test_transfer_liquid_3

unilabos/test/experiments/prcxi_9320_with_res_test.json需要起的部分：
"debug": true,
"setup": false,
"simulator": true

tests/devices/liquid_handling/README.md

@@ -0,0 +1,15 @@
+# Liquid handling 集成测试
+
+`test_transfer_liquid.py` 现在会调用 PRCXI 的 RViz 仿真 backend，运行前请确保：
+
+1. 已安装包含 `pylabrobot`、`rclpy` 的运行环境；
+2. 启动 ROS 依赖（`rviz` 可选，但是 `rviz_backend` 会创建 ROS 节点）；
+3. 在 shell 中设置 `UNILAB_SIM_TEST=1`，否则 pytest 会自动跳过这些慢速用例：
+
+```bash
+export UNILAB_SIM_TEST=1
+pytest tests/devices/liquid_handling/test_transfer_liquid.py -m slow
+```
+
+如果只需验证逻辑层（不依赖仿真），可以直接运行 `tests/devices/liquid_handling/unit_test.py`，该文件使用 Fake backend，适合作为 CI 的快速测试。***
+

tests/devices/liquid_handling/test_transfer_liquid.py

@@ -1,505 +1,325 @@
+"""
+PRCXI transfer_liquid 集成测试。
+
+这些用例会启动 UniLiquidHandler RViz 仿真 backend，需要同时满足：
+1. 安装 pylabrobot 依赖；
+2. 设置环境变量 UNILAB_SIM_TEST=1；
+3. 具备 ROS 运行环境（rviz_backend 会创建 ROS 节点）。
+"""
 import asyncio
+import os
 from dataclasses import dataclass
-from typing import Any, Iterable, List, Optional, Sequence, Tuple
+from typing import List, Sequence
 
 import pytest
 
 from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
+from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Deck, PRCXI9300Trash
+from unilabos.devices.liquid_handling.prcxi.prcxi_labware import (
+    PRCXI_300ul_Tips,
+    PRCXI_BioER_96_wellplate,
+)
+
+pytestmark = pytest.mark.slow
+
+try:
+    from pylabrobot.resources import Coordinate, Deck, Plate, TipRack, Well
+except ImportError:  # pragma: no cover - 测试环境缺少 pylabrobot 时直接跳过
+    Coordinate = Deck = Plate = TipRack = Well = None  # type: ignore[assignment]
+    PYLABROBOT_AVAILABLE = False
+else:
+    PYLABROBOT_AVAILABLE = True
+
+SIM_ENV_VAR = "UNILAB_SIM_TEST"
 
 
-@dataclass(frozen=True)
+@dataclass
-class DummyContainer:
+class SimulationContext:
-    name: str
+    handler: LiquidHandlerAbstract
-
+    deck: Deck
-    def __repr__(self) -> str:  # pragma: no cover
+    tip_rack: TipRack
-        return f"DummyContainer({self.name})"
+    source_plate: Plate
-
+    target_plate: Plate
-
+    waste_plate: Plate
-@dataclass(frozen=True)
+    channel_num: int
-class DummyTipSpot:
-    name: str
-
-    def __repr__(self) -> str:  # pragma: no cover
-        return f"DummyTipSpot({self.name})"
-
-
-def make_tip_iter(n: int = 256) -> Iterable[List[DummyTipSpot]]:
-    """Yield lists so code can safely call `tip.extend(next(self.current_tip))`."""
-    for i in range(n):
-        yield [DummyTipSpot(f"tip_{i}")]
-
-
-class FakeLiquidHandler(LiquidHandlerAbstract):
-    """不初始化真实 backend/deck；仅用来记录 transfer_liquid 内部调用序列。"""
-
-    def __init__(self, channel_num: int = 8):
-        # 不调用 super().__init__，避免真实硬件/后端依赖
-        self.channel_num = channel_num
-        self.support_touch_tip = True
-        self.current_tip = iter(make_tip_iter())
-        self.calls: List[Tuple[str, Any]] = []
-
-    async def pick_up_tips(self, tip_spots, use_channels=None, offsets=None, **backend_kwargs):
-        self.calls.append(("pick_up_tips", {"tips": list(tip_spots), "use_channels": use_channels}))
-
-    async def aspirate(
-        self,
-        resources: Sequence[Any],
-        vols: List[float],
-        use_channels: Optional[List[int]] = None,
-        flow_rates: Optional[List[Optional[float]]] = None,
-        offsets: Any = None,
-        liquid_height: Any = None,
-        blow_out_air_volume: Any = None,
-        spread: str = "wide",
-        **backend_kwargs,
-    ):
-        self.calls.append(
-            (
-                "aspirate",
-                {
-                    "resources": list(resources),
-                    "vols": list(vols),
-                    "use_channels": list(use_channels) if use_channels is not None else None,
-                    "flow_rates": list(flow_rates) if flow_rates is not None else None,
-                    "offsets": list(offsets) if offsets is not None else None,
-                    "liquid_height": list(liquid_height) if liquid_height is not None else None,
-                    "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
-                },
-            )
-        )
-
-    async def dispense(
-        self,
-        resources: Sequence[Any],
-        vols: List[float],
-        use_channels: Optional[List[int]] = None,
-        flow_rates: Optional[List[Optional[float]]] = None,
-        offsets: Any = None,
-        liquid_height: Any = None,
-        blow_out_air_volume: Any = None,
-        spread: str = "wide",
-        **backend_kwargs,
-    ):
-        self.calls.append(
-            (
-                "dispense",
-                {
-                    "resources": list(resources),
-                    "vols": list(vols),
-                    "use_channels": list(use_channels) if use_channels is not None else None,
-                    "flow_rates": list(flow_rates) if flow_rates is not None else None,
-                    "offsets": list(offsets) if offsets is not None else None,
-                    "liquid_height": list(liquid_height) if liquid_height is not None else None,
-                    "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
-                },
-            )
-        )
-
-    async def discard_tips(self, use_channels=None, *args, **kwargs):
-        # 有的分支是 discard_tips(use_channels=[0])，有的分支是 discard_tips([0..7])（位置参数）
-        self.calls.append(("discard_tips", {"use_channels": list(use_channels) if use_channels is not None else None}))
-
-    async def custom_delay(self, seconds=0, msg=None):
-        self.calls.append(("custom_delay", {"seconds": seconds, "msg": msg}))
-
-    async def touch_tip(self, targets):
-        # 原实现会访问 targets.get_size_x() 等；测试里只记录调用
-        self.calls.append(("touch_tip", {"targets": targets}))
-
-    async def mix(self, targets, mix_time=None, mix_vol=None, height_to_bottom=None, offsets=None, mix_rate=None, none_keys=None):
-        self.calls.append(
-            (
-                "mix",
-                {
-                    "targets": targets,
-                    "mix_time": mix_time,
-                    "mix_vol": mix_vol,
-                },
-            )
-        )
 
 
 def run(coro):
     return asyncio.run(coro)
 
 
-def test_one_to_one_single_channel_basic_calls():
+def _ensure_unilabos_extra(well: Well) -> None:
-    lh = FakeLiquidHandler(channel_num=1)
+    if not hasattr(well, "unilabos_extra") or well.unilabos_extra is None:
-    lh.current_tip = iter(make_tip_iter(64))
+        well.unilabos_extra = {}  # type: ignore[attr-defined]
 
