ci(deps): bump actions/upload-pages-artifact from 4 to 5

Bumps [actions/upload-pages-artifact](https://github.com/actions/upload-pages-artifact) from 4 to 5.
- [Release notes](https://github.com/actions/upload-pages-artifact/releases)
- [Commits](https://github.com/actions/upload-pages-artifact/compare/v4...v5)

---
updated-dependencies:
- dependency-name: actions/upload-pages-artifact
  dependency-version: '5'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>

.github/workflows/deploy-docs.yml

@@ -105,7 +105,7 @@ jobs:
           test -f docs/_build/html/index.html && echo "✓ index.html exists" || echo "✗ index.html missing"
 
       - name: Upload build artifacts
-        uses: actions/upload-pages-artifact@v4
+        uses: actions/upload-pages-artifact@v5
         if: |
           github.event.workflow_run.head_branch == 'main' ||
           (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')

.gitignore

@@ -251,7 +251,4 @@ ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2
 *.bz2
 test_config.py
 
-# Local config files with secrets
-yibin_coin_cell_only_config.json
-yibin_electrolyte_config.json
-yibin_electrolyte_only_config.json
+

260415csv_export_walkthrough.md

@@ -1,72 +0,0 @@
-# CSV 导出功能变更概要
-
-## 修改的文件
-
-### 1. [bioyond_cell_workstation.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py)
-
-#### 新增导入
-- `import csv` 和 `import os`（L14-15）
-
-#### 新增方法
-
-| 方法 | 功能 |
-|------|------|
-| `_extract_prep_bottle_from_report` | 从 order_finish 报文提取**配液瓶**信息（每订单最多1个） |
-| `_extract_vial_bottles_from_report` | 从 order_finish 报文提取**分液瓶**信息（每订单可多个，返回数组） |
-| `_export_order_csv` | 汇总所有信息写入 CSV 文件 |
-
-#### 配液瓶筛选逻辑 (`_extract_prep_bottle_from_report`)
-- `typemode="1"`, `realQuantity=1`, `usedQuantity=1`
-- `locationId` 以 `3a19deae-2c7a-` 开头（手动传递窗）
-- LIMS API 二次确认：`typeName` 含"配液瓶(小)"或"配液瓶(大)"
-
-#### 分液瓶筛选逻辑 (`_extract_vial_bottles_from_report`)
-- `typemode="1"`, `realQuantity=1`, `usedQuantity=1`
-- `locationId` 以 `3a19debc-84b5-` 或 `3a19debe-5200` 开头（自动堆栈-左/右）
-- LIMS API 二次确认：`typeName` 为"5ml分液瓶"或"20ml分液瓶"
-- **返回数组**，支持 1×5ml + n×20ml 的组合
-
-#### 修改的方法
-
-| 方法 | 变更 |
-|------|------|
-| `_submit_and_wait_orders` | 新增配液瓶+分液瓶提取步骤，将 `prep_bottles` 和 `vial_bottles` 存入 `final_result` |
-| `create_orders` | 添加 `csv_export_path` 参数，末尾调用 `_export_order_csv` |
-| `create_orders_formulation` | 添加 `csv_export_path` 参数，末尾调用 `_export_order_csv` |
-
-#### CSV 输出格式
-```
-orderCode, orderName, 配液瓶类型, 配液瓶二维码, 分液瓶类型, 分液瓶二维码, 目标配液质量比, 真实配液质量比, 时间
-```
-- 单个分液瓶时直接写值；多个分液瓶时类型和二维码用 JSON 数组表示
-- CSV 编码使用 `utf-8-sig`（兼容 Excel 打开）
-- `csv_export_path` 默认为空字符串，不传则不导出（向后兼容）
-
----
-
-### 2. [bioyond_cell.yaml](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/registry/devices/bioyond_cell.yaml)
-
-为两个 action 注册了 `csv_export_path` 参数：
-
-- `auto-create_orders`: `goal_default` + `schema.properties.goal.properties` 中添加 `csv_export_path`
-- `auto-create_orders_formulation`: 同上
-
----
-
-### 3. [coin_cell_assembly.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py) 的 CSV 改动与全流程追溯
-
-在 `bioyond_cell_workstation.py` 的 `_submit_and_wait_orders` 最后阶段，提取 `prep_bottles`（配液瓶）和 `vial_bottles`（分液瓶）的条码并随 `mass_ratios` 数组一起下发给各下游工站（例如扣电组装站），实现跨站的全流程配方追溯。
-
-并在扣电站生成的 `date_xxx.csv` 中，**替换并新增**了以下列：
-- 移除了原有的 `formulation_order_code` 与合并的 `formulation_ratio` 列。
-- 新增 `orderName` 导出
-- 新增 `prep_bottle_barcode`（奔曜传递的配液瓶二维码）
-- 新增 `vial_bottle_barcodes`（奔曜传递的分液瓶二维码，多瓶时存 JSON 数组）
-- 新增 `target_mass_ratio` 理论目标质量比
-- 新增 `real_mass_ratio` 实际称量真实质量比
-
-*注意：这与操作人员在手套箱内扫码传入扣电站的 `electrolyte_code` 是单独记录的，方便做数据核对。*
-
-## 向后兼容性
-- `csv_export_path` 默认值为 `""`（空字符串），现有调用不受影响
-- 新增的 `prep_bottles` 和 `vial_bottles` 字段为 `final_result` 和 `mass_ratios` 内部的新增附属字段，不破坏现有数据结构。

CHANGES_2026_03_24.md

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

unilabos/app/main.py

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

unilabos/devices/neware_battery_test_system/OSS_UPLOAD_README_CN.md

@@ -219,10 +219,10 @@ device = NewareBatteryTestSystem(
 
 #### 步骤 2：提交测试任务
 
-使用 `submit_from_csv_export_ndax` 提交测试任务：
+使用 `submit_from_csv` 提交测试任务：
 
 ```python
-result = device.submit_from_csv_export_ndax(
+result = device.submit_from_csv(
     csv_path="test_data.csv",
     output_dir="D:/neware_output"
 )
@@ -489,7 +489,7 @@ A: 重新获取新的 Token 并更新环境变量 `UNI_LAB_AUTH_TOKEN`。
 **Q: 可以自定义上传路径吗？**  
 A: 当前版本路径由统一 API 自动分配，`oss_prefix` 参数暂不使用（保留接口兼容性）。
 
-**Q: 为什么不在 `submit_from_csv_export_ndax` 中自动上传？**  
+**Q: 为什么不在 `submit_from_csv` 中自动上传？**  
 A: 因为备份文件在测试进行中逐步生成，方法返回时可能文件尚未完全生成，因此提供独立的上传方法更灵活。
 
 **Q: 上传后如何访问文件？**  

unilabos/devices/neware_battery_test_system/OSS_UPLOAD_README_EN.md

@@ -230,10 +230,10 @@ device = NewareBatteryTestSystem(
 
 #### Step 2: Submit Test Tasks
 
-Use `submit_from_csv_export_ndax` to submit test tasks:
+Use `submit_from_csv` to submit test tasks:
 
 ```python
-result = device.submit_from_csv_export_ndax(
+result = device.submit_from_csv(
     csv_path="test_data.csv",
     output_dir="D:/neware_output"
 )
@@ -500,7 +500,7 @@ A: Obtain a new API Key and update the `UNI_LAB_AUTH_TOKEN` environment variable
 **Q: Can I customize upload paths?**  
 A: Current version has paths automatically assigned by unified API. `oss_prefix` parameter is currently unused (retained for interface compatibility).
 
-**Q: Why not auto-upload in `submit_from_csv_export_ndax`?**  
+**Q: Why not auto-upload in `submit_from_csv`?**  
 A: Because backup files are generated progressively during testing, they may not be fully generated when the method returns. A separate upload method provides more flexibility.
 
 **Q: How to access files after upload?**  

unilabos/devices/neware_battery_test_system/device.json

@@ -14,7 +14,7 @@
             "config": {
                 "ip": "127.0.0.1",
                 "port": 502,
-                "machine_ids": [1, 2, 3, 4, 5, 6, 86],
+                "machine_id": 1,
                 "devtype": "27",
                 "timeout": 20,
                 "size_x": 500.0,
@@ -26,10 +26,10 @@
             "data": {
                 "功能说明": "新威电池测试系统，提供720通道监控和CSV批量提交功能",
                 "监控功能": "支持720个通道的实时状态监控、2盘电池物料管理、状态导出等",
-                "提交功能": "通过submit_from_csv action从CSV文件批量提交测试任务（NDA备份），或通过submit_from_csv_export_excel action提交并备份为Excel格式。CSV必须包含: Battery_Code, Pole_Weight, 集流体质量, 活性物质含量, 克容量mah/g, 电池体系, 设备号, 排号, 通道号"
+                "提交功能": "通过submit_from_csv action从CSV文件批量提交测试任务。CSV必须包含: Battery_Code, Pole_Weight, 集流体质量, 活性物质含量, 克容量mah/g, 电池体系, 设备号, 排号, 通道号"
             },
             "children": []
         }
     ],
     "links": []
-}
+}

unilabos/devices/neware_battery_test_system/neware_driver.py

@@ -1,56 +0,0 @@
-import socket
-END_MARKS = [b"\r\n#\r\n", b"</bts>"]  # 读到任一标志即可判定完整响应
-
-def build_start_command(devid, subdevid, chlid, CoinID,
-                        ip_in_xml="127.0.0.1",
-                        devtype:int=27,
-                        recipe_path:str=f"D:\\HHM_test\\A001.xml",
-                        backup_dir:str=f"D:\\HHM_test\\backup",
-                        filetype:int=1) -> str:
-    """
-    filetype: 备份文件类型。0=NDA（新威原生），1=Excel。默认 1。
-    """
-    lines = [
-        '<?xml version="1.0" encoding="UTF-8"?>',
-        '<bts version="1.0">',
-        '  <cmd>start</cmd>',
-        '  <list count="1">',
-        f'    <start ip="{ip_in_xml}" devtype="{devtype}" devid="{devid}" subdevid="{subdevid}" chlid="{chlid}" barcode="{CoinID}">{recipe_path}</start>',
-        f'    <backup backupdir="{backup_dir}" remotedir="" filenametype="1" customfilename="" createdirbydate="0" filetype="{int(filetype)}" backupontime="1" backupontimeinterval="1" backupfree="0" />',
-        '  </list>',
-        '</bts>',
-    ]
-    # TCP 模式：请求必须以 #\r\n 结束（协议要求）
-    return "\r\n".join(lines) + "\r\n#\r\n"
-
-def recv_until_marks(sock: socket.socket, timeout=60):
-    sock.settimeout(timeout)  # 上限给足，协议允许到 30s:contentReference[oaicite:2]{index=2}
-    buf = bytearray()
-    while True:
-        chunk = sock.recv(8192)
-        if not chunk:
-            break
-        buf += chunk
-        # 读到结束标志就停，避免等对端断开
-        for m in END_MARKS:
-            if m in buf:
-                return bytes(buf)
-        # 保险：读到完整 XML 结束标签也停
-        if b"</bts>" in buf:
-            return bytes(buf)
-    return bytes(buf)
-
-def start_test(ip="127.0.0.1", port=502, devid=3, subdevid=2, chlid=1, CoinID="A001", recipe_path=f"D:\\HHM_test\\A001.xml", backup_dir=f"D:\\HHM_test\\backup", filetype:int=1):
-    """
-    filetype: 备份文件类型，0=NDA，1=Excel。默认 1。
-    """
-    xml_cmd = build_start_command(devid=devid, subdevid=subdevid, chlid=chlid, CoinID=CoinID, recipe_path=recipe_path, backup_dir=backup_dir, filetype=filetype)
-    #print(xml_cmd)
-    with socket.create_connection((ip, port), timeout=60) as s:
-        s.sendall(xml_cmd.encode("utf-8"))
-        data = recv_until_marks(s, timeout=60)
-    return data.decode("utf-8", errors="replace")
-
-if __name__ == "__main__":
-    resp = start_test(ip="127.0.0.1", port=502, devid=4, subdevid=10, chlid=1, CoinID="A001", recipe_path=f"D:\\HHM_test\\A001.xml", backup_dir=f"D:\\HHM_test\\backup")
-    print(resp)

unilabos/devices/workstation/bioyond_studio/station.py

@@ -258,7 +258,7 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
                 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.workstation.bioyond_config.get("warehouse_mapping", {})
+            warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})
 
             # 确定目标仓库名称
             parent_name = None
@@ -760,9 +760,10 @@ class BioyondWorkstation(WorkstationBase):
                         except:
                             pass
 
-        # 创建通信模块；同步器将在 post_init 中初始化并执行首次同步
+        # 创建通信模块
         self._create_communication_module(bioyond_config)
-        self.resource_synchronizer = None
+        self.resource_synchronizer = BioyondResourceSynchronizer(self)
+        self.resource_synchronizer.sync_from_external()
 
         # TODO: self._ros_node里面拿属性
 
@@ -801,15 +802,6 @@ class BioyondWorkstation(WorkstationBase):
     def post_init(self, ros_node: ROS2WorkstationNode):
         self._ros_node = ros_node
 
-        # Deck 为空时（反序列化未恢复子节点），主动调用 setup() 初始化仓库
-        if self.deck and not self.deck.children and hasattr(self.deck, "setup") and callable(self.deck.setup):
-            logger.info("Deck 无仓库子节点，调用 setup() 初始化仓库")
-            self.deck.setup()
-
-        # 初始化同步器并执行首次同步（需在仓库初始化之后）
-        self.resource_synchronizer = BioyondResourceSynchronizer(self)
-        self.resource_synchronizer.sync_from_external()
-
         # 启动连接监控
         try:
             self.connection_monitor = ConnectionMonitor(self)

