Merge remote-tracking branch 'origin/workstation_dev_YB2' into dev

# Conflicts:
#	unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py
#	unilabos/devices/workstation/bioyond_studio/station.py
#	unilabos/resources/graphio.py

docs/developer_guide/add_action.md

@@ -127,16 +127,16 @@ add_action_files(
 ```bash
 mamba remove --force ros-humble-unilabos-msgs
 mamba config set safety_checks disabled  # 如果没有提升版本号，会触发md5与网络上md5不一致，是正常现象，因此通过本指令关闭md5检查
-mamba install xxx.conda2 --offline
+mamba install xxx.conda --offline
 ```
 
 ## 常见问题
 
-**Q: 构建失败怎么办？**  
+**Q: 构建失败怎么办？**
 A: 检查 Actions 日志中的错误信息，通常是语法错误或依赖问题。修复后重新推送代码即可自动触发新的构建。
 
-**Q: 如何测试特定平台？**  
+**Q: 如何测试特定平台？**
 A: 在手动触发构建时，在平台选择中只填写你需要的平台，如 `linux-64` 或 `win-64`。
 
-**Q: 构建包在哪里下载？**  
+**Q: 构建包在哪里下载？**
 A: 在 Actions 页面的构建结果中，查找 "Artifacts" 部分，每个平台都有对应的构建包可供下载。

test/experiments/dispensing_station_bioyond.json

@@ -0,0 +1,60 @@
+{
+    "nodes": [
+        {
+            "id": "dispensing_station_bioyond",
+            "name": "dispensing_station_bioyond",
+            "children": [
+                "Bioyond_Dispensing_Deck"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "dispensing_station.bioyond",
+            "config": {
+                "config": {
+                    "api_key": "DE9BDDA0",
+                    "api_host": "http://192.168.1.200:44388"
+                },
+                "deck": {
+                    "data": {
+                        "_resource_child_name": "Bioyond_Dispensing_Deck",
+                        "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerPreparationStation_Deck"
+                    }
+                },
+                "station_config": {
+                    "station_type": "dispensing_station",
+                    "enable_dispensing_station": true,
+                    "enable_reaction_station": false,
+                    "station_name": "DispensingStation_001",
+                    "description": "Bioyond配液工作站"
+                },
+                "protocol_type": []
+            },
+            "data": {}
+        },
+        {
+            "id": "Bioyond_Dispensing_Deck",
+            "name": "Bioyond_Dispensing_Deck",
+            "sample_id": null,
+            "children": [],
+            "parent": "dispensing_station_bioyond",
+            "type": "deck",
+            "class": "BIOYOND_PolymerPreparationStation_Deck",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "type": "BIOYOND_PolymerPreparationStation_Deck",
+                "setup": true,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                }
+            },
+            "data": {}
+        }
+    ]
+}

test/experiments/reaction_station_bioyond.json

@@ -0,0 +1,69 @@
+{
+    "nodes": [
+        {
+            "id": "reaction_station_bioyond",
+            "name": "reaction_station_bioyond",
+            "parent": null,
+            "children": [
+                "Bioyond_Deck"
+            ],
+            "type": "device",
+            "class": "reaction_station.bioyond",
+            "config": {
+                "bioyond_config": {
+                    "api_key": "DE9BDDA0",
+                    "api_host": "http://192.168.1.200:44402",
+                    "workflow_mappings": {
+                        "reactor_taken_out": "3a16081e-4788-ca37-eff4-ceed8d7019d1",
+                        "reactor_taken_in": "3a160df6-76b3-0957-9eb0-cb496d5721c6",
+                        "Solid_feeding_vials": "3a160877-87e7-7699-7bc6-ec72b05eb5e6",
+                        "Liquid_feeding_vials(non-titration)": "3a167d99-6158-c6f0-15b5-eb030f7d8e47",
+                        "Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046",
+                        "Liquid_feeding(titration)": "3a160824-0665-01ed-285a-51ef817a9046",
+                        "Liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
+                        "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a"
+                    },
+                    "material_type_mappings": {
+                        "烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
+                        "试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
+                        "样品板": "BIOYOND_PolymerStation_6VialCarrier"
+                    }
+                },
+                "deck": {
+                    "data": {
+                        "_resource_child_name": "Bioyond_Deck",
+                        "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck"
+                    }
+                },
+                "protocol_type": []
+            },
+            "data": {}
+        },
+        {
+            "id": "Bioyond_Deck",
+            "name": "Bioyond_Deck",
+            "sample_id": null,
+            "children": [
+            ],
+            "parent": "reaction_station_bioyond",
+            "type": "deck",
+            "class": "BIOYOND_PolymerReactionStation_Deck",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "type": "BIOYOND_PolymerReactionStation_Deck",
+                "setup": true,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                }
+            },
+            "data": {}
+        }
+    ]
+}

