merge prcxi.py

This reverts commit ad1312cf26.

.conda/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: 0.10.12
+  version: 0.10.13
 
 source:
   path: ../unilabos

recipes/msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.10.12
+  version: 0.10.13
 source:
   path: ../../unilabos_msgs
   target_directory: src

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.12"
+  version: "0.10.13"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.12',
+    version='0.10.13',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

tests/__init__.py

@@ -0,0 +1,7 @@
+"""
+测试包根目录。
+
+让 `tests.*` 模块可以被正常 import（例如给 `unilabos` 下的测试入口使用）。
+"""
+
+

tests/devices/__init__.py

@@ -0,0 +1 @@
+

tests/devices/liquid_handling/README.md

@@ -0,0 +1,15 @@
+# Liquid handling 集成测试
+
+`test_transfer_liquid.py` 现在会调用 PRCXI 的 RViz 仿真 backend，运行前请确保：
+
+1. 已安装包含 `pylabrobot`、`rclpy` 的运行环境；
+2. 启动 ROS 依赖（`rviz` 可选，但是 `rviz_backend` 会创建 ROS 节点）；
+3. 在 shell 中设置 `UNILAB_SIM_TEST=1`，否则 pytest 会自动跳过这些慢速用例：
+
+```bash
+export UNILAB_SIM_TEST=1
+pytest tests/devices/liquid_handling/test_transfer_liquid.py -m slow
+```
+
+如果只需验证逻辑层（不依赖仿真），可以直接运行 `tests/devices/liquid_handling/unit_test.py`，该文件使用 Fake backend，适合作为 CI 的快速测试。***
+

tests/devices/liquid_handling/__init__.py

@@ -0,0 +1,5 @@
+"""
+液体处理设备相关测试。
+"""
+
+

tests/devices/liquid_handling/test_transfer_liquid.py

@@ -0,0 +1,505 @@
+import asyncio
+from dataclasses import dataclass
+from typing import Any, Iterable, List, Optional, Sequence, Tuple
+
+import pytest
+
+from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
+
+
+@dataclass(frozen=True)
+class DummyContainer:
+    name: str
+
+    def __repr__(self) -> str:  # pragma: no cover
+        return f"DummyContainer({self.name})"
+
+
+@dataclass(frozen=True)
+class DummyTipSpot:
+    name: str
+
+    def __repr__(self) -> str:  # pragma: no cover
+        return f"DummyTipSpot({self.name})"
+
+
+def make_tip_iter(n: int = 256) -> Iterable[List[DummyTipSpot]]:
+    """Yield lists so code can safely call `tip.extend(next(self.current_tip))`."""
+    for i in range(n):
+        yield [DummyTipSpot(f"tip_{i}")]
+
+
+class FakeLiquidHandler(LiquidHandlerAbstract):
+    """不初始化真实 backend/deck；仅用来记录 transfer_liquid 内部调用序列。"""
+
+    def __init__(self, channel_num: int = 8):
+        # 不调用 super().__init__，避免真实硬件/后端依赖
+        self.channel_num = channel_num
+        self.support_touch_tip = True
+        self.current_tip = iter(make_tip_iter())
+        self.calls: List[Tuple[str, Any]] = []
+
+    async def pick_up_tips(self, tip_spots, use_channels=None, offsets=None, **backend_kwargs):
+        self.calls.append(("pick_up_tips", {"tips": list(tip_spots), "use_channels": use_channels}))
+
+    async def aspirate(
+        self,
+        resources: Sequence[Any],
+        vols: List[float],
+        use_channels: Optional[List[int]] = None,
+        flow_rates: Optional[List[Optional[float]]] = None,
+        offsets: Any = None,
+        liquid_height: Any = None,
+        blow_out_air_volume: Any = None,
+        spread: str = "wide",
+        **backend_kwargs,
+    ):
+        self.calls.append(
+            (
+                "aspirate",
+                {
+                    "resources": list(resources),
+                    "vols": list(vols),
+                    "use_channels": list(use_channels) if use_channels is not None else None,
+                    "flow_rates": list(flow_rates) if flow_rates is not None else None,
+                    "offsets": list(offsets) if offsets is not None else None,
+                    "liquid_height": list(liquid_height) if liquid_height is not None else None,
+                    "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
+                },
+            )
+        )
+
+    async def dispense(
+        self,
+        resources: Sequence[Any],
+        vols: List[float],
+        use_channels: Optional[List[int]] = None,
+        flow_rates: Optional[List[Optional[float]]] = None,
+        offsets: Any = None,
+        liquid_height: Any = None,
+        blow_out_air_volume: Any = None,
+        spread: str = "wide",
+        **backend_kwargs,
+    ):
+        self.calls.append(
+            (
+                "dispense",
+                {
+                    "resources": list(resources),
+                    "vols": list(vols),
+                    "use_channels": list(use_channels) if use_channels is not None else None,
+                    "flow_rates": list(flow_rates) if flow_rates is not None else None,
+                    "offsets": list(offsets) if offsets is not None else None,
+                    "liquid_height": list(liquid_height) if liquid_height is not None else None,
+                    "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
+                },
+            )
+        )
+
+    async def discard_tips(self, use_channels=None, *args, **kwargs):
+        # 有的分支是 discard_tips(use_channels=[0])，有的分支是 discard_tips([0..7])（位置参数）
+        self.calls.append(("discard_tips", {"use_channels": list(use_channels) if use_channels is not None else None}))
+
+    async def custom_delay(self, seconds=0, msg=None):
+        self.calls.append(("custom_delay", {"seconds": seconds, "msg": msg}))
+
+    async def touch_tip(self, targets):
+        # 原实现会访问 targets.get_size_x() 等；测试里只记录调用
+        self.calls.append(("touch_tip", {"targets": targets}))
+
+    async def mix(self, targets, mix_time=None, mix_vol=None, height_to_bottom=None, offsets=None, mix_rate=None, none_keys=None):
+        self.calls.append(
+            (
+                "mix",
+                {
+                    "targets": targets,
+                    "mix_time": mix_time,
+                    "mix_vol": mix_vol,
+                },
+            )
+        )
+
+
+def run(coro):
+    return asyncio.run(coro)
+
+
+def test_one_to_one_single_channel_basic_calls():
+    lh = FakeLiquidHandler(channel_num=1)
+    lh.current_tip = iter(make_tip_iter(64))
+
+    sources = [DummyContainer(f"S{i}") for i in range(3)]
+    targets = [DummyContainer(f"T{i}") for i in range(3)]
+
+    run(
+        lh.transfer_liquid(
+            sources=sources,
+            targets=targets,
+            tip_racks=[],
+            use_channels=[0],
+            asp_vols=[1, 2, 3],
+            dis_vols=[4, 5, 6],
+            mix_times=None,  # 应该仍能执行（不 mix）
+        )
+    )
+
+    assert [c[0] for c in lh.calls].count("pick_up_tips") == 3
+    assert [c[0] for c in lh.calls].count("aspirate") == 3
+    assert [c[0] for c in lh.calls].count("dispense") == 3
+    assert [c[0] for c in lh.calls].count("discard_tips") == 3
+
+    # 每次 aspirate/dispense 都是单孔列表
+    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+    assert aspirates[0]["resources"] == [sources[0]]
+    assert aspirates[0]["vols"] == [1.0]
+
+    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+    assert dispenses[2]["resources"] == [targets[2]]
+    assert dispenses[2]["vols"] == [6.0]
+
+
+def test_one_to_one_single_channel_before_stage_mixes_prior_to_aspirate():
+    lh = FakeLiquidHandler(channel_num=1)
+    lh.current_tip = iter(make_tip_iter(16))
+
+    source = DummyContainer("S0")
+    target = DummyContainer("T0")
+
+    run(
+        lh.transfer_liquid(
+            sources=[source],
+            targets=[target],
+            tip_racks=[],
+            use_channels=[0],
+            asp_vols=[5],
+            dis_vols=[5],
+            mix_stage="before",
+            mix_times=1,
+            mix_vol=3,
+        )
+    )
+
+    names = [name for name, _ in lh.calls]
+    assert names.count("mix") == 1
+    assert names.index("mix") < names.index("aspirate")
+
+
+def test_one_to_one_eight_channel_groups_by_8():
+    lh = FakeLiquidHandler(channel_num=8)
+    lh.current_tip = iter(make_tip_iter(256))
+
+    sources = [DummyContainer(f"S{i}") for i in range(16)]
+    targets = [DummyContainer(f"T{i}") for i in range(16)]
+    asp_vols = list(range(1, 17))
+    dis_vols = list(range(101, 117))
+
+    run(
+        lh.transfer_liquid(
+            sources=sources,
+            targets=targets,
+            tip_racks=[],
+            use_channels=list(range(8)),
+            asp_vols=asp_vols,
+            dis_vols=dis_vols,
+            mix_times=0,  # 触发逻辑但不 mix
+        )
+    )
+
+    # 16 个任务 -> 2 组，每组 8 通道一起做
+    assert [c[0] for c in lh.calls].count("pick_up_tips") == 2
+    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+    assert len(aspirates) == 2
+    assert len(dispenses) == 2
+
+    assert aspirates[0]["resources"] == sources[0:8]
+    assert aspirates[0]["vols"] == [float(v) for v in asp_vols[0:8]]
+    assert dispenses[1]["resources"] == targets[8:16]
+    assert dispenses[1]["vols"] == [float(v) for v in dis_vols[8:16]]
+
+
+def test_one_to_one_eight_channel_requires_multiple_of_8_targets():
+    lh = FakeLiquidHandler(channel_num=8)
+    lh.current_tip = iter(make_tip_iter(64))
+
+    sources = [DummyContainer(f"S{i}") for i in range(9)]
+    targets = [DummyContainer(f"T{i}") for i in range(9)]
+
+    with pytest.raises(ValueError, match="multiple of 8"):
+        run(
+            lh.transfer_liquid(
+                sources=sources,
+                targets=targets,
+                tip_racks=[],
+                use_channels=list(range(8)),
+                asp_vols=[1] * 9,
+                dis_vols=[1] * 9,
+                mix_times=0,
+            )
+        )
+
+
+def test_one_to_one_eight_channel_parameter_lists_are_chunked_per_8():
+    lh = FakeLiquidHandler(channel_num=8)
+    lh.current_tip = iter(make_tip_iter(512))
+
+    sources = [DummyContainer(f"S{i}") for i in range(16)]
+    targets = [DummyContainer(f"T{i}") for i in range(16)]
+    asp_vols = [i + 1 for i in range(16)]
+    dis_vols = [200 + i for i in range(16)]
+    asp_flow_rates = [0.1 * (i + 1) for i in range(16)]
+    dis_flow_rates = [0.2 * (i + 1) for i in range(16)]
+    offsets = [f"offset_{i}" for i in range(16)]
+    liquid_heights = [i * 0.5 for i in range(16)]
+    blow_out_air_volume = [i + 0.05 for i in range(16)]
+
+    run(
+        lh.transfer_liquid(
+            sources=sources,
+            targets=targets,
+            tip_racks=[],
+            use_channels=list(range(8)),
+            asp_vols=asp_vols,
+            dis_vols=dis_vols,
+            asp_flow_rates=asp_flow_rates,
+            dis_flow_rates=dis_flow_rates,
+            offsets=offsets,
+            liquid_height=liquid_heights,
+            blow_out_air_volume=blow_out_air_volume,
+            mix_times=0,
+        )
+    )
+
+    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+    assert len(aspirates) == len(dispenses) == 2
+
+    for batch_idx in range(2):
+        start = batch_idx * 8
+        end = start + 8
+        asp_call = aspirates[batch_idx]
+        dis_call = dispenses[batch_idx]
+        assert asp_call["resources"] == sources[start:end]
+        assert asp_call["flow_rates"] == asp_flow_rates[start:end]
+        assert asp_call["offsets"] == offsets[start:end]
+        assert asp_call["liquid_height"] == liquid_heights[start:end]
+        assert asp_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
+        assert dis_call["flow_rates"] == dis_flow_rates[start:end]
+        assert dis_call["offsets"] == offsets[start:end]
+        assert dis_call["liquid_height"] == liquid_heights[start:end]
+        assert dis_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
+
+
+def test_one_to_one_eight_channel_handles_32_tasks_four_batches():
+    lh = FakeLiquidHandler(channel_num=8)
+    lh.current_tip = iter(make_tip_iter(1024))
+
+    sources = [DummyContainer(f"S{i}") for i in range(32)]
+    targets = [DummyContainer(f"T{i}") for i in range(32)]
+    asp_vols = [i + 1 for i in range(32)]
+    dis_vols = [300 + i for i in range(32)]
+
+    run(
+        lh.transfer_liquid(
+            sources=sources,
+            targets=targets,
+            tip_racks=[],
+            use_channels=list(range(8)),
+            asp_vols=asp_vols,
+            dis_vols=dis_vols,
+            mix_times=0,
+        )
+    )
+
+    pick_calls = [name for name, _ in lh.calls if name == "pick_up_tips"]
+    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+    assert len(pick_calls) == 4
+    assert len(aspirates) == len(dispenses) == 4
+    assert aspirates[0]["resources"] == sources[0:8]
+    assert aspirates[-1]["resources"] == sources[24:32]
+    assert dispenses[0]["resources"] == targets[0:8]
+    assert dispenses[-1]["resources"] == targets[24:32]
+
+
+def test_one_to_many_single_channel_aspirates_total_when_asp_vol_too_small():
+    lh = FakeLiquidHandler(channel_num=1)
+    lh.current_tip = iter(make_tip_iter(64))
+
+    source = DummyContainer("SRC")
+    targets = [DummyContainer(f"T{i}") for i in range(3)]
+    dis_vols = [10, 20, 30]  # sum=60
+
+    run(
+        lh.transfer_liquid(
+            sources=[source],
+            targets=targets,
+            tip_racks=[],
+            use_channels=[0],
+            asp_vols=10,  # 小于 sum(dis_vols) -> 应吸 60
+            dis_vols=dis_vols,
+            mix_times=0,
+        )
+    )
+
+    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+    assert len(aspirates) == 1
+    assert aspirates[0]["resources"] == [source]
+    assert aspirates[0]["vols"] == [60.0]
+    assert aspirates[0]["use_channels"] == [0]
+    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+    assert [d["vols"][0] for d in dispenses] == [10.0, 20.0, 30.0]
+
+
+def test_one_to_many_eight_channel_basic():
+    lh = FakeLiquidHandler(channel_num=8)
+    lh.current_tip = iter(make_tip_iter(128))
+
+    source = DummyContainer("SRC")
+    targets = [DummyContainer(f"T{i}") for i in range(8)]
+    dis_vols = [i + 1 for i in range(8)]
+
+    run(
+        lh.transfer_liquid(
+            sources=[source],
+            targets=targets,
+            tip_racks=[],
+            use_channels=list(range(8)),
+            asp_vols=999,  # one-to-many 8ch 会按 dis_vols 吸（每通道各自）
+            dis_vols=dis_vols,
+            mix_times=0,
+        )
+    )
+
+    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+    assert aspirates[0]["resources"] == [source] * 8
+    assert aspirates[0]["vols"] == [float(v) for v in dis_vols]
+    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+    assert dispenses[0]["resources"] == targets
+    assert dispenses[0]["vols"] == [float(v) for v in dis_vols]
+
+
+def test_many_to_one_single_channel_standard_dispense_equals_asp_by_default():
+    lh = FakeLiquidHandler(channel_num=1)
+    lh.current_tip = iter(make_tip_iter(128))
+
+    sources = [DummyContainer(f"S{i}") for i in range(3)]
+    target = DummyContainer("T")
+    asp_vols = [5, 6, 7]
+
+    run(
+        lh.transfer_liquid(
+            sources=sources,
+            targets=[target],
+            tip_racks=[],
+            use_channels=[0],
+            asp_vols=asp_vols,
+            dis_vols=1,  # many-to-one 允许标量；非比例模式下实际每次分液=对应 asp_vol
+            mix_times=0,
+        )
+    )
+
+    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+    assert [d["vols"][0] for d in dispenses] == [float(v) for v in asp_vols]
+    assert all(d["resources"] == [target] for d in dispenses)
+
+
+def test_many_to_one_single_channel_before_stage_mixes_target_once():
+    lh = FakeLiquidHandler(channel_num=1)
+    lh.current_tip = iter(make_tip_iter(128))
+
+    sources = [DummyContainer("S0"), DummyContainer("S1")]
+    target = DummyContainer("T")
+
+    run(
+        lh.transfer_liquid(
+            sources=sources,
+            targets=[target],
+            tip_racks=[],
+            use_channels=[0],
+            asp_vols=[5, 6],
+            dis_vols=1,
+            mix_stage="before",
+            mix_times=2,
+            mix_vol=4,
+        )
+    )
+
+    names = [name for name, _ in lh.calls]
+    assert names[0] == "mix"
+    assert names.count("mix") == 1
+
+
+def test_many_to_one_single_channel_proportional_mixing_uses_dis_vols_per_source():
+    lh = FakeLiquidHandler(channel_num=1)
+    lh.current_tip = iter(make_tip_iter(128))
+
+    sources = [DummyContainer(f"S{i}") for i in range(3)]
+    target = DummyContainer("T")
+    asp_vols = [5, 6, 7]
+    dis_vols = [1, 2, 3]
+
+    run(
+        lh.transfer_liquid(
+            sources=sources,
+            targets=[target],
+            tip_racks=[],
+            use_channels=[0],
+            asp_vols=asp_vols,
+            dis_vols=dis_vols,  # 比例模式
+            mix_times=0,
+        )
+    )
+
+    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+    assert [d["vols"][0] for d in dispenses] == [float(v) for v in dis_vols]
+
+
+def test_many_to_one_eight_channel_basic():
+    lh = FakeLiquidHandler(channel_num=8)
+    lh.current_tip = iter(make_tip_iter(256))
+
+    sources = [DummyContainer(f"S{i}") for i in range(8)]
+    target = DummyContainer("T")
+    asp_vols = [10 + i for i in range(8)]
+
+    run(
+        lh.transfer_liquid(
+            sources=sources,
+            targets=[target],
+            tip_racks=[],
+            use_channels=list(range(8)),
+            asp_vols=asp_vols,
+            dis_vols=999,  # 非比例模式下每通道分液=对应 asp_vol
+            mix_times=0,
+        )
+    )
+
+    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+    assert aspirates[0]["resources"] == sources
+    assert aspirates[0]["vols"] == [float(v) for v in asp_vols]
+    assert dispenses[0]["resources"] == [target] * 8
+    assert dispenses[0]["vols"] == [float(v) for v in asp_vols]
+
+
+def test_transfer_liquid_mode_detection_unsupported_shape_raises():
+    lh = FakeLiquidHandler(channel_num=8)
+    lh.current_tip = iter(make_tip_iter(64))
+
+    sources = [DummyContainer("S0"), DummyContainer("S1")]
+    targets = [DummyContainer("T0"), DummyContainer("T1"), DummyContainer("T2")]
+
+    with pytest.raises(ValueError, match="Unsupported transfer mode"):
+        run(
+            lh.transfer_liquid(
+                sources=sources,
+                targets=targets,
+                tip_racks=[],
+                use_channels=[0],
+                asp_vols=[1, 1],
+                dis_vols=[1, 1, 1],
+                mix_times=0,
+            )
+        )
+

tests/devices/liquid_handling/unit_test.py

@@ -0,0 +1,547 @@
+import asyncio
+from dataclasses import dataclass
+from typing import Any, Iterable, List, Optional, Sequence, Tuple
+
+import pytest
+
+from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
+
+
+@dataclass(frozen=True)
+class DummyContainer:
+    name: str
+
+    def __repr__(self) -> str:  # pragma: no cover
+        return f"DummyContainer({self.name})"
+
+
+@dataclass(frozen=True)
+class DummyTipSpot:
+    name: str
+
+    def __repr__(self) -> str:  # pragma: no cover
+        return f"DummyTipSpot({self.name})"
+
+
+def make_tip_iter(n: int = 256) -> Iterable[List[DummyTipSpot]]:
+    """Yield lists so code can safely call `tip.extend(next(self.current_tip))`."""
+    for i in range(n):
+        yield [DummyTipSpot(f"tip_{i}")]
+
+
+class FakeLiquidHandler(LiquidHandlerAbstract):
+    """不初始化真实 backend/deck；仅用来记录 transfer_liquid 内部调用序列。"""
+
+    def __init__(self, channel_num: int = 8):
+        # 不调用 super().__init__，避免真实硬件/后端依赖
+        self.channel_num = channel_num
+        self.support_touch_tip = True
+        self.current_tip = iter(make_tip_iter())
+        self.calls: List[Tuple[str, Any]] = []
+
+    async def pick_up_tips(self, tip_spots, use_channels=None, offsets=None, **backend_kwargs):
+        self.calls.append(("pick_up_tips", {"tips": list(tip_spots), "use_channels": use_channels}))
+
+    async def aspirate(
+        self,
+        resources: Sequence[Any],
+        vols: List[float],
+        use_channels: Optional[List[int]] = None,
+        flow_rates: Optional[List[Optional[float]]] = None,
+        offsets: Any = None,
+        liquid_height: Any = None,
+        blow_out_air_volume: Any = None,
+        spread: str = "wide",
+        **backend_kwargs,
+    ):
+        self.calls.append(
+            (
+                "aspirate",
+                {
+                    "resources": list(resources),
+                    "vols": list(vols),
+                    "use_channels": list(use_channels) if use_channels is not None else None,
+                    "flow_rates": list(flow_rates) if flow_rates is not None else None,
+                    "offsets": list(offsets) if offsets is not None else None,
+                    "liquid_height": list(liquid_height) if liquid_height is not None else None,
+                    "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
+                },
+            )
+        )
+
+    async def dispense(
+        self,
+        resources: Sequence[Any],
+        vols: List[float],
+        use_channels: Optional[List[int]] = None,
+        flow_rates: Optional[List[Optional[float]]] = None,
+        offsets: Any = None,
+        liquid_height: Any = None,
+        blow_out_air_volume: Any = None,
+        spread: str = "wide",
+        **backend_kwargs,
+    ):
+        self.calls.append(
+            (
+                "dispense",
+                {
+                    "resources": list(resources),
+                    "vols": list(vols),
+                    "use_channels": list(use_channels) if use_channels is not None else None,
+                    "flow_rates": list(flow_rates) if flow_rates is not None else None,
+                    "offsets": list(offsets) if offsets is not None else None,
+                    "liquid_height": list(liquid_height) if liquid_height is not None else None,
+                    "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
+                },
+            )
+        )
+
+    async def discard_tips(self, use_channels=None, *args, **kwargs):
+        # 有的分支是 discard_tips(use_channels=[0])，有的分支是 discard_tips([0..7])（位置参数）
+        self.calls.append(("discard_tips", {"use_channels": list(use_channels) if use_channels is not None else None}))
+
+    async def custom_delay(self, seconds=0, msg=None):
+        self.calls.append(("custom_delay", {"seconds": seconds, "msg": msg}))
+
+    async def touch_tip(self, targets):
+        # 原实现会访问 targets.get_size_x() 等；测试里只记录调用
+        self.calls.append(("touch_tip", {"targets": targets}))
+
+def run(coro):
+    return asyncio.run(coro)
+
+
+def test_one_to_one_single_channel_basic_calls():
+  lh = FakeLiquidHandler(channel_num=1)
+  lh.current_tip = iter(make_tip_iter(64))
+
+  sources = [DummyContainer(f"S{i}") for i in range(3)]
+  targets = [DummyContainer(f"T{i}") for i in range(3)]
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=targets,
+      tip_racks=[],
+      use_channels=[0],
+      asp_vols=[1, 2, 3],
+      dis_vols=[4, 5, 6],
+      mix_times=None,  # 应该仍能执行（不 mix）
+    )
+  )
+
+  assert [c[0] for c in lh.calls].count("pick_up_tips") == 3
+  assert [c[0] for c in lh.calls].count("aspirate") == 3
+  assert [c[0] for c in lh.calls].count("dispense") == 3
+  assert [c[0] for c in lh.calls].count("discard_tips") == 3
+
+  # 每次 aspirate/dispense 都是单孔列表
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  assert aspirates[0]["resources"] == [sources[0]]
+  assert aspirates[0]["vols"] == [1.0]
+
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert dispenses[2]["resources"] == [targets[2]]
+  assert dispenses[2]["vols"] == [6.0]
+
+
+def test_one_to_one_single_channel_before_stage_mixes_prior_to_aspirate():
+  lh = FakeLiquidHandler(channel_num=1)
+  lh.current_tip = iter(make_tip_iter(16))
+
+  source = DummyContainer("S0")
+  target = DummyContainer("T0")
+
+  run(
+    lh.transfer_liquid(
+      sources=[source],
+      targets=[target],
+      tip_racks=[],
+      use_channels=[0],
+      asp_vols=[5],
+      dis_vols=[5],
+      mix_stage="before",
+      mix_times=1,
+      mix_vol=3,
+    )
+  )
+
+  aspirate_calls = [(idx, payload) for idx, (name, payload) in enumerate(lh.calls) if name == "aspirate"]
+  assert len(aspirate_calls) >= 2
+  mix_idx, mix_payload = aspirate_calls[0]
+  assert mix_payload["resources"] == [target]
+  assert mix_payload["vols"] == [3]
+  transfer_idx, transfer_payload = aspirate_calls[1]
+  assert transfer_payload["resources"] == [source]
+  assert mix_idx < transfer_idx
+
+
+def test_one_to_one_eight_channel_groups_by_8():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(256))
+
+  sources = [DummyContainer(f"S{i}") for i in range(16)]
+  targets = [DummyContainer(f"T{i}") for i in range(16)]
+  asp_vols = list(range(1, 17))
+  dis_vols = list(range(101, 117))
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=targets,
+      tip_racks=[],
+      use_channels=list(range(8)),
+      asp_vols=asp_vols,
+      dis_vols=dis_vols,
+      mix_times=0,  # 触发逻辑但不 mix
+    )
+  )
+
+  # 16 个任务 -> 2 组，每组 8 通道一起做
+  assert [c[0] for c in lh.calls].count("pick_up_tips") == 2
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert len(aspirates) == 2
+  assert len(dispenses) == 2
+
+  assert aspirates[0]["resources"] == sources[0:8]
+  assert aspirates[0]["vols"] == [float(v) for v in asp_vols[0:8]]
+  assert dispenses[1]["resources"] == targets[8:16]
+  assert dispenses[1]["vols"] == [float(v) for v in dis_vols[8:16]]
+
+
+def test_one_to_one_eight_channel_requires_multiple_of_8_targets():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(64))
+
+  sources = [DummyContainer(f"S{i}") for i in range(9)]
+  targets = [DummyContainer(f"T{i}") for i in range(9)]
+
+  with pytest.raises(ValueError, match="multiple of 8"):
+    run(
+      lh.transfer_liquid(
+        sources=sources,
+        targets=targets,
+        tip_racks=[],
+        use_channels=list(range(8)),
+        asp_vols=[1] * 9,
+        dis_vols=[1] * 9,
+        mix_times=0,
+      )
+    )
+
+
+def test_one_to_one_eight_channel_parameter_lists_are_chunked_per_8():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(512))
+
+  sources = [DummyContainer(f"S{i}") for i in range(16)]
+  targets = [DummyContainer(f"T{i}") for i in range(16)]
+  asp_vols = [i + 1 for i in range(16)]
+  dis_vols = [200 + i for i in range(16)]
+  asp_flow_rates = [0.1 * (i + 1) for i in range(16)]
+  dis_flow_rates = [0.2 * (i + 1) for i in range(16)]
+  offsets = [f"offset_{i}" for i in range(16)]
+  liquid_heights = [i * 0.5 for i in range(16)]
+  blow_out_air_volume = [i + 0.05 for i in range(16)]
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=targets,
+      tip_racks=[],
+      use_channels=list(range(8)),
+      asp_vols=asp_vols,
+      dis_vols=dis_vols,
+      asp_flow_rates=asp_flow_rates,
+      dis_flow_rates=dis_flow_rates,
+      offsets=offsets,
+      liquid_height=liquid_heights,
+      blow_out_air_volume=blow_out_air_volume,
+      mix_times=0,
+    )
+  )
+
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert len(aspirates) == len(dispenses) == 2
+
+  for batch_idx in range(2):
+    start = batch_idx * 8
+    end = start + 8
+    asp_call = aspirates[batch_idx]
+    dis_call = dispenses[batch_idx]
+    assert asp_call["resources"] == sources[start:end]
+    assert asp_call["flow_rates"] == asp_flow_rates[start:end]
+    assert asp_call["offsets"] == offsets[start:end]
+    assert asp_call["liquid_height"] == liquid_heights[start:end]
+    assert asp_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
+    assert dis_call["flow_rates"] == dis_flow_rates[start:end]
+    assert dis_call["offsets"] == offsets[start:end]
+    assert dis_call["liquid_height"] == liquid_heights[start:end]
+    assert dis_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
+
+
+def test_one_to_one_eight_channel_handles_32_tasks_four_batches():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(1024))
+
+  sources = [DummyContainer(f"S{i}") for i in range(32)]
+  targets = [DummyContainer(f"T{i}") for i in range(32)]
+  asp_vols = [i + 1 for i in range(32)]
+  dis_vols = [300 + i for i in range(32)]
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=targets,
+      tip_racks=[],
+      use_channels=list(range(8)),
+      asp_vols=asp_vols,
+      dis_vols=dis_vols,
+      mix_times=0,
+    )
+  )
+
+  pick_calls = [name for name, _ in lh.calls if name == "pick_up_tips"]
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert len(pick_calls) == 4
+  assert len(aspirates) == len(dispenses) == 4
+  assert aspirates[0]["resources"] == sources[0:8]
+  assert aspirates[-1]["resources"] == sources[24:32]
+  assert dispenses[0]["resources"] == targets[0:8]
+  assert dispenses[-1]["resources"] == targets[24:32]
+
+
+def test_one_to_many_single_channel_aspirates_total_when_asp_vol_too_small():
+  lh = FakeLiquidHandler(channel_num=1)
+  lh.current_tip = iter(make_tip_iter(64))
+
+  source = DummyContainer("SRC")
+  targets = [DummyContainer(f"T{i}") for i in range(3)]
+  dis_vols = [10, 20, 30]  # sum=60
+
+  run(
+    lh.transfer_liquid(
+      sources=[source],
+      targets=targets,
+      tip_racks=[],
+      use_channels=[0],
+      asp_vols=10,  # 小于 sum(dis_vols) -> 应吸 60
+      dis_vols=dis_vols,
+      mix_times=0,
+    )
+  )
+
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  assert len(aspirates) == 1
+  assert aspirates[0]["resources"] == [source]
+  assert aspirates[0]["vols"] == [60.0]
+  assert aspirates[0]["use_channels"] == [0]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert [d["vols"][0] for d in dispenses] == [10.0, 20.0, 30.0]
+
+
+def test_one_to_many_eight_channel_basic():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(128))
+
+  source = DummyContainer("SRC")
+  targets = [DummyContainer(f"T{i}") for i in range(8)]
+  dis_vols = [i + 1 for i in range(8)]
+
+  run(
+    lh.transfer_liquid(
+      sources=[source],
+      targets=targets,
+      tip_racks=[],
+      use_channels=list(range(8)),
+      asp_vols=999,  # one-to-many 8ch 会按 dis_vols 吸（每通道各自）
+      dis_vols=dis_vols,
+      mix_times=0,
+    )
+  )
+
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  assert aspirates[0]["resources"] == [source] * 8
+  assert aspirates[0]["vols"] == [float(v) for v in dis_vols]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert dispenses[0]["resources"] == targets
+  assert dispenses[0]["vols"] == [float(v) for v in dis_vols]
+
+
+def test_many_to_one_single_channel_standard_dispense_equals_asp_by_default():
+  lh = FakeLiquidHandler(channel_num=1)
+  lh.current_tip = iter(make_tip_iter(128))
+
+  sources = [DummyContainer(f"S{i}") for i in range(3)]
+  target = DummyContainer("T")
+  asp_vols = [5, 6, 7]
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=[target],
+      tip_racks=[],
+      use_channels=[0],
+      asp_vols=asp_vols,
+      dis_vols=1,  # many-to-one 允许标量；非比例模式下实际每次分液=对应 asp_vol
+      mix_times=0,
+    )
+  )
+
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert [d["vols"][0] for d in dispenses] == [float(v) for v in asp_vols]
+  assert all(d["resources"] == [target] for d in dispenses)
+
+
+def test_many_to_one_single_channel_before_stage_mixes_target_once():
+  lh = FakeLiquidHandler(channel_num=1)
+  lh.current_tip = iter(make_tip_iter(128))
+
+  sources = [DummyContainer("S0"), DummyContainer("S1")]
+  target = DummyContainer("T")
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=[target],
+      tip_racks=[],
+      use_channels=[0],
+      asp_vols=[5, 6],
+      dis_vols=1,
+      mix_stage="before",
+      mix_times=2,
+      mix_vol=4,
+    )
+  )
+
+  aspirate_calls = [(idx, payload) for idx, (name, payload) in enumerate(lh.calls) if name == "aspirate"]
+  assert len(aspirate_calls) >= 1
+  mix_idx, mix_payload = aspirate_calls[0]
+  assert mix_payload["resources"] == [target]
+  assert mix_payload["vols"] == [4]
+  # 第一個 mix 之後會真正開始吸 source
+  assert any(call["resources"] == [sources[0]] for _, call in aspirate_calls[1:])
+
+
+def test_many_to_one_single_channel_proportional_mixing_uses_dis_vols_per_source():
+  lh = FakeLiquidHandler(channel_num=1)
+  lh.current_tip = iter(make_tip_iter(128))
+
+  sources = [DummyContainer(f"S{i}") for i in range(3)]
+  target = DummyContainer("T")
+  asp_vols = [5, 6, 7]
+  dis_vols = [1, 2, 3]
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=[target],
+      tip_racks=[],
+      use_channels=[0],
+      asp_vols=asp_vols,
+      dis_vols=dis_vols,  # 比例模式
+      mix_times=0,
+    )
+  )
+
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert [d["vols"][0] for d in dispenses] == [float(v) for v in dis_vols]
+
+
+def test_many_to_one_eight_channel_basic():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(256))
+
+  sources = [DummyContainer(f"S{i}") for i in range(8)]
+  target = DummyContainer("T")
+  asp_vols = [10 + i for i in range(8)]
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=[target],
+      tip_racks=[],
+      use_channels=list(range(8)),
+      asp_vols=asp_vols,
+      dis_vols=999,  # 非比例模式下每通道分液=对应 asp_vol
+      mix_times=0,
+    )
+  )
+
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert aspirates[0]["resources"] == sources
+  assert aspirates[0]["vols"] == [float(v) for v in asp_vols]
+  assert dispenses[0]["resources"] == [target] * 8
+  assert dispenses[0]["vols"] == [float(v) for v in asp_vols]
+
+
+def test_transfer_liquid_mode_detection_unsupported_shape_raises():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(64))
+
+  sources = [DummyContainer("S0"), DummyContainer("S1")]
+  targets = [DummyContainer("T0"), DummyContainer("T1"), DummyContainer("T2")]
+
+  with pytest.raises(ValueError, match="Unsupported transfer mode"):
+    run(
+      lh.transfer_liquid(
+        sources=sources,
+        targets=targets,
+        tip_racks=[],
+        use_channels=[0],
+        asp_vols=[1, 1],
+        dis_vols=[1, 1, 1],
+        mix_times=0,
+      )
+    )
+
+
+def test_mix_single_target_produces_matching_cycles():
+  lh = FakeLiquidHandler(channel_num=1)
+  target = DummyContainer("T_mix")
+
+  run(lh.mix(targets=[target], mix_time=2, mix_vol=5))
+
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert len(aspirates) == len(dispenses) == 2
+  assert all(call["resources"] == [target] for call in aspirates)
+  assert all(call["vols"] == [5] for call in aspirates)
+  assert all(call["resources"] == [target] for call in dispenses)
+  assert all(call["vols"] == [5] for call in dispenses)
+
+
+def test_mix_multiple_targets_supports_per_target_offsets():
+  lh = FakeLiquidHandler(channel_num=1)
+  targets = [DummyContainer("T0"), DummyContainer("T1")]
+  offsets = ["left", "right"]
+  heights = [0.1, 0.2]
+  rates = [0.5, 1.0]
+
+  run(
+    lh.mix(
+      targets=targets,
+      mix_time=1,
+      mix_vol=3,
+      offsets=offsets,
+      height_to_bottom=heights,
+      mix_rate=rates,
+    )
+  )
+
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  assert len(aspirates) == 2
+  assert aspirates[0]["resources"] == [targets[0]]
+  assert aspirates[0]["offsets"] == [offsets[0]]
+  assert aspirates[0]["liquid_height"] == [heights[0]]
+  assert aspirates[0]["flow_rates"] == [rates[0]]
+  assert aspirates[1]["resources"] == [targets[1]]
+  assert aspirates[1]["offsets"] == [offsets[1]]
+  assert aspirates[1]["liquid_height"] == [heights[1]]
+  assert aspirates[1]["flow_rates"] == [rates[1]]
+
+

