add camera driver (#191)

* add camera driver

* add init.py file to cameraSII driver

README.md

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

README_zh.md

@@ -41,7 +41,9 @@ 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 uni-lab::unilabos -c robostack-staging -c conda-forge
+mamba create -n unilab python=3.11.11
+mamba activate unilab
+mamba install -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

@@ -317,45 +317,6 @@ 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

@@ -2,7 +2,6 @@ import json
 import logging
 import traceback
 import uuid
-import xml.etree.ElementTree as ET
 from typing import Any, Dict, List
 
 import networkx as nx
@@ -25,7 +24,15 @@ class SimpleGraph:
 
     def add_edge(self, source, target, **attrs):
         """添加边"""
-        edge = {"source": source, "target": target, **attrs}
+        # 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
+        }
         self.edges.append(edge)
 
     def to_dict(self):
@@ -42,6 +49,7 @@ class SimpleGraph:
             "multigraph": False,
             "graph": {},
             "nodes": nodes_list,
+            "edges": self.edges,
             "links": self.edges,
         }
 
@@ -58,495 +66,8 @@ 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

@@ -0,0 +1,35 @@
+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

@@ -20,6 +20,7 @@ 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)
@@ -41,7 +42,7 @@ 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
 
@@ -49,6 +50,8 @@ 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(
@@ -153,21 +156,54 @@ 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
-    args = parse_args()
-    convert_argv_dashes_to_underscores(args)
-    args_dict = vars(args.parse_args())
+    parser = parse_args()
+    convert_argv_dashes_to_underscores(parser)
+    args = parser.parse_args()
+    args_dict = vars(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)
@@ -220,17 +256,18 @@ 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_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", "")
+    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
 
     # 设置BasicConfig参数
     if args_dict.get("ak", ""):
@@ -239,9 +276,12 @@ 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 args_dict["use_remote_resource"]:
+    if not workflow_upload and args_dict["use_remote_resource"]:
         print_status("使用远程资源启动", "info")
         from unilabos.app.web import http_client
 
@@ -254,7 +294,6 @@ 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)
@@ -283,9 +322,31 @@ def main():
 
     # 注册表
     lab_registry = build_registry(
-        args_dict["registry_path"], args_dict.get("complete_registry", False), args_dict["upload_registry"]
+        args_dict["registry_path"], args_dict.get("complete_registry", False), BasicConfig.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)
@@ -327,6 +388,10 @@ 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 = [
@@ -362,20 +427,6 @@ 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:
@@ -390,6 +441,7 @@ 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)
@@ -431,16 +483,13 @@ 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

@@ -76,7 +76,8 @@ 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:
-            f.write(json.dumps({"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}, indent=4))
+            payload = {"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}
+            f.write(json.dumps(payload, 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:
@@ -299,6 +300,10 @@ 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]]:
@@ -331,6 +336,67 @@ 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.info(f"[MessageProcessor] Connected to {self.websocket_url}")
+                    logger.trace(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.debug("[MessageProcessor] Send handler started")
+        logger.trace("[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.debug("[QueueProcessor] Queue processor started")
+        logger.trace("[QueueProcessor] Queue processor started")
 
         while self.is_running:
             try:
@@ -1175,7 +1175,6 @@ 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:
@@ -1188,13 +1187,11 @@ 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.info("[WebSocketClient] All threads started")
+        logger.trace("[WebSocketClient] All threads started")
 
     def stop(self) -> None:
         """停止WebSocket客户端"""

unilabos/config/config.py

@@ -21,7 +21,8 @@ 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
-    log_level: Literal['TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'] = "DEBUG"  # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
+    # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
+    log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG"
 
     @classmethod
     def auth_secret(cls):
@@ -41,7 +42,7 @@ class WSConfig:
 
 # HTTP配置
 class HTTPConfig:
-    remote_addr = "http://127.0.0.1:48197/api/v1"
+    remote_addr = "https://uni-lab.bohrium.com/api/v1"
 
 
 # ROS配置
@@ -65,13 +66,14 @@ 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
+from opcua import Client, Node, ua
 from opcua.ua import NodeId, NodeClass, VariantType
 
 
@@ -47,23 +47,68 @@ class Base(ABC):
     def _get_node(self) -> Node:
         if self._node is None:
             try:
-                # 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)
+                # 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)
                     else:
-                        raise ValueError(f"无法解析节点ID: {self._node_id}")
+                        # 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
                 else:
-                    # 直接使用节点ID字符串
+                    # 非字符串，尝试直接使用
                     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
 
