Revert "Merge branch 'dev' into prcix9320"

This reverts commit de7fbe7ac8.

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -30,10 +30,11 @@ from pylabrobot.liquid_handling.standard import (
     ResourceMove,
     ResourceDrop,
 )
-from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, TubeRack, PlateAdapter
+from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, PlateAdapter, TubeRack, create_homogeneous_resources, create_ordered_items_2d
 
-from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
+from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract, SimpleReturn
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+from unilabos.resources.itemized_carrier import ItemizedCarrier
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
 
 
 class PRCXIError(RuntimeError):
@@ -122,11 +123,61 @@ class PRCXI9300Plate(Plate):
                  model: Optional[str] = None, 
                  material_info: Optional[Dict[str, Any]] = None, 
                  **kwargs):
-        items = ordered_items if ordered_items is not None else ordering
+        # 如果 ordered_items 不为 None，直接使用
-        super().__init__(name, size_x, size_y, size_z, 
+        if ordered_items is not None:
-                         ordered_items=items,
+            items = ordered_items
-                         category=category,
+        elif ordering is not None:
-                         model=model, **kwargs)
+            # 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
+            # 如果是字符串，说明这是位置名称，需要让 Plate 自己创建 Well 对象
+            # 我们只传递位置信息（键），不传递值，使用 ordering 参数
+            if ordering and isinstance(next(iter(ordering.values()), None), str):
+                # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
+                # 传递 ordering 参数而不是 ordered_items，让 Plate 自己创建 Well 对象
+                items = None
+                # 使用 ordering 参数，只包含位置信息（键）
+                ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
+            else:
+                # ordering 的值是对象（可能是 Well 对象），检查是否有有效的 location
+                # 如果是反序列化过程，Well 对象可能没有正确的 location，需要让 Plate 重新创建
+                sample_value = next(iter(ordering.values()), None)
+                if sample_value is not None and hasattr(sample_value, 'location'):
+                    # 如果是 Well 对象但 location 为 None，说明是反序列化过程
+                    # 让 Plate 自己创建 Well 对象
+                    if sample_value.location is None:
+                        items = None
+                        ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
+                    else:
+                        # Well 对象有有效的 location，可以直接使用
+                        items = ordering
+                        ordering_param = None
+                elif sample_value is None:
+                    # ordering 的值都是 None，让 Plate 自己创建 Well 对象
+                    items = None
+                    ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
+                else:
+                    # 其他情况，直接使用
+                    items = ordering
+                    ordering_param = None
+        else:
+            items = None
+            ordering_param = collections.OrderedDict()  # 提供空的 ordering
+
+        # 根据情况传递不同的参数
+        if items is not None:
+            super().__init__(name, size_x, size_y, size_z, 
+                             ordered_items=items,
+                             category=category,
+                             model=model, **kwargs)
+        elif ordering_param is not None:
+            # 传递 ordering 参数，让 Plate 自己创建 Well 对象
+            super().__init__(name, size_x, size_y, size_z, 
+                             ordering=ordering_param,
+                             category=category,
+                             model=model, **kwargs)
+        else:
+            super().__init__(name, size_x, size_y, size_z, 
+                             category=category,
+                             model=model, **kwargs)
         
         self._unilabos_state = {}
         if material_info:
@@ -173,11 +224,50 @@ class PRCXI9300TipRack(TipRack):
                  model: Optional[str] = None,
                  material_info: Optional[Dict[str, Any]] = None,
                  **kwargs):
-        items = ordered_items if ordered_items is not None else ordering
+        # 如果 ordered_items 不为 None，直接使用
-        super().__init__(name, size_x, size_y, size_z, 
+        if ordered_items is not None:
-                         ordered_items=items,
+            items = ordered_items
-                         category=category, 
+        elif ordering is not None:
-                         model=model, **kwargs)
+            # 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
+            # 如果是字符串，说明这是位置名称，需要让 TipRack 自己创建 Tip 对象
+            # 我们只传递位置信息（键），不传递值，使用 ordering 参数
+            if ordering and isinstance(next(iter(ordering.values()), None), str):
+                # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
+                # 传递 ordering 参数而不是 ordered_items，让 TipRack 自己创建 Tip 对象
+                items = None
+                # 使用 ordering 参数，只包含位置信息（键）
+                ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
+            else:
+                # ordering 的值已经是对象，需要过滤掉 None 值
+                # 只保留有效的对象，用于 ordered_items 参数
+                valid_items = {k: v for k, v in ordering.items() if v is not None}
+                if valid_items:
+                    items = valid_items
+                    ordering_param = None
+                else:
+                    # 如果没有有效对象，使用 ordering 参数
+                    items = None
+                    ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
+        else:
+            items = None
+            ordering_param = None
+        
+        # 根据情况传递不同的参数
+        if items is not None:
+            super().__init__(name, size_x, size_y, size_z, 
+                             ordered_items=items,
+                             category=category, 
+                             model=model, **kwargs)
+        elif ordering_param is not None:
+            # 传递 ordering 参数，让 TipRack 自己创建 Tip 对象
+            super().__init__(name, size_x, size_y, size_z, 
+                             ordering=ordering_param,
+                             category=category, 
+                             model=model, **kwargs)
+        else:
+            super().__init__(name, size_x, size_y, size_z, 
+                             category=category, 
+                             model=model, **kwargs)
         self._unilabos_state = {}
         if material_info:
             self._unilabos_state["Material"] = material_info
@@ -278,12 +368,55 @@ class PRCXI9300TubeRack(TubeRack):
                  material_info: Optional[Dict[str, Any]] = None, 
                  **kwargs):
         
