From 4eabaa4fd36bca9047671ce469d86cad005bc565 Mon Sep 17 00:00:00 2001
From: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
Date: Thu, 12 Jun 2025 20:47:46 +0800
Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E5=90=8DAction?=
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---
 unilabos/registry/devices/mock_devices.yaml   |  6 ++--
 unilabos/registry/devices/virtual_device.yaml | 12 +++----
 unilabos_msgs/CMakeLists.txt                  | 34 +++++++++----------
 .../action/{Add.action => ProtocolAdd.action} |  3 +-
 ...ifuge.action => ProtocolCentrifuge.action} |  3 +-
 ...ssel.action => ProtocolCleanVessel.action} |  1 +
 ...lize.action => ProtocolCrystallize.action} |  3 +-
 ...issolve.action => ProtocolDissolve.action} |  1 +
 .../action/{Dry.action => ProtocolDry.action} |  3 +-
 .../{Filter.action => ProtocolFilter.action}  |  3 +-
 ...gh.action => ProtocolFilterThrough.action} |  1 +
 .../{Purge.action => ProtocolPurge.action}    |  3 +-
 ...Column.action => ProtocolRunColumn.action} |  1 +
 ...Purge.action => ProtocolStartPurge.action} |  3 +-
 ...rtStir.action => ProtocolStartStir.action} |  3 +-
 ...pPurge.action => ProtocolStopPurge.action} |  3 +-
 ...topStir.action => ProtocolStopStir.action} |  3 +-
 ...ransfer.action => ProtocolTransfer.action} |  3 +-
 .../{Wait.action => ProtocolWait.action}      |  1 +
 ...hSolid.action => ProtocolWashSolid.action} |  1 +
 20 files changed, 54 insertions(+), 37 deletions(-)
 rename unilabos_msgs/action/{Add.action => ProtocolAdd.action} (92%)
 rename unilabos_msgs/action/{Centrifuge.action => ProtocolCentrifuge.action} (89%)
 rename unilabos_msgs/action/{CleanVessel.action => ProtocolCleanVessel.action} (96%)
 rename unilabos_msgs/action/{Crystallize.action => ProtocolCrystallize.action} (88%)
 rename unilabos_msgs/action/{Dissolve.action => ProtocolDissolve.action} (97%)
 rename unilabos_msgs/action/{Dry.action => ProtocolDry.action} (90%)
 rename unilabos_msgs/action/{Filter.action => ProtocolFilter.action} (92%)
 rename unilabos_msgs/action/{FilterThrough.action => ProtocolFilterThrough.action} (97%)
 rename unilabos_msgs/action/{Purge.action => ProtocolPurge.action} (90%)
 rename unilabos_msgs/action/{RunColumn.action => ProtocolRunColumn.action} (96%)
 rename unilabos_msgs/action/{StartPurge.action => ProtocolStartPurge.action} (90%)
 rename unilabos_msgs/action/{StartStir.action => ProtocolStartStir.action} (88%)
 rename unilabos_msgs/action/{StopPurge.action => ProtocolStopPurge.action} (83%)
 rename unilabos_msgs/action/{StopStir.action => ProtocolStopStir.action} (82%)
 rename unilabos_msgs/action/{Transfer.action => ProtocolTransfer.action} (92%)
 rename unilabos_msgs/action/{Wait.action => ProtocolWait.action} (94%)
 rename unilabos_msgs/action/{WashSolid.action => ProtocolWashSolid.action} (97%)

diff --git a/unilabos/registry/devices/mock_devices.yaml b/unilabos/registry/devices/mock_devices.yaml
index 93f52a8..5976046 100644
--- a/unilabos/registry/devices/mock_devices.yaml
+++ b/unilabos/registry/devices/mock_devices.yaml
@@ -89,7 +89,7 @@ mock_filter:
       target_volume: Float64
     action_value_mappings:
       filter:
-        type: Filter
+        type: ProtocolFilter
         goal:
           vessel: vessel
           filtrate_vessel: filtrate_vessel
@@ -737,7 +737,7 @@ mock_stirrer_new:
       max_stir_speed: Float64
     action_value_mappings:
       start_stir:
-        type: StartStir
+        type: ProtocolStartStir
         goal:
           vessel: vessel
           stir_speed: stir_speed
@@ -760,7 +760,7 @@ mock_stirrer_new:
         result:
