Add action definitions for LiquidHandlerSetGroup and LiquidHandlerTransferGroup

- Created LiquidHandlerSetGroup.action with fields for group name, wells, and volumes.
- Created LiquidHandlerTransferGroup.action with fields for source and target group names and unit volume.
- Both actions include response fields for return information and success status.

test/experiments/prcxi_9300.json

@@ -21,9 +21,9 @@
                 "timeout": 10.0,
                 "axis": "Left",
                 "channel_num": 8,
-                "setup": false,
+                "setup": true,
-                "debug": false,
+                "debug": true,
-                "simulator": false,
+                "simulator": true,
                 "matrix_id": "71593"
             },
             "data": {},

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -1,11 +1,11 @@
 from __future__ import annotations
 
 import traceback
-from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set
+from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
-
+from collections import Counter
 import asyncio
 import time
-
+import pprint as pp
 from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness
 from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod
 from pylabrobot.liquid_handling.standard import GripDirection
@@ -29,6 +29,7 @@ from pylabrobot.resources import (
 class LiquidHandlerMiddleware(LiquidHandler):
     def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8):
         self._simulator = simulator
+        self.channel_num = channel_num
         if simulator:
             self._simulate_backend = LiquidHandlerChatterboxBackend(channel_num)
             self._simulate_handler = LiquidHandlerAbstract(self._simulate_backend, deck, False)
@@ -104,8 +105,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
         offsets: Optional[List[Coordinate]] = None,
         **backend_kwargs,
     ):
-        print('222'*200)
+
-        print(tip_spots)
         if self._simulator:
             return await self._simulate_handler.pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
         return await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
@@ -545,6 +545,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
           deck: Deck to use.
         """
         self._simulator = simulator
+        self.group_info = dict()
         super().__init__(backend, deck, simulator, channel_num)
 
     @classmethod
@@ -556,6 +557,51 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
     # REMOVE LIQUID --------------------------------------------------
     # ---------------------------------------------------------------
 
+    def set_group(self, group_name: str, wells: List[Well], volumes: List[float]):
+        if len(wells) != 8:
+            raise RuntimeError(f"Expected 8 wells, got {len(wells)}")
+        self.group_info[group_name] = wells
+        self.set_liquid(wells, [group_name] * len(wells), volumes)
+
+    async def transfer_group(self, source_group_name: str, target_group_name: str, unit_volume: float):
+        source_wells = self.group_info.get(source_group_name, [])
+        target_wells = self.group_info.get(target_group_name, [])
+        rack_info = dict()
+        for child in self.deck.children:
+            if issubclass(child.__class__, TipRack):
+                rack: TipRack = cast(TipRack, child)
+                if "plate" not in rack.name.lower():
+                    for tip in rack.get_all_tips():
+                        if unit_volume > tip.maximal_volume:
+                            break
+                        else:
+                            rack_info[rack.name] = (rack, tip.maximal_volume - unit_volume)
+        if len(rack_info) == 0:
+            raise ValueError(f"No tip rack can support volume {unit_volume}.")
+        
+        rack_info = sorted(rack_info.items(), key=lambda x: x[1][1])
+        for child in self.deck.children:
+            if child.name == rack_info[0][0]:
+                target_rack = child
+
+        target_rack = cast(TipRack, target_rack)
+
+        available_tips = {}
+        for (idx, name), tipSpot in zip(target_rack._ordering.items(), target_rack.get_all_items()):
+            if tipSpot.has_tip():
+                available_tips[idx] = tipSpot
+                continue
+
+        colnum_list = [int(holename[1:]) for holename in available_tips.keys()]
+        available_cols = [colnum for colnum, count in dict(Counter(colnum_list)).items() if count == 8]
+        available_cols.sort() # 这样就确定了列号
+        tips_to_use = [available_tips[f"{chr(65 + i)}{available_cols[0]}"] for i in range(8)]
+
+        await self.pick_up_tips(tips_to_use, use_channels=list(range(0, 8)))
+        await self.aspirate(source_wells, [10] * 8, use_channels=list(range(0, 8)))
+        await self.dispense(target_wells, [10] * 8, use_channels=list(range(0, 8)))
+        await self.discard_tips(use_channels=list(range(0, 8)))
+
     async def create_protocol(
         self,
         protocol_name: str,
@@ -569,6 +615,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         """Create a new protocol with the given metadata."""
         pass
 
+
     async def remove_liquid(
         self,
         vols: List[float],
@@ -987,7 +1034,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     if delays is not None:
                         await self.custom_delay(seconds=delays[1])
                     await self.touch_tip(current_targets)
-                    await self.discard_tips()
+                    await self.discard_tips([0,1,2,3,4,5,6,7])
 
