初始化完成后上传更新deck

新增 tip_above_rack_length 参数并更新枪头尺寸

.conda/scripts/post-link.bat

@@ -0,0 +1,9 @@
+@echo off
+setlocal enabledelayedexpansion
+
+REM upgrade pip
+"%PREFIX%\python.exe" -m pip install --upgrade pip
+
+REM install extra deps
+"%PREFIX%\python.exe" -m pip install paho-mqtt opentrons_shared_data
+"%PREFIX%\python.exe" -m pip install git+https://github.com/Xuwznln/pylabrobot.git

.conda/scripts/post-link.sh

@@ -0,0 +1,9 @@
+#!/usr/bin/env bash
+set -euxo pipefail
+
+# make sure pip is available
+"$PREFIX/bin/python" -m pip install --upgrade pip
+
+# install extra deps
+"$PREFIX/bin/python" -m pip install paho-mqtt opentrons_shared_data
+"$PREFIX/bin/python" -m pip install git+https://github.com/Xuwznln/pylabrobot.git

.cursorignore

@@ -0,0 +1,26 @@
+.conda
+# .github
+.idea
+# .vscode
+output
+pylabrobot_repo
+recipes
+scripts
+service
+temp
+# unilabos/test
+# unilabos/app/web
+unilabos/device_mesh
+unilabos_data
+unilabos_msgs
+unilabos.egg-info
+CONTRIBUTORS
+# LICENSE
+MANIFEST.in
+pyrightconfig.json
+# README.md
+# README_zh.md
+setup.py
+setup.cfg
+.gitattrubutes
+**/__pycache__

.github/dependabot.yml

@@ -1,19 +0,0 @@
-version: 2
-updates:
-# GitHub Actions
-- package-ecosystem: "github-actions"
-  directory: "/"
-  target-branch: "dev"
-  schedule:
-    interval: "weekly"
-    day: "monday"
-    time: "06:00"
-  open-pull-requests-limit: 5
-  reviewers:
-  - "msgcenterpy-team"
-  labels:
-  - "dependencies"
-  - "github-actions"
-  commit-message:
-    prefix: "ci"
-    include: "scope"

.gitignore

@@ -252,3 +252,5 @@ ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2
 test_config.py
 
 
+/.claude
+/.cursor

test/devices/test_prcxi.py

@@ -0,0 +1,539 @@
+import pytest
+import json
+import os
+import asyncio
+import collections
+from typing import List, Dict, Any
+
+from pylabrobot.resources import Coordinate
+from pylabrobot.resources.opentrons.tip_racks import opentrons_96_tiprack_300ul, opentrons_96_tiprack_10ul
+from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
+
+from unilabos.devices.liquid_handling.prcxi.prcxi import (
+    PRCXI9300Deck,
+    PRCXI9300Container,
+    PRCXI9300Trash,
+    PRCXI9300Handler,
+    PRCXI9300Backend,
+    DefaultLayout,
+    Material,
+    WorkTablets,
+    MatrixInfo
+)
+
+
+@pytest.fixture
+def prcxi_materials() -> Dict[str, Any]:
+    """加载 PRCXI 物料数据"""
+    print("加载 PRCXI 物料数据...")
+    material_path = os.path.join(os.path.dirname(__file__), "..", "..", "unilabos", "devices", "liquid_handling", "prcxi", "prcxi_material.json")
+    with open(material_path, "r", encoding="utf-8") as f:
+        data = json.load(f)
+    print(f"加载了 {len(data)} 条物料数据")
+    return data
+
+
+@pytest.fixture
+def prcxi_9300_deck() -> PRCXI9300Deck:
+    """创建 PRCXI 9300 工作台"""
+    return PRCXI9300Deck(name="PRCXI_Deck_9300", size_x=100, size_y=100, size_z=100, model="9300")
+
+
+@pytest.fixture
+def prcxi_9320_deck() -> PRCXI9300Deck:
+    """创建 PRCXI 9320 工作台"""
+    return PRCXI9300Deck(name="PRCXI_Deck_9320", size_x=100, size_y=100, size_z=100, model="9320")
+
+
+@pytest.fixture
+def prcxi_9300_handler(prcxi_9300_deck) -> PRCXI9300Handler:
+    """创建 PRCXI 9300 处理器（模拟模式）"""
+    return PRCXI9300Handler(
+        deck=prcxi_9300_deck,
+        host="192.168.1.201",
+        port=9999,
+        timeout=10.0,
+        channel_num=8,
+        axis="Left",
+        setup=False,
+        debug=True,
+        simulator=True,
+        matrix_id="test-matrix-9300"
+    )
+
+
+@pytest.fixture
+def prcxi_9320_handler(prcxi_9320_deck) -> PRCXI9300Handler:
+    """创建 PRCXI 9320 处理器（模拟模式）"""
+    return PRCXI9300Handler(
+        deck=prcxi_9320_deck,
+        host="192.168.1.201",
+        port=9999,
+        timeout=10.0,
+        channel_num=1,
+        axis="Right",
+        setup=False,
+        debug=True,
+        simulator=True,
+        matrix_id="test-matrix-9320",
+        is_9320=True
+    )
+
+
+@pytest.fixture
+def tip_rack_300ul(prcxi_materials) -> PRCXI9300Container:
+    """创建 300μL 枪头盒"""
+    tip_rack = PRCXI9300Container(
+        name="tip_rack_300ul",
+        size_x=50,
+        size_y=50,
+        size_z=10,
+        category="tip_rack",
+        ordering=collections.OrderedDict()
+    )
+    tip_rack.load_state({
+        "Material": {
+            "uuid": prcxi_materials["300μL Tip头"]["uuid"],
+            "Code": "ZX-001-300",
+            "Name": "300μL Tip头"
+        }
+    })
+    return tip_rack
+
+
+@pytest.fixture
+def tip_rack_10ul(prcxi_materials) -> PRCXI9300Container:
+    """创建 10μL 枪头盒"""
+    tip_rack = PRCXI9300Container(
+        name="tip_rack_10ul",
+        size_x=50,
+        size_y=50,
+        size_z=10,
+        category="tip_rack",
+        ordering=collections.OrderedDict()
+    )
+    tip_rack.load_state({
+        "Material": {
+            "uuid": prcxi_materials["10μL加长 Tip头"]["uuid"],
+            "Code": "ZX-001-10+",
+            "Name": "10μL加长 Tip头"
+        }
+    })
+    return tip_rack
+
+
+@pytest.fixture
+def well_plate_96(prcxi_materials) -> PRCXI9300Container:
+    """创建 96 孔板"""
+    plate = PRCXI9300Container(
+        name="well_plate_96",
+        size_x=50,
+        size_y=50,
+        size_z=10,
+        category="plate",
+        ordering=collections.OrderedDict()
+    )
+    plate.load_state({
+        "Material": {
+            "uuid": prcxi_materials["96深孔板"]["uuid"],
+            "Code": "ZX-019-2.2",
+            "Name": "96深孔板"
+        }
+    })
+    return plate
+
+
+@pytest.fixture
+def deep_well_plate(prcxi_materials) -> PRCXI9300Container:
+    """创建深孔板"""
+    plate = PRCXI9300Container(
+        name="deep_well_plate",
+        size_x=50,
+        size_y=50,
+        size_z=10,
+        category="plate",
+        ordering=collections.OrderedDict()
+    )
+    plate.load_state({
+        "Material": {
+            "uuid": prcxi_materials["96深孔板"]["uuid"],
+            "Code": "ZX-019-2.2",
+            "Name": "96深孔板"
+        }
+    })
+    return plate
+
+
+@pytest.fixture
+def trash_container(prcxi_materials) -> PRCXI9300Trash:
+    """创建垃圾桶"""
+    trash = PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash")
+    trash.load_state({
+        "Material": {
+            "uuid": prcxi_materials["废弃槽"]["uuid"]
+        }
+    })
+    return trash
+
+
+@pytest.fixture
+def default_layout_9300() -> DefaultLayout:
+    """创建 PRCXI 9300 默认布局"""
+    return DefaultLayout("PRCXI9300")
+
+
+@pytest.fixture
+def default_layout_9320() -> DefaultLayout:
+    """创建 PRCXI 9320 默认布局"""
+    return DefaultLayout("PRCXI9320")
+
+
+class TestPRCXIDeckSetup:
+    """测试 PRCXI 工作台设置功能"""
+
+    def test_prcxi_9300_deck_creation(self, prcxi_9300_deck):
+        """测试 PRCXI 9300 工作台创建"""
+        assert prcxi_9300_deck.name == "PRCXI_Deck_9300"
+        assert len(prcxi_9300_deck.sites) == 6
+        assert prcxi_9300_deck._size_x == 100
+        assert prcxi_9300_deck._size_y == 100
+        assert prcxi_9300_deck._size_z == 100
+
+    def test_prcxi_9320_deck_creation(self, prcxi_9320_deck):
+        """测试 PRCXI 9320 工作台创建"""
+        assert prcxi_9320_deck.name == "PRCXI_Deck_9320"
+        assert len(prcxi_9320_deck.sites) == 16
+        assert prcxi_9320_deck._size_x == 100
+        assert prcxi_9320_deck._size_y == 100
+        assert prcxi_9320_deck._size_z == 100
+
+    def test_container_assignment(self, prcxi_9300_deck, tip_rack_300ul, well_plate_96, trash_container):
+        """测试容器分配到工作台"""
+        # 分配枪头盒
+        prcxi_9300_deck.assign_child_resource(tip_rack_300ul, location=Coordinate(0, 0, 0))
+        assert tip_rack_300ul in prcxi_9300_deck.children
+        
+        # 分配孔板
+        prcxi_9300_deck.assign_child_resource(well_plate_96, location=Coordinate(0, 0, 0))
+        assert well_plate_96 in prcxi_9300_deck.children
+        
+        # 分配垃圾桶
+        prcxi_9300_deck.assign_child_resource(trash_container, location=Coordinate(0, 0, 0))
+        assert trash_container in prcxi_9300_deck.children
+
+    def test_container_material_loading(self, tip_rack_300ul, well_plate_96, prcxi_materials):
+        """测试容器物料信息加载"""
+        # 测试枪头盒物料信息
+        tip_material = tip_rack_300ul._unilabos_state["Material"]
+        assert tip_material["uuid"] == prcxi_materials["300μL Tip头"]["uuid"]
+        assert tip_material["Name"] == "300μL Tip头"
+        
+        # 测试孔板物料信息
+        plate_material = well_plate_96._unilabos_state["Material"]
+        assert plate_material["uuid"] == prcxi_materials["96深孔板"]["uuid"]
+        assert plate_material["Name"] == "96深孔板"
+
+
+class TestPRCXISingleStepOperations:
+    """测试 PRCXI 单步操作功能"""
+
+    @pytest.mark.asyncio
+    async def test_pick_up_tips_single_channel(self, prcxi_9320_handler, prcxi_9320_deck, tip_rack_10ul):
+        """测试单通道拾取枪头"""
+        # 将枪头盒添加到工作台
+        prcxi_9320_deck.assign_child_resource(tip_rack_10ul, location=Coordinate(0, 0, 0))
+        
+        # 初始化处理器
+        await prcxi_9320_handler.setup()
+        
+        # 设置枪头盒
+        prcxi_9320_handler.set_tiprack([tip_rack_10ul])
+        
+        # 创建模拟的枪头位置
+        from pylabrobot.resources import TipSpot, Tip
+        tip = Tip(has_filter=False, total_tip_length=10, maximal_volume=10, fitting_depth=5)
+        tip_spot = TipSpot("A1", size_x=1, size_y=1, size_z=1, make_tip=lambda: tip)
+        tip_rack_10ul.assign_child_resource(tip_spot, location=Coordinate(0, 0, 0))
+        
+        # 直接测试后端方法
+        from pylabrobot.liquid_handling import Pickup
+        pickup = Pickup(resource=tip_spot, offset=None, tip=tip)
+        await prcxi_9320_handler._unilabos_backend.pick_up_tips([pickup], [0])
+        
+        # 验证步骤已添加到待办列表
+        assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 1
+        step = prcxi_9320_handler._unilabos_backend.steps_todo_list[0]
+        assert step["Function"] == "Load"
+
+    @pytest.mark.asyncio
+    async def test_pick_up_tips_multi_channel(self, prcxi_9300_handler, tip_rack_300ul):
+        """测试多通道拾取枪头"""
+        # 设置枪头盒
+        prcxi_9300_handler.set_tiprack([tip_rack_300ul])
+        
+        # 拾取8个枪头
+        tip_spots = tip_rack_300ul.children[:8]
+        await prcxi_9300_handler.pick_up_tips(tip_spots, [0, 1, 2, 3, 4, 5, 6, 7])
+        
+        # 验证步骤已添加到待办列表
+        assert len(prcxi_9300_handler._unilabos_backend.steps_todo_list) == 1
+        step = prcxi_9300_handler._unilabos_backend.steps_todo_list[0]
+        assert step["Function"] == "Load"
+
+    @pytest.mark.asyncio
+    async def test_aspirate_single_channel(self, prcxi_9320_handler, well_plate_96):
+        """测试单通道吸取液体"""
+        # 设置液体
+        well = well_plate_96.get_item("A1")
+        prcxi_9320_handler.set_liquid([well], ["water"], [50])
+        
+        # 吸取液体
+        await prcxi_9320_handler.aspirate([well], [50], [0])
+        
+        # 验证步骤已添加到待办列表
+        assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 1
+        step = prcxi_9320_handler._unilabos_backend.steps_todo_list[0]
+        assert step["Function"] == "Imbibing"
+        assert step["DosageNum"] == 50
+
+    @pytest.mark.asyncio
+    async def test_dispense_single_channel(self, prcxi_9320_handler, well_plate_96):
+        """测试单通道分配液体"""
+        # 分配液体
+        well = well_plate_96.get_item("A1")
+        await prcxi_9320_handler.dispense([well], [25], [0])
+        
+        # 验证步骤已添加到待办列表
+        assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 1
+        step = prcxi_9320_handler._unilabos_backend.steps_todo_list[0]
+        assert step["Function"] == "Tapping"
+        assert step["DosageNum"] == 25
+
+    @pytest.mark.asyncio
+    async def test_mix_single_channel(self, prcxi_9320_handler, well_plate_96):
+        """测试单通道混合液体"""
+        # 混合液体
+        well = well_plate_96.get_item("A1")
+        await prcxi_9320_handler.mix([well], mix_time=3, mix_vol=50)
+        
+        # 验证步骤已添加到待办列表
+        assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 1
+        step = prcxi_9320_handler._unilabos_backend.steps_todo_list[0]
+        assert step["Function"] == "Blending"
+        assert step["BlendingTimes"] == 3
+        assert step["DosageNum"] == 50
+
+    @pytest.mark.asyncio
+    async def test_drop_tips_to_trash(self, prcxi_9320_handler, trash_container):
+        """测试丢弃枪头到垃圾桶"""
+        # 丢弃枪头
+        await prcxi_9320_handler.drop_tips([trash_container], [0])
+        
+        # 验证步骤已添加到待办列表
+        assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 1
+        step = prcxi_9320_handler._unilabos_backend.steps_todo_list[0]
+        assert step["Function"] == "UnLoad"
+
+    @pytest.mark.asyncio
+    async def test_discard_tips(self, prcxi_9320_handler):
+        """测试丢弃枪头"""
+        # 丢弃枪头
+        await prcxi_9320_handler.discard_tips([0])
+        
+        # 验证步骤已添加到待办列表
+        assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 1
+        step = prcxi_9320_handler._unilabos_backend.steps_todo_list[0]
+        assert step["Function"] == "UnLoad"
+
+    @pytest.mark.asyncio
+    async def test_liquid_transfer_workflow(self, prcxi_9320_handler, tip_rack_10ul, well_plate_96):
+        """测试完整的液体转移工作流程"""
+        # 设置枪头盒和液体
+        prcxi_9320_handler.set_tiprack([tip_rack_10ul])
+        source_well = well_plate_96.get_item("A1")
+        target_well = well_plate_96.get_item("B1")
+        prcxi_9320_handler.set_liquid([source_well], ["water"], [100])
+        
+        # 创建协议
+        await prcxi_9320_handler.create_protocol(protocol_name="Test Transfer Protocol")
+        
+        # 执行转移流程
+        tip_spot = tip_rack_10ul.get_item("A1")
+        await prcxi_9320_handler.pick_up_tips([tip_spot], [0])
+        await prcxi_9320_handler.aspirate([source_well], [50], [0])
+        await prcxi_9320_handler.dispense([target_well], [50], [0])
+        await prcxi_9320_handler.discard_tips([0])
+        
+        # 验证所有步骤都已添加
+        assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 4
+        functions = [step["Function"] for step in prcxi_9320_handler._unilabos_backend.steps_todo_list]
+        assert functions == ["Load", "Imbibing", "Tapping", "UnLoad"]
+
+
+class TestPRCXILayoutRecommendation:
+    """测试 PRCXI 板位推荐功能"""
+
+    def test_9300_layout_creation(self, default_layout_9300):
+        """测试 PRCXI 9300 布局创建"""
+        layout_info = default_layout_9300.get_layout()
+        assert layout_info["rows"] == 2
+        assert layout_info["columns"] == 3
+        assert len(layout_info["layout"]) == 6
+        assert layout_info["trash_slot"] == 6
+        assert "waste_liquid_slot" not in layout_info
+
+    def test_9320_layout_creation(self, default_layout_9320):
+        """测试 PRCXI 9320 布局创建"""
+        layout_info = default_layout_9320.get_layout()
+        assert layout_info["rows"] == 4
+        assert layout_info["columns"] == 4
+        assert len(layout_info["layout"]) == 16
+        assert layout_info["trash_slot"] == 16
+        assert layout_info["waste_liquid_slot"] == 12
+
+    def test_layout_recommendation_9320(self, default_layout_9320, prcxi_materials):
+        """测试 PRCXI 9320 板位推荐功能"""
+        # 添加物料信息
+        default_layout_9320.add_lab_resource(prcxi_materials)
+        
+        # 推荐布局
+        needs = [
+            ("reagent_1", "96 细胞培养皿", 3),
+            ("reagent_2", "12道储液槽", 1),
+            ("reagent_3", "200μL Tip头", 7),
+            ("reagent_4", "10μL加长 Tip头", 1),
+        ]
+        
+        matrix_layout, layout_list = default_layout_9320.recommend_layout(needs)
+        
+        # 验证返回结果
+        assert "MatrixId" in matrix_layout
+        assert "MatrixName" in matrix_layout
+        assert "MatrixCount" in matrix_layout
+        assert "WorkTablets" in matrix_layout
+        assert len(layout_list) == 12  # 3+1+7+1 = 12个位置
+        
+        # 验证推荐的位置不包含预留位置
+        reserved_positions = {12, 16}
+        recommended_positions = [item["positions"] for item in layout_list]
+        for pos in recommended_positions:
+            assert pos not in reserved_positions
+
+    def test_layout_recommendation_insufficient_space(self, default_layout_9320, prcxi_materials):
+        """测试板位推荐空间不足的情况"""
+        # 添加物料信息
+        default_layout_9320.add_lab_resource(prcxi_materials)
+        
+        # 尝试推荐超过可用空间的布局
+        needs = [
+            ("reagent_1", "96 细胞培养皿", 15),  # 需要15个位置，但只有14个可用
+        ]
+        
+        with pytest.raises(ValueError, match="需要 .* 个位置，但只有 .* 个可用位置"):
+            default_layout_9320.recommend_layout(needs)
+
+    def test_layout_recommendation_material_not_found(self, default_layout_9320, prcxi_materials):
+        """测试板位推荐物料不存在的情况"""
+        # 添加物料信息
+        default_layout_9320.add_lab_resource(prcxi_materials)
+        
+        # 尝试推荐不存在的物料
+        needs = [
+            ("reagent_1", "不存在的物料", 1),
+        ]
+        
+        with pytest.raises(ValueError, match="Material .* not found in lab resources"):
+            default_layout_9320.recommend_layout(needs)
+
+
+class TestPRCXIBackendOperations:
+    """测试 PRCXI 后端操作功能"""
+
+    def test_backend_initialization(self, prcxi_9300_handler):
+        """测试后端初始化"""
+        backend = prcxi_9300_handler._unilabos_backend
+        assert isinstance(backend, PRCXI9300Backend)
+        assert backend._num_channels == 8
+        assert backend.debug is True
+
+    def test_protocol_creation(self, prcxi_9300_handler):
+        """测试协议创建"""
+        backend = prcxi_9300_handler._unilabos_backend
+        backend.create_protocol("Test Protocol")
+        assert backend.protocol_name == "Test Protocol"
+        assert len(backend.steps_todo_list) == 0
+
+    def test_channel_validation(self):
+        """测试通道验证"""
+        # 测试正确的8通道配置
+        valid_channels = [0, 1, 2, 3, 4, 5, 6, 7]
+        result = PRCXI9300Backend.check_channels(valid_channels)
+        assert result == valid_channels
+        
+        # 测试错误的通道配置
+        invalid_channels = [0, 1, 2, 3]
+        result = PRCXI9300Backend.check_channels(invalid_channels)
+        assert result == [0, 1, 2, 3, 4, 5, 6, 7]
+
+    def test_matrix_info_creation(self, prcxi_9300_handler):
+        """测试矩阵信息创建"""
+        backend = prcxi_9300_handler._unilabos_backend
+        backend.create_protocol("Test Protocol")
+        
+        # 模拟运行协议时的矩阵信息创建
+        run_time = 1234567890
+        matrix_info = MatrixInfo(
+            MatrixId=f"{int(run_time)}",
+            MatrixName=f"protocol_{run_time}",
+            MatrixCount=len(backend.tablets_info),
+            WorkTablets=backend.tablets_info,
+        )
+        
+        assert matrix_info["MatrixId"] == str(int(run_time))
+        assert matrix_info["MatrixName"] == f"protocol_{run_time}"
+        assert "WorkTablets" in matrix_info
+
+
+class TestPRCXIContainerOperations:
+    """测试 PRCXI 容器操作功能"""
+
+    def test_container_serialization(self, tip_rack_300ul):
+        """测试容器序列化"""
+        serialized = tip_rack_300ul.serialize_state()
+        assert "Material" in serialized
+        assert serialized["Material"]["Name"] == "300μL Tip头"
+
+    def test_container_deserialization(self, tip_rack_300ul):
+        """测试容器反序列化"""
+        # 序列化
+        serialized = tip_rack_300ul.serialize_state()
+        
+        # 创建新容器并反序列化
+        new_tip_rack = PRCXI9300Container(
+            name="new_tip_rack",
+            size_x=50,
+            size_y=50,
+            size_z=10,
+            category="tip_rack",
+            ordering=collections.OrderedDict()
+        )
+        new_tip_rack.load_state(serialized)
+        
+        assert new_tip_rack._unilabos_state["Material"]["Name"] == "300μL Tip头"
+
+    def test_trash_container_creation(self, prcxi_materials):
+        """测试垃圾桶容器创建"""
+        trash = PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash")
+        trash.load_state({
+            "Material": {
+                "uuid": prcxi_materials["废弃槽"]["uuid"]
+            }
+        })
+        
+        assert trash.name == "trash"
+        assert trash._unilabos_state["Material"]["uuid"] == prcxi_materials["废弃槽"]["uuid"]
+
+
+if __name__ == "__main__":
+    # 运行测试
+    pytest.main([__file__, "-v"])

tests/devices/liquid_handling/README.md

@@ -0,0 +1,15 @@
+# Liquid handling 集成测试
+
+`test_transfer_liquid.py` 现在会调用 PRCXI 的 RViz 仿真 backend，运行前请确保：
+
+1. 已安装包含 `pylabrobot`、`rclpy` 的运行环境；
+2. 启动 ROS 依赖（`rviz` 可选，但是 `rviz_backend` 会创建 ROS 节点）；
+3. 在 shell 中设置 `UNILAB_SIM_TEST=1`，否则 pytest 会自动跳过这些慢速用例：
+
+```bash
+export UNILAB_SIM_TEST=1
+pytest tests/devices/liquid_handling/test_transfer_liquid.py -m slow
+```
+
+如果只需验证逻辑层（不依赖仿真），可以直接运行 `tests/devices/liquid_handling/unit_test.py`，该文件使用 Fake backend，适合作为 CI 的快速测试。***
+

tests/devices/liquid_handling/test_transfer_liquid.py

@@ -39,6 +39,11 @@ class FakeLiquidHandler(LiquidHandlerAbstract):
         self.current_tip = iter(make_tip_iter())
         self.calls: List[Tuple[str, Any]] = []
 
+    def set_tiprack(self, tip_racks):
+        if not tip_racks:
+            return
+        super().set_tiprack(tip_racks)
+
     async def pick_up_tips(self, tip_spots, use_channels=None, offsets=None, **backend_kwargs):
         self.calls.append(("pick_up_tips", {"tips": list(tip_spots), "use_channels": use_channels}))
 

tests/devices/liquid_handling/unit_test.py

@@ -0,0 +1,608 @@
+import asyncio
+from dataclasses import dataclass
+from typing import Any, Iterable, List, Optional, Sequence, Tuple
+
+import pytest
+
+from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
+
+
+@dataclass(frozen=True)
+class DummyContainer:
+    name: str
+
+    def __repr__(self) -> str:  # pragma: no cover
+        return f"DummyContainer({self.name})"
+
+
+@dataclass(frozen=True)
+class DummyTipSpot:
+    name: str
+
+    def __repr__(self) -> str:  # pragma: no cover
+        return f"DummyTipSpot({self.name})"
+
+
+def make_tip_iter(n: int = 256) -> Iterable[List[DummyTipSpot]]:
+    """Yield lists so code can safely call `tip.extend(next(self.current_tip))`."""
+    for i in range(n):
+        yield [DummyTipSpot(f"tip_{i}")]
+
+
+class FakeLiquidHandler(LiquidHandlerAbstract):
+    """不初始化真实 backend/deck；仅用来记录 transfer_liquid 内部调用序列。"""
+
+    def __init__(self, channel_num: int = 8):
+        # 不调用 super().__init__，避免真实硬件/后端依赖
+        self.channel_num = channel_num
+        self.support_touch_tip = True
+        self.current_tip = iter(make_tip_iter())
+        self.calls: List[Tuple[str, Any]] = []
+
+    def set_tiprack(self, tip_racks):
+        # transfer_liquid 总会调用 set_tiprack；测试用 Dummy 枪头时 tip_racks 为空，需保留自种子的 current_tip
+        if not tip_racks:
+            return
+        super().set_tiprack(tip_racks)
+
+    async def pick_up_tips(self, tip_spots, use_channels=None, offsets=None, **backend_kwargs):
+        self.calls.append(("pick_up_tips", {"tips": list(tip_spots), "use_channels": use_channels}))
+
+    async def aspirate(
+        self,
+        resources: Sequence[Any],
+        vols: List[float],
+        use_channels: Optional[List[int]] = None,
+        flow_rates: Optional[List[Optional[float]]] = None,
+        offsets: Any = None,
+        liquid_height: Any = None,
+        blow_out_air_volume: Any = None,
+        spread: str = "wide",
+        **backend_kwargs,
+    ):
+        self.calls.append(
+            (
+                "aspirate",
+                {
+                    "resources": list(resources),
+                    "vols": list(vols),
+                    "use_channels": list(use_channels) if use_channels is not None else None,
+                    "flow_rates": list(flow_rates) if flow_rates is not None else None,
+                    "offsets": list(offsets) if offsets is not None else None,
+                    "liquid_height": list(liquid_height) if liquid_height is not None else None,
+                    "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
+                },
+            )
+        )
+
+    async def dispense(
+        self,
+        resources: Sequence[Any],
+        vols: List[float],
+        use_channels: Optional[List[int]] = None,
+        flow_rates: Optional[List[Optional[float]]] = None,
+        offsets: Any = None,
+        liquid_height: Any = None,
+        blow_out_air_volume: Any = None,
+        spread: str = "wide",
+        **backend_kwargs,
+    ):
+        self.calls.append(
+            (
+                "dispense",
+                {
+                    "resources": list(resources),
+                    "vols": list(vols),
+                    "use_channels": list(use_channels) if use_channels is not None else None,
+                    "flow_rates": list(flow_rates) if flow_rates is not None else None,
+                    "offsets": list(offsets) if offsets is not None else None,
+                    "liquid_height": list(liquid_height) if liquid_height is not None else None,
+                    "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
+                },
+            )
+        )
+
+    async def discard_tips(self, use_channels=None, *args, **kwargs):
+        # 有的分支是 discard_tips(use_channels=[0])，有的分支是 discard_tips([0..7])（位置参数）
+        self.calls.append(("discard_tips", {"use_channels": list(use_channels) if use_channels is not None else None}))
+
+    async def custom_delay(self, seconds=0, msg=None):
+        self.calls.append(("custom_delay", {"seconds": seconds, "msg": msg}))
+
+    async def touch_tip(self, targets):
+        # 原实现会访问 targets.get_size_x() 等；测试里只记录调用
+        self.calls.append(("touch_tip", {"targets": targets}))
+
+def run(coro):
+    return asyncio.run(coro)
+
+
+def test_one_to_one_single_channel_basic_calls():
+  lh = FakeLiquidHandler(channel_num=1)
+  lh.current_tip = iter(make_tip_iter(64))
+
+  sources = [DummyContainer(f"S{i}") for i in range(3)]
+  targets = [DummyContainer(f"T{i}") for i in range(3)]
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=targets,
+      tip_racks=[],
+      use_channels=[0],
+      asp_vols=[1, 2, 3],
+      dis_vols=[4, 5, 6],
+      mix_times=None,  # 应该仍能执行（不 mix）
+    )
+  )
+
+  assert [c[0] for c in lh.calls].count("pick_up_tips") == 3
+  assert [c[0] for c in lh.calls].count("aspirate") == 3
+  assert [c[0] for c in lh.calls].count("dispense") == 3
+  assert [c[0] for c in lh.calls].count("discard_tips") == 3
+
+  # 每次 aspirate/dispense 都是单孔列表
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  assert aspirates[0]["resources"] == [sources[0]]
+  assert aspirates[0]["vols"] == [1.0]
+
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert dispenses[2]["resources"] == [targets[2]]
+  assert dispenses[2]["vols"] == [6.0]
+
+
+def test_one_to_one_single_channel_before_stage_mixes_prior_to_aspirate():
+  lh = FakeLiquidHandler(channel_num=1)
+  lh.current_tip = iter(make_tip_iter(16))
+
+  source = DummyContainer("S0")
+  target = DummyContainer("T0")
+
+  run(
+    lh.transfer_liquid(
+      sources=[source],
+      targets=[target],
+      tip_racks=[],
+      use_channels=[0],
+      asp_vols=[5],
+      dis_vols=[5],
+      mix_stage="before",
+      mix_times=1,
+      mix_vol=3,
+    )
+  )
+
+  aspirate_calls = [(idx, payload) for idx, (name, payload) in enumerate(lh.calls) if name == "aspirate"]
+  assert len(aspirate_calls) >= 2
+  mix_idx, mix_payload = aspirate_calls[0]
+  assert mix_payload["resources"] == [target]
+  assert mix_payload["vols"] == [3]
+  transfer_idx, transfer_payload = aspirate_calls[1]
+  assert transfer_payload["resources"] == [source]
+  assert mix_idx < transfer_idx
+
+
+def test_one_to_one_eight_channel_groups_by_8():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(256))
+
+  sources = [DummyContainer(f"S{i}") for i in range(16)]
+  targets = [DummyContainer(f"T{i}") for i in range(16)]
+  asp_vols = list(range(1, 17))
+  dis_vols = list(range(101, 117))
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=targets,
+      tip_racks=[],
+      use_channels=list(range(8)),
+      asp_vols=asp_vols,
+      dis_vols=dis_vols,
+      mix_times=0,  # 触发逻辑但不 mix
+    )
+  )
+
+  # 16 个任务 -> 2 组，每组 8 通道一起做
+  assert [c[0] for c in lh.calls].count("pick_up_tips") == 2
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert len(aspirates) == 2
+  assert len(dispenses) == 2
+
+  assert aspirates[0]["resources"] == sources[0:8]
+  assert aspirates[0]["vols"] == [float(v) for v in asp_vols[0:8]]
+  assert dispenses[1]["resources"] == targets[8:16]
+  assert dispenses[1]["vols"] == [float(v) for v in dis_vols[8:16]]
+
+
+def test_one_to_one_eight_channel_requires_multiple_of_8_targets():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(64))
+
+  sources = [DummyContainer(f"S{i}") for i in range(9)]
+  targets = [DummyContainer(f"T{i}") for i in range(9)]
+
+  with pytest.raises(ValueError, match="multiple of 8"):
+    run(
+      lh.transfer_liquid(
+        sources=sources,
+        targets=targets,
+        tip_racks=[],
+        use_channels=list(range(8)),
+        asp_vols=[1] * 9,
+        dis_vols=[1] * 9,
+        mix_times=0,
+      )
+    )
+
+
+def test_one_to_one_eight_channel_parameter_lists_are_chunked_per_8():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(512))
+
+  sources = [DummyContainer(f"S{i}") for i in range(16)]
+  targets = [DummyContainer(f"T{i}") for i in range(16)]
+  asp_vols = [i + 1 for i in range(16)]
+  dis_vols = [200 + i for i in range(16)]
+  asp_flow_rates = [0.1 * (i + 1) for i in range(16)]
+  dis_flow_rates = [0.2 * (i + 1) for i in range(16)]
+  offsets = [f"offset_{i}" for i in range(16)]
+  liquid_heights = [i * 0.5 for i in range(16)]
+  blow_out_air_volume = [i + 0.05 for i in range(16)]
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=targets,
+      tip_racks=[],
+      use_channels=list(range(8)),
+      asp_vols=asp_vols,
+      dis_vols=dis_vols,
+      asp_flow_rates=asp_flow_rates,
+      dis_flow_rates=dis_flow_rates,
+      offsets=offsets,
+      liquid_height=liquid_heights,
+      blow_out_air_volume=blow_out_air_volume,
+      mix_times=0,
+    )
+  )
+
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert len(aspirates) == len(dispenses) == 2
+
+  for batch_idx in range(2):
+    start = batch_idx * 8
+    end = start + 8
+    asp_call = aspirates[batch_idx]
+    dis_call = dispenses[batch_idx]
+    assert asp_call["resources"] == sources[start:end]
+    assert asp_call["flow_rates"] == asp_flow_rates[start:end]
+    assert asp_call["offsets"] == offsets[start:end]
+    assert asp_call["liquid_height"] == liquid_heights[start:end]
+    assert asp_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
+    assert dis_call["flow_rates"] == dis_flow_rates[start:end]
+    assert dis_call["offsets"] == offsets[start:end]
+    assert dis_call["liquid_height"] == liquid_heights[start:end]
+    assert dis_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
+
+
+def test_one_to_one_eight_channel_handles_32_tasks_four_batches():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(1024))
+
+  sources = [DummyContainer(f"S{i}") for i in range(32)]
+  targets = [DummyContainer(f"T{i}") for i in range(32)]
+  asp_vols = [i + 1 for i in range(32)]
+  dis_vols = [300 + i for i in range(32)]
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=targets,
+      tip_racks=[],
+      use_channels=list(range(8)),
+      asp_vols=asp_vols,
+      dis_vols=dis_vols,
+      mix_times=0,
+    )
+  )
+
+  pick_calls = [name for name, _ in lh.calls if name == "pick_up_tips"]
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert len(pick_calls) == 4
+  assert len(aspirates) == len(dispenses) == 4
+  assert aspirates[0]["resources"] == sources[0:8]
+  assert aspirates[-1]["resources"] == sources[24:32]
+  assert dispenses[0]["resources"] == targets[0:8]
+  assert dispenses[-1]["resources"] == targets[24:32]
+
+
+def test_one_to_many_single_channel_aspirates_total_when_asp_vol_too_small():
+  lh = FakeLiquidHandler(channel_num=1)
+  lh.current_tip = iter(make_tip_iter(64))
+
+  source = DummyContainer("SRC")
+  targets = [DummyContainer(f"T{i}") for i in range(3)]
+  dis_vols = [10, 20, 30]  # sum=60
+
+  run(
+    lh.transfer_liquid(
+      sources=[source],
+      targets=targets,
+      tip_racks=[],
+      use_channels=[0],
+      asp_vols=10,  # 小于 sum(dis_vols) -> 应吸 60
+      dis_vols=dis_vols,
+      mix_times=0,
+    )
+  )
+
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  assert len(aspirates) == 1
+  assert aspirates[0]["resources"] == [source]
+  assert aspirates[0]["vols"] == [60.0]
+  assert aspirates[0]["use_channels"] == [0]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert [d["vols"][0] for d in dispenses] == [10.0, 20.0, 30.0]
+
+
+def test_one_to_many_eight_channel_basic():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(128))
+
+  source = DummyContainer("SRC")
+  targets = [DummyContainer(f"T{i}") for i in range(8)]
+  dis_vols = [i + 1 for i in range(8)]
+
+  run(
+    lh.transfer_liquid(
+      sources=[source],
+      targets=targets,
+      tip_racks=[],
+      use_channels=list(range(8)),
+      asp_vols=999,  # one-to-many 8ch 会按 dis_vols 吸（每通道各自）
+      dis_vols=dis_vols,
+      mix_times=0,
+    )
+  )
+
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  assert aspirates[0]["resources"] == [source] * 8
+  assert aspirates[0]["vols"] == [float(v) for v in dis_vols]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert dispenses[0]["resources"] == targets
+  assert dispenses[0]["vols"] == [float(v) for v in dis_vols]
+
+
+def test_many_to_one_single_channel_standard_dispense_equals_asp_by_default():
+  lh = FakeLiquidHandler(channel_num=1)
+  lh.current_tip = iter(make_tip_iter(128))
+
+  sources = [DummyContainer(f"S{i}") for i in range(3)]
+  target = DummyContainer("T")
+  asp_vols = [5, 6, 7]
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=[target],
+      tip_racks=[],
+      use_channels=[0],
+      asp_vols=asp_vols,
+      dis_vols=1,  # many-to-one 允许标量；非比例模式下实际每次分液=对应 asp_vol
+      mix_times=0,
+    )
+  )
+
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert [d["vols"][0] for d in dispenses] == [float(v) for v in asp_vols]
+  assert all(d["resources"] == [target] for d in dispenses)
+
+
+def test_many_to_one_single_channel_before_stage_mixes_target_once():
+  lh = FakeLiquidHandler(channel_num=1)
+  lh.current_tip = iter(make_tip_iter(128))
+
+  sources = [DummyContainer("S0"), DummyContainer("S1")]
+  target = DummyContainer("T")
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=[target],
+      tip_racks=[],
+      use_channels=[0],
+      asp_vols=[5, 6],
+      dis_vols=1,
+      mix_stage="before",
+      mix_times=2,
+      mix_vol=4,
+    )
+  )
+
+  aspirate_calls = [(idx, payload) for idx, (name, payload) in enumerate(lh.calls) if name == "aspirate"]
+  assert len(aspirate_calls) >= 1
+  mix_idx, mix_payload = aspirate_calls[0]
+  assert mix_payload["resources"] == [target]
+  assert mix_payload["vols"] == [4]
+  # 第一個 mix 之後會真正開始吸 source
+  assert any(call["resources"] == [sources[0]] for _, call in aspirate_calls[1:])
+
+
+def test_many_to_one_single_channel_proportional_mixing_uses_dis_vols_per_source():
+  lh = FakeLiquidHandler(channel_num=1)
+  lh.current_tip = iter(make_tip_iter(128))
+
+  sources = [DummyContainer(f"S{i}") for i in range(3)]
+  target = DummyContainer("T")
+  asp_vols = [5, 6, 7]
+  dis_vols = [1, 2, 3]
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=[target],
+      tip_racks=[],
+      use_channels=[0],
+      asp_vols=asp_vols,
+      dis_vols=dis_vols,  # 比例模式
+      mix_times=0,
+    )
+  )
+
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert [d["vols"][0] for d in dispenses] == [float(v) for v in dis_vols]
+
+
+def test_many_to_one_eight_channel_basic():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(256))
+
+  sources = [DummyContainer(f"S{i}") for i in range(8)]
+  target = DummyContainer("T")
+  asp_vols = [10 + i for i in range(8)]
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=[target],
+      tip_racks=[],
+      use_channels=list(range(8)),
+      asp_vols=asp_vols,
+      dis_vols=999,  # 非比例模式下每通道分液=对应 asp_vol
+      mix_times=0,
+    )
+  )
+
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert aspirates[0]["resources"] == sources
+  assert aspirates[0]["vols"] == [float(v) for v in asp_vols]
+  assert dispenses[0]["resources"] == [target] * 8
+  assert dispenses[0]["vols"] == [float(v) for v in asp_vols]
+
+
+def test_transfer_liquid_mode_detection_unsupported_shape_raises():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(64))
+
+  sources = [DummyContainer("S0"), DummyContainer("S1")]
+  targets = [DummyContainer("T0"), DummyContainer("T1"), DummyContainer("T2")]
+
+  with pytest.raises(ValueError, match="Unsupported transfer mode"):
+    run(
+      lh.transfer_liquid(
+        sources=sources,
+        targets=targets,
+        tip_racks=[],
+        use_channels=[0],
+        asp_vols=[1, 1],
+        dis_vols=[1, 1, 1],
+        mix_times=0,
+      )
+    )
+
+
+def test_mix_single_target_produces_matching_cycles():
+  lh = FakeLiquidHandler(channel_num=1)
+  target = DummyContainer("T_mix")
+
+  run(lh.mix(targets=[target], mix_time=2, mix_vol=5))
+
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert len(aspirates) == len(dispenses) == 2
+  assert all(call["resources"] == [target] for call in aspirates)
+  assert all(call["vols"] == [5] for call in aspirates)
+  assert all(call["resources"] == [target] for call in dispenses)
+  assert all(call["vols"] == [5] for call in dispenses)
+
+
+def test_mix_multiple_targets_supports_per_target_offsets():
+  lh = FakeLiquidHandler(channel_num=1)
+  targets = [DummyContainer("T0"), DummyContainer("T1")]
+  offsets = ["left", "right"]
+  heights = [0.1, 0.2]
+  rates = [0.5, 1.0]
+
+  run(
+    lh.mix(
+      targets=targets,
+      mix_time=1,
+      mix_vol=3,
+      offsets=offsets,
+      height_to_bottom=heights,
+      mix_rate=rates,
+    )
+  )
+
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  assert len(aspirates) == 2
+  assert aspirates[0]["resources"] == [targets[0]]
+  assert aspirates[0]["offsets"] == [offsets[0]]
+  assert aspirates[0]["liquid_height"] == [heights[0]]
+  assert aspirates[0]["flow_rates"] == [rates[0]]
+  assert aspirates[1]["resources"] == [targets[1]]
+  assert aspirates[1]["offsets"] == [offsets[1]]
+  assert aspirates[1]["liquid_height"] == [heights[1]]
+  assert aspirates[1]["flow_rates"] == [rates[1]]
+
+
+def test_set_tiprack_per_type_resumes_first_physical_rack():
+    """同型号多次 set_tiprack 时接续第一盒剩余孔位，而非从新盒 A1 开始。"""
+    from pylabrobot.liquid_handling import LiquidHandlerChatterboxBackend
+    from pylabrobot.resources import Deck, Tip, TipRack, TipSpot, create_equally_spaced
+
+    mk = lambda: Tip(
+        has_filter=False, total_tip_length=10.0, maximal_volume=300.0, fitting_depth=2.0
+    )
+
+    class TipTypeAlpha(TipRack):
+        pass
+
+    class TipTypeBeta(TipRack):
+        pass
+
+    def make_rack(cls: type, name: str) -> TipRack:
+        items = create_equally_spaced(
+            TipSpot,
+            num_items_x=12,
+            num_items_y=2,
+            dx=0,
+            dy=0,
+            dz=0,
+            item_dx=9,
+            item_dy=9,
+            size_x=1,
+            size_y=1,
+            make_tip=mk,
+        )
+        return cls(name, 120, 40, 10, items=items)
+
+    rack1 = make_rack(TipTypeAlpha, "rack_phys_1")
+    rack2 = make_rack(TipTypeBeta, "rack_phys_2")
+    rack3 = make_rack(TipTypeAlpha, "rack_phys_3")
+
+    lh = LiquidHandlerAbstract(
+        LiquidHandlerChatterboxBackend(1), Deck(), channel_num=1, simulator=False
+    )
+    flat1 = lh._flatten_tips_from_one(rack1)
+    assert len(flat1) == 24
+
+    lh.set_tiprack([rack1])
+    for i in range(12):
+        assert lh._get_next_tip() is flat1[i]
+
+    lh.set_tiprack([rack2])
+    spot_b = lh._get_next_tip()
+    assert "rack_phys_2" in spot_b.name
+
+    lh.set_tiprack([rack3])
+    spot_resume = lh._get_next_tip()
+    assert spot_resume is flat1[12], "第三次同型号应接续 rack1 第二行首孔，而非 rack3 首孔"
+    assert spot_resume is not lh._flatten_tips_from_one(rack3)[0]
+
+

unilabos/__main__.py

@@ -1,6 +0,0 @@
-"""Entry point for `python -m unilabos`."""
-
-from unilabos.app.main import main
-
-if __name__ == "__main__":
-    main()

unilabos/app/web/controller.py

@@ -58,14 +58,14 @@ class JobResultStore:
                 feedback=feedback or {},
                 timestamp=time.time(),
             )
-            logger.trace(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}")
+            logger.debug(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}")
 
     def get_and_remove(self, job_id: str) -> Optional[JobResult]:
         """获取并删除任务结果"""
         with self._results_lock:
             result = self._results.pop(job_id, None)
             if result:
-                logger.trace(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
+                logger.debug(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
             return result
 
     def get_result(self, job_id: str) -> Optional[JobResult]:

unilabos/device_comms/opcua_client/node/uniopcua.py

@@ -43,7 +43,7 @@ class Base(ABC):
         self._type = typ
         self._data_type = data_type
         self._node: Optional[Node] = None
-
+        
     def _get_node(self) -> Node:
         if self._node is None:
             try:
@@ -66,7 +66,7 @@ class Base(ABC):
                 # 直接以字符串形式处理
                 if isinstance(nid, str):
                     nid = nid.strip()
-
+                    
                     # 处理包含类名的格式，如 'StringNodeId(ns=4;s=...)' 或 'NumericNodeId(ns=2;i=...)'
                     # 提取括号内的内容
                     match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid)
@@ -116,16 +116,16 @@ class Base(ABC):
     def read(self) -> Tuple[Any, bool]:
         """读取节点值，返回(值, 是否出错)"""
         pass
-
+    
     @abstractmethod
     def write(self, value: Any) -> bool:
         """写入节点值，返回是否出错"""
         pass
-
+    
     @property
     def type(self) -> NodeType:
         return self._type
-
+    
     @property
     def node_id(self) -> str:
         return self._node_id
@@ -210,15 +210,15 @@ class Method(Base):
         super().__init__(client, name, node_id, NodeType.METHOD, data_type)
         self._parent_node_id = parent_node_id
         self._parent_node = None
-
+        
     def _get_parent_node(self) -> Node:
         if self._parent_node is None:
             try:
                 # 处理父节点ID，使用与_get_node相同的解析逻辑
                 import re
-
+                
                 nid = self._parent_node_id
-
+                
                 # 如果已经是 NodeId 对象，直接使用
                 try:
                     from opcua.ua import NodeId as UaNodeId
@@ -227,16 +227,16 @@ class Method(Base):
                         return self._parent_node
                 except Exception:
                     pass
-
+                
                 # 字符串处理
                 if isinstance(nid, str):
                     nid = nid.strip()
-
+                    
                     # 处理包含类名的格式
                     match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid)
                     if match_wrapped:
                         nid = match_wrapped.group(2).strip()
-
+                    
                     # 常见短格式
                     if re.match(r'^ns=\d+;[is]=', nid):
                         self._parent_node = self._client.get_node(nid)
@@ -271,7 +271,7 @@ class Method(Base):
     def write(self, value: Any) -> bool:
         """方法节点不支持写入操作"""
         return True
-
+        
     def call(self, *args) -> Tuple[Any, bool]:
         """调用方法，返回(返回值, 是否出错)"""
         try:
@@ -285,7 +285,7 @@ class Method(Base):
 class Object(Base):
     def __init__(self, client: Client, name: str, node_id: str):
         super().__init__(client, name, node_id, NodeType.OBJECT, None)
-
+        
     def read(self) -> Tuple[Any, bool]:
         """对象节点不支持直接读取操作"""
         return None, True
@@ -293,7 +293,7 @@ class Object(Base):
     def write(self, value: Any) -> bool:
         """对象节点不支持直接写入操作"""
         return True
-
+    
     def get_children(self) -> Tuple[List[Node], bool]:
         """获取子节点列表，返回(子节点列表, 是否出错)"""
         try:
@@ -301,4 +301,4 @@ class Object(Base):
             return children, False
         except Exception as e:
             print(f"获取对象 {self._name} 的子节点失败: {e}")
-            return [], True
+            return [], True 

unilabos/device_mesh/resource_visalization.py

@@ -201,17 +201,42 @@ class ResourceVisualization:
                 self.moveit_controllers_yaml['moveit_simple_controller_manager'][f"{name}_{controller_name}"] = moveit_dict['moveit_simple_controller_manager'][controller_name]
 
 
+    @staticmethod
+    def _ensure_ros2_env() -> dict:
+        """确保 ROS2 环境变量正确设置，返回可用于子进程的 env dict"""
+        import sys
+        env = dict(os.environ)
+        conda_prefix = os.path.dirname(os.path.dirname(sys.executable))
+
+        if "AMENT_PREFIX_PATH" not in env or not env["AMENT_PREFIX_PATH"].strip():
+            candidate = os.pathsep.join([conda_prefix, os.path.join(conda_prefix, "Library")])
+            env["AMENT_PREFIX_PATH"] = candidate
+            os.environ["AMENT_PREFIX_PATH"] = candidate
+
+        extra_bin_dirs = [
+            os.path.join(conda_prefix, "Library", "bin"),
+            os.path.join(conda_prefix, "Library", "lib"),
+            os.path.join(conda_prefix, "Scripts"),
+            conda_prefix,
+        ]
+        current_path = env.get("PATH", "")
+        for d in extra_bin_dirs:
+            if d not in current_path:
+                current_path = d + os.pathsep + current_path
+        env["PATH"] = current_path
+        os.environ["PATH"] = current_path
+
+        return env
+
     def create_launch_description(self) -> LaunchDescription:
         """
         创建launch描述，包含robot_state_publisher和move_group节点
 
-        Args:
-            urdf_str: URDF文本
-
         Returns:
             LaunchDescription: launch描述对象
         """
-        # 检查ROS 2环境变量
+        launch_env = self._ensure_ros2_env()
+
         if "AMENT_PREFIX_PATH" not in os.environ:
             raise OSError(
                 "ROS 2环境未正确设置。需要设置 AMENT_PREFIX_PATH 环境变量。\n"
@@ -290,7 +315,7 @@ class ResourceVisualization:
                         {"robot_description": robot_description},
                         ros2_controllers,
                     ],
-                    env=dict(os.environ)
+                    env=launch_env,
                 )
             )
             for controller in self.moveit_controllers_yaml['moveit_simple_controller_manager']['controller_names']:
@@ -300,7 +325,7 @@ class ResourceVisualization:
                         executable="spawner",
                         arguments=[f"{controller}", "--controller-manager", f"controller_manager"],
                         output="screen",
-                        env=dict(os.environ)
+                        env=launch_env,
                     )
                 )
             controllers.append(
@@ -309,7 +334,7 @@ class ResourceVisualization:
                         executable="spawner",
                         arguments=["joint_state_broadcaster", "--controller-manager", f"controller_manager"],
                         output="screen",
-                        env=dict(os.environ)
+                        env=launch_env,
                 )
             )
             for i in controllers:
@@ -317,7 +342,6 @@ class ResourceVisualization:
         else:
             ros2_controllers = None
 
-        # 创建robot_state_publisher节点
         robot_state_publisher = nd(
             package='robot_state_publisher',
             executable='robot_state_publisher',
@@ -327,9 +351,8 @@ class ResourceVisualization:
                 'robot_description': robot_description,
                 'use_sim_time': False
             },
-            # kinematics_dict
             ],
-            env=dict(os.environ)
+            env=launch_env,
         )
 
 
@@ -361,7 +384,7 @@ class ResourceVisualization:
             executable='move_group',
             output='screen',
             parameters=moveit_params,
-            env=dict(os.environ)
+            env=launch_env,
         )
 
 
@@ -379,13 +402,11 @@ class ResourceVisualization:
                 arguments=['-d', f"{str(self.mesh_path)}/view_robot.rviz"],
                 output='screen',
                 parameters=[
-                    {'robot_description_kinematics': kinematics_dict,
-                     },
+                    {'robot_description_kinematics': kinematics_dict},
                     robot_description_planning,
                     planning_pipelines,
-
                 ],
-                env=dict(os.environ)
+                env=launch_env,
             )
             self.launch_description.add_action(rviz_node)
 

unilabos/devices/liquid_handling/prcxi/prcxi_modules.py

@@ -0,0 +1,150 @@
+from typing import Any, Dict, Optional
+
+from .prcxi import PRCXI9300ModuleSite
+
+
+class PRCXI9300FunctionalModule(PRCXI9300ModuleSite):
+    """
+    PRCXI 9300 功能模块基类（加热/冷却/震荡/加热震荡/磁吸等）。
+
+    设计目标：
+    - 作为一个可以在工作台上拖拽摆放的实体资源（继承自 PRCXI9300ModuleSite -> ItemizedCarrier）。
+    - 顶面存在一个站点（site），可吸附标准板类资源（plate / tip_rack / tube_rack 等）。
+    - 支持注入 `material_info` (UUID 等)，并且在 serialize_state 时做安全过滤。
+    """
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        module_type: Optional[str] = None,
+        category: str = "module",
+        model: Optional[str] = None,
+        material_info: Optional[Dict[str, Any]] = None,
+        **kwargs: Any,
+    ):
+        super().__init__(
+            name=name,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
+            material_info=material_info,
+            model=model,
+            category=category,
+            **kwargs,
+        )
+
+        # 记录模块类型（加热 / 冷却 / 震荡 / 加热震荡 / 磁吸）
+        self.module_type = module_type or "generic"
+
+        # 与 PRCXI9300PlateAdapter 一致，使用 _unilabos_state 保存扩展信息
+        if not hasattr(self, "_unilabos_state") or self._unilabos_state is None:
+            self._unilabos_state = {}
+
+        # super().__init__ 已经在有 material_info 时写入 "Material"，这里仅确保存在
+        if material_info is not None and "Material" not in self._unilabos_state:
+            self._unilabos_state["Material"] = material_info
+
+        # 额外标记 category 和模块类型，便于前端或上层逻辑区分
+        self._unilabos_state.setdefault("category", category)
+        self._unilabos_state["module_type"] = module_type
+
+
+# ============================================================================
+# 具体功能模块定义
+# 这里的尺寸和 material_info 目前为占位参数，后续可根据实际测量/JSON 配置进行更新。
+# 顶面站点尺寸与模块外形一致，保证可以吸附标准 96 板/储液槽等。
+# ============================================================================
+
+
+def PRCXI_Heating_Module(name: str) -> PRCXI9300FunctionalModule:
+    """加热模块（顶面可吸附标准板）。"""
+    return PRCXI9300FunctionalModule(
+        name=name,
+        size_x=127.76,
+        size_y=85.48,
+        size_z=40.0,
+        module_type="heating",
+        model="PRCXI_Heating_Module",
+        material_info={
+            "uuid": "TODO-HEATING-MODULE-UUID",
+            "Code": "HEAT-MOD",
+            "Name": "PRCXI 加热模块",
+            "SupplyType": 3,
+        },
+    )
+
+
+def PRCXI_MetalCooling_Module(name: str) -> PRCXI9300FunctionalModule:
+    """金属冷却模块（顶面可吸附标准板）。"""
+    return PRCXI9300FunctionalModule(
+        name=name,
+        size_x=127.76,
+        size_y=85.48,
+        size_z=40.0,
+        module_type="metal_cooling",
+        model="PRCXI_MetalCooling_Module",
+        material_info={
+            "uuid": "TODO-METAL-COOLING-MODULE-UUID",
+            "Code": "METAL-COOL-MOD",
+            "Name": "PRCXI 金属冷却模块",
+            "SupplyType": 3,
+        },
+    )
+
+
+def PRCXI_Shaking_Module(name: str) -> PRCXI9300FunctionalModule:
+    """震荡模块（顶面可吸附标准板）。"""
+    return PRCXI9300FunctionalModule(
+        name=name,
+        size_x=127.76,
+        size_y=85.48,
+        size_z=50.0,
+        module_type="shaking",
+        model="PRCXI_Shaking_Module",
+        material_info={
+            "uuid": "TODO-SHAKING-MODULE-UUID",
+            "Code": "SHAKE-MOD",
+            "Name": "PRCXI 震荡模块",
+            "SupplyType": 3,
+        },
+    )
+
+
+def PRCXI_Heating_Shaking_Module(name: str) -> PRCXI9300FunctionalModule:
+    """加热震荡模块（顶面可吸附标准板）。"""
+    return PRCXI9300FunctionalModule(
+        name=name,
+        size_x=127.76,
+        size_y=85.48,
+        size_z=55.0,
+        module_type="heating_shaking",
+        model="PRCXI_Heating_Shaking_Module",
+        material_info={
+            "uuid": "TODO-HEATING-SHAKING-MODULE-UUID",
+            "Code": "HEAT-SHAKE-MOD",
+            "Name": "PRCXI 加热震荡模块",
+            "SupplyType": 3,
+        },
+    )
+
+
+def PRCXI_Magnetic_Module(name: str) -> PRCXI9300FunctionalModule:
+    """磁吸模块（顶面可吸附标准板）。"""
+    return PRCXI9300FunctionalModule(
+        name=name,
+        size_x=127.76,
+        size_y=85.48,
+        size_z=30.0,
+        module_type="magnetic",
+        model="PRCXI_Magnetic_Module",
+        material_info={
+            "uuid": "TODO-MAGNETIC-MODULE-UUID",
+            "Code": "MAG-MOD",
+            "Name": "PRCXI 磁吸模块",
+            "SupplyType": 3,
+        },
+    )
+

unilabos/devices/liquid_handling/rviz_backend.py

@@ -59,6 +59,7 @@ class UniLiquidHandlerRvizBackend(LiquidHandlerBackend):
     self.total_height = total_height
     self.joint_config = kwargs.get("joint_config", None)
     self.lh_device_id = kwargs.get("lh_device_id", "lh_joint_publisher")
+    self.simulate_rviz = kwargs.get("simulate_rviz", False)
     if not rclpy.ok():
         rclpy.init()
     self.joint_state_publisher = None
@@ -69,7 +70,7 @@ class UniLiquidHandlerRvizBackend(LiquidHandlerBackend):
     self.joint_state_publisher = LiquidHandlerJointPublisher(
                                 joint_config=self.joint_config,
                                 lh_device_id=self.lh_device_id,
-                                simulate_rviz=True)
+                                simulate_rviz=self.simulate_rviz)
 
     # 启动ROS executor
     self.executor = rclpy.executors.MultiThreadedExecutor()

unilabos/devices/ros_dev/liquid_handler_joint_publisher_node.py

@@ -42,6 +42,7 @@ class LiquidHandlerJointPublisher(Node):
             while self.resource_action is None:
                 self.resource_action = self.check_tf_update_actions()
                 time.sleep(1)
+                self.get_logger().info(f'Waiting for TfUpdate server: {self.resource_action}')
 
             self.resource_action_client = ActionClient(self, SendCmd, self.resource_action)
             while not self.resource_action_client.wait_for_server(timeout_sec=1.0):

unilabos/devices/ros_dev/moveit_interface.py

@@ -2,6 +2,7 @@ import json
 import time
 from copy import deepcopy
 from pathlib import Path
+from typing import Optional, Sequence
 
 from moveit_msgs.msg import JointConstraint, Constraints
 from rclpy.action import ActionClient
@@ -171,173 +172,160 @@ class MoveitInterface:
 
         return True
 
-    def pick_and_place(self, command: str):
+    def pick_and_place(
+        self,
+        option: str,
+        move_group: str,
+        status: str,
+        resource: Optional[str] = None,
+        x_distance: Optional[float] = None,
+        y_distance: Optional[float] = None,
+        lift_height: Optional[float] = None,
+        retry: Optional[int] = None,
+        speed: Optional[float] = None,
+        target: Optional[str] = None,
+        constraints: Optional[Sequence[float]] = None,
+    ) -> None:
         """
-        Using MoveIt to make the robotic arm pick or place materials to a target point.
+        使用 MoveIt 完成抓取/放置等序列（pick/place/side_pick/side_place）。
 
