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修改tube_rack的初始化，以及move_plate方法出现的物料增加问题

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zhangshixiang
2026-01-22 18:45:42 +08:00
parent 470d7283e4
commit d5b4f07406
3 changed files with 6 additions and 4 deletions
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6
unilabos/devices/liquid_handling/prcxi/prcxi.py
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@@ -364,8 +364,8 @@ class PRCXI9300TubeRack(TubeRack):
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,
category: str = "tube_rack", category: str = "tube_rack",
items: Optional[Dict[str, Any]] = None, items: Optional[Dict[str, Any]] = None,
ordered_items: Optional[OrderedDict] = None, ordered_items: collections.OrderedDict = None,
ordering: Optional[OrderedDict] = None, ordering: Optional[collections.OrderedDict] = None,
model: Optional[str] = None, model: Optional[str] = None,
material_info: Optional[Dict[str, Any]] = None, material_info: Optional[Dict[str, Any]] = None,
**kwargs): **kwargs):
@@ -380,7 +380,7 @@ class PRCXI9300TubeRack(TubeRack):
# ordering 的值是字符串，这种情况下我们让 TubeRack 使用默认行为 # ordering 的值是字符串，这种情况下我们让 TubeRack 使用默认行为
# 不在初始化时创建 items，而是在 deserialize 后处理 # 不在初始化时创建 items，而是在 deserialize 后处理
items_to_pass = None items_to_pass = None
ordering_param = collections.OrderedDict() # 提供空的 ordering 来满足要求 ordering_param = collections.OrderedDict((k, None) for k in ordering.keys()) # 提供空的 ordering 来满足要求
# 保存 ordering 信息以便后续处理 # 保存 ordering 信息以便后续处理
self._temp_ordering = ordering self._temp_ordering = ordering
else: else:

2
unilabos/ros/nodes/base_device_node.py
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@@ -1468,6 +1468,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
if isinstance(rs, list): if isinstance(rs, list):
for r in rs: for r in rs:
res = self.resource_tracker.parent_resource(r) # 获取 resource 对象 res = self.resource_tracker.parent_resource(r) # 获取 resource 对象
elif type(rs).__name__ == "ResourceHolder":
pass
else: else:
res = self.resource_tracker.parent_resource(rs) res = self.resource_tracker.parent_resource(rs)
if id(res) not in seen: if id(res) not in seen:

2
unilabos/test/experiments/prcxi_9320_with_res_test.json
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@@ -16283,7 +16283,7 @@
"size_y": 85.8, "size_y": 85.8,
"size_z": 42.66, "size_z": 42.66,
"barcode": null, "barcode": null,
"category": null, "category": "tube_rack",
"ordering": { "ordering": {
"A1": "PlateT6_0_0", "A1": "PlateT6_0_0",
"A2": "PlateT6_1_0", "A2": "PlateT6_1_0",