           success: success
       stop_stir:
-        type: StopStir
+        type: ProtocolStopStir
         goal:
           vessel: vessel
         feedback:
diff --git a/unilabos/registry/devices/virtual_device.yaml b/unilabos/registry/devices/virtual_device.yaml
index c25e7d2..f92baf2 100644
--- a/unilabos/registry/devices/virtual_device.yaml
+++ b/unilabos/registry/devices/virtual_device.yaml
@@ -65,7 +65,7 @@ virtual_stirrer:
         result:
           success: success
       start_stir:
-        type: StartStir
+        type: ProtocolStartStir
         goal:
           vessel: vessel
           stir_speed: stir_speed
@@ -75,7 +75,7 @@ virtual_stirrer:
         result:
           success: success
       stop_stir:
-        type: StopStir
+        type: ProtocolStopStir
         goal:
           vessel: vessel
         feedback:
@@ -156,7 +156,7 @@ virtual_centrifuge:
       time_remaining: Float64
     action_value_mappings:
       centrifuge:
-        type: Centrifuge
+        type: ProtocolCentrifuge
         goal:
           vessel: vessel
           speed: speed
@@ -205,7 +205,7 @@ virtual_filter:
       message: String
     action_value_mappings:
       filter_sample:
-        type: Filter
+        type: ProtocolFilter
         goal:
           vessel: vessel
           filtrate_vessel: filtrate_vessel
@@ -309,7 +309,7 @@ virtual_transfer_pump:
       current_status: String
     action_value_mappings:
       transfer:
-        type: Transfer
+        type: ProtocolTransfer
         goal:
           from_vessel: from_vessel
           to_vessel: to_vessel
@@ -359,7 +359,7 @@ virtual_column:
       current_status: String
     action_value_mappings:
       run_column:
-        type: RunColumn
+        type: ProtocolRunColumn
         goal:
           from_vessel: from_vessel
           to_vessel: to_vessel
diff --git a/unilabos_msgs/CMakeLists.txt b/unilabos_msgs/CMakeLists.txt
index dc0d5d4..b818cf0 100644
--- a/unilabos_msgs/CMakeLists.txt
+++ b/unilabos_msgs/CMakeLists.txt
@@ -24,28 +24,28 @@ find_package(geometry_msgs REQUIRED)
 
 set(action_files
   "action/SendCmd.action"
-  "action/CleanVessel.action"
-  "action/Dissolve.action"
-  "action/FilterThrough.action"
-  "action/RunColumn.action"
-  "action/Wait.action"
-  "action/WashSolid.action"
   "action/Stir.action"
   "action/HeatChill.action"
   "action/HeatChillStart.action"
   "action/HeatChillStop.action"
 
-  "action/Filter.action"
-  "action/Add.action"
-  "action/Centrifuge.action"
-  "action/Crystallize.action"
-  "action/Dry.action"
-  "action/Purge.action"
-  "action/StartPurge.action"
-  "action/StartStir.action"
-  "action/StopPurge.action"
-  "action/StopStir.action"
-  "action/Transfer.action"
+  "action/ProtocolCleanVessel.action"
+  "action/ProtocolDissolve.action"
+  "action/ProtocolFilterThrough.action"
+  "action/ProtocolRunColumn.action"
+  "action/ProtocolWait.action"
+  "action/ProtocolWashSolid.action"
+  "action/ProtocolFilter.action"
+
+  "action/ProtocolCentrifuge.action"
+  "action/ProtocolCrystallize.action"
+  "action/ProtocolDry.action"
+  "action/ProtocolPurge.action"
+  "action/ProtocolStartPurge.action"
+  "action/ProtocolStartStir.action"
+  "action/ProtocolStopPurge.action"
+  "action/ProtocolStopStir.action"
+  "action/ProtocolTransfer.action"
 
   "action/LiquidHandlerProtocolCreation.action"
   "action/LiquidHandlerAspirate.action"
diff --git a/unilabos_msgs/action/Add.action b/unilabos_msgs/action/ProtocolAdd.action
similarity index 92%
rename from unilabos_msgs/action/Add.action
rename to unilabos_msgs/action/ProtocolAdd.action