     # except Exception as e:
     #     traceback.print_exc()

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -431,14 +431,14 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
     async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int] = None):
         """Pick up tips from the specified resource."""
-        print('where?'*200)
+
         plate_indexes = []
         for op in ops:
             plate = op.resource.parent
             deck = plate.parent
             plate_index = deck.children.index(plate)
-            print(f"Plate index: {plate_index}, Plate name: {plate.name}")
+            # print(f"Plate index: {plate_index}, Plate name: {plate.name}")
-            print(f"Number of children in deck: {len(deck.children)}")
+            # print(f"Number of children in deck: {len(deck.children)}")
 
             plate_indexes.append(plate_index)
 
@@ -452,8 +452,6 @@ class PRCXI9300Backend(LiquidHandlerBackend):
             tip_columns.append(tipspot_index // 8)
         if len(set(tip_columns)) != 1:
             raise ValueError("All pickups must be from the same tip column. Found different columns: " + str(tip_columns))
-        # print('111'*99)
-        # print(plate_indexes[0])
         PlateNo = plate_indexes[0] + 1
         hole_col = tip_columns[0] + 1
         hole_row = 1
@@ -977,153 +975,162 @@ if __name__ == "__main__":
     # 4.
 
     
-    # deck = PRCXI9300Deck(name="PRCXI_Deck_9300", size_x=100, size_y=100, size_z=100)
+    deck = PRCXI9300Deck(name="PRCXI_Deck_9300", size_x=100, size_y=100, size_z=100)
 
-    # from pylabrobot.resources.opentrons.tip_racks import opentrons_96_tiprack_300ul,opentrons_96_tiprack_10ul
+    from pylabrobot.resources.opentrons.tip_racks import opentrons_96_tiprack_300ul,opentrons_96_tiprack_10ul
-    # from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
+    from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
 
-    # def get_well_container(name: str) -> PRCXI9300Container:
+    def get_well_container(name: str) -> PRCXI9300Container:
-    #     well_containers = corning_96_wellplate_360ul_flat(name).serialize()
+        well_containers = corning_96_wellplate_360ul_flat(name).serialize()
-    #     plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
+        plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
-    #                        ordering=collections.OrderedDict())
+                           ordering=well_containers["ordering"])
-    #     plate_serialized = plate.serialize()
+        plate_serialized = plate.serialize()
-    #     plate_serialized["parent_name"] = deck.name
+        plate_serialized["parent_name"] = deck.name
-    #     well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
+        well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
-    #     new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
+        new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
-    #     return new_plate
+        return new_plate
 
-    # def get_tip_rack(name: str) -> PRCXI9300Container:
+    def get_tip_rack(name: str) -> PRCXI9300Container:
-    #     tip_racks = opentrons_96_tiprack_300ul("name").serialize()
+        tip_racks = opentrons_96_tiprack_300ul("name").serialize()
-    #     tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
+        tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
-    #                        ordering=collections.OrderedDict())
+                           ordering=tip_racks["ordering"])
-    #     tip_rack_serialized = tip_rack.serialize()
+        tip_rack_serialized = tip_rack.serialize()
-    #     tip_rack_serialized["parent_name"] = deck.name
+        tip_rack_serialized["parent_name"] = deck.name
-    #     tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
+        tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
-    #     new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
+        new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
-    #     return new_tip_rack
+        return new_tip_rack
     
-    # plate1 = get_tip_rack("RackT1")
+    plate1 = get_tip_rack("RackT1")
-    # plate1.load_state({
+    plate1.load_state({
-    #     "Material": {
+        "Material": {
-    #         "uuid": "076250742950465b9d6ea29a225dfb00",
+            "uuid": "076250742950465b9d6ea29a225dfb00",
-    #         "Code": "ZX-001-300",
+            "Code": "ZX-001-300",
-    #         "Name": "300μL Tip头"
+            "Name": "300μL Tip头"
-    #     }
+        }
-    # })
+    })
 
-    # plate2 = get_well_container("PlateT2")
+    plate2 = get_well_container("PlateT2")
-    # plate2.load_state({
+    plate2.load_state({
-    #     "Material": {
+        "Material": {
-    #         "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
+            "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
-    #         "Code": "ZX-019-2.2",
+            "Code": "ZX-019-2.2",
-    #         "Name": "96深孔板"
+            "Name": "96深孔板"
-    #     }
+        }
-    # })
+    })
 
