deepmodeling · Xuwznln · Aug 26, 2025 · Aug 26, 2025
diff --git a/unilabos_msgs/CMakeLists.txt b/unilabos_msgs/CMakeLists.txt
@@ -98,6 +98,19 @@ set(action_files
 
   "action/WorkStationRun.action"
   "action/AGVTransfer.action"
+
+  "action/DispenStationSolnPrep.action"
+  "action/DispenStationVialFeed.action"
+
+  "action/PostProcessGrab.action"
+  "action/PostProcessTriggerClean.action"
+  "action/PostProcessTriggerPostPro.action"
+
+  "action/ReactionStationDripBack.action"
+  "action/ReactionStationLiquidFeed.action"
+  "action/ReactionStationProExecu.action"
+  "action/ReactionStationReaTackIn.action"
+  "action/ReactionStationSolidFeedVial.action"
 )
 
 set(srv_files

diff --git a/unilabos_msgs/action/DispenStationSolnPrep.action b/unilabos_msgs/action/DispenStationSolnPrep.action
@@ -0,0 +1,15 @@
+# Goal - （二胺）溶液配置  
+string order_name                 # 任务名称
+string material_name              #固体物料名称
+string target_weigh               #固体重量
+string volume                     #液体体积
+string liquid_material_name       # 溶剂名称
+string speed                      #磁力转动速度
+string temperature                #温度
+string delay_time                 #等待时间
+string hold_m_name                #样品名称
+---
+# Result - 操作结果  
+string return_info                    # 结果消息
+---
+# Feedback - 实时反馈  
diff --git a/unilabos_msgs/action/DispenStationVialFeed.action b/unilabos_msgs/action/DispenStationVialFeed.action
@@ -0,0 +1,29 @@
+# Goal - 小瓶投料  
+string order_name                 # 任务名称
+string percent_90_1_assign_material_name          
+string percent_90_1_target_weigh
+string percent_90_2_assign_material_name
+string percent_90_2_target_weigh
+string percent_90_3_assign_material_name
+string percent_90_3_target_weigh
+string percent_10_1_assign_material_name
+string percent_10_1_target_weigh
+string percent_10_1_volume
+string percent_10_1_liquid_material_name
+string percent_10_2_assign_material_name
+string percent_10_2_target_weigh
+string percent_10_2_volume
+string percent_10_2_liquid_material_name
+string percent_10_3_assign_material_name
+string percent_10_3_target_weigh
+string percent_10_3_volume
+string percent_10_3_liquid_material_name
+string speed
+string temperature
+string delay_time
+string hold_m_name
+---
+# Result - 操作结果  
+string return_info                    # 结果消息
+---
+# Feedback - 实时反馈  
diff --git a/unilabos_msgs/action/PostProcessGrab.action b/unilabos_msgs/action/PostProcessGrab.action
@@ -0,0 +1,8 @@
+# Goal - 抓取参数  
+int32 reaction_tank_number       #反应罐号码
+int32 raw_tank_number            #原料罐号码 
+---
+# Result - 操作结果
+string return_info  
+---
+# Feedback - 实时反馈  
diff --git a/unilabos_msgs/action/PostProcessTriggerClean.action b/unilabos_msgs/action/PostProcessTriggerClean.action
@@ -0,0 +1,46 @@
+# Goal - 清洗参数  
+float64 nmp_outer_wall_cleaning_injection
+int32 nmp_outer_wall_cleaning_count
+int32 nmp_outer_wall_cleaning_wait_time
+int32 nmp_outer_wall_cleaning_waste_time
+float64 nmp_inner_wall_cleaning_injection
+int32 nmp_inner_wall_cleaning_count
+int32 nmp_pump_cleaning_suction_count
+int32 nmp_inner_wall_cleaning_waste_time
+float64 nmp_stirrer_cleaning_injection
+int32 nmp_stirrer_cleaning_count
+int32 nmp_stirrer_cleaning_wait_time
+int32 nmp_stirrer_cleaning_waste_time
+float64 water_outer_wall_cleaning_injection
+int32 water_outer_wall_cleaning_count
+int32 water_outer_wall_cleaning_wait_time 
+int32 water_outer_wall_cleaning_waste_time
+float64 water_inner_wall_cleaning_injection
+int32 water_inner_wall_cleaning_count
+int32 water_pump_cleaning_suction_count
+int32 water_inner_wall_cleaning_waste_time
+float64 water_stirrer_cleaning_injection
+int32 water_stirrer_cleaning_count
