevid=subdevid, chlid=chlid, CoinID=CoinID, recipe_path=recipe_path, backup_dir=backup_dir, filetype=filetype)
-    #print(xml_cmd)
-    with socket.create_connection((ip, port), timeout=60) as s:
-        s.sendall(xml_cmd.encode("utf-8"))
-        data = recv_until_marks(s, timeout=60)
-    return data.decode("utf-8", errors="replace")
-
-if __name__ == "__main__":
-    resp = start_test(ip="127.0.0.1", port=502, devid=4, subdevid=10, chlid=1, CoinID="A001", recipe_path=f"D:\\HHM_test\\A001.xml", backup_dir=f"D:\\HHM_test\\backup")
-    print(resp)

unilabos/devices/virtual/virtual_multiway_valve.py

@@ -2,6 +2,8 @@ import time
 import logging
 from typing import Union, Dict, Optional
 
+from unilabos.registry.decorators import topic_config
+
 
 class VirtualMultiwayValve:
     """
@@ -41,13 +43,11 @@ class VirtualMultiwayValve:
     def target_position(self) -> int:
         return self._target_position
 
-    def get_current_position(self) -> int:
+    @property
-        """获取当前阀门位置 📍"""
+    @topic_config()
-        return self._current_position
+    def current_port(self) -> str:
-
+        """当前连接的端口名称 🔌"""
-    def get_current_port(self) -> str:
+        return self.port
-        """获取当前连接的端口名称 🔌"""
-        return self._current_position
 
     def set_position(self, command: Union[int, str]):
         """
@@ -169,12 +169,14 @@ class VirtualMultiwayValve:
         self._status = "Idle"
         self._valve_state = "Closed"
         
-        close_msg = f"🔒 阀门已关闭，保持在位置 {self._current_position} ({self.get_current_port()})"
+        close_msg = f"🔒 阀门已关闭，保持在位置 {self._current_position} ({self.port})"
         self.logger.info(close_msg)
         return close_msg
 
-    def get_valve_position(self) -> int:
+    @property
-        """获取阀门位置 - 兼容性方法 📍"""
+    @topic_config()
+    def valve_position(self) -> int:
+        """阀门位置 📍"""
         return self._current_position
 
     def set_valve_position(self, command: Union[int, str]):
@@ -229,19 +231,16 @@ class VirtualMultiwayValve:
             self.logger.info(f"🔄 从端口 {self._current_position} 切换到泵位置...")
             return self.set_to_pump_position()
 
-    def get_flow_path(self) -> str:
+    @property
-        """获取当前流路路径描述 🌊"""
+    @topic_config()
-        current_port = self.get_current_port()
+    def flow_path(self) -> str:
+        """当前流路路径描述 🌊"""
         if self._current_position == 0:
-            flow_path = f"🚰 转移泵已连接 (位置 {self._current_position})"
+            return f"🚰 转移泵已连接 (位置 {self._current_position})"
-        else:
+        return f"🔌 端口 {self._current_position} 已连接 ({self.current_port})"
-            flow_path = f"🔌 端口 {self._current_position} 已连接 ({current_port})"
-        
-        # 删除debug日志：self.logger.debug(f"🌊 当前流路: {flow_path}")
-        return flow_path
 
     def __str__(self):
-        current_port = self.get_current_port()
+        current_port = self.current_port
         status_emoji = "✅" if self._status == "Idle" else "🔄" if self._status == "Busy" else "❌"
         
         return f"🔄 VirtualMultiwayValve({status_emoji} 位置: {self._current_position}/{self.max_positions}, 端口: {current_port}, 状态: {self._status})"
@@ -253,7 +252,7 @@ if __name__ == "__main__":
     
     print("🔄 === 虚拟九通阀门测试 === ✨")
     print(f"🏠 初始状态: {valve}")
-    print(f"🌊 当前流路: {valve.get_flow_path()}")
+    print(f"🌊 当前流路: {valve.flow_path}")
     
     # 切换到试剂瓶1（1号位）
     print(f"\n🔌 切换到1号位: {valve.set_position(1)}")

unilabos/devices/virtual/virtual_stirrer.py

@@ -3,6 +3,7 @@ import logging
 import time as time_module
 from typing import Dict, Any
 
+from unilabos.registry.decorators import topic_config
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 class VirtualStirrer:
@@ -314,9 +315,11 @@ class VirtualStirrer:
     def min_speed(self) -> float:
         return self._min_speed
     
-    def get_device_info(self) -> Dict[str, Any]:
+    @property
-        """获取设备状态信息 📊"""
+    @topic_config()
-        info = {
+    def device_info(self) -> Dict[str, Any]:
+        """设备状态快照信息 📊"""
+        return {
             "device_id": self.device_id,
             "status": self.status,
             "operation_mode": self.operation_mode,
@@ -325,12 +328,9 @@ class VirtualStirrer:
             "is_stirring": self.is_stirring,
             "remaining_time": self.remaining_time,
             "max_speed": self._max_speed,
-            "min_speed": self._min_speed
+            "min_speed": self._min_speed,
         }
 
-        # self.logger.debug(f"📊 设备信息: 模式={self.operation_mode}, 速度={self.current_speed} RPM, 搅拌={self.is_stirring}")
-        return info
-    
     def __str__(self):
         status_emoji = "✅" if self.operation_mode == "Idle" else "🌪️" if self.operation_mode == "Stirring" else "🛑" if self.operation_mode == "Settling" else "❌"
         return f"🌪️ VirtualStirrer({status_emoji} {self.device_id}: {self.operation_mode}, {self.current_speed} RPM)"

unilabos/devices/virtual/virtual_transferpump.py

@@ -4,6 +4,7 @@ from enum import Enum
 from typing import Union, Optional
 import logging
 
+from unilabos.registry.decorators import topic_config
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 
@@ -385,8 +386,10 @@ class VirtualTransferPump:
         """获取当前体积"""
         return self._current_volume
 
-    def get_remaining_capacity(self) -> float:
+    @property
-        """获取剩余容量"""
+    @topic_config()
+    def remaining_capacity(self) -> float:
+        """剩余容量 (ml)"""
         return self.max_volume - self._current_volume
 
     def is_empty(self) -> bool:

unilabos/devices/virtual/workbench.py

@@ -14,20 +14,30 @@ Virtual Workbench Device - 模拟工作台设备
 
 import logging
 import time
-from typing import Dict, Any, Optional, List
 from dataclasses import dataclass
 from enum import Enum
 from threading import Lock, RLock
+from typing import Any, Dict, List, Optional, cast
 
 from typing_extensions import TypedDict
 
 from unilabos.registry.decorators import (
-    device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action, NodeType
+    ActionInputHandle,
+    ActionOutputHandle,
+    DataSource,
+    NodeType,
+    action,
+    device,
+    not_action,
+    topic_config,
 )
 from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
-from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample, ResourceTreeSet
+from unilabos.resources.resource_tracker import (
-
+    SampleUUIDsType,
+    LabSample,
+    ResourceTreeSet,
+)
 
 # ============ TypedDict 返回类型定义 ============
 
@@ -112,6 +122,7 @@ class HeatingStation:
 
 @device(
     id="virtual_workbench",
+    display_name="虚拟工作台",
     category=["virtual_device"],
     description="Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent material processing",
 )
@@ -137,7 +148,19 @@ class VirtualWorkbench:
     HEATING_TIME: float = 60.0  # 加热时间(秒)
     NUM_HEATING_STATIONS: int = 3  # 加热台数量
 
-    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
+    def __init__(
+        self,
+        device_id: Optional[str] = None,
+        config: Optional[Dict[str, Any]] = None,
+        **kwargs,
+    ):
+        """
+        初始化虚拟工作台。
+
+        Args:
+            device_id[设备ID]: 工作台设备实例 ID，默认使用 virtual_workbench。
+            config[设备配置]: 可包含 arm_operation_time、heating_time、num_heating_stations。
+        """
         # 处理可能的不同调用方式
         if device_id is None and "id" in kwargs:
             device_id = kwargs.pop("id")
@@ -151,9 +174,13 @@ class VirtualWorkbench:
         self.data: Dict[str, Any] = {}
 
         # 从config中获取可配置参数
-        self.ARM_OPERATION_TIME = float(self.config.get("arm_operation_time", self.ARM_OPERATION_TIME))
+        self.ARM_OPERATION_TIME = float(
+            self.config.get("arm_operation_time", self.ARM_OPERATION_TIME)
+        )
         self.HEATING_TIME = float(self.config.get("heating_time", self.HEATING_TIME))
-        self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", self.NUM_HEATING_STATIONS))
+        self.NUM_HEATING_STATIONS = int(
+            self.config.get("num_heating_stations", self.NUM_HEATING_STATIONS)
+        )
 
         # 机械臂状态和锁
         self._arm_lock = Lock()
@@ -162,7 +189,8 @@ class VirtualWorkbench:
 
         # 加热台状态
         self._heating_stations: Dict[int, HeatingStation] = {
-            i: HeatingStation(station_id=i) for i in range(1, self.NUM_HEATING_STATIONS + 1)
+            i: HeatingStation(station_id=i)
+            for i in range(1, self.NUM_HEATING_STATIONS + 1)
         }
         self._stations_lock = RLock()
 
@@ -292,45 +320,113 @@ class VirtualWorkbench:
         self.logger.info(f"机械臂已释放 (完成: {task})")
 
     @action(
-        always_free=True, node_type=NodeType.MANUAL_CONFIRM, placeholder_keys={
+        always_free=True,
-            "assignee_user_ids": "unilabos_manual_confirm"
+        node_type=NodeType.MANUAL_CONFIRM,
-        }, goal_default={
+        placeholder_keys={"assignee_user_ids": "unilabos_manual_confirm"},
-            "timeout_seconds": 3600,
+        goal_default={"timeout_seconds": 3600, "assignee_user_ids": []},
-            "assignee_user_ids": []
+        feedback_interval=300,
-        }, feedback_interval=300,
         handles=[
-            ActionInputHandle(key="target_device", data_type="device_id",
+            ActionInputHandle(
-                              label="目标设备", data_key="target_device", data_source=DataSource.HANDLE),
+                key="target_device",
-            ActionInputHandle(key="resource", data_type="resource",
+                data_type="device_id",
-                              label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
+                label="目标设备",
-            ActionInputHandle(key="mount_resource", data_type="resource",
+                data_key="target_device",
-                              label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
+                data_source=DataSource.HANDLE,
-
+            ),
-            ActionInputHandle(key="collector_mass", data_type="collector_mass",
+            ActionInputHandle(
-                              label="极流体质量", data_key="collector_mass", data_source=DataSource.HANDLE),
+                key="resource",
-            ActionInputHandle(key="active_material", data_type="active_material",
+                data_type="resource",
-                              label="活性物质含量", data_key="active_material", data_source=DataSource.HANDLE),
+                label="待转移资源",
-            ActionInputHandle(key="capacity", data_type="capacity",
+                data_key="resource",
-                              label="克容量", data_key="capacity", data_source=DataSource.HANDLE),
+                data_source=DataSource.HANDLE,
-            ActionInputHandle(key="battery_system", data_type="battery_system",
+            ),
-                              label="电池体系", data_key="battery_system", data_source=DataSource.HANDLE),
+            ActionInputHandle(
+                key="mount_resource",
+                data_type="resource",
+                label="目标孔位",
+                data_key="mount_resource",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="collector_mass",
+                data_type="collector_mass",
+                label="极流体质量",
+                data_key="collector_mass",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="active_material",
+                data_type="active_material",
+                label="活性物质含量",
+                data_key="active_material",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="capacity",
+                data_type="capacity",
+                label="克容量",
+                data_key="capacity",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="battery_system",
+                data_type="battery_system",
+                label="电池体系",
+                data_key="battery_system",
+                data_source=DataSource.HANDLE,
+            ),
             # transfer使用
-            ActionOutputHandle(key="target_device", data_type="device_id",
+            ActionOutputHandle(
-                               label="目标设备", data_key="target_device", data_source=DataSource.EXECUTOR),
+                key="target_device",
-            ActionOutputHandle(key="resource", data_type="resource",
+                data_type="device_id",
-                              label="待转移资源", data_key="resource.@flatten", data_source=DataSource.EXECUTOR),
+                label="目标设备",
-            ActionOutputHandle(key="mount_resource", data_type="resource",
+                data_key="target_device",
-                              label="目标孔位", data_key="mount_resource.@flatten", data_source=DataSource.EXECUTOR),
+                data_source=DataSource.EXECUTOR,
+            ),
+            ActionOutputHandle(
+                key="resource",
+                data_type="resource",
+                label="待转移资源",
+                data_key="resource.@flatten",
+                data_source=DataSource.EXECUTOR,
+            ),
+            ActionOutputHandle(
+                key="mount_resource",
+                data_type="resource",
+                label="目标孔位",
+                data_key="mount_resource.@flatten",
+                data_source=DataSource.EXECUTOR,
+            ),
             # test使用
-            ActionOutputHandle(key="collector_mass", data_type="collector_mass",
+            ActionOutputHandle(
-                              label="极流体质量", data_key="collector_mass", data_source=DataSource.EXECUTOR),
+                key="collector_mass",
-            ActionOutputHandle(key="active_material", data_type="active_material",
+                data_type="collector_mass",
-                              label="活性物质含量", data_key="active_material", data_source=DataSource.EXECUTOR),
+                label="极流体质量",
-            ActionOutputHandle(key="capacity", data_type="capacity",
+                data_key="collector_mass",
-                              label="克容量", data_key="capacity", data_source=DataSource.EXECUTOR),
+                data_source=DataSource.EXECUTOR,
-            ActionOutputHandle(key="battery_system", data_type="battery_system",
+            ),
-                              label="电池体系", data_key="battery_system", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(
-        ]
+                key="active_material",
+                data_type="active_material",
+                label="活性物质含量",
+                data_key="active_material",
+                data_source=DataSource.EXECUTOR,
+            ),
+            ActionOutputHandle(
+                key="capacity",
+                data_type="capacity",
+                label="克容量",
+                data_key="capacity",
+                data_source=DataSource.EXECUTOR,
+            ),
+            ActionOutputHandle(
+                key="battery_system",
+                data_type="battery_system",
+                label="电池体系",
+                data_key="battery_system",
+                data_source=DataSource.EXECUTOR,
+            ),
+        ],
     )
     def manual_confirm(
         self,
@@ -343,67 +439,156 @@ class VirtualWorkbench:
         battery_system: List[str],
         timeout_seconds: int,
         assignee_user_ids: list[str],
-        **kwargs
+        **kwargs,
     ) -> dict:
         """
-        timeout_seconds: 超时时间（秒），默认3600秒
+        人工确认资源转移和扣电测试参数。
-        collector_mass: 极流体质量
+
-        active_material: 活性物质含量
+        Args:
-        capacity: 克容量（mAh/g）
+            resource[待转移资源]: 需要人工确认的资源列表。
-        battery_system: 电池体系
+            target_device[目标设备]: 资源要转移到的目标设备 ID。
-        修改的结果无效，是只读的
+            mount_resource[目标孔位]: 资源要挂载到的目标孔位列表。
+            collector_mass[极流体质量]: 每个样品对应的极流体质量。
+            active_material[活性物质含量]: 每个样品对应的活性物质含量。
+            capacity[克容量]: 每个样品对应的克容量，单位 mAh/g。
+            battery_system[电池体系]: 每个样品对应的电池体系名称。
+            timeout_seconds[超时时间]: 人工确认超时时间，单位秒。
+            assignee_user_ids[确认人]: 指定处理人工确认任务的用户 ID 列表。
+
+        Note:
+            修改的结果无效，是只读的。
         """
-        resource = ResourceTreeSet.from_plr_resources(resource).dump()
+        resource_tree = ResourceTreeSet.from_plr_resources(cast(Any, resource)).dump()
-        mount_resource = ResourceTreeSet.from_plr_resources(mount_resource).dump()
+        mount_resource_tree = ResourceTreeSet.from_plr_resources(cast(Any, mount_resource)).dump()
         kwargs.update(locals())
         kwargs.pop("kwargs")
         kwargs.pop("self")
+        kwargs["resource"] = resource_tree
+        kwargs["mount_resource"] = mount_resource_tree
+        kwargs.pop("resource_tree")
+        kwargs.pop("mount_resource_tree")
         return kwargs
 
     @action(
         description="转移物料",
         handles=[
-            ActionInputHandle(key="target_device", data_type="device_id",
+            ActionInputHandle(
-                              label="目标设备", data_key="target_device", data_source=DataSource.HANDLE),
+                key="target_device",
-            ActionInputHandle(key="resource", data_type="resource",
+                data_type="device_id",
-                               label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
+                label="目标设备",
-            ActionInputHandle(key="mount_resource", data_type="resource",
+                data_key="target_device",
-                               label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
+                data_source=DataSource.HANDLE,
-        ]
+            ),
+            ActionInputHandle(
+                key="resource",
+                data_type="resource",
+                label="待转移资源",
+                data_key="resource",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="mount_resource",
+                data_type="resource",
+                label="目标孔位",
+                data_key="mount_resource",
+                data_source=DataSource.HANDLE,
+            ),
+        ],
     )
-    async def transfer(self, resource: List[ResourceSlot], target_device: DeviceSlot, mount_resource: List[ResourceSlot]):
+    async def transfer(
-        future = ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True,
+        self,
+        resource: List[ResourceSlot],
+        target_device: DeviceSlot,
+        mount_resource: List[ResourceSlot],
+    ):
+        """
+        转移资源到目标设备。
+
+        Args:
+            resource[待转移资源]: 待转移的资源列表。
+            target_device[目标设备]: 接收资源的目标设备 ID。
+            mount_resource[目标孔位]: 目标设备上的挂载孔位列表。
+        """
+        future = ROS2DeviceNode.run_async_func(
+            self._ros_node.transfer_resource_to_another,
+            True,
             **{
                 "plr_resources": resource,
                 "target_device_id": target_device,
                 "target_resources": mount_resource,
                 "sites": [None] * len(mount_resource),
-            })
+            },
+        )
         result = await future
         return result
 
-
     @action(
         description="扣电测试启动",
         handles=[
-            ActionInputHandle(key="resource", data_type="resource",
+            ActionInputHandle(
-                              label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
+                key="resource",
-            ActionInputHandle(key="mount_resource", data_type="resource",
+                data_type="resource",
-                              label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
+                label="待转移资源",
-
+                data_key="resource",
-            ActionInputHandle(key="collector_mass", data_type="collector_mass",
+                data_source=DataSource.HANDLE,
-                              label="极流体质量", data_key="collector_mass", data_source=DataSource.HANDLE),
+            ),
-            ActionInputHandle(key="active_material", data_type="active_material",
+            ActionInputHandle(
-                              label="活性物质含量", data_key="active_material", data_source=DataSource.HANDLE),
+                key="mount_resource",
-            ActionInputHandle(key="capacity", data_type="capacity",
+                data_type="resource",
-                              label="克容量", data_key="capacity", data_source=DataSource.HANDLE),
+                label="目标孔位",
-            ActionInputHandle(key="battery_system", data_type="battery_system",
+                data_key="mount_resource",
-                              label="电池体系", data_key="battery_system", data_source=DataSource.HANDLE),
+                data_source=DataSource.HANDLE,
-        ]
+            ),
+            ActionInputHandle(
+                key="collector_mass",
+                data_type="collector_mass",
+                label="极流体质量",
+                data_key="collector_mass",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="active_material",
+                data_type="active_material",
+                label="活性物质含量",
+                data_key="active_material",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="capacity",
+                data_type="capacity",
+                label="克容量",
+                data_key="capacity",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="battery_system",
+                data_type="battery_system",
+                label="电池体系",
+                data_key="battery_system",
+                data_source=DataSource.HANDLE,
+            ),
+        ],
     )
     async def test(
-        self, resource: List[ResourceSlot], mount_resource: List[ResourceSlot],  collector_mass: List[float], active_material: List[float], capacity: List[float], battery_system: list[str]
+        self,
+        resource: List[ResourceSlot],
+        mount_resource: List[ResourceSlot],
+        collector_mass: List[float],
+        active_material: List[float],
+        capacity: List[float],
+        battery_system: list[str],
     ):
+        """
+        启动扣电测试。
+
+        Args:
+            resource[待测试资源]: 需要进行扣电测试的资源列表。
+            mount_resource[测试孔位]: 扣电测试使用的目标孔位列表。
+            collector_mass[极流体质量]: 每个样品对应的极流体质量。
+            active_material[活性物质含量]: 每个样品对应的活性物质含量。
+            capacity[克容量]: 每个样品对应的克容量，单位 mAh/g。
+            battery_system[电池体系]: 每个样品对应的电池体系名称。
+        """
         print(resource)
         print(mount_resource)
         print(collector_mass)
@@ -415,16 +600,11 @@ class VirtualWorkbench:
         auto_prefix=True,
         description="批量准备物料 - 虚拟起始节点, 生成A1-A5物料, 输出5个handle供后续节点使用",
         handles=[
-            ActionOutputHandle(key="channel_1", data_type="workbench_material",
+            ActionOutputHandle(key="channel_1", data_type="workbench_material", label="实验1", data_key="material_1", data_source=DataSource.EXECUTOR),  # noqa: E501
-                         label="实验1", data_key="material_1", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(key="channel_2", data_type="workbench_material", label="实验2", data_key="material_2", data_source=DataSource.EXECUTOR),  # noqa: E501
-            ActionOutputHandle(key="channel_2", data_type="workbench_material",
+            ActionOutputHandle(key="channel_3", data_type="workbench_material", label="实验3", data_key="material_3", data_source=DataSource.EXECUTOR),  # noqa: E501
-                         label="实验2", data_key="material_2", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(key="channel_4", data_type="workbench_material", label="实验4", data_key="material_4", data_source=DataSource.EXECUTOR),  # noqa: E501
-            ActionOutputHandle(key="channel_3", data_type="workbench_material",
+            ActionOutputHandle(key="channel_5", data_type="workbench_material", label="实验5", data_key="material_5", data_source=DataSource.EXECUTOR),  # noqa: E501
-                         label="实验3", data_key="material_3", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="channel_4", data_type="workbench_material",
-                         label="实验4", data_key="material_4", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="channel_5", data_type="workbench_material",
-                         label="实验5", data_key="material_5", data_source=DataSource.EXECUTOR),
         ],
     )
     def prepare_materials(
@@ -437,6 +617,9 @@ class VirtualWorkbench:
 
         作为工作流的起始节点, 生成指定数量的物料编号供后续节点使用。
         输出5个handle (material_1 ~ material_5), 分别对应实验1~5。
+
+        Args:
+            count[物料数量]: 要生成的物料数量，默认生成 5 个。
         """
         materials = [i for i in range(1, count + 1)]
 
@@ -457,7 +640,11 @@ class VirtualWorkbench:
                 LabSample(
                     sample_uuid=sample_uuid,
                     oss_path="",
-                    extra={"material_uuid": content} if isinstance(content, str) else (content.serialize() if content else {}),
+                    extra=(
+                        {"material_uuid": content}
+                        if isinstance(content, str)
+                        else (content.serialize() if content else {})
+                    ),
                 )
                 for sample_uuid, content in sample_uuids.items()
             ],
@@ -467,12 +654,27 @@ class VirtualWorkbench:
         auto_prefix=True,
         description="将物料从An位置移动到空闲加热台, 返回分配的加热台ID",
         handles=[
-            ActionInputHandle(key="material_input", data_type="workbench_material",
+            ActionInputHandle(
-                        label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
+                key="material_input",
-            ActionOutputHandle(key="heating_station_output", data_type="workbench_station",
+                data_type="workbench_material",
-                         label="加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
+                label="物料编号",
-            ActionOutputHandle(key="material_number_output", data_type="workbench_material",
+                data_key="material_number",
-                         label="物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
+                data_source=DataSource.HANDLE,
+            ),
+            ActionOutputHandle(
+                key="heating_station_output",
+                data_type="workbench_station",
+                label="加热台ID",
+                data_key="station_id",
+                data_source=DataSource.EXECUTOR,
+            ),
+            ActionOutputHandle(
+                key="material_number_output",
+                data_type="workbench_material",
+                label="物料编号",
+                data_key="material_number",
+                data_source=DataSource.EXECUTOR,
+            ),
         ],
     )
     def move_to_heating_station(
@@ -484,6 +686,9 @@ class VirtualWorkbench:
         将物料从An位置移动到加热台
 
         多线程并发调用时, 会竞争机械臂使用权, 并自动查找空闲加热台
+
+        Args:
+            material_number[物料编号]: 要移动的物料编号，对应 A1、A2 等起始位置。
         """
         material_id = f"A{material_number}"
         task_desc = f"移动{material_id}到加热台"
@@ -546,7 +751,8 @@ class VirtualWorkbench:
                         oss_path="",
                         extra=(
                             {"material_uuid": content}
-                            if isinstance(content, str) else (content.serialize() if content else {})
+                            if isinstance(content, str)
+                            else (content.serialize() if content else {})
                         ),
                     )
                     for sample_uuid, content in sample_uuids.items()
@@ -569,7 +775,8 @@ class VirtualWorkbench:
                         oss_path="",
                         extra=(
                             {"material_uuid": content}
-                            if isinstance(content, str) else (content.serialize() if content else {})
+                            if isinstance(content, str)
+                            else (content.serialize() if content else {})
                         ),
                     )
                     for sample_uuid, content in sample_uuids.items()
@@ -581,14 +788,34 @@ class VirtualWorkbench:
         always_free=True,
         description="启动指定加热台的加热程序",
         handles=[
-            ActionInputHandle(key="station_id_input", data_type="workbench_station",
+            ActionInputHandle(
-                        label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
+                key="station_id_input",
-            ActionInputHandle(key="material_number_input", data_type="workbench_material",
+                data_type="workbench_station",
-                        label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
+                label="加热台ID",
-            ActionOutputHandle(key="heating_done_station", data_type="workbench_station",
+                data_key="station_id",
-                         label="加热完成-加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
+                data_source=DataSource.HANDLE,
-            ActionOutputHandle(key="heating_done_material", data_type="workbench_material",
+            ),
-                         label="加热完成-物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
+            ActionInputHandle(
+                key="material_number_input",
+                data_type="workbench_material",
+                label="物料编号",
+                data_key="material_number",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionOutputHandle(
+                key="heating_done_station",
+                data_type="workbench_station",
+                label="加热完成-加热台ID",
+                data_key="station_id",
+                data_source=DataSource.EXECUTOR,
+            ),
+            ActionOutputHandle(
+                key="heating_done_material",
+                data_type="workbench_material",
+                label="加热完成-物料编号",
+                data_key="material_number",
+                data_source=DataSource.EXECUTOR,
+            ),
         ],
     )
     def start_heating(
@@ -599,6 +826,10 @@ class VirtualWorkbench:
     ) -> StartHeatingResult:
         """
         启动指定加热台的加热程序
+
+        Args:
+            station_id[加热台ID]: 要启动加热的加热台编号。
+            material_number[物料编号]: 当前加热台上的物料编号。
         """
         self.logger.info(f"[加热台{station_id}] 开始加热")
 
@@ -615,7 +846,8 @@ class VirtualWorkbench:
                         oss_path="",
                         extra=(
                             {"material_uuid": content}
-                            if isinstance(content, str) else (content.serialize() if content else {})
+                            if isinstance(content, str)
+                            else (content.serialize() if content else {})
                         ),
                     )
                     for sample_uuid, content in sample_uuids.items()
@@ -638,7 +870,8 @@ class VirtualWorkbench:
                             oss_path="",
                             extra=(
                                 {"material_uuid": content}
-                                if isinstance(content, str) else (content.serialize() if content else {})
+                                if isinstance(content, str)
+                                else (content.serialize() if content else {})
                             ),
                         )
                         for sample_uuid, content in sample_uuids.items()
@@ -658,7 +891,8 @@ class VirtualWorkbench:
                             oss_path="",
                             extra=(
                                 {"material_uuid": content}
-                                if isinstance(content, str) else (content.serialize() if content else {})
+                                if isinstance(content, str)
+                                else (content.serialize() if content else {})
                             ),
                         )
                         for sample_uuid, content in sample_uuids.items()
@@ -698,7 +932,9 @@ class VirtualWorkbench:
             self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%")
 
             if time.time() - last_countdown_log >= 5.0:
-                self.logger.info(f"[加热台{station_id}] {material_id} 剩余 {remaining:.1f}s")
+                self.logger.info(
+                    f"[加热台{station_id}] {material_id} 剩余 {remaining:.1f}s"
+                )
                 last_countdown_log = time.time()
 
             if elapsed >= self.HEATING_TIME:
@@ -715,7 +951,9 @@ class VirtualWorkbench:
                 self._active_tasks[material_id]["status"] = "heating_completed"
 
         self._update_data_status(f"加热台{station_id}加热完成")
-        self.logger.info(f"[加热台{station_id}] {material_id}加热完成 (用时{self.HEATING_TIME}s)")
+        self.logger.info(
+            f"[加热台{station_id}] {material_id}加热完成 (用时{self.HEATING_TIME}s)"
+        )
 
         return {
             "success": True,
@@ -729,7 +967,8 @@ class VirtualWorkbench:
                     oss_path="",
                     extra=(
                         {"material_uuid": content}
-                        if isinstance(content, str) else (content.serialize() if content else {})
+                        if isinstance(content, str)
+                        else (content.serialize() if content else {})
                     ),
                 )
                 for sample_uuid, content in sample_uuids.items()
@@ -740,10 +979,20 @@ class VirtualWorkbench:
         auto_prefix=True,
         description="将物料从加热台移动到输出位置Cn",
         handles=[
-            ActionInputHandle(key="output_station_input", data_type="workbench_station",
+            ActionInputHandle(
-                        label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
+                key="output_station_input",
-            ActionInputHandle(key="output_material_input", data_type="workbench_material",
+                data_type="workbench_station",
-                        label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
+                label="加热台ID",
+                data_key="station_id",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="output_material_input",
+                data_type="workbench_material",
+                label="物料编号",
+                data_key="material_number",
+                data_source=DataSource.HANDLE,
+            ),
         ],
     )
     def move_to_output(
@@ -754,6 +1003,10 @@ class VirtualWorkbench:
     ) -> MoveToOutputResult:
         """
         将物料从加热台移动到输出位置Cn
+
+        Args:
+            station_id[加热台ID]: 已完成加热的加热台编号。
+            material_number[物料编号]: 要移动到输出位置的物料编号，对应 Cn。
         """
         output_number = material_number
 
@@ -770,7 +1023,8 @@ class VirtualWorkbench:
                         oss_path="",
                         extra=(
                             {"material_uuid": content}
-                            if isinstance(content, str) else (content.serialize() if content else {})
+                            if isinstance(content, str)
+                            else (content.serialize() if content else {})
                         ),
                     )
                     for sample_uuid, content in sample_uuids.items()
@@ -794,7 +1048,8 @@ class VirtualWorkbench:
                             oss_path="",
                             extra=(
                                 {"material_uuid": content}
-                                if isinstance(content, str) else (content.serialize() if content else {})
+                                if isinstance(content, str)
+                                else (content.serialize() if content else {})
                             ),
                         )
                         for sample_uuid, content in sample_uuids.items()
@@ -814,7 +1069,8 @@ class VirtualWorkbench:
                             oss_path="",
                             extra=(
                                 {"material_uuid": content}
-                                if isinstance(content, str) else (content.serialize() if content else {})
+                                if isinstance(content, str)
+                                else (content.serialize() if content else {})
                             ),
                         )
                         for sample_uuid, content in sample_uuids.items()
@@ -896,7 +1152,8 @@ class VirtualWorkbench:
                         oss_path="",
                         extra=(
                             {"material_uuid": content}
-                            if isinstance(content, str) else (content.serialize() if content else {})
+                            if isinstance(content, str)
+                            else (content.serialize() if content else {})
                         ),
                     )
                     for sample_uuid, content in sample_uuids.items()

unilabos/devices/workstation/bioyond_studio/station.py

@@ -258,7 +258,7 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
                 logger.info(f"[同步→Bioyond] ➕ 物料不存在于 Bioyond，将创建新物料并入库")
 
             # 第1步：从配置中获取仓库配置
-            warehouse_mapping = self.workstation.bioyond_config.get("warehouse_mapping", {})
+            warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})
 
             # 确定目标仓库名称
             parent_name = None
@@ -760,9 +760,10 @@ class BioyondWorkstation(WorkstationBase):
                         except:
                             pass
 
-        # 创建通信模块；同步器将在 post_init 中初始化并执行首次同步
+        # 创建通信模块
         self._create_communication_module(bioyond_config)
-        self.resource_synchronizer = None
+        self.resource_synchronizer = BioyondResourceSynchronizer(self)
+        self.resource_synchronizer.sync_from_external()
 
         # TODO: self._ros_node里面拿属性
 
@@ -801,15 +802,6 @@ class BioyondWorkstation(WorkstationBase):
     def post_init(self, ros_node: ROS2WorkstationNode):
         self._ros_node = ros_node
 
