temp disable initialize resource

改用biomek_test
增加ResultInfoEncoder
支持返回结果上传

README.md

@@ -45,7 +45,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n environment_name
 
 # Currently, you need to install the `unilabos_msgs` package
 # You can download the system-specific package from the Release page
-conda install ros-humble-unilabos-msgs-0.9.1-xxxxx.tar.bz2
+conda install ros-humble-unilabos-msgs-0.9.2-xxxxx.tar.bz2
 
 # Install PyLabRobot and other prerequisites
 git clone https://github.com/PyLabRobot/pylabrobot plr_repo

README_zh.md

@@ -45,7 +45,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n 环境名
 
 # 现阶段，需要安装 `unilabos_msgs` 包
 # 可以前往 Release 页面下载系统对应的包进行安装
-conda install ros-humble-unilabos-msgs-0.9.1-xxxxx.tar.bz2
+conda install ros-humble-unilabos-msgs-0.9.2-xxxxx.tar.bz2
 
 # 安装PyLabRobot等前置
 git clone https://github.com/PyLabRobot/pylabrobot plr_repo

recipes/ros-humble-unilabos-msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.9.1
+  version: 0.9.2
 source:
   path: ../../unilabos_msgs
   folder: ros-humble-unilabos-msgs/src/work

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.9.1"
+  version: "0.9.2"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.9.1',
+    version='0.9.2',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

test/experiments/biomek.json

@@ -0,0 +1,22 @@
+{
+    "nodes": [
+        {
+            "id": "BIOMEK",
+            "name": "BIOMEK",
+            "parent": null,
+            "type": "device",
+            "class": "liquid_handler.biomek",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+            },
+            "data": {},
+            "children": [
+            ]
+        }
+    ],
+    "links": []
+}

unilabos/app/main.py

@@ -10,6 +10,8 @@ from copy import deepcopy
 
 import yaml
 
+from unilabos.resources.graphio import tree_to_list
+
 # 首先添加项目根目录到路径
 current_dir = os.path.dirname(os.path.abspath(__file__))
 unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
@@ -144,19 +146,19 @@ def main():
             else read_graphml(args_dict["graph"])
         )
         devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
-        args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
+        # args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
+        args_dict["resources_config"] = list(devices_and_resources.values())
         args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
-        # args_dict["resources_config"] = dict_to_tree(devices_and_resources, devices_only=False)
-
         args_dict["graph"] = graph_res.physical_setup_graph
     else:
         if args_dict["devices"] is None or args_dict["resources"] is None:
             print_status("Either graph or devices and resources must be provided.", "error")
             sys.exit(1)
         args_dict["devices_config"] = json.load(open(args_dict["devices"], encoding="utf-8"))
-        args_dict["resources_config"] = initialize_resources(
-            list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
-        )
+        # args_dict["resources_config"] = initialize_resources(
+        #     list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
+        # )
+        args_dict["resources_config"] = list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
 
     print_status(f"{len(args_dict['resources_config'])} Resources loaded:", "info")
     for i in args_dict["resources_config"]:

unilabos/app/mq.py

@@ -1,6 +1,7 @@
 import json
 import time
 import traceback
+from typing import Optional
 import uuid
 
 import paho.mqtt.client as mqtt
@@ -163,10 +164,12 @@ class MQTTClient:
         self.client.publish(address, json.dumps(status), qos=2)
         logger.critical(f"Device status published: address: {address}, {status}")
 
-    def publish_job_status(self, feedback_data: dict, job_id: str, status: str):
+    def publish_job_status(self, feedback_data: dict, job_id: str, status: str, return_info: Optional[str] = None):
         if self.mqtt_disable:
             return
-        jobdata = {"job_id": job_id, "data": feedback_data, "status": status}
+        if return_info is None:
+            return_info = "{}"
+        jobdata = {"job_id": job_id, "data": feedback_data, "status": status, "return_info": return_info}
         self.client.publish(f"labs/{MQConfig.lab_id}/job/list/", json.dumps(jobdata), qos=2)
 
     def publish_registry(self, device_id: str, device_info: dict):

unilabos/app/web/client.py

@@ -30,18 +30,18 @@ class HTTPClient:
             self.auth = MQConfig.lab_id
         info(f"HTTPClient 初始化完成: remote_addr={self.remote_addr}")
 
-    def resource_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
+    def resource_add(self, resources: List[Dict[str, Any]], database_process_later:bool) -> requests.Response:
         """
         添加资源
 
         Args:
             resources: 要添加的资源列表
-
+            database_process_later: 后台处理资源
         Returns:
             Response: API响应对象
         """
         response = requests.post(
-            f"{self.remote_addr}/lab/resource/",
+            f"{self.remote_addr}/lab/resource/?database_process_later={1 if database_process_later else 0}",
             json=resources,
             headers={"Authorization": f"lab {self.auth}"},
             timeout=5,

unilabos/devices/liquid_handling/biomek_test.py

@@ -276,14 +276,14 @@ class LiquidHandlerBiomek:
                 "Class": f"LabwareClasses\\{class_name}",
                 "DataSets": {"Volume": {}},
                 "RuntimeDataSets": {"Volume": {}},
-                "EvalAmounts": (float(liquid_volume[0]),) if liquid_volume else (0.0,),
+                "EvalAmounts": (float(liquid_volume[0]),) if liquid_volume else (0,),
                 "Nominal": False,
                 "EvalLiquids": (liquid_type[0],) if liquid_type else ("Water",)
             }
             
         elif instrument_type == "plate_96":
             # 96孔板类型配置
-            volume_per_well = float(liquid_volume[0]) if liquid_volume else 500.0
+            volume_per_well = float(liquid_volume[0]) if liquid_volume else 0
             liquid_per_well = liquid_type[0] if liquid_type else "Water"
             
             config = {
@@ -468,455 +468,455 @@ class LiquidHandlerBiomek:
 
 
 if __name__ == "__main__":
-    
+
     print("=== Biomek完整流程测试 ===")
     print("包含: 仪器设置 + 完整实验步骤")
     
