新增版位推荐功能

docs/boot_examples/liquid_handler.md

@@ -13,18 +13,16 @@
 ```json
 {
   "nodes": [
-        {
+    {
-            "id": "PLR_STATION",
+      "id": "PLR_STATION",
-            "name": "PLR_LH_TEST",
+      "name": "PLR_LH_TEST",
-            "parent": null,
+      "parent": null,
-            "type": "device",
+      "type": "device",
-            "class": "liquid_handler",
+      "class": "liquid_handler",
-            "config": {},
+      "config": {},
-            "data": {},
+      "data": {},
-            "children": [
+      "children": ["deck"]
-                "deck"
+    },
-            ]
-        },
     {
       "id": "deck",
       "name": "deck",
@@ -32,12 +30,12 @@
       "class": null,
       "parent": "PLR_STATION",
       "children": [
-                "trash",
+        "trash",
-                "trash_core96",
+        "trash_core96",
-                "teaching_carrier",
+        "teaching_carrier",
-                "tip_rack",
+        "tip_rack",
-                "plate"
+        "plate"
-            ]
+      ]
     }
   ],
   "links": []
@@ -45,6 +43,7 @@
 ```
 
 配置文件定义了移液站的组成部分，主要包括：
+
 - 移液站本体（LiquidHandler）- 设备类型
 - 移液站携带物料实例（deck）- 物料类型
 
@@ -55,7 +54,7 @@
 使用以下命令启动移液站设备：
 
 ```bash
-unilab -g test/experiments/plr_test.json --app_bridges ""
+unilab -g test/experiments/plr_test.json --ak [通过网页获取的ak值] --sk [通过网页获取的sk值]
 ```
 
 ### 2. 执行枪头插入操作
@@ -66,35 +65,50 @@ unilab -g test/experiments/plr_test.json --app_bridges ""
 ros2 action send_goal /devices/PLR_STATION/pick_up_tips unilabos_msgs/action/_liquid_handler_pick_up_tips/LiquidHandlerPickUpTips "{ tip_spots: [ { id: 'tip_rack_tipspot_0_0', name: 'tip_rack_tipspot_0_0', sample_id: null, children: [], parent: 'tip_rack', type: 'device', config: { position: { x: 7.2, y: 68.3, z: -83.5 }, size_x: 9.0, size_y: 9.0, size_z: 0, rotation: { x: 0, y: 0, z: 0, type: 'Rotation' }, category: 'tip_spot', model: null, type: 'TipSpot', prototype_tip: { type: 'HamiltonTip', total_tip_length: 95.1, has_filter: true, maximal_volume: 1065, pickup_method: 'OUT_OF_RACK', tip_size: 'HIGH_VOLUME' } }, data: { tip: { type: 'HamiltonTip', total_tip_length: 95.1, has_filter: true, maximal_volume: 1065, pickup_method: 'OUT_OF_RACK', tip_size: 'HIGH_VOLUME' }, tip_state: { liquids: [], pending_liquids: [], liquid_history: [] }, pending_tip: { type: 'HamiltonTip', total_tip_length: 95.1, has_filter: true, maximal_volume: 1065, pickup_method: 'OUT_OF_RACK', tip_size: 'HIGH_VOLUME' } } } ], use_channels: [ 0 ], offsets: [ { x: 0.0, y: 0.0, z: 0.0 } ] }"
 ```
 
-此命令会通过ros通信触发移液站执行枪头插入操作，得到如下的PyLabRobot的输出日志。
+此命令会通过 ros 通信触发移液站执行枪头插入操作，得到如下的 PyLabRobot 的输出日志。
 
 ```log
 Picking up tips:
-pip#  resource             offset           tip type     max volume (µL)  fitting depth (mm)   tip length (mm)  filter    
+pip#  resource             offset           tip type     max volume (µL)  fitting depth (mm)   tip length (mm)  filter
-  p0: tip_rack_tipspot_0_0 0.0,0.0,0.0      HamiltonTip  1065             8                    95.1             Yes  
+  p0: tip_rack_tipspot_0_0 0.0,0.0,0.0      HamiltonTip  1065             8                    95.1             Yes
 ```
 
+也可以登陆网页，给`tip_spots`选择`tip_rack_tipspot_0_0`，`use_channels`为`0`，`offsets`均填写`0`，同样可观察到上面的日志
+
 ## 常见问题
 
-1. **重复插入枪头不成功**：操作编排应该符合实际操作顺序，可自行通过PyLabRobot进行测试
+1. **重复插入枪头不成功**：操作编排应该符合实际操作顺序，可自行通过 PyLabRobot 进行测试
 
 ## 移液站支持的操作
 
 移液站支持多种操作，以下是当前系统支持的操作列表：
 
-1. **LiquidHandlerAspirate** - 吸液操作
+1. **LiquidHandlerProtocolCreation** - 协议创建
-2. **LiquidHandlerDispense** - 排液操作
+2. **LiquidHandlerAspirate** - 吸液操作
-3. **LiquidHandlerDiscardTips** - 丢弃枪头
+3. **LiquidHandlerDispense** - 排液操作
-4. **LiquidHandlerDropTips** - 卸下枪头
+4. **LiquidHandlerDiscardTips** - 丢弃枪头
-5. **LiquidHandlerDropTips96** - 卸下96通道枪头