-        # Deck 为空时（反序列化未恢复子节点），主动调用 setup() 初始化仓库
-        if self.deck and not self.deck.children and hasattr(self.deck, "setup") and callable(self.deck.setup):
-            logger.info("Deck 无仓库子节点，调用 setup() 初始化仓库")
-            self.deck.setup()
-
-        # 初始化同步器并执行首次同步（需在仓库初始化之后）
-        self.resource_synchronizer = BioyondResourceSynchronizer(self)
-        self.resource_synchronizer.sync_from_external()
-
         # 启动连接监控
         try:
             self.connection_monitor = ConnectionMonitor(self)

unilabos/devices/workstation/changelog_2026-03-12.md

@@ -1,219 +0,0 @@
-# 代码变更说明 — 2026-03-12
-
-> 本次变更基于 `implementation_plan_v2.md` 执行，目标：**物理几何结构初始化与物料内容物填充彻底解耦**，消除 PLR 反序列化时的 `Resource already assigned to deck` 错误，并修复若干运行时新增问题。
-
----
-
-## 一、物料系统标准化重构（主线任务）
-
-### 1. `unilabos/resources/battery/magazine.py`
-
-**改动**：`MagazineHolder_6_Cathode`、`MagazineHolder_6_Anode`、`MagazineHolder_4_Cathode` 三个工厂函数的 `klasses` 参数改为 `None`。
-
-**原因**：原来三个工厂函数在初始化时就向洞位填满极片对象（`ElectrodeSheet`），导致 PLR 反序列化时"几何结构已创建子节点 + DB 再次 assign"双重冲突。
-
-**原则**：物料余量改由寄存器直读（阶段 F），资源树不再追踪每个极片实体。`MagazineHolder_6_Battery` 原本就是 `klasses=None`，三者现在保持一致。
-
----
-
-### 2. `unilabos/resources/battery/magazine.py`（追加，响应重复 UUID 问题）
-
-**改动**：为 `Magazine`（洞位类）新增 `serialize` 和 `deserialize` 重写：
-- `serialize`：序列化时强制将 `children` 置空，不再把极片写回数据库。
-- `deserialize`：反序列化时强制忽略 `children` 字段，阻止数据库中旧极片记录被恢复。
-
-**原因**：数据库中遗留有旧的 `ElectrodeSheet` 记录（`A1_sheet100` 等），启动时被 PLR 反序列化进来，导致同一 UUID 出现在多个 Magazine 洞位中，触发 `发现重复的uuid` 错误。此修复从源头截断旧数据，经过一次完整的"启动 → 资源树写回"后，数据库旧极片记录也会被干净覆盖。
-
----
-
-### 3. `unilabos/resources/battery/bottle_carriers.py`
-
-**改动**：删除 `YIHUA_Electrolyte_12VialCarrier` 末尾的 12 瓶填充循环及对应 `import`。
-
-**原因**：`bottle_rack_6x2` 和 `bottle_rack_6x2_2` 应初始化为空载架，瓶子由 Bioyond 侧实际转运后再填入。原来初始化时直接塞满 `YB_pei_ye_xiao_Bottle`，反序列化时产生重复 assign。
-
----
-
-### 4. `unilabos/resources/bioyond/decks.py`
-
-**改动**：
-- 将 `BIOYOND_YB_Deck` 重命名为 `BioyondElectrolyteDeck`，保留 `BIOYOND_YB_Deck` 作为向后兼容别名。
-- 工厂函数 `YB_Deck()` 重命名为 `bioyond_electrolyte_deck()`，保留 `YB_Deck` 作为别名。
-- `BIOYOND_PolymerReactionStation_Deck`、`BIOYOND_PolymerPreparationStation_Deck`、`BioyondElectrolyteDeck` 三个 Deck 类：
-  - 移除 `__init__` 中的 `setup: bool = False` 参数及 `if setup: self.setup()` 调用。
-  - 删除临时 `deserialize` 补丁（该补丁是为了强制 `setup=False`，根本原因消除后不再需要）。
-
-**原因**：`setup` 参数导致 PLR 反序列化时先通过 `__init__` 创建所有子资源，再从 JSON `children` 字段再次 assign，产生 `already assigned to deck` 错误。正确模式：`__init__` 只初始化自身几何，`setup()` 由工厂函数调用，反序列化由 PLR 从 DB 数据重建子资源。
-
----
-
-### 5. `unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py`
-
-**改动**：
-- `CoincellDeck` 重命名为 `YihuaCoinCellDeck`，保留 `CoincellDeck` 作为向后兼容别名。
-- 工厂函数 `YH_Deck()` 重命名为 `yihua_coin_cell_deck()`，保留 `YH_Deck` 作为别名。
-- 移除 `YihuaCoinCellDeck.__init__` 中的 `setup: bool = False` 参数及调用，删除 `deserialize` 补丁（原因同 decks.py）。
-- `MaterialPlate.__init__` 移除 `fill` 参数和 `fill=True` 分支，新增类方法 `MaterialPlate.create_with_holes()` 作为"带洞位"的工厂方法，`setup()` 改为调用该工厂方法。
-- `YihuaCoinCellDeck.setup()` 末尾新增 `electrolyte_buffer`（`ResourceStack`）接驳槽，用于接收来自 Bioyond 侧的分液瓶板，命名与 `bioyond_cell_workstation.py` 中 `sites=["electrolyte_buffer"]` 一致。
-
----
-
-### 6. `unilabos/resources/resource_tracker.py`
-
-**改动 1**：`to_plr_resources` 中，`load_all_state` 调用前预填 `Container` 类资源缺失的键：
-
-```python
-state.setdefault("liquid_history", [])
-state.setdefault("pending_liquids", {})
-```
-
-**原因**：新版 PLR 要求 `Container` 状态中必须包含这两个键，旧数据库记录缺失时 `load_all_state` 会抛出 `KeyError`。
-
-**改动 2**：`_validate_tree` 中，遇到重复 UUID 时改为自动重新分配新 UUID 并打 `WARNING`，不再直接抛异常崩溃。
-
-**原因**：旧数据库中存在多个同名同 UUID 的极片对象（历史脏数据），严格校验会导致节点无法启动。改为 WARNING + 自动修复，确保启动成功，下次资源树写回后脏数据自然清除。
-
----
-
-### 7. `unilabos/resources/itemized_carrier.py`
-
-**改动**：将原来的 `idx is None` 兜底补丁（静默调用 `super().assign_child_resource`，不更新槽位追踪）替换为两段式逻辑：
-
-1. **XY 近似匹配**（容差 2mm）：精确三维坐标匹配失败时，仅对比 XY 二维坐标，找到最近槽位后用槽位的正确坐标（含 Z）完成 assign，并打 `WARNING`。
-2. **XY 也失败才抛异常**：给出详细的槽位列表和传入坐标，便于问题排查。
-
-**原因**：数据库中存储的资源坐标 Z=0，而 `warehouse_factory` 定义的槽位 Z=dz（如 10mm）。精确匹配永远失败，原补丁静默兜底掩盖了这一问题。近似匹配修复了 Z 偏移，同时保留了真正异常时的报错能力。
-
----
-
-### 8. `unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py`
-
-**改动 1**：更新导入：`BIOYOND_YB_Deck` → `BioyondElectrolyteDeck, bioyond_electrolyte_deck`。
-
-**改动 2**：`__main__` 入口处改为调用 `bioyond_electrolyte_deck(name="YB_Deck")`。
-
-**改动 3**：新增 `_get_resource_from_device(device_id, resource_name)` 方法，用于从目标设备的资源树中动态查找 PLR 资源对象（带降级回退逻辑）。
-
-**改动 4**：跨站转运逻辑中，将原来"创建 `size=1,1,1` 的虚拟 `ResourcePLR` + 硬编码 UUID"的方式，改为通过 `_get_resource_from_device` 从目标设备获取真实的 `electrolyte_buffer` 资源对象。
-
-**原因**：原代码使用硬编码 UUID 的虚拟资源作为转运目标，该对象在 YihuaCoinCellDeck 的资源树中不存在，转移后资源树状态混乱。
-
----
-
-### 9. `unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py`
-
-**改动 1**：更新导入：`CoincellDeck` → `YihuaCoinCellDeck, yihua_coin_cell_deck`，`__main__` 入口改为调用 `yihua_coin_cell_deck()`。
-
-**改动 2**：新增 10 个 `@property`，实现对依华扣电工站 Modbus 寄存器的直读：
-
-| 属性名 | 寄存器地址 | 说明 |
-|---|---|---|
-| `data_10mm_positive_plate_remaining` | 520 | 10mm正极片余量 |
-| `data_12mm_positive_plate_remaining` | 522 | 12mm正极片余量 |
-| `data_16mm_positive_plate_remaining` | 524 | 16mm正极片余量 |
-| `data_aluminum_foil_remaining` | 526 | 铝箔余量 |
-| `data_positive_shell_remaining` | 528 | 正极壳余量 |
-| `data_flat_washer_remaining` | 530 | 平垫余量 |
-| `data_negative_shell_remaining` | 532 | 负极壳余量 |
-| `data_spring_washer_remaining` | 534 | 弹垫余量 |
-| `data_finished_battery_remaining_capacity` | 536 | 成品电池余量 |
-| `data_finished_battery_ng_remaining_capacity` | 538 | 成品电池NG槽余量 |
-
-**原因**：`coin_cell_workstation.yaml` 的 `status_types` 中定义了这 10 个属性，但代码中从未实现，导致每次前端轮询时均报 `AttributeError`。
-
----
-
-## 二、配置与注册表更新
-
-### 10. `yibin_electrolyte_config.json`
-- `BIOYOND_YB_Deck` → `BioyondElectrolyteDeck`（class、type、_resource_type 三处）
-- `CoincellDeck` → `YihuaCoinCellDeck`（class、type、_resource_type 三处）
-- 移除 `"setup": true` 字段
-
-### 11. `yibin_coin_cell_only_config.json`
-- `CoincellDeck` → `YihuaCoinCellDeck`
-- 移除 `"setup": true`
-
-### 12. `yibin_electrolyte_only_config.json`
-- `BIOYOND_YB_Deck` → `BioyondElectrolyteDeck`
-- 移除 `"setup": true`
-
-### 13. `unilabos/registry/resources/bioyond/deck.yaml`
-- `BIOYOND_YB_Deck` → `BioyondElectrolyteDeck`，工厂函数路径更新为 `bioyond_electrolyte_deck`
-- `CoincellDeck` → `YihuaCoinCellDeck`，工厂函数路径更新为 `yihua_coin_cell_deck`
-
----
-
-## 三、独立 Bug 修复
-
-### 14. `unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_b.csv`
-
-**改动**：10 条余量寄存器记录的 `DataType` 列从 `REAL` 改为 `FLOAT32`。
-
-**原因**：`REAL` 是 IEC 61131-3 PLC 工程师惯用名称，但 pymodbus 的 `DATATYPE` 枚举只有 `FLOAT32`，`DataType['REAL']` 查表时抛 `KeyError: 'REAL'`，导致 `CoinCellAssemblyWorkstation` 节点启动失败。
-
----
-
-## 四、运行期新增 Bug 修复（第二轮，2026-03-12 18:12 日志）
-
-### 15. `unilabos/devices/workstation/bioyond_studio/station.py`
-
-**改动**：第 261 行 `self.bioyond_config` → `self.workstation.bioyond_config`。
-
-**原因**：`BioyondResourceSynchronizer.sync_to_external` 内部误用了 `self.bioyond_config`，而该类从未设置此属性（应通过 `self.workstation.bioyond_config` 访问）。触发场景：用户在前端将任意物料拖入仓库时，同步到 Bioyond 必定抛出 `AttributeError: 'BioyondResourceSynchronizer' object has no attribute 'bioyond_config'`。
-
----
-
-### 16. `unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py`
-
-**改动**：`_get_type_id_by_name` 方法新增"直接英文 key 命中"分支：
-
-- **原逻辑**：仅按 `value[0]`（中文名，如 `"5ml分液瓶板"`）遍历比较。
-- **新逻辑**：先以 `type_name` 直接查找 `material_type_mappings` 字典 key（英文 model 名，如 `"YB_Vial_5mL_Carrier"`），命中则立即返回 UUID；否则再按中文名兜底遍历。
-
-**原因**：`resource_tree_transfer` 将 `plr_resource.model`（英文 key）作为 `board_type` / `bottle_type` 传给 `create_sample`，后者再调用 `_get_type_id_by_name`。旧版函数只按中文名查，导致英文 key 永远匹配不到 → `ValueError: 未找到板类型 'YB_Vial_5mL_Carrier' 的配置`。新函数兼容两种查找方式，同时保持向后兼容。
-
----
-
-## 五、运行期新增 Bug 修复（第三轮，2026-03-12 20:30 日志）
-
-### 17. `unilabos/resources/resource_tracker.py`（追加）
-
-**改动**：在 `to_plr_resources` 中，`sub_cls.deserialize` 调用前新增 `_deduplicate_plr_dict(plr_dict)` 预处理函数。
-
-**函数逻辑**：递归遍历整个 `plr_dict` 树，在**全树范围**对 `children` 列表按 `name` 去重——保留首次出现的同名节点，跳过重复项并打 `WARNING`。
-
-**根本原因**：
-1. 用户通过前端将 `YB_Vial_5mL_Carrier` 拖入仓库 E01，carrier 及其子 vial（`YB_Vial_5mL_Carrier_vial_A1` 等）被写入数据库。
-2. 随后 `sync_from_external`（Bioyond 定期同步）以**新 UUID** 重新创建同名 carrier 并赋给同一槽位，PLR 内存树中的旧 carrier 被替换，但**数据库旧记录未被清除**。
-3. 下次重启时，数据库同一 `WareHouse` 下存在两条同名 `BottleCarrier`（不同 UUID），`node_to_plr_dict` 将二者都放入 `children` 列表，PLR 反序列化第二个 carrier 时子 vial 命名冲突，抛出 `ValueError: Resource with name 'YB_Vial_5mL_Carrier_vial_A1' already exists in the tree.`，整个 deck 无法加载，系统启动失败。
-
-**连锁错误（随根因修复自动消除）**：
-- `TypeError: Deck.__init__() got an unexpected keyword argument 'data'` — deck 加载失败后 `driver_creator.py` 触发降级路径，参数类型错误
-- `AttributeError: 'ResourceDictInstance' object has no attribute 'copy'` — 另一条降级路径失败
-- `ValueError: Deck 配置不能为空` — 所有 deck 创建路径失败，`deck=None` 传入工作站
-
----
-
-> **验证状态**：2026-03-12 20:56 日志确认系统正常运行，无新增 ERROR 级错误。
-
----
-
-## 六、变更文件汇总（最终）
-
-| 文件 | 变更类型 | 轮次 |
-|---|---|---|
-| `resources/battery/magazine.py` | 重构 + Bug 修复（极片子节点解耦 + 旧数据清理） | 第一轮 |
-| `resources/battery/bottle_carriers.py` | 重构（移除初始化时自动填瓶） | 第一轮 |
-| `resources/bioyond/decks.py` | 重构 + 重命名（BioyondElectrolyteDeck） | 第一轮 |
-| `devices/workstation/coin_cell_assembly/YB_YH_materials.py` | 重构 + 重命名（YihuaCoinCellDeck）+ 新增 electrolyte_buffer 槽位 | 第一轮 |
-| `resources/resource_tracker.py` | Bug 修复 × 3（Container 状态键预填 + 重复 UUID 自动修复 + 树级名称去重） | 第一/三轮 |
-| `resources/itemized_carrier.py` | Bug 修复（XY 近似坐标匹配，修复 Z 偏移） | 第一轮 |
-| `devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py` | 重构 + Bug 修复（跨站转运 + 类型映射双模式查找） | 第一/二轮 |
-| `devices/workstation/bioyond_studio/station.py` | Bug 修复（sync_to_external 属性访问路径） | 第二轮 |
-| `devices/workstation/coin_cell_assembly/coin_cell_assembly.py` | 新增 10 个 Modbus 余量属性 + 更新导入 | 第一轮 |
-| `yibin_electrolyte_config.json` | 配置更新（类名 + 移除 setup） | 第一轮 |
-| `yibin_coin_cell_only_config.json` | 配置更新（类名 + 移除 setup） | 第一轮 |
-| `yibin_electrolyte_only_config.json` | 配置更新（类名 + 移除 setup） | 第一轮 |
-| `registry/resources/bioyond/deck.yaml` | 注册表更新（类名 + 工厂函数路径） | 第一轮 |
-| `devices/workstation/coin_cell_assembly/coin_cell_assembly_b.csv` | Bug 修复（REAL → FLOAT32） | 第一轮 |

unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py

@@ -130,14 +130,20 @@ class MaterialPlate(ItemizedResource[MaterialHole]):
         ordering: Optional[OrderedDict[str, str]] = None,
         category: str = "material_plate",
         model: Optional[str] = None,
+        fill: bool = False
     ):
-        """初始化料板（不主动填充洞位，由工厂方法或反序列化恢复）
+        """初始化料板
 
         Args:
             name: 料板名称
             size_x: 长度 (mm)
             size_y: 宽度 (mm)
             size_z: 高度 (mm)
+            hole_diameter: 洞直径 (mm)
+            hole_depth: 洞深度 (mm)
+            hole_spacing_x: X方向洞位间距 (mm)
+            hole_spacing_y: Y方向洞位间距 (mm)
+            number: 编号
             category: 类别
             model: 型号
         """
@@ -147,6 +153,32 @@ class MaterialPlate(ItemizedResource[MaterialHole]):
             hole_diameter=20.0,
             info="",
         )
+        # 创建4x4的洞位
+        # TODO: 这里要改，对应不同形状
+        holes = create_ordered_items_2d(
+            klass=MaterialHole,
+            num_items_x=4,
+            num_items_y=4,
+            dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2,  # 居中
+            dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2,  # 居中
+            dz=size_z,
+            item_dx=self._unilabos_state["hole_spacing_x"],
+            item_dy=self._unilabos_state["hole_spacing_y"],
+            size_x = 16,
+            size_y = 16,
+            size_z = 16,
+        )
+        if fill:
+            super().__init__(
+                name=name,
+                size_x=size_x,
+                size_y=size_y,
+                size_z=size_z,
+                ordered_items=holes,
+                category=category,
+                model=model,
+            )
+        else:
             super().__init__(
                 name=name,
                 size_x=size_x,
@@ -158,40 +190,6 @@ class MaterialPlate(ItemizedResource[MaterialHole]):
                 model=model,
             )
 
-    @classmethod
-    def create_with_holes(
-        cls,
-        name: str,
-        size_x: float,
-        size_y: float,
-        size_z: float,
-        category: str = "material_plate",
-        model: Optional[str] = None,
-    ) -> "MaterialPlate":
-        """工厂方法：创建带 4x4 洞位的料板（仅用于初始 setup，不在反序列化路径调用）"""
-        # 默认洞位间距（与 _unilabos_state 默认值保持一致）
-        hole_spacing_x = 24.0
-        hole_spacing_y = 24.0
-        # 先建洞位，再作为 ordered_items 传入构造函数
-        # （ItemizedResource.__init__ 要求 ordered_items 或 ordering 二选一必须有值）
-        holes = create_ordered_items_2d(
-            klass=MaterialHole,
-            num_items_x=4,
-            num_items_y=4,
-            dx=(size_x - 4 * hole_spacing_x) / 2,
-            dy=(size_y - 4 * hole_spacing_y) / 2,
-            dz=size_z,
-            item_dx=hole_spacing_x,
-            item_dy=hole_spacing_y,
-            size_x=16,
-            size_y=16,
-            size_z=16,
-        )
-        return cls(
-            name=name, size_x=size_x, size_y=size_y, size_z=size_z,
-            ordered_items=holes, category=category, model=model,
-        )
-
     def update_locations(self):
         # TODO:调多次相加
         holes = create_ordered_items_2d(
@@ -536,19 +534,30 @@ class WasteTipBox(Trash):
         return data
 
 
-class YihuaCoinCellDeck(Deck):
+class CoincellDeck(Deck):
-    """依华纽扣电池组装工作站台面类"""
+    """纽扣电池组装工作站台面类"""
 
     def __init__(
         self,
         name: str = "coin_cell_deck",
-        size_x: float = 1450.0,
+        size_x: float = 1450.0,  # 1m
-        size_y: float = 1450.0,
+        size_y: float = 1450.0,  # 1m
-        size_z: float = 100.0,
+        size_z: float = 100.0,   # 0.9m
         origin: Coordinate = Coordinate(-2200, 0, 0),
         category: str = "coin_cell_deck",
-        setup: bool = False,
+        setup: bool = False,  # 是否自动执行 setup
     ):
+        """初始化纽扣电池组装工作站台面
+
+        Args:
+            name: 台面名称
+            size_x: 长度 (mm) - 1m
+            size_y: 宽度 (mm) - 1m
+            size_z: 高度 (mm) - 0.9m
+            origin: 原点坐标
+            category: 类别
+            setup: 是否自动执行 setup 配置标准布局
+        """
         super().__init__(
             name=name,
             size_x=1450.0,
@@ -582,11 +591,14 @@ class YihuaCoinCellDeck(Deck):
         # ====================================== 物料板 ============================================
         # 创建物料板（料盘carrier）- 4x4布局
         # 负极料盘
-        fujiliaopan = MaterialPlate.create_with_holes(name="负极料盘", size_x=120, size_y=100, size_z=10.0)
+        fujiliaopan = MaterialPlate(name="负极料盘", size_x=120, size_y=100, size_z=10.0, fill=True)
         self.assign_child_resource(fujiliaopan, Coordinate(x=708.0, y=794.0, z=0))
+        # for i in range(16):
+        #     fujipian = ElectrodeSheet(name=f"{fujiliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
+        #     fujiliaopan.children[i].assign_child_resource(fujipian, location=None)
 
         # 隔膜料盘
-        gemoliaopan = MaterialPlate.create_with_holes(name="隔膜料盘", size_x=120, size_y=100, size_z=10.0)
+        gemoliaopan = MaterialPlate(name="隔膜料盘", size_x=120, size_y=100, size_z=10.0, fill=True)
         self.assign_child_resource(gemoliaopan, Coordinate(x=718.0, y=918.0, z=0))
         # for i in range(16):
         #     gemopian = ElectrodeSheet(name=f"{gemoliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
@@ -621,27 +633,11 @@ class YihuaCoinCellDeck(Deck):
         waste_tip_box = WasteTipBox(name="waste_tip_box")
         self.assign_child_resource(waste_tip_box, Coordinate(x=778.0, y=622.0, z=0))
 
-        # 分液瓶板接驳区 - 接收来自 BioyondElectrolyte 侧的完整 Vial Carrier 板
-        # 命名 electrolyte_buffer 与 bioyond_cell_workstation.py 中 sites=["electrolyte_buffer"] 对应
-        electrolyte_buffer = ResourceStack(
-            name="electrolyte_buffer",
-            direction="z",
-            resources=[],
-        )
-        self.assign_child_resource(electrolyte_buffer, Coordinate(x=1050.0, y=700.0, z=0))
 
-
+def YH_Deck(name=""):
-def yihua_coin_cell_deck(name: str = "coin_cell_deck") -> YihuaCoinCellDeck:
+    cd = CoincellDeck(name=name)
-    deck = YihuaCoinCellDeck(name=name)
+    cd.setup()
-    deck.setup()
+    return cd
-    return deck
-
-
-# 向后兼容别名，日后废弃
-CoincellDeck = YihuaCoinCellDeck
-
-def YH_Deck(name: str = "") -> YihuaCoinCellDeck:
-    return yihua_coin_cell_deck(name=name or "coin_cell_deck")
 
 
 if __name__ == "__main__":

unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py

@@ -6,7 +6,7 @@ import threading
 import time
 import types
 from datetime import datetime
-from typing import Any, Dict, List, Optional
+from typing import Any, Dict, Optional
 from functools import wraps
 from pylabrobot.resources import Deck, Resource as PLRResource
 from unilabos_msgs.msg import Resource
@@ -17,7 +17,7 @@ from unilabos.device_comms.modbus_plc.modbus import DeviceType, Base as ModbusNo
 from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import *
 from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode
 from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
-from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import YihuaCoinCellDeck, yihua_coin_cell_deck
+from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import CoincellDeck
 from unilabos.resources.graphio import convert_resources_to_type
 from unilabos.utils.log import logger
 import struct
@@ -161,8 +161,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
             logger.info("没有传入依华deck，检查启动json文件")
         super().__init__(deck=deck, *args, **kwargs,)
         self.debug_mode = debug_mode
-        self._modbus_address = address
-        self._modbus_port = port
  
         """ 连接初始化 """
         modbus_client = TCPClient(addr=address, port=port)
@@ -180,11 +178,9 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
                 raise ValueError('modbus tcp connection failed')
             self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_b.csv'))                            
             self.client = modbus_client.register_node_list(self.nodes)
-            self._modbus_client_raw = modbus_client
         else:
             print("测试模式，跳过连接")
             self.nodes, self.client = None, None
-            self._modbus_client_raw = None
 
         """ 工站的配置 """
 
@@ -195,40 +191,9 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         self.csv_export_file = None
         self.coin_num_N = 0  #已组装电池数量
 
-    def _ensure_modbus_connected(self) -> None:
-        """检查 Modbus TCP 连接是否存活，若已断开则自动重连（防止长时间空闲后连接超时）"""
-        if self.debug_mode or self._modbus_client_raw is None:
-            return
-        raw_client = self._modbus_client_raw.client
-        if raw_client.is_socket_open():
-            return
-        logger.warning("[Modbus] 检测到连接已断开，尝试重连...")
-        try:
-            raw_client.close()
-        except Exception:
-            pass
-        count = 10
-        while count > 0:
-            count -= 1
-            try:
-                raw_client.connect()
-            except Exception:
-                pass
-            if raw_client.is_socket_open():
-                break
-            time.sleep(2)
-        if not raw_client.is_socket_open():
-            raise RuntimeError(f"Modbus TCP 重连失败（{self._modbus_address}:{self._modbus_port}），请检查设备连接")
-        logger.info("[Modbus] 重连成功")
-
     def post_init(self, ros_node: ROS2WorkstationNode):
         self._ros_node = ros_node
-
+        #self.deck = create_a_coin_cell_deck()
-        # Deck 为空时（反序列化未恢复子节点），主动调用 setup() 初始化子物料
-        if self.deck and not self.deck.children and hasattr(self.deck, "setup") and callable(self.deck.setup):
-            logger.info("YihuaCoinCellDeck 无子节点，调用 setup() 初始化")
-            self.deck.setup()
-
         ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
             "resources": [self.deck]
         })
@@ -658,28 +623,12 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         return vol
 
     @property
-    def data_coin_type(self) -> int:
+    def data_coin_num(self) -> int:
-        """电池类型 - 7种或8种组装物料 (INT16)"""
+        """当前电池数量 (INT16)"""
-        if self.debug_mode:
-            return 7
-        coin_type, read_err = self.client.use_node('REG_DATA_COIN_TYPE').read(1)
-        return coin_type
-    
-    @property
-    def data_current_assembling_count(self) -> int:
-        """当前进行组装的电池数量 - Current assembling battery count (INT16)"""
         if self.debug_mode:
             return 0
-        count, read_err = self.client.use_node('REG_DATA_CURRENT_ASSEMBLING_COUNT').read(1)
+        num, read_err = self.client.use_node('REG_DATA_COIN_NUM').read(1)
-        return count
+        return num
-    
-    @property
-    def data_current_completed_count(self) -> int:
-        """当前完成组装的电池数量 - Current completed battery count (INT16)"""
-        if self.debug_mode:
-            return 0
-        count, read_err = self.client.use_node('REG_DATA_CURRENT_COMPLETED_COUNT').read(1)
-        return count
 
     @property
     def data_coin_cell_code(self) -> str:
@@ -777,116 +726,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
             return 0.0
         return _decode_float32_correct(result.registers)
 
-    @property
-    def data_10mm_positive_plate_remaining(self) -> float:
-        """10mm正极片剩余物料数量 (FLOAT32)"""
-        if self.debug_mode:
-            return 0.0
-        result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_10MM_POSITIVE_PLATE_REMAINING_COUNT').address, count=2)
-        if result.isError():
-            logger.error("读取10mm正极片余量失败")
-            return 0.0
-        return _decode_float32_correct(result.registers)
-
-    @property
-    def data_12mm_positive_plate_remaining(self) -> float:
-        """12mm正极片剩余物料数量 (FLOAT32)"""
-        if self.debug_mode:
-            return 0.0
-        result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_12MM_POSITIVE_PLATE_REMAINING_COUNT').address, count=2)
-        if result.isError():
-            logger.error("读取12mm正极片余量失败")
-            return 0.0
-        return _decode_float32_correct(result.registers)
-
-    @property
-    def data_16mm_positive_plate_remaining(self) -> float:
-        """16mm正极片剩余物料数量 (FLOAT32)"""
-        if self.debug_mode:
-            return 0.0
-        result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_16MM_POSITIVE_PLATE_REMAINING_COUNT').address, count=2)
-        if result.isError():
-            logger.error("读取16mm正极片余量失败")
-            return 0.0
-        return _decode_float32_correct(result.registers)
-
-    @property
-    def data_aluminum_foil_remaining(self) -> float:
-        """铝箔剩余物料数量 (FLOAT32)"""
-        if self.debug_mode:
-            return 0.0
-        result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_ALUMINUM_FOIL_REMAINING_COUNT').address, count=2)
-        if result.isError():
-            logger.error("读取铝箔余量失败")
-            return 0.0
-        return _decode_float32_correct(result.registers)
-
-    @property
-    def data_positive_shell_remaining(self) -> float:
-        """正极壳剩余物料数量 (FLOAT32)"""
-        if self.debug_mode:
-            return 0.0
-        result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_POSITIVE_SHELL_REMAINING_COUNT').address, count=2)
-        if result.isError():
-            logger.error("读取正极壳余量失败")
-            return 0.0
-        return _decode_float32_correct(result.registers)
-
-    @property
-    def data_flat_washer_remaining(self) -> float:
-        """平垫剩余物料数量 (FLOAT32)"""
-        if self.debug_mode:
-            return 0.0
-        result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_FLAT_WASHER_REMAINING_COUNT').address, count=2)
-        if result.isError():
-            logger.error("读取平垫余量失败")
-            return 0.0
-        return _decode_float32_correct(result.registers)
-
-    @property
-    def data_negative_shell_remaining(self) -> float:
-        """负极壳剩余物料数量 (FLOAT32)"""
-        if self.debug_mode:
-            return 0.0
-        result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_NEGATIVE_SHELL_REMAINING_COUNT').address, count=2)
-        if result.isError():
-            logger.error("读取负极壳余量失败")
-            return 0.0
-        return _decode_float32_correct(result.registers)
-
-    @property
-    def data_spring_washer_remaining(self) -> float:
-        """弹垫剩余物料数量 (FLOAT32)"""
-        if self.debug_mode:
-            return 0.0
-        result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_SPRING_WASHER_REMAINING_COUNT').address, count=2)
-        if result.isError():
-            logger.error("读取弹垫余量失败")
-            return 0.0
-        return _decode_float32_correct(result.registers)
-
-    @property
-    def data_finished_battery_remaining_capacity(self) -> float:
-        """成品电池剩余可容纳数量 (FLOAT32)"""
-        if self.debug_mode:
-            return 0.0
-        result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_FINISHED_BATTERY_REMAINING_CAPACITY').address, count=2)
-        if result.isError():
-            logger.error("读取成品电池余量失败")
-            return 0.0
-        return _decode_float32_correct(result.registers)
-
-    @property
-    def data_finished_battery_ng_remaining_capacity(self) -> float:
-        """成品电池NG槽剩余可容纳数量 (FLOAT32)"""
-        if self.debug_mode:
-            return 0.0
-        result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_FINISHED_BATTERY_NG_REMAINING_CAPACITY').address, count=2)
-        if result.isError():
-            logger.error("读取成品电池NG槽余量失败")
-            return 0.0
-        return _decode_float32_correct(result.registers)
-
 #    @property
 #    def data_stack_vision_code(self) -> int:
 #        """物料堆叠复检图片编码 (INT16)"""
@@ -1086,7 +925,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         
         # 步骤0: 前置条件检查
         logger.info("\n【步骤 0/4】前置条件检查...")
-        self._ensure_modbus_connected()
         try:
             # 检查 REG_UNILAB_INTERACT (应该为False，表示使用Unilab交互)
             unilab_interact_node = self.client.use_node('REG_UNILAB_INTERACT')
@@ -1147,42 +985,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
                 raise RuntimeError(error_msg)
             
             logger.info("  ✓ COIL_GB_L_IGNORE_CMD 检查通过 (值为False，使用左手套箱)")
-            
-            # 检查握手寄存器残留（正常初始状态均应为False）
-            # 若上次运行意外断网，这些Unilab侧COIL可能被遗留为True，导致PLC逻辑卡死
-            handshake_checks = [
-                ("COIL_UNILAB_SEND_MSG_SUCC_CMD",       "Unilab→PLC 配方发送完毕",     "上次配方握手未正常复位，PLC可能处于等待配方的卡死状态"),
-                ("COIL_UNILAB_REC_MSG_SUCC_CMD",        "Unilab→PLC 数据接收完毕",     "上次数据接收握手未正常复位"),
-                ("UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM",  "Unilab→PLC 瓶数发送完毕",     "上次瓶数握手未正常复位"),
-                ("UNILAB_SEND_FINISHED_CMD",            "Unilab→PLC 一组完成确认",     "上次完成握手未正常复位"),
-                ("COIL_REQUEST_REC_MSG_STATUS",         "PLC→Unilab 请求接收配方",     "PLC正处于等待配方状态，设备流程已卡死，需重启PLC或手动复位握手"),
-                ("COIL_REQUEST_SEND_MSG_STATUS",        "PLC→Unilab 请求发送测试数据", "PLC正处于等待发送数据状态，设备流程已卡死"),
-            ]
-            for coil_name, coil_desc, stuck_reason in handshake_checks:
-                try:
-                    hs_node = self.client.use_node(coil_name)
-                    hs_value, hs_err = hs_node.read(1)
-                    if hs_err:
-                        logger.warning(f"  ⚠ 无法读取 {coil_name}，跳过此项检查")
-                        continue
-                    hs_actual = hs_value[0] if isinstance(hs_value, (list, tuple)) else hs_value
-                    logger.info(f"  {coil_name} 当前值: {hs_actual}")
-                    if hs_actual:
-                        error_msg = (
-                            "❌ 前置握手寄存器检查失败！\n"
-                            f"  {coil_name} = True (期望值: False)\n"
-                            f"  含义: {coil_desc}\n"
-                            f"  原因: {stuck_reason}\n"
-                            "  建议: 检查上次运行是否意外中断，手动将该寄存器置为False后重试"
-                        )
-                        logger.error(error_msg)
-                        raise RuntimeError(error_msg)
-                    logger.info(f"  ✓ {coil_name} 检查通过 (值为False)")
-                except RuntimeError:
-                    raise
-                except Exception as hs_e:
-                    logger.warning(f"  ⚠ 检查 {coil_name} 时发生异常: {hs_e}，跳过此项")
-            
             logger.info("✓ 所有前置条件检查通过！")
             
         except ValueError as e:
@@ -1356,8 +1158,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         lvbodian: bool = True,
         battery_pressure_mode: bool = True,
         battery_clean_ignore: bool = False,
-        file_path: str = "/Users/sml/work",
+        file_path: str = "/Users/sml/work"
-        formulations: List[Dict] = None
     ) -> Dict[str, Any]:
         """
         发送瓶数+简化组装函数（适用于第二批次及后续批次）
@@ -1384,77 +1185,17 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
             battery_pressure_mode: 是否启用压力模式
             battery_clean_ignore: 是否忽略电池清洁
             file_path: 实验记录保存路径
-            formulations: 配方信息列表（从 create_orders.mass_ratios 获取）
-                         包含 orderCode, target_mass_ratio, real_mass_ratio 等
-                         用于CSV数据追溯，可选参数
             
