From 948f590b4728e368f6e0763ede1fe4a287a886fb Mon Sep 17 00:00:00 2001
From: wznln <18435084+Xuwznln@users.noreply.github.com>
Date: Tue, 6 May 2025 12:30:48 +0800
Subject: [PATCH] update actions

---
 .../liquid_handling/action_definition.py      |  6 ++++-
 unilabos/registry/devices/liquid_handler.yaml |  8 +++---
 .../action/DPLiquidHandlerAddLiquid.action    | 20 +++++++++++++++
 .../action/DPLiquidHandlerCustomDelay.action  |  6 +++++
 .../action/DPLiquidHandlerMix.action          | 11 ++++++++
 .../action/DPLiquidHandlerMoveTo.action       |  7 ++++++
 .../action/DPLiquidHandlerRemoveLiquid.action | 17 +++++++++++++
 .../action/DPLiquidHandlerSetTiprack.action   |  5 ++++
 .../action/DPLiquidHandlerTouchTip.action     |  5 ++++
 .../DPLiquidHandlerTransferLiquid.action      | 25 +++++++++++++++++++
 10 files changed, 105 insertions(+), 5 deletions(-)
 create mode 100644 unilabos_msgs/action/DPLiquidHandlerAddLiquid.action
 create mode 100644 unilabos_msgs/action/DPLiquidHandlerCustomDelay.action
 create mode 100644 unilabos_msgs/action/DPLiquidHandlerMix.action
 create mode 100644 unilabos_msgs/action/DPLiquidHandlerMoveTo.action
 create mode 100644 unilabos_msgs/action/DPLiquidHandlerRemoveLiquid.action
 create mode 100644 unilabos_msgs/action/DPLiquidHandlerSetTiprack.action
 create mode 100644 unilabos_msgs/action/DPLiquidHandlerTouchTip.action
 create mode 100644 unilabos_msgs/action/DPLiquidHandlerTransferLiquid.action

diff --git a/unilabos/devices/liquid_handling/action_definition.py b/unilabos/devices/liquid_handling/action_definition.py
index 9cefa1ce..530703ad 100644
--- a/unilabos/devices/liquid_handling/action_definition.py
+++ b/unilabos/devices/liquid_handling/action_definition.py
@@ -36,6 +36,7 @@ class DPLiquidHandler(LiquidHandler):
         delays: Optional[List[int]] = None,
         is_96_well: Optional[bool] = False,
         top: Optional[List(float)] = None,
+        none_keys: List[str] = []
     ):
         """A complete *remove* (aspirate → waste) operation."""
         trash = self.deck.get_trash_area()
@@ -98,7 +99,8 @@ class DPLiquidHandler(LiquidHandler):
         mix_time: Optional[int] = None,
         mix_vol: Optional[int] = None,
         mix_rate: Optional[int] = None,
-        mix_liquid_height: Optional[float] = None
+        mix_liquid_height: Optional[float] = None,
+        none_keys: List[str] = []
     ):
         """A complete *add* (aspirate reagent → dispense into targets) operation."""
 
@@ -177,6 +179,7 @@ class DPLiquidHandler(LiquidHandler):
         mix_rate: Optional[int] = None,
         mix_liquid_height: Optional[float] = None,
         delays: Optional[List[int]] = None,
+        none_keys: List[str] = []
     ):
         """Transfer liquid from each *source* well/plate to the corresponding *target*.
 
@@ -295,6 +298,7 @@ class DPLiquidHandler(LiquidHandler):
         height_to_bottom: Optional[float] = None,
         offsets: Optional[Coordinate] = None,
         mix_rate: Optional[float] = None,
+        none_keys: List[str] = []
     ):
         if mix_time is None: # No mixing required
             return
diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml
index 4451ca06..b37866b2 100644
--- a/unilabos/registry/devices/liquid_handler.yaml
+++ b/unilabos/registry/devices/liquid_handler.yaml
@@ -163,13 +163,14 @@ liquid_handler:
   schema:
     type: object
     properties:
-      status:
+      name:
         type: string
         description: 液体处理仪器当前状态
     required:
-      - status
+    - name
     additionalProperties: false
 