-        Args:
-            command: A JSON-formatted string that includes option, target, speed, lift_height, mt_height
-
-                    *option (string)    : Action type: pick/place/side_pick/side_place
-                    *move_group (string): The move group moveit will plan
-                    *status(string)     : Target pose
-                    resource(string)    : The target resource
-                    x_distance (float)  : The distance to the target in x direction(meters)
-                    y_distance (float)  : The distance to the target in y direction(meters)
-                    lift_height (float) : The height at which the material should be lifted(meters)
-                    retry (float)       : Retry times when moveit plan fails
-                    speed (float)       : The speed of the movement, speed > 0
-        Returns:
-            None
+        必选：option, move_group, status。
+        可选：resource, x_distance, y_distance, lift_height, retry, speed, target, constraints。
+        无返回值；失败时提前 return 或打印异常。
         """
-        result = SendCmd.Result()
-
         try:
-            cmd_str = str(command).replace("'", '"')
-            cmd_dict = json.loads(cmd_str)
+            if option not in self.move_option:
+                raise ValueError(f"Invalid option: {option}")
 
-            if cmd_dict["option"] in self.move_option:
-                option_index = self.move_option.index(cmd_dict["option"])
-                place_flag = option_index % 2
+            option_index = self.move_option.index(option)
+            place_flag = option_index % 2
 
-                config = {}
-                function_list = []
+            config: dict = {"move_group": move_group}
+            if speed is not None:
+                config["speed"] = speed
+            if retry is not None:
+                config["retry"] = retry
 
-                status = cmd_dict["status"]
-                joint_positions_ = self.joint_poses[cmd_dict["move_group"]][status]
+            function_list = []
+            joint_positions_ = self.joint_poses[move_group][status]
 
-                config.update({k: cmd_dict[k] for k in ["speed", "retry", "move_group"] if k in cmd_dict})
+            # 夹取 / 放置：绑定 resource 与 parent
+            if not place_flag:
+                if target is not None:
+                    function_list.append(lambda r=resource, t=target: self.resource_manager(r, t))
+                else:
+                    ee = self.moveit2[move_group].end_effector_name
+                    function_list.append(lambda r=resource: self.resource_manager(r, ee))
+            else:
+                function_list.append(lambda r=resource: self.resource_manager(r, "world"))
 
-                # 夹取
-                if not place_flag:
-                    if "target" in cmd_dict.keys():
-                        function_list.append(lambda: self.resource_manager(cmd_dict["resource"], cmd_dict["target"]))
-                    else:
-                        function_list.append(
-                            lambda: self.resource_manager(
-                                cmd_dict["resource"], self.moveit2[cmd_dict["move_group"]].end_effector_name
+            joint_constraint_msgs: list = []
+            if constraints is not None:
+                for i, c in enumerate(constraints):
+                    v = float(c)
+                    if v > 0:
+                        joint_constraint_msgs.append(
+                            JointConstraint(
+                                joint_name=self.moveit2[move_group].joint_names[i],
+                                position=joint_positions_[i],
+                                tolerance_above=v,
+                                tolerance_below=v,
+                                weight=1.0,
                             )
                         )
-                else:
-                    function_list.append(lambda: self.resource_manager(cmd_dict["resource"], "world"))
 
-                constraints = []
-                if "constraints" in cmd_dict.keys():
+            if lift_height is not None:
+                retval = None
+                attempts = config.get("retry", 10)
+                while retval is None and attempts > 0:
+                    retval = self.moveit2[move_group].compute_fk(joint_positions_)
+                    time.sleep(0.1)
+                    attempts -= 1
+                if retval is None:
+                    raise ValueError("Failed to compute forward kinematics")
+                pose = [retval.pose.position.x, retval.pose.position.y, retval.pose.position.z]
+                quaternion = [
+                    retval.pose.orientation.x,
+                    retval.pose.orientation.y,
+                    retval.pose.orientation.z,
+                    retval.pose.orientation.w,
+                ]
 
-                    for i in range(len(cmd_dict["constraints"])):
-                        v = float(cmd_dict["constraints"][i])
-                        if v > 0:
-                            constraints.append(
-                                JointConstraint(
-                                    joint_name=self.moveit2[cmd_dict["move_group"]].joint_names[i],
-                                    position=joint_positions_[i],
-                                    tolerance_above=v,
-                                    tolerance_below=v,
-                                    weight=1.0,
-                                )
-                            )
+                function_list = [
+                    lambda: self.moveit_task(
+                        position=[retval.pose.position.x, retval.pose.position.y, retval.pose.position.z],
+                        quaternion=quaternion,
+                        **config,
+                        cartesian=self.cartesian_flag,
+                    )
+                ] + function_list
 
-                if "lift_height" in cmd_dict.keys():
-                    retval = None
-                    retry = config.get("retry", 10)
-                    while retval is None and retry > 0:
-                        retval = self.moveit2[cmd_dict["move_group"]].compute_fk(joint_positions_)
-                        time.sleep(0.1)
-                        retry -= 1
-                    if retval is None:
-                        result.success = False
-                        return result
-                    pose = [retval.pose.position.x, retval.pose.position.y, retval.pose.position.z]
-                    quaternion = [
-                        retval.pose.orientation.x,
-                        retval.pose.orientation.y,
-                        retval.pose.orientation.z,
-                        retval.pose.orientation.w,
-                    ]
+                pose[2] += float(lift_height)
+                function_list.append(
+                    lambda p=pose.copy(), q=quaternion, cfg=config: self.moveit_task(
+                        position=p, quaternion=q, **cfg, cartesian=self.cartesian_flag
+                    )
+                )
+                end_pose = list(pose)
+
+                if x_distance is not None or y_distance is not None:
+                    if x_distance is not None:
+                        deep_pose = deepcopy(pose)
+                        deep_pose[0] += float(x_distance)
+                    elif y_distance is not None:
+                        deep_pose = deepcopy(pose)
+                        deep_pose[1] += float(y_distance)
 
                     function_list = [
-                        lambda: self.moveit_task(
-                            position=[retval.pose.position.x, retval.pose.position.y, retval.pose.position.z],
-                            quaternion=quaternion,
-                            **config,
-                            cartesian=self.cartesian_flag,
+                        lambda p=pose.copy(), q=quaternion, cfg=config: self.moveit_task(
+                            position=p, quaternion=q, **cfg, cartesian=self.cartesian_flag
                         )
                     ] + function_list
-
-                    pose[2] += float(cmd_dict["lift_height"])
                     function_list.append(
-                        lambda: self.moveit_task(
-                            position=pose, quaternion=quaternion, **config, cartesian=self.cartesian_flag
+                        lambda dp=deep_pose.copy(), q=quaternion, cfg=config: self.moveit_task(
+                            position=dp, quaternion=q, **cfg, cartesian=self.cartesian_flag
                         )
                     )
-                    end_pose = pose
+                    end_pose = list(deep_pose)
 
-                    if "x_distance" in cmd_dict.keys() or "y_distance" in cmd_dict.keys():
-                        if "x_distance" in cmd_dict.keys():
-                            deep_pose = deepcopy(pose)
-                            deep_pose[0] += float(cmd_dict["x_distance"])
-                        elif "y_distance" in cmd_dict.keys():
-                            deep_pose = deepcopy(pose)
-                            deep_pose[1] += float(cmd_dict["y_distance"])
+                retval_ik = None
+                attempts_ik = config.get("retry", 10)
+                while retval_ik is None and attempts_ik > 0:
+                    retval_ik = self.moveit2[move_group].compute_ik(
+                        position=end_pose,
+                        quat_xyzw=quaternion,
+                        constraints=Constraints(joint_constraints=joint_constraint_msgs),
+                    )
+                    time.sleep(0.1)
+                    attempts_ik -= 1
+                if retval_ik is None:
+                    raise ValueError("Failed to compute inverse kinematics")
+                position_ = [
+                    retval_ik.position[retval_ik.name.index(i)] for i in self.moveit2[move_group].joint_names
+                ]
+                jn = self.moveit2[move_group].joint_names
+                function_list = [
+                    lambda pos=position_, names=jn, cfg=config: self.moveit_joint_task(
+                        joint_positions=pos, joint_names=names, **cfg
+                    )
+                ] + function_list
+            else:
+                function_list = [lambda cfg=config, jp=joint_positions_: self.moveit_joint_task(**cfg, joint_positions=jp)] + function_list
 
-                        function_list = [
-                            lambda: self.moveit_task(
-                                position=pose, quaternion=quaternion, **config, cartesian=self.cartesian_flag
-                            )
-                        ] + function_list
-                        function_list.append(
-                            lambda: self.moveit_task(
-                                position=deep_pose, quaternion=quaternion, **config, cartesian=self.cartesian_flag
-                            )
-                        )
-                        end_pose = deep_pose
-
-                    retval_ik = None
-                    retry = config.get("retry", 10)
-                    while retval_ik is None and retry > 0:
-                        retval_ik = self.moveit2[cmd_dict["move_group"]].compute_ik(
-                            position=end_pose, quat_xyzw=quaternion, constraints=Constraints(joint_constraints=constraints)
-                        )
-                        time.sleep(0.1)
-                        retry -= 1
-                    if retval_ik is None:
-                        result.success = False
-                        return result
-                    position_ = [
-                        retval_ik.position[retval_ik.name.index(i)]
-                        for i in self.moveit2[cmd_dict["move_group"]].joint_names
-                    ]
-                    function_list = [
-                        lambda: self.moveit_joint_task(
-                            joint_positions=position_,
-                            joint_names=self.moveit2[cmd_dict["move_group"]].joint_names,
-                            **config,
-                        )
-                    ] + function_list
+            for i in range(len(function_list)):
+                if i == 0:
+                    self.cartesian_flag = False
                 else:
-                    function_list = [
-                        lambda: self.moveit_joint_task(**config, joint_positions=joint_positions_)
-                    ] + function_list
+                    self.cartesian_flag = True
 
-                for i in range(len(function_list)):
-                    if i == 0:
-                        self.cartesian_flag = False
-                    else:
-                        self.cartesian_flag = True
-
-                    re = function_list[i]()
-                    if not re:
-                        print(i, re)
-                        result.success = False
-                        return result
-                result.success = True
+                re = function_list[i]()
+                if not re:
+                    print(i, re)
+                    raise ValueError(f"Failed to execute moveit task: {i}")
 
         except Exception as e:
-            print(e)
             self.cartesian_flag = False
-            result.success = False
-
-        return result
+            raise e
 
     def set_status(self, command: str):
         """

unilabos/devices/workstation/README.md

@@ -1,5 +1,9 @@
 # 工作站抽象基类物料系统架构说明
 
+## 设计理念
+
+基于用户需求"请你帮我系统思考一下，工作站抽象基类的物料系统基类该如何构建"，我们最终确定了一个**PyLabRobot Deck为中心**的简化架构。
+
 ### 核心原则
 
 1. **PyLabRobot为物料管理核心**：使用PyLabRobot的Deck系统作为物料管理的基础，利用其成熟的Resource体系

unilabos/devices/workstation/bioyond_studio/bioyond_cell/20251229_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/bioyond_cell/20260113_JSON配置迁移经验.md

@@ -1,204 +0,0 @@
-# BioyondCellWorkstation JSON 配置迁移经验总结
-
-**日期**: 2026-01-13  
-**目的**: 从 `config.py` 迁移到 JSON 配置文件
-
----
-
-## 问题背景
-
-原系统通过 `config.py` 管理配置，导致：
-1. HTTP 服务重复启动（父类 `BioyondWorkstation` 和子类都启动）
-2. 配置分散在代码中，不便于管理
-3. 无法通过 JSON 统一配置所有参数
-
----
-
-## 解决方案：嵌套配置结构
-
-### JSON 结构设计
-
-**正确示例** (嵌套在 `config` 中):
-```json
-{
-  "nodes": [{
-    "id": "bioyond_cell_workstation",
-    "config": {
-      "deck": {...},
-      "protocol_type": [],
-      "bioyond_config": {
-        "api_host": "http://172.16.11.219:44388",
-        "api_key": "8A819E5C",
-        "timeout": 30,
-        "HTTP_host": "172.16.11.206",
-        "HTTP_port": 8080,
-        "debug_mode": false,
-        "material_type_mappings": {...},
-        "warehouse_mapping": {...},
-        "solid_liquid_mappings": {...}
-      }
-    },
-    "data": {}
-  }]
-}
-```
-
-**关键点**：
-- ✅ `bioyond_config` 放在 `config` 中（会传递到 `__init__`）
-- ❌ **不要**放在 `data` 中（`data` 是运行时状态，不会传递）
-
----
-
-## Python 代码适配
-
-### 1. 修改 `BioyondCellWorkstation.__init__` 签名
-
-**文件**: `bioyond_cell_workstation.py`
-
-```python
-def __init__(self, bioyond_config: dict = None, deck=None, protocol_type=None, **kwargs):
-    """
-    Args:
-        bioyond_config: 从 JSON 加载的配置字典
-        deck: Deck 配置
-        protocol_type: 协议类型
-    """
-    # 验证配置
-    if bioyond_config is None:
-        raise ValueError("需要 bioyond_config 参数")
-    
-    # 保存配置
-    self.bioyond_config = bioyond_config
-    
-    # 设置 HTTP 服务去重标志
-    self.bioyond_config["_disable_auto_http_service"] = True
-    
-    # 调用父类
-    super().__init__(bioyond_config=self.bioyond_config, deck=deck, **kwargs)
-```
-
-### 2. 替换全局变量引用
-
-**修改前**（使用全局变量）:
-```python
-from config import MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING
-
-def create_sample(self, board_type, ...):
-    carrier_type_id = MATERIAL_TYPE_MAPPINGS[board_type][1]
-    location_id = WAREHOUSE_MAPPING[warehouse_name]["site_uuids"][location_code]
-```
-
-**修改后**（从配置读取）:
-```python
-def create_sample(self, board_type, ...):
-    carrier_type_id = self.bioyond_config['material_type_mappings'][board_type][1]
-    location_id = self.bioyond_config['warehouse_mapping'][warehouse_name]["site_uuids"][location_code]
-```
-
-### 3. 修复父类配置访问
-
-在 `station.py` 中安全访问配置默认值：
-
-```python
-# 修改前（会 KeyError）
-self._http_service_config = {
-    "host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG["http_service_host"])
-}
-
-# 修改后（安全访问）
-self._http_service_config = {
-    "host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG.get("http_service_host", ""))
-}
-```
-
----
-
-## 常见陷阱
-
-### ❌ 错误1：将配置放在 `data` 字段
-```json
-"config": {"deck": {...}},
-"data": {"bioyond_config": {...}}  // ❌ 不会传递到 __init__
-```
-
-### ❌ 错误2：扁平化配置（已废弃方案）
-虽然扁平化也能工作，但不推荐：
-```json
-"config": {
-  "deck": {...},
-  "api_host": "...",     // ❌ 不够清晰
-  "api_key": "...",
-  "HTTP_host": "..."
-}
-```
-
-### ❌ 错误3：忘记替换全局变量引用
-代码中直接使用 `MATERIAL_TYPE_MAPPINGS` 等全局变量会导致 `NameError`。
-
----
-
-## 云端同步注意事项
-
-使用 `--upload_registry` 时，云端配置可能覆盖本地配置：
-- 首次上传时确保 JSON 完整
-- 或使用新的 `ak/sk` 避免旧配置干扰
-- 调试时可暂时移除 `--upload_registry` 参数
-
----
-
-## 验证清单
-
-启动成功后应看到：
-```
-✅ 从 JSON 配置加载 bioyond_config 成功
-   API Host: http://...
-   HTTP Service: ...
-✅ BioyondCellWorkstation 初始化完成
-Loaded ResourceTreeSet with ... nodes
-```
-
-运行时不应出现：
-- ❌ `NameError: name 'MATERIAL_TYPE_MAPPINGS' is not defined`
-- ❌ `KeyError: 'http_service_host'`
-- ❌ `bioyond_config 缺少必需参数`
-
----
-
-## 调试经验
-
-1. **添加调试日志**查看参数传递链路：
-   - `graphio.py`: JSON 加载后的 config 内容
-   - `initialize_device.py`: `device_config.res_content.config` 的键
-   - `bioyond_cell_workstation.py`: `__init__` 接收到的参数
-
-2. **config vs data 区别**：
-   - `config`: 初始化参数，传递给 `__init__`
-   - `data`: 运行时状态，不传递给 `__init__`
-
-3. **参数名必须匹配**：
-   - JSON 中的键名必须与 `__init__` 参数名完全一致
-
-4. **调试代码清理**：完成后记得删除调试日志（🔍 DEBUG 标记）
-
----
-
-## 修改文件清单
-
-| 文件 | 修改内容 |
-|------|----------|
-| `yibin_electrolyte_config.json` | 创建嵌套 `config.bioyond_config` 结构 |
-| `bioyond_cell_workstation.py` | 修改 `__init__` 接收 `bioyond_config`，替换所有全局变量引用 |
-| `station.py` | 安全访问 `HTTP_SERVICE_CONFIG` 默认值 |
-
----
-
-## 参考代码位置
-
-- JSON 配置示例: `yibin_electrolyte_config.json` L12-L353
-- `__init__` 实现: `bioyond_cell_workstation.py` L39-L94
-- 全局变量替换示例: `bioyond_cell_workstation.py` L2005, L1863, L1966
-- HTTP 服务配置: `station.py` L629-L634
-
----
-
-**总结**: 使用嵌套结构将所有配置放在 `config.bioyond_config` 中，修改 `__init__` 直接接收该参数，并替换所有全局变量引用为 `self.bioyond_config` 访问。

unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260113_配置迁移修改总结.md

@@ -1,312 +0,0 @@
-# BioyondCell 配置迁移修改总结
-
-**日期**: 2026-01-13  
-**目标**: 从 `config.py` 完全迁移到 JSON 配置，消除所有全局变量依赖
-
----
-
-## 📋 修改概览
-
-本次修改完成了 BioyondCell 模块从 Python 配置文件到 JSON 配置的完整迁移，并清理了所有对 `config.py` 全局变量的依赖。
-
-### 核心成果
-
-- ✅ 完全移除对 `config.py` 的导入依赖
-- ✅ 使用嵌套 JSON 结构 `config.bioyond_config`
-- ✅ 修复 7 处 `bioyond_cell_workstation.py` 中的全局变量引用
-- ✅ 修复 3 处其他文件中的全局变量引用
-- ✅ HTTP 服务去重机制完善
-- ✅ 系统成功启动并正常运行
-
----
-
-## 🔧 修改文件清单
-
-### 1. JSON 配置文件
-
-**文件**: `yibin_electrolyte_config.json`
-
-**修改**:
-- 采用嵌套结构将所有配置放在 `config.bioyond_config` 中
-- 包含：`api_host`, `api_key`, `HTTP_host`, `HTTP_port`, `material_type_mappings`, `warehouse_mapping`, `solid_liquid_mappings` 等
-
-**示例结构**:
-```json
-{
-  "nodes": [{
-    "id": "bioyond_cell_workstation",
-    "config": {
-      "deck": {...},
-      "protocol_type": [],
-      "bioyond_config": {
-        "api_host": "http://172.16.11.219:44388",
-        "api_key": "8A819E5C",
-        "HTTP_host": "172.16.11.206",
-        "HTTP_port": 8080,
-        "material_type_mappings": {...},
-        "warehouse_mapping": {...},
-        "solid_liquid_mappings": {...}
-      }
-    }
-  }]
-}
-```
-
----
-
-### 2. bioyond_cell_workstation.py
-
-**位置**: `unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py`
-
-#### 修改 A: `__init__` 方法签名 (L39-99)
-
-**修改前**:
-```python
-def __init__(self, deck=None, protocol_type=None, **kwargs):
-    # 从 kwargs 收集配置字段
-    self.bioyond_config = {}
-    for field in bioyond_field_names:
-        if field in kwargs:
-            self.bioyond_config[field] = kwargs.pop(field)
-```
-
-**修改后**:
-```python
-def __init__(self, bioyond_config: dict = None, deck=None, protocol_type=None, **kwargs):
-    """直接接收 bioyond_config 参数"""
-    if bioyond_config is None:
-        raise ValueError("需要 bioyond_config 参数")
-    
-    self.bioyond_config = bioyond_config
-    
-    # 设置 HTTP 服务去重标志
-    self.bioyond_config["_disable_auto_http_service"] = True
-    
-    super().__init__(bioyond_config=self.bioyond_config, deck=deck, **kwargs)
-```
-
-#### 修改 B: 替换全局变量引用 (7 处)
-
-| 位置 | 原代码 | 修改后 |
-|------|--------|--------|
-| L2005 | `MATERIAL_TYPE_MAPPINGS[board_type][1]` | `self.bioyond_config['material_type_mappings'][board_type][1]` |
-| L2006 | `MATERIAL_TYPE_MAPPINGS[bottle_type][1]` | `self.bioyond_config['material_type_mappings'][bottle_type][1]` |
-| L2009 | `WAREHOUSE_MAPPING` | `self.bioyond_config['warehouse_mapping']` |
-| L2013 | `WAREHOUSE_MAPPING[warehouse_name]` | `self.bioyond_config['warehouse_mapping'][warehouse_name]` |
-| L2017 | `WAREHOUSE_MAPPING[warehouse_name]["site_uuids"]` | `self.bioyond_config['warehouse_mapping'][warehouse_name]["site_uuids"]` |
-| L1863 | `SOLID_LIQUID_MAPPINGS.get(material_name)` | `self.bioyond_config.get('solid_liquid_mappings', {}).get(material_name)` |
-| L1966, L1976 | `MATERIAL_TYPE_MAPPINGS.items()` | `self.bioyond_config['material_type_mappings'].items()` |
-
----
-
-### 3. station.py
-
-**位置**: `unilabos/devices/workstation/bioyond_studio/station.py`
-
-#### 修改 A: 删除 config 导入 (L26-28)
-
-**修改前**:
-```python
-from unilabos.devices.workstation.bioyond_studio.config import (
-    API_CONFIG, WORKFLOW_MAPPINGS, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING, HTTP_SERVICE_CONFIG
-)
-```
-
-**修改后**:
-```python
-# 已删除此导入
-```
-
-#### 修改 B: `_create_communication_module` 方法 (L691-702)
-
-**修改前**:
-```python
-def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
-    default_config = {
-        **API_CONFIG,
-        "workflow_mappings": WORKFLOW_MAPPINGS,
-        "material_type_mappings": MATERIAL_TYPE_MAPPINGS,
-        "warehouse_mapping": WAREHOUSE_MAPPING
-    }
-    if config:
-        self.bioyond_config = {**default_config, **config}
-    else:
-        self.bioyond_config = default_config
-```
-
-**修改后**:
-```python
-def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
-    """创建Bioyond通信模块"""
-    # 使用传入的 config 参数（来自 bioyond_config）
-    # 不再依赖全局变量 API_CONFIG 等
-    if config:
-        self.bioyond_config = config
-    else:
-        # 如果没有传入配置，创建空配置（用于测试或兼容性）
-        self.bioyond_config = {}
-    
-    self.hardware_interface = BioyondV1RPC(self.bioyond_config)
-```
-
-#### 修改 C: HTTP 服务配置 (L627-632)
-
-**修改前**:
-```python
-self._http_service_config = {
-    "host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG.get("http_service_host", "")),
-    "port": bioyond_config.get("http_service_port", HTTP_SERVICE_CONFIG.get("http_service_port", 0))
-}
-```
-
-**修改后**:
-```python
-self._http_service_config = {
-    "host": bioyond_config.get("http_service_host", bioyond_config.get("HTTP_host", "")),
-    "port": bioyond_config.get("http_service_port", bioyond_config.get("HTTP_port", 0))
-}
-```
-
----
-
-### 4. bioyond_rpc.py
-
-**位置**: `unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py`
-
-#### 修改 A: 删除 config 导入 (L12)
-
-**修改前**:
-```python
-from unilabos.devices.workstation.bioyond_studio.config import LOCATION_MAPPING
-```
-
-**修改后**:
-```python
-# 已删除此导入
-```
-
-#### 修改 B: `material_outbound` 方法 (L278-280)
-
-**修改前**:
-```python
-def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
-    """指定库位出库物料（通过库位名称）"""
-    location_id = LOCATION_MAPPING.get(location_name, location_name)
-```
-
-**修改后**:
-```python
-def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
-    """指定库位出库物料（通过库位名称）"""
-    # location_name 参数实际上应该直接是 location_id (UUID)
-    location_id = location_name
-```
-
-**说明**: `LOCATION_MAPPING` 在 `config-0113.py` 中本来就是空字典 `{}`，所以直接使用 `location_name` 逻辑等价。
-
----
-
-## 🎯 关键设计决策
-
-### 1. 嵌套 vs 扁平配置
-
-**选择**: 嵌套结构 `config.bioyond_config`
-
-**理由**:
-- ✅ 语义清晰，配置分组明确
-- ✅ 参数传递直观，直接对应 `__init__` 参数
-- ✅ 易于维护，不需要硬编码字段列表
-- ✅ 符合 UniLab 设计模式
-
-### 2. HTTP 服务去重
-
-**实现**: 子类设置 `_disable_auto_http_service` 标志
-
-```python
-# bioyond_cell_workstation.py
-self.bioyond_config["_disable_auto_http_service"] = True
-
-# station.py (post_init)
-if self.bioyond_config.get("_disable_auto_http_service"):
-    logger.info("子类已自行管理HTTP服务，跳过自动启动")
-    return
-```
-
-### 3. 全局变量替换策略
-
-**原则**: 所有配置从 `self.bioyond_config` 获取
-
-**模式**:
-```python
-# 修改前
-from config import MATERIAL_TYPE_MAPPINGS
-carrier_type_id = MATERIAL_TYPE_MAPPINGS[board_type][1]
-
-# 修改后
-carrier_type_id = self.bioyond_config['material_type_mappings'][board_type][1]
-```
-
----
-
-## ✅ 验证结果
-
-### 启动成功日志
-```
-✅ 从 JSON 配置加载 bioyond_config 成功
-   API Host: http://172.16.11.219:44388
-   HTTP Service: 172.16.11.206:8080
-🔧 已设置 _disable_auto_http_service 标志，防止 HTTP 服务重复启动
-✅ BioyondCellWorkstation 初始化完成
-Loaded ResourceTreeSet with 1 trees, 1785 total nodes
-```
-
-### 功能验证
-- ✅ 订单创建 (`create_orders_v2`)
-- ✅ 质量比计算
-- ✅ 物料转移 (`transfer_3_to_2_to_1`)
-- ✅ HTTP 报送接收 (step_finish, sample_finish, order_finish)
-- ✅ 等待机制 (`wait_for_order_finish`)
-- ✅ 仓库 UUID 映射
-- ✅ 物料类型映射
-
----
-
-## 📚 相关文档
-
-- **配置迁移经验**: `2026-01-13_JSON配置迁移经验.md`
-- **任务清单**: `C:\Users\AndyXie\.gemini\antigravity\brain\...\task.md`
-- **实施计划**: `C:\Users\AndyXie\.gemini\antigravity\brain\...\implementation_plan.md`
-
----
-
-## ⚠️ 注意事项
-
-### 其他工作站模块
-
-以下文件仍在使用 `config.py` 全局变量（未包含在本次修改中）:
-- `reaction_station.py` - 使用 `API_CONFIG`
-- `experiment.py` - 使用 `API_CONFIG`, `WORKFLOW_MAPPINGS`, `MATERIAL_TYPE_MAPPINGS`
-- `dispensing_station.py` - 使用 `API_CONFIG`, `WAREHOUSE_MAPPING`
-- `station.py` L176, L177, L529, L530 - 动态导入 `WAREHOUSE_MAPPING`
-
-**建议**: 后续可以统一迁移这些模块到 JSON 配置。
-
-### config.py 文件
-
-`config.py` 文件已恢复但**不再被 bioyond_cell 使用**。可以：
-- 保留作为其他模块的参考
-- 或者完全删除（如果其他模块也迁移完成）
-
----
-
-## 🚀 下一步建议
-
-1. **清理调试代码** ✅ (已完成)
-2. **提交代码到 Git**
-3. **迁移其他工作站模块** (可选)
-4. **更新文档和启动脚本**
-
----
-
-**修改完成日期**: 2026-01-13  
-**系统状态**: ✅ 稳定运行

unilabos/devices/workstation/bioyond_studio/bioyond_cell/批量出库模板使用说明.md

@@ -1,157 +0,0 @@
-# 批量出库 Excel 模板使用说明
-
-**文件**: `outbound_template.xlsx`  
-**用途**: 配合 `auto_batch_outbound_from_xlsx()` 方法进行批量出库操作  
-**API 端点**: `/api/lims/storage/auto-batch-out-bound`
-
----
-
-## 📋 Excel 列说明
-
-| 列名 | 说明 | 示例 | 必填 |
-|------|------|------|------|
-| `locationId` | **库位 ID（UUID）** | `3a19da43-57b5-294f-d663-154a1cc32270` | ✅ 是 |
-| `warehouseId` | **仓库 ID 或名称** | `配液站内试剂仓库` | ✅ 是 |
-| `quantity` | **出库数量** | `1.0`, `2.0` | ✅ 是 |
-| `x` | **X 坐标（库位横向位置）** | `1`, `2`, `3` | ✅ 是 |
-| `y` | **Y 坐标（库位纵向位置）** | `1`, `2`, `3` | ✅ 是 |
-| `z` | **Z 坐标（库位层数/高度）** | `1`, `2`, `3` | ✅ 是 |
-| `备注说明` | 可选备注信息 | `配液站内试剂仓库-A01` | ❌ 否 |
-
-### 📐 坐标说明
-
-**x, y, z** 是库位在仓库内的**三维坐标**：
-
-```
-仓库（例如 WH4）
-├── Z=1（第1层/加样头面）
-│   ├── X=1, Y=1（位置 A）
-│   ├── X=2, Y=1（位置 B）
-│   ├── X=3, Y=1（位置 C）
-│   └── ...
-│
-└── Z=2（第2层/原液瓶面）
-    ├── X=1, Y=1（位置 A）
-    ├── X=2, Y=1（位置 B）
-    └── ...
-```
-
-- **warehouseId**: 指定哪个仓库（WH3, WH4, 配液站等）
-- **x, y, z**: 在该仓库内的三维坐标
-- **locationId**: 该坐标位置的唯一 UUID
-
-### 🎯 起点与终点
-
-**重要说明**：批量出库模板**只规定了出库的"起点"**（从哪里取物料），**没有指定"终点"**（放到哪里）。
-
-```
-出库流程：
-起点（Excel 指定） → ？终点（LIMS/工作流决定）
-    ↓
-locationId, x, y, z    → 由 LIMS 系统或当前工作流自动分配
-```
-
-**终点由以下方式确定：**
-- **LIMS 系统自动分配**：根据当前任务自动规划目标位置
-- **工作流预定义**：在创建出库任务时已绑定目标位置
-- **暂存区**：默认放到出库暂存区，等待下一步操作
-
-💡 **对比**：上料操作（`auto_feeding4to3`）则有 `targetWH` 参数可以指定目标仓库
-
----
-
-## 🔍 如何获取 UUID？
-
-### 方法 1：从配置文件获取
-
-参考 `yibin_electrolyte_config.json` 中的 `warehouse_mapping`：
-
-```json
-{
-  "warehouse_mapping": {
-    "配液站内试剂仓库": {
-      "site_uuids": {
-        "A01": "3a19da43-57b5-294f-d663-154a1cc32270",
-        "B01": "3a19da43-57b5-7394-5f49-54efe2c9bef2",
-        "C01": "3a19da43-57b5-5e75-552f-8dbd0ad1075f"
-      }
-    },
-    "手动堆栈": {
-      "site_uuids": {
-        "A01": "3a19deae-2c7a-36f5-5e41-02c5b66feaea",
-        "A02": "3a19deae-2c7a-dc6d-c41e-ef285d946cfe"
-      }
-    }
-  }
-}
-```
-
-### 方法 2：通过 API 查询
-
-```python
-material_info = hardware_interface.material_id_query(workflow_id)
-locations = material_info.get("locations", [])
-```
-
----
-
-## 📝 填写示例
-
-### 示例 1：从配液站内试剂仓库出库
-
-| locationId | warehouseId | quantity | x | y | z | 备注说明 |
-|------------|-------------|----------|---|---|---|----------|
-| `3a19da43-57b5-294f-d663-154a1cc32270` | 配液站内试剂仓库 | 1 | 1 | 1 | 1 | A01 位置 |
-| `3a19da43-57b5-7394-5f49-54efe2c9bef2` | 配液站内试剂仓库 | 2 | 2 | 1 | 1 | B01 位置 |
-
-### 示例 2：从手动堆栈出库
-
-| locationId | warehouseId | quantity | x | y | z | 备注说明 |
-|------------|-------------|----------|---|---|---|----------|
-| `3a19deae-2c7a-36f5-5e41-02c5b66feaea` | 手动堆栈 | 1 | 1 | 1 | 1 | A01 |
-| `3a19deae-2c7a-dc6d-c41e-ef285d946cfe` | 手动堆栈 | 1 | 1 | 2 | 1 | A02 |
-
----
-
-## 💻 使用方法
-
-```python
-from bioyond_cell_workstation import BioyondCellWorkstation
-
-# 初始化工作站
-workstation = BioyondCellWorkstation(config=config, deck=deck)
-
-# 调用批量出库方法
-result = workstation.auto_batch_outbound_from_xlsx(
-    xlsx_path="outbound_template.xlsx"
-)
-```
-
----
-
-## ⚠️ 注意事项
-
-1. **locationId 必须是有效的 UUID**，不能使用库位名称
-2. **x, y, z 坐标必须与 locationId 对应**，表示该库位在仓库内的位置
-3. **quantity 必须是数字**，可以是整数或浮点数
-4. Excel 文件必须包含表头行
-5. 空行会被自动跳过
-6. 确保 UUID 与实际库位对应，否则 API 会报错
-
----
-
-## 📚 相关文件
-
-- **配置文件**: `yibin_electrolyte_config.json`
-- **Python 代码**: `bioyond_cell_workstation.py` (L630-695)
-- **生成脚本**: `create_outbound_template.py`
-- **上料模板**: `material_template.xlsx`
-
----
-
-## 🔄 重新生成模板
-
-```bash
-conda activate newunilab
-python create_outbound_template.py
-```

unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py

@@ -9,7 +9,7 @@ from datetime import datetime, timezone
 from unilabos.device_comms.rpc import BaseRequest
 from typing import Optional, List, Dict, Any
 import json
-
+from unilabos.devices.workstation.bioyond_studio.config import LOCATION_MAPPING
 
 
 class SimpleLogger:
@@ -49,14 +49,6 @@ class BioyondV1RPC(BaseRequest):
         self.config = config
         self.api_key = config["api_key"]
         self.host = config["api_host"]
-
-        # 初始化 location_mapping
-        # 直接从 warehouse_mapping 构建，确保数据源所谓的单一和结构化
-        self.location_mapping = {}
-        warehouse_mapping = self.config.get("warehouse_mapping", {})
-        for warehouse_name, warehouse_config in warehouse_mapping.items():
-            if "site_uuids" in warehouse_config:
-                self.location_mapping.update(warehouse_config["site_uuids"])
         self._logger = SimpleLogger()
         self.material_cache = {}
         self._load_material_cache()
@@ -184,40 +176,7 @@ class BioyondV1RPC(BaseRequest):
             return {}
 
         print(f"add material data: {response['data']}")
-
-        # 自动更新缓存
-        data = response.get("data", {})
-        if data:
-            if isinstance(data, str):
-                # 如果返回的是字符串，通常是ID
-                mat_id = data
-                name = params.get("name")
-            else:
-                # 如果返回的是字典，尝试获取name和id
-                name = data.get("name") or params.get("name")
-                mat_id = data.get("id")
-
-            if name and mat_id:
-                self.material_cache[name] = mat_id
-                print(f"已自动更新缓存: {name} -> {mat_id}")
-
-            # 处理返回数据中的 details (如果有)
-            # 有些 API 返回结构可能直接包含 details，或者在 data 字段中
-            details = data.get("details", []) if isinstance(data, dict) else []
-            if not details and isinstance(data, dict):
-                 details = data.get("detail", [])
-
-            if details:
-                for detail in details:
-                    d_name = detail.get("name")
-                    # 尝试从不同字段获取 ID
-                    d_id = detail.get("id") or detail.get("detailMaterialId")
-
-                    if d_name and d_id:
-                        self.material_cache[d_name] = d_id
-                        print(f"已自动更新 detail 缓存: {d_name} -> {d_id}")
-
-        return data
+        return response.get("data", {})
 
     def query_matial_type_id(self, data) -> list:
         """查找物料typeid"""
@@ -244,7 +203,7 @@ class BioyondV1RPC(BaseRequest):
             params={
                 "apiKey": self.api_key,
                 "requestTime": self.get_current_time_iso8601(),
-                "data": 0,
+                "data": {},
             })
         if not response or response['code'] != 1:
             return []
@@ -314,19 +273,11 @@ class BioyondV1RPC(BaseRequest):
 
         if not response or response['code'] != 1:
             return {}
-
-        # 自动更新缓存 - 移除被删除的物料
-        for name, mid in list(self.material_cache.items()):
-            if mid == material_id:
-                del self.material_cache[name]
-                print(f"已从缓存移除物料: {name}")
-                break
-
         return response.get("data", {})
 
     def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
         """指定库位出库物料（通过库位名称）"""
-        location_id = self.location_mapping.get(location_name, location_name)
+        location_id = LOCATION_MAPPING.get(location_name, location_name)
 
         params = {
             "materialId": material_id,
@@ -1152,10 +1103,6 @@ class BioyondV1RPC(BaseRequest):
                     for detail_material in detail_materials:
                         detail_name = detail_material.get("name")
                         detail_id = detail_material.get("detailMaterialId")
-                        if not detail_id:
-                            # 尝试其他可能的字段
-                            detail_id = detail_material.get("id")
-
                         if detail_name and detail_id:
                             self.material_cache[detail_name] = detail_id
                             print(f"加载detail材料: {detail_name} -> ID: {detail_id}")
@@ -1176,14 +1123,6 @@ class BioyondV1RPC(BaseRequest):
             print(f"从缓存找到材料: {material_name_or_id} -> ID: {material_id}")
             return material_id
 
-        # 如果缓存中没有，尝试刷新缓存
-        print(f"缓存中未找到材料 '{material_name_or_id}'，尝试刷新缓存...")
-        self.refresh_material_cache()
-        if material_name_or_id in self.material_cache:
-            material_id = self.material_cache[material_name_or_id]
-            print(f"刷新缓存后找到材料: {material_name_or_id} -> ID: {material_id}")
-            return material_id
-
         print(f"警告: 未在缓存中找到材料名称 '{material_name_or_id}'，将使用原值")
         return material_name_or_id
 

unilabos/devices/workstation/bioyond_studio/config.py

@@ -0,0 +1,142 @@
+# config.py
+"""
+配置文件 - 包含所有配置信息和映射关系
+"""
+
+# API配置
+API_CONFIG = {
+    "api_key": "",
+    "api_host": ""
+}
+
+# 工作流映射配置
+WORKFLOW_MAPPINGS = {
+    "reactor_taken_out": "",
+    "reactor_taken_in": "",
+    "Solid_feeding_vials": "",
+    "Liquid_feeding_vials(non-titration)": "",
+    "Liquid_feeding_solvents": "",
+    "Liquid_feeding(titration)": "",
+    "liquid_feeding_beaker": "",
+    "Drip_back": "",
+}
+
+# 工作流名称到DisplaySectionName的映射
+WORKFLOW_TO_SECTION_MAP = {
+    'reactor_taken_in': '反应器放入',
+    'liquid_feeding_beaker': '液体投料-烧杯',
+    'Liquid_feeding_vials(non-titration)': '液体投料-小瓶（非滴定）',
+    'Liquid_feeding_solvents': '液体投料-溶剂',
+    'Solid_feeding_vials': '固体投料-小瓶',
+    'Liquid_feeding(titration)': '液体投料-滴定',
+    'reactor_taken_out': '反应器取出'
+}
+
+# 库位映射配置
+WAREHOUSE_MAPPING = {
+    "粉末堆栈": {
+        "uuid": "",
+        "site_uuids": {
+            # 样品板
+            "A1": "3a14198e-6929-31f0-8a22-0f98f72260df",
+            "A2": "3a14198e-6929-4379-affa-9a2935c17f99",
+            "A3": "3a14198e-6929-56da-9a1c-7f5fbd4ae8af",
+            "A4": "3a14198e-6929-5e99-2b79-80720f7cfb54",
+            "B1": "3a14198e-6929-f525-9a1b-1857552b28ee",
+            "B2": "3a14198e-6929-bf98-0fd5-26e1d68bf62d",
+            "B3": "3a14198e-6929-2d86-a468-602175a2b5aa",
+            "B4": "3a14198e-6929-1a98-ae57-e97660c489ad",
+            # 分装板
+            "C1": "3a14198e-6929-46fe-841e-03dd753f1e4a",
+            "C2": "3a14198e-6929-1bc9-a9bd-3b7ca66e7f95",
+            "C3": "3a14198e-6929-72ac-32ce-9b50245682b8",
+            "C4": "3a14198e-6929-3bd8-e6c7-4a9fd93be118",
+            "D1": "3a14198e-6929-8a0b-b686-6f4a2955c4e2",
+            "D2": "3a14198e-6929-dde1-fc78-34a84b71afdf",
+            "D3": "3a14198e-6929-a0ec-5f15-c0f9f339f963",
+            "D4": "3a14198e-6929-7ac8-915a-fea51cb2e884"
+        }
+    },
+    "溶液堆栈": {
+        "uuid": "",
+        "site_uuids": {
+            "A1": "3a14198e-d724-e036-afdc-2ae39a7f3383",
+            "A2": "3a14198e-d724-afa4-fc82-0ac8a9016791",
+            "A3": "3a14198e-d724-ca48-bb9e-7e85751e55b6",
+            "A4": "3a14198e-d724-df6d-5e32-5483b3cab583",
+            "B1": "3a14198e-d724-d818-6d4f-5725191a24b5",
+            "B2": "3a14198e-d724-be8a-5e0b-012675e195c6",
+            "B3": "3a14198e-d724-cc1e-5c2c-228a130f40a8",
+            "B4": "3a14198e-d724-1e28-c885-574c3df468d0",
+            "C1": "3a14198e-d724-b5bb-adf3-4c5a0da6fb31",
+            "C2": "3a14198e-d724-ab4e-48cb-817c3c146707",
+            "C3": "3a14198e-d724-7f18-1853-39d0c62e1d33",
+            "C4": "3a14198e-d724-28a2-a760-baa896f46b66",
+            "D1": "3a14198e-d724-d378-d266-2508a224a19f",
+            "D2": "3a14198e-d724-f56e-468b-0110a8feb36a",
+            "D3": "3a14198e-d724-0cf1-dea9-a1f40fe7e13c",
+            "D4": "3a14198e-d724-0ddd-9654-f9352a421de9"
+        }
+    },
+    "试剂堆栈": {
+        "uuid": "",
+        "site_uuids": {
+            "A1": "3a14198c-c2cf-8b40-af28-b467808f1c36",
+            "A2": "3a14198c-c2d0-f3e7-871a-e470d144296f",
+            "A3": "3a14198c-c2d0-dc7d-b8d0-e1d88cee3094",
+            "A4": "3a14198c-c2d0-2070-efc8-44e245f10c6f",
+            "B1": "3a14198c-c2d0-354f-39ad-642e1a72fcb8",
+            "B2": "3a14198c-c2d0-1559-105d-0ea30682cab4",
+            "B3": "3a14198c-c2d0-725e-523d-34c037ac2440",
+            "B4": "3a14198c-c2d0-efce-0939-69ca5a7dfd39"
+        }
+    }
+}
+
+# 物料类型配置
+MATERIAL_TYPE_MAPPINGS = {
+    "烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"),
+    "试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""),
+    "样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"),
+    "分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),
+    "样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"),
+    "90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"),
+    "10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"),
+}
+
+# 步骤参数配置（各工作流的步骤UUID）
+WORKFLOW_STEP_IDS = {
+    "reactor_taken_in": {
+        "config": ""
+    },
+    "liquid_feeding_beaker": {
+        "liquid": "",
+        "observe": ""
+    },
+    "liquid_feeding_vials_non_titration": {
+        "liquid": "",
+        "observe": ""
+    },
+    "liquid_feeding_solvents": {
+        "liquid": "",
+        "observe": ""
+    },
+    "solid_feeding_vials": {
+        "feeding": "",
+        "observe": ""
+    },
+    "liquid_feeding_titration": {
+        "liquid": "",
+        "observe": ""
+    },
+    "drip_back": {
+        "liquid": "",
+        "observe": ""
+    }
+}
+
+LOCATION_MAPPING = {}
+
+ACTION_NAMES = {}
+
+HTTP_SERVICE_CONFIG = {}

unilabos/devices/workstation/bioyond_studio/config.py.deprecated

@@ -1,329 +0,0 @@
-# config.py
-"""
-Bioyond工作站配置文件
-包含API配置、工作流映射、物料类型映射、仓库库位映射等所有配置信息
-"""
-
-from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck
-
-# ============================================================================
-# 基础配置
-# ============================================================================
-
-# API配置
-API_CONFIG = {
-    "api_key": "DE9BDDA0",
-    "api_host": "http://192.168.1.200:44402"
-}
-
-# HTTP 报送服务配置
-HTTP_SERVICE_CONFIG = {
-    "http_service_host": "127.0.0.1",  # 监听地址
-    "http_service_port": 8080,        # 监听端口
-}
-
-# Deck配置 - 反应站工作台配置
-DECK_CONFIG = BIOYOND_PolymerReactionStation_Deck(setup=True)
-
-# ============================================================================
-# 工作流配置
-# ============================================================================
-
-# 工作流ID映射
-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",
-}
-
-# 工作流名称到显示名称的映射
-WORKFLOW_TO_SECTION_MAP = {
-    'reactor_taken_in': '反应器放入',
-    'reactor_taken_out': '反应器取出',
-    'Solid_feeding_vials': '固体投料-小瓶',
-    'Liquid_feeding_vials(non-titration)': '液体投料-小瓶（非滴定）',
-    'Liquid_feeding_solvents': '液体投料-溶剂',
-    'Liquid_feeding(titration)': '液体投料-滴定',
-    'liquid_feeding_beaker': '液体投料-烧杯',
-    'Drip_back': '液体回滴'
-}
-
-# 工作流步骤ID配置
-WORKFLOW_STEP_IDS = {
-    "reactor_taken_in": {
-        "config": "60a06f85-c5b3-29eb-180f-4f62dd7e2154"
-    },
-    "liquid_feeding_beaker": {
-        "liquid": "6808cda7-fee7-4092-97f0-5f9c2ffa60e3",
-        "observe": "1753c0de-dffc-4ee6-8458-805a2e227362"
-    },
-    "liquid_feeding_vials_non_titration": {
-        "liquid": "62ea6e95-3d5d-43db-bc1e-9a1802673861",
-        "observe": "3a167d99-6172-b67b-5f22-a7892197142e"
-    },
-    "liquid_feeding_solvents": {
-        "liquid": "1fcea355-2545-462b-b727-350b69a313bf",
-        "observe": "0553dfb3-9ac5-4ace-8e00-2f11029919a8"
-    },
-    "solid_feeding_vials": {
-        "feeding": "f7ae7448-4f20-4c1d-8096-df6fbadd787a",
-        "observe": "263c7ed5-7277-426b-bdff-d6fbf77bcc05"
-    },
-    "liquid_feeding_titration": {
-        "liquid": "a00ec41b-e666-4422-9c20-bfcd3cd15c54",
-        "observe": "ac738ff6-4c58-4155-87b1-d6f65a2c9ab5"
-    },
-    "drip_back": {
-        "liquid": "371be86a-ab77-4769-83e5-54580547c48a",
-        "observe": "ce024b9d-bd20-47b8-9f78-ca5ce7f44cf1"
-    }
-}
-
-# 工作流动作名称配置
-ACTION_NAMES = {
-    "reactor_taken_in": {
-        "config": "通量-配置",
-        "stirring": "反应模块-开始搅拌"
-    },
-    "solid_feeding_vials": {
-        "feeding": "粉末加样模块-投料",
-        "observe": "反应模块-观察搅拌结果"
-    },
-    "liquid_feeding_vials_non_titration": {
-        "liquid": "稀释液瓶加液位-液体投料",
-        "observe": "反应模块-滴定结果观察"
-    },
-    "liquid_feeding_solvents": {
-        "liquid": "试剂AB放置位-试剂吸液分液",
-        "observe": "反应模块-观察搅拌结果"
-    },
-    "liquid_feeding_titration": {
-        "liquid": "稀释液瓶加液位-稀释液吸液分液",
-        "observe": "反应模块-滴定结果观察"
-    },
-    "liquid_feeding_beaker": {
-        "liquid": "烧杯溶液放置位-烧杯吸液分液",
-        "observe": "反应模块-观察搅拌结果"
-    },
-    "drip_back": {
-        "liquid": "试剂AB放置位-试剂吸液分液",
-        "observe": "反应模块-向下滴定结果观察"
-    }
-}
-
-# ============================================================================
-# 仓库配置
-# ============================================================================
-# 说明:
-# - 出库和入库操作都需要UUID
-WAREHOUSE_MAPPING = {
-    # ========== 反应站仓库 ==========
-
-    # 堆栈1左 - 反应站左侧堆栈 (4行×4列=16个库位, A01～D04)
-    "堆栈1左": {
-        "uuid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
-        "site_uuids": {
-            "A01": "3a14aa17-0d49-11d7-a6e1-f236b3e5e5a3",
-            "A02": "3a14aa17-0d49-4bc5-8836-517b75473f5f",
-            "A03": "3a14aa17-0d49-c2bc-6222-5cee8d2d94f8",
-            "A04": "3a14aa17-0d49-3ce2-8e9a-008c38d116fb",
-            "B01": "3a14aa17-0d49-f49c-6b66-b27f185a3b32",
-            "B02": "3a14aa17-0d49-cf46-df85-a979c9c9920c",
-            "B03": "3a14aa17-0d49-7698-4a23-f7ffb7d48ba3",
-            "B04": "3a14aa17-0d49-1231-99be-d5870e6478e9",
-            "C01": "3a14aa17-0d49-be34-6fae-4aed9d48b70b",
-            "C02": "3a14aa17-0d49-11d7-0897-34921dcf6b7c",
-            "C03": "3a14aa17-0d49-9840-0bd5-9c63c1bb2c29",
-            "C04": "3a14aa17-0d49-8335-3bff-01da69ea4911",
-            "D01": "3a14aa17-0d49-2bea-c8e5-2b32094935d5",
-            "D02": "3a14aa17-0d49-cff4-e9e8-5f5f0bc1ef32",
-            "D03": "3a14aa17-0d49-4948-cb0a-78f30d1ca9b8",
-            "D04": "3a14aa17-0d49-fd2f-9dfb-a29b11e84099",
-        },
-    },
-
-    # 堆栈1右 - 反应站右侧堆栈 (4行×4列=16个库位, A05～D08)
-    "堆栈1右": {
-        "uuid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
-        "site_uuids": {
-            "A05": "3a14aa17-0d49-2c61-edc8-72a8ca7192dd",
-            "A06": "3a14aa17-0d49-60c8-2b00-40b17198f397",
-            "A07": "3a14aa17-0d49-ec5b-0b75-634dce8eed25",
-            "A08": "3a14aa17-0d49-3ec9-55b3-f3189c4ec53d",
-            "B05": "3a14aa17-0d49-6a4e-abcf-4c113eaaeaad",
-            "B06": "3a14aa17-0d49-e3f6-2dd6-28c2e8194fbe",
-            "B07": "3a14aa17-0d49-11a6-b861-ee895121bf52",
-            "B08": "3a14aa17-0d49-9c7d-1145-d554a6e482f0",
-            "C05": "3a14aa17-0d49-45c4-7a34-5105bc3e2368",
-            "C06": "3a14aa17-0d49-867e-39ab-31b3fe9014be",
-            "C07": "3a14aa17-0d49-ec56-c4b4-39fd9b2131e7",
-            "C08": "3a14aa17-0d49-1128-d7d9-ffb1231c98c0",
-            "D05": "3a14aa17-0d49-e843-f961-ea173326a14b",
-            "D06": "3a14aa17-0d49-4d26-a985-f188359c4f8b",
-            "D07": "3a14aa17-0d49-223a-b520-bc092bb42fe0",
-            "D08": "3a14aa17-0d49-4fa3-401a-6a444e1cca22",
-        },
-    },
-
-    # 站内试剂存放堆栈
-    "站内试剂存放堆栈": {
-        "uuid": "3a14aa3b-9fab-9d8e-d1a7-828f01f51f0c",
-        "site_uuids": {
-            "A01": "3a14aa3b-9fab-adac-7b9c-e1ee446b51d5",
-            "A02": "3a14aa3b-9fab-ca72-febc-b7c304476c78"
-        }
-    },
-
-
-    # 测量小瓶仓库（测密度）
-    "测量小瓶仓库": {
-        "uuid": "3a15012f-705b-c0de-3f9e-950c205f9921",
-        "site_uuids": {
-            "A01": "3a15012f-705e-0524-3161-c523b5aebc97",
-            "A02": "3a15012f-705e-7cd1-32ab-ad4fd1ab75c8",
-            "A03": "3a15012f-705e-a5d6-edac-bdbfec236260",
-            "B01": "3a15012f-705e-e0ee-80e0-10a6b3fc500d",
-            "B02": "3a15012f-705e-e499-180d-de06d60d0b21",
-            "B03": "3a15012f-705e-eff6-63f1-09f742096b26"
-        }
-    },
-
-    # 站内Tip盒堆栈 - 用于存放枪头盒 (耗材)
-    "站内Tip盒堆栈": {
-        "uuid": "3a14aa3a-2d3c-b5c1-9ddf-7c4a957d459a",
-        "site_uuids": {
-            "A01": "3a14aa3a-2d3d-e700-411a-0ddf85e1f18a",
-            "A02": "3a14aa3a-2d3d-a7ce-099a-d5632fdafa24",
-            "A03": "3a14aa3a-2d3d-bdf6-a702-c60b38b08501",
-            "B01": "3a14aa3a-2d3d-d704-f076-2a8d5bc72cb8",
-            "B02": "3a14aa3a-2d3d-c350-2526-0778d173a5ac",
-            "B03": "3a14aa3a-2d3d-bc38-b356-f0de2e44e0c7"
-        }
-    },
-    # ========== 配液站仓库 ==========
-    "粉末堆栈": {
-        "uuid": "3a14198e-6928-121f-7ca6-88ad3ae7e6a0",
-        "site_uuids": {
-            "A01": "3a14198e-6929-31f0-8a22-0f98f72260df",
-            "A02": "3a14198e-6929-4379-affa-9a2935c17f99",
-            "A03": "3a14198e-6929-56da-9a1c-7f5fbd4ae8af",
-            "A04": "3a14198e-6929-5e99-2b79-80720f7cfb54",
-            "B01": "3a14198e-6929-f525-9a1b-1857552b28ee",
-            "B02": "3a14198e-6929-bf98-0fd5-26e1d68bf62d",
-            "B03": "3a14198e-6929-2d86-a468-602175a2b5aa",
-            "B04": "3a14198e-6929-1a98-ae57-e97660c489ad",
-            "C01": "3a14198e-6929-46fe-841e-03dd753f1e4a",
-            "C02": "3a14198e-6929-72ac-32ce-9b50245682b8",
-            "C03": "3a14198e-6929-8a0b-b686-6f4a2955c4e2",
-            "C04": "3a14198e-6929-a0ec-5f15-c0f9f339f963",
-            "D01": "3a14198e-6929-1bc9-a9bd-3b7ca66e7f95",
-            "D02": "3a14198e-6929-3bd8-e6c7-4a9fd93be118",
-            "D03": "3a14198e-6929-dde1-fc78-34a84b71afdf",
-            "D04": "3a14198e-6929-7ac8-915a-fea51cb2e884"
-        }
-    },
-    "溶液堆栈": {
-        "uuid": "3a14198e-d723-2c13-7d12-50143e190a23",
-        "site_uuids": {
-            "A01": "3a14198e-d724-e036-afdc-2ae39a7f3383",
-            "A02": "3a14198e-d724-d818-6d4f-5725191a24b5",
-            "A03": "3a14198e-d724-b5bb-adf3-4c5a0da6fb31",
-            "A04": "3a14198e-d724-d378-d266-2508a224a19f",
-            "B01": "3a14198e-d724-afa4-fc82-0ac8a9016791",
-            "B02": "3a14198e-d724-be8a-5e0b-012675e195c6",
-            "B03": "3a14198e-d724-ab4e-48cb-817c3c146707",
-            "B04": "3a14198e-d724-f56e-468b-0110a8feb36a",
-            "C01": "3a14198e-d724-ca48-bb9e-7e85751e55b6",
-            "C02": "3a14198e-d724-cc1e-5c2c-228a130f40a8",
-            "C03": "3a14198e-d724-7f18-1853-39d0c62e1d33",
-            "C04": "3a14198e-d724-0cf1-dea9-a1f40fe7e13c",
-            "D01": "3a14198e-d724-df6d-5e32-5483b3cab583",
-            "D02": "3a14198e-d724-1e28-c885-574c3df468d0",
-            "D03": "3a14198e-d724-28a2-a760-baa896f46b66",
-            "D04": "3a14198e-d724-0ddd-9654-f9352a421de9"
-        }
-    },
-    "试剂堆栈": {
-        "uuid": "3a14198c-c2cc-0290-e086-44a428fba248",
-        "site_uuids": {
-            "A01": "3a14198c-c2cf-8b40-af28-b467808f1c36",  # x=1, y=1, code=0001-0001
-            "A02": "3a14198c-c2d0-dc7d-b8d0-e1d88cee3094",  # x=1, y=2, code=0001-0002
-            "A03": "3a14198c-c2d0-354f-39ad-642e1a72fcb8",  # x=1, y=3, code=0001-0003
-            "A04": "3a14198c-c2d0-725e-523d-34c037ac2440",  # x=1, y=4, code=0001-0004
-            "B01": "3a14198c-c2d0-f3e7-871a-e470d144296f",  # x=2, y=1, code=0001-0005
-            "B02": "3a14198c-c2d0-2070-efc8-44e245f10c6f",  # x=2, y=2, code=0001-0006
-            "B03": "3a14198c-c2d0-1559-105d-0ea30682cab4",  # x=2, y=3, code=0001-0007
-            "B04": "3a14198c-c2d0-efce-0939-69ca5a7dfd39"   # x=2, y=4, code=0001-0008
-        }
-    }
-}
-
-# ============================================================================
-# 物料类型配置
-# ============================================================================
-# 说明:
-# - 格式: PyLabRobot资源类型名称 → Bioyond系统typeId的UUID
-# - 这个映射基于 resource.model 属性 (不是显示名称!)
-# - UUID为空表示该类型暂未在Bioyond系统中定义
-MATERIAL_TYPE_MAPPINGS = {
-    # ================================================配液站资源============================================================
-    # ==================================================样品===============================================================
-    "BIOYOND_PolymerStation_1FlaskCarrier": ("烧杯", "3a14196b-24f2-ca49-9081-0cab8021bf1a"),  # 配液站-样品-烧杯
-    "BIOYOND_PolymerStation_1BottleCarrier": ("试剂瓶", "3a14196b-8bcf-a460-4f74-23f21ca79e72"),  # 配液站-样品-试剂瓶
-    "BIOYOND_PolymerStation_6StockCarrier": ("分装板", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),  # 配液站-样品-分装板
-    "BIOYOND_PolymerStation_Liquid_Vial": ("10%分装小瓶", "3a14196c-76be-2279-4e22-7310d69aed68"),  # 配液站-样品-分装板-第一排小瓶
-    "BIOYOND_PolymerStation_Solid_Vial": ("90%分装小瓶", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"),  # 配液站-样品-分装板-第二排小瓶
-    # ==================================================试剂===============================================================
-    "BIOYOND_PolymerStation_8StockCarrier": ("样品板", "3a14196e-b7a0-a5da-1931-35f3000281e9"),  # 配液站-试剂-样品板（8孔）
-    "BIOYOND_PolymerStation_Solid_Stock": ("样品瓶", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"),  # 配液站-试剂-样品板-样品瓶
-
-}
-
-# ============================================================================
-# 动态生成的库位UUID映射（从WAREHOUSE_MAPPING中提取）
-# ============================================================================
-
-LOCATION_MAPPING = {}
-for warehouse_name, warehouse_config in WAREHOUSE_MAPPING.items():
-    if "site_uuids" in warehouse_config:
-        LOCATION_MAPPING.update(warehouse_config["site_uuids"])
-
-# ============================================================================
-# 物料默认参数配置
-# ============================================================================
-# 说明:
-# - 为特定物料名称自动添加默认参数（如密度、分子量、单位等）
-# - 格式: 物料名称 → {参数字典}
-# - 在创建或更新物料时，会自动合并这些参数到 Parameters 字段
-# - unit: 物料的计量单位（会用于 unit 字段）
-# - density/densityUnit: 密度信息（会添加到 Parameters 中）
-
-MATERIAL_DEFAULT_PARAMETERS = {
-    # 溶剂类
-    "NMP": {
-        "unit": "毫升",
-        "density": "1.03",
-        "densityUnit": "g/mL",
-        "description": "N-甲基吡咯烷酮 (N-Methyl-2-pyrrolidone)"
-    },
-    # 可以继续添加其他物料...
-}
-
-# ============================================================================
-# 物料类型默认参数配置
-# ============================================================================
-# 说明:
-# - 为特定物料类型（UUID）自动添加默认参数
-# - 格式: Bioyond类型UUID → {参数字典}
-# - 优先级低于按名称匹配的配置
-MATERIAL_TYPE_PARAMETERS = {
-    # 示例:
-    # "3a14196b-24f2-ca49-9081-0cab8021bf1a": {  # 烧杯
-    #     "unit": "个"
-    # }
-}

unilabos/devices/workstation/bioyond_studio/dispensing_station.py

@@ -4,8 +4,7 @@ import time
 from typing import Optional, Dict, Any, List
 from typing_extensions import TypedDict
 import requests
-import pint
-
+from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG
 
 from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondException
 from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation
@@ -26,89 +25,13 @@ class ComputeExperimentDesignReturn(TypedDict):
 class BioyondDispensingStation(BioyondWorkstation):
     def __init__(
         self,
-        config: dict = None,
-        deck=None,
-        protocol_type=None,
+        config,
+            # 桌子
+        deck,
+        *args,
         **kwargs,
-    ):
-        """初始化配液站
-
-        Args:
-            config: 配置字典,应包含material_type_mappings等配置
-            deck: Deck对象
-            protocol_type: 协议类型(由ROS系统传递,此处忽略)
-            **kwargs: 其他可能的参数
-        """
-        if config is None:
-            config = {}
-
-        # 将 kwargs 合并到 config 中 (处理扁平化配置如 api_key)
-        config.update(kwargs)
-
-        if deck is None and config:
-            deck = config.get('deck')
-
-        # 🔧 修复: 确保 Deck 上的 warehouses 具有正确的 UUID (必须在 super().__init__ 之前执行，因为父类会触发同步)
-        # 从配置中读取 warehouse_mapping，并应用到实际的 deck 资源上
-        if config and "warehouse_mapping" in config and deck:
-            warehouse_mapping = config["warehouse_mapping"]
-            print(f"正在根据配置更新 Deck warehouse UUIDs... (共有 {len(warehouse_mapping)} 个配置)")
-
-            user_deck = deck
-            # 初始化 warehouses 字典
-            if not hasattr(user_deck, "warehouses") or user_deck.warehouses is None:
-                user_deck.warehouses = {}
-
-            # 1. 尝试从 children 中查找匹配的资源
-            for child in user_deck.children:
-                # 简单判断: 如果名字在 mapping 中，就认为是 warehouse
-                if child.name in warehouse_mapping:
-                    user_deck.warehouses[child.name] = child
-                    print(f"  - 从子资源中找到 warehouse: {child.name}")
-
-            # 2. 如果还是没找到，且 Deck 类有 setup 方法，尝试调用 setup (针对 Deck 对象正确但未初始化的情况)
-            if not user_deck.warehouses and hasattr(user_deck, "setup"):
-                print("  - 尝试调用 deck.setup() 初始化仓库...")
-                try:
-                    user_deck.setup()
-                    # setup 后重新检查
-                    if hasattr(user_deck, "warehouses") and user_deck.warehouses:
-                            print(f"  - setup() 成功，找到 {len(user_deck.warehouses)} 个仓库")
-                except Exception as e:
-                    print(f"  - 调用 setup() 失败: {e}")
-
-            # 3. 如果仍然为空，可能需要手动创建 (仅针对特定已知的 Deck 类型进行补救，这里暂时只打印警告)
-            if not user_deck.warehouses:
-                    print("  - ⚠️ 仍然无法找到任何 warehouse 资源！")
-
-            for wh_name, wh_config in warehouse_mapping.items():
-                target_uuid = wh_config.get("uuid")
-
-                # 尝试在 deck.warehouses 中查找
-                wh_resource = None
-                if hasattr(user_deck, "warehouses") and wh_name in user_deck.warehouses:
-                    wh_resource = user_deck.warehouses[wh_name]
-
-                # 如果没找到，尝试在所有子资源中查找
-                if not wh_resource:
-                    wh_resource = user_deck.get_resource(wh_name)
-
-                if wh_resource:
-                    if target_uuid:
-                        current_uuid = getattr(wh_resource, "uuid", None)
-                        print(f"✅ 更新仓库 '{wh_name}' UUID: {current_uuid} -> {target_uuid}")
-
-                        # 动态添加 uuid 属性
-                        wh_resource.uuid = target_uuid
-                        # 同时也确保 category 正确，避免 graphio 识别错误
-                        # wh_resource.category = "warehouse"
-                    else:
-                            print(f"⚠️ 仓库 '{wh_name}' 在配置中没有 UUID")
-                else:
-                    print(f"❌ 在 Deck 中未找到配置的仓库: '{wh_name}'")
-
-        super().__init__(bioyond_config=config, deck=deck)
-
+        ):
+        super().__init__(config, deck, *args, **kwargs)
         # self.config = config
         # self.api_key = config["api_key"]
         # self.host = config["api_host"]
@@ -120,41 +43,6 @@ class BioyondDispensingStation(BioyondWorkstation):
         # 用于跟踪任务完成状态的字典: {orderCode: {status, order_id, timestamp}}
         self.order_completion_status = {}
 
