update version to 0.10.12

print all logs to file
fix resource dict dump error

README.md

@@ -39,9 +39,7 @@ Uni-Lab-OS recommends using `mamba` for environment management. Choose the appro
 
 ```bash
 # Create new environment
-mamba create -n unilab python=3.11.11
-mamba activate unilab
-mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
 ```
 
 ## Install Dev Uni-Lab-OS

README_zh.md

@@ -41,9 +41,7 @@ Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适
 
 ```bash
 # 创建新环境
-mamba create -n unilab python=3.11.11
-mamba activate unilab
-mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
 ```
 
 2. 安装开发版 Uni-Lab-OS:

docs/user_guide/installation.md

@@ -317,6 +317,45 @@ unilab --help
 
 如果所有命令都正常输出，说明开发环境配置成功！
 
+### 开发工具推荐
+
+#### IDE
+
+- **PyCharm Professional**: 强大的 Python IDE，支持远程调试
+- **VS Code**: 轻量级，配合 Python 扩展使用
+- **Vim/Emacs**: 适合终端开发
+
+#### 推荐的 VS Code 扩展
+
+- Python
+- Pylance
+- ROS
+- URDF
+- YAML
+
+#### 调试工具
+
+```bash
+# 安装调试工具
+pip install ipdb pytest pytest-cov -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
+
+# 代码质量检查
+pip install black flake8 mypy -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
+```
+
+### 设置 pre-commit 钩子（可选）
+
+```bash
+# 安装 pre-commit
+pip install pre-commit -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
+
+# 设置钩子
+pre-commit install
+
+# 手动运行检查
+pre-commit run --all-files
+```
+
 ---
 
 ## 验证安装

scripts/workflow.py

@@ -2,6 +2,7 @@ import json
 import logging
 import traceback
 import uuid
+import xml.etree.ElementTree as ET
 from typing import Any, Dict, List
 
 import networkx as nx
@@ -24,15 +25,7 @@ class SimpleGraph:
 
     def add_edge(self, source, target, **attrs):
         """添加边"""
-        # edge = {"source": source, "target": target, **attrs}
-        edge = {
-            "source": source, "target": target,
-            "source_node_uuid": source,
-            "target_node_uuid": target,
-            "source_handle_io": "source",
-            "target_handle_io": "target",
-            **attrs
-        }
+        edge = {"source": source, "target": target, **attrs}
         self.edges.append(edge)
 
     def to_dict(self):
@@ -49,7 +42,6 @@ class SimpleGraph:
             "multigraph": False,
             "graph": {},
             "nodes": nodes_list,
-            "edges": self.edges,
             "links": self.edges,
         }
 
@@ -66,8 +58,495 @@ def extract_json_from_markdown(text: str) -> str:
     return text
 
 
+def convert_to_type(val: str) -> Any:
+    """将字符串值转换为适当的数据类型"""
+    if val == "True":
+        return True
+    if val == "False":
+        return False
+    if val == "?":
+        return None
+    if val.endswith(" g"):
+        return float(val.split(" ")[0])
+    if val.endswith("mg"):
+        return float(val.split("mg")[0])
+    elif val.endswith("mmol"):
+        return float(val.split("mmol")[0]) / 1000
+    elif val.endswith("mol"):
+        return float(val.split("mol")[0])
+    elif val.endswith("ml"):
+        return float(val.split("ml")[0])
+    elif val.endswith("RPM"):
+        return float(val.split("RPM")[0])
+    elif val.endswith(" °C"):
+        return float(val.split(" ")[0])
+    elif val.endswith(" %"):
+        return float(val.split(" ")[0])
+    return val
 
 
+def refactor_data(data: List[Dict[str, Any]]) -> List[Dict[str, Any]]:
+    """统一的数据重构函数，根据操作类型自动选择模板"""
+    refactored_data = []
+
+    # 定义操作映射，包含生物实验和有机化学的所有操作
+    OPERATION_MAPPING = {
+        # 生物实验操作
+        "transfer_liquid": "SynBioFactory-liquid_handler.prcxi-transfer_liquid",
+        "transfer": "SynBioFactory-liquid_handler.biomek-transfer",
+        "incubation": "SynBioFactory-liquid_handler.biomek-incubation",
+        "move_labware": "SynBioFactory-liquid_handler.biomek-move_labware",
+        "oscillation": "SynBioFactory-liquid_handler.biomek-oscillation",
+        # 有机化学操作
+        "HeatChillToTemp": "SynBioFactory-workstation-HeatChillProtocol",
+        "StopHeatChill": "SynBioFactory-workstation-HeatChillStopProtocol",
+        "StartHeatChill": "SynBioFactory-workstation-HeatChillStartProtocol",
+        "HeatChill": "SynBioFactory-workstation-HeatChillProtocol",
+        "Dissolve": "SynBioFactory-workstation-DissolveProtocol",
+        "Transfer": "SynBioFactory-workstation-TransferProtocol",
+        "Evaporate": "SynBioFactory-workstation-EvaporateProtocol",
+        "Recrystallize": "SynBioFactory-workstation-RecrystallizeProtocol",
+        "Filter": "SynBioFactory-workstation-FilterProtocol",
+        "Dry": "SynBioFactory-workstation-DryProtocol",
+        "Add": "SynBioFactory-workstation-AddProtocol",
+    }
+
+    UNSUPPORTED_OPERATIONS = ["Purge", "Wait", "Stir", "ResetHandling"]
+
+    for step in data:
+        operation = step.get("action")
+        if not operation or operation in UNSUPPORTED_OPERATIONS:
+            continue
+
+        # 处理重复操作
+        if operation == "Repeat":
+            times = step.get("times", step.get("parameters", {}).get("times", 1))
+            sub_steps = step.get("steps", step.get("parameters", {}).get("steps", []))
+            for i in range(int(times)):
+                sub_data = refactor_data(sub_steps)
+                refactored_data.extend(sub_data)
+            continue
+
+        # 获取模板名称
+        template = OPERATION_MAPPING.get(operation)
+        if not template:
+            # 自动推断模板类型
+            if operation.lower() in ["transfer", "incubation", "move_labware", "oscillation"]:
+                template = f"SynBioFactory-liquid_handler.biomek-{operation}"
+            else:
+                template = f"SynBioFactory-workstation-{operation}Protocol"
+
+        # 创建步骤数据
+        step_data = {
+            "template": template,
+            "description": step.get("description", step.get("purpose", f"{operation} operation")),
+            "lab_node_type": "Device",
+            "parameters": step.get("parameters", step.get("action_args", {})),
+        }
+        refactored_data.append(step_data)
+
+    return refactored_data
+
+
+def build_protocol_graph(
+    labware_info: List[Dict[str, Any]], protocol_steps: List[Dict[str, Any]], workstation_name: str
+) -> SimpleGraph:
+    """统一的协议图构建函数，根据设备类型自动选择构建逻辑"""
+    G = SimpleGraph()
+    resource_last_writer = {}
+    LAB_NAME = "SynBioFactory"
+
+    protocol_steps = refactor_data(protocol_steps)
+
+    # 检查协议步骤中的模板来判断协议类型
+    has_biomek_template = any(
+        ("biomek" in step.get("template", "")) or ("prcxi" in step.get("template", ""))
+        for step in protocol_steps
+    )
+
+    if has_biomek_template:
+        # 生物实验协议图构建
+        for labware_id, labware in labware_info.items():
+            node_id = str(uuid.uuid4())
+
+            labware_attrs = labware.copy()
+            labware_id = labware_attrs.pop("id", labware_attrs.get("name", f"labware_{uuid.uuid4()}"))
+            labware_attrs["description"] = labware_id
+            labware_attrs["lab_node_type"] = (
+                "Reagent" if "Plate" in str(labware_id) else "Labware" if "Rack" in str(labware_id) else "Sample"
+            )
+            labware_attrs["device_id"] = workstation_name
+
+            G.add_node(node_id, template=f"{LAB_NAME}-host_node-create_resource", **labware_attrs)
+            resource_last_writer[labware_id] = f"{node_id}:labware"
+
+        # 处理协议步骤
+        prev_node = None
+        for i, step in enumerate(protocol_steps):
+            node_id = str(uuid.uuid4())
+            G.add_node(node_id, **step)
+
+            # 添加控制流边
+            if prev_node is not None:
+                G.add_edge(prev_node, node_id, source_port="ready", target_port="ready")
+            prev_node = node_id
+
+            # 处理物料流
+            params = step.get("parameters", {})
+            if "sources" in params and params["sources"] in resource_last_writer:
+                source_node, source_port = resource_last_writer[params["sources"]].split(":")
+                G.add_edge(source_node, node_id, source_port=source_port, target_port="labware")
+
+            if "targets" in params:
+                resource_last_writer[params["targets"]] = f"{node_id}:labware"
+
+        # 添加协议结束节点
+        end_id = str(uuid.uuid4())
+        G.add_node(end_id, template=f"{LAB_NAME}-liquid_handler.biomek-run_protocol")
+        if prev_node is not None:
+            G.add_edge(prev_node, end_id, source_port="ready", target_port="ready")
+
+    else:
+        # 有机化学协议图构建
+        WORKSTATION_ID = workstation_name
+
+        # 为所有labware创建资源节点
+        for item_id, item in labware_info.items():
+            # item_id = item.get("id") or item.get("name", f"item_{uuid.uuid4()}")
+            node_id = str(uuid.uuid4())
+
+            # 判断节点类型
+            if item.get("type") == "hardware" or "reactor" in str(item_id).lower():
+                if "reactor" not in str(item_id).lower():
+                    continue
+                lab_node_type = "Sample"
+                description = f"Prepare Reactor: {item_id}"
+                liquid_type = []
+                liquid_volume = []
+            else:
+                lab_node_type = "Reagent"
+                description = f"Add Reagent to Flask: {item_id}"
+                liquid_type = [item_id]
+                liquid_volume = [1e5]
+
+            G.add_node(
+                node_id,
+                template=f"{LAB_NAME}-host_node-create_resource",
+                description=description,
+                lab_node_type=lab_node_type,
+                res_id=item_id,
+                device_id=WORKSTATION_ID,
+                class_name="container",
+                parent=WORKSTATION_ID,
+                bind_locations={"x": 0.0, "y": 0.0, "z": 0.0},
+                liquid_input_slot=[-1],
+                liquid_type=liquid_type,
+                liquid_volume=liquid_volume,
+                slot_on_deck="",
+                role=item.get("role", ""),
+            )
+            resource_last_writer[item_id] = f"{node_id}:labware"
+
+        last_control_node_id = None
+
+        # 处理协议步骤
+        for step in protocol_steps:
+            node_id = str(uuid.uuid4())
+            G.add_node(node_id, **step)
+
+            # 控制流
+            if last_control_node_id is not None:
+                G.add_edge(last_control_node_id, node_id, source_port="ready", target_port="ready")
+            last_control_node_id = node_id
+
+            # 物料流
+            params = step.get("parameters", {})
+            input_resources = {
+                "Vessel": params.get("vessel"),
+                "ToVessel": params.get("to_vessel"),
+                "FromVessel": params.get("from_vessel"),
+                "reagent": params.get("reagent"),
+                "solvent": params.get("solvent"),
+                "compound": params.get("compound"),
+                "sources": params.get("sources"),
+                "targets": params.get("targets"),
+            }
+
+            for target_port, resource_name in input_resources.items():
+                if resource_name and resource_name in resource_last_writer:
+                    source_node, source_port = resource_last_writer[resource_name].split(":")
+                    G.add_edge(source_node, node_id, source_port=source_port, target_port=target_port)
+
+            output_resources = {
+                "VesselOut": params.get("vessel"),
+                "FromVesselOut": params.get("from_vessel"),
+                "ToVesselOut": params.get("to_vessel"),
+                "FiltrateOut": params.get("filtrate_vessel"),
+                "reagent": params.get("reagent"),
+                "solvent": params.get("solvent"),
+                "compound": params.get("compound"),
+                "sources_out": params.get("sources"),
+                "targets_out": params.get("targets"),
+            }
+
+            for source_port, resource_name in output_resources.items():
+                if resource_name:
+                    resource_last_writer[resource_name] = f"{node_id}:{source_port}"
+
+    return G
+
+
+def draw_protocol_graph(protocol_graph: SimpleGraph, output_path: str):
+    """
+    (辅助功能) 使用 networkx 和 matplotlib 绘制协议工作流图，用于可视化。
+    """
+    if not protocol_graph:
+        print("Cannot draw graph: Graph object is empty.")
+        return
+
+    G = nx.DiGraph()
+
+    for node_id, attrs in protocol_graph.nodes.items():
+        label = attrs.get("description", attrs.get("template", node_id[:8]))
+        G.add_node(node_id, label=label, **attrs)
+
+    for edge in protocol_graph.edges:
+        G.add_edge(edge["source"], edge["target"])
+
+    plt.figure(figsize=(20, 15))
+    try:
+        pos = nx.nx_agraph.graphviz_layout(G, prog="dot")
+    except Exception:
+        pos = nx.shell_layout(G)  # Fallback layout
+
+    node_labels = {node: data["label"] for node, data in G.nodes(data=True)}
+    nx.draw(
+        G,
+        pos,
+        with_labels=False,
+        node_size=2500,
+        node_color="skyblue",
+        node_shape="o",
+        edge_color="gray",
+        width=1.5,
+        arrowsize=15,
+    )
+    nx.draw_networkx_labels(G, pos, labels=node_labels, font_size=8, font_weight="bold")
+
+    plt.title("Chemical Protocol Workflow Graph", size=15)
+    plt.savefig(output_path, dpi=300, bbox_inches="tight")
+    plt.close()
+    print(f"  - Visualization saved to '{output_path}'")
+
+
+from networkx.drawing.nx_agraph import to_agraph
+import re
+
+COMPASS = {"n","e","s","w","ne","nw","se","sw","c"}
+
+def _is_compass(port: str) -> bool:
+    return isinstance(port, str) and port.lower() in COMPASS
+
+def draw_protocol_graph_with_ports(protocol_graph, output_path: str, rankdir: str = "LR"):
+    """
+    使用 Graphviz 端口语法绘制协议工作流图。
+    - 若边上的 source_port/target_port 是 compass（n/e/s/w/...），直接用 compass。
+    - 否则自动为节点创建 record 形状并定义命名端口 <portname>。
+    最终由 PyGraphviz 渲染并输出到 output_path（后缀决定格式，如 .png/.svg/.pdf）。
+    """
+    if not protocol_graph:
+        print("Cannot draw graph: Graph object is empty.")
+        return
+
+    # 1) 先用 networkx 搭建有向图，保留端口属性
+    G = nx.DiGraph()
+    for node_id, attrs in protocol_graph.nodes.items():
+        label = attrs.get("description", attrs.get("template", node_id[:8]))
+        # 保留一个干净的“中心标签”，用于放在 record 的中间槽
+        G.add_node(node_id, _core_label=str(label), **{k:v for k,v in attrs.items() if k not in ("label",)})
+
+    edges_data = []
+    in_ports_by_node  = {}  # 收集命名输入端口
+    out_ports_by_node = {}  # 收集命名输出端口
+
+    for edge in protocol_graph.edges:
+        u = edge["source"]
+        v = edge["target"]
+        sp = edge.get("source_port")
+        tp = edge.get("target_port")
+
+        # 记录到图里（保留原始端口信息）
+        G.add_edge(u, v, source_port=sp, target_port=tp)
+        edges_data.append((u, v, sp, tp))
+
+        # 如果不是 compass，就按“命名端口”先归类，等会儿给节点造 record
+        if sp and not _is_compass(sp):
+            out_ports_by_node.setdefault(u, set()).add(str(sp))
+        if tp and not _is_compass(tp):
+            in_ports_by_node.setdefault(v, set()).add(str(tp))
+
+    # 2) 转为 AGraph，使用 Graphviz 渲染
+    A = to_agraph(G)
+    A.graph_attr.update(rankdir=rankdir, splines="true", concentrate="false", fontsize="10")
+    A.node_attr.update(shape="box", style="rounded,filled", fillcolor="lightyellow", color="#999999", fontname="Helvetica")
+    A.edge_attr.update(arrowsize="0.8", color="#666666")
+
+    # 3) 为需要命名端口的节点设置 record 形状与 label
+    #    左列 = 输入端口；中间 = 核心标签；右列 = 输出端口
+    for n in A.nodes():
+        node = A.get_node(n)
+        core = G.nodes[n].get("_core_label", n)
+
+        in_ports  = sorted(in_ports_by_node.get(n, []))
+        out_ports = sorted(out_ports_by_node.get(n, []))
+
+        # 如果该节点涉及命名端口，则用 record；否则保留原 box
+        if in_ports or out_ports:
+            def port_fields(ports):
+                if not ports:
+                    return " "  # 必须留一个空槽占位
+                # 每个端口一个小格子，<p> name
+                return "|".join(f"<{re.sub(r'[^A-Za-z0-9_:.|-]', '_', p)}> {p}" for p in ports)
+
+            left  = port_fields(in_ports)
+            right = port_fields(out_ports)
+
+            # 三栏：左(入) | 中(节点名) | 右(出)
+            record_label = f"{{ {left} | {core} | {right} }}"
+            node.attr.update(shape="record", label=record_label)
+        else:
+            # 没有命名端口：普通盒子，显示核心标签
+            node.attr.update(label=str(core))
+
+    # 4) 给边设置 headport / tailport
+    #    - 若端口为 compass：直接用 compass（e.g., headport="e"）
+    #    - 若端口为命名端口：使用在 record 中定义的 <port> 名（同名即可）
+    for (u, v, sp, tp) in edges_data:
+        e = A.get_edge(u, v)
+
+        # Graphviz 属性：tail 是源，head 是目标
+        if sp:
+            if _is_compass(sp):
+                e.attr["tailport"] = sp.lower()
+            else:
+                # 与 record label 中 <port> 名一致；特殊字符已在 label 中做了清洗
+                e.attr["tailport"] = re.sub(r'[^A-Za-z0-9_:.|-]', '_', str(sp))
+
+        if tp:
+            if _is_compass(tp):
+                e.attr["headport"] = tp.lower()
+            else:
+                e.attr["headport"] = re.sub(r'[^A-Za-z0-9_:.|-]', '_', str(tp))
+
+        # 可选：若想让边更贴边缘，可设置 constraint/spline 等
+        # e.attr["arrowhead"] = "vee"
+
+    # 5) 输出
+    A.draw(output_path, prog="dot")
+    print(f"  - Port-aware workflow rendered to '{output_path}'")
+
+
+def flatten_xdl_procedure(procedure_elem: ET.Element) -> List[ET.Element]:
+    """展平嵌套的XDL程序结构"""
+    flattened_operations = []
+    TEMP_UNSUPPORTED_PROTOCOL = ["Purge", "Wait", "Stir", "ResetHandling"]
+
+    def extract_operations(element: ET.Element):
+        if element.tag not in ["Prep", "Reaction", "Workup", "Purification", "Procedure"]:
+            if element.tag not in TEMP_UNSUPPORTED_PROTOCOL:
+                flattened_operations.append(element)
+
+        for child in element:
+            extract_operations(child)
+
+    for child in procedure_elem:
+        extract_operations(child)
+
+    return flattened_operations
+
+
+def parse_xdl_content(xdl_content: str) -> tuple:
+    """解析XDL内容"""
+    try:
+        xdl_content_cleaned = "".join(c for c in xdl_content if c.isprintable())
+        root = ET.fromstring(xdl_content_cleaned)
+
+        synthesis_elem = root.find("Synthesis")
+        if synthesis_elem is None:
+            return None, None, None
+
+        # 解析硬件组件
+        hardware_elem = synthesis_elem.find("Hardware")
+        hardware = []
+        if hardware_elem is not None:
+            hardware = [{"id": c.get("id"), "type": c.get("type")} for c in hardware_elem.findall("Component")]
+
+        # 解析试剂
+        reagents_elem = synthesis_elem.find("Reagents")
+        reagents = []
+        if reagents_elem is not None:
+            reagents = [{"name": r.get("name"), "role": r.get("role", "")} for r in reagents_elem.findall("Reagent")]
+
+        # 解析程序
+        procedure_elem = synthesis_elem.find("Procedure")
+        if procedure_elem is None:
+            return None, None, None
+
+        flattened_operations = flatten_xdl_procedure(procedure_elem)
+        return hardware, reagents, flattened_operations
+
+    except ET.ParseError as e:
+        raise ValueError(f"Invalid XDL format: {e}")
+
+
+def convert_xdl_to_dict(xdl_content: str) -> Dict[str, Any]:
+    """
+    将XDL XML格式转换为标准的字典格式
+
+    Args:
+        xdl_content: XDL XML内容
+
+    Returns:
+        转换结果，包含步骤和器材信息
+    """
+    try:
+        hardware, reagents, flattened_operations = parse_xdl_content(xdl_content)
+        if hardware is None:
+            return {"error": "Failed to parse XDL content", "success": False}
+
+        # 将XDL元素转换为字典格式
+        steps_data = []
+        for elem in flattened_operations:
+            # 转换参数类型
+            parameters = {}
+            for key, val in elem.attrib.items():
+                converted_val = convert_to_type(val)
+                if converted_val is not None:
+                    parameters[key] = converted_val
+
+            step_dict = {
+                "operation": elem.tag,
+                "parameters": parameters,
+                "description": elem.get("purpose", f"Operation: {elem.tag}"),
+            }
+            steps_data.append(step_dict)
+
+        # 合并硬件和试剂为统一的labware_info格式
+        labware_data = []
+        labware_data.extend({"id": hw["id"], "type": "hardware", **hw} for hw in hardware)
+        labware_data.extend({"name": reagent["name"], "type": "reagent", **reagent} for reagent in reagents)
+
+        return {
+            "success": True,
+            "steps": steps_data,
+            "labware": labware_data,
+            "message": f"Successfully converted XDL to dict format. Found {len(steps_data)} steps and {len(labware_data)} labware items.",
+        }
+
+    except Exception as e:
+        error_msg = f"XDL conversion failed: {str(e)}"
+        logger.error(error_msg)
+        return {"error": error_msg, "success": False}
 
 
 def create_workflow(

test/workflow/merge_workflow.py

@@ -1,35 +0,0 @@
-import sys
-from datetime import datetime
-from pathlib import Path
-
-ROOT_DIR = Path(__file__).resolve().parents[2]
-if str(ROOT_DIR) not in sys.path:
-    sys.path.insert(0, str(ROOT_DIR))
-
-import pytest
-
-from unilabos.workflow.convert_from_json import (
-    convert_from_json,
-    normalize_steps as _normalize_steps,
-    normalize_labware as _normalize_labware,
-)
-from unilabos.workflow.common import draw_protocol_graph_with_ports
-
-
-@pytest.mark.parametrize(
-    "protocol_name",
-    [
-        "example_bio",
-        # "bioyond_materials_liquidhandling_1",
-        "example_prcxi",
-    ],
-)
-def test_build_protocol_graph(protocol_name):
-    data_path = Path(__file__).with_name(f"{protocol_name}.json")
-
-    graph = convert_from_json(data_path, workstation_name="PRCXi")
-
-    timestamp = datetime.now().strftime("%Y%m%d_%H%M")
-    output_path = data_path.with_name(f"{protocol_name}_graph_{timestamp}.png")
-    draw_protocol_graph_with_ports(graph, str(output_path))
-    print(graph)

unilabos/app/main.py

@@ -20,7 +20,6 @@ if unilabos_dir not in sys.path:
 from unilabos.utils.banner_print import print_status, print_unilab_banner
 from unilabos.config.config import load_config, BasicConfig, HTTPConfig
 
-
 def load_config_from_file(config_path):
     if config_path is None:
         config_path = os.environ.get("UNILABOS_BASICCONFIG_CONFIG_PATH", None)
@@ -42,7 +41,7 @@ def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
     for i, arg in enumerate(sys.argv):
         for option_string in option_strings:
             if arg.startswith(option_string):
-                new_arg = arg[:2] + arg[2 : len(option_string)].replace("-", "_") + arg[len(option_string) :]
+                new_arg = arg[:2] + arg[2:len(option_string)].replace("-", "_") + arg[len(option_string):]
                 sys.argv[i] = new_arg
                 break
 
@@ -50,8 +49,6 @@ def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
 def parse_args():
     """解析命令行参数"""
     parser = argparse.ArgumentParser(description="Start Uni-Lab Edge server.")
-    subparsers = parser.add_subparsers(title="Valid subcommands", dest="command")
-
     parser.add_argument("-g", "--graph", help="Physical setup graph file path.")
     parser.add_argument("-c", "--controllers", default=None, help="Controllers config file path.")
     parser.add_argument(
@@ -156,54 +153,21 @@ def parse_args():
         default=False,
         help="Complete registry information",
     )
-    # workflow upload subcommand
-    workflow_parser = subparsers.add_parser(
-        "workflow_upload",
-        aliases=["wf"],
-        help="Upload workflow from xdl/json/python files",
-    )
-    workflow_parser.add_argument(
-        "-f",
-        "--workflow_file",
-        type=str,
-        required=True,
-        help="Path to the workflow file (JSON format)",
-    )
-    workflow_parser.add_argument(
-        "-n",
-        "--workflow_name",
-        type=str,
-        default=None,
-        help="Workflow name, if not provided will use the name from file or filename",
-    )
-    workflow_parser.add_argument(
-        "--tags",
-        type=str,
-        nargs="*",
-        default=[],
-        help="Tags for the workflow (space-separated)",
-    )
-    workflow_parser.add_argument(
-        "--published",
-        action="store_true",
-        default=False,
-        help="Whether to publish the workflow (default: False)",
-    )
     return parser
 
 
 def main():
     """主函数"""
     # 解析命令行参数
-    parser = parse_args()
-    convert_argv_dashes_to_underscores(parser)
-    args = parser.parse_args()
-    args_dict = vars(args)
+    args = parse_args()
+    convert_argv_dashes_to_underscores(args)
+    args_dict = vars(args.parse_args())
 
     # 环境检查 - 检查并自动安装必需的包 (可选)
     if not args_dict.get("skip_env_check", False):
         from unilabos.utils.environment_check import check_environment
 
+        print_status("正在进行环境依赖检查...", "info")
         if not check_environment(auto_install=True):
             print_status("环境检查失败，程序退出", "error")
             os._exit(1)
@@ -256,18 +220,17 @@ def main():
         logger.info(f"Log level set to '{BasicConfig.log_level}' from config file.")
     configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
 
-    if args.addr != parser.get_default("addr"):
-        if args.addr == "test":
-            print_status("使用测试环境地址", "info")
-            HTTPConfig.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
-        elif args.addr == "uat":
-            print_status("使用uat环境地址", "info")
-            HTTPConfig.remote_addr = "https://uni-lab.uat.bohrium.com/api/v1"
-        elif args.addr == "local":
-            print_status("使用本地环境地址", "info")
-            HTTPConfig.remote_addr = "http://127.0.0.1:48197/api/v1"
-        else:
-            HTTPConfig.remote_addr = args.addr
+    if args_dict["addr"] == "test":
+        print_status("使用测试环境地址", "info")
+        HTTPConfig.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
+    elif args_dict["addr"] == "uat":
+        print_status("使用uat环境地址", "info")
+        HTTPConfig.remote_addr = "https://uni-lab.uat.bohrium.com/api/v1"
+    elif args_dict["addr"] == "local":
+        print_status("使用本地环境地址", "info")
+        HTTPConfig.remote_addr = "http://127.0.0.1:48197/api/v1"
+    else:
+        HTTPConfig.remote_addr = args_dict.get("addr", "")
 
     # 设置BasicConfig参数
     if args_dict.get("ak", ""):
@@ -276,12 +239,9 @@ def main():
     if args_dict.get("sk", ""):
         BasicConfig.sk = args_dict.get("sk", "")
         print_status("传入了sk参数，优先采用传入参数！", "info")
-    BasicConfig.working_dir = working_dir
-
-    workflow_upload = args_dict.get("command") in ("workflow_upload", "wf")
 
     # 使用远程资源启动
-    if not workflow_upload and args_dict["use_remote_resource"]:
+    if args_dict["use_remote_resource"]:
         print_status("使用远程资源启动", "info")
         from unilabos.app.web import http_client
 
@@ -294,6 +254,7 @@ def main():
 
     BasicConfig.port = args_dict["port"] if args_dict["port"] else BasicConfig.port
     BasicConfig.disable_browser = args_dict["disable_browser"] or BasicConfig.disable_browser
+    BasicConfig.working_dir = working_dir
     BasicConfig.is_host_mode = not args_dict.get("is_slave", False)
     BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
     BasicConfig.upload_registry = args_dict.get("upload_registry", False)
@@ -322,31 +283,9 @@ def main():
 
     # 注册表
     lab_registry = build_registry(
-        args_dict["registry_path"], args_dict.get("complete_registry", False), BasicConfig.upload_registry
+        args_dict["registry_path"], args_dict.get("complete_registry", False), args_dict["upload_registry"]
     )
 
-    if BasicConfig.upload_registry:
-        # 设备注册到服务端 - 需要 ak 和 sk
-        if BasicConfig.ak and BasicConfig.sk:
-            print_status("开始注册设备到服务端...", "info")
-            try:
-                register_devices_and_resources(lab_registry)
-                print_status("设备注册完成", "info")
-            except Exception as e:
-                print_status(f"设备注册失败: {e}", "error")
-        else:
-            print_status("未提供 ak 和 sk，跳过设备注册", "info")
-    else:
-        print_status("本次启动注册表不报送云端，如果您需要联网调试，请在启动命令增加--upload_registry", "warning")
-
-    # 处理 workflow_upload 子命令
-    if workflow_upload:
-        from unilabos.workflow.wf_utils import handle_workflow_upload_command
-
-        handle_workflow_upload_command(args_dict)
-        print_status("工作流上传完成，程序退出", "info")
-        os._exit(0)
-
     if not BasicConfig.ak or not BasicConfig.sk:
         print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning")
         os._exit(1)
@@ -388,10 +327,6 @@ def main():
     for ind, i in enumerate(resource_edge_info[::-1]):
         source_node: ResourceDict = nodes[i["source"]]
         target_node: ResourceDict = nodes[i["target"]]
-        if "sourceHandle" not in source_node:
-            continue
-        if "targetHandle" not in target_node:
-            continue
         source_handle = i["sourceHandle"]
         target_handle = i["targetHandle"]
         source_handler_keys = [
@@ -427,6 +362,20 @@ def main():
     args_dict["devices_config"] = resource_tree_set
     args_dict["graph"] = graph_res.physical_setup_graph
 
+    if BasicConfig.upload_registry:
+        # 设备注册到服务端 - 需要 ak 和 sk
+        if BasicConfig.ak and BasicConfig.sk:
+            print_status("开始注册设备到服务端...", "info")
+            try:
+                register_devices_and_resources(lab_registry)
+                print_status("设备注册完成", "info")
+            except Exception as e:
+                print_status(f"设备注册失败: {e}", "error")
+        else:
+            print_status("未提供 ak 和 sk，跳过设备注册", "info")
+    else:
+        print_status("本次启动注册表不报送云端，如果您需要联网调试，请在启动命令增加--upload_registry", "warning")
+
     if args_dict["controllers"] is not None:
         args_dict["controllers_config"] = yaml.safe_load(open(args_dict["controllers"], encoding="utf-8"))
     else:
@@ -441,7 +390,6 @@ def main():
         comm_client = get_communication_client()
         if "websocket" in args_dict["app_bridges"]:
             args_dict["bridges"].append(comm_client)
-
             def _exit(signum, frame):
                 comm_client.stop()
                 sys.exit(0)
@@ -483,13 +431,16 @@ def main():
                 resource_visualization.start()
             except OSError as e:
                 if "AMENT_PREFIX_PATH" in str(e):
-                    print_status(f"ROS 2环境未正确设置，跳过3D可视化启动。错误详情: {e}", "warning")
+                    print_status(
+                        f"ROS 2环境未正确设置，跳过3D可视化启动。错误详情: {e}",
+                        "warning"
+                    )
                     print_status(
                         "建议解决方案：\n"
                         "1. 激活Conda环境: conda activate unilab\n"
                         "2. 或使用 --backend simple 参数\n"
                         "3. 或使用 --visual disable 参数禁用可视化",
-                        "info",
+                        "info"
                     )
                 else:
                     raise

unilabos/app/web/client.py

@@ -76,8 +76,7 @@ class HTTPClient:
             Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
         """
         with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "w", encoding="utf-8") as f:
-            payload = {"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}
-            f.write(json.dumps(payload, indent=4))
+            f.write(json.dumps({"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}, indent=4))
         # 从序列化数据中提取所有节点的UUID（保存旧UUID）
         old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
         if not self.initialized or first_add:
@@ -300,10 +299,6 @@ class HTTPClient:
         )
         if response.status_code not in [200, 201]:
             logger.error(f"注册资源失败: {response.status_code}, {response.text}")
-        if response.status_code == 200:
-            res = response.json()
-            if "code" in res and res["code"] != 0:
-                logger.error(f"注册资源失败: {response.text}")
         return response
 
     def request_startup_json(self) -> Optional[Dict[str, Any]]:
@@ -336,67 +331,6 @@ class HTTPClient:
                 logger.error(f"响应内容: {response.text}")
         return None
 
-    def workflow_import(
-        self,
-        name: str,
-        workflow_uuid: str,
-        workflow_name: str,
-        nodes: List[Dict[str, Any]],
-        edges: List[Dict[str, Any]],
-        tags: Optional[List[str]] = None,
-        published: bool = False,
-    ) -> Dict[str, Any]:
-        """
-        导入工作流到服务器
-
-        Args:
-            name: 工作流名称（顶层）
-            workflow_uuid: 工作流UUID
-            workflow_name: 工作流名称（data内部）
-            nodes: 工作流节点列表
-            edges: 工作流边列表
-            tags: 工作流标签列表，默认为空列表
-            published: 是否发布工作流，默认为False
-
-        Returns:
-            Dict: API响应数据，包含 code 和 data (uuid, name)
-        """
-        # target_lab_uuid 暂时使用默认值，后续由后端根据 ak/sk 获取
-        payload = {
-            "target_lab_uuid": "28c38bb0-63f6-4352-b0d8-b5b8eb1766d5",
-            "name": name,
-            "data": {
-                "workflow_uuid": workflow_uuid,
-                "workflow_name": workflow_name,
-                "nodes": nodes,
-                "edges": edges,
-                "tags": tags if tags is not None else [],
-                "published": published,
-            },
-        }
-        # 保存请求到文件
-        with open(os.path.join(BasicConfig.working_dir, "req_workflow_upload.json"), "w", encoding="utf-8") as f:
-            f.write(json.dumps(payload, indent=4, ensure_ascii=False))
-
-        response = requests.post(
-            f"{self.remote_addr}/lab/workflow/owner/import",
-            json=payload,
-            headers={"Authorization": f"Lab {self.auth}"},
-            timeout=60,
-        )
-        # 保存响应到文件
-        with open(os.path.join(BasicConfig.working_dir, "res_workflow_upload.json"), "w", encoding="utf-8") as f:
-            f.write(f"{response.status_code}" + "\n" + response.text)
-
-        if response.status_code == 200:
-            res = response.json()
-            if "code" in res and res["code"] != 0:
-                logger.error(f"导入工作流失败: {response.text}")
-            return res
-        else:
-            logger.error(f"导入工作流失败: {response.status_code}, {response.text}")
-            return {"code": response.status_code, "message": response.text}
-
 
 # 创建默认客户端实例
 http_client = HTTPClient()

unilabos/app/ws_client.py

@@ -438,7 +438,7 @@ class MessageProcessor:
                     self.connected = True
                     self.reconnect_count = 0
 
-                    logger.trace(f"[MessageProcessor] Connected to {self.websocket_url}")
+                    logger.info(f"[MessageProcessor] Connected to {self.websocket_url}")
 
                     # 启动发送协程
                     send_task = asyncio.create_task(self._send_handler())
@@ -503,7 +503,7 @@ class MessageProcessor:
 
     async def _send_handler(self):
         """处理发送队列中的消息"""
-        logger.trace("[MessageProcessor] Send handler started")
+        logger.debug("[MessageProcessor] Send handler started")
 
         try:
             while self.connected and self.websocket:
@@ -965,7 +965,7 @@ class QueueProcessor:
 
     def _run(self):
         """运行队列处理主循环"""
-        logger.trace("[QueueProcessor] Queue processor started")
+        logger.debug("[QueueProcessor] Queue processor started")
 
         while self.is_running:
             try:
@@ -1175,6 +1175,7 @@ class WebSocketClient(BaseCommunicationClient):
         else:
             url = f"{scheme}://{parsed.netloc}/api/v1/ws/schedule"
 
+        logger.debug(f"[WebSocketClient] URL: {url}")
         return url
 
     def start(self) -> None:
@@ -1187,11 +1188,13 @@ class WebSocketClient(BaseCommunicationClient):
             logger.error("[WebSocketClient] WebSocket URL not configured")
             return
 
+        logger.info(f"[WebSocketClient] Starting connection to {self.websocket_url}")
+
         # 启动两个核心线程
         self.message_processor.start()
         self.queue_processor.start()
 
-        logger.trace("[WebSocketClient] All threads started")
+        logger.info("[WebSocketClient] All threads started")
 
     def stop(self) -> None:
         """停止WebSocket客户端"""

unilabos/config/config.py

@@ -21,8 +21,7 @@ class BasicConfig:
     startup_json_path = None  # 填写绝对路径
     disable_browser = False  # 禁止浏览器自动打开
     port = 8002  # 本地HTTP服务
-    # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
-    log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG"
+    log_level: Literal['TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'] = "DEBUG"  # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
 
     @classmethod
     def auth_secret(cls):
@@ -42,7 +41,7 @@ class WSConfig:
 
 # HTTP配置
 class HTTPConfig:
-    remote_addr = "https://uni-lab.bohrium.com/api/v1"
+    remote_addr = "http://127.0.0.1:48197/api/v1"
 
 
 # ROS配置
@@ -66,14 +65,13 @@ def _update_config_from_module(module):
                     if not attr.startswith("_"):
                         setattr(obj, attr, getattr(getattr(module, name), attr))
 
-
 def _update_config_from_env():
     prefix = "UNILABOS_"
     for env_key, env_value in os.environ.items():
         if not env_key.startswith(prefix):
             continue
         try:
-            key_path = env_key[len(prefix) :]  # Remove UNILAB_ prefix
+            key_path = env_key[len(prefix):]  # Remove UNILAB_ prefix
             class_field = key_path.upper().split("_", 1)
             if len(class_field) != 2:
                 logger.warning(f"[ENV] 环境变量格式不正确：{env_key}")

unilabos/device_comms/opcua_client/node/uniopcua.py

@@ -3,7 +3,7 @@ from enum import Enum
 from abc import ABC, abstractmethod
 from typing import Tuple, Union, Optional, Any, List
 
-from opcua import Client, Node, ua
+from opcua import Client, Node
 from opcua.ua import NodeId, NodeClass, VariantType
 
 
@@ -43,72 +43,27 @@ class Base(ABC):
         self._type = typ
         self._data_type = data_type
         self._node: Optional[Node] = None
-
+        
     def _get_node(self) -> Node:
         if self._node is None:
             try:
-                # 尝试多种 NodeId 字符串格式解析，兼容不同服务器/库的输出
-                # 可能的格式示例: 'ns=2;i=1234', 'ns=2;s=SomeString',
-                # 'StringNodeId(ns=4;s=OPC|变量名)', 'NumericNodeId(ns=2;i=1234)' 等
-                import re
-
-                nid = self._node_id
-                # 如果已经是 NodeId/Node 对象（库用户可能传入），直接使用
-                try:
-                    from opcua.ua import NodeId as UaNodeId
-                    if isinstance(nid, UaNodeId):
-                        self._node = self._client.get_node(nid)
-                        return self._node
-                except Exception:
-                    # 若导入或类型判断失败，则继续下一步
-                    pass
-
-                # 直接以字符串形式处理
-                if isinstance(nid, str):
-                    nid = nid.strip()
-
-                    # 处理包含类名的格式，如 'StringNodeId(ns=4;s=...)' 或 'NumericNodeId(ns=2;i=...)'
-                    # 提取括号内的内容
-                    match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid)
-                    if match_wrapped:
-                        # 提取括号内的实际 node_id 字符串
-                        nid = match_wrapped.group(2).strip()
-
-                    # 常见短格式 'ns=2;i=1234' 或 'ns=2;s=SomeString'
-                    if re.match(r'^ns=\d+;[is]=', nid):
-                        self._node = self._client.get_node(nid)
+                # 检查是否是NumericNodeId(ns=X;i=Y)格式
+                if "NumericNodeId" in self._node_id:
+                    # 从字符串中提取命名空间和标识符
+                    import re
+                    match = re.search(r'ns=(\d+);i=(\d+)', self._node_id)
+                    if match:
+                        ns = int(match.group(1))
+                        identifier = int(match.group(2))
+                        node_id = NodeId(identifier, ns)
+                        self._node = self._client.get_node(node_id)
                     else:
-                        # 尝试提取 ns 和 i 或 s
-                        # 对于字符串标识符，可能包含特殊字符，使用非贪婪匹配
-                        m_num = re.search(r'ns=(\d+);i=(\d+)', nid)
-                        m_str = re.search(r'ns=(\d+);s=(.+?)(?:\)|$)', nid)
-                        if m_num:
-                            ns = int(m_num.group(1))
-                            identifier = int(m_num.group(2))
-                            node_id = NodeId(identifier, ns)
-                            self._node = self._client.get_node(node_id)
-                        elif m_str:
-                            ns = int(m_str.group(1))
-                            identifier = m_str.group(2).strip()
-                            # 对于字符串标识符，直接使用字符串格式
-                            node_id_str = f"ns={ns};s={identifier}"
-                            self._node = self._client.get_node(node_id_str)
-                        else:
-                            # 回退：尝试直接传入字符串（有些实现接受其它格式）
-                            try:
-                                self._node = self._client.get_node(self._node_id)
-                            except Exception as e:
-                                # 输出更详细的错误信息供调试
-                                print(f"获取节点失败(尝试直接字符串): {self._node_id}, 错误: {e}")
-                                raise
+                        raise ValueError(f"无法解析节点ID: {self._node_id}")
                 else:
-                    # 非字符串，尝试直接使用
+                    # 直接使用节点ID字符串
                     self._node = self._client.get_node(self._node_id)
             except Exception as e:
                 print(f"获取节点失败: {self._node_id}, 错误: {e}")
-                # 添加额外提示，帮助定位 BadNodeIdUnknown 问题
-                print("提示: 请确认该 node_id 是否来自当前连接的服务器地址空间，" \
-                      "以及 CSV/配置中名称与服务器 BrowseName 是否匹配。")
                 raise
         return self._node
 