-    sources = [DummyContainer(f"S{i}") for i in range(3)]
+
-    targets = [DummyContainer(f"T{i}") for i in range(3)]
+def _assign_sample_uuid(well: Well, value: str) -> None:
+    _ensure_unilabos_extra(well)
+    well.unilabos_extra["sample_uuid"] = value  # type: ignore[attr-defined]
+
+
+def _zero_coordinate() -> Coordinate:
+    if hasattr(Coordinate, "zero"):
+        return Coordinate.zero()
+    return Coordinate(0, 0, 0)
+
+
+def _zero_offsets(count: int) -> List[Coordinate]:
+    return [_zero_coordinate() for _ in range(count)]
+
+
+def _build_simulation_deck() -> tuple[PRCXI9300Deck, TipRack, Plate, Plate, Plate, PRCXI9300Trash]:
+    deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=542, size_y=374, size_z=50)
+    tip_rack = PRCXI_300ul_Tips("Tips")
+    source_plate = PRCXI_BioER_96_wellplate("SourcePlate")
+    target_plate = PRCXI_BioER_96_wellplate("TargetPlate")
+    waste_plate = PRCXI_BioER_96_wellplate("WastePlate")
+    trash = PRCXI9300Trash(name="trash", size_x=100, size_y=100, size_z=50)
+    deck.assign_child_resource(tip_rack, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(source_plate, location=Coordinate(150, 0, 0))
+    deck.assign_child_resource(target_plate, location=Coordinate(300, 0, 0))
+    deck.assign_child_resource(waste_plate, location=Coordinate(450, 0, 0))
+    deck.assign_child_resource(trash, location=Coordinate(150, -120, 0))
+    return deck, tip_rack, source_plate, target_plate, waste_plate, trash
+
+
+def _stop_backend(handler: LiquidHandlerAbstract) -> None:
+    try:
+        run(handler.backend.stop())
+    except Exception:  # pragma: no cover - 如果 backend 已经停止
+        pass
+    simulate_handler = getattr(handler, "_simulate_handler", None)
+    if simulate_handler is not None and getattr(simulate_handler, "backend", None) is not None:
+        try:
+            run(simulate_handler.backend.stop())
+        except Exception:  # pragma: no cover
+            pass
+
+
+@pytest.fixture(params=[1, 8])
+def prcxi_simulation(request) -> SimulationContext:
+    if not PYLABROBOT_AVAILABLE:
+        pytest.skip("pylabrobot is required for PRCXI simulation tests.")
+    if os.environ.get(SIM_ENV_VAR) != "1":
+        pytest.skip(f"Set {SIM_ENV_VAR}=1 to run PRCXI simulation tests.")
+
+    channel_num = request.param
+    deck, tip_rack, source_plate, target_plate, waste_plate, _trash = _build_simulation_deck()
+    backend_cfg = {
+        "type": "unilabos.devices.liquid_handling.rviz_backend.UniLiquidHandlerRvizBackend",
+        "channel_num": channel_num,
+        "total_height": 310,
+        "lh_device_id": f"pytest_prcxi_{channel_num}",
+    }
+    handler = LiquidHandlerAbstract(
+        backend=backend_cfg,
+        deck=deck,
+        simulator=True,
+        channel_num=channel_num,
+        total_height=310,
+    )
+    run(handler.setup())
+    handler.set_tiprack([tip_rack])
+    handler.support_touch_tip = False
+
+    context = SimulationContext(
+        handler=handler,
+        deck=deck,
+        tip_rack=tip_rack,
+        source_plate=source_plate,
+        target_plate=target_plate,
+        waste_plate=waste_plate,
+        channel_num=channel_num,
+    )
+
+    yield context
+
+    _stop_backend(handler)
+
+
+def _pick_wells(plate: Plate, start: int, count: int) -> List[Well]:
+    wells = plate.children[start : start + count]
+    for well in wells:
+        _ensure_unilabos_extra(well)
+    return wells
+
+
+def _assert_samples_match(sources: Sequence[Well], targets: Sequence[Well]) -> None:
+    for src, tgt in zip(sources, targets):
+        src_uuid = getattr(src, "unilabos_extra", {}).get("sample_uuid")
+        tgt_uuid = getattr(tgt, "unilabos_extra", {}).get("sample_uuid")
+        assert tgt_uuid == src_uuid
+
+
+def test_transfer_liquid_single_channel_one_to_one(prcxi_simulation: SimulationContext):
+    if prcxi_simulation.channel_num != 1:
+        pytest.skip("仅在单通道配置下运行")
+
+    handler = prcxi_simulation.handler
+    sources = _pick_wells(prcxi_simulation.source_plate, start=0, count=3)
+    targets = _pick_wells(prcxi_simulation.target_plate, start=10, count=3)
+    for idx, src in enumerate(sources):
+        _assign_sample_uuid(src, f"single_{idx}")
+    offsets = _zero_offsets(max(len(sources), len(targets)))
 
     run(
-        lh.transfer_liquid(
+        handler.transfer_liquid(
             sources=sources,
             targets=targets,
-            tip_racks=[],
+            tip_racks=[prcxi_simulation.tip_rack],
             use_channels=[0],
-            asp_vols=[1, 2, 3],
+            asp_vols=[5.0, 6.0, 7.0],
-            dis_vols=[4, 5, 6],
+            dis_vols=[10.0, 11.0, 12.0],
-            mix_times=None,  # 应该仍能执行（不 mix）
+            offsets=offsets,
+            mix_times=None,
         )
     )
 
-    assert [c[0] for c in lh.calls].count("pick_up_tips") == 3
+    _assert_samples_match(sources, targets)
-    assert [c[0] for c in lh.calls].count("aspirate") == 3
-    assert [c[0] for c in lh.calls].count("dispense") == 3
-    assert [c[0] for c in lh.calls].count("discard_tips") == 3
-
-    # 每次 aspirate/dispense 都是单孔列表
-    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-    assert aspirates[0]["resources"] == [sources[0]]
-    assert aspirates[0]["vols"] == [1.0]
-
-    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-    assert dispenses[2]["resources"] == [targets[2]]
-    assert dispenses[2]["vols"] == [6.0]
 
 
-def test_one_to_one_single_channel_before_stage_mixes_prior_to_aspirate():
+def test_transfer_liquid_single_channel_one_to_many(prcxi_simulation: SimulationContext):
-    lh = FakeLiquidHandler(channel_num=1)
+    if prcxi_simulation.channel_num != 1:
-    lh.current_tip = iter(make_tip_iter(16))
+        pytest.skip("仅在单通道配置下运行")
 