         Returns:
             dict: 包含组装结果的字典
             
-        注意:
+        注意：
             - 第一次启动需先调用 func_pack_device_init_auto_start_combined()
             - 后续批次直接调用此函数即可
         """
         logger.info("=" * 60)
         logger.info("开始发送瓶数+简化组装流程...")
         logger.info(f"电解液瓶数: {elec_num}, 每瓶电池数: {elec_use_num}")
-        
-        # 存储配方信息到设备状态（供 CSV 写入使用）
-        if formulations:
-            logger.info(f"接收到配方信息: {len(formulations)} 条")
-            # 将配方信息按 orderCode 索引，方便后续查找
-            self._formulations_map = {
-                f["orderCode"]: f for f in formulations
-            } if formulations else {}
-            # ✅ 新增：存储配方列表（按接收顺序），用于索引访问（兜底用）
-            self._formulations_list = formulations
-            # ✅ 新增：按分液瓶条码（vial_bottle_barcodes）反向索引配方
-            # 配液站夹爪取放顺序与扣电站夹取顺序可能不同，所以不能再依赖位置序号，
-            # 必须用扣电站扫码得到的 data_electrolyte_code 去对齐配液站登记的瓶条码。
-            # vial_bottle_barcodes 字段可能形如 "LG100114"（单瓶）或 '["LG100114","LG100115"]'（多瓶）。
-            self._formulations_by_vial_barcode: Dict[str, Dict] = {}
-            for f in formulations:
-                raw_barcodes = f.get("vial_bottle_barcodes", "")
-                if not raw_barcodes:
-                    continue
-                barcodes: List[str] = []
-                if isinstance(raw_barcodes, list):
-                    barcodes = [str(b).strip() for b in raw_barcodes if b]
-                else:
-                    s = str(raw_barcodes).strip()
-                    if s.startswith("[") and s.endswith("]"):
-                        try:
-                            parsed = json.loads(s)
-                            if isinstance(parsed, list):
-                                barcodes = [str(b).strip() for b in parsed if b]
-                            else:
-                                barcodes = [str(parsed).strip()]
-                        except Exception:
-                            barcodes = [s]
-                    else:
-                        barcodes = [s]
-                for bc in barcodes:
-                    if bc and bc not in self._formulations_by_vial_barcode:
-                        self._formulations_by_vial_barcode[bc] = f
-            logger.info(
-                f"已建立分液瓶条码 → 配方索引: {len(self._formulations_by_vial_barcode)} 条 "
-                f"(条码: {list(self._formulations_by_vial_barcode.keys())})"
-            )
-        else:
-            logger.warning("未接收到配方信息，CSV将不包含配方字段")
-            self._formulations_map = {}
-            self._formulations_list = []
-            self._formulations_by_vial_barcode = {}
-        
-        # ✅ 新增：存储每瓶电池数，用于计算当前使用的瓶号
-        # ⚠️ 确保转换为整数（前端可能传递字符串）
-        self._elec_use_num = int(elec_use_num) if elec_use_num else 0
-        logger.info(f"已存储参数: 每瓶电池数={self._elec_use_num}, 配方数={len(self._formulations_list)}")
-        
-        # ✅ 新增：软件层电池计数器（防止硬件计数器不准确）
-        self._software_battery_counter = 0  # 从0开始，每写入一次CSV递增
-        logger.info("软件层电池计数器已初始化")
-        
         logger.info("=" * 60)
         
         # 步骤1: 发送电解液瓶数（触发物料搬运）
@@ -1590,8 +1331,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         data_assembly_time = self.data_assembly_time
         data_assembly_pressure = self.data_assembly_pressure
         data_electrolyte_volume = self.data_electrolyte_volume
-        data_coin_type = self.data_coin_type  # 电池类型（7或8种物料）
+        data_coin_num = self.data_coin_num
-        data_battery_number = self.data_current_assembling_count  # ✅ 真正的电池编号
         
         # 处理电解液二维码 - 确保是字符串类型
         try:
@@ -1621,32 +1361,28 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         logger.debug(f"data_assembly_time: {data_assembly_time}")
         logger.debug(f"data_assembly_pressure: {data_assembly_pressure}")
         logger.debug(f"data_electrolyte_volume: {data_electrolyte_volume}")
-        logger.debug(f"data_coin_type: {data_coin_type}")  # 电池类型
+        logger.debug(f"data_coin_num: {data_coin_num}")
-        logger.debug(f"data_battery_number: {data_battery_number}")  # ✅ 电池编号
         logger.debug(f"data_electrolyte_code: {data_electrolyte_code}")
         logger.debug(f"data_coin_cell_code: {data_coin_cell_code}")
         #接收完信息后，读取完毕标志位置True
-        finished_battery_magazine = self.deck.get_resource("成品弹夹")        
+        liaopan3 = self.deck.get_resource("成品弹夹")        
-        
-        # 计算电池应该放在哪个洞，以及洞内的堆叠位置
-        # 成品弹夹有6个洞，每个洞可堆叠20颗电池
-        # 前5个洞（索引0-4）放正常电池，第6个洞（索引5）放NG电池
-        BATTERIES_PER_HOLE = 20
-        MAX_NORMAL_BATTERIES = 100  # 5个洞 × 20颗/洞
-        
-        hole_index = self.coin_num_N // BATTERIES_PER_HOLE  # 第几个洞（0-4为正常电池）
-        in_hole_position = self.coin_num_N % BATTERIES_PER_HOLE  # 洞内的堆叠序号
-        
-        if hole_index >= 5:
-            logger.error(f"电池数量超出正常容量范围: {self.coin_num_N + 1} > {MAX_NORMAL_BATTERIES}")
-            raise ValueError(f"成品弹夹正常洞位已满（最多{MAX_NORMAL_BATTERIES}颗），当前尝试放置第{self.coin_num_N + 1}颗")
-        
-        target_hole = finished_battery_magazine.children[hole_index]  # 获取目标洞
         
         # 生成唯一的电池名称（使用时间戳确保唯一性）
         timestamp_suffix = datetime.now().strftime("%Y%m%d_%H%M%S_%f")
         battery_name = f"battery_{self.coin_num_N}_{timestamp_suffix}"
         
+        # 检查目标位置是否已有资源，如果有则先卸载
+        target_slot = liaopan3.children[self.coin_num_N]
+        if target_slot.children:
+            logger.warning(f"位置 {self.coin_num_N} 已有资源，将先卸载旧资源")
+            try:
+                # 卸载所有现有子资源
+                for child in list(target_slot.children):
+                    target_slot.unassign_child_resource(child)
+                    logger.info(f"已卸载旧资源: {child.name}")
+            except Exception as e:
+                logger.error(f"卸载旧资源时出错: {e}")
+        
         # 创建新的电池资源
         battery = ElectrodeSheet(name=battery_name, size_x=14, size_y=14, size_z=2)
         battery._unilabos_state = {
@@ -1657,12 +1393,13 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
                             "electrolyte_volume": data_electrolyte_volume
                             }
         
-        # 将电池堆叠到目标洞中
+        # 分配新资源到目标位置
         try:
-            target_hole.assign_child_resource(battery, location=None)
+            target_slot.assign_child_resource(battery, location=None)
-            logger.info(f"成功放置电池 {battery_name} 到弹夹洞{hole_index}的第{in_hole_position + 1}层 (总计第{self.coin_num_N + 1}颗)")
+            logger.info(f"成功分配电池 {battery_name} 到位置 {self.coin_num_N}")
         except Exception as e:
-            logger.error(f"放置电池资源失败: {e}")
+            logger.error(f"分配电池资源失败: {e}")
+            # 如果分配失败，尝试使用更简单的方法
             raise
         
         #print(jipian2.parent)
@@ -1683,7 +1420,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         time_date = datetime.now().strftime("%Y%m%d")
             #秒级时间戳用于标记每一行电池数据
         timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
-        self._last_assembly_timestamp = timestamp
             #生成输出文件的变量
         self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv")   
         #将数据存入csv文件
@@ -1694,107 +1430,17 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
                 writer.writerow([
                     'Time', 'open_circuit_voltage', 'pole_weight', 
                     'assembly_time', 'assembly_pressure', 'electrolyte_volume', 
-                    'data_coin_type', 'electrolyte_code', 'coin_cell_code',
+                    'coin_num', 'electrolyte_code', 'coin_cell_code'
-                    'orderName', 'prep_bottle_barcode', 'vial_bottle_barcodes',
-                    'target_mass_ratio', 'real_mass_ratio'
                 ])
                 #立刻写入磁盘
                 csvfile.flush()
         #开始追加电池信息
         with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile:
             writer = csv.writer(csvfile)
-            
-            # ========== 提取配方信息 ==========
-            formulation_order_name = ""
-            prep_bottle_barcode = ""
-            vial_bottle_barcodes = ""
-            target_ratio_str = ""
-            real_ratio_str = ""
-            
-            # 从 self._formulations_list 获取配方信息
-            if hasattr(self, '_formulations_list') and self._formulations_list:
-                # ============================================================
-                # ✅ 主方案：用扣电站扫码得到的电解液瓶条码 (data_electrolyte_code)
-                #   反查配液站登记的 vial_bottle_barcodes，避免依赖夹爪取放顺序。
-                # 配液站和扣电站的瓶子顺序往往不一致（不同自动化设备的取放策略不同），
-                # 按位置序号匹配会错位；但每个瓶子的条码是唯一的，按条码匹配最可靠。
-                # ============================================================
-                formulation = None
-                match_method = ""
-
-                barcode_map = getattr(self, "_formulations_by_vial_barcode", {}) or {}
-                scan_code = (data_electrolyte_code or "").strip()
-                if scan_code and scan_code != "N/A" and barcode_map:
-                    formulation = barcode_map.get(scan_code)
-                    if formulation is not None:
-                        match_method = f"按条码({scan_code})精确匹配"
-                    else:
-                        logger.warning(
-                            f"[CSV写入] 电池 {data_battery_number}: 扫码条码 {scan_code} "
-                            f"在配方索引中找不到 (已登记条码: {list(barcode_map.keys())})"
-                        )
-
-                # ============================================================
-                # 🔁 降级方案：扫码失败 / 条码缺失时按瓶号位置兜底
-                #   保留原有"每瓶电池数"或"二维码尾号"的位置推断逻辑，
-                #   确保在异常路径下仍能落盘（位置推断的结果可能不准，仅供回溯）。
-                # ============================================================
-                if formulation is None:
-                    if hasattr(self, '_elec_use_num') and self._elec_use_num:
-                        elec_use_num_int = int(self._elec_use_num) if self._elec_use_num else 1
-                        if elec_use_num_int > 0:
-                            current_bottle_index = (data_battery_number - 1) // elec_use_num_int
-                        else:
-                            current_bottle_index = 0
-
-                        logger.debug(
-                            f"[CSV写入] 电池 {data_battery_number}: 降级按瓶号索引={current_bottle_index} "
-                            f"(每瓶{self._elec_use_num}颗电池)"
-                        )
-                    else:
-                        current_bottle_index = (
-                            int(data_electrolyte_code.split('-')[-1])
-                            if '-' in str(data_electrolyte_code)
-                            else 0
-                        )
-                        logger.debug(
-                            f"[CSV写入] 电池 {data_battery_number}: 降级按二维码尾号瓶号索引={current_bottle_index}"
-                        )
-
-                    if 0 <= current_bottle_index < len(self._formulations_list):
-                        formulation = self._formulations_list[current_bottle_index]
-                        match_method = f"按位置兜底匹配[{current_bottle_index}]"
-                    else:
-                        logger.warning(
-                            f"[CSV写入] 电池 {data_battery_number}: 瓶号索引 {current_bottle_index} "
-                            f"超出配方列表范围 (共{len(self._formulations_list)}个配方)"
-                        )
-
-                if formulation is not None:
-                    formulation_order_name = formulation.get("orderName", "")
-                    prep_bottle_barcode = formulation.get("prep_bottle_barcode", "")
-                    vial_bottle_barcodes = formulation.get("vial_bottle_barcodes", "")
-
-                    real_ratio = formulation.get("real_mass_ratio", {})
-                    target_ratio = formulation.get("target_mass_ratio", {})
-
-                    target_ratio_str = json.dumps(target_ratio, ensure_ascii=False) if target_ratio else ""
-                    real_ratio_str = json.dumps(real_ratio, ensure_ascii=False) if real_ratio else ""
-
-                    logger.info(
-                        f"[CSV写入] 电池 {data_battery_number} ({match_method}): "
-                        f"orderName={formulation_order_name}, 配液瓶={prep_bottle_barcode}, "
-                        f"分液瓶={vial_bottle_barcodes}"
-                    )
-            else:
-                logger.debug(f"[CSV写入] 电池 {data_battery_number}: 未找到配方信息数据")
-            
             writer.writerow([
                 timestamp, data_open_circuit_voltage, data_pole_weight,
                 data_assembly_time, data_assembly_pressure, data_electrolyte_volume,
-                data_coin_type, data_electrolyte_code, data_coin_cell_code,
+                data_coin_num, data_electrolyte_code, data_coin_cell_code
-                formulation_order_name, prep_bottle_barcode, vial_bottle_barcodes,
-                target_ratio_str, real_ratio_str
             ])
             #立刻写入磁盘
             csvfile.flush()
@@ -1939,18 +1585,17 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
                     pole_weight = 0.0
                 
                 battery_info = {
-                    "Time": getattr(self, "_last_assembly_timestamp", datetime.now().strftime("%Y%m%d_%H%M%S")),
+                    "battery_index": coin_num_N + 1,
+                    "battery_barcode": battery_qr_code,
+                    "electrolyte_barcode": electrolyte_qr_code,
                     "open_circuit_voltage": open_circuit_voltage,
                     "pole_weight": pole_weight,
                     "assembly_time": self.data_assembly_time,
                     "assembly_pressure": self.data_assembly_pressure,
-                    "electrolyte_volume": self.data_electrolyte_volume,
+                    "electrolyte_volume": self.data_electrolyte_volume
-                    "data_coin_type": getattr(self, "data_coin_type", 0),
-                    "electrolyte_code": electrolyte_qr_code,
-                    "coin_cell_code": battery_qr_code,
                 }
                 battery_data_list.append(battery_info)
-                print(f"已收集第 {coin_num_N + 1} 个电池数据: 电池码={battery_info['coin_cell_code']}, 电解液码={battery_info['electrolyte_code']}")
+                print(f"已收集第 {coin_num_N + 1} 个电池数据: 电池码={battery_info['battery_barcode']}, 电解液码={battery_info['electrolyte_barcode']}")
                 
                 time.sleep(1)
                 # TODO:读完再将电池数加一还是进入循环就将电池数加一需要考虑
@@ -1979,7 +1624,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
             "success": True,
             "total_batteries": len(battery_data_list),
             "batteries": battery_data_list,
-            "assembly_data": battery_data_list,
             "summary": {
                 "electrolyte_bottles_used": elec_num,
                 "batteries_per_bottle": elec_use_num,
@@ -2023,6 +1667,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         file_path: str = "/Users/sml/work"
     ) -> Dict[str, Any]:
         """
+        简化版电池组装函数，整合了原 qiming_coin_cell_code 的参数设置和双滴模式
         
         此函数是 func_allpack_cmd 的增强版本，自动处理以下配置：
         - 负极片和隔膜的盘数及矩阵点位
@@ -2194,18 +1839,17 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
                     pole_weight = 0.0
                 
                 battery_info = {
-                    "Time": getattr(self, "_last_assembly_timestamp", datetime.now().strftime("%Y%m%d_%H%M%S")),
+                    "battery_index": coin_num_N + 1,
+                    "battery_barcode": battery_qr_code,
+                    "electrolyte_barcode": electrolyte_qr_code,
                     "open_circuit_voltage": open_circuit_voltage,
                     "pole_weight": pole_weight,
                     "assembly_time": self.data_assembly_time,
                     "assembly_pressure": self.data_assembly_pressure,
-                    "electrolyte_volume": self.data_electrolyte_volume,
+                    "electrolyte_volume": self.data_electrolyte_volume
-                    "data_coin_type": getattr(self, "data_coin_type", 0),
-                    "electrolyte_code": electrolyte_qr_code,
-                    "coin_cell_code": battery_qr_code,
                 }
                 battery_data_list.append(battery_info)
-                print(f"已收集第 {coin_num_N + 1} 个电池数据: 电池码={battery_info['coin_cell_code']}, 电解液码={battery_info['electrolyte_code']}")
+                print(f"已收集第 {coin_num_N + 1} 个电池数据: 电池码={battery_info['battery_barcode']}, 电解液码={battery_info['electrolyte_barcode']}")
                 
                 time.sleep(1)
 
@@ -2232,7 +1876,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
             "success": True,
             "total_batteries": len(battery_data_list),
             "batteries": battery_data_list,
-            "assembly_data": battery_data_list,
             "summary": {
                 "electrolyte_bottles_used": elec_num,
                 "batteries_per_bottle": elec_use_num,
@@ -2279,7 +1922,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
     
     def fun_wuliao_test(self) -> bool: 
         #找到data_init中构建的2个物料盘
-        test_battery_plate = self.deck.get_resource("\u7535\u6c60\u6599\u76d8")
+        liaopan3 = self.deck.get_resource("\u7535\u6c60\u6599\u76d8")
         for i in range(16):            
             battery = ElectrodeSheet(name=f"battery_{i}", size_x=16, size_y=16, size_z=2)
             battery._unilabos_state = {
@@ -2289,7 +1932,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
                                 "electrolyte_volume": 20.0,
                                 "electrolyte_name": f"DP{i}"
                                 }
-            test_battery_plate.children[i].assign_child_resource(battery, location=None)
+            liaopan3.children[i].assign_child_resource(battery, location=None)
             
             ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
                 "resources": [self.deck]
@@ -2332,7 +1975,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
             data_assembly_time = self.data_assembly_time
             data_assembly_pressure = self.data_assembly_pressure
             data_electrolyte_volume = self.data_electrolyte_volume
-            data_coin_type = self.data_coin_type  # 电池类型（7或8种物料）
+            data_coin_num = self.data_coin_num
             data_electrolyte_code = self.data_electrolyte_code
             data_coin_cell_code = self.data_coin_cell_code
             # 电解液瓶位置
@@ -2446,7 +2089,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
                 writer.writerow([
                     timestamp, data_open_circuit_voltage, data_pole_weight,
                     data_assembly_time, data_assembly_pressure, data_electrolyte_volume,
-                    data_coin_type, data_electrolyte_code, data_coin_cell_code  # ✅ 已修正
+                    data_coin_num, data_electrolyte_code, data_coin_cell_code
                 ])
                 #立刻写入磁盘
                 csvfile.flush()
@@ -2497,7 +2140,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
 
 if __name__ == "__main__":
     # 简单测试
-    workstation = CoinCellAssemblyWorkstation(deck=yihua_coin_cell_deck(name="coin_cell_deck"))
+    workstation = CoinCellAssemblyWorkstation(deck=CoincellDeck(setup=True, name="coin_cell_deck"))
     # workstation.qiming_coin_cell_code(fujipian_panshu=1, fujipian_juzhendianwei=2, gemopanshu=3, gemo_juzhendianwei=4, lvbodian=False, battery_pressure_mode=False, battery_pressure=4200, battery_clean_ignore=False)
     # print(f"工作站创建成功: {workstation.deck.name}")
     # print(f"料盘数量: {len(workstation.deck.children)}")

unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_b.csv

@@ -0,0 +1,133 @@
+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
+REG_UNILAB_INTERACT,BOOL,,,,coil,8450,
+,,,,,coil,8320,
+COIL_ALUMINUM_FOIL,BOOL,,,,coil,8340,
+REG_MSG_NE_PLATE_MATRIX,INT16,,,,hold_register,440,
+REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,,,hold_register,450,
+REG_MSG_TIP_BOX_MATRIX,INT16,,,,hold_register,480,
+REG_MSG_NE_PLATE_NUM,INT16,,,,hold_register,443,
+REG_MSG_SEPARATOR_PLATE_NUM,INT16,,,,hold_register,453,
+REG_MSG_PRESS_MODE,BOOL,,,,coil,8360,
+,BOOL,,,,coil,8300,
+,BOOL,,,,coil,8310,
+COIL_GB_L_IGNORE_CMD,BOOL,,,,coil,8320,
+COIL_GB_R_IGNORE_CMD,BOOL,,,,coil,8420,
+,BOOL,,,,coil,8350,
+COIL_ELECTROLYTE_DUAL_DROP_MODE,BOOL,,,,coil,8370,
+,BOOL,,,,coil,8380,
+,BOOL,,,,coil,8390,
+,BOOL,,,,coil,8400,
+,BOOL,,,,coil,8410,
+REG_MSG_DUAL_DROP_FIRST_VOLUME,INT16,,,,hold_register,4001,
+COIL_DUAL_DROP_SUCTION_TIMING,BOOL,,,,coil,8430,
+COIL_DUAL_DROP_START_TIMING,BOOL,,,,coil,8470,
+REG_MSG_BATTERY_CLEAN_IGNORE,BOOL,,,,coil,8460,
+COIL_MATERIAL_SEARCH_DIALOG_APPEAR,BOOL,,,,coil,6470,
+COIL_MATERIAL_SEARCH_CONFIRM_YES,BOOL,,,,coil,6480,
+COIL_MATERIAL_SEARCH_CONFIRM_NO,BOOL,,,,coil,6490,
+COIL_ALARM_100_SYSTEM_ERROR,BOOL,,,,coil,1000,异常100-系统异常
+COIL_ALARM_101_EMERGENCY_STOP,BOOL,,,,coil,1010,异常101-急停
+COIL_ALARM_111_GLOVEBOX_EMERGENCY_STOP,BOOL,,,,coil,1110,异常111-手套箱急停
+COIL_ALARM_112_GLOVEBOX_GRATING_BLOCKED,BOOL,,,,coil,1120,异常112-手套箱内光栅遮挡
+COIL_ALARM_160_PIPETTE_TIP_SHORTAGE,BOOL,,,,coil,1600,异常160-移液枪头缺料
+COIL_ALARM_161_POSITIVE_SHELL_SHORTAGE,BOOL,,,,coil,1610,异常161-正极壳缺料
+COIL_ALARM_162_ALUMINUM_FOIL_SHORTAGE,BOOL,,,,coil,1620,异常162-铝箔垫缺料
+COIL_ALARM_163_POSITIVE_PLATE_SHORTAGE,BOOL,,,,coil,1630,异常163-正极片缺料
+COIL_ALARM_164_SEPARATOR_SHORTAGE,BOOL,,,,coil,1640,异常164-隔膜缺料
+COIL_ALARM_165_NEGATIVE_PLATE_SHORTAGE,BOOL,,,,coil,1650,异常165-负极片缺料
+COIL_ALARM_166_FLAT_WASHER_SHORTAGE,BOOL,,,,coil,1660,异常166-平垫缺料
+COIL_ALARM_167_SPRING_WASHER_SHORTAGE,BOOL,,,,coil,1670,异常167-弹垫缺料
+COIL_ALARM_168_NEGATIVE_SHELL_SHORTAGE,BOOL,,,,coil,1680,异常168-负极壳缺料
+COIL_ALARM_169_FINISHED_BATTERY_FULL,BOOL,,,,coil,1690,异常169-成品电池满料
+COIL_ALARM_201_SERVO_AXIS_01_ERROR,BOOL,,,,coil,2010,异常201-伺服轴01异常
+COIL_ALARM_202_SERVO_AXIS_02_ERROR,BOOL,,,,coil,2020,异常202-伺服轴02异常
+COIL_ALARM_203_SERVO_AXIS_03_ERROR,BOOL,,,,coil,2030,异常203-伺服轴03异常
+COIL_ALARM_204_SERVO_AXIS_04_ERROR,BOOL,,,,coil,2040,异常204-伺服轴04异常
+COIL_ALARM_205_SERVO_AXIS_05_ERROR,BOOL,,,,coil,2050,异常205-伺服轴05异常
+COIL_ALARM_206_SERVO_AXIS_06_ERROR,BOOL,,,,coil,2060,异常206-伺服轴06异常
+COIL_ALARM_207_SERVO_AXIS_07_ERROR,BOOL,,,,coil,2070,异常207-伺服轴07异常
+COIL_ALARM_208_SERVO_AXIS_08_ERROR,BOOL,,,,coil,2080,异常208-伺服轴08异常
+COIL_ALARM_209_SERVO_AXIS_09_ERROR,BOOL,,,,coil,2090,异常209-伺服轴09异常
+COIL_ALARM_210_SERVO_AXIS_10_ERROR,BOOL,,,,coil,2100,异常210-伺服轴10异常
+COIL_ALARM_211_SERVO_AXIS_11_ERROR,BOOL,,,,coil,2110,异常211-伺服轴11异常
+COIL_ALARM_212_SERVO_AXIS_12_ERROR,BOOL,,,,coil,2120,异常212-伺服轴12异常
+COIL_ALARM_213_SERVO_AXIS_13_ERROR,BOOL,,,,coil,2130,异常213-伺服轴13异常
+COIL_ALARM_214_SERVO_AXIS_14_ERROR,BOOL,,,,coil,2140,异常214-伺服轴14异常
+COIL_ALARM_250_OTHER_COMPONENT_ERROR,BOOL,,,,coil,2500,异常250-其他元件异常
+COIL_ALARM_251_PIPETTE_COMM_ERROR,BOOL,,,,coil,2510,异常251-移液枪通讯异常
+COIL_ALARM_252_PIPETTE_ALARM,BOOL,,,,coil,2520,异常252-移液枪报警
+COIL_ALARM_256_ELECTRIC_GRIPPER_ERROR,BOOL,,,,coil,2560,异常256-电爪异常
+COIL_ALARM_262_RB_UNKNOWN_POSITION_ERROR,BOOL,,,,coil,2620,异常262-RB报警：未知点位错误
+COIL_ALARM_263_RB_XYZ_PARAM_LIMIT_ERROR,BOOL,,,,coil,2630,异常263-RB报警：X、Y、Z参数超限制
+COIL_ALARM_264_RB_VISION_PARAM_ERROR,BOOL,,,,coil,2640,异常264-RB报警：视觉参数误差过大
+COIL_ALARM_265_RB_NOZZLE_1_PICK_FAIL,BOOL,,,,coil,2650,异常265-RB报警：1#吸嘴取料失败
+COIL_ALARM_266_RB_NOZZLE_2_PICK_FAIL,BOOL,,,,coil,2660,异常266-RB报警：2#吸嘴取料失败
+COIL_ALARM_267_RB_NOZZLE_3_PICK_FAIL,BOOL,,,,coil,2670,异常267-RB报警：3#吸嘴取料失败
+COIL_ALARM_268_RB_NOZZLE_4_PICK_FAIL,BOOL,,,,coil,2680,异常268-RB报警：4#吸嘴取料失败
+COIL_ALARM_269_RB_TRAY_PICK_FAIL,BOOL,,,,coil,2690,异常269-RB报警：取物料盘失败
+COIL_ALARM_280_RB_COLLISION_ERROR,BOOL,,,,coil,2800,异常280-RB碰撞异常
+COIL_ALARM_290_VISION_SYSTEM_COMM_ERROR,BOOL,,,,coil,2900,异常290-视觉系统通讯异常
+COIL_ALARM_291_VISION_ALIGNMENT_NG,BOOL,,,,coil,2910,异常291-视觉对位NG异常
+COIL_ALARM_292_BARCODE_SCANNER_COMM_ERROR,BOOL,,,,coil,2920,异常292-扫码枪通讯异常
+COIL_ALARM_310_OCV_TRANSFER_NOZZLE_SUCTION_ERROR,BOOL,,,,coil,3100,异常310-开电移载吸嘴吸真空异常
+COIL_ALARM_311_OCV_TRANSFER_NOZZLE_BREAK_ERROR,BOOL,,,,coil,3110,异常311-开电移载吸嘴破真空异常
+COIL_ALARM_312_WEIGHT_TRANSFER_NOZZLE_SUCTION_ERROR,BOOL,,,,coil,3120,异常312-称重移载吸嘴吸真空异常
+COIL_ALARM_313_WEIGHT_TRANSFER_NOZZLE_BREAK_ERROR,BOOL,,,,coil,3130,异常313-称重移载吸嘴破真空异常
+COIL_ALARM_340_OCV_NOZZLE_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3400,异常340-开路电压吸嘴移载气缸异常
+COIL_ALARM_342_OCV_NOZZLE_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3420,异常342-开路电压吸嘴升降气缸异常
+COIL_ALARM_344_OCV_CRIMPING_CYLINDER_ERROR,BOOL,,,,coil,3440,异常344-开路电压旋压气缸异常
+COIL_ALARM_350_WEIGHT_NOZZLE_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3500,异常350-称重吸嘴移载气缸异常
+COIL_ALARM_352_WEIGHT_NOZZLE_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3520,异常352-称重吸嘴升降气缸异常
+COIL_ALARM_354_CLEANING_CLOTH_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3540,异常354-清洗无尘布移载气缸异常
+COIL_ALARM_356_CLEANING_CLOTH_PRESS_CYLINDER_ERROR,BOOL,,,,coil,3560,异常356-清洗无尘布压紧气缸异常
+COIL_ALARM_360_ELECTROLYTE_BOTTLE_POSITION_CYLINDER_ERROR,BOOL,,,,coil,3600,异常360-电解液瓶定位气缸异常
+COIL_ALARM_362_PIPETTE_TIP_BOX_POSITION_CYLINDER_ERROR,BOOL,,,,coil,3620,异常362-移液枪头盒定位气缸异常
+COIL_ALARM_364_REAGENT_BOTTLE_GRIPPER_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3640,异常364-试剂瓶夹爪升降气缸异常
+COIL_ALARM_366_REAGENT_BOTTLE_GRIPPER_CYLINDER_ERROR,BOOL,,,,coil,3660,异常366-试剂瓶夹爪气缸异常
+COIL_ALARM_370_PRESS_MODULE_BLOW_CYLINDER_ERROR,BOOL,,,,coil,3700,异常370-压制模块吹气气缸异常
+COIL_ALARM_151_ELECTROLYTE_BOTTLE_POSITION_ERROR,BOOL,,,,coil,1510,异常151-电解液瓶定位在籍异常
+COIL_ALARM_152_ELECTROLYTE_BOTTLE_CAP_ERROR,BOOL,,,,coil,1520,异常152-电解液瓶盖在籍异常

