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fix: 物料系统标准化重构 + 多轮运行期 Bug 修复 (2026-03-12)

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- MagazineHolder: klasses=None，解耦极片子节点初始化
- Magazine: 重写 serialize/deserialize，截断旧极片脏数据
- bottle_carriers: 移除 YIHUA_Electrolyte_12VialCarrier 初始化填瓶
- decks.py: BIOYOND_YB_Deck→BioyondElectrolyteDeck，移除 setup 参数
- YB_YH_materials.py: CoincellDeck→YihuaCoinCellDeck，新增 electrolyte_buffer 槽位
- resource_tracker.py: Container 状态键预填 + 重复 UUID 自动修复 + 树级名称去重
- itemized_carrier.py: XY 近似坐标匹配，修复 Z 偏移问题
- bioyond_cell_workstation.py: 跨站转运改用真实资源 + 类型映射双模式查找
- station.py: sync_to_external 属性访问路径修复
- coin_cell_assembly.py: 新增 10 个 Modbus 余量属性
- CSV/JSON/YAML 配置同步更新（类名重命名 + 移除 setup）
- 新增 changelog_2026-03-12.md
This commit is contained in:
Andy6M
2026-03-19 00:41:26 +08:00
parent 6d319d91ff
commit 7505e024f3
16 changed files with 1736 additions and 1984 deletions
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6
unilabos/resources/battery/bottle_carriers.py
View File

@@ -1,9 +1,6 @@
from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
from unilabos.resources.bioyond.YB_bottles import (
YB_pei_ye_xiao_Bottle,
)
# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
@@ -51,6 +48,5 @@ def YIHUA_Electrolyte_12VialCarrier(name: str) -> BottleCarrier:
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}")
# 载架初始化为空，瓶子由实际转运操作填入，避免反序列化时重复 assign
return carrier

27
unilabos/resources/battery/magazine.py
View File

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

55
unilabos/resources/bioyond/decks.py
View File

@@ -1,4 +1,3 @@
from os import name
from pylabrobot.resources import Deck, Coordinate, Rotation
from unilabos.resources.bioyond.YB_warehouses import (
@@ -34,11 +33,8 @@ class BIOYOND_PolymerReactionStation_Deck(Deck):
size_y: float = 1080.0,
size_z: float = 1500.0,
category: str = "deck",
setup: bool = False
) -> None:
super().__init__(name=name, size_x=2700.0, size_y=1080.0, size_z=1500.0)
if setup:
self.setup()
def setup(self) -> None:
# 添加仓库
@@ -66,6 +62,7 @@ class BIOYOND_PolymerReactionStation_Deck(Deck):
for warehouse_name, warehouse in self.warehouses.items():
self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
class BIOYOND_PolymerPreparationStation_Deck(Deck):
def __init__(
self,
@@ -74,11 +71,8 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck):
size_y: float = 1080.0,
size_z: float = 1500.0,
category: str = "deck",
setup: bool = False
) -> None:
super().__init__(name=name, size_x=2700.0, size_y=1080.0, size_z=1500.0)
if setup:
self.setup()
def setup(self) -> None:
# 添加仓库 - 配液站的3个堆栈，使用Bioyond系统中的实际名称
@@ -101,7 +95,8 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck):
for warehouse_name, warehouse in self.warehouses.items():
self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
class BIOYOND_YB_Deck(Deck):
class BioyondElectrolyteDeck(Deck):
def __init__(
self,
name: str = "YB_Deck",
@@ -109,17 +104,14 @@ class BIOYOND_YB_Deck(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
self.warehouses = {
"321窗口": bioyond_warehouse_2x2x1("321窗口"), # 2行×2列
"43窗口": bioyond_warehouse_2x2x1("43窗口"), # 2行×2列
"自动堆栈-左": bioyond_warehouse_2x2x1("自动堆栈-左"), # 2行×2列
"自动堆栈-右": bioyond_warehouse_2x2x1("自动堆栈-右"), # 2行×2列
"手动传递窗右": bioyond_warehouse_5x3x1("手动传递窗右", row_offset=0), # A01-E03
"手动传递窗左": bioyond_warehouse_5x3x1("手动传递窗左", row_offset=5), # F01-J03
"加样头堆栈左": bioyond_warehouse_10x1x1("加样头堆栈左"),
@@ -133,29 +125,34 @@ class BIOYOND_YB_Deck(Deck):
}
# warehouse 的位置
self.warehouse_locations = {
"321窗口": Coordinate(-150.0, 158.0, 0.0),
"43窗口": Coordinate(4160.0, 158.0, 0.0),
"手动传递窗左": Coordinate(-150.0, 877.0, 0.0),
"手动传递窗右": Coordinate(4160.0, 877.0, 0.0),
"加样头堆栈左": Coordinate(385.0, 1300.0, 0.0),
"加样头堆栈右": Coordinate(2187.0, 1300.0, 0.0),
"自动堆栈-左": Coordinate(-150.0, 1142.0, 0.0),
"自动堆栈-右": Coordinate(4160.0, 1142.0, 0.0),
"手动传递窗左": Coordinate(-150.0, 423.0, 0.0),
"手动传递窗右": Coordinate(4160.0, 423.0, 0.0),
"加样头堆栈左": Coordinate(385.0, 0, 0.0),
"加样头堆栈右": Coordinate(2187.0, 0, 0.0),
"15ml配液堆栈左": Coordinate(749.0, 355.0, 0.0),
"母液加样右": Coordinate(2152.0, 333.0, 0.0),
"大瓶母液堆栈左": Coordinate(1164.0, 676.0, 0.0),
"大瓶母液堆栈右": Coordinate(2717.0, 676.0, 0.0),
"2号手套箱内部堆栈": Coordinate(-800, -500.0, 0.0), # 新增：位置需根据实际硬件调整
"15ml配液堆栈左": Coordinate(749.0, 945.0, 0.0),
"母液加样右": Coordinate(2152.0, 967.0, 0.0),
"大瓶母液堆栈左": Coordinate(1164.0, 624.0, 0.0),
"大瓶母液堆栈右": Coordinate(2717.0, 624.0, 0.0),
"2号手套箱内部堆栈": Coordinate(-800, 800.0, 0.0), # 新增：位置需根据实际硬件调整
}
for warehouse_name, warehouse in self.warehouses.items():
self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
def YB_Deck(name: str) -> Deck:
by=BIOYOND_YB_Deck(name=name)
by.setup()
return by
# 向后兼容别名，日后废弃
BIOYOND_YB_Deck = BioyondElectrolyteDeck
def bioyond_electrolyte_deck(name: str) -> BioyondElectrolyteDeck:
deck = BioyondElectrolyteDeck(name=name)
deck.setup()
return deck
# 向后兼容别名，日后废弃
def YB_Deck(name: str) -> BioyondElectrolyteDeck:
return bioyond_electrolyte_deck(name)