-    source = DummyContainer("S0")
+    handler = prcxi_simulation.handler
-    target = DummyContainer("T0")
+    source = _pick_wells(prcxi_simulation.source_plate, start=20, count=1)[0]
+    targets = _pick_wells(prcxi_simulation.target_plate, start=30, count=3)
+    _assign_sample_uuid(source, "one_to_many_source")
+    offsets = _zero_offsets(max(len(targets), 1))
 
     run(
-        lh.transfer_liquid(
+        handler.transfer_liquid(
             sources=[source],
-            targets=[target],
+            targets=targets,
-            tip_racks=[],
+            tip_racks=[prcxi_simulation.tip_rack],
             use_channels=[0],
-            asp_vols=[5],
+            asp_vols=60.0,
-            dis_vols=[5],
+            dis_vols=[15.0, 20.0, 25.0],
-            mix_stage="before",
+            offsets=offsets,
+            mix_times=0,
+        )
+    )
+
+    for target in targets:
+        assert getattr(target, "unilabos_extra", {}).get("sample_uuid") == "one_to_many_source"
+
+
+def test_transfer_liquid_single_channel_many_to_one(prcxi_simulation: SimulationContext):
+    if prcxi_simulation.channel_num != 1:
+        pytest.skip("仅在单通道配置下运行")
+
+    handler = prcxi_simulation.handler
+    sources = _pick_wells(prcxi_simulation.source_plate, start=40, count=3)
+    target = _pick_wells(prcxi_simulation.target_plate, start=50, count=1)[0]
+    for idx, src in enumerate(sources):
+        _assign_sample_uuid(src, f"many_to_one_{idx}")
+    offsets = _zero_offsets(max(len(sources), len([target])))
+
+    run(
+        handler.transfer_liquid(
+            sources=sources,
+            targets=[target],
+            tip_racks=[prcxi_simulation.tip_rack],
+            use_channels=[0],
+            asp_vols=[8.0, 9.0, 10.0],
+            dis_vols=1,
+            offsets=offsets,
+            mix_stage="after",
             mix_times=1,
+            mix_vol=5,
+        )
+    )
+
+    assert getattr(target, "unilabos_extra", {}).get("sample_uuid") == "many_to_one_2"
+
+
+def test_transfer_liquid_eight_channel_batches(prcxi_simulation: SimulationContext):
+    if prcxi_simulation.channel_num != 8:
+        pytest.skip("仅在八通道配置下运行")
+
+    handler = prcxi_simulation.handler
+    sources = _pick_wells(prcxi_simulation.source_plate, start=0, count=8)
+    targets = _pick_wells(prcxi_simulation.target_plate, start=16, count=8)
+    for idx, src in enumerate(sources):
+        _assign_sample_uuid(src, f"batch_{idx}")
+    offsets = _zero_offsets(len(targets))
+
+    use_channels = list(range(8))
+    asp_vols = [float(i + 1) * 2 for i in range(8)]
+    dis_vols = [float(i + 10) for i in range(8)]
+
+    run(
+        handler.transfer_liquid(
+            sources=sources,
+            targets=targets,
+            tip_racks=[prcxi_simulation.tip_rack],
+            use_channels=use_channels,
+            asp_vols=asp_vols,
+            dis_vols=dis_vols,
+            offsets=offsets,
+            mix_times=0,
+        )
+    )
+
+    _assert_samples_match(sources, targets)
+
+
+@pytest.mark.parametrize("mix_stage", ["before", "after", "both"])
+def test_transfer_liquid_mix_stages(prcxi_simulation: SimulationContext, mix_stage: str):
+    if prcxi_simulation.channel_num != 1:
+        pytest.skip("仅在单通道配置下运行")
+
+    handler = prcxi_simulation.handler
+    target = _pick_wells(prcxi_simulation.target_plate, start=70, count=1)[0]
+    sources = _pick_wells(prcxi_simulation.source_plate, start=80, count=2)
+    for idx, src in enumerate(sources):
+        _assign_sample_uuid(src, f"mix_stage_{mix_stage}_{idx}")
+
+    run(
+        handler.transfer_liquid(
+            sources=sources,
+            targets=[target],
+            tip_racks=[prcxi_simulation.tip_rack],
+            use_channels=[0],
+            asp_vols=[4.0, 5.0],
+            dis_vols=1,
+            offsets=_zero_offsets(len(sources)),
+            mix_stage=mix_stage,
+            mix_times=2,
             mix_vol=3,
         )
     )
 
-    names = [name for name, _ in lh.calls]
+    # mix_stage 前后都应该保留最新源的 sample_uuid
-    assert names.count("mix") == 1
+    assert getattr(target, "unilabos_extra", {}).get("sample_uuid") == f"mix_stage_{mix_stage}_1"
-    assert names.index("mix") < names.index("aspirate")
+    if prcxi_simulation.channel_num != 8:
+        pytest.skip("仅在八通道配置下运行")
 
+    handler = prcxi_simulation.handler
+    sources = _pick_wells(prcxi_simulation.source_plate, start=0, count=8)
+    targets = _pick_wells(prcxi_simulation.target_plate, start=16, count=8)
+    for idx, src in enumerate(sources):
+        _assign_sample_uuid(src, f"batch_{idx}")
+    offsets = _zero_offsets(len(targets))
 
-def test_one_to_one_eight_channel_groups_by_8():
+    use_channels = list(range(8))
-    lh = FakeLiquidHandler(channel_num=8)
+    asp_vols = [float(i + 1) * 2 for i in range(8)]
-    lh.current_tip = iter(make_tip_iter(256))
+    dis_vols = [float(i + 10) for i in range(8)]
-
-    sources = [DummyContainer(f"S{i}") for i in range(16)]
-    targets = [DummyContainer(f"T{i}") for i in range(16)]
-    asp_vols = list(range(1, 17))
-    dis_vols = list(range(101, 117))
 
