From bee80e8159d684161ec55b9b5a9bd85dd198f3b8 Mon Sep 17 00:00:00 2001
From: ZiWei <131428629+ZiWei09@users.noreply.github.com>
Date: Tue, 28 Oct 2025 01:37:42 +0800
Subject: [PATCH 1/3] feat: Enhance Bioyond synchronization and resource
 management

- Implemented synchronization for all material types (consumables, samples, reagents) from Bioyond, logging detailed information for each type.
- Improved error handling and logging during synchronization processes.
- Added functionality to save Bioyond material IDs in UniLab resources for future updates.
- Enhanced the `sync_to_external` method to handle material movements correctly, including querying and creating materials in Bioyond.
- Updated warehouse configurations to support new storage types and improved layout for better resource management.
- Introduced new resource types such as reactors and tip boxes, with detailed specifications.
- Modified warehouse factory to support column offsets for naming conventions (e.g., A05-D08).
- Improved resource tracking by merging extra attributes instead of overwriting them.
- Added a new method for updating resources in Bioyond, ensuring better synchronization of resource changes.
---
 .../experiments/reaction_station_bioyond.json |  48 ++-
 .../workstation/bioyond_studio/bioyond_rpc.py |  39 +-
 .../workstation/bioyond_studio/station.py     | 384 ++++++++++++++++--
 unilabos/resources/bioyond/bottles.py         |  86 ++++
 unilabos/resources/bioyond/decks.py           |  44 +-
 unilabos/resources/bioyond/warehouses.py      |  89 +++-
 unilabos/resources/graphio.py                 |  88 +++-
 unilabos/resources/warehouse.py               |   7 +-
 unilabos/ros/nodes/resource_tracker.py        |  10 +-
 9 files changed, 721 insertions(+), 74 deletions(-)

diff --git a/test/experiments/reaction_station_bioyond.json b/test/experiments/reaction_station_bioyond.json
index 013855ed7..20b6ef0b9 100644
--- a/test/experiments/reaction_station_bioyond.json
+++ b/test/experiments/reaction_station_bioyond.json
@@ -24,13 +24,42 @@
                         "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a"
                     },
                     "material_type_mappings": {
-                        "烧杯": ["BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"],
-                        "试剂瓶": ["BIOYOND_PolymerStation_1BottleCarrier", ""],
-                        "样品板": ["BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"],
-                        "分装板": ["BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"],
-                        "样品瓶": ["BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"],
-                        "90%分装小瓶": ["BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"],
-                        "10%分装小瓶": ["BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"]
+                        "烧杯": [
+                            "BIOYOND_PolymerStation_1FlaskCarrier",
+                            "3a14196b-24f2-ca49-9081-0cab8021bf1a"
+                        ],
+                        "试剂瓶": [
+                            "BIOYOND_PolymerStation_1BottleCarrier",
+                            ""
+                        ],
+                        "样品板": [
+                            "BIOYOND_PolymerStation_6StockCarrier",
+                            "3a14196e-b7a0-a5da-1931-35f3000281e9"
+                        ],
+                        "分装板": [
+                            "BIOYOND_PolymerStation_6VialCarrier",
+                            "3a14196e-5dfe-6e21-0c79-fe2036d052c4"
+                        ],
+                        "样品瓶": [
+                            "BIOYOND_PolymerStation_Solid_Stock",
+                            "3a14196a-cf7d-8aea-48d8-b9662c7dba94"
+                        ],
+                        "90%分装小瓶": [
+                            "BIOYOND_PolymerStation_Solid_Vial",
+                            "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"
+                        ],
+                        "10%分装小瓶": [
+                            "BIOYOND_PolymerStation_Liquid_Vial",
+                            "3a14196c-76be-2279-4e22-7310d69aed68"
+                        ],
+                        "枪头盒": [
+                            "BIOYOND_PolymerStation_TipBox",
+                            ""
+                        ],
+                        "反应器": [
+                            "BIOYOND_PolymerStation_Reactor",
+                            ""
+                        ]
                     }
                 },
                 "deck": {
@@ -46,8 +75,7 @@
         {
             "id": "Bioyond_Deck",
             "name": "Bioyond_Deck",
-            "children": [
-            ],
+            "children": [],
             "parent": "reaction_station_bioyond",
             "type": "deck",
             "class": "BIOYOND_PolymerReactionStation_Deck",
@@ -69,4 +97,4 @@
             "data": {}
         }
     ]
-}
+}
\ No newline at end of file
diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py b/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py
index 45d0cadbd..78a00eb4b 100644
--- a/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py
+++ b/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py
@@ -233,7 +233,7 @@ def delete_material(self, material_id: str) -> dict:
         return response.get("data", {})
 
     def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
-        """指定库位出库物料"""
+        """指定库位出库物料（通过库位名称）"""
         location_id = LOCATION_MAPPING.get(location_name, location_name)
 
         params = {
@@ -251,7 +251,36 @@ def material_outbound(self, material_id: str, location_name: str, quantity: int)
             })
 
         if not response or response['code'] != 1:
-            return {}
+            return None
+        return response
+
+    def material_outbound_by_id(self, material_id: str, location_id: str, quantity: int) -> dict:
+        """指定库位出库物料（直接使用location_id）
+
+        Args:
+            material_id: 物料ID
+            location_id: 库位ID（不是库位名称，是UUID）
+            quantity: 数量
+
+        Returns:
+            dict: API响应，失败返回None
+        """
+        params = {
+            "materialId": material_id,
+            "locationId": location_id,
+            "quantity": quantity
+        }
+
+        response = self.post(
+            url=f'{self.host}/api/lims/storage/outbound',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": params
+            })
+
+        if not response or response['code'] != 1:
+            return None
         return response
 
     # ==================== 工作流查询相关接口 ====================
@@ -703,10 +732,10 @@ def _load_material_cache(self):
         """预加载材料列表到缓存中"""
         try:
             print("正在加载材料列表缓存...")
-            
+
             # 加载所有类型的材料：耗材(0)、样品(1)、试剂(2)
             material_types = [1, 2]
-            
+
             for type_mode in material_types:
                 print(f"正在加载类型 {type_mode} 的材料...")
                 stock_query = f'{{"typeMode": {type_mode}, "includeDetail": true}}'
@@ -723,7 +752,7 @@ def _load_material_cache(self):
                     material_id = material.get("id")
                     if material_name and material_id:
                         self.material_cache[material_name] = material_id
-                    
+
                     # 处理样品板等容器中的detail材料
                     detail_materials = material.get("detail", [])
                     for detail_material in detail_materials:
diff --git a/unilabos/devices/workstation/bioyond_studio/station.py b/unilabos/devices/workstation/bioyond_studio/station.py
index 21957cd22..56b6c36c2 100644
--- a/unilabos/devices/workstation/bioyond_studio/station.py
+++ b/unilabos/devices/workstation/bioyond_studio/station.py
@@ -63,19 +63,60 @@ def sync_from_external(self) -> bool:
                 logger.error("Bioyond API客户端未初始化")
                 return False
 
-            bioyond_data = self.bioyond_api_client.stock_material('{"typeMode": 2, "includeDetail": true}')
-            if not bioyond_data:
+            # 同步所有类型的物料：耗材(0)、样品(1)和试剂(2)
+            all_bioyond_data = []
+            type_names = {0: "耗材", 1: "样品", 2: "试剂"}
+
+            for type_mode in [0, 1, 2]:  # 0=耗材, 1=样品, 2=试剂
+                logger.info(f"正在从Bioyond同步类型 {type_mode} ({type_names[type_mode]})...")
+                bioyond_data = self.bioyond_api_client.stock_material(
+                    f'{{"typeMode": {type_mode}, "includeDetail": true}}'
+                )
+                if bioyond_data:
+                    logger.info(f"  类型 {type_mode} 同步了 {len(bioyond_data)} 个物料：")
+                    for mat in bioyond_data:
+                        mat_name = mat.get("name", "未知")
+                        mat_type = mat.get("typeName", "未知")
+                        locations = mat.get("locations", [])
+                        if locations:
+                            loc = locations[0]
+                            wh_name = loc.get("whName", "未知")
+                            coords = f"x={loc.get('x')},y={loc.get('y')},z={loc.get('z')}"
+                            logger.info(f"    - {mat_name} ({mat_type}) @ {wh_name} [{coords}]")
+                        else:
+                            logger.info(f"    - {mat_name} ({mat_type}) @ 未入库")
+                    all_bioyond_data.extend(bioyond_data)
+                else:
+                    logger.warning(f"  类型 {type_mode} 没有物料数据")
+
+            if not all_bioyond_data:
                 logger.warning("从Bioyond获取的物料数据为空")
                 return False
 
