fix bugs from new actions

unilabos/compile/heatchill_protocol.py

@@ -247,6 +247,142 @@ def generate_heat_chill_protocol(
     
     return action_sequence
 
+
+def generate_heat_chill_to_temp_protocol(
+        G: nx.DiGraph,
+        vessel: str,
+        temp: float = 25.0,
+        time: float = 300.0,
+        temp_spec: str = "",
+        time_spec: str = "",
+        pressure: str = "",
+        reflux_solvent: str = "",
+        stir: bool = False,
+        stir_speed: float = 300.0,
+        purpose: str = "",
+        **kwargs  # 🔧 接受额外参数，增强兼容性
+) -> List[Dict[str, Any]]:
+    """
+    生成加热/冷却操作的协议序列
+
+    Args:
+        G: 设备图
+        vessel: 加热容器名称（必需）
+        temp: 目标温度 (°C)
+        time: 加热时间 (秒)
+        temp_spec: 温度规格（如 'room temperature', 'reflux'）
+        time_spec: 时间规格（如 'overnight', '2 h'）
+        pressure: 压力规格（如 '1 mbar'），不做特殊处理
+        reflux_solvent: 回流溶剂名称，不做特殊处理
+        stir: 是否搅拌
+        stir_speed: 搅拌速度 (RPM)
+        purpose: 操作目的
+        **kwargs: 其他参数（兼容性）
+
+    Returns:
+        List[Dict[str, Any]]: 加热操作的动作序列
+    """
+
+    debug_print("=" * 50)
+    debug_print("开始生成加热冷却协议")
+    debug_print(f"输入参数:")
+    debug_print(f"  - vessel: {vessel}")
+    debug_print(f"  - temp: {temp}°C")
+    debug_print(f"  - time: {time}s ({time / 60:.1f}分钟)")
+    debug_print(f"  - temp_spec: {temp_spec}")
+    debug_print(f"  - time_spec: {time_spec}")
+    debug_print(f"  - pressure: {pressure}")
+    debug_print(f"  - reflux_solvent: {reflux_solvent}")
+    debug_print(f"  - stir: {stir}")
+    debug_print(f"  - stir_speed: {stir_speed} RPM")
+    debug_print(f"  - purpose: {purpose}")
+    debug_print(f"  - 其他参数: {kwargs}")
+    debug_print("=" * 50)
+
+    action_sequence = []
+
+    # === 参数验证 ===
+    debug_print("步骤1: 参数验证...")
+
+    # 验证必需参数
+    if not vessel:
+        raise ValueError("vessel 参数不能为空")
+
+    if vessel not in G.nodes():
+        raise ValueError(f"容器 '{vessel}' 不存在于系统中")
+
+    # 温度解析：优先使用 temp_spec，然后是 temp
+    final_temp = temp
+    if temp_spec:
+        final_temp = parse_temp_spec(temp_spec)
+        debug_print(f"温度解析: '{temp_spec}' → {final_temp}°C")
+
+    # 时间解析：优先使用 time_spec，然后是 time
+    final_time = time
+    if time_spec:
+        final_time = parse_time_spec(time_spec)
+        debug_print(f"时间解析: '{time_spec}' → {final_time}s ({final_time / 60:.1f}分钟)")
+
+    # 参数范围验证
+    if final_temp < -50.0 or final_temp > 300.0:
+        debug_print(f"温度 {final_temp}°C 超出范围，修正为 25°C")
+        final_temp = 25.0
+
+    if final_time < 0:
+        debug_print(f"时间 {final_time}s 无效，修正为 300s")
+        final_time = 300.0
+
+    if stir_speed < 0 or stir_speed > 1500.0:
+        debug_print(f"搅拌速度 {stir_speed} RPM 超出范围，修正为 300 RPM")
+        stir_speed = 300.0
+
+    debug_print(f"✅ 参数验证通过")
+
+    # === 查找加热设备 ===
+    debug_print("步骤2: 查找加热设备...")
+
+    try:
+        heatchill_id = find_connected_heatchill(G, vessel)
+        debug_print(f"设备配置: 加热设备 = {heatchill_id}")
+
+    except Exception as e:
+        debug_print(f"❌ 设备查找失败: {str(e)}")
+        raise ValueError(f"无法找到加热设备: {str(e)}")
+
+    # === 执行加热操作 ===
+    debug_print("步骤3: 执行加热操作...")
+
+    heatchill_action = {
+        "device_id": heatchill_id,
+        "action_name": "heat_chill",
+        "action_kwargs": {
+            "vessel": vessel,
+            "temp": final_temp,
+            "time": final_time,
+            "stir": stir,
+            "stir_speed": stir_speed,
+            "purpose": purpose or f"加热到 {final_temp}°C"
+        }
+    }
+
+    action_sequence.append(heatchill_action)
+
+    # === 总结 ===
+    debug_print("=" * 50)
+    debug_print(f"加热冷却协议生成完成")
+    debug_print(f"总动作数: {len(action_sequence)}")
+    debug_print(f"加热容器: {vessel}")
+    debug_print(f"目标温度: {final_temp}°C")
+    debug_print(f"加热时间: {final_time}s ({final_time / 60:.1f}分钟)")
+    if pressure:
+        debug_print(f"压力参数: {pressure} (已接收，不做特殊处理)")
+    if reflux_solvent:
+        debug_print(f"回流溶剂: {reflux_solvent} (已接收，不做特殊处理)")
+    debug_print("=" * 50)
+
+    return action_sequence
+
+
 def generate_heat_chill_start_protocol(
     G: nx.DiGraph,
     vessel: str,

