添加抓取后物料上传

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -30,10 +30,11 @@ from pylabrobot.liquid_handling.standard import (
     ResourceMove,
     ResourceDrop,
 )
-from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, PlateAdapter, TubeRack
+from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, PlateAdapter, TubeRack, create_homogeneous_resources, create_ordered_items_2d
 
 from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract, SimpleReturn
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+from unilabos.resources.itemized_carrier import ItemizedCarrier
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
 
 
 class PRCXIError(RuntimeError):
@@ -86,19 +87,81 @@ class PRCXI9300Container(Plate):
         category: str,
         ordering: collections.OrderedDict,
         model: Optional[str] = None,
+        material_info: Optional[Dict[str, Any]] = None,
+        ordering_layout: str = "col-major",
         **kwargs,
     ):
         super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model)
         self._unilabos_state = {}
+        self.sites = kwargs.get("sites", [])
+        self.sites = create_homogeneous_resources(
+            klass=ResourceHolder,
+            locations=[Coordinate(0, 0, 0)],
+            resource_size_x=size_x,
+            resource_size_y=size_y,
+            resource_size_z=size_z,
+            name_prefix=name,
+        )[0]
+        # 为 ItemizedCarrier 添加 _unilabos_state 属性，以便与其他 PRCXI 组件兼容
+        sites_resource = ItemizedCarrier(
+            name=name+"_sites",
+            sites={name: self.sites},
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
+            category="warehouse",
+            model=model,
+        )
+        sites_resource._unilabos_state = {}  # 添加 _unilabos_state 属性
+        if material_info:
+            sites_resource._unilabos_state["Material"] = material_info
+
+        self.assign_child_resource(sites_resource, location=self.sites.location)
+
+        # 保存排序方式，供graphio.py的坐标映射使用
+        # 使用独立属性避免与父类的layout冲突
+        self.ordering_layout = ordering_layout
+
+    def serialize(self) -> dict:
+        """序列化时保存 ordering_layout 属性"""
+        data = super().serialize()
+        data['ordering_layout'] = self.ordering_layout
+        return data
 
     def load_state(self, state: Dict[str, Any]) -> None:
         """从给定的状态加载工作台信息。"""
         super().load_state(state)
         self._unilabos_state = state
 
+    def get_site(self) -> ResourceHolder:
+        """获取容器的站点"""
+        return self.sites
+
+    def add_resource_to_site(self, resource) -> None:
+        """向站点添加资源"""
+        self.sites.assign_child_resource(resource)
+
+    def get_resource_at_site(self):
+        """获取站点上的资源"""
+        return self.sites.children[0] if self.sites.children else None
+
     def serialize_state(self) -> Dict[str, Dict[str, Any]]:
         data = super().serialize_state()
         data.update(self._unilabos_state)
+
+        # 避免序列化 ResourceHolder 对象
+        if hasattr(self, 'sites') and self.sites:
+            # 创建 sites 的可序列化版本
+            if hasattr(self.sites, '__class__') and 'pylabrobot' in str(self.sites.__class__.__module__):
+                data['sites'] = {
+                    "__pylabrobot_object__": True,
+                    "class": self.sites.__class__.__name__,
+                    "module": self.sites.__class__.__module__,
+                    "name": getattr(self.sites, 'name', str(self.sites))
+                }
+            else:
+                data['sites'] = self.sites
+
         return data   
 class PRCXI9300Plate(Plate):
     """ 
@@ -210,9 +273,16 @@ class PRCXI9300TipRack(TipRack):
                 # 使用 ordering 参数，只包含位置信息（键）
                 ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
             else:
-                # ordering 的值已经是对象，可以直接使用
-                items = ordering
-                ordering_param = None
+                # ordering 的值已经是对象，需要过滤掉 None 值
+                # 只保留有效的对象，用于 ordered_items 参数
+                valid_items = {k: v for k, v in ordering.items() if v is not None}
+                if valid_items:
+                    items = valid_items
+                    ordering_param = None
+                else:
+                    # 如果没有有效对象，使用 ordering 参数
+                    items = None
+                    ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
         else:
             items = None
             ordering_param = None
@@ -348,9 +418,16 @@ class PRCXI9300TubeRack(TubeRack):
                 # 使用 ordering 参数，只包含位置信息（键）
                 ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
             else:
-                # ordering 的值已经是对象，可以直接使用
-                items_to_pass = ordering
-                ordering_param = None
+                # ordering 的值已经是对象，需要过滤掉 None 值
+                # 只保留有效的对象，用于 ordered_items 参数
+                valid_items = {k: v for k, v in ordering.items() if v is not None}
+                if valid_items:
+                    items_to_pass = valid_items
+                    ordering_param = None
+                else:
+                    # 如果没有有效对象，使用 ordering 参数
+                    items_to_pass = None
+                    ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
         elif items is not None:
             # 兼容旧的 items 参数
             items_to_pass = items
@@ -804,7 +881,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         **backend_kwargs,
     ):
 
-        return await super().move_plate(
+        res = await super().move_plate(
             plate,
             to,
             intermediate_locations,
@@ -816,6 +893,12 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
             target_plate_number = to,
             **backend_kwargs,
         )
+        plate.unassign()
+        to.assign_child_resource(plate, location=Coordinate(0, 0, 0))
+        ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
+            "resources": [self.deck]
+        })
+        return res
 
 class PRCXI9300Backend(LiquidHandlerBackend):
     """PRCXI 9300 的后端实现，继承自 LiquidHandlerBackend。