添加切换枪头方法，添加mock振荡与加热方法

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -433,6 +433,12 @@ 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, frequency: float):
+        return await self._unilabos_backend.shaker_action(time, frequency)
+
+    async def heater_action(self, temperature: float, time: int):
+        return await self._unilabos_backend.heater_action(temperature, time)
+
 
 class PRCXI9300Backend(LiquidHandlerBackend):
     """PRCXI 9300 的后端实现，继承自 LiquidHandlerBackend。
@@ -474,6 +480,15 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         self._num_channels = channel_num
         self._execute_setup = setup
         self.debug = debug
+        self.axis = "Left"
+
+    async def shaker_action(self, time: int, frequency: float):
+        print(f"\n\nShaker action: time={time}, frequency={frequency}\n\n")
+        # return await self.api_client.shaker_action(time, frequency)
+
+    async def heater_action(self, temperature: float, time: int):
+        print(f"\n\nHeater action: temperature={temperature}, time={time}\n\n")
+        # return await self.api_client.heater_action(temperature, time)
 
     def post_init(self, ros_node: BaseROS2DeviceNode):
         self._ros_node = ros_node
@@ -555,7 +570,18 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
     async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int] = None):
         """Pick up tips from the specified resource."""
-
+        # INSERT_YOUR_CODE
+        # Ensure use_channels is converted to a list of ints if it's an array
+        if hasattr(use_channels, 'tolist'):
+            _use_channels = use_channels.tolist()
+        else:
+            _use_channels = list(use_channels) if use_channels is not None else None
+        if _use_channels == [0]:
+            axis = "Left"
+        elif _use_channels == [1]:
+            axis = "Right"
+        else:
+            raise ValueError("Invalid use channels: " + str(_use_channels))
         plate_indexes = []
         for op in ops:
             plate = op.resource.parent
@@ -585,6 +611,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
             hole_row = tipspot_index % 8 + 1
 
         step = self.api_client.Load(
+            axis=axis,
             dosage=0,
             plate_no=PlateNo,
             is_whole_plate=False,
@@ -599,13 +626,23 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
     async def drop_tips(self, ops: List[Drop], use_channels: List[int] = None):
         """Pick up tips from the specified resource."""
-
+        if hasattr(use_channels, 'tolist'):
+            _use_channels = use_channels.tolist()
+        else:
+            _use_channels = list(use_channels) if use_channels is not None else None
+        if _use_channels == [0]:
+            axis = "Left"
+        elif _use_channels == [1]:
+            axis = "Right"
+        else:
+            raise ValueError("Invalid use channels: " + str(_use_channels))
         # 检查trash #
         if ops[0].resource.name == "trash":
 
             PlateNo = ops[0].resource.parent.children.index(ops[0].resource) + 1
 
             step = self.api_client.UnLoad(
+                axis=axis,
                 dosage=0,
                 plate_no=PlateNo,
                 is_whole_plate=False,
@@ -648,6 +685,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
             hole_row = tipspot_index % 8 + 1
 
         step = self.api_client.UnLoad(
+            axis=axis,
             dosage=0,
             plate_no=PlateNo,
             is_whole_plate=False,
@@ -671,7 +709,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         none_keys: List[str] = [],
     ):
         """Mix liquid in the specified resources."""
-
+        
         plate_indexes = []
         for op in targets:
             deck = op.parent.parent
@@ -714,7 +752,16 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
     async def aspirate(self, ops: List[SingleChannelAspiration], use_channels: List[int] = None):
         """Aspirate liquid from the specified resources."""
-
+        if hasattr(use_channels, 'tolist'):
+            _use_channels = use_channels.tolist()
+        else:
+            _use_channels = list(use_channels) if use_channels is not None else None
+        if _use_channels == [0]:
+            axis = "Left"
+        elif _use_channels == [1]:
+            axis = "Right"
+        else:
+            raise ValueError("Invalid use channels: " + str(_use_channels))
         plate_indexes = []
         for op in ops:
             plate = op.resource.parent
@@ -747,6 +794,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
             hole_row = tipspot_index % 8 + 1
 
         step = self.api_client.Imbibing(
+            axis=axis,
             dosage=int(volumes[0]),
             plate_no=PlateNo,
             is_whole_plate=False,
@@ -761,7 +809,16 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
     async def dispense(self, ops: List[SingleChannelDispense], use_channels: List[int] = None):
         """Dispense liquid into the specified resources."""
-
+        if hasattr(use_channels, 'tolist'):
+            _use_channels = use_channels.tolist()
+        else:
+            _use_channels = list(use_channels) if use_channels is not None else None
+        if _use_channels == [0]:
+            axis = "Left"
+        elif _use_channels == [1]:
+            axis = "Right"
+        else:
+            raise ValueError("Invalid use channels: " + str(_use_channels))
         plate_indexes = []
         for op in ops:
             plate = op.resource.parent
@@ -795,6 +852,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
             hole_row = tipspot_index % 8 + 1
 
         step = self.api_client.Tapping(
+            axis=axis,
             dosage=int(volumes[0]),
             plate_no=PlateNo,
             is_whole_plate=False,
@@ -1000,9 +1058,10 @@ class PRCXI9300Api:
         assist_fun4: str = "",
         assist_fun5: str = "",
         liquid_method: str = "NormalDispense",
+        axis: str = "Left",
     ) -> Dict[str, Any]:
         return {
-            "StepAxis": self.axis,
+            "StepAxis": axis,
             "Function": "Load",
             "DosageNum": dosage,
             "PlateNo": plate_no,
@@ -1038,9 +1097,10 @@ class PRCXI9300Api:
         assist_fun4: str = "",
         assist_fun5: str = "",
         liquid_method: str = "NormalDispense",
-    ) -> Dict[str, Any]:
+        axis: str = "Left",
+        ) -> Dict[str, Any]:
         return {
-            "StepAxis": self.axis,
+            "StepAxis": axis,
             "Function": "Imbibing",
             "DosageNum": dosage,
             "PlateNo": plate_no,
@@ -1076,9 +1136,10 @@ class PRCXI9300Api:
         assist_fun4: str = "",
         assist_fun5: str = "",
         liquid_method: str = "NormalDispense",
+        axis: str = "Left",
     ) -> Dict[str, Any]:
         return {
-            "StepAxis": self.axis,
+            "StepAxis": axis,
             "Function": "Tapping",
             "DosageNum": dosage,
             "PlateNo": plate_no,
@@ -1114,9 +1175,10 @@ class PRCXI9300Api:
         assist_fun4: str = "",
         assist_fun5: str = "",
         liquid_method: str = "NormalDispense",
-    ) -> Dict[str, Any]:
+        axis: str = "Left",
+        ) -> Dict[str, Any]:
         return {
-            "StepAxis": self.axis,
+            "StepAxis": axis,
             "Function": "Blending",
             "DosageNum": dosage,
             "PlateNo": plate_no,
@@ -1152,9 +1214,10 @@ class PRCXI9300Api:
         assist_fun4: str = "",
         assist_fun5: str = "",
         liquid_method: str = "NormalDispense",
+        axis: str = "Left",
     ) -> Dict[str, Any]:
         return {
-            "StepAxis": self.axis,
+            "StepAxis": axis,
             "Function": "UnLoad",
             "DosageNum": dosage,
             "PlateNo": plate_no,