@@ -116,16 +71,16 @@ class Base(ABC):
     def read(self) -> Tuple[Any, bool]:
         """读取节点值，返回(值, 是否出错)"""
         pass
-
+    
     @abstractmethod
     def write(self, value: Any) -> bool:
         """写入节点值，返回是否出错"""
         pass
-
+    
     @property
     def type(self) -> NodeType:
         return self._type
-
+    
     @property
     def node_id(self) -> str:
         return self._node_id
@@ -149,56 +104,7 @@ class Variable(Base):
 
     def write(self, value: Any) -> bool:
         try:
-            # 如果声明了数据类型，则尝试转换并使用对应的 Variant 写入
-            coerced = value
-            try:
-                if self._data_type is not None:
-                    # 基于声明的数据类型做简单类型转换
-                    dt = self._data_type
-                    if dt in (DataType.SBYTE, DataType.BYTE, DataType.INT16, DataType.UINT16,
-                              DataType.INT32, DataType.UINT32, DataType.INT64, DataType.UINT64):
-                        # 数值类型 -> int
-                        if isinstance(value, str):
-                            coerced = int(value)
-                        else:
-                            coerced = int(value)
-                    elif dt in (DataType.FLOAT, DataType.DOUBLE):
-                        if isinstance(value, str):
-                            coerced = float(value)
-                        else:
-                            coerced = float(value)
-                    elif dt == DataType.BOOLEAN:
-                        if isinstance(value, str):
-                            v = value.strip().lower()
-                            if v in ("true", "1", "yes", "on"):
-                                coerced = True
-                            elif v in ("false", "0", "no", "off"):
-                                coerced = False
-                            else:
-                                coerced = bool(value)
-                        else:
-                            coerced = bool(value)
-                    elif dt == DataType.STRING or dt == DataType.BYTESTRING or dt == DataType.DATETIME:
-                        coerced = str(value)
-
-                    # 使用 ua.Variant 明确指定 VariantType
-                    try:
-                        variant = ua.Variant(coerced, dt.value)
-                        self._get_node().set_value(variant)
-                    except Exception:
-                        # 回退：有些 set_value 实现接受 (value, variant_type)
-                        try:
-                            self._get_node().set_value(coerced, dt.value)
-                        except Exception:
-                            # 最后回退到直接写入（保持兼容性）
-                            self._get_node().set_value(coerced)
-                else:
-                    # 未声明数据类型，直接写入
-                    self._get_node().set_value(value)
-            except Exception:
-                # 若在转换或按数据类型写入失败，尝试直接写入原始值并让上层捕获错误
-                self._get_node().set_value(value)
-
+            self._get_node().set_value(value)
             return False
         except Exception as e:
             print(f"写入变量 {self._name} 失败: {e}")
@@ -210,54 +116,24 @@ class Method(Base):
         super().__init__(client, name, node_id, NodeType.METHOD, data_type)
         self._parent_node_id = parent_node_id
         self._parent_node = None
-
+        
     def _get_parent_node(self) -> Node:
         if self._parent_node is None:
             try:
-                # 处理父节点ID，使用与_get_node相同的解析逻辑
-                import re
-
-                nid = self._parent_node_id
-
-                # 如果已经是 NodeId 对象，直接使用
-                try:
-                    from opcua.ua import NodeId as UaNodeId
-                    if isinstance(nid, UaNodeId):
-                        self._parent_node = self._client.get_node(nid)
-                        return self._parent_node
-                except Exception:
-                    pass
-
-                # 字符串处理
-                if isinstance(nid, str):
-                    nid = nid.strip()
-
-                    # 处理包含类名的格式
-                    match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid)
-                    if match_wrapped:
-                        nid = match_wrapped.group(2).strip()
-
-                    # 常见短格式
-                    if re.match(r'^ns=\d+;[is]=', nid):
-                        self._parent_node = self._client.get_node(nid)
+                # 检查是否是NumericNodeId(ns=X;i=Y)格式
+                if "NumericNodeId" in self._parent_node_id:
+                    # 从字符串中提取命名空间和标识符
+                    import re
+                    match = re.search(r'ns=(\d+);i=(\d+)', self._parent_node_id)
+                    if match:
+                        ns = int(match.group(1))
+                        identifier = int(match.group(2))
+                        node_id = NodeId(identifier, ns)
+                        self._parent_node = self._client.get_node(node_id)
                     else:
-                        # 提取 ns 和 i 或 s
-                        m_num = re.search(r'ns=(\d+);i=(\d+)', nid)
-                        m_str = re.search(r'ns=(\d+);s=(.+?)(?:\)|$)', nid)
-                        if m_num:
-                            ns = int(m_num.group(1))
-                            identifier = int(m_num.group(2))
-                            node_id = NodeId(identifier, ns)
-                            self._parent_node = self._client.get_node(node_id)
-                        elif m_str:
-                            ns = int(m_str.group(1))
-                            identifier = m_str.group(2).strip()
-                            node_id_str = f"ns={ns};s={identifier}"
-                            self._parent_node = self._client.get_node(node_id_str)
-                        else:
-                            # 回退
-                            self._parent_node = self._client.get_node(self._parent_node_id)
+                        raise ValueError(f"无法解析父节点ID: {self._parent_node_id}")
                 else:
+                    # 直接使用节点ID字符串
                     self._parent_node = self._client.get_node(self._parent_node_id)
             except Exception as e:
                 print(f"获取父节点失败: {self._parent_node_id}, 错误: {e}")
@@ -271,7 +147,7 @@ class Method(Base):
     def write(self, value: Any) -> bool:
         """方法节点不支持写入操作"""
         return True
-
+        
     def call(self, *args) -> Tuple[Any, bool]:
         """调用方法，返回(返回值, 是否出错)"""
         try:
@@ -285,7 +161,7 @@ class Method(Base):
 class Object(Base):
     def __init__(self, client: Client, name: str, node_id: str):
         super().__init__(client, name, node_id, NodeType.OBJECT, None)
-
+        
     def read(self) -> Tuple[Any, bool]:
         """对象节点不支持直接读取操作"""
         return None, True
@@ -293,7 +169,7 @@ class Object(Base):
     def write(self, value: Any) -> bool:
         """对象节点不支持直接写入操作"""
         return True
-
+    
     def get_children(self) -> Tuple[List[Node], bool]:
         """获取子节点列表，返回(子节点列表, 是否出错)"""
         try:
@@ -301,4 +177,4 @@ class Object(Base):
             return children, False
         except Exception as e:
             print(f"获取对象 {self._name} 的子节点失败: {e}")
-            return [], True
+            return [], True 

unilabos/devices/cameraSII/cameraDriver.py

@@ -1,712 +0,0 @@
-#!/usr/bin/env python3
-import asyncio
-import json
-import subprocess
-import sys
-import threading
-from typing import Optional, Dict, Any
-import logging
-
-import requests
-import websockets
-
-logging.getLogger("zeep").setLevel(logging.WARNING)
-logging.getLogger("zeep.xsd.schema").setLevel(logging.WARNING)
-logging.getLogger("zeep.xsd.schema.schema").setLevel(logging.WARNING)
-from onvif import ONVIFCamera  # 新增：ONVIF PTZ 控制
-
-
-# ======================= 独立的 PTZController =======================
-class PTZController:
-    def __init__(self, host: str, port: int, user: str, password: str):
-        """
-        :param host: 摄像机 IP 或域名（和 RTSP 的一样即可）
-        :param port: ONVIF 端口（多数为 80，看你的设备）
-        :param user: 摄像机用户名
-        :param password: 摄像机密码
-        """
-        self.host = host
-        self.port = port
-        self.user = user
-        self.password = password
-
-        self.cam: Optional[ONVIFCamera] = None
-        self.media_service = None
-        self.ptz_service = None
-        self.profile = None
-
-    def connect(self) -> bool:
-        """
-        建立 ONVIF 连接并初始化 PTZ 能力，失败返回 False（不抛异常）
-        Note: 首先 pip install onvif-zeep
-        """
-        try:
-            self.cam = ONVIFCamera(self.host, self.port, self.user, self.password)
-            self.media_service = self.cam.create_media_service()
-            self.ptz_service = self.cam.create_ptz_service()
-            profiles = self.media_service.GetProfiles()
-            if not profiles:
-                print("[PTZ] No media profiles found on camera.", file=sys.stderr)
-                return False
-            self.profile = profiles[0]
-            return True
-        except Exception as e:
-            print(f"[PTZ] Failed to init ONVIF PTZ: {e}", file=sys.stderr)
-            return False
-
-    def _continuous_move(self, pan: float, tilt: float, zoom: float, duration: float) -> bool:
-        """
-        连续移动一段时间（秒），之后自动停止。
-        此函数为阻塞模式：只有在 Stop 调用结束后，才返回 True/False。
-        """
-        if not self.ptz_service or not self.profile:
-            print("[PTZ] _continuous_move: ptz_service or profile not ready", file=sys.stderr)
-            return False
-
-        # 进入前先强行停一下，避免前一次残留动作
-        self._force_stop()
-
-        req = self.ptz_service.create_type("ContinuousMove")
-        req.ProfileToken = self.profile.token
-
-        req.Velocity = {
-            "PanTilt": {"x": pan, "y": tilt},
-            "Zoom": {"x": zoom},
-        }
-
-        try:
-            print(f"[PTZ] ContinuousMove start: pan={pan}, tilt={tilt}, zoom={zoom}, duration={duration}", file=sys.stderr)
-            self.ptz_service.ContinuousMove(req)
-        except Exception as e:
-            print(f"[PTZ] ContinuousMove failed: {e}", file=sys.stderr)
-            return False
-
-        # 阻塞等待：这里决定“运动时间”
-        import time
-        wait_seconds = max(2 * duration, 0.0)
-        time.sleep(wait_seconds)
-
-        # 运动完成后强制停止
-        return self._force_stop()
-
-    def stop(self) -> bool:
-        """
-        阻塞调用 Stop（带重试），成功 True，失败 False。
-        """
-        return self._force_stop()
-
-    # ------- 对外动作接口（给 CameraController 调用） -------
-    # 所有接口都为“阻塞模式”：只有在运动 + Stop 完成后才返回 True/False
-
-    def move_up(self, speed: float = 0.5, duration: float = 1.0) -> bool:
-        print(f"[PTZ] move_up called, speed={speed}, duration={duration}", file=sys.stderr)
-        return self._continuous_move(pan=0.0, tilt=+speed, zoom=0.0, duration=duration)
-
-    def move_down(self, speed: float = 0.5, duration: float = 1.0) -> bool:
-        print(f"[PTZ] move_down called, speed={speed}, duration={duration}", file=sys.stderr)
-        return self._continuous_move(pan=0.0, tilt=-speed, zoom=0.0, duration=duration)
-
-    def move_left(self, speed: float = 0.2, duration: float = 1.0) -> bool:
-        print(f"[PTZ] move_left called, speed={speed}, duration={duration}", file=sys.stderr)
-        return self._continuous_move(pan=-speed, tilt=0.0, zoom=0.0, duration=duration)
-
-    def move_right(self, speed: float = 0.2, duration: float = 1.0) -> bool:
-        print(f"[PTZ] move_right called, speed={speed}, duration={duration}", file=sys.stderr)
-        return self._continuous_move(pan=+speed, tilt=0.0, zoom=0.0, duration=duration)
-
-    # ------- 占位的变倍接口（当前设备不支持） -------
-    def zoom_in(self, speed: float = 0.2, duration: float = 1.0) -> bool:
-        """
-        当前设备不支持变倍；保留方法只是避免上层调用时报错。
-        """
-        print("[PTZ] zoom_in is disabled for this device.", file=sys.stderr)
-        return False
-
-    def zoom_out(self, speed: float = 0.2, duration: float = 1.0) -> bool:
-        """
-        当前设备不支持变倍；保留方法只是避免上层调用时报错。
-        """
-        print("[PTZ] zoom_out is disabled for this device.", file=sys.stderr)
-        return False
-
-    def _force_stop(self, retries: int = 3, delay: float = 0.1) -> bool:
-        """
-        尝试多次调用 Stop，作为“强制停止”手段。
-        :param retries: 重试次数
-        :param delay: 每次重试间隔（秒）
-        """
-        if not self.ptz_service or not self.profile:
-            print("[PTZ] _force_stop: ptz_service or profile not ready", file=sys.stderr)
-            return False
-
-        import time
-        last_error = None
-        for i in range(retries):
-            try:
-                print(f"[PTZ] _force_stop: calling Stop(), attempt={i+1}", file=sys.stderr)
-                self.ptz_service.Stop({"ProfileToken": self.profile.token})
-                print("[PTZ] _force_stop: Stop() returned OK", file=sys.stderr)
-                return True
-            except Exception as e:
-                last_error = e
-                print(f"[PTZ] _force_stop: Stop() failed at attempt {i+1}: {e}", file=sys.stderr)
-                time.sleep(delay)
-
-        print(f"[PTZ] _force_stop: all {retries} attempts failed, last error: {last_error}", file=sys.stderr)
-        return False
-
-# ======================= CameraController（加入 PTZ） =======================
-
-class CameraController:
-    """
-    Uni-Lab-OS 摄像头驱动（driver 形式）
-    启动 Uni-Lab-OS 后，立即开始推流
-
-    - WebSocket 信令：通过 signal_backend_url 连接到后端
-      例如: wss://sciol.ac.cn/api/realtime/signal/host/<host_id>
-    - 媒体服务器：通过 rtmp_url / webrtc_api / webrtc_stream_url
-      当前配置为 SRS，与独立 HostSimulator 独立运行脚本保持一致。
-    """
-
-    def __init__(
-        self,
-        host_id: str = "demo-host",
-
-        # （1）信令后端（WebSocket）
-        signal_backend_url: str = "wss://sciol.ac.cn/api/realtime/signal/host",
-
-        # （2）媒体后端（RTMP + WebRTC API）
-        rtmp_url: str = "rtmp://srs.sciol.ac.cn:4499/live/camera-01",
-        webrtc_api: str = "https://srs.sciol.ac.cn/rtc/v1/play/",
-        webrtc_stream_url: str = "webrtc://srs.sciol.ac.cn:4500/live/camera-01",
-        camera_rtsp_url: str = "",
-
-        # （3）PTZ 控制相关（ONVIF）
-        ptz_host: str = "",           # 一般就是摄像头 IP，比如 "192.168.31.164"
-        ptz_port: int = 80,           # ONVIF 端口，不一定是 80，按实际情况改
-        ptz_user: str = "",           # admin
-        ptz_password: str = "",       # admin123
-    ):
-        self.host_id = host_id
-        self.camera_rtsp_url = camera_rtsp_url
-
-        # 拼接最终的 WebSocket URL：.../host/<host_id>
-        signal_backend_url = signal_backend_url.rstrip("/")
-        if not signal_backend_url.endswith("/host"):
-            signal_backend_url = signal_backend_url + "/host"
-        self.signal_backend_url = f"{signal_backend_url}/{host_id}"
-
-        # 媒体服务器配置
-        self.rtmp_url = rtmp_url
-        self.webrtc_api = webrtc_api
-        self.webrtc_stream_url = webrtc_stream_url
-
-        # PTZ 控制
-        self.ptz_host = ptz_host
-        self.ptz_port = ptz_port
-        self.ptz_user = ptz_user
-        self.ptz_password = ptz_password
-        self._ptz: Optional[PTZController] = None
-        self._init_ptz_if_possible()
-
-        # 运行时状态
-        self._ws: Optional[object] = None
-        self._ffmpeg_process: Optional[subprocess.Popen] = None
-        self._running = False
-        self._loop_task: Optional[asyncio.Future] = None
-
-        # 事件循环 & 线程
-        self._loop: Optional[asyncio.AbstractEventLoop] = None
-        self._loop_thread: Optional[threading.Thread] = None
-
-        try:
-            self.start()
-        except Exception as e:
-            print(f"[CameraController] __init__ auto start failed: {e}", file=sys.stderr)
-
-    # ------------------------ PTZ 初始化 ------------------------
-
-    # ------------------------ PTZ 公开动作方法（一个动作一个函数） ------------------------
-
-    def ptz_move_up(self, speed: float = 0.5, duration: float = 1.0) -> bool:
-        print(f"[CameraController] ptz_move_up called, speed={speed}, duration={duration}")
-        return self._ptz.move_up(speed=speed, duration=duration)
-
-    def ptz_move_down(self, speed: float = 0.5, duration: float = 1.0) -> bool:
-        print(f"[CameraController] ptz_move_down called, speed={speed}, duration={duration}")
-        return self._ptz.move_down(speed=speed, duration=duration)
-
-    def ptz_move_left(self, speed: float = 0.2, duration: float = 1.0) -> bool:
-        print(f"[CameraController] ptz_move_left called, speed={speed}, duration={duration}")
-        return self._ptz.move_left(speed=speed, duration=duration)
-
-    def ptz_move_right(self, speed: float = 0.2, duration: float = 1.0) -> bool:
-        print(f"[CameraController] ptz_move_right called, speed={speed}, duration={duration}")
-        return self._ptz.move_right(speed=speed, duration=duration)
-
-    def zoom_in(self, speed: float = 0.2, duration: float = 1.0) -> bool:
-        """
-        当前设备不支持变倍；保留方法只是避免上层调用时报错。
-        """
-        print("[PTZ] zoom_in is disabled for this device.", file=sys.stderr)
-        return False
-
-    def zoom_out(self, speed: float = 0.2, duration: float = 1.0) -> bool:
-        """
-        当前设备不支持变倍；保留方法只是避免上层调用时报错。
-        """
-        print("[PTZ] zoom_out is disabled for this device.", file=sys.stderr)
-        return False
-
-    def ptz_stop(self):
-        if self._ptz is None:
-            print("[CameraController] PTZ not initialized.", file=sys.stderr)
-            return
-        self._ptz.stop()
-
-    def _init_ptz_if_possible(self):
-        """
-        根据 ptz_host / user / password 初始化 PTZ；
-        如果配置信息不全则不启用 PTZ（静默）。
-        """
-        if not (self.ptz_host and self.ptz_user and self.ptz_password):
-            return
-        ctrl = PTZController(
-            host=self.ptz_host,
-            port=self.ptz_port,
-            user=self.ptz_user,
-            password=self.ptz_password,
-        )
-        if ctrl.connect():
-            self._ptz = ctrl
-        else:
-            self._ptz = None
-
-    # ---------------------------------------------------------------------
-    # 对外暴露的方法：供 Uni-Lab-OS 调用
-    # ---------------------------------------------------------------------
-
-    def start(self, config: Optional[Dict[str, Any]] = None):
-        """
-        启动 Camera 连接 & 消息循环，并在启动时就开启 FFmpeg 推流，
-        """
-
-        if self._running:
-            return {"status": "already_running", "host_id": self.host_id}
-
-        # 应用 config 覆盖（如果有）
-        if config:
-            self.camera_rtsp_url = config.get("camera_rtsp_url", self.camera_rtsp_url)
-            cfg_host_id = config.get("host_id")
-            if cfg_host_id:
-                self.host_id = cfg_host_id
-
-            signal_backend_url = config.get("signal_backend_url")
-            if signal_backend_url:
-                signal_backend_url = signal_backend_url.rstrip("/")
-                if not signal_backend_url.endswith("/host"):
-                    signal_backend_url = signal_backend_url + "/host"
-                self.signal_backend_url = f"{signal_backend_url}/{self.host_id}"
-
-            self.rtmp_url = config.get("rtmp_url", self.rtmp_url)
-            self.webrtc_api = config.get("webrtc_api", self.webrtc_api)
-            self.webrtc_stream_url = config.get(
-                "webrtc_stream_url", self.webrtc_stream_url
-            )
-
-            # PTZ 相关配置也允许通过 config 注入
-            self.ptz_host = config.get("ptz_host", self.ptz_host)
-            self.ptz_port = int(config.get("ptz_port", self.ptz_port))
-            self.ptz_user = config.get("ptz_user", self.ptz_user)
-            self.ptz_password = config.get("ptz_password", self.ptz_password)
-            self._init_ptz_if_possible()
-
-        self._running = True
-
-        # === start 时启动 FFmpeg 推流 ===
-        self._start_ffmpeg()
-
-        # 创建新的事件循环和线程（用于 WebSocket 信令）
-        self._loop = asyncio.new_event_loop()
-
-        def loop_runner(loop: asyncio.AbstractEventLoop):
-            asyncio.set_event_loop(loop)
-            try:
-                loop.run_forever()
-            except Exception as e:
-                print(f"[CameraController] event loop error: {e}", file=sys.stderr)
-
-        self._loop_thread = threading.Thread(
-            target=loop_runner, args=(self._loop,), daemon=True
-        )
-        self._loop_thread.start()
-
-        self._loop_task = asyncio.run_coroutine_threadsafe(
-            self._run_main_loop(), self._loop
-        )
-
-        return {
-            "status": "started",
-            "host_id": self.host_id,
-            "signal_backend_url": self.signal_backend_url,
-            "rtmp_url": self.rtmp_url,
-            "webrtc_api": self.webrtc_api,
-            "webrtc_stream_url": self.webrtc_stream_url,
-        }
-
-    def stop(self) -> Dict[str, Any]:
-        """
-        停止推流 & 断开 WebSocket，并关闭事件循环线程。
-        """
-        self._running = False
-
-        self._stop_ffmpeg()
-
-        if self._ws and self._loop is not None:
-            async def close_ws():
-                try:
-                    await self._ws.close()
-                except Exception as e:
-                    print(
-                        f"[CameraController] error when closing WebSocket: {e}",
-                        file=sys.stderr,
-                    )
-
-            asyncio.run_coroutine_threadsafe(close_ws(), self._loop)
-
-        if self._loop_task is not None:
-            if not self._loop_task.done():
-                self._loop_task.cancel()
-            try:
-                self._loop_task.result()
-            except asyncio.CancelledError:
-                pass
-            except Exception as e:
-                print(
-                    f"[CameraController] main loop task error in stop(): {e}",
-                    file=sys.stderr,
-                )
-            finally:
-                self._loop_task = None
-
-        if self._loop is not None:
-            try:
-                self._loop.call_soon_threadsafe(self._loop.stop)
-            except Exception as e:
-                print(
-                    f"[CameraController] error when stopping event loop: {e}",
-                    file=sys.stderr,
-                )
-
-        if self._loop_thread is not None:
-            try:
-                self._loop_thread.join(timeout=5)
-            except Exception as e:
-                print(
-                    f"[CameraController] error when joining loop thread: {e}",
-                    file=sys.stderr,
-                )
-            finally:
-                self._loop_thread = None
-
-        self._ws = None
-        self._loop = None
-
-        return {"status": "stopped", "host_id": self.host_id}
-
-    def get_status(self) -> Dict[str, Any]:
-        """
-        查询当前状态，方便在 Uni-Lab-OS 中做监控。
-        """
-        ws_closed = None
-        if self._ws is not None:
-            ws_closed = getattr(self._ws, "closed", None)
-
-        if ws_closed is None:
-            websocket_connected = self._ws is not None
-        else:
-            websocket_connected = (self._ws is not None) and (not ws_closed)
-
-        return {
-            "host_id": self.host_id,
-            "running": self._running,
-            "websocket_connected": websocket_connected,
-            "ffmpeg_running": bool(
-                self._ffmpeg_process and self._ffmpeg_process.poll() is None
-            ),
-            "signal_backend_url": self.signal_backend_url,
-            "rtmp_url": self.rtmp_url,
-        }
-
-    # ---------------------------------------------------------------------
-    # 内部实现逻辑：WebSocket 循环 / FFmpeg / WebRTC Offer 处理
-    # ---------------------------------------------------------------------
-
-    async def _run_main_loop(self):
-        try:
-            while self._running:
-                try:
-                    async with websockets.connect(self.signal_backend_url) as ws:
-                        self._ws = ws
-                        await self._recv_loop()
-                except asyncio.CancelledError:
-                    raise
-                except Exception as e:
-                    if self._running:
-                        print(
-                            f"[CameraController] WebSocket connection error: {e}",
-                            file=sys.stderr,
-                        )
-                        await asyncio.sleep(3)
-        except asyncio.CancelledError:
-            pass
-
-    async def _recv_loop(self):
-        assert self._ws is not None
-        ws = self._ws
-
-        async for message in ws:
-            try:
-                data = json.loads(message)
-            except json.JSONDecodeError:
-                print(
-                    f"[CameraController] received non-JSON message: {message}",
-                    file=sys.stderr,
-                )
-                continue
-
-            try:
-                await self._handle_message(data)
-            except Exception as e:
-                print(
-                    f"[CameraController] error while handling message {data}: {e}",
-                    file=sys.stderr,
-                )
-
-    async def _handle_message(self, data: Dict[str, Any]):
-        """
-        处理来自信令后端的消息：
-        - command: start_stream / stop_stream / ptz_xxx
-        - type: offer (WebRTC)
-        """
-        cmd = data.get("command")
-
-        # ---------- 推流控制 ----------
-        if cmd == "start_stream":
-            try:
-                self._start_ffmpeg()
-            except Exception as e:
-                print(
-                    f"[CameraController] error when starting FFmpeg on start_stream: {e}",
-                    file=sys.stderr,
-                )
-            return
-
-        if cmd == "stop_stream":
-            try:
-                self._stop_ffmpeg()
-            except Exception as e:
-                print(
-                    f"[CameraController] error when stopping FFmpeg on stop_stream: {e}",
-                    file=sys.stderr,
-                )
-            return
-
-        # # ---------- PTZ 控制 ----------
-        # # 例如信令可以发：
-        # # {"command": "ptz_move", "direction": "down", "speed": 0.5, "duration": 0.5}
-        # if cmd == "ptz_move":
-        #     if self._ptz is None:
-        #         # 没有初始化 PTZ，静默忽略或打印一条
-        #         print("[CameraController] PTZ not initialized.", file=sys.stderr)
-        #         return
-
-        #     direction = data.get("direction", "")
-        #     speed = float(data.get("speed", 0.5))
-        #     duration = float(data.get("duration", 0.5))
-
-        #     try:
-        #         if direction == "up":
-        #             self._ptz.move_up(speed=speed, duration=duration)
-        #         elif direction == "down":
-        #             self._ptz.move_down(speed=speed, duration=duration)
-        #         elif direction == "left":
-        #             self._ptz.move_left(speed=speed, duration=duration)
-        #         elif direction == "right":
-        #             self._ptz.move_right(speed=speed, duration=duration)
-        #         elif direction == "zoom_in":
-        #             self._ptz.zoom_in(speed=speed, duration=duration)
-        #         elif direction == "zoom_out":
-        #             self._ptz.zoom_out(speed=speed, duration=duration)
-        #         elif direction == "stop":
-        #             self._ptz.stop()
-        #         else:
-        #             # 未知方向，忽略
-        #             pass
-        #     except Exception as e:
-        #         print(
-        #             f"[CameraController] error when handling PTZ move: {e}",
-        #             file=sys.stderr,
-        #         )
-        #     return
-
-        # ---------- WebRTC Offer ----------
-        if data.get("type") == "offer":
-            offer_sdp = data.get("sdp", "")
-            camera_id = data.get("cameraId", "camera-01")
-            try:
-                answer_sdp = await self._handle_webrtc_offer(offer_sdp)
-            except Exception as e:
-                print(
-                    f"[CameraController] error when handling WebRTC offer: {e}",
-                    file=sys.stderr,
-                )
-                return
-
-            if self._ws:
-                answer_payload = {
-                    "type": "answer",
-                    "sdp": answer_sdp,
-                    "cameraId": camera_id,
-                    "hostId": self.host_id,
-                }
-                try:
-                    await self._ws.send(json.dumps(answer_payload))
-                except Exception as e:
-                    print(
-                        f"[CameraController] error when sending WebRTC answer: {e}",
-                        file=sys.stderr,
-                    )
-
-    # ------------------------ FFmpeg 相关 ------------------------
-
-    def _start_ffmpeg(self):
-        if self._ffmpeg_process and self._ffmpeg_process.poll() is None:
-            return
-
-        cmd = [
-            "ffmpeg",
-            "-rtsp_transport", "tcp",
-            "-i", self.camera_rtsp_url,
-
-            "-c:v", "libx264",
-            "-preset", "ultrafast",
-            "-tune", "zerolatency",
-            "-profile:v", "baseline",
-            "-b:v", "1M",
-            "-maxrate", "1M",
-            "-bufsize", "2M",
-            "-g", "10",
-            "-keyint_min", "10",
-            "-sc_threshold", "0",
-            "-pix_fmt", "yuv420p",
-            "-x264-params", "bframes=0",
-
-            "-c:a", "aac",
-            "-ar", "44100",
-            "-ac", "1",
-            "-b:a", "64k",
-
-            "-f", "flv",
-            self.rtmp_url,
-        ]
-
-        try:
-            self._ffmpeg_process = subprocess.Popen(
-                cmd,
-                stdout=subprocess.DEVNULL,
-                stderr=subprocess.STDOUT,
-                shell=False,
-            )
-        except Exception as e:
-            print(f"[CameraController] failed to start FFmpeg: {e}", file=sys.stderr)
-            self._ffmpeg_process = None
-            raise
-
-    def _stop_ffmpeg(self):
-        proc = self._ffmpeg_process
-
-        if proc and proc.poll() is None:
-            try:
-                proc.terminate()
-                try:
-                    proc.wait(timeout=5)
-                except subprocess.TimeoutExpired:
-                    try:
-                        proc.kill()
-                        try:
-                            proc.wait(timeout=2)
-                        except subprocess.TimeoutExpired:
-                            print(
-                                f"[CameraController] FFmpeg process did not exit even after kill (pid={proc.pid})",
-                                file=sys.stderr,
-                            )
-                    except Exception as e:
-                        print(
-                            f"[CameraController] failed to kill FFmpeg process: {e}",
-                            file=sys.stderr,
-                        )
-            except Exception as e:
-                print(
-                    f"[CameraController] error when stopping FFmpeg: {e}",
-                    file=sys.stderr,
-                )
-
-        self._ffmpeg_process = None
-
-    # ------------------------ WebRTC Offer 相关 ------------------------
-
-    async def _handle_webrtc_offer(self, offer_sdp: str) -> str:
-        payload = {
-            "api": self.webrtc_api,
-            "streamurl": self.webrtc_stream_url,
-            "sdp": offer_sdp,
-        }
-
-        headers = {"Content-Type": "application/json"}
-
-        def _do_request():
-            return requests.post(
-                self.webrtc_api,
-                json=payload,
-                headers=headers,
-                timeout=10,
-            )
-
-        try:
-            loop = asyncio.get_running_loop()
-            resp = await loop.run_in_executor(None, _do_request)
-        except Exception as e:
-            print(
-                f"[CameraController] failed to send offer to media server: {e}",
-                file=sys.stderr,
-            )
-            raise
-
-        try:
-            resp.raise_for_status()
-        except Exception as e:
-            print(
-                f"[CameraController] media server HTTP error: {e}, "
-                f"status={resp.status_code}, body={resp.text[:200]}",
-                file=sys.stderr,
-            )
-            raise
-
-        try:
-            data = resp.json()
-        except Exception as e:
-            print(
-                f"[CameraController] failed to parse media server JSON: {e}, "
-                f"raw={resp.text[:200]}",
-                file=sys.stderr,
-            )
-            raise
-
-        answer_sdp = data.get("sdp", "")
-        if not answer_sdp:
-            msg = f"empty SDP from media server: {data}"
-            print(f"[CameraController] {msg}", file=sys.stderr)
-            raise RuntimeError(msg)
-
-        return answer_sdp

unilabos/devices/cameraSII/cameraUSB.py

@@ -1,401 +0,0 @@
-#!/usr/bin/env python3
-import asyncio
-import json
-import subprocess
-import sys
-import threading
-from typing import Optional, Dict, Any
-
-import requests
-import websockets
-
-
-class CameraController:
-    """
-    Uni-Lab-OS 摄像头驱动（Linux USB 摄像头版，无 PTZ）
-
-    - WebSocket 信令：signal_backend_url 连接到后端
-      例如: wss://sciol.ac.cn/api/realtime/signal/host/<host_id>
-    - 媒体服务器：RTMP 推流到 rtmp_url；WebRTC offer 转发到 SRS 的 webrtc_api
-    - 视频源：本地 USB 摄像头（V4L2，默认 /dev/video0）
-    """
-
-    def __init__(
-        self,
-        host_id: str = "demo-host",
-        signal_backend_url: str = "wss://sciol.ac.cn/api/realtime/signal/host",
-        rtmp_url: str = "rtmp://srs.sciol.ac.cn:4499/live/camera-01",
-        webrtc_api: str = "https://srs.sciol.ac.cn/rtc/v1/play/",
-        webrtc_stream_url: str = "webrtc://srs.sciol.ac.cn:4500/live/camera-01",
-        video_device: str = "/dev/video0",
-        width: int = 1280,
-        height: int = 720,
-        fps: int = 30,
-        video_bitrate: str = "1500k",
-        audio_device: Optional[str] = None,  # 比如 "hw:1,0"，没有音频就保持 None
-        audio_bitrate: str = "64k",
-    ):
-        self.host_id = host_id
-
-        # 拼接最终 WebSocket URL：.../host/<host_id>
-        signal_backend_url = signal_backend_url.rstrip("/")
-        if not signal_backend_url.endswith("/host"):
-            signal_backend_url = signal_backend_url + "/host"
-        self.signal_backend_url = f"{signal_backend_url}/{host_id}"
-
-        # 媒体服务器配置
-        self.rtmp_url = rtmp_url
-        self.webrtc_api = webrtc_api
-        self.webrtc_stream_url = webrtc_stream_url
-
-        # 本地采集配置
-        self.video_device = video_device
-        self.width = int(width)
-        self.height = int(height)
-        self.fps = int(fps)
-        self.video_bitrate = video_bitrate
-        self.audio_device = audio_device
-        self.audio_bitrate = audio_bitrate
-
-        # 运行时状态
-        self._ws: Optional[object] = None
-        self._ffmpeg_process: Optional[subprocess.Popen] = None
-        self._running = False
-        self._loop_task: Optional[asyncio.Future] = None
-
-        # 事件循环 & 线程
-        self._loop: Optional[asyncio.AbstractEventLoop] = None
-        self._loop_thread: Optional[threading.Thread] = None
-
-        try:
-            self.start()
-        except Exception as e:
-            print(f"[CameraController] __init__ auto start failed: {e}", file=sys.stderr)
-
-    # ---------------------------------------------------------------------
-    # 对外方法
-    # ---------------------------------------------------------------------
-
-    def start(self, config: Optional[Dict[str, Any]] = None):
-        if self._running:
-            return {"status": "already_running", "host_id": self.host_id}
-
-        # 应用 config 覆盖（如果有）
-        if config:
-            cfg_host_id = config.get("host_id")
-            if cfg_host_id:
-                self.host_id = cfg_host_id
-
-            signal_backend_url = config.get("signal_backend_url")
-            if signal_backend_url:
-                signal_backend_url = signal_backend_url.rstrip("/")
-                if not signal_backend_url.endswith("/host"):
-                    signal_backend_url = signal_backend_url + "/host"
-                self.signal_backend_url = f"{signal_backend_url}/{self.host_id}"
-
-            self.rtmp_url = config.get("rtmp_url", self.rtmp_url)
-            self.webrtc_api = config.get("webrtc_api", self.webrtc_api)
-            self.webrtc_stream_url = config.get("webrtc_stream_url", self.webrtc_stream_url)
-
-            self.video_device = config.get("video_device", self.video_device)
-            self.width = int(config.get("width", self.width))
-            self.height = int(config.get("height", self.height))
-            self.fps = int(config.get("fps", self.fps))
-            self.video_bitrate = config.get("video_bitrate", self.video_bitrate)
-            self.audio_device = config.get("audio_device", self.audio_device)
-            self.audio_bitrate = config.get("audio_bitrate", self.audio_bitrate)
-
-        self._running = True
-
-        print("[CameraController] start(): starting FFmpeg streaming...", file=sys.stderr)
-        self._start_ffmpeg()
-
-        self._loop = asyncio.new_event_loop()
-
-        def loop_runner(loop: asyncio.AbstractEventLoop):
-            asyncio.set_event_loop(loop)
-            try:
-                loop.run_forever()
-            except Exception as e:
-                print(f"[CameraController] event loop error: {e}", file=sys.stderr)
-
-        self._loop_thread = threading.Thread(target=loop_runner, args=(self._loop,), daemon=True)
-        self._loop_thread.start()
-
-        self._loop_task = asyncio.run_coroutine_threadsafe(self._run_main_loop(), self._loop)
-
-        return {
-            "status": "started",
-            "host_id": self.host_id,
-            "signal_backend_url": self.signal_backend_url,
-            "rtmp_url": self.rtmp_url,
-            "webrtc_api": self.webrtc_api,
-            "webrtc_stream_url": self.webrtc_stream_url,
-            "video_device": self.video_device,
-            "width": self.width,
-            "height": self.height,
-            "fps": self.fps,
-            "video_bitrate": self.video_bitrate,
-            "audio_device": self.audio_device,
-        }
-
-    def stop(self) -> Dict[str, Any]:
-        self._running = False
-
-        # 先取消主任务（让 ws connect/sleep 尽快退出）
-        if self._loop_task is not None and not self._loop_task.done():
-            self._loop_task.cancel()
-
-        # 停止推流
-        self._stop_ffmpeg()
-
-        # 关闭 WebSocket（在 loop 中执行）
-        if self._ws and self._loop is not None:
-
-            async def close_ws():
-                try:
-                    await self._ws.close()
-                except Exception as e:
-                    print(f"[CameraController] error closing WebSocket: {e}", file=sys.stderr)
-
-            try:
-                asyncio.run_coroutine_threadsafe(close_ws(), self._loop)
-            except Exception:
-                pass
-
-        # 停止事件循环
-        if self._loop is not None:
-            try:
-                self._loop.call_soon_threadsafe(self._loop.stop)
-            except Exception as e:
-                print(f"[CameraController] error stopping loop: {e}", file=sys.stderr)
-
-        # 等待线程退出
-        if self._loop_thread is not None:
-            try:
-                self._loop_thread.join(timeout=5)
-            except Exception as e:
-                print(f"[CameraController] error joining loop thread: {e}", file=sys.stderr)
-
-        self._ws = None
-        self._loop_task = None
-        self._loop = None
-        self._loop_thread = None
-
-        return {"status": "stopped", "host_id": self.host_id}
-
-    def get_status(self) -> Dict[str, Any]:
-        ws_closed = None
-        if self._ws is not None:
-            ws_closed = getattr(self._ws, "closed", None)
-
-        if ws_closed is None:
-            websocket_connected = self._ws is not None
-        else:
-            websocket_connected = (self._ws is not None) and (not ws_closed)
-
-        return {
-            "host_id": self.host_id,
-            "running": self._running,
-            "websocket_connected": websocket_connected,
-            "ffmpeg_running": bool(self._ffmpeg_process and self._ffmpeg_process.poll() is None),
-            "signal_backend_url": self.signal_backend_url,
-            "rtmp_url": self.rtmp_url,
-            "video_device": self.video_device,
-            "width": self.width,
-            "height": self.height,
-            "fps": self.fps,
-            "video_bitrate": self.video_bitrate,
-        }
-
-    # ---------------------------------------------------------------------
-    # WebSocket / 信令
-    # ---------------------------------------------------------------------
-
-    async def _run_main_loop(self):
-        print("[CameraController] main loop started", file=sys.stderr)
-        try:
-            while self._running:
-                try:
-                    async with websockets.connect(self.signal_backend_url) as ws:
-                        self._ws = ws
-                        print(f"[CameraController] WebSocket connected: {self.signal_backend_url}", file=sys.stderr)
-                        await self._recv_loop()
-                except asyncio.CancelledError:
-                    raise
-                except Exception as e:
-                    if self._running:
-                        print(f"[CameraController] WebSocket connection error: {e}", file=sys.stderr)
-                        await asyncio.sleep(3)
-        except asyncio.CancelledError:
-            pass
-        finally:
-            print("[CameraController] main loop exited", file=sys.stderr)
-
-    async def _recv_loop(self):
-        assert self._ws is not None
-        ws = self._ws
-
-        async for message in ws:
-            try:
-                data = json.loads(message)
-            except json.JSONDecodeError:
-                print(f"[CameraController] non-JSON message: {message}", file=sys.stderr)
-                continue
-
-            try:
-                await self._handle_message(data)
-            except Exception as e:
-                print(f"[CameraController] error handling message {data}: {e}", file=sys.stderr)
-
-    async def _handle_message(self, data: Dict[str, Any]):
-        cmd = data.get("command")
-
-        if cmd == "start_stream":
-            self._start_ffmpeg()
-            return
-
-        if cmd == "stop_stream":
-            self._stop_ffmpeg()
-            return
-
-        if data.get("type") == "offer":
-            offer_sdp = data.get("sdp", "")
-            camera_id = data.get("cameraId", "camera-01")
-
-            answer_sdp = await self._handle_webrtc_offer(offer_sdp)
-
-            if self._ws:
-                answer_payload = {
-                    "type": "answer",
-                    "sdp": answer_sdp,
-                    "cameraId": camera_id,
-                    "hostId": self.host_id,
-                }
-                await self._ws.send(json.dumps(answer_payload))
-
-    # ---------------------------------------------------------------------
-    # FFmpeg 推流（V4L2 USB 摄像头）
-    # ---------------------------------------------------------------------
-
-    def _start_ffmpeg(self):
-        if self._ffmpeg_process and self._ffmpeg_process.poll() is None:
-            return
-
-        # 兼容性优先：不强制输入像素格式；失败再通过外部调整 width/height/fps
-        video_size = f"{self.width}x{self.height}"
-
-        cmd = [
-            "ffmpeg",
-            "-hide_banner",
-            "-loglevel",
-            "warning",
-
-            # video input
-            "-f", "v4l2",
-            "-framerate", str(self.fps),
-            "-video_size", video_size,
-            "-i", self.video_device,
-        ]
-
-        # optional audio input
-        if self.audio_device:
-            cmd += [
-                "-f", "alsa",
-                "-i", self.audio_device,
-                "-c:a", "aac",
-                "-b:a", self.audio_bitrate,
-                "-ar", "44100",
-                "-ac", "1",
-            ]
-        else:
-            cmd += ["-an"]
-
-        # video encode + rtmp out
-        cmd += [
-            "-c:v", "libx264",
-            "-preset", "ultrafast",
-            "-tune", "zerolatency",
-            "-profile:v", "baseline",
-            "-pix_fmt", "yuv420p",
-            "-b:v", self.video_bitrate,
-            "-maxrate", self.video_bitrate,
-            "-bufsize", "2M",
-            "-g", str(max(self.fps, 10)),
-            "-keyint_min", str(max(self.fps, 10)),
-            "-sc_threshold", "0",
-            "-x264-params", "bframes=0",
-
-            "-f", "flv",
-            self.rtmp_url,
-        ]
-
-        print(f"[CameraController] starting FFmpeg: {' '.join(cmd)}", file=sys.stderr)
-
-        try:
-            # 不再丢弃日志，至少能看到 ffmpeg 报错（调试很关键）
-            self._ffmpeg_process = subprocess.Popen(
-                cmd,
-                stdout=subprocess.DEVNULL,
-                stderr=sys.stderr,
-                shell=False,
-            )
-        except Exception as e:
-            self._ffmpeg_process = None
-            print(f"[CameraController] failed to start FFmpeg: {e}", file=sys.stderr)
-
-    def _stop_ffmpeg(self):
-        proc = self._ffmpeg_process
-        if proc and proc.poll() is None:
-            try:
-                proc.terminate()
-                try:
-                    proc.wait(timeout=5)
-                except subprocess.TimeoutExpired:
-                    proc.kill()
-            except Exception as e:
-                print(f"[CameraController] error stopping FFmpeg: {e}", file=sys.stderr)
-        self._ffmpeg_process = None
-
-    # ---------------------------------------------------------------------
-    # WebRTC offer -> SRS
-    # ---------------------------------------------------------------------
-
-    async def _handle_webrtc_offer(self, offer_sdp: str) -> str:
-        payload = {
-            "api": self.webrtc_api,
-            "streamurl": self.webrtc_stream_url,
-            "sdp": offer_sdp,
-        }
-        headers = {"Content-Type": "application/json"}
-
-        def _do_post():
-            return requests.post(self.webrtc_api, json=payload, headers=headers, timeout=10)
-
-        loop = asyncio.get_running_loop()
-        resp = await loop.run_in_executor(None, _do_post)
-
-        resp.raise_for_status()
-        data = resp.json()
-        answer_sdp = data.get("sdp", "")
-        if not answer_sdp:
-            raise RuntimeError(f"empty SDP from media server: {data}")
-        return answer_sdp
-
-
-if __name__ == "__main__":
-    # 直接运行用于手动测试
-    c = CameraController(
-        host_id="demo-host",
-        video_device="/dev/video0",
-        width=1280,
-        height=720,
-        fps=30,
-        video_bitrate="1500k",
-        audio_device=None,
-    )
-    try:
-        while True:
-            asyncio.sleep(1)
-    except KeyboardInterrupt:
-        c.stop()

unilabos/devices/cameraSII/cameraUSB_test.py

@@ -1,51 +0,0 @@
-#!/usr/bin/env python3
-import time
-import json
-
-from cameraUSB import CameraController
-
-
-def main():
-    # 按你的实际情况改
-    cfg = dict(
-        host_id="demo-host",
-        signal_backend_url="wss://sciol.ac.cn/api/realtime/signal/host",
-        rtmp_url="rtmp://srs.sciol.ac.cn:4499/live/camera-01",
-        webrtc_api="https://srs.sciol.ac.cn/rtc/v1/play/",
-        webrtc_stream_url="webrtc://srs.sciol.ac.cn:4500/live/camera-01",
-        video_device="/dev/video7",
-        width=1280,
-        height=720,
-        fps=30,
-        video_bitrate="1500k",
-        audio_device=None,
-    )
-
-    c = CameraController(**cfg)
-
-    # 可选：如果你不想依赖 __init__ 自动 start，可以这样显式调用：
-    # c = CameraController(host_id=cfg["host_id"])
-    # c.start(cfg)
-
-    run_seconds = 30  # 测试运行时长
-    t0 = time.time()
-
-    try:
-        while True:
-            st = c.get_status()
-            print(json.dumps(st, ensure_ascii=False, indent=2))
-
-            if time.time() - t0 >= run_seconds:
-                break
-
-            time.sleep(2)
-    except KeyboardInterrupt:
-        print("Interrupted, stopping...")
-    finally:
-        print("Stopping controller...")
-        c.stop()
-        print("Done.")
-
-
-if __name__ == "__main__":
-    main()

unilabos/devices/cameraSII/demo_camera_pic.py

@@ -1,36 +0,0 @@
-import cv2
-
-# 推荐把 @ 进行 URL 编码：@ -> %40
-RTSP_URL = "rtsp://admin:admin123@192.168.31.164:554/stream1"
-OUTPUT_IMAGE = "rtsp_test_frame.jpg"
-
-def main():
-    print(f"尝试连接 RTSP 流: {RTSP_URL}")
-    cap = cv2.VideoCapture(RTSP_URL)
-
-    if not cap.isOpened():
-        print("错误：无法打开 RTSP 流，请检查：")
-        print("  1. IP/端口是否正确")
-        print("  2. 账号密码（尤其是 @ 是否已转成 %40）是否正确")
-        print("  3. 摄像头是否允许当前主机访问（同一网段、防火墙等）")
-        return
-
-    print("连接成功，开始读取一帧...")
-    ret, frame = cap.read()
-
-    if not ret or frame is None:
-        print("错误：已连接但未能读取到帧数据（可能是码流未开启或网络抖动）")
-        cap.release()
-        return
-
-    # 保存当前帧
-    success = cv2.imwrite(OUTPUT_IMAGE, frame)
-    cap.release()
-
-    if success:
-        print(f"成功截取一帧并保存为: {OUTPUT_IMAGE}")
-    else:
-        print("错误：写入图片失败，请检查磁盘权限/路径")
-
-if __name__ == "__main__":
-    main()

unilabos/devices/cameraSII/demo_camera_push.py

@@ -1,21 +0,0 @@
-# run_camera_push.py
-import time
-from cameraDriver import CameraController  # 这里根据你的文件名调整
-
-if __name__ == "__main__":
-    controller = CameraController(
-        host_id="demo-host",
-        signal_backend_url="wss://sciol.ac.cn/api/realtime/signal/host",
-        rtmp_url="rtmp://srs.sciol.ac.cn:4499/live/camera-01",
-        webrtc_api="https://srs.sciol.ac.cn/rtc/v1/play/",
-        webrtc_stream_url="webrtc://srs.sciol.ac.cn:4500/live/camera-01",
-        camera_rtsp_url="rtsp://admin:admin123@192.168.31.164:554/stream1",
-    )
-
-    try:
-        while True:
-            status = controller.get_status()
-            print(status)
-            time.sleep(5)
-    except KeyboardInterrupt:
-        controller.stop()

unilabos/devices/cameraSII/ptz_cameracontroller_test.py

@@ -1,78 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-
-"""
-使用 CameraController 来测试 PTZ：
-让摄像头按顺序向下、向上、向左、向右运动几次。
-"""
-
-import time
-import sys
-
-# 根据你的工程结构修改导入路径：
-# 假设 CameraController 定义在 cameraController.py 里
-from cameraDriver import CameraController
-
-
-def main():
-    # === 根据你的实际情况填 IP、端口、账号密码 ===
-    ptz_host = "192.168.31.164"
-    ptz_port = 2020          # 注意要和你单独测试 PTZController 时保持一致
-    ptz_user = "admin"
-    ptz_password = "admin123"
-
-    # 1. 创建 CameraController 实例
-    cam = CameraController(
-        # 其他摄像机相关参数按你类的 __init__ 来补充
-        ptz_host=ptz_host,
-        ptz_port=ptz_port,
-        ptz_user=ptz_user,
-        ptz_password=ptz_password,
-    )
-
-    # 2. 启动 / 初始化（如果你的 CameraController 有 start(config) 之类的接口）
-    #    这里给一个最小的 config，重点是 PTZ 相关字段
-    config = {
-        "ptz_host": ptz_host,
-        "ptz_port": ptz_port,
-        "ptz_user": ptz_user,
-        "ptz_password": ptz_password,
-    }
-
-    try:
-        cam.start(config)
-    except Exception as e:
-        print(f"[TEST] CameraController start() 失败: {e}", file=sys.stderr)
-        return
-
-    # 这里可以判断一下内部 _ptz 是否初始化成功（如果你对 CameraController 做了封装）
-    if getattr(cam, "_ptz", None) is None:
-        print("[TEST] CameraController 内部 PTZ 未初始化成功，请检查 ptz_host/port/user/password 配置。", file=sys.stderr)
-        return
-
-    # 3. 依次调用 CameraController 的 PTZ 方法
-    #    这里假设你在 CameraController 中提供了这几个对外方法：
-    #    ptz_move_down / ptz_move_up / ptz_move_left / ptz_move_right
-    #    如果你命名不一样，把下面调用名改成你的即可。
-
-    print("向下移动（通过 CameraController）...")
-    cam.ptz_move_down(speed=0.5, duration=1.0)
-    time.sleep(1)
-
-    print("向上移动（通过 CameraController）...")
-    cam.ptz_move_up(speed=0.5, duration=1.0)
-    time.sleep(1)
-
-    print("向左移动（通过 CameraController）...")
-    cam.ptz_move_left(speed=0.5, duration=1.0)
-    time.sleep(1)
-
-    print("向右移动（通过 CameraController）...")
-    cam.ptz_move_right(speed=0.5, duration=1.0)
-    time.sleep(1)
-
-    print("测试结束。")
-
-
-if __name__ == "__main__":
-    main()

unilabos/devices/cameraSII/ptz_test.py

@@ -1,50 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-
-"""
-测试 cameraDriver.py中的 PTZController 类，让摄像头按顺序运动几次
-"""
-
-import time
-
-from cameraDriver import PTZController
-
-
-def main():
-    # 根据你的实际情况填 IP、端口、账号密码
-    host = "192.168.31.164"
-    port = 80
-    user = "admin"
-    password = "admin123"
-
-    ptz = PTZController(host=host, port=port, user=user, password=password)
-
-    # 1. 连接摄像头
-    if not ptz.connect():
-        print("连接 PTZ 失败，检查 IP/用户名/密码/端口。")
-        return
-
-    # 2. 依次测试几个动作
-    # 每个动作之间 sleep 一下方便观察
-
-    print("向下移动...")
-    ptz.move_down(speed=0.5, duration=1.0)
-    time.sleep(1)
-
-    print("向上移动...")
-    ptz.move_up(speed=0.5, duration=1.0)
-    time.sleep(1)
-
-    print("向左移动...")
-    ptz.move_left(speed=0.5, duration=1.0)
-    time.sleep(1)
-
-    print("向右移动...")
-    ptz.move_right(speed=0.5, duration=1.0)
-    time.sleep(1)
-
-    print("测试结束。")
-
-
-if __name__ == "__main__":
-    main()

