新增set liquid方法

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -543,6 +543,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         self._simulator = simulator
         super().__init__(backend, deck, simulator, channel_num)
 
+    @classmethod
+    def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]):
+        """Set the liquid in a well."""
+        for well, liquid_name, volume in zip(wells, liquid_names, volumes):
+            well.set_liquids([(liquid_name, volume)])  # type: ignore
     # ---------------------------------------------------------------
     # REMOVE LIQUID --------------------------------------------------
     # ---------------------------------------------------------------

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -132,6 +132,9 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         self._unilabos_backend = PRCXI9300Backend(tablets_info, host, port, timeout, channel_num, axis, setup, debug, matrix_id)
         super().__init__(backend=self._unilabos_backend, deck=deck, simulator=True, channel_num=channel_num)
 
+    def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]):
+        return super().set_liquid(wells, liquid_names, volumes)
+
     async def create_protocol(
         self,
         protocol_name: str = "",

unilabos/registry/devices/liquid_handler.yaml

@@ -6841,6 +6841,46 @@ liquid_handler.prcxi:
           title: LiquidHandlerPickUpTips
           type: object
         type: LiquidHandlerPickUpTips
+      set_liquid:
+        feedback: {}
+        goal: {}
+        goal_default:
+          liquid_names: []
+          volumes: []
+          wells: []
+        handles: []
+        placeholder_keys:
+          wells: unilabos_resources
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                liquid_names:
+                  items:
+                    type: string
+                  type: array
+                volumes:
+                  items:
+                    type: number
+                  type: array
+                wells:
+                  items:
+                    type: object
+                  type: array
+              required:
+              - wells
+              - liquid_names
+              - volumes
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_liquid参数
+          type: object
+        type: LiquidHandlerSetLiquid
     module: unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Handler
     status_types:
       reset_ok: bool

unilabos_msgs/action/LiquidHandlerSetLiquid.action

@@ -0,0 +1,6 @@
+Resource[] wells
+string[] liquid_names
+float64[] volumes
+---
+string return_info
+---