unilabos/registry/devices/dispensing_station_bioyond.yaml

@@ -0,0 +1,506 @@
+dispensing_station.bioyond:
+  category:
+  - work_station
+  - dispensing_station_bioyond
+  class:
+    action_value_mappings:
+      bioyond_sync:
+        feedback: {}
+        goal:
+          force_sync: force_sync
+          sync_type: sync_type
+        goal_default:
+          force_sync: false
+          sync_type: full
+        handles: {}
+        result: {}
+        schema:
+          description: 从Bioyond系统同步物料
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                force_sync:
+                  description: 是否强制同步
+                  type: boolean
+                sync_type:
+                  description: 同步类型
+                  enum:
+                  - full
+                  - incremental
+                  type: string
+              required:
+              - sync_type
+              type: object
+            result: {}
+          required:
+          - goal
+          title: bioyond_sync参数
+          type: object
+        type: UniLabJsonCommand
+      bioyond_update:
+        feedback: {}
+        goal:
+          material_ids: material_ids
+          sync_all: sync_all
+        goal_default:
+          material_ids: []
+          sync_all: true
+        handles: {}
+        result: {}
+        schema:
+          description: 将本地物料变更同步到Bioyond
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_ids:
+                  description: 要同步的物料ID列表
+                  items:
+                    type: string
+                  type: array
+                sync_all:
+                  description: 是否同步所有物料
+                  type: boolean
+              required:
+              - sync_all
+              type: object
+            result: {}
+          required:
+          - goal
+          title: bioyond_update参数
+          type: object
+        type: UniLabJsonCommand
+      create_90_10_vial_feeding_task:
+        feedback: {}
+        goal:
+          delay_time: delay_time
+          order_name: order_name
+          percent_10_1_assign_material_name: percent_10_1_assign_material_name
+          percent_10_1_liquid_material_name: percent_10_1_liquid_material_name
+          percent_10_1_target_weigh: percent_10_1_target_weigh
+          percent_10_1_volume: percent_10_1_volume
+          percent_10_2_assign_material_name: percent_10_2_assign_material_name
+          percent_10_2_liquid_material_name: percent_10_2_liquid_material_name
+          percent_10_2_target_weigh: percent_10_2_target_weigh
+          percent_10_2_volume: percent_10_2_volume
+          percent_90_1_assign_material_name: percent_90_1_assign_material_name
+          percent_90_1_target_weigh: percent_90_1_target_weigh
+          percent_90_2_assign_material_name: percent_90_2_assign_material_name
+          percent_90_2_target_weigh: percent_90_2_target_weigh
+          percent_90_3_assign_material_name: percent_90_3_assign_material_name
+          percent_90_3_target_weigh: percent_90_3_target_weigh
+          speed: speed
+          temperature: temperature
+        goal_default:
+          delay_time: '600'
+          order_name: ''
+          percent_10_1_assign_material_name: ''
+          percent_10_1_liquid_material_name: ''
+          percent_10_1_target_weigh: ''
+          percent_10_1_volume: ''
+          percent_10_2_assign_material_name: ''
+          percent_10_2_liquid_material_name: ''
+          percent_10_2_target_weigh: ''
+          percent_10_2_volume: ''
+          percent_90_1_assign_material_name: ''
+          percent_90_1_target_weigh: ''
+          percent_90_2_assign_material_name: ''
+          percent_90_2_target_weigh: ''
+          percent_90_3_assign_material_name: ''
+          percent_90_3_target_weigh: ''
+          speed: '400'
+          temperature: '20'
+        handles: {}
+        result: {}
+        schema:
+          description: 创建90%/10%小瓶投料任务
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                delay_time:
+                  default: '600'
+                  description: 延迟时间(s)
+                  type: string
+                order_name:
+                  description: 任务名称
+                  type: string
+                percent_10_1_assign_material_name:
+                  description: 10%组分1物料名称
+                  type: string
+                percent_10_1_liquid_material_name:
+                  description: 10%组分1液体物料名称
+                  type: string
+                percent_10_1_target_weigh:
+                  description: 10%组分1目标重量(g)
+                  type: string
+                percent_10_1_volume:
+                  description: 10%组分1液体体积(mL)
+                  type: string
+                percent_10_2_assign_material_name:
+                  description: 10%组分2物料名称
+                  type: string
+                percent_10_2_liquid_material_name:
+                  description: 10%组分2液体物料名称
+                  type: string
+                percent_10_2_target_weigh:
+                  description: 10%组分2目标重量(g)
+                  type: string
+                percent_10_2_volume:
+                  description: 10%组分2液体体积(mL)
+                  type: string
+                percent_90_1_assign_material_name:
+                  description: 90%组分1物料名称
+                  type: string
+                percent_90_1_target_weigh:
+                  description: 90%组分1目标重量(g)
+                  type: string
+                percent_90_2_assign_material_name:
+                  description: 90%组分2物料名称
+                  type: string
+                percent_90_2_target_weigh:
+                  description: 90%组分2目标重量(g)
+                  type: string
+                percent_90_3_assign_material_name:
+                  description: 90%组分3物料名称
+                  type: string
+                percent_90_3_target_weigh:
+                  description: 90%组分3目标重量(g)
+                  type: string
+                speed:
+                  default: '400'
+                  description: 搅拌速度(rpm)
+                  type: string
+                temperature:
+                  default: '20'
+                  description: 温度(°C)
+                  type: string
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_90_10_vial_feeding_task参数
+          type: object
+        type: UniLabJsonCommand
+      create_batch_90_10_vial_feeding_task:
+        feedback: {}
+        goal:
+          batch_data: batch_data
+        goal_default:
+          batch_data: '{}'
+        handles: {}
+        result: {}
+        schema:
+          description: 创建批量90%10%小瓶投料任务
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                batch_data:
+                  description: 批量90%10%小瓶投料任务数据(JSON格式)，包含batch_name、tasks列表和global_settings
+                  type: string
+              required:
+              - batch_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_batch_90_10_vial_feeding_task参数
+          type: object
+        type: UniLabJsonCommand
+      create_batch_diamine_solution_task:
+        feedback: {}
+        goal:
+          batch_data: batch_data
+        goal_default:
+          batch_data: '{}'
+        handles: {}
+        result: {}
+        schema:
+          description: 创建批量二胺溶液配制任务
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                batch_data:
+                  description: 批量二胺溶液配制任务数据(JSON格式)，包含batch_name、tasks列表和global_settings
+                  type: string
+              required:
+              - batch_data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_batch_diamine_solution_task参数
+          type: object
+        type: UniLabJsonCommand
+      create_diamine_solution_task:
+        feedback: {}
+        goal:
+          delay_time: delay_time
+          hold_m_name: hold_m_name
+          liquid_material_name: liquid_material_name
+          material_name: material_name
+          order_name: order_name
+          speed: speed
+          target_weigh: target_weigh
+          temperature: temperature
+          volume: volume
+        goal_default:
+          delay_time: '600'
+          hold_m_name: ''
+          liquid_material_name: NMP
+          material_name: ''
+          order_name: ''
+          speed: '400'
+          target_weigh: ''
+          temperature: '20'
+          volume: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 创建二胺溶液配制任务
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                delay_time:
+                  default: '600'
+                  description: 延迟时间(s)
+                  type: string
+                hold_m_name:
+                  description: 库位名称(如ODA-1)
+                  type: string
+                liquid_material_name:
+                  default: NMP
+                  description: 液体物料名称
+                  type: string
+                material_name:
+                  description: 固体物料名称
+                  type: string
+                order_name:
+                  description: 任务名称
+                  type: string
+                speed:
+                  default: '400'
+                  description: 搅拌速度(rpm)
+                  type: string
+                target_weigh:
+                  description: 固体目标重量(g)
+                  type: string
+                temperature:
+                  default: '20'
+                  description: 温度(°C)
+                  type: string
+                volume:
+                  description: 液体体积(mL)
+                  type: string
+              required:
+              - material_name
+              - target_weigh
+              - volume
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_diamine_solution_task参数
+          type: object
+        type: UniLabJsonCommand
+      create_resource:
+        feedback: {}
+        goal:
+          resource_config: resource_config
+          resource_type: resource_type
+        goal_default:
+          resource_config: {}
+          resource_type: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 创建资源操作
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                resource_config:
+                  description: 资源配置
+                  type: object
+                resource_type:
+                  description: 资源类型
+                  type: string
+              required:
+              - resource_type
+              - resource_config
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_resource参数
+          type: object
+        type: UniLabJsonCommand
+      dispensing_material_inbound:
+        feedback: {}
+        goal:
+          location: location
+          material_id: material_id
+        goal_default:
+          location: ''
+          material_id: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 配液站物料入库操作
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                location:
+                  description: 存储位置
+                  type: string
+                material_id:
+                  description: 物料ID
+                  type: string
+              required:
+              - material_id
+              - location
+              type: object
+            result: {}
+          required:
+          - goal
+          title: dispensing_material_inbound参数
+          type: object
+        type: UniLabJsonCommand
+      dispensing_material_outbound:
+        feedback: {}
+        goal:
+          material_id: material_id
+          quantity: quantity
+        goal_default:
+          material_id: ''
+          quantity: 0.0
+        handles: {}
+        result: {}
+        schema:
+          description: 配液站物料出库操作
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_id:
+                  description: 物料ID
+                  type: string
+                quantity:
+                  description: 出库数量
+                  type: number
+              required:
+              - material_id
+              - quantity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: dispensing_material_outbound参数
+          type: object
+        type: UniLabJsonCommand
+      sample_waste_removal:
+        feedback: {}
+        goal:
+          sample_id: sample_id
+          waste_type: waste_type
+        goal_default:
+          sample_id: ''
+          waste_type: general
+        handles: {}
+        result: {}
+        schema:
+          description: 样品废料移除操作
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                sample_id:
+                  description: 样品ID
+                  type: string
+                waste_type:
+                  description: 废料类型
+                  enum:
+                  - general
+                  - hazardous
+                  - organic
+                  - inorganic
+                  type: string
+              required:
+              - sample_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: sample_waste_removal参数
+          type: object
+        type: UniLabJsonCommand
+    module: unilabos.devices.workstation.bioyond_studio.station:BioyondWorkstation
+    protocol_type: []
+    status_types:
+      bioyond_status: dict
+      enable_dispensing_station: bool
+      enable_reaction_station: bool
+      station_type: str
+    type: python
+  config_info: []
+  description: Bioyond配液站 - 专门用于物料配制和管理的工作站
+  handles: []
+  icon: 配液站.webp
+  init_param_schema:
+    config:
+      properties:
+        bioyond_config:
+          description: Bioyond API配置
+          properties:
+            api_host:
+              description: Bioyond API主机地址
+              type: string
+            api_key:
+              description: Bioyond API密钥
+              type: string
+            material_type_mappings:
+              description: 物料类型映射配置
+              type: object
+            workflow_mappings:
+              description: 工作流映射配置
+              type: object
+          type: object
+        deck:
+          description: Deck配置
+          type: object
+        station_config:
+          description: 配液站配置
+          properties:
+            description:
+              description: 配液站描述
+              type: string
+            enable_dispensing_station:
+              default: true
+              description: 启用配液站功能
+              type: boolean
+            enable_reaction_station:
+              default: false
+              description: 禁用反应站功能
+              type: boolean
+            station_name:
+              description: 配液站名称
+              type: string
+            station_type:
+              default: dispensing_station
+              description: 站点类型 - 配液站
+              enum:
+              - dispensing_station
+              type: string
+          type: object
+      required: []
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object
+  version: 1.0.0