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -988,18 +988,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 dis_vols = [float(dis_vols)]
             else:
                 dis_vols = [float(v) for v in dis_vols]
-
-        # 统一混合次数为标量，防止数组/列表与 int 比较时报错
-        if mix_times is not None and not isinstance(mix_times, (int, float)):
-            try:
-                mix_times = mix_times[0] if len(mix_times) > 0 else None
-            except Exception:
-                try:
-                    mix_times = next(iter(mix_times))
-                except Exception:
-                    pass
-        if mix_times is not None:
-            mix_times = int(mix_times)
             
             # 识别传输模式
             num_sources = len(sources)

unilabos/devices/liquid_handling/prcxi/base_material.json

@@ -1,954 +0,0 @@
-[
-  {
-    "uuid": "3b6f33ffbf734014bcc20e3c63e124d4",
-    "Code": "ZX-58-1250",
-    "Name": "Tip头适配器 1250uL",
-    "SummaryName": "Tip头适配器 1250uL",
-    "SupplyType": 2,
-    "Factory": "宁静致远",
-    "LengthNum": 128,
-    "WidthNum": 85,
-    "HeightNum": 20,
-    "DepthNum": 4,
-    "StandardHeight": 0,
-    "PipetteHeight": null,
-    "HoleColum": 1,
-    "HoleRow": 1,
-    "HoleDiameter": 0,
-    "Volume": 1250,
-    "ImagePath": "/images/20220624015044.jpg",
-    "QRCode": null,
-    "Qty": 10,
-    "CreateName": null,
-    "CreateTime": "2021-12-30 16:03:52.6583727",
-    "UpdateName": null,
-    "UpdateTime": "2022-06-24 13:50:44.8123474",
-    "IsStright": 0,
-    "IsGeneral": 0,
-    "IsControl": 1,
-    "ArmCode": null,
-    "XSpacing": null,
-    "YSpacing": null,
-    "materialEnum": null,
-    "Margins_X": 0,
-    "Margins_Y": 0
-  },
-  {
-    "uuid": "7c822592b360451fb59690e49ac6b181",
-    "Code": "ZX-58-300",
-    "Name": "ZHONGXI 适配器 300uL",
-    "SummaryName": "ZHONGXI 适配器 300uL",
-    "SupplyType": 2,
-    "Factory": "宁静致远",
-    "LengthNum": 127,
-    "WidthNum": 85,
-    "HeightNum": 81,
-    "DepthNum": 4,
-    "StandardHeight": 0,
-    "PipetteHeight": null,
-    "HoleColum": 1,
-    "HoleRow": 1,
-    "HoleDiameter": 0,
-    "Volume": 300,
-    "ImagePath": "/images/20220623102838.jpg",
-    "QRCode": null,
-    "Qty": 10,
-    "CreateName": null,
-    "CreateTime": "2021-12-30 16:07:53.7453351",
-    "UpdateName": null,
-    "UpdateTime": "2022-06-23 10:28:38.6190575",
-    "IsStright": 0,
-    "IsGeneral": 0,
-    "IsControl": 1,
-    "ArmCode": null,
-    "XSpacing": null,
-    "YSpacing": null,
-    "materialEnum": null,
-    "Margins_X": 0,
-    "Margins_Y": 0
-  },
-  {
-    "uuid": "8cc3dce884ac41c09f4570d0bcbfb01c",
-    "Code": "ZX-58-10",
-    "Name": "吸头10ul 适配器",
-    "SummaryName": "吸头10ul 适配器",
-    "SupplyType": 2,
-    "Factory": "宁静致远",
-    "LengthNum": 128,
-    "WidthNum": 85,
-    "HeightNum": 72.3,
-    "DepthNum": 0,
-    "StandardHeight": 0,
-    "PipetteHeight": 0,
-    "HoleColum": 1,
-    "HoleRow": 1,
-    "HoleDiameter": 127,
-    "Volume": 1000,
-    "ImagePath": "",
-    "QRCode": null,
-    "Qty": 10,
-    "CreateName": null,
-    "CreateTime": "2021-12-30 16:37:40.7073733",
-    "UpdateName": null,
-    "UpdateTime": "2025-05-30 15:17:01.8231737",
-    "IsStright": 0,
-    "IsGeneral": 1,
-    "IsControl": 1,
-    "ArmCode": null,
-    "XSpacing": 0,
-    "YSpacing": 0,
-    "materialEnum": 0,
-    "Margins_X": 0,
-    "Margins_Y": 0
-  },
-  {
-    "uuid": "7960f49ddfe9448abadda89bd1556936",
-    "Code": "ZX-001-1250",
-    "Name": "1250μL Tip头",
-    "SummaryName": "1250μL Tip头",
-    "SupplyType": 1,
-    "Factory": "宁静致远",
-    "LengthNum": 118.09,
-    "WidthNum": 80.7,
-    "HeightNum": 107.67,
-    "DepthNum": 100,
-    "StandardHeight": 0,
-    "PipetteHeight": null,
-    "HoleColum": 12,
-    "HoleRow": 8,
-    "HoleDiameter": 7.95,
-    "Volume": 1250,
-    "ImagePath": "/images/20220623102536.jpg",
-    "QRCode": null,
-    "Qty": 96,
-    "CreateName": null,
-    "CreateTime": "2021-12-30 20:53:27.8591195",
-    "UpdateName": null,
-    "UpdateTime": "2022-06-23 10:25:36.2592442",
-    "IsStright": 0,
-    "IsGeneral": 0,
-    "IsControl": 1,
-    "ArmCode": null,
-    "XSpacing": 9,
-    "YSpacing": 9,
-    "materialEnum": null,
-    "Margins_X": 0,
-    "Margins_Y": 0
-  },
-  {
-    "uuid": "45f2ed3ad925484d96463d675a0ebf66",
-    "Code": "ZX-001-10",
-    "Name": "10μL Tip头",
-    "SummaryName": "10μL Tip头",
-    "SupplyType": 1,
-    "Factory": "宁静致远",
-    "LengthNum": 120.98,
-    "WidthNum": 82.12,
-    "HeightNum": 67,
-    "DepthNum": 39.1,
-    "StandardHeight": 0,
-    "PipetteHeight": null,
-    "HoleColum": 12,
-    "HoleRow": 8,
-    "HoleDiameter": 5,
-    "Volume": 10,
-    "ImagePath": "/images/20221119041031.jpg",
-    "QRCode": null,
-    "Qty": -21,
-    "CreateName": null,
-    "CreateTime": "2021-12-30 20:56:53.462015",
-    "UpdateName": null,
-    "UpdateTime": "2022-11-19 16:10:31.126801",
-    "IsStright": 0,
-    "IsGeneral": 1,
-    "IsControl": 1,
-    "ArmCode": null,
-    "XSpacing": 9,
-    "YSpacing": 9,
-    "materialEnum": null,
-    "Margins_X": 0,
-    "Margins_Y": 0
-  },
-  {
-    "uuid": "068b3815e36b4a72a59bae017011b29f",
-    "Code": "ZX-001-10+",
-    "Name": "10μL加长 Tip头",
-    "SummaryName": "10μL加长 Tip头",
-    "SupplyType": 1,
-    "Factory": "宁静致远",
-    "LengthNum": 122.11,
-    "WidthNum": 80.05,
-    "HeightNum": 58.23,
-    "DepthNum": 45.1,
-    "StandardHeight": 0,
-    "PipetteHeight": 60,
-    "HoleColum": 12,
-    "HoleRow": 8,
-    "HoleDiameter": 7,
-    "Volume": 10,
-    "ImagePath": "",
-    "QRCode": null,
-    "Qty": 42,
-    "CreateName": null,
-    "CreateTime": "2021-12-30 20:57:57.331211",
-    "UpdateName": null,
-    "UpdateTime": "2025-09-17 17:02:51.2070383",
-    "IsStright": 0,
-    "IsGeneral": 0,
-    "IsControl": 1,
-    "ArmCode": null,
-    "XSpacing": 9,
-    "YSpacing": 9,
-    "materialEnum": 1,
-    "Margins_X": 7.97,
-    "Margins_Y": 5
-  },
-  {
-    "uuid": "80652665f6a54402b2408d50b40398df",
-    "Code": "ZX-001-1000",
-    "Name": "1000μL Tip头",
-    "SummaryName": "1000μL Tip头",
-    "SupplyType": 1,
-    "Factory": "宁静致远",
-    "LengthNum": 128.09,
-    "WidthNum": 85.8,
-    "HeightNum": 98,
-    "DepthNum": 88,
-    "StandardHeight": 0,
-    "PipetteHeight": 100,
-    "HoleColum": 12,
-    "HoleRow": 8,
-    "HoleDiameter": 7.95,
-    "Volume": 1000,
-    "ImagePath": "",
-    "QRCode": null,
-    "Qty": 47,
-    "CreateName": null,
-    "CreateTime": "2021-12-30 20:59:20.5534915",
-    "UpdateName": null,
-    "UpdateTime": "2025-05-30 14:49:53.639727",
-    "IsStright": 0,
-    "IsGeneral": 0,
-    "IsControl": 1,
-    "ArmCode": null,
-    "XSpacing": 9,
-    "YSpacing": 9,
-    "materialEnum": 1,
-    "Margins_X": 14.5,
-    "Margins_Y": 11.4
-  },
-  {
-    "uuid": "076250742950465b9d6ea29a225dfb00",
-    "Code": "ZX-001-300",
-    "Name": "300μL Tip头",
-    "SummaryName": "300μL Tip头",
-    "SupplyType": 1,
-    "Factory": "宁静致远",
-    "LengthNum": 122.11,
-    "WidthNum": 80.05,
-    "HeightNum": 58.23,
-    "DepthNum": 45.1,
-    "StandardHeight": 0,
-    "PipetteHeight": 60,
-    "HoleColum": 12,
-    "HoleRow": 8,
-    "HoleDiameter": 7,
-    "Volume": 300,
-    "ImagePath": "",
-    "QRCode": null,
-    "Qty": 11,
-    "CreateName": null,
-    "CreateTime": "2021-12-30 21:00:24.7266192",
-    "UpdateName": null,
-    "UpdateTime": "2025-09-17 17:02:40.6676947",
-    "IsStright": 0,
-    "IsGeneral": 0,
-    "IsControl": 1,
-    "ArmCode": null,
-    "XSpacing": 9,
-    "YSpacing": 9,
-    "materialEnum": 1,
-    "Margins_X": 7.97,
-    "Margins_Y": 5
-  },
-  {
-    "uuid": "7a73bb9e5c264515a8fcbe88aed0e6f7",
-    "Code": "ZX-001-200",
-    "Name": "200μL Tip头",
-    "SummaryName": "200μL Tip头",
-    "SupplyType": 1,
-    "Factory": "宁静致远",
-    "LengthNum": 120.98,
-    "WidthNum": 82.12,
-    "HeightNum": 66.9,
-    "DepthNum": 52,
-    "StandardHeight": 0,
-    "PipetteHeight": 30,
-    "HoleColum": 12,
-    "HoleRow": 8,
-    "HoleDiameter": 5.5,
-    "Volume": 200,
-    "ImagePath": "",
-    "QRCode": null,
-    "Qty": 19,
-    "CreateName": null,
-    "CreateTime": "2021-12-30 21:01:17.626704",
-    "UpdateName": null,
-    "UpdateTime": "2025-05-27 11:42:24.6021522",
-    "IsStright": 0,
-    "IsGeneral": 0,
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unilabos/devices/liquid_handling/prcxi/deck.json

@@ -156,7 +156,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300TipRack",
+            "type": "PRCXI9300Container",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -4323,7 +4323,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Plate",
+            "type": "PRCXI9300Container",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -8297,7 +8297,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Plate",
+            "type": "PRCXI9300Container",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -8425,7 +8425,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Plate",
+            "type": "PRCXI9300Container",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -12496,7 +12496,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300TipRack",
+            "type": "PRCXI9300Container",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -16664,7 +16664,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Plate",
+            "type": "PRCXI9300Container",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -20640,7 +20640,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Plate",
+            "type": "PRCXI9300Container",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -20671,7 +20671,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Plate",
+            "type": "PRCXI9300Container",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -20799,7 +20799,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Plate",
+            "type": "PRCXI9300Container",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -24872,7 +24872,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Plate",
+            "type": "PRCXI9300Container",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -28848,7 +28848,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Plate",
+            "type": "PRCXI9300Container",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -28879,7 +28879,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Plate",
+            "type": "PRCXI9300Container",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -29007,7 +29007,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Plate",
+            "type": "PRCXI9300Container",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -33080,7 +33080,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Plate",
+            "type": "PRCXI9300Container",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -37153,7 +37153,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Plate",
+            "type": "PRCXI9300Container",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -41151,5 +41151,6 @@
                 "uuid": "730067cf07ae43849ddf4034299030e9"
             }
         }
-    }
-]
+    ],
+    "links": []
+}

unilabos/devices/liquid_handling/prcxi/json_output/CodeDataEntity.json

@@ -1 +0,0 @@
-[]

unilabos/devices/liquid_handling/prcxi/json_output/CurveCompensate.json

@@ -1,607 +0,0 @@
-[
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unilabos/devices/liquid_handling/prcxi/json_output/_base_material_old_20240226.json

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unilabos/devices/liquid_handling/prcxi/json_output/_base_plate_position_detail_old_20240221.json

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unilabos/devices/liquid_handling/prcxi/json_output/base_arm_model.json

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unilabos/devices/liquid_handling/prcxi/json_output/base_layout_detail.json

@@ -1,10 +0,0 @@
-[
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unilabos/devices/liquid_handling/prcxi/json_output/base_layout_master.json

@@ -1,20 +0,0 @@
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unilabos/devices/liquid_handling/prcxi/json_output/base_plate_position.json

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unilabos/devices/liquid_handling/prcxi/json_output/base_plate_position_detail.json

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unilabos/devices/liquid_handling/prcxi/json_output/base_process_detail.json

@@ -1 +0,0 @@
-[]

unilabos/devices/liquid_handling/prcxi/json_output/base_process_master.json

@@ -1 +0,0 @@
-[]

unilabos/devices/liquid_handling/prcxi/json_output/base_qrcode.json

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unilabos/devices/liquid_handling/prcxi/json_output/sys_role.json

@@ -1,22 +0,0 @@
-[
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-  }
-]

unilabos/devices/liquid_handling/prcxi/json_output/sys_user.json

@@ -1,54 +0,0 @@
-[
-  {
-    "uuid": "f3932aeae93533f19c0519c4c14702dd",
-    "UserName": "admin",
-    "Password": "NuGlByx4NZBm7XcV9f89qA==",
-    "RealName": "管理员",
-    "IsEnable": 1,
-    "uuidRole": "f3932aeae93533f19c0519c4c14702aa",
-    "IsDel": 0,
-    "CreateTime": "2022-02-26 14:51:41.000",
-    "CreateName": "admin",
-    "UpdateTime": "2022-02-26 14:51:49.000",
-    "UpdateName": "admin"
-  },
-  {
-    "uuid": "5c522592b366645fb55690e49ac6b166",
-    "UserName": "user",
-    "Password": "4QrcOUm6Wau+VuBX8g+IPg==",
-    "RealName": "实验员",
-    "IsEnable": 1,
-    "uuidRole": "8c822592b360345fb59690e49ac6b181",
-    "IsDel": 0,
-    "CreateTime": "2022-02-26 14:56:57.000",
-    "CreateName": "admin",
-    "UpdateTime": "2022-02-26 14:58:39.000",
-    "UpdateName": "admin"
-  },
-  {
-    "uuid": "ju0514zjhi9267mz8s0buspq8b9s0bgb",
-    "UserName": "Administrator",
-    "Password": "3J17Il4KOR+wKPszf/0cHQ==",
-    "RealName": "超级管理员",
-    "IsEnable": 1,
-    "uuidRole": "f3932aeae93533f19c0519c4c14702aa",
-    "IsDel": 0,
-    "CreateTime": "2023-08-12 00:00:00.000",
-    "CreateName": "admin",
-    "UpdateTime": "2023-08-12 00:00:00.000",
-    "UpdateName": "admin"
-  },
-  {
-    "uuid": "2",
-    "UserName": "shortcut",
-    "Password": "4QrcOUm6Wau+VuBX8g+IPg==",
-    "RealName": "实验员",
-    "IsEnable": 1,
-    "uuidRole": "8c822592b360345fb59690e49ac6b181",
-    "IsDel": 0,
-    "CreateTime": null,
-    "CreateName": "admin",
-    "UpdateTime": "2023-10-23 00:00:00.000",
-    "UpdateName": null
-  }
-]

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -5,8 +5,7 @@ import json
 import os
 import socket
 import time
-import uuid
-from typing import Any, List, Dict, Optional, OrderedDict, Tuple, TypedDict, Union, Sequence, Iterator, Literal
+from typing import Any, List, Dict, Optional, Tuple, TypedDict, Union, Sequence, Iterator, Literal
 
 from pylabrobot.liquid_handling import (
     LiquidHandlerBackend,
@@ -28,7 +27,7 @@ from pylabrobot.liquid_handling.standard import (
     ResourceMove,
     ResourceDrop,
 )
-from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, TubeRack, PlateAdapter
+from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash
 
 from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
@@ -70,129 +69,50 @@ class PRCXI9300Deck(Deck):
         super().__init__(name, size_x, size_y, size_z)
         self.slots = [None] * 6  # PRCXI 9300 有 6 个槽位
 
-class PRCXI9300Plate(Plate):
-    """ 
-    专用孔板类：
-    1. 继承自 PLR 原生 Plate，保留所有物理特性。
-    2. 增加 material_info 参数，用于在初始化时直接绑定 Unilab UUID。
+
+class PRCXI9300Container(Plate, TipRack):
+    """PRCXI 9300 的专用 Container 类，继承自 Plate和TipRack。
+
+    该类定义了 PRCXI 9300 的工作台布局和槽位信息。
     """
-    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, 
-                 category: str = "plate", 
-                 ordered_items: collections.OrderedDict = None, 
-                 ordering: Optional[collections.OrderedDict] = None,
-                 model: Optional[str] = None, 
-                 material_info: Optional[Dict[str, Any]] = None, 
-                 **kwargs):
-        items = ordered_items if ordered_items is not None else ordering
-        super().__init__(name, size_x, size_y, size_z, 
-                         ordered_items=items,
-                         category=category,
-                         model=model, **kwargs)
-        
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        category: str,
+        ordering: collections.OrderedDict,
+        model: Optional[str] = None,
+        **kwargs,
+    ):
+        super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model)
         self._unilabos_state = {}
-        if material_info:
-            self._unilabos_state["Material"] = material_info
-        
 
     def load_state(self, state: Dict[str, Any]) -> None:
-        super().load_state(state)
-        self._unilabos_state = state
-
-
-    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
-        try:
-            data = super().serialize_state()
-        except AttributeError:
-            data = {}
-        if hasattr(self, '_unilabos_state') and self._unilabos_state:
-            safe_state = {}
-            for k, v in self._unilabos_state.items():
-                # 如果是 Material 字典，深入检查
-                if k == "Material" and isinstance(v, dict):
-                    safe_material = {}
-                    for mk, mv in v.items():
-                        # 只保留基本数据类型 (字符串, 数字, 布尔值, 列表, 字典)
-                        if isinstance(mv, (str, int, float, bool, list, dict, type(None))):
-                            safe_material[mk] = mv
-                        else:
-                            # 打印日志提醒（可选）
-                            # print(f"Warning: Removing non-serializable key {mk} from {self.name}")
-                            pass 
-                    safe_state[k] = safe_material
-                # 其他顶层属性也进行类型检查
-                elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
-                    safe_state[k] = v
-            
-            data.update(safe_state)
-        return data
-
-class PRCXI9300TipRack(TipRack):
-    """ 专用吸头盒类 """
-    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, 
-                 category: str = "tip_rack", 
-                 ordered_items: collections.OrderedDict = None, 
-                 ordering: Optional[collections.OrderedDict] = None,
-                 model: Optional[str] = None,
-                 material_info: Optional[Dict[str, Any]] = None,
-                 **kwargs):
-        items = ordered_items if ordered_items is not None else ordering
-        super().__init__(name, size_x, size_y, size_z, 
-                         ordered_items=items,
-                         category=category, 
-                         model=model, **kwargs)
-        self._unilabos_state = {}
-        if material_info:
-            self._unilabos_state["Material"] = material_info
-            
-    def load_state(self, state: Dict[str, Any]) -> None:
+        """从给定的状态加载工作台信息。"""
         super().load_state(state)
         self._unilabos_state = state
 
     def serialize_state(self) -> Dict[str, Dict[str, Any]]:
-        try:
-            data = super().serialize_state()
-        except AttributeError:
-            data = {}
-        if hasattr(self, '_unilabos_state') and self._unilabos_state:
-            safe_state = {}
-            for k, v in self._unilabos_state.items():
-                # 如果是 Material 字典，深入检查
-                if k == "Material" and isinstance(v, dict):
-                    safe_material = {}
-                    for mk, mv in v.items():
-                        # 只保留基本数据类型 (字符串, 数字, 布尔值, 列表, 字典)
-                        if isinstance(mv, (str, int, float, bool, list, dict, type(None))):
-                            safe_material[mk] = mv
-                        else:
-                            # 打印日志提醒（可选）
-                            # print(f"Warning: Removing non-serializable key {mk} from {self.name}")
-                            pass 
-                    safe_state[k] = safe_material
-                # 其他顶层属性也进行类型检查
-                elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
-                    safe_state[k] = v
-            
-            data.update(safe_state)
+        data = super().serialize_state()
+        data.update(self._unilabos_state)
         return data
-    
+
+
 class PRCXI9300Trash(Trash):
     """PRCXI 9300 的专用 Trash 类，继承自 Trash。
 
     该类定义了 PRCXI 9300 的工作台布局和槽位信息。
     """
 
-    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, 
-                 category: str = "trash", 
-                 material_info: Optional[Dict[str, Any]] = None,
-                 **kwargs):
-        
+    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, category: str, **kwargs):
         if name != "trash":
-            print(f"Warning: PRCXI9300Trash usually expects name='trash' for backend logic, but got '{name}'.")
-        super().__init__(name, size_x, size_y, size_z, **kwargs)
+            name = "trash"
+            print("PRCXI9300Trash name must be 'trash', using 'trash' instead.")
+        super().__init__(name, size_x, size_y, size_z, category=category, **kwargs)
         self._unilabos_state = {}
-        # 初始化时注入 UUID
-        if material_info:
-            self._unilabos_state["Material"] = material_info
 
     def load_state(self, state: Dict[str, Any]) -> None:
         """从给定的状态加载工作台信息。"""
@@ -200,152 +120,10 @@ class PRCXI9300Trash(Trash):
         self._unilabos_state = state
 
     def serialize_state(self) -> Dict[str, Dict[str, Any]]:
-        try:
-            data = super().serialize_state()
-        except AttributeError:
-            data = {}
-        if hasattr(self, '_unilabos_state') and self._unilabos_state:
-            safe_state = {}
-            for k, v in self._unilabos_state.items():
-                # 如果是 Material 字典，深入检查
-                if k == "Material" and isinstance(v, dict):
-                    safe_material = {}
-                    for mk, mv in v.items():
-                        # 只保留基本数据类型 (字符串, 数字, 布尔值, 列表, 字典)
-                        if isinstance(mv, (str, int, float, bool, list, dict, type(None))):
-                            safe_material[mk] = mv
-                        else:
-                            # 打印日志提醒（可选）
-                            # print(f"Warning: Removing non-serializable key {mk} from {self.name}")
-                            pass 
-                    safe_state[k] = safe_material
-                # 其他顶层属性也进行类型检查
-                elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
-                    safe_state[k] = v
-            
-            data.update(safe_state)
+        data = super().serialize_state()
+        data.update(self._unilabos_state)
         return data
 
-class PRCXI9300TubeRack(TubeRack):
-    """
-    专用管架类：用于 EP 管架、试管架等。
-    继承自 PLR 的 TubeRack，并支持注入 material_info (UUID)。
-    """
-    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, 
-                 category: str = "tube_rack", 
-                 items: Optional[Dict[str, Any]] = None,
-                 ordered_items: Optional[OrderedDict] = None,
-                 model: Optional[str] = None,
-                 material_info: Optional[Dict[str, Any]] = None, 
-                 **kwargs):
-        
-        # 兼容处理：PLR 的 TubeRack 构造函数可能接受 items 或 ordered_items
-        items_to_pass = items if items is not None else ordered_items
-        super().__init__(name, size_x, size_y, size_z, 
-                         ordered_items=ordered_items, 
-                         model=model, 
-                         **kwargs)
-        
-        self._unilabos_state = {}
-        if material_info:
-            self._unilabos_state["Material"] = material_info
-
-    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
-        try:
-            data = super().serialize_state()
-        except AttributeError:
-            data = {}
-        if hasattr(self, '_unilabos_state') and self._unilabos_state:
-            safe_state = {}
-            for k, v in self._unilabos_state.items():
-                # 如果是 Material 字典，深入检查
-                if k == "Material" and isinstance(v, dict):
-                    safe_material = {}
-                    for mk, mv in v.items():
-                        # 只保留基本数据类型 (字符串, 数字, 布尔值, 列表, 字典)
-                        if isinstance(mv, (str, int, float, bool, list, dict, type(None))):
-                            safe_material[mk] = mv
-                        else:
-                            # 打印日志提醒（可选）
-                            # print(f"Warning: Removing non-serializable key {mk} from {self.name}")
-                            pass 
-                    safe_state[k] = safe_material
-                # 其他顶层属性也进行类型检查
-                elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
-                    safe_state[k] = v
-            
-            data.update(safe_state)
-        return data
-
-class PRCXI9300PlateAdapter(PlateAdapter):
-    """
-    专用板式适配器类：用于承载 Plate 的底座（如 PCR 适配器、磁吸架等）。
-    支持注入 material_info (UUID)。
-    """
-    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, 
-                 category: str = "plate_adapter", 
-                 model: Optional[str] = None,
-                 material_info: Optional[Dict[str, Any]] = None, 
-                 # 参数给予默认值 (标准96孔板尺寸)
-                 adapter_hole_size_x: float = 127.76, 
-                 adapter_hole_size_y: float = 85.48, 
-                 adapter_hole_size_z: float = 10.0, # 假设凹槽深度或板子放置高度
-                 dx: Optional[float] = None,
-                 dy: Optional[float] = None,
-                 dz: float = 0.0, # 默认Z轴偏移
-                 **kwargs):
-        
-        # 自动居中计算：如果未指定 dx/dy，则根据适配器尺寸和孔尺寸计算居中位置
-        if dx is None:
-            dx = (size_x - adapter_hole_size_x) / 2
-        if dy is None:
-            dy = (size_y - adapter_hole_size_y) / 2
-
-        super().__init__(
-            name=name, 
-            size_x=size_x, 
-            size_y=size_y, 
-            size_z=size_z, 
-            dx=dx,
-            dy=dy,
-            dz=dz,
-            adapter_hole_size_x=adapter_hole_size_x,
-            adapter_hole_size_y=adapter_hole_size_y,
-            adapter_hole_size_z=adapter_hole_size_z,
-            model=model, 
-            **kwargs
-        )
-        
-        self._unilabos_state = {}
-        if material_info:
-            self._unilabos_state["Material"] = material_info
-
-    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
-        try:
-            data = super().serialize_state()
-        except AttributeError:
-            data = {}
-        if hasattr(self, '_unilabos_state') and self._unilabos_state:
-            safe_state = {}
-            for k, v in self._unilabos_state.items():
-                # 如果是 Material 字典，深入检查
-                if k == "Material" and isinstance(v, dict):
-                    safe_material = {}
-                    for mk, mv in v.items():
-                        # 只保留基本数据类型 (字符串, 数字, 布尔值, 列表, 字典)
-                        if isinstance(mv, (str, int, float, bool, list, dict, type(None))):
-                            safe_material[mk] = mv
-                        else:
-                            # 打印日志提醒（可选）
-                            # print(f"Warning: Removing non-serializable key {mk} from {self.name}")
-                            pass 
-                    safe_state[k] = safe_material
-                # 其他顶层属性也进行类型检查
-                elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
-                    safe_state[k] = v
-            
-            data.update(safe_state)
-        return data
 
 class PRCXI9300Handler(LiquidHandlerAbstract):
     support_touch_tip = False
@@ -375,15 +153,10 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         tablets_info = []
         count = 0
         for child in deck.children:
-            child_state = getattr(child, "_unilabos_state", {})
-            if "Material" in child_state:
+            if "Material" in child._unilabos_state:
                 count += 1
                 tablets_info.append(
-                    WorkTablets(
-                        Number=count, 
-                        Code=f"T{count}", 
-                        Material=child_state["Material"]
-                    )
+                    WorkTablets(Number=count, Code=f"T{count}", Material=child._unilabos_state["Material"])
                 )
         if is_9320:
             print("当前设备是9320")
@@ -660,6 +433,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
     async def move_to(self, well: Well, dis_to_top: float = 0, channel: int = 0):
         return await super().move_to(well, dis_to_top, channel)
 
+
 class PRCXI9300Backend(LiquidHandlerBackend):
     """PRCXI 9300 的后端实现，继承自 LiquidHandlerBackend。
 
@@ -1082,30 +856,7 @@ class PRCXI9300Api:
 
     def _raw_request(self, payload: str) -> str:
         if self.debug:
-            # 调试/仿真模式下直接返回可解析的模拟 JSON，避免后续 json.loads 报错
-            try:
-                req = json.loads(payload)
-                method = req.get("MethodName")
-            except Exception:
-                method = None
-
-            data: Any = True
-            if method in {"AddSolution"}:
-                data = str(uuid.uuid4())
-            elif method in {"AddWorkTabletMatrix", "AddWorkTabletMatrix2"}:
-                data = {"Success": True, "Message": "debug mock"}
-            elif method in {"GetErrorCode"}:
-                data = ""
-            elif method in {"RemoveErrorCodet", "Reset", "Start", "LoadSolution", "Pause", "Resume", "Stop"}:
-                data = True
-            elif method in {"GetStepStateList", "GetStepStatus", "GetStepState"}:
-                data = []
-            elif method in {"GetLocation"}:
-                data = {"X": 0, "Y": 0, "Z": 0}
-            elif method in {"GetResetStatus"}:
-                data = False
-
-            return json.dumps({"Success": True, "Msg": "debug mock", "Data": data})
+            return " "
         with contextlib.closing(socket.socket()) as sock:
             sock.settimeout(self.timeout)
             sock.connect((self.host, self.port))
@@ -1758,31 +1509,31 @@ if __name__ == "__main__":
     from pylabrobot.resources.opentrons.tip_racks import tipone_96_tiprack_200ul, opentrons_96_tiprack_10ul
     from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
 
-    def get_well_container(name: str) -> PRCXI9300Plate:
+    def get_well_container(name: str) -> PRCXI9300Container:
         well_containers = corning_96_wellplate_360ul_flat(name).serialize()
-        plate = PRCXI9300Plate(
-            name=name, size_x=50, size_y=50, size_z=10, category="plate", ordered_items=well_containers["ordering"]
+        plate = PRCXI9300Container(
+            name=name, size_x=50, size_y=50, size_z=10, category="plate", ordering=well_containers["ordering"]
         )
         plate_serialized = plate.serialize()
         plate_serialized["parent_name"] = deck.name
         well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
-        new_plate: PRCXI9300Plate = PRCXI9300Plate.deserialize(well_containers)
+        new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
         return new_plate
 
-    def get_tip_rack(name: str, child_prefix: str = "tip") -> PRCXI9300TipRack:
+    def get_tip_rack(name: str, child_prefix: str = "tip") -> PRCXI9300Container:
         tip_racks = opentrons_96_tiprack_10ul(name).serialize()
-        tip_rack = PRCXI9300TipRack(
+        tip_rack = PRCXI9300Container(
             name=name,
             size_x=50,
             size_y=50,
             size_z=10,
             category="tip_rack",
-            ordered_items=collections.OrderedDict({k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}),
+            ordering=collections.OrderedDict({k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}),
         )
         tip_rack_serialized = tip_rack.serialize()
         tip_rack_serialized["parent_name"] = deck.name
         tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
-        new_tip_rack: PRCXI9300TipRack = PRCXI9300TipRack.deserialize(tip_racks)
+        new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
         return new_tip_rack
 
     plate1 = get_tip_rack("RackT1")
@@ -1829,8 +1580,8 @@ if __name__ == "__main__":
             }
         }
     )
-    plate7 = PRCXI9300Plate(
-        name="plateT7", size_x=50, size_y=50, size_z=10, category="plate", ordered_items=collections.OrderedDict()
+    plate7 = PRCXI9300Container(
+        name="plateT7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()
     )
     plate7.load_state({"Material": {"uuid": "04211a2dc93547fe9bf6121eac533650"}})
     plate8 = get_tip_rack("PlateT8")
@@ -1904,13 +1655,13 @@ if __name__ == "__main__":
     deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
     deck.assign_child_resource(plate2, location=Coordinate(0, 0, 0))
     deck.assign_child_resource(
-        PRCXI9300Plate(
+        PRCXI9300Container(
             name="container_for_nothin3",
             size_x=50,
             size_y=50,
             size_z=10,
             category="plate",
-            ordered_items=collections.OrderedDict(),
+            ordering=collections.OrderedDict(),
         ),
         location=Coordinate(0, 0, 0),
     )
@@ -1918,48 +1669,48 @@ if __name__ == "__main__":
     deck.assign_child_resource(plate5, location=Coordinate(0, 0, 0))
     deck.assign_child_resource(plate6, location=Coordinate(0, 0, 0))
     deck.assign_child_resource(
-        PRCXI9300Plate(
+        PRCXI9300Container(
             name="container_for_nothing7",
             size_x=50,
             size_y=50,
             size_z=10,
             category="plate",
-            ordered_items=collections.OrderedDict(),
+            ordering=collections.OrderedDict(),
         ),
         location=Coordinate(0, 0, 0),
     )
     deck.assign_child_resource(
-        PRCXI9300Plate(
+        PRCXI9300Container(
             name="container_for_nothing8",
             size_x=50,
             size_y=50,
             size_z=10,
             category="plate",
-            ordered_items=collections.OrderedDict(),
+            ordering=collections.OrderedDict(),
         ),
         location=Coordinate(0, 0, 0),
     )
     deck.assign_child_resource(plate9, location=Coordinate(0, 0, 0))
     deck.assign_child_resource(plate10, location=Coordinate(0, 0, 0))
     deck.assign_child_resource(
-        PRCXI9300Plate(
+        PRCXI9300Container(
             name="container_for_nothing11",
             size_x=50,
             size_y=50,
             size_z=10,
             category="plate",
-            ordered_items=collections.OrderedDict(),
+            ordering=collections.OrderedDict(),
         ),
         location=Coordinate(0, 0, 0),
     )
     deck.assign_child_resource(
-        PRCXI9300Plate(
+        PRCXI9300Container(
             name="container_for_nothing12",
             size_x=50,
             size_y=50,
             size_z=10,
             category="plate",
-            ordered_items=collections.OrderedDict(),
+            ordering=collections.OrderedDict(),
         ),
         location=Coordinate(0, 0, 0),
     )

