Add new action

Add device MockChiller

test/experiments/mock_devices/mock_all.json

@@ -0,0 +1,296 @@
+{
+    "nodes": [
+        {  
+            "id": "MockChiller1",  
+            "name": "模拟冷却器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_chiller",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "current_temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "status": "Idle",  
+                "is_cooling": false,  
+                "is_heating": false,
+                "vessel": "",
+                "purpose": ""
+            }  
+        },
+        {  
+            "id": "MockFilter1",  
+            "name": "模拟过滤器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_filter",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "is_filtering": false,  
+                "flow_rate": 0.0,
+                "filter_life": 100.0,
+                "vessel": "",
+                "filtrate_vessel": "",
+                "filtered_volume": 0.0,
+                "target_volume": 0.0,
+                "progress": 0.0,
+                "stir": false,
+                "stir_speed": 0.0,
+                "temperature": 25.0,
+                "continue_heatchill": false
+            }  
+        },
+        {  
+            "id": "MockHeater1",  
+            "name": "模拟加热器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_heater",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "current_temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "status": "Idle",  
+                "is_heating": false,  
+                "heating_power": 0.0,  
+                "max_temperature": 300.0,
+                "vessel": "Unknown",
+                "purpose": "Unknown",
+                "stir": false,
+                "stir_speed": 0.0
+            }  
+        },
+        {  
+            "id": "MockPump1",  
+            "name": "模拟泵设备",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_pump",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",
+                "current_device": "MockPump1",
+                "pump_state": "Stopped",  
+                "flow_rate": 0.0,  
+                "target_flow_rate": 0.0,  
+                "pressure": 0.0,  
+                "total_volume": 0.0,  
+                "max_flow_rate": 100.0,  
+                "max_pressure": 10.0,
+                "from_vessel": "",
+                "to_vessel": "",
+                "transfer_volume": 0.0,
+                "amount": "",
+                "transfer_time": 0.0,
+                "is_viscous": false,
+                "rinsing_solvent": "",
+                "rinsing_volume": 0.0,
+                "rinsing_repeats": 0,
+                "is_solid": false,
+                "time_spent": 0.0,
+                "time_remaining": 0.0
+            }  
+        },
+        {  
+            "id": "MockRotavap1",  
+            "name": "模拟旋转蒸发器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_rotavap",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "rotate_state": "Stopped",  
+                "rotate_time": 0.0,  
+                "rotate_speed": 0.0,  
+                "pump_state": "Stopped",  
+                "pump_time": 0.0,  
+                "vacuum_level": 1013.25,  
+                "temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "success": "True"  
+            }  
+        },
+        {
+            "id": "MockSeparator1",
+            "name": "模拟分离器",
+            "children": [],
+            "parent": null,
+            "type": "device",
+            "class": "mock_separator",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "port": "MOCK"
+            },
+            "data": {
+                "status": "Idle",
+                "settling_time": 0.0,
+                "valve_state": "Closed",
+                "shake_time": 0.0,
+                "shake_status": "Not Shaking",
+                "current_device": "MockSeparator1",
+                "purpose": "",
+                "product_phase": "",
+                "from_vessel": "",
+                "separation_vessel": "",
+                "to_vessel": "",
+                "waste_phase_to_vessel": "",
+                "solvent": "",
+                "solvent_volume": 0.0,
+                "through": "",
+                "repeats": 1,
+                "stir_time": 0.0,
+                "stir_speed": 0.0,
+                "time_spent": 0.0,
+                "time_remaining": 0.0
+            }
+        },
+        {  
+            "id": "MockSolenoidValve1",  
+            "name": "模拟电磁阀",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_solenoid_valve",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "valve_status": "Closed"  
+            }  
+        },
+        {  
+            "id": "MockStirrer1NEW",  
+            "name": "模拟搅拌器(new)",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_stirrer_new",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",
+                "vessel": "",
+                "purpose": "",
+                "stir_speed": 0.0,  
+                "target_stir_speed": 0.0,  
+                "stir_state": "Stopped",
+                "stir_time": 0.0,
+                "settling_time": 0.0,
+                "progress": 0.0,
+                "max_stir_speed": 2000.0
+            }  
+        },
+        {  
+            "id": "MockStirrer1",  
+            "name": "模拟搅拌器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_stirrer",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",   
+                "stir_speed": 0.0,  
+                "target_stir_speed": 0.0,  
+                "stir_state": "Stopped",  
+                "temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "heating_state": "Off",  
+                "heating_power": 0.0,  
+                "max_stir_speed": 2000.0,  
+                "max_temperature": 300.0  
+            }  
+        },
+        {  
+            "id": "MockVacuum1",  
+            "name": "模拟真空泵",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_vacuum",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "power_state": "Off",  
+                "pump_state": "Stopped",  
+                "vacuum_level": 1013.25,  
+                "target_vacuum": 50.0,  
+                "pump_speed": 0.0,  
+                "pump_efficiency": 95.0,  
+                "max_pump_speed": 100.0  
+            }  
+        }
+    ],
+    "links": []
+}

test/experiments/mock_devices/mock_chiller.json

@@ -0,0 +1,30 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockChiller1",  
+            "name": "模拟冷却器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_chiller",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "current_temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "status": "Idle",  
+                "is_cooling": false,  
+                "is_heating": false,
+                "vessel": "",
+                "purpose": ""
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_filter.json

@@ -0,0 +1,36 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockFilter1",  
+            "name": "模拟过滤器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_filter",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "is_filtering": false,  
+                "flow_rate": 0.0,
+                "filter_life": 100.0,
+                "vessel": "",
+                "filtrate_vessel": "",
+                "filtered_volume": 0.0,
+                "target_volume": 0.0,
+                "progress": 0.0,
+                "stir": false,
+                "stir_speed": 0.0,
+                "temperature": 25.0,
+                "continue_heatchill": false
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_heater.json

@@ -0,0 +1,33 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockHeater1",  
+            "name": "模拟加热器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_heater",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "current_temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "status": "Idle",  
+                "is_heating": false,  
+                "heating_power": 0.0,  
+                "max_temperature": 300.0,
+                "vessel": "Unknown",
+                "purpose": "Unknown",
+                "stir": false,
+                "stir_speed": 0.0
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_pump.json

@@ -0,0 +1,44 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockPump1",  
+            "name": "模拟泵设备",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_pump",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",
+                "current_device": "MockPump1",
+                "pump_state": "Stopped",  
+                "flow_rate": 0.0,  
+                "target_flow_rate": 0.0,  
+                "pressure": 0.0,  
+                "total_volume": 0.0,  
+                "max_flow_rate": 100.0,  
+                "max_pressure": 10.0,
+                "from_vessel": "",
+                "to_vessel": "",
+                "transfer_volume": 0.0,
+                "amount": "",
+                "transfer_time": 0.0,
+                "is_viscous": false,
+                "rinsing_solvent": "",
+                "rinsing_volume": 0.0,
+                "rinsing_repeats": 0,
+                "is_solid": false,
+                "time_spent": 0.0,
+                "time_remaining": 0.0
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_rotavap.json

@@ -0,0 +1,33 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockRotavap1",  
+            "name": "模拟旋转蒸发器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_rotavap",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "rotate_state": "Stopped",  
+                "rotate_time": 0.0,  
+                "rotate_speed": 0.0,  
+                "pump_state": "Stopped",  
+                "pump_time": 0.0,  
+                "vacuum_level": 1013.25,  
+                "temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "success": "True"  
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_separator.json

@@ -0,0 +1,43 @@
+{
+    "nodes": [
+        {
+            "id": "MockSeparator1",
+            "name": "模拟分离器",
+            "children": [],
+            "parent": null,
+            "type": "device",
+            "class": "mock_separator",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "port": "MOCK"
+            },
+            "data": {
+                "status": "Idle",
+                "settling_time": 0.0,
+                "valve_state": "Closed",
+                "shake_time": 0.0,
+                "shake_status": "Not Shaking",
+                "current_device": "MockSeparator1",
+                "purpose": "",
+                "product_phase": "",
+                "from_vessel": "",
+                "separation_vessel": "",
+                "to_vessel": "",
+                "waste_phase_to_vessel": "",
+                "solvent": "",
+                "solvent_volume": 0.0,
+                "through": "",
+                "repeats": 1,
+                "stir_time": 0.0,
+                "stir_speed": 0.0,
+                "time_spent": 0.0,
+                "time_remaining": 0.0
+            }
+        }
+    ],
+    "links": []
+}

test/experiments/mock_devices/mock_solenoid_valve.json

@@ -0,0 +1,25 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockSolenoidValve1",  
+            "name": "模拟电磁阀",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_solenoid_valve",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "valve_status": "Closed"  
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_stirrer.json

@@ -0,0 +1,33 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockStirrer1",  
+            "name": "模拟搅拌器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_stirrer",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",   
+                "stir_speed": 0.0,  
+                "target_stir_speed": 0.0,  
+                "stir_state": "Stopped",  
+                "temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "heating_state": "Off",  
+                "heating_power": 0.0,  
+                "max_stir_speed": 2000.0,  
+                "max_temperature": 300.0  
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_stirrer_new.json

@@ -0,0 +1,33 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockStirrer1COPY",  
+            "name": "模拟搅拌器(Copy)",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_stirrer_new",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",
+                "vessel": "",
+                "purpose": "",
+                "stir_speed": 0.0,  
+                "target_stir_speed": 0.0,  
+                "stir_state": "Stopped",
+                "stir_time": 0.0,
+                "settling_time": 0.0,
+                "progress": 0.0,
+                "max_stir_speed": 2000.0
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_vacuum.json

@@ -0,0 +1,31 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockVacuum1",  
+            "name": "模拟真空泵",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_vacuum",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "power_state": "Off",  
+                "pump_state": "Stopped",  
+                "vacuum_level": 1013.25,  
+                "target_vacuum": 50.0,  
+                "pump_speed": 0.0,  
+                "pump_efficiency": 95.0,  
+                "max_pump_speed": 100.0  
+            }  
+        }  
+    ],  
+    "links": []  
+}

unilabos/devices/mock/mock_chiller.py

@@ -0,0 +1,177 @@
+import time
+import threading
+
+
+class MockChiller:
+    def __init__(self, port: str = "MOCK"):
+        self.port = port
+        self._current_temperature: float = 25.0  # 室温开始
+        self._target_temperature: float = 25.0
+        self._status: str = "Idle"
+        self._is_cooling: bool = False
+        self._is_heating: bool = False
+        self._vessel = "Unknown"
+        self._purpose = "Unknown"
+
+        # 模拟温度变化的线程
+        self._temperature_thread = None
+        self._running = True
+        self._temperature_thread = threading.Thread(target=self._temperature_control_loop)
+        self._temperature_thread.daemon = True
+        self._temperature_thread.start()
+
+    @property
+    def current_temperature(self) -> float:
+        """当前温度 - 会被自动识别的设备属性"""
+        return self._current_temperature
+
+    @property
+    def target_temperature(self) -> float:
+        """目标温度"""
+        return self._target_temperature
+
+    @property
+    def status(self) -> str:
+        """设备状态 - 会被自动识别的设备属性"""
+        return self._status
+
+    @property
+    def is_cooling(self) -> bool:
+        """是否正在冷却"""
+        return self._is_cooling
+
+    @property
+    def is_heating(self) -> bool:
+        """是否正在加热"""
+        return self._is_heating
+
+    @property
+    def vessel(self) -> str:
+        """当前操作的容器名称"""
+        return self._vessel
+
+    @property
+    def purpose(self) -> str:
+        """当前操作目的"""
+        return self._purpose
+
+    def heat_chill_start(self, vessel: str, temp: float, purpose: str):
+        """设置目标温度并记录容器和目的"""
+        self._vessel = str(vessel)
+        self._purpose = str(purpose)
+        self._target_temperature = float(temp)
+
+        diff = self._target_temperature - self._current_temperature
+        if abs(diff) < 0.1:
+            self._status = "At Target Temperature"
+            self._is_cooling = False
+            self._is_heating = False
+        elif diff < 0:
+            self._status = "Cooling"
+            self._is_cooling = True
+            self._is_heating = False
+        else:
+            self._status = "Heating"
+            self._is_heating = True
+            self._is_cooling = False
+
+        self._start_temperature_control()
+        return True
+    
+    def heat_chill_stop(self, vessel: str):
+        """停止加热/制冷"""
+        if vessel != self._vessel:
+            return {"success": False, "status": f"Wrong vessel: expected {self._vessel}, got {vessel}"}
+            
+        # 停止温度控制线程，锁定当前温度
+        self._stop_temperature_control()
+        
+        # 更新状态
+        self._status = "Stopped"
+        self._is_cooling = False
+        self._is_heating = False
+        
+        # 重新启动线程但保持温度
+        self._running = True
+        self._temperature_thread = threading.Thread(target=self._temperature_control_loop)
+        self._temperature_thread.daemon = True
+        self._temperature_thread.start()
+        
+        return {"success": True, "status": self._status}
+
+    def _start_temperature_control(self):
+        """启动温度控制线程"""
+        self._running = True
+        if self._temperature_thread is None or not self._temperature_thread.is_alive():
+            self._temperature_thread = threading.Thread(target=self._temperature_control_loop)
+            self._temperature_thread.daemon = True
+            self._temperature_thread.start()
+
+    def _stop_temperature_control(self):
+        """停止温度控制"""
+        self._running = False
+        if self._temperature_thread:
+            self._temperature_thread.join(timeout=1.0)
+
+    def _temperature_control_loop(self):
+        """温度控制循环 - 模拟真实冷却器的温度变化"""
+        while self._running:
+            # 如果状态是 Stopped，不改变温度
+            if self._status == "Stopped":
+                time.sleep(1.0)
+                continue
+                
+            temp_diff = self._target_temperature - self._current_temperature
+
+            if abs(temp_diff) < 0.1:
+                self._status = "At Target Temperature"
+                self._is_cooling = False
+                self._is_heating = False
+            elif temp_diff < 0:
+                self._status = "Cooling"
+                self._is_cooling = True
+                self._is_heating = False
+                self._current_temperature -= 0.5
+            else:
+                self._status = "Heating"
+                self._is_heating = True
+                self._is_cooling = False
+                self._current_temperature += 0.3
+
+            time.sleep(1.0)
+
+    def emergency_stop(self):
+        """紧急停止"""
+        self._status = "Emergency Stop"
+        self._stop_temperature_control()
+        self._is_cooling = False
+        self._is_heating = False
+
+    def get_status_info(self) -> dict:
+        """获取完整状态信息"""
+        return {
+            "current_temperature": self._current_temperature,
+            "target_temperature": self._target_temperature,
+            "status": self._status,
+            "is_cooling": self._is_cooling,
+            "is_heating": self._is_heating,
+            "vessel": self._vessel,
+            "purpose": self._purpose,
+        }
+
+
+# 用于测试的主函数
+if __name__ == "__main__":
+    chiller = MockChiller()
+
+    # 测试基本功能
+    print("启动冷却器测试...")
+    print(f"初始状态: {chiller.get_status_info()}")
+
+    # 模拟运行10秒
+    for i in range(10):
+        time.sleep(1)
+        print(f"第{i+1}秒: 当前温度={chiller.current_temperature:.1f}°C, 状态={chiller.status}")
+
+    chiller.emergency_stop()
+    print("测试完成")