unilabos/registry/devices/reaction_station_bioyond.yaml

@@ -0,0 +1,384 @@
+reaction_station.bioyond:
+  category:
+  - work_station
+  - reaction_station_bioyond
+  class:
+    action_value_mappings:
+      bioyond_sync:
+        feedback: {}
+        goal:
+          force_sync: force_sync
+          sync_type: sync_type
+        goal_default:
+          force_sync: false
+          sync_type: full
+        handles: {}
+        result: {}
+        schema:
+          description: 从Bioyond系统同步物料
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                force_sync:
+                  description: 是否强制同步
+                  type: boolean
+                sync_type:
+                  description: 同步类型
+                  enum:
+                  - full
+                  - incremental
+                  type: string
+              required:
+              - sync_type
+              type: object
+            result: {}
+          required:
+          - goal
+          title: bioyond_sync参数
+          type: object
+        type: UniLabJsonCommand
+      bioyond_update:
+        feedback: {}
+        goal:
+          material_ids: material_ids
+          sync_all: sync_all
+        goal_default:
+          material_ids: []
+          sync_all: true
+        handles: {}
+        result: {}
+        schema:
+          description: 将本地物料变更同步到Bioyond
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_ids:
+                  description: 要同步的物料ID列表
+                  items:
+                    type: string
+                  type: array
+                sync_all:
+                  description: 是否同步所有物料
+                  type: boolean
+              required:
+              - sync_all
+              type: object
+            result: {}
+          required:
+          - goal
+          title: bioyond_update参数
+          type: object
+        type: UniLabJsonCommand
+      reaction_station_drip_back:
+        feedback: {}
+        goal:
+          assign_material_name: assign_material_name
+          time: time
+          torque_variation: torque_variation
+          volume: volume
+        goal_default:
+          assign_material_name: ''
+          time: ''
+          torque_variation: ''
+          volume: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 反应站滴回操作
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  description: 溶剂名称
+                  type: string
+                time:
+                  description: 观察时间（单位min）
+                  type: string
+                torque_variation:
+                  description: 是否观察1否2是
+                  type: string
+                volume:
+                  description: 投料体积
+                  type: string
+              required:
+              - volume
+              - assign_material_name
+              - time
+              - torque_variation
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reaction_station_drip_back参数
+          type: object
+        type: UniLabJsonCommand
+      reaction_station_liquid_feed:
+        feedback: {}
+        goal:
+          assign_material_name: assign_material_name
+          time: time
+          titration_type: titration_type
+          torque_variation: torque_variation
+          volume: volume
+        goal_default:
+          assign_material_name: ''
+          time: ''
+          titration_type: ''
+          torque_variation: ''
+          volume: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 反应站液体进料操作
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  description: 溶剂名称
+                  type: string
+                time:
+                  description: 观察时间（单位min）
+                  type: string
+                titration_type:
+                  description: 滴定类型1否2是
+                  type: string
+                torque_variation:
+                  description: 是否观察1否2是
+                  type: string
+                volume:
+                  description: 投料体积
+                  type: string
+              required:
+              - titration_type
+              - volume
+              - assign_material_name
+              - time
+              - torque_variation
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reaction_station_liquid_feed参数
+          type: object
+        type: UniLabJsonCommand
+      reaction_station_process_execute:
+        feedback: {}
+        goal:
+          task_name: task_name
+          workflow_name: workflow_name
+        goal_default:
+          task_name: ''
+          workflow_name: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 反应站流程执行
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                task_name:
+                  description: 任务名称
+                  type: string
+                workflow_name:
+                  description: 工作流名称
+                  type: string
+              required:
+              - workflow_name
+              - task_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reaction_station_process_execute参数
+          type: object
+        type: UniLabJsonCommand
+      reaction_station_reactor_taken_out:
+        feedback: {}
+        goal:
+          order_id: order_id
+          preintake_id: preintake_id
+        goal_default:
+          order_id: ''
+          preintake_id: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 反应站反应器取出操作 - 通过订单ID和预取样ID进行精确控制
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                order_id:
+                  description: 订单ID，用于标识要取出的订单
+                  type: string
+                preintake_id:
+                  description: 预取样ID，用于标识具体的取样任务
+                  type: string
+              required: []
+              type: object
+            result:
+              properties:
+                code:
+                  description: 操作结果代码（1表示成功，0表示失败）
+                  type: integer
+                return_info:
+                  description: 操作结果详细信息
+                  type: string
+              type: object
+          required:
+          - goal
+          title: reaction_station_reactor_taken_out参数
+          type: object
+        type: UniLabJsonCommand
+      reaction_station_solid_feed_vial:
+        feedback: {}
+        goal:
+          assign_material_name: assign_material_name
+          material_id: material_id
+          time: time
+          torque_variation: torque_variation
+        goal_default:
+          assign_material_name: ''
+          material_id: ''
+          time: ''
+          torque_variation: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 反应站固体进料操作
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  description: 固体名称_粉末加样模块-投料
+                  type: string
+                material_id:
+                  description: 固体投料类型_粉末加样模块-投料
+                  type: string
+                time:
+                  description: 观察时间_反应模块-观察搅拌结果
+                  type: string
+                torque_variation:
+                  description: 是否观察1否2是_反应模块-观察搅拌结果
+                  type: string
+              required:
+              - assign_material_name
+              - material_id
+              - time
+              - torque_variation
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reaction_station_solid_feed_vial参数
+          type: object
+        type: UniLabJsonCommand
+      reaction_station_take_in:
+        feedback: {}
+        goal:
+          assign_material_name: assign_material_name
+          cutoff: cutoff
+          temperature: temperature
+        goal_default:
+          assign_material_name: ''
+          cutoff: ''
+          temperature: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 反应站取入操作
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  description: 物料名称
+                  type: string
+                cutoff:
+                  description: 截止参数
+                  type: string
+                temperature:
+                  description: 温度
+                  type: string
+              required:
+              - cutoff
+              - temperature
+              - assign_material_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reaction_station_take_in参数
+          type: object
+        type: UniLabJsonCommand
+    module: unilabos.devices.workstation.bioyond_studio.station:BioyondWorkstation
+    protocol_type: []
+    status_types:
+      bioyond_status: dict
+      enable_dispensing_station: bool
+      enable_reaction_station: bool
+      station_type: str
+    type: python
+  config_info: []
+  description: Bioyond反应站 - 专门用于化学反应操作的工作站
+  handles: []
+  icon: 反应站.webp
+  init_param_schema:
+    config:
+      properties:
+        bioyond_config:
+          description: Bioyond API配置
+          properties:
+            api_host:
+              description: Bioyond API主机地址
+              type: string
+            api_key:
+              description: Bioyond API密钥
+              type: string
+            material_type_mappings:
+              description: 物料类型映射配置
+              type: object
+            workflow_mappings:
+              description: 工作流映射配置
+              type: object
+          type: object
+        deck:
+          description: Deck配置
+          type: object
+        station_config:
+          description: 反应站配置
+          properties:
+            description:
+              description: 反应站描述
+              type: string
+            enable_dispensing_station:
+              default: false
+              description: 禁用配液站功能
+              type: boolean
+            enable_reaction_station:
+              default: true
+              description: 启用反应站功能
+              type: boolean
+            station_name:
+              description: 反应站名称
+              type: string
+            station_type:
+              default: reaction_station
+              description: 站点类型 - 反应站
+              enum:
+              - reaction_station
+              type: string
+          type: object
+      required: []
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object
+  version: 1.0.0

unilabos/resources/graphio.py

@@ -594,7 +594,7 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: dict =
 
     for material in bioyond_materials:
         className = type_mapping.get(material.get("typeName"), "RegularContainer") if type_mapping else "RegularContainer"
-        
+
         plr_material: ResourcePLR = initialize_resource({"name": material["name"], "class": className}, resource_type=ResourcePLR)
         plr_material.code = material.get("code", "") and material.get("barCode", "") or ""
 

unilabos/ros/nodes/resource_tracker.py

@@ -6,8 +6,8 @@ from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKIN
 from unilabos.utils.log import logger
 
 if TYPE_CHECKING:
-    # from unilabos.devices.workstation.workstation_base import WorkstationBase
-    from pylabrobot.resources import Resource as PLRResource, corning_6_wellplate_16point8ml_flat
+    from unilabos.devices.workstation.workstation_base import WorkstationBase
+    from pylabrobot.resources import Resource as PLRResource
 
