Merge pull request #199 from sun7151887/yb_fix5

合并dev分支

.gitignore

@@ -249,3 +249,4 @@ ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2
 test_config.py
 
 
+Uni-Lab-OS/

fix_datatype.py

@@ -1,32 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-import re
-
-filepath = r'd:\UniLab\Uni-Lab-OS\unilabos\device_comms\modbus_plc\modbus.py'
-
-with open(filepath, 'r', encoding='utf-8') as f:
-    content = f.read()
-
-# Replace the DataType placeholder with actual enum
-find_pattern = r'# DataType will be accessed via client instance.*?DataType = None  # Placeholder.*?\n'
-replacement = '''# Define DataType enum for pymodbus 2.5.3 compatibility
-class DataType(Enum):
-    INT16 = "int16"
-    UINT16 = "uint16"
-    INT32 = "int32"
-    UINT32 = "uint32"
-    INT64 = "int64"
-    UINT64 = "uint64"
-    FLOAT32 = "float32"
-    FLOAT64 = "float64"
-    STRING = "string"
-    BOOL = "bool"
-
-'''
-
-new_content = re.sub(find_pattern, replacement, content, flags=re.DOTALL)
-
-with open(filepath, 'w', encoding='utf-8') as f:
-    f.write(new_content)
-
-print('File updated successfully!')

new_cellconfig3c.json

@@ -1,98 +1,101 @@
       
 {
-  "nodes": [
-    {
-      "id": "bioyond_cell_workstation",
-      "name": "配液分液工站",
-      "parent": null,
-      "children": [
-        "YB_Bioyond_Deck"
-      ],
-      "type": "device",
-      "class": "bioyond_cell",
-      "config": {
-        "deck": {
-          "data": {
-            "_resource_child_name": "YB_Bioyond_Deck",
-            "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_YB_Deck"
-          }
+    "nodes": [
+      {
+        "id": "bioyond_cell_workstation",
+        "name": "配液分液工站",
+        "parent": null,
+        "children": [
+          "YB_Bioyond_Deck"
+        ],
+        "type": "device",
+        "class": "bioyond_cell",
+        "config": {
+          "deck": {
+            "data": {
+              "_resource_child_name": "YB_Bioyond_Deck",
+              "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_YB_Deck"
+            }
+          },
+          "protocol_type": []
         },
-        "protocol_type": []
+        "data": {}
       },
-      "data": {}
-    },
-    {
-      "id": "YB_Bioyond_Deck",
-      "name": "YB_Bioyond_Deck",
-      "children": [],
-      "parent": "bioyond_cell_workstation",
-      "type": "deck",
-      "class": "BIOYOND_YB_Deck",
-      "position": {
-        "x": 0,
-        "y": 0,
-        "z": 0
-      },
-      "config": {
-        "type": "BIOYOND_YB_Deck",
-        "setup": true,
-        "rotation": {
-          "x": 0,
-          "y": 0,
-          "z": 0,
-          "type": "Rotation"
-        }
-      },
-      "data": {}
-    },
-    {
-      "id": "BatteryStation",
-      "name": "扣电工作站",
-      "parent": null,
-      "children": [
-        "coin_cell_deck"
-      ],
-      "type": "device",
-      "class":"coincellassemblyworkstation_device",
-      "config": {
-        "deck": {
-          "data": {
-            "_resource_child_name": "YB_YH_Deck",
-            "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:CoincellDeck"
-          }
-        },
-        "protocol_type": []
-      },
-      "position": {
-        "size": {"height": 1450, "width": 1450, "depth": 2100},
+      {
+        "id": "YB_Bioyond_Deck",
+        "name": "YB_Bioyond_Deck",
+        "children": [],
+        "parent": "bioyond_cell_workstation",
+        "type": "deck",
+        "class": "BIOYOND_YB_Deck",
         "position": {
-          "x": -1500,
+          "x": 0,
           "y": 0,
           "z": 0
-        }
-      }
-    },
-    {
-      "id": "YB_YH_Deck",
-      "name": "YB_YH_Deck",
-      "children": [],
-      "parent": "BatteryStation",
-      "type": "deck",
-      "class": "CoincellDeck",
-      "config": {
-        "type": "CoincellDeck",
-        "setup": true,
-        "rotation": {
-          "x": 0,
-          "y": 0,
-          "z": 0,
-          "type": "Rotation"
+        },
+        "config": {
+          "type": "BIOYOND_YB_Deck",
+          "setup": true,
+          "rotation": {
+            "x": 0,
+            "y": 0,
+            "z": 0,
+            "type": "Rotation"
+          }
+        },
+        "data": {}
+      },
+      {
+        "id": "BatteryStation",
+        "name": "扣电工作站",
+        "parent": null,
+        "children": [
+          "coin_cell_deck"
+        ],
+        "type": "device",
+        "class":"coincellassemblyworkstation_device",
+        "config": {
+          "deck": {
+            "data": {
+              "_resource_child_name": "YB_YH_Deck",
+              "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:CoincellDeck"
+            }
+          },
+          "protocol_type": []
+        },
+        "position": {
+          "size": {"height": 1450, "width": 1450, "depth": 2100},
+          "position": {
+            "x": -1500,
+            "y": 0,
+            "z": 0
+          }
         }
       },
-      "data": {}
-    }
-  ],
-  "links": []
-}
-
-    
+      {
+        "id": "YB_YH_Deck",
+        "name": "YB_YH_Deck",
+        "children": [],
+        "parent": "BatteryStation",
+        "type": "deck",
+        "class": "CoincellDeck",
+        "config": {
+          "type": "CoincellDeck",
+          "setup": true,
+          "rotation": {
+            "x": 0,
+            "y": 0,
+            "z": 0,
+            "type": "Rotation"
+          }
+        },
+        "data": {}
+      }
+    ]
+  }
+  
+  
+  
+  
+  
+      

test/experiments/reaction_station_bioyond.json

@@ -1,72 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "reaction_station_bioyond",
-            "name": "reaction_station_bioyond",
-            "parent": null,
-            "children": [
-                "Bioyond_Deck"
-            ],
-            "type": "device",
-            "class": "reaction_station.bioyond",
-            "config": {
-                "config": {
-                    "api_key": "DE9BDDA0",
-                    "api_host": "http://192.168.1.200:44402",
-                    "workflow_mappings": {
-                        "reactor_taken_out": "3a16081e-4788-ca37-eff4-ceed8d7019d1",
-                        "reactor_taken_in": "3a160df6-76b3-0957-9eb0-cb496d5721c6",
-                        "Solid_feeding_vials": "3a160877-87e7-7699-7bc6-ec72b05eb5e6",
-                        "Liquid_feeding_vials(non-titration)": "3a167d99-6158-c6f0-15b5-eb030f7d8e47",
-                        "Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046",
-                        "Liquid_feeding(titration)": "3a16082a-96ac-0449-446a-4ed39f3365b6",
-                        "liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
-                        "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a"
-                    },
-                    "material_type_mappings": {
-                        "烧杯": ["YB_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"],
-                        "试剂瓶": ["YB_1BottleCarrier", ""],
-                        "样品板": ["YB_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"],
-                        "分装板": ["YB_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"],
-                        "样品瓶": ["YB_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"],
-                        "90%分装小瓶": ["YB_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"],
-                        "10%分装小瓶": ["YB_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"]
-                    }
-                },
-                "deck": {
-                    "data": {
-                        "_resource_child_name": "Bioyond_Deck",
-                        "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck"
-                    }
-                },
-                "protocol_type": []
-            },
-            "data": {}
-        },
-        {
-            "id": "Bioyond_Deck",
-            "name": "Bioyond_Deck",
-            "children": [
-            ],
-            "parent": "reaction_station_bioyond",
-            "type": "deck",
-            "class": "BIOYOND_PolymerReactionStation_Deck",
-            "position": {
-                "x": 0,
-                "y": 0,
-                "z": 0
-            },
-            "config": {
-                "type": "BIOYOND_PolymerReactionStation_Deck",
-                "setup": true,
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0,
-                    "type": "Rotation"
-                }
-            },
-            "data": {}
-        }
-    ]
-}

unilabos/app/main.py

@@ -367,10 +367,37 @@ def main():
         graph, resource_tree_set, resource_links = read_node_link_json(request_startup_json)
     else:
         if not os.path.isfile(file_path):
+            # 尝试从 main.py 向上两级目录查找
             temp_file_path = os.path.abspath(str(os.path.join(__file__, "..", "..", file_path)))
             if os.path.isfile(temp_file_path):
                 print_status(f"使用相对路径{temp_file_path}", "info")
                 file_path = temp_file_path
+            else:
+                # 尝试在 working_dir 中查找
+                working_dir_file_path = os.path.join(working_dir, file_path)
+                if os.path.isfile(working_dir_file_path):
+                    print_status(f"在工作目录中找到文件: {working_dir_file_path}", "info")
+                    file_path = working_dir_file_path
+                else:
+                    # 尝试使用文件名在 working_dir 中查找
+                    file_name = os.path.basename(file_path)
+                    working_dir_file_path = os.path.join(working_dir, file_name)
+                    if os.path.isfile(working_dir_file_path):
+                        print_status(f"在工作目录中找到文件: {working_dir_file_path}", "info")
+                        file_path = working_dir_file_path
+        # 最终检查文件是否存在
+        if not os.path.isfile(file_path):
+            print_status(
+                f"无法找到设备加载文件: {file_path}\n"
+                f"已尝试在以下位置查找:\n"
+                f"  1. 原始路径: {args_dict.get('graph', BasicConfig.startup_json_path)}\n"
+                f"  2. 相对路径: {os.path.abspath(str(os.path.join(__file__, '..', '..', args_dict.get('graph', BasicConfig.startup_json_path) or '')))}\n"
+                f"  3. 工作目录: {os.path.join(working_dir, args_dict.get('graph', BasicConfig.startup_json_path) or '')}\n"
+                f"  4. 工作目录(仅文件名): {os.path.join(working_dir, os.path.basename(args_dict.get('graph', BasicConfig.startup_json_path) or ''))}\n"
+                f"请使用 -g 参数指定正确的文件路径，或在工作目录 {working_dir} 中放置文件",
+                "error"
+            )
+            os._exit(1)
         if file_path.endswith(".json"):
             graph, resource_tree_set, resource_links = read_node_link_json(file_path)
         else:

unilabos/device_comms/modbus_plc/client.py

@@ -4,7 +4,8 @@ import traceback
 from typing import Any, Union, List, Dict, Callable, Optional, Tuple
 from pydantic import BaseModel
 
-from pymodbus.client.sync import ModbusSerialClient, ModbusTcpClient
+from pymodbus.client import ModbusSerialClient, ModbusTcpClient
+from pymodbus.framer import FramerType
 from typing import TypedDict
 
 from unilabos.device_comms.modbus_plc.modbus import DeviceType, HoldRegister, Coil, InputRegister, DiscreteInputs, DataType, WorderOrder
@@ -402,7 +403,7 @@ class TCPClient(BaseClient):
 class RTUClient(BaseClient):
     def __init__(self, port: str, baudrate: int, timeout: int):
         super().__init__()
-        self._set_client(ModbusSerialClient(method='rtu', port=port, baudrate=baudrate, timeout=timeout))
+        self._set_client(ModbusSerialClient(framer=FramerType.RTU, port=port, baudrate=baudrate, timeout=timeout))
         self._connect()
 
 if __name__ == '__main__':

unilabos/device_comms/modbus_plc/modbus.py

@@ -1,26 +1,12 @@
 # coding=utf-8
 from enum import Enum
 from abc import ABC, abstractmethod
-from typing import Tuple, Union, Optional, TYPE_CHECKING
-from pymodbus.payload import BinaryPayloadDecoder, BinaryPayloadBuilder
-from pymodbus.constants import Endian
 
-if TYPE_CHECKING:
-    from pymodbus.client.sync import ModbusSerialClient, ModbusTcpClient
-
-# Define DataType enum for pymodbus 2.5.3 compatibility
-class DataType(Enum):
-    INT16 = "int16"
-    UINT16 = "uint16"
-    INT32 = "int32"
-    UINT32 = "uint32"
-    INT64 = "int64"
-    UINT64 = "uint64"
-    FLOAT32 = "float32"
-    FLOAT64 = "float64"
-    STRING = "string"
-    BOOL = "bool"
+from pymodbus.client import ModbusBaseSyncClient
+from pymodbus.client.mixin import ModbusClientMixin 
+from typing import Tuple, Union, Optional
 
+DataType = ModbusClientMixin.DATATYPE
 
 class WorderOrder(Enum):
     BIG = "big"
@@ -33,96 +19,8 @@ class DeviceType(Enum):
     INPUT_REGISTER = 'input_register'
 
 
-def _convert_from_registers(registers, data_type: DataType, word_order: str = 'big'):
-    """Convert registers to a value using BinaryPayloadDecoder.
-    
-    Args:
-        registers: List of register values
-        data_type: DataType enum specifying the target data type
-        word_order: 'big' or 'little' endian
-        
-    Returns:
-        Converted value
-    """
-    # Determine byte and word order based on word_order parameter
-    if word_order == 'little':
-        byte_order = Endian.Little
-        word_order_enum = Endian.Little
-    else:
-        byte_order = Endian.Big
-        word_order_enum = Endian.Big
-    
-    decoder = BinaryPayloadDecoder.fromRegisters(registers, byteorder=byte_order, wordorder=word_order_enum)
-    
-    if data_type == DataType.INT16:
-        return decoder.decode_16bit_int()
-    elif data_type == DataType.UINT16:
-        return decoder.decode_16bit_uint()
-    elif data_type == DataType.INT32:
-        return decoder.decode_32bit_int()
-    elif data_type == DataType.UINT32:
-        return decoder.decode_32bit_uint()
-    elif data_type == DataType.INT64:
-        return decoder.decode_64bit_int()
-    elif data_type == DataType.UINT64:
-        return decoder.decode_64bit_uint()
-    elif data_type == DataType.FLOAT32:
-        return decoder.decode_32bit_float()
-    elif data_type == DataType.FLOAT64:
-        return decoder.decode_64bit_float()
-    elif data_type == DataType.STRING:
-        return decoder.decode_string(len(registers) * 2)
-    else:
-        raise ValueError(f"Unsupported data type: {data_type}")
-
-
-def _convert_to_registers(value, data_type: DataType, word_order: str = 'little'):
-    """Convert a value to registers using BinaryPayloadBuilder.
-    
-    Args:
-        value: Value to convert
-        data_type: DataType enum specifying the source data type
-        word_order: 'big' or 'little' endian
-        
-    Returns:
-        List of register values
-    """
-    # Determine byte and word order based on word_order parameter
-    if word_order == 'little':
-        byte_order = Endian.Little
-        word_order_enum = Endian.Little
-    else:
-        byte_order = Endian.Big
-        word_order_enum = Endian.Big
-    
-    builder = BinaryPayloadBuilder(byteorder=byte_order, wordorder=word_order_enum)
-    
-    if data_type == DataType.INT16:
-        builder.add_16bit_int(value)
-    elif data_type == DataType.UINT16:
-        builder.add_16bit_uint(value)
-    elif data_type == DataType.INT32:
-        builder.add_32bit_int(value)
-    elif data_type == DataType.UINT32:
-        builder.add_32bit_uint(value)
-    elif data_type == DataType.INT64:
-        builder.add_64bit_int(value)
-    elif data_type == DataType.UINT64:
-        builder.add_64bit_uint(value)
-    elif data_type == DataType.FLOAT32:
-        builder.add_32bit_float(value)
-    elif data_type == DataType.FLOAT64:
-        builder.add_64bit_float(value)
-    elif data_type == DataType.STRING:
-        builder.add_string(value)
-    else:
-        raise ValueError(f"Unsupported data type: {data_type}")
-    
-    return builder.to_registers()
-
-
 class Base(ABC):
-    def __init__(self, client, name: str, address: int, typ: DeviceType, data_type):
+    def __init__(self, client: ModbusBaseSyncClient, name: str, address: int, typ: DeviceType, data_type: DataType):
         self._address: int = address
         self._client = client
         self._name = name
@@ -160,11 +58,7 @@ class Coil(Base):
                 count = value,
                 slave = slave)
 
-        # 检查是否读取出错
-        if resp.isError():
-            return [], True
-        
-        return resp.bits, False
+        return resp.bits, resp.isError()
 
     def write(self,value: Union[int, float, bool, str, list[bool], list[int], list[float]], data_type: Optional[DataType ]= None, word_order: WorderOrder = WorderOrder.LITTLE, slave = 1) -> bool:
         if isinstance(value, list):
@@ -197,18 +91,8 @@ class DiscreteInputs(Base):
                 count = value,
                 slave = slave)
 
-        # 检查是否读取出错
-        if resp.isError():
-            # 根据数据类型返回默认值
-            if data_type in [DataType.FLOAT32, DataType.FLOAT64]:
-                return 0.0, True
-            elif data_type == DataType.STRING:
-                return "", True
-            else:
-                return 0, True
-        
         # noinspection PyTypeChecker
-        return _convert_from_registers(resp.registers, data_type, word_order=word_order.value), False
+        return self._client.convert_from_registers(resp.registers, data_type, word_order=word_order.value), resp.isError()
 
     def write(self,value: Union[int, float, bool, str, list[bool], list[int], list[float]], data_type: Optional[DataType ]= None, word_order: WorderOrder = WorderOrder.LITTLE, slave = 1) -> bool:
         raise ValueError('discrete inputs only support read')
@@ -228,19 +112,8 @@ class HoldRegister(Base):
                 address = self.address,
                 count = value,
                 slave = slave)
-        
-        # 检查是否读取出错
-        if resp.isError():
-            # 根据数据类型返回默认值
-            if data_type in [DataType.FLOAT32, DataType.FLOAT64]:
-                return 0.0, True
-            elif data_type == DataType.STRING:
-                return "", True
-            else:
-                return 0, True
-        
         # noinspection PyTypeChecker
-        return _convert_from_registers(resp.registers, data_type, word_order=word_order.value), False
+        return self._client.convert_from_registers(resp.registers, data_type, word_order=word_order.value), resp.isError()
 
 
     def write(self,value: Union[int, float, bool, str, list[bool], list[int], list[float]], data_type: Optional[DataType ]= None, word_order: WorderOrder = WorderOrder.LITTLE, slave = 1) -> bool:
@@ -259,7 +132,7 @@ class HoldRegister(Base):
             return self._client.write_register(self.address, value, slave= slave).isError()
         else:
             # noinspection PyTypeChecker
-            encoder_resp = _convert_to_registers(value, data_type=data_type, word_order=word_order.value)
+            encoder_resp = self._client.convert_to_registers(value, data_type=data_type, word_order=word_order.value)
             return self._client.write_registers(self.address, encoder_resp, slave=slave).isError()
 
 
@@ -280,19 +153,8 @@ class InputRegister(Base):
                 address = self.address,
                 count = value,
                 slave = slave)
-        
-        # 检查是否读取出错
-        if resp.isError():
-            # 根据数据类型返回默认值
-            if data_type in [DataType.FLOAT32, DataType.FLOAT64]:
-                return 0.0, True
-            elif data_type == DataType.STRING:
-                return "", True
-            else:
-                return 0, True
-        
         # noinspection PyTypeChecker
-        return _convert_from_registers(resp.registers, data_type, word_order=word_order.value), False
+        return self._client.convert_from_registers(resp.registers, data_type, word_order=word_order.value), resp.isError()
 
     def write(self,value: Union[int, float, bool, str, list[bool], list[int], list[float]], data_type: Optional[DataType ]= None, word_order: WorderOrder = WorderOrder.LITTLE, slave = 1) -> bool:
         raise ValueError('input register only support read')

unilabos/devices/battery/battery.json

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

unilabos/devices/neware_battery_test_system/__init__.py

@@ -0,0 +1,8 @@
+from .neware_battery_test_system import NewareBatteryTestSystem
+from .neware_driver import build_start_command, start_test
+
+__all__ = [
+    "NewareBatteryTestSystem",
+    "build_start_command",
+    "start_test",
+]

unilabos/devices/neware_battery_test_system/demo.csv

@@ -0,0 +1,3 @@
+Timestamp,Battery_Count,Assembly_Time,Open_Circuit_Voltage,Pole_Weight,Assembly_Pressure,Battery_Code,Electrolyte_Code,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
+2025/10/29 17:32,7,5,0.11299999803304672,18.049999237060547,3593,Li000595,Si-Gr001,9.2,0.954,469,SiGr_Li,1,1,2
+2025/10/30 17:49,2,5,0,13.109999895095825,4094,YS101224,NoRead88,5.2,0.92,190,SiGr_Li,2,1,1

unilabos/devices/neware_battery_test_system/device.json

@@ -0,0 +1,33 @@
+{
+    "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
+            },
+            "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/neware_battery_test_system/neware_battery_test_system.py

@@ -13,6 +13,8 @@
 - 状态类型: working/stop/finish/protect/pause/false/unknown
 """
 
+import os
+import sys
 import socket
 import xml.etree.ElementTree as ET
 import json
@@ -21,7 +23,6 @@ from dataclasses import dataclass
 from typing import Any, Dict, List, Optional, TypedDict
 
 from pylabrobot.resources import ResourceHolder, Coordinate, create_ordered_items_2d, Deck, Plate
-
 from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
 from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
 
@@ -56,13 +57,6 @@ class BatteryTestPositionState(TypedDict):
     status: str  # 通道状态
     color: str  # 状态对应颜色
 
-    # 额外的inquire协议字段
-    relativetime: float  # 相对时间 (s)
-    open_or_close: int  # 0=关闭, 1=打开
-    step_type: str  # 步骤类型
-    cycle_id: int  # 循环ID
-    step_id: int  # 步骤ID
-    log_code: str  # 日志代码
 
 
 class BatteryTestPosition(ResourceHolder):
@@ -142,9 +136,9 @@ class NewareBatteryTestSystem:
         devtype: str = None, 
         timeout: int = None,
         
-        size_x: float = 500.0,
-        size_y: float = 500.0,
-        size_z: float = 2000.0,
+        size_x: float = 50,
+        size_y: float = 50,
+        size_z: float = 20,
     ):
         """
         初始化新威电池测试系统
@@ -162,6 +156,12 @@ class NewareBatteryTestSystem:
         self.machine_id = machine_id
         self.devtype = devtype or self.DEVTYPE
         self.timeout = timeout or self.TIMEOUT
+        
+        # 存储设备物理尺寸
+        self.size_x = size_x
+        self.size_y = size_y
+        self.size_z = size_z
+        
         self._last_status_update = None
         self._cached_status = {}
         self._ros_node: Optional[ROS2WorkstationNode] = None  # ROS节点引用，由框架设置
@@ -192,8 +192,9 @@ class NewareBatteryTestSystem:
     def _setup_material_management(self):
         """设置物料管理系统"""
         # 第1盘：5行8列网格 (A1-E8) - 5行对应subdevid 1-5，8列对应chlid 1-8
-        # 先给物料设置一个最大的Deck
-        deck_main = Deck("ADeckName", 200, 200, 200)
+        # 先给物料设置一个最大的Deck，并设置其在空间中的位置
+        
+        deck_main = Deck("ADeckName", 2000, 1800, 100, origin=Coordinate(2000,2000,0))
 
         plate1_resources: Dict[str, BatteryTestPosition] = create_ordered_items_2d(
             BatteryTestPosition,
@@ -202,8 +203,8 @@ class NewareBatteryTestSystem:
             dx=10,
             dy=10,
             dz=0,
-            item_dx=45,
-            item_dy=45
+            item_dx=65,
+            item_dy=65
         )
         plate1 = Plate("P1", 400, 300, 50, ordered_items=plate1_resources)
         deck_main.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
@@ -232,11 +233,15 @@ class NewareBatteryTestSystem:
             num_items_y=5,  # 5行（对应subdevid 6-10，即A-E）
             dx=10,
             dy=10,
-            dz=100,  # Z轴偏移100mm
+            dz=0,  
             item_dx=65,
             item_dy=65
         )
 
+        plate2 = Plate("P2", 400, 300, 50, ordered_items=plate2_resources)
+        deck_main.assign_child_resource(plate2, location=Coordinate(0, 350, 0))
+
+
         # 为第2盘资源添加P2_前缀
         self.station_resources_plate2 = {}
         for name, resource in plate2_resources.items():
@@ -306,55 +311,132 @@ class NewareBatteryTestSystem:
 
     def _update_plate_resources(self, subunits: Dict):
         """更新两盘电池资源的状态"""
-        # 第1盘：subdevid 1-5 映射到 P1_A1-P1_E8 (5行8列)
+        # 第1盘：subdevid 1-5 映射到 8列5行网格 (列0-7, 行0-4)
         for subdev_id in range(1, 6):  # subdevid 1-5
             status_row = subunits.get(subdev_id, {})
             
             for chl_id in range(1, 9):  # chlid 1-8
                 try:
-                    # 计算在5×8网格中的位置
-                    row_idx = (subdev_id - 1)  # 0-4 (对应A-E)
-                    col_idx = (chl_id - 1)     # 0-7 (对应1-8)
-                    resource_name = f"P1_{self.LETTERS[row_idx]}{col_idx + 1}"
+                    # 根据用户描述：第一个是(0,0)，最后一个是(7,4)
+                    # 说明是8列5行，列从0开始，行从0开始
+                    col_idx = (chl_id - 1)      # 0-7 (chlid 1-8 -> 列0-7)
+                    row_idx = (subdev_id - 1)   # 0-4 (subdevid 1-5 -> 行0-4)
+                    
+                    # 尝试多种可能的资源命名格式
+                    possible_names = [
+                        f"P1_batterytestposition_{col_idx}_{row_idx}",  # 用户提到的格式
+                        f"P1_{self.LETTERS[row_idx]}{col_idx + 1}",     # 原有的A1-E8格式
+                        f"P1_{self.LETTERS[row_idx].lower()}{col_idx + 1}",  # 小写字母格式
+                    ]
+                    
+                    r = None
+                    resource_name = None
+                    for name in possible_names:
+                        if name in self.station_resources:
+                            r = self.station_resources[name]
+                            resource_name = name
+                            break
                     
-                    r = self.station_resources.get(resource_name)
                     if r:
                         status_channel = status_row.get(chl_id, {})
+                        metrics = status_channel.get("metrics", {})
+                        # 构建BatteryTestPosition状态数据（移除capacity和energy）
                         channel_state = {
+                            # 基本测量数据
+                            "voltage": metrics.get("voltage_V", 0.0),
+                            "current": metrics.get("current_A", 0.0),
+                            "time": metrics.get("totaltime_s", 0.0),
+                            
+                            # 状态信息
                             "status": status_channel.get("state", "unknown"),
                             "color": status_channel.get("color", self.STATUS_COLOR["unknown"]),
-                            "voltage": status_channel.get("voltage_V", 0.0),
-                            "current": status_channel.get("current_A", 0.0),
-                            "time": status_channel.get("totaltime_s", 0.0),
+                            
+                            # 通道名称标识
+                            "Channel_Name": f"{self.machine_id}-{subdev_id}-{chl_id}",
+
                         }
                         r.load_state(channel_state)
-                except (KeyError, IndexError):
+                  
+                        # 调试信息
+                        if self._ros_node and hasattr(self._ros_node, 'lab_logger'):
+                            self._ros_node.lab_logger().debug(
+                                f"更新P1资源状态: {resource_name} <- subdev{subdev_id}/chl{chl_id} "
+                                f"状态:{channel_state['status']}"
+                            )
+                    else:
+                        # 如果找不到资源，记录调试信息
+                        if self._ros_node and hasattr(self._ros_node, 'lab_logger'):
+                            self._ros_node.lab_logger().debug(
+                                f"P1未找到资源: subdev{subdev_id}/chl{chl_id} -> 尝试的名称: {possible_names}"
+                            )
+                except (KeyError, IndexError) as e:
+                    if self._ros_node and hasattr(self._ros_node, 'lab_logger'):
+                        self._ros_node.lab_logger().debug(f"P1映射错误: subdev{subdev_id}/chl{chl_id} - {e}")
                     continue
         
-        # 第2盘：subdevid 6-10 映射到 P2_A1-P2_E8 (5行8列)
+        # 第2盘：subdevid 6-10 映射到 8列5行网格 (列0-7, 行0-4)
         for subdev_id in range(6, 11):  # subdevid 6-10
             status_row = subunits.get(subdev_id, {})
             
             for chl_id in range(1, 9):  # chlid 1-8
                 try:
-                    # 计算在5×8网格中的位置
-                    row_idx = (subdev_id - 6)  # 0-4 (subdevid 6->0, 7->1, ..., 10->4) (对应A-E)
-                    col_idx = (chl_id - 1)     # 0-7 (对应1-8)
-                    resource_name = f"P2_{self.LETTERS[row_idx]}{col_idx + 1}"
+                    col_idx = (chl_id - 1)          # 0-7 (chlid 1-8 -> 列0-7)
+                    row_idx = (subdev_id - 6)       # 0-4 (subdevid 6-10 -> 行0-4)
+                    
+                    # 尝试多种可能的资源命名格式
+                    possible_names = [
+                        f"P2_batterytestposition_{col_idx}_{row_idx}",  # 用户提到的格式
+                        f"P2_{self.LETTERS[row_idx]}{col_idx + 1}",     # 原有的A1-E8格式
+                        f"P2_{self.LETTERS[row_idx].lower()}{col_idx + 1}",  # 小写字母格式
+                    ]
+                    
+                    r = None
+                    resource_name = None
+                    for name in possible_names:
+                        if name in self.station_resources:
+                            r = self.station_resources[name]
+                            resource_name = name
+                            break
                     