 
-    # plate3 = PRCXI9300Trash("trash", size_x=50, size_y=100, size_z=10, category="trash")
+    plate3 = PRCXI9300Trash("trash", size_x=50, size_y=100, size_z=10, category="trash")
-    # plate3.load_state({
+    plate3.load_state({
-    #     "Material": {
+        "Material": {
-    #         "uuid": "730067cf07ae43849ddf4034299030e9"
+            "uuid": "730067cf07ae43849ddf4034299030e9"
-    #     }
+        }
-    # })
+    })
 
-    # plate4 = get_well_container("PlateT4")
+    plate4 = get_well_container("PlateT4")
-    # plate4.load_state({
+    plate4.load_state({
-    #     "Material": {
+        "Material": {
-    #         "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
+            "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
-    #         "Code": "ZX-019-2.2",
+            "Code": "ZX-019-2.2",
-    #         "Name": "96深孔板"
+            "Name": "96深孔板"
-    #     }
+        }
-    # })
+    })
 
-    # plate5 = get_well_container("PlateT5")
+    plate5 = get_well_container("PlateT5")
-    # plate5.load_state({
+    plate5.load_state({
-    #     "Material": {
+        "Material": {
-    #         "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
+            "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
-    #         "Code": "ZX-019-2.2",
+            "Code": "ZX-019-2.2",
-    #         "Name": "96深孔板"
+            "Name": "96深孔板"
-    #     }
+        }
-    # })
+    })
-    # plate6 = get_well_container("PlateT6")
+    plate6 = get_well_container("PlateT6")
 
-    # plate6.load_state({
+    plate6.load_state({
-    #     "Material": {
+        "Material": {
-    #         "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
+            "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
-    #         "Code": "ZX-019-2.2",
+            "Code": "ZX-019-2.2",
-    #         "Name": "96深孔板"
+            "Name": "96深孔板"
-    #     }
+        }
-    # })
+    })
 
-    # deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
-    # deck.assign_child_resource(plate2, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate2, location=Coordinate(0, 0, 0))
-    # deck.assign_child_resource(plate3, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate3, location=Coordinate(0, 0, 0))
-    # deck.assign_child_resource(plate4, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate4, location=Coordinate(0, 0, 0))
-    # deck.assign_child_resource(plate5, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate5, location=Coordinate(0, 0, 0))
-    # deck.assign_child_resource(plate6, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate6, location=Coordinate(0, 0, 0))
 
-    # # print(plate2)
     # plate_2_liquids = [[('water', 500)]]*96
+
     # plate2.set_well_liquids(plate_2_liquids)
 
-    # handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999, 
-    #                            timeout=10.0, setup=False, debug=False, 
-    #                            matrix_id="71593",
-    #                            channel_num=8, axis="Left")  # Initialize the handler with the deck and host settings
 
     
-    # handler.set_tiprack([plate1]) 
 
-    # asyncio.run(handler.setup())  # Initialize the handler and setup the connection
+    handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999, 
-    # from pylabrobot.resources import set_volume_tracking
+                               timeout=10.0, setup=False, debug=False, 
-    # # from pylabrobot.resources import set_tip_tracking
+                               simulator=True,
-    # set_volume_tracking(enabled=True)
+                               matrix_id="71593",
+                               channel_num=8, axis="Left")  # Initialize the handler with the deck and host settings
+    
+
+    
+    
+    plate_2_liquids = handler.set_group("water", plate2.children[:8], [200]*8)
+    plate5_liquids = handler.set_group("master_mix", plate5.children[:8], [100]*8)
+
+    handler.set_tiprack([plate1]) 
+    asyncio.run(handler.setup())  # Initialize the handler and setup the connection
+    from pylabrobot.resources import set_volume_tracking
+    # from pylabrobot.resources import set_tip_tracking
+    set_volume_tracking(enabled=True)
     # from unilabos.resources.graphio import *
-    # A = tree_to_list([resource_plr_to_ulab(deck)])
+    # # A = tree_to_list([resource_plr_to_ulab(deck)])
-    # with open("deck_9300_new.json", "w", encoding="utf-8") as f:
+    # # with open("deck_9300_new.json", "w", encoding="utf-8") as f:
-    #     json.dump(A, f, indent=4, ensure_ascii=False)
+    # #     json.dump(A, f, indent=4, ensure_ascii=False)
-    # asyncio.run(handler.create_protocol(protocol_name="Test Protocol"))  # Initialize the backend and setup the connection
+    asyncio.run(handler.create_protocol(protocol_name="Test Protocol"))  # Initialize the backend and setup the connection
+    asyncio.run(handler.transfer_group("water", "master_mix", 100))  # Reset tip tracking
 
