feat: update coin cell assembly, bioyond cell workstation, and resource configs

CHANGES_2026_03_24.md

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

unilabos/app/main.py

@@ -621,6 +621,8 @@ def main():
             continue
 
     # 如果从远端获取了物料信息，则与本地物料进行同步
+    # 仅在本地文件模式下有意义：本地文件只含设备结构，远端有已保存的物料，需要 merge
+    # 远端模式下 resource_tree_set 与 request_startup_json 来自同一份数据，merge 为空操作
     if file_path is not None and request_startup_json and "nodes" in request_startup_json:
         print_status("开始同步远端物料到本地...", "info")
         remote_tree_set = ResourceTreeSet.from_raw_dict_list(request_startup_json["nodes"])

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

@@ -979,10 +979,10 @@ class BioyondCellWorkstation(BioyondWorkstation):
         formulation: List[Dict[str, Any]],
         batch_id: str = "",
         bottle_type: str = "配液小瓶",
-        mix_time: int = 0,
+        mix_time: List[int] = [],
-        load_shedding_info: float = 0.0,
+        coin_cell_volume: float = 0.0,
-        pouch_cell_info: float = 0.0,
+        pouch_cell_volume: float = 0.0,
-        conductivity_info: float = 0.0,
+        conductivity_volume: float = 0.0,
         conductivity_bottle_count: int = 0,
     ) -> Dict[str, Any]:
         """
@@ -1003,10 +1003,10 @@ class BioyondCellWorkstation(BioyondWorkstation):
                 ]
             batch_id: 批次ID，若为空则用当前时间戳
             bottle_type: 配液瓶类型，默认 "配液小瓶"
-            mix_time: 混匀时间(秒)
+            mix_time: 混匀时间列表(秒)，与 formulation 一一对应，不足则补 0
-            load_shedding_info: 扣电组装分液体积
+            coin_cell_volume: 纽扣电池组装分液体积
-            pouch_cell_info: 软包组装分液体积
+            pouch_cell_volume: 软包电池注液组装分液体积
-            conductivity_info: 电导测试分液体积
+            conductivity_volume: 电导率测试分液体积
             conductivity_bottle_count: 电导测试分液瓶数
 
         Returns:
@@ -1039,9 +1039,10 @@ class BioyondCellWorkstation(BioyondWorkstation):
                 logger.warning(f"[create_orders_formulation] 第 {idx + 1} 个配方无有效物料，跳过")
                 continue
 
+            item_mix_time = mix_time[idx] if idx < len(mix_time) else 0
             logger.info(f"[create_orders_formulation] 第 {idx + 1} 个配方: orderName={order_name}, "
-                        f"loadShedding={load_shedding_info}, pouchCell={pouch_cell_info}, "
+                        f"coinCellVolume={coin_cell_volume}, pouchCellVolume={pouch_cell_volume}, "
-                        f"conductivity={conductivity_info}, totalMass={total_mass}, "
+                        f"conductivityVolume={conductivity_volume}, totalMass={total_mass}, "
                         f"material_count={len(mats)}")
 
             orders.append({
@@ -1049,10 +1050,10 @@ class BioyondCellWorkstation(BioyondWorkstation):
                 "orderName": order_name,
                 "createTime": create_time,
                 "bottleType": bottle_type,
-                "mixTime": mix_time,
+                "mixTime": item_mix_time,
-                "loadSheddingInfo": load_shedding_info,
+                "loadSheddingInfo": coin_cell_volume,
-                "pouchCellInfo": pouch_cell_info,
+                "pouchCellInfo": pouch_cell_volume,
-                "conductivityInfo": conductivity_info,
+                "conductivityInfo": conductivity_volume,
                 "conductivityBottleCount": conductivity_bottle_count,
                 "materialInfos": mats,
                 "totalMass": round(total_mass, 4),
@@ -1650,18 +1651,31 @@ class BioyondCellWorkstation(BioyondWorkstation):
 