     run(
-        lh.transfer_liquid(
+        handler.transfer_liquid(
             sources=sources,
             targets=targets,
-            tip_racks=[],
+            tip_racks=[prcxi_simulation.tip_rack],
-            use_channels=list(range(8)),
+            use_channels=use_channels,
             asp_vols=asp_vols,
             dis_vols=dis_vols,
-            mix_times=0,  # 触发逻辑但不 mix
-        )
-    )
-
-    # 16 个任务 -> 2 组，每组 8 通道一起做
-    assert [c[0] for c in lh.calls].count("pick_up_tips") == 2
-    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-    assert len(aspirates) == 2
-    assert len(dispenses) == 2
-
-    assert aspirates[0]["resources"] == sources[0:8]
-    assert aspirates[0]["vols"] == [float(v) for v in asp_vols[0:8]]
-    assert dispenses[1]["resources"] == targets[8:16]
-    assert dispenses[1]["vols"] == [float(v) for v in dis_vols[8:16]]
-
-
-def test_one_to_one_eight_channel_requires_multiple_of_8_targets():
-    lh = FakeLiquidHandler(channel_num=8)
-    lh.current_tip = iter(make_tip_iter(64))
-
-    sources = [DummyContainer(f"S{i}") for i in range(9)]
-    targets = [DummyContainer(f"T{i}") for i in range(9)]
-
-    with pytest.raises(ValueError, match="multiple of 8"):
-        run(
-            lh.transfer_liquid(
-                sources=sources,
-                targets=targets,
-                tip_racks=[],
-                use_channels=list(range(8)),
-                asp_vols=[1] * 9,
-                dis_vols=[1] * 9,
-                mix_times=0,
-            )
-        )
-
-
-def test_one_to_one_eight_channel_parameter_lists_are_chunked_per_8():
-    lh = FakeLiquidHandler(channel_num=8)
-    lh.current_tip = iter(make_tip_iter(512))
-
-    sources = [DummyContainer(f"S{i}") for i in range(16)]
-    targets = [DummyContainer(f"T{i}") for i in range(16)]
-    asp_vols = [i + 1 for i in range(16)]
-    dis_vols = [200 + i for i in range(16)]
-    asp_flow_rates = [0.1 * (i + 1) for i in range(16)]
-    dis_flow_rates = [0.2 * (i + 1) for i in range(16)]
-    offsets = [f"offset_{i}" for i in range(16)]
-    liquid_heights = [i * 0.5 for i in range(16)]
-    blow_out_air_volume = [i + 0.05 for i in range(16)]
-
-    run(
-        lh.transfer_liquid(
-            sources=sources,
-            targets=targets,
-            tip_racks=[],
-            use_channels=list(range(8)),
-            asp_vols=asp_vols,
-            dis_vols=dis_vols,
-            asp_flow_rates=asp_flow_rates,
-            dis_flow_rates=dis_flow_rates,
             offsets=offsets,
-            liquid_height=liquid_heights,
+            mix_stage="after",
-            blow_out_air_volume=blow_out_air_volume,
-            mix_times=0,
-        )
-    )
-
-    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-    assert len(aspirates) == len(dispenses) == 2
-
-    for batch_idx in range(2):
-        start = batch_idx * 8
-        end = start + 8
-        asp_call = aspirates[batch_idx]
-        dis_call = dispenses[batch_idx]
-        assert asp_call["resources"] == sources[start:end]
-        assert asp_call["flow_rates"] == asp_flow_rates[start:end]
-        assert asp_call["offsets"] == offsets[start:end]
-        assert asp_call["liquid_height"] == liquid_heights[start:end]
-        assert asp_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
-        assert dis_call["flow_rates"] == dis_flow_rates[start:end]
-        assert dis_call["offsets"] == offsets[start:end]
-        assert dis_call["liquid_height"] == liquid_heights[start:end]
-        assert dis_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
-
-
-def test_one_to_one_eight_channel_handles_32_tasks_four_batches():
-    lh = FakeLiquidHandler(channel_num=8)
-    lh.current_tip = iter(make_tip_iter(1024))
-
-    sources = [DummyContainer(f"S{i}") for i in range(32)]
-    targets = [DummyContainer(f"T{i}") for i in range(32)]
-    asp_vols = [i + 1 for i in range(32)]
-    dis_vols = [300 + i for i in range(32)]
-
-    run(
-        lh.transfer_liquid(
-            sources=sources,
-            targets=targets,
-            tip_racks=[],
-            use_channels=list(range(8)),
-            asp_vols=asp_vols,
-            dis_vols=dis_vols,
-            mix_times=0,
-        )
-    )
-
-    pick_calls = [name for name, _ in lh.calls if name == "pick_up_tips"]
-    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-    assert len(pick_calls) == 4
-    assert len(aspirates) == len(dispenses) == 4
-    assert aspirates[0]["resources"] == sources[0:8]
-    assert aspirates[-1]["resources"] == sources[24:32]
-    assert dispenses[0]["resources"] == targets[0:8]
-    assert dispenses[-1]["resources"] == targets[24:32]
-
-
-def test_one_to_many_single_channel_aspirates_total_when_asp_vol_too_small():
-    lh = FakeLiquidHandler(channel_num=1)
-    lh.current_tip = iter(make_tip_iter(64))
-
-    source = DummyContainer("SRC")
-    targets = [DummyContainer(f"T{i}") for i in range(3)]
-    dis_vols = [10, 20, 30]  # sum=60
-
-    run(
-        lh.transfer_liquid(
-            sources=[source],
-            targets=targets,
-            tip_racks=[],
-            use_channels=[0],
-            asp_vols=10,  # 小于 sum(dis_vols) -> 应吸 60
-            dis_vols=dis_vols,
-            mix_times=0,
-        )
-    )
-
-    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-    assert len(aspirates) == 1
-    assert aspirates[0]["resources"] == [source]
-    assert aspirates[0]["vols"] == [60.0]
-    assert aspirates[0]["use_channels"] == [0]
-    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-    assert [d["vols"][0] for d in dispenses] == [10.0, 20.0, 30.0]
-
-
-def test_one_to_many_eight_channel_basic():
-    lh = FakeLiquidHandler(channel_num=8)
-    lh.current_tip = iter(make_tip_iter(128))
-
-    source = DummyContainer("SRC")
-    targets = [DummyContainer(f"T{i}") for i in range(8)]
-    dis_vols = [i + 1 for i in range(8)]
-
-    run(
-        lh.transfer_liquid(
-            sources=[source],
-            targets=targets,
-            tip_racks=[],
-            use_channels=list(range(8)),
-            asp_vols=999,  # one-to-many 8ch 会按 dis_vols 吸（每通道各自）
-            dis_vols=dis_vols,
-            mix_times=0,
-        )
-    )
-
-    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-    assert aspirates[0]["resources"] == [source] * 8
-    assert aspirates[0]["vols"] == [float(v) for v in dis_vols]
-    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-    assert dispenses[0]["resources"] == targets
-    assert dispenses[0]["vols"] == [float(v) for v in dis_vols]
-
-
-def test_many_to_one_single_channel_standard_dispense_equals_asp_by_default():
-    lh = FakeLiquidHandler(channel_num=1)
-    lh.current_tip = iter(make_tip_iter(128))
-
-    sources = [DummyContainer(f"S{i}") for i in range(3)]
-    target = DummyContainer("T")
-    asp_vols = [5, 6, 7]
-
-    run(
-        lh.transfer_liquid(
-            sources=sources,
-            targets=[target],
-            tip_racks=[],
-            use_channels=[0],
-            asp_vols=asp_vols,
-            dis_vols=1,  # many-to-one 允许标量；非比例模式下实际每次分液=对应 asp_vol
-            mix_times=0,
-        )
-    )
-
-    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-    assert [d["vols"][0] for d in dispenses] == [float(v) for v in asp_vols]
-    assert all(d["resources"] == [target] for d in dispenses)
-
-
-def test_many_to_one_single_channel_before_stage_mixes_target_once():
-    lh = FakeLiquidHandler(channel_num=1)
-    lh.current_tip = iter(make_tip_iter(128))
-
-    sources = [DummyContainer("S0"), DummyContainer("S1")]
-    target = DummyContainer("T")
-
-    run(
-        lh.transfer_liquid(
-            sources=sources,
-            targets=[target],
-            tip_racks=[],
-            use_channels=[0],
-            asp_vols=[5, 6],
-            dis_vols=1,
-            mix_stage="before",
             mix_times=2,
-            mix_vol=4,
+            mix_vol=3,
-        )
-    )
-
-    names = [name for name, _ in lh.calls]
-    assert names[0] == "mix"
-    assert names.count("mix") == 1
-
-
-def test_many_to_one_single_channel_proportional_mixing_uses_dis_vols_per_source():
-    lh = FakeLiquidHandler(channel_num=1)
-    lh.current_tip = iter(make_tip_iter(128))
-
-    sources = [DummyContainer(f"S{i}") for i in range(3)]
-    target = DummyContainer("T")
-    asp_vols = [5, 6, 7]
-    dis_vols = [1, 2, 3]
-
-    run(
-        lh.transfer_liquid(
-            sources=sources,
-            targets=[target],
-            tip_racks=[],
-            use_channels=[0],
-            asp_vols=asp_vols,
-            dis_vols=dis_vols,  # 比例模式
-            mix_times=0,
-        )
-    )
-
-    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-    assert [d["vols"][0] for d in dispenses] == [float(v) for v in dis_vols]
-
-
-def test_many_to_one_eight_channel_basic():
-    lh = FakeLiquidHandler(channel_num=8)
-    lh.current_tip = iter(make_tip_iter(256))
-
-    sources = [DummyContainer(f"S{i}") for i in range(8)]
-    target = DummyContainer("T")
-    asp_vols = [10 + i for i in range(8)]
-
-    run(
-        lh.transfer_liquid(
-            sources=sources,
-            targets=[target],
-            tip_racks=[],
-            use_channels=list(range(8)),
-            asp_vols=asp_vols,
-            dis_vols=999,  # 非比例模式下每通道分液=对应 asp_vol
-            mix_times=0,
-        )
-    )
-
-    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-    assert aspirates[0]["resources"] == sources
-    assert aspirates[0]["vols"] == [float(v) for v in asp_vols]
-    assert dispenses[0]["resources"] == [target] * 8
-    assert dispenses[0]["vols"] == [float(v) for v in asp_vols]
-
-
-def test_transfer_liquid_mode_detection_unsupported_shape_raises():
-    lh = FakeLiquidHandler(channel_num=8)
-    lh.current_tip = iter(make_tip_iter(64))
-
-    sources = [DummyContainer("S0"), DummyContainer("S1")]
-    targets = [DummyContainer("T0"), DummyContainer("T1"), DummyContainer("T2")]
-
-    with pytest.raises(ValueError, match="Unsupported transfer mode"):
-        run(
-            lh.transfer_liquid(
-                sources=sources,
-                targets=targets,
-                tip_racks=[],
-                use_channels=[0],
-                asp_vols=[1, 1],
-                dis_vols=[1, 1, 1],
-                mix_times=0,
         )
     )
 