-    # # asyncio.run(handler.pick_up_tips(plate1.children[:8],[0,1,2,3,4,5,6,7]))
+    # asyncio.run(handler.pick_up_tips(plate1.children[:8],[0,1,2,3,4,5,6,7]))
-    # # print(plate1.children[:8])
+    # print(plate1.children[:8])
-    # # asyncio.run(handler.aspirate(plate2.children[:8],[50]*8, [0,1,2,3,4,5,6,7]))
+    # asyncio.run(handler.aspirate(plate2.children[:8],[50]*8, [0,1,2,3,4,5,6,7]))
-    # # print(plate2.children[:8])
+    # print(plate2.children[:8])
-    # # asyncio.run(handler.dispense(plate5.children[:8],[50]*8,[0,1,2,3,4,5,6,7]))
+    # asyncio.run(handler.dispense(plate5.children[:8],[50]*8,[0,1,2,3,4,5,6,7]))
-    # # print(plate5.children[:8])
+    # print(plate5.children[:8])
 
-    # # # # # asyncio.run(handler.drop_tips(tip_rack.children[8:16],[0,1,2,3,4,5,6,7]))
+    # #asyncio.run(handler.drop_tips(tip_rack.children[8:16],[0,1,2,3,4,5,6,7]))
-    # # asyncio.run(handler.discard_tips())
+    # asyncio.run(handler.discard_tips([0,1,2,3,4,5,6,7]))
 
-    # # asyncio.run(handler.mix(well_containers.children[:8
+    # asyncio.run(handler.mix(well_containers.children[:8
-    # # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
+    # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
-    # # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
+    # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
-    # # asyncio.run(handler.add_liquid(
+    # asyncio.run(handler.add_liquid(
-    # #     asp_vols=[100]*16,
+    #     asp_vols=[100]*16,
-    # #     dis_vols=[100]*16,
+    #     dis_vols=[100]*16,
-    # #     reagent_sources=plate2.children[:16],
+    #     reagent_sources=plate2.children[:16],
-    # #     targets=plate5.children[:16],
+    #     targets=plate5.children[:16],
-    # #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
+    #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
-    # #     flow_rates=[None] * 32,
+    #     flow_rates=[None] * 32,
-    # #     offsets=[Coordinate(0, 0, 0)] * 32,
+    #     offsets=[Coordinate(0, 0, 0)] * 32,
-    # #     liquid_height=[None] * 16,
+    #     liquid_height=[None] * 16,
-    # #     blow_out_air_volume=[None] * 16,
+    #     blow_out_air_volume=[None] * 16,
-    # #     delays=None,
+    #     delays=None,
-    # #     mix_time=3,
+    #     mix_time=3,
-    # #     mix_vol=50,
+    #     mix_vol=50,
-    # #     spread="wide",
+    #     spread="wide",
-    # # ))
+    # ))
-    # # asyncio.run(handler.run_protocol())  # Run the protocol
+    # asyncio.run(handler.run_protocol())  # Run the protocol
-    # # asyncio.run(handler.remove_liquid(
+    # asyncio.run(handler.remove_liquid(
-    # #     vols=[100]*16,
+    #     vols=[100]*16,
-    # #     sources=plate2.children[-16:],
+    #     sources=plate2.children[-16:],
-    # #     waste_liquid=plate5.children[:16], # 这个有些奇怪，但是好像也只能这么写
+    #     waste_liquid=plate5.children[:16], # 这个有些奇怪，但是好像也只能这么写
-    # #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
+    #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
-    # #     flow_rates=[None] * 32,
+    #     flow_rates=[None] * 32,
-    # #     offsets=[Coordinate(0, 0, 0)] * 32,
+    #     offsets=[Coordinate(0, 0, 0)] * 32,
-    # #     liquid_height=[None] * 32,
+    #     liquid_height=[None] * 32,
-    # #     blow_out_air_volume=[None] * 32,
+    #     blow_out_air_volume=[None] * 32,
-    # #     spread="wide",
+    #     spread="wide",
-    # # ))
+    # ))
 
