workstation:
  description: Workstation
  class:
    module: unilabos.ros.nodes.presets.protocol_node:ROS2ProtocolNode
    type: ros2
    action_value_mappings:
      AddProtocol:
        type: Add
        goal:
          vessel: vessel
          reagent: reagent
          volume: volume
          mass: mass
          amount: amount
          time: time
          stir: stir
          stir_speed: stir_speed
          viscous: viscous
          purpose: purpose
        feedback: {}
        result: {}
        handles:
          input:
            - handler_key: vessel
              label: Vessel
              data_type: resource
              data_source: handle
              data_key: vessel
            - handler_key: reagent
              label: Reagent
              data_type: resource
              data_source: handle
              data_key: reagent
          output:
            - handler_key: vessel_out
              label: Vessel
              data_type: resource
              data_source: executor
              data_key: vessel

      AGVTransferProtocol:
        type: AGVTransfer
        goal:
          from_repo: from_repo
          from_repo_position: from_repo_position
          to_repo: to_repo
          to_repo_position: to_repo_position
        feedback: {}
        result: {}

      CentrifugeProtocol:
        type: Centrifuge
        goal:
          vessel: vessel
          speed: speed
          time: time
          temp: temp
        feedback: {}
        result: {}
        handles:
          input:
            - handler_key: vessel
              label: Vessel
              data_type: resource
              data_source: handle
              data_key: vessel
          output:
            - handler_key: vessel_out
              label: Vessel
              data_type: resource
              data_source: executor
              data_key: vessel

      CleanProtocol:
        type: Clean
        goal:
          vessel: vessel
          solvent: solvent
          volume: volume
          temp: temp
          repeats: repeats
        feedback: {}
        result: {}
        handles:
          input:
            - handler_key: vessel
              label: Vessel
              data_type: resource
              data_source: handle
              data_key: vessel
            - handler_key: solvent
              label: Solvent
              data_type: resource
              data_source: handle
              data_key: solvent
          output:
            - handler_key: vessel_out
              label: Vessel
              data_type: resource
              data_source: executor
              data_key: vessel

      CleanVesselProtocol:
        type: CleanVessel
        goal:
          vessel: vessel
          solvent: solvent
          volume: volume
          temp: temp
          repeats: repeats
        feedback: {}
        result: {}
        handles:
          input:
            - handler_key: vessel
              label: Vessel
              data_type: resource
              data_source: handle
              data_key: vessel
            - handler_key: solvent
              label: Solvent
              data_type: resource
              data_source: handle
              data_key: solvent
          output:
            - handler_key: vessel_out
              label: Vessel
              data_type: resource
              data_source: executor
              data_key: vessel

      DissolveProtocol:
        type: Dissolve
        goal:
          vessel: vessel
          solvent: solvent
          volume: volume
          amount: amount
          temp: temp
          time: time
          stir_speed: stir_speed
        feedback: {}
        result: {}
        handles:
          input:
            - handler_key: vessel
              label: Vessel
              data_type: resource
              data_source: handle
              data_key: vessel
            - handler_key: solvent
              label: Solvent
              data_type: resource
              data_source: handle
              data_key: solvent
          output:
            - handler_key: vessel_out
              label: Vessel
              data_type: resource
              data_source: executor
              data_key: vessel

      EvacuateAndRefillProtocol:
        type: EvacuateAndRefill
        goal:
          vessel: vessel
          gas: gas
          repeats: repeats
        feedback: {}
        result: {}
        handles:
          input:
            - handler_key: vessel
              label: Vessel
              data_type: resource
              data_source: handle
              data_key: vessel
          output:
            - handler_key: vessel_out
              label: Vessel
              data_type: resource
              data_source: executor
              data_key: vessel

      EvaporateProtocol:
        type: Evaporate
        goal:
          vessel: vessel
          pressure: pressure
          temp: temp
          time: time
          stir_speed: stir_speed
        feedback: {}
        result: {}
        handles:
          input:
            - handler_key: vessel
              label: Vessel
              data_type: resource
              data_source: handle
              data_key: vessel
          output:
            - handler_key: vessel_out
              label: Vessel
              data_type: resource
              data_source: executor
              data_key: vessel