+            logger.info(f"总共获取 {len(all_bioyond_data)} 个物料，开始转换为UniLab格式...")
+
             # 转换为UniLab格式
             unilab_resources = resource_bioyond_to_plr(
-                bioyond_data,
+                all_bioyond_data,
                 type_mapping=self.workstation.bioyond_config["material_type_mappings"],
                 deck=self.workstation.deck
             )
 
-            logger.info(f"从Bioyond同步了 {len(unilab_resources)} 个资源")
+            # 保存 Bioyond 物料ID 到每个资源对象，用于后续更新
+            for i, resource in enumerate(unilab_resources):
+                if i < len(all_bioyond_data):
+                    material_id = all_bioyond_data[i].get("id")
+                    if material_id:
+                        # ⭐ 修复：使用 unilabos_extra 字典保存 Bioyond ID
+                        extra_info = getattr(resource, "unilabos_extra", {})
+                        extra_info["material_bioyond_id"] = material_id
+                        setattr(resource, "unilabos_extra", extra_info)
+                        logger.debug(f"物料 {resource.name} 的 Bioyond ID: {material_id[:8]}...")
+
+            # ⭐ 重要：保存同步的资源列表，稍后在 post_init 中上传到云端
+            self.workstation._synced_resources = unilab_resources
+
+            logger.info(f"✅ 从Bioyond同步完成，转换后得到 {len(unilab_resources)} 个UniLab资源")
             return True
         except Exception as e:
             logger.error(f"从Bioyond同步物料数据失败: {e}")
@@ -83,30 +124,264 @@ def sync_from_external(self) -> bool:
             return False
 
     def sync_to_external(self, resource: Any) -> bool:
-        """将本地物料数据变更同步到Bioyond系统"""
+        """将本地物料数据变更同步到Bioyond系统
+
+        ⚠️ Bioyond物料移动的正确流程：
+        1. 出库 (outbound) - 物料被删除
+        2. 新建物料 (add_material) - 使用相同名称和属性
+        3. 入库 (inbound) - 新物料出现在新位置
+
+        Args:
+            resource: 要同步的资源（PLR格式）
+
+        Returns:
+            bool: True=成功, False=失败
+        """
         try:
-            if self.bioyond_api_client is None:
-                logger.error("Bioyond API客户端未初始化")
-                return False
+            # ✅ 跳过仓库类型的资源 - 仓库是容器，不是物料
+            resource_category = getattr(resource, "category", None)
+            if resource_category == "warehouse":
+                logger.debug(f"[同步→Bioyond] 跳过仓库类型资源: {resource.name} (仓库是容器，不需要同步为物料)")
+                return True
+            
+            logger.info(f"[同步→Bioyond] 收到物料变更: {resource.name}")
+
+            # 获取物料的 Bioyond ID
+            extra_info = getattr(resource, "unilabos_extra", {})
+            material_bioyond_id = extra_info.get("material_bioyond_id")
+
+            # ⭐ 如果没有 Bioyond ID，尝试从 Bioyond 系统中按名称查询
+            if not material_bioyond_id:
+                logger.warning(f"[同步→Bioyond] 物料 {resource.name} 没有 Bioyond ID，尝试按名称查询...")
+                try:
+                    # 查询所有类型的物料：0=耗材, 1=样品, 2=试剂
+                    import json
+                    all_materials = []
+
+                    for type_mode in [0, 1, 2]:
+                        query_params = json.dumps({
+                            "typeMode": type_mode,
+                            "filter": "",   # 空字符串表示查询所有
+                            "includeDetail": True
+                        })
+                        materials = self.bioyond_api_client.stock_material(query_params)
+                        if materials:
+                            all_materials.extend(materials)
+
+                    logger.info(f"[同步→Bioyond] 查询到 {len(all_materials)} 个物料")
+
+                    # 按名称匹配
+                    for mat in all_materials:
+                        if mat.get("name") == resource.name:
+                            material_bioyond_id = mat.get("id")
+                            mat_type = mat.get("typeName", "未知")
+                            logger.info(f"✅ 找到物料 {resource.name} ({mat_type}) 的 Bioyond ID: {material_bioyond_id[:8]}...")
+                            # 保存 ID 到资源对象
+                            extra_info["material_bioyond_id"] = material_bioyond_id
+                            setattr(resource, "unilabos_extra", extra_info)
+                            break
+
+                    if not material_bioyond_id:
+                        logger.warning(f"⚠️ 在 Bioyond 系统中未找到名为 {resource.name} 的物料")
+                        logger.info(f"[同步→Bioyond] 这是一个新物料，将创建并入库到 Bioyond 系统")
+                        # 不返回，继续执行后续的创建+入库流程
+                except Exception as e:
+                    logger.error(f"查询 Bioyond 物料失败: {e}")
+                    import traceback
+                    traceback.print_exc()
+                    return False
 
-            bioyond_material = resource_plr_to_bioyond(
-                [resource],
-                type_mapping=self.workstation.bioyond_config["material_type_mappings"],
-                warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"]
-            )[0]
+            # 检查是否有位置更新请求
+            update_site = extra_info.get("update_resource_site")
 
-            location_info = bioyond_material.pop("locations")
+            if not update_site:
+                logger.debug(f"[同步→Bioyond] 无位置更新请求")
+                return True
 
-            material_id = self.bioyond_api_client.add_material(bioyond_material)
+            # ===== 物料移动/创建流程 =====
+            if material_bioyond_id:
+                logger.info(f"[同步→Bioyond] 🔄 开始移动物料 {resource.name} 到 {update_site}")
+            else:
+                logger.info(f"[同步→Bioyond] ➕ 开始创建新物料 {resource.name} 并入库到 {update_site}")            # 第1步：获取仓库配置
+            from .config import WAREHOUSE_MAPPING
+            warehouse_mapping = WAREHOUSE_MAPPING
+
+            # 确定目标仓库名称（通过遍历所有仓库的库位配置）
+            parent_name = None
+            target_location_uuid = None
+
+            for warehouse_name, warehouse_info in warehouse_mapping.items():
+                site_uuids = warehouse_info.get("site_uuids", {})
+                if update_site in site_uuids:
+                    parent_name = warehouse_name
+                    target_location_uuid = site_uuids[update_site]
+                    logger.info(f"[同步] 目标仓库: {parent_name}/{update_site}")
+                    logger.info(f"[同步] 目标库位UUID: {target_location_uuid[:8]}...")
+                    break
+
+            if not parent_name or not target_location_uuid:
+                logger.error(f"❌ 库位 {update_site} 没有在 WAREHOUSE_MAPPING 中配置")
+                logger.debug(f"可用仓库: {list(warehouse_mapping.keys())}")
+                return False
 