     # acid = [20]*8+[40]*8+[60]*8+[80]*8+[100]*8+[120]*8+[140]*8+[160]*8+[180]*8+[200]*8+[220]*8+[240]*8
     # alkaline = acid[::-1]  # Reverse the acid list for alkaline
@@ -1144,258 +1151,264 @@ if __name__ == "__main__":
     #     spread="wide",
     # ))
     # asyncio.run(handler.run_protocol())  # Run the protocol
-    # # # input("Running protocol...")
-    # # # input("Press Enter to continue...")  # Wait for user input before proceeding
-    # # # print("PRCXI9300Handler initialized with deck and host settings.")
-
-    # # Example usage
-    # # 1. 用导出的json，给每个T1 T2板子设定相应的物料，如果是孔板和枪头盒，要对应区分
-    # # 2. 设计一个单点动作流程，可以跑
-    # # 3.
-
-
-    deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)
-
-    from pylabrobot.resources.opentrons.tip_racks import tipone_96_tiprack_200ul,opentrons_96_tiprack_10ul
-    from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
-
-    def get_well_container(name: str) -> PRCXI9300Container:
-        well_containers = corning_96_wellplate_360ul_flat(name).serialize()
-        plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
-                           ordering=collections.OrderedDict())
-        plate_serialized = plate.serialize()
-        plate_serialized["parent_name"] = deck.name
-        well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
-        new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
-        return new_plate
-
-    def get_tip_rack(name: str) -> PRCXI9300Container:
-        tip_racks = opentrons_96_tiprack_10ul("name").serialize()
-        tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
-                           ordering=collections.OrderedDict())
-        tip_rack_serialized = tip_rack.serialize()
-        tip_rack_serialized["parent_name"] = deck.name
-        tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
-        new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
-        return new_tip_rack
-    
-    plate1 = get_well_container("HPLCPlateT1")
-    plate1.load_state({
-        "Material": {
-            "uuid": "548bbc3df0d4447586f2c19d2c0c0c55",
-            "Code": "HPLC01",
-            "Name":  "HPLC料盘"
-        }
-    })
-    plate2 = get_well_container("PlateT2")
-    plate2.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650",
-        }
-    })
-    plate3 = get_well_container("PlateT3")
-    plate3.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650",
-        }
-    })
-    trash = PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash")
-    trash.load_state({
-        "Material": {
-            "uuid": "730067cf07ae43849ddf4034299030e9"
-        }
-    })
-    plate5 = get_well_container("PlateT5")
-    plate5.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650",
-        }
-    })
-    plate6 = get_well_container("PlateT6")
-    plate6.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650"
-        }
-    })
-    plate7 = PRCXI9300Container(name="plateT7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
-    plate7.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650"
-        }
-    })
-    plate8 = get_tip_rack("RackT8")
-    plate8.load_state({
-        "Material": {
-            "uuid": "068b3815e36b4a72a59bae017011b29f",
-            "Code": "ZX-001-10+",
-            "Name": "10μL加长 Tip头"
-        }
-    })
-    plate9 = get_well_container("PlateT9")
-    plate9.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650"
-        }
-    })
-    plate10 = get_well_container("PlateT10")
-    plate10.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650"
-        }
-    })
-    plate11 = get_well_container("PlateT11")
-    plate11.load_state({
-        "Material": {
-            "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
-        }
-    })
-    plate12 = get_well_container("PlateT12")
-    plate12.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650"
-        }
-    })
-    plate13 = get_well_container("PlateT13")
-    plate13.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650"
-        }
-    })
-
-    # container_for_nothing = PRCXI9300Container(name="container_for_nothing", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
-
-    deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing1", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing2", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(trash, location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing3", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing4", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(plate8, location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing5", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing6", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(plate11, location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing8", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-