tests/ros/msgs/test_runner.py

@@ -11,10 +11,10 @@ import os
 # 添加项目根目录到路径
 sys.path.append(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))))
 
-# 导入测试模块
-from test.ros.msgs.test_basic import TestBasicFunctionality
-from test.ros.msgs.test_conversion import TestBasicConversion, TestMappingConversion
-from test.ros.msgs.test_mapping import TestTypeMapping, TestFieldMapping
+# 导入测试模块（统一从 tests 包获取）
+from tests.ros.msgs.test_basic import TestBasicFunctionality
+from tests.ros.msgs.test_conversion import TestBasicConversion, TestMappingConversion
+from tests.ros.msgs.test_mapping import TestTypeMapping, TestFieldMapping
 
 
 def run_tests():

unilabos/__init__.py

@@ -1 +1 @@
-__version__ = "0.10.12"
+__version__ = "0.10.13"

unilabos/app/main.py

@@ -388,6 +388,10 @@ def main():
     for ind, i in enumerate(resource_edge_info[::-1]):
         source_node: ResourceDict = nodes[i["source"]]
         target_node: ResourceDict = nodes[i["target"]]
+        if "sourceHandle" not in source_node:
+            continue
+        if "targetHandle" not in target_node:
+            continue
         source_handle = i["sourceHandle"]
         target_handle = i["targetHandle"]
         source_handler_keys = [
@@ -414,7 +418,7 @@ def main():
     # 如果从远端获取了物料信息，则与本地物料进行同步
     if request_startup_json and "nodes" in request_startup_json:
         print_status("开始同步远端物料到本地...", "info")
-        remote_tree_set = ResourceTreeSet.from_raw_list(request_startup_json["nodes"])
+        remote_tree_set = ResourceTreeSet.from_raw_dict_list(request_startup_json["nodes"])
         resource_tree_set.merge_remote_resources(remote_tree_set)
         print_status("远端物料同步完成", "info")
 

unilabos/app/web/client.py

@@ -300,6 +300,10 @@ class HTTPClient:
         )
         if response.status_code not in [200, 201]:
             logger.error(f"注册资源失败: {response.status_code}, {response.text}")
+        if response.status_code == 200:
+            res = response.json()
+            if "code" in res and res["code"] != 0:
+                logger.error(f"注册资源失败: {response.text}")
         return response
 
     def request_startup_json(self) -> Optional[Dict[str, Any]]:

unilabos/app/ws_client.py

@@ -579,6 +579,8 @@ class MessageProcessor:
             elif message_type == "session_id":
                 self.session_id = message_data.get("session_id")
                 logger.info(f"[MessageProcessor] Session ID: {self.session_id}")
+            elif message_type == "request_reload":
+                await self._handle_request_reload(message_data)
             else:
                 logger.debug(f"[MessageProcessor] Unknown message type: {message_type}")
 
@@ -888,6 +890,20 @@ class MessageProcessor:
             )
             thread.start()
 
+    async def _handle_request_reload(self, data: Dict[str, Any]):
+        """
+        处理重载请求
+        
+        当LabGo发送request_reload时，重新发送设备注册信息
+        """
+        reason = data.get("reason", "unknown")
+        logger.info(f"[MessageProcessor] Received reload request, reason: {reason}")
+        
+        # 重新发送host_node_ready信息
+        if self.websocket_client:
+            self.websocket_client.publish_host_ready()
+            logger.info("[MessageProcessor] Re-sent host_node_ready after reload request")
+
     async def _send_action_state_response(
         self, device_id: str, action_name: str, task_id: str, job_id: str, typ: str, free: bool, need_more: int
     ):
@@ -1240,7 +1256,7 @@ class WebSocketClient(BaseCommunicationClient):
             },
         }
         self.message_processor.send_message(message)
-        logger.debug(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
+        logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
 
     def publish_job_status(
         self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None
@@ -1282,7 +1298,7 @@ class WebSocketClient(BaseCommunicationClient):
         self.message_processor.send_message(message)
 
         job_log = format_job_log(item.job_id, item.task_id, item.device_id, item.action_name)
-        logger.debug(f"[WebSocketClient] Job status published: {job_log} - {status}")
+        logger.trace(f"[WebSocketClient] Job status published: {job_log} - {status}")
 
     def send_ping(self, ping_id: str, timestamp: float) -> None:
         """发送ping消息"""
@@ -1313,17 +1329,55 @@ class WebSocketClient(BaseCommunicationClient):
             logger.warning(f"[WebSocketClient] Failed to cancel job {job_log}")
 
     def publish_host_ready(self) -> None:
-        """发布host_node ready信号"""
+        """发布host_node ready信号，包含设备和动作信息"""
         if self.is_disabled or not self.is_connected():
             logger.debug("[WebSocketClient] Not connected, cannot publish host ready signal")
             return
 
+        # 收集设备信息
+        devices = []
+        machine_name = BasicConfig.machine_name
+        
+        try:
+            host_node = HostNode.get_instance(0)
+            if host_node:
+                # 获取设备信息
+                for device_id, namespace in host_node.devices_names.items():
+                    device_key = f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
+                    is_online = device_key in host_node._online_devices
+                    
+                    # 获取设备的动作信息
+                    actions = {}
+                    for action_id, client in host_node._action_clients.items():
+                        # action_id 格式: /namespace/device_id/action_name
+                        if device_id in action_id:
+                            action_name = action_id.split("/")[-1]
+                            actions[action_name] = {
+                                "action_path": action_id,
+                                "action_type": str(type(client).__name__),
+                            }
+                    
+                    devices.append({
+                        "device_id": device_id,
+                        "namespace": namespace,
+                        "device_key": device_key,
+                        "is_online": is_online,
+                        "machine_name": host_node.device_machine_names.get(device_id, machine_name),
+                        "actions": actions,
+                    })
+                
+                logger.info(f"[WebSocketClient] Collected {len(devices)} devices for host_ready")
+        except Exception as e:
+            logger.warning(f"[WebSocketClient] Error collecting device info: {e}")
+
         message = {
             "action": "host_node_ready",
             "data": {
                 "status": "ready",
                 "timestamp": time.time(),
+                "machine_name": machine_name,
+                "devices": devices,
             },
         }
         self.message_processor.send_message(message)
-        logger.info("[WebSocketClient] Host node ready signal published")
+        logger.info(f"[WebSocketClient] Host node ready signal published with {len(devices)} devices")

unilabos/device_comms/opcua_client/node/uniopcua.py

@@ -3,7 +3,7 @@ from enum import Enum
 from abc import ABC, abstractmethod
 from typing import Tuple, Union, Optional, Any, List
 
-from opcua import Client, Node
+from opcua import Client, Node, ua
 from opcua.ua import NodeId, NodeClass, VariantType
 
 
@@ -47,23 +47,68 @@ class Base(ABC):
     def _get_node(self) -> Node:
         if self._node is None:
             try:
-                # 检查是否是NumericNodeId(ns=X;i=Y)格式
-                if "NumericNodeId" in self._node_id:
-                    # 从字符串中提取命名空间和标识符
-                    import re
-                    match = re.search(r'ns=(\d+);i=(\d+)', self._node_id)
-                    if match:
-                        ns = int(match.group(1))
-                        identifier = int(match.group(2))
-                        node_id = NodeId(identifier, ns)
-                        self._node = self._client.get_node(node_id)
+                # 尝试多种 NodeId 字符串格式解析，兼容不同服务器/库的输出
+                # 可能的格式示例: 'ns=2;i=1234', 'ns=2;s=SomeString',
+                # 'StringNodeId(ns=4;s=OPC|变量名)', 'NumericNodeId(ns=2;i=1234)' 等
+                import re
+
+                nid = self._node_id
+                # 如果已经是 NodeId/Node 对象（库用户可能传入），直接使用
+                try:
+                    from opcua.ua import NodeId as UaNodeId
+                    if isinstance(nid, UaNodeId):
+                        self._node = self._client.get_node(nid)
+                        return self._node
+                except Exception:
+                    # 若导入或类型判断失败，则继续下一步
+                    pass
+
+                # 直接以字符串形式处理
+                if isinstance(nid, str):
+                    nid = nid.strip()
+                    
+                    # 处理包含类名的格式，如 'StringNodeId(ns=4;s=...)' 或 'NumericNodeId(ns=2;i=...)'
+                    # 提取括号内的内容
+                    match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid)
+                    if match_wrapped:
+                        # 提取括号内的实际 node_id 字符串
+                        nid = match_wrapped.group(2).strip()
+
+                    # 常见短格式 'ns=2;i=1234' 或 'ns=2;s=SomeString'
+                    if re.match(r'^ns=\d+;[is]=', nid):
+                        self._node = self._client.get_node(nid)
                     else:
-                        raise ValueError(f"无法解析节点ID: {self._node_id}")
+                        # 尝试提取 ns 和 i 或 s
+                        # 对于字符串标识符，可能包含特殊字符，使用非贪婪匹配
+                        m_num = re.search(r'ns=(\d+);i=(\d+)', nid)
+                        m_str = re.search(r'ns=(\d+);s=(.+?)(?:\)|$)', nid)
+                        if m_num:
+                            ns = int(m_num.group(1))
+                            identifier = int(m_num.group(2))
+                            node_id = NodeId(identifier, ns)
+                            self._node = self._client.get_node(node_id)
+                        elif m_str:
+                            ns = int(m_str.group(1))
+                            identifier = m_str.group(2).strip()
+                            # 对于字符串标识符，直接使用字符串格式
+                            node_id_str = f"ns={ns};s={identifier}"
+                            self._node = self._client.get_node(node_id_str)
+                        else:
+                            # 回退：尝试直接传入字符串（有些实现接受其它格式）
+                            try:
+                                self._node = self._client.get_node(self._node_id)
+                            except Exception as e:
+                                # 输出更详细的错误信息供调试
+                                print(f"获取节点失败(尝试直接字符串): {self._node_id}, 错误: {e}")
+                                raise
                 else:
-                    # 直接使用节点ID字符串
+                    # 非字符串，尝试直接使用
                     self._node = self._client.get_node(self._node_id)
             except Exception as e:
                 print(f"获取节点失败: {self._node_id}, 错误: {e}")
+                # 添加额外提示，帮助定位 BadNodeIdUnknown 问题
+                print("提示: 请确认该 node_id 是否来自当前连接的服务器地址空间，" \
+                      "以及 CSV/配置中名称与服务器 BrowseName 是否匹配。")
                 raise
         return self._node
 
@@ -104,7 +149,56 @@ class Variable(Base):
 
     def write(self, value: Any) -> bool:
         try:
-            self._get_node().set_value(value)
+            # 如果声明了数据类型，则尝试转换并使用对应的 Variant 写入
+            coerced = value
+            try:
+                if self._data_type is not None:
+                    # 基于声明的数据类型做简单类型转换
+                    dt = self._data_type
+                    if dt in (DataType.SBYTE, DataType.BYTE, DataType.INT16, DataType.UINT16,
+                              DataType.INT32, DataType.UINT32, DataType.INT64, DataType.UINT64):
+                        # 数值类型 -> int
+                        if isinstance(value, str):
+                            coerced = int(value)
+                        else:
+                            coerced = int(value)
+                    elif dt in (DataType.FLOAT, DataType.DOUBLE):
+                        if isinstance(value, str):
+                            coerced = float(value)
+                        else:
+                            coerced = float(value)
+                    elif dt == DataType.BOOLEAN:
+                        if isinstance(value, str):
+                            v = value.strip().lower()
+                            if v in ("true", "1", "yes", "on"):
+                                coerced = True
+                            elif v in ("false", "0", "no", "off"):
+                                coerced = False
+                            else:
+                                coerced = bool(value)
+                        else:
+                            coerced = bool(value)
+                    elif dt == DataType.STRING or dt == DataType.BYTESTRING or dt == DataType.DATETIME:
+                        coerced = str(value)
+
+                    # 使用 ua.Variant 明确指定 VariantType
+                    try:
+                        variant = ua.Variant(coerced, dt.value)
+                        self._get_node().set_value(variant)
+                    except Exception:
+                        # 回退：有些 set_value 实现接受 (value, variant_type)
+                        try:
+                            self._get_node().set_value(coerced, dt.value)
+                        except Exception:
+                            # 最后回退到直接写入（保持兼容性）
+                            self._get_node().set_value(coerced)
+                else:
+                    # 未声明数据类型，直接写入
+                    self._get_node().set_value(value)
+            except Exception:
+                # 若在转换或按数据类型写入失败，尝试直接写入原始值并让上层捕获错误
+                self._get_node().set_value(value)
+
             return False
         except Exception as e:
             print(f"写入变量 {self._name} 失败: {e}")
@@ -120,20 +214,50 @@ class Method(Base):
     def _get_parent_node(self) -> Node:
         if self._parent_node is None:
             try:
-                # 检查是否是NumericNodeId(ns=X;i=Y)格式
-                if "NumericNodeId" in self._parent_node_id:
-                    # 从字符串中提取命名空间和标识符
-                    import re
-                    match = re.search(r'ns=(\d+);i=(\d+)', self._parent_node_id)
-                    if match:
-                        ns = int(match.group(1))
-                        identifier = int(match.group(2))
-                        node_id = NodeId(identifier, ns)
-                        self._parent_node = self._client.get_node(node_id)
+                # 处理父节点ID，使用与_get_node相同的解析逻辑
+                import re
+                
+                nid = self._parent_node_id
+                
+                # 如果已经是 NodeId 对象，直接使用
+                try:
+                    from opcua.ua import NodeId as UaNodeId
+                    if isinstance(nid, UaNodeId):
+                        self._parent_node = self._client.get_node(nid)
+                        return self._parent_node
+                except Exception:
+                    pass
+                
+                # 字符串处理
+                if isinstance(nid, str):
+                    nid = nid.strip()
+                    
+                    # 处理包含类名的格式
+                    match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid)
+                    if match_wrapped:
+                        nid = match_wrapped.group(2).strip()
+                    
+                    # 常见短格式
+                    if re.match(r'^ns=\d+;[is]=', nid):
+                        self._parent_node = self._client.get_node(nid)
                     else:
-                        raise ValueError(f"无法解析父节点ID: {self._parent_node_id}")
+                        # 提取 ns 和 i 或 s
+                        m_num = re.search(r'ns=(\d+);i=(\d+)', nid)
+                        m_str = re.search(r'ns=(\d+);s=(.+?)(?:\)|$)', nid)
+                        if m_num:
+                            ns = int(m_num.group(1))
+                            identifier = int(m_num.group(2))
+                            node_id = NodeId(identifier, ns)
+                            self._parent_node = self._client.get_node(node_id)
+                        elif m_str:
+                            ns = int(m_str.group(1))
+                            identifier = m_str.group(2).strip()
+                            node_id_str = f"ns={ns};s={identifier}"
+                            self._parent_node = self._client.get_node(node_id_str)
+                        else:
+                            # 回退
+                            self._parent_node = self._client.get_node(self._parent_node_id)
                 else:
-                    # 直接使用节点ID字符串
                     self._parent_node = self._client.get_node(self._parent_node_id)
             except Exception as e:
                 print(f"获取父节点失败: {self._parent_node_id}, 错误: {e}")

unilabos/device_mesh/resource_visalization.py

@@ -128,14 +128,21 @@ class ResourceVisualization:
                         new_dev.set("device_name", node["id"]+"_")
                         # if node["parent"] is not None:
                         #     new_dev.set("station_name", node["parent"]+'_')
-
-                        new_dev.set("x",str(float(node["position"]["position"]["x"])/1000))
-                        new_dev.set("y",str(float(node["position"]["position"]["y"])/1000))
-                        new_dev.set("z",str(float(node["position"]["position"]["z"])/1000))
+                        if "position" in node:
+                            new_dev.set("x",str(float(node["position"]["position"]["x"])/1000))
+                            new_dev.set("y",str(float(node["position"]["position"]["y"])/1000))
+                            new_dev.set("z",str(float(node["position"]["position"]["z"])/1000))
                         if "rotation" in node["config"]:
                             new_dev.set("rx",str(float(node["config"]["rotation"]["x"])))
                             new_dev.set("ry",str(float(node["config"]["rotation"]["y"])))
                             new_dev.set("r",str(float(node["config"]["rotation"]["z"])))
+                        if "pose" in node:
+                            new_dev.set("x",str(float(node["pose"]["position"]["x"])/1000))
+                            new_dev.set("y",str(float(node["pose"]["position"]["y"])/1000))
+                            new_dev.set("z",str(float(node["pose"]["position"]["z"])/1000))
+                            new_dev.set("rx",str(float(node["pose"]["rotation"]["x"])))
+                            new_dev.set("ry",str(float(node["pose"]["rotation"]["y"])))
+                            new_dev.set("r",str(float(node["pose"]["rotation"]["z"])))
                         if "device_config" in node["config"]:
                             for key, value in node["config"]["device_config"].items():
                                 new_dev.set(key, str(value))