      FilterProtocol:
        type: Filter
        goal:
          vessel: vessel
          filtrate_vessel: filtrate_vessel
          stir: stir
          stir_speed: stir_speed
          temp: temp
          continue_heatchill: continue_heatchill
          volume: volume
        feedback: {}
        result: {}
        handles:
          input:
            - handler_key: vessel
              label: Vessel
              data_type: resource
              data_source: handle
              data_key: vessel
            - handler_key: filtrate_vessel
              label: Filtrate Vessel
              data_type: resource
              data_source: handle
              data_key: vessel
          output:
            - handler_key: vessel_out
              label: Vessel
              data_type: resource
              data_source: executor
              data_key: vessel
            - handler_key: filtrate_out
              label: Filtrate Vessel
              data_type: resource
              data_source: executor
              data_key: vessel

      FilterThroughProtocol:
        type: FilterThrough
        goal:
          from_vessel: from_vessel
          to_vessel: to_vessel
          filter_through: filter_through
          eluting_solvent: eluting_solvent
          eluting_volume: eluting_volume
          eluting_repeats: eluting_repeats
          residence_time: residence_time
        feedback: {}
        result: {}
        handles:
          input:
            - handler_key: from_vessel
              label: From Vessel
              data_type: resource
              data_source: handle
              data_key: vessel
            - handler_key: to_vessel
              label: To Vessel
              data_type: resource
              data_source: executor
              data_key: vessel
            - handler_key: solvent
              label: Eluting Solvent
              data_type: resource
              data_source: handle
              data_key: solvent
          output:
            - handler_key: from_vessel_out
              label: From Vessel
              data_type: resource
              data_source: handle
              data_key: vessel
            - handler_key: to_vessel_out
              label: To Vessel
              data_type: resource
              data_source: executor
              data_key: vessel

      HeatChillProtocol:
        type: HeatChill
        goal:
          vessel: vessel
          temp: temp
          time: time
          stir: stir
          stir_speed: stir_speed
          purpose: purpose
        feedback: {}
        result: {}
        handles:
          input:
            - handler_key: vessel
              label: Vessel
              data_type: resource
              data_source: handle
              data_key: vessel
          output:
            - handler_key: vessel_out
              label: Vessel
              data_type: resource
              data_source: executor
              data_key: vessel

      HeatChillStartProtocol:
        type: HeatChillStart
        goal:
          vessel: vessel
          temp: temp
          purpose: purpose
        feedback: {}
        result: {}
        handles:
          input:
            - handler_key: vessel
              label: Vessel
              data_type: resource
              data_source: handle
              data_key: vessel
          output:
            - handler_key: vessel_out
              label: Vessel
              data_type: resource
              data_source: executor
              data_key: vessel

      HeatChillStopProtocol:
        type: HeatChillStop
        goal:
          vessel: vessel
        feedback: {}
        result: {}
        handles:
          input:
            - handler_key: vessel
              label: Vessel
              data_type: resource
              data_source: handle
              data_key: vessel
          output:
            - handler_key: vessel_out
              label: Vessel
              data_type: resource
              data_source: executor
              data_key: vessel

      PumpTransferProtocol:
        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: {}
        result: {}
        handles:
          input:
            - handler_key: from_vessel
              label: From Vessel
              data_type: resource
              data_source: handle
              data_key: vessel
            - handler_key: to_vessel
              label: To Vessel
              data_type: resource
              data_source: executor
              data_key: vessel
            - handler_key: solvent
              label: Rinsing Solvent
              data_type: resource
              data_source: handle
              data_key: solvent
          output:
            - handler_key: from_vessel_out
              label: From Vessel
              data_type: resource
              data_source: handle
              data_key: vessel
            - handler_key: to_vessel_out
              label: To Vessel
              data_type: resource
              data_source: executor
              data_key: vessel