unilabos/devices/mock/mock_filter.py

@@ -0,0 +1,235 @@
+import time
+import threading
+
+
+class MockFilter:
+    def __init__(self, port: str = "MOCK"):
+        # 基本参数初始化
+        self.port = port
+        self._status: str = "Idle"
+        self._is_filtering: bool = False
+        
+        # 过滤性能参数
+        self._flow_rate: float = 1.0          # 流速(L/min)
+        self._pressure_drop: float = 0.0      # 压降(Pa)
+        self._filter_life: float = 100.0      # 滤芯寿命(%)
+        
+        # 过滤操作参数
+        self._vessel: str = ""                # 源容器
+        self._filtrate_vessel: str = ""       # 目标容器
+        self._stir: bool = False              # 是否搅拌
+        self._stir_speed: float = 0.0         # 搅拌速度
+        self._temperature: float = 25.0        # 温度(℃)
+        self._continue_heatchill: bool = False # 是否继续加热/制冷
+        self._target_volume: float = 0.0      # 目标过滤体积(L)
+        self._filtered_volume: float = 0.0    # 已过滤体积(L)
+        self._progress: float = 0.0           # 过滤进度(%)
+        
+        # 线程控制
+        self._filter_thread = None
+        self._running = False
+
+    @property
+    def status(self) -> str:
+        return self._status
+
+    @property
+    def is_filtering(self) -> bool:
+        return self._is_filtering
+
+    @property
+    def flow_rate(self) -> float:
+        return self._flow_rate
+
+    @property
+    def pressure_drop(self) -> float:
+        return self._pressure_drop
+
+    @property
+    def filter_life(self) -> float:
+        return self._filter_life
+    # 新增 property
+    @property
+    def vessel(self) -> str:
+        return self._vessel
+
+    @property
+    def filtrate_vessel(self) -> str:
+        return self._filtrate_vessel
+
+    @property
+    def filtered_volume(self) -> float:
+        return self._filtered_volume
+
+    @property
+    def progress(self) -> float:
+        return self._progress
+    
+    @property
+    def stir(self) -> bool:
+        return self._stir
+
+    @property
+    def stir_speed(self) -> float:
+        return self._stir_speed
+
+    @property
+    def temperature(self) -> float:
+        return self._temperature
+
+    @property
+    def continue_heatchill(self) -> bool:
+        return self._continue_heatchill
+
+    @property
+    def target_volume(self) -> float:
+        return self._target_volume
+
+    def filter(self, vessel: str, filtrate_vessel: str, stir: bool = False, stir_speed: float = 0.0, temp: float = 25.0, continue_heatchill: bool = False, volume: float = 0.0) -> dict:
+        """新的过滤操作"""
+        # 停止任何正在进行的过滤
+        if self._is_filtering:
+            self.stop_filtering()
+        # 验证参数
+        if volume <= 0:
+            return {"success": False, "message": "Target volume must be greater than 0"}
+        # 设置新的过滤参数
+        self._vessel = vessel
+        self._filtrate_vessel = filtrate_vessel
+        self._stir = stir
+        self._stir_speed = stir_speed
+        self._temperature = temp
+        self._continue_heatchill = continue_heatchill
+        self._target_volume = volume
+        # 重置过滤状态
+        self._filtered_volume = 0.0
+        self._progress = 0.0
+        self._status = "Starting Filter"
+        # 启动过滤过程
+        self._flow_rate = 1.0  # 设置默认流速
+        self._start_filter_process()
+        
+        return {"success": True, "message": "Filter started"}
+
+    def stop_filtering(self):
+        """停止过滤"""
+        self._status = "Stopping Filter"
+        self._stop_filter_process()
+        self._flow_rate = 0.0
+        self._is_filtering = False
+        self._status = "Stopped"
+        return True
+
+    def replace_filter(self):
+        """更换滤芯"""
+        self._filter_life = 100.0
+        self._status = "Filter Replaced"
+        return True
+
+    def _start_filter_process(self):
+        """启动过滤过程线程"""
+        if not self._running:
+            self._running = True
+            self._is_filtering = True
+            self._filter_thread = threading.Thread(target=self._filter_loop)
+            self._filter_thread.daemon = True
+            self._filter_thread.start()
+
+    def _stop_filter_process(self):
+        """停止过滤过程"""
+        self._running = False
+        if self._filter_thread:
+            self._filter_thread.join(timeout=1.0)
+
+    def _filter_loop(self):
+        """过滤进程主循环"""
+        update_interval = 1.0  # 更新间隔(秒)
+        
+        while self._running and self._is_filtering:
+            try:
+                self._status = "Filtering"
+                
+                # 计算这一秒过滤的体积 (L/min -> L/s)
+                volume_increment = (self._flow_rate / 60.0) * update_interval
+                
+                # 更新已过滤体积
+                self._filtered_volume += volume_increment
+                
+                # 更新进度 (避免除零错误)
+                if self._target_volume > 0:
+                    self._progress = min(100.0, (self._filtered_volume / self._target_volume) * 100.0)
+                
+                # 更新滤芯寿命 (每过滤1L减少0.5%寿命)
+                self._filter_life = max(0.0, self._filter_life - (volume_increment * 0.5))
+                
+                # 更新压降 (根据滤芯寿命和流速动态计算)
+                life_factor = self._filter_life / 100.0  # 将寿命转换为0-1的因子
+                flow_factor = self._flow_rate / 2.0     # 将流速标准化(假设2L/min是标准流速)
+                base_pressure = 100.0                    # 基础压降
+                # 压降随滤芯寿命降低而增加，随流速增加而增加
+                self._pressure_drop = base_pressure * (2 - life_factor) * flow_factor
+                
+                # 检查是否完成目标体积
+                if self._target_volume > 0 and self._filtered_volume >= self._target_volume:
+                    self._status = "Completed"
+                    self._progress = 100.0
+                    self.stop_filtering()
+                    break
+                    
+                # 检查滤芯寿命
+                if self._filter_life <= 10.0:
+                    self._status = "Filter Needs Replacement"
+                
+                time.sleep(update_interval)
+                
+            except Exception as e:
+                print(f"Error in filter loop: {e}")
+                self.emergency_stop()
+                break
+
+    def emergency_stop(self):
+        """紧急停止"""
+        self._status = "Emergency Stop"
+        self._stop_filter_process()
+        self._is_filtering = False
+        self._flow_rate = 0.0
+
+    def get_status_info(self) -> dict:
+        """扩展的状态信息"""
+        return {
+            "status": self._status,
+            "is_filtering": self._is_filtering,
+            "flow_rate": self._flow_rate,
+            "pressure_drop": self._pressure_drop,
+            "filter_life": self._filter_life,
+            "vessel": self._vessel,
+            "filtrate_vessel": self._filtrate_vessel,
+            "filtered_volume": self._filtered_volume,
+            "target_volume": self._target_volume,
+            "progress": self._progress,
+            "temperature": self._temperature,
+            "stir": self._stir,
+            "stir_speed": self._stir_speed
+        }
+
+
+# 用于测试的主函数
+if __name__ == "__main__":
+    filter_device = MockFilter()
+
+    # 测试基本功能
+    print("启动过滤器测试...")
+    print(f"初始状态: {filter_device.get_status_info()}")
+
+
+
+    # 模拟运行10秒
+    for i in range(10):
+        time.sleep(1)
+        print(
+            f"第{i+1}秒: "
+            f"寿命={filter_device.filter_life:.1f}%, 状态={filter_device.status}"
+        )
+
+    filter_device.emergency_stop()
+    print("测试完成")

unilabos/devices/mock/mock_heater.py

@@ -0,0 +1,247 @@
+import time
+import threading
+
+class MockHeater:
+    def __init__(self, port: str = "MOCK"):
+        self.port = port
+        self._current_temperature: float = 25.0  # 室温开始
+        self._target_temperature: float = 25.0
+        self._status: str = "Idle"
+        self._is_heating: bool = False
+        self._heating_power: float = 0.0  # 加热功率百分比 0-100
+        self._max_temperature: float = 300.0  # 最大加热温度
+        
+        # 新增加的属性
+        self._vessel: str = "Unknown"
+        self._purpose: str = "Unknown"
+        self._stir: bool = False
+        self._stir_speed: float = 0.0
+
+        # 模拟加热过程的线程
+        self._heating_thread = None
+        self._running = True
+        self._heating_thread = threading.Thread(target=self._heating_control_loop)
+        self._heating_thread.daemon = True
+        self._heating_thread.start()
+
+    @property
+    def current_temperature(self) -> float:
+        """当前温度 - 会被自动识别的设备属性"""
+        return self._current_temperature
+
+    @property
+    def target_temperature(self) -> float:
+        """目标温度"""
+        return self._target_temperature
+
+    @property
+    def status(self) -> str:
+        """设备状态 - 会被自动识别的设备属性"""
+        return self._status
+
+    @property
+    def is_heating(self) -> bool:
+        """是否正在加热"""
+        return self._is_heating
+
+    @property
+    def heating_power(self) -> float:
+        """加热功率百分比"""
+        return self._heating_power
+
+    @property
+    def max_temperature(self) -> float:
+        """最大加热温度"""
+        return self._max_temperature
+    
+    @property
+    def vessel(self) -> str:
+        """当前操作的容器名称"""
+        return self._vessel
+
+    @property
+    def purpose(self) -> str:
+        """操作目的"""
+        return self._purpose
+
+    @property
+    def stir(self) -> bool:
+        """是否搅拌"""
+        return self._stir
+
+    @property
+    def stir_speed(self) -> float:
+        """搅拌速度"""
+        return self._stir_speed
+
+    def heat_chill_start(self, vessel: str, temp: float, purpose: str) -> dict:
+        """开始加热/制冷过程"""
+        self._vessel = str(vessel)
+        self._purpose = str(purpose)
+        self._target_temperature = float(temp)
+
+        diff = self._target_temperature - self._current_temperature
+        if abs(diff) < 0.1:
+            self._status = "At Target Temperature"
+            self._is_heating = False
+        elif diff > 0:
+            self._status = "Heating"
+            self._is_heating = True
+        else:
+            self._status = "Cooling Down"
+            self._is_heating = False
+
+        return {"success": True, "status": self._status}
+
+    def heat_chill_stop(self, vessel: str) -> dict:
+        """停止加热/制冷"""
+        if vessel != self._vessel:
+            return {"success": False, "status": f"Wrong vessel: expected {self._vessel}, got {vessel}"}
+            
+        self._status = "Stopped"
+        self._is_heating = False
+        self._heating_power = 0.0
+        
+        return {"success": True, "status": self._status}
+
+    def heat_chill(self, vessel: str, temp: float, time: float, 
+                  stir: bool = False, stir_speed: float = 0.0, 
+                  purpose: str = "Unknown") -> dict:
+        """完整的加热/制冷控制"""
+        self._vessel = str(vessel)
+        self._target_temperature = float(temp)
+        self._purpose = str(purpose)
+        self._stir = stir
+        self._stir_speed = stir_speed
+
+        diff = self._target_temperature - self._current_temperature
+        if abs(diff) < 0.1:
+            self._status = "At Target Temperature"
+            self._is_heating = False
+        elif diff > 0:
+            self._status = "Heating"
+            self._is_heating = True
+        else:
+            self._status = "Cooling Down"
+            self._is_heating = False
+
+        return {"success": True, "status": self._status}
+
+    def set_temperature(self, temperature: float):
+        """设置目标温度 - 需要在注册表添加的设备动作"""
+        try:
+            temperature = float(temperature)
+        except ValueError:
+            self._status = "Error: Invalid temperature value"
+            return False
+
+        if temperature > self._max_temperature:
+            self._status = f"Error: Temperature exceeds maximum ({self._max_temperature}°C)"
+            return False
+
+        self._target_temperature = temperature
+        self._status = "Setting Temperature"
+
+        # 启动加热控制
+        self._start_heating_control()
+        return True
+
+    def set_heating_power(self, power: float):
+        """设置加热功率"""
+        try:
+            power = float(power)
+        except ValueError:
+            self._status = "Error: Invalid power value"
+            return False
+
+        self._heating_power = max(0.0, min(100.0, power))  # 限制在0-100%
+        return True
+
+    def _start_heating_control(self):
+        """启动加热控制线程"""
+        if not self._running:
+            self._running = True
+            self._heating_thread = threading.Thread(target=self._heating_control_loop)
+            self._heating_thread.daemon = True
+            self._heating_thread.start()
+
+    def _stop_heating_control(self):
+        """停止加热控制"""
+        self._running = False
+        if self._heating_thread:
+            self._heating_thread.join(timeout=1.0)
+
+    def _heating_control_loop(self):
+        """加热控制循环"""
+        while self._running:
+            # 如果状态是 Stopped，不改变温度
+            if self._status == "Stopped":
+                time.sleep(1.0)
+                continue
+                
+            temp_diff = self._target_temperature - self._current_temperature
+
+            if abs(temp_diff) < 0.1:
+                self._status = "At Target Temperature"
+                self._is_heating = False
+                self._heating_power = 10.0
+            elif temp_diff > 0:
+                self._status = "Heating"
+                self._is_heating = True
+                self._heating_power = min(100.0, abs(temp_diff) * 2)
+                self._current_temperature += 0.5
+            else:
+                self._status = "Cooling Down"
+                self._is_heating = False
+                self._heating_power = 0.0
+                self._current_temperature -= 0.2
+
+            time.sleep(1.0)
+
+    def emergency_stop(self):
+        """紧急停止"""
+        self._status = "Emergency Stop"
+        self._stop_heating_control()
+        self._is_heating = False
+        self._heating_power = 0.0
+
+    def get_status_info(self) -> dict:
+        """获取完整状态信息"""
+        return {
+            "current_temperature": self._current_temperature,
+            "target_temperature": self._target_temperature,
+            "status": self._status,
+            "is_heating": self._is_heating,
+            "heating_power": self._heating_power,
+            "max_temperature": self._max_temperature,
+            "vessel": self._vessel,
+            "purpose": self._purpose,
+            "stir": self._stir,
+            "stir_speed": self._stir_speed
+        }
+
+# 用于测试的主函数
+if __name__ == "__main__":
+    heater = MockHeater()
+
+    print("启动加热器测试...")
+    print(f"初始状态: {heater.get_status_info()}")
+
+    # 设置目标温度为80度
+    heater.set_temperature(80.0)
+
+    # 模拟运行15秒
+    try:
+        for i in range(15):
+            time.sleep(1)
+            status = heater.get_status_info()
+            print(
+                f"\r温度: {status['current_temperature']:.1f}°C / {status['target_temperature']:.1f}°C | "
+                f"功率: {status['heating_power']:.1f}% | 状态: {status['status']}",
+                end=""
+            )
+    except KeyboardInterrupt:
+        heater.emergency_stop()
+        print("\n测试被手动停止")
+
+    print("\n测试完成")

