From 03f7f44c77082d2a31059ee89fe75dd87cf65433 Mon Sep 17 00:00:00 2001 From: zhangshixiang <554662886@qq.com> Date: Mon, 19 Jan 2026 15:14:20 +0800 Subject: [PATCH] =?UTF-8?q?=E5=8E=BB=E9=99=A4=E2=80=9C=E5=B1=8F=E8=94=BD?= =?UTF-8?q?=E5=BC=80=E6=9C=BA=E5=88=9D=E5=A7=8B=E5=8C=96=E2=80=9D?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../devices/liquid_handling/prcxi/prcxi.py | 25 +++++++++---------- 1 file changed, 12 insertions(+), 13 deletions(-) diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index 8e40ab6..ba3ff6a 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -442,7 +442,7 @@ class PRCXI9300TubeRack(TubeRack): # 清理临时数据 del self._temp_ordering - + def load_state(self, state: Dict[str, Any]) -> None: """从给定的状态加载工作台信息。""" # super().load_state(state) @@ -1160,8 +1160,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): protocol_name = f"protocol_{time.time()}" self.protocol_name = protocol_name self.steps_todo_list = [] - matrices = self.api_client.matrix_by_id("5de524d0-3f95-406c-86dd-f83626ebc7cb")["WorkTablets"] - + if not len(self.matrix_id): self.matrix_id = str(uuid.uuid4()) @@ -1224,17 +1223,17 @@ class PRCXI9300Backend(LiquidHandlerBackend): print("PRCXI9300 error code cleared.") self.api_client.call("IAutomation", "Stop") # 执行重置 - # print("Starting PRCXI9300 reset...") - # self.api_client.call("IAutomation", "Reset") + print("Starting PRCXI9300 reset...") + self.api_client.call("IAutomation", "Reset") - # # 检查重置状态并等待完成 - # while not self.is_reset_ok: - # print("Waiting for PRCXI9300 to reset...") - # if hasattr(self, '_ros_node') and self._ros_node is not None: - # await self._ros_node.sleep(1) - # else: - # await asyncio.sleep(1) - # print("PRCXI9300 reset successfully.") + # 检查重置状态并等待完成 + while not self.is_reset_ok: + print("Waiting for PRCXI9300 to reset...") + if hasattr(self, '_ros_node') and self._ros_node is not None: + await self._ros_node.sleep(1) + else: + await asyncio.sleep(1) + print("PRCXI9300 reset successfully.") self.api_client.update_clamp_jaw_position(self.matrix_id, self.plate_positions)