+int32 water_stirrer_cleaning_wait_time
+int32 water_stirrer_cleaning_waste_time
+float64 acetone_outer_wall_cleaning_injection
+int32 acetone_outer_wall_cleaning_count
+int32 acetone_outer_wall_cleaning_wait_time 
+int32 acetone_outer_wall_cleaning_waste_time 
+float64 acetone_inner_wall_cleaning_injection
+int32 acetone_inner_wall_cleaning_count
+int32 acetone_pump_cleaning_suction_count 
+int32 acetone_inner_wall_cleaning_waste_time
+float64 acetone_stirrer_cleaning_injection
+int32 acetone_stirrer_cleaning_count
+int32 acetone_stirrer_cleaning_wait_time
+int32 acetone_stirrer_cleaning_waste_time
+int32 pipe_blowing_time
+int32 injection_pump_forward_empty_suction_count
+int32 injection_pump_reverse_empty_suction_count
+int32 filtration_liquid_selection
+---
+# Result - 操作结果  
+string return_info                     # 操作是否成功  
+---
+# Feedback - 实时反馈  
diff --git a/unilabos_msgs/action/PostProcessTriggerPostPro.action b/unilabos_msgs/action/PostProcessTriggerPostPro.action
@@ -0,0 +1,20 @@
+# Goal - 后处理参数  
+float64 atomization_fast_speed
+float64 wash_slow_speed
+int32 injection_pump_suction_speed
+int32 injection_pump_push_speed
+int32 raw_liquid_suction_count
+float64 first_wash_water_amount
+float64 second_wash_water_amount
+int32 first_powder_mixing_tim 
+int32 second_powder_mixing_time
+int32 first_powder_wash_count
+int32 second_powder_wash_count
+float64 initial_water_amount 
+int32 pre_filtration_mixing_time
+int32 atomization_pressure_kpa
+---
+# Result - 操作结果  
+string return_info                      # 操作是否成功  
+---
+# Feedback - 实时反馈  
diff --git a/unilabos_msgs/action/ReactionStationDripBack.action b/unilabos_msgs/action/ReactionStationDripBack.action
@@ -0,0 +1,11 @@
+# Goal - 滴回去  
+string volume                 # 投料体积
+string assign_material_name       # 溶剂名称
+string time                      # 观察时间（单位min）
+string torque_variation           #是否观察1否2是   
+---
+# Result - 操作结果  
+string return_info                    # 结果消息
+
+---
+# Feedback - 实时反馈  
diff --git a/unilabos_msgs/action/ReactionStationLiquidFeed.action b/unilabos_msgs/action/ReactionStationLiquidFeed.action
@@ -0,0 +1,11 @@
+# Goal - 液体投料  
+string titration_type            # 滴定类型1否2是  
+string volume                 # 投料体积
+string assign_material_name       # 溶剂名称
+string time                      # 观察时间（单位min）
+string torque_variation           #是否观察1否2是   
+---
+# Result - 操作结果  
+string return_info                    # 结果消息
+---
+# Feedback - 实时反馈  
diff --git a/unilabos_msgs/action/ReactionStationProExecu.action b/unilabos_msgs/action/ReactionStationProExecu.action
@@ -0,0 +1,8 @@
+# Goal - 合并工作流+执行  
+string workflow_name         # 工作流名称  
+string task_name              # 任务名称
+---
+# Result - 操作结果  
+string return_info                    # 结果消息
+---
+# Feedback - 实时反馈  
diff --git a/unilabos_msgs/action/ReactionStationReaTackIn.action b/unilabos_msgs/action/ReactionStationReaTackIn.action
@@ -0,0 +1,9 @@
+# Goal - 通量-配置  
+string cutoff                    # 黏度_通量-配置  
+string temperature                # 温度_通量-配置
+string assign_material_name        # 分液类型_通量-配置    
+---
+# Result - 操作结果   
+string return_info                    # 结果消息
+---
+# Feedback - 实时反馈  
diff --git a/unilabos_msgs/action/ReactionStationSolidFeedVial.action b/unilabos_msgs/action/ReactionStationSolidFeedVial.action
@@ -0,0 +1,10 @@
+# Goal - 固体投料-小瓶  
+string assign_material_name         # 固体名称_粉末加样模块-投料  
+string material_id                # 固体投料类型_粉末加样模块-投料
+string time                      # 观察时间_反应模块-观察搅拌结果
+string torque_variation           #是否观察1否2是_反应模块-观察搅拌结果    
+---
+# Result - 操作结果  
+string return_info                    # 结果消息
+---
+# Feedback - 实时反馈