update actions

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

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
@@ -187,4 +188,3 @@ liquid_handler.revvity:
           status: status
         result:
           success: success
-    

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

unilabos_msgs/action/DPLiquidHandlerCustomDelay.action

@@ -0,0 +1,6 @@
+float64 seconds
+string msg
+---
+bool success
+---
+# 反馈

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

unilabos_msgs/action/DPLiquidHandlerMoveTo.action

@@ -0,0 +1,7 @@
+Resource well
+float64 dis_to_top
+int32 channel
+---
+bool success
+---
+# 反馈

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

unilabos_msgs/action/DPLiquidHandlerSetTiprack.action

@@ -0,0 +1,5 @@
+Resource[] tip_racks
+---
+bool success
+---
+# 反馈

unilabos_msgs/action/DPLiquidHandlerTouchTip.action

@@ -0,0 +1,5 @@
+Resource[] targets
+---
+bool success
+---
+# 反馈

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