unilabos/devices/workstation/changelog_2026-03-12.md

@@ -1,219 +0,0 @@
-# 代码变更说明 — 2026-03-12
-
-> 本次变更基于 `implementation_plan_v2.md` 执行，目标：**物理几何结构初始化与物料内容物填充彻底解耦**，消除 PLR 反序列化时的 `Resource already assigned to deck` 错误，并修复若干运行时新增问题。
-
----
-
-## 一、物料系统标准化重构（主线任务）
-
-### 1. `unilabos/resources/battery/magazine.py`
-
-**改动**：`MagazineHolder_6_Cathode`、`MagazineHolder_6_Anode`、`MagazineHolder_4_Cathode` 三个工厂函数的 `klasses` 参数改为 `None`。
-
-**原因**：原来三个工厂函数在初始化时就向洞位填满极片对象（`ElectrodeSheet`），导致 PLR 反序列化时"几何结构已创建子节点 + DB 再次 assign"双重冲突。
-
-**原则**：物料余量改由寄存器直读（阶段 F），资源树不再追踪每个极片实体。`MagazineHolder_6_Battery` 原本就是 `klasses=None`，三者现在保持一致。
-
----
-
-### 2. `unilabos/resources/battery/magazine.py`（追加，响应重复 UUID 问题）
-
-**改动**：为 `Magazine`（洞位类）新增 `serialize` 和 `deserialize` 重写：
-- `serialize`：序列化时强制将 `children` 置空，不再把极片写回数据库。
-- `deserialize`：反序列化时强制忽略 `children` 字段，阻止数据库中旧极片记录被恢复。
-
-**原因**：数据库中遗留有旧的 `ElectrodeSheet` 记录（`A1_sheet100` 等），启动时被 PLR 反序列化进来，导致同一 UUID 出现在多个 Magazine 洞位中，触发 `发现重复的uuid` 错误。此修复从源头截断旧数据，经过一次完整的"启动 → 资源树写回"后，数据库旧极片记录也会被干净覆盖。
-
----
-
-### 3. `unilabos/resources/battery/bottle_carriers.py`
-
-**改动**：删除 `YIHUA_Electrolyte_12VialCarrier` 末尾的 12 瓶填充循环及对应 `import`。
-
-**原因**：`bottle_rack_6x2` 和 `bottle_rack_6x2_2` 应初始化为空载架，瓶子由 Bioyond 侧实际转运后再填入。原来初始化时直接塞满 `YB_pei_ye_xiao_Bottle`，反序列化时产生重复 assign。
-
----
-
-### 4. `unilabos/resources/bioyond/decks.py`
-
-**改动**：
-- 将 `BIOYOND_YB_Deck` 重命名为 `BioyondElectrolyteDeck`，保留 `BIOYOND_YB_Deck` 作为向后兼容别名。
-- 工厂函数 `YB_Deck()` 重命名为 `bioyond_electrolyte_deck()`，保留 `YB_Deck` 作为别名。
-- `BIOYOND_PolymerReactionStation_Deck`、`BIOYOND_PolymerPreparationStation_Deck`、`BioyondElectrolyteDeck` 三个 Deck 类：
-  - 移除 `__init__` 中的 `setup: bool = False` 参数及 `if setup: self.setup()` 调用。
-  - 删除临时 `deserialize` 补丁（该补丁是为了强制 `setup=False`，根本原因消除后不再需要）。
-
-**原因**：`setup` 参数导致 PLR 反序列化时先通过 `__init__` 创建所有子资源，再从 JSON `children` 字段再次 assign，产生 `already assigned to deck` 错误。正确模式：`__init__` 只初始化自身几何，`setup()` 由工厂函数调用，反序列化由 PLR 从 DB 数据重建子资源。
-
----
-
-### 5. `unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py`
-
-**改动**：
-- `CoincellDeck` 重命名为 `YihuaCoinCellDeck`，保留 `CoincellDeck` 作为向后兼容别名。
-- 工厂函数 `YH_Deck()` 重命名为 `yihua_coin_cell_deck()`，保留 `YH_Deck` 作为别名。
-- 移除 `YihuaCoinCellDeck.__init__` 中的 `setup: bool = False` 参数及调用，删除 `deserialize` 补丁（原因同 decks.py）。
-- `MaterialPlate.__init__` 移除 `fill` 参数和 `fill=True` 分支，新增类方法 `MaterialPlate.create_with_holes()` 作为"带洞位"的工厂方法，`setup()` 改为调用该工厂方法。
-- `YihuaCoinCellDeck.setup()` 末尾新增 `electrolyte_buffer`（`ResourceStack`）接驳槽，用于接收来自 Bioyond 侧的分液瓶板，命名与 `bioyond_cell_workstation.py` 中 `sites=["electrolyte_buffer"]` 一致。
-
----
-
-### 6. `unilabos/resources/resource_tracker.py`
-
-**改动 1**：`to_plr_resources` 中，`load_all_state` 调用前预填 `Container` 类资源缺失的键：
-
-```python
-state.setdefault("liquid_history", [])
-state.setdefault("pending_liquids", {})
-```
-
-**原因**：新版 PLR 要求 `Container` 状态中必须包含这两个键，旧数据库记录缺失时 `load_all_state` 会抛出 `KeyError`。
-
-**改动 2**：`_validate_tree` 中，遇到重复 UUID 时改为自动重新分配新 UUID 并打 `WARNING`，不再直接抛异常崩溃。
-
-**原因**：旧数据库中存在多个同名同 UUID 的极片对象（历史脏数据），严格校验会导致节点无法启动。改为 WARNING + 自动修复，确保启动成功，下次资源树写回后脏数据自然清除。
-
----
-
-### 7. `unilabos/resources/itemized_carrier.py`
-
-**改动**：将原来的 `idx is None` 兜底补丁（静默调用 `super().assign_child_resource`，不更新槽位追踪）替换为两段式逻辑：
-
-1. **XY 近似匹配**（容差 2mm）：精确三维坐标匹配失败时，仅对比 XY 二维坐标，找到最近槽位后用槽位的正确坐标（含 Z）完成 assign，并打 `WARNING`。
-2. **XY 也失败才抛异常**：给出详细的槽位列表和传入坐标，便于问题排查。
-
-**原因**：数据库中存储的资源坐标 Z=0，而 `warehouse_factory` 定义的槽位 Z=dz（如 10mm）。精确匹配永远失败，原补丁静默兜底掩盖了这一问题。近似匹配修复了 Z 偏移，同时保留了真正异常时的报错能力。
-
----
-
-### 8. `unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py`
-
-**改动 1**：更新导入：`BIOYOND_YB_Deck` → `BioyondElectrolyteDeck, bioyond_electrolyte_deck`。
-
-**改动 2**：`__main__` 入口处改为调用 `bioyond_electrolyte_deck(name="YB_Deck")`。
-
-**改动 3**：新增 `_get_resource_from_device(device_id, resource_name)` 方法，用于从目标设备的资源树中动态查找 PLR 资源对象（带降级回退逻辑）。
-
-**改动 4**：跨站转运逻辑中，将原来"创建 `size=1,1,1` 的虚拟 `ResourcePLR` + 硬编码 UUID"的方式，改为通过 `_get_resource_from_device` 从目标设备获取真实的 `electrolyte_buffer` 资源对象。
-
-**原因**：原代码使用硬编码 UUID 的虚拟资源作为转运目标，该对象在 YihuaCoinCellDeck 的资源树中不存在，转移后资源树状态混乱。
-
----
-
-### 9. `unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py`
-
-**改动 1**：更新导入：`CoincellDeck` → `YihuaCoinCellDeck, yihua_coin_cell_deck`，`__main__` 入口改为调用 `yihua_coin_cell_deck()`。
-
-**改动 2**：新增 10 个 `@property`，实现对依华扣电工站 Modbus 寄存器的直读：
-
-| 属性名 | 寄存器地址 | 说明 |
-|---|---|---|
-| `data_10mm_positive_plate_remaining` | 520 | 10mm正极片余量 |
-| `data_12mm_positive_plate_remaining` | 522 | 12mm正极片余量 |
-| `data_16mm_positive_plate_remaining` | 524 | 16mm正极片余量 |
-| `data_aluminum_foil_remaining` | 526 | 铝箔余量 |
-| `data_positive_shell_remaining` | 528 | 正极壳余量 |
-| `data_flat_washer_remaining` | 530 | 平垫余量 |
-| `data_negative_shell_remaining` | 532 | 负极壳余量 |
-| `data_spring_washer_remaining` | 534 | 弹垫余量 |
-| `data_finished_battery_remaining_capacity` | 536 | 成品电池余量 |
-| `data_finished_battery_ng_remaining_capacity` | 538 | 成品电池NG槽余量 |
-
-**原因**：`coin_cell_workstation.yaml` 的 `status_types` 中定义了这 10 个属性，但代码中从未实现，导致每次前端轮询时均报 `AttributeError`。
-
----
-
-## 二、配置与注册表更新
-
-### 10. `yibin_electrolyte_config.json`
-- `BIOYOND_YB_Deck` → `BioyondElectrolyteDeck`（class、type、_resource_type 三处）
-- `CoincellDeck` → `YihuaCoinCellDeck`（class、type、_resource_type 三处）
-- 移除 `"setup": true` 字段
-
-### 11. `yibin_coin_cell_only_config.json`
-- `CoincellDeck` → `YihuaCoinCellDeck`
-- 移除 `"setup": true`
-
-### 12. `yibin_electrolyte_only_config.json`
-- `BIOYOND_YB_Deck` → `BioyondElectrolyteDeck`
-- 移除 `"setup": true`
-
-### 13. `unilabos/registry/resources/bioyond/deck.yaml`
-- `BIOYOND_YB_Deck` → `BioyondElectrolyteDeck`，工厂函数路径更新为 `bioyond_electrolyte_deck`
-- `CoincellDeck` → `YihuaCoinCellDeck`，工厂函数路径更新为 `yihua_coin_cell_deck`
-
----
-
-## 三、独立 Bug 修复
-
-### 14. `unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_b.csv`
-
-**改动**：10 条余量寄存器记录的 `DataType` 列从 `REAL` 改为 `FLOAT32`。
-
-**原因**：`REAL` 是 IEC 61131-3 PLC 工程师惯用名称，但 pymodbus 的 `DATATYPE` 枚举只有 `FLOAT32`，`DataType['REAL']` 查表时抛 `KeyError: 'REAL'`，导致 `CoinCellAssemblyWorkstation` 节点启动失败。
-
----
-
-## 四、运行期新增 Bug 修复（第二轮，2026-03-12 18:12 日志）
-
-### 15. `unilabos/devices/workstation/bioyond_studio/station.py`
-
-**改动**：第 261 行 `self.bioyond_config` → `self.workstation.bioyond_config`。
-
-**原因**：`BioyondResourceSynchronizer.sync_to_external` 内部误用了 `self.bioyond_config`，而该类从未设置此属性（应通过 `self.workstation.bioyond_config` 访问）。触发场景：用户在前端将任意物料拖入仓库时，同步到 Bioyond 必定抛出 `AttributeError: 'BioyondResourceSynchronizer' object has no attribute 'bioyond_config'`。
-
----
-
-### 16. `unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py`
-
-**改动**：`_get_type_id_by_name` 方法新增"直接英文 key 命中"分支：
-
-- **原逻辑**：仅按 `value[0]`（中文名，如 `"5ml分液瓶板"`）遍历比较。
-- **新逻辑**：先以 `type_name` 直接查找 `material_type_mappings` 字典 key（英文 model 名，如 `"YB_Vial_5mL_Carrier"`），命中则立即返回 UUID；否则再按中文名兜底遍历。
-
-**原因**：`resource_tree_transfer` 将 `plr_resource.model`（英文 key）作为 `board_type` / `bottle_type` 传给 `create_sample`，后者再调用 `_get_type_id_by_name`。旧版函数只按中文名查，导致英文 key 永远匹配不到 → `ValueError: 未找到板类型 'YB_Vial_5mL_Carrier' 的配置`。新函数兼容两种查找方式，同时保持向后兼容。
-
----
-
-## 五、运行期新增 Bug 修复（第三轮，2026-03-12 20:30 日志）
-
-### 17. `unilabos/resources/resource_tracker.py`（追加）
-
-**改动**：在 `to_plr_resources` 中，`sub_cls.deserialize` 调用前新增 `_deduplicate_plr_dict(plr_dict)` 预处理函数。
-
-**函数逻辑**：递归遍历整个 `plr_dict` 树，在**全树范围**对 `children` 列表按 `name` 去重——保留首次出现的同名节点，跳过重复项并打 `WARNING`。
-
-**根本原因**：
-1. 用户通过前端将 `YB_Vial_5mL_Carrier` 拖入仓库 E01，carrier 及其子 vial（`YB_Vial_5mL_Carrier_vial_A1` 等）被写入数据库。
-2. 随后 `sync_from_external`（Bioyond 定期同步）以**新 UUID** 重新创建同名 carrier 并赋给同一槽位，PLR 内存树中的旧 carrier 被替换，但**数据库旧记录未被清除**。
-3. 下次重启时，数据库同一 `WareHouse` 下存在两条同名 `BottleCarrier`（不同 UUID），`node_to_plr_dict` 将二者都放入 `children` 列表，PLR 反序列化第二个 carrier 时子 vial 命名冲突，抛出 `ValueError: Resource with name 'YB_Vial_5mL_Carrier_vial_A1' already exists in the tree.`，整个 deck 无法加载，系统启动失败。
-
-**连锁错误（随根因修复自动消除）**：
-- `TypeError: Deck.__init__() got an unexpected keyword argument 'data'` — deck 加载失败后 `driver_creator.py` 触发降级路径，参数类型错误
-- `AttributeError: 'ResourceDictInstance' object has no attribute 'copy'` — 另一条降级路径失败
-- `ValueError: Deck 配置不能为空` — 所有 deck 创建路径失败，`deck=None` 传入工作站
-
----
-
-> **验证状态**：2026-03-12 20:56 日志确认系统正常运行，无新增 ERROR 级错误。
-
----
-
-## 六、变更文件汇总（最终）
-
-| 文件 | 变更类型 | 轮次 |
-|---|---|---|
-| `resources/battery/magazine.py` | 重构 + Bug 修复（极片子节点解耦 + 旧数据清理） | 第一轮 |
-| `resources/battery/bottle_carriers.py` | 重构（移除初始化时自动填瓶） | 第一轮 |
-| `resources/bioyond/decks.py` | 重构 + 重命名（BioyondElectrolyteDeck） | 第一轮 |
-| `devices/workstation/coin_cell_assembly/YB_YH_materials.py` | 重构 + 重命名（YihuaCoinCellDeck）+ 新增 electrolyte_buffer 槽位 | 第一轮 |
-| `resources/resource_tracker.py` | Bug 修复 × 3（Container 状态键预填 + 重复 UUID 自动修复 + 树级名称去重） | 第一/三轮 |
-| `resources/itemized_carrier.py` | Bug 修复（XY 近似坐标匹配，修复 Z 偏移） | 第一轮 |
-| `devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py` | 重构 + Bug 修复（跨站转运 + 类型映射双模式查找） | 第一/二轮 |
-| `devices/workstation/bioyond_studio/station.py` | Bug 修复（sync_to_external 属性访问路径） | 第二轮 |
-| `devices/workstation/coin_cell_assembly/coin_cell_assembly.py` | 新增 10 个 Modbus 余量属性 + 更新导入 | 第一轮 |
-| `yibin_electrolyte_config.json` | 配置更新（类名 + 移除 setup） | 第一轮 |
-| `yibin_coin_cell_only_config.json` | 配置更新（类名 + 移除 setup） | 第一轮 |
-| `yibin_electrolyte_only_config.json` | 配置更新（类名 + 移除 setup） | 第一轮 |
-| `registry/resources/bioyond/deck.yaml` | 注册表更新（类名 + 工厂函数路径） | 第一轮 |
-| `devices/workstation/coin_cell_assembly/coin_cell_assembly_b.csv` | Bug 修复（REAL → FLOAT32） | 第一轮 |

unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py

@@ -130,14 +130,20 @@ class MaterialPlate(ItemizedResource[MaterialHole]):
         ordering: Optional[OrderedDict[str, str]] = None,
         category: str = "material_plate",
         model: Optional[str] = None,
+        fill: bool = False
     ):
-        """初始化料板（不主动填充洞位，由工厂方法或反序列化恢复）
+        """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
         """
@@ -147,50 +153,42 @@ class MaterialPlate(ItemizedResource[MaterialHole]):
             hole_diameter=20.0,
             info="",
         )
-        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,
-        )
-
-    @classmethod
-    def create_with_holes(
-        cls,
-        name: str,
-        size_x: float,
-        size_y: float,
-        size_z: float,
-        category: str = "material_plate",
-        model: Optional[str] = None,
-    ) -> "MaterialPlate":
-        """工厂方法：创建带 4x4 洞位的料板（仅用于初始 setup，不在反序列化路径调用）"""
-        # 默认洞位间距（与 _unilabos_state 默认值保持一致）
-        hole_spacing_x = 24.0
-        hole_spacing_y = 24.0
-        # 先建洞位，再作为 ordered_items 传入构造函数
-        # （ItemizedResource.__init__ 要求 ordered_items 或 ordering 二选一必须有值）
+        # 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 * hole_spacing_x) / 2,
-            dy=(size_y - 4 * hole_spacing_y) / 2,
+            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=hole_spacing_x,
-            item_dy=hole_spacing_y,
-            size_x=16,
-            size_y=16,
-            size_z=16,
-        )
-        return cls(
-            name=name, size_x=size_x, size_y=size_y, size_z=size_z,
-            ordered_items=holes, category=category, model=model,
+            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
@@ -536,19 +534,30 @@ class WasteTipBox(Trash):
         return data
 
 
-class YihuaCoinCellDeck(Deck):
-    """依华纽扣电池组装工作站台面类"""
+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,
-        size_y: float = 1450.0,
-        size_z: float = 100.0,
+        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,
+        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,
@@ -582,11 +591,14 @@ class YihuaCoinCellDeck(Deck):
         # ====================================== 物料板 ============================================
         # 创建物料板（料盘carrier）- 4x4布局
         # 负极料盘
-        fujiliaopan = MaterialPlate.create_with_holes(name="负极料盘", size_x=120, size_y=100, size_z=10.0)
+        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.create_with_holes(name="隔膜料盘", size_x=120, size_y=100, size_z=10.0)
+        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)
@@ -621,27 +633,11 @@ class YihuaCoinCellDeck(Deck):
         waste_tip_box = WasteTipBox(name="waste_tip_box")
         self.assign_child_resource(waste_tip_box, Coordinate(x=778.0, y=622.0, z=0))
 
-        # 分液瓶板接驳区 - 接收来自 BioyondElectrolyte 侧的完整 Vial Carrier 板
-        # 命名 electrolyte_buffer 与 bioyond_cell_workstation.py 中 sites=["electrolyte_buffer"] 对应
-        electrolyte_buffer = ResourceStack(
-            name="electrolyte_buffer",
-            direction="z",
-            resources=[],
-        )
-        self.assign_child_resource(electrolyte_buffer, Coordinate(x=1050.0, y=700.0, z=0))
 
-
-def yihua_coin_cell_deck(name: str = "coin_cell_deck") -> YihuaCoinCellDeck:
-    deck = YihuaCoinCellDeck(name=name)
-    deck.setup()
-    return deck
-
-
-# 向后兼容别名，日后废弃
-CoincellDeck = YihuaCoinCellDeck
-
-def YH_Deck(name: str = "") -> YihuaCoinCellDeck:
-    return yihua_coin_cell_deck(name=name or "coin_cell_deck")
+def YH_Deck(name=""):
+    cd = CoincellDeck(name=name)
+    cd.setup()
+    return cd
 
 
 if __name__ == "__main__":

unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py

@@ -17,7 +17,7 @@ from unilabos.device_comms.modbus_plc.modbus import DeviceType, Base as ModbusNo
 from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import *
 from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode
 from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
-from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import YihuaCoinCellDeck, yihua_coin_cell_deck
+from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import CoincellDeck
 from unilabos.resources.graphio import convert_resources_to_type
 from unilabos.utils.log import logger
 import struct
@@ -161,9 +161,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
             logger.info("没有传入依华deck，检查启动json文件")
         super().__init__(deck=deck, *args, **kwargs,)
         self.debug_mode = debug_mode
-        self._modbus_address = address
-        self._modbus_port = port
-
+ 
         """ 连接初始化 """
         modbus_client = TCPClient(addr=address, port=port)
         logger.debug(f"创建 Modbus 客户端: {modbus_client}")
@@ -180,11 +178,9 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
                 raise ValueError('modbus tcp connection failed')
             self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_b.csv'))                            
             self.client = modbus_client.register_node_list(self.nodes)
-            self._modbus_client_raw = modbus_client
         else:
             print("测试模式，跳过连接")
             self.nodes, self.client = None, None
-            self._modbus_client_raw = None
 
         """ 工站的配置 """
 
@@ -195,40 +191,9 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         self.csv_export_file = None
         self.coin_num_N = 0  #已组装电池数量
 
-    def _ensure_modbus_connected(self) -> None:
-        """检查 Modbus TCP 连接是否存活，若已断开则自动重连（防止长时间空闲后连接超时）"""
-        if self.debug_mode or self._modbus_client_raw is None:
-            return
-        raw_client = self._modbus_client_raw.client
-        if raw_client.is_socket_open():
-            return
-        logger.warning("[Modbus] 检测到连接已断开，尝试重连...")
-        try:
-            raw_client.close()
-        except Exception:
-            pass
-        count = 10
-        while count > 0:
-            count -= 1
-            try:
-                raw_client.connect()
-            except Exception:
-                pass
-            if raw_client.is_socket_open():
-                break
-            time.sleep(2)
-        if not raw_client.is_socket_open():
-            raise RuntimeError(f"Modbus TCP 重连失败（{self._modbus_address}:{self._modbus_port}），请检查设备连接")
-        logger.info("[Modbus] 重连成功")
-
     def post_init(self, ros_node: ROS2WorkstationNode):
         self._ros_node = ros_node
-
-        # Deck 为空时（反序列化未恢复子节点），主动调用 setup() 初始化子物料
-        if self.deck and not self.deck.children and hasattr(self.deck, "setup") and callable(self.deck.setup):
-            logger.info("YihuaCoinCellDeck 无子节点，调用 setup() 初始化")
-            self.deck.setup()
-
+        #self.deck = create_a_coin_cell_deck()
         ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
             "resources": [self.deck]
         })
@@ -658,28 +623,12 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         return vol
 
     @property
-    def data_coin_type(self) -> int:
-        """电池类型 - 7种或8种组装物料 (INT16)"""
-        if self.debug_mode:
-            return 7
-        coin_type, read_err = self.client.use_node('REG_DATA_COIN_TYPE').read(1)
-        return coin_type
-    
-    @property
-    def data_current_assembling_count(self) -> int:
-        """当前进行组装的电池数量 - Current assembling battery count (INT16)"""
+    def data_coin_num(self) -> int:
+        """当前电池数量 (INT16)"""
         if self.debug_mode:
             return 0
-        count, read_err = self.client.use_node('REG_DATA_CURRENT_ASSEMBLING_COUNT').read(1)
-        return count
-    
-    @property
-    def data_current_completed_count(self) -> int:
-        """当前完成组装的电池数量 - Current completed battery count (INT16)"""
-        if self.debug_mode:
-            return 0
-        count, read_err = self.client.use_node('REG_DATA_CURRENT_COMPLETED_COUNT').read(1)
-        return count
+        num, read_err = self.client.use_node('REG_DATA_COIN_NUM').read(1)
+        return num
 
     @property
     def data_coin_cell_code(self) -> str:
@@ -777,116 +726,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
             return 0.0
         return _decode_float32_correct(result.registers)
 
-    @property
-    def data_10mm_positive_plate_remaining(self) -> float:
-        """10mm正极片剩余物料数量 (FLOAT32)"""
-        if self.debug_mode:
-            return 0.0
-        result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_10MM_POSITIVE_PLATE_REMAINING_COUNT').address, count=2)
-        if result.isError():
-            logger.error("读取10mm正极片余量失败")
-            return 0.0
-        return _decode_float32_correct(result.registers)
-
-    @property
-    def data_12mm_positive_plate_remaining(self) -> float:
-        """12mm正极片剩余物料数量 (FLOAT32)"""
-        if self.debug_mode:
-            return 0.0
-        result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_12MM_POSITIVE_PLATE_REMAINING_COUNT').address, count=2)
-        if result.isError():
-            logger.error("读取12mm正极片余量失败")
-            return 0.0
-        return _decode_float32_correct(result.registers)
-
-    @property
-    def data_16mm_positive_plate_remaining(self) -> float:
-        """16mm正极片剩余物料数量 (FLOAT32)"""
-        if self.debug_mode:
-            return 0.0
-        result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_16MM_POSITIVE_PLATE_REMAINING_COUNT').address, count=2)
-        if result.isError():
-            logger.error("读取16mm正极片余量失败")
-            return 0.0
-        return _decode_float32_correct(result.registers)
-
-    @property
-    def data_aluminum_foil_remaining(self) -> float:
-        """铝箔剩余物料数量 (FLOAT32)"""
-        if self.debug_mode:
-            return 0.0
-        result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_ALUMINUM_FOIL_REMAINING_COUNT').address, count=2)
-        if result.isError():
-            logger.error("读取铝箔余量失败")
-            return 0.0
-        return _decode_float32_correct(result.registers)
-
-    @property
-    def data_positive_shell_remaining(self) -> float:
-        """正极壳剩余物料数量 (FLOAT32)"""
-        if self.debug_mode:
-            return 0.0
-        result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_POSITIVE_SHELL_REMAINING_COUNT').address, count=2)
-        if result.isError():
-            logger.error("读取正极壳余量失败")
-            return 0.0
-        return _decode_float32_correct(result.registers)
-
-    @property
-    def data_flat_washer_remaining(self) -> float:
-        """平垫剩余物料数量 (FLOAT32)"""
-        if self.debug_mode:
-            return 0.0
-        result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_FLAT_WASHER_REMAINING_COUNT').address, count=2)
-        if result.isError():
-            logger.error("读取平垫余量失败")
-            return 0.0
-        return _decode_float32_correct(result.registers)
-
-    @property
-    def data_negative_shell_remaining(self) -> float:
-        """负极壳剩余物料数量 (FLOAT32)"""
-        if self.debug_mode:
-            return 0.0
-        result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_NEGATIVE_SHELL_REMAINING_COUNT').address, count=2)
-        if result.isError():
-            logger.error("读取负极壳余量失败")
-            return 0.0
-        return _decode_float32_correct(result.registers)
-
-    @property
-    def data_spring_washer_remaining(self) -> float:
-        """弹垫剩余物料数量 (FLOAT32)"""
-        if self.debug_mode:
-            return 0.0
-        result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_SPRING_WASHER_REMAINING_COUNT').address, count=2)
-        if result.isError():
-            logger.error("读取弹垫余量失败")
-            return 0.0
-        return _decode_float32_correct(result.registers)
-
-    @property
-    def data_finished_battery_remaining_capacity(self) -> float:
-        """成品电池剩余可容纳数量 (FLOAT32)"""
-        if self.debug_mode:
-            return 0.0
-        result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_FINISHED_BATTERY_REMAINING_CAPACITY').address, count=2)
-        if result.isError():
-            logger.error("读取成品电池余量失败")
-            return 0.0
-        return _decode_float32_correct(result.registers)
-
-    @property
-    def data_finished_battery_ng_remaining_capacity(self) -> float:
-        """成品电池NG槽剩余可容纳数量 (FLOAT32)"""
-        if self.debug_mode:
-            return 0.0
-        result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_FINISHED_BATTERY_NG_REMAINING_CAPACITY').address, count=2)
-        if result.isError():
-            logger.error("读取成品电池NG槽余量失败")
-            return 0.0
-        return _decode_float32_correct(result.registers)
-
 #    @property
 #    def data_stack_vision_code(self) -> int:
 #        """物料堆叠复检图片编码 (INT16)"""
@@ -1086,7 +925,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         
         # 步骤0: 前置条件检查
         logger.info("\n【步骤 0/4】前置条件检查...")
-        self._ensure_modbus_connected()
         try:
             # 检查 REG_UNILAB_INTERACT (应该为False，表示使用Unilab交互)
             unilab_interact_node = self.client.use_node('REG_UNILAB_INTERACT')
@@ -1147,42 +985,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
                 raise RuntimeError(error_msg)
             