     # 完整的步骤信息（从biomek.py复制）
-    steps_info = ''' 
+    steps_info = '''
     {
-      "steps": [
-        {
-          "step_number": 1,
-          "operation": "transfer",
-          "description": "转移PCR产物或酶促反应液至0.05ml 96孔板中",
-          "parameters": {
-            "source": "P1",
-            "target": "P11",
-            "tip_rack": "BC230",
-            "volume": 50
-          }
-        },
-        {
-          "step_number": 2,
-          "operation": "transfer",
-          "description": "加入2倍体积Bind Beads BC至产物中",
-          "parameters": {
-            "source": "P2",
-            "target": "P11",
-            "tip_rack": "BC230",
-            "volume": 100
-          }
-        },
-        {
-          "step_number": 3,
-          "operation": "move_labware",
-          "description": "移动P11至Orbital1用于振荡混匀",
-          "parameters": {
-            "source": "P11",
-            "target": "Orbital1"
-          }
-        },
-        {
-          "step_number": 4,
-          "operation": "oscillation",
-          "description": "在Orbital1上振荡混匀Bind Beads BC与PCR产物（700-900rpm，300秒）",
-          "parameters": {
-            "rpm": 800,
-            "time": 300
-          }
-        },
-        {
-          "step_number": 5,
-          "operation": "move_labware",
-          "description": "移动混匀后的板回P11",
-          "parameters": {
-            "source": "Orbital1",
-            "target": "P11"
-          }
-        },
-        {
-          "step_number": 6,
-          "operation": "move_labware",
-          "description": "将P11移动到磁力架（P12）吸附3分钟",
-          "parameters": {
-            "source": "P11",
-            "target": "P12"
-          }
-        },
-        {
-          "step_number": 7,
-          "operation": "incubation",
-          "description": "磁力架上室温静置3分钟完成吸附",
-          "parameters": {
-            "time": 180
-          }
-        },
-        {
-          "step_number": 8,
-          "operation": "transfer",
-          "description": "去除上清液至废液槽",
-          "parameters": {
-            "source": "P12",
-            "target": "P22",
-            "tip_rack": "BC230",
-            "volume": 150
-          }
-        },
-        {
-          "step_number": 9,
-          "operation": "transfer",
-          "description": "加入300-500μl 75%乙醇清洗",
-          "parameters": {
-            "source": "P3",
-            "target": "P12",
-            "tip_rack": "BC230",
-            "volume": 400
-          }
-        },
-        {
-          "step_number": 10,
-          "operation": "move_labware",
-          "description": "移动清洗板到Orbital1进行振荡",
-          "parameters": {
-            "source": "P12",
-            "target": "Orbital1"
-          }
-        },
-        {
-          "step_number": 11,
-          "operation": "oscillation",
-          "description": "乙醇清洗液振荡混匀（700-900rpm, 45秒）",
-          "parameters": {
-            "rpm": 800,
-            "time": 45
-          }
-        },
-        {
-          "step_number": 12,
-          "operation": "move_labware",
-          "description": "振荡后将板移回磁力架P12吸附",
-          "parameters": {
-            "source": "Orbital1",
-            "target": "P12"
-          }
-        },
-        {
-          "step_number": 13,
-          "operation": "incubation",
-          "description": "吸附3分钟",
-          "parameters": {
-            "time": 180
-          }
-        },
-        {
-          "step_number": 14,
-          "operation": "transfer",
-          "description": "去除乙醇上清液至废液槽",
-          "parameters": {
-            "source": "P12",
-            "target": "P22",
-            "tip_rack": "BC230",
-            "volume": 400
-          }
-        },
-        {
-          "step_number": 15,
-          "operation": "transfer",
-          "description": "第二次加入300-500μl 75%乙醇清洗",
-          "parameters": {
-            "source": "P3",
-            "target": "P12",
-            "tip_rack": "BC230",
-            "volume": 400
-          }
-        },
-        {
-          "step_number": 16,
-          "operation": "move_labware",
-          "description": "再次移动清洗板到Orbital1振荡",
-          "parameters": {
-            "source": "P12",
-            "target": "Orbital1"
-          }
-        },
-        {
-          "step_number": 17,
-          "operation": "oscillation",
-          "description": "再次乙醇清洗液振荡混匀（700-900rpm, 45秒）",
-          "parameters": {
-            "rpm": 800,
-            "time": 45
-          }
-        },
-        {
-          "step_number": 18,
-          "operation": "move_labware",
-          "description": "振荡后板送回磁力架P12吸附",
-          "parameters": {
-            "source": "Orbital1",
-            "target": "P12"
-          }
-        },
-        {
-          "step_number": 19,
-          "operation": "incubation",
-          "description": "再次吸附3分钟",
-          "parameters": {
-            "time": 180
-          }
-        },
-        {
-          "step_number": 20,
-          "operation": "transfer",
-          "description": "去除乙醇上清液至废液槽",
-          "parameters": {
-            "source": "P12",
-            "target": "P22",
-            "tip_rack": "BC230",
-            "volume": 400
-          }
-        },
-        {
-          "step_number": 21,
-          "operation": "incubation",
-          "description": "空气干燥15分钟",
-          "parameters": {
-            "time": 900
-          }
-        },
-        {
-          "step_number": 22,
-          "operation": "transfer",
-          "description": "加30-50μl Elution Buffer洗脱",
-          "parameters": {
-            "source": "P4",
-            "target": "P12",
-            "tip_rack": "BC230",
-            "volume": 40
-          }
-        },
-        {
-          "step_number": 23,
-          "operation": "move_labware",
-          "description": "移动到Orbital1振荡混匀（60秒）",
-          "parameters": {
-            "source": "P12",
-            "target": "Orbital1"
-          }
-        },
-        {
-          "step_number": 24,
-          "operation": "oscillation",
-          "description": "Elution Buffer振荡混匀（700-900rpm, 60秒）",
-          "parameters": {
-            "rpm": 800,
-            "time": 60
-          }
-        },
-        {
-          "step_number": 25,
-          "operation": "move_labware",
-          "description": "振荡后送回磁力架P12",
-          "parameters": {
-            "source": "Orbital1",
-            "target": "P12"
-          }
-        },
-        {
-          "step_number": 26,
-          "operation": "incubation",
-          "description": "室温静置3分钟（洗脱反应）",
-          "parameters": {
-            "time": 180
-          }
-        },
-        {
-          "step_number": 27,
-          "operation": "transfer",
-          "description": "将上清液（DNA）转移到新板（P13）",
-          "parameters": {
-            "source": "P12",
-            "target": "P13",
-            "tip_rack": "BC230",
-            "volume": 40
+  "steps": [
+    {
+      "step_number": 1,
+      "operation": "transfer",
+      "description": "转移PCR产物或酶促反应液至0.5ml 96孔板中",
+      "parameters": {
+        "source": "P1",
+        "target": "P11",
+        "tip_rack": "BC230",
+        "volume": 50
+      }
+    },
+    {
+      "step_number": 2,
+      "operation": "transfer",
+      "description": "加入2倍体积的Bind Beads BC至产物中",
+      "parameters": {
+        "source": "P2",
+        "target": "P11",
+        "tip_rack": "BC230",
+        "volume": 100
+      }
+    },
+    {
+      "step_number": 3,
+      "operation": "oscillation",
+      "description": "振荡混匀300秒",
+      "parameters": {
+        "rpm": 800,
+        "time": 300
+      }
+    },
+    {