unilabos/devices/workstation/implementation_plan.md

@@ -1,88 +0,0 @@
-# 物料系统标准化重构方案
-
-根据开发者的反馈，本方案旨在遵循“标准化而非绕过”的原则，对资源类（Deck、Carrier、Magazine）进行重构。核心目标是将物理结构的初始化与物料/极片的初始填充逻辑解耦，彻底解决反序列化过程中的初始化冲突。
-
-## 拟议变更
-
-### [参考] PRCXI9300 标准化模式
-#### [参考文件] [prcxi.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/devices/liquid_handling/prcxi/prcxi.py)
-*   **PRCXI9300Deck**: 演示了如何在 `serialize` 中导出 `sites` 元数据，以及如何在 `assign_child_resource` 中实现稳健的槽位匹配（支持按名称、坐标或索引匹配）。
-*   **PRCXI9300Container**: 演示了标准的 `load_state` 和 `serialize_state` 模式，确保业务状态（如 `Material` UUID）能正确往返序列化。
-
-### [组件] 台面 (Decks)
-#### [修改] [decks.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/resources/bioyond/decks.py)
-*   将 `BIOYOND_YB_Deck` 重命名为 **`BioyondElectrolyteDeck`**，对应工厂函数 `YB_Deck()` 重命名为 **`bioyond_electrolyte_deck()`**。
-*   `BIOYOND_PolymerReactionStation_Deck` 和 `BIOYOND_PolymerPreparationStation_Deck` **保持不变**。
-*   以上三个 Deck 的 `__init__` 中均移除 `setup` 参数和 `setup()` 调用，删除临时的 `deserialize` 重写。
-
-#### [修改 + 重命名] [YB_YH_materials.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py) → `yihua_coin_cell_materials.py`
-*   将 `CoincellDeck` 重命名为 **`YihuaCoinCellDeck`**，对应工厂函数 `YH_Deck()` 重命名为 **`yihua_coin_cell_deck()`**。
-*   从 `YihuaCoinCellDeck.__init__` 中移除 `setup` 参数和 `setup()` 调用，删除临时的 `deserialize` 重写。
-
-### [组件] 容器类与弹夹 (Itemized Carriers & Magazines)
-#### [修改] [magazine.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/resources/battery/magazine.py)
-*   重构 `magazine_factory`：将创建 `MagazineHolder` 几何结构（空槽位）的过程与填充 `ElectrodeSheet` 物料的过程分离。
-*   确保 `MagazineHolder` 和 `Magazine` 的 `__init__` 过程中不主动创建任何内容物。
-
-#### [修改] [warehouse.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/resources/warehouse.py)
-*   确保 `WareHouse` 类和 `warehouse_factory` 遵循相同模式：先初始化几何结构，内容物另行处理。
-
-#### [修改] [itemized_carrier.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/resources/itemized_carrier.py)
-*   移除之前添加的 `idx is None` 兜底补丁。
-*   修复命名规范，确保 `assign_child_resource` 在反序列化时能准确匹配资源。
-
-### [组件] 状态兼容性 (State Compatibility)
-#### [修改] [resource_tracker.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/resources/resource_tracker.py)
-*   在 `to_plr_resources` 方法中调用 `load_all_state` 之前，预处理 `all_states` 字典。
-*   对于 `Container` 类型的资源，如果其状态中缺少 `liquid_history` 或 `pending_liquids` 等 PLR 新版本要求的键，则填充默认值（如空列表/字典），防止反序列化中断。
-
-### [组件] 料盘 (Material Plates)
-#### [修改] [YB_YH_materials.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py)
-*   重构 `MaterialPlate`：不在 `__init__` 中直接调用 `create_ordered_items_2d`。
-*   重构 `YIHUA_Electrolyte_12VialCarrier`：将其修改为标准的基类定义或在工厂方法中彻底剥离内部 12 个 `YB_pei_ye_xiao_Bottle` 的强制初始化，以防反序列化冲突。
-
-### [组件] 跨站转运与分液瓶板 (Vial Plate Transfer)
-#### [修改] [bioyond_cell_workstation.py] & [YB_YH_materials.py]
-*   **分析**：目前的 `bioyond_cell_workstation.py` 在执行转移时，是用 `sites=["electrolyte_buffer"]` 试图把整块 `YB_Vial_5mL_Carrier` 板转移给目标。但由于实际工艺中，配液站将分液瓶板传往扣电工站后，是由扣电工站的机械臂**逐瓶抓取**并放入内部的 `bottle_rack_6x2`（电解液缓存位），用完后再放入 `bottle_rack_6x2_2`（废液位），因此配液站的这一次“跨工位资源树转移”在逻辑上存在偏差：目标槽位不应该是装单瓶的载体 `bottle_rack`。
-*   **修复方案**：
-    1.  **目标端 (Yihua 侧)**：
-        *   在 `YB_YH_materials.py` 中为从配液站传过来的“分液瓶板”本身设置一个接驳专用的 `PlateSlot`（或者单纯直接移到 Deck 指定坐标）。这个位置负责真正在资源树层级上合法接收配液站传过来的完整 Board。
-        *   重构 `YIHUA_Electrolyte_12VialCarrier`：为了防止初始化反序列化冲突，取消内部在 `__init__` 中自动填充满 12 个 `YB_pei_ye_xiao_Bottle` 实例的逻辑。`bottle_rack_6x2` 和 `bottle_rack_6x2_2` 初始化时均应为空。
-    2.  **转运端 (Bioyond 侧)**：
-        *   修改 `bioyond_cell_workstation.py` 的资源树数字转运代码，将其转移目标对应到 Yihua 侧新设立的“分液瓶板接驳区域”资源，或者干脆只更新资源树坐标位置（使其脱离 Bioyond Deck 加入 Yihua Deck），而不再强行挂载到一个无法容纳 Carrier 的 `bottle_rack_6x2` 内部。
-
-### [组件] 依华扣电组装工站物料余量监控 (Material Monitoring)
-#### [修改] 寄存器直读与前端集成
-*   **物理对象保留但虚化追踪**：原有的实体台面对象（如 `MaterialPlate`、`MagazineHolder` 各类型及其对应的洞位坐标）**仍然保留并使用**。保留它们是为了给机器臂提供基础的物理空间取放标定，以及作为前端页面的可视和可交互区块。
-*   **内部物料免追踪**：既然余量完全由寄存器接管，**我们将不再在这些弹夹或洞位内部显式生成、塞入和追踪每一个具体的极片或外壳对象 (如 `ElectrodeSheet` 等)**。这恰好与我们的重构主旨（不主动在 `__init__` 建子物料以避开反序列化冲突）完美结合，进一步极大地减轻了后台资源树对象的复杂度。
-*   **监控方式变更**：放弃现有的物料余量方式，直接读取依华扣电组装工站开放的寄存器地址以获取准确余量。
-*   **前端界面集成**：在前端界面点击负极壳、弹垫片等弹夹的 data view 时，直接读取并显示寄存器中的各自余量。
-*   **新增寄存器映射** (参考 `coin_cell_assembly_b.csv`)：
-    *   `10mm正极片剩余物料数量（R）`：`read hold_register 520` (REAL)
-    *   `12mm正极片剩余物料数量（R）`：`read hold_register 522` (REAL)
-    *   `16mm正极片剩余物料数量（R）`：`read hold_register 524` (REAL)
-    *   `铝箔剩余物料数量（R）`：`read hold_register 526` (REAL)
-    *   `正极壳剩余物料数量（R）`：`read hold_register 528` (REAL)
-    *   `平垫剩余物料数量（R）`：`read hold_register 530` (REAL)
-    *   `负极壳剩余物料数量（R）`：`read hold_register 532` (REAL)
-    *   `弹垫剩余物料数量（R）`：`read hold_register 534` (REAL)
-    *   `成品电池剩余可容纳数量（R）`：`read hold_register 536` (REAL)
-    *   `成品电池NG槽剩余可容纳数量（R）`：`read hold_register 538` (REAL)
-
-### [配置] JSON 配置文件 (Configuration Files)
-#### [修改] 资源类型名称更新
-*   更新以下配置文件，将其中的 `BIOYOND_YB_Deck` 替换为新的类名 **`BioyondElectrolyteDeck`**，以及将 `coin_cell_deck` 替换为 **`YihuaCoinCellDeck`**：
-    *   `yibin_electrolyte_config.json`
-    *   `yibin_coin_cell_only_config.json`
-    *   `yibin_electrolyte_only_config.json`
-
-## 验证计划
-
-### 自动化测试
-*   对重构后的类运行 `pylabrobot` 序列化/反序列化测试，确保状态能够完美恢复。
-*   检查各工作站节点启动时是否仍存在 `ValueError: Resource '...' already assigned to deck` 报错。
-*   检查 `resource_tracker` 中是否仍存在重复 UUID 报错。
-
-### 手动验证
-*   重启各工作站节点，验证资源树是否能根据数据库数据正确还还原。
-*   验证“自动”与“手动”传输窗资源在台面上的分配是否正确。

unilabos/devices/workstation/implementation_plan_v2.md

@@ -1,388 +0,0 @@
-# 物料系统标准化重构方案 v2（增强版）
-
-> **基于原始方案 (`implementation_plan.md`) 的补充与细化**。
-> 本文档在原方案基础上：①增加当前代码现状核查结果；②明确各任务的执行顺序与文件级改动；③新增注意事项与回归测试命令。
-
----
-
-## 0. 核心原则（保持不变）
-
-"**物理几何结构初始化（Deck / Carrier / Magazine 的 `__init__`）与物料内容物填充（`setup()` / `klasses` 参数）必须彻底解耦**"，以消除 PLR 反序列化时的 `Resource already assigned to deck` 错误。
-
----
-
-## 1. 当前代码现状核查（2026-03-12）
-
-| 文件 | 计划要求 | 当前状态 | 是否完成 |
-|---|---|---|---|
-| `resources/bioyond/decks.py` | 重命名类；移除 `setup` 参数和 `deserialize` 补丁 | 仍是 `BIOYOND_YB_Deck`；`setup` 参数和 `deserialize` 均存在 | ❌ |
-| `coin_cell_assembly/YB_YH_materials.py` | 重命名类；文件迁移；移除补丁 | 仍是 `CoincellDeck`；`setup` 参数和 `deserialize` 均存在 | ❌ |
-| `resources/battery/magazine.py` | `magazine_factory` 不主动填充物料 | `MagazineHolder_6_Cathode` / `_6_Anode` / `_4_Cathode` 仍传 `klasses`，初始化时填满极片 | ❌ |
-| `resources/battery/bottle_carriers.py` | `YIHUA_Electrolyte_12VialCarrier` 初始化时不填充瓶子 | 第 54-55 行仍循环填充 12 个 `YB_pei_ye_xiao_Bottle` | ❌ |
-| `resources/itemized_carrier.py` | 移除 `idx is None` 兜底补丁 | 第 182-190 行仍保留该兜底逻辑 | ❌（待前置任务完成后移除） |
-| `resources/resource_tracker.py` | `load_all_state` 前预填 `Container` 缺失键 | 第 616 行直接调用，无预处理 | ❌ |
-| `bioyond_cell_workstation.py` | 修正跨站转运目标为合法接驳槽 | 第 1563 行仍 `sites=["electrolyte_buffer"]`，目标 UUID 为硬编码虚拟资源 | ❌ |
-| `yibin_*.json` 配置文件 | 更新类名 | 仍使用 `BIOYOND_YB_Deck` / `CoincellDeck` | ❌ |
-| `registry/resources/bioyond/deck.yaml` | 更新类名（原计划未提及） | 仍使用 `BIOYOND_YB_Deck` / `CoincellDeck` | ❌（**新增**） |
-
----
-
-## 2. 执行顺序（含依赖关系）
-
-```
-阶段 A（底层资源类）
-  A1. magazine.py — 移除 klasses 填充
-  A2. bottle_carriers.py — 移除瓶子填充
-  
-阶段 B（Deck 层）
-  B1. decks.py — 移除 setup 参数和 deserialize 补丁；重命名
-  B2. YB_YH_materials.py → 重命名；移除 CoincellDeck 的 setup 参数和 deserialize 补丁
-  
-阶段 C（状态兼容）
-  C1. resource_tracker.py — 预填 Container 缺失键
-  C2. itemized_carrier.py — 移除 idx is None 兜底补丁（B 阶段完成后）
-  
-阶段 D（跨站转运修复）
-  D1. YB_YH_materials.py 新增 vial_plate_dock（接驳专用槽）
-  D2. bioyond_cell_workstation.py 修正 transfer 目标
-  
-阶段 E（配置与注册表）
-  E1. yibin_*.json 更新类名
-  E2. registry/resources/bioyond/deck.yaml 更新类名
-  E3. coin_cell_assembly.py 更新导入路径（若文件重命名）
-```
-
----
-
-## 3. 分阶段详细说明
-
----
-
-### 阶段 A — 底层资源类
-
-#### A1. `unilabos/resources/battery/magazine.py`
-
-**问题**：`MagazineHolder_6_Cathode`、`MagazineHolder_6_Anode`、`MagazineHolder_4_Cathode` 在调用 `magazine_factory` 时传入 `klasses`，导致每次 `__init__` 就填满极片，反序列化时重复添加。
-
-**修改**：
-
-- 将三个函数中的 `klasses=[...]` 改为 `klasses=None`（与 `MagazineHolder_6_Battery` 保持一致）。
-- **理由**：物料余量已由寄存器管理（见阶段 F），不需要在资源树中追踪每一个极片。
-
-```python
-# 修改前（MagazineHolder_6_Cathode 举例）
-klasses=[FlatWasher, PositiveCan, PositiveCan, FlatWasher, PositiveCan, PositiveCan],
-
-# 修改后
-klasses=None,
-```
-
-> **注意**：`magazine_factory` 中 `klasses` 参数及循环体代码保留（仍可按需在非序列化场景使用），只是各具体工厂函数不再传入。
-
----
-
-#### A2. `unilabos/resources/battery/bottle_carriers.py`
-
-**问题**：`YIHUA_Electrolyte_12VialCarrier` 第 54-55 行在工厂函数末尾循环填充 12 个瓶子。
-
-**修改**：删除以下两行：
-
-```python
-# 删除
-for i in range(12):
-    carrier[i] = YB_pei_ye_xiao_Bottle(f"{name}_vial_{i+1}")
-```
-
-**理由**：`bottle_rack_6x2` 和 `bottle_rack_6x2_2` 均应初始化为空，瓶子由 Bioyond 侧实际转运后再填入。
-
----
-
-### 阶段 B — Deck 层重构
-
-#### B1. `unilabos/resources/bioyond/decks.py`
-
-**改动列表**：
-
-1. **重命名** `BIOYOND_YB_Deck` → `BioyondElectrolyteDeck`
-2. **重命名** `YB_Deck()` 工厂函数 → `bioyond_electrolyte_deck()`
-3. **移除** `__init__` 中的 `setup: bool = False` 参数及 `if setup: self.setup()` 调用
-4. **删除** `deserialize` 方法重写（该临时补丁在 `setup` 参数移除后自然失效，继续保留反而掩盖问题）
-5. `BIOYOND_PolymerReactionStation_Deck` 和 `BIOYOND_PolymerPreparationStation_Deck` 同步执行第 3、4 步
-
-**重构后初始化模式**：
-
-```python
-class BioyondElectrolyteDeck(Deck):
-    def __init__(self, name: str = "YB_Deck", ...):
-        super().__init__(name=name, ...)
-        # ❌ 不调用 self.setup()
-        # PLR 反序列化时只会调用 __init__，然后从 children JSON 重建子资源
-
-    def setup(self) -> None:
-        # 完整的子资源初始化逻辑保留在这里，只由工厂函数调用
-        ...
-
-def bioyond_electrolyte_deck(name: str) -> BioyondElectrolyteDeck:
-    deck = BioyondElectrolyteDeck(name=name)
-    deck.setup()   # ✅ 工厂函数负责填充
-    return deck
-```
-
-**同步修改**：
-- `bioyond_cell_workstation.py` 第 20 行：
-  ```python
-  # 修改前
-  from unilabos.resources.bioyond.decks import BIOYOND_YB_Deck
-  # 修改后
-  from unilabos.resources.bioyond.decks import BioyondElectrolyteDeck
-  ```
-- 同文件第 2440 行：`BIOYOND_YB_Deck(setup=True)` → `bioyond_electrolyte_deck(name="YB_Deck")`
-
----
-
-#### B2. `unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py`
-
-**改动列表**：
-
-1. **重命名** `CoincellDeck` → `YihuaCoinCellDeck`
-2. **重命名** `YH_Deck()` → `yihua_coin_cell_deck()`（可保留 `YH_Deck` 作为兼容别名，日后废弃）
-3. **移除** `CoincellDeck.__init__` 中 `setup: bool = False` 参数及调用
-4. **删除** `CoincellDeck.deserialize` 重写方法
-5. `MaterialPlate.__init__` 中移除 `fill` 参数，始终不主动调用 `create_ordered_items_2d`（当前 `fill=False` 路径已正确，只需删除 `fill=True` 分支）
-
-```python
-# 修改前（MaterialPlate.__init__ 片段）
-if fill:
-    super().__init__(..., ordered_items=holes, ...)
-else:
-    super().__init__(..., ordered_items=ordered_items, ...)
-
-# 修改后（始终走 "不填充" 路径）
-super().__init__(..., ordered_items=ordered_items, ...)
-# holes 的创建代码整体移入独立工厂方法
-```
-
-**同步修改**：
-- `coin_cell_assembly.py` 第 20 行导入：
-  ```python
-  # 修改前
-  from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import CoincellDeck
-  # 修改后
-  from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import YihuaCoinCellDeck
-  ```
-- 同文件第 2245 行：`CoincellDeck(setup=True, name="coin_cell_deck")` → `yihua_coin_cell_deck(name="coin_cell_deck")`
-- 文件重命名（可选）：`YB_YH_materials.py` → `yihua_coin_cell_materials.py`（若重命名，所有 import 路径需全局替换）
-
----
-
-### 阶段 C — 状态兼容
-
-#### C1. `unilabos/resources/resource_tracker.py`
-
-**问题**：第 616 行直接调用 `plr_resource.load_all_state(all_states)`，若 `Container` 类资源的 `data` 字段缺少 `liquid_history` 或 `pending_liquids`，PLR 新版本会抛出 `KeyError`。
-
-**修改**：在第 616 行前插入预处理：
-
-```python
-# 在 load_all_state 调用前预填缺失键
-from pylabrobot.resources.container import Container as PLRContainer
-for res_name, state in all_states.items():
-    if state and isinstance(state, dict):
-        # Container 类型要求这两个键存在
-        state.setdefault("liquid_history", [])
-        state.setdefault("pending_liquids", {})
-
-plr_resource.load_all_state(all_states)
-```
-
----
-
-#### C2. `unilabos/resources/itemized_carrier.py`
-
-**前提**：B1、B2 阶段完成，Deck 类名与资源命名规范已对齐后再执行此步。
-
-**修改**：删除第 182-190 行的兜底补丁：
-
-```python
-# 删除以下整个 if 块
-if idx is None:
-    fallback_location = location if location is not None else Coordinate.zero()
-    super().assign_child_resource(resource, location=fallback_location, reassign=reassign)
-    return
-```
-
-**替代**：改为抛出带诊断信息的异常，便于后续问题排查：
-
-```python
-if idx is None:
-    raise ValueError(
-        f"[ItemizedCarrier] 无法为资源 '{resource.name}' 找到匹配的槽位。"
-        f"已知槽位：{list(self.child_locations.keys())}，"
-        f"传入坐标：{location}"
-    )
-```
-
----
-
-### 阶段 D — 跨站转运修复
-
-#### D1. `YB_YH_materials.py` — 新增分液瓶板接驳槽
-
-在 `YihuaCoinCellDeck.setup()` 中，新增一个专用于接收 Bioyond 侧传来的完整分液瓶板的 `ResourceStack`（或 `PlateSlot`）：
-
-```python
-# 在 setup() 末尾追加
-from pylabrobot.resources.resource_stack import ResourceStack
-
-vial_plate_dock = ResourceStack(
-    name="electrolyte_buffer",   # 保持与 bioyond_cell_workstation.py 的 sites 键一致
-    direction="z",
-    resources=[],
-)
-self.assign_child_resource(vial_plate_dock, Coordinate(x=1050.0, y=700.0, z=0))
-```
-
-> **说明**：槽位命名 `electrolyte_buffer` 与 `bioyond_cell_workstation.py` 现有的 `sites=["electrolyte_buffer"]` 对应，减少改动量。如改名，D2 需同步。
-
----
-
-#### D2. `bioyond_cell_workstation.py` — 修正 transfer 目标
-
-**问题**：第 1545-1552 行创建了一个 `size=1,1,1` 的虚拟 `ResourcePLR` 并硬编码 UUID，这个对象在 YihuaCoinCellDeck 的资源树中不存在，导致转移后资源树状态混乱。
-
-**修改**：
-
-```python
-# 修改前：创建虚拟目标资源
-target_resource_obj = ResourcePLR(name=target_location, size_x=1.0, ...)
-target_resource_obj.unilabos_uuid = "550e8400-e29b-41d4-a716-446655440001"  # 硬编码
-
-# 修改后：通过 ROS2/设备注册表查询真实资源
-# （需要从 target_device 的资源树中取出 electrolyte_buffer 的真实对象）
-target_resource_obj = self._get_resource_from_device(
-    device_id=target_device,
-    resource_name=target_location
-)
-if target_resource_obj is None:
-    raise RuntimeError(
-        f"目标设备 {target_device} 中未找到资源 '{target_location}'，"
-        f"请确认 YihuaCoinCellDeck.setup() 中已添加 electrolyte_buffer 槽位"
-    )
-```
-
-> **说明**：`_get_resource_from_device` 需根据现有 ROS2 资源同步机制实现，或复用已有的 `get_plr_resource_by_name` 类似方法。
-
----
-
-### 阶段 E — 配置与注册表
-
-#### E1. `yibin_electrolyte_config.json` / `yibin_coin_cell_only_config.json` / `yibin_electrolyte_only_config.json`
-
-全局替换以下字符串：
-
-| 旧值 | 新值 |
-|---|---|
-| `BIOYOND_YB_Deck` | `BioyondElectrolyteDeck` |
-| `unilabos.resources.bioyond.decks:BIOYOND_YB_Deck` | `unilabos.resources.bioyond.decks:BioyondElectrolyteDeck` |
-| `CoincellDeck` | `YihuaCoinCellDeck` |
-| `unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:CoincellDeck` | 若文件已重命名：`unilabos.devices.workstation.coin_cell_assembly.yihua_coin_cell_materials:YihuaCoinCellDeck` |
-
----
-
-#### E2. `unilabos/registry/resources/bioyond/deck.yaml`（**原计划未覆盖，新增**）
-
-当前第 25 行和第 37 行仍使用旧类名，需同步更新：
-
-```yaml
-# 修改前
-BIOYOND_YB_Deck:
-  ...
-CoincellDeck:
-  ...
-
-# 修改后
-BioyondElectrolyteDeck:
-  ...
-YihuaCoinCellDeck:
-  ...
-```
-
----
-
-### 阶段 F — 物料余量监控集成（原计划第5节细化）
-
-**目标**：弃用资源树内极片对象计数，改为直读依华扣电工站寄存器。
-
-#### F1. `coin_cell_assembly/coin_cell_assembly.py` — 新增寄存器读取方法
-
-参考 `coin_cell_assembly_b.csv` 中的地址，封装读取工具方法：
-
-```python
-MATERIAL_REGISTER_MAP = {
-    "10mm正极片":   (520, "REAL"),
-    "12mm正极片":   (522, "REAL"),
-    "16mm正极片":   (524, "REAL"),
-    "铝箔":         (526, "REAL"),
-    "正极壳":       (528, "REAL"),
-    "平垫":         (530, "REAL"),
-    "负极壳":       (532, "REAL"),
-    "弹垫":         (534, "REAL"),
-    "成品容量":     (536, "REAL"),
-    "成品NG容量":   (538, "REAL"),
-}
-
-def get_material_remaining(self, material_name: str) -> float:
-    """通过寄存器直读指定物料的剩余数量"""
-    if material_name not in MATERIAL_REGISTER_MAP:
-        raise KeyError(f"未知物料名称: {material_name}")
-    address, dtype = MATERIAL_REGISTER_MAP[material_name]
-    return self.read_hold_register(address, dtype)  # 复用现有 Modbus 读取方法
-```
-
-#### F2. 前端 data view 集成
-
-- 前端点击 `MagazineHolder` 类资源的 data view 时，调用后端 `get_material_remaining` 接口（而非读取 `children` 长度）。
-- 具体接口路径和前端调用代码需与前端开发同步，本文档不作具体实现约定。
-
----
-
-## 4. 验证计划（细化）
-
-### 4.1 单元测试（自动化）
-
-```bash
-# 序列化/反序列化往返测试
-python -m pytest unilabos/test/ -k "serial" -v
-
-# 特别检查以下错误消失：
-# - ValueError: Resource '...' already assigned to deck
-# - KeyError: 'liquid_history' 
-# - 重复 UUID 报错
-```
-
-### 4.2 集成测试（手动）
-
-按以下顺序逐步验证，确保每步正常后再进行下一步：
-
-1. **单独启动 `BatteryStation` 节点**，检查 `CoincellDeck`（现 `YihuaCoinCellDeck`）能否从数据库状态正确还原，无 `already assigned` 报错。
-2. **单独启动 `BioyondElectrolyte` 节点**，检查 `BioyondElectrolyteDeck` 反序列化正常。
-3. **同时启动两个节点**，模拟执行一次分液→扣电的完整跨站转运，确认：
-   - `electrolyte_buffer` 槽位正确接收分液瓶板。
-   - `bottle_rack_6x2` 初始为空，不出现虚拟瓶子。
-4. **重启两个节点**（模拟断电恢复），确认资源树从数据库还原后，`electrolyte_buffer` 中仍持有正确的分液瓶板对象。
-5. **寄存器余量读取**：手动触发 `get_material_remaining("负极壳")`，确认返回值与设备显示一致。
-
----
-
-## 5. 与原计划的差异对照
-
-| 维度 | 原计划 | 本文档新增/修订 |
-|---|---|---|
-| 执行顺序 | 未排序 | 明确 A→B→C→D→E→F 的依赖顺序 |
-| `itemized_carrier.py` | 移除兜底补丁 | 补充：替换为带诊断信息的异常，便于排查 |
-| `bottle_carriers.py` | 提及 `YIHUA_Electrolyte_12VialCarrier` 需修改 | 明确：删除第 54-55 行的瓶子填充循环 |
-| `MaterialPlate` | 提及移除 `fill` 参数 | 说明保留 `fill=False` 路径；整体删除 `fill=True` 分支 |
-| `deck.yaml` | 未提及 | **新增**：该注册文件也需要同步更新类名 |
-| `resource_tracker.py` | 简略描述 | 提供具体的 `setdefault` 预处理代码示例 |
-| 跨站转运 | 描述了问题和方向 | 细化：新增 `electrolyte_buffer` 槽位的具体名称和坐标；修正 `transfer` 目标查找方式 |
-| 验证计划 | 简述目标 | 提供具体测试命令和逐步手动验证流程 |

unilabos/registry/ast_registry_scanner.py

@@ -32,7 +32,7 @@ from typing import Any, Dict, List, Optional, Tuple, Union
 
 MAX_SCAN_DEPTH = 10      # 最大目录递归深度
 MAX_SCAN_FILES = 1000    # 最大扫描文件数量
-_CACHE_VERSION = 1       # 缓存格式版本号，格式变更时递增
+_CACHE_VERSION = 2       # 缓存格式版本号，格式变更时递增
 
 # 合法的装饰器来源模块
 _REGISTRY_DECORATOR_MODULE = "unilabos.registry.decorators"
@@ -258,8 +258,6 @@ def scan_directory(
     }
 
 
-
-
 # ---------------------------------------------------------------------------
 # File-level parsing
 # ---------------------------------------------------------------------------
@@ -361,6 +359,7 @@ def _parse_file(
                     "actions": class_body.get("actions", {}),
                     "status_properties": class_body.get("status_properties", {}),
                     "init_params": class_body.get("init_params", []),
+                    "init_docstring": class_body.get("init_docstring"),
                     "auto_methods": class_body.get("auto_methods", {}),
                     "import_map": import_map,
                 }
@@ -497,7 +496,6 @@ def _collect_imports(tree: ast.Module, module_path: str = "") -> Dict[str, str]:
     return import_map
 
 
-
 # ---------------------------------------------------------------------------
 # Decorator finding & argument extraction
 # ---------------------------------------------------------------------------
@@ -768,6 +766,7 @@ def _extract_class_body(
         "actions": {},          # method_name -> action_info
         "status_properties": {},  # prop_name -> status_info
         "init_params": [],      # [{"name": ..., "type": ..., "default": ...}, ...]
+        "init_docstring": None,
         "auto_methods": {},     # method_name -> method_info (no @action decorator)
     }
 
@@ -780,6 +779,7 @@ def _extract_class_body(
         # --- __init__ ---
         if method_name == "__init__":
             result["init_params"] = _extract_method_params(item, import_map)
+            result["init_docstring"] = ast.get_docstring(item)
             continue
 