@@ -104,7 +149,56 @@ class Variable(Base):
 
     def write(self, value: Any) -> bool:
         try:
-            self._get_node().set_value(value)
+            # 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)
+
             return False
         except Exception as e:
             print(f"写入变量 {self._name} 失败: {e}")
@@ -120,20 +214,50 @@ class Method(Base):
     def _get_parent_node(self) -> Node:
         if self._parent_node is None:
             try:
-                # 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)
+                # 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)
                     else:
-                        raise ValueError(f"无法解析父节点ID: {self._parent_node_id}")
+                        # 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)
                 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}")

unilabos/devices/cameraSII/cameraDriver.py

@@ -0,0 +1,712 @@
+#!/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

@@ -0,0 +1,401 @@
+#!/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

@@ -0,0 +1,51 @@
+#!/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

@@ -0,0 +1,36 @@
+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

@@ -0,0 +1,21 @@
+# 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

@@ -0,0 +1,78 @@
+#!/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

@@ -0,0 +1,50 @@
+#!/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

@@ -988,6 +988,18 @@ 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

@@ -0,0 +1,954 @@
+[
+  {
+    "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,
+    "IsControl": 1,
+    "ArmCode": null,
+    "XSpacing": 9,
+    "YSpacing": 9,
+    "materialEnum": 0,
+    "Margins_X": 0,
+    "Margins_Y": 0
+  },
+  {
+    "uuid": "73bb9b10bc394978b70e027bf45ce2d3",
+    "Code": "ZX-023-0.2",
+    "Name": "0.2ml PCR板",
+    "SummaryName": "0.2ml PCR板",
+    "SupplyType": 1,
+    "Factory": "中析",
+    "LengthNum": 126,
+    "WidthNum": 86,
+    "HeightNum": 21.2,
+    "DepthNum": 15.17,
+    "StandardHeight": 0,
+    "PipetteHeight": null,
+    "HoleColum": 12,
+    "HoleRow": 8,
+    "HoleDiameter": 6,
+    "Volume": 1000,
+    "ImagePath": "",
+    "QRCode": null,
+    "Qty": -12,
+    "CreateName": null,
+    "CreateTime": "2021-12-30 21:06:02.7746392",
+    "UpdateName": null,
+    "UpdateTime": "2024-02-20 16:17:16.7921748",
+    "IsStright": 0,
+    "IsGeneral": 1,
+    "IsControl": 1,
+    "ArmCode": null,
+    "XSpacing": 9,
+    "YSpacing": 9,
+    "materialEnum": null,
+    "Margins_X": 0,
+    "Margins_Y": 0
+  },
+  {
+    "uuid": "ca877b8b114a4310b429d1de4aae96ee",
+    "Code": "ZX-019-2.2",
+    "Name": "2.2ml 深孔板",
+    "SummaryName": "2.2ml 深孔板",
+    "SupplyType": 1,
+    "Factory": "宁静致远",
+    "LengthNum": 127.3,
+    "WidthNum": 85.35,
+    "HeightNum": 44,
+    "DepthNum": 42,
+    "StandardHeight": 0,
+    "PipetteHeight": null,
+    "HoleColum": 12,
+    "HoleRow": 8,
+    "HoleDiameter": 8.2,
+    "Volume": 2200,
+    "ImagePath": "",
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unilabos/devices/liquid_handling/prcxi/deck.json

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

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

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

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

@@ -0,0 +1,607 @@
+[
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+  {
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+    "B": 3548.3,
+    "compensateEnum": 6,
+    "materialVolume": 300
+  }
+]

unilabos/devices/liquid_handling/prcxi/json_output/_base_material_old_20240226.json

@@ -0,0 +1,794 @@
+[
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unilabos/devices/liquid_handling/prcxi/json_output/_base_plan_master_old_20240416.json

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

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+[
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+    "plate_position_id": "ef121889-2724-4b3d-a786-bbf0bd213c3d"
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+    "name": "T10",
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+    "plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
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+  {
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+    "number": 11,
+    "name": "T11",
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+    "plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
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+    "row": 2,
+    "col": 3,
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+    "col_span": 1,
+    "plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
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unilabos/devices/liquid_handling/prcxi/json_output/base_arm_model.json

@@ -0,0 +1,74 @@
+[
+  {
+    "uuid": "9a3007baa748457b8d5162f5c5918553",
+    "ArmCode": "SC10",
+    "ArmName": "单道-10uL",
+    "CmdCode": "SC10",
+    "ChannelNum": 1,
+    "Dosage": 10,
+    "CreateName": "admin",
+    "CreateTime": "2021-11-13 14:04:02.000",
+    "UpdateName": "admin",
+    "UpdateTime": "2021-11-13 14:04:12.000"
+  },
+  {
+    "uuid": "8f57a4cc859d4c02bffbeeadcfb2b661",
+    "ArmCode": "SC300",
+    "ArmName": "单道-300uL",
+    "CmdCode": "SC300",
+    "ChannelNum": 1,
+    "Dosage": 300,
+    "CreateName": "admin",
+    "CreateTime": "2021-11-11 11:11:11.000",
+    "UpdateName": "admin",
+    "UpdateTime": "2021-11-11 11:11:11.000"
+  },
+  {
+    "uuid": "8fe0320823de49a99bfa5060ce1aaa28",
+    "ArmCode": "SC1250",
+    "ArmName": "单道-1250",
+    "CmdCode": "SC1250",
+    "ChannelNum": 1,
+    "Dosage": 1250,
+    "CreateName": "admin",
+    "CreateTime": "2021-11-12 10:10:10.000",
+    "UpdateName": "admin",
+    "UpdateTime": "2021-11-12 11:11:11.000"
+  },
+  {
+    "uuid": "88f22c5384e94dbbad60961d4d2b5e91",
+    "ArmCode": "MC10",
+    "ArmName": "八道-10uL",
+    "CmdCode": "MC10",
+    "ChannelNum": 8,
+    "Dosage": 10,
+    "CreateName": "admin",
+    "CreateTime": "2021-11-12 10:10:10.000",
+    "UpdateName": "admin",
+    "UpdateTime": "2021-11-13 12:12:12.000"
+  },
+  {
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+    "ArmCode": "MC300",
+    "ArmName": "八道-300uL",
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+    "Dosage": 300,
+    "CreateName": "admin",
+    "CreateTime": "2021-11-12 12:12:12.000",
+    "UpdateName": "admin",
+    "UpdateTime": "2021-11-12 10:10:10.000"
+  },
+  {
+    "uuid": "5afcbd7d1d6749079d1c94f8c2e68f06",
+    "ArmCode": "MC1250",
+    "ArmName": "八道-1250uL",
+    "CmdCode": "MC1250",
+    "ChannelNum": 8,
+    "Dosage": 1250,
+    "CreateName": "admin",
+    "CreateTime": "2021-11-12 12:12:10.000",
+    "UpdateName": "admin",
+    "UpdateTime": "2021-11-12 12:11:11.000"
+  }
+]