unilabos/compile/pump_protocol.py

@@ -778,17 +778,17 @@ def generate_pump_protocol_with_rinsing(
             )
             
             # 为每个动作添加唯一标识
-            for i, action in enumerate(pump_action_sequence):
+            # for i, action in enumerate(pump_action_sequence):
-                if isinstance(action, dict):
+            #     if isinstance(action, dict):
-                    action['_protocol_id'] = protocol_id
+            #         action['_protocol_id'] = protocol_id
-                    action['_action_sequence'] = i
+            #         action['_action_sequence'] = i
-                elif isinstance(action, list):
+            #     elif isinstance(action, list):
-                    for j, sub_action in enumerate(action):
+            #         for j, sub_action in enumerate(action):
-                        if isinstance(sub_action, dict):
+            #             if isinstance(sub_action, dict):
-                            sub_action['_protocol_id'] = protocol_id
+            #                 sub_action['_protocol_id'] = protocol_id
-                            sub_action['_action_sequence'] = f"{i}_{j}"
+            #                 sub_action['_action_sequence'] = f"{i}_{j}"
-            
+            #
-            debug_print(f"📊 协议 {protocol_id} 生成完成，共 {len(pump_action_sequence)} 个动作")
+            # debug_print(f"📊 协议 {protocol_id} 生成完成，共 {len(pump_action_sequence)} 个动作")
             debug_print(f"🔓 释放执行锁")
             return pump_action_sequence
             

unilabos/messages/__init__.py

@@ -372,6 +372,30 @@ class HeatChillProtocol(BaseModel):
         
