PRCXI Reset Error Correction (#166)

* change 9320 desk row number to 4

* Updated 9320 host address

* Updated 9320 host address

* Add **kwargs in classes: PRCXI9300Deck and PRCXI9300Container

* Removed all sample_id in prcxi_9320.json to avoid KeyError

* 9320 machine testing settings

* Typo

* Rewrite setup logic to clear error code

* 初始化 step_mode 属性

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -65,7 +65,7 @@ class PRCXI9300Deck(Deck):
     该类定义了 PRCXI 9300 的工作台布局和槽位信息。
     """
 
-    def __init__(self, name: str, size_x: float, size_y: float, size_z: float):
+    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, **kwargs):
         super().__init__(name, size_x, size_y, size_z)
         self.slots = [None] * 6  # PRCXI 9300 有 6 个槽位
 
@@ -85,6 +85,7 @@ class PRCXI9300Container(Plate, TipRack):
         category: str,
         ordering: collections.OrderedDict,
         model: Optional[str] = None,
+        **kwargs,
     ):
         super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model)
         self._unilabos_state = {}
@@ -159,6 +160,8 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
                 )
         if is_9320:
             print("当前设备是9320")
+        # 始终初始化 step_mode 属性
+        self.step_mode = False
         if step_mode:
             if is_9320:
                 self.step_mode = step_mode
@@ -516,10 +519,26 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         await super().setup()
         try:
             if self._execute_setup:
+                # 先获取错误代码
+                error_code = self.api_client.get_error_code()
+                if error_code:
+                    print(f"PRCXI9300 error code detected: {error_code}")
+                
+                # 清除错误代码
+                self.api_client.clear_error_code()
+                print("PRCXI9300 error code cleared.")
+                
+                # 执行重置
+                print("Starting PRCXI9300 reset...")
                 self.api_client.call("IAutomation", "Reset")
+                
+                # 检查重置状态并等待完成
                 while not self.is_reset_ok:
                     print("Waiting for PRCXI9300 to reset...")
+                    if hasattr(self, '_ros_node') and self._ros_node is not None:
                         await self._ros_node.sleep(1)
+                    else:
+                        await asyncio.sleep(1)
                 print("PRCXI9300 reset successfully.")
         except ConnectionRefusedError as e:
             raise RuntimeError(
@@ -1148,7 +1167,7 @@ class DefaultLayout:
             self.waste_liquid_slot = 6
 
         elif product_name == "PRCXI9320":
-            self.rows = 3
+            self.rows = 4
             self.columns = 4
             self.layout = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]
             self.trash_slot = 16
@@ -1744,7 +1763,7 @@ if __name__ == "__main__":
 
     handler = PRCXI9300Handler(
         deck=deck,
-        host="192.168.0.121",
+        host="192.168.1.201",
         port=9999,
         timeout=10.0,
         setup=True,