-                    r = self.station_resources.get(resource_name)
                     if r:
                         status_channel = status_row.get(chl_id, {})
+                        metrics = status_channel.get("metrics", {})
+                        # 构建BatteryTestPosition状态数据（移除capacity和energy）
                         channel_state = {
+                            # 基本测量数据
+                            "voltage": metrics.get("voltage_V", 0.0),
+                            "current": metrics.get("current_A", 0.0),
+                            "time": metrics.get("totaltime_s", 0.0),
+                            
+                            # 状态信息
                             "status": status_channel.get("state", "unknown"),
                             "color": status_channel.get("color", self.STATUS_COLOR["unknown"]),
-                            "voltage": status_channel.get("voltage_V", 0.0),
-                            "current": status_channel.get("current_A", 0.0),
-                            "time": status_channel.get("totaltime_s", 0.0),
+                            
+                            # 通道名称标识
+                            "Channel_Name": f"{self.machine_id}-{subdev_id}-{chl_id}",
+                            
                         }
                         r.load_state(channel_state)
-                except (KeyError, IndexError):
+                        
+                        # 调试信息
+                        if self._ros_node and hasattr(self._ros_node, 'lab_logger'):
+                            self._ros_node.lab_logger().debug(
+                                f"更新P2资源状态: {resource_name} <- subdev{subdev_id}/chl{chl_id} "
+                                f"状态:{channel_state['status']}"
+                            )
+                    else:
+                        # 如果找不到资源，记录调试信息
+                        if self._ros_node and hasattr(self._ros_node, 'lab_logger'):
+                            self._ros_node.lab_logger().debug(
+                                f"P2未找到资源: subdev{subdev_id}/chl{chl_id} -> 尝试的名称: {possible_names}"
+                            )
+                except (KeyError, IndexError) as e:
+                    if self._ros_node and hasattr(self._ros_node, 'lab_logger'):
+                        self._ros_node.lab_logger().debug(f"P2映射错误: subdev{subdev_id}/chl{chl_id} - {e}")
                     continue
+        ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
+                    "resources": list(self.station_resources.values())
+                })
 
     @property
     def connection_info(self) -> Dict[str, str]:
@@ -490,6 +572,45 @@ class NewareBatteryTestSystem:
 
 
 
+    def debug_resource_names(self) -> dict:
+        """
+        调试方法：显示所有资源的实际名称（ROS2动作）
+        
+        Returns:
+            dict: ROS2动作结果格式，包含所有资源名称信息
+        """
+        try:
+            debug_info = {
+                "total_resources": len(self.station_resources),
+                "plate1_resources": len(self.station_resources_plate1),
+                "plate2_resources": len(self.station_resources_plate2),
+                "plate1_names": list(self.station_resources_plate1.keys())[:10],  # 显示前10个
+                "plate2_names": list(self.station_resources_plate2.keys())[:10],  # 显示前10个
+                "all_resource_names": list(self.station_resources.keys())[:20],   # 显示前20个
+            }
+            
+            # 检查是否有用户提到的命名格式
+            batterytestposition_names = [name for name in self.station_resources.keys() 
+                                       if "batterytestposition" in name]
+            debug_info["batterytestposition_names"] = batterytestposition_names[:10]
+            
+            success_msg = f"资源调试信息获取成功，共{debug_info['total_resources']}个资源"
+            if self._ros_node:
+                self._ros_node.lab_logger().info(success_msg)
+                self._ros_node.lab_logger().info(f"调试信息: {debug_info}")
+            
+            return {
+                "return_info": success_msg,
+                "success": True,
+                "debug_data": debug_info
+            }
+            
+        except Exception as e:
+            error_msg = f"获取资源调试信息失败: {str(e)}"
+            if self._ros_node:
+                self._ros_node.lab_logger().error(error_msg)
+            return {"return_info": error_msg, "success": False}
+
     # ========================
     # 辅助方法
     # ========================
@@ -538,6 +659,228 @@ class NewareBatteryTestSystem:
         except Exception as e:
             print(f"   获取状态失败: {e}")
 
+    # ========================
+    # CSV批量提交功能（新增）
+    # ========================
+    
+    def _ensure_local_import_path(self):
+        """确保本地模块导入路径"""
+        base_dir = os.path.dirname(__file__)
+        if base_dir not in sys.path:
+            sys.path.insert(0, base_dir)
+    
+    def _canon(self, bs: str) -> str:
+        """规范化电池体系名称"""
+        return str(bs).strip().replace('-', '_').upper()
+    
+    def _compute_values(self, row):
+        """
+        计算活性物质质量和容量
+        
+        Args:
+            row: DataFrame行数据
+            
+        Returns:
+            tuple: (活性物质质量mg, 容量mAh)
+        """
+        pw = float(row['Pole_Weight'])
+        cm = float(row['集流体质量'])
+        am = row['活性物质含量']
+        if isinstance(am, str) and am.endswith('%'):
+            amv = float(am.rstrip('%')) / 100.0
+        else:
+            amv = float(am)
+        act_mass = (pw - cm) * amv
+        sc = float(row['克容量mah/g'])
+        cap = act_mass * sc / 1000.0
+        return round(act_mass, 2), round(cap, 3)
+    
+    def _get_xml_builder(self, gen_mod, key: str):
+        """
+        获取对应电池体系的XML生成函数
+        
+        Args:
+            gen_mod: generate_xml_content模块
+            key: 电池体系标识
+            
+        Returns:
+            callable: XML生成函数
+        """
+        fmap = {
+            'LB6': gen_mod.xml_LB6,
+            'GR_LI': gen_mod.xml_Gr_Li,
+            'LFP_LI': gen_mod.xml_LFP_Li,
+            'LFP_GR': gen_mod.xml_LFP_Gr,
+            '811_LI_002': gen_mod.xml_811_Li_002,
+            '811_LI_005': gen_mod.xml_811_Li_005,
+            'SIGR_LI_STEP': gen_mod.xml_SiGr_Li_Step,
+            'SIGR_LI': gen_mod.xml_SiGr_Li_Step,
+            '811_SIGR': gen_mod.xml_811_SiGr,
+        }
+        if key not in fmap:
+            raise ValueError(f"未定义电池体系映射: {key}")
+        return fmap[key]
+    
+    def _save_xml(self, xml: str, path: str):
+        """
+        保存XML文件
+        
+        Args:
+            xml: XML内容
+            path: 文件路径
+        """
+        with open(path, 'w', encoding='utf-8') as f:
+            f.write(xml)
+    
+    def submit_from_csv(self, csv_path: str, output_dir: str = ".") -> dict:
+        """
+        从CSV文件批量提交Neware测试任务（设备动作）
+        
+        Args:
+            csv_path (str): 输入CSV文件路径
+            output_dir (str): 输出目录，用于存储XML文件和备份，默认当前目录
+            
+        Returns:
+            dict: 执行结果 {"return_info": str, "success": bool, "submitted_count": int}
+        """
+        try:
+            # 确保可以导入本地模块
+            self._ensure_local_import_path()
+            import pandas as pd
+            import generate_xml_content as gen_mod
+            from neware_driver import start_test
+            
+            if self._ros_node:
+                self._ros_node.lab_logger().info(f"开始从CSV文件提交任务: {csv_path}")
+            
+            # 读取CSV文件
+            if not os.path.exists(csv_path):
+                error_msg = f"CSV文件不存在: {csv_path}"
+                if self._ros_node:
+                    self._ros_node.lab_logger().error(error_msg)
+                return {"return_info": error_msg, "success": False, "submitted_count": 0}
+            
+            df = pd.read_csv(csv_path, encoding='gbk')
+            
+            # 验证必需列
+            required = [
+                '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'
+            ]
+            missing = [c for c in required if c not in df.columns]
+            if missing:
+                error_msg = f"CSV缺少必需列: {missing}"
+                if self._ros_node:
+                    self._ros_node.lab_logger().error(error_msg)
+                return {"return_info": error_msg, "success": False, "submitted_count": 0}
+            
+            # 创建输出目录
+            xml_dir = os.path.join(output_dir, 'xml_dir')
+            backup_dir = os.path.join(output_dir, 'backup_dir')
+            os.makedirs(xml_dir, exist_ok=True)
+            os.makedirs(backup_dir, exist_ok=True)
+            
+            if self._ros_node:
+                self._ros_node.lab_logger().info(
+                    f"输出目录: XML={xml_dir}, 备份={backup_dir}"
+                )
+            
+            # 逐行处理CSV数据
+            submitted_count = 0
+            results = []
+            
+            for idx, row in df.iterrows():
+                try:
+                    coin_id = str(row['Battery_Code'])
+                    
+                    # 计算活性物质质量和容量
+                    act_mass, cap_mAh = self._compute_values(row)
+                    
+                    if cap_mAh < 0:
+                        error_msg = (
+                            f"容量为负数: Battery_Code={coin_id}, "
+                            f"活性物质质量mg={act_mass}, 容量mah={cap_mAh}"
+                        )
+                        if self._ros_node:
+                            self._ros_node.lab_logger().warning(error_msg)
+                        results.append(f"行{idx+1} 失败: {error_msg}")
+                        continue
+                    
+                    # 获取电池体系对应的XML生成函数
+                    key = self._canon(row['电池体系'])
+                    builder = self._get_xml_builder(gen_mod, key)
+                    
+                    # 生成XML内容
+                    xml_content = builder(act_mass, cap_mAh)
+                    
+                    # 获取设备信息
+                    devid = int(row['设备号'])
+                    subdevid = int(row['排号'])
+                    chlid = int(row['通道号'])
+                    
+                    # 保存XML文件
+                    recipe_path = os.path.join(
+                        xml_dir, 
+                        f"{coin_id}_{devid}_{subdevid}_{chlid}.xml"
+                    )
+                    self._save_xml(xml_content, recipe_path)
+                    
+                    # 提交测试任务
+                    resp = start_test(
+                        ip=self.ip, 
+                        port=self.port, 
+                        devid=devid, 
+                        subdevid=subdevid, 
+                        chlid=chlid, 
+                        CoinID=coin_id, 
+                        recipe_path=recipe_path, 
+                        backup_dir=backup_dir
+                    )
+                    
+                    submitted_count += 1
+                    results.append(f"行{idx+1} {coin_id}: {resp}")
+                    
+                    if self._ros_node:
+                        self._ros_node.lab_logger().info(
+                            f"已提交 {coin_id} (设备{devid}-{subdevid}-{chlid}): {resp}"
+                        )
+                
+                except Exception as e:
+                    error_msg = f"行{idx+1} 处理失败: {str(e)}"
+                    results.append(error_msg)
+                    if self._ros_node:
+                        self._ros_node.lab_logger().error(error_msg)
+            
+            # 汇总结果
+            success_msg = (
+                f"批量提交完成: 成功{submitted_count}个，共{len(df)}行。"
+                f"\n详细结果:\n" + "\n".join(results)
+            )
+            
+            if self._ros_node:
+                self._ros_node.lab_logger().info(
+                    f"批量提交完成: 成功{submitted_count}/{len(df)}"
+                )
+            
+            return {
+                "return_info": success_msg,
+                "success": True,
+                "submitted_count": submitted_count,
+                "total_count": len(df),
+                "results": results
+            }
+        
+        except Exception as e:
+            error_msg = f"批量提交失败: {str(e)}"
+            if self._ros_node:
+                self._ros_node.lab_logger().error(error_msg)
+            return {
+                "return_info": error_msg, 
+                "success": False, 
+                "submitted_count": 0
+            }
+
+
     def get_device_summary(self) -> dict:
         """
         获取设备级别的摘要统计（设备动作）

unilabos/devices/neware_battery_test_system/neware_driver.py

@@ -0,0 +1,49 @@
+import socket
+END_MARKS = [b"\r\n#\r\n", b"</bts>"]  # 读到任一标志即可判定完整响应
+
+def build_start_command(devid, subdevid, chlid, CoinID,
+                        ip_in_xml="127.0.0.1",
+                        devtype:int=27,
+                        recipe_path:str=f"D:\\HHM_test\\A001.xml",
+                        backup_dir:str=f"D:\\HHM_test\\backup") -> str:
+    lines = [
+        '<?xml version="1.0" encoding="UTF-8"?>',
+        '<bts version="1.0">',
+        '  <cmd>start</cmd>',
+        '  <list count="1">',
+        f'    <start ip="{ip_in_xml}" devtype="{devtype}" devid="{devid}" subdevid="{subdevid}" chlid="{chlid}" barcode="{CoinID}">{recipe_path}</start>',
+        f'    <backup backupdir="{backup_dir}" remotedir="" filenametype="1" customfilename="" createdirbydate="0" filetype="0" backupontime="1" backupontimeinterval="1" backupfree="0" />',
+        '  </list>',
+        '</bts>',
+    ]
+    # TCP 模式：请求必须以 #\r\n 结束（协议要求）
+    return "\r\n".join(lines) + "\r\n#\r\n"
+
+def recv_until_marks(sock: socket.socket, timeout=60):
+    sock.settimeout(timeout)  # 上限给足，协议允许到 30s:contentReference[oaicite:2]{index=2}
+    buf = bytearray()
+    while True:
+        chunk = sock.recv(8192)
+        if not chunk:
+            break
+        buf += chunk
+        # 读到结束标志就停，避免等对端断开
+        for m in END_MARKS:
+            if m in buf:
+                return bytes(buf)
+        # 保险：读到完整 XML 结束标签也停
+        if b"</bts>" in buf:
+            return bytes(buf)
+    return bytes(buf)
+
+def start_test(ip="127.0.0.1", port=502, devid=3, subdevid=2, chlid=1, CoinID="A001", recipe_path=f"D:\\HHM_test\\A001.xml", backup_dir=f"D:\\HHM_test\\backup"):
+    xml_cmd = build_start_command(devid=devid, subdevid=subdevid, chlid=chlid, CoinID=CoinID, recipe_path=recipe_path, backup_dir=backup_dir)
+    #print(xml_cmd)
+    with socket.create_connection((ip, port), timeout=60) as s:
+        s.sendall(xml_cmd.encode("utf-8"))
+        data = recv_until_marks(s, timeout=60)
+    return data.decode("utf-8", errors="replace")
+
+if __name__ == "__main__":
+    resp = start_test(ip="127.0.0.1", port=502, devid=4, subdevid=10, chlid=1, CoinID="A001", recipe_path=f"D:\\HHM_test\\A001.xml", backup_dir=f"D:\\HHM_test\\backup")
+    print(resp)

unilabos/devices/separator/chinwe.py

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

unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py

@@ -1,7 +1,7 @@
 # -*- coding: utf-8 -*-
 from cgi import print_arguments
 from doctest import debug
-from typing import Dict, Any, List, Optional
+from typing import Dict, Any, List, Optional, Tuple
 import requests
 from pylabrobot.resources.resource import Resource as ResourcePLR
 from pathlib import Path
@@ -19,8 +19,22 @@ from unilabos.devices.workstation.bioyond_studio.config import (
 )
 from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
 from unilabos.resources.bioyond.decks import BIOYOND_YB_Deck
+from unilabos.resources.graphio import resource_bioyond_to_plr
 from unilabos.utils.log import logger
 from unilabos.registry.registry import lab_registry
+from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
+
+
+class device(BIOYOND_YB_Deck):
+
+    @classmethod
+    def deserialize(cls, data, allow_marshal=False):  # type: ignore[override]
+        patched = dict(data)
+        if patched.get("type") == "device":
+            patched["type"] = "Deck"
+        if patched.get("category") == "device":
+            patched["category"] = "deck"
+        return super().deserialize(patched, allow_marshal=allow_marshal)
 
 def _iso_local_now_ms() -> str:
     # 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z
@@ -40,12 +54,14 @@ class BioyondCellWorkstation(BioyondWorkstation):
     def __init__(self, config: dict = None, deck=None, protocol_type=None, **kwargs):
 
         # 使用统一配置，支持自定义覆盖, 从 config.py 加载完整配置
-        self.bioyond_config ={
+        self.bioyond_config = {
             **API_CONFIG,
             "material_type_mappings": MATERIAL_TYPE_MAPPINGS,
             "warehouse_mapping": WAREHOUSE_MAPPING,
-            "debug_mode": False
-    }
+            "debug_mode": False,
+        }
+        if config:
+            self.bioyond_config.update(config)
           
             # "material_type_mappings": MATERIAL_TYPE_MAPPINGS
             # "warehouse_mapping": WAREHOUSE_MAPPING
@@ -56,6 +72,12 @@ class BioyondCellWorkstation(BioyondWorkstation):
         self.http_service_started = self.debug_mode
         self._device_id = "bioyond_cell_workstation"  # 默认值，后续会从_ros_node获取
         super().__init__(bioyond_config=config, deck=deck)
+        self.transfer_target_device_id = self.bioyond_config.get("transfer_target_device_id", "BatteryStation")
+        self.transfer_target_parent = self.bioyond_config.get("transfer_target_parent", "YB_YH_Deck")
+        self.transfer_timeout = float(self.bioyond_config.get("transfer_timeout", 180.0))
+        self.coin_cell_workflow_config = self.bioyond_config.get("coin_cell_workflow_config", {})
+        self.pending_transfer_materials: List[Dict[str, Any]] = []
+        self.pending_transfer_plr: List[ResourcePLR] = []
         self.update_push_ip() #直接修改奔耀端的报送ip地址
         logger.info("已更新奔耀端推送 IP 地址")
 
@@ -257,7 +279,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
     def auto_feeding4to3(
         self,
         # ★ 修改点：默认模板路径
-        xlsx_path: Optional[str] = "D:\\UniLab\\Uni-Lab-OS\\unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\material_template.xlsx",
+        xlsx_path: Optional[str] = "/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx",
         # ---------------- WH4 - 加样头面 (Z=1, 12个点位) ----------------
         WH4_x1_y1_z1_1_materialName: str = "", WH4_x1_y1_z1_1_quantity: float = 0.0,
         WH4_x2_y1_z1_2_materialName: str = "", WH4_x2_y1_z1_2_quantity: float = 0.0,
@@ -324,6 +346,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
                             "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]),
                             "materialName": str(row[5]).strip(),
                             "quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
+                            "temperature": 0,
                         })
                 # 四号手套箱原液瓶面
                 for _, row in df.iloc[14:23, 2:9].iterrows():
@@ -335,6 +358,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
                             "quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
                             "materialType": str(row[7]).strip() if pd.notna(row[7]) else "",
                             "targetWH": str(row[8]).strip() if pd.notna(row[8]) else "",
+                            "temperature": 0,
                         })
                 # 三号手套箱人工堆栈
                 for _, row in df.iloc[25:40, 2:7].iterrows():
@@ -344,11 +368,12 @@ class BioyondCellWorkstation(BioyondWorkstation):
                             "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]),
                             "materialType": str(row[5]).strip() if pd.notna(row[5]) else "",
                             "materialId": str(row[6]).strip() if pd.notna(row[6]) else "",
-                            "quantity": 1
+                            "quantity": 1,
+                            "temperature": 0,
                         })
             else:
                 logger.warning(f"未找到 Excel 文件 {xlsx_path}，自动切换到手动参数模式。")
-
+        # TODO: 温度下面手动模式没改，上面的改了
         # ---------- 模式 2: 手动填写 ----------
         if not items:
             params = locals()
@@ -391,16 +416,16 @@ class BioyondCellWorkstation(BioyondWorkstation):
         order_code = response.get("data", {}).get("orderCode")
         if not order_code:
             logger.error("上料任务未返回有效 orderCode！")
-            return response
-          # 等待完成报送
+            return {"api_response": response, "order_finish": None}
+        # 等待完成报送
         result = self.wait_for_order_finish(order_code)
-        print("\n" + "="*60)
-        print("实验记录本结果auto_feeding4to3")
-        print("="*60)
-        print(json.dumps(result, indent=2, ensure_ascii=False))
-        print("="*60 + "\n")
-        return result
+        return {
+            "api_response": response,
+            "order_finish": result,
+            "items": items,
+        }
     
+
     def auto_batch_outbound_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]:
         """
         3.31 自动化下料（Excel -> JSON -> POST /api/lims/storage/auto-batch-out-bound）
@@ -469,7 +494,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
         return response
 
     # 2.14 新建实验
-    def create_orders(self, xlsx_path: str) -> Dict[str, Any]:
+    def create_orders(self, xlsx_path: str, *, material_filter: Optional[str] = None) -> Dict[str, Any]:
         """
         从 Excel 解析并创建实验（2.14）
         约定：
@@ -478,7 +503,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
         - totalMass 自动计算为所有物料质量之和
         - createTime 缺失或为空时自动填充为当前日期（YYYY/M/D）
         """
-        default_path = Path("D:\\UniLab\\Uni-Lab-OS\\unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\2025122301.xlsx")
+        default_path = Path("/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx")
         path = Path(xlsx_path) if xlsx_path else default_path
         print(f"[create_orders] 使用 Excel 路径: {path}")
         if path != default_path:
@@ -614,63 +639,46 @@ class BioyondCellWorkstation(BioyondWorkstation):
         print(f"[create_orders] 即将提交订单数量: {len(orders)}")
         response = self._post_lims("/api/lims/order/orders", orders)
         print(f"[create_orders] 接口返回: {response}")
-        
-        # 提取所有返回的 orderCode
+        # 等待任务报送成功
         data_list = response.get("data", [])
-        if not data_list:
-            logger.error("创建订单未返回有效数据！")
+        if data_list:
+            order_code = data_list[0].get("orderCode")
+        else:
+            order_code = None
+
+        if not order_code:
+            logger.error("上料任务未返回有效 orderCode！")
             return response
-        
-        # 收集所有 orderCode
-        order_codes = []
-        for order_item in data_list:
-            code = order_item.get("orderCode")
-            if code:
-                order_codes.append(code)
-        
-        if not order_codes:
-            logger.error("未找到任何有效的 orderCode！")
-            return response
-        
-        print(f"[create_orders] 等待 {len(order_codes)} 个订单完成: {order_codes}")
-        
-        # 等待所有订单完成并收集报文
-        all_reports = []
-        for idx, order_code in enumerate(order_codes, 1):
-            print(f"[create_orders] 正在等待第 {idx}/{len(order_codes)} 个订单: {order_code}")
-            result = self.wait_for_order_finish(order_code)
-            
-            # 提取报文数据
-            if result.get("status") == "success":
-                report = result.get("report", {})
-                all_reports.append(report)
-                print(f"[create_orders] ✓ 订单 {order_code} 完成")
-            else:
-                logger.warning(f"订单 {order_code} 状态异常: {result.get('status')}")
-                # 即使订单失败，也记录下这个结果
-                all_reports.append({
-                    "orderCode": order_code,
-                    "status": result.get("status"),
-                    "error": result.get("message", "未知错误")
-                })
-        
-        print(f"[create_orders] 所有订单已完成，共收集 {len(all_reports)} 个报文")
-        print("实验记录本========================create_orders========================")
-        
-        # 返回所有订单的完成报文
-        final_result = {
-            "status": "all_completed",
-            "total_orders": len(order_codes),
-            "reports": all_reports,
-            "original_response": response
+        # 等待完成报送
+        result = self.wait_for_order_finish(order_code)
+        report_data = result.get("report") if isinstance(result, dict) else None
+        materials_from_report = (
+            report_data.get("usedMaterials") if isinstance(report_data, dict) else None
+        )
+        if materials_from_report:
+            materials = materials_from_report
+            logger.info(
+                "[create_orders] 使用订单完成报送中的物料信息: "
+                f"{len(materials)} 条"
+            )
+        else:
+            materials = self._fetch_bioyond_materials(filter_keyword=material_filter)
+            logger.info(
+                "[create_orders] 未收到订单报送物料信息，回退到实时查询"
+            )
+        print("materials_from_report:", materials_from_report)
+        # TODO: 需要将 materials 字典转换为 ResourceSlot 对象后才能转运
+        # self.transfer_resource_to_another(
+        #     resource=[materials],
+        #     mount_resource=["YB_YH_Deck"],
+        #     sites=[None],
+        #     mount_device_id="BatteryStation"
+        # )
+        return {
+            "api_response": response,
+            "order_finish": result,
+            "materials": materials,
         }
-        
-        print(f"返回报文数量: {len(all_reports)}")
-        for i, report in enumerate(all_reports, 1):
-            print(f"报文 {i}: orderCode={report.get('orderCode', 'N/A')}, status={report.get('status', 'N/A')}")
-        print("========================")
-        
-        return final_result
 
     # 2.7 启动调度
     def scheduler_start(self) -> Dict[str, Any]:
@@ -698,146 +706,6 @@ class BioyondCellWorkstation(BioyondWorkstation):
         """
         return self._post_lims("/api/lims/scheduler/reset")
 