-        # 初始化 pint 单位注册表
-        self.ureg = pint.UnitRegistry()
-
-        # 化合物信息
-        self.compound_info = {
-            "MolWt": {
-                "MDA": 108.14 * self.ureg.g / self.ureg.mol,
-                "TDA": 122.16 * self.ureg.g / self.ureg.mol,
-                "PAPP": 521.62 * self.ureg.g / self.ureg.mol,
-                "BTDA": 322.23 * self.ureg.g / self.ureg.mol,
-                "BPDA": 294.22 * self.ureg.g / self.ureg.mol,
-                "6FAP": 366.26 * self.ureg.g / self.ureg.mol,
-                "PMDA": 218.12 * self.ureg.g / self.ureg.mol,
-                "MPDA": 108.14 * self.ureg.g / self.ureg.mol,
-                "SIDA": 248.51 * self.ureg.g / self.ureg.mol,
-                "ODA": 200.236 * self.ureg.g / self.ureg.mol,
-                "4,4'-ODA": 200.236 * self.ureg.g / self.ureg.mol,
-                "134": 292.34 * self.ureg.g / self.ureg.mol,
-            },
-            "FuncGroup": {
-                "MDA": "Amine",
-                "TDA": "Amine",
-                "PAPP": "Amine",
-                "BTDA": "Anhydride",
-                "BPDA": "Anhydride",
-                "6FAP": "Amine",
-                "MPDA": "Amine",
-                "SIDA": "Amine",
-                "PMDA": "Anhydride",
-                "ODA": "Amine",
-                "4,4'-ODA": "Amine",
-                "134": "Amine",
-            }
-        }
-
     def _post_project_api(self, endpoint: str, data: Any) -> Dict[str, Any]:
         """项目接口通用POST调用
 
@@ -166,7 +54,7 @@ class BioyondDispensingStation(BioyondWorkstation):
             dict: 服务端响应，失败时返回 {code:0,message,...}
         """
         request_data = {
-            "apiKey": self.bioyond_config["api_key"],
+            "apiKey": API_CONFIG["api_key"],
             "requestTime": self.hardware_interface.get_current_time_iso8601(),
             "data": data
         }
@@ -197,7 +85,7 @@ class BioyondDispensingStation(BioyondWorkstation):
             dict: 服务端响应，失败时返回 {code:0,message,...}
         """
         request_data = {
-            "apiKey": self.bioyond_config["api_key"],
+            "apiKey": API_CONFIG["api_key"],
             "requestTime": self.hardware_interface.get_current_time_iso8601(),
             "data": data
         }
@@ -230,22 +118,20 @@ class BioyondDispensingStation(BioyondWorkstation):
                     ratio = json.loads(ratio)
                 except Exception:
                     ratio = {}
+            root = str(Path(__file__).resolve().parents[3])
+            if root not in sys.path:
+                sys.path.append(root)
+            try:
+                mod = importlib.import_module("tem.compute")
+            except Exception as e:
+                raise BioyondException(f"无法导入计算模块: {e}")
             try:
                 wp = float(wt_percent) if isinstance(wt_percent, str) else wt_percent
                 mt = float(m_tot) if isinstance(m_tot, str) else m_tot
                 tp = float(titration_percent) if isinstance(titration_percent, str) else titration_percent
             except Exception as e:
                 raise BioyondException(f"参数解析失败: {e}")
-
-            # 2. 调用内部计算方法
-            res = self._generate_experiment_design(
-                ratio=ratio,
-                wt_percent=wp,
-                m_tot=mt,
-                titration_percent=tp
-            )
-
-            # 3. 构造返回结果
+            res = mod.generate_experiment_design(ratio=ratio, wt_percent=wp, m_tot=mt, titration_percent=tp)
             out = {
                 "solutions": res.get("solutions", []),
                 "titration": res.get("titration", {}),
@@ -254,248 +140,11 @@ class BioyondDispensingStation(BioyondWorkstation):
                 "return_info": json.dumps(res, ensure_ascii=False)
             }
             return out
-
         except BioyondException:
             raise
         except Exception as e:
             raise BioyondException(str(e))
 
-    def _generate_experiment_design(
-        self,
-        ratio: dict,
-        wt_percent: float = 0.25,
-        m_tot: float = 70,
-        titration_percent: float = 0.03,
-    ) -> dict:
-        """内部方法：生成实验设计
-
-        根据FuncGroup自动区分二胺和二酐，每种二胺单独配溶液，严格按照ratio顺序投料。
-
-        参数:
-            ratio: 化合物配比字典，格式: {"compound_name": ratio_value}
-            wt_percent: 固体重量百分比
-            m_tot: 反应混合物总质量(g)
-            titration_percent: 滴定溶液百分比
-
-        返回:
-            包含实验设计详细参数的字典
-        """
-        # 溶剂密度
-        ρ_solvent = 1.03 * self.ureg.g / self.ureg.ml
-        # 二酐溶解度
-        solubility = 0.02 * self.ureg.g / self.ureg.ml
-        # 投入固体时最小溶剂体积
-        V_min = 30 * self.ureg.ml
-        m_tot = m_tot * self.ureg.g
-
-        # 保持ratio中的顺序
-        compound_names = list(ratio.keys())
-        compound_ratios = list(ratio.values())
-
-        # 验证所有化合物是否在 compound_info 中定义
-        undefined_compounds = [name for name in compound_names if name not in self.compound_info["MolWt"]]
-        if undefined_compounds:
-            available = list(self.compound_info["MolWt"].keys())
-            raise ValueError(
-                f"以下化合物未在 compound_info 中定义: {undefined_compounds}。"
-                f"可用的化合物: {available}"
-            )
-
-        # 获取各化合物的分子量和官能团类型
-        molecular_weights = [self.compound_info["MolWt"][name] for name in compound_names]
-        func_groups = [self.compound_info["FuncGroup"][name] for name in compound_names]
-
-        # 记录化合物信息用于调试
-        self.hardware_interface._logger.info(f"化合物名称: {compound_names}")
-        self.hardware_interface._logger.info(f"官能团类型: {func_groups}")
-
-        # 按原始顺序分离二胺和二酐
-        ordered_compounds = list(zip(compound_names, compound_ratios, molecular_weights, func_groups))
-        diamine_compounds = [(name, ratio_val, mw, i) for i, (name, ratio_val, mw, fg) in enumerate(ordered_compounds) if fg == "Amine"]
-        anhydride_compounds = [(name, ratio_val, mw, i) for i, (name, ratio_val, mw, fg) in enumerate(ordered_compounds) if fg == "Anhydride"]
-
-        if not diamine_compounds or not anhydride_compounds:
-            raise ValueError(
-                f"需要同时包含二胺(Amine)和二酐(Anhydride)化合物。"
-                f"当前二胺: {[c[0] for c in diamine_compounds]}, "
-                f"当前二酐: {[c[0] for c in anhydride_compounds]}"
-            )
-
-        # 计算加权平均分子量 (基于摩尔比)
-        total_molar_ratio = sum(compound_ratios)
-        weighted_molecular_weight = sum(ratio_val * mw for ratio_val, mw in zip(compound_ratios, molecular_weights))
-
-        # 取最后一个二酐用于滴定
-        titration_anhydride = anhydride_compounds[-1]
-        solid_anhydrides = anhydride_compounds[:-1] if len(anhydride_compounds) > 1 else []
-
-        # 二胺溶液配制参数 - 每种二胺单独配制
-        diamine_solutions = []
-        total_diamine_volume = 0 * self.ureg.ml
-
-        # 计算反应物的总摩尔量
-        n_reactant = m_tot * wt_percent / weighted_molecular_weight
-
-        for name, ratio_val, mw, order_index in diamine_compounds:
-            # 跳过 SIDA
-            if name == "SIDA":
-                continue
-
-            # 计算该二胺需要的摩尔数
-            n_diamine_needed = n_reactant * ratio_val
-
-            # 二胺溶液配制参数 (每种二胺固定配制参数)
-            m_diamine_solid = 5.0 * self.ureg.g  # 每种二胺固体质量
-            V_solvent_for_this = 20 * self.ureg.ml  # 每种二胺溶剂体积
-            m_solvent_for_this = ρ_solvent * V_solvent_for_this
-
-            # 计算该二胺溶液的浓度
-            c_diamine = (m_diamine_solid / mw) / V_solvent_for_this
-
-            # 计算需要移取的溶液体积
-            V_diamine_needed = n_diamine_needed / c_diamine
-
-            diamine_solutions.append({
-                "name": name,
-                "order": order_index,
-                "solid_mass": m_diamine_solid.magnitude,
-                "solvent_volume": V_solvent_for_this.magnitude,
-                "concentration": c_diamine.magnitude,
-                "volume_needed": V_diamine_needed.magnitude,
-                "molar_ratio": ratio_val
-            })
-
-            total_diamine_volume += V_diamine_needed
-
-        # 按原始顺序排序
-        diamine_solutions.sort(key=lambda x: x["order"])
-
-        # 计算滴定二酐的质量
-        titration_name, titration_ratio, titration_mw, _ = titration_anhydride
-        m_titration_anhydride = n_reactant * titration_ratio * titration_mw
-        m_titration_90 = m_titration_anhydride * (1 - titration_percent)
-        m_titration_10 = m_titration_anhydride * titration_percent
-
-        # 计算其他固体二酐的质量 (按顺序)
-        solid_anhydride_masses = []
-        for name, ratio_val, mw, order_index in solid_anhydrides:
-            mass = n_reactant * ratio_val * mw
-            solid_anhydride_masses.append({
-                "name": name,
-                "order": order_index,
-                "mass": mass.magnitude,
-                "molar_ratio": ratio_val
-            })
-
-        # 按原始顺序排序
-        solid_anhydride_masses.sort(key=lambda x: x["order"])
-
-        # 计算溶剂用量
-        total_diamine_solution_mass = sum(
-            sol["volume_needed"] * ρ_solvent for sol in diamine_solutions
-        ) * self.ureg.ml
-
-        # 预估滴定溶剂量、计算补加溶剂量
-        m_solvent_titration = m_titration_10 / solubility * ρ_solvent
-        m_solvent_add = m_tot * (1 - wt_percent) - total_diamine_solution_mass - m_solvent_titration
-
-        # 检查最小溶剂体积要求
-        total_liquid_volume = (total_diamine_solution_mass + m_solvent_add) / ρ_solvent
-        m_tot_min = V_min / total_liquid_volume * m_tot
-
-        # 如果需要，按比例放大
-        scale_factor = 1.0
-        if m_tot_min > m_tot:
-            scale_factor = (m_tot_min / m_tot).magnitude
-            m_titration_90 *= scale_factor
-            m_titration_10 *= scale_factor
-            m_solvent_add *= scale_factor
-            m_solvent_titration *= scale_factor
-
-            # 更新二胺溶液用量
-            for sol in diamine_solutions:
-                sol["volume_needed"] *= scale_factor
-
-            # 更新固体二酐用量
-            for anhydride in solid_anhydride_masses:
-                anhydride["mass"] *= scale_factor
-
-            m_tot = m_tot_min
-
-        # 生成投料顺序
-        feeding_order = []
-
-        # 1. 固体二酐 (按顺序)
-        for anhydride in solid_anhydride_masses:
-            feeding_order.append({
-                "step": len(feeding_order) + 1,
-                "type": "solid_anhydride",
-                "name": anhydride["name"],
-                "amount": anhydride["mass"],
-                "order": anhydride["order"]
-            })
-
-        # 2. 二胺溶液 (按顺序)
-        for sol in diamine_solutions:
-            feeding_order.append({
-                "step": len(feeding_order) + 1,
-                "type": "diamine_solution",
-                "name": sol["name"],
-                "amount": sol["volume_needed"],
-                "order": sol["order"]
-            })
-
-        # 3. 主要二酐粉末
-        feeding_order.append({
-            "step": len(feeding_order) + 1,
-            "type": "main_anhydride",
-            "name": titration_name,
-            "amount": m_titration_90.magnitude,
-            "order": titration_anhydride[3]
-        })
-
-        # 4. 补加溶剂
-        if m_solvent_add > 0:
-            feeding_order.append({
-                "step": len(feeding_order) + 1,
-                "type": "additional_solvent",
-                "name": "溶剂",
-                "amount": m_solvent_add.magnitude,
-                "order": 999
-            })
-
-        # 5. 滴定二酐溶液
-        feeding_order.append({
-            "step": len(feeding_order) + 1,
-            "type": "titration_anhydride",
-            "name": f"{titration_name} 滴定液",
-            "amount": m_titration_10.magnitude,
-            "titration_solvent": m_solvent_titration.magnitude,
-            "order": titration_anhydride[3]
-        })
-
-        # 返回实验设计结果
-        results = {
-            "total_mass": m_tot.magnitude,
-            "scale_factor": scale_factor,
-            "solutions": diamine_solutions,
-            "solids": solid_anhydride_masses,
-            "titration": {
-                "name": titration_name,
-                "main_portion": m_titration_90.magnitude,
-                "titration_portion": m_titration_10.magnitude,
-                "titration_solvent": m_solvent_titration.magnitude,
-            },
-            "solvents": {
-                "additional_solvent": m_solvent_add.magnitude,
-                "total_liquid_volume": total_liquid_volume.magnitude
-            },
-            "feeding_order": feeding_order,
-            "minimum_required_mass": m_tot_min.magnitude
-        }
-
-        return results
-
     # 90%10%小瓶投料任务创建方法
     def create_90_10_vial_feeding_task(self,
                                        order_name: str = None,
@@ -1312,108 +961,6 @@ class BioyondDispensingStation(BioyondWorkstation):
             'actualVolume': actual_volume
         }
 
-    def _simplify_report(self, report) -> Dict[str, Any]:
-        """简化实验报告，只保留关键信息，去除冗余的工作流参数"""
-        if not isinstance(report, dict):
-            return report
-
-        data = report.get('data', {})
-        if not isinstance(data, dict):
-            return report
-
-        # 提取关键信息
-        simplified = {
-            'name': data.get('name'),
-            'code': data.get('code'),
-            'requester': data.get('requester'),
-            'workflowName': data.get('workflowName'),
-            'workflowStep': data.get('workflowStep'),
-            'requestTime': data.get('requestTime'),
-            'startPreparationTime': data.get('startPreparationTime'),
-            'completeTime': data.get('completeTime'),
-            'useTime': data.get('useTime'),
-            'status': data.get('status'),
-            'statusName': data.get('statusName'),
-        }
-
-        # 提取物料信息（简化版）
-        pre_intakes = data.get('preIntakes', [])
-        if pre_intakes and isinstance(pre_intakes, list):
-            first_intake = pre_intakes[0]
-            sample_materials = first_intake.get('sampleMaterials', [])
-
-            # 简化物料信息
-            simplified_materials = []
-            for material in sample_materials:
-                if isinstance(material, dict):
-                    mat_info = {
-                        'materialName': material.get('materialName'),
-                        'materialTypeName': material.get('materialTypeName'),
-                        'materialCode': material.get('materialCode'),
-                        'materialLocation': material.get('materialLocation'),
-                    }
-
-                    # 解析parameters中的关键信息（如密度、加料历史等）
-                    params_str = material.get('parameters', '{}')
-                    try:
-                        params = json.loads(params_str) if isinstance(params_str, str) else params_str
-                        if isinstance(params, dict):
-                            # 只保留关键参数
-                            if 'density' in params:
-                                mat_info['density'] = params['density']
-                            if 'feedingHistory' in params:
-                                mat_info['feedingHistory'] = params['feedingHistory']
-                            if 'liquidVolume' in params:
-                                mat_info['liquidVolume'] = params['liquidVolume']
-                            if 'm_diamine_tot' in params:
-                                mat_info['m_diamine_tot'] = params['m_diamine_tot']
-                            if 'wt_diamine' in params:
-                                mat_info['wt_diamine'] = params['wt_diamine']
-                    except:
-                        pass
-
-                    simplified_materials.append(mat_info)
-
-            simplified['sampleMaterials'] = simplified_materials
-
-            # 提取extraProperties中的实际值
-            extra_props = first_intake.get('extraProperties', {})
-            if isinstance(extra_props, dict):
-                simplified_extra = {}
-                for key, value in extra_props.items():
-                    try:
-                        parsed_value = json.loads(value) if isinstance(value, str) else value
-                        simplified_extra[key] = parsed_value
-                    except:
-                        simplified_extra[key] = value
-                simplified['extraProperties'] = simplified_extra
-
-        return {
-            'data': simplified,
-            'code': report.get('code'),
-            'message': report.get('message'),
-            'timestamp': report.get('timestamp')
-        }
-
-    def scheduler_start(self) -> dict:
-        """启动调度器 - 启动Bioyond工作站的任务调度器，开始执行队列中的任务
-
-        Returns:
-            dict: 包含return_info的字典，return_info为整型(1=成功)
-
-        Raises:
-            BioyondException: 调度器启动失败时抛出异常
-        """
-        result = self.hardware_interface.scheduler_start()
-        self.hardware_interface._logger.info(f"调度器启动结果: {result}")
-
-        if result != 1:
-            error_msg = "启动调度器失败: 有未处理错误，调度无法启动。请检查Bioyond系统状态。"
-            self.hardware_interface._logger.error(error_msg)
-            raise BioyondException(error_msg)
-
-        return {"return_info": result}
-
     # 等待多个任务完成并获取实验报告
     def wait_for_multiple_orders_and_get_reports(self,
                                                   batch_create_result: str = None,
@@ -1455,12 +1002,7 @@ class BioyondDispensingStation(BioyondWorkstation):
 
             # 验证batch_create_result参数
             if not batch_create_result or batch_create_result == "":
-                raise BioyondException(
-                    "batch_create_result参数为空，请确保:\n"
-                    "1. batch_create节点与wait节点之间正确连接了handle\n"
-                    "2. batch_create节点成功执行并返回了结果\n"
-                    "3. 检查上游batch_create任务是否成功创建了订单"
-                )
+                raise BioyondException("batch_create_result参数为空，请确保从batch_create节点正确连接handle")
 
             # 解析batch_create_result JSON对象
             try:
@@ -1489,17 +1031,7 @@ class BioyondDispensingStation(BioyondWorkstation):
 
             # 验证提取的数据
             if not order_codes:
-                self.hardware_interface._logger.error(
-                    f"batch_create任务未生成任何订单。batch_create_result内容: {batch_create_result}"
-                )
-                raise BioyondException(
-                    "batch_create_result中未找到order_codes或为空。\n"
-                    "可能的原因:\n"
-                    "1. batch_create任务执行失败（检查任务是否报错）\n"
-                    "2. 物料配置问题（如'物料样品板分配失败'）\n"
-                    "3. Bioyond系统状态异常\n"
-                    f"请检查batch_create任务的执行结果"
-                )
+                raise BioyondException("batch_create_result中未找到order_codes字段或为空")
             if not order_ids:
                 raise BioyondException("batch_create_result中未找到order_ids字段或为空")
 
@@ -1582,8 +1114,6 @@ class BioyondDispensingStation(BioyondWorkstation):
                                 self.hardware_interface._logger.info(
                                     f"成功获取任务 {order_code} 的实验报告"
                                 )
-                                # 简化报告，去除冗余信息
-                                report = self._simplify_report(report)
 
                             reports.append({
                                 "order_code": order_code,
@@ -1758,7 +1288,7 @@ class BioyondDispensingStation(BioyondWorkstation):
                 f"开始执行批量物料转移: {len(transfer_groups)}组任务 -> {target_device_id}"
             )
 
-            warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})
+            from .config import WAREHOUSE_MAPPING
             results = []
             successful_count = 0
             failed_count = 0

unilabos/devices/workstation/bioyond_studio/station.py

@@ -6,7 +6,6 @@ Bioyond Workstation Implementation
 """
 import time
 import traceback
-import threading
 from datetime import datetime
 from typing import Dict, Any, List, Optional, Union
 import json
@@ -24,94 +23,12 @@ from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
 from unilabos.ros.msgs.message_converter import convert_to_ros_msg, Float64, String
 from pylabrobot.resources.resource import Resource as ResourcePLR
 
-
+from unilabos.devices.workstation.bioyond_studio.config import (
+    API_CONFIG, WORKFLOW_MAPPINGS, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING, HTTP_SERVICE_CONFIG
+)
 from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
 
 
-class ConnectionMonitor:
-    """Bioyond连接监控器"""
-    def __init__(self, workstation, check_interval=30):
-        self.workstation = workstation
-        self.check_interval = check_interval
-        self._running = False
-        self._thread = None
-        self._last_status = "unknown"
-
-    def start(self):
-        if self._running:
-            return
-        self._running = True
-        self._thread = threading.Thread(target=self._monitor_loop, daemon=True, name="BioyondConnectionMonitor")
-        self._thread.start()
-        logger.info("Bioyond连接监控器已启动")
-
-    def stop(self):
-        self._running = False
-        if self._thread:
-            self._thread.join(timeout=2)
-            logger.info("Bioyond连接监控器已停止")
-
-    def _monitor_loop(self):
-        while self._running:
-            try:
-                # 使用 lightweight API 检查连接
-                # query_matial_type_list 是比较快的查询
-                start_time = time.time()
-                result = self.workstation.hardware_interface.material_type_list()
-
-                status = "online" if result else "offline"
-                msg = "Connection established" if status == "online" else "Failed to get material type list"
-
-                if status != self._last_status:
-                    logger.info(f"Bioyond连接状态变更: {self._last_status} -> {status}")
-                    self._publish_event(status, msg)
-                    self._last_status = status
-
-                # 发布心跳 (可选，或者只在状态变更时发布)
-                # self._publish_event(status, msg)
-
-            except Exception as e:
-                logger.error(f"Bioyond连接检查异常: {e}")
-                if self._last_status != "error":
-                    self._publish_event("error", str(e))
-                    self._last_status = "error"
-
-            time.sleep(self.check_interval)
-
-    def _publish_event(self, status, message):
-        try:
-            if hasattr(self.workstation, "_ros_node") and self.workstation._ros_node:
-                event_data = {
-                    "status": status,
-                    "message": message,
-                    "timestamp": datetime.now().isoformat()
-                }
-
-                # 动态发布消息，需要在 ROS2DeviceNode 中有对应支持
-                # 这里假设通用事件发布机制，使用 String 类型的 topic
-                # 话题: /<namespace>/events/device_status
-                ns = self.workstation._ros_node.namespace
-                topic = f"{ns}/events/device_status"
-
-                # 使用 ROS2DeviceNode 的发布功能
-                # 如果没有预定义的 publisher，需要动态创建
-                # 注意：workstation base node 可能没有自动创建 arbitrary publishers 的机制
-                # 这里我们先尝试用 String json 发布
-
-                # 在 ROS2DeviceNode 中通常需要先 create_publisher
-                # 为了简单起见，我们检查是否已有 publisher，没有则创建
-                if not hasattr(self.workstation, "_device_status_pub"):
-                    self.workstation._device_status_pub = self.workstation._ros_node.create_publisher(
-                        String, topic, 10
-                    )
-
-                self.workstation._device_status_pub.publish(
-                    convert_to_ros_msg(String, json.dumps(event_data, ensure_ascii=False))
-                )
-        except Exception as e:
-            logger.error(f"发布设备状态事件失败: {e}")
-
-
 class BioyondResourceSynchronizer(ResourceSynchronizer):
     """Bioyond资源同步器
 
@@ -257,8 +174,9 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
             else:
                 logger.info(f"[同步→Bioyond] ➕ 物料不存在于 Bioyond，将创建新物料并入库")
 
-            # 第1步：从配置中获取仓库配置
-            warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})
+            # 第1步：获取仓库配置
+            from .config import WAREHOUSE_MAPPING
+            warehouse_mapping = WAREHOUSE_MAPPING
 
             # 确定目标仓库名称
             parent_name = None
@@ -320,20 +238,14 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
             # 第2步：转换为 Bioyond 格式
             logger.info(f"[同步→Bioyond] 🔄 转换物料为 Bioyond 格式...")
 
-            # 从配置中获取物料默认参数
-            material_default_params = self.workstation.bioyond_config.get("material_default_parameters", {})
-            material_type_params = self.workstation.bioyond_config.get("material_type_parameters", {})
-
-            # 合并参数配置：物料名称参数 + typeId参数（转换为 type:<uuid> 格式）
-            merged_params = material_default_params.copy()
-            for type_id, params in material_type_params.items():
-                merged_params[f"type:{type_id}"] = params
+            # 导入物料默认参数配置
+            from .config import MATERIAL_DEFAULT_PARAMETERS
 
             bioyond_material = resource_plr_to_bioyond(
                 [resource],
                 type_mapping=self.workstation.bioyond_config["material_type_mappings"],
                 warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"],
-                material_params=merged_params
+                material_params=MATERIAL_DEFAULT_PARAMETERS
             )[0]
 
             logger.info(f"[同步→Bioyond] 🔧 准备覆盖locations字段，目标仓库: {parent_name}, 库位: {update_site}, UUID: {target_location_uuid[:8]}...")
@@ -556,20 +468,13 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
                 return material_bioyond_id
 
             # 转换为 Bioyond 格式
-            # 从配置中获取物料默认参数
-            material_default_params = self.workstation.bioyond_config.get("material_default_parameters", {})
-            material_type_params = self.workstation.bioyond_config.get("material_type_parameters", {})
-
-            # 合并参数配置：物料名称参数 + typeId参数（转换为 type:<uuid> 格式）
-            merged_params = material_default_params.copy()
-            for type_id, params in material_type_params.items():
-                merged_params[f"type:{type_id}"] = params
+            from .config import MATERIAL_DEFAULT_PARAMETERS
 
             bioyond_material = resource_plr_to_bioyond(
                 [resource],
                 type_mapping=self.workstation.bioyond_config["material_type_mappings"],
                 warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"],
-                material_params=merged_params
+                material_params=MATERIAL_DEFAULT_PARAMETERS
             )[0]
 
             # ⚠️ 关键：创建物料时不设置 locations，让 Bioyond 系统暂不分配库位
@@ -623,7 +528,8 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
             logger.info(f"[物料入库] 目标库位: {update_site}")
 
             # 获取仓库配置和目标库位 UUID
-            warehouse_mapping = self.workstation.bioyond_config.get("warehouse_mapping", {})
+            from .config import WAREHOUSE_MAPPING
+            warehouse_mapping = WAREHOUSE_MAPPING
 
             parent_name = None
             target_location_uuid = None
@@ -678,44 +584,6 @@ class BioyondWorkstation(WorkstationBase):
     集成Bioyond物料管理的工作站实现
     """
 
-    def _publish_task_status(
-        self,
-        task_id: str,
-        task_type: str,
-        status: str,
-        result: dict = None,
-        progress: float = 0.0,
-        task_code: str = None
-    ):
-        """发布任务状态事件"""
-        try:
-            if not getattr(self, "_ros_node", None):
-                return
-
-            event_data = {
-                "task_id": task_id,
-                "task_code": task_code,
-                "task_type": task_type,
-                "status": status,
-                "progress": progress,
-                "timestamp": datetime.now().isoformat()
-            }
-            if result:
-                event_data["result"] = result
-
-            topic = f"{self._ros_node.namespace}/events/task_status"
-
-            if not hasattr(self, "_task_status_pub"):
-                self._task_status_pub = self._ros_node.create_publisher(
-                    String, topic, 10
-                )
-
-            self._task_status_pub.publish(
-                convert_to_ros_msg(String, json.dumps(event_data, ensure_ascii=False))
-            )
-        except Exception as e:
-            logger.error(f"发布任务状态事件失败: {e}")
-
     def __init__(
         self,
         bioyond_config: Optional[Dict[str, Any]] = None,
@@ -737,28 +605,10 @@ class BioyondWorkstation(WorkstationBase):
             raise ValueError("Deck 配置不能为空，请在配置文件中添加正确的 deck 配置")
 
         # 初始化 warehouses 属性
-        if not hasattr(self.deck, "warehouses") or self.deck.warehouses is None:
-            self.deck.warehouses = {}
-
-        # 仅当 warehouses 为空时尝试重新扫描（避免覆盖子类的修复）
-        if not self.deck.warehouses:
-            for resource in self.deck.children:
-                # 兼容性增强: 只要是仓库类别或者是 WareHouse 实例均可
-                is_warehouse = isinstance(resource, WareHouse) or getattr(resource, "category", "") == "warehouse"
-
-                # 如果配置中有定义，也可以认定为 warehouse
-                if not is_warehouse and "warehouse_mapping" in bioyond_config:
-                    if resource.name in bioyond_config["warehouse_mapping"]:
-                        is_warehouse = True
-
-                if is_warehouse:
-                    self.deck.warehouses[resource.name] = resource
-                    # 确保 category 被正确设置，方便后续使用
-                    if getattr(resource, "category", "") != "warehouse":
-                        try:
-                            resource.category = "warehouse"
-                        except:
-                            pass
+        self.deck.warehouses = {}
+        for resource in self.deck.children:
+            if isinstance(resource, WareHouse):
+                self.deck.warehouses[resource.name] = resource
 
         # 创建通信模块
         self._create_communication_module(bioyond_config)
@@ -777,22 +627,18 @@ class BioyondWorkstation(WorkstationBase):
             self._set_workflow_mappings(bioyond_config["workflow_mappings"])
 
         # 准备 HTTP 报送接收服务配置（延迟到 post_init 启动）
-        # 从 bioyond_config 中的 http_service_config 获取
-        http_service_cfg = bioyond_config.get("http_service_config", {})
+        # 从 bioyond_config 中获取，如果没有则使用 HTTP_SERVICE_CONFIG 的默认值
         self._http_service_config = {
-            "host": http_service_cfg.get("http_service_host", "127.0.0.1"),
-            "port": http_service_cfg.get("http_service_port", 8080)
+            "host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG["http_service_host"]),
+            "port": bioyond_config.get("http_service_port", HTTP_SERVICE_CONFIG["http_service_port"])
         }
-        self.http_service = None  # 将在 post_init 启动
-        self.connection_monitor = None # 将在 post_init 启动
+        self.http_service = None  # 将在 post_init 中启动
 
         logger.info(f"Bioyond工作站初始化完成")
 
     def __del__(self):
         """析构函数：清理资源，停止 HTTP 服务"""
         try:
-            if hasattr(self, 'connection_monitor') and self.connection_monitor:
-                self.connection_monitor.stop()
             if hasattr(self, 'http_service') and self.http_service is not None:
                 logger.info("正在停止 HTTP 报送服务...")
                 self.http_service.stop()
@@ -802,19 +648,8 @@ class BioyondWorkstation(WorkstationBase):
     def post_init(self, ros_node: ROS2WorkstationNode):
         self._ros_node = ros_node
 
-        # 启动连接监控
-        try:
-            self.connection_monitor = ConnectionMonitor(self)
-            self.connection_monitor.start()
-        except Exception as e:
-            logger.error(f"启动连接监控失败: {e}")
-
         # 启动 HTTP 报送接收服务（现在 device_id 已可用）
-        # ⚠️ 检查子类是否已经自己管理 HTTP 服务
-        if self.bioyond_config.get("_disable_auto_http_service"):
-            logger.info("🔧 检测到 _disable_auto_http_service 标志，跳过自动启动 HTTP 服务")
-            logger.info("   子类（BioyondCellWorkstation）已自行管理 HTTP 服务")
-        elif hasattr(self, '_http_service_config'):
+        if hasattr(self, '_http_service_config'):
             try:
                 self.http_service = WorkstationHTTPService(
                     workstation_instance=self,
@@ -853,14 +688,19 @@ class BioyondWorkstation(WorkstationBase):
 
     def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
         """创建Bioyond通信模块"""
-        # 直接使用传入的配置，不再使用默认值
-        # 所有配置必须从 JSON 文件中提供
+        # 创建默认配置
+        default_config = {
+            **API_CONFIG,
+            "workflow_mappings": WORKFLOW_MAPPINGS,
+            "material_type_mappings": MATERIAL_TYPE_MAPPINGS,
+            "warehouse_mapping": WAREHOUSE_MAPPING
+        }
+
+        # 如果传入了 config，合并配置（config 中的值会覆盖默认值）
         if config:
-            self.bioyond_config = config
+            self.bioyond_config = {**default_config, **config}
         else:
-            # 如果没有配置，使用空字典（会导致后续错误，但这是预期的）
-            self.bioyond_config = {}
-            print("警告: 未提供 bioyond_config，请确保在 JSON 配置文件中提供完整配置")
+            self.bioyond_config = default_config
 
         self.hardware_interface = BioyondV1RPC(self.bioyond_config)
 
@@ -1174,15 +1014,7 @@ class BioyondWorkstation(WorkstationBase):
 
         workflow_id = self._get_workflow(actual_workflow_name)
         if workflow_id:
-            # 兼容 BioyondReactionStation 中 workflow_sequence 被重写为 property 的情况
-            if isinstance(self.workflow_sequence, list):
-                self.workflow_sequence.append(workflow_id)
-            elif hasattr(self, "_cached_workflow_sequence") and isinstance(self._cached_workflow_sequence, list):
-                self._cached_workflow_sequence.append(workflow_id)
-            else:
-                print(f"❌ 无法添加工作流: workflow_sequence 类型错误 {type(self.workflow_sequence)}")
-                return False
-
+            self.workflow_sequence.append(workflow_id)
             print(f"添加工作流到执行顺序: {actual_workflow_name} -> {workflow_id}")
             return True
         return False
@@ -1383,22 +1215,6 @@ class BioyondWorkstation(WorkstationBase):
             # TODO: 根据实际业务需求处理步骤完成逻辑
             # 例如：更新数据库、触发后续流程等
 
-            # 发布任务状态事件 (running/progress update)
-            self._publish_task_status(
-                task_id=data.get('orderCode'), # 使用 OrderCode 作为关联 ID
-                task_code=data.get('orderCode'),
-                task_type="bioyond_step",
-                status="running",
-                progress=0.5, # 步骤完成视为任务进行中
-                result={"step_name": data.get('stepName'), "step_id": data.get('stepId')}
-            )
-
-            # 更新物料信息
-            # 步骤完成后，物料状态可能发生变化（如位置、用量等），触发同步
-            logger.info(f"[步骤完成报送] 触发物料同步...")
-            self.resource_synchronizer.sync_from_external()
-
-
             return {
                 "processed": True,
                 "step_id": data.get('stepId'),
@@ -1433,17 +1249,6 @@ class BioyondWorkstation(WorkstationBase):
 
             # TODO: 根据实际业务需求处理通量完成逻辑
 
-            # 发布任务状态事件
-            self._publish_task_status(
-                task_id=data.get('orderCode'),
-                task_code=data.get('orderCode'),
-                task_type="bioyond_sample",
-                status="running",
-                progress=0.7,
-                result={"sample_id": data.get('sampleId'), "status": status_desc}
-            )
-
-
             return {
                 "processed": True,
                 "sample_id": data.get('sampleId'),
@@ -1483,32 +1288,6 @@ class BioyondWorkstation(WorkstationBase):
             # TODO: 根据实际业务需求处理任务完成逻辑
             # 例如：更新物料库存、生成报表等
 
-            # 映射状态到事件状态
-            event_status = "completed"
-            if str(data.get('status')) in ["-11", "-12"]:
-                event_status = "error"
-            elif str(data.get('status')) == "30":
-                event_status = "completed"
-            else:
-                event_status = "running" # 其他状态视为运行中（或根据实际定义）
-
-            # 发布任务状态事件
-            self._publish_task_status(
-                task_id=data.get('orderCode'),
-                task_code=data.get('orderCode'),
-                task_type="bioyond_order",
-                status=event_status,
-                progress=1.0 if event_status in ["completed", "error"] else 0.9,
-                result={"order_name": data.get('orderName'), "status": status_desc, "materials_count": len(used_materials)}
-            )
-
-            # 更新物料信息
-            # 任务完成后，且状态为完成时，触发同步以更新最终物料状态
-            if event_status == "completed":
-                logger.info(f"[任务完成报送] 触发物料同步...")
-                self.resource_synchronizer.sync_from_external()
-
-
             return {
                 "processed": True,
                 "order_code": data.get('orderCode'),

unilabos/devices/workstation/coin_cell_assembly/20251230_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/20260113_物料搜寻确认弹窗自动处理功能.md

@@ -1,352 +0,0 @@
-# 2026-01-13 物料搜寻确认弹窗自动处理功能
-
-## 概述
-
-本次更新为设备初始化流程添加了**物料搜寻确认弹窗自动检测与处理功能**。在设备初始化过程中，PLC 会弹出物料搜寻确认对话框，现在系统可以根据用户参数自动点击"是"或"否"按钮，无需手动干预。
-
-## 背景问题
-
-### 原有流程
-1. 调用 `func_pack_device_init_auto_start_combined()` 初始化设备
-2. PLC 在初始化过程中弹出物料搜寻确认对话框
-3. **需要人工手动点击**"是"或"否"按钮
-4. PLC 继续完成初始化并启动
-
-### 存在的问题
-- 需要人工干预，无法实现全自动化
-- 影响批量生产效率
-- 容易遗忘点击导致流程卡住
-
-## 解决方案
-
-### 新增 Modbus 地址配置
-
-在 `coin_cell_assembly_b.csv` 第 69-71 行添加三个 coil：
-
-| Name | DeviceType | Address | 说明 |
-|------|-----------|---------|------|
-| COIL_MATERIAL_SEARCH_DIALOG_APPEAR | coil | 6470 | 物料搜寻确认弹窗画面是否出现 |
-| COIL_MATERIAL_SEARCH_CONFIRM_YES | coil | 6480 | 初始化物料搜寻确认按钮"是" |
-| COIL_MATERIAL_SEARCH_CONFIRM_NO | coil | 6490 | 初始化物料搜寻确认按钮"否" |
-
-**Modbus 地址转换：**
-- CSV 6470 → Modbus 5176 (弹窗出现)
-- CSV 6480 → Modbus 5184 (按钮"是")
-- CSV 6490 → Modbus 5192 (按钮"否")
-
-## 代码修改详情
-
-### 1. coin_cell_assembly.py
-
-#### 1.1 新增辅助方法 `_handle_material_search_dialog()`
-
-**位置：** 第 799-901 行
-
-**功能：**
-- 监测物料搜寻确认弹窗是否出现（Coil 5176）
-- 根据 `enable_search` 参数自动点击对应按钮
-- 使用**脉冲模式**模拟真实按钮操作：`True` → 保持 0.5 秒 → `False`
-
-**参数：**
-- `enable_search: bool` - True=点击"是"(启用物料搜寻), False=点击"否"(不启用)
-- `timeout: int = 30` - 等待弹窗出现的最大时间（秒）
-
-**逻辑流程：**
-```python
-1. 监测 COIL_MATERIAL_SEARCH_DIALOG_APPEAR (每 0.5 秒检查一次)
-2. 检测到弹窗出现 (Coil = True)
-3. 选择按钮：
-   - enable_search=True  → COIL_MATERIAL_SEARCH_CONFIRM_YES
-   - enable_search=False → COIL_MATERIAL_SEARCH_CONFIRM_NO
-4. 执行脉冲操作：
-   - 写入 True (按下按钮)
-   - 等待 0.5 秒
-   - 写入 False (释放按钮)
-   - 验证状态
-```
-
-#### 1.2 修改 `func_pack_device_init_auto_start_combined()`
-
-**位置：** 第 904-1115 行
-
-**主要改动：**
-
-1. **添加新参数**
-   ```python
-   def func_pack_device_init_auto_start_combined(
-       self, 
-       material_search_enable: bool = False  # 新增参数
-   ) -> bool:
-   ```
-
-2. **内联初始化逻辑并集成弹窗检测**
-   - 不再调用 `self.func_pack_device_init()`
-   - 将初始化逻辑直接实现在函数内
-   - **在等待初始化完成的循环中实时检测弹窗**
-   - 避免死锁：PLC 等待弹窗确认 ↔ 代码等待初始化完成
-
-3. **关键代码片段**
-   ```python
-   # 等待初始化完成，同时检测物料搜寻弹窗
-   while (self._sys_init_status()) == False:
-       # 检查超时
-       if time.time() - start_wait > max_wait_time:
-           raise RuntimeError(f"初始化超时")
-       
-       # 如果还没处理弹窗，检测弹窗是否出现
-       if not dialog_handled:
-           dialog_state = self.client.use_node('COIL_MATERIAL_SEARCH_DIALOG_APPEAR').read(1)
-           if dialog_actual:  # 弹窗出现
-               # 执行脉冲按钮点击
-               button_node.write(True)   # 按下
-               time.sleep(0.5)            # 保持
-               button_node.write(False)   # 释放
-               dialog_handled = True
-       
-       time.sleep(1)
-   ```
-
-4. **步骤调整**
-   - 步骤 0: 前置条件检查
-   - 步骤 1: 设备初始化（**包含弹窗检测**）
-   - 步骤 1.5: 已在步骤 1 中完成
-   - 步骤 2: 切换自动模式
-   - 步骤 3: 启动设备
-
-### 2. coin_cell_workstation.yaml
-
-**位置：** 第 292-312 行
-
-**修改内容：**
-
-```yaml
-auto-func_pack_device_init_auto_start_combined:
-  goal_default:
-    material_search_enable: false  # 新增默认值
-  
-  schema:
-    description: 组合函数:设备初始化 + 物料搜寻确认 + 切换自动模式 + 启动。初始化过程中会自动检测物料搜寻确认弹窗，并根据参数自动点击"是"或"否"按钮
-    
-    goal:
-      properties:
-        material_search_enable:  # 新增参数配置
-          default: false
-          description: 是否启用物料搜寻功能。设备初始化后会弹出物料搜寻确认弹窗，此参数控制自动点击"是"(启用)或"否"(不启用)。默认为false(不启用物料搜寻)
-          type: boolean
-```
-
-### 3. 测试脚本（已创建，用户已删除）
-
-#### 3.1 test_material_search_dialog.py
-- 从 CSV 动态加载 Modbus 地址
-- 支持 4 种测试模式：
-  - `query` - 查询所有状态
-  - `dialog <0|1>` - 设置弹窗出现/消失
-  - `yes` - 脉冲点击"是"按钮
-  - `no` - 脉冲点击"否"按钮
-- 兼容 pymodbus 3.x API
-
-#### 3.2 更新其他测试脚本
-- `test_coin_cell_reset.py` - 更新为 pymodbus 3.x API
-- `test_unilab_interact.py` - 更新为 pymodbus 3.x API
-
-## 使用方法
-
-### 参数说明
-
-| 参数 | 类型 | 默认值 | 说明 |
-|------|------|--------|------|
-| `material_search_enable` | boolean | `false` | 是否启用物料搜寻功能 |
-
-### 调用示例
-
-#### 1. 不启用物料搜寻（默认）
-```python
-# 默认参数，点击"否"按钮
-await device.func_pack_device_init_auto_start_combined()
-```
-
-或在 YAML workflow 中：
-```yaml
-# 使用默认值 false，不启用物料搜寻
-- BatteryStation/auto-func_pack_device_init_auto_start_combined: {}
-```
-
-#### 2. 启用物料搜寻
-```python
-# 显式设置为 True，点击"是"按钮
-await device.func_pack_device_init_auto_start_combined(
-    material_search_enable=True
-)
-```
-
-或在 YAML workflow 中：
-```yaml
-- BatteryStation/auto-func_pack_device_init_auto_start_combined:
-    goal:
-      material_search_enable: true  # 启用物料搜寻
-```
-
-## 执行日志示例
-
-```
-26-01-13 [21:32:44] [INFO] 开始组合操作：设备初始化 → 物料搜寻确认 → 自动模式 → 启动
-26-01-13 [21:32:44] [INFO] 【步骤 0/4】前置条件检查...
-26-01-13 [21:32:44] [INFO]   ✓ REG_UNILAB_INTERACT 检查通过
-26-01-13 [21:32:44] [INFO]   ✓ COIL_GB_L_IGNORE_CMD 检查通过
-26-01-13 [21:32:44] [INFO] 【步骤 1/4】设备初始化...
-26-01-13 [21:32:44] [INFO] 切换手动模式...
-26-01-13 [21:32:46] [INFO] 发送初始化命令...
-26-01-13 [21:32:47] [INFO] 等待初始化完成（同时监测物料搜寻弹窗）...
-26-01-13 [21:33:05] [INFO] ✓ 在初始化过程中检测到物料搜寻确认弹窗！
-26-01-13 [21:33:05] [INFO] 用户选择: 不启用物料搜寻（点击否）
-26-01-13 [21:33:05] [INFO]   → 按下按钮 '否'
-26-01-13 [21:33:06] [INFO]   → 释放按钮 '否'
-26-01-13 [21:33:07] [INFO] ✓ 成功处理物料搜寻确认弹窗（选择: 否）
-26-01-13 [21:33:08] [INFO] ✓ 初始化状态完成
-26-01-13 [21:33:12] [INFO] ✓ 设备初始化完成
-26-01-13 [21:33:12] [INFO] 【步骤 1.5/4】物料搜寻确认已在初始化过程中完成
-26-01-13 [21:33:12] [INFO] 【步骤 2/4】切换自动模式...
-26-01-13 [21:33:15] [INFO] ✓ 切换自动模式完成
-26-01-13 [21:33:15] [INFO] 【步骤 3/4】启动设备...
-26-01-13 [21:33:18] [INFO] ✓ 启动设备完成
-26-01-13 [21:33:18] [INFO] 组合操作完成：设备已成功初始化、确认物料搜寻、切换自动模式并启动
-```
-
-## 技术要点
-
-### 1. 脉冲模式按钮操作
-模拟真实按钮按压过程：
-1. 写入 `True` (按下)
-2. 保持 0.5 秒
-3. 写入 `False` (释放)
-4. 验证状态
-
-### 2. 避免死锁
-**问题：** PLC 在初始化过程中等待弹窗确认，而代码等待初始化完成  
-**解决：** 在初始化等待循环中实时检测弹窗，一旦出现立即处理
-
-### 3. 超时保护
-- 弹窗检测超时：30 秒（在 `_handle_material_search_dialog` 中）
-- 初始化超时：120 秒（在 `func_pack_device_init_auto_start_combined` 中）
-
-### 4. PyModbus 3.x API 兼容
-所有 Modbus 操作使用 keyword arguments：
-```python
-# 读取
-client.read_coils(address=5176, count=1)
-
-# 写入
-client.write_coil(address=5184, value=True)
-```
-
-## 向后兼容性
-
-### 保留的原有函数
-- `func_pack_device_init()` - 单独的初始化函数，不包含弹窗处理
-- 仍可在 YAML 中通过 `auto-func_pack_device_init` 调用
-- 用于不需要自动处理弹窗的场景
-
-### 新增的功能
-- 在 `func_pack_device_init_auto_start_combined()` 中集成弹窗处理
-- 通过参数控制，默认行为与之前兼容（点击"否"）
-
-## 验证测试
-
-### 测试场景
-
-#### 场景 1：默认参数（不启用物料搜寻）
-```bash
-# 调用时不传参数
-BatteryStation/auto-func_pack_device_init_auto_start_combined: {}
-```
-**预期结果：**
-- ✅ 检测到弹窗
-- ✅ 自动点击"否"按钮
-- ✅ 初始化完成并启动成功
-
-#### 场景 2：启用物料搜寻
-```bash
-# 设置 material_search_enable=true
-BatteryStation/auto-func_pack_device_init_auto_start_combined:
-  goal:
-    material_search_enable: true
-```
-**预期结果：**
-- ✅ 检测到弹窗
-- ✅ 自动点击"是"按钮
-- ✅ 初始化完成并启动成功
-
-### 实际测试结果
-
-**测试时间：** 2026-01-13 21:32:43  
-**测试参数：** `material_search_enable: false`  
-**测试结果：** ✅ 成功
-
-**关键时间节点：**
-- 21:33:05 - 检测到弹窗
-- 21:33:05 - 按下"否"按钮
-- 21:33:06 - 释放"否"按钮  
-- 21:33:07 - 弹窗处理完成
-- 21:33:08 - 初始化状态完成
-- 21:33:18 - 整个流程完成
-
-**总耗时：** 约 35 秒（包含初始化全过程）
-
-## 注意事项
-
-1. **CSV 配置依赖**
-   - 确保 `coin_cell_assembly_b.csv` 包含 69-71 行的 coil 配置
-   - 地址转换逻辑：`modbus_addr = (csv_addr // 10) * 8 + (csv_addr % 10)`
-
-2. **默认行为**
-   - 默认 `material_search_enable=false`，即不启用物料搜寻
-   - 如需启用，必须显式设置为 `true`
-
-3. **日志级别**
-   - 弹窗检测过程中的 `waiting for init_cmd` 使用 DEBUG 级别
-   - 关键操作（检测到弹窗、按钮操作）使用 INFO 级别
-
-4. **原有函数保留**
-   - `func_pack_device_init()` 仍然可用，但不包含弹窗处理
-   - 如果单独调用此函数，仍需手动处理弹窗
-
-## 文件清单
-
-### 修改的文件
-1. `d:\UniLabdev\Uni-Lab-OS\unilabos\devices\workstation\coin_cell_assembly\coin_cell_assembly.py`
-   - 新增 `_handle_material_search_dialog()` 方法
-   - 修改 `func_pack_device_init_auto_start_combined()` 函数
-
-2. `d:\UniLabdev\Uni-Lab-OS\unilabos\registry\devices\coin_cell_workstation.yaml`
-   - 更新 `auto-func_pack_device_init_auto_start_combined` 配置
-   - 添加 `material_search_enable` 参数说明
-
-3. `d:\UniLabdev\Uni-Lab-OS\unilabos\devices\workstation\coin_cell_assembly\coin_cell_assembly_b.csv`
-   - 第 69-71 行添加三个 coil 配置
-
-### 创建的测试文件（已删除）
-1. `test_material_search_dialog.py` - 物料搜寻弹窗测试脚本
-2. `test_coin_cell_reset.py` - 复位功能测试（更新为 pymodbus 3.x）
-3. `test_unilab_interact.py` - Unilab 交互测试（更新为 pymodbus 3.x）
-
-## 总结
-
-本次更新成功实现了设备初始化过程中物料搜寻确认弹窗的自动化处理，主要优势：
-
-✅ **全自动化** - 无需人工干预  
-✅ **参数可配** - 灵活控制是否启用物料搜寻  
-✅ **实时检测** - 在初始化等待循环中检测，避免死锁  
-✅ **脉冲模式** - 模拟真实按钮操作  
-✅ **向后兼容** - 保留原有函数，不影响现有流程  
-✅ **完整日志** - 详细记录每一步操作  
-✅ **超时保护** - 防止无限等待  
-
-该功能已通过实际测试验证，可投入生产使用。
-
----
-
-**文档版本：** 1.0  
-**创建日期：** 2026-01-13  
-**作者：** Antigravity AI Assistant  
-**最后更新：** 2026-01-13 21:36

unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py

@@ -1,645 +0,0 @@
-"""
-纽扣电池组装工作站物料类定义
-Button Battery Assembly Station Resource Classes
-"""
-
-from __future__ import annotations
-
-from collections import OrderedDict
-from typing import Any, Dict, List, Optional, TypedDict, Union, cast
-
-from pylabrobot.resources.coordinate import Coordinate
-from pylabrobot.resources.container import Container
-from pylabrobot.resources.deck import Deck
-from pylabrobot.resources.itemized_resource import ItemizedResource
-from pylabrobot.resources.resource import Resource
-from pylabrobot.resources.resource_stack import ResourceStack
-from pylabrobot.resources.tip_rack import TipRack, TipSpot
-from pylabrobot.resources.trash import Trash
-from pylabrobot.resources.utils import create_ordered_items_2d
-
-from unilabos.resources.battery.magazine import MagazineHolder_4_Cathode, MagazineHolder_6_Cathode, MagazineHolder_6_Anode, MagazineHolder_6_Battery
-from unilabos.resources.battery.bottle_carriers import YIHUA_Electrolyte_12VialCarrier
-from unilabos.resources.battery.electrode_sheet import ElectrodeSheet
-
-
-
-# TODO: 这个应该只能放一个极片
-class MaterialHoleState(TypedDict):
-    diameter: int
-    depth: int
-    max_sheets: int
-    info: Optional[str]  # 附加信息
-
-class MaterialHole(Resource):
-    """料板洞位类"""
-    children: List[ElectrodeSheet] = []
-
-    def __init__(
-        self,
-        name: str,
-        size_x: float,
-        size_y: float,
-        size_z: float,
-        category: str = "material_hole",
-        **kwargs
-    ):
-        super().__init__(
-            name=name,
-            size_x=size_x,
-            size_y=size_y,
-            size_z=size_z,
-            category=category,
-        )
-        self._unilabos_state: MaterialHoleState = MaterialHoleState(
-            diameter=20,
-            depth=10,
-            max_sheets=1,
-            info=None
-        )
-
-    def get_all_sheet_info(self):
-        info_list = []
-        for sheet in self.children:
-            info_list.append(sheet._unilabos_state["info"])
-        return info_list
-    
-    #这个函数函数好像没用，一般不会集中赋值质量
-    def set_all_sheet_mass(self):
-        for sheet in self.children:
-            sheet._unilabos_state["mass"] = 0.5  # 示例：设置质量为0.5g
-
-    def load_state(self, state: Dict[str, Any]) -> None:
-        """格式不变"""
-        super().load_state(state)
-        self._unilabos_state = state
-
-    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
-    #移动极片前先取出对象
-    def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]:
-        for sheet in self.children:
-            if sheet.name == name:
-                return sheet
-        return None
-
-    def has_electrode_sheet(self) -> bool:
-        """检查洞位是否有极片"""
-        return len(self.children) > 0
-
-    def assign_child_resource(
-        self,
-        resource: ElectrodeSheet,
-        location: Optional[Coordinate],
-        reassign: bool = True,
-    ):
-        """放置极片"""
-        # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题
-        #if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]:
-        #    raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}")
-        #if len(self.children) >= self._unilabos_state["max_sheets"]:
-        #    raise ValueError(f"洞位已满，无法放置更多极片")
-        super().assign_child_resource(resource, location, reassign)
-
-    # 根据children的编号取物料对象。
-    def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet:
-        return self.children[index]
-
-
-class MaterialPlateState(TypedDict):
-    hole_spacing_x: float
-    hole_spacing_y: float
-    hole_diameter: float
-    info: Optional[str]  # 附加信息
-
-class MaterialPlate(ItemizedResource[MaterialHole]):
-    """料板类 - 4x4个洞位，每个洞位放1个极片"""
-    
-    children: List[MaterialHole]
-
-    def __init__(
-        self,
-        name: str,
-        size_x: float,
-        size_y: float,
-        size_z: float,
-        ordered_items: Optional[Dict[str, MaterialHole]] = None,
-        ordering: Optional[OrderedDict[str, str]] = None,
-        category: str = "material_plate",
-        model: Optional[str] = None,
-        fill: bool = False
-    ):
-        """初始化料板
-
-        Args:
-            name: 料板名称
-            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)
-            hole_spacing_x: X方向洞位间距 (mm)
-            hole_spacing_y: Y方向洞位间距 (mm)
-            number: 编号
-            category: 类别
-            model: 型号
-        """
-        self._unilabos_state: MaterialPlateState = MaterialPlateState(
-            hole_spacing_x=24.0,
-            hole_spacing_y=24.0,
-            hole_diameter=20.0,
-            info="",
-        )
-        # 创建4x4的洞位
-        # TODO: 这里要改，对应不同形状
-        holes = create_ordered_items_2d(
-            klass=MaterialHole,
-            num_items_x=4,
-            num_items_y=4,
-            dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2,  # 居中
-            dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2,  # 居中
-            dz=size_z,
-            item_dx=self._unilabos_state["hole_spacing_x"],
-            item_dy=self._unilabos_state["hole_spacing_y"],
-            size_x = 16,
-            size_y = 16,
-            size_z = 16,
-        )
-        if fill:
-            super().__init__(
-                name=name,
-                size_x=size_x,
-                size_y=size_y,
-                size_z=size_z,
-                ordered_items=holes,
-                category=category,
-                model=model,
-            )
-        else:
-            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,
-            )
-
-    def update_locations(self):
-        # TODO:调多次相加
-        holes = create_ordered_items_2d(
-            klass=MaterialHole,
-            num_items_x=4,
-            num_items_y=4,
-            dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2,  # 居中
-            dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2,  # 居中
-            dz=self._size_z,
-            item_dx=self._unilabos_state["hole_spacing_x"],
-            item_dy=self._unilabos_state["hole_spacing_y"],
-            size_x = 1,
-            size_y = 1,
-            size_z = 1,
-        )
-        for item, original_item in zip(holes.items(), self.children):
-            original_item.location = item[1].location
-
-
-class PlateSlot(ResourceStack):
-    """板槽位类 - 1个槽上能堆放8个板，移板只能操作最上方的板"""
-
-    def __init__(
-        self,
-        name: str,
-        size_x: float,
-        size_y: float,
-        size_z: float,
-        max_plates: int = 8,
-        category: str = "plate_slot",
-        model: Optional[str] = None
-    ):
-        """初始化板槽位
-
-        Args:
-            name: 槽位名称
-            max_plates: 最大板数量
-            category: 类别
-        """
-        super().__init__(
-            name=name,
-            direction="z",  # Z方向堆叠
-            resources=[],
-        )
-        self.max_plates = max_plates
-        self.category = category
-
-    def can_add_plate(self) -> bool:
-        """检查是否可以添加板"""
-        return len(self.children) < self.max_plates
-
-    def add_plate(self, plate: MaterialPlate) -> None:
-        """添加料板"""
-        if not self.can_add_plate():
-            raise ValueError(f"槽位 {self.name} 已满，无法添加更多板")
-        self.assign_child_resource(plate)
-
-    def get_top_plate(self) -> MaterialPlate:
-        """获取最上方的板"""
-        if len(self.children) == 0:
-            raise ValueError(f"槽位 {self.name} 为空")
-        return cast(MaterialPlate, self.get_top_item())
-
-    def take_top_plate(self) -> MaterialPlate:
-        """取出最上方的板"""
-        top_plate = self.get_top_plate()
-        self.unassign_child_resource(top_plate)
-        return top_plate
-
-    def can_access_for_picking(self) -> bool:
-        """检查是否可以进行取料操作（只有最上方的板能进行取料操作）"""
-        return len(self.children) > 0
-
-    def serialize(self) -> dict:
-        return {
-            **super().serialize(),
-            "max_plates": self.max_plates,
-        }
-
-
-#是一种类型注解，不用self
-class BatteryState(TypedDict):
-    """电池状态字典"""
-    diameter: float
-    height: float
-    assembly_pressure: float
-    electrolyte_volume: float
-    electrolyte_name: str
-
-class Battery(Resource):
-    """电池类 - 可容纳极片"""
-    children: List[ElectrodeSheet] = []
-
-    def __init__(
-        self,
-        name: str,
-        size_x=1,
-        size_y=1,
-        size_z=1,
-        category: str = "battery",
-    ):
-        """初始化电池
-
-        Args:
-            name: 电池名称
-            diameter: 直径 (mm)
-            height: 高度 (mm)
-            max_volume: 最大容量 (μL)
-            barcode: 二维码编号
-            category: 类别
-            model: 型号
-        """
-        super().__init__(
-            name=name,
-            size_x=1,
-            size_y=1,
-            size_z=1,
-            category=category,
-        )
-        self._unilabos_state: BatteryState = BatteryState(
-                                 diameter = 1.0,
-                                 height = 1.0,
-                                 assembly_pressure = 1.0,
-                                 electrolyte_volume = 1.0,
-                                 electrolyte_name = "DP001"
-                                 )
-
-    def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool:
-        to_add_name = bottle._unilabos_state["electrolyte_name"]
-        if bottle.aspirate_electrolyte(10):
-            if self.add_electrolyte(to_add_name, 10):
-                pass
-            else:
-                bottle._unilabos_state["electrolyte_volume"] += 10
-
-    def set_electrolyte(self, name: str, volume: float) -> None:
-        """设置电解液信息"""
-        self._unilabos_state["electrolyte_name"] = name
-        self._unilabos_state["electrolyte_volume"] = volume
-    #这个应该没用，不会有加了后再加的事情
-    def add_electrolyte(self, name: str, volume: float) -> bool:
-        """添加电解液信息"""
-        if name != self._unilabos_state["electrolyte_name"]:
-            return False
-        self._unilabos_state["electrolyte_volume"] += volume
-
-    def load_state(self, state: Dict[str, Any]) -> None:
-        """格式不变"""
-        super().load_state(state)
-        self._unilabos_state = state
-
-    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
-
-# 电解液作为属性放进去
-
-class BatteryPressSlotState(TypedDict):
-    """电池状态字典"""
-    diameter: float =20.0
-    depth: float = 4.0
-
-class BatteryPressSlot(Resource):
-    """电池压制槽类 - 设备，可容纳一个电池"""
-    children: List[Battery] = []
-
-    def __init__(
-        self,
-        name: str = "BatteryPressSlot",
-        category: str = "battery_press_slot",
-    ):
-        """初始化电池压制槽
-
-        Args:
-            name: 压制槽名称
-            diameter: 直径 (mm)
-            depth: 深度 (mm)
-            category: 类别
-            model: 型号
-        """
-        super().__init__(
-            name=name,
-            size_x=10,
-            size_y=12,
-            size_z=13,
-            category=category,
-        )
-        self._unilabos_state: BatteryPressSlotState = BatteryPressSlotState()
-
-    def has_battery(self) -> bool:
-        """检查是否有电池"""
-        return len(self.children) > 0
-
-    def load_state(self, state: Dict[str, Any]) -> None:
-        """格式不变"""
-        super().load_state(state)
-        self._unilabos_state = state
-
-    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
-    
-    def assign_child_resource(
-        self,
-        resource: Battery,
-        location: Optional[Coordinate],
-        reassign: bool = True,
-    ):
-        """放置极片"""
-        # TODO: 让高京看下槽位只有一个电池时是否这么写。
-        if self.has_battery():
-            raise ValueError(f"槽位已含有一个电池，无法再放置其他电池")
-        super().assign_child_resource(resource, location, reassign)
-
-    # 根据children的编号取物料对象。
-    def get_battery_info(self, index: int) -> Battery:
-        return self.children[0]
-
-
-def TipBox64(
-        name: str,
-        size_x: float = 127.8,
-        size_y: float = 85.5,
-        size_z: float = 60.0,
-        category: str = "tip_rack",
-        model: Optional[str] = None,
-):
-    """64孔枪头盒类"""
-    from pylabrobot.resources.tip import Tip
-
-    # 创建12x8=96个枪头位
-    def make_tip():
-        return Tip(
-            has_filter=False,
-            total_tip_length=20.0,
-            maximal_volume=1000,  # 1mL
-            fitting_depth=8.0,
-        )
-
-    tip_spots = create_ordered_items_2d(
-        klass=TipSpot,
-        num_items_x=12,
-        num_items_y=8,
-        dx=8.0,
-        dy=8.0,
-        dz=0.0,
-        item_dx=9.0,
-        item_dy=9.0,
-        size_x=10,
-        size_y=10,
-        size_z=0.0,
-        make_tip=make_tip,
-    )
-    idx_available = list(range(0, 32)) + list(range(64, 96))
-    tip_spots_available = {k: v for i, (k, v) in enumerate(tip_spots.items()) if i in idx_available}
-    tip_rack = TipRack(
-        name=name,
-        size_x=size_x,
-        size_y=size_y,
-        size_z=size_z,
-        # ordered_items=tip_spots_available,
-        ordered_items=tip_spots,
-        category=category,
-        model=model,
-        with_tips=False,
-    )
-    tip_rack.set_tip_state([True]*32 + [False]*32 + [True]*32)  # 前32和后32个有枪头，中间32个无枪头
-    return tip_rack
-
-
-class WasteTipBoxstate(TypedDict):
-    """"废枪头盒状态字典"""
-    max_tips: int = 100
-    tip_count: int = 0
-
-#枪头不是一次性的（同一溶液则反复使用），根据寄存器判断
-class WasteTipBox(Trash):
-    """废枪头盒类 - 100个枪头容量"""
-
-    def __init__(
-        self,
-        name: str,
-        size_x: float = 127.8,
-        size_y: float = 85.5,
-        size_z: float = 60.0,
-        material_z_thickness=0,
-        max_volume=float("inf"),
-        category="trash",
-        model=None,
-        compute_volume_from_height=None,
-        compute_height_from_volume=None,
-    ):
-        """初始化废枪头盒
-
-        Args:
-            name: 废枪头盒名称
-            size_x: 长度 (mm)
-            size_y: 宽度 (mm)
-            size_z: 高度 (mm)
-            max_tips: 最大枪头容量
-            category: 类别
-            model: 型号
-        """
-        super().__init__(
-            name=name,
-            size_x=size_x,
-            size_y=size_y,
-            size_z=size_z,
-            category=category,
-            model=model,
-        )
-        self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate()
-
-    def add_tip(self) -> None:
-        """添加废枪头"""
-        if self._unilabos_state["tip_count"] >= self._unilabos_state["max_tips"]:
-            raise ValueError(f"废枪头盒 {self.name} 已满")
-        self._unilabos_state["tip_count"] += 1
-
-    def get_tip_count(self) -> int:
-        """获取枪头数量"""
-        return self._unilabos_state["tip_count"]
-
-    def empty(self) -> None:
-        """清空废枪头盒"""
-        self._unilabos_state["tip_count"] = 0
-
-
-    def load_state(self, state: Dict[str, Any]) -> None:
-        """格式不变"""
-        super().load_state(state)
-        self._unilabos_state = state
-
-    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
-
-
-class CoincellDeck(Deck):
-    """纽扣电池组装工作站台面类"""
-
-    def __init__(
-        self,
-        name: str = "coin_cell_deck",
-        size_x: float = 1450.0,  # 1m
-        size_y: float = 1450.0,  # 1m
-        size_z: float = 100.0,   # 0.9m
-        origin: Coordinate = Coordinate(-2200, 0, 0),
-        category: str = "coin_cell_deck",
-        setup: bool = False,  # 是否自动执行 setup
-    ):
-        """初始化纽扣电池组装工作站台面
-
-        Args:
-            name: 台面名称
-            size_x: 长度 (mm) - 1m
-            size_y: 宽度 (mm) - 1m
-            size_z: 高度 (mm) - 0.9m
-            origin: 原点坐标
-            category: 类别
-            setup: 是否自动执行 setup 配置标准布局
-        """
-        super().__init__(
-            name=name,
-            size_x=1450.0,
-            size_y=1450.0,
-            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"""
-        # ====================================== 子弹夹 ============================================
-        
-        # 正极片（4个洞位，2x2布局）
-        zhengji_zip = MagazineHolder_4_Cathode("正极&铝箔弹夹")
-        self.assign_child_resource(zhengji_zip, Coordinate(x=402.0, y=830.0, z=0))
-        
-        # 正极壳、平垫片（6个洞位，2x2+2布局）
-        zhengjike_zip = MagazineHolder_6_Cathode("正极壳&平垫片弹夹")
-        self.assign_child_resource(zhengjike_zip, Coordinate(x=566.0, y=272.0, z=0))
-        
-        # 负极壳、弹垫片（6个洞位，2x2+2布局）
-        fujike_zip = MagazineHolder_6_Anode("负极壳&弹垫片弹夹")
-        self.assign_child_resource(fujike_zip, Coordinate(x=474.0, y=276.0, z=0))
-        
-        # 成品弹夹（6个洞位，3x2布局）
-        chengpindanjia_zip = MagazineHolder_6_Battery("成品弹夹")
-        self.assign_child_resource(chengpindanjia_zip, Coordinate(x=260.0, y=156.0, z=0))
-        
-        # ====================================== 物料板 ============================================
-        # 创建物料板（料盘carrier）- 4x4布局
-        # 负极料盘
-        fujiliaopan = MaterialPlate(name="负极料盘", size_x=120, size_y=100, size_z=10.0, fill=True)
-        self.assign_child_resource(fujiliaopan, Coordinate(x=708.0, y=794.0, z=0))
-        # for i in range(16):
-        #     fujipian = ElectrodeSheet(name=f"{fujiliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
-        #     fujiliaopan.children[i].assign_child_resource(fujipian, location=None)
-
-        # 隔膜料盘
-        gemoliaopan = MaterialPlate(name="隔膜料盘", size_x=120, size_y=100, size_z=10.0, fill=True)
-        self.assign_child_resource(gemoliaopan, Coordinate(x=718.0, y=918.0, z=0))
-        # for i in range(16):
-        #     gemopian = ElectrodeSheet(name=f"{gemoliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
-        #     gemoliaopan.children[i].assign_child_resource(gemopian, location=None)
-
-        # ====================================== 瓶架、移液枪 ============================================
-        # 在台面上放置 3x4 瓶架、6x2 瓶架 与 64孔移液枪头盒
-        # 奔耀上料5ml分液瓶小板 - 由奔曜跨站转运而来，不单独写，但是这里应该有一个堆栈用于摆放分液瓶小板
-        
-        # bottle_rack_3x4 = BottleRack(
-        #     name="bottle_rack_3x4",
-        #     size_x=210.0,
-        #     size_y=140.0,
-        #     size_z=100.0,
-        #     num_items_x=2,
-        #     num_items_y=4,
-        #     position_spacing=35.0,
-        #     orientation="vertical",
-        # )
-        # self.assign_child_resource(bottle_rack_3x4, Coordinate(x=1542.0, y=717.0, z=0))
-        
-        # 电解液缓存位 - 6x2布局
-        bottle_rack_6x2 = YIHUA_Electrolyte_12VialCarrier(name="bottle_rack_6x2")
-        self.assign_child_resource(bottle_rack_6x2, Coordinate(x=1050.0, y=358.0, z=0))
-        # 电解液回收位6x2
-        bottle_rack_6x2_2 = YIHUA_Electrolyte_12VialCarrier(name="bottle_rack_6x2_2")
-        self.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=914.0, y=358.0, z=0))
-
-        tip_box = TipBox64(name="tip_box_64")
-        self.assign_child_resource(tip_box, Coordinate(x=782.0, y=514.0, z=0))
-
-        waste_tip_box = WasteTipBox(name="waste_tip_box")
-        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_b.csv

@@ -1,133 +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_MATERIAL_SEARCH_DIALOG_APPEAR,BOOL,,,,coil,6470,
-COIL_MATERIAL_SEARCH_CONFIRM_YES,BOOL,,,,coil,6480,
-COIL_MATERIAL_SEARCH_CONFIRM_NO,BOOL,,,,coil,6490,
-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/workstation_http_service.py

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

unilabos/labware_manager/__init__.py

@@ -0,0 +1 @@
+# PRCXI 耗材管理 Web 应用

unilabos/labware_manager/__main__.py

@@ -0,0 +1,4 @@
+"""启动入口: python -m unilabos.labware_manager"""
+from unilabos.labware_manager.app import main
+
+main()

unilabos/labware_manager/app.py

@@ -0,0 +1,196 @@
+"""FastAPI 应用 + CRUD API + 启动入口。
+
+用法: python -m unilabos.labware_manager.app
+"""
+
+from __future__ import annotations
+
+import json
+import os
+from pathlib import Path
+from typing import List, Optional
+
+from fastapi import FastAPI, HTTPException, Query, Request
+from fastapi.responses import HTMLResponse, JSONResponse
+from fastapi.staticfiles import StaticFiles
+from fastapi.templating import Jinja2Templates
+
+from unilabos.labware_manager.models import LabwareDB, LabwareItem
+
+_HERE = Path(__file__).resolve().parent
+_DB_PATH = _HERE / "labware_db.json"
+
+app = FastAPI(title="PRCXI 耗材管理", version="1.0")
+
+# 静态文件 + 模板
+app.mount("/static", StaticFiles(directory=str(_HERE / "static")), name="static")
+templates = Jinja2Templates(directory=str(_HERE / "templates"))
+
+
+# ---------- DB 读写 ----------
+
+def _load_db() -> LabwareDB:
+    if not _DB_PATH.exists():
+        return LabwareDB()
+    with open(_DB_PATH, "r", encoding="utf-8") as f:
+        return LabwareDB(**json.load(f))
+
+
+def _save_db(db: LabwareDB) -> None:
+    with open(_DB_PATH, "w", encoding="utf-8") as f:
+        json.dump(db.model_dump(), f, ensure_ascii=False, indent=2)
+
+
+# ---------- 页面路由 ----------
+
+@app.get("/", response_class=HTMLResponse)
+async def index_page(request: Request):
+    db = _load_db()
+    # 按 type 分组
+    groups = {}
+    for item in db.items:
+        groups.setdefault(item.type, []).append(item)
+    return templates.TemplateResponse("index.html", {
+        "request": request,
+        "groups": groups,
+        "total": len(db.items),
+    })
+
+
+@app.get("/labware/new", response_class=HTMLResponse)
+async def new_page(request: Request, type: str = "plate"):
+    return templates.TemplateResponse("edit.html", {
+        "request": request,
+        "item": None,
+        "labware_type": type,
+        "is_new": True,
+    })
+
+
+@app.get("/labware/{item_id}", response_class=HTMLResponse)
+async def detail_page(request: Request, item_id: str):
+    db = _load_db()
+    item = _find_item(db, item_id)
+    if not item:
+        raise HTTPException(404, "耗材不存在")
+    return templates.TemplateResponse("detail.html", {
+        "request": request,
+        "item": item,
+    })
+
+
+@app.get("/labware/{item_id}/edit", response_class=HTMLResponse)
+async def edit_page(request: Request, item_id: str):
+    db = _load_db()
+    item = _find_item(db, item_id)
+    if not item:
+        raise HTTPException(404, "耗材不存在")
+    return templates.TemplateResponse("edit.html", {
+        "request": request,
+        "item": item,
+        "labware_type": item.type,
+        "is_new": False,
+    })
+
+
+# ---------- API 端点 ----------
+
+@app.get("/api/labware")
+async def api_list_labware():
+    db = _load_db()
+    return {"items": [item.model_dump() for item in db.items]}
+
+
+@app.post("/api/labware")
+async def api_create_labware(request: Request):
+    data = await request.json()
+    db = _load_db()
+    item = LabwareItem(**data)
+    # 确保 id 唯一
+    existing_ids = {it.id for it in db.items}
+    while item.id in existing_ids:
+        import uuid
+        item.id = uuid.uuid4().hex[:8]
+    db.items.append(item)
+    _save_db(db)
+    return {"status": "ok", "id": item.id}
+
+
+@app.put("/api/labware/{item_id}")
+async def api_update_labware(item_id: str, request: Request):
+    data = await request.json()
+    db = _load_db()
+    for i, it in enumerate(db.items):
+        if it.id == item_id or it.function_name == item_id:
+            updated = LabwareItem(**{**it.model_dump(), **data, "id": it.id})
+            db.items[i] = updated
+            _save_db(db)
+            return {"status": "ok", "id": it.id}
+    raise HTTPException(404, "耗材不存在")
+
+
+@app.delete("/api/labware/{item_id}")
+async def api_delete_labware(item_id: str):
+    db = _load_db()
+    original_len = len(db.items)
+    db.items = [it for it in db.items if it.id != item_id and it.function_name != item_id]
+    if len(db.items) == original_len:
+        raise HTTPException(404, "耗材不存在")
+    _save_db(db)
+    return {"status": "ok"}
+
+
+@app.post("/api/generate-code")
+async def api_generate_code(request: Request):
+    body = await request.json() if await request.body() else {}
+    test_mode = body.get("test_mode", True)
+    db = _load_db()
+    if not db.items:
+        raise HTTPException(400, "数据库为空，请先导入")
+
+    from unilabos.labware_manager.codegen import generate_code
+    from unilabos.labware_manager.yaml_gen import generate_yaml
+
+    py_path = generate_code(db, test_mode=test_mode)
+    yaml_paths = generate_yaml(db, test_mode=test_mode)
+
+    return {
+        "status": "ok",
+        "python_file": str(py_path),
+        "yaml_files": [str(p) for p in yaml_paths],
+        "test_mode": test_mode,
+    }
+
+
+@app.post("/api/import-from-code")
+async def api_import_from_code():
+    from unilabos.labware_manager.importer import import_from_code, save_db
+    db = import_from_code()
+    save_db(db)
+    return {
+        "status": "ok",
+        "count": len(db.items),
+        "items": [{"function_name": it.function_name, "type": it.type} for it in db.items],
+    }
+
+
+# ---------- 辅助函数 ----------
+
+def _find_item(db: LabwareDB, item_id: str) -> Optional[LabwareItem]:
+    for item in db.items:
+        if item.id == item_id or item.function_name == item_id:
+            return item
+    return None
+
+
+# ---------- 启动入口 ----------
+
+def main():
+    import uvicorn
+    port = int(os.environ.get("LABWARE_PORT", "8010"))
+    print(f"PRCXI 耗材管理 → http://localhost:{port}")
+    uvicorn.run(app, host="0.0.0.0", port=port)
+
+
+if __name__ == "__main__":
+    main()

unilabos/labware_manager/codegen.py

@@ -0,0 +1,451 @@
+"""JSON → prcxi_labware.py 代码生成。
+
+读取 labware_db.json，输出完整的 prcxi_labware.py（或 prcxi_labware_test.py）。
+"""
+
+from __future__ import annotations
+
+import shutil
+from pathlib import Path
+from typing import List, Optional
+
+from unilabos.labware_manager.models import LabwareDB, LabwareItem
+
+_TARGET_DIR = Path(__file__).resolve().parents[1] / "devices" / "liquid_handling" / "prcxi"
+
+# ---------- 固定头部 ----------
+_HEADER = '''\
+from typing import Any, Callable, Dict, List, Optional, Tuple
+from pylabrobot.resources import Tube, Coordinate
+from pylabrobot.resources.well import Well, WellBottomType, CrossSectionType
+from pylabrobot.resources.tip import Tip, TipCreator
+from pylabrobot.resources.tip_rack import TipRack, TipSpot
+from pylabrobot.resources.utils import create_ordered_items_2d
+from pylabrobot.resources.height_volume_functions import (
+    compute_height_from_volume_rectangle,
+    compute_volume_from_height_rectangle,
+)
+
+from .prcxi import PRCXI9300Plate, PRCXI9300TipRack, PRCXI9300Trash, PRCXI9300TubeRack, PRCXI9300PlateAdapter
+
+def _make_tip_helper(volume: float, length: float, depth: float) -> Tip:
+    """
+    PLR 的 Tip 类参数名为: maximal_volume, total_tip_length, fitting_depth
+    """
+    return Tip(
+        has_filter=False, # 默认无滤芯
+        maximal_volume=volume,
+        total_tip_length=length,
+        fitting_depth=depth
+    )
+
+'''
+
+
+def _gen_plate(item: LabwareItem) -> str:
+    """生成 Plate 类型的工厂函数代码。"""
+    lines = []
+    fn = item.function_name
+    doc = item.docstring or f"Code: {item.material_info.Code}"
+
+    has_vf = item.volume_functions is not None
+
+    if has_vf:
+        # 有 volume_functions 时需要 well_kwargs 方式
+        vf = item.volume_functions
+        well = item.well
+        grid = item.grid
+
+        lines.append(f'def {fn}(name: str) -> PRCXI9300Plate:')
+        lines.append(f'    """')
+        for dl in doc.split('\n'):
+            lines.append(f'    {dl}')
+        lines.append(f'    """')
+
+        # 计算 well_size 变量
+        lines.append(f'    well_size_x = {well.size_x}')
+        lines.append(f'    well_size_y = {well.size_y}')
+
+        lines.append(f'    well_kwargs = {{')
+        lines.append(f'        "size_x": well_size_x,')
+        lines.append(f'        "size_y": well_size_y,')
+        lines.append(f'        "size_z": {well.size_z},')
+        lines.append(f'        "bottom_type": WellBottomType.{well.bottom_type},')
+        if well.cross_section_type and well.cross_section_type != "CIRCLE":
+            lines.append(f'        "cross_section_type": CrossSectionType.{well.cross_section_type},')
+        lines.append(f'        "compute_height_from_volume": lambda liquid_volume: compute_height_from_volume_rectangle(')
+        lines.append(f'            liquid_volume=liquid_volume, well_length=well_size_x, well_width=well_size_y')
+        lines.append(f'        ),')
+        lines.append(f'        "compute_volume_from_height": lambda liquid_height: compute_volume_from_height_rectangle(')
+        lines.append(f'            liquid_height=liquid_height, well_length=well_size_x, well_width=well_size_y')
+        lines.append(f'        ),')
+        if well.material_z_thickness is not None:
+            lines.append(f'        "material_z_thickness": {well.material_z_thickness},')
+        lines.append(f'    }}')
+        lines.append(f'')
+        lines.append(f'    return PRCXI9300Plate(')
+        lines.append(f'        name=name,')
+        lines.append(f'        size_x={item.size_x},')
+        lines.append(f'        size_y={item.size_y},')
+        lines.append(f'        size_z={item.size_z},')
+        lines.append(f'        lid=None,')
+        lines.append(f'        model="{item.model}",')
+        lines.append(f'        category="plate",')
+        lines.append(f'        material_info={_fmt_dict(item.material_info.model_dump(exclude_none=True))},')
+        lines.append(f'        ordered_items=create_ordered_items_2d(')
+        lines.append(f'            Well,')
+        lines.append(f'            num_items_x={grid.num_items_x},')
+        lines.append(f'            num_items_y={grid.num_items_y},')
+        lines.append(f'            dx={grid.dx},')
+        lines.append(f'            dy={grid.dy},')
+        lines.append(f'            dz={grid.dz},')
+        lines.append(f'            item_dx={grid.item_dx},')
+        lines.append(f'            item_dy={grid.item_dy},')
+        lines.append(f'            **well_kwargs,')
+        lines.append(f'        ),')
+        lines.append(f'    )')
+    else:
+        # 普通 plate
+        well = item.well
+        grid = item.grid
+
+        lines.append(f'def {fn}(name: str) -> PRCXI9300Plate:')
+        lines.append(f'    """')
+        for dl in doc.split('\n'):
+            lines.append(f'    {dl}')
+        lines.append(f'    """')
+        lines.append(f'    return PRCXI9300Plate(')
+        lines.append(f'        name=name,')
+        lines.append(f'        size_x={item.size_x},')
+        lines.append(f'        size_y={item.size_y},')
+        lines.append(f'        size_z={item.size_z},')
+        if item.plate_type:
+            lines.append(f'        plate_type="{item.plate_type}",')
+        lines.append(f'        model="{item.model}",')
+        lines.append(f'        category="plate",')
+        lines.append(f'        material_info={_fmt_dict(item.material_info.model_dump(exclude_none=True))},')
+        if grid and well:
+            lines.append(f'        ordered_items=create_ordered_items_2d(')
+            lines.append(f'            Well,')
+            lines.append(f'            num_items_x={grid.num_items_x},')
+            lines.append(f'            num_items_y={grid.num_items_y},')
+            lines.append(f'            dx={grid.dx},')
+            lines.append(f'            dy={grid.dy},')
+            lines.append(f'            dz={grid.dz},')
+            lines.append(f'            item_dx={grid.item_dx},')
+            lines.append(f'            item_dy={grid.item_dy},')
+            lines.append(f'            size_x={well.size_x},')
+            lines.append(f'            size_y={well.size_y},')
+            lines.append(f'            size_z={well.size_z},')
+            if well.max_volume is not None:
+                lines.append(f'            max_volume={well.max_volume},')
+            if well.material_z_thickness is not None:
+                lines.append(f'            material_z_thickness={well.material_z_thickness},')
+            if well.bottom_type and well.bottom_type != "FLAT":
+                lines.append(f'            bottom_type=WellBottomType.{well.bottom_type},')
+            if well.cross_section_type:
+                lines.append(f'            cross_section_type=CrossSectionType.{well.cross_section_type},')
+            lines.append(f'        ),')
+        lines.append(f'    )')
+
+    return '\n'.join(lines)
+
+
+def _gen_tip_rack(item: LabwareItem) -> str:
+    """生成 TipRack 工厂函数代码。"""
+    lines = []
+    fn = item.function_name
+    doc = item.docstring or f"Code: {item.material_info.Code}"
+    grid = item.grid
+    tip = item.tip
+
+    lines.append(f'def {fn}(name: str) -> PRCXI9300TipRack:')
+    lines.append(f'    """')
+    for dl in doc.split('\n'):
+        lines.append(f'    {dl}')
+    lines.append(f'    """')
+    lines.append(f'    return PRCXI9300TipRack(')
+    lines.append(f'        name=name,')
+    lines.append(f'        size_x={item.size_x},')
+    lines.append(f'        size_y={item.size_y},')
+    lines.append(f'        size_z={item.size_z},')
+    lines.append(f'        model="{item.model}",')
+    lines.append(f'        material_info={_fmt_dict(item.material_info.model_dump(exclude_none=True))},')
+    if grid and tip:
+        lines.append(f'        ordered_items=create_ordered_items_2d(')
+        lines.append(f'            TipSpot,')
+        lines.append(f'            num_items_x={grid.num_items_x},')
+        lines.append(f'            num_items_y={grid.num_items_y},')
+        lines.append(f'            dx={grid.dx},')
+        lines.append(f'            dy={grid.dy},')
+        lines.append(f'            dz={grid.dz},')
+        lines.append(f'            item_dx={grid.item_dx},')
+        lines.append(f'            item_dy={grid.item_dy},')
+        lines.append(f'            size_x={tip.spot_size_x},')
+        lines.append(f'            size_y={tip.spot_size_y},')
+        lines.append(f'            size_z={tip.spot_size_z},')
+        lines.append(f'            make_tip=lambda: _make_tip_helper(volume={tip.tip_volume}, length={tip.tip_length}, depth={tip.tip_fitting_depth})')
+        lines.append(f'        )')
+    lines.append(f'    )')
+
+    return '\n'.join(lines)
+
+
+def _gen_trash(item: LabwareItem) -> str:
+    """生成 Trash 工厂函数代码。"""
+    lines = []
+    fn = item.function_name
+    doc = item.docstring or f"Code: {item.material_info.Code}"
+
+    lines.append(f'def {fn}(name: str = "trash") -> PRCXI9300Trash:')
+    lines.append(f'    """')
+    for dl in doc.split('\n'):
+        lines.append(f'    {dl}')
+    lines.append(f'    """')
+    lines.append(f'    return PRCXI9300Trash(')
+    lines.append(f'        name="trash",')
+    lines.append(f'        size_x={item.size_x},')
+    lines.append(f'        size_y={item.size_y},')
+    lines.append(f'        size_z={item.size_z},')
+    lines.append(f'        category="trash",')
+    lines.append(f'        model="{item.model}",')
+    lines.append(f'        material_info={_fmt_dict(item.material_info.model_dump(exclude_none=True))}')
+    lines.append(f'    )')
+
+    return '\n'.join(lines)
+
+
+def _gen_tube_rack(item: LabwareItem) -> str:
+    """生成 TubeRack 工厂函数代码。"""
+    lines = []
+    fn = item.function_name
+    doc = item.docstring or f"Code: {item.material_info.Code}"
+    grid = item.grid
+    tube = item.tube
+
+    lines.append(f'def {fn}(name: str) -> PRCXI9300TubeRack:')
+    lines.append(f'    """')
+    for dl in doc.split('\n'):
+        lines.append(f'    {dl}')
+    lines.append(f'    """')
+    lines.append(f'    return PRCXI9300TubeRack(')
+    lines.append(f'        name=name,')
+    lines.append(f'        size_x={item.size_x},')
+    lines.append(f'        size_y={item.size_y},')
+    lines.append(f'        size_z={item.size_z},')
+    lines.append(f'        model="{item.model}",')
+    lines.append(f'        category="tube_rack",')
+    lines.append(f'        material_info={_fmt_dict(item.material_info.model_dump(exclude_none=True))},')
+    if grid and tube:
+        lines.append(f'        ordered_items=create_ordered_items_2d(')
+        lines.append(f'            Tube,')
+        lines.append(f'            num_items_x={grid.num_items_x},')
+        lines.append(f'            num_items_y={grid.num_items_y},')
+        lines.append(f'            dx={grid.dx},')
+        lines.append(f'            dy={grid.dy},')
+        lines.append(f'            dz={grid.dz},')
+        lines.append(f'            item_dx={grid.item_dx},')
+        lines.append(f'            item_dy={grid.item_dy},')
+        lines.append(f'            size_x={tube.size_x},')
+        lines.append(f'            size_y={tube.size_y},')
+        lines.append(f'            size_z={tube.size_z},')
+        lines.append(f'            max_volume={tube.max_volume}')
+        lines.append(f'        )')
+    lines.append(f'    )')
+
+    return '\n'.join(lines)
+
+
+def _gen_plate_adapter(item: LabwareItem) -> str:
+    """生成 PlateAdapter 工厂函数代码。"""
+    lines = []
+    fn = item.function_name
+    doc = item.docstring or f"Code: {item.material_info.Code}"
+
+    lines.append(f'def {fn}(name: str) -> PRCXI9300PlateAdapter:')
+    lines.append(f'    """ {doc} """')
+    lines.append(f'    return PRCXI9300PlateAdapter(')
+    lines.append(f'        name=name,')
+    lines.append(f'        size_x={item.size_x},')
+    lines.append(f'        size_y={item.size_y},')
+    lines.append(f'        size_z={item.size_z},')
+    if item.model:
+        lines.append(f'        model="{item.model}",')
+    lines.append(f'        material_info={_fmt_dict(item.material_info.model_dump(exclude_none=True))}')
+    lines.append(f'    )')
+
+    return '\n'.join(lines)
+
+
+def _fmt_dict(d: dict) -> str:
+    """格式化字典为 Python 代码片段。"""
+    parts = []
+    for k, v in d.items():
+        if isinstance(v, str):
+            parts.append(f'"{k}": "{v}"')
+        elif v is None:
+            continue
+        else:
+            parts.append(f'"{k}": {v}')
+    return '{' + ', '.join(parts) + '}'
+
+
+def _gen_template_factory_kinds(items: List[LabwareItem]) -> str:
+    """生成 PRCXI_TEMPLATE_FACTORY_KINDS 列表。"""
+    lines = ['PRCXI_TEMPLATE_FACTORY_KINDS: List[Tuple[Callable[..., Any], str]] = [']
+    for item in items:
+        if item.include_in_template_matching and item.template_kind:
+            lines.append(f'    ({item.function_name}, "{item.template_kind}"),')
+    lines.append(']')
+    return '\n'.join(lines)
+
+
+def _gen_footer() -> str:
+    """生成文件尾部的模板相关代码。"""
+    return '''
+
+# ---------------------------------------------------------------------------
+# 协议上传 / workflow 用：与设备端耗材字典字段对齐的模板描述（供 common 自动匹配）
+# ---------------------------------------------------------------------------
+
+_PRCXI_TEMPLATE_SPECS_CACHE: Optional[List[Dict[str, Any]]] = None
+
+
+def _probe_prcxi_resource(factory: Callable[..., Any]) -> Any:
+    probe = "__unilab_template_probe__"
+    if factory.__name__ == "PRCXI_trash":
+        return factory()
+    return factory(probe)
+
+
+def _first_child_capacity_for_match(resource: Any) -> float:
+    """Well max_volume 或 Tip 的 maximal_volume，用于与设备端 Volume 类似的打分。"""
+    ch = getattr(resource, "children", None) or []
+    if not ch:
+        return 0.0
+    c0 = ch[0]
+    mv = getattr(c0, "max_volume", None)
+    if mv is not None:
+        return float(mv)
+    tip = getattr(c0, "tip", None)
+    if tip is not None:
+        mv2 = getattr(tip, "maximal_volume", None)
+        if mv2 is not None:
+            return float(mv2)
+    return 0.0
+
+
+def get_prcxi_labware_template_specs() -> List[Dict[str, Any]]:
+    """返回与 ``prcxi._match_and_create_matrix`` 中耗材字段兼容的模板列表，用于按孔数+容量打分。"""
+    global _PRCXI_TEMPLATE_SPECS_CACHE
+    if _PRCXI_TEMPLATE_SPECS_CACHE is not None:
+        return _PRCXI_TEMPLATE_SPECS_CACHE
+
+    out: List[Dict[str, Any]] = []
+    for factory, kind in PRCXI_TEMPLATE_FACTORY_KINDS:
+        try:
+            r = _probe_prcxi_resource(factory)
+        except Exception:
+            continue
+        nx = int(getattr(r, "num_items_x", None) or 0)
+        ny = int(getattr(r, "num_items_y", None) or 0)
+        nchild = len(getattr(r, "children", []) or [])
+        hole_count = nx * ny if nx > 0 and ny > 0 else nchild
+        hole_row = ny if nx > 0 and ny > 0 else 0
+        hole_col = nx if nx > 0 and ny > 0 else 0
+        mi = getattr(r, "material_info", None) or {}
+        vol = _first_child_capacity_for_match(r)
+        menum = mi.get("materialEnum")
+        if menum is None and kind == "tip_rack":
+            menum = 1
+        elif menum is None and kind == "trash":
+            menum = 6
+        out.append(
+            {
+                "class_name": factory.__name__,
+                "kind": kind,
+                "materialEnum": menum,
+                "HoleRow": hole_row,
+                "HoleColum": hole_col,
+                "Volume": vol,
+                "hole_count": hole_count,
+                "material_uuid": mi.get("uuid"),
+                "material_code": mi.get("Code"),
+            }
+        )
+
+    _PRCXI_TEMPLATE_SPECS_CACHE = out
+    return out
+'''
+
+
+def generate_code(db: LabwareDB, test_mode: bool = True) -> Path:
+    """生成 prcxi_labware.py (或 _test.py)，返回输出文件路径。"""
+    suffix = "_test" if test_mode else ""
+    out_path = _TARGET_DIR / f"prcxi_labware{suffix}.py"
+
+    # 备份
+    if out_path.exists():
+        bak = out_path.with_suffix(".py.bak")
+        shutil.copy2(out_path, bak)
+
+    # 按类型分组的生成器
+    generators = {
+        "plate": _gen_plate,
+        "tip_rack": _gen_tip_rack,
+        "trash": _gen_trash,
+        "tube_rack": _gen_tube_rack,
+        "plate_adapter": _gen_plate_adapter,
+    }
+
+    # 按 type 分段
+    sections = {
+        "plate": [],
+        "tip_rack": [],
+        "trash": [],
+        "tube_rack": [],
+        "plate_adapter": [],
+    }
+
+    for item in db.items:
+        gen = generators.get(item.type)
+        if gen:
+            sections[item.type].append(gen(item))
+
+    # 组装完整文件
+    parts = [_HEADER]
+
+    section_titles = {
+        "plate": "# =========================================================================\n# Plates\n# =========================================================================",
+        "tip_rack": "# =========================================================================\n# Tip Racks\n# =========================================================================",
+        "trash": "# =========================================================================\n# Trash\n# =========================================================================",
+        "tube_rack": "# =========================================================================\n# Tube Racks\n# =========================================================================",
+        "plate_adapter": "# =========================================================================\n# Plate Adapters\n# =========================================================================",
+    }
+
+    for type_key in ["plate", "tip_rack", "trash", "tube_rack", "plate_adapter"]:
+        if sections[type_key]:
+            parts.append(section_titles[type_key])
+            for code in sections[type_key]:
+                parts.append(code)
+
+    # Template factory kinds
+    parts.append("")
+    parts.append(_gen_template_factory_kinds(db.items))
+
+    # Footer
+    parts.append(_gen_footer())
+
+    content = '\n'.join(parts)
+    out_path.write_text(content, encoding="utf-8")
+    return out_path
+
+
+if __name__ == "__main__":
+    from unilabos.labware_manager.importer import load_db
+    db = load_db()
+    if not db.items:
+        print("labware_db.json 为空，请先运行 importer.py")
+    else:
+        out = generate_code(db, test_mode=True)
+        print(f"已生成 {out} ({len(db.items)} 个工厂函数)")

unilabos/labware_manager/importer.py

@@ -0,0 +1,474 @@
+"""从现有 prcxi_labware.py + registry YAML 导入耗材数据到 labware_db.json。
+
+策略：
+1. 实例化每个工厂函数 → 提取物理尺寸、material_info、children
+2. AST 解析源码 → 提取 docstring、volume_function 参数、plate_type
+3. 从 children[0].location 反推 dx/dy/dz，相邻位置差推 item_dx/item_dy
+4. 同时读取现有 YAML → 提取 registry_category / description
+"""
+
+from __future__ import annotations
+
+import ast
+import json
+import os
+import re
+import sys
+from pathlib import Path
+from typing import Any, Dict, List, Optional, Tuple
+
+import yaml
+
+# 将项目根目录加入 sys.path 以便 import
+_PROJECT_ROOT = Path(__file__).resolve().parents[2]
+if str(_PROJECT_ROOT) not in sys.path:
+    sys.path.insert(0, str(_PROJECT_ROOT))
+
+from unilabos.labware_manager.models import (
+    AdapterInfo,
+    GridInfo,
+    LabwareDB,
+    LabwareItem,
+    MaterialInfo,
+    TipInfo,
+    TubeInfo,
+    VolumeFunctions,
+    WellInfo,
+)
+
+# ---------- 路径常量 ----------
+_LABWARE_PY = Path(__file__).resolve().parents[1] / "devices" / "liquid_handling" / "prcxi" / "prcxi_labware.py"
+_REGISTRY_DIR = Path(__file__).resolve().parents[1] / "registry" / "resources" / "prcxi"
+_DB_PATH = Path(__file__).resolve().parent / "labware_db.json"
+
+# YAML 文件名 → type 映射
+_YAML_MAP: Dict[str, str] = {
+    "plates.yaml": "plate",
+    "tip_racks.yaml": "tip_rack",
+    "trash.yaml": "trash",
+    "tube_racks.yaml": "tube_rack",
+    "plate_adapters.yaml": "plate_adapter",
+}
+
+# PRCXI_TEMPLATE_FACTORY_KINDS 中列出的函数名（include_in_template_matching=True）
+_TEMPLATE_FACTORY_NAMES = {
+    "PRCXI_BioER_96_wellplate", "PRCXI_nest_1_troughplate",
+    "PRCXI_BioRad_384_wellplate", "PRCXI_AGenBio_4_troughplate",
+    "PRCXI_nest_12_troughplate", "PRCXI_CellTreat_96_wellplate",
+    "PRCXI_10ul_eTips", "PRCXI_300ul_Tips",
+    "PRCXI_PCR_Plate_200uL_nonskirted", "PRCXI_PCR_Plate_200uL_semiskirted",
+    "PRCXI_PCR_Plate_200uL_skirted", "PRCXI_trash",
+    "PRCXI_96_DeepWell", "PRCXI_EP_Adapter",
+    "PRCXI_1250uL_Tips", "PRCXI_10uL_Tips",
+    "PRCXI_1000uL_Tips", "PRCXI_200uL_Tips",
+    "PRCXI_48_DeepWell",
+}
+
+# template_kind 对应
+_TEMPLATE_KINDS: Dict[str, str] = {
+    "PRCXI_BioER_96_wellplate": "plate",
+    "PRCXI_nest_1_troughplate": "plate",
+    "PRCXI_BioRad_384_wellplate": "plate",
+    "PRCXI_AGenBio_4_troughplate": "plate",
+    "PRCXI_nest_12_troughplate": "plate",
+    "PRCXI_CellTreat_96_wellplate": "plate",
+    "PRCXI_10ul_eTips": "tip_rack",
+    "PRCXI_300ul_Tips": "tip_rack",
+    "PRCXI_PCR_Plate_200uL_nonskirted": "plate",
+    "PRCXI_PCR_Plate_200uL_semiskirted": "plate",
+    "PRCXI_PCR_Plate_200uL_skirted": "plate",
+    "PRCXI_trash": "trash",
+    "PRCXI_96_DeepWell": "plate",
+    "PRCXI_EP_Adapter": "tube_rack",
+    "PRCXI_1250uL_Tips": "tip_rack",
+    "PRCXI_10uL_Tips": "tip_rack",
+    "PRCXI_1000uL_Tips": "tip_rack",
+    "PRCXI_200uL_Tips": "tip_rack",
+    "PRCXI_48_DeepWell": "plate",
+}
+
+
+def _load_registry_info() -> Dict[str, Dict[str, Any]]:
+    """读取所有 registry YAML 文件，返回 {function_name: {category, description}} 映射。"""
+    info: Dict[str, Dict[str, Any]] = {}
+    for fname, ltype in _YAML_MAP.items():
+        fpath = _REGISTRY_DIR / fname
+        if not fpath.exists():
+            continue
+        with open(fpath, "r", encoding="utf-8") as f:
+            data = yaml.safe_load(f) or {}
+        for func_name, entry in data.items():
+            info[func_name] = {
+                "registry_category": entry.get("category", ["prcxi", ltype.replace("plate_adapter", "plate_adapters")]),
+                "registry_description": entry.get("description", ""),
+            }
+    return info
+
+
+def _parse_ast_info() -> Dict[str, Dict[str, Any]]:
+    """AST 解析 prcxi_labware.py，提取每个工厂函数的 docstring 和 volume_function 参数。"""
+    source = _LABWARE_PY.read_text(encoding="utf-8")
+    tree = ast.parse(source)
+    result: Dict[str, Dict[str, Any]] = {}
+
+    for node in ast.walk(tree):
+        if not isinstance(node, ast.FunctionDef):
+            continue
+        fname = node.name
+        if not fname.startswith("PRCXI_"):
+            continue
+        if fname.startswith("_"):
+            continue
+
+        info: Dict[str, Any] = {"docstring": "", "volume_functions": None, "plate_type": None}
+
+        # docstring
+        doc = ast.get_docstring(node)
+        if doc:
+            info["docstring"] = doc.strip()
+
+        # 搜索函数体中的 plate_type 赋值和 volume_function 参数
+        func_source = ast.get_source_segment(source, node) or ""
+
+        # plate_type
+        m = re.search(r'plate_type\s*=\s*["\']([^"\']+)["\']', func_source)
+        if m:
+            info["plate_type"] = m.group(1)
+
+        # volume_functions: 检查 compute_height_from_volume_rectangle
+        if "compute_height_from_volume_rectangle" in func_source:
+            # 提取 well_length 和 well_width
+            vf: Dict[str, Any] = {"type": "rectangle"}
+            # 尝试从 lambda 中提取
+            wl_match = re.search(r'well_length\s*=\s*([\w_.]+)', func_source)
+            ww_match = re.search(r'well_width\s*=\s*([\w_.]+)', func_source)
+            if wl_match:
+                vf["well_length_var"] = wl_match.group(1)
+            if ww_match:
+                vf["well_width_var"] = ww_match.group(1)
+            info["volume_functions"] = vf
+
+        result[fname] = info
+
+    return result
+
+
+def _probe_factory(factory_func) -> Any:
+    """实例化工厂函数获取 resource 对象。"""
+    if factory_func.__name__ == "PRCXI_trash":
+        return factory_func()
+    return factory_func("__probe__")
+
+
+def _get_size(resource, attr: str) -> float:
+    """获取 PLR Resource 的尺寸（兼容 size_x 和 _size_x）。"""
+    val = getattr(resource, attr, None)
+    if val is None:
+        val = getattr(resource, f"_{attr}", None)
+    if val is None:
+        val = getattr(resource, f"get_{attr}", lambda: 0)()
+    return float(val or 0)
+
+
+def _extract_grid_from_children(resource) -> Optional[Dict[str, Any]]:
+    """从 resource.children 提取网格信息。"""
+    children = getattr(resource, "children", None) or []
+    if not children:
+        return None
+
+    # 获取 num_items_x, num_items_y
+    num_x = getattr(resource, "num_items_x", None)
+    num_y = getattr(resource, "num_items_y", None)
+    if num_x is None or num_y is None:
+        return None
+
+    c0 = children[0]
+    loc0 = getattr(c0, "location", None)
+    dx = loc0.x if loc0 else 0.0
+    dy_raw = loc0.y if loc0 else 0.0  # 这是 PLR 布局后的位置，不是输入参数
+    dz = loc0.z if loc0 else 0.0
+
+    # 推算 item_dx, item_dy
+    item_dx = 9.0
+    item_dy = 9.0
+    if len(children) > 1:
+        c1 = children[1]
+        loc1 = getattr(c1, "location", None)
+        if loc1 and loc0:
+            diff_x = abs(loc1.x - loc0.x)
+            diff_y = abs(loc1.y - loc0.y)
+            if diff_x > 0.1:
+                item_dx = diff_x
+            if diff_y > 0.1:
+                item_dy = diff_y
+
+    # 如果 num_items_y > 1 且 num_items_x > 1, 找列间距
+    if int(num_y) > 1 and int(num_x) > 1 and len(children) >= int(num_y) + 1:
+        cn = children[int(num_y)]
+        locn = getattr(cn, "location", None)
+        if locn and loc0:
+            col_diff = abs(locn.x - loc0.x)
+            row_diff = abs(children[1].location.y - loc0.y) if len(children) > 1 else item_dy
+            if col_diff > 0.1:
+                item_dx = col_diff
+            if row_diff > 0.1:
+                item_dy = row_diff
+
+    # PLR create_ordered_items_2d 的 Y 轴排列是倒序的：
+    # child[0].y = dy_param + (num_y - 1) * item_dy  (最上面一行)
+    # 因此反推原始 dy 参数：
+    dy = dy_raw - (int(num_y) - 1) * item_dy
+
+    return {
+        "num_items_x": int(num_x),
+        "num_items_y": int(num_y),
+        "dx": round(dx, 4),
+        "dy": round(dy, 4),
+        "dz": round(dz, 4),
+        "item_dx": round(item_dx, 4),
+        "item_dy": round(item_dy, 4),
+    }
+
+
+def _extract_well_info(child) -> Dict[str, Any]:
+    """从 Well/TipSpot/Tube 子对象提取信息。"""
+    # material_z_thickness 在 PLR 中如果未设置会抛 NotImplementedError
+    mzt = None
+    try:
+        mzt = child.material_z_thickness
+    except (NotImplementedError, AttributeError):
+        mzt = getattr(child, "_material_z_thickness", None)
+
+    return {
+        "size_x": round(_get_size(child, "size_x"), 4),
+        "size_y": round(_get_size(child, "size_y"), 4),
+        "size_z": round(_get_size(child, "size_z"), 4),
+        "max_volume": getattr(child, "max_volume", None),
+        "bottom_type": getattr(child, "bottom_type", None),
+        "cross_section_type": getattr(child, "cross_section_type", None),
+        "material_z_thickness": mzt,
+    }
+
+
+def import_from_code() -> LabwareDB:
+    """执行完整的导入流程，返回 LabwareDB 对象。"""
+    # 1. 加载 registry 信息
+    reg_info = _load_registry_info()
+
+    # 2. AST 解析源码
+    ast_info = _parse_ast_info()
+
+    # 3. 导入工厂模块（通过包路径避免 relative import 问题）
+    import importlib
+    mod = importlib.import_module("unilabos.devices.liquid_handling.prcxi.prcxi_labware")
+
+    # 4. 获取 PRCXI_TEMPLATE_FACTORY_KINDS 列出的函数
+    factory_kinds = getattr(mod, "PRCXI_TEMPLATE_FACTORY_KINDS", [])
+    template_func_names = {f.__name__ for f, _k in factory_kinds}
+
+    # 5. 收集所有 PRCXI_ 开头的工厂函数
+    all_factories: List[Tuple[str, Any]] = []
+    for attr_name in dir(mod):
+        if attr_name.startswith("PRCXI_") and not attr_name.startswith("_"):
+            obj = getattr(mod, attr_name)
+            if callable(obj) and not isinstance(obj, type):
+                all_factories.append((attr_name, obj))
+
+    # 按源码行号排序
+    all_factories.sort(key=lambda x: getattr(x[1], "__code__", None) and x[1].__code__.co_firstlineno or 0)
+
+    items: List[LabwareItem] = []
+
+    for func_name, factory in all_factories:
+        try:
+            resource = _probe_factory(factory)
+        except Exception as e:
+            print(f"跳过 {func_name}: {e}")
+            continue
+
+        # 确定类型
+        type_name = "plate"
+        class_name = type(resource).__name__
+        if "TipRack" in class_name:
+            type_name = "tip_rack"
+        elif "Trash" in class_name:
+            type_name = "trash"
+        elif "TubeRack" in class_name:
+            type_name = "tube_rack"
+        elif "PlateAdapter" in class_name:
+            type_name = "plate_adapter"
+
+        # material_info
+        state = getattr(resource, "_unilabos_state", {}) or {}
+        mat = state.get("Material", {})
+        mat_info = MaterialInfo(
+            uuid=mat.get("uuid", ""),
+            Code=mat.get("Code", ""),
+            Name=mat.get("Name", ""),
+            materialEnum=mat.get("materialEnum"),
+            SupplyType=mat.get("SupplyType"),
+        )
+
+        # AST 信息
+        ast_data = ast_info.get(func_name, {})
+        docstring = ast_data.get("docstring", "")
+        plate_type = ast_data.get("plate_type")
+
+        # Registry 信息
+        reg = reg_info.get(func_name, {})
+        registry_category = reg.get("registry_category", ["prcxi", _type_to_yaml_subcategory(type_name)])
+        registry_description = reg.get("registry_description", f'{mat_info.Name} (Code: {mat_info.Code})')
+
+        # 构建 item
+        item = LabwareItem(
+            id=func_name.lower().replace("prcxi_", "")[:8] or func_name[:8],
+            type=type_name,
+            function_name=func_name,
+            docstring=docstring,
+            size_x=round(_get_size(resource, "size_x"), 4),
+            size_y=round(_get_size(resource, "size_y"), 4),
+            size_z=round(_get_size(resource, "size_z"), 4),
+            model=getattr(resource, "model", None),
+            category=getattr(resource, "category", type_name),
+            plate_type=plate_type,
+            material_info=mat_info,
+            registry_category=registry_category,
+            registry_description=registry_description,
+            include_in_template_matching=func_name in template_func_names,
+            template_kind=_TEMPLATE_KINDS.get(func_name),
+        )
+
+        # 提取子项信息
+        children = getattr(resource, "children", None) or []
+        grid_data = _extract_grid_from_children(resource)
+
+        if type_name == "plate" and children:
+            if grid_data:
+                item.grid = GridInfo(**grid_data)
+            c0 = children[0]
+            well_data = _extract_well_info(c0)
+            bt = well_data.get("bottom_type")
+            if bt is not None:
+                bt = bt.name if hasattr(bt, "name") else str(bt)
+            else:
+                bt = "FLAT"
+            cst = well_data.get("cross_section_type")
+            if cst is not None:
+                cst = cst.name if hasattr(cst, "name") else str(cst)
+            else:
+                cst = "CIRCLE"
+            item.well = WellInfo(
+                size_x=well_data["size_x"],
+                size_y=well_data["size_y"],
+                size_z=well_data["size_z"],
+                max_volume=well_data.get("max_volume"),
+                bottom_type=bt,
+                cross_section_type=cst,
+                material_z_thickness=well_data.get("material_z_thickness"),
+            )
+            # volume_functions
+            vf = ast_data.get("volume_functions")
+            if vf:
+                # 需要实际获取 well 尺寸作为 volume_function 参数
+                item.volume_functions = VolumeFunctions(
+                    type="rectangle",
+                    well_length=well_data["size_x"],
+                    well_width=well_data["size_y"],
+                )
+
+        elif type_name == "tip_rack" and children:
+            if grid_data:
+                item.grid = GridInfo(**grid_data)
+            c0 = children[0]
+            tip_obj = getattr(c0, "tip", None)
+            tip_volume = 300.0
+            tip_length = 60.0
+            tip_depth = 51.0
+            tip_filter = False
+            if tip_obj:
+                tip_volume = getattr(tip_obj, "maximal_volume", 300.0)
+                tip_length = getattr(tip_obj, "total_tip_length", 60.0)
+                tip_depth = getattr(tip_obj, "fitting_depth", 51.0)
+                tip_filter = getattr(tip_obj, "has_filter", False)
+            item.tip = TipInfo(
+                spot_size_x=round(_get_size(c0, "size_x"), 4),
+                spot_size_y=round(_get_size(c0, "size_y"), 4),
+                spot_size_z=round(_get_size(c0, "size_z"), 4),
+                tip_volume=tip_volume,
+                tip_length=tip_length,
+                tip_fitting_depth=tip_depth,
+                has_filter=tip_filter,
+            )
+            # 计算 tip_above_rack_length = tip_length - (size_z - dz)
+            if grid_data:
+                _dz = grid_data.get("dz", 0.0)
+                _above = tip_length - (item.size_z - _dz)
+                item.tip.tip_above_rack_length = round(_above, 4) if _above > 0 else None
+
+        elif type_name == "tube_rack" and children:
+            if grid_data:
+                item.grid = GridInfo(**grid_data)
+            c0 = children[0]
+            item.tube = TubeInfo(
+                size_x=round(_get_size(c0, "size_x"), 4),
+                size_y=round(_get_size(c0, "size_y"), 4),
+                size_z=round(_get_size(c0, "size_z"), 4),
+                max_volume=getattr(c0, "max_volume", 1500.0) or 1500.0,
+            )
+
+        elif type_name == "plate_adapter":
+            # 提取 adapter 参数
+            ahx = getattr(resource, "adapter_hole_size_x", 127.76)
+            ahy = getattr(resource, "adapter_hole_size_y", 85.48)
+            ahz = getattr(resource, "adapter_hole_size_z", 10.0)
+            adx = getattr(resource, "dx", None)
+            ady = getattr(resource, "dy", None)
+            adz = getattr(resource, "dz", 0.0)
+            item.adapter = AdapterInfo(
+                adapter_hole_size_x=ahx,
+                adapter_hole_size_y=ahy,
+                adapter_hole_size_z=ahz,
+                dx=adx,
+                dy=ady,
+                dz=adz,
+            )
+
+        items.append(item)
+
+    return LabwareDB(items=items)
+
+
+def _type_to_yaml_subcategory(type_name: str) -> str:
+    mapping = {
+        "plate": "plates",
+        "tip_rack": "tip_racks",
+        "trash": "trash",
+        "tube_rack": "tube_racks",
+        "plate_adapter": "plate_adapters",
+    }
+    return mapping.get(type_name, type_name)
+
+
+def save_db(db: LabwareDB, path: Optional[Path] = None) -> Path:
+    """保存 LabwareDB 到 JSON 文件。"""
+    out = path or _DB_PATH
+    with open(out, "w", encoding="utf-8") as f:
+        json.dump(db.model_dump(), f, ensure_ascii=False, indent=2)
+    return out
+
+
+def load_db(path: Optional[Path] = None) -> LabwareDB:
+    """从 JSON 文件加载 LabwareDB。"""
+    src = path or _DB_PATH
+    if not src.exists():
+        return LabwareDB()
+    with open(src, "r", encoding="utf-8") as f:
+        return LabwareDB(**json.load(f))
+
+
+if __name__ == "__main__":
+    db = import_from_code()
+    out = save_db(db)
+    print(f"已导入 {len(db.items)} 个耗材 → {out}")
+    for item in db.items:
+        print(f"  [{item.type:14s}] {item.function_name}")

