Add set_group and transfer_group methods to PRCXI9300Handler and update liquid_handler.yaml

- Created LiquidHandlerSetGroup.action with fields for group name, wells, and volumes.
- Created LiquidHandlerTransferGroup.action with fields for source and target group names and unit volume.
- Both actions include response fields for return information and success status.

test/experiments/prcxi_9300.json

@@ -21,9 +21,9 @@
                 "timeout": 10.0,
                 "axis": "Left",
                 "channel_num": 8,
-                "setup": false,
-                "debug": false,
-                "simulator": false,
+                "setup": true,
+                "debug": true,
+                "simulator": true,
                 "matrix_id": "71593"
             },
             "data": {},

unilabos/app/main.py

@@ -17,12 +17,12 @@ unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
 if unilabos_dir not in sys.path:
     sys.path.append(unilabos_dir)
 
-from unilabos.config.config import load_config, BasicConfig
+from unilabos.config.config import load_config, BasicConfig, HTTPConfig
 from unilabos.utils.banner_print import print_status, print_unilab_banner
 from unilabos.resources.graphio import modify_to_backend_format
 
 
-def load_config_from_file(config_path, override_labid=None):
+def load_config_from_file(config_path):
     if config_path is None:
         config_path = os.environ.get("UNILABOS_BASICCONFIG_CONFIG_PATH", None)
     if config_path:
@@ -31,10 +31,10 @@ def load_config_from_file(config_path, override_labid=None):
         elif not config_path.endswith(".py"):
             print_status(f"配置文件 {config_path} 不是Python文件，必须以.py结尾", "error")
         else:
-            load_config(config_path, override_labid)
+            load_config(config_path)
     else:
         print_status(f"启动 UniLab-OS时，配置文件参数未正确传入 --config '{config_path}' 尝试本地配置...", "warning")
-        load_config(config_path, override_labid)
+        load_config(config_path)
 
 
 def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
@@ -52,8 +52,6 @@ def parse_args():
     """解析命令行参数"""
     parser = argparse.ArgumentParser(description="Start Uni-Lab Edge server.")
     parser.add_argument("-g", "--graph", help="Physical setup graph.")
-    # parser.add_argument("-d", "--devices", help="Devices config file.")
-    # parser.add_argument("-r", "--resources", help="Resources config file.")
     parser.add_argument("-c", "--controllers", default=None, help="Controllers config file.")
     parser.add_argument(
         "--registry_path",
@@ -128,12 +126,6 @@ def parse_args():
         default="disable",
         help="选择可视化工具: rviz, web",
     )
-    parser.add_argument(
-        "--labid",
-        type=str,
-        default="",
-        help="实验室唯一ID，也可通过环境变量 UNILABOS_MQCONFIG_LABID 设置或传入--config设置",
-    )
     parser.add_argument(
         "--ak",
         type=str,
@@ -146,6 +138,12 @@ def parse_args():
         default="",
         help="实验室请求的sk",
     )
+    parser.add_argument(
+        "--addr",
+        type=str,
+        default="https://uni-lab.bohrium.com/api/v1",
+        help="实验室后端地址",
+    )
     parser.add_argument(
         "--websocket",
         action="store_true",
@@ -209,13 +207,20 @@ def main():
                 os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path
             )
             print_status(f"已创建 local_config.py 路径： {config_path}", "info")
-            print_status(f"请在文件夹中配置lab_id，放入下载的CA.crt、lab.crt、lab.key重新启动本程序", "info")
             os._exit(1)
         else:
             os._exit(1)
     # 加载配置文件
     print_status(f"当前工作目录为 {working_dir}", "info")
-    load_config_from_file(config_path, args_dict["labid"])
+    load_config_from_file(config_path)
+    if args_dict["addr"] == "test":
+        print_status("使用测试环境地址", "info")
+        HTTPConfig.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
+    elif args_dict["addr"] == "local":
+        print_status("使用本地环境地址", "info")
+        HTTPConfig.remote_addr = "http://127.0.0.1:48197/api/v1"
+    else:
+        HTTPConfig.remote_addr = args_dict.get("addr", "")
 
     if args_dict["use_remote_resource"]:
         print_status("使用远程资源启动", "info")

unilabos/app/ws_client.py

@@ -142,9 +142,13 @@ class TaskScheduler:
                             # 执行相应的任务
                             should_continue = False
                             if item.task_type == "query_action_status":
-                                should_continue = asyncio.run_coroutine_threadsafe(self._process_query_status_item(item), self.message_sender.event_loop).result()
+                                should_continue = asyncio.run_coroutine_threadsafe(
+                                    self._process_query_status_item(item), self.message_sender.event_loop
+                                ).result()
                             elif item.task_type == "job_call_back_status":
-                                should_continue = asyncio.run_coroutine_threadsafe(self._process_job_callback_item(item), self.message_sender.event_loop).result()
+                                should_continue = asyncio.run_coroutine_threadsafe(
+                                    self._process_job_callback_item(item), self.message_sender.event_loop
+                                ).result()
                             else:
                                 logger.warning(f"[TaskScheduler] Unknown task type: {item.task_type}")
                                 continue
@@ -381,21 +385,21 @@ class TaskScheduler:
 
             # 创建取消事件，todo：要移动到query_state中
             self.cancel_events[req.job_id] = asyncio.Event()
+            # 启动callback定时发送
+            await self._start_job_callback(req.job_id, req.device_id, req.action, req.task_id, device_action_key)
 
+            # 创建兼容HostNode的QueueItem对象
+            job_queue_item = QueueItem(
+                task_type="job_call_back_status",
+                device_id=req.device_id,
+                action_name=req.action,
+                task_id=req.task_id,
+                job_id=req.job_id,
+                device_action_key=device_action_key,
+                next_run_time=time.time(),
+            )
             try:
-                # 启动callback定时发送
-                await self._start_job_callback(req.job_id, req.device_id, req.action, req.task_id, device_action_key)
 
-                # 创建兼容HostNode的QueueItem对象
-                job_queue_item = QueueItem(
-                    task_type="job_call_back_status",
-                    device_id=req.device_id,
-                    action_name=req.action,
-                    task_id=req.task_id,
-                    job_id=req.job_id,
-                    device_action_key=device_action_key,
-                    next_run_time=time.time(),
-                )
                 host_node = HostNode.get_instance(0)
                 if not host_node:
                     logger.error(f"[TaskScheduler] HostNode instance not available for job_id: {req.job_id}")
@@ -409,15 +413,9 @@ class TaskScheduler:
             except Exception as e:
                 logger.error(f"[TaskScheduler] Exception during job start for job_id {req.job_id}: {str(e)}")
                 traceback.print_exc()
-                # 异常结束，先停止callback，然后发送失败状态
-                await self._stop_job_callback(
-                    req.job_id, "failed", serialize_result_info(traceback.format_exc(), False, {})
+                self.publish_job_status(
+                    {}, job_queue_item, "failed", serialize_result_info(traceback.format_exc(), False, {})
                 )
-
-                host_node = HostNode.get_instance(0)
-                if host_node:
-                    host_node._device_action_status[device_action_key].job_ids.pop(req.job_id, None)
-                    logger.warning(f"[TaskScheduler] Cleaned up failed job from HostNode: {req.job_id}")
         except Exception as e:
             logger.error(f"[TaskScheduler] Error handling job start: {str(e)}")
 
@@ -454,7 +452,7 @@ class TaskScheduler:
                     logger.error(f"[TaskScheduler] HostNode not available for cancel goal: {job_id}")
 
                 # 停止callback并发送取消状态
-                await self._stop_job_callback(job_id, "cancelled", "Job was cancelled by user request")
+                await self._stop_job_callback(job_id, "cancelled")
                 logger.info(f"[TaskScheduler] Stopped job callback and sent cancel status for job_id: {job_id}")
             else:
                 logger.warning(f"[TaskScheduler] Job not found in active jobs for cancellation: {job_id}")
@@ -511,7 +509,7 @@ class TaskScheduler:
         else:
             logger.debug(f"[TaskScheduler] Action queue not available for job callback: {job_id}")
 
-    async def _stop_job_callback(self, job_id: str, final_status: str, return_info: Optional[str] = None) -> None:
+    async def _stop_job_callback(self, job_id: str, final_status: str) -> None:
         """停止job的callback定时发送并发送最终结果"""
         logger.info(f"[TaskScheduler] Stopping job callback for job_id: {job_id} with final status: {final_status}")
         if job_id not in self.active_jobs:
@@ -557,10 +555,24 @@ class TaskScheduler:
             # 给其他同名action至少执行一次的机会
             with self.immediate_execution_lock:
                 self.immediate_execution_flags[item.device_action_key] = time.time() + 3
-            # 如果是最终状态，通过_stop_job_callback处理
-            asyncio.run_coroutine_threadsafe(
-                self._stop_job_callback(item.job_id, status, return_info), self.message_sender.event_loop
-            ).result()
+
+            # 检查是否在同一个事件循环中
+            try:
+                current_loop = asyncio.get_running_loop()
+                if current_loop == self.message_sender.event_loop:
+                    # 在同一个事件循环中，直接创建任务
+                    asyncio.create_task(self._stop_job_callback(item.job_id, status))
+                else:
+                    # 不在同一个事件循环中，使用 run_coroutine_threadsafe
+                    asyncio.run_coroutine_threadsafe(
+                        self._stop_job_callback(item.job_id, status), self.message_sender.event_loop
+                    )
+            except RuntimeError:
+                # 没有运行中的事件循环，使用 run_coroutine_threadsafe
+                asyncio.run_coroutine_threadsafe(
+                    self._stop_job_callback(item.job_id, status), self.message_sender.event_loop
+                )
+
         # 执行结果信息上传
         message = {
             "action": "job_status",
@@ -575,9 +587,21 @@ class TaskScheduler:
                 "timestamp": time.time(),
             },
         }
-        asyncio.run_coroutine_threadsafe(
-            self.message_sender.send_message(message), self.message_sender.event_loop
-        ).result()
+
+        # 同样检查事件循环
+        try:
+            current_loop = asyncio.get_running_loop()
+            if current_loop == self.message_sender.event_loop:
+                # 在同一个事件循环中，直接创建任务
+                asyncio.create_task(self.message_sender.send_message(message))
+            else:
+                # 不在同一个事件循环中，使用 run_coroutine_threadsafe
+                asyncio.run_coroutine_threadsafe(
+                    self.message_sender.send_message(message), self.message_sender.event_loop
+                )
+        except RuntimeError:
+            # 没有运行中的事件循环，使用 run_coroutine_threadsafe
+            asyncio.run_coroutine_threadsafe(self.message_sender.send_message(message), self.message_sender.event_loop)
 
         logger.trace(f"[TaskScheduler] Job status published: {item.job_id} - {status}")  # type: ignore
 
@@ -619,11 +643,11 @@ class WebSocketClient(BaseCommunicationClient):
         self.connected = False
 
         # 消息处理
-        self.message_queue = asyncio.Queue() if not self.is_disabled else None
         self.reconnect_count = 0
 
-        # 消息发送锁（解决并发写入问题）- 延迟初始化
-        self.send_lock = None
+        # 消息发送队列和处理器
+        self.send_queue = None  # 延迟初始化
+        self.send_queue_task = None  # 发送队列处理任务
 
         # 任务调度器
         self.task_scheduler = None
@@ -709,8 +733,8 @@ class WebSocketClient(BaseCommunicationClient):
             self.event_loop = asyncio.new_event_loop()
             asyncio.set_event_loop(self.event_loop)
 
-            # 在正确的事件循环中创建锁
-            self.send_lock = asyncio.Lock()
+            # 在正确的事件循环中创建发送队列
+            self.send_queue = asyncio.Queue(maxsize=1000)  # 限制队列大小防止内存溢出
 
             # 运行连接逻辑
             self.event_loop.run_until_complete(self._connection_handler())
@@ -746,8 +770,20 @@ class WebSocketClient(BaseCommunicationClient):
 
                     logger.info(f"[WebSocket] Connected to {self.websocket_url}")
 
-                    # 处理消息
-                    await self._message_handler()
+                    # 启动发送队列处理器
+                    self.send_queue_task = asyncio.create_task(self._send_queue_processor())
+
+                    try:
+                        # 处理消息
+                        await self._message_handler()
+                    finally:
+                        # 停止发送队列处理器
+                        if self.send_queue_task and not self.send_queue_task.done():
+                            self.send_queue_task.cancel()
+                            try:
+                                await self.send_queue_task
+                            except asyncio.CancelledError:
+                                pass
 
             except websockets.exceptions.ConnectionClosed:
                 logger.warning("[WebSocket] Connection closed")
@@ -779,6 +815,67 @@ class WebSocketClient(BaseCommunicationClient):
             await self.websocket.close()
             self.websocket = None
 
+    async def _send_queue_processor(self):
+        """处理发送队列中的消息"""
+        logger.debug("[WebSocket] Send queue processor started")
+        if not self.send_queue:
+            logger.error("[WebSocket] Send queue not initialized")
+            return
+
+        try:
+            while self.connected and self.websocket:
+                try:
+                    # 使用超时避免无限等待
+                    message = await asyncio.wait_for(self.send_queue.get(), timeout=1.0)
+
+                    # 批量处理：收集短时间内的多个消息
+                    messages_to_send = [message]
+                    batch_size = 0
+                    max_batch_size = 10  # 最大批处理数量
+
+                    # 尝试获取更多消息（非阻塞）
+                    while batch_size < max_batch_size and not self.send_queue.empty():
+                        try:
+                            additional_msg = self.send_queue.get_nowait()
+                            messages_to_send.append(additional_msg)
+                            batch_size += 1
+                        except asyncio.QueueEmpty:
+                            break
+
+                    # 发送消息
+                    for msg in messages_to_send:
+                        if self.websocket and self.connected:
+                            try:
+                                message_str = json.dumps(msg, ensure_ascii=False)
+                                await self.websocket.send(message_str)
+                                logger.trace(  # type: ignore
+                                    f"[WebSocket] Message sent: {msg.get('action', 'unknown')}"
+                                )
+                            except Exception as e:
+                                logger.error(f"[WebSocket] Failed to send message: {str(e)}")
+                                # 如果发送失败，将消息重新放回队列（可选）
+                                # await self.send_queue.put(msg)
+                                break
+
+                        # 在批量发送之间添加小延迟，避免过载
+                        if batch_size > 5:
+                            await asyncio.sleep(0.001)
+
+                except asyncio.TimeoutError:
+                    # 超时是正常的，继续循环
+                    continue
+                except asyncio.CancelledError:
+                    logger.debug("[WebSocket] Send queue processor cancelled")
+                    break
+                except Exception as e:
+                    logger.error(f"[WebSocket] Error in send queue processor: {str(e)}")
+                    await asyncio.sleep(0.1)
+
+        except Exception as e:
+            logger.error(f"[WebSocket] Fatal error in send queue processor: {str(e)}")
+        finally:
+            logger.debug("[WebSocket] Send queue processor stopped")
+
     # 消息处理方法
     async def _message_handler(self):
         """处理接收到的消息"""
@@ -831,24 +928,23 @@ class WebSocketClient(BaseCommunicationClient):
 
     # MessageSender接口实现
     async def send_message(self, message: Dict[str, Any]) -> None:
-        """内部发送消息方法，使用锁确保线程安全"""
-        if not self.connected or not self.websocket:
+        """内部发送消息方法，将消息放入发送队列"""
+        if not self.connected:
             logger.warning("[WebSocket] Not connected, cannot send message")
             return
 
-        # 检查锁是否已初始化（在事件循环启动后才会创建）
-        if not self.send_lock:
-            logger.warning("[WebSocket] Send lock not initialized, cannot send message safely")
+        # 检查发送队列是否已初始化
+        if not self.send_queue:
+            logger.warning("[WebSocket] Send queue not initialized, cannot send message")
             return
 
-        message_str = json.dumps(message, ensure_ascii=False)
-        # 使用异步锁防止并发写入导致的竞态条件
-        async with self.send_lock:
-            try:
-                await self.websocket.send(message_str)
-                logger.debug(f"[WebSocket] Message sent: {message['action']}")
-            except Exception as e:
-                logger.error(f"[WebSocket] Failed to send message: {str(e)}")
+        try:
+            # 尝试将消息放入队列（非阻塞）
+            self.send_queue.put_nowait(message)
+            logger.trace(f"[WebSocket] Message queued: {message['action']}")  # type: ignore
+        except asyncio.QueueFull:
+            logger.error(f"[WebSocket] Send queue full, dropping message: {message['action']}")
+            # 可选：在队列满时采取其他策略，如等待或丢弃旧消息
 
     def is_connected(self) -> bool:
         """检查是否已连接（TaskScheduler调用的接口）"""
@@ -870,7 +966,20 @@ class WebSocketClient(BaseCommunicationClient):
                 },
             },
         }
-        asyncio.run_coroutine_threadsafe(self.send_message(message), self.event_loop).result()
+
+        # 检查是否在同一个事件循环中
+        try:
+            current_loop = asyncio.get_running_loop()
+            if current_loop == self.event_loop:
+                # 在同一个事件循环中，直接创建任务
+                asyncio.create_task(self.send_message(message))
+            else:
+                # 不在同一个事件循环中，使用 run_coroutine_threadsafe
+                asyncio.run_coroutine_threadsafe(self.send_message(message), self.event_loop)
+        except RuntimeError:
+            # 没有运行中的事件循环，使用 run_coroutine_threadsafe
+            asyncio.run_coroutine_threadsafe(self.send_message(message), self.event_loop)
+
         logger.debug(f"[WebSocket] Device status published: {device_id}.{property_name}")
 
     def publish_job_status(
@@ -888,7 +997,20 @@ class WebSocketClient(BaseCommunicationClient):
             logger.warning("[WebSocket] Not connected, cannot send ping")
             return
         message = {"action": "ping", "data": {"ping_id": ping_id, "client_timestamp": timestamp}}
-        asyncio.run_coroutine_threadsafe(self.send_message(message), self.event_loop).result()
+
+        # 检查是否在同一个事件循环中
+        try:
+            current_loop = asyncio.get_running_loop()
+            if current_loop == self.event_loop:
+                # 在同一个事件循环中，直接创建任务
+                asyncio.create_task(self.send_message(message))
+            else:
+                # 不在同一个事件循环中，使用 run_coroutine_threadsafe
+                asyncio.run_coroutine_threadsafe(self.send_message(message), self.event_loop)
+        except RuntimeError:
+            # 没有运行中的事件循环，使用 run_coroutine_threadsafe
+            asyncio.run_coroutine_threadsafe(self.send_message(message), self.event_loop)
+
         logger.debug(f"[WebSocket] Ping sent: {ping_id}")
 
     def cancel_goal(self, job_id: str) -> None:

unilabos/config/config.py

@@ -87,7 +87,7 @@ class ROSConfig:
     ]
 
 
-def _update_config_from_module(module, override_labid: Optional[str]):
+def _update_config_from_module(module):
     for name, obj in globals().items():
         if isinstance(obj, type) and name.endswith("Config"):
             if hasattr(module, name) and isinstance(getattr(module, name), type):
@@ -97,38 +97,6 @@ def _update_config_from_module(module, override_labid: Optional[str]):
     # 更新OSS认证
     if len(OSSUploadConfig.authorization) == 0:
         OSSUploadConfig.authorization = f"Lab {MQConfig.lab_id}"
-    # 对 ca_file cert_file key_file 进行初始化
-    if override_labid:
-        MQConfig.lab_id = override_labid
-        logger.warning(f"[ENV] 当前实验室启动的ID被设置为：{override_labid}")
-    if len(MQConfig.ca_content) == 0:
-        # 需要先判断是否为相对路径
-        if MQConfig.ca_file.startswith("."):
-            MQConfig.ca_file = os.path.join(BasicConfig.config_path, MQConfig.ca_file)
-        if len(MQConfig.ca_file) != 0:
-            with open(MQConfig.ca_file, "r", encoding="utf-8") as f:
-                MQConfig.ca_content = f.read()
-        else:
-            logger.warning("Skipping CA file loading, ca_file is empty")
-    if len(MQConfig.cert_content) == 0:
-        # 需要先判断是否为相对路径
-        if MQConfig.cert_file.startswith("."):
-            MQConfig.cert_file = os.path.join(BasicConfig.config_path, MQConfig.cert_file)
-        if len(MQConfig.ca_file) != 0:
-            with open(MQConfig.cert_file, "r", encoding="utf-8") as f:
-                MQConfig.cert_content = f.read()
-        else:
-            logger.warning("Skipping cert file loading, cert_file is empty")
-    if len(MQConfig.key_content) == 0:
-        # 需要先判断是否为相对路径
-        if MQConfig.key_file.startswith("."):
-            MQConfig.key_file = os.path.join(BasicConfig.config_path, MQConfig.key_file)
-        if len(MQConfig.ca_file) != 0:
-            with open(MQConfig.key_file, "r", encoding="utf-8") as f:
-                MQConfig.key_content = f.read()
-        else:
-            logger.warning("Skipping key file loading, key_file is empty")
-
 
 def _update_config_from_env():
     prefix = "UNILABOS_"
@@ -181,7 +149,7 @@ def _update_config_from_env():
             logger.warning(f"[ENV] 解析环境变量 {env_key} 失败: {e}")
 
 
-def load_config(config_path=None, override_labid=None):
+def load_config(config_path=None):
     # 如果提供了配置文件路径，从该文件导入配置
     if config_path:
         env_config_path = os.environ.get("UNILABOS_BASICCONFIG_CONFIG_PATH")
@@ -198,7 +166,7 @@ def load_config(config_path=None, override_labid=None):
                 return
             module = importlib.util.module_from_spec(spec)
             spec.loader.exec_module(module)  # type: ignore
-            _update_config_from_module(module, override_labid)
+            _update_config_from_module(module)
             logger.info(f"[ENV] 配置文件 {config_path} 加载成功")
             _update_config_from_env()
         except Exception as e:
@@ -207,4 +175,4 @@ def load_config(config_path=None, override_labid=None):
             exit(1)
     else:
         config_path = os.path.join(os.path.dirname(__file__), "local_config.py")
-        load_config(config_path, override_labid)
+        load_config(config_path)

unilabos/config/example_config.py

@@ -1,18 +1 @@
-# MQTT配置
-class MQConfig:
-    lab_id = ""
-    instance_id = ""
-    access_key = ""
-    secret_key = ""
-    group_id = ""
-    broker_url = ""
-    port = 1883
-
-    ca_file = "./CA.crt"
-    cert_file = "./lab.crt"
-    key_file = "./lab.key"
-
-
-# HTTP配置
-class HTTPConfig:
-    remote_addr = "https://uni-lab.bohrium.com/api/v1"
+# 暂无配置

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -1,11 +1,11 @@
 from __future__ import annotations
 
 import traceback
-from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set
-
+from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
+from collections import Counter
 import asyncio
 import time
-
+import pprint as pp
 from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness
 from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod
 from pylabrobot.liquid_handling.standard import GripDirection
@@ -29,6 +29,7 @@ from pylabrobot.resources import (
 class LiquidHandlerMiddleware(LiquidHandler):
     def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8):
         self._simulator = simulator
+        self.channel_num = channel_num
         if simulator:
             self._simulate_backend = LiquidHandlerChatterboxBackend(channel_num)
             self._simulate_handler = LiquidHandlerAbstract(self._simulate_backend, deck, False)
@@ -104,8 +105,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
         offsets: Optional[List[Coordinate]] = None,
         **backend_kwargs,
     ):
-        print('222'*200)
-        print(tip_spots)
+
         if self._simulator:
             return await self._simulate_handler.pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
         return await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
@@ -545,6 +545,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
           deck: Deck to use.
         """
         self._simulator = simulator
+        self.group_info = dict()
         super().__init__(backend, deck, simulator, channel_num)
 
     @classmethod
@@ -556,6 +557,51 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
     # REMOVE LIQUID --------------------------------------------------
     # ---------------------------------------------------------------
 
+    def set_group(self, group_name: str, wells: List[Well], volumes: List[float]):
+        if len(wells) != 8:
+            raise RuntimeError(f"Expected 8 wells, got {len(wells)}")
+        self.group_info[group_name] = wells
+        self.set_liquid(wells, [group_name] * len(wells), volumes)
+
+    async def transfer_group(self, source_group_name: str, target_group_name: str, unit_volume: float):
+        source_wells = self.group_info.get(source_group_name, [])
+        target_wells = self.group_info.get(target_group_name, [])
+        rack_info = dict()
+        for child in self.deck.children:
+            if issubclass(child.__class__, TipRack):
+                rack: TipRack = cast(TipRack, child)
+                if "plate" not in rack.name.lower():
+                    for tip in rack.get_all_tips():
+                        if unit_volume > tip.maximal_volume:
+                            break
+                        else:
+                            rack_info[rack.name] = (rack, tip.maximal_volume - unit_volume)
+        if len(rack_info) == 0:
+            raise ValueError(f"No tip rack can support volume {unit_volume}.")
+        
+        rack_info = sorted(rack_info.items(), key=lambda x: x[1][1])
+        for child in self.deck.children:
+            if child.name == rack_info[0][0]:
+                target_rack = child
+
+        target_rack = cast(TipRack, target_rack)
+
+        available_tips = {}
+        for (idx, name), tipSpot in zip(target_rack._ordering.items(), target_rack.get_all_items()):
+            if tipSpot.has_tip():
+                available_tips[idx] = tipSpot
+                continue
+
+        colnum_list = [int(holename[1:]) for holename in available_tips.keys()]
+        available_cols = [colnum for colnum, count in dict(Counter(colnum_list)).items() if count == 8]
+        available_cols.sort() # 这样就确定了列号
+        tips_to_use = [available_tips[f"{chr(65 + i)}{available_cols[0]}"] for i in range(8)]
+
+        await self.pick_up_tips(tips_to_use, use_channels=list(range(0, 8)))
+        await self.aspirate(source_wells, [10] * 8, use_channels=list(range(0, 8)))
+        await self.dispense(target_wells, [10] * 8, use_channels=list(range(0, 8)))
+        await self.discard_tips(use_channels=list(range(0, 8)))
+
     async def create_protocol(
         self,
         protocol_name: str,
@@ -569,6 +615,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         """Create a new protocol with the given metadata."""
         pass
 
+
     async def remove_liquid(
         self,
         vols: List[float],
@@ -987,8 +1034,8 @@ 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.discard_tips([0,1,2,3,4,5,6,7])
+
     # except Exception as e:
     #     traceback.print_exc()
     #     raise RuntimeError(f"Liquid addition failed: {e}") from e

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -134,6 +134,12 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
 
     def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]):
         return super().set_liquid(wells, liquid_names, volumes)
+    
+    def set_group(self, group_name: str, wells: List[Well], volumes: List[float]):
+        return super().set_group(group_name, wells, volumes)
+    
+    async def transfer_group(self, source_group_name: str, target_group_name: str, unit_volume: float):
+        return await super().transfer_group(source_group_name, target_group_name, unit_volume)
 
     async def create_protocol(
         self,
@@ -431,14 +437,14 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
     async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int] = None):
         """Pick up tips from the specified resource."""
-        print('where?'*200)
+
         plate_indexes = []
         for op in ops:
             plate = op.resource.parent
             deck = plate.parent
             plate_index = deck.children.index(plate)
-            print(f"Plate index: {plate_index}, Plate name: {plate.name}")
-            print(f"Number of children in deck: {len(deck.children)}")
+            # print(f"Plate index: {plate_index}, Plate name: {plate.name}")
+            # print(f"Number of children in deck: {len(deck.children)}")
 
             plate_indexes.append(plate_index)
 
@@ -452,8 +458,6 @@ class PRCXI9300Backend(LiquidHandlerBackend):
             tip_columns.append(tipspot_index // 8)
         if len(set(tip_columns)) != 1:
             raise ValueError("All pickups must be from the same tip column. Found different columns: " + str(tip_columns))
-        # print('111'*99)
-        # print(plate_indexes[0])
         PlateNo = plate_indexes[0] + 1
         hole_col = tip_columns[0] + 1
         hole_row = 1
@@ -977,153 +981,162 @@ if __name__ == "__main__":
     # 4.
 
     
-    # deck = PRCXI9300Deck(name="PRCXI_Deck_9300", size_x=100, size_y=100, size_z=100)
+    deck = PRCXI9300Deck(name="PRCXI_Deck_9300", size_x=100, size_y=100, size_z=100)
 
-    # from pylabrobot.resources.opentrons.tip_racks import opentrons_96_tiprack_300ul,opentrons_96_tiprack_10ul
-    # from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
+    from pylabrobot.resources.opentrons.tip_racks import opentrons_96_tiprack_300ul,opentrons_96_tiprack_10ul
+    from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
 
-    # def get_well_container(name: str) -> PRCXI9300Container:
-    #     well_containers = corning_96_wellplate_360ul_flat(name).serialize()
-    #     plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
-    #                        ordering=collections.OrderedDict())
-    #     plate_serialized = plate.serialize()
-    #     plate_serialized["parent_name"] = deck.name
-    #     well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
-    #     new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
-    #     return new_plate
+    def get_well_container(name: str) -> PRCXI9300Container:
+        well_containers = corning_96_wellplate_360ul_flat(name).serialize()
+        plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
+                           ordering=well_containers["ordering"])
+        plate_serialized = plate.serialize()
+        plate_serialized["parent_name"] = deck.name
+        well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
+        new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
+        return new_plate
 
-    # def get_tip_rack(name: str) -> PRCXI9300Container:
-    #     tip_racks = opentrons_96_tiprack_300ul("name").serialize()
-    #     tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
-    #                        ordering=collections.OrderedDict())
-    #     tip_rack_serialized = tip_rack.serialize()
-    #     tip_rack_serialized["parent_name"] = deck.name
-    #     tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
-    #     new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
-    #     return new_tip_rack
+    def get_tip_rack(name: str) -> PRCXI9300Container:
+        tip_racks = opentrons_96_tiprack_300ul("name").serialize()
+        tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
+                           ordering=tip_racks["ordering"])
+        tip_rack_serialized = tip_rack.serialize()
+        tip_rack_serialized["parent_name"] = deck.name
+        tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
+        new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
+        return new_tip_rack
     
-    # plate1 = get_tip_rack("RackT1")
-    # plate1.load_state({
-    #     "Material": {
-    #         "uuid": "076250742950465b9d6ea29a225dfb00",
-    #         "Code": "ZX-001-300",
-    #         "Name": "300μL Tip头"
-    #     }
-    # })
+    plate1 = get_tip_rack("RackT1")
+    plate1.load_state({
+        "Material": {
+            "uuid": "076250742950465b9d6ea29a225dfb00",
+            "Code": "ZX-001-300",
+            "Name": "300μL Tip头"
+        }
+    })
 
-    # plate2 = get_well_container("PlateT2")
-    # plate2.load_state({
-    #     "Material": {
-    #         "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
-    #         "Code": "ZX-019-2.2",
-    #         "Name": "96深孔板"
-    #     }
-    # })
+    plate2 = get_well_container("PlateT2")
+    plate2.load_state({
+        "Material": {
+            "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
+            "Code": "ZX-019-2.2",
+            "Name": "96深孔板"
+        }
+    })
 
 
-    # plate3 = PRCXI9300Trash("trash", size_x=50, size_y=100, size_z=10, category="trash")
-    # plate3.load_state({
-    #     "Material": {
-    #         "uuid": "730067cf07ae43849ddf4034299030e9"
-    #     }
-    # })
+    plate3 = PRCXI9300Trash("trash", size_x=50, size_y=100, size_z=10, category="trash")
+    plate3.load_state({
+        "Material": {
+            "uuid": "730067cf07ae43849ddf4034299030e9"
+        }
+    })
 
-    # plate4 = get_well_container("PlateT4")
-    # plate4.load_state({
-    #     "Material": {
-    #         "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
-    #         "Code": "ZX-019-2.2",
-    #         "Name": "96深孔板"
-    #     }
-    # })
+    plate4 = get_well_container("PlateT4")
+    plate4.load_state({
+        "Material": {
+            "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
+            "Code": "ZX-019-2.2",
+            "Name": "96深孔板"
+        }
+    })
 
-    # plate5 = get_well_container("PlateT5")
-    # plate5.load_state({
-    #     "Material": {
-    #         "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
-    #         "Code": "ZX-019-2.2",
-    #         "Name": "96深孔板"
-    #     }
-    # })
-    # plate6 = get_well_container("PlateT6")
+    plate5 = get_well_container("PlateT5")
+    plate5.load_state({
+        "Material": {
+            "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
+            "Code": "ZX-019-2.2",
+            "Name": "96深孔板"
+        }
+    })
+    plate6 = get_well_container("PlateT6")
 
-    # plate6.load_state({
-    #     "Material": {
-    #         "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
-    #         "Code": "ZX-019-2.2",
-    #         "Name": "96深孔板"
-    #     }
-    # })
+    plate6.load_state({
+        "Material": {
+            "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
+            "Code": "ZX-019-2.2",
+            "Name": "96深孔板"
+        }
+    })
 
-    # deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
-    # deck.assign_child_resource(plate2, location=Coordinate(0, 0, 0))
-    # deck.assign_child_resource(plate3, location=Coordinate(0, 0, 0))
-    # deck.assign_child_resource(plate4, location=Coordinate(0, 0, 0))
-    # deck.assign_child_resource(plate5, location=Coordinate(0, 0, 0))
-    # deck.assign_child_resource(plate6, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate2, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate3, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate4, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate5, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate6, location=Coordinate(0, 0, 0))
 
-    # # print(plate2)
     # plate_2_liquids = [[('water', 500)]]*96
+
     # plate2.set_well_liquids(plate_2_liquids)
 
-    # handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999, 
-    #                            timeout=10.0, setup=False, debug=False, 
-    #                            matrix_id="71593",
-    #                            channel_num=8, axis="Left")  # Initialize the handler with the deck and host settings
+
     
 
-    # handler.set_tiprack([plate1]) 
+    handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999, 
+                               timeout=10.0, setup=False, debug=False, 
+                               simulator=True,
+                               matrix_id="71593",
+                               channel_num=8, axis="Left")  # Initialize the handler with the deck and host settings
+    
 
-    # asyncio.run(handler.setup())  # Initialize the handler and setup the connection
-    # from pylabrobot.resources import set_volume_tracking
-    # # from pylabrobot.resources import set_tip_tracking
-    # set_volume_tracking(enabled=True)
+    
+    
+    plate_2_liquids = handler.set_group("water", plate2.children[:8], [200]*8)
+    plate5_liquids = handler.set_group("master_mix", plate5.children[:8], [100]*8)
+
+    handler.set_tiprack([plate1]) 
+    asyncio.run(handler.setup())  # Initialize the handler and setup the connection
+    from pylabrobot.resources import set_volume_tracking
+    # from pylabrobot.resources import set_tip_tracking
+    set_volume_tracking(enabled=True)
     # from unilabos.resources.graphio import *
-    # A = tree_to_list([resource_plr_to_ulab(deck)])
-    # with open("deck_9300_new.json", "w", encoding="utf-8") as f:
-    #     json.dump(A, f, indent=4, ensure_ascii=False)
-    # asyncio.run(handler.create_protocol(protocol_name="Test Protocol"))  # Initialize the backend and setup the connection
+    # # A = tree_to_list([resource_plr_to_ulab(deck)])
+    # # with open("deck_9300_new.json", "w", encoding="utf-8") as f:
+    # #     json.dump(A, f, indent=4, ensure_ascii=False)
+    asyncio.run(handler.create_protocol(protocol_name="Test Protocol"))  # Initialize the backend and setup the connection
+    asyncio.run(handler.transfer_group("water", "master_mix", 100))  # Reset tip tracking
 
-    # # asyncio.run(handler.pick_up_tips(plate1.children[:8],[0,1,2,3,4,5,6,7]))
-    # # print(plate1.children[:8])
-    # # asyncio.run(handler.aspirate(plate2.children[:8],[50]*8, [0,1,2,3,4,5,6,7]))
-    # # print(plate2.children[:8])
-    # # asyncio.run(handler.dispense(plate5.children[:8],[50]*8,[0,1,2,3,4,5,6,7]))
-    # # print(plate5.children[:8])
+    # asyncio.run(handler.pick_up_tips(plate1.children[:8],[0,1,2,3,4,5,6,7]))
+    # print(plate1.children[:8])
+    # asyncio.run(handler.aspirate(plate2.children[:8],[50]*8, [0,1,2,3,4,5,6,7]))
+    # print(plate2.children[:8])
+    # asyncio.run(handler.dispense(plate5.children[:8],[50]*8,[0,1,2,3,4,5,6,7]))
+    # print(plate5.children[:8])
 
-    # # # # # asyncio.run(handler.drop_tips(tip_rack.children[8:16],[0,1,2,3,4,5,6,7]))
-    # # asyncio.run(handler.discard_tips())
+    # #asyncio.run(handler.drop_tips(tip_rack.children[8:16],[0,1,2,3,4,5,6,7]))
+    # asyncio.run(handler.discard_tips([0,1,2,3,4,5,6,7]))
 
-    # # asyncio.run(handler.mix(well_containers.children[:8
-    # # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
-    # # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
-    # # asyncio.run(handler.add_liquid(
-    # #     asp_vols=[100]*16,
-    # #     dis_vols=[100]*16,
-    # #     reagent_sources=plate2.children[:16],
-    # #     targets=plate5.children[:16],
-    # #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
-    # #     flow_rates=[None] * 32,
-    # #     offsets=[Coordinate(0, 0, 0)] * 32,
-    # #     liquid_height=[None] * 16,
-    # #     blow_out_air_volume=[None] * 16,
-    # #     delays=None,
-    # #     mix_time=3,
-    # #     mix_vol=50,
-    # #     spread="wide",
-    # # ))
-    # # asyncio.run(handler.run_protocol())  # Run the protocol
-    # # asyncio.run(handler.remove_liquid(
-    # #     vols=[100]*16,
-    # #     sources=plate2.children[-16:],
-    # #     waste_liquid=plate5.children[:16], # 这个有些奇怪，但是好像也只能这么写
-    # #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
-    # #     flow_rates=[None] * 32,
-    # #     offsets=[Coordinate(0, 0, 0)] * 32,
-    # #     liquid_height=[None] * 32,
-    # #     blow_out_air_volume=[None] * 32,
-    # #     spread="wide",
-    # # ))
+    # asyncio.run(handler.mix(well_containers.children[:8
+    # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
+    # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
+    # asyncio.run(handler.add_liquid(
+    #     asp_vols=[100]*16,
+    #     dis_vols=[100]*16,
+    #     reagent_sources=plate2.children[:16],
+    #     targets=plate5.children[:16],
+    #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
+    #     flow_rates=[None] * 32,
+    #     offsets=[Coordinate(0, 0, 0)] * 32,
+    #     liquid_height=[None] * 16,
+    #     blow_out_air_volume=[None] * 16,
+    #     delays=None,
+    #     mix_time=3,
+    #     mix_vol=50,
+    #     spread="wide",
+    # ))
+    # asyncio.run(handler.run_protocol())  # Run the protocol
+    # asyncio.run(handler.remove_liquid(
+    #     vols=[100]*16,
+    #     sources=plate2.children[-16:],
+    #     waste_liquid=plate5.children[:16], # 这个有些奇怪，但是好像也只能这么写
+    #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
+    #     flow_rates=[None] * 32,
+    #     offsets=[Coordinate(0, 0, 0)] * 32,
+    #     liquid_height=[None] * 32,
+    #     blow_out_air_volume=[None] * 32,
+    #     spread="wide",
+    # ))
 
     # acid = [20]*8+[40]*8+[60]*8+[80]*8+[100]*8+[120]*8+[140]*8+[160]*8+[180]*8+[200]*8+[220]*8+[240]*8
     # alkaline = acid[::-1]  # Reverse the acid list for alkaline
@@ -1144,258 +1157,264 @@ if __name__ == "__main__":
     #     spread="wide",
     # ))
     # asyncio.run(handler.run_protocol())  # Run the protocol
-    # # # input("Running protocol...")
-    # # # input("Press Enter to continue...")  # Wait for user input before proceeding
-    # # # print("PRCXI9300Handler initialized with deck and host settings.")
-
-    # # Example usage
-    # # 1. 用导出的json，给每个T1 T2板子设定相应的物料，如果是孔板和枪头盒，要对应区分
-    # # 2. 设计一个单点动作流程，可以跑
-    # # 3.
+    # # input("Running protocol...")
+    # # input("Press Enter to continue...")  # Wait for user input before proceeding
+    # # print("PRCXI9300Handler initialized with deck and host settings.")
 
 
-    deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)
 
-    from pylabrobot.resources.opentrons.tip_racks import tipone_96_tiprack_200ul,opentrons_96_tiprack_10ul
-    from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
+### 9320 ###
 
-    def get_well_container(name: str) -> PRCXI9300Container:
-        well_containers = corning_96_wellplate_360ul_flat(name).serialize()
-        plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
-                           ordering=collections.OrderedDict())
-        plate_serialized = plate.serialize()
-        plate_serialized["parent_name"] = deck.name
-        well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
-        new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
-        return new_plate
 
-    def get_tip_rack(name: str) -> PRCXI9300Container:
-        tip_racks = opentrons_96_tiprack_10ul("name").serialize()
-        tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
-                           ordering=collections.OrderedDict())
-        tip_rack_serialized = tip_rack.serialize()
-        tip_rack_serialized["parent_name"] = deck.name
-        tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
-        new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
-        return new_tip_rack
+#     deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)
+
+#     from pylabrobot.resources.opentrons.tip_racks import tipone_96_tiprack_200ul,opentrons_96_tiprack_10ul
+#     from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
+
+#     def get_well_container(name: str) -> PRCXI9300Container:
+#         well_containers = corning_96_wellplate_360ul_flat(name).serialize()
+#         plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
+#                            ordering=collections.OrderedDict())
+#         plate_serialized = plate.serialize()
+#         plate_serialized["parent_name"] = deck.name
+#         well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
+#         new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
+#         return new_plate
+
+#     def get_tip_rack(name: str) -> PRCXI9300Container:
+#         tip_racks = opentrons_96_tiprack_10ul("name").serialize()
+#         tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
+#                            ordering=collections.OrderedDict())
+#         tip_rack_serialized = tip_rack.serialize()
+#         tip_rack_serialized["parent_name"] = deck.name
+#         tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
+#         new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
+#         return new_tip_rack
     
-    plate1 = get_well_container("HPLCPlateT1")
-    plate1.load_state({
-        "Material": {
-            "uuid": "548bbc3df0d4447586f2c19d2c0c0c55",
-            "Code": "HPLC01",
-            "Name":  "HPLC料盘"
-        }
-    })
-    plate2 = get_well_container("PlateT2")
-    plate2.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650",
-        }
-    })
-    plate3 = get_well_container("PlateT3")
-    plate3.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650",
-        }
-    })
-    trash = PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash")
-    trash.load_state({
-        "Material": {
-            "uuid": "730067cf07ae43849ddf4034299030e9"
-        }
-    })
-    plate5 = get_well_container("PlateT5")
-    plate5.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650",
-        }
-    })
-    plate6 = get_well_container("PlateT6")
-    plate6.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650"
-        }
-    })
-    plate7 = PRCXI9300Container(name="plateT7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
-    plate7.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650"
-        }
-    })
-    plate8 = get_tip_rack("RackT8")
-    plate8.load_state({
-        "Material": {
-            "uuid": "068b3815e36b4a72a59bae017011b29f",
-            "Code": "ZX-001-10+",
-            "Name": "10μL加长 Tip头"
-        }
-    })
-    plate9 = get_well_container("PlateT9")
-    plate9.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650"
-        }
-    })
-    plate10 = get_well_container("PlateT10")
-    plate10.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650"
-        }
-    })
-    plate11 = get_well_container("PlateT11")
-    plate11.load_state({
-        "Material": {
-            "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
-        }
-    })
-    plate12 = get_well_container("PlateT12")
-    plate12.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650"
-        }
-    })
-    plate13 = get_well_container("PlateT13")
-    plate13.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650"
-        }
-    })
+#     plate1 = get_well_container("HPLCPlateT1")
+#     plate1.load_state({
+#         "Material": {
+#             "uuid": "548bbc3df0d4447586f2c19d2c0c0c55",
+#             "Code": "HPLC01",
+#             "Name":  "HPLC料盘"
+#         }
+#     })
+#     plate2 = get_well_container("PlateT2")
+#     plate2.load_state({
+#         "Material": {
+#             "uuid": "04211a2dc93547fe9bf6121eac533650",
+#         }
+#     })
+#     plate3 = get_well_container("PlateT3")
+#     plate3.load_state({
+#         "Material": {
+#             "uuid": "04211a2dc93547fe9bf6121eac533650",
+#         }
+#     })
+#     trash = PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash")
+#     trash.load_state({
+#         "Material": {
+#             "uuid": "730067cf07ae43849ddf4034299030e9"
+#         }
+#     })
+#     plate5 = get_well_container("PlateT5")
+#     plate5.load_state({
+#         "Material": {
+#             "uuid": "04211a2dc93547fe9bf6121eac533650",
+#         }
+#     })
+#     plate6 = get_well_container("PlateT6")
+#     plate6.load_state({
+#         "Material": {
+#             "uuid": "04211a2dc93547fe9bf6121eac533650"
+#         }
+#     })
+#     plate7 = PRCXI9300Container(name="plateT7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
+#     plate7.load_state({
+#         "Material": {
+#             "uuid": "04211a2dc93547fe9bf6121eac533650"
+#         }
+#     })
+#     plate8 = get_tip_rack("RackT8")
+#     plate8.load_state({
+#         "Material": {
+#             "uuid": "068b3815e36b4a72a59bae017011b29f",
+#             "Code": "ZX-001-10+",
+#             "Name": "10μL加长 Tip头"
+#         }
+#     })
+#     plate9 = get_well_container("PlateT9")
+#     plate9.load_state({
+#         "Material": {
+#             "uuid": "04211a2dc93547fe9bf6121eac533650"
+#         }
+#     })
+#     plate10 = get_well_container("PlateT10")
+#     plate10.load_state({
+#         "Material": {
+#             "uuid": "04211a2dc93547fe9bf6121eac533650"
+#         }
+#     })
+#     plate11 = get_well_container("PlateT11")
+#     plate11.load_state({
+#         "Material": {
+#             "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
+#         }
+#     })
+#     plate12 = get_well_container("PlateT12")
+#     plate12.load_state({
+#         "Material": {
+#             "uuid": "04211a2dc93547fe9bf6121eac533650"
+#         }
+#     })
+#     plate13 = get_well_container("PlateT13")
+#     plate13.load_state({
+#         "Material": {
+#             "uuid": "04211a2dc93547fe9bf6121eac533650"
+#         }
+#     })
 
-    # container_for_nothing = PRCXI9300Container(name="container_for_nothing", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
+#     # container_for_nothing = PRCXI9300Container(name="container_for_nothing", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
 
-    deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing1", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing2", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(trash, location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing3", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing4", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(plate8, location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing5", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing6", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(plate11, location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing8", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing1", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing2", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(trash, location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing3", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing4", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(plate8, location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing5", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing6", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(plate11, location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing8", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
 
-    handler = PRCXI9300Handler(deck=deck, host="10.181.102.13", port=9999, 
-                               timeout=10.0, setup=False, debug=False, 
-                               matrix_id="fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1",
-                               channel_num=1, axis="Right")  # Initialize the handler with the deck and host settings
+#     handler = PRCXI9300Handler(deck=deck, host="10.181.102.13", port=9999, 
+#                                timeout=10.0, setup=False, debug=False, 
+#                                matrix_id="fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1",
+#                                channel_num=8, axis="Right")  # Initialize the handler with the deck and host settings
     
-    handler.set_tiprack([plate8])  # Set the tip rack for the handler
-    asyncio.run(handler.setup())  # Initialize the handler and setup the connection
-    from pylabrobot.resources import set_volume_tracking
-    # from pylabrobot.resources import set_tip_tracking
-    set_volume_tracking(enabled=True)
+#     handler.set_tiprack([plate8])  # Set the tip rack for the handler
+#     asyncio.run(handler.setup())  # Initialize the handler and setup the connection
+#     from pylabrobot.resources import set_volume_tracking
+#     # from pylabrobot.resources import set_tip_tracking
+#     set_volume_tracking(enabled=True)
 
-    plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)])  # Set liquids for every 8 wells in plate8
+#     plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)])  # Set liquids for every 8 wells in plate8
 
-    from unilabos.resources.graphio import *
+#     from unilabos.resources.graphio import *
 
-    A = tree_to_list([resource_plr_to_ulab(deck)])
-    # with open("deck.json", "w", encoding="utf-8") as f:
-    #     json.dump(A, f, indent=4, ensure_ascii=False)
+#     A = tree_to_list([resource_plr_to_ulab(deck)])
+#     # with open("deck.json", "w", encoding="utf-8") as f:
+#     #     json.dump(A, f, indent=4, ensure_ascii=False)
 
-    print(plate11.get_well(0).tracker.get_used_volume())
-    asyncio.run(handler.create_protocol(protocol_name="Test Protocol"))  # Initialize the backend and setup the connection
-
-    # asyncio.run(handler.pick_up_tips([plate8.children[8]],[0]))
-    # print(plate8.children[8])
-    # # asyncio.run(handler.run_protocol())
-    # asyncio.run(handler.aspirate([plate11.children[0]],[10], [0]))
-    # print(plate11.children[0])
-    # # asyncio.run(handler.run_protocol())
-    # asyncio.run(handler.dispense([plate1.children[0]],[10],[0]))
-    # print(plate1.children[0])
-    # # asyncio.run(handler.run_protocol())
-    # asyncio.run(handler.mix([plate1.children[0]], mix_time=3, mix_vol=5, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
-    # print(plate1.children[0])
-    # asyncio.run(handler.discard_tips())
-
-    asyncio.run(handler.add_liquid(
-    asp_vols=[10]*7,
-    dis_vols=[10]*7,
-    reagent_sources=plate11.children[:7],
-    targets=plate1.children[2:9],
-    use_channels=[0],
-    flow_rates=[None] * 7,
-    offsets=[Coordinate(0, 0, 0)] * 7,
-    liquid_height=[None] * 7,
-    blow_out_air_volume=[None] * 2,
-    delays=None,
-    mix_time=3,
-    mix_vol=5,
-    spread="custom",
-))
-
-    asyncio.run(handler.run_protocol())  # Run the protocol
-# #     asyncio.run(handler.transfer_liquid(
-# #     asp_vols=[10]*2,
-# #     dis_vols=[10]*2,
-# #     sources=plate11.children[:2],
-# #     targets=plate11.children[-2:],
-# #     use_channels=[0],
-# #     offsets=[Coordinate(0, 0, 0)] * 4,
-# #     liquid_height=[None] * 2,
-# #     blow_out_air_volume=[None] * 2,
-# #     delays=None,
-# #     mix_times=3,
-# #     mix_vol=5,
-# #     spread="wide",
-# #     tip_racks=[plate8]
-# # ))
-
-# #     asyncio.run(handler.remove_liquid(
-# #     vols=[10]*2,
-# #     sources=plate11.children[:2],
-# #     waste_liquid=plate11.children[43],
-# #     use_channels=[0],
-# #     offsets=[Coordinate(0, 0, 0)] * 4,
-# #     liquid_height=[None] * 2,
-# #     blow_out_air_volume=[None] * 2,
-# #     delays=None,
-# #     spread="wide"
-# # ))
-#     asyncio.run(handler.run_protocol())
+#     print(plate11.get_well(0).tracker.get_used_volume())
+#     asyncio.run(handler.create_protocol(protocol_name="Test Protocol"))  # Initialize the backend and setup the connection
 
+#     # asyncio.run(handler.pick_up_tips([plate8.children[8]],[0]))
+#     # print(plate8.children[8])
+#     # # asyncio.run(handler.run_protocol())
+#     # asyncio.run(handler.aspirate([plate11.children[0]],[10], [0]))
+#     # print(plate11.children[0])
+#     # # asyncio.run(handler.run_protocol())
+#     # asyncio.run(handler.dispense([plate1.children[0]],[10],[0]))
+#     # print(plate1.children[0])
+#     # # asyncio.run(handler.run_protocol())
+#     # asyncio.run(handler.mix([plate1.children[0]], mix_time=3, mix_vol=5, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
+#     # print(plate1.children[0])
 #     # asyncio.run(handler.discard_tips())
-#     # asyncio.run(handler.mix(well_containers.children[:8
-#     # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
-#     #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
+
+#     asyncio.run(handler.add_liquid(
+#     asp_vols=[10]*7,
+#     dis_vols=[10]*7,
+#     reagent_sources=plate11.children[:7],
+#     targets=plate1.children[2:9],
+#     use_channels=[0],
+#     flow_rates=[None] * 7,
+#     offsets=[Coordinate(0, 0, 0)] * 7,
+#     liquid_height=[None] * 7,
+#     blow_out_air_volume=[None] * 2,
+#     delays=None,
+#     mix_time=3,
+#     mix_vol=5,
+#     spread="custom",
+# ))
+
+#     asyncio.run(handler.run_protocol())  # Run the protocol
 
 
-#     # asyncio.run(handler.remove_liquid(
-#     #     vols=[100]*16,
-#     #     sources=well_containers.children[-16:],
-#     #     waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
-#     #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
-#     #     flow_rates=[None] * 32,
-#     #     offsets=[Coordinate(0, 0, 0)] * 32,
-#     #     liquid_height=[None] * 32,
-#     #     blow_out_air_volume=[None] * 32,
-#     #     spread="wide",
-#     # ))
-#     # asyncio.run(handler.transfer_liquid(
-#     #     asp_vols=[100]*16,
-#     #     dis_vols=[100]*16,
-#     #     tip_racks=[tip_rack],
-#     #     sources=well_containers.children[-16:],
-#     #     targets=well_containers.children[:16],
-#     #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
-#     #     offsets=[Coordinate(0, 0, 0)] * 32,
-#     #     asp_flow_rates=[None] * 16,
-#     #     dis_flow_rates=[None] * 16,
-#     #     liquid_height=[None] * 32,
-#     #     blow_out_air_volume=[None] * 32,
-#     #     mix_times=3,
-#     #     mix_vol=50,
-#     #     spread="wide",
-#     # ))
-    print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
-#     # input("pick_up_tips add step")
-#     #asyncio.run(handler.run_protocol())  # Run the protocol
-#     # input("Running protocol...")
-#     # input("Press Enter to continue...")  # Wait for user input before proceeding
-#     # print("PRCXI9300Handler initialized with deck and host settings.")
+
+
+
+
+
+# # #     asyncio.run(handler.transfer_liquid(
+# # #     asp_vols=[10]*2,
+# # #     dis_vols=[10]*2,
+# # #     sources=plate11.children[:2],
+# # #     targets=plate11.children[-2:],
+# # #     use_channels=[0],
+# # #     offsets=[Coordinate(0, 0, 0)] * 4,
+# # #     liquid_height=[None] * 2,
+# # #     blow_out_air_volume=[None] * 2,
+# # #     delays=None,
+# # #     mix_times=3,
+# # #     mix_vol=5,
+# # #     spread="wide",
+# # #     tip_racks=[plate8]
+# # # ))
+
+# # #     asyncio.run(handler.remove_liquid(
+# # #     vols=[10]*2,
+# # #     sources=plate11.children[:2],
+# # #     waste_liquid=plate11.children[43],
+# # #     use_channels=[0],
+# # #     offsets=[Coordinate(0, 0, 0)] * 4,
+# # #     liquid_height=[None] * 2,
+# # #     blow_out_air_volume=[None] * 2,
+# # #     delays=None,
+# # #     spread="wide"
+# # # ))
+# #     asyncio.run(handler.run_protocol())
+
+# #     # asyncio.run(handler.discard_tips())
+# #     # asyncio.run(handler.mix(well_containers.children[:8
+# #     # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
+# #     #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
+
+
+# #     # asyncio.run(handler.remove_liquid(
+# #     #     vols=[100]*16,
+# #     #     sources=well_containers.children[-16:],
+# #     #     waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
+# #     #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
+# #     #     flow_rates=[None] * 32,
+# #     #     offsets=[Coordinate(0, 0, 0)] * 32,
+# #     #     liquid_height=[None] * 32,
+# #     #     blow_out_air_volume=[None] * 32,
+# #     #     spread="wide",
+# #     # ))
+# #     # asyncio.run(handler.transfer_liquid(
+# #     #     asp_vols=[100]*16,
+# #     #     dis_vols=[100]*16,
+# #     #     tip_racks=[tip_rack],
+# #     #     sources=well_containers.children[-16:],
+# #     #     targets=well_containers.children[:16],
+# #     #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
+# #     #     offsets=[Coordinate(0, 0, 0)] * 32,
+# #     #     asp_flow_rates=[None] * 16,
+# #     #     dis_flow_rates=[None] * 16,
+# #     #     liquid_height=[None] * 32,
+# #     #     blow_out_air_volume=[None] * 32,
+# #     #     mix_times=3,
+# #     #     mix_vol=50,
+# #     #     spread="wide",
+# #     # ))
+#       # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
+# #     # input("pick_up_tips add step")
+# #     #asyncio.run(handler.run_protocol())  # Run the protocol
+# #     # input("Running protocol...")
+# #     # input("Press Enter to continue...")  # Wait for user input before proceeding
+# #     # print("PRCXI9300Handler initialized with deck and host settings.")
 

unilabos/registry/devices/liquid_handler.yaml

@@ -652,6 +652,38 @@ liquid_handler:
           title: iter_tips参数
           type: object
         type: UniLabJsonCommand
+      auto-set_group:
+        feedback: {}
+        goal: {}
+        goal_default:
+          group_name: null
+          volumes: null
+          wells: null
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                group_name:
+                  type: string
+                volumes:
+                  type: string
+                wells:
+                  type: string
+              required:
+              - group_name
+              - wells
+              - volumes
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_group参数
+          type: object
+        type: UniLabJsonCommand
       auto-set_tiprack:
         feedback: {}
         goal: {}
@@ -700,6 +732,38 @@ liquid_handler:
           title: touch_tip参数
           type: object
         type: UniLabJsonCommandAsync
+      auto-transfer_group:
+        feedback: {}
+        goal: {}
+        goal_default:
+          source_group_name: null
+          target_group_name: null
+          unit_volume: null
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                source_group_name:
+                  type: string
+                target_group_name:
+                  type: string
+                unit_volume:
+                  type: number
+              required:
+              - source_group_name
+              - target_group_name
+              - unit_volume
+              type: object
+            result: {}
+          required:
+          - goal
+          title: transfer_group参数
+          type: object
+        type: UniLabJsonCommandAsync
       discard_tips:
         feedback: {}
         goal:
@@ -7226,6 +7290,151 @@ liquid_handler.prcxi:
           title: LiquidHandlerRemove
           type: object
         type: LiquidHandlerRemove
+      set_group:
+        feedback: {}
+        goal:
+          group_name: group_name
+          volumes: volumes
+          wells: wells
+        goal_default:
+          group_name: ''
+          volumes:
+          - 0.0
+          wells:
+          - category: ''
+            children: []
+            config: ''
+            data: ''
+            id: ''
+            name: ''
+            parent: ''
+            pose:
+              orientation:
+                w: 1.0
+                x: 0.0
+                y: 0.0
+                z: 0.0
+              position:
+                x: 0.0
+                y: 0.0
+                z: 0.0
+            sample_id: ''
+            type: ''
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: LiquidHandlerSetGroup_Feedback
+              type: object
+            goal:
+              properties:
+                group_name:
+                  type: string
+                volumes:
+                  items:
+                    type: number
+                  type: array
+                wells:
+                  items:
+                    properties:
+                      category:
+                        type: string
+                      children:
+                        items:
+                          type: string
+                        type: array
+                      config:
+                        type: string
+                      data:
+                        type: string
+                      id:
+                        type: string
+                      name:
+                        type: string
+                      parent:
+                        type: string
+                      pose:
+                        properties:
+                          orientation:
+                            properties:
+                              w:
+                                type: number
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            - w
+                            title: orientation
+                            type: object
+                          position:
+                            properties:
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            title: position
+                            type: object
+                        required:
+                        - position
+                        - orientation
+                        title: pose
+                        type: object
+                      sample_id:
+                        type: string
+                      type:
+                        type: string
+                    required:
+                    - id
+                    - name
+                    - sample_id
+                    - children
+                    - parent
+                    - type
+                    - category
+                    - pose
+                    - config
+                    - data
+                    title: wells
+                    type: object
+                  type: array
+              required:
+              - group_name
+              - wells
+              - volumes
+              title: LiquidHandlerSetGroup_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: LiquidHandlerSetGroup_Result
+              type: object
+          required:
+          - goal
+          title: LiquidHandlerSetGroup
+          type: object
+        type: LiquidHandlerSetGroup
       set_liquid:
         feedback: {}
         goal:
@@ -7601,6 +7810,56 @@ liquid_handler.prcxi:
           title: Transfer
           type: object
         type: Transfer
+      transfer_group:
+        feedback: {}
+        goal:
+          source_group_name: source_group_name
+          target_group_name: target_group_name
+          unit_volume: unit_volume
+        goal_default:
+          source_group_name: ''
+          target_group_name: ''
+          unit_volume: 0.0
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: LiquidHandlerTransferGroup_Feedback
+              type: object
+            goal:
+              properties:
+                source_group_name:
+                  type: string
+                target_group_name:
+                  type: string
+                unit_volume:
+                  type: number
+              required:
+              - source_group_name
+              - target_group_name
+              - unit_volume
+              title: LiquidHandlerTransferGroup_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: LiquidHandlerTransferGroup_Result
+              type: object
+          required:
+          - goal
+          title: LiquidHandlerTransferGroup
+          type: object
+        type: LiquidHandlerTransferGroup
       transfer_liquid:
         feedback: {}
         goal:

unilabos_msgs/CMakeLists.txt

@@ -68,12 +68,12 @@ set(action_files
   "action/LiquidHandlerSetTipRack.action"
   "action/LiquidHandlerStamp.action"
   "action/LiquidHandlerTransfer.action"
-
+  "action/LiquidHandlerSetGroup.action"
   "action/LiquidHandlerTransferBiomek.action"
   "action/LiquidHandlerIncubateBiomek.action"
   "action/LiquidHandlerMoveBiomek.action"
   "action/LiquidHandlerOscillateBiomek.action"
-
+  "action/LiquidHandlerTransferGroup.action"
   "action/LiquidHandlerAdd.action"
   "action/LiquidHandlerMix.action"
   "action/LiquidHandlerMoveTo.action"

unilabos_msgs/action/LiquidHandlerSetGroup.action

@@ -0,0 +1,8 @@
+string group_name
+Resource[] wells
+float64[] volumes
+---
+string return_info
+bool success
+---
+# 反馈

unilabos_msgs/action/LiquidHandlerTransferGroup.action

@@ -0,0 +1,8 @@
+string source_group_name
+string target_group_name
+float64 unit_volume
+---
+string return_info
+bool success
+---
+# 反馈