             logger.info("  ✓ COIL_GB_L_IGNORE_CMD 检查通过 (值为False，使用左手套箱)")
-            
-            # 检查握手寄存器残留（正常初始状态均应为False）
-            # 若上次运行意外断网，这些Unilab侧COIL可能被遗留为True，导致PLC逻辑卡死
-            handshake_checks = [
-                ("COIL_UNILAB_SEND_MSG_SUCC_CMD",       "Unilab→PLC 配方发送完毕",     "上次配方握手未正常复位，PLC可能处于等待配方的卡死状态"),
-                ("COIL_UNILAB_REC_MSG_SUCC_CMD",        "Unilab→PLC 数据接收完毕",     "上次数据接收握手未正常复位"),
-                ("UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM",  "Unilab→PLC 瓶数发送完毕",     "上次瓶数握手未正常复位"),
-                ("UNILAB_SEND_FINISHED_CMD",            "Unilab→PLC 一组完成确认",     "上次完成握手未正常复位"),
-                ("COIL_REQUEST_REC_MSG_STATUS",         "PLC→Unilab 请求接收配方",     "PLC正处于等待配方状态，设备流程已卡死，需重启PLC或手动复位握手"),
-                ("COIL_REQUEST_SEND_MSG_STATUS",        "PLC→Unilab 请求发送测试数据", "PLC正处于等待发送数据状态，设备流程已卡死"),
-            ]
-            for coil_name, coil_desc, stuck_reason in handshake_checks:
-                try:
-                    hs_node = self.client.use_node(coil_name)
-                    hs_value, hs_err = hs_node.read(1)
-                    if hs_err:
-                        logger.warning(f"  ⚠ 无法读取 {coil_name}，跳过此项检查")
-                        continue
-                    hs_actual = hs_value[0] if isinstance(hs_value, (list, tuple)) else hs_value
-                    logger.info(f"  {coil_name} 当前值: {hs_actual}")
-                    if hs_actual:
-                        error_msg = (
-                            "❌ 前置握手寄存器检查失败！\n"
-                            f"  {coil_name} = True (期望值: False)\n"
-                            f"  含义: {coil_desc}\n"
-                            f"  原因: {stuck_reason}\n"
-                            "  建议: 检查上次运行是否意外中断，手动将该寄存器置为False后重试"
-                        )
-                        logger.error(error_msg)
-                        raise RuntimeError(error_msg)
-                    logger.info(f"  ✓ {coil_name} 检查通过 (值为False)")
-                except RuntimeError:
-                    raise
-                except Exception as hs_e:
-                    logger.warning(f"  ⚠ 检查 {coil_name} 时发生异常: {hs_e}，跳过此项")
-            
             logger.info("✓ 所有前置条件检查通过！")
             
         except ValueError as e:
@@ -1356,8 +1158,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         lvbodian: bool = True,
         battery_pressure_mode: bool = True,
         battery_clean_ignore: bool = False,
-        file_path: str = "/Users/sml/work",
-        formulations: List[Dict] = None
+        file_path: str = "/Users/sml/work"
     ) -> Dict[str, Any]:
         """
         发送瓶数+简化组装函数（适用于第二批次及后续批次）
@@ -1384,44 +1185,17 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
             battery_pressure_mode: 是否启用压力模式
             battery_clean_ignore: 是否忽略电池清洁
             file_path: 实验记录保存路径
-            formulations: 配方信息列表（从 create_orders.mass_ratios 获取）
-                         包含 orderCode, target_mass_ratio, real_mass_ratio 等
-                         用于CSV数据追溯，可选参数
             
         Returns:
             dict: 包含组装结果的字典
             
-        注意:
+        注意：
             - 第一次启动需先调用 func_pack_device_init_auto_start_combined()
             - 后续批次直接调用此函数即可
         """
         logger.info("=" * 60)
         logger.info("开始发送瓶数+简化组装流程...")
         logger.info(f"电解液瓶数: {elec_num}, 每瓶电池数: {elec_use_num}")
-        
-        # 存储配方信息到设备状态（供 CSV 写入使用）
-        if formulations:
-            logger.info(f"接收到配方信息: {len(formulations)} 条")
-            # 将配方信息按 orderCode 索引，方便后续查找
-            self._formulations_map = {
-                f["orderCode"]: f for f in formulations
-            } if formulations else {}
-            # ✅ 新增：存储配方列表（按接收顺序），用于索引访问
-            self._formulations_list = formulations
-        else:
-            logger.warning("未接收到配方信息，CSV将不包含配方字段")
-            self._formulations_map = {}
-            self._formulations_list = []
-        
-        # ✅ 新增：存储每瓶电池数，用于计算当前使用的瓶号
-        # ⚠️ 确保转换为整数（前端可能传递字符串）
-        self._elec_use_num = int(elec_use_num) if elec_use_num else 0
-        logger.info(f"已存储参数: 每瓶电池数={self._elec_use_num}, 配方数={len(self._formulations_list)}")
-        
-        # ✅ 新增：软件层电池计数器（防止硬件计数器不准确）
-        self._software_battery_counter = 0  # 从0开始，每写入一次CSV递增
-        logger.info("软件层电池计数器已初始化")
-        
         logger.info("=" * 60)
         
         # 步骤1: 发送电解液瓶数（触发物料搬运）
@@ -1557,8 +1331,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         data_assembly_time = self.data_assembly_time
         data_assembly_pressure = self.data_assembly_pressure
         data_electrolyte_volume = self.data_electrolyte_volume
-        data_coin_type = self.data_coin_type  # 电池类型（7或8种物料）
-        data_battery_number = self.data_current_assembling_count  # ✅ 真正的电池编号
+        data_coin_num = self.data_coin_num
         
         # 处理电解液二维码 - 确保是字符串类型
         try:
@@ -1588,32 +1361,28 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         logger.debug(f"data_assembly_time: {data_assembly_time}")
         logger.debug(f"data_assembly_pressure: {data_assembly_pressure}")
         logger.debug(f"data_electrolyte_volume: {data_electrolyte_volume}")
-        logger.debug(f"data_coin_type: {data_coin_type}")  # 电池类型
-        logger.debug(f"data_battery_number: {data_battery_number}")  # ✅ 电池编号
+        logger.debug(f"data_coin_num: {data_coin_num}")
         logger.debug(f"data_electrolyte_code: {data_electrolyte_code}")
         logger.debug(f"data_coin_cell_code: {data_coin_cell_code}")
         #接收完信息后，读取完毕标志位置True
-        finished_battery_magazine = self.deck.get_resource("成品弹夹")        
-        
-        # 计算电池应该放在哪个洞，以及洞内的堆叠位置
-        # 成品弹夹有6个洞，每个洞可堆叠20颗电池
-        # 前5个洞（索引0-4）放正常电池，第6个洞（索引5）放NG电池
-        BATTERIES_PER_HOLE = 20
-        MAX_NORMAL_BATTERIES = 100  # 5个洞 × 20颗/洞
-        
-        hole_index = self.coin_num_N // BATTERIES_PER_HOLE  # 第几个洞（0-4为正常电池）
-        in_hole_position = self.coin_num_N % BATTERIES_PER_HOLE  # 洞内的堆叠序号
-        
-        if hole_index >= 5:
-            logger.error(f"电池数量超出正常容量范围: {self.coin_num_N + 1} > {MAX_NORMAL_BATTERIES}")
-            raise ValueError(f"成品弹夹正常洞位已满（最多{MAX_NORMAL_BATTERIES}颗），当前尝试放置第{self.coin_num_N + 1}颗")
-        
-        target_hole = finished_battery_magazine.children[hole_index]  # 获取目标洞
+        liaopan3 = self.deck.get_resource("成品弹夹")        
         
         # 生成唯一的电池名称（使用时间戳确保唯一性）
         timestamp_suffix = datetime.now().strftime("%Y%m%d_%H%M%S_%f")
         battery_name = f"battery_{self.coin_num_N}_{timestamp_suffix}"
         
+        # 检查目标位置是否已有资源，如果有则先卸载
+        target_slot = liaopan3.children[self.coin_num_N]
+        if target_slot.children:
+            logger.warning(f"位置 {self.coin_num_N} 已有资源，将先卸载旧资源")
+            try:
+                # 卸载所有现有子资源
+                for child in list(target_slot.children):
+                    target_slot.unassign_child_resource(child)
+                    logger.info(f"已卸载旧资源: {child.name}")
+            except Exception as e:
+                logger.error(f"卸载旧资源时出错: {e}")
+        
         # 创建新的电池资源
         battery = ElectrodeSheet(name=battery_name, size_x=14, size_y=14, size_z=2)
         battery._unilabos_state = {
@@ -1624,12 +1393,13 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
                             "electrolyte_volume": data_electrolyte_volume
                             }
         
-        # 将电池堆叠到目标洞中
+        # 分配新资源到目标位置
         try:
-            target_hole.assign_child_resource(battery, location=None)
-            logger.info(f"成功放置电池 {battery_name} 到弹夹洞{hole_index}的第{in_hole_position + 1}层 (总计第{self.coin_num_N + 1}颗)")
+            target_slot.assign_child_resource(battery, location=None)
+            logger.info(f"成功分配电池 {battery_name} 到位置 {self.coin_num_N}")
         except Exception as e:
-            logger.error(f"放置电池资源失败: {e}")
+            logger.error(f"分配电池资源失败: {e}")
+            # 如果分配失败，尝试使用更简单的方法
             raise
         
         #print(jipian2.parent)
@@ -1650,7 +1420,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         time_date = datetime.now().strftime("%Y%m%d")
             #秒级时间戳用于标记每一行电池数据
         timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
-        self._last_assembly_timestamp = timestamp
             #生成输出文件的变量
         self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv")   
         #将数据存入csv文件
@@ -1661,79 +1430,17 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
                 writer.writerow([
                     'Time', 'open_circuit_voltage', 'pole_weight', 
                     'assembly_time', 'assembly_pressure', 'electrolyte_volume', 
-                    'data_coin_type', 'electrolyte_code', 'coin_cell_code',
-                    'orderName', 'prep_bottle_barcode', 'vial_bottle_barcodes',
-                    'target_mass_ratio', 'real_mass_ratio'
+                    'coin_num', 'electrolyte_code', 'coin_cell_code'
                 ])
                 #立刻写入磁盘
                 csvfile.flush()
         #开始追加电池信息
         with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile:
             writer = csv.writer(csvfile)
-            
-            # ========== 提取配方信息 ==========
-            formulation_order_name = ""
-            prep_bottle_barcode = ""
-            vial_bottle_barcodes = ""
-            target_ratio_str = ""
-            real_ratio_str = ""
-            
-            # 从 self._formulations_list 获取配方信息
-            if hasattr(self, '_formulations_list') and self._formulations_list:
-                # ✅ 新方案：根据电池编号和每瓶电池数计算当前瓶号
-                # 例如：elec_use_num=2时，电池1-2用瓶0，电池3-4用瓶1
-                if hasattr(self, '_elec_use_num') and self._elec_use_num:
-                    # ⚠️ 确保转换为整数（防御性编程）
-                    elec_use_num_int = int(self._elec_use_num) if self._elec_use_num else 1
-                    if elec_use_num_int > 0:
-                        current_bottle_index = (data_battery_number - 1) // elec_use_num_int
-                    else:
-                        current_bottle_index = 0
-                    
-                    logger.debug(
-                        f"[CSV写入] 电池 {data_battery_number}: 计算瓶号索引={current_bottle_index} "
-                        f"(每瓶{self._elec_use_num}颗电池)"
-                    )
-                else:
-                    # 降级方案：尝试从二维码解析（仅当参数未设置时）
-                    current_bottle_index = int(data_electrolyte_code.split('-')[-1]) if '-' in str(data_electrolyte_code) else 0
-                    logger.debug(
-                        f"[CSV写入] 电池 {data_battery_number}: 从二维码解析瓶号索引={current_bottle_index}"
-                    )
-                
-                # 从配方列表中获取对应配方
-                if 0 <= current_bottle_index < len(self._formulations_list):
-                    formulation = self._formulations_list[current_bottle_index]
-                    formulation_order_name = formulation.get("orderName", "")
-                    prep_bottle_barcode = formulation.get("prep_bottle_barcode", "")
-                    vial_bottle_barcodes = formulation.get("vial_bottle_barcodes", "")
-                    
-                    real_ratio = formulation.get("real_mass_ratio", {})
-                    target_ratio = formulation.get("target_mass_ratio", {})
-                    
-                    # 将配方比例转为JSON字符串
-                    import json
-                    target_ratio_str = json.dumps(target_ratio, ensure_ascii=False) if target_ratio else ""
-                    real_ratio_str = json.dumps(real_ratio, ensure_ascii=False) if real_ratio else ""
-                    
-                    logger.info(
-                        f"[CSV写入] 电池 {data_battery_number}: 使用配方[{current_bottle_index}] "
-                        f"orderName={formulation_order_name}, 配液瓶={prep_bottle_barcode}, 分液瓶={vial_bottle_barcodes}"
-                    )
-                else:
-                    logger.warning(
-                        f"[CSV写入] 电池 {data_battery_number}: 瓶号索引 {current_bottle_index} "
-                        f"超出配方列表范围 (共{len(self._formulations_list)}个配方)"
-                    )
-            else:
-                logger.debug(f"[CSV写入] 电池 {data_battery_number}: 未找到配方信息数据")
-            
             writer.writerow([
                 timestamp, data_open_circuit_voltage, data_pole_weight,
                 data_assembly_time, data_assembly_pressure, data_electrolyte_volume,
-                data_coin_type, data_electrolyte_code, data_coin_cell_code,
-                formulation_order_name, prep_bottle_barcode, vial_bottle_barcodes,
-                target_ratio_str, real_ratio_str
+                data_coin_num, data_electrolyte_code, data_coin_cell_code
             ])
             #立刻写入磁盘
             csvfile.flush()
@@ -1878,18 +1585,17 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
                     pole_weight = 0.0
                 
                 battery_info = {
-                    "Time": getattr(self, "_last_assembly_timestamp", datetime.now().strftime("%Y%m%d_%H%M%S")),
+                    "battery_index": coin_num_N + 1,
+                    "battery_barcode": battery_qr_code,
+                    "electrolyte_barcode": electrolyte_qr_code,
                     "open_circuit_voltage": open_circuit_voltage,
                     "pole_weight": pole_weight,
                     "assembly_time": self.data_assembly_time,
                     "assembly_pressure": self.data_assembly_pressure,
-                    "electrolyte_volume": self.data_electrolyte_volume,
-                    "data_coin_type": getattr(self, "data_coin_type", 0),
-                    "electrolyte_code": electrolyte_qr_code,
-                    "coin_cell_code": battery_qr_code,
+                    "electrolyte_volume": self.data_electrolyte_volume
                 }
                 battery_data_list.append(battery_info)
-                print(f"已收集第 {coin_num_N + 1} 个电池数据: 电池码={battery_info['coin_cell_code']}, 电解液码={battery_info['electrolyte_code']}")
+                print(f"已收集第 {coin_num_N + 1} 个电池数据: 电池码={battery_info['battery_barcode']}, 电解液码={battery_info['electrolyte_barcode']}")
                 
                 time.sleep(1)
                 # TODO:读完再将电池数加一还是进入循环就将电池数加一需要考虑
@@ -1918,7 +1624,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
             "success": True,
             "total_batteries": len(battery_data_list),
             "batteries": battery_data_list,
-            "assembly_data": battery_data_list,
             "summary": {
                 "electrolyte_bottles_used": elec_num,
                 "batteries_per_bottle": elec_use_num,
@@ -1962,7 +1667,8 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         file_path: str = "/Users/sml/work"
     ) -> Dict[str, Any]:
         """
-    
+        简化版电池组装函数，整合了原 qiming_coin_cell_code 的参数设置和双滴模式
+        
         此函数是 func_allpack_cmd 的增强版本，自动处理以下配置：
         - 负极片和隔膜的盘数及矩阵点位
         - 枪头盒矩阵点位
@@ -2133,18 +1839,17 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
                     pole_weight = 0.0
                 
                 battery_info = {
-                    "Time": getattr(self, "_last_assembly_timestamp", datetime.now().strftime("%Y%m%d_%H%M%S")),
+                    "battery_index": coin_num_N + 1,
+                    "battery_barcode": battery_qr_code,
+                    "electrolyte_barcode": electrolyte_qr_code,
                     "open_circuit_voltage": open_circuit_voltage,
                     "pole_weight": pole_weight,
                     "assembly_time": self.data_assembly_time,
                     "assembly_pressure": self.data_assembly_pressure,
-                    "electrolyte_volume": self.data_electrolyte_volume,
-                    "data_coin_type": getattr(self, "data_coin_type", 0),
-                    "electrolyte_code": electrolyte_qr_code,
-                    "coin_cell_code": battery_qr_code,
+                    "electrolyte_volume": self.data_electrolyte_volume
                 }
                 battery_data_list.append(battery_info)
-                print(f"已收集第 {coin_num_N + 1} 个电池数据: 电池码={battery_info['coin_cell_code']}, 电解液码={battery_info['electrolyte_code']}")
+                print(f"已收集第 {coin_num_N + 1} 个电池数据: 电池码={battery_info['battery_barcode']}, 电解液码={battery_info['electrolyte_barcode']}")
                 
                 time.sleep(1)
 
@@ -2171,7 +1876,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
             "success": True,
             "total_batteries": len(battery_data_list),
             "batteries": battery_data_list,
-            "assembly_data": battery_data_list,
             "summary": {
                 "electrolyte_bottles_used": elec_num,
                 "batteries_per_bottle": elec_use_num,
@@ -2218,7 +1922,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
     
     def fun_wuliao_test(self) -> bool: 
         #找到data_init中构建的2个物料盘
-        test_battery_plate = self.deck.get_resource("\u7535\u6c60\u6599\u76d8")
+        liaopan3 = self.deck.get_resource("\u7535\u6c60\u6599\u76d8")
         for i in range(16):            
             battery = ElectrodeSheet(name=f"battery_{i}", size_x=16, size_y=16, size_z=2)
             battery._unilabos_state = {
@@ -2228,7 +1932,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
                                 "electrolyte_volume": 20.0,
                                 "electrolyte_name": f"DP{i}"
                                 }
-            test_battery_plate.children[i].assign_child_resource(battery, location=None)
+            liaopan3.children[i].assign_child_resource(battery, location=None)
             
             ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
                 "resources": [self.deck]
@@ -2271,7 +1975,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
             data_assembly_time = self.data_assembly_time
             data_assembly_pressure = self.data_assembly_pressure
             data_electrolyte_volume = self.data_electrolyte_volume
-            data_coin_type = self.data_coin_type  # 电池类型（7或8种物料）
+            data_coin_num = self.data_coin_num
             data_electrolyte_code = self.data_electrolyte_code
             data_coin_cell_code = self.data_coin_cell_code
             # 电解液瓶位置
@@ -2385,7 +2089,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
                 writer.writerow([
                     timestamp, data_open_circuit_voltage, data_pole_weight,
                     data_assembly_time, data_assembly_pressure, data_electrolyte_volume,
-                    data_coin_type, data_electrolyte_code, data_coin_cell_code  # ✅ 已修正
+                    data_coin_num, data_electrolyte_code, data_coin_cell_code
                 ])
                 #立刻写入磁盘
                 csvfile.flush()
@@ -2436,7 +2140,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
 
 if __name__ == "__main__":
     # 简单测试
-    workstation = CoinCellAssemblyWorkstation(deck=yihua_coin_cell_deck(name="coin_cell_deck"))
+    workstation = CoinCellAssemblyWorkstation(deck=CoincellDeck(setup=True, name="coin_cell_deck"))
     # workstation.qiming_coin_cell_code(fujipian_panshu=1, fujipian_juzhendianwei=2, gemopanshu=3, gemo_juzhendianwei=4, lvbodian=False, battery_pressure_mode=False, battery_pressure=4200, battery_clean_ignore=False)
     # print(f"工作站创建成功: {workstation.deck.name}")
     # print(f"料盘数量: {len(workstation.deck.children)}")

unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_b.csv

@@ -1,4 +1,4 @@
-Name,DataType,InitValue,Comment,Attribute,DeviceType,Address,
+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,
@@ -29,9 +29,7 @@ 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_TYPE,INT16,,,,hold_register,10018,data_coin_type
-REG_DATA_CURRENT_ASSEMBLING_COUNT,INT16,,,,hold_register,10072,data_current_assembling_count
-REG_DATA_CURRENT_COMPLETED_COUNT,INT16,,,,hold_register,10074,data_current_completed_count
+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()
@@ -71,75 +69,65 @@ 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,??100-????
-COIL_ALARM_101_EMERGENCY_STOP,BOOL,,,,coil,1010,??101-??
-COIL_ALARM_111_GLOVEBOX_EMERGENCY_STOP,BOOL,,,,coil,1110,??111-?????
-COIL_ALARM_112_GLOVEBOX_GRATING_BLOCKED,BOOL,,,,coil,1120,??112-????????
-COIL_ALARM_160_PIPETTE_TIP_SHORTAGE,BOOL,,,,coil,1600,??160-??????
-COIL_ALARM_161_POSITIVE_SHELL_SHORTAGE,BOOL,,,,coil,1610,??161-?????
-COIL_ALARM_162_ALUMINUM_FOIL_SHORTAGE,BOOL,,,,coil,1620,??162-?????
-COIL_ALARM_163_POSITIVE_PLATE_SHORTAGE,BOOL,,,,coil,1630,??163-?????
-COIL_ALARM_164_SEPARATOR_SHORTAGE,BOOL,,,,coil,1640,??164-????
-COIL_ALARM_165_NEGATIVE_PLATE_SHORTAGE,BOOL,,,,coil,1650,??165-?????
-COIL_ALARM_166_FLAT_WASHER_SHORTAGE,BOOL,,,,coil,1660,??166-????
-COIL_ALARM_167_SPRING_WASHER_SHORTAGE,BOOL,,,,coil,1670,??167-????
-COIL_ALARM_168_NEGATIVE_SHELL_SHORTAGE,BOOL,,,,coil,1680,??168-?????
-COIL_ALARM_169_FINISHED_BATTERY_FULL,BOOL,,,,coil,1690,??169-??????
-COIL_ALARM_201_SERVO_AXIS_01_ERROR,BOOL,,,,coil,2010,??201-???01??
-COIL_ALARM_202_SERVO_AXIS_02_ERROR,BOOL,,,,coil,2020,??202-???02??
-COIL_ALARM_203_SERVO_AXIS_03_ERROR,BOOL,,,,coil,2030,??203-???03??
-COIL_ALARM_204_SERVO_AXIS_04_ERROR,BOOL,,,,coil,2040,??204-???04??
-COIL_ALARM_205_SERVO_AXIS_05_ERROR,BOOL,,,,coil,2050,??205-???05??
-COIL_ALARM_206_SERVO_AXIS_06_ERROR,BOOL,,,,coil,2060,??206-???06??
-COIL_ALARM_207_SERVO_AXIS_07_ERROR,BOOL,,,,coil,2070,??207-???07??
-COIL_ALARM_208_SERVO_AXIS_08_ERROR,BOOL,,,,coil,2080,??208-???08??
-COIL_ALARM_209_SERVO_AXIS_09_ERROR,BOOL,,,,coil,2090,??209-???09??
-COIL_ALARM_210_SERVO_AXIS_10_ERROR,BOOL,,,,coil,2100,??210-???10??
-COIL_ALARM_211_SERVO_AXIS_11_ERROR,BOOL,,,,coil,2110,??211-???11??
-COIL_ALARM_212_SERVO_AXIS_12_ERROR,BOOL,,,,coil,2120,??212-???12??
-COIL_ALARM_213_SERVO_AXIS_13_ERROR,BOOL,,,,coil,2130,??213-???13??
-COIL_ALARM_214_SERVO_AXIS_14_ERROR,BOOL,,,,coil,2140,??214-???14??
-COIL_ALARM_250_OTHER_COMPONENT_ERROR,BOOL,,,,coil,2500,??250-??????
-COIL_ALARM_251_PIPETTE_COMM_ERROR,BOOL,,,,coil,2510,??251-???????
-COIL_ALARM_252_PIPETTE_ALARM,BOOL,,,,coil,2520,??252-?????
-COIL_ALARM_256_ELECTRIC_GRIPPER_ERROR,BOOL,,,,coil,2560,??256-????
-COIL_ALARM_262_RB_UNKNOWN_POSITION_ERROR,BOOL,,,,coil,2620,??262-RB?????????
-COIL_ALARM_263_RB_XYZ_PARAM_LIMIT_ERROR,BOOL,,,,coil,2630,??263-RB???X?Y?Z?????
-COIL_ALARM_264_RB_VISION_PARAM_ERROR,BOOL,,,,coil,2640,??264-RB???????????
-COIL_ALARM_265_RB_NOZZLE_1_PICK_FAIL,BOOL,,,,coil,2650,??265-RB???1#??????
-COIL_ALARM_266_RB_NOZZLE_2_PICK_FAIL,BOOL,,,,coil,2660,??266-RB???2#??????
-COIL_ALARM_267_RB_NOZZLE_3_PICK_FAIL,BOOL,,,,coil,2670,??267-RB???3#??????
-COIL_ALARM_268_RB_NOZZLE_4_PICK_FAIL,BOOL,,,,coil,2680,??268-RB???4#??????
-COIL_ALARM_269_RB_TRAY_PICK_FAIL,BOOL,,,,coil,2690,??269-RB?????????
-COIL_ALARM_280_RB_COLLISION_ERROR,BOOL,,,,coil,2800,??280-RB????
-COIL_ALARM_290_VISION_SYSTEM_COMM_ERROR,BOOL,,,,coil,2900,??290-????????
-COIL_ALARM_291_VISION_ALIGNMENT_NG,BOOL,,,,coil,2910,??291-????NG??
-COIL_ALARM_292_BARCODE_SCANNER_COMM_ERROR,BOOL,,,,coil,2920,??292-???????
-COIL_ALARM_310_OCV_TRANSFER_NOZZLE_SUCTION_ERROR,BOOL,,,,coil,3100,??310-???????????
-COIL_ALARM_311_OCV_TRANSFER_NOZZLE_BREAK_ERROR,BOOL,,,,coil,3110,??311-???????????
-COIL_ALARM_312_WEIGHT_TRANSFER_NOZZLE_SUCTION_ERROR,BOOL,,,,coil,3120,??312-???????????
-COIL_ALARM_313_WEIGHT_TRANSFER_NOZZLE_BREAK_ERROR,BOOL,,,,coil,3130,??313-???????????
-COIL_ALARM_340_OCV_NOZZLE_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3400,??340-????????????
-COIL_ALARM_342_OCV_NOZZLE_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3420,??342-????????????
-COIL_ALARM_344_OCV_CRIMPING_CYLINDER_ERROR,BOOL,,,,coil,3440,??344-??????????
-COIL_ALARM_350_WEIGHT_NOZZLE_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3500,??350-??????????
-COIL_ALARM_352_WEIGHT_NOZZLE_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3520,??352-??????????
-COIL_ALARM_354_CLEANING_CLOTH_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3540,??354-???????????
-COIL_ALARM_356_CLEANING_CLOTH_PRESS_CYLINDER_ERROR,BOOL,,,,coil,3560,??356-???????????
-COIL_ALARM_360_ELECTROLYTE_BOTTLE_POSITION_CYLINDER_ERROR,BOOL,,,,coil,3600,??360-??????????
-COIL_ALARM_362_PIPETTE_TIP_BOX_POSITION_CYLINDER_ERROR,BOOL,,,,coil,3620,??362-???????????
-COIL_ALARM_364_REAGENT_BOTTLE_GRIPPER_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3640,??364-???????????
-COIL_ALARM_366_REAGENT_BOTTLE_GRIPPER_CYLINDER_ERROR,BOOL,,,,coil,3660,??366-?????????
-COIL_ALARM_370_PRESS_MODULE_BLOW_CYLINDER_ERROR,BOOL,,,,coil,3700,??370-??????????
-COIL_ALARM_151_ELECTROLYTE_BOTTLE_POSITION_ERROR,BOOL,,,,coil,1510,??151-??????????
-COIL_ALARM_152_ELECTROLYTE_BOTTLE_CAP_ERROR,BOOL,,,,coil,1520,??152-?????????
-REG_DATA_10MM_POSITIVE_PLATE_REMAINING_COUNT,FLOAT32,,,,hold_register,520,10mm??????????R?
-REG_DATA_12MM_POSITIVE_PLATE_REMAINING_COUNT,FLOAT32,,,,hold_register,522,12mm??????????R?
-REG_DATA_16MM_POSITIVE_PLATE_REMAINING_COUNT,FLOAT32,,,,hold_register,524,16mm??????????R?
-REG_DATA_ALUMINUM_FOIL_REMAINING_COUNT,FLOAT32,,,,hold_register,526,?????????R?
-REG_DATA_POSITIVE_SHELL_REMAINING_COUNT,FLOAT32,,,,hold_register,528,??????????R?
-REG_DATA_FLAT_WASHER_REMAINING_COUNT,FLOAT32,,,,hold_register,530,?????????R?
-REG_DATA_NEGATIVE_SHELL_REMAINING_COUNT,FLOAT32,,,,hold_register,532,??????????R?
-REG_DATA_SPRING_WASHER_REMAINING_COUNT,FLOAT32,,,,hold_register,534,?????????R?
-REG_DATA_FINISHED_BATTERY_REMAINING_CAPACITY,FLOAT32,,,,hold_register,536,????????????R?
-REG_DATA_FINISHED_BATTERY_NG_REMAINING_CAPACITY,FLOAT32,,,,hold_register,538,????NG?????????R?
+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/implementation_plan.md

@@ -1,88 +0,0 @@
-# 物料系统标准化重构方案
-
-根据开发者的反馈，本方案旨在遵循“标准化而非绕过”的原则，对资源类（Deck、Carrier、Magazine）进行重构。核心目标是将物理结构的初始化与物料/极片的初始填充逻辑解耦，彻底解决反序列化过程中的初始化冲突。
-
-## 拟议变更
-
-### [参考] PRCXI9300 标准化模式
-#### [参考文件] [prcxi.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/devices/liquid_handling/prcxi/prcxi.py)
-*   **PRCXI9300Deck**: 演示了如何在 `serialize` 中导出 `sites` 元数据，以及如何在 `assign_child_resource` 中实现稳健的槽位匹配（支持按名称、坐标或索引匹配）。
-*   **PRCXI9300Container**: 演示了标准的 `load_state` 和 `serialize_state` 模式，确保业务状态（如 `Material` UUID）能正确往返序列化。
-
-### [组件] 台面 (Decks)
-#### [修改] [decks.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/resources/bioyond/decks.py)
-*   将 `BIOYOND_YB_Deck` 重命名为 **`BioyondElectrolyteDeck`**，对应工厂函数 `YB_Deck()` 重命名为 **`bioyond_electrolyte_deck()`**。
-*   `BIOYOND_PolymerReactionStation_Deck` 和 `BIOYOND_PolymerPreparationStation_Deck` **保持不变**。
-*   以上三个 Deck 的 `__init__` 中均移除 `setup` 参数和 `setup()` 调用，删除临时的 `deserialize` 重写。
-
-#### [修改 + 重命名] [YB_YH_materials.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py) → `yihua_coin_cell_materials.py`
-*   将 `CoincellDeck` 重命名为 **`YihuaCoinCellDeck`**，对应工厂函数 `YH_Deck()` 重命名为 **`yihua_coin_cell_deck()`**。
-*   从 `YihuaCoinCellDeck.__init__` 中移除 `setup` 参数和 `setup()` 调用，删除临时的 `deserialize` 重写。
-
-### [组件] 容器类与弹夹 (Itemized Carriers & Magazines)
-#### [修改] [magazine.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/resources/battery/magazine.py)
-*   重构 `magazine_factory`：将创建 `MagazineHolder` 几何结构（空槽位）的过程与填充 `ElectrodeSheet` 物料的过程分离。
-*   确保 `MagazineHolder` 和 `Magazine` 的 `__init__` 过程中不主动创建任何内容物。
-
-#### [修改] [warehouse.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/resources/warehouse.py)
-*   确保 `WareHouse` 类和 `warehouse_factory` 遵循相同模式：先初始化几何结构，内容物另行处理。
-
-#### [修改] [itemized_carrier.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/resources/itemized_carrier.py)
-*   移除之前添加的 `idx is None` 兜底补丁。
-*   修复命名规范，确保 `assign_child_resource` 在反序列化时能准确匹配资源。
-
-### [组件] 状态兼容性 (State Compatibility)
-#### [修改] [resource_tracker.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/resources/resource_tracker.py)
-*   在 `to_plr_resources` 方法中调用 `load_all_state` 之前，预处理 `all_states` 字典。
-*   对于 `Container` 类型的资源，如果其状态中缺少 `liquid_history` 或 `pending_liquids` 等 PLR 新版本要求的键，则填充默认值（如空列表/字典），防止反序列化中断。
-
-### [组件] 料盘 (Material Plates)
-#### [修改] [YB_YH_materials.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py)
-*   重构 `MaterialPlate`：不在 `__init__` 中直接调用 `create_ordered_items_2d`。
-*   重构 `YIHUA_Electrolyte_12VialCarrier`：将其修改为标准的基类定义或在工厂方法中彻底剥离内部 12 个 `YB_pei_ye_xiao_Bottle` 的强制初始化，以防反序列化冲突。
-
-### [组件] 跨站转运与分液瓶板 (Vial Plate Transfer)
-#### [修改] [bioyond_cell_workstation.py] & [YB_YH_materials.py]
-*   **分析**：目前的 `bioyond_cell_workstation.py` 在执行转移时，是用 `sites=["electrolyte_buffer"]` 试图把整块 `YB_Vial_5mL_Carrier` 板转移给目标。但由于实际工艺中，配液站将分液瓶板传往扣电工站后，是由扣电工站的机械臂**逐瓶抓取**并放入内部的 `bottle_rack_6x2`（电解液缓存位），用完后再放入 `bottle_rack_6x2_2`（废液位），因此配液站的这一次“跨工位资源树转移”在逻辑上存在偏差：目标槽位不应该是装单瓶的载体 `bottle_rack`。
-*   **修复方案**：
-    1.  **目标端 (Yihua 侧)**：
-        *   在 `YB_YH_materials.py` 中为从配液站传过来的“分液瓶板”本身设置一个接驳专用的 `PlateSlot`（或者单纯直接移到 Deck 指定坐标）。这个位置负责真正在资源树层级上合法接收配液站传过来的完整 Board。
-        *   重构 `YIHUA_Electrolyte_12VialCarrier`：为了防止初始化反序列化冲突，取消内部在 `__init__` 中自动填充满 12 个 `YB_pei_ye_xiao_Bottle` 实例的逻辑。`bottle_rack_6x2` 和 `bottle_rack_6x2_2` 初始化时均应为空。
-    2.  **转运端 (Bioyond 侧)**：
-        *   修改 `bioyond_cell_workstation.py` 的资源树数字转运代码，将其转移目标对应到 Yihua 侧新设立的“分液瓶板接驳区域”资源，或者干脆只更新资源树坐标位置（使其脱离 Bioyond Deck 加入 Yihua Deck），而不再强行挂载到一个无法容纳 Carrier 的 `bottle_rack_6x2` 内部。
-
-### [组件] 依华扣电组装工站物料余量监控 (Material Monitoring)
-#### [修改] 寄存器直读与前端集成
-*   **物理对象保留但虚化追踪**：原有的实体台面对象（如 `MaterialPlate`、`MagazineHolder` 各类型及其对应的洞位坐标）**仍然保留并使用**。保留它们是为了给机器臂提供基础的物理空间取放标定，以及作为前端页面的可视和可交互区块。
-*   **内部物料免追踪**：既然余量完全由寄存器接管，**我们将不再在这些弹夹或洞位内部显式生成、塞入和追踪每一个具体的极片或外壳对象 (如 `ElectrodeSheet` 等)**。这恰好与我们的重构主旨（不主动在 `__init__` 建子物料以避开反序列化冲突）完美结合，进一步极大地减轻了后台资源树对象的复杂度。
-*   **监控方式变更**：放弃现有的物料余量方式，直接读取依华扣电组装工站开放的寄存器地址以获取准确余量。
-*   **前端界面集成**：在前端界面点击负极壳、弹垫片等弹夹的 data view 时，直接读取并显示寄存器中的各自余量。
-*   **新增寄存器映射** (参考 `coin_cell_assembly_b.csv`)：
-    *   `10mm正极片剩余物料数量（R）`：`read hold_register 520` (REAL)
-    *   `12mm正极片剩余物料数量（R）`：`read hold_register 522` (REAL)
-    *   `16mm正极片剩余物料数量（R）`：`read hold_register 524` (REAL)
-    *   `铝箔剩余物料数量（R）`：`read hold_register 526` (REAL)
-    *   `正极壳剩余物料数量（R）`：`read hold_register 528` (REAL)
-    *   `平垫剩余物料数量（R）`：`read hold_register 530` (REAL)
-    *   `负极壳剩余物料数量（R）`：`read hold_register 532` (REAL)
-    *   `弹垫剩余物料数量（R）`：`read hold_register 534` (REAL)
-    *   `成品电池剩余可容纳数量（R）`：`read hold_register 536` (REAL)
-    *   `成品电池NG槽剩余可容纳数量（R）`：`read hold_register 538` (REAL)
-
-### [配置] JSON 配置文件 (Configuration Files)
-#### [修改] 资源类型名称更新
-*   更新以下配置文件，将其中的 `BIOYOND_YB_Deck` 替换为新的类名 **`BioyondElectrolyteDeck`**，以及将 `coin_cell_deck` 替换为 **`YihuaCoinCellDeck`**：
-    *   `yibin_electrolyte_config.json`
-    *   `yibin_coin_cell_only_config.json`
-    *   `yibin_electrolyte_only_config.json`
-
-## 验证计划
-
-### 自动化测试
-*   对重构后的类运行 `pylabrobot` 序列化/反序列化测试，确保状态能够完美恢复。
-*   检查各工作站节点启动时是否仍存在 `ValueError: Resource '...' already assigned to deck` 报错。
-*   检查 `resource_tracker` 中是否仍存在重复 UUID 报错。
-
-### 手动验证
-*   重启各工作站节点，验证资源树是否能根据数据库数据正确还还原。
-*   验证“自动”与“手动”传输窗资源在台面上的分配是否正确。