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

@@ -0,0 +1,10 @@
+[
+  {
+    "uuid": "bd52d6566534441ea523265814dc06e8",
+    "uuidMaterial": "01bdeb95a1314dc78b8f25667b08d531",
+    "ChannelNum": 8,
+    "HoleNo": 96,
+    "HoleCenterXYZ": "300",
+    "uuidLayoutMaster": "4f35adc958c540fcb40d6f9dd51e40fa"
+  }
+]

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

@@ -0,0 +1,20 @@
+[
+  {
+    "uuid": "4f35adc958c540fcb40d6f9dd51e40fa",
+    "BoardCode": 34,
+    "BoardNum": 1,
+    "BoardLength": 500,
+    "BoardWidth": 400,
+    "BoardColum": 4,
+    "BoardRow": 3,
+    "TotalColum": 4,
+    "TotalRow": 3,
+    "BoardCenterXY": "300",
+    "HoleQty": 96,
+    "Version": 1,
+    "CreateTime": "2021-11-15",
+    "CreateName": "admin",
+    "UpdateTime": "2021-11-15",
+    "UpdateName": "admin"
+  }
+]

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

@@ -0,0 +1,98 @@
+[
+  {
+    "id": "ef121889-2724-4b3d-a786-bbf0bd213c3d",
+    "name": "9300_V02",
+    "row": 2,
+    "col": 3,
+    "create_name": "",
+    "create_time": "2023-08-12 16:02:20.994",
+    "update_name": null,
+    "update_time": null,
+    "remark": "9300_V02",
+    "isUse": 0
+  },
+  {
+    "id": "9af15efc-29d2-4c44-8533-bbaf24913be6",
+    "name": "9310",
+    "row": 3,
+    "col": 4,
+    "create_name": "",
+    "create_time": "2023-08-12 16:23:07.472",
+    "update_name": null,
+    "update_time": null,
+    "remark": "9310",
+    "isUse": 0
+  },
+  {
+    "id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546",
+    "name": "6版位",
+    "row": 2,
+    "col": 4,
+    "create_name": "",
+    "create_time": "2023-10-09 11:05:57.244",
+    "update_name": null,
+    "update_time": null,
+    "remark": "6版位",
+    "isUse": 0
+  },
+  {
+    "id": "77673540-92c4-4404-b659-4257034a9c5e",
+    "name": "9300_V03",
+    "row": 2,
+    "col": 3,
+    "create_name": "",
+    "create_time": "2024-01-20 08:49:09.620",
+    "update_name": null,
+    "update_time": null,
+    "remark": "9300_V03",
+    "isUse": 0
+  },
+  {
+    "id": "c08591fe-bc7e-42a8-bfa1-a27a4967058e",
+    "name": "9320",
+    "row": 4,
+    "col": 7,
+    "create_name": "",
+    "create_time": "2025-03-10 13:44:17.994",
+    "update_name": null,
+    "update_time": null,
+    "remark": "9320",
+    "isUse": 0
+  },
+  {
+    "id": "54092457-a8b8-4457-bccd-e8c251e83ebd",
+    "name": "7.17演示",
+    "row": 4,
+    "col": 4,
+    "create_name": "",
+    "create_time": "2025-07-12 17:08:38.336",
+    "update_name": null,
+    "update_time": null,
+    "remark": "7.17演示",
+    "isUse": 0
+  },
+  {
+    "id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc",
+    "name": "北京大学 16版位",
+    "row": 4,
+    "col": 4,
+    "create_name": "",
+    "create_time": "2025-09-03 13:23:51.781",
+    "update_name": null,
+    "update_time": null,
+    "remark": "北京大学 16版位",
+    "isUse": 1
+  },
+  {
+    "id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a",
+    "name": "TEST",
+    "row": 4,
+    "col": 4,
+    "create_name": "",
+    "create_time": "2025-10-27 14:36:03.266",
+    "update_name": null,
+    "update_time": null,
+    "remark": "TEST",
+    "isUse": 0
+  }
+]

