From 8698821c5289a483a4dc776b1a9d0bbf5397f2f9 Mon Sep 17 00:00:00 2001
From: Junhan Chang <changjh@pku.edu.cn>
Date: Sat, 7 Jun 2025 18:52:20 +0800
Subject: [PATCH] fix liquid_handler.biomek handles

---
 unilabos/devices/liquid_handling/biomek.py    |  9 ++
 unilabos/registry/devices/liquid_handler.yaml | 87 +++++++++++++++++--
 unilabos_msgs/CMakeLists.txt                  |  4 +
 ...ion => LiquidHandlerIncubateBiomek.action} |  0
 ...on => LiquidHandlerOscillateBiomek.action} |  0
 5 files changed, 93 insertions(+), 7 deletions(-)
 rename unilabos_msgs/action/{LiquidHandlerPauseBiomek.action => LiquidHandlerIncubateBiomek.action} (100%)
 rename unilabos_msgs/action/{LiquidHandlerOscillationBiomek.action => LiquidHandlerOscillateBiomek.action} (100%)

diff --git a/unilabos/devices/liquid_handling/biomek.py b/unilabos/devices/liquid_handling/biomek.py
index 451d45eb..469fb39b 100644
--- a/unilabos/devices/liquid_handling/biomek.py
+++ b/unilabos/devices/liquid_handling/biomek.py
@@ -93,6 +93,15 @@ class LiquidHandlerBiomek(LiquidHandlerAbstract):
     def deserialize(cls, data: dict, allow_marshal: bool = False) -> LiquidHandler:
         return LiquidHandler.deserialize(data, allow_marshal)
 
+    @property
+    def success(self):
+        """
+        获取操作是否成功的状态。
+
+        Returns:
+            bool: 如果操作成功，返回True；否则返回False。
+        """
+        return self._success
 
     def create_protocol(
         self,
diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml
index c891fb22..eef04042 100644
--- a/unilabos/registry/devices/liquid_handler.yaml
+++ b/unilabos/registry/devices/liquid_handler.yaml
@@ -368,18 +368,91 @@ liquid_handler.biomek:
         result: {}
         handles:
           input:
-            - handler_key: liquid-input
-              label: Liquid Input
+            - handler_key: sources
+              label: sources
+              data_type: resource
+              data_source: handle
+              data_key: liquid
+            - handler_key: targets
+              label: targets
+              data_type: resource
+              data_source: executor
+              data_key: liquid
+            - handler_key: tip_rack
+              label: tip_rack
+              data_type: resource
+              data_source: executor
+              data_key: liquid
+          output:
+            - handler_key: sources_out
+              label: sources
+              data_type: resource
+              data_source: handle
+              data_key: liquid
+            - handler_key: targets_out
+              label: targets
+              data_type: resource
+              data_source: executor
+              data_key: liquid
+      oscillation_biomek:
+        type: LiquidHandlerOscillateBiomek
+        goal:
+          rpm: rpm
+          time: time
+        feedback: {}
+        result: {}
+        handles:
+          input:
+            - handler_key: plate
+              label: plate
               data_type: resource
-              io_type: target
               data_source: handle
               data_key: liquid
           output:
-            - handler_key: liquid-output
-              label: Liquid Output
+            - handler_key: plate_out
+              label: plate
               data_type: resource
-              io_type: source
-              data_source: executor
+              data_source: handle
+              data_key: liquid
+      move_biomek:
+        type: LiquidHandlerMoveBiomek
+        goal:
+          source: resource
+          target: target
+        feedback: {}
+        result:
+          name: name
+        handles:
+          input:
+            - handler_key: sources
+              label: sources
+              data_type: resource
+              data_source: handle
+              data_key: liquid
+          output:
+            - handler_key: targets
+              label: targets
+              data_type: resource
+              data_source: handle
+              data_key: liquid
+      incubation_biomek:
+        type: LiquidHandlerIncubateBiomek
+        goal:
+          time: time
+        feedback: {}
+        result: {}
+        handles:
+          input:
+            - handler_key: plate
+              label: plate
+              data_type: resource
+              data_source: handle
+              data_key: liquid
+          output:
+            - handler_key: plate_out
+              label: plate
+              data_type: resource
+              data_source: handle
               data_key: liquid
   schema:
     type: object
diff --git a/unilabos_msgs/CMakeLists.txt b/unilabos_msgs/CMakeLists.txt
index 098bb35c..3e98ce6e 100644
--- a/unilabos_msgs/CMakeLists.txt
+++ b/unilabos_msgs/CMakeLists.txt
@@ -45,7 +45,11 @@ set(action_files
   "action/LiquidHandlerReturnTips96.action"
   "action/LiquidHandlerStamp.action"
   "action/LiquidHandlerTransfer.action"
+
   "action/LiquidHandlerTransferBiomek.action"
+  "action/LiquidHandlerIncubateBiomek.action"
+  "action/LiquidHandlerMoveBiomek.action"
+  "action/LiquidHandlerOscillateBiomek.action"
 
   "action/LiquidHandlerAdd.action"
   "action/LiquidHandlerMix.action"
diff --git a/unilabos_msgs/action/LiquidHandlerPauseBiomek.action b/unilabos_msgs/action/LiquidHandlerIncubateBiomek.action
similarity index 100%
rename from unilabos_msgs/action/LiquidHandlerPauseBiomek.action
rename to unilabos_msgs/action/LiquidHandlerIncubateBiomek.action
diff --git a/unilabos_msgs/action/LiquidHandlerOscillationBiomek.action b/unilabos_msgs/action/LiquidHandlerOscillateBiomek.action
similarity index 100%
rename from unilabos_msgs/action/LiquidHandlerOscillationBiomek.action
rename to unilabos_msgs/action/LiquidHandlerOscillateBiomek.action