+      "step_number": 4,
+      "operation": "move_labware",
+      "description": "转移至96孔磁力架上吸附3分钟",
+      "parameters": {
+        "source": "P11",
+        "target": "P12"
+      }
+    },
+    {
+      "step_number": 5,
+      "operation": "incubation",
+      "description": "吸附3分钟",
+      "parameters": {
+        "time": 180
+      }
+    },
+    {
+      "step_number": 6,
+      "operation": "transfer",
+      "description": "吸弃或倒除上清液",
+      "parameters": {
+        "source": "P12",
+        "target": "P22",
+        "tip_rack": "BC230",
+        "volume": 150
+      }
+    },
+    {
+      "step_number": 7,
+      "operation": "transfer",
+      "description": "加入300-500μl 75%乙醇",
+      "parameters": {
+        "source": "P3",
+        "target": "P12",
+        "tip_rack": "BC230",
+        "volume": 400
+      }
+    },
+    {
+      "step_number": 8,
+      "operation": "move_labware",
+      "description": "移动至振荡器进行振荡混匀",
+      "parameters": {
+        "source": "P12",
+        "target": "Orbital1"
+      }
+    },
+    {
+      "step_number": 9,
+      "operation": "oscillation",
+      "description": "振荡混匀60秒",
+      "parameters": {
+        "rpm": 800,
+        "time": 60
+      }
+    },
+    {
+      "step_number": 10,
+      "operation": "move_labware",
+      "description": "转移至96孔磁力架上吸附3分钟",
+      "parameters": {
+        "source": "Orbital1",
+        "target": "P12"
+      }
+    },
+    {
+      "step_number": 11,
+      "operation": "incubation",
+      "description": "吸附3分钟",
+      "parameters": {
+        "time": 180
+      }
+    },
+    {
+      "step_number": 12,
+      "operation": "transfer",
+      "description": "吸弃或倒弃废液",
+      "parameters": {
+        "source": "P12",
+        "target": "P22",
+        "tip_rack": "BC230",
+        "volume": 400
+      }
+    },
+    {
+      "step_number": 13,
+      "operation": "transfer",
+      "description": "重复加入75%乙醇",
+      "parameters": {
+        "source": "P3",
+        "target": "P12",
+        "tip_rack": "BC230",
+        "volume": 400
+      }
+    },
+    {
+      "step_number": 14,
+      "operation": "move_labware",
+      "description": "移动至振荡器进行振荡混匀",
+      "parameters": {
+        "source": "P12",
+        "target": "Orbital1"
+      }
+    },
+    {
+      "step_number": 15,
+      "operation": "oscillation",
+      "description": "振荡混匀60秒",
+      "parameters": {
+        "rpm": 800,
+        "time": 60
+      }
+    },
+    {
+      "step_number": 16,
+      "operation": "move_labware",
+      "description": "转移至96孔磁力架上吸附3分钟",
+      "parameters": {
+        "source": "Orbital1",
+        "target": "P12"
+      }
+    },
+    {
+      "step_number": 17,
+      "operation": "incubation",
+      "description": "吸附3分钟",
+      "parameters": {
+        "time": 180
+      }
+    },
+    {
+      "step_number": 18,
+      "operation": "transfer",
+      "description": "吸弃或倒弃废液",
+      "parameters": {
+        "source": "P12",
+        "target": "P22",
+        "tip_rack": "BC230",
+        "volume": 400
+      }
+    },
+    {
+      "step_number": 19,
+      "operation": "move_labware",
+      "description": "正放96孔板，空气干燥15分钟",
+      "parameters": {
+        "source": "P12",
+        "target": "P13"
+      }
+    },
+    {
+      "step_number": 20,
+      "operation": "incubation",
+      "description": "空气干燥15分钟",
+      "parameters": {
+        "time": 900
+      }
+    },
+    {
+      "step_number": 21,
+      "operation": "transfer",
+      "description": "加入30-50μl Elution Buffer",
+      "parameters": {
+        "source": "P4",
+        "target": "P13",
+        "tip_rack": "BC230",
+        "volume": 40
+      }
+    },
+    {
+      "step_number": 22,
+      "operation": "move_labware",
+      "description": "移动至振荡器进行振荡混匀",
+      "parameters": {
+        "source": "P13",
+        "target": "Orbital1"
+      }
+    },
+    {
+      "step_number": 23,
+      "operation": "oscillation",
+      "description": "振荡混匀60秒",
+      "parameters": {
+        "rpm": 800,
+        "time": 60
+      }
+    },
+    {
+      "step_number": 24,
+      "operation": "move_labware",
+      "description": "室温静置3分钟",
+      "parameters": {
+        "source": "Orbital1",
+        "target": "P13"
+      }
+    },
+    {
+      "step_number": 25,
+      "operation": "incubation",
+      "description": "室温静置3分钟",
+      "parameters": {
+        "time": 180
+      }
+    },
+    {
+      "step_number": 26,
+      "operation": "move_labware",
+      "description": "转移至96孔磁力架上吸附2分钟",
+      "parameters": {
+        "source": "P13",
+        "target": "P12"
+      }
+    },
+    {
+      "step_number": 27,
+      "operation": "incubation",
+      "description": "吸附2分钟",
+      "parameters": {
+        "time": 120
+      }
+    },
+    {
+      "step_number": 28,
+      "operation": "transfer",
+      "description": "将DNA转移至新的板中",
+      "parameters": {
+        "source": "P12",
+        "target": "P14",
+        "tip_rack": "BC230",
+        "volume": 40
           }
         }
       ]
     }
-    '''
-
-    # 完整的labware配置信息（从biomek.py复制）
+'''
+    # 完整的labware配置信息
     labware_with_liquid = '''
-    [    
-        {
-            "id": "Tip Rack BC230 on TL1",
-            "parent": "deck",
-            "slot_on_deck": "TL1",
-            "class_name": "BC230",
-            "liquid_type": [],
-            "liquid_volume": [],
-            "liquid_input_wells": []
-        },
-        {
-            "id": "Tip Rack BC230 on TL2",
-            "parent": "deck",
-            "slot_on_deck": "TL2",
-            "class_name": "BC230",
-            "liquid_type": [],
-            "liquid_volume": [],
-            "liquid_input_wells": []  
-        },
-        {
-            "id": "Tip Rack BC230 on TL3",
-            "parent": "deck",
-            "slot_on_deck": "TL3",
-            "class_name": "BC230",
-            "liquid_type": [],
-            "liquid_volume": [],
-            "liquid_input_wells": []
-        },
-        {
-            "id": "Tip Rack BC230 on TL4",
-            "parent": "deck",
-            "slot_on_deck": "TL4",
-            "class_name": "BC230",
-            "liquid_type": [],
-            "liquid_volume": [],
-            "liquid_input_wells": []
-        },
-        {
-            "id": "Tip Rack BC230 on TL5",
-            "parent": "deck",
-            "slot_on_deck": "TL5",
-            "class_name": "BC230",
-            "liquid_type": [],
-            "liquid_volume": [],
-            "liquid_input_wells": []
-        },
-        {
-            "id": "Tip Rack BC230 on P5",
-            "parent": "deck",
-            "slot_on_deck": "P5",
-            "class_name": "BC230",
-            "liquid_type": [],
-            "liquid_volume": [],
-            "liquid_input_wells": []
-        },
-        {
-            "id": "Tip Rack BC230 on P6",
-            "parent": "deck",
-            "slot_on_deck": "P6",
-            "class_name": "BC230",
-            "liquid_type": [],
-            "liquid_volume": [],
-            "liquid_input_wells": []
-        },
-        {
-            "id": "Tip Rack BC230 on P15",
-            "parent": "deck",
-            "slot_on_deck": "P15",
-            "class_name": "BC230",
-            "liquid_type": [],
-            "liquid_volume": [],
-            "liquid_input_wells": []
-        },
-        {
-            "id": "Tip Rack BC230 on P16",
-            "parent": "deck",
-            "slot_on_deck": "P16",
-            "class_name": "BC230",
-            "liquid_type": [],
-            "liquid_volume": [],