unilabos/devices/liquid_handling/prcxi/prcxi_labware.py

@@ -1,841 +0,0 @@
-from typing import Optional
-from pylabrobot.resources import Tube, Coordinate
-from pylabrobot.resources.well import Well, WellBottomType, CrossSectionType
-from pylabrobot.resources.tip import Tip, TipCreator
-from pylabrobot.resources.tip_rack import TipRack, TipSpot
-from pylabrobot.resources.utils import create_ordered_items_2d
-from pylabrobot.resources.height_volume_functions import (
-  compute_height_from_volume_rectangle,
-  compute_volume_from_height_rectangle,
-)
-
-from .prcxi import PRCXI9300Plate, PRCXI9300TipRack, PRCXI9300Trash, PRCXI9300TubeRack, PRCXI9300PlateAdapter
-
-def _make_tip_helper(volume: float, length: float, depth: float) -> Tip:
-    """
-    PLR 的 Tip 类参数名为: maximal_volume, total_tip_length, fitting_depth
-    """
-    return Tip(
-        has_filter=False, # 默认无滤芯
-        maximal_volume=volume, 
-        total_tip_length=length, 
-        fitting_depth=depth
-    )
-
-# =========================================================================
-# 标准品 参照 PLR 标准库的参数，但是用 PRCXI9300Plate 实例化，并注入 UUID
-# =========================================================================
-def PRCXI_BioER_96_wellplate(name: str) -> PRCXI9300Plate: 
-    """
-    对应 JSON Code: ZX-019-2.2 (2.2ml 深孔板)
-    原型: pylabrobot.resources.bioer.BioER_96_wellplate_Vb_2200uL
-    """
-    return PRCXI9300Plate(
-        name=name,
-        size_x=127.1, 
-        size_y=85.0, 
-        size_z=44.2, 
-        lid=None,
-        model="PRCXI_BioER_96_wellplate", 
-        category="plate",
-        material_info={
-            "uuid": "ca877b8b114a4310b429d1de4aae96ee",
-            "Code": "ZX-019-2.2",
-            "Name": "2.2ml 深孔板",
-            "materialEnum": 0,
-            "SupplyType": 1
-        },
-
-        ordered_items=create_ordered_items_2d(
-            Well,
-            size_x=8.25,  
-            size_y=8.25, 
-            size_z=39.3,  # 修改过
-            dx=9.5,  
-            dy=7.5, 
-            dz=6, 
-            material_z_thickness=0.8,
-            item_dx=9.0,
-            item_dy=9.0,
-            num_items_x=12, 
-            num_items_y=8,
-            cross_section_type=CrossSectionType.RECTANGLE,
-            bottom_type=WellBottomType.V,  # 是否需要修改？
-            max_volume=2200, 
-        ),
-    )
-def PRCXI_nest_1_troughplate(name: str) -> PRCXI9300Plate: 
-    """
-    对应 JSON Code: ZX-58-10000 (储液槽)
-    原型: pylabrobot.resources.nest.nest_1_troughplate_195000uL_Vb
-    """
-    well_size_x = 127.76 - (14.38 - 9 / 2) * 2  
-    well_size_y = 85.48 - (11.24 - 9 / 2) * 2   
-    well_kwargs = {
-        "size_x": well_size_x,
-        "size_y": well_size_y,
-        "size_z": 26.85,
-        "bottom_type": WellBottomType.V,
-        "compute_height_from_volume": lambda liquid_volume: compute_height_from_volume_rectangle(
-            liquid_volume=liquid_volume, well_length=well_size_x, well_width=well_size_y
-        ),
-        "compute_volume_from_height": lambda liquid_height: compute_volume_from_height_rectangle(
-            liquid_height=liquid_height, well_length=well_size_x, well_width=well_size_y
-        ),
-        "material_z_thickness": 31.4 - 26.85 - 3.55,
-    }
-
-    return PRCXI9300Plate(
-        name=name,
-        size_x=127.76,
-        size_y=85.48,
-        size_z=31.4,
-        lid=None,
-        model="PRCXI_Nest_1_troughplate", 
-        category="plate",
-        material_info={
-            "uuid": "04211a2dc93547fe9bf6121eac533650",
-            "Code": "ZX-58-10000",
-            "Name": "储液槽",
-            "materialEnum": 0,
-            "SupplyType": 1
-        },
-
-        ordered_items=create_ordered_items_2d(
-            Well,
-            num_items_x=1,
-            num_items_y=1,
-            dx=14.38 - 9 / 2, 
-            dy=11.24 - 9 / 2,  
-            dz=3.55,        
-            item_dx=9.0,       
-            item_dy=9.0,
-            **well_kwargs,     # 传入上面计算好的孔参数
-        ),
-    )
-def PRCXI_BioRad_384_wellplate(name: str) -> PRCXI9300Plate: 
-    """
-    对应 JSON Code: q3 (384板)
-    原型: pylabrobot.resources.biorad.BioRad_384_wellplate_50uL_Vb
-    """
-    return PRCXI9300Plate(
-        name=name,
-        # 直接抄录 PLR 标准品的物理尺寸
-        size_x=127.76,
-        size_y=85.48,
-        size_z=10.40,
-        model="BioRad_384_wellplate_50uL_Vb",
-        category="plate",
-        # 2. 注入 Unilab 必须的 UUID 信息
-        material_info={
-            "uuid": "853dcfb6226f476e8b23c250217dc7da",
-            "Code": "q3",
-            "Name": "384板",
-            "SupplyType": 1,
-        },
-        # 3. 定义孔的排列 (抄录标准参数)
-        ordered_items=create_ordered_items_2d(
-            Well,
-            num_items_x=24,
-            num_items_y=16,
-            dx=10.58,   # A1 左边缘距离板子左边缘 需要进一步测量
-            dy=7.44,    # P1 下边缘距离板子下边缘 需要进一步测量
-            dz=1.05,
-            item_dx=4.5,
-            item_dy=4.5,
-            size_x=3.10,
-            size_y=3.10,
-            size_z=9.35,
-            max_volume=50,
-            material_z_thickness=1,
-            bottom_type=WellBottomType.V,
-            cross_section_type=CrossSectionType.CIRCLE,
-        )
-    )
-def PRCXI_AGenBio_4_troughplate(name: str) -> PRCXI9300Plate:
-  """
-    对应 JSON Code: sdfrth654 (4道储液槽)
-    原型: pylabrobot.resources.agenbio.AGenBio_4_troughplate_75000uL_Vb
-  """
-  INNER_WELL_WIDTH = 26.1  
-  INNER_WELL_LENGTH = 71.2 
-  well_kwargs = {
-    "size_x": 26,
-    "size_y": 71.2,  
-    "size_z": 42.55,
-    "bottom_type": WellBottomType.FLAT,
-    "cross_section_type": CrossSectionType.RECTANGLE,
-    "compute_height_from_volume": lambda liquid_volume: compute_height_from_volume_rectangle(
-      liquid_volume,
-      INNER_WELL_LENGTH,
-      INNER_WELL_WIDTH,
-    ),
-    "compute_volume_from_height": lambda liquid_height: compute_volume_from_height_rectangle(
-      liquid_height,
-      INNER_WELL_LENGTH,
-      INNER_WELL_WIDTH,
-    ),
-    "material_z_thickness": 1,
-  }
-
-  return PRCXI9300Plate(
-    name=name,
-    size_x=127.76,
-    size_y=85.48,
-    size_z=43.80,
-    model="PRCXI_AGenBio_4_troughplate",
-    category="plate",
-    material_info={
-        "uuid": "01953864f6f140ccaa8ddffd4f3e46f5",
-        "Code": "sdfrth654",
-        "Name": "4道储液槽",
-        "materialEnum": 0,
-        "SupplyType": 1
-    },
-        
-    ordered_items=create_ordered_items_2d(
-      Well,
-      num_items_x=4,
-      num_items_y=1,
-      dx=9.8,
-      dy=7.2,
-      dz=0.9, 
-      item_dx=INNER_WELL_WIDTH + 1,  # 1 mm wall thickness
-      item_dy=INNER_WELL_LENGTH,
-      **well_kwargs,
-    ),
-  )
-def PRCXI_nest_12_troughplate(name: str) -> PRCXI9300Plate:
-  """
-    对应 JSON Code: 12道储液槽 (12道储液槽)
-    原型: pylabrobot.resources.nest.nest_12_troughplate_15000uL_Vb
-    """
-  well_size_x = 8.2 
-  well_size_y = 71.2
-  well_kwargs = {
-    "size_x": well_size_x,
-    "size_y": well_size_y,
-    "size_z": 26.85,
-    "bottom_type": WellBottomType.V,
-    "compute_height_from_volume": lambda liquid_volume: compute_height_from_volume_rectangle(
-      liquid_volume=liquid_volume, well_length=well_size_x, well_width=well_size_y
-    ),
-    "compute_volume_from_height": lambda liquid_height: compute_volume_from_height_rectangle(
-      liquid_height=liquid_height, well_length=well_size_x, well_width=well_size_y
-    ),
-    "material_z_thickness": 31.4 - 26.85 - 3.55,
-  }
-
-  return PRCXI9300Plate(
-    name=name,
-    size_x=127.76, 
-    size_y=85.48, 
-    size_z=31.4,
-    lid=None,
-    model="PRCXI_nest_12_troughplate",
-    category="plate",
-    material_info={
-        "uuid": "0f1639987b154e1fac78f4fb29a1f7c1",
-        "Code": "12道储液槽",
-        "Name": "12道储液槽",
-        "materialEnum": 0,
-        "SupplyType": 1
-    },
-    ordered_items=create_ordered_items_2d(
-      Well,
-      num_items_x=12,
-      num_items_y=1,
-      dx=14.38 - 8.2 / 2, 
-      dy=(85.48 - 71.2) / 2, 
-      dz=3.55, 
-      item_dx=9.0, 
-      item_dy=9.0,  
-      **well_kwargs,
-    ),
-  )
-def PRCXI_CellTreat_96_wellplate(name: str) -> PRCXI9300Plate:
-  """
-    对应 JSON Code: ZX-78-096 (细菌培养皿)
-    原型: pylabrobot.resources.celltreat.CellTreat_96_wellplate_350ul_Fb
-    """
-  well_kwargs = {
-    "size_x": 6.96,
-    "size_y": 6.96,
-    "size_z": 10.04,
-    "bottom_type": WellBottomType.FLAT,
-    "material_z_thickness": 1.75,
-    "cross_section_type": CrossSectionType.CIRCLE,
-    "max_volume": 300,
-  }
-
-  return PRCXI9300Plate(
-    name=name,
-    size_x=127.61,
-    size_y=85.24,
-    size_z=14.30, 
-    lid=None,
-    model="PRCXI_CellTreat_96_wellplate",
-    category="plate",
-    material_info={
-        "uuid": "b05b3b2aafd94ec38ea0cd3215ecea8f",
-        "Code": "ZX-78-096",
-        "Name": "细菌培养皿",
-        "materialEnum": 4,
-        "SupplyType": 1
-    },
-    ordered_items=create_ordered_items_2d(
-      Well,
-      num_items_x=12,
-      num_items_y=8,
-      dx=10.83, 
-      dy=7.67, 
-      dz=4.05, 
-      item_dx=9,
-      item_dy=9,
-      **well_kwargs,
-    ),
-  )
-# =========================================================================
-# 自定义/需测量品 (Custom Measurement)
-# =========================================================================
-def PRCXI_10ul_eTips(name: str) -> PRCXI9300TipRack:
-    """
-    对应 JSON Code: ZX-001-10+
-    """
-    return PRCXI9300TipRack(
-        name=name,
-        size_x=122.11,
-        size_y=85.48, #修改
-        size_z=58.23,
-        model="PRCXI_10ul_eTips",
-        material_info={
-            "uuid": "068b3815e36b4a72a59bae017011b29f",
-            "Code": "ZX-001-10+",
-            "Name": "10μL加长 Tip头",
-            "SupplyType": 1
-        },
-        ordered_items=create_ordered_items_2d(
-            TipSpot,
-            num_items_x=12,
-            num_items_y=8,
-            dx=7.97,  #需要修改
-            dy=5.0,   #需修改
-            dz=2.0,   #需修改
-            item_dx=9.0,
-            item_dy=9.0,
-            size_x=7.0,
-            size_y=7.0,
-            size_z=0,
-            make_tip=lambda: _make_tip_helper(volume=10, length=52.0, depth=45.1)
-        )
-    )
-def PRCXI_300ul_Tips(name: str) -> PRCXI9300TipRack:
-    """
-    对应 JSON Code: ZX-001-300
-    吸头盒通常比较特殊，需要定义 Tip 对象
-    """
-    return PRCXI9300TipRack(
-        name=name,
-        size_x=122.11,
-        size_y=85.48, #修改
-        size_z=58.23,
-        model="PRCXI_300ul_Tips",
-        material_info={
-            "uuid": "076250742950465b9d6ea29a225dfb00",
-            "Code": "ZX-001-300",
-            "Name": "300μL Tip头",
-            "SupplyType": 1
-        },
-        ordered_items=create_ordered_items_2d(
-            TipSpot,
-            num_items_x=12,
-            num_items_y=8,
-            dx=7.97,  #需要修改
-            dy=5.0,   #需修改
-            dz=2.0,   #需修改
-            item_dx=9.0,
-            item_dy=9.0,
-            size_x=7.0,
-            size_y=7.0,
-            size_z=0,
-            make_tip=lambda: _make_tip_helper(volume=300, length=60.0, depth=51.0)
-        )
-    )
-def PRCXI_PCR_Plate_200uL_nonskirted(name: str) -> PRCXI9300Plate:
-    """
-    对应 JSON Code: ZX-023-0.2 (0.2ml PCR 板)
-    """
-    return PRCXI9300Plate(
-    name=name,
-    size_x=119.5,
-    size_y=80.0,
-    size_z=26.0,
-    model="PRCXI_PCR_Plate_200uL_nonskirted",
-    plate_type="non-skirted",
-    category="plate",
-    material_info={
-        "uuid": "73bb9b10bc394978b70e027bf45ce2d3",
-        "Code": "ZX-023-0.2",
-        "Name": "0.2ml PCR 板",
-        "materialEnum": 0,
-        "SupplyType": 1
-    },
-    ordered_items=create_ordered_items_2d(
-      Well,
-      num_items_x=12,
-      num_items_y=8,
-      dx=7,
-      dy=5,
-      dz=0.0,
-      item_dx=9,
-      item_dy=9,
-      size_x=6,
-      size_y=6,
-      size_z=15.17,
-      bottom_type=WellBottomType.V,
-      cross_section_type=CrossSectionType.CIRCLE,
-    ),
-)
-def PRCXI_PCR_Plate_200uL_semiskirted(name: str) -> PRCXI9300Plate:
-    """
-    对应 JSON Code: ZX-023-0.2 (0.2ml PCR 板)
-    """
-    return PRCXI9300Plate(
-    name=name,
-    size_x=126,
-    size_y=86,
-    size_z=21.2,
-    model="PRCXI_PCR_Plate_200uL_semiskirted",
-    plate_type="semi-skirted",
-    category="plate",
-    material_info={
-        "uuid": "73bb9b10bc394978b70e027bf45ce2d3",
-        "Code": "ZX-023-0.2",
-        "Name": "0.2ml PCR 板",
-        "materialEnum": 0,
-        "SupplyType": 1
-    },
-    ordered_items=create_ordered_items_2d(
-      Well,
-      num_items_x=12,
-      num_items_y=8,
-      dx=11,
-      dy=8,
-      dz=0.0,
-      item_dx=9,
-      item_dy=9,
-      size_x=6,
-      size_y=6,
-      size_z=15.17,
-      bottom_type=WellBottomType.V,
-      cross_section_type=CrossSectionType.CIRCLE,
-    ),
-)
-def PRCXI_PCR_Plate_200uL_skirted(name: str) -> PRCXI9300Plate:
-    """
-    对应 JSON Code: ZX-023-0.2 (0.2ml PCR 板)
-    """
-    return PRCXI9300Plate(
-    name=name,
-    size_x=127.76,
-    size_y=86,
-    size_z=16.1,
-    model="PRCXI_PCR_Plate_200uL_skirted",
-    plate_type="skirted",
-    category="plate",
-    material_info={
-        "uuid": "73bb9b10bc394978b70e027bf45ce2d3",
-        "Code": "ZX-023-0.2",
-        "Name": "0.2ml PCR 板",
-        "materialEnum": 0,
-        "SupplyType": 1
-    },
-    ordered_items=create_ordered_items_2d(
-      Well,
-      num_items_x=12,
-      num_items_y=8,
-      dx=11,
-      dy=8.49,
-      dz=0.8,
-      item_dx=9,
-      item_dy=9,
-      size_x=6,
-      size_y=6,
-      size_z=15.1,
-      bottom_type=WellBottomType.V,
-      cross_section_type=CrossSectionType.CIRCLE,
-    ),
-)
-def PRCXI_trash(name: str = "trash") -> PRCXI9300Trash:
-    """
-    对应 JSON Code: q1 (废弃槽)
-    """
-    return PRCXI9300Trash(
-        name="trash",
-        size_x=126.59,
-        size_y=84.87, 
-        size_z=89.5,  # 修改
-        category="trash",
-        model="PRCXI_trash",
-        material_info={
-            "uuid": "730067cf07ae43849ddf4034299030e9",
-            "Code": "q1",
-            "Name": "废弃槽",
-            "materialEnum": 0,
-            "SupplyType": 1
-        }
-    )
-def PRCXI_96_DeepWell(name: str) -> PRCXI9300Plate:
-    """
-    对应 JSON Code: q2 (96深孔板)
-    """ 
-    return PRCXI9300Plate(
-        name=name,
-        size_x=127.3,
-        size_y=85.35,
-        size_z=45.0,   #修改
-        model="PRCXI_96_DeepWell",
-        material_info={
-            "uuid": "57b1e4711e9e4a32b529f3132fc5931f", # 对应 q2 uuid
-            "Code": "q2",
-            "Name": "96深孔板",
-            "materialEnum": 0
-        },
-        ordered_items=create_ordered_items_2d(
-            Well,
-            num_items_x=12,
-            num_items_y=8,
-            dx=10.9, 
-            dy=8.25, 
-            dz=2.0, 
-            item_dx=9.0,
-            item_dy=9.0,
-            size_x=8.2,
-            size_y=8.2,
-            size_z=42.0,
-            max_volume=2200
-        )
-    )
-def PRCXI_EP_Adapter(name: str) -> PRCXI9300TubeRack:
-    """
-    对应 JSON Code: 1 (ep适配器)
-    这是一个 4x6 的 EP 管架，适配 1.5mL/2.0mL 离心管
-    """
-    ep_tube_prototype = Tube(
-        name="EP_Tube_1.5mL",
-        size_x=10.6,
-        size_y=10.6,
-        size_z=40.0,  # 管子本身的高度，通常比架子孔略高或持平
-        max_volume=1500,
-        model="EP_Tube_1.5mL"
-    )
-
-    # 计算 PRCXI9300TubeRack 中孔的起始位置 dx, dy
-    dy_calc = 85.8 - 10.5 - (3 * 18) - 10.6 
-    dx_calc = 3.54
-    return PRCXI9300TubeRack(
-        name=name,
-        size_x=128.04,
-        size_y=85.8,
-        size_z=42.66,
-        model="PRCXI_EP_Adapter",
-        category="tube_rack",
-        material_info={
-            "uuid": "e146697c395e4eabb3d6b74f0dd6aaf7",
-            "Code": "1",
-            "Name": "ep适配器",
-            "materialEnum": 0,
-            "SupplyType": 1
-        },
-        ordered_items=create_ordered_items_2d(
-            Tube, 
-            num_items_x=6,
-            num_items_y=4,
-            dx=dx_calc, 
-            dy=dy_calc, 
-            dz=42.66 - 38.08, # 架高 - 孔深
-            item_dx=21.0,  
-            item_dy=18.0, 
-            size_x=10.6,
-            size_y=10.6,
-            size_z=40.0,
-            max_volume=1500
-        )
-    )
-# =========================================================================
-# 无实物，需要测量
-# =========================================================================
-def PRCXI_Tip1250_Adapter(name: str) -> PRCXI9300PlateAdapter:
-    """ Code: ZX-58-1250 """
-    return PRCXI9300PlateAdapter(
-        name=name, 
-        size_x=128, 
-        size_y=85, 
-        size_z=20,
-        material_info={
-            "uuid": "3b6f33ffbf734014bcc20e3c63e124d4", 
-            "Code": "ZX-58-1250", 
-            "Name": "Tip头适配器 1250uL", 
-            "SupplyType": 2
-            }
-    )
-def PRCXI_Tip300_Adapter(name: str) -> PRCXI9300PlateAdapter:
-    """ Code: ZX-58-300 """
-    return PRCXI9300PlateAdapter(
-        name=name, 
-        size_x=127, 
-        size_y=85, 
-        size_z=81,
-        material_info={
-            "uuid": "7c822592b360451fb59690e49ac6b181", 
-            "Code": "ZX-58-300", 
-            "Name": "ZHONGXI 适配器 300uL", 
-            "SupplyType": 2
-            }
-    )
-def PRCXI_Tip10_Adapter(name: str) -> PRCXI9300PlateAdapter:
-    """ Code: ZX-58-10 """
-    return PRCXI9300PlateAdapter(
-        name=name, 
-        size_x=128, 
-        size_y=85, 
-        size_z=72.3,
-        material_info={
-            "uuid": "8cc3dce884ac41c09f4570d0bcbfb01c", 
-            "Code": "ZX-58-10", 
-            "Name": "吸头10ul 适配器", 
-            "SupplyType": 2
-            }
-    )
-def PRCXI_1250uL_Tips(name: str) -> PRCXI9300TipRack:
-    """ Code: ZX-001-1250 """
-    return PRCXI9300TipRack(
-        name=name,
-        size_x=118.09, 
-        size_y=80.7, 
-        size_z=107.67,
-        model="PRCXI_1250uL_Tips",
-        material_info={
-            "uuid": "7960f49ddfe9448abadda89bd1556936", 
-            "Code": "ZX-001-1250", 
-            "Name": "1250μL Tip头", 
-            "SupplyType": 1
-            },
-        ordered_items=create_ordered_items_2d(
-            TipSpot, 
-            num_items_x=12, 
-            num_items_y=8,
-            dx=9.545 - 7.95/2, 
-            dy=8.85 - 7.95/2, 
-            dz=2.0,
-            item_dx=9, 
-            item_dy=9,
-            size_x=7.0,
-            size_y=7.0,
-            size_z=0,
-            make_tip=lambda: _make_tip_helper(volume=1250, length=107.67, depth=8)
-        )
-    )
-def PRCXI_10uL_Tips(name: str) -> PRCXI9300TipRack:
-    """ Code: ZX-001-10 """
-    return PRCXI9300TipRack(
-        name=name,
-        size_x=120.98, 
-        size_y=82.12, 
-        size_z=67,
-        model="PRCXI_10uL_Tips",
-        material_info={
-            "uuid": "45f2ed3ad925484d96463d675a0ebf66", 
-            "Code": "ZX-001-10", 
-            "Name": "10μL Tip头", 
-            "SupplyType": 1
-            },
-        ordered_items=create_ordered_items_2d(
-            TipSpot, 
-            num_items_x=12, 
-            num_items_y=8,
-            dx=10.99 - 5/2, 
-            dy=9.56 - 5/2, 
-            dz=2.0,
-            item_dx=9, 
-            item_dy=9,
-            size_x=7.0,
-            size_y=7.0,
-            size_z=0,
-            make_tip=lambda: _make_tip_helper(volume=1250, length=52.0, depth=5)
-        )
-    )
-def PRCXI_1000uL_Tips(name: str) -> PRCXI9300TipRack:
-    """ Code: ZX-001-1000 """
-    return PRCXI9300TipRack(
-        name=name,
-        size_x=128.09, 
-        size_y=85.8, 
-        size_z=98,
-        model="PRCXI_1000uL_Tips",
-        material_info={
-            "uuid": "80652665f6a54402b2408d50b40398df", 
-            "Code": "ZX-001-1000", 
-            "Name": "1000μL Tip头", 
-            "SupplyType": 1
-            },
-        ordered_items=create_ordered_items_2d(
-            TipSpot, 
-            num_items_x=12, 
-            num_items_y=8,
-            dx=14.5 - 7.95/2, 
-            dy=7.425, 
-            dz=2.0,
-            item_dx=9, 
-            item_dy=9,
-            size_x=7.0,
-            size_y=7.0,
-            size_z=0,
-            make_tip=lambda: _make_tip_helper(volume=1000, length=55.0, depth=8)
-        )
-    )
-def PRCXI_200uL_Tips(name: str) -> PRCXI9300TipRack:
-    """ Code: ZX-001-200 """
-    return PRCXI9300TipRack(
-        name=name,
-        size_x=120.98, 
-        size_y=82.12, 
-        size_z=66.9,
-        model="PRCXI_200uL_Tips",
-        material_info={
-            "uuid": "7a73bb9e5c264515a8fcbe88aed0e6f7", 
-            "Code": "ZX-001-200", 
-            "Name": "200μL Tip头", 
-            "SupplyType": 1},
-        ordered_items=create_ordered_items_2d(
-            TipSpot, 
-            num_items_x=12, 
-            num_items_y=8,
-            dx=10.99 - 5.5/2, 
-            dy=9.56 - 5.5/2, 
-            dz=2.0,
-            item_dx=9, 
-            item_dy=9,
-            size_x=7.0,
-            size_z=0,
-            size_y=7.0,
-            make_tip=lambda: _make_tip_helper(volume=200, length=52.0, depth=5)
-        )
-    )
-def PRCXI_PCR_Adapter(name: str) -> PRCXI9300PlateAdapter:
-    """
-    对应 JSON Code: ZX-58-0001 (全裙边 PCR适配器)
-    """
-    return PRCXI9300PlateAdapter(
-        name=name,
-        size_x=127.76,
-        size_y=85.48,
-        size_z=21.69,
-        model="PRCXI_PCR_Adapter",
-        material_info={
-            "uuid": "4a043a07c65a4f9bb97745e1f129b165",
-            "Code": "ZX-58-0001",
-            "Name": "全裙边 PCR适配器",
-            "materialEnum": 3,
-            "SupplyType": 2
-        }
-    )
-def PRCXI_Reservoir_Adapter(name: str) -> PRCXI9300PlateAdapter:
-    """ Code: ZX-ADP-001 """
-    return PRCXI9300PlateAdapter(
-        name=name, 
-        size_x=133, 
-        size_y=91.8, 
-        size_z=70,
-        material_info={
-            "uuid": "6bdfdd7069df453896b0806df50f2f4d", 
-            "Code": "ZX-ADP-001", 
-            "Name": "储液槽 适配器", 
-            "SupplyType": 2
-            }
-    )
-def PRCXI_Deep300_Adapter(name: str) -> PRCXI9300PlateAdapter:
-    """ Code: ZX-002-300 """
-    return PRCXI9300PlateAdapter(
-        name=name, 
-        size_x=136.4, 
-        size_y=93.8, 
-        size_z=96,
-        material_info={
-            "uuid": "9a439bed8f3344549643d6b3bc5a5eb4", 
-            "Code": "ZX-002-300", 
-            "Name": "300ul深孔板适配器", 
-            "SupplyType": 2
-            }
-    )
-def PRCXI_Deep10_Adapter(name: str) -> PRCXI9300PlateAdapter:
-    """ Code: ZX-002-10 """
-    return PRCXI9300PlateAdapter(
-        name=name, 
-        size_x=136.5, 
-        size_y=93.8, 
-        size_z=121.5,
-        material_info={
-            "uuid": "4dc8d6ecfd0449549683b8ef815a861b", 
-            "Code": "ZX-002-10", 
-            "Name": "10ul专用深孔板适配器", 
-            "SupplyType": 2
-            }
-    )
-def PRCXI_Adapter(name: str) -> PRCXI9300PlateAdapter:
-    """ Code: Fhh478 """
-    return PRCXI9300PlateAdapter(
-        name=name, 
-        size_x=120, 
-        size_y=90, 
-        size_z=86,
-        material_info={
-            "uuid": "adfabfffa8f24af5abfbba67b8d0f973", 
-            "Code": "Fhh478", 
-            "Name": "适配器", 
-            "SupplyType": 2
-            }
-    )
-def PRCXI_48_DeepWell(name: str) -> PRCXI9300Plate:
-    """ Code: 22 (48孔深孔板) """
-    print("Warning: Code '22' (48孔深孔板) dimensions are null in JSON.")
-    return PRCXI9300Plate(
-        name=name, 
-        size_x=127, 
-        size_y=85, 
-        size_z=44, 
-        model="PRCXI_48_DeepWell",
-        material_info={
-            "uuid": "026c5d5cf3d94e56b4e16b7fb53a995b", 
-            "Code": "22", 
-            "Name": "48孔深孔板", 
-            "SupplyType": 1
-            },
-        ordered_items=create_ordered_items_2d(
-            Well, 
-            num_items_x=6, 
-            num_items_y=8, 
-            dx=10, 
-            dy=10, 
-            dz=1, 
-            item_dx=18.5, 
-            item_dy=9, 
-            size_x=8, 
-            size_y=8, 
-            size_z=40
-        )
-    )
-def PRCXI_30mm_Adapter(name: str) -> PRCXI9300PlateAdapter:
-    """ Code: ZX-58-30 """
-    return PRCXI9300PlateAdapter(
-        name=name, 
-        size_x=132, 
-        size_y=93.5, 
-        size_z=30,
-        material_info={
-            "uuid": "a0757a90d8e44e81a68f306a608694f2", 
-            "Code": "ZX-58-30", 
-            "Name": "30mm适配器", 
-            "SupplyType": 2
-            }
-    )

unilabos/devices/liquid_handling/prcxi/prcxi_material.json

@@ -0,0 +1,31 @@
+{
+  "Tip头适配器 1250uL": {"uuid": "3b6f33ffbf734014bcc20e3c63e124d4", "materialEnum": "0"},
+  "ZHONGXI 适配器 300uL": {"uuid": "7c822592b360451fb59690e49ac6b181", "materialEnum": "0"},
+  "吸头10ul 适配器": {"uuid": "8cc3dce884ac41c09f4570d0bcbfb01c", "materialEnum": "0"},
+  "1250μL Tip头": {"uuid": "7960f49ddfe9448abadda89bd1556936", "materialEnum": "0"},
+  "10μL Tip头": {"uuid": "45f2ed3ad925484d96463d675a0ebf66", "materialEnum": "0"},
+  "10μL加长 Tip头": {"uuid": "068b3815e36b4a72a59bae017011b29f", "materialEnum": "1"},
+  "1000μL Tip头": {"uuid": "80652665f6a54402b2408d50b40398df", "materialEnum": "1"},
+  "300μL Tip头": {"uuid": "076250742950465b9d6ea29a225dfb00", "materialEnum": "1"},
+  "200μL Tip头": {"uuid": "7a73bb9e5c264515a8fcbe88aed0e6f7", "materialEnum": "0"},
+  "0.2ml PCR板": {"uuid": "73bb9b10bc394978b70e027bf45ce2d3", "materialEnum": "0"},
+  "2.2ml 深孔板": {"uuid": "ca877b8b114a4310b429d1de4aae96ee", "materialEnum": "0"},
+  "储液槽": {"uuid": "04211a2dc93547fe9bf6121eac533650", "materialEnum": "0"},
+  "全裙边 PCR适配器": {"uuid": "4a043a07c65a4f9bb97745e1f129b165", "materialEnum": "3"},
+  "储液槽 适配器": {"uuid": "6bdfdd7069df453896b0806df50f2f4d", "materialEnum": "0"},
+  "300ul深孔板适配器": {"uuid": "9a439bed8f3344549643d6b3bc5a5eb4", "materialEnum": "0"},
+  "10ul专用深孔板适配器": {"uuid": "4dc8d6ecfd0449549683b8ef815a861b", "materialEnum": "0"},
+  "爱津": {"uuid": "b01627718d3341aba649baa81c2c083c", "materialEnum": "0"},
+  "适配器": {"uuid": "adfabfffa8f24af5abfbba67b8d0f973", "materialEnum": "0"},
+  "废弃槽": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": "0"},
+  "96深孔板": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": "0"},
+  "384板": {"uuid": "853dcfb6226f476e8b23c250217dc7da", "materialEnum": "0"},
+  "4道储液槽": {"uuid": "01953864f6f140ccaa8ddffd4f3e46f5", "materialEnum": "0"},
+  "48孔深孔板": {"uuid": "026c5d5cf3d94e56b4e16b7fb53a995b", "materialEnum": "2"},
+  "12道储液槽": {"uuid": "0f1639987b154e1fac78f4fb29a1f7c1", "materialEnum": "0"},
+  "HPLC料盘": {"uuid": "548bbc3df0d4447586f2c19d2c0c0c55", "materialEnum": "0"},
+  "ep适配器": {"uuid": "e146697c395e4eabb3d6b74f0dd6aaf7", "materialEnum": "0"},
+  "30mm适配器": {"uuid": "a0757a90d8e44e81a68f306a608694f2", "materialEnum": "0"},
+  "细菌培养皿": {"uuid": "b05b3b2aafd94ec38ea0cd3215ecea8f", "materialEnum": "4"},
+  "96 细胞培养皿":{ "uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": "0"}
+}

unilabos/devices/liquid_handling/prcxi/prcxi_materials.py

@@ -0,0 +1,21 @@
+import collections
+import json
+from pathlib import Path
+
+from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container
+
+
+prcxi_materials_path = str(Path(__file__).parent / "prcxi_material.json")
+with open(prcxi_materials_path, mode="r", encoding="utf-8") as f:
+    prcxi_materials = json.loads(f.read())
+
+
+def tip_adaptor_1250ul(name="Tip头适配器 1250uL") -> PRCXI9300Container:  # 必须传入一个name参数，是plr的规范要求
+    # tip_rack = PRCXI9300Container(name, prcxi_materials["name"]["Height"])
+    tip_rack = PRCXI9300Container(name, 1000,400,800, "tip_rack", collections.OrderedDict())
+    tip_rack.load_state({
+        "Materials": {"uuid": "7960f49ddfe9448abadda89bd1556936", "materialEnum": "0"}
+    })
+    return tip_rack
+
+

unilabos/devices/liquid_handling/prcxi/prcxi_res.py

@@ -0,0 +1,44 @@
+import collections
+
+from pylabrobot.resources import opentrons_96_tiprack_10ul
+from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
+
+from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container, PRCXI9300Trash
+
+
+def get_well_container(name: str) -> PRCXI9300Container:
+    well_containers = corning_96_wellplate_360ul_flat(name).serialize()
+    plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
+                               ordering=collections.OrderedDict())
+    plate_serialized = plate.serialize()
+    well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
+    new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
+    return new_plate
+
+def get_tip_rack(name: str) -> PRCXI9300Container:
+    tip_racks = opentrons_96_tiprack_10ul("name").serialize()
+    tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
+                       ordering=collections.OrderedDict())
+    tip_rack_serialized = tip_rack.serialize()
+    tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
+    new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
+    return new_tip_rack
+
+def prcxi_96_wellplate_360ul_flat(name: str):
+    return get_well_container(name)
+
+def prcxi_opentrons_96_tiprack_10ul(name: str):
+    return get_tip_rack(name)
+
+def prcxi_trash(name: str = None):
+    return PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash")
+
+if __name__ == "__main__":
+    # Example usage
+    test_plate = prcxi_96_wellplate_360ul_flat("test_plate")
+    test_rack = prcxi_opentrons_96_tiprack_10ul("test_rack")
+    tash = prcxi_trash("trash")
+    print(test_plate)
+    print(test_rack)
+    print(tash)
+    # Output will be a dictionary representation of the PRCXI9300Container with well details

unilabos/devices/neware_battery_test_system/OSS_UPLOAD_README_CN.md

@@ -1,560 +0,0 @@
-# 新威电池测试系统 - OSS 上传功能说明
-
-## 功能概述
-
-本次更新为新威电池测试系统添加了**阿里云 OSS 文件上传功能**，采用统一的 API 方式，允许将测试数据备份文件上传到云端存储。
-
-## 版本更新说明
-
-### ⚠️ 重大变更（2025-12-17）
-
-本次更新将 OSS 上传方式从 **`oss2` 库** 改为 **统一 API 方式**，实现与团队其他系统的统一。
-
-**主要变化**：
-- ✅ 用 `requests` 库
-- ✅ 通过统一 API 获取预签名 URL 进行上传
-- ✅ 简化环境变量配置（仅需要 JWT Token）
-- ✅ 返回文件访问 URL
-
-## 主要改动
-
-### 1. OSS 上传工具函数重构（第30-200行）
-
-#### 新增函数
-
-- **`get_upload_token(base_url, auth_token, scene, filename)`**  
-  从统一 API 获取文件上传的预签名 URL
-  
-- **`upload_file_with_presigned_url(upload_info, file_path)`**  
-  使用预签名 URL 上传文件到 OSS
-
-#### 更新的函数
-
-- **`upload_file_to_oss(local_file_path, oss_object_name)`**  
-  上传单个文件到阿里云 OSS（使用统一 API 方式）
-  - 返回值变更：成功时返回文件访问 URL，失败时返回 `False`
-  
-- **`upload_files_to_oss(file_paths, oss_prefix)`**  
-  批量上传文件列表
-  - `oss_prefix` 参数保留但暂不使用（接口兼容性）
-  
-- **`upload_directory_to_oss(local_dir, oss_prefix)`**  
-  上传整个目录
-  - 简化实现，直接使用文件名上传
-
-### 2. 环境变量配置简化
-
-#### 新方式（推荐）
-```bash
-# ✅ 必需
-UNI_LAB_AUTH_TOKEN  # API Key 格式: "Api xxxxxx"
-
-# ✅ 可选（有默认值）
-UNI_LAB_BASE_URL (默认: https://uni-lab.test.bohrium.com)
-UNI_LAB_UPLOAD_SCENE (默认: job，其他值会被改成 default)
-```
-
-### 3. 初始化方法（保持不变）
-
-`__init__` 方法中的 OSS 相关配置参数：
-
-```python
-# OSS 上传配置
-self.oss_upload_enabled = False  # 默认不启用 OSS 上传
-self.oss_prefix = "neware_backup"  # OSS 对象路径前缀
-self._last_backup_dir = None  # 记录最近一次的 backup_dir
-```
-
-**默认行为**：OSS 上传功能默认关闭（`oss_upload_enabled=False`），不影响现有系统。
-
-### 4. upload_backup_to_oss 方法（保持不变）
-
-```python
-def upload_backup_to_oss(
-    self, 
-    backup_dir: str = None,
-    file_pattern: str = "*",
-    oss_prefix: str = None
-) -> dict
-```
-
-## 使用说明
-
-### 前置条件
-
-#### 1. 安装依赖
-
-```bash
-# requests 库（通常已安装）
-pip install requests
-```
-
-#### 2. 配置环境变量
-
-根据您使用的终端类型配置环境变量：
-
-##### PowerShell（推荐）
-
-```powershell
-# 必需：设置认证 Token（API Key 格式）
-$env:UNI_LAB_AUTH_TOKEN = "Api xxxx"
-
-# 可选：自定义服务器地址（默认为 test 环境）
-$env:UNI_LAB_BASE_URL = "https://uni-lab.test.bohrium.com"
-
-# 可选：自定义上传场景（默认为 job）
-$env:UNI_LAB_UPLOAD_SCENE = "job"
-
-# 验证是否设置成功
-echo $env:UNI_LAB_AUTH_TOKEN
-```
-
-##### CMD / 命令提示符
-
-```cmd
-REM 必需：设置认证 Token（API Key 格式）
-set UNI_LAB_AUTH_TOKEN=Api xxxx
-
-REM 可选：自定义配置
-set UNI_LAB_BASE_URL=https://uni-lab.test.bohrium.com
-set UNI_LAB_UPLOAD_SCENE=job
-
-REM 验证是否设置成功
-echo %UNI_LAB_AUTH_TOKEN%
-```
-
-##### Linux/Mac
-
-```bash
-# 必需：设置认证 Token（API Key 格式）
-export UNI_LAB_AUTH_TOKEN="Api xxxx"
-
-# 可选：自定义配置
-export UNI_LAB_BASE_URL="https://uni-lab.test.bohrium.com"
-export UNI_LAB_UPLOAD_SCENE="job"
-
-# 验证是否设置成功
-echo $UNI_LAB_AUTH_TOKEN
-```
-
-#### 3. 获取认证 Token
-
-> **重要**：从 Uni-Lab 主页 → 账号安全 中获取 API Key。
-
-**获取步骤**：
-1. 登录 Uni-Lab 系统
-2. 进入主页 → 账号安全
-3. 复制 API Key
-
-Token 格式示例：
-```
-Api 48ccxx336fba44f39e1e37db93xxxxx
-```
-
-> **提示**：
-> - 如果 Token 已经包含 `Api ` 前缀，直接使用
-> - 如果没有前缀，代码会自动添加 `Api ` 前缀
-> - 旧版 `Bearer` JWT Token 格式仍然兼容
-
-#### 4. 持久化配置（可选）
-
-**临时配置**：上述命令设置的环境变量只在当前终端会话中有效。
-
-**持久化方式 1：PowerShell 配置文件**
-```powershell
-# 编辑 PowerShell 配置文件
-notepad $PROFILE
-
-# 在打开的文件中添加：
-$env:UNI_LAB_AUTH_TOKEN = "Api 你的API_Key"
-```
-
-**持久化方式 2：Windows 系统环境变量**
-- 右键"此电脑" → "属性" → "高级系统设置" → "环境变量"
-- 添加用户变量或系统变量：
-  - 变量名：`UNI_LAB_AUTH_TOKEN`
-  - 变量值：`Api 你的API_Key`
-
-### 使用流程
-
-#### 步骤 1：启用 OSS 上传功能
-
-**推荐方式：在 `device.json` 中配置**
-
-编辑设备配置文件 `unilabos/devices/neware_battery_test_system/device.json`，在 `config` 中添加：
-
-```json
-{
-    "nodes": [
-        {
-            "id": "NEWARE_BATTERY_TEST_SYSTEM",
-            "config": {
-                "ip": "127.0.0.1",
-                "port": 502,
-                "machine_id": 1,
-                "oss_upload_enabled": true,
-                "oss_prefix": "neware_backup/2025-12"
-            }
-        }
-    ]
-}
-```
-
-**参数说明**：
-- `oss_upload_enabled`: 设置为 `true` 启用 OSS 上传
-- `oss_prefix`: OSS 文件路径前缀，建议按日期或项目组织（暂时未使用，保留接口兼容性）
-
-**其他方式：通过初始化参数**
-
-```python
-device = NewareBatteryTestSystem(
-    ip="127.0.0.1",
-    port=502,
-    oss_upload_enabled=True,  # 启用 OSS 上传
-    oss_prefix="neware_backup/2025-12"  # 可选：自定义路径前缀
-)
-```
-
-**配置完成后，重启 ROS 节点使配置生效。**
-
-#### 步骤 2：提交测试任务
-
-使用 `submit_from_csv` 提交测试任务：
-
-```python
-result = device.submit_from_csv(
-    csv_path="test_data.csv",
-    output_dir="D:/neware_output"
-)
-```
-
-此时会创建以下目录结构：
-```
-D:/neware_output/
-├── xml_dir/          # XML 配置文件
-└── backup_dir/       # 测试数据备份（由新威设备生成）
-```
-
-#### 步骤 3：等待测试完成
-
-等待新威设备完成测试，备份文件会生成到 `backup_dir` 中。
-
-#### 步骤 4：上传备份文件到 OSS
-
-**方法 A：使用默认设置（推荐）**
-```python
-# 自动使用最近一次的 backup_dir，上传所有文件
-result = device.upload_backup_to_oss()
-```
-
-**方法 B：指定备份目录**
-```python
-# 手动指定备份目录
-result = device.upload_backup_to_oss(
-    backup_dir="D:/neware_output/backup_dir"
-)
-```
-
-**方法 C：筛选特定文件**
-```python
-# 仅上传 CSV 文件
-result = device.upload_backup_to_oss(
-    backup_dir="D:/neware_output/backup_dir",
-    file_pattern="*.csv"
-)
-
-# 仅上传特定电池编号的文件
-result = device.upload_backup_to_oss(
-    file_pattern="Battery_A001_*.nda"
-)
-```
-
-### 返回结果示例
-
-**成功上传所有文件**：
-```python
-{
-    "return_info": "全部上传成功: 15/15 个文件",
-    "success": True,
-    "uploaded_count": 15,
-    "total_count": 15,
-    "failed_files": [],
-    "uploaded_files": [
-        {
-            "filename": "Battery_A001.ndax",
-            "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A001.ndax"
-        },
-        {
-            "filename": "Battery_A002.ndax",
-            "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A002.ndax"
-        }
-        # ... 其他 13 个文件
-    ]
-}
-```
-
-**部分上传成功**：
-```python
-{
-    "return_info": "部分上传成功: 12/15 个文件，失败 3 个",
-    "success": True,
-    "uploaded_count": 12,
-    "total_count": 15,
-    "failed_files": ["Battery_A003.csv", "Battery_A007.csv", "test.log"],
-    "uploaded_files": [
-        {
-            "filename": "Battery_A001.ndax",
-            "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A001.ndax"
-        },
-        {
-            "filename": "Battery_A002.ndax",
-            "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A002.ndax"
-        }
-        # ... 其他 10 个成功上传的文件
-    ]
-}
-```
-
-> **说明**：`uploaded_files` 字段包含所有成功上传文件的详细信息：
-> - `filename`: 文件名（不含路径）
-> - `url`: 文件在 OSS 上的完整访问 URL
-
-## 错误处理
-
-### OSS 上传未启用
-
-如果 `oss_upload_enabled=False`，调用 `upload_backup_to_oss` 会返回：
-```python
-{
-    "return_info": "OSS 上传未启用 (oss_upload_enabled=False)，跳过上传。备份目录: ...",
-    "success": False,
-    "uploaded_count": 0,
-    "total_count": 0,
-    "failed_files": []
-}
-```
-
-**解决方法**：设置 `device.oss_upload_enabled = True`
-
-### 环境变量未配置
-
-如果缺少 `UNI_LAB_AUTH_TOKEN`，会返回：
-```python
-{
-    "return_info": "OSS 环境变量配置错误: 请设置环境变量: UNI_LAB_AUTH_TOKEN",
-    "success": False,
-    ...
-}
-```
-
-**解决方法**：按照前置条件配置环境变量
-
-### 备份目录不存在
-
-如果指定的备份目录不存在，会返回：
-```python
-{
-    "return_info": "备份目录不存在: D:/neware_output/backup_dir",
-    "success": False,
-    ...
-}
-```
-
-**解决方法**：检查目录路径是否正确，或等待测试生成备份文件
-
-### API 认证失败
-
-如果 Token 无效或过期，会返回：
-```python
-{
-    "return_info": "获取凭证失败: 认证失败",
-    "success": False,
-    ...
-}
-```
-
-**解决方法**：检查 Token 是否正确，或联系开发团队获取新 Token
-
-## 技术细节
-
-### OSS 上传流程（新方式）
-
-```mermaid
-flowchart TD
-    A[开始上传] --> B[验证配置和环境变量]
-    B --> C[扫描备份目录]
-    C --> D[筛选符合 pattern 的文件]
-    D --> E[遍历每个文件]
-    E --> F[调用 API 获取预签名 URL]
-    F --> G{获取成功?}
-    G -->|是| H[使用预签名 URL 上传文件]
-    G -->|否| I[记录失败]
-    H --> J{上传成功?}
-    J -->|是| K[记录成功 + 文件 URL]
-    J -->|否| I
-    I --> L{还有文件?}
-    K --> L
-    L -->|是| E
-    L -->|否| M[返回统计结果]
-```
-
-### 上传 API 流程
-
-1. **获取预签名 URL**
-   - 请求：`GET /api/v1/applications/token?scene={scene}&filename={filename}`
-   - 认证：`Authorization: Bearer {token}`
-   - 响应：`{code: 0, data: {url: "预签名URL", path: "文件路径"}}`
-
-2. **上传文件**
-   - 请求：`PUT {预签名URL}`
-   - 内容：文件二进制数据
-   - 响应：HTTP 200 表示成功
-
-3. **生成访问 URL**
-   - 格式：`https://{OSS_PUBLIC_HOST}/{path}`
-   - 示例：`https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/20251217/battery_data.csv`
-
-### 日志记录
-
-所有上传操作都会通过 ROS 日志系统记录：
-- `INFO` 级别：上传进度和成功信息
-- `WARNING` 级别：空目录、未启用等警告
-- `ERROR` 级别：上传失败、配置错误
-
-## 注意事项
-
-1. **上传时机**：`backup_dir` 中的文件是在新威设备执行测试过程中实时生成的，请确保测试已完成再上传。
-
-2. **文件命名**：上传到 OSS 的文件会保留原始文件名，路径由统一 API 分配。
-
-3. **网络要求**：上传需要稳定的网络连接到阿里云 OSS 服务。
-
-4. **Token 有效期**：JWT Token 有过期时间，过期后需要重新获取。
-
-5. **成本考虑**：OSS 存储和流量会产生费用，请根据需要合理设置文件筛选规则。
-
-6. **并发上传**：当前实现为串行上传，大量文件上传可能需要较长时间。
-
-7. **文件大小限制**：请注意单个文件大小是否有上传限制（由统一 API 控制）。
-
-## 兼容性
-
-- ✅ **向后兼容**：默认 `oss_upload_enabled=False`，不影响现有系统
-- ✅ **可选功能**：仅在需要时启用
-- ✅ **独立操作**：上传失败不会影响测试任务的提交和执行
-- ⚠️ **环境变量变更**：需要更新环境变量配置（从 OSS AK/SK 改为 JWT Token）
-
-## 迁移指南
-
-如果您之前使用 `oss2` 库方式，请按以下步骤迁移：
-
-### 1. 卸载旧依赖（可选）
-```bash
-pip uninstall oss2
-```
-
-### 2. 删除旧环境变量
-```powershell
-# PowerShell
-Remove-Item Env:\OSS_ACCESS_KEY_ID
-Remove-Item Env:\OSS_ACCESS_KEY_SECRET
-Remove-Item Env:\OSS_BUCKET_NAME
-Remove-Item Env:\OSS_ENDPOINT
-```
-
-### 3. 设置新环境变量
-```powershell
-# PowerShell
-$env:UNI_LAB_AUTH_TOKEN = "Bearer 你的token..."
-```
-
-### 4. 测试上传功能
-```python
-# 验证上传是否正常工作
-result = device.upload_backup_to_oss(backup_dir="测试目录")
-print(result)
-```
-
-## 常见问题
-
-**Q: 为什么要从 `oss2` 改为统一 API？**  
-A: 为了与团队其他系统保持一致，简化配置，并统一认证方式。
-
-**Q: Token 在哪里获取？**  
-A: 请联系开发团队获取有效的 JWT Token。
-
-**Q: Token 过期了怎么办？**  
-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` 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？**  
-A: 上传成功后会返回文件访问 URL，格式为 `https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/{path}`
-
-**Q: 如何删除已上传的文件？**  
-A: 需要通过 OSS 控制台或 API 操作，本功能仅负责上传。
-
-## 验证上传结果
-
-### 方法1：通过阿里云控制台查看
-
-1. 登录 [阿里云 OSS 控制台](https://oss.console.aliyun.com/)
-2. 点击左侧 **Bucket列表**
-3. 选择 `uni-lab-test` Bucket
-4. 点击 **文件管理**
-5. 查看上传的文件列表
-
-### 方法2：使用返回的文件 URL
-
-上传成功后，`upload_file_to_oss()` 会返回文件访问 URL：
-```python
-url = upload_file_to_oss("local_file.csv")
-print(f"文件访问 URL: {url}")
-# 输出示例：https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/20251217/local_file.csv
-```
-
-> **注意**：OSS 文件默认为私有访问，直接访问 URL 可能需要签名认证。
-
-### 方法3：使用 ossutil 命令行工具
-
-安装 [ossutil](https://help.aliyun.com/document_detail/120075.html) 后：
-
-```bash
-# 列出文件
-ossutil ls oss://uni-lab-test/job/
-
-# 下载文件到本地
-ossutil cp oss://uni-lab-test/job/20251217/文件名 ./本地路径
-
-# 生成签名URL（有效期1小时）
-ossutil sign oss://uni-lab-test/job/20251217/文件名 --timeout 3600
-```
-
-## 更新日志
-
-- **2025-12-17**: v2.0（重大更新）
-  - ⚠️ 从 `oss2` 库改为统一 API 方式
-  - 简化环境变量配置（仅需 JWT Token）
-  - 新增 `get_upload_token()` 和 `upload_file_with_presigned_url()` 函数
-  - `upload_file_to_oss()` 返回值改为文件访问 URL
-  - 更新文档和迁移指南
-
-- **2025-12-15**: v1.1
-  - 添加初始化参数 `oss_upload_enabled` 和 `oss_prefix`
-  - 支持在 `device.json` 中配置 OSS 上传
-  - 更新使用说明，添加验证方法
-
-- **2025-12-13**: v1.0 初始版本
-  - 添加 OSS 上传工具函数（基于 `oss2` 库）
-  - 创建 `upload_backup_to_oss` 动作方法
-  - 支持文件筛选和自定义 OSS 路径
-
-## 参考资料
-
-- [Uni-Lab 统一文件上传 API 文档](https://uni-lab.test.bohrium.com/api/docs)（如有）
-- [阿里云 OSS 控制台](https://oss.console.aliyun.com/)
-- [ossutil 工具文档](https://help.aliyun.com/document_detail/120075.html)