         Args:
             device_id: 目标设备 ID（如 "BatteryStation"）
-            resource_name: 资源名称（如 "electrolyte_buffer"）
+            resource_name: 资源名称（如 "bottle_rack_6x2"）
 
         Returns:
             找到的 PLR Resource 对象，未找到则返回 None
         """
+        # 优先：通过全局设备注册表直接访问目标设备的 deck
+        # DeviceInfoType 是 TypedDict（即普通 dict），必须用 dict.get() 而非 getattr()
         try:
-            from unilabos.app.ros2_app import get_device_plr_resource_by_name
+            from unilabos.ros.nodes.base_device_node import registered_devices
-            return get_device_plr_resource_by_name(device_id, resource_name)
+            device_info = registered_devices.get(device_id)
+            if device_info is not None:
+                driver = device_info.get("driver_instance")
+                if driver is not None:
+                    deck = getattr(driver, "deck", None)
+                    if deck is not None and hasattr(deck, "get_resource"):
+                        try:
+                            res = deck.get_resource(resource_name)
+                            if res is not None:
+                                return res
+                        except Exception:
+                            pass
         except Exception:
             pass
 
-        # 降级：遍历 workstation 已注册的 plr_resources 列表
+        # 降级：遍历 workstation 已注册的 plr_resources 列表（仅当前设备）
         try:
             for res in getattr(self, "_plr_resources", []):
                 if res.name == resource_name:

unilabos/devices/workstation/bioyond_studio/station.py

@@ -760,10 +760,9 @@ class BioyondWorkstation(WorkstationBase):
                         except:
                             pass
 
-        # 创建通信模块
+        # 创建通信模块；同步器将在 post_init 中初始化并执行首次同步
         self._create_communication_module(bioyond_config)
-        self.resource_synchronizer = BioyondResourceSynchronizer(self)
+        self.resource_synchronizer = None
-        self.resource_synchronizer.sync_from_external()
 
         # TODO: self._ros_node里面拿属性
 
@@ -802,6 +801,15 @@ class BioyondWorkstation(WorkstationBase):
     def post_init(self, ros_node: ROS2WorkstationNode):
         self._ros_node = ros_node
 
+        # Deck 为空时（反序列化未恢复子节点），主动调用 setup() 初始化仓库
+        if self.deck and not self.deck.children and hasattr(self.deck, "setup") and callable(self.deck.setup):
+            logger.info("Deck 无仓库子节点，调用 setup() 初始化仓库")
+            self.deck.setup()
+
+        # 初始化同步器并执行首次同步（需在仓库初始化之后）
+        self.resource_synchronizer = BioyondResourceSynchronizer(self)
+        self.resource_synchronizer.sync_from_external()
+
         # 启动连接监控
         try:
             self.connection_monitor = ConnectionMonitor(self)

unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py

@@ -169,23 +169,28 @@ class MaterialPlate(ItemizedResource[MaterialHole]):
         model: Optional[str] = None,
     ) -> "MaterialPlate":
         """工厂方法：创建带 4x4 洞位的料板（仅用于初始 setup，不在反序列化路径调用）"""
-        plate = cls(name=name, size_x=size_x, size_y=size_y, size_z=size_z, category=category, model=model)
+        # 默认洞位间距（与 _unilabos_state 默认值保持一致）
+        hole_spacing_x = 24.0
+        hole_spacing_y = 24.0
+        # 先建洞位，再作为 ordered_items 传入构造函数
+        # （ItemizedResource.__init__ 要求 ordered_items 或 ordering 二选一必须有值）
         holes = create_ordered_items_2d(
             klass=MaterialHole,
             num_items_x=4,
             num_items_y=4,
-            dx=(size_x - 4 * plate._unilabos_state["hole_spacing_x"]) / 2,
+            dx=(size_x - 4 * hole_spacing_x) / 2,
-            dy=(size_y - 4 * plate._unilabos_state["hole_spacing_y"]) / 2,
+            dy=(size_y - 4 * hole_spacing_y) / 2,
             dz=size_z,
-            item_dx=plate._unilabos_state["hole_spacing_x"],
+            item_dx=hole_spacing_x,
-            item_dy=plate._unilabos_state["hole_spacing_y"],
+            item_dy=hole_spacing_y,
             size_x=16,
             size_y=16,
             size_z=16,
         )
-        for hole_name, hole in holes.items():
+        return cls(
-            plate.assign_child_resource(hole, location=hole.location)
+            name=name, size_x=size_x, size_y=size_y, size_z=size_z,
-        return plate
+            ordered_items=holes, category=category, model=model,
+        )
 