index 0661f35..de06c6a 100644
--- a/unilabos_msgs/action/Add.action
+++ b/unilabos_msgs/action/ProtocolAdd.action
@@ -12,7 +12,8 @@ string purpose                   # 添加目的 (可选)
 ---
 # Result - 操作结果  
 bool success                     # 操作是否成功  
-string message                   # 结果消息  
+string message                   # 结果消息
+string return_info
 ---
 # Feedback - 实时反馈  
 float64 progress                 # 进度百分比 (0-100)  
diff --git a/unilabos_msgs/action/Centrifuge.action b/unilabos_msgs/action/ProtocolCentrifuge.action
similarity index 89%
rename from unilabos_msgs/action/Centrifuge.action
rename to unilabos_msgs/action/ProtocolCentrifuge.action
index fe11668..356ccb9 100644
--- a/unilabos_msgs/action/Centrifuge.action
+++ b/unilabos_msgs/action/ProtocolCentrifuge.action
@@ -6,7 +6,8 @@ float64 temp                     # 温度 (可选，摄氏度)
 ---
 # Result - 操作结果  
 bool success                     # 操作是否成功  
-string message                   # 结果消息  
+string message                   # 结果消息
+string return_info
 ---
 # Feedback - 实时反馈  
 float64 progress                 # 进度百分比 (0-100)  
diff --git a/unilabos_msgs/action/CleanVessel.action b/unilabos_msgs/action/ProtocolCleanVessel.action
similarity index 96%
rename from unilabos_msgs/action/CleanVessel.action
rename to unilabos_msgs/action/ProtocolCleanVessel.action
index aa33a67..cba232a 100644
--- a/unilabos_msgs/action/CleanVessel.action
+++ b/unilabos_msgs/action/ProtocolCleanVessel.action
@@ -6,6 +6,7 @@ int32 repeats                   # 清洗操作的重复次数，默认为 1
 ---
 bool success                    # 操作是否成功
 string message                  # 结果消息
+string return_info
 ---
 string status                   # 当前状态描述
 float64 progress               # 进度百分比 (0-100)
\ No newline at end of file
diff --git a/unilabos_msgs/action/Crystallize.action b/unilabos_msgs/action/ProtocolCrystallize.action
similarity index 88%
rename from unilabos_msgs/action/Crystallize.action
rename to unilabos_msgs/action/ProtocolCrystallize.action
index de3bdf8..50d26cf 100644
--- a/unilabos_msgs/action/Crystallize.action
+++ b/unilabos_msgs/action/ProtocolCrystallize.action
@@ -5,7 +5,8 @@ float64 ramp_temp               # 目标温度 (可选，摄氏度)
 ---
 # Result - 操作结果  
 bool success                     # 操作是否成功  
-string message                   # 结果消息  
+string message                   # 结果消息
+string return_info
 ---
 # Feedback - 实时反馈  
 float64 progress                 # 进度百分比 (0-100)  
diff --git a/unilabos_msgs/action/Dissolve.action b/unilabos_msgs/action/ProtocolDissolve.action
similarity index 97%
rename from unilabos_msgs/action/Dissolve.action
rename to unilabos_msgs/action/ProtocolDissolve.action
index 08140d0..6b860d0 100644
--- a/unilabos_msgs/action/Dissolve.action
+++ b/unilabos_msgs/action/ProtocolDissolve.action
@@ -8,6 +8,7 @@ float64 stir_speed              # 搅拌速度，可选参数
 ---
 bool success                    # 操作是否成功
 string message                  # 结果消息
+string return_info
 ---
 string status                   # 当前状态描述
 float64 progress               # 进度百分比 (0-100)
\ No newline at end of file
diff --git a/unilabos_msgs/action/Dry.action b/unilabos_msgs/action/ProtocolDry.action
similarity index 90%
rename from unilabos_msgs/action/Dry.action
rename to unilabos_msgs/action/ProtocolDry.action
index c4277df..5692ef2 100644
--- a/unilabos_msgs/action/Dry.action
+++ b/unilabos_msgs/action/ProtocolDry.action
@@ -7,7 +7,8 @@ bool continue_heatchill          # 是否继续加热冷却
 ---
 # Result - 操作结果  
 bool success                     # 操作是否成功  
-string message                   # 结果消息  
+string message                   # 结果消息
+string return_info