unilabos/devices/neware_battery_test_system/OSS_UPLOAD_README_EN.md

@@ -1,574 +0,0 @@
-# Neware Battery Test System - OSS Upload Feature
-
-## Overview
-
-This update adds **Aliyun OSS file upload functionality** to the Neware Battery Test System using a unified API approach, allowing test data backup files to be uploaded to cloud storage.
-
-## Version Updates
-
-### ⚠️ Breaking Changes (2025-12-17)
-
-This update changes the OSS upload method from **`oss2` library** to **unified API approach** to align with other team systems.
-
-**Main Changes**:
-- ✅ Use `requests` library
-- ✅ Upload via presigned URLs obtained through unified API
-- ✅ Simplified environment variable configuration (only API Key required)
-- ✅ Returns file access URLs
-
-## Main Changes
-
-### 1. OSS Upload Functions Refactored (Lines 30-200)
-
-#### New Functions
-
-- **`get_upload_token(base_url, auth_token, scene, filename)`**  
-  Obtain presigned URL for file upload from unified API
-  
-- **`upload_file_with_presigned_url(upload_info, file_path)`**  
-  Upload file to OSS using presigned URL
-
-#### Updated Functions
-
-- **`upload_file_to_oss(local_file_path, oss_object_name)`**  
-  Upload single file to Aliyun OSS (using unified API approach)
-  - Return value changed: returns file access URL on success, `False` on failure
-  
-- **`upload_files_to_oss(file_paths, oss_prefix)`**  
-  Batch upload file list
-  - `oss_prefix` parameter retained but not used (interface compatibility)
-  
-- **`upload_directory_to_oss(local_dir, oss_prefix)`**  
-  Upload entire directory
-  - Simplified implementation, uploads using filenames directly
-
-### 2. Simplified Environment Variable Configuration
-
-#### Old Method (Deprecated)
-```bash
-# ❌ No longer used
-OSS_ACCESS_KEY_ID
-OSS_ACCESS_KEY_SECRET
-OSS_BUCKET_NAME
-OSS_ENDPOINT
-```
-
-#### New Method (Recommended)
-```bash
-# ✅ Required
-UNI_LAB_AUTH_TOKEN  # API Key format: "Api xxxxxx"
-
-# ✅ Optional (with defaults)
-UNI_LAB_BASE_URL (default: https://uni-lab.test.bohrium.com)
-UNI_LAB_UPLOAD_SCENE (default: job, other values will be changed to default)
-```
-
-### 3. Initialization Method (Unchanged)
-
-OSS-related configuration parameters in `__init__` method:
-
-```python
-# OSS upload configuration
-self.oss_upload_enabled = False  # OSS upload disabled by default
-self.oss_prefix = "neware_backup"  # OSS object path prefix
-self._last_backup_dir = None  # Record last backup_dir
-```
-
-**Default Behavior**: OSS upload is disabled by default (`oss_upload_enabled=False`), does not affect existing systems.
-
-### 4. upload_backup_to_oss Method (Unchanged)
-
-```python
-def upload_backup_to_oss(
-    self, 
-    backup_dir: str = None,
-    file_pattern: str = "*",
-    oss_prefix: str = None
-) -> dict
-```
-
-## Usage Guide
-
-### Prerequisites
-
-#### 1. Install Dependencies
-
-```bash
-# requests library (usually pre-installed)
-pip install requests
-```
-
-> **Note**: No longer need to install `oss2` library
-
-#### 2. Configure Environment Variables
-
-Configure environment variables based on your terminal type:
-
-##### PowerShell (Recommended)
-
-```powershell
-# Required: Set authentication Token (API Key format)
-$env:UNI_LAB_AUTH_TOKEN = "Api xxxx"
-
-# Optional: Custom server URL (defaults to test environment)
-$env:UNI_LAB_BASE_URL = "https://uni-lab.test.bohrium.com"
-
-# Optional: Custom upload scene (defaults to job)
-$env:UNI_LAB_UPLOAD_SCENE = "job"
-
-# Verify if set successfully
-echo $env:UNI_LAB_AUTH_TOKEN
-```
-
-##### CMD / Command Prompt
-
-```cmd
-REM Required: Set authentication Token (API Key format)
-set UNI_LAB_AUTH_TOKEN=Api xxxx
-
-REM Optional: Custom configuration
-set UNI_LAB_BASE_URL=https://uni-lab.test.bohrium.com
-set UNI_LAB_UPLOAD_SCENE=job
-
-REM Verify if set successfully
-echo %UNI_LAB_AUTH_TOKEN%
-```
-
-##### Linux/Mac
-
-```bash
-# Required: Set authentication Token (API Key format)
-export UNI_LAB_AUTH_TOKEN="Api xxxx"
-
-# Optional: Custom configuration
-export UNI_LAB_BASE_URL="https://uni-lab.test.bohrium.com"
-export UNI_LAB_UPLOAD_SCENE="job"
-
-# Verify if set successfully
-echo $UNI_LAB_AUTH_TOKEN
-```
-
-#### 3. Obtain Authentication Token
-
-> **Important**: Obtain API Key from Uni-Lab Homepage → Account Security.
-
-**Steps to Obtain**:
-1. Login to Uni-Lab system
-2. Go to Homepage → Account Security
-3. Copy your API Key
-
-Token format example:
-```
-Api 48ccxx336fba44f39e1e37db93xxxxx
-```
-
-> **Tips**:
-> - If Token already includes `Api ` prefix, use directly
-> - If no prefix, code will automatically add `Api ` prefix
-> - Old `Bearer` JWT Token format is still compatible
-
-#### 4. Persistent Configuration (Optional)
-
-**Temporary Configuration**: Environment variables set with the above commands are only valid for the current terminal session.
-
-**Persistence Method 1: PowerShell Profile**
-```powershell
-# Edit PowerShell profile
-notepad $PROFILE
-
-# Add to the opened file:
-$env:UNI_LAB_AUTH_TOKEN = "Api your_API_Key"
-```
-
-**Persistence Method 2: Windows System Environment Variables**
-- Right-click "This PC" → "Properties" → "Advanced system settings" → "Environment Variables"
-- Add user or system variable:
-  - Variable name: `UNI_LAB_AUTH_TOKEN`
-  - Variable value: `Api your_API_Key`
-
-### Usage Workflow
-
-#### Step 1: Enable OSS Upload Feature
-
-**Recommended: Configure in `device.json`**
-
-Edit device configuration file `unilabos/devices/neware_battery_test_system/device.json`, add to `config`:
-
-```json
-{
-    "nodes": [
-        {
-            "id": "NEWARE_BATTERY_TEST_SYSTEM",
-            "config": {
-                "ip": "127.0.0.1",
-                "port": 502,
-                "machine_id": 1,
-                "oss_upload_enabled": true,
-                "oss_prefix": "neware_backup/2025-12"
-            }
-        }
-    ]
-}
-```
-
-**Parameter Description**:
-- `oss_upload_enabled`: Set to `true` to enable OSS upload
-- `oss_prefix`: OSS file path prefix, recommended to organize by date or project (currently unused, retained for interface compatibility)
-
-**Alternative: Via Initialization Parameters**
-
-```python
-device = NewareBatteryTestSystem(
-    ip="127.0.0.1",
-    port=502,
-    oss_upload_enabled=True,  # Enable OSS upload
-    oss_prefix="neware_backup/2025-12"  # Optional: custom path prefix
-)
-```
-
-**After configuration, restart the ROS node for changes to take effect.**
-
-#### Step 2: Submit Test Tasks
-
-Use `submit_from_csv` to submit test tasks:
-
-```python
-result = device.submit_from_csv(
-    csv_path="test_data.csv",
-    output_dir="D:/neware_output"
-)
-```
-
-This creates the following directory structure:
-```
-D:/neware_output/
-├── xml_dir/          # XML configuration files
-└── backup_dir/       # Test data backup (generated by Neware device)
-```
-
-#### Step 3: Wait for Test Completion
-
-Wait for the Neware device to complete testing. Backup files will be generated in the `backup_dir`.
-
-#### Step 4: Upload Backup Files to OSS
-
-**Method A: Use Default Settings (Recommended)**
-```python
-# Automatically uses the last backup_dir, uploads all files
-result = device.upload_backup_to_oss()
-```
-
-**Method B: Specify Backup Directory**
-```python
-# Manually specify backup directory
-result = device.upload_backup_to_oss(
-    backup_dir="D:/neware_output/backup_dir"
-)
-```
-
-**Method C: Filter Specific Files**
-```python
-# Upload only CSV files
-result = device.upload_backup_to_oss(
-    backup_dir="D:/neware_output/backup_dir",
-    file_pattern="*.csv"
-)
-
-# Upload files for specific battery IDs
-result = device.upload_backup_to_oss(
-    file_pattern="Battery_A001_*.nda"
-)
-```
-
-### Return Result Examples
-
-**All Files Uploaded Successfully**:
-```python
-{
-    "return_info": "All uploads successful: 15/15 files",
-    "success": True,
-    "uploaded_count": 15,
-    "total_count": 15,
-    "failed_files": [],
-    "uploaded_files": [
-        {
-            "filename": "Battery_A001.ndax",
-            "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A001.ndax"
-        },
-        {
-            "filename": "Battery_A002.ndax",
-            "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A002.ndax"
-        }
-        # ... other 13 files
-    ]
-}
-```
-
-**Partial Upload Success**:
-```python
-{
-    "return_info": "Partial upload success: 12/15 files, 3 failed",
-    "success": True,
-    "uploaded_count": 12,
-    "total_count": 15,
-    "failed_files": ["Battery_A003.csv", "Battery_A007.csv", "test.log"],
-    "uploaded_files": [
-        {
-            "filename": "Battery_A001.ndax",
-            "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A001.ndax"
-        },
-        {
-            "filename": "Battery_A002.ndax",
-            "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A002.ndax"
-        }
-        # ... other 10 successfully uploaded files
-    ]
-}
-```
-
-> **Note**: The `uploaded_files` field contains detailed information for all successfully uploaded files:
-> - `filename`: Filename (without path)
-> - `url`: Complete OSS access URL for the file
-
-## Error Handling
-
-### OSS Upload Not Enabled
-
-If `oss_upload_enabled=False`, calling `upload_backup_to_oss` returns:
-```python
-{
-    "return_info": "OSS upload not enabled (oss_upload_enabled=False), skipping upload. Backup directory: ...",
-    "success": False,
-    "uploaded_count": 0,
-    "total_count": 0,
-    "failed_files": []
-}
-```
-
-**Solution**: Set `device.oss_upload_enabled = True`
-
-### Environment Variables Not Configured
-
-If `UNI_LAB_AUTH_TOKEN` is missing, returns:
-```python
-{
-    "return_info": "OSS environment variable configuration error: Please set environment variable: UNI_LAB_AUTH_TOKEN",
-    "success": False,
-    ...
-}
-```
-
-**Solution**: Configure environment variables as per prerequisites
-
-### Backup Directory Does Not Exist
-
-If specified backup directory doesn't exist, returns:
-```python
-{
-    "return_info": "Backup directory does not exist: D:/neware_output/backup_dir",
-    "success": False,
-    ...
-}
-```
-
-**Solution**: Check if directory path is correct, or wait for test to generate backup files
-
-### API Authentication Failed
-
-If Token is invalid or expired, returns:
-```python
-{
-    "return_info": "Failed to get credentials: Authentication failed",
-    "success": False,
-    ...
-}
-```
-
-**Solution**: Check if Token is correct, or contact development team for new Token
-
-## Technical Details
-
-### OSS Upload Process (New Method)
-
-```mermaid
-flowchart TD
-    A[Start Upload] --> B[Verify Configuration and Environment Variables]
-    B --> C[Scan Backup Directory]
-    C --> D[Filter Files Matching Pattern]
-    D --> E[Iterate Each File]
-    E --> F[Call API to Get Presigned URL]
-    F --> G{Success?}
-    G -->|Yes| H[Upload File Using Presigned URL]
-    G -->|No| I[Record Failure]
-    H --> J{Upload Success?}
-    J -->|Yes| K[Record Success + File URL]
-    J -->|No| I
-    I --> L{More Files?}
-    K --> L
-    L -->|Yes| E
-    L -->|No| M[Return Statistics]
-```
-
-### Upload API Flow
-
-1. **Get Presigned URL**
-   - Request: `GET /api/v1/lab/storage/token?scene={scene}&filename={filename}&path={path}`
-   - Authentication: `Authorization: Api {api_key}` or `Authorization: Bearer {token}`
-   - Response: `{code: 0, data: {url: "presigned_url", path: "file_path"}}`
-
-2. **Upload File**
-   - Request: `PUT {presigned_url}`
-   - Content: File binary data
-   - Response: HTTP 200 indicates success
-
-3. **Generate Access URL**
-   - Format: `https://{OSS_PUBLIC_HOST}/{path}`
-   - Example: `https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/20251217/battery_data.csv`
-
-### Logging
-
-All upload operations are logged through ROS logging system:
-- `INFO` level: Upload progress and success information
-- `WARNING` level: Empty directory, not enabled warnings
-- `ERROR` level: Upload failures, configuration errors
-
-## Important Notes
-
-1. **Upload Timing**: Files in `backup_dir` are generated in real-time during test execution. Ensure testing is complete before uploading.
-
-2. **File Naming**: Files uploaded to OSS retain original filenames. Paths are assigned by unified API.
-
-3. **Network Requirements**: Upload requires stable network connection to Aliyun OSS service.
-
-4. **Token Expiration**: JWT Tokens have expiration time. Need to obtain new token after expiration.
-
-5. **Cost Considerations**: OSS storage and traffic incur costs. Set file filtering rules appropriately.
-
-6. **Concurrent Upload**: Current implementation uses serial upload. Large number of files may take considerable time.
-
-7. **File Size Limits**: Note single file size upload limits (controlled by unified API).
-
-## Compatibility
-
-- ✅ **Backward Compatible**: Default `oss_upload_enabled=False`, does not affect existing systems
-- ✅ **Optional Feature**: Enable only when needed
-- ✅ **Independent Operation**: Upload failures do not affect test task submission and execution
-- ⚠️ **Environment Variable Changes**: Need to update environment variable configuration (from OSS AK/SK to API Key)
-
-## Migration Guide
-
-If you previously used the `oss2` library method, follow these steps to migrate:
-
-### 1. Uninstall Old Dependencies (Optional)
-```bash
-pip uninstall oss2
-```
-
-### 2. Remove Old Environment Variables
-```powershell
-# PowerShell
-Remove-Item Env:\OSS_ACCESS_KEY_ID
-Remove-Item Env:\OSS_ACCESS_KEY_SECRET
-Remove-Item Env:\OSS_BUCKET_NAME
-Remove-Item Env:\OSS_ENDPOINT
-```
-
-### 3. Set New Environment Variables
-```powershell
-# PowerShell
-$env:UNI_LAB_AUTH_TOKEN = "Api your_API_Key"
-```
-
-### 4. Test Upload Functionality
-```python
-# Verify upload works correctly
-result = device.upload_backup_to_oss(backup_dir="test_directory")
-print(result)
-```
-
-## FAQ
-
-**Q: Why change from `oss2` to unified API?**  
-A: To maintain consistency with other team systems, simplify configuration, and unify authentication methods.
-
-**Q: Where to get the Token?**  
-A: Obtain API Key from Uni-Lab Homepage → Account Security.
-
-**Q: What if Token expires?**  
-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`?**  
-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?**  
-A: Upload success returns file access URL in format `https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/{path}`
-
-**Q: How to delete uploaded files?**  
-A: Need to operate through OSS console or API. This feature only handles uploads.
-
-## Verifying Upload Results
-
-### Method 1: Via Aliyun Console
-
-1. Login to [Aliyun OSS Console](https://oss.console.aliyun.com/)
-2. Click **Bucket List** on the left
-3. Select the `uni-lab-test` Bucket
-4. Click **File Management**
-5. View uploaded file list
-
-### Method 2: Using Returned File URL
-
-After successful upload, `upload_file_to_oss()` returns file access URL:
-```python
-url = upload_file_to_oss("local_file.csv")
-print(f"File access URL: {url}")
-# Example output: https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/20251217/local_file.csv
-```
-
-> **Note**: OSS files are private by default, direct URL access may require signature authentication.
-
-### Method 3: Using ossutil CLI Tool
-
-After installing [ossutil](https://help.aliyun.com/document_detail/120075.html):
-
-```bash
-# List files
-ossutil ls oss://uni-lab-test/job/
-
-# Download file to local
-ossutil cp oss://uni-lab-test/job/20251217/filename ./local_path
-
-# Generate signed URL (valid for 1 hour)
-ossutil sign oss://uni-lab-test/job/20251217/filename --timeout 3600
-```
-
-## Changelog
-
-- **2025-12-17**: v2.0 (Major Update)
-  - ⚠️ Changed from `oss2` library to unified API approach
-  - Simplified environment variable configuration (only API Key required)
-  - Added `get_upload_token()` and `upload_file_with_presigned_url()` functions
-  - `upload_file_to_oss()` return value changed to file access URL
-  - Updated documentation and migration guide
-  - Token format: Support both `Api Key` and `Bearer JWT`
-  - API endpoint: `/api/v1/lab/storage/token`
-  - Scene parameter: Fixed to `job` (other values changed to `default`)
-
-- **2025-12-15**: v1.1
-  - Added initialization parameters `oss_upload_enabled` and `oss_prefix`
-  - Support OSS upload configuration in `device.json`
-  - Updated usage guide, added verification methods
-
-- **2025-12-13**: v1.0 Initial Version
-  - Added OSS upload utility functions (based on `oss2` library)
-  - Created `upload_backup_to_oss` action method
-  - Support file filtering and custom OSS paths
-
-## References
-
-- [Uni-Lab Unified File Upload API Documentation](https://uni-lab.test.bohrium.com/api/docs) (if available)
-- [Aliyun OSS Console](https://oss.console.aliyun.com/)
-- [ossutil Tool Documentation](https://help.aliyun.com/document_detail/120075.html)

unilabos/devices/neware_battery_test_system/device.json

@@ -1,35 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "NEWARE_BATTERY_TEST_SYSTEM",
-            "name": "Neware Battery Test System",
-            "parent": null,
-            "type": "device",
-            "class": "neware_battery_test_system",
-            "position": {
-                "x": 620.0,
-                "y": 200.0,
-                "z": 0
-            },
-            "config": {
-                "ip": "127.0.0.1",
-                "port": 502,
-                "machine_id": 1,
-                "devtype": "27",
-                "timeout": 20,
-                "size_x": 500.0,
-                "size_y": 500.0,
-                "size_z": 2000.0,
-                "oss_upload_enabled": true,
-                "oss_prefix": "neware_backup/2025-12"
-            },
-            "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。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": []
-        }
-    ],
-    "links": []
-}

unilabos/devices/separator/chinwe.py

@@ -1,649 +1,282 @@
-# -*- coding: utf-8 -*-
-"""
-Contains drivers for:
-1. SyringePump: Runze Fluid SY-03B (ASCII)
-2. EmmMotor: Emm V5.0 Closed-loop Stepper (Modbus-RTU variant)
-3. XKCSensor: XKC Non-contact Level Sensor (Modbus-RTU)
-"""
-
-import socket
-import serial
-import time
+import sys
 import threading
-import struct
+import serial
+import serial.tools.list_ports
 import re
-import traceback
-import queue
-from typing import Optional, Dict, List, Any
+import time
+from typing import Optional, List, Dict, Tuple
 
-try:
-    from unilabos.device_comms.universal_driver import UniversalDriver
-except ImportError:
-    import logging
-    class UniversalDriver:
-        def __init__(self):
-            self.logger = logging.getLogger(self.__class__.__name__)
-
-        def execute_command_from_outer(self, command: str):
-            pass
-
-# ==============================================================================
-# 1. Transport Layer (通信层)
-# ==============================================================================
-
-class TransportManager:
+class ChinweDevice:
     """
-    统一通信管理类。
-    自动识别 串口 (Serial) 或 网络 (TCP) 连接。
+    ChinWe设备控制类
+    提供串口通信、电机控制、传感器数据读取等功能
     """
-    def __init__(self, port: str, baudrate: int = 9600, timeout: float = 3.0, logger=None):
+    
+    def __init__(self, port: str, baudrate: int = 115200, debug: bool = False):
+        """
+        初始化ChinWe设备
+        
+        Args:
+            port: 串口名称，如果为None则自动检测
+            baudrate: 波特率，默认115200
+        """
+        self.debug = debug
         self.port = port
         self.baudrate = baudrate
-        self.timeout = timeout
-        self.logger = logger
-        self.lock = threading.RLock() # 线程锁，确保多设备共用一个连接时不冲突
-
-        self.is_tcp = False
-        self.serial = None
-        self.socket = None
-
-        # 简单判断: 如果包含 ':' (如 192.168.1.1:8899) 或者看起来像 IP，则认为是 TCP
-        if ':' in self.port or (self.port.count('.') == 3 and not self.port.startswith('/')):
-            self.is_tcp = True
-            self._connect_tcp()
-        else:
-            self._connect_serial()
-
-    def _log(self, msg):
-        if self.logger:
-             pass
-            # self.logger.debug(f"[Transport] {msg}")
-
-    def _connect_tcp(self):
-        try:
-            if ':' in self.port:
-                host, p = self.port.split(':')
-                self.tcp_host = host
-                self.tcp_port = int(p)
-            else:
-                self.tcp_host = self.port
-                self.tcp_port = 8899 # 默认端口
-
-            # if self.logger: self.logger.info(f"Connecting TCP {self.tcp_host}:{self.tcp_port} ...")
-            self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-            self.socket.settimeout(self.timeout)
-            self.socket.connect((self.tcp_host, self.tcp_port))
-        except Exception as e:
-            raise ConnectionError(f"TCP connection failed: {e}")
-
-    def _connect_serial(self):
-        try:
-            # if self.logger: self.logger.info(f"Opening Serial {self.port} (Baud: {self.baudrate}) ...")
-            self.serial = serial.Serial(
-                port=self.port,
-                baudrate=self.baudrate,
-                timeout=self.timeout
-            )
-        except Exception as e:
-            raise ConnectionError(f"Serial open failed: {e}")
-
-    def close(self):
-        """关闭连接"""
-        if self.is_tcp and self.socket:
-            try: self.socket.close()
-            except: pass
-        elif not self.is_tcp and self.serial and self.serial.is_open:
-            self.serial.close()
-
-    def clear_buffer(self):
-        """清空缓冲区 (Thread-safe)"""
-        with self.lock:
-            if self.is_tcp:
-                self.socket.setblocking(False)
-                try:
-                    while True:
-                        if not self.socket.recv(1024): break
-                except: pass
-                finally: self.socket.settimeout(self.timeout)
-            else:
-                self.serial.reset_input_buffer()
-
-    def write(self, data: bytes):
-        """发送原始字节"""
-        with self.lock:
-            if self.is_tcp:
-                self.socket.sendall(data)
-            else:
-                self.serial.write(data)
-
-    def read(self, size: int) -> bytes:
-        """读取指定长度字节"""
-        if self.is_tcp:
-            data = b''
-            start = time.time()
-            while len(data) < size:
-                if time.time() - start > self.timeout: break
-                try:
-                    chunk = self.socket.recv(size - len(data))
-                    if not chunk: break
-                    data += chunk
-                except socket.timeout: break
-            return data
-        else:
-            return self.serial.read(size)
-
-    def send_ascii_command(self, command: str) -> str:
-        """
-        发送 ASCII 字符串命令 (如注射泵指令)，读取直到 '\r'。
-        """
-        with self.lock:
-            data = command.encode('ascii') if isinstance(command, str) else command
-            self.clear_buffer()
-            self.write(data)
-
-            # Read until \r
-            if self.is_tcp:
-                resp = b''
-                start = time.time()
-                while True:
-                    if time.time() - start > self.timeout: break
-                    try:
-                        char = self.socket.recv(1)
-                        if not char: break
-                        resp += char
-                        if char == b'\r': break
-                    except: break
-                return resp.decode('ascii', errors='ignore').strip()
-            else:
-                return self.serial.read_until(b'\r').decode('ascii', errors='ignore').strip()
-
-# ==============================================================================
-# 2. Syringe Pump Driver (注射泵)
-# ==============================================================================
-
-class SyringePump:
-    """SY-03B 注射泵驱动 (ASCII协议)"""
-
-    CMD_INITIALIZE = "Z{speed},{drain_port},{output_port}R"
-    CMD_SWITCH_VALVE = "I{port}R"
-    CMD_ASPIRATE = "P{vol}R"
-    CMD_DISPENSE = "D{vol}R"
-    CMD_DISPENSE_ALL = "A0R"
-    CMD_STOP = "TR"
-    CMD_QUERY_STATUS = "Q"
-    CMD_QUERY_PLUNGER = "?0"
-
-    def __init__(self, device_id: int, transport: TransportManager):
-        if not 1 <= device_id <= 15:
-            pass # Allow all IDs for now
-        self.id = str(device_id)
-        self.transport = transport
-
-    def _send(self, template: str, **kwargs) -> str:
-        cmd = f"/{self.id}" + template.format(**kwargs) + "\r"
-        return self.transport.send_ascii_command(cmd)
-
-    def is_busy(self) -> bool:
-        """查询繁忙状态"""
-        resp = self._send(self.CMD_QUERY_STATUS)
-        # 响应如 /0` (Ready, 0x60) 或 /0@ (Busy, 0x40)
-        if len(resp) >= 3:
-            status_byte = ord(resp[2])
-            # Bit 5: 1=Ready, 0=Busy
-            return (status_byte & 0x20) == 0
-        return False
-
-    def wait_until_idle(self, timeout=30):
-        """阻塞等待直到空闲"""
-        start = time.time()
-        while time.time() - start < timeout:
-            if not self.is_busy(): return
-            time.sleep(0.5)
-        # raise TimeoutError(f"Pump {self.id} wait idle timeout")
-        pass
-
-    def initialize(self, drain_port=0, output_port=0, speed=10):
-        """初始化"""
-        self._send(self.CMD_INITIALIZE, speed=speed, drain_port=drain_port, output_port=output_port)
-
-    def switch_valve(self, port: int):
-        """切换阀门 (1-8)"""
-        self._send(self.CMD_SWITCH_VALVE, port=port)
-
-    def aspirate(self, steps: int):
-        """吸液 (相对步数)"""
-        self._send(self.CMD_ASPIRATE, vol=steps)
-
-    def dispense(self, steps: int):
-        """排液 (相对步数)"""
-        self._send(self.CMD_DISPENSE, vol=steps)
-
-    def stop(self):
-        """停止"""
-        self._send(self.CMD_STOP)
-
-    def get_position(self) -> int:
-        """获取柱塞位置 (步数)"""
-        resp = self._send(self.CMD_QUERY_PLUNGER)
-        m = re.search(r'\d+', resp)
-        return int(m.group()) if m else -1
-
-# ==============================================================================
-# 3. Stepper Motor Driver (步进电机)
-# ==============================================================================
-
-class EmmMotor:
-    """Emm V5.0 闭环步进电机驱动"""
-
-    def __init__(self, device_id: int, transport: TransportManager):
-        self.id = device_id
-        self.transport = transport
-
-    def _send(self, func_code: int, payload: list) -> bytes:
-        with self.transport.lock:
-            self.transport.clear_buffer()
-            # 格式: [ID] [Func] [Data...] [Check=0x6B]
-            body = [self.id, func_code] + payload
-            body.append(0x6B) # Checksum
-            self.transport.write(bytes(body))
-
-            # 根据指令不同，读取不同长度响应
-            read_len = 10 if func_code in [0x31, 0x32, 0x35, 0x24, 0x27] else 4
-            return self.transport.read(read_len)
-
-    def enable(self, on=True):
-        """使能 (True=锁轴, False=松轴)"""
-        state = 1 if on else 0
-        self._send(0xF3, [0xAB, state, 0])
-
-    def run_speed(self, speed_rpm: int, direction=0, acc=10):
-        """速度模式运行"""
-        sp = struct.pack('>H', int(speed_rpm))
-        self._send(0xF6, [direction, sp[0], sp[1], acc, 0])
-
-    def run_position(self, pulses: int, speed_rpm: int, direction=0, acc=10, absolute=False):
-        """位置模式运行"""
-        sp = struct.pack('>H', int(speed_rpm))
-        pl = struct.pack('>I', int(pulses))
-        is_abs = 1 if absolute else 0
-        self._send(0xFD, [direction, sp[0], sp[1], acc, pl[0], pl[1], pl[2], pl[3], is_abs, 0])
-
-    def stop(self):
-        """停止"""
-        self._send(0xFE, [0x98, 0])
-
-    def set_zero(self):
-        """清零位置"""
-        self._send(0x0A, [])
-
-    def get_position(self) -> int:
-        """获取当前脉冲位置"""
-        resp = self._send(0x32, [])
-        if len(resp) >= 8:
-            sign = resp[2]
-            val = struct.unpack('>I', resp[3:7])[0]
-            return -val if sign == 1 else val
-        return 0
-
-# ==============================================================================
-# 4. Liquid Sensor Driver (液位传感器)
-# ==============================================================================
-
-class XKCSensor:
-    """XKC RS485 液位传感器 (Modbus RTU)"""
-
-    def __init__(self, device_id: int, transport: TransportManager, threshold: int = 300):
-        self.id = device_id
-        self.transport = transport
-        self.threshold = threshold
-
-    def _crc(self, data: bytes) -> bytes:
-        crc = 0xFFFF
-        for byte in data:
-            crc ^= byte
-            for _ in range(8):
-                if crc & 0x0001: crc = (crc >> 1) ^ 0xA001
-                else: crc >>= 1
-        return struct.pack('<H', crc)
-
-    def read_level(self) -> Optional[Dict[str, Any]]:
-        """
-        读取液位。
-        返回: {'level': bool, 'rssi': int}
-        """
-        with self.transport.lock:
-            self.transport.clear_buffer()
-            # Modbus Read Registers: 01 03 00 01 00 02 CRC
-            payload = struct.pack('>HH', 0x0001, 0x0002)
-            msg = struct.pack('BB', self.id, 0x03) + payload
-            msg += self._crc(msg)
-            self.transport.write(msg)
-
-            # Read header
-            h = self.transport.read(3) # Addr, Func, Len
-            if len(h) < 3: return None
-            length = h[2]
-
-            # Read body + CRC
-            body = self.transport.read(length + 2)
-            if len(body) < length + 2:
-                # Firmware bug fix specific to some modules
-                if len(body) == 4 and length == 4:
-                    pass
-                else:
-                    return None
-
-            data = body[:-2]
-            if len(data) == 2:
-                rssi = data[1]
-            elif len(data) >= 4:
-                rssi = (data[2] << 8) | data[3]
-            else:
-                return None
-
-            return {
-                'level': rssi > self.threshold,
-                'rssi': rssi
-            }
-
-# ==============================================================================
-# 5. Main Device Class (ChinweDevice)
-# ==============================================================================
-
-class ChinweDevice(UniversalDriver):
-    """
-    ChinWe 工作站主驱动
-    继承自 UniversalDriver，管理所有子设备（泵、电机、传感器）
-    """
-
-    def __init__(self, port: str = "192.168.1.200:8899", baudrate: int = 9600,
-                 pump_ids: List[int] = None, motor_ids: List[int] = None,
-                 sensor_id: int = 6, sensor_threshold: int = 300,
-                 timeout: float = 10.0):
-        """
-        初始化 ChinWe 工作站
-        :param port: 串口号 或 IP:Port
-        :param baudrate: 串口波特率
-        :param pump_ids: 注射泵 ID列表 (默认 [1, 2, 3])
-        :param motor_ids: 步进电机 ID列表 (默认 [4, 5])
-        :param sensor_id: 液位传感器 ID (默认 6)
-        :param sensor_threshold: 传感器液位判定阈值
-        :param timeout: 通信超时时间 (默认 10秒)
-        """
-        super().__init__()
-        self.port = port
-        self.baudrate = baudrate
-        self.timeout = timeout
-        self.mgr = None
+        self.serial_port: Optional[serial.Serial] = None
+        self._voltage: float = 0.0
+        self._ec_value: float = 0.0
+        self._ec_adc_value: int = 0
         self._is_connected = False
-
-        # 默认配置
-        if pump_ids is None: pump_ids = [1, 2, 3]
-        if motor_ids is None: motor_ids = [4, 5]
-
-        # 配置信息
-        self.pump_ids = pump_ids
-        self.motor_ids = motor_ids
-        self.sensor_id = sensor_id
-        self.sensor_threshold = sensor_threshold
-
-        # 子设备实例容器
-        self.pumps: Dict[int, SyringePump] = {}
-        self.motors: Dict[int, EmmMotor] = {}
-        self.sensor: Optional[XKCSensor] = None
-
-        # 轮询线程控制
-        self._stop_event = threading.Event()
-        self._poll_thread = None
-
-        # 实时状态缓存
-        self.status_cache = {
-             "sensor_rssi": 0,
-             "sensor_level": False,
-             "connected": False
-        }
-
-        # 自动连接
-        if self.port:
-            self.connect()
-
-    def connect(self) -> bool:
-        if self._is_connected: return True
-        try:
-            self.logger.info(f"Connecting to {self.port} (timeout={self.timeout})...")
-            self.mgr = TransportManager(self.port, baudrate=self.baudrate, timeout=self.timeout, logger=self.logger)
-
-            # 初始化所有泵
-            for pid in self.pump_ids:
-                self.pumps[pid] = SyringePump(pid, self.mgr)
-
-            # 初始化所有电机
-            for mid in self.motor_ids:
-                self.motors[mid] = EmmMotor(mid, self.mgr)
-
-            # 初始化传感器
-            self.sensor = XKCSensor(self.sensor_id, self.mgr, self.sensor_threshold)
-
-            self._is_connected = True
-            self.status_cache["connected"] = True
-
-            # 启动轮询线程
-            self._start_polling()
-            return True
-        except Exception as e:
-            self.logger.error(f"Connection failed: {e}")
-            self._is_connected = False
-            self.status_cache["connected"] = False
-            return False
-
-    def disconnect(self):
-        self._stop_event.set()
-        if self._poll_thread:
-            self._poll_thread.join(timeout=2.0)
-
-        if self.mgr:
-            self.mgr.close()
-
-        self._is_connected = False
-        self.status_cache["connected"] = False
-        self.logger.info("Disconnected.")
-
-    def _start_polling(self):
-        """启动传感器轮询线程"""
-        if self._poll_thread and self._poll_thread.is_alive():
-            return
-
-        self._stop_event.clear()
-        self._poll_thread = threading.Thread(target=self._polling_loop, daemon=True, name="ChinwePoll")
-        self._poll_thread.start()
-
-    def _polling_loop(self):
-        """轮询主循环"""
-        self.logger.info("Sensor polling started.")
-        error_count = 0
-        while not self._stop_event.is_set():
-            if not self._is_connected or not self.sensor:
-                time.sleep(1)
-                continue
-
-            try:
-                # 获取传感器数据
-                data = self.sensor.read_level()
-                if data:
-                    self.status_cache["sensor_rssi"] = data['rssi']
-                    self.status_cache["sensor_level"] = data['level']
-                    error_count = 0
-                else:
-                    error_count += 1
-
-                # 降低轮询频率防止总线拥塞
-                time.sleep(0.2)
-
-            except Exception as e:
-                error_count += 1
-                if error_count > 10: # 连续错误记录日志
-                    # self.logger.error(f"Polling error: {e}")
-                    error_count = 0
-                time.sleep(1)
-
-    # --- 对外暴露属性 (Properties) ---
-
-    @property
-    def sensor_level(self) -> bool:
-        return self.status_cache["sensor_level"]
-
-    @property
-    def sensor_rssi(self) -> int:
-        return self.status_cache["sensor_rssi"]
-
+        self.connect()
+    
     @property
     def is_connected(self) -> bool:
-        return self._is_connected
+        """获取连接状态"""
+        return self._is_connected and self.serial_port and self.serial_port.is_open
+    
+    @property
+    def voltage(self) -> float:
+        """获取电源电压值"""
+        return self._voltage
+    
+    @property
+    def ec_value(self) -> float:
+        """获取电导率值 (ms/cm)"""
+        return self._ec_value
 
-    # --- 对外功能指令 (Actions) ---
+    @property
+    def ec_adc_value(self) -> int:
+        """获取EC ADC原始值"""
+        return self._ec_adc_value
+    
 
-    def pump_initialize(self, pump_id: int, drain_port=0, output_port=0, speed=10):
-        """指定泵初始化"""
-        pump_id = int(pump_id)
-        if pump_id in self.pumps:
-            self.pumps[pump_id].initialize(drain_port, output_port, speed)
-            self.pumps[pump_id].wait_until_idle()
+    @property
+    def device_status(self) -> Dict[str, any]:
+        """
+        获取设备状态信息
+        
+        Returns:
+            包含设备状态的字典
+        """
+        return {
+            "connected": self.is_connected,
+            "port": self.port,
+            "baudrate": self.baudrate,
+            "voltage": self.voltage,
+            "ec_value": self.ec_value,
+            "ec_adc_value": self.ec_adc_value
+        }
+    
+    def connect(self, port: Optional[str] = None, baudrate: Optional[int] = None) -> bool:
+        """
+        连接到串口设备
+        
+        Args:
+            port: 串口名称，如果为None则使用初始化时的port或自动检测
+            baudrate: 波特率，如果为None则使用初始化时的baudrate
+            
+        Returns:
+            连接是否成功
+        """
+        if self.is_connected:
             return True
-        return False
-
-    def pump_aspirate(self, pump_id: int, volume: int, valve_port: int):
-        """
-        泵吸液 (阻塞)
-        :param valve_port: 阀门端口 (1-8)
-        """
-        pump_id = int(pump_id)
-        valve_port = int(valve_port)
-        if pump_id in self.pumps:
-            pump = self.pumps[pump_id]
-            # 1. 切换阀门
-            pump.switch_valve(valve_port)
-            pump.wait_until_idle()
-            # 2. 吸液
-            pump.aspirate(volume)
-            pump.wait_until_idle()
+            
+        target_port = port or self.port
+        target_baudrate = baudrate or self.baudrate
+        
+        try:
+            self.serial_port = serial.Serial(target_port, target_baudrate, timeout=0.5)
+            self._is_connected = True
+            self.port = target_port
+            self.baudrate = target_baudrate
+            connect_allow_times = 5
+            while not self.serial_port.is_open and connect_allow_times > 0:
+                time.sleep(0.5)
+                connect_allow_times -= 1
+                print(f"尝试连接到 {target_port} @ {target_baudrate}，剩余尝试次数: {connect_allow_times}", self.debug)
+                raise ValueError("串口未打开，请检查设备连接")
+            print(f"已连接到 {target_port} @ {target_baudrate}", self.debug)
+            threading.Thread(target=self._read_data, daemon=True).start()
             return True
-        return False
-
-    def pump_dispense(self, pump_id: int, volume: int, valve_port: int):
+        except Exception as e:
+            print(f"ChinweDevice连接失败: {e}")
+            self._is_connected = False
+            return False
+    
+    def disconnect(self) -> bool:
         """
-        泵排液 (阻塞)
-        :param valve_port: 阀门端口 (1-8)
+        断开串口连接
+        
+        Returns:
+            断开是否成功
         """
-        pump_id = int(pump_id)
-        valve_port = int(valve_port)
-        if pump_id in self.pumps:
-            pump = self.pumps[pump_id]
-            # 1. 切换阀门
-            pump.switch_valve(valve_port)
-            pump.wait_until_idle()
-            # 2. 排液
-            pump.dispense(volume)
-            pump.wait_until_idle()
-            return True
-        return False
-
-    def pump_valve(self, pump_id: int, port: int):
-        """泵切换阀门 (阻塞)"""
-        pump_id = int(pump_id)
-        port = int(port)
-        if pump_id in self.pumps:
-            pump = self.pumps[pump_id]
-            pump.switch_valve(port)
-            pump.wait_until_idle()
-            return True
-        return False
-
-    def motor_run_continuous(self, motor_id: int, speed: int, direction: str = "顺时针"):
-        """
-        电机一直旋转 (速度模式)
-        :param direction: "顺时针" or "逆时针"
-        """
-        motor_id = int(motor_id)
-        if motor_id not in self.motors: return False
-
-        dir_val = 0 if direction == "顺时针" else 1
-        self.motors[motor_id].run_speed(speed, dir_val)
-        return True
-
-    def motor_rotate_quarter(self, motor_id: int, speed: int = 60, direction: str = "顺时针"):
-        """
-        电机旋转1/4圈 (阻塞)
-        假设电机设置为 3200 脉冲/圈，1/4圈 = 800脉冲
-        """
-        motor_id = int(motor_id)
-        if motor_id not in self.motors: return False
-
-        pulses = 800
-        dir_val = 0 if direction == "顺时针" else 1
-
-        self.motors[motor_id].run_position(pulses, speed, dir_val, absolute=False)
-
-        # 预估时间阻塞 (单位: 分钟 -> 秒)
-        # Time(s) = revs / (RPM/60). revs = 0.25. time = 15 / RPM.
-        estimated_time = 15.0 / max(1, speed)
-        time.sleep(estimated_time + 0.5)
-
-        return True
-
-    def motor_stop(self, motor_id: int):
-        """电机停止"""
-        motor_id = int(motor_id)
-        if motor_id in self.motors:
-            self.motors[motor_id].stop()
-            return True
-        return False
-
-    def wait_sensor_level(self, target_state: str = "有液", timeout: int = 30) -> bool:
-        """
-        等待传感器达到指定电平
-        :param target_state: "有液" or "无液"
-        """
-        target_bool = True if target_state == "有液" else False
-
-        self.logger.info(f"Wait sensor: {target_state} ({target_bool}), timeout: {timeout}")
-        start = time.time()
-        while time.time() - start < timeout:
-            if self.sensor_level == target_bool:
+        if self.serial_port and self.serial_port.is_open:
+            try:
+                self.serial_port.close()
+                self._is_connected = False
+                print("已断开串口连接")
                 return True
-            time.sleep(0.1)
-        self.logger.warning("Wait sensor level timeout")
-        return False
-
-    def wait_time(self, duration: int) -> bool:
-        """
-        等待指定时间 (秒)
-        :param duration: 秒
-        """
-        self.logger.info(f"Waiting for {duration} seconds...")
-        time.sleep(duration)
+            except Exception as e:
+                print(f"断开连接失败: {e}")
+                return False
         return True
+    
+    def _send_motor_command(self, command: str) -> bool:
+        """
+        发送电机控制命令
+        
+        Args:
+            command: 电机命令字符串，例如 "M 1 CW 1.5"
+            
+        Returns:
+            发送是否成功
+        """
+        if not self.is_connected:
+            print("设备未连接")
+            return False
+            
+        try:
+            self.serial_port.write((command + "\n").encode('utf-8'))
+            print(f"发送命令: {command}")
+            return True
+        except Exception as e:
+            print(f"发送命令失败: {e}")
+            return False
+    
+    def rotate_motor(self, motor_id: int, turns: float, clockwise: bool = True) -> bool:
+        """
+        使电机转动指定圈数
+        
+        Args:
+            motor_id: 电机ID（1, 2, 3...）
+            turns: 转动圈数，支持小数
+            clockwise: True为顺时针，False为逆时针
+            
+        Returns:
+            命令发送是否成功
+        """
+        if clockwise:
+            command = f"M {motor_id} CW {turns}"
+        else:
+            command = f"M {motor_id} CCW {turns}"
+        return self._send_motor_command(command)
 
-    def execute_command_from_outer(self, command_dict: Dict[str, Any]) -> bool:
-        """支持标准 JSON 指令调用"""
-        return super().execute_command_from_outer(command_dict)
+    def set_motor_speed(self, motor_id: int, speed: float) -> bool:
+        """
+        设置电机转速（如果设备支持）
+        
+        Args:
+            motor_id: 电机ID（1, 2, 3...）
+            speed: 转速值
+            
+        Returns:
+            命令发送是否成功
+        """
+        command = f"M {motor_id} SPEED {speed}"
+        return self._send_motor_command(command)
 
-if __name__ == "__main__":
-    # Test
-    logging.basicConfig(level=logging.INFO)
-    dev = ChinweDevice(port="192.168.31.201:8899")
+    def _read_data(self) -> List[str]:
+        """
+        读取串口数据并解析
+        
+        Returns:
+            读取到的数据行列表
+        """
+        print("开始读取串口数据...")
+        if not self.is_connected:
+            return []
+            
+        data_lines = []
+        try:
+            while self.serial_port.in_waiting:
+                time.sleep(0.1)  # 等待数据稳定
+                try:
+                    line = self.serial_port.readline().decode('utf-8', errors='ignore').strip()
+                    if line:
+                        data_lines.append(line)
+                        self._parse_sensor_data(line)
+                except Exception as ex:
+                    print(f"解码数据错误: {ex}")
+        except Exception as e:
+            print(f"读取串口数据错误: {e}")
+            
+        return data_lines
+    
+    def _parse_sensor_data(self, line: str) -> None:
+        """
+        解析传感器数据
+        
+        Args:
+            line: 接收到的数据行
+        """
+        # 解析电源电压
+        if "电源电压" in line:
+            try:
+                val = float(line.split("：")[1].replace("V", "").strip())
+                self._voltage = val
+                if self.debug:
+                    print(f"电源电压更新: {val}V")
+            except Exception:
+                pass
+
+        # 解析电导率和ADC原始值（支持两种格式）
+        if "电导率" in line and "ADC原始值" in line:
+            try:
+                # 支持格式如：电导率：2.50ms/cm, ADC原始值：2052
+                ec_match = re.search(r"电导率[:：]\s*([\d\.]+)", line)
+                adc_match = re.search(r"ADC原始值[:：]\s*(\d+)", line)
+                if ec_match:
+                    ec_val = float(ec_match.group(1))
+                    self._ec_value = ec_val
+                    if self.debug:
+                        print(f"电导率更新: {ec_val:.2f} ms/cm")
+                if adc_match:
+                    adc_val = int(adc_match.group(1))
+                    self._ec_adc_value = adc_val
+                    if self.debug:
+                        print(f"EC ADC原始值更新: {adc_val}")
+            except Exception:
+                pass
+        # 仅电导率，无ADC原始值
+        elif "电导率" in line:
+            try:
+                val = float(line.split("：")[1].replace("ms/cm", "").strip())
+                self._ec_value = val
+                if self.debug:
+                    print(f"电导率更新: {val:.2f} ms/cm")
+            except Exception:
+                pass
+        # 仅ADC原始值（如有分开回传场景）
+        elif "ADC原始值" in line:
+            try:
+                adc_val = int(line.split("：")[1].strip())
+                self._ec_adc_value = adc_val
+                if self.debug:
+                    print(f"EC ADC原始值更新: {adc_val}")
+            except Exception:
+                pass
+    
+    def spin_when_ec_ge_0():
+        pass
+    
+
+def main():
+    """测试函数"""
+    print("=== ChinWe设备测试 ===")
+    
+    # 创建设备实例
+    device = ChinweDevice("/dev/tty.usbserial-A5069RR4", debug=True)
     try:
-        if dev.is_connected:
-            print(f"Status: Level={dev.sensor_level}, RSSI={dev.sensor_rssi}")
-
-            # Test pump 1
-            # dev.pump_valve(1, 1)
-            # dev.pump_move(1, 1000, "aspirate")
-
-            # Test motor 4
-             # dev.motor_run(4, 60, 0, 2)
-
-            for _ in range(5):
-                print(f"Level={dev.sensor_level}, RSSI={dev.sensor_rssi}")
-                time.sleep(1)
+        # 测试5: 发送电机命令
+        print("\n5. 发送电机命令测试:")
+        print("  5.3 使用通用函数控制电机20顺时针转2圈:")
+        device.rotate_motor(2, 20.0, clockwise=True)
+        time.sleep(0.5)
     finally:
-        dev.disconnect()
+        time.sleep(10)
+        # 测试7: 断开连接
+        print("\n7. 断开连接:")
+        device.disconnect()
+if __name__ == "__main__":
+    main()

unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py

@@ -176,24 +176,7 @@ class BioyondV1RPC(BaseRequest):
             return {}
 
         print(f"add material data: {response['data']}")
-
-        # 自动更新缓存
-        data = response.get("data", {})
-        if data:
-            if isinstance(data, str):
-                # 如果返回的是字符串，通常是ID
-                mat_id = data
-                name = params.get("name")
-            else:
-                # 如果返回的是字典，尝试获取name和id
-                name = data.get("name") or params.get("name")
-                mat_id = data.get("id")
-
-            if name and mat_id:
-                self.material_cache[name] = mat_id
-                print(f"已自动更新缓存: {name} -> {mat_id}")
-
-        return data
+        return response.get("data", {})
 
     def query_matial_type_id(self, data) -> list:
         """查找物料typeid"""
@@ -220,7 +203,7 @@ class BioyondV1RPC(BaseRequest):
             params={
                 "apiKey": self.api_key,
                 "requestTime": self.get_current_time_iso8601(),
-                "data": 0,
+                "data": {},
             })
         if not response or response['code'] != 1:
             return []
@@ -290,14 +273,6 @@ class BioyondV1RPC(BaseRequest):
 
         if not response or response['code'] != 1:
             return {}
-
-        # 自动更新缓存 - 移除被删除的物料
-        for name, mid in list(self.material_cache.items()):
-            if mid == material_id:
-                del self.material_cache[name]
-                print(f"已从缓存移除物料: {name}")
-                break
-
         return response.get("data", {})
 
     def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
@@ -1148,14 +1123,6 @@ class BioyondV1RPC(BaseRequest):
             print(f"从缓存找到材料: {material_name_or_id} -> ID: {material_id}")
             return material_id
 
-        # 如果缓存中没有，尝试刷新缓存
-        print(f"缓存中未找到材料 '{material_name_or_id}'，尝试刷新缓存...")
-        self.refresh_material_cache()
-        if material_name_or_id in self.material_cache:
-            material_id = self.material_cache[material_name_or_id]
-            print(f"刷新缓存后找到材料: {material_name_or_id} -> ID: {material_id}")
-            return material_id
-
         print(f"警告: 未在缓存中找到材料名称 '{material_name_or_id}'，将使用原值")
         return material_name_or_id
 

unilabos/devices/workstation/bioyond_studio/dispensing_station.py

@@ -4,7 +4,6 @@ import time
 from typing import Optional, Dict, Any, List
 from typing_extensions import TypedDict
 import requests
-import pint
 from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG
 
 from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondException
@@ -44,41 +43,6 @@ class BioyondDispensingStation(BioyondWorkstation):
         # 用于跟踪任务完成状态的字典: {orderCode: {status, order_id, timestamp}}
         self.order_completion_status = {}
 
-        # 初始化 pint 单位注册表
-        self.ureg = pint.UnitRegistry()
-
-        # 化合物信息
-        self.compound_info = {
-            "MolWt": {
-                "MDA": 108.14 * self.ureg.g / self.ureg.mol,
-                "TDA": 122.16 * self.ureg.g / self.ureg.mol,
-                "PAPP": 521.62 * self.ureg.g / self.ureg.mol,
-                "BTDA": 322.23 * self.ureg.g / self.ureg.mol,
-                "BPDA": 294.22 * self.ureg.g / self.ureg.mol,
-                "6FAP": 366.26 * self.ureg.g / self.ureg.mol,
-                "PMDA": 218.12 * self.ureg.g / self.ureg.mol,
-                "MPDA": 108.14 * self.ureg.g / self.ureg.mol,
-                "SIDA": 248.51 * self.ureg.g / self.ureg.mol,
-                "ODA": 200.236 * self.ureg.g / self.ureg.mol,
-                "4,4'-ODA": 200.236 * self.ureg.g / self.ureg.mol,
-                "134": 292.34 * self.ureg.g / self.ureg.mol,
-            },
-            "FuncGroup": {
-                "MDA": "Amine",
-                "TDA": "Amine",
-                "PAPP": "Amine",
-                "BTDA": "Anhydride",
-                "BPDA": "Anhydride",
-                "6FAP": "Amine",
-                "MPDA": "Amine",
-                "SIDA": "Amine",
-                "PMDA": "Anhydride",
-                "ODA": "Amine",
-                "4,4'-ODA": "Amine",
-                "134": "Amine",
-            }
-        }
-
     def _post_project_api(self, endpoint: str, data: Any) -> Dict[str, Any]:
         """项目接口通用POST调用
 