-            "liquid_input_wells": []
-        },
-        {
-            "id": "stock plate on P1",
-            "parent": "deck",
-            "slot_on_deck": "P1",
-            "class_name": "nest_12_reservoir_15ml",
-            "liquid_type": [
-                "master_mix"
-            ],
-            "liquid_volume": [10000],
-            "liquid_input_wells": [
-                "A1"
-            ]
-        },
-        {
-            "id": "stock plate on P2",
-            "parent": "deck",
-            "slot_on_deck": "P2",
-            "class_name": "nest_12_reservoir_15ml",
-            "liquid_type": [
-                "bind beads"
-            ],
-            "liquid_volume": [10000],
-            "liquid_input_wells": [
-                "A1"
-            ]
-        },
-        {
-            "id": "stock plate on P3",
-            "parent": "deck",
-            "slot_on_deck": "P3",
-            "class_name": "nest_12_reservoir_15ml",
-            "liquid_type": [
-                "ethyl alcohol"
-            ],
-            "liquid_volume": [10000],
-            "liquid_input_wells": [
-                "A1"
-            ]
-        },
-        {
-            "id": "elution buffer on P4",
-            "parent": "deck",
-            "slot_on_deck": "P4",
-            "class_name": "nest_12_reservoir_15ml",
-            "liquid_type": [
-                "elution buffer"
-            ],
-            "liquid_volume": [5000],
-            "liquid_input_wells": [
-                "A1"
-            ]
-        },
-        {
-            "id": "oscillation",
-            "parent": "deck",
-            "slot_on_deck": "Orbital1",
-            "class_name": "Orbital",
-            "liquid_type": [],
-            "liquid_volume": [],
-            "liquid_input_wells": []
-        },
-        {
-            "id": "working plate on P11",
-            "parent": "deck",
-            "slot_on_deck": "P11",
-            "class_name": "NEST 2ml Deep Well Plate",
-            "liquid_type": [],
-            "liquid_volume": [],
-            "liquid_input_wells": []
-        },
-        {
-            "id": "magnetics module on P12",
-            "parent": "deck",
-            "slot_on_deck": "P12",
-            "class_name": "magnetics module",
-            "liquid_type": [],
-            "liquid_volume": [],
-            "liquid_input_wells": []
-        },
-        {
-            "id": "working plate on P13",
-            "parent": "deck",
-            "slot_on_deck": "P13",
-            "class_name": "NEST 2ml Deep Well Plate",
-            "liquid_type": [],
-            "liquid_volume": [],
-            "liquid_input_wells": []
-        },
-        {
-            "id": "waste on P22",
-            "parent": "deck",
-            "slot_on_deck": "P22",
-            "class_name": "nest_1_reservoir_195ml",
-            "liquid_type": [],
-            "liquid_volume": [],
-            "liquid_input_wells": []
-        }
+    [
+    {
+        "id": "Tip Rack BC230 TL1",
+        "parent": "deck",
+        "slot_on_deck": "TL1",
+        "class_name": "BC230",
+        "liquid_type": [],
+        "liquid_volume": [],
+        "liquid_input_wells": []
+    },
+    {
+        "id": "Tip Rack BC230 TL2",
+        "parent": "deck",
+        "slot_on_deck": "TL2",
+        "class_name": "BC230",
+        "liquid_type": [],
+        "liquid_volume": [],
+        "liquid_input_wells": []
+    },
+    {
+        "id": "Tip Rack BC230 TL3",
+        "parent": "deck",
+        "slot_on_deck": "TL3",
+        "class_name": "BC230",
+        "liquid_type": [],
+        "liquid_volume": [],
+        "liquid_input_wells": []
+    },
+    {
+        "id": "Tip Rack BC230 TL4",
+        "parent": "deck",
+        "slot_on_deck": "TL4",
+        "class_name": "BC230",
+        "liquid_type": [],
+        "liquid_volume": [],
+        "liquid_input_wells": []
+    },
+    {
+        "id": "Tip Rack BC230 TL5",
+        "parent": "deck",
+        "slot_on_deck": "TL5",
+        "class_name": "BC230",
+        "liquid_type": [],
+        "liquid_volume": [],
+        "liquid_input_wells": []
+    },
+    {
+        "id": "Tip Rack BC230 P5",
+        "parent": "deck",
+        "slot_on_deck": "P5",
+        "class_name": "BC230",
+        "liquid_type": [],
+        "liquid_volume": [],
+        "liquid_input_wells": []
+    },
+    {
+        "id": "Tip Rack BC230 P6",
+        "parent": "deck",
+        "slot_on_deck": "P6",
+        "class_name": "BC230",
+        "liquid_type": [],
+        "liquid_volume": [],
+        "liquid_input_wells": []
+    },
+    {
+        "id": "Tip Rack BC230 P15",
+        "parent": "deck",
+        "slot_on_deck": "P15",
+        "class_name": "BC230",
+        "liquid_type": [],
+        "liquid_volume": [],
+        "liquid_input_wells": []
+    },
+    {
+        "id": "Tip Rack BC230 P16",
+        "parent": "deck",
+        "slot_on_deck": "P16",
+        "class_name": "BC230",
+        "liquid_type": [],
+        "liquid_volume": [],
+        "liquid_input_wells": []
+    },
+    {
+        "id": "stock plate on P1",
+        "parent": "deck",
+        "slot_on_deck": "P1",
+        "class_name": "AgilentReservoir",
+        "liquid_type": ["PCR product"],
+        "liquid_volume": [5000],
+        "liquid_input_wells": ["A1"]
+    },
+    {
+        "id": "stock plate on P2",
+        "parent": "deck",
+        "slot_on_deck": "P2",
+        "class_name": "AgilentReservoir",
+        "liquid_type": ["bind beads"],
+        "liquid_volume": [100000],
+        "liquid_input_wells": ["A1"]
+    },
+    {
+        "id": "stock plate on P3",
+        "parent": "deck",
+        "slot_on_deck": "P3",
+        "class_name": "AgilentReservoir",
+        "liquid_type": ["75% ethanol"],
+        "liquid_volume": [100000],
+        "liquid_input_wells": ["A1"]
+    },
+    {
+        "id": "stock plate on P4",
+        "parent": "deck",
+        "slot_on_deck": "P4",
+        "class_name": "AgilentReservoir",
+        "liquid_type": ["Elution Buffer"],
+        "liquid_volume": [5000],
+        "liquid_input_wells": ["A1"]
+    },
+    {
+        "id": "working plate on P11",
+        "parent": "deck",
+        "slot_on_deck": "P11",
+        "class_name": "BCDeep96Round",
+        "liquid_type": [],
+        "liquid_volume": [],
+        "liquid_input_wells": []
+    },
+    {
+        "id": "working plate on P12",
+        "parent": "deck",
+        "slot_on_deck": "P12",
+        "class_name": "BCDeep96Round",
+        "liquid_type": [],
+        "liquid_volume": [],
+        "liquid_input_wells": []
+    },
+    {
+        "id": "working plate on P13",
+        "parent": "deck",
+        "slot_on_deck": "P13",
+        "class_name": "BCDeep96Round",
+        "liquid_type": [],
+        "liquid_volume": [],
+        "liquid_input_wells": []
+    },
+    {
+        "id": "working plate on P14",
+        "parent": "deck",
+        "slot_on_deck": "P14",
+        "class_name": "BCDeep96Round",
+        "liquid_type": [],
+        "liquid_volume": [],
+        "liquid_input_wells": []
+    },
+    {
+        "id": "waste on P22",
+        "parent": "deck",
+        "slot_on_deck": "P22",
+        "class_name": "AgilentReservoir",
+        "liquid_type": [],
+        "liquid_volume": [],
+        "liquid_input_wells": []
+    },
+    {
+        "id": "oscillation",
+        "parent": "deck",
+        "slot_on_deck": "Orbital1",
+        "class_name": "Orbital",
+        "liquid_type": [],
+        "liquid_volume": [],
+        "liquid_input_wells": []
+    }
     ]
     '''
 