unilabos/labware_manager/models.py

@@ -0,0 +1,126 @@
+"""Pydantic 数据模型，描述所有 PRCXI 耗材类型的 JSON 结构。"""
+
+from __future__ import annotations
+
+import uuid as _uuid
+from typing import Any, Dict, List, Literal, Optional
+
+from pydantic import BaseModel, Field
+
+
+class MaterialInfo(BaseModel):
+    uuid: str = ""
+    Code: str = ""
+    Name: str = ""
+    materialEnum: Optional[int] = None
+    SupplyType: Optional[int] = None
+
+
+class GridInfo(BaseModel):
+    """孔位网格排列参数"""
+    num_items_x: int = 12
+    num_items_y: int = 8
+    dx: float = 0.0
+    dy: float = 0.0
+    dz: float = 0.0
+    item_dx: float = 9.0
+    item_dy: float = 9.0
+
+
+class WellInfo(BaseModel):
+    """孔参数 (Plate)"""
+    size_x: float = 8.0
+    size_y: float = 8.0
+    size_z: float = 10.0
+    max_volume: Optional[float] = None
+    bottom_type: str = "FLAT"          # V / U / FLAT
+    cross_section_type: str = "CIRCLE"  # CIRCLE / RECTANGLE
+    material_z_thickness: Optional[float] = None
+
+
+class VolumeFunctions(BaseModel):
+    """体积-高度计算函数参数 (矩形 well)"""
+    type: str = "rectangle"
+    well_length: float = 0.0
+    well_width: float = 0.0
+
+
+class TipInfo(BaseModel):
+    """枪头参数 (TipRack)"""
+    spot_size_x: float = 7.0
+    spot_size_y: float = 7.0
+    spot_size_z: float = 0.0
+    tip_volume: float = 300.0
+    tip_length: float = 60.0
+    tip_fitting_depth: float = 51.0
+    tip_above_rack_length: Optional[float] = None
+    has_filter: bool = False
+
+
+class TubeInfo(BaseModel):
+    """管参数 (TubeRack)"""
+    size_x: float = 10.6
+    size_y: float = 10.6
+    size_z: float = 40.0
+    max_volume: float = 1500.0
+
+
+class AdapterInfo(BaseModel):
+    """适配器参数 (PlateAdapter)"""
+    adapter_hole_size_x: float = 127.76
+    adapter_hole_size_y: float = 85.48
+    adapter_hole_size_z: float = 10.0
+    dx: Optional[float] = None
+    dy: Optional[float] = None
+    dz: float = 0.0
+
+
+LabwareType = Literal["plate", "tip_rack", "trash", "tube_rack", "plate_adapter"]
+
+
+class LabwareItem(BaseModel):
+    """一个耗材条目的完整 JSON 表示"""
+
+    id: str = Field(default_factory=lambda: _uuid.uuid4().hex[:8])
+    type: LabwareType = "plate"
+    function_name: str = ""
+    docstring: str = ""
+
+    # 物理尺寸
+    size_x: float = 127.0
+    size_y: float = 85.0
+    size_z: float = 20.0
+    model: Optional[str] = None
+    category: Optional[str] = None
+    plate_type: Optional[str] = None  # non-skirted / semi-skirted / skirted
+
+    # 材料信息
+    material_info: MaterialInfo = Field(default_factory=MaterialInfo)
+
+    # Registry 字段
+    registry_category: List[str] = Field(default_factory=lambda: ["prcxi", "plates"])
+    registry_description: str = ""
+
+    # Plate 特有
+    grid: Optional[GridInfo] = None
+    well: Optional[WellInfo] = None
+    volume_functions: Optional[VolumeFunctions] = None
+
+    # TipRack 特有
+    tip: Optional[TipInfo] = None
+
+    # TubeRack 特有
+    tube: Optional[TubeInfo] = None
+
+    # PlateAdapter 特有
+    adapter: Optional[AdapterInfo] = None
+
+    # 模板匹配
+    include_in_template_matching: bool = False
+    template_kind: Optional[str] = None
+
+
+class LabwareDB(BaseModel):
+    """整个 labware_db.json 的结构"""
+    version: str = "1.0"
+    items: List[LabwareItem] = Field(default_factory=list)

unilabos/labware_manager/static/form_handler.js

@@ -0,0 +1,292 @@
+/**
+ * form_handler.js — 动态表单逻辑 + 实时预览
+ */
+
+// 根据类型显示/隐藏对应的表单段
+function onTypeChange() {
+    const type = document.getElementById('f-type').value;
+    const sections = {
+        grid: ['plate', 'tip_rack', 'tube_rack'],
+        well: ['plate'],
+        tip: ['tip_rack'],
+        tube: ['tube_rack'],
+        adapter: ['plate_adapter'],
+    };
+
+    for (const [sec, types] of Object.entries(sections)) {
+        const el = document.getElementById('section-' + sec);
+        if (el) el.style.display = types.includes(type) ? 'block' : 'none';
+    }
+
+    // plate_type 行只对 plate 显示
+    const ptRow = document.getElementById('row-plate_type');
+    if (ptRow) ptRow.style.display = type === 'plate' ? 'block' : 'none';
+
+    updatePreview();
+}
+
+// 从表单收集数据
+function collectFormData() {
+    const g = id => {
+        const el = document.getElementById(id);
+        if (!el) return null;
+        if (el.type === 'checkbox') return el.checked;
+        if (el.type === 'number') return el.value === '' ? null : parseFloat(el.value);
+        return el.value || null;
+    };
+
+    const type = g('f-type');
+
+    const data = {
+        type: type,
+        function_name: g('f-function_name') || 'PRCXI_new',
+        model: g('f-model'),
+        docstring: g('f-docstring') || '',
+        plate_type: type === 'plate' ? g('f-plate_type') : null,
+        size_x: g('f-size_x') || 127,
+        size_y: g('f-size_y') || 85,
+        size_z: g('f-size_z') || 20,
+        material_info: {
+            uuid: g('f-mi_uuid') || '',
+            Code: g('f-mi_code') || '',
+            Name: g('f-mi_name') || '',
+            materialEnum: g('f-mi_menum'),
+            SupplyType: g('f-mi_stype'),
+        },
+        registry_category: (g('f-reg_cat') || 'prcxi,plates').split(',').map(s => s.trim()),
+        registry_description: g('f-reg_desc') || '',
+        include_in_template_matching: g('f-in_tpl') || false,
+        template_kind: g('f-tpl_kind') || null,
+        grid: null,
+        well: null,
+        tip: null,
+        tube: null,
+        adapter: null,
+        volume_functions: null,
+    };
+
+    // Grid
+    if (['plate', 'tip_rack', 'tube_rack'].includes(type)) {
+        data.grid = {
+            num_items_x: g('f-grid_nx') || 12,
+            num_items_y: g('f-grid_ny') || 8,
+            dx: g('f-grid_dx') || 0,
+            dy: g('f-grid_dy') || 0,
+            dz: g('f-grid_dz') || 0,
+            item_dx: g('f-grid_idx') || 9,
+            item_dy: g('f-grid_idy') || 9,
+        };
+    }
+
+    // Well
+    if (type === 'plate') {
+        data.well = {
+            size_x: g('f-well_sx') || 8,
+            size_y: g('f-well_sy') || 8,
+            size_z: g('f-well_sz') || 10,
+            max_volume: g('f-well_vol'),
+            material_z_thickness: g('f-well_mzt'),
+            bottom_type: g('f-well_bt') || 'FLAT',
+            cross_section_type: g('f-well_cs') || 'CIRCLE',
+        };
+        if (g('f-has_vf')) {
+            data.volume_functions = {
+                type: 'rectangle',
+                well_length: data.well.size_x,
+                well_width: data.well.size_y,
+            };
+        }
+    }
+
+    // Tip
+    if (type === 'tip_rack') {
+        data.tip = {
+            spot_size_x: g('f-tip_sx') || 7,
+            spot_size_y: g('f-tip_sy') || 7,
+            spot_size_z: g('f-tip_sz') || 0,
+            tip_volume: g('f-tip_vol') || 300,
+            tip_length: g('f-tip_len') || 60,
+            tip_fitting_depth: g('f-tip_dep') || 51,
+            tip_above_rack_length: g('f-tip_above'),
+            has_filter: g('f-tip_filter') || false,
+        };
+    }
+
+    // Tube
+    if (type === 'tube_rack') {
+        data.tube = {
+            size_x: g('f-tube_sx') || 10.6,
+            size_y: g('f-tube_sy') || 10.6,
+            size_z: g('f-tube_sz') || 40,
+            max_volume: g('f-tube_vol') || 1500,
+        };
+    }
+
+    // Adapter
+    if (type === 'plate_adapter') {
+        data.adapter = {
+            adapter_hole_size_x: g('f-adp_hsx') || 127.76,
+            adapter_hole_size_y: g('f-adp_hsy') || 85.48,
+            adapter_hole_size_z: g('f-adp_hsz') || 10,
+            dx: g('f-adp_dx'),
+            dy: g('f-adp_dy'),
+            dz: g('f-adp_dz') || 0,
+        };
+    }
+
+    return data;
+}
+
+// 实时预览 (debounce)
+let _previewTimer = null;
+function updatePreview() {
+    if (_previewTimer) clearTimeout(_previewTimer);
+    _previewTimer = setTimeout(() => {
+        const data = collectFormData();
+        const topEl = document.getElementById('svg-topdown');
+        const sideEl = document.getElementById('svg-side');
+        if (topEl) renderTopDown(topEl, data);
+        if (sideEl) renderSideProfile(sideEl, data);
+    }, 200);
+}
+
+// 给所有表单元素绑定 input 事件
+document.addEventListener('DOMContentLoaded', () => {
+    const form = document.getElementById('labware-form');
+    if (!form) return;
+    form.addEventListener('input', updatePreview);
+    form.addEventListener('change', updatePreview);
+
+    // tip_above_rack_length 与 dz 互算
+    // 公式: tip_length = tip_above_rack_length + size_z - dz
+    // 规则: 填 tip_above → 自动算 dz；填 dz → 自动算 tip_above
+    //       改 size_z / tip_length → 优先重算 tip_above（若有值），否则算 dz
+
+    function _getVal(id) {
+        const el = document.getElementById(id);
+        return (el && el.value !== '') ? parseFloat(el.value) : null;
+    }
+    function _setVal(id, v) {
+        const el = document.getElementById(id);
+        if (el) el.value = Math.round(v * 1000) / 1000;
+    }
+
+    function autoCalcTipAbove(changedId) {
+        const typeEl = document.getElementById('f-type');
+        if (!typeEl || typeEl.value !== 'tip_rack') return;
+
+        const tipLen = _getVal('f-tip_len');
+        const sizeZ  = _getVal('f-size_z');
+        const dz     = _getVal('f-grid_dz');
+        const above  = _getVal('f-tip_above');
+
+        // 需要 tip_length 和 size_z 才能计算
+        if (tipLen == null || sizeZ == null) return;
+
+        if (changedId === 'f-tip_above') {
+            // 用户填了 tip_above → 算 dz
+            if (above != null) _setVal('f-grid_dz', above + sizeZ - tipLen);
+        } else if (changedId === 'f-grid_dz') {
+            // 用户填了 dz → 算 tip_above
+            if (dz != null) _setVal('f-tip_above', tipLen - sizeZ + dz);
+        } else {
+            // size_z 或 tip_length 变了 → 优先重算 tip_above（若已有值或 dz 已有值）
+            if (dz != null) {
+                _setVal('f-tip_above', tipLen - sizeZ + dz);
+            } else if (above != null) {
+                _setVal('f-grid_dz', above + sizeZ - tipLen);
+            }
+        }
+    }
+
+    // 绑定 input 事件
+    for (const id of ['f-tip_len', 'f-size_z', 'f-grid_dz', 'f-tip_above']) {
+        const el = document.getElementById(id);
+        if (el) el.addEventListener('input', () => autoCalcTipAbove(id));
+    }
+
+    // 编辑已有 tip_rack 条目时自动补算 tip_above_rack_length
+    const typeEl = document.getElementById('f-type');
+    if (typeEl && typeEl.value === 'tip_rack') {
+        autoCalcTipAbove('f-grid_dz');
+    }
+});
+
+// 自动居中：根据板尺寸和孔阵列参数计算 dx/dy
+function autoCenter() {
+    const g = id => { const el = document.getElementById(id); return el && el.value !== '' ? parseFloat(el.value) : 0; };
+
+    const sizeX = g('f-size_x') || 127;
+    const sizeY = g('f-size_y') || 85;
+    const nx = g('f-grid_nx') || 1;
+    const ny = g('f-grid_ny') || 1;
+    const itemDx = g('f-grid_idx') || 9;
+    const itemDy = g('f-grid_idy') || 9;
+
+    // 根据当前耗材类型确定子元素尺寸
+    const type = document.getElementById('f-type').value;
+    let childSx = 0, childSy = 0;
+    if (type === 'plate') {
+        childSx = g('f-well_sx') || 8;
+        childSy = g('f-well_sy') || 8;
+    } else if (type === 'tip_rack') {
+        childSx = g('f-tip_sx') || 7;
+        childSy = g('f-tip_sy') || 7;
+    } else if (type === 'tube_rack') {
+        childSx = g('f-tube_sx') || 10.6;
+        childSy = g('f-tube_sy') || 10.6;
+    }
+
+    // dx = (板宽 - 孔阵列总占宽) / 2
+    const dx = (sizeX - (nx - 1) * itemDx - childSx) / 2;
+    const dy = (sizeY - (ny - 1) * itemDy - childSy) / 2;
+
+    const elDx = document.getElementById('f-grid_dx');
+    const elDy = document.getElementById('f-grid_dy');
+    if (elDx) elDx.value = Math.round(dx * 100) / 100;
+    if (elDy) elDy.value = Math.round(dy * 100) / 100;
+
+    updatePreview();
+}
+
+// 保存
+function showMsg(text, ok) {
+    const el = document.getElementById('status-msg');
+    if (!el) return;
+    el.textContent = text;
+    el.className = 'status-msg ' + (ok ? 'msg-ok' : 'msg-err');
+    el.style.display = 'block';
+    setTimeout(() => el.style.display = 'none', 4000);
+}
+
+async function saveForm() {
+    const data = collectFormData();
+
+    let url, method;
+    if (typeof IS_NEW !== 'undefined' && IS_NEW) {
+        url = '/api/labware';
+        method = 'POST';
+    } else {
+        url = '/api/labware/' + (typeof ITEM_ID !== 'undefined' ? ITEM_ID : '');
+        method = 'PUT';
+    }
+
+    try {
+        const r = await fetch(url, {
+            method: method,
+            headers: { 'Content-Type': 'application/json' },
+            body: JSON.stringify(data),
+        });
+        const d = await r.json();
+        if (d.status === 'ok') {
+            showMsg('保存成功', true);
+            if (IS_NEW) {
+                setTimeout(() => location.href = '/labware/' + data.function_name, 500);
+            }
+        } else {
+            showMsg('保存失败: ' + JSON.stringify(d), false);
+        }
+    } catch (e) {
+        showMsg('请求错误: ' + e.message, false);
+    }
+}

unilabos/labware_manager/static/labware_viz.js

@@ -0,0 +1,450 @@
+/**
+ * labware_viz.js — PRCXI 耗材 SVG 2D 可视化渲染引擎
+ *
+ * renderTopDown(container, itemData)  — 俯视图
+ * renderSideProfile(container, itemData) — 侧面截面图
+ */
+
+const TYPE_COLORS = {
+    plate: '#3b82f6',
+    tip_rack: '#10b981',
+    tube_rack: '#f59e0b',
+    trash: '#ef4444',
+    plate_adapter: '#8b5cf6',
+};
+
+function _svgNS() { return 'http://www.w3.org/2000/svg'; }
+
+function _makeSVG(w, h) {
+    const svg = document.createElementNS(_svgNS(), 'svg');
+    svg.setAttribute('viewBox', `0 0 ${w} ${h}`);
+    svg.setAttribute('width', '100%');
+    svg.setAttribute('preserveAspectRatio', 'xMidYMid meet');
+    svg.style.background = '#fff';
+    return svg;
+}
+
+function _rect(svg, x, y, w, h, fill, stroke, rx) {
+    const r = document.createElementNS(_svgNS(), 'rect');
+    r.setAttribute('x', x); r.setAttribute('y', y);
+    r.setAttribute('width', w); r.setAttribute('height', h);
+    r.setAttribute('fill', fill || 'none');
+    r.setAttribute('stroke', stroke || '#333');
+    r.setAttribute('stroke-width', '0.5');
+    if (rx) r.setAttribute('rx', rx);
+    svg.appendChild(r);
+    return r;
+}
+
+function _circle(svg, cx, cy, r, fill, stroke) {
+    const c = document.createElementNS(_svgNS(), 'circle');
+    c.setAttribute('cx', cx); c.setAttribute('cy', cy);
+    c.setAttribute('r', r);
+    c.setAttribute('fill', fill || 'none');
+    c.setAttribute('stroke', stroke || '#333');
+    c.setAttribute('stroke-width', '0.4');
+    svg.appendChild(c);
+    return c;
+}
+
+function _text(svg, x, y, txt, size, anchor, fill) {
+    const t = document.createElementNS(_svgNS(), 'text');
+    t.setAttribute('x', x); t.setAttribute('y', y);
+    t.setAttribute('font-size', size || '3');
+    t.setAttribute('text-anchor', anchor || 'middle');
+    t.setAttribute('fill', fill || '#666');
+    t.setAttribute('font-family', 'sans-serif');
+    t.textContent = txt;
+    svg.appendChild(t);
+    return t;
+}
+
+function _line(svg, x1, y1, x2, y2, stroke, dash) {
+    const l = document.createElementNS(_svgNS(), 'line');
+    l.setAttribute('x1', x1); l.setAttribute('y1', y1);
+    l.setAttribute('x2', x2); l.setAttribute('y2', y2);
+    l.setAttribute('stroke', stroke || '#999');
+    l.setAttribute('stroke-width', '0.3');
+    if (dash) l.setAttribute('stroke-dasharray', dash);
+    svg.appendChild(l);
+    return l;
+}
+
+function _title(el, txt) {
+    const t = document.createElementNS(_svgNS(), 'title');
+    t.textContent = txt;
+    el.appendChild(t);
+}
+
+// ==================== 俯视图 ====================
+function renderTopDown(container, data) {
+    container.innerHTML = '';
+    if (!data) return;
+
+    const pad = 18;
+    const sx = data.size_x || 127;
+    const sy = data.size_y || 85;
+    const w = sx + pad * 2;
+    const h = sy + pad * 2;
+    const svg = _makeSVG(w, h);
+
+    const color = TYPE_COLORS[data.type] || '#3b82f6';
+    const lightColor = color + '22';
+
+    // 板子外轮廓
+    _rect(svg, pad, pad, sx, sy, lightColor, color, 3);
+
+    // 尺寸标注
+    _text(svg, pad + sx / 2, pad - 4, `${sx} mm`, '3.5', 'middle', '#333');
+    // Y 尺寸 (竖直)
+    const yt = document.createElementNS(_svgNS(), 'text');
+    yt.setAttribute('x', pad - 5);
+    yt.setAttribute('y', pad + sy / 2);
+    yt.setAttribute('font-size', '3.5');
+    yt.setAttribute('text-anchor', 'middle');
+    yt.setAttribute('fill', '#333');
+    yt.setAttribute('font-family', 'sans-serif');
+    yt.setAttribute('transform', `rotate(-90, ${pad - 5}, ${pad + sy / 2})`);
+    yt.textContent = `${sy} mm`;
+    svg.appendChild(yt);
+
+    const grid = data.grid;
+    const well = data.well;
+    const tip = data.tip;
+    const tube = data.tube;
+
+    if (grid && (well || tip || tube)) {
+        const nx = grid.num_items_x || 1;
+        const ny = grid.num_items_y || 1;
+        const dx = grid.dx || 0;
+        const dy = grid.dy || 0;
+        const idx = grid.item_dx || 9;
+        const idy = grid.item_dy || 9;
+
+        const child = well || tip || tube;
+        const csx = child.size_x || child.spot_size_x || 8;
+        const csy = child.size_y || child.spot_size_y || 8;
+
+        const isCircle = well ? (well.cross_section_type === 'CIRCLE') : (!!tip);
+
+        // 行列标签
+        for (let col = 0; col < nx; col++) {
+            const cx = pad + dx + csx / 2 + col * idx;
+            _text(svg, cx, pad + sy + 5, String(col + 1), '2.5', 'middle', '#999');
+        }
+        const rowLabels = 'ABCDEFGHIJKLMNOP';
+        for (let row = 0; row < ny; row++) {
+            const cy = pad + dy + csy / 2 + row * idy;
+            _text(svg, pad - 4, cy + 1, rowLabels[row] || String(row), '2.5', 'middle', '#999');
+        }
+
+        // 绘制孔位
+        for (let col = 0; col < nx; col++) {
+            for (let row = 0; row < ny; row++) {
+                const cx = pad + dx + csx / 2 + col * idx;
+                const cy = pad + dy + csy / 2 + row * idy;
+
+                let el;
+                if (isCircle) {
+                    const r = Math.min(csx, csy) / 2;
+                    el = _circle(svg, cx, cy, r, '#fff', color);
+                } else {
+                    el = _rect(svg, cx - csx / 2, cy - csy / 2, csx, csy, '#fff', color);
+                }
+
+                const label = (rowLabels[row] || '') + String(col + 1);
+                _title(el, `${label}: ${csx}x${csy} mm`);
+
+                // hover 效果
+                el.style.cursor = 'pointer';
+                el.addEventListener('mouseenter', () => el.setAttribute('fill', color + '44'));
+                el.addEventListener('mouseleave', () => el.setAttribute('fill', '#fff'));
+            }
+        }
+
+        // dx / dy 标注（板边到首个子元素左上角）
+        const dimColor = '#e67e22';
+        const firstLeft = pad + dx;        // 首列子元素左边 X
+        const firstTop  = pad + dy;        // 首行子元素上边 Y
+        if (dx > 0.1) {
+            // dx: 板左边 → 首列子元素左边，画在第一行子元素中心高度
+            const annY = firstTop + csy / 2;
+            _line(svg, pad, annY, firstLeft, annY, dimColor, '1,1');
+            _line(svg, pad, annY - 2, pad, annY + 2, dimColor);
+            _line(svg, firstLeft, annY - 2, firstLeft, annY + 2, dimColor);
+            _text(svg, pad + dx / 2, annY - 2, `dx=${dx}`, '2.5', 'middle', dimColor);
+        }
+        if (dy > 0.1) {
+            // dy: 板上边 → 首行子元素上边，画在第一列子元素中心宽度
+            const annX = firstLeft + csx / 2;
+            _line(svg, annX, pad, annX, firstTop, dimColor, '1,1');
+            _line(svg, annX - 2, pad, annX + 2, pad, dimColor);
+            _line(svg, annX - 2, firstTop, annX + 2, firstTop, dimColor);
+            _text(svg, annX + 4, pad + dy / 2 + 1, `dy=${dy}`, '2.5', 'start', dimColor);
+        }
+    } else if (data.type === 'plate_adapter' && data.adapter) {
+        // 绘制适配器凹槽
+        const adp = data.adapter;
+        const ahx = adp.adapter_hole_size_x || 127;
+        const ahy = adp.adapter_hole_size_y || 85;
+        const adx = adp.dx != null ? adp.dx : (sx - ahx) / 2;
+        const ady = adp.dy != null ? adp.dy : (sy - ahy) / 2;
+        _rect(svg, pad + adx, pad + ady, ahx, ahy, '#f0f0ff', '#8b5cf6', 2);
+        _text(svg, pad + adx + ahx / 2, pad + ady + ahy / 2, `${ahx}x${ahy}`, '4', 'middle', '#8b5cf6');
+    } else if (data.type === 'trash') {
+        // 简单标记
+        _text(svg, pad + sx / 2, pad + sy / 2, 'TRASH', '8', 'middle', '#ef4444');
+    }
+
+    container.appendChild(svg);
+    _enableZoomPan(svg, `0 0 ${w} ${h}`);
+}
+
+// ==================== 侧面截面图 ====================
+function renderSideProfile(container, data) {
+    container.innerHTML = '';
+    if (!data) return;
+
+    const pad = 20;
+    const sx = data.size_x || 127;
+    const sz = data.size_z || 20;
+
+    // 按比例缩放，侧面以 X-Z 面
+    const scaleH = Math.max(1, sz / 60); // 让较矮的板子不会太小
+
+    // 计算枪头露出高度（仅 tip_rack）
+    const tip = data.tip;
+    const grid = data.grid;
+    let tipAbove = 0;
+    if (data.type === 'tip_rack' && tip) {
+        if (tip.tip_above_rack_length != null && tip.tip_above_rack_length > 0) {
+            tipAbove = tip.tip_above_rack_length;
+        } else if (tip.tip_length && grid) {
+            const dz = grid.dz || 0;
+            const calc = tip.tip_length - (sz - dz);
+            if (calc > 0) tipAbove = calc;
+        }
+    }
+
+    const drawW = sx;
+    const drawH = sz;
+    const w = drawW + pad * 2 + 30; // 额外空间给标注
+    const h = drawH + tipAbove + pad * 2 + 10;
+    const svg = _makeSVG(w, h);
+
+    const color = TYPE_COLORS[data.type] || '#3b82f6';
+    const baseY = pad + tipAbove + drawH; // 底部 Y
+    const rackTopY = pad + tipAbove; // rack 顶部 Y
+
+    // 板壳矩形
+    _rect(svg, pad, rackTopY, drawW, drawH, color + '15', color);
+
+    // 尺寸标注
+    // X 方向
+    _line(svg, pad, baseY + 5, pad + drawW, baseY + 5, '#333');
+    _text(svg, pad + drawW / 2, baseY + 12, `${sx} mm`, '3.5', 'middle', '#333');
+
+    // Z 方向
+    _line(svg, pad + drawW + 5, rackTopY, pad + drawW + 5, baseY, '#333');
+    const zt = document.createElementNS(_svgNS(), 'text');
+    zt.setAttribute('x', pad + drawW + 12);
+    zt.setAttribute('y', rackTopY + drawH / 2);
+    zt.setAttribute('font-size', '3.5');
+    zt.setAttribute('text-anchor', 'middle');
+    zt.setAttribute('fill', '#333');
+    zt.setAttribute('font-family', 'sans-serif');
+    zt.setAttribute('transform', `rotate(-90, ${pad + drawW + 12}, ${rackTopY + drawH / 2})`);
+    zt.textContent = `${sz} mm`;
+    svg.appendChild(zt);
+
+    const well = data.well;
+    const tube = data.tube;
+
+    if (grid && (well || tip || tube)) {
+        const dx = grid.dx || 0;
+        const dz = grid.dz || 0;
+        const idx = grid.item_dx || 9;
+        const nx = Math.min(grid.num_items_x || 1, 24); // 最多画24列
+        const dimColor = '#e67e22';
+
+        const child = well || tube;
+        const childTip = tip;
+
+        if (child) {
+            const csx = child.size_x || 8;
+            const csz = child.size_z || 10;
+            const bt = well ? (well.bottom_type || 'FLAT') : 'FLAT';
+
+            // 画几个代表性的孔截面
+            const nDraw = Math.min(nx, 12);
+            for (let i = 0; i < nDraw; i++) {
+                const cx = pad + dx + csx / 2 + i * idx;
+                const topZ = baseY - dz - csz;
+                const botZ = baseY - dz;
+
+                // 孔壁
+                _rect(svg, cx - csx / 2, topZ, csx, csz, '#e0e8ff', color, 0.5);
+
+                // 底部形状
+                if (bt === 'V') {
+                    // V 底 三角
+                    const triH = Math.min(csx / 2, csz * 0.3);
+                    const p = document.createElementNS(_svgNS(), 'polygon');
+                    p.setAttribute('points',
+                        `${cx - csx / 2},${botZ - triH} ${cx},${botZ} ${cx + csx / 2},${botZ - triH}`);
+                    p.setAttribute('fill', color + '33');
+                    p.setAttribute('stroke', color);
+                    p.setAttribute('stroke-width', '0.3');
+                    svg.appendChild(p);
+                } else if (bt === 'U') {
+                    // U 底 圆弧
+                    const arcR = csx / 2;
+                    const p = document.createElementNS(_svgNS(), 'path');
+                    p.setAttribute('d', `M ${cx - csx / 2} ${botZ - arcR} A ${arcR} ${arcR} 0 0 0 ${cx + csx / 2} ${botZ - arcR}`);
+                    p.setAttribute('fill', color + '33');
+                    p.setAttribute('stroke', color);
+                    p.setAttribute('stroke-width', '0.3');
+                    svg.appendChild(p);
+                }
+            }
+
+            // dz 标注
+            if (dz > 0) {
+                const lx = pad + dx + 0.5 * idx * nDraw + csx / 2 + 5;
+                _line(svg, lx, baseY, lx, baseY - dz, dimColor, '1,1');
+                _line(svg, lx - 2, baseY, lx + 2, baseY, dimColor);
+                _line(svg, lx - 2, baseY - dz, lx + 2, baseY - dz, dimColor);
+                _text(svg, lx + 4, baseY - dz / 2 + 1, `dz=${dz}`, '2.5', 'start', dimColor);
+            }
+            // dx 标注
+            if (dx > 0.1) {
+                const annY = rackTopY + 4;
+                _line(svg, pad, annY, pad + dx, annY, dimColor, '1,1');
+                _line(svg, pad, annY - 2, pad, annY + 2, dimColor);
+                _line(svg, pad + dx, annY - 2, pad + dx, annY + 2, dimColor);
+                _text(svg, pad + dx / 2, annY - 2, `dx=${dx}`, '2.5', 'middle', dimColor);
+            }
+        }
+
+        if (childTip) {
+            // 枪头截面
+            const tipLen = childTip.tip_length || 50;
+            const nDraw = Math.min(nx, 12);
+            for (let i = 0; i < nDraw; i++) {
+                const cx = pad + dx + 3.5 + i * idx;
+                // 枪头顶部 = rack顶部 - 露出长度
+                const tipTopZ = rackTopY - tipAbove;
+                const drawLen = Math.min(tipLen, sz - dz + tipAbove);
+
+                // 枪头轮廓 (梯形)
+                const topW = 4;
+                const botW = 1.5;
+                const p = document.createElementNS(_svgNS(), 'polygon');
+                p.setAttribute('points',
+                    `${cx - topW / 2},${tipTopZ} ${cx + topW / 2},${tipTopZ} ${cx + botW / 2},${tipTopZ + drawLen} ${cx - botW / 2},${tipTopZ + drawLen}`);
+                p.setAttribute('fill', '#10b98133');
+                p.setAttribute('stroke', '#10b981');
+                p.setAttribute('stroke-width', '0.3');
+                svg.appendChild(p);
+            }
+
+            // dz 标注
+            if (dz > 0) {
+                const lx = pad + dx + nDraw * idx + 5;
+                _line(svg, lx, baseY, lx, baseY - dz, dimColor, '1,1');
+                _line(svg, lx - 2, baseY, lx + 2, baseY, dimColor);
+                _line(svg, lx - 2, baseY - dz, lx + 2, baseY - dz, dimColor);
+                _text(svg, lx + 4, baseY - dz / 2 + 1, `dz=${dz}`, '2.5', 'start', dimColor);
+            }
+            // dx 标注
+            if (dx > 0.1) {
+                const annY = rackTopY + 4;
+                _line(svg, pad, annY, pad + dx, annY, dimColor, '1,1');
+                _line(svg, pad, annY - 2, pad, annY + 2, dimColor);
+                _line(svg, pad + dx, annY - 2, pad + dx, annY + 2, dimColor);
+                _text(svg, pad + dx / 2, annY - 2, `dx=${dx}`, '2.5', 'middle', dimColor);
+            }
+
+            // 露出长度标注线
+            if (tipAbove > 0) {
+                const annotX = pad + dx + nDraw * idx + 8;
+                // rack 顶部水平参考线
+                _line(svg, annotX - 3, rackTopY, annotX + 3, rackTopY, '#10b981');
+                // 枪头顶部水平参考线
+                _line(svg, annotX - 3, rackTopY - tipAbove, annotX + 3, rackTopY - tipAbove, '#10b981');
+                // 竖直标注线
+                _line(svg, annotX, rackTopY - tipAbove, annotX, rackTopY, '#10b981', '1,1');
+                _text(svg, annotX + 2, rackTopY - tipAbove / 2 + 1, `露出=${Math.round(tipAbove * 100) / 100}mm`, '2.5', 'start', '#10b981');
+            }
+        }
+    } else if (data.type === 'plate_adapter' && data.adapter) {
+        const adp = data.adapter;
+        const ahz = adp.adapter_hole_size_z || 10;
+        const adz = adp.dz || 0;
+        const adx_val = adp.dx != null ? adp.dx : (sx - (adp.adapter_hole_size_x || 127)) / 2;
+        const ahx = adp.adapter_hole_size_x || 127;
+
+        // 凹槽截面
+        _rect(svg, pad + adx_val, rackTopY + adz, ahx, ahz, '#ede9fe', '#8b5cf6');
+        _text(svg, pad + adx_val + ahx / 2, rackTopY + adz + ahz / 2 + 1, `hole: ${ahz}mm deep`, '3', 'middle', '#8b5cf6');
+    } else if (data.type === 'trash') {
+        _text(svg, pad + drawW / 2, rackTopY + drawH / 2, 'TRASH', '8', 'middle', '#ef4444');
+    }
+
+    container.appendChild(svg);
+    _enableZoomPan(svg, `0 0 ${w} ${h}`);
+}
+
+// ==================== 缩放 & 平移 ====================
+function _enableZoomPan(svgEl, origViewBox) {
+    const parts = origViewBox.split(' ').map(Number);
+    let vx = parts[0], vy = parts[1], vw = parts[2], vh = parts[3];
+    const origVx = vx, origVy = vy, origW = vw, origH = vh;
+    const MIN_SCALE = 0.5, MAX_SCALE = 5;
+
+    function applyViewBox() {
+        svgEl.setAttribute('viewBox', `${vx} ${vy} ${vw} ${vh}`);
+    }
+
+    function resetView() {
+        vx = origVx; vy = origVy; vw = origW; vh = origH;
+        applyViewBox();
+    }
+
+    // 将 resetView 挂到 svg 元素上，方便外部调用
+    svgEl._resetView = resetView;
+
+    svgEl.addEventListener('wheel', function (e) {
+        e.preventDefault();
+        if (e.ctrlKey) {
+            // pinch / ctrl+scroll → 缩放
+            const factor = e.deltaY > 0 ? 1.08 : 1 / 1.08;
+            const newW = vw * factor;
+            const newH = vh * factor;
+            // 限制缩放范围
+            if (newW < origW / MAX_SCALE || newW > origW * (1 / MIN_SCALE)) return;
+            // 以鼠标位置为缩放中心
+            const rect = svgEl.getBoundingClientRect();
+            const mx = (e.clientX - rect.left) / rect.width;
+            const my = (e.clientY - rect.top) / rect.height;
+            vx += (vw - newW) * mx;
+            vy += (vh - newH) * my;
+            vw = newW;
+            vh = newH;
+        } else {
+            // 普通滚轮 → 平移
+            const panSpeed = vw * 0.002;
+            vx += e.deltaX * panSpeed;
+            vy += e.deltaY * panSpeed;
+        }
+        applyViewBox();
+    }, { passive: false });
+}
+
+// 回中按钮：重置指定容器内 SVG 的 viewBox
+function resetSvgView(containerId) {
+    const container = document.getElementById(containerId);
+    if (!container) return;
+    const svg = container.querySelector('svg');
+    if (svg && svg._resetView) svg._resetView();
+}

unilabos/labware_manager/static/style.css

@@ -0,0 +1,295 @@
+/* PRCXI 耗材管理 - 全局样式 */
+
+:root {
+    --c-primary: #3b82f6;
+    --c-primary-dark: #2563eb;
+    --c-danger: #ef4444;
+    --c-warning: #f59e0b;
+    --c-success: #10b981;
+    --c-gray-50: #f9fafb;
+    --c-gray-100: #f3f4f6;
+    --c-gray-200: #e5e7eb;
+    --c-gray-300: #d1d5db;
+    --c-gray-500: #6b7280;
+    --c-gray-700: #374151;
+    --c-gray-900: #111827;
+    --radius: 8px;
+    --shadow: 0 1px 3px rgba(0,0,0,0.1);
+}
+
+* { box-sizing: border-box; margin: 0; padding: 0; }
+
+body {
+    font-family: -apple-system, BlinkMacSystemFont, 'Segoe UI', Roboto, sans-serif;
+    background: var(--c-gray-50);
+    color: var(--c-gray-900);
+    line-height: 1.5;
+}
+
+/* 顶部导航 */
+.topbar {
+    background: #fff;
+    border-bottom: 1px solid var(--c-gray-200);
+    display: flex;
+    align-items: center;
+    justify-content: space-between;
+    padding: 0 24px;
+    height: 56px;
+    position: sticky;
+    top: 0;
+    z-index: 100;
+}
+.topbar .logo {
+    font-weight: 700;
+    font-size: 1.1rem;
+    color: var(--c-gray-900);
+    text-decoration: none;
+}
+
+/* 容器 */
+.container {
+    max-width: 1400px;
+    margin: 0 auto;
+    padding: 24px;
+}
+
+/* 页头 */
+.page-header {
+    display: flex;
+    align-items: center;
+    justify-content: space-between;
+    margin-bottom: 24px;
+    flex-wrap: wrap;
+    gap: 12px;
+}
+.page-header h1 { font-size: 1.5rem; }
+.header-actions { display: flex; gap: 8px; flex-wrap: wrap; }
+
+/* 按钮 */
+.btn {
+    display: inline-flex;
+    align-items: center;
+    padding: 8px 16px;
+    border-radius: 6px;
+    font-size: 0.875rem;
+    font-weight: 500;
+    cursor: pointer;
+    border: 1px solid transparent;
+    text-decoration: none;
+    transition: all 0.15s;
+    white-space: nowrap;
+}
+.btn-sm { padding: 4px 10px; font-size: 0.8rem; }
+.btn-primary { background: var(--c-primary); color: #fff; }
+.btn-primary:hover { background: var(--c-primary-dark); }
+.btn-outline { background: #fff; color: var(--c-gray-700); border-color: var(--c-gray-300); }
+.btn-outline:hover { background: var(--c-gray-100); }
+.btn-danger { background: var(--c-danger); color: #fff; }
+.btn-danger:hover { background: #dc2626; }
+.btn-warning { background: var(--c-warning); color: #fff; }
+.btn-warning:hover { background: #d97706; }
+
+/* 徽章 */
+.badge {
+    background: var(--c-gray-200);
+    color: var(--c-gray-700);
+    font-size: 0.8rem;
+    padding: 2px 8px;
+    border-radius: 12px;
+    font-weight: 500;
+    margin-left: 4px;
+}
+
+/* 状态消息 */
+.status-msg {
+    padding: 12px 16px;
+    border-radius: var(--radius);
+    margin-bottom: 16px;
+    font-size: 0.9rem;
+}
+.msg-ok { background: #d1fae5; color: #065f46; }
+.msg-err { background: #fee2e2; color: #991b1b; }
+
+/* 类型分段 */
+.type-section { margin-bottom: 32px; }
+.type-section h2 {
+    font-size: 1.1rem;
+    margin-bottom: 12px;
+    display: flex;
+    align-items: center;
+    gap: 8px;
+}
+.type-dot {
+    width: 12px;
+    height: 12px;
+    border-radius: 50%;
+    display: inline-block;
+}
+
+/* 卡片网格 */
+.card-grid {
+    display: grid;
+    grid-template-columns: repeat(auto-fill, minmax(300px, 1fr));
+    gap: 12px;
+}
+
+/* 耗材卡片 */
+.labware-card {
+    background: #fff;
+    border: 1px solid var(--c-gray-200);
+    border-radius: var(--radius);
+    padding: 16px;
+    cursor: pointer;
+    transition: box-shadow 0.2s, border-color 0.2s;
+}
+.labware-card:hover {
+    border-color: var(--c-primary);
+    box-shadow: 0 4px 12px rgba(59,130,246,0.15);
+}
+.card-header {
+    display: flex;
+    justify-content: space-between;
+    align-items: center;
+    margin-bottom: 8px;
+}
+.card-title {
+    font-weight: 600;
+    font-size: 0.9rem;
+    color: var(--c-gray-900);
+    word-break: break-all;
+}
+.card-body { font-size: 0.85rem; color: var(--c-gray-500); }
+.card-info { margin-bottom: 2px; }
+.card-info .label { color: var(--c-gray-700); font-weight: 500; }
+.card-footer {
+    margin-top: 12px;
+    display: flex;
+    gap: 8px;
+    border-top: 1px solid var(--c-gray-100);
+    padding-top: 10px;
+}
+
+/* 标签 */
+.tag {
+    font-size: 0.7rem;
+    padding: 2px 6px;
+    border-radius: 4px;
+    font-weight: 600;
+    text-transform: uppercase;
+}
+.tag-tpl { background: #dbeafe; color: #1e40af; }
+.tag-plate { background: #dbeafe; color: #1e40af; }
+.tag-tip_rack { background: #d1fae5; color: #065f46; }
+.tag-trash { background: #fee2e2; color: #991b1b; }
+.tag-tube_rack { background: #fef3c7; color: #92400e; }
+.tag-plate_adapter { background: #ede9fe; color: #5b21b6; }
+
+/* 详情页布局 */
+.detail-layout {
+    display: grid;
+    grid-template-columns: 1fr 1fr;
+    gap: 24px;
+}
+@media (max-width: 900px) {
+    .detail-layout { grid-template-columns: 1fr; }
+}
+.detail-info, .detail-viz { display: flex; flex-direction: column; gap: 16px; }
+
+.info-card, .viz-card {
+    background: #fff;
+    border: 1px solid var(--c-gray-200);
+    border-radius: var(--radius);
+    padding: 16px;
+}
+.info-card h3, .viz-card h3 {
+    font-size: 0.95rem;
+    margin-bottom: 12px;
+    color: var(--c-gray-700);
+    border-bottom: 1px solid var(--c-gray-100);
+    padding-bottom: 8px;
+}
+
+.info-table { width: 100%; font-size: 0.85rem; }
+.info-table td { padding: 4px 8px; border-bottom: 1px solid var(--c-gray-100); }
+.info-table .label { color: var(--c-gray-500); font-weight: 500; width: 140px; }
+.info-table code { background: var(--c-gray-100); padding: 1px 4px; border-radius: 3px; font-size: 0.8rem; }
+.info-table code.small { font-size: 0.7rem; }
+
+/* SVG 容器 */
+#svg-topdown, #svg-side {
+    width: 100%;
+    min-height: 200px;
+    overflow: hidden;
+}
+#svg-topdown svg, #svg-side svg {
+    display: block;
+    width: 100%;
+    height: auto;
+    touch-action: none;
+}
+
+/* 编辑页布局 */
+.edit-layout {
+    display: grid;
+    grid-template-columns: 1fr 1fr;
+    gap: 24px;
+}
+@media (max-width: 900px) {
+    .edit-layout { grid-template-columns: 1fr; }
+}
+.edit-form { display: flex; flex-direction: column; gap: 16px; }
+.edit-preview { display: flex; flex-direction: column; gap: 16px; position: sticky; top: 72px; align-self: start; }
+
+/* 表单 */
+.form-section {
+    background: #fff;
+    border: 1px solid var(--c-gray-200);
+    border-radius: var(--radius);
+    padding: 16px;
+}
+.form-section h3 {
+    font-size: 0.95rem;
+    margin-bottom: 12px;
+    color: var(--c-gray-700);
+}
+.form-row { margin-bottom: 10px; }
+.form-row label { display: block; font-size: 0.8rem; color: var(--c-gray-500); margin-bottom: 4px; font-weight: 500; }
+.form-row input, .form-row select, .form-row textarea {
+    width: 100%;
+    padding: 8px 10px;
+    border: 1px solid var(--c-gray-300);
+    border-radius: 6px;
+    font-size: 0.85rem;
+    font-family: inherit;
+}
+.form-row input:focus, .form-row select:focus, .form-row textarea:focus {
+    outline: none;
+    border-color: var(--c-primary);
+    box-shadow: 0 0 0 3px rgba(59,130,246,0.1);
+}
+.form-row-2, .form-row-3 { display: grid; gap: 12px; margin-bottom: 10px; }
+.form-row-2 { grid-template-columns: 1fr 1fr; }
+.form-row-3 { grid-template-columns: 1fr 1fr 1fr; }
+.form-row-2 label, .form-row-3 label { display: block; font-size: 0.8rem; color: var(--c-gray-500); margin-bottom: 4px; font-weight: 500; }
+.form-row-2 input, .form-row-2 select,
+.form-row-3 input, .form-row-3 select {
+    width: 100%;
+    padding: 8px 10px;
+    border: 1px solid var(--c-gray-300);
+    border-radius: 6px;
+    font-size: 0.85rem;
+}
+.form-row-2 input:focus, .form-row-3 input:focus {
+    outline: none;
+    border-color: var(--c-primary);
+    box-shadow: 0 0 0 3px rgba(59,130,246,0.1);
+}
+
+.form-actions {
+    display: flex;
+    gap: 10px;
+    margin-top: 8px;
+}
+
+/* 双语标签中文部分 */
+.label-cn { color: var(--c-gray-400, #9ca3af); font-weight: 400; margin-left: 4px; }

unilabos/labware_manager/templates/base.html

@@ -0,0 +1,24 @@
+<!DOCTYPE html>
+<html lang="zh-CN">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>{% block title %}PRCXI 耗材管理{% endblock %}</title>
+    <link rel="stylesheet" href="/static/style.css">
+    {% block head_extra %}{% endblock %}
+</head>
+<body>
+    <nav class="topbar">
+        <a href="/" class="logo">PRCXI 耗材管理</a>
+        <div class="nav-actions">
+            <a href="/labware/new" class="btn btn-primary btn-sm">+ 新建耗材</a>
+        </div>
+    </nav>
+
+    <main class="container">
+        {% block content %}{% endblock %}
+    </main>
+
+    {% block scripts %}{% endblock %}
+</body>
+</html>

unilabos/labware_manager/templates/detail.html

@@ -0,0 +1,159 @@
+{% extends "base.html" %}
+{% block title %}{{ item.function_name }} - PRCXI{% endblock %}
+
+{% block content %}
+<div class="page-header">
+    <h1>{{ item.function_name }}</h1>
+    <div class="header-actions">
+        <a href="/labware/{{ item.function_name }}/edit" class="btn btn-primary">编辑</a>
+        <a href="/" class="btn btn-outline">返回列表</a>
+    </div>
+</div>
+
+<div class="detail-layout">
+    <!-- 左侧: 信息 -->
+    <div class="detail-info">
+        <div class="info-card">
+            <h3>基本信息</h3>
+            <table class="info-table">
+                <tr><td class="label">类型</td><td><span class="tag tag-{{ item.type }}">{{ item.type }}</span></td></tr>
+                <tr><td class="label">函数名</td><td><code>{{ item.function_name }}</code></td></tr>
+                <tr><td class="label">Model</td><td>{{ item.model or '-' }}</td></tr>
+                {% if item.plate_type %}
+                <tr><td class="label">Plate Type</td><td>{{ item.plate_type }}</td></tr>
+                {% endif %}
+                <tr><td class="label">Docstring</td><td>{{ item.docstring or '-' }}</td></tr>
+            </table>
+        </div>
+
+        <div class="info-card">
+            <h3>物理尺寸 (mm)</h3>
+            <table class="info-table">
+                <tr><td class="label">X</td><td>{{ item.size_x }}</td></tr>
+                <tr><td class="label">Y</td><td>{{ item.size_y }}</td></tr>
+                <tr><td class="label">Z</td><td>{{ item.size_z }}</td></tr>
+            </table>
+        </div>
+
+        <div class="info-card">
+            <h3>材料信息</h3>
+            <table class="info-table">
+                <tr><td class="label">UUID</td><td><code class="small">{{ item.material_info.uuid }}</code></td></tr>
+                <tr><td class="label">Code</td><td>{{ item.material_info.Code }}</td></tr>
+                <tr><td class="label">Name</td><td>{{ item.material_info.Name }}</td></tr>
+                {% if item.material_info.materialEnum is not none %}
+                <tr><td class="label">materialEnum</td><td>{{ item.material_info.materialEnum }}</td></tr>
+                {% endif %}
+                {% if item.material_info.SupplyType is not none %}
+                <tr><td class="label">SupplyType</td><td>{{ item.material_info.SupplyType }}</td></tr>
+                {% endif %}
+            </table>
+        </div>
+
+        {% if item.grid %}
+        <div class="info-card">
+            <h3>网格排列</h3>
+            <table class="info-table">
+                <tr><td class="label">列 x 行</td><td>{{ item.grid.num_items_x }} x {{ item.grid.num_items_y }}</td></tr>
+                <tr><td class="label">dx, dy, dz</td><td>{{ item.grid.dx }}, {{ item.grid.dy }}, {{ item.grid.dz }}</td></tr>
+                <tr><td class="label">item_dx, item_dy</td><td>{{ item.grid.item_dx }}, {{ item.grid.item_dy }}</td></tr>
+            </table>
+        </div>
+        {% endif %}
+
+        {% if item.well %}
+        <div class="info-card">
+            <h3>孔参数 (Well)</h3>
+            <table class="info-table">
+                <tr><td class="label">尺寸</td><td>{{ item.well.size_x }} x {{ item.well.size_y }} x {{ item.well.size_z }}</td></tr>
+                {% if item.well.max_volume is not none %}
+                <tr><td class="label">最大体积</td><td>{{ item.well.max_volume }} uL</td></tr>
+                {% endif %}
+                <tr><td class="label">底部类型</td><td>{{ item.well.bottom_type }}</td></tr>
+                <tr><td class="label">截面类型</td><td>{{ item.well.cross_section_type }}</td></tr>
+                {% if item.well.material_z_thickness is not none %}
+                <tr><td class="label">材料Z厚度</td><td>{{ item.well.material_z_thickness }}</td></tr>
+                {% endif %}
+            </table>
+        </div>
+        {% endif %}
+
+        {% if item.tip %}
+        <div class="info-card">
+            <h3>枪头参数 (Tip)</h3>
+            <table class="info-table">
+                <tr><td class="label">Spot 尺寸</td><td>{{ item.tip.spot_size_x }} x {{ item.tip.spot_size_y }} x {{ item.tip.spot_size_z }}</td></tr>
+                <tr><td class="label">容量</td><td>{{ item.tip.tip_volume }} uL</td></tr>
+                <tr><td class="label">长度</td><td>{{ item.tip.tip_length }} mm</td></tr>
+                <tr><td class="label">取枪头插入深度</td><td>{{ item.tip.tip_fitting_depth }} mm</td></tr>
+                {% if item.tip.tip_above_rack_length is not none %}
+                <tr><td class="label">枪头露出枪头盒长度</td><td>{{ item.tip.tip_above_rack_length }} mm</td></tr>
+                {% endif %}
+                <tr><td class="label">有滤芯</td><td>{{ item.tip.has_filter }}</td></tr>
+            </table>
+        </div>
+        {% endif %}
+
+        {% if item.tube %}
+        <div class="info-card">
+            <h3>管参数 (Tube)</h3>
+            <table class="info-table">
+                <tr><td class="label">尺寸</td><td>{{ item.tube.size_x }} x {{ item.tube.size_y }} x {{ item.tube.size_z }}</td></tr>
+                <tr><td class="label">最大体积</td><td>{{ item.tube.max_volume }} uL</td></tr>
+            </table>
+        </div>
+        {% endif %}
+
+        {% if item.adapter %}
+        <div class="info-card">
+            <h3>适配器参数</h3>
+            <table class="info-table">
+                <tr><td class="label">Hole 尺寸</td><td>{{ item.adapter.adapter_hole_size_x }} x {{ item.adapter.adapter_hole_size_y }} x {{ item.adapter.adapter_hole_size_z }}</td></tr>
+                <tr><td class="label">dx, dy, dz</td><td>{{ item.adapter.dx }}, {{ item.adapter.dy }}, {{ item.adapter.dz }}</td></tr>
+            </table>
+        </div>
+        {% endif %}
+
+        <div class="info-card">
+            <h3>Registry</h3>
+            <table class="info-table">
+                <tr><td class="label">分类</td><td>{{ item.registry_category | join(' / ') }}</td></tr>
+                <tr><td class="label">描述</td><td>{{ item.registry_description }}</td></tr>
+                <tr><td class="label">模板匹配</td><td>{{ item.include_in_template_matching }}</td></tr>
+                {% if item.template_kind %}
+                <tr><td class="label">模板类型</td><td>{{ item.template_kind }}</td></tr>
+                {% endif %}
+            </table>
+        </div>
+    </div>
+
+    <!-- 右侧: 可视化 -->
+    <div class="detail-viz">
+        <div class="viz-card">
+            <h3 style="display:flex;align-items:center;justify-content:space-between;">
+                俯视图 (Top-Down)
+                <button type="button" class="btn btn-sm btn-outline" onclick="resetSvgView('svg-topdown')">回中</button>
+            </h3>
+            <div id="svg-topdown"></div>
+        </div>
+        <div class="viz-card">
+            <h3 style="display:flex;align-items:center;justify-content:space-between;">
+                侧面截面图 (Side Profile)
+                <button type="button" class="btn btn-sm btn-outline" onclick="resetSvgView('svg-side')">回中</button>
+            </h3>
+            <div id="svg-side"></div>
+        </div>
+    </div>
+</div>
+{% endblock %}
+
+{% block scripts %}
+<script src="/static/labware_viz.js"></script>
+<script>
+    const itemData = {{ item.model_dump() | tojson }};
+    document.addEventListener('DOMContentLoaded', () => {
+        renderTopDown(document.getElementById('svg-topdown'), itemData);
+        renderSideProfile(document.getElementById('svg-side'), itemData);
+    });
+</script>
+{% endblock %}