unilabos/devices/workstation/implementation_plan_v2.md

@@ -1,388 +0,0 @@
-# 物料系统标准化重构方案 v2（增强版）
-
-> **基于原始方案 (`implementation_plan.md`) 的补充与细化**。
-> 本文档在原方案基础上：①增加当前代码现状核查结果；②明确各任务的执行顺序与文件级改动；③新增注意事项与回归测试命令。
-
----
-
-## 0. 核心原则（保持不变）
-
-"**物理几何结构初始化（Deck / Carrier / Magazine 的 `__init__`）与物料内容物填充（`setup()` / `klasses` 参数）必须彻底解耦**"，以消除 PLR 反序列化时的 `Resource already assigned to deck` 错误。
-
----
-
-## 1. 当前代码现状核查（2026-03-12）
-
-| 文件 | 计划要求 | 当前状态 | 是否完成 |
-|---|---|---|---|
-| `resources/bioyond/decks.py` | 重命名类；移除 `setup` 参数和 `deserialize` 补丁 | 仍是 `BIOYOND_YB_Deck`；`setup` 参数和 `deserialize` 均存在 | ❌ |
-| `coin_cell_assembly/YB_YH_materials.py` | 重命名类；文件迁移；移除补丁 | 仍是 `CoincellDeck`；`setup` 参数和 `deserialize` 均存在 | ❌ |
-| `resources/battery/magazine.py` | `magazine_factory` 不主动填充物料 | `MagazineHolder_6_Cathode` / `_6_Anode` / `_4_Cathode` 仍传 `klasses`，初始化时填满极片 | ❌ |
-| `resources/battery/bottle_carriers.py` | `YIHUA_Electrolyte_12VialCarrier` 初始化时不填充瓶子 | 第 54-55 行仍循环填充 12 个 `YB_pei_ye_xiao_Bottle` | ❌ |
-| `resources/itemized_carrier.py` | 移除 `idx is None` 兜底补丁 | 第 182-190 行仍保留该兜底逻辑 | ❌（待前置任务完成后移除） |
-| `resources/resource_tracker.py` | `load_all_state` 前预填 `Container` 缺失键 | 第 616 行直接调用，无预处理 | ❌ |
-| `bioyond_cell_workstation.py` | 修正跨站转运目标为合法接驳槽 | 第 1563 行仍 `sites=["electrolyte_buffer"]`，目标 UUID 为硬编码虚拟资源 | ❌ |
-| `yibin_*.json` 配置文件 | 更新类名 | 仍使用 `BIOYOND_YB_Deck` / `CoincellDeck` | ❌ |
-| `registry/resources/bioyond/deck.yaml` | 更新类名（原计划未提及） | 仍使用 `BIOYOND_YB_Deck` / `CoincellDeck` | ❌（**新增**） |
-
----
-
-## 2. 执行顺序（含依赖关系）
-
-```
-阶段 A（底层资源类）
-  A1. magazine.py — 移除 klasses 填充
-  A2. bottle_carriers.py — 移除瓶子填充
-  
-阶段 B（Deck 层）
-  B1. decks.py — 移除 setup 参数和 deserialize 补丁；重命名
-  B2. YB_YH_materials.py → 重命名；移除 CoincellDeck 的 setup 参数和 deserialize 补丁
-  
-阶段 C（状态兼容）
-  C1. resource_tracker.py — 预填 Container 缺失键
-  C2. itemized_carrier.py — 移除 idx is None 兜底补丁（B 阶段完成后）
-  
-阶段 D（跨站转运修复）
-  D1. YB_YH_materials.py 新增 vial_plate_dock（接驳专用槽）
-  D2. bioyond_cell_workstation.py 修正 transfer 目标
-  
-阶段 E（配置与注册表）
-  E1. yibin_*.json 更新类名
-  E2. registry/resources/bioyond/deck.yaml 更新类名
-  E3. coin_cell_assembly.py 更新导入路径（若文件重命名）
-```
-
----
-
-## 3. 分阶段详细说明
-
----
-
-### 阶段 A — 底层资源类
-
-#### A1. `unilabos/resources/battery/magazine.py`
-
-**问题**：`MagazineHolder_6_Cathode`、`MagazineHolder_6_Anode`、`MagazineHolder_4_Cathode` 在调用 `magazine_factory` 时传入 `klasses`，导致每次 `__init__` 就填满极片，反序列化时重复添加。
-
-**修改**：
-
-- 将三个函数中的 `klasses=[...]` 改为 `klasses=None`（与 `MagazineHolder_6_Battery` 保持一致）。
-- **理由**：物料余量已由寄存器管理（见阶段 F），不需要在资源树中追踪每一个极片。
-
-```python
-# 修改前（MagazineHolder_6_Cathode 举例）
-klasses=[FlatWasher, PositiveCan, PositiveCan, FlatWasher, PositiveCan, PositiveCan],
-
-# 修改后
-klasses=None,
-```
-
-> **注意**：`magazine_factory` 中 `klasses` 参数及循环体代码保留（仍可按需在非序列化场景使用），只是各具体工厂函数不再传入。
-
----
-
-#### A2. `unilabos/resources/battery/bottle_carriers.py`
-
-**问题**：`YIHUA_Electrolyte_12VialCarrier` 第 54-55 行在工厂函数末尾循环填充 12 个瓶子。
-
-**修改**：删除以下两行：
-
-```python
-# 删除
-for i in range(12):
-    carrier[i] = YB_pei_ye_xiao_Bottle(f"{name}_vial_{i+1}")
-```
-
-**理由**：`bottle_rack_6x2` 和 `bottle_rack_6x2_2` 均应初始化为空，瓶子由 Bioyond 侧实际转运后再填入。
-
----
-
-### 阶段 B — Deck 层重构
-
-#### B1. `unilabos/resources/bioyond/decks.py`
-
-**改动列表**：
-
-1. **重命名** `BIOYOND_YB_Deck` → `BioyondElectrolyteDeck`
-2. **重命名** `YB_Deck()` 工厂函数 → `bioyond_electrolyte_deck()`
-3. **移除** `__init__` 中的 `setup: bool = False` 参数及 `if setup: self.setup()` 调用
-4. **删除** `deserialize` 方法重写（该临时补丁在 `setup` 参数移除后自然失效，继续保留反而掩盖问题）
-5. `BIOYOND_PolymerReactionStation_Deck` 和 `BIOYOND_PolymerPreparationStation_Deck` 同步执行第 3、4 步
-
-**重构后初始化模式**：
-
-```python
-class BioyondElectrolyteDeck(Deck):
-    def __init__(self, name: str = "YB_Deck", ...):
-        super().__init__(name=name, ...)
-        # ❌ 不调用 self.setup()
-        # PLR 反序列化时只会调用 __init__，然后从 children JSON 重建子资源
-
-    def setup(self) -> None:
-        # 完整的子资源初始化逻辑保留在这里，只由工厂函数调用
-        ...
-
-def bioyond_electrolyte_deck(name: str) -> BioyondElectrolyteDeck:
-    deck = BioyondElectrolyteDeck(name=name)
-    deck.setup()   # ✅ 工厂函数负责填充
-    return deck
-```
-
-**同步修改**：
-- `bioyond_cell_workstation.py` 第 20 行：
-  ```python
-  # 修改前
-  from unilabos.resources.bioyond.decks import BIOYOND_YB_Deck
-  # 修改后
-  from unilabos.resources.bioyond.decks import BioyondElectrolyteDeck
-  ```
-- 同文件第 2440 行：`BIOYOND_YB_Deck(setup=True)` → `bioyond_electrolyte_deck(name="YB_Deck")`
-
----
-
-#### B2. `unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py`
-
-**改动列表**：
-
-1. **重命名** `CoincellDeck` → `YihuaCoinCellDeck`
-2. **重命名** `YH_Deck()` → `yihua_coin_cell_deck()`（可保留 `YH_Deck` 作为兼容别名，日后废弃）
-3. **移除** `CoincellDeck.__init__` 中 `setup: bool = False` 参数及调用
-4. **删除** `CoincellDeck.deserialize` 重写方法
-5. `MaterialPlate.__init__` 中移除 `fill` 参数，始终不主动调用 `create_ordered_items_2d`（当前 `fill=False` 路径已正确，只需删除 `fill=True` 分支）
-
-```python
-# 修改前（MaterialPlate.__init__ 片段）
-if fill:
-    super().__init__(..., ordered_items=holes, ...)
-else:
-    super().__init__(..., ordered_items=ordered_items, ...)
-
-# 修改后（始终走 "不填充" 路径）
-super().__init__(..., ordered_items=ordered_items, ...)
-# holes 的创建代码整体移入独立工厂方法
-```
-
-**同步修改**：
-- `coin_cell_assembly.py` 第 20 行导入：
-  ```python
-  # 修改前
-  from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import CoincellDeck
-  # 修改后
-  from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import YihuaCoinCellDeck
-  ```
-- 同文件第 2245 行：`CoincellDeck(setup=True, name="coin_cell_deck")` → `yihua_coin_cell_deck(name="coin_cell_deck")`
-- 文件重命名（可选）：`YB_YH_materials.py` → `yihua_coin_cell_materials.py`（若重命名，所有 import 路径需全局替换）
-
----
-
-### 阶段 C — 状态兼容
-
-#### C1. `unilabos/resources/resource_tracker.py`
-
-**问题**：第 616 行直接调用 `plr_resource.load_all_state(all_states)`，若 `Container` 类资源的 `data` 字段缺少 `liquid_history` 或 `pending_liquids`，PLR 新版本会抛出 `KeyError`。
-
-**修改**：在第 616 行前插入预处理：
-
-```python
-# 在 load_all_state 调用前预填缺失键
-from pylabrobot.resources.container import Container as PLRContainer
-for res_name, state in all_states.items():
-    if state and isinstance(state, dict):
-        # Container 类型要求这两个键存在
-        state.setdefault("liquid_history", [])
-        state.setdefault("pending_liquids", {})
-
-plr_resource.load_all_state(all_states)
-```
-
----
-
-#### C2. `unilabos/resources/itemized_carrier.py`
-
-**前提**：B1、B2 阶段完成，Deck 类名与资源命名规范已对齐后再执行此步。
-
-**修改**：删除第 182-190 行的兜底补丁：
-
-```python
-# 删除以下整个 if 块
-if idx is None:
-    fallback_location = location if location is not None else Coordinate.zero()
-    super().assign_child_resource(resource, location=fallback_location, reassign=reassign)
-    return
-```
-
-**替代**：改为抛出带诊断信息的异常，便于后续问题排查：
-
-```python
-if idx is None:
-    raise ValueError(
-        f"[ItemizedCarrier] 无法为资源 '{resource.name}' 找到匹配的槽位。"
-        f"已知槽位：{list(self.child_locations.keys())}，"
-        f"传入坐标：{location}"
-    )
-```
-
----
-
-### 阶段 D — 跨站转运修复
-
-#### D1. `YB_YH_materials.py` — 新增分液瓶板接驳槽
-
-在 `YihuaCoinCellDeck.setup()` 中，新增一个专用于接收 Bioyond 侧传来的完整分液瓶板的 `ResourceStack`（或 `PlateSlot`）：
-
-```python
-# 在 setup() 末尾追加
-from pylabrobot.resources.resource_stack import ResourceStack
-
-vial_plate_dock = ResourceStack(
-    name="electrolyte_buffer",   # 保持与 bioyond_cell_workstation.py 的 sites 键一致
-    direction="z",
-    resources=[],
-)
-self.assign_child_resource(vial_plate_dock, Coordinate(x=1050.0, y=700.0, z=0))
-```
-
-> **说明**：槽位命名 `electrolyte_buffer` 与 `bioyond_cell_workstation.py` 现有的 `sites=["electrolyte_buffer"]` 对应，减少改动量。如改名，D2 需同步。
-
----
-
-#### D2. `bioyond_cell_workstation.py` — 修正 transfer 目标
-
-**问题**：第 1545-1552 行创建了一个 `size=1,1,1` 的虚拟 `ResourcePLR` 并硬编码 UUID，这个对象在 YihuaCoinCellDeck 的资源树中不存在，导致转移后资源树状态混乱。
-
-**修改**：
-
-```python
-# 修改前：创建虚拟目标资源
-target_resource_obj = ResourcePLR(name=target_location, size_x=1.0, ...)
-target_resource_obj.unilabos_uuid = "550e8400-e29b-41d4-a716-446655440001"  # 硬编码
-
-# 修改后：通过 ROS2/设备注册表查询真实资源
-# （需要从 target_device 的资源树中取出 electrolyte_buffer 的真实对象）
-target_resource_obj = self._get_resource_from_device(
-    device_id=target_device,
-    resource_name=target_location
-)
-if target_resource_obj is None:
-    raise RuntimeError(
-        f"目标设备 {target_device} 中未找到资源 '{target_location}'，"
-        f"请确认 YihuaCoinCellDeck.setup() 中已添加 electrolyte_buffer 槽位"
-    )
-```
-
-> **说明**：`_get_resource_from_device` 需根据现有 ROS2 资源同步机制实现，或复用已有的 `get_plr_resource_by_name` 类似方法。
-
----
-
-### 阶段 E — 配置与注册表
-
-#### E1. `yibin_electrolyte_config.json` / `yibin_coin_cell_only_config.json` / `yibin_electrolyte_only_config.json`
-
-全局替换以下字符串：
-
-| 旧值 | 新值 |
-|---|---|
-| `BIOYOND_YB_Deck` | `BioyondElectrolyteDeck` |
-| `unilabos.resources.bioyond.decks:BIOYOND_YB_Deck` | `unilabos.resources.bioyond.decks:BioyondElectrolyteDeck` |
-| `CoincellDeck` | `YihuaCoinCellDeck` |
-| `unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:CoincellDeck` | 若文件已重命名：`unilabos.devices.workstation.coin_cell_assembly.yihua_coin_cell_materials:YihuaCoinCellDeck` |
-
----
-
-#### E2. `unilabos/registry/resources/bioyond/deck.yaml`（**原计划未覆盖，新增**）
-
-当前第 25 行和第 37 行仍使用旧类名，需同步更新：
-
-```yaml
-# 修改前
-BIOYOND_YB_Deck:
-  ...
-CoincellDeck:
-  ...
-
-# 修改后
-BioyondElectrolyteDeck:
-  ...
-YihuaCoinCellDeck:
-  ...
-```
-
----
-
-### 阶段 F — 物料余量监控集成（原计划第5节细化）
-
-**目标**：弃用资源树内极片对象计数，改为直读依华扣电工站寄存器。
-
-#### F1. `coin_cell_assembly/coin_cell_assembly.py` — 新增寄存器读取方法
-
-参考 `coin_cell_assembly_b.csv` 中的地址，封装读取工具方法：
-
-```python
-MATERIAL_REGISTER_MAP = {
-    "10mm正极片":   (520, "REAL"),
-    "12mm正极片":   (522, "REAL"),
-    "16mm正极片":   (524, "REAL"),
-    "铝箔":         (526, "REAL"),
-    "正极壳":       (528, "REAL"),
-    "平垫":         (530, "REAL"),
-    "负极壳":       (532, "REAL"),
-    "弹垫":         (534, "REAL"),
-    "成品容量":     (536, "REAL"),
-    "成品NG容量":   (538, "REAL"),
-}
-
-def get_material_remaining(self, material_name: str) -> float:
-    """通过寄存器直读指定物料的剩余数量"""
-    if material_name not in MATERIAL_REGISTER_MAP:
-        raise KeyError(f"未知物料名称: {material_name}")
-    address, dtype = MATERIAL_REGISTER_MAP[material_name]
-    return self.read_hold_register(address, dtype)  # 复用现有 Modbus 读取方法
-```
-
-#### F2. 前端 data view 集成
-
-- 前端点击 `MagazineHolder` 类资源的 data view 时，调用后端 `get_material_remaining` 接口（而非读取 `children` 长度）。
-- 具体接口路径和前端调用代码需与前端开发同步，本文档不作具体实现约定。
-
----
-
-## 4. 验证计划（细化）
-
-### 4.1 单元测试（自动化）
-
-```bash
-# 序列化/反序列化往返测试
-python -m pytest unilabos/test/ -k "serial" -v
-
-# 特别检查以下错误消失：
-# - ValueError: Resource '...' already assigned to deck
-# - KeyError: 'liquid_history' 
-# - 重复 UUID 报错
-```
-
-### 4.2 集成测试（手动）
-
-按以下顺序逐步验证，确保每步正常后再进行下一步：
-
-1. **单独启动 `BatteryStation` 节点**，检查 `CoincellDeck`（现 `YihuaCoinCellDeck`）能否从数据库状态正确还原，无 `already assigned` 报错。
-2. **单独启动 `BioyondElectrolyte` 节点**，检查 `BioyondElectrolyteDeck` 反序列化正常。
-3. **同时启动两个节点**，模拟执行一次分液→扣电的完整跨站转运，确认：
-   - `electrolyte_buffer` 槽位正确接收分液瓶板。
-   - `bottle_rack_6x2` 初始为空，不出现虚拟瓶子。
-4. **重启两个节点**（模拟断电恢复），确认资源树从数据库还原后，`electrolyte_buffer` 中仍持有正确的分液瓶板对象。
-5. **寄存器余量读取**：手动触发 `get_material_remaining("负极壳")`，确认返回值与设备显示一致。
-
----
-
-## 5. 与原计划的差异对照
-
-| 维度 | 原计划 | 本文档新增/修订 |
-|---|---|---|
-| 执行顺序 | 未排序 | 明确 A→B→C→D→E→F 的依赖顺序 |
-| `itemized_carrier.py` | 移除兜底补丁 | 补充：替换为带诊断信息的异常，便于排查 |
-| `bottle_carriers.py` | 提及 `YIHUA_Electrolyte_12VialCarrier` 需修改 | 明确：删除第 54-55 行的瓶子填充循环 |
-| `MaterialPlate` | 提及移除 `fill` 参数 | 说明保留 `fill=False` 路径；整体删除 `fill=True` 分支 |
-| `deck.yaml` | 未提及 | **新增**：该注册文件也需要同步更新类名 |
-| `resource_tracker.py` | 简略描述 | 提供具体的 `setdefault` 预处理代码示例 |
-| 跨站转运 | 描述了问题和方向 | 细化：新增 `electrolyte_buffer` 槽位的具体名称和坐标；修正 `transfer` 目标查找方式 |
-| 验证计划 | 简述目标 | 提供具体测试命令和逐步手动验证流程 |

unilabos/registry/devices/coin_cell_workstation.yaml

@@ -64,12 +64,59 @@ coincellassemblyworkstation_device:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: fun_wuliao_test参数
           type: object
         type: UniLabJsonCommand
+      auto-func_allpack_cmd:
+        feedback: {}
+        goal: {}
+        goal_default:
+          assembly_pressure: 4200
+          assembly_type: 7
+          elec_num: null
+          elec_use_num: null
+          elec_vol: 50
+          file_path: /Users/sml/work
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assembly_pressure:
+                  default: 4200
+                  type: integer
+                assembly_type:
+                  default: 7
+                  type: integer
+                elec_num:
+                  type: string
+                elec_use_num:
+                  type: string
+                elec_vol:
+                  default: 50
+                  type: integer
+                file_path:
+                  default: /Users/sml/work
+                  type: string
+              required:
+              - elec_num
+              - elec_use_num
+              type: object
+            result:
+              type: object
+          required:
+          - goal
+          title: func_allpack_cmd参数
+          type: object
+        type: UniLabJsonCommand
       auto-func_allpack_cmd_simp:
         feedback: {}
         goal: {}
@@ -102,7 +149,7 @@ coincellassemblyworkstation_device:
             goal:
               properties:
                 assembly_pressure:
-                  default: 3200
+                  default: 4200
                   description: 电池压制力(N)
                   type: integer
                 assembly_type:
@@ -118,7 +165,7 @@ coincellassemblyworkstation_device:
                   description: 是否启用压力模式
                   type: boolean
                 dual_drop_first_volume:
-                  default: 0
+                  default: 25
                   description: 二次滴液第一次排液体积(μL)
                   type: integer
                 dual_drop_mode:
@@ -137,7 +184,6 @@ coincellassemblyworkstation_device:
                   description: 电解液瓶数
                   type: string
                 elec_use_num:
-                  default: 5
                   description: 每瓶电解液组装电池数
                   type: string
                 elec_vol:
@@ -145,7 +191,7 @@ coincellassemblyworkstation_device:
                   description: 电解液吸液量(μL)
                   type: integer
                 file_path:
-                  default: D:\UniLabdev\Uni-Lab-OS\unilabos\devices\workstation\coin_cell_assembly
+                  default: /Users/sml/work
                   description: 实验记录保存路径
                   type: string
                 fujipian_juzhendianwei:
@@ -176,7 +222,8 @@ coincellassemblyworkstation_device:
               - elec_num
               - elec_use_num
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: func_allpack_cmd_simp参数
@@ -265,7 +312,8 @@ coincellassemblyworkstation_device:
                   type: boolean
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_device_init_auto_start_combined参数
@@ -307,7 +355,8 @@ coincellassemblyworkstation_device:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_device_stop参数
@@ -332,7 +381,8 @@ coincellassemblyworkstation_device:
                   type: string
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_get_msg_cmd参数
@@ -346,10 +396,12 @@ coincellassemblyworkstation_device:
         handles:
           input:
           - data_key: bottle_num
-            data_source: handle
+            data_source: workflow
             data_type: integer
             handler_key: bottle_count
+            io_type: source
             label: 配液瓶数
+            required: true
         placeholder_keys: {}
         result: {}
         schema:
@@ -384,7 +436,8 @@ coincellassemblyworkstation_device:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_send_finished_cmd参数
@@ -421,7 +474,8 @@ coincellassemblyworkstation_device:
               - assembly_type
               - assembly_pressure
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_send_msg_cmd参数
@@ -477,21 +531,12 @@ coincellassemblyworkstation_device:
         handles:
           input:
           - data_key: elec_num
-            data_source: handle
+            data_source: workflow
             data_type: integer
             handler_key: bottle_count
+            io_type: source
             label: 配液瓶数
-          - data_key: formulations
-            data_source: handle
-            data_type: array
-            handler_key: formulations_input
-            label: 配方信息列表
-          output:
-          - data_key: assembly_data
-            data_source: executor
-            data_type: array
-            handler_key: assembly_data_output
-            label: 扣电组装数据列表
+            required: true
         placeholder_keys: {}
         result: {}
         schema:
@@ -574,7 +619,8 @@ coincellassemblyworkstation_device:
               - elec_num
               - elec_use_num
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: func_sendbottle_allpack_multi参数
@@ -626,31 +672,6 @@ coincellassemblyworkstation_device:
           title: modify_deck_name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-qiming_coin_cell_code:
         feedback: {}
         goal: {}
@@ -698,7 +719,8 @@ coincellassemblyworkstation_device:
               required:
               - fujipian_panshu
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: qiming_coin_cell_code参数
@@ -706,10 +728,6 @@ coincellassemblyworkstation_device:
         type: UniLabJsonCommand
     module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation
     status_types:
-      data_10mm_positive_plate_remaining: float
-      data_12mm_positive_plate_remaining: float
-      data_16mm_positive_plate_remaining: float
-      data_aluminum_foil_remaining: float
       data_assembly_coin_cell_num: int
       data_assembly_pressure: int
       data_assembly_time: float
@@ -717,22 +735,14 @@ coincellassemblyworkstation_device:
       data_axis_y_pos: float
       data_axis_z_pos: float
       data_coin_cell_code: str
-      data_coin_type: int
-      data_current_assembling_count: int
-      data_current_completed_count: int
+      data_coin_num: int
       data_electrolyte_code: str
       data_electrolyte_volume: int
-      data_finished_battery_ng_remaining_capacity: float
-      data_finished_battery_remaining_capacity: float
-      data_flat_washer_remaining: float
       data_glove_box_o2_content: float
       data_glove_box_pressure: float
       data_glove_box_water_content: float
-      data_negative_shell_remaining: float
       data_open_circuit_voltage: float
       data_pole_weight: float
-      data_positive_shell_remaining: float
-      data_spring_washer_remaining: float
       request_rec_msg_status: bool
       request_send_msg_status: bool
       sys_mode: str
@@ -762,14 +772,6 @@ coincellassemblyworkstation_device:
       type: object
     data:
       properties:
-        data_10mm_positive_plate_remaining:
-          type: number
-        data_12mm_positive_plate_remaining:
-          type: number
-        data_16mm_positive_plate_remaining:
-          type: number
-        data_aluminum_foil_remaining:
-          type: number
         data_assembly_coin_cell_num:
           type: integer
         data_assembly_pressure:
@@ -784,38 +786,22 @@ coincellassemblyworkstation_device:
           type: number
         data_coin_cell_code:
           type: string
-        data_coin_type:
-          type: integer
-        data_current_assembling_count:
-          type: integer
-        data_current_completed_count:
+        data_coin_num:
           type: integer
         data_electrolyte_code:
           type: string
         data_electrolyte_volume:
           type: integer
-        data_finished_battery_ng_remaining_capacity:
-          type: number
-        data_finished_battery_remaining_capacity:
-          type: number
-        data_flat_washer_remaining:
-          type: number
         data_glove_box_o2_content:
           type: number
         data_glove_box_pressure:
           type: number
         data_glove_box_water_content:
           type: number
-        data_negative_shell_remaining:
-          type: number
         data_open_circuit_voltage:
           type: number
         data_pole_weight:
           type: number
-        data_positive_shell_remaining:
-          type: number
-        data_spring_washer_remaining:
-          type: number
         request_rec_msg_status:
           type: boolean
         request_send_msg_status:
@@ -825,36 +811,24 @@ coincellassemblyworkstation_device:
         sys_status:
           type: string
       required:
-      - sys_status
-      - sys_mode
-      - request_rec_msg_status
-      - request_send_msg_status
       - data_assembly_coin_cell_num
-      - data_open_circuit_voltage
+      - data_assembly_pressure
+      - data_assembly_time
       - data_axis_x_pos
       - data_axis_y_pos
       - data_axis_z_pos
-      - data_pole_weight
-      - data_assembly_pressure
-      - data_electrolyte_volume
-      - data_coin_type
-      - data_current_assembling_count
-      - data_current_completed_count
       - data_coin_cell_code
+      - data_coin_num
       - data_electrolyte_code
-      - data_glove_box_pressure
+      - data_electrolyte_volume
       - data_glove_box_o2_content
+      - data_glove_box_pressure
       - data_glove_box_water_content
-      - data_10mm_positive_plate_remaining
-      - data_12mm_positive_plate_remaining
-      - data_16mm_positive_plate_remaining
-      - data_aluminum_foil_remaining
-      - data_positive_shell_remaining
-      - data_flat_washer_remaining
-      - data_negative_shell_remaining
-      - data_spring_washer_remaining
-      - data_finished_battery_remaining_capacity
-      - data_finished_battery_ng_remaining_capacity
+      - data_open_circuit_voltage
+      - data_pole_weight
+      - request_rec_msg_status
+      - request_send_msg_status
+      - sys_mode
+      - sys_status
       type: object
-  registry_type: device
   version: 1.0.0