 
 class ResourceDictPositionSize(BaseModel):
@@ -372,49 +372,79 @@ class ResourceTreeSet(object):
                 - PLR 资源实例列表
                 - 每个资源对应的 name_to_uuid 映射字典列表
         """
-        from unilabos.resources.graphio import resource_ulab_to_plr
+        from pylabrobot.resources import Resource as PLRResource
+        from pylabrobot.utils.object_parsing import find_subclass
+        import inspect
+
+        # 类型映射
+        TYPE_MAP = {"plate": "plate", "well": "well", "container": "tip_spot", "deck": "deck", "tip_rack": "tip_rack"}
+
+        def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict):
+            """一次遍历收集 name_to_uuid 和 all_states"""
+            name_to_uuid[node.res_content.name] = node.res_content.uuid
+            all_states[node.res_content.name] = node.res_content.data
+            for child in node.children:
+                collect_node_data(child, name_to_uuid, all_states)
+
+        def node_to_plr_dict(node: ResourceDictInstance, has_model: bool):
+            """转换节点为 PLR 字典格式"""
+            res = node.res_content
+            plr_type = TYPE_MAP.get(res.type, "tip_spot")
+            if res.type not in TYPE_MAP:
+                logger.warning(f"未知类型 {res.type}，使用默认类型 tip_spot")
+
+            d = {
+                "name": res.name,
+                "type": plr_type,
+                "size_x": res.config.get("size_x", 0),
+                "size_y": res.config.get("size_y", 0),
+                "size_z": res.config.get("size_z", 0),
+                "location": {
+                    "x": res.position.position.x,
+                    "y": res.position.position.y,
+                    "z": res.position.position.z,
+                    "type": "Coordinate",
+                },
+                "rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},
+                "category": plr_type,
+                "children": [node_to_plr_dict(child, has_model) for child in node.children],
+                "parent_name": res.parent_name,
+                **res.config,
+            }
+            if has_model:
+                d["model"] = res.config.get("model", None)
+            return d
 
         plr_resources = []
         name_to_uuid_maps = []
-
-        def build_name_to_uuid_map(node: ResourceDictInstance, result: Dict[str, str]):
-            """递归构建 name 到 uuid 的映射"""
-            result[node.res_content.name] = node.res_content.uuid
-            for child in node.children:
-                build_name_to_uuid_map(child, result)
+        tracker = DeviceNodeResourceTracker()
 
         for tree in self.trees:
-            # 构建 name_to_uuid 映射
-            name_to_uuid = {}
-            build_name_to_uuid_map(tree.root_node, name_to_uuid)
+            name_to_uuid: Dict[str, str] = {}
+            all_states: Dict[str, Any] = {}
+            collect_node_data(tree.root_node, name_to_uuid, all_states)
 
-            # 使用 get_nested_dict 获取字典表示
-            resource_dict = tree.root_node.get_nested_dict()
-
-            # 判断是否包含 model（Deck 下没有 model）
-            plr_model = tree.root_node.res_content.type != "deck"
+            has_model = tree.root_node.res_content.type != "deck"
+            plr_dict = node_to_plr_dict(tree.root_node, has_model)
 
             try:
-                # 使用 resource_ulab_to_plr 创建 PLR 资源实例
-                plr_resource = resource_ulab_to_plr(resource_dict, plr_model=plr_model)
+                sub_cls = find_subclass(plr_dict["type"], PLRResource)
+                if sub_cls is None:
+                    raise ValueError(f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类")
 
-                # 设置 unilabos_uuid 属性到资源及其所有子节点
-                def set_uuid_recursive(plr_res: "PLRResource", node: ResourceDictInstance):
-                    """递归设置 PLR 资源的 unilabos_uuid 属性"""
-                    setattr(plr_res, "unilabos_uuid", node.res_content.uuid)
-                    # 匹配子节点（通过 name）
-                    for plr_child in plr_res.children:
-                        matching_node = next(
-                            (child for child in node.children if child.res_content.name == plr_child.name),
-                            None,
-                        )
-                        if matching_node:
-                            set_uuid_recursive(plr_child, matching_node)
+                spec = inspect.signature(sub_cls)
+                if "category" not in spec.parameters:
+                    plr_dict.pop("category", None)
 
-                set_uuid_recursive(plr_resource, tree.root_node)
+                plr_resource = sub_cls.deserialize(plr_dict, allow_marshal=True)
+                plr_resource.load_all_state(all_states)
+
+                # 使用 DeviceNodeResourceTracker 设置 UUID
+                tracker.loop_set_uuid(plr_resource, name_to_uuid)
 
                 plr_resources.append(plr_resource)
                 name_to_uuid_maps.append(name_to_uuid)
+
             except Exception as e:
                 logger.error(f"转换 PLR 资源失败: {e}")
                 import traceback
@@ -685,9 +715,7 @@ class DeviceNodeResourceTracker(object):
         res_list = []
         for r in self.resources:
             if isinstance(query_resource, dict):
-                res_list.extend(
-                    self.loop_find_resource(r, object, identifier_key, query_resource[identifier_key])
-                )
+                res_list.extend(self.loop_find_resource(r, object, identifier_key, query_resource[identifier_key]))
             else:
                 res_list.extend(
                     self.loop_find_resource(
@@ -735,134 +763,84 @@ class DeviceNodeResourceTracker(object):
 
 
 if __name__ == "__main__":
-    import sys
-    import os
+    from pylabrobot.resources import corning_6_wellplate_16point8ml_flat
 
-    a = corning_6_wellplate_16point8ml_flat("a").serialize()
-    # 尝试导入 pylabrobot，如果失败则尝试从本地 pylabrobot_repo 导入
-    try:
-        from pylabrobot.resources import Resource, Coordinate
-    except ImportError:
-        # 尝试添加本地 pylabrobot_repo 路径
-        # __file__ is unilabos/ros/nodes/resource_tracker.py
-        # We need to go up 4 levels to get to project root
-        current_dir = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))))
-        pylabrobot_path = os.path.join(current_dir, "pylabrobot_repo")
-        if os.path.exists(pylabrobot_path):
-            sys.path.insert(0, pylabrobot_path)
-            try:
-                from pylabrobot.resources import Resource, Coordinate
-            except ImportError:
-                print("pylabrobot 未安装，且无法从本地 pylabrobot_repo 导入")
-                print("如需运行测试，请先安装: pip install pylabrobot")
-                exit(0)
-        else:
-            print("pylabrobot 未安装，跳过测试")
-            print("如需运行测试，请先安装: pip install pylabrobot")
-            exit(0)
+    # 测试 from_plr_resources 和 to_plr_resources 的往返转换
+    print("=" * 60)
+    print("测试 PLR 资源转换往返")
+    print("=" * 60)
 
-    # 创建一个简单的测试资源
-    def create_test_resource(name: str):
-        """创建一个简单的测试用资源"""
-        # 创建父资源
-        parent = Resource(name=name, size_x=100.0, size_y=100.0, size_z=50.0, category="container")
+    # 1. 创建一个 PLR 资源并设置 UUID
+    original_plate = corning_6_wellplate_16point8ml_flat("test_plate")
 
