From 0bd3025d73dd8235a6d785f1fe626a8217ab65f2 Mon Sep 17 00:00:00 2001
From: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
Date: Fri, 18 Jul 2025 02:38:12 +0800
Subject: [PATCH] =?UTF-8?q?=E6=96=B0=E5=A2=9Eset=20liquid=E6=96=B9?=
 =?UTF-8?q?=E6=B3=95?=
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---
 .../liquid_handler_abstract.py                |  5 +++
 .../devices/liquid_handling/prcxi/prcxi.py    |  3 ++
 unilabos/registry/devices/liquid_handler.yaml | 40 +++++++++++++++++++
 .../action/LiquidHandlerSetLiquid.action      |  6 +++
 4 files changed, 54 insertions(+)
 create mode 100644 unilabos_msgs/action/LiquidHandlerSetLiquid.action

diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py
index b11c008..d7de9db 100644
--- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py
+++ b/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 --------------------------------------------------
     # ---------------------------------------------------------------
diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py
index 1a61306..00b2972 100644
--- a/unilabos/devices/liquid_handling/prcxi/prcxi.py
+++ b/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 = "",
diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml
index 99380aa..a33635c 100644
--- a/unilabos/registry/devices/liquid_handler.yaml
+++ b/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
diff --git a/unilabos_msgs/action/LiquidHandlerSetLiquid.action b/unilabos_msgs/action/LiquidHandlerSetLiquid.action
new file mode 100644
index 0000000..ca4827c
--- /dev/null
+++ b/unilabos_msgs/action/LiquidHandlerSetLiquid.action
@@ -0,0 +1,6 @@
+Resource[] wells
+string[] liquid_names
+float64[] volumes
+---
+string return_info
+---
\ No newline at end of file