unilabos/devices/mock/mock_pump.py

@@ -0,0 +1,360 @@
+import time
+import threading
+from datetime import datetime, timedelta
+
+class MockPump:
+    def __init__(self, port: str = "MOCK"):
+        self.port = port
+
+        # 设备基本状态属性
+        self._current_device = "MockPump1"  # 设备标识符
+        self._status: str = "Idle"  # 设备状态：Idle, Running, Error, Stopped
+        self._pump_state: str = "Stopped"  # 泵运行状态：Running, Stopped, Paused
+
+        # 流量相关属性
+        self._flow_rate: float = 0.0  # 当前流速 (mL/min)
+        self._target_flow_rate: float = 0.0  # 目标流速 (mL/min)
+        self._max_flow_rate: float = 100.0  # 最大流速 (mL/min)
+        self._total_volume: float = 0.0  # 累计流量 (mL)
+
+        # 压力相关属性
+        self._pressure: float = 0.0  # 当前压力 (bar)
+        self._max_pressure: float = 10.0  # 最大压力 (bar)
+
+        # 运行控制线程
+        self._pump_thread = None
+        self._running = False
+        self._thread_lock = threading.Lock()
+
+        # 新增 PumpTransfer 相关属性
+        self._from_vessel: str = ""
+        self._to_vessel: str = ""
+        self._transfer_volume: float = 0.0
+        self._amount: str = ""
+        self._transfer_time: float = 0.0
+        self._is_viscous: bool = False
+        self._rinsing_solvent: str = ""
+        self._rinsing_volume: float = 0.0
+        self._rinsing_repeats: int = 0
+        self._is_solid: bool = False
+        
+        # 时间追踪
+        self._start_time: datetime = None
+        self._time_spent: timedelta = timedelta()
+        self._time_remaining: timedelta = timedelta()
+
+    # ==================== 状态属性 ====================
+    # 这些属性会被Uni-Lab系统自动识别并定时对外广播
+
+    @property
+    def status(self) -> str:
+        return self._status
+    
+    @property
+    def current_device(self) -> str:
+        """当前设备标识符"""
+        return self._current_device
+
+    @property
+    def pump_state(self) -> str:
+        return self._pump_state
+
+    @property
+    def flow_rate(self) -> float:
+        return self._flow_rate
+
+    @property
+    def target_flow_rate(self) -> float:
+        return self._target_flow_rate
+
+    @property
+    def pressure(self) -> float:
+        return self._pressure
+
+    @property
+    def total_volume(self) -> float:
+        return self._total_volume
+
+    @property
+    def max_flow_rate(self) -> float:
+        return self._max_flow_rate
+
+    @property
+    def max_pressure(self) -> float:
+        return self._max_pressure
+    
+        # 添加新的属性访问器
+    @property
+    def from_vessel(self) -> str:
+        return self._from_vessel
+
+    @property
+    def to_vessel(self) -> str:
+        return self._to_vessel
+
+    @property
+    def transfer_volume(self) -> float:
+        return self._transfer_volume
+
+    @property
+    def amount(self) -> str:
+        return self._amount
+
+    @property
+    def transfer_time(self) -> float:
+        return self._transfer_time
+
+    @property
+    def is_viscous(self) -> bool:
+        return self._is_viscous
+
+    @property
+    def rinsing_solvent(self) -> str:
+        return self._rinsing_solvent
+
+    @property
+    def rinsing_volume(self) -> float:
+        return self._rinsing_volume
+
+    @property
+    def rinsing_repeats(self) -> int:
+        return self._rinsing_repeats
+
+    @property
+    def is_solid(self) -> bool:
+        return self._is_solid
+
+    # 修改这两个属性装饰器
+    @property
+    def time_spent(self) -> float:
+        """已用时间（秒）"""
+        if isinstance(self._time_spent, timedelta):
+            return self._time_spent.total_seconds()
+        return float(self._time_spent)
+
+    @property
+    def time_remaining(self) -> float:
+        """剩余时间（秒）"""
+        if isinstance(self._time_remaining, timedelta):
+            return self._time_remaining.total_seconds()
+        return float(self._time_remaining)
+
+    # ==================== 设备控制方法 ====================
+    # 这些方法需要在注册表中添加，会作为ActionServer接受控制指令
+    def pump_transfer(self, from_vessel: str, to_vessel: str, volume: float,
+                    amount: str = "", time: float = 0.0, viscous: bool = False,
+                    rinsing_solvent: str = "", rinsing_volume: float = 0.0,
+                    rinsing_repeats: int = 0, solid: bool = False) -> dict:
+        """Execute pump transfer operation"""
+        # Stop any existing operation first
+        self._stop_pump_operation()
+        
+        # Set transfer parameters
+        self._from_vessel = from_vessel
+        self._to_vessel = to_vessel
+        self._transfer_volume = float(volume)
+        self._amount = amount
+        self._transfer_time = float(time)
+        self._is_viscous = viscous
+        self._rinsing_solvent = rinsing_solvent
+        self._rinsing_volume = float(rinsing_volume)
+        self._rinsing_repeats = int(rinsing_repeats)
+        self._is_solid = solid
+
+        # Calculate flow rate
+        if self._transfer_time > 0 and self._transfer_volume > 0:
+            self._target_flow_rate = (self._transfer_volume / self._transfer_time) * 60.0
+        else:
+            self._target_flow_rate = 10.0 if not self._is_viscous else 5.0
+
+        # Reset timers and counters
+        self._start_time = datetime.now()
+        self._time_spent = timedelta()
+        self._time_remaining = timedelta(seconds=self._transfer_time)
+        self._total_volume = 0.0
+        self._flow_rate = 0.0
+        
+        # Start pump operation
+        self._pump_state = "Running"
+        self._status = "Starting Transfer"
+        self._running = True
+        
+        # Start pump operation thread
+        self._pump_thread = threading.Thread(target=self._pump_operation_loop)
+        self._pump_thread.daemon = True
+        self._pump_thread.start()
+
+        # Wait briefly to ensure thread starts
+        time.sleep(0.1)
+
+        return {
+            "success": True,
+            "status": self._status,
+            "current_device": self._current_device,
+            "time_spent": 0.0,
+            "time_remaining": float(self._transfer_time)
+        }
+
+    def pause_pump(self) -> str:
+
+        if self._pump_state != "Running":
+            self._status = "Error: Pump not running"
+            return "Error"
+
+        self._pump_state = "Paused"
+        self._status = "Pump Paused"
+        self._stop_pump_operation()
+
+        return "Success"
+
+    def resume_pump(self) -> str:
+
+        if self._pump_state != "Paused":
+            self._status = "Error: Pump not paused"
+            return "Error"
+
+        self._pump_state = "Running"
+        self._status = "Resuming Pump"
+        self._start_pump_operation()
+
+        return "Success"
+
+    def reset_volume_counter(self) -> str:
+        self._total_volume = 0.0
+        self._status = "Volume counter reset"
+        return "Success"
+
+    def emergency_stop(self) -> str:
+        self._status = "Emergency Stop"
+        self._pump_state = "Stopped"
+        self._stop_pump_operation()
+        self._flow_rate = 0.0
+        self._pressure = 0.0
+        self._target_flow_rate = 0.0
+
+        return "Success"
+
+    # ==================== 内部控制方法 ====================
+
+    def _start_pump_operation(self):
+        with self._thread_lock:
+            if not self._running:
+                self._running = True
+                self._pump_thread = threading.Thread(target=self._pump_operation_loop)
+                self._pump_thread.daemon = True
+                self._pump_thread.start()
+
+    def _stop_pump_operation(self):
+        with self._thread_lock:
+            self._running = False
+            if self._pump_thread and self._pump_thread.is_alive():
+                self._pump_thread.join(timeout=2.0)
+
+    def _pump_operation_loop(self):
+        """泵运行主循环"""
+        print("Pump operation loop started")  # Debug print
+        
+        while self._running and self._pump_state == "Running":
+            try:
+                # Calculate flow rate adjustment
+                flow_diff = self._target_flow_rate - self._flow_rate
+                
+                # Adjust flow rate more aggressively (50% of difference)
+                adjustment = flow_diff * 0.5
+                self._flow_rate += adjustment
+                
+                # Ensure flow rate is within bounds
+                self._flow_rate = max(0.1, min(self._max_flow_rate, self._flow_rate))
+                
+                # Update status based on flow rate
+                if abs(flow_diff) < 0.1:
+                    self._status = "Running at Target Flow Rate"
+                else:
+                    self._status = "Adjusting Flow Rate"
+
+                # Calculate volume increment
+                volume_increment = (self._flow_rate / 60.0)  # mL/s
+                self._total_volume += volume_increment
+
+                # Update time tracking
+                self._time_spent = datetime.now() - self._start_time
+                if self._transfer_time > 0:
+                    remaining = self._transfer_time - self._time_spent.total_seconds()
+                    self._time_remaining = timedelta(seconds=max(0, remaining))
+
+                # Check completion
+                if self._total_volume >= self._transfer_volume:
+                    self._status = "Transfer Completed"
+                    self._pump_state = "Stopped"
+                    self._running = False
+                    break
+
+                # Update pressure
+                self._pressure = (self._flow_rate / self._max_flow_rate) * self._max_pressure
+
+                print(f"Debug - Flow: {self._flow_rate:.1f}, Volume: {self._total_volume:.1f}")  # Debug print
+                
+                time.sleep(1.0)
+
+            except Exception as e:
+                print(f"Error in pump operation: {str(e)}")
+                self._status = "Error in pump operation"
+                self._pump_state = "Stopped"
+                self._running = False
+                break
+
+    def get_status_info(self) -> dict:
+        """
+        获取完整的设备状态信息
+
+        Returns:
+            dict: 包含所有设备状态的字典
+        """
+        return {
+        "status": self._status,
+        "pump_state": self._pump_state,
+        "flow_rate": self._flow_rate,
+        "target_flow_rate": self._target_flow_rate,
+        "pressure": self._pressure,
+        "total_volume": self._total_volume,
+        "max_flow_rate": self._max_flow_rate,
+        "max_pressure": self._max_pressure,
+        "current_device": self._current_device,
+        "from_vessel": self._from_vessel,
+        "to_vessel": self._to_vessel,
+        "transfer_volume": self._transfer_volume,
+        "amount": self._amount,
+        "transfer_time": self._transfer_time,
+        "is_viscous": self._is_viscous,
+        "rinsing_solvent": self._rinsing_solvent,
+        "rinsing_volume": self._rinsing_volume,
+        "rinsing_repeats": self._rinsing_repeats,
+        "is_solid": self._is_solid,
+        "time_spent": self._time_spent.total_seconds(),
+        "time_remaining": self._time_remaining.total_seconds()
+        }
+
+
+# 用于测试的主函数
+if __name__ == "__main__":
+    pump = MockPump()
+
+    # 测试基本功能
+    print("启动泵设备测试...")
+    print(f"初始状态: {pump.get_status_info()}")
+
+    # 设置流速并启动
+    pump.set_flow_rate(50.0)
+    pump.start_pump()
+
+    # 模拟运行10秒
+    for i in range(10):
+        time.sleep(1)
+        print(f"第{i+1}秒: 流速={pump.flow_rate:.1f}mL/min, 压力={pump.pressure:.2f}bar, 状态={pump.status}")
+
+    # 测试方向切换
+    print("切换泵方向...")
+
+
+    pump.emergency_stop()
+    print("测试完成")