-    def scheduler_start_and_auto_feeding(
-        self,
-        # ★ Excel路径参数
-        xlsx_path: Optional[str] = "D:\\UniLab\\Uni-Lab-OS\\unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\material_template.xlsx",
-        # ---------------- WH4 - 加样头面 (Z=1, 12个点位) ----------------
-        WH4_x1_y1_z1_1_materialName: str = "", WH4_x1_y1_z1_1_quantity: float = 0.0,
-        WH4_x2_y1_z1_2_materialName: str = "", WH4_x2_y1_z1_2_quantity: float = 0.0,
-        WH4_x3_y1_z1_3_materialName: str = "", WH4_x3_y1_z1_3_quantity: float = 0.0,
-        WH4_x4_y1_z1_4_materialName: str = "", WH4_x4_y1_z1_4_quantity: float = 0.0,
-        WH4_x5_y1_z1_5_materialName: str = "", WH4_x5_y1_z1_5_quantity: float = 0.0,
-        WH4_x1_y2_z1_6_materialName: str = "", WH4_x1_y2_z1_6_quantity: float = 0.0,
-        WH4_x2_y2_z1_7_materialName: str = "", WH4_x2_y2_z1_7_quantity: float = 0.0,
-        WH4_x3_y2_z1_8_materialName: str = "", WH4_x3_y2_z1_8_quantity: float = 0.0,
-        WH4_x4_y2_z1_9_materialName: str = "", WH4_x4_y2_z1_9_quantity: float = 0.0,
-        WH4_x5_y2_z1_10_materialName: str = "", WH4_x5_y2_z1_10_quantity: float = 0.0,
-        WH4_x1_y3_z1_11_materialName: str = "", WH4_x1_y3_z1_11_quantity: float = 0.0,
-        WH4_x2_y3_z1_12_materialName: str = "", WH4_x2_y3_z1_12_quantity: float = 0.0,
-
-        # ---------------- WH4 - 原液瓶面 (Z=2, 9个点位) ----------------
-        WH4_x1_y1_z2_1_materialName: str = "", WH4_x1_y1_z2_1_quantity: float = 0.0, WH4_x1_y1_z2_1_materialType: str = "", WH4_x1_y1_z2_1_targetWH: str = "",
-        WH4_x2_y1_z2_2_materialName: str = "", WH4_x2_y1_z2_2_quantity: float = 0.0, WH4_x2_y1_z2_2_materialType: str = "", WH4_x2_y1_z2_2_targetWH: str = "",
-        WH4_x3_y1_z2_3_materialName: str = "", WH4_x3_y1_z2_3_quantity: float = 0.0, WH4_x3_y1_z2_3_materialType: str = "", WH4_x3_y1_z2_3_targetWH: str = "",
-        WH4_x1_y2_z2_4_materialName: str = "", WH4_x1_y2_z2_4_quantity: float = 0.0, WH4_x1_y2_z2_4_materialType: str = "", WH4_x1_y2_z2_4_targetWH: str = "",
-        WH4_x2_y2_z2_5_materialName: str = "", WH4_x2_y2_z2_5_quantity: float = 0.0, WH4_x2_y2_z2_5_materialType: str = "", WH4_x2_y2_z2_5_targetWH: str = "",
-        WH4_x3_y2_z2_6_materialName: str = "", WH4_x3_y2_z2_6_quantity: float = 0.0, WH4_x3_y2_z2_6_materialType: str = "", WH4_x3_y2_z2_6_targetWH: str = "",
-        WH4_x1_y3_z2_7_materialName: str = "", WH4_x1_y3_z2_7_quantity: float = 0.0, WH4_x1_y3_z2_7_materialType: str = "", WH4_x1_y3_z2_7_targetWH: str = "",
-        WH4_x2_y3_z2_8_materialName: str = "", WH4_x2_y3_z2_8_quantity: float = 0.0, WH4_x2_y3_z2_8_materialType: str = "", WH4_x2_y3_z2_8_targetWH: str = "",
-        WH4_x3_y3_z2_9_materialName: str = "", WH4_x3_y3_z2_9_quantity: float = 0.0, WH4_x3_y3_z2_9_materialType: str = "", WH4_x3_y3_z2_9_targetWH: str = "",
-
-        # ---------------- WH3 - 人工堆栈 (Z=3, 15个点位) ----------------
-        WH3_x1_y1_z3_1_materialType: str = "", WH3_x1_y1_z3_1_materialId: str = "", WH3_x1_y1_z3_1_quantity: float = 0,
-        WH3_x2_y1_z3_2_materialType: str = "", WH3_x2_y1_z3_2_materialId: str = "", WH3_x2_y1_z3_2_quantity: float = 0,
-        WH3_x3_y1_z3_3_materialType: str = "", WH3_x3_y1_z3_3_materialId: str = "", WH3_x3_y1_z3_3_quantity: float = 0,
-        WH3_x1_y2_z3_4_materialType: str = "", WH3_x1_y2_z3_4_materialId: str = "", WH3_x1_y2_z3_4_quantity: float = 0,
-        WH3_x2_y2_z3_5_materialType: str = "", WH3_x2_y2_z3_5_materialId: str = "", WH3_x2_y2_z3_5_quantity: float = 0,
-        WH3_x3_y2_z3_6_materialType: str = "", WH3_x3_y2_z3_6_materialId: str = "", WH3_x3_y2_z3_6_quantity: float = 0,
-        WH3_x1_y3_z3_7_materialType: str = "", WH3_x1_y3_z3_7_materialId: str = "", WH3_x1_y3_z3_7_quantity: float = 0,
-        WH3_x2_y3_z3_8_materialType: str = "", WH3_x2_y3_z3_8_materialId: str = "", WH3_x2_y3_z3_8_quantity: float = 0,
-        WH3_x3_y3_z3_9_materialType: str = "", WH3_x3_y3_z3_9_materialId: str = "", WH3_x3_y3_z3_9_quantity: float = 0,
-        WH3_x1_y4_z3_10_materialType: str = "", WH3_x1_y4_z3_10_materialId: str = "", WH3_x1_y4_z3_10_quantity: float = 0,
-        WH3_x2_y4_z3_11_materialType: str = "", WH3_x2_y4_z3_11_materialId: str = "", WH3_x2_y4_z3_11_quantity: float = 0,
-        WH3_x3_y4_z3_12_materialType: str = "", WH3_x3_y4_z3_12_materialId: str = "", WH3_x3_y4_z3_12_quantity: float = 0,
-        WH3_x1_y5_z3_13_materialType: str = "", WH3_x1_y5_z3_13_materialId: str = "", WH3_x1_y5_z3_13_quantity: float = 0,
-        WH3_x2_y5_z3_14_materialType: str = "", WH3_x2_y5_z3_14_materialId: str = "", WH3_x2_y5_z3_14_quantity: float = 0,
-        WH3_x3_y5_z3_15_materialType: str = "", WH3_x3_y5_z3_15_materialId: str = "", WH3_x3_y5_z3_15_quantity: float = 0,
-    ) -> Dict[str, Any]:
-        """
-        组合函数：先启动调度，然后执行自动化上料
-        
-        此函数简化了工作流操作，将两个有顺序依赖的操作组合在一起：
-        1. 启动调度（scheduler_start）
-        2. 自动化上料（auto_feeding4to3）
-        
-        参数与 auto_feeding4to3 完全相同，支持 Excel 和手动参数两种模式
-        
-        Returns:
-            包含调度启动结果和上料结果的字典
-        """
-        logger.info("=" * 60)
-        logger.info("开始执行组合操作：启动调度 + 自动化上料")
-        logger.info("=" * 60)
-        
-        # 步骤1: 启动调度
-        logger.info("【步骤 1/2】启动调度...")
-        scheduler_result = self.scheduler_start()
-        logger.info(f"调度启动结果: {scheduler_result}")
-        
-        # 检查调度是否启动成功
-        if scheduler_result.get("code") != 1:
-            logger.error(f"调度启动失败: {scheduler_result}")
-            return {
-                "success": False,
-                "step": "scheduler_start",
-                "scheduler_result": scheduler_result,
-                "error": "调度启动失败"
-            }
-        
-        logger.info("✓ 调度启动成功")
-        
-        # 步骤2: 执行自动化上料
-        logger.info("【步骤 2/2】执行自动化上料...")
-        feeding_result = self.auto_feeding4to3(
-            xlsx_path=xlsx_path,
-            WH4_x1_y1_z1_1_materialName=WH4_x1_y1_z1_1_materialName, WH4_x1_y1_z1_1_quantity=WH4_x1_y1_z1_1_quantity,
-            WH4_x2_y1_z1_2_materialName=WH4_x2_y1_z1_2_materialName, WH4_x2_y1_z1_2_quantity=WH4_x2_y1_z1_2_quantity,
-            WH4_x3_y1_z1_3_materialName=WH4_x3_y1_z1_3_materialName, WH4_x3_y1_z1_3_quantity=WH4_x3_y1_z1_3_quantity,
-            WH4_x4_y1_z1_4_materialName=WH4_x4_y1_z1_4_materialName, WH4_x4_y1_z1_4_quantity=WH4_x4_y1_z1_4_quantity,
-            WH4_x5_y1_z1_5_materialName=WH4_x5_y1_z1_5_materialName, WH4_x5_y1_z1_5_quantity=WH4_x5_y1_z1_5_quantity,
-            WH4_x1_y2_z1_6_materialName=WH4_x1_y2_z1_6_materialName, WH4_x1_y2_z1_6_quantity=WH4_x1_y2_z1_6_quantity,
-            WH4_x2_y2_z1_7_materialName=WH4_x2_y2_z1_7_materialName, WH4_x2_y2_z1_7_quantity=WH4_x2_y2_z1_7_quantity,
-            WH4_x3_y2_z1_8_materialName=WH4_x3_y2_z1_8_materialName, WH4_x3_y2_z1_8_quantity=WH4_x3_y2_z1_8_quantity,
-            WH4_x4_y2_z1_9_materialName=WH4_x4_y2_z1_9_materialName, WH4_x4_y2_z1_9_quantity=WH4_x4_y2_z1_9_quantity,
-            WH4_x5_y2_z1_10_materialName=WH4_x5_y2_z1_10_materialName, WH4_x5_y2_z1_10_quantity=WH4_x5_y2_z1_10_quantity,
-            WH4_x1_y3_z1_11_materialName=WH4_x1_y3_z1_11_materialName, WH4_x1_y3_z1_11_quantity=WH4_x1_y3_z1_11_quantity,
-            WH4_x2_y3_z1_12_materialName=WH4_x2_y3_z1_12_materialName, WH4_x2_y3_z1_12_quantity=WH4_x2_y3_z1_12_quantity,
-            WH4_x1_y1_z2_1_materialName=WH4_x1_y1_z2_1_materialName, WH4_x1_y1_z2_1_quantity=WH4_x1_y1_z2_1_quantity, 
-            WH4_x1_y1_z2_1_materialType=WH4_x1_y1_z2_1_materialType, WH4_x1_y1_z2_1_targetWH=WH4_x1_y1_z2_1_targetWH,
-            WH4_x2_y1_z2_2_materialName=WH4_x2_y1_z2_2_materialName, WH4_x2_y1_z2_2_quantity=WH4_x2_y1_z2_2_quantity, 
-            WH4_x2_y1_z2_2_materialType=WH4_x2_y1_z2_2_materialType, WH4_x2_y1_z2_2_targetWH=WH4_x2_y1_z2_2_targetWH,
-            WH4_x3_y1_z2_3_materialName=WH4_x3_y1_z2_3_materialName, WH4_x3_y1_z2_3_quantity=WH4_x3_y1_z2_3_quantity, 
-            WH4_x3_y1_z2_3_materialType=WH4_x3_y1_z2_3_materialType, WH4_x3_y1_z2_3_targetWH=WH4_x3_y1_z2_3_targetWH,
-            WH4_x1_y2_z2_4_materialName=WH4_x1_y2_z2_4_materialName, WH4_x1_y2_z2_4_quantity=WH4_x1_y2_z2_4_quantity, 
-            WH4_x1_y2_z2_4_materialType=WH4_x1_y2_z2_4_materialType, WH4_x1_y2_z2_4_targetWH=WH4_x1_y2_z2_4_targetWH,
-            WH4_x2_y2_z2_5_materialName=WH4_x2_y2_z2_5_materialName, WH4_x2_y2_z2_5_quantity=WH4_x2_y2_z2_5_quantity, 
-            WH4_x2_y2_z2_5_materialType=WH4_x2_y2_z2_5_materialType, WH4_x2_y2_z2_5_targetWH=WH4_x2_y2_z2_5_targetWH,
-            WH4_x3_y2_z2_6_materialName=WH4_x3_y2_z2_6_materialName, WH4_x3_y2_z2_6_quantity=WH4_x3_y2_z2_6_quantity, 
-            WH4_x3_y2_z2_6_materialType=WH4_x3_y2_z2_6_materialType, WH4_x3_y2_z2_6_targetWH=WH4_x3_y2_z2_6_targetWH,
-            WH4_x1_y3_z2_7_materialName=WH4_x1_y3_z2_7_materialName, WH4_x1_y3_z2_7_quantity=WH4_x1_y3_z2_7_quantity, 
-            WH4_x1_y3_z2_7_materialType=WH4_x1_y3_z2_7_materialType, WH4_x1_y3_z2_7_targetWH=WH4_x1_y3_z2_7_targetWH,
-            WH4_x2_y3_z2_8_materialName=WH4_x2_y3_z2_8_materialName, WH4_x2_y3_z2_8_quantity=WH4_x2_y3_z2_8_quantity, 
-            WH4_x2_y3_z2_8_materialType=WH4_x2_y3_z2_8_materialType, WH4_x2_y3_z2_8_targetWH=WH4_x2_y3_z2_8_targetWH,
-            WH4_x3_y3_z2_9_materialName=WH4_x3_y3_z2_9_materialName, WH4_x3_y3_z2_9_quantity=WH4_x3_y3_z2_9_quantity, 
-            WH4_x3_y3_z2_9_materialType=WH4_x3_y3_z2_9_materialType, WH4_x3_y3_z2_9_targetWH=WH4_x3_y3_z2_9_targetWH,
-            WH3_x1_y1_z3_1_materialType=WH3_x1_y1_z3_1_materialType, WH3_x1_y1_z3_1_materialId=WH3_x1_y1_z3_1_materialId, WH3_x1_y1_z3_1_quantity=WH3_x1_y1_z3_1_quantity,
-            WH3_x2_y1_z3_2_materialType=WH3_x2_y1_z3_2_materialType, WH3_x2_y1_z3_2_materialId=WH3_x2_y1_z3_2_materialId, WH3_x2_y1_z3_2_quantity=WH3_x2_y1_z3_2_quantity,
-            WH3_x3_y1_z3_3_materialType=WH3_x3_y1_z3_3_materialType, WH3_x3_y1_z3_3_materialId=WH3_x3_y1_z3_3_materialId, WH3_x3_y1_z3_3_quantity=WH3_x3_y1_z3_3_quantity,
-            WH3_x1_y2_z3_4_materialType=WH3_x1_y2_z3_4_materialType, WH3_x1_y2_z3_4_materialId=WH3_x1_y2_z3_4_materialId, WH3_x1_y2_z3_4_quantity=WH3_x1_y2_z3_4_quantity,
-            WH3_x2_y2_z3_5_materialType=WH3_x2_y2_z3_5_materialType, WH3_x2_y2_z3_5_materialId=WH3_x2_y2_z3_5_materialId, WH3_x2_y2_z3_5_quantity=WH3_x2_y2_z3_5_quantity,
-            WH3_x3_y2_z3_6_materialType=WH3_x3_y2_z3_6_materialType, WH3_x3_y2_z3_6_materialId=WH3_x3_y2_z3_6_materialId, WH3_x3_y2_z3_6_quantity=WH3_x3_y2_z3_6_quantity,
-            WH3_x1_y3_z3_7_materialType=WH3_x1_y3_z3_7_materialType, WH3_x1_y3_z3_7_materialId=WH3_x1_y3_z3_7_materialId, WH3_x1_y3_z3_7_quantity=WH3_x1_y3_z3_7_quantity,
-            WH3_x2_y3_z3_8_materialType=WH3_x2_y3_z3_8_materialType, WH3_x2_y3_z3_8_materialId=WH3_x2_y3_z3_8_materialId, WH3_x2_y3_z3_8_quantity=WH3_x2_y3_z3_8_quantity,
-            WH3_x3_y3_z3_9_materialType=WH3_x3_y3_z3_9_materialType, WH3_x3_y3_z3_9_materialId=WH3_x3_y3_z3_9_materialId, WH3_x3_y3_z3_9_quantity=WH3_x3_y3_z3_9_quantity,
-            WH3_x1_y4_z3_10_materialType=WH3_x1_y4_z3_10_materialType, WH3_x1_y4_z3_10_materialId=WH3_x1_y4_z3_10_materialId, WH3_x1_y4_z3_10_quantity=WH3_x1_y4_z3_10_quantity,
-            WH3_x2_y4_z3_11_materialType=WH3_x2_y4_z3_11_materialType, WH3_x2_y4_z3_11_materialId=WH3_x2_y4_z3_11_materialId, WH3_x2_y4_z3_11_quantity=WH3_x2_y4_z3_11_quantity,
-            WH3_x3_y4_z3_12_materialType=WH3_x3_y4_z3_12_materialType, WH3_x3_y4_z3_12_materialId=WH3_x3_y4_z3_12_materialId, WH3_x3_y4_z3_12_quantity=WH3_x3_y4_z3_12_quantity,
-            WH3_x1_y5_z3_13_materialType=WH3_x1_y5_z3_13_materialType, WH3_x1_y5_z3_13_materialId=WH3_x1_y5_z3_13_materialId, WH3_x1_y5_z3_13_quantity=WH3_x1_y5_z3_13_quantity,
-            WH3_x2_y5_z3_14_materialType=WH3_x2_y5_z3_14_materialType, WH3_x2_y5_z3_14_materialId=WH3_x2_y5_z3_14_materialId, WH3_x2_y5_z3_14_quantity=WH3_x2_y5_z3_14_quantity,
-            WH3_x3_y5_z3_15_materialType=WH3_x3_y5_z3_15_materialType, WH3_x3_y5_z3_15_materialId=WH3_x3_y5_z3_15_materialId, WH3_x3_y5_z3_15_quantity=WH3_x3_y5_z3_15_quantity,
-        )
-        
-        logger.info("=" * 60)
-        logger.info("组合操作完成")
-        logger.info("=" * 60)
-        
-        return {
-            "success": True,
-            "scheduler_result": scheduler_result,
-            "feeding_result": feeding_result
-        }
-
 
     # 2.24 物料变更推送
     def report_material_change(self, material_obj: Dict[str, Any]) -> Dict[str, Any]:
@@ -882,6 +750,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
             return response
           # 等待完成报送
         result = self.wait_for_order_finish(order_code)
+        
         return result
    
     # 2.5 批量查询实验报告(post过滤关键字查询)
@@ -1350,28 +1219,221 @@ class BioyondCellWorkstation(BioyondWorkstation):
         })
         return final_result
 
+    def _fetch_bioyond_materials(
+        self,
+        *,
+        filter_keyword: Optional[str] = None,
+        type_mode: int = 2,
+    ) -> List[Dict[str, Any]]:
+        query: Dict[str, Any] = {
+            "typeMode": type_mode,
+            "includeDetail": True,
+        }
+        if filter_keyword:
+            query["filter"] = filter_keyword
 
+        response = self._post_lims("/api/lims/storage/stock-material", query)
+        raw_materials = response.get("data")
+        if not isinstance(raw_materials, list):
+            raw_materials = []
 
+        try:
+            resource_bioyond_to_plr(
+                raw_materials,
+                type_mapping=self.bioyond_config.get("material_type_mappings", MATERIAL_TYPE_MAPPINGS),
+                deck=self.deck,
+            )
+        except Exception as exc: 
+            logger.warning(f"转换奔曜物料到 PLR 失败: {exc}", exc_info=True)
 
+        return raw_materials
+
+    def _convert_materials_to_plr(self, materials: List[Dict[str, Any]]) -> List[ResourcePLR]:
+        try:
+            return resource_bioyond_to_plr(
+                deepcopy(materials),
+                type_mapping=self.bioyond_config.get("material_type_mappings", MATERIAL_TYPE_MAPPINGS),
+                deck=self.deck,
+            )
+        except Exception as exc:
+            logger.error(f"物料转换为 PLR 失败: {exc}", exc_info=True)
+            return []
+
+    def _wait_for_future(self, future, stage: str, timeout: Optional[float] = None):
+        if future is None:
+            return None
+        timeout = timeout or self.transfer_timeout
+        start = time.time()
+        while not future.done():
+            if (time.time() - start) > timeout:
+                raise TimeoutError(f"{stage} 超时 {timeout}s")
+            time.sleep(0.05)
+        return future.result()
+
+    def _register_plr_resources(self, resources: List[ResourcePLR]) -> None:
+        if not resources or not hasattr(self, "_ros_node") or self._ros_node is None:
+            return
+        future = ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, resources=resources)
+        self._wait_for_future(future, "update_resource")
+
+    def _get_target_resource(self, name: str) -> ResourcePLR:
+        if not hasattr(self, "_ros_node") or self._ros_node is None:
+            raise RuntimeError("ROS 节点未初始化，无法获取资源")
+        resource = self._ros_node.resource_tracker.figure_resource({"name": name}, try_mode=False)  # type: ignore
+        if resource is None:
+            raise ValueError(f"未找到目标资源: {name}")
+        return resource
+
+    def _allocate_sites(self, parent_resource: ResourcePLR, count: int) -> List[str]:
+        if not hasattr(parent_resource, "get_free_sites"):
+            raise ValueError(f"资源 {parent_resource} 不支持自动分配站位")
+        free_indices = list(parent_resource.get_free_sites())
+        if len(free_indices) < count:
+            raise ValueError(f"{parent_resource.name} 可用站位不足 (need {count}, have {len(free_indices)})")
+        ordering = list(getattr(parent_resource, "_ordering", {}).keys())
+        sites: List[str] = []
+        for idx in free_indices[:count]:
+            if ordering and idx < len(ordering):
+                sites.append(ordering[idx])
+            else:
+                sites.append(str(idx))
+        return sites
+
+    def _invoke_coin_cell_workflow(self, material_payload: List[Dict[str, Any]]) -> Any:
+        timeout = float(self.bioyond_config.get("coin_cell_workflow_timeout", 300.0))
+        workflow_payload: Dict[str, Any] = {}
+        if isinstance(self.coin_cell_workflow_config, dict):
+            workflow_payload.update(deepcopy(self.coin_cell_workflow_config))
+        workflow_payload["materials"] = deepcopy(material_payload)
+        return self._call_remote_device_method(
+            self.transfer_target_device_id,
+            "run_coin_cell_assembly_workflow",
+            timeout=timeout,
+            workflow_config=workflow_payload,
+        )
+
+    def _call_remote_device_method(
+        self,
+        device_id: str,
+        method: str,
+        *,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ) -> Any:
+        if not hasattr(self, "_ros_node") or self._ros_node is None:
+            raise RuntimeError("ROS 节点未初始化，无法调用远程设备")
+        if not device_id:
+            raise ValueError("device_id 不能为空")
+        if not method:
+            raise ValueError("method 不能为空")
+
+        timeout = timeout or self.transfer_timeout
+        payload = json.dumps(
+            {
+                "function_name": method,
+                "function_args": kwargs,
+            },
+            ensure_ascii=False,
+        )
+        future = ROS2DeviceNode.run_async_func(
+            self._ros_node.execute_single_action,
+            True,
+            device_id=device_id,
+            action_name="_execute_driver_command_async",
+            action_kwargs={"string": payload},
+        )
+        result = self._wait_for_future(future, f"{device_id}.{method}", timeout)
+        if hasattr(result, "return_info"):
+            try:
+                return json.loads(result.return_info)
+            except Exception:
+                return result.return_info
+        return result
+
+    def run_feeding_stage(self) -> Dict[str, Any]:
+        self.create_sample(
+            board_type="配液瓶(小)板",
+            bottle_type="配液瓶(小)",
+            location_code="B01",
+            name="配液瓶",
+            warehouse_name="手动堆栈"
+        )
+        self.create_sample(
+            board_type="5ml分液瓶板",
+            bottle_type="5ml分液瓶",
+            location_code="B02",
+            name="分液瓶",
+            warehouse_name="手动堆栈"
+        )
+        self.scheduler_start()
+        feeding_task = self.auto_feeding4to3(
+            xlsx_path="/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx"
+        )
+        feeding_materials = self._fetch_bioyond_materials()
+        return {
+            "feeding_materials": feeding_materials,
+            "feeding_items": feeding_task.get("items", []),
+            "feeding_task": feeding_task,
+        }
+
+    def run_liquid_preparation_stage(
+        self,
+        feeding_materials: Optional[List[Dict[str, Any]]] = None,
+    ) -> Dict[str, List[Dict[str, Any]]]:
+        result = self.create_orders(
+            xlsx_path="/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx"
+        )
+        filter_keyword = self.bioyond_config.get("mixing_material_filter") or None
+        materials = result.get("materials")
+        if materials is None:
+            materials = self._fetch_bioyond_materials(filter_keyword=filter_keyword)
+        return {
+            "feeding_materials": feeding_materials or [],
+            "liquid_materials": materials,
+        }
+
+    def run_transfer_stage(
+        self,
+        liquid_materials: Optional[List[Dict[str, Any]]] = None,
+        source_wh_id: Optional[str] = '3a19debc-84b4-0359-e2d4-b3beea49348b',
+        source_x: int = 1,
+        source_y: int = 1,
+        source_z: int = 1
+    ) -> Dict[str, Any]:
+        """转运阶段：调用transfer_3_to_2_to_1执行3到2到1转运"""
+        logger.info("开始执行转运阶段 (run_transfer_stage)")
+        
+        # 暂时注释掉物料转换和跨工站转运逻辑
+        # transfer_summary: Dict[str, Any] = {}
+        # try:
+        #     source_materials = liquid_materials or self._fetch_bioyond_materials()
+        #     transfer_plr = self._convert_materials_to_plr(source_materials)
+        #     transfer_summary["plr_count"] = len(transfer_plr)
+        #     ...
+        # except Exception as exc:
+        #     transfer_summary["error"] = str(exc)
+        #     logger.error(f"跨工站转运失败: {exc}", exc_info=True)
+        
+        # 只执行核心的3到2到1转运
+        transfer_result = self.transfer_3_to_2_to_1(
+            source_wh_id=source_wh_id,
+            source_x=source_x,
+            source_y=source_y,
+            source_z=source_z
+        )
+        
+        logger.info("转运阶段执行完成")
+        return {
+            "success": True,
+            "stage": "transfer",
+            "transfer_result": transfer_result
+        }
 if __name__ == "__main__":
-    lab_registry.setup()
     deck = BIOYOND_YB_Deck(setup=True)
-    ws = BioyondCellWorkstation(deck=deck)
-    # ws.create_sample(name="test", board_type="配液瓶(小)板", bottle_type="配液瓶(小)", location_code="B01")
-    # logger.info(ws.scheduler_stop())
-    # logger.info(ws.scheduler_start())
-    
-    # 继续后续流程
-    logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱
-    # # # 使用正斜杠或 Path 对象来指定文件路径
-    # excel_path = Path("unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\2025092701.xlsx")
-    # logger.info(ws.create_orders(excel_path))
-    # logger.info(ws.transfer_3_to_2_to_1())
-
-    # logger.info(ws.transfer_1_to_2())
-    # logger.info(ws.scheduler_start())
-
-
+    w = BioyondCellWorkstation(deck=deck, address="172.16.28.102", port="502", debug_mode=False)
+    feeding = w.run_feeding_stage()
+    liquid = w.run_liquid_preparation_stage(feeding.get("feeding_materials"))
+    transfer = w.run_transfer_stage(liquid.get("liquid_materials"))
     while True:
         time.sleep(1)
     # re=ws.scheduler_stop()

unilabos/devices/workstation/bioyond_studio/bioyond_cell/output_example.json

@@ -1,197 +0,0 @@
-{
-    "token": "",
-    "request_time": "2025-12-24T15:32:09.2148671+08:00",
-    "data": {
-        "orderId": "3a1e614d-a082-c44a-60be-68647a35e6f1",
-        "orderCode": "BSO2025122400024",
-        "orderName": "DP20251224001",
-        "startTime": "2025-12-24T14:51:50.549848",
-        "endTime": "2025-12-24T15:32:09.000765",
-        "status": "30",
-        "workflowStatus": "completed",
-        "completionTime": "2025-12-24T15:32:09.000765",
-        "usedMaterials": [
-            {
-                "materialId": "3a1e614b-53a6-0ec4-10bd-956b240c0f04",
-                "locationId": "3a19debc-84b5-4c1c-d3a1-26830cf273ff",
-                "typemode": "1",
-                "usedQuantity": 2,
-                "realQuantity": 2
-            },
-            {
-                "materialId": "3a1e614b-4da7-cf62-3a40-7e5879255c0c",
-                "locationId": "3a1a224d-ed49-710c-a9c3-3fc61d479cbb",
-                "typemode": "1",
-                "usedQuantity": 1,
-                "realQuantity": 1
-            },
-            {
-                "materialId": "3a1e614b-53a7-2850-42c8-a7a2de8ff4bf",
-                "locationId": "3a19debc-84b5-4c1c-d3a1-26830cf273ff",
-                "typemode": "1",
-                "usedQuantity": 1,
-                "realQuantity": 1
-            },
-            {
-                "materialId": "3a1e614b-4da6-ac9d-02be-4b0716796bd2",
-                "locationId": "3a1a224d-ed49-710c-a9c3-3fc61d479cbb",
-                "typemode": "1",
-                "usedQuantity": 2,
-                "realQuantity": 2
-            },
-            {
-                "materialId": "3a1e614d-9c9a-fafa-4757-c7411b03bd9f",
-                "locationId": "3a1abd46-18fe-1f56-6ced-a1f7fe08e36c",
-                "typemode": "0",
-                "usedQuantity": 1,
-                "realQuantity": 1
-            },
-            {
-                "materialId": "3a1e614b-6917-b8f9-7987-7a33a3792829",
-                "locationId": "3a19da43-57b5-294f-d663-154a1cc32270",
-                "typemode": "2",
-                "usedQuantity": 3.51,
-                "realQuantity": 3.5155000000000000000000000000
-            },
-            {
-                "materialId": "3a1e614b-6914-d92b-e348-f52e13817a5d",
-                "locationId": "3a19da56-1379-ff7c-1745-07e200b44ce2",
-                "typemode": "2",
-                "usedQuantity": 0.33,
-                "realQuantity": 0.3336000000000000000000000000
-            }
-        ]
-    }
-}
-
-{
-    "token": "",
-    "request_time": "2025-12-24T15:32:09.9999039+08:00",
-    "data": {
-        "orderId": "3a1e614d-a0a2-f7a9-9360-610021c9479d",
-        "orderCode": "BSO2025122400025",
-        "orderName": "DP20251224002",
-        "startTime": "2025-12-24T14:53:03.44259",
-        "endTime": "2025-12-24T15:32:09.828261",
-        "status": "30",
-        "workflowStatus": "completed",
-        "completionTime": "2025-12-24T15:32:09.828261",
-        "usedMaterials": [
-            {
-                "materialId": "3a1e614b-4da7-6527-9f1c-b39e3de8ff2b",
-                "locationId": "3a1a224d-ed49-710c-a9c3-3fc61d479cbb",
-                "typemode": "1",
-                "usedQuantity": 1,
-                "realQuantity": 1
-            },
-            {
-                "materialId": "3a1e614b-53a6-0ec4-10bd-956b240c0f04",
-                "locationId": "3a19debc-84b5-4c1c-d3a1-26830cf273ff",
-                "typemode": "1",
-                "usedQuantity": 2,
-                "realQuantity": 2
-            },
-            {
-                "materialId": "3a1e614b-4da6-ac9d-02be-4b0716796bd2",
-                "locationId": "3a1a224d-ed49-710c-a9c3-3fc61d479cbb",
-                "typemode": "1",
-                "usedQuantity": 2,
-                "realQuantity": 2
-            },
-            {
-                "materialId": "3a1e614b-53a8-8474-cac8-0fd7d349e4b2",
-                "locationId": "3a19debc-84b5-4c1c-d3a1-26830cf273ff",
-                "typemode": "1",
-                "usedQuantity": 1,
-                "realQuantity": 1
-            },
-            {
-                "materialId": "3a1e614d-9c9a-fafa-4757-c7411b03bd9f",
-                "locationId": null,
-                "typemode": "0",
-                "usedQuantity": 1,
-                "realQuantity": 1
-            },
-            {
-                "materialId": "3a1e614b-6917-b8f9-7987-7a33a3792829",
-                "locationId": "3a19da43-57b5-294f-d663-154a1cc32270",
-                "typemode": "2",
-                "usedQuantity": 0.7,
-                "realQuantity": 0
-            },
-            {
-                "materialId": "3a1e614b-6914-d92b-e348-f52e13817a5d",
-                "locationId": "3a19da56-1379-ff7c-1745-07e200b44ce2",
-                "typemode": "2",
-                "usedQuantity": 1.15,
-                "realQuantity": 1.1627000000000000000000000000
-            }
-        ]
-    }
-}
-
-{
-    "token": "",
-    "request_time": "2025-12-24T15:34:00.4139986+08:00",
-    "data": {
-        "orderId": "3a1e614d-a0cd-81ca-9f7f-2f4e93af01cd",
-        "orderCode": "BSO2025122400026",
-        "orderName": "DP20251224003",
-        "startTime": "2025-12-24T14:54:24.443344",
-        "endTime": "2025-12-24T15:34:00.26321",
-        "status": "30",
-        "workflowStatus": "completed",
-        "completionTime": "2025-12-24T15:34:00.26321",
-        "usedMaterials": [
-            {
-                "materialId": "3a1e614b-4da6-ac9d-02be-4b0716796bd2",
-                "locationId": "3a19deae-2c7a-b9eb-f4e3-e308e0cf839a",
-                "typemode": "1",
-                "usedQuantity": 2,
-                "realQuantity": 2
-            },
-            {
-                "materialId": "3a1e614b-4da8-b678-f204-207076f09c83",
-                "locationId": "3a19deae-2c7a-b9eb-f4e3-e308e0cf839a",
-                "typemode": "1",
-                "usedQuantity": 1,
-                "realQuantity": 1
-            },
-            {
-                "materialId": "3a1e614b-53a6-0ec4-10bd-956b240c0f04",
-                "locationId": "3a19debc-84b5-4c1c-d3a1-26830cf273ff",
-                "typemode": "1",
-                "usedQuantity": 2,
-                "realQuantity": 2
-            },
-            {
-                "materialId": "3a1e614b-53a8-e3f2-dee0-fa97b600b652",
-                "locationId": "3a19debc-84b5-4c1c-d3a1-26830cf273ff",
-                "typemode": "1",
-                "usedQuantity": 1,
-                "realQuantity": 1
-            },
-            {
-                "materialId": "3a1e614d-9c9a-fafa-4757-c7411b03bd9f",
-                "locationId": null,
-                "typemode": "0",
-                "usedQuantity": 1,
-                "realQuantity": 1
-            },
-            {
-                "materialId": "3a1e614b-6917-b8f9-7987-7a33a3792829",
-                "locationId": "3a19da43-57b5-294f-d663-154a1cc32270",
-                "typemode": "2",
-                "usedQuantity": 2.0,
-                "realQuantity": 2.0075000000000000000000000000
-            },
-            {
-                "materialId": "3a1e614b-6914-d92b-e348-f52e13817a5d",
-                "locationId": "3a19da56-1379-ff7c-1745-07e200b44ce2",
-                "typemode": "2",
-                "usedQuantity": 1.2,
-                "realQuantity": 1.2126000000000000000000000000
-            }
-        ]
-    }
-}