         return 300.0  # 默认5分钟
 
+
+class HeatChillStartProtocol(BaseModel):
+    # === 必需参数 ===
+    vessel: str = Field(..., description="加热容器名称")
+
+    # === 可选参数 - 温度相关 ===
+    temp: float = Field(25.0, description="目标温度 (°C)")
+    temp_spec: str = Field("", description="温度规格（如 'room temperature', 'reflux'）")
+
+    # === 可选参数 - 其他XDL参数 ===
+    pressure: str = Field("", description="压力规格（如 '1 mbar'），不做特殊处理")
+    reflux_solvent: str = Field("", description="回流溶剂名称，不做特殊处理")
+
+    # === 可选参数 - 搅拌相关 ===
+    stir: bool = Field(False, description="是否搅拌")
+    stir_speed: float = Field(300.0, description="搅拌速度 (RPM)")
+    purpose: str = Field("", description="操作目的")
+
+
+class HeatChillStopProtocol(BaseModel):
+    # === 必需参数 ===
+    vessel: str = Field(..., description="加热容器名称")
+
+
 class StirProtocol(BaseModel):
     # === 必需参数 ===
     vessel: str = Field(..., description="搅拌容器名称")
@@ -608,7 +632,8 @@ __all__ = [
     "Point3D", "PumpTransferProtocol", "CleanProtocol", "SeparateProtocol", 
     "EvaporateProtocol", "EvacuateAndRefillProtocol", "AGVTransferProtocol", 
     "CentrifugeProtocol", "AddProtocol", "FilterProtocol", 
-    "HeatChillProtocol", "HeatChillStartProtocol", "HeatChillStopProtocol", 
+    "HeatChillProtocol",
+    "HeatChillStartProtocol", "HeatChillStopProtocol",
     "StirProtocol", "StartStirProtocol", "StopStirProtocol", 
     "TransferProtocol", "CleanVesselProtocol", "DissolveProtocol", 
     "FilterThroughProtocol", "RunColumnProtocol", "WashSolidProtocol",