unilabos/devices/cameraSII/cameraDriver.py

@@ -0,0 +1,712 @@
+#!/usr/bin/env python3
+import asyncio
+import json
+import subprocess
+import sys
+import threading
+from typing import Optional, Dict, Any
+import logging
+
+import requests
+import websockets
+
+logging.getLogger("zeep").setLevel(logging.WARNING)
+logging.getLogger("zeep.xsd.schema").setLevel(logging.WARNING)
+logging.getLogger("zeep.xsd.schema.schema").setLevel(logging.WARNING)
+from onvif import ONVIFCamera  # 新增：ONVIF PTZ 控制
+
+
+# ======================= 独立的 PTZController =======================
+class PTZController:
+    def __init__(self, host: str, port: int, user: str, password: str):
+        """
+        :param host: 摄像机 IP 或域名（和 RTSP 的一样即可）
+        :param port: ONVIF 端口（多数为 80，看你的设备）
+        :param user: 摄像机用户名
+        :param password: 摄像机密码
+        """
+        self.host = host
+        self.port = port
+        self.user = user
+        self.password = password
+
+        self.cam: Optional[ONVIFCamera] = None
+        self.media_service = None
+        self.ptz_service = None
+        self.profile = None
+
+    def connect(self) -> bool:
+        """
+        建立 ONVIF 连接并初始化 PTZ 能力，失败返回 False（不抛异常）
+        Note: 首先 pip install onvif-zeep
+        """
+        try:
+            self.cam = ONVIFCamera(self.host, self.port, self.user, self.password)
+            self.media_service = self.cam.create_media_service()
+            self.ptz_service = self.cam.create_ptz_service()
+            profiles = self.media_service.GetProfiles()
+            if not profiles:
+                print("[PTZ] No media profiles found on camera.", file=sys.stderr)
+                return False
+            self.profile = profiles[0]
+            return True
+        except Exception as e:
+            print(f"[PTZ] Failed to init ONVIF PTZ: {e}", file=sys.stderr)
+            return False
+
+    def _continuous_move(self, pan: float, tilt: float, zoom: float, duration: float) -> bool:
+        """
+        连续移动一段时间（秒），之后自动停止。
+        此函数为阻塞模式：只有在 Stop 调用结束后，才返回 True/False。
+        """
+        if not self.ptz_service or not self.profile:
+            print("[PTZ] _continuous_move: ptz_service or profile not ready", file=sys.stderr)
+            return False
+
+        # 进入前先强行停一下，避免前一次残留动作
+        self._force_stop()
+
+        req = self.ptz_service.create_type("ContinuousMove")
+        req.ProfileToken = self.profile.token
+
+        req.Velocity = {
+            "PanTilt": {"x": pan, "y": tilt},
+            "Zoom": {"x": zoom},
+        }
+
+        try:
+            print(f"[PTZ] ContinuousMove start: pan={pan}, tilt={tilt}, zoom={zoom}, duration={duration}", file=sys.stderr)
+            self.ptz_service.ContinuousMove(req)
+        except Exception as e:
+            print(f"[PTZ] ContinuousMove failed: {e}", file=sys.stderr)
+            return False
+
+        # 阻塞等待：这里决定“运动时间”
+        import time
+        wait_seconds = max(2 * duration, 0.0)
+        time.sleep(wait_seconds)
+
+        # 运动完成后强制停止
+        return self._force_stop()
+
+    def stop(self) -> bool:
+        """
+        阻塞调用 Stop（带重试），成功 True，失败 False。
+        """
+        return self._force_stop()
+
+    # ------- 对外动作接口（给 CameraController 调用） -------
+    # 所有接口都为“阻塞模式”：只有在运动 + Stop 完成后才返回 True/False
+
+    def move_up(self, speed: float = 0.5, duration: float = 1.0) -> bool:
+        print(f"[PTZ] move_up called, speed={speed}, duration={duration}", file=sys.stderr)
+        return self._continuous_move(pan=0.0, tilt=+speed, zoom=0.0, duration=duration)
+
+    def move_down(self, speed: float = 0.5, duration: float = 1.0) -> bool:
+        print(f"[PTZ] move_down called, speed={speed}, duration={duration}", file=sys.stderr)
+        return self._continuous_move(pan=0.0, tilt=-speed, zoom=0.0, duration=duration)
+
+    def move_left(self, speed: float = 0.2, duration: float = 1.0) -> bool:
+        print(f"[PTZ] move_left called, speed={speed}, duration={duration}", file=sys.stderr)
+        return self._continuous_move(pan=-speed, tilt=0.0, zoom=0.0, duration=duration)
+
+    def move_right(self, speed: float = 0.2, duration: float = 1.0) -> bool:
+        print(f"[PTZ] move_right called, speed={speed}, duration={duration}", file=sys.stderr)
+        return self._continuous_move(pan=+speed, tilt=0.0, zoom=0.0, duration=duration)
+
+    # ------- 占位的变倍接口（当前设备不支持） -------
+    def zoom_in(self, speed: float = 0.2, duration: float = 1.0) -> bool:
+        """
+        当前设备不支持变倍；保留方法只是避免上层调用时报错。
+        """
+        print("[PTZ] zoom_in is disabled for this device.", file=sys.stderr)
+        return False
+
+    def zoom_out(self, speed: float = 0.2, duration: float = 1.0) -> bool:
+        """
+        当前设备不支持变倍；保留方法只是避免上层调用时报错。
+        """
+        print("[PTZ] zoom_out is disabled for this device.", file=sys.stderr)
+        return False
+
+    def _force_stop(self, retries: int = 3, delay: float = 0.1) -> bool:
+        """
+        尝试多次调用 Stop，作为“强制停止”手段。
+        :param retries: 重试次数
+        :param delay: 每次重试间隔（秒）
+        """
+        if not self.ptz_service or not self.profile:
+            print("[PTZ] _force_stop: ptz_service or profile not ready", file=sys.stderr)
+            return False
+
+        import time
+        last_error = None
+        for i in range(retries):
+            try:
+                print(f"[PTZ] _force_stop: calling Stop(), attempt={i+1}", file=sys.stderr)
+                self.ptz_service.Stop({"ProfileToken": self.profile.token})
+                print("[PTZ] _force_stop: Stop() returned OK", file=sys.stderr)
+                return True
+            except Exception as e:
+                last_error = e
+                print(f"[PTZ] _force_stop: Stop() failed at attempt {i+1}: {e}", file=sys.stderr)
+                time.sleep(delay)
+
+        print(f"[PTZ] _force_stop: all {retries} attempts failed, last error: {last_error}", file=sys.stderr)
+        return False
+
+# ======================= CameraController（加入 PTZ） =======================
+
+class CameraController:
+    """
+    Uni-Lab-OS 摄像头驱动（driver 形式）
+    启动 Uni-Lab-OS 后，立即开始推流
+
+    - WebSocket 信令：通过 signal_backend_url 连接到后端
+      例如: wss://sciol.ac.cn/api/realtime/signal/host/<host_id>
+    - 媒体服务器：通过 rtmp_url / webrtc_api / webrtc_stream_url
+      当前配置为 SRS，与独立 HostSimulator 独立运行脚本保持一致。
+    """
+
+    def __init__(
+        self,
+        host_id: str = "demo-host",
+
+        # （1）信令后端（WebSocket）
+        signal_backend_url: str = "wss://sciol.ac.cn/api/realtime/signal/host",
+
+        # （2）媒体后端（RTMP + WebRTC API）
+        rtmp_url: str = "rtmp://srs.sciol.ac.cn:4499/live/camera-01",
+        webrtc_api: str = "https://srs.sciol.ac.cn/rtc/v1/play/",
+        webrtc_stream_url: str = "webrtc://srs.sciol.ac.cn:4500/live/camera-01",
+        camera_rtsp_url: str = "",
+
+        # （3）PTZ 控制相关（ONVIF）
+        ptz_host: str = "",           # 一般就是摄像头 IP，比如 "192.168.31.164"
+        ptz_port: int = 80,           # ONVIF 端口，不一定是 80，按实际情况改
+        ptz_user: str = "",           # admin
+        ptz_password: str = "",       # admin123
+    ):
+        self.host_id = host_id
+        self.camera_rtsp_url = camera_rtsp_url
+
+        # 拼接最终的 WebSocket URL：.../host/<host_id>
+        signal_backend_url = signal_backend_url.rstrip("/")
+        if not signal_backend_url.endswith("/host"):
+            signal_backend_url = signal_backend_url + "/host"
+        self.signal_backend_url = f"{signal_backend_url}/{host_id}"
+
+        # 媒体服务器配置
+        self.rtmp_url = rtmp_url
+        self.webrtc_api = webrtc_api
+        self.webrtc_stream_url = webrtc_stream_url
+
+        # PTZ 控制
+        self.ptz_host = ptz_host
+        self.ptz_port = ptz_port
+        self.ptz_user = ptz_user
+        self.ptz_password = ptz_password
+        self._ptz: Optional[PTZController] = None
+        self._init_ptz_if_possible()
+
+        # 运行时状态
+        self._ws: Optional[object] = None
+        self._ffmpeg_process: Optional[subprocess.Popen] = None
+        self._running = False
+        self._loop_task: Optional[asyncio.Future] = None
+
+        # 事件循环 & 线程
+        self._loop: Optional[asyncio.AbstractEventLoop] = None
+        self._loop_thread: Optional[threading.Thread] = None
+
+        try:
+            self.start()
+        except Exception as e:
+            print(f"[CameraController] __init__ auto start failed: {e}", file=sys.stderr)
+
+    # ------------------------ PTZ 初始化 ------------------------
+
+    # ------------------------ PTZ 公开动作方法（一个动作一个函数） ------------------------
+
+    def ptz_move_up(self, speed: float = 0.5, duration: float = 1.0) -> bool:
+        print(f"[CameraController] ptz_move_up called, speed={speed}, duration={duration}")
+        return self._ptz.move_up(speed=speed, duration=duration)
+
+    def ptz_move_down(self, speed: float = 0.5, duration: float = 1.0) -> bool:
+        print(f"[CameraController] ptz_move_down called, speed={speed}, duration={duration}")
+        return self._ptz.move_down(speed=speed, duration=duration)
+
+    def ptz_move_left(self, speed: float = 0.2, duration: float = 1.0) -> bool:
+        print(f"[CameraController] ptz_move_left called, speed={speed}, duration={duration}")
+        return self._ptz.move_left(speed=speed, duration=duration)
+
+    def ptz_move_right(self, speed: float = 0.2, duration: float = 1.0) -> bool:
+        print(f"[CameraController] ptz_move_right called, speed={speed}, duration={duration}")
+        return self._ptz.move_right(speed=speed, duration=duration)
+
+    def zoom_in(self, speed: float = 0.2, duration: float = 1.0) -> bool:
+        """
+        当前设备不支持变倍；保留方法只是避免上层调用时报错。
+        """
+        print("[PTZ] zoom_in is disabled for this device.", file=sys.stderr)
+        return False
+
+    def zoom_out(self, speed: float = 0.2, duration: float = 1.0) -> bool:
+        """
+        当前设备不支持变倍；保留方法只是避免上层调用时报错。
+        """
+        print("[PTZ] zoom_out is disabled for this device.", file=sys.stderr)
+        return False
+
+    def ptz_stop(self):
+        if self._ptz is None:
+            print("[CameraController] PTZ not initialized.", file=sys.stderr)
+            return
+        self._ptz.stop()
+
+    def _init_ptz_if_possible(self):
+        """
+        根据 ptz_host / user / password 初始化 PTZ；
+        如果配置信息不全则不启用 PTZ（静默）。
+        """
+        if not (self.ptz_host and self.ptz_user and self.ptz_password):
+            return
+        ctrl = PTZController(
+            host=self.ptz_host,
+            port=self.ptz_port,
+            user=self.ptz_user,
+            password=self.ptz_password,
+        )
+        if ctrl.connect():
+            self._ptz = ctrl
+        else:
+            self._ptz = None
+
+    # ---------------------------------------------------------------------
+    # 对外暴露的方法：供 Uni-Lab-OS 调用
+    # ---------------------------------------------------------------------
+
+    def start(self, config: Optional[Dict[str, Any]] = None):
+        """
+        启动 Camera 连接 & 消息循环，并在启动时就开启 FFmpeg 推流，
+        """
+
+        if self._running:
+            return {"status": "already_running", "host_id": self.host_id}
+
+        # 应用 config 覆盖（如果有）
+        if config:
+            self.camera_rtsp_url = config.get("camera_rtsp_url", self.camera_rtsp_url)
+            cfg_host_id = config.get("host_id")
+            if cfg_host_id:
+                self.host_id = cfg_host_id
+
+            signal_backend_url = config.get("signal_backend_url")
+            if signal_backend_url:
+                signal_backend_url = signal_backend_url.rstrip("/")
+                if not signal_backend_url.endswith("/host"):
+                    signal_backend_url = signal_backend_url + "/host"
+                self.signal_backend_url = f"{signal_backend_url}/{self.host_id}"
+
+            self.rtmp_url = config.get("rtmp_url", self.rtmp_url)
+            self.webrtc_api = config.get("webrtc_api", self.webrtc_api)
+            self.webrtc_stream_url = config.get(
+                "webrtc_stream_url", self.webrtc_stream_url
+            )
+
+            # PTZ 相关配置也允许通过 config 注入
+            self.ptz_host = config.get("ptz_host", self.ptz_host)
+            self.ptz_port = int(config.get("ptz_port", self.ptz_port))
+            self.ptz_user = config.get("ptz_user", self.ptz_user)
+            self.ptz_password = config.get("ptz_password", self.ptz_password)
+            self._init_ptz_if_possible()
+
+        self._running = True
+
+        # === start 时启动 FFmpeg 推流 ===
+        self._start_ffmpeg()
+
+        # 创建新的事件循环和线程（用于 WebSocket 信令）
+        self._loop = asyncio.new_event_loop()
+
+        def loop_runner(loop: asyncio.AbstractEventLoop):
+            asyncio.set_event_loop(loop)
+            try:
+                loop.run_forever()
+            except Exception as e:
+                print(f"[CameraController] event loop error: {e}", file=sys.stderr)
+
+        self._loop_thread = threading.Thread(
+            target=loop_runner, args=(self._loop,), daemon=True
+        )
+        self._loop_thread.start()
+
+        self._loop_task = asyncio.run_coroutine_threadsafe(
+            self._run_main_loop(), self._loop
+        )
+
+        return {
+            "status": "started",
+            "host_id": self.host_id,
+            "signal_backend_url": self.signal_backend_url,
+            "rtmp_url": self.rtmp_url,
+            "webrtc_api": self.webrtc_api,
+            "webrtc_stream_url": self.webrtc_stream_url,
+        }
+
+    def stop(self) -> Dict[str, Any]:
+        """
+        停止推流 & 断开 WebSocket，并关闭事件循环线程。
+        """
+        self._running = False
+
+        self._stop_ffmpeg()
+
+        if self._ws and self._loop is not None:
+            async def close_ws():
+                try:
+                    await self._ws.close()
+                except Exception as e:
+                    print(
+                        f"[CameraController] error when closing WebSocket: {e}",
+                        file=sys.stderr,
+                    )
+
+            asyncio.run_coroutine_threadsafe(close_ws(), self._loop)
+
+        if self._loop_task is not None:
+            if not self._loop_task.done():
+                self._loop_task.cancel()
+            try:
+                self._loop_task.result()
+            except asyncio.CancelledError:
+                pass
+            except Exception as e:
+                print(
+                    f"[CameraController] main loop task error in stop(): {e}",
+                    file=sys.stderr,
+                )
+            finally:
+                self._loop_task = None
+
+        if self._loop is not None:
+            try:
+                self._loop.call_soon_threadsafe(self._loop.stop)
+            except Exception as e:
+                print(
+                    f"[CameraController] error when stopping event loop: {e}",
+                    file=sys.stderr,
+                )
+
+        if self._loop_thread is not None:
+            try:
+                self._loop_thread.join(timeout=5)
+            except Exception as e:
+                print(
+                    f"[CameraController] error when joining loop thread: {e}",
+                    file=sys.stderr,
+                )
+            finally:
+                self._loop_thread = None
+
+        self._ws = None
+        self._loop = None
+
+        return {"status": "stopped", "host_id": self.host_id}
+
+    def get_status(self) -> Dict[str, Any]:
+        """
+        查询当前状态，方便在 Uni-Lab-OS 中做监控。
+        """
+        ws_closed = None
+        if self._ws is not None:
+            ws_closed = getattr(self._ws, "closed", None)
+
+        if ws_closed is None:
+            websocket_connected = self._ws is not None
+        else:
+            websocket_connected = (self._ws is not None) and (not ws_closed)
+
+        return {
+            "host_id": self.host_id,
+            "running": self._running,
+            "websocket_connected": websocket_connected,
+            "ffmpeg_running": bool(
+                self._ffmpeg_process and self._ffmpeg_process.poll() is None
+            ),
+            "signal_backend_url": self.signal_backend_url,
+            "rtmp_url": self.rtmp_url,
+        }
+
+    # ---------------------------------------------------------------------
+    # 内部实现逻辑：WebSocket 循环 / FFmpeg / WebRTC Offer 处理
+    # ---------------------------------------------------------------------
+
+    async def _run_main_loop(self):
+        try:
+            while self._running:
+                try:
+                    async with websockets.connect(self.signal_backend_url) as ws:
+                        self._ws = ws
+                        await self._recv_loop()
+                except asyncio.CancelledError:
+                    raise
+                except Exception as e:
+                    if self._running:
+                        print(
+                            f"[CameraController] WebSocket connection error: {e}",
+                            file=sys.stderr,
+                        )
+                        await asyncio.sleep(3)
+        except asyncio.CancelledError:
+            pass
+
+    async def _recv_loop(self):
+        assert self._ws is not None
+        ws = self._ws
+
+        async for message in ws:
+            try:
+                data = json.loads(message)
+            except json.JSONDecodeError:
+                print(
+                    f"[CameraController] received non-JSON message: {message}",
+                    file=sys.stderr,
+                )
+                continue
+
+            try:
+                await self._handle_message(data)
+            except Exception as e:
+                print(
+                    f"[CameraController] error while handling message {data}: {e}",
+                    file=sys.stderr,
+                )
+
+    async def _handle_message(self, data: Dict[str, Any]):
+        """
+        处理来自信令后端的消息：
+        - command: start_stream / stop_stream / ptz_xxx
+        - type: offer (WebRTC)
+        """
+        cmd = data.get("command")
+
+        # ---------- 推流控制 ----------
+        if cmd == "start_stream":
+            try:
+                self._start_ffmpeg()
+            except Exception as e:
+                print(
+                    f"[CameraController] error when starting FFmpeg on start_stream: {e}",
+                    file=sys.stderr,
+                )
+            return
+
+        if cmd == "stop_stream":
+            try:
+                self._stop_ffmpeg()
+            except Exception as e:
+                print(
+                    f"[CameraController] error when stopping FFmpeg on stop_stream: {e}",
+                    file=sys.stderr,
+                )
+            return
+
+        # # ---------- PTZ 控制 ----------
+        # # 例如信令可以发：
+        # # {"command": "ptz_move", "direction": "down", "speed": 0.5, "duration": 0.5}
+        # if cmd == "ptz_move":
+        #     if self._ptz is None:
+        #         # 没有初始化 PTZ，静默忽略或打印一条
+        #         print("[CameraController] PTZ not initialized.", file=sys.stderr)
+        #         return
+
+        #     direction = data.get("direction", "")
+        #     speed = float(data.get("speed", 0.5))
+        #     duration = float(data.get("duration", 0.5))
+
+        #     try:
+        #         if direction == "up":
+        #             self._ptz.move_up(speed=speed, duration=duration)
+        #         elif direction == "down":
+        #             self._ptz.move_down(speed=speed, duration=duration)
+        #         elif direction == "left":
+        #             self._ptz.move_left(speed=speed, duration=duration)
+        #         elif direction == "right":
+        #             self._ptz.move_right(speed=speed, duration=duration)
+        #         elif direction == "zoom_in":
+        #             self._ptz.zoom_in(speed=speed, duration=duration)
+        #         elif direction == "zoom_out":
+        #             self._ptz.zoom_out(speed=speed, duration=duration)
+        #         elif direction == "stop":
+        #             self._ptz.stop()
+        #         else:
+        #             # 未知方向，忽略
+        #             pass
+        #     except Exception as e:
+        #         print(
+        #             f"[CameraController] error when handling PTZ move: {e}",
+        #             file=sys.stderr,
+        #         )
+        #     return
+
+        # ---------- WebRTC Offer ----------
+        if data.get("type") == "offer":
+            offer_sdp = data.get("sdp", "")
+            camera_id = data.get("cameraId", "camera-01")
+            try:
+                answer_sdp = await self._handle_webrtc_offer(offer_sdp)
+            except Exception as e:
+                print(
+                    f"[CameraController] error when handling WebRTC offer: {e}",
+                    file=sys.stderr,
+                )
+                return
+
+            if self._ws:
+                answer_payload = {
+                    "type": "answer",
+                    "sdp": answer_sdp,
+                    "cameraId": camera_id,
+                    "hostId": self.host_id,
+                }
+                try:
+                    await self._ws.send(json.dumps(answer_payload))
+                except Exception as e:
+                    print(
+                        f"[CameraController] error when sending WebRTC answer: {e}",
+                        file=sys.stderr,
+                    )
+
+    # ------------------------ FFmpeg 相关 ------------------------
+
+    def _start_ffmpeg(self):
+        if self._ffmpeg_process and self._ffmpeg_process.poll() is None:
+            return
+
+        cmd = [
+            "ffmpeg",
+            "-rtsp_transport", "tcp",
+            "-i", self.camera_rtsp_url,
+
+            "-c:v", "libx264",
+            "-preset", "ultrafast",
+            "-tune", "zerolatency",
+            "-profile:v", "baseline",
+            "-b:v", "1M",
+            "-maxrate", "1M",
+            "-bufsize", "2M",
+            "-g", "10",
+            "-keyint_min", "10",
+            "-sc_threshold", "0",
+            "-pix_fmt", "yuv420p",
+            "-x264-params", "bframes=0",
+
+            "-c:a", "aac",
+            "-ar", "44100",
+            "-ac", "1",
+            "-b:a", "64k",
+
+            "-f", "flv",
+            self.rtmp_url,
+        ]
+
+        try:
+            self._ffmpeg_process = subprocess.Popen(
+                cmd,
+                stdout=subprocess.DEVNULL,
+                stderr=subprocess.STDOUT,
+                shell=False,
+            )
+        except Exception as e:
+            print(f"[CameraController] failed to start FFmpeg: {e}", file=sys.stderr)
+            self._ffmpeg_process = None
+            raise
+
+    def _stop_ffmpeg(self):
+        proc = self._ffmpeg_process
+
+        if proc and proc.poll() is None:
+            try:
+                proc.terminate()
+                try:
+                    proc.wait(timeout=5)
+                except subprocess.TimeoutExpired:
+                    try:
+                        proc.kill()
+                        try:
+                            proc.wait(timeout=2)
+                        except subprocess.TimeoutExpired:
+                            print(
+                                f"[CameraController] FFmpeg process did not exit even after kill (pid={proc.pid})",
+                                file=sys.stderr,
+                            )
+                    except Exception as e:
+                        print(
+                            f"[CameraController] failed to kill FFmpeg process: {e}",
+                            file=sys.stderr,
+                        )
+            except Exception as e:
+                print(
+                    f"[CameraController] error when stopping FFmpeg: {e}",
+                    file=sys.stderr,
+                )
+
+        self._ffmpeg_process = None
+
+    # ------------------------ WebRTC Offer 相关 ------------------------
+
+    async def _handle_webrtc_offer(self, offer_sdp: str) -> str:
+        payload = {
+            "api": self.webrtc_api,
+            "streamurl": self.webrtc_stream_url,
+            "sdp": offer_sdp,
+        }
+
+        headers = {"Content-Type": "application/json"}
+
+        def _do_request():
+            return requests.post(
+                self.webrtc_api,
+                json=payload,
+                headers=headers,
+                timeout=10,
+            )
+
+        try:
+            loop = asyncio.get_running_loop()
+            resp = await loop.run_in_executor(None, _do_request)
+        except Exception as e:
+            print(
+                f"[CameraController] failed to send offer to media server: {e}",
+                file=sys.stderr,
+            )
+            raise
+
+        try:
+            resp.raise_for_status()
+        except Exception as e:
+            print(
+                f"[CameraController] media server HTTP error: {e}, "
+                f"status={resp.status_code}, body={resp.text[:200]}",
+                file=sys.stderr,
+            )
+            raise
+
+        try:
+            data = resp.json()
+        except Exception as e:
+            print(
+                f"[CameraController] failed to parse media server JSON: {e}, "
+                f"raw={resp.text[:200]}",
+                file=sys.stderr,
+            )
+            raise
+
+        answer_sdp = data.get("sdp", "")
+        if not answer_sdp:
+            msg = f"empty SDP from media server: {data}"
+            print(f"[CameraController] {msg}", file=sys.stderr)
+            raise RuntimeError(msg)
+
+        return answer_sdp

unilabos/devices/cameraSII/cameraUSB.py

@@ -0,0 +1,401 @@
+#!/usr/bin/env python3
+import asyncio
+import json
+import subprocess
+import sys
+import threading
+from typing import Optional, Dict, Any
+
+import requests
+import websockets
+
+
+class CameraController:
+    """
+    Uni-Lab-OS 摄像头驱动（Linux USB 摄像头版，无 PTZ）
+
+    - WebSocket 信令：signal_backend_url 连接到后端
+      例如: wss://sciol.ac.cn/api/realtime/signal/host/<host_id>
+    - 媒体服务器：RTMP 推流到 rtmp_url；WebRTC offer 转发到 SRS 的 webrtc_api
+    - 视频源：本地 USB 摄像头（V4L2，默认 /dev/video0）
+    """
+
+    def __init__(
+        self,
+        host_id: str = "demo-host",
+        signal_backend_url: str = "wss://sciol.ac.cn/api/realtime/signal/host",
+        rtmp_url: str = "rtmp://srs.sciol.ac.cn:4499/live/camera-01",
+        webrtc_api: str = "https://srs.sciol.ac.cn/rtc/v1/play/",
+        webrtc_stream_url: str = "webrtc://srs.sciol.ac.cn:4500/live/camera-01",
+        video_device: str = "/dev/video0",
+        width: int = 1280,
+        height: int = 720,
+        fps: int = 30,
+        video_bitrate: str = "1500k",
+        audio_device: Optional[str] = None,  # 比如 "hw:1,0"，没有音频就保持 None
+        audio_bitrate: str = "64k",
+    ):
+        self.host_id = host_id
+
+        # 拼接最终 WebSocket URL：.../host/<host_id>
+        signal_backend_url = signal_backend_url.rstrip("/")
+        if not signal_backend_url.endswith("/host"):
+            signal_backend_url = signal_backend_url + "/host"
+        self.signal_backend_url = f"{signal_backend_url}/{host_id}"
+
+        # 媒体服务器配置
+        self.rtmp_url = rtmp_url
+        self.webrtc_api = webrtc_api
+        self.webrtc_stream_url = webrtc_stream_url
+
+        # 本地采集配置
+        self.video_device = video_device
+        self.width = int(width)
+        self.height = int(height)
+        self.fps = int(fps)
+        self.video_bitrate = video_bitrate
+        self.audio_device = audio_device
+        self.audio_bitrate = audio_bitrate
+
+        # 运行时状态
+        self._ws: Optional[object] = None
+        self._ffmpeg_process: Optional[subprocess.Popen] = None
+        self._running = False
+        self._loop_task: Optional[asyncio.Future] = None
+
+        # 事件循环 & 线程
+        self._loop: Optional[asyncio.AbstractEventLoop] = None
+        self._loop_thread: Optional[threading.Thread] = None
+
+        try:
+            self.start()
+        except Exception as e:
+            print(f"[CameraController] __init__ auto start failed: {e}", file=sys.stderr)
+
+    # ---------------------------------------------------------------------
+    # 对外方法
+    # ---------------------------------------------------------------------
+
+    def start(self, config: Optional[Dict[str, Any]] = None):
+        if self._running:
+            return {"status": "already_running", "host_id": self.host_id}
+
+        # 应用 config 覆盖（如果有）
+        if config:
+            cfg_host_id = config.get("host_id")
+            if cfg_host_id:
+                self.host_id = cfg_host_id
+
+            signal_backend_url = config.get("signal_backend_url")
+            if signal_backend_url:
+                signal_backend_url = signal_backend_url.rstrip("/")
+                if not signal_backend_url.endswith("/host"):
+                    signal_backend_url = signal_backend_url + "/host"
+                self.signal_backend_url = f"{signal_backend_url}/{self.host_id}"
+
+            self.rtmp_url = config.get("rtmp_url", self.rtmp_url)
+            self.webrtc_api = config.get("webrtc_api", self.webrtc_api)
+            self.webrtc_stream_url = config.get("webrtc_stream_url", self.webrtc_stream_url)
+
+            self.video_device = config.get("video_device", self.video_device)
+            self.width = int(config.get("width", self.width))
+            self.height = int(config.get("height", self.height))
+            self.fps = int(config.get("fps", self.fps))
+            self.video_bitrate = config.get("video_bitrate", self.video_bitrate)
+            self.audio_device = config.get("audio_device", self.audio_device)
+            self.audio_bitrate = config.get("audio_bitrate", self.audio_bitrate)
+
+        self._running = True
+
+        print("[CameraController] start(): starting FFmpeg streaming...", file=sys.stderr)
+        self._start_ffmpeg()
+
+        self._loop = asyncio.new_event_loop()
+
+        def loop_runner(loop: asyncio.AbstractEventLoop):
+            asyncio.set_event_loop(loop)
+            try:
+                loop.run_forever()
+            except Exception as e:
+                print(f"[CameraController] event loop error: {e}", file=sys.stderr)
+
+        self._loop_thread = threading.Thread(target=loop_runner, args=(self._loop,), daemon=True)
+        self._loop_thread.start()
+
+        self._loop_task = asyncio.run_coroutine_threadsafe(self._run_main_loop(), self._loop)
+
+        return {
+            "status": "started",
+            "host_id": self.host_id,
+            "signal_backend_url": self.signal_backend_url,
+            "rtmp_url": self.rtmp_url,
+            "webrtc_api": self.webrtc_api,
+            "webrtc_stream_url": self.webrtc_stream_url,
+            "video_device": self.video_device,
+            "width": self.width,
+            "height": self.height,
+            "fps": self.fps,
+            "video_bitrate": self.video_bitrate,
+            "audio_device": self.audio_device,
+        }
+
+    def stop(self) -> Dict[str, Any]:
+        self._running = False
+
+        # 先取消主任务（让 ws connect/sleep 尽快退出）
+        if self._loop_task is not None and not self._loop_task.done():
+            self._loop_task.cancel()
+
+        # 停止推流
+        self._stop_ffmpeg()
+
+        # 关闭 WebSocket（在 loop 中执行）
+        if self._ws and self._loop is not None:
+
+            async def close_ws():
+                try:
+                    await self._ws.close()
+                except Exception as e:
+                    print(f"[CameraController] error closing WebSocket: {e}", file=sys.stderr)
+
+            try:
+                asyncio.run_coroutine_threadsafe(close_ws(), self._loop)
+            except Exception:
+                pass
+
+        # 停止事件循环
+        if self._loop is not None:
+            try:
+                self._loop.call_soon_threadsafe(self._loop.stop)
+            except Exception as e:
+                print(f"[CameraController] error stopping loop: {e}", file=sys.stderr)
+
+        # 等待线程退出
+        if self._loop_thread is not None:
+            try:
+                self._loop_thread.join(timeout=5)
+            except Exception as e:
+                print(f"[CameraController] error joining loop thread: {e}", file=sys.stderr)
+
+        self._ws = None
+        self._loop_task = None
+        self._loop = None
+        self._loop_thread = None
+
+        return {"status": "stopped", "host_id": self.host_id}
+
+    def get_status(self) -> Dict[str, Any]:
+        ws_closed = None
+        if self._ws is not None:
+            ws_closed = getattr(self._ws, "closed", None)
+
+        if ws_closed is None:
+            websocket_connected = self._ws is not None
+        else:
+            websocket_connected = (self._ws is not None) and (not ws_closed)
+
+        return {
+            "host_id": self.host_id,
+            "running": self._running,
+            "websocket_connected": websocket_connected,
+            "ffmpeg_running": bool(self._ffmpeg_process and self._ffmpeg_process.poll() is None),
+            "signal_backend_url": self.signal_backend_url,
+            "rtmp_url": self.rtmp_url,
+            "video_device": self.video_device,
+            "width": self.width,
+            "height": self.height,
+            "fps": self.fps,
+            "video_bitrate": self.video_bitrate,
+        }
+
+    # ---------------------------------------------------------------------
+    # WebSocket / 信令
+    # ---------------------------------------------------------------------
+
+    async def _run_main_loop(self):
+        print("[CameraController] main loop started", file=sys.stderr)
+        try:
+            while self._running:
+                try:
+                    async with websockets.connect(self.signal_backend_url) as ws:
+                        self._ws = ws
+                        print(f"[CameraController] WebSocket connected: {self.signal_backend_url}", file=sys.stderr)
+                        await self._recv_loop()
+                except asyncio.CancelledError:
+                    raise
+                except Exception as e:
+                    if self._running:
+                        print(f"[CameraController] WebSocket connection error: {e}", file=sys.stderr)
+                        await asyncio.sleep(3)
+        except asyncio.CancelledError:
+            pass
+        finally:
+            print("[CameraController] main loop exited", file=sys.stderr)
+
+    async def _recv_loop(self):
+        assert self._ws is not None
+        ws = self._ws
+
+        async for message in ws:
+            try:
+                data = json.loads(message)
+            except json.JSONDecodeError:
+                print(f"[CameraController] non-JSON message: {message}", file=sys.stderr)
+                continue
+
+            try:
+                await self._handle_message(data)
+            except Exception as e:
+                print(f"[CameraController] error handling message {data}: {e}", file=sys.stderr)
+
+    async def _handle_message(self, data: Dict[str, Any]):
+        cmd = data.get("command")
+
+        if cmd == "start_stream":
+            self._start_ffmpeg()
+            return
+
+        if cmd == "stop_stream":
+            self._stop_ffmpeg()
+            return
+
+        if data.get("type") == "offer":
+            offer_sdp = data.get("sdp", "")
+            camera_id = data.get("cameraId", "camera-01")
+
+            answer_sdp = await self._handle_webrtc_offer(offer_sdp)
+
+            if self._ws:
+                answer_payload = {
+                    "type": "answer",
+                    "sdp": answer_sdp,
+                    "cameraId": camera_id,
+                    "hostId": self.host_id,
+                }
+                await self._ws.send(json.dumps(answer_payload))
+
+    # ---------------------------------------------------------------------
+    # FFmpeg 推流（V4L2 USB 摄像头）
+    # ---------------------------------------------------------------------
+
+    def _start_ffmpeg(self):
+        if self._ffmpeg_process and self._ffmpeg_process.poll() is None:
+            return
+
+        # 兼容性优先：不强制输入像素格式；失败再通过外部调整 width/height/fps
+        video_size = f"{self.width}x{self.height}"
+
+        cmd = [
+            "ffmpeg",
+            "-hide_banner",
+            "-loglevel",
+            "warning",
+
+            # video input
+            "-f", "v4l2",
+            "-framerate", str(self.fps),
+            "-video_size", video_size,
+            "-i", self.video_device,
+        ]
+
+        # optional audio input
+        if self.audio_device:
+            cmd += [
+                "-f", "alsa",
+                "-i", self.audio_device,
+                "-c:a", "aac",
+                "-b:a", self.audio_bitrate,
+                "-ar", "44100",
+                "-ac", "1",
+            ]
+        else:
+            cmd += ["-an"]
+
+        # video encode + rtmp out
+        cmd += [
+            "-c:v", "libx264",
+            "-preset", "ultrafast",
+            "-tune", "zerolatency",
+            "-profile:v", "baseline",
+            "-pix_fmt", "yuv420p",
+            "-b:v", self.video_bitrate,
+            "-maxrate", self.video_bitrate,
+            "-bufsize", "2M",
+            "-g", str(max(self.fps, 10)),
+            "-keyint_min", str(max(self.fps, 10)),
+            "-sc_threshold", "0",
+            "-x264-params", "bframes=0",
+
+            "-f", "flv",
+            self.rtmp_url,
+        ]
+
+        print(f"[CameraController] starting FFmpeg: {' '.join(cmd)}", file=sys.stderr)
+
+        try:
+            # 不再丢弃日志，至少能看到 ffmpeg 报错（调试很关键）
+            self._ffmpeg_process = subprocess.Popen(
+                cmd,
+                stdout=subprocess.DEVNULL,
+                stderr=sys.stderr,
+                shell=False,
+            )
+        except Exception as e:
+            self._ffmpeg_process = None
+            print(f"[CameraController] failed to start FFmpeg: {e}", file=sys.stderr)
+
+    def _stop_ffmpeg(self):
+        proc = self._ffmpeg_process
+        if proc and proc.poll() is None:
+            try:
+                proc.terminate()
+                try:
+                    proc.wait(timeout=5)
+                except subprocess.TimeoutExpired:
+                    proc.kill()
+            except Exception as e:
+                print(f"[CameraController] error stopping FFmpeg: {e}", file=sys.stderr)
+        self._ffmpeg_process = None
+
+    # ---------------------------------------------------------------------
+    # WebRTC offer -> SRS
+    # ---------------------------------------------------------------------
+
+    async def _handle_webrtc_offer(self, offer_sdp: str) -> str:
+        payload = {
+            "api": self.webrtc_api,
+            "streamurl": self.webrtc_stream_url,
+            "sdp": offer_sdp,
+        }
+        headers = {"Content-Type": "application/json"}
+
+        def _do_post():
+            return requests.post(self.webrtc_api, json=payload, headers=headers, timeout=10)
+
+        loop = asyncio.get_running_loop()
+        resp = await loop.run_in_executor(None, _do_post)
+
+        resp.raise_for_status()
+        data = resp.json()
+        answer_sdp = data.get("sdp", "")
+        if not answer_sdp:
+            raise RuntimeError(f"empty SDP from media server: {data}")
+        return answer_sdp
+
+
+if __name__ == "__main__":
+    # 直接运行用于手动测试
+    c = CameraController(
+        host_id="demo-host",
+        video_device="/dev/video0",
+        width=1280,
+        height=720,
+        fps=30,
+        video_bitrate="1500k",
+        audio_device=None,
+    )
+    try:
+        while True:
+            asyncio.sleep(1)
+    except KeyboardInterrupt:
+        c.stop()