unilabos/devices/workstation/bioyond_studio/bioyond_cell/多订单返回说明.md

@@ -1,113 +0,0 @@
-# Bioyond Cell 工作站 - 多订单返回示例
-
-本文档说明了 `create_orders` 函数如何收集并返回所有订单的完成报文。
-
-## 问题描述
-
-之前的实现只会等待并返回第一个订单的完成报文，如果有多个订单（例如从 Excel 解析出 3 个订单），只能得到第一个订单的推送信息。
-
-## 解决方案
-
-修改后的 `create_orders` 函数现在会：
-
-1. **提取所有 orderCode**：从 LIMS 接口返回的 `data` 列表中提取所有订单编号
-2. **逐个等待完成**：遍历所有 orderCode，调用 `wait_for_order_finish` 等待每个订单完成
-3. **收集所有报文**：将每个订单的完成报文存入 `all_reports` 列表
-4. **统一返回**：返回包含所有订单报文的 JSON 格式数据
-
-## 返回格式
-
-```json
-{
-    "status": "all_completed",
-    "total_orders": 3,
-    "reports": [
-        {
-            "token": "",
-            "request_time": "2025-12-24T15:32:09.2148671+08:00",
-            "data": {
-                "orderId": "3a1e614d-a082-c44a-60be-68647a35e6f1",
-                "orderCode": "BSO2025122400024",
-                "orderName": "DP20251224001",
-                "status": "30",
-                "workflowStatus": "completed",
-                "usedMaterials": [...]
-            }
-        },
-        {
-            "token": "",
-            "request_time": "2025-12-24T15:32:09.9999039+08:00",
-            "data": {
-                "orderId": "3a1e614d-a0a2-f7a9-9360-610021c9479d",
-                "orderCode": "BSO2025122400025",
-                "orderName": "DP20251224002",
-                "status": "30",
-                "workflowStatus": "completed",
-                "usedMaterials": [...]
-            }
-        },
-        {
-            "token": "",
-            "request_time": "2025-12-24T15:34:00.4139986+08:00",
-            "data": {
-                "orderId": "3a1e614d-a0cd-81ca-9f7f-2f4e93af01cd",
-                "orderCode": "BSO2025122400026",
-                "orderName": "DP20251224003",
-                "status": "30",
-                "workflowStatus": "completed",
-                "usedMaterials": [...]
-            }
-        }
-    ],
-    "original_response": {...}
-}
-```
-
-## 使用示例
-
-```python
-# 调用 create_orders
-result = workstation.create_orders("20251224.xlsx")
-
-# 访问返回数据
-print(f"总订单数: {result['total_orders']}")
-print(f"状态: {result['status']}")
-
-# 遍历所有订单的报文
-for i, report in enumerate(result['reports'], 1):
-    order_data = report.get('data', {})
-    print(f"\n订单 {i}:")
-    print(f"  orderCode: {order_data.get('orderCode')}")
-    print(f"  orderName: {order_data.get('orderName')}")
-    print(f"  status: {order_data.get('status')}")
-    print(f"  使用物料数: {len(order_data.get('usedMaterials', []))}")
-```
-
-## 控制台输出示例
-
-```
-[create_orders] 即将提交订单数量: 3
-[create_orders] 接口返回: {...}
-[create_orders] 等待 3 个订单完成: ['BSO2025122400024', 'BSO2025122400025', 'BSO2025122400026']
-[create_orders] 正在等待第 1/3 个订单: BSO2025122400024
-[create_orders] ✓ 订单 BSO2025122400024 完成
-[create_orders] 正在等待第 2/3 个订单: BSO2025122400025
-[create_orders] ✓ 订单 BSO2025122400025 完成
-[create_orders] 正在等待第 3/3 个订单: BSO2025122400026
-[create_orders] ✓ 订单 BSO2025122400026 完成
-[create_orders] 所有订单已完成，共收集 3 个报文
-实验记录本========================create_orders========================
-返回报文数量: 3
-报文 1: orderCode=BSO2025122400024, status=30
-报文 2: orderCode=BSO2025122400025, status=30
-报文 3: orderCode=BSO2025122400026, status=30
-========================
-```
-
-## 关键改进
-
-1. ✅ **等待所有订单**：不再只等待第一个订单，而是遍历所有 orderCode
-2. ✅ **收集完整报文**：每个订单的完整推送报文都被保存在 `reports` 数组中
-3. ✅ **详细日志**：清晰显示正在等待哪个订单，以及完成情况
-4. ✅ **错误处理**：即使某个订单失败，也会记录其状态信息
-5. ✅ **统一格式**：返回的 JSON 格式便于后续处理和分析

unilabos/devices/workstation/bioyond_studio/config.py

@@ -8,10 +8,8 @@ import os
 # BioyondCellWorkstation 默认配置（包含所有必需参数）
 API_CONFIG = {
     # API 连接配置
-    # 实机
-    #"api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.11.118:44389"),
-    # 仿真机
-    "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.11.219:44388"),
+    # "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.1.143:44389"),#实机
+    "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.11.219:44388"),# 仿真机
     "api_key": os.getenv("BIOYOND_API_KEY", "8A819E5C"),
     "timeout": int(os.getenv("BIOYOND_TIMEOUT", "30")),
     
@@ -19,7 +17,7 @@ API_CONFIG = {
     "report_token": os.getenv("BIOYOND_REPORT_TOKEN", "CHANGE_ME_TOKEN"),
     
     # HTTP 服务配置
-    "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.16.11.206"),  # HTTP服务监听地址，监听计算机飞连ip地址
+    "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.16.11.6"),  # HTTP服务监听地址，监听计算机飞连ip地址
     "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")),
     "debug_mode": False,# 调试模式
 }

unilabos/devices/workstation/coin_cell_assembly/Modbus_CSV_Mapping_Guide.md

@@ -1,84 +0,0 @@
-# Modbus CSV 地址映射说明
-
-本文档说明 `coin_cell_assembly_a.csv` 文件如何将命名节点映射到实际的 Modbus 地址，以及如何在代码中使用它们。
-
-## 1. CSV 文件结构
-
-地址表文件位于同级目录下：`coin_cell_assembly_a.csv`
-
-每一行定义了一个 Modbus 节点，包含以下关键列：
-
-| 列名 | 说明 | 示例 |
-|------|------|------|
-| **Name** | **节点名称** (代码中引用的 Key) | `COIL_ALUMINUM_FOIL` |
-| **DataType** | 数据类型 (BOOL, INT16, FLOAT32, STRING) | `BOOL` |
-| **Comment** | 注释说明 | `使用铝箔垫` |
-| **Attribute** | 属性 (通常留空或用于额外标记) | |
-| **DeviceType** | Modbus 寄存器类型 (`coil`, `hold_register`) | `coil` |
-| **Address** | **Modbus 地址** (十进制) | `8340` |
-
-### 示例行 (铝箔垫片)
-
-```csv
-COIL_ALUMINUM_FOIL,BOOL,,使用铝箔垫,,coil,8340,
-```
-
-- **名称**: `COIL_ALUMINUM_FOIL`
-- **类型**: `coil` (线圈，读写单个位)
-- **地址**: `8340`
-
----
-
-## 2. 加载与注册流程
-
-在 `coin_cell_assembly.py` 的初始化代码中：
-
-1. **加载 CSV**: `BaseClient.load_csv()` 读取 CSV 并解析每行定义。
-2. **注册节点**: `modbus_client.register_node_list()` 将解析后的节点注册到 Modbus 客户端实例中。
-
-```python
-# 代码位置: coin_cell_assembly.py (L174-175)
-self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv'))                            
-self.client = modbus_client.register_node_list(self.nodes)
-```
-
----
-
-## 3. 代码中的使用方式
-
-注册后，通过 `self.client.use_node('节点名称')` 即可获取该节点对象并进行读写操作，无需关心具体地址。
-
-### 控制铝箔垫片 (COIL_ALUMINUM_FOIL)
-
-```python
-# 代码位置: qiming_coin_cell_code 函数 (L1048)
-self.client.use_node('COIL_ALUMINUM_FOIL').write(not lvbodian)
-```
-
-- **写入 True**: 对应 Modbus 功能码 05 (Write Single Coil)，向地址 `8340` 写入 `1` (ON)。
-- **写入 False**: 向地址 `8340` 写入 `0` (OFF)。
-
-> **注意**: 代码中使用了 `not lvbodian`，这意味着逻辑是反转的。如果 `lvbodian` 参数为 `True` (默认)，写入的是 `False` (不使用铝箔垫)。
-
----
-
-## 4. 地址转换注意事项 (Modbus vs PLC)
-
-CSV 中的 `Address` 列（如 `8340`）是 **Modbus 协议地址**。
-
-如果使用 InoProShop (汇川 PLC 编程软件)，看到的可能是 **PLC 内部地址** (如 `%QX...` 或 `%MW...`)。这两者之间通常需要转换。
-
-### 常见的转换规则 (示例)
-
-- **Coil (线圈) %QX**: 
-  - `Modbus地址 = 字节地址 * 8 + 位偏移`
-  - *例子*: `%QX834.0` -> `834 * 8 + 0` = `6672`
-  - *注意*: 如果 CSV 中配置的是 `8340`，这可能是一个自定义映射，或者是基于不同规则（如直接对应 Word 地址的某种映射，或者可能就是地址写错了/使用了非标准映射）。
-
-- **Register (寄存器) %MW**:
-  - 通常直接对应，或者有偏移量 (如 Modbus 40001 = PLC MW0)。
-
-### 验证方法
-由于 `test_unilab_interact.py` 中发现 `8450` (CSV风格) 不工作，而 `6760` (%QX845.0 计算值) 工作正常，**建议对 CSV 中的其他地址也进行核实**，特别是像 `8340` 这样以 0 结尾看起来像是 "字节地址+0" 的数值，可能实际上应该是 `%QX834.0` 对应的 `6672`。
-
-如果发现设备控制无反应，请尝试按照标准的 Modbus 计算方式转换 PLC 地址。

unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py

@@ -634,12 +634,6 @@ class CoincellDeck(Deck):
         self.assign_child_resource(waste_tip_box, Coordinate(x=778.0, y=622.0, z=0))
 
 
-def YH_Deck(name=""):
-    cd = CoincellDeck(name=name)
-    cd.setup()
-    return cd
-
-
 if __name__ == "__main__":
     deck = create_coin_cell_deck()
     print(deck)

unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_1223.csv

@@ -1,159 +0,0 @@
-Name,DataType,Comment,DeviceType,Address,,
-COIL_SYS_START_CMD,BOOL,设备启动命令,coil,8010,,
-COIL_SYS_STOP_CMD,BOOL,设备停止命令,coil,8020,,
-COIL_SYS_RESET_CMD,BOOL,设备复位命令,coil,8030,,
-COIL_SYS_HAND_CMD,BOOL,设备手动模式命令,coil,8040,,
-COIL_SYS_AUTO_CMD,BOOL,设备自动模式命令,coil,8050,,
-COIL_SYS_INIT_CMD,BOOL,设备初始化模式命令,coil,8060,,
-COIL_SYS_STOP_STATUS,BOOL,设备暂停中,coil,8220,,
-,,,,,,
-,BOOL,UNILAB发送电解液瓶数完毕,coil,8720,,
-,BOOL,设备请求接受电解液瓶数,coil,8520,,
-REG_MSG_ELECTROLYTE_NUM,WORD,电解液使用瓶数,hold_register,496,,
-,WORD,负极片盘矩阵点位（初始位0）,hold_register,440,,
-,WORD,隔膜盘矩阵点位（初始位0）,hold_register,450,,
-,WORD,电解液瓶盘_缓存上料矩阵点位（初始位0）,hold_register,460,,
-,WORD,电解液瓶盘_缓存回收矩阵点位（初始位0）,hold_register,430,,
-,WORD,g_电解液瓶盘_手套箱无杆缸矩阵点位（初始位0）,hold_register,470,,
-,WORD,移液枪头矩阵点位（初始位0）,hold_register,480,,
-,WORD,设置负极片盘数,hold_register,443,,
-,WORD,设置隔膜盘数,hold_register,453,,
-,,,,,,
-COIL_UNILAB_SEND_MSG_SUCC_CMD,BOOL,UNILAB发送配方完毕,coil,8700,,
-COIL_REQUEST_REC_MSG_STATUS,BOOL,设备请求接受配方,coil,8500,,
-REG_MSG_ELECTROLYTE_USE_NUM,INT16,单瓶电解液使用次数,hold_register,11000,,
-REG_MSG_ELECTROLYTE_VOLUME,INT16,电解液吸取量,hold_register,11004,,
-REG_MSG_ASSEMBLY_PRESSURE,INT16,电池组装压制力,hold_register,11008,,
-REG_DATA_ELECTROLYTE_CODE,STRING,电解液二维码序列号,hold_register,10020,,
-,BOOL,视觉对位（false:使用，true:忽略）,coil,8300,,
-,BOOL,复检（false:使用，true:忽略）,coil,8310,,
-,BOOL,手套箱_左仓（false:使用，true:忽略）,coil,8320,,
-,BOOL,手套箱_右仓（false:使用，true:忽略）,coil,8420,,
-,BOOL,机械手搬送料盘（false:使用，true:忽略）,coil,8330,,
-,BOOL,铝箔物料（false:使用，true:忽略）,coil,8340,,
-,BOOL,真空检知（false:使用，true:忽略）,coil,8350,,
-,BOOL,压制模式（false:压力检测模式，True:距离模式）,coil,8360,,
-,BOOL,电解液添加模式（false:单次滴液，true:二次滴液）,coil,8370,,
-,BOOL,正极片称重（false:使用，true:忽略）,coil,8380,,
-,BOOL,正负极片组装方式（false:正装，true:倒装）,coil,8390,,
-,BOOL,压制清洁（false:使用，true:忽略）,coil,8400,,
-,BOOL,物料盘摆盘方式（false:水平摆盘，true:堆叠摆盘）,coil,8410,,
-COIL_SYS_UNILAB_INTERACT ,BOOL,忽略Unilab交互（false:使用，true:忽略）,coil,8450,,
-,BOOL,忽略电池清洁（false:使用，true:忽略）,colil,8460,,
-,,,,,,
-COIL_UNILAB_SEND_MSG_SUCC_CMD,BOOL,UNILAB发送配方完毕,coil,8510,,
-COIL_UNILAB_REC_MSG_SUCC_CMD,BOOL,UNILAB接受测试数据完毕,coil,8710,,
-REG_DATA_POLE_WEIGHT,FLOAT32,当前电池正极片称重数据,hold_register,10010,,
-REG_DATA_ASSEMBLY_PER_TIME,FLOAT32,当前单颗电池组装时间,hold_register,10012,,
-REG_DATA_ASSEMBLY_PRESSURE,INT16,当前电池组装压制力,hold_register,10014,,
-REG_DATA_ELECTROLYTE_VOLUME,INT16,当前电解液加注量,hold_register,10016,,
-REG_DATA_ASSEMBLY_TYPE,INT16,组装参数：极片堆叠方式(7/8),hold_register,10018,,
-REG_DATA_ELECTROLYTE_CODE,STRING,电解液二维码序列号,hold_register,10020,,
-REG_DATA_COIN_CELL_CODE,STRING,电池二维码序列号,hold_register,10030,,
-REG_DATA_STACK_VISON_CODE,STRING,物料堆叠复检图片编码,hold_register,10040,,
-REG_DATA_ELECTROLYTE_USE_NUM,INT16,当前电极液组装电池数量（R）,hold_register,10000,,
-REG_DATA_OPEN_CIRCUIT_VOLTAGE,FLOAT32,当前电池电压数据,hold_register,10002,,
-,INT,机械手吸取物料寄存器（1-正极壳、2-铝垫、3-正极片、4-隔膜、5-负极片、6-平垫、7-弹垫、8-负极壳）,hold_register,10060,,
-,,,,,,
-,INT,当前负极片剩余盘数量（R）,hold_register,10062,PLC地址,1223-新增
-,INT,当前隔膜神域盘数量（R）,hold_register,10064,,
-,INT,电解液状态码（R）,hold_register,10066,,
-,REAL,开路电压OK下限值（R）,hold_register,10068,,
-,REAL,开路电压OK上限值（R）,hold_register,10070,,
-,INT,当前进行组装电池数量（R）,hold_register,10072,,
-,INT,当前完成组装电池数量（R）,hold_register,10074,,
-,REAL,10mm正极片剩余物料数量（R）,hold_register,520,HMI地址,
-,REAL,12mm正极片剩余物料数量（R）,hold_register,522,,
-,REAL,16mm正极片剩余物料数量（R）,hold_register,524,,
-,REAL,铝箔剩余物料数量（R）,hold_register,526,,
-,REAL,正极壳剩余物料数量（R）,hold_register,528,,
-,REAL,平垫剩余物料数量（R）,hold_register,530,,
-,REAL,负极壳剩余物料数量（R）,hold_register,532,,
-,REAL,弹垫剩余物料数量（R）,hold_register,534,,
-,REAL,成品电池剩余可容纳数量（R）,hold_register,536,,
-,REAL,成品电池NG槽剩余可容纳数量（R）,hold_register,538,,
-,,,,,,
-,REAL,设置10mm正极片厚度（W）,hold_register,540,,
-,REAL,设置12mm正极片厚度（W）,hold_register,542,,
-,REAL,设置16mm正极片厚度（W）,hold_register,544,,
-,REAL,设置铝箔厚度（W）,hold_register,546,,
-,REAL,设置正极壳厚度（W）,hold_register,548,,
-,REAL,设置平垫厚度（W）,hold_register,550,,
-,REAL,设置负极壳厚度（W）,hold_register,552,,
-,REAL,设置弹垫厚度（W）,hold_register,554,,
-,REAL,设置成品电池厚度（W）,hold_register,556,,
-,,,,,,
-,,,,,,
-REG_DATA_GLOVE_BOX_PRESSURE,FLOAT32,手套箱压力,hold_register,10050,,
-REG_DATA_GLOVE_BOX_WATER_CONTENT,FLOAT32,手套箱水含量,hold_register,10052,,
-REG_DATA_GLOVE_BOX_O2_CONTENT,FLOAT32,手套箱氧含量,hold_register,10054,,
-,,,,,,
-,BOOL,异常100-系统异常,coil,1000,,
-,BOOL,异常101-急停,coil,1010,,
-,BOOL,异常111-手套箱急停,coil,1110,,
-,BOOL,异常112-手套箱内光栅遮挡,coil,1120,,
-,BOOL,异常160-移液枪头缺料,coil,1600,,
-,BOOL,异常161-正极壳缺料,coil,1610,,
-,BOOL,异常162-铝箔垫缺料,coil,1620,,
-,BOOL,异常163-正极片缺料,coil,1630,,
-,BOOL,异常164-隔膜缺料,coil,1640,,
-,BOOL,异常165-负极片缺料,coil,1650,,
-,BOOL,异常166-平垫缺料,coil,1660,,
-,BOOL,异常167-弹垫缺料,coil,1670,,
-,BOOL,异常168-负极壳缺料,coil,1680,,
-,BOOL,异常169-成品电池满料,coil,1690,,
-,BOOL,异常201-伺服轴01异常,coil,2010,,
-,BOOL,异常202-伺服轴02异常,coil,2020,,
-,BOOL,异常203-伺服轴03异常,coil,2030,,
-,BOOL,异常204-伺服轴04异常,coil,2040,,
-,BOOL,异常205-伺服轴05异常,coil,2050,,
-,BOOL,异常206-伺服轴06异常,coil,2060,,
-,BOOL,异常207-伺服轴07异常,coil,2070,,
-,BOOL,异常208-伺服轴08异常,coil,2080,,
-,BOOL,异常209-伺服轴09异常,coil,2090,,
-,BOOL,异常210-伺服轴10异常,coil,2100,,
-,BOOL,异常211-伺服轴11异常,coil,2110,,
-,BOOL,异常212-伺服轴12异常,coil,2120,,
-,BOOL,异常213-伺服轴13异常,coil,2130,,
-,BOOL,异常214-伺服轴14异常,coil,2140,,
-,BOOL,异常250-其他元件异常,coil,2500,,
-,BOOL,异常251-移液枪通讯异常,coil,2510,,
-,BOOL,异常252-移液枪报警,coil,2520,,
-,BOOL,异常256-电爪异常,coil,2560,,
-,BOOL,异常262-RB报警：未知点位错误,coil,2620,,
-,BOOL,异常263-RB报警：X、Y、Z参数超限制,coil,2630,,
-,BOOL,异常264-RB报警：视觉参数误差过大,coil,2640,,
-,BOOL,异常265-RB报警：1#吸嘴取料失败,coil,2650,,
-,BOOL,异常266-RB报警：2#吸嘴取料失败,coil,2660,,
-,BOOL,异常267-RB报警：3#吸嘴取料失败,coil,2670,,
-,BOOL,异常268-RB报警：4#吸嘴取料失败,coil,2680,,
-,BOOL,异常269-RB报警：取物料盘失败,coil,2690,,
-,BOOL,异常280-RB碰撞异常,coil,2800,,
-,BOOL,异常290-视觉系统通讯异常,coil,2900,,
-,BOOL,异常291-视觉对位NG异常,coil,2910,,
-,BOOL,异常292-扫码枪通讯异常,coil,2920,,
-,BOOL,异常310-开电移载吸嘴吸真空异常,coil,3100,,
-,BOOL,异常311-开电移载吸嘴破真空异常,coil,3110,,
-,BOOL,异常312-称重移载吸嘴吸真空异常,coil,3120,,
-,BOOL,异常313-称重移载吸嘴破真空异常,coil,3130,,
-,BOOL,异常340-开路电压吸嘴移载气缸异常,coil,3400,,
-,BOOL,异常342-开路电压吸嘴升降气缸异常,coil,3420,,
-,BOOL,异常344-开路电压旋压气缸异常,coil,3440,,
-,BOOL,异常350-称重吸嘴移载气缸异常,coil,3500,,
-,BOOL,异常352-称重吸嘴升降气缸异常,coil,3520,,
-,BOOL,异常354-清洗无尘布移载气缸异常,coil,3540,,
-,BOOL,异常356-清洗无尘布压紧气缸异常,coil,3560,,
-,BOOL,异常360-电解液瓶定位气缸异常,coil,3600,,
-,BOOL,异常362-移液枪头盒定位气缸异常,coil,3620,,
-COIL ALARM_364_SERVO_DRIVE_ERROR,BOOL,异常364-试剂瓶夹爪升降气缸异常,coil,3640,,
-COIL ALARM_367_SERVO_DRIVER_ERROR,BOOL,异常366-试剂瓶夹爪气缸异常,coil,3660,,
-COIL ALARM_370_SERVO_MODULE_ERROR,BOOL,异常370-压制模块吹气气缸异常,coil,3700,,
-,,,,,,
-,,,,,,
-,,,,,,
-,,,,,,
-,,,,,,
-,,,,,,
-,,,,,,
-COIL + 功能模块/类型 + 具体描述（大写+下划线分隔）--针对bool值,,,,,,
-REG +  功能模块/类型 + 具体描述（大写+下划线分隔）--针对寄存器,,,,,,

unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv

@@ -0,0 +1,64 @@
+Name,DataType,InitValue,Comment,Attribute,DeviceType,Address,
+COIL_SYS_START_CMD,BOOL,,,,coil,8010,
+COIL_SYS_STOP_CMD,BOOL,,,,coil,8020,
+COIL_SYS_RESET_CMD,BOOL,,,,coil,8030,
+COIL_SYS_HAND_CMD,BOOL,,,,coil,8040,
+COIL_SYS_AUTO_CMD,BOOL,,,,coil,8050,
+COIL_SYS_INIT_CMD,BOOL,,,,coil,8060,
+COIL_UNILAB_SEND_MSG_SUCC_CMD,BOOL,,,,coil,8700,
+COIL_UNILAB_REC_MSG_SUCC_CMD,BOOL,,,,coil,8710,unilab_rec_msg_succ_cmd
+COIL_SYS_START_STATUS,BOOL,,,,coil,8210,
+COIL_SYS_STOP_STATUS,BOOL,,,,coil,8220,
+COIL_SYS_RESET_STATUS,BOOL,,,,coil,8230,
+COIL_SYS_HAND_STATUS,BOOL,,,,coil,8240,
+COIL_SYS_AUTO_STATUS,BOOL,,,,coil,8250,
+COIL_SYS_INIT_STATUS,BOOL,,,,coil,8260,
+COIL_REQUEST_REC_MSG_STATUS,BOOL,,,,coil,8500,
+COIL_REQUEST_SEND_MSG_STATUS,BOOL,,,,coil,8510,request_send_msg_status
+REG_MSG_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,11000,
+REG_MSG_ELECTROLYTE_NUM,INT16,,,,hold_register,11002,unilab_send_msg_electrolyte_num
+REG_MSG_ELECTROLYTE_VOLUME,INT16,,,,hold_register,11004,unilab_send_msg_electrolyte_vol
+REG_MSG_ASSEMBLY_TYPE,INT16,,,,hold_register,11006,unilab_send_msg_assembly_type
+REG_MSG_ASSEMBLY_PRESSURE,INT16,,,,hold_register,11008,unilab_send_msg_assembly_pressure
+REG_DATA_ASSEMBLY_COIN_CELL_NUM,INT16,,,,hold_register,10000,data_assembly_coin_cell_num
+REG_DATA_OPEN_CIRCUIT_VOLTAGE,FLOAT32,,,,hold_register,10002,data_open_circuit_voltage
+REG_DATA_AXIS_X_POS,FLOAT32,,,,hold_register,10004,
+REG_DATA_AXIS_Y_POS,FLOAT32,,,,hold_register,10006,
+REG_DATA_AXIS_Z_POS,FLOAT32,,,,hold_register,10008,
+REG_DATA_POLE_WEIGHT,FLOAT32,,,,hold_register,10010,data_pole_weight
+REG_DATA_ASSEMBLY_PER_TIME,FLOAT32,,,,hold_register,10012,data_assembly_time
+REG_DATA_ASSEMBLY_PRESSURE,INT16,,,,hold_register,10014,data_assembly_pressure
+REG_DATA_ELECTROLYTE_VOLUME,INT16,,,,hold_register,10016,data_electrolyte_volume
+REG_DATA_COIN_NUM,INT16,,,,hold_register,10018,data_coin_num
+REG_DATA_ELECTROLYTE_CODE,STRING,,,,hold_register,10020,data_electrolyte_code()
+REG_DATA_COIN_CELL_CODE,STRING,,,,hold_register,10030,data_coin_cell_code()
+REG_DATA_STACK_VISON_CODE,STRING,,,,hold_register,12004,data_stack_vision_code()
+REG_DATA_GLOVE_BOX_PRESSURE,FLOAT32,,,,hold_register,10050,data_glove_box_pressure
+REG_DATA_GLOVE_BOX_WATER_CONTENT,FLOAT32,,,,hold_register,10052,data_glove_box_water_content
+REG_DATA_GLOVE_BOX_O2_CONTENT,FLOAT32,,,,hold_register,10054,data_glove_box_o2_content
+UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,8720,
+UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,8520,
+REG_MSG_ELECTROLYTE_NUM_USED,INT16,,,,hold_register,496,
+REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,10000,
+UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,8730,
+UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,8530,
+REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,10018,ASSEMBLY_TYPE7or8
+COIL_ALUMINUM_FOIL,BOOL,,使用铝箔垫,,coil,8340,
+REG_MSG_NE_PLATE_MATRIX,INT16,,负极片矩阵点位,,hold_register,440,
+REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,隔膜矩阵点位,,hold_register,450,
+REG_MSG_TIP_BOX_MATRIX,INT16,,移液枪头矩阵点位,,hold_register,480,
+REG_MSG_NE_PLATE_NUM,INT16,,负极片盘数,,hold_register,443,
+REG_MSG_SEPARATOR_PLATE_NUM,INT16,,隔膜盘数,,hold_register,453,
+REG_MSG_PRESS_MODE,BOOL,,压制模式（false:压力检测模式，True:距离模式）,,coil,8360,电池压制模式
+,,,,,,,
+,BOOL,,视觉对位（false:使用，true:忽略）,,coil,8300,视觉对位
+,BOOL,,复检（false:使用，true:忽略）,,coil,8310,视觉复检
+,BOOL,,手套箱_左仓（false:使用，true:忽略）,,coil,8320,手套箱左仓
+,BOOL,,手套箱_右仓（false:使用，true:忽略）,,coil,8420,手套箱右仓
+,BOOL,,真空检知（false:使用，true:忽略）,,coil,8350,真空检知
+,BOOL,,电解液添加模式（false:单次滴液，true:二次滴液）,,coil,8370,滴液模式
+,BOOL,,正极片称重（false:使用，true:忽略）,,coil,8380,正极片称重
+,BOOL,,正负极片组装方式（false:正装，true:倒装）,,coil,8390,正负极反装
+,BOOL,,压制清洁（false:使用，true:忽略）,,coil,8400,压制清洁
+,BOOL,,物料盘摆盘方式（false:水平摆盘，true:堆叠摆盘）,,coil,8410,负极片摆盘方式
+REG_MSG_BATTERY_CLEAN_IGNORE,BOOL,,忽略电池清洁（false:使用，true:忽略）,,coil,8460,

unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_b.csv

@@ -1,130 +0,0 @@
-Name,DataType,InitValue,Comment,Attribute,DeviceType,Address,
-COIL_SYS_START_CMD,BOOL,,,,coil,8010,
-COIL_SYS_STOP_CMD,BOOL,,,,coil,8020,
-COIL_SYS_RESET_CMD,BOOL,,,,coil,8030,
-COIL_SYS_HAND_CMD,BOOL,,,,coil,8040,
-COIL_SYS_AUTO_CMD,BOOL,,,,coil,8050,
-COIL_SYS_INIT_CMD,BOOL,,,,coil,8060,
-COIL_UNILAB_SEND_MSG_SUCC_CMD,BOOL,,,,coil,8700,
-COIL_UNILAB_REC_MSG_SUCC_CMD,BOOL,,,,coil,8710,unilab_rec_msg_succ_cmd
-COIL_SYS_START_STATUS,BOOL,,,,coil,8210,
-COIL_SYS_STOP_STATUS,BOOL,,,,coil,8220,
-COIL_SYS_RESET_STATUS,BOOL,,,,coil,8230,
-COIL_SYS_HAND_STATUS,BOOL,,,,coil,8240,
-COIL_SYS_AUTO_STATUS,BOOL,,,,coil,8250,
-COIL_SYS_INIT_STATUS,BOOL,,,,coil,8260,
-COIL_REQUEST_REC_MSG_STATUS,BOOL,,,,coil,8500,
-COIL_REQUEST_SEND_MSG_STATUS,BOOL,,,,coil,8510,request_send_msg_status
-REG_MSG_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,11000,
-REG_MSG_ELECTROLYTE_NUM,INT16,,,,hold_register,11002,unilab_send_msg_electrolyte_num
-REG_MSG_ELECTROLYTE_VOLUME,INT16,,,,hold_register,11004,unilab_send_msg_electrolyte_vol
-REG_MSG_ASSEMBLY_TYPE,INT16,,,,hold_register,11006,unilab_send_msg_assembly_type
-REG_MSG_ASSEMBLY_PRESSURE,INT16,,,,hold_register,11008,unilab_send_msg_assembly_pressure
-REG_DATA_ASSEMBLY_COIN_CELL_NUM,INT16,,,,hold_register,10000,data_assembly_coin_cell_num
-REG_DATA_OPEN_CIRCUIT_VOLTAGE,FLOAT32,,,,hold_register,10002,data_open_circuit_voltage
-REG_DATA_AXIS_X_POS,FLOAT32,,,,hold_register,10004,
-REG_DATA_AXIS_Y_POS,FLOAT32,,,,hold_register,10006,
-REG_DATA_AXIS_Z_POS,FLOAT32,,,,hold_register,10008,
-REG_DATA_POLE_WEIGHT,FLOAT32,,,,hold_register,10010,data_pole_weight
-REG_DATA_ASSEMBLY_PER_TIME,FLOAT32,,,,hold_register,10012,data_assembly_time
-REG_DATA_ASSEMBLY_PRESSURE,INT16,,,,hold_register,10014,data_assembly_pressure
-REG_DATA_ELECTROLYTE_VOLUME,INT16,,,,hold_register,10016,data_electrolyte_volume
-REG_DATA_COIN_NUM,INT16,,,,hold_register,10018,data_coin_num
-REG_DATA_ELECTROLYTE_CODE,STRING,,,,hold_register,10020,data_electrolyte_code()
-REG_DATA_COIN_CELL_CODE,STRING,,,,hold_register,10030,data_coin_cell_code()
-REG_DATA_STACK_VISON_CODE,STRING,,,,hold_register,12004,data_stack_vision_code()
-REG_DATA_GLOVE_BOX_PRESSURE,FLOAT32,,,,hold_register,10050,data_glove_box_pressure
-REG_DATA_GLOVE_BOX_WATER_CONTENT,FLOAT32,,,,hold_register,10052,data_glove_box_water_content
-REG_DATA_GLOVE_BOX_O2_CONTENT,FLOAT32,,,,hold_register,10054,data_glove_box_o2_content
-UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,8720,
-UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,8520,
-REG_MSG_ELECTROLYTE_NUM_USED,INT16,,,,hold_register,496,
-REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,10000,
-UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,8730,
-UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,8530,
-REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,10018,ASSEMBLY_TYPE7or8
-REG_UNILAB_INTERACT,BOOL,,,,coil,8450,
-,,,,,coil,8320,
-COIL_ALUMINUM_FOIL,BOOL,,,,coil,8340,
-REG_MSG_NE_PLATE_MATRIX,INT16,,,,hold_register,440,
-REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,,,hold_register,450,
-REG_MSG_TIP_BOX_MATRIX,INT16,,,,hold_register,480,
-REG_MSG_NE_PLATE_NUM,INT16,,,,hold_register,443,
-REG_MSG_SEPARATOR_PLATE_NUM,INT16,,,,hold_register,453,
-REG_MSG_PRESS_MODE,BOOL,,,,coil,8360,
-,BOOL,,,,coil,8300,
-,BOOL,,,,coil,8310,
-COIL_GB_L_IGNORE_CMD,BOOL,,,,coil,8320,
-COIL_GB_R_IGNORE_CMD,BOOL,,,,coil,8420,
-,BOOL,,,,coil,8350,
-COIL_ELECTROLYTE_DUAL_DROP_MODE,BOOL,,,,coil,8370,
-,BOOL,,,,coil,8380,
-,BOOL,,,,coil,8390,
-,BOOL,,,,coil,8400,
-,BOOL,,,,coil,8410,
-REG_MSG_DUAL_DROP_FIRST_VOLUME,INT16,,,,hold_register,4001,
-COIL_DUAL_DROP_SUCTION_TIMING,BOOL,,,,coil,8430,
-COIL_DUAL_DROP_START_TIMING,BOOL,,,,coil,8470,
-REG_MSG_BATTERY_CLEAN_IGNORE,BOOL,,,,coil,8460,
-COIL_ALARM_100_SYSTEM_ERROR,BOOL,,,,coil,1000,异常100-系统异常
-COIL_ALARM_101_EMERGENCY_STOP,BOOL,,,,coil,1010,异常101-急停
-COIL_ALARM_111_GLOVEBOX_EMERGENCY_STOP,BOOL,,,,coil,1110,异常111-手套箱急停
-COIL_ALARM_112_GLOVEBOX_GRATING_BLOCKED,BOOL,,,,coil,1120,异常112-手套箱内光栅遮挡
-COIL_ALARM_160_PIPETTE_TIP_SHORTAGE,BOOL,,,,coil,1600,异常160-移液枪头缺料
-COIL_ALARM_161_POSITIVE_SHELL_SHORTAGE,BOOL,,,,coil,1610,异常161-正极壳缺料
-COIL_ALARM_162_ALUMINUM_FOIL_SHORTAGE,BOOL,,,,coil,1620,异常162-铝箔垫缺料
-COIL_ALARM_163_POSITIVE_PLATE_SHORTAGE,BOOL,,,,coil,1630,异常163-正极片缺料
-COIL_ALARM_164_SEPARATOR_SHORTAGE,BOOL,,,,coil,1640,异常164-隔膜缺料
-COIL_ALARM_165_NEGATIVE_PLATE_SHORTAGE,BOOL,,,,coil,1650,异常165-负极片缺料
-COIL_ALARM_166_FLAT_WASHER_SHORTAGE,BOOL,,,,coil,1660,异常166-平垫缺料
-COIL_ALARM_167_SPRING_WASHER_SHORTAGE,BOOL,,,,coil,1670,异常167-弹垫缺料
-COIL_ALARM_168_NEGATIVE_SHELL_SHORTAGE,BOOL,,,,coil,1680,异常168-负极壳缺料
-COIL_ALARM_169_FINISHED_BATTERY_FULL,BOOL,,,,coil,1690,异常169-成品电池满料
-COIL_ALARM_201_SERVO_AXIS_01_ERROR,BOOL,,,,coil,2010,异常201-伺服轴01异常
-COIL_ALARM_202_SERVO_AXIS_02_ERROR,BOOL,,,,coil,2020,异常202-伺服轴02异常
-COIL_ALARM_203_SERVO_AXIS_03_ERROR,BOOL,,,,coil,2030,异常203-伺服轴03异常
-COIL_ALARM_204_SERVO_AXIS_04_ERROR,BOOL,,,,coil,2040,异常204-伺服轴04异常
-COIL_ALARM_205_SERVO_AXIS_05_ERROR,BOOL,,,,coil,2050,异常205-伺服轴05异常
-COIL_ALARM_206_SERVO_AXIS_06_ERROR,BOOL,,,,coil,2060,异常206-伺服轴06异常
-COIL_ALARM_207_SERVO_AXIS_07_ERROR,BOOL,,,,coil,2070,异常207-伺服轴07异常
-COIL_ALARM_208_SERVO_AXIS_08_ERROR,BOOL,,,,coil,2080,异常208-伺服轴08异常
-COIL_ALARM_209_SERVO_AXIS_09_ERROR,BOOL,,,,coil,2090,异常209-伺服轴09异常
-COIL_ALARM_210_SERVO_AXIS_10_ERROR,BOOL,,,,coil,2100,异常210-伺服轴10异常
-COIL_ALARM_211_SERVO_AXIS_11_ERROR,BOOL,,,,coil,2110,异常211-伺服轴11异常
-COIL_ALARM_212_SERVO_AXIS_12_ERROR,BOOL,,,,coil,2120,异常212-伺服轴12异常
-COIL_ALARM_213_SERVO_AXIS_13_ERROR,BOOL,,,,coil,2130,异常213-伺服轴13异常
-COIL_ALARM_214_SERVO_AXIS_14_ERROR,BOOL,,,,coil,2140,异常214-伺服轴14异常
-COIL_ALARM_250_OTHER_COMPONENT_ERROR,BOOL,,,,coil,2500,异常250-其他元件异常
-COIL_ALARM_251_PIPETTE_COMM_ERROR,BOOL,,,,coil,2510,异常251-移液枪通讯异常
-COIL_ALARM_252_PIPETTE_ALARM,BOOL,,,,coil,2520,异常252-移液枪报警
-COIL_ALARM_256_ELECTRIC_GRIPPER_ERROR,BOOL,,,,coil,2560,异常256-电爪异常
-COIL_ALARM_262_RB_UNKNOWN_POSITION_ERROR,BOOL,,,,coil,2620,异常262-RB报警：未知点位错误
-COIL_ALARM_263_RB_XYZ_PARAM_LIMIT_ERROR,BOOL,,,,coil,2630,异常263-RB报警：X、Y、Z参数超限制
-COIL_ALARM_264_RB_VISION_PARAM_ERROR,BOOL,,,,coil,2640,异常264-RB报警：视觉参数误差过大
-COIL_ALARM_265_RB_NOZZLE_1_PICK_FAIL,BOOL,,,,coil,2650,异常265-RB报警：1#吸嘴取料失败
-COIL_ALARM_266_RB_NOZZLE_2_PICK_FAIL,BOOL,,,,coil,2660,异常266-RB报警：2#吸嘴取料失败
-COIL_ALARM_267_RB_NOZZLE_3_PICK_FAIL,BOOL,,,,coil,2670,异常267-RB报警：3#吸嘴取料失败
-COIL_ALARM_268_RB_NOZZLE_4_PICK_FAIL,BOOL,,,,coil,2680,异常268-RB报警：4#吸嘴取料失败
-COIL_ALARM_269_RB_TRAY_PICK_FAIL,BOOL,,,,coil,2690,异常269-RB报警：取物料盘失败
-COIL_ALARM_280_RB_COLLISION_ERROR,BOOL,,,,coil,2800,异常280-RB碰撞异常
-COIL_ALARM_290_VISION_SYSTEM_COMM_ERROR,BOOL,,,,coil,2900,异常290-视觉系统通讯异常
-COIL_ALARM_291_VISION_ALIGNMENT_NG,BOOL,,,,coil,2910,异常291-视觉对位NG异常
-COIL_ALARM_292_BARCODE_SCANNER_COMM_ERROR,BOOL,,,,coil,2920,异常292-扫码枪通讯异常
-COIL_ALARM_310_OCV_TRANSFER_NOZZLE_SUCTION_ERROR,BOOL,,,,coil,3100,异常310-开电移载吸嘴吸真空异常
-COIL_ALARM_311_OCV_TRANSFER_NOZZLE_BREAK_ERROR,BOOL,,,,coil,3110,异常311-开电移载吸嘴破真空异常
-COIL_ALARM_312_WEIGHT_TRANSFER_NOZZLE_SUCTION_ERROR,BOOL,,,,coil,3120,异常312-称重移载吸嘴吸真空异常
-COIL_ALARM_313_WEIGHT_TRANSFER_NOZZLE_BREAK_ERROR,BOOL,,,,coil,3130,异常313-称重移载吸嘴破真空异常
-COIL_ALARM_340_OCV_NOZZLE_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3400,异常340-开路电压吸嘴移载气缸异常
-COIL_ALARM_342_OCV_NOZZLE_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3420,异常342-开路电压吸嘴升降气缸异常
-COIL_ALARM_344_OCV_CRIMPING_CYLINDER_ERROR,BOOL,,,,coil,3440,异常344-开路电压旋压气缸异常
-COIL_ALARM_350_WEIGHT_NOZZLE_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3500,异常350-称重吸嘴移载气缸异常
-COIL_ALARM_352_WEIGHT_NOZZLE_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3520,异常352-称重吸嘴升降气缸异常
-COIL_ALARM_354_CLEANING_CLOTH_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3540,异常354-清洗无尘布移载气缸异常
-COIL_ALARM_356_CLEANING_CLOTH_PRESS_CYLINDER_ERROR,BOOL,,,,coil,3560,异常356-清洗无尘布压紧气缸异常
-COIL_ALARM_360_ELECTROLYTE_BOTTLE_POSITION_CYLINDER_ERROR,BOOL,,,,coil,3600,异常360-电解液瓶定位气缸异常
-COIL_ALARM_362_PIPETTE_TIP_BOX_POSITION_CYLINDER_ERROR,BOOL,,,,coil,3620,异常362-移液枪头盒定位气缸异常
-COIL_ALARM_364_REAGENT_BOTTLE_GRIPPER_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3640,异常364-试剂瓶夹爪升降气缸异常
-COIL_ALARM_366_REAGENT_BOTTLE_GRIPPER_CYLINDER_ERROR,BOOL,,,,coil,3660,异常366-试剂瓶夹爪气缸异常
-COIL_ALARM_370_PRESS_MODULE_BLOW_CYLINDER_ERROR,BOOL,,,,coil,3700,异常370-压制模块吹气气缸异常
-COIL_ALARM_151_ELECTROLYTE_BOTTLE_POSITION_ERROR,BOOL,,,,coil,1510,异常151-电解液瓶定位在籍异常
-COIL_ALARM_152_ELECTROLYTE_BOTTLE_CAP_ERROR,BOOL,,,,coil,1520,异常152-电解液瓶盖在籍异常

unilabos/devices/workstation/coin_cell_assembly/date_20251224.csv

@@ -1,2 +0,0 @@
-Time,open_circuit_voltage,pole_weight,assembly_time,assembly_pressure,electrolyte_volume,coin_num,electrolyte_code,coin_cell_code
-20251224_172304,-5.537573695435827e-37,-48.45097351074219,1.372190511464448e+16,3820,30,7,b'\x00\x00d\x00eaoR',b'\x00\x00\x01\x00\x00\x00\r\n'

unilabos/devices/workstation/coin_cell_assembly/date_20251225.csv

@@ -1,2 +0,0 @@
-Time,open_circuit_voltage,pole_weight,assembly_time,assembly_pressure,electrolyte_volume,coin_num,electrolyte_code,coin_cell_code
-20251225_105600,5.566961054206384e-37,-53149746331648.0,3271557120.0,3658,10,7,b'\x00\x00d\x00eaoR',b'\x00\x00\x01\x00\x00\x00\r\n'

unilabos/devices/workstation/coin_cell_assembly/date_20251229.csv

@@ -1,2 +0,0 @@
-Time,open_circuit_voltage,pole_weight,assembly_time,assembly_pressure,electrolyte_volume,coin_num,electrolyte_code,coin_cell_code
-20251229_161836,-5.537573695435827e-37,8.919000478163591e+20,-3.806253867691382e-29,3544,20,7,b'\x00\x00d\x00eaoR',b'\x00\x00\x01\x00\x00\x00\r\n'

unilabos/devices/workstation/coin_cell_assembly/date_20251230.csv

@@ -1,9 +0,0 @@
-Time,open_circuit_voltage,pole_weight,assembly_time,assembly_pressure,electrolyte_volume,coin_num,electrolyte_code,coin_cell_code
-20251230_182319,0.01600000075995922,13.899999618530273,175.0,3836,20,7,b'\x00\x00d\x00eaoR',b'\x00\x00\x01\x00\x00\x00\r\n'
-20251230_185306,0.01600000075995922,13.639999389648438,625.0,3819,20,7,deaoR,

-20251230_192124,0.0,8.949999809265137,414.0,3803,20,8,deaoR,

-20251230_195621,3.8359999656677246,10.069999694824219,205.0,3350,20,8,LG600001,19311909
-20251230_200830,0.7929999828338623,9.34999942779541,18.0,3318,20,8,LG600001,19533419
-20251230_201123,0.0,9.169999122619629,17.0,3269,20,8,LG600001,20054389
-20251230_201410,0.0,9.569999694824219,18.0,3237,20,8,LG600001,YS102704
-20251230_201659,0.0,9.699999809265137,169.0,3318,20,8,LG600001,20112754

unilabos/devices/workstation/coin_cell_assembly/date_20260106.csv

@@ -1,3 +0,0 @@
-Time,open_circuit_voltage,pole_weight,assembly_time,assembly_pressure,electrolyte_volume,coin_num,electrolyte_code,coin_cell_code
-20260106_221708,0.03200000151991844,26.26999855041504,18.0,3803,30,7,NoRead88,22000063
-20260106_221957,0.11299999803304672,26.26999855041504,170.0,3787,30,7,LG600001,22124813

unilabos/devices/workstation/coin_cell_assembly/interactive_battery_export_demo.py

@@ -1,536 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-"""扣式电池组装系统 - 交互式CSV导出演示脚本（增强版）
-
-此脚本专为交互式使用优化，提供清洁的命令行界面，
-禁用了所有调试信息输出，确保用户可以顺畅地输入命令。
-
-主要功能:
-1. 手动导出设备数据到CSV文件（包含6个关键数据字段）
-2. 查看CSV文件内容和导出状态
-3. 兼容原有的电池组装完成状态自动导出功能
-4. 实时查看设备数据和电池数量
-
-数据字段:
-- timestamp: 时间戳
-- assembly_time: 单颗电池组装时间（秒）
-- open_circuit_voltage: 开路电压值（V）
-- pole_weight: 正极片称重数据（g）
-- battery_qr_code: 电池二维码序列号
-- electrolyte_qr_code: 电解液二维码序列号
-
-使用方法:
-1. 确保设备已连接并可正常通信
-2. 运行此脚本: python interactive_battery_export_demo.py
-3. 使用交互式命令控制导出功能
-"""
-
-import time
-import os
-import sys
-import logging
-import csv
-from datetime import datetime
-from pathlib import Path
-
-# 完全禁用所有调试和信息级别的日志输出
-logging.getLogger().setLevel(logging.CRITICAL)
-logging.getLogger('pymodbus').setLevel(logging.CRITICAL)
-logging.getLogger('unilabos').setLevel(logging.CRITICAL)
-logging.getLogger('pymodbus.logging').setLevel(logging.CRITICAL)
-logging.getLogger('pymodbus.logging.tcp').setLevel(logging.CRITICAL)
-logging.getLogger('pymodbus.logging.base').setLevel(logging.CRITICAL)
-logging.getLogger('pymodbus.logging.decoders').setLevel(logging.CRITICAL)
-
-# 添加当前目录到Python路径，以便正确导入模块
-current_dir = Path(__file__).parent
-sys.path.insert(0, str(current_dir.parent.parent.parent))  # 添加unilabos根目录
-sys.path.insert(0, str(current_dir))  # 添加当前目录
-
-# 导入扣式电池组装系统
-try:
-    from unilabos.devices.coin_cell_assembly.coin_cell_assembly_system import Coin_Cell_Assembly
-except ImportError:
-    # 如果上述导入失败，尝试直接导入
-    try:
-        from coin_cell_assembly_system import Coin_Cell_Assembly
-    except ImportError as e:
-        print(f"导入错误: {e}")
-        print("请确保在正确的目录下运行此脚本，或者将unilabos添加到Python路径中")
-        sys.exit(1)
-
-def clear_screen():
-    """清屏函数"""
-    os.system('cls' if os.name == 'nt' else 'clear')
-
-def print_header():
-    """打印程序头部信息"""
-    print("="*60)
-    print("    扣式电池组装系统 - 交互式CSV导出控制台")
-    print("="*60)
-    print()
-
-def print_commands():
-    """打印可用命令"""
-    print("可用命令:")
-    print("  start   - 启动电池组装完成状态导出")
-    print("  stop    - 停止导出")
-    print("  status  - 查看导出状态")
-    print("  data    - 查看当前设备数据")
-    print("  count   - 查看当前电池数量")
-    print("  export  - 手动导出当前数据到CSV")
-    print("  setpath - 设置自定义CSV文件路径")
-    print("  view    - 查看CSV文件内容")
-    print("  force   - 强制继续CSV导出(即使设备停止)")
-    print("  detail  - 显示详细设备状态")
-    print("  clear   - 清屏")
-    print("  help    - 显示帮助信息")
-    print("  quit    - 退出程序")
-    print("-"*60)
-
-def print_status_info(device, csv_file_path):
-    """打印状态信息"""
-    try:
-        status = device.get_csv_export_status()
-        is_running = status.get('running', False)
-        export_file = status.get('file_path', None)
-        thread_alive = status.get('thread_alive', False)
-        device_status = status.get('device_status', 'N/A')
-        battery_count = status.get('battery_count', 'N/A')
-        
-        print(f"导出状态: {'运行中' if is_running else '已停止'}")
-        print(f"导出文件: {export_file if export_file else 'N/A'}")
-        print(f"线程状态: {'活跃' if thread_alive else '非活跃'}")
-        print(f"设备状态: {device_status}")
-        print(f"电池计数: {battery_count}")
-        
-        # 检查手动导出的CSV文件
-        if os.path.exists(csv_file_path):
-            file_size = os.path.getsize(csv_file_path)
-            print(f"手动导出文件: {csv_file_path} ({file_size} 字节)")
-        else:
-            print(f"手动导出文件: {csv_file_path} (不存在)")
-            
-        # 显示设备运行状态
-        try:
-            print("\n=== 设备运行状态 ===")
-            print(f"系统启动状态: {device.sys_start_status}")
-            print(f"系统停止状态: {device.sys_stop_status}")
-            print(f"自动模式状态: {device.sys_auto_status}")
-            print(f"手动模式状态: {device.sys_hand_status}")
-        except Exception as e:
-            print(f"获取设备运行状态失败: {e}")
-            
-    except Exception as e:
-        print(f"获取状态失败: {e}")
-
-def collect_device_data(device):
-    """收集设备的六个关键数据"""
-    try:
-        timestamp = datetime.now().strftime('%Y-%m-%d %H:%M:%S')
-        
-        # 读取各项数据，添加错误处理和重试机制
-        try:
-            assembly_time = device.data_assembly_time  # 单颗电池组装时间(秒)
-            # 确保返回的是数值类型
-            if isinstance(assembly_time, (list, tuple)) and len(assembly_time) > 0:
-                assembly_time = float(assembly_time[0])
-            else:
-                assembly_time = float(assembly_time)
-        except Exception as e:
-            print(f"读取组装时间失败: {e}")
-            assembly_time = 0.0
-            
-        try:
-            open_circuit_voltage = device.data_open_circuit_voltage  # 开路电压值(V)
-            # 确保返回的是数值类型
-            if isinstance(open_circuit_voltage, (list, tuple)) and len(open_circuit_voltage) > 0:
-                open_circuit_voltage = float(open_circuit_voltage[0])
-            else:
-                open_circuit_voltage = float(open_circuit_voltage)
-        except Exception as e:
-            print(f"读取开路电压失败: {e}")
-            open_circuit_voltage = 0.0
-            
-        try:
-            pole_weight = device.data_pole_weight  # 正极片称重数据(g)
-            # 确保返回的是数值类型
-            if isinstance(pole_weight, (list, tuple)) and len(pole_weight) > 0:
-                pole_weight = float(pole_weight[0])
-            else:
-                pole_weight = float(pole_weight)
-        except Exception as e:
-            print(f"读取正极片重量失败: {e}")
-            pole_weight = 0.0
-            
-        try:
-            assembly_pressure = device.data_assembly_pressure  # 电池压制力(N)
-            # 确保返回的是数值类型
-            if isinstance(assembly_pressure, (list, tuple)) and len(assembly_pressure) > 0:
-                assembly_pressure = int(assembly_pressure[0])
-            else:
-                assembly_pressure = int(assembly_pressure)
-        except Exception as e:
-            print(f"读取压制力失败: {e}")
-            assembly_pressure = 0
-            
-        try:
-            battery_qr_code = device.data_coin_cell_code  # 电池二维码序列号
-            # 处理字符串类型数据
-            if isinstance(battery_qr_code, str):
-                battery_qr_code = battery_qr_code.strip()
-            else:
-                battery_qr_code = str(battery_qr_code)
-        except Exception as e:
-            print(f"读取电池二维码失败: {e}")
-            battery_qr_code = "N/A"
-            
-        try:
-            electrolyte_qr_code = device.data_electrolyte_code  # 电解液二维码序列号
-            # 处理字符串类型数据
-            if isinstance(electrolyte_qr_code, str):
-                electrolyte_qr_code = electrolyte_qr_code.strip()
-            else:
-                electrolyte_qr_code = str(electrolyte_qr_code)
-        except Exception as e:
-            print(f"读取电解液二维码失败: {e}")
-            electrolyte_qr_code = "N/A"
-        
-        # 获取电池数量
-        try:
-            battery_count = device.data_assembly_coin_cell_num
-            # 确保返回的是数值类型
-            if isinstance(battery_count, (list, tuple)) and len(battery_count) > 0:
-                battery_count = int(battery_count[0])
-            else:
-                battery_count = int(battery_count)
-        except Exception as e:
-            print(f"读取电池数量失败: {e}")
-            battery_count = 0
-        
-        return {
-            'Timestamp': timestamp,
-            'Battery_Count': battery_count,
-            'Assembly_Time': assembly_time,
-            'Open_Circuit_Voltage': open_circuit_voltage,
-            'Pole_Weight': pole_weight,
-            'Assembly_Pressure': assembly_pressure,
-            'Battery_Code': battery_qr_code,
-            'Electrolyte_Code': electrolyte_qr_code
-        }
-    except Exception as e:
-        print(f"收集数据时出错: {e}")
-        return None
-
-def export_to_csv(data, csv_file_path):
-    """将数据导出到CSV文件"""
-    try:
-        # 检查文件是否存在，如果不存在则创建并写入表头
-        file_exists = os.path.exists(csv_file_path)
-        
-        # 确保目录存在
-        csv_dir = os.path.dirname(csv_file_path)
-        if csv_dir:
-            os.makedirs(csv_dir, exist_ok=True)
-        
-        # 确保数值字段为正确的数值类型，避免前导单引号问题
-        processed_data = data.copy()
-        
-        # 处理数值字段，确保它们是数值类型而不是字符串，增强错误处理
-        numeric_fields = ['Battery_Count', 'Assembly_Time', 'Open_Circuit_Voltage', 'Pole_Weight', 'Assembly_Pressure']
-        for field in numeric_fields:
-            if field in processed_data:
-                try:
-                    value = processed_data[field]
-                    # 处理可能的列表或元组类型
-                    if isinstance(value, (list, tuple)) and len(value) > 0:
-                        value = value[0]
-                    
-                    if field == 'Battery_Count' or field == 'Assembly_Pressure':
-                        processed_data[field] = int(float(value))  # 先转float再转int，处理字符串数字
-                    else:
-                        processed_data[field] = float(value)
-                except (ValueError, TypeError, IndexError) as e:
-                    print(f"字段 {field} 类型转换失败: {e}, 使用默认值")
-                    processed_data[field] = 0 if field == 'Battery_Count' else 0.0
-        
-        # 处理字符串字段
-        for field in ['Battery_Code', 'Electrolyte_Code']:
-            if field in processed_data:
-                try:
-                    value = processed_data[field]
-                    if isinstance(value, (list, tuple)) and len(value) > 0:
-                        value = value[0]
-                    processed_data[field] = str(value).strip()
-                except Exception as e:
-                    print(f"字段 {field} 处理失败: {e}, 使用默认值")
-                    processed_data[field] = "N/A"
-        
-        with open(csv_file_path, 'a', newline='', encoding='utf-8') as csvfile:
-            fieldnames = ['Timestamp', 'Battery_Count', 'Assembly_Time', 'Open_Circuit_Voltage', 
-                         'Pole_Weight', 'Assembly_Pressure', 'Battery_QR_Code', 'Electrolyte_QR_Code']
-            writer = csv.DictWriter(csvfile, fieldnames=fieldnames, quoting=csv.QUOTE_MINIMAL)
-            
-            # 如果文件不存在，写入表头
-            if not file_exists:
-                writer.writeheader()
-                print(f"创建新的CSV文件: {csv_file_path}")
-            
-            # 写入数据
-            writer.writerow(processed_data)
-            print(f"数据已导出到: {csv_file_path}")
-        
-        return True
-    except Exception as e:
-        print(f"导出CSV时出错: {e}")
-        return False
-
-def view_csv_content(csv_file_path, lines=10):
-    """查看CSV文件内容"""
-    try:
-        if not os.path.exists(csv_file_path):
-            print("CSV文件不存在")
-            return
-        
-        with open(csv_file_path, 'r', encoding='utf-8') as csvfile:
-            content = csvfile.readlines()
-            
-        if not content:
-            print("CSV文件为空")
-            return
-        
-        print(f"CSV文件内容 (显示最后{min(lines, len(content))}行):")
-        print("-" * 80)
-        
-        # 显示表头
-        if len(content) > 0:
-            print(content[0].strip())
-            print("-" * 80)
-        
-        # 显示最后几行数据
-        start_line = max(1, len(content) - lines + 1)
-        for i in range(start_line, len(content)):
-            print(content[i].strip())
-        
-        print("-" * 80)
-        print(f"总共 {len(content)-1} 条数据记录")
-        
-    except Exception as e:
-        print(f"读取CSV文件时出错: {e}")
-
-def interactive_demo():
-    """
-    交互式演示模式（优化版）
-    """
-    clear_screen()
-    print_header()
-    
-    print("正在初始化设备连接...")
-    print("设备地址: 192.168.1.20:502")
-    print("正在尝试连接...")
-    
-    try:
-        device = Coin_Cell_Assembly(address="192.168.1.20", port="502")
-        print("✓ 设备连接成功")
-        
-        # 测试设备数据读取
-        print("正在测试设备数据读取...")
-        try:
-            test_count = device.data_assembly_coin_cell_num
-            print(f"✓ 当前电池数量: {test_count}")
-        except Exception as e:
-            print(f"⚠ 数据读取测试失败: {e}")
-            print("设备连接正常，但数据读取可能存在问题")
-            
-    except Exception as e:
-        print(f"✗ 设备连接失败: {e}")
-        print("请检查以下项目:")
-        print("1. 设备是否已开机并正常运行")
-        print("2. 网络连接是否正常")
-        print("3. 设备IP地址是否为192.168.1.20")
-        print("4. Modbus服务是否在端口502上运行")
-        input("按回车键退出...")
-        return
-    
-    csv_file_path = "battery_data_export.csv"
-    print(f"CSV文件路径: {os.path.abspath(csv_file_path)}")
-    print()
-    print("功能说明:")
-    print("- 支持手动导出当前设备数据到CSV文件")
-    print("- 包含六个关键数据: 组装时间、开路电压、正极片重量、电池码、电解液码")
-    print("- 电池码和电解液码可能显示为N/A（当二维码读取失败时）")
-    print("- 支持查看CSV文件内容和导出状态")
-    print("- 兼容原有的电池组装完成状态自动导出功能")
-    print()
-    
-    print_commands()
-    
-    while True:
-        try:
-            command = input("\n请输入命令 > ").strip().lower()
-            
-            if command == "start":
-                print("启动电池组装完成状态导出...")
-                try:
-                    success, message = device.start_battery_completion_export(csv_file_path)
-                    if success:
-                        print(f"✓ {message}")
-                        print("系统正在监控电池组装完成状态...")
-                    else:
-                        print(f"✗ {message}")
-                except Exception as e:
-                    print(f"启动导出时出错: {e}")
-            
-            elif command == "stop":
-                 print("停止导出...")
-                 try:
-                     success, message = device.stop_csv_export()
-                     if success:
-                         print(f"✓ {message}")
-                     else:
-                         print(f"✗ {message}")
-                 except Exception as e:
-                     print(f"停止导出时出错: {e}")
-            
-            elif command == "force":
-                print("强制继续CSV导出...")
-                try:
-                    success, message = device.force_continue_csv_export()
-                    if success:
-                        print(f"✓ {message}")
-                        print("注意: CSV导出将继续监控数据变化，即使设备处于停止状态")
-                    else:
-                        print(f"✗ {message}")
-                except AttributeError:
-                    print("✗ 当前版本不支持强制继续功能")
-                except Exception as e:
-                    print(f"✗ 强制继续失败: {e}")
-                    
-            elif command == "detail":
-                print("=== 详细设备状态 ===")
-                print_status_info(device, csv_file_path)
-            
-            elif command == "status":
-                print_status_info(device, csv_file_path)
-            
-            elif command == "data":
-                print("读取当前设备数据...")
-                try:
-                    data = collect_device_data(device)
-                    if data:
-                        print("\n=== 当前设备数据 ===")
-                        print(f"时间戳: {data['Timestamp']}")
-                        print(f"电池数量: {data['Battery_Count']}")
-                        print(f"单颗电池组装时间: {data['Assembly_Time']:.2f} 秒")
-                        print(f"开路电压值: {data['Open_Circuit_Voltage']:.4f} V")
-                        print(f"正极片称重数据: {data['Pole_Weight']:.4f} g")
-                        print(f"电池压制力: {data['Assembly_Pressure']} N")
-                        print(f"电池二维码序列号: {data['Battery_Code']}")
-                        print(f"电解液二维码序列号: {data['Electrolyte_Code']}")
-                        print("===================")
-                    else:
-                        print("无法获取设备数据")
-                except Exception as e:
-                    print(f"读取数据时出错: {e}")
-            
-            elif command == "count":
-                print("读取当前电池数量...")
-                try:
-                    count = device.data_assembly_coin_cell_num
-                    print(f"当前已完成电池数量: {count}")
-                except Exception as e:
-                    print(f"读取电池数量时出错: {e}")
-            
-            elif command == "export":
-                print("正在收集设备数据并导出到CSV...")
-                data = collect_device_data(device)
-                if data:
-                    print(f"收集到数据: 电池数量={data.get('Battery_Count', 'N/A')}, 组装时间={data.get('Assembly_Time', 'N/A')}s")
-                    if export_to_csv(data, csv_file_path):
-                        print("✓ 数据已成功导出到CSV文件")
-                        print(f"导出数据: 时间={data['Timestamp']}, 电池数量={data['Battery_Count']}, 组装时间={data['Assembly_Time']}秒, "
-                              f"电压={data['Open_Circuit_Voltage']}V, 重量={data['Pole_Weight']}g, 压制力={data['Assembly_Pressure']}N")
-                        print(f"电池码={data['Battery_Code']}, 电解液码={data['Electrolyte_Code']}")
-                    else:
-                        print("✗ 导出失败")
-                else:
-                    print("✗ 数据收集失败，无法导出！请检查设备连接状态。")
-                    # 尝试重新连接设备
-                    try:
-                        if hasattr(device, 'connect'):
-                            device.connect()
-                            print("尝试重新连接设备...")
-                    except Exception as e:
-                        print(f"重新连接失败: {e}")
-            
-            elif command == "setpath":
-                print("设置自定义CSV文件路径")
-                print(f"当前CSV文件路径: {csv_file_path}")
-                new_path = input("请输入新的CSV文件路径（包含文件名，如: D:/data/my_battery_data.csv）: ").strip()
-                if new_path:
-                    try:
-                        # 确保目录存在
-                        new_dir = os.path.dirname(new_path)
-                        if new_dir and not os.path.exists(new_dir):
-                            os.makedirs(new_dir, exist_ok=True)
-                            print(f"✓ 已创建目录: {new_dir}")
-                        
-                        csv_file_path = new_path
-                        print(f"✓ CSV文件路径已更新为: {os.path.abspath(csv_file_path)}")
-                        
-                        # 检查文件是否存在
-                        if os.path.exists(csv_file_path):
-                            file_size = os.path.getsize(csv_file_path)
-                            print(f"文件已存在，大小: {file_size} 字节")
-                        else:
-                            print("文件不存在，将在首次导出时创建")
-                    except Exception as e:
-                        print(f"✗ 设置路径失败: {e}")
-                else:
-                    print("路径不能为空")
-            
-            elif command == "view":
-                print("查看CSV文件内容...")
-                view_csv_content(csv_file_path)
-            
-            elif command == "clear":
-                clear_screen()
-                print_header()
-                print_commands()
-            
-            elif command == "help":
-                print_commands()
-            
-            elif command == "quit" or command == "exit":
-                print("正在退出...")
-                # 停止导出
-                try:
-                    device.stop_csv_export()
-                    print("✓ 导出已停止")
-                except:
-                    pass
-                print("程序已退出")
-                break
-            
-            elif command == "":
-                # 空命令，不做任何操作
-                continue
-            
-            else:
-                print(f"未知命令: {command}")
-                print("输入 'help' 查看可用命令")
-        
-        except KeyboardInterrupt:
-            print("\n\n检测到 Ctrl+C，正在退出...")
-            try:
-                device.stop_csv_export()
-                print("✓ 导出已停止")
-            except:
-                pass
-            print("程序已退出")
-            break
-        except Exception as e:
-            print(f"执行命令时出错: {e}")
-
-if __name__ == '__main__':
-    interactive_demo()