@@ -154,22 +118,20 @@ class BioyondDispensingStation(BioyondWorkstation):
                     ratio = json.loads(ratio)
                 except Exception:
                     ratio = {}
+            root = str(Path(__file__).resolve().parents[3])
+            if root not in sys.path:
+                sys.path.append(root)
+            try:
+                mod = importlib.import_module("tem.compute")
+            except Exception as e:
+                raise BioyondException(f"无法导入计算模块: {e}")
             try:
                 wp = float(wt_percent) if isinstance(wt_percent, str) else wt_percent
                 mt = float(m_tot) if isinstance(m_tot, str) else m_tot
                 tp = float(titration_percent) if isinstance(titration_percent, str) else titration_percent
             except Exception as e:
                 raise BioyondException(f"参数解析失败: {e}")
-
-            # 2. 调用内部计算方法
-            res = self._generate_experiment_design(
-                ratio=ratio,
-                wt_percent=wp,
-                m_tot=mt,
-                titration_percent=tp
-            )
-
-            # 3. 构造返回结果
+            res = mod.generate_experiment_design(ratio=ratio, wt_percent=wp, m_tot=mt, titration_percent=tp)
             out = {
                 "solutions": res.get("solutions", []),
                 "titration": res.get("titration", {}),
@@ -178,248 +140,11 @@ class BioyondDispensingStation(BioyondWorkstation):
                 "return_info": json.dumps(res, ensure_ascii=False)
             }
             return out
-
         except BioyondException:
             raise
         except Exception as e:
             raise BioyondException(str(e))
 
-    def _generate_experiment_design(
-        self,
-        ratio: dict,
-        wt_percent: float = 0.25,
-        m_tot: float = 70,
-        titration_percent: float = 0.03,
-    ) -> dict:
-        """内部方法：生成实验设计
-
-        根据FuncGroup自动区分二胺和二酐，每种二胺单独配溶液，严格按照ratio顺序投料。
-
-        参数:
-            ratio: 化合物配比字典，格式: {"compound_name": ratio_value}
-            wt_percent: 固体重量百分比
-            m_tot: 反应混合物总质量(g)
-            titration_percent: 滴定溶液百分比
-
-        返回:
-            包含实验设计详细参数的字典
-        """
-        # 溶剂密度
-        ρ_solvent = 1.03 * self.ureg.g / self.ureg.ml
-        # 二酐溶解度
-        solubility = 0.02 * self.ureg.g / self.ureg.ml
-        # 投入固体时最小溶剂体积
-        V_min = 30 * self.ureg.ml
-        m_tot = m_tot * self.ureg.g
-
-        # 保持ratio中的顺序
-        compound_names = list(ratio.keys())
-        compound_ratios = list(ratio.values())
-
-        # 验证所有化合物是否在 compound_info 中定义
-        undefined_compounds = [name for name in compound_names if name not in self.compound_info["MolWt"]]
-        if undefined_compounds:
-            available = list(self.compound_info["MolWt"].keys())
-            raise ValueError(
-                f"以下化合物未在 compound_info 中定义: {undefined_compounds}。"
-                f"可用的化合物: {available}"
-            )
-
-        # 获取各化合物的分子量和官能团类型
-        molecular_weights = [self.compound_info["MolWt"][name] for name in compound_names]
-        func_groups = [self.compound_info["FuncGroup"][name] for name in compound_names]
-
-        # 记录化合物信息用于调试
-        self.hardware_interface._logger.info(f"化合物名称: {compound_names}")
-        self.hardware_interface._logger.info(f"官能团类型: {func_groups}")
-
-        # 按原始顺序分离二胺和二酐
-        ordered_compounds = list(zip(compound_names, compound_ratios, molecular_weights, func_groups))
-        diamine_compounds = [(name, ratio_val, mw, i) for i, (name, ratio_val, mw, fg) in enumerate(ordered_compounds) if fg == "Amine"]
-        anhydride_compounds = [(name, ratio_val, mw, i) for i, (name, ratio_val, mw, fg) in enumerate(ordered_compounds) if fg == "Anhydride"]
-
-        if not diamine_compounds or not anhydride_compounds:
-            raise ValueError(
-                f"需要同时包含二胺(Amine)和二酐(Anhydride)化合物。"
-                f"当前二胺: {[c[0] for c in diamine_compounds]}, "
-                f"当前二酐: {[c[0] for c in anhydride_compounds]}"
-            )
-
-        # 计算加权平均分子量 (基于摩尔比)
-        total_molar_ratio = sum(compound_ratios)
-        weighted_molecular_weight = sum(ratio_val * mw for ratio_val, mw in zip(compound_ratios, molecular_weights))
-
-        # 取最后一个二酐用于滴定
-        titration_anhydride = anhydride_compounds[-1]
-        solid_anhydrides = anhydride_compounds[:-1] if len(anhydride_compounds) > 1 else []
-
-        # 二胺溶液配制参数 - 每种二胺单独配制
-        diamine_solutions = []
-        total_diamine_volume = 0 * self.ureg.ml
-
-        # 计算反应物的总摩尔量
-        n_reactant = m_tot * wt_percent / weighted_molecular_weight
-
-        for name, ratio_val, mw, order_index in diamine_compounds:
-            # 跳过 SIDA
-            if name == "SIDA":
-                continue
-
-            # 计算该二胺需要的摩尔数
-            n_diamine_needed = n_reactant * ratio_val
-
-            # 二胺溶液配制参数 (每种二胺固定配制参数)
-            m_diamine_solid = 5.0 * self.ureg.g  # 每种二胺固体质量
-            V_solvent_for_this = 20 * self.ureg.ml  # 每种二胺溶剂体积
-            m_solvent_for_this = ρ_solvent * V_solvent_for_this
-
-            # 计算该二胺溶液的浓度
-            c_diamine = (m_diamine_solid / mw) / V_solvent_for_this
-
-            # 计算需要移取的溶液体积
-            V_diamine_needed = n_diamine_needed / c_diamine
-
-            diamine_solutions.append({
-                "name": name,
-                "order": order_index,
-                "solid_mass": m_diamine_solid.magnitude,
-                "solvent_volume": V_solvent_for_this.magnitude,
-                "concentration": c_diamine.magnitude,
-                "volume_needed": V_diamine_needed.magnitude,
-                "molar_ratio": ratio_val
-            })
-
-            total_diamine_volume += V_diamine_needed
-
-        # 按原始顺序排序
-        diamine_solutions.sort(key=lambda x: x["order"])
-
-        # 计算滴定二酐的质量
-        titration_name, titration_ratio, titration_mw, _ = titration_anhydride
-        m_titration_anhydride = n_reactant * titration_ratio * titration_mw
-        m_titration_90 = m_titration_anhydride * (1 - titration_percent)
-        m_titration_10 = m_titration_anhydride * titration_percent
-
-        # 计算其他固体二酐的质量 (按顺序)
-        solid_anhydride_masses = []
-        for name, ratio_val, mw, order_index in solid_anhydrides:
-            mass = n_reactant * ratio_val * mw
-            solid_anhydride_masses.append({
-                "name": name,
-                "order": order_index,
-                "mass": mass.magnitude,
-                "molar_ratio": ratio_val
-            })
-
-        # 按原始顺序排序
-        solid_anhydride_masses.sort(key=lambda x: x["order"])
-
-        # 计算溶剂用量
-        total_diamine_solution_mass = sum(
-            sol["volume_needed"] * ρ_solvent for sol in diamine_solutions
-        ) * self.ureg.ml
-
-        # 预估滴定溶剂量、计算补加溶剂量
-        m_solvent_titration = m_titration_10 / solubility * ρ_solvent
-        m_solvent_add = m_tot * (1 - wt_percent) - total_diamine_solution_mass - m_solvent_titration
-
-        # 检查最小溶剂体积要求
-        total_liquid_volume = (total_diamine_solution_mass + m_solvent_add) / ρ_solvent
-        m_tot_min = V_min / total_liquid_volume * m_tot
-
-        # 如果需要，按比例放大
-        scale_factor = 1.0
-        if m_tot_min > m_tot:
-            scale_factor = (m_tot_min / m_tot).magnitude
-            m_titration_90 *= scale_factor
-            m_titration_10 *= scale_factor
-            m_solvent_add *= scale_factor
-            m_solvent_titration *= scale_factor
-
-            # 更新二胺溶液用量
-            for sol in diamine_solutions:
-                sol["volume_needed"] *= scale_factor
-
-            # 更新固体二酐用量
-            for anhydride in solid_anhydride_masses:
-                anhydride["mass"] *= scale_factor
-
-            m_tot = m_tot_min
-
-        # 生成投料顺序
-        feeding_order = []
-
-        # 1. 固体二酐 (按顺序)
-        for anhydride in solid_anhydride_masses:
-            feeding_order.append({
-                "step": len(feeding_order) + 1,
-                "type": "solid_anhydride",
-                "name": anhydride["name"],
-                "amount": anhydride["mass"],
-                "order": anhydride["order"]
-            })
-
-        # 2. 二胺溶液 (按顺序)
-        for sol in diamine_solutions:
-            feeding_order.append({
-                "step": len(feeding_order) + 1,
-                "type": "diamine_solution",
-                "name": sol["name"],
-                "amount": sol["volume_needed"],
-                "order": sol["order"]
-            })
-
-        # 3. 主要二酐粉末
-        feeding_order.append({
-            "step": len(feeding_order) + 1,
-            "type": "main_anhydride",
-            "name": titration_name,
-            "amount": m_titration_90.magnitude,
-            "order": titration_anhydride[3]
-        })
-
-        # 4. 补加溶剂
-        if m_solvent_add > 0:
-            feeding_order.append({
-                "step": len(feeding_order) + 1,
-                "type": "additional_solvent",
-                "name": "溶剂",
-                "amount": m_solvent_add.magnitude,
-                "order": 999
-            })
-
-        # 5. 滴定二酐溶液
-        feeding_order.append({
-            "step": len(feeding_order) + 1,
-            "type": "titration_anhydride",
-            "name": f"{titration_name} 滴定液",
-            "amount": m_titration_10.magnitude,
-            "titration_solvent": m_solvent_titration.magnitude,
-            "order": titration_anhydride[3]
-        })
-
-        # 返回实验设计结果
-        results = {
-            "total_mass": m_tot.magnitude,
-            "scale_factor": scale_factor,
-            "solutions": diamine_solutions,
-            "solids": solid_anhydride_masses,
-            "titration": {
-                "name": titration_name,
-                "main_portion": m_titration_90.magnitude,
-                "titration_portion": m_titration_10.magnitude,
-                "titration_solvent": m_solvent_titration.magnitude,
-            },
-            "solvents": {
-                "additional_solvent": m_solvent_add.magnitude,
-                "total_liquid_volume": total_liquid_volume.magnitude
-            },
-            "feeding_order": feeding_order,
-            "minimum_required_mass": m_tot_min.magnitude
-        }
-
-        return results
-
     # 90%10%小瓶投料任务创建方法
     def create_90_10_vial_feeding_task(self,
                                        order_name: str = None,
@@ -1236,108 +961,6 @@ class BioyondDispensingStation(BioyondWorkstation):
             'actualVolume': actual_volume
         }
 
-    def _simplify_report(self, report) -> Dict[str, Any]:
-        """简化实验报告，只保留关键信息，去除冗余的工作流参数"""
-        if not isinstance(report, dict):
-            return report
-
-        data = report.get('data', {})
-        if not isinstance(data, dict):
-            return report
-
-        # 提取关键信息
-        simplified = {
-            'name': data.get('name'),
-            'code': data.get('code'),
-            'requester': data.get('requester'),
-            'workflowName': data.get('workflowName'),
-            'workflowStep': data.get('workflowStep'),
-            'requestTime': data.get('requestTime'),
-            'startPreparationTime': data.get('startPreparationTime'),
-            'completeTime': data.get('completeTime'),
-            'useTime': data.get('useTime'),
-            'status': data.get('status'),
-            'statusName': data.get('statusName'),
-        }
-
-        # 提取物料信息（简化版）
-        pre_intakes = data.get('preIntakes', [])
-        if pre_intakes and isinstance(pre_intakes, list):
-            first_intake = pre_intakes[0]
-            sample_materials = first_intake.get('sampleMaterials', [])
-
-            # 简化物料信息
-            simplified_materials = []
-            for material in sample_materials:
-                if isinstance(material, dict):
-                    mat_info = {
-                        'materialName': material.get('materialName'),
-                        'materialTypeName': material.get('materialTypeName'),
-                        'materialCode': material.get('materialCode'),
-                        'materialLocation': material.get('materialLocation'),
-                    }
-
-                    # 解析parameters中的关键信息（如密度、加料历史等）
-                    params_str = material.get('parameters', '{}')
-                    try:
-                        params = json.loads(params_str) if isinstance(params_str, str) else params_str
-                        if isinstance(params, dict):
-                            # 只保留关键参数
-                            if 'density' in params:
-                                mat_info['density'] = params['density']
-                            if 'feedingHistory' in params:
-                                mat_info['feedingHistory'] = params['feedingHistory']
-                            if 'liquidVolume' in params:
-                                mat_info['liquidVolume'] = params['liquidVolume']
-                            if 'm_diamine_tot' in params:
-                                mat_info['m_diamine_tot'] = params['m_diamine_tot']
-                            if 'wt_diamine' in params:
-                                mat_info['wt_diamine'] = params['wt_diamine']
-                    except:
-                        pass
-
-                    simplified_materials.append(mat_info)
-
-            simplified['sampleMaterials'] = simplified_materials
-
-            # 提取extraProperties中的实际值
-            extra_props = first_intake.get('extraProperties', {})
-            if isinstance(extra_props, dict):
-                simplified_extra = {}
-                for key, value in extra_props.items():
-                    try:
-                        parsed_value = json.loads(value) if isinstance(value, str) else value
-                        simplified_extra[key] = parsed_value
-                    except:
-                        simplified_extra[key] = value
-                simplified['extraProperties'] = simplified_extra
-
-        return {
-            'data': simplified,
-            'code': report.get('code'),
-            'message': report.get('message'),
-            'timestamp': report.get('timestamp')
-        }
-
-    def scheduler_start(self) -> dict:
-        """启动调度器 - 启动Bioyond工作站的任务调度器，开始执行队列中的任务
-
-        Returns:
-            dict: 包含return_info的字典，return_info为整型(1=成功)
-
-        Raises:
-            BioyondException: 调度器启动失败时抛出异常
-        """
-        result = self.hardware_interface.scheduler_start()
-        self.hardware_interface._logger.info(f"调度器启动结果: {result}")
-
-        if result != 1:
-            error_msg = "启动调度器失败: 有未处理错误，调度无法启动。请检查Bioyond系统状态。"
-            self.hardware_interface._logger.error(error_msg)
-            raise BioyondException(error_msg)
-
-        return {"return_info": result}
-
     # 等待多个任务完成并获取实验报告
     def wait_for_multiple_orders_and_get_reports(self,
                                                   batch_create_result: str = None,
@@ -1379,12 +1002,7 @@ class BioyondDispensingStation(BioyondWorkstation):
 
             # 验证batch_create_result参数
             if not batch_create_result or batch_create_result == "":
-                raise BioyondException(
-                    "batch_create_result参数为空，请确保:\n"
-                    "1. batch_create节点与wait节点之间正确连接了handle\n"
-                    "2. batch_create节点成功执行并返回了结果\n"
-                    "3. 检查上游batch_create任务是否成功创建了订单"
-                )
+                raise BioyondException("batch_create_result参数为空，请确保从batch_create节点正确连接handle")
 
             # 解析batch_create_result JSON对象
             try:
@@ -1413,17 +1031,7 @@ class BioyondDispensingStation(BioyondWorkstation):
 
             # 验证提取的数据
             if not order_codes:
-                self.hardware_interface._logger.error(
-                    f"batch_create任务未生成任何订单。batch_create_result内容: {batch_create_result}"
-                )
-                raise BioyondException(
-                    "batch_create_result中未找到order_codes或为空。\n"
-                    "可能的原因:\n"
-                    "1. batch_create任务执行失败（检查任务是否报错）\n"
-                    "2. 物料配置问题（如'物料样品板分配失败'）\n"
-                    "3. Bioyond系统状态异常\n"
-                    f"请检查batch_create任务的执行结果"
-                )
+                raise BioyondException("batch_create_result中未找到order_codes字段或为空")
             if not order_ids:
                 raise BioyondException("batch_create_result中未找到order_ids字段或为空")
 
@@ -1506,8 +1114,6 @@ class BioyondDispensingStation(BioyondWorkstation):
                                 self.hardware_interface._logger.info(
                                     f"成功获取任务 {order_code} 的实验报告"
                                 )
-                                # 简化报告，去除冗余信息
-                                report = self._simplify_report(report)
 
                             reports.append({
                                 "order_code": order_code,

unilabos/devices/workstation/bioyond_studio/station.py

@@ -6,7 +6,6 @@ Bioyond Workstation Implementation
 """
 import time
 import traceback
-import threading
 from datetime import datetime
 from typing import Dict, Any, List, Optional, Union
 import json
@@ -30,90 +29,6 @@ from unilabos.devices.workstation.bioyond_studio.config import (
 from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
 
 
-class ConnectionMonitor:
-    """Bioyond连接监控器"""
-    def __init__(self, workstation, check_interval=30):
-        self.workstation = workstation
-        self.check_interval = check_interval
-        self._running = False
-        self._thread = None
-        self._last_status = "unknown"
-
-    def start(self):
-        if self._running:
-            return
-        self._running = True
-        self._thread = threading.Thread(target=self._monitor_loop, daemon=True, name="BioyondConnectionMonitor")
-        self._thread.start()
-        logger.info("Bioyond连接监控器已启动")
-
-    def stop(self):
-        self._running = False
-        if self._thread:
-            self._thread.join(timeout=2)
-            logger.info("Bioyond连接监控器已停止")
-
-    def _monitor_loop(self):
-        while self._running:
-            try:
-                # 使用 lightweight API 检查连接
-                # query_matial_type_list 是比较快的查询
-                start_time = time.time()
-                result = self.workstation.hardware_interface.material_type_list()
-
-                status = "online" if result else "offline"
-                msg = "Connection established" if status == "online" else "Failed to get material type list"
-
-                if status != self._last_status:
-                    logger.info(f"Bioyond连接状态变更: {self._last_status} -> {status}")
-                    self._publish_event(status, msg)
-                    self._last_status = status
-
-                # 发布心跳 (可选，或者只在状态变更时发布)
-                # self._publish_event(status, msg)
-
-            except Exception as e:
-                logger.error(f"Bioyond连接检查异常: {e}")
-                if self._last_status != "error":
-                    self._publish_event("error", str(e))
-                    self._last_status = "error"
-
-            time.sleep(self.check_interval)
-
-    def _publish_event(self, status, message):
-        try:
-            if hasattr(self.workstation, "_ros_node") and self.workstation._ros_node:
-                event_data = {
-                    "status": status,
-                    "message": message,
-                    "timestamp": datetime.now().isoformat()
-                }
-
-                # 动态发布消息，需要在 ROS2DeviceNode 中有对应支持
-                # 这里假设通用事件发布机制，使用 String 类型的 topic
-                # 话题: /<namespace>/events/device_status
-                ns = self.workstation._ros_node.namespace
-                topic = f"{ns}/events/device_status"
-
-                # 使用 ROS2DeviceNode 的发布功能
-                # 如果没有预定义的 publisher，需要动态创建
-                # 注意：workstation base node 可能没有自动创建 arbitrary publishers 的机制
-                # 这里我们先尝试用 String json 发布
-
-                # 在 ROS2DeviceNode 中通常需要先 create_publisher
-                # 为了简单起见，我们检查是否已有 publisher，没有则创建
-                if not hasattr(self.workstation, "_device_status_pub"):
-                    self.workstation._device_status_pub = self.workstation._ros_node.create_publisher(
-                        String, topic, 10
-                    )
-
-                self.workstation._device_status_pub.publish(
-                    convert_to_ros_msg(String, json.dumps(event_data, ensure_ascii=False))
-                )
-        except Exception as e:
-            logger.error(f"发布设备状态事件失败: {e}")
-
-
 class BioyondResourceSynchronizer(ResourceSynchronizer):
     """Bioyond资源同步器
 
@@ -324,18 +239,13 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
             logger.info(f"[同步→Bioyond] 🔄 转换物料为 Bioyond 格式...")
 
             # 导入物料默认参数配置
-            from .config import MATERIAL_DEFAULT_PARAMETERS, MATERIAL_TYPE_PARAMETERS
-
-            # 合并参数配置：物料名称参数 + typeId参数（转换为 type:<uuid> 格式）
-            merged_params = MATERIAL_DEFAULT_PARAMETERS.copy()
-            for type_id, params in MATERIAL_TYPE_PARAMETERS.items():
-                merged_params[f"type:{type_id}"] = params
+            from .config import MATERIAL_DEFAULT_PARAMETERS
 
             bioyond_material = resource_plr_to_bioyond(
                 [resource],
                 type_mapping=self.workstation.bioyond_config["material_type_mappings"],
                 warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"],
-                material_params=merged_params
+                material_params=MATERIAL_DEFAULT_PARAMETERS
             )[0]
 
             logger.info(f"[同步→Bioyond] 🔧 准备覆盖locations字段，目标仓库: {parent_name}, 库位: {update_site}, UUID: {target_location_uuid[:8]}...")
@@ -558,18 +468,13 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
                 return material_bioyond_id
 
             # 转换为 Bioyond 格式
-            from .config import MATERIAL_DEFAULT_PARAMETERS, MATERIAL_TYPE_PARAMETERS
-
-            # 合并参数配置：物料名称参数 + typeId参数（转换为 type:<uuid> 格式）
-            merged_params = MATERIAL_DEFAULT_PARAMETERS.copy()
-            for type_id, params in MATERIAL_TYPE_PARAMETERS.items():
-                merged_params[f"type:{type_id}"] = params
+            from .config import MATERIAL_DEFAULT_PARAMETERS
 
             bioyond_material = resource_plr_to_bioyond(
                 [resource],
                 type_mapping=self.workstation.bioyond_config["material_type_mappings"],
                 warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"],
-                material_params=merged_params
+                material_params=MATERIAL_DEFAULT_PARAMETERS
             )[0]
 
             # ⚠️ 关键：创建物料时不设置 locations，让 Bioyond 系统暂不分配库位
@@ -679,44 +584,6 @@ class BioyondWorkstation(WorkstationBase):
     集成Bioyond物料管理的工作站实现
     """
 
-    def _publish_task_status(
-        self,
-        task_id: str,
-        task_type: str,
-        status: str,
-        result: dict = None,
-        progress: float = 0.0,
-        task_code: str = None
-    ):
-        """发布任务状态事件"""
-        try:
-            if not getattr(self, "_ros_node", None):
-                return
-
-            event_data = {
-                "task_id": task_id,
-                "task_code": task_code,
-                "task_type": task_type,
-                "status": status,
-                "progress": progress,
-                "timestamp": datetime.now().isoformat()
-            }
-            if result:
-                event_data["result"] = result
-
-            topic = f"{self._ros_node.namespace}/events/task_status"
-
-            if not hasattr(self, "_task_status_pub"):
-                self._task_status_pub = self._ros_node.create_publisher(
-                    String, topic, 10
-                )
-
-            self._task_status_pub.publish(
-                convert_to_ros_msg(String, json.dumps(event_data, ensure_ascii=False))
-            )
-        except Exception as e:
-            logger.error(f"发布任务状态事件失败: {e}")
-
     def __init__(
         self,
         bioyond_config: Optional[Dict[str, Any]] = None,
@@ -765,16 +632,13 @@ class BioyondWorkstation(WorkstationBase):
             "host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG["http_service_host"]),
             "port": bioyond_config.get("http_service_port", HTTP_SERVICE_CONFIG["http_service_port"])
         }
-        self.http_service = None  # 将在 post_init 启动
-        self.connection_monitor = None # 将在 post_init 启动
+        self.http_service = None  # 将在 post_init 中启动
 
         logger.info(f"Bioyond工作站初始化完成")
 
     def __del__(self):
         """析构函数：清理资源，停止 HTTP 服务"""
         try:
-            if hasattr(self, 'connection_monitor') and self.connection_monitor:
-                self.connection_monitor.stop()
             if hasattr(self, 'http_service') and self.http_service is not None:
                 logger.info("正在停止 HTTP 报送服务...")
                 self.http_service.stop()
@@ -784,13 +648,6 @@ class BioyondWorkstation(WorkstationBase):
     def post_init(self, ros_node: ROS2WorkstationNode):
         self._ros_node = ros_node
 
-        # 启动连接监控
-        try:
-            self.connection_monitor = ConnectionMonitor(self)
-            self.connection_monitor.start()
-        except Exception as e:
-            logger.error(f"启动连接监控失败: {e}")
-
         # 启动 HTTP 报送接收服务（现在 device_id 已可用）
         if hasattr(self, '_http_service_config'):
             try:
@@ -1157,15 +1014,7 @@ class BioyondWorkstation(WorkstationBase):
 
         workflow_id = self._get_workflow(actual_workflow_name)
         if workflow_id:
-            # 兼容 BioyondReactionStation 中 workflow_sequence 被重写为 property 的情况
-            if isinstance(self.workflow_sequence, list):
-                self.workflow_sequence.append(workflow_id)
-            elif hasattr(self, "_cached_workflow_sequence") and isinstance(self._cached_workflow_sequence, list):
-                self._cached_workflow_sequence.append(workflow_id)
-            else:
-                print(f"❌ 无法添加工作流: workflow_sequence 类型错误 {type(self.workflow_sequence)}")
-                return False
-
+            self.workflow_sequence.append(workflow_id)
             print(f"添加工作流到执行顺序: {actual_workflow_name} -> {workflow_id}")
             return True
         return False
@@ -1366,22 +1215,6 @@ class BioyondWorkstation(WorkstationBase):
             # TODO: 根据实际业务需求处理步骤完成逻辑
             # 例如：更新数据库、触发后续流程等
 
-            # 发布任务状态事件 (running/progress update)
-            self._publish_task_status(
-                task_id=data.get('orderCode'), # 使用 OrderCode 作为关联 ID
-                task_code=data.get('orderCode'),
-                task_type="bioyond_step",
-                status="running",
-                progress=0.5, # 步骤完成视为任务进行中
-                result={"step_name": data.get('stepName'), "step_id": data.get('stepId')}
-            )
-
-            # 更新物料信息
-            # 步骤完成后，物料状态可能发生变化（如位置、用量等），触发同步
-            logger.info(f"[步骤完成报送] 触发物料同步...")
-            self.resource_synchronizer.sync_from_external()
-
-
             return {
                 "processed": True,
                 "step_id": data.get('stepId'),
@@ -1416,17 +1249,6 @@ class BioyondWorkstation(WorkstationBase):
 
             # TODO: 根据实际业务需求处理通量完成逻辑
 
-            # 发布任务状态事件
-            self._publish_task_status(
-                task_id=data.get('orderCode'),
-                task_code=data.get('orderCode'),
-                task_type="bioyond_sample",
-                status="running",
-                progress=0.7,
-                result={"sample_id": data.get('sampleId'), "status": status_desc}
-            )
-
-
             return {
                 "processed": True,
                 "sample_id": data.get('sampleId'),
@@ -1466,32 +1288,6 @@ class BioyondWorkstation(WorkstationBase):
             # TODO: 根据实际业务需求处理任务完成逻辑
             # 例如：更新物料库存、生成报表等
 
-            # 映射状态到事件状态
-            event_status = "completed"
-            if str(data.get('status')) in ["-11", "-12"]:
-                event_status = "error"
-            elif str(data.get('status')) == "30":
-                event_status = "completed"
-            else:
-                event_status = "running" # 其他状态视为运行中（或根据实际定义）
-
-            # 发布任务状态事件
-            self._publish_task_status(
-                task_id=data.get('orderCode'),
-                task_code=data.get('orderCode'),
-                task_type="bioyond_order",
-                status=event_status,
-                progress=1.0 if event_status in ["completed", "error"] else 0.9,
-                result={"order_name": data.get('orderName'), "status": status_desc, "materials_count": len(used_materials)}
-            )
-
-            # 更新物料信息
-            # 任务完成后，且状态为完成时，触发同步以更新最终物料状态
-            if event_status == "completed":
-                logger.info(f"[任务完成报送] 触发物料同步...")
-                self.resource_synchronizer.sync_from_external()
-
-
             return {
                 "processed": True,
                 "order_code": data.get('orderCode'),

unilabos/devices/workstation/post_process/bottle_carriers.py

@@ -1,93 +0,0 @@
-from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
-
-from unilabos.resources.itemized_carrier import BottleCarrier
-from unilabos.devices.workstation.post_process.bottles import POST_PROCESS_PolymerStation_Reagent_Bottle
-
-# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask,小瓶-Vial
-
-
-# ============================================================================
-# 聚合站（PolymerStation）载体定义（统一入口）
-# ============================================================================
-
-def POST_PROCESS_Raw_1BottleCarrier(name: str) -> BottleCarrier:
-    """聚合站-单试剂瓶载架
-
-    参数:
-    - name: 载架名称前缀
-    """
-
-    # 载架尺寸 (mm)
-    carrier_size_x = 127.8
-    carrier_size_y = 85.5
-    carrier_size_z = 20.0
-
-    # 烧杯/试剂瓶占位尺寸（使用圆形占位）
-    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="POST_PROCESS_Raw_1BottleCarrier",
-    )
-    carrier.num_items_x = 1
-    carrier.num_items_y = 1
-    carrier.num_items_z = 1
-    # 统一后缀采用 "flask_1" 命名（可按需调整）
-    carrier[0] = POST_PROCESS_PolymerStation_Reagent_Bottle(f"{name}_flask_1")
-    return carrier
-
-def POST_PROCESS_Reaction_1BottleCarrier(name: str) -> BottleCarrier:
-    """聚合站-单试剂瓶载架
-
-    参数:
-    - name: 载架名称前缀
-    """
-
-    # 载架尺寸 (mm)
-    carrier_size_x = 127.8
-    carrier_size_y = 85.5
-    carrier_size_z = 20.0
-
-    # 烧杯/试剂瓶占位尺寸（使用圆形占位）
-    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="POST_PROCESS_Reaction_1BottleCarrier",
-    )
-    carrier.num_items_x = 1
-    carrier.num_items_y = 1
-    carrier.num_items_z = 1
-    # 统一后缀采用 "flask_1" 命名（可按需调整）
-    carrier[0] = POST_PROCESS_PolymerStation_Reagent_Bottle(f"{name}_flask_1")
-    return carrier

unilabos/devices/workstation/post_process/bottles.py

@@ -1,20 +0,0 @@
-from unilabos.resources.itemized_carrier import Bottle
-
-
-def POST_PROCESS_PolymerStation_Reagent_Bottle(
-    name: str,
-    diameter: float = 70.0,
-    height: float = 120.0,
-    max_volume: float = 500000.0,  # 500mL
-    barcode: str = None,
-) -> Bottle:
-    """创建试剂瓶"""
-    return Bottle(
-        name=name,
-        diameter=diameter,
-        height=height,
-        max_volume=max_volume,
-        barcode=barcode,
-        model="POST_PROCESS_PolymerStation_Reagent_Bottle",
-    )
-

unilabos/devices/workstation/post_process/decks.py

@@ -1,46 +0,0 @@
-from os import name
-from pylabrobot.resources import Deck, Coordinate, Rotation
-
-from unilabos.devices.workstation.post_process.warehouses import (
-    post_process_warehouse_4x3x1,
-    post_process_warehouse_4x3x1_2, 
-)
-
-
-
-class post_process_deck(Deck):
-    def __init__(
-        self,
-        name: str = "post_process_deck",
-        size_x: float = 2000.0,
-        size_y: float = 1000.0,
-        size_z: float = 2670.0,
-        category: str = "deck",
-        setup: bool = True,
-    ) -> None:
-        super().__init__(name=name, size_x=1700.0, size_y=1350.0, size_z=2670.0)
-        if setup:
-            self.setup()
-
-    def setup(self) -> None:
-        # 添加仓库
-        self.warehouses = {
-            "原料罐堆栈": post_process_warehouse_4x3x1("原料罐堆栈"),
-            "反应罐堆栈": post_process_warehouse_4x3x1_2("反应罐堆栈"),
-            
-        }
-        # warehouse 的位置
-        self.warehouse_locations = {
-            "原料罐堆栈": Coordinate(350.0, 55.0, 0.0),
-            "反应罐堆栈": Coordinate(1000.0, 55.0, 0.0),
-
-        }
-
-        for warehouse_name, warehouse in self.warehouses.items():
-            self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
-
-
-
-
-
-

unilabos/devices/workstation/post_process/opcua_huairou.json

@@ -1,157 +0,0 @@
-{
-    "register_node_list_from_csv_path": {
-        "path": "opcua_nodes_huairou.csv"
-    },
-    "create_flow": [
-        {
-            "name": "trigger_grab_action",
-            "description": "触发反应罐及原料罐抓取动作",
-            "parameters": ["reaction_tank_number", "raw_tank_number"],
-            "action": [
-                {
-                    "init_function": {
-                        "func_name": "init_grab_params",
-                        "write_nodes": ["reaction_tank_number", "raw_tank_number"]
-                    },
-                    "start_function": {
-                        "func_name": "start_grab",
-                        "write_nodes": {"grab_trigger": true},
-                        "condition_nodes": ["grab_complete"],
-                        "stop_condition_expression": "grab_complete == True",
-                        "timeout_seconds": 999999.0
-                    },
-                    "stop_function": {
-                        "func_name": "stop_grab",
-                        "write_nodes": {"grab_trigger": false}
-                    }
-                }
-            ]
-        },
-        {
-            "name": "trigger_post_processing",
-            "description": "触发后处理动作",
-            "parameters": ["atomization_fast_speed", "wash_slow_speed","injection_pump_suction_speed",
-            "injection_pump_push_speed","raw_liquid_suction_count","first_wash_water_amount",
-            "second_wash_water_amount","first_powder_mixing_time","second_powder_mixing_time",
-            "first_powder_wash_count","second_powder_wash_count","initial_water_amount",
-            "pre_filtration_mixing_time","atomization_pressure_kpa"],
-            "action": [
-                {
-                    "init_function": {
-                        "func_name": "init_post_processing_params",
-                        "write_nodes": ["atomization_fast_speed", "wash_slow_speed","injection_pump_suction_speed",
-                        "injection_pump_push_speed","raw_liquid_suction_count","first_wash_water_amount",
-                        "second_wash_water_amount","first_powder_mixing_time","second_powder_mixing_time",
-                        "first_powder_wash_count","second_powder_wash_count","initial_water_amount",
-                        "pre_filtration_mixing_time","atomization_pressure_kpa"]
-                    },
-                    "start_function": {
-                        "func_name": "start_post_processing",
-                        "write_nodes": {"post_process_trigger": true},
-                        "condition_nodes": ["post_process_complete"],
-                        "stop_condition_expression": "post_process_complete == True",
-                        "timeout_seconds": 999999.0
-                    },
-                    "stop_function": {
-                        "func_name": "stop_post_processing",
-                        "write_nodes": {"post_process_trigger": false}
-                    }
-                }
-            ]
-        },
-        {
-            "name": "trigger_cleaning_action",
-            "description": "触发清洗及管路吹气动作",
-            "parameters": ["nmp_outer_wall_cleaning_injection", "nmp_outer_wall_cleaning_count","nmp_outer_wall_cleaning_wait_time",
-                            "nmp_outer_wall_cleaning_waste_time","nmp_inner_wall_cleaning_injection","nmp_inner_wall_cleaning_count",
-                            "nmp_pump_cleaning_suction_count",
-                            "nmp_inner_wall_cleaning_waste_time",
-                            "nmp_stirrer_cleaning_injection",
-                            "nmp_stirrer_cleaning_count",
-                            "nmp_stirrer_cleaning_wait_time",
-                            "nmp_stirrer_cleaning_waste_time",
-                            "water_outer_wall_cleaning_injection",
-                            "water_outer_wall_cleaning_count",
-                            "water_outer_wall_cleaning_wait_time",
-                            "water_outer_wall_cleaning_waste_time",
-                            "water_inner_wall_cleaning_injection",
-                            "water_inner_wall_cleaning_count",
-                            "water_pump_cleaning_suction_count",
-                            "water_inner_wall_cleaning_waste_time",
-                            "water_stirrer_cleaning_injection",
-                            "water_stirrer_cleaning_count",
-                            "water_stirrer_cleaning_wait_time",
-                            "water_stirrer_cleaning_waste_time",
-                            "acetone_outer_wall_cleaning_injection",
-                            "acetone_outer_wall_cleaning_count",
-                            "acetone_outer_wall_cleaning_wait_time",
-                            "acetone_outer_wall_cleaning_waste_time",
-                            "acetone_inner_wall_cleaning_injection",
-                            "acetone_inner_wall_cleaning_count",
-                            "acetone_pump_cleaning_suction_count",
-                            "acetone_inner_wall_cleaning_waste_time",
-                            "acetone_stirrer_cleaning_injection",
-                            "acetone_stirrer_cleaning_count",
-                            "acetone_stirrer_cleaning_wait_time",
-                            "acetone_stirrer_cleaning_waste_time",
-                            "pipe_blowing_time",
-                            "injection_pump_forward_empty_suction_count",
-                            "injection_pump_reverse_empty_suction_count",
-                            "filtration_liquid_selection"],
-            "action": [
-                {
-                    "init_function": {
-                        "func_name": "init_cleaning_params",
-                        "write_nodes": ["nmp_outer_wall_cleaning_injection", "nmp_outer_wall_cleaning_count","nmp_outer_wall_cleaning_wait_time",
-                        "nmp_outer_wall_cleaning_waste_time","nmp_inner_wall_cleaning_injection","nmp_inner_wall_cleaning_count",
-                        "nmp_pump_cleaning_suction_count",
-                        "nmp_inner_wall_cleaning_waste_time",
-                        "nmp_stirrer_cleaning_injection",
-                        "nmp_stirrer_cleaning_count",
-                        "nmp_stirrer_cleaning_wait_time",
-                        "nmp_stirrer_cleaning_waste_time",
-                        "water_outer_wall_cleaning_injection",
-                        "water_outer_wall_cleaning_count",
-                        "water_outer_wall_cleaning_wait_time",
-                        "water_outer_wall_cleaning_waste_time",
-                        "water_inner_wall_cleaning_injection",
-                        "water_inner_wall_cleaning_count",
-                        "water_pump_cleaning_suction_count",
-                        "water_inner_wall_cleaning_waste_time",
-                        "water_stirrer_cleaning_injection",
-                        "water_stirrer_cleaning_count",
-                        "water_stirrer_cleaning_wait_time",
-                        "water_stirrer_cleaning_waste_time",
-                        "acetone_outer_wall_cleaning_injection",
-                        "acetone_outer_wall_cleaning_count",
-                        "acetone_outer_wall_cleaning_wait_time",
-                        "acetone_outer_wall_cleaning_waste_time",
-                        "acetone_inner_wall_cleaning_injection",
-                        "acetone_inner_wall_cleaning_count",
-                        "acetone_pump_cleaning_suction_count",
-                        "acetone_inner_wall_cleaning_waste_time",
-                        "acetone_stirrer_cleaning_injection",
-                        "acetone_stirrer_cleaning_count",
-                        "acetone_stirrer_cleaning_wait_time",
-                        "acetone_stirrer_cleaning_waste_time",
-                        "pipe_blowing_time",
-                        "injection_pump_forward_empty_suction_count",
-                        "injection_pump_reverse_empty_suction_count",
-                        "filtration_liquid_selection"]
-                    },
-                    "start_function": {
-                        "func_name": "start_cleaning",
-                        "write_nodes": {"cleaning_and_pipe_blowing_trigger": true},
-                        "condition_nodes": ["cleaning_complete"],
-                        "stop_condition_expression": "cleaning_complete == True",
-                        "timeout_seconds": 999999.0
-                    },
-                    "stop_function": {
-                        "func_name": "stop_cleaning",
-                        "write_nodes": {"cleaning_and_pipe_blowing_trigger": false}
-                    }
-                }
-            ]
-        }
-    ]
-}

unilabos/devices/workstation/post_process/opcua_nodes_huairou.csv

@@ -1,70 +0,0 @@
-Name,EnglishName,NodeType,DataType,NodeLanguage,NodeId
-原料罐号码,raw_tank_number,VARIABLE,INT16,Chinese,ns=4;s=OPC|原料罐号码
-反应罐号码,reaction_tank_number,VARIABLE,INT16,Chinese,ns=4;s=OPC|反应罐号码
-反应罐及原料罐抓取触发,grab_trigger,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|反应罐及原料罐抓取触发
-后处理动作触发,post_process_trigger,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|后处理动作触发
-搅拌桨雾化快速,atomization_fast_speed,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|搅拌桨雾化快速
-搅拌桨洗涤慢速,wash_slow_speed,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|搅拌桨洗涤慢速
-注射泵抽液速度,injection_pump_suction_speed,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵抽液速度
-注射泵推液速度,injection_pump_push_speed,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵推液速度
-抽原液次数,raw_liquid_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|抽原液次数
-第1次洗涤加水量,first_wash_water_amount,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|第1次洗涤加水量
-第2次洗涤加水量,second_wash_water_amount,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|第2次洗涤加水量
-第1次粉末搅拌时间,first_powder_mixing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|第1次粉末搅拌时间
-第2次粉末搅拌时间,second_powder_mixing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|第2次粉末搅拌时间
-第1次粉末洗涤次数,first_powder_wash_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|第1次粉末洗涤次数
-第2次粉末洗涤次数,second_powder_wash_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|第2次粉末洗涤次数
-最开始加水量,initial_water_amount,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|最开始加水量
-抽滤前搅拌时间,pre_filtration_mixing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|抽滤前搅拌时间
-雾化压力Kpa,atomization_pressure_kpa,VARIABLE,INT16,Chinese,ns=4;s=OPC|雾化压力Kpa
-清洗及管路吹气触发,cleaning_and_pipe_blowing_trigger,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|清洗及管路吹气触发
-废液桶满报警,waste_tank_full_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|废液桶满报警
-清水桶空报警,water_tank_empty_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|清水桶空报警
-NMP桶空报警,nmp_tank_empty_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|NMP桶空报警
-丙酮桶空报警,acetone_tank_empty_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|丙酮桶空报警
-门开报警,door_open_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|门开报警
-反应罐及原料罐抓取完成PLCtoPC,grab_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|反应罐及原料罐抓取完成PLCtoPC
-后处理动作完成PLCtoPC,post_process_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|后处理动作完成PLCtoPC
-清洗及管路吹气完成PLCtoPC,cleaning_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|清洗及管路吹气完成PLCtoPC
-远程模式PLCtoPC,remote_mode,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|远程模式PLCtoPC
-设备准备就绪PLCtoPC,device_ready,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|设备准备就绪PLCtoPC
-NMP外壁清洗加注,nmp_outer_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|NMP外壁清洗加注
-NMP外壁清洗次数,nmp_outer_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP外壁清洗次数
-NMP外壁清洗等待时间,nmp_outer_wall_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP外壁清洗等待时间
-NMP外壁清洗抽废时间,nmp_outer_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP外壁清洗抽废时间
-NMP内壁清洗加注,nmp_inner_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|NMP内壁清洗加注
-NMP内壁清洗次数,nmp_inner_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP内壁清洗次数
-NMP泵清洗抽次数,nmp_pump_cleaning_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP泵清洗抽次数
-NMP内壁清洗抽废时间,nmp_inner_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP内壁清洗抽废时间
-NMP搅拌桨清洗加注,nmp_stirrer_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|NMP搅拌桨清洗加注
-NMP搅拌桨清洗次数,nmp_stirrer_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP搅拌桨清洗次数
-NMP搅拌桨清洗等待时间,nmp_stirrer_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP搅拌桨清洗等待时间
-NMP搅拌桨清洗抽废时间,nmp_stirrer_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP搅拌桨清洗抽废时间
-清水外壁清洗加注,water_outer_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|清水外壁清洗加注
-清水外壁清洗次数,water_outer_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水外壁清洗次数
-清水外壁清洗等待时间,water_outer_wall_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水外壁清洗等待时间
-清水外壁清洗抽废时间,water_outer_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水外壁清洗抽废时间
-清水内壁清洗加注,water_inner_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|清水内壁清洗加注
-清水内壁清洗次数,water_inner_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水内壁清洗次数
-清水泵清洗抽次数,water_pump_cleaning_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水泵清洗抽次数
-清水内壁清洗抽废时间,water_inner_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水内壁清洗抽废时间
-清水搅拌桨清洗加注,water_stirrer_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|清水搅拌桨清洗加注
-清水搅拌桨清洗次数,water_stirrer_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水搅拌桨清洗次数
-清水搅拌桨清洗等待时间,water_stirrer_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水搅拌桨清洗等待时间
-清水搅拌桨清洗抽废时间,water_stirrer_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水搅拌桨清洗抽废时间
-丙酮外壁清洗加注,acetone_outer_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|丙酮外壁清洗加注
-丙酮外壁清洗次数,acetone_outer_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮外壁清洗次数
-丙酮外壁清洗等待时间,acetone_outer_wall_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮外壁清洗等待时间
-丙酮外壁清洗抽废时间,acetone_outer_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮外壁清洗抽废时间
-丙酮内壁清洗加注,acetone_inner_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|丙酮内壁清洗加注
-丙酮内壁清洗次数,acetone_inner_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮内壁清洗次数
-丙酮泵清洗抽次数,acetone_pump_cleaning_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮泵清洗抽次数
-丙酮内壁清洗抽废时间,acetone_inner_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮内壁清洗抽废时间
-丙酮搅拌桨清洗加注,acetone_stirrer_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗加注
-丙酮搅拌桨清洗次数,acetone_stirrer_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗次数
-丙酮搅拌桨清洗等待时间,acetone_stirrer_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗等待时间
-丙酮搅拌桨清洗抽废时间,acetone_stirrer_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗抽废时间
-管道吹气时间,pipe_blowing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|管道吹气时间
-注射泵正向空抽次数,injection_pump_forward_empty_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵正向空抽次数
-注射泵反向空抽次数,injection_pump_reverse_empty_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵反向空抽次数
-抽滤液选择0水1丙酮,filtration_liquid_selection,VARIABLE,INT16,Chinese,ns=4;s=OPC|抽滤液选择0水1丙酮

unilabos/devices/workstation/post_process/post_process_station.json

@@ -1,45 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "post_process_station",
-            "name": "post_process_station",
-            "children": [
-                "post_process_deck"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "post_process_station",
-            "config": {
-                "url": "opc.tcp://LAPTOP-AN6QGCSD:53530/OPCUA/SimulationServer",
-                "config_path": "C:\\Users\\Roy\\Desktop\\DPLC\\Uni-Lab-OS\\unilabos\\devices\\workstation\\post_process\\opcua_huairou.json",
-                "deck": {
-                    "data": {
-                        "_resource_child_name": "post_process_deck",
-                        "_resource_type": "unilabos.devices.workstation.post_process.decks:post_process_deck"
-                    }
-                }
-            },
-            "data": {
-            }
-        },
-        {
-            "id": "post_process_deck",
-            "name": "post_process_deck",
-            "sample_id": null,
-            "children": [],
-            "parent": "post_process_station",
-            "type": "deck",
-            "class": "post_process_deck",
-            "position": {
-                "x": 0,
-                "y": 0,
-                "z": 0
-            },
-            "config": {
-                "type": "post_process_deck",
-                "setup": true
-            },
-            "data": {}
-        }
-    ]
-}