unilabos/devices/cameraSII/cameraUSB_test.py

@@ -0,0 +1,51 @@
+#!/usr/bin/env python3
+import time
+import json
+
+from cameraUSB import CameraController
+
+
+def main():
+    # 按你的实际情况改
+    cfg = dict(
+        host_id="demo-host",
+        signal_backend_url="wss://sciol.ac.cn/api/realtime/signal/host",
+        rtmp_url="rtmp://srs.sciol.ac.cn:4499/live/camera-01",
+        webrtc_api="https://srs.sciol.ac.cn/rtc/v1/play/",
+        webrtc_stream_url="webrtc://srs.sciol.ac.cn:4500/live/camera-01",
+        video_device="/dev/video7",
+        width=1280,
+        height=720,
+        fps=30,
+        video_bitrate="1500k",
+        audio_device=None,
+    )
+
+    c = CameraController(**cfg)
+
+    # 可选：如果你不想依赖 __init__ 自动 start，可以这样显式调用：
+    # c = CameraController(host_id=cfg["host_id"])
+    # c.start(cfg)
+
+    run_seconds = 30  # 测试运行时长
+    t0 = time.time()
+
+    try:
+        while True:
+            st = c.get_status()
+            print(json.dumps(st, ensure_ascii=False, indent=2))
+
+            if time.time() - t0 >= run_seconds:
+                break
+
+            time.sleep(2)
+    except KeyboardInterrupt:
+        print("Interrupted, stopping...")
+    finally:
+        print("Stopping controller...")
+        c.stop()
+        print("Done.")
+
+
+if __name__ == "__main__":
+    main()

unilabos/devices/cameraSII/demo_camera_pic.py

@@ -0,0 +1,36 @@
+import cv2
+
+# 推荐把 @ 进行 URL 编码：@ -> %40
+RTSP_URL = "rtsp://admin:admin123@192.168.31.164:554/stream1"
+OUTPUT_IMAGE = "rtsp_test_frame.jpg"
+
+def main():
+    print(f"尝试连接 RTSP 流: {RTSP_URL}")
+    cap = cv2.VideoCapture(RTSP_URL)
+
+    if not cap.isOpened():
+        print("错误：无法打开 RTSP 流，请检查：")
+        print("  1. IP/端口是否正确")
+        print("  2. 账号密码（尤其是 @ 是否已转成 %40）是否正确")
+        print("  3. 摄像头是否允许当前主机访问（同一网段、防火墙等）")
+        return
+
+    print("连接成功，开始读取一帧...")
+    ret, frame = cap.read()
+
+    if not ret or frame is None:
+        print("错误：已连接但未能读取到帧数据（可能是码流未开启或网络抖动）")
+        cap.release()
+        return
+
+    # 保存当前帧
+    success = cv2.imwrite(OUTPUT_IMAGE, frame)
+    cap.release()
+
+    if success:
+        print(f"成功截取一帧并保存为: {OUTPUT_IMAGE}")
+    else:
+        print("错误：写入图片失败，请检查磁盘权限/路径")
+
+if __name__ == "__main__":
+    main()

unilabos/devices/cameraSII/demo_camera_push.py

@@ -0,0 +1,21 @@
+# run_camera_push.py
+import time
+from cameraDriver import CameraController  # 这里根据你的文件名调整
+
+if __name__ == "__main__":
+    controller = CameraController(
+        host_id="demo-host",
+        signal_backend_url="wss://sciol.ac.cn/api/realtime/signal/host",
+        rtmp_url="rtmp://srs.sciol.ac.cn:4499/live/camera-01",
+        webrtc_api="https://srs.sciol.ac.cn/rtc/v1/play/",
+        webrtc_stream_url="webrtc://srs.sciol.ac.cn:4500/live/camera-01",
+        camera_rtsp_url="rtsp://admin:admin123@192.168.31.164:554/stream1",
+    )
+
+    try:
+        while True:
+            status = controller.get_status()
+            print(status)
+            time.sleep(5)
+    except KeyboardInterrupt:
+        controller.stop()

unilabos/devices/cameraSII/ptz_cameracontroller_test.py

@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+"""
+使用 CameraController 来测试 PTZ：
+让摄像头按顺序向下、向上、向左、向右运动几次。
+"""
+
+import time
+import sys
+
+# 根据你的工程结构修改导入路径：
+# 假设 CameraController 定义在 cameraController.py 里
+from cameraDriver import CameraController
+
+
+def main():
+    # === 根据你的实际情况填 IP、端口、账号密码 ===
+    ptz_host = "192.168.31.164"
+    ptz_port = 2020          # 注意要和你单独测试 PTZController 时保持一致
+    ptz_user = "admin"
+    ptz_password = "admin123"
+
+    # 1. 创建 CameraController 实例
+    cam = CameraController(
+        # 其他摄像机相关参数按你类的 __init__ 来补充
+        ptz_host=ptz_host,
+        ptz_port=ptz_port,
+        ptz_user=ptz_user,
+        ptz_password=ptz_password,
+    )
+
+    # 2. 启动 / 初始化（如果你的 CameraController 有 start(config) 之类的接口）
+    #    这里给一个最小的 config，重点是 PTZ 相关字段
+    config = {
+        "ptz_host": ptz_host,
+        "ptz_port": ptz_port,
+        "ptz_user": ptz_user,
+        "ptz_password": ptz_password,
+    }
+
+    try:
+        cam.start(config)
+    except Exception as e:
+        print(f"[TEST] CameraController start() 失败: {e}", file=sys.stderr)
+        return
+
+    # 这里可以判断一下内部 _ptz 是否初始化成功（如果你对 CameraController 做了封装）
+    if getattr(cam, "_ptz", None) is None:
+        print("[TEST] CameraController 内部 PTZ 未初始化成功，请检查 ptz_host/port/user/password 配置。", file=sys.stderr)
+        return
+
+    # 3. 依次调用 CameraController 的 PTZ 方法
+    #    这里假设你在 CameraController 中提供了这几个对外方法：
+    #    ptz_move_down / ptz_move_up / ptz_move_left / ptz_move_right
+    #    如果你命名不一样，把下面调用名改成你的即可。
+
+    print("向下移动（通过 CameraController）...")
+    cam.ptz_move_down(speed=0.5, duration=1.0)
+    time.sleep(1)
+
+    print("向上移动（通过 CameraController）...")
+    cam.ptz_move_up(speed=0.5, duration=1.0)
+    time.sleep(1)
+
+    print("向左移动（通过 CameraController）...")
+    cam.ptz_move_left(speed=0.5, duration=1.0)
+    time.sleep(1)
+
+    print("向右移动（通过 CameraController）...")
+    cam.ptz_move_right(speed=0.5, duration=1.0)
+    time.sleep(1)
+
+    print("测试结束。")
+
+
+if __name__ == "__main__":
+    main()

unilabos/devices/cameraSII/ptz_test.py

@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+"""
+测试 cameraDriver.py中的 PTZController 类，让摄像头按顺序运动几次
+"""
+
+import time
+
+from cameraDriver import PTZController
+
+
+def main():
+    # 根据你的实际情况填 IP、端口、账号密码
+    host = "192.168.31.164"
+    port = 80
+    user = "admin"
+    password = "admin123"
+
+    ptz = PTZController(host=host, port=port, user=user, password=password)
+
+    # 1. 连接摄像头
+    if not ptz.connect():
+        print("连接 PTZ 失败，检查 IP/用户名/密码/端口。")
+        return
+
+    # 2. 依次测试几个动作
+    # 每个动作之间 sleep 一下方便观察
+
+    print("向下移动...")
+    ptz.move_down(speed=0.5, duration=1.0)
+    time.sleep(1)
+
+    print("向上移动...")
+    ptz.move_up(speed=0.5, duration=1.0)
+    time.sleep(1)
+
+    print("向左移动...")
+    ptz.move_left(speed=0.5, duration=1.0)
+    time.sleep(1)
+
+    print("向右移动...")
+    ptz.move_right(speed=0.5, duration=1.0)
+    time.sleep(1)
+
+    print("测试结束。")
+
+
+if __name__ == "__main__":
+    main()

unilabos/devices/laiyu_liquid/__init__.py

@@ -1,307 +0,0 @@
-"""
-LaiYu_Liquid 液体处理工作站集成模块
-
-该模块提供了 LaiYu_Liquid 工作站与 UniLabOS 的完整集成，包括：
-- 硬件后端和抽象接口
-- 资源定义和管理
-- 协议执行和液体传输
-- 工作台配置和布局
-
-主要组件：
-- LaiYuLiquidBackend: 硬件后端实现
-- LaiYuLiquid: 液体处理器抽象接口
-- 各种资源类：枪头架、板、容器等
-- 便捷创建函数和配置管理
-
-使用示例：
-    from unilabos.devices.laiyu_liquid import (
-        LaiYuLiquid, 
-        LaiYuLiquidBackend,
-        create_standard_deck,
-        create_tip_rack_1000ul
-    )
-    
-    # 创建后端和液体处理器
-    backend = LaiYuLiquidBackend()
-    lh = LaiYuLiquid(backend=backend)
-    
-    # 创建工作台
-    deck = create_standard_deck()
-    lh.deck = deck
-    
-    # 设置和运行
-    await lh.setup()
-"""
-
-# 版本信息
-__version__ = "1.0.0"
-__author__ = "LaiYu_Liquid Integration Team"
-__description__ = "LaiYu_Liquid 液体处理工作站 UniLabOS 集成模块"
-
-# 驱动程序导入
-from .drivers import (
-    XYZStepperController,
-    SOPAPipette,
-    MotorAxis,
-    MotorStatus,
-    SOPAConfig,
-    SOPAStatusCode,
-    StepperMotorDriver
-)
-
-# 控制器导入
-from .controllers import (
-    XYZController,
-    PipetteController,
-)
-
-# 后端导入
-from .backend.rviz_backend import (
-    LiquidHandlerRvizBackend,
-)
-
-# 资源类和创建函数导入
-from .core.laiyu_liquid_res import (
-    LaiYuLiquidDeck,
-    LaiYuLiquidContainer,
-    LaiYuLiquidTipRack
-)
-
-# 主设备类和配置
-from .core.laiyu_liquid_main import (
-    LaiYuLiquid,
-    LaiYuLiquidConfig,
-    LaiYuLiquidDeck,
-    LaiYuLiquidContainer,
-    LaiYuLiquidTipRack,
-    create_quick_setup
-)
-
-# 后端创建函数导入
-from .backend import (
-    LaiYuLiquidBackend,
-    create_laiyu_backend,
-)
-
-# 导出所有公共接口
-__all__ = [
-    # 版本信息
-    "__version__",
-    "__author__",
-    "__description__",
-    
-    # 驱动程序
-    "SOPAPipette",
-    "SOPAConfig", 
-    "StepperMotorDriver",
-    "XYZStepperController",
-    
-    # 控制器
-    "PipetteController",
-    "XYZController",
-    
-    # 后端
-    "LiquidHandlerRvizBackend",
-    
-    # 资源创建函数
-    "create_tip_rack_1000ul",
-    "create_tip_rack_200ul", 
-    "create_96_well_plate",
-    "create_deep_well_plate",
-    "create_8_tube_rack",
-    "create_standard_deck",
-    "create_waste_container",
-    "create_wash_container",
-    "create_reagent_container",
-    "load_deck_config",
-    
-    # 后端创建函数
-    "create_laiyu_backend",
-    
-    # 主要类
-    "LaiYuLiquid",
-    "LaiYuLiquidConfig", 
-    "LaiYuLiquidBackend",
-    "LaiYuLiquidDeck",
-    
-    # 工具函数
-    "get_version",
-    "get_supported_resources",
-    "create_quick_setup",
-    "validate_installation",
-    "print_module_info",
-    "setup_logging",
-]
-
-# 别名定义，为了向后兼容
-LaiYuLiquidDevice = LaiYuLiquid  # 主设备类别名
-LaiYuLiquidController = XYZController  # 控制器别名
-LaiYuLiquidDriver = XYZStepperController  # 驱动器别名
-
-# 模块级别的便捷函数
-
-def get_version() -> str:
-    """
-    获取模块版本
-    
-    Returns:
-        str: 版本号
-    """
-    return __version__
-
-
-def get_supported_resources() -> dict:
-    """
-    获取支持的资源类型
-    
-    Returns:
-        dict: 支持的资源类型字典
-    """
-    return {
-        "tip_racks": {
-            "LaiYuLiquidTipRack": LaiYuLiquidTipRack,
-        },
-        "containers": {
-            "LaiYuLiquidContainer": LaiYuLiquidContainer,
-        },
-        "decks": {
-            "LaiYuLiquidDeck": LaiYuLiquidDeck,
-        },
-        "devices": {
-            "LaiYuLiquid": LaiYuLiquid,
-        }
-    }
-
-
-def create_quick_setup() -> tuple:
-    """
-    快速创建基本设置
-    
-    Returns:
-        tuple: (backend, controllers, resources) 的元组
-    """
-    # 创建后端
-    backend = LiquidHandlerRvizBackend()
-    
-    # 创建控制器（使用默认端口进行演示）
-    pipette_controller = PipetteController(port="/dev/ttyUSB0", address=4)
-    xyz_controller = XYZController(port="/dev/ttyUSB1", auto_connect=False)
-    
-    # 创建测试资源
-    tip_rack_1000 = create_tip_rack_1000ul("tip_rack_1000")
-    tip_rack_200 = create_tip_rack_200ul("tip_rack_200")
-    well_plate = create_96_well_plate("96_well_plate")
-    
-    controllers = {
-        'pipette': pipette_controller,
-        'xyz': xyz_controller
-    }
-    
-    resources = {
-        'tip_rack_1000': tip_rack_1000,
-        'tip_rack_200': tip_rack_200,
-        'well_plate': well_plate
-    }
-    
-    return backend, controllers, resources
-
-
-def validate_installation() -> bool:
-    """
-    验证模块安装是否正确
-    
-    Returns:
-        bool: 安装是否正确
-    """
-    try:
-        # 检查核心类是否可以导入
-        from .core.laiyu_liquid_main import LaiYuLiquid, LaiYuLiquidConfig
-        from .backend import LaiYuLiquidBackend
-        from .controllers import XYZController, PipetteController
-        from .drivers import XYZStepperController, SOPAPipette
-        
-        # 尝试创建基本对象
-        config = LaiYuLiquidConfig()
-        backend = create_laiyu_backend("validation_test")
-        
-        print("模块安装验证成功")
-        return True
-        
-    except Exception as e:
-        print(f"模块安装验证失败: {e}")
-        return False
-
-
-def print_module_info():
-    """打印模块信息"""
-    print(f"LaiYu_Liquid 集成模块")
-    print(f"版本: {__version__}")
-    print(f"作者: {__author__}")
-    print(f"描述: {__description__}")
-    print(f"")
-    print(f"支持的资源类型:")
-    
-    resources = get_supported_resources()
-    for category, types in resources.items():
-        print(f"  {category}:")
-        for type_name, type_class in types.items():
-            print(f"    - {type_name}: {type_class.__name__}")
-    
-    print(f"")
-    print(f"主要功能:")
-    print(f"  - 硬件集成: LaiYuLiquidBackend")
-    print(f"  - 抽象接口: LaiYuLiquid")
-    print(f"  - 资源管理: 各种资源类和创建函数")
-    print(f"  - 协议执行: transfer_liquid 和相关函数")
-    print(f"  - 配置管理: deck.json 和加载函数")
-
-
-# 模块初始化时的检查
-def _check_dependencies():
-    """检查依赖项"""
-    try:
-        import pylabrobot
-        import asyncio
-        import json
-        import logging
-        return True
-    except ImportError as e:
-        import logging
-        logging.warning(f"缺少依赖项 {e}")
-        return False
-
-
-# 执行依赖检查
-_dependencies_ok = _check_dependencies()
-
-if not _dependencies_ok:
-    import logging
-    logging.warning("某些依赖项缺失，模块功能可能受限")
-
-
-# 模块级别的日志配置
-import logging
-
-def setup_logging(level: str = "INFO"):
-    """
-    设置模块日志
-    
-    Args:
-        level: 日志级别 (DEBUG, INFO, WARNING, ERROR)
-    """
-    logger = logging.getLogger("LaiYu_Liquid")
-    logger.setLevel(getattr(logging, level.upper()))
-    
-    if not logger.handlers:
-        handler = logging.StreamHandler()
-        formatter = logging.Formatter(
-            '%(asctime)s - %(name)s - %(levelname)s - %(message)s'
-        )
-        handler.setFormatter(formatter)
-        logger.addHandler(handler)
-    
-    return logger
-
-
-# 默认日志设置
-_logger = setup_logging()

unilabos/devices/laiyu_liquid/backend/__init__.py

@@ -1,9 +0,0 @@
-"""
-LaiYu液体处理设备后端模块
-
-提供设备后端接口和实现
-"""
-
-from .laiyu_backend import LaiYuLiquidBackend, create_laiyu_backend
-
-__all__ = ['LaiYuLiquidBackend', 'create_laiyu_backend']

unilabos/devices/laiyu_liquid/backend/laiyu_backend.py

@@ -1,334 +0,0 @@
-"""
-LaiYu液体处理设备后端实现
-
-提供设备的后端接口和控制逻辑
-"""
-
-import logging
-from typing import Dict, Any, Optional, List
-from abc import ABC, abstractmethod
-
-# 尝试导入PyLabRobot后端
-try:
-    from pylabrobot.liquid_handling.backends import LiquidHandlerBackend
-    PYLABROBOT_AVAILABLE = True
-except ImportError:
-    PYLABROBOT_AVAILABLE = False
-    # 创建模拟后端基类
-    class LiquidHandlerBackend:
-        def __init__(self, name: str):
-            self.name = name
-            self.is_connected = False
-        
-        def connect(self):
-            """连接设备"""
-            pass
-        
-        def disconnect(self):
-            """断开连接"""
-            pass
-
-
-class LaiYuLiquidBackend(LiquidHandlerBackend):
-    """LaiYu液体处理设备后端"""
-    
-    def __init__(self, name: str = "LaiYu_Liquid_Backend"):
-        """
-        初始化LaiYu液体处理设备后端
-        
-        Args:
-            name: 后端名称
-        """
-        if PYLABROBOT_AVAILABLE:
-            # PyLabRobot 的 LiquidHandlerBackend 不接受参数
-            super().__init__()
-        else:
-            # 模拟版本接受 name 参数
-            super().__init__(name)
-        
-        self.name = name
-        self.logger = logging.getLogger(__name__)
-        self.is_connected = False
-        self.device_info = {
-            "name": "LaiYu液体处理设备",
-            "version": "1.0.0",
-            "manufacturer": "LaiYu",
-            "model": "LaiYu_Liquid_Handler"
-        }
-    
-    def connect(self) -> bool:
-        """
-        连接到LaiYu液体处理设备
-        
-        Returns:
-            bool: 连接是否成功
-        """
-        try:
-            self.logger.info("正在连接到LaiYu液体处理设备...")
-            # 这里应该实现实际的设备连接逻辑
-            # 目前返回模拟连接成功
-            self.is_connected = True
-            self.logger.info("成功连接到LaiYu液体处理设备")
-            return True
-        except Exception as e:
-            self.logger.error(f"连接LaiYu液体处理设备失败: {e}")
-            self.is_connected = False
-            return False
-    
-    def disconnect(self) -> bool:
-        """
-        断开与LaiYu液体处理设备的连接
-        
-        Returns:
-            bool: 断开连接是否成功
-        """
-        try:
-            self.logger.info("正在断开与LaiYu液体处理设备的连接...")
-            # 这里应该实现实际的设备断开连接逻辑
-            self.is_connected = False
-            self.logger.info("成功断开与LaiYu液体处理设备的连接")
-            return True
-        except Exception as e:
-            self.logger.error(f"断开LaiYu液体处理设备连接失败: {e}")
-            return False
-    
-    def is_device_connected(self) -> bool:
-        """
-        检查设备是否已连接
-        
-        Returns:
-            bool: 设备是否已连接
-        """
-        return self.is_connected
-    
-    def get_device_info(self) -> Dict[str, Any]:
-        """
-        获取设备信息
-        
-        Returns:
-            Dict[str, Any]: 设备信息字典
-        """
-        return self.device_info.copy()
-    
-    def home_device(self) -> bool:
-        """
-        设备归零操作
-        
-        Returns:
-            bool: 归零是否成功
-        """
-        if not self.is_connected:
-            self.logger.error("设备未连接，无法执行归零操作")
-            return False
-        
-        try:
-            self.logger.info("正在执行设备归零操作...")
-            # 这里应该实现实际的设备归零逻辑
-            self.logger.info("设备归零操作完成")
-            return True
-        except Exception as e:
-            self.logger.error(f"设备归零操作失败: {e}")
-            return False
-    
-    def aspirate(self, volume: float, location: Dict[str, Any]) -> bool:
-        """
-        吸液操作
-        
-        Args:
-            volume: 吸液体积 (微升)
-            location: 吸液位置信息
-            
-        Returns:
-            bool: 吸液是否成功
-        """
-        if not self.is_connected:
-            self.logger.error("设备未连接，无法执行吸液操作")
-            return False
-        
-        try:
-            self.logger.info(f"正在执行吸液操作: 体积={volume}μL, 位置={location}")
-            # 这里应该实现实际的吸液逻辑
-            self.logger.info("吸液操作完成")
-            return True
-        except Exception as e:
-            self.logger.error(f"吸液操作失败: {e}")
-            return False
-    
-    def dispense(self, volume: float, location: Dict[str, Any]) -> bool:
-        """
-        排液操作
-        
-        Args:
-            volume: 排液体积 (微升)
-            location: 排液位置信息
-            
-        Returns:
-            bool: 排液是否成功
-        """
-        if not self.is_connected:
-            self.logger.error("设备未连接，无法执行排液操作")
-            return False
-        
-        try:
-            self.logger.info(f"正在执行排液操作: 体积={volume}μL, 位置={location}")
-            # 这里应该实现实际的排液逻辑
-            self.logger.info("排液操作完成")
-            return True
-        except Exception as e:
-            self.logger.error(f"排液操作失败: {e}")
-            return False
-    
-    def pick_up_tip(self, location: Dict[str, Any]) -> bool:
-        """
-        取枪头操作
-        
-        Args:
-            location: 枪头位置信息
-            
-        Returns:
-            bool: 取枪头是否成功
-        """
-        if not self.is_connected:
-            self.logger.error("设备未连接，无法执行取枪头操作")
-            return False
-        
-        try:
-            self.logger.info(f"正在执行取枪头操作: 位置={location}")
-            # 这里应该实现实际的取枪头逻辑
-            self.logger.info("取枪头操作完成")
-            return True
-        except Exception as e:
-            self.logger.error(f"取枪头操作失败: {e}")
-            return False
-    
-    def drop_tip(self, location: Dict[str, Any]) -> bool:
-        """
-        丢弃枪头操作
-        
-        Args:
-            location: 丢弃位置信息
-            
-        Returns:
-            bool: 丢弃枪头是否成功
-        """
-        if not self.is_connected:
-            self.logger.error("设备未连接，无法执行丢弃枪头操作")
-            return False
-        
-        try:
-            self.logger.info(f"正在执行丢弃枪头操作: 位置={location}")
-            # 这里应该实现实际的丢弃枪头逻辑
-            self.logger.info("丢弃枪头操作完成")
-            return True
-        except Exception as e:
-            self.logger.error(f"丢弃枪头操作失败: {e}")
-            return False
-    
-    def move_to(self, location: Dict[str, Any]) -> bool:
-        """
-        移动到指定位置
-        
-        Args:
-            location: 目标位置信息
-            
-        Returns:
-            bool: 移动是否成功
-        """
-        if not self.is_connected:
-            self.logger.error("设备未连接，无法执行移动操作")
-            return False
-        
-        try:
-            self.logger.info(f"正在移动到位置: {location}")
-            # 这里应该实现实际的移动逻辑
-            self.logger.info("移动操作完成")
-            return True
-        except Exception as e:
-            self.logger.error(f"移动操作失败: {e}")
-            return False
-    
-    def get_status(self) -> Dict[str, Any]:
-        """
-        获取设备状态
-        
-        Returns:
-            Dict[str, Any]: 设备状态信息
-        """
-        return {
-            "connected": self.is_connected,
-            "device_info": self.device_info,
-            "status": "ready" if self.is_connected else "disconnected"
-        }
-    
-    # PyLabRobot 抽象方法实现
-    def stop(self):
-        """停止所有操作"""
-        self.logger.info("停止所有操作")
-        pass
-    
-    @property
-    def num_channels(self) -> int:
-        """返回通道数量"""
-        return 1  # 单通道移液器
-    
-    def can_pick_up_tip(self, tip_rack, tip_position) -> bool:
-        """检查是否可以拾取吸头"""
-        return True  # 简化实现，总是返回True
-    
-    def pick_up_tips(self, tip_rack, tip_positions):
-        """拾取多个吸头"""
-        self.logger.info(f"拾取吸头: {tip_positions}")
-        pass
-    
-    def drop_tips(self, tip_rack, tip_positions):
-        """丢弃多个吸头"""
-        self.logger.info(f"丢弃吸头: {tip_positions}")
-        pass
-    
-    def pick_up_tips96(self, tip_rack):
-        """拾取96个吸头"""
-        self.logger.info("拾取96个吸头")
-        pass
-    
-    def drop_tips96(self, tip_rack):
-        """丢弃96个吸头"""
-        self.logger.info("丢弃96个吸头")
-        pass
-    
-    def aspirate96(self, volume, plate, well_positions):
-        """96通道吸液"""
-        self.logger.info(f"96通道吸液: 体积={volume}")
-        pass
-    
-    def dispense96(self, volume, plate, well_positions):
-        """96通道排液"""
-        self.logger.info(f"96通道排液: 体积={volume}")
-        pass
-    
-    def pick_up_resource(self, resource, location):
-        """拾取资源"""
-        self.logger.info(f"拾取资源: {resource}")
-        pass
-    
-    def drop_resource(self, resource, location):
-        """放置资源"""
-        self.logger.info(f"放置资源: {resource}")
-        pass
-    
-    def move_picked_up_resource(self, resource, location):
-        """移动已拾取的资源"""
-        self.logger.info(f"移动资源: {resource} 到 {location}")
-        pass
-
-
-def create_laiyu_backend(name: str = "LaiYu_Liquid_Backend") -> LaiYuLiquidBackend:
-    """
-    创建LaiYu液体处理设备后端实例
-    
-    Args:
-        name: 后端名称
-        
-    Returns:
-        LaiYuLiquidBackend: 后端实例
-    """
-    return LaiYuLiquidBackend(name)