unilabos/devices/mock/mock_rotavap.py

@@ -0,0 +1,390 @@
+import time
+import threading
+import json
+
+
+class MockRotavap:
+    """
+    模拟旋转蒸发器设备类
+
+    这个类模拟了一个实验室旋转蒸发器的行为，包括旋转控制、
+    真空泵控制、温度控制等功能。参考了现有的 RotavapOne 实现。
+    """
+
+    def __init__(self, port: str = "MOCK"):
+        """
+        初始化MockRotavap实例
+
+        Args:
+            port (str): 设备端口，默认为"MOCK"表示模拟设备
+        """
+        self.port = port
+
+        # 设备基本状态属性
+        self._status: str = "Idle"  # 设备状态：Idle, Running, Error, Stopped
+
+        # 旋转相关属性
+        self._rotate_state: str = "Stopped"  # 旋转状态：Running, Stopped
+        self._rotate_time: float = 0.0  # 旋转剩余时间 (秒)
+        self._rotate_speed: float = 0.0  # 旋转速度 (rpm)
+        self._max_rotate_speed: float = 300.0  # 最大旋转速度 (rpm)
+
+        # 真空泵相关属性
+        self._pump_state: str = "Stopped"  # 泵状态：Running, Stopped
+        self._pump_time: float = 0.0  # 泵剩余时间 (秒)
+        self._vacuum_level: float = 0.0  # 真空度 (mbar)
+        self._target_vacuum: float = 50.0  # 目标真空度 (mbar)
+
+        # 温度相关属性
+        self._temperature: float = 25.0  # 水浴温度 (°C)
+        self._target_temperature: float = 25.0  # 目标温度 (°C)
+        self._max_temperature: float = 180.0  # 最大温度 (°C)
+
+        # 运行控制线程
+        self._operation_thread = None
+        self._running = False
+        self._thread_lock = threading.Lock()
+
+        # 操作成功标志
+        self.success: str = "True"  # 使用字符串而不是布尔值
+
+    # ==================== 状态属性 ====================
+    # 这些属性会被Uni-Lab系统自动识别并定时对外广播
+
+    @property
+    def status(self) -> str:
+        return self._status
+
+    @property
+    def rotate_state(self) -> str:
+        return self._rotate_state
+
+    @property
+    def rotate_time(self) -> float:
+        return self._rotate_time
+
+    @property
+    def rotate_speed(self) -> float:
+        return self._rotate_speed
+
+    @property
+    def pump_state(self) -> str:
+        return self._pump_state
+
+    @property
+    def pump_time(self) -> float:
+        return self._pump_time
+
+    @property
+    def vacuum_level(self) -> float:
+        return self._vacuum_level
+
+    @property
+    def temperature(self) -> float:
+        return self._temperature
+
+    @property
+    def target_temperature(self) -> float:
+        return self._target_temperature
+
+    # ==================== 设备控制方法 ====================
+    # 这些方法需要在注册表中添加，会作为ActionServer接受控制指令
+
+    def set_timer(self, command: str) -> str:
+        """
+        设置定时器 - 兼容现有RotavapOne接口
+
+        Args:
+            command (str): JSON格式的命令字符串，包含rotate_time和pump_time
+
+        Returns:
+            str: 操作结果状态 ("Success", "Error")
+        """
+
+        try:
+            timer = json.loads(command)
+            rotate_time = timer.get("rotate_time", 0)
+            pump_time = timer.get("pump_time", 0)
+
+            self.success = "False"
+            self._rotate_time = float(rotate_time)
+            self._pump_time = float(pump_time)
+            self.success = "True"
+
+            self._status = "Timer Set"
+            return "Success"
+
+        except (json.JSONDecodeError, ValueError, KeyError) as e:
+            self._status = f"Error: Invalid command format - {str(e)}"
+            self.success = "False"
+            return "Error"
+
+    def set_rotate_time(self, time_seconds: float) -> str:
+        """
+        设置旋转时间
+
+        Args:
+            time_seconds (float): 旋转时间 (秒)
+
+        Returns:
+            str: 操作结果状态 ("Success", "Error")
+        """
+
+        self.success = "False"
+        self._rotate_time = max(0.0, float(time_seconds))
+        self.success = "True"
+        self._status = "Rotate time set"
+        return "Success"
+
+    def set_pump_time(self, time_seconds: float) -> str:
+        """
+        设置泵时间
+
+        Args:
+            time_seconds (float): 泵时间 (秒)
+
+        Returns:
+            str: 操作结果状态 ("Success", "Error")
+        """
+
+        self.success = "False"
+        self._pump_time = max(0.0, float(time_seconds))
+        self.success = "True"
+        self._status = "Pump time set"
+        return "Success"
+
+    def set_rotate_speed(self, speed: float) -> str:
+        """
+        设置旋转速度
+
+        Args:
+            speed (float): 旋转速度 (rpm)
+
+        Returns:
+            str: 操作结果状态 ("Success", "Error")
+        """
+
+        if speed < 0 or speed > self._max_rotate_speed:
+            self._status = f"Error: Speed out of range (0-{self._max_rotate_speed})"
+            return "Error"
+
+        self._rotate_speed = speed
+        self._status = "Rotate speed set"
+        return "Success"
+
+    def set_temperature(self, temperature: float) -> str:
+        """
+        设置水浴温度
+
+        Args:
+            temperature (float): 目标温度 (°C)
+
+        Returns:
+            str: 操作结果状态 ("Success", "Error")
+        """
+
+        if temperature < 0 or temperature > self._max_temperature:
+            self._status = f"Error: Temperature out of range (0-{self._max_temperature})"
+            return "Error"
+
+        self._target_temperature = temperature
+        self._status = "Temperature set"
+
+        # 启动操作线程以开始温度控制
+        self._start_operation()
+        
+        return "Success"
+
+    def start_rotation(self) -> str:
+        """
+        启动旋转
+
+        Returns:
+            str: 操作结果状态 ("Success", "Error")
+        """
+
+        if self._rotate_time <= 0:
+            self._status = "Error: No rotate time set"
+            return "Error"
+
+        self._rotate_state = "Running"
+        self._status = "Rotation started"
+        return "Success"
+
+    def start_pump(self) -> str:
+        """
+        启动真空泵
+
+        Returns:
+            str: 操作结果状态 ("Success", "Error")
+        """
+
+        if self._pump_time <= 0:
+            self._status = "Error: No pump time set"
+            return "Error"
+
+        self._pump_state = "Running"
+        self._status = "Pump started"
+        return "Success"
+
+    def stop_all_operations(self) -> str:
+        """
+        停止所有操作
+
+        Returns:
+            str: 操作结果状态 ("Success", "Error")
+        """
+        self._rotate_state = "Stopped"
+        self._pump_state = "Stopped"
+        self._stop_operation()
+        self._rotate_time = 0.0
+        self._pump_time = 0.0
+        self._vacuum_level = 0.0
+        self._status = "All operations stopped"
+        return "Success"
+
+    def emergency_stop(self) -> str:
+        """
+        紧急停止
+
+        Returns:
+            str: 操作结果状态 ("Success", "Error")
+        """
+        self._status = "Emergency Stop"
+        self.stop_all_operations()
+        return "Success"
+
+    # ==================== 内部控制方法 ====================
+
+    def _start_operation(self):
+        """
+        启动操作线程
+
+        这个方法启动一个后台线程来模拟旋蒸的实际运行过程。
+        """
+        with self._thread_lock:
+            if not self._running:
+                self._running = True
+                self._operation_thread = threading.Thread(target=self._operation_loop)
+                self._operation_thread.daemon = True
+                self._operation_thread.start()
+
+    def _stop_operation(self):
+        """
+        停止操作线程
+
+        安全地停止后台运行线程并等待其完成。
+        """
+        with self._thread_lock:
+            self._running = False
+            if self._operation_thread and self._operation_thread.is_alive():
+                self._operation_thread.join(timeout=2.0)
+
+    def _operation_loop(self):
+        """
+        操作主循环
+
+        这个方法在后台线程中运行，模拟真实旋蒸的工作过程：
+        1. 时间倒计时
+        2. 温度控制
+        3. 真空度控制
+        4. 状态更新
+        """
+        while self._running:
+            try:
+                # 处理旋转时间倒计时
+                if self._rotate_time > 0:
+                    self._rotate_state = "Running"
+                    self._rotate_time = max(0.0, self._rotate_time - 1.0)
+                else:
+                    self._rotate_state = "Stopped"
+
+                # 处理泵时间倒计时
+                if self._pump_time > 0:
+                    self._pump_state = "Running"
+                    self._pump_time = max(0.0, self._pump_time - 1.0)
+                    # 模拟真空度变化
+                    if self._vacuum_level > self._target_vacuum:
+                        self._vacuum_level = max(self._target_vacuum, self._vacuum_level - 5.0)
+                else:
+                    self._pump_state = "Stopped"
+                    # 真空度逐渐回升
+                    self._vacuum_level = min(1013.25, self._vacuum_level + 2.0)
+
+                # 模拟温度控制
+                temp_diff = self._target_temperature - self._temperature
+                if abs(temp_diff) > 0.5:
+                    if temp_diff > 0:
+                        self._temperature += min(1.0, temp_diff * 0.1)
+                    else:
+                        self._temperature += max(-1.0, temp_diff * 0.1)
+
+                # 更新整体状态
+                if self._rotate_state == "Running" or self._pump_state == "Running":
+                    self._status = "Operating"
+                elif self._rotate_time > 0 or self._pump_time > 0:
+                    self._status = "Ready"
+                else:
+                    self._status = "Idle"
+
+                # 等待1秒后继续下一次循环
+                time.sleep(1.0)
+
+            except Exception as e:
+                self._status = f"Error in operation: {str(e)}"
+                break
+
+        # 循环结束时的清理工作
+            self._status = "Idle"
+
+    def get_status_info(self) -> dict:
+        """
+        获取完整的设备状态信息
+
+        Returns:
+            dict: 包含所有设备状态的字典
+        """
+        return {
+            "status": self._status,
+            "rotate_state": self._rotate_state,
+            "rotate_time": self._rotate_time,
+            "rotate_speed": self._rotate_speed,
+            "pump_state": self._pump_state,
+            "pump_time": self._pump_time,
+            "vacuum_level": self._vacuum_level,
+            "temperature": self._temperature,
+            "target_temperature": self._target_temperature,
+            "success": self.success,
+        }
+
+
+# 用于测试的主函数
+if __name__ == "__main__":
+    rotavap = MockRotavap()
+
+    # 测试基本功能
+    print("启动旋转蒸发器测试...")
+    print(f"初始状态: {rotavap.get_status_info()}")
+
+    # 设置定时器
+    timer_command = '{"rotate_time": 300, "pump_time": 600}'
+    rotavap.set_timer(timer_command)
+
+    # 设置温度和转速
+    rotavap.set_temperature(60.0)
+    rotavap.set_rotate_speed(120.0)
+
+    # 启动操作
+    rotavap.start_rotation()
+    rotavap.start_pump()
+
+    # 模拟运行10秒
+    for i in range(10):
+        time.sleep(1)
+        print(
+            f"第{i+1}秒: 旋转={rotavap.rotate_time:.0f}s, 泵={rotavap.pump_time:.0f}s, "
+            f"温度={rotavap.temperature:.1f}°C, 真空={rotavap.vacuum_level:.1f}mbar"
+        )
+
+    rotavap.emergency_stop()
+    print("测试完成")

unilabos/devices/mock/mock_separator.py

@@ -0,0 +1,399 @@
+import time
+import threading
+from datetime import datetime, timedelta
+
+class MockSeparator:
+    def __init__(self, port: str = "MOCK"):
+        self.port = port
+
+        # 基本状态属性
+        self._status: str = "Idle"  # 当前总体状态
+        self._valve_state: str = "Closed"  # 阀门状态：Open 或 Closed
+        self._settling_time: float = 0.0  # 静置时间（秒）
+
+        # 搅拌相关属性
+        self._shake_time: float = 0.0  # 剩余摇摆时间（秒）
+        self._shake_status: str = "Not Shaking"  # 摇摆状态
+
+        # 用于后台模拟 shake 动作
+        self._operation_thread = None
+        self._thread_lock = threading.Lock()
+        self._running = False
+
+        # Separate action 相关属性
+        self._current_device: str = "MockSeparator1"
+        self._purpose: str = ""  # wash or extract
+        self._product_phase: str = ""  # top or bottom
+        self._from_vessel: str = ""
+        self._separation_vessel: str = ""
+        self._to_vessel: str = ""
+        self._waste_phase_to_vessel: str = ""
+        self._solvent: str = ""
+        self._solvent_volume: float = 0.0
+        self._through: str = ""
+        self._repeats: int = 1
+        self._stir_time: float = 0.0
+        self._stir_speed: float = 0.0
+        self._time_spent = timedelta()
+        self._time_remaining = timedelta()
+        self._start_time = datetime.now()  # 添加这一行
+
+    @property
+    def current_device(self) -> str:
+        return self._current_device
+
+    @property
+    def purpose(self) -> str:
+        return self._purpose
+
+    @property
+    def valve_state(self) -> str:
+        return self._valve_state
+
+    @property
+    def settling_time(self) -> float:
+        return self._settling_time
+
+    @property
+    def status(self) -> str:
+        return self._status
+
+    @property
+    def shake_time(self) -> float:
+        with self._thread_lock:
+            return self._shake_time
+
+    @property
+    def shake_status(self) -> str:
+        with self._thread_lock:
+            return self._shake_status
+    
+    @property
+    def product_phase(self) -> str:
+        return self._product_phase
+
+    @property
+    def from_vessel(self) -> str:
+        return self._from_vessel
+
+    @property
+    def separation_vessel(self) -> str:
+        return self._separation_vessel
+
+    @property
+    def to_vessel(self) -> str:
+        return self._to_vessel
+
+    @property
+    def waste_phase_to_vessel(self) -> str:
+        return self._waste_phase_to_vessel
+
+    @property
+    def solvent(self) -> str:
+        return self._solvent
+
+    @property
+    def solvent_volume(self) -> float:
+        return self._solvent_volume
+
+    @property
+    def through(self) -> str:
+        return self._through
+
+    @property
+    def repeats(self) -> int:
+        return self._repeats
+
+    @property
+    def stir_time(self) -> float:
+        return self._stir_time
+
+    @property
+    def stir_speed(self) -> float:
+        return self._stir_speed
+
+    @property
+    def time_spent(self) -> float:
+        if self._running:
+            self._time_spent = datetime.now() - self._start_time
+        return self._time_spent.total_seconds()
+
+    @property
+    def time_remaining(self) -> float:
+        if self._running:
+            elapsed = (datetime.now() - self._start_time).total_seconds()
+            total_time = (self._stir_time + self._settling_time + 10) * self._repeats
+            remain = max(0, total_time - elapsed)
+            self._time_remaining = timedelta(seconds=remain)
+        return self._time_remaining.total_seconds()
+
+    def separate(self, purpose: str, product_phase: str, from_vessel: str,
+            separation_vessel: str, to_vessel: str, waste_phase_to_vessel: str = "",
+            solvent: str = "", solvent_volume: float = 0.0, through: str = "",
+            repeats: int = 1, stir_time: float = 0.0, stir_speed: float = 0.0,
+            settling_time: float = 60.0) -> dict:
+        """
+        执行分离操作
+        """
+        with self._thread_lock:
+            # 检查是否已经在运行
+            if self._running:
+                return {
+                    "success": False,
+                    "status": "Error: Operation already in progress"
+                }
+        # 必填参数验证
+        if not all([from_vessel, separation_vessel, to_vessel]):
+            self._status = "Error: Missing required vessel parameters"
+            return {"success": False}
+        # 验证参数
+        if purpose not in ["wash", "extract"]:
+            self._status = "Error: Invalid purpose"
+            return {"success": False}
+        
+        if product_phase not in ["top", "bottom"]:
+            self._status = "Error: Invalid product phase"
+            return {"success": False}
+            # 数值参数验证
+        try:
+            solvent_volume = float(solvent_volume)
+            repeats = int(repeats)
+            stir_time = float(stir_time)
+            stir_speed = float(stir_speed)
+            settling_time = float(settling_time)
+        except ValueError:
+            self._status = "Error: Invalid numeric parameters"
+            return {"success": False}
+
+        # 设置参数
+        self._purpose = purpose
+        self._product_phase = product_phase
+        self._from_vessel = from_vessel
+        self._separation_vessel = separation_vessel
+        self._to_vessel = to_vessel
+        self._waste_phase_to_vessel = waste_phase_to_vessel
+        self._solvent = solvent
+        self._solvent_volume = float(solvent_volume)
+        self._through = through
+        self._repeats = int(repeats)
+        self._stir_time = float(stir_time)
+        self._stir_speed = float(stir_speed)
+        self._settling_time = float(settling_time)
+
+        # 重置计时器
+        self._start_time = datetime.now()
+        self._time_spent = timedelta()
+        total_time = (self._stir_time + self._settling_time + 10) * self._repeats
+        self._time_remaining = timedelta(seconds=total_time)
+
+        # 启动分离操作
+        self._status = "Starting Separation"
+        self._running = True
+
+        # 在锁内创建和启动线程
+        self._operation_thread = threading.Thread(target=self._operation_loop)
+        self._operation_thread.daemon = True
+        self._operation_thread.start()
+
+        # 等待确认操作已经开始
+        time.sleep(0.1)  # 短暂等待确保操作线程已启动
+
+        return {
+            "success": True,
+            "status": self._status,
+            "current_device": self._current_device,
+            "time_spent": self._time_spent.total_seconds(),
+            "time_remaining": self._time_remaining.total_seconds()
+        }
+
+    def shake(self, shake_time: float) -> str:
+        """
+        模拟 shake（搅拌）操作：
+         - 进入 "Shaking" 状态，倒计时 shake_time 秒
+         - shake 结束后，进入 "Settling" 状态，静置时间固定为 5 秒
+         - 最后恢复为 Idle
+        """
+        try:
+            shake_time = float(shake_time)
+        except ValueError:
+            self._status = "Error: Invalid shake time"
+            return "Error"
+
+        with self._thread_lock:
+            self._status = "Shaking"
+            self._settling_time = 0.0
+            self._shake_time = shake_time
+            self._shake_status = "Shaking"
+
+        def _run_shake():
+            remaining = shake_time
+            while remaining > 0:
+                time.sleep(1)
+                remaining -= 1
+                with self._thread_lock:
+                    self._shake_time = remaining
+            with self._thread_lock:
+                self._status = "Settling"
+                self._settling_time = 60.0  # 固定静置时间为60秒
+                self._shake_status = "Settling"
+            while True:
+                with self._thread_lock:
+                    if self._settling_time <= 0:
+                        self._status = "Idle"
+                        self._shake_status = "Idle"
+                        break
+                time.sleep(1)
+                with self._thread_lock:
+                    self._settling_time = max(0.0, self._settling_time - 1)
+
+        self._operation_thread = threading.Thread(target=_run_shake)
+        self._operation_thread.daemon = True
+        self._operation_thread.start()
+        return "Success"
+
+    def set_valve(self, command: str) -> str:
+        """
+        阀门控制命令：传入 "open" 或 "close"
+        """
+
+        command = command.lower()
+        if command == "open":
+            self._valve_state = "Open"
+            self._status = "Valve Opened"
+        elif command == "close":
+            self._valve_state = "Closed"
+            self._status = "Valve Closed"
+        else:
+            self._status = "Error: Invalid valve command"
+            return "Error"
+        return "Success"
+    
+    def _operation_loop(self):
+        """分离操作主循环"""
+        try:
+            current_repeat = 1
+            
+            # 立即更新状态，确保不会停留在Starting Separation
+            with self._thread_lock:
+                self._status = f"Separation Cycle {current_repeat}/{self._repeats}"
+            
+            while self._running and current_repeat <= self._repeats:
+                # 第一步：搅拌
+                if self._stir_time > 0:
+                    with self._thread_lock:
+                        self._status = f"Stirring (Repeat {current_repeat}/{self._repeats})"
+                    remaining_stir = self._stir_time
+                    while remaining_stir > 0 and self._running:
+                        time.sleep(1)
+                        remaining_stir -= 1
+
+                # 第二步：静置
+                if self._settling_time > 0:
+                    with self._thread_lock:
+                        self._status = f"Settling (Repeat {current_repeat}/{self._repeats})"
+                    remaining_settle = self._settling_time
+                    while remaining_settle > 0 and self._running:
+                        time.sleep(1)
+                        remaining_settle -= 1
+
+                # 第三步：打开阀门排出
+                with self._thread_lock:
+                    self._valve_state = "Open"
+                    self._status = f"Draining (Repeat {current_repeat}/{self._repeats})"
+                
+                # 模拟排出时间（5秒）
+                time.sleep(10)
+                
+                # 关闭阀门
+                with self._thread_lock:
+                    self._valve_state = "Closed"
+
+                # 检查是否继续下一次重复
+                if current_repeat < self._repeats:
+                    current_repeat += 1
+                else:
+                    with self._thread_lock:
+                        self._status = "Separation Complete"
+                    break
+
+        except Exception as e:
+            with self._thread_lock:
+                self._status = f"Error in separation: {str(e)}"
+        finally:
+            with self._thread_lock:
+                self._running = False
+                self._valve_state = "Closed"
+                if self._status == "Starting Separation":
+                    self._status = "Error: Operation failed to start"
+                elif self._status != "Separation Complete":
+                    self._status = "Stopped"
+
+    def stop_operations(self) -> str:
+        """停止任何正在执行的操作"""
+        with self._thread_lock:
+            self._running = False
+            if self._operation_thread and self._operation_thread.is_alive():
+                self._operation_thread.join(timeout=1.0)
+            self._operation_thread = None
+            self._settling_time = 0.0
+            self._status = "Idle"
+            self._shake_status = "Idle"
+            self._shake_time = 0.0
+            self._time_remaining = timedelta()
+        return "Success"
+
+    def get_status_info(self) -> dict:
+        """获取当前设备状态信息"""
+        with self._thread_lock:
+            current_time = datetime.now()
+            if self._start_time:
+                self._time_spent = current_time - self._start_time
+            
+            return {
+                "status": self._status,
+                "valve_state": self._valve_state,
+                "settling_time": self._settling_time,
+                "shake_time": self._shake_time,
+                "shake_status": self._shake_status,
+                "current_device": self._current_device,
+                "purpose": self._purpose,
+                "product_phase": self._product_phase,
+                "from_vessel": self._from_vessel,
+                "separation_vessel": self._separation_vessel,
+                "to_vessel": self._to_vessel,
+                "waste_phase_to_vessel": self._waste_phase_to_vessel,
+                "solvent": self._solvent,
+                "solvent_volume": self._solvent_volume,
+                "through": self._through,
+                "repeats": self._repeats,
+                "stir_time": self._stir_time,
+                "stir_speed": self._stir_speed,
+                "time_spent": self._time_spent.total_seconds(),
+                "time_remaining": self._time_remaining.total_seconds()
+            }
+
+
+# 主函数用于测试
+if __name__ == "__main__":
+    separator = MockSeparator()
+
+    print("启动简单版分离器测试...")
+    print("初始状态:", separator.get_status_info())
+
+    # 触发 shake 操作，模拟 10 秒的搅拌
+    print("执行 shake 操作...")
+    print(separator.shake(10.0))
+
+    # 循环显示状态变化
+    for i in range(20):
+        time.sleep(1)
+        info = separator.get_status_info()
+        print(
+            f"第{i+1}秒: 状态={info['status']}, 静置时间={info['settling_time']:.1f}秒, "
+            f"阀门状态={info['valve_state']}, shake_time={info['shake_time']:.1f}, "
+            f"shake_status={info['shake_status']}"
+        )
+
+    # 模拟打开阀门
+    print("打开阀门...", separator.set_valve("open"))
+    print("最终状态:", separator.get_status_info())

unilabos/devices/mock/mock_solenoid_valve.py

@@ -0,0 +1,89 @@
+import time
+
+
+class MockSolenoidValve:
+    """
+    模拟电磁阀设备类 - 简化版本
+
+    这个类提供了电磁阀的基本功能：开启、关闭和状态查询
+    """
+
+    def __init__(self, port: str = "MOCK"):
+        """
+        初始化MockSolenoidValve实例
+
+        Args:
+            port (str): 设备端口，默认为"MOCK"表示模拟设备
+        """
+        self.port = port
+        self._status: str = "Idle"
+        self._valve_status: str = "Closed"  # 阀门位置：Open, Closed
+
+    @property
+    def status(self) -> str:
+        """设备状态 - 会被自动识别的设备属性"""
+        return self._status
+
+    @property
+    def valve_status(self) -> str:
+        """阀门状态"""
+        return self._valve_status
+
+    def set_valve_status(self, status: str) -> str:
+        """
+        设置阀门位置
+
+        Args:
+            position (str): 阀门位置，可选值："Open", "Closed"
+
+        Returns:
+            str: 操作结果状态 ("Success", "Error")
+        """
+        if status not in ["Open", "Closed"]:
+            self._status = "Error: Invalid position"
+            return "Error"
+
+        self._status = "Moving"
+        time.sleep(1)  # 模拟阀门动作时间
+
+        self._valve_status = status
+        self._status = "Idle"
+        return "Success"
+
+    def open_valve(self) -> str:
+        """打开阀门"""
+        return self.set_valve_status("Open")
+
+    def close_valve(self) -> str:
+        """关闭阀门"""
+        return self.set_valve_status("Closed")
+
+    def get_valve_status(self) -> str:
+        """获取阀门位置"""
+        return self._valve_status
+
+    def is_open(self) -> bool:
+        """检查阀门是否打开"""
+        return self._valve_status == "Open"
+
+    def is_closed(self) -> bool:
+        """检查阀门是否关闭"""
+        return self._valve_status == "Closed"
+
+
+# 用于测试的主函数
+if __name__ == "__main__":
+    valve = MockSolenoidValve()
+
+    print("启动电磁阀测试...")
+    print(f"初始状态: 位置={valve.valve_status}, 状态={valve.status}")
+
+    # 测试开启阀门
+    valve.open_valve()
+    print(f"开启后: 位置={valve.valve_status}, 状态={valve.status}")
+
+    # 测试关闭阀门
+    valve.close_valve()
+    print(f"关闭后: 位置={valve.valve_status}, 状态={valve.status}")
+
+    print("测试完成")

unilabos/devices/mock/mock_stirrer.py

@@ -0,0 +1,307 @@
+import time
+import threading
+
+
+class MockStirrer:
+    def __init__(self, port: str = "MOCK"):
+        self.port = port
+
+        # 设备基本状态属性
+        self._status: str = "Idle"  # 设备状态：Idle, Running, Error, Stopped
+
+        # 搅拌相关属性
+        self._stir_speed: float = 0.0  # 当前搅拌速度 (rpm)
+        self._target_stir_speed: float = 0.0  # 目标搅拌速度 (rpm)
+        self._max_stir_speed: float = 2000.0  # 最大搅拌速度 (rpm)
+        self._stir_state: str = "Stopped"  # 搅拌状态：Running, Stopped
+
+        # 温度相关属性
+        self._temperature: float = 25.0  # 当前温度 (°C)
+        self._target_temperature: float = 25.0  # 目标温度 (°C)
+        self._max_temperature: float = 300.0  # 最大温度 (°C)
+        self._heating_state: str = "Off"  # 加热状态：On, Off
+        self._heating_power: float = 0.0  # 加热功率百分比 0-100
+
+        # 运行控制线程
+        self._operation_thread = None
+        self._running = False
+        self._thread_lock = threading.Lock()
+
+    # ==================== 状态属性 ====================
+    # 这些属性会被Uni-Lab系统自动识别并定时对外广播
+
+    @property
+    def status(self) -> str:
+        return self._status
+
+    @property
+    def stir_speed(self) -> float:
+        return self._stir_speed
+
+    @property
+    def target_stir_speed(self) -> float:
+        return self._target_stir_speed
+
+    @property
+    def stir_state(self) -> str:
+        return self._stir_state
+
+    @property
+    def temperature(self) -> float:
+        """
+        当前温度
+
+        Returns:
+            float: 当前温度 (°C)
+        """
+        return self._temperature
+
+    @property
+    def target_temperature(self) -> float:
+        """
+        目标温度
+
+        Returns:
+            float: 目标温度 (°C)
+        """
+        return self._target_temperature
+
+    @property
+    def heating_state(self) -> str:
+        return self._heating_state
+
+    @property
+    def heating_power(self) -> float:
+        return self._heating_power
+
+    @property
+    def max_stir_speed(self) -> float:
+        return self._max_stir_speed
+
+    @property
+    def max_temperature(self) -> float:
+        return self._max_temperature
+
+    # ==================== 设备控制方法 ====================
+    # 这些方法需要在注册表中添加，会作为ActionServer接受控制指令
+
+    def set_stir_speed(self, speed: float) -> str:
+
+        speed = float(speed)  # 确保传入的速度是浮点数
+
+        if speed < 0 or speed > self._max_stir_speed:
+            self._status = f"Error: Speed out of range (0-{self._max_stir_speed})"
+            return "Error"
+
+        self._target_stir_speed = speed
+        self._status = "Setting Stir Speed"
+
+        # 如果设置了非零速度，启动搅拌
+        if speed > 0:
+            self._stir_state = "Running"
+        else:
+            self._stir_state = "Stopped"
+
+        return "Success"
+
+    def set_temperature(self, temperature: float) -> str:
+        temperature = float(temperature)  # 确保传入的温度是浮点数
+
+        if temperature < 0 or temperature > self._max_temperature:
+            self._status = f"Error: Temperature out of range (0-{self._max_temperature})"
+            return "Error"
+
+        self._target_temperature = temperature
+        self._status = "Setting Temperature"
+
+        return "Success"
+
+    def start_stirring(self) -> str:
+
+        if self._target_stir_speed <= 0:
+            self._status = "Error: No target speed set"
+            return "Error"
+
+        self._stir_state = "Running"
+        self._status = "Stirring Started"
+        return "Success"
+
+    def stop_stirring(self) -> str:
+        self._stir_state = "Stopped"
+        self._target_stir_speed = 0.0
+        self._status = "Stirring Stopped"
+        return "Success"
+
+    def heating_control(self, heating_state: str = "On") -> str:
+
+        if heating_state not in ["On", "Off"]:
+            self._status = "Error: Invalid heating state"
+            return "Error"
+
+        self._heating_state = heating_state
+
+        if heating_state == "On":
+            self._status = "Heating On"
+        else:
+            self._status = "Heating Off"
+            self._heating_power = 0.0
+
+        return "Success"
+
+    def stop_all_operations(self) -> str:
+        self._stir_state = "Stopped"
+        self._heating_state = "Off"
+        self._stop_operation()
+        self._stir_speed = 0.0
+        self._target_stir_speed = 0.0
+        self._heating_power = 0.0
+        self._status = "All operations stopped"
+        return "Success"
+
+    def emergency_stop(self) -> str:
+        """
+        紧急停止
+
+        Returns:
+            str: 操作结果状态 ("Success", "Error")
+        """
+        self._status = "Emergency Stop"
+        self.stop_all_operations()
+        return "Success"
+
+    # ==================== 内部控制方法 ====================
+
+    def _start_operation(self):
+        with self._thread_lock:
+            if not self._running:
+                self._running = True
+                self._operation_thread = threading.Thread(target=self._operation_loop)
+                self._operation_thread.daemon = True
+                self._operation_thread.start()
+
+    def _stop_operation(self):
+        """
+        停止操作线程
+
+        安全地停止后台运行线程并等待其完成。
+        """
+        with self._thread_lock:
+            self._running = False
+            if self._operation_thread and self._operation_thread.is_alive():
+                self._operation_thread.join(timeout=2.0)
+
+    def _operation_loop(self):
+        while self._running:
+            try:
+                # 处理搅拌速度控制
+                if self._stir_state == "Running":
+                    speed_diff = self._target_stir_speed - self._stir_speed
+
+                    if abs(speed_diff) < 1.0:  # 速度接近目标值
+                        self._stir_speed = self._target_stir_speed
+                        if self._stir_speed > 0:
+                            self._status = "Stirring at Target Speed"
+                    else:
+                        # 模拟速度调节，每秒调整10%的差值
+                        adjustment = speed_diff * 0.1
+                        self._stir_speed += adjustment
+                        self._status = "Adjusting Stir Speed"
+
+                    # 确保速度在合理范围内
+                    self._stir_speed = max(0.0, min(self._max_stir_speed, self._stir_speed))
+                else:
+                    # 搅拌停止时，速度逐渐降为0
+                    if self._stir_speed > 0:
+                        self._stir_speed = max(0.0, self._stir_speed - 50.0)  # 每秒减少50rpm
+
+                # 处理温度控制
+                if self._heating_state == "On":
+                    temp_diff = self._target_temperature - self._temperature
+
+                    if abs(temp_diff) < 0.5:  # 温度接近目标值
+                        self._heating_power = 20.0  # 维持温度的最小功率
+                    elif temp_diff > 0:  # 需要加热
+                        # 根据温差调整加热功率
+                        if temp_diff > 50:
+                            self._heating_power = 100.0
+                        elif temp_diff > 20:
+                            self._heating_power = 80.0
+                        elif temp_diff > 10:
+                            self._heating_power = 60.0
+                        else:
+                            self._heating_power = 40.0
+
+                        # 模拟加热过程
+                        heating_rate = self._heating_power / 100.0 * 1.5  # 最大每秒升温1.5度
+                        self._temperature += heating_rate
+                    else:  # 目标温度低于当前温度
+                        self._heating_power = 0.0
+                        # 自然冷却
+                        self._temperature -= 0.1
+                else:
+                    self._heating_power = 0.0
+                    # 自然冷却到室温
+                    if self._temperature > 25.0:
+                        self._temperature -= 0.2
+
+                # 限制温度范围
+                self._temperature = max(20.0, min(self._max_temperature, self._temperature))
+
+                # 更新整体状态
+                if self._stir_state == "Running" and self._heating_state == "On":
+                    self._status = "Stirring and Heating"
+                elif self._stir_state == "Running":
+                    self._status = "Stirring Only"
+                elif self._heating_state == "On":
+                    self._status = "Heating Only"
+                else:
+                    self._status = "Idle"
+
+                # 等待1秒后继续下一次循环
+                time.sleep(1.0)
+
+            except Exception as e:
+                self._status = f"Error in operation: {str(e)}"
+                break
+
+        # 循环结束时的清理工作
+            self._status = "Idle"
+
+    def get_status_info(self) -> dict:
+        return {
+            "status": self._status,
+            "stir_speed": self._stir_speed,
+            "target_stir_speed": self._target_stir_speed,
+            "stir_state": self._stir_state,
+            "temperature": self._temperature,
+            "target_temperature": self._target_temperature,
+            "heating_state": self._heating_state,
+            "heating_power": self._heating_power,
+            "max_stir_speed": self._max_stir_speed,
+            "max_temperature": self._max_temperature,
+        }
+
+
+# 用于测试的主函数
+if __name__ == "__main__":
+    stirrer = MockStirrer()
+
+    # 测试基本功能
+    print("启动搅拌器测试...")
+    print(f"初始状态: {stirrer.get_status_info()}")
+
+    # 设置搅拌速度和温度
+    stirrer.set_stir_speed(800.0)
+    stirrer.set_temperature(60.0)
+    stirrer.heating_control("On")
+
+    # 模拟运行15秒
+    for i in range(15):
+        time.sleep(1)
+        print(
+            f"第{i+1}秒: 速度={stirrer.stir_speed:.0f}rpm, 温度={stirrer.temperature:.1f}°C, "
+            f"功率={stirrer.heating_power:.1f}%, 状态={stirrer.status}"
+        )
+
+    stirrer.emergency_stop()
+    print("测试完成")