-        # 兼容处理：PLR 的 TubeRack 构造函数可能接受 items 或 ordered_items
+        # 如果 ordered_items 不为 None，直接使用
-        items_to_pass = items if items is not None else ordered_items
+        if ordered_items is not None:
-        super().__init__(name, size_x, size_y, size_z, 
+            items_to_pass = ordered_items
-                         ordered_items=ordered_items, 
+            ordering_param = None
-                         model=model, 
+        elif ordering is not None:
-                         **kwargs)
+            # 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
+            # 如果是字符串，说明这是位置名称，需要让 TubeRack 自己创建 Tube 对象
+            # 我们只传递位置信息（键），不传递值，使用 ordering 参数
+            if ordering and isinstance(next(iter(ordering.values()), None), str):
+                # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
+                # 传递 ordering 参数而不是 ordered_items，让 TubeRack 自己创建 Tube 对象
+                items_to_pass = None
+                # 使用 ordering 参数，只包含位置信息（键）
+                ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
+            else:
+                # ordering 的值已经是对象，需要过滤掉 None 值
+                # 只保留有效的对象，用于 ordered_items 参数
+                valid_items = {k: v for k, v in ordering.items() if v is not None}
+                if valid_items:
+                    items_to_pass = valid_items
+                    ordering_param = None
+                else:
+                    # 如果没有有效对象，使用 ordering 参数
+                    items_to_pass = None
+                    ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
+        elif items is not None:
+            # 兼容旧的 items 参数
+            items_to_pass = items
+            ordering_param = None
+        else:
+            items_to_pass = None
+            ordering_param = None
+        
+        # 根据情况传递不同的参数
+        if items_to_pass is not None:
+            super().__init__(name, size_x, size_y, size_z, 
+                             ordered_items=items_to_pass, 
+                             model=model, 
+                             **kwargs)
+        elif ordering_param is not None:
+            # 传递 ordering 参数，让 TubeRack 自己创建 Tube 对象
+            super().__init__(name, size_x, size_y, size_z, 
+                             ordering=ordering_param,
+                             model=model, 
+                             **kwargs)
+        else:
+            super().__init__(name, size_x, size_y, size_z, 
+                             model=model, 
+                             **kwargs)
         
         self._unilabos_state = {}
         if material_info:
@@ -770,6 +903,43 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
     async def move_to(self, well: Well, dis_to_top: float = 0, channel: int = 0):
         return await super().move_to(well, dis_to_top, channel)
 
+    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 heater_action(self, temperature: float, time: int):
+        return await self._unilabos_backend.heater_action(temperature, time)  
+    async def move_plate(
+        self,
+        plate: Plate,
+        to: Resource,
+        intermediate_locations: Optional[List[Coordinate]] = None,
+        pickup_offset: Coordinate = Coordinate.zero(),
+        destination_offset: Coordinate = Coordinate.zero(),
+        drop_direction: GripDirection = GripDirection.FRONT,
+        pickup_direction: GripDirection = GripDirection.FRONT,
+        pickup_distance_from_top: float = 13.2 - 3.33,
+        **backend_kwargs,
+    ):
+
+        res = await super().move_plate(
+            plate,
+            to,
+            intermediate_locations,
+            pickup_offset,
+            destination_offset,
+            drop_direction,
+            pickup_direction,
+            pickup_distance_from_top,
+            target_plate_number = to,
+            **backend_kwargs,
+        )
+        plate.unassign()
+        to.assign_child_resource(plate, location=Coordinate(0, 0, 0))
+        ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
+            "resources": [self.deck]
+        })
+        return res
+
 class PRCXI9300Backend(LiquidHandlerBackend):
     """PRCXI 9300 的后端实现，继承自 LiquidHandlerBackend。