-            response = self.bioyond_api_client.material_inbound(material_id, location_info[0]["id"])
-            if not response:
-                return {
-                    "status": "error",
-                    "message": "Failed to inbound material"
+            # 第2步：查询物料当前状态（仅对已有物料）
+            current_material_info = None
+            current_location_id = None
+
+            if material_bioyond_id:
+                # 已有物料：查询当前状态
+                try:
+                    for type_mode in [0, 1, 2]:  # 0=耗材, 1=样品, 2=试剂
+                        stock_data = self.bioyond_api_client.stock_material(
+                            f'{{"typeMode": {type_mode}, "includeDetail": true}}'
+                        )
+
+                        for material in stock_data:
+                            if material.get("id") == material_bioyond_id:
+                                current_material_info = material  # 保存完整物料信息
+                                locations = material.get("locations", [])
+                                if locations:
+                                    loc = locations[0]
+                                    current_location_id = loc.get("id")
+                                    wh_name = loc.get("whName", "")
+                                    x, y, z = loc.get("x"), loc.get("y"), loc.get("z")
+                                    row_letter = chr(64 + x) if x else "?"
+                                    col_number = f"{y:02d}" if y else "?"
+                                    current_pos = f"{row_letter}{col_number}"
+                                    logger.info(f"[同步] 物料当前位置: {wh_name}/{current_pos} (location_id: {current_location_id[:8]}...)")
+                                break
+
+                        if current_material_info:
+                            break
+                except Exception as e:
+                    logger.error(f"❌ 查询物料信息失败: {e}")
+                    import traceback
+                    traceback.print_exc()
+                    return False
+
+                if not current_material_info:
+                    logger.error(f"❌ 在Bioyond系统中未找到物料: {resource.name} (ID: {material_bioyond_id})")
+                    return False
+
+                # 第3步：出库（删除旧物料）
+                if current_location_id:
+                    logger.info(f"[同步] 步骤1/4: 🔻 出库物料（删除）")
+                    outbound_response = self.bioyond_api_client.material_outbound_by_id(
+                        material_bioyond_id,
+                        current_location_id,
+                        quantity=1
+                    )
+                    if outbound_response is None:
+                        logger.error(f"❌ 物料出库失败")
+                        return False
+                    logger.info(f"[同步] ✅ 物料已出库（已删除）")
+                else:
+                    logger.info(f"[同步] 物料不在库中，跳过出库步骤")
+            else:
+                # 新物料：从 resource 对象构建物料信息
+                logger.info(f"[同步] 这是新物料，将从资源对象获取属性")
+                current_material_info = {
+                    "name": resource.name,
+                    "typeName": "烧杯",  # 默认类型，稍后会根据实际情况确定
+                    "unit": "微升",
+                    "quantity": 1000.0,  # 默认容量
                 }
-        except:
-            pass
+                logger.info(f"[同步] 新物料属性: {current_material_info}")
+
+            # 第4步：查询物料类型ID
+            logger.info(f"[同步] 步骤2/4: 🔍 查询物料类型ID")
+
+            type_name = current_material_info.get("typeName", "")
+            type_id = None
+
+            try:
+                # 直接调用API查询物料类型列表
+                response = self.bioyond_api_client.post(
+                    url=f'{self.bioyond_api_client.host}/api/lims/storage/material-types',
+                    params={
+                        'apiKey': self.bioyond_api_client.api_key,
+                        'requestTime': self.bioyond_api_client.get_current_time_iso8601(),
+                        'data': ''
+                    })
+
+                if response and response.get('code') == 1:
+                    types = response.get('data', [])
+                    for t in types:
+                        if t.get("name") == type_name:
+                            type_id = t.get("id")
+                            logger.info(f"[同步] 找到物料类型: {type_name} (ID: {type_id[:8]}...)")
+                            break
+
+                    if not type_id:
+                        logger.warning(f"[同步] 未找到物料类型 {type_name}")
+            except Exception as e:
+                logger.error(f"[同步] 查询物料类型失败: {e}")
+                import traceback
+                traceback.print_exc()
+
+            if not type_id:
+                logger.error(f"❌ 无法获取物料类型ID")
+                return False
+
+            # 第5步：新建物料（使用原物料的属性）
+            logger.info(f"[同步] 步骤3/4: ➕ 新建物料")
+
+            # 按照API文档构建参数
+            new_material_data = {
+                "typeId": type_id,
+                "name": current_material_info.get("name"),
+                "unit": current_material_info.get("unit", "微升"),
+                "quantity": current_material_info.get("quantity", 0),
+                "code": "",  # 物料编码（可选）
+                "barCode": "",  # 物料条码（可选）
+                "parameters": "",  # 参数（必填，可以为空字符串）
+                "details": []  # 孔物料信息（如果有detail字段则填充）
+            }
+
+            new_material_response = self.bioyond_api_client.add_material(new_material_data)
+
+            # add_material 可能返回字典（包含id字段）或直接返回ID字符串
+            if isinstance(new_material_response, str):
+                new_material_id = new_material_response
+            elif isinstance(new_material_response, dict) and "id" in new_material_response:
+                new_material_id = new_material_response["id"]
+            else:
+                new_material_id = None
+
+            if not new_material_id:
+                logger.error(f"❌ 新建物料失败")
+                return False
+
+            new_material_id = new_material_response["id"]
+            logger.info(f"[同步] ✅ 新物料已创建 (ID: {new_material_id[:8]}...)")
+
+            # 第5步：入库到新位置
+            logger.info(f"[同步] 步骤3/3: 📥 入库到新位置 {update_site}")
+            inbound_response = self.bioyond_api_client.material_inbound(
+                new_material_id,
+                target_location_uuid
+            )
+
+            if inbound_response is not None:
+                logger.info(f"[同步] ✅ 物料已入库到 {parent_name}/{update_site}")
+                logger.info(f"[同步] 🎉 物料移动完成！{resource.name} → {parent_name}/{update_site}")
+
+                # ⭐ 更新 resource 的 Bioyond ID 为新 ID
+                extra_info["material_bioyond_id"] = new_material_id
+                setattr(resource, "unilabos_extra", extra_info)
+
+                return True
+            else:
+                logger.error(f"❌ 物料入库到新位置失败")
+                logger.error(f"   警告：物料已出库但入库失败，需要手动在Bioyond系统中处理")
+                logger.error(f"   新物料ID: {new_material_id}")
+                return False
+
+        except Exception as e:
+            logger.error(f"[同步→Bioyond] 处理物料变更时出错: {e}")
+            import traceback
+            traceback.print_exc()
+            return False
 
     def handle_external_change(self, change_info: Dict[str, Any]) -> bool:
         """处理Bioyond系统的变更通知"""
@@ -175,6 +450,22 @@ def post_init(self, ros_node: ROS2WorkstationNode):
             "resources": [self.deck]
         })
 
+        # ⭐ 上传从 Bioyond 同步的物料到云端数据库
+        if hasattr(self, "_synced_resources") and self._synced_resources:
+            try:
+                logger.info(f"开始将 {len(self._synced_resources)} 个从Bioyond同步的物料上传到云端...")
+                # 调用 ROS 节点的 update_resource 方法，确保物料被上传到云端
+                ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
+                    "resources": self._synced_resources
+                })
+                logger.info("✅ 从Bioyond同步的物料已上传到云端数据库")
+                # 清理临时变量
+                self._synced_resources = []
+            except Exception as e:
+                logger.error(f"上传Bioyond同步物料到云端失败: {e}")
+                import traceback
+                traceback.print_exc()
+
     def transfer_resource_to_another(self, resource: List[ResourceSlot], mount_resource: List[ResourceSlot], sites: List[str], mount_device_id: DeviceSlot):
         ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True, **{
             "plr_resources": resource,
@@ -185,13 +476,26 @@ def transfer_resource_to_another(self, resource: List[ResourceSlot], mount_resou
 
     def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
         """创建Bioyond通信模块"""
-        self.bioyond_config = config or {
+        # 如果没有提供配置，或者配置不完整，使用默认配置
+        if config is None:
+            config = {}
+
+        # 合并配置，确保所有必要的键都存在
+        self.bioyond_config = {
             **API_CONFIG,
             "workflow_mappings": WORKFLOW_MAPPINGS,
             "material_type_mappings": MATERIAL_TYPE_MAPPINGS,
-            "warehouse_mapping": WAREHOUSE_MAPPING
+            "warehouse_mapping": WAREHOUSE_MAPPING,
+            **config  # 用户配置覆盖默认配置
         }
 
+        # 调试：输出配置信息
+        logger.debug(f"Bioyond 配置加载完成:")
+        logger.debug(f"  - warehouse_mapping 仓库数: {len(self.bioyond_config.get('warehouse_mapping', {}))}")
+        logger.debug(f"  - material_type_mappings 类型数: {len(self.bioyond_config.get('material_type_mappings', {}))}")
+        logger.debug(f"  - material_type_mappings 详情: {list(self.bioyond_config.get('material_type_mappings', {}).keys())}")
+        logger.debug(f"  - workflow_mappings 工作流数: {len(self.bioyond_config.get('workflow_mappings', {}))}")
+
         self.hardware_interface = BioyondV1RPC(self.bioyond_config)
 
     def resource_tree_add(self, resources: List[ResourcePLR]) -> None:
@@ -202,6 +506,28 @@ def resource_tree_add(self, resources: List[ResourcePLR]) -> None:
         """
         self.resource_synchronizer.sync_to_external(resources)
 
