添加加热震荡模块与磁力模块

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -1090,7 +1090,10 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     pass
         if mix_times is not None:
             mix_times = int(mix_times)
-            
+
+        # 设置tip racks
+        self.set_tiprack(tip_racks)
+
         # 识别传输模式（mix_times 为 None 也应该能正常移液，只是不做 mix）
         num_sources = len(sources)
         num_targets = len(targets)
@@ -1153,9 +1156,15 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         """一对一传输模式：N sources -> N targets"""
         # 验证参数长度
         if len(asp_vols) != len(targets):
-            raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.")
+            if len(asp_vols) == 1:
+                asp_vols = [asp_vols[0]] * len(targets)
+            else:
+                raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.")
         if len(dis_vols) != len(targets):
-            raise ValueError(f"Length of `dis_vols` {len(dis_vols)} must match `targets` {len(targets)}.")
+            if len(dis_vols) == 1:
+                dis_vols = [dis_vols[0]] * len(targets)
+            else:
+                raise ValueError(f"Length of `dis_vols` {len(dis_vols)} must match `targets` {len(targets)}.")
         if len(sources) != len(targets):
             raise ValueError(f"Length of `sources` {len(sources)} must match `targets` {len(targets)}.")
 
@@ -1495,7 +1504,10 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         """多对一传输模式：N sources -> 1 target（汇总/混合）"""
         # 验证和扩展体积参数
         if len(asp_vols) != len(sources):
-            raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `sources` {len(sources)}.")
+            if len(asp_vols) == 1:
+                asp_vols = [asp_vols[0]] * len(sources)
+            else:
+                raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `sources` {len(sources)}.")
         
         # 支持两种模式：
         # 1. dis_vols 为单个值：所有源汇总，使用总吸液体积或指定分液体积

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -1011,6 +1011,11 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
     async def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool):
         return await self._unilabos_backend.shaker_action(time, module_no, amplitude, is_wait)
 
+    async def magnetic_action(self, time: int, module_no: int, height: int, is_wait: bool):
+        return await self._unilabos_backend.magnetic_action(time, module_no, height, is_wait)
+    
+    async def shaking_incubation_action(self, time: int, module_no: int, amplitude: int, is_wait: bool, temperature: int):
+        return await self._unilabos_backend.shaking_incubation_action(time, module_no, amplitude, is_wait, temperature)
     async def heater_action(self, temperature: float, time: int):
         return await self._unilabos_backend.heater_action(temperature, time)  
     async def move_plate(
@@ -1116,6 +1121,26 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         self.steps_todo_list.append(step)
         return step
 
+    async def shaking_incubation_action(self, time: int, module_no: int, amplitude: int, is_wait: bool, temperature: int):
+        step = self.api_client.shaking_incubation_action(
+            time=time,
+            module_no=module_no,
+            amplitude=amplitude,
+            is_wait=is_wait,
+            temperature=temperature,
+        )
+        self.steps_todo_list.append(step)
+        return step
+
+    async def magnetic_action(self, time: int, module_no: int, height: int, is_wait: bool): 
+        step = self.api_client.magnetic_action(
+            time=time,
+            module_no=module_no,
+            height=height,
+            is_wait=is_wait,
+        )
+        self.steps_todo_list.append(step)
+        return step
 
     async def pick_up_resource(self, pickup: ResourcePickup, **backend_kwargs):
         
@@ -1985,6 +2010,27 @@ class PRCXI9300Api:
             "AssistFun4": is_wait,
         }
 
+    def shaking_incubation_action(self, time: int, module_no: int, amplitude: int, is_wait: bool, temperature: int):
+        return {
+            "StepAxis": "Left",
+            "Function": "Shaking_Incubation",
+            "AssistFun1": time,
+            "AssistFun2": module_no,
+            "AssistFun3": amplitude,
+            "AssistFun4": is_wait,
+            "AssistFun5": temperature,
+        }
+    
+    def magnetic_action(self, time: int, module_no: int, height: int, is_wait: bool):
+        return {
+            "StepAxis": "Left",
+            "Function": "Magnetic",
+            "AssistFun1": time,
+            "AssistFun2": module_no,
+            "AssistFun3": height,
+            "AssistFun4": is_wait,
+        }
+
 class DefaultLayout:
 
     def __init__(self, product_name: str = "PRCXI9300"):