@@ -1000,7 +1000,7 @@ if __name__ == "__main__":
     script_dir = pathlib.Path(__file__).parent
     
     # 保存完整协议
-    complete_output_path = script_dir / "complete_biomek_protocol_0607.json"
+    complete_output_path = script_dir / "complete_biomek_protocol_0608.json"
     with open(complete_output_path, 'w', encoding='utf-8') as f:
         json.dump(handler.temp_protocol, f, indent=4, ensure_ascii=False)
     

unilabos/registry/registry.py

@@ -85,7 +85,15 @@ class Registry:
                                 "goal_default": yaml.safe_load(
                                     io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuterEasy.Goal))
                                 ),
-                                "handles": {},
+                                "handles": {
+                                    "output": [{
+                                        "handler_key": "Labware",
+                                        "label": "Labware",
+                                        "data_type": "resource",
+                                        "data_source": "handle",
+                                        "data_key": "liquid"
+                                    }]
+                                },
                             },
                             "test_latency": {
                                 "type": self.EmptyIn,

unilabos/ros/nodes/base_device_node.py

@@ -1,5 +1,4 @@
 import copy
-import functools
 import json
 import threading
 import time
@@ -20,16 +19,29 @@ from rclpy.service import Service
 from unilabos_msgs.action import SendCmd
 from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 
-from unilabos.resources.graphio import convert_resources_to_type, convert_resources_from_type, resource_ulab_to_plr, \
-    initialize_resources, list_to_nested_dict, dict_to_tree, resource_plr_to_ulab, tree_to_list
+from unilabos.resources.graphio import (
+    convert_resources_to_type,
+    convert_resources_from_type,
+    resource_ulab_to_plr,
+    initialize_resources,
+    dict_to_tree,
+    resource_plr_to_ulab,
+    tree_to_list,
+)
 from unilabos.ros.msgs.message_converter import (
     convert_to_ros_msg,
     convert_from_ros_msg,
     convert_from_ros_msg_with_mapping,
-    convert_to_ros_msg_with_mapping, ros_action_to_json_schema,
+    convert_to_ros_msg_with_mapping,
 )
-from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList, \
-    SerialCommand  # type: ignore
+from unilabos_msgs.srv import (
+    ResourceAdd,
+    ResourceGet,
+    ResourceDelete,
+    ResourceUpdate,
+    ResourceList,
+    SerialCommand,
+)  # type: ignore
 from unilabos_msgs.msg import Resource  # type: ignore
 
 from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
@@ -37,7 +49,7 @@ from unilabos.ros.x.rclpyx import get_event_loop
 from unilabos.ros.utils.driver_creator import ProtocolNodeCreator, PyLabRobotCreator, DeviceClassCreator
 from unilabos.utils.async_util import run_async_func
 from unilabos.utils.log import info, debug, warning, error, critical, logger
-from unilabos.utils.type_check import get_type_class, TypeEncoder
+from unilabos.utils.type_check import get_type_class, TypeEncoder, serialize_result_info
 
 T = TypeVar("T")
 
@@ -292,7 +304,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 self.create_ros_action_server(action_name, action_value_mapping)
 
         # 创建线程池执行器
-        self._executor = ThreadPoolExecutor(max_workers=max(len(action_value_mappings), 1), thread_name_prefix=f"ROSDevice{self.device_id}")
+        self._executor = ThreadPoolExecutor(
+            max_workers=max(len(action_value_mappings), 1), thread_name_prefix=f"ROSDevice{self.device_id}"
+        )
 