+    def resource_tree_update(self, resources: List[ResourcePLR]) -> None:
+        """更新资源信息并同步到Bioyond系统
+
+        Args:
+            resources (List[ResourcePLR]): 要更新的资源列表
+        """
+        try:
+            logger.info(f"开始同步 {len(resources)} 个资源的更新到Bioyond系统")
+
+            for resource in resources:
+                # 调用资源同步器将更新同步到外部系统
+                success = self.resource_synchronizer.sync_to_external(resource)
+                if success:
+                    logger.info(f"资源 {resource.name} 更新同步成功")
+                else:
+                    logger.warning(f"资源 {resource.name} 更新同步失败")
+
+        except Exception as e:
+            logger.error(f"同步资源更新到Bioyond失败: {e}")
+            import traceback
+            traceback.print_exc()
+
     @property
     def bioyond_status(self) -> Dict[str, Any]:
         """获取 Bioyond 系统状态信息
@@ -246,7 +572,7 @@ def bioyond_status(self) -> Dict[str, Any]:
             }
 
     # ==================== 工作流合并与参数设置 API ====================
-    
+
     def append_to_workflow_sequence(self, web_workflow_name: str) -> bool:
         # 检查是否为JSON格式的字符串
         actual_workflow_name = web_workflow_name
@@ -257,7 +583,7 @@ def append_to_workflow_sequence(self, web_workflow_name: str) -> bool:
                 print(f"解析JSON格式工作流名称: {web_workflow_name} -> {actual_workflow_name}")
             except json.JSONDecodeError:
                 print(f"JSON解析失败，使用原始字符串: {web_workflow_name}")
-        
+
         workflow_id = self._get_workflow(actual_workflow_name)
         if workflow_id:
             self.workflow_sequence.append(workflow_id)
@@ -322,7 +648,7 @@ def clear_workflows(self):
     # ============ 工作站状态管理 ============
     def get_station_info(self) -> Dict[str, Any]:
         """获取工作站基础信息
-        
+
         Returns:
             Dict[str, Any]: 工作站基础信息，包括设备ID、状态等
         """
@@ -450,8 +776,8 @@ def load_bioyond_data_from_file(self, file_path: str) -> bool:
 
             # 转换为UniLab格式
             unilab_resources = resource_bioyond_to_plr(
-                bioyond_data, 
-                type_mapping=self.bioyond_config["material_type_mappings"], 
+                bioyond_data,
+                type_mapping=self.bioyond_config["material_type_mappings"],
                 deck=self.deck
             )
 
diff --git a/unilabos/resources/bioyond/bottles.py b/unilabos/resources/bioyond/bottles.py
index 7d241a73e..c509e883f 100644
--- a/unilabos/resources/bioyond/bottles.py
+++ b/unilabos/resources/bioyond/bottles.py
@@ -90,3 +90,89 @@ def BIOYOND_PolymerStation_Reagent_Bottle(
         barcode=barcode,
         model="BIOYOND_PolymerStation_Reagent_Bottle",
     )
+
+
+def BIOYOND_PolymerStation_Reactor(
+    name: str,
+    diameter: float = 30.0,
+    height: float = 80.0,
+    max_volume: float = 50000.0,  # 50mL
+    barcode: str = None,
+) -> Bottle:
+    """创建反应器"""
+    return Bottle(
+        name=name,
+        diameter=diameter,
+        height=height,
+        max_volume=max_volume,
+        barcode=barcode,
+        model="BIOYOND_PolymerStation_Reactor",
+    )
+
+
+def BIOYOND_PolymerStation_TipBox(
+    name: str,
+    size_x: float = 127.76,  # 枪头盒宽度
+    size_y: float = 85.48,   # 枪头盒长度
+    size_z: float = 100.0,   # 枪头盒高度
+    barcode: str = None,
+):
+    """创建4×6枪头盒 (24个枪头)
+
+    Args:
+        name: 枪头盒名称
+        size_x: 枪头盒宽度 (mm)
+        size_y: 枪头盒长度 (mm)
+        size_z: 枪头盒高度 (mm)
+        barcode: 条形码
+
+    Returns:
+        TipBoxCarrier: 包含24个枪头孔位的枪头盒
+    """
+    from pylabrobot.resources import Container, Coordinate
+
+    # 创建枪头盒容器
+    tip_box = Container(
+        name=name,
+        size_x=size_x,
+        size_y=size_y,
+        size_z=size_z,
+        category="tip_rack",
+        model="BIOYOND_PolymerStation_TipBox_4x6",
+    )
+
+    # 设置自定义属性
+    tip_box.barcode = barcode
+    tip_box.tip_count = 24  # 4行×6列
+    tip_box.num_items_x = 6  # 6列
+    tip_box.num_items_y = 4  # 4行
+
+    # 创建24个枪头孔位 (4行×6列)
+    # 假设孔位间距为 9mm
+    tip_spacing_x = 9.0  # 列间距
+    tip_spacing_y = 9.0  # 行间距
+    start_x = 14.38  # 第一个孔位的x偏移
+    start_y = 11.24  # 第一个孔位的y偏移
+
+    for row in range(4):  # A, B, C, D
+        for col in range(6):  # 1-6
+            spot_name = f"{chr(65 + row)}{col + 1}"  # A1, A2, ..., D6
+            x = start_x + col * tip_spacing_x
+            y = start_y + row * tip_spacing_y
+
+            # 创建枪头孔位容器
+            tip_spot = Container(
+                name=spot_name,
+                size_x=8.0,  # 单个枪头孔位大小
+                size_y=8.0,
+                size_z=size_z - 10.0,  # 略低于盒子高度
+                category="tip_spot",
+            )
+
+            # 添加到枪头盒
+            tip_box.assign_child_resource(
+                tip_spot,
+                location=Coordinate(x=x, y=y, z=0)
+            )
+
+    return tip_box
diff --git a/unilabos/resources/bioyond/decks.py b/unilabos/resources/bioyond/decks.py
index fa242c3d4..187f17e8a 100644
--- a/unilabos/resources/bioyond/decks.py
+++ b/unilabos/resources/bioyond/decks.py
@@ -1,12 +1,27 @@
 from os import name
 from pylabrobot.resources import Deck, Coordinate, Rotation
 
-from unilabos.resources.bioyond.warehouses import bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x2, bioyond_warehouse_liquid_and_lid_handling, bioyond_warehouse_1x2x2, bioyond_warehouse_1x3x3, bioyond_warehouse_10x1x1, bioyond_warehouse_3x3x1, bioyond_warehouse_3x3x1_2, bioyond_warehouse_5x1x1
+from unilabos.resources.bioyond.warehouses import (
+    bioyond_warehouse_1x4x4,
+    bioyond_warehouse_1x4x4_right,  # 新增：右侧仓库 (A05～D08)
+    bioyond_warehouse_1x4x2,
+    bioyond_warehouse_liquid_and_lid_handling,
+    bioyond_warehouse_1x2x2,
+    bioyond_warehouse_1x3x3,
+    bioyond_warehouse_10x1x1,
+    bioyond_warehouse_3x3x1,
+    bioyond_warehouse_3x3x1_2,
+    bioyond_warehouse_5x1x1,
+    bioyond_warehouse_1x8x4,
+    bioyond_warehouse_reagent_storage,
+    bioyond_warehouse_liquid_preparation,
+    bioyond_warehouse_tipbox_storage,  # 新增：Tip盒堆栈
+)
 
 
 class BIOYOND_PolymerReactionStation_Deck(Deck):
     def __init__(
-        self, 
+        self,
         name: str = "PolymerReactionStation_Deck",
         size_x: float = 2700.0,
         size_y: float = 1080.0,
@@ -20,15 +35,22 @@ def __init__(
 