unilabos/devices/workstation/coin_cell_assembly/电池资源冲突修复说明.md

@@ -1,107 +0,0 @@
-# 电池组装资源冲突问题修复说明
-
-## 问题描述
-
-在运行 `func_allpack_cmd` 函数时，遇到以下错误：
-
-```
-ValueError: Resource 'battery_0' already assigned to deck
-```
-
-**错误位置**：`coin_cell_assembly.py` 第 849 行
-```python
-liaopan3.children[self.coin_num_N].assign_child_resource(battery, location=None)
-```
-
-## 原因分析
-
-1. **资源名称冲突**：
-   - 每次创建电池资源使用固定格式 `battery_{coin_num_N}`
-   - 如果程序重启或断点恢复，`coin_num_N` 可能重置为 0
-   - Deck 上可能已存在 `battery_0` 等同名资源
-
-2. **缺少冲突处理**：
-   - 在分配资源前没有检查目标位置是否已有资源
-   - 没有清理机制来移除旧资源
-
-## 解决方案
-
-### 1. 使用时间戳确保资源名称唯一
-
-```python
-# 之前
-battery = ElectrodeSheet(name=f"battery_{self.coin_num_N}", ...)
-
-# 修复后
-timestamp_suffix = datetime.now().strftime("%Y%m%d_%H%M%S_%f")
-battery_name = f"battery_{self.coin_num_N}_{timestamp_suffix}"
-battery = ElectrodeSheet(name=battery_name, ...)
-```
-
-### 2. 添加资源冲突检查和清理
-
-```python
-# 检查目标位置是否已有资源
-target_slot = liaopan3.children[self.coin_num_N]
-if target_slot.children:
-    logger.warning(f"位置 {self.coin_num_N} 已有资源，将先卸载旧资源")
-    try:
-        # 卸载所有现有子资源
-        for child in list(target_slot.children):
-            target_slot.unassign_child_resource(child)
-            logger.info(f"已卸载旧资源: {child.name}")
-    except Exception as e:
-        logger.error(f"卸载旧资源时出错: {e}")
-```
-
-### 3. 增强错误处理
-
-```python
-# 分配新资源到目标位置
-try:
-    target_slot.assign_child_resource(battery, location=None)
-    logger.info(f"成功分配电池 {battery_name} 到位置 {self.coin_num_N}")
-except Exception as e:
-    logger.error(f"分配电池资源失败: {e}")
-    raise
-```
-
-## 修复效果
-
-✅ **不再出现重复资源名称错误**
-- 每个电池资源都有唯一的时间戳后缀
-- 即使 `coin_num_N` 相同，资源名称也不会冲突
-
-✅ **自动清理旧资源**
-- 在分配新资源前检查目标位置
-- 自动卸载已存在的旧资源
-
-✅ **增强日志记录**
-- 记录资源卸载操作
-- 记录资源分配成功/失败
-- 便于调试和问题追踪
-
-## 测试建议
-
-1. **正常运行测试**：
-   ```python
-   workstation.func_allpack_cmd(
-       elec_num=1, 
-       elec_use_num=1, 
-       elec_vol=20, 
-       file_path="..."
-   )
-   ```
-
-2. **断点恢复测试**：
-   - 运行一次后中断
-   - 再次运行相同参数
-   - 验证不会出现资源冲突错误
-
-3. **连续运行测试**：
-   - 连续多次运行
-   - 验证每次都能正常分配资源
-
-## 相关文件
-
-- `coin_cell_assembly.py` - 第 838-875 行（`func_pack_get_msg_cmd` 函数）

unilabos/registry/devices/bioyond.yaml

@@ -0,0 +1,589 @@
+workstation.bioyond_dispensing_station:
+  category:
+  - workstation
+  - bioyond
+  class:
+    action_value_mappings:
+      auto-batch_create_90_10_vial_feeding_tasks:
+        feedback: {}
+        goal: {}
+        goal_default:
+          delay_time: null
+          hold_m_name: null
+          liquid_material_name: NMP
+          speed: null
+          temperature: null
+          titration: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                delay_time:
+                  type: string
+                hold_m_name:
+                  type: string
+                liquid_material_name:
+                  default: NMP
+                  type: string
+                speed:
+                  type: string
+                temperature:
+                  type: string
+                titration:
+                  type: string
+              required:
+              - titration
+              type: object
+            result: {}
+          required:
+          - goal
+          title: batch_create_90_10_vial_feeding_tasks参数
+          type: object
+        type: UniLabJsonCommand
+      auto-batch_create_diamine_solution_tasks:
+        feedback: {}
+        goal: {}
+        goal_default:
+          delay_time: null
+          liquid_material_name: NMP
+          solutions: null
+          speed: null
+          temperature: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                delay_time:
+                  type: string
+                liquid_material_name:
+                  default: NMP
+                  type: string
+                solutions:
+                  type: string
+                speed:
+                  type: string
+                temperature:
+                  type: string
+              required:
+              - solutions
+              type: object
+            result: {}
+          required:
+          - goal
+          title: batch_create_diamine_solution_tasks参数
+          type: object
+        type: UniLabJsonCommand
+      auto-brief_step_parameters:
+        feedback: {}
+        goal: {}
+        goal_default:
+          data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                data:
+                  type: object
+              required:
+              - data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: brief_step_parameters参数
+          type: object
+        type: UniLabJsonCommand
+      auto-compute_experiment_design:
+        feedback: {}
+        goal: {}
+        goal_default:
+          m_tot: '70'
+          ratio: null
+          titration_percent: '0.03'
+          wt_percent: '0.25'
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                m_tot:
+                  default: '70'
+                  type: string
+                ratio:
+                  type: object
+                titration_percent:
+                  default: '0.03'
+                  type: string
+                wt_percent:
+                  default: '0.25'
+                  type: string
+              required:
+              - ratio
+              type: object
+            result:
+              properties:
+                feeding_order:
+                  items: {}
+                  title: Feeding Order
+                  type: array
+                return_info:
+                  title: Return Info
+                  type: string
+                solutions:
+                  items: {}
+                  title: Solutions
+                  type: array
+                solvents:
+                  additionalProperties: true
+                  title: Solvents
+                  type: object
+                titration:
+                  additionalProperties: true
+                  title: Titration
+                  type: object
+              required:
+              - solutions
+              - titration
+              - solvents
+              - feeding_order
+              - return_info
+              title: ComputeExperimentDesignReturn
+              type: object
+          required:
+          - goal
+          title: compute_experiment_design参数
+          type: object
+        type: UniLabJsonCommand
+      auto-process_order_finish_report:
+        feedback: {}
+        goal: {}
+        goal_default:
+          report_request: null
+          used_materials: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                report_request:
+                  type: string
+                used_materials:
+                  type: string
+              required:
+              - report_request
+              - used_materials
+              type: object
+            result: {}
+          required:
+          - goal
+          title: process_order_finish_report参数
+          type: object
+        type: UniLabJsonCommand
+      auto-project_order_report:
+        feedback: {}
+        goal: {}
+        goal_default:
+          order_id: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                order_id:
+                  type: string
+              required:
+              - order_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: project_order_report参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_resource_by_name:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  type: string
+              required:
+              - material_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_resource_by_name参数
+          type: object
+        type: UniLabJsonCommand
+      auto-transfer_materials_to_reaction_station:
+        feedback: {}
+        goal: {}
+        goal_default:
+          target_device_id: null
+          transfer_groups: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                target_device_id:
+                  type: string
+                transfer_groups:
+                  type: array
+              required:
+              - target_device_id
+              - transfer_groups
+              type: object
+            result: {}
+          required:
+          - goal
+          title: transfer_materials_to_reaction_station参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_for_multiple_orders_and_get_reports:
+        feedback: {}
+        goal: {}
+        goal_default:
+          batch_create_result: null
+          check_interval: 10
+          timeout: 7200
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                batch_create_result:
+                  type: string
+                check_interval:
+                  default: 10
+                  type: integer
+                timeout:
+                  default: 7200
+                  type: integer
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_for_multiple_orders_and_get_reports参数
+          type: object
+        type: UniLabJsonCommand
+      auto-workflow_sample_locations:
+        feedback: {}
+        goal: {}
+        goal_default:
+          workflow_id: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                workflow_id:
+                  type: string
+              required:
+              - workflow_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: workflow_sample_locations参数
+          type: object
+        type: UniLabJsonCommand
+      create_90_10_vial_feeding_task:
+        feedback: {}
+        goal:
+          delay_time: delay_time
+          hold_m_name: hold_m_name
+          order_name: order_name
+          percent_10_1_assign_material_name: percent_10_1_assign_material_name
+          percent_10_1_liquid_material_name: percent_10_1_liquid_material_name
+          percent_10_1_target_weigh: percent_10_1_target_weigh
+          percent_10_1_volume: percent_10_1_volume
+          percent_10_2_assign_material_name: percent_10_2_assign_material_name
+          percent_10_2_liquid_material_name: percent_10_2_liquid_material_name
+          percent_10_2_target_weigh: percent_10_2_target_weigh
+          percent_10_2_volume: percent_10_2_volume
+          percent_10_3_assign_material_name: percent_10_3_assign_material_name
+          percent_10_3_liquid_material_name: percent_10_3_liquid_material_name
+          percent_10_3_target_weigh: percent_10_3_target_weigh
+          percent_10_3_volume: percent_10_3_volume
+          percent_90_1_assign_material_name: percent_90_1_assign_material_name
+          percent_90_1_target_weigh: percent_90_1_target_weigh
+          percent_90_2_assign_material_name: percent_90_2_assign_material_name
+          percent_90_2_target_weigh: percent_90_2_target_weigh
+          percent_90_3_assign_material_name: percent_90_3_assign_material_name
+          percent_90_3_target_weigh: percent_90_3_target_weigh
+          speed: speed
+          temperature: temperature
+        goal_default:
+          delay_time: ''
+          hold_m_name: ''
+          order_name: ''
+          percent_10_1_assign_material_name: ''
+          percent_10_1_liquid_material_name: ''
+          percent_10_1_target_weigh: ''
+          percent_10_1_volume: ''
+          percent_10_2_assign_material_name: ''
+          percent_10_2_liquid_material_name: ''
+          percent_10_2_target_weigh: ''
+          percent_10_2_volume: ''
+          percent_10_3_assign_material_name: ''
+          percent_10_3_liquid_material_name: ''
+          percent_10_3_target_weigh: ''
+          percent_10_3_volume: ''
+          percent_90_1_assign_material_name: ''
+          percent_90_1_target_weigh: ''
+          percent_90_2_assign_material_name: ''
+          percent_90_2_target_weigh: ''
+          percent_90_3_assign_material_name: ''
+          percent_90_3_target_weigh: ''
+          speed: ''
+          temperature: ''
+        handles: {}
+        result:
+          return_info: return_info
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: DispenStationVialFeed_Feedback
+              type: object
+            goal:
+              properties:
+                delay_time:
+                  type: string
+                hold_m_name:
+                  type: string
+                order_name:
+                  type: string
+                percent_10_1_assign_material_name:
+                  type: string
+                percent_10_1_liquid_material_name:
+                  type: string
+                percent_10_1_target_weigh:
+                  type: string
+                percent_10_1_volume:
+                  type: string
+                percent_10_2_assign_material_name:
+                  type: string
+                percent_10_2_liquid_material_name:
+                  type: string
+                percent_10_2_target_weigh:
+                  type: string
+                percent_10_2_volume:
+                  type: string
+                percent_10_3_assign_material_name:
+                  type: string
+                percent_10_3_liquid_material_name:
+                  type: string
+                percent_10_3_target_weigh:
+                  type: string
+                percent_10_3_volume:
+                  type: string
+                percent_90_1_assign_material_name:
+                  type: string
+                percent_90_1_target_weigh:
+                  type: string
+                percent_90_2_assign_material_name:
+                  type: string
+                percent_90_2_target_weigh:
+                  type: string
+                percent_90_3_assign_material_name:
+                  type: string
+                percent_90_3_target_weigh:
+                  type: string
+                speed:
+                  type: string
+                temperature:
+                  type: string
+              required:
+              - order_name
+              - percent_90_1_assign_material_name
+              - percent_90_1_target_weigh
+              - percent_90_2_assign_material_name
+              - percent_90_2_target_weigh
+              - percent_90_3_assign_material_name
+              - percent_90_3_target_weigh
+              - percent_10_1_assign_material_name
+              - percent_10_1_target_weigh
+              - percent_10_1_volume
+              - percent_10_1_liquid_material_name
+              - percent_10_2_assign_material_name
+              - percent_10_2_target_weigh
+              - percent_10_2_volume
+              - percent_10_2_liquid_material_name
+              - percent_10_3_assign_material_name
+              - percent_10_3_target_weigh
+              - percent_10_3_volume
+              - percent_10_3_liquid_material_name
+              - speed
+              - temperature
+              - delay_time
+              - hold_m_name
+              title: DispenStationVialFeed_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: DispenStationVialFeed_Result
+              type: object
+          required:
+          - goal
+          title: DispenStationVialFeed
+          type: object
+        type: DispenStationVialFeed
+      create_diamine_solution_task:
+        feedback: {}
+        goal:
+          delay_time: delay_time
+          hold_m_name: hold_m_name
+          liquid_material_name: liquid_material_name
+          material_name: material_name
+          order_name: order_name
+          speed: speed
+          target_weigh: target_weigh
+          temperature: temperature
+          volume: volume
+        goal_default:
+          delay_time: ''
+          hold_m_name: ''
+          liquid_material_name: ''
+          material_name: ''
+          order_name: ''
+          speed: ''
+          target_weigh: ''
+          temperature: ''
+          volume: ''
+        handles: {}
+        result:
+          return_info: return_info
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: DispenStationSolnPrep_Feedback
+              type: object
+            goal:
+              properties:
+                delay_time:
+                  type: string
+                hold_m_name:
+                  type: string
+                liquid_material_name:
+                  type: string
+                material_name:
+                  type: string
+                order_name:
+                  type: string
+                speed:
+                  type: string
+                target_weigh:
+                  type: string
+                temperature:
+                  type: string
+                volume:
+                  type: string
+              required:
+              - order_name
+              - material_name
+              - target_weigh
+              - volume
+              - liquid_material_name
+              - speed
+              - temperature
+              - delay_time
+              - hold_m_name
+              title: DispenStationSolnPrep_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: DispenStationSolnPrep_Result
+              type: object
+          required:
+          - goal
+          title: DispenStationSolnPrep
+          type: object
+        type: DispenStationSolnPrep
+    module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation
+    status_types: {}
+    type: python
+  config_info: []
+  description: ''
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        config:
+          type: string
+        deck:
+          type: string
+      required:
+      - config
+      - deck
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object
+  version: 1.0.0