+5. **LiquidHandlerDropTips** - 卸下枪头
-6. **LiquidHandlerMoveLid** - 移动盖子
+6. **LiquidHandlerDropTips96** - 卸下 96 通道枪头
-7. **LiquidHandlerMovePlate** - 移动板子
+7. **LiquidHandlerMoveLid** - 移动盖子
-8. **LiquidHandlerMoveResource** - 移动资源
+8. **LiquidHandlerMovePlate** - 移动板子
-9. **LiquidHandlerPickUpTips** - 插入枪头
+9. **LiquidHandlerMoveResource** - 移动资源
-10. **LiquidHandlerPickUpTips96** - 插入96通道枪头
+10. **LiquidHandlerPickUpTips** - 插入枪头
-11. **LiquidHandlerReturnTips** - 归还枪头
+11. **LiquidHandlerPickUpTips96** - 插入 96 通道枪头
-12. **LiquidHandlerReturnTips96** - 归还96通道枪头
+12. **LiquidHandlerReturnTips** - 归还枪头
-13. **LiquidHandlerStamp** - 打印标记
+13. **LiquidHandlerReturnTips96** - 归还 96 通道枪头
-14. **LiquidHandlerTransfer** - 液体转移
+14. **LiquidHandlerSetLiquid** - 设置液体
+15. **LiquidHandlerSetTipRack** - 设置枪头架
+16. **LiquidHandlerStamp** - 打印标记
+17. **LiquidHandlerTransfer** - 液体转移
+18. **LiquidHandlerSetGroup** - 设置分组
+19. **LiquidHandlerTransferBiomek** - Biomek 液体转移
+20. **LiquidHandlerIncubateBiomek** - Biomek 孵育
+21. **LiquidHandlerMoveBiomek** - Biomek 移动
+22. **LiquidHandlerOscillateBiomek** - Biomek 振荡
+23. **LiquidHandlerTransferGroup** - 分组转移
+24. **LiquidHandlerAdd** - 添加操作
+25. **LiquidHandlerMix** - 混合操作
+26. **LiquidHandlerMoveTo** - 移动到指定位置
+27. **LiquidHandlerRemove** - 移除操作
 
-这些操作可通过ROS2 Action接口进行调用，以实现复杂的移液流程。
+这些操作可通过 ROS2 Action 接口进行调用，以实现复杂的移液流程。

docs/developer_guide/add_device.md

@@ -13,36 +13,36 @@ class MockGripper:
         self._velocity: float = 2.0
         self._torque: float = 0.0
         self._status = "Idle"
-    
+
     @property
     def position(self) -> float:
         return self._position
-    
+
     @property
     def velocity(self) -> float:
         return self._velocity
-    
+
     @property
     def torque(self) -> float:
         return self._torque
-    
+
     # 会被自动识别的设备属性，接入 Uni-Lab 时会定时对外广播
     @property
     def status(self) -> str:
         return self._status
-    
+
     # 会被自动识别的设备动作，接入 Uni-Lab 时会作为 ActionServer 接受任意控制者的指令
     @status.setter
     def status(self, target):
         self._status = target
-    
+
     # 需要在注册表添加的设备动作，接入 Uni-Lab 时会作为 ActionServer 接受任意控制者的指令
     def push_to(self, position: float, torque: float, velocity: float = 0.0):
         self._status = "Running"
         current_pos = self.position
         if velocity == 0.0:
             velocity = self.velocity
-        
+
         move_time = abs(position - current_pos) / velocity
         for i in range(20):
             self._position = current_pos + (position - current_pos) / 20 * (i+1)
@@ -68,7 +68,7 @@ public class MockGripper
     public double velocity { get; private set; } = 2.0;
     public double torque { get; private set; } = 0.0;
     public string status { get; private set; } = "Idle";
-    
+
     // 需要在注册表添加的设备动作，接入 Uni-Lab 时会作为 ActionServer 接受任意控制者的指令
     public async Task PushToAsync(double Position, double Torque, double Velocity = 0.0)
     {
@@ -94,107 +94,61 @@ public class MockGripper
 
 C# 驱动设备在完成注册表后，需要调用 Uni-Lab C# 编译后才能使用，但只需一次。
 
-## 注册表文件位置
+## 快速开始：使用注册表编辑器（推荐）
 
-Uni-Lab 启动时会自动读取默认注册表路径 `unilabos/registry/devices` 下的所有注册设备。您也可以任意维护自己的注册表路径，只需要在 Uni-Lab 启动时使用 `--registry` 参数将路径添加即可。
+推荐使用 Uni-Lab-OS 自带的可视化编辑器，它能自动分析您的设备驱动并生成大部分配置：
 
-在 `<path-to-registry>/devices` 中新建一个 yaml 文件，即可开始撰写。您可以将多个设备写到同一个 yaml 文件中。
+1. 启动 Uni-Lab-OS
+2. 在浏览器中打开"注册表编辑器"页面
+3. 选择您的 Python 设备驱动文件
+4. 点击"分析文件"，让系统读取类信息
+5. 填写基本信息（设备描述、图标等）
+6. 点击"生成注册表"，复制生成的内容
+7. 保存到 `devices/` 目录下
 
-## 注册表的结构
+---
 
-1. 顶层名称：每个设备的注册表以设备名称开头，例如 `new_device`, `gripper.mock`。
+## 手动编写注册表（简化版）
-1. `class` 字段：定义设备的模块路径和驱动程序语言。
-1. `status_types` 字段：定义设备定时对 Uni-Lab 实验室内发送的属性名及其类型。
-1. `action_value_mappings` 字段：定义设备支持的动作及其目标、反馈和结果。
-1. `schema` 字段：定义设备定时对 Uni-Lab 云端监控发送的属性名及其类型、描述（非必须）
 
-## 创建新的注册表教程