     def update_locations(self):
         # TODO:调多次相加
@@ -542,6 +547,7 @@ class YihuaCoinCellDeck(Deck):
         size_z: float = 100.0,
         origin: Coordinate = Coordinate(-2200, 0, 0),
         category: str = "coin_cell_deck",
+        setup: bool = False,
     ):
         super().__init__(
             name=name,
@@ -550,6 +556,8 @@ class YihuaCoinCellDeck(Deck):
             size_z=100.0,
             origin=origin,
         )
+        if setup:
+            self.setup()
 
     def setup(self) -> None:
         """设置工作站的标准布局 - 包含子弹夹、料盘、瓶架等完整配置"""

unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py

@@ -193,7 +193,12 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
 
     def post_init(self, ros_node: ROS2WorkstationNode):
         self._ros_node = ros_node
-        #self.deck = create_a_coin_cell_deck()
+
+        # Deck 为空时（反序列化未恢复子节点），主动调用 setup() 初始化子物料
+        if self.deck and not self.deck.children and hasattr(self.deck, "setup") and callable(self.deck.setup):
+            logger.info("YihuaCoinCellDeck 无子节点，调用 setup() 初始化")
+            self.deck.setup()
+
         ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
             "resources": [self.deck]
         })

unilabos/devices/workstation/coin_cell_assembly/date_20260325.csv

@@ -0,0 +1,29 @@
+Time,open_circuit_voltage,pole_weight,assembly_time,assembly_pressure,electrolyte_volume,coin_num,electrolyte_code,coin_cell_code,formulation_order_code,formulation_ratio
+20260325_132011,0.0,12.119999885559082,405.0,3189,20,7,test0008,13163721,,
+20260325_132301,0.0,12.079999923706055,153.0,3172,20,7,test0008,13200631,,
+20260325_132516,0.0,12.119999885559082,153.0,3205,20,7,test0008,13224031,,
+20260325_132758,0.0,12.309999465942383,161.0,3221,20,7,test0008,13251351,,
+20260325_133215,0.0,12.520000457763672,257.0,3318,20,7,NoRead88,13293861,,
+20260325_133820,0.0,12.15999984741211,363.0,3269,20,7,NoRead88,13321291,,
+20260325_134049,0.0,12.100000381469727,149.0,3383,20,7,NoRead88,13381641,,
+20260325_134327,0.0,12.369999885559082,157.0,3237,20,7,NoRead88,13404651,,
+20260325_160512,0.0,12.299999237060547,238.0,3577,20,7,NoRead88,16022161,,
+20260325_160734,0.0,12.40000057220459,155.0,3464,20,7,NoRead88,16045481,,
+20260325_161010,0.0,12.269999504089355,155.0,3609,20,7,NoRead88,60731181,,
+20260325_161252,0.0,12.579999923706055,162.0,3496,20,7,NoRead88,16100671,,
+20260325_161636,0.0,12.619999885559082,223.0,3399,20,7,NoRead88,16135951,,
+20260325_161909,0.0,12.039999961853027,153.0,3302,20,7,NoRead88,16163351,,
+20260325_162145,0.0,12.00999927520752,155.0,3350,20,7,NoRead88,16190731,,
+20260325_162429,0.0,12.329998970031738,163.0,3561,20,7,NoRead88,16214361,,
+20260325_162841,0.0,12.579999923706055,251.0,3593,20,7,NoRead88,16260311,,
+20260325_163118,0.0,12.25999927520752,156.0,3545,20,7,NoRead88,16283921,,
+20260325_163356,0.0,12.220000267028809,157.0,3464,20,7,NoRead88,16311611,,
+20260325_163641,0.0,12.199999809265137,165.0,3674,20,7,NoRead88,16335401,,
+20260325_164046,0.0,12.25,244.0,3512,20,7,NoRead88,16380881,,
+20260325_164321,0.0,12.079999923706055,154.0,3609,20,7,NoRead88,16404401,,
+20260325_164556,0.0,12.029999732971191,155.0,3593,20,7,NoRead88,16431851,,
+20260325_164840,0.0,12.100000381469727,163.0,3496,20,7,NoRead88,16455451,,
+20260325_172206,0.0,12.00999927520752,245.0,3011,20,7,NoRead88,17193041,BSO2026032500006,"{""EMC"": 0.949, ""LiFSI"": 0.051}"
+20260325_172608,0.0,12.0,242.0,3253,20,7,NoRead88,17233491,BSO2026032500007,"{""EMC"": 0.9582, ""LiFSI"": 0.0418}"
+20260325_183415,0.0,12.690000534057617,1226.0,3528,20,7,NoRead88,18150131,BSO2026032500011,"{""EMC"": 0.949, ""LiFSI"": 0.051}"
+20260325_190044,0.0,12.130000114440918,1586.0,3528,20,7,NoRead88,18355771,BSO2026032500012,"{""EMC"": 0.9582, ""LiFSI"": 0.0418}"