unilabos/labware_manager/templates/edit.html

@@ -0,0 +1,257 @@
+{% extends "base.html" %}
+{% block title %}{% if is_new %}新建耗材{% else %}编辑 {{ item.function_name }}{% endif %} - PRCXI{% endblock %}
+
+{% block content %}
+<div class="page-header">
+    <h1>{% if is_new %}新建耗材{% else %}编辑 {{ item.function_name }}{% endif %}</h1>
+    <div class="header-actions">
+        <a href="/" class="btn btn-outline">返回列表</a>
+    </div>
+</div>
+
+<div id="status-msg" class="status-msg" style="display:none;"></div>
+
+<div class="edit-layout">
+    <!-- 左侧: 表单 -->
+    <div class="edit-form">
+        <form id="labware-form" onsubmit="return false;">
+            <!-- 基本信息 -->
+            <div class="form-section">
+                <h3>基本信息</h3>
+                <div class="form-row">
+                    <label>类型</label>
+                    <select name="type" id="f-type" onchange="onTypeChange()">
+                        <option value="plate" {% if labware_type == 'plate' %}selected{% endif %}>Plate (孔板)</option>
+                        <option value="tip_rack" {% if labware_type == 'tip_rack' %}selected{% endif %}>TipRack (吸头盒)</option>
+                        <option value="trash" {% if labware_type == 'trash' %}selected{% endif %}>Trash (废弃槽)</option>
+                        <option value="tube_rack" {% if labware_type == 'tube_rack' %}selected{% endif %}>TubeRack (管架)</option>
+                        <option value="plate_adapter" {% if labware_type == 'plate_adapter' %}selected{% endif %}>PlateAdapter (适配器)</option>
+                    </select>
+                </div>
+                <div class="form-row">
+                    <label>函数名</label>
+                    <input type="text" name="function_name" id="f-function_name"
+                           value="{{ item.function_name if item else 'PRCXI_new_labware' }}"
+                           placeholder="PRCXI_xxx">
+                </div>
+                <div class="form-row">
+                    <label>Model</label>
+                    <input type="text" name="model" id="f-model"
+                           value="{{ item.model if item and item.model else '' }}">
+                </div>
+                <div class="form-row">
+                    <label>Docstring</label>
+                    <textarea name="docstring" id="f-docstring" rows="2">{{ item.docstring if item else '' }}</textarea>
+                </div>
+                <div class="form-row" id="row-plate_type" style="display:none;">
+                    <label>Plate Type</label>
+                    <select name="plate_type" id="f-plate_type">
+                        <option value="">-</option>
+                        <option value="skirted" {% if item and item.plate_type == 'skirted' %}selected{% endif %}>skirted</option>
+                        <option value="semi-skirted" {% if item and item.plate_type == 'semi-skirted' %}selected{% endif %}>semi-skirted</option>
+                        <option value="non-skirted" {% if item and item.plate_type == 'non-skirted' %}selected{% endif %}>non-skirted</option>
+                    </select>
+                </div>
+            </div>
+
+            <!-- 物理尺寸 -->
+            <div class="form-section">
+                <h3>物理尺寸 Physical Dimensions (mm)</h3>
+                <div class="form-row-3">
+                    <div><label>size_x <span class="label-cn">板长</span></label><input type="number" step="any" name="size_x" id="f-size_x" value="{{ item.size_x if item else 127 }}"></div>
+                    <div><label>size_y <span class="label-cn">板宽</span></label><input type="number" step="any" name="size_y" id="f-size_y" value="{{ item.size_y if item else 85 }}"></div>
+                    <div><label>size_z <span class="label-cn">板高</span></label><input type="number" step="any" name="size_z" id="f-size_z" value="{{ item.size_z if item else 20 }}"></div>
+                </div>
+            </div>
+
+            <!-- 材料信息 -->
+            <div class="form-section">
+                <h3>材料信息</h3>
+                <div class="form-row">
+                    <label>UUID</label>
+                    <input type="text" name="mi_uuid" id="f-mi_uuid"
+                           value="{{ item.material_info.uuid if item else '' }}">
+                </div>
+                <div class="form-row-2">
+                    <div><label>Code</label><input type="text" name="mi_code" id="f-mi_code" value="{{ item.material_info.Code if item else '' }}"></div>
+                    <div><label>Name</label><input type="text" name="mi_name" id="f-mi_name" value="{{ item.material_info.Name if item else '' }}"></div>
+                </div>
+                <div class="form-row-2">
+                    <div><label>materialEnum</label><input type="number" name="mi_menum" id="f-mi_menum" value="{{ item.material_info.materialEnum if item and item.material_info.materialEnum is not none else '' }}"></div>
+                    <div><label>SupplyType</label><input type="number" name="mi_stype" id="f-mi_stype" value="{{ item.material_info.SupplyType if item and item.material_info.SupplyType is not none else '' }}"></div>
+                </div>
+            </div>
+
+            <!-- 网格排列 (plate/tip_rack/tube_rack) -->
+            <div class="form-section" id="section-grid" style="display:none;">
+                <h3 style="display:flex;align-items:center;justify-content:space-between;">
+                    网格排列 Grid Layout
+                    <button type="button" class="btn btn-sm btn-outline" onclick="autoCenter()">自动居中 Auto-Center</button>
+                </h3>
+                <div class="form-row-2">
+                    <div><label>num_items_x <span class="label-cn">列数</span></label><input type="number" name="grid_nx" id="f-grid_nx" value="{{ item.grid.num_items_x if item and item.grid else 12 }}"></div>
+                    <div><label>num_items_y <span class="label-cn">行数</span></label><input type="number" name="grid_ny" id="f-grid_ny" value="{{ item.grid.num_items_y if item and item.grid else 8 }}"></div>
+                </div>
+                <div class="form-row-3">
+                    <div><label>dx <span class="label-cn">首孔X偏移</span></label><input type="number" step="any" name="grid_dx" id="f-grid_dx" value="{{ item.grid.dx if item and item.grid else 0 }}"></div>
+                    <div><label>dy <span class="label-cn">首孔Y偏移</span></label><input type="number" step="any" name="grid_dy" id="f-grid_dy" value="{{ item.grid.dy if item and item.grid else 0 }}"></div>
+                    <div><label>dz <span class="label-cn">孔底Z偏移</span></label><input type="number" step="any" name="grid_dz" id="f-grid_dz" value="{{ item.grid.dz if item and item.grid else 0 }}"></div>
+                </div>
+                <div class="form-row-2">
+                    <div><label>item_dx <span class="label-cn">列间距</span></label><input type="number" step="any" name="grid_idx" id="f-grid_idx" value="{{ item.grid.item_dx if item and item.grid else 9 }}"></div>
+                    <div><label>item_dy <span class="label-cn">行间距</span></label><input type="number" step="any" name="grid_idy" id="f-grid_idy" value="{{ item.grid.item_dy if item and item.grid else 9 }}"></div>
+                </div>
+            </div>
+
+            <!-- Well 参数 (plate) -->
+            <div class="form-section" id="section-well" style="display:none;">
+                <h3>孔参数 Well</h3>
+                <div class="form-row-3">
+                    <div><label>size_x <span class="label-cn">孔长</span></label><input type="number" step="any" name="well_sx" id="f-well_sx" value="{{ item.well.size_x if item and item.well else 8 }}"></div>
+                    <div><label>size_y <span class="label-cn">孔宽</span></label><input type="number" step="any" name="well_sy" id="f-well_sy" value="{{ item.well.size_y if item and item.well else 8 }}"></div>
+                    <div><label>size_z <span class="label-cn">孔深</span></label><input type="number" step="any" name="well_sz" id="f-well_sz" value="{{ item.well.size_z if item and item.well else 10 }}"></div>
+                </div>
+                <div class="form-row-2">
+                    <div><label>max_volume <span class="label-cn">最大容量 (uL)</span></label><input type="number" step="any" name="well_vol" id="f-well_vol" value="{{ item.well.max_volume if item and item.well and item.well.max_volume is not none else '' }}"></div>
+                    <div><label>material_z_thickness <span class="label-cn">底壁厚度</span></label><input type="number" step="any" name="well_mzt" id="f-well_mzt" value="{{ item.well.material_z_thickness if item and item.well and item.well.material_z_thickness is not none else '' }}"></div>
+                </div>
+                <div class="form-row-2">
+                    <div>
+                        <label>bottom_type <span class="label-cn">底部形状</span></label>
+                        <select name="well_bt" id="f-well_bt">
+                            <option value="FLAT" {% if item and item.well and item.well.bottom_type == 'FLAT' %}selected{% endif %}>FLAT</option>
+                            <option value="V" {% if item and item.well and item.well.bottom_type == 'V' %}selected{% endif %}>V</option>
+                            <option value="U" {% if item and item.well and item.well.bottom_type == 'U' %}selected{% endif %}>U</option>
+                        </select>
+                    </div>
+                    <div>
+                        <label>cross_section_type <span class="label-cn">截面形状</span></label>
+                        <select name="well_cs" id="f-well_cs">
+                            <option value="CIRCLE" {% if item and item.well and item.well.cross_section_type == 'CIRCLE' %}selected{% endif %}>CIRCLE</option>
+                            <option value="RECTANGLE" {% if item and item.well and item.well.cross_section_type == 'RECTANGLE' %}selected{% endif %}>RECTANGLE</option>
+                        </select>
+                    </div>
+                </div>
+                <div class="form-row">
+                    <label><input type="checkbox" name="has_vf" id="f-has_vf" {% if item and item.volume_functions %}checked{% endif %}> 使用 volume_functions (rectangle)</label>
+                </div>
+            </div>
+
+            <!-- Tip 参数 (tip_rack) -->
+            <div class="form-section" id="section-tip" style="display:none;">
+                <h3>枪头参数 Tip</h3>
+                <div class="form-row-3">
+                    <div><label>spot_size_x <span class="label-cn">卡槽长</span></label><input type="number" step="any" name="tip_sx" id="f-tip_sx" value="{{ item.tip.spot_size_x if item and item.tip else 7 }}"></div>
+                    <div><label>spot_size_y <span class="label-cn">卡槽宽</span></label><input type="number" step="any" name="tip_sy" id="f-tip_sy" value="{{ item.tip.spot_size_y if item and item.tip else 7 }}"></div>
+                    <div><label>spot_size_z <span class="label-cn">卡槽高</span></label><input type="number" step="any" name="tip_sz" id="f-tip_sz" value="{{ item.tip.spot_size_z if item and item.tip else 0 }}"></div>
+                </div>
+                <div class="form-row-3">
+                    <div><label>tip_volume <span class="label-cn">枪头容量 (uL)</span></label><input type="number" step="any" name="tip_vol" id="f-tip_vol" value="{{ item.tip.tip_volume if item and item.tip else 300 }}"></div>
+                    <div><label>tip_length <span class="label-cn">枪头总长度 (mm)</span></label><input type="number" step="any" name="tip_len" id="f-tip_len" value="{{ item.tip.tip_length if item and item.tip else 60 }}"></div>
+                    <div><label>fitting_depth <span class="label-cn">取枪头时插入的长度 (mm)</span></label><input type="number" step="any" name="tip_dep" id="f-tip_dep" value="{{ item.tip.tip_fitting_depth if item and item.tip else 51 }}"></div>
+                </div>
+                <div class="form-row">
+                    <label>tip_above_rack_length <span class="label-cn">枪头在枪头盒上方的部分的长度 (mm)</span></label>
+                    <input type="number" step="any" name="tip_above" id="f-tip_above"
+                           value="{{ item.tip.tip_above_rack_length if item and item.tip and item.tip.tip_above_rack_length is not none else '' }}"
+                           placeholder="tip_length - (size_z - dz)">
+                    <small style="color:#888;margin-top:2px;">公式: tip_length = tip_above + size_z - dz；填 tip_above 自动算 dz，填 dz 自动算 tip_above</small>
+                </div>
+                <div class="form-row">
+                    <label><input type="checkbox" name="tip_filter" id="f-tip_filter" {% if item and item.tip and item.tip.has_filter %}checked{% endif %}> has_filter</label>
+                </div>
+            </div>
+
+            <!-- Tube 参数 (tube_rack) -->
+            <div class="form-section" id="section-tube" style="display:none;">
+                <h3>管参数 Tube</h3>
+                <div class="form-row-3">
+                    <div><label>size_x <span class="label-cn">管径X</span></label><input type="number" step="any" name="tube_sx" id="f-tube_sx" value="{{ item.tube.size_x if item and item.tube else 10.6 }}"></div>
+                    <div><label>size_y <span class="label-cn">管径Y</span></label><input type="number" step="any" name="tube_sy" id="f-tube_sy" value="{{ item.tube.size_y if item and item.tube else 10.6 }}"></div>
+                    <div><label>size_z <span class="label-cn">管高</span></label><input type="number" step="any" name="tube_sz" id="f-tube_sz" value="{{ item.tube.size_z if item and item.tube else 40 }}"></div>
+                </div>
+                <div class="form-row">
+                    <label>max_volume <span class="label-cn">最大容量 (uL)</span></label>
+                    <input type="number" step="any" name="tube_vol" id="f-tube_vol" value="{{ item.tube.max_volume if item and item.tube else 1500 }}">
+                </div>
+            </div>
+
+            <!-- Adapter 参数 (plate_adapter) -->
+            <div class="form-section" id="section-adapter" style="display:none;">
+                <h3>适配器参数 Adapter</h3>
+                <div class="form-row-3">
+                    <div><label>hole_size_x <span class="label-cn">凹槽长</span></label><input type="number" step="any" name="adp_hsx" id="f-adp_hsx" value="{{ item.adapter.adapter_hole_size_x if item and item.adapter else 127.76 }}"></div>
+                    <div><label>hole_size_y <span class="label-cn">凹槽宽</span></label><input type="number" step="any" name="adp_hsy" id="f-adp_hsy" value="{{ item.adapter.adapter_hole_size_y if item and item.adapter else 85.48 }}"></div>
+                    <div><label>hole_size_z <span class="label-cn">凹槽深</span></label><input type="number" step="any" name="adp_hsz" id="f-adp_hsz" value="{{ item.adapter.adapter_hole_size_z if item and item.adapter else 10 }}"></div>
+                </div>
+                <div class="form-row-3">
+                    <div><label>dx <span class="label-cn">X偏移</span></label><input type="number" step="any" name="adp_dx" id="f-adp_dx" value="{{ item.adapter.dx if item and item.adapter and item.adapter.dx is not none else '' }}"></div>
+                    <div><label>dy <span class="label-cn">Y偏移</span></label><input type="number" step="any" name="adp_dy" id="f-adp_dy" value="{{ item.adapter.dy if item and item.adapter and item.adapter.dy is not none else '' }}"></div>
+                    <div><label>dz <span class="label-cn">Z偏移</span></label><input type="number" step="any" name="adp_dz" id="f-adp_dz" value="{{ item.adapter.dz if item and item.adapter else 0 }}"></div>
+                </div>
+            </div>
+
+            <!-- Registry -->
+            <div class="form-section">
+                <h3>Registry / Template</h3>
+                <div class="form-row">
+                    <label>registry_category (逗号分隔)</label>
+                    <input type="text" name="reg_cat" id="f-reg_cat"
+                           value="{{ item.registry_category | join(',') if item else 'prcxi,plates' }}">
+                </div>
+                <div class="form-row">
+                    <label>registry_description</label>
+                    <input type="text" name="reg_desc" id="f-reg_desc"
+                           value="{{ item.registry_description if item else '' }}">
+                </div>
+                <div class="form-row">
+                    <label><input type="checkbox" name="in_tpl" id="f-in_tpl" {% if item and item.include_in_template_matching %}checked{% endif %}> include_in_template_matching</label>
+                </div>
+                <div class="form-row" id="row-tpl_kind">
+                    <label>template_kind</label>
+                    <input type="text" name="tpl_kind" id="f-tpl_kind"
+                           value="{{ item.template_kind if item and item.template_kind else '' }}">
+                </div>
+            </div>
+
+            <div class="form-actions">
+                <button type="button" class="btn btn-primary" onclick="saveForm()">
+                    {% if is_new %}创建{% else %}保存{% endif %}
+                </button>
+                <a href="/" class="btn btn-outline">取消</a>
+            </div>
+        </form>
+    </div>
+
+    <!-- 右侧: 实时预览 -->
+    <div class="edit-preview">
+        <div class="viz-card">
+            <h3 style="display:flex;align-items:center;justify-content:space-between;">
+                预览: 俯视图
+                <button type="button" class="btn btn-sm btn-outline" onclick="resetSvgView('svg-topdown')">回中</button>
+            </h3>
+            <div id="svg-topdown"></div>
+        </div>
+        <div class="viz-card">
+            <h3 style="display:flex;align-items:center;justify-content:space-between;">
+                预览: 侧面截面图
+                <button type="button" class="btn btn-sm btn-outline" onclick="resetSvgView('svg-side')">回中</button>
+            </h3>
+            <div id="svg-side"></div>
+        </div>
+    </div>
+</div>
+{% endblock %}
+
+{% block scripts %}
+<script src="/static/labware_viz.js"></script>
+<script src="/static/form_handler.js"></script>
+<script>
+    const IS_NEW = {{ 'true' if is_new else 'false' }};
+    const ITEM_ID = "{{ item.function_name if item else '' }}";
+    document.addEventListener('DOMContentLoaded', () => {
+        onTypeChange();
+        updatePreview();
+    });
+</script>
+{% endblock %}

unilabos/labware_manager/templates/index.html

@@ -0,0 +1,131 @@
+{% extends "base.html" %}
+{% block title %}耗材列表 - PRCXI{% endblock %}
+
+{% block content %}
+<div class="page-header">
+    <h1>耗材列表 <span class="badge">{{ total }}</span></h1>
+    <div class="header-actions">
+        <button class="btn btn-outline" onclick="importFromCode()">从代码导入</button>
+        <button class="btn btn-outline" onclick="generateCode(true)">生成代码 (测试)</button>
+        <button class="btn btn-warning" onclick="generateCode(false)">生成代码 (正式)</button>
+        <a href="/labware/new" class="btn btn-primary">+ 新建耗材</a>
+    </div>
+</div>
+
+<div id="status-msg" class="status-msg" style="display:none;"></div>
+
+{% set type_labels = {
+    "plate": "孔板 (Plate)",
+    "tip_rack": "吸头盒 (TipRack)",
+    "trash": "废弃槽 (Trash)",
+    "tube_rack": "管架 (TubeRack)",
+    "plate_adapter": "适配器 (PlateAdapter)"
+} %}
+{% set type_colors = {
+    "plate": "#3b82f6",
+    "tip_rack": "#10b981",
+    "trash": "#ef4444",
+    "tube_rack": "#f59e0b",
+    "plate_adapter": "#8b5cf6"
+} %}
+
+{% for type_key in ["plate", "tip_rack", "trash", "tube_rack", "plate_adapter"] %}
+{% if type_key in groups %}
+<section class="type-section">
+    <h2>
+        <span class="type-dot" style="background:{{ type_colors[type_key] }}"></span>
+        {{ type_labels[type_key] }}
+        <span class="badge">{{ groups[type_key]|length }}</span>
+    </h2>
+    <div class="card-grid">
+        {% for item in groups[type_key] %}
+        <div class="labware-card" onclick="location.href='/labware/{{ item.function_name }}'">
+            <div class="card-header">
+                <span class="card-title">{{ item.function_name }}</span>
+                {% if item.include_in_template_matching %}
+                <span class="tag tag-tpl">TPL</span>
+                {% endif %}
+            </div>
+            <div class="card-body">
+                <div class="card-info">
+                    <span class="label">Code:</span> {{ item.material_info.Code or '-' }}
+                </div>
+                <div class="card-info">
+                    <span class="label">名称:</span> {{ item.material_info.Name or '-' }}
+                </div>
+                <div class="card-info">
+                    <span class="label">尺寸:</span>
+                    {{ item.size_x }} x {{ item.size_y }} x {{ item.size_z }} mm
+                </div>
+                {% if item.grid %}
+                <div class="card-info">
+                    <span class="label">网格:</span>
+                    {{ item.grid.num_items_x }} x {{ item.grid.num_items_y }}
+                </div>
+                {% endif %}
+            </div>
+            <div class="card-footer">
+                <a href="/labware/{{ item.function_name }}/edit" class="btn btn-sm btn-outline"
+                   onclick="event.stopPropagation()">编辑</a>
+                <button class="btn btn-sm btn-danger"
+                        onclick="event.stopPropagation(); deleteItem('{{ item.function_name }}')">删除</button>
+            </div>
+        </div>
+        {% endfor %}
+    </div>
+</section>
+{% endif %}
+{% endfor %}
+{% endblock %}
+
+{% block scripts %}
+<script>
+function showMsg(text, ok) {
+    const el = document.getElementById('status-msg');
+    el.textContent = text;
+    el.className = 'status-msg ' + (ok ? 'msg-ok' : 'msg-err');
+    el.style.display = 'block';
+    setTimeout(() => el.style.display = 'none', 4000);
+}
+
+async function importFromCode() {
+    if (!confirm('将从现有 prcxi_labware.py + YAML 重新导入，覆盖当前 JSON 数据？')) return;
+    const r = await fetch('/api/import-from-code', {method:'POST'});
+    const d = await r.json();
+    if (d.status === 'ok') {
+        showMsg('导入成功: ' + d.count + ' 个耗材', true);
+        setTimeout(() => location.reload(), 1000);
+    } else {
+        showMsg('导入失败: ' + JSON.stringify(d), false);
+    }
+}
+
+async function generateCode(testMode) {
+    const label = testMode ? '测试' : '正式';
+    if (!testMode && !confirm('正式模式将覆盖原有 prcxi_labware.py 和 YAML 文件，确定？')) return;
+    const r = await fetch('/api/generate-code', {
+        method: 'POST',
+        headers: {'Content-Type':'application/json'},
+        body: JSON.stringify({test_mode: testMode})
+    });
+    const d = await r.json();
+    if (d.status === 'ok') {
+        showMsg(`[${label}] 生成成功: ${d.python_file}`, true);
+    } else {
+        showMsg('生成失败: ' + JSON.stringify(d), false);
+    }
+}
+
+async function deleteItem(id) {
+    if (!confirm('确定删除 ' + id + '？')) return;
+    const r = await fetch('/api/labware/' + id, {method:'DELETE'});
+    const d = await r.json();
+    if (d.status === 'ok') {
+        showMsg('已删除', true);
+        setTimeout(() => location.reload(), 500);
+    } else {
+        showMsg('删除失败', false);
+    }
+}
+</script>
+{% endblock %}

unilabos/labware_manager/yaml_gen.py

@@ -0,0 +1,119 @@
+"""JSON → Registry YAML 文件生成。
+
+按 type 分组输出到对应 YAML 文件（与现有格式完全一致）。
+"""
+
+from __future__ import annotations
+
+import shutil
+from collections import defaultdict
+from pathlib import Path
+from typing import Dict, List
+
+import yaml
+
+from unilabos.labware_manager.models import LabwareDB, LabwareItem
+
+_REGISTRY_DIR = Path(__file__).resolve().parents[1] / "registry" / "resources" / "prcxi"
+
+# type → yaml 文件名
+_TYPE_TO_YAML = {
+    "plate": "plates",
+    "tip_rack": "tip_racks",
+    "trash": "trash",
+    "tube_rack": "tube_racks",
+    "plate_adapter": "plate_adapters",
+}
+
+
+def _build_entry(item: LabwareItem) -> dict:
+    """构建单个 YAML 条目（与现有格式完全一致）。"""
+    mi = item.material_info
+    desc = item.registry_description
+    if not desc:
+        desc = f'{mi.Name} (Code: {mi.Code})' if mi.Name and mi.Code else item.function_name
+
+    return {
+        "category": list(item.registry_category),
+        "class": {
+            "module": f"unilabos.devices.liquid_handling.prcxi.prcxi_labware:{item.function_name}",
+            "type": "pylabrobot",
+        },
+        "description": desc,
+        "handles": [],
+        "icon": "",
+        "init_param_schema": {},
+        "version": "1.0.0",
+    }
+
+
+class _YAMLDumper(yaml.SafeDumper):
+    """自定义 Dumper: 空列表输出为 []，空字典输出为 {}。"""
+    pass
+
+
+def _represent_list(dumper, data):
+    if not data:
+        return dumper.represent_sequence("tag:yaml.org,2002:seq", data, flow_style=True)
+    return dumper.represent_sequence("tag:yaml.org,2002:seq", data)
+
+
+def _represent_dict(dumper, data):
+    if not data:
+        return dumper.represent_mapping("tag:yaml.org,2002:map", data, flow_style=True)
+    return dumper.represent_mapping("tag:yaml.org,2002:map", data)
+
+
+def _represent_str(dumper, data):
+    if '\n' in data or ':' in data or "'" in data:
+        return dumper.represent_scalar("tag:yaml.org,2002:str", data, style="'")
+    return dumper.represent_scalar("tag:yaml.org,2002:str", data)
+
+
+_YAMLDumper.add_representer(list, _represent_list)
+_YAMLDumper.add_representer(dict, _represent_dict)
+_YAMLDumper.add_representer(str, _represent_str)
+
+
+def generate_yaml(db: LabwareDB, test_mode: bool = True) -> List[Path]:
+    """生成所有 registry YAML 文件，返回输出文件路径列表。"""
+    suffix = "_test" if test_mode else ""
+
+    # 按 type 分组
+    groups: Dict[str, Dict[str, dict]] = defaultdict(dict)
+    for item in db.items:
+        yaml_key = _TYPE_TO_YAML.get(item.type)
+        if yaml_key is None:
+            continue
+        groups[yaml_key][item.function_name] = _build_entry(item)
+
+    out_paths: List[Path] = []
+    for yaml_key, entries in groups.items():
+        out_path = _REGISTRY_DIR / f"{yaml_key}{suffix}.yaml"
+
+        # 备份
+        if out_path.exists():
+            bak = out_path.with_suffix(".yaml.bak")
+            shutil.copy2(out_path, bak)
+
+        # 按函数名排序
+        sorted_entries = dict(sorted(entries.items()))
+
+        content = yaml.dump(sorted_entries, Dumper=_YAMLDumper, allow_unicode=True,
+                           default_flow_style=False, sort_keys=False)
+        out_path.write_text(content, encoding="utf-8")
+        out_paths.append(out_path)
+
+    return out_paths
+
+
+if __name__ == "__main__":
+    from unilabos.labware_manager.importer import load_db
+    db = load_db()
+    if not db.items:
+        print("labware_db.json 为空，请先运行 importer.py")
+    else:
+        paths = generate_yaml(db, test_mode=True)
+        print(f"已生成 {len(paths)} 个 YAML 文件:")
+        for p in paths:
+            print(f"  {p}")

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/liquid_handler.yaml

@@ -5303,13 +5303,13 @@ liquid_handler.biomek:
             handler_key: tip_rack
             label: tip_rack
           output:
-          - data_key: liquid
+          - data_key: sources
             data_source: handle
             data_type: resource
             handler_key: sources_out
             label: sources
-          - data_key: liquid
-            data_source: executor
+          - data_key: targets
+            data_source: handle
             data_type: resource
             handler_key: targets_out
             label: targets
@@ -7581,6 +7581,43 @@ liquid_handler.prcxi:
           title: iter_tips参数
           type: object
         type: UniLabJsonCommand
+      auto-magnetic_action:
+        feedback: {}
+        goal: {}
+        goal_default:
+          height: null
+          is_wait: null
+          module_no: null
+          time: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                height:
+                  type: integer
+                is_wait:
+                  type: boolean
+                module_no:
+                  type: integer
+                time:
+                  type: integer
+              required:
+              - time
+              - module_no
+              - height
+              - is_wait
+              type: object
+            result: {}
+          required:
+          - goal
+          title: magnetic_action参数
+          type: object
+        type: UniLabJsonCommandAsync
       auto-move_to:
         feedback: {}
         goal: {}
@@ -7614,10 +7651,61 @@ liquid_handler.prcxi:
           title: move_to参数
           type: object
         type: UniLabJsonCommandAsync
+      auto-plr_pos_to_prcxi:
+        feedback: {}
+        goal: {}
+        goal_default:
+          resource: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                resource:
+                  type: object
+              required:
+              - resource
+              type: object
+            result: {}
+          required:
+          - goal
+          title: plr_pos_to_prcxi参数
+          type: object
+        type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: object
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
       auto-run_protocol:
         feedback: {}
         goal: {}
-        goal_default: {}
+        goal_default:
+          protocol_id: null
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -7626,7 +7714,9 @@ liquid_handler.prcxi:
           properties:
             feedback: {}
             goal:
-              properties: {}
+              properties:
+                protocol_id:
+                  type: string
               required: []
               type: object
             result: {}
@@ -7709,6 +7799,47 @@ liquid_handler.prcxi:
           title: shaker_action参数
           type: object
         type: UniLabJsonCommandAsync
+      auto-shaking_incubation_action:
+        feedback: {}
+        goal: {}
+        goal_default:
+          amplitude: null
+          is_wait: null
+          module_no: null
+          temperature: null
+          time: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                amplitude:
+                  type: integer
+                is_wait:
+                  type: boolean
+                module_no:
+                  type: integer
+                temperature:
+                  type: integer
+                time:
+                  type: integer
+              required:
+              - time
+              - module_no
+              - amplitude
+              - is_wait
+              - temperature
+              type: object
+            result: {}
+          required:
+          - goal
+          title: shaking_incubation_action参数
+          type: object
+        type: UniLabJsonCommandAsync
       auto-touch_tip:
         feedback: {}
         goal: {}
@@ -9780,48 +9911,28 @@ liquid_handler.prcxi:
         type: Transfer
       transfer_liquid:
         feedback: {}
-        goal:
-          asp_flow_rates: asp_flow_rates
-          asp_vols: asp_vols
-          blow_out_air_volume: blow_out_air_volume
-          delays: delays
-          dis_flow_rates: dis_flow_rates
-          dis_vols: dis_vols
-          is_96_well: is_96_well
-          liquid_height: liquid_height
-          mix_liquid_height: mix_liquid_height
-          mix_rate: mix_rate
-          mix_stage: mix_stage
-          mix_times: mix_times
-          mix_vol: mix_vol
-          none_keys: none_keys
-          offsets: offsets
-          sources: sources
-          spread: spread
-          targets: targets
-          tip_racks: tip_racks
-          touch_tip: touch_tip
-          use_channels: use_channels
+        goal: {}
         goal_default:
-          asp_flow_rates: []
-          asp_vols: []
-          blow_out_air_volume: []
-          delays: []
-          dis_flow_rates: []
-          dis_vols: []
+          asp_flow_rates: null
+          asp_vols: null
+          blow_out_air_volume: null
+          blow_out_air_volume_before: null
+          delays: null
+          dis_flow_rates: null
+          dis_vols: null
           is_96_well: false
-          liquid_height: []
-          mix_liquid_height: 0.0
-          mix_rate: 0
-          mix_stage: ''
-          mix_times: 0
-          mix_vol: 0
+          liquid_height: null
+          mix_liquid_height: null
+          mix_rate: null
+          mix_stage: none
+          mix_times: null
+          mix_vol: null
           none_keys: []
-          offsets: []
-          sources: []
-          spread: ''
-          targets: []
-          tip_racks: []
+          offsets: null
+          sources: null
+          spread: wide
+          targets: null
+          tip_racks: null
           touch_tip: false
           use_channels: []
         handles:
@@ -9836,7 +9947,7 @@ liquid_handler.prcxi:
             data_type: resource
             handler_key: targets_identifier
             label: 转移目标
-          - data_key: tip_rack
+          - data_key: tip_racks
             data_source: handle
             data_type: resource
             handler_key: tip_rack_identifier
@@ -9862,10 +9973,7 @@ liquid_handler.prcxi:
         schema:
           description: ''
           properties:
-            feedback:
-              additionalProperties: true
-              title: LiquidHandlerTransfer_Feedback
-              type: object
+            feedback: {}
             goal:
               additionalProperties: false
               properties:
@@ -9881,6 +9989,10 @@ liquid_handler.prcxi:
                   items:
                     type: number
                   type: array
+                blow_out_air_volume_before:
+                  items:
+                    type: number
+                  type: array
                 delays:
                   items:
                     type: integer
@@ -9894,6 +10006,7 @@ liquid_handler.prcxi:
                     type: number
                   type: array
                 is_96_well:
+                  default: false
                   type: boolean
                 liquid_height:
                   items:
@@ -9908,6 +10021,7 @@ liquid_handler.prcxi:
                   minimum: -2147483648
                   type: integer
                 mix_stage:
+                  default: none
                   type: string
                 mix_times:
                   maximum: 2147483647
@@ -9918,6 +10032,7 @@ liquid_handler.prcxi:
                   minimum: -2147483648
                   type: integer
                 none_keys:
+                  default: []
                   items:
                     type: string
                   type: array
@@ -10011,6 +10126,7 @@ liquid_handler.prcxi:
                     type: object
                   type: array
                 spread:
+                  default: wide
                   type: string
                 targets:
                   items:
@@ -10161,27 +10277,228 @@ liquid_handler.prcxi:
                     type: object
                   type: array
                 touch_tip:
+                  default: false
                   type: boolean
                 use_channels:
                   items:
                     type: integer
                   type: array
-              title: LiquidHandlerTransfer_Goal
+              required:
+              - sources
+              - targets
+              - tip_racks
+              - asp_vols
+              - dis_vols
               type: object
             result:
-              additionalProperties: false
+              $defs:
+                ResourceDict:
+                  properties:
+                    class:
+                      description: Resource class name
+                      title: Class
+                      type: string
+                    config:
+                      additionalProperties: true
+                      description: Resource configuration
+                      title: Config
+                      type: object
+                    data:
+                      additionalProperties: true
+                      description: 'Resource data, eg: container liquid data'
+                      title: Data
+                      type: object
+                    description:
+                      default: ''
+                      description: Resource description
+                      title: Description
+                      type: string
+                    extra:
+                      additionalProperties: true
+                      description: 'Extra data, eg: slot index'
+                      title: Extra
+                      type: object
+                    icon:
+                      default: ''
+                      description: Resource icon
+                      title: Icon
+                      type: string
+                    id:
+                      description: Resource ID
+                      title: Id
+                      type: string
+                    model:
+                      additionalProperties: true
+                      description: Resource model
+                      title: Model
+                      type: object
+                    name:
+                      description: Resource name
+                      title: Name
+                      type: string
+                    parent:
+                      anyOf:
+                      - $ref: '#/$defs/ResourceDict'
+                      - type: 'null'
+                      default: null
+                      description: Parent resource object
+                    parent_uuid:
+                      anyOf:
+                      - type: string
+                      - type: 'null'
+                      default: null
+                      description: Parent resource uuid
+                      title: Parent Uuid
+                    pose:
+                      $ref: '#/$defs/ResourceDictPosition'
+                      description: Resource position
+                    schema:
+                      additionalProperties: true
+                      description: Resource schema
+                      title: Schema
+                      type: object
+                    type:
+                      anyOf:
+                      - const: device
+                        type: string
+                      - type: string
+                      description: Resource type
+                      title: Type
+                    uuid:
+                      description: Resource UUID
+                      title: Uuid
+                      type: string
+                  required:
+                  - id
+                  - uuid
+                  - name
+                  - type
+                  - class
+                  - config
+                  - data
+                  - extra
+                  title: ResourceDict
+                  type: object
+                ResourceDictPosition:
+                  properties:
+                    cross_section_type:
+                      default: rectangle
+                      description: Cross section type
+                      enum:
+                      - rectangle
+                      - circle
+                      - rounded_rectangle
+                      title: Cross Section Type
+                      type: string
+                    layout:
+                      default: x-y
+                      description: Resource layout
+                      enum:
+                      - 2d
+                      - x-y
+                      - z-y
+                      - x-z
+                      title: Layout
+                      type: string
+                    position:
+                      $ref: '#/$defs/ResourceDictPositionObject'
+                      description: Resource position
+                    position3d:
+                      $ref: '#/$defs/ResourceDictPositionObject'
+                      description: Resource position in 3D space
+                    rotation:
+                      $ref: '#/$defs/ResourceDictPositionObject'
+                      description: Resource rotation
+                    scale:
+                      $ref: '#/$defs/ResourceDictPositionScale'
+                      description: Resource scale
+                    size:
+                      $ref: '#/$defs/ResourceDictPositionSize'
+                      description: Resource size
+                  title: ResourceDictPosition
+                  type: object
+                ResourceDictPositionObject:
+                  properties:
+                    x:
+                      default: 0.0
+                      description: X coordinate
+                      title: X
+                      type: number
+                    y:
+                      default: 0.0
+                      description: Y coordinate
+                      title: Y
+                      type: number
+                    z:
+                      default: 0.0
+                      description: Z coordinate
+                      title: Z
+                      type: number
+                  title: ResourceDictPositionObject
+                  type: object
+                ResourceDictPositionScale:
+                  properties:
+                    x:
+                      default: 0.0
+                      description: x scale
+                      title: X
+                      type: number
+                    y:
+                      default: 0.0
+                      description: y scale
+                      title: Y
+                      type: number
+                    z:
+                      default: 0.0
+                      description: z scale
+                      title: Z
+                      type: number
+                  title: ResourceDictPositionScale
+                  type: object
+                ResourceDictPositionSize:
+                  properties:
+                    depth:
+                      default: 0.0
+                      description: Depth
+                      title: Depth
+                      type: number
+                    height:
+                      default: 0.0
+                      description: Height
+                      title: Height
+                      type: number
+                    width:
+                      default: 0.0
+                      description: Width
+                      title: Width
+                      type: number
+                  title: ResourceDictPositionSize
+                  type: object
               properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              title: LiquidHandlerTransfer_Result
+                sources:
+                  items:
+                    items:
+                      $ref: '#/$defs/ResourceDict'
+                    type: array
+                  title: Sources
+                  type: array
+                targets:
+                  items:
+                    items:
+                      $ref: '#/$defs/ResourceDict'
+                    type: array
+                  title: Targets
+                  type: array
+              required:
+              - sources
+              - targets
+              title: TransferLiquidReturn
               type: object
           required:
           - goal
-          title: LiquidHandlerTransfer
+          title: transfer_liquid参数
           type: object
-        type: LiquidHandlerTransfer
+        type: UniLabJsonCommandAsync
     module: unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Handler
     status_types:
       reset_ok: bool
@@ -10204,6 +10521,12 @@ liquid_handler.prcxi:
           type: string
         deck:
           type: object
+        deck_y:
+          default: 400
+          type: string
+        deck_z:
+          default: 300
+          type: string
         host:
           type: string
         is_9320:
@@ -10214,17 +10537,44 @@ liquid_handler.prcxi:
           type: string
         port:
           type: integer
+        rail_interval:
+          default: 0
+          type: string
+        rail_nums:
+          default: 4
+          type: string
+        rail_width:
+          default: 27.5
+          type: string
         setup:
           default: true
           type: string
         simulator:
           default: false
           type: string
+        start_rail:
+          default: 2
+          type: string
         step_mode:
           default: false
           type: string
         timeout:
           type: number
+        x_increase:
+          default: -0.003636
+          type: string
+        x_offset:
+          default: -0.8
+          type: string
+        xy_coupling:
+          default: -0.0045
+          type: string
+        y_increase:
+          default: -0.003636
+          type: string
+        y_offset:
+          default: -37.98
+          type: string
       required:
       - deck
       - host

unilabos/registry/devices/robot_arm.yaml

@@ -173,48 +173,64 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
           type: object
         type: UniLabJsonCommand
       pick_and_place:
-        feedback:
-          status: status
-        goal:
-          command: command
+        feedback: {}
+        goal: {}
         goal_default:
-          command: ''
+          constraints: null
+          lift_height: null
+          move_group: null
+          option: null
+          resource: null
+          retry: null
+          speed: null
+          status: null
+          target: null
+          x_distance: null
+          y_distance: null
         handles: {}
         placeholder_keys: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
         schema:
-          description: ''
+          description: pick_and_place 显式参数（UniLabJsonCommand）
           properties:
-            feedback:
-              additionalProperties: false
+            feedback: {}
+            goal:
               properties:
+                constraints:
+                  items:
+                    type: number
+                  type: array
+                lift_height:
+                  type: string
+                move_group:
+                  type: string
+                option:
+                  type: string
+                resource:
+                  type: string
+                retry:
+                  type: string
+                speed:
+                  type: string
                 status:
                   type: string
-              title: SendCmd_Feedback
-              type: object
-            goal:
-              additionalProperties: false
-              properties:
-                command:
+                target:
                   type: string
-              title: SendCmd_Goal
-              type: object
-            result:
-              additionalProperties: false
-              properties:
-                return_info:
+                x_distance:
                   type: string
-                success:
-                  type: boolean
-              title: SendCmd_Result
+                y_distance:
+                  type: string
+              required:
+              - option
+              - move_group
+              - status
               type: object
+            result: {}
           required:
           - goal
-          title: SendCmd
+          title: pick_and_place参数
           type: object
-        type: SendCmd
+        type: UniLabJsonCommand
       set_position:
         feedback:
           status: status

unilabos/registry/devices/robot_linear_motion.yaml

@@ -684,48 +684,64 @@ linear_motion.toyo_xyz.sim:
           type: object
         type: UniLabJsonCommand
       pick_and_place:
-        feedback:
-          status: status
-        goal:
-          command: command
+        feedback: {}
+        goal: {}
         goal_default:
-          command: ''
+          constraints: null
+          lift_height: null
+          move_group: null
+          option: null
+          resource: null
+          retry: null
+          speed: null
+          status: null
+          target: null
+          x_distance: null
+          y_distance: null
         handles: {}
         placeholder_keys: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
         schema:
-          description: ''
+          description: pick_and_place 显式参数（UniLabJsonCommand）
           properties:
-            feedback:
-              additionalProperties: false
+            feedback: {}
+            goal:
               properties:
+                constraints:
+                  items:
+                    type: number
+                  type: array
+                lift_height:
+                  type: string
+                move_group:
+                  type: string
+                option:
+                  type: string
+                resource:
+                  type: string
+                retry:
+                  type: string
+                speed:
+                  type: string
                 status:
                   type: string
-              title: SendCmd_Feedback
-              type: object
-            goal:
-              additionalProperties: false
-              properties:
-                command:
+                target:
                   type: string
-              title: SendCmd_Goal
-              type: object
-            result:
-              additionalProperties: false
-              properties:
-                return_info:
+                x_distance:
                   type: string
-                success:
-                  type: boolean
-              title: SendCmd_Result
+                y_distance:
+                  type: string
+              required:
+              - option
+              - move_group
+              - status
               type: object
+            result: {}
           required:
           - goal
-          title: SendCmd
+          title: pick_and_place参数
           type: object
-        type: SendCmd
+        type: UniLabJsonCommand
       set_position:
         feedback:
           status: status

unilabos/registry/resources/bioyond/README_RESOURCE_ARCHITECTURE.md

@@ -1,170 +0,0 @@
-# UniLabOS 资源注册架构详解
-
-> **目标受众**: 主要开发 `unilabos/registry/devices` 抽象层的开发者  
-> **最后更新**: 2026-01-11  
-> **维护者**: Uni-Lab-OS 开发团队
-
-本文档详细说明 UniLabOS 资源注册系统的架构、资源的完整生命周期，以及如何实现动态物料位置追踪。
-
----
-
-## 📚 目录
-
-- [核心概念](#核心概念)
-- [三层架构详解](#三层架构详解)
-- [资源注册机制](#资源注册机制)
-- [物料生命周期管理](#物料生命周期管理)
-- [动态物料位置追踪](#动态物料位置追踪)
-- [实战案例](#实战案例)
-- [常见问题排查](#常见问题排查)
-
----
-
-## 核心概念
-
-### 1. Resources vs Registry
-
-UniLabOS 采用**声明式注册**模式，将资源的**定义**（Python）与**注册信息**（YAML）分离：
-
-```
-┌──────────────────────────────────────────────────────────┐
-│          unilabos/resources (Python 实现)                 │
-│  - 定义资源的物理属性、行为和创建逻辑                       │
-│  - 例如: 瓶子的尺寸、容量、材质                            │
-├──────────────────────────────────────────────────────────┤
-│       unilabos/registry/resources (YAML 注册表)           │
-│  - 声明哪些资源可以被前端使用                              │
-│  - 定义资源的分类、图标、初始化参数                         │
-└──────────────────────────────────────────────────────────┘
-```
-
-**为什么要分离？**
-
-1. **解耦**: Python 代码可以定义无限多的资源类，但只有在 YAML 中注册的才能被前端识别
-2. **灵活性**: 无需修改 Python 代码，只需修改 YAML 就能添加/移除可用资源
-3. **可扩展性**: 第三方开发者可以通过 YAML 注册自己的资源，无需修改核心代码
-
----
-
-## 三层架构详解
-
-UniLabOS 资源系统采用**三层架构**，实现从前端UI到底层硬件的完整映射：
-
-### 架构图
-
-```
-┌─────────────────────────────────────────────────────┐
-│  第1层: YAML 注册表 (registry/resources)             │
-│  - 告诉系统"哪些资源可用"                             │
-│  - 前端通过此层获取可用资源列表                        │
-│  - 文件: YB_bottle.yaml, YB_bottle_carriers.yaml    │
-├─────────────────────────────────────────────────────┤
-│  第2层: Python 实现 (resources/bioyond)              │
-│  - 定义资源的具体属性和行为                           │
-│  - 创建资源实例的工厂函数                             │
-│  - 文件: YB_bottles.py, YB_bottle_carriers.py       │
-├─────────────────────────────────────────────────────┤
-│  第3层: Hardware/API 集成 (devices/workstation)      │
-│  - 连接 Bioyond 系统 API                            │
-│  - 同步物料位置和状态                                │
-│  - 文件: station.py, bioyond_rpc.py, config.py     │
-└─────────────────────────────────────────────────────┘
-```
-
-### 第1层: YAML 注册表
-
-#### YB_bottle.yaml - 单个瓶子注册
-
-```yaml
-YB_5ml_fenyeping:
-  category:
-  - yb3              # 系统分类
-  - YB_bottle        # 资源类型
-  class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_5ml_fenyeping  # Python 函数路径
-    type: pylabrobot  # 框架类型
-  description: YB_5ml_fenyeping  # 前端显示名称
-  handles: []
-  icon: ''           # 图标路径
-  init_param_schema: {}  # 初始化参数 schema
-  registry_type: resource
-  version: 1.0.0
-```
-
-**作用:**
-- 前端通过读取此文件知道有一个叫 "YB_5ml_fenyeping" 的资源
-- 用户拖拽时，系统会调用 `YB_bottles:YB_5ml_fenyeping()` 创建实例
-
-#### YB_bottle_carriers.yaml - 载架（容器）注册
-
-```yaml
-YB_5ml_fenyepingban:
-  category:
-  - yb3
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_5ml_fenyepingban
-    type: pylabrobot
-  description: YB_5ml_fenyepingban  # 5ml分液瓶板
-```
-
-**作用:**  
-- 载架是容器，里面可以放多个瓶子
-- 例如: `YB_5ml_fenyepingban` 是一个 4x2 布局的板，可以放 8 个 5ml 瓶子
-
-### 第2层: Python 实现
-
-#### YB_bottles.py - 瓶子工厂函数
-
-```python
-def YB_5ml_fenyeping(
-    name: str,
-    diameter: float = 20.0,    # 直径 (mm)
-    height: float = 50.0,      # 高度 (mm)
-    max_volume: float = 5000.0,  # 最大容量 (μL)
-    barcode: str = None,
-) -> Bottle:
-    \"\"\"创建5ml分液瓶\"\"\"
-    return Bottle(
-        name=name,
-        diameter=diameter,
-        height=height,
-        max_volume=max_volume,
-        barcode=barcode,
-        model="YB_5ml_fenyeping",  # ⭐ 与 YAML 中的名称对应
-    )
-```
-
-**关键点:**
-- 函数名 `YB_5ml_fenyeping` 必须与 YAML 中的 `module` 路径末尾一致
-- 返回一个 `Bottle` 对象（PyLabRobot 资源类型）
-- `model` 字段用于在 Bioyond 系统中识别资源类型
-
-**详细文档请参考完整版 README**
-
----
-
-## 相关文件索引
-
-### 核心文件
-
-| 文件 | 功能 | 路径 |
-|------|------|------|
-| `YB_bottle.yaml` | 瓶子注册表 | `unilabos/registry/resources/bioyond/` |
-| `YB_bottle_carriers.yaml` | 载架注册表 | `unilabos/registry/resources/bioyond/` |
-| `deck.yaml` | Deck注册表 | `unilabos/registry/resources/bioyond/` |
-| `YB_bottles.py` | 瓶子实现 | `unilabos/resources/bioyond/` |
-| `YB_bottle_carriers.py` | 载架实现 | `unilabos/resources/bioyond/` |
-| `YB_warehouses.py` | 仓库实现 | `unilabos/resources/bioyond/` |
-| `decks.py` | Deck布局 | `unilabos/resources/bioyond/` |
-| `station.py` | 物料同步 | `unilabos/devices/workstation/bioyond_studio/` |
-| `config.py` | UUID映射 | `unilabos/devices/workstation/bioyond_studio/` |
-
-### 仓库相关文档
-
-- [README_WAREHOUSE.md](../../resources/bioyond/README_WAREHOUSE.md) - 仓库系统开发指南
-
----
-
-**维护者:** Uni-Lab-OS 开发团队  
-**最后更新:** 2026-01-11

unilabos/registry/resources/bioyond/bottles.yaml

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

unilabos/registry/resources/prcxi/modules.yaml

@@ -0,0 +1,70 @@
+PRCXI_Heating_Module:
+  category:
+  - prcxi
+  - modules
+  class:
+    module: unilabos.devices.liquid_handling.prcxi.prcxi_modules:PRCXI_Heating_Module
+    type: pylabrobot
+  description: '加热模块 (Code: HEAT-MOD)'
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+
+PRCXI_MetalCooling_Module:
+  category:
+  - prcxi
+  - modules
+  class:
+    module: unilabos.devices.liquid_handling.prcxi.prcxi_modules:PRCXI_MetalCooling_Module
+    type: pylabrobot
+  description: '金属冷却模块 (Code: METAL-COOL-MOD)'
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+
+PRCXI_Shaking_Module:
+  category:
+  - prcxi
+  - modules
+  class:
+    module: unilabos.devices.liquid_handling.prcxi.prcxi_modules:PRCXI_Shaking_Module
+    type: pylabrobot
+  description: '震荡模块 (Code: SHAKE-MOD)'
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+
+PRCXI_Heating_Shaking_Module:
+  category:
+  - prcxi
+  - modules
+  class:
+    module: unilabos.devices.liquid_handling.prcxi.prcxi_modules:PRCXI_Heating_Shaking_Module
+    type: pylabrobot
+  description: '加热震荡模块 (Code: HEAT-SHAKE-MOD)'
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+
+PRCXI_Magnetic_Module:
+  category:
+  - prcxi
+  - modules
+  class:
+    module: unilabos.devices.liquid_handling.prcxi.prcxi_modules:PRCXI_Magnetic_Module
+    type: pylabrobot
+  description: '磁吸模块 (Code: MAG-MOD)'
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+

unilabos/registry/resources/prcxi/plate_adapters.yaml

@@ -3,7 +3,7 @@ PRCXI_30mm_Adapter:
   - prcxi
   - plate_adapters
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_30mm_Adapter
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_30mm_Adapter'
     type: pylabrobot
   description: '30mm适配器 (Code: ZX-58-30)'
   handles: []
@@ -15,7 +15,7 @@ PRCXI_Adapter:
   - prcxi
   - plate_adapters
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Adapter
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Adapter'
     type: pylabrobot
   description: '适配器 (Code: Fhh478)'
   handles: []
@@ -27,7 +27,7 @@ PRCXI_Deep10_Adapter:
   - prcxi
   - plate_adapters
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Deep10_Adapter
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Deep10_Adapter'
     type: pylabrobot
   description: '10ul专用深孔板适配器 (Code: ZX-002-10)'
   handles: []
@@ -39,7 +39,7 @@ PRCXI_Deep300_Adapter:
   - prcxi
   - plate_adapters
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Deep300_Adapter
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Deep300_Adapter'
     type: pylabrobot
   description: '300ul深孔板适配器 (Code: ZX-002-300)'
   handles: []
@@ -51,7 +51,7 @@ PRCXI_PCR_Adapter:
   - prcxi
   - plate_adapters
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Adapter
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Adapter'
     type: pylabrobot
   description: '全裙边 PCR适配器 (Code: ZX-58-0001)'
   handles: []
@@ -63,7 +63,7 @@ PRCXI_Reservoir_Adapter:
   - prcxi
   - plate_adapters
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Reservoir_Adapter
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Reservoir_Adapter'
     type: pylabrobot
   description: '储液槽 适配器 (Code: ZX-ADP-001)'
   handles: []
@@ -75,7 +75,7 @@ PRCXI_Tip10_Adapter:
   - prcxi
   - plate_adapters
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip10_Adapter
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip10_Adapter'
     type: pylabrobot
   description: '吸头10ul 适配器 (Code: ZX-58-10)'
   handles: []
@@ -87,7 +87,7 @@ PRCXI_Tip1250_Adapter:
   - prcxi
   - plate_adapters
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip1250_Adapter
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip1250_Adapter'
     type: pylabrobot
   description: 'Tip头适配器 1250uL (Code: ZX-58-1250)'
   handles: []
@@ -99,7 +99,7 @@ PRCXI_Tip300_Adapter:
   - prcxi
   - plate_adapters
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip300_Adapter
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip300_Adapter'
     type: pylabrobot
   description: 'ZHONGXI 适配器 300uL (Code: ZX-58-300)'
   handles: []

unilabos/registry/resources/prcxi/plates.yaml

@@ -3,7 +3,7 @@ PRCXI_48_DeepWell:
   - prcxi
   - plates
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_48_DeepWell
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_48_DeepWell'
     type: pylabrobot
   description: '48孔深孔板 (Code: 22)'
   handles: []
@@ -15,7 +15,7 @@ PRCXI_96_DeepWell:
   - prcxi
   - plates
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_96_DeepWell
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_96_DeepWell'
     type: pylabrobot
   description: '96深孔板 (Code: q2)'
   handles: []
@@ -27,7 +27,7 @@ PRCXI_AGenBio_4_troughplate:
   - prcxi
   - plates
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_AGenBio_4_troughplate
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_AGenBio_4_troughplate'
     type: pylabrobot
   description: '4道储液槽 (Code: sdfrth654)'
   handles: []
@@ -39,7 +39,7 @@ PRCXI_BioER_96_wellplate:
   - prcxi
   - plates
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_BioER_96_wellplate
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_BioER_96_wellplate'
     type: pylabrobot
   description: '2.2ml 深孔板 (Code: ZX-019-2.2)'
   handles: []
@@ -51,7 +51,7 @@ PRCXI_BioRad_384_wellplate:
   - prcxi
   - plates
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_BioRad_384_wellplate
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_BioRad_384_wellplate'
     type: pylabrobot
   description: '384板 (Code: q3)'
   handles: []
@@ -63,7 +63,7 @@ PRCXI_CellTreat_96_wellplate:
   - prcxi
   - plates
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_CellTreat_96_wellplate
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_CellTreat_96_wellplate'
     type: pylabrobot
   description: '细菌培养皿 (Code: ZX-78-096)'
   handles: []
@@ -75,7 +75,7 @@ PRCXI_PCR_Plate_200uL_nonskirted:
   - prcxi
   - plates
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_nonskirted
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_nonskirted'
     type: pylabrobot
   description: '0.2ml PCR 板 (Code: ZX-023-0.2)'
   handles: []
@@ -87,7 +87,7 @@ PRCXI_PCR_Plate_200uL_semiskirted:
   - prcxi
   - plates
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_semiskirted
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_semiskirted'
     type: pylabrobot
   description: '0.2ml PCR 板 (Code: ZX-023-0.2)'
   handles: []
@@ -99,7 +99,7 @@ PRCXI_PCR_Plate_200uL_skirted:
   - prcxi
   - plates
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_skirted
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_skirted'
     type: pylabrobot
   description: '0.2ml PCR 板 (Code: ZX-023-0.2)'
   handles: []
@@ -111,7 +111,7 @@ PRCXI_nest_12_troughplate:
   - prcxi
   - plates
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_nest_12_troughplate
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_nest_12_troughplate'
     type: pylabrobot
   description: '12道储液槽 (Code: 12道储液槽)'
   handles: []
@@ -123,7 +123,7 @@ PRCXI_nest_1_troughplate:
   - prcxi
   - plates
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_nest_1_troughplate
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_nest_1_troughplate'
     type: pylabrobot
   description: '储液槽 (Code: ZX-58-10000)'
   handles: []

unilabos/registry/resources/prcxi/tip_racks.yaml

@@ -3,7 +3,7 @@ PRCXI_1000uL_Tips:
   - prcxi
   - tip_racks
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_1000uL_Tips
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_1000uL_Tips'
     type: pylabrobot
   description: '1000μL Tip头 (Code: ZX-001-1000)'
   handles: []
@@ -15,7 +15,7 @@ PRCXI_10uL_Tips:
   - prcxi
   - tip_racks
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_10uL_Tips
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_10uL_Tips'
     type: pylabrobot
   description: '10μL Tip头 (Code: ZX-001-10)'
   handles: []
@@ -27,7 +27,7 @@ PRCXI_10ul_eTips:
   - prcxi
   - tip_racks
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_10ul_eTips
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_10ul_eTips'
     type: pylabrobot
   description: '10μL加长 Tip头 (Code: ZX-001-10+)'
   handles: []
@@ -39,7 +39,7 @@ PRCXI_1250uL_Tips:
   - prcxi
   - tip_racks
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_1250uL_Tips
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_1250uL_Tips'
     type: pylabrobot
   description: '1250μL Tip头 (Code: ZX-001-1250)'
   handles: []
@@ -51,7 +51,7 @@ PRCXI_200uL_Tips:
   - prcxi
   - tip_racks
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_200uL_Tips
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_200uL_Tips'
     type: pylabrobot
   description: '200μL Tip头 (Code: ZX-001-200)'
   handles: []
@@ -63,10 +63,22 @@ PRCXI_300ul_Tips:
   - prcxi
   - tip_racks
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_300ul_Tips
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_300ul_Tips'
     type: pylabrobot
   description: '300μL Tip头 (Code: ZX-001-300)'
   handles: []
   icon: ''
   init_param_schema: {}
   version: 1.0.0
+PRCXI_50uL_tips:
+  category:
+  - prcxi
+  - tip_racks
+  class:
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_50uL_tips'
+    type: pylabrobot
+  description: PRCXI_50uL_tips
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0

unilabos/registry/resources/prcxi/trash.yaml

@@ -3,7 +3,7 @@ PRCXI_trash:
   - prcxi
   - trash
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_trash
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_trash'
     type: pylabrobot
   description: '废弃槽 (Code: q1)'
   handles: []

unilabos/registry/resources/prcxi/tube_racks.yaml

@@ -3,7 +3,7 @@ PRCXI_EP_Adapter:
   - prcxi
   - tube_racks
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_EP_Adapter
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_EP_Adapter'
     type: pylabrobot
   description: 'ep适配器 (Code: 1)'
   handles: []

unilabos/resources/battery/bottle_carriers.py

@@ -1,56 +0,0 @@
-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
-
-
-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
-
-    sites = create_ordered_items_2d(
-        klass=ResourceHolder,
-        num_items_x=2,
-        num_items_y=6,
-        dx=start_x,
-        dy=start_y,
-        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,
-    )
-    for k, v in sites.items():
-        v.name = f"{name}_{v.name}"
-
-    carrier = BottleCarrier(
-        name=name,
-        size_x=carrier_size_x,
-        size_y=carrier_size_y,
-        size_z=carrier_size_z,
-        sites=sites,
-        model="Electrolyte_12VialCarrier",
-    )
-    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

@@ -1,195 +0,0 @@
-from typing import Any, Dict, Optional, TypedDict
-
-from pylabrobot.resources import Resource as ResourcePLR
-from pylabrobot.resources import Container
-
-
-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"""
-
-    def __init__(
-        self,
-        name: str = "极片",
-        size_x: float = 10,
-        size_y: float = 10,
-        size_z: float = 10,
-        category: str = "electrode_sheet",
-        model: Optional[str] = None,
-        **kwargs
-    ):
-        """初始化极片
-
-        Args:
-            name: 极片名称
-            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: 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？
-    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
-
-
-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 +0,0 @@
-from typing import Dict, List, Optional, OrderedDict, Union, Callable
-import math
-
-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
-)
-
-
-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
-    
-    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
-    """
-    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,
-    )
-    
-    # 生成编号键
-    keys = [f"A{i+1}" for i in range(len(locations))]
-    sites = dict(zip(keys, _sites.values()))
-    
-    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,
-    )
-
-    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(
-        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,
-        category="magazine_holder",
-        model="MagazineHolder_4_Cathode",
-    )