unilabos/registry/resources/battery/bottle_carriers.yaml

@@ -1,12 +0,0 @@
-YIHUA_Electrolyte_12VialCarrier:
-  category:
-  - battery_bottle_carriers
-  class:
-    module: unilabos.resources.battery.bottle_carriers:YIHUA_Electrolyte_12VialCarrier
-    type: pylabrobot
-  description: YIHUA 12-vial electrolyte carrier for coin cell assembly workstation
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0

unilabos/registry/resources/bioyond/YB_bottle.yaml

@@ -1,140 +1,84 @@
-YB_Vial_20mL:
+YB_20ml_fenyeping:
   category:
+  - yb3
   - YB_bottle
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_Vial_20mL
+    module: unilabos.resources.bioyond.YB_bottles:YB_20ml_fenyeping
     type: pylabrobot
-  description: YB_Vial_20mL
+  description: YB_20ml_fenyeping
   handles: []
   icon: ''
   init_param_schema: {}
   version: 1.0.0
-YB_Vial_5mL:
+YB_5ml_fenyeping:
   category:
+  - yb3
   - YB_bottle
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_Vial_5mL
+    module: unilabos.resources.bioyond.YB_bottles:YB_5ml_fenyeping
     type: pylabrobot
-  description: YB_Vial_5mL
+  description: YB_5ml_fenyeping
   handles: []
   icon: ''
   init_param_schema: {}
   version: 1.0.0
-YB_DosingHead_L:
+YB_jia_yang_tou_da:
   category:
+  - yb3
   - YB_bottle
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_DosingHead_L
+    module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da
     type: pylabrobot
-  description: YB_DosingHead_L
+  description: YB_jia_yang_tou_da
   handles: []
   icon: ''
   init_param_schema: {}
   version: 1.0.0
-YB_PrepBottle_60mL:
+YB_pei_ye_da_Bottle:
   category:
+  - yb3
   - YB_bottle
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_PrepBottle_60mL
+    module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_da_Bottle
     type: pylabrobot
-  description: YB_PrepBottle_60mL
+  description: YB_pei_ye_da_Bottle
   handles: []
   icon: ''
   init_param_schema: {}
   version: 1.0.0
-YB_PrepBottle_15mL:
+YB_pei_ye_xiao_Bottle:
   category:
+  - yb3
   - YB_bottle
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_PrepBottle_15mL
+    module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_xiao_Bottle
     type: pylabrobot
-  description: YB_PrepBottle_15mL
+  description: YB_pei_ye_xiao_Bottle
   handles: []
   icon: ''
   init_param_schema: {}
   version: 1.0.0
-YB_Tip_5000uL:
+YB_qiang_tou:
   category:
+  - yb3
   - YB_bottle
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_Tip_5000uL
+    module: unilabos.resources.bioyond.YB_bottles:YB_qiang_tou
     type: pylabrobot
-  description: YB_Tip_5000uL
+  description: YB_qiang_tou
   handles: []
   icon: ''
   init_param_schema: {}
   version: 1.0.0
-YB_Tip_1000uL:
-  category:
-  - YB_bottle
-  class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_Tip_1000uL
-    type: pylabrobot
-  description: YB_Tip_1000uL
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_Tip_50uL:
-  category:
-  - YB_bottle
-  class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_Tip_50uL
-    type: pylabrobot
-  description: YB_Tip_50uL
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_NormalLiq_250mL_Bottle:
+YB_ye_Bottle:
   category:
+  - yb3
   - YB_bottle_carriers
   - YB_bottle
   class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_NormalLiq_250mL_Bottle
+    module: unilabos.resources.bioyond.YB_bottles:YB_ye_Bottle
     type: pylabrobot
-  description: YB_NormalLiq_250mL_Bottle
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_NormalLiq_100mL_Bottle:
-  category:
-  - YB_bottle_carriers
-  - YB_bottle
-  class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_NormalLiq_100mL_Bottle
-    type: pylabrobot
-  description: YB_NormalLiq_100mL_Bottle
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_HighVis_250mL_Bottle:
-  category:
-  - YB_bottle_carriers
-  - YB_bottle
-  class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_HighVis_250mL_Bottle
-    type: pylabrobot
-  description: YB_HighVis_250mL_Bottle
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_HighVis_100mL_Bottle:
-  category:
-  - YB_bottle_carriers
-  - YB_bottle
-  class:
-    module: unilabos.resources.bioyond.YB_bottles:YB_HighVis_100mL_Bottle
-    type: pylabrobot
-  description: YB_HighVis_100mL_Bottle
+  description: YB_ye_Bottle
   handles: []
   icon: ''
   init_param_schema: {}

unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml

@@ -1,29 +1,42 @@
-YB_Vial_20mL_Carrier:
+YB_100ml_yeti:
   category:
+  - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_Vial_20mL_Carrier
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_100ml_yeti
     type: pylabrobot
-  description: YB_Vial_20mL_Carrier
+  description: YB_100ml_yeti
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
-YB_Vial_5mL_Carrier:
+YB_20ml_fenyepingban:
   category:
+  - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_Vial_5mL_Carrier
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_20ml_fenyepingban
     type: pylabrobot
-  description: YB_Vial_5mL_Carrier
+  description: YB_20ml_fenyepingban
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+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
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_6StockCarrier:
   category:
+  - yb3
   - YB_bottle_carriers
   class:
     module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6StockCarrier
@@ -32,10 +45,10 @@ YB_6StockCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_6VialCarrier:
   category:
+  - yb3
   - YB_bottle_carriers
   class:
     module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6VialCarrier
@@ -44,137 +57,112 @@ YB_6VialCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
-YB_DosingHead_L_Carrier:
+YB_gao_nian_ye_Bottle:
   category:
+  - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_DosingHead_L_Carrier
+    module: unilabos.resources.bioyond.YB_bottles:YB_gao_nian_ye_Bottle
     type: pylabrobot
-  description: YB_DosingHead_L_Carrier
+  description: YB_gao_nian_ye_Bottle
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
-YB_PrepBottle_60mL_Carrier:
+YB_gaonianye:
   category:
+  - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_PrepBottle_60mL_Carrier
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_gaonianye
     type: pylabrobot
-  description: YB_PrepBottle_60mL_Carrier
+  description: YB_gaonianye
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
-YB_PrepBottle_15mL_Carrier:
+YB_jia_yang_tou_da_Carrier:
   category:
+  - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_PrepBottle_15mL_Carrier
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_jia_yang_tou_da_Carrier
     type: pylabrobot
-  description: YB_PrepBottle_15mL_Carrier
+  description: YB_jia_yang_tou_da_Carrier
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
-YB_TipRack_Mixed:
+YB_peiyepingdaban:
   category:
+  - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_TipRack_Mixed
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingdaban
     type: pylabrobot
-  description: YB_TipRack_Mixed
+  description: YB_peiyepingdaban
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
-YB_TipRack_5000uL:
+YB_peiyepingxiaoban:
   category:
+  - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_TipRack_5000uL
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingxiaoban
     type: pylabrobot
-  description: YB_TipRack_5000uL
+  description: YB_peiyepingxiaoban
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
-YB_TipRack_50uL:
+YB_qiang_tou_he:
   category:
+  - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_TipRack_50uL
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_qiang_tou_he
     type: pylabrobot
-  description: YB_TipRack_50uL
+  description: YB_qiang_tou_he
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
-YB_Adapter_60mL:
+YB_shi_pei_qi_kuai:
   category:
+  - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_Adapter_60mL
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_shi_pei_qi_kuai
     type: pylabrobot
-  description: YB_Adapter_60mL
+  description: YB_shi_pei_qi_kuai
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
-YB_NormalLiq_250mL_Carrier:
+YB_ye:
   category:
+  - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_NormalLiq_250mL_Carrier
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_ye
     type: pylabrobot
-  description: YB_NormalLiq_250mL_Carrier
+  description: YB_ye_Bottle_Carrier
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
-YB_NormalLiq_100mL_Carrier:
+YB_ye_100ml_Bottle:
   category:
+  - yb3
   - YB_bottle_carriers
   class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_NormalLiq_100mL_Carrier
+    module: unilabos.resources.bioyond.YB_bottles:YB_ye_100ml_Bottle
     type: pylabrobot
-  description: YB_NormalLiq_100mL_Carrier
+  description: YB_ye_100ml_Bottle
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
-YB_HighVis_250mL_Carrier:
-  category:
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_HighVis_250mL_Carrier
-    type: pylabrobot
-  description: YB_HighVis_250mL_Carrier
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-YB_HighVis_100mL_Carrier:
-  category:
-  - YB_bottle_carriers
-  class:
-    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_HighVis_100mL_Carrier
-    type: pylabrobot
-  description: YB_HighVis_100mL_Carrier
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0

unilabos/registry/resources/bioyond/deck.yaml

@@ -20,22 +20,22 @@ BIOYOND_PolymerReactionStation_Deck:
   icon: 反应站.webp
   init_param_schema: {}
   version: 1.0.0
-BioyondElectrolyteDeck:
+BIOYOND_YB_Deck:
   category:
   - deck
   class:
-    module: unilabos.resources.bioyond.decks:bioyond_electrolyte_deck
+    module: unilabos.resources.bioyond.decks:YB_Deck
     type: pylabrobot
   description: BIOYOND ElectrolyteFormulationStation Deck
   handles: []
   icon: 配液站.webp
   init_param_schema: {}
   version: 1.0.0
-YihuaCoinCellDeck:
+CoincellDeck:
   category:
   - deck
   class:
-    module: unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:yihua_coin_cell_deck
+    module: unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:YH_Deck
     type: pylabrobot
   description: YIHUA CoinCellAssembly Deck
   handles: []

unilabos/resources/battery/bottle_carriers.py

@@ -1,6 +1,9 @@
 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
 
 
@@ -48,5 +51,6 @@ def YIHUA_Electrolyte_12VialCarrier(name: str) -> BottleCarrier:
     carrier.num_items_x = 2
     carrier.num_items_y = 6
     carrier.num_items_z = 1
-    # 载架初始化为空，瓶子由实际转运操作填入，避免反序列化时重复 assign
+    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

@@ -135,7 +135,6 @@ class BatteryState(TypedDict):
     open_circuit_voltage: float
     assembly_pressure: float
     electrolyte_volume: float
-    pole_weight: float  # 极片称重 (mg)
 
     info: Optional[str]  # 附加信息
 
@@ -180,7 +179,6 @@ class Battery(Container):
             open_circuit_voltage=0.0,
             assembly_pressure=0.0,
             electrolyte_volume=0.0,
-            pole_weight=0.0,
             info=None
         )
 

unilabos/resources/battery/magazine.py

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

unilabos/resources/bioyond/YB_bottle_carriers.py

@@ -2,18 +2,15 @@ from pylabrobot.resources import create_homogeneous_resources, Coordinate, Resou
 
 from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
 from unilabos.resources.bioyond.YB_bottles import (
-    YB_DosingHead_L,
-    YB_NormalLiq_250mL_Bottle,
-    YB_NormalLiq_100mL_Bottle,
-    YB_HighVis_250mL_Bottle,
-    YB_HighVis_100mL_Bottle,
-    YB_Vial_5mL,
-    YB_Vial_20mL,
-    YB_PrepBottle_15mL,
-    YB_PrepBottle_60mL,
-    YB_Tip_5000uL,
-    YB_Tip_1000uL,
-    YB_Tip_50uL,
+    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
 
@@ -209,7 +206,7 @@ def YB_6VialCarrier(name: str) -> BottleCarrier:
     return carrier
 
 # 1瓶载架 - 单个中央位置
-def YB_NormalLiq_250mL_Carrier(name: str) -> BottleCarrier:
+def YB_ye(name: str) -> BottleCarrier:
     
     # 载架尺寸 (mm)
     carrier_size_x = 127.8
@@ -236,17 +233,17 @@ def YB_NormalLiq_250mL_Carrier(name: str) -> BottleCarrier:
             resource_size_y=beaker_diameter,
             name_prefix=name,
         ),
-        model="YB_NormalLiq_250mL_Carrier",
+        model="YB_ye",
     )
     carrier.num_items_x = 1
     carrier.num_items_y = 1
     carrier.num_items_z = 1
-    carrier[0] = YB_NormalLiq_250mL_Bottle(f"{name}_flask_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_HighVis_250mL_Carrier(name: str) -> BottleCarrier:
+def YB_gaonianye(name: str) -> BottleCarrier:
     
     # 载架尺寸 (mm)
     carrier_size_x = 127.8
@@ -273,17 +270,17 @@ def YB_HighVis_250mL_Carrier(name: str) -> BottleCarrier:
             resource_size_y=beaker_diameter,
             name_prefix=name,
         ),
-        model="YB_HighVis_250mL_Carrier",
+        model="YB_gaonianye",
     )
     carrier.num_items_x = 1
     carrier.num_items_y = 1
     carrier.num_items_z = 1
-    carrier[0] = YB_HighVis_250mL_Bottle(f"{name}_flask_1")
+    carrier[0] = YB_gao_nian_ye_Bottle(f"{name}_flask_1")
     return carrier
 
 
-# 100mL普通液瓶载架 - 单个中央位置
-def YB_NormalLiq_100mL_Carrier(name: str) -> BottleCarrier:
+# 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
@@ -310,52 +307,16 @@ def YB_NormalLiq_100mL_Carrier(name: str) -> BottleCarrier:
             resource_size_y=beaker_diameter,
             name_prefix=name,
         ),
-        model="YB_NormalLiq_100mL_Carrier",
+        model="YB_100ml_yeti",
     )
     carrier.num_items_x = 1
     carrier.num_items_y = 1
     carrier.num_items_z = 1
-    carrier[0] = YB_NormalLiq_100mL_Bottle(f"{name}_flask_1")
+    carrier[0] = YB_ye_100ml_Bottle(f"{name}_flask_1")
     return carrier
 
-# 100mL高粘液瓶载架 - 单个中央位置
-def YB_HighVis_100mL_Carrier(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_HighVis_100mL_Carrier",
-    )
-    carrier.num_items_x = 1
-    carrier.num_items_y = 1
-    carrier.num_items_z = 1
-    carrier[0] = YB_HighVis_100mL_Bottle(f"{name}_flask_1")
-    return carrier
-
-# 5mL分液瓶板 - 4x2布局，8个位置
-def YB_Vial_5mL_Carrier(name: str) -> BottleCarrier:
+# 5ml分液瓶板 - 4x2布局，8个位置
+def YB_5ml_fenyepingban(name: str) -> BottleCarrier:
     
 
     # 载架尺寸 (mm)
@@ -394,18 +355,18 @@ def YB_Vial_5mL_Carrier(name: str) -> BottleCarrier:
         size_y=carrier_size_y,
         size_z=carrier_size_z,
         sites=sites,
-        model="YB_Vial_5mL_Carrier",
+        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_Vial_5mL(f"{name}_vial_{ordering[i]}")
+        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_Vial_20mL_Carrier(name: str) -> BottleCarrier:
+# 20ml分液瓶板 - 4x2布局，8个位置
+def YB_20ml_fenyepingban(name: str) -> BottleCarrier:
 
 
     # 载架尺寸 (mm)
@@ -444,18 +405,18 @@ def YB_Vial_20mL_Carrier(name: str) -> BottleCarrier:
         size_y=carrier_size_y,
         size_z=carrier_size_z,
         sites=sites,
-        model="YB_Vial_20mL_Carrier",
+        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_Vial_20mL(f"{name}_vial_{ordering[i]}")
+        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_PrepBottle_15mL_Carrier(name: str) -> BottleCarrier:
+def YB_peiyepingxiaoban(name: str) -> BottleCarrier:
     
 
     # 载架尺寸 (mm)
@@ -494,19 +455,19 @@ def YB_PrepBottle_15mL_Carrier(name: str) -> BottleCarrier:
         size_y=carrier_size_y,
         size_z=carrier_size_z,
         sites=sites,
-        model="YB_PrepBottle_15mL_Carrier",
+        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_PrepBottle_15mL(f"{name}_bottle_{ordering[i]}")
+        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_PrepBottle_60mL_Carrier(name: str) -> BottleCarrier:
+def YB_peiyepingdaban(name: str) -> BottleCarrier:
 
     # 载架尺寸 (mm)
     carrier_size_x = 127.8
@@ -544,18 +505,18 @@ def YB_PrepBottle_60mL_Carrier(name: str) -> BottleCarrier:
         size_y=carrier_size_y,
         size_z=carrier_size_z,
         sites=sites,
-        model="YB_PrepBottle_60mL_Carrier",
+        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_PrepBottle_60mL(f"{name}_bottle_{ordering[i]}")
+        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_DosingHead_L_Carrier(name: str) -> BottleCarrier:
+def YB_jia_yang_tou_da_Carrier(name: str) -> BottleCarrier:
     