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

@@ -0,0 +1,872 @@
+[
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+  },
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+  },
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+  },
+  {
+    "id": "6c5969a9-e763-48f4-97f4-a9027e3ea7ef",
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+    "name": "T16",
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+    "col_span": 1,
+    "plate_position_id": "c08591fe-bc7e-42a8-bfa1-a27a4967058e"
+  },
+  {
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+    "name": "T17",
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+  },
+  {
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+    "col_span": 1,
+    "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
+  },
+  {
+    "id": "dba90870-4b7a-4fbd-b33f-948bbb594703",
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+  },
+  {
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+    "name": "T6",
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+    "col_span": 1,
+    "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
+  },
+  {
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+    "number": 7,
+    "name": "T7",
+    "row": 1,
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+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
+  },
+  {
+    "id": "6ec7343f-12b9-42ae-86d1-3894758e69b4",
+    "number": 8,
+    "name": "T8",
+    "row": 2,
+    "col": 1,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
+  },
+  {
+    "id": "b5f02dbc-ffc6-452a-ad9f-2d1ff3db2064",
+    "number": 9,
+    "name": "T9",
+    "row": 2,
+    "col": 2,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
+  },
+  {
+    "id": "7635380a-4f96-4894-9a54-37c2bd27f148",
+    "number": 10,
+    "name": "T10",
+    "row": 2,
+    "col": 3,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
+  },
+  {
+    "id": "b4b6b063-5a0b-45a2-aa47-f427d4cd06f6",
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+    "name": "T11",
+    "row": 3,
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+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
+  },
+  {
+    "id": "af02c689-7bca-476b-bd05-ce21d3e83f27",
+    "number": 12,
+    "name": "T12",
+    "row": 3,
+    "col": 2,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
+  },
+  {
+    "id": "52a42e58-c0d6-420c-bc0b-575f749c7e3b",
+    "number": 13,
+    "name": "T13",
+    "row": 3,
+    "col": 3,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
+  },
+  {
+    "id": "169c12fe-e2f4-465e-9fd3-e58eac83a502",
+    "number": 1,
+    "name": "T1",
+    "row": 0,
+    "col": 0,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "b6072651-1df5-4946-a5b4-fbff3fa54e6a",
+    "number": 2,
+    "name": "T2",
+    "row": 0,
+    "col": 1,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "d0b8ea7c-f06e-4d94-98a8-70ffcba73c47",
+    "number": 3,
+    "name": "T3",
+    "row": 0,
+    "col": 2,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "a7a8eb69-63f6-494e-a441-b7aef0f7c8a4",
+    "number": 4,
+    "name": "T4",
+    "row": 0,
+    "col": 3,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "21966669-6761-4e37-947c-12fec82173fb",
+    "number": 5,
+    "name": "T5",
+    "row": 1,
+    "col": 0,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "2227b825-fe1d-4fa3-bcb2-6e4b3c10ea53",
+    "number": 6,
+    "name": "T6",
+    "row": 1,
+    "col": 1,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "b799da88-c2d9-4ec4-81ec-bc0991a50fe5",
+    "number": 7,
+    "name": "T7",
+    "row": 1,
+    "col": 2,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "adaaa00a-ff6b-4bd8-b8f1-bb100488f306",
+    "number": 8,
+    "name": "T8",
+    "row": 1,
+    "col": 3,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "3bc98311-b548-46d3-a0e0-4f1edcf10e24",
+    "number": 9,
+    "name": "T9",
+    "row": 2,
+    "col": 0,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "81befc70-d249-49af-93dd-2efbe88c0211",
+    "number": 10,
+    "name": "T10",
+    "row": 2,
+    "col": 1,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "45dd5535-0293-4d27-beab-1e486657b148",
+    "number": 11,
+    "name": "T11",
+    "row": 2,
+    "col": 2,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "12ccf33a-6fe7-44a4-8643-b0b0ac6dd181",
+    "number": 12,
+    "name": "T12",
+    "row": 2,
+    "col": 3,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "900272dd-23fd-41a4-a366-254999a30487",
+    "number": 13,
+    "name": "T13",
+    "row": 3,
+    "col": 0,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "c366710d-2b81-4cee-8667-2b86e77e5c34",
+    "number": 14,
+    "name": "T14",
+    "row": 3,
+    "col": 1,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "e18a9271-bc66-4c2b-8bc1-0fb129b5cc2f",
+    "number": 15,
+    "name": "T15",
+    "row": 3,
+    "col": 2,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "6737cba0-de84-4c1f-992d-645e7f159b0c",
+    "number": 16,
+    "name": "T16",
+    "row": 3,
+    "col": 3,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "8ace38ab-dbc7-48a1-8226-0fe92d176e07",
+    "number": 1,
+    "name": "T1",
+    "row": 0,
+    "col": 0,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
+  },
+  {
+    "id": "033fec53-c52d-4b59-aec6-2135ae0e18b9",
+    "number": 2,
+    "name": "T2",
+    "row": 0,
+    "col": 1,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
+  },
+  {
+    "id": "fa730930-8709-4250-928f-f757fce57b60",
+    "number": 3,
+    "name": "T3",
+    "row": 0,
+    "col": 2,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
+  },
+  {
+    "id": "e279d6f1-5243-4224-8953-1033dbea25ac",
+    "number": 4,
+    "name": "T4",
+    "row": 0,
+    "col": 3,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
+  },
+  {
+    "id": "76bd9426-6324-4af2-b12f-6ec0ff8c416e",
+    "number": 5,
+    "name": "T5",
+    "row": 1,
+    "col": 0,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
+  },
+  {
+    "id": "3f4ff652-3d87-4254-a235-bafde3359dae",
+    "number": 6,
+    "name": "T6",
+    "row": 1,
+    "col": 1,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
+  },
+  {
+    "id": "a38e94af-e91e-4e7a-b49d-8668001bb356",
+    "number": 7,
+    "name": "T7",
+    "row": 1,
+    "col": 2,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
+  },
+  {
+    "id": "9e45da24-1346-4886-a303-932880a79954",
+    "number": 8,
+    "name": "T8",
+    "row": 1,
+    "col": 3,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
+  },
+  {
+    "id": "1ac46e58-86ae-42d9-b230-d476b984507a",
+    "number": 9,
+    "name": "T9",
+    "row": 2,
+    "col": 0,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
+  }
+]