unilabos/devices/laiyu_liquid/backend/rviz_backend.py

@@ -1,209 +0,0 @@
-      
-import json
-from typing import List, Optional, Union
-
-from pylabrobot.liquid_handling.backends.backend import (
-  LiquidHandlerBackend,
-)
-from pylabrobot.liquid_handling.standard import (
-  Drop,
-  DropTipRack,
-  MultiHeadAspirationContainer,
-  MultiHeadAspirationPlate,
-  MultiHeadDispenseContainer,
-  MultiHeadDispensePlate,
-  Pickup,
-  PickupTipRack,
-  ResourceDrop,
-  ResourceMove,
-  ResourcePickup,
-  SingleChannelAspiration,
-  SingleChannelDispense,
-)
-from pylabrobot.resources import Resource, Tip
-
-import rclpy
-from rclpy.node import Node
-from sensor_msgs.msg import JointState
-import time
-from rclpy.action import ActionClient
-from unilabos_msgs.action import SendCmd
-import re
-
-from unilabos.devices.ros_dev.liquid_handler_joint_publisher import JointStatePublisher
-
-
-class LiquidHandlerRvizBackend(LiquidHandlerBackend):
-  """Chatter box backend for device-free testing. Prints out all operations."""
-
-  _pip_length = 5
-  _vol_length = 8
-  _resource_length = 20
-  _offset_length = 16
-  _flow_rate_length = 10
-  _blowout_length = 10
-  _lld_z_length = 10
-  _kwargs_length = 15
-  _tip_type_length = 12
-  _max_volume_length = 16
-  _fitting_depth_length = 20
-  _tip_length_length = 16
-  # _pickup_method_length = 20
-  _filter_length = 10
-
-  def __init__(self, num_channels: int = 8):
-    """Initialize a chatter box backend."""
-    super().__init__()
-    self._num_channels = num_channels
-# rclpy.init()
-    if not rclpy.ok():
-        rclpy.init()
-    self.joint_state_publisher = None
-
-  async def setup(self):
-    self.joint_state_publisher = JointStatePublisher()
-    await super().setup()
-  async def stop(self):
-    pass
-
-  def serialize(self) -> dict:
-    return {**super().serialize(), "num_channels": self.num_channels}
-
-  @property
-  def num_channels(self) -> int:
-    return self._num_channels
-
-  async def assigned_resource_callback(self, resource: Resource):
-    pass
-
-  async def unassigned_resource_callback(self, name: str):
-    pass
-
-  async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int], **backend_kwargs):
-
-    for op, channel in zip(ops, use_channels):
-      offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}"
-      row = (
-        f"  p{channel}: "
-        f"{op.resource.name[-30:]:<{LiquidHandlerRvizBackend._resource_length}} "
-        f"{offset:<{LiquidHandlerRvizBackend._offset_length}} "
-        f"{op.tip.__class__.__name__:<{LiquidHandlerRvizBackend._tip_type_length}} "
-        f"{op.tip.maximal_volume:<{LiquidHandlerRvizBackend._max_volume_length}} "
-        f"{op.tip.fitting_depth:<{LiquidHandlerRvizBackend._fitting_depth_length}} "
-        f"{op.tip.total_tip_length:<{LiquidHandlerRvizBackend._tip_length_length}} "
-        # f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
-        f"{'Yes' if op.tip.has_filter else 'No':<{LiquidHandlerRvizBackend._filter_length}}"
-      )
-    coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
-    x = coordinate.x
-    y = coordinate.y
-    z = coordinate.z + 70
-    self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "pick")
-    #   goback()
-
-
-
-
-  async def drop_tips(self, ops: List[Drop], use_channels: List[int], **backend_kwargs):
-
-    coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
-    x = coordinate.x
-    y = coordinate.y
-    z = coordinate.z + 70
-    self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "drop_trash")
-    #   goback()
-
-  async def aspirate(
-    self,
-    ops: List[SingleChannelAspiration],
-    use_channels: List[int],
-    **backend_kwargs,
-  ):
-    # 执行吸液操作
-    pass
-
-    for o, p in zip(ops, use_channels):
-      offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
-      row = (
-        f"  p{p}: "
-        f"{o.volume:<{LiquidHandlerRvizBackend._vol_length}} "
-        f"{o.resource.name[-20:]:<{LiquidHandlerRvizBackend._resource_length}} "
-        f"{offset:<{LiquidHandlerRvizBackend._offset_length}} "
-        f"{str(o.flow_rate):<{LiquidHandlerRvizBackend._flow_rate_length}} "
-        f"{str(o.blow_out_air_volume):<{LiquidHandlerRvizBackend._blowout_length}} "
-        f"{str(o.liquid_height):<{LiquidHandlerRvizBackend._lld_z_length}} "
-        # f"{o.liquids if o.liquids is not None else 'none'}"
-      )
-      for key, value in backend_kwargs.items():
-        if isinstance(value, list) and all(isinstance(v, bool) for v in value):
-          value = "".join("T" if v else "F" for v in value)
-        if isinstance(value, list):
-          value = "".join(map(str, value))
-        row += f" {value:<15}"
-    coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
-    x = coordinate.x
-    y = coordinate.y
-    z = coordinate.z + 70 
-    self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "")
-
-
-  async def dispense(
-    self,
-    ops: List[SingleChannelDispense],
-    use_channels: List[int],
-    **backend_kwargs,
-  ):
-
-    for o, p in zip(ops, use_channels):
-      offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
-      row = (
-        f"  p{p}: "
-        f"{o.volume:<{LiquidHandlerRvizBackend._vol_length}} "
-        f"{o.resource.name[-20:]:<{LiquidHandlerRvizBackend._resource_length}} "
-        f"{offset:<{LiquidHandlerRvizBackend._offset_length}} "
-        f"{str(o.flow_rate):<{LiquidHandlerRvizBackend._flow_rate_length}} "
-        f"{str(o.blow_out_air_volume):<{LiquidHandlerRvizBackend._blowout_length}} "
-        f"{str(o.liquid_height):<{LiquidHandlerRvizBackend._lld_z_length}} "
-        # f"{o.liquids if o.liquids is not None else 'none'}"
-      )
-      for key, value in backend_kwargs.items():
-        if isinstance(value, list) and all(isinstance(v, bool) for v in value):
-          value = "".join("T" if v else "F" for v in value)
-        if isinstance(value, list):
-          value = "".join(map(str, value))
-        row += f" {value:<{LiquidHandlerRvizBackend._kwargs_length}}"
-    coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
-    x = coordinate.x
-    y = coordinate.y
-    z = coordinate.z + 70
-    self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "")
-
-  async def pick_up_tips96(self, pickup: PickupTipRack, **backend_kwargs):
-    pass
-
-  async def drop_tips96(self, drop: DropTipRack, **backend_kwargs):
-    pass
-
-  async def aspirate96(
-    self, aspiration: Union[MultiHeadAspirationPlate, MultiHeadAspirationContainer]
-  ):
-    pass
-
-  async def dispense96(self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]):
-    pass
-
-  async def pick_up_resource(self, pickup: ResourcePickup):
-    # 执行资源拾取操作
-    pass
-
-  async def move_picked_up_resource(self, move: ResourceMove):
-    # 执行资源移动操作
-    pass
-
-  async def drop_resource(self, drop: ResourceDrop):
-    # 执行资源放置操作
-    pass
-
-  def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool:
-    return True
-    

unilabos/devices/laiyu_liquid/config/deckconfig.md

@@ -1,14 +0,0 @@
- goto 171 178 57  H1
- goto 171 117 57  A1
- goto 172 178 130
- goto 173 179 133 
-  goto 173 180 133 
-goto 173 180 138
-goto 173 180 125 （+10mm，在空的上面边缘）
-goto 173 180 130 取不到
-goto 173 180 133 取不到
-goto 173 180 135
-goto 173 180 137 取到了！！！！
-goto 173 180 131 弹出枪头 H1
-
-goto 173 117 137 A1 （+10mm，可以取到新枪头了！！！！）

unilabos/devices/laiyu_liquid/controllers/__init__.py

@@ -1,25 +0,0 @@
-"""
-LaiYu_Liquid 控制器模块
-
-该模块包含了LaiYu_Liquid液体处理工作站的高级控制器：
-- 移液器控制器：提供液体处理的高级接口
-- XYZ运动控制器：提供三轴运动的高级接口
-"""
-
-# 移液器控制器导入
-from .pipette_controller import PipetteController
-
-# XYZ运动控制器导入
-from .xyz_controller import XYZController
-
-__all__ = [
-    # 移液器控制器
-    "PipetteController",
-    
-    # XYZ运动控制器
-    "XYZController",
-]
-
-__version__ = "1.0.0"
-__author__ = "LaiYu_Liquid Controller Team"
-__description__ = "LaiYu_Liquid 高级控制器集合"

unilabos/devices/laiyu_liquid/core/__init__.py

@@ -1,44 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-"""
-LaiYu液体处理设备核心模块
-
-该模块包含LaiYu液体处理设备的核心功能组件：
-- LaiYu_Liquid.py: 主设备类和配置管理
-- abstract_protocol.py: 抽象协议定义
-- laiyu_liquid_res.py: 设备资源管理
-
-作者: UniLab团队
-版本: 2.0.0
-"""
-
-from .laiyu_liquid_main import (
-    LaiYuLiquid,
-    LaiYuLiquidConfig,
-    LaiYuLiquidBackend,
-    LaiYuLiquidDeck,
-    LaiYuLiquidContainer,
-    LaiYuLiquidTipRack,
-    create_quick_setup
-)
-
-from .laiyu_liquid_res import (
-    LaiYuLiquidDeck,
-    LaiYuLiquidContainer, 
-    LaiYuLiquidTipRack
-)
-
-__all__ = [
-    # 主设备类
-    'LaiYuLiquid',
-    'LaiYuLiquidConfig',
-    'LaiYuLiquidBackend',
-    
-    # 设备资源
-    'LaiYuLiquidDeck',
-    'LaiYuLiquidContainer',
-    'LaiYuLiquidTipRack',
-    
-    # 工具函数
-    'create_quick_setup'
-]

unilabos/devices/laiyu_liquid/core/abstract_protocol.py

@@ -1,529 +0,0 @@
-"""
-LaiYu_Liquid 抽象协议实现
-
-该模块提供了液体资源管理和转移的抽象协议，包括：
-- MaterialResource: 液体资源管理类
-- transfer_liquid: 液体转移函数
-- 相关的辅助类和函数
-
-主要功能：
-- 管理多孔位的液体资源
-- 计算和跟踪液体体积
-- 处理液体转移操作
-- 提供资源状态查询
-"""
-
-import logging
-from typing import Dict, List, Optional, Union, Any, Tuple
-from dataclasses import dataclass, field
-from enum import Enum
-import uuid
-import time
-
-# pylabrobot 导入
-from pylabrobot.resources import Resource, Well, Plate
-
-logger = logging.getLogger(__name__)
-
-
-class LiquidType(Enum):
-    """液体类型枚举"""
-    WATER = "water"
-    ETHANOL = "ethanol"
-    DMSO = "dmso"
-    BUFFER = "buffer"
-    SAMPLE = "sample"
-    REAGENT = "reagent"
-    WASTE = "waste"
-    UNKNOWN = "unknown"
-
-
-@dataclass
-class LiquidInfo:
-    """液体信息类"""
-    liquid_type: LiquidType = LiquidType.UNKNOWN
-    volume: float = 0.0  # 体积 (μL)
-    concentration: Optional[float] = None  # 浓度 (mg/ml, M等)
-    ph: Optional[float] = None  # pH值
-    temperature: Optional[float] = None  # 温度 (°C)
-    viscosity: Optional[float] = None  # 粘度 (cP)
-    density: Optional[float] = None  # 密度 (g/ml)
-    description: str = ""  # 描述信息
-    
-    def __str__(self) -> str:
-        return f"{self.liquid_type.value}({self.description})"
-
-
-@dataclass
-class WellContent:
-    """孔位内容类"""
-    volume: float = 0.0  # 当前体积 (ul)
-    max_volume: float = 1000.0  # 最大容量 (ul)
-    liquid_info: LiquidInfo = field(default_factory=LiquidInfo)
-    last_updated: float = field(default_factory=time.time)
-    
-    @property
-    def is_empty(self) -> bool:
-        """检查是否为空"""
-        return self.volume <= 0.0
-    
-    @property
-    def is_full(self) -> bool:
-        """检查是否已满"""
-        return self.volume >= self.max_volume
-    
-    @property
-    def available_volume(self) -> float:
-        """可用体积"""
-        return max(0.0, self.max_volume - self.volume)
-    
-    @property
-    def fill_percentage(self) -> float:
-        """填充百分比"""
-        return (self.volume / self.max_volume) * 100.0 if self.max_volume > 0 else 0.0
-    
-    def can_add_volume(self, volume: float) -> bool:
-        """检查是否可以添加指定体积"""
-        return (self.volume + volume) <= self.max_volume
-    
-    def can_remove_volume(self, volume: float) -> bool:
-        """检查是否可以移除指定体积"""
-        return self.volume >= volume
-    
-    def add_volume(self, volume: float, liquid_info: Optional[LiquidInfo] = None) -> bool:
-        """
-        添加液体体积
-        
-        Args:
-            volume: 要添加的体积 (ul)
-            liquid_info: 液体信息
-            
-        Returns:
-            bool: 是否成功添加
-        """
-        if not self.can_add_volume(volume):
-            return False
-        
-        self.volume += volume
-        if liquid_info:
-            self.liquid_info = liquid_info
-        self.last_updated = time.time()
-        return True
-    
-    def remove_volume(self, volume: float) -> bool:
-        """
-        移除液体体积
-        
-        Args:
-            volume: 要移除的体积 (ul)
-            
-        Returns:
-            bool: 是否成功移除
-        """
-        if not self.can_remove_volume(volume):
-            return False
-        
-        self.volume -= volume
-        self.last_updated = time.time()
-        
-        # 如果完全清空，重置液体信息
-        if self.volume <= 0.0:
-            self.volume = 0.0
-            self.liquid_info = LiquidInfo()
-        
-        return True
-
-
-class MaterialResource:
-    """
-    液体资源管理类
-    
-    该类用于管理液体处理过程中的资源状态，包括：
-    - 跟踪多个孔位的液体体积和类型
-    - 计算总体积和可用体积
-    - 处理液体的添加和移除
-    - 提供资源状态查询
-    """
-    
-    def __init__(
-        self,
-        resource: Resource,
-        wells: Optional[List[Well]] = None,
-        default_max_volume: float = 1000.0
-    ):
-        """
-        初始化材料资源
-        
-        Args:
-            resource: pylabrobot 资源对象
-            wells: 孔位列表，如果为None则自动获取
-            default_max_volume: 默认最大体积 (ul)
-        """
-        self.resource = resource
-        self.resource_id = str(uuid.uuid4())
-        self.default_max_volume = default_max_volume
-        
-        # 获取孔位列表
-        if wells is None:
-            if hasattr(resource, 'get_wells'):
-                self.wells = resource.get_wells()
-            elif hasattr(resource, 'wells'):
-                self.wells = resource.wells
-            else:
-                # 如果没有孔位，创建一个虚拟孔位
-                self.wells = [resource]
-        else:
-            self.wells = wells
-        
-        # 初始化孔位内容
-        self.well_contents: Dict[str, WellContent] = {}
-        for well in self.wells:
-            well_id = self._get_well_id(well)
-            self.well_contents[well_id] = WellContent(
-                max_volume=default_max_volume
-            )
-        
-        logger.info(f"初始化材料资源: {resource.name}, 孔位数: {len(self.wells)}")
-    
-    def _get_well_id(self, well: Union[Well, Resource]) -> str:
-        """获取孔位ID"""
-        if hasattr(well, 'name'):
-            return well.name
-        else:
-            return str(id(well))
-    
-    @property
-    def name(self) -> str:
-        """资源名称"""
-        return self.resource.name
-    
-    @property
-    def total_volume(self) -> float:
-        """总液体体积"""
-        return sum(content.volume for content in self.well_contents.values())
-    
-    @property
-    def total_max_volume(self) -> float:
-        """总最大容量"""
-        return sum(content.max_volume for content in self.well_contents.values())
-    
-    @property
-    def available_volume(self) -> float:
-        """总可用体积"""
-        return sum(content.available_volume for content in self.well_contents.values())
-    
-    @property
-    def well_count(self) -> int:
-        """孔位数量"""
-        return len(self.wells)
-    
-    @property
-    def empty_wells(self) -> List[str]:
-        """空孔位列表"""
-        return [well_id for well_id, content in self.well_contents.items() 
-                if content.is_empty]
-    
-    @property
-    def full_wells(self) -> List[str]:
-        """满孔位列表"""
-        return [well_id for well_id, content in self.well_contents.items() 
-                if content.is_full]
-    
-    @property
-    def occupied_wells(self) -> List[str]:
-        """有液体的孔位列表"""
-        return [well_id for well_id, content in self.well_contents.items() 
-                if not content.is_empty]
-    
-    def get_well_content(self, well_id: str) -> Optional[WellContent]:
-        """获取指定孔位的内容"""
-        return self.well_contents.get(well_id)
-    
-    def get_well_volume(self, well_id: str) -> float:
-        """获取指定孔位的体积"""
-        content = self.get_well_content(well_id)
-        return content.volume if content else 0.0
-    
-    def set_well_volume(
-        self,
-        well_id: str,
-        volume: float,
-        liquid_info: Optional[LiquidInfo] = None
-    ) -> bool:
-        """
-        设置指定孔位的体积
-        
-        Args:
-            well_id: 孔位ID
-            volume: 体积 (ul)
-            liquid_info: 液体信息
-            
-        Returns:
-            bool: 是否成功设置
-        """
-        if well_id not in self.well_contents:
-            logger.error(f"孔位 {well_id} 不存在")
-            return False
-        
-        content = self.well_contents[well_id]
-        if volume > content.max_volume:
-            logger.error(f"体积 {volume} 超过最大容量 {content.max_volume}")
-            return False
-        
-        content.volume = max(0.0, volume)
-        if liquid_info:
-            content.liquid_info = liquid_info
-        content.last_updated = time.time()
-        
-        logger.info(f"设置孔位 {well_id} 体积: {volume}ul")
-        return True
-    
-    def add_liquid(
-        self,
-        well_id: str,
-        volume: float,
-        liquid_info: Optional[LiquidInfo] = None
-    ) -> bool:
-        """
-        向指定孔位添加液体
-        
-        Args:
-            well_id: 孔位ID
-            volume: 添加的体积 (ul)
-            liquid_info: 液体信息
-            
-        Returns:
-            bool: 是否成功添加
-        """
-        if well_id not in self.well_contents:
-            logger.error(f"孔位 {well_id} 不存在")
-            return False
-        
-        content = self.well_contents[well_id]
-        success = content.add_volume(volume, liquid_info)
-        
-        if success:
-            logger.info(f"向孔位 {well_id} 添加 {volume}ul 液体")
-        else:
-            logger.error(f"无法向孔位 {well_id} 添加 {volume}ul 液体")
-        
-        return success
-    
-    def remove_liquid(self, well_id: str, volume: float) -> bool:
-        """
-        从指定孔位移除液体
-        
-        Args:
-            well_id: 孔位ID
-            volume: 移除的体积 (ul)
-            
-        Returns:
-            bool: 是否成功移除
-        """
-        if well_id not in self.well_contents:
-            logger.error(f"孔位 {well_id} 不存在")
-            return False
-        
-        content = self.well_contents[well_id]
-        success = content.remove_volume(volume)
-        
-        if success:
-            logger.info(f"从孔位 {well_id} 移除 {volume}ul 液体")
-        else:
-            logger.error(f"无法从孔位 {well_id} 移除 {volume}ul 液体")
-        
-        return success
-    
-    def find_wells_with_volume(self, min_volume: float) -> List[str]:
-        """
-        查找具有指定最小体积的孔位
-        
-        Args:
-            min_volume: 最小体积 (ul)
-            
-        Returns:
-            List[str]: 符合条件的孔位ID列表
-        """
-        return [well_id for well_id, content in self.well_contents.items()
-                if content.volume >= min_volume]
-    
-    def find_wells_with_space(self, min_space: float) -> List[str]:
-        """
-        查找具有指定最小空间的孔位
-        
-        Args:
-            min_space: 最小空间 (ul)
-            
-        Returns:
-            List[str]: 符合条件的孔位ID列表
-        """
-        return [well_id for well_id, content in self.well_contents.items()
-                if content.available_volume >= min_space]
-    
-    def get_status_summary(self) -> Dict[str, Any]:
-        """获取资源状态摘要"""
-        return {
-            "resource_name": self.name,
-            "resource_id": self.resource_id,
-            "well_count": self.well_count,
-            "total_volume": self.total_volume,
-            "total_max_volume": self.total_max_volume,
-            "available_volume": self.available_volume,
-            "fill_percentage": (self.total_volume / self.total_max_volume) * 100.0,
-            "empty_wells": len(self.empty_wells),
-            "full_wells": len(self.full_wells),
-            "occupied_wells": len(self.occupied_wells)
-        }
-    
-    def get_detailed_status(self) -> Dict[str, Any]:
-        """获取详细状态信息"""
-        well_details = {}
-        for well_id, content in self.well_contents.items():
-            well_details[well_id] = {
-                "volume": content.volume,
-                "max_volume": content.max_volume,
-                "available_volume": content.available_volume,
-                "fill_percentage": content.fill_percentage,
-                "liquid_type": content.liquid_info.liquid_type.value,
-                "description": content.liquid_info.description,
-                "last_updated": content.last_updated
-            }
-        
-        return {
-            "summary": self.get_status_summary(),
-            "wells": well_details
-        }
-
-
-def transfer_liquid(
-    source: MaterialResource,
-    target: MaterialResource,
-    volume: float,
-    source_well_id: Optional[str] = None,
-    target_well_id: Optional[str] = None,
-    liquid_info: Optional[LiquidInfo] = None
-) -> bool:
-    """
-    在两个材料资源之间转移液体
-    
-    Args:
-        source: 源资源
-        target: 目标资源
-        volume: 转移体积 (ul)
-        source_well_id: 源孔位ID，如果为None则自动选择
-        target_well_id: 目标孔位ID，如果为None则自动选择
-        liquid_info: 液体信息
-        
-    Returns:
-        bool: 转移是否成功
-    """
-    try:
-        # 自动选择源孔位
-        if source_well_id is None:
-            available_wells = source.find_wells_with_volume(volume)
-            if not available_wells:
-                logger.error(f"源资源 {source.name} 没有足够体积的孔位")
-                return False
-            source_well_id = available_wells[0]
-        
-        # 自动选择目标孔位
-        if target_well_id is None:
-            available_wells = target.find_wells_with_space(volume)
-            if not available_wells:
-                logger.error(f"目标资源 {target.name} 没有足够空间的孔位")
-                return False
-            target_well_id = available_wells[0]
-        
-        # 检查源孔位是否有足够液体
-        if not source.get_well_content(source_well_id).can_remove_volume(volume):
-            logger.error(f"源孔位 {source_well_id} 液体不足")
-            return False
-        
-        # 检查目标孔位是否有足够空间
-        if not target.get_well_content(target_well_id).can_add_volume(volume):
-            logger.error(f"目标孔位 {target_well_id} 空间不足")
-            return False
-        
-        # 获取源液体信息
-        source_content = source.get_well_content(source_well_id)
-        transfer_liquid_info = liquid_info or source_content.liquid_info
-        
-        # 执行转移
-        if source.remove_liquid(source_well_id, volume):
-            if target.add_liquid(target_well_id, volume, transfer_liquid_info):
-                logger.info(f"成功转移 {volume}ul 液体: {source.name}[{source_well_id}] -> {target.name}[{target_well_id}]")
-                return True
-            else:
-                # 如果目标添加失败，回滚源操作
-                source.add_liquid(source_well_id, volume, source_content.liquid_info)
-                logger.error("目标添加失败，已回滚源操作")
-                return False
-        else:
-            logger.error("源移除失败")
-            return False
-    
-    except Exception as e:
-        logger.error(f"液体转移失败: {e}")
-        return False
-
-
-def create_material_resource(
-    name: str,
-    resource: Resource,
-    initial_volumes: Optional[Dict[str, float]] = None,
-    liquid_info: Optional[LiquidInfo] = None,
-    max_volume: float = 1000.0
-) -> MaterialResource:
-    """
-    创建材料资源的便捷函数
-    
-    Args:
-        name: 资源名称
-        resource: pylabrobot 资源对象
-        initial_volumes: 初始体积字典 {well_id: volume}
-        liquid_info: 液体信息
-        max_volume: 最大体积
-        
-    Returns:
-        MaterialResource: 创建的材料资源
-    """
-    material_resource = MaterialResource(
-        resource=resource,
-        default_max_volume=max_volume
-    )
-    
-    # 设置初始体积
-    if initial_volumes:
-        for well_id, volume in initial_volumes.items():
-            material_resource.set_well_volume(well_id, volume, liquid_info)
-    
-    return material_resource
-
-
-def batch_transfer_liquid(
-    transfers: List[Tuple[MaterialResource, MaterialResource, float]],
-    liquid_info: Optional[LiquidInfo] = None
-) -> List[bool]:
-    """
-    批量液体转移
-    
-    Args:
-        transfers: 转移列表 [(source, target, volume), ...]
-        liquid_info: 液体信息
-        
-    Returns:
-        List[bool]: 每个转移操作的结果
-    """
-    results = []
-    
-    for source, target, volume in transfers:
-        result = transfer_liquid(source, target, volume, liquid_info=liquid_info)
-        results.append(result)
-        
-        if not result:
-            logger.warning(f"批量转移中的操作失败: {source.name} -> {target.name}")
-    
-    success_count = sum(results)
-    logger.info(f"批量转移完成: {success_count}/{len(transfers)} 成功")
-    
-    return results

unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py

@@ -1,888 +0,0 @@
-"""
-LaiYu_Liquid 液体处理工作站主要集成文件
-
-该模块实现了 LaiYu_Liquid 与 UniLabOS 系统的集成，提供标准化的液体处理接口。
-主要包含：
-- LaiYuLiquidBackend: 硬件通信后端
-- LaiYuLiquid: 主要接口类
-- 相关的异常类和容器类
-"""
-
-import asyncio
-import logging
-import time
-from typing import List, Optional, Dict, Any, Union, Tuple
-from dataclasses import dataclass
-from abc import ABC, abstractmethod
-
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-
-# 基础导入
-try:
-    from pylabrobot.resources import Deck, Plate, TipRack, Tip, Resource, Well
-
-    PYLABROBOT_AVAILABLE = True
-except ImportError:
-    # 如果 pylabrobot 不可用，创建基础的模拟类
-    PYLABROBOT_AVAILABLE = False
-
-    class Resource:
-        def __init__(self, name: str):
-            self.name = name
-
-    class Deck(Resource):
-        pass
-
-    class Plate(Resource):
-        pass
-
-    class TipRack(Resource):
-        pass
-
-    class Tip(Resource):
-        pass
-
-    class Well(Resource):
-        pass
-
-
-# LaiYu_Liquid 控制器导入
-try:
-    from .controllers.pipette_controller import PipetteController, TipStatus, LiquidClass, LiquidParameters
-    from .controllers.xyz_controller import XYZController, MachineConfig, CoordinateOrigin, MotorAxis
-
-    CONTROLLERS_AVAILABLE = True
-except ImportError:
-    CONTROLLERS_AVAILABLE = False
-
-    # 创建模拟的控制器类
-    class PipetteController:
-        def __init__(self, *args, **kwargs):
-            pass
-
-        def connect(self):
-            return True
-
-        def initialize(self):
-            return True
-
-    class XYZController:
-        def __init__(self, *args, **kwargs):
-            pass
-
-        def connect_device(self):
-            return True
-
-
-logger = logging.getLogger(__name__)
-
-
-class LaiYuLiquidError(RuntimeError):
-    """LaiYu_Liquid 设备异常"""
-
-    pass
-
-
-@dataclass
-class LaiYuLiquidConfig:
-    """LaiYu_Liquid 设备配置"""
-
-    port: str = "/dev/cu.usbserial-3130"  # RS485转USB端口
-    address: int = 1  # 设备地址
-    baudrate: int = 9600  # 波特率
-    timeout: float = 5.0  # 通信超时时间
-
-    # 工作台尺寸
-    deck_width: float = 340.0  # 工作台宽度 (mm)
-    deck_height: float = 250.0  # 工作台高度 (mm)
-    deck_depth: float = 160.0  # 工作台深度 (mm)
-
-    # 移液参数
-    max_volume: float = 1000.0  # 最大体积 (μL)
-    min_volume: float = 0.1  # 最小体积 (μL)
-
-    # 运动参数
-    max_speed: float = 100.0  # 最大速度 (mm/s)
-    acceleration: float = 50.0  # 加速度 (mm/s²)
-
-    # 安全参数
-    safe_height: float = 50.0  # 安全高度 (mm)
-    tip_pickup_depth: float = 10.0  # 吸头拾取深度 (mm)
-    liquid_detection: bool = True  # 液面检测
-
-    # 取枪头相关参数
-    tip_pickup_speed: int = 30  # 取枪头时的移动速度 (rpm)
-    tip_pickup_acceleration: int = 500  # 取枪头时的加速度 (rpm/s)
-    tip_approach_height: float = 5.0  # 接近枪头时的高度 (mm)
-    tip_pickup_force_depth: float = 2.0  # 强制插入深度 (mm)
-    tip_pickup_retract_height: float = 20.0  # 取枪头后的回退高度 (mm)
-
-    # 丢弃枪头相关参数
-    tip_drop_height: float = 10.0  # 丢弃枪头时的高度 (mm)
-    tip_drop_speed: int = 50  # 丢弃枪头时的移动速度 (rpm)
-    trash_position: Tuple[float, float, float] = (300.0, 200.0, 0.0)  # 垃圾桶位置 (mm)
-
-    # 安全范围配置
-    deck_width: float = 300.0  # 工作台宽度 (mm)
-    deck_height: float = 200.0  # 工作台高度 (mm)
-    deck_depth: float = 100.0  # 工作台深度 (mm)
-    safe_height: float = 50.0  # 安全高度 (mm)
-    position_validation: bool = True  # 启用位置验证
-    emergency_stop_enabled: bool = True  # 启用紧急停止
-
-
-class LaiYuLiquidDeck:
-    """LaiYu_Liquid 工作台管理"""
-
-    def __init__(self, config: LaiYuLiquidConfig):
-        self.config = config
-        self.resources: Dict[str, Resource] = {}
-        self.positions: Dict[str, Tuple[float, float, float]] = {}
-
-    def add_resource(self, name: str, resource: Resource, position: Tuple[float, float, float]):
-        """添加资源到工作台"""
-        self.resources[name] = resource
-        self.positions[name] = position
-
-    def get_resource(self, name: str) -> Optional[Resource]:
-        """获取资源"""
-        return self.resources.get(name)
-
-    def get_position(self, name: str) -> Optional[Tuple[float, float, float]]:
-        """获取资源位置"""
-        return self.positions.get(name)
-
-    def list_resources(self) -> List[str]:
-        """列出所有资源"""
-        return list(self.resources.keys())
-
-
-class LaiYuLiquidContainer:
-    """LaiYu_Liquid 容器类"""
-
-    def __init__(
-        self,
-        name: str,
-        size_x: float = 0,
-        size_y: float = 0,
-        size_z: float = 0,
-        container_type: str = "",
-        volume: float = 0.0,
-        max_volume: float = 1000.0,
-        lid_height: float = 0.0,
-    ):
-        self.name = name
-        self.size_x = size_x
-        self.size_y = size_y
-        self.size_z = size_z
-        self.lid_height = lid_height
-        self.container_type = container_type
-        self.volume = volume
-        self.max_volume = max_volume
-        self.last_updated = time.time()
-        self.child_resources = {}  # 存储子资源
-
-    @property
-    def is_empty(self) -> bool:
-        return self.volume <= 0.0
-
-    @property
-    def is_full(self) -> bool:
-        return self.volume >= self.max_volume
-
-    @property
-    def available_volume(self) -> float:
-        return max(0.0, self.max_volume - self.volume)
-
-    def add_volume(self, volume: float) -> bool:
-        """添加体积"""
-        if self.volume + volume <= self.max_volume:
-            self.volume += volume
-            self.last_updated = time.time()
-            return True
-        return False
-
-    def remove_volume(self, volume: float) -> bool:
-        """移除体积"""
-        if self.volume >= volume:
-            self.volume -= volume
-            self.last_updated = time.time()
-            return True
-        return False
-
-    def assign_child_resource(self, resource, location=None):
-        """分配子资源 - 与 PyLabRobot 资源管理系统兼容"""
-        if hasattr(resource, "name"):
-            self.child_resources[resource.name] = {"resource": resource, "location": location}
-
-
-class LaiYuLiquidTipRack:
-    """LaiYu_Liquid 吸头架类"""
-
-    def __init__(
-        self,
-        name: str,
-        size_x: float = 0,
-        size_y: float = 0,
-        size_z: float = 0,
-        tip_count: int = 96,
-        tip_volume: float = 1000.0,
-    ):
-        self.name = name
-        self.size_x = size_x
-        self.size_y = size_y
-        self.size_z = size_z
-        self.tip_count = tip_count
-        self.tip_volume = tip_volume
-        self.tips_available = [True] * tip_count
-        self.child_resources = {}  # 存储子资源
-
-    @property
-    def available_tips(self) -> int:
-        return sum(self.tips_available)
-
-    @property
-    def is_empty(self) -> bool:
-        return self.available_tips == 0
-
-    def pick_tip(self, position: int) -> bool:
-        """拾取吸头"""
-        if 0 <= position < self.tip_count and self.tips_available[position]:
-            self.tips_available[position] = False
-            return True
-        return False
-
-    def has_tip(self, position: int) -> bool:
-        """检查位置是否有吸头"""
-        if 0 <= position < self.tip_count:
-            return self.tips_available[position]
-        return False
-
-    def assign_child_resource(self, resource, location=None):
-        """分配子资源到指定位置"""
-        self.child_resources[resource.name] = {"resource": resource, "location": location}
-
-
-def get_module_info():
-    """获取模块信息"""
-    return {
-        "name": "LaiYu_Liquid",
-        "version": "1.0.0",
-        "description": "LaiYu液体处理工作站模块，提供移液器控制、XYZ轴控制和资源管理功能",
-        "author": "UniLabOS Team",
-        "capabilities": ["移液器控制", "XYZ轴运动控制", "吸头架管理", "板和容器管理", "资源位置管理"],
-        "dependencies": {"required": ["serial"], "optional": ["pylabrobot"]},
-    }
-
-
-class LaiYuLiquidBackend:
-    """LaiYu_Liquid 硬件通信后端"""
-
-    _ros_node: BaseROS2DeviceNode
-
-    def __init__(self, config: LaiYuLiquidConfig, deck: Optional["LaiYuLiquidDeck"] = None):
-        self.config = config
-        self.deck = deck  # 工作台引用，用于获取资源位置信息
-        self.pipette_controller = None
-        self.xyz_controller = None
-        self.is_connected = False
-        self.is_initialized = False
-
-        # 状态跟踪
-        self.current_position = (0.0, 0.0, 0.0)
-        self.tip_attached = False
-        self.current_volume = 0.0
-
-    def post_init(self, ros_node: BaseROS2DeviceNode):
-        self._ros_node = ros_node
-
-    def _validate_position(self, x: float, y: float, z: float) -> bool:
-        """验证位置是否在安全范围内"""
-        try:
-            # 检查X轴范围
-            if not (0 <= x <= self.config.deck_width):
-                logger.error(f"X轴位置 {x:.2f}mm 超出范围 [0, {self.config.deck_width}]")
-                return False
-
-            # 检查Y轴范围
-            if not (0 <= y <= self.config.deck_height):
-                logger.error(f"Y轴位置 {y:.2f}mm 超出范围 [0, {self.config.deck_height}]")
-                return False
-
-            # 检查Z轴范围（负值表示向下，0为工作台表面）
-            if not (-self.config.deck_depth <= z <= self.config.safe_height):
-                logger.error(f"Z轴位置 {z:.2f}mm 超出安全范围 [{-self.config.deck_depth}, {self.config.safe_height}]")
-                return False
-
-            return True
-        except Exception as e:
-            logger.error(f"位置验证失败: {e}")
-            return False
-
-    def _check_hardware_ready(self) -> bool:
-        """检查硬件是否准备就绪"""
-        if not self.is_connected:
-            logger.error("设备未连接")
-            return False
-
-        if CONTROLLERS_AVAILABLE:
-            if self.xyz_controller is None:
-                logger.error("XYZ控制器未初始化")
-                return False
-
-        return True
-
-    async def emergency_stop(self) -> bool:
-        """紧急停止所有运动"""
-        try:
-            logger.warning("执行紧急停止")
-
-            if CONTROLLERS_AVAILABLE and self.xyz_controller:
-                # 停止XYZ控制器
-                await self.xyz_controller.stop_all_motion()
-                logger.info("XYZ控制器已停止")
-
-            if self.pipette_controller:
-                # 停止移液器控制器
-                await self.pipette_controller.stop()
-                logger.info("移液器控制器已停止")
-
-            return True
-        except Exception as e:
-            logger.error(f"紧急停止失败: {e}")
-            return False
-
-    async def move_to_safe_position(self) -> bool:
-        """移动到安全位置"""
-        try:
-            if not self._check_hardware_ready():
-                return False
-
-            safe_position = (
-                self.config.deck_width / 2,  # 工作台中心X
-                self.config.deck_height / 2,  # 工作台中心Y
-                self.config.safe_height,  # 安全高度Z
-            )
-
-            if not self._validate_position(*safe_position):
-                logger.error("安全位置无效")
-                return False
-
-            if CONTROLLERS_AVAILABLE and self.xyz_controller:
-                await self.xyz_controller.move_to_work_coord(*safe_position)
-                self.current_position = safe_position
-                logger.info(f"已移动到安全位置: {safe_position}")
-                return True
-            else:
-                # 模拟模式
-                self.current_position = safe_position
-                logger.info("模拟移动到安全位置")
-                return True
-
-        except Exception as e:
-            logger.error(f"移动到安全位置失败: {e}")
-            return False
-
-    async def setup(self) -> bool:
-        """设置硬件连接"""
-        try:
-            if CONTROLLERS_AVAILABLE:
-                # 初始化移液器控制器
-                self.pipette_controller = PipetteController(port=self.config.port, address=self.config.address)
-
-                # 初始化XYZ控制器
-                machine_config = MachineConfig()
-                self.xyz_controller = XYZController(
-                    port=self.config.port, baudrate=self.config.baudrate, machine_config=machine_config
-                )
-
-                # 连接设备
-                pipette_connected = await asyncio.to_thread(self.pipette_controller.connect)
-                xyz_connected = await asyncio.to_thread(self.xyz_controller.connect_device)
-
-                if pipette_connected and xyz_connected:
-                    self.is_connected = True
-                    logger.info("LaiYu_Liquid 硬件连接成功")
-                    return True
-                else:
-                    logger.error("LaiYu_Liquid 硬件连接失败")
-                    return False
-            else:
-                # 模拟模式
-                logger.info("LaiYu_Liquid 运行在模拟模式")
-                self.is_connected = True
-                return True
-
-        except Exception as e:
-            logger.error(f"LaiYu_Liquid 设置失败: {e}")
-            return False
-
-    async def stop(self):
-        """停止设备"""
-        try:
-            if self.pipette_controller and hasattr(self.pipette_controller, "disconnect"):
-                await asyncio.to_thread(self.pipette_controller.disconnect)
-
-            if self.xyz_controller and hasattr(self.xyz_controller, "disconnect"):
-                await asyncio.to_thread(self.xyz_controller.disconnect)
-
-            self.is_connected = False
-            self.is_initialized = False
-            logger.info("LaiYu_Liquid 已停止")
-
-        except Exception as e:
-            logger.error(f"LaiYu_Liquid 停止失败: {e}")
-
-    async def move_to(self, x: float, y: float, z: float) -> bool:
-        """移动到指定位置"""
-        try:
-            if not self.is_connected:
-                raise LaiYuLiquidError("设备未连接")
-
-            # 模拟移动
-            await self._ros_node.sleep(0.1)  # 模拟移动时间
-            self.current_position = (x, y, z)
-            logger.debug(f"移动到位置: ({x}, {y}, {z})")
-            return True
-
-        except Exception as e:
-            logger.error(f"移动失败: {e}")
-            return False
-
-    async def pick_up_tip(self, tip_rack: str, position: int) -> bool:
-        """拾取吸头 - 包含真正的Z轴下降控制"""
-        try:
-            # 硬件准备检查
-            if not self._check_hardware_ready():
-                return False
-
-            if self.tip_attached:
-                logger.warning("已有吸头附着，无法拾取新吸头")
-                return False
-
-            logger.info(f"开始从 {tip_rack} 位置 {position} 拾取吸头")
-
-            # 获取枪头架位置信息
-            if self.deck is None:
-                logger.error("工作台未初始化")
-                return False
-
-            tip_position = self.deck.get_position(tip_rack)
-            if tip_position is None:
-                logger.error(f"未找到枪头架 {tip_rack} 的位置信息")
-                return False
-
-            # 计算具体枪头位置（这里简化处理，实际应根据position计算偏移）
-            tip_x, tip_y, tip_z = tip_position
-
-            # 验证所有关键位置的安全性
-            safe_z = tip_z + self.config.tip_approach_height
-            pickup_z = tip_z - self.config.tip_pickup_force_depth
-            retract_z = tip_z + self.config.tip_pickup_retract_height
-
-            if not (
-                self._validate_position(tip_x, tip_y, safe_z)
-                and self._validate_position(tip_x, tip_y, pickup_z)
-                and self._validate_position(tip_x, tip_y, retract_z)
-            ):
-                logger.error("枪头拾取位置超出安全范围")
-                return False
-
-            if CONTROLLERS_AVAILABLE and self.xyz_controller:
-                # 真实硬件控制流程
-                logger.info("使用真实XYZ控制器进行枪头拾取")
-
-                try:
-                    # 1. 移动到枪头上方的安全位置
-                    safe_z = tip_z + self.config.tip_approach_height
-                    logger.info(f"移动到枪头上方安全位置: ({tip_x:.2f}, {tip_y:.2f}, {safe_z:.2f})")
-                    move_success = await asyncio.to_thread(
-                        self.xyz_controller.move_to_work_coord, tip_x, tip_y, safe_z
-                    )
-                    if not move_success:
-                        logger.error("移动到枪头上方失败")
-                        return False
-
-                    # 2. Z轴下降到枪头位置
-                    pickup_z = tip_z - self.config.tip_pickup_force_depth
-                    logger.info(f"Z轴下降到枪头拾取位置: {pickup_z:.2f}mm")
-                    z_down_success = await asyncio.to_thread(
-                        self.xyz_controller.move_to_work_coord, tip_x, tip_y, pickup_z
-                    )
-                    if not z_down_success:
-                        logger.error("Z轴下降到枪头位置失败")
-                        return False
-
-                    # 3. 等待一小段时间确保枪头牢固附着
-                    await self._ros_node.sleep(0.2)
-
-                    # 4. Z轴上升到回退高度
-                    retract_z = tip_z + self.config.tip_pickup_retract_height
-                    logger.info(f"Z轴上升到回退高度: {retract_z:.2f}mm")
-                    z_up_success = await asyncio.to_thread(
-                        self.xyz_controller.move_to_work_coord, tip_x, tip_y, retract_z
-                    )
-                    if not z_up_success:
-                        logger.error("Z轴上升失败")
-                        return False
-
-                    # 5. 更新当前位置
-                    self.current_position = (tip_x, tip_y, retract_z)
-
-                except Exception as move_error:
-                    logger.error(f"枪头拾取过程中发生错误: {move_error}")
-                    # 尝试移动到安全位置
-                    if self.config.emergency_stop_enabled:
-                        await self.emergency_stop()
-                        await self.move_to_safe_position()
-                    return False
-
-            else:
-                # 模拟模式
-                logger.info("模拟模式：执行枪头拾取动作")
-                await self._ros_node.sleep(1.0)  # 模拟整个拾取过程的时间
-                self.current_position = (tip_x, tip_y, tip_z + self.config.tip_pickup_retract_height)
-
-            # 6. 标记枪头已附着
-            self.tip_attached = True
-            logger.info("吸头拾取成功")
-            return True
-
-        except Exception as e:
-            logger.error(f"拾取吸头失败: {e}")
-            return False
-
-    async def drop_tip(self, location: str = "trash") -> bool:
-        """丢弃吸头 - 包含真正的Z轴控制"""
-        try:
-            # 硬件准备检查
-            if not self._check_hardware_ready():
-                return False
-
-            if not self.tip_attached:
-                logger.warning("没有吸头附着，无需丢弃")
-                return True
-
-            logger.info(f"开始丢弃吸头到 {location}")
-
-            # 确定丢弃位置
-            if location == "trash":
-                # 使用配置中的垃圾桶位置
-                drop_x, drop_y, drop_z = self.config.trash_position
-            else:
-                # 尝试从deck获取指定位置
-                if self.deck is None:
-                    logger.error("工作台未初始化")
-                    return False
-
-                drop_position = self.deck.get_position(location)
-                if drop_position is None:
-                    logger.error(f"未找到丢弃位置 {location} 的信息")
-                    return False
-                drop_x, drop_y, drop_z = drop_position
-
-            # 验证丢弃位置的安全性
-            safe_z = drop_z + self.config.safe_height
-            drop_height_z = drop_z + self.config.tip_drop_height
-
-            if not (
-                self._validate_position(drop_x, drop_y, safe_z)
-                and self._validate_position(drop_x, drop_y, drop_height_z)
-            ):
-                logger.error("枪头丢弃位置超出安全范围")
-                return False
-
-            if CONTROLLERS_AVAILABLE and self.xyz_controller:
-                # 真实硬件控制流程
-                logger.info("使用真实XYZ控制器进行枪头丢弃")
-
-                try:
-                    # 1. 移动到丢弃位置上方的安全高度
-                    safe_z = drop_z + self.config.tip_drop_height
-                    logger.info(f"移动到丢弃位置上方: ({drop_x:.2f}, {drop_y:.2f}, {safe_z:.2f})")
-                    move_success = await asyncio.to_thread(
-                        self.xyz_controller.move_to_work_coord, drop_x, drop_y, safe_z
-                    )
-                    if not move_success:
-                        logger.error("移动到丢弃位置上方失败")
-                        return False
-
-                    # 2. Z轴下降到丢弃高度
-                    logger.info(f"Z轴下降到丢弃高度: {drop_z:.2f}mm")
-                    z_down_success = await asyncio.to_thread(
-                        self.xyz_controller.move_to_work_coord, drop_x, drop_y, drop_z
-                    )
-                    if not z_down_success:
-                        logger.error("Z轴下降到丢弃位置失败")
-                        return False
-
-                    # 3. 执行枪头弹出动作（如果有移液器控制器）
-                    if self.pipette_controller:
-                        try:
-                            # 发送弹出枪头命令
-                            await asyncio.to_thread(self.pipette_controller.eject_tip)
-                            logger.info("执行枪头弹出命令")
-                        except Exception as e:
-                            logger.warning(f"枪头弹出命令失败: {e}")
-
-                    # 4. 等待一小段时间确保枪头完全脱离
-                    await self._ros_node.sleep(0.3)
-
-                    # 5. Z轴上升到安全高度
-                    logger.info(f"Z轴上升到安全高度: {safe_z:.2f}mm")
-                    z_up_success = await asyncio.to_thread(
-                        self.xyz_controller.move_to_work_coord, drop_x, drop_y, safe_z
-                    )
-                    if not z_up_success:
-                        logger.error("Z轴上升失败")
-                        return False
-
-                    # 6. 更新当前位置
-                    self.current_position = (drop_x, drop_y, safe_z)
-
-                except Exception as drop_error:
-                    logger.error(f"枪头丢弃过程中发生错误: {drop_error}")
-                    # 尝试移动到安全位置
-                    if self.config.emergency_stop_enabled:
-                        await self.emergency_stop()
-                        await self.move_to_safe_position()
-                    return False
-
-            else:
-                # 模拟模式
-                logger.info("模拟模式：执行枪头丢弃动作")
-                await self._ros_node.sleep(0.8)  # 模拟整个丢弃过程的时间
-                self.current_position = (drop_x, drop_y, drop_z + self.config.tip_drop_height)
-
-            # 7. 标记枪头已脱离，清空体积
-            self.tip_attached = False
-            self.current_volume = 0.0
-            logger.info("吸头丢弃成功")
-            return True
-
-        except Exception as e:
-            logger.error(f"丢弃吸头失败: {e}")
-            return False
-
-    async def aspirate(self, volume: float, location: str) -> bool:
-        """吸取液体"""
-        try:
-            if not self.is_connected:
-                raise LaiYuLiquidError("设备未连接")
-
-            if not self.tip_attached:
-                raise LaiYuLiquidError("没有吸头附着")
-
-            if volume <= 0 or volume > self.config.max_volume:
-                raise LaiYuLiquidError(f"体积超出范围: {volume}")
-
-            # 模拟吸取
-            await self._ros_node.sleep(0.3)
-            self.current_volume += volume
-            logger.debug(f"从 {location} 吸取 {volume} μL")
-            return True
-
-        except Exception as e:
-            logger.error(f"吸取失败: {e}")
-            return False
-
-    async def dispense(self, volume: float, location: str) -> bool:
-        """分配液体"""
-        try:
-            if not self.is_connected:
-                raise LaiYuLiquidError("设备未连接")
-
-            if not self.tip_attached:
-                raise LaiYuLiquidError("没有吸头附着")
-
-            if volume <= 0 or volume > self.current_volume:
-                raise LaiYuLiquidError(f"分配体积无效: {volume}")
-
-            # 模拟分配
-            await self._ros_node.sleep(0.3)
-            self.current_volume -= volume
-            logger.debug(f"向 {location} 分配 {volume} μL")
-            return True
-
-        except Exception as e:
-            logger.error(f"分配失败: {e}")
-            return False
-
-
-class LaiYuLiquid:
-    """LaiYu_Liquid 主要接口类"""
-
-    def __init__(self, config: Optional[LaiYuLiquidConfig] = None, **kwargs):
-        # 如果传入了关键字参数，创建配置对象
-        if kwargs and config is None:
-            # 从kwargs中提取配置参数
-            config_params = {}
-            for key, value in kwargs.items():
-                if hasattr(LaiYuLiquidConfig, key):
-                    config_params[key] = value
-            self.config = LaiYuLiquidConfig(**config_params)
-        else:
-            self.config = config or LaiYuLiquidConfig()
-
-        # 先创建deck，然后传递给backend
-        self.deck = LaiYuLiquidDeck(self.config)
-        self.backend = LaiYuLiquidBackend(self.config, self.deck)
-        self.is_setup = False
-
-    @property
-    def current_position(self) -> Tuple[float, float, float]:
-        """获取当前位置"""
-        return self.backend.current_position
-
-    @property
-    def current_volume(self) -> float:
-        """获取当前体积"""
-        return self.backend.current_volume
-
-    @property
-    def is_connected(self) -> bool:
-        """获取连接状态"""
-        return self.backend.is_connected
-
-    @property
-    def is_initialized(self) -> bool:
-        """获取初始化状态"""
-        return self.backend.is_initialized
-
-    @property
-    def tip_attached(self) -> bool:
-        """获取吸头附着状态"""
-        return self.backend.tip_attached
-
-    async def setup(self) -> bool:
-        """设置液体处理器"""
-        try:
-            success = await self.backend.setup()
-            if success:
-                self.is_setup = True
-                logger.info("LaiYu_Liquid 设置完成")
-            return success
-        except Exception as e:
-            logger.error(f"LaiYu_Liquid 设置失败: {e}")
-            return False
-
-    async def stop(self):
-        """停止液体处理器"""
-        await self.backend.stop()
-        self.is_setup = False
-
-    async def transfer(
-        self, source: str, target: str, volume: float, tip_rack: str = "tip_rack_1", tip_position: int = 0
-    ) -> bool:
-        """液体转移"""
-        try:
-            if not self.is_setup:
-                raise LaiYuLiquidError("设备未设置")
-
-            # 获取源和目标位置
-            source_pos = self.deck.get_position(source)
-            target_pos = self.deck.get_position(target)
-            tip_pos = self.deck.get_position(tip_rack)
-
-            if not all([source_pos, target_pos, tip_pos]):
-                raise LaiYuLiquidError("位置信息不完整")
-
-            # 执行转移步骤
-            steps = [
-                ("移动到吸头架", self.backend.move_to(*tip_pos)),
-                ("拾取吸头", self.backend.pick_up_tip(tip_rack, tip_position)),
-                ("移动到源位置", self.backend.move_to(*source_pos)),
-                ("吸取液体", self.backend.aspirate(volume, source)),
-                ("移动到目标位置", self.backend.move_to(*target_pos)),
-                ("分配液体", self.backend.dispense(volume, target)),
-                ("丢弃吸头", self.backend.drop_tip()),
-            ]
-
-            for step_name, step_coro in steps:
-                logger.debug(f"执行步骤: {step_name}")
-                success = await step_coro
-                if not success:
-                    raise LaiYuLiquidError(f"步骤失败: {step_name}")
-
-            logger.info(f"液体转移完成: {source} -> {target}, {volume} μL")
-            return True
-
-        except Exception as e:
-            logger.error(f"液体转移失败: {e}")
-            return False
-
-    def add_resource(self, name: str, resource_type: str, position: Tuple[float, float, float]):
-        """添加资源到工作台"""
-        if resource_type == "plate":
-            resource = Plate(name)
-        elif resource_type == "tip_rack":
-            resource = TipRack(name)
-        else:
-            resource = Resource(name)
-
-        self.deck.add_resource(name, resource, position)
-
-    def get_status(self) -> Dict[str, Any]:
-        """获取设备状态"""
-        return {
-            "connected": self.backend.is_connected,
-            "setup": self.is_setup,
-            "current_position": self.backend.current_position,
-            "tip_attached": self.backend.tip_attached,
-            "current_volume": self.backend.current_volume,
-            "resources": self.deck.list_resources(),
-        }
-
-
-def create_quick_setup() -> LaiYuLiquidDeck:
-    """
-    创建快速设置的LaiYu液体处理工作站
-
-    Returns:
-        LaiYuLiquidDeck: 配置好的工作台实例
-    """
-    # 创建默认配置
-    config = LaiYuLiquidConfig()
-
-    # 创建工作台
-    deck = LaiYuLiquidDeck(config)
-
-    # 导入资源创建函数
-    try:
-        from .laiyu_liquid_res import (
-            create_tip_rack_1000ul,
-            create_tip_rack_200ul,
-            create_96_well_plate,
-            create_waste_container,
-        )
-
-        # 添加基本资源
-        tip_rack_1000 = create_tip_rack_1000ul("tip_rack_1000")
-        tip_rack_200 = create_tip_rack_200ul("tip_rack_200")
-        plate_96 = create_96_well_plate("plate_96")
-        waste = create_waste_container("waste")
-
-        # 添加到工作台
-        deck.add_resource("tip_rack_1000", tip_rack_1000, (50, 50, 0))
-        deck.add_resource("tip_rack_200", tip_rack_200, (150, 50, 0))
-        deck.add_resource("plate_96", plate_96, (250, 50, 0))
-        deck.add_resource("waste", waste, (50, 150, 0))
-
-    except ImportError:
-        # 如果资源模块不可用，创建空的工作台
-        logger.warning("资源模块不可用，创建空的工作台")
-
-    return deck
-
-
-__all__ = [
-    "LaiYuLiquid",
-    "LaiYuLiquidBackend",
-    "LaiYuLiquidConfig",
-    "LaiYuLiquidDeck",
-    "LaiYuLiquidContainer",
-    "LaiYuLiquidTipRack",
-    "LaiYuLiquidError",
-    "create_quick_setup",
-    "get_module_info",
-]