     # 载架尺寸 (mm)
     carrier_size_x = 127.8
@@ -593,16 +554,16 @@ def YB_DosingHead_L_Carrier(name: str) -> BottleCarrier:
         size_y=carrier_size_y,
         size_z=carrier_size_z,
         sites=sites,
-        model="YB_DosingHead_L_Carrier",
+        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_DosingHead_L(f"{name}_head_1")
+    carrier[0] = YB_jia_yang_tou_da(f"{name}_head_1")
     return carrier
 
 
-def YB_Adapter_60mL(name: str) -> BottleCarrier:
+def YB_shi_pei_qi_kuai(name: str) -> BottleCarrier:
     """适配器块 - 单个中央位置"""
 
     # 载架尺寸 (mm)
@@ -630,7 +591,7 @@ def YB_Adapter_60mL(name: str) -> BottleCarrier:
             resource_size_y=adapter_diameter,
             name_prefix=name,
         ),
-        model="YB_Adapter_60mL",
+        model="YB_shi_pei_qi_kuai",
     )
     carrier.num_items_x = 1
     carrier.num_items_y = 1
@@ -639,7 +600,7 @@ def YB_Adapter_60mL(name: str) -> BottleCarrier:
     return carrier
 
 
-def YB_TipRack_50uL(name: str) -> BottleCarrier:
+def YB_qiang_tou_he(name: str) -> BottleCarrier:
     """枪头盒 - 8x12布局，96个位置"""
 
     # 载架尺寸 (mm)
@@ -648,9 +609,9 @@ def YB_TipRack_50uL(name: str) -> BottleCarrier:
     carrier_size_z = 55.0
 
     # 枪头尺寸
-    tip_diameter = 7.0
-    tip_spacing_x = 7.5  # X方向间距
-    tip_spacing_y = 7.5  # Y方向间距
+    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
@@ -678,7 +639,7 @@ def YB_TipRack_50uL(name: str) -> BottleCarrier:
         size_y=carrier_size_y,
         size_z=carrier_size_z,
         sites=sites,
-        model="YB_TipRack_50uL",
+        model="YB_qiang_tou_he",
     )
     carrier.num_items_x = 12
     carrier.num_items_y = 8
@@ -687,182 +648,6 @@ def YB_TipRack_50uL(name: str) -> BottleCarrier:
     for i in range(96):
         row = chr(65 + i // 12)  # A-H
         col = (i % 12) + 1  # 1-12
-        carrier[i] = YB_Tip_50uL(f"{name}_tip_{row}{col}")
-    return carrier
-
-
-def YB_TipRack_5000uL(name: str) -> BottleCarrier:
-    """枪头盒 - 4x6布局，24个位置"""
-
-    # 载架尺寸 (mm)
-    carrier_size_x = 127.8
-    carrier_size_y = 85.5
-    carrier_size_z = 95.0
-
-    # 枪头尺寸
-    tip_diameter = 16.0
-    tip_spacing_x = 16.5  # X方向间距
-    tip_spacing_y = 16.5  # Y方向间距
-
-    # 计算起始位置 (居中排列)
-    start_x = (carrier_size_x - (6 - 1) * tip_spacing_x - tip_diameter) / 2
-    start_y = (carrier_size_y - (4 - 1) * tip_spacing_y - tip_diameter) / 2
-
-    sites = create_ordered_items_2d(
-        klass=ResourceHolder,
-        num_items_x=6,
-        num_items_y=4,
-        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_TipRack_5000uL",
-    )
-    carrier.num_items_x = 6
-    carrier.num_items_y = 4
-    carrier.num_items_z = 1
-    # 创建24个枪头
-    for i in range(24):
-        row = chr(65 + i // 6)  # A-D
-        col = (i % 6) + 1  # 1-6
-        carrier[i] = YB_Tip_5000uL(f"{name}_tip_{row}{col}")
-    return carrier
-
-
-
-def YB_TipRack_Mixed(name: str) -> BottleCarrier:
-    """混合枪头盒 - 复杂布局
-    上层: 2x8空位（原50uL枪头位置，现空余）
-    中层: 4x4布局，放5000uL枪头
-    下层: 2x8布局，放1000uL枪头
-    """
-
-    # 载架尺寸 (mm)
-    carrier_size_x = 127.8
-    carrier_size_y = 85.5
-    carrier_size_z = 95.0
-
-    # 各类枪头的尺寸参数
-    tip_5000_diameter = 16.0
-    tip_5000_spacing_x = 16.5
-    tip_5000_spacing_y = 16.5
-    
-    tip_1000_diameter = 7.0
-    tip_1000_spacing_x = 7.5
-    tip_1000_spacing_y = 7.5
-
-    # 空位尺寸（上层2x8，原50uL位置）
-    empty_diameter = 7.0
-    empty_spacing_x = 7.5
-    empty_spacing_y = 7.5
-
-    # 计算各层的起始位置
-    # 上层空位 (2x8)
-    empty_top_start_x = (carrier_size_x - (8 - 1) * empty_spacing_x - empty_diameter) / 2
-    empty_top_start_y = 5.0
-    
-    # 中层5000uL (4x4)
-    tip_5000_start_x = (carrier_size_x - (4 - 1) * tip_5000_spacing_x - tip_5000_diameter) / 2
-    tip_5000_start_y = empty_top_start_y + 2 * empty_spacing_y + 5.0
-    
-    # 下层1000uL (2x8)
-    tip_1000_start_x = (carrier_size_x - (8 - 1) * tip_1000_spacing_x - tip_1000_diameter) / 2
-    tip_1000_start_y = tip_5000_start_y + 4 * tip_5000_spacing_y + 5.0
-
-    sites = {}
-    
-    # 创建上层空位 (2x8) - 不创建实际的枪头对象
-    empty_top_sites = create_ordered_items_2d(
-        klass=ResourceHolder,
-        num_items_x=8,
-        num_items_y=2,
-        dx=empty_top_start_x,
-        dy=empty_top_start_y,
-        dz=5.0,
-        item_dx=empty_spacing_x,
-        item_dy=empty_spacing_y,
-        size_x=empty_diameter,
-        size_y=empty_diameter,
-        size_z=carrier_size_z,
-    )
-    # 添加空位，索引 0-15
-    for k, v in empty_top_sites.items():
-        v.name = f"{name}_empty_top_{v.name}"
-        sites[k] = v
-    
-    # 创建中层5000uL枪头位 (4x4)，索引 16-31
-    tip_5000_sites = create_ordered_items_2d(
-        klass=ResourceHolder,
-        num_items_x=4,
-        num_items_y=4,
-        dx=tip_5000_start_x,
-        dy=tip_5000_start_y,
-        dz=15.0,
-        item_dx=tip_5000_spacing_x,
-        item_dy=tip_5000_spacing_y,
-        size_x=tip_5000_diameter,
-        size_y=tip_5000_diameter,
-        size_z=carrier_size_z,
-    )
-    for i, (k, v) in enumerate(tip_5000_sites.items()):
-        v.name = f"{name}_5000_{v.name}"
-        sites[16 + i] = v
-    
-    # 创建下层1000uL枪头位 (2x8)，索引 32-47
-    tip_1000_sites = create_ordered_items_2d(
-        klass=ResourceHolder,
-        num_items_x=8,
-        num_items_y=2,
-        dx=tip_1000_start_x,
-        dy=tip_1000_start_y,
-        dz=25.0,
-        item_dx=tip_1000_spacing_x,
-        item_dy=tip_1000_spacing_y,
-        size_x=tip_1000_diameter,
-        size_y=tip_1000_diameter,
-        size_z=carrier_size_z,
-    )
-    for i, (k, v) in enumerate(tip_1000_sites.items()):
-        v.name = f"{name}_1000_{v.name}"
-        sites[32 + i] = v
-
-    carrier = BottleCarrier(
-        name=name,
-        size_x=carrier_size_x,
-        size_y=carrier_size_y,
-        size_z=carrier_size_z,
-        sites=sites,
-        model="YB_TipRack_Mixed",
-    )
-    carrier.num_items_x = 8  # 最大宽度
-    carrier.num_items_y = 8  # 总行数 (2+4+2)
-    carrier.num_items_z = 1
-    
-    # 为5000uL枪头创建实例 (16个)，对应索引 16-31
-    for i in range(16):
-        row = chr(65 + i // 4)  # A-D
-        col = (i % 4) + 1  # 1-4
-        carrier[16 + i] = YB_Tip_5000uL(f"{name}_tip5000_{row}{col}")
-    
-    # 为1000uL枪头创建实例 (16个)，对应索引 32-47
-    for i in range(16):
-        row = chr(65 + i // 8)  # A-B
-        col = (i % 8) + 1  # 1-8
-        carrier[32 + i] = YB_Tip_1000uL(f"{name}_tip1000_{row}{col}")
-    
+        carrier[i] = YB_qiang_tou(f"{name}_tip_{row}{col}")
     return carrier
 

unilabos/resources/bioyond/YB_bottles.py

@@ -1,7 +1,7 @@
 from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
 # 工厂函数
 """加样头（大）"""
-def YB_DosingHead_L(
+def YB_jia_yang_tou_da(
     name: str,
     diameter: float = 20.0,
     height: float = 100.0,
@@ -15,11 +15,11 @@ def YB_DosingHead_L(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="YB_DosingHead_L",
+        model="YB_jia_yang_tou_da",
     )
 
-"""250mL普通液"""
-def YB_NormalLiq_250mL_Bottle(
+"""液1x1"""
+def YB_ye_Bottle(
     name: str,
     diameter: float = 40.0,
     height: float = 70.0,
@@ -33,105 +33,87 @@ def YB_NormalLiq_250mL_Bottle(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="YB_NormalLiq_250mL_Bottle",
+        model="YB_ye_Bottle",
     )
 
-"""100mL普通液"""
-def YB_NormalLiq_100mL_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普通液瓶"""
+    """创建100ml液体瓶"""
     return Bottle(
         name=name,
         diameter=diameter,
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="YB_NormalLiq_100mL_Bottle",
+        model="YB_100ml_yeti",
     )
 
-"""100mL高粘液"""
-def YB_HighVis_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高粘液瓶"""
-    return Bottle(
-        name=name,
-        diameter=diameter,
-        height=height,
-        max_volume=max_volume,
-        barcode=barcode,
-        model="YB_HighVis_100mL_Bottle",
-    )
-
-"""250mL高粘液"""
-def YB_HighVis_250mL_Bottle(
+"""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250mL高粘液瓶"""
+    """创建高粘液瓶"""
     return Bottle(
         name=name,
         diameter=diameter,
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="YB_HighVis_250mL_Bottle",
+        model="High_Viscosity_Liquid",
     )
 
-"""5mL分液瓶"""
-def YB_Vial_5mL(
+"""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"""
+    """创建5ml分液瓶"""
     return Bottle(
         name=name,
         diameter=diameter,
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="YB_Vial_5mL",
+        model="YB_5ml_fenyeping",
     )
 
-"""20mL分液瓶"""
-def YB_Vial_20mL(
+"""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"""
+    """创建20ml分液瓶"""
     return Bottle(
         name=name,
         diameter=diameter,
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="YB_Vial_20mL",
+        model="YB_20ml_fenyeping",
     )
 
 """配液瓶(小)"""
-def YB_PrepBottle_15mL(
+def YB_pei_ye_xiao_Bottle(
     name: str,
     diameter: float = 35.0,
     height: float = 60.0,
-    max_volume: float = 15000.0,  # 15mL
+    max_volume: float = 30000.0,  # 30mL
     barcode: str = None,
 ) -> Bottle:
     """创建配液瓶(小)"""
@@ -141,15 +123,15 @@ def YB_PrepBottle_15mL(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="YB_PrepBottle_15mL",
+        model="YB_pei_ye_xiao_Bottle",
     )
 
 """配液瓶(大)"""
-def YB_PrepBottle_60mL(
+def YB_pei_ye_da_Bottle(
     name: str,
     diameter: float = 55.0,
     height: float = 100.0,
-    max_volume: float = 60000.0,  # 60mL
+    max_volume: float = 150000.0,  # 150mL
     barcode: str = None,
 ) -> Bottle:
     """创建配液瓶(大)"""
@@ -159,29 +141,11 @@ def YB_PrepBottle_60mL(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="YB_PrepBottle_60mL",
+        model="YB_pei_ye_da_Bottle",
     )
 
-"""5000uL枪头"""
-def YB_Tip_5000uL(
-    name: str,
-    diameter: float = 10.0,
-    height: float = 50.0,
-    max_volume: float = 5000.0,  # 5mL
-    barcode: str = None,
-) -> Bottle:
-    """创建枪头"""
-    return Bottle(
-        name=name,
-        diameter=diameter,
-        height=height,
-        max_volume=max_volume,
-        barcode=barcode,
-        model="YB_Tip_5000uL",
-    ) 
-
-"""1000uL枪头"""
-def YB_Tip_1000uL(
+"""枪头"""
+def YB_qiang_tou(
     name: str,
     diameter: float = 10.0,
     height: float = 50.0,
@@ -195,23 +159,5 @@ def YB_Tip_1000uL(
         height=height,
         max_volume=max_volume,
         barcode=barcode,
-        model="YB_Tip_1000uL",
+        model="YB_qiang_tou",
     )    
-
-"""50uL枪头"""
-def YB_Tip_50uL(
-    name: str,
-    diameter: float = 10.0,
-    height: float = 50.0,
-    max_volume: float = 50.0,  # 50uL
-    barcode: str = None,
-) -> Bottle:
-    """创建枪头"""
-    return Bottle(
-        name=name,
-        diameter=diameter,
-        height=height,
-        max_volume=max_volume,
-        barcode=barcode,
-        model="YB_Tip_50uL",
-    ) 

unilabos/resources/bioyond/decks.py

@@ -1,3 +1,4 @@
+from os import name
 from pylabrobot.resources import Deck, Coordinate, Rotation
 
 from unilabos.resources.bioyond.YB_warehouses import (
@@ -33,8 +34,11 @@ class BIOYOND_PolymerReactionStation_Deck(Deck):
         size_y: float = 1080.0,
         size_z: float = 1500.0,
         category: str = "deck",
+        setup: bool = False
     ) -> None:
         super().__init__(name=name, size_x=2700.0, size_y=1080.0, size_z=1500.0)
+        if setup:
+            self.setup()
 
     def setup(self) -> None:
         # 添加仓库
@@ -62,7 +66,6 @@ class BIOYOND_PolymerReactionStation_Deck(Deck):
         for warehouse_name, warehouse in self.warehouses.items():
             self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
 
-
 class BIOYOND_PolymerPreparationStation_Deck(Deck):
     def __init__(
         self,
@@ -71,8 +74,11 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck):
         size_y: float = 1080.0,
         size_z: float = 1500.0,
         category: str = "deck",
+        setup: bool = False
     ) -> None:
         super().__init__(name=name, size_x=2700.0, size_y=1080.0, size_z=1500.0)
+        if setup:
+            self.setup()
 
     def setup(self) -> None:
         # 添加仓库 - 配液站的3个堆栈，使用Bioyond系统中的实际名称
@@ -95,8 +101,7 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck):
         for warehouse_name, warehouse in self.warehouses.items():
             self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
 
-
-class BioyondElectrolyteDeck(Deck):
+class BIOYOND_YB_Deck(Deck):
     def __init__(
         self,
         name: str = "YB_Deck",
@@ -104,7 +109,7 @@ class BioyondElectrolyteDeck(Deck):
         size_y: float = 1400.0,
         size_z: float = 2670.0,
         category: str = "deck",
-        setup: bool = False,
+        setup: bool = False
     ) -> None:
         super().__init__(name=name, size_x=4150.0, size_y=1400.0, size_z=2670.0)
         if setup:
@@ -113,8 +118,8 @@ class BioyondElectrolyteDeck(Deck):
     def setup(self) -> None:
         # 添加仓库
         self.warehouses = {
-            "自动堆栈-左": bioyond_warehouse_2x2x1("自动堆栈-左"),  # 2行×2列
-            "自动堆栈-右": bioyond_warehouse_2x2x1("自动堆栈-右"),  # 2行×2列
+            "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
             "加样头堆栈左": bioyond_warehouse_10x1x1("加样头堆栈左"),
@@ -128,34 +133,29 @@ class BioyondElectrolyteDeck(Deck):
         }
         # warehouse 的位置
         self.warehouse_locations = {
-            "自动堆栈-左": Coordinate(-150.0, 1142.0, 0.0),
-            "自动堆栈-右": Coordinate(4160.0, 1142.0, 0.0),
-            "手动传递窗左": Coordinate(-150.0, 423.0, 0.0),
-            "手动传递窗右": Coordinate(4160.0, 423.0, 0.0),
-            "加样头堆栈左": Coordinate(385.0, 0, 0.0),
-            "加样头堆栈右": Coordinate(2187.0, 0, 0.0),
+            "321窗口": Coordinate(-150.0, 158.0, 0.0),
+            "43窗口": Coordinate(4160.0, 158.0, 0.0),
+            "手动传递窗左": Coordinate(-150.0, 877.0, 0.0),
+            "手动传递窗右": Coordinate(4160.0, 877.0, 0.0),
+            "加样头堆栈左": Coordinate(385.0, 1300.0, 0.0),
+            "加样头堆栈右": Coordinate(2187.0, 1300.0, 0.0),
 
-            "15ml配液堆栈左": Coordinate(749.0, 945.0, 0.0),
-            "母液加样右": Coordinate(2152.0, 967.0, 0.0),
-            "大瓶母液堆栈左": Coordinate(1164.0, 624.0, 0.0),
-            "大瓶母液堆栈右": Coordinate(2717.0, 624.0, 0.0),
-            "2号手套箱内部堆栈": Coordinate(-800, 800.0, 0.0),  # 新增：位置需根据实际硬件调整
+            "15ml配液堆栈左": Coordinate(749.0, 355.0, 0.0),
+            "母液加样右": Coordinate(2152.0, 333.0, 0.0),
+            "大瓶母液堆栈左": Coordinate(1164.0, 676.0, 0.0),
+            "大瓶母液堆栈右": Coordinate(2717.0, 676.0, 0.0),
+            "2号手套箱内部堆栈": Coordinate(-800, -500.0, 0.0),  # 新增：位置需根据实际硬件调整
         }
 
         for warehouse_name, warehouse in self.warehouses.items():
             self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
 
-
-# 向后兼容别名，日后废弃
-BIOYOND_YB_Deck = BioyondElectrolyteDeck
+def YB_Deck(name: str) -> Deck:
+    by=BIOYOND_YB_Deck(name=name)
+    by.setup()
+    return by
+
 
 
-def bioyond_electrolyte_deck(name: str) -> BioyondElectrolyteDeck:
-    deck = BioyondElectrolyteDeck(name=name)
-    deck.setup()
-    return deck
 
 
-# 向后兼容别名，日后废弃
-def YB_Deck(name: str) -> BioyondElectrolyteDeck:
-    return bioyond_electrolyte_deck(name)

unilabos/resources/graphio.py

@@ -797,10 +797,9 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
                     bottle = plr_material[number] = initialize_resource(
                         {"name": f'{detail["name"]}_{number}', "class": reverse_type_mapping[typeName][0]}, resource_type=ResourcePLR
                     )
-                    if hasattr(bottle, 'tracker') and bottle.tracker is not None:
-                        bottle.tracker.liquids = [
-                            (detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
-                        ]
+                    bottle.tracker.liquids = [
+                        (detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
+                    ]
                     bottle.code = detail.get("code", "")
                     logger.debug(f"  └─ [子物料] {detail['name']} → {plr_material.name}[{number}] (类型:{typeName})")
                 else:
@@ -809,10 +808,9 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
             # 只对有 capacity 属性的容器（液体容器）处理液体追踪
             if hasattr(plr_material, 'capacity'):
                 bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
-                if hasattr(bottle, 'tracker') and bottle.tracker is not None:
-                    bottle.tracker.liquids = [
-                        (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
-                    ]
+                bottle.tracker.liquids = [
+                    (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
+                ]
 
         plr_materials.append(plr_material)
 

unilabos/resources/itemized_carrier.py

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

unilabos/resources/resource_tracker.py

@@ -612,31 +612,6 @@ class ResourceTreeSet(object):
                 d["model"] = res.config.get("model", None)
             return d
 