-    handler = PRCXI9300Handler(deck=deck, host="10.181.102.13", port=9999, 
-                               timeout=10.0, setup=False, debug=False, 
-                               matrix_id="fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1",
-                               channel_num=1, axis="Right")  # Initialize the handler with the deck and host settings
-    
-    handler.set_tiprack([plate8])  # Set the tip rack for the handler
-    asyncio.run(handler.setup())  # Initialize the handler and setup the connection
-    from pylabrobot.resources import set_volume_tracking
-    # from pylabrobot.resources import set_tip_tracking
-    set_volume_tracking(enabled=True)
-
-    plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)])  # Set liquids for every 8 wells in plate8
-
-    from unilabos.resources.graphio import *
-
-    A = tree_to_list([resource_plr_to_ulab(deck)])
-    # with open("deck.json", "w", encoding="utf-8") as f:
-    #     json.dump(A, f, indent=4, ensure_ascii=False)
-
-    print(plate11.get_well(0).tracker.get_used_volume())
-    asyncio.run(handler.create_protocol(protocol_name="Test Protocol"))  # Initialize the backend and setup the connection
-
-    # asyncio.run(handler.pick_up_tips([plate8.children[8]],[0]))
-    # print(plate8.children[8])
-    # # asyncio.run(handler.run_protocol())
-    # asyncio.run(handler.aspirate([plate11.children[0]],[10], [0]))
-    # print(plate11.children[0])
-    # # asyncio.run(handler.run_protocol())
-    # asyncio.run(handler.dispense([plate1.children[0]],[10],[0]))
-    # print(plate1.children[0])
-    # # asyncio.run(handler.run_protocol())
-    # asyncio.run(handler.mix([plate1.children[0]], mix_time=3, mix_vol=5, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
-    # print(plate1.children[0])
-    # asyncio.run(handler.discard_tips())
-
-    asyncio.run(handler.add_liquid(
-    asp_vols=[10]*7,
-    dis_vols=[10]*7,
-    reagent_sources=plate11.children[:7],
-    targets=plate1.children[2:9],
-    use_channels=[0],
-    flow_rates=[None] * 7,
-    offsets=[Coordinate(0, 0, 0)] * 7,
-    liquid_height=[None] * 7,
-    blow_out_air_volume=[None] * 2,
-    delays=None,
-    mix_time=3,
-    mix_vol=5,
-    spread="custom",
-))
-
-    asyncio.run(handler.run_protocol())  # Run the protocol
-# #     asyncio.run(handler.transfer_liquid(
-# #     asp_vols=[10]*2,
-# #     dis_vols=[10]*2,
-# #     sources=plate11.children[:2],
-# #     targets=plate11.children[-2:],
-# #     use_channels=[0],
-# #     offsets=[Coordinate(0, 0, 0)] * 4,
-# #     liquid_height=[None] * 2,
-# #     blow_out_air_volume=[None] * 2,
-# #     delays=None,
-# #     mix_times=3,
-# #     mix_vol=5,
-# #     spread="wide",
-# #     tip_racks=[plate8]
-# # ))
-
-# #     asyncio.run(handler.remove_liquid(
-# #     vols=[10]*2,
-# #     sources=plate11.children[:2],
-# #     waste_liquid=plate11.children[43],
-# #     use_channels=[0],
-# #     offsets=[Coordinate(0, 0, 0)] * 4,
-# #     liquid_height=[None] * 2,
-# #     blow_out_air_volume=[None] * 2,
-# #     delays=None,
-# #     spread="wide"
-# # ))
-#     asyncio.run(handler.run_protocol())
-
-#     # asyncio.run(handler.discard_tips())
-#     # asyncio.run(handler.mix(well_containers.children[:8
-#     # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
-#     #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
-
-
-#     # asyncio.run(handler.remove_liquid(
-#     #     vols=[100]*16,
-#     #     sources=well_containers.children[-16:],
-#     #     waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
-#     #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
-#     #     flow_rates=[None] * 32,
-#     #     offsets=[Coordinate(0, 0, 0)] * 32,
-#     #     liquid_height=[None] * 32,
-#     #     blow_out_air_volume=[None] * 32,
-#     #     spread="wide",
-#     # ))
-#     # asyncio.run(handler.transfer_liquid(
-#     #     asp_vols=[100]*16,
-#     #     dis_vols=[100]*16,
-#     #     tip_racks=[tip_rack],
-#     #     sources=well_containers.children[-16:],
-#     #     targets=well_containers.children[:16],
-#     #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
-#     #     offsets=[Coordinate(0, 0, 0)] * 32,
-#     #     asp_flow_rates=[None] * 16,
-#     #     dis_flow_rates=[None] * 16,
-#     #     liquid_height=[None] * 32,
-#     #     blow_out_air_volume=[None] * 32,
-#     #     mix_times=3,
-#     #     mix_vol=50,
-#     #     spread="wide",
-#     # ))
-    print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
-#     # input("pick_up_tips add step")
-#     #asyncio.run(handler.run_protocol())  # Run the protocol
     # # input("Running protocol...")
     # # input("Press Enter to continue...")  # Wait for user input before proceeding
     # # print("PRCXI9300Handler initialized with deck and host settings.")
 