unilabos/registry/devices/bioyond_cell.yaml

@@ -32,7 +32,112 @@ bioyond_cell:
         feedback: {}
         goal: {}
         goal_default:
-          xlsx_path: D:/UniLab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
+          WH3_x1_y1_z3_1_materialId: ''
+          WH3_x1_y1_z3_1_materialType: ''
+          WH3_x1_y1_z3_1_quantity: 0
+          WH3_x1_y2_z3_4_materialId: ''
+          WH3_x1_y2_z3_4_materialType: ''
+          WH3_x1_y2_z3_4_quantity: 0
+          WH3_x1_y3_z3_7_materialId: ''
+          WH3_x1_y3_z3_7_materialType: ''
+          WH3_x1_y3_z3_7_quantity: 0
+          WH3_x1_y4_z3_10_materialId: ''
+          WH3_x1_y4_z3_10_materialType: ''
+          WH3_x1_y4_z3_10_quantity: 0
+          WH3_x1_y5_z3_13_materialId: ''
+          WH3_x1_y5_z3_13_materialType: ''
+          WH3_x1_y5_z3_13_quantity: 0
+          WH3_x2_y1_z3_2_materialId: ''
+          WH3_x2_y1_z3_2_materialType: ''
+          WH3_x2_y1_z3_2_quantity: 0
+          WH3_x2_y2_z3_5_materialId: ''
+          WH3_x2_y2_z3_5_materialType: ''
+          WH3_x2_y2_z3_5_quantity: 0
+          WH3_x2_y3_z3_8_materialId: ''
+          WH3_x2_y3_z3_8_materialType: ''
+          WH3_x2_y3_z3_8_quantity: 0
+          WH3_x2_y4_z3_11_materialId: ''
+          WH3_x2_y4_z3_11_materialType: ''
+          WH3_x2_y4_z3_11_quantity: 0
+          WH3_x2_y5_z3_14_materialId: ''
+          WH3_x2_y5_z3_14_materialType: ''
+          WH3_x2_y5_z3_14_quantity: 0
+          WH3_x3_y1_z3_3_materialId: ''
+          WH3_x3_y1_z3_3_materialType: ''
+          WH3_x3_y1_z3_3_quantity: 0
+          WH3_x3_y2_z3_6_materialId: ''
+          WH3_x3_y2_z3_6_materialType: ''
+          WH3_x3_y2_z3_6_quantity: 0
+          WH3_x3_y3_z3_9_materialId: ''
+          WH3_x3_y3_z3_9_materialType: ''
+          WH3_x3_y3_z3_9_quantity: 0
+          WH3_x3_y4_z3_12_materialId: ''
+          WH3_x3_y4_z3_12_materialType: ''
+          WH3_x3_y4_z3_12_quantity: 0
+          WH3_x3_y5_z3_15_materialId: ''
+          WH3_x3_y5_z3_15_materialType: ''
+          WH3_x3_y5_z3_15_quantity: 0
+          WH4_x1_y1_z1_1_materialName: ''
+          WH4_x1_y1_z1_1_quantity: 0.0
+          WH4_x1_y1_z2_1_materialName: ''
+          WH4_x1_y1_z2_1_materialType: ''
+          WH4_x1_y1_z2_1_quantity: 0.0
+          WH4_x1_y1_z2_1_targetWH: ''
+          WH4_x1_y2_z1_6_materialName: ''
+          WH4_x1_y2_z1_6_quantity: 0.0
+          WH4_x1_y2_z2_4_materialName: ''
+          WH4_x1_y2_z2_4_materialType: ''
+          WH4_x1_y2_z2_4_quantity: 0.0
+          WH4_x1_y2_z2_4_targetWH: ''
+          WH4_x1_y3_z1_11_materialName: ''
+          WH4_x1_y3_z1_11_quantity: 0.0
+          WH4_x1_y3_z2_7_materialName: ''
+          WH4_x1_y3_z2_7_materialType: ''
+          WH4_x1_y3_z2_7_quantity: 0.0
+          WH4_x1_y3_z2_7_targetWH: ''
+          WH4_x2_y1_z1_2_materialName: ''
+          WH4_x2_y1_z1_2_quantity: 0.0
+          WH4_x2_y1_z2_2_materialName: ''
+          WH4_x2_y1_z2_2_materialType: ''
+          WH4_x2_y1_z2_2_quantity: 0.0
+          WH4_x2_y1_z2_2_targetWH: ''
+          WH4_x2_y2_z1_7_materialName: ''
+          WH4_x2_y2_z1_7_quantity: 0.0
+          WH4_x2_y2_z2_5_materialName: ''
+          WH4_x2_y2_z2_5_materialType: ''
+          WH4_x2_y2_z2_5_quantity: 0.0
+          WH4_x2_y2_z2_5_targetWH: ''
+          WH4_x2_y3_z1_12_materialName: ''
+          WH4_x2_y3_z1_12_quantity: 0.0
+          WH4_x2_y3_z2_8_materialName: ''
+          WH4_x2_y3_z2_8_materialType: ''
+          WH4_x2_y3_z2_8_quantity: 0.0
+          WH4_x2_y3_z2_8_targetWH: ''
+          WH4_x3_y1_z1_3_materialName: ''
+          WH4_x3_y1_z1_3_quantity: 0.0
+          WH4_x3_y1_z2_3_materialName: ''
+          WH4_x3_y1_z2_3_materialType: ''
+          WH4_x3_y1_z2_3_quantity: 0.0
+          WH4_x3_y1_z2_3_targetWH: ''
+          WH4_x3_y2_z1_8_materialName: ''
+          WH4_x3_y2_z1_8_quantity: 0.0
+          WH4_x3_y2_z2_6_materialName: ''
+          WH4_x3_y2_z2_6_materialType: ''
+          WH4_x3_y2_z2_6_quantity: 0.0
+          WH4_x3_y2_z2_6_targetWH: ''
+          WH4_x3_y3_z2_9_materialName: ''
+          WH4_x3_y3_z2_9_materialType: ''
+          WH4_x3_y3_z2_9_quantity: 0.0
+          WH4_x3_y3_z2_9_targetWH: ''
+          WH4_x4_y1_z1_4_materialName: ''
+          WH4_x4_y1_z1_4_quantity: 0.0
+          WH4_x4_y2_z1_9_materialName: ''
+          WH4_x4_y2_z1_9_quantity: 0.0
+          WH4_x5_y1_z1_5_materialName: ''
+          WH4_x5_y1_z1_5_quantity: 0.0
+          WH4_x5_y2_z1_10_materialName: ''
+          WH4_x5_y2_z1_10_quantity: 0.0
+          xlsx_path: /Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -42,8 +147,323 @@ bioyond_cell:
             feedback: {}
             goal:
               properties:
+                WH3_x1_y1_z3_1_materialId:
+                  default: ''
+                  type: string
+                WH3_x1_y1_z3_1_materialType:
+                  default: ''
+                  type: string
+                WH3_x1_y1_z3_1_quantity:
+                  default: 0
+                  type: number
+                WH3_x1_y2_z3_4_materialId:
+                  default: ''
+                  type: string
+                WH3_x1_y2_z3_4_materialType:
+                  default: ''
+                  type: string
+                WH3_x1_y2_z3_4_quantity:
+                  default: 0
+                  type: number
+                WH3_x1_y3_z3_7_materialId:
+                  default: ''
+                  type: string
+                WH3_x1_y3_z3_7_materialType:
+                  default: ''
+                  type: string
+                WH3_x1_y3_z3_7_quantity:
+                  default: 0
+                  type: number
+                WH3_x1_y4_z3_10_materialId:
+                  default: ''
+                  type: string
+                WH3_x1_y4_z3_10_materialType:
+                  default: ''
+                  type: string
+                WH3_x1_y4_z3_10_quantity:
+                  default: 0
+                  type: number
+                WH3_x1_y5_z3_13_materialId:
+                  default: ''
+                  type: string
+                WH3_x1_y5_z3_13_materialType:
+                  default: ''
+                  type: string
+                WH3_x1_y5_z3_13_quantity:
+                  default: 0
+                  type: number
+                WH3_x2_y1_z3_2_materialId:
+                  default: ''
+                  type: string
+                WH3_x2_y1_z3_2_materialType:
+                  default: ''
+                  type: string
+                WH3_x2_y1_z3_2_quantity:
+                  default: 0
+                  type: number
+                WH3_x2_y2_z3_5_materialId:
+                  default: ''
+                  type: string
+                WH3_x2_y2_z3_5_materialType:
+                  default: ''
+                  type: string
+                WH3_x2_y2_z3_5_quantity:
+                  default: 0
+                  type: number
+                WH3_x2_y3_z3_8_materialId:
+                  default: ''
+                  type: string
+                WH3_x2_y3_z3_8_materialType:
+                  default: ''
+                  type: string
+                WH3_x2_y3_z3_8_quantity:
+                  default: 0
+                  type: number
+                WH3_x2_y4_z3_11_materialId:
+                  default: ''
+                  type: string
+                WH3_x2_y4_z3_11_materialType:
+                  default: ''
+                  type: string
+                WH3_x2_y4_z3_11_quantity:
+                  default: 0
+                  type: number
+                WH3_x2_y5_z3_14_materialId:
+                  default: ''
+                  type: string
+                WH3_x2_y5_z3_14_materialType:
+                  default: ''
+                  type: string
+                WH3_x2_y5_z3_14_quantity:
+                  default: 0
+                  type: number
+                WH3_x3_y1_z3_3_materialId:
+                  default: ''
+                  type: string
+                WH3_x3_y1_z3_3_materialType:
+                  default: ''
+                  type: string
+                WH3_x3_y1_z3_3_quantity:
+                  default: 0
+                  type: number
+                WH3_x3_y2_z3_6_materialId:
+                  default: ''
+                  type: string
+                WH3_x3_y2_z3_6_materialType:
+                  default: ''
+                  type: string
+                WH3_x3_y2_z3_6_quantity:
+                  default: 0
+                  type: number
+                WH3_x3_y3_z3_9_materialId:
+                  default: ''
+                  type: string
+                WH3_x3_y3_z3_9_materialType:
+                  default: ''
+                  type: string
+                WH3_x3_y3_z3_9_quantity:
+                  default: 0
+                  type: number
+                WH3_x3_y4_z3_12_materialId:
+                  default: ''
+                  type: string
+                WH3_x3_y4_z3_12_materialType:
+                  default: ''
+                  type: string
+                WH3_x3_y4_z3_12_quantity:
+                  default: 0
+                  type: number
+                WH3_x3_y5_z3_15_materialId:
+                  default: ''
+                  type: string
+                WH3_x3_y5_z3_15_materialType:
+                  default: ''
+                  type: string
+                WH3_x3_y5_z3_15_quantity:
+                  default: 0
+                  type: number
+                WH4_x1_y1_z1_1_materialName:
+                  default: ''
+                  type: string
+                WH4_x1_y1_z1_1_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x1_y1_z2_1_materialName:
+                  default: ''
+                  type: string
+                WH4_x1_y1_z2_1_materialType:
+                  default: ''
+                  type: string
+                WH4_x1_y1_z2_1_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x1_y1_z2_1_targetWH:
+                  default: ''
+                  type: string
+                WH4_x1_y2_z1_6_materialName:
+                  default: ''
+                  type: string
+                WH4_x1_y2_z1_6_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x1_y2_z2_4_materialName:
+                  default: ''
+                  type: string
+                WH4_x1_y2_z2_4_materialType:
+                  default: ''
+                  type: string
+                WH4_x1_y2_z2_4_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x1_y2_z2_4_targetWH:
+                  default: ''
+                  type: string
+                WH4_x1_y3_z1_11_materialName:
+                  default: ''
+                  type: string
+                WH4_x1_y3_z1_11_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x1_y3_z2_7_materialName:
+                  default: ''
+                  type: string
+                WH4_x1_y3_z2_7_materialType:
+                  default: ''
+                  type: string
+                WH4_x1_y3_z2_7_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x1_y3_z2_7_targetWH:
+                  default: ''
+                  type: string
+                WH4_x2_y1_z1_2_materialName:
+                  default: ''
+                  type: string
+                WH4_x2_y1_z1_2_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x2_y1_z2_2_materialName:
+                  default: ''
+                  type: string
+                WH4_x2_y1_z2_2_materialType:
+                  default: ''
+                  type: string
+                WH4_x2_y1_z2_2_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x2_y1_z2_2_targetWH:
+                  default: ''
+                  type: string
+                WH4_x2_y2_z1_7_materialName:
+                  default: ''
+                  type: string
+                WH4_x2_y2_z1_7_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x2_y2_z2_5_materialName:
+                  default: ''
+                  type: string
+                WH4_x2_y2_z2_5_materialType:
+                  default: ''
+                  type: string
+                WH4_x2_y2_z2_5_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x2_y2_z2_5_targetWH:
+                  default: ''
+                  type: string
+                WH4_x2_y3_z1_12_materialName:
+                  default: ''
+                  type: string
+                WH4_x2_y3_z1_12_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x2_y3_z2_8_materialName:
+                  default: ''
+                  type: string
+                WH4_x2_y3_z2_8_materialType:
+                  default: ''
+                  type: string
+                WH4_x2_y3_z2_8_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x2_y3_z2_8_targetWH:
+                  default: ''
+                  type: string
+                WH4_x3_y1_z1_3_materialName:
+                  default: ''
+                  type: string
+                WH4_x3_y1_z1_3_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x3_y1_z2_3_materialName:
+                  default: ''
+                  type: string
+                WH4_x3_y1_z2_3_materialType:
+                  default: ''
+                  type: string
+                WH4_x3_y1_z2_3_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x3_y1_z2_3_targetWH:
+                  default: ''
+                  type: string
+                WH4_x3_y2_z1_8_materialName:
+                  default: ''
+                  type: string
+                WH4_x3_y2_z1_8_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x3_y2_z2_6_materialName:
+                  default: ''
+                  type: string
+                WH4_x3_y2_z2_6_materialType:
+                  default: ''
+                  type: string
+                WH4_x3_y2_z2_6_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x3_y2_z2_6_targetWH:
+                  default: ''
+                  type: string
+                WH4_x3_y3_z2_9_materialName:
+                  default: ''
+                  type: string
+                WH4_x3_y3_z2_9_materialType:
+                  default: ''
+                  type: string
+                WH4_x3_y3_z2_9_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x3_y3_z2_9_targetWH:
+                  default: ''
+                  type: string
+                WH4_x4_y1_z1_4_materialName:
+                  default: ''
+                  type: string
+                WH4_x4_y1_z1_4_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x4_y2_z1_9_materialName:
+                  default: ''
+                  type: string
+                WH4_x4_y2_z1_9_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x5_y1_z1_5_materialName:
+                  default: ''
+                  type: string
+                WH4_x5_y1_z1_5_quantity:
+                  default: 0.0
+                  type: number
+                WH4_x5_y2_z1_10_materialName:
+                  default: ''
+                  type: string
+                WH4_x5_y2_z1_10_quantity:
+                  default: 0.0
+                  type: number
                 xlsx_path:
-                  default: D:/UniLab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025122301.xlsx
+                  default: /Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
                   type: string
               required: []
               type: object
@@ -151,14 +571,7 @@ bioyond_cell:
         goal: {}
         goal_default:
           xlsx_path: null
-        handles:
-          output:
-          - data_key: total_orders
-            data_source: executor
-            data_type: integer
-            handler_key: bottle_count
-            io_type: sink
-            label: 配液瓶数
+        handles: {}
         placeholder_keys: {}
         result: {}
         schema:
@@ -408,6 +821,154 @@ bioyond_cell:
           title: resource_tree_transfer参数
           type: object
         type: UniLabJsonCommand
+      auto-run_feeding_stage:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles:
+          input: []
+          output:
+          - data_key: feeding_materials
+            data_source: executor
+            data_type: resource
+            handler_key: feeding_materials
+            label: Feeding Materials
+        placeholder_keys: {}
+        result:
+          properties:
+            feeding_materials:
+              items:
+                type: object
+              type: array
+          required:
+          - feeding_materials
+          type: object
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: run_feeding_stage参数
+          type: object
+        type: UniLabJsonCommand
+      auto-run_liquid_preparation_stage:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles:
+          input:
+          - data_key: feeding_materials
+            data_source: handle
+            data_type: resource
+            handler_key: feeding_materials
+            label: Feeding Materials
+          output:
+          - data_key: liquid_materials
+            data_source: executor
+            data_type: resource
+            handler_key: liquid_materials
+            label: Liquid Materials
+        placeholder_keys: {}
+        result:
+          properties:
+            feeding_materials:
+              items:
+                type: object
+              type: array
+            liquid_materials:
+              items:
+                type: object
+              type: array
+          required:
+          - liquid_materials
+          type: object
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                feeding_materials:
+                  items:
+                    type: object
+                  type: array
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: run_liquid_preparation_stage参数
+          type: object
+        type: UniLabJsonCommand
+      auto-run_transfer_stage:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles:
+          input:
+          - data_key: liquid_materials
+            data_source: handle
+            data_type: resource
+            handler_key: liquid_materials
+            label: Liquid Materials
+          output:
+          - data_key: transfer_materials
+            data_source: executor
+            data_type: resource
+            handler_key: transfer_materials
+            label: Transfer Materials
+        placeholder_keys: {}
+        result:
+          properties:
+            liquid_materials:
+              items:
+                type: object
+              type: array
+            transfer_materials:
+              items:
+                type: object
+              type: array
+            transfer_summary:
+              type: object
+          required:
+          - transfer_materials
+          type: object
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                liquid_materials:
+                  items:
+                    type: object
+                  type: array
+              required: []
+              type: object
+            result:
+              properties:
+                liquid_materials:
+                  items:
+                    type: object
+                  type: array
+                transfer_materials:
+                  items:
+                    type: object
+                  type: array
+                transfer_summary:
+                  type: object
+              type: object
+          required:
+          - goal
+          title: run_transfer_stage参数
+          type: object
+        type: UniLabJsonCommand
       auto-scheduler_continue:
         feedback: {}
         goal: {}
@@ -471,31 +1032,6 @@ bioyond_cell:
           title: scheduler_start参数
           type: object
         type: UniLabJsonCommand
-      auto-scheduler_start_and_auto_feeding:
-        feedback: {}
-        goal: {}
-        goal_default:
-          xlsx_path: D:/UniLab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 组合函数:先启动调度,然后执行自动化上料
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                xlsx_path:
-                  default: D:/UniLab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
-                  type: string
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: scheduler_start_and_auto_feeding参数
-          type: object
-        type: UniLabJsonCommand
       auto-scheduler_stop:
         feedback: {}
         goal: {}
@@ -724,7 +1260,7 @@ bioyond_cell:
       device_id: String
     type: python
   config_info: []
-  description: ''
+  description: 配液工站
   handles: []
   icon: benyao2.webp
   init_param_schema:

unilabos/registry/devices/chinwe.yaml

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

unilabos/registry/devices/coin_cell_workstation.yaml

@@ -115,117 +115,6 @@ coincellassemblyworkstation_device:
           title: func_allpack_cmd参数
           type: object
         type: UniLabJsonCommand
-      auto-func_allpack_cmd_simp:
-        feedback: {}
-        goal: {}
-        goal_default:
-          assembly_pressure: 4200
-          assembly_type: 7
-          battery_clean_ignore: false
-          battery_pressure_mode: true
-          dual_drop_first_volume: 25
-          dual_drop_mode: false
-          dual_drop_start_timing: false
-          dual_drop_suction_timing: false
-          elec_num: null
-          elec_use_num: null
-          elec_vol: 50
-          file_path: /Users/sml/work
-          fujipian_juzhendianwei: 0
-          fujipian_panshu: 0
-          gemo_juzhendianwei: 0
-          gemopanshu: 0
-          lvbodian: true
-          qiangtou_juzhendianwei: 0
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 简化版电池组装函数，整合了参数设置和双滴模式
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                assembly_pressure:
-                  default: 4200
-                  description: 电池压制力(N)
-                  type: integer
-                assembly_type:
-                  default: 7
-                  description: 组装类型(7=不用铝箔垫, 8=使用铝箔垫)
-                  type: integer
-                battery_clean_ignore:
-                  default: false
-                  description: 是否忽略电池清洁步骤
-                  type: boolean
-                battery_pressure_mode:
-                  default: true
-                  description: 是否启用压力模式
-                  type: boolean
-                dual_drop_first_volume:
-                  default: 25
-                  description: 二次滴液第一次排液体积(μL)
-                  type: integer
-                dual_drop_mode:
-                  default: false
-                  description: 电解液添加模式(false=单次滴液, true=二次滴液)
-                  type: boolean
-                dual_drop_start_timing:
-                  default: false
-                  description: 二次滴液开始滴液时机(false=正极片前, true=正极片后)
-                  type: boolean
-                dual_drop_suction_timing:
-                  default: false
-                  description: 二次滴液吸液时机(false=正常吸液, true=先吸液)
-                  type: boolean
-                elec_num:
-                  description: 电解液瓶数
-                  type: string
-                elec_use_num:
-                  description: 每瓶电解液组装电池数
-                  type: string
-                elec_vol:
-                  default: 50
-                  description: 电解液吸液量(μL)
-                  type: integer
-                file_path:
-                  default: /Users/sml/work
-                  description: 实验记录保存路径
-                  type: string
-                fujipian_juzhendianwei:
-                  default: 0
-                  description: 负极片矩阵点位
-                  type: integer
-                fujipian_panshu:
-                  default: 0
-                  description: 负极片盘数
-                  type: integer
-                gemo_juzhendianwei:
-                  default: 0
-                  description: 隔膜矩阵点位
-                  type: integer
-                gemopanshu:
-                  default: 0
-                  description: 隔膜盘数
-                  type: integer
-                lvbodian:
-                  default: true
-                  description: 是否使用铝箔垫片
-                  type: boolean
-                qiangtou_juzhendianwei:
-                  default: 0
-                  description: 枪头盒矩阵点位
-                  type: integer
-              required:
-              - elec_num
-              - elec_use_num
-              type: object
-            result: {}
-          required:
-          - goal
-          title: func_allpack_cmd_simp参数
-          type: object
-        type: UniLabJsonCommand
       auto-func_get_csv_export_status:
         feedback: {}
         goal: {}
@@ -289,27 +178,6 @@ coincellassemblyworkstation_device:
           title: func_pack_device_init参数
           type: object
         type: UniLabJsonCommand
-      auto-func_pack_device_init_auto_start_combined:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 组合函数:设备初始化 + 切换自动模式 + 启动
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: func_pack_device_init_auto_start_combined参数
-          type: object
-        type: UniLabJsonCommand
       auto-func_pack_device_start:
         feedback: {}
         goal: {}
@@ -382,15 +250,7 @@ coincellassemblyworkstation_device:
         goal: {}
         goal_default:
           bottle_num: null
-        handles:
-          input:
-          - data_key: bottle_num
-            data_source: workflow
-            data_type: integer
-            handler_key: bottle_count
-            io_type: source
-            label: 配液瓶数
-            required: true
+        handles: {}
         placeholder_keys: {}
         result: {}
         schema:
@@ -400,7 +260,7 @@ coincellassemblyworkstation_device:
             goal:
               properties:
                 bottle_num:
-                  type: integer
+                  type: string
               required:
               - bottle_num
               type: object
@@ -617,6 +477,171 @@ coincellassemblyworkstation_device:
           title: qiming_coin_cell_code参数
           type: object
         type: UniLabJsonCommand
+      auto-run_coin_cell_assembly_workflow:
+        feedback: {}
+        goal:
+          properties:
+            workflow_config:
+              type: object
+          required: []
+          type: object
+        goal_default:
+          workflow_config: {}
+        handles:
+          input:
+          - data_key: workflow_config
+            data_source: handle
+            data_type: resource
+            handler_key: WorkflowConfig
+            label: Workflow Config
+          output:
+          - data_key: qiming
+            data_source: executor
+            data_type: resource
+            handler_key: QimingResult
+            label: Qiming Result
+          - data_key: workflow_steps
+            data_source: executor
+            data_type: resource
+            handler_key: WorkflowSteps
+            label: Workflow Steps
+          - data_key: packaging
+            data_source: executor
+            data_type: resource
+            handler_key: PackagingResult
+            label: Packaging Result
+          - data_key: finish
+            data_source: executor
+            data_type: resource
+            handler_key: FinishResult
+            label: Finish Result
+        placeholder_keys: {}
+        result:
+          properties:
+            finish:
+              properties:
+                send_finished:
+                  type: object
+                stop:
+                  type: object
+              required:
+              - send_finished
+              - stop
+              type: object
+            packaging:
+              properties:
+                bottle_num:
+                  type: integer
+                command:
+                  type: object
+                result:
+                  type: object
+              required:
+              - bottle_num
+              - command
+              - result
+              type: object
+            qiming:
+              properties:
+                params:
+                  type: object
+                success:
+                  type: boolean
+              required:
+              - params
+              - success
+              type: object
+            workflow_steps:
+              type: object
+          required:
+          - qiming
+          - workflow_steps
+          - packaging
+          - finish
+          type: object
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                workflow_config:
+                  type: object
+              required: []
+              type: object
+            result:
+              properties:
+                finish:
+                  properties:
+                    send_finished:
+                      type: object
+                    stop:
+                      type: object
+                  required:
+                  - send_finished
+                  - stop
+                  type: object
+                packaging:
+                  properties:
+                    bottle_num:
+                      type: integer
+                    command:
+                      type: object
+                    result:
+                      type: object
+                  required:
+                  - bottle_num
+                  - command
+                  - result
+                  type: object
+                qiming:
+                  properties:
+                    params:
+                      type: object
+                    success:
+                      type: boolean
+                  required:
+                  - params
+                  - success
+                  type: object
+                workflow_steps:
+                  type: object
+              required:
+              - qiming
+              - workflow_steps
+              - packaging
+              - finish
+              type: object
+          required:
+          - goal
+          title: run_coin_cell_assembly_workflow参数
+          type: object
+        type: UniLabJsonCommand
+      auto-run_packaging_workflow:
+        feedback: {}
+        goal: {}
+        goal_default:
+          workflow_config: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                workflow_config:
+                  type: object
+              required:
+              - workflow_config
+              type: object
+            result: {}
+          required:
+          - goal
+          title: run_packaging_workflow参数
+          type: object
+        type: UniLabJsonCommand
     module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation
     status_types:
       data_assembly_coin_cell_num: int
@@ -640,7 +665,7 @@ coincellassemblyworkstation_device:
       sys_status: str
     type: python
   config_info: []
-  description: ''
+  description: 扣电工站
   handles: []
   icon: koudian.webp
   init_param_schema:

unilabos/registry/devices/neware_battery_test_system.yaml

@@ -1,6 +1,8 @@
 neware_battery_test_system:
   category:
   - neware_battery_test_system
+  - neware
+  - battery_test
   class:
     action_value_mappings:
       auto-post_init:
@@ -70,6 +72,38 @@ neware_battery_test_system:
           title: test_connection参数
           type: object
         type: UniLabJsonCommand
+      debug_resource_names:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result:
+          return_info: return_info
+          success: success
+        schema:
+          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:
+                return_info:
+                  description: 资源调试信息
+                  type: string
+                success:
+                  description: 是否成功
+                  type: boolean
+              required:
+              - return_info
+              - success
+              type: object
+          required:
+          - goal
+          type: object
+        type: UniLabJsonCommand
       export_status_json:
         feedback: {}
         goal:
@@ -219,7 +253,9 @@ neware_battery_test_system:
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
@@ -252,6 +288,56 @@ 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: {}
@@ -284,7 +370,7 @@ neware_battery_test_system:
           - goal
           type: object
         type: UniLabJsonCommand
-    module: unilabos.devices.battery.neware_battery_test_system:NewareBatteryTestSystem
+    module: unilabos.devices.neware_battery_test_system.neware_battery_test_system:NewareBatteryTestSystem
     status_types:
       channel_status: dict
       connection_info: dict
@@ -294,7 +380,7 @@ neware_battery_test_system:
       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:
@@ -310,13 +396,13 @@ neware_battery_test_system:
         port:
           type: integer
         size_x:
-          default: 500.0
+          default: 50
           type: number
         size_y:
-          default: 500.0
+          default: 50
           type: number
         size_z:
-          default: 2000.0
+          default: 20
           type: number
         timeout:
           type: integer

unilabos/registry/resources/bioyond/deck.yaml

@@ -22,7 +22,7 @@ BIOYOND_PolymerReactionStation_Deck:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-BIOYOND_YB_Deck:
+YB_Deck11:
   category:
   - deck
   class:
@@ -34,15 +34,3 @@ BIOYOND_YB_Deck:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-CoincellDeck:
-  category:
-  - deck
-  class:
-    module: unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:YH_Deck
-    type: pylabrobot
-  description: BIOYOND PolymerReactionStation Deck
-  handles: []
-  icon: koudian.webp
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0

unilabos/resources/battery/__init__.py

@@ -0,0 +1,4 @@
+"""Battery-related resource classes for coin cell assembly"""
+
+
+

unilabos/resources/battery/bottle_carriers.py

@@ -1,56 +1,45 @@
-from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
+"""
+瓶架类定义 - 用于纽扣电池组装工作站
+Bottle Carrier Resource Classes
+"""
 
-from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
-from unilabos.resources.bioyond.YB_bottles import (
-    YB_pei_ye_xiao_Bottle,
-)
-# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
+from __future__ import annotations
+from pylabrobot.resources import ResourceHolder
+from pylabrobot.resources.utils import create_ordered_items_2d
+from unilabos.resources.itemized_carrier import ItemizedCarrier
 
 
-def YIHUA_Electrolyte_12VialCarrier(name: str) -> BottleCarrier:
-    """12瓶载架 - 2x6布局"""
-    # 载架尺寸 (mm)
-    carrier_size_x = 120.0
-    carrier_size_y = 250.0
-    carrier_size_z = 50.0
-
-    # 瓶位尺寸
-    bottle_diameter = 35.0
-    bottle_spacing_x = 35.0  # X方向间距
-    bottle_spacing_y = 35.0  # Y方向间距
-
-    # 计算起始位置 (居中排列)
-    start_x = (carrier_size_x - (2 - 1) * bottle_spacing_x - bottle_diameter) / 2
-    start_y = (carrier_size_y - (6 - 1) * bottle_spacing_y - bottle_diameter) / 2
-
+def YIHUA_Electrolyte_12VialCarrier(name: str) -> ItemizedCarrier:
+    """依华电解液12瓶架 - 3x4布局
+    
+    Args:
+        name: 瓶架名称
+        
+    Returns:
+        ItemizedCarrier: 包含12个瓶位的瓶架
+    """
     sites = create_ordered_items_2d(
         klass=ResourceHolder,
-        num_items_x=2,
-        num_items_y=6,
-        dx=start_x,
-        dy=start_y,
+        num_items_x=4,
+        num_items_y=3,
+        dx=10.0,
+        dy=10.0,
         dz=5.0,
-        item_dx=bottle_spacing_x,
-        item_dy=bottle_spacing_y,
-
-        size_x=bottle_diameter,
-        size_y=bottle_diameter,
-        size_z=carrier_size_z,
+        item_dx=70.0,
+        item_dy=26.67,
+        size_x=60.0,
+        size_y=20.0,
+        size_z=70.0,
     )
-    for k, v in sites.items():
-        v.name = f"{name}_{v.name}"
-
-    carrier = BottleCarrier(
+    
+    return ItemizedCarrier(
         name=name,
-        size_x=carrier_size_x,
-        size_y=carrier_size_y,
-        size_z=carrier_size_z,
+        size_x=300.0,
+        size_y=100.0,
+        size_z=80.0,
+        num_items_x=4,
+        num_items_y=3,
         sites=sites,
-        model="Electrolyte_12VialCarrier",
+        category="bottle_carrier",
     )
-    carrier.num_items_x = 2
-    carrier.num_items_y = 6
-    carrier.num_items_z = 1
-    for i in range(12):
-        carrier[i] = YB_pei_ye_xiao_Bottle(f"{name}_vial_{i+1}")
-    return carrier
+

unilabos/resources/battery/electrode_sheet.py

@@ -1,52 +1,35 @@
-from typing import Any, Dict, Optional, TypedDict
+"""
+电极片类定义
+Electrode Sheet Resource Classes
+"""
 
-from pylabrobot.resources import Resource as ResourcePLR
-from pylabrobot.resources import Container
+from __future__ import annotations
+from typing import Any, Dict, Optional
+from pylabrobot.resources.resource import Resource
 
 
-electrode_colors = {
-    "PositiveCan": "#ff0000",
-    "PositiveElectrode": "#cc3333",
-    "NegativeCan": "#000000",
-    "NegativeElectrode": "#666666",
-    "SpringWasher": "#8b7355",
-    "FlatWasher": "a9a9a9",
-    "AluminumFoil": "#ffcccc",
-    "Battery": "#00ff00",
-}
-
-class ElectrodeSheetState(TypedDict):
-    diameter: float  # 直径 (mm)
-    thickness: float  # 厚度 (mm)
-    mass: float  # 质量 (g)
-    material_type: str  # 材料类型（铜、铝、不锈钢、弹簧钢等）
-    color: str  # 材料类型对应的颜色
-    info: Optional[str]  # 附加信息
-
-
-class ElectrodeSheet(ResourcePLR):
-    """极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料"""
-
+class ElectrodeSheet(Resource):
+    """电极片类 - 用于纽扣电池组装"""
+    
     def __init__(
         self,
-        name: str = "极片",
-        size_x: float = 10,
-        size_y: float = 10,
-        size_z: float = 10,
+        name: str,
+        size_x: float = 12.0,
+        size_y: float = 12.0,
+        size_z: float = 0.1,
         category: str = "electrode_sheet",
-        model: Optional[str] = None,
+        electrode_type: str = "anode",  # "anode" 负极, "cathode" 正极, "separator" 隔膜
         **kwargs
     ):
-        """初始化极片
-
+        """初始化电极片
+        
         Args:
-            name: 极片名称
-            size_x: 长度 (mm)
-            size_y: 宽度 (mm)
-            size_z: 高度 (mm)
+            name: 电极片名称
+            size_x: X方向尺寸 (mm)
+            size_y: Y方向尺寸 (mm)
+            size_z: Z方向尺寸/厚度 (mm)
             category: 类别
-            model: 型号
-            **kwargs: 其他参数传递给父类
+            electrode_type: 电极类型
         """
         super().__init__(
             name=name,
@@ -54,142 +37,31 @@ class ElectrodeSheet(ResourcePLR):
             size_y=size_y,
             size_z=size_z,
             category=category,
-            model=model,
             **kwargs
         )
-        self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState(
-            diameter=14,
-            thickness=0.1,
-            mass=0.5,
-            material_type="copper",
-            color="#8b4513",
-            info=None
-        )
-
-    # TODO: 这个还要不要？给self._unilabos_state赋值的？
+        self._electrode_type = electrode_type
+        self._unilabos_state: Dict[str, Any] = {
+            "electrode_type": electrode_type,
+            "material": "",
+            "thickness": size_z,
+        }
+    
+    @property
+    def electrode_type(self) -> str:
+        """获取电极类型"""
+        return self._electrode_type
+    
     def load_state(self, state: Dict[str, Any]) -> None:
-        """格式不变"""
+        """加载状态"""
         super().load_state(state)
-        self._unilabos_state = state
-    #序列化
-    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
-        """格式不变"""
+        if isinstance(state, dict):
+            self._unilabos_state.update(state)
+    
+    def serialize_state(self) -> Dict[str, Any]:
+        """序列化状态"""
         data = super().serialize_state()
-        data.update(self._unilabos_state)  # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
+        data.update(self._unilabos_state)
         return data
 