unilabos/resources/bioyond/README_WAREHOUSE.md

@@ -1,548 +0,0 @@
-# Bioyond 仓库系统开发指南
-
-本文档详细说明 Bioyond 仓库（Warehouse）系统的架构、配置和使用方法，帮助开发者快速理解和维护仓库相关代码。
-
-## 📚 目录
-
-- [系统架构](#系统架构)
-- [核心概念](#核心概念)
-- [三层映射关系](#三层映射关系)
-- [warehouse_factory 详解](#warehouse_factory-详解)
-- [创建新仓库](#创建新仓库)
-- [常见问题](#常见问题)
-- [调试技巧](#调试技巧)
-
----
-
-## 系统架构
-
-Bioyond 仓库系统采用**三层架构**，实现从前端显示到后端 API 的完整映射：
-
-```
-┌─────────────────────────────────────────────────────────┐
-│  前端显示层 (YB_warehouses.py)                          │
-│  - warehouse_factory 自动生成库位网格                   │
-│  - 生成库位名称：A01, B02, C03...                       │
-│  - 存储在 WareHouse.sites 字典中                        │
-└────────────────┬────────────────────────────────────────┘
-                 │
-                 ▼
-┌─────────────────────────────────────────────────────────┐
-│  Deck 布局层 (decks.py)                                 │
-│  - 定义仓库在 Deck 上的物理位置                         │
-│  - 组织多个仓库形成完整布局                             │
-└────────────────┬────────────────────────────────────────┘
-                 │
-                 ▼
-┌─────────────────────────────────────────────────────────┐
-│  UUID 映射层 (config.py)                                │
-│  - 将库位名称映射到 Bioyond 系统 UUID                   │
-│  - 用于 API 调用时的物料入库操作                        │
-└─────────────────────────────────────────────────────────┘
-```
-
----
-
-## 核心概念
-
-### 仓库（Warehouse）
-
-仓库是一个**三维网格**，用于存放物料。由以下参数定义：
-
-- **num_items_x**: 列数（X 轴）
-- **num_items_y**: 行数（Y 轴）  
-- **num_items_z**: 层数（Z 轴）
-
-例如：`5行×3列×1层` = 5×3×1 = 15个库位
-
-### 库位（Site）
-
-库位是仓库中的单个存储位置，由**字母行+数字列**命名：
-
-- **字母行**：A, B, C, D, E, F...（对应 Y 轴）
-- **数字列**：01, 02, 03, 04...（对应 X 轴或 Z 轴）
-
-示例：`A01`, `B02`, `C03`
-
-### 布局模式（Layout）
-
-控制库位的排序和 Y 坐标计算：
-
-| 模式 | 说明 | 生成顺序 | Y 坐标计算 | 显示效果 |
-|------|------|----------|-----------|---------|
-| `col-major` | 列优先（默认） | A01, B01, C01, A02... | `dy + (num_y - row - 1) * item_dy` | A 可能在下 |
-| `row-major` | 行优先 | A01, A02, A03, B01... | `dy + row * item_dy` | **A 在上** ✓ |
-
-**重要：** 使用 `row-major` 可以避免上下颠倒问题！
-
----
-
-## 三层映射关系
-
-### 示例：手动传递窗右（A01-E03）
-
-#### 1️⃣ 前端显示层 - [`YB_warehouses.py`](YB_warehouses.py)
-
-```python
-def bioyond_warehouse_5x3x1(name: str, row_offset: int = 0) -> WareHouse:
-    """创建 5行×3列×1层 仓库"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=3,      # 3列
-        num_items_y=5,      # 5行
-        num_items_z=1,      # 1层
-        row_offset=row_offset,
-        layout="row-major",
-    )
-```
-
-**自动生成的库位：** A01, A02, A03, B01, B02, B03, ..., E01, E02, E03
-
-#### 2️⃣ Deck 布局层 - [`decks.py`](decks.py)
-
-```python
-self.warehouses = {
-    "手动传递窗右": bioyond_warehouse_5x3x1("手动传递窗右", row_offset=0),
-}
-self.warehouse_locations = {
-    "手动传递窗右": Coordinate(4160.0, 877.0, 0.0),
-}
-```
-
-**作用：** 
-- 创建仓库实例
-- 设置在 Deck 上的物理坐标
-
-#### 3️⃣ UUID 映射层 - [`config.py`](../../devices/workstation/bioyond_studio/config.py)
-
-```python
-WAREHOUSE_MAPPING = {
-    "手动传递窗右": {
-        "uuid": "",
-        "site_uuids": {
-            "A01": "3a19deae-2c7a-36f5-5e41-02c5b66feaea",
-            "A02": "3a19deae-2c7a-dc6d-c41e-ef285d946cfe",
-            # ... 其他库位
-        }
-    }
-}
-```
-
-**作用：**
-- 用户拖拽物料到"手动传递窗右"的"A01"位置时
-- 系统查找 `WAREHOUSE_MAPPING["手动传递窗右"]["site_uuids"]["A01"]`
-- 获取 UUID `"3a19deae-2c7a-36f5-5e41-02c5b66feaea"`
-- 调用 Bioyond API 将物料入库到该 UUID 位置
-
----
-
-## 实际配置案例
-
-### 案例：手动传递窗左/右的完整配置
-
-本案例展示如何为"手动传递窗右"和"手动传递窗左"建立完整的三层映射。
-
-#### 背景需求
-- **手动传递窗右**: 需要 A01-E03（5行×3列=15个库位）
-- **手动传递窗左**: 需要 F01-J03（5行×3列=15个库位）
-- 这两个仓库共享同一个物理堆栈的 UUID（"手动堆栈"）
-
-#### 实施步骤
-
-**1️⃣ 修复前端布局** - [`YB_warehouses.py`](YB_warehouses.py)
-
-```python
-# 创建新的 5×3×1 仓库函数（之前是错误的 1×3×3）
-def bioyond_warehouse_5x3x1(name: str, row_offset: int = 0) -> WareHouse:
-    """创建5行×3列×1层仓库，支持行偏移生成不同字母行"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=3,      # 3列
-        num_items_y=5,      # 5行  ← 修正
-        num_items_z=1,      # 1层  ← 修正
-        row_offset=row_offset,  # ← 支持 F-J 行
-        layout="row-major",     # ← 避免上下颠倒
-    )
-```
-
-**2️⃣ 更新 Deck 配置** - [`decks.py`](decks.py)
-
-```python
-from unilabos.resources.bioyond.YB_warehouses import (
-    bioyond_warehouse_5x3x1,  # 新增导入
-)
-
-class BIOYOND_YB_Deck(Deck):
-    def setup(self) -> None:
-        self.warehouses = {
-            # 修改前: bioyond_warehouse_1x3x3 (错误尺寸)
-            # 修改后: bioyond_warehouse_5x3x1 (正确尺寸)
-            "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
-        }
-```
-
-**3️⃣ 添加 UUID 映射** - [`config.py`](../../devices/workstation/bioyond_studio/config.py)
-
-```python
-WAREHOUSE_MAPPING = {
-    # 保持原有的"手动堆栈"配置不变（A01-J03共30个库位）
-    "手动堆栈": {
-        "uuid": "",
-        "site_uuids": {
-            "A01": "3a19deae-2c7a-36f5-5e41-02c5b66feaea",
-            # ... A02-E03 共15个
-            "F01": "3a19deae-2c7a-d594-fd6a-0d20de3c7c4a",
-            # ... F02-J03 共15个
-        }
-    },
-    
-    # [新增] 手动传递窗右 - 复用"手动堆栈"的 A01-E03 UUID
-    "手动传递窗右": {
-        "uuid": "",
-        "site_uuids": {
-            "A01": "3a19deae-2c7a-36f5-5e41-02c5b66feaea",  # ← 与手动堆栈A01相同
-            "A02": "3a19deae-2c7a-dc6d-c41e-ef285d946cfe",
-            "A03": "3a19deae-2c7a-5876-c454-6b7e224ca927",
-            "B01": "3a19deae-2c7a-2426-6d71-e9de3cb158b1",
-            "B02": "3a19deae-2c7a-79b0-5e44-efaafd1e4cf3",
-            "B03": "3a19deae-2c7a-b9eb-f4e3-e308e0cf839a",
-            "C01": "3a19deae-2c7a-32bc-768e-556647e292f3",
-            "C02": "3a19deae-2c7a-e97a-8484-f5a4599447c4",
-            "C03": "3a19deae-2c7a-3056-6504-10dc73fbc276",
-            "D01": "3a19deae-2c7a-ffad-875e-8c4cda61d440",
-            "D02": "3a19deae-2c7a-61be-601c-b6fb5610499a",
-            "D03": "3a19deae-2c7a-c0f7-05a7-e3fe2491e560",
-            "E01": "3a19deae-2c7a-a6f4-edd1-b436a7576363",
-            "E02": "3a19deae-2c7a-4367-96dd-1ca2186f4910",
-            "E03": "3a19deae-2c7a-b163-2219-23df15200311",
-        }
-    },
-    
-    # [新增] 手动传递窗左 - 复用"手动堆栈"的 F01-J03 UUID
-    "手动传递窗左": {
-        "uuid": "",
-        "site_uuids": {
-            "F01": "3a19deae-2c7a-d594-fd6a-0d20de3c7c4a",  # ← 与手动堆栈F01相同
-            "F02": "3a19deae-2c7a-a194-ea63-8b342b8d8679",
-            "F03": "3a19deae-2c7a-f7c4-12bd-425799425698",
-            "G01": "3a19deae-2c7a-0b56-72f1-8ab86e53b955",
-            "G02": "3a19deae-2c7a-204e-95ed-1f1950f28343",
-            "G03": "3a19deae-2c7a-392b-62f1-4907c66343f8",
-            "H01": "3a19deae-2c7a-5602-e876-d27aca4e3201",
-            "H02": "3a19deae-2c7a-f15c-70e0-25b58a8c9702",
-            "H03": "3a19deae-2c7a-780b-8965-2e1345f7e834",
-            "I01": "3a19deae-2c7a-8849-e172-07de14ede928",
-            "I02": "3a19deae-2c7a-4772-a37f-ff99270bafc0",
-            "I03": "3a19deae-2c7a-cce7-6e4a-25ea4a2068c4",
-            "J01": "3a19deae-2c7a-1848-de92-b5d5ed054cc6",
-            "J02": "3a19deae-2c7a-1d45-b4f8-6f866530e205",
-            "J03": "3a19deae-2c7a-f237-89d9-8fe19025dee9"
-        }
-    },
-}
-```
-
-#### 关键要点
-
-1. **UUID 可以复用**: 三个仓库（手动堆栈、手动传递窗右、手动传递窗左）可以共享相同的物理库位 UUID
-2. **库位名称必须匹配**: 前端生成的库位名称（如 F01）必须与 config.py 中的键名完全一致
-3. **row_offset 的妙用**: 
-   - `row_offset=0` → 生成 A-E 行
-   - `row_offset=5` → 生成 F-J 行（跳过前5个字母）
-
-#### 验证结果
-
-配置完成后，拖拽测试：
-
-| 拖拽位置 | 前端库位 | 查找路径 | UUID | 结果 |
-|---------|---------|---------|------|------|
-| 手动传递窗右/A01 | A01 | `WAREHOUSE_MAPPING["手动传递窗右"]["site_uuids"]["A01"]` | `3a19...eaea` | ✅ 正确入库 |
-| 手动传递窗左/F01 | F01 | `WAREHOUSE_MAPPING["手动传递窗左"]["site_uuids"]["F01"]` | `3a19...c4a` | ✅ 正确入库 |
-| 手动堆栈/A01 | A01 | `WAREHOUSE_MAPPING["手动堆栈"]["site_uuids"]["A01"]` | `3a19...eaea` | ✅ 仍然正常 |
-
-
----
-
-## warehouse_factory 详解
-
-### 函数签名
-
-```python
-def warehouse_factory(
-    name: str,
-    num_items_x: int = 1,      # 列数
-    num_items_y: int = 4,      # 行数
-    num_items_z: int = 4,      # 层数
-    dx: float = 137.0,         # X 起始偏移
-    dy: float = 96.0,          # Y 起始偏移
-    dz: float = 120.0,         # Z 起始偏移
-    item_dx: float = 10.0,     # X 间距
-    item_dy: float = 10.0,     # Y 间距
-    item_dz: float = 10.0,     # Z 间距
-    col_offset: int = 0,       # 列偏移（影响数字）
-    row_offset: int = 0,       # 行偏移（影响字母）
-    layout: str = "col-major", # 布局模式
-) -> WareHouse:
-```
-
-### 参数说明
-
-#### 尺寸参数
-- **num_items_x, y, z**: 定义仓库的网格尺寸
-- **注意**: 当 `num_items_z > 1` 时，Z 轴会被映射为数字列
-
-#### 位置参数
-- **dx, dy, dz**: 第一个库位的起始坐标
-- **item_dx, dy, dz**: 库位之间的间距
-
-#### 偏移参数
-- **col_offset**: 列起始偏移，用于生成 A05-D08 等命名
-  ```python
-  col_offset=4  # 生成 A05, A06, A07, A08
-  ```
-
-- **row_offset**: 行起始偏移，用于生成 F01-J03 等命名
-  ```python
-  row_offset=5  # 生成 F01, F02, F03（跳过 A-E）
-  ```
-
-#### 布局参数
-- **layout**: 
-  - `"col-major"`: 列优先（默认），可能导致上下颠倒
-  - `"row-major"`: 行优先，**推荐使用**，A 显示在上
-
-### 库位生成逻辑
-
-```python
-# row-major 模式（推荐）
-keys = [f"{LETTERS[j + row_offset]}{i + 1 + col_offset:02d}" 
-        for j in range(num_y) 
-        for i in range(num_x)]
-
-# 示例：num_y=2, num_x=3, row_offset=0, col_offset=0
-# 生成：A01, A02, A03, B01, B02, B03
-```
-
-### Y 坐标计算
-
-```python
-if layout == "row-major":
-    # A 在上（Y 较小）
-    y = dy + row * item_dy
-else:
-    # A 在下（Y 较大）- 不推荐
-    y = dy + (num_items_y - row - 1) * item_dy
-```
-
----
-
-## 创建新仓库
-
-### 步骤 1: 在 YB_warehouses.py 中创建函数
-
-```python
-def bioyond_warehouse_3x4x1(name: str) -> WareHouse:
-    """创建 3行×4列×1层 仓库
-    
-    布局:
-    A01 | A02 | A03 | A04
-    B01 | B02 | B03 | B04
-    C01 | C02 | C03 | C04
-    """
-    return warehouse_factory(
-        name=name,
-        num_items_x=4,      # 4列
-        num_items_y=3,      # 3行
-        num_items_z=1,      # 1层
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=137.0,
-        item_dy=120.0,
-        item_dz=120.0,
-        category="warehouse",
-        layout="row-major",  # ⭐ 推荐使用
-    )
-```
-
-### 步骤 2: 在 decks.py 中使用
-
-```python
-# 1. 导入函数
-from unilabos.resources.bioyond.YB_warehouses import (
-    bioyond_warehouse_3x4x1,  # 新增
-)
-
-# 2. 在 setup() 中添加
-self.warehouses = {
-    "我的新仓库": bioyond_warehouse_3x4x1("我的新仓库"),
-}
-self.warehouse_locations = {
-    "我的新仓库": Coordinate(100.0, 200.0, 0.0),
-}
-```
-
-### 步骤 3: 在 config.py 中配置 UUID（可选）
-
-```python
-WAREHOUSE_MAPPING = {
-    "我的新仓库": {
-        "uuid": "",
-        "site_uuids": {
-            "A01": "从 Bioyond 系统获取的 UUID",
-            "A02": "从 Bioyond 系统获取的 UUID",
-            # ... 其他 11 个库位
-        }
-    }
-}
-```
-
-**注意：** 如果不需要拖拽入库功能，可跳过此步骤。
-
----
-
-## 常见问题
-
-### Q1: 为什么库位显示上下颠倒（C 在上，A 在下）？
-
-**原因：** 使用了默认的 `col-major` 布局。
-
-**解决：** 在 `warehouse_factory` 中添加 `layout="row-major"`
-
-```python
-return warehouse_factory(
-    ...
-    layout="row-major",  # ← 添加这行
-)
-```
-
-### Q2: 我需要 1×3×3 还是 3×3×1？
-
-**判断方法：**
-- **1×3×3**: 1列×3行×3**层**（垂直堆叠，有高度）
-- **3×3×1**: 3行×3列×1**层**（平面网格）
-
-**推荐：** 大多数情况使用 `X×Y×1`（平面网格）更直观。
-
-### Q3: 如何生成 F01-J03 而非 A01-E03？
-
-**方法：** 使用 `row_offset` 参数
-
-```python
-bioyond_warehouse_5x3x1("仓库名", row_offset=5)
-# row_offset=5 跳过 A-E，从 F 开始
-```
-
-### Q4: 拖拽物料后找不到 UUID 怎么办？
-
-**检查清单：**
-1. `config.py` 中是否有该仓库的配置？
-2. 仓库名称是否完全匹配？
-3. 库位名称（如 A01）是否在 `site_uuids` 中？
-
-**示例错误：**
-```python
-# decks.py
-"手动传递窗右": bioyond_warehouse_5x3x1(...)
-
-# config.py - ❌ 名称不匹配
-"手动传递窗": { ... }  # 缺少"右"字
-```
-
-### Q5: 库位重叠怎么办？
-
-**原因：** 间距（`item_dx/dy/dz`）太小。
-
-**解决：** 增大间距参数
-
-```python
-item_dx=150.0,  # 增大 X 间距
-item_dy=130.0,  # 增大 Y 间距
-```
-
----
-
-## 调试技巧
-
-### 1. 查看生成的库位
-
-```python
-warehouse = bioyond_warehouse_5x3x1("测试仓库")
-print(list(warehouse.sites.keys()))
-# 输出：['A01', 'A02', 'A03', 'B01', 'B02', ...]
-```
-
-### 2. 检查库位坐标
-
-```python
-for name, site in warehouse.sites.items():
-    print(f"{name}: {site.location}")
-# 输出：
-# A01: Coordinate(x=10.0, y=10.0, z=120.0)
-# A02: Coordinate(x=147.0, y=10.0, z=120.0)
-# ...
-```
-
-### 3. 验证 UUID 映射
-
-```python
-from unilabos.devices.workstation.bioyond_studio.config import WAREHOUSE_MAPPING
-
-warehouse_name = "手动传递窗右"
-location_code = "A01"
-
-if warehouse_name in WAREHOUSE_MAPPING:
-    uuid = WAREHOUSE_MAPPING[warehouse_name]["site_uuids"].get(location_code)
-    print(f"{warehouse_name}/{location_code} → {uuid}")
-else:
-    print(f"❌ 未找到仓库: {warehouse_name}")
-```
-
----
-
-## 文件关系图
-
-```
-unilabos/
-├── resources/
-│   ├── warehouse.py              # warehouse_factory 核心实现
-│   └── bioyond/
-│       ├── YB_warehouses.py      # ⭐ 仓库函数定义
-│       ├── decks.py              # ⭐ Deck 布局配置
-│       └── README_WAREHOUSE.md   # 📖 本文档
-└── devices/
-    └── workstation/
-        └── bioyond_studio/
-            ├── config.py         # ⭐ UUID 映射配置
-            └── bioyond_cell/
-                └── bioyond_cell_workstation.py  # 业务逻辑
-```
-
----
-
-## 版本历史
-
-- **v1.1** (2026-01-08): 补充实际配置案例
-  - 添加"手动传递窗右"和"手动传递窗左"的完整配置示例
-  - 展示 UUID 复用的实际应用
-  - 说明三个仓库共享物理堆栈的配置方法
-  
-- **v1.0** (2026-01-07): 初始版本
-  - 新增 `row_offset` 参数支持
-  - 创建 `bioyond_warehouse_5x3x1` 和 `bioyond_warehouse_2x2x1`
-  - 修复多个仓库的上下颠倒问题
-
----
-
-## 相关资源
-
-- [warehouse.py](../warehouse.py) - 核心工厂函数实现
-- [YB_warehouses.py](YB_warehouses.py) - 所有仓库定义
-- [decks.py](decks.py) - Deck 布局配置
-- [config.py](../../devices/workstation/bioyond_studio/config.py) - UUID 映射
-
----
-
-**维护者：** Uni-Lab-OS 开发团队  
-**最后更新：** 2026-01-07

unilabos/resources/bioyond/YB_bottle_carriers.py

@@ -1,653 +0,0 @@
-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_jia_yang_tou_da,
-    YB_ye_Bottle,
-    YB_ye_100ml_Bottle,
-    YB_gao_nian_ye_Bottle,
-    YB_5ml_fenyeping,
-    YB_20ml_fenyeping,
-    YB_pei_ye_xiao_Bottle,
-    YB_pei_ye_da_Bottle,
-    YB_qiang_tou,
-)
-# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
-
-
-def BIOYOND_Electrolyte_6VialCarrier(name: str) -> BottleCarrier:
-    """6瓶载架 - 2x3布局"""
-
-    # 载架尺寸 (mm)
-    carrier_size_x = 127.8
-    carrier_size_y = 85.5
-    carrier_size_z = 50.0
-
-    # 瓶位尺寸
-    bottle_diameter = 30.0
-    bottle_spacing_x = 42.0  # 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 - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
-    start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
-
-    sites = create_ordered_items_2d(
-        klass=ResourceHolder,
-        num_items_x=3,
-        num_items_y=2,
-        dx=start_x,
-        dy=start_y,
-        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,
-    )
-    for k, v in sites.items():
-        v.name = f"{name}_{v.name}"
-
-    carrier = BottleCarrier(
-        name=name,
-        size_x=carrier_size_x,
-        size_y=carrier_size_y,
-        size_z=carrier_size_z,
-        sites=sites,
-        model="Electrolyte_6VialCarrier",
-    )
-    carrier.num_items_x = 3
-    carrier.num_items_y = 2
-    carrier.num_items_z = 1
-    # for i in range(6):
-    #     carrier[i] = YB_Solid_Vial(f"{name}_vial_{i+1}")
-    return carrier
-
-
-def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier:
-    """1瓶载架 - 单个中央位置"""
-
-    # 载架尺寸 (mm)
-    carrier_size_x = 127.8
-    carrier_size_y = 85.5
-    carrier_size_z = 100.0
-
-    # 烧杯尺寸
-    beaker_diameter = 80.0
-
-    # 计算中央位置
-    center_x = (carrier_size_x - beaker_diameter) / 2
-    center_y = (carrier_size_y - beaker_diameter) / 2
-    center_z = 5.0
-
-    carrier = BottleCarrier(
-        name=name,
-        size_x=carrier_size_x,
-        size_y=carrier_size_y,
-        size_z=carrier_size_z,
-        sites=create_homogeneous_resources(
-            klass=ResourceHolder,
-            locations=[Coordinate(center_x, center_y, center_z)],
-            resource_size_x=beaker_diameter,
-            resource_size_y=beaker_diameter,
-            name_prefix=name,
-        ),
-        model="Electrolyte_1BottleCarrier",
-    )
-    carrier.num_items_x = 1
-    carrier.num_items_y = 1
-    carrier.num_items_z = 1
-    # carrier[0] = YB_Solution_Beaker(f"{name}_beaker_1")
-    return carrier
-
-
-def YB_6StockCarrier(name: str) -> BottleCarrier:
-    """6瓶载架 - 2x3布局"""
-
-    # 载架尺寸 (mm)
-    carrier_size_x = 127.8
-    carrier_size_y = 85.5
-    carrier_size_z = 50.0
-
-    # 瓶位尺寸
-    bottle_diameter = 20.0
-    bottle_spacing_x = 42.0  # 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 - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
-    start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
-
-    sites = create_ordered_items_2d(
-        klass=ResourceHolder,
-        num_items_x=3,
-        num_items_y=2,
-        dx=start_x,
-        dy=start_y,
-        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,
-    )
-    for k, v in sites.items():
-        v.name = f"{name}_{v.name}"
-
-    carrier = BottleCarrier(
-        name=name,
-        size_x=carrier_size_x,
-        size_y=carrier_size_y,
-        size_z=carrier_size_z,
-        sites=sites,
-        model="6StockCarrier",
-    )
-    carrier.num_items_x = 3
-    carrier.num_items_y = 2
-    carrier.num_items_z = 1
-    ordering = ["A1", "A2", "A3", "B1", "B2", "B3"]  # 自定义顺序
-    # for i in range(6):
-    #     carrier[i] = YB_Solid_Stock(f"{name}_vial_{ordering[i]}")
-    return carrier
-
-
-def YB_6VialCarrier(name: str) -> BottleCarrier:
-    """6瓶载架 - 2x3布局"""
-
-    # 载架尺寸 (mm)
-    carrier_size_x = 127.8
-    carrier_size_y = 85.5
-    carrier_size_z = 50.0
-
-    # 瓶位尺寸
-    bottle_diameter = 30.0
-    bottle_spacing_x = 42.0  # 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 - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
-    start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
-
-    sites = create_ordered_items_2d(
-        klass=ResourceHolder,
-        num_items_x=3,
-        num_items_y=2,
-        dx=start_x,
-        dy=start_y,
-        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,
-    )
-    for k, v in sites.items():
-        v.name = f"{name}_{v.name}"
-
-    carrier = BottleCarrier(
-        name=name,
-        size_x=carrier_size_x,
-        size_y=carrier_size_y,
-        size_z=carrier_size_z,
-        sites=sites,
-        model="6VialCarrier",
-    )
-    carrier.num_items_x = 3
-    carrier.num_items_y = 2
-    carrier.num_items_z = 1
-    ordering = ["A1", "A2", "A3", "B1", "B2", "B3"]  # 自定义顺序
-    # for i in range(3):
-    #     carrier[i] = YB_Solid_Vial(f"{name}_solidvial_{ordering[i]}")
-    # for i in range(3, 6):
-    #     carrier[i] = YB_Liquid_Vial(f"{name}_liquidvial_{ordering[i]}")
-    return carrier
-
-# 1瓶载架 - 单个中央位置
-def YB_ye(name: str) -> BottleCarrier:
-    
-    # 载架尺寸 (mm)
-    carrier_size_x = 127.8
-    carrier_size_y = 85.5
-    carrier_size_z = 20.0
-
-    # 烧杯尺寸
-    beaker_diameter = 60.0
-
-    # 计算中央位置
-    center_x = (carrier_size_x - beaker_diameter) / 2
-    center_y = (carrier_size_y - beaker_diameter) / 2
-    center_z = 5.0
-
-    carrier = BottleCarrier(
-        name=name,
-        size_x=carrier_size_x,
-        size_y=carrier_size_y,
-        size_z=carrier_size_z,
-        sites=create_homogeneous_resources(
-            klass=ResourceHolder,
-            locations=[Coordinate(center_x, center_y, center_z)],
-            resource_size_x=beaker_diameter,
-            resource_size_y=beaker_diameter,
-            name_prefix=name,
-        ),
-        model="YB_ye",
-    )
-    carrier.num_items_x = 1
-    carrier.num_items_y = 1
-    carrier.num_items_z = 1
-    carrier[0] = YB_ye_Bottle(f"{name}_flask_1")
-    return carrier
-
-
-# 高粘液瓶载架 - 单个中央位置
-def YB_gaonianye(name: str) -> BottleCarrier:
-    
-    # 载架尺寸 (mm)
-    carrier_size_x = 127.8
-    carrier_size_y = 85.5
-    carrier_size_z = 20.0
-
-    # 烧杯尺寸
-    beaker_diameter = 60.0
-
-    # 计算中央位置
-    center_x = (carrier_size_x - beaker_diameter) / 2
-    center_y = (carrier_size_y - beaker_diameter) / 2
-    center_z = 5.0
-
-    carrier = BottleCarrier(
-        name=name,
-        size_x=carrier_size_x,
-        size_y=carrier_size_y,
-        size_z=carrier_size_z,
-        sites=create_homogeneous_resources(
-            klass=ResourceHolder,
-            locations=[Coordinate(center_x, center_y, center_z)],
-            resource_size_x=beaker_diameter,
-            resource_size_y=beaker_diameter,
-            name_prefix=name,
-        ),
-        model="YB_gaonianye",
-    )
-    carrier.num_items_x = 1
-    carrier.num_items_y = 1
-    carrier.num_items_z = 1
-    carrier[0] = YB_gao_nian_ye_Bottle(f"{name}_flask_1")
-    return carrier
-
-
-# 100ml液体瓶载架 - 单个中央位置
-def YB_100ml_yeti(name: str) -> BottleCarrier:
-    
-    # 载架尺寸 (mm)
-    carrier_size_x = 127.8
-    carrier_size_y = 85.5
-    carrier_size_z = 20.0
-
-    # 烧杯尺寸
-    beaker_diameter = 60.0
-
-    # 计算中央位置
-    center_x = (carrier_size_x - beaker_diameter) / 2
-    center_y = (carrier_size_y - beaker_diameter) / 2
-    center_z = 5.0
-
-    carrier = BottleCarrier(
-        name=name,
-        size_x=carrier_size_x,
-        size_y=carrier_size_y,
-        size_z=carrier_size_z,
-        sites=create_homogeneous_resources(
-            klass=ResourceHolder,
-            locations=[Coordinate(center_x, center_y, center_z)],
-            resource_size_x=beaker_diameter,
-            resource_size_y=beaker_diameter,
-            name_prefix=name,
-        ),
-        model="YB_100ml_yeti",
-    )
-    carrier.num_items_x = 1
-    carrier.num_items_y = 1
-    carrier.num_items_z = 1
-    carrier[0] = YB_ye_100ml_Bottle(f"{name}_flask_1")
-    return carrier
-
-# 5ml分液瓶板 - 4x2布局，8个位置
-def YB_5ml_fenyepingban(name: str) -> BottleCarrier:
-    
-
-    # 载架尺寸 (mm)
-    carrier_size_x = 127.8
-    carrier_size_y = 85.5
-    carrier_size_z = 50.0
-
-    # 瓶位尺寸
-    bottle_diameter = 15.0
-    bottle_spacing_x = 42.0  # 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 - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2
-    start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
-
-    sites = create_ordered_items_2d(
-        klass=ResourceHolder,
-        num_items_x=4,
-        num_items_y=2,
-        dx=start_x,
-        dy=start_y,
-        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,
-    )
-    for k, v in sites.items():
-        v.name = f"{name}_{v.name}"
-
-    carrier = BottleCarrier(
-        name=name,
-        size_x=carrier_size_x,
-        size_y=carrier_size_y,
-        size_z=carrier_size_z,
-        sites=sites,
-        model="YB_5ml_fenyepingban",
-    )
-    carrier.num_items_x = 4
-    carrier.num_items_y = 2
-    carrier.num_items_z = 1
-    ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
-    for i in range(8):
-        carrier[i] = YB_5ml_fenyeping(f"{name}_vial_{ordering[i]}")
-    return carrier
-
-# 20ml分液瓶板 - 4x2布局，8个位置
-def YB_20ml_fenyepingban(name: str) -> BottleCarrier:
-
-
-    # 载架尺寸 (mm)
-    carrier_size_x = 127.8
-    carrier_size_y = 85.5
-    carrier_size_z = 70.0
-
-    # 瓶位尺寸
-    bottle_diameter = 20.0
-    bottle_spacing_x = 42.0  # 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 - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2
-    start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
-
-    sites = create_ordered_items_2d(
-        klass=ResourceHolder,
-        num_items_x=4,
-        num_items_y=2,
-        dx=start_x,
-        dy=start_y,
-        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,
-    )
-    for k, v in sites.items():
-        v.name = f"{name}_{v.name}"
-
-    carrier = BottleCarrier(
-        name=name,
-        size_x=carrier_size_x,
-        size_y=carrier_size_y,
-        size_z=carrier_size_z,
-        sites=sites,
-        model="YB_20ml_fenyepingban",
-    )
-    carrier.num_items_x = 4
-    carrier.num_items_y = 2
-    carrier.num_items_z = 1
-    ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
-    for i in range(8):
-        carrier[i] = YB_20ml_fenyeping(f"{name}_vial_{ordering[i]}")
-    return carrier
-
-# 配液瓶(小)板 - 4x2布局，8个位置
-def YB_peiyepingxiaoban(name: str) -> BottleCarrier:
-    
-
-    # 载架尺寸 (mm)
-    carrier_size_x = 127.8
-    carrier_size_y = 85.5
-    carrier_size_z = 65.0
-
-    # 瓶位尺寸
-    bottle_diameter = 35.0
-    bottle_spacing_x = 42.0  # 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 - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2
-    start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
-
-    sites = create_ordered_items_2d(
-        klass=ResourceHolder,
-        num_items_x=4,
-        num_items_y=2,
-        dx=start_x,
-        dy=start_y,
-        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,
-    )
-    for k, v in sites.items():
-        v.name = f"{name}_{v.name}"
-
-    carrier = BottleCarrier(
-        name=name,
-        size_x=carrier_size_x,
-        size_y=carrier_size_y,
-        size_z=carrier_size_z,
-        sites=sites,
-        model="YB_peiyepingxiaoban",
-    )
-    carrier.num_items_x = 4
-    carrier.num_items_y = 2
-    carrier.num_items_z = 1
-    ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
-    for i in range(8):
-        carrier[i] = YB_pei_ye_xiao_Bottle(f"{name}_bottle_{ordering[i]}")
-    return carrier
-
-
-# 配液瓶(大)板 - 2x2布局，4个位置
-def YB_peiyepingdaban(name: str) -> BottleCarrier:
-
-    # 载架尺寸 (mm)
-    carrier_size_x = 127.8
-    carrier_size_y = 85.5
-    carrier_size_z = 95.0
-
-    # 瓶位尺寸
-    bottle_diameter = 55.0
-    bottle_spacing_x = 60.0  # X方向间距
-    bottle_spacing_y = 60.0  # 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 - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
-
-    sites = create_ordered_items_2d(
-        klass=ResourceHolder,
-        num_items_x=2,
-        num_items_y=2,
-        dx=start_x,
-        dy=start_y,
-        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,
-    )
-    for k, v in sites.items():
-        v.name = f"{name}_{v.name}"
-
-    carrier = BottleCarrier(
-        name=name,
-        size_x=carrier_size_x,
-        size_y=carrier_size_y,
-        size_z=carrier_size_z,
-        sites=sites,
-        model="YB_peiyepingdaban",
-    )
-    carrier.num_items_x = 2
-    carrier.num_items_y = 2
-    carrier.num_items_z = 1
-    ordering = ["A1", "A2", "B1", "B2"]
-    for i in range(4):
-        carrier[i] = YB_pei_ye_da_Bottle(f"{name}_bottle_{ordering[i]}")
-    return carrier
-
-# 加样头(大)板 - 1x1布局，1个位置
-def YB_jia_yang_tou_da_Carrier(name: str) -> BottleCarrier:
-    
-    # 载架尺寸 (mm)
-    carrier_size_x = 127.8
-    carrier_size_y = 85.5
-    carrier_size_z = 95.0
-
-    # 瓶位尺寸
-    bottle_diameter = 35.0
-    bottle_spacing_x = 42.0  # 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 - (1 - 1) * bottle_spacing_x - bottle_diameter) / 2
-    start_y = (carrier_size_y - (1 - 1) * bottle_spacing_y - bottle_diameter) / 2
-
-    sites = create_ordered_items_2d(
-        klass=ResourceHolder,
-        num_items_x=1,
-        num_items_y=1,
-        dx=start_x,
-        dy=start_y,
-        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,
-    )
-    for k, v in sites.items():
-        v.name = f"{name}_{v.name}"
-
-    carrier = BottleCarrier(
-        name=name,
-        size_x=carrier_size_x,
-        size_y=carrier_size_y,
-        size_z=carrier_size_z,
-        sites=sites,
-        model="YB_jia_yang_tou_da_Carrier",
-    )
-    carrier.num_items_x = 1
-    carrier.num_items_y = 1
-    carrier.num_items_z = 1
-    carrier[0] = YB_jia_yang_tou_da(f"{name}_head_1")
-    return carrier
-
-
-def YB_shi_pei_qi_kuai(name: str) -> BottleCarrier:
-    """适配器块 - 单个中央位置"""
-
-    # 载架尺寸 (mm)
-    carrier_size_x = 127.8
-    carrier_size_y = 85.5
-    carrier_size_z = 30.0
-
-    # 适配器尺寸
-    adapter_diameter = 80.0
-
-    # 计算中央位置
-    center_x = (carrier_size_x - adapter_diameter) / 2
-    center_y = (carrier_size_y - adapter_diameter) / 2
-    center_z = 0.0
-
-    carrier = BottleCarrier(
-        name=name,
-        size_x=carrier_size_x,
-        size_y=carrier_size_y,
-        size_z=carrier_size_z,
-        sites=create_homogeneous_resources(
-            klass=ResourceHolder,
-            locations=[Coordinate(center_x, center_y, center_z)],
-            resource_size_x=adapter_diameter,
-            resource_size_y=adapter_diameter,
-            name_prefix=name,
-        ),
-        model="YB_shi_pei_qi_kuai",
-    )
-    carrier.num_items_x = 1
-    carrier.num_items_y = 1
-    carrier.num_items_z = 1
-    # 适配器块本身不包含瓶子，只是一个支撑结构
-    return carrier
-
-
-def YB_qiang_tou_he(name: str) -> BottleCarrier:
-    """枪头盒 - 8x12布局，96个位置"""
-
-    # 载架尺寸 (mm)
-    carrier_size_x = 127.8
-    carrier_size_y = 85.5
-    carrier_size_z = 55.0
-
-    # 枪头尺寸
-    tip_diameter = 10.0
-    tip_spacing_x = 9.0  # X方向间距
-    tip_spacing_y = 9.0  # Y方向间距
-
-    # 计算起始位置 (居中排列)
-    start_x = (carrier_size_x - (12 - 1) * tip_spacing_x - tip_diameter) / 2
-    start_y = (carrier_size_y - (8 - 1) * tip_spacing_y - tip_diameter) / 2
-
-    sites = create_ordered_items_2d(
-        klass=ResourceHolder,
-        num_items_x=12,
-        num_items_y=8,
-        dx=start_x,
-        dy=start_y,
-        dz=5.0,
-        item_dx=tip_spacing_x,
-        item_dy=tip_spacing_y,
-        size_x=tip_diameter,
-        size_y=tip_diameter,
-        size_z=carrier_size_z,
-    )
-    for k, v in sites.items():
-        v.name = f"{name}_{v.name}"
-
-    carrier = BottleCarrier(
-        name=name,
-        size_x=carrier_size_x,
-        size_y=carrier_size_y,
-        size_z=carrier_size_z,
-        sites=sites,
-        model="YB_qiang_tou_he",
-    )
-    carrier.num_items_x = 12
-    carrier.num_items_y = 8
-    carrier.num_items_z = 1
-    # 创建96个枪头
-    for i in range(96):
-        row = chr(65 + i // 12)  # A-H
-        col = (i % 12) + 1  # 1-12
-        carrier[i] = YB_qiang_tou(f"{name}_tip_{row}{col}")
-    return carrier
-

unilabos/resources/bioyond/YB_bottles.py

@@ -1,163 +0,0 @@
-from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
-# 工厂函数
-"""加样头（大）"""
-def YB_jia_yang_tou_da(
-    name: str,
-    diameter: float = 20.0,
-    height: float = 100.0,
-    max_volume: float = 30000.0,  # 30mL
-    barcode: str = None,
-) -> Bottle:
-    """创建粉末瓶"""
-    return Bottle(
-        name=name,
-        diameter=diameter,# 未知
-        height=height,
-        max_volume=max_volume,
-        barcode=barcode,
-        model="YB_jia_yang_tou_da",
-    )
-
-"""液1x1"""
-def YB_ye_Bottle(
-    name: str,
-    diameter: float = 40.0,
-    height: float = 70.0,
-    max_volume: float = 50000.0,  # 50mL
-    barcode: str = None,
-) -> Bottle:
-    """创建液体瓶"""
-    return Bottle(
-        name=name,
-        diameter=diameter,
-        height=height,
-        max_volume=max_volume,
-        barcode=barcode,
-        model="YB_ye_Bottle",
-    )
-
-"""100ml液体"""
-def YB_ye_100ml_Bottle(
-    name: str,
-    diameter: float = 50.0,
-    height: float = 90.0,
-    max_volume: float = 100000.0,  # 100mL
-    barcode: str = None,
-) -> Bottle:
-    """创建100ml液体瓶"""
-    return Bottle(
-        name=name,
-        diameter=diameter,
-        height=height,
-        max_volume=max_volume,
-        barcode=barcode,
-        model="YB_100ml_yeti",
-    )
-
-"""高粘液"""
-def YB_gao_nian_ye_Bottle(
-    name: str,
-    diameter: float = 40.0,
-    height: float = 70.0,
-    max_volume: float = 50000.0,  # 50mL
-    barcode: str = None,
-) -> Bottle:
-    """创建高粘液瓶"""
-    return Bottle(
-        name=name,
-        diameter=diameter,
-        height=height,
-        max_volume=max_volume,
-        barcode=barcode,
-        model="High_Viscosity_Liquid",
-    )
-
-"""5ml分液瓶"""
-def YB_5ml_fenyeping(
-    name: str,
-    diameter: float = 20.0,
-    height: float = 50.0,
-    max_volume: float = 5000.0,  # 5mL
-    barcode: str = None,
-) -> Bottle:
-    """创建5ml分液瓶"""
-    return Bottle(
-        name=name,
-        diameter=diameter,
-        height=height,
-        max_volume=max_volume,
-        barcode=barcode,
-        model="YB_5ml_fenyeping",
-    )
-
-"""20ml分液瓶"""
-def YB_20ml_fenyeping(
-    name: str,
-    diameter: float = 30.0,
-    height: float = 65.0,
-    max_volume: float = 20000.0,  # 20mL
-    barcode: str = None,
-) -> Bottle:
-    """创建20ml分液瓶"""
-    return Bottle(
-        name=name,
-        diameter=diameter,
-        height=height,
-        max_volume=max_volume,
-        barcode=barcode,
-        model="YB_20ml_fenyeping",
-    )
-
-"""配液瓶(小)"""
-def YB_pei_ye_xiao_Bottle(
-    name: str,
-    diameter: float = 35.0,
-    height: float = 60.0,
-    max_volume: float = 30000.0,  # 30mL
-    barcode: str = None,
-) -> Bottle:
-    """创建配液瓶(小)"""
-    return Bottle(
-        name=name,
-        diameter=diameter,
-        height=height,
-        max_volume=max_volume,
-        barcode=barcode,
-        model="YB_pei_ye_xiao_Bottle",
-    )
-
-"""配液瓶(大)"""
-def YB_pei_ye_da_Bottle(
-    name: str,
-    diameter: float = 55.0,
-    height: float = 100.0,
-    max_volume: float = 150000.0,  # 150mL
-    barcode: str = None,
-) -> Bottle:
-    """创建配液瓶(大)"""
-    return Bottle(
-        name=name,
-        diameter=diameter,
-        height=height,
-        max_volume=max_volume,
-        barcode=barcode,
-        model="YB_pei_ye_da_Bottle",
-    )
-
-"""枪头"""
-def YB_qiang_tou(
-    name: str,
-    diameter: float = 10.0,
-    height: float = 50.0,
-    max_volume: float = 1000.0,  # 1mL
-    barcode: str = None,
-) -> Bottle:
-    """创建枪头"""
-    return Bottle(
-        name=name,
-        diameter=diameter,
-        height=height,
-        max_volume=max_volume,
-        barcode=barcode,
-        model="YB_qiang_tou",
-    )    

unilabos/resources/bioyond/YB_warehouses.py

@@ -1,384 +0,0 @@
-from unilabos.resources.warehouse import WareHouse, 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(
-        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_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
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
-        category="warehouse",
-    )
-
-def bioyond_warehouse_tipbox_storage(name: str) -> WareHouse:
-    """创建BioYond站内Tip盒堆栈（A01～B03, 2行×3列）"""
-    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(
-        name=name,
-        num_items_x=1,
-        num_items_y=4,
-        num_items_z=2,
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
-        category="warehouse",
-        removed_positions=None
-    )
-
-def bioyond_warehouse_1x2x2(name: str) -> WareHouse:
-    """创建BioYond 1x2x2仓库（1列×2行×2层）- 旧版本，已弃用
-
-    布局（2层）:
-    层1: A01
-         B01
-    层2: A02
-         B02
-    """
-    return warehouse_factory(
-        name=name,
-        num_items_x=1,
-        num_items_y=2,
-        num_items_z=2,
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
-        category="warehouse",
-        layout="row-major",  # 使用行优先避免上下颠倒
-    )
-
-def bioyond_warehouse_2x2x1(name: str) -> WareHouse:
-    """创建BioYond 2x2x1仓库（2行×2列×1层）
-
-    布局:
-    A01 | A02
-    B01 | B02
-    """
-    return warehouse_factory(
-        name=name,
-        num_items_x=2,      # 2列
-        num_items_y=2,      # 2行
-        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",
-        layout="row-major",  # 使用行优先避免上下颠倒
-    )
-
-
-def bioyond_warehouse_10x1x1(name: str) -> WareHouse:
-    """创建BioYond 10x1x1仓库"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=10,
-        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",
-    )
-
-def bioyond_warehouse_1x3x3(name: str) -> WareHouse:
-    """创建BioYond 1x3x3仓库"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=1,
-        num_items_y=3,
-        num_items_z=3,
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=137.0,
-        item_dy=120.0,  # 增大Y方向间距以避免重叠
-        item_dz=120.0,
-        category="warehouse",
-    )
-
-def bioyond_warehouse_5x3x1(name: str, row_offset: int = 0) -> WareHouse:
-    """创建BioYond 5x3x1仓库（5行×3列×1层）
-
-    标准布局（row_offset=0）:
-    A01 | A02 | A03
-    B01 | B02 | B03
-    C01 | C02 | C03
-    D01 | D02 | D03
-    E01 | E02 | E03
-
-    带偏移布局（row_offset=5）:
-    F01 | F02 | F03
-    G01 | G02 | G03
-    H01 | H02 | H03
-    I01 | I02 | I03
-    J01 | J02 | J03
-    """
-    return warehouse_factory(
-        name=name,
-        num_items_x=3,      # 3列
-        num_items_y=5,      # 5行
-        num_items_z=1,      # 1层
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=137.0,
-        item_dy=120.0,
-        item_dz=120.0,
-        category="warehouse",
-        col_offset=0,
-        row_offset=row_offset,  # 支持行偏移
-        layout="row-major",  # 使用行优先避免颠倒
-    )
-
-
-def bioyond_warehouse_3x3x1(name: str) -> WareHouse:
-    """创建BioYond 3x3x1仓库（3行×3列×1层）
-
-    布局:
-    A01 | A02 | A03
-    B01 | B02 | B03
-    C01 | C02 | C03
-    """
-    return warehouse_factory(
-        name=name,
-        num_items_x=3,
-        num_items_y=3,
-        num_items_z=1,
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
-        category="warehouse",
-        layout="row-major",  # ⭐ 使用行优先避免上下颠倒
-    )
-def bioyond_warehouse_2x1x3(name: str) -> WareHouse:
-    """创建BioYond 2x1x3仓库"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=2,
-        num_items_y=1,
-        num_items_z=3,
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        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(
-        name=name,
-        num_items_x=5,
-        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",
-    )
-
-def bioyond_warehouse_3x3x1_2(name: str) -> WareHouse:
-    """已弃用：创建BioYond 3x3x1仓库"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=3,
-        num_items_y=3,
-        num_items_z=1,
-        dx=12.0,
-        dy=12.0,
-        dz=12.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
-        category="warehouse",
-    )
-
-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(
-        name=name,
-        num_items_x=2,
-        num_items_y=5,
-        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",
-        removed_positions=None
-    )
-
-def bioyond_warehouse_1x8x4(name: str) -> WareHouse:
-    """创建BioYond 8x4x1反应站堆栈（A01～D08）"""
-    return 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
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=147.0,
-        item_dy=106.0,
-        item_dz=130.0,
-        category="warehouse",
-    )

unilabos/resources/bioyond/bottles.py

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

unilabos/resources/bioyond/decks.py

@@ -1,16 +1,14 @@
 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,
     bioyond_warehouse_reagent_stack,  # 新增：试剂堆栈 (A1-B4)
     bioyond_warehouse_liquid_and_lid_handling,
     bioyond_warehouse_1x2x2,
-    bioyond_warehouse_2x2x1,  # 新增：321和43窗口 (2行×2列)
     bioyond_warehouse_1x3x3,
-    bioyond_warehouse_5x3x1,  # 新增：手动传递窗仓库 (5行×3列)
     bioyond_warehouse_10x1x1,
     bioyond_warehouse_3x3x1,
     bioyond_warehouse_3x3x1_2,
@@ -18,12 +16,9 @@ from unilabos.resources.bioyond.YB_warehouses import (
     bioyond_warehouse_1x8x4,
     bioyond_warehouse_reagent_storage,
     # bioyond_warehouse_liquid_preparation,
+    bioyond_warehouse_tipbox_storage,  # 新增：Tip盒堆栈
     bioyond_warehouse_density_vial,
 )
-from unilabos.resources.bioyond.warehouses import (
-    bioyond_warehouse_tipbox_storage_left,   # 新增：Tip盒堆栈(左)
-    bioyond_warehouse_tipbox_storage_right,  # 新增：Tip盒堆栈(右)
-)
 
 
 class BIOYOND_PolymerReactionStation_Deck(Deck):
@@ -50,22 +45,24 @@ class BIOYOND_PolymerReactionStation_Deck(Deck):
             "堆栈1右": bioyond_warehouse_1x4x4_right("堆栈1右"),  # 右侧堆栈: A05～D08
             "站内试剂存放堆栈": bioyond_warehouse_reagent_storage("站内试剂存放堆栈"),  # A01～A02
             # "移液站内10%分装液体准备仓库": bioyond_warehouse_liquid_preparation("移液站内10%分装液体准备仓库"),  # A01～B04
-            "站内Tip盒堆栈(左)": bioyond_warehouse_tipbox_storage_left("站内Tip盒堆栈(左)"),  # A02～B03
-            "站内Tip盒堆栈(右)": bioyond_warehouse_tipbox_storage_right("站内Tip盒堆栈(右)"),  # A01～B01
+            "站内Tip盒堆栈": bioyond_warehouse_tipbox_storage("站内Tip盒堆栈"),  # A01～B03, 存放枪头盒.
             "测量小瓶仓库(测密度)": bioyond_warehouse_density_vial("测量小瓶仓库(测密度)"),  # A01～B03
         }
         self.warehouse_locations = {
-            "堆栈1左": Coordinate(-200.0, 400.0, 0.0),  # 左侧位置
-            "堆栈1右": Coordinate(2350.0, 400.0, 0.0),  # 右侧位置
-            "站内试剂存放堆栈": Coordinate(640.0, 400.0, 0.0),
-            "站内Tip盒堆栈(左)": Coordinate(300.0, 100.0, 0.0),
-            "站内Tip盒堆栈(右)": Coordinate(2250.0, 100.0, 0.0),  # 向右偏移 2 * item_dx (137.0)
-            "测量小瓶仓库(测密度)": Coordinate(1000.0, 530.0, 0.0),
+            "堆栈1左": Coordinate(0.0, 430.0, 0.0),  # 左侧位置
+            "堆栈1右": Coordinate(2500.0, 430.0, 0.0),  # 右侧位置
+            "站内试剂存放堆栈": Coordinate(640.0, 480.0, 0.0),
+            # "移液站内10%分装液体准备仓库": Coordinate(1200.0, 600.0, 0.0),
+            "站内Tip盒堆栈": Coordinate(300.0, 150.0, 0.0),
+            "测量小瓶仓库(测密度)": Coordinate(922.0, 552.0, 0.0),
         }
+        self.warehouses["站内试剂存放堆栈"].rotation = Rotation(z=90)
+        self.warehouses["测量小瓶仓库(测密度)"].rotation = Rotation(z=270)
 
         for warehouse_name, warehouse in self.warehouses.items():
             self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
 
+
 class BIOYOND_PolymerPreparationStation_Deck(Deck):
     def __init__(
         self,
@@ -93,9 +90,9 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck):
             "溶液堆栈": bioyond_warehouse_1x4x4("溶液堆栈"),  # 4行×4列 (A01-D04)
         }
         self.warehouse_locations = {
-            "粉末堆栈": Coordinate(-200.0, 400.0, 0.0),
-            "试剂堆栈": Coordinate(1750.0, 160.0, 0.0),
-            "溶液堆栈": Coordinate(2350.0, 400.0, 0.0),
+            "粉末堆栈": Coordinate(0.0, 450.0, 0.0),
+            "试剂堆栈": Coordinate(1850.0, 200.0, 0.0),
+            "溶液堆栈": Coordinate(2500.0, 450.0, 0.0),
         }
 
         for warehouse_name, warehouse in self.warehouses.items():
@@ -118,10 +115,10 @@ class BIOYOND_YB_Deck(Deck):
     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
-            "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
+            "321窗口": bioyond_warehouse_1x2x2("321窗口"),
+            "43窗口": bioyond_warehouse_1x2x2("43窗口"),
+            "手动传递窗左": bioyond_warehouse_1x3x3("手动传递窗左"),
+            "手动传递窗右": bioyond_warehouse_1x3x3("手动传递窗右"),
             "加样头堆栈左": bioyond_warehouse_10x1x1("加样头堆栈左"),
             "加样头堆栈右": bioyond_warehouse_10x1x1("加样头堆栈右"),
 
@@ -129,7 +126,6 @@ class BIOYOND_YB_Deck(Deck):
             "母液加样右": bioyond_warehouse_3x3x1_2("母液加样右"),
             "大瓶母液堆栈左": bioyond_warehouse_5x1x1("大瓶母液堆栈左"),
             "大瓶母液堆栈右": bioyond_warehouse_5x1x1("大瓶母液堆栈右"),
-            "2号手套箱内部堆栈": bioyond_warehouse_3x3x1("2号手套箱内部堆栈"),  # 新增：3行×3列 (A01-C03)
         }
         # warehouse 的位置
         self.warehouse_locations = {
@@ -144,12 +140,10 @@ class BIOYOND_YB_Deck(Deck):
             "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
         }
 
         for warehouse_name, warehouse in self.warehouses.items():
             self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
-
 def YB_Deck(name: str) -> Deck:
     by=BIOYOND_YB_Deck(name=name)
     by.setup()

unilabos/resources/bioyond/warehouses.py

@@ -46,80 +46,48 @@ def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
     )
 
 def bioyond_warehouse_density_vial(name: str) -> WareHouse:
-    """创建测量小瓶仓库(测密度) - 竖向排列2列3行
-    布局（从下到上，从左到右）：
-    | A03 | B03 |  ← 顶部
-    | A02 | B02 |  ← 中部
-    | A01 | B01 |  ← 底部
-    """
+    """创建测量小瓶仓库(测密度) A01～B03"""
     return warehouse_factory(
         name=name,
-        num_items_x=2,  # 2列（A, B）
-        num_items_y=3,  # 3行（01-03，从下到上）
+        num_items_x=3,  # 3列（01-03）
+        num_items_y=2,  # 2行（A-B）
         num_items_z=1,  # 1层
         dx=10.0,
         dy=10.0,
         dz=10.0,
-        item_dx=40.0,  # 列间距（A到B的横向距离）
-        item_dy=40.0,  # 行间距（01到02到03的竖向距离）
+        item_dx=40.0,
+        item_dy=40.0,
         item_dz=50.0,
-        # ⭐ 竖向warehouse：槽位尺寸也是竖向的（小瓶已经是正方形，无需调整）
+        # 用更小的 resource_size 来表现 "小点的孔位"
         resource_size_x=30.0,
         resource_size_y=30.0,
         resource_size_z=12.0,
         category="warehouse",
         col_offset=0,
-        layout="vertical-col-major",  # ⭐ 竖向warehouse专用布局
-    )
-
-def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
-    """创建BioYond站内试剂存放堆栈 - 竖向排列1列2行
-    布局（竖向，从下到上）：
-    | A02 |  ← 顶部
-    | A01 |  ← 底部
-    """
-    return warehouse_factory(
-        name=name,
-        num_items_x=1,  # 1列
-        num_items_y=2,  # 2行（01-02，从下到上）
-        num_items_z=1,  # 1层
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=96.0,   # 列间距（这里只有1列，不重要）
-        item_dy=137.0,  # 行间距（A01到A02的竖向距离）
-        item_dz=120.0,
-        # ⭐ 竖向warehouse：交换槽位尺寸，使槽位框也是竖向的
-        resource_size_x=86.0,   # 原来的 resource_size_y
-        resource_size_y=127.0,  # 原来的 resource_size_x
-        resource_size_z=25.0,
-        category="warehouse",
-        layout="vertical-col-major",  # ⭐ 竖向warehouse专用布局
-    )
-
-def bioyond_warehouse_tipbox_storage_left(name: str) -> WareHouse:
-    """创建BioYond站内Tip盒堆栈左侧部分（A02～B03），2列2行"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=2,  # 2列
-        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=1,   # 从02开始: A02, A03
         layout="row-major",
     )
 
-def bioyond_warehouse_tipbox_storage_right(name: str) -> WareHouse:
-    """创建BioYond站内Tip盒堆栈右侧部分（A01～B01），1列2行"""
+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=1,  # 1列
+        num_items_x=2,  # 2列（01-02）
+        num_items_y=1,  # 1行（A）
+        num_items_z=1,  # 1层
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        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,
@@ -129,7 +97,7 @@ def bioyond_warehouse_tipbox_storage_right(name: str) -> WareHouse:
         item_dy=96.0,
         item_dz=120.0,
         category="warehouse",
-        col_offset=0,   # 从01开始: A01
+        col_offset=0,
         layout="row-major",
     )
 

unilabos/resources/graphio.py

@@ -819,22 +819,6 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
             if not locations:
                 logger.debug(f"[物料位置] {unique_name} 没有location信息，跳过warehouse放置")
 
-            # ⭐ 预先检查：如果物料的任何location在竖向warehouse中，提前交换尺寸
-            # 这样可以避免多个location时尺寸不一致的问题
-            needs_size_swap = False
-            for loc in locations:
-                wh_name_check = loc.get("whName")
-                if wh_name_check in ["站内试剂存放堆栈", "测量小瓶仓库(测密度)"]:
-                    needs_size_swap = True
-                    break
-
-            if needs_size_swap and hasattr(plr_material, 'size_x') and hasattr(plr_material, 'size_y'):
-                original_x = plr_material.size_x
-                original_y = plr_material.size_y
-                plr_material.size_x = original_y
-                plr_material.size_y = original_x
-                logger.debug(f"   物料 {unique_name} 将放入竖向warehouse，预先交换尺寸: {original_x}×{original_y} → {plr_material.size_x}×{plr_material.size_y}")
-
             for loc in locations:
                 wh_name = loc.get("whName")
                 logger.debug(f"[物料位置] {unique_name} 尝试放置到 warehouse: {wh_name} (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')}, z={loc.get('z')})")
@@ -851,20 +835,12 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
                         logger.warning(f"物料 {material['name']} 的列号 x={x_val} 超出范围，无法映射到堆栈1左或堆栈1右")
                         continue
 
-                # 特殊处理: Bioyond的"站内Tip盒堆栈"也需要进行拆分映射
-                if wh_name == "站内Tip盒堆栈":
-                    y_val = loc.get("y", 1)
-                    if y_val == 1:
-                        wh_name = "站内Tip盒堆栈(右)"
-                    elif y_val in [2, 3]:
-                        wh_name = "站内Tip盒堆栈(左)"
-                        y = y - 1  # 调整列号，因为左侧仓库对应的 Bioyond y=2 实际上是它的第1列
-
                 if hasattr(deck, "warehouses") and wh_name in deck.warehouses:
                     warehouse = deck.warehouses[wh_name]
                     logger.debug(f"[Warehouse匹配] 找到warehouse: {wh_name} (容量: {warehouse.capacity}, 行×列: {warehouse.num_items_x}×{warehouse.num_items_y})")
 
                     # Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
+                    # PyLabRobot warehouse是列优先存储: A01,B01,C01,D01, A02,B02,C02,D02, ...
                     x = loc.get("x", 1)  # 行号 (1-based: 1=A, 2=B, 3=C, 4=D)
                     y = loc.get("y", 1)  # 列号 (1-based: 1=01, 2=02, 3=03...)
                     z = loc.get("z", 1)  # 层号 (1-based, 通常为1)
@@ -873,23 +849,12 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
                     if wh_name == "堆栈1右":
                         y = y - 4  # 将5-8映射到1-4
 
-                    # 特殊处理竖向warehouse（站内试剂存放堆栈、测量小瓶仓库）
-                    # 这些warehouse使用 vertical-col-major 布局
-                    if wh_name in ["站内试剂存放堆栈", "测量小瓶仓库(测密度)"]:
-                        # vertical-col-major 布局的坐标映射：
-                        # - Bioyond的x(1=A,2=B)对应warehouse的列(col, x方向)
-                        # - Bioyond的y(1=01,2=02,3=03)对应warehouse的行(row, y方向)，从下到上
-                        # vertical-col-major 中: row=0 对应底部，row=n-1 对应顶部
-                        # Bioyond y=1(01) 对应底部 → row=0, y=2(02) 对应中间 → row=1
-                        # 索引计算: idx = row * num_cols + col
-                        col_idx = x - 1  # Bioyond的x(A,B) → col索引(0,1)
-                        row_idx = y - 1  # Bioyond的y(01,02,03) → row索引(0,1,2)
-                        layer_idx = z - 1
-
-                        idx = layer_idx * (warehouse.num_items_x * warehouse.num_items_y) + row_idx * warehouse.num_items_y + col_idx
-                        logger.debug(f"🔍 竖向warehouse {wh_name}: Bioyond(x={x},y={y},z={z}) → warehouse(col={col_idx},row={row_idx},layer={layer_idx}) → idx={idx}, capacity={warehouse.capacity}")
-
-                    # 普通横向warehouse的处理
+                    # 特殊处理：对于1行×N列的横向warehouse（如站内试剂存放堆栈）
+                    # Bioyond的y坐标表示线性位置序号，而不是列号
+                    if warehouse.num_items_y == 1:
+                        # 1行warehouse: 直接用y作为线性索引
+                        idx = y - 1
+                        logger.debug(f"1行warehouse {wh_name}: y={y} → idx={idx}")
                     else:
                         # 多行warehouse: 根据 layout 使用不同的索引计算
                         row_idx = x - 1  # x表示行: 转为0-based
@@ -913,7 +878,6 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
 
                     if 0 <= idx < warehouse.capacity:
                         if warehouse[idx] is None or isinstance(warehouse[idx], ResourceHolder):
-                            # 物料尺寸已在放入warehouse前根据需要进行了交换
                             warehouse[idx] = plr_material
                             logger.debug(f"✅ 物料 {unique_name} 放置到 {wh_name}[{idx}] (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')})")
                     else:
@@ -1087,24 +1051,11 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
                 logger.debug(f"  📭 [单瓶物料] {resource.name} 无液体，使用资源名: {material_name}")
 
             # 🎯 处理物料默认参数和单位
-            # 优先级: typeId参数 > 物料名称参数 > 默认值
+            # 检查是否有该物料名称的默认参数配置
             default_unit = "个"  # 默认单位
             material_parameters = {}
 
-            # 1️⃣ 首先检查是否有 typeId 对应的参数配置（从 material_params 中获取，key 格式为 "type:<typeId>"）
-            type_params_key = f"type:{type_id}"
-            if type_params_key in material_params:
-                params_config = material_params[type_params_key].copy()
-
-                # 提取 unit 字段（如果有）
-                if "unit" in params_config:
-                    default_unit = params_config.pop("unit")  # 从参数中移除，放到外层
-
-                # 剩余的字段放入 Parameters
-                material_parameters = params_config
-                logger.debug(f"  🔧 [物料参数-按typeId] 为 typeId={type_id[:8]}... 应用配置: unit={default_unit}, parameters={material_parameters}")
-            # 2️⃣ 其次检查是否有该物料名称的默认参数配置
-            elif material_name in material_params:
+            if material_name in material_params:
                 params_config = material_params[material_name].copy()
 
                 # 提取 unit 字段（如果有）
@@ -1113,7 +1064,7 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
 
                 # 剩余的字段放入 Parameters
                 material_parameters = params_config
-                logger.debug(f"  🔧 [物料参数-按名称] 为 {material_name} 应用配置: unit={default_unit}, parameters={material_parameters}")
+                logger.debug(f"  🔧 [物料参数] 为 {material_name} 应用配置: unit={default_unit}, parameters={material_parameters}")
 
             # 转换为 JSON 字符串
             parameters_json = json.dumps(material_parameters) if material_parameters else "{}"

unilabos/resources/itemized_carrier.py

@@ -29,7 +29,7 @@ class Bottle(Well):
         size_x: float = 0.0,
         size_y: float = 0.0,
         size_z: float = 0.0,
-        barcode: Optional[str] = None,
+        barcode: Optional[str] = "",
         category: str = "container",
         model: Optional[str] = None,
         **kwargs,
@@ -50,45 +50,13 @@ class Bottle(Well):
         self.barcode = barcode
 
     def serialize(self) -> dict:
-        # Pylabrobot expects barcode to be an object with serialize(), but here it is a str.
-        # We temporarily unset it to avoid AttributeError in super().serialize().
-        _barcode = self.barcode
-        self.barcode = None
-        try:
-            data = super().serialize()
-        finally:
-            self.barcode = _barcode
-
         return {
-            **data,
+            **super().serialize(),
             "diameter": self.diameter,
             "height": self.height,
+            "barcode": self.barcode,
         }
 
-    @classmethod
-    def deserialize(cls, data: dict, allow_marshal: bool = False):
-        # Extract barcode before calling parent deserialize to avoid type error
-        barcode_data = data.pop("barcode", None)
-
-        # Call parent deserialize
-        instance = super(Bottle, cls).deserialize(data, allow_marshal=allow_marshal)
-
-        # Set barcode as string (not as Barcode object)
-        if barcode_data:
-            if isinstance(barcode_data, str):
-                instance.barcode = barcode_data
-            elif isinstance(barcode_data, dict):
-                # If it's a dict (Barcode serialized format), extract the data field
-                instance.barcode = barcode_data.get("data", "")
-        else:
-            instance.barcode = ""
-
-        # Set additional attributes
-        instance.diameter = data.get("diameter", instance._size_x)
-        instance.height = data.get("height", instance._size_z)
-
-        return instance
-
 T = TypeVar("T", bound=ResourceHolder)
 
 S = TypeVar("S", bound=ResourceHolder)
@@ -111,6 +79,7 @@ class ItemizedCarrier(ResourcePLR):
     category: Optional[str] = "carrier",
     model: Optional[str] = None,
     invisible_slots: Optional[str] = None,
+    content_type: Optional[List[str]] = ["bottle", "container", "tube", "bottle_carrier", "tip_rack"],
   ):
     super().__init__(
       name=name,
@@ -124,6 +93,7 @@ class ItemizedCarrier(ResourcePLR):
     self.num_items_x, self.num_items_y, self.num_items_z = num_items_x, num_items_y, num_items_z
     self.invisible_slots = [] if invisible_slots is None else invisible_slots
     self.layout = "z-y" if self.num_items_z > 1 and self.num_items_x == 1 else "x-z" if self.num_items_z > 1 and self.num_items_y == 1 else "x-y"
+    self.content_type = content_type
 
     if isinstance(sites, dict):
       sites = sites or {}
@@ -451,7 +421,7 @@ class ItemizedCarrier(ResourcePLR):
                         self[identifier] if isinstance(self[identifier], str) else None,
         "position": {"x": location.x, "y": location.y, "z": location.z},
         "size": self.child_size[identifier],
-        "content_type": ["bottle", "container", "tube", "bottle_carrier", "tip_rack"]
+        "content_type": self.content_type
       } for identifier, location in self.child_locations.items()]
     }
 

unilabos/resources/plr_additional_res_reg.py

@@ -9,6 +9,9 @@ def register():
     from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300TipRack
     from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Trash
     from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300TubeRack
+    from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300ModuleSite
+    # noinspection PyUnresolvedReferences
+    from unilabos.devices.liquid_handling.prcxi.prcxi_modules import PRCXI9300FunctionalModule
     # noinspection PyUnresolvedReferences
     from unilabos.devices.workstation.workstation_base import WorkStationContainer
 

unilabos/resources/resource_tracker.py

@@ -123,6 +123,24 @@ class ResourceDictType(TypedDict):
     machine_name: str
 
 
+class ResourceDictType(TypedDict):
+    id: str
+    uuid: str
+    name: str
+    description: str
+    resource_schema: Dict[str, Any]
+    model: Dict[str, Any]
+    icon: str
+    parent_uuid: Optional[str]
+    parent: Optional["ResourceDictType"]
+    type: Union[Literal["device"], str]
+    klass: str
+    pose: ResourceDictPositionType
+    config: Dict[str, Any]
+    data: Dict[str, Any]
+    extra: Dict[str, Any]
+
+
 # 统一的资源字典模型，parent 自动序列化为 parent_uuid，children 不序列化
 class ResourceDict(BaseModel):
     id: str = Field(description="Resource ID")
@@ -441,6 +459,8 @@ class ResourceTreeSet(object):
                 "reagent_bottle": "reagent_bottle",
                 "flask": "flask",
                 "beaker": "beaker",
+                "module": "module",
+                "carrier": "carrier",
             }
             if source in replace_info:
                 return replace_info[source]
@@ -469,7 +489,18 @@ class ResourceTreeSet(object):
         def resource_plr_inner(
             d: dict, parent_resource: Optional[ResourceDict], states: dict, uuids: list
         ) -> ResourceDictInstance:
-            current_uuid, parent_uuid, extra = uuids.pop(0)
+            if uuids:
+                current_uuid, parent_uuid, extra = uuids.pop(0)
+            else:
+                # serialize() 树比 res.children 树多出了节点（虚拟子节点等），兜底生成 UUID
+                current_uuid = str(uuid.uuid4())
+                parent_uuid = parent_resource.get("uuid") if isinstance(parent_resource, dict) else (
+                    getattr(parent_resource, "uuid", None) if parent_resource is not None else None
+                )
+                extra = {}
+                logger.warning(
+                    f"from_plr_resources: UUID 列表耗尽，为节点 '{d.get('name', '?')}' 生成临时 UUID {current_uuid}"
+                )
 
             raw_pos = (
                 {"x": d["location"]["x"], "y": d["location"]["y"], "z": d["location"]["z"]}
@@ -553,10 +584,17 @@ class ResourceTreeSet(object):
             trees.append(tree_instance)
         return cls(trees)
 