+
 liquid_handler.revvity:
   class:
     module: unilabos.devices.liquid_handling.revvity:Revvity
@@ -179,7 +180,7 @@ liquid_handler.revvity:
     action_value_mappings:
       run:
         type: WorkStationRun
-        goal: 
+        goal:
           wf_name: file_path
           params: params
           resource: resource
@@ -187,4 +188,3 @@ liquid_handler.revvity:
           status: status
         result:
           success: success
-    
\ No newline at end of file
diff --git a/unilabos_msgs/action/DPLiquidHandlerAddLiquid.action b/unilabos_msgs/action/DPLiquidHandlerAddLiquid.action
new file mode 100644
index 00000000..0611b276
--- /dev/null
+++ b/unilabos_msgs/action/DPLiquidHandlerAddLiquid.action
@@ -0,0 +1,20 @@
+float64[] asp_vols
+float64[] dis_vols
+Resource[] reagent_sources
+Resource[] targets
+int32[] use_channels
+float64[] flow_rates
+geometry_msgs/Point[] offsets
+float64[] liquid_height
+float64[] blow_out_air_volume
+string spread
+bool is_96_well
+int32 mix_time
+int32 mix_vol
+int32 mix_rate
+float64 mix_liquid_height
+string[] none_keys
+---
+bool success
+---
+# 反馈
\ No newline at end of file
diff --git a/unilabos_msgs/action/DPLiquidHandlerCustomDelay.action b/unilabos_msgs/action/DPLiquidHandlerCustomDelay.action
new file mode 100644
index 00000000..29f9b45b
--- /dev/null
+++ b/unilabos_msgs/action/DPLiquidHandlerCustomDelay.action
@@ -0,0 +1,6 @@
+float64 seconds
+string msg
+---
+bool success
+---
+# 反馈
\ No newline at end of file
diff --git a/unilabos_msgs/action/DPLiquidHandlerMix.action b/unilabos_msgs/action/DPLiquidHandlerMix.action
new file mode 100644
index 00000000..81d1b71c
--- /dev/null
+++ b/unilabos_msgs/action/DPLiquidHandlerMix.action
@@ -0,0 +1,11 @@
+Resource[] targets
+int32 mix_time
+int32 mix_vol
+float64 height_to_bottom
+geometry_msgs/Point[] offsets
+float64 mix_rate
+string[] none_keys
+---
+bool success
+---
+# 反馈
\ No newline at end of file
diff --git a/unilabos_msgs/action/DPLiquidHandlerMoveTo.action b/unilabos_msgs/action/DPLiquidHandlerMoveTo.action
new file mode 100644
index 00000000..740d0fc6
--- /dev/null
+++ b/unilabos_msgs/action/DPLiquidHandlerMoveTo.action
@@ -0,0 +1,7 @@
+Resource well
+float64 dis_to_top
+int32 channel
+---
+bool success
+---
+# 反馈
\ No newline at end of file
diff --git a/unilabos_msgs/action/DPLiquidHandlerRemoveLiquid.action b/unilabos_msgs/action/DPLiquidHandlerRemoveLiquid.action
new file mode 100644
index 00000000..e6b43c53
--- /dev/null
+++ b/unilabos_msgs/action/DPLiquidHandlerRemoveLiquid.action
@@ -0,0 +1,17 @@
+float64[] vols
+Resource[] sources
+Resource waste_liquid
+int32[] use_channels
+float64[] flow_rates
+geometry_msgs/Point[] offsets
+float64[] liquid_height
+float64[] blow_out_air_volume
+string spread
+int32[] delays
+bool is_96_well
+float64[] top
+string[] none_keys
+---
+bool success
+---
+# 反馈
\ No newline at end of file
diff --git a/unilabos_msgs/action/DPLiquidHandlerSetTiprack.action b/unilabos_msgs/action/DPLiquidHandlerSetTiprack.action
new file mode 100644
index 00000000..437d3e3f
--- /dev/null
+++ b/unilabos_msgs/action/DPLiquidHandlerSetTiprack.action
@@ -0,0 +1,5 @@
+Resource[] tip_racks
+---
+bool success
+---
+# 反馈
\ No newline at end of file
diff --git a/unilabos_msgs/action/DPLiquidHandlerTouchTip.action b/unilabos_msgs/action/DPLiquidHandlerTouchTip.action
new file mode 100644
index 00000000..e0c31046
--- /dev/null
+++ b/unilabos_msgs/action/DPLiquidHandlerTouchTip.action
@@ -0,0 +1,5 @@
+Resource[] targets
+---
+bool success
+---
+# 反馈
\ No newline at end of file
diff --git a/unilabos_msgs/action/DPLiquidHandlerTransferLiquid.action b/unilabos_msgs/action/DPLiquidHandlerTransferLiquid.action
new file mode 100644
index 00000000..39df59bb
--- /dev/null
+++ b/unilabos_msgs/action/DPLiquidHandlerTransferLiquid.action
@@ -0,0 +1,25 @@
+float64[] asp_vols
+float64[] dis_vols
+Resource[] sources
+Resource[] targets
+Resource[] tip_racks
+int32[] use_channels
+float64[] asp_flow_rates
+float64[] dis_flow_rates
+geometry_msgs/Point[] offsets
+bool touch_tip
+float64[] liquid_height
+float64[] blow_out_air_volume
+string spread
+bool is_96_well
+string mix_stage
+int32[] mix_times
+int32 mix_vol
+int32 mix_rate
+float64 mix_liquid_height
+int32[] delays
+string[] none_keys
+---
+bool success
+---
+# 反馈
\ No newline at end of file