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"):

unilabos/registry/devices/liquid_handler.yaml

@@ -4019,8 +4019,7 @@ liquid_handler:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times:
+          mix_times: 0
-          - 0
           mix_vol: 0
           none_keys:
           - ''
@@ -4094,29 +4093,29 @@ liquid_handler:
           - 0
         handles:
           input:
-          - data_key: liquid
+          - data_key: sources
             data_source: handle
             data_type: resource
             handler_key: sources
             label: sources
-          - data_key: liquid
+          - data_key: targets
-            data_source: executor
+            data_source: handle
             data_type: resource
             handler_key: targets
             label: targets
-          - data_key: liquid
+          - data_key: tip_racks
-            data_source: executor
+            data_source: handle
             data_type: resource
-            handler_key: tip_rack
+            handler_key: tip_racks
-            label: tip_rack
+            label: tip_racks
           output:
-          - data_key: liquid
+          - data_key: sources
             data_source: handle
             data_type: resource
             handler_key: sources_out
             label: sources
-          - data_key: liquid
+          - data_key: targets
-            data_source: executor
+            data_source: handle
             data_type: resource
             handler_key: targets_out
             label: targets
@@ -4176,11 +4175,9 @@ liquid_handler:
                 mix_stage:
                   type: string
                 mix_times:
-                  items:
+                  maximum: 2147483647
-                    maximum: 2147483647
+                  minimum: -2147483648
-                    minimum: -2147483648
+                  type: integer
-                    type: integer
-                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648
@@ -4767,13 +4764,13 @@ liquid_handler.biomek:
           targets: ''
         handles:
           input:
-          - data_key: liquid
+          - data_key: sources
             data_source: handle
             data_type: resource
             handler_key: sources
             label: sources
           output:
-          - data_key: liquid
+          - data_key: targets
             data_source: handle
             data_type: resource
             handler_key: targets
@@ -4926,29 +4923,29 @@ liquid_handler.biomek:
           volume: 0.0
         handles:
           input:
-          - data_key: liquid
+          - data_key: sources
             data_source: handle
             data_type: resource
             handler_key: sources
             label: sources
-          - data_key: liquid
+          - data_key: targets
-            data_source: executor
+            data_source: handle
             data_type: resource
             handler_key: targets
             label: targets
-          - data_key: liquid
+          - data_key: tip_racks
-            data_source: executor
+            data_source: handle
             data_type: resource
-            handler_key: tip_rack
+            handler_key: tip_racks
-            label: tip_rack
+            label: tip_racks
           output:
-          - data_key: liquid
+          - data_key: sources
             data_source: handle
             data_type: resource
             handler_key: sources_out
             label: sources
-          - data_key: liquid
+          - data_key: targets
-            data_source: executor
+            data_source: handle
             data_type: resource
             handler_key: targets_out
             label: targets
@@ -5043,8 +5040,7 @@ liquid_handler.biomek:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times:
+          mix_times: 0
-          - 0
           mix_vol: 0
           none_keys:
           - ''
@@ -5118,19 +5114,32 @@ liquid_handler.biomek:
           - 0
         handles:
           input:
-          - data_key: liquid
+          - data_key: sources
             data_source: handle
             data_type: resource
-            handler_key: liquid-input
+            handler_key: sources
-            io_type: target
+            label: sources
-            label: Liquid Input
+          - data_key: targets
-          output:
+            data_source: handle
-          - data_key: liquid
-            data_source: executor
             data_type: resource
-            handler_key: liquid-output
+            handler_key: targets
-            io_type: source
+            label: targets
-            label: Liquid Output
+          - data_key: tip_racks
+            data_source: handle
+            data_type: resource
+            handler_key: tip_racks
+            label: tip_racks
+          output:
+          - data_key: sources
+            data_source: handle
+            data_type: resource
+            handler_key: sources_out
+            label: sources
+          - data_key: targets
+            data_source: handle
+            data_type: resource
+            handler_key: targets_out
+            label: targets
         placeholder_keys:
           sources: unilabos_resources
           targets: unilabos_resources
@@ -5187,11 +5196,9 @@ liquid_handler.biomek:
                 mix_stage:
                   type: string
                 mix_times:
-                  items:
+                  maximum: 2147483647
-                    maximum: 2147483647
+                  minimum: -2147483648
-                    minimum: -2147483648
+                  type: integer
-                    type: integer
-                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648
@@ -7610,6 +7617,43 @@ liquid_handler.prcxi:
           title: iter_tips参数
           type: object
         type: UniLabJsonCommand
+      auto-magnetic_action:
+        feedback: {}
+        goal: {}
+        goal_default:
+          height: null
+          is_wait: null
+          module_no: null
+          time: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                height:
+                  type: integer
+                is_wait:
+                  type: boolean
+                module_no:
+                  type: integer
+                time:
+                  type: integer
+              required:
+              - time
+              - module_no
+              - height
+              - is_wait
+              type: object
+            result: {}
+          required:
+          - goal
+          title: magnetic_action参数
+          type: object
+        type: UniLabJsonCommandAsync
       auto-move_to:
         feedback: {}
         goal: {}
@@ -7643,6 +7687,31 @@ liquid_handler.prcxi:
           title: move_to参数
           type: object
         type: UniLabJsonCommandAsync
+      auto-plr_pos_to_prcxi:
+        feedback: {}
+        goal: {}
+        goal_default:
+          resource: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                resource:
+                  type: object
+              required:
+              - resource
+              type: object
+            result: {}
+          required:
+          - goal
+          title: plr_pos_to_prcxi参数
+          type: object
+        type: UniLabJsonCommand
       auto-post_init:
         feedback: {}
         goal: {}
@@ -7763,6 +7832,47 @@ liquid_handler.prcxi:
           title: shaker_action参数
           type: object
         type: UniLabJsonCommandAsync
+      auto-shaking_incubation_action:
+        feedback: {}
+        goal: {}
+        goal_default:
+          amplitude: null
+          is_wait: null
+          module_no: null
+          temperature: null
+          time: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                amplitude:
+                  type: integer
+                is_wait:
+                  type: boolean
+                module_no:
+                  type: integer
+                temperature:
+                  type: integer
+                time:
+                  type: integer
+              required:
+              - time
+              - module_no
+              - amplitude
+              - is_wait
+              - temperature
+              type: object
+            result: {}
+          required:
+          - goal
+          title: shaking_incubation_action参数
+          type: object
+        type: UniLabJsonCommandAsync
       auto-touch_tip:
         feedback: {}
         goal: {}
@@ -8497,7 +8607,19 @@ liquid_handler.prcxi:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: {}
+        handles:
+          input:
+          - data_key: plate
+            data_source: handle
+            data_type: resource
+            handler_key: plate
+            label: plate
+          output:
+          - data_key: plate
+            data_source: handle
+            data_type: resource
+            handler_key: plate
+            label: plate
         placeholder_keys:
           plate: unilabos_resources
           to: unilabos_resources
@@ -9677,8 +9799,7 @@ liquid_handler.prcxi:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times:
+          mix_times: 0
-          - 0
           mix_vol: 0
           none_keys:
           - ''
@@ -9755,26 +9876,26 @@ liquid_handler.prcxi:
           - data_key: sources
             data_source: handle
             data_type: resource
-            handler_key: sources_identifier
+            handler_key: sources
-            label: 待移动液体
+            label: sources
           - data_key: targets
             data_source: handle
             data_type: resource
-            handler_key: targets_identifier
+            handler_key: targets
-            label: 转移目标
+            label: targets
-          - data_key: tip_rack
+          - data_key: tip_racks
             data_source: handle
             data_type: resource
-            handler_key: tip_rack_identifier
+            handler_key: tip_racks
-            label: 墙头盒
+            label: tip_racks
           output:
-          - data_key: liquid
+          - data_key: sources
             data_source: handle
             data_type: resource
             handler_key: sources_out
             label: sources
-          - data_key: liquid
+          - data_key: targets
-            data_source: executor
+            data_source: handle
             data_type: resource
             handler_key: targets_out
             label: targets
@@ -9834,11 +9955,9 @@ liquid_handler.prcxi:
                 mix_stage:
                   type: string
                 mix_times:
-                  items:
+                  maximum: 2147483647
-                    maximum: 2147483647
+                  minimum: -2147483648
-                    minimum: -2147483648
+                  type: integer
-                    type: integer
-                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648
@@ -10160,6 +10279,12 @@ liquid_handler.prcxi:
           type: string
         deck:
           type: object
+        deck_y:
+          default: 400
+          type: string
+        deck_z:
+          default: 300
+          type: string
         host:
           type: string
         is_9320:
@@ -10170,17 +10295,44 @@ liquid_handler.prcxi:
           type: string
         port:
           type: integer
+        rail_interval:
+          default: 0
+          type: string
+        rail_nums:
+          default: 4
+          type: string
+        rail_width:
+          default: 27.5
+          type: string
         setup:
           default: true
           type: string
         simulator:
           default: false
           type: string
+        start_rail:
+          default: 2
+          type: string
         step_mode:
           default: false
           type: string
         timeout:
           type: number
+        x_increase:
+          default: -0.003636
+          type: string
+        x_offset:
+          default: -0.8
+          type: string
+        xy_coupling:
+          default: -0.0045
+          type: string
+        y_increase:
+          default: -0.003636
+          type: string
+        y_offset:
+          default: -37.98
+          type: string
       required:
       - deck
       - host