unilabos/registry/devices/mock_devices.yaml

@@ -842,11 +842,15 @@ mock_heater:
           time: time
           vessel: vessel
         goal_default:
+          pressure: ''
           purpose: ''
+          reflux_solvent: ''
           stir: false
           stir_speed: 0.0
           temp: 0.0
+          temp_spec: ''
           time: 0.0
+          time_spec: ''
           vessel: ''
         handles: []
         result:
@@ -866,22 +870,34 @@ mock_heater:
             goal:
               description: Action 目标 - 从客户端发送到服务器
               properties:
+                pressure:
+                  type: string
                 purpose:
                   type: string
+                reflux_solvent:
+                  type: string
                 stir:
                   type: boolean
                 stir_speed:
                   type: number
                 temp:
                   type: number
+                temp_spec:
+                  type: string
                 time:
                   type: number
+                time_spec:
+                  type: string
                 vessel:
                   type: string
               required:
               - vessel
               - temp
               - time
+              - temp_spec
+              - time_spec
+              - pressure
+              - reflux_solvent
               - stir
               - stir_speed
               - purpose
@@ -890,13 +906,16 @@ mock_heater:
             result:
               description: Action 结果 - 完成后从服务器发送到客户端
               properties:
+                message:
+                  type: string
                 return_info:
                   type: string
                 success:
                   type: boolean
               required:
-              - return_info
               - success
+              - message
+              - return_info
               title: HeatChill_Result
               type: object
           required:
@@ -1270,13 +1289,18 @@ mock_pump:
           volume: volume
         goal_default:
           amount: ''
+          event: ''
+          flowrate: 0.0
           from_vessel: ''
+          rate_spec: ''
           rinsing_repeats: 0
           rinsing_solvent: ''
           rinsing_volume: 0.0
           solid: false
+          through: ''
           time: 0.0
           to_vessel: ''
+          transfer_flowrate: 0.0
           viscous: false
           volume: 0.0
         handles: []
@@ -1334,8 +1358,14 @@ mock_pump:
               properties:
                 amount:
                   type: string
+                event:
+                  type: string
+                flowrate:
+                  type: number
                 from_vessel:
                   type: string
+                rate_spec:
+                  type: string
                 rinsing_repeats:
                   maximum: 2147483647
                   minimum: -2147483648
@@ -1346,10 +1376,14 @@ mock_pump:
                   type: number
                 solid:
                   type: boolean
+                through:
+                  type: string
                 time:
                   type: number
                 to_vessel:
                   type: string
+                transfer_flowrate:
+                  type: number
                 viscous:
                   type: boolean
                 volume:
@@ -1365,6 +1399,11 @@ mock_pump:
               - rinsing_volume
               - rinsing_repeats
               - solid
+              - flowrate
+              - transfer_flowrate
+              - rate_spec
+              - event
+              - through
               title: PumpTransfer_Goal
               type: object
             result:
@@ -2281,6 +2320,7 @@ mock_separator:
         goal_default:
           from_vessel: ''
           product_phase: ''
+          product_vessel: ''
           purpose: ''
           repeats: 0
           separation_vessel: ''
@@ -2291,7 +2331,10 @@ mock_separator:
           stir_time: 0.0
           through: ''
           to_vessel: ''
+          vessel: ''
+          volume: ''
           waste_phase_to_vessel: ''
+          waste_vessel: ''
         handles: []
         result:
           success: success
@@ -2349,6 +2392,8 @@ mock_separator:
                   type: string
                 product_phase:
                   type: string
+                product_vessel:
+                  type: string
                 purpose:
                   type: string
                 repeats:
@@ -2371,8 +2416,14 @@ mock_separator:
                   type: string
                 to_vessel:
                   type: string
+                vessel:
+                  type: string
+                volume:
+                  type: string
                 waste_phase_to_vessel:
                   type: string
+                waste_vessel:
+                  type: string
               required:
               - purpose
               - product_phase
@@ -2387,18 +2438,25 @@ mock_separator:
               - stir_time
               - stir_speed
               - settling_time
+              - vessel
+              - volume
+              - product_vessel
+              - waste_vessel
               title: Separate_Goal
               type: object
             result:
               description: Action 结果 - 完成后从服务器发送到客户端
               properties:
+                message:
+                  type: string
                 return_info:
                   type: string
                 success:
                   type: boolean
               required:
-              - return_info
               - success
+              - message
+              - return_info
               title: Separate_Result
               type: object
           required:
@@ -3472,9 +3530,13 @@ mock_stirrer_new:
           stir_speed: stir_speed
           stir_time: stir_time
         goal_default:
+          event: ''
           settling_time: 0.0
           stir_speed: 0.0
           stir_time: 0.0
+          time: ''
+          time_spec: ''
+          vessel: ''
         handles: []
         result:
           success: success
@@ -3493,13 +3555,25 @@ mock_stirrer_new:
             goal:
               description: Action 目标 - 从客户端发送到服务器
               properties:
+                event:
+                  type: string
                 settling_time:
                   type: number
                 stir_speed:
                   type: number
                 stir_time:
                   type: number
+                time:
+                  type: string
+                time_spec:
+                  type: string
+                vessel:
+                  type: string
               required:
+              - vessel
+              - time
+              - event
+              - time_spec
               - stir_time
               - stir_speed
               - settling_time
@@ -3508,13 +3582,16 @@ mock_stirrer_new:
             result:
               description: Action 结果 - 完成后从服务器发送到客户端
               properties:
+                message:
+                  type: string
                 return_info:
                   type: string
                 success:
                   type: boolean
               required:
-              - return_info
               - success
+              - message
+              - return_info
               title: Stir_Result
               type: object
           required:

unilabos/registry/devices/organic_miscellaneous.yaml

@@ -324,9 +324,13 @@ separator.homemade:
           stir_speed: stir_speed
           stir_time: stir_time,
         goal_default:
+          event: ''
           settling_time: 0.0
           stir_speed: 0.0
           stir_time: 0.0
+          time: ''
+          time_spec: ''
+          vessel: ''
         handles: []
         result:
           success: success
@@ -345,13 +349,25 @@ separator.homemade:
             goal:
               description: Action 目标 - 从客户端发送到服务器
               properties:
+                event:
+                  type: string
                 settling_time:
                   type: number
                 stir_speed:
                   type: number
                 stir_time:
                   type: number
+                time:
+                  type: string
+                time_spec:
+                  type: string
+                vessel:
+                  type: string
               required:
+              - vessel
+              - time
+              - event
+              - time_spec
               - stir_time
               - stir_speed
               - settling_time
@@ -360,13 +376,16 @@ separator.homemade:
             result:
               description: Action 结果 - 完成后从服务器发送到客户端
               properties:
+                message:
+                  type: string
                 return_info:
                   type: string
                 success:
                   type: boolean
               required:
-              - return_info
               - success
+              - message
+              - return_info
               title: Stir_Result
               type: object
           required:

unilabos/registry/devices/temperature.yaml

@@ -377,11 +377,15 @@ heaterstirrer.dalong:
           time: time
           vessel: vessel
         goal_default:
+          pressure: ''
           purpose: ''
+          reflux_solvent: ''
           stir: false
           stir_speed: 0.0
           temp: 0.0
+          temp_spec: ''
           time: 0.0
+          time_spec: ''
           vessel: ''
         handles: []
         result:
@@ -401,22 +405,34 @@ heaterstirrer.dalong:
             goal:
               description: Action 目标 - 从客户端发送到服务器
               properties:
+                pressure:
+                  type: string
                 purpose:
                   type: string
+                reflux_solvent:
+                  type: string
                 stir:
                   type: boolean
                 stir_speed:
                   type: number
                 temp:
                   type: number
+                temp_spec:
+                  type: string
                 time:
                   type: number
+                time_spec:
+                  type: string
                 vessel:
                   type: string
               required:
               - vessel
               - temp
               - time
+              - temp_spec
+              - time_spec
+              - pressure
+              - reflux_solvent
               - stir
               - stir_speed
               - purpose
@@ -425,13 +441,16 @@ heaterstirrer.dalong:
             result:
               description: Action 结果 - 完成后从服务器发送到客户端
               properties:
+                message:
+                  type: string
                 return_info:
                   type: string
                 success:
                   type: boolean
               required:
-              - return_info
               - success
+              - message
+              - return_info
               title: HeatChill_Result
               type: object
           required:

unilabos/registry/devices/virtual_device.yaml

@@ -318,6 +318,12 @@ virtual_column:
         goal_default:
           column: ''
           from_vessel: ''
+          pct1: ''
+          pct2: ''
+          ratio: ''
+          rf: ''
+          solvent1: ''
+          solvent2: ''
           to_vessel: ''
         handles: []
         result:
@@ -346,12 +352,30 @@ virtual_column:
                   type: string
                 from_vessel:
                   type: string
+                pct1:
+                  type: string
+                pct2:
+                  type: string
+                ratio:
+                  type: string
+                rf:
+                  type: string
+                solvent1:
+                  type: string
+                solvent2:
+                  type: string
                 to_vessel:
                   type: string
               required:
               - from_vessel
               - to_vessel
               - column
+              - rf
+              - pct1
+              - pct2
+              - solvent1
+              - solvent2
+              - ratio
               title: RunColumn_Goal
               type: object
             result:
@@ -1155,11 +1179,15 @@ virtual_heatchill:
           time: time
           vessel: vessel
         goal_default:
+          pressure: ''
           purpose: ''
+          reflux_solvent: ''
           stir: false
           stir_speed: 0.0
           temp: 0.0
+          temp_spec: ''
           time: 0.0
+          time_spec: ''
           vessel: ''
         handles: []
         result:
@@ -1179,22 +1207,34 @@ virtual_heatchill:
             goal:
               description: Action 目标 - 从客户端发送到服务器
               properties:
+                pressure:
+                  type: string
                 purpose:
                   type: string
+                reflux_solvent:
+                  type: string
                 stir:
                   type: boolean
                 stir_speed:
                   type: number
                 temp:
                   type: number
+                temp_spec:
+                  type: string
                 time:
                   type: number
+                time_spec:
+                  type: string
                 vessel:
                   type: string
               required:
               - vessel
               - temp
               - time
+              - temp_spec
+              - time_spec
+              - pressure
+              - reflux_solvent
               - stir
               - stir_speed
               - purpose
@@ -1203,13 +1243,16 @@ virtual_heatchill:
             result:
               description: Action 结果 - 完成后从服务器发送到客户端
               properties:
+                message:
+                  type: string
                 return_info:
                   type: string
                 success:
                   type: boolean
               required:
-              - return_info
               - success
+              - message
+              - return_info
               title: HeatChill_Result
               type: object
           required:
@@ -2048,13 +2091,18 @@ virtual_pump:
           volume: volume
         goal_default:
           amount: ''
+          event: ''
+          flowrate: 0.0
           from_vessel: ''
+          rate_spec: ''
           rinsing_repeats: 0
           rinsing_solvent: ''
           rinsing_volume: 0.0
           solid: false
+          through: ''
           time: 0.0
           to_vessel: ''
+          transfer_flowrate: 0.0
           viscous: false
           volume: 0.0
         handles: []
@@ -2112,8 +2160,14 @@ virtual_pump:
               properties:
                 amount:
                   type: string
+                event:
+                  type: string
+                flowrate:
+                  type: number
                 from_vessel:
                   type: string
+                rate_spec:
+                  type: string
                 rinsing_repeats:
                   maximum: 2147483647
                   minimum: -2147483648
@@ -2124,10 +2178,14 @@ virtual_pump:
                   type: number
                 solid:
                   type: boolean
+                through:
+                  type: string
                 time:
                   type: number
                 to_vessel:
                   type: string
+                transfer_flowrate:
+                  type: number
                 viscous:
                   type: boolean
                 volume:
@@ -2143,6 +2201,11 @@ virtual_pump:
               - rinsing_volume
               - rinsing_repeats
               - solid
+              - flowrate
+              - transfer_flowrate
+              - rate_spec
+              - event
+              - through
               title: PumpTransfer_Goal
               type: object
             result:
@@ -2325,6 +2388,7 @@ virtual_rotavap:
           vessel: vessel
         goal_default:
           pressure: 0.0
+          solvent: ''
           stir_speed: 0.0
           temp: 0.0
           time: 0.0
@@ -2385,6 +2449,8 @@ virtual_rotavap:
               properties:
                 pressure:
                   type: number
+                solvent:
+                  type: string
                 stir_speed:
                   type: number
                 temp:
@@ -2399,6 +2465,7 @@ virtual_rotavap:
               - temp
               - time
               - stir_speed
+              - solvent
               title: Evaporate_Goal
               type: object
             result:
@@ -2641,6 +2708,7 @@ virtual_separator:
         goal_default:
           from_vessel: ''
           product_phase: ''
+          product_vessel: ''
           purpose: ''
           repeats: 0
