From 7b04f3fa50d24eeda5f41fba796728b4a199b8ff Mon Sep 17 00:00:00 2001 From: KCFeng425 <2100011801@stu.pku.edu.cn> Date: Mon, 16 Jun 2025 02:06:53 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E4=BA=86=E6=B7=BB=E5=8A=A0pr?= =?UTF-8?q?otocol=E5=89=8D=E7=BC=80=E5=AF=BC=E8=87=B4=E7=9A=84=E4=B8=8D?= =?UTF-8?q?=E8=83=BD=E5=90=AF=E5=8A=A8=E7=9A=84bug?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../comprehensive_protocol/checklist.md | 32 + .../comprehensive_station.json | 887 ++++++++++++++++++ .../mock_protocol/addteststation.json | 2 +- .../devices/virtual/virtual_multiway_valve.py | 147 ++- .../devices/virtual/virtual_rotavap.py | 0 .../devices/virtual/virtual_transferpump.py | 382 +++++--- unilabos/registry/devices/mock_devices.yaml | 6 +- unilabos/registry/devices/virtual_device.yaml | 31 +- unilabos_msgs/CMakeLists.txt | 34 +- .../action/{ProtocolAdd.action => Add.action} | 0 ...colCentrifuge.action => Centrifuge.action} | 0 ...lCleanVessel.action => CleanVessel.action} | 0 ...lCrystallize.action => Crystallize.action} | 0 ...rotocolDissolve.action => Dissolve.action} | 0 .../action/{ProtocolDry.action => Dry.action} | 0 .../{ProtocolFilter.action => Filter.action} | 0 ...terThrough.action => FilterThrough.action} | 0 .../{ProtocolPurge.action => Purge.action} | 0 ...tocolRunColumn.action => RunColumn.action} | 0 ...colStartPurge.action => StartPurge.action} | 0 ...tocolStartStir.action => StartStir.action} | 0 ...tocolStopPurge.action => StopPurge.action} | 0 ...rotocolStopStir.action => StopStir.action} | 0 ...rotocolTransfer.action => Transfer.action} | 0 .../{ProtocolWait.action => Wait.action} | 0 ...tocolWashSolid.action => WashSolid.action} | 0 26 files changed, 1345 insertions(+), 176 deletions(-) create mode 100644 test/experiments/comprehensive_protocol/checklist.md create mode 100644 test/experiments/comprehensive_protocol/comprehensive_station.json rename test/experiments/mock_protocol/evaporateteststation.json => unilabos/devices/virtual/virtual_rotavap.py (100%) rename unilabos_msgs/action/{ProtocolAdd.action => Add.action} (100%) rename unilabos_msgs/action/{ProtocolCentrifuge.action => Centrifuge.action} (100%) rename unilabos_msgs/action/{ProtocolCleanVessel.action => CleanVessel.action} (100%) rename unilabos_msgs/action/{ProtocolCrystallize.action => Crystallize.action} (100%) rename unilabos_msgs/action/{ProtocolDissolve.action => Dissolve.action} (100%) rename unilabos_msgs/action/{ProtocolDry.action => Dry.action} (100%) rename unilabos_msgs/action/{ProtocolFilter.action => Filter.action} (100%) rename unilabos_msgs/action/{ProtocolFilterThrough.action => FilterThrough.action} (100%) rename unilabos_msgs/action/{ProtocolPurge.action => Purge.action} (100%) rename unilabos_msgs/action/{ProtocolRunColumn.action => RunColumn.action} (100%) rename unilabos_msgs/action/{ProtocolStartPurge.action => StartPurge.action} (100%) rename unilabos_msgs/action/{ProtocolStartStir.action => StartStir.action} (100%) rename unilabos_msgs/action/{ProtocolStopPurge.action => StopPurge.action} (100%) rename unilabos_msgs/action/{ProtocolStopStir.action => StopStir.action} (100%) rename unilabos_msgs/action/{ProtocolTransfer.action => Transfer.action} (100%) rename unilabos_msgs/action/{ProtocolWait.action => Wait.action} (100%) rename unilabos_msgs/action/{ProtocolWashSolid.action => WashSolid.action} (100%) diff --git a/test/experiments/comprehensive_protocol/checklist.md b/test/experiments/comprehensive_protocol/checklist.md new file mode 100644 index 0000000..7a431f0 --- /dev/null +++ b/test/experiments/comprehensive_protocol/checklist.md @@ -0,0 +1,32 @@ +1. 用到的仪器 + virtual_multiway_valve() 八通阀门 + virtual_transfer_pump() 转移泵 + virtual_centrifuge() 离心机 + virtual_rotavap() 旋蒸仪 + virtual_heatchill() 加热器 + virtual_stirrer() 搅拌器 + virtual_solenoid_valve() 电磁阀 + vacuum_pump() vacuum_pump.mock 真空泵 + gas_source() 气源 + virtual_filter() 过滤器 + virtual_column(√) 层析柱 + separator() homemade_grbl_conductivity 分液漏斗 +2. 用到的protocol + AddProtocol() + TransferProtocol() 应该用pump_protocol.py删掉transfer + StartStirProtocol() + StopStirProtocol() + StirProtocol() + RunColumnProtocol() + CentrifugeProtocol() + FilterProtocol() + CleanVesselProtocol() + DissolveProtocol() + FilterThroughProtocol() + WashSolidProtocol() + SeparateProtocol(√) + EvaporateProtocol(√) + HeatChillProtocol() + HeatChillStartProtocol() + HeatChillStopProtocol() + EvacuateAndRefillProtocol(√) diff --git a/test/experiments/comprehensive_protocol/comprehensive_station.json b/test/experiments/comprehensive_protocol/comprehensive_station.json new file mode 100644 index 0000000..50894ca --- /dev/null +++ b/test/experiments/comprehensive_protocol/comprehensive_station.json @@ -0,0 +1,887 @@ +{ + "nodes": [ + { + "id": "ComprehensiveProtocolStation", + "name": "综合协议测试工作站", + "children": [ + "multiway_valve_1", + "multiway_valve_2", + "transfer_pump_1", + "transfer_pump_2", + "reagent_bottle_1", + "reagent_bottle_2", + "reagent_bottle_3", + "reagent_bottle_4", + "reagent_bottle_5", + "centrifuge_1", + "rotavap_1", + "main_reactor", + "heater_1", + "stirrer_1", + "stirrer_2", + "waste_bottle_1", + "waste_bottle_2", + "solenoid_valve_1", + "solenoid_valve_2", + "vacuum_pump_1", + "gas_source_1", + "filter_1", + "column_1", + "separator_1", + "collection_bottle_1", + "collection_bottle_2", + "collection_bottle_3" + ], + "parent": null, + "type": "device", + "class": "workstation", + "position": { + "x": 600, + "y": 400, + "z": 0 + }, + "config": { + "protocol_type": [ + "AddProtocol", + "TransferProtocol", + "StartStirProtocol", + "StopStirProtocol", + "StirProtocol", + "RunColumnProtocol", + "CentrifugeProtocol", + "FilterProtocol", + "CleanVesselProtocol", + "DissolveProtocol", + "FilterThroughProtocol", + "WashSolidProtocol", + "SeparateProtocol", + "EvaporateProtocol", + "HeatChillProtocol", + "HeatChillStartProtocol", + "HeatChillStopProtocol", + "EvacuateAndRefillProtocol" + ] + }, + "data": {} + }, + { + "id": "multiway_valve_1", + "name": "八通阀门1", + "children": [], + "parent": "ComprehensiveProtocolStation", + "type": "device", + "class": "virtual_multiway_valve", + "position": { + "x": 400, + "y": 300, + "z": 0 + }, + "config": { + "positions": 8, + "current_position": 1 + }, + "data": { + "valve_state": "Ready", + "current_position": 1 + } + }, + { + "id": "multiway_valve_2", + "name": "八通阀门2", + "children": [], + "parent": "ComprehensiveProtocolStation", + "type": "device", + "class": "virtual_multiway_valve", + "position": { + "x": 800, + "y": 300, + "z": 0 + }, + "config": { + "positions": 8, + "current_position": 1 + }, + "data": { + "valve_state": "Ready", + "current_position": 1 + } + }, + { + "id": "transfer_pump_1", + "name": "转移泵1", + "children": [], + "parent": "ComprehensiveProtocolStation", + "type": "device", + "class": "virtual_transfer_pump", + "position": { + "x": 350, + "y": 250, + "z": 0 + }, + "config": { + "max_volume": 25.0, + "transfer_rate": 10.0 + }, + "data": { + "status": "Idle", + "current_volume": 0.0 + } + }, + { + "id": "transfer_pump_2", + "name": "转移泵2", + "children": [], + "parent": "ComprehensiveProtocolStation", + "type": "device", + "class": "virtual_transfer_pump", + "position": { + "x": 850, + "y": 250, + "z": 0 + }, + "config": { + "max_volume": 25.0, + "transfer_rate": 10.0 + }, + "data": { + "status": "Idle", + "current_volume": 0.0 + } + }, + { + "id": "reagent_bottle_1", + "name": "试剂瓶1-DMF", + "children": [], + "parent": "ComprehensiveProtocolStation", + "type": "container", + "class": null, + "position": { + "x": 200, + "y": 150, + "z": 0 + }, + "config": { + "volume": 1000.0, + "reagent": "DMF" + }, + "data": { + "current_volume": 1000.0, + "reagent_name": "DMF" + } + }, + { + "id": "reagent_bottle_2", + "name": "试剂瓶2-乙酸乙酯", + "children": [], + "parent": "ComprehensiveProtocolStation", + "type": "container", + "class": null, + "position": { + "x": 250, + "y": 150, + "z": 0 + }, + "config": { + "volume": 1000.0, + "reagent": "ethyl_acetate" + }, + "data": { + "current_volume": 1000.0, + "reagent_name": "ethyl_acetate" + } + }, + { + "id": "reagent_bottle_3", + "name": "试剂瓶3-己烷", + "children": [], + "parent": "ComprehensiveProtocolStation", + "type": "container", + "class": null, + "position": { + "x": 300, + "y": 150, + "z": 0 + }, + "config": { + "volume": 1000.0, + "reagent": "hexane" + }, + "data": { + "current_volume": 1000.0, + "reagent_name": "hexane" + } + }, + { + "id": "reagent_bottle_4", + "name": "试剂瓶4-甲醇", + "children": [], + "parent": "ComprehensiveProtocolStation", + "type": "container", + "class": null, + "position": { + "x": 900, + "y": 150, + "z": 0 + }, + "config": { + "volume": 1000.0, + "reagent": "methanol" + }, + "data": { + "current_volume": 1000.0, + "reagent_name": "methanol" + } + }, + { + "id": "reagent_bottle_5", + "name": "试剂瓶5-水", + "children": [], + "parent": "ComprehensiveProtocolStation", + "type": "container", + "class": null, + "position": { + "x": 950, + "y": 150, + "z": 0 + }, + "config": { + "volume": 1000.0, + "reagent": "water" + }, + "data": { + "current_volume": 1000.0, + "reagent_name": "water" + } + }, + { + "id": "centrifuge_1", + "name": "离心机", + "children": [], + "parent": "ComprehensiveProtocolStation", + "type": "device", + "class": "virtual_centrifuge", + "position": { + "x": 200, + "y": 400, + "z": 0 + }, + "config": { + "max_speed": 15000.0, + "max_temp": 40.0, + "min_temp": 4.0 + }, + "data": { + "current_speed": 0.0, + "status": "Idle" + } + }, + { + "id": "rotavap_1", + "name": "旋转蒸发仪", + "children": [], + "parent": "ComprehensiveProtocolStation", + "type": "device", + "class": "virtual_rotavap", + "position": { + "x": 300, + "y": 400, + "z": 0 + }, + "config": { + "max_temp": 180.0, + "max_rotation_speed": 280.0 + }, + "data": { + "status": "Idle", + "current_temp": 25.0, + "rotation_speed": 0.0 + } + }, + { + "id": "main_reactor", + "name": "主反应器", + "children": [], + "parent": "ComprehensiveProtocolStation", + "type": "container", + "class": null, + "position": { + "x": 400, + "y": 450, + "z": 0 + }, + "config": { + "volume": 500.0, + "max_temp": 200.0, + "min_temp": -20.0, + "has_stirrer": true, + "has_heater": true + }, + "data": { + "current_volume": 0.0, + "current_temp": 25.0 + } + }, + { + "id": "heater_1", + "name": "加热器", + "children": [], + "parent": "ComprehensiveProtocolStation", + "type": "device", + "class": "virtual_heatchill", + "position": { + "x": 450, + "y": 450, + "z": 0 + }, + "config": { + "max_temp": 200.0, + "min_temp": -20.0 + }, + "data": { + "status": "Idle", + "current_temp": 25.0 + } + }, + { + "id": "stirrer_1", + "name": "搅拌器1", + "children": [], + "parent": "ComprehensiveProtocolStation", + "type": "device", + "class": "virtual_stirrer", + "position": { + "x": 350, + "y": 450, + "z": 0 + }, + "config": { + "max_speed": 2000.0 + }, + "data": { + "status": "Idle", + "current_speed": 0.0 + } + }, + { + "id": "stirrer_2", + "name": "搅拌器2", + "children": [], + "parent": "ComprehensiveProtocolStation", + "type": "device", + "class": "virtual_stirrer", + "position": { + "x": 351, + "y": 451, + "z": 0 + }, + "config": { + "max_speed": 2000.0 + }, + "data": { + "status": "Idle", + "current_speed": 0.0 + } + }, + { + "id": "waste_bottle_1", + "name": "废液瓶1", + "children": [], + "parent": "ComprehensiveProtocolStation", + "type": "container", + "class": null, + "position": { + "x": 