     def setup(self) -> None:
         # 添加仓库
+        # 说明: 堆栈1物理上分为左右两部分
+        #   - 堆栈1左: A01～D04 (4行×4列, 位于反应站左侧)
+        #   - 堆栈1右: A05～D08 (4行×4列, 位于反应站右侧)
         self.warehouses = {
-            "堆栈1": bioyond_warehouse_1x4x4("堆栈1"),
-            "堆栈2": bioyond_warehouse_1x4x4("堆栈2"),
-            "站内试剂存放堆栈": bioyond_warehouse_liquid_and_lid_handling("站内试剂存放堆栈"),
+            "堆栈1左": bioyond_warehouse_1x4x4("堆栈1左"),  # 左侧堆栈: A01～D04
+            "堆栈1右": bioyond_warehouse_1x4x4_right("堆栈1右"),  # 右侧堆栈: A05～D08
+            "站内试剂存放堆栈": bioyond_warehouse_reagent_storage("站内试剂存放堆栈"),  # A01～A02
+            "移液站内10%分装液体准备仓库": bioyond_warehouse_liquid_preparation("移液站内10%分装液体准备仓库"),  # A01～B04
+            "站内Tip盒堆栈": bioyond_warehouse_tipbox_storage("站内Tip盒堆栈"),  # A01～B03, 存放枪头盒
         }
         self.warehouse_locations = {
-            "堆栈1": Coordinate(0.0, 430.0, 0.0),
-            "堆栈2": Coordinate(2550.0, 430.0, 0.0),
-            "站内试剂存放堆栈": Coordinate(800.0, 475.0, 0.0),
+            "堆栈1左": Coordinate(0.0, 430.0, 0.0),  # 左侧位置
+            "堆栈1右": Coordinate(2500.0, 430.0, 0.0),  # 右侧位置
+            "站内试剂存放堆栈": Coordinate(1100.0, 475.0, 0.0),
+            "移液站内10%分装液体准备仓库": Coordinate(1500.0, 300.0, 0.0),
+            "站内Tip盒堆栈": Coordinate(1800.0, 300.0, 0.0),  # TODO: 根据实际位置调整坐标
         }
         self.warehouses["站内试剂存放堆栈"].rotation = Rotation(z=90)
 
@@ -38,7 +60,7 @@ def setup(self) -> None:
 
 class BIOYOND_PolymerPreparationStation_Deck(Deck):
     def __init__(
-        self, 
+        self,
         name: str = "PolymerPreparationStation_Deck",
         size_x: float = 2700.0,
         size_y: float = 1080.0,
@@ -70,7 +92,7 @@ def setup(self) -> None:
 
 class BIOYOND_YB_Deck(Deck):
     def __init__(
-        self, 
+        self,
         name: str = "YB_Deck",
         size_x: float = 4150,
         size_y: float = 1400.0,
@@ -114,7 +136,7 @@ def setup(self) -> None:
 
         for warehouse_name, warehouse in self.warehouses.items():
             self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
-            
+
 def YB_Deck(name: str) -> Deck:
     by=BIOYOND_YB_Deck(name=name)
     by.setup()
diff --git a/unilabos/resources/bioyond/warehouses.py b/unilabos/resources/bioyond/warehouses.py
index a4bd46c49..66697be66 100644
--- a/unilabos/resources/bioyond/warehouses.py
+++ b/unilabos/resources/bioyond/warehouses.py
@@ -2,7 +2,25 @@
 
 
 def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
+    """创建BioYond 4x4x1仓库 (左侧堆栈: A01～D04)"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=4,
+        num_items_y=4,
+        num_items_z=1,
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=147.0,
+        item_dy=106.0,
+        item_dz=130.0,
+        category="warehouse",
+        col_offset=0,  # 从01开始: A01, A02, A03, A04
+    )
+
+
+def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
+    """创建BioYond 4x4x1仓库 (右侧堆栈: A05～D08)"""
     return warehouse_factory(
         name=name,
         num_items_x=4,
@@ -15,6 +33,7 @@ def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
         item_dy=106.0,
         item_dz=130.0,
         category="warehouse",
+        col_offset=4,  # 从05开始: A05, A06, A07, A08
     )
 
 
@@ -158,4 +177,72 @@ def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse:
         item_dz=120.0,
         category="warehouse",
         removed_positions=None
+    )
+
+
+def bioyond_warehouse_1x8x4(name: str) -> WareHouse:
+    """创建BioYond 8x4x1反应站堆栈（A01～D08）"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=8,  # 8列（01-08）
+        num_items_y=4,  # 4行（A-D）
+        num_items_z=1,  # 1层
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=147.0,
+        item_dy=106.0,
+        item_dz=130.0,
+        category="warehouse",
+    )
+
+
+def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
+    """创建BioYond站内试剂存放堆栈（A01～A02, 1行×2列）"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=2,  # 2列（01-02）
+        num_items_y=1,  # 1行（A）
+        num_items_z=1,  # 1层
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+    )
+
+
+def bioyond_warehouse_liquid_preparation(name: str) -> WareHouse:
+    """创建BioYond移液站内10%分装液体准备仓库（A01～B04）"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=4,  # 4列（01-04）
+        num_items_y=2,  # 2行（A-B）
+        num_items_z=1,  # 1层
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+    )
+
+
+def bioyond_warehouse_tipbox_storage(name: str) -> WareHouse:
+    """创建BioYond站内Tip盒堆栈（A01～B03），用于存放枪头盒"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=3,  # 3列（01-03）
+        num_items_y=2,  # 2行（A-B）
+        num_items_z=1,  # 1层
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
     )
\ No newline at end of file
diff --git a/unilabos/resources/graphio.py b/unilabos/resources/graphio.py
index b6cec3804..28edcae47 100644
--- a/unilabos/resources/graphio.py
+++ b/unilabos/resources/graphio.py
@@ -580,6 +580,8 @@ def replace_plr_type_to_ulab(source: str):
             "trash": "trash",
             "deck": "deck",
             "tip_rack": "tip_rack",
+            "warehouse": "warehouse",
+            "container": "container",
         }
         if source in replace_info:
             return replace_info[source]
@@ -632,9 +634,24 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
             type_mapping.get(material.get("typeName"), ("RegularContainer", ""))[0] if type_mapping else "RegularContainer"
         )
 
-        plr_material: ResourcePLR = initialize_resource(
+        plr_material_result = initialize_resource(
             {"name": material["name"], "class": className}, resource_type=ResourcePLR
         )
+
+        # initialize_resource 可能返回列表或单个对象
+        if isinstance(plr_material_result, list):
+            if len(plr_material_result) == 0:
+                logger.warning(f"物料 {material['name']} 初始化失败，跳过")
+                continue
+            plr_material = plr_material_result[0]
+        else:
+            plr_material = plr_material_result
+
+        # 确保 plr_material 是 ResourcePLR 实例
+        if not isinstance(plr_material, ResourcePLR):
+            logger.warning(f"物料 {material['name']} 不是有效的 ResourcePLR 实例，类型: {type(plr_material)}")
+            continue
+
         plr_material.code = material.get("code", "") and material.get("barCode", "") or ""
         plr_material.unilabos_uuid = str(uuid.uuid4())
 
@@ -659,25 +676,66 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
                     ]
                     bottle.code = detail.get("code", "")
         else:
-            bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
-            bottle.tracker.liquids = [
-                (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
-            ]
+            # 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
+                bottle.tracker.liquids = [
+                    (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
+                ]
 
         plr_materials.append(plr_material)
 