         # 创建资源管理客户端
         self._resource_clients: Dict[str, Client] = {
@@ -334,7 +348,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 other_calling_param["slot"] = slot
             # 本地拿到这个物料，可能需要先做初始化?
             if isinstance(resources, list):
-                if len(resources) == 1 and isinstance(resources[0], list) and not initialize_full:  # 取消，不存在的情况
+                if (
+                    len(resources) == 1 and isinstance(resources[0], list) and not initialize_full
+                ):  # 取消，不存在的情况
                     # 预先initialize过，以整组的形式传入
                     request.resources = [convert_to_ros_msg(Resource, resource_) for resource_ in resources[0]]
                 elif initialize_full:
@@ -373,6 +389,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 from pylabrobot.resources import Coordinate
                 from pylabrobot.resources import OTDeck
                 from pylabrobot.resources import Plate
+
                 contain_model = not isinstance(resource, Deck)
                 if isinstance(resource, ResourcePLR):
                     # resources.list()
@@ -380,25 +397,38 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     plr_instance = resource_ulab_to_plr(resources_tree[0], contain_model)
                     if isinstance(plr_instance, Plate):
                         empty_liquid_info_in = [(None, 0)] * plr_instance.num_items
-                        for liquid_type, liquid_volume, liquid_input_slot in zip(ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT):
+                        for liquid_type, liquid_volume, liquid_input_slot in zip(
+                            ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT
+                        ):
                             empty_liquid_info_in[liquid_input_slot] = (liquid_type, liquid_volume)
                         plr_instance.set_well_liquids(empty_liquid_info_in)
                     if isinstance(resource, OTDeck) and "slot" in other_calling_param:
                         resource.assign_child_at_slot(plr_instance, **other_calling_param)
                     else:
                         _discard_slot = other_calling_param.pop("slot", -1)
-                        resource.assign_child_resource(plr_instance, Coordinate(location["x"], location["y"], location["z"]), **other_calling_param)
-                    request2.resources = [convert_to_ros_msg(Resource, r) for r in tree_to_list([resource_plr_to_ulab(resource)])]
+                        resource.assign_child_resource(
+                            plr_instance,
+                            Coordinate(location["x"], location["y"], location["z"]),
+                            **other_calling_param,
+                        )
+                    request2.resources = [
+                        convert_to_ros_msg(Resource, r) for r in tree_to_list([resource_plr_to_ulab(resource)])
+                    ]
                     rclient2.call(request2)
                 # 发送给ResourceMeshManager
                 action_client = ActionClient(
-                    self, SendCmd, "/devices/resource_mesh_manager/add_resource_mesh", callback_group=self.callback_group
+                    self,
+                    SendCmd,
+                    "/devices/resource_mesh_manager/add_resource_mesh",
+                    callback_group=self.callback_group,
                 )
                 goal = SendCmd.Goal()
-                goal.command = json.dumps({
-                    "resources": resources,
-                    "bind_parent_id": bind_parent_id,
-                })
+                goal.command = json.dumps(
+                    {
+                        "resources": resources,
+                        "bind_parent_id": bind_parent_id,
+                    }
+                )
                 future = action_client.send_goal_async(goal, goal_uuid=uuid.uuid4())
 
                 def done_cb(*args):
@@ -415,10 +445,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         # noinspection PyTypeChecker
         self._service_server: Dict[str, Service] = {
             "query_host_name": self.create_service(
-                SerialCommand, f"/srv{self.namespace}/query_host_name", query_host_name_cb, callback_group=self.callback_group
+                SerialCommand,
+                f"/srv{self.namespace}/query_host_name",
+                query_host_name_cb,
+                callback_group=self.callback_group,
             ),
             "append_resource": self.create_service(
-                SerialCommand, f"/srv{self.namespace}/append_resource", append_resource, callback_group=self.callback_group
+                SerialCommand,
+                f"/srv{self.namespace}/append_resource",
+                append_resource,
+                callback_group=self.callback_group,
             ),
         }
 
@@ -447,6 +483,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         registered_devices[self.device_id] = device_info
         from unilabos.config.config import BasicConfig
         from unilabos.ros.nodes.presets.host_node import HostNode
+
         if not BasicConfig.is_host_mode:
             sclient = self.create_client(SerialCommand, "/node_info_update")
             # 启动线程执行发送任务
@@ -454,7 +491,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 target=self.send_slave_node_info,
                 args=(sclient,),
                 daemon=True,
-                name=f"ROSDevice{self.device_id}_send_slave_node_info"
+                name=f"ROSDevice{self.device_id}_send_slave_node_info",
             ).start()
         else:
             host_node = HostNode.get_instance(0)
@@ -465,12 +502,18 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         sclient.wait_for_service()
         request = SerialCommand.Request()
         from unilabos.config.config import BasicConfig
-        request.command = json.dumps({
-            "SYNC_SLAVE_NODE_INFO": {
-                "machine_name": BasicConfig.machine_name,
-                "type": "slave",
-                "edge_device_id": self.device_id
-            }}, ensure_ascii=False, cls=TypeEncoder)
+
+        request.command = json.dumps(
+            {
+                "SYNC_SLAVE_NODE_INFO": {
+                    "machine_name": BasicConfig.machine_name,
+                    "type": "slave",
+                    "edge_device_id": self.device_id,
+                }
+            },
+            ensure_ascii=False,
+            cls=TypeEncoder,
+        )
 
         # 发送异步请求并等待结果
         future = sclient.call_async(request)
@@ -543,6 +586,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         """创建动作执行回调函数"""
 
         async def execute_callback(goal_handle: ServerGoalHandle):
+            # 初始化结果信息变量
+            execution_error = ""
+            execution_success = False
+            action_return_value = None
+
             self.lab_logger().info(f"执行动作: {action_name}")
             goal = goal_handle.request
 
@@ -582,7 +630,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                     current_resources.extend(response.resources)
                             else:
                                 r = ResourceGet.Request()
-                                r.id = action_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else action_kwargs[k][0]["id"]
+                                r.id = (
+                                    action_kwargs[k]["id"]
+                                    if v == "unilabos_msgs/Resource"
+                                    else action_kwargs[k][0]["id"]
+                                )
                                 r.with_children = True
                                 response = await self._resource_clients["resource_get"].call_async(r)
                                 current_resources.extend(response.resources)
@@ -605,7 +657,19 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             if asyncio.iscoroutinefunction(ACTION):
                 try:
                     self.lab_logger().info(f"异步执行动作 {ACTION}")
-                    future = ROS2DeviceNode.run_async_func(ACTION, **action_kwargs)
+                    future = ROS2DeviceNode.run_async_func(ACTION, trace_error=False, **action_kwargs)
+
+                    def _handle_future_exception(fut):
+                        nonlocal execution_error, execution_success, action_return_value
+                        try:
+                            action_return_value = fut.result()
+                            execution_success = True
+                        except Exception as e:
+                            execution_error = traceback.format_exc()
+                            error(f"异步任务 {ACTION.__name__} 报错了")
+                            error(traceback.format_exc())
+
+                    future.add_done_callback(_handle_future_exception)
                 except Exception as e:
                     self.lab_logger().error(f"创建异步任务失败: {traceback.format_exc()}")
                     raise e
@@ -614,9 +678,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 future = self._executor.submit(ACTION, **action_kwargs)
 
                 def _handle_future_exception(fut):
+                    nonlocal execution_error, execution_success, action_return_value
                     try:
-                        fut.result()
+                        action_return_value = fut.result()
+                        execution_success = True
                     except Exception as e:
+                        execution_error = traceback.format_exc()
                         error(f"同步任务 {ACTION.__name__} 报错了")
                         error(traceback.format_exc())
 