+
+
+### 9320 ###
+
+
+#     deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)
+
+#     from pylabrobot.resources.opentrons.tip_racks import tipone_96_tiprack_200ul,opentrons_96_tiprack_10ul
+#     from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
+
+#     def get_well_container(name: str) -> PRCXI9300Container:
+#         well_containers = corning_96_wellplate_360ul_flat(name).serialize()
+#         plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
+#                            ordering=collections.OrderedDict())
+#         plate_serialized = plate.serialize()
+#         plate_serialized["parent_name"] = deck.name
+#         well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
+#         new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
+#         return new_plate
+
+#     def get_tip_rack(name: str) -> PRCXI9300Container:
+#         tip_racks = opentrons_96_tiprack_10ul("name").serialize()
+#         tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
+#                            ordering=collections.OrderedDict())
+#         tip_rack_serialized = tip_rack.serialize()
+#         tip_rack_serialized["parent_name"] = deck.name
+#         tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
+#         new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
+#         return new_tip_rack
+    
+#     plate1 = get_well_container("HPLCPlateT1")
+#     plate1.load_state({
+#         "Material": {
+#             "uuid": "548bbc3df0d4447586f2c19d2c0c0c55",
+#             "Code": "HPLC01",
+#             "Name":  "HPLC料盘"
+#         }
+#     })
+#     plate2 = get_well_container("PlateT2")
+#     plate2.load_state({
+#         "Material": {
+#             "uuid": "04211a2dc93547fe9bf6121eac533650",
+#         }
+#     })
+#     plate3 = get_well_container("PlateT3")
+#     plate3.load_state({
+#         "Material": {
+#             "uuid": "04211a2dc93547fe9bf6121eac533650",
+#         }
+#     })
+#     trash = PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash")
+#     trash.load_state({
+#         "Material": {
+#             "uuid": "730067cf07ae43849ddf4034299030e9"
+#         }
+#     })
+#     plate5 = get_well_container("PlateT5")
+#     plate5.load_state({
+#         "Material": {
+#             "uuid": "04211a2dc93547fe9bf6121eac533650",
+#         }
+#     })
+#     plate6 = get_well_container("PlateT6")
+#     plate6.load_state({
+#         "Material": {
+#             "uuid": "04211a2dc93547fe9bf6121eac533650"
+#         }
+#     })
+#     plate7 = PRCXI9300Container(name="plateT7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
+#     plate7.load_state({
+#         "Material": {
+#             "uuid": "04211a2dc93547fe9bf6121eac533650"
+#         }
+#     })
+#     plate8 = get_tip_rack("RackT8")
+#     plate8.load_state({
+#         "Material": {
+#             "uuid": "068b3815e36b4a72a59bae017011b29f",
+#             "Code": "ZX-001-10+",
+#             "Name": "10μL加长 Tip头"
+#         }
+#     })
+#     plate9 = get_well_container("PlateT9")
+#     plate9.load_state({
+#         "Material": {
+#             "uuid": "04211a2dc93547fe9bf6121eac533650"
+#         }
+#     })
+#     plate10 = get_well_container("PlateT10")
+#     plate10.load_state({
+#         "Material": {
+#             "uuid": "04211a2dc93547fe9bf6121eac533650"
+#         }
+#     })
+#     plate11 = get_well_container("PlateT11")
+#     plate11.load_state({
+#         "Material": {
+#             "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
+#         }
+#     })
+#     plate12 = get_well_container("PlateT12")
+#     plate12.load_state({
+#         "Material": {
+#             "uuid": "04211a2dc93547fe9bf6121eac533650"
+#         }
+#     })
+#     plate13 = get_well_container("PlateT13")
+#     plate13.load_state({
+#         "Material": {
+#             "uuid": "04211a2dc93547fe9bf6121eac533650"
+#         }
+#     })
+
+#     # container_for_nothing = PRCXI9300Container(name="container_for_nothing", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
+
+#     deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing1", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing2", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(trash, location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing3", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing4", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(plate8, location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing5", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing6", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(plate11, location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing8", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+
+#     handler = PRCXI9300Handler(deck=deck, host="10.181.102.13", port=9999, 
+#                                timeout=10.0, setup=False, debug=False, 
+#                                matrix_id="fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1",
+#                                channel_num=8, axis="Right")  # Initialize the handler with the deck and host settings