unilabos/devices/laiyu_liquid/core/laiyu_liquid_res.py

@@ -1,954 +0,0 @@
-"""
-LaiYu_Liquid 资源定义模块
-
-该模块提供了 LaiYu_Liquid 工作站专用的资源定义函数，包括：
-- 各种规格的枪头架
-- 不同类型的板和容器
-- 特殊功能位置
-- 资源创建的便捷函数
-
-所有资源都基于 deck.json 中的配置参数创建。
-"""
-
-import json
-import os
-from typing import Dict, List, Optional, Tuple, Any
-from pathlib import Path
-
-# PyLabRobot 资源导入
-try:
-    from pylabrobot.resources import (
-        Resource, Deck, Plate, TipRack, Container, Tip,
-        Coordinate
-    )
-    from pylabrobot.resources.tip_rack import TipSpot
-    from pylabrobot.resources.well import Well as PlateWell
-    PYLABROBOT_AVAILABLE = True
-except ImportError:
-    # 如果 PyLabRobot 不可用，创建模拟类
-    PYLABROBOT_AVAILABLE = False
-    
-    class Resource:
-        def __init__(self, name: str):
-            self.name = name
-    
-    class Deck(Resource):
-        pass
-    
-    class Plate(Resource):
-        pass
-    
-    class TipRack(Resource):
-        pass
-    
-    class Container(Resource):
-        pass
-    
-    class Tip(Resource):
-        pass
-    
-    class TipSpot(Resource):
-        def __init__(self, name: str, **kwargs):
-            super().__init__(name)
-            # 忽略其他参数
-    
-    class PlateWell(Resource):
-        pass
-    
-    class Coordinate:
-        def __init__(self, x: float, y: float, z: float):
-            self.x = x
-            self.y = y
-            self.z = z
-
-# 本地导入
-from .laiyu_liquid_main import LaiYuLiquidDeck, LaiYuLiquidContainer, LaiYuLiquidTipRack
-
-
-def load_deck_config() -> Dict[str, Any]:
-    """
-    加载工作台配置文件
-    
-    Returns:
-        Dict[str, Any]: 配置字典
-    """
-    # 优先使用最新的deckconfig.json文件
-    config_path = Path(__file__).parent / "controllers" / "deckconfig.json"
-    
-    # 如果最新配置文件不存在，回退到旧配置文件
-    if not config_path.exists():
-        config_path = Path(__file__).parent / "config" / "deck.json"
-    
-    try:
-        with open(config_path, 'r', encoding='utf-8') as f:
-            return json.load(f)
-    except FileNotFoundError:
-        # 如果找不到配置文件，返回默认配置
-        return {
-            "name": "LaiYu_Liquid_Deck",
-            "size_x": 340.0,  
-            "size_y": 250.0,
-            "size_z": 160.0
-        }
-
-
-# 加载配置
-DECK_CONFIG = load_deck_config()
-
-
-class LaiYuTipRack1000(LaiYuLiquidTipRack):
-    """1000μL 枪头架"""
-    
-    def __init__(self, name: str):
-        """
-        初始化1000μL枪头架
-        
-        Args:
-            name: 枪头架名称
-        """
-        super().__init__(
-            name=name,
-            size_x=127.76,
-            size_y=85.48,
-            size_z=30.0,
-            tip_count=96,
-            tip_volume=1000.0
-        )
-        
-        # 创建枪头位置
-        self._create_tip_spots(
-            tip_count=96,
-            tip_spacing=9.0,
-            tip_type="1000ul"
-        )
-    
-    def _create_tip_spots(self, tip_count: int, tip_spacing: float, tip_type: str):
-        """
-        创建枪头位置 - 从配置文件中读取绝对坐标
-        
-        Args:
-            tip_count: 枪头数量
-            tip_spacing: 枪头间距
-            tip_type: 枪头类型
-        """
-        # 从配置文件中获取枪头架的孔位信息
-        config = DECK_CONFIG
-        tip_module = None
-        
-        # 查找枪头架模块
-        for module in config.get("children", []):
-            if module.get("type") == "tip_rack":
-                tip_module = module
-                break
-        
-        if not tip_module:
-            # 如果配置文件中没有找到，使用默认的相对坐标计算
-            rows = 8
-            cols = 12
-            
-            for row in range(rows):
-                for col in range(cols):
-                    spot_name = f"{chr(65 + row)}{col + 1:02d}"
-                    x = col * tip_spacing + tip_spacing / 2
-                    y = row * tip_spacing + tip_spacing / 2
-                    
-                    # 创建枪头 - 根据PyLabRobot或模拟类使用不同参数
-                    if PYLABROBOT_AVAILABLE:
-                        # PyLabRobot的Tip需要特定参数
-                        tip = Tip(
-                            has_filter=False,
-                            total_tip_length=95.0,  # 1000ul枪头长度
-                            maximal_volume=1000.0,  # 最大体积
-                            fitting_depth=8.0       # 安装深度
-                        )
-                    else:
-                        # 模拟类只需要name
-                        tip = Tip(name=f"tip_{spot_name}")
-                    
-                    # 创建枪头位置
-                    if PYLABROBOT_AVAILABLE:
-                        # PyLabRobot的TipSpot需要特定参数
-                        tip_spot = TipSpot(
-                            name=spot_name,
-                            size_x=9.0,  # 枪头位置宽度
-                            size_y=9.0,  # 枪头位置深度
-                            size_z=95.0,  # 枪头位置高度
-                            make_tip=lambda: tip  # 创建枪头的函数
-                        )
-                    else:
-                        # 模拟类只需要name
-                        tip_spot = TipSpot(name=spot_name)
-                    
-                    # 将吸头位置分配到吸头架
-                    self.assign_child_resource(
-                        tip_spot,
-                        location=Coordinate(x, y, 0)
-                    )
-            return
-        
-        # 使用配置文件中的绝对坐标
-        module_position = tip_module.get("position", {"x": 0, "y": 0, "z": 0})
-        
-        for well_config in tip_module.get("wells", []):
-            spot_name = well_config["id"]
-            well_pos = well_config["position"]
-            
-            # 计算相对于模块的坐标（绝对坐标减去模块位置）
-            relative_x = well_pos["x"] - module_position["x"]
-            relative_y = well_pos["y"] - module_position["y"]
-            relative_z = well_pos["z"] - module_position["z"]
-            
-            # 创建枪头 - 根据PyLabRobot或模拟类使用不同参数
-            if PYLABROBOT_AVAILABLE:
-                # PyLabRobot的Tip需要特定参数
-                tip = Tip(
-                    has_filter=False,
-                    total_tip_length=95.0,  # 1000ul枪头长度
-                    maximal_volume=1000.0,  # 最大体积
-                    fitting_depth=8.0       # 安装深度
-                )
-            else:
-                # 模拟类只需要name
-                tip = Tip(name=f"tip_{spot_name}")
-            
-            # 创建枪头位置
-            if PYLABROBOT_AVAILABLE:
-                # PyLabRobot的TipSpot需要特定参数
-                tip_spot = TipSpot(
-                    name=spot_name,
-                    size_x=well_config.get("diameter", 9.0),  # 使用配置中的直径
-                    size_y=well_config.get("diameter", 9.0),
-                    size_z=well_config.get("depth", 95.0),    # 使用配置中的深度
-                    make_tip=lambda: tip  # 创建枪头的函数
-                )
-            else:
-                # 模拟类只需要name
-                tip_spot = TipSpot(name=spot_name)
-            
-            # 将吸头位置分配到吸头架
-            self.assign_child_resource(
-                tip_spot,
-                location=Coordinate(relative_x, relative_y, relative_z)
-            )
-            
-            # 注意：在PyLabRobot中，Tip不是Resource，不需要分配给TipSpot
-            # TipSpot的make_tip函数会在需要时创建Tip
-
-
-class LaiYuTipRack200(LaiYuLiquidTipRack):
-    """200μL 枪头架"""
-    
-    def __init__(self, name: str):
-        """
-        初始化200μL枪头架
-        
-        Args:
-            name: 枪头架名称
-        """
-        super().__init__(
-            name=name,
-            size_x=127.76,
-            size_y=85.48,
-            size_z=30.0,
-            tip_count=96,
-            tip_volume=200.0
-        )
-        
-        # 创建枪头位置
-        self._create_tip_spots(
-            tip_count=96,
-            tip_spacing=9.0,
-            tip_type="200ul"
-        )
-    
-    def _create_tip_spots(self, tip_count: int, tip_spacing: float, tip_type: str):
-        """
-        创建枪头位置
-        
-        Args:
-            tip_count: 枪头数量
-            tip_spacing: 枪头间距
-            tip_type: 枪头类型
-        """
-        rows = 8
-        cols = 12
-        
-        for row in range(rows):
-            for col in range(cols):
-                spot_name = f"{chr(65 + row)}{col + 1:02d}"
-                x = col * tip_spacing + tip_spacing / 2
-                y = row * tip_spacing + tip_spacing / 2
-                
-                # 创建枪头 - 根据PyLabRobot或模拟类使用不同参数
-                if PYLABROBOT_AVAILABLE:
-                    # PyLabRobot的Tip需要特定参数
-                    tip = Tip(
-                        has_filter=False,
-                        total_tip_length=72.0,  # 200ul枪头长度
-                        maximal_volume=200.0,   # 最大体积
-                        fitting_depth=8.0       # 安装深度
-                    )
-                else:
-                    # 模拟类只需要name
-                    tip = Tip(name=f"tip_{spot_name}")
-                
-                # 创建枪头位置
-                if PYLABROBOT_AVAILABLE:
-                    # PyLabRobot的TipSpot需要特定参数
-                    tip_spot = TipSpot(
-                        name=spot_name,
-                        size_x=9.0,  # 枪头位置宽度
-                        size_y=9.0,  # 枪头位置深度
-                        size_z=72.0,  # 枪头位置高度
-                        make_tip=lambda: tip  # 创建枪头的函数
-                    )
-                else:
-                    # 模拟类只需要name
-                    tip_spot = TipSpot(name=spot_name)
-                
-                # 将吸头位置分配到吸头架
-                self.assign_child_resource(
-                    tip_spot,
-                    location=Coordinate(x, y, 0)
-                )
-                
-                # 注意：在PyLabRobot中，Tip不是Resource，不需要分配给TipSpot
-                # TipSpot的make_tip函数会在需要时创建Tip
-
-
-class LaiYu96WellPlate(LaiYuLiquidContainer):
-    """96孔板"""
-    
-    def __init__(self, name: str, lid_height: float = 0.0):
-        """
-        初始化96孔板
-        
-        Args:
-            name: 板名称
-            lid_height: 盖子高度
-        """
-        super().__init__(
-            name=name,
-            size_x=127.76,
-            size_y=85.48,
-            size_z=14.22,
-            container_type="96_well_plate",
-            volume=0.0,
-            max_volume=200.0,
-            lid_height=lid_height
-        )
-        
-        # 创建孔位
-        self._create_wells(
-            well_count=96,
-            well_volume=200.0,
-            well_spacing=9.0
-        )
-    
-    def get_size_z(self) -> float:
-        """获取孔位深度"""
-        return 10.0  # 96孔板孔位深度
-    
-    def _create_wells(self, well_count: int, well_volume: float, well_spacing: float):
-        """
-        创建孔位 - 从配置文件中读取绝对坐标
-        
-        Args:
-            well_count: 孔位数量
-            well_volume: 孔位体积
-            well_spacing: 孔位间距
-        """
-        # 从配置文件中获取96孔板的孔位信息
-        config = DECK_CONFIG
-        plate_module = None
-        
-        # 查找96孔板模块
-        for module in config.get("children", []):
-            if module.get("type") == "96_well_plate":
-                plate_module = module
-                break
-        
-        if not plate_module:
-            # 如果配置文件中没有找到，使用默认的相对坐标计算
-            rows = 8
-            cols = 12
-            
-            for row in range(rows):
-                for col in range(cols):
-                    well_name = f"{chr(65 + row)}{col + 1:02d}"
-                    x = col * well_spacing + well_spacing / 2
-                    y = row * well_spacing + well_spacing / 2
-                    
-                    # 创建孔位
-                    well = PlateWell(
-                        name=well_name,
-                        size_x=well_spacing * 0.8,
-                        size_y=well_spacing * 0.8,
-                        size_z=self.get_size_z(),
-                        max_volume=well_volume
-                    )
-                    
-                    # 添加到板
-                    self.assign_child_resource(
-                        well,
-                        location=Coordinate(x, y, 0)
-                    )
-            return
-        
-        # 使用配置文件中的绝对坐标
-        module_position = plate_module.get("position", {"x": 0, "y": 0, "z": 0})
-        
-        for well_config in plate_module.get("wells", []):
-            well_name = well_config["id"]
-            well_pos = well_config["position"]
-            
-            # 计算相对于模块的坐标（绝对坐标减去模块位置）
-            relative_x = well_pos["x"] - module_position["x"]
-            relative_y = well_pos["y"] - module_position["y"]
-            relative_z = well_pos["z"] - module_position["z"]
-            
-            # 创建孔位
-            well = PlateWell(
-                name=well_name,
-                size_x=well_config.get("diameter", 8.2) * 0.8,  # 使用配置中的直径
-                size_y=well_config.get("diameter", 8.2) * 0.8,
-                size_z=well_config.get("depth", self.get_size_z()),
-                max_volume=well_config.get("volume", well_volume)
-            )
-            
-            # 添加到板
-            self.assign_child_resource(
-                well,
-                location=Coordinate(relative_x, relative_y, relative_z)
-            )
-
-
-class LaiYuDeepWellPlate(LaiYuLiquidContainer):
-    """深孔板"""
-    
-    def __init__(self, name: str, lid_height: float = 0.0):
-        """
-        初始化深孔板
-        
-        Args:
-            name: 板名称
-            lid_height: 盖子高度
-        """
-        super().__init__(
-            name=name,
-            size_x=127.76,
-            size_y=85.48,
-            size_z=41.3,
-            container_type="deep_well_plate",
-            volume=0.0,
-            max_volume=2000.0,
-            lid_height=lid_height
-        )
-        
-        # 创建孔位
-        self._create_wells(
-            well_count=96,
-            well_volume=2000.0,
-            well_spacing=9.0
-        )
-    
-    def get_size_z(self) -> float:
-        """获取孔位深度"""
-        return 35.0  # 深孔板孔位深度
-    
-    def _create_wells(self, well_count: int, well_volume: float, well_spacing: float):
-        """
-        创建孔位 - 从配置文件中读取绝对坐标
-        
-        Args:
-            well_count: 孔位数量
-            well_volume: 孔位体积
-            well_spacing: 孔位间距
-        """
-        # 从配置文件中获取深孔板的孔位信息
-        config = DECK_CONFIG
-        plate_module = None
-        
-        # 查找深孔板模块（通常是第二个96孔板模块）
-        plate_modules = []
-        for module in config.get("children", []):
-            if module.get("type") == "96_well_plate":
-                plate_modules.append(module)
-        
-        # 如果有多个96孔板模块，选择第二个作为深孔板
-        if len(plate_modules) > 1:
-            plate_module = plate_modules[1]
-        elif len(plate_modules) == 1:
-            plate_module = plate_modules[0]
-        
-        if not plate_module:
-            # 如果配置文件中没有找到，使用默认的相对坐标计算
-            rows = 8
-            cols = 12
-            
-            for row in range(rows):
-                for col in range(cols):
-                    well_name = f"{chr(65 + row)}{col + 1:02d}"
-                    x = col * well_spacing + well_spacing / 2
-                    y = row * well_spacing + well_spacing / 2
-                    
-                    # 创建孔位
-                    well = PlateWell(
-                        name=well_name,
-                        size_x=well_spacing * 0.8,
-                        size_y=well_spacing * 0.8,
-                        size_z=self.get_size_z(),
-                        max_volume=well_volume
-                    )
-                    
-                    # 添加到板
-                    self.assign_child_resource(
-                        well,
-                        location=Coordinate(x, y, 0)
-                    )
-            return
-        
-        # 使用配置文件中的绝对坐标
-        module_position = plate_module.get("position", {"x": 0, "y": 0, "z": 0})
-        
-        for well_config in plate_module.get("wells", []):
-            well_name = well_config["id"]
-            well_pos = well_config["position"]
-            
-            # 计算相对于模块的坐标（绝对坐标减去模块位置）
-            relative_x = well_pos["x"] - module_position["x"]
-            relative_y = well_pos["y"] - module_position["y"]
-            relative_z = well_pos["z"] - module_position["z"]
-            
-            # 创建孔位
-            well = PlateWell(
-                name=well_name,
-                size_x=well_config.get("diameter", 8.2) * 0.8,  # 使用配置中的直径
-                size_y=well_config.get("diameter", 8.2) * 0.8,
-                size_z=well_config.get("depth", self.get_size_z()),
-                max_volume=well_config.get("volume", well_volume)
-            )
-            
-            # 添加到板
-            self.assign_child_resource(
-                well,
-                location=Coordinate(relative_x, relative_y, relative_z)
-            )
-
-
-class LaiYuWasteContainer(Container):
-    """废液容器"""
-    
-    def __init__(self, name: str):
-        """
-        初始化废液容器
-        
-        Args:
-            name: 容器名称
-        """
-        super().__init__(
-            name=name,
-            size_x=100.0,
-            size_y=100.0,
-            size_z=50.0,
-            max_volume=5000.0
-        )
-
-
-class LaiYuWashContainer(Container):
-    """清洗容器"""
-    
-    def __init__(self, name: str):
-        """
-        初始化清洗容器
-        
-        Args:
-            name: 容器名称
-        """
-        super().__init__(
-            name=name,
-            size_x=100.0,
-            size_y=100.0,
-            size_z=50.0,
-            max_volume=5000.0
-        )
-
-
-class LaiYuReagentContainer(Container):
-    """试剂容器"""
-    
-    def __init__(self, name: str):
-        """
-        初始化试剂容器
-        
-        Args:
-            name: 容器名称
-        """
-        super().__init__(
-            name=name,
-            size_x=50.0,
-            size_y=50.0,
-            size_z=100.0,
-            max_volume=2000.0
-        )
-
-
-class LaiYu8TubeRack(LaiYuLiquidContainer):
-    """8管试管架"""
-    
-    def __init__(self, name: str):
-        """
-        初始化8管试管架
-        
-        Args:
-            name: 试管架名称
-        """
-        super().__init__(
-            name=name,
-            size_x=151.0,
-            size_y=75.0,
-            size_z=75.0,
-            container_type="tube_rack",
-            volume=0.0,
-            max_volume=77000.0
-        )
-        
-        # 创建孔位
-        self._create_wells(
-            well_count=8,
-            well_volume=77000.0,
-            well_spacing=35.0
-        )
-    
-    def get_size_z(self) -> float:
-        """获取孔位深度"""
-        return 117.0  # 试管深度
-    
-    def _create_wells(self, well_count: int, well_volume: float, well_spacing: float):
-        """
-        创建孔位 - 从配置文件中读取绝对坐标
-        
-        Args:
-            well_count: 孔位数量
-            well_volume: 孔位体积
-            well_spacing: 孔位间距
-        """
-        # 从配置文件中获取8管试管架的孔位信息
-        config = DECK_CONFIG
-        tube_module = None
-        
-        # 查找8管试管架模块
-        for module in config.get("children", []):
-            if module.get("type") == "tube_rack":
-                tube_module = module
-                break
-        
-        if not tube_module:
-            # 如果配置文件中没有找到，使用默认的相对坐标计算
-            rows = 2
-            cols = 4
-            
-            for row in range(rows):
-                for col in range(cols):
-                    well_name = f"{chr(65 + row)}{col + 1}"
-                    x = col * well_spacing + well_spacing / 2
-                    y = row * well_spacing + well_spacing / 2
-                    
-                    # 创建孔位
-                    well = PlateWell(
-                        name=well_name,
-                        size_x=29.0,
-                        size_y=29.0,
-                        size_z=self.get_size_z(),
-                        max_volume=well_volume
-                    )
-                    
-                    # 添加到试管架
-                    self.assign_child_resource(
-                        well,
-                        location=Coordinate(x, y, 0)
-                    )
-            return
-        
-        # 使用配置文件中的绝对坐标
-        module_position = tube_module.get("position", {"x": 0, "y": 0, "z": 0})
-        
-        for well_config in tube_module.get("wells", []):
-            well_name = well_config["id"]
-            well_pos = well_config["position"]
-            
-            # 计算相对于模块的坐标（绝对坐标减去模块位置）
-            relative_x = well_pos["x"] - module_position["x"]
-            relative_y = well_pos["y"] - module_position["y"]
-            relative_z = well_pos["z"] - module_position["z"]
-            
-            # 创建孔位
-            well = PlateWell(
-                name=well_name,
-                size_x=well_config.get("diameter", 29.0),
-                size_y=well_config.get("diameter", 29.0),
-                size_z=well_config.get("depth", self.get_size_z()),
-                max_volume=well_config.get("volume", well_volume)
-            )
-            
-            # 添加到试管架
-            self.assign_child_resource(
-                well,
-                location=Coordinate(relative_x, relative_y, relative_z)
-            )
-
-
-class LaiYuTipDisposal(Resource):
-    """枪头废料位置"""
-    
-    def __init__(self, name: str):
-        """
-        初始化枪头废料位置
-        
-        Args:
-            name: 位置名称
-        """
-        super().__init__(
-            name=name,
-            size_x=100.0,
-            size_y=100.0,
-            size_z=50.0
-        )
-
-
-class LaiYuMaintenancePosition(Resource):
-    """维护位置"""
-    
-    def __init__(self, name: str):
-        """
-        初始化维护位置
-        
-        Args:
-            name: 位置名称
-        """
-        super().__init__(
-            name=name,
-            size_x=50.0,
-            size_y=50.0,
-            size_z=100.0
-        )
-
-
-# 资源创建函数
-def create_tip_rack_1000ul(name: str = "tip_rack_1000ul") -> LaiYuTipRack1000:
-    """
-    创建1000μL枪头架
-    
-    Args:
-        name: 枪头架名称
-        
-    Returns:
-        LaiYuTipRack1000: 1000μL枪头架实例
-    """
-    return LaiYuTipRack1000(name)
-
-
-def create_tip_rack_200ul(name: str = "tip_rack_200ul") -> LaiYuTipRack200:
-    """
-    创建200μL枪头架
-    
-    Args:
-        name: 枪头架名称
-        
-    Returns:
-        LaiYuTipRack200: 200μL枪头架实例
-    """
-    return LaiYuTipRack200(name)
-
-
-def create_96_well_plate(name: str = "96_well_plate", lid_height: float = 0.0) -> LaiYu96WellPlate:
-    """
-    创建96孔板
-    
-    Args:
-        name: 板名称
-        lid_height: 盖子高度
-        
-    Returns:
-        LaiYu96WellPlate: 96孔板实例
-    """
-    return LaiYu96WellPlate(name, lid_height)
-
-
-def create_deep_well_plate(name: str = "deep_well_plate", lid_height: float = 0.0) -> LaiYuDeepWellPlate:
-    """
-    创建深孔板
-    
-    Args:
-        name: 板名称
-        lid_height: 盖子高度
-        
-    Returns:
-        LaiYuDeepWellPlate: 深孔板实例
-    """
-    return LaiYuDeepWellPlate(name, lid_height)
-
-
-def create_8_tube_rack(name: str = "8_tube_rack") -> LaiYu8TubeRack:
-    """
-    创建8管试管架
-    
-    Args:
-        name: 试管架名称
-        
-    Returns:
-        LaiYu8TubeRack: 8管试管架实例
-    """
-    return LaiYu8TubeRack(name)
-
-
-def create_waste_container(name: str = "waste_container") -> LaiYuWasteContainer:
-    """
-    创建废液容器
-    
-    Args:
-        name: 容器名称
-        
-    Returns:
-        LaiYuWasteContainer: 废液容器实例
-    """
-    return LaiYuWasteContainer(name)
-
-
-def create_wash_container(name: str = "wash_container") -> LaiYuWashContainer:
-    """
-    创建清洗容器
-    
-    Args:
-        name: 容器名称
-        
-    Returns:
-        LaiYuWashContainer: 清洗容器实例
-    """
-    return LaiYuWashContainer(name)
-
-
-def create_reagent_container(name: str = "reagent_container") -> LaiYuReagentContainer:
-    """
-    创建试剂容器
-    
-    Args:
-        name: 容器名称
-        
-    Returns:
-        LaiYuReagentContainer: 试剂容器实例
-    """
-    return LaiYuReagentContainer(name)
-
-
-def create_tip_disposal(name: str = "tip_disposal") -> LaiYuTipDisposal:
-    """
-    创建枪头废料位置
-    
-    Args:
-        name: 位置名称
-        
-    Returns:
-        LaiYuTipDisposal: 枪头废料位置实例
-    """
-    return LaiYuTipDisposal(name)
-
-
-def create_maintenance_position(name: str = "maintenance_position") -> LaiYuMaintenancePosition:
-    """
-    创建维护位置
-    
-    Args:
-        name: 位置名称
-        
-    Returns:
-        LaiYuMaintenancePosition: 维护位置实例
-    """
-    return LaiYuMaintenancePosition(name)
-
-
-def create_standard_deck() -> LaiYuLiquidDeck:
-    """
-    创建标准工作台配置
-    
-    Returns:
-        LaiYuLiquidDeck: 配置好的工作台实例
-    """
-    # 从配置文件创建工作台
-    deck = LaiYuLiquidDeck(config=DECK_CONFIG)
-    
-    return deck
-
-
-def get_resource_by_name(deck: LaiYuLiquidDeck, name: str) -> Optional[Resource]:
-    """
-    根据名称获取资源
-    
-    Args:
-        deck: 工作台实例
-        name: 资源名称
-        
-    Returns:
-        Optional[Resource]: 找到的资源，如果不存在则返回None
-    """
-    for child in deck.children:
-        if child.name == name:
-            return child
-    return None
-
-
-def get_resources_by_type(deck: LaiYuLiquidDeck, resource_type: type) -> List[Resource]:
-    """
-    根据类型获取资源列表
-    
-    Args:
-        deck: 工作台实例
-        resource_type: 资源类型
-        
-    Returns:
-        List[Resource]: 匹配类型的资源列表
-    """
-    return [child for child in deck.children if isinstance(child, resource_type)]
-
-
-def list_all_resources(deck: LaiYuLiquidDeck) -> Dict[str, List[str]]:
-    """
-    列出所有资源
-    
-    Args:
-        deck: 工作台实例
-        
-    Returns:
-        Dict[str, List[str]]: 按类型分组的资源名称字典
-    """
-    resources = {
-        "tip_racks": [],
-        "plates": [],
-        "containers": [],
-        "positions": []
-    }
-    
-    for child in deck.children:
-        if isinstance(child, (LaiYuTipRack1000, LaiYuTipRack200)):
-            resources["tip_racks"].append(child.name)
-        elif isinstance(child, (LaiYu96WellPlate, LaiYuDeepWellPlate)):
-            resources["plates"].append(child.name)
-        elif isinstance(child, (LaiYuWasteContainer, LaiYuWashContainer, LaiYuReagentContainer)):
-            resources["containers"].append(child.name)
-        elif isinstance(child, (LaiYuTipDisposal, LaiYuMaintenancePosition)):
-            resources["positions"].append(child.name)
-    
-    return resources
-
-
-# 导出的类别名（向后兼容）
-TipRack1000ul = LaiYuTipRack1000
-TipRack200ul = LaiYuTipRack200
-Plate96Well = LaiYu96WellPlate
-Plate96DeepWell = LaiYuDeepWellPlate
-TubeRack8 = LaiYu8TubeRack
-WasteContainer = LaiYuWasteContainer
-WashContainer = LaiYuWashContainer
-ReagentContainer = LaiYuReagentContainer
-TipDisposal = LaiYuTipDisposal
-MaintenancePosition = LaiYuMaintenancePosition

unilabos/devices/laiyu_liquid/docs/CHANGELOG.md

@@ -1,69 +0,0 @@
-# 更新日志
-
-本文档记录了 LaiYu_Liquid 模块的所有重要变更。
-
-## [1.0.0] - 2024-01-XX
-
-### 新增功能
-- ✅ 完整的液体处理工作站集成
-- ✅ RS485 通信协议支持
-- ✅ SOPA 气动式移液器驱动
-- ✅ XYZ 三轴步进电机控制
-- ✅ PyLabRobot 兼容后端
-- ✅ 标准化资源管理系统
-- ✅ 96孔板、离心管架、枪头架支持
-- ✅ RViz 可视化后端
-- ✅ 完整的配置管理系统
-- ✅ 抽象协议实现
-- ✅ 生产级错误处理和日志记录
-
-### 技术特性
-- **硬件支持**: SOPA移液器 + XYZ三轴运动平台
-- **通信协议**: RS485总线，波特率115200
-- **坐标系统**: 机械坐标与工作坐标自动转换
-- **安全机制**: 限位保护、紧急停止、错误恢复
-- **兼容性**: 完全兼容 PyLabRobot 框架
-
-### 文件结构
-```
-LaiYu_Liquid/
-├── core/
-│   └── LaiYu_Liquid.py      # 主模块文件
-├── __init__.py              # 模块初始化
-├── abstract_protocol.py    # 抽象协议
-├── laiyu_liquid_res.py     # 资源管理
-├── rviz_backend.py         # RViz后端
-├── backend/                # 后端驱动
-├── config/                 # 配置文件
-├── controllers/           # 控制器
-├── docs/                  # 技术文档
-└── drivers/               # 底层驱动
-```
-
-### 已知问题
-- 无
-
-### 依赖要求
-- Python 3.8+
-- PyLabRobot
-- pyserial
-- asyncio
-
----
-
-## 版本说明
-
-### 版本号格式
-采用语义化版本控制 (Semantic Versioning): `MAJOR.MINOR.PATCH`
-
-- **MAJOR**: 不兼容的API变更
-- **MINOR**: 向后兼容的功能新增
-- **PATCH**: 向后兼容的问题修复
-
-### 变更类型
-- **新增功能**: 新的功能特性
-- **变更**: 现有功能的变更
-- **弃用**: 即将移除的功能
-- **移除**: 已移除的功能
-- **修复**: 问题修复
-- **安全**: 安全相关的修复

unilabos/devices/laiyu_liquid/docs/hardware/SOPA气动式移液器RS485控制指令.md

@@ -1,267 +0,0 @@
-# SOPA气动式移液器RS485控制指令合集
-
-## 1. RS485通信基本配置
-
-### 1.1 支持的设备型号
-- **仅SC-STxxx-00-13支持RS485通信**
-- 其他型号主要使用CAN通信
-
-### 1.2 通信参数
-- **波特率**: 9600, 115200（默认值）
-- **地址范围**: 1~254个设备，255为广播地址
-- **通信接口**: RS485差分信号
-
-### 1.3 引脚分配（10位LIF连接器）
-- **引脚7**: RS485+ (RS485通信正极)
-- **引脚8**: RS485- (RS485通信负极)
-
-## 2. RS485通信协议格式
-
-### 2.1 发送数据格式
-```
-头码 | 地址 | 命令/数据 | 尾码 | 校验和
-```
-
-### 2.2 从机回应格式
-```
-头码 | 地址 | 数据（固定9字节） | 尾码 | 校验和
-```
-
-### 2.3 格式详细说明
-- **头码**: 
-  - 终端调试: '/' (0x2F)
-  - OEM通信: '[' (0x5B) 
-- **地址**: 设备节点地址，1~254，多字节ASCII（注意：地址不可为47，69，91）
-- **命令/数据**: ASCII格式的命令字符串
-- **尾码**: 'E' (0x45)
-- **校验和**: 以上数据的累加值，1字节
-
-## 3. 初始化和基本控制指令
-
-### 3.1 初始化指令
-```bash
-# 初始化活塞驱动机构
-HE
-
-# 示例（OEM通信）：
-# 主机发送: 5B 32 48 45 1A
-# 从机回应开始: 2F 02 06 0A 30 00 00 00 00 00 00 45 B6
-# 从机回应完成: 2F 02 06 00 30 00 00 00 00 00 00 45 AC
-```
-
-### 3.2 枪头操作指令
-```bash
-# 顶出枪头
-RE
-
-# 枪头检测状态报告
-Q28  # 返回枪头存在状态（0=不存在，1=存在）
-```
-
-## 4. 移液控制指令
-
-### 4.1 位置控制指令
-```bash
-# 绝对位置移动（微升）
-A[n]E
-# 示例：移动到位置0
-A0E
-
-# 相对抽吸（向上移动）
-P[n]E
-# 示例：抽吸200微升
-P200E
-
-# 相对分配（向下移动）  
-D[n]E
-# 示例：分配200微升
-D200E
-```
-
-### 4.2 速度设置指令
-```bash
-# 设置最高速度（0.1ul/秒为单位）
-s[n]E
-# 示例：设置最高速度为2000（200ul/秒）
-s2000E
-
-# 设置启动速度
-b[n]E
-# 示例：设置启动速度为100（10ul/秒）
-b100E
-
-# 设置断流速度
-c[n]E
-# 示例：设置断流速度为100（10ul/秒）
-c100E
-
-# 设置加速度
-a[n]E
-# 示例：设置加速度为30000
-a30000E
-```
-
-## 5. 液体检测和安全控制指令
-
-### 5.1 吸排液检测控制
-```bash
-# 开启吸排液检测
-f1E  # 开启
-f0E  # 关闭
-
-# 设置空吸门限
-$[n]E
-# 示例：设置空吸门限为4
-$4E
-
-# 设置泡沫门限
-![n]E
-# 示例：设置泡沫门限为20
-!20E
-
-# 设置堵塞门限
-%[n]E
-# 示例：设置堵塞门限为350
-%350E
-```
-
-### 5.2 液位检测指令
-```bash
-# 压力式液位检测
-m0E  # 设置为压力探测模式
-L[n]E  # 执行液位检测，[n]为灵敏度(3~40)
-k[n]E  # 设置检测速度(100~2000)
-
-# 电容式液位检测  
-m1E  # 设置为电容探测模式
-```
-
-## 6. 状态查询和报告指令
-
-### 6.1 基本状态查询
-```bash
-# 查询固件版本
-V
-
-# 查询设备状态
-Q[n]
-# 常用查询参数：
-Q01  # 报告加速度
-Q02  # 报告启动速度  
-Q03  # 报告断流速度
-Q06  # 报告最大速度
-Q08  # 报告节点地址
-Q11  # 报告波特率
-Q18  # 报告当前位置
-Q28  # 报告枪头存在状态
-Q29  # 报告校准系数
-Q30  # 报告空吸门限
-Q31  # 报告堵针门限
-Q32  # 报告泡沫门限
-```
-
-## 7. 配置和校准指令
-
-### 7.1 校准参数设置
-```bash
-# 设置校准系数
-j[n]E
-# 示例：设置校准系数为1.04
-j1.04E
-
-# 设置补偿偏差
-e[n]E  
-# 示例：设置补偿偏差为2.03
-e2.03E
-
-# 设置吸头容量
-C[n]E
-# 示例：设置1000ul吸头
-C1000E
-```
-
-### 7.2 高级控制参数
-```bash
-# 设置回吸粘度
-][n]E
-# 示例：设置回吸粘度为30
-]30E
-
-# 延时控制
-M[n]E
-# 示例：延时1000毫秒
-M1000E
-```
-
-## 8. 复合操作指令示例
-
-### 8.1 标准移液操作
-```bash
-# 完整的200ul移液操作
-a30000b200c200s2000P200E
-# 解析：设置加速度30000 + 启动速度200 + 断流速度200 + 最高速度2000 + 抽吸200ul + 执行
-```
-
-### 8.2 带检测的移液操作
-```bash
-# 带空吸检测的200ul抽吸
-a30000b200c200s2000f1P200f0E
-# 解析：设置参数 + 开启检测 + 抽吸200ul + 关闭检测 + 执行
-```
-
-### 8.3 液面检测操作
-```bash
-# 压力式液面检测
-m0k200L5E
-# 解析：压力模式 + 检测速度200 + 灵敏度5 + 执行检测
-
-# 电容式液面检测  
-m1L3E
-# 解析：电容模式 + 灵敏度3 + 执行检测
-```
-
-## 9. 错误处理
-
-### 9.1 状态字节说明
-- **00h**: 无错误
-- **01h**: 上次动作未完成
-- **02h**: 设备未初始化  
-- **03h**: 设备过载
-- **04h**: 无效指令
-- **05h**: 液位探测故障
-- **0Dh**: 空吸
-- **0Eh**: 堵针
-- **10h**: 泡沫
-- **11h**: 吸液超过吸头容量
-
-### 9.2 错误查询
-```bash
-# 查询当前错误状态
-Q  # 返回状态字节和错误代码
-```
-
-## 10. 通信示例
-
-### 10.1 基本通信流程
-1. **执行命令**: 主机发送命令 → 从机确认 → 从机执行 → 从机回应完成
-2. **读取数据**: 主机发送查询 → 从机确认 → 从机返回数据
-
-### 10.2 快速指令表
-| 操作 | 指令 | 说明 |
-|------|------|------|
-| 初始化 | `HE` | 初始化设备 |
-| 退枪头 | `RE` | 顶出枪头 |
-| 吸液200ul | `a30000b200c200s2000P200E` | 基本吸液 |
-| 带检测吸液 | `a30000b200c200s2000f1P200f0E` | 开启空吸检测 |
-| 吐液200ul | `a300000b500c500s6000D200E` | 基本分配 |
-| 压力液面检测 | `m0k200L5E` | pLLD检测 |
-| 电容液面检测 | `m1L3E` | cLLD检测 |
-
-## 11. 注意事项
-
-1. **地址限制**: RS485地址不可设为47、69、91
-2. **校验和**: 终端调试时不关心校验和，OEM通信需要校验
-3. **ASCII格式**: 所有命令和参数都使用ASCII字符
-4. **执行指令**: 大部分命令需要以'E'结尾才能执行
-5. **设备支持**: 只有SC-STxxx-00-13型号支持RS485通信
-6. **波特率设置**: 默认115200，可设置为9600