         if deck and hasattr(deck, "warehouses"):
             for loc in material.get("locations", []):
-                if hasattr(deck, "warehouses") and loc.get("whName") in deck.warehouses:
-                    warehouse = deck.warehouses[loc["whName"]]
-                    idx = (
-                        (loc.get("y", 0) - 1) * warehouse.num_items_x * warehouse.num_items_y
-                        + (loc.get("x", 0) - 1) * warehouse.num_items_x
-                        + (loc.get("z", 0) - 1)
-                    )
+                wh_name = loc.get("whName")
+
+                # 特殊处理: Bioyond的"堆栈1"需要映射到"堆栈1左"或"堆栈1右"
+                # 根据列号(x)判断: 1-4映射到左侧, 5-8映射到右侧
+                if wh_name == "堆栈1":
+                    x_val = loc.get("x", 1)
+                    if 1 <= x_val <= 4:
+                        wh_name = "堆栈1左"
+                    elif 5 <= x_val <= 8:
+                        wh_name = "堆栈1右"
+                    else:
+                        logger.warning(f"物料 {material['name']} 的列号 x={x_val} 超出范围，无法映射到堆栈1左或堆栈1右")
+                        continue
+
+                if hasattr(deck, "warehouses") and wh_name in deck.warehouses:
+                    warehouse = deck.warehouses[wh_name]
+
+                    # Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
+                    # PyLabRobot warehouse是列优先存储: A01,B01,C01,D01, A02,B02,C02,D02, ...
+                    x = loc.get("x", 1)  # 行号 (1-based: 1=A, 2=B, 3=C, 4=D)
+                    y = loc.get("y", 1)  # 列号 (1-based: 1=01, 2=02, 3=03...)
+                    z = loc.get("z", 1)  # 层号 (1-based, 通常为1)
+
+                    # 如果是右侧堆栈，需要调整列号 (5→1, 6→2, 7→3, 8→4)
+                    if wh_name == "堆栈1右":
+                        y = y - 4  # 将5-8映射到1-4
+
+                    # 特殊处理：对于1行×N列的横向warehouse（如站内试剂存放堆栈）
+                    # Bioyond的y坐标表示线性位置序号，而不是列号
+                    if warehouse.num_items_y == 1:
+                        # 1行warehouse: 直接用y作为线性索引
+                        idx = y - 1
+                        logger.debug(f"1行warehouse {wh_name}: y={y} → idx={idx}")
+                    else:
+                        # 多行warehouse: 使用列优先索引 (与Bioyond坐标系统一致)
+                        # warehouse keys顺序: A01,B01,C01,D01, A02,B02,C02,D02, ...
+                        # 索引计算: idx = (col-1) * num_rows + (row-1) + (layer-1) * (rows * cols)
+                        row_idx = x - 1  # x表示行: 转为0-based
+                        col_idx = y - 1  # y表示列: 转为0-based
+                        layer_idx = z - 1  # 转为0-based
+                        idx = layer_idx * (warehouse.num_items_x * warehouse.num_items_y) + col_idx * warehouse.num_items_y + row_idx
+                        logger.debug(f"多行warehouse {wh_name}: x={x}(行),y={y}(列) → row={row_idx},col={col_idx} → idx={idx}")
+
                     if 0 <= idx < warehouse.capacity:
                         if warehouse[idx] is None or isinstance(warehouse[idx], ResourceHolder):
                             warehouse[idx] = plr_material
+                            logger.debug(f"✅ 物料 {material['name']} 放置到 {wh_name}[{idx}] (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')})")
+                    else:
+                        logger.warning(f"物料 {material['name']} 的索引 {idx} 超出仓库 {wh_name} 容量 {warehouse.capacity}")
 
     return plr_materials
 
@@ -714,8 +772,8 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
             bottle = resource[0] if resource.capacity > 0 else resource
             material = {
                 "typeId": "3a14196b-24f2-ca49-9081-0cab8021bf1a",
-                "name": resource.get("name", ""),
-                "unit": "",
+                "name": resource.name if hasattr(resource, "name") else "",
+                "unit": "个",  # 修复：Bioyond API 要求 unit 字段不能为空
                 "quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
                 "Parameters": "{}"
             }
@@ -759,6 +817,8 @@ def initialize_resource(resource_config: dict, resource_type: Any = None) -> Uni
     elif type(resource_class_config) == str:
         # Allow special resource class names to be used
         if resource_class_config not in lab_registry.resource_type_registry:
+            logger.warning(f"❌ 类 {resource_class_config} 不在 registry 中，返回原始配置")
+            logger.debug(f"   可用的类: {list(lab_registry.resource_type_registry.keys())[:10]}...")
             return [resource_config]
         # If the resource class is a string, look up the class in the
         # resource_type_registry and import it
diff --git a/unilabos/resources/warehouse.py b/unilabos/resources/warehouse.py
index c665b7faf..198971d0c 100644
--- a/unilabos/resources/warehouse.py
+++ b/unilabos/resources/warehouse.py
@@ -23,6 +23,7 @@ def warehouse_factory(
     empty: bool = False,
     category: str = "warehouse",
     model: Optional[str] = None,
+    col_offset: int = 0,  # 新增：列起始偏移量，用于生成A05-D08等命名
 ):
     # 创建16个板架位 (4层 x 4位置)
     locations = []
@@ -44,9 +45,11 @@ def warehouse_factory(
         name_prefix=name,
     )
     len_x, len_y = (num_items_x, num_items_y) if num_items_z == 1 else (num_items_y, num_items_z) if num_items_x == 1 else (num_items_x, num_items_z)
-    keys = [f"{LETTERS[j]}{i + 1}" for i in range(len_x) for j in range(len_y)]
+    # 应用列偏移量，支持A05-D08等命名
+    # 使用列优先顺序生成keys (与Bioyond坐标系统一致): A01,B01,C01,D01, A02,B02,C02,D02, ...
+    keys = [f"{LETTERS[j]}{i + 1 + col_offset:02d}" for i in range(len_x) for j in range(len_y)]
     sites = {i: site for i, site in zip(keys, _sites.values())}
-    
+
     return WareHouse(
         name=name,
         size_x=dx + item_dx * num_items_x,
diff --git a/unilabos/ros/nodes/resource_tracker.py b/unilabos/ros/nodes/resource_tracker.py
index c958fe7b1..020e966bf 100644
--- a/unilabos/ros/nodes/resource_tracker.py
+++ b/unilabos/ros/nodes/resource_tracker.py
@@ -848,9 +848,15 @@ def set_resource_extra(resource, extra: dict):
             extra: extra字典值
         """
         if isinstance(resource, dict):
-            resource["extra"] = extra
+            # ⭐ 修复：合并extra而不是覆盖
+            current_extra = resource.get("extra", {})
+            current_extra.update(extra)
+            resource["extra"] = current_extra
         else:
-            setattr(resource, "unilabos_extra", extra)
+            # ⭐ 修复：合并unilabos_extra而不是覆盖
+            current_extra = getattr(resource, "unilabos_extra", {})
+            current_extra.update(extra)
+            setattr(resource, "unilabos_extra", current_extra)
 
     def _traverse_and_process(self, resource, process_func) -> int:
         """

From 2393e88c5c48113c9b532c69134cbec14081cf29 Mon Sep 17 00:00:00 2001
From: ZiWei <131428629+ZiWei09@users.noreply.github.com>
Date: Tue, 28 Oct 2025 01:38:40 +0800
Subject: [PATCH 2/3] =?UTF-8?q?feat:=20=E6=B7=BB=E5=8A=A0TipBox=E5=92=8CRe?=
 =?UTF-8?q?actor=E7=9A=84=E9=85=8D=E7=BD=AE=E5=88=B0bottles.yaml?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../registry/resources/bioyond/bottles.yaml   | 22 +++++++++++++++++++
 1 file changed, 22 insertions(+)

diff --git a/unilabos/registry/resources/bioyond/bottles.yaml b/unilabos/registry/resources/bioyond/bottles.yaml
index 55da69085..b3438ccff 100644
--- a/unilabos/registry/resources/bioyond/bottles.yaml
+++ b/unilabos/registry/resources/bioyond/bottles.yaml
@@ -48,3 +48,25 @@ BIOYOND_PolymerStation_Solution_Beaker:
   icon: ''
   init_param_schema: {}
   version: 1.0.0
+BIOYOND_PolymerStation_TipBox:
+  category:
+  - bottles
+  - tip_boxes
+  class:
+    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_TipBox
+    type: pylabrobot
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+BIOYOND_PolymerStation_Reactor:
+  category:
+  - bottles
+  - reactors
+  class:
+    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Reactor
+    type: pylabrobot
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0

From bd011dec960a03b288d4cce1cc55c83037c23de4 Mon Sep 17 00:00:00 2001
From: ZiWei <131428629+ZiWei09@users.noreply.github.com>
Date: Wed, 29 Oct 2025 12:05:36 +0800
Subject: [PATCH 3/3] =?UTF-8?q?fix:=20=E4=BF=AE=E5=A4=8D=E6=B6=B2=E4=BD=93?=
 =?UTF-8?q?=E6=8A=95=E6=96=99=E6=96=B9=E6=B3=95=E4=B8=AD=E7=9A=84volume?=
 =?UTF-8?q?=E5=8F=82=E6=95=B0=E5=A4=84=E7=90=86=E9=80=BB=E8=BE=91?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../bioyond_studio/reaction_station.py        |   2 +-
 .../workstation/bioyond_studio/station.py     | 297 ++----------------
 2 files changed, 33 insertions(+), 266 deletions(-)

diff --git a/unilabos/devices/workstation/bioyond_studio/reaction_station.py b/unilabos/devices/workstation/bioyond_studio/reaction_station.py
index d35427d2d..9060710e4 100644
--- a/unilabos/devices/workstation/bioyond_studio/reaction_station.py
+++ b/unilabos/devices/workstation/bioyond_studio/reaction_station.py
@@ -232,7 +232,7 @@ def liquid_feeding_solvents(
             temperature: 温度设定(°C)
         """
         # 处理 volume 参数:优先使用直接传入的 volume,否则从 solvents 中提取
-        if volume is None and solvents is not None:
+        if not volume and solvents is not None:
             # 参数类型转换:如果是字符串则解析为字典
             if isinstance(solvents, str):
                 try:
diff --git a/unilabos/devices/workstation/bioyond_studio/station.py b/unilabos/devices/workstation/bioyond_studio/station.py
index 56b6c36c2..8c9a81647 100644
--- a/unilabos/devices/workstation/bioyond_studio/station.py
+++ b/unilabos/devices/workstation/bioyond_studio/station.py
@@ -63,60 +63,19 @@ def sync_from_external(self) -> bool:
                 logger.error("Bioyond API客户端未初始化")
                 return False
 