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

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

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

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

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

@@ -0,0 +1,58 @@
+[
+  {
+    "uuid": "4034fa042e7f418db42ab80b0044a8cd",
+    "Code": "MDHC-001-10",
+    "Key": "c28ae2cb",
+    "Value": "MDHC-001-1000522001001612db9dc",
+    "CreateTime": "2022-01-22 17:07:00.8651386"
+  },
+  {
+    "uuid": "8fb6d7589fdd42df93c1e1989ff13a62",
+    "Code": "MDHC-001-10",
+    "Key": "52980979",
+    "Value": "MDHC-001-100052200100119bb6731",
+    "CreateTime": "2022-01-22 20:19:20.9444209"
+  },
+  {
+    "uuid": "efc4c92b40a94de6b0662c64486c18d1",
+    "Code": "MDHC-001-10",
+    "Key": "79da8402",
+    "Value": "MDHC-001-1000522001001e24ea780",
+    "CreateTime": "2022-01-22 20:19:26.8107506"
+  },
+  {
+    "uuid": "3b81b1a9eabc4449b4dcbbbde47cb17f",
+    "Code": "MDHC-001-10",
+    "Key": "daa51755",
+    "Value": "MDHC-001-100052200100185dd22e2",
+    "CreateTime": "2022-01-22 20:19:36.1581374"
+  },
+  {
+    "uuid": "d005a70801544e42ab9d216ad68dbf50",
+    "Code": "MDHC-023-0.2",
+    "Key": "992bbdab",
+    "Value": "MDHC-023-0.2005220010014871a385",
+    "CreateTime": "2022-02-16 15:49:53.760377"
+  },
+  {
+    "uuid": "222315afb8e04320b0fcff10e3ddb8ae",
+    "Code": "MDHC-023-0.2",
+    "Key": "76d23270",
+    "Value": "MDHC-023-0.200522001001e61547ee",
+    "CreateTime": "2022-02-16 15:50:05.1932055"
+  },
+  {
+    "uuid": "31e2a5d4f884419aa9ba96cef98b7385",
+    "Code": "MDHC-023-0.2",
+    "Key": "ba2b8a46",
+    "Value": "MDHC-023-0.2005220010013bfed6cf",
+    "CreateTime": "2022-02-16 17:26:20.0024235"
+  },
+  {
+    "uuid": "9ccb8e0c5ca64ef09b8aced680395335",
+    "Code": "MDHC-023-0.2",
+    "Key": "1d1276d0",
+    "Value": "MDHC-023-0.2005220010015c039a9c",
+    "CreateTime": "2022-02-16 17:26:31.8479966"
+  }
+]

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

@@ -0,0 +1,22 @@
+[
+  {
+    "uuid": "f3932aeae93533f19c0519c4c14702aa",
+    "RoleCode": "admin",
+    "RoleName": "管理员",
+    "RoleMenu": "all",
+    "CreateTime": "2022-02-26 00:00:00.000",
+    "CreateName": "admin",
+    "UpdateTime": "2022-02-26 14:50:10.000",
+    "UpdateName": "admin"
+  },
+  {
+    "uuid": "8c822592b360345fb59690e49ac6b181",
+    "RoleCode": "user",
+    "RoleName": "实验员",
+    "RoleMenu": "nosetting",
+    "CreateTime": "2022-02-26 14:54:16.000",
+    "CreateName": "admin",
+    "UpdateTime": "2022-02-26 14:54:19.000",
+    "UpdateName": "admin"
+  }
+]

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

@@ -0,0 +1,54 @@
+[
+  {
+    "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

@@ -5,7 +5,8 @@ import json
 import os
 import socket
 import time
-from typing import Any, List, Dict, Optional, Tuple, TypedDict, Union, Sequence, Iterator, Literal
+import uuid
+from typing import Any, List, Dict, Optional, OrderedDict, Tuple, TypedDict, Union, Sequence, Iterator, Literal
 
 from pylabrobot.liquid_handling import (
     LiquidHandlerBackend,
@@ -27,7 +28,7 @@ from pylabrobot.liquid_handling.standard import (
     ResourceMove,
     ResourceDrop,
 )
-from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash
+from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, TubeRack, PlateAdapter
 
 from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
@@ -69,50 +70,129 @@ class PRCXI9300Deck(Deck):
         super().__init__(name, size_x, size_y, size_z)
         self.slots = [None] * 6  # PRCXI 9300 有 6 个槽位
 