 ---
 # Feedback - 实时反馈  
 float64 progress                 # 进度百分比 (0-100)  
diff --git a/unilabos_msgs/action/Filter.action b/unilabos_msgs/action/ProtocolFilter.action
similarity index 92%
rename from unilabos_msgs/action/Filter.action
rename to unilabos_msgs/action/ProtocolFilter.action
index 2edbe19..564df1a 100644
--- a/unilabos_msgs/action/Filter.action
+++ b/unilabos_msgs/action/ProtocolFilter.action
@@ -9,7 +9,8 @@ float64 volume                   # 过滤体积 (可选)
 ---
 # Result - 操作结果  
 bool success                     # 操作是否成功  
-string message                   # 结果消息  
+string message                   # 结果消息
+string return_info
 ---
 # Feedback - 实时反馈  
 float64 progress                 # 进度百分比 (0-100)  
diff --git a/unilabos_msgs/action/FilterThrough.action b/unilabos_msgs/action/ProtocolFilterThrough.action
similarity index 97%
rename from unilabos_msgs/action/FilterThrough.action
rename to unilabos_msgs/action/ProtocolFilterThrough.action
index 9c889cb..dbabd12 100644
--- a/unilabos_msgs/action/FilterThrough.action
+++ b/unilabos_msgs/action/ProtocolFilterThrough.action
@@ -8,6 +8,7 @@ float64 residence_time         # 物质在过滤介质中的停留时间，可
 ---
 bool success                    # 操作是否成功
 string message                  # 结果消息
+string return_info
 ---
 string status                   # 当前状态描述
 float64 progress               # 进度百分比 (0-100)
\ No newline at end of file
diff --git a/unilabos_msgs/action/Purge.action b/unilabos_msgs/action/ProtocolPurge.action
similarity index 90%
rename from unilabos_msgs/action/Purge.action
rename to unilabos_msgs/action/ProtocolPurge.action
index f7360ef..00d76b3 100644
--- a/unilabos_msgs/action/Purge.action
+++ b/unilabos_msgs/action/ProtocolPurge.action
@@ -7,7 +7,8 @@ float64 flow_rate               # 流速 (可选，mL/min)
 ---
 # Result - 操作结果  
 bool success                     # 操作是否成功  
-string message                   # 结果消息  
+string message                   # 结果消息
+string return_info
 ---
 # Feedback - 实时反馈  
 float64 progress                 # 进度百分比 (0-100)  
diff --git a/unilabos_msgs/action/RunColumn.action b/unilabos_msgs/action/ProtocolRunColumn.action
similarity index 96%
rename from unilabos_msgs/action/RunColumn.action
rename to unilabos_msgs/action/ProtocolRunColumn.action
index 10aafd4..3fba948 100644
--- a/unilabos_msgs/action/RunColumn.action
+++ b/unilabos_msgs/action/ProtocolRunColumn.action
@@ -4,6 +4,7 @@ string column                   # 所使用的柱子的名称
 ---
 bool success                    # 操作是否成功
 string message                  # 结果消息
+string return_info
 ---
 string status                   # 当前状态描述
 float64 progress               # 进度百分比 (0-100)
\ No newline at end of file
diff --git a/unilabos_msgs/action/StartPurge.action b/unilabos_msgs/action/ProtocolStartPurge.action
similarity index 90%
rename from unilabos_msgs/action/StartPurge.action
rename to unilabos_msgs/action/ProtocolStartPurge.action
index b40c297..f5500a6 100644
--- a/unilabos_msgs/action/StartPurge.action
+++ b/unilabos_msgs/action/ProtocolStartPurge.action
@@ -6,7 +6,8 @@ float64 flow_rate               # 流速 (可选，mL/min)
 ---
 # Result - 操作结果  
 bool success                     # 操作是否成功  
-string message                   # 结果消息  
+string message                   # 结果消息
+string return_info
 ---
 # Feedback - 实时反馈  
 float64 progress                 # 进度百分比 (0-100)  
diff --git a/unilabos_msgs/action/StartStir.action b/unilabos_msgs/action/ProtocolStartStir.action
similarity index 88%
rename from unilabos_msgs/action/StartStir.action
rename to unilabos_msgs/action/ProtocolStartStir.action
index 9477465..534c9f3 100644