unilabos/devices/workstation/post_process/post_process_warehouse.py

@@ -1,160 +0,0 @@
-from typing import Dict, Optional, List, Union
-from pylabrobot.resources import Coordinate
-from pylabrobot.resources.carrier import ResourceHolder, create_homogeneous_resources
-
-from unilabos.resources.itemized_carrier import ItemizedCarrier, ResourcePLR
-
-
-LETTERS = "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
-
-
-def warehouse_factory(
-    name: str,
-    num_items_x: int = 1,
-    num_items_y: int = 4,
-    num_items_z: int = 4,
-    dx: float = 137.0,
-    dy: float = 96.0,
-    dz: float = 120.0,
-    item_dx: float = 10.0,
-    item_dy: float = 10.0,
-    item_dz: float = 10.0,
-    resource_size_x: float = 127.0,
-    resource_size_y: float = 86.0,
-    resource_size_z: float = 25.0,
-    removed_positions: Optional[List[int]] = None,
-    empty: bool = False,
-    category: str = "warehouse",
-    model: Optional[str] = None,
-    col_offset: int = 0,  # 列起始偏移量，用于生成5-8等命名
-    layout: str = "col-major",  # 新增：排序方式，"col-major"=列优先，"row-major"=行优先
-):
-    # 创建位置坐标
-    locations = []
-
-    for layer in range(num_items_z):  # 层
-        for row in range(num_items_y):  # 行
-            for col in range(num_items_x):  # 列
-                # 计算位置
-                x = dx + col * item_dx
-
-                # 根据 layout 决定 y 坐标计算
-                if layout == "row-major":
-                    # 行优先：row=0(第1行) 应该显示在上方，y 值最小
-                    y = dy + row * item_dy
-                else:
-                    # 列优先：保持原逻辑
-                    y = dy + (num_items_y - row - 1) * item_dy
-
-                z = dz + (num_items_z - layer - 1) * item_dz
-                locations.append(Coordinate(x, y, z))
-    
-    if removed_positions:
-        locations = [loc for i, loc in enumerate(locations) if i not in removed_positions]
-    
-    _sites = create_homogeneous_resources(
-        klass=ResourceHolder,
-        locations=locations,
-        resource_size_x=resource_size_x,
-        resource_size_y=resource_size_y,
-        resource_size_z=resource_size_z,
-        name_prefix=name,
-    )
-    
-    len_x, len_y = (num_items_x, num_items_y) if num_items_z == 1 else (num_items_y, num_items_z) if num_items_x == 1 else (num_items_x, num_items_z)
-
-    # 🔑 修改：使用数字命名，最上面是4321，最下面是12,11,10,9
-    # 命名顺序必须与坐标生成顺序一致：层 → 行 → 列
-    keys = []
-    for layer in range(num_items_z):  # 遍历每一层
-        for row in range(num_items_y):  # 遍历每一行
-            for col in range(num_items_x):  # 遍历每一列
-                # 倒序计算全局行号：row=0 应该对应 global_row=0（第1行：4321）
-                # row=1 应该对应 global_row=1（第2行：8765）
-                # row=2 应该对应 global_row=2（第3行：12,11,10,9）
-                # 但前端显示时 row=2 在最上面，所以需要反转
-                reversed_row = (num_items_y - 1 - row)  # row=0→reversed_row=2, row=1→reversed_row=1, row=2→reversed_row=0
-                global_row = layer * num_items_y + reversed_row
-                
-                # 每行的最大数字 = (global_row + 1) * num_items_x + col_offset
-                base_num = (global_row + 1) * num_items_x + col_offset
-                
-                # 从右到左递减：4,3,2,1
-                key = str(base_num - col)
-                keys.append(key)
-
-    sites = {i: site for i, site in zip(keys, _sites.values())}
-
-    return WareHouse(
-        name=name,
-        size_x=dx + item_dx * num_items_x,
-        size_y=dy + item_dy * num_items_y,
-        size_z=dz + item_dz * num_items_z,
-        num_items_x = num_items_x,
-        num_items_y = num_items_y,
-        num_items_z = num_items_z,
-        ordering_layout=layout,  # 传递排序方式到 ordering_layout
-        sites=sites,
-        category=category,
-        model=model,
-    )
-
-
-class WareHouse(ItemizedCarrier):
-    """堆栈载体类 - 可容纳16个板位的载体（4层x4行x1列）"""
-    def __init__(
-        self,
-        name: str,
-        size_x: float,
-        size_y: float,
-        size_z: float,
-        num_items_x: int,
-        num_items_y: int,
-        num_items_z: int,
-        layout: str = "x-y",
-        sites: Optional[Dict[Union[int, str], Optional[ResourcePLR]]] = None,
-        category: str = "warehouse",
-        model: Optional[str] = None,
-        ordering_layout: str = "col-major",
-        **kwargs
-    ):
-        super().__init__(
-            name=name,
-            size_x=size_x,
-            size_y=size_y,
-            size_z=size_z,
-            # ordered_items=ordered_items,
-            # ordering=ordering,
-            num_items_x=num_items_x,
-            num_items_y=num_items_y,
-            num_items_z=num_items_z,
-            layout=layout,
-            sites=sites,
-            category=category,
-            model=model,
-        )
-
-        # 保存排序方式，供graphio.py的坐标映射使用
-        # 使用独立属性避免与父类的layout冲突
-        self.ordering_layout = ordering_layout
-
-    def serialize(self) -> dict:
-        """序列化时保存 ordering_layout 属性"""
-        data = super().serialize()
-        data['ordering_layout'] = self.ordering_layout
-        return data
-
-    def get_site_by_layer_position(self, row: int, col: int, layer: int) -> ResourceHolder:
-        if not (0 <= layer < 4 and 0 <= row < 4 and 0 <= col < 1):
-            raise ValueError("无效的位置: layer={}, row={}, col={}".format(layer, row, col))
-
-        site_index = layer * 4 + row * 1 + col
-        return self.sites[site_index]
-
-    def add_rack_to_position(self, row: int, col: int, layer: int, rack) -> None:
-        site = self.get_site_by_layer_position(row, col, layer)
-        site.assign_child_resource(rack)
-
-    def get_rack_at_position(self, row: int, col: int, layer: int):
-        site = self.get_site_by_layer_position(row, col, layer)
-        return site.resource

unilabos/devices/workstation/post_process/warehouses.py

@@ -1,38 +0,0 @@
-from unilabos.devices.workstation.post_process.post_process_warehouse import WareHouse, warehouse_factory
-
-
-
-# =================== Other ===================
-
-
-def post_process_warehouse_4x3x1(name: str) -> WareHouse:
-    """创建post_process 4x3x1仓库"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=4,
-        num_items_y=3,
-        num_items_z=1,
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
-        category="warehouse",
-    )
-
-def post_process_warehouse_4x3x1_2(name: str) -> WareHouse:
-    """已弃用：创建post_process 4x3x1仓库"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=4,
-        num_items_y=3,
-        num_items_z=1,
-        dx=12.0,
-        dy=12.0,
-        dz=12.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
-        category="warehouse",
-    )

unilabos/devices/workstation/workstation_http_service.py

@@ -459,12 +459,12 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
             # 验证必需字段
             if 'brand' in request_data:
                 if request_data['brand'] == "bioyond":  # 奔曜
-                    material_data = request_data["text"]
-                    logger.info(f"收到奔曜物料变更报送: {material_data}")
+                    error_msg = request_data["text"]
+                    logger.info(f"收到奔曜错误处理报送: {error_msg}")
                     return HttpResponse(
                         success=True,
-                        message=f"物料变更报送已收到: {material_data}",
-                        acknowledgment_id=f"MATERIAL_{int(time.time() * 1000)}_{material_data.get('id', 'unknown')}",
+                        message=f"错误处理报送已收到: {error_msg}",
+                        acknowledgment_id=f"ERROR_{int(time.time() * 1000)}_{error_msg.get('action_id', 'unknown')}",
                         data=None
                     )
             else:

unilabos/registry/devices/bioyond_dispensing_station.yaml

@@ -5,6 +5,229 @@ bioyond_dispensing_station:
   - bioyond_dispensing_station
   class:
     action_value_mappings:
+      auto-brief_step_parameters:
+        feedback: {}
+        goal: {}
+        goal_default:
+          data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                data:
+                  type: object
+              required:
+              - data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: brief_step_parameters参数
+          type: object
+        type: UniLabJsonCommand
+      auto-compute_experiment_design:
+        feedback: {}
+        goal: {}
+        goal_default:
+          m_tot: '70'
+          ratio: null
+          titration_percent: '0.03'
+          wt_percent: '0.25'
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                m_tot:
+                  default: '70'
+                  type: string
+                ratio:
+                  type: object
+                titration_percent:
+                  default: '0.03'
+                  type: string
+                wt_percent:
+                  default: '0.25'
+                  type: string
+              required:
+              - ratio
+              type: object
+            result:
+              properties:
+                feeding_order:
+                  items: {}
+                  title: Feeding Order
+                  type: array
+                return_info:
+                  title: Return Info
+                  type: string
+                solutions:
+                  items: {}
+                  title: Solutions
+                  type: array
+                solvents:
+                  additionalProperties: true
+                  title: Solvents
+                  type: object
+                titration:
+                  additionalProperties: true
+                  title: Titration
+                  type: object
+              required:
+              - solutions
+              - titration
+              - solvents
+              - feeding_order
+              - return_info
+              title: ComputeExperimentDesignReturn
+              type: object
+          required:
+          - goal
+          title: compute_experiment_design参数
+          type: object
+        type: UniLabJsonCommand
+      auto-process_order_finish_report:
+        feedback: {}
+        goal: {}
+        goal_default:
+          report_request: null
+          used_materials: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                report_request:
+                  type: string
+                used_materials:
+                  type: string
+              required:
+              - report_request
+              - used_materials
+              type: object
+            result: {}
+          required:
+          - goal
+          title: process_order_finish_report参数
+          type: object
+        type: UniLabJsonCommand
+      auto-project_order_report:
+        feedback: {}
+        goal: {}
+        goal_default:
+          order_id: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                order_id:
+                  type: string
+              required:
+              - order_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: project_order_report参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_resource_by_name:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  type: string
+              required:
+              - material_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_resource_by_name参数
+          type: object
+        type: UniLabJsonCommand
+      auto-transfer_materials_to_reaction_station:
+        feedback: {}
+        goal: {}
+        goal_default:
+          target_device_id: null
+          transfer_groups: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                target_device_id:
+                  type: string
+                transfer_groups:
+                  type: array
+              required:
+              - target_device_id
+              - transfer_groups
+              type: object
+            result: {}
+          required:
+          - goal
+          title: transfer_materials_to_reaction_station参数
+          type: object
+        type: UniLabJsonCommand
+      auto-workflow_sample_locations:
+        feedback: {}
+        goal: {}
+        goal_default:
+          workflow_id: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                workflow_id:
+                  type: string
+              required:
+              - workflow_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: workflow_sample_locations参数
+          type: object
+        type: UniLabJsonCommand
       batch_create_90_10_vial_feeding_tasks:
         feedback: {}
         goal:
@@ -171,99 +394,6 @@ bioyond_dispensing_station:
           title: BatchCreateDiamineSolutionTasks
           type: object
         type: UniLabJsonCommand
-      compute_experiment_design:
-        feedback: {}
-        goal:
-          m_tot: m_tot
-          ratio: ratio
-          titration_percent: titration_percent
-          wt_percent: wt_percent
-        goal_default:
-          m_tot: '70'
-          ratio: ''
-          titration_percent: '0.03'
-          wt_percent: '0.25'
-        handles:
-          output:
-          - data_key: solutions
-            data_source: executor
-            data_type: array
-            handler_key: solutions
-            io_type: sink
-            label: Solution Data From Python
-          - data_key: titration
-            data_source: executor
-            data_type: object
-            handler_key: titration
-            io_type: sink
-            label: Titration Data From Calculation Node
-          - data_key: solvents
-            data_source: executor
-            data_type: object
-            handler_key: solvents
-            io_type: sink
-            label: Solvents Data From Calculation Node
-          - data_key: feeding_order
-            data_source: executor
-            data_type: array
-            handler_key: feeding_order
-            io_type: sink
-            label: Feeding Order Data From Calculation Node
-        result:
-          feeding_order: feeding_order
-          return_info: return_info
-          solutions: solutions
-          solvents: solvents
-          titration: titration
-        schema:
-          description: 计算实验设计，输出solutions/titration/solvents/feeding_order用于后续节点。
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                m_tot:
-                  default: '70'
-                  description: 总质量(g)
-                  type: string
-                ratio:
-                  description: 组分摩尔比的对象，保持输入顺序，如{"MDA":1,"BTDA":1}
-                  type: string
-                titration_percent:
-                  default: '0.03'
-                  description: 滴定比例(10%部分)
-                  type: string
-                wt_percent:
-                  default: '0.25'
-                  description: 目标固含质量分数
-                  type: string
-              required:
-              - ratio
-              type: object
-            result:
-              properties:
-                feeding_order:
-                  type: array
-                return_info:
-                  type: string
-                solutions:
-                  type: array
-                solvents:
-                  type: object
-                titration:
-                  type: object
-              required:
-              - solutions
-              - titration
-              - solvents
-              - feeding_order
-              - return_info
-              title: ComputeExperimentDesign_Result
-              type: object
-          required:
-          - goal
-          title: ComputeExperimentDesign
-          type: object
-        type: UniLabJsonCommand
       create_90_10_vial_feeding_task:
         feedback: {}
         goal:
@@ -490,89 +620,6 @@ bioyond_dispensing_station:
           title: DispenStationSolnPrep
           type: object
         type: DispenStationSolnPrep
-      scheduler_start:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        result:
-          return_info: return_info
-        schema:
-          description: 启动调度器 - 启动Bioyond配液站的任务调度器，开始执行队列中的任务
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result:
-              properties:
-                return_info:
-                  description: 调度器启动结果，成功返回1，失败返回0
-                  type: integer
-              required:
-              - return_info
-              title: scheduler_start结果
-              type: object
-          required:
-          - goal
-          title: scheduler_start参数
-          type: object
-        type: UniLabJsonCommand
-      transfer_materials_to_reaction_station:
-        feedback: {}
-        goal:
-          target_device_id: target_device_id
-          transfer_groups: transfer_groups
-        goal_default:
-          target_device_id: ''
-          transfer_groups: ''
-        handles: {}
-        placeholder_keys:
-          target_device_id: unilabos_devices
-        result: {}
-        schema:
-          description: 将配液站完成的物料（溶液、样品等）转移到指定反应站的堆栈库位。支持配置多组转移任务，每组包含物料名称、目标堆栈和目标库位。
-          properties:
-            feedback: {}
-            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）
-                  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
-                  items:
-                    properties:
-                      materials:
-                        description: 物料名称（手动输入，系统将通过RPC查询验证）
-                        type: string
-                      target_sites:
-                        description: 目标库位（手动输入，如"A01"）
-                        type: string
-                      target_stack:
-                        description: 目标堆栈名称（从列表选择）
-                        enum:
-                        - 堆栈1左
-                        - 堆栈1右
-                        - 站内试剂存放堆栈
-                        type: string
-                    required:
-                    - materials
-                    - target_stack
-                    - target_sites
-                    type: object
-                  type: array
-              required:
-              - target_device_id
-              - transfer_groups
-              type: object
-            result: {}
-          required:
-          - goal
-          title: transfer_materials_to_reaction_station参数
-          type: object
-        type: UniLabJsonCommand
       wait_for_multiple_orders_and_get_reports:
         feedback: {}
         goal:

unilabos/registry/devices/cameraSII.yaml

@@ -1,105 +0,0 @@
-cameracontroller_device:
-  category:
-  - cameraSII
-  class:
-    action_value_mappings:
-      auto-start:
-        feedback: {}
-        goal: {}
-        goal_default:
-          config: null
-        handles: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                config:
-                  type: string
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: start参数
-          type: object
-        type: UniLabJsonCommand
-      auto-stop:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: stop参数
-          type: object
-        type: UniLabJsonCommand
-    module: unilabos.devices.cameraSII.cameraUSB:CameraController
-    status_types:
-      status: dict
-    type: python
-  config_info: []
-  description: Uni-Lab-OS 摄像头驱动（Linux USB 摄像头版，无 PTZ）
-  handles: []
-  icon: ''
-  init_param_schema:
-    config:
-      properties:
-        audio_bitrate:
-          default: 64k
-          type: string
-        audio_device:
-          type: string
-        fps:
-          default: 30
-          type: integer
-        height:
-          default: 720
-          type: integer
-        host_id:
-          default: demo-host
-          type: string
-        rtmp_url:
-          default: rtmp://srs.sciol.ac.cn:4499/live/camera-01
-          type: string
-        signal_backend_url:
-          default: wss://sciol.ac.cn/api/realtime/signal/host
-          type: string
-        video_bitrate:
-          default: 1500k
-          type: string
-        video_device:
-          default: /dev/video0
-          type: string
-        webrtc_api:
-          default: https://srs.sciol.ac.cn/rtc/v1/play/
-          type: string
-        webrtc_stream_url:
-          default: webrtc://srs.sciol.ac.cn:4500/live/camera-01
-          type: string
-        width:
-          default: 1280
-          type: integer
-      required: []
-      type: object
-    data:
-      properties:
-        status:
-          type: object
-      required:
-      - status
-      type: object
-  registry_type: device
-  version: 1.0.0

unilabos/registry/devices/chinwe.yaml

@@ -1,344 +0,0 @@
-separator.chinwe:
-  category:
-  - separator
-  - chinwe
-  class:
-    action_value_mappings:
-      motor_rotate_quarter:
-        goal:
-          direction: 顺时针
-          motor_id: 4
-          speed: 60
-        handles: {}
-        schema:
-          description: 电机旋转 1/4 圈
-          properties:
-            goal:
-              properties:
-                direction:
-                  default: 顺时针
-                  description: 旋转方向
-                  enum:
-                  - 顺时针
-                  - 逆时针
-                  type: string
-                motor_id:
-                  default: '4'
-                  description: 选择电机 (4:搅拌, 5:旋钮)
-                  enum:
-                  - '4'
-                  - '5'
-                  type: string
-                speed:
-                  default: 60
-                  description: 速度 (RPM)
-                  type: integer
-              required:
-              - motor_id
-              - speed
-              type: object
-        type: UniLabJsonCommand
-      motor_run_continuous:
-        goal:
-          direction: 顺时针
-          motor_id: 4
-          speed: 60
-        handles: {}
-        schema:
-          description: 电机一直旋转 (速度模式)
-          properties:
-            goal:
-              properties:
-                direction:
-                  default: 顺时针
-                  description: 旋转方向
-                  enum:
-                  - 顺时针
-                  - 逆时针
-                  type: string
-                motor_id:
-                  default: '4'
-                  description: 选择电机 (4:搅拌, 5:旋钮)
-                  enum:
-                  - '4'
-                  - '5'
-                  type: string
-                speed:
-                  default: 60
-                  description: 速度 (RPM)
-                  type: integer
-              required:
-              - motor_id
-              - speed
-              type: object
-        type: UniLabJsonCommand
-      motor_stop:
-        goal:
-          motor_id: 4
-        handles: {}
-        schema:
-          description: 停止指定步进电机
-          properties:
-            goal:
-              properties:
-                motor_id:
-                  default: '4'
-                  description: 选择电机
-                  enum:
-                  - '4'
-                  - '5'
-                  title: '注: 4=搅拌, 5=旋钮'
-                  type: string
-              required:
-              - motor_id
-              type: object
-        type: UniLabJsonCommand
-      pump_aspirate:
-        goal:
-          pump_id: 1
-          valve_port: 1
-          volume: 1000
-        handles: {}
-        schema:
-          description: 注射泵吸液
-          properties:
-            goal:
-              properties:
-                pump_id:
-                  default: '1'
-                  description: 选择泵
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  type: string
-                valve_port:
-                  default: '1'
-                  description: 阀门端口
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  - '4'
-                  - '5'
-                  - '6'
-                  - '7'
-                  - '8'
-                  type: string
-                volume:
-                  default: 1000
-                  description: 吸液步数
-                  type: integer
-              required:
-              - pump_id
-              - volume
-              - valve_port
-              type: object
-        type: UniLabJsonCommand
-      pump_dispense:
-        goal:
-          pump_id: 1
-          valve_port: 1
-          volume: 1000
-        handles: {}
-        schema:
-          description: 注射泵排液
-          properties:
-            goal:
-              properties:
-                pump_id:
-                  default: '1'
-                  description: 选择泵
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  type: string
-                valve_port:
-                  default: '1'
-                  description: 阀门端口
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  - '4'
-                  - '5'
-                  - '6'
-                  - '7'
-                  - '8'
-                  type: string
-                volume:
-                  default: 1000
-                  description: 排液步数
-                  type: integer
-              required:
-              - pump_id
-              - volume
-              - valve_port
-              type: object
-        type: UniLabJsonCommand
-      pump_initialize:
-        goal:
-          drain_port: 0
-          output_port: 0
-          pump_id: 1
-          speed: 10
-        handles: {}
-        schema:
-          description: 初始化指定注射泵
-          properties:
-            goal:
-              properties:
-                drain_port:
-                  default: 0
-                  description: 排液口索引
-                  type: integer
-                output_port:
-                  default: 0
-                  description: 输出口索引
-                  type: integer
-                pump_id:
-                  default: '1'
-                  description: 选择泵
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  title: '注: 1号泵, 2号泵, 3号泵'
-                  type: string
-                speed:
-                  default: 10
-                  description: 运动速度
-                  type: integer
-              required:
-              - pump_id
-              type: object
-        type: UniLabJsonCommand
-      pump_valve:
-        goal:
-          port: 1
-          pump_id: 1
-        handles: {}
-        schema:
-          description: 切换指定泵的阀门端口
-          properties:
-            goal:
-              properties:
-                port:
-                  default: '1'
-                  description: 阀门端口号 (1-8)
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  - '4'
-                  - '5'
-                  - '6'
-                  - '7'
-                  - '8'
-                  type: string
-                pump_id:
-                  default: '1'
-                  description: 选择泵
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  type: string
-              required:
-              - pump_id
-              - port
-              type: object
-        type: UniLabJsonCommand
-      wait_sensor_level:
-        goal:
-          target_state: 有液
-          timeout: 30
-        handles: {}
-        schema:
-          description: 等待传感器液位条件
-          properties:
-            goal:
-              properties:
-                target_state:
-                  default: 有液
-                  description: 目标液位状态
-                  enum:
-                  - 有液
-                  - 无液
-                  type: string
-                timeout:
-                  default: 30
-                  description: 超时时间 (秒)
-                  type: integer
-              required:
-              - target_state
-              type: object
-        type: UniLabJsonCommand
-      wait_time:
-        goal:
-          duration: 10
-        handles: {}
-        schema:
-          description: 等待指定时间
-          properties:
-            goal:
-              properties:
-                duration:
-                  default: 10
-                  description: 等待时间 (秒)
-                  type: integer
-              required:
-              - duration
-              type: object
-        type: UniLabJsonCommand
-    module: unilabos.devices.separator.chinwe:ChinweDevice
-    status_types:
-      is_connected: bool
-      sensor_level: bool
-      sensor_rssi: int
-    type: python
-  config_info: []
-  description: ChinWe 简易工作站控制器 (3泵, 2电机, 1传感器)
-  handles: []
-  icon: ''
-  init_param_schema:
-    goal:
-      baudrate:
-        default: 9600
-        description: 串口波特率
-        type: integer
-      motor_ids:
-        default:
-        - 4
-        - 5
-        description: 步进电机ID列表
-        items:
-          type: integer
-        type: array
-      port:
-        default: 192.168.1.200:8899
-        description: 串口号或 IP:Port
-        type: string
-      pump_ids:
-        default:
-        - 1
-        - 2
-        - 3
-        description: 注射泵ID列表
-        items:
-          type: integer
-        type: array
-      sensor_id:
-        default: 6
-        description: XKC传感器ID
-        type: integer
-      sensor_threshold:
-        default: 300
-        description: 传感器液位判定阈值
-        type: integer
-      timeout:
-        default: 10
-        description: 通信超时时间 (秒)
-        type: integer
-  version: 2.1.0

unilabos/registry/devices/liquid_handler.yaml

@@ -9333,34 +9333,7 @@ liquid_handler.prcxi:
           touch_tip: false
           use_channels:
           - 0
-        handles:
-          input:
-          - data_key: liquid
-            data_source: handle
-            data_type: resource
-            handler_key: sources
-            label: sources
-          - data_key: liquid
-            data_source: executor
-            data_type: resource
-            handler_key: targets
-            label: targets
-          - data_key: liquid
-            data_source: executor
-            data_type: resource
-            handler_key: tip_rack
-            label: tip_rack
-          output:
-          - data_key: liquid
-            data_source: handle
-            data_type: resource
-            handler_key: sources_out
-            label: sources
-          - data_key: liquid
-            data_source: executor
-            data_type: resource
-            handler_key: targets_out
-            label: targets
+        handles: {}
         placeholder_keys:
           sources: unilabos_resources
           targets: unilabos_resources

unilabos/registry/devices/neware_battery_test_system.yaml

@@ -1,40 +1,73 @@
 neware_battery_test_system:
   category:
   - neware_battery_test_system
-  - neware
-  - battery_test
   class:
     action_value_mappings:
-      debug_resource_names:
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
+      auto-print_status_summary:
         feedback: {}
         goal: {}
         goal_default: {}
         handles: {}
-        result:
-          return_info: return_info
-          success: success
+        placeholder_keys: {}
+        result: {}
         schema:
-          description: 调试方法：显示所有资源的实际名称
+          description: ''
           properties:
             feedback: {}
             goal:
               properties: {}
               required: []
               type: object
-            result:
-              properties:
-                return_info:
-                  description: 资源调试信息
-                  type: string
-                success:
-                  description: 是否成功
-                  type: boolean
-              required:
-              - return_info
-              - success
-              type: object
+            result: {}
           required:
           - goal
+          title: print_status_summary参数
+          type: object
+        type: UniLabJsonCommand
+      auto-test_connection:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: test_connection参数
           type: object
         type: UniLabJsonCommand
       export_status_json:
@@ -112,32 +145,29 @@ neware_battery_test_system:
         goal:
           plate_num: plate_num
         goal_default:
-          plate_num: null
+          plate_num: 1
         handles: {}
         result:
-          plate_data: plate_data
           return_info: return_info
           success: success
         schema:
-          description: 获取指定盘或所有盘的状态信息
+          description: 获取指定盘(1或2)的电池状态信息
           properties:
             feedback: {}
             goal:
               properties:
                 plate_num:
-                  description: 盘号 (1 或 2)，如果为null则返回所有盘的状态
+                  description: 盘号 (1 或 2)
                   maximum: 2
                   minimum: 1
                   type: integer
-              required: []
+              required:
+              - plate_num
               type: object
             result:
               properties:
-                plate_data:
-                  description: 盘状态数据（单盘或所有盘）
-                  type: object
                 return_info:
-                  description: 操作结果信息
+                  description: 盘状态信息JSON格式
                   type: string
                 success:
                   description: 查询是否成功
@@ -145,7 +175,6 @@ neware_battery_test_system:
               required:
               - return_info
               - success
-              - plate_data
               type: object
           required:
           - goal
@@ -190,9 +219,7 @@ neware_battery_test_system:
         goal_default:
           string: ''
         handles: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
         schema:
           description: ''
           properties:
@@ -225,56 +252,6 @@ neware_battery_test_system:
           title: StrSingleInput
           type: object
         type: StrSingleInput
-      submit_from_csv:
-        feedback: {}
-        goal:
-          csv_path: string
-          output_dir: string
-        goal_default:
-          csv_path: ''
-          output_dir: .
-        handles: {}
-        result:
-          return_info: return_info
-          submitted_count: submitted_count
-          success: success
-        schema:
-          description: 从CSV文件批量提交Neware测试任务
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                csv_path:
-                  description: 输入CSV文件的绝对路径
-                  type: string
-                output_dir:
-                  description: 输出目录（用于存储XML和备份文件），默认当前目录
-                  type: string
-              required:
-              - csv_path
-              type: object
-            result:
-              properties:
-                return_info:
-                  description: 执行结果详细信息
-                  type: string
-                submitted_count:
-                  description: 成功提交的任务数量
-                  type: integer
-                success:
-                  description: 是否成功
-                  type: boolean
-                total_count:
-                  description: CSV文件中的总行数
-                  type: integer
-              required:
-              - return_info
-              - success
-              type: object
-          required:
-          - goal
-          type: object
-        type: UniLabJsonCommand
       test_connection_action:
         feedback: {}
         goal: {}
@@ -307,135 +284,30 @@ neware_battery_test_system:
           - goal
           type: object
         type: UniLabJsonCommand
-      upload_backup_to_oss:
-        feedback: {}
-        goal:
-          backup_dir: backup_dir
-          file_pattern: file_pattern
-          oss_prefix: oss_prefix
-        goal_default:
-          backup_dir: null
-          file_pattern: '*'
-          oss_prefix: null
-        handles:
-          output:
-          - data_key: uploaded_files
-            data_source: executor
-            data_type: array
-            handler_key: uploaded_files
-            io_type: sink
-            label: Uploaded Files (with standard flow info)
-        result:
-          failed_files: failed_files
-          return_info: return_info
-          success: success
-          total_count: total_count
-          uploaded_count: uploaded_count
-        schema:
-          description: 上传备份文件到阿里云OSS
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                backup_dir:
-                  description: 备份目录路径（默认使用最近一次submit_from_csv的backup_dir）
-                  type: string
-                file_pattern:
-                  default: '*'
-                  description: 文件通配符模式，例如 *.csv 或 Battery_*.nda
-                  type: string
-                oss_prefix:
-                  description: OSS对象路径前缀（默认使用self.oss_prefix）
-                  type: string
-              required: []
-              type: object
-            result:
-              properties:
-                failed_files:
-                  description: 上传失败的文件名列表
-                  items:
-                    type: string
-                  type: array
-                return_info:
-                  description: 上传操作结果信息
-                  type: string
-                success:
-                  description: 上传是否成功
-                  type: boolean
-                total_count:
-                  description: 总文件数
-                  type: integer
-                uploaded_count:
-                  description: 成功上传的文件数
-                  type: integer
-                uploaded_files:
-                  description: 成功上传的文件详情列表
-                  items:
-                    properties:
-                      Battery_Code:
-                        description: 电池编码
-                        type: string
-                      Electrolyte_Code:
-                        description: 电解液编码
-                        type: string
-                      filename:
-                        description: 文件名
-                        type: string
-                      url:
-                        description: OSS下载链接
-                        type: string
-                    required:
-                    - filename
-                    - url
-                    - Battery_Code
-                    - Electrolyte_Code
-                    type: object
-                  type: array
-              required:
-              - return_info
-              - success
-              - uploaded_count
-              - total_count
-              - failed_files
-              - uploaded_files
-              type: object
-          required:
-          - goal
-          type: object
-        type: UniLabJsonCommand
-    module: unilabos.devices.neware_battery_test_system.neware_battery_test_system:NewareBatteryTestSystem
+    module: unilabos.devices.battery.neware_battery_test_system:NewareBatteryTestSystem
     status_types:
       channel_status: dict
       connection_info: dict
+      device_summary: dict
+      plate_status: dict
       status: str
       total_channels: int
     type: python
   config_info: []
-  description: 新威电池测试系统驱动，提供720个通道的电池测试状态监控、物料管理和CSV批量提交功能。支持TCP通信实现远程控制，包含完整的物料管理系统（2盘电池状态映射），以及从CSV文件批量提交测试任务的能力。
+  description: 新威电池测试系统驱动，支持720个通道的电池测试状态监控和数据导出。通过TCP通信实现远程控制，包含完整的物料管理系统，支持2盘电池的状态映射和监控。
   handles: []
   icon: ''
   init_param_schema:
     config:
       properties:
         devtype:
-          default: '27'
           type: string
         ip:
-          default: 127.0.0.1
           type: string
         machine_id:
           default: 1
           type: integer
-        oss_prefix:
-          default: neware_backup
-          description: OSS对象路径前缀
-          type: string
-        oss_upload_enabled:
-          default: false
-          description: 是否启用OSS上传功能
-          type: boolean
         port:
-          default: 502
           type: integer
         size_x:
           default: 500.0
@@ -447,7 +319,6 @@ neware_battery_test_system:
           default: 2000.0
           type: number
         timeout:
-          default: 20
           type: integer
       required: []
       type: object
@@ -459,6 +330,8 @@ neware_battery_test_system:
           type: object
         device_summary:
           type: object
+        plate_status:
+          type: object
         status:
           type: string
         total_channels:
@@ -468,6 +341,7 @@ neware_battery_test_system:
       - channel_status
       - connection_info
       - total_channels
+      - plate_status
       - device_summary
       type: object
   version: 1.0.0

unilabos/registry/devices/post_process_station.yaml

@@ -1,630 +0,0 @@
-post_process_station:
-  category:
-  - post_process_station
-  class:
-    action_value_mappings:
-      disconnect:
-        feedback: {}
-        goal:
-          command: {}
-        goal_default:
-          command: ''
-        handles: {}
-        result:
-          success: success
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties:
-                status:
-                  type: string
-              required:
-              - status
-              title: SendCmd_Feedback
-              type: object
-            goal:
-              properties:
-                command:
-                  type: string
-              required:
-              - command
-              title: SendCmd_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: SendCmd_Result
-              type: object
-          required:
-          - goal
-          title: SendCmd
-          type: object
-        type: SendCmd
-      read_node:
-        feedback:
-          result: result
-        goal:
-          command: node_name
-        goal_default:
-          command: ''
-        handles: {}
-        result:
-          success: success
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties:
-                status:
-                  type: string
-              required:
-              - status
-              title: SendCmd_Feedback
-              type: object
-            goal:
-              properties:
-                command:
-                  type: string
-              required:
-              - command
-              title: SendCmd_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: SendCmd_Result
-              type: object
-          required:
-          - goal
-          title: SendCmd
-          type: object
-        type: SendCmd
-      trigger_cleaning_action:
-        feedback: {}
-        goal:
-          acetone_inner_wall_cleaning_count: acetone_inner_wall_cleaning_count
-          acetone_inner_wall_cleaning_injection: acetone_inner_wall_cleaning_injection
-          acetone_inner_wall_cleaning_waste_time: acetone_inner_wall_cleaning_waste_time
-          acetone_outer_wall_cleaning_count: acetone_outer_wall_cleaning_count
-          acetone_outer_wall_cleaning_injection: acetone_outer_wall_cleaning_injection
-          acetone_outer_wall_cleaning_wait_time: acetone_outer_wall_cleaning_wait_time
-          acetone_outer_wall_cleaning_waste_time: acetone_outer_wall_cleaning_waste_time
-          acetone_pump_cleaning_suction_count: acetone_pump_cleaning_suction_count
-          acetone_stirrer_cleaning_count: acetone_stirrer_cleaning_count
-          acetone_stirrer_cleaning_injection: acetone_stirrer_cleaning_injection
-          acetone_stirrer_cleaning_wait_time: acetone_stirrer_cleaning_wait_time
-          acetone_stirrer_cleaning_waste_time: acetone_stirrer_cleaning_waste_time
-          filtration_liquid_selection: filtration_liquid_selection
-          injection_pump_forward_empty_suction_count: injection_pump_forward_empty_suction_count
-          injection_pump_reverse_empty_suction_count: injection_pump_reverse_empty_suction_count
-          nmp_inner_wall_cleaning_count: nmp_inner_wall_cleaning_count
-          nmp_inner_wall_cleaning_injection: nmp_inner_wall_cleaning_injection
-          nmp_inner_wall_cleaning_waste_time: nmp_inner_wall_cleaning_waste_time
-          nmp_outer_wall_cleaning_count: nmp_outer_wall_cleaning_count
-          nmp_outer_wall_cleaning_injection: nmp_outer_wall_cleaning_injection
-          nmp_outer_wall_cleaning_wait_time: nmp_outer_wall_cleaning_wait_time
-          nmp_outer_wall_cleaning_waste_time: nmp_outer_wall_cleaning_waste_time
-          nmp_pump_cleaning_suction_count: nmp_pump_cleaning_suction_count
-          nmp_stirrer_cleaning_count: nmp_stirrer_cleaning_count
-          nmp_stirrer_cleaning_injection: nmp_stirrer_cleaning_injection
-          nmp_stirrer_cleaning_wait_time: nmp_stirrer_cleaning_wait_time
-          nmp_stirrer_cleaning_waste_time: nmp_stirrer_cleaning_waste_time
-          pipe_blowing_time: pipe_blowing_time
-          water_inner_wall_cleaning_count: water_inner_wall_cleaning_count
-          water_inner_wall_cleaning_injection: water_inner_wall_cleaning_injection
-          water_inner_wall_cleaning_waste_time: water_inner_wall_cleaning_waste_time
-          water_outer_wall_cleaning_count: water_outer_wall_cleaning_count
-          water_outer_wall_cleaning_injection: water_outer_wall_cleaning_injection
-          water_outer_wall_cleaning_wait_time: water_outer_wall_cleaning_wait_time
-          water_outer_wall_cleaning_waste_time: water_outer_wall_cleaning_waste_time
-          water_pump_cleaning_suction_count: water_pump_cleaning_suction_count
-          water_stirrer_cleaning_count: water_stirrer_cleaning_count
-          water_stirrer_cleaning_injection: water_stirrer_cleaning_injection
-          water_stirrer_cleaning_wait_time: water_stirrer_cleaning_wait_time
-          water_stirrer_cleaning_waste_time: water_stirrer_cleaning_waste_time
-        goal_default:
-          acetone_inner_wall_cleaning_count: 0
-          acetone_inner_wall_cleaning_injection: 0.0
-          acetone_inner_wall_cleaning_waste_time: 0
-          acetone_outer_wall_cleaning_count: 0
-          acetone_outer_wall_cleaning_injection: 0.0
-          acetone_outer_wall_cleaning_wait_time: 0
-          acetone_outer_wall_cleaning_waste_time: 0
-          acetone_pump_cleaning_suction_count: 0
-          acetone_stirrer_cleaning_count: 0
-          acetone_stirrer_cleaning_injection: 0.0
-          acetone_stirrer_cleaning_wait_time: 0
-          acetone_stirrer_cleaning_waste_time: 0
-          filtration_liquid_selection: 0
-          injection_pump_forward_empty_suction_count: 0
-          injection_pump_reverse_empty_suction_count: 0
-          nmp_inner_wall_cleaning_count: 0
-          nmp_inner_wall_cleaning_injection: 0.0
-          nmp_inner_wall_cleaning_waste_time: 0
-          nmp_outer_wall_cleaning_count: 0
-          nmp_outer_wall_cleaning_injection: 0.0
-          nmp_outer_wall_cleaning_wait_time: 0
-          nmp_outer_wall_cleaning_waste_time: 0
-          nmp_pump_cleaning_suction_count: 0
-          nmp_stirrer_cleaning_count: 0
-          nmp_stirrer_cleaning_injection: 0.0
-          nmp_stirrer_cleaning_wait_time: 0
-          nmp_stirrer_cleaning_waste_time: 0
-          pipe_blowing_time: 0
-          water_inner_wall_cleaning_count: 0
-          water_inner_wall_cleaning_injection: 0.0
-          water_inner_wall_cleaning_waste_time: 0
-          water_outer_wall_cleaning_count: 0
-          water_outer_wall_cleaning_injection: 0.0
-          water_outer_wall_cleaning_wait_time: 0
-          water_outer_wall_cleaning_waste_time: 0
-          water_pump_cleaning_suction_count: 0
-          water_stirrer_cleaning_count: 0
-          water_stirrer_cleaning_injection: 0.0
-          water_stirrer_cleaning_wait_time: 0
-          water_stirrer_cleaning_waste_time: 0
-        handles: {}
-        result:
-          return_info: return_info
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: PostProcessTriggerClean_Feedback
-              type: object
-            goal:
-              properties:
-                acetone_inner_wall_cleaning_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                acetone_inner_wall_cleaning_injection:
-                  type: number
-                acetone_inner_wall_cleaning_waste_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                acetone_outer_wall_cleaning_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                acetone_outer_wall_cleaning_injection:
-                  type: number
-                acetone_outer_wall_cleaning_wait_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                acetone_outer_wall_cleaning_waste_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                acetone_pump_cleaning_suction_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                acetone_stirrer_cleaning_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                acetone_stirrer_cleaning_injection:
-                  type: number
-                acetone_stirrer_cleaning_wait_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                acetone_stirrer_cleaning_waste_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                filtration_liquid_selection:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                injection_pump_forward_empty_suction_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                injection_pump_reverse_empty_suction_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                nmp_inner_wall_cleaning_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                nmp_inner_wall_cleaning_injection:
-                  type: number
-                nmp_inner_wall_cleaning_waste_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                nmp_outer_wall_cleaning_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                nmp_outer_wall_cleaning_injection:
-                  type: number
-                nmp_outer_wall_cleaning_wait_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                nmp_outer_wall_cleaning_waste_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                nmp_pump_cleaning_suction_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                nmp_stirrer_cleaning_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                nmp_stirrer_cleaning_injection:
-                  type: number
-                nmp_stirrer_cleaning_wait_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                nmp_stirrer_cleaning_waste_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                pipe_blowing_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                water_inner_wall_cleaning_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                water_inner_wall_cleaning_injection:
-                  type: number
-                water_inner_wall_cleaning_waste_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                water_outer_wall_cleaning_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                water_outer_wall_cleaning_injection:
-                  type: number
-                water_outer_wall_cleaning_wait_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                water_outer_wall_cleaning_waste_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                water_pump_cleaning_suction_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                water_stirrer_cleaning_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                water_stirrer_cleaning_injection:
-                  type: number
-                water_stirrer_cleaning_wait_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                water_stirrer_cleaning_waste_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-              required:
-              - nmp_outer_wall_cleaning_injection
-              - nmp_outer_wall_cleaning_count
-              - nmp_outer_wall_cleaning_wait_time
-              - nmp_outer_wall_cleaning_waste_time
-              - nmp_inner_wall_cleaning_injection
-              - nmp_inner_wall_cleaning_count
-              - nmp_pump_cleaning_suction_count
-              - nmp_inner_wall_cleaning_waste_time
-              - nmp_stirrer_cleaning_injection
-              - nmp_stirrer_cleaning_count
-              - nmp_stirrer_cleaning_wait_time
-              - nmp_stirrer_cleaning_waste_time
-              - water_outer_wall_cleaning_injection
-              - water_outer_wall_cleaning_count
-              - water_outer_wall_cleaning_wait_time
-              - water_outer_wall_cleaning_waste_time
-              - water_inner_wall_cleaning_injection
-              - water_inner_wall_cleaning_count
-              - water_pump_cleaning_suction_count
-              - water_inner_wall_cleaning_waste_time
-              - water_stirrer_cleaning_injection
-              - water_stirrer_cleaning_count
-              - water_stirrer_cleaning_wait_time
-              - water_stirrer_cleaning_waste_time
-              - acetone_outer_wall_cleaning_injection
-              - acetone_outer_wall_cleaning_count
-              - acetone_outer_wall_cleaning_wait_time
-              - acetone_outer_wall_cleaning_waste_time
-              - acetone_inner_wall_cleaning_injection
-              - acetone_inner_wall_cleaning_count
-              - acetone_pump_cleaning_suction_count
-              - acetone_inner_wall_cleaning_waste_time
-              - acetone_stirrer_cleaning_injection
-              - acetone_stirrer_cleaning_count
-              - acetone_stirrer_cleaning_wait_time
-              - acetone_stirrer_cleaning_waste_time
-              - pipe_blowing_time
-              - injection_pump_forward_empty_suction_count
-              - injection_pump_reverse_empty_suction_count
-              - filtration_liquid_selection
-              title: PostProcessTriggerClean_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-              required:
-              - return_info
-              title: PostProcessTriggerClean_Result
-              type: object
-          required:
-          - goal
-          title: PostProcessTriggerClean
-          type: object
-        type: PostProcessTriggerClean
-      trigger_grab_action:
-        feedback: {}
-        goal:
-          raw_tank_number: raw_tank_number
-          reaction_tank_number: reaction_tank_number
-        goal_default:
-          raw_tank_number: 0
-          reaction_tank_number: 0
-        handles: {}
-        result:
-          return_info: return_info
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: PostProcessGrab_Feedback
-              type: object
-            goal:
-              properties:
-                raw_tank_number:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                reaction_tank_number:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-              required:
-              - reaction_tank_number
-              - raw_tank_number
-              title: PostProcessGrab_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-              required:
-              - return_info
-              title: PostProcessGrab_Result
-              type: object
-          required:
-          - goal
-          title: PostProcessGrab
-          type: object
-        type: PostProcessGrab
-      trigger_post_processing:
-        feedback: {}
-        goal:
-          atomization_fast_speed: atomization_fast_speed
-          atomization_pressure_kpa: atomization_pressure_kpa
-          first_powder_mixing_tim: first_powder_mixing_tim
-          first_powder_wash_count: first_powder_wash_count
-          first_wash_water_amount: first_wash_water_amount
-          initial_water_amount: initial_water_amount
-          injection_pump_push_speed: injection_pump_push_speed
-          injection_pump_suction_speed: injection_pump_suction_speed
-          pre_filtration_mixing_time: pre_filtration_mixing_time
-          raw_liquid_suction_count: raw_liquid_suction_count
-          second_powder_mixing_time: second_powder_mixing_time
-          second_powder_wash_count: second_powder_wash_count
-          second_wash_water_amount: second_wash_water_amount
-          wash_slow_speed: wash_slow_speed
-        goal_default:
-          atomization_fast_speed: 0.0
-          atomization_pressure_kpa: 0
-          first_powder_mixing_tim: 0
-          first_powder_wash_count: 0
-          first_wash_water_amount: 0.0
-          initial_water_amount: 0.0
-          injection_pump_push_speed: 0
-          injection_pump_suction_speed: 0
-          pre_filtration_mixing_time: 0
-          raw_liquid_suction_count: 0
-          second_powder_mixing_time: 0
-          second_powder_wash_count: 0
-          second_wash_water_amount: 0.0
-          wash_slow_speed: 0.0
-        handles: {}
-        result:
-          return_info: return_info
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: PostProcessTriggerPostPro_Feedback
-              type: object
-            goal:
-              properties:
-                atomization_fast_speed:
-                  type: number
-                atomization_pressure_kpa:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                first_powder_mixing_tim:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                first_powder_wash_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                first_wash_water_amount:
-                  type: number
-                initial_water_amount:
-                  type: number
-                injection_pump_push_speed:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                injection_pump_suction_speed:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                pre_filtration_mixing_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                raw_liquid_suction_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                second_powder_mixing_time:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                second_powder_wash_count:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
-                second_wash_water_amount:
-                  type: number
-                wash_slow_speed:
-                  type: number
-              required:
-              - atomization_fast_speed
-              - wash_slow_speed
-              - injection_pump_suction_speed
-              - injection_pump_push_speed
-              - raw_liquid_suction_count
-              - first_wash_water_amount
-              - second_wash_water_amount
-              - first_powder_mixing_tim
-              - second_powder_mixing_time
-              - first_powder_wash_count
-              - second_powder_wash_count
-              - initial_water_amount
-              - pre_filtration_mixing_time
-              - atomization_pressure_kpa
-              title: PostProcessTriggerPostPro_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-              required:
-              - return_info
-              title: PostProcessTriggerPostPro_Result
-              type: object
-          required:
-          - goal
-          title: PostProcessTriggerPostPro
-          type: object
-        type: PostProcessTriggerPostPro
-      write_node:
-        feedback:
-          result: result
-        goal:
-          command: json_input
-        goal_default:
-          command: ''
-        handles: {}
-        result:
-          success: success
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties:
-                status:
-                  type: string
-              required:
-              - status
-              title: SendCmd_Feedback
-              type: object
-            goal:
-              properties:
-                command:
-                  type: string
-              required:
-              - command
-              title: SendCmd_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: SendCmd_Result
-              type: object
-          required:
-          - goal
-          title: SendCmd
-          type: object
-        type: SendCmd
-    module: unilabos.devices.workstation.post_process.post_process:OpcUaClient
-    status_types:
-      acetone_tank_empty_alarm: Bool
-      atomization_fast_speed: Float64
-      atomization_pressure_kpa: Int32
-      cleaning_complete: Bool
-      device_ready: Bool
-      door_open_alarm: Bool
-      grab_complete: Bool
-      grab_trigger: Bool
-      injection_pump_push_speed: Int32
-      injection_pump_suction_speed: Int32
-      nmp_tank_empty_alarm: Bool
-      post_process_complete: Bool
-      post_process_trigger: Bool
-      raw_tank_number: Int32
-      reaction_tank_number: Int32
-      remote_mode: Bool
-      wash_slow_speed: Float64
-      waste_tank_full_alarm: Bool
-      water_tank_empty_alarm: Bool
-    type: python
-  config_info: []
-  description: 后处理站
-  handles: []
-  icon: post_process_station.webp
-  init_param_schema: {}
-  version: 1.0.0