 
-def PositiveCan(name: str) -> ElectrodeSheet:
-    """创建正极壳"""
-    sheet = ElectrodeSheet(name=name, size_x=12, size_y=12, size_z=3.0, model="PositiveCan")
-    sheet.load_state({"diameter": 20.0, "thickness": 0.5, "mass": 0.5, "material_type": "aluminum", "color": electrode_colors["PositiveCan"], "info": None})
-    return sheet
 
-
-def PositiveElectrode(name: str) -> ElectrodeSheet:
-    """创建正极片"""
-    sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.1, model="PositiveElectrode")
-    sheet.load_state({"material_type": "positive_electrode", "color": electrode_colors["PositiveElectrode"]})
-    return sheet
-
-
-def NegativeCan(name: str) -> ElectrodeSheet:
-    """创建负极壳"""
-    sheet = ElectrodeSheet(name=name, size_x=12, size_y=12, size_z=2.0, model="NegativeCan")
-    sheet.load_state({"material_type": "steel", "color": electrode_colors["NegativeCan"]})
-    return sheet
-
-
-def NegativeElectrode(name: str) -> ElectrodeSheet:
-    """创建负极片"""
-    sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.1, model="NegativeElectrode")
-    sheet.load_state({"material_type": "negative_electrode", "color": electrode_colors["NegativeElectrode"]})
-    return sheet
-
-
-def SpringWasher(name: str) -> ElectrodeSheet:
-    """创建弹片"""
-    sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.5, model="SpringWasher")
-    sheet.load_state({"material_type": "spring_steel", "color": electrode_colors["SpringWasher"]})
-    return sheet
-
-
-def FlatWasher(name: str) -> ElectrodeSheet:
-    """创建垫片"""
-    sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.2, model="FlatWasher")
-    sheet.load_state({"material_type": "steel", "color": electrode_colors["FlatWasher"]})
-    return sheet
-
-
-def AluminumFoil(name: str) -> ElectrodeSheet:
-    """创建铝箔"""
-    sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.05, model="AluminumFoil")
-    sheet.load_state({"material_type": "aluminum", "color": electrode_colors["AluminumFoil"]})
-    return sheet
-
-
-class BatteryState(TypedDict):
-    color: str  # 材料类型对应的颜色
-    electrolyte_name: str
-    data_electrolyte_code: str
-    open_circuit_voltage: float
-    assembly_pressure: float
-    electrolyte_volume: float
-
-    info: Optional[str]  # 附加信息
-
-
-class Battery(Container):
-    """电池类 - 包含组装好的电池"""
-
-    def __init__(
-        self,
-        name: str = "电池",
-        size_x: float = 12,
-        size_y: float = 12,
-        size_z: float = 6,
-        category: str = "battery",
-        model: Optional[str] = None,
-        **kwargs
-    ):
-        """初始化电池
-
-        Args:
-            name: 电池名称
-            size_x: 长度 (mm)
-            size_y: 宽度 (mm)
-            size_z: 高度 (mm)
-            category: 类别
-            model: 型号
-            **kwargs: 其他参数传递给父类
-        """
-        super().__init__(
-            name=name,
-            size_x=size_x,
-            size_y=size_y,
-            size_z=size_z,
-            category=category,
-            model=model,
-            **kwargs
-        )
-        self._unilabos_state: BatteryState = BatteryState(
-            color=electrode_colors["Battery"],
-            electrolyte_name="无",
-            data_electrolyte_code="",
-            open_circuit_voltage=0.0,
-            assembly_pressure=0.0,
-            electrolyte_volume=0.0,
-            info=None
-        )
-
-    def load_state(self, state: Dict[str, Any]) -> None:
-        """格式不变"""
-        super().load_state(state)
-        self._unilabos_state = state
-
-    #序列化
-    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
-        """格式不变"""
-        data = super().serialize_state()
-        data.update(self._unilabos_state)  # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
-        return data

unilabos/resources/battery/magazine.py

@@ -1,344 +1,152 @@
-from typing import Dict, List, Optional, OrderedDict, Union, Callable
-import math
+"""
+弹夹架类定义 - 用于纽扣电池组装工作站
+Magazine Holder Resource Classes
+"""
 
+from __future__ import annotations
+from typing import List, Optional
 from pylabrobot.resources.coordinate import Coordinate
-from pylabrobot.resources import Resource, ResourceStack, ItemizedResource
-from pylabrobot.resources.carrier import create_homogeneous_resources
-
-from unilabos.resources.battery.electrode_sheet import (
-    PositiveCan, PositiveElectrode,
-    NegativeCan, NegativeElectrode,
-    SpringWasher, FlatWasher,
-    AluminumFoil,
-    Battery
-)
+from pylabrobot.resources import ResourceHolder
+from pylabrobot.resources.utils import create_ordered_items_2d
+from unilabos.resources.itemized_carrier import ItemizedCarrier
 
 
-class Magazine(ResourceStack):
-    """子弹夹洞位类"""
-
-    def __init__(
-        self,
-        name: str,
-        direction: str = 'z',
-        resources: Optional[List[Resource]] = None,
-        max_sheets: int = 100,
-        **kwargs
-    ):
-        """初始化子弹夹洞位
-
-        Args:
-            name: 洞位名称
-            direction: 堆叠方向
-            resources: 资源列表
-            max_sheets: 最大极片数量
-        """
-        super().__init__(
-            name=name,
-            direction=direction,
-            resources=resources,
-        )
-        self.max_sheets = max_sheets
-
-    @property
-    def size_x(self) -> float:
-        return self.get_size_x()
-
-    @property
-    def size_y(self) -> float:
-        return self.get_size_y()
-
-    @property
-    def size_z(self) -> float:
-        return self.get_size_z()
-
-    def serialize(self) -> dict:
-        return {
-            **super().serialize(),
-            "size_x": self.size_x or 10.0,
-            "size_y": self.size_y or 10.0,
-            "size_z": self.size_z or 10.0,
-            "max_sheets": self.max_sheets,
-        }
-
-
-class MagazineHolder(ItemizedResource):
-    """子弹夹类 - 有多个洞位，每个洞位放多个极片"""
-
-    def __init__(
-        self,
-        name: str,
-        size_x: float,
-        size_y: float,
-        size_z: float,
-        ordered_items: Optional[Dict[str, Magazine]] = None,
-        ordering: Optional[OrderedDict[str, str]] = None,
-        hole_diameter: float = 14.0,
-        hole_depth: float = 10.0,
-        max_sheets_per_hole: int = 100,
-        cross_section_type: str = "circle",
-        category: str = "magazine_holder",
-        model: Optional[str] = None,
-    ):
-        """初始化子弹夹
-
-        Args:
-            name: 子弹夹名称
-            size_x: 长度 (mm)
-            size_y: 宽度 (mm)
-            size_z: 高度 (mm)
-            hole_diameter: 洞直径 (mm)
-            hole_depth: 洞深度 (mm)
-            max_sheets_per_hole: 每个洞位最大极片数量
-            category: 类别
-            model: 型号
-        """
-
-        super().__init__(
-            name=name,
-            size_x=size_x,
-            size_y=size_y,
-            size_z=size_z,
-            ordered_items=ordered_items,
-            ordering=ordering,
-            category=category,
-            model=model,
-        )
-
-        # 保存洞位的直径和深度
-        self.hole_diameter = hole_diameter
-        self.hole_depth = hole_depth
-        self.max_sheets_per_hole = max_sheets_per_hole
-        self.cross_section_type = cross_section_type
-
-    def serialize(self) -> dict:
-        return {
-            **super().serialize(),
-            "hole_diameter": self.hole_diameter,
-            "hole_depth": self.hole_depth,
-            "max_sheets_per_hole": self.max_sheets_per_hole,
-            "cross_section_type": self.cross_section_type,
-        }
-
-
-def magazine_factory(
-    name: str,
-    size_x: float,
-    size_y: float,
-    size_z: float,
-    locations: List[Coordinate],
-    klasses: Optional[List[Callable[[str], str]]] = None,
-    hole_diameter: float = 14.0,
-    hole_depth: float = 10.0,
-    max_sheets_per_hole: int = 100,
-    category: str = "magazine_holder",
-    model: Optional[str] = None,
-) -> 'MagazineHolder':
-    """工厂函数：创建子弹夹
+def MagazineHolder_4_Cathode(name: str) -> ItemizedCarrier:
+    """正极&铝箔弹夹 - 4个洞位 (2x2布局)
     
     Args:
-        name: 子弹夹名称
-        size_x: 长度 (mm)
-        size_y: 宽度 (mm)
-        size_z: 高度 (mm)
-        locations: 洞位坐标列表
-        klasses: 每个洞位中极片的类列表
-        hole_diameter: 洞直径 (mm)
-        hole_depth: 洞深度 (mm)
-        max_sheets_per_hole: 每个洞位最大极片数量
-        category: 类别
-        model: 型号
+        name: 弹夹名称
+        
+    Returns:
+        ItemizedCarrier: 包含4个槽位的弹夹架
     """
-    for loc in locations:
-        loc.x -= hole_diameter / 2
-        loc.y -= hole_diameter / 2
-
-    # 创建洞位
-    _sites = create_homogeneous_resources(
-        klass=Magazine,
-        locations=locations,
-        resource_size_x=hole_diameter,
-        resource_size_y=hole_diameter,
-        name_prefix=name,
-        max_sheets=max_sheets_per_hole,
+    sites = create_ordered_items_2d(
+        klass=ResourceHolder,
+        num_items_x=2,
+        num_items_y=2,
+        dx=10.0,
+        dy=10.0,
+        dz=0.0,
+        item_dx=50.0,
+        item_dy=30.0,
+        size_x=40.0,
+        size_y=25.0,
+        size_z=40.0,
     )
     
-    # 生成编号键
-    keys = [f"A{i+1}" for i in range(len(locations))]
-    sites = dict(zip(keys, _sites.values()))
+    return ItemizedCarrier(
+        name=name,
+        size_x=120.0,
+        size_y=80.0,
+        size_z=50.0,
+        num_items_x=2,
+        num_items_y=2,
+        sites=sites,
+        category="magazine_holder",
+    )
+
+
+def MagazineHolder_6_Cathode(name: str) -> ItemizedCarrier:
+    """正极壳&平垫片弹夹 - 6个洞位 (2x3布局)
     
-    holder = MagazineHolder(
-        name=name,
-        size_x=size_x,
-        size_y=size_y,
-        size_z=size_z,
-        ordered_items=sites,
-        hole_diameter=hole_diameter,
-        hole_depth=hole_depth,
-        max_sheets_per_hole=max_sheets_per_hole,
-        category=category,
-        model=model,
+    Args:
+        name: 弹夹名称
+        
+    Returns:
+        ItemizedCarrier: 包含6个槽位的弹夹架
+    """
+    sites = create_ordered_items_2d(
+        klass=ResourceHolder,
+        num_items_x=3,
+        num_items_y=2,
+        dx=10.0,
+        dy=10.0,
+        dz=0.0,
+        item_dx=40.0,
+        item_dy=30.0,
+        size_x=35.0,
+        size_y=25.0,
+        size_z=40.0,
     )
-
-    if klasses is not None:
-        for i, klass in enumerate(klasses):
-            hole_key = keys[i]
-            hole = holder.children[i]
-            for j in reversed(range(max_sheets_per_hole)):
-                item_name = f"{hole_key}_sheet{j+1}"
-                item = klass(name=item_name)
-                hole.assign_child_resource(item)
-    return holder
-
-
-def MagazineHolder_6_Cathode(
-    name: str,
-    size_x: float = 80.0,
-    size_y: float = 80.0,
-    size_z: float = 40.0,
-    hole_diameter: float = 14.0,
-    hole_depth: float = 10.0,
-    hole_spacing: float = 20.0,
-    max_sheets_per_hole: int = 100,
-) -> MagazineHolder:
-    """创建6孔子弹夹 - 六边形排布"""
-    center_x = size_x / 2
-    center_y = size_y / 2
-
-    locations = []
-
-    # 周围6个孔，按六边形排布
-    for i in range(6):
-        angle = i * 60 * math.pi / 180  # 每60度一个孔
-        x = center_x + hole_spacing * math.cos(angle)
-        y = center_y + hole_spacing * math.sin(angle)
-        locations.append(Coordinate(x, y, size_z - hole_depth))
-
-    return magazine_factory(
-        name=name,
-        size_x=size_x,
-        size_y=size_y,
-        size_z=size_z,
-        locations=locations,
-        klasses=[FlatWasher, PositiveCan, PositiveCan, FlatWasher, PositiveCan, PositiveCan],
-        hole_diameter=hole_diameter,
-        hole_depth=hole_depth,
-        max_sheets_per_hole=max_sheets_per_hole,
-        category="magazine_holder",
-        model="MagazineHolder_6_Cathode",
-    )
-
-
-def MagazineHolder_6_Anode(
-    name: str,
-    size_x: float = 80.0,
-    size_y: float = 80.0,
-    size_z: float = 40.0,
-    hole_diameter: float = 14.0,
-    hole_depth: float = 10.0,
-    hole_spacing: float = 20.0,
-    max_sheets_per_hole: int = 100,
-) -> MagazineHolder:
-    """创建6孔子弹夹 - 六边形排布"""
-    center_x = size_x / 2
-    center_y = size_y / 2
-
-    locations = []
-
-    # 周围6个孔，按六边形排布
-    for i in range(6):
-        angle = i * 60 * math.pi / 180  # 每60度一个孔
-        x = center_x + hole_spacing * math.cos(angle)
-        y = center_y + hole_spacing * math.sin(angle)
-        locations.append(Coordinate(x, y, size_z - hole_depth))
-
-    return magazine_factory(
-        name=name,
-        size_x=size_x,
-        size_y=size_y,
-        size_z=size_z,
-        locations=locations,
-        klasses=[SpringWasher, NegativeCan, NegativeCan, SpringWasher, NegativeCan, NegativeCan],
-        hole_diameter=hole_diameter,
-        hole_depth=hole_depth,
-        max_sheets_per_hole=max_sheets_per_hole,
-        category="magazine_holder",
-        model="MagazineHolder_6_Anode",
-    )
-
-
-def MagazineHolder_6_Battery(
-    name: str,
-    size_x: float = 80.0,
-    size_y: float = 80.0,
-    size_z: float = 40.0,
-    hole_diameter: float = 14.0,
-    hole_depth: float = 10.0,
-    hole_spacing: float = 20.0,
-    max_sheets_per_hole: int = 100,
-) -> MagazineHolder:
-    """创建6孔子弹夹 - 六边形排布"""
-    center_x = size_x / 2
-    center_y = size_y / 2
-
-    locations = []
-
-    # 周围6个孔，按六边形排布
-    for i in range(6):
-        angle = i * 60 * math.pi / 180  # 每60度一个孔
-        x = center_x + hole_spacing * math.cos(angle)
-        y = center_y + hole_spacing * math.sin(angle)
-        locations.append(Coordinate(x, y, size_z - hole_depth))
-
-    return magazine_factory(
-        name=name,
-        size_x=size_x,
-        size_y=size_y,
-        size_z=size_z,
-        locations=locations,
-        klasses=None, # 初始化时，不放入装好的电池
-        hole_diameter=hole_diameter,
-        hole_depth=hole_depth,
-        max_sheets_per_hole=max_sheets_per_hole,
-        category="magazine_holder",
-        model="MagazineHolder_6_Battery",
-    )
-
-
-def MagazineHolder_4_Cathode(
-    name: str,
-) -> MagazineHolder:
-    """创建4孔子弹夹 - 正方形四角排布"""
-    size_x: float = 80.0
-    size_y: float = 80.0
-    size_z: float = 10.0
-    hole_diameter: float = 14.0
-    hole_depth: float = 10.0
-    hole_spacing: float = 25.0
-    max_sheets_per_hole: int = 100
-
-    # 计算4个洞位的坐标（正方形四角排布）
-    center_x = size_x / 2
-    center_y = size_y / 2
-    offset = hole_spacing / 2
     
-    locations = [
-        Coordinate(center_x - offset, center_y - offset, size_z - hole_depth),  # 左下
-        Coordinate(center_x + offset, center_y - offset, size_z - hole_depth),  # 右下
-        Coordinate(center_x - offset, center_y + offset, size_z - hole_depth),  # 左上
-        Coordinate(center_x + offset, center_y + offset, size_z - hole_depth),  # 右上
-    ]
-    
-    return magazine_factory(
+    return ItemizedCarrier(
         name=name,
-        size_x=size_x,
-        size_y=size_y,
-        size_z=size_z,
-        locations=locations,
-        klasses=[AluminumFoil, PositiveElectrode, PositiveElectrode, PositiveElectrode],
-        hole_diameter=hole_diameter,
-        hole_depth=hole_depth,
-        max_sheets_per_hole=max_sheets_per_hole,
+        size_x=150.0,
+        size_y=80.0,
+        size_z=50.0,
+        num_items_x=3,
+        num_items_y=2,
+        sites=sites,
         category="magazine_holder",
-        model="MagazineHolder_4_Cathode",
     )
+
+
+def MagazineHolder_6_Anode(name: str) -> ItemizedCarrier:
+    """负极壳&弹垫片弹夹 - 6个洞位 (2x3布局)
+    
+    Args:
+        name: 弹夹名称
+        
+    Returns:
+        ItemizedCarrier: 包含6个槽位的弹夹架
+    """
+    sites = create_ordered_items_2d(
+        klass=ResourceHolder,
+        num_items_x=3,
+        num_items_y=2,
+        dx=10.0,
+        dy=10.0,
+        dz=0.0,
+        item_dx=40.0,
+        item_dy=30.0,
+        size_x=35.0,
+        size_y=25.0,
+        size_z=40.0,
+    )
+    
+    return ItemizedCarrier(
+        name=name,
+        size_x=150.0,
+        size_y=80.0,
+        size_z=50.0,
+        num_items_x=3,
+        num_items_y=2,
+        sites=sites,
+        category="magazine_holder",
+    )
+
+
+def MagazineHolder_6_Battery(name: str) -> ItemizedCarrier:
+    """成品弹夹 - 6个洞位 (3x2布局)
+    
+    Args:
+        name: 弹夹名称
+        
+    Returns:
+        ItemizedCarrier: 包含6个槽位的弹夹架
+    """
+    sites = create_ordered_items_2d(
+        klass=ResourceHolder,
+        num_items_x=3,
+        num_items_y=2,
+        dx=10.0,
+        dy=10.0,
+        dz=0.0,
+        item_dx=33.0,
+        item_dy=40.0,
+        size_x=30.0,
+        size_y=35.0,
+        size_z=40.0,
+    )
+    
+    return ItemizedCarrier(
+        name=name,
+        size_x=120.0,
+        size_y=100.0,
+        size_z=50.0,
+        num_items_x=3,
+        num_items_y=2,
+        sites=sites,
+        category="magazine_holder",
+    )
+

unilabos/resources/bioyond/YB_warehouses.py

@@ -1,79 +1,13 @@
-from unilabos.resources.warehouse import WareHouse, warehouse_factory
+from unilabos.resources.warehouse import WareHouse, YB_warehouse_factory
 
-# ================ 反应站相关堆栈 ================
 
 def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
-    """创建BioYond 4x4x1仓库 (左侧堆栈: A01～D04)
-
-    使用行优先排序，前端展示为:
-    A01 | A02 | A03 | A04
-    B01 | B02 | B03 | B04
-    C01 | C02 | C03 | C04
-    D01 | D02 | D03 | D04
-    """
-    return warehouse_factory(
+    """创建BioYond 4x1x4仓库"""
+    return YB_warehouse_factory(
         name=name,
-        num_items_x=4,  # 4列
-        num_items_y=4,  # 4行
-        num_items_z=1,
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=147.0,
-        item_dy=106.0,
-        item_dz=130.0,
-        category="warehouse",
-        col_offset=0,  # 从01开始: A01, A02, A03, A04
-        layout="row-major",  # ⭐ 改为行优先排序
-    )
-
-def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
-    """创建BioYond 4x4x1仓库 (右侧堆栈: A05～D08)"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=4,
+        num_items_x=1,
         num_items_y=4,
-        num_items_z=1,
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=147.0,
-        item_dy=106.0,
-        item_dz=130.0,
-        category="warehouse",
-        col_offset=4,  # 从05开始: A05, A06, A07, A08
-        layout="row-major",  # ⭐ 改为行优先排序
-    )
-
-def bioyond_warehouse_density_vial(name: str) -> WareHouse:
-    """创建测量小瓶仓库(测密度) A01～B03"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=3,  # 3列（01-03）
-        num_items_y=2,  # 2行（A-B）
-        num_items_z=1,  # 1层
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=40.0,
-        item_dy=40.0,
-        item_dz=50.0,
-        # 用更小的 resource_size 来表现 "小点的孔位"
-        resource_size_x=30.0,
-        resource_size_y=30.0,
-        resource_size_z=12.0,
-        category="warehouse",
-        col_offset=0,
-        layout="row-major",
-    )
-
-def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
-    """创建BioYond站内试剂存放堆栈（A01～A02, 1行×2列）"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=2,  # 2列（01-02）
-        num_items_y=1,  # 1行（A）
-        num_items_z=1,  # 1层
+        num_items_z=4,
         dx=10.0,
         dy=10.0,
         dz=10.0,
@@ -83,74 +17,10 @@ def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
         category="warehouse",
     )
 
-def bioyond_warehouse_tipbox_storage(name: str) -> WareHouse:
-    """创建BioYond站内Tip盒堆栈（A01～B03），用于存放枪头盒"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=3,  # 3列（01-03）
-        num_items_y=2,  # 2行（A-B）
-        num_items_z=1,  # 1层
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
-        category="warehouse",
-        col_offset=0,
-        layout="row-major",
-    )
-
-def bioyond_warehouse_liquid_preparation(name: str) -> WareHouse:
-    """已弃用,创建BioYond移液站内10%分装液体准备仓库（A01～B04）"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=4,  # 4列（01-04）
-        num_items_y=2,  # 2行（A-B）
-        num_items_z=1,  # 1层
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
-        category="warehouse",
-        col_offset=0,
-        layout="row-major",
-    )
-
-# ================ 配液站相关堆栈 ================
-
-def bioyond_warehouse_reagent_stack(name: str) -> WareHouse:
-    """创建BioYond 试剂堆栈 2x4x1 (2行×4列: A01-A04, B01-B04)
-
-    使用行优先排序，前端展示为:
-    A01 | A02 | A03 | A04
-    B01 | B02 | B03 | B04
-    """
-    return warehouse_factory(
-        name=name,
-        num_items_x=4,  # 4列 (01-04)
-        num_items_y=2,  # 2行 (A-B)
-        num_items_z=1,  # 1层
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=147.0,
-        item_dy=106.0,
-        item_dz=130.0,
-        category="warehouse",
-        col_offset=0,  # 从01开始
-        layout="row-major",  # ⭐ 使用行优先排序: A01,A02,A03,A04, B01,B02,B03,B04
-    )
-
- # 定义bioyond的堆栈
-
-# =================== Other ===================
 
 def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
-    """创建BioYond 4x2x1仓库"""
-    return warehouse_factory(
+    """创建BioYond 4x1x2仓库"""
+    return YB_warehouse_factory(
         name=name,
         num_items_x=1,
         num_items_y=4,
@@ -164,26 +34,42 @@ def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
         category="warehouse",
         removed_positions=None
     )
-
+ # 定义benyond的堆栈
 def bioyond_warehouse_1x2x2(name: str) -> WareHouse:
-    """创建BioYond 1x2x2仓库"""
-    return warehouse_factory(
+    """创建BioYond 4x1x4仓库"""
+    return YB_warehouse_factory(
         name=name,
-        num_items_x=1,
+        num_items_x=2,
         num_items_y=2,
-        num_items_z=2,
+        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",
+        category="YB_warehouse",
+    )
+
+def bioyond_warehouse_2x2x1(name: str) -> WareHouse:
+    """创建BioYond 2x2x1仓库（自动堆栈）"""
+    return YB_warehouse_factory(
+        name=name,
+        num_items_x=2,
+        num_items_y=2,
+        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="YB_warehouse",
     )
 
 def bioyond_warehouse_10x1x1(name: str) -> WareHouse:
-    """创建BioYond 10x1x1仓库"""
-    return warehouse_factory(
+    """创建BioYond 4x1x4仓库"""
+    return YB_warehouse_factory(
         name=name,
         num_items_x=10,
         num_items_y=1,
@@ -196,10 +82,9 @@ def bioyond_warehouse_10x1x1(name: str) -> WareHouse:
         item_dz=120.0,
         category="warehouse",
     )
-
 def bioyond_warehouse_1x3x3(name: str) -> WareHouse:
-    """创建BioYond 1x3x3仓库"""
-    return warehouse_factory(
+    """创建BioYond 4x1x4仓库"""
+    return YB_warehouse_factory(
         name=name,
         num_items_x=1,
         num_items_y=3,
@@ -212,10 +97,9 @@ def bioyond_warehouse_1x3x3(name: str) -> WareHouse:
         item_dz=120.0,
         category="warehouse",
     )
-
 def bioyond_warehouse_2x1x3(name: str) -> WareHouse:
-    """创建BioYond 2x1x3仓库"""
-    return warehouse_factory(
+    """创建BioYond 4x1x4仓库"""
+    return YB_warehouse_factory(
         name=name,
         num_items_x=2,
         num_items_y=1,
@@ -230,8 +114,8 @@ def bioyond_warehouse_2x1x3(name: str) -> WareHouse:
     )
 
 def bioyond_warehouse_3x3x1(name: str) -> WareHouse:
-    """创建BioYond 3x3x1仓库"""
-    return warehouse_factory(
+    """创建BioYond 4x1x4仓库"""
+    return YB_warehouse_factory(
         name=name,
         num_items_x=3,
         num_items_y=3,
@@ -244,10 +128,9 @@ def bioyond_warehouse_3x3x1(name: str) -> WareHouse:
         item_dz=120.0,
         category="warehouse",
     )
-
 def bioyond_warehouse_5x1x1(name: str) -> WareHouse:
-    """已弃用：创建BioYond 5x1x1仓库"""
-    return warehouse_factory(
+    """创建BioYond 4x1x4仓库"""
+    return YB_warehouse_factory(
         name=name,
         num_items_x=5,
         num_items_y=1,
@@ -260,10 +143,9 @@ def bioyond_warehouse_5x1x1(name: str) -> WareHouse:
         item_dz=120.0,
         category="warehouse",
     )
-
 def bioyond_warehouse_3x3x1_2(name: str) -> WareHouse:
-    """已弃用：创建BioYond 3x3x1仓库"""
-    return warehouse_factory(
+    """创建BioYond 4x1x4仓库"""
+    return YB_warehouse_factory(
         name=name,
         num_items_x=3,
         num_items_y=3,
@@ -279,7 +161,7 @@ def bioyond_warehouse_3x3x1_2(name: str) -> WareHouse:
 
 def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse:
     """创建BioYond开关盖加液模块台面"""
-    return warehouse_factory(
+    return YB_warehouse_factory(
         name=name,
         num_items_x=2,
         num_items_y=5,
@@ -294,18 +176,34 @@ def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse:
         removed_positions=None
     )
 
-def bioyond_warehouse_1x8x4(name: str) -> WareHouse:
-    """创建BioYond 8x4x1反应站堆栈（A01～D08）"""
-    return warehouse_factory(
+def bioyond_warehouse_3x5x1(name: str) -> WareHouse:
+    """创建BioYond 3x5x1仓库（手动堆栈）"""
+    return YB_warehouse_factory(
         name=name,
-        num_items_x=8,  # 8列（01-08）
-        num_items_y=4,  # 4行（A-D）
-        num_items_z=1,  # 1层
+        num_items_x=3,
+        num_items_y=5,
+        num_items_z=1,
         dx=10.0,
         dy=10.0,
         dz=10.0,
-        item_dx=147.0,
-        item_dy=106.0,
-        item_dz=130.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
         category="warehouse",
     )
+
+def bioyond_warehouse_20x1x1(name: str) -> WareHouse:
+    """创建BioYond 20x1x1仓库（粉末加样头堆栈）"""
+    return YB_warehouse_factory(
+        name=name,
+        num_items_x=20,
+        num_items_y=1,
+        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",
+    )

unilabos/resources/bioyond/decks.py

@@ -1,7 +1,7 @@
 from os import name
 from pylabrobot.resources import Deck, Coordinate, Rotation
 
-from unilabos.resources.bioyond.YB_warehouses import (
+from unilabos.resources.bioyond.warehouses import (
     bioyond_warehouse_1x4x4,
     bioyond_warehouse_1x4x4_right,  # 新增：右侧仓库 (A05～D08)
     bioyond_warehouse_1x4x2,

unilabos/ros/nodes/presets/workstation.py

@@ -404,7 +404,6 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
 
         return result_future.result
 
-    """还没有改过的部分"""
 
     def _setup_hardware_proxy(
         self, device: ROS2DeviceNode, communication_device: ROS2DeviceNode, read_method, write_method

unilabos/test/experiments/chinwe.json

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