@@ -707,6 +774,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             for attr_name in result_msg_types.keys():
                 if attr_name in ["success", "reached_goal"]:
                     setattr(result_msg, attr_name, True)
+                elif attr_name == "return_info":
+                    setattr(result_msg, attr_name, serialize_result_info(execution_error, execution_success, action_return_value))
 
             self.lab_logger().info(f"动作 {action_name} 完成并返回结果")
             return result_msg
@@ -752,8 +821,8 @@ class ROS2DeviceNode:
         return cls._loop
 
     @classmethod
-    def run_async_func(cls, func, **kwargs):
-        return run_async_func(func, loop=cls._loop, **kwargs)
+    def run_async_func(cls, func, trace_error=True, **kwargs):
+        return run_async_func(func, loop=cls._loop, trace_error=trace_error, **kwargs)
 
     @property
     def driver_instance(self):
@@ -805,9 +874,11 @@ class ROS2DeviceNode:
         self.resource_tracker = DeviceNodeResourceTracker()
 
         # use_pylabrobot_creator 使用 cls的包路径检测
-        use_pylabrobot_creator = (driver_class.__module__.startswith("pylabrobot")
-                                  or driver_class.__name__ == "LiquidHandlerAbstract"
-                                  or driver_class.__name__ == "LiquidHandlerBiomek")
+        use_pylabrobot_creator = (
+            driver_class.__module__.startswith("pylabrobot")
+            or driver_class.__name__ == "LiquidHandlerAbstract"
+            or driver_class.__name__ == "LiquidHandlerBiomek"
+        )
 
         # TODO: 要在创建之前预先请求服务器是否有当前id的物料，放到resource_tracker中，让pylabrobot进行创建
         # 创建设备类实例

unilabos/ros/nodes/presets/host_node.py

@@ -151,7 +151,7 @@ class HostNode(BaseROS2DeviceNode):
             mqtt_client.publish_registry(device_info["id"], device_info)
         for resource_info in lab_registry.obtain_registry_resource_info():
             mqtt_client.publish_registry(resource_info["id"], resource_info)
-
+        time.sleep(1) # 等待MQTT连接稳定
         # 首次发现网络中的设备
         self._discover_devices()
 
@@ -203,8 +203,12 @@ class HostNode(BaseROS2DeviceNode):
         try:
             for bridge in self.bridges:
                 if hasattr(bridge, "resource_add"):
-                    self.lab_logger().info("[Host Node-Resource] Adding resources to bridge.")
-                    resource_add_res = bridge.resource_add(add_schema(resource_with_parent_name))
+                    resource_start_time = time.time()
+                    resource_add_res = bridge.resource_add(add_schema(resource_with_parent_name), True)
+                    resource_end_time = time.time()
+                    self.lab_logger().info(
+                        f"[Host Node-Resource] 物料上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
+                    )
         except Exception as ex:
             self.lab_logger().error("[Host Node-Resource] 添加物料出错！")
             self.lab_logger().error(traceback.format_exc())
@@ -610,13 +614,21 @@ class HostNode(BaseROS2DeviceNode):
         """获取结果回调"""
         result_msg = future.result().result
         result_data = convert_from_ros_msg(result_msg)
+        status = "success"
+        try:
+            ret = json.loads(result_data.get("return_info", "{}"))  # 确保返回信息是有效的JSON
+            suc = ret.get("suc", False)
+            if not suc:
+                status = "failed"
+        except json.JSONDecodeError:
+            status = "failed"
         self.lab_logger().info(f"[Host Node] Result for {action_id} ({uuid_str}): success")
         self.lab_logger().debug(f"[Host Node] Result data: {result_data}")
 
         if uuid_str:
             for bridge in self.bridges:
                 if hasattr(bridge, "publish_job_status"):
-                    bridge.publish_job_status(result_data, uuid_str, "success")
+                    bridge.publish_job_status(result_data, uuid_str, status, result_data.get("return_info", "{}"))
 
     def cancel_goal(self, goal_uuid: str) -> None:
         """取消目标"""
@@ -856,7 +868,6 @@ class HostNode(BaseROS2DeviceNode):
         测试网络延迟的action实现
         通过5次ping-pong机制校对时间误差并计算实际延迟
         """
-        import time
         import uuid as uuid_module
 
         self.lab_logger().info("=" * 60)

unilabos/utils/async_util.py

@@ -5,7 +5,7 @@ from asyncio import get_event_loop
 from unilabos.utils.log import error
 
 
-def run_async_func(func, *, loop=None, **kwargs):
+def run_async_func(func, *, loop=None, trace_error=True, **kwargs):
     if loop is None:
         loop = get_event_loop()
 
@@ -17,5 +17,6 @@ def run_async_func(func, *, loop=None, **kwargs):
             error(traceback.format_exc())
 
     future = asyncio.run_coroutine_threadsafe(func(**kwargs), loop)
-    future.add_done_callback(_handle_future_exception)
-    return future
+    if trace_error:
+        future.add_done_callback(_handle_future_exception)
+    return future

unilabos/utils/type_check.py

@@ -1,4 +1,4 @@
-import collections
+import collections.abc
 import json
 from typing import get_origin, get_args
 
@@ -21,3 +21,46 @@ class TypeEncoder(json.JSONEncoder):
             return str(obj)[8:-2]
         return super().default(obj)
 
+
+class ResultInfoEncoder(json.JSONEncoder):
+    """专门用于处理任务执行结果信息的JSON编码器"""
+
+    def default(self, obj):
+        # 优先处理类型对象
+        if isinstance(obj, type):
+            return str(obj)[8:-2]
+
+        # 对于无法序列化的对象，统一转换为字符串
+        try:
+            # 尝试调用 __dict__ 或者其他序列化方法
+            if hasattr(obj, "__dict__"):
+                return obj.__dict__
+            elif hasattr(obj, "_asdict"):  # namedtuple
+                return obj._asdict()
+            elif hasattr(obj, "to_dict"):
+                return obj.to_dict()
+            elif hasattr(obj, "dict"):
+                return obj.dict()
+            else:
+                # 如果都不行，转换为字符串
+                return str(obj)
+        except Exception:
+            # 如果转换失败，直接返回字符串表示
+            return str(obj)
+
+
+def serialize_result_info(error: str, suc: bool, return_value=None) -> str:
+    """
+    序列化任务执行结果信息
+
+    Args:
+        error: 错误信息字符串
+        suc: 是否成功的布尔值
+        return_value: 返回值，可以是任何类型
+
+    Returns:
+        JSON字符串格式的结果信息
+    """
+    result_info = {"error": error, "suc": suc, "return_value": return_value}
+
+    return json.dumps(result_info, ensure_ascii=False, cls=ResultInfoEncoder)

unilabos_msgs/action/AGVTransfer.action

@@ -4,6 +4,7 @@ string from_repo_position
 Resource to_repo
 string to_repo_position
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/Clean.action