unilabos/registry/devices/reaction_station_bioyond.yaml

@@ -4,88 +4,213 @@ reaction_station.bioyond:
   - reaction_station_bioyond
   class:
     action_value_mappings:
-      add_time_constraint:
+      auto-create_order:
         feedback: {}
-        goal:
-          duration: duration
-          end_point: end_point
-          end_step_key: end_step_key
-          start_point: start_point
-          start_step_key: start_step_key
+        goal: {}
         goal_default:
-          duration: 0
-          end_point: 0
-          end_step_key: ''
-          start_point: 0
-          start_step_key: ''
+          json_str: null
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
-          description: 添加时间约束 - 在两个工作流之间添加时间约束
+          description: ''
           properties:
             feedback: {}
             goal:
               properties:
-                duration:
-                  description: 时间(秒)
-                  type: integer
-                end_point:
-                  default: Start
-                  description: 终点计时点 (Start=开始前, End=结束后)
-                  enum:
-                  - Start
-                  - End
-                  type: string
-                end_step_key:
-                  description: 终点步骤Key (可选, 默认为空则自动选择)
-                  type: string
-                start_point:
-                  default: Start
-                  description: 起点计时点 (Start=开始前, End=结束后)
-                  enum:
-                  - Start
-                  - End
-                  type: string
-                start_step_key:
-                  description: 起点步骤Key (例如 "feeding", "liquid", 可选, 默认为空则自动选择)
+                json_str:
                   type: string
               required:
-              - duration
+              - json_str
               type: object
             result: {}
           required:
           - goal
-          title: add_time_constraint参数
+          title: create_order参数
           type: object
         type: UniLabJsonCommand
-      clean_all_server_workflows:
+      auto-hard_delete_merged_workflows:
         feedback: {}
         goal: {}
-        goal_default: {}
+        goal_default:
+          workflow_ids: null
         handles: {}
-        result:
-          code: code
-          message: message
+        placeholder_keys: {}
+        result: {}
         schema:
-          description: 清空服务端所有非核心工作流 (保留核心流程)
+          description: ''
           properties:
             feedback: {}
             goal:
-              properties: {}
-              required: []
-              type: object
-            result:
               properties:
-                code:
-                  description: 操作结果代码(1表示成功)
-                  type: integer
-                message:
-                  description: 结果描述
-                  type: string
+                workflow_ids:
+                  items:
+                    type: string
+                  type: array
+              required:
+              - workflow_ids
               type: object
+            result: {}
           required:
           - goal
-          title: clean_all_server_workflows参数
+          title: hard_delete_merged_workflows参数
+          type: object
+        type: UniLabJsonCommand
+      auto-merge_workflow_with_parameters:
+        feedback: {}
+        goal: {}
+        goal_default:
+          json_str: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                json_str:
+                  type: string
+              required:
+              - json_str
+              type: object
+            result: {}
+          required:
+          - goal
+          title: merge_workflow_with_parameters参数
+          type: object
+        type: UniLabJsonCommand
+      auto-process_temperature_cutoff_report:
+        feedback: {}
+        goal: {}
+        goal_default:
+          report_request: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                report_request:
+                  type: string
+              required:
+              - report_request
+              type: object
+            result: {}
+          required:
+          - goal
+          title: process_temperature_cutoff_report参数
+          type: object
+        type: UniLabJsonCommand
+      auto-process_web_workflows:
+        feedback: {}
+        goal: {}
+        goal_default:
+          web_workflow_json: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                web_workflow_json:
+                  type: string
+              required:
+              - web_workflow_json
+              type: object
+            result: {}
+          required:
+          - goal
+          title: process_web_workflows参数
+          type: object
+        type: UniLabJsonCommand
+      auto-skip_titration_steps:
+        feedback: {}
+        goal: {}
+        goal_default:
+          preintake_id: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                preintake_id:
+                  type: string
+              required:
+              - preintake_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: skip_titration_steps参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_for_multiple_orders_and_get_reports:
+        feedback: {}
+        goal: {}
+        goal_default:
+          batch_create_result: null
+          check_interval: 10
+          timeout: 7200
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                batch_create_result:
+                  type: string
+                check_interval:
+                  default: 10
+                  type: integer
+                timeout:
+                  default: 7200
+                  type: integer
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_for_multiple_orders_and_get_reports参数
+          type: object
+        type: UniLabJsonCommand
+      auto-workflow_step_query:
+        feedback: {}
+        goal: {}
+        goal_default:
+          workflow_id: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                workflow_id:
+                  type: string
+              required:
+              - workflow_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: workflow_step_query参数
           type: object
         type: UniLabJsonCommand
       drip_back:
@@ -122,19 +247,13 @@ reaction_station.bioyond:
                   description: 观察时间(分钟)
                   type: string
                 titration_type:
-                  description: 是否滴定(NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
+                  description: 是否滴定(1=否, 2=是)
                   type: string
                 torque_variation:
-                  description: 是否观察 (NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
+                  description: 是否观察 (1=否, 2=是)
                   type: string
                 volume:
-                  description: 分液公式(mL)
+                  description: 分液公式(μL)
                   type: string
               required:
               - volume
@@ -234,19 +353,13 @@ reaction_station.bioyond:
                   description: 观察时间(分钟)
                   type: string
                 titration_type:
-                  description: 是否滴定(NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
+                  description: 是否滴定(1=否, 2=是)
                   type: string
                 torque_variation:
-                  description: 是否观察 (NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
+                  description: 是否观察 (1=否, 2=是)
                   type: string
                 volume:
-                  description: 分液公式(mL)
+                  description: 分液公式(μL)
                   type: string
               required:
               - volume
@@ -290,7 +403,7 @@ reaction_station.bioyond:
             label: Solvents Data From Calculation Node
         result: {}
         schema:
-          description: 液体投料-溶剂。可以直接提供volume(mL),或通过solvents对象自动从additional_solvent(mL)计算volume。
+          description: 液体投料-溶剂。可以直接提供volume(μL),或通过solvents对象自动从additional_solvent(mL)计算volume。
           properties:
             feedback: {}
             goal:
@@ -310,21 +423,15 @@ reaction_station.bioyond:
                   description: 观察时间(分钟),默认360
                   type: string
                 titration_type:
-                  default: 'NO'
-                  description: 是否滴定(NO=否, YES=是),默认NO
-                  enum:
-                  - 'NO'
-                  - 'YES'
+                  default: '1'
+                  description: 是否滴定(1=否, 2=是),默认1
                   type: string
                 torque_variation:
-                  default: 'YES'
-                  description: 是否观察 (NO=否, YES=是),默认YES
-                  enum:
-                  - 'NO'
-                  - 'YES'
+                  default: '2'
+                  description: 是否观察 (1=否, 2=是),默认2
                   type: string
                 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)。可直接提供,或通过solvents参数自动计算
                   type: string
               required:
               - assign_material_name
@@ -397,21 +504,15 @@ reaction_station.bioyond:
                   description: 观察时间(分钟),默认90
                   type: string
                 titration_type:
-                  default: 'YES'
-                  description: 是否滴定(NO=否, YES=是),默认YES
-                  enum:
-                  - 'NO'
-                  - 'YES'
+                  default: '2'
+                  description: 是否滴定(1=否, 2=是),默认2
                   type: string
                 torque_variation:
-                  default: 'YES'
-                  description: 是否观察 (NO=否, YES=是),默认YES
-                  enum:
-                  - 'NO'
-                  - 'YES'
+                  default: '2'
+                  description: 是否观察 (1=否, 2=是),默认2
                   type: string
                 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)。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
                   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
@@ -459,19 +560,13 @@ reaction_station.bioyond:
                   description: 观察时间(分钟)
                   type: string
                 titration_type:
-                  description: 是否滴定(NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
+                  description: 是否滴定(1=否, 2=是)
                   type: string
                 torque_variation:
-                  description: 是否观察 (NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
+                  description: 是否观察 (1=否, 2=是)
                   type: string
                 volume_formula:
-                  description: 分液公式(mL)
+                  description: 分液公式(μL)
                   type: string
               required:
               - volume_formula
@@ -585,35 +680,6 @@ reaction_station.bioyond:
           title: reactor_taken_out参数
           type: object
         type: UniLabJsonCommand
-      scheduler_start:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        result:
-          return_info: return_info
-        schema:
-          description: 启动调度器 - 启动Bioyond工作站的任务调度器，开始执行队列中的任务
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result:
-              properties:
-                return_info:
-                  description: 调度器启动结果，成功返回1，失败返回0
-                  type: integer
-              required:
-              - return_info
-              title: scheduler_start结果
-              type: object
-          required:
-          - goal
-          title: scheduler_start参数
-          type: object
-        type: UniLabJsonCommand
       solid_feeding_vials:
         feedback: {}
         goal:
@@ -640,11 +706,7 @@ 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）
-                  enum:
-                  - Salt
-                  - Flour
-                  - BTDA
+                  description: 粉末类型ID，1=盐（21分钟），2=面粉（27分钟），3=BTDA（38分钟）
                   type: string
                 temperature:
                   description: 温度设定(°C)
@@ -653,10 +715,7 @@ reaction_station.bioyond:
                   description: 观察时间(分钟)
                   type: string
                 torque_variation:
-                  description: 是否观察 (NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
+                  description: 是否观察 (1=否, 2=是)
                   type: string
               required:
               - assign_material_name
@@ -674,16 +733,6 @@ reaction_station.bioyond:
     module: unilabos.devices.workstation.bioyond_studio.reaction_station:BioyondReactionStation
     protocol_type: []
     status_types:
-      average_viscosity: Float64
-      force: Float64
-      in_temperature: Float64
-      out_temperature: Float64
-      pt100_temperature: Float64
-      sensor_average_temperature: Float64
-      setting_temperature: Float64
-      speed: Float64
-      target_temperature: Float64
-      viscosity: Float64
       workflow_sequence: String
     type: python
   config_info: []
@@ -716,19 +765,34 @@ reaction_station.reactor:
   - reactor
   - reaction_station_bioyond
   class:
-    action_value_mappings: {}
+    action_value_mappings:
+      auto-update_metrics:
+        feedback: {}
+        goal: {}
+        goal_default:
+          payload: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                payload:
+                  type: object
+              required:
+              - payload
+              type: object
+            result: {}
+          required:
+          - goal
+          title: update_metrics参数
+          type: object
+        type: UniLabJsonCommand
     module: unilabos.devices.workstation.bioyond_studio.reaction_station:BioyondReactor
-    status_types:
-      average_viscosity: Float64
-      force: Float64
-      in_temperature: Float64
-      out_temperature: Float64
-      pt100_temperature: Float64
-      sensor_average_temperature: Float64
-      setting_temperature: Float64
-      speed: Float64
-      target_temperature: Float64
-      viscosity: Float64
+    status_types: {}
     type: python
   config_info: []
   description: 反应站子设备-反应器

unilabos/registry/registry.py

@@ -222,7 +222,7 @@ class Registry:
         abs_path = Path(path).absolute()
         resource_path = abs_path / "resources"
         files = list(resource_path.glob("*/*.yaml"))
-        logger.trace(f"[UniLab Registry] load resources? {resource_path.exists()}, total: {len(files)}")
+        logger.debug(f"[UniLab Registry] resources: {resource_path.exists()}, total: {len(files)}")
         current_resource_number = len(self.resource_type_registry) + 1
         for i, file in enumerate(files):
             with open(file, encoding="utf-8", mode="r") as f:
@@ -237,8 +237,6 @@ class Registry:
                         resource_info["category"] = [file.stem]
                     elif file.stem not in resource_info["category"]:
                         resource_info["category"].append(file.stem)
-                    elif not isinstance(resource_info.get("category"), list):
-                        resource_info["category"] = [resource_info["category"]]
                     if "config_info" not in resource_info:
                         resource_info["config_info"] = []
                     if "icon" not in resource_info:

unilabos/registry/resources/bioyond/bottles.yaml

@@ -20,17 +20,6 @@ BIOYOND_PolymerStation_Liquid_Vial:
   icon: ''
   init_param_schema: {}
   version: 1.0.0
-BIOYOND_PolymerStation_Measurement_Vial:
-  category:
-  - bottles
-  class:
-    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Measurement_Vial
-    type: pylabrobot
-  description: 聚合站-测量小瓶（测密度）
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  version: 1.0.0
 BIOYOND_PolymerStation_Reactor:
   category:
   - bottles

unilabos/registry/resources/post_process/bottle_carriers.yaml

@@ -1,25 +0,0 @@
-POST_PROCESS_Raw_1BottleCarrier:
-  category:
-  - bottle_carriers
-  class:
-    module: unilabos.devices.workstation.post_process.bottle_carriers:POST_PROCESS_Raw_1BottleCarrier
-    type: pylabrobot
-  description: POST_PROCESS_Raw_1BottleCarrier
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-
-POST_PROCESS_Reaction_1BottleCarrier:
-  category:
-  - bottle_carriers
-  class:
-    module: unilabos.devices.workstation.post_process.bottle_carriers:POST_PROCESS_Reaction_1BottleCarrier
-    type: pylabrobot
-  description: POST_PROCESS_Reaction_1BottleCarrier
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0

unilabos/registry/resources/post_process/bottles.yaml

@@ -1,11 +0,0 @@
-POST_PROCESS_PolymerStation_Reagent_Bottle:
-  category:
-  - bottles
-  class:
-    module: unilabos.devices.workstation.post_process.bottles:POST_PROCESS_PolymerStation_Reagent_Bottle
-    type: pylabrobot
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  version: 1.0.0
-

unilabos/registry/resources/post_process/deck.yaml

@@ -1,12 +0,0 @@
-post_process_deck:
-  category:
-  - post_process_deck
-  class:
-    module: unilabos.devices.workstation.post_process.decks:post_process_deck
-    type: pylabrobot
-  description: post_process_deck
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0

unilabos/registry/resources/prcxi/plate_adapters.yaml

@@ -1,108 +0,0 @@
-PRCXI_30mm_Adapter:
-  category: 
-  - prcxi
-  class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_30mm_Adapter
-    type: pylabrobot
-  description: '30mm适配器 (Code: ZX-58-30)'
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-PRCXI_Adapter:
-  category: 
-   - prcxi
-  class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Adapter
-    type: pylabrobot
-  description: '适配器 (Code: Fhh478)'
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-PRCXI_Deep10_Adapter:
-  category: 
-  - prcxi
-  class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Deep10_Adapter
-    type: pylabrobot
-  description: '10ul专用深孔板适配器 (Code: ZX-002-10)'
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-PRCXI_Deep300_Adapter:
-  category: 
-  - prcxi
-  class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Deep300_Adapter
-    type: pylabrobot
-  description: '300ul深孔板适配器 (Code: ZX-002-300)'
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-PRCXI_PCR_Adapter:
-  category: 
-  - prcxi
-  class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Adapter
-    type: pylabrobot
-  description: '全裙边 PCR适配器 (Code: ZX-58-0001)'
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-PRCXI_Reservoir_Adapter:
-  category: 
-  - prcxi
-  class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Reservoir_Adapter
-    type: pylabrobot
-  description: '储液槽 适配器 (Code: ZX-ADP-001)'
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-PRCXI_Tip10_Adapter:
-  category:
-  - prcxi
-  class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip10_Adapter
-    type: pylabrobot
-  description: '吸头10ul 适配器 (Code: ZX-58-10)'
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-PRCXI_Tip1250_Adapter:
-  category:
-  - prcxi
-  class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip1250_Adapter
-    type: pylabrobot
-  description: 'Tip头适配器 1250uL (Code: ZX-58-1250)'
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-PRCXI_Tip300_Adapter:
-  category:
-  - prcxi
-  class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip300_Adapter
-    type: pylabrobot
-  description: 'ZHONGXI 适配器 300uL (Code: ZX-58-300)'
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0

unilabos/registry/resources/prcxi/plates.yaml

@@ -1,130 +1,10 @@
-PRCXI_48_DeepWell:
-  category: 
-  - prcxi
+prcxi_96_wellplate_360ul_flat:
+  category:
+  - plates
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_48_DeepWell
+    module: unilabos.devices.liquid_handling.prcxi.prcxi_res:prcxi_96_wellplate_360ul_flat
     type: pylabrobot
-  description: '48孔深孔板 (Code: 22)'
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-PRCXI_96_DeepWell:
-  category: 
-  - prcxi
-  class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_96_DeepWell
-    type: pylabrobot
-  description: '96深孔板 (Code: q2)'
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-PRCXI_AGenBio_4_troughplate:
-  category: 
-  - prcxi
-  class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_AGenBio_4_troughplate
-    type: pylabrobot
-  description: '4道储液槽 (Code: sdfrth654)'
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-PRCXI_BioER_96_wellplate:
-  category: 
-  - prcxi
-  class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_BioER_96_wellplate
-    type: pylabrobot
-  description: '2.2ml 深孔板 (Code: ZX-019-2.2)'
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-PRCXI_BioRad_384_wellplate:
-  category: 
-  - prcxi
-  class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_BioRad_384_wellplate
-    type: pylabrobot
-  description: '384板 (Code: q3)'
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-PRCXI_CellTreat_96_wellplate:
-  category: 
-  - prcxi
-  class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_CellTreat_96_wellplate
-    type: pylabrobot
-  description: '细菌培养皿 (Code: ZX-78-096)'
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-PRCXI_PCR_Plate_200uL_nonskirted:
-  category: 
-  - prcxi
-  class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_nonskirted
-    type: pylabrobot
-  description: '0.2ml PCR 板 (Code: ZX-023-0.2)'
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-PRCXI_PCR_Plate_200uL_semiskirted:
-  category: 
-  - prcxi
-  class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_semiskirted
-    type: pylabrobot
-  description: '0.2ml PCR 板 (Code: ZX-023-0.2)'
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-PRCXI_PCR_Plate_200uL_skirted:
-  category: 
-  - prcxi
-  class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_skirted
-    type: pylabrobot
-  description: '0.2ml PCR 板 (Code: ZX-023-0.2)'
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-PRCXI_nest_12_troughplate:
-  category: 
-  - prcxi
-  class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_nest_12_troughplate
-    type: pylabrobot
-  description: '12道储液槽 (Code: 12道储液槽)'
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-PRCXI_nest_1_troughplate:
-  category: 
-  - prcxi
-  class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_nest_1_troughplate
-    type: pylabrobot
-  description: '储液槽 (Code: ZX-58-10000)'
+  description: prcxi_96_wellplate_360ul_flat
   handles: []
   icon: ''
   init_param_schema: {}

unilabos/registry/resources/prcxi/tip_racks.yaml

@@ -1,70 +1,23 @@
-PRCXI_1000uL_Tips:
-  category: 
-  - prcxi
+prcxi_opentrons_96_tiprack_10ul:
+  category:
+  - tip_racks
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_1000uL_Tips
+    module: unilabos.devices.liquid_handling.prcxi.prcxi_res:prcxi_opentrons_96_tiprack_10ul
     type: pylabrobot
-  description: '1000μL Tip头 (Code: ZX-001-1000)'
+  description: prcxi_opentrons_96_tiprack_10ul
   handles: []
   icon: ''
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-PRCXI_10uL_Tips:
-  category: 
+tip_adaptor_1250ul_2:
+  category:
   - prcxi
+  - tip_racks
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_10uL_Tips
+    module: unilabos.devices.liquid_handling.prcxi.prcxi_materials:tip_adaptor_1250ul
     type: pylabrobot
-  description: '10μL Tip头 (Code: ZX-001-10)'
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-PRCXI_10ul_eTips:
-  category: 
-  - prcxi
-  class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_10ul_eTips
-    type: pylabrobot
-  description: '10μL加长 Tip头 (Code: ZX-001-10+)'
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-PRCXI_1250uL_Tips:
-  category: 
-  - prcxi
-  class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_1250uL_Tips
-    type: pylabrobot
-  description: '1250μL Tip头 (Code: ZX-001-1250)'
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-PRCXI_200uL_Tips:
-  category: 
-  - prcxi
-  class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_200uL_Tips
-    type: pylabrobot
-  description: '200μL Tip头 (Code: ZX-001-200)'
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-PRCXI_300ul_Tips:
-  category: 
-  - prcxi
-  class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_300ul_Tips
-    type: pylabrobot
-  description: '300μL Tip头 (Code: ZX-001-300)'
+  description: Tip头适配器 1250uL
   handles: []
   icon: ''
   init_param_schema: {}

unilabos/registry/resources/prcxi/trash.yaml

@@ -1,10 +1,10 @@
-PRCXI_trash:
-  category: 
-  - prcxi
+prcxi_trash:
+  category:
+  - trash
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_trash
+    module: unilabos.devices.liquid_handling.prcxi.prcxi_res:prcxi_trash
     type: pylabrobot
-  description: '废弃槽 (Code: q1)'
+  description: prcxi_trash
   handles: []
   icon: ''
   init_param_schema: {}

unilabos/registry/resources/prcxi/tube_racks.yaml

@@ -1,12 +0,0 @@
-PRCXI_EP_Adapter:
-  category: 
-  - prcxi
-  class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_EP_Adapter
-    type: pylabrobot
-  description: 'ep适配器 (Code: 1)'
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0

unilabos/resources/bioyond/bottles.py

@@ -193,20 +193,3 @@ def BIOYOND_PolymerStation_Flask(
         barcode=barcode,
         model="BIOYOND_PolymerStation_Flask",
     )
-
-def BIOYOND_PolymerStation_Measurement_Vial(
-    name: str,
-    diameter: float = 25.0,
-    height: float = 60.0,
-    max_volume: float = 20000.0,  # 20mL
-    barcode: str = None,
-) -> Bottle:
-    """创建测量小瓶"""
-    return Bottle(
-        name=name,
-        diameter=diameter,
-        height=height,
-        max_volume=max_volume,
-        barcode=barcode,
-        model="BIOYOND_PolymerStation_Measurement_Vial",
-    )

unilabos/resources/bioyond/decks.py

@@ -49,17 +49,20 @@ class BIOYOND_PolymerReactionStation_Deck(Deck):
             "测量小瓶仓库(测密度)": bioyond_warehouse_density_vial("测量小瓶仓库(测密度)"),  # A01～B03
         }
         self.warehouse_locations = {
-            "堆栈1左": Coordinate(-200.0, 450.0, 0.0),  # 左侧位置
-            "堆栈1右": Coordinate(2350.0, 450.0, 0.0),  # 右侧位置
-            "站内试剂存放堆栈": Coordinate(730.0, 390.0, 0.0),
+            "堆栈1左": Coordinate(0.0, 430.0, 0.0),  # 左侧位置
+            "堆栈1右": Coordinate(2500.0, 430.0, 0.0),  # 右侧位置
+            "站内试剂存放堆栈": Coordinate(640.0, 480.0, 0.0),
             # "移液站内10%分装液体准备仓库": Coordinate(1200.0, 600.0, 0.0),
             "站内Tip盒堆栈": Coordinate(300.0, 150.0, 0.0),
-            "测量小瓶仓库(测密度)": Coordinate(940.0, 530.0, 0.0),
+            "测量小瓶仓库(测密度)": Coordinate(922.0, 552.0, 0.0),
         }
+        self.warehouses["站内试剂存放堆栈"].rotation = Rotation(z=90)
+        self.warehouses["测量小瓶仓库(测密度)"].rotation = Rotation(z=270)
 
         for warehouse_name, warehouse in self.warehouses.items():
             self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
 
+
 class BIOYOND_PolymerPreparationStation_Deck(Deck):
     def __init__(
         self,
@@ -141,7 +144,6 @@ class BIOYOND_YB_Deck(Deck):
 
         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:
     by=BIOYOND_YB_Deck(name=name)
     by.setup()

unilabos/resources/bioyond/warehouses.py

@@ -46,55 +46,41 @@ def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
     )
 
 def bioyond_warehouse_density_vial(name: str) -> WareHouse:
-    """创建测量小瓶仓库(测密度) - 竖向排列2列3行
-    布局（从下到上，从左到右）：
-    | A03 | B03 |  ← 顶部
-    | A02 | B02 |  ← 中部
-    | A01 | B01 |  ← 底部
-    """
+    """创建测量小瓶仓库(测密度) A01～B03"""
     return warehouse_factory(
         name=name,
-        num_items_x=2,  # 2列（A, B）
-        num_items_y=3,  # 3行（01-03，从下到上）
+        num_items_x=3,  # 3列（01-03）
+        num_items_y=2,  # 2行（A-B）
         num_items_z=1,  # 1层
         dx=10.0,
         dy=10.0,
         dz=10.0,
-        item_dx=40.0,  # 列间距（A到B的横向距离）
-        item_dy=40.0,  # 行间距（01到02到03的竖向距离）
+        item_dx=40.0,
+        item_dy=40.0,
         item_dz=50.0,
-        # ⭐ 竖向warehouse：槽位尺寸也是竖向的（小瓶已经是正方形，无需调整）
+        # 用更小的 resource_size 来表现 "小点的孔位"
         resource_size_x=30.0,
         resource_size_y=30.0,
         resource_size_z=12.0,
         category="warehouse",
         col_offset=0,
-        layout="vertical-col-major",  # ⭐ 竖向warehouse专用布局
+        layout="row-major",
     )
 
 def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
-    """创建BioYond站内试剂存放堆栈 - 竖向排列1列2行
-    布局（竖向，从下到上）：
-    | A02 |  ← 顶部
-    | A01 |  ← 底部
-    """
+    """创建BioYond站内试剂存放堆栈（A01～A02, 1行×2列）"""
     return warehouse_factory(
         name=name,
-        num_items_x=1,  # 1列
-        num_items_y=2,  # 2行（01-02，从下到上）
+        num_items_x=2,  # 2列（01-02）
+        num_items_y=1,  # 1行（A）
         num_items_z=1,  # 1层
         dx=10.0,
         dy=10.0,
         dz=10.0,
-        item_dx=96.0,   # 列间距（这里只有1列，不重要）
-        item_dy=137.0,  # 行间距（A01到A02的竖向距离）
+        item_dx=137.0,
+        item_dy=96.0,
         item_dz=120.0,
-        # ⭐ 竖向warehouse：交换槽位尺寸，使槽位框也是竖向的
-        resource_size_x=86.0,   # 原来的 resource_size_y
-        resource_size_y=127.0,  # 原来的 resource_size_x
-        resource_size_z=25.0,
         category="warehouse",
-        layout="vertical-col-major",  # ⭐ 竖向warehouse专用布局
     )
 
 def bioyond_warehouse_tipbox_storage(name: str) -> WareHouse:

unilabos/resources/graphio.py

@@ -42,7 +42,7 @@ def canonicalize_nodes_data(
     Returns:
         ResourceTreeSet: 标准化后的资源树集合
     """
-    print_status(f"{len(nodes)} Resources loaded", "info")
+    print_status(f"{len(nodes)} Resources loaded:", "info")
 
     # 第一步：基本预处理（处理graphml的label字段）
     outer_host_node_id = None
@@ -284,18 +284,10 @@ def modify_to_backend_format(data: list[dict[str, Any]]) -> list[dict[str, Any]]
             edge["sourceHandle"] = port[source]
         elif "source_port" in edge:
             edge["sourceHandle"] = edge.pop("source_port")
-        else:
-            typ = edge.get("type")
-            if typ == "communication":
-                continue
         if target in port:
             edge["targetHandle"] = port[target]
         elif "target_port" in edge:
             edge["targetHandle"] = edge.pop("target_port")
-        else:
-            typ = edge.get("type")
-            if typ == "communication":
-                continue
         edge["id"] = f"reactflow__edge-{source}-{edge['sourceHandle']}-{target}-{edge['targetHandle']}"
         for key in ["source_port", "target_port"]:
             if key in edge:
@@ -779,22 +771,6 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
             if not locations:
                 logger.debug(f"[物料位置] {unique_name} 没有location信息，跳过warehouse放置")
 
-            # ⭐ 预先检查：如果物料的任何location在竖向warehouse中，提前交换尺寸
-            # 这样可以避免多个location时尺寸不一致的问题
-            needs_size_swap = False
-            for loc in locations:
-                wh_name_check = loc.get("whName")
-                if wh_name_check in ["站内试剂存放堆栈", "测量小瓶仓库(测密度)"]:
-                    needs_size_swap = True
-                    break
-
-            if needs_size_swap and hasattr(plr_material, 'size_x') and hasattr(plr_material, 'size_y'):
-                original_x = plr_material.size_x
-                original_y = plr_material.size_y
-                plr_material.size_x = original_y
-                plr_material.size_y = original_x
-                logger.debug(f"   物料 {unique_name} 将放入竖向warehouse，预先交换尺寸: {original_x}×{original_y} → {plr_material.size_x}×{plr_material.size_y}")
-
             for loc in locations:
                 wh_name = loc.get("whName")
                 logger.debug(f"[物料位置] {unique_name} 尝试放置到 warehouse: {wh_name} (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')}, z={loc.get('z')})")
@@ -816,6 +792,7 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
                     logger.debug(f"[Warehouse匹配] 找到warehouse: {wh_name} (容量: {warehouse.capacity}, 行×列: {warehouse.num_items_x}×{warehouse.num_items_y})")
 
                     # Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
+                    # PyLabRobot warehouse是列优先存储: A01,B01,C01,D01, A02,B02,C02,D02, ...
                     x = loc.get("x", 1)  # 行号 (1-based: 1=A, 2=B, 3=C, 4=D)
                     y = loc.get("y", 1)  # 列号 (1-based: 1=01, 2=02, 3=03...)
                     z = loc.get("z", 1)  # 层号 (1-based, 通常为1)
@@ -824,23 +801,12 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
                     if wh_name == "堆栈1右":
                         y = y - 4  # 将5-8映射到1-4
 
-                    # 特殊处理竖向warehouse（站内试剂存放堆栈、测量小瓶仓库）
-                    # 这些warehouse使用 vertical-col-major 布局
-                    if wh_name in ["站内试剂存放堆栈", "测量小瓶仓库(测密度)"]:
-                        # vertical-col-major 布局的坐标映射：
-                        # - Bioyond的x(1=A,2=B)对应warehouse的列(col, x方向)
-                        # - Bioyond的y(1=01,2=02,3=03)对应warehouse的行(row, y方向)，从下到上
-                        # vertical-col-major 中: row=0 对应底部，row=n-1 对应顶部
-                        # Bioyond y=1(01) 对应底部 → row=0, y=2(02) 对应中间 → row=1
-                        # 索引计算: idx = row * num_cols + col
-                        col_idx = x - 1  # Bioyond的x(A,B) → col索引(0,1)
-                        row_idx = y - 1  # Bioyond的y(01,02,03) → row索引(0,1,2)
-                        layer_idx = z - 1
-
-                        idx = layer_idx * (warehouse.num_items_x * warehouse.num_items_y) + row_idx * warehouse.num_items_x + col_idx
-                        logger.debug(f"🔍 竖向warehouse {wh_name}: Bioyond(x={x},y={y},z={z}) → warehouse(col={col_idx},row={row_idx},layer={layer_idx}) → idx={idx}, capacity={warehouse.capacity}")
-
-                    # 普通横向warehouse的处理
+                    # 特殊处理：对于1行×N列的横向warehouse（如站内试剂存放堆栈）
+                    # Bioyond的y坐标表示线性位置序号，而不是列号
+                    if warehouse.num_items_y == 1:
+                        # 1行warehouse: 直接用y作为线性索引
+                        idx = y - 1
+                        logger.debug(f"1行warehouse {wh_name}: y={y} → idx={idx}")
                     else:
                         # 多行warehouse: 根据 layout 使用不同的索引计算
                         row_idx = x - 1  # x表示行: 转为0-based
@@ -864,7 +830,6 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
 
                     if 0 <= idx < warehouse.capacity:
                         if warehouse[idx] is None or isinstance(warehouse[idx], ResourceHolder):
-                            # 物料尺寸已在放入warehouse前根据需要进行了交换
                             warehouse[idx] = plr_material
                             logger.debug(f"✅ 物料 {unique_name} 放置到 {wh_name}[{idx}] (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')})")
                     else:
@@ -1038,24 +1003,11 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
                 logger.debug(f"  📭 [单瓶物料] {resource.name} 无液体，使用资源名: {material_name}")
 
             # 🎯 处理物料默认参数和单位
-            # 优先级: typeId参数 > 物料名称参数 > 默认值
+            # 检查是否有该物料名称的默认参数配置
             default_unit = "个"  # 默认单位
             material_parameters = {}
 
-            # 1️⃣ 首先检查是否有 typeId 对应的参数配置（从 material_params 中获取，key 格式为 "type:<typeId>"）
-            type_params_key = f"type:{type_id}"
-            if type_params_key in material_params:
-                params_config = material_params[type_params_key].copy()
-
-                # 提取 unit 字段（如果有）
-                if "unit" in params_config:
-                    default_unit = params_config.pop("unit")  # 从参数中移除，放到外层
-
-                # 剩余的字段放入 Parameters
-                material_parameters = params_config
-                logger.debug(f"  🔧 [物料参数-按typeId] 为 typeId={type_id[:8]}... 应用配置: unit={default_unit}, parameters={material_parameters}")
-            # 2️⃣ 其次检查是否有该物料名称的默认参数配置
-            elif material_name in material_params:
+            if material_name in material_params:
                 params_config = material_params[material_name].copy()
 
                 # 提取 unit 字段（如果有）
@@ -1064,7 +1016,7 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
 
                 # 剩余的字段放入 Parameters
                 material_parameters = params_config
-                logger.debug(f"  🔧 [物料参数-按名称] 为 {material_name} 应用配置: unit={default_unit}, parameters={material_parameters}")
+                logger.debug(f"  🔧 [物料参数] 为 {material_name} 应用配置: unit={default_unit}, parameters={material_parameters}")
 
             # 转换为 JSON 字符串
             parameters_json = json.dumps(material_parameters) if material_parameters else "{}"

unilabos/resources/plr_additional_res_reg.py

@@ -4,11 +4,7 @@ def register():
     # noinspection PyUnresolvedReferences
     from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Deck
     # noinspection PyUnresolvedReferences
-    from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Plate
-    from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300PlateAdapter
-    from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300TipRack
-    from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Trash
-    from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300TubeRack
+    from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container
     # noinspection PyUnresolvedReferences
     from unilabos.devices.workstation.workstation_base import WorkStationContainer
 

unilabos/resources/warehouse.py

@@ -42,10 +42,6 @@ def warehouse_factory(
                 if layout == "row-major":
                     # 行优先：row=0(A行) 应该显示在上方，需要较小的 y 值
                     y = dy + row * 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
-                    y = dy + (num_items_y - row - 1) * item_dy
                 else:
                     # 列优先：保持原逻辑（row=0 对应较大的 y）
                     y = dy + (num_items_y - row - 1) * item_dy
@@ -70,14 +66,6 @@ def warehouse_factory(
         # 行优先顺序: A01,A02,A03,A04, B01,B02,B03,B04
         # locations[0] 对应 row=0, y最大（前端顶部）→ 应该是 A01
         keys = [f"{LETTERS[j]}{i + 1 + col_offset:02d}" for j in range(len_y) for i in range(len_x)]
-    elif layout == "vertical-col-major":
-        # ⭐ 竖向warehouse专用布局：
-        # 字母(A,B,C...)对应列(横向, x方向)，数字(01,02,03...)对应行(竖向, y方向，从下到上)
-        # locations 生成顺序: row→col (row=0,col=0 → row=0,col=1 → row=1,col=0 → ...)
-        # 其中 row=0 对应底部(y大)，row=n-1 对应顶部(y小)
-        # 标签中 01 对应底部(row=0)，02 对应中间(row=1)，03 对应顶部(row=2)
-        # 标签顺序: A01,B01,A02,B02,A03,B03
-        keys = [f"{LETTERS[col]}{row + 1 + col_offset:02d}" for row in range(len_y) for col in range(len_x)]
     else:
         # 列优先顺序: A01,B01,C01,D01, A02,B02,C02,D02
         keys = [f"{LETTERS[j]}{i + 1 + col_offset:02d}" for i in range(len_x) for j in range(len_y)]

unilabos/ros/nodes/presets/host_node.py

@@ -1157,12 +1157,11 @@ class HostNode(BaseROS2DeviceNode):
             响应对象，包含查询到的资源
         """
         try:
-            from unilabos.app.web import http_client
             data = json.loads(request.command)
             if "uuid" in data and data["uuid"] is not None:
-                http_req = http_client.resource_tree_get([data["uuid"]], data["with_children"])
+                http_req = self.bridges[-1].resource_tree_get([data["uuid"]], data["with_children"])
             elif "id" in data and data["id"].startswith("/"):
-                http_req = http_client.resource_get(data["id"], data["with_children"])
+                http_req = self.bridges[-1].resource_get(data["id"], data["with_children"])
             else:
                 raise ValueError("没有使用正确的物料 id 或 uuid")
             response.response = json.dumps(http_req["data"])

unilabos/ros/nodes/resource_tracker.py

@@ -66,8 +66,8 @@ class ResourceDict(BaseModel):
     klass: str = Field(alias="class", description="Resource class name")
     pose: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition)
     config: Dict[str, Any] = Field(description="Resource configuration")
-    data: Dict[str, Any] = Field(description="Resource data, eg: container liquid data")
-    extra: Dict[str, Any] = Field(description="Extra data, eg: slot index")
+    data: Dict[str, Any] = Field(description="Resource data")
+    extra: Dict[str, Any] = Field(description="Extra data")
 
     @field_serializer("parent_uuid")
     def _serialize_parent(self, parent_uuid: Optional["ResourceDict"]):

unilabos/test/experiments/Grignard_flow_batchreact_single_pumpvalve.json

@@ -69,7 +69,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "device",
-            "class": "syringe_pump_with_valve.runze.SY03B-T08",
+            "class": "syringepump.runze",
             "position": {
                 "x": 620.6111111111111,
                 "y": 171,
@@ -93,7 +93,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 430.4087301587302,
                 "y": 428,
@@ -117,7 +117,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 295.36944444444447,
                 "y": 428,
@@ -141,7 +141,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 165.36944444444444,
                 "y": 428,
@@ -165,7 +165,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 165.36944444444444,
                 "y": 428,
@@ -189,7 +189,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 35,
                 "y": 428,
@@ -213,7 +213,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 698.1111111111111,
                 "y": 428,
@@ -255,7 +255,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "device",
-            "class": "syringe_pump_with_valve.runze.SY03B-T08",
+            "class": "syringepump.runze",
             "position": {
                 "x": 1195.611507936508,
                 "y": 686,
@@ -279,7 +279,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 1587.703373015873,
                 "y": 1172.5,
@@ -299,7 +299,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "device",
-            "class": "separator.homemade",
+            "class": "separator_controller",
             "position": {
                 "x": 1624.4027777777778,
                 "y": 665.5,
@@ -320,7 +320,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 1614.404365079365,
                 "y": 948,
@@ -340,7 +340,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 1915.7035714285714,
                 "y": 665.5,
@@ -360,7 +360,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 1785.7035714285714,
                 "y": 665.5,
@@ -384,7 +384,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 2054.0650793650793,
                 "y": 665.5,
@@ -408,7 +408,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "device",
-            "class": "syringe_pump_with_valve.runze.SY03B-T08",
+            "class": "syringepump.runze",
             "position": {
                 "x": 1630.6527777777778,
                 "y": 448.5,
@@ -432,7 +432,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "device",
-            "class": "rotavap.one",
+            "class": "rotavap",
             "position": {
                 "x": 1339.7031746031746,
                 "y": 968.5,
@@ -453,7 +453,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 1339.7031746031746,
                 "y": 1152,
@@ -473,7 +473,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 909.722619047619,
                 "y": 948,
@@ -493,7 +493,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 867.972619047619,
                 "y": 1152,
@@ -513,7 +513,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 742.722619047619,
                 "y": 948,
@@ -533,7 +533,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 1206.722619047619,
                 "y": 948,
@@ -553,7 +553,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 1148.222619047619,
                 "y": 1152,
@@ -573,7 +573,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "device",
-            "class": "syringe_pump_with_valve.runze.SY03B-T08",
+            "class": "syringepump.runze",
             "position": {
                 "x": 1469.7031746031746,
                 "y": 968.5,

unilabos/test/experiments/chinwe.json

@@ -1,34 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "ChinWeStation",
-            "name": "分液工作站",
-            "children": [],
-            "parent": null,
-            "type": "device",
-            "class": "separator.chinwe",
-            "position": {
-                "x": 0,
-                "y": 0,
-                "z": 0
-            },
-            "config": {
-                "port": "192.168.31.13:8899",
-                "baudrate": 9600,
-                "pump_ids": [
-                    1,
-                    2,
-                    3
-                ],
-                "motor_ids": [
-                    4,
-                    5
-                ],
-                "sensor_id": 6,
-                "sensor_threshold": 300
-            },
-            "data": {}
-        }
-    ],
-    "links": []
-}

unilabos/test/experiments/prcxi_9300.json

@@ -178,7 +178,7 @@
                 "z": 0
             },
             "config": {
-                "type": "PRCXI9300TipRack",
+                "type": "PRCXI9300Container",
                 "size_x": 50,
                 "size_y": 40,
                 "size_z": 30,
@@ -4248,7 +4248,7 @@
                 "z": 0
             },
             "config": {
-                "type": "PRCXI9300Plate",
+                "type": "PRCXI9300Container",
                 "size_x": 50,
                 "size_y": 40,
                 "size_z": 30,
@@ -9415,7 +9415,7 @@
                 "z": 0
             },
             "config": {
-                "type": "PRCXI9300Plate",
+                "type": "PRCXI9300Container",
                 "size_x": 50,
                 "size_y": 40,
                 "size_z": 30,
@@ -13389,7 +13389,7 @@
                 "z": 0
             },
             "config": {
-                "type": "PRCXI9300Plate",
+                "type": "PRCXI9300Container",
                 "size_x": 50,
                 "size_y": 40,
                 "size_z": 30,
@@ -17363,7 +17363,7 @@
                 "z": 0
             },
             "config": {
-                "type": "PRCXI9300Plate",
+                "type": "PRCXI9300Container",
                 "size_x": 50,
                 "size_y": 40,
                 "size_z": 30,

unilabos/test/experiments/reaction_station_bioyond.json

@@ -14,11 +14,7 @@
             ],
             "type": "device",
             "class": "reaction_station.bioyond",
-            "position": {
-                "x": 0,
-                "y": 1100,
-                "z": 0
-            },
+            "position": {"x": 0, "y": 3800, "z": 0},
             "config": {
                 "config": {
                     "api_key": "DE9BDDA0",
@@ -61,10 +57,6 @@
                         "BIOYOND_PolymerStation_TipBox": [
                             "枪头盒",
                             "3a143890-9d51-60ac-6d6f-6edb43c12041"
-                        ],
-                        "BIOYOND_PolymerStation_Measurement_Vial": [
-                            "测量小瓶",
-                            "b1fc79c9-5864-4f05-8052-6ed3abc18a97"
                         ]
                     }
                 },
@@ -74,9 +66,6 @@
                         "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck"
                     }
                 },
-                "size_x": 2700.0,
-                "size_y": 1080.0,
-                "size_z": 2000.0,
                 "protocol_type": []
             },
             "data": {}
@@ -88,11 +77,7 @@
             "parent": "reaction_station_bioyond",
             "type": "device",
             "class": "reaction_station.reactor",
-            "position": {
-                "x": 1150,
-                "y": 380,
-                "z": 0
-            },
+            "position": {"x": 1150, "y": 380, "z": 0},
             "config": {},
             "data": {}
         },
@@ -103,11 +88,7 @@
             "parent": "reaction_station_bioyond",
             "type": "device",
             "class": "reaction_station.reactor",
-            "position": {
-                "x": 1365,
-                "y": 380,
-                "z": 0
-            },
+            "position": {"x": 1365, "y": 380, "z": 0},
             "config": {},
             "data": {}
         },
@@ -118,11 +99,7 @@
             "parent": "reaction_station_bioyond",
             "type": "device",
             "class": "reaction_station.reactor",
-            "position": {
-                "x": 1580,
-                "y": 380,
-                "z": 0
-            },
+            "position": {"x": 1580, "y": 380, "z": 0},
             "config": {},
             "data": {}
         },
@@ -133,11 +110,7 @@
             "parent": "reaction_station_bioyond",
             "type": "device",
             "class": "reaction_station.reactor",
-            "position": {
-                "x": 1790,
-                "y": 380,
-                "z": 0
-            },
+            "position": {"x": 1790, "y": 380, "z": 0},
             "config": {},
             "data": {}
         },
@@ -148,11 +121,7 @@
             "parent": "reaction_station_bioyond",
             "type": "device",
             "class": "reaction_station.reactor",
-            "position": {
-                "x": 2010,
-                "y": 380,
-                "z": 0
-            },
+            "position": {"x": 2010, "y": 380, "z": 0},
             "config": {},
             "data": {}
         },
@@ -165,7 +134,7 @@
             "class": "BIOYOND_PolymerReactionStation_Deck",
             "position": {
                 "x": 0,
-                "y": 1100,
+                "y": 0,
                 "z": 0
             },
             "config": {