+    _assert_samples_match(sources, targets)

tests/devices/liquid_handling/unit_test.py

@@ -0,0 +1,547 @@
+import asyncio
+from dataclasses import dataclass
+from typing import Any, Iterable, List, Optional, Sequence, Tuple
+
+import pytest
+
+from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
+
+
+@dataclass(frozen=True)
+class DummyContainer:
+    name: str
+
+    def __repr__(self) -> str:  # pragma: no cover
+        return f"DummyContainer({self.name})"
+
+
+@dataclass(frozen=True)
+class DummyTipSpot:
+    name: str
+
+    def __repr__(self) -> str:  # pragma: no cover
+        return f"DummyTipSpot({self.name})"
+
+
+def make_tip_iter(n: int = 256) -> Iterable[List[DummyTipSpot]]:
+    """Yield lists so code can safely call `tip.extend(next(self.current_tip))`."""
+    for i in range(n):
+        yield [DummyTipSpot(f"tip_{i}")]
+
+
+class FakeLiquidHandler(LiquidHandlerAbstract):
+    """不初始化真实 backend/deck；仅用来记录 transfer_liquid 内部调用序列。"""
+
+    def __init__(self, channel_num: int = 8):
+        # 不调用 super().__init__，避免真实硬件/后端依赖
+        self.channel_num = channel_num
+        self.support_touch_tip = True
+        self.current_tip = iter(make_tip_iter())
+        self.calls: List[Tuple[str, Any]] = []
+
+    async def pick_up_tips(self, tip_spots, use_channels=None, offsets=None, **backend_kwargs):
+        self.calls.append(("pick_up_tips", {"tips": list(tip_spots), "use_channels": use_channels}))
+
+    async def aspirate(
+        self,
+        resources: Sequence[Any],
+        vols: List[float],
+        use_channels: Optional[List[int]] = None,
+        flow_rates: Optional[List[Optional[float]]] = None,
+        offsets: Any = None,
+        liquid_height: Any = None,
+        blow_out_air_volume: Any = None,
+        spread: str = "wide",
+        **backend_kwargs,
+    ):
+        self.calls.append(
+            (
+                "aspirate",
+                {
+                    "resources": list(resources),
+                    "vols": list(vols),
+                    "use_channels": list(use_channels) if use_channels is not None else None,
+                    "flow_rates": list(flow_rates) if flow_rates is not None else None,
+                    "offsets": list(offsets) if offsets is not None else None,
+                    "liquid_height": list(liquid_height) if liquid_height is not None else None,
+                    "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
+                },
+            )
+        )
+
+    async def dispense(
+        self,
+        resources: Sequence[Any],
+        vols: List[float],
+        use_channels: Optional[List[int]] = None,
+        flow_rates: Optional[List[Optional[float]]] = None,
+        offsets: Any = None,
+        liquid_height: Any = None,
+        blow_out_air_volume: Any = None,
+        spread: str = "wide",
+        **backend_kwargs,
+    ):
+        self.calls.append(
+            (
+                "dispense",
+                {
+                    "resources": list(resources),
+                    "vols": list(vols),
+                    "use_channels": list(use_channels) if use_channels is not None else None,
+                    "flow_rates": list(flow_rates) if flow_rates is not None else None,
+                    "offsets": list(offsets) if offsets is not None else None,
+                    "liquid_height": list(liquid_height) if liquid_height is not None else None,
+                    "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
+                },
+            )
+        )
+
+    async def discard_tips(self, use_channels=None, *args, **kwargs):
+        # 有的分支是 discard_tips(use_channels=[0])，有的分支是 discard_tips([0..7])（位置参数）
+        self.calls.append(("discard_tips", {"use_channels": list(use_channels) if use_channels is not None else None}))
+
+    async def custom_delay(self, seconds=0, msg=None):
+        self.calls.append(("custom_delay", {"seconds": seconds, "msg": msg}))
+
+    async def touch_tip(self, targets):
+        # 原实现会访问 targets.get_size_x() 等；测试里只记录调用
+        self.calls.append(("touch_tip", {"targets": targets}))
+
+def run(coro):
+    return asyncio.run(coro)
+
+
+def test_one_to_one_single_channel_basic_calls():
+  lh = FakeLiquidHandler(channel_num=1)
+  lh.current_tip = iter(make_tip_iter(64))
+
+  sources = [DummyContainer(f"S{i}") for i in range(3)]
+  targets = [DummyContainer(f"T{i}") for i in range(3)]
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=targets,
+      tip_racks=[],
+      use_channels=[0],
+      asp_vols=[1, 2, 3],
+      dis_vols=[4, 5, 6],
+      mix_times=None,  # 应该仍能执行（不 mix）
+    )
+  )
+
+  assert [c[0] for c in lh.calls].count("pick_up_tips") == 3
+  assert [c[0] for c in lh.calls].count("aspirate") == 3
+  assert [c[0] for c in lh.calls].count("dispense") == 3
+  assert [c[0] for c in lh.calls].count("discard_tips") == 3
+
+  # 每次 aspirate/dispense 都是单孔列表
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  assert aspirates[0]["resources"] == [sources[0]]
+  assert aspirates[0]["vols"] == [1.0]
+
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert dispenses[2]["resources"] == [targets[2]]
+  assert dispenses[2]["vols"] == [6.0]
+
+
+def test_one_to_one_single_channel_before_stage_mixes_prior_to_aspirate():
+  lh = FakeLiquidHandler(channel_num=1)
+  lh.current_tip = iter(make_tip_iter(16))
+
+  source = DummyContainer("S0")
+  target = DummyContainer("T0")
+
+  run(
+    lh.transfer_liquid(
+      sources=[source],
+      targets=[target],
+      tip_racks=[],
+      use_channels=[0],
+      asp_vols=[5],
+      dis_vols=[5],
+      mix_stage="before",
+      mix_times=1,
+      mix_vol=3,
+    )
+  )
+
+  aspirate_calls = [(idx, payload) for idx, (name, payload) in enumerate(lh.calls) if name == "aspirate"]
+  assert len(aspirate_calls) >= 2
+  mix_idx, mix_payload = aspirate_calls[0]
+  assert mix_payload["resources"] == [target]
+  assert mix_payload["vols"] == [3]
+  transfer_idx, transfer_payload = aspirate_calls[1]
+  assert transfer_payload["resources"] == [source]
+  assert mix_idx < transfer_idx
+
+
+def test_one_to_one_eight_channel_groups_by_8():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(256))
+
+  sources = [DummyContainer(f"S{i}") for i in range(16)]
+  targets = [DummyContainer(f"T{i}") for i in range(16)]
+  asp_vols = list(range(1, 17))
+  dis_vols = list(range(101, 117))
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=targets,
+      tip_racks=[],
+      use_channels=list(range(8)),
+      asp_vols=asp_vols,
+      dis_vols=dis_vols,
+      mix_times=0,  # 触发逻辑但不 mix
+    )
+  )
+
+  # 16 个任务 -> 2 组，每组 8 通道一起做
+  assert [c[0] for c in lh.calls].count("pick_up_tips") == 2
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert len(aspirates) == 2
+  assert len(dispenses) == 2
+
+  assert aspirates[0]["resources"] == sources[0:8]
+  assert aspirates[0]["vols"] == [float(v) for v in asp_vols[0:8]]
+  assert dispenses[1]["resources"] == targets[8:16]
+  assert dispenses[1]["vols"] == [float(v) for v in dis_vols[8:16]]
+
+
+def test_one_to_one_eight_channel_requires_multiple_of_8_targets():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(64))
+
+  sources = [DummyContainer(f"S{i}") for i in range(9)]
+  targets = [DummyContainer(f"T{i}") for i in range(9)]
+
+  with pytest.raises(ValueError, match="multiple of 8"):
+    run(
+      lh.transfer_liquid(
+        sources=sources,
+        targets=targets,
+        tip_racks=[],
+        use_channels=list(range(8)),
+        asp_vols=[1] * 9,
+        dis_vols=[1] * 9,
+        mix_times=0,
+      )
+    )
+
+
+def test_one_to_one_eight_channel_parameter_lists_are_chunked_per_8():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(512))
+
+  sources = [DummyContainer(f"S{i}") for i in range(16)]
+  targets = [DummyContainer(f"T{i}") for i in range(16)]
+  asp_vols = [i + 1 for i in range(16)]
+  dis_vols = [200 + i for i in range(16)]
+  asp_flow_rates = [0.1 * (i + 1) for i in range(16)]
+  dis_flow_rates = [0.2 * (i + 1) for i in range(16)]
+  offsets = [f"offset_{i}" for i in range(16)]
+  liquid_heights = [i * 0.5 for i in range(16)]
+  blow_out_air_volume = [i + 0.05 for i in range(16)]
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=targets,
+      tip_racks=[],
+      use_channels=list(range(8)),
+      asp_vols=asp_vols,
+      dis_vols=dis_vols,
+      asp_flow_rates=asp_flow_rates,
+      dis_flow_rates=dis_flow_rates,
+      offsets=offsets,
+      liquid_height=liquid_heights,