-
-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。
+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。
     """
-
-    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)
+    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)
+        
         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)
+        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:
         super().load_state(state)
         self._unilabos_state = state
 
     def serialize_state(self) -> Dict[str, Dict[str, Any]]:
-        data = super().serialize_state()
-        data.update(self._unilabos_state)
+        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 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, **kwargs):
+    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):
+        
         if name != "trash":
-            name = "trash"
-            print("PRCXI9300Trash name must be 'trash', using 'trash' instead.")
-        super().__init__(name, size_x, size_y, size_z, category=category, **kwargs)
+            print(f"Warning: PRCXI9300Trash usually expects name='trash' for backend logic, but got '{name}'.")
+        super().__init__(name, size_x, size_y, size_z, **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。"""
@@ -120,10 +200,152 @@ class PRCXI9300Trash(Trash):
         self._unilabos_state = state
 
     def serialize_state(self) -> Dict[str, Dict[str, Any]]:
-        data = super().serialize_state()
-        data.update(self._unilabos_state)
+        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 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
@@ -153,10 +375,15 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         tablets_info = []
         count = 0
         for child in deck.children:
-            if "Material" in child._unilabos_state:
+            child_state = getattr(child, "_unilabos_state", {})
+            if "Material" in child_state:
                 count += 1
                 tablets_info.append(
-                    WorkTablets(Number=count, Code=f"T{count}", Material=child._unilabos_state["Material"])
+                    WorkTablets(
+                        Number=count, 
+                        Code=f"T{count}", 
+                        Material=child_state["Material"]
+                    )
                 )
         if is_9320:
             print("当前设备是9320")
@@ -433,7 +660,6 @@ 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。
 
@@ -856,7 +1082,30 @@ class PRCXI9300Api:
 
     def _raw_request(self, payload: str) -> str:
         if self.debug:
-            return " "
+            # 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})
         with contextlib.closing(socket.socket()) as sock:
             sock.settimeout(self.timeout)
             sock.connect((self.host, self.port))
@@ -1509,31 +1758,31 @@ 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) -> PRCXI9300Container:
+    def get_well_container(name: str) -> PRCXI9300Plate:
         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=well_containers["ordering"]
+        plate = PRCXI9300Plate(
+            name=name, size_x=50, size_y=50, size_z=10, category="plate", ordered_items=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: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
+        new_plate: PRCXI9300Plate = PRCXI9300Plate.deserialize(well_containers)
         return new_plate
 
-    def get_tip_rack(name: str, child_prefix: str = "tip") -> PRCXI9300Container:
+    def get_tip_rack(name: str, child_prefix: str = "tip") -> PRCXI9300TipRack:
         tip_racks = opentrons_96_tiprack_10ul(name).serialize()
-        tip_rack = PRCXI9300Container(
+        tip_rack = PRCXI9300TipRack(
             name=name,
             size_x=50,
             size_y=50,
             size_z=10,
             category="tip_rack",
-            ordering=collections.OrderedDict({k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}),
+            ordered_items=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: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
+        new_tip_rack: PRCXI9300TipRack = PRCXI9300TipRack.deserialize(tip_racks)
         return new_tip_rack
 
     plate1 = get_tip_rack("RackT1")
@@ -1580,8 +1829,8 @@ if __name__ == "__main__":
             }
         }
     )
-    plate7 = PRCXI9300Container(
-        name="plateT7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()
+    plate7 = PRCXI9300Plate(
+        name="plateT7", size_x=50, size_y=50, size_z=10, category="plate", ordered_items=collections.OrderedDict()
     )
     plate7.load_state({"Material": {"uuid": "04211a2dc93547fe9bf6121eac533650"}})
     plate8 = get_tip_rack("PlateT8")
@@ -1655,13 +1904,13 @@ 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(
-        PRCXI9300Container(
+        PRCXI9300Plate(
             name="container_for_nothin3",
             size_x=50,
             size_y=50,
             size_z=10,
             category="plate",
-            ordering=collections.OrderedDict(),
+            ordered_items=collections.OrderedDict(),
         ),
         location=Coordinate(0, 0, 0),
     )
@@ -1669,48 +1918,48 @@ 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(
-        PRCXI9300Container(
+        PRCXI9300Plate(
             name="container_for_nothing7",
             size_x=50,
             size_y=50,
             size_z=10,
             category="plate",
-            ordering=collections.OrderedDict(),
+            ordered_items=collections.OrderedDict(),
         ),
         location=Coordinate(0, 0, 0),
     )
     deck.assign_child_resource(
-        PRCXI9300Container(
+        PRCXI9300Plate(
             name="container_for_nothing8",
             size_x=50,
             size_y=50,
             size_z=10,
             category="plate",
-            ordering=collections.OrderedDict(),
+            ordered_items=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(
-        PRCXI9300Container(
+        PRCXI9300Plate(
             name="container_for_nothing11",
             size_x=50,
             size_y=50,
             size_z=10,
             category="plate",
-            ordering=collections.OrderedDict(),
+            ordered_items=collections.OrderedDict(),
         ),
         location=Coordinate(0, 0, 0),
     )
     deck.assign_child_resource(
-        PRCXI9300Container(
+        PRCXI9300Plate(
             name="container_for_nothing12",
             size_x=50,
             size_y=50,
             size_z=10,
             category="plate",
-            ordering=collections.OrderedDict(),
+            ordered_items=collections.OrderedDict(),
         ),
         location=Coordinate(0, 0, 0),
     )