-        def _deduplicate_plr_dict(d: dict, _seen: set = None) -> dict:
-            """递归去除 children 中同名重复节点（全树范围、保留首次出现）。
-
-            根本原因：同一槽位被 sync_from_external（Bioyond 同步）重复写入，
-            导致数据库中同一 WareHouse 下存在多条同名 BottleCarrier 记录（不同 UUID）。
-            PLR 的 _check_naming_conflicts 在全树范围检查名称唯一性，
-            重复名称会在 deserialize 时抛出 ValueError，导致节点启动失败。
-            此函数在 sub_cls.deserialize 前预先清理，保证名称唯一。
-            """
-            if _seen is None:
-                _seen = set()
-            children = d.get("children", [])
-            deduped = []
-            for child in children:
-                child = _deduplicate_plr_dict(child, _seen)
-                cname = child.get("name")
-                if cname not in _seen:
-                    _seen.add(cname)
-                    deduped.append(child)
-                else:
-                    logger.warning(
-                        f"[资源树去重] 发现重复资源名称 '{cname}'，跳过重复项（历史脏数据）"
-                    )
-            return {**d, "children": deduped}
-
         plr_resources = []
         tracker = DeviceNodeResourceTracker()
 
@@ -647,8 +622,6 @@ class ResourceTreeSet(object):
             collect_node_data(tree.root_node, name_to_uuid, all_states, name_to_extra)
             has_model = tree.root_node.res_content.type != "deck"
             plr_dict = node_to_plr_dict(tree.root_node, has_model)
-            plr_dict = _deduplicate_plr_dict(plr_dict)
-
             try:
                 sub_cls = find_subclass(plr_dict["type"], PLRResource)
                 if skip_devices and plr_dict["type"] == "device":
@@ -667,14 +640,6 @@ class ResourceTreeSet(object):
 
                 location = cast(Coordinate, deserialize(plr_dict["location"]))
                 plr_resource.location = location
-
-                # 预填 Container 类型资源在新版 PLR 中要求必须存在的键，
-                # 防止旧数据库状态缺失这些键时 load_all_state 抛出 KeyError。
-                for state in all_states.values():
-                    if isinstance(state, dict):
-                        state.setdefault("liquid_history", [])
-                        state.setdefault("pending_liquids", {})
-
                 plr_resource.load_all_state(all_states)
                 # 使用 DeviceNodeResourceTracker 设置 UUID 和 Extra
                 tracker.loop_set_uuid(plr_resource, name_to_uuid)

unilabos/resources/warehouse.py

@@ -41,9 +41,8 @@ def warehouse_factory(
 
                 # 根据 layout 决定 y 坐标计算
                 if layout == "row-major":
-                    # 行优先：row=0(A行) 应该显示在上方
-                    # 前端现在 y 越大越靠上，所以 row=0 对应最大的 y
-                    y = dy + (num_items_y - row - 1) * item_dy
+                    # 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

unilabos/ros/nodes/base_device_node.py

@@ -1971,15 +1971,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
         mapped_plr_resources = []
         for uuid in uuids_list:
-            found = None
             for plr_resource in figured_resources:
                 r = self.resource_tracker.loop_find_with_uuid(plr_resource, uuid)
-                if r is not None:
-                    found = r
-                    break
-            if found is None:
-                raise Exception(f"未能在已解析的资源树中找到 uuid={uuid} 对应的资源")
-            mapped_plr_resources.append(found)
+                mapped_plr_resources.append(r)
+                break
 
         return mapped_plr_resources
 
@@ -2340,4 +2335,4 @@ class DeviceInfoType(TypedDict):
     status_publishers: Dict[str, PropertyPublisher]
     actions: Dict[str, ActionServer]
     hardware_interface: Dict[str, Any]
-    base_node_instance: BaseROS2DeviceNode
+    base_node_instance: BaseROS2DeviceNode

unilabos/test/experiments/yibin_electrolyte_config_example.json

@@ -13,7 +13,7 @@
                 "deck": {
                     "data": {
                         "_resource_child_name": "YB_Bioyond_Deck",
-                        "_resource_type": "unilabos.resources.bioyond.decks:BioyondElectrolyteDeck"
+                        "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_YB_Deck"
                     }
                 },
                 "protocol_type": [],
@@ -103,14 +103,15 @@
             "children": [],
             "parent": "bioyond_cell_workstation",
             "type": "deck",
-            "class": "BioyondElectrolyteDeck",
+            "class": "BIOYOND_YB_Deck",
             "position": {
                 "x": 0,
                 "y": 0,
                 "z": 0
             },
             "config": {
-                "type": "BioyondElectrolyteDeck",
+                "type": "BIOYOND_YB_Deck",
+                "setup": true,
                 "rotation": {
                     "x": 0,
                     "y": 0,

unilabos/utils/log-origin.py

@@ -1,385 +0,0 @@
-import logging
-import os
-import platform
-from datetime import datetime
-import ctypes
-import atexit
-import inspect
-from typing import Tuple, cast
-
-# 添加TRACE级别到logging模块
-TRACE_LEVEL = 5
-logging.addLevelName(TRACE_LEVEL, "TRACE")
-
-
-class CustomRecord:
-    custom_stack_info: Tuple[str, int, str, str]
-
-
-# Windows颜色支持
-if platform.system() == "Windows":
-    # 尝试启用Windows终端的ANSI支持
-    kernel32 = ctypes.windll.kernel32
-    # 获取STD_OUTPUT_HANDLE
-    STD_OUTPUT_HANDLE = -11
-    # 启用ENABLE_VIRTUAL_TERMINAL_PROCESSING
-    ENABLE_VIRTUAL_TERMINAL_PROCESSING = 0x0004
-    # 获取当前控制台模式
-    handle = kernel32.GetStdHandle(STD_OUTPUT_HANDLE)
-    mode = ctypes.c_ulong()
-    kernel32.GetConsoleMode(handle, ctypes.byref(mode))
-    # 启用ANSI处理
-    kernel32.SetConsoleMode(handle, mode.value | ENABLE_VIRTUAL_TERMINAL_PROCESSING)
-
-    # 程序退出时恢复控制台设置
-    @atexit.register
-    def reset_console():
-        kernel32.SetConsoleMode(handle, mode.value)
-
-
-# 定义不同日志级别的颜色
-class ColoredFormatter(logging.Formatter):
-    """自定义日志格式化器，支持颜色输出"""
-
-    # ANSI 颜色代码
-    COLORS = {
-        "RESET": "\033[0m",  # 重置
-        "BOLD": "\033[1m",  # 加粗
-        "GRAY": "\033[37m",  # 灰色
-        "WHITE": "\033[97m",  # 白色
-        "BLACK": "\033[30m",  # 黑色
-        "TRACE_LEVEL": "\033[1;90m",  # 加粗深灰色
-        "DEBUG_LEVEL": "\033[1;36m",  # 加粗青色
-        "INFO_LEVEL": "\033[1;32m",  # 加粗绿色
-        "WARNING_LEVEL": "\033[1;33m",  # 加粗黄色
-        "ERROR_LEVEL": "\033[1;31m",  # 加粗红色
-        "CRITICAL_LEVEL": "\033[1;35m",  # 加粗紫色
-        "TRACE_TEXT": "\033[90m",  # 深灰色
-        "DEBUG_TEXT": "\033[37m",  # 灰色
-        "INFO_TEXT": "\033[97m",  # 白色
-        "WARNING_TEXT": "\033[33m",  # 黄色
-        "ERROR_TEXT": "\033[31m",  # 红色
-        "CRITICAL_TEXT": "\033[35m",  # 紫色
-        "DATE": "\033[37m",  # 日期始终使用灰色
-    }
-
-    def __init__(self, use_colors=True):
-        super().__init__()
-        # 强制启用颜色
-        self.use_colors = use_colors
-
-    def format(self, record):
-        # 检查是否有自定义堆栈信息
-        if hasattr(record, "custom_stack_info") and record.custom_stack_info:  # type: ignore
-            r = cast(CustomRecord, record)
-            frame_info = r.custom_stack_info
-            record.filename = frame_info[0]
-            record.lineno = frame_info[1]
-            record.funcName = frame_info[2]
-            if len(frame_info) > 3:
-                record.name = frame_info[3]
-        if not self.use_colors:
-            return self._format_basic(record)
-
-        level_color = self.COLORS.get(f"{record.levelname}_LEVEL", self.COLORS["WHITE"])
-        text_color = self.COLORS.get(f"{record.levelname}_TEXT", self.COLORS["WHITE"])
-        date_color = self.COLORS["DATE"]
-        reset = self.COLORS["RESET"]
-
-        # 日期格式
-        datetime_str = datetime.fromtimestamp(record.created).strftime("%y-%m-%d [%H:%M:%S,%f")[:-3] + "]"
-
-        # 模块和函数信息
-        filename = record.filename.replace(".py", "").split("\\")[-1]  # 提取文件名（不含路径和扩展名）
-        if "/" in filename:
-            filename = filename.split("/")[-1]
-        module_path = f"{record.name}.{filename}"
-        func_line = f"{record.funcName}:{record.lineno}"
-        right_info = f" [{func_line}] [{module_path}]"
-
-        # 主要消息
-        main_msg = record.getMessage()
-
-        # 构建基本消息格式
-        formatted_message = (
-            f"{date_color}{datetime_str}{reset} "
-            f"{level_color}[{record.levelname}]{reset} "
-            f"{text_color}{main_msg}"
-            f"{date_color}{right_info}{reset}"
-        )
-
-        # 处理异常信息
-        if record.exc_info:
-            exc_text = self.formatException(record.exc_info)
-            if formatted_message[-1:] != "\n":
-                formatted_message = formatted_message + "\n"
-            formatted_message = formatted_message + text_color + exc_text + reset
-        elif record.stack_info:
-            if formatted_message[-1:] != "\n":
-                formatted_message = formatted_message + "\n"
-            formatted_message = formatted_message + text_color + self.formatStack(record.stack_info) + reset
-
-        return formatted_message
-
-    def _format_basic(self, record):
-        """基本格式化，不包含颜色"""
-        datetime_str = datetime.fromtimestamp(record.created).strftime("%y-%m-%d [%H:%M:%S,%f")[:-3] + "]"
-        filename = record.filename.replace(".py", "").split("\\")[-1]  # 提取文件名（不含路径和扩展名）
-        if "/" in filename:
-            filename = filename.split("/")[-1]
-        module_path = f"{record.name}.{filename}"
-        func_line = f"{record.funcName}:{record.lineno}"
-        right_info = f" [{func_line}] [{module_path}]"
-
-        formatted_message = f"{datetime_str} [{record.levelname}] {record.getMessage()}{right_info}"
-
-        if record.exc_info:
-            exc_text = self.formatException(record.exc_info)
-            if formatted_message[-1:] != "\n":
-                formatted_message = formatted_message + "\n"
-            formatted_message = formatted_message + exc_text
-        elif record.stack_info:
-            if formatted_message[-1:] != "\n":
-                formatted_message = formatted_message + "\n"
-            formatted_message = formatted_message + self.formatStack(record.stack_info)
-
-        return formatted_message
-
-    def formatException(self, exc_info):
-        """重写异常格式化，确保异常信息保持正确的格式和颜色"""
-        # 获取标准的异常格式化文本
-        formatted_exc = super().formatException(exc_info)
-        return formatted_exc
-
-
-# 配置日志处理器
-def configure_logger(loglevel=None, working_dir=None):
-    """配置日志记录器
-
-    Args:
-        loglevel: 日志级别，可以是字符串（'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'）
-                 或logging模块的常量（如logging.DEBUG）或TRACE_LEVEL
-    """
-    # 获取根日志记录器
-    root_logger = logging.getLogger()
-    root_logger.setLevel(TRACE_LEVEL)
-    # 设置日志级别
-    numeric_level = logging.DEBUG
-    if loglevel is not None:
-        if isinstance(loglevel, str):
-            # 将字符串转换为logging级别
-            if loglevel.upper() == "TRACE":
-                numeric_level = TRACE_LEVEL
-            else:
-                numeric_level = getattr(logging, loglevel.upper(), None)
-                if not isinstance(numeric_level, int):
-                    print(f"警告: 无效的日志级别 '{loglevel}'，使用默认级别 DEBUG")
-        else:
-            numeric_level = loglevel
-
-    # 移除已存在的处理器
-    for handler in root_logger.handlers[:]:
-        root_logger.removeHandler(handler)
-
-    # 创建控制台处理器
-    console_handler = logging.StreamHandler()
-    console_handler.setLevel(numeric_level)  # 使用与根记录器相同的级别
-
-    # 使用自定义的颜色格式化器
-    color_formatter = ColoredFormatter()
-    console_handler.setFormatter(color_formatter)
-
-    # 添加处理器到根日志记录器
-    root_logger.addHandler(console_handler)
-
-    # 如果指定了工作目录，添加文件处理器
-    if working_dir is not None:
-        logs_dir = os.path.join(working_dir, "logs")
-        os.makedirs(logs_dir, exist_ok=True)
-
-        # 生成日志文件名：日期 时间.log
-        log_filename = datetime.now().strftime("%Y-%m-%d %H-%M-%S") + ".log"
-        log_filepath = os.path.join(logs_dir, log_filename)
-
-        # 创建文件处理器
-        file_handler = logging.FileHandler(log_filepath, encoding="utf-8")
-        file_handler.setLevel(TRACE_LEVEL)
-
-        # 使用不带颜色的格式化器
-        file_formatter = ColoredFormatter(use_colors=False)
-        file_handler.setFormatter(file_formatter)
-
-        root_logger.addHandler(file_handler)
-
-    logging.getLogger("asyncio").setLevel(logging.INFO)
-    logging.getLogger("urllib3").setLevel(logging.INFO)
-
-
-
-# 配置日志系统
-configure_logger()
-
-# 获取日志记录器
-logger = logging.getLogger(__name__)
-
-
-# 获取调用栈信息的工具函数
-def _get_caller_info(stack_level=0) -> Tuple[str, int, str, str]:
-    """
-    获取调用者的信息
-
-    Args:
-        stack_level: 堆栈回溯的级别，0表示当前函数，1表示调用者，依此类推
-
-    Returns:
-        (filename, line_number, function_name, module_name) 元组
-    """
-    # 堆栈级别需要加3:
-    # +1 因为这个函数本身占一层
-    # +1 因为日志函数(debug, info等)占一层
-    # +1 因为下面调用 inspect.stack() 也占一层
-    frame = inspect.currentframe()
-    try:
-        # 跳过适当的堆栈帧
-        for _ in range(stack_level + 3):
-            if frame and frame.f_back:
-                frame = frame.f_back
-            else:
-                break
-
-        if frame:
-            filename = frame.f_code.co_filename if frame.f_code else "unknown"
-            line_number = frame.f_lineno if hasattr(frame, "f_lineno") else 0
-            function_name = frame.f_code.co_name if frame.f_code else "unknown"
-
-            # 获取模块名称
-            module_name = "unknown"
-            if frame.f_globals and "__name__" in frame.f_globals:
-                module_name = frame.f_globals["__name__"].rsplit(".", 1)[0]
-
-            return (filename, line_number, function_name, module_name)
-        return ("unknown", 0, "unknown", "unknown")
-    finally:
-        del frame  # 避免循环引用
-
-
-# 便捷日志记录函数
-def debug(msg, *args, stack_level=0, **kwargs):
-    """
-    记录DEBUG级别日志
-
-    Args:
-        msg: 日志消息
-        stack_level: 堆栈回溯级别，用于定位日志的实际调用位置
-        *args, **kwargs: 传递给logger.debug的其他参数
-    """
-    # 获取调用者信息
-    if stack_level > 0:
-        caller_info = _get_caller_info(stack_level)
-        extra = kwargs.get("extra", {})
-        extra["custom_stack_info"] = caller_info
-        kwargs["extra"] = extra
-    logger.debug(msg, *args, **kwargs)
-
-
-def info(msg, *args, stack_level=0, **kwargs):
-    """
-    记录INFO级别日志
-
-    Args:
-        msg: 日志消息
-        stack_level: 堆栈回溯级别，用于定位日志的实际调用位置
-        *args, **kwargs: 传递给logger.info的其他参数
-    """
-    if stack_level > 0:
-        caller_info = _get_caller_info(stack_level)
-        extra = kwargs.get("extra", {})
-        extra["custom_stack_info"] = caller_info
-        kwargs["extra"] = extra
-    logger.info(msg, *args, **kwargs)
-
-
-def warning(msg, *args, stack_level=0, **kwargs):
-    """
-    记录WARNING级别日志
-
-    Args:
-        msg: 日志消息
-        stack_level: 堆栈回溯级别，用于定位日志的实际调用位置
-        *args, **kwargs: 传递给logger.warning的其他参数
-    """
-    if stack_level > 0:
-        caller_info = _get_caller_info(stack_level)
-        extra = kwargs.get("extra", {})
-        extra["custom_stack_info"] = caller_info
-        kwargs["extra"] = extra
-    logger.warning(msg, *args, **kwargs)
-
-
-def error(msg, *args, stack_level=0, **kwargs):
-    """
-    记录ERROR级别日志
-
-    Args:
-        msg: 日志消息
-        stack_level: 堆栈回溯级别，用于定位日志的实际调用位置
-        *args, **kwargs: 传递给logger.error的其他参数
-    """
-    if stack_level > 0:
-        caller_info = _get_caller_info(stack_level)
-        extra = kwargs.get("extra", {})
-        extra["custom_stack_info"] = caller_info
-        kwargs["extra"] = extra
-    logger.error(msg, *args, **kwargs)
-
-
-def critical(msg, *args, stack_level=0, **kwargs):
-    """
-    记录CRITICAL级别日志
-
-    Args:
-        msg: 日志消息
-        stack_level: 堆栈回溯级别，用于定位日志的实际调用位置
-        *args, **kwargs: 传递给logger.critical的其他参数
-    """
-    if stack_level > 0:
-        caller_info = _get_caller_info(stack_level)
-        extra = kwargs.get("extra", {})
-        extra["custom_stack_info"] = caller_info
-        kwargs["extra"] = extra
-    logger.critical(msg, *args, **kwargs)
-
-
-def trace(msg, *args, stack_level=0, **kwargs):
-    """
-    记录TRACE级别日志（比DEBUG级别更低）
-
-    Args:
-        msg: 日志消息
-        stack_level: 堆栈回溯级别，用于定位日志的实际调用位置
-        *args, **kwargs: 传递给logger.log的其他参数
-    """
-    if stack_level > 0:
-        caller_info = _get_caller_info(stack_level)
-        extra = kwargs.get("extra", {})
-        extra["custom_stack_info"] = caller_info
-        kwargs["extra"] = extra
-    logger.log(TRACE_LEVEL, msg, *args, **kwargs)
-
-
-logger.trace = trace
-
-# 测试日志输出（如果直接运行此文件）
-if __name__ == "__main__":
-    print("测试不同日志级别的颜色输出:")
-    trace("这是一条跟踪日志 (TRACE级别显示为深灰色，其他文本也为深灰色)")
-    debug("这是一条调试日志 (DEBUG级别显示为蓝色，其他文本为灰色)")
-    info("这是一条信息日志 (INFO级别显示为绿色，其他文本为白色)")
-    warning("这是一条警告日志 (WARNING级别显示为黄色，其他文本也为黄色)")
-    error("这是一条错误日志 (ERROR级别显示为红色，其他文本也为红色)")
-    critical("这是一条严重错误日志 (CRITICAL级别显示为紫色，其他文本也为紫色)")
-    # 测试异常输出
-    try:
-        1 / 0
-    except Exception as e:
-        error(f"发生错误: {e}", exc_info=True)

unilabos/utils/log.py

@@ -191,23 +191,9 @@ def configure_logger(loglevel=None, working_dir=None):
 
     # 添加处理器到根日志记录器
     root_logger.addHandler(console_handler)
-    
-    # 降低第三方库的日志级别，避免过多输出
-    # pymodbus 库的日志太详细，设置为 WARNING
-    logging.getLogger('pymodbus').setLevel(logging.WARNING)
-    logging.getLogger('pymodbus.logging').setLevel(logging.WARNING)
-    logging.getLogger('pymodbus.logging.base').setLevel(logging.WARNING)
-    logging.getLogger('pymodbus.logging.decoders').setLevel(logging.WARNING)
-    
-    # websockets 库的日志输出较多，设置为 WARNING
-    logging.getLogger('websockets').setLevel(logging.WARNING)
-    logging.getLogger('websockets.client').setLevel(logging.WARNING)
-    logging.getLogger('websockets.server').setLevel(logging.WARNING)
-    
-    # ROS 节点的状态更新日志过于频繁，设置为 INFO
-    logging.getLogger('unilabos.ros.nodes.presets.host_node').setLevel(logging.INFO)
 
     # 如果指定了工作目录，添加文件处理器
+    log_filepath = None
     if working_dir is not None:
         logs_dir = os.path.join(working_dir, "logs")
         os.makedirs(logs_dir, exist_ok=True)
@@ -228,6 +214,7 @@ def configure_logger(loglevel=None, working_dir=None):
 
     logging.getLogger("asyncio").setLevel(logging.INFO)
     logging.getLogger("urllib3").setLevel(logging.INFO)
+    return log_filepath
 
 
 # 配置日志系统