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,

unilabos/registry/devices/liquid_handler.yaml

@@ -4500,6 +4500,9 @@ liquid_handler:
         simulator:
           default: false
           type: boolean
+        total_height:
+          default: 310
+          type: number
       required:
       - backend
       - deck
@@ -7553,6 +7556,35 @@ liquid_handler.prcxi:
           title: custom_delay参数
           type: object
         type: UniLabJsonCommandAsync
+      auto-heater_action:
+        feedback: {}
+        goal: {}
+        goal_default:
+          temperature: null
+          time: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                temperature:
+                  type: number
+                time:
+                  type: integer
+              required:
+              - temperature
+              - time
+              type: object
+            result: {}
+          required:
+          - goal
+          title: heater_action参数
+          type: object
+        type: UniLabJsonCommandAsync
       auto-iter_tips:
         feedback: {}
         goal: {}
@@ -7694,6 +7726,35 @@ liquid_handler.prcxi:
           title: set_group参数
           type: object
         type: UniLabJsonCommand
+      auto-shaker_action:
+        feedback: {}
+        goal: {}
+        goal_default:
+          frequency: null
+          time: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                frequency:
+                  type: number
+                time:
+                  type: integer
+              required:
+              - time
+              - frequency
+              type: object
+            result: {}
+          required:
+          - goal
+          title: shaker_action参数
+          type: object
+        type: UniLabJsonCommandAsync
       auto-touch_tip:
         feedback: {}
         goal: {}

unilabos/test/experiments/prcxi_9320_with_res.json

@@ -21,7 +21,7 @@
                     "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
                     "_resource_child_name": "PRCXI_Deck"
                 },
-                "host": "192.168.1.201",
+                "host": "10.20.30.184",
                 "port": 9999,
                 "debug": false,
                 "setup": true,
@@ -29,7 +29,7 @@
                 "timeout": 10,
                 "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
                 "simulator": false,
-                "channel_num": 1
+                "channel_num": 2
             },
             "data": {
                 "reset_ok": true
@@ -9964,8 +9964,8 @@
         },
 
         {
-            "id": "container_for_nothing3",
+            "id": "emptyT3",
-            "name": "container_for_nothing3",
+            "name": "emptyT3",
             
             "children": [],
             "parent": "PRCXI_Deck",
@@ -9996,8 +9996,8 @@
         },
 
         {
-            "id": "container_for_nothing4",
+            "id": "emptyT4",
-            "name": "container_for_nothing4",
+            "name": "emptyT4",
             
             "children": [],
             "parent": "PRCXI_Deck",
@@ -19806,8 +19806,8 @@
         },
 
         {
-            "id": "container_for_nothing7",
+            "id": "emptyT7",
-            "name": "container_for_nothing7",
+            "name": "emptyT7",
             
             "children": [],
             "parent": "PRCXI_Deck",
@@ -19837,8 +19837,8 @@
             "data": {}
         },
         {
-            "id": "container_for_nothing8",
+            "id": "emptyT8",
-            "name": "container_for_nothing8",
+            "name": "emptyT8",
             
             "children": [],
             "parent": "PRCXI_Deck",
@@ -28015,8 +28015,8 @@
         },
 
         {
-            "id": "container_for_nothing11",
+            "id": "emptyT11",
-            "name": "container_for_nothing11",
+            "name": "emptyT11",
             
             "children": [],
             "parent": "PRCXI_Deck",
@@ -28046,8 +28046,8 @@
             "data": {}
         },
         {
-            "id": "container_for_nothing12",
+            "id": "emptyT12",
-            "name": "container_for_nothing12",
+            "name": "emptyT12",
             
             "children": [],
             "parent": "PRCXI_Deck",