         # --- Skip private/dunder ---

unilabos/registry/devices/Qone_nmr.yaml

@@ -51,14 +51,18 @@ Qone_nmr:
               properties:
                 check_interval:
                   default: 60
+                  description: 检查间隔时间（秒），默认60秒
                   type: string
                 expected_count:
                   default: 1
+                  description: 期望生成的.nmr文件数量，默认1个
                   type: string
                 monitor_dir:
+                  description: 要监督的目录路径，如果未指定则使用self.monitor_directory
                   type: string
                 stability_checks:
                   default: 3
+                  description: 文件大小稳定性检查次数，默认3次
                   type: string
               required: []
               type: object
@@ -85,11 +89,14 @@ Qone_nmr:
             goal:
               properties:
                 output_dir:
+                  description: 输出目录（如果未指定，使用self.output_directory）
                   type: string
                 string_list:
+                  description: 字符串列表
                   type: string
                 txt_encoding:
                   default: utf-8
+                  description: 文件编码
                   type: string
               required:
               - string_list
@@ -151,6 +158,13 @@ Qone_nmr:
               additionalProperties: false
               properties:
                 string:
+                  description: '包含多个字符串的输入数据，支持两种格式：
+
+                    1. 逗号分隔：如 "A 1 B 2 C 3, X 10 Y 20 Z 30"
+
+                    2. 换行分隔：如 "A 1 B 2 C 3
+
+                    X 10 Y 20 Z 30"'
                   type: string
               title: StrSingleInput_Goal
               type: object

unilabos/registry/devices/bioyond_dispensing_station.yaml

@@ -47,8 +47,10 @@ bioyond_dispensing_station:
             goal:
               properties:
                 report_request:
+                  description: WorkstationReportRequest 对象，包含任务完成信息
                   type: string
                 used_materials:
+                  description: 物料使用记录列表
                   type: string
               required:
               - report_request
@@ -102,6 +104,7 @@ bioyond_dispensing_station:
             goal:
               properties:
                 material_name:
+                  description: 物料名称
                   type: string
               required:
               - material_name
@@ -611,10 +614,10 @@ bioyond_dispensing_station:
             goal:
               properties:
                 target_device_id:
-                  description: 目标反应站设备ID（从设备列表中选择，所有转移组都使用同一个目标设备）
+                  description: 目标反应站设备ID(所有转移组使用同一个设备)
                   type: string
                 transfer_groups:
-                  description: 转移任务组列表，每组包含物料名称、目标堆栈和目标库位，可以添加多组
+                  description: '转移任务组列表,每组包含:'
                   type: array
               required:
               - target_device_id
@@ -694,10 +697,13 @@ bioyond_dispensing_station:
     config:
       properties:
         config:
+          description: 配置字典,应包含material_type_mappings等配置
           type: object
         deck:
+          description: Deck对象
           type: string
         protocol_type:
+          description: 协议类型(由ROS系统传递,此处忽略)
           type: string
       required: []
       type: object

unilabos/registry/devices/coin_cell_workstation.yaml

@@ -64,12 +64,59 @@ coincellassemblyworkstation_device:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           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: /Users/sml/work
+        handles: {}
+        placeholder_keys: {}
+        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: /Users/sml/work
+                  type: string
+              required:
+              - elec_num
+              - elec_use_num
+              type: object
+            result:
+              type: object
+          required:
+          - goal
+          title: func_allpack_cmd参数
+          type: object
+        type: UniLabJsonCommand
       auto-func_allpack_cmd_simp:
         feedback: {}
         goal: {}
@@ -102,55 +149,54 @@ coincellassemblyworkstation_device:
             goal:
               properties:
                 assembly_pressure:
-                  default: 3200
+                  default: 4200
-                  description: 电池压制力(N)
+                  description: 电池压制力 (N)
                   type: integer
                 assembly_type:
                   default: 7
-                  description: 组装类型(7=不用铝箔垫, 8=使用铝箔垫)
+                  description: 组装类型 (7=不用铝箔垫, 8=使用铝箔垫)
                   type: integer
                 battery_clean_ignore:
                   default: false
-                  description: 是否忽略电池清洁步骤
+                  description: 是否忽略电池清洁
                   type: boolean
                 battery_pressure_mode:
                   default: true
                   description: 是否启用压力模式
                   type: boolean
                 dual_drop_first_volume:
-                  default: 0
+                  default: 25
-                  description: 二次滴液第一次排液体积(μL)
+                  description: 二次滴液第一次排液体积 (μL)
                   type: integer
                 dual_drop_mode:
                   default: false
-                  description: 电解液添加模式(false=单次滴液, true=二次滴液)
+                  description: 电解液添加模式 (False=单次滴液, True=二次滴液)
                   type: boolean
                 dual_drop_start_timing:
                   default: false
-                  description: 二次滴液开始滴液时机(false=正极片前, true=正极片后)
+                  description: 二次滴液开始滴液时机 (False=正极片前, True=正极片后)
                   type: boolean
                 dual_drop_suction_timing:
                   default: false
-                  description: 二次滴液吸液时机(false=正常吸液, true=先吸液)
+                  description: 二次滴液吸液时机 (False=正常吸液, True=先吸液)
                   type: boolean
                 elec_num:
                   description: 电解液瓶数
                   type: string
                 elec_use_num:
-                  default: 5
+                  description: 每瓶电解液组装的电池数
-                  description: 每瓶电解液组装电池数
                   type: string
                 elec_vol:
                   default: 50
-                  description: 电解液吸液量(μL)
+                  description: 电解液吸液量 (μL)
                   type: integer
                 file_path:
-                  default: D:\UniLabdev\Uni-Lab-OS\unilabos\devices\workstation\coin_cell_assembly
+                  default: /Users/sml/work
                   description: 实验记录保存路径
                   type: string
                 fujipian_juzhendianwei:
                   default: 0
-                  description: 负极片矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  description: 负极片矩阵点位
                   type: integer
                 fujipian_panshu:
                   default: 0
@@ -158,7 +204,7 @@ coincellassemblyworkstation_device:
                   type: integer
                 gemo_juzhendianwei:
                   default: 0
-                  description: 隔膜矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  description: 隔膜矩阵点位
                   type: integer
                 gemopanshu:
                   default: 0
@@ -170,13 +216,14 @@ coincellassemblyworkstation_device:
                   type: boolean
                 qiangtou_juzhendianwei:
                   default: 0
-                  description: 枪头盒矩阵点位。盘位置从1开始计数，有效范围：1-32, 64-96 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  description: 枪头盒矩阵点位
                   type: integer
               required:
               - elec_num
               - elec_use_num
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: func_allpack_cmd_simp参数
@@ -261,11 +308,18 @@ coincellassemblyworkstation_device:
               properties:
                 material_search_enable:
                   default: false
-                  description: 是否启用物料搜寻功能。设备初始化后会弹出物料搜寻确认弹窗，此参数控制自动点击"是"(启用)或"否"(不启用)。默认为false(不启用物料搜寻)
+                  description: '是否启用物料搜寻功能。
+
+                    设备初始化后会弹出物料搜寻确认弹窗，
+
+                    此参数控制自动点击''是''（启用）或''否''（不启用）。
+
+                    默认为False（不启用物料搜寻）。'
                   type: boolean
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_device_init_auto_start_combined参数
@@ -307,7 +361,8 @@ coincellassemblyworkstation_device:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_device_stop参数
@@ -332,7 +387,8 @@ coincellassemblyworkstation_device:
                   type: string
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_get_msg_cmd参数
@@ -346,10 +402,12 @@ coincellassemblyworkstation_device:
         handles:
           input:
           - data_key: bottle_num
-            data_source: handle
+            data_source: workflow
             data_type: integer
             handler_key: bottle_count
+            io_type: source
             label: 配液瓶数
+            required: true
         placeholder_keys: {}
         result: {}
         schema:
@@ -384,7 +442,8 @@ coincellassemblyworkstation_device:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_send_finished_cmd参数
@@ -421,7 +480,8 @@ coincellassemblyworkstation_device:
               - assembly_type
               - assembly_pressure
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_send_msg_cmd参数
@@ -477,21 +537,12 @@ coincellassemblyworkstation_device:
         handles:
           input:
           - data_key: elec_num
-            data_source: handle
+            data_source: workflow
             data_type: integer
             handler_key: bottle_count
+            io_type: source
             label: 配液瓶数
-          - data_key: formulations
+            required: true
-            data_source: handle
-            data_type: array
-            handler_key: formulations_input
-            label: 配方信息列表
-          output:
-          - data_key: assembly_data
-            data_source: executor
-            data_type: array
-            handler_key: assembly_data_output
-            label: 扣电组装数据列表
         placeholder_keys: {}
         result: {}
         schema:
@@ -502,15 +553,15 @@ coincellassemblyworkstation_device:
               properties:
                 assembly_pressure:
                   default: 4200
-                  description: 电池压制力(N)
+                  description: 电池压制力 (N)
                   type: integer
                 assembly_type:
                   default: 7
-                  description: 组装类型(7=不用铝箔垫, 8=使用铝箔垫)
+                  description: 组装类型 (7=不用铝箔垫, 8=使用铝箔垫)
                   type: integer
                 battery_clean_ignore:
                   default: false
-                  description: 是否忽略电池清洁步骤
+                  description: 是否忽略电池清洁
                   type: boolean
                 battery_pressure_mode:
                   default: true
@@ -518,29 +569,29 @@ coincellassemblyworkstation_device:
                   type: boolean
                 dual_drop_first_volume:
                   default: 25
-                  description: 二次滴液第一次排液体积(μL)
+                  description: 二次滴液第一次排液体积 (μL)
                   type: integer
                 dual_drop_mode:
                   default: false
-                  description: 电解液添加模式(false=单次滴液, true=二次滴液)
+                  description: 电解液添加模式 (False=单次滴液, True=二次滴液)
                   type: boolean
                 dual_drop_start_timing:
                   default: false
-                  description: 二次滴液开始滴液时机(false=正极片前, true=正极片后)
+                  description: 二次滴液开始滴液时机 (False=正极片前, True=正极片后)
                   type: boolean
                 dual_drop_suction_timing:
                   default: false
-                  description: 二次滴液吸液时机(false=正常吸液, true=先吸液)
+                  description: 二次滴液吸液时机 (False=正常吸液, True=先吸液)
                   type: boolean
                 elec_num:
-                  description: 电解液瓶数，如果在workflow中已通过handles连接上游(create_orders的bottle_count输出)，则此参数会自动从上游获取，无需手动填写；如果单独使用此函数(没有上游连接)，则必须手动填写电解液瓶数
+                  description: 电解液瓶数
                   type: string
                 elec_use_num:
-                  description: 每瓶电解液组装电池数
+                  description: 每瓶电解液组装的电池数
                   type: string
                 elec_vol:
                   default: 50
-                  description: 电解液吸液量(μL)
+                  description: 电解液吸液量 (μL)
                   type: integer
                 file_path:
                   default: /Users/sml/work
@@ -548,7 +599,7 @@ coincellassemblyworkstation_device:
                   type: string
                 fujipian_juzhendianwei:
                   default: 0
-                  description: 负极片矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  description: 负极片矩阵点位
                   type: integer
                 fujipian_panshu:
                   default: 0
@@ -556,7 +607,7 @@ coincellassemblyworkstation_device:
                   type: integer
                 gemo_juzhendianwei:
                   default: 0
-                  description: 隔膜矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  description: 隔膜矩阵点位
                   type: integer
                 gemopanshu:
                   default: 0
@@ -568,13 +619,14 @@ coincellassemblyworkstation_device:
                   type: boolean
                 qiangtou_juzhendianwei:
                   default: 0
-                  description: 枪头盒矩阵点位。盘位置从1开始计数，有效范围：1-32, 64-96 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  description: 枪头盒矩阵点位
                   type: integer
               required:
               - elec_num
               - elec_use_num
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: func_sendbottle_allpack_multi参数
@@ -626,31 +678,6 @@ coincellassemblyworkstation_device:
           title: modify_deck_name参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        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
       auto-qiming_coin_cell_code:
         feedback: {}
         goal: {}
@@ -698,7 +725,8 @@ coincellassemblyworkstation_device:
               required:
               - fujipian_panshu
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: qiming_coin_cell_code参数
@@ -706,10 +734,6 @@ coincellassemblyworkstation_device:
         type: UniLabJsonCommand
     module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation
     status_types:
-      data_10mm_positive_plate_remaining: float
-      data_12mm_positive_plate_remaining: float
-      data_16mm_positive_plate_remaining: float
-      data_aluminum_foil_remaining: float
       data_assembly_coin_cell_num: int
       data_assembly_pressure: int
       data_assembly_time: float
@@ -717,22 +741,14 @@ coincellassemblyworkstation_device:
       data_axis_y_pos: float
       data_axis_z_pos: float
       data_coin_cell_code: str
-      data_coin_type: int
+      data_coin_num: int
-      data_current_assembling_count: int
-      data_current_completed_count: int
       data_electrolyte_code: str
       data_electrolyte_volume: int
-      data_finished_battery_ng_remaining_capacity: float
-      data_finished_battery_remaining_capacity: float
-      data_flat_washer_remaining: float
       data_glove_box_o2_content: float
       data_glove_box_pressure: float
       data_glove_box_water_content: float
-      data_negative_shell_remaining: float
       data_open_circuit_voltage: float
       data_pole_weight: float
-      data_positive_shell_remaining: float
-      data_spring_washer_remaining: float
       request_rec_msg_status: bool
       request_send_msg_status: bool
       sys_mode: str
@@ -762,14 +778,6 @@ coincellassemblyworkstation_device:
       type: object
     data:
       properties:
-        data_10mm_positive_plate_remaining:
-          type: number
-        data_12mm_positive_plate_remaining:
-          type: number
-        data_16mm_positive_plate_remaining:
-          type: number
-        data_aluminum_foil_remaining:
-          type: number
         data_assembly_coin_cell_num:
           type: integer
         data_assembly_pressure:
@@ -784,38 +792,22 @@ coincellassemblyworkstation_device:
           type: number
         data_coin_cell_code:
           type: string
-        data_coin_type:
+        data_coin_num:
-          type: integer
-        data_current_assembling_count:
-          type: integer
-        data_current_completed_count:
           type: integer
         data_electrolyte_code:
           type: string
         data_electrolyte_volume:
           type: integer
-        data_finished_battery_ng_remaining_capacity:
-          type: number
-        data_finished_battery_remaining_capacity:
-          type: number
-        data_flat_washer_remaining:
-          type: number
         data_glove_box_o2_content:
           type: number
         data_glove_box_pressure:
           type: number
         data_glove_box_water_content:
           type: number
-        data_negative_shell_remaining:
-          type: number
         data_open_circuit_voltage:
           type: number
         data_pole_weight:
           type: number
-        data_positive_shell_remaining:
-          type: number
-        data_spring_washer_remaining:
-          type: number
         request_rec_msg_status:
           type: boolean
         request_send_msg_status:
@@ -825,36 +817,24 @@ coincellassemblyworkstation_device:
         sys_status:
           type: string
       required:
-      - sys_status
-      - sys_mode
-      - request_rec_msg_status
-      - request_send_msg_status
       - data_assembly_coin_cell_num
-      - data_open_circuit_voltage
+      - data_assembly_pressure
+      - data_assembly_time
       - data_axis_x_pos
       - data_axis_y_pos
       - data_axis_z_pos
-      - data_pole_weight
-      - data_assembly_pressure
-      - data_electrolyte_volume
-      - data_coin_type
-      - data_current_assembling_count
-      - data_current_completed_count
       - data_coin_cell_code
+      - data_coin_num
       - data_electrolyte_code
-      - data_glove_box_pressure
+      - data_electrolyte_volume
       - data_glove_box_o2_content
+      - data_glove_box_pressure
       - data_glove_box_water_content
-      - data_10mm_positive_plate_remaining
+      - data_open_circuit_voltage
-      - data_12mm_positive_plate_remaining
+      - data_pole_weight
-      - data_16mm_positive_plate_remaining
+      - request_rec_msg_status
-      - data_aluminum_foil_remaining
+      - request_send_msg_status
-      - data_positive_shell_remaining
+      - sys_mode
-      - data_flat_washer_remaining
+      - sys_status
-      - data_negative_shell_remaining
-      - data_spring_washer_remaining
-      - data_finished_battery_remaining_capacity
-      - data_finished_battery_ng_remaining_capacity
       type: object
-  registry_type: device
   version: 1.0.0

unilabos/registry/devices/laiyu_liquid_test.yaml

@@ -18,6 +18,7 @@ xyz_stepper_controller:
             goal:
               properties:
                 degrees:
+                  description: 角度值
                   type: number
               required:
               - degrees
@@ -44,6 +45,7 @@ xyz_stepper_controller:
             goal:
               properties:
                 axis:
+                  description: 电机轴
                   type: object
               required:
               - axis
@@ -71,6 +73,7 @@ xyz_stepper_controller:
               properties:
                 enable:
                   default: true
+                  description: True为使能，False为失能
                   type: boolean
               required: []
               type: object
@@ -99,9 +102,11 @@ xyz_stepper_controller:
             goal:
               properties:
                 axis:
+                  description: 电机轴
                   type: object
                 enable:
                   default: true
+                  description: True为使能，False为失能
                   type: boolean
               required:
               - axis
@@ -152,6 +157,7 @@ xyz_stepper_controller:
             goal:
               properties:
                 axis:
+                  description: 电机轴
                   type: object
               required:
               - axis
@@ -183,16 +189,21 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
+                  description: 加速度(rpm/s)
                   type: integer
                 axis:
+                  description: 电机轴
                   type: object
                 position:
+                  description: 目标位置(步数)
                   type: integer
                 precision:
                   default: 100
+                  description: 到位精度
                   type: integer
                 speed:
                   default: 5000
+                  description: 运行速度(rpm)
                   type: integer
               required:
               - axis
@@ -225,16 +236,21 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
+                  description: 加速度
                   type: integer
                 axis:
+                  description: 电机轴
                   type: object
                 degrees:
+                  description: 目标角度（度）
                   type: number
                 precision:
                   default: 100
+                  description: 精度
                   type: integer
                 speed:
                   default: 5000
+                  description: 移动速度
                   type: integer
               required:
               - axis
@@ -267,16 +283,21 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
+                  description: 加速度
                   type: integer
                 axis:
+                  description: 电机轴
                   type: object
                 precision:
                   default: 100
+                  description: 精度
                   type: integer
                 revolutions:
+                  description: 目标圈数
                   type: number
                 speed:
                   default: 5000
+                  description: 移动速度
                   type: integer
               required:
               - axis
@@ -309,15 +330,20 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
+                  description: 加速度
                   type: integer
                 speed:
                   default: 5000
+                  description: 运行速度
                   type: integer
                 x:
+                  description: X轴目标位置
                   type: integer
                 y:
+                  description: Y轴目标位置
                   type: integer
                 z:
+                  description: Z轴目标位置
                   type: integer
               required: []
               type: object
@@ -350,15 +376,20 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
+                  description: 加速度
                   type: integer
                 speed:
                   default: 5000
+                  description: 移动速度
                   type: integer
                 x_deg:
+                  description: X轴目标角度（度）
                   type: number
                 y_deg:
+                  description: Y轴目标角度（度）
                   type: number
                 z_deg:
+                  description: Z轴目标角度（度）
                   type: number
               required: []
               type: object
@@ -391,15 +422,20 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
+                  description: 加速度
                   type: integer
                 speed:
                   default: 5000
+                  description: 移动速度
                   type: integer
                 x_rev:
+                  description: X轴目标圈数
                   type: number
                 y_rev:
+                  description: Y轴目标圈数
                   type: number
                 z_rev:
+                  description: Z轴目标圈数
                   type: number
               required: []
               type: object
@@ -427,6 +463,7 @@ xyz_stepper_controller:
             goal:
               properties:
                 revolutions:
+                  description: 圈数
                   type: number
               required:
               - revolutions
@@ -456,10 +493,13 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
+                  description: 加速度(rpm/s)
                   type: integer
                 axis:
+                  description: 电机轴
                   type: object
                 speed:
+                  description: 运行速度(rpm)，正值正转，负值反转
                   type: integer
               required:
               - axis
@@ -487,6 +527,7 @@ xyz_stepper_controller:
             goal:
               properties:
                 steps:
+                  description: 步数
                   type: integer
               required:
               - steps
@@ -513,6 +554,7 @@ xyz_stepper_controller:
             goal:
               properties:
                 steps:
+                  description: 步数
                   type: integer
               required:
               - steps
@@ -564,9 +606,11 @@ xyz_stepper_controller:
             goal:
               properties:
                 axis:
+                  description: 电机轴
                   type: object
                 timeout:
                   default: 30.0
+                  description: 超时时间(秒)
                   type: number
               required:
               - axis
@@ -591,11 +635,14 @@ xyz_stepper_controller:
       properties:
         baudrate:
           default: 115200
+          description: 波特率
           type: integer
         port:
+          description: 串口端口名
           type: string
         timeout:
           default: 1.0
+          description: 通信超时时间
           type: number
       required:
       - port

unilabos/registry/devices/liquid_handler.yaml

@@ -510,9 +510,11 @@ liquid_handler:
             goal:
               properties:
                 msg:
+                  description: information to be printed
                   type: string
                 seconds:
                   default: 0
+                  description: seconds to wait
                   type: string
               required: []
               type: object
@@ -2963,15 +2965,22 @@ liquid_handler:
               additionalProperties: false
               properties:
                 channel:
+                  description: int
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
                 dis_to_top:
+                  description: 'float
+
+                    Height in mm to move to relative to the well top.'
                   maximum: 1.7976931348623157e+308
                   minimum: -1.7976931348623157e+308
                   type: number
                 well:
                   additionalProperties: false
+                  description: 'Well
+
+                    The target well.'
                   properties:
                     category:
                       type: string
@@ -4829,11 +4838,13 @@ liquid_handler:
     config:
       properties:
         backend:
+          description: Backend to use.
           type: object
         channel_num:
           default: 8
           type: integer
         deck:
+          description: Deck to use.
           type: object
         simulator:
           default: false
@@ -4883,14 +4894,17 @@ liquid_handler.biomek:
                 bind_parent_id:
                   type: string
                 liquid_input_slot:
+                  description: 液体输入槽列表
                   items:
                     type: integer
                   type: array
                 liquid_type:
+                  description: 液体类型列表
                   items:
                     type: string
                   type: array
                 liquid_volume:
+                  description: 液体体积列表
                   items:
                     type: integer
                   type: array
@@ -4901,6 +4915,7 @@ liquid_handler.biomek:
                     type: object
                   type: array
                 slot_on_deck:
+                  description: 甲板上的槽位
                   type: integer
               required:
               - resource_tracker
@@ -5036,20 +5051,27 @@ liquid_handler.biomek:
               additionalProperties: false
               properties:
                 none_keys:
+                  description: 需要设置为None的键列表
                   items:
                     type: string
                   type: array
                 protocol_author:
+                  description: 协议作者
                   type: string
                 protocol_date:
+                  description: 协议日期
                   type: string
                 protocol_description:
+                  description: 协议描述
                   type: string
                 protocol_name:
+                  description: 协议名称
                   type: string
                 protocol_type:
+                  description: 协议类型
                   type: string
                 protocol_version:
+                  description: 协议版本
                   type: string
               title: LiquidHandlerProtocolCreation_Goal
               type: object

unilabos/registry/devices/organic_miscellaneous.yaml

@@ -207,8 +207,12 @@ separator.homemade:
             goal:
               properties:
                 condition:
+                  description: The condition to be monitored, either 'delta' or 'time'.
                   type: string
                 value:
+                  description: 'The threshold value for the condition.
+
+                    `delta > 0.05`, `time > 60`'
                   type: string
               required:
               - condition
@@ -305,12 +309,17 @@ separator.homemade:
                 event:
                   type: string
                 settling_time:
+                  description: The duration for which to settle after stirring, in
+                    seconds. Defaults to 10.
                   type: string
                 stir_speed:
+                  description: The speed of stirring, in RPM. Defaults to 300.
                   maximum: 1.7976931348623157e+308
                   minimum: -1.7976931348623157e+308
                   type: number
                 stir_time:
+                  description: The duration for which to stir, in seconds. Defaults
+                    to 10.
                   maximum: 1.7976931348623157e+308
                   minimum: -1.7976931348623157e+308
                   type: number

unilabos/registry/devices/pump_and_valve.yaml

@@ -456,6 +456,7 @@ syringe_pump_with_valve.runze.SY03B-T06:
             goal:
               properties:
                 volume:
+                  description: 'absolute position of the plunger, unit: mL'
                   type: number
               required:
               - volume
@@ -481,6 +482,7 @@ syringe_pump_with_valve.runze.SY03B-T06:
             goal:
               properties:
                 volume:
+                  description: 'absolute position of the plunger, unit: mL'
                   type: number
               required:
               - volume
@@ -687,8 +689,10 @@ syringe_pump_with_valve.runze.SY03B-T06:
             goal:
               properties:
                 max_velocity:
+                  description: 'maximum velocity of the plunger, unit: ml/s'
                   type: number
                 position:
+                  description: 'absolute position of the plunger, unit: ml'
                   type: number
               required:
               - position
@@ -1003,6 +1007,7 @@ syringe_pump_with_valve.runze.SY03B-T08:
             goal:
               properties:
                 volume:
+                  description: 'absolute position of the plunger, unit: mL'
                   type: number
               required:
               - volume
@@ -1028,6 +1033,7 @@ syringe_pump_with_valve.runze.SY03B-T08:
             goal:
               properties:
                 volume:
+                  description: 'absolute position of the plunger, unit: mL'
                   type: number
               required:
               - volume
@@ -1234,8 +1240,10 @@ syringe_pump_with_valve.runze.SY03B-T08:
             goal:
               properties:
                 max_velocity:
+                  description: 'maximum velocity of the plunger, unit: ml/s'
                   type: number
                 position:
+                  description: 'absolute position of the plunger, unit: ml'
                   type: number
               required:
               - position

unilabos/registry/devices/reaction_station_bioyond.yaml

@@ -32,7 +32,7 @@ reaction_station.bioyond:
                   type: integer
                 end_point:
                   default: 0
-                  description: 终点计时点 (Start=开始前, End=结束后)
+                  description: 终点计时点 (Start=0, End=1)
                   type: integer
                 end_step_key:
                   default: ''
@@ -40,11 +40,11 @@ reaction_station.bioyond:
                   type: string
                 start_point:
                   default: 0
-                  description: 起点计时点 (Start=开始前, End=结束后)
+                  description: 起点计时点 (Start=0, End=1)
                   type: integer
                 start_step_key:
                   default: ''
-                  description: 起点步骤Key (例如 "feeding", "liquid", 可选, 默认为空则自动选择)
+                  description: 起点步骤Key (可选, 默认为空则自动选择)
                   type: string
               required:
               - duration
@@ -91,6 +91,7 @@ reaction_station.bioyond:
             goal:
               properties:
                 json_str:
+                  description: 订单参数的JSON字符串
                   type: string
               required:
               - json_str
@@ -117,6 +118,7 @@ reaction_station.bioyond:
             goal:
               properties:
                 workflow_ids:
+                  description: 要删除的工作流ID数组
                   items:
                     type: string
                   type: array
@@ -145,6 +147,7 @@ reaction_station.bioyond:
             goal:
               properties:
                 json_str:
+                  description: 'JSON格式的字符串,包含:'
                   type: string
               required:
               - json_str
@@ -197,6 +200,7 @@ reaction_station.bioyond:
             goal:
               properties:
                 web_workflow_json:
+                  description: JSON 格式的网页工作流列表
                   type: string
               required:
               - web_workflow_json
@@ -228,8 +232,10 @@ reaction_station.bioyond:
             goal:
               properties:
                 reactor_id:
+                  description: 反应器编号 (1-5)
                   type: integer
                 temperature:
+                  description: 目标温度 (°C)
                   type: number
               required:
               - reactor_id
@@ -257,6 +263,7 @@ reaction_station.bioyond:
             goal:
               properties:
                 preintake_id:
+                  description: 通量ID
                   type: string
               required:
               - preintake_id
@@ -338,6 +345,7 @@ reaction_station.bioyond:
             goal:
               properties:
                 value:
+                  description: 工作流 ID 列表
                   items:
                     type: string
                   type: array
@@ -365,6 +373,7 @@ reaction_station.bioyond:
             goal:
               properties:
                 workflow_id:
+                  description: 工作流ID
                   type: string
               required:
               - workflow_id
@@ -424,11 +433,11 @@ reaction_station.bioyond:
             goal:
               properties:
                 assign_material_name:
-                  description: 物料名称（不能为空）
+                  description: 物料名称(液体种类)
                   type: string
                 temperature:
                   default: 25.0
-                  description: 温度设定(°C)
+                  description: 温度(C)
                   type: number
                 time:
                   default: '90'
@@ -436,14 +445,14 @@ reaction_station.bioyond:
                   type: string
                 titration_type:
                   default: '1'
-                  description: 是否滴定(NO=否, YES=是)
+                  description: 是否滴定(NO=1, YES=2)
                   type: string
                 torque_variation:
                   default: 2
-                  description: 是否观察 (NO=否, YES=是)
+                  description: 是否观察(NO=1, YES=2)
                   type: integer
                 volume:
-                  description: 分液公式(mL)
+                  description: 分液量(μL)
                   type: string
               required:
               - assign_material_name
@@ -525,11 +534,11 @@ reaction_station.bioyond:
               properties:
                 assign_material_name:
                   default: BAPP
-                  description: 物料名称
+                  description: 物料名称(试剂瓶位)
                   type: string
                 temperature:
                   default: 25.0
-                  description: 温度设定(°C)
+                  description: 温度设定(C)
                   type: number
                 time:
                   default: '0'
@@ -537,15 +546,15 @@ reaction_station.bioyond:
                   type: string
                 titration_type:
                   default: '1'
-                  description: 是否滴定(NO=否, YES=是)
+                  description: 是否滴定(NO=1, YES=2)
                   type: string
                 torque_variation:
                   default: 1
-                  description: 是否观察 (NO=否, YES=是)
+                  description: 是否观察(int类型, 1=否, 2=是)
                   type: integer
                 volume:
                   default: '350'
-                  description: 分液公式(mL)
+                  description: 分液质量(g)
                   type: string
               required: []
               type: object
@@ -593,26 +602,28 @@ reaction_station.bioyond:
                   description: 物料名称
                   type: string
                 solvents:
-                  description: '溶剂信息对象(可选),包含: additional_solvent(溶剂体积mL), total_liquid_volume(总液体体积mL)。如果提供,将自动计算volume'
+                  description: '溶剂信息的字典或JSON字符串(可选),格式如下:
+
+                    {'
                   type: string
                 temperature:
                   default: 25.0
-                  description: 温度设定(°C),默认25.00
+                  description: 温度设定(C)
                   type: number
                 time:
                   default: '360'
-                  description: 观察时间(分钟),默认360
+                  description: 观察时间(分钟)
                   type: string
                 titration_type:
                   default: '1'
-                  description: 是否滴定(NO=否, YES=是),默认NO
+                  description: 是否滴定(NO=1, YES=2)
                   type: string
                 torque_variation:
                   default: 2
-                  description: 是否观察 (NO=否, YES=是),默认YES
+                  description: 是否观察(NO=1, YES=2)
                   type: integer
                 volume:
-                  description: 分液量(mL)。可直接提供,或通过solvents参数自动计算
+                  description: 分液量(μL),直接指定体积(可选,如果提供solvents则自动计算)
                   type: string
               required:
               - assign_material_name
@@ -671,33 +682,32 @@ reaction_station.bioyond:
                   description: 物料名称
                   type: string
                 extracted_actuals:
-                  description: 从报告提取的实际加料量JSON字符串,包含actualTargetWeigh(m二酐滴定)和actualVolume(V二酐滴定)
+                  description: 从报告提取的实际加料量JSON字符串,包含actualTargetWeigh和actualVolume
                   type: string
                 feeding_order_data:
-                  description: 'feeding_order JSON对象,用于获取m二酐值(type为main_anhydride的amount)。示例:
+                  description: feeding_order JSON字符串或对象,用于获取m二酐值
-                    {"feeding_order": [{"type": "main_anhydride", "amount": 1.915}]}'
                   type: string
                 temperature:
                   default: 25.0
-                  description: 温度设定(°C),默认25.00
+                  description: 温度(C)
                   type: number
                 time:
                   default: '90'
-                  description: 观察时间(分钟),默认90
+                  description: 观察时间(分钟)
                   type: string
                 titration_type:
                   default: '2'
-                  description: 是否滴定(NO=否, YES=是),默认YES
+                  description: 是否滴定(NO=1, YES=2),默认2
                   type: string
                 torque_variation:
                   default: 2
-                  description: 是否观察 (NO=否, YES=是),默认YES
+                  description: 是否观察(NO=1, YES=2)
                   type: integer
                 volume_formula:
-                  description: 分液公式(mL)。可直接提供固定公式,或留空由系统根据x_value、feeding_order_data、extracted_actuals自动生成
+                  description: 分液公式(μL),如果提供则直接使用,否则自动计算
                   type: string
                 x_value:
-                  description: 公式中的x值,手工输入,格式为"{{1-2-3}}"(包含双花括号)。用于自动公式计算
+                  description: 手工输入的x值,格式如 "1-2-3"
                   type: string
               required:
               - assign_material_name
@@ -738,7 +748,7 @@ reaction_station.bioyond:
                   type: string
                 temperature:
                   default: 25.0
-                  description: 温度设定(°C)
+                  description: 温度(C)
                   type: number
                 time:
                   default: '0'
@@ -746,14 +756,14 @@ reaction_station.bioyond:
                   type: string
                 titration_type:
                   default: '1'
-                  description: 是否滴定(NO=否, YES=是)
+                  description: 是否滴定(NO=1, YES=2)
                   type: string
                 torque_variation:
                   default: 1
-                  description: 是否观察 (NO=否, YES=是)
+                  description: 是否观察(NO=1, YES=2)
                   type: integer
                 volume_formula:
-                  description: 分液公式(mL)
+                  description: 分液公式(μL)
                   type: string
               required:
               - volume_formula
@@ -786,7 +796,7 @@ reaction_station.bioyond:
                   description: 任务名称
                   type: string
                 workflow_name:
-                  description: 工作流名称
+                  description: 合并后的工作流名称
                   type: string
               required:
               - workflow_name
@@ -819,15 +829,15 @@ reaction_station.bioyond:
             goal:
               properties:
                 assign_material_name:
-                  description: 物料名称
+                  description: 物料名称(不能为空)
                   type: string
                 cutoff:
                   default: '900000'
-                  description: 粘度上限
+                  description: 粘度上限(需为有效数字字符串,默认 "900000")
                   type: string
                 temperature:
                   default: -10.0
-                  description: 温度设定(°C)
+                  description: 温度设定(C,范围:-50.00 至 100.00)
                   type: number
               required:
               - assign_material_name
@@ -909,11 +919,11 @@ reaction_station.bioyond:
                   description: 物料名称(用于获取试剂瓶位ID)
                   type: string
                 material_id:
-                  description: 粉末类型ID，Salt=盐（21分钟），Flour=面粉（27分钟），BTDA=BTDA（38分钟）
+                  description: 粉末类型ID, Salt=1, Flour=2, BTDA=3
                   type: string
                 temperature:
                   default: 25.0
-                  description: 温度设定(°C)
+                  description: 温度设定(C)
                   type: number
                 time:
                   default: '0'
@@ -921,7 +931,7 @@ reaction_station.bioyond:
                   type: string
                 torque_variation:
                   default: 1
-                  description: 是否观察 (NO=否, YES=是)
+                  description: 是否观察(NO=1, YES=2)
                   type: integer
               required:
               - material_id
@@ -945,10 +955,13 @@ reaction_station.bioyond:
     config:
       properties:
         config:
+          description: 配置字典,应包含workflow_mappings等配置
           type: object
         deck:
+          description: Deck对象
           type: string
         protocol_type:
+          description: 协议类型(由ROS系统传递,此处忽略)
           type: string
       required: []
       type: object

unilabos/registry/devices/robot_arm.yaml

@@ -198,6 +198,8 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
               additionalProperties: false
               properties:
                 command:
+                  description: A JSON-formatted string that includes option, target,
+                    speed, lift_height, mt_height
                   type: string
               title: SendCmd_Goal
               type: object
@@ -241,6 +243,8 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
               additionalProperties: false
               properties:
                 command:
+                  description: A JSON-formatted string that includes quaternion, speed,
+                    position
                   type: string
               title: SendCmd_Goal
               type: object
@@ -284,6 +288,7 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
               additionalProperties: false
               properties:
                 command:
+                  description: A JSON-formatted string that includes speed
                   type: string
               title: SendCmd_Goal
               type: object

unilabos/registry/devices/robot_linear_motion.yaml

@@ -709,6 +709,8 @@ linear_motion.toyo_xyz.sim:
               additionalProperties: false
               properties:
                 command:
+                  description: A JSON-formatted string that includes option, target,
+                    speed, lift_height, mt_height
                   type: string
               title: SendCmd_Goal
               type: object
@@ -752,6 +754,8 @@ linear_motion.toyo_xyz.sim:
               additionalProperties: false
               properties:
                 command:
+                  description: A JSON-formatted string that includes quaternion, speed,
+                    position
                   type: string
               title: SendCmd_Goal
               type: object
@@ -795,6 +799,7 @@ linear_motion.toyo_xyz.sim:
               additionalProperties: false
               properties:
                 command:
+                  description: A JSON-formatted string that includes speed
                   type: string
               title: SendCmd_Goal
               type: object