unilabos/registry/devices/bioyond_cell.yaml

@@ -196,11 +196,11 @@ bioyond_cell:
           batch_id: ''
           bottle_type: 配液小瓶
           conductivity_bottle_count: 0
-          conductivity_info: 0.0
+          conductivity_volume: 0.0
           formulation: null
-          load_shedding_info: 0.0
+          coin_cell_volume: 0.0
-          mix_time: 0
+          mix_time: []
-          pouch_cell_info: 0.0
+          pouch_cell_volume: 0.0
         handles:
           output:
           - data_key: total_orders
@@ -239,9 +239,9 @@ bioyond_cell:
                   default: 0
                   description: 电导测试分液瓶数
                   type: integer
-                conductivity_info:
+                conductivity_volume:
                   default: 0.0
-                  description: 电导测试分液体积
+                  description: 电导率测试分液体积
                   type: number
                 formulation:
                   description: 配方列表，每个元素代表一个订单（一瓶）
@@ -269,17 +269,19 @@ bioyond_cell:
                     - materials
                     type: object
                   type: array
-                load_shedding_info:
+                coin_cell_volume:
                   default: 0.0
-                  description: 扣电组装分液体积
+                  description: 纽扣电池组装分液体积
                   type: number
                 mix_time:
-                  default: 0
+                  default: []
-                  description: 混匀时间(秒)
+                  description: 混匀时间列表(秒)，与 formulation 一一对应
+                  items:
                     type: integer
-                pouch_cell_info:
+                  type: array
+                pouch_cell_volume:
                   default: 0.0
-                  description: 软包组装分液体积
+                  description: 软包电池注液组装分液体积
                   type: number
               required:
               - formulation

unilabos/resources/bioyond/decks.py

@@ -104,8 +104,11 @@ class BioyondElectrolyteDeck(Deck):
         size_y: float = 1400.0,
         size_z: float = 2670.0,
         category: str = "deck",
+        setup: bool = False,
     ) -> None:
         super().__init__(name=name, size_x=4150.0, size_y=1400.0, size_z=2670.0)
+        if setup:
+            self.setup()
 
     def setup(self) -> None:
         # 添加仓库

unilabos/resources/graphio.py

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