Update for discard tips

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -628,6 +628,10 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
 
                     for i in range(0, len(sources), 8):
                         # 取出8个任务
+                        tip = []
+                        for _ in range(len(use_channels)):
+                            tip.extend(next(self.current_tip))
+                        await self.pick_up_tips(tip)
                         current_targets = waste_liquid[i:i + 8]
                         current_reagent_sources = sources[i:i + 8]
                         current_asp_vols = vols[i:i + 8]
@@ -666,7 +670,7 @@ 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()        
 
         except Exception as e:
             traceback.print_exc()
@@ -751,10 +755,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         await self.touch_tip(targets[_])
 
                 elif len(use_channels) == 8:
-                    tip = []
-                    for _ in range(len(use_channels)):
-                        tip.extend(next(self.current_tip))
-                    await self.pick_up_tips(tip)
 
                     # 对于8个的情况，需要判断此时任务是不是能被8通道移液站来成功处理
                     if len(targets) % 8 != 0:
@@ -763,7 +763,10 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     # 8个8个来取任务序列
 
                     for i in range(0, len(targets), 8):
-                        # 取出8个任务
+                        tip = []
+                        for _ in range(len(use_channels)):
+                            tip.extend(next(self.current_tip))
+                        await self.pick_up_tips(tip)
                         current_targets = targets[i:i + 8]
                         current_reagent_sources = reagent_sources[i:i + 8]
                         current_asp_vols = asp_vols[i:i + 8]
@@ -813,7 +816,8 @@ 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()
+                
 
         except Exception as e:
             traceback.print_exc()
@@ -915,11 +919,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     await self.discard_tips()
 
                 elif len(use_channels) == 8:
-                    tip = []
-                    for _ in range(len(use_channels)):
-                        tip.extend(next(self.current_tip))
-                    await self.pick_up_tips(tip)
-
                     # 对于8个的情况，需要判断此时任务是不是能被8通道移液站来成功处理
                     if len(targets) % 8 != 0:
                         raise ValueError(f"Length of `targets` {len(targets)} must be a multiple of 8 for 8-channel mode.")
@@ -928,6 +927,10 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
 
                     for i in range(0, len(targets), 8):
                         # 取出8个任务
+                        tip = []
+                        for _ in range(len(use_channels)):
+                            tip.extend(next(self.current_tip))
+                        await self.pick_up_tips(tip)
                         current_targets = targets[i:i + 8]
                         current_reagent_sources = sources[i:i + 8]
                         current_asp_vols = asp_vols[i:i + 8]
@@ -978,7 +981,7 @@ 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()
                         
         except Exception as e:
             traceback.print_exc()

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -106,10 +106,7 @@ class PRCXI9300Trash(Trash):
         data = super().serialize_state()
         data.update(self._unilabos_state)
         return data
-
+    
-
-
-
 class PRCXI9300Handler(LiquidHandlerAbstract):
     support_touch_tip = False
     @property
@@ -1054,7 +1051,7 @@ if __name__ == "__main__":
             "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
         }
     })
-    plate6 = PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash")
+    plate6 = PRCXI9300Trash(name="trash", size_x=50, size_y=500, size_z=10, category="trash")
     plate6.load_state({
         "Material": {
             "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
@@ -1082,27 +1079,28 @@ if __name__ == "__main__":
     handler.set_tiprack([tip_rack])  # Set the tip rack for the handler
     asyncio.run(handler.setup())  # Initialize the handler and setup the connection
     asyncio.run(handler.create_protocol(protocol_name="Test Protocol"))  # Initialize the backend and setup the connection
-    #asyncio.run(handler.pick_up_tips(tip_rack.children[:8],[0,1,2,3,4,5,6,7]))
+    asyncio.run(handler.pick_up_tips(tip_rack.children[:8],[0,1,2,3,4,5,6,7]))
     # asyncio.run(handler.aspirate(well_containers.children[:8],[50]*8, [0,1,2,3,4,5,6,7]))
     # asyncio.run(handler.dispense(well_containers.children[:8],[50]*8,[0,1,2,3,4,5,6,7]))
     #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.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(
+    # asyncio.run(handler.add_liquid(
-        asp_vols=[100]*16,
+    #     asp_vols=[100]*16,
-        dis_vols=[100]*16,
+    #     dis_vols=[100]*16,
-        reagent_sources=well_containers.children[-16:],
+    #     reagent_sources=well_containers.children[-16:],
-        targets=well_containers.children[:16],
+    #     targets=well_containers.children[:16],
-        use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
+    #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
-        flow_rates=[None] * 32,
+    #     flow_rates=[None] * 32,
-        offsets=[Coordinate(0, 0, 0)] * 32,
+    #     offsets=[Coordinate(0, 0, 0)] * 32,
-        liquid_height=[None] * 16,
+    #     liquid_height=[None] * 16,
-        blow_out_air_volume=[None] * 16,
+    #     blow_out_air_volume=[None] * 16,
-        delays=None,
+    #     delays=None,
-        mix_time=3,
+    #     mix_time=3,
-        mix_vol=50,
+    #     mix_vol=50,
-        spread="wide",
+    #     spread="wide",
-    ))
+    # ))
 
     # asyncio.run(handler.remove_liquid(
     #     vols=[100]*16,