From abf1005241488453ce96b782388dde6b072a3339 Mon Sep 17 00:00:00 2001
From: zhangshixiang <@zhangshixiang>
Date: Wed, 24 Dec 2025 19:03:25 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BA=91=E7=AB=AF=E5=8F=AF=E5=90=AF=E5=8A=A8?=
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---
 unilabos/devices/liquid_handling/prcxi/prcxi.py | 6 +++---
 unilabos/ros/nodes/base_device_node.py          | 6 +++++-
 2 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py
index bbb3918..8d47f04 100644
--- a/unilabos/devices/liquid_handling/prcxi/prcxi.py
+++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py
@@ -443,7 +443,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
     async def move_plate(
         self,
         plate: Plate,
-        to: Union[ResourceStack, ResourceHolder, Resource, Coordinate],
+        to: Resource,
         intermediate_locations: Optional[List[Coordinate]] = None,
         pickup_offset: Coordinate = Coordinate.zero(),
         destination_offset: Coordinate = Coordinate.zero(),
@@ -544,7 +544,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
 
         is_whole_plate = True
-        balance_height = drop.pickup_distance_from_top
+        balance_height = 0
         if plate_number is None:
             raise ValueError("target_plate_number is required when dropping a resource")
         step = self.api_client.clamp_jaw_drop(plate_number, is_whole_plate, balance_height)
@@ -612,7 +612,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
                 # 清除错误代码
                 self.api_client.clear_error_code()
                 print("PRCXI9300 error code cleared.")
-                
+                self.api_client.call("IAutomation", "Stop")
                 # 执行重置
                 print("Starting PRCXI9300 reset...")
                 self.api_client.call("IAutomation", "Reset")
diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py
index 8e7faef..7c53163 100644
--- a/unilabos/ros/nodes/base_device_node.py
+++ b/unilabos/ros/nodes/base_device_node.py
@@ -1276,7 +1276,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         seen = set()
                         unique_resources = []
                         for rs in akv:  # todo: 这里目前只支持plr的类型
-                            res = self.resource_tracker.parent_resource(rs)  # 获取 resource 对象
+                            if isinstance(rs, list):
+                                for r in rs:
+                                    res = self.resource_tracker.parent_resource(r)  # 获取 resource 对象
+                            else:
+                                res = self.resource_tracker.parent_resource(r)
                             if id(res) not in seen:
                                 seen.add(id(res))
                                 unique_resources.append(res)