unilabos/registry/devices/virtual_device.yaml

@@ -2179,6 +2179,7 @@ virtual_multiway_valve:
             goal:
               properties:
                 port_number:
+                  description: 端口号 (1-8)
                   type: integer
               required:
               - port_number
@@ -2225,6 +2226,7 @@ virtual_multiway_valve:
             goal:
               properties:
                 port_number:
+                  description: 目标端口号 (1-8)
                   type: integer
               required:
               - port_number
@@ -2261,6 +2263,7 @@ virtual_multiway_valve:
               additionalProperties: false
               properties:
                 command:
+                  description: 目标位置 (0-8) 或位置字符串
                   type: string
               title: SendCmd_Goal
               type: object
@@ -2304,6 +2307,7 @@ virtual_multiway_valve:
               additionalProperties: false
               properties:
                 command:
+                  description: 目标位置 (0-8) 或位置字符串
                   type: string
               title: SendCmd_Goal
               type: object
@@ -3960,6 +3964,14 @@ virtual_separator:
     io_type: source
     label: bottom_phase_out
     side: SOUTH
+  - data_key: top_outlet
+    data_source: executor
+    data_type: fluid
+    description: 上相（轻相）液体输出口
+    handler_key: topphaseout
+    io_type: source
+    label: top_phase_out
+    side: NORTH
   - data_key: mechanical_port
     data_source: handle
     data_type: mechanical
@@ -4207,6 +4219,7 @@ virtual_solenoid_valve:
               additionalProperties: false
               properties:
                 string:
+                  description: '"ON"/"OFF" 或 "OPEN"/"CLOSED"'
                   type: string
               title: StrSingleInput_Goal
               type: object
@@ -4250,6 +4263,7 @@ virtual_solenoid_valve:
               additionalProperties: false
               properties:
                 command:
+                  description: '"OPEN"/"CLOSED" 或其他控制命令'
                   type: string
               title: SendCmd_Goal
               type: object
@@ -4410,16 +4424,20 @@ virtual_solid_dispenser:
                 event:
                   type: string
                 mass:
+                  description: 质量字符串 (如 "2.9 g")
                   type: string
                 mol:
+                  description: 摩尔数字符串 (如 "0.12 mol")
                   type: string
                 purpose:
+                  description: 添加目的
                   type: string
                 rate_spec:
                   type: string
                 ratio:
                   type: string
                 reagent:
+                  description: 试剂名称
                   type: string
                 stir:
                   type: boolean
@@ -4431,6 +4449,7 @@ virtual_solid_dispenser:
                   type: string
                 vessel:
                   additionalProperties: false
+                  description: 目标容器
                   properties:
                     category:
                       type: string
@@ -5560,8 +5579,10 @@ virtual_transfer_pump:
             goal:
               properties:
                 velocity:
+                  description: 拉取速度 (ml/s)
                   type: number
                 volume:
+                  description: 要拉取的体积 (ml)
                   type: number
               required:
               - volume
@@ -5588,8 +5609,10 @@ virtual_transfer_pump:
             goal:
               properties:
                 velocity:
+                  description: 推出速度 (ml/s)
                   type: number
                 volume:
+                  description: 要推出的体积 (ml)
                   type: number
               required:
               - volume
@@ -5685,10 +5708,12 @@ virtual_transfer_pump:
               additionalProperties: false
               properties:
                 max_velocity:
+                  description: 移动速度 (ml/s)
                   maximum: 1.7976931348623157e+308
                   minimum: -1.7976931348623157e+308
                   type: number
                 position:
+                  description: 目标位置 (ml)
                   maximum: 1.7976931348623157e+308
                   minimum: -1.7976931348623157e+308
                   type: number
@@ -5837,8 +5862,10 @@ virtual_transfer_pump:
     config:
       properties:
         config:
+          description: 配置字典，包含max_volume, port等参数
           type: object
         device_id:
+          description: 设备ID
           type: string
       required: []
       type: object

unilabos/registry/devices/xrd_d7mate.yaml

@@ -409,11 +409,11 @@ xrd_d7mate:
               properties:
                 end_theta:
                   default: 80.0
-                  description: 结束角度（≥5.5°，且必须大于start_theta）
+                  description: 结束角度（≥5.5°，且必须大于 start_theta）
                   type: number
                 exp_time:
                   default: 0.1
-                  description: 曝光时间（0.1-5.0秒）
+                  description: 曝光时间（0.1-5.0 秒）
                   type: number
                 increment:
                   default: 0.05
@@ -421,7 +421,7 @@ xrd_d7mate:
                   type: number
                 sample_id:
                   default: ''
-                  description: 样品标识符
+                  description: 样品名称
                   type: string
                 start_theta:
                   default: 10.0
@@ -433,7 +433,7 @@ xrd_d7mate:
                   type: string
                 wait_minutes:
                   default: 3.0
-                  description: 允许上样后等待分钟数
+                  description: 在允许上样后、发送样品准备完成前的等待分钟数（默认 3 分钟）
                   type: number
               required: []
               title: StartWorkflow_Goal
@@ -492,12 +492,15 @@ xrd_d7mate:
       properties:
         host:
           default: 127.0.0.1
+          description: 设备IP地址
           type: string
         port:
           default: 6001
+          description: 通信端口，默认6001
           type: string
         timeout:
           default: 10.0
+          description: 超时时间，单位秒
           type: string
       required: []
       type: object

unilabos/registry/devices/zhida_gcms.yaml

@@ -217,6 +217,7 @@ zhida_gcms:
               additionalProperties: false
               properties:
                 string:
+                  description: Base64编码的CSV数据（ROS2参数名）
                   type: string
               title: StrSingleInput_Goal
               type: object
@@ -257,6 +258,7 @@ zhida_gcms:
               additionalProperties: false
               properties:
                 string:
+                  description: CSV文件路径（ROS2参数名）
                   type: string
               title: StrSingleInput_Goal
               type: object
@@ -289,12 +291,15 @@ zhida_gcms:
       properties:
         host:
           default: 192.168.3.184
+          description: 设备IP地址，本地部署时可使用'127.0.0.1'
           type: string
         port:
           default: 5792
+          description: 通信端口，默认5792
           type: string
         timeout:
           default: 10.0
+          description: 超时时间，单位秒
           type: string
       required: []
       type: object

unilabos/registry/registry.py

@@ -271,6 +271,7 @@ class Registry:
         registry_cache.pkl 一个文件中，删除即可完全重置。
         """
         import time as _time
+        from unilabos.registry.ast_registry_scanner import _CACHE_VERSION as AST_SCAN_CACHE_VERSION
         from unilabos.registry.ast_registry_scanner import scan_directory
 
         scan_t0 = _time.perf_counter()
@@ -286,6 +287,10 @@ class Registry:
         # ---- 统一缓存：一个 pkl 包含所有数据 ----
         unified_cache = self._load_config_cache()
         ast_cache = unified_cache.setdefault("_ast_scan", {"files": {}})
+        if ast_cache.get("version") != AST_SCAN_CACHE_VERSION:
+            ast_cache = {"version": AST_SCAN_CACHE_VERSION, "files": {}}
+            unified_cache["_ast_scan"] = ast_cache
+            unified_cache.pop("_build_results", None)
 
         # 默认：扫描 unilabos 包所在的父目录
         pkg_root = Path(__file__).resolve().parent.parent          # .../unilabos
@@ -561,13 +566,47 @@ class Registry:
 
         return prop_schema
 
+    @staticmethod
+    def _apply_docstring_param_metadata(
+        schema: Dict[str, Any],
+        doc_info: Dict[str, Any],
+        field_to_param: Optional[Dict[str, str]] = None,
+        apply_defaults: bool = False,
+    ) -> None:
+        """Apply parsed docstring display names and descriptions to schema properties."""
+        if not schema or not doc_info:
+            return
+
+        props = schema.get("properties", {})
+        if not isinstance(props, dict):
+            return
+
+        param_descs = doc_info.get("params", {}) or {}
+        param_display_names = doc_info.get("param_display_names", {}) or {}
+        for field_name, prop_schema in props.items():
+            if not isinstance(prop_schema, dict):
+                continue
+            param_name = field_to_param.get(field_name, field_name) if field_to_param else field_name
+            if not isinstance(param_name, str):
+                continue
+            param_name = param_name.removesuffix("[]")
+            if param_name in param_display_names:
+                prop_schema["title"] = param_display_names[param_name]
+            elif apply_defaults and not prop_schema.get("title"):
+                prop_schema["title"] = field_name
+
+            if param_name in param_descs:
+                prop_schema["description"] = param_descs[param_name]
+            elif apply_defaults and "description" not in prop_schema:
+                prop_schema["description"] = ""
+
     def _generate_unilab_json_command_schema(
         self, method_args: list, docstring: Optional[str] = None,
         import_map: Optional[Dict[str, str]] = None,
+        apply_doc_defaults: bool = False,
     ) -> Dict[str, Any]:
         """根据方法参数和 docstring 生成 UniLabJsonCommand schema"""
         doc_info = parse_docstring(docstring)
-        param_descs = doc_info.get("params", {})
 
         schema = {
             "type": "object",
@@ -598,12 +637,10 @@ class Registry:
                     param_name, param_type, param_default, import_map=import_map
                 )
 
-            if param_name in param_descs:
-                schema["properties"][param_name]["description"] = param_descs[param_name]
-
             if param_required:
                 schema["required"].append(param_name)
 
+        self._apply_docstring_param_metadata(schema, doc_info, apply_defaults=apply_doc_defaults)
         return schema
 
     def _generate_status_types_schema(self, status_methods: Dict[str, Any]) -> Dict[str, Any]:
@@ -799,6 +836,7 @@ class Registry:
             type_str = "UniLabJsonCommandAsync" if is_async else "UniLabJsonCommand"
             params = method_info.get("params", [])
             method_doc = method_info.get("docstring")
+            method_doc_info = parse_docstring(method_doc)
             goal_schema = self._generate_schema_from_ast_params(params, method_name, method_doc, imap)
 
             if action_args is not None:
@@ -828,7 +866,11 @@ class Registry:
 
             # action handles: 从 @action(handles=[...]) 提取并转换为标准格式
             raw_handles = (action_args or {}).get("handles")
-            handles = normalize_ast_action_handles(raw_handles) if isinstance(raw_handles, list) else (raw_handles or {})
+            handles = (
+                normalize_ast_action_handles(raw_handles)
+                if isinstance(raw_handles, list)
+                else (raw_handles or {})
+            )
 
             # placeholder_keys: 先从参数类型自动检测，再用装饰器显式配置覆盖/补充
             pk = detect_placeholder_keys(params)
@@ -847,7 +889,12 @@ class Registry:
                 "goal": goal,
                 "feedback": (action_args or {}).get("feedback") or {},
                 "result": (action_args or {}).get("result") or {},
-                "schema": wrap_action_schema(goal_schema, action_name, result_schema=result_schema),
+                "schema": wrap_action_schema(
+                    goal_schema,
+                    action_name,
+                    description=(action_args or {}).get("description") or method_doc_info.get("description", ""),
+                    result_schema=result_schema,
+                ),
                 "goal_default": goal_default,
                 "handles": handles,
                 "placeholder_keys": pk,
@@ -886,7 +933,11 @@ class Registry:
                 action_name = f"auto-{action_name}"
 
             raw_handles = action_args.get("handles")
-            handles = normalize_ast_action_handles(raw_handles) if isinstance(raw_handles, list) else (raw_handles or {})
+            handles = (
+                normalize_ast_action_handles(raw_handles)
+                if isinstance(raw_handles, list)
+                else (raw_handles or {})
+            )
 
             method_params = method_info.get("params", [])
 
@@ -979,7 +1030,10 @@ class Registry:
                 "schema": schema,
                 "goal_default": goal_default,
                 "handles": handles,
-                "placeholder_keys": {**detect_placeholder_keys(method_params), **(action_args.get("placeholder_keys") or {})},
+                "placeholder_keys": {
+                    **detect_placeholder_keys(method_params),
+                    **(action_args.get("placeholder_keys") or {}),
+                },
             }
             if action_args.get("always_free") or method_info.get("always_free"):
                 action_entry["always_free"] = True
@@ -988,13 +1042,22 @@ class Registry:
             nt = normalize_enum_value(action_args.get("node_type"), NodeType)
             if nt:
                 action_entry["node_type"] = nt
+            goal_schema_for_docs = action_entry.get("schema", {}).get("properties", {}).get("goal", {})
+            self._apply_docstring_param_metadata(
+                goal_schema_for_docs,
+                parse_docstring(method_info.get("docstring")),
+                goal,
+                apply_defaults=True,
+            )
             action_value_mappings[action_name] = action_entry
 
         action_value_mappings = dict(sorted(action_value_mappings.items()))
 
         # --- init_param_schema = { config: <init_params>, data: <status_types> } ---
         init_params = ast_meta.get("init_params", [])
-        config_schema = self._generate_schema_from_ast_params(init_params, "__init__", import_map=imap)
+        config_schema = self._generate_schema_from_ast_params(
+            init_params, "__init__", ast_meta.get("init_docstring"), import_map=imap
+        )
         data_schema = self._generate_status_schema_from_ast(
             ast_meta.get("status_properties", {}), imap
         )
@@ -1042,7 +1105,6 @@ class Registry:
     ) -> Dict[str, Any]:
         """Generate JSON Schema from AST-extracted parameter list."""
         doc_info = parse_docstring(docstring)
-        param_descs = doc_info.get("params", {})
 
         schema: Dict[str, Any] = {
             "type": "object",
@@ -1072,12 +1134,10 @@ class Registry:
                     pname, ptype, pdefault, import_map
                 )
 
-            if pname in param_descs:
-                schema["properties"][pname]["description"] = param_descs[pname]
-
             if prequired:
                 schema["required"].append(pname)
 
+        self._apply_docstring_param_metadata(schema, doc_info, apply_defaults=True)
         return schema
 
     def _generate_status_schema_from_ast(
@@ -1807,7 +1867,7 @@ class Registry:
                         else:
                             action_key = f"auto-{k}"
                         goal_schema = self._generate_unilab_json_command_schema(
-                            v["args"], import_map=enhanced_import_map
+                            v["args"], docstring=v.get("docstring"), import_map=enhanced_import_map
                         )
                         ret_type = v.get("return_type", "")
                         result_schema = None
@@ -1816,7 +1876,13 @@ class Registry:
                                 "result", ret_type, None, import_map=enhanced_import_map
                             )
                         old_cfg = old_action_configs.get(action_key) or old_action_configs.get(f"auto-{k}", {})
-                        new_schema = wrap_action_schema(goal_schema, action_key, result_schema=result_schema)
+                        doc_info = parse_docstring(v.get("docstring"))
+                        new_schema = wrap_action_schema(
+                            goal_schema,
+                            action_key,
+                            description=doc_info.get("description", ""),
+                            result_schema=result_schema,
+                        )
                         old_schema = old_cfg.get("schema", {})
                         if old_schema:
                             preserve_field_descriptions(new_schema, old_schema)
@@ -1882,6 +1948,12 @@ class Registry:
 
                         merged_pk = dict(old_cfg.get("placeholder_keys", {}))
                         merged_pk.update(detect_placeholder_keys(v["args"]))
+                        goal_schema_for_docs = (
+                            entry_schema.get("properties", {}).get("goal", {})
+                            if isinstance(entry_schema, dict)
+                            else {}
+                        )
+                        self._apply_docstring_param_metadata(goal_schema_for_docs, doc_info, entry_goal)
 
                         entry = {
                             "type": entry_type,
@@ -1902,7 +1974,8 @@ class Registry:
 
                     device_config["init_param_schema"] = {}
                     init_schema = self._generate_unilab_json_command_schema(
-                        enhanced_info["init_params"], "__init__",
+                        enhanced_info["init_params"],
+                        docstring=enhanced_info.get("init_docstring"),
                         import_map=enhanced_import_map,
                     )
                     device_config["init_param_schema"]["config"] = init_schema
@@ -1949,7 +2022,9 @@ class Registry:
                             action_str_type_mapping[action_type_str] = target_type
                             if target_type is not None:
                                 try:
-                                    action_config["goal_default"] = ROS2MessageInstance(target_type.Goal()).get_python_dict()
+                                    action_config["goal_default"] = ROS2MessageInstance(
+                                        target_type.Goal()
+                                    ).get_python_dict()
                                 except Exception:
                                     action_config["goal_default"] = {}
                                 prev_schema = action_config.get("schema", {})
@@ -2141,6 +2216,7 @@ class Registry:
                                 "unilabos_device_id": {
                                     "type": "string",
                                     "default": "",
+                                    "title": "设备ID",
                                     "description": "UniLabOS设备ID，用于指定执行动作的具体设备实例",
                                 },
                                 **schema["properties"]["goal"]["properties"],
@@ -2212,7 +2288,14 @@ class Registry:
 lab_registry = Registry()
 
 
-def build_registry(registry_paths=None, devices_dirs=None, upload_registry=False, check_mode=False, complete_registry=False, external_only=False):
+def build_registry(
+    registry_paths=None,
+    devices_dirs=None,
+    upload_registry=False,
+    check_mode=False,
+    complete_registry=False,
+    external_only=False,
+):
     """
     构建或获取Registry单例实例
     """
@@ -2226,7 +2309,12 @@ def build_registry(registry_paths=None, devices_dirs=None, upload_registry=False
             if path not in current_paths:
                 lab_registry.registry_paths.append(path)
 
-    lab_registry.setup(devices_dirs=devices_dirs, upload_registry=upload_registry, complete_registry=complete_registry, external_only=external_only)
+    lab_registry.setup(
+        devices_dirs=devices_dirs,
+        upload_registry=upload_registry,
+        complete_registry=complete_registry,
+        external_only=external_only,
+    )
 
     # 将 AST 扫描的字符串类型替换为实际 ROS2 消息类（仅查找 ROS2 类型，不 import 设备模块）
     lab_registry.resolve_all_types()

unilabos/registry/resources/battery/bottle_carriers.yaml

@@ -1,12 +0,0 @@
-YIHUA_Electrolyte_12VialCarrier:
-  category:
-  - battery_bottle_carriers
-  class:
-    module: unilabos.resources.battery.bottle_carriers:YIHUA_Electrolyte_12VialCarrier
-    type: pylabrobot
-  description: YIHUA 12-vial electrolyte carrier for coin cell assembly workstation
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0

unilabos/registry/resources/bioyond/YB_bottle.yaml

@@ -1,140 +1,84 @@
-YB_Vial_20mL:
+YB_20ml_fenyeping:
   category:
+  - yb3
   - YB_bottle
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_Vial_20mL
+    module: unilabos.resources.bioyond.YB_bottles:YB_20ml_fenyeping
     type: pylabrobot
-  description: YB_Vial_20mL
+  description: YB_20ml_fenyeping
   handles: []
   icon: ''
   init_param_schema: {}
   version: 1.0.0
-YB_Vial_5mL:
+YB_5ml_fenyeping:
   category:
+  - yb3
   - YB_bottle
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_Vial_5mL
+    module: unilabos.resources.bioyond.YB_bottles:YB_5ml_fenyeping
     type: pylabrobot
-  description: YB_Vial_5mL
+  description: YB_5ml_fenyeping
   handles: []
   icon: ''
   init_param_schema: {}
   version: 1.0.0
-YB_DosingHead_L:
+YB_jia_yang_tou_da:
   category:
+  - yb3
   - YB_bottle
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_DosingHead_L
+    module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da
     type: pylabrobot
-  description: YB_DosingHead_L
+  description: YB_jia_yang_tou_da
   handles: []
   icon: ''
   init_param_schema: {}
   version: 1.0.0
-YB_PrepBottle_60mL:
+YB_pei_ye_da_Bottle:
   category:
+  - yb3
   - YB_bottle
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_PrepBottle_60mL
+    module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_da_Bottle
     type: pylabrobot
-  description: YB_PrepBottle_60mL
+  description: YB_pei_ye_da_Bottle
   handles: []
   icon: ''
   init_param_schema: {}
   version: 1.0.0
-YB_PrepBottle_15mL:
+YB_pei_ye_xiao_Bottle:
   category:
+  - yb3
   - YB_bottle
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_PrepBottle_15mL
+    module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_xiao_Bottle
     type: pylabrobot
-  description: YB_PrepBottle_15mL
+  description: YB_pei_ye_xiao_Bottle
   handles: []
   icon: ''
   init_param_schema: {}
   version: 1.0.0
-YB_Tip_5000uL:
+YB_qiang_tou:
   category:
+  - yb3
   - YB_bottle
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_Tip_5000uL
+    module: unilabos.resources.bioyond.YB_bottles:YB_qiang_tou
     type: pylabrobot
-  description: YB_Tip_5000uL
+  description: YB_qiang_tou
   handles: []
   icon: ''
   init_param_schema: {}
   version: 1.0.0
-YB_Tip_1000uL:
+YB_ye_Bottle:
-  category:
-  - YB_bottle
-  class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_Tip_1000uL
-    type: pylabrobot
-  description: YB_Tip_1000uL
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_Tip_50uL:
-  category:
-  - YB_bottle
-  class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_Tip_50uL
-    type: pylabrobot
-  description: YB_Tip_50uL
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_NormalLiq_250mL_Bottle:
   category:
+  - yb3
   - YB_bottle_carriers
   - YB_bottle
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_NormalLiq_250mL_Bottle
+    module: unilabos.resources.bioyond.YB_bottles:YB_ye_Bottle
     type: pylabrobot
-  description: YB_NormalLiq_250mL_Bottle
+  description: YB_ye_Bottle
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_NormalLiq_100mL_Bottle:
-  category:
-  - YB_bottle_carriers
-  - YB_bottle
-  class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_NormalLiq_100mL_Bottle
-    type: pylabrobot
-  description: YB_NormalLiq_100mL_Bottle
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_HighVis_250mL_Bottle:
-  category:
-  - YB_bottle_carriers
-  - YB_bottle
-  class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_HighVis_250mL_Bottle
-    type: pylabrobot
-  description: YB_HighVis_250mL_Bottle
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_HighVis_100mL_Bottle:
-  category:
-  - YB_bottle_carriers
-  - YB_bottle
-  class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_HighVis_100mL_Bottle
-    type: pylabrobot
-  description: YB_HighVis_100mL_Bottle
   handles: []
   icon: ''
   init_param_schema: {}

unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml

@@ -1,29 +1,42 @@
-YB_Vial_20mL_Carrier:
+YB_100ml_yeti:
   category:
+  - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_Vial_20mL_Carrier
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_100ml_yeti
     type: pylabrobot
-  description: YB_Vial_20mL_Carrier
+  description: YB_100ml_yeti
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
-YB_Vial_5mL_Carrier:
+YB_20ml_fenyepingban:
   category:
+  - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_Vial_5mL_Carrier
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_20ml_fenyepingban
     type: pylabrobot
-  description: YB_Vial_5mL_Carrier
+  description: YB_20ml_fenyepingban
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+YB_5ml_fenyepingban:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_5ml_fenyepingban
+    type: pylabrobot
+  description: YB_5ml_fenyepingban
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_6StockCarrier:
   category:
+  - yb3
   - YB_bottle_carriers
   class:
     module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6StockCarrier
@@ -32,10 +45,10 @@ YB_6StockCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_6VialCarrier:
   category:
+  - yb3
   - YB_bottle_carriers
   class:
     module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6VialCarrier
@@ -44,137 +57,112 @@ YB_6VialCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
-YB_DosingHead_L_Carrier:
+YB_gao_nian_ye_Bottle:
   category:
+  - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_DosingHead_L_Carrier
+    module: unilabos.resources.bioyond.YB_bottles:YB_gao_nian_ye_Bottle
     type: pylabrobot
-  description: YB_DosingHead_L_Carrier
+  description: YB_gao_nian_ye_Bottle
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
-YB_PrepBottle_60mL_Carrier:
+YB_gaonianye:
   category:
+  - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_PrepBottle_60mL_Carrier
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_gaonianye
     type: pylabrobot
-  description: YB_PrepBottle_60mL_Carrier
+  description: YB_gaonianye
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
-YB_PrepBottle_15mL_Carrier:
+YB_jia_yang_tou_da_Carrier:
   category:
+  - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_PrepBottle_15mL_Carrier
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_jia_yang_tou_da_Carrier
     type: pylabrobot
-  description: YB_PrepBottle_15mL_Carrier
+  description: YB_jia_yang_tou_da_Carrier
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
-YB_TipRack_Mixed:
+YB_peiyepingdaban:
   category:
+  - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_TipRack_Mixed
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingdaban
     type: pylabrobot
-  description: YB_TipRack_Mixed
+  description: YB_peiyepingdaban
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
-YB_TipRack_5000uL:
+YB_peiyepingxiaoban:
   category:
+  - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_TipRack_5000uL
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingxiaoban
     type: pylabrobot
-  description: YB_TipRack_5000uL
+  description: YB_peiyepingxiaoban
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
-YB_TipRack_50uL:
+YB_qiang_tou_he:
   category:
+  - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_TipRack_50uL
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_qiang_tou_he
     type: pylabrobot
-  description: YB_TipRack_50uL
+  description: YB_qiang_tou_he
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
-YB_Adapter_60mL:
+YB_shi_pei_qi_kuai:
   category:
+  - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_Adapter_60mL
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_shi_pei_qi_kuai
     type: pylabrobot
-  description: YB_Adapter_60mL
+  description: YB_shi_pei_qi_kuai
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
-YB_NormalLiq_250mL_Carrier:
+YB_ye:
   category:
+  - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_NormalLiq_250mL_Carrier
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_ye
     type: pylabrobot
-  description: YB_NormalLiq_250mL_Carrier
+  description: YB_ye_Bottle_Carrier
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
-YB_NormalLiq_100mL_Carrier:
+YB_ye_100ml_Bottle:
   category:
+  - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_NormalLiq_100mL_Carrier
+    module: unilabos.resources.bioyond.YB_bottles:YB_ye_100ml_Bottle
     type: pylabrobot
-  description: YB_NormalLiq_100mL_Carrier
+  description: YB_ye_100ml_Bottle
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_HighVis_250mL_Carrier:
-  category:
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_HighVis_250mL_Carrier
-    type: pylabrobot
-  description: YB_HighVis_250mL_Carrier
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_HighVis_100mL_Carrier:
-  category:
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_HighVis_100mL_Carrier
-    type: pylabrobot
-  description: YB_HighVis_100mL_Carrier
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/bioyond/deck.yaml

@@ -20,22 +20,22 @@ BIOYOND_PolymerReactionStation_Deck:
   icon: 反应站.webp
   init_param_schema: {}
   version: 1.0.0
-BioyondElectrolyteDeck:
+BIOYOND_YB_Deck:
   category:
   - deck
   class:
-    module: unilabos.resources.bioyond.decks:bioyond_electrolyte_deck
+    module: unilabos.resources.bioyond.decks:YB_Deck
     type: pylabrobot
   description: BIOYOND ElectrolyteFormulationStation Deck
   handles: []
   icon: 配液站.webp
   init_param_schema: {}
   version: 1.0.0
-YihuaCoinCellDeck:
+CoincellDeck:
   category:
   - deck
   class:
-    module: unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:yihua_coin_cell_deck
+    module: unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:YH_Deck
     type: pylabrobot
   description: YIHUA CoinCellAssembly Deck
   handles: []

unilabos/registry/utils.py

@@ -36,16 +36,40 @@ class ROSMsgNotFound(Exception):
 # ---------------------------------------------------------------------------
 
 _SECTION_RE = re.compile(r"^(\w[\w\s]*):\s*$")
+_PARAM_HEADER_RE = re.compile(
+    r"^\s*(?P<name>\w[\w]*)\s*(?:\[(?P<display_name>[^\]]+)\])?(?:\s*\([^)]*\))?\s*$"
+)
+
+
+def _parse_docstring_param_header(param_part: str) -> Tuple[str, Optional[str]]:
+    """Parse ``name[display_name]`` or Google-style ``name (type)``."""
+    match = _PARAM_HEADER_RE.match(param_part.strip())
+    if not match:
+        return param_part.strip().split("(")[0].strip(), None
+
+    display_name = match.group("display_name")
+    if display_name is not None:
+        display_name = display_name.strip() or None
+    return match.group("name").strip(), display_name
 
 
 def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
     """
-    解析 Google-style docstring，提取描述和参数说明。
+    解析 docstring，提取描述和参数说明。
+
+    支持:
+      - Google-style ``Args:`` / ``Parameters:`` 小节
+      - 直接参数行 ``field: desc``
+      - 带显示名参数行 ``field[Display Name]: desc``
 
     Returns:
-        {"description": "短描述", "params": {"param1": "参数1描述", ...}}
+        {
+            "description": "短描述",
+            "params": {"param1": "参数1描述", ...},
+            "param_display_names": {"param1": "显示名", ...},
+        }
     """
-    result: Dict[str, Any] = {"description": "", "params": {}}
+    result: Dict[str, Any] = {"description": "", "params": {}, "param_display_names": {}}
     if not docstring:
         return result
 
@@ -53,33 +77,53 @@ def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
     if not lines:
         return result
 
-    result["description"] = lines[0].strip()
-
     in_args = False
+    current_section: Optional[str] = None
     current_param: Optional[str] = None
+    current_display_name: Optional[str] = None
     current_desc_parts: list = []
 
-    for line in lines[1:]:
+    def flush_current_param() -> None:
+        nonlocal current_param, current_display_name, current_desc_parts
+        if current_param is None:
+            return
+        result["params"][current_param] = "\n".join(current_desc_parts).strip()
+        if current_display_name:
+            result["param_display_names"][current_param] = current_display_name
+        current_param = None
+        current_display_name = None
+        current_desc_parts = []
+
+    first_line = lines[0].strip()
+    start_index = 0
+    if not _SECTION_RE.match(first_line) and ":" not in first_line:
+        result["description"] = first_line
+        start_index = 1
+
+    for line in lines[start_index:]:
         stripped = line.strip()
+        if not stripped:
+            if current_param is not None:
+                current_desc_parts.append("")
+            continue
+
         section_match = _SECTION_RE.match(stripped)
         if section_match:
-            if current_param is not None:
+            flush_current_param()
-                result["params"][current_param] = "\n".join(current_desc_parts).strip()
+            current_section = section_match.group(1).lower()
-                current_param = None
+            in_args = current_section in ("args", "arguments", "parameters", "params")
-                current_desc_parts = []
-            section_name = section_match.group(1).lower()
-            in_args = section_name in ("args", "arguments", "parameters", "params")
             continue
 
-        if not in_args:
+        parse_as_param = in_args or current_section is None
+        if not parse_as_param:
             continue
 
-        if ":" in stripped and not stripped.startswith(" "):
+        if ":" in stripped:
-            if current_param is not None:
+            flush_current_param()
-                result["params"][current_param] = "\n".join(current_desc_parts).strip()
             param_part, _, desc_part = stripped.partition(":")
-            param_name = param_part.strip().split("(")[0].strip()
+            param_name, display_name = _parse_docstring_param_header(param_part)
             current_param = param_name
+            current_display_name = display_name
             current_desc_parts = [desc_part.strip()]
         elif current_param is not None:
             aline = line
@@ -89,8 +133,7 @@ def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
                 aline = aline[1:]
             current_desc_parts.append(aline.strip())
 
-    if current_param is not None:
+    flush_current_param()
-        result["params"][current_param] = "\n".join(current_desc_parts).strip()
 
     return result
 

unilabos/resources/battery/bottle_carriers.py

@@ -1,6 +1,9 @@
 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.YB_bottles import (
+    YB_pei_ye_xiao_Bottle,
+)
 # 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
 
