Merge branch 'dev' into feature/organic-extraction

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -1,15 +1,11 @@
 from __future__ import annotations
 
-import asyncio
 import time
 import traceback
 from collections import Counter
 from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
 
-from typing_extensions import TypedDict
 from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness
-from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
-from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend
 from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod
 from pylabrobot.liquid_handling.standard import GripDirection
 from pylabrobot.resources import (
@@ -28,14 +24,27 @@ from pylabrobot.resources import (
     Tip,
 )
 
-from unilabos.registry.placeholder_type import ResourceSlot
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-from unilabos.resources.resource_tracker import ResourceTreeSet
-
-
 class SimpleReturn(TypedDict):
-    samples: list
-    volumes: list
+    samples: List[List[ResourceDict]]
+    volumes: List[float]
+
+
+class SetLiquidReturn(TypedDict):
+    wells: List[List[ResourceDict]]
+    volumes: List[float]
+
+
+class SetLiquidFromPlateReturn(TypedDict):
+    plate: List[List[ResourceDict]]
+    wells: List[List[ResourceDict]]
+    volumes: List[float]
+
+
+class TransferLiquidReturn(TypedDict):
+    sources: List[List[ResourceDict]]
+    targets: List[List[ResourceDict]]
+
 
 
 class SetLiquidReturn(TypedDict):
@@ -678,40 +687,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
             well.set_liquids([(liquid_name, volume)])  # type: ignore
             res_volumes.append(volume)
 
-        return SetLiquidReturn(
-            wells=ResourceTreeSet.from_plr_resources(wells, known_newly_created=False).dump(), volumes=res_volumes  # type: ignore
-        )
-
-    @classmethod
-    def set_liquid_from_plate(
-        cls, plate: ResourceSlot, well_names: list[str], liquid_names: list[str], volumes: list[float]
-    ) -> SetLiquidFromPlateReturn:
-        """Set the liquid in wells of a plate by well names (e.g., A1, A2, B3).
-
-        如果 liquid_names 和 volumes 为空，但 plate 和 well_names 不为空，直接返回 plate 和 wells。
-        """
-        # 根据 well_names 获取对应的 Well 对象
-        wells = [plate.get_well(name) for name in well_names]
-        res_volumes = []
-
-        # 如果 liquid_names 和 volumes 都为空，直接返回
-        if not liquid_names and not volumes:
-            return SetLiquidFromPlateReturn(
-                plate=ResourceTreeSet.from_plr_resources([plate], known_newly_created=False).dump(),  # type: ignore
-                wells=ResourceTreeSet.from_plr_resources(wells, known_newly_created=False).dump(),  # type: ignore
-                volumes=res_volumes,
-            )
-
-        for well, liquid_name, volume in zip(wells, liquid_names, volumes):
-            well.set_liquids([(liquid_name, volume)])  # type: ignore
-            res_volumes.append(volume)
-
-        return SetLiquidFromPlateReturn(
-            plate=ResourceTreeSet.from_plr_resources([plate], known_newly_created=False).dump(),  # type: ignore
-            wells=ResourceTreeSet.from_plr_resources(wells, known_newly_created=False).dump(),  # type: ignore
-            volumes=res_volumes,
-        )
-
+        return SimpleReturn(samples=res_samples, volumes=res_volumes)
     # ---------------------------------------------------------------
     # REMOVE LIQUID --------------------------------------------------
     # ---------------------------------------------------------------
@@ -1111,7 +1087,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         mix_liquid_height: Optional[float] = None,
         delays: Optional[List[int]] = None,
         none_keys: List[str] = [],
-    ):
+    ) -> TransferLiquidReturn:
         """Transfer liquid with automatic mode detection.
 
         Supports three transfer modes:
@@ -1251,6 +1227,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 "Supported modes: 1->N, N->1, or N->N."
             )
 
+        return TransferLiquidReturn(
+            sources=ResourceTreeSet.from_plr_resources(list(sources), known_newly_created=False).dump(),  # type: ignore
+            targets=ResourceTreeSet.from_plr_resources(list(targets), known_newly_created=False).dump(),  # type: ignore
+        )
+
     async def _transfer_one_to_one(
         self,
         sources: Sequence[Container],