@@ -5,6 +5,7 @@ float64 volume # Optional. Volume of solvent to clean vessel with.
 float64 temp   # Optional. Temperature to heat vessel to while cleaning.
 int32 repeats  # Optional. Number of cleaning cycles to perform.
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/EmptyIn.action

@@ -1,4 +1,4 @@
 
 ---
-
+string return_info
 ---

unilabos_msgs/action/EvacuateAndRefill.action

@@ -3,6 +3,7 @@ string vessel
 string gas
 int32 repeats
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/Evaporate.action

@@ -5,6 +5,7 @@ float64 temp
 float64 time
 float64 stir_speed
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/FloatSingleInput.action

@@ -1,4 +1,5 @@
 float64 float_in
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/HeatChill.action

@@ -6,6 +6,7 @@ bool stir
 float64 stir_speed
 string purpose
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/HeatChillStart.action

@@ -3,6 +3,7 @@ string vessel
 float64 temp
 string purpose
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/HeatChillStop.action

@@ -1,6 +1,7 @@
 # Organic
 string vessel
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/IntSingleInput.action

@@ -1,4 +1,5 @@
 int32 int_input
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/LiquidHandlerAdd.action

@@ -15,6 +15,7 @@ int32 mix_rate
 float64 mix_liquid_height
 string[] none_keys
 ---
+string return_info
 bool success
 ---
 # 反馈

unilabos_msgs/action/LiquidHandlerAspirate.action

@@ -7,5 +7,6 @@ float64[] liquid_height
 float64[] blow_out_air_volume
 string spread
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/LiquidHandlerDiscardTips.action

@@ -3,6 +3,7 @@
 int32[] use_channels
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerDispense.action

@@ -8,6 +8,7 @@ int32[] blow_out_air_volume
 string spread
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerDropTips.action

@@ -6,6 +6,7 @@ geometry_msgs/Point[] offsets
 bool allow_nonzero_volume
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerDropTips96.action

@@ -5,6 +5,7 @@ geometry_msgs/Point offset
 bool allow_nonzero_volume
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerIncubateBiomek.action

@@ -1,5 +1,6 @@
 int32 time
 
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/LiquidHandlerMix.action

@@ -6,6 +6,7 @@ geometry_msgs/Point[] offsets
 float64 mix_rate
 string[] none_keys
 ---
+string return_info
 bool success
 ---
 # 反馈

unilabos_msgs/action/LiquidHandlerMoveBiomek.action

@@ -2,5 +2,6 @@ string source
 string target
 
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/LiquidHandlerMoveLid.action

@@ -12,6 +12,7 @@ string put_direction
 float64 pickup_distance_from_top
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerMovePlate.action

@@ -13,6 +13,7 @@ string put_direction
 float64 pickup_distance_from_top
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerMoveResource.action

@@ -12,6 +12,7 @@ string get_direction
 string put_direction
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerMoveTo.action

@@ -2,6 +2,7 @@ Resource well
 float64 dis_to_top
 int32 channel
 ---
+string return_info
 bool success
 ---
 # 反馈

unilabos_msgs/action/LiquidHandlerOscillateBiomek.action

@@ -2,5 +2,6 @@ int32 rpm
 int32 time
 
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/LiquidHandlerPickUpTips.action

@@ -5,6 +5,7 @@ int32[] use_channels
 geometry_msgs/Point[] offsets
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerPickUpTips96.action

@@ -4,6 +4,7 @@ Resource tip_rack
 geometry_msgs/Point offset
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerProtocolCreation.action

@@ -6,4 +6,5 @@ string protocol_date
 string protocol_type
 string[] none_keys
 ---
+string return_info
 ---

unilabos_msgs/action/LiquidHandlerRemove.action

@@ -12,6 +12,7 @@ bool is_96_well
 float64[] top
 string[] none_keys
 ---
+string return_info
 bool success
 ---
 # 反馈

unilabos_msgs/action/LiquidHandlerReturnTips.action

@@ -4,6 +4,7 @@ int32[] use_channels
 bool allow_nonzero_volume
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerReturnTips96.action

@@ -3,6 +3,7 @@
 bool allow_nonzero_volume
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerStamp.action

@@ -7,6 +7,7 @@ float64 aspiration_flow_rate
 float64 dispense_flow_rate
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerTransfer.action

@@ -20,6 +20,7 @@ float64 mix_liquid_height
 int32[] delays
 string[] none_keys
 ---
+string return_info
 bool success
 ---
 # 反馈

unilabos_msgs/action/LiquidHandlerTransferBiomek.action

@@ -6,5 +6,6 @@ string aspirate_technique
 string dispense_technique
 
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/Point3DSeparateInput.action

@@ -2,5 +2,6 @@ float64 x
 float64 y
 float64 z
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/PumpTransfer.action

@@ -10,6 +10,7 @@ float64 rinsing_volume
 int32 rinsing_repeats
 bool solid
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/ResourceCreateFromOuter.action

@@ -4,5 +4,6 @@ string[] bind_parent_ids
 geometry_msgs/Point[] bind_locations
 string[] other_calling_params
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/ResourceCreateFromOuterEasy.action

@@ -8,5 +8,6 @@ string[] liquid_type
 float32[] liquid_volume
 int32 slot_on_deck
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/SendCmd.action

@@ -1,6 +1,7 @@
 # Simple
 string command
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/Separate.action

@@ -13,6 +13,7 @@ float64 stir_time # Optional. Time stir for after adding solvent, before separat
 float64 stir_speed # Optional. Speed to stir at after adding solvent, before separation of phases.
 float64 settling_time # Optional. Time
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/SolidDispenseAddPowderTube.action

@@ -2,6 +2,7 @@ int32 powder_tube_number
 string target_tube_position
 float64 compound_mass
 ---
+string return_info
 float64 actual_mass_mg
 bool success
 ---

unilabos_msgs/action/Stir.action

@@ -3,6 +3,7 @@ float64 stir_time
 float64 stir_speed
 float64 settling_time
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/StrSingleInput.action

@@ -1,4 +1,5 @@
 string string
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/WorkStationRun.action

@@ -3,6 +3,7 @@ string wf_name
 string params
 Resource resource
 ---
+string return_info
 bool success
 ---
 string status