-            # 同步所有类型的物料：耗材(0)、样品(1)和试剂(2)
-            all_bioyond_data = []
-            type_names = {0: "耗材", 1: "样品", 2: "试剂"}
-
-            for type_mode in [0, 1, 2]:  # 0=耗材, 1=样品, 2=试剂
-                logger.info(f"正在从Bioyond同步类型 {type_mode} ({type_names[type_mode]})...")
-                bioyond_data = self.bioyond_api_client.stock_material(
-                    f'{{"typeMode": {type_mode}, "includeDetail": true}}'
-                )
-                if bioyond_data:
-                    logger.info(f"  类型 {type_mode} 同步了 {len(bioyond_data)} 个物料：")
-                    for mat in bioyond_data:
-                        mat_name = mat.get("name", "未知")
-                        mat_type = mat.get("typeName", "未知")
-                        locations = mat.get("locations", [])
-                        if locations:
-                            loc = locations[0]
-                            wh_name = loc.get("whName", "未知")
-                            coords = f"x={loc.get('x')},y={loc.get('y')},z={loc.get('z')}"
-                            logger.info(f"    - {mat_name} ({mat_type}) @ {wh_name} [{coords}]")
-                        else:
-                            logger.info(f"    - {mat_name} ({mat_type}) @ 未入库")
-                    all_bioyond_data.extend(bioyond_data)
-                else:
-                    logger.warning(f"  类型 {type_mode} 没有物料数据")
-
-            if not all_bioyond_data:
+            bioyond_data = self.bioyond_api_client.stock_material('{"typeMode": 2, "includeDetail": true}')
+            if not bioyond_data:
                 logger.warning("从Bioyond获取的物料数据为空")
                 return False
 
-            logger.info(f"总共获取 {len(all_bioyond_data)} 个物料，开始转换为UniLab格式...")
-
             # 转换为UniLab格式
             unilab_resources = resource_bioyond_to_plr(
-                all_bioyond_data,
+                bioyond_data,
                 type_mapping=self.workstation.bioyond_config["material_type_mappings"],
                 deck=self.workstation.deck
             )
 
-            # 保存 Bioyond 物料ID 到每个资源对象，用于后续更新
-            for i, resource in enumerate(unilab_resources):
-                if i < len(all_bioyond_data):
-                    material_id = all_bioyond_data[i].get("id")
-                    if material_id:
-                        # ⭐ 修复：使用 unilabos_extra 字典保存 Bioyond ID
-                        extra_info = getattr(resource, "unilabos_extra", {})
-                        extra_info["material_bioyond_id"] = material_id
-                        setattr(resource, "unilabos_extra", extra_info)
-                        logger.debug(f"物料 {resource.name} 的 Bioyond ID: {material_id[:8]}...")
-
-            # ⭐ 重要：保存同步的资源列表，稍后在 post_init 中上传到云端
-            self.workstation._synced_resources = unilab_resources
-
-            logger.info(f"✅ 从Bioyond同步完成，转换后得到 {len(unilab_resources)} 个UniLab资源")
+            logger.info(f"从Bioyond同步了 {len(unilab_resources)} 个资源")
             return True
         except Exception as e:
             logger.error(f"从Bioyond同步物料数据失败: {e}")
@@ -124,26 +83,14 @@ def sync_from_external(self) -> bool:
             return False
 
     def sync_to_external(self, resource: Any) -> bool:
-        """将本地物料数据变更同步到Bioyond系统
-
-        ⚠️ Bioyond物料移动的正确流程：
-        1. 出库 (outbound) - 物料被删除
-        2. 新建物料 (add_material) - 使用相同名称和属性
-        3. 入库 (inbound) - 新物料出现在新位置
-
-        Args:
-            resource: 要同步的资源（PLR格式）
-
-        Returns:
-            bool: True=成功, False=失败
-        """
+        """将本地物料数据变更同步到Bioyond系统"""
         try:
             # ✅ 跳过仓库类型的资源 - 仓库是容器，不是物料
             resource_category = getattr(resource, "category", None)
             if resource_category == "warehouse":
                 logger.debug(f"[同步→Bioyond] 跳过仓库类型资源: {resource.name} (仓库是容器，不需要同步为物料)")
                 return True
-            
+
             logger.info(f"[同步→Bioyond] 收到物料变更: {resource.name}")
 
             # 获取物料的 Bioyond ID
@@ -224,164 +171,24 @@ def sync_to_external(self, resource: Any) -> bool:
                 logger.debug(f"可用仓库: {list(warehouse_mapping.keys())}")
                 return False
 
-            # 第2步：查询物料当前状态（仅对已有物料）
-            current_material_info = None
-            current_location_id = None
+            bioyond_material = resource_plr_to_bioyond(
+                [resource],
+                type_mapping=self.workstation.bioyond_config["material_type_mappings"],
+                warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"]
+            )[0]
 
-            if material_bioyond_id:
-                # 已有物料：查询当前状态
-                try:
-                    for type_mode in [0, 1, 2]:  # 0=耗材, 1=样品, 2=试剂
-                        stock_data = self.bioyond_api_client.stock_material(
-                            f'{{"typeMode": {type_mode}, "includeDetail": true}}'
-                        )
-
-                        for material in stock_data:
-                            if material.get("id") == material_bioyond_id:
-                                current_material_info = material  # 保存完整物料信息
-                                locations = material.get("locations", [])
-                                if locations:
-                                    loc = locations[0]
-                                    current_location_id = loc.get("id")
-                                    wh_name = loc.get("whName", "")
-                                    x, y, z = loc.get("x"), loc.get("y"), loc.get("z")
-                                    row_letter = chr(64 + x) if x else "?"
-                                    col_number = f"{y:02d}" if y else "?"
-                                    current_pos = f"{row_letter}{col_number}"
-                                    logger.info(f"[同步] 物料当前位置: {wh_name}/{current_pos} (location_id: {current_location_id[:8]}...)")
-                                break
-
-                        if current_material_info:
-                            break
-                except Exception as e:
-                    logger.error(f"❌ 查询物料信息失败: {e}")
-                    import traceback
-                    traceback.print_exc()
-                    return False
+            location_info = bioyond_material.pop("locations")
 
-                if not current_material_info:
-                    logger.error(f"❌ 在Bioyond系统中未找到物料: {resource.name} (ID: {material_bioyond_id})")
-                    return False
+            material_id = self.bioyond_api_client.add_material(bioyond_material)
 