unilabos/devices/liquid_handling/prcxi/prcxi_labware.py

@@ -0,0 +1,841 @@
+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

@@ -1,31 +0,0 @@
-{
-  "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

@@ -1,21 +0,0 @@
-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

@@ -1,44 +0,0 @@
-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

@@ -0,0 +1,560 @@
+# 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

@@ -0,0 +1,574 @@
+# 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

@@ -0,0 +1,35 @@
+{
+    "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

@@ -1,282 +1,649 @@
-import sys
-import threading
-import serial
-import serial.tools.list_ports
-import re
-import time
-from typing import Optional, List, Dict, Tuple
+# -*- 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)
+"""
 
-class ChinweDevice:
+import socket
+import serial
+import time
+import threading
+import struct
+import re
+import traceback
+import queue
+from typing import Optional, Dict, List, Any
+
+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:
     """
-    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
+    统一通信管理类。
+    自动识别 串口 (Serial) 或 网络 (TCP) 连接。
     """
-    
-    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
+    def __init__(self, port: str, baudrate: int = 9600, timeout: float = 3.0, logger=None):
         self.port = port
         self.baudrate = baudrate
-        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.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._is_connected = False
-        self.connect()
-    
+
+        # 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"]
+
     @property
     def is_connected(self) -> bool:
-        """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
+        return self._is_connected
 
-    @property
-    def ec_adc_value(self) -> int:
-        """获取EC ADC原始值"""
-        return self._ec_adc_value
-    
+    # --- 对外功能指令 (Actions) ---
 
-    @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:
+    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()
             return True
-            
-        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 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()
             return True
-        except Exception as e:
-            print(f"ChinweDevice连接失败: {e}")
-            self._is_connected = False
-            return False
-    
-    def disconnect(self) -> bool:
+        return False
+
+    def pump_dispense(self, pump_id: int, volume: int, valve_port: int):
         """
-        断开串口连接
-        
-        Returns:
-            断开是否成功
+        泵排液 (阻塞)
+        :param valve_port: 阀门端口 (1-8)
         """
-        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
-            except Exception as e:
-                print(f"断开连接失败: {e}")
-                return False
+        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 _send_motor_command(self, command: str) -> bool:
+
+    def motor_rotate_quarter(self, motor_id: int, speed: int = 60, direction: str = "顺时针"):
         """
-        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
+        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
         """
-        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}")
+        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
-        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)
+        return False
 
-    def set_motor_speed(self, motor_id: int, speed: float) -> bool:
+    def wait_sensor_level(self, target_state: str = "有液", timeout: int = 30) -> 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
+        等待传感器达到指定电平
+        :param target_state: "有液" or "无液"
         """
-        command = f"M {motor_id} SPEED {speed}"
-        return self._send_motor_command(command)
+        target_bool = True if target_state == "有液" else False
 
-    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
+        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:
+                return True
+            time.sleep(0.1)
+        self.logger.warning("Wait sensor level timeout")
+        return False
 
-        # 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 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)
+        return True
+
+    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 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:
-        # 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:
-        time.sleep(10)
-        # 测试7: 断开连接
-        print("\n7. 断开连接:")
-        device.disconnect()
 if __name__ == "__main__":
-    main()
+    # Test
+    logging.basicConfig(level=logging.INFO)
+    dev = ChinweDevice(port="192.168.31.201:8899")
+    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)
+    finally:
+        dev.disconnect()

unilabos/devices/workstation/post_process/bottle_carriers.py

@@ -0,0 +1,93 @@
+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

@@ -0,0 +1,20 @@
+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

@@ -0,0 +1,46 @@
+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

@@ -0,0 +1,157 @@
+{
+    "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

@@ -0,0 +1,70 @@
+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

@@ -0,0 +1,45 @@
+{
+    "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

@@ -0,0 +1,160 @@
+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

@@ -0,0 +1,38 @@
+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/registry/devices/bioyond_dispensing_station.yaml

@@ -174,35 +174,6 @@ bioyond_dispensing_station:
           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: {}
@@ -620,6 +591,56 @@ bioyond_dispensing_station:
           title: DispenStationSolnPrep
           type: object
         type: DispenStationSolnPrep
+      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（手动输入，如"堆栈1左"）
+                        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