29
unilabos/resources/itemized_carrier.py
View File

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

35
unilabos/resources/resource_tracker.py
View File

@@ -585,6 +585,31 @@ class ResourceTreeSet(object):
d["model"] = res.config.get("model", None)
return d
def _deduplicate_plr_dict(d: dict, _seen: set = None) -> dict:
"""递归去除 children 中同名重复节点（全树范围、保留首次出现）。
根本原因：同一槽位被 sync_from_external（Bioyond 同步）重复写入，
导致数据库中同一 WareHouse 下存在多条同名 BottleCarrier 记录（不同 UUID）。
PLR 的 _check_naming_conflicts 在全树范围检查名称唯一性，
重复名称会在 deserialize 时抛出 ValueError，导致节点启动失败。
此函数在 sub_cls.deserialize 前预先清理，保证名称唯一。
"""
if _seen is None:
_seen = set()
children = d.get("children", [])
deduped = []
for child in children:
child = _deduplicate_plr_dict(child, _seen)
cname = child.get("name")
if cname not in _seen:
_seen.add(cname)
deduped.append(child)
else:
logger.warning(
f"[资源树去重] 发现重复资源名称 '{cname}'，跳过重复项（历史脏数据）"
)
return {**d, "children": deduped}
plr_resources = []
tracker = DeviceNodeResourceTracker()
@@ -595,6 +620,8 @@ class ResourceTreeSet(object):
collect_node_data(tree.root_node, name_to_uuid, all_states, name_to_extra)
has_model = tree.root_node.res_content.type != "deck"
plr_dict = node_to_plr_dict(tree.root_node, has_model)
plr_dict = _deduplicate_plr_dict(plr_dict)
try:
sub_cls = find_subclass(plr_dict["type"], PLRResource)
if skip_devices and plr_dict["type"] == "device":
@@ -613,6 +640,14 @@ class ResourceTreeSet(object):
location = cast(Coordinate, deserialize(plr_dict["location"]))
plr_resource.location = location
# 预填 Container 类型资源在新版 PLR 中要求必须存在的键，
# 防止旧数据库状态缺失这些键时 load_all_state 抛出 KeyError。
for state in all_states.values():
if isinstance(state, dict):
state.setdefault("liquid_history", [])
state.setdefault("pending_liquids", {})
plr_resource.load_all_state(all_states)
# 使用 DeviceNodeResourceTracker 设置 UUID 和 Extra
tracker.loop_set_uuid(plr_resource, name_to_uuid)

5
unilabos/resources/warehouse.py
View File

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