-    def to_plr_resources(self, skip_devices=True) -> List["PLRResource"]:
+    def to_plr_resources(
+        self, skip_devices: bool = True, requested_uuids: Optional[List[str]] = None
+    ) -> List["PLRResource"]:
         """
         将 ResourceTreeSet 转换为 PLR 资源列表
 
+        Args:
+            skip_devices: 是否跳过 device 类型节点
+            requested_uuids: 若指定，则按此 UUID 顺序返回对应资源（用于批量查询时一一对应），
+                否则返回各树的根节点列表
+
         Returns:
             List[PLRResource]: PLR 资源实例列表
         """
@@ -571,6 +609,8 @@ class ResourceTreeSet(object):
             "deck": "Deck",
             "container": "RegularContainer",
             "tip_spot": "TipSpot",
+            "module": "PRCXI9300ModuleSite",
+            "carrier": "ItemizedCarrier",
         }
 
         def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict, name_to_extra: dict):
@@ -612,6 +652,71 @@ class ResourceTreeSet(object):
                 d["model"] = res.config.get("model", None)
             return d
 
+        # deserialize 会单独处理的元数据 key，不传给构造函数
+        _META_KEYS = {"type", "parent_name", "location", "children", "rotation", "barcode"}
+        # deserialize 自定义逻辑使用的 key（如 TipSpot 用 prototype_tip 构建 make_tip），需保留
+        _DESERIALIZE_PRESERVED_KEYS = {"prototype_tip"}
+
+        def remove_incompatible_params(plr_d: dict) -> None:
+            """递归移除 PLR 类不接受的参数，避免 deserialize 报错。
+            - 移除构造函数不接受的参数（如 compute_height_from_volume、ordering、category）
+            - 对 TubeRack：将 ordering 转为 ordered_items
+            - 保留 deserialize 自定义逻辑需要的 key（如 prototype_tip）
+            """
+            if "type" in plr_d:
+                sub_cls = find_subclass(plr_d["type"], PLRResource)
+                if sub_cls is not None:
+                    spec = inspect.signature(sub_cls)
+                    valid_params = set(spec.parameters.keys())
+                    # TubeRack 特殊处理：先转换 ordering，再参与后续过滤
+                    if "ordering" not in valid_params and "ordering" in plr_d:
+                        ordering = plr_d.pop("ordering", None)
+                        if sub_cls.__name__ == "TubeRack":
+                            plr_d["ordered_items"] = (
+                                _ordering_to_ordered_items(plr_d, ordering)
+                                if ordering
+                                else {}
+                            )
+                    # 移除构造函数不接受的参数（保留 META 和 deserialize 自定义逻辑需要的 key）
+                    for key in list(plr_d.keys()):
+                        if (
+                            key not in _META_KEYS
+                            and key not in _DESERIALIZE_PRESERVED_KEYS
+                            and key not in valid_params
+                        ):
+                            plr_d.pop(key, None)
+            for child in plr_d.get("children", []):
+                remove_incompatible_params(child)
+
+        def _ordering_to_ordered_items(plr_d: dict, ordering: dict) -> dict:
+            """将 ordering 转为 ordered_items，从 children 构建 Tube 对象"""
+            from pylabrobot.resources import Tube, Coordinate
+            from pylabrobot.serializer import deserialize as plr_deserialize
+
+            children = plr_d.get("children", [])
+            ordered_items = {}
+            for idx, (ident, child_name) in enumerate(ordering.items()):
+                child_data = children[idx] if idx < len(children) else None
+                if child_data is None:
+                    continue
+                loc_data = child_data.get("location")
+                loc = (
+                    plr_deserialize(loc_data)
+                    if loc_data
+                    else Coordinate(0, 0, 0)
+                )
+                tube = Tube(
+                    name=child_data.get("name", child_name or ident),
+                    size_x=child_data.get("size_x", 10),
+                    size_y=child_data.get("size_y", 10),
+                    size_z=child_data.get("size_z", 50),
+                    max_volume=child_data.get("max_volume", 1000),
+                )
+                tube.location = loc
+                ordered_items[ident] = tube
+            plr_d["children"] = []  # 已并入 ordered_items，避免重复反序列化
+            return ordered_items
+
         plr_resources = []
         tracker = DeviceNodeResourceTracker()
 
@@ -631,9 +736,7 @@ class ResourceTreeSet(object):
                     raise ValueError(
                         f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类。原始信息：{tree.root_node.res_content}"
                     )
-                spec = inspect.signature(sub_cls)
-                if "category" not in spec.parameters:
-                    plr_dict.pop("category", None)
+                remove_incompatible_params(plr_dict)
                 plr_resource = sub_cls.deserialize(plr_dict, allow_marshal=True)
                 from pylabrobot.resources import Coordinate
                 from pylabrobot.serializer import deserialize
@@ -653,6 +756,18 @@ class ResourceTreeSet(object):
                 logger.error(f"堆栈: {traceback.format_exc()}")
                 raise
 
+        if requested_uuids:
+            # 按请求的 UUID 顺序返回对应资源（从整棵树中按 uuid 提取）
+            result = []
+            for uid in requested_uuids:
+                if uid in tracker.uuid_to_resources:
+                    result.append(tracker.uuid_to_resources[uid])
+                else:
+                    raise ValueError(
+                        f"请求的 UUID {uid} 在资源树中未找到。"
+                        f"可用 UUID 数量: {len(tracker.uuid_to_resources)}"
+                    )
+            return result
         return plr_resources
 
     @classmethod
@@ -741,16 +856,6 @@ class ResourceTreeSet(object):
         """
         return [tree.root_node for tree in self.trees]
 
-    @property
-    def root_nodes_uuid(self) -> List[ResourceDictInstance]:
-        """
-        获取所有树的根节点
-
-        Returns:
-            所有根节点的资源实例列表
-        """
-        return [tree.root_node.res_content.uuid for tree in self.trees]
-
     @property
     def all_nodes(self) -> List[ResourceDictInstance]:
         """
@@ -868,6 +973,17 @@ class ResourceTreeSet(object):
                                 f"从远端同步了 {added_count} 个物料子树"
                             )
                     else:
+                        # 二级是物料
+                        if remote_child_name not in local_children_map:
+                            # 本地不存在该物料，直接引入
+                            remote_child.res_content.parent = local_device.res_content
+                            local_device.children.append(remote_child)
+                            local_children_map[remote_child_name] = remote_child
+                            logger.info(
+                                f"物料 '{remote_root_id}/{remote_child_name}': "
+                                f"从远端同步了整个子树"
+                            )
+                            continue
                         # 二级物料已存在，比较三级子节点是否缺失
                         local_material = local_children_map[remote_child_name]
                         local_material_children_map = {child.res_content.name: child for child in

unilabos/resources/warehouse.py

@@ -27,7 +27,6 @@ def warehouse_factory(
     category: str = "warehouse",
     model: Optional[str] = None,
     col_offset: int = 0,  # 列起始偏移量，用于生成A05-D08等命名
-    row_offset: int = 0,  # 行起始偏移量，用于生成F01-J03等命名
     layout: str = "col-major",  # 新增：排序方式，"col-major"=列优先，"row-major"=行优先
 ):
     # 创建位置坐标
@@ -43,10 +42,6 @@ def warehouse_factory(
                 if layout == "row-major":
                     # 行优先：row=0(A行) 应该显示在上方，需要较小的 y 值
                     y = dy + row * item_dy
-                elif layout == "vertical-col-major":
-                    # 竖向warehouse: row=0 对应顶部（y小），row=n-1 对应底部（y大）
-                    # 但标签 01 应该在底部，所以使用反向映射
-                    y = dy + (num_items_y - row - 1) * item_dy
                 else:
                     # 列优先：保持原逻辑（row=0 对应较大的 y）
                     y = dy + (num_items_y - row - 1) * item_dy
@@ -70,10 +65,10 @@ def warehouse_factory(
     if layout == "row-major":
         # 行优先顺序: A01,A02,A03,A04, B01,B02,B03,B04
         # locations[0] 对应 row=0, y最大（前端顶部）→ 应该是 A01
-        keys = [f"{LETTERS[j + row_offset]}{i + 1 + col_offset:02d}" for j in range(len_y) for i in range(len_x)]
+        keys = [f"{LETTERS[j]}{i + 1 + col_offset:02d}" for j in range(len_y) for i in range(len_x)]
     else:
         # 列优先顺序: A01,B01,C01,D01, A02,B02,C02,D02
-        keys = [f"{LETTERS[j + row_offset]}{i + 1 + col_offset:02d}" for i in range(len_x) for j in range(len_y)]
+        keys = [f"{LETTERS[j]}{i + 1 + col_offset:02d}" for i in range(len_x) for j in range(len_y)]
 
     sites = {i: site for i, site in zip(keys, _sites.values())}
 

unilabos/ros/main_slave_run.py

@@ -52,6 +52,7 @@ def main(
     bridges: List[Any] = [],
     visual: str = "disable",
     resources_mesh_config: dict = {},
+    resources_mesh_resource_list: list = [],
     rclpy_init_args: List[str] = ["--log-level", "debug"],
     discovery_interval: float = 15.0,
 ) -> None:
@@ -78,12 +79,12 @@ def main(
     if visual != "disable":
         from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
 
-        # 将 ResourceTreeSet 转换为 list 用于 visual 组件
-        resources_list = (
-            [node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes]
-            if resources_config
-            else []
-        )
+        # 优先使用从 main.py 传入的完整资源列表（包含所有子资源）
+        if resources_mesh_resource_list:
+            resources_list = resources_mesh_resource_list
+        else:
+            # fallback: 从 ResourceTreeSet 获取
+            resources_list = [node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes]
         resource_mesh_manager = ResourceMeshManager(
             resources_mesh_config,
             resources_list,
@@ -91,7 +92,7 @@ def main(
             device_id="resource_mesh_manager",
             device_uuid=str(uuid.uuid4()),
         )
-        joint_republisher = JointRepublisher("joint_republisher", host_node.resource_tracker)
+        joint_republisher = JointRepublisher("joint_republisher","joint_republisher", host_node.resource_tracker)
         # lh_joint_pub = LiquidHandlerJointPublisher(
         #     resources_config=resources_list, resource_tracker=host_node.resource_tracker
         # )
@@ -115,6 +116,7 @@ def slave(
     bridges: List[Any] = [],
     visual: str = "disable",
     resources_mesh_config: dict = {},
+    resources_mesh_resource_list: list = [],
     rclpy_init_args: List[str] = ["--log-level", "debug"],
 ) -> None:
     """从节点函数"""
@@ -209,12 +211,12 @@ def slave(
     if visual != "disable":
         from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
 
-        # 将 ResourceTreeSet 转换为 list 用于 visual 组件
-        resources_list = (
-            [node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes]
-            if resources_config
-            else []
-        )
+        # 优先使用从 main.py 传入的完整资源列表（包含所有子资源）
+        if resources_mesh_resource_list:
+            resources_list = resources_mesh_resource_list
+        else:
+            # fallback: 从 ResourceTreeSet 获取
+            resources_list = [node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes]
         resource_mesh_manager = ResourceMeshManager(
             resources_mesh_config,
             resources_list,

unilabos/ros/nodes/base_device_node.py

@@ -543,7 +543,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         }
                     )
                     tree_response: SerialCommand.Response = await client.call_async(request)
-                    uuid_maps = json.loads(tree_response.response)
+                    _raw_resp = tree_response.response if tree_response else ""
+                    if _raw_resp:
+                        uuid_maps = json.loads(_raw_resp)
+                    else:
+                        uuid_maps = {}
+                        self._lab_logger.warning("Resource tree add 返回空响应，跳过 UUID 映射")
                     self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
                     self._lab_logger.info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes")
                     # 这里created_resources不包含parent_resource
@@ -1729,10 +1734,25 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         try:
                             function_args[arg_name] = self._convert_resources_sync(resource_data["uuid"])[0]
                         except Exception as e:
-                            self.lab_logger().error(
-                                f"转换ResourceSlot参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
+                            # UUID 在资源树中不存在，尝试从传入的完整 dict 直接构建 PLR 资源
+                            self.lab_logger().warning(
+                                f"UUID查询 {arg_name} 失败，尝试从传入数据直接构建: {e}"
                             )
-                            raise JsonCommandInitError(f"ResourceSlot参数转换失败: {arg_name}")
+                            try:
+                                fallback_tree = ResourceTreeSet.from_raw_dict_list([resource_data])
+                                if len(fallback_tree.trees) == 0:
+                                    raise
+                                plr_list = fallback_tree.to_plr_resources()
+                                if not plr_list:
+                                    raise
+                                plr_res = plr_list[0]
+                                figured = self.resource_tracker.figure_resource(plr_res, try_mode=True)
+                                function_args[arg_name] = figured[0] if figured else plr_res
+                            except Exception:
+                                self.lab_logger().error(
+                                    f"转换ResourceSlot参数 {arg_name} 失败（含回退）: {e}\n{traceback.format_exc()}"
+                                )
+                                raise JsonCommandInitError(f"ResourceSlot参数转换失败: {arg_name}")
 
                 # 处理 ResourceSlot 列表
                 elif isinstance(arg_type, tuple) and len(arg_type) == 2:
@@ -1744,10 +1764,25 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                 uuids = [r["uuid"] for r in resource_list if isinstance(r, dict) and "id" in r]
                                 function_args[arg_name] = self._convert_resources_sync(*uuids) if uuids else []
                             except Exception as e:
-                                self.lab_logger().error(
-                                    f"转换ResourceSlot列表参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
+                                self.lab_logger().warning(
+                                    f"UUID查询列表 {arg_name} 失败，尝试从传入数据直接构建: {e}"
                                 )
-                                raise JsonCommandInitError(f"ResourceSlot列表参数转换失败: {arg_name}")
+                                try:
+                                    dict_items = [r for r in resource_list if isinstance(r, dict) and "id" in r]
+                                    fallback_tree = ResourceTreeSet.from_raw_dict_list(dict_items)
+                                    if len(fallback_tree.trees) == 0:
+                                        raise
+                                    plr_list = fallback_tree.to_plr_resources()
+                                    resolved = []
+                                    for plr_res in plr_list:
+                                        figured = self.resource_tracker.figure_resource(plr_res, try_mode=True)
+                                        resolved.append(figured[0] if figured else plr_res)
+                                    function_args[arg_name] = resolved
+                                except Exception:
+                                    self.lab_logger().error(
+                                        f"转换ResourceSlot列表参数 {arg_name} 失败（含回退）: {e}\n{traceback.format_exc()}"
+                                    )
+                                    raise JsonCommandInitError(f"ResourceSlot列表参数转换失败: {arg_name}")
 
             # todo: 默认反报送
             return function(**function_args)

unilabos/ros/nodes/presets/host_node.py

@@ -22,6 +22,7 @@ from unilabos_msgs.srv import (
     SerialCommand,
 )  # type: ignore
 from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
+from unilabos_msgs.action import SendCmd
 from unique_identifier_msgs.msg import UUID
 
 from unilabos.registry.decorators import device, action, NodeType
@@ -313,9 +314,15 @@ class HostNode(BaseROS2DeviceNode):
                 callback_group=self.callback_group,
             ),
         }  # 用来存储多个ActionClient实例
+        self._add_resource_mesh_client = ActionClient(
+            self,
+            SendCmd,
+            "/devices/resource_mesh_manager/add_resource_mesh",
+            callback_group=self.callback_group,
+        )
         self._action_value_mappings: Dict[str, Dict] = {
             device_id: self._action_value_mappings
-        }  # device_id -> action_value_mappings(本地+远程设备统一存储)
+          }  # device_id -> action_value_mappings(本地+远程设备统一存储)
         self._slave_registry_configs: Dict[str, Dict] = {}  # registry_name -> registry_config(含action_value_mappings)
         self._goals: Dict[str, Any] = {}  # 用来存储多个目标的状态
         self._online_devices: Set[str] = {f"{self.namespace}/{device_id}"}  # 用于跟踪在线设备
@@ -1131,6 +1138,27 @@ class HostNode(BaseROS2DeviceNode):
             ),
         }
 
+    def _notify_resource_mesh_add(self, resource_tree_set: ResourceTreeSet):
+        """通知 ResourceMeshManager 添加资源的 mesh 可视化"""
+        if not self._add_resource_mesh_client.server_is_ready():
+            self.lab_logger().debug("[Host Node] ResourceMeshManager 未就绪，跳过 mesh 添加通知")
+            return
+
+        resource_configs = []
+        for node in resource_tree_set.all_nodes:
+            res_dict = node.res_content.model_dump(by_alias=True)
+            if res_dict.get("type") == "device":
+                continue
+            resource_configs.append(res_dict)
+
+        if not resource_configs:
+            return
+
+        goal_msg = SendCmd.Goal()
+        goal_msg.command = json.dumps({"resources": resource_configs})
+        self._add_resource_mesh_client.send_goal_async(goal_msg)
+        self.lab_logger().info(f"[Host Node] 已发送 {len(resource_configs)} 个资源 mesh 添加请求")
+
     async def _resource_tree_action_add_callback(self, data: dict, response: SerialCommand_Response):  # OK
         resource_tree_set = ResourceTreeSet.load(data["data"])
         mount_uuid = data["mount_uuid"]
@@ -1171,6 +1199,12 @@ class HostNode(BaseROS2DeviceNode):
         response.response = json.dumps(uuid_mapping) if success else "FAILED"
         self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")
 
+        if success:
+            try:
+                self._notify_resource_mesh_add(resource_tree_set)
+            except Exception as e:
+                self.lab_logger().error(f"[Host Node] 通知 ResourceMeshManager 添加 mesh 失败: {e}")
+
     async def _resource_tree_action_get_callback(self, data: dict, response: SerialCommand_Response):  # OK
         uuid_list: List[str] = data["data"]
         with_children: bool = data["with_children"]
@@ -1222,6 +1256,12 @@ class HostNode(BaseROS2DeviceNode):
             response.response = json.dumps(uuid_mapping)
             self.lab_logger().info(f"[Host Node-Resource] Resource tree update completed, success: {success}")
 
+            if success:
+                try:
+                    self._notify_resource_mesh_add(new_tree_set)
+                except Exception as e:
+                    self.lab_logger().error(f"[Host Node] 通知 ResourceMeshManager 更新 mesh 失败: {e}")
+
     async def _resource_tree_update_callback(self, request: SerialCommand_Request, response: SerialCommand_Response):
         """
         子节点通知Host物料树更新
@@ -1632,7 +1672,6 @@ class HostNode(BaseROS2DeviceNode):
     def manual_confirm(self, timeout_seconds: int, assignee_user_ids: list[str], **kwargs) -> dict:
         """
         timeout_seconds: 超时时间（秒），默认3600秒
-        修改的结果无效，是只读的
         """
         return kwargs
 

unilabos/ros/nodes/presets/resource_mesh_manager.py

@@ -23,17 +23,32 @@ from unilabos_msgs.action import SendCmd
 from rclpy.action.server import ServerGoalHandle
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode,DeviceNodeResourceTracker
 from unilabos.resources.graphio import initialize_resources
+from unilabos.resources.resource_tracker import EXTRA_CLASS
 from unilabos.registry.registry import lab_registry
 
 class ResourceMeshManager(BaseROS2DeviceNode):
-    def __init__(self, resource_model: dict, resource_config: list,resource_tracker, device_id: str = "resource_mesh_manager", registry_name: str = "", rate=50, **kwargs):
+    def __init__(
+        self,
+        resource_model: Optional[dict] = None,
+        resource_config: Optional[list] = None,
+        resource_tracker=None,
+        device_id: str = "resource_mesh_manager",
+        registry_name: str = "",
+        rate=50,
+        **kwargs,
+    ):
         """初始化资源网格管理器节点
-        
+
         Args:
-            resource_model (dict): 资源模型字典,包含资源的3D模型信息
-            resource_config (dict): 资源配置字典,包含资源的配置信息
-            device_id (str): 节点名称
+            resource_model: 资源模型字典（可选，为 None 时自动从 registry 构建）
+            resource_config: 资源配置列表（可选，为 None 时启动后通过 ActionServer 或 load_from_resource_tree 加载）
+            resource_tracker: 资源追踪器
+            device_id: 节点名称
+            rate: TF 发布频率
         """
+        if resource_tracker is None:
+            resource_tracker = DeviceNodeResourceTracker()
+
         super().__init__(
             driver_instance=self,
             device_id=device_id,
@@ -42,12 +57,14 @@ class ResourceMeshManager(BaseROS2DeviceNode):
             action_value_mappings={},
             hardware_interface={},
             print_publish=False,
-            resource_tracker=resource_tracker, 
+            resource_tracker=resource_tracker,
             device_uuid=kwargs.get("uuid", str(uuid.uuid4())),
-        ) 
+        )
 
-        self.resource_model         = resource_model
-        self.resource_config_dict   = {item['uuid']: item for item in resource_config}
+        self.resource_model         = resource_model if resource_model is not None else {}
+        self.resource_config_dict   = (
+            {item['uuid']: item for item in resource_config} if resource_config else {}
+        )
         self.move_group_ready       = False
         self.resource_tf_dict       = {}
         self.tf_broadcaster         = TransformBroadcaster(self)
@@ -63,7 +80,7 @@ class ResourceMeshManager(BaseROS2DeviceNode):
         self.mesh_path = Path(__file__).parent.parent.parent.parent.absolute()
         self.msg_type = 'resource_status'
         self.resource_status_dict = {}
-        
+
         callback_group = ReentrantCallbackGroup()
         self._get_planning_scene_service = self.create_client(
             srv_type=GetPlanningScene,
@@ -76,8 +93,7 @@ class ResourceMeshManager(BaseROS2DeviceNode):
             ),
             callback_group=callback_group,
         )
-        
-        # Create a service for applying the planning scene
+
         self._apply_planning_scene_service = self.create_client(
             srv_type=ApplyPlanningScene,
             srv_name="/apply_planning_scene",
@@ -103,27 +119,36 @@ class ResourceMeshManager(BaseROS2DeviceNode):
             AttachedCollisionObject, "/attached_collision_object", 0
         )
 
-        # 创建一个Action Server用于修改resource_tf_dict
         self._action_server = ActionServer(
             self,
             SendCmd,
             f"tf_update",
             self.tf_update,
-            callback_group=callback_group
+            callback_group=callback_group,
         )
 
-        # 创建一个Action Server用于添加新的资源模型与resource_tf_dict
         self._add_resource_mesh_action_server = ActionServer(
             self,
             SendCmd,
             f"add_resource_mesh",
             self.add_resource_mesh_callback,
-            callback_group=callback_group
+            callback_group=callback_group,
         )
 
-        self.resource_tf_dict = self.resource_mesh_setup(self.resource_config_dict)
-        self.create_timer(1/self.rate, self.publish_resource_tf)
-        self.create_timer(1/self.rate, self.check_resource_pose_changes)
+        self._reload_resource_mesh_action_server = ActionServer(
+            self,
+            SendCmd,
+            f"reload_resource_mesh",
+            self._reload_resource_mesh_callback,
+            callback_group=callback_group,
+        )
+
+        if self.resource_config_dict:
+            self.resource_tf_dict = self.resource_mesh_setup(self.resource_config_dict)
+        else:
+            self.get_logger().info("未提供 resource_config，将通过 ActionServer 或 load_from_resource_tree 加载")
+        self.create_timer(1 / self.rate, self.publish_resource_tf)
+        self.create_timer(1 / self.rate, self.check_resource_pose_changes)
 
     def check_move_group_ready(self):
         """检查move_group节点是否已初始化完成"""
@@ -140,56 +165,156 @@ class ResourceMeshManager(BaseROS2DeviceNode):
             self.add_resource_collision_meshes(self.resource_tf_dict)
 
        
-    def add_resource_mesh_callback(self, goal_handle : ServerGoalHandle):
+    def _build_resource_model_for_config(self, resource_config_dict: dict):
+        """从 registry 中为给定的资源配置自动构建 resource_model（mesh 信息）"""
+        registry = lab_registry
+        for _uuid, res_cfg in resource_config_dict.items():
+            resource_id = res_cfg.get('id', '')
+            resource_class = res_cfg.get('class', '')
+            if not resource_class:
+                continue
+            if resource_class not in registry.resource_type_registry:
+                continue
+            reg_entry = registry.resource_type_registry[resource_class]
+            if 'model' not in reg_entry:
+                continue
+            model_config = reg_entry['model']
+            if model_config.get('type') != 'resource':
+                continue
+            if resource_id in self.resource_model:
+                continue
+            self.resource_model[resource_id] = {
+                'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['mesh']}",
+                'mesh_tf': model_config['mesh_tf'],
+            }
+            if model_config.get('children_mesh') is not None:
+                self.resource_model[f"{resource_id}_"] = {
+                    'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['children_mesh']}",
+                    'mesh_tf': model_config['children_mesh_tf'],
+                }
+
+    def load_from_resource_tree(self):
+        """从 resource_tracker 中读取资源树，自动构建 resource_config_dict / resource_model 并刷新 TF"""
+        new_config_dict: dict = {}
+
+        def _collect_plr_resource(res, parent_uuid: Optional[str] = None):
+            res_uuid = getattr(res, 'unilabos_uuid', None)
+            if not res_uuid:
+                res_uuid = str(uuid.uuid4())
+            extra = getattr(res, 'unilabos_extra', {}) or {}
+            resource_class = extra.get(EXTRA_CLASS, '')
+
+            location = getattr(res, 'location', None)
+            pos_x = float(location.x) if location else 0.0
+            pos_y = float(location.y) if location else 0.0
+            pos_z = float(location.z) if location else 0.0
+
+            rotation = extra.get('rotation', {'x': 0, 'y': 0, 'z': 0})
+
+            new_config_dict[res_uuid] = {
+                'id': res.name,
+                'uuid': res_uuid,
+                'class': resource_class,
+                'parent_uuid': parent_uuid,
+                'pose': {
+                    'position': {'x': pos_x, 'y': pos_y, 'z': pos_z},
+                    'rotation': rotation,
+                },
+            }
+
+            for child in getattr(res, 'children', []) or []:
+                _collect_plr_resource(child, res_uuid)
+
+        for resource in self.resource_tracker.resources:
+            root_parent_uuid = None
+            plr_parent = getattr(resource, 'parent', None)
+            if plr_parent is not None:
+                root_parent_uuid = getattr(plr_parent, 'unilabos_uuid', None)
+            _collect_plr_resource(resource, root_parent_uuid)
+
+        if not new_config_dict:
+            self.get_logger().warning("resource_tracker 中没有找到任何资源")
+            return
+
+        self.resource_config_dict = {**self.resource_config_dict, **new_config_dict}
+        self._build_resource_model_for_config(new_config_dict)
+
+        tf_dict = self.resource_mesh_setup(new_config_dict)
+        self.resource_tf_dict = {**self.resource_tf_dict, **tf_dict}
+        self.publish_resource_tf()
+        if self.move_group_ready:
+            self.add_resource_collision_meshes(tf_dict)
+        self.get_logger().info(f"从资源树加载了 {len(new_config_dict)} 个资源")
+
+    def _reload_resource_mesh_callback(self, goal_handle: ServerGoalHandle):
+        """ActionServer 回调：重新从资源树加载所有 mesh"""
+        try:
+            self.load_from_resource_tree()
+        except Exception as e:
+            self.get_logger().error(f"重新加载资源失败: {e}")
+            goal_handle.abort()
+            return SendCmd.Result(success=False)
+        goal_handle.succeed()
+        return SendCmd.Result(success=True)
+
+    def add_resource_mesh_callback(self, goal_handle: ServerGoalHandle):
         tf_update_msg = goal_handle.request
-        try:    
-            self.add_resource_mesh(tf_update_msg.command)
+        try:
+            parsed = json.loads(tf_update_msg.command.replace("'", '"'))
+            if 'resources' in parsed:
+                for res_config in parsed['resources']:
+                    self.add_resource_mesh(json.dumps(res_config))
+            else:
+                self.add_resource_mesh(tf_update_msg.command)
         except Exception as e:
             self.get_logger().error(f"添加资源失败: {e}")
             goal_handle.abort()
             return SendCmd.Result(success=False)
         goal_handle.succeed()
         return SendCmd.Result(success=True)
-    
-    def add_resource_mesh(self,resource_config_str:str):
-        """刷新资源配置"""
 
+    def add_resource_mesh(self, resource_config_str: str):
+        """添加单个资源的 mesh 配置"""
         registry = lab_registry
-        resource_config = json.loads(resource_config_str.replace("'",'"'))
-        
+        resource_config = json.loads(resource_config_str.replace("'", '"'))
+
         if resource_config['id'] in self.resource_config_dict:
             self.get_logger().info(f'资源 {resource_config["id"]} 已存在')
             return
-        if resource_config['class'] in registry.resource_type_registry.keys():
-            model_config = registry.resource_type_registry[resource_config['class']]['model']
-            if model_config['type'] == 'resource':
-                self.resource_model[resource_config['id']] = {
-                    'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['mesh']}",
-                    'mesh_tf': model_config['mesh_tf']}
-                if 'children_mesh' in model_config.keys():
-                    self.resource_model[f"{resource_config['id']}_"] = {
-                        'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['children_mesh']}",
-                        'mesh_tf': model_config['children_mesh_tf']
+        resource_class = resource_config.get('class', '')
+        if resource_class and resource_class in registry.resource_type_registry:
+            reg_entry = registry.resource_type_registry[resource_class]
+            if 'model' in reg_entry:
+                model_config = reg_entry['model']
+                if model_config.get('type') == 'resource':
+                    self.resource_model[resource_config['id']] = {
+                        'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['mesh']}",
+                        'mesh_tf': model_config['mesh_tf'],
                     }
+                    if model_config.get('children_mesh') is not None:
+                        self.resource_model[f"{resource_config['id']}_"] = {
+                            'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['children_mesh']}",
+                            'mesh_tf': model_config['children_mesh_tf'],
+                        }
         resources = initialize_resources([resource_config])
         resource_dict = {item['id']: item for item in resources}
-        self.resource_config_dict = {**self.resource_config_dict,**resource_dict}
+        self.resource_config_dict = {**self.resource_config_dict, **resource_dict}
         tf_dict = self.resource_mesh_setup(resource_dict)
-        self.resource_tf_dict = {**self.resource_tf_dict,**tf_dict}
+        self.resource_tf_dict = {**self.resource_tf_dict, **tf_dict}
         self.publish_resource_tf()
         self.add_resource_collision_meshes(tf_dict)
 
-
-    def resource_mesh_setup(self, resource_config_dict:dict):
-        """move_group初始化完成后的设置"""
+    def resource_mesh_setup(self, resource_config_dict: dict):
+        """根据资源配置字典设置 TF 关系"""
         self.get_logger().info('开始设置资源网格管理器')
-        #遍历resource_config中的资源配置，判断panent是否在resource_model中，
         resource_tf_dict = {}
         for resource_uuid, resource_config in resource_config_dict.items():
             parent = None
             resource_id = resource_config['id']
-            if resource_config['parent_uuid'] is not None and resource_config['parent_uuid'] != "":
-                parent = resource_config_dict[resource_config['parent_uuid']]['id']
+            parent_uuid = resource_config.get('parent_uuid')
+            if parent_uuid is not None and parent_uuid != "":
+                parent_entry = resource_config_dict.get(parent_uuid) or self.resource_config_dict.get(parent_uuid)
+                parent = parent_entry['id'] if parent_entry else None
 
             parent_link = 'world'
             if parent in self.resource_model:

unilabos/ros/x/rclpyx.py

@@ -0,0 +1,182 @@
+import asyncio
+from asyncio import events
+import threading
+
+import rclpy
+from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
+from rclpy.executors import await_or_execute, Executor
+from rclpy.action import ActionClient, ActionServer
+from rclpy.action.server import ServerGoalHandle, GoalResponse, GoalInfo, GoalStatus
+from std_msgs.msg import String
+from action_tutorials_interfaces.action import Fibonacci
+
+
+loop = None
+
+def get_event_loop():
+    global loop
+    return loop
+
+
+async def default_handle_accepted_callback_async(goal_handle):
+    """Execute the goal."""
+    await goal_handle.execute()
+
+
+class ServerGoalHandleX(ServerGoalHandle):
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, **kwargs)
+
+    async def execute(self, execute_callback=None):
+        # It's possible that there has been a request to cancel the goal prior to executing.
+        # In this case we want to avoid the illegal state transition to EXECUTING
+        # but still call the users execute callback to let them handle canceling the goal.
+        if not self.is_cancel_requested:
+            self._update_state(_rclpy.GoalEvent.EXECUTE)
+        await self._action_server.notify_execute_async(self, execute_callback)
+
+
+class ActionServerX(ActionServer):
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, **kwargs)
+        self.register_handle_accepted_callback(default_handle_accepted_callback_async)
+
+    async def _execute_goal_request(self, request_header_and_message):
+        request_header, goal_request = request_header_and_message
+        goal_uuid = goal_request.goal_id
+        goal_info = GoalInfo()
+        goal_info.goal_id = goal_uuid
+
+        self._node.get_logger().debug('New goal request with ID: {0}'.format(goal_uuid.uuid))
+
+        # Check if goal ID is already being tracked by this action server
+        with self._lock:
+            goal_id_exists = self._handle.goal_exists(goal_info)
+
+        accepted = False
+        if not goal_id_exists:
+            # Call user goal callback
+            response = await await_or_execute(self._goal_callback, goal_request.goal)
+            if not isinstance(response, GoalResponse):
+                self._node.get_logger().warning(
+                    'Goal request callback did not return a GoalResponse type. Rejecting goal.')
+            else:
+                accepted = GoalResponse.ACCEPT == response
+
+        if accepted:
+            # Stamp time of acceptance
+            goal_info.stamp = self._node.get_clock().now().to_msg()
+
+            # Create a goal handle
+            try:
+                with self._lock:
+                    goal_handle = ServerGoalHandleX(self, goal_info, goal_request.goal)
+            except RuntimeError as e:
+                self._node.get_logger().error(
+                    'Failed to accept new goal with ID {0}: {1}'.format(goal_uuid.uuid, e))
+                accepted = False
+            else:
+                self._goal_handles[bytes(goal_uuid.uuid)] = goal_handle
+
+        # Send response
+        response_msg = self._action_type.Impl.SendGoalService.Response()
+        response_msg.accepted = accepted
+        response_msg.stamp = goal_info.stamp
+        self._handle.send_goal_response(request_header, response_msg)
+
+        if not accepted:
+            self._node.get_logger().debug('New goal rejected: {0}'.format(goal_uuid.uuid))
+            return
+
+        self._node.get_logger().debug('New goal accepted: {0}'.format(goal_uuid.uuid))
+
+        # Provide the user a reference to the goal handle
+        # await await_or_execute(self._handle_accepted_callback, goal_handle)
+        asyncio.create_task(self._handle_accepted_callback(goal_handle))
+
+    async def notify_execute_async(self, goal_handle, execute_callback):
+        # Use provided callback, defaulting to a previously registered callback
+        if execute_callback is None:
+            if self._execute_callback is None:
+                return
+            execute_callback = self._execute_callback
+
+        # Schedule user callback for execution
+        self._node.get_logger().info(f"{events.get_running_loop()}")
+        asyncio.create_task(self._execute_goal(execute_callback, goal_handle))
+        # loop = asyncio.new_event_loop()
+        # asyncio.set_event_loop(loop)
+        # task = loop.create_task(self._execute_goal(execute_callback, goal_handle))
+        # await task
+
+
+class ActionClientX(ActionClient):
+    feedback_queue = asyncio.Queue()
+
+    async def feedback_cb(self, msg):
+        await self.feedback_queue.put(msg)
+
+    async def send_goal_async(self, goal_msg):
+        goal_future = super().send_goal_async(
+            goal_msg,
+            feedback_callback=self.feedback_cb
+        )
+        client_goal_handle = await asyncio.ensure_future(goal_future)
+        if not client_goal_handle.accepted:
+            raise Exception("Goal rejected.")
+        result_future = client_goal_handle.get_result_async()
+        while True:
+            feedback_future = asyncio.ensure_future(self.feedback_queue.get())
+            tasks = [result_future, feedback_future]
+            await asyncio.wait(tasks, return_when=asyncio.FIRST_COMPLETED)
+            if result_future.done():
+                result = result_future.result().result
+                yield (None, result)
+                break
+            else:
+                feedback = feedback_future.result().feedback
+                yield (feedback, None)
+
+
+async def main(node):
+    print('Node started.')
+    action_client = ActionClientX(node, Fibonacci, 'fibonacci')
+    goal_msg = Fibonacci.Goal()
+    goal_msg.order = 10
+    async for (feedback, result) in action_client.send_goal_async(goal_msg):
+        if feedback:
+            print(f'Feedback: {feedback}')
+        else:
+            print(f'Result: {result}')
+    print('Finished.')
+
+
+async def ros_loop_node(node):
+    while rclpy.ok():
+        rclpy.spin_once(node, timeout_sec=0)
+        await asyncio.sleep(1e-4)
+
+
+async def ros_loop(executor: Executor):
+    while rclpy.ok():
+        executor.spin_once(timeout_sec=0)
+        await asyncio.sleep(1e-4)
+
+
+def run_event_loop():
+    global loop
+    loop = asyncio.new_event_loop()
+    asyncio.set_event_loop(loop)
+    loop.run_forever()
+    
+
+def run_event_loop_in_thread():
+    thread = threading.Thread(target=run_event_loop, args=())
+    thread.start()
+
+
+if __name__ == "__main__":
+    rclpy.init()
+    node = rclpy.create_node('async_subscriber')
+    future = asyncio.wait([ros_loop(node), main()])
+    asyncio.get_event_loop().run_until_complete(future)

unilabos/test/experiments/dispensing_station_bioyond.json

@@ -9,125 +9,49 @@
             "parent": null,
             "type": "device",
             "class": "bioyond_dispensing_station",
-            "position": {
-                "x": 0,
-                "y": 0,
-                "z": 0
-            },
             "config": {
-                "api_key": "YOUR_API_KEY",
-                "api_host": "http://your-api-host:port",
-                "material_type_mappings": {
-                    "BIOYOND_PolymerStation_1FlaskCarrier": [
-                        "烧杯",
-                        "uuid-placeholder-flask"
-                    ],
-                    "BIOYOND_PolymerStation_1BottleCarrier": [
-                        "试剂瓶",
-                        "uuid-placeholder-bottle"
-                    ],
-                    "BIOYOND_PolymerStation_6StockCarrier": [
-                        "分装板",
-                        "uuid-placeholder-stock-6"
-                    ],
-                    "BIOYOND_PolymerStation_Liquid_Vial": [
-                        "10%分装小瓶",
-                        "uuid-placeholder-liquid-vial"
-                    ],
-                    "BIOYOND_PolymerStation_Solid_Vial": [
-                        "90%分装小瓶",
-                        "uuid-placeholder-solid-vial"
-                    ],
-                    "BIOYOND_PolymerStation_8StockCarrier": [
-                        "样品板",
-                        "uuid-placeholder-stock-8"
-                    ],
-                    "BIOYOND_PolymerStation_Solid_Stock": [
-                        "样品瓶",
-                        "uuid-placeholder-solid-stock"
-                    ]
-                },
-                "warehouse_mapping": {
-                    "粉末堆栈": {
-                        "uuid": "uuid-placeholder-powder-stack",
-                        "site_uuids": {
-                            "A01": "uuid-placeholder-powder-A01",
-                            "A02": "uuid-placeholder-powder-A02",
-                            "A03": "uuid-placeholder-powder-A03",
-                            "A04": "uuid-placeholder-powder-A04",
-                            "B01": "uuid-placeholder-powder-B01",
-                            "B02": "uuid-placeholder-powder-B02",
-                            "B03": "uuid-placeholder-powder-B03",
-                            "B04": "uuid-placeholder-powder-B04",
-                            "C01": "uuid-placeholder-powder-C01",
-                            "C02": "uuid-placeholder-powder-C02",
-                            "C03": "uuid-placeholder-powder-C03",
-                            "C04": "uuid-placeholder-powder-C04",
-                            "D01": "uuid-placeholder-powder-D01",
-                            "D02": "uuid-placeholder-powder-D02",
-                            "D03": "uuid-placeholder-powder-D03",
-                            "D04": "uuid-placeholder-powder-D04"
-                        }
-                    },
-                    "溶液堆栈": {
-                        "uuid": "uuid-placeholder-liquid-stack",
-                        "site_uuids": {
-                            "A01": "uuid-placeholder-liquid-A01",
-                            "A02": "uuid-placeholder-liquid-A02",
-                            "A03": "uuid-placeholder-liquid-A03",
-                            "A04": "uuid-placeholder-liquid-A04",
-                            "B01": "uuid-placeholder-liquid-B01",
-                            "B02": "uuid-placeholder-liquid-B02",
-                            "B03": "uuid-placeholder-liquid-B03",
-                            "B04": "uuid-placeholder-liquid-B04",
-                            "C01": "uuid-placeholder-liquid-C01",
-                            "C02": "uuid-placeholder-liquid-C02",
-                            "C03": "uuid-placeholder-liquid-C03",
-                            "C04": "uuid-placeholder-liquid-C04",
-                            "D01": "uuid-placeholder-liquid-D01",
-                            "D02": "uuid-placeholder-liquid-D02",
-                            "D03": "uuid-placeholder-liquid-D03",
-                            "D04": "uuid-placeholder-liquid-D04"
-                        }
-                    },
-                    "试剂堆栈": {
-                        "uuid": "uuid-placeholder-reagent-stack",
-                        "site_uuids": {
-                            "A01": "uuid-placeholder-reagent-A01",
-                            "A02": "uuid-placeholder-reagent-A02",
-                            "A03": "uuid-placeholder-reagent-A03",
-                            "A04": "uuid-placeholder-reagent-A04",
-                            "B01": "uuid-placeholder-reagent-B01",
-                            "B02": "uuid-placeholder-reagent-B02",
-                            "B03": "uuid-placeholder-reagent-B03",
-                            "B04": "uuid-placeholder-reagent-B04"
-                        }
+                "config": {
+                    "api_key": "DE9BDDA0",
+                    "api_host": "http://192.168.1.200:44388",
+                    "material_type_mappings": {
+                        "BIOYOND_PolymerStation_1FlaskCarrier": [
+                            "烧杯",
+                            "3a14196b-24f2-ca49-9081-0cab8021bf1a"
+                        ],
+                        "BIOYOND_PolymerStation_1BottleCarrier": [
+                            "试剂瓶",
+                            "3a14196b-8bcf-a460-4f74-23f21ca79e72"
+                        ],
+                        "BIOYOND_PolymerStation_6StockCarrier": [
+                            "分装板",
+                            "3a14196e-5dfe-6e21-0c79-fe2036d052c4"
+                        ],
+                        "BIOYOND_PolymerStation_Liquid_Vial": [
+                            "10%分装小瓶",
+                            "3a14196c-76be-2279-4e22-7310d69aed68"
+                        ],
+                        "BIOYOND_PolymerStation_Solid_Vial": [
+                            "90%分装小瓶",
+                            "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"
+                        ],
+                        "BIOYOND_PolymerStation_8StockCarrier": [
+                            "样品板",
+                            "3a14196e-b7a0-a5da-1931-35f3000281e9"
+                        ],
+                        "BIOYOND_PolymerStation_Solid_Stock": [
+                            "样品瓶",
+                            "3a14196a-cf7d-8aea-48d8-b9662c7dba94"
+                        ]
                     }
                 },
-                "http_service_config": {
-                    "http_service_host": "127.0.0.1",
-                    "http_service_port": 8080
-                },
-                "material_default_parameters": {
-                    "NMP": {
-                        "unit": "毫升",
-                        "density": "1.03",
-                        "densityUnit": "g/mL",
-                        "description": "N-甲基吡咯烷酮 (N-Methyl-2-pyrrolidone)"
+                "deck": {
+                    "data": {
+                        "_resource_child_name": "Bioyond_Dispensing_Deck",
+                        "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerPreparationStation_Deck"
                     }
                 },
-                "material_type_parameters": {}
+                "protocol_type": []
             },
-            "deck": {
-                "data": {
-                    "_resource_child_name": "Bioyond_Dispensing_Deck",
-                    "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerPreparationStation_Deck"
-                }
-            },
-            "size_x": 2700.0,
-            "size_y": 1080.0,
-            "size_z": 1500.0,
-            "protocol_type": [],
             "data": {}
         },
         {
@@ -156,4 +80,4 @@
             "data": {}
         }
     ]
-}
+}

unilabos/test/experiments/prcxi_9300_slim.json

@@ -0,0 +1,233 @@
+{
+    "nodes": [
+        {
+            "id": "PRCXI",
+            "name": "PRCXI",
+            "type": "device",
+            "class": "liquid_handler.prcxi",
+            "parent": "",
+            "pose": {
+                "size": {
+                    "width": 424,
+                    "height": 202,
+                    "depth": 0
+                }
+            },
+            "config": {
+                "axis": "Left",
+                "deck": {
+                    "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
+                    "_resource_child_name": "PRCXI_Deck"
+                },
+                "host": "10.20.31.167",
+                "port": 9999,
+                "debug": false,
+                "setup": true,
+                "matrix_id": "1ecb1b45-6aef-456b-bd68-8f538c4e5826",
+                "timeout": 10,
+                "simulator": false,
+                "channel_num": 8
+            },
+            "data": {
+                "reset_ok": true
+            },
+            "schema": {},
+            "description": "",
+            "model": null,
+            "position": {
+                "x": 0,
+                "y": 240,
+                "z": 0
+            }
+        },
+        {
+            "id": "PRCXI_Deck",
+            "name": "PRCXI_Deck",
+            "children": [],
+            "parent": "PRCXI",
+            "type": "deck",
+            "class": "",
+            "position": {
+                "x": 10,
+                "y": 10,
+                "z": 0
+            },
+            "config": {
+                "type": "PRCXI9300Deck",
+                "size_x": 404,
+                "size_y": 182,
+                "size_z": 0,
+                "model": "9300",
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": "deck",
+                "barcode": null,
+                "preferred_pickup_location": null,
+                "sites": [
+                    {
+                        "label": "T1",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 0,
+                            "y": 96,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor",
+                            "plateadapter",
+                            "module",
+                            "trash"
+                        ]
+                    },
+                    {
+                        "label": "T2",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 138,
+                            "y": 96,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor",
+                            "plateadapter",
+                            "module",
+                            "trash"
+                        ]
+                    },
+                    {
+                        "label": "T3",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 276,
+                            "y": 96,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor",
+                            "plateadapter",
+                            "module",
+                            "trash"
+                        ]
+                    },
+                    {
+                        "label": "T4",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 0,
+                            "y": 0,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor",
+                            "plateadapter",
+                            "module",
+                            "trash"
+                        ]
+                    },
+                    {
+                        "label": "T5",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 138,
+                            "y": 0,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor",
+                            "plateadapter",
+                            "module",
+                            "trash"
+                        ]
+                    },
+                    {
+                        "label": "T6",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 276,
+                            "y": 0,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor",
+                            "plateadapter",
+                            "module",
+                            "trash"
+                        ]
+                    }
+                ]
+            },
+            "data": {}
+        }
+    ],
+    "edges": []
+}

unilabos/test/experiments/prcxi_9320_no_res.json

@@ -0,0 +1,837 @@
+{
+  "nodes": [
+    {
+      "id": "PRCXI",
+      "name": "PRCXI",
+      "type": "device",
+      "class": "liquid_handler.prcxi",
+      "parent": "",
+      "pose": {
+        "size": {
+          "width": 550,
+          "height": 400,
+          "depth": 0
+        }
+      },
+      "config": {
+        "axis": "Left",
+        "deck": {
+          "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
+          "_resource_child_name": "PRCXI_Deck"
+        },
+        "host": "10.20.30.184",
+        "port": 9999,
+        "debug": false,
+        "setup": true,
+        "is_9320": true,
+        "timeout": 10,
+        "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
+        "simulator": false,
+        "step_mode": false,
+        "channel_num": 2
+      },
+      "data": {
+        "reset_ok": true
+      },
+      "schema": {},
+      "description": "",
+      "model": null,
+      "position": {
+        "x": 0,
+        "y": 700,
+        "z": 0
+      }
+    },
+    {
+      "id": "PRCXI_Deck",
+      "name": "PRCXI_Deck",
+
+      "children": [],
+      "parent": "PRCXI",
+      "type": "deck",
+      "class": "",
+      "position": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Deck",
+        "size_x": 550,
+        "size_y": 400,
+        "size_z": 17,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "deck",
+        "barcode": null
+      },
+      "data": {}
+    },
+    {
+      "id": "T1",
+      "name": "T1",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 5,
+        "y": 301,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300PlateAdapterSite",
+        "size_x": 127.5,
+        "size_y": 86,
+        "size_z": 28,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        
+        "sites": [
+          {
+            "label": "T1",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T2",
+      "name": "T2",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 142.5,
+        "y": 301,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300PlateAdapterSite",
+        "size_x": 127.5,
+        "size_y": 86,
+        "size_z": 28,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        
+        "sites": [
+          {
+            "label": "T2",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T3",
+      "name": "T3",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 280,
+        "y": 301,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300PlateAdapterSite",
+        "size_x": 127.5,
+        "size_y": 86,
+        "size_z": 28,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        
+        "sites": [
+          {
+            "label": "T3",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T4",
+      "name": "T4",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 417.5,
+        "y": 301,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300PlateAdapterSite",
+        "size_x": 127.5,
+        "size_y": 86,
+        "size_z": 94,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        
+        "sites": [
+          {
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+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T5",
+      "name": "T5",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
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+        "y": 205,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300PlateAdapterSite",
+        "size_x": 127.5,
+        "size_y": 86,
+        "size_z": 28,
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+          "z": 0,
+          "type": "Rotation"
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+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        
+        "sites": [
+          {
+            "label": "T5",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T6",
+      "name": "T6",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
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+      "position": {
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+        "y": 205,
+        "z": 0
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+      "config": {
+        "type": "PRCXI9300PlateAdapterSite",
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+        "size_y": 86,
+        "size_z": 28,
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+          "type": "Rotation"
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+        "model": null,
+        "barcode": null,
+        
+        "sites": [
+          {
+            "label": "T6",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T7",
+      "name": "T7",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 280,
+        "y": 205,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300PlateAdapterSite",
+        "size_x": 127.5,
+        "size_y": 86,
+        "size_z": 28,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        
+        "sites": [
+          {
+            "label": "T7",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T8",
+      "name": "T8",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 417.5,
+        "y": 205,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300PlateAdapterSite",
+        "size_x": 127.5,
+        "size_y": 86,
+        "size_z": 28,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        
+        "sites": [
+          {
+            "label": "T8",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T9",
+      "name": "T9",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 5,
+        "y": 109,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300PlateAdapterSite",
+        "size_x": 127.5,
+        "size_y": 86,
+        "size_z": 28,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        
+        "sites": [
+          {
+            "label": "T9",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T10",
+      "name": "T10",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 142.5,
+        "y": 109,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300PlateAdapterSite",
+        "size_x": 127.5,
+        "size_y": 86,
+        "size_z": 28,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        
+        "sites": [
+          {
+            "label": "T10",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T11",
+      "name": "T11",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 280,
+        "y": 109,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300PlateAdapterSite",
+        "size_x": 127.5,
+        "size_y": 86,
+        "size_z": 28,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        
+        "sites": [
+          {
+            "label": "T11",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T12",
+      "name": "T12",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 417.5,
+        "y": 109,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300PlateAdapterSite",
+        "size_x": 127.5,
+        "size_y": 86,
+        "size_z": 28,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        
+        "sites": [
+          {
+            "label": "T12",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T13",
+      "name": "T13",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 5,
+        "y": 13,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300PlateAdapterSite",
+        "size_x": 127.5,
+        "size_y": 86,
+        "size_z": 28,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        
+        "sites": [
+          {
+            "label": "T13",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T14",
+      "name": "T14",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 142.5,
+        "y": 13,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300PlateAdapterSite",
+        "size_x": 127.5,
+        "size_y": 86,
+        "size_z": 28,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        
+        "sites": [
+          {
+            "label": "T14",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T15",
+      "name": "T15",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 280,
+        "y": 13,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300PlateAdapterSite",
+        "size_x": 127.5,
+        "size_y": 86,
+        "size_z": 28,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        
+        "sites": [
+          {
+            "label": "T15",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T16",
+      "name": "T16",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 417.5,
+        "y": 13,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300PlateAdapterSite",
+        "size_x": 127.5,
+        "size_y": 86,
+        "size_z": 28,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        
+        "sites": [
+          {
+            "label": "T16",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "trash",
+      "name": "trash",
+
+      "children": [],
+      "parent": "T16",
+      "type": "trash",
+      "class": "",
+      "position": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Trash",
+        "size_x": 127.5,
+        "size_y": 86,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "trash",
+        "model": null,
+        "barcode": null,
+        "max_volume": "Infinity",
+        "material_z_thickness": 0,
+        "compute_volume_from_height": null,
+        "compute_height_from_volume": null
+      },
+      "data": {
+        "liquids": [],
+        "pending_liquids": [],
+        "liquid_history": [],
+        "Material": {
+          "uuid": "730067cf07ae43849ddf4034299030e9"
+        }
+      }
+    }
+  ],
+  "edges": []
+}

unilabos/test/experiments/prcxi_9320_slim.json

@@ -8,8 +8,8 @@
             "parent": "",
             "pose": {
                 "size": {
-                    "width": 562,
-                    "height": 394,
+                    "width": 550,
+                    "height": 400,
                     "depth": 0
                 }
             },
@@ -21,13 +21,20 @@
                 },
                 "host": "10.20.30.184",
                 "port": 9999,
-                "debug": true,
-                "setup": true,
+                "debug": false,
+                "setup": false,
                 "is_9320": true,
                 "timeout": 10,
-                "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
-                "simulator": true,
-                "channel_num": 2
+                "matrix_id": "",
+                "simulator": false,
+                "channel_num": 2,
+                "step_mode": false,
+                "calibration_points": {
+                    "line_1": [[452.07,21.19], [313.88,21.19], [176.87,21.19], [39.08,21.19]],
+                    "line_2": [[451.37,116.68], [313.28,116.88], [176.58,116.69], [38.58,117.18]],
+                    "line_3": [[450.87,212.18], [312.98,212.38], [176.08,212.68], [38.08,213.18]],
+                    "line_4": [[450.08,307.68], [312.18,307.89], [175.18,308.18], [37.58,309.18]]
+                }
             },
             "data": {
                 "reset_ok": true
@@ -49,15 +56,15 @@
             "type": "deck",
             "class": "",
             "position": {
-                "x": 10,
-                "y": 10,
+                "x": 0,
+                "y": 0,
                 "z": 0
             },
             "config": {
                 "type": "PRCXI9300Deck",
-                "size_x": 542,
-                "size_y": 374,
-                "size_z": 0,
+                "size_x": 550,
+                "size_y": 400,
+                "size_z": 17,
                 "rotation": {
                     "x": 0,
                     "y": 0,
@@ -66,378 +73,7 @@
                 },
                 "category": "deck",
                 "barcode": null,
-                "preferred_pickup_location": null,
-                "sites": [
-                    {
-                        "label": "T1",
-                        "visible": true,
-                        "occupied_by": null,
-                        "position": {
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-                            "y": 0,
-                            "z": 0
-                        },
-                        "size": {
-                            "width": 128.0,
-                            "height": 86,
-                            "depth": 0
-                        },
-                        "content_type": [
-                            "container",
-                            "plate",
-                            "tip_rack",
-                            "plates",
-                            "tip_racks",
-                            "tube_rack",
-                            "adaptor"
-                        ]
-                    },
-                    {
-                        "label": "T2",
-                        "visible": true,
-                        "occupied_by": null,
-                        "position": {
-                            "x": 138,
-                            "y": 0,
-                            "z": 0
-                        },
-                        "size": {
-                            "width": 128.0,
-                            "height": 86,
-                            "depth": 0
-                        },
-                        "content_type": [
-                            "plate",
-                            "tip_rack",
-                            "plates",
-                            "tip_racks",
-                            "tube_rack",
-                            "adaptor"
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-                    },
-                    {
-                        "label": "T3",
-                        "visible": true,
-                        "occupied_by": null,
-                        "position": {
-                            "x": 276,
-                            "y": 0,
-                            "z": 0
-                        },
-                        "size": {
-                            "width": 128.0,
-                            "height": 86,
-                            "depth": 0
-                        },
-                        "content_type": [
-                            "plate",
-                            "tip_rack",
-                            "plates",
-                            "tip_racks",
-                            "tube_rack",
-                            "adaptor"
-                        ]
-                    },
-                    {
-                        "label": "T4",
-                        "visible": true,
-                        "occupied_by": null,
-                        "position": {
-                            "x": 414,
-                            "y": 0,
-                            "z": 0
-                        },
-                        "size": {
-                            "width": 128.0,
-                            "height": 86,
-                            "depth": 0
-                        },
-                        "content_type": [
-                            "plate",
-                            "tip_rack",
-                            "plates",
-                            "tip_racks",
-                            "tube_rack",
-                            "adaptor"
-                        ]
-                    },
-                    {
-                        "label": "T5",
-                        "visible": true,
-                        "occupied_by": null,
-                        "position": {
-                            "x": 0,
-                            "y": 96,
-                            "z": 0
-                        },
-                        "size": {
-                            "width": 128.0,
-                            "height": 86,
-                            "depth": 0
-                        },
-                        "content_type": [
-                            "plate",
-                            "tip_rack",
-                            "plates",
-                            "tip_racks",
-                            "tube_rack",
-                            "adaptor"
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-                    },
-                    {
-                        "label": "T6",
-                        "visible": true,
-                        "occupied_by": null,
-                        "position": {
-                            "x": 138,
-                            "y": 96,
-                            "z": 0
-                        },
-                        "size": {
-                            "width": 128.0,
-                            "height": 86,
-                            "depth": 0
-                        },
-                        "content_type": [
-                            "plate",
-                            "tip_rack",
-                            "plates",
-                            "tip_racks",
-                            "tube_rack",
-                            "adaptor"
-                        ]
-                    },
-                    {
-                        "label": "T7",
-                        "visible": true,
-                        "occupied_by": null,
-                        "position": {
-                            "x": 276,
-                            "y": 96,
-                            "z": 0
-                        },
-                        "size": {
-                            "width": 128.0,
-                            "height": 86,
-                            "depth": 0
-                        },
-                        "content_type": [
-                            "plate",
-                            "tip_rack",
-                            "plates",
-                            "tip_racks",
-                            "tube_rack",
-                            "adaptor"
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-                    },
-                    {
-                        "label": "T8",
-                        "visible": true,
-                        "occupied_by": null,
-                        "position": {
-                            "x": 414,
-                            "y": 96,
-                            "z": 0
-                        },
-                        "size": {
-                            "width": 128.0,
-                            "height": 86,
-                            "depth": 0
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-                        "content_type": [
-                            "plate",
-                            "tip_rack",
-                            "plates",
-                            "tip_racks",
-                            "tube_rack",
-                            "adaptor"
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-                    },
-                    {
-                        "label": "T9",
-                        "visible": true,
-                        "occupied_by": null,
-                        "position": {
-                            "x": 0,
-                            "y": 192,
-                            "z": 0
-                        },
-                        "size": {
-                            "width": 128.0,
-                            "height": 86,
-                            "depth": 0
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-                        "content_type": [
-                            "plate",
-                            "tip_rack",
-                            "plates",
-                            "tip_racks",
-                            "tube_rack",
-                            "adaptor"
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-                    },
-                    {
-                        "label": "T10",
-                        "visible": true,
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             "data": {}
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