+      blow_out_air_volume=blow_out_air_volume,
+      mix_times=0,
+    )
+  )
+
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert len(aspirates) == len(dispenses) == 2
+
+  for batch_idx in range(2):
+    start = batch_idx * 8
+    end = start + 8
+    asp_call = aspirates[batch_idx]
+    dis_call = dispenses[batch_idx]
+    assert asp_call["resources"] == sources[start:end]
+    assert asp_call["flow_rates"] == asp_flow_rates[start:end]
+    assert asp_call["offsets"] == offsets[start:end]
+    assert asp_call["liquid_height"] == liquid_heights[start:end]
+    assert asp_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
+    assert dis_call["flow_rates"] == dis_flow_rates[start:end]
+    assert dis_call["offsets"] == offsets[start:end]
+    assert dis_call["liquid_height"] == liquid_heights[start:end]
+    assert dis_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
+
+
+def test_one_to_one_eight_channel_handles_32_tasks_four_batches():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(1024))
+
+  sources = [DummyContainer(f"S{i}") for i in range(32)]
+  targets = [DummyContainer(f"T{i}") for i in range(32)]
+  asp_vols = [i + 1 for i in range(32)]
+  dis_vols = [300 + i for i in range(32)]
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=targets,
+      tip_racks=[],
+      use_channels=list(range(8)),
+      asp_vols=asp_vols,
+      dis_vols=dis_vols,
+      mix_times=0,
+    )
+  )
+
+  pick_calls = [name for name, _ in lh.calls if name == "pick_up_tips"]
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert len(pick_calls) == 4
+  assert len(aspirates) == len(dispenses) == 4
+  assert aspirates[0]["resources"] == sources[0:8]
+  assert aspirates[-1]["resources"] == sources[24:32]
+  assert dispenses[0]["resources"] == targets[0:8]
+  assert dispenses[-1]["resources"] == targets[24:32]
+
+
+def test_one_to_many_single_channel_aspirates_total_when_asp_vol_too_small():
+  lh = FakeLiquidHandler(channel_num=1)
+  lh.current_tip = iter(make_tip_iter(64))
+
+  source = DummyContainer("SRC")
+  targets = [DummyContainer(f"T{i}") for i in range(3)]
+  dis_vols = [10, 20, 30]  # sum=60
+
+  run(
+    lh.transfer_liquid(
+      sources=[source],
+      targets=targets,
+      tip_racks=[],
+      use_channels=[0],
+      asp_vols=10,  # 小于 sum(dis_vols) -> 应吸 60
+      dis_vols=dis_vols,
+      mix_times=0,
+    )
+  )
+
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  assert len(aspirates) == 1
+  assert aspirates[0]["resources"] == [source]
+  assert aspirates[0]["vols"] == [60.0]
+  assert aspirates[0]["use_channels"] == [0]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert [d["vols"][0] for d in dispenses] == [10.0, 20.0, 30.0]
+
+
+def test_one_to_many_eight_channel_basic():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(128))
+
+  source = DummyContainer("SRC")
+  targets = [DummyContainer(f"T{i}") for i in range(8)]
+  dis_vols = [i + 1 for i in range(8)]
+
+  run(
+    lh.transfer_liquid(
+      sources=[source],
+      targets=targets,
+      tip_racks=[],
+      use_channels=list(range(8)),
+      asp_vols=999,  # one-to-many 8ch 会按 dis_vols 吸（每通道各自）
+      dis_vols=dis_vols,
+      mix_times=0,
+    )
+  )
+
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  assert aspirates[0]["resources"] == [source] * 8
+  assert aspirates[0]["vols"] == [float(v) for v in dis_vols]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert dispenses[0]["resources"] == targets
+  assert dispenses[0]["vols"] == [float(v) for v in dis_vols]
+
+
+def test_many_to_one_single_channel_standard_dispense_equals_asp_by_default():
+  lh = FakeLiquidHandler(channel_num=1)
+  lh.current_tip = iter(make_tip_iter(128))
+
+  sources = [DummyContainer(f"S{i}") for i in range(3)]
+  target = DummyContainer("T")
+  asp_vols = [5, 6, 7]
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=[target],
+      tip_racks=[],
+      use_channels=[0],
+      asp_vols=asp_vols,
+      dis_vols=1,  # many-to-one 允许标量；非比例模式下实际每次分液=对应 asp_vol
+      mix_times=0,
+    )
+  )
+
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert [d["vols"][0] for d in dispenses] == [float(v) for v in asp_vols]
+  assert all(d["resources"] == [target] for d in dispenses)
+
+
+def test_many_to_one_single_channel_before_stage_mixes_target_once():
+  lh = FakeLiquidHandler(channel_num=1)
+  lh.current_tip = iter(make_tip_iter(128))
+
+  sources = [DummyContainer("S0"), DummyContainer("S1")]
+  target = DummyContainer("T")
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=[target],
+      tip_racks=[],
+      use_channels=[0],
+      asp_vols=[5, 6],
+      dis_vols=1,
+      mix_stage="before",
+      mix_times=2,
+      mix_vol=4,
+    )
+  )
+
+  aspirate_calls = [(idx, payload) for idx, (name, payload) in enumerate(lh.calls) if name == "aspirate"]
+  assert len(aspirate_calls) >= 1
+  mix_idx, mix_payload = aspirate_calls[0]
+  assert mix_payload["resources"] == [target]
+  assert mix_payload["vols"] == [4]
+  # 第一個 mix 之後會真正開始吸 source
+  assert any(call["resources"] == [sources[0]] for _, call in aspirate_calls[1:])
+
+
+def test_many_to_one_single_channel_proportional_mixing_uses_dis_vols_per_source():
+  lh = FakeLiquidHandler(channel_num=1)
+  lh.current_tip = iter(make_tip_iter(128))
+
+  sources = [DummyContainer(f"S{i}") for i in range(3)]
+  target = DummyContainer("T")
+  asp_vols = [5, 6, 7]
+  dis_vols = [1, 2, 3]
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=[target],
+      tip_racks=[],
+      use_channels=[0],
+      asp_vols=asp_vols,
+      dis_vols=dis_vols,  # 比例模式
+      mix_times=0,
+    )
+  )
+
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert [d["vols"][0] for d in dispenses] == [float(v) for v in dis_vols]
+
+
+def test_many_to_one_eight_channel_basic():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(256))
+
+  sources = [DummyContainer(f"S{i}") for i in range(8)]
+  target = DummyContainer("T")
+  asp_vols = [10 + i for i in range(8)]
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=[target],
+      tip_racks=[],
+      use_channels=list(range(8)),
+      asp_vols=asp_vols,
+      dis_vols=999,  # 非比例模式下每通道分液=对应 asp_vol
+      mix_times=0,
+    )
+  )
+
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert aspirates[0]["resources"] == sources
+  assert aspirates[0]["vols"] == [float(v) for v in asp_vols]
+  assert dispenses[0]["resources"] == [target] * 8
+  assert dispenses[0]["vols"] == [float(v) for v in asp_vols]
+
+
+def test_transfer_liquid_mode_detection_unsupported_shape_raises():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(64))
+
+  sources = [DummyContainer("S0"), DummyContainer("S1")]
+  targets = [DummyContainer("T0"), DummyContainer("T1"), DummyContainer("T2")]
+
+  with pytest.raises(ValueError, match="Unsupported transfer mode"):
+    run(
+      lh.transfer_liquid(
+        sources=sources,
+        targets=targets,
+        tip_racks=[],
+        use_channels=[0],
+        asp_vols=[1, 1],
+        dis_vols=[1, 1, 1],
+        mix_times=0,
+      )
+    )
+
+
+def test_mix_single_target_produces_matching_cycles():
+  lh = FakeLiquidHandler(channel_num=1)
+  target = DummyContainer("T_mix")
+
+  run(lh.mix(targets=[target], mix_time=2, mix_vol=5))
+
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert len(aspirates) == len(dispenses) == 2
+  assert all(call["resources"] == [target] for call in aspirates)
+  assert all(call["vols"] == [5] for call in aspirates)
+  assert all(call["resources"] == [target] for call in dispenses)
+  assert all(call["vols"] == [5] for call in dispenses)
+
+
+def test_mix_multiple_targets_supports_per_target_offsets():
+  lh = FakeLiquidHandler(channel_num=1)
+  targets = [DummyContainer("T0"), DummyContainer("T1")]
+  offsets = ["left", "right"]
+  heights = [0.1, 0.2]
+  rates = [0.5, 1.0]
+
+  run(
+    lh.mix(
+      targets=targets,
+      mix_time=1,
+      mix_vol=3,
+      offsets=offsets,
+      height_to_bottom=heights,
+      mix_rate=rates,
+    )
+  )
+
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  assert len(aspirates) == 2
+  assert aspirates[0]["resources"] == [targets[0]]
+  assert aspirates[0]["offsets"] == [offsets[0]]
+  assert aspirates[0]["liquid_height"] == [heights[0]]
+  assert aspirates[0]["flow_rates"] == [rates[0]]
+  assert aspirates[1]["resources"] == [targets[1]]
+  assert aspirates[1]["offsets"] == [offsets[1]]
+  assert aspirates[1]["liquid_height"] == [heights[1]]
+  assert aspirates[1]["flow_rates"] == [rates[1]]
+
+