500, + "y": 400, + "z": 0 + }, + "config": { + "volume": 2000.0 + }, + "data": { + "current_volume": 0.0 + } + }, + { + "id": "waste_bottle_2", + "name": "废液瓶2", + "children": [], + "parent": "ComprehensiveProtocolStation", + "type": "container", + "class": null, + "position": { + "x": 1100, + "y": 500, + "z": 0 + }, + "config": { + "volume": 2000.0 + }, + "data": { + "current_volume": 0.0 + } + }, + { + "id": "solenoid_valve_1", + "name": "电磁阀1", + "children": [], + "parent": "ComprehensiveProtocolStation", + "type": "device", + "class": "virtual_solenoid_valve", + "position": { + "x": 700, + "y": 200, + "z": 0 + }, + "config": { + "voltage": 12.0, + "response_time": 0.1 + }, + "data": { + "valve_state": "Closed", + "is_open": false + } + }, + { + "id": "solenoid_valve_2", + "name": "电磁阀2", + "children": [], + "parent": "ComprehensiveProtocolStation", + "type": "device", + "class": "virtual_solenoid_valve", + "position": { + "x": 700, + "y": 150, + "z": 0 + }, + "config": { + "voltage": 12.0, + "response_time": 0.1 + }, + "data": { + "valve_state": "Closed", + "is_open": false + } + }, + { + "id": "vacuum_pump_1", + "name": "真空泵", + "children": [], + "parent": "ComprehensiveProtocolStation", + "type": "device", + "class": "virtual_vacuum_pump", + "position": { + "x": 650, + "y": 200, + "z": 0 + }, + "config": { + "max_vacuum": 0.1, + "pump_rate": 50.0 + }, + "data": { + "status": "Off", + "current_vacuum": 1.0 + } + }, + { + "id": "gas_source_1", + "name": "气源", + "children": [], + "parent": "ComprehensiveProtocolStation", + "type": "device", + "class": "gas_source.mock", + "position": { + "x": 650, + "y": 150, + "z": 0 + }, + "config": { + "gas_type": "nitrogen", + "max_pressure": 5.0 + }, + "data": { + "status": "Off", + "current_pressure": 0.0 + } + }, + { + "id": "filter_1", + "name": "过滤器", + "children": [], + "parent": "ComprehensiveProtocolStation", + "type": "device", + "class": "virtual_filter", + "position": { + "x": 900, + "y": 400, + "z": 0 + }, + "config": { + "filter_type": "membrane", + "max_pressure": 5.0 + }, + "data": { + "status": "Ready", + "pressure": 0.0 + } + }, + { + "id": "column_1", + "name": "洗脱柱", + "children": [], + "parent": "ComprehensiveProtocolStation", + "type": "device", + "class": "virtual_column", + "position": { + "x": 950, + "y": 400, + "z": 0 + }, + "config": { + "column_type": "silica_gel", + "length": 30.0, + "diameter": 2.5 + }, + "data": { + "status": "Ready", + "loaded": false + } + }, + { + "id": "separator_1", + "name": "分液器", + "children": [], + "parent": "ComprehensiveProtocolStation", + "type": "device", + "class": "virtual_separator", + "position": { + "x": 1000, + "y": 450, + "z": 0 + }, + "config": { + "volume": 250.0, + "has_phases": true + }, + "data": { + "status": "Ready", + "phase_separation": false + } + }, + { + "id": "collection_bottle_1", + "name": "接收瓶1", + "children": [], + "parent": "ComprehensiveProtocolStation", + "type": "container", + "class": null, + "position": { + "x": 900, + "y": 500, + "z": 0 + }, + "config": { + "volume": 250.0 + }, + "data": { + "current_volume": 0.0 + } + }, + { + "id": "collection_bottle_2", + "name": "接收瓶2", + "children": [], + "parent": "ComprehensiveProtocolStation", + "type": "container", + "class": null, + "position": { + "x": 950, + "y": 500, + "z": 0 + }, + "config": { + "volume": 250.0 + }, + "data": { + "current_volume": 0.0 + } + }, + { + "id": "collection_bottle_3", + "name": "接收瓶3", + "children": [], + "parent": "ComprehensiveProtocolStation", + "type": "container", + "class": null, + "position": { + "x": 1050, + "y": 500, + "z": 0 + }, + "config": { + "volume": 250.0 + }, + "data": { + "current_volume": 0.0 + } + } + ], + "links": [ + { + "id": "link_valve1_pump1", + "source": "multiway_valve_1", + "target": "transfer_pump_1", + "source_port": "port_0", + "target_port": "inlet", + "type": "fluid", + "port": { + "multiway_valve_1": "port_0" + } + }, + { + "id": "link_valve1_reagent1", + "source": "multiway_valve_1", + "target": "reagent_bottle_1", + "source_port": "port_1", + "target_port": "outlet", + "type": "fluid", + "port": { + "multiway_valve_1": "port_1" + } + }, + { + "id": "link_valve1_reagent2", + "source": "multiway_valve_1", + "target": "reagent_bottle_2", + "source_port": "port_2", + "target_port": "outlet", + "type": "fluid", + "port": { + "multiway_valve_1": "port_2" + } + }, + { + "id": "link_valve1_reagent3", + "source": "multiway_valve_1", + "target": "reagent_bottle_3", + "source_port": "port_3", + "target_port": "outlet", + "type": "fluid", + "port": { + "multiway_valve_1": "port_3" + } + }, + { + "id": "link_valve1_centrifuge", + "source": "multiway_valve_1", + "target": "centrifuge_1", + "source_port": "port_4", + "target_port": "inlet", + "type": "fluid", + "port": { + "multiway_valve_1": "port_4" + } + }, + { + "id": "link_valve1_rotavap", + "source": "multiway_valve_1", + "target": "rotavap_1", + "source_port": "port_5", + "target_port": "inlet", + "type": "fluid", + "port": { + "multiway_valve_1": "port_5" + } + }, + { + "id": "link_valve1_reactor", + "source": "multiway_valve_1", + "target": "main_reactor", + "source_port": "port_6", + "target_port": "inlet", + "type": "fluid", + "port": { + "multiway_valve_1": "port_6" + } + }, + { + "id": "link_valve1_waste1", + "source": "multiway_valve_1", + "target": "waste_bottle_1", + "source_port": "port_7", + "target_port": "inlet", + "type": "fluid", + "port": { + "multiway_valve_1": "port_7" + } + }, + { + "id": "link_valve1_valve2", + "source": "multiway_valve_1", + "target": "multiway_valve_2", + "source_port": "port_8", + "target_port": "port_1", + "type": "fluid", + "port": { + "multiway_valve_1": "port_8", + "multiway_valve_2": "port_1" + } + }, + { + "id": "link_valve2_pump2", + "source": "multiway_valve_2", + "target": "transfer_pump_2", + "source_port": "port_0", + "target_port": "inlet", + "type": "fluid", + "port": { + "multiway_valve_2": "port_0" + } + }, + { + "id": "link_valve2_solenoid1", + "source": "multiway_valve_2", + "target": "solenoid_valve_1", + "source_port": "port_2", + "target_port": "inlet", + "type": "fluid", + "port": { + "multiway_valve_2": "port_2" + } + }, + { + "id": "link_solenoid1_vacuum", + "source": "solenoid_valve_1", + "target": "vacuum_pump_1", + "source_port": "outlet", + "target_port": "inlet", + "type": "fluid" + }, + { + "id": "link_valve2_solenoid2", + "source": "multiway_valve_2", + "target": "solenoid_valve_2", + "source_port": "port_3", + "target_port": "inlet", + "type": "fluid", + "port": { + "multiway_valve_2": "port_3" + } + }, + { + "id": "link_solenoid2_gas", + "source": "solenoid_valve_2", + "target": "gas_source_1", + "source_port": "outlet", + "target_port": "outlet", + "type": "fluid" + }, + { + "id": "link_valve2_filter", + "source": "multiway_valve_2", + "target": "filter_1", + "source_port": "port_4", + "target_port": "inlet", + "type": "fluid", + "port": { + "multiway_valve_2": "port_4" + } + }, + { + "id": "link_filter_collection1", + "source": "filter_1", + "target": "collection_bottle_1", + "source_port": "filtrate_outlet", + "target_port": "inlet", + "type": "fluid" + }, + { + "id": "link_valve2_column", + "source": "multiway_valve_2", + "target": "column_1", + "source_port": "port_5", + "target_port": "inlet", + "type": "fluid", + "port": { + "multiway_valve_2": "port_5" + } + }, + { + "id": "link_column_collection2", + "source": "column_1", + "target": "collection_bottle_2", + "source_port": "outlet", + "target_port": "inlet", + "type": "fluid" + }, + { + "id": "link_valve2_separator", + "source": "multiway_valve_2", + "target": "separator_1", + "source_port": "port_6", + "target_port": "inlet", + "type": "fluid", + "port": { + "multiway_valve_2": "port_6" + } + }, + { + "id": "link_separator_collection3", + "source": "separator_1", + "target": "collection_bottle_3", + "source_port": "top_outlet", + "target_port": "inlet", + "type": "fluid" + }, + { + "id": "link_separator_stirrer_2", + "source": "separator_1", + "target": "stirrer_2", + "source_port": "top_outlet", + "target_port": "inlet", + "type": "fluid" + }, + { + "id": "link_separator_waste2", + "source": "separator_1", + "target": "waste_bottle_2", + "source_port": "bottom_outlet", + "target_port": "inlet", + "type": "fluid" + }, + { + "id": "link_valve2_reagent4", + "source": "multiway_valve_2", + "target": "reagent_bottle_4", + "source_port": "port_7", + "target_port": "outlet", + "type": "fluid", + "port": { + "multiway_valve_2": "port_7" + } + }, + { + "id": "link_valve2_reagent5", + "source": "multiway_valve_2", + "target": "reagent_bottle_5", + "source_port": "port_8", + "target_port": "outlet", + "type": "fluid", + "port": { + "multiway_valve_2": "port_8" + } + }, + { + "id": "mech_stirrer_reactor", + "source": "stirrer_1", + "target": "main_reactor", + "type": "fluid" + }, + { + "id": "thermal_heater_reactor", + "source": "heater_1", + "target": "main_reactor", + "type": "fluid" + } + ] +} \ No newline at end of file diff --git a/test/experiments/mock_protocol/addteststation.json b/test/experiments/mock_protocol/addteststation.json index 6e182a8..beb68ff 100644 --- a/test/experiments/mock_protocol/addteststation.json +++ b/test/experiments/mock_protocol/addteststation.json @@ -25,7 +25,7 @@ "z": 0 }, "config": { - "protocol_type": ["AddProtocol", "TransferProtocol", "StirProtocol", "StartStirProtocol", "StopStirProtocol"] + "protocol_type": ["AddProtocol", "TransferProtocol", "StartStirProtocol", "StopStirProtocol"] }, "data": {} }, diff --git a/unilabos/devices/virtual/virtual_multiway_valve.py b/unilabos/devices/virtual/virtual_multiway_valve.py index 3c288f4..bbdc857 100644 --- a/unilabos/devices/virtual/virtual_multiway_valve.py +++ b/unilabos/devices/virtual/virtual_multiway_valve.py @@ -1,20 +1,34 @@ import time -from typing import Union +from typing import Union, Dict, Optional class VirtualMultiwayValve: """ - 虚拟八通阀门 - 可将一个输入切换到8个输出中的任意一个 + 虚拟九通阀门 - 0号位连接transfer pump，1-8号位连接其他设备 """ def __init__(self, port: str = "VIRTUAL", positions: int = 8): self.port = port - self.max_positions = positions + self.max_positions = positions # 1-8号位 + self.total_positions = positions + 1 # 0-8号位，共9个位置 # 状态属性 self._status = "Idle" self._valve_state = "Ready" - self._current_position = 1 - self._target_position = 1 + self._current_position = 0 # 默认在0号位（transfer pump位置） + self._target_position = 0 + + # 位置映射说明 + self.position_map = { + 0: "transfer_pump", # 0号位连接转移泵 + 1: "port_1", # 1号位 + 2: "port_2", # 2号位 + 3: "port_3", # 3号位 + 4: "port_4", # 4号位 + 5: "port_5", # 5号位 + 6: "port_6", # 6号位 + 7: "port_7", # 7号位 + 8: "port_8" # 8号位 + } @property def status(self) -> str: @@ -36,12 +50,18 @@ class VirtualMultiwayValve: """获取当前阀门位置""" return self._current_position + def get_current_port(self) -> str: + """获取当前连接的端口名称""" + return self.position_map.get(self._current_position, "unknown") + def set_position(self, command: Union[int, str]): """ - 设置阀门位置 - 兼容 SendCmd 类型 + 设置阀门位置 - 支持0-8位置 Args: - command: 目标位置 (1-8) 或位置字符串 + command: 目标位置 (0-8) 或位置字符串 + 0: transfer pump位置 + 1-8: 其他设备位置 """ try: # 如果是字符串形式的位置，先转换为数字 @@ -50,8 +70,8 @@ class VirtualMultiwayValve: else: pos = int(command) - if pos < 1 or pos > self.max_positions: - raise ValueError(f"Position must be between 1 and {self.max_positions}") + if pos < 0 