      RunColumnProtocol:
        type: RunColumn
        goal:
          from_vessel: from_vessel
          to_vessel: to_vessel
          column: column
        feedback: {}
        result: {}
        handles:
          input:
            - handler_key: from_vessel
              label: From Vessel
              data_type: resource
              data_source: handle
              data_key: vessel
            - handler_key: to_vessel
              label: To Vessel
              data_type: resource
              data_source: executor
              data_key: vessel
          output:
            - handler_key: from_vessel_out
              label: From Vessel
              data_type: resource
              data_source: handle
              data_key: vessel
            - handler_key: to_vessel_out
              label: To Vessel
              data_type: resource
              data_source: executor
              data_key: vessel

      SeparateProtocol:
        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: {}
        result: {}
        handles:
          input:
            - handler_key: from_vessel
              label: From Vessel
              data_type: resource
              data_source: handle
              data_key: vessel
            - handler_key: to_vessel
              label: To Vessel
              data_type: resource
              data_source: executor
              data_key: vessel
            - handler_key: solvent
              label: Solvent
              data_type: resource
              data_source: handle
              data_key: solvent
          output:
            - handler_key: from_vessel_out
              label: From Vessel
              data_type: resource
              data_source: handle
              data_key: vessel
            - handler_key: to_vessel_out
              label: To Vessel
              data_type: resource
              data_source: executor
              data_key: vessel

      StartStirProtocol:
        type: StartStir
        goal:
          vessel: vessel
          stir_speed: stir_speed
          purpose: purpose
        feedback: {}
        result: {}
        handles:
          input:
            - handler_key: vessel
              label: Vessel
              data_type: resource
              data_source: handle
              data_key: vessel
          output:
            - handler_key: vessel_out
              label: Vessel
              data_type: resource
              data_source: executor
              data_key: vessel

      StirProtocol:
        type: Stir
        goal:
          stir_time: stir_time
          stir_speed: stir_speed
          settling_time: settling_time
        feedback: {}
        result: {}
        handles:
          input:
            - handler_key: vessel
              label: Vessel
              data_type: resource
              data_source: handle
              data_key: vessel
          output:
            - handler_key: vessel_out
              label: Vessel
              data_type: resource
              data_source: executor
              data_key: vessel

      StopStirProtocol:
        type: StopStir
        goal:
          vessel: vessel
        feedback: {}
        result: {}
        handles:
          input:
            - handler_key: vessel
              label: Vessel
              data_type: resource
              data_source: handle
              data_key: vessel
          output:
            - handler_key: vessel_out
              label: Vessel
              data_type: resource
              data_source: executor
              data_key: vessel

      TransferProtocol:
        type: Transfer
        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: {}
        result: {}
        handles:
          input:
            - handler_key: from_vessel
              label: From Vessel
              data_type: resource
              data_source: handle
              data_key: vessel
            - handler_key: to_vessel
              label: To Vessel
              data_type: resource
              data_source: executor
              data_key: vessel
            - handler_key: solvent
              label: Rinsing Solvent
              data_type: resource
              data_source: handle
              data_key: solvent
          output:
            - handler_key: from_vessel_out
              label: From Vessel
              data_type: resource
              data_source: handle
              data_key: vessel
            - handler_key: to_vessel_out
              label: To Vessel
              data_type: resource
              data_source: executor
              data_key: vessel

      WashSolidProtocol:
        type: WashSolid
        goal:
          vessel: vessel
          solvent: solvent
          volume: volume
          filtrate_vessel: filtrate_vessel
          temp: temp
          stir: stir
          stir_speed: stir_speed
          time: time
          repeats: repeats
        feedback: {}
        result: {}
        handles:
          input:
            - handler_key: vessel
              label: Vessel
              data_type: resource
              data_source: handle
              data_key: vessel
            - handler_key: solvent
              label: Solvent
              data_type: resource
              data_source: handle
              data_key: solvent
            - handler_key: filtrate_vessel
              label: Filtrate Vessel
              data_type: resource
              data_source: executor
              data_key: vessel
          output:
            - handler_key: vessel_out
              label: Vessel Out
              data_type: resource
              data_source: handle
              data_key: vessel
            - handler_key: filtrate_vessel_out
              label: Filtrate Vessel
              data_type: resource
              data_source: executor
              data_key: vessel