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -207,7 +207,14 @@ class LiquidHandlerMiddleware(LiquidHandler):
 
         res_samples = []
         res_volumes = []
-        for resource, volume, channel in zip(resources, vols, use_channels):
+        # 处理 use_channels 为 None 的情况（通常用于单通道操作）
+        if use_channels is None:
+            # 对于单通道操作，推断通道为 [0]
+            channels_to_use = [0] * len(resources)
+        else:
+            channels_to_use = use_channels
+
+        for resource, volume, channel in zip(resources, vols, channels_to_use):
             res_samples.append({"name": resource.name, "sample_uuid": resource.unilabos_extra.get("sample_uuid", None)})
             res_volumes.append(volume)
             self.pending_liquids_dict[channel] = {
@@ -920,6 +927,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                                 offsets=offsets if offsets else None,
                                 height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                                 mix_rate=mix_rate if mix_rate else None,
+                                use_channels=use_channels,
                             )
                         if delays is not None and len(delays) > 1:
                             await self.custom_delay(seconds=delays[1])
@@ -983,6 +991,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                                 offsets=offsets if offsets else None,
                                 height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                                 mix_rate=mix_rate if mix_rate else None,
+                                use_channels=use_channels,
                             )
                         if delays is not None and len(delays) > 1:
                             await self.custom_delay(seconds=delays[1])
@@ -1165,6 +1174,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets if offsets else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
+                        use_channels=use_channels,
                     )
 
                 await self.aspirate(
@@ -1199,6 +1209,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets if offsets else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
+                        use_channels=use_channels,
                     )
                 if delays is not None and len(delays) > 1:
                     await self.custom_delay(seconds=delays[1])
@@ -1235,6 +1246,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets if offsets else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
+                        use_channels=use_channels,
                     )
 
                 await self.aspirate(
@@ -1271,6 +1283,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets if offsets else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
+                        use_channels=use_channels,
                     )
                 if delays is not None and len(delays) > 1:
                     await self.custom_delay(seconds=delays[1])
@@ -1327,6 +1340,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets[idx:idx + 1] if offsets and len(offsets) > idx else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
+                        use_channels=use_channels,
                     )
 