--- a/unilabos_msgs/action/StartStir.action
+++ b/unilabos_msgs/action/ProtocolStartStir.action
@@ -5,7 +5,8 @@ string purpose                   # 搅拌目的 (可选)
 ---
 # Result - 操作结果  
 bool success                     # 操作是否成功  
-string message                   # 结果消息  
+string message                   # 结果消息
+string return_info
 ---
 # Feedback - 实时反馈  
 float64 progress                 # 进度百分比 (0-100)  
diff --git a/unilabos_msgs/action/StopPurge.action b/unilabos_msgs/action/ProtocolStopPurge.action
similarity index 83%
rename from unilabos_msgs/action/StopPurge.action
rename to unilabos_msgs/action/ProtocolStopPurge.action
index ec4b1d6..b7db891 100644
--- a/unilabos_msgs/action/StopPurge.action
+++ b/unilabos_msgs/action/ProtocolStopPurge.action
@@ -3,7 +3,8 @@ string vessel                    # 清洗容器
 ---
 # Result - 操作结果  
 bool success                     # 操作是否成功  
-string message                   # 结果消息  
+string message                   # 结果消息
+string return_info
 ---
 # Feedback - 实时反馈  
 float64 progress                 # 进度百分比 (0-100)  
diff --git a/unilabos_msgs/action/StopStir.action b/unilabos_msgs/action/ProtocolStopStir.action
similarity index 82%
rename from unilabos_msgs/action/StopStir.action
rename to unilabos_msgs/action/ProtocolStopStir.action
index af08931..a320598 100644
--- a/unilabos_msgs/action/StopStir.action
+++ b/unilabos_msgs/action/ProtocolStopStir.action
@@ -3,7 +3,8 @@ string vessel                    # 搅拌容器
 ---
 # Result - 操作结果  
 bool success                     # 操作是否成功  
-string message                   # 结果消息  
+string message                   # 结果消息
+string return_info
 ---
 # Feedback - 实时反馈  
 float64 progress                 # 进度百分比 (0-100)  
diff --git a/unilabos_msgs/action/Transfer.action b/unilabos_msgs/action/ProtocolTransfer.action
similarity index 92%
rename from unilabos_msgs/action/Transfer.action
rename to unilabos_msgs/action/ProtocolTransfer.action
index 47dbfe9..f31f9dd 100644
--- a/unilabos_msgs/action/Transfer.action
+++ b/unilabos_msgs/action/ProtocolTransfer.action
@@ -11,7 +11,8 @@ bool solid                       # 是否涉及固体
 ---
 # Result - 操作结果  
 bool success                     # 操作是否成功  
-string message                   # 结果消息  
+string message                   # 结果消息
+string return_info
 ---
 # Feedback - 实时反馈  
 float64 progress                 # 进度百分比 (0-100)  
diff --git a/unilabos_msgs/action/Wait.action b/unilabos_msgs/action/ProtocolWait.action
similarity index 94%
rename from unilabos_msgs/action/Wait.action
rename to unilabos_msgs/action/ProtocolWait.action
index 119be2a..d4c4942 100644
--- a/unilabos_msgs/action/Wait.action
+++ b/unilabos_msgs/action/ProtocolWait.action
@@ -2,6 +2,7 @@ int32 time                      # 等待时间（秒）
 ---
 bool success                    # 操作是否成功
 string message                  # 结果消息
+string return_info
 ---
 string status                   # 当前状态描述
 float64 progress               # 进度百分比 (0-100)
diff --git a/unilabos_msgs/action/WashSolid.action b/unilabos_msgs/action/ProtocolWashSolid.action
similarity index 97%
rename from unilabos_msgs/action/WashSolid.action
rename to unilabos_msgs/action/ProtocolWashSolid.action
index be773cb..cb57e5c 100644
--- a/unilabos_msgs/action/WashSolid.action
+++ b/unilabos_msgs/action/ProtocolWashSolid.action
@@ -10,6 +10,7 @@ int32 repeats                   # 清洗操作的重复次数，默认为 1
 ---
 bool success                    # 操作是否成功
 string message                  # 结果消息
+string return_info
 ---
 string status                   # 当前状态描述
 float64 progress               # 进度百分比 (0-100)
\ No newline at end of file