-                # 第3步：出库（删除旧物料）
-                if current_location_id:
-                    logger.info(f"[同步] 步骤1/4: 🔻 出库物料（删除）")
-                    outbound_response = self.bioyond_api_client.material_outbound_by_id(
-                        material_bioyond_id,
-                        current_location_id,
-                        quantity=1
-                    )
-                    if outbound_response is None:
-                        logger.error(f"❌ 物料出库失败")
-                        return False
-                    logger.info(f"[同步] ✅ 物料已出库（已删除）")
-                else:
-                    logger.info(f"[同步] 物料不在库中，跳过出库步骤")
-            else:
-                # 新物料：从 resource 对象构建物料信息
-                logger.info(f"[同步] 这是新物料，将从资源对象获取属性")
-                current_material_info = {
-                    "name": resource.name,
-                    "typeName": "烧杯",  # 默认类型，稍后会根据实际情况确定
-                    "unit": "微升",
-                    "quantity": 1000.0,  # 默认容量
+            response = self.bioyond_api_client.material_inbound(material_id, location_info[0]["id"])
+            if not response:
+                return {
+                    "status": "error",
+                    "message": "Failed to inbound material"
                 }
-                logger.info(f"[同步] 新物料属性: {current_material_info}")
-
-            # 第4步：查询物料类型ID
-            logger.info(f"[同步] 步骤2/4: 🔍 查询物料类型ID")
-
-            type_name = current_material_info.get("typeName", "")
-            type_id = None
-
-            try:
-                # 直接调用API查询物料类型列表
-                response = self.bioyond_api_client.post(
-                    url=f'{self.bioyond_api_client.host}/api/lims/storage/material-types',
-                    params={
-                        'apiKey': self.bioyond_api_client.api_key,
-                        'requestTime': self.bioyond_api_client.get_current_time_iso8601(),
-                        'data': ''
-                    })
-
-                if response and response.get('code') == 1:
-                    types = response.get('data', [])
-                    for t in types:
-                        if t.get("name") == type_name:
-                            type_id = t.get("id")
-                            logger.info(f"[同步] 找到物料类型: {type_name} (ID: {type_id[:8]}...)")
-                            break
-
-                    if not type_id:
-                        logger.warning(f"[同步] 未找到物料类型 {type_name}")
-            except Exception as e:
-                logger.error(f"[同步] 查询物料类型失败: {e}")
-                import traceback
-                traceback.print_exc()
-
-            if not type_id:
-                logger.error(f"❌ 无法获取物料类型ID")
-                return False
-
-            # 第5步：新建物料（使用原物料的属性）
-            logger.info(f"[同步] 步骤3/4: ➕ 新建物料")
-
-            # 按照API文档构建参数
-            new_material_data = {
-                "typeId": type_id,
-                "name": current_material_info.get("name"),
-                "unit": current_material_info.get("unit", "微升"),
-                "quantity": current_material_info.get("quantity", 0),
-                "code": "",  # 物料编码（可选）
-                "barCode": "",  # 物料条码（可选）
-                "parameters": "",  # 参数（必填，可以为空字符串）
-                "details": []  # 孔物料信息（如果有detail字段则填充）
-            }
-
-            new_material_response = self.bioyond_api_client.add_material(new_material_data)
-
-            # add_material 可能返回字典（包含id字段）或直接返回ID字符串
-            if isinstance(new_material_response, str):
-                new_material_id = new_material_response
-            elif isinstance(new_material_response, dict) and "id" in new_material_response:
-                new_material_id = new_material_response["id"]
-            else:
-                new_material_id = None
-
-            if not new_material_id:
-                logger.error(f"❌ 新建物料失败")
-                return False
-
-            new_material_id = new_material_response["id"]
-            logger.info(f"[同步] ✅ 新物料已创建 (ID: {new_material_id[:8]}...)")
-
-            # 第5步：入库到新位置
-            logger.info(f"[同步] 步骤3/3: 📥 入库到新位置 {update_site}")
-            inbound_response = self.bioyond_api_client.material_inbound(
-                new_material_id,
-                target_location_uuid
-            )
-
-            if inbound_response is not None:
-                logger.info(f"[同步] ✅ 物料已入库到 {parent_name}/{update_site}")
-                logger.info(f"[同步] 🎉 物料移动完成！{resource.name} → {parent_name}/{update_site}")
-
-                # ⭐ 更新 resource 的 Bioyond ID 为新 ID
-                extra_info["material_bioyond_id"] = new_material_id
-                setattr(resource, "unilabos_extra", extra_info)
-
-                return True
-            else:
-                logger.error(f"❌ 物料入库到新位置失败")
-                logger.error(f"   警告：物料已出库但入库失败，需要手动在Bioyond系统中处理")
-                logger.error(f"   新物料ID: {new_material_id}")
-                return False
-
-        except Exception as e:
-            logger.error(f"[同步→Bioyond] 处理物料变更时出错: {e}")
-            import traceback
-            traceback.print_exc()
-            return False
+        except:
+            pass
 
     def handle_external_change(self, change_info: Dict[str, Any]) -> bool:
         """处理Bioyond系统的变更通知"""
@@ -446,27 +253,22 @@ def __init__(
 
     def post_init(self, ros_node: ROS2WorkstationNode):
         self._ros_node = ros_node
+
+        # ⭐ 上传 deck（包括所有 warehouses 及其中的物料）
+        # 注意：如果有从 Bioyond 同步的物料，它们已经被放置到 warehouse 中了
+        # 所以只需要上传 deck，物料会作为 warehouse 的 children 一起上传
+        logger.info("正在上传 deck（包括 warehouses 和物料）到云端...")
         ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
             "resources": [self.deck]
         })
 
-        # ⭐ 上传从 Bioyond 同步的物料到云端数据库
-        if hasattr(self, "_synced_resources") and self._synced_resources:
-            try:
-                logger.info(f"开始将 {len(self._synced_resources)} 个从Bioyond同步的物料上传到云端...")
-                # 调用 ROS 节点的 update_resource 方法，确保物料被上传到云端
-                ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
-                    "resources": self._synced_resources
-                })
-                logger.info("✅ 从Bioyond同步的物料已上传到云端数据库")
-                # 清理临时变量
-                self._synced_resources = []
-            except Exception as e:
-                logger.error(f"上传Bioyond同步物料到云端失败: {e}")
-                import traceback
-                traceback.print_exc()
+        # 清理临时变量（物料已经在 deck 的 warehouse children 中，不需要单独上传）
+        if hasattr(self, "_synced_resources"):
+            logger.info(f"✅ {len(self._synced_resources)} 个从Bioyond同步的物料已包含在 deck 中")
+            self._synced_resources = []
 
     def transfer_resource_to_another(self, resource: List[ResourceSlot], mount_resource: List[ResourceSlot], sites: List[str], mount_device_id: DeviceSlot):
+        time.sleep(3)
         ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True, **{
             "plr_resources": resource,
             "target_device_id": mount_device_id,
@@ -476,26 +278,13 @@ def transfer_resource_to_another(self, resource: List[ResourceSlot], mount_resou
 
     def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
         """创建Bioyond通信模块"""
-        # 如果没有提供配置，或者配置不完整，使用默认配置
-        if config is None:
-            config = {}
-
-        # 合并配置，确保所有必要的键都存在
-        self.bioyond_config = {
+        self.bioyond_config = config or {
             **API_CONFIG,
             "workflow_mappings": WORKFLOW_MAPPINGS,
             "material_type_mappings": MATERIAL_TYPE_MAPPINGS,
-            "warehouse_mapping": WAREHOUSE_MAPPING,
-            **config  # 用户配置覆盖默认配置
+            "warehouse_mapping": WAREHOUSE_MAPPING
         }
 
-        # 调试：输出配置信息
-        logger.debug(f"Bioyond 配置加载完成:")
-        logger.debug(f"  - warehouse_mapping 仓库数: {len(self.bioyond_config.get('warehouse_mapping', {}))}")
-        logger.debug(f"  - material_type_mappings 类型数: {len(self.bioyond_config.get('material_type_mappings', {}))}")
-        logger.debug(f"  - material_type_mappings 详情: {list(self.bioyond_config.get('material_type_mappings', {}).keys())}")
-        logger.debug(f"  - workflow_mappings 工作流数: {len(self.bioyond_config.get('workflow_mappings', {}))}")
-
         self.hardware_interface = BioyondV1RPC(self.bioyond_config)
 
     def resource_tree_add(self, resources: List[ResourcePLR]) -> None:
@@ -506,28 +295,6 @@ def resource_tree_add(self, resources: List[ResourcePLR]) -> None:
         """
         self.resource_synchronizer.sync_to_external(resources)
 
-    def resource_tree_update(self, resources: List[ResourcePLR]) -> None:
-        """更新资源信息并同步到Bioyond系统
-
-        Args:
-            resources (List[ResourcePLR]): 要更新的资源列表
-        """
-        try:
-            logger.info(f"开始同步 {len(resources)} 个资源的更新到Bioyond系统")
-
-            for resource in resources:
-                # 调用资源同步器将更新同步到外部系统
-                success = self.resource_synchronizer.sync_to_external(resource)
-                if success:
-                    logger.info(f"资源 {resource.name} 更新同步成功")
-                else:
-                    logger.warning(f"资源 {resource.name} 更新同步失败")
-
-        except Exception as e:
-            logger.error(f"同步资源更新到Bioyond失败: {e}")
-            import traceback
-            traceback.print_exc()
-
     @property
     def bioyond_status(self) -> Dict[str, Any]:
         """获取 Bioyond 系统状态信息