             # 从源容器吸液（总体积）
@@ -1366,6 +1380,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets[idx:idx+1] if offsets else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
+                        use_channels=use_channels,
                     )
                 if touch_tip:
                     await self.touch_tip([target])
@@ -1401,6 +1416,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets[i:i + 8] if offsets else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
+                        use_channels=use_channels,
                     )
                 
                 # 从源容器吸液（8个通道都从同一个源，但每个通道的吸液体积不同）
@@ -1446,6 +1462,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets if offsets else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
+                        use_channels=use_channels,
                     )
                 
                 if touch_tip:
@@ -1497,10 +1514,19 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 f"(matching `asp_vols`). Got length {len(dis_vols)}."
             )
 
+        need_mix_after = mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0
+        defer_final_discard = need_mix_after or touch_tip
+
         if len(use_channels) == 1:
             # 单通道模式：多次吸液，一次分液
-            # 先混合前（如果需要）
+
+            # 如果需要 before mix，先 pick up tip 并执行 mix
             if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
+                tip = []
+                for _ in range(len(use_channels)):
+                    tip.extend(next(self.current_tip))
+                await self.pick_up_tips(tip)
+
                 await self.mix(
                     targets=[target],
                     mix_time=mix_times,
@@ -1508,8 +1534,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     offsets=offsets[0:1] if offsets else None,
                     height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                     mix_rate=mix_rate if mix_rate else None,
+                    use_channels=use_channels,
                 )
 
+                await self.discard_tips(use_channels=use_channels)
+
             # 从每个源容器吸液并分液到目标容器
             for idx, source in enumerate(sources):
                 tip = []
@@ -1561,10 +1590,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 if delays is not None and len(delays) > 1:
                     await self.custom_delay(seconds=delays[1])
 
+                if not (defer_final_discard and idx == len(sources) - 1):
                     await self.discard_tips(use_channels=use_channels)
 
             # 最后在目标容器中混合（如果需要）
-            if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
+            if need_mix_after:
                 await self.mix(
                     targets=[target],
                     mix_time=mix_times,
@@ -1572,18 +1602,27 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     offsets=offsets[0:1] if offsets else None,
                     height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                     mix_rate=mix_rate if mix_rate else None,
+                    use_channels=use_channels,
                 )
             
             if touch_tip:
                 await self.touch_tip([target])
 
+            if defer_final_discard:
+                await self.discard_tips(use_channels=use_channels)
+        
         elif len(use_channels) == 8:
             # 8通道模式：需要确保源数量是8的倍数
             if len(sources) % 8 != 0:
                 raise ValueError(f"For 8-channel mode, number of sources {len(sources)} must be a multiple of 8.")
 
-            # 每次处理8个源
+            # 如果需要 before mix，先 pick up tips 并执行 mix
             if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
+                tip = []
+                for _ in range(len(use_channels)):
+                    tip.extend(next(self.current_tip))
+                await self.pick_up_tips(tip)
+
                 await self.mix(
                     targets=[target],
                     mix_time=mix_times,
@@ -1591,8 +1630,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     offsets=offsets[0:1] if offsets else None,
                     height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                     mix_rate=mix_rate if mix_rate else None,
+                    use_channels=use_channels,
                 )
 
+                await self.discard_tips([0,1,2,3,4,5,6,7])
+
             for i in range(0, len(sources), 8):
                 tip = []
                 for _ in range(len(use_channels)):
@@ -1651,10 +1693,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 if delays is not None and len(delays) > 1:
                     await self.custom_delay(seconds=delays[1])
 
+                if not (defer_final_discard and i + 8 >= len(sources)):
                     await self.discard_tips([0,1,2,3,4,5,6,7])
 
             # 最后在目标容器中混合（如果需要）
-            if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
+            if need_mix_after:
                 await self.mix(
                     targets=[target],
                     mix_time=mix_times,
@@ -1662,11 +1705,15 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     offsets=offsets[0:1] if offsets else None,
                     height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                     mix_rate=mix_rate if mix_rate else None,
+                    use_channels=use_channels,
                 )
             
             if touch_tip:
                 await self.touch_tip([target])
 
+            if defer_final_discard:
+                await self.discard_tips([0,1,2,3,4,5,6,7])
+
     # except Exception as e:
     #     traceback.print_exc()
     #     raise RuntimeError(f"Liquid addition failed: {e}") from e
@@ -1686,7 +1733,12 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 print(f"Waiting time: {msg}")
                 print(f"Current time: {time.strftime('%H:%M:%S')}")
                 print(f"Time to finish: {time.strftime('%H:%M:%S', time.localtime(time.time() + seconds))}")
+            # Use ROS node sleep if available, otherwise use asyncio.sleep
+            if hasattr(self, '_ros_node') and self._ros_node is not None:
                 await self._ros_node.sleep(seconds)
+            else:
+                import asyncio
+                await asyncio.sleep(seconds)
             if msg:
                 print(f"Done: {msg}")
                 print(f"Current time: {time.strftime('%H:%M:%S')}")
@@ -1725,26 +1777,58 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         height_to_bottom: Optional[float] = None,
         offsets: Optional[Coordinate] = None,
         mix_rate: Optional[float] = None,
+        use_channels: Optional[List[int]] = None,
         none_keys: List[str] = [],
     ):
-        if mix_time is None:  # No mixing required
+        if mix_time is None or mix_time <= 0:  # No mixing required
             return
         """Mix the liquid in the target wells."""
+        if mix_vol is None:
+            raise ValueError("`mix_vol` must be provided when `mix_time` is set.")
+
+        targets_list: List[Container] = list(targets)
+        if len(targets_list) == 0:
+            return
+
+        def _expand(value, count: int):
+            if value is None:
+                return [None] * count
+            if isinstance(value, (list, tuple)):
+                if len(value) != count:
+                    raise ValueError("Length of per-target parameters must match targets.")
+                return list(value)
+            return [value] * count
+
+        offsets_list = _expand(offsets, len(targets_list))
+        heights_list = _expand(height_to_bottom, len(targets_list))
+        rates_list = _expand(mix_rate, len(targets_list))
+
         for _ in range(mix_time):
+            for idx, target in enumerate(targets_list):
+                offset_arg = (
+                    [offsets_list[idx]] if offsets_list[idx] is not None else None
+                )
+                height_arg = (
+                    [heights_list[idx]] if heights_list[idx] is not None else None
+                )
+                rate_arg = [rates_list[idx]] if rates_list[idx] is not None else None
+
                 await self.aspirate(
-                resources=[targets],
+                    resources=[target],
                     vols=[mix_vol],
-                flow_rates=[mix_rate] if mix_rate else None,
+                    use_channels=use_channels,
-                offsets=[offsets] if offsets else None,
+                    flow_rates=rate_arg,
-                liquid_height=[height_to_bottom] if height_to_bottom else None,
+                    offsets=offset_arg,
+                    liquid_height=height_arg,
                 )
                 await self.custom_delay(seconds=1)
                 await self.dispense(
-                resources=[targets],
+                    resources=[target],
                     vols=[mix_vol],
-                flow_rates=[mix_rate] if mix_rate else None,
+                    use_channels=use_channels,
-                offsets=[offsets] if offsets else None,
+                    flow_rates=rate_arg,
-                liquid_height=[height_to_bottom] if height_to_bottom else None,
+                    offsets=offset_arg,
+                    liquid_height=height_arg,
                 )
 
     def iter_tips(self, tip_racks: Sequence[TipRack]) -> Iterator[Resource]: