{
    "register_node_list_from_csv_path": {
        "path": "opcua_nodes_huairou.csv"
    },
    "create_flow": [
        {
            "name": "trigger_grab_action",
            "description": "触发反应罐及原料罐抓取动作",
            "parameters": ["reaction_tank_number", "raw_tank_number"],
            "action": [
                {
                    "init_function": {
                        "func_name": "init_grab_params",
                        "write_nodes": ["reaction_tank_number", "raw_tank_number"]
                    },
                    "start_function": {
                        "func_name": "start_grab",
                        "write_nodes": {"grab_trigger": true},
                        "condition_nodes": ["grab_complete"],
                        "stop_condition_expression": "grab_complete == True",
                        "timeout_seconds": 999999.0
                    },
                    "stop_function": {
                        "func_name": "stop_grab",
                        "write_nodes": {"grab_trigger": false}
                    }
                }
            ]
        },
        {
            "name": "trigger_post_processing",
            "description": "触发后处理动作",
            "parameters": ["atomization_fast_speed", "wash_slow_speed","injection_pump_suction_speed",
            "injection_pump_push_speed","raw_liquid_suction_count","first_wash_water_amount",
            "second_wash_water_amount","first_powder_mixing_time","second_powder_mixing_time",
            "first_powder_wash_count","second_powder_wash_count","initial_water_amount",
            "pre_filtration_mixing_time","atomization_pressure_kpa"],
            "action": [
                {
                    "init_function": {
                        "func_name": "init_post_processing_params",
                        "write_nodes": ["atomization_fast_speed", "wash_slow_speed","injection_pump_suction_speed",
                        "injection_pump_push_speed","raw_liquid_suction_count","first_wash_water_amount",
                        "second_wash_water_amount","first_powder_mixing_time","second_powder_mixing_time",
                        "first_powder_wash_count","second_powder_wash_count","initial_water_amount",
                        "pre_filtration_mixing_time","atomization_pressure_kpa"]
                    },
                    "start_function": {
                        "func_name": "start_post_processing",
                        "write_nodes": {"post_process_trigger": true},
                        "condition_nodes": ["post_process_complete"],
                        "stop_condition_expression": "post_process_complete == True",
                        "timeout_seconds": 999999.0
                    },
                    "stop_function": {
                        "func_name": "stop_post_processing",
                        "write_nodes": {"post_process_trigger": false}
                    }
                }
            ]
        },
        {
            "name": "trigger_cleaning_action",
            "description": "触发清洗及管路吹气动作",
            "parameters": ["nmp_outer_wall_cleaning_injection", "nmp_outer_wall_cleaning_count","nmp_outer_wall_cleaning_wait_time",
                            "nmp_outer_wall_cleaning_waste_time","nmp_inner_wall_cleaning_injection","nmp_inner_wall_cleaning_count",
                            "nmp_pump_cleaning_suction_count",
                            "nmp_inner_wall_cleaning_waste_time",
                            "nmp_stirrer_cleaning_injection",
                            "nmp_stirrer_cleaning_count",
                            "nmp_stirrer_cleaning_wait_time",
                            "nmp_stirrer_cleaning_waste_time",
                            "water_outer_wall_cleaning_injection",
                            "water_outer_wall_cleaning_count",
                            "water_outer_wall_cleaning_wait_time",
                            "water_outer_wall_cleaning_waste_time",
                            "water_inner_wall_cleaning_injection",
                            "water_inner_wall_cleaning_count",
                            "water_pump_cleaning_suction_count",
                            "water_inner_wall_cleaning_waste_time",
                            "water_stirrer_cleaning_injection",
                            "water_stirrer_cleaning_count",
                            "water_stirrer_cleaning_wait_time",
                            "water_stirrer_cleaning_waste_time",
                            "acetone_outer_wall_cleaning_injection",
                            "acetone_outer_wall_cleaning_count",
                            "acetone_outer_wall_cleaning_wait_time",
                            "acetone_outer_wall_cleaning_waste_time",
                            "acetone_inner_wall_cleaning_injection",
                            "acetone_inner_wall_cleaning_count",
                            "acetone_pump_cleaning_suction_count",
                            "acetone_inner_wall_cleaning_waste_time",
                            "acetone_stirrer_cleaning_injection",
                            "acetone_stirrer_cleaning_count",
                            "acetone_stirrer_cleaning_wait_time",
                            "acetone_stirrer_cleaning_waste_time",
                            "pipe_blowing_time",
                            "injection_pump_forward_empty_suction_count",
                            "injection_pump_reverse_empty_suction_count",
                            "filtration_liquid_selection"],
            "action": [
                {
                    "init_function": {
                        "func_name": "init_cleaning_params",
                        "write_nodes": ["nmp_outer_wall_cleaning_injection", "nmp_outer_wall_cleaning_count","nmp_outer_wall_cleaning_wait_time",
                        "nmp_outer_wall_cleaning_waste_time","nmp_inner_wall_cleaning_injection","nmp_inner_wall_cleaning_count",
                        "nmp_pump_cleaning_suction_count",
                        "nmp_inner_wall_cleaning_waste_time",
                        "nmp_stirrer_cleaning_injection",
                        "nmp_stirrer_cleaning_count",
                        "nmp_stirrer_cleaning_wait_time",
                        "nmp_stirrer_cleaning_waste_time",
                        "water_outer_wall_cleaning_injection",
                        "water_outer_wall_cleaning_count",
                        "water_outer_wall_cleaning_wait_time",
                        "water_outer_wall_cleaning_waste_time",
                        "water_inner_wall_cleaning_injection",
                        "water_inner_wall_cleaning_count",
                        "water_pump_cleaning_suction_count",
                        "water_inner_wall_cleaning_waste_time",
                        "water_stirrer_cleaning_injection",
                        "water_stirrer_cleaning_count",
                        "water_stirrer_cleaning_wait_time",
                        "water_stirrer_cleaning_waste_time",
                        "acetone_outer_wall_cleaning_injection",
                        "acetone_outer_wall_cleaning_count",
                        "acetone_outer_wall_cleaning_wait_time",
                        "acetone_outer_wall_cleaning_waste_time",
                        "acetone_inner_wall_cleaning_injection",
                        "acetone_inner_wall_cleaning_count",
                        "acetone_pump_cleaning_suction_count",
                        "acetone_inner_wall_cleaning_waste_time",
                        "acetone_stirrer_cleaning_injection",
                        "acetone_stirrer_cleaning_count",
                        "acetone_stirrer_cleaning_wait_time",
                        "acetone_stirrer_cleaning_waste_time",
                        "pipe_blowing_time",
                        "injection_pump_forward_empty_suction_count",
                        "injection_pump_reverse_empty_suction_count",
                        "filtration_liquid_selection"]
                    },
                    "start_function": {
                        "func_name": "start_cleaning",
                        "write_nodes": {"cleaning_and_pipe_blowing_trigger": true},
                        "condition_nodes": ["cleaning_complete"],
                        "stop_condition_expression": "cleaning_complete == True",
                        "timeout_seconds": 999999.0
                    },
                    "stop_function": {
                        "func_name": "stop_cleaning",
                        "write_nodes": {"cleaning_and_pipe_blowing_trigger": false}
                    }
                }
            ]
        }
    ]
}