           separation_vessel: ''
@@ -2651,7 +2719,10 @@ virtual_separator:
           stir_time: 0.0
           through: ''
           to_vessel: ''
+          vessel: ''
+          volume: ''
           waste_phase_to_vessel: ''
+          waste_vessel: ''
         handles: []
         result:
           message: message
@@ -2710,6 +2781,8 @@ virtual_separator:
                   type: string
                 product_phase:
                   type: string
+                product_vessel:
+                  type: string
                 purpose:
                   type: string
                 repeats:
@@ -2732,8 +2805,14 @@ virtual_separator:
                   type: string
                 to_vessel:
                   type: string
+                vessel:
+                  type: string
+                volume:
+                  type: string
                 waste_phase_to_vessel:
                   type: string
+                waste_vessel:
+                  type: string
               required:
               - purpose
               - product_phase
@@ -2748,18 +2827,25 @@ virtual_separator:
               - stir_time
               - stir_speed
               - settling_time
+              - vessel
+              - volume
+              - product_vessel
+              - waste_vessel
               title: Separate_Goal
               type: object
             result:
               description: Action 结果 - 完成后从服务器发送到客户端
               properties:
+                message:
+                  type: string
                 return_info:
                   type: string
                 success:
                   type: boolean
               required:
-              - return_info
               - success
+              - message
+              - return_info
               title: Separate_Result
               type: object
           required:
@@ -3149,6 +3235,180 @@ virtual_solenoid_valve:
       - valve_position
       - state
       type: object
+virtual_solid_dispenser:
+  class:
+    action_value_mappings:
+      add_solid:
+        feedback:
+          current_status: status
+          progress: progress
+        goal:
+          mass: mass
+          mol: mol
+          purpose: purpose
+          reagent: reagent
+          vessel: vessel
+        goal_default:
+          mass: ''
+          mol: ''
+          purpose: ''
+          reagent: ''
+          vessel: ''
+        handles: []
+        result:
+          message: message
+          return_info: return_info
+          success: success
+        schema:
+          description: ROS Action AddSolid 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties:
+                current_status:
+                  type: string
+                progress:
+                  type: number
+              required:
+              - current_status
+              - progress
+              title: AddSolid_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                mass:
+                  type: string
+                mol:
+                  type: string
+                purpose:
+                  type: string
+                reagent:
+                  type: string
+                vessel:
+                  type: string
+              required:
+              - vessel
+              - reagent
+              - mass
+              - mol
+              - purpose
+              title: AddSolid_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                message:
+                  type: string
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - success
+              - message
+              - return_info
+              title: AddSolid_Result
+              type: object
+          required:
+          - goal
+          title: AddSolid
+          type: object
+        type: AddSolid
+      auto-add_solid:
+        feedback: {}
+        goal: {}
+        goal_default:
+          mass: ''
+          mol: ''
+          purpose: ''
+          reagent: ''
+          vessel: main_reactor
+        handles: []
+        result: {}
+        schema:
+          description: add_solid的参数schema
+          type: object
+        type: UniLabJsonCommandAsync
+      auto-cleanup:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: cleanup的参数schema
+          type: object
+        type: UniLabJsonCommandAsync
+      auto-initialize:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: initialize的参数schema
+          type: object
+        type: UniLabJsonCommandAsync
+    module: unilabos.devices.virtual.virtual_solid_dispenser:VirtualSolidDispenser
+    status_types:
+      current_reagent: str
+      dispensed_amount: float
+      status: str
+      total_operations: int
+    type: python
+  description: Virtual Solid Dispenser for Add Protocol Solid Reagents
+  handles:
+  - data_key: SolidIn
+    data_source: handle
+    data_type: resource
+    description: 固体试剂进料口
+    handler_key: SolidIn
+    io_type: target
+    label: SolidIn
+    side: WEST
+  - data_key: SolidOut
+    data_source: executor
+    data_type: resource
+    description: 固体试剂出料口
+    handler_key: SolidOut
+    io_type: source
+    label: SolidOut
+    side: EAST
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        config:
+          type: object
+        device_id:
+          type: string
+        max_capacity:
+          default: 100.0
+          description: 最大加样容量 (g)
+          type: number
+        precision:
+          default: 0.001
+          description: 加样精度 (g)
+          type: number
+      required: []
+      type: object
+    data:
+      properties:
+        current_reagent:
+          type: string
+        dispensed_amount:
+          type: number
+        status:
+          type: string
+        total_operations:
+          type: integer