or pos > self.max_positions: + raise ValueError(f"Position must be between 0 and {self.max_positions}") self._status = "Busy" self._valve_state = "Moving" @@ -65,28 +85,44 @@ class VirtualMultiwayValve: self._status = "Idle" self._valve_state = "Ready" - return f"Position set to {pos}" + current_port = self.get_current_port() + return f"Position set to {pos} ({current_port})" except ValueError as e: self._status = "Error" self._valve_state = "Error" return f"Error: {str(e)}" + def set_to_pump_position(self): + """切换到transfer pump位置（0号位）""" + return self.set_position(0) + + def set_to_port(self, port_number: int): + """ + 切换到指定端口位置 + + Args: + port_number: 端口号 (1-8) + """ + if port_number < 1 or port_number > self.max_positions: + raise ValueError(f"Port number must be between 1 and {self.max_positions}") + return self.set_position(port_number) + def open(self): - """打开阀门 - 对于多通阀门，相当于设置到位置1""" - return self.set_position(1) + """打开阀门 - 设置到transfer pump位置（0号位）""" + return self.set_to_pump_position() def close(self): - """关闭阀门 - 对于多通阀门，相当于设置到关闭位置""" + """关闭阀门 - 对于多通阀门，设置到一个"关闭"状态""" self._status = "Busy" self._valve_state = "Closing" time.sleep(0.5) - self._current_position = 0 # 0表示关闭状态 + # 可以选择保持当前位置或设置特殊关闭状态 self._status = "Idle" self._valve_state = "Closed" - return "Valve closed" + return f"Valve closed at position {self._current_position}" def get_valve_position(self) -> int: """获取阀门位置 - 兼容性方法""" @@ -96,21 +132,90 @@ class VirtualMultiwayValve: """检查是否在指定位置""" return self._current_position == position + def is_at_pump_position(self) -> bool: + """检查是否在transfer pump位置""" + return self._current_position == 0 + + def is_at_port(self, port_number: int) -> bool: + """检查是否在指定端口位置""" + return self._current_position == port_number + def get_available_positions(self) -> list: """获取可用位置列表""" - return list(range(1, self.max_positions + 1)) + return list(range(0, self.max_positions + 1)) + + def get_available_ports(self) -> Dict[int, str]: + """获取可用端口映射""" + return self.position_map.copy() def reset(self): - """重置阀门到初始位置""" - return self.set_position(1) + """重置阀门到transfer pump位置（0号位）""" + return self.set_position(0) + + def switch_between_pump_and_port(self, port_number: int): + """ + 在transfer pump位置和指定端口之间切换 + + Args: + port_number: 目标端口号 (1-8) + """ + if self._current_position == 0: + # 当前在pump位置，切换到指定端口 + return self.set_to_port(port_number) + else: + # 当前在某个端口，切换到pump位置 + return self.set_to_pump_position() + + def get_flow_path(self) -> str: + """获取当前流路路径描述""" + current_port = self.get_current_port() + if self._current_position == 0: + return f"Transfer pump connected (position {self._current_position})" + else: + return f"Port {self._current_position} connected ({current_port})" def get_info(self) -> dict: - """获取阀门信息""" + """获取阀门详细信息""" return { "port": self.port, "max_positions": self.max_positions, + "total_positions": self.total_positions, "current_position": self._current_position, + "current_port": self.get_current_port(), "target_position": self._target_position, "status": self._status, - "valve_state": self._valve_state - } \ No newline at end of file + "valve_state": self._valve_state, + "flow_path": self.get_flow_path(), + "position_map": self.position_map + } + + def __str__(self): + return f"VirtualMultiwayValve(Position: {self._current_position}/{self.max_positions}, Port: {self.get_current_port()}, Status: {self._status})" + + +# 使用示例 +if __name__ == "__main__": + valve = VirtualMultiwayValve() + + print("=== 虚拟九通阀门测试 ===") + print(f"初始状态: {valve}") + print(f"当前流路: {valve.get_flow_path()}") + + # 切换到试剂瓶1（1号位） + print(f"\n切换到1号位: {valve.set_position(1)}") + print(f"当前状态: {valve}") + + # 切换到transfer pump位置（0号位） + print(f"\n切换到pump位置: {valve.set_to_pump_position()}") + print(f"当前状态: {valve}") + + # 切换到试剂瓶2（2号位） + print(f"\n切换到2号位: {valve.set_to_port(2)}") + print(f"当前状态: {valve}") + + # 显示所有可用位置 + print(f"\n可用位置: {valve.get_available_positions()}") + print(f"端口映射: {valve.get_available_ports()}") + + # 获取详细信息 + print(f"\n详细信息: {valve.get_info()}") \ No newline at end of file diff --git a/test/experiments/mock_protocol/evaporateteststation.json b/unilabos/devices/virtual/virtual_rotavap.py similarity index 100% rename from test/experiments/mock_protocol/evaporateteststation.json rename to unilabos/devices/virtual/virtual_rotavap.py diff --git a/unilabos/devices/virtual/virtual_transferpump.py b/unilabos/devices/virtual/virtual_transferpump.py index 87d4cff..7e6f930 100644 --- a/unilabos/devices/virtual/virtual_transferpump.py +++ b/unilabos/devices/virtual/virtual_transferpump.py @@ -1,149 +1,285 @@ import asyncio +import time +from enum import Enum +from typing import Union, Optional import logging -from typing import Dict, Any, Optional -class VirtualTransferPump: - """Virtual pump device specifically for Transfer protocol""" + +class VirtualPumpMode(Enum): + Normal = 0 + AccuratePos = 1 + AccuratePosVel = 2 + + +class VirtualPump: + """虚拟泵类 - 模拟泵的基本功能，无需实际硬件""" - def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs): - # 处理可能的不同调用方式 - if device_id is None and 'id' in kwargs: - device_id = kwargs.pop('id') - if config is None and 'config' in kwargs: - config = kwargs.pop('config') + def __init__(self, device_id: str = None, max_volume: float = 25.0, mode: VirtualPumpMode = VirtualPumpMode.Normal): + self.device_id = device_id or "virtual_pump" + self.max_volume = max_volume + self.mode = mode - # 设置默认值 - self.device_id = device_id or "unknown_transfer_pump" - self.config = config or {} + # 状态变量 + self._status = "Idle" + self._position = 0.0 # 当前柱塞位置 (ml) + self._max_velocity = 5.0 # 默认最大速度 (ml/s) + self._current_volume = 0.0 # 当前注射器中的体积 - self.logger = logging.getLogger(f"VirtualTransferPump.