unilabos/devices/mock/mock_stirrer_new.py

@@ -0,0 +1,229 @@
+import time
+import threading
+from datetime import datetime, timedelta
+
+class MockStirrer_new:
+    def __init__(self, port: str = "MOCK"):
+        self.port = port
+
+        # 基本状态属性
+        self._status: str = "Idle"
+        self._vessel: str = ""
+        self._purpose: str = ""
+
+        # 搅拌相关属性
+        self._stir_speed: float = 0.0
+        self._target_stir_speed: float = 0.0
+        self._max_stir_speed: float = 2000.0
+        self._stir_state: str = "Stopped"
+        
+        # 计时相关
+        self._stir_time: float = 0.0
+        self._settling_time: float = 0.0
+        self._start_time = datetime.now()
+        self._time_remaining = timedelta()
+        
+        # 运行控制
+        self._operation_thread = None
+        self._running = False
+        self._thread_lock = threading.Lock()
+        
+        # 创建操作线程
+        self._operation_thread = threading.Thread(target=self._operation_loop)
+        self._operation_thread.daemon = True
+        self._operation_thread.start()
+
+    # ==================== 状态属性 ====================
+    @property
+    def status(self) -> str:
+        return self._status
+
+    @property
+    def stir_speed(self) -> float:
+        return self._stir_speed
+
+    @property
+    def target_stir_speed(self) -> float:
+        return self._target_stir_speed
+
+    @property
+    def stir_state(self) -> str:
+        return self._stir_state
+    
+    @property
+    def vessel(self) -> str:
+        return self._vessel
+
+    @property
+    def purpose(self) -> str:
+        return self._purpose
+
+    @property
+    def stir_time(self) -> float:
+        return self._stir_time
+
+    @property
+    def settling_time(self) -> float:
+        return self._settling_time
+
+    @property
+    def max_stir_speed(self) -> float:
+        return self._max_stir_speed
+        
+    @property
+    def progress(self) -> float:
+        """返回当前操作的进度（0-100）"""
+        if not self._running:
+            return 0.0
+        elapsed = (datetime.now() - self._start_time).total_seconds()
+        total_time = self._stir_time + self._settling_time
+        if total_time <= 0:
+            return 100.0
+        return min(100.0, (elapsed / total_time) * 100)
+
+    # ==================== Action Server 方法 ====================
+    def start_stir(self, vessel: str, stir_speed: float = 0.0, purpose: str = "") -> dict:
+        """
+        StartStir.action 对应的方法
+        """
+        with self._thread_lock:
+            if self._running:
+                return {
+                    "success": False,
+                    "message": "Operation already in progress"
+                }
+            
+            try:
+                # 重置所有参数
+                self._vessel = vessel
+                self._purpose = purpose
+                self._stir_time = 0.0  # 连续搅拌模式下不设置搅拌时间
+                self._settling_time = 0.0
+                self._start_time = datetime.now()  # 重置开始时间
+                
+                if stir_speed > 0:
+                    self._target_stir_speed = min(stir_speed, self._max_stir_speed)
+                
+                self._stir_state = "Running"
+                self._status = "Stirring Started"
+                self._running = True
+                
+                return {
+                    "success": True,
+                    "message": "Stirring started successfully"
+                }
+                
+            except Exception as e:
+                return {
+                    "success": False,
+                    "message": f"Error: {str(e)}"
+                }
+
+    def stir(self, stir_time: float, stir_speed: float, settling_time: float) -> dict:
+        """
+        Stir.action 对应的方法
+        """
+        with self._thread_lock:
+            try:
+                # 如果已经在运行，先停止当前操作
+                if self._running:
+                    self._running = False
+                    self._stir_state = "Stopped"
+                    self._target_stir_speed = 0.0
+                    time.sleep(0.1)  # 给一个短暂的停止时间
+            
+        
+                # 重置所有参数
+                self._stir_time = float(stir_time)
+                self._settling_time = float(settling_time)
+                self._target_stir_speed = min(float(stir_speed), self._max_stir_speed)
+                self._start_time = datetime.now()  # 重置开始时间
+                self._stir_state = "Running"
+                self._status = "Stirring"
+                self._running = True
+                
+                return {"success": True}
+                
+            except ValueError:
+                self._status = "Error: Invalid parameters"
+                return {"success": False}
+
+    def stop_stir(self, vessel: str) -> dict:
+        """
+        StopStir.action 对应的方法
+        """
+        with self._thread_lock:
+            if vessel != self._vessel:
+                return {
+                    "success": False,
+                    "message": "Vessel mismatch"
+                }
+            
+            self._running = False
+            self._stir_state = "Stopped"
+            self._target_stir_speed = 0.0
+            self._status = "Stirring Stopped"
+            
+            return {
+                "success": True,
+                "message": "Stirring stopped successfully"
+            }
+
+    # ==================== 内部控制方法 ====================
+
+    def _operation_loop(self):
+        """操作主循环"""
+        while True:
+            try:
+                current_time = datetime.now()
+                
+                with self._thread_lock:  # 添加锁保护
+                    if self._stir_state == "Running":
+                        # 实际搅拌逻辑
+                        speed_diff = self._target_stir_speed - self._stir_speed
+                        if abs(speed_diff) > 0.1:
+                            adjustment = speed_diff * 0.1
+                            self._stir_speed += adjustment
+                        else:
+                            self._stir_speed = self._target_stir_speed
+                        
+                        # 更新进度
+                        if self._running:
+                            if self._stir_time > 0:  # 定时搅拌模式
+                                elapsed = (current_time - self._start_time).total_seconds()
+                                if elapsed >= self._stir_time + self._settling_time:
+                                    self._running = False
+                                    self._stir_state = "Stopped"
+                                    self._target_stir_speed = 0.0
+                                    self._stir_speed = 0.0
+                                    self._status = "Stirring Complete"
+                                elif elapsed >= self._stir_time:
+                                    self._status = "Settling"
+                            else:  # 连续搅拌模式
+                                self._status = "Stirring"
+                    else:
+                        # 停止状态下慢慢降低速度
+                        if self._stir_speed > 0:
+                            self._stir_speed = max(0, self._stir_speed - 20.0)
+                
+                time.sleep(0.1)
+                        
+            except Exception as e:
+                print(f"Error in operation loop: {str(e)}")  # 添加错误输出
+                self._status = f"Error: {str(e)}"
+                time.sleep(1.0)  # 错误发生时等待较长时间
+
+    def get_status_info(self) -> dict:
+        """获取设备状态信息"""
+        return {
+            "status": self._status,
+            "vessel": self._vessel,
+            "purpose": self._purpose,
+            "stir_speed": self._stir_speed,
+            "target_stir_speed": self._target_stir_speed,
+            "stir_state": self._stir_state,
+            "stir_time": self._stir_time,         # 添加
+            "settling_time": self._settling_time,  # 添加
+            "progress": self.progress,
+            "max_stir_speed": self._max_stir_speed
+        }

unilabos/devices/mock/mock_vacuum.py

@@ -0,0 +1,410 @@
+import time
+import threading
+
+
+class MockVacuum:
+    """
+    模拟真空泵设备类
+
+    这个类模拟了一个实验室真空泵的行为，包括真空度控制、
+    压力监测、运行状态管理等功能。参考了现有的 VacuumPumpMock 实现。
+    """
+
+    def __init__(self, port: str = "MOCK"):
+        """
+        初始化MockVacuum实例
+
+        Args:
+            port (str): 设备端口，默认为"MOCK"表示模拟设备
+        """
+        self.port = port
+
+        # 设备基本状态属性
+        self._status: str = "Idle"  # 设备状态：Idle, Running, Error, Stopped
+        self._power_state: str = "Off"  # 电源状态：On, Off
+        self._pump_state: str = "Stopped"  # 泵运行状态：Running, Stopped, Paused
+
+        # 真空相关属性
+        self._vacuum_level: float = 1013.25  # 当前真空度 (mbar) - 大气压开始
+        self._target_vacuum: float = 50.0  # 目标真空度 (mbar)
+        self._min_vacuum: float = 1.0  # 最小真空度 (mbar)
+        self._max_vacuum: float = 1013.25  # 最大真空度 (mbar) - 大气压
+
+        # 泵性能相关属性
+        self._pump_speed: float = 0.0  # 泵速 (L/s)
+        self._max_pump_speed: float = 100.0  # 最大泵速 (L/s)
+        self._pump_efficiency: float = 95.0  # 泵效率百分比
+
+        # 运行控制线程
+        self._vacuum_thread = None
+        self._running = False
+        self._thread_lock = threading.Lock()
+
+    # ==================== 状态属性 ====================
+    # 这些属性会被Uni-Lab系统自动识别并定时对外广播
+
+    @property
+    def status(self) -> str:
+        """
+        设备状态 - 会被自动识别的设备属性
+
+        Returns:
+            str: 当前设备状态 (Idle, Running, Error, Stopped)
+        """
+        return self._status
+
+    @property
+    def power_state(self) -> str:
+        """
+        电源状态
+
+        Returns:
+            str: 电源状态 (On, Off)
+        """
+        return self._power_state
+
+    @property
+    def pump_state(self) -> str:
+        """
+        泵运行状态
+
+        Returns:
+            str: 泵状态 (Running, Stopped, Paused)
+        """
+        return self._pump_state
+
+    @property
+    def vacuum_level(self) -> float:
+        """
+        当前真空度
+
+        Returns:
+            float: 当前真空度 (mbar)
+        """
+        return self._vacuum_level
+
+    @property
+    def target_vacuum(self) -> float:
+        """
+        目标真空度
+
+        Returns:
+            float: 目标真空度 (mbar)
+        """
+        return self._target_vacuum
+
+    @property
+    def pump_speed(self) -> float:
+        """
+        泵速
+
+        Returns:
+            float: 泵速 (L/s)
+        """
+        return self._pump_speed
+
+    @property
+    def pump_efficiency(self) -> float:
+        """
+        泵效率
+
+        Returns:
+            float: 泵效率百分比
+        """
+        return self._pump_efficiency
+
+    @property
+    def max_pump_speed(self) -> float:
+        """
+        最大泵速
+
+        Returns:
+            float: 最大泵速 (L/s)
+        """
+        return self._max_pump_speed
+
+    # ==================== 设备控制方法 ====================
+    # 这些方法需要在注册表中添加，会作为ActionServer接受控制指令
+
+    def power_control(self, power_state: str = "On") -> str:
+        """
+        电源控制方法
+
+        Args:
+            power_state (str): 电源状态，可选值："On", "Off"
+
+        Returns:
+            str: 操作结果状态 ("Success", "Error")
+        """
+        if power_state not in ["On", "Off"]:
+            self._status = "Error: Invalid power state"
+            return "Error"
+
+        self._power_state = power_state
+
+        if power_state == "On":
+            self._status = "Power On"
+            self._start_vacuum_operation()
+        else:
+            self._status = "Power Off"
+            self.stop_vacuum()
+
+        return "Success"
+
+    def set_vacuum_level(self, vacuum_level: float) -> str:
+        """
+        设置目标真空度
+
+        Args:
+            vacuum_level (float): 目标真空度 (mbar)
+
+        Returns:
+            str: 操作结果状态 ("Success", "Error")
+        """
+        try:
+            vacuum_level = float(vacuum_level)
+        except ValueError:
+            self._status = "Error: Invalid vacuum level"
+            return "Error"
+        if self._power_state != "On":
+            self._status = "Error: Power Off"
+            return "Error"
+
+        if vacuum_level < self._min_vacuum or vacuum_level > self._max_vacuum:
+            self._status = f"Error: Vacuum level out of range ({self._min_vacuum}-{self._max_vacuum})"
+            return "Error"
+
+        self._target_vacuum = vacuum_level
+        self._status = "Setting Vacuum Level"
+
+        return "Success"
+
+    def start_vacuum(self) -> str:
+        """
+        启动真空泵
+
+        Returns:
+            str: 操作结果状态 ("Success", "Error")
+        """
+        if self._power_state != "On":
+            self._status = "Error: Power Off"
+            return "Error"
+
+        self._pump_state = "Running"
+        self._status = "Starting Vacuum Pump"
+        self._start_vacuum_operation()
+
+        return "Success"
+
+    def stop_vacuum(self) -> str:
+        """
+        停止真空泵
+
+        Returns:
+            str: 操作结果状态 ("Success", "Error")
+        """
+        self._pump_state = "Stopped"
+        self._status = "Stopping Vacuum Pump"
+        self._stop_vacuum_operation()
+        self._pump_speed = 0.0
+
+        return "Success"
+
+    def pause_vacuum(self) -> str:
+        """
+        暂停真空泵
+
+        Returns:
+            str: 操作结果状态 ("Success", "Error")
+        """
+        if self._pump_state != "Running":
+            self._status = "Error: Pump not running"
+            return "Error"
+
+        self._pump_state = "Paused"
+        self._status = "Vacuum Pump Paused"
+        self._stop_vacuum_operation()
+
+        return "Success"
+
+    def resume_vacuum(self) -> str:
+        """
+        恢复真空泵运行
+
+        Returns:
+            str: 操作结果状态 ("Success", "Error")
+        """
+        if self._pump_state != "Paused":
+            self._status = "Error: Pump not paused"
+            return "Error"
+
+        if self._power_state != "On":
+            self._status = "Error: Power Off"
+            return "Error"
+
+        self._pump_state = "Running"
+        self._status = "Resuming Vacuum Pump"
+        self._start_vacuum_operation()
+
+        return "Success"
+
+    def vent_to_atmosphere(self) -> str:
+        """
+        通大气 - 将真空度恢复到大气压
+
+        Returns:
+            str: 操作结果状态 ("Success", "Error")
+        """
+        self._target_vacuum = self._max_vacuum  # 设置为大气压
+        self._status = "Venting to Atmosphere"
+        return "Success"
+
+    def emergency_stop(self) -> str:
+        """
+        紧急停止
+
+        Returns:
+            str: 操作结果状态 ("Success", "Error")
+        """
+        self._status = "Emergency Stop"
+        self._pump_state = "Stopped"
+        self._stop_vacuum_operation()
+        self._pump_speed = 0.0
+
+        return "Success"
+
+    # ==================== 内部控制方法 ====================
+
+    def _start_vacuum_operation(self):
+        """
+        启动真空操作线程
+
+        这个方法启动一个后台线程来模拟真空泵的实际运行过程。
+        """
+        with self._thread_lock:
+            if not self._running and self._power_state == "On":
+                self._running = True
+                self._vacuum_thread = threading.Thread(target=self._vacuum_operation_loop)
+                self._vacuum_thread.daemon = True
+                self._vacuum_thread.start()
+
+    def _stop_vacuum_operation(self):
+        """
+        停止真空操作线程
+
+        安全地停止后台运行线程并等待其完成。
+        """
+        with self._thread_lock:
+            self._running = False
+            if self._vacuum_thread and self._vacuum_thread.is_alive():
+                self._vacuum_thread.join(timeout=2.0)
+
+    def _vacuum_operation_loop(self):
+        """
+        真空操作主循环
+
+        这个方法在后台线程中运行，模拟真空泵的工作过程：
+          1. 检查电源状态和运行状态
+          2. 如果泵状态为 "Running"，根据目标真空调整泵速和真空度
+          3. 否则等待
+        """
+        while self._running and self._power_state == "On":
+            try:
+                with self._thread_lock:
+                    # 只有泵状态为 Running 时才进行更新
+                    if self._pump_state == "Running":
+                        vacuum_diff = self._vacuum_level - self._target_vacuum
+
+                        if abs(vacuum_diff) < 1.0:  # 真空度接近目标值
+                            self._status = "At Target Vacuum"
+                            self._pump_speed = self._max_pump_speed * 0.2  # 维持真空的最小泵速
+                        elif vacuum_diff > 0:  # 需要抽真空（降低压力）
+                            self._status = "Pumping Down"
+                            if vacuum_diff > 500:
+                                self._pump_speed = self._max_pump_speed
+                            elif vacuum_diff > 100:
+                                self._pump_speed = self._max_pump_speed * 0.8
+                            elif vacuum_diff > 50:
+                                self._pump_speed = self._max_pump_speed * 0.6
+                            else:
+                                self._pump_speed = self._max_pump_speed * 0.4
+
+                            # 根据泵速和效率计算真空降幅
+                            pump_rate = (self._pump_speed / self._max_pump_speed) * self._pump_efficiency / 100.0
+                            vacuum_reduction = pump_rate * 10.0  # 每秒最大降低10 mbar
+                            self._vacuum_level = max(self._target_vacuum, self._vacuum_level - vacuum_reduction)
+                        else:  # 目标真空度高于当前值，需要通气
+                            self._status = "Venting"
+                            self._pump_speed = 0.0
+                            self._vacuum_level = min(self._target_vacuum, self._vacuum_level + 5.0)
+
+                        # 限制真空度范围
+                        self._vacuum_level = max(self._min_vacuum, min(self._max_vacuum, self._vacuum_level))
+                    else:
+                        # 当泵状态不是 Running 时，可保持原状态
+                        self._status = "Vacuum Pump Not Running"
+                # 释放锁后等待1秒钟
+                time.sleep(1.0)
+            except Exception as e:
+                with self._thread_lock:
+                    self._status = f"Error in vacuum operation: {str(e)}"
+                break
+
+        # 循环结束后的清理工作
+        if self._pump_state == "Running":
+            self._status = "Idle"
+            # 停止泵后，真空度逐渐回升到大气压
+            while self._vacuum_level < self._max_vacuum * 0.9:
+                with self._thread_lock:
+                    self._vacuum_level += 2.0
+                time.sleep(0.1)
+
+    def get_status_info(self) -> dict:
+        """
+        获取完整的设备状态信息
+
+        Returns:
+            dict: 包含所有设备状态的字典
+        """
+        return {
+            "status": self._status,
+            "power_state": self._power_state,
+            "pump_state": self._pump_state,
+            "vacuum_level": self._vacuum_level,
+            "target_vacuum": self._target_vacuum,
+            "pump_speed": self._pump_speed,
+            "pump_efficiency": self._pump_efficiency,
+            "max_pump_speed": self._max_pump_speed,
+        }
+
+
+# 用于测试的主函数
+if __name__ == "__main__":
+    vacuum = MockVacuum()
+
+    # 测试基本功能
+    print("启动真空泵测试...")
+    vacuum.power_control("On")
+    print(f"初始状态: {vacuum.get_status_info()}")
+
+    # 设置目标真空度并启动
+    vacuum.set_vacuum_level(10.0)  # 设置为10mbar
+    vacuum.start_vacuum()
+
+    # 模拟运行15秒
+    for i in range(15):
+        time.sleep(1)
+        print(
+            f"第{i+1}秒: 真空度={vacuum.vacuum_level:.1f}mbar, 泵速={vacuum.pump_speed:.1f}L/s, 状态={vacuum.status}"
+        )
+        # 测试通大气
+    print("测试通大气...")
+    vacuum.vent_to_atmosphere()
+
+    # 继续运行5秒观察通大气过程
+    for i in range(5):
+        time.sleep(1)
+        print(f"通大气第{i+1}秒: 真空度={vacuum.vacuum_level:.1f}mbar, 状态={vacuum.status}")
+
+    vacuum.emergency_stop()
+    print("测试完成")