+      required:
+      - status
+      - current_reagent
+      - dispensed_amount
+      - total_operations
+      type: object
 virtual_stirrer:
   class:
     action_value_mappings:
@@ -3183,7 +3443,6 @@ virtual_stirrer:
           properties:
             feedback: {}
             goal:
-
               properties: {}
               required: []
               type: object
@@ -3356,9 +3615,13 @@ virtual_stirrer:
           stir_speed: stir_speed
           stir_time: stir_time
         goal_default:
+          event: ''
           settling_time: 0.0
           stir_speed: 0.0
           stir_time: 0.0
+          time: ''
+          time_spec: ''
+          vessel: ''
         handles: []
         result:
           success: success
@@ -3377,13 +3640,25 @@ virtual_stirrer:
             goal:
               description: Action 目标 - 从客户端发送到服务器
               properties:
+                event:
+                  type: string
                 settling_time:
                   type: number
                 stir_speed:
                   type: number
                 stir_time:
                   type: number
+                time:
+                  type: string
+                time_spec:
+                  type: string
+                vessel:
+                  type: string
               required:
+              - vessel
+              - time
+              - event
+              - time_spec
               - stir_time
               - stir_speed
               - settling_time
@@ -3392,13 +3667,16 @@ virtual_stirrer:
             result:
               description: Action 结果 - 完成后从服务器发送到客户端
               properties:
+                message:
+                  type: string
                 return_info:
                   type: string
                 success:
                   type: boolean
               required:
-              - return_info
               - success
+              - message
+              - return_info
               title: Stir_Result
               type: object
           required:
@@ -4367,125 +4645,3 @@ virtual_vacuum_pump:
       required:
       - status
       type: object
-virtual_solid_dispenser:
-  class:
-    action_value_mappings:
-      auto-cleanup:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: []
-        result: {}
-        schema:
-          description: cleanup的参数schema
-          type: object
-        type: UniLabJsonCommandAsync
-      auto-initialize:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: []
-        result: {}
-        schema:
-          description: initialize的参数schema
-          type: object
-        type: UniLabJsonCommandAsync
-      auto-add_solid:
-        feedback: {}
-        goal: {}
-        goal_default:
-          vessel: main_reactor
-          reagent: ''
-          mass: ''
-          mol: ''
-          purpose: ''
-        handles: []
-        result: {}
-        schema:
-          description: add_solid的参数schema
-          type: object
-        type: UniLabJsonCommandAsync
-      add_solid:
-        feedback:
-          current_status: status
-          progress: progress
-        goal:
-          vessel: vessel
-          reagent: reagent
-          mass: mass
-          mol: mol
-          purpose: purpose
-        goal_default:
-          vessel: 'main_reactor'
-          reagent: ''
-          mass: ''
-          mol: ''
-          purpose: ''
-        handles: []
-        result:
-          message: message
-          success: success
-          return_info: return_info
-        schema:
-          description: ROS Action AddSolid 的 JSON Schema
-          type: object
-        type: AddSolid
-    module: unilabos.devices.virtual.virtual_solid_dispenser:VirtualSolidDispenser
-    status_types:
-      status: str
-      current_reagent: str
-      dispensed_amount: float
-      total_operations: int
-    type: python
-  description: Virtual Solid Dispenser for Add Protocol Solid Reagents
-  handles:
-  - data_key: SolidIn
-    data_source: handle
-    data_type: resource
-    description: 固体试剂进料口
-    handler_key: SolidIn
-    io_type: target
-    label: SolidIn
-    side: WEST
-  - data_key: SolidOut
-    data_source: executor
-    data_type: resource
-    description: 固体试剂出料口
-    handler_key: SolidOut
-    io_type: source
-    label: SolidOut
-    side: EAST
-  icon: ''
-  init_param_schema:
-    config:
-      properties:
-        config:
-          type: object
-        device_id:
-          type: string
-        max_capacity:
-          type: number
-          default: 100.0
-          description: 最大加样容量 (g)
-        precision:
-          type: number
-          default: 0.001
-          description: 加样精度 (g)
-      required: []
-      type: object
-    data:
-      properties:
-        status:
-          type: string
-        current_reagent:
-          type: string
-        dispensed_amount:
-          type: number
-        total_operations:
-          type: integer
-      required:
-      - status
-      - current_reagent
-      - dispensed_amount
-      - total_operations
-      type: object

unilabos_msgs/CMakeLists.txt

@@ -41,6 +41,7 @@ set(action_files
   "action/WashSolid.action"
   "action/Filter.action"
   "action/Add.action"
+  "action/AddSolid.action"
   "action/Centrifuge.action"
   "action/Crystallize.action"
   "action/Purge.action"

unilabos_msgs/action/RunColumn.action

@@ -2,7 +2,7 @@
 string from_vessel              # 源容器的名称，即样品起始所在的容器（必需）
 string to_vessel                # 目标容器的名称，分离后的样品要到达的容器（必需）
 string column                   # 所使用的柱子的名称（必需）
-string Rf                       # Rf值（可选）
+string rf                       # Rf值（可选）
 string pct1                     # 第一种溶剂百分比（如 "40 %"，可选）
 string pct2                     # 第二种溶剂百分比（如 "50 %"，可选）
 string solvent1                 # 第一种溶剂名称（可选）