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云端可启动夹爪

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This commit is contained in:
zhangshixiang
2025-12-24 19:03:25 +08:00
parent c475eabb60
commit abf1005241
2 changed files with 8 additions and 4 deletions
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6
unilabos/devices/liquid_handling/prcxi/prcxi.py
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@@ -443,7 +443,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
async def move_plate( async def move_plate(
self, self,
plate: Plate, plate: Plate,
to: Union[ResourceStack, ResourceHolder, Resource, Coordinate], to: Resource,
intermediate_locations: Optional[List[Coordinate]] = None, intermediate_locations: Optional[List[Coordinate]] = None,
pickup_offset: Coordinate = Coordinate.zero(), pickup_offset: Coordinate = Coordinate.zero(),
destination_offset: Coordinate = Coordinate.zero(), destination_offset: Coordinate = Coordinate.zero(),
@@ -544,7 +544,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
is_whole_plate = True is_whole_plate = True
balance_height = drop.pickup_distance_from_top balance_height = 0
if plate_number is None: if plate_number is None:
raise ValueError("target_plate_number is required when dropping a resource") 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) 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 # 清除错误代码
self.api_client.clear_error_code() self.api_client.clear_error_code()
print("PRCXI9300 error code cleared.") print("PRCXI9300 error code cleared.")
self.api_client.call("IAutomation", "Stop")
# 执行重置 # 执行重置
print("Starting PRCXI9300 reset...") print("Starting PRCXI9300 reset...")
self.api_client.call("IAutomation", "Reset") self.api_client.call("IAutomation", "Reset")

6
unilabos/ros/nodes/base_device_node.py
View File

@@ -1276,7 +1276,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
seen = set() seen = set()
unique_resources = [] unique_resources = []
for rs in akv: # todo: 这里目前只支持plr的类型 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: if id(res) not in seen:
seen.add(id(res)) seen.add(id(res))
unique_resources.append(res) unique_resources.append(res)