-        # 添加一些子资源
-        for i in range(3):
-            child = Resource(name=f"{name}_child_{i}", size_x=20.0, size_y=20.0, size_z=10.0, category="container")
-            child.location = Coordinate(x=i * 30, y=0, z=0)
-            parent.assign_child_resource(child, location=child.location)
+    # 使用 DeviceNodeResourceTracker 设置 UUID
+    tracker = DeviceNodeResourceTracker()
+    name_to_uuid = {}
 
-        return parent
+    # 递归生成 name_to_uuid 映射
+    def build_uuid_map(resource):
+        name_to_uuid[resource.name] = str(uuid.uuid4())
+        for child in resource.children:
+            build_uuid_map(child)
 
-    print("=" * 80)
-    print("测试 1: 基本序列化和反序列化")
-    print("=" * 80)
+    build_uuid_map(original_plate)
 
-    # 创建原始 PLR 资源
-    original_resource = create_test_resource("test_resource")
-    print(f"\n1. 创建原始 PLR 资源: {original_resource.name}")
-    print(f"   子节点数量: {len(original_resource.children)}")
+    # 使用 tracker 的 loop_set_uuid 方法设置 UUID
+    tracker.loop_set_uuid(original_plate, name_to_uuid)
 
-    # 手动设置 unilabos_uuid（模拟实际使用场景）
-    def set_test_uuid(res: "PLRResource", prefix="uuid"):
-        """递归设置测试用的 uuid"""
-        import uuid as uuid_module
+    print(f"\n1. 原始 PLR 资源: {original_plate.name}")
+    print(f"   - UUID: {getattr(original_plate, 'unilabos_uuid', 'N/A')}")
+    print(f"   - 子节点数量: {len(original_plate.children)}")
+    if original_plate.children:
+        print(f"   - 第一个子节点: {original_plate.children[0].name}")
+        print(f"   - 第一个子节点 UUID: {getattr(original_plate.children[0], 'unilabos_uuid', 'N/A')}")
 
-        setattr(res, "unilabos_uuid", f"{prefix}-{uuid_module.uuid4()}")
-        for i, child in enumerate(res.children):
-            set_test_uuid(child, f"{prefix}-{i}")
+    # 2. 将 PLR 资源转换为 ResourceTreeSet
+    resource_tree_set = ResourceTreeSet.from_plr_resources([original_plate])
+    print(f"\n2. 转换为 ResourceTreeSet:")
+    print(f"   - 树的数量: {len(resource_tree_set.trees)}")
+    print(f"   - 根节点: {resource_tree_set.root_nodes[0].res_content.name}")
+    print(f"   - 所有节点数量: {len(resource_tree_set.all_nodes)}")
 
-    set_test_uuid(original_resource, "root")
-    print(f"   根节点 UUID: {getattr(original_resource, 'unilabos_uuid', 'None')}")
+    # 3. 将 ResourceTreeSet 转换回 PLR 资源
+    plr_resources, name_to_uuid_maps = resource_tree_set.to_plr_resources()
+    converted_plate = plr_resources[0]
+    print(f"\n3. 转换回 PLR 资源: {converted_plate.name}")
+    print(f"   - 子节点数量: {len(converted_plate.children)}")
+    if converted_plate.children:
+        print(f"   - 第一个子节点: {converted_plate.children[0].name}")
 
-    # 转换为 ResourceTreeSet (from_plr_resources)
-    print("\n2. 使用 from_plr_resources 转换为 ResourceTreeSet")
-    resource_tree_set = ResourceTreeSet.from_plr_resources([original_resource])
-    print(f"   树的数量: {len(resource_tree_set.trees)}")
-    print(f"   根节点名称: {resource_tree_set.root_nodes[0].res_content.name}")
-    print(f"   根节点 UUID: {resource_tree_set.root_nodes[0].res_content.uuid}")
-    print(f"   总节点数: {len(resource_tree_set.all_nodes)}")
-
-    # 转换回 PLR 资源 (to_plr_resources)
-    print("\n3. 使用 to_plr_resources 转换回 PLR 资源")
-    try:
-        plr_resources, name_to_uuid_maps = resource_tree_set.to_plr_resources()
-    except ModuleNotFoundError as e:
-        print(f"   ❌ 缺少依赖模块: {e}")
-        print("   提示: to_plr_resources 方法实现完成，但需要安装额外的依赖（如 networkx）")
-        print("\n测试部分完成！from_plr_resources 已验证正常工作。")
-        exit(0)
-    print(f"   PLR 资源数量: {len(plr_resources)}")
-    print(f"   name_to_uuid 映射数量: {len(name_to_uuid_maps)}")
-
-    restored_resource = plr_resources[0]
+    # 4. 验证 UUID 映射
     name_to_uuid = name_to_uuid_maps[0]
+    print(f"\n4. UUID 映射:")
+    print(f"   - 映射条目数: {len(name_to_uuid)}")
+    print(f"   - 示例映射: {list(name_to_uuid.items())[:3]}")
 
-    print(f"   恢复的资源名称: {restored_resource.name}")
-    print(f"   恢复的资源子节点数: {len(restored_resource.children)}")
-    print(f"   恢复的资源 UUID: {getattr(restored_resource, 'unilabos_uuid', 'None')}")
-    print(f"   name_to_uuid 映射条目数: {len(name_to_uuid)}")
+    # 5. 验证 unilabos_uuid 属性
+    print(f"\n5. 验证 unilabos_uuid 设置:")
+    if hasattr(converted_plate, "unilabos_uuid"):
+        print(f"   - 根节点 UUID: {getattr(converted_plate, 'unilabos_uuid')}")
+        if converted_plate.children and hasattr(converted_plate.children[0], "unilabos_uuid"):
+            print(f"   - 第一个子节点 UUID: {getattr(converted_plate.children[0], 'unilabos_uuid')}")
+    else:
+        print("   - 警告: unilabos_uuid 未设置")
 
-    # 验证 UUID 映射
-    print("\n4. 验证 UUID 映射")
-    original_uuid = getattr(original_resource, "unilabos_uuid", None)
-    restored_uuid = getattr(restored_resource, "unilabos_uuid", None)
-    print(f"   原始根节点 UUID: {original_uuid}")
-    print(f"   恢复后根节点 UUID: {restored_uuid}")
-    print(f"   UUID 匹配: {original_uuid == restored_uuid}")
+    # 6. 验证 UUID 保持不变
+    print(f"\n6. 验证 UUID 在往返过程中保持不变:")
+    original_uuid = getattr(original_plate, "unilabos_uuid")
+    converted_uuid = getattr(converted_plate, "unilabos_uuid")
+    print(f"   - 原始 UUID: {original_uuid}")
+    print(f"   - 转换后 UUID: {converted_uuid}")
+    print(f"   - UUID 保持不变: {original_uuid == converted_uuid}")
 
-    # 验证 name_to_uuid 映射完整性
-    def count_all_nodes(res: "PLRResource") -> int:
-        """递归统计节点总数"""
-        return 1 + sum(count_all_nodes(child) for child in res.children)
+    # 7. 再次往返转换，验证稳定性
+    resource_tree_set_2 = ResourceTreeSet.from_plr_resources([converted_plate])
+    plr_resources_2, name_to_uuid_maps_2 = resource_tree_set_2.to_plr_resources()
+    print(f"\n7. 第二次往返转换:")
+    print(f"   - 资源名称: {plr_resources_2[0].name}")
+    print(f"   - 子节点数量: {len(plr_resources_2[0].children)}")
+    print(f"   - UUID 依然保持: {getattr(plr_resources_2[0], 'unilabos_uuid') == original_uuid}")
 
-    original_node_count = count_all_nodes(original_resource)
-    restored_node_count = count_all_nodes(restored_resource)
-    mapping_count = len(name_to_uuid)
-
-    print(f"\n   原始资源节点总数: {original_node_count}")
-    print(f"   恢复资源节点总数: {restored_node_count}")
-    print(f"   映射字典条目数: {mapping_count}")
-    print(f"   节点数量匹配: {original_node_count == restored_node_count == mapping_count}")
-
-    # 验证子节点的 UUID
-    print("\n5. 验证子节点 UUID (前3个)")
-    for i, (original_child, restored_child) in enumerate(
-        zip(original_resource.children[:3], restored_resource.children[:3])
-    ):
-        orig_uuid = getattr(original_child, "unilabos_uuid", None)
-        rest_uuid = getattr(restored_child, "unilabos_uuid", None)
-        print(f"   子节点 {i}: {original_child.name}")
-        print(f"     原始 UUID: {orig_uuid}")
-        print(f"     恢复 UUID: {rest_uuid}")
-        print(f"     匹配: {orig_uuid == rest_uuid}")
-
-    # 测试 name_to_uuid 映射的正确性
-    print("\n6. 验证 name_to_uuid 映射内容 (前5个)")
-    for i, (name, uuid_val) in enumerate(list(name_to_uuid.items())[:5]):
-        print(f"   {name} -> {uuid_val}")
-
-    print("\n" + "=" * 80)
-    print("测试完成！")
-    print("=" * 80)
+    print("\n" + "=" * 60)
+    print("✅ 测试完成! 所有转换正常工作")
+    print("=" * 60)

unilabos/ros/utils/driver_creator.py

@@ -150,7 +150,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
                             target_type = import_manager.get_class(type_path)
                             contain_model = not issubclass(target_type, Deck)
                             resource, target_type = self._process_resource_mapping(resource, target_type)
-                            resource_instance: Resource = resource_ulab_to_plr(resource, contain_model)
+                            resource_instance: Resource = resource_ulab_to_plr(resource, contain_model)  # 带state
                             states[prefix_path] = resource_instance.serialize_all_state()
                             # 使用 prefix_path 作为 key 存储资源状态
                             if to_dict:
@@ -159,7 +159,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
                                 return serialized
                             else:
                                 self.resource_tracker.add_resource(resource_instance)
-                                # 立即设置UUID
+                                # 立即设置UUID，state已经在resource_ulab_to_plr中处理过了
                                 if name_to_uuid:
                                     self.resource_tracker.loop_set_uuid(resource_instance, name_to_uuid)
                             return resource_instance
@@ -244,7 +244,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
                             v[kk] = vv
                     self.device_instance.load_all_state(v)
                 self.resource_tracker.add_resource(self.device_instance)
-                self.post_create()
+                self.post_create()  # 对应DeviceClassCreator进行调用
                 return self.device_instance  # type: ignore
             except Exception as e:
                 # 先静默继续，尝试另外一种创建方法
@@ -265,7 +265,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
                         data[param_name]["_resource_type"] = self.device_cls.__module__ + ":" + arg_value
                         logger.debug(f"自动补充 _resource_type: {data[param_name]['_resource_type']}")
                 processed_data = self._process_resource_references(data, to_dict=False, name_to_uuid=name_to_uuid)
-                self.device_instance = super(PyLabRobotCreator, self).create_instance(processed_data)
+                self.device_instance = super(PyLabRobotCreator, self).create_instance(processed_data)  # 补全变量后直接调用，调用的自身的attach_resource
             except Exception as e:
                 logger.error(f"PyLabRobot创建实例失败: {e}")
                 logger.error(f"PyLabRobot创建实例堆栈: {traceback.format_exc()}")

unilabos_msgs/CMakeLists.txt

@@ -103,10 +103,14 @@ set(action_files
   "action/PostProcessGrab.action"
   "action/PostProcessTriggerClean.action"
   "action/PostProcessTriggerPostPro.action"
-  
+
   "action/ReactionStationDripBack.action"
-  "action/ReactionStationLiquidFeed.action"
+  "action/ReactionStationLiquidFeedBeaker.action"
+  "action/ReactionStationLiquidFeedSolvents.action"
+  "action/ReactionStationLiquidFeedTitration.action"
+  "action/ReactionStationLiquidFeedVialsNonTitration.action"
   "action/ReactionStationProExecu.action"
+  "action/ReactionStationReactorTakenOut.action"
   "action/ReactionStationReaTackIn.action"
   "action/ReactionStationSolidFeedVial.action"
 )

unilabos_msgs/action/ReactionStationDripBack.action

@@ -1,11 +1,13 @@
-# Goal - 滴回去  
-string volume                 # 投料体积
-string assign_material_name       # 溶剂名称
-string time                      # 观察时间（单位min）
-string torque_variation           #是否观察1否2是   
+# Goal - 滴回去操作参数
+string volume                   # 投料体积
+string assign_material_name     # 溶剂名称
+string time                     # 观察时间（单位min）
+string torque_variation         # 是否观察1否2是
 ---
-# Result - 操作结果  
-string return_info                    # 结果消息
-
+# Result - 操作结果
+bool success                    # 操作是否成功
+string return_info              # 结果消息
+int32 code                      # 操作结果代码（1表示成功，0表示失败）
 ---
-# Feedback - 实时反馈  
+# Feedback - 实时反馈
+string feedback                 # 操作过程中的反馈信息

unilabos_msgs/action/ReactionStationLiquidFeed.action

@@ -1,11 +0,0 @@
-# Goal - 液体投料  
-string titration_type            # 滴定类型1否2是  
-string volume                 # 投料体积
-string assign_material_name       # 溶剂名称
-string time                      # 观察时间（单位min）
-string torque_variation           #是否观察1否2是   
----
-# Result - 操作结果  
-string return_info                    # 结果消息
----
-# Feedback - 实时反馈  

unilabos_msgs/action/ReactionStationLiquidFeedBeaker.action

@@ -0,0 +1,15 @@
+# Goal - 液体投料-烧杯操作参数
+string volume                    # 投料体积
+string assign_material_name      # 溶剂名称
+string titration_type           # 滴定类型1否2是
+string time                     # 观察时间（单位min）
+string torque_variation         # 是否观察1否2是
+string temperature              # 温度设置
+---
+# Result - 操作结果
+bool success                    # 操作是否成功
+string return_info              # 结果消息
+int32 code                      # 操作结果代码（1表示成功，0表示失败）
+---
+# Feedback - 实时反馈
+string feedback                 # 操作过程中的反馈信息

unilabos_msgs/action/ReactionStationLiquidFeedSolvents.action

@@ -0,0 +1,15 @@
+# Goal - 液体投料-溶剂操作参数
+string volume                   # 投料体积
+string assign_material_name     # 溶剂名称
+string titration_type          # 滴定类型1否2是
+string time                    # 观察时间（单位min）
+string torque_variation        # 是否观察1否2是
+string temperature             # 温度设置
+---
+# Result - 操作结果
+bool success                   # 操作是否成功
+string return_info             # 结果消息
+int32 code                     # 操作结果代码（1表示成功，0表示失败）
+---
+# Feedback - 实时反馈
+string feedback                # 操作过程中的反馈信息

unilabos_msgs/action/ReactionStationLiquidFeedTitration.action

@@ -0,0 +1,15 @@
+# Goal - 液体投料滴定操作参数
+string volume_formula          # 投料体积公式
+string assign_material_name    # 溶剂名称
+string titration_type         # 滴定类型1否2是
+string time                   # 观察时间（单位min）
+string torque_variation       # 是否观察1否2是
+string temperature            # 温度设置
+---
+# Result - 操作结果
+bool success                  # 操作是否成功
+string return_info            # 结果消息
+int32 code                    # 操作结果代码（1表示成功，0表示失败）
+---
+# Feedback - 实时反馈
+string feedback               # 操作过程中的反馈信息

unilabos_msgs/action/ReactionStationLiquidFeedVialsNonTitration.action

@@ -0,0 +1,15 @@
+# Goal - 液体投料-小瓶非滴定操作参数
+string volume_formula           # 投料体积公式
+string assign_material_name     # 溶剂名称
+string titration_type          # 滴定类型1否2是
+string time                    # 观察时间（单位min）
+string torque_variation        # 是否观察1否2是
+string temperature             # 温度设置
+---
+# Result - 操作结果
+bool success                   # 操作是否成功
+string return_info             # 结果消息
+int32 code                     # 操作结果代码（1表示成功，0表示失败）
+---
+# Feedback - 实时反馈
+string feedback                # 操作过程中的反馈信息

unilabos_msgs/action/ReactionStationProExecu.action

@@ -1,8 +1,11 @@
-# Goal - 合并工作流+执行  
-string workflow_name         # 工作流名称  
-string task_name              # 任务名称
+# Goal - 合并工作流+执行参数
+string workflow_name            # 工作流名称
+string task_name                # 任务名称
 ---
-# Result - 操作结果  
-string return_info                    # 结果消息
+# Result - 操作结果
+bool success                    # 操作是否成功
+string return_info              # 结果消息
+int32 code                      # 操作结果代码（1表示成功，0表示失败）
 ---
-# Feedback - 实时反馈  
+# Feedback - 实时反馈
+string feedback                 # 操作过程中的反馈信息

unilabos_msgs/action/ReactionStationReaTackIn.action

@@ -1,9 +1,12 @@
-# Goal - 通量-配置  
-string cutoff                    # 黏度_通量-配置  
-string temperature                # 温度_通量-配置
-string assign_material_name        # 分液类型_通量-配置    
+# Goal - 反应器放入操作参数
+string cutoff                   # 黏度设置
+string temperature              # 温度设置
+string assign_material_name     # 分液类型
 ---
-# Result - 操作结果   
-string return_info                    # 结果消息
+# Result - 操作结果
+bool success                    # 操作是否成功
+string return_info              # 结果消息
+int32 code                      # 操作结果代码（1表示成功，0表示失败）
 ---
-# Feedback - 实时反馈  
+# Feedback - 实时反馈
+string feedback                 # 操作过程中的反馈信息

unilabos_msgs/action/ReactionStationReactorTakenOut.action

@@ -0,0 +1,12 @@
+# Goal - 反应器取出操作参数
+# 反应器取出操作不需要任何参数
+---
+# Result - 操作结果
+# 反应器取出操作的结果
+bool success         # 要求必须包含success，以便回传执行结果
+string return_info   # 要求必须包含return_info，以便回传执行结果
+int32 code           # 操作结果代码（1表示成功，0表示失败）
+---
+# Feedback - 实时反馈
+# 反应器取出操作的反馈
+string feedback      # 操作过程中的反馈信息

unilabos_msgs/action/ReactionStationSolidFeedVial.action

@@ -1,10 +1,13 @@
-# Goal - 固体投料-小瓶  
-string assign_material_name         # 固体名称_粉末加样模块-投料  
-string material_id                # 固体投料类型_粉末加样模块-投料
-string time                      # 观察时间_反应模块-观察搅拌结果
-string torque_variation           #是否观察1否2是_反应模块-观察搅拌结果    
+# Goal - 固体投料-小瓶操作参数
+string assign_material_name     # 固体名称
+string material_id              # 固体投料类型
+string time                     # 观察时间（单位min）
+string torque_variation         # 是否观察1否2是
 ---
-# Result - 操作结果  
-string return_info                    # 结果消息
+# Result - 操作结果
+bool success                    # 操作是否成功
+string return_info              # 结果消息
+int32 code                      # 操作结果代码（1表示成功，0表示失败）
 ---
-# Feedback - 实时反馈  
+# Feedback - 实时反馈
+string feedback                 # 操作过程中的反馈信息