Update trash

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -665,8 +665,8 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         )
                         if delays is not None:
                             await self.custom_delay(seconds=delays[1])
-
-                        #await self.touch_tip(current_targets)
+                        await self.touch_tip(current_targets)
+            await self.discard_tips()        
 
         except Exception as e:
             traceback.print_exc()
@@ -977,8 +977,9 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         )
                         if delays is not None:
                             await self.custom_delay(seconds=delays[1])
+                        await self.touch_tip(current_targets)
+            await self.discard_tips()
                         
-                        #await self.touch_tip(current_targets)
         except Exception as e:
             traceback.print_exc()
             raise RuntimeError(f"Liquid addition failed: {e}") from e

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -458,8 +458,34 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
         """Pick up tips from the specified resource."""
 
-        print('111'*500)
 
+        plate = ops[0].resource.parent.parent
+        deck = plate.parent
+        plate_index = deck.children.index(plate)
+
+        if deck.children[plate_index].name == "trash":
+            step = self.api_client.UnLoad(
+                "Left",
+                dosage=0,
+                plate_no=plate_index+1,
+                is_whole_plate=False,
+                hole_row=1,
+                hole_col=2,# 强制投放第二列了
+                blending_times=0,
+                balance_height=0,
+                plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
+                hole_numbers="1,2,3,4,5,6,7,8",
+        )
+            self.steps_todo_list.append(step)
+
+
+            return
+            
+        # 判断是不是个trash？
+        # if all(isinstance(op.resource, Trash) for op in ops):
+        #     print("All drop operations are for trash.")
+        #     await self.discard_tips()
+        #     return
 
         if len(ops) != 8:
             raise ValueError(f"PRCXI9300Backend drop_tips: Expected 8 pickups, got {len(ops)}")