unilabos/ros/nodes/base_device_node.py

@@ -1,3 +1,4 @@
+from ast import Try
 import inspect
 import io
 import json
@@ -1341,12 +1342,17 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                 uuids = [item[1] for item in uuid_indices]
                                 resource_tree = await self.get_resource(uuids)
                                 plr_resources = resource_tree.to_plr_resources()
-                                for i, (idx, _, resource_data) in enumerate(uuid_indices):
+                                # 通过uuid查找对应的plr_resource
-                                    plr_resource = plr_resources[i]
+                                tracker = self.resource_tracker
-                                    if "sample_id" in resource_data:
+                                for idx, uuid, resource_data in uuid_indices:
-                                        plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
+                                    try:
-                                    queried_resources[idx] = plr_resource
+                                        plr_resource = tracker.loop_find_with_uuid(plr_resources, uuid)
-
+                                        if "sample_id" in resource_data:
+                                            plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
+                                        queried_resources[idx] = plr_resource
+                                    except Exception as e:
+                                        self.lab_logger().error(f"资源查询失败: {e}\n{traceback.format_exc()}")
+                                        continue
                             self.lab_logger().debug(f"资源查询结果: 共 {len(queried_resources)} 个资源")
 
                             # 通过资源跟踪器获取本地实例