更名Action

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:

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

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/ProtocolCleanVessel.action"
-  "action/Add.action"
+  "action/ProtocolDissolve.action"
-  "action/Centrifuge.action"
+  "action/ProtocolFilterThrough.action"
-  "action/Crystallize.action"
+  "action/ProtocolRunColumn.action"
-  "action/Dry.action"
+  "action/ProtocolWait.action"
-  "action/Purge.action"
+  "action/ProtocolWashSolid.action"
-  "action/StartPurge.action"
+  "action/ProtocolFilter.action"
-  "action/StartStir.action"
+
-  "action/StopPurge.action"
+  "action/ProtocolCentrifuge.action"
-  "action/StopStir.action"
+  "action/ProtocolCrystallize.action"
-  "action/Transfer.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"

unilabos_msgs/action/ProtocolAdd.action

@@ -13,6 +13,7 @@ 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 return_info
 ---
 # Feedback - 实时反馈  
 float64 progress                 # 进度百分比 (0-100)  

unilabos_msgs/action/ProtocolCentrifuge.action

@@ -7,6 +7,7 @@ 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 return_info
 ---
 # Feedback - 实时反馈  
 float64 progress                 # 进度百分比 (0-100)  

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)

unilabos_msgs/action/ProtocolCrystallize.action

@@ -6,6 +6,7 @@ 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 return_info
 ---
 # Feedback - 实时反馈  
 float64 progress                 # 进度百分比 (0-100)  

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)

unilabos_msgs/action/ProtocolDry.action

@@ -8,6 +8,7 @@ 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 return_info
 ---
 # Feedback - 实时反馈  
 float64 progress                 # 进度百分比 (0-100)  

unilabos_msgs/action/ProtocolFilter.action

@@ -10,6 +10,7 @@ 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 return_info
 ---
 # Feedback - 实时反馈  
 float64 progress                 # 进度百分比 (0-100)  

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)

unilabos_msgs/action/ProtocolPurge.action

@@ -8,6 +8,7 @@ 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 return_info
 ---
 # Feedback - 实时反馈  
 float64 progress                 # 进度百分比 (0-100)  

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)

unilabos_msgs/action/ProtocolStartPurge.action

@@ -7,6 +7,7 @@ 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 return_info
 ---
 # Feedback - 实时反馈  
 float64 progress                 # 进度百分比 (0-100)  

unilabos_msgs/action/ProtocolStartStir.action

@@ -6,6 +6,7 @@ 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 return_info
 ---
 # Feedback - 实时反馈  
 float64 progress                 # 进度百分比 (0-100)  

unilabos_msgs/action/ProtocolStopPurge.action

@@ -4,6 +4,7 @@ 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 return_info
 ---
 # Feedback - 实时反馈  
 float64 progress                 # 进度百分比 (0-100)  

unilabos_msgs/action/ProtocolStopStir.action

@@ -4,6 +4,7 @@ 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 return_info
 ---
 # Feedback - 实时反馈  
 float64 progress                 # 进度百分比 (0-100)  

unilabos_msgs/action/ProtocolTransfer.action

@@ -12,6 +12,7 @@ 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 return_info
 ---
 # Feedback - 实时反馈  
 float64 progress                 # 进度百分比 (0-100)  

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)

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)