@@ -0,0 +1,105 @@
+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

@@ -0,0 +1,344 @@
+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

@@ -9333,7 +9333,34 @@ liquid_handler.prcxi:
           touch_tip: false
           use_channels:
           - 0
-        handles: {}
+        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
         placeholder_keys:
           sources: unilabos_resources
           targets: unilabos_resources

unilabos/registry/devices/neware_battery_test_system.yaml

@@ -1,73 +1,40 @@
 neware_battery_test_system:
   category:
   - neware_battery_test_system
+  - neware
+  - battery_test
   class:
     action_value_mappings:
-      auto-post_init:
+      debug_resource_names:
         feedback: {}
         goal: {}
-        goal_default:
-          ros_node: null
+        goal_default: {}
         handles: {}
-        placeholder_keys: {}
-        result: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
-          description: ''
+          description: 调试方法：显示所有资源的实际名称
           properties:
             feedback: {}
             goal:
+              properties: {}
+              required: []
+              type: object
+            result:
               properties:
-                ros_node:
+                return_info:
+                  description: 资源调试信息
                   type: string
+                success:
+                  description: 是否成功
+                  type: boolean
               required:
-              - ros_node
+              - return_info
+              - success
               type: object
-            result: {}
           required:
           - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
-      auto-print_status_summary:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: print_status_summary参数
-          type: object
-        type: UniLabJsonCommand
-      auto-test_connection:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        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:
@@ -145,29 +112,32 @@ neware_battery_test_system:
         goal:
           plate_num: plate_num
         goal_default:
-          plate_num: 1
+          plate_num: null
         handles: {}
         result:
+          plate_data: plate_data
           return_info: return_info
           success: success
         schema:
-          description: 获取指定盘(1或2)的电池状态信息
+          description: 获取指定盘或所有盘的状态信息
           properties:
             feedback: {}
             goal:
               properties:
                 plate_num:
-                  description: 盘号 (1 或 2)
+                  description: 盘号 (1 或 2)，如果为null则返回所有盘的状态
                   maximum: 2
                   minimum: 1
                   type: integer
-              required:
-              - plate_num
+              required: []
               type: object
             result:
               properties:
+                plate_data:
+                  description: 盘状态数据（单盘或所有盘）
+                  type: object
                 return_info:
-                  description: 盘状态信息JSON格式
+                  description: 操作结果信息
                   type: string
                 success:
                   description: 查询是否成功
@@ -175,6 +145,7 @@ neware_battery_test_system:
               required:
               - return_info
               - success
+              - plate_data
               type: object
           required:
           - goal
@@ -219,7 +190,9 @@ neware_battery_test_system:
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
@@ -252,6 +225,56 @@ 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: {}
@@ -284,30 +307,135 @@ neware_battery_test_system:
           - goal
           type: object
         type: UniLabJsonCommand
-    module: unilabos.devices.battery.neware_battery_test_system:NewareBatteryTestSystem
+      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
     status_types:
       channel_status: dict
       connection_info: dict
-      device_summary: dict
-      plate_status: dict
       status: str
       total_channels: int
     type: python
   config_info: []
-  description: 新威电池测试系统驱动，支持720个通道的电池测试状态监控和数据导出。通过TCP通信实现远程控制，包含完整的物料管理系统，支持2盘电池的状态映射和监控。
+  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。
   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
@@ -319,6 +447,7 @@ neware_battery_test_system:
           default: 2000.0
           type: number
         timeout:
+          default: 20
           type: integer
       required: []
       type: object
@@ -330,8 +459,6 @@ neware_battery_test_system:
           type: object
         device_summary:
           type: object
-        plate_status:
-          type: object
         status:
           type: string
         total_channels:
@@ -341,7 +468,6 @@ 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

@@ -0,0 +1,630 @@
+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/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.debug(f"[UniLab Registry] resources: {resource_path.exists()}, total: {len(files)}")
+        logger.trace(f"[UniLab Registry] load 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:
@@ -237,6 +237,8 @@ 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/post_process/bottle_carriers.yaml

@@ -0,0 +1,25 @@
+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

@@ -0,0 +1,11 @@
+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

@@ -0,0 +1,12 @@
+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

@@ -0,0 +1,108 @@
+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

@@ -1,10 +1,130 @@
-prcxi_96_wellplate_360ul_flat:
-  category:
-  - plates
+PRCXI_48_DeepWell:
+  category: 
+  - prcxi
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_res:prcxi_96_wellplate_360ul_flat
+    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_48_DeepWell
     type: pylabrobot
-  description: prcxi_96_wellplate_360ul_flat
+  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)'
   handles: []
   icon: ''
   init_param_schema: {}

unilabos/registry/resources/prcxi/tip_racks.yaml

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

unilabos/registry/resources/prcxi/trash.yaml

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

unilabos/registry/resources/prcxi/tube_racks.yaml

@@ -0,0 +1,12 @@
+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/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
@@ -284,10 +284,18 @@ 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:

unilabos/resources/plr_additional_res_reg.py

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

unilabos/ros/nodes/presets/host_node.py

@@ -1157,11 +1157,12 @@ 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 = self.bridges[-1].resource_tree_get([data["uuid"]], data["with_children"])
+                http_req = http_client.resource_tree_get([data["uuid"]], data["with_children"])
             elif "id" in data and data["id"].startswith("/"):
-                http_req = self.bridges[-1].resource_get(data["id"], data["with_children"])
+                http_req = http_client.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"])