unilabos/registry/devices/mock_devices.yaml

@@ -0,0 +1,892 @@
+mock_chiller:
+  description: Mock Chiller Device
+  class:
+    module: unilabos.devices.mock.mock_chiller:MockChiller
+    type: python
+    status_types:
+      current_temperature: Float64
+      target_temperature: Float64
+      status: String
+      is_cooling: Bool
+      is_heating: Bool
+      vessel: String         # 新增
+      purpose: String        # 新增
+    action_value_mappings:
+      emergency_stop:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+      heat_chill_start:
+        type: HeatChillStart
+        goal:
+          vessel: vessel
+          temp: temp
+          purpose: purpose
+        feedback: {}
+        result:
+          success: success
+          status: status
+      heat_chill_stop:
+        type: HeatChillStop
+        goal:
+          vessel: vessel
+        feedback: {}
+        result:
+          success: success
+          status: status
+  schema:
+    type: object
+    properties:
+      current_temperature:
+        type: number
+        description: Current temperature of the chiller in °C
+      target_temperature:
+        type: number
+        description: Target temperature setting in °C
+      status:
+        type: string
+        description: Current status of the device
+      is_cooling:
+        type: boolean
+        description: Whether the device is actively cooling
+      is_heating:
+        type: boolean
+        description: Whether the device is actively heating
+      vessel:                # 新增
+        type: string
+        description: Current vessel being processed
+      purpose:               # 新增
+        type: string
+        description: Purpose of the current operation
+    required:
+    - current_temperature
+    - target_temperature
+    - status
+    - vessel
+    - purpose
+    additionalProperties: false
+mock_filter:
+  description: Mock Filter Device
+  class:
+    module: unilabos.devices.mock.mock_filter:MockFilter
+    type: python
+    status_types:
+      status: String
+      is_filtering: Bool
+      flow_rate: Float64
+      pressure_drop: Float64
+      filter_life: Float64
+      vessel: String
+      filtrate_vessel: String
+      filtered_volume: Float64
+      progress: Float64
+      stir: Bool
+      stir_speed: Float64
+      temperature: Float64
+      continue_heatchill: Bool
+      target_volume: Float64
+    action_value_mappings:
+      filter:
+        type: Filter
+        goal:
+          vessel: vessel
+          filtrate_vessel: filtrate_vessel
+          stir: stir
+          stir_speed: stir_speed
+          temp: temp
+          continue_heatchill: continue_heatchill
+          volume: volume
+        feedback:
+          progress: progress
+          current_temp: current_temp
+          filtered_volume: filtered_volume
+          current_status: current_status
+        result:
+          success: success
+          message: message
+      stop_filtering:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+      replace_filter:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+  schema:
+    type: object
+    properties:
+      status:
+        type: string
+        description: Current status of the filter
+      is_filtering:
+        type: boolean
+        description: Whether the filter is actively filtering
+      flow_rate:
+        type: number
+        description: Current flow rate in L/min
+      pressure_drop:
+        type: number
+        description: Pressure drop across the filter in Pa
+      filter_life:
+        type: number
+        description: Remaining filter life percentage
+      power_on:
+        type: boolean
+        description: Power state of the device
+    required:
+    - status
+    - is_filtering
+    - flow_rate
+    - filter_life
+    - vessel
+    - filtrate_vessel
+    - filtered_volume
+    - progress
+    additionalProperties: false
+mock_heater:
+  description: Mock Heater Device
+  class:
+    module: unilabos.devices.mock.mock_heater:MockHeater
+    type: python
+    status_types:
+      current_temperature: Float64
+      target_temperature: Float64
+      status: String
+      is_heating: Bool
+      heating_power: Float64
+      max_temperature: Float64
+      vessel: String
+      purpose: String
+      stir: Bool
+      stir_speed: Float64
+    action_value_mappings:
+      heat_chill_start:
+        type: HeatChillStart
+        goal:
+          vessel: vessel
+          temp: temp
+          purpose: purpose
+        feedback:
+          status: status
+        result:
+          success: success
+      heat_chill_stop:
+        type: HeatChillStop
+        goal:
+          vessel: vessel
+        feedback:
+          status: status
+        result:
+          success: success
+      heat_chill:
+        type: HeatChill
+        goal:
+          vessel: vessel
+          temp: temp
+          time: time
+          stir: stir
+          stir_speed: stir_speed
+          purpose: purpose
+        feedback:
+          status: status
+        result:
+          success: success
+      emergency_stop:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+  schema:
+    type: object
+    properties:
+      current_temperature:
+        type: number
+        description: Current temperature of the heater in °C
+      target_temperature:
+        type: number
+        description: Target temperature setting in °C
+      status:
+        type: string
+        description: Current status of the device
+      is_heating:
+        type: boolean
+        description: Whether the device is actively heating
+      heating_power:
+        type: number
+        description: Current heating power percentage
+      max_temperature:
+        type: number
+        description: Maximum temperature limit
+      vessel:
+        type: string
+        description: Current vessel being heated
+      purpose:
+        type: string
+        description: Purpose of the heating operation
+      stir:
+        type: boolean
+        description: Whether stirring is enabled
+      stir_speed:
+        type: number
+        description: Current stirring speed
+    required:
+    - current_temperature
+    - target_temperature
+    - status
+    - vessel
+    - purpose
+    additionalProperties: false
+mock_pump:
+  description: Mock Pump Device
+  class:
+    module: unilabos.devices.mock.mock_pump:MockPump
+    type: python
+    status_types:
+      status: String
+      pump_state: String
+      flow_rate: Float64
+      target_flow_rate: Float64
+      pressure: Float64
+      total_volume: Float64
+      max_flow_rate: Float64
+      max_pressure: Float64
+      from_vessel: String
+      to_vessel: String
+      transfer_volume: Float64
+      amount: String
+      transfer_time: Float64
+      is_viscous: Bool
+      rinsing_solvent: String
+      rinsing_volume: Float64
+      rinsing_repeats: Int32
+      is_solid: Bool
+      time_spent: Float64
+      time_remaining: Float64
+      current_device: String
+    action_value_mappings:
+      pump_transfer:
+          type: PumpTransfer
+          goal:
+            from_vessel: from_vessel
+            to_vessel: to_vessel
+            volume: volume
+            amount: amount
+            time: time
+            viscous: viscous
+            rinsing_solvent: rinsing_solvent
+            rinsing_volume: rinsing_volume
+            rinsing_repeats: rinsing_repeats
+            solid: solid
+          feedback:
+            status: status
+            current_device: current_device
+            time_spent: time_spent
+            time_remaining: time_remaining
+          result:
+            success: success
+      pause_pump:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+      resume_pump:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+      reset_volume_counter:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+  schema:
+    type: object
+    properties:
+      status:
+        type: string
+        description: Current status of the pump
+      pump_state:
+        type: string
+        description: Pump operation state (Running/Stopped/Paused)
+      flow_rate:
+        type: number
+        description: Current flow rate in mL/min
+      target_flow_rate:
+        type: number
+        description: Target flow rate in mL/min
+      pressure:
+        type: number
+        description: Current pressure in bar
+      total_volume:
+        type: number
+        description: Total accumulated volume in mL
+      max_flow_rate:
+        type: number
+        description: Maximum flow rate in mL/min
+      max_pressure:
+        type: number
+        description: Maximum pressure in bar
+      from_vessel:
+        type: string
+        description: Source vessel for transfer
+      to_vessel:
+        type: string
+        description: Target vessel for transfer
+      transfer_volume:
+        type: number
+        description: Volume to transfer in mL
+      amount:
+        type: string
+        description: Amount description
+      transfer_time:
+        type: number
+        description: Transfer time in seconds
+      is_viscous:
+        type: boolean
+        description: Whether the liquid is viscous
+      rinsing_solvent:
+        type: string
+        description: Solvent used for rinsing
+      rinsing_volume:
+        type: number
+        description: Volume used for rinsing
+      rinsing_repeats:
+        type: integer
+        description: Number of rinsing cycles
+      is_solid:
+        type: boolean
+        description: Whether transferring solid material
+      current_device:
+        type: string
+        description: Current device identifier
+    required:
+    - status
+    - pump_state
+    - flow_rate
+    - from_vessel
+    - to_vessel
+    additionalProperties: false
+mock_rotavap:
+  description: Mock Rotavap Device
+  class:
+    module: unilabos.devices.mock.mock_rotavap:MockRotavap
+    type: python
+    status_types:
+      status: String
+      rotate_state: String
+      rotate_time: Float64
+      rotate_speed: Float64
+      pump_state: String
+      pump_time: Float64
+      vacuum_level: Float64
+      temperature: Float64
+      target_temperature: Float64
+      success: String
+    action_value_mappings:
+      set_timer:
+        type: StrSingleInput
+        goal:
+          string: command
+        feedback: {}
+        result:
+          success: success
+      set_rotate_time:
+        type: FloatSingleInput
+        goal:
+          float_in: time_seconds
+        feedback: {}
+        result:
+          success: success
+      set_pump_time:
+        type: FloatSingleInput
+        goal:
+          float_in: time_seconds
+        feedback: {}
+        result:
+          success: success
+      set_rotate_speed:
+        type: FloatSingleInput
+        goal:
+          float_in: speed
+        feedback: {}
+        result:
+          success: success
+      set_temperature:
+        type: FloatSingleInput
+        goal:
+          float_in: temperature
+        feedback: {}
+        result:
+          success: success
+      start_rotation:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+      start_pump:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+  schema:
+    type: object
+    properties:
+      status:
+        type: string
+        description: Current status of the rotavap
+      rotate_state:
+        type: string
+        description: Rotation state (Running/Stopped)
+      rotate_time:
+        type: number
+        description: Remaining rotation time in seconds
+      rotate_speed:
+        type: number
+        description: Rotation speed in rpm
+      pump_state:
+        type: string
+        description: Pump state (Running/Stopped)
+      pump_time:
+        type: number
+        description: Remaining pump time in seconds
+      vacuum_level:
+        type: number
+        description: Current vacuum level in mbar
+      temperature:
+        type: number
+        description: Current water bath temperature
+      target_temperature:
+        type: number
+        description: Target water bath temperature
+      success:
+        type: string
+        description: Operation success status
+    required:
+    - status
+    - rotate_time
+    - pump_time
+    - temperature
+    additionalProperties: false
+mock_separator:
+  description: Simplified Mock Separator Device
+  class:
+    module: unilabos.devices.mock.mock_separator:MockSeparator
+    type: python
+    status_types:
+      status: String
+      settling_time: Float64
+      valve_state: String
+      shake_time: Float64
+      shake_status: String
+      current_device: String
+      purpose: String
+      product_phase: String
+      from_vessel: String
+      separation_vessel: String
+      to_vessel: String
+      waste_phase_to_vessel: String
+      solvent: String
+      solvent_volume: Float64
+      through: String
+      repeats: Int32
+      stir_time: Float64
+      stir_speed: Float64
+      time_spent: Float64
+      time_remaining: Float64
+    action_value_mappings:
+      separate:
+        type: Separate
+        goal:
+          purpose: purpose
+          product_phase: product_phase
+          from_vessel: from_vessel
+          separation_vessel: separation_vessel
+          to_vessel: to_vessel
+          waste_phase_to_vessel: waste_phase_to_vessel
+          solvent: solvent
+          solvent_volume: solvent_volume
+          through: through
+          repeats: repeats
+          stir_time: stir_time
+          stir_speed: stir_speed
+          settling_time: settling_time
+        feedback:
+          status: status
+          current_device: current_device
+          time_spent: time_spent
+          time_remaining: time_remaining
+        result:
+          success: success
+      shake:
+        type: FloatSingleInput
+        goal:
+          float_in: shake_time
+        feedback:
+          status: status
+        result:
+          success: success
+      stop_operations:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+      set_valve:
+        type: StrSingleInput
+        goal:
+          string: command
+        feedback: {}
+        result:
+          success: success
+  schema:
+    type: object
+    properties:
+      status:
+        type: string
+        description: Current status of the separator
+      settling_time:
+        type: number
+        description: Settling time in seconds
+      valve_state:
+        type: string
+        description: Valve state (Open/Closed)
+      shake_time:
+        type: number
+        description: Remaining shake time in seconds
+      shake_status:
+        type: string
+        description: Current shake state
+      purpose:
+        type: string
+        description: Separation purpose (wash/extract)
+      product_phase:
+        type: string
+        description: Product phase (top/bottom)
+      from_vessel:
+        type: string
+        description: Source vessel
+      separation_vessel:
+        type: string
+        description: Vessel for separation
+      to_vessel:
+        type: string
+        description: Target vessel
+    required:
+    - status
+    - valve_state
+    - shake_status
+    - current_device
+    additionalProperties: false
+mock_solenoid_valve:
+  description: Mock Solenoid Valve Device
+  class:
+    module: unilabos.devices.mock.mock_solenoid_valve:MockSolenoidValve
+    type: python
+    status_types:
+      status: String
+      valve_status: String
+    action_value_mappings:
+      set_valve_status:
+        type: StrSingleInput
+        goal:
+          string: status
+        feedback: {}
+        result:
+          success: success
+      open_valve:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+      close_valve:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+  schema:
+    type: object
+    properties:
+      status:
+        type: string
+        description: Current status of the valve
+      valve_status:
+        type: string
+        description: Valve status (Open/Closed)
+    required:
+    - status
+    - valve_status
+    additionalProperties: false
+mock_stirrer:
+  description: Mock Stirrer Device
+  class:
+    module: unilabos.devices.mock.mock_stirrer:MockStirrer
+    type: python
+    status_types:
+      status: String
+      stir_speed: Float64
+      target_stir_speed: Float64
+      stir_state: String
+      temperature: Float64
+      target_temperature: Float64
+      heating_state: String
+      heating_power: Float64
+      max_stir_speed: Float64
+      max_temperature: Float64
+    action_value_mappings:
+      set_stir_speed:
+        type: FloatSingleInput
+        goal:
+          float_in: speed
+        feedback: {}
+        result:
+          success: success
+      set_temperature:
+        type: FloatSingleInput
+        goal:
+          float_in: temperature
+        feedback: {}
+        result:
+          success: success
+      start_stirring:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+      stop_stirring:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+      heating_control:
+        type: StrSingleInput
+        goal:
+          string: heating_state
+        feedback: {}
+        result:
+          success: success
+  schema:
+    type: object
+    properties:
+      status:
+        type: string
+        description: Current status of the stirrer
+      stir_speed:
+        type: number
+        description: Current stirring speed in rpm
+      target_stir_speed:
+        type: number
+        description: Target stirring speed in rpm
+      stir_state:
+        type: string
+        description: Stirring state (Running/Stopped)
+      temperature:
+        type: number
+        description: Current temperature in °C
+      target_temperature:
+        type: number
+        description: Target temperature in °C
+      heating_state:
+        type: string
+        description: Heating state (On/Off)
+      heating_power:
+        type: number
+        description: Current heating power percentage
+      max_stir_speed:
+        type: number
+        description: Maximum stirring speed in rpm
+      max_temperature:
+        type: number
+        description: Maximum temperature in °C
+    required:
+    - status
+    - stir_speed
+    - temperature
+    - power_state
+    additionalProperties: false
+mock_stirrer_new:
+  description: Mock Stirrer Device (Copy Version)
+  class:
+    module: unilabos.devices.mock.mock_stirrer_new:MockStirrer_new
+    type: python
+    status_types:
+      status: String
+      vessel: String
+      purpose: String
+      stir_speed: Float64
+      target_stir_speed: Float64
+      stir_state: String
+      stir_time: Float64
+      settling_time: Float64
+      progress: Float64
+      max_stir_speed: Float64
+    action_value_mappings:
+      start_stir:
+        type: StartStir
+        goal:
+          vessel: vessel
+          stir_speed: stir_speed
+          purpose: purpose
+        feedback:
+          progress: progress
+          current_speed: stir_speed
+          current_status: status
+        result:
+          success: success
+          message: message
+      stir:
+        type: Stir
+        goal:
+          stir_time: stir_time
+          stir_speed: stir_speed
+          settling_time: settling_time
+        feedback:
+          status: status
+        result:
+          success: success
+      stop_stir:
+        type: StopStir
+        goal:
+          vessel: vessel
+        feedback:
+          progress: progress
+          current_status: status
+        result:
+          success: success
+          message: message
+  schema:
+    type: object
+    properties:
+      status:
+        type: string
+      vessel:
+        type: string
+      purpose:
+        type: string
+      stir_speed:
+        type: number
+      target_stir_speed:
+        type: number
+      stir_state:
+        type: string
+      stir_time:
+        type: number
+      settling_time:
+        type: number
+      progress:
+        type: number
+      max_stir_speed:
+        type: number
+    required:
+    - status
+    - stir_speed
+    - stir_state
+    - vessel
+    additionalProperties: false
+mock_vacuum:
+  description: Mock Vacuum Pump Device
+  class:
+    module: unilabos.devices.mock.mock_vacuum:MockVacuum
+    type: python
+    status_types:
+      status: String
+      power_state: String
+      pump_state: String
+      vacuum_level: Float64
+      target_vacuum: Float64
+      pump_speed: Float64
+      pump_efficiency: Float64
+      max_pump_speed: Float64
+    action_value_mappings:
+      power_control:
+        type: StrSingleInput
+        goal:
+          string: power_state
+        feedback: {}
+        result:
+          success: success
+      set_vacuum_level:
+        type: FloatSingleInput
+        goal:
+          float_in: vacuum_level
+        feedback: {}
+        result:
+          success: success
+      start_vacuum:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+      stop_vacuum:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+      pause_vacuum:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+      resume_vacuum:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+      vent_to_atmosphere:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result:
+          success: success
+  schema:
+    type: object
+    properties:
+      status:
+        type: string
+        description: Current status of the vacuum pump
+      power_state:
+        type: string
+        description: Power state (On/Off)
+      pump_state:
+        type: string
+        description: Pump operation state (Running/Stopped/Paused)
+      vacuum_level:
+        type: number
+        description: Current vacuum level in mbar
+      target_vacuum:
+        type: number
+        description: Target vacuum level in mbar
+      pump_speed:
+        type: number
+        description: Current pump speed in L/s
+      pump_efficiency:
+        type: number
+        description: Pump efficiency percentage
+      max_pump_speed:
+        type: number
+        description: Maximum pump speed in L/s
+    required:
+    - status
+    - power_state
+    - pump_state
+    - vacuum_level
+    additionalProperties: false