+    
+#     handler.set_tiprack([plate8])  # Set the tip rack for the handler
+#     asyncio.run(handler.setup())  # Initialize the handler and setup the connection
+#     from pylabrobot.resources import set_volume_tracking
+#     # from pylabrobot.resources import set_tip_tracking
+#     set_volume_tracking(enabled=True)
+
+#     plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)])  # Set liquids for every 8 wells in plate8
+
+#     from unilabos.resources.graphio import *
+
+#     A = tree_to_list([resource_plr_to_ulab(deck)])
+#     # with open("deck.json", "w", encoding="utf-8") as f:
+#     #     json.dump(A, f, indent=4, ensure_ascii=False)
+
+#     print(plate11.get_well(0).tracker.get_used_volume())
+#     asyncio.run(handler.create_protocol(protocol_name="Test Protocol"))  # Initialize the backend and setup the connection
+
+#     # asyncio.run(handler.pick_up_tips([plate8.children[8]],[0]))
+#     # print(plate8.children[8])
+#     # # asyncio.run(handler.run_protocol())
+#     # asyncio.run(handler.aspirate([plate11.children[0]],[10], [0]))
+#     # print(plate11.children[0])
+#     # # asyncio.run(handler.run_protocol())
+#     # asyncio.run(handler.dispense([plate1.children[0]],[10],[0]))
+#     # print(plate1.children[0])
+#     # # asyncio.run(handler.run_protocol())
+#     # asyncio.run(handler.mix([plate1.children[0]], mix_time=3, mix_vol=5, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
+#     # print(plate1.children[0])
+#     # asyncio.run(handler.discard_tips())
+
+#     asyncio.run(handler.add_liquid(
+#     asp_vols=[10]*7,
+#     dis_vols=[10]*7,
+#     reagent_sources=plate11.children[:7],
+#     targets=plate1.children[2:9],
+#     use_channels=[0],
+#     flow_rates=[None] * 7,
+#     offsets=[Coordinate(0, 0, 0)] * 7,
+#     liquid_height=[None] * 7,
+#     blow_out_air_volume=[None] * 2,
+#     delays=None,
+#     mix_time=3,
+#     mix_vol=5,
+#     spread="custom",
+# ))
+
+#     asyncio.run(handler.run_protocol())  # Run the protocol
+
+
+
+
+
+
+
+# # #     asyncio.run(handler.transfer_liquid(
+# # #     asp_vols=[10]*2,
+# # #     dis_vols=[10]*2,
+# # #     sources=plate11.children[:2],
+# # #     targets=plate11.children[-2:],
+# # #     use_channels=[0],
+# # #     offsets=[Coordinate(0, 0, 0)] * 4,
+# # #     liquid_height=[None] * 2,
+# # #     blow_out_air_volume=[None] * 2,
+# # #     delays=None,
+# # #     mix_times=3,
+# # #     mix_vol=5,
+# # #     spread="wide",
+# # #     tip_racks=[plate8]
+# # # ))
+
+# # #     asyncio.run(handler.remove_liquid(
+# # #     vols=[10]*2,
+# # #     sources=plate11.children[:2],
+# # #     waste_liquid=plate11.children[43],
+# # #     use_channels=[0],
+# # #     offsets=[Coordinate(0, 0, 0)] * 4,
+# # #     liquid_height=[None] * 2,
+# # #     blow_out_air_volume=[None] * 2,
+# # #     delays=None,
+# # #     spread="wide"
+# # # ))
+# #     asyncio.run(handler.run_protocol())
+
+# #     # asyncio.run(handler.discard_tips())
+# #     # asyncio.run(handler.mix(well_containers.children[:8
+# #     # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
+# #     #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
+
+
+# #     # asyncio.run(handler.remove_liquid(
+# #     #     vols=[100]*16,
+# #     #     sources=well_containers.children[-16:],
+# #     #     waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
+# #     #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
+# #     #     flow_rates=[None] * 32,
+# #     #     offsets=[Coordinate(0, 0, 0)] * 32,
+# #     #     liquid_height=[None] * 32,
+# #     #     blow_out_air_volume=[None] * 32,
+# #     #     spread="wide",
+# #     # ))
+# #     # asyncio.run(handler.transfer_liquid(
+# #     #     asp_vols=[100]*16,
+# #     #     dis_vols=[100]*16,
+# #     #     tip_racks=[tip_rack],
+# #     #     sources=well_containers.children[-16:],
+# #     #     targets=well_containers.children[:16],
+# #     #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
+# #     #     offsets=[Coordinate(0, 0, 0)] * 32,
+# #     #     asp_flow_rates=[None] * 16,
+# #     #     dis_flow_rates=[None] * 16,
+# #     #     liquid_height=[None] * 32,
+# #     #     blow_out_air_volume=[None] * 32,
+# #     #     mix_times=3,
+# #     #     mix_vol=50,
+# #     #     spread="wide",
+# #     # ))
+#       # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
+# #     # input("pick_up_tips add step")
+# #     #asyncio.run(handler.run_protocol())  # Run the protocol
+# #     # input("Running protocol...")
+# #     # input("Press Enter to continue...")  # Wait for user input before proceeding
+# #     # print("PRCXI9300Handler initialized with deck and host settings.")
+

unilabos_msgs/action/LiquidHandlerSetGroup.action

@@ -0,0 +1,8 @@
+string group_name
+Resource[] wells
+float64[] volumes
+---
+string return_info
+bool success
+---
+# 反馈

unilabos_msgs/action/LiquidHandlerTransferGroup.action

@@ -0,0 +1,8 @@
+string source_group_name
+string target_group_name
+float64 unit_volume
+---
+string return_info
+bool success
+---
+# 反馈