+如果需要手动编写，只需要提供两个必需字段，系统会自动补全其余内容：
 
-1. 创建文件
+### 最小配置示例
-   在 devices 文件夹中创建一个新的 YAML 文件，例如 `new_device.yaml`。
-2. 定义设备名称
-   在文件中定义设备的顶层名称，例如：`new_device` 或 `gripper.mock`
-3. 定义设备的类信息
-   添加设备的模块路径和类型：
 
 ```yaml
-gripper.mock:
+my_device: # 设备唯一标识符
-  class:   # 定义设备的类信息
+  class:
-    module: unilabos.devices.gripper.mock:MockGripper
+    module: unilabos.devices.your_module.my_device:MyDevice # Python 类路径
-    type: python  # 指定驱动语言为 Python
+    type: python # 驱动类型
-    status_types:
-      position: Float64
-      torque: Float64
-      status: String
 ```
 
-4. 定义设备的定时发布属性。注意，对于 Python Class 来说，PROP 是 class 的 `property`，或满足能被 `getattr(cls, PROP)` 或 `cls.get_PROP` 读取到的属性值的对象。
+### 注册表文件位置
+
+- 默认路径：`unilabos/registry/devices`
+- 自定义路径：启动时使用 `--registry` 参数指定
+- 可将多个设备写在同一个 yaml 文件中
+
+### 系统自动生成的内容
+
+系统会自动分析您的 Python 驱动类并生成：
+
+- `status_types`：从 `get_*` 方法自动识别状态属性
+- `action_value_mappings`：从类方法自动生成动作映射
+- `init_param_schema`：从 `__init__` 方法分析初始化参数
+- `schema`：前端显示用的属性类型定义
+
+### 完整结构概览
 
 ```yaml
-    status_types:
+my_device:
-      PROP: TYPE
+  class:
-```
+    module: unilabos.devices.your_module.my_device:MyDevice
-5. 定义设备支持的动作
+    type: python
-   添加设备支持的动作及其目标、反馈和结果：
+    status_types: {} # 自动生成
-
+    action_value_mappings: {} # 自动生成
-```yaml
+  description: '' # 可选：设备描述
-    action_value_mappings:
+  icon: '' # 可选：设备图标
-      set_speed:
+  init_param_schema: {} # 自动生成
-        type: SendCmd
+  schema: {} # 自动生成
-        goal:
-          command: speed
-        feedback: {}
-        result:
-          success: success
 ```
 
-在 devices 文件夹中的 YAML 文件中，action_value_mappings 是用来将驱动内的动作函数，映射到 Uni-Lab 标准动作（actions）及其目标参数值（goal）、反馈值（feedback）和结果值（result）的映射规则。若在 Uni-Lab 指令集内找不到符合心意的，请【创建新指令】。
+详细的注册表编写指南和高级配置，请参考{doc}`yaml 注册表编写指南 <add_yaml>`。
-
-```yaml
-  action_value_mappings:
-    <action_name>:                      # <action_name>：动作的名称
-                                        # start：启动设备或某个功能。
-                                        # stop：停止设备或某个功能。
-                                        # set_speed：设置设备的速度。
-                                        # set_temperature：设置设备的温度。
-                                        # move_to_position：移动设备到指定位置。
-                                        # stir：执行搅拌操作。
-                                        # heatchill：执行加热或冷却操作。
-                                        # send_nav_task：发送导航任务（例如机器人导航）。
-                                        # set_timer：设置设备的计时器。
-                                        # valve_open_cmd：打开阀门。
-                                        # valve_close_cmd：关闭阀门。
-                                        # execute_command_from_outer：执行外部命令。
-                                        # push_to：控制设备推送到某个位置（例如机械爪）。
-                                        # move_through_points：导航设备通过多个点。
-
-      type: <ActionType>                # 动作的类型，表示动作的功能
-                                        # 根据动作的功能选择合适的类型，请查阅 Uni-Lab 已支持的指令集。
-
-      goal:                             # 定义动作的目标值映射，表示需要传递给设备的参数。
-        <goal_key>: <mapped_value>      #确定设备需要的输入参数，并将其映射到设备的字段。
-
-      feedback:                         # 定义动作的反馈值映射，表示设备执行动作时返回的实时状态。
-        <feedback_key>: <mapped_value>
-      result:                           # 定义动作的结果值映射，表示动作完成后返回的最终结果。
-        <result_key>: <mapped_value>
-```
-
-6. 定义设备的网页展示属性类型，这部分会被用于在 Uni-Lab 网页端渲染成状态监控
-   添加设备的属性模式，包括属性类型和描述：
-
-```yaml
-schema:
-    type: object
-    properties:
-      status:
-        type: string
-        description: The status of the device
-      speed:
-        type: number
-        description: The speed of the device
-    required:
-      - status
-      - speed
-    additionalProperties: false
-```

docs/user_guide/installation.md

@@ -1,24 +1,26 @@
 # **Uni-Lab 安装**
 
-请先 `git clone` 本仓库，随后按照以下步骤安装项目：
+## 快速开始
 
-`Uni-Lab` 建议您采用 `mamba` 管理环境。若需从头建立 `Uni-Lab` 的运行依赖环境，请执行
+1. **配置 Conda 环境**
+
+Uni-Lab-OS 建议使用 `mamba` 管理环境。创建新的环境：
 
 ```shell
-mamba env create -f unilabos-<YOUR_OS>.yaml
+mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
-mamba activate unilab
 ```
 
-其中 `YOUR_OS` 是您的操作系统，可选值 `win64`, `linux-64`, `osx-64`, `osx-arm64`
+2. **安装开发版 Uni-Lab-OS**
-
-若需将依赖安装进当前环境，请执行
 
 ```shell
-conda env update --file unilabos-<YOUR_OS>.yml
+# 配置好conda环境后，克隆仓库
-```
+git clone https://github.com/dptech-corp/Uni-Lab-OS.git
+cd Uni-Lab-OS
 
-随后，可在本仓库安装 `unilabos` 的开发版：
+# 安装 Uni-Lab-OS
-
-```shell
 pip install .
 ```
+
+3. **启动 Uni-Lab 系统**
+
+请参见{doc}`启动样例 <../boot_examples/index>`或{doc}`启动指南 <launch>`了解详细的启动方法。

unilabos/app/web/client.py

@@ -131,6 +131,7 @@ class HTTPClient:
         Returns:
             Response: API响应对象
         """
+        return self.resource_add(resources)
         response = requests.patch(
             f"{self.remote_addr}/lab/resource/batch_update/?edge_format=1",
             json=resources,

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -593,6 +593,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 available_tips[idx] = tipSpot
                 continue
         # 一般移动液体有两种方式，一对多和多对多
+        print("channel_num", self.channel_num)
         if self.channel_num == 8:
 
             tip_prefix = list(available_tips.values())[0].name.split('_')[0]
@@ -601,8 +602,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
             available_cols.sort() 
             available_tips_dict = {tip.name: tip for tip in available_tips.values()}
             tips_to_use = [available_tips_dict[f"{tip_prefix}_{chr(65 + i)}{available_cols[0]}"] for i in range(8)]
+            print("tips_to_use", tips_to_use)
             await self.pick_up_tips(tips_to_use, use_channels=list(range(0, 8)))
+            print("source_wells", source_wells)
             await self.aspirate(source_wells, [unit_volume] * 8, use_channels=list(range(0, 8)))
+            print("target_wells", target_wells)
             await self.dispense(target_wells, [unit_volume] * 8, use_channels=list(range(0, 8)))
             await self.discard_tips(use_channels=list(range(0, 8)))
 
@@ -610,7 +614,10 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
             
             for num_well in range(len(target_wells)):
                 tip_to_use = available_tips[list(available_tips.keys())[num_well]] 
+                print("tip_to_use", tip_to_use)
                 await self.pick_up_tips([tip_to_use], use_channels=[0])
+                print("source_wells", source_wells)
+                print("target_wells", target_wells)
                 if len(source_wells) == 1:
                     await self.aspirate([source_wells[0]], [unit_volume], use_channels=[0]) 
                 else:

unilabos/devices/liquid_handling/prcxi/abstract_protocol.py

@@ -5,7 +5,7 @@ import json
 import socket
 import time
 from typing import Any, List, Dict, Optional, TypedDict, Union, Sequence, Iterator, Literal
-
+import pprint as pp
 from pylabrobot.liquid_handling import (
     LiquidHandlerBackend,
     Pickup,
@@ -25,6 +25,7 @@ from pylabrobot.liquid_handling.standard import (
     ResourceDrop,
 )
 from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash
+from traitlets import Int
 
 from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
 
@@ -445,10 +446,11 @@ class LabResource:
 
 from typing import Dict, Any
 
+import time
 class DefaultLayout:
-    
+
     def __init__(self, product_name: str = "PRCXI9300"):
-        self.labresource = None
+        self.labresource = {}
         if product_name not in ["PRCXI9300", "PRCXI9320"]:
             raise ValueError(f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported.")
 
@@ -458,12 +460,32 @@ class DefaultLayout:
             self.layout = [1, 2, 3, 4, 5, 6]
             self.trash_slot = 3
             self.waste_liquid_slot = 6
+
         elif product_name == "PRCXI9320":
             self.rows = 3
             self.columns = 4
-            self.layout = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12]
+            self.layout = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]
-            self.trash_slot = 3
+            self.trash_slot = 16
             self.waste_liquid_slot = 12
+            self.default_layout =  {"MatrixId":f"{time.time()}","MatrixName":f"{time.time()}","MatrixCount":16,"WorkTablets":
+            [{"Number": 1, "Code": "T1", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 2, "Code": "T2", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 3, "Code": "T3", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 4, "Code": "T4", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 5, "Code": "T5", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 6, "Code": "T6", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 7, "Code": "T7", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 8, "Code": "T8", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 9, "Code": "T9", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 10, "Code": "T10", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 11, "Code": "T11", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 12, "Code": "T12", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}},  # 这个设置成废液槽，用储液槽表示
+  {"Number": 13, "Code": "T13", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 14, "Code": "T14", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 15, "Code": "T15", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 16, "Code": "T16", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}} # 这个设置成垃圾桶，用储液槽表示
+]
+}
 
     def get_layout(self) -> Dict[str, Any]:
         return {
@@ -479,90 +501,121 @@ class DefaultLayout:
     
     def get_waste_liquid_slot(self) -> int:
         return self.waste_liquid_slot
-    
-    def set_liquid_handler_layout(self, product_name: str):
-        if product_name == "PRCXI9300":
-            self.rows = 2
-            self.columns = 3
-            self.layout = [1, 2, 3, 4, 5, 6]
-            self.trash_slot = 3
-            self.waste_liquid_slot = 6
 
-        elif product_name == "PRCXI9320":
+    def add_lab_resource(self, material_info):
-            self.rows = 3
+        self.labresource = material_info
-            self.columns = 4
-            self.layout = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12]
-            self.trash_slot = 3
-            self.waste_liquid_slot = 12
 
-    def set_trash_slot(self, slot: int):
+    def recommend_layout(self, needs: Dict[str, int]) -> Dict[str, Any]:
-        self.trash_slot = slot
-
-    def set_waste_liquid_slot(self, slot: int):
-        self.waste_liquid_slot = slot
-
-    def add_lab_resource(self, lab_resource: LabResource):
-        self.labresource = lab_resource.get_resources_info()
-
-    def recommend_layout(self, needs: Dict[str, Any]) -> Dict[str, Any]:
         """根据 needs 推荐布局"""
-        liquid_info = needs['liquid_setup']
+        for k, v in needs.items():
-        tip_info = needs['totals_by_tip']  # 修改这里：直接访问 totals_by_tip
+            if k not in self.labresource:
-        print("当前实验所需物料信息：", liquid_info)
+                raise ValueError(f"Material {k} not found in lab resources.")
-        print("当前实验所需枪头信息：", tip_info)
+        
-        print(self.labresource)
+        # 预留位置12和16不动
+        reserved_positions = {12, 16}
+        available_positions = [i for i in range(1, 17) if i not in reserved_positions]
+        
+        # 计算总需求
+        total_needed = sum(needs.values())
+        if total_needed > len(available_positions):
+            raise ValueError(f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）")
+        
+        # 依次分配位置
+        current_pos = 0
+        for material_name, count in needs.items():
+            material_uuid = self.labresource[material_name]['uuid']
+            material_enum = self.labresource[material_name]['materialEnum']
+            
+            for _ in range(count):
+                if current_pos >= len(available_positions):
+                    raise ValueError("位置不足，无法分配更多物料")
+                
+                position = available_positions[current_pos]
+                # 找到对应的tablet并更新
+                for tablet in self.default_layout['WorkTablets']:
+                    if tablet['Number'] == position:
+                        tablet['Material']['uuid'] = material_uuid
+                        tablet['Material']['materialEnum'] = material_enum
+                        break
+                
+                current_pos += 1
+        
+        return self.default_layout
 
-        for liquid in liquid_info:
-            # total_volume = liquid.values()
-            print(liquid)
-            #print(f"资源 {liquid} 需要的总体积: {total_volume}")
 
 if __name__ == "__main__":
-    # ---- 资源：SUP 供液（X），中间板 R1（4 孔空），目标板 R2（4 孔空）----
+    with open("prcxi_material.json", "r") as f:
-    sup = MaterialResource("SUP", slot=5, well=[1], liquid_id="X", volume=10000)      
+        material_info = json.load(f)
-    r1  = MaterialResource("R1",  slot=6, well=[1,2,3,4,5,6,7,8])
+    
-    r2  = MaterialResource("R2",  slot=7, well=[1,2,3,4,5,6,7,8])
+    layout = DefaultLayout("PRCXI9320")
-
+    layout.add_lab_resource(material_info)
-    pm = ProtocolManager()
+    plan = layout.recommend_layout({
-    # 步骤1：SUP -> R1，1->N 扇出，每孔 50 uL（总 200 uL）
+        "10μL加长 Tip头": 2,
-    pm.add_transfer(sup, r1, unit_volume=10.0)
+        "300μL Tip头": 2, 
-    # 步骤2：R1 -> R2，N->N 对应，每对 25 uL（总 100 uL；来自 R1 中已存在的混合物 X）
+        "96深孔板": 2,
-    pm.add_transfer(r1, r2, unit_volume=120.0)
+    })
-
-    out = pm.compute_min_initials_with_tips()
     
 
 
 
-    # layout_planer = DefaultLayout('PRCXI9320')
+# if __name__ == "__main__":
-    # print(layout_planer.get_layout())
+#     # ---- 资源：SUP 供液（X），中间板 R1（4 孔空），目标板 R2（4 孔空）----
-    # print("回推最小需求：", out["liquid_setup"])     # {'SUP': {'X': 200.0}}
+# #     sup = MaterialResource("SUP", slot=5, well=[1], liquid_id="X", volume=10000)      
-    # print("步骤枪头建议：", out["step_tips"]) # [{'idx':0,'tip':'TIP_200uL','unit_volume':50.0}, {'idx':1,'tip':'TIP_50uL','unit_volume':25.0}]
+# #     r1  = MaterialResource("R1",  slot=6, well=[1,2,3,4,5,6,7,8])
+# #     r2  = MaterialResource("R2",  slot=7, well=[1,2,3,4,5,6,7,8])
 
-#     # 实际执行（可选）
+# #     pm = ProtocolManager()
-#     transfer_liquid(sup, r1, unit_volume=50.0)
+# #     # 步骤1：SUP -> R1，1->N 扇出，每孔 50 uL（总 200 uL）
-#     transfer_liquid(r1, r2, unit_volume=25.0)
+# #     pm.add_transfer(sup, r1, unit_volume=10.0)
-#     print("执行后 SUP：", sup.get_resource())  # 总体积 -200
+# #     # 步骤2：R1 -> R2，N->N 对应，每对 25 uL（总 100 uL；来自 R1 中已存在的混合物 X）
-#     print("执行后 R1：",  r1.get_resource())   # 每孔 25 uL（50 进 -25 出）
+# #     pm.add_transfer(r1, r2, unit_volume=120.0)
-#     print("执行后 R2：",  r2.get_resource())   # 每孔 25 uL
+
+# #     out = pm.compute_min_initials_with_tips()
+# #     # layout_planer = DefaultLayout('PRCXI9320')
+# #     # print(layout_planer.get_layout())
+# #     # print("回推最小需求：", out["liquid_setup"])     # {'SUP': {'X': 200.0}}
+# #     # print("步骤枪头建议：", out["step_tips"]) # [{'idx':0,'tip':'TIP_200uL','unit_volume':50.0}, {'idx':1,'tip':'TIP_50uL','unit_volume':25.0}]
+
+# # #     # 实际执行（可选）
+# # #     transfer_liquid(sup, r1, unit_volume=50.0)
+# # #     transfer_liquid(r1, r2, unit_volume=25.0)
+# # #     print("执行后 SUP：", sup.get_resource())  # 总体积 -200
+# # #     print("执行后 R1：",  r1.get_resource())   # 每孔 25 uL（50 进 -25 出）
+# # #     print("执行后 R2：",  r2.get_resource())   # 每孔 25 uL
 
 
-    from pylabrobot.resources.opentrons.tube_racks import *
+# #     from pylabrobot.resources.opentrons.tube_racks import *
-    from pylabrobot.resources.opentrons.plates import *
+# #     from pylabrobot.resources.opentrons.plates import *
-    from pylabrobot.resources.opentrons.tip_racks import *
+# #     from pylabrobot.resources.opentrons.tip_racks import *
-    from pylabrobot.resources.opentrons.reservoirs import *
+# #     from pylabrobot.resources.opentrons.reservoirs import *
 
-    plate = [locals()['nest_96_wellplate_2ml_deep'](name="thermoscientificnunc_96_wellplate_2000ul"), locals()['corning_96_wellplate_360ul_flat'](name="corning_96_wellplate_360ul_flat")]
+# #     plate = [locals()['nest_96_wellplate_2ml_deep'](name="thermoscientificnunc_96_wellplate_2000ul"), locals()['corning_96_wellplate_360ul_flat'](name="corning_96_wellplate_360ul_flat")]
-    tiprack = [locals()['opentrons_96_tiprack_300ul'](name="opentrons_96_tiprack_300ul"), locals()['opentrons_96_tiprack_1000ul'](name="opentrons_96_tiprack_1000ul")]
+# #     tiprack = [locals()['opentrons_96_tiprack_300ul'](name="opentrons_96_tiprack_300ul"), locals()['opentrons_96_tiprack_1000ul'](name="opentrons_96_tiprack_1000ul")]
-    trash = [locals()['axygen_1_reservoir_90ml'](name="axygen_1_reservoir_90ml")]
+# #     trash = [locals()['axygen_1_reservoir_90ml'](name="axygen_1_reservoir_90ml")]
+
+# #     from pprint import pprint
+
+# #     lab_resource = LabResource()
+# #     lab_resource.add_tipracks(tiprack)
+# #     lab_resource.add_plates(plate)
+# #     lab_resource.add_trash(trash)
+
+# #     layout_planer = DefaultLayout('PRCXI9300')
+# #     layout_planer.add_lab_resource(lab_resource)
+# #     layout_planer.recommend_layout(out)
+
+#     with open("prcxi_material.json", "r") as f:
+#         material_info = json.load(f)
+#     # print("当前实验物料信息：", material_info)
+
+#     layout = DefaultLayout("PRCXI9320")
+#     layout.add_lab_resource(material_info)
+#     print(layout.default_layout['WorkTablets'])
+#     # plan = layout.recommend_layout({
+#     #     "10μL加长 Tip头": 2,
+#     #     "300μL Tip头": 2,
+#     #     "96深孔板": 2,
+#     # })
 
-    from pprint import pprint
 
-    lab_resource = LabResource()
-    lab_resource.add_tipracks(tiprack)
-    lab_resource.add_plates(plate)
-    lab_resource.add_trash(trash)
 
-    layout_planer = DefaultLayout('PRCXI9300')
-    layout_planer.add_lab_resource(lab_resource)
-    layout_planer.recommend_layout(out)

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -808,7 +808,7 @@ class PRCXI9300Api:
         return self.call("IMatrix", "GetWorkTabletMatrixById", [matrix_id])
 
     def add_WorkTablet_Matrix(self, matrix: MatrixInfo):
-        return self.call("IMatrix", "AddWorkTabletMatrix", [matrix])
+        return self.call("IMatrix", "AddWorkTabletMatrix2", [matrix])
 
     def Load(self, dosage: int, plate_no: int, is_whole_plate: bool, hole_row: int, hole_col: int, blending_times: int,
              balance_height: int, plate_or_hole: str, hole_numbers: str, assist_fun1: str = "", assist_fun2: str = "",
@@ -971,6 +971,102 @@ class PRCXI9300Api:
             "HoleNumbers": hole_numbers,
             "LiquidDispensingMethod": liquid_method,
         }
+    
+class DefaultLayout:
+
+    def __init__(self, product_name: str = "PRCXI9300"):
+        self.labresource = {}
+        if product_name not in ["PRCXI9300", "PRCXI9320"]:
+            raise ValueError(f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported.")
+
+        if product_name == "PRCXI9300":
+            self.rows = 2
+            self.columns = 3
+            self.layout = [1, 2, 3, 4, 5, 6]
+            self.trash_slot = 3
+            self.waste_liquid_slot = 6
+
+        elif product_name == "PRCXI9320":
+            self.rows = 3
+            self.columns = 4
+            self.layout = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]
+            self.trash_slot = 16
+            self.waste_liquid_slot = 12
+            self.default_layout =  {"MatrixId":f"{time.time()}","MatrixName":f"{time.time()}","MatrixCount":16,"WorkTablets":
+            [{"Number": 1, "Code": "T1", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 2, "Code": "T2", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 3, "Code": "T3", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 4, "Code": "T4", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 5, "Code": "T5", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 6, "Code": "T6", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 7, "Code": "T7", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 8, "Code": "T8", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 9, "Code": "T9", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 10, "Code": "T10", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 11, "Code": "T11", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 12, "Code": "T12", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}},  # 这个设置成废液槽，用储液槽表示
+  {"Number": 13, "Code": "T13", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 14, "Code": "T14", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 15, "Code": "T15", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+  {"Number": 16, "Code": "T16", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}} # 这个设置成垃圾桶，用储液槽表示
+]
+}
+
+    def get_layout(self) -> Dict[str, Any]:
+        return {
+            "rows": self.rows,
+            "columns": self.columns,
+            "layout": self.layout,
+            "trash_slot": self.trash_slot,
+            "waste_liquid_slot": self.waste_liquid_slot
+        }
+
+    def get_trash_slot(self) -> int:
+        return self.trash_slot
+    
+    def get_waste_liquid_slot(self) -> int:
+        return self.waste_liquid_slot
+
+    def add_lab_resource(self, material_info):
+        self.labresource = material_info
+
+    def recommend_layout(self, needs: Dict[str, int]) -> Dict[str, Any]:
+        """根据 needs 推荐布局"""
+        for k, v in needs.items():
+            if k not in self.labresource:
+                raise ValueError(f"Material {k} not found in lab resources.")
+        
+        # 预留位置12和16不动
+        reserved_positions = {12, 16}
+        available_positions = [i for i in range(1, 17) if i not in reserved_positions]
+        
+        # 计算总需求
+        total_needed = sum(needs.values())
+        if total_needed > len(available_positions):
+            raise ValueError(f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）")
+        
+        # 依次分配位置
+        current_pos = 0
+        for material_name, count in needs.items():
+            material_uuid = self.labresource[material_name]['uuid']
+            material_enum = self.labresource[material_name]['materialEnum']
+            
+            for _ in range(count):
+                if current_pos >= len(available_positions):
+                    raise ValueError("位置不足，无法分配更多物料")
+                
+                position = available_positions[current_pos]
+                # 找到对应的tablet并更新
+                for tablet in self.default_layout['WorkTablets']:
+                    if tablet['Number'] == position:
+                        tablet['Material']['uuid'] = material_uuid
+                        tablet['Material']['materialEnum'] = material_enum
+                        break
+                
+                current_pos += 1
+        
+        return self.default_layout
+
 
 
 if __name__ == "__main__":
@@ -1299,10 +1395,13 @@ if __name__ == "__main__":
     # from pylabrobot.resources import set_tip_tracking
     set_volume_tracking(enabled=True)
 
-    plate_2_liquids = handler.set_group("water", [plate2.children[0]], [300])
+
-    #print(plate_2_liquids)
+# 第一种情景：一个孔往多个孔加液
+    # plate_2_liquids = handler.set_group("water", [plate2.children[0]], [300])
+    # plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23)
+# 第二个情景：多个孔往多个孔加液(但是个数得对应)
+    plate_2_liquids = handler.set_group("water", plate2.children[:23], [300]*23)
     plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23)
-    #print(plate5_liquids)
 
     # 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
 
@@ -1314,7 +1413,6 @@ if __name__ == "__main__":
 
 #     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.transfer_group("water", "master_mix", 10))  # Reset tip tracking
 
 
@@ -1326,7 +1424,7 @@ if __name__ == "__main__":
     # # 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.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([0]))
@@ -1421,3 +1519,28 @@ if __name__ == "__main__":
 # #     # input("Press Enter to continue...")  # Wait for user input before proceeding
 # #     # print("PRCXI9300Handler initialized with deck and host settings.")
 
+
+
+# 一些推荐版位组合的测试样例：
+
+
+
+    with open("prcxi_material.json", "r") as f:
+        material_info = json.load(f)
+    
+    layout = DefaultLayout("PRCXI9320")
+    layout.add_lab_resource(material_info)
+    MatrixLayout_1 = layout.recommend_layout({
+        "96 细胞培养皿": 3,
+        "12道储液槽": 1,
+        "200μL Tip头": 1,
+        "10μL加长 Tip头": 1,
+    })
+    print(MatrixLayout_1)
+    MatrixLayout_2 = layout.recommend_layout({
+        "96深孔板": 4,
+        "12道储液槽": 1,
+        "200μL Tip头": 1,
+        "10μL加长 Tip头": 1,
+    })
+

unilabos/devices/liquid_handling/prcxi/prcxi_material.json

@@ -0,0 +1,31 @@
+{
+  "Tip头适配器 1250uL": {"uuid": "3b6f33ffbf734014bcc20e3c63e124d4", "materialEnum": "0"},
+  "ZHONGXI 适配器 300uL": {"uuid": "7c822592b360451fb59690e49ac6b181", "materialEnum": "0"},
+  "吸头10ul 适配器": {"uuid": "8cc3dce884ac41c09f4570d0bcbfb01c", "materialEnum": "0"},
+  "1250μL Tip头": {"uuid": "7960f49ddfe9448abadda89bd1556936", "materialEnum": "0"},
+  "10μL Tip头": {"uuid": "45f2ed3ad925484d96463d675a0ebf66", "materialEnum": "0"},
+  "10μL加长 Tip头": {"uuid": "068b3815e36b4a72a59bae017011b29f", "materialEnum": "1"},
+  "1000μL Tip头": {"uuid": "80652665f6a54402b2408d50b40398df", "materialEnum": "1"},
+  "300μL Tip头": {"uuid": "076250742950465b9d6ea29a225dfb00", "materialEnum": "1"},
+  "200μL Tip头": {"uuid": "7a73bb9e5c264515a8fcbe88aed0e6f7", "materialEnum": "0"},
+  "0.2ml PCR板": {"uuid": "73bb9b10bc394978b70e027bf45ce2d3", "materialEnum": "0"},
+  "2.2ml 深孔板": {"uuid": "ca877b8b114a4310b429d1de4aae96ee", "materialEnum": "0"},
+  "储液槽": {"uuid": "04211a2dc93547fe9bf6121eac533650", "materialEnum": "0"},
+  "全裙边 PCR适配器": {"uuid": "4a043a07c65a4f9bb97745e1f129b165", "materialEnum": "3"},
+  "储液槽 适配器": {"uuid": "6bdfdd7069df453896b0806df50f2f4d", "materialEnum": "0"},
+  "300ul深孔板适配器": {"uuid": "9a439bed8f3344549643d6b3bc5a5eb4", "materialEnum": "0"},
+  "10ul专用深孔板适配器": {"uuid": "4dc8d6ecfd0449549683b8ef815a861b", "materialEnum": "0"},
+  "爱津": {"uuid": "b01627718d3341aba649baa81c2c083c", "materialEnum": "0"},
+  "适配器": {"uuid": "adfabfffa8f24af5abfbba67b8d0f973", "materialEnum": "0"},
+  "废弃槽": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": "0"},
+  "96深孔板": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": "0"},
+  "384板": {"uuid": "853dcfb6226f476e8b23c250217dc7da", "materialEnum": "0"},
+  "4道储液槽": {"uuid": "01953864f6f140ccaa8ddffd4f3e46f5", "materialEnum": "0"},
+  "48孔深孔板": {"uuid": "026c5d5cf3d94e56b4e16b7fb53a995b", "materialEnum": "2"},
+  "12道储液槽": {"uuid": "0f1639987b154e1fac78f4fb29a1f7c1", "materialEnum": "0"},
+  "HPLC料盘": {"uuid": "548bbc3df0d4447586f2c19d2c0c0c55", "materialEnum": "0"},
+  "ep适配器": {"uuid": "e146697c395e4eabb3d6b74f0dd6aaf7", "materialEnum": "0"},
+  "30mm适配器": {"uuid": "a0757a90d8e44e81a68f306a608694f2", "materialEnum": "0"},
+  "细菌培养皿": {"uuid": "b05b3b2aafd94ec38ea0cd3215ecea8f", "materialEnum": "4"},
+  "96 细胞培养皿":{ "uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": "0"}
+}