unilabos_msgs/CMakeLists.txt

@@ -28,7 +28,17 @@ set(action_files
   "action/HeatChill.action"
   "action/HeatChillStart.action"
   "action/HeatChillStop.action"
-
+  "action/Filter.action"
+  "action/Add.action"
+  "action/Centrifuge.action"
+  "action/Crystallize.action"
+  "action/Dry.action"
+  "action/Purge.action"
+  "action/StartPurge.action"
+  "action/StartStir.action"
+  "action/StopPurge.action"
+  "action/StopStir.action"
+  "action/Transfer.action"
   "action/LiquidHandlerAspirate.action"
   "action/LiquidHandlerDiscardTips.action"
   "action/LiquidHandlerDispense.action"

unilabos_msgs/action/Add.action

@@ -0,0 +1,19 @@
+# Goal - 添加试剂的目标参数  
+string vessel                    # 目标容器  
+string reagent                   # 试剂名称  
+float64 volume                   # 体积 (可选)  
+float64 mass                     # 质量 (可选)    
+string amount                    # 数量描述 (可选)  
+float64 time                     # 添加时间 (可选)  
+bool stir                        # 是否搅拌  
+float64 stir_speed              # 搅拌速度 (可选)  
+bool viscous                     # 是否为粘性液体  
+string purpose                   # 添加目的 (可选)  
+---
+# Result - 操作结果  
+bool success                     # 操作是否成功  
+string message                   # 结果消息  
+---
+# Feedback - 实时反馈  
+float64 progress                 # 进度百分比 (0-100)  
+string current_status           # 当前状态描述

unilabos_msgs/action/Centrifuge.action

@@ -0,0 +1,15 @@
+# Goal - 离心操作的目标参数  
+string vessel                    # 离心容器  
+float64 speed                    # 离心速度 (rpm)  
+float64 time                     # 离心时间 (秒)  
+float64 temp                     # 温度 (可选，摄氏度)  
+---
+# Result - 操作结果  
+bool success                     # 操作是否成功  
+string message                   # 结果消息  
+---
+# Feedback - 实时反馈  
+float64 progress                 # 进度百分比 (0-100)  
+float64 current_speed           # 当前转速  
+float64 current_temp            # 当前温度  
+string current_status           # 当前状态描述

unilabos_msgs/action/Crystallize.action

@@ -0,0 +1,13 @@
+# Goal - 结晶操作的目标参数  
+string vessel                    # 结晶容器  
+float64 ramp_time               # 升温/降温时间 (可选，秒)  
+float64 ramp_temp               # 目标温度 (可选，摄氏度)   
+---
+# Result - 操作结果  
+bool success                     # 操作是否成功  
+string message                   # 结果消息  
+---
+# Feedback - 实时反馈  
+float64 progress                 # 进度百分比 (0-100)  
+float64 current_temp            # 当前温度  
+string current_status           # 当前状态描述

unilabos_msgs/action/Dry.action

@@ -0,0 +1,16 @@
+# Goal - 干燥操作的目标参数  
+string vessel                    # 干燥容器  
+float64 time                     # 干燥时间 (可选，秒)  
+float64 pressure                 # 压力 (可选，Pa)  
+float64 temp                     # 温度 (可选，摄氏度)  
+bool continue_heatchill          # 是否继续加热冷却  
+---
+# Result - 操作结果  
+bool success                     # 操作是否成功  
+string message                   # 结果消息  
+---
+# Feedback - 实时反馈  
+float64 progress                 # 进度百分比 (0-100)  
+float64 current_temp            # 当前温度  
+float64 current_pressure        # 当前压力  
+string current_status           # 当前状态描述

unilabos_msgs/action/Filter.action

@@ -0,0 +1,18 @@
+# Goal - 过滤操作的目标参数  
+string vessel                    # 过滤容器  
+string filtrate_vessel          # 滤液容器 (可选)  
+bool stir                        # 是否搅拌  
+float64 stir_speed              # 搅拌速度 (可选)  
+float64 temp                     # 温度 (可选，摄氏度)  
+bool continue_heatchill          # 是否继续加热冷却  
+float64 volume                   # 过滤体积 (可选)  
+---
+# Result - 操作结果  
+bool success                     # 操作是否成功  
+string message                   # 结果消息  
+---
+# Feedback - 实时反馈  
+float64 progress                 # 进度百分比 (0-100)  
+float64 current_temp            # 当前温度  
+float64 filtered_volume         # 已过滤体积  
+string current_status           # 当前状态描述

unilabos_msgs/action/Purge.action

@@ -0,0 +1,16 @@
+# Goal - 清洗/吹扫操作的目标参数  
+string vessel                    # 清洗容器  
+string gas                       # 清洗气体 (可选)  
+float64 time                     # 清洗时间 (可选，秒)  
+float64 pressure                 # 压力 (可选，Pa)  
+float64 flow_rate               # 流速 (可选，mL/min)  
+---
+# Result - 操作结果  
+bool success                     # 操作是否成功  
+string message                   # 结果消息  
+---
+# Feedback - 实时反馈  
+float64 progress                 # 进度百分比 (0-100)  
+float64 current_pressure        # 当前压力  
+float64 current_flow_rate       # 当前流速  
+string current_status           # 当前状态描述

unilabos_msgs/action/StartPurge.action

@@ -0,0 +1,15 @@
+# Goal - 启动清洗/吹扫操作的目标参数  
+string vessel                    # 清洗容器  
+string gas                       # 清洗气体 (可选)  
+float64 pressure                 # 压力 (可选，Pa)  
+float64 flow_rate               # 流速 (可选，mL/min)  
+---
+# Result - 操作结果  
+bool success                     # 操作是否成功  
+string message                   # 结果消息  
+---
+# Feedback - 实时反馈  
+float64 progress                 # 进度百分比 (0-100)  
+float64 current_pressure        # 当前压力  
+float64 current_flow_rate       # 当前流速  
+string current_status           # 当前状态描述

unilabos_msgs/action/StartStir.action

@@ -0,0 +1,13 @@
+# Goal - 启动搅拌操作的目标参数  
+string vessel                    # 搅拌容器  
+float64 stir_speed              # 搅拌速度 (可选，rpm)  
+string purpose                   # 搅拌目的 (可选)  
+---
+# Result - 操作结果  
+bool success                     # 操作是否成功  
+string message                   # 结果消息  
+---
+# Feedback - 实时反馈  
+float64 progress                 # 进度百分比 (0-100)  
+float64 current_speed           # 当前搅拌速度  
+string current_status           # 当前状态描述

unilabos_msgs/action/StopPurge.action

@@ -0,0 +1,10 @@
+# Goal - 停止清洗/吹扫操作的目标参数  
+string vessel                    # 清洗容器  
+---
+# Result - 操作结果  
+bool success                     # 操作是否成功  
+string message                   # 结果消息  
+---
+# Feedback - 实时反馈  
+float64 progress                 # 进度百分比 (0-100)  
+string current_status           # 当前状态描述

unilabos_msgs/action/StopStir.action

@@ -0,0 +1,10 @@
+# Goal - 停止搅拌操作的目标参数  
+string vessel                    # 搅拌容器  
+---
+# Result - 操作结果  
+bool success                     # 操作是否成功  
+string message                   # 结果消息  
+---
+# Feedback - 实时反馈  
+float64 progress                 # 进度百分比 (0-100)  
+string current_status           # 当前状态描述

unilabos_msgs/action/Transfer.action

@@ -0,0 +1,19 @@
+string from_vessel               # 源容器  
+string to_vessel                 # 目标容器  
+float64 volume                   # 转移体积 (可选)  
+string amount                    # 数量描述 (可选)  
+float64 time                     # 转移时间 (可选，秒)  
+bool viscous                     # 是否为粘性液体  
+string rinsing_solvent          # 冲洗溶剂 (可选)  
+float64 rinsing_volume          # 冲洗体积 (可选)  
+int32 rinsing_repeats           # 冲洗重复次数  
+bool solid                       # 是否涉及固体  
+---
+# Result - 操作结果  
+bool success                     # 操作是否成功  
+string message                   # 结果消息  
+---
+# Feedback - 实时反馈  
+float64 progress                 # 进度百分比 (0-100)  
+float64 transferred_volume      # 已转移体积  
+string current_status           # 当前状态描述