 
@@ -48,5 +51,6 @@ def YIHUA_Electrolyte_12VialCarrier(name: str) -> BottleCarrier:
     carrier.num_items_x = 2
     carrier.num_items_y = 6
     carrier.num_items_z = 1
-    # 载架初始化为空，瓶子由实际转运操作填入，避免反序列化时重复 assign
+    for i in range(12):
+        carrier[i] = YB_pei_ye_xiao_Bottle(f"{name}_vial_{i+1}")
     return carrier

unilabos/resources/battery/electrode_sheet.py

@@ -135,7 +135,6 @@ class BatteryState(TypedDict):
     open_circuit_voltage: float
     assembly_pressure: float
     electrolyte_volume: float
-    pole_weight: float  # 极片称重 (mg)
 
     info: Optional[str]  # 附加信息
 
@@ -180,7 +179,6 @@ class Battery(Container):
             open_circuit_voltage=0.0,
             assembly_pressure=0.0,
             electrolyte_volume=0.0,
-            pole_weight=0.0,
             info=None
         )
 

unilabos/resources/battery/magazine.py

@@ -53,28 +53,13 @@ class Magazine(ResourceStack):
         return self.get_size_z()
 
     def serialize(self) -> dict:
-        data = super().serialize()
+        return {
-        # 物料余量由寄存器接管，不再持久化极片子节点，
+            **super().serialize(),
-        # 防止旧数据写回数据库后下次启动时再次引发重复 UUID。
-        data["children"] = []
-        data.update({
             "size_x": self.size_x or 10.0,
             "size_y": self.size_y or 10.0,
             "size_z": self.size_z or 10.0,
             "max_sheets": self.max_sheets,
-        })
+        }
-        return data
-
-    @classmethod
-    def deserialize(cls, data: dict, allow_marshal: bool = False):
-        """反序列化时丢弃极片子节点（ElectrodeSheet 等）。
-
-        物料余量已由寄存器接管，不再在资源树中追踪每个极片实体。
-        清空 children 可防止数据库中的旧极片记录被重新加载，避免重复 UUID 报错。
-        """
-        data = dict(data)
-        data["children"] = []
-        return super().deserialize(data, allow_marshal=allow_marshal)
 
 
 class MagazineHolder(ItemizedResource):
@@ -235,7 +220,7 @@ def MagazineHolder_6_Cathode(
         size_y=size_y,
         size_z=size_z,
         locations=locations,
-        klasses=None,
+        klasses=[FlatWasher, PositiveCan, PositiveCan, FlatWasher, PositiveCan, PositiveCan],
         hole_diameter=hole_diameter,
         hole_depth=hole_depth,
         max_sheets_per_hole=max_sheets_per_hole,
@@ -273,7 +258,7 @@ def MagazineHolder_6_Anode(
         size_y=size_y,
         size_z=size_z,
         locations=locations,
-        klasses=None,
+        klasses=[SpringWasher, NegativeCan, NegativeCan, SpringWasher, NegativeCan, NegativeCan],
         hole_diameter=hole_diameter,
         hole_depth=hole_depth,
         max_sheets_per_hole=max_sheets_per_hole,
@@ -350,7 +335,7 @@ def MagazineHolder_4_Cathode(
         size_y=size_y,
         size_z=size_z,
         locations=locations,
-        klasses=None,
+        klasses=[AluminumFoil, PositiveElectrode, PositiveElectrode, PositiveElectrode],
         hole_diameter=hole_diameter,
         hole_depth=hole_depth,
         max_sheets_per_hole=max_sheets_per_hole,

unilabos/resources/bioyond/YB_bottle_carriers.py

@@ -2,18 +2,15 @@ from pylabrobot.resources import create_homogeneous_resources, Coordinate, Resou
 
 from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
 from unilabos.resources.bioyond.YB_bottles import (
-    YB_DosingHead_L,
+    YB_jia_yang_tou_da,
-    YB_NormalLiq_250mL_Bottle,
+    YB_ye_Bottle,
-    YB_NormalLiq_100mL_Bottle,
+    YB_ye_100ml_Bottle,
-    YB_HighVis_250mL_Bottle,
+    YB_gao_nian_ye_Bottle,
-    YB_HighVis_100mL_Bottle,
+    YB_5ml_fenyeping,
-    YB_Vial_5mL,
+    YB_20ml_fenyeping,
-    YB_Vial_20mL,
+    YB_pei_ye_xiao_Bottle,
-    YB_PrepBottle_15mL,
+    YB_pei_ye_da_Bottle,
-    YB_PrepBottle_60mL,
+    YB_qiang_tou,
-    YB_Tip_5000uL,
-    YB_Tip_1000uL,
-    YB_Tip_50uL,
 )
 # 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
 
@@ -209,7 +206,7 @@ def YB_6VialCarrier(name: str) -> BottleCarrier:
     return carrier
 
 # 1瓶载架 - 单个中央位置
-def YB_NormalLiq_250mL_Carrier(name: str) -> BottleCarrier:
+def YB_ye(name: str) -> BottleCarrier:
     
     # 载架尺寸 (mm)
     carrier_size_x = 127.8
@@ -236,17 +233,17 @@ def YB_NormalLiq_250mL_Carrier(name: str) -> BottleCarrier:
             resource_size_y=beaker_diameter,
             name_prefix=name,
         ),
-        model="YB_NormalLiq_250mL_Carrier",
+        model="YB_ye",
     )
     carrier.num_items_x = 1
     carrier.num_items_y = 1
     carrier.num_items_z = 1
-    carrier[0] = YB_NormalLiq_250mL_Bottle(f"{name}_flask_1")
+    carrier[0] = YB_ye_Bottle(f"{name}_flask_1")
     return carrier
 
 
 # 高粘液瓶载架 - 单个中央位置
-def YB_HighVis_250mL_Carrier(name: str) -> BottleCarrier:
+def YB_gaonianye(name: str) -> BottleCarrier:
     
     # 载架尺寸 (mm)
     carrier_size_x = 127.8
@@ -273,17 +270,17 @@ def YB_HighVis_250mL_Carrier(name: str) -> BottleCarrier:
             resource_size_y=beaker_diameter,
             name_prefix=name,
         ),
-        model="YB_HighVis_250mL_Carrier",
+        model="YB_gaonianye",
     )
     carrier.num_items_x = 1
     carrier.num_items_y = 1
     carrier.num_items_z = 1
-    carrier[0] = YB_HighVis_250mL_Bottle(f"{name}_flask_1")
+    carrier[0] = YB_gao_nian_ye_Bottle(f"{name}_flask_1")
     return carrier
 
 
-# 100mL普通液瓶载架 - 单个中央位置
+# 100ml液体瓶载架 - 单个中央位置
-def YB_NormalLiq_100mL_Carrier(name: str) -> BottleCarrier:
+def YB_100ml_yeti(name: str) -> BottleCarrier:
     
     # 载架尺寸 (mm)
     carrier_size_x = 127.8
@@ -310,52 +307,16 @@ def YB_NormalLiq_100mL_Carrier(name: str) -> BottleCarrier:
             resource_size_y=beaker_diameter,
             name_prefix=name,
         ),
-        model="YB_NormalLiq_100mL_Carrier",
+        model="YB_100ml_yeti",
     )
     carrier.num_items_x = 1
     carrier.num_items_y = 1
     carrier.num_items_z = 1
-    carrier[0] = YB_NormalLiq_100mL_Bottle(f"{name}_flask_1")
+    carrier[0] = YB_ye_100ml_Bottle(f"{name}_flask_1")
     return carrier
 
-# 100mL高粘液瓶载架 - 单个中央位置
+# 5ml分液瓶板 - 4x2布局，8个位置
-def YB_HighVis_100mL_Carrier(name: str) -> BottleCarrier:
+def YB_5ml_fenyepingban(name: str) -> BottleCarrier:
-    
-    # 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="YB_HighVis_100mL_Carrier",
-    )
-    carrier.num_items_x = 1
-    carrier.num_items_y = 1
-    carrier.num_items_z = 1
-    carrier[0] = YB_HighVis_100mL_Bottle(f"{name}_flask_1")
-    return carrier
-
-# 5mL分液瓶板 - 4x2布局，8个位置
-def YB_Vial_5mL_Carrier(name: str) -> BottleCarrier:
     
 
     # 载架尺寸 (mm)
@@ -394,18 +355,18 @@ def YB_Vial_5mL_Carrier(name: str) -> BottleCarrier:
         size_y=carrier_size_y,
         size_z=carrier_size_z,
         sites=sites,
-        model="YB_Vial_5mL_Carrier",
+        model="YB_5ml_fenyepingban",
     )
     carrier.num_items_x = 4
     carrier.num_items_y = 2
     carrier.num_items_z = 1
     ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
     for i in range(8):
-        carrier[i] = YB_Vial_5mL(f"{name}_vial_{ordering[i]}")
+        carrier[i] = YB_5ml_fenyeping(f"{name}_vial_{ordering[i]}")
     return carrier
 
-# 20mL分液瓶板 - 4x2布局，8个位置
+# 20ml分液瓶板 - 4x2布局，8个位置
-def YB_Vial_20mL_Carrier(name: str) -> BottleCarrier:
+def YB_20ml_fenyepingban(name: str) -> BottleCarrier:
 
 
     # 载架尺寸 (mm)
@@ -444,18 +405,18 @@ def YB_Vial_20mL_Carrier(name: str) -> BottleCarrier:
         size_y=carrier_size_y,
         size_z=carrier_size_z,
         sites=sites,
-        model="YB_Vial_20mL_Carrier",
+        model="YB_20ml_fenyepingban",
     )
     carrier.num_items_x = 4
     carrier.num_items_y = 2
     carrier.num_items_z = 1
     ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
     for i in range(8):
-        carrier[i] = YB_Vial_20mL(f"{name}_vial_{ordering[i]}")
+        carrier[i] = YB_20ml_fenyeping(f"{name}_vial_{ordering[i]}")
     return carrier
 
 # 配液瓶(小)板 - 4x2布局，8个位置
-def YB_PrepBottle_15mL_Carrier(name: str) -> BottleCarrier:
+def YB_peiyepingxiaoban(name: str) -> BottleCarrier:
     
 
     # 载架尺寸 (mm)
@@ -494,19 +455,19 @@ def YB_PrepBottle_15mL_Carrier(name: str) -> BottleCarrier:
         size_y=carrier_size_y,
         size_z=carrier_size_z,
         sites=sites,
-        model="YB_PrepBottle_15mL_Carrier",
+        model="YB_peiyepingxiaoban",
     )
     carrier.num_items_x = 4
     carrier.num_items_y = 2
     carrier.num_items_z = 1
     ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
     for i in range(8):
-        carrier[i] = YB_PrepBottle_15mL(f"{name}_bottle_{ordering[i]}")
+        carrier[i] = YB_pei_ye_xiao_Bottle(f"{name}_bottle_{ordering[i]}")
     return carrier
 
 
 # 配液瓶(大)板 - 2x2布局，4个位置
-def YB_PrepBottle_60mL_Carrier(name: str) -> BottleCarrier:
+def YB_peiyepingdaban(name: str) -> BottleCarrier:
 
     # 载架尺寸 (mm)
     carrier_size_x = 127.8
@@ -544,18 +505,18 @@ def YB_PrepBottle_60mL_Carrier(name: str) -> BottleCarrier:
         size_y=carrier_size_y,
         size_z=carrier_size_z,
         sites=sites,
-        model="YB_PrepBottle_60mL_Carrier",
+        model="YB_peiyepingdaban",
     )
     carrier.num_items_x = 2
     carrier.num_items_y = 2
     carrier.num_items_z = 1
     ordering = ["A1", "A2", "B1", "B2"]
     for i in range(4):
-        carrier[i] = YB_PrepBottle_60mL(f"{name}_bottle_{ordering[i]}")
+        carrier[i] = YB_pei_ye_da_Bottle(f"{name}_bottle_{ordering[i]}")
     return carrier
 
 # 加样头(大)板 - 1x1布局，1个位置
-def YB_DosingHead_L_Carrier(name: str) -> BottleCarrier:
+def YB_jia_yang_tou_da_Carrier(name: str) -> BottleCarrier:
     
     # 载架尺寸 (mm)
     carrier_size_x = 127.8
@@ -593,16 +554,16 @@ def YB_DosingHead_L_Carrier(name: str) -> BottleCarrier:
         size_y=carrier_size_y,
         size_z=carrier_size_z,
         sites=sites,
-        model="YB_DosingHead_L_Carrier",
+        model="YB_jia_yang_tou_da_Carrier",
     )
     carrier.num_items_x = 1
     carrier.num_items_y = 1
     carrier.num_items_z = 1
-    carrier[0] = YB_DosingHead_L(f"{name}_head_1")
+    carrier[0] = YB_jia_yang_tou_da(f"{name}_head_1")
     return carrier
 
 
-def YB_Adapter_60mL(name: str) -> BottleCarrier:
+def YB_shi_pei_qi_kuai(name: str) -> BottleCarrier:
     """适配器块 - 单个中央位置"""
 
     # 载架尺寸 (mm)
@@ -630,7 +591,7 @@ def YB_Adapter_60mL(name: str) -> BottleCarrier:
             resource_size_y=adapter_diameter,
             name_prefix=name,
         ),
-        model="YB_Adapter_60mL",
+        model="YB_shi_pei_qi_kuai",
     )
     carrier.num_items_x = 1
     carrier.num_items_y = 1
@@ -639,7 +600,7 @@ def YB_Adapter_60mL(name: str) -> BottleCarrier:
     return carrier
 
 
-def YB_TipRack_50uL(name: str) -> BottleCarrier:
+def YB_qiang_tou_he(name: str) -> BottleCarrier:
     """枪头盒 - 8x12布局，96个位置"""
 
     # 载架尺寸 (mm)
@@ -648,9 +609,9 @@ def YB_TipRack_50uL(name: str) -> BottleCarrier:
     carrier_size_z = 55.0
 
     # 枪头尺寸
-    tip_diameter = 7.0
+    tip_diameter = 10.0
-    tip_spacing_x = 7.5  # X方向间距
+    tip_spacing_x = 9.0  # X方向间距
-    tip_spacing_y = 7.5  # Y方向间距
+    tip_spacing_y = 9.0  # Y方向间距
 
     # 计算起始位置 (居中排列)
     start_x = (carrier_size_x - (12 - 1) * tip_spacing_x - tip_diameter) / 2
@@ -678,7 +639,7 @@ def YB_TipRack_50uL(name: str) -> BottleCarrier:
         size_y=carrier_size_y,
         size_z=carrier_size_z,
         sites=sites,
-        model="YB_TipRack_50uL",
+        model="YB_qiang_tou_he",
     )
     carrier.num_items_x = 12
     carrier.num_items_y = 8
@@ -687,182 +648,6 @@ def YB_TipRack_50uL(name: str) -> BottleCarrier:
     for i in range(96):
         row = chr(65 + i // 12)  # A-H
         col = (i % 12) + 1  # 1-12
-        carrier[i] = YB_Tip_50uL(f"{name}_tip_{row}{col}")
+        carrier[i] = YB_qiang_tou(f"{name}_tip_{row}{col}")
-    return carrier
-
-
-def YB_TipRack_5000uL(name: str) -> BottleCarrier:
-    """枪头盒 - 4x6布局，24个位置"""
-
-    # 载架尺寸 (mm)
-    carrier_size_x = 127.8
-    carrier_size_y = 85.5
-    carrier_size_z = 95.0
-
-    # 枪头尺寸
-    tip_diameter = 16.0
-    tip_spacing_x = 16.5  # X方向间距
-    tip_spacing_y = 16.5  # Y方向间距
-
-    # 计算起始位置 (居中排列)
-    start_x = (carrier_size_x - (6 - 1) * tip_spacing_x - tip_diameter) / 2
-    start_y = (carrier_size_y - (4 - 1) * tip_spacing_y - tip_diameter) / 2
-
-    sites = create_ordered_items_2d(
-        klass=ResourceHolder,
-        num_items_x=6,
-        num_items_y=4,
-        dx=start_x,
-        dy=start_y,
-        dz=5.0,
-        item_dx=tip_spacing_x,
-        item_dy=tip_spacing_y,
-        size_x=tip_diameter,
-        size_y=tip_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="YB_TipRack_5000uL",
-    )
-    carrier.num_items_x = 6
-    carrier.num_items_y = 4
-    carrier.num_items_z = 1
-    # 创建24个枪头
-    for i in range(24):
-        row = chr(65 + i // 6)  # A-D
-        col = (i % 6) + 1  # 1-6
-        carrier[i] = YB_Tip_5000uL(f"{name}_tip_{row}{col}")
-    return carrier
-
-
-
-def YB_TipRack_Mixed(name: str) -> BottleCarrier:
-    """混合枪头盒 - 复杂布局
-    上层: 2x8空位（原50uL枪头位置，现空余）
-    中层: 4x4布局，放5000uL枪头
-    下层: 2x8布局，放1000uL枪头
-    """
-
-    # 载架尺寸 (mm)
-    carrier_size_x = 127.8
-    carrier_size_y = 85.5
-    carrier_size_z = 95.0
-
-    # 各类枪头的尺寸参数
-    tip_5000_diameter = 16.0
-    tip_5000_spacing_x = 16.5
-    tip_5000_spacing_y = 16.5
-    
-    tip_1000_diameter = 7.0
-    tip_1000_spacing_x = 7.5
-    tip_1000_spacing_y = 7.5
-
-    # 空位尺寸（上层2x8，原50uL位置）
-    empty_diameter = 7.0
-    empty_spacing_x = 7.5
-    empty_spacing_y = 7.5
-
-    # 计算各层的起始位置
-    # 上层空位 (2x8)
-    empty_top_start_x = (carrier_size_x - (8 - 1) * empty_spacing_x - empty_diameter) / 2
-    empty_top_start_y = 5.0
-    
-    # 中层5000uL (4x4)
-    tip_5000_start_x = (carrier_size_x - (4 - 1) * tip_5000_spacing_x - tip_5000_diameter) / 2
-    tip_5000_start_y = empty_top_start_y + 2 * empty_spacing_y + 5.0
-    
-    # 下层1000uL (2x8)
-    tip_1000_start_x = (carrier_size_x - (8 - 1) * tip_1000_spacing_x - tip_1000_diameter) / 2
-    tip_1000_start_y = tip_5000_start_y + 4 * tip_5000_spacing_y + 5.0
-
-    sites = {}
-    
-    # 创建上层空位 (2x8) - 不创建实际的枪头对象
-    empty_top_sites = create_ordered_items_2d(
-        klass=ResourceHolder,
-        num_items_x=8,
-        num_items_y=2,
-        dx=empty_top_start_x,
-        dy=empty_top_start_y,
-        dz=5.0,
-        item_dx=empty_spacing_x,
-        item_dy=empty_spacing_y,
-        size_x=empty_diameter,
-        size_y=empty_diameter,
-        size_z=carrier_size_z,
-    )
-    # 添加空位，索引 0-15
-    for k, v in empty_top_sites.items():
-        v.name = f"{name}_empty_top_{v.name}"
-        sites[k] = v
-    
-    # 创建中层5000uL枪头位 (4x4)，索引 16-31
-    tip_5000_sites = create_ordered_items_2d(
-        klass=ResourceHolder,
-        num_items_x=4,
-        num_items_y=4,
-        dx=tip_5000_start_x,
-        dy=tip_5000_start_y,
-        dz=15.0,
-        item_dx=tip_5000_spacing_x,
-        item_dy=tip_5000_spacing_y,
-        size_x=tip_5000_diameter,
-        size_y=tip_5000_diameter,
-        size_z=carrier_size_z,
-    )
-    for i, (k, v) in enumerate(tip_5000_sites.items()):
-        v.name = f"{name}_5000_{v.name}"
-        sites[16 + i] = v
-    
-    # 创建下层1000uL枪头位 (2x8)，索引 32-47
-    tip_1000_sites = create_ordered_items_2d(
-        klass=ResourceHolder,
-        num_items_x=8,
-        num_items_y=2,
-        dx=tip_1000_start_x,
-        dy=tip_1000_start_y,
-        dz=25.0,
-        item_dx=tip_1000_spacing_x,
-        item_dy=tip_1000_spacing_y,
-        size_x=tip_1000_diameter,
-        size_y=tip_1000_diameter,
-        size_z=carrier_size_z,
-    )
-    for i, (k, v) in enumerate(tip_1000_sites.items()):
-        v.name = f"{name}_1000_{v.name}"
-        sites[32 + i] = v
-
-    carrier = BottleCarrier(
-        name=name,
-        size_x=carrier_size_x,
-        size_y=carrier_size_y,
-        size_z=carrier_size_z,
-        sites=sites,
-        model="YB_TipRack_Mixed",
-    )
-    carrier.num_items_x = 8  # 最大宽度
-    carrier.num_items_y = 8  # 总行数 (2+4+2)
-    carrier.num_items_z = 1
-    
-    # 为5000uL枪头创建实例 (16个)，对应索引 16-31
-    for i in range(16):
-        row = chr(65 + i // 4)  # A-D
-        col = (i % 4) + 1  # 1-4
-        carrier[16 + i] = YB_Tip_5000uL(f"{name}_tip5000_{row}{col}")
-    
-    # 为1000uL枪头创建实例 (16个)，对应索引 32-47
-    for i in range(16):
-        row = chr(65 + i // 8)  # A-B
-        col = (i % 8) + 1  # 1-8
-        carrier[32 + i] = YB_Tip_1000uL(f"{name}_tip1000_{row}{col}")
-    
     return carrier
 

unilabos/resources/bioyond/YB_bottles.py

@@ -1,7 +1,7 @@
 from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
 # 工厂函数
 """加样头（大）"""
-def YB_DosingHead_L(
+def YB_jia_yang_tou_da(
     name: str,
     diameter: float = 20.0,
     height: float = 100.0,
@@ -15,11 +15,11 @@ def YB_DosingHead_L(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="YB_DosingHead_L",
+        model="YB_jia_yang_tou_da",
     )
 
-"""250mL普通液"""
+"""液1x1"""
-def YB_NormalLiq_250mL_Bottle(
+def YB_ye_Bottle(
     name: str,
     diameter: float = 40.0,
     height: float = 70.0,
@@ -33,105 +33,87 @@ def YB_NormalLiq_250mL_Bottle(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="YB_NormalLiq_250mL_Bottle",
+        model="YB_ye_Bottle",
     )
 
-"""100mL普通液"""
+"""100ml液体"""
-def YB_NormalLiq_100mL_Bottle(
+def YB_ye_100ml_Bottle(
     name: str,
     diameter: float = 50.0,
     height: float = 90.0,
     max_volume: float = 100000.0,  # 100mL
     barcode: str = None,
 ) -> Bottle:
-    """创建100mL普通液瓶"""
+    """创建100ml液体瓶"""
     return Bottle(
         name=name,
         diameter=diameter,
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="YB_NormalLiq_100mL_Bottle",
+        model="YB_100ml_yeti",
     )
 
-"""100mL高粘液"""
+"""高粘液"""
-def YB_HighVis_100mL_Bottle(
+def YB_gao_nian_ye_Bottle(
-    name: str,
-    diameter: float = 50.0,
-    height: float = 90.0,
-    max_volume: float = 100000.0,  # 100mL
-    barcode: str = None,
-) -> Bottle:
-    """创建100mL高粘液瓶"""
-    return Bottle(
-        name=name,
-        diameter=diameter,
-        height=height,
-        max_volume=max_volume,
-        barcode=barcode,
-        model="YB_HighVis_100mL_Bottle",
-    )
-
-"""250mL高粘液"""
-def YB_HighVis_250mL_Bottle(
     name: str,
     diameter: float = 40.0,
     height: float = 70.0,
     max_volume: float = 50000.0,  # 50mL
     barcode: str = None,
 ) -> Bottle:
-    """创建250mL高粘液瓶"""
+    """创建高粘液瓶"""
     return Bottle(
         name=name,
         diameter=diameter,
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="YB_HighVis_250mL_Bottle",
+        model="High_Viscosity_Liquid",
     )
 
-"""5mL分液瓶"""
+"""5ml分液瓶"""
-def YB_Vial_5mL(
+def YB_5ml_fenyeping(
     name: str,
     diameter: float = 20.0,
     height: float = 50.0,
     max_volume: float = 5000.0,  # 5mL
     barcode: str = None,
 ) -> Bottle:
-    """创建5mL分液瓶"""
+    """创建5ml分液瓶"""
     return Bottle(
         name=name,
         diameter=diameter,
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="YB_Vial_5mL",
+        model="YB_5ml_fenyeping",
     )
 
-"""20mL分液瓶"""
+"""20ml分液瓶"""
-def YB_Vial_20mL(
+def YB_20ml_fenyeping(
     name: str,
     diameter: float = 30.0,
     height: float = 65.0,
     max_volume: float = 20000.0,  # 20mL
     barcode: str = None,
 ) -> Bottle:
-    """创建20mL分液瓶"""
+    """创建20ml分液瓶"""
     return Bottle(
         name=name,
         diameter=diameter,
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="YB_Vial_20mL",
+        model="YB_20ml_fenyeping",
     )
 
 """配液瓶(小)"""
-def YB_PrepBottle_15mL(
+def YB_pei_ye_xiao_Bottle(
     name: str,
     diameter: float = 35.0,
     height: float = 60.0,
-    max_volume: float = 15000.0,  # 15mL
+    max_volume: float = 30000.0,  # 30mL
     barcode: str = None,
 ) -> Bottle:
     """创建配液瓶(小)"""
@@ -141,15 +123,15 @@ def YB_PrepBottle_15mL(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="YB_PrepBottle_15mL",
+        model="YB_pei_ye_xiao_Bottle",
     )
 
 """配液瓶(大)"""
-def YB_PrepBottle_60mL(
+def YB_pei_ye_da_Bottle(
     name: str,
     diameter: float = 55.0,
     height: float = 100.0,
-    max_volume: float = 60000.0,  # 60mL
+    max_volume: float = 150000.0,  # 150mL
     barcode: str = None,
 ) -> Bottle:
     """创建配液瓶(大)"""
@@ -159,29 +141,11 @@ def YB_PrepBottle_60mL(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="YB_PrepBottle_60mL",
+        model="YB_pei_ye_da_Bottle",
     )
 
-"""5000uL枪头"""
+"""枪头"""
-def YB_Tip_5000uL(
+def YB_qiang_tou(
-    name: str,
-    diameter: float = 10.0,
-    height: float = 50.0,
-    max_volume: float = 5000.0,  # 5mL
-    barcode: str = None,
-) -> Bottle:
-    """创建枪头"""
-    return Bottle(
-        name=name,
-        diameter=diameter,
-        height=height,
-        max_volume=max_volume,
-        barcode=barcode,
-        model="YB_Tip_5000uL",
-    ) 
-
-"""1000uL枪头"""
-def YB_Tip_1000uL(
     name: str,
     diameter: float = 10.0,
     height: float = 50.0,
@@ -195,23 +159,5 @@ def YB_Tip_1000uL(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="YB_Tip_1000uL",
+        model="YB_qiang_tou",
-    )    
-
-"""50uL枪头"""
-def YB_Tip_50uL(
-    name: str,
-    diameter: float = 10.0,
-    height: float = 50.0,
-    max_volume: float = 50.0,  # 50uL
-    barcode: str = None,
-) -> Bottle:
-    """创建枪头"""
-    return Bottle(
-        name=name,
-        diameter=diameter,
-        height=height,
-        max_volume=max_volume,
-        barcode=barcode,
-        model="YB_Tip_50uL",
     )    

unilabos/resources/bioyond/decks.py

@@ -1,3 +1,4 @@
+from os import name
 from pylabrobot.resources import Deck, Coordinate, Rotation
 
 from unilabos.resources.bioyond.YB_warehouses import (
@@ -33,8 +34,11 @@ class BIOYOND_PolymerReactionStation_Deck(Deck):
         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
@@ -62,7 +66,6 @@ class BIOYOND_PolymerReactionStation_Deck(Deck):
         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,
@@ -71,8 +74,11 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck):
         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 - 配液站的3个堆栈，使用Bioyond系统中的实际名称
@@ -95,8 +101,7 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck):
         for warehouse_name, warehouse in self.warehouses.items():
             self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
 
-
+class BIOYOND_YB_Deck(Deck):
-class BioyondElectrolyteDeck(Deck):
     def __init__(
         self,
         name: str = "YB_Deck",
@@ -104,7 +109,7 @@ class BioyondElectrolyteDeck(Deck):
         size_y: float = 1400.0,
         size_z: float = 2670.0,
         category: str = "deck",
-        setup: bool = False,
+        setup: bool = False
     ) -> None:
         super().__init__(name=name, size_x=4150.0, size_y=1400.0, size_z=2670.0)
         if setup:
@@ -113,8 +118,8 @@ class BioyondElectrolyteDeck(Deck):
     def setup(self) -> None:
         # 添加仓库
         self.warehouses = {
-            "自动堆栈-左": bioyond_warehouse_2x2x1("自动堆栈-左"),  # 2行×2列
+            "321窗口": bioyond_warehouse_2x2x1("321窗口"),  # 2行×2列
-            "自动堆栈-右": bioyond_warehouse_2x2x1("自动堆栈-右"),  # 2行×2列
+            "43窗口": bioyond_warehouse_2x2x1("43窗口"),  # 2行×2列
             "手动传递窗右": bioyond_warehouse_5x3x1("手动传递窗右", row_offset=0),  # A01-E03
             "手动传递窗左": bioyond_warehouse_5x3x1("手动传递窗左", row_offset=5),  # F01-J03
             "加样头堆栈左": bioyond_warehouse_10x1x1("加样头堆栈左"),
@@ -128,34 +133,29 @@ class BioyondElectrolyteDeck(Deck):
         }
         # warehouse 的位置
         self.warehouse_locations = {
-            "自动堆栈-左": Coordinate(-150.0, 1142.0, 0.0),
+            "321窗口": Coordinate(-150.0, 158.0, 0.0),
-            "自动堆栈-右": Coordinate(4160.0, 1142.0, 0.0),
+            "43窗口": Coordinate(4160.0, 158.0, 0.0),
-            "手动传递窗左": Coordinate(-150.0, 423.0, 0.0),
+            "手动传递窗左": Coordinate(-150.0, 877.0, 0.0),
-            "手动传递窗右": Coordinate(4160.0, 423.0, 0.0),
+            "手动传递窗右": Coordinate(4160.0, 877.0, 0.0),
-            "加样头堆栈左": Coordinate(385.0, 0, 0.0),
+            "加样头堆栈左": Coordinate(385.0, 1300.0, 0.0),
-            "加样头堆栈右": Coordinate(2187.0, 0, 0.0),
+            "加样头堆栈右": Coordinate(2187.0, 1300.0, 0.0),
 
-            "15ml配液堆栈左": Coordinate(749.0, 945.0, 0.0),
+            "15ml配液堆栈左": Coordinate(749.0, 355.0, 0.0),
-            "母液加样右": Coordinate(2152.0, 967.0, 0.0),
+            "母液加样右": Coordinate(2152.0, 333.0, 0.0),
-            "大瓶母液堆栈左": Coordinate(1164.0, 624.0, 0.0),
+            "大瓶母液堆栈左": Coordinate(1164.0, 676.0, 0.0),
-            "大瓶母液堆栈右": Coordinate(2717.0, 624.0, 0.0),
+            "大瓶母液堆栈右": Coordinate(2717.0, 676.0, 0.0),
-            "2号手套箱内部堆栈": Coordinate(-800, 800.0, 0.0),  # 新增：位置需根据实际硬件调整
+            "2号手套箱内部堆栈": Coordinate(-800, -500.0, 0.0),  # 新增：位置需根据实际硬件调整
         }
 
         for warehouse_name, warehouse in self.warehouses.items():
             self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
 
-
+def YB_Deck(name: str) -> Deck:
-# 向后兼容别名，日后废弃
+    by=BIOYOND_YB_Deck(name=name)
-BIOYOND_YB_Deck = BioyondElectrolyteDeck
+    by.setup()
+    return by
+
 
 
-def bioyond_electrolyte_deck(name: str) -> BioyondElectrolyteDeck:
-    deck = BioyondElectrolyteDeck(name=name)
-    deck.setup()
-    return deck
 
 
-# 向后兼容别名，日后废弃
-def YB_Deck(name: str) -> BioyondElectrolyteDeck:
-    return bioyond_electrolyte_deck(name)

unilabos/resources/graphio.py

@@ -797,7 +797,6 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
                     bottle = plr_material[number] = initialize_resource(
                         {"name": f'{detail["name"]}_{number}', "class": reverse_type_mapping[typeName][0]}, resource_type=ResourcePLR
                     )
-                    if hasattr(bottle, 'tracker') and bottle.tracker is not None:
                     bottle.tracker.liquids = [
                         (detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
                     ]
@@ -809,7 +808,6 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
             # 只对有 capacity 属性的容器（液体容器）处理液体追踪
             if hasattr(plr_material, 'capacity'):
                 bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
-                if hasattr(bottle, 'tracker') and bottle.tracker is not None:
                 bottle.tracker.liquids = [
                     (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
                 ]

unilabos/resources/itemized_carrier.py

@@ -179,35 +179,6 @@ class ItemizedCarrier(ResourcePLR):
           idx = i
           break
 
-    if idx is None and location is not None:
-      # 精确坐标匹配失败（常见原因：DB 存储的 z=0，而槽位定义 z=dz>0）。
-      # 降级为仅按 XY 坐标进行近似匹配，找到后使用槽位自身的正确坐标写回，
-      # 避免因 Z 偏移导致反序列化中断。
-      _XY_TOLERANCE = 2.0  # mm，覆盖浮点误差和 z 偏移
-      min_dist = float("inf")
-      nearest_idx = None
-      for _i, _loc in enumerate(self.child_locations.values()):
-        _d = (((_loc.x - location.x) ** 2) + ((_loc.y - location.y) ** 2)) ** 0.5
-        if _d < min_dist:
-          min_dist = _d
-          nearest_idx = _i
-      if nearest_idx is not None and min_dist <= _XY_TOLERANCE:
-        from unilabos.utils.log import logger as _logger
-        _slot_label = list(self.child_locations.keys())[nearest_idx]
-        _logger.warning(
-          f"[ItemizedCarrier '{self.name}'] 资源 '{resource.name}' 坐标 {location} 与槽位 "
-          f"'{_slot_label}' {list(self.child_locations.values())[nearest_idx]} 的 XY 吻合"
-          f"（XY 偏差={min_dist:.2f}mm），按 XY 近似匹配成功，z 偏移已被修正。"
-        )
-        idx = nearest_idx
-
-    if idx is None:
-      raise ValueError(
-        f"[ItemizedCarrier '{self.name}'] 无法为资源 '{resource.name}' 找到匹配的槽位。\n"
-        f"  已知槽位: {list(self.child_locations.keys())}\n"
-        f"  传入坐标: {location}\n"
-        f"  提示: XY 近似匹配也失败，请检查资源坐标或 Carrier 槽位定义是否正确。"
-      )
     if not reassign and self.sites[idx] is not None:
       raise ValueError(f"a site with index {idx} already exists")
     location = list(self.child_locations.values())[idx]

unilabos/resources/resource_tracker.py

@@ -612,31 +612,6 @@ class ResourceTreeSet(object):
                 d["model"] = res.config.get("model", None)
             return d
 
-        def _deduplicate_plr_dict(d: dict, _seen: set = None) -> dict:
-            """递归去除 children 中同名重复节点（全树范围、保留首次出现）。
-
-            根本原因：同一槽位被 sync_from_external（Bioyond 同步）重复写入，
-            导致数据库中同一 WareHouse 下存在多条同名 BottleCarrier 记录（不同 UUID）。
-            PLR 的 _check_naming_conflicts 在全树范围检查名称唯一性，
-            重复名称会在 deserialize 时抛出 ValueError，导致节点启动失败。
-            此函数在 sub_cls.deserialize 前预先清理，保证名称唯一。
-            """
-            if _seen is None:
-                _seen = set()
-            children = d.get("children", [])
-            deduped = []
-            for child in children:
-                child = _deduplicate_plr_dict(child, _seen)
-                cname = child.get("name")
-                if cname not in _seen:
-                    _seen.add(cname)
-                    deduped.append(child)
-                else:
-                    logger.warning(
-                        f"[资源树去重] 发现重复资源名称 '{cname}'，跳过重复项（历史脏数据）"
-                    )
-            return {**d, "children": deduped}
-
         plr_resources = []
         tracker = DeviceNodeResourceTracker()
 
@@ -647,8 +622,6 @@ class ResourceTreeSet(object):
             collect_node_data(tree.root_node, name_to_uuid, all_states, name_to_extra)
             has_model = tree.root_node.res_content.type != "deck"
             plr_dict = node_to_plr_dict(tree.root_node, has_model)
-            plr_dict = _deduplicate_plr_dict(plr_dict)
-
             try:
                 sub_cls = find_subclass(plr_dict["type"], PLRResource)
                 if skip_devices and plr_dict["type"] == "device":
@@ -667,14 +640,6 @@ class ResourceTreeSet(object):
 
                 location = cast(Coordinate, deserialize(plr_dict["location"]))
                 plr_resource.location = location
-
-                # 预填 Container 类型资源在新版 PLR 中要求必须存在的键，
-                # 防止旧数据库状态缺失这些键时 load_all_state 抛出 KeyError。
-                for state in all_states.values():
-                    if isinstance(state, dict):
-                        state.setdefault("liquid_history", [])
-                        state.setdefault("pending_liquids", {})
-
                 plr_resource.load_all_state(all_states)
                 # 使用 DeviceNodeResourceTracker 设置 UUID 和 Extra
                 tracker.loop_set_uuid(plr_resource, name_to_uuid)

unilabos/resources/warehouse.py

@@ -41,9 +41,8 @@ def warehouse_factory(
 
                 # 根据 layout 决定 y 坐标计算
                 if layout == "row-major":
-                    # 行优先：row=0(A行) 应该显示在上方
+                    # 行优先：row=0(A行) 应该显示在上方，需要较小的 y 值
-                    # 前端现在 y 越大越靠上，所以 row=0 对应最大的 y
+                    y = dy + row * item_dy
-                    y = dy + (num_items_y - row - 1) * item_dy
                 elif layout == "vertical-col-major":
                     # 竖向warehouse: row=0 对应顶部（y小），row=n-1 对应底部（y大）
                     # 但标签 01 应该在底部，所以使用反向映射

unilabos/ros/nodes/base_device_node.py

@@ -45,6 +45,7 @@ from unilabos.resources.graphio import (
 )
 from unilabos.resources.plr_additional_res_reg import register
 from unilabos.ros.msgs.message_converter import (
+    String,
     convert_to_ros_msg,
     convert_from_ros_msg_with_mapping,
     convert_to_ros_msg_with_mapping,
@@ -250,7 +251,8 @@ class PropertyPublisher:
     ):
         self.node = node
         self.name = name
-        self.msg_type = msg_type
+        self.msg_type = self._normalize_msg_type(msg_type)
+        self.original_msg_type = msg_type
         self.get_method = get_method
         self.timer_period = initial_period
         self.print_publish = print_publish
@@ -258,16 +260,36 @@ class PropertyPublisher:
 
         self._value = None
         try:
-            self.publisher_ = node.create_publisher(msg_type, f"{name}", qos)
+            self.publisher_ = node.create_publisher(self.msg_type, f"{name}", qos)
         except Exception as e:
             self.node.lab_logger().error(
-                f"StatusError, DeviceId: {self.node.device_id} 创建发布者 {name} 失败，可能由于注册表有误，类型: {msg_type}，错误: {e}"
+                f"StatusError, DeviceId: {self.node.device_id} 创建发布者 {name} 失败，"
+                f"可能由于注册表有误，类型: {msg_type}，错误: {e}"
             )
+            self.msg_type = String
+            try:
+                self.publisher_ = node.create_publisher(self.msg_type, f"{name}", qos)
+                self.node.lab_logger().warning(
+                    f"属性 {name} 的发布类型已降级为 String，原始类型: {msg_type}"
+                )
+            except Exception:
+                self.publisher_ = None
         self.timer = node.create_timer(self.timer_period, self.publish_property)
         self.__loop = ROS2DeviceNode.get_asyncio_loop()
-        str_msg_type = str(msg_type)[8:-2]
+        str_msg_type = str(self.msg_type)[8:-2]
         self.node.lab_logger().trace(f"发布属性: {name}, 类型: {str_msg_type}, 周期: {initial_period}秒, QoS: {qos}")
 
+    @staticmethod
+    def _normalize_msg_type(msg_type):
+        if msg_type in (dict, list, tuple, set) or msg_type in ("dict", "list", "tuple", "set"):
+            return String
+        return msg_type
+
+    def _normalize_value(self, value):
+        if self.msg_type is String and isinstance(value, (dict, list, tuple, set)):
+            return json.dumps(value, ensure_ascii=False, cls=TypeEncoder)
+        return value
+
     def get_property(self):
         if asyncio.iscoroutinefunction(self.get_method):
             # 如果是异步函数，运行事件循环并等待结果
@@ -302,12 +324,16 @@ class PropertyPublisher:
                 pass
                 # self.node.lab_logger().trace(f"【.publish_property】发布 {self.msg_type}: {value}")
             if value is not None:
+                if self.publisher_ is None:
+                    return
+                value = self._normalize_value(value)
                 msg = convert_to_ros_msg(self.msg_type, value)
                 self.publisher_.publish(msg)
                 # self.node.lab_logger().trace(f"【.publish_property】属性 {self.name} 发布成功")
         except Exception as e:
+            topic = getattr(self.publisher_, "topic", self.name)
             self.node.lab_logger().error(
-                f"【.publish_property】发布属性 {self.publisher_.topic} 出错: {str(e)}\n{traceback.format_exc()}"
+                f"【.publish_property】发布属性 {topic} 出错: {str(e)}\n{traceback.format_exc()}"
             )
 
     def change_frequency(self, period):

unilabos/ros/nodes/presets/host_node.py

@@ -1691,7 +1691,9 @@ class HostNode(BaseROS2DeviceNode):
         else:
             self.lab_logger().warning("⚠️ 收到无效的Pong响应（缺少ping_id）")
 
-    def notify_resource_tree_update(self, device_id: str, action: str, resource_uuid_list: List[str]) -> bool:
+    def notify_resource_tree_update(
+        self, device_id: str, action: str, resource_uuid_list: List[str]
+    ) -> Optional[bool]:
         """
         通知设备节点更新资源树
 
@@ -1701,13 +1703,14 @@ class HostNode(BaseROS2DeviceNode):
             resource_uuid_list: 资源UUIDs
 
         Returns:
-            bool: 操作是否成功
+            True if the update completed, False if it failed, None if it was intentionally skipped.
         """
         try:
-            # 检查设备是否存在
             if device_id not in self.devices_names:
-                self.lab_logger().error(f"[Host Node-Resource] Device {device_id} not found in devices_names")
+                self.lab_logger().info(
-                return False
+                    f"[Host Node-Resource] 在线增加设备暂不支持，跳过设备 {device_id} 的资源树 {action} 更新"
+                )
+                return None
 
             namespace = self.devices_names[device_id]
             device_key = f"{namespace}/{device_id}"

unilabos/test/experiments/yibin_electrolyte_config_example.json

@@ -13,7 +13,7 @@
                 "deck": {
                     "data": {
                         "_resource_child_name": "YB_Bioyond_Deck",
-                        "_resource_type": "unilabos.resources.bioyond.decks:BioyondElectrolyteDeck"
+                        "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_YB_Deck"
                     }
                 },
                 "protocol_type": [],
@@ -103,14 +103,15 @@
             "children": [],
             "parent": "bioyond_cell_workstation",
             "type": "deck",
-            "class": "BioyondElectrolyteDeck",
+            "class": "BIOYOND_YB_Deck",
             "position": {
                 "x": 0,
                 "y": 0,
                 "z": 0
             },
             "config": {
-                "type": "BioyondElectrolyteDeck",
+                "type": "BIOYOND_YB_Deck",
+                "setup": true,
                 "rotation": {
                     "x": 0,
                     "y": 0,

unilabos/utils/environment_check.py

@@ -33,10 +33,83 @@ _USE_UV: Optional[bool] = None
 def _has_uv() -> bool:
     global _USE_UV
     if _USE_UV is None:
-        _USE_UV = shutil.which("uv") is not None
+        uv_path = shutil.which("uv")
+        if not uv_path:
+            _USE_UV = False
+        else:
+            try:
+                result = subprocess.run([uv_path, "--version"], capture_output=True, text=True, timeout=10)
+                _USE_UV = result.returncode == 0
+            except Exception:
+                _USE_UV = False
     return _USE_UV
 
 
+def _install_command(installer: str, package: str, upgrade: bool, is_chinese: bool) -> List[str]:
+    if installer == "uv":
+        # uv >= 0.5 默认要求虚拟环境，对 conda env 会报 "No virtual environment found"。
+        # 显式 --python sys.executable 让 uv 把当前解释器（conda/venv/system 都行）
+        # 视为目标环境，绕开 venv 检测。
+        cmd = ["uv", "pip", "install", "--python", sys.executable]
+        if upgrade:
+            cmd.append("--upgrade")
+        cmd.append(package)
+        if is_chinese:
+            cmd.extend(["--index-url", "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"])
+        return cmd
+
+    cmd = [sys.executable, "-m", "pip", "install", "--disable-pip-version-check"]
+    if upgrade:
+        cmd.append("--upgrade")
+    cmd.append(package)
+    if is_chinese:
+        cmd.extend(["-i", "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"])
+    return cmd
+
+
+def _installer_candidates() -> List[str]:
+    installers: List[str] = []
+    if _has_uv():
+        installers.append("uv")
+    installers.append("pip")
+    return installers
+
+
+def _git_url_from_requirement(requirement: str) -> Optional[str]:
+    if not requirement.startswith("git+"):
+        return None
+    return requirement[4:].split("#", 1)[0]
+
+
+def _repo_dir_name(git_url: str) -> str:
+    repo_name = git_url.rstrip("/").rsplit("/", 1)[-1]
+    return repo_name[:-4] if repo_name.endswith(".git") else repo_name
+
+
+def _print_manual_git_install_hint(requirement: str) -> None:
+    git_url = _git_url_from_requirement(requirement)
+    if not git_url:
+        return
+
+    repo_dir = _repo_dir_name(git_url)
+    install_cmd = (
+        f'uv pip install --python "{sys.executable}" -e .'
+        if _has_uv()
+        else f"{sys.executable} -m pip install -e ."
+    )
+    if _is_chinese_locale() and not _has_uv():
+        install_cmd += " -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"
+
+    print_status("Git 依赖自动安装失败，通常是网络连接被重置或代码托管站点暂时不可达。", "warning")
+    print_status("可以手动拉取代码后在本地安装:", "warning")
+    print_status(f"  git clone {git_url}", "warning")
+    print_status(f"  cd {repo_dir}", "warning")
+    print_status("  git pull", "warning")
+    print_status(f"  {install_cmd}", "warning")
+    print_status(f"如果目录 {repo_dir} 已存在，直接进入该目录执行 git pull 后再安装。", "warning")
+    print_status("如果 git clone 仍失败，请切换网络/代理，或从浏览器下载源码后进入源码目录执行本地安装命令。", "warning")
+
+
 def _install_packages(
     packages: List[str],
     upgrade: bool = False,
@@ -53,7 +126,7 @@ def _install_packages(
         return True
 
     is_chinese = _is_chinese_locale()
-    use_uv = _has_uv()
+    installers = _installer_candidates()
     failed: List[str] = []
 
     for pkg in packages:
@@ -63,35 +136,30 @@ def _install_packages(
         else:
             print_status(f"正在{action_word} {pkg}...", "info")
 
-        if use_uv:
+        pkg_installed = False
-            cmd = ["uv", "pip", "install"]
+        last_error = "unknown error"
-            if upgrade:
-                cmd.append("--upgrade")
-            cmd.append(pkg)
-            if is_chinese:
-                cmd.extend(["--index-url", "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"])
-        else:
-            cmd = [sys.executable, "-m", "pip", "install"]
-            if upgrade:
-                cmd.append("--upgrade")
-            cmd.append(pkg)
-            if is_chinese:
-                cmd.extend(["-i", "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"])
 
+        for installer in installers:
+            cmd = _install_command(installer, pkg, upgrade, is_chinese)
             try:
                 result = subprocess.run(cmd, capture_output=True, text=True, timeout=300)
                 if result.returncode == 0:
-                installer = "uv" if use_uv else "pip"
                     print_status(f"✓ {pkg} {action_word}成功 (via {installer})", "success")
-            else:
+                    pkg_installed = True
-                stderr_short = result.stderr.strip().split("\n")[-1] if result.stderr else "unknown error"
+                    break
-                print_status(f"× {pkg} {action_word}失败: {stderr_short}", "error")
+
-                failed.append(pkg)
+                last_error = result.stderr.strip().split("\n")[-1] if result.stderr else "unknown error"
+                print_status(f"× {pkg} {action_word}失败 (via {installer}): {last_error}", "warning")
             except subprocess.TimeoutExpired:
-            print_status(f"× {pkg} {action_word}超时 (300s)", "error")
+                last_error = "timeout after 300s"
-            failed.append(pkg)
+                print_status(f"× {pkg} {action_word}超时 (via {installer}, 300s)", "warning")
             except Exception as e:
-            print_status(f"× {pkg} {action_word}异常: {e}", "error")
+                last_error = str(e)
+                print_status(f"× {pkg} {action_word}异常 (via {installer}): {e}", "warning")
+
+        if not pkg_installed:
+            print_status(f"× {pkg} {action_word}失败: {last_error}", "error")
+            _print_manual_git_install_hint(pkg)
             failed.append(pkg)
 
     if failed:
@@ -188,7 +256,13 @@ class EnvironmentChecker:
             "crcmod": "crcmod-plus",
         }
 
-        self.special_packages = {"pylabrobot": "git+https://github.com/Xuwznln/pylabrobot.git"}
+        # 中文 locale 下走 Gitee 镜像，规避 GitHub 拉取失败
+        pylabrobot_url = (
+            "git+https://gitee.com/xuwznln/pylabrobot.git"
+            if _is_chinese_locale()
+            else "git+https://github.com/Xuwznln/pylabrobot.git"
+        )
+        self.special_packages = {"pylabrobot": pylabrobot_url}
 
         self.version_requirements = {
             "msgcenterpy": "0.1.8",

unilabos/utils/import_manager.py

@@ -206,6 +206,7 @@ class ImportManager:
             "ast_analysis_success": False,
             "import_map": {},
             "init_params": [],
+            "init_docstring": None,
             "status_methods": {},
             "action_methods": {},
         }
@@ -251,6 +252,7 @@ class ImportManager:
 
         # 映射到统一字段名（与 registry.py complete_registry 消费端一致）
         result["init_params"] = body.get("init_params", [])
+        result["init_docstring"] = body.get("init_docstring")
         result["status_methods"] = body.get("status_properties", {})
         result["action_methods"] = {
             k: {

unilabos/utils/log-origin.py

@@ -1,385 +0,0 @@
-import logging
-import os
-import platform
-from datetime import datetime
-import ctypes
-import atexit
-import inspect
-from typing import Tuple, cast
-
-# 添加TRACE级别到logging模块
-TRACE_LEVEL = 5
-logging.addLevelName(TRACE_LEVEL, "TRACE")
-
-
-class CustomRecord:
-    custom_stack_info: Tuple[str, int, str, str]
-
-
-# Windows颜色支持
-if platform.system() == "Windows":
-    # 尝试启用Windows终端的ANSI支持
-    kernel32 = ctypes.windll.kernel32
-    # 获取STD_OUTPUT_HANDLE
-    STD_OUTPUT_HANDLE = -11
-    # 启用ENABLE_VIRTUAL_TERMINAL_PROCESSING
-    ENABLE_VIRTUAL_TERMINAL_PROCESSING = 0x0004
-    # 获取当前控制台模式
-    handle = kernel32.GetStdHandle(STD_OUTPUT_HANDLE)
-    mode = ctypes.c_ulong()
-    kernel32.GetConsoleMode(handle, ctypes.byref(mode))
-    # 启用ANSI处理
-    kernel32.SetConsoleMode(handle, mode.value | ENABLE_VIRTUAL_TERMINAL_PROCESSING)
-
-    # 程序退出时恢复控制台设置
-    @atexit.register
-    def reset_console():
-        kernel32.SetConsoleMode(handle, mode.value)
-
-
-# 定义不同日志级别的颜色
-class ColoredFormatter(logging.Formatter):
-    """自定义日志格式化器，支持颜色输出"""
-
-    # ANSI 颜色代码
-    COLORS = {
-        "RESET": "\033[0m",  # 重置
-        "BOLD": "\033[1m",  # 加粗
-        "GRAY": "\033[37m",  # 灰色
-        "WHITE": "\033[97m",  # 白色
-        "BLACK": "\033[30m",  # 黑色
-        "TRACE_LEVEL": "\033[1;90m",  # 加粗深灰色
-        "DEBUG_LEVEL": "\033[1;36m",  # 加粗青色
-        "INFO_LEVEL": "\033[1;32m",  # 加粗绿色
-        "WARNING_LEVEL": "\033[1;33m",  # 加粗黄色
-        "ERROR_LEVEL": "\033[1;31m",  # 加粗红色
-        "CRITICAL_LEVEL": "\033[1;35m",  # 加粗紫色
-        "TRACE_TEXT": "\033[90m",  # 深灰色
-        "DEBUG_TEXT": "\033[37m",  # 灰色
-        "INFO_TEXT": "\033[97m",  # 白色
-        "WARNING_TEXT": "\033[33m",  # 黄色
-        "ERROR_TEXT": "\033[31m",  # 红色
-        "CRITICAL_TEXT": "\033[35m",  # 紫色
-        "DATE": "\033[37m",  # 日期始终使用灰色
-    }
-
-    def __init__(self, use_colors=True):
-        super().__init__()
-        # 强制启用颜色
-        self.use_colors = use_colors
-
-    def format(self, record):
-        # 检查是否有自定义堆栈信息
-        if hasattr(record, "custom_stack_info") and record.custom_stack_info:  # type: ignore
-            r = cast(CustomRecord, record)
-            frame_info = r.custom_stack_info
-            record.filename = frame_info[0]
-            record.lineno = frame_info[1]
-            record.funcName = frame_info[2]
-            if len(frame_info) > 3:
-                record.name = frame_info[3]
-        if not self.use_colors:
-            return self._format_basic(record)
-
-        level_color = self.COLORS.get(f"{record.levelname}_LEVEL", self.COLORS["WHITE"])
-        text_color = self.COLORS.get(f"{record.levelname}_TEXT", self.COLORS["WHITE"])
-        date_color = self.COLORS["DATE"]
-        reset = self.COLORS["RESET"]
-
-        # 日期格式
-        datetime_str = datetime.fromtimestamp(record.created).strftime("%y-%m-%d [%H:%M:%S,%f")[:-3] + "]"
-
-        # 模块和函数信息
-        filename = record.filename.replace(".py", "").split("\\")[-1]  # 提取文件名（不含路径和扩展名）
-        if "/" in filename:
-            filename = filename.split("/")[-1]
-        module_path = f"{record.name}.{filename}"
-        func_line = f"{record.funcName}:{record.lineno}"
-        right_info = f" [{func_line}] [{module_path}]"
-
-        # 主要消息
-        main_msg = record.getMessage()
-
-        # 构建基本消息格式
-        formatted_message = (
-            f"{date_color}{datetime_str}{reset} "
-            f"{level_color}[{record.levelname}]{reset} "
-            f"{text_color}{main_msg}"
-            f"{date_color}{right_info}{reset}"
-        )
-
-        # 处理异常信息
-        if record.exc_info:
-            exc_text = self.formatException(record.exc_info)
-            if formatted_message[-1:] != "\n":
-                formatted_message = formatted_message + "\n"
-            formatted_message = formatted_message + text_color + exc_text + reset
-        elif record.stack_info:
-            if formatted_message[-1:] != "\n":
-                formatted_message = formatted_message + "\n"
-            formatted_message = formatted_message + text_color + self.formatStack(record.stack_info) + reset
-
-        return formatted_message
-
-    def _format_basic(self, record):
-        """基本格式化，不包含颜色"""
-        datetime_str = datetime.fromtimestamp(record.created).strftime("%y-%m-%d [%H:%M:%S,%f")[:-3] + "]"
-        filename = record.filename.replace(".py", "").split("\\")[-1]  # 提取文件名（不含路径和扩展名）
-        if "/" in filename:
-            filename = filename.split("/")[-1]
-        module_path = f"{record.name}.{filename}"
-        func_line = f"{record.funcName}:{record.lineno}"
-        right_info = f" [{func_line}] [{module_path}]"
-
-        formatted_message = f"{datetime_str} [{record.levelname}] {record.getMessage()}{right_info}"
-
-        if record.exc_info:
-            exc_text = self.formatException(record.exc_info)
-            if formatted_message[-1:] != "\n":
-                formatted_message = formatted_message + "\n"
-            formatted_message = formatted_message + exc_text
-        elif record.stack_info:
-            if formatted_message[-1:] != "\n":
-                formatted_message = formatted_message + "\n"
-            formatted_message = formatted_message + self.formatStack(record.stack_info)
-
-        return formatted_message
-
-    def formatException(self, exc_info):
-        """重写异常格式化，确保异常信息保持正确的格式和颜色"""
-        # 获取标准的异常格式化文本
-        formatted_exc = super().formatException(exc_info)
-        return formatted_exc
-
-
-# 配置日志处理器
-def configure_logger(loglevel=None, working_dir=None):
-    """配置日志记录器
-
-    Args:
-        loglevel: 日志级别，可以是字符串（'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'）
-                 或logging模块的常量（如logging.DEBUG）或TRACE_LEVEL
-    """
-    # 获取根日志记录器
-    root_logger = logging.getLogger()
-    root_logger.setLevel(TRACE_LEVEL)
-    # 设置日志级别
-    numeric_level = logging.DEBUG
-    if loglevel is not None:
-        if isinstance(loglevel, str):
-            # 将字符串转换为logging级别
-            if loglevel.upper() == "TRACE":
-                numeric_level = TRACE_LEVEL
-            else:
-                numeric_level = getattr(logging, loglevel.upper(), None)
-                if not isinstance(numeric_level, int):
-                    print(f"警告: 无效的日志级别 '{loglevel}'，使用默认级别 DEBUG")
-        else:
-            numeric_level = loglevel
-
-    # 移除已存在的处理器
-    for handler in root_logger.handlers[:]:
-        root_logger.removeHandler(handler)
-
-    # 创建控制台处理器
-    console_handler = logging.StreamHandler()
-    console_handler.setLevel(numeric_level)  # 使用与根记录器相同的级别
-
-    # 使用自定义的颜色格式化器
-    color_formatter = ColoredFormatter()
-    console_handler.setFormatter(color_formatter)
-
-    # 添加处理器到根日志记录器
-    root_logger.addHandler(console_handler)
-
-    # 如果指定了工作目录，添加文件处理器
-    if working_dir is not None:
-        logs_dir = os.path.join(working_dir, "logs")
-        os.makedirs(logs_dir, exist_ok=True)
-
-        # 生成日志文件名：日期 时间.log
-        log_filename = datetime.now().strftime("%Y-%m-%d %H-%M-%S") + ".log"
-        log_filepath = os.path.join(logs_dir, log_filename)
-
-        # 创建文件处理器
-        file_handler = logging.FileHandler(log_filepath, encoding="utf-8")
-        file_handler.setLevel(TRACE_LEVEL)
-
-        # 使用不带颜色的格式化器
-        file_formatter = ColoredFormatter(use_colors=False)
-        file_handler.setFormatter(file_formatter)
-
-        root_logger.addHandler(file_handler)
-
-    logging.getLogger("asyncio").setLevel(logging.INFO)
-    logging.getLogger("urllib3").setLevel(logging.INFO)
-
-
-
-# 配置日志系统
-configure_logger()
-
-# 获取日志记录器
-logger = logging.getLogger(__name__)
-
-
-# 获取调用栈信息的工具函数
-def _get_caller_info(stack_level=0) -> Tuple[str, int, str, str]:
-    """
-    获取调用者的信息
-
-    Args:
-        stack_level: 堆栈回溯的级别，0表示当前函数，1表示调用者，依此类推
-
-    Returns:
-        (filename, line_number, function_name, module_name) 元组
-    """
-    # 堆栈级别需要加3:
-    # +1 因为这个函数本身占一层
-    # +1 因为日志函数(debug, info等)占一层
-    # +1 因为下面调用 inspect.stack() 也占一层
-    frame = inspect.currentframe()
-    try:
-        # 跳过适当的堆栈帧
-        for _ in range(stack_level + 3):
-            if frame and frame.f_back:
-                frame = frame.f_back
-            else:
-                break
-
-        if frame:
-            filename = frame.f_code.co_filename if frame.f_code else "unknown"
-            line_number = frame.f_lineno if hasattr(frame, "f_lineno") else 0
-            function_name = frame.f_code.co_name if frame.f_code else "unknown"
-
-            # 获取模块名称
-            module_name = "unknown"
-            if frame.f_globals and "__name__" in frame.f_globals:
-                module_name = frame.f_globals["__name__"].rsplit(".", 1)[0]
-
-            return (filename, line_number, function_name, module_name)
-        return ("unknown", 0, "unknown", "unknown")
-    finally:
-        del frame  # 避免循环引用
-
-
-# 便捷日志记录函数
-def debug(msg, *args, stack_level=0, **kwargs):
-    """
-    记录DEBUG级别日志
-
-    Args:
-        msg: 日志消息
-        stack_level: 堆栈回溯级别，用于定位日志的实际调用位置
-        *args, **kwargs: 传递给logger.debug的其他参数
-    """
-    # 获取调用者信息
-    if stack_level > 0:
-        caller_info = _get_caller_info(stack_level)
-        extra = kwargs.get("extra", {})
-        extra["custom_stack_info"] = caller_info
-        kwargs["extra"] = extra
-    logger.debug(msg, *args, **kwargs)
-
-
-def info(msg, *args, stack_level=0, **kwargs):
-    """
-    记录INFO级别日志
-
-    Args:
-        msg: 日志消息
-        stack_level: 堆栈回溯级别，用于定位日志的实际调用位置
-        *args, **kwargs: 传递给logger.info的其他参数
-    """
-    if stack_level > 0:
-        caller_info = _get_caller_info(stack_level)
-        extra = kwargs.get("extra", {})
-        extra["custom_stack_info"] = caller_info
-        kwargs["extra"] = extra
-    logger.info(msg, *args, **kwargs)
-
-
-def warning(msg, *args, stack_level=0, **kwargs):
-    """
-    记录WARNING级别日志
-
-    Args:
-        msg: 日志消息
-        stack_level: 堆栈回溯级别，用于定位日志的实际调用位置
-        *args, **kwargs: 传递给logger.warning的其他参数
-    """
-    if stack_level > 0:
-        caller_info = _get_caller_info(stack_level)
-        extra = kwargs.get("extra", {})
-        extra["custom_stack_info"] = caller_info
-        kwargs["extra"] = extra
-    logger.warning(msg, *args, **kwargs)
-
-
-def error(msg, *args, stack_level=0, **kwargs):
-    """
-    记录ERROR级别日志
-
-    Args:
-        msg: 日志消息
-        stack_level: 堆栈回溯级别，用于定位日志的实际调用位置
-        *args, **kwargs: 传递给logger.error的其他参数
-    """
-    if stack_level > 0:
-        caller_info = _get_caller_info(stack_level)
-        extra = kwargs.get("extra", {})
-        extra["custom_stack_info"] = caller_info
-        kwargs["extra"] = extra
-    logger.error(msg, *args, **kwargs)
-
-
-def critical(msg, *args, stack_level=0, **kwargs):
-    """
-    记录CRITICAL级别日志
-
-    Args:
-        msg: 日志消息
-        stack_level: 堆栈回溯级别，用于定位日志的实际调用位置
-        *args, **kwargs: 传递给logger.critical的其他参数
-    """
-    if stack_level > 0:
-        caller_info = _get_caller_info(stack_level)
-        extra = kwargs.get("extra", {})
-        extra["custom_stack_info"] = caller_info
-        kwargs["extra"] = extra
-    logger.critical(msg, *args, **kwargs)
-
-
-def trace(msg, *args, stack_level=0, **kwargs):
-    """
-    记录TRACE级别日志（比DEBUG级别更低）
-
-    Args:
-        msg: 日志消息
-        stack_level: 堆栈回溯级别，用于定位日志的实际调用位置
-        *args, **kwargs: 传递给logger.log的其他参数
-    """
-    if stack_level > 0:
-        caller_info = _get_caller_info(stack_level)
-        extra = kwargs.get("extra", {})
-        extra["custom_stack_info"] = caller_info
-        kwargs["extra"] = extra
-    logger.log(TRACE_LEVEL, msg, *args, **kwargs)
-
-
-logger.trace = trace
-
-# 测试日志输出（如果直接运行此文件）
-if __name__ == "__main__":
-    print("测试不同日志级别的颜色输出:")
-    trace("这是一条跟踪日志 (TRACE级别显示为深灰色，其他文本也为深灰色)")
-    debug("这是一条调试日志 (DEBUG级别显示为蓝色，其他文本为灰色)")
-    info("这是一条信息日志 (INFO级别显示为绿色，其他文本为白色)")
-    warning("这是一条警告日志 (WARNING级别显示为黄色，其他文本也为黄色)")
-    error("这是一条错误日志 (ERROR级别显示为红色，其他文本也为红色)")
-    critical("这是一条严重错误日志 (CRITICAL级别显示为紫色，其他文本也为紫色)")
-    # 测试异常输出
-    try:
-        1 / 0
-    except Exception as e:
-        error(f"发生错误: {e}", exc_info=True)

unilabos/utils/log.py

@@ -192,22 +192,8 @@ def configure_logger(loglevel=None, working_dir=None):
     # 添加处理器到根日志记录器
     root_logger.addHandler(console_handler)
 
-    # 降低第三方库的日志级别，避免过多输出
-    # pymodbus 库的日志太详细，设置为 WARNING
-    logging.getLogger('pymodbus').setLevel(logging.WARNING)
-    logging.getLogger('pymodbus.logging').setLevel(logging.WARNING)
-    logging.getLogger('pymodbus.logging.base').setLevel(logging.WARNING)
-    logging.getLogger('pymodbus.logging.decoders').setLevel(logging.WARNING)
-    
-    # websockets 库的日志输出较多，设置为 WARNING
-    logging.getLogger('websockets').setLevel(logging.WARNING)
-    logging.getLogger('websockets.client').setLevel(logging.WARNING)
-    logging.getLogger('websockets.server').setLevel(logging.WARNING)
-    
-    # ROS 节点的状态更新日志过于频繁，设置为 INFO
-    logging.getLogger('unilabos.ros.nodes.presets.host_node').setLevel(logging.INFO)
-
     # 如果指定了工作目录，添加文件处理器
+    log_filepath = None
     if working_dir is not None:
         logs_dir = os.path.join(working_dir, "logs")
         os.makedirs(logs_dir, exist_ok=True)
@@ -228,6 +214,7 @@ def configure_logger(loglevel=None, working_dir=None):
 
     logging.getLogger("asyncio").setLevel(logging.INFO)
     logging.getLogger("urllib3").setLevel(logging.INFO)
+    return log_filepath
 
 
 # 配置日志系统

unilabos_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>unilabos_msgs</name>
-  <version>0.10.19</version>
+  <version>0.11.3</version>
   <description>ROS2 Messages package for unilabos devices</description>
   <maintainer email="changjh@pku.edu.cn">Junhan Chang</maintainer>
   <maintainer email="18435084+Xuwznln@users.noreply.github.com">Xuwznln</maintainer>