{self.device_id}") - self.data = {} + self.logger = logging.getLogger(f"VirtualPump.{self.device_id}") - # 添加调试信息 - print(f"=== VirtualTransferPump {self.device_id} is being created! ===") - print(f"=== Config: {self.config} ===") - print(f"=== Kwargs: {kwargs} ===") - - # 从config或kwargs中获取配置参数 - self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL') - self._max_volume = self.config.get('max_volume') or kwargs.get('max_volume', 50.0) - self._transfer_rate = self.config.get('transfer_rate') or kwargs.get('transfer_rate', 5.0) - self._current_volume = 0.0 - self.is_running = False - async def initialize(self) -> bool: - """Initialize virtual transfer pump""" - print(f"=== VirtualTransferPump {self.device_id} initialize() called! ===") - self.logger.info(f"Initializing virtual transfer pump {self.device_id}") - self.data.update({ - "status": "Idle", - "current_volume": 0.0, - "max_volume": self._max_volume, - "transfer_rate": self._transfer_rate, - "from_vessel": "", - "to_vessel": "", - "progress": 0.0, - "transferred_volume": 0.0, - "current_status": "Ready" - }) + """初始化虚拟泵""" + self.logger.info(f"Initializing virtual pump {self.device_id}") + self._status = "Idle" + self._position = 0.0 + self._current_volume = 0.0 return True async def cleanup(self) -> bool: - """Cleanup virtual transfer pump""" - self.logger.info(f"Cleaning up virtual transfer pump {self.device_id}") + """清理虚拟泵""" + self.logger.info(f"Cleaning up virtual pump {self.device_id}") + self._status = "Idle" return True - async def transfer(self, from_vessel: str, to_vessel: str, volume: float, - amount: str = "", time: float = 0, viscous: bool = False, - rinsing_solvent: str = "", rinsing_volume: float = 0.0, - rinsing_repeats: int = 0, solid: bool = False) -> bool: - """Execute liquid transfer - matches Transfer action""" - self.logger.info(f"Transfer: {volume}mL from {from_vessel} to {to_vessel}") - - # 计算转移时间 - if time > 0: - transfer_time = time - else: - # 如果是粘性液体，降低转移速率 - rate = self._transfer_rate * 0.5 if viscous else self._transfer_rate - transfer_time = volume / rate - - self.data.update({ - "status": "Running", - "from_vessel": from_vessel, - "to_vessel": to_vessel, - "current_status": "Transferring", - "progress": 0.0, - "transferred_volume": 0.0 - }) - - # 模拟转移过程 - steps = 10 - step_time = transfer_time / steps - step_volume = volume / steps - - for i in range(steps): - await asyncio.sleep(step_time) - progress = (i + 1) / steps * 100 - transferred = (i + 1) * step_volume - - self.data.update({ - "progress": progress, - "transferred_volume": transferred, - "current_status": f"Transferring {progress:.1f}%" - }) - - self.logger.info(f"Transfer progress: {progress:.1f}% ({transferred:.1f}/{volume}mL)") - - # 如果需要冲洗 - if rinsing_solvent and rinsing_volume > 0 and rinsing_repeats > 0: - self.data["current_status"] = "Rinsing" - for repeat in range(rinsing_repeats): - self.logger.info(f"Rinsing cycle {repeat + 1}/{rinsing_repeats} with {rinsing_solvent}") - await asyncio.sleep(1) # 模拟冲洗时间 - - self.data.update({ - "status": "Idle", - "current_status": "Transfer completed", - "progress": 100.0, - "transferred_volume": volume - }) - - return True - - # 添加所有在virtual_device.yaml中定义的状态属性 + # 基本属性 @property def status(self) -> str: - return self.data.get("status", "Unknown") + return self._status + + @property + def position(self) -> float: + """当前柱塞位置 (ml)""" + return self._position @property def current_volume(self) -> float: - return self.data.get("current_volume", 0.0) + """当前注射器中的体积 (ml)""" + return self._current_volume @property - def max_volume(self) -> float: - return self.data.get("max_volume", self._max_volume) + def max_velocity(self) -> float: + return self._max_velocity - @property - def transfer_rate(self) -> float: - return self.data.get("transfer_rate", self._transfer_rate) + def set_max_velocity(self, velocity: float): + """设置最大速度 (ml/s)""" + self._max_velocity = max(0.1, min(50.0, velocity)) # 限制在合理范围内 + self.logger.info(f"Set max velocity to {self._max_velocity} ml/s") - @property - def from_vessel(self) -> str: - return self.data.get("from_vessel", "") + def get_status(self) -> str: + """获取泵状态""" + return self._status - @property - def to_vessel(self) -> str: - return self.data.get("to_vessel", "") + async def _simulate_operation(self, duration: float): + """模拟操作延时""" + self._status = "Busy" + await asyncio.sleep(duration) + self._status = "Idle" - @property - def progress(self) -> float: - return self.data.get("progress", 0.0) + def _calculate_duration(self, volume: float, velocity: float = None) -> float: + """计算操作持续时间""" + if velocity is None: + velocity = self._max_velocity + return abs(volume) / velocity - @property - def transferred_volume(self) -> float: - return self.data.get("transferred_volume", 0.0) + # 基本泵操作 + async def set_position(self, position: float, velocity: float = None): + """ + 移动到绝对位置 + + Args: + position (float): 目标位置 (ml) + velocity (float): 移动速度 (ml/s) + """ + position = max(0, min(self.max_volume, position)) # 限制在有效范围内 + + volume_to_move = abs(position - self._position) + duration = self._calculate_duration(volume_to_move, velocity) + + self.logger.info(f"Moving to position {position} ml (current: {self._position} ml)") + + # 模拟移动过程 + await self._simulate_operation(duration) + + self._position = position + self._current_volume = position # 假设位置等于体积 + + self.logger.info(f"Reached position {self._position} ml") - @property - def current_status(self) -> str: - return self.data.get("current_status", "Ready") \ No newline at end of file + async def pull_plunger(self, volume: float, velocity: float = None): + """ + 拉取柱塞（吸液） + + Args: + volume (float): 要拉取的体积 (ml) + velocity (float): 拉取速度 (ml/s) + """ + new_position = min(self.max_volume, self._position + volume) + actual_volume = new_position - self._position + + if actual_volume <= 0: + self.logger.warning("Cannot pull - already at maximum volume") + return + + duration = self._calculate_duration(actual_volume, velocity) + + self.logger.info(f"Pulling {actual_volume} ml (from {self._position} to {new_position})") + + await self._simulate_operation(duration) + + self._position = new_position + self._current_volume = new_position + + self.logger.info(f"Pulled {actual_volume} ml, current volume: {self._current_volume} ml") + + async def push_plunger(self, volume: float, velocity: float = None): + """ + 推出柱塞（排液） + + Args: + volume (float): 要推出的体积 (ml) + velocity (float): 推出速度 (ml/s) + """ + new_position = max(0, self._position - volume) + actual_volume = self._position - new_position + + if actual_volume <= 0: + self.logger.warning("Cannot push - already at minimum volume") + return + + duration = self._calculate_duration(actual_volume, velocity) + + self.logger.info(f"Pushing {actual_volume} ml (from {self._position} to {new_position})") + + await self._simulate_operation(duration) + + self._position = new_position + self._current_volume = new_position + + self.logger.info(f"Pushed {actual_volume} ml, current volume: {self._current_volume} ml") + + # 便捷操作方法 + async def aspirate(self, volume: float, velocity: float = None): + """ + 吸液操作 + + Args: + volume (float): 吸液体积 (ml) + velocity (float): 吸液速度 (ml/s) + """ + await self.pull_plunger(volume, velocity) + + async def dispense(self, volume: float, velocity: float = None): + """ + 排液操作 + + Args: + volume (float): 排液体积 (ml) + velocity (float): 排液速度 (ml/s) + """ + await self.push_plunger(volume, velocity) + + async def transfer(self, volume: float, aspirate_velocity: float = None, dispense_velocity: float = None): + """ + 转移操作（先吸后排） + + Args: + volume (float): 转移体积 (ml) + aspirate_velocity (float): 吸液速度 (ml/s) + dispense_velocity (float): 排液速度 (ml/s) + """ + # 吸液 + await self.aspirate(volume, aspirate_velocity) + + # 短暂停顿 + await asyncio.sleep(0.1) + + # 排液 + await self.dispense(volume, dispense_velocity) + + async def empty_syringe(self, velocity: float = None): + """清空注射器""" + await self.set_position(0, velocity) + + async def fill_syringe(self, velocity: float = None): + """充满注射器""" + await self.set_position(self.max_volume, velocity) + + async def stop_operation(self): + """停止当前操作""" + self._status = "Idle" + self.logger.info("Operation stopped") + + # 状态查询方法 + def get_position(self) -> float: + """获取当前位置""" + return self._position + + def get_current_volume(self) -> float: + """获取当前体积""" + return self._current_volume + + def get_remaining_capacity(self) -> float: + """获取剩余容量""" + return self.max_volume - self._current_volume + + def is_empty(self) -> bool: + """检查是否为空""" + return self._current_volume <= 0.01 # 允许小量误差 + + def is_full(self) -> bool: + """检查是否已满""" + return self._current_volume >= (self.max_volume - 0.01) # 允许小量误差 + + # 调试和状态信息 + def get_pump_info(self) -> dict: + """获取泵的详细信息""" + return { + "device_id": self.device_id, + "status": self._status, + "position": self._position, + "current_volume": self._current_volume, + "max_volume": self.max_volume, + "max_velocity": self._max_velocity, + "mode": self.mode.name, + "is_empty": self.is_empty(), + "is_full": self.is_full(), + "remaining_capacity": self.get_remaining_capacity() + } + + def __str__(self): + return f"VirtualPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})" + + def __repr__(self): + return self.__str__() + + +# 使用示例 +async def demo(): + """虚拟泵使用示例""" + pump = VirtualPump("demo_pump", max_volume=50.0) + + await pump.initialize() + + print(f"Initial state: {pump}") + + # 吸液测试 + await pump.aspirate(10.0, velocity=2.0) + print(f"After aspirating 10ml: {pump}") + + # 排液测试 + await pump.dispense(5.0, velocity=3.0) + print(f"After dispensing 5ml: {pump}") + + # 转移测试 + await pump.transfer(3.0) + print(f"After transfer 3ml: {pump}") + + # 清空测试 + await pump.empty_syringe() + print(f"After emptying: {pump}") + + print("\nPump info:", pump.get_pump_info()) + + +if __name__ == "__main__": + asyncio.run(demo()) \ No newline at end of file diff --git a/unilabos/registry/devices/mock_devices.yaml b/unilabos/registry/devices/mock_devices.yaml index 5976046..93f52a8 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: ProtocolFilter + type: Filter goal: vessel: vessel filtrate_vessel: filtrate_vessel @@ -737,7 +737,7 @@ mock_stirrer_new: max_stir_speed: Float64 action_value_mappings: start_stir: - type: ProtocolStartStir + type: StartStir goal: vessel: vessel stir_speed: stir_speed @@ -760,7 +760,7 @@ mock_stirrer_new: result: success: success stop_stir: - type: ProtocolStopStir + type: StopStir goal: vessel: vessel feedback: diff --git a/unilabos/registry/devices/virtual_device.yaml b/unilabos/registry/devices/virtual_device.yaml index ffaa05d..4eda4f5 100644 --- a/unilabos/registry/devices/virtual_device.yaml +++ b/unilabos/registry/devices/virtual_device.yaml @@ -76,7 +76,7 @@ virtual_pump: set_valve_position: type: FloatSingleInput goal: - Int32: Int32 + float_in: valve_position feedback: status: status result: @@ -129,7 +129,7 @@ virtual_stirrer: result: success: success start_stir: - type: ProtocolStartStir + type: StartStir goal: vessel: vessel stir_speed: stir_speed @@ -139,7 +139,7 @@ virtual_stirrer: result: success: success stop_stir: - type: ProtocolStopStir + type: StopStir goal: vessel: vessel feedback: @@ -249,6 +249,13 @@ virtual_multiway_valve: data_source: executor data_key: fluid_port_7 description: "八通阀门端口7，position=7时流体从此口流出" + - handler_key: multiway-valve-port-8 + label: Port 8 + data_type: fluid + io_type: source + data_source: executor + data_key: fluid_port_8 + description: "八通阀门端口8，position=8时流体从此口流出" schema: type: object properties: @@ -270,14 +277,16 @@ virtual_solenoid_valve: is_open: Bool action_value_mappings: open: - type: EmptyIn - goal: {} + type: SendCmd + goal: + command: "open" feedback: {} result: success: success close: - type: EmptyIn - goal: {} + type: SendCmd + goal: + command: "close" feedback: {} result: success: success @@ -329,7 +338,7 @@ virtual_centrifuge: time_remaining: Float64 action_value_mappings: centrifuge: - type: ProtocolCentrifuge + type: Centrifuge goal: vessel: vessel speed: speed @@ -396,7 +405,7 @@ virtual_filter: message: String action_value_mappings: filter_sample: - type: ProtocolFilter + type: Filter goal: vessel: vessel filtrate_vessel: filtrate_vessel @@ -535,7 +544,7 @@ virtual_transfer_pump: current_status: String action_value_mappings: transfer: - type: ProtocolTransfer + type: Transfer goal: from_vessel: from_vessel to_vessel: to_vessel @@ -595,7 +604,7 @@ virtual_column: current_status: String action_value_mappings: run_column: - type: ProtocolRunColumn + type: RunColumn goal: from_vessel: from_vessel to_vessel: to_vessel diff --git a/unilabos_msgs/CMakeLists.txt b/unilabos_msgs/CMakeLists.txt index b818cf0..56c8993 100644 --- a/unilabos_msgs/CMakeLists.txt +++ b/unilabos_msgs/CMakeLists.txt @@ -29,23 +29,23 @@ set(action_files "action/HeatChillStart.action" "action/HeatChillStop.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/CleanVessel.action" + "action/Dissolve.action" + "action/FilterThrough.action" + "action/RunColumn.action" + "action/Wait.action" + "action/WashSolid.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/LiquidHandlerProtocolCreation.action" "action/LiquidHandlerAspirate.action" diff --git a/unilabos_msgs/action/ProtocolAdd.action b/unilabos_msgs/action/Add.action similarity index 100% rename from unilabos_msgs/action/ProtocolAdd.action rename to unilabos_msgs/action/Add.action diff --git a/unilabos_msgs/action/ProtocolCentrifuge.action b/unilabos_msgs/action/Centrifuge.action similarity index 100% rename from unilabos_msgs/action/ProtocolCentrifuge.action rename to unilabos_msgs/action/Centrifuge.action diff --git a/unilabos_msgs/action/ProtocolCleanVessel.action b/unilabos_msgs/action/CleanVessel.action similarity index 100% rename from unilabos_msgs/action/ProtocolCleanVessel.action rename to unilabos_msgs/action/CleanVessel.action diff --git a/unilabos_msgs/action/ProtocolCrystallize.action b/unilabos_msgs/action/Crystallize.action similarity index 100% rename from unilabos_msgs/action/ProtocolCrystallize.action rename to unilabos_msgs/action/Crystallize.action diff --git a/unilabos_msgs/action/ProtocolDissolve.action b/unilabos_msgs/action/Dissolve.action similarity index 100% rename from unilabos_msgs/action/ProtocolDissolve.action rename to unilabos_msgs/action/Dissolve.action diff --git a/unilabos_msgs/action/ProtocolDry.action b/unilabos_msgs/action/Dry.action similarity index 100% rename from unilabos_msgs/action/ProtocolDry.action rename to unilabos_msgs/action/Dry.action diff --git a/unilabos_msgs/action/ProtocolFilter.action b/unilabos_msgs/action/Filter.action similarity index 100% rename from unilabos_msgs/action/ProtocolFilter.action rename to unilabos_msgs/action/Filter.action diff --git a/unilabos_msgs/action/ProtocolFilterThrough.action b/unilabos_msgs/action/FilterThrough.action similarity index 100% rename from unilabos_msgs/action/ProtocolFilterThrough.action rename to unilabos_msgs/action/FilterThrough.action diff --git a/unilabos_msgs/action/ProtocolPurge.action b/unilabos_msgs/action/Purge.action similarity index 100% rename from unilabos_msgs/action/ProtocolPurge.action rename to unilabos_msgs/action/Purge.action diff --git a/unilabos_msgs/action/ProtocolRunColumn.action b/unilabos_msgs/action/RunColumn.action similarity index 100% rename from unilabos_msgs/action/ProtocolRunColumn.action rename to unilabos_msgs/action/RunColumn.action diff --git a/unilabos_msgs/action/ProtocolStartPurge.action b/unilabos_msgs/action/StartPurge.action similarity index 100% rename from unilabos_msgs/action/ProtocolStartPurge.action rename to unilabos_msgs/action/StartPurge.action diff --git a/unilabos_msgs/action/ProtocolStartStir.action b/unilabos_msgs/action/StartStir.action similarity index 100% rename from unilabos_msgs/action/ProtocolStartStir.action rename to unilabos_msgs/action/StartStir.action diff --git a/unilabos_msgs/action/ProtocolStopPurge.action b/unilabos_msgs/action/StopPurge.action similarity index 100% rename from unilabos_msgs/action/ProtocolStopPurge.action rename to unilabos_msgs/action/StopPurge.action diff --git a/unilabos_msgs/action/ProtocolStopStir.action b/unilabos_msgs/action/StopStir.action similarity index 100% rename from unilabos_msgs/action/ProtocolStopStir.action rename to unilabos_msgs/action/StopStir.action diff --git a/unilabos_msgs/action/ProtocolTransfer.action b/unilabos_msgs/action/Transfer.action similarity index 100% rename from unilabos_msgs/action/ProtocolTransfer.action rename to unilabos_msgs/action/Transfer.action diff --git a/unilabos_msgs/action/ProtocolWait.action b/unilabos_msgs/action/Wait.action similarity index 100% rename from unilabos_msgs/action/ProtocolWait.action rename to unilabos_msgs/action/Wait.action diff --git a/unilabos_msgs/action/ProtocolWashSolid.action b/unilabos_msgs/action/WashSolid.action similarity index 100% rename from unilabos_msgs/action/ProtocolWashSolid.action rename to unilabos_msgs/action/WashSolid.action