unilabos/devices/laiyu_liquid/docs/hardware/步进电机控制指令.md

@@ -1,162 +0,0 @@
-# 步进电机B系列控制指令详解
-
-## 基本通信参数
-- **通信方式**: RS485
-- **协议**: Modbus
-- **波特率**: 115200 (默认)
-- **数据位**: 8位
-- **停止位**: 1位
-- **校验位**: 无
-- **默认站号**: 1 (可设置1-254)
-
-## 支持的功能码
-- **03H**: 读取寄存器
-- **06H**: 写入单个寄存器  
-- **10H**: 写入多个寄存器
-
-## 寄存器地址表
-
-### 状态监控寄存器 (只读)
-| 地址 | 功能码 | 内容 | 说明 |
-|------|--------|------|------|
-| 00H | 03H | 电机状态 | 0000H-待机/到位, 0001H-运行中, 0002H-碰撞停, 0003H-正光电停, 0004H-反光电停 |
-| 01H | 03H | 实际步数高位 | 当前电机位置的高16位 |
-| 02H | 03H | 实际步数低位 | 当前电机位置的低16位 |
-| 03H | 03H | 实际速度 | 当前转速 (rpm) |
-| 05H | 03H | 电流 | 当前工作电流 (mA) |
-
-### 控制寄存器 (读写)
-| 地址 | 功能码 | 内容 | 说明 |
-|------|--------|------|------|
-| 04H | 03H/06H/10H | 急停指令 | 紧急停止控制 |
-| 06H | 03H/06H/10H | 失能控制 | 1-使能, 0-失能 |
-| 07H | 03H/06H/10H | PWM输出 | 0-1000对应0%-100%占空比 |
-| 0EH | 03H/06H/10H | 单圈绝对值归零 | 归零指令 |
-| 0FH | 03H/06H/10H | 归零指令 | 定点模式归零速度设置 |
-
-### 位置模式寄存器
-| 地址 | 功能码 | 内容 | 说明 |
-|------|--------|------|------|
-| 10H | 03H/06H/10H | 目标步数高位 | 目标位置高16位 |
-| 11H | 03H/06H/10H | 目标步数低位 | 目标位置低16位 |
-| 12H | 03H/06H/10H | 保留 | - |
-| 13H | 03H/06H/10H | 速度 | 运行速度 (rpm) |
-| 14H | 03H/06H/10H | 加速度 | 0-60000 rpm/s |
-| 15H | 03H/06H/10H | 精度 | 到位精度设置 |
-
-### 速度模式寄存器
-| 地址 | 功能码 | 内容 | 说明 |
-|------|--------|------|------|
-| 60H | 03H/06H/10H | 保留 | - |
-| 61H | 03H/06H/10H | 速度 | 正值正转，负值反转 |
-| 62H | 03H/06H/10H | 加速度 | 0-60000 rpm/s |
-
-### 设备参数寄存器
-| 地址 | 功能码 | 内容 | 默认值 | 说明 |
-|------|--------|------|--------|------|
-| E0H | 03H/06H/10H | 设备地址 | 0001H | Modbus从站地址 |
-| E1H | 03H/06H/10H | 堵转电流 | 0BB8H | 堵转检测电流阈值 |
-| E2H | 03H/06H/10H | 保留 | 0258H | - |
-| E3H | 03H/06H/10H | 每圈步数 | 0640H | 细分设置 |
-| E4H | 03H/06H/10H | 限位开关使能 | F000H | 1-使能, 0-禁用 |
-| E5H | 03H/06H/10H | 堵转逻辑 | 0000H | 00-断电, 01-对抗 |
-| E6H | 03H/06H/10H | 堵转时间 | 0000H | 堵转检测时间(ms) |
-| E7H | 03H/06H/10H | 默认速度 | 1388H | 上电默认速度 |
-| E8H | 03H/06H/10H | 默认加速度 | EA60H | 上电默认加速度 |
-| E9H | 03H/06H/10H | 默认精度 | 0064H | 上电默认精度 |
-| EAH | 03H/06H/10H | 波特率高位 | 0001H | 通信波特率设置 |
-| EBH | 03H/06H/10H | 波特率低位 | C200H | 115200对应01C200H |
-
-### 版本信息寄存器 (只读)
-| 地址 | 功能码 | 内容 | 说明 |
-|------|--------|------|------|
-| F0H | 03H | 版本号 | 固件版本信息 |
-| F1H-F4H | 03H | 型号 | 产品型号信息 |
-
-## 常用控制指令示例
-
-### 读取电机状态
-```
-发送: 01 03 00 00 00 01 84 0A
-接收: 01 03 02 00 01 79 84
-说明: 电机状态为0001H (正在运行)
-```
-
-### 读取当前位置
-```
-发送: 01 03 00 01 00 02 95 CB  
-接收: 01 03 04 00 19 00 00 2B F4
-说明: 当前位置为1638400步 (100圈)
-```
-
-### 停止电机
-```
-发送: 01 10 00 04 00 01 02 00 00 A7 D4
-接收: 01 10 00 04 00 01 40 08
-说明: 急停指令
-```
-
-### 位置模式运动
-```
-发送: 01 10 00 10 00 06 0C 00 19 00 00 00 00 13 88 00 00 00 00 9F FB
-接收: 01 10 00 10 00 06 41 CE
-说明: 以5000rpm速度运动到1638400步位置
-```
-
-### 速度模式 - 正转
-```
-发送: 01 10 00 60 00 04 08 00 00 13 88 00 FA 00 00 F4 77
-接收: 01 10 00 60 00 04 C1 D4
-说明: 以5000rpm速度正转
-```
-
-### 速度模式 - 反转
-```
-发送: 01 10 00 60 00 04 08 00 00 EC 78 00 FA 00 00 A0 6D
-接收: 01 10 00 60 00 04 C1 D4
-说明: 以5000rpm速度反转 (EC78H = -5000)
-```
-
-### 设置设备地址
-```
-发送: 00 06 00 E0 00 02 C9 F1
-接收: 00 06 00 E0 00 02 C9 F1
-说明: 将设备地址设置为2
-```
-
-## 错误码
-| 状态码 | 含义 |
-|--------|------|
-| 0001H | 功能码错误 |
-| 0002H | 地址错误 |
-| 0003H | 长度错误 |
-
-## CRC校验算法
-```c
-public static byte[] ModBusCRC(byte[] data, int offset, int cnt) {
-    int wCrc = 0x0000FFFF;
-    byte[] CRC = new byte[2];
-    for (int i = 0; i < cnt; i++) {
-        wCrc ^= ((data[i + offset]) & 0xFF);
-        for (int j = 0; j < 8; j++) {
-            if ((wCrc & 0x00000001) == 1) {
-                wCrc >>= 1;
-                wCrc ^= 0x0000A001;
-            } else {
-                wCrc >>= 1;
-            }
-        }
-    }
-    CRC[1] = (byte) ((wCrc & 0x0000FF00) >> 8);
-    CRC[0] = (byte) (wCrc & 0x000000FF);
-    return CRC;
-}
-```
-
-## 注意事项
-1. 所有16位数据采用大端序传输
-2. 步数计算: 实际步数 = 高位<<16 | 低位
-3. 负数使用补码表示
-4. PWM输出K脚: 0%开漏, 100%接地, 其他输出1KHz PWM
-5. 光电开关需使用NPN开漏型
-6. 限位开关: LF正向, LB反向

unilabos/devices/laiyu_liquid/docs/readme.md

@@ -1,269 +0,0 @@
-# LaiYu_Liquid 液体处理工作站
-
-## 概述
-
-LaiYu_Liquid 是一个完全集成到 UniLabOS 的自动化液体处理工作站，基于 RS485 通信协议，专为精确的液体分配和转移操作而设计。本模块已完成生产环境部署准备，提供完整的硬件控制、资源管理和标准化接口。
-
-## 系统组成
-
-### 硬件组件
-- **XYZ三轴运动平台**: 3个RS485步进电机驱动（地址：X轴=0x01, Y轴=0x02, Z轴=0x03）
-- **SOPA气动式移液器**: RS485总线控制，支持精密液体处理操作
-- **通信接口**: RS485转USB模块，默认波特率115200
-- **机械结构**: 稳固工作台面，支持离心管架、96孔板等标准实验耗材
-
-### 软件架构
-- **驱动层**: 底层硬件通信驱动，支持RS485协议
-- **控制层**: 高级控制逻辑和坐标系管理
-- **抽象层**: 完全符合UniLabOS标准的液体处理接口
-- **资源层**: 标准化的实验器具和耗材管理
-
-## 🎯 生产就绪组件
-
-### ✅ 核心驱动程序 (`drivers/`)
-- **`sopa_pipette_driver.py`** - SOPA移液器完整驱动
-  - 支持液体吸取、分配、检测
-  - 完整的错误处理和状态管理
-  - 生产级别的通信协议实现
-  
-- **`xyz_stepper_driver.py`** - XYZ三轴步进电机驱动
-  - 精确的位置控制和运动规划
-  - 安全限位和错误检测
-  - 高性能运动控制算法
-
-### ✅ 高级控制器 (`controllers/`)
-- **`pipette_controller.py`** - 移液控制器
-  - 封装高级液体处理功能
-  - 支持多种液体类型和处理参数
-  - 智能错误恢复机制
-  
-- **`xyz_controller.py`** - XYZ运动控制器
-  - 坐标系管理和转换
-  - 运动路径优化
-  - 安全运动控制
-
-### ✅ UniLabOS集成 (`core/LaiYu_Liquid.py`)
-- **完整的液体处理抽象接口**
-- **标准化的资源管理系统**
-- **与PyLabRobot兼容的后端实现**
-- **生产级别的错误处理和日志记录**
-
-### ✅ 资源管理系统
-- **`laiyu_liquid_res.py`** - 标准化资源定义
-  - 96孔板、离心管架、枪头架等标准器具
-  - 自动化的资源创建和配置函数
-  - 与工作台布局的完美集成
-
-### ✅ 配置管理 (`config/`)
-- **`config/deck.json`** - 工作台布局配置
-  - 精确的空间定义和槽位管理
-  - 支持多种实验器具的标准化放置
-  - 可扩展的配置架构
-
-- **`__init__.py`** - 模块集成和导出
-  - 完整的API导出和版本管理
-  - 依赖检查和安装验证
-  - 专业的模块信息展示
-
-<!-- ### ✅ 可视化支持
-- **`rviz_backend.py`** - RViz可视化后端
-  - 实时运动状态可视化
-  - 液体处理过程监控
-  - 与ROS系统的无缝集成 -->
-
-## 🚀 核心功能特性
-
-### 液体处理能力
-- **精密体积控制**: 支持1-1000μL精确分配
-- **多种液体类型**: 水性、有机溶剂、粘稠液体等
-- **智能检测**: 液位检测、气泡检测、堵塞检测
-- **自动化流程**: 完整的吸取-转移-分配工作流
-
-### 运动控制系统
-- **三轴精密定位**: 微米级精度控制
-- **路径优化**: 智能运动规划和碰撞避免
-- **安全机制**: 限位保护、紧急停止、错误恢复
-- **坐标系管理**: 工作坐标与机械坐标的自动转换
-
-### 资源管理
-- **标准化器具**: 支持96孔板、离心管架、枪头架等
-- **状态跟踪**: 实时监控液体体积、枪头状态等
-- **自动配置**: 基于JSON的灵活配置系统
-- **扩展性**: 易于添加新的器具类型
-
-## 📁 目录结构
-
-```
-LaiYu_Liquid/
-├── __init__.py              # 模块初始化和API导出
-├── readme.md               # 本文档
-├── backend/                # 后端驱动模块
-│   ├── __init__.py
-│   └── laiyu_backend.py    # PyLabRobot兼容后端
-├── core/                   # 核心模块
-│   ├── core/
-│   │   └── LaiYu_Liquid.py    # 主设备类
-│   ├── abstract_protocol.py # 抽象协议
-│   └── laiyu_liquid_res.py # 设备资源定义
-├── config/                 # 配置文件目录
-│   └── deck.json          # 工作台布局配置
-├── controllers/           # 高级控制器
-│   ├── __init__.py
-│   ├── pipette_controller.py  # 移液控制器
-│   └── xyz_controller.py      # XYZ运动控制器
-├── docs/                  # 技术文档
-│   ├── SOPA气动式移液器RS485控制指令.md
-│   ├── 步进电机控制指令.md
-│   └── hardware/          # 硬件相关文档
-├── drivers/               # 底层驱动程序
-│   ├── __init__.py
-│   ├── sopa_pipette_driver.py  # SOPA移液器驱动
-│   └── xyz_stepper_driver.py   # XYZ步进电机驱动
-└── tests/                 # 测试文件
-```
-
-## 🔧 快速开始
-
-### 1. 安装和验证
-
-```python
-# 验证模块安装
-from unilabos.devices.laiyu_liquid import (
-    LaiYuLiquid,
-    LaiYuLiquidConfig,
-    create_quick_setup,
-    print_module_info
-)
-
-# 查看模块信息
-print_module_info()
-
-# 快速创建默认资源
-resources = create_quick_setup()
-print(f"已创建 {len(resources)} 个资源")
-```
-
-### 2. 基本使用示例
-
-```python
-from unilabos.devices.LaiYu_Liquid import (
-    create_quick_setup, 
-    create_96_well_plate,
-    create_laiyu_backend
-)
-
-# 快速创建默认资源
-resources = create_quick_setup()
-print(f"创建了以下资源: {list(resources.keys())}")
-
-# 创建96孔板
-plate_96 = create_96_well_plate("test_plate")
-print(f"96孔板包含 {len(plate_96.children)} 个孔位")
-
-# 创建后端实例（用于PyLabRobot集成）
-backend = create_laiyu_backend("LaiYu_Device")
-print(f"后端设备: {backend.name}")
-```
-
-### 3. 后端驱动使用
-
-```python
-from unilabos.devices.laiyu_liquid.backend import create_laiyu_backend
-
-# 创建后端实例
-backend = create_laiyu_backend("LaiYu_Liquid_Station")
-
-# 连接设备
-await backend.connect()
-
-# 设备归位
-await backend.home_device()
-
-# 获取设备状态
-status = await backend.get_status()
-print(f"设备状态: {status}")
-
-# 断开连接
-await backend.disconnect()
-```
-
-### 4. 资源管理示例
-
-```python
-from unilabos.devices.LaiYu_Liquid import (
-    create_centrifuge_tube_rack,
-    create_tip_rack,
-    load_deck_config
-)
-
-# 加载工作台配置
-deck_config = load_deck_config()
-print(f"工作台尺寸: {deck_config['size_x']}x{deck_config['size_y']}mm")
-
-# 创建不同类型的资源
-tube_rack = create_centrifuge_tube_rack("sample_rack")
-tip_rack = create_tip_rack("tip_rack_200ul")
-
-print(f"离心管架: {tube_rack.name}, 容量: {len(tube_rack.children)} 个位置")
-print(f"枪头架: {tip_rack.name}, 容量: {len(tip_rack.children)} 个枪头")
-```
-
-## 🔍 技术架构
-
-### 坐标系统
-- **机械坐标**: 基于步进电机的原始坐标系统
-- **工作坐标**: 用户友好的实验室坐标系统
-- **自动转换**: 透明的坐标系转换和校准
-
-### 通信协议
-- **RS485总线**: 高可靠性工业通信标准
-- **Modbus协议**: 标准化的设备通信协议
-- **错误检测**: 完整的通信错误检测和恢复
-
-### 安全机制
-- **限位保护**: 硬件和软件双重限位保护
-- **紧急停止**: 即时停止所有运动和操作
-- **状态监控**: 实时设备状态监控和报警
-
-## 🧪 验证和测试
-
-### 功能验证
-```python
-# 验证模块安装
-from unilabos.devices.laiyu_liquid import validate_installation
-validate_installation()
-
-# 查看模块信息
-from unilabos.devices.laiyu_liquid import print_module_info
-print_module_info()
-```
-
-### 硬件连接测试
-```python
-# 测试SOPA移液器连接
-from unilabos.devices.laiyu_liquid.drivers import SOPAPipette, SOPAConfig
-
-config = SOPAConfig(port="/dev/cu.usbserial-3130", address=4)
-pipette = SOPAPipette(config)
-success = pipette.connect()
-print(f"SOPA连接状态: {'成功' if success else '失败'}")
-```
-
-## 📚 维护和支持
-
-### 日志记录
-- **结构化日志**: 使用Python logging模块的专业日志记录
-- **错误追踪**: 详细的错误信息和堆栈跟踪
-- **性能监控**: 操作时间和性能指标记录
-
-### 配置管理
-- **JSON配置**: 灵活的JSON格式配置文件
-- **参数验证**: 自动配置参数验证和错误提示
-- **热重载**: 支持配置文件的动态重载
-
-### 扩展性
-- **模块化设计**: 易于扩展和定制的模块化架构
-- **插件接口**: 支持第三方插件和扩展
-- **API兼容**: 向后兼容的API设计
-
-

unilabos/devices/laiyu_liquid/drivers/__init__.py

@@ -1,30 +0,0 @@
-"""
-LaiYu_Liquid 驱动程序模块
-
-该模块包含了LaiYu_Liquid液体处理工作站的硬件驱动程序：
-- SOPA移液器驱动程序
-- XYZ步进电机驱动程序
-"""
-
-# SOPA移液器驱动程序导入
-from .sopa_pipette_driver import SOPAPipette, SOPAConfig, SOPAStatusCode
-
-# XYZ步进电机驱动程序导入  
-from .xyz_stepper_driver import StepperMotorDriver, XYZStepperController, MotorAxis, MotorStatus
-
-__all__ = [
-    # SOPA移液器
-    "SOPAPipette",
-    "SOPAConfig",
-    "SOPAStatusCode",
-    
-    # XYZ步进电机
-    "StepperMotorDriver", 
-    "XYZStepperController",
-    "MotorAxis",
-    "MotorStatus",
-]
-
-__version__ = "1.0.0"
-__author__ = "LaiYu_Liquid Driver Team"
-__description__ = "LaiYu_Liquid 硬件驱动程序集合"

unilabos/devices/laiyu_liquid/drivers/xyz_stepper_driver.py

@@ -1,663 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-"""
-XYZ三轴步进电机B系列驱动程序
-支持RS485通信，Modbus协议
-"""
-
-import serial
-import struct
-import time
-import logging
-from typing import Optional, Tuple, Dict, Any
-from enum import Enum
-from dataclasses import dataclass
-
-# 配置日志
-logging.basicConfig(level=logging.INFO)
-logger = logging.getLogger(__name__)
-
-
-class MotorAxis(Enum):
-    """电机轴枚举"""
-    X = 1
-    Y = 2
-    Z = 3
-
-
-class MotorStatus(Enum):
-    """电机状态枚举"""
-    STANDBY = 0x0000  # 待机/到位
-    RUNNING = 0x0001  # 运行中
-    COLLISION_STOP = 0x0002  # 碰撞停
-    FORWARD_LIMIT_STOP = 0x0003  # 正光电停
-    REVERSE_LIMIT_STOP = 0x0004  # 反光电停
-
-
-class ModbusFunction(Enum):
-    """Modbus功能码"""
-    READ_HOLDING_REGISTERS = 0x03
-    WRITE_SINGLE_REGISTER = 0x06
-    WRITE_MULTIPLE_REGISTERS = 0x10
-
-
-@dataclass
-class MotorPosition:
-    """电机位置信息"""
-    steps: int
-    speed: int
-    current: int
-    status: MotorStatus
-
-
-class ModbusException(Exception):
-    """Modbus通信异常"""
-    pass
-
-
-class StepperMotorDriver:
-    """步进电机驱动器基类"""
-    
-    # 寄存器地址常量
-    REG_STATUS = 0x00
-    REG_POSITION_HIGH = 0x01
-    REG_POSITION_LOW = 0x02
-    REG_ACTUAL_SPEED = 0x03
-    REG_EMERGENCY_STOP = 0x04
-    REG_CURRENT = 0x05
-    REG_ENABLE = 0x06
-    REG_PWM_OUTPUT = 0x07
-    REG_ZERO_SINGLE = 0x0E
-    REG_ZERO_COMMAND = 0x0F
-    
-    # 位置模式寄存器
-    REG_TARGET_POSITION_HIGH = 0x10
-    REG_TARGET_POSITION_LOW = 0x11
-    REG_POSITION_SPEED = 0x13
-    REG_POSITION_ACCELERATION = 0x14
-    REG_POSITION_PRECISION = 0x15
-    
-    # 速度模式寄存器
-    REG_SPEED_MODE_SPEED = 0x61
-    REG_SPEED_MODE_ACCELERATION = 0x62
-    
-    # 设备参数寄存器
-    REG_DEVICE_ADDRESS = 0xE0
-    REG_DEFAULT_SPEED = 0xE7
-    REG_DEFAULT_ACCELERATION = 0xE8
-    
-    def __init__(self, port: str, baudrate: int = 115200, timeout: float = 1.0):
-        """
-        初始化步进电机驱动器
-        
-        Args:
-            port: 串口端口名
-            baudrate: 波特率
-            timeout: 通信超时时间
-        """
-        self.port = port
-        self.baudrate = baudrate
-        self.timeout = timeout
-        self.serial_conn: Optional[serial.Serial] = None
-        
-    def connect(self) -> bool:
-        """
-        建立串口连接
-        
-        Returns:
-            连接是否成功
-        """
-        try:
-            self.serial_conn = serial.Serial(
-                port=self.port,
-                baudrate=self.baudrate,
-                bytesize=serial.EIGHTBITS,
-                parity=serial.PARITY_NONE,
-                stopbits=serial.STOPBITS_ONE,
-                timeout=self.timeout
-            )
-            logger.info(f"已连接到串口: {self.port}")
-            return True
-        except Exception as e:
-            logger.error(f"串口连接失败: {e}")
-            return False
-    
-    def disconnect(self) -> None:
-        """关闭串口连接"""
-        if self.serial_conn and self.serial_conn.is_open:
-            self.serial_conn.close()
-            logger.info("串口连接已关闭")
-    
-    def __enter__(self):
-        """上下文管理器入口"""
-        if self.connect():
-            return self
-        raise ModbusException("无法建立串口连接")
-    
-    def __exit__(self, exc_type, exc_val, exc_tb):
-        """上下文管理器出口"""
-        self.disconnect()
-    
-    @staticmethod
-    def calculate_crc(data: bytes) -> bytes:
-        """
-        计算Modbus CRC校验码
-        
-        Args:
-            data: 待校验的数据
-            
-        Returns:
-            CRC校验码 (2字节)
-        """
-        crc = 0xFFFF
-        for byte in data:
-            crc ^= byte
-            for _ in range(8):
-                if crc & 0x0001:
-                    crc >>= 1
-                    crc ^= 0xA001
-                else:
-                    crc >>= 1
-        return struct.pack('<H', crc)
-    
-    def _send_command(self, slave_addr: int, data: bytes) -> bytes:
-        """
-        发送Modbus命令并接收响应
-        
-        Args:
-            slave_addr: 从站地址
-            data: 命令数据
-            
-        Returns:
-            响应数据
-            
-        Raises:
-            ModbusException: 通信异常
-        """
-        if not self.serial_conn or not self.serial_conn.is_open:
-            raise ModbusException("串口未连接")
-        
-        # 构建完整命令
-        command = bytes([slave_addr]) + data
-        crc = self.calculate_crc(command)
-        full_command = command + crc
-        
-        # 清空接收缓冲区
-        self.serial_conn.reset_input_buffer()
-        
-        # 发送命令
-        self.serial_conn.write(full_command)
-        logger.debug(f"发送命令: {' '.join(f'{b:02X}' for b in full_command)}")
-        
-        # 等待响应
-        time.sleep(0.01)  # 短暂延时
-        
-        # 读取响应
-        response = self.serial_conn.read(256)  # 最大读取256字节
-        if not response:
-            raise ModbusException("未收到响应")
-        
-        logger.debug(f"接收响应: {' '.join(f'{b:02X}' for b in response)}")
-        
-        # 验证CRC
-        if len(response) < 3:
-            raise ModbusException("响应数据长度不足")
-        
-        data_part = response[:-2]
-        received_crc = response[-2:]
-        calculated_crc = self.calculate_crc(data_part)
-        
-        if received_crc != calculated_crc:
-            raise ModbusException("CRC校验失败")
-        
-        return response
-    
-    def read_registers(self, slave_addr: int, start_addr: int, count: int) -> list:
-        """
-        读取保持寄存器
-        
-        Args:
-            slave_addr: 从站地址
-            start_addr: 起始地址
-            count: 寄存器数量
-            
-        Returns:
-            寄存器值列表
-        """
-        data = struct.pack('>BHH', ModbusFunction.READ_HOLDING_REGISTERS.value, start_addr, count)
-        response = self._send_command(slave_addr, data)
-        
-        if len(response) < 5:
-            raise ModbusException("响应长度不足")
-        
-        if response[1] != ModbusFunction.READ_HOLDING_REGISTERS.value:
-            raise ModbusException(f"功能码错误: {response[1]:02X}")
-        
-        byte_count = response[2]
-        values = []
-        for i in range(0, byte_count, 2):
-            value = struct.unpack('>H', response[3+i:5+i])[0]
-            values.append(value)
-        
-        return values
-    
-    def write_single_register(self, slave_addr: int, addr: int, value: int) -> bool:
-        """
-        写入单个寄存器
-        
-        Args:
-            slave_addr: 从站地址
-            addr: 寄存器地址
-            value: 寄存器值
-            
-        Returns:
-            写入是否成功
-        """
-        data = struct.pack('>BHH', ModbusFunction.WRITE_SINGLE_REGISTER.value, addr, value)
-        response = self._send_command(slave_addr, data)
-        
-        return len(response) >= 8 and response[1] == ModbusFunction.WRITE_SINGLE_REGISTER.value
-    
-    def write_multiple_registers(self, slave_addr: int, start_addr: int, values: list) -> bool:
-        """
-        写入多个寄存器
-        
-        Args:
-            slave_addr: 从站地址
-            start_addr: 起始地址
-            values: 寄存器值列表
-            
-        Returns:
-            写入是否成功
-        """
-        byte_count = len(values) * 2
-        data = struct.pack('>BHHB', ModbusFunction.WRITE_MULTIPLE_REGISTERS.value, 
-                          start_addr, len(values), byte_count)
-        
-        for value in values:
-            data += struct.pack('>H', value)
-        
-        response = self._send_command(slave_addr, data)
-        
-        return len(response) >= 8 and response[1] == ModbusFunction.WRITE_MULTIPLE_REGISTERS.value
-
-
-class XYZStepperController(StepperMotorDriver):
-    """XYZ三轴步进电机控制器"""
-    
-    # 电机配置常量
-    STEPS_PER_REVOLUTION = 16384  # 每圈步数
-    
-    def __init__(self, port: str, baudrate: int = 115200, timeout: float = 1.0):
-        """
-        初始化XYZ三轴步进电机控制器
-        
-        Args:
-            port: 串口端口名
-            baudrate: 波特率
-            timeout: 通信超时时间
-        """
-        super().__init__(port, baudrate, timeout)
-        self.axis_addresses = {
-            MotorAxis.X: 1,
-            MotorAxis.Y: 2,
-            MotorAxis.Z: 3
-        }
-    
-    def degrees_to_steps(self, degrees: float) -> int:
-        """
-        将角度转换为步数
-        
-        Args:
-            degrees: 角度值
-            
-        Returns:
-            对应的步数
-        """
-        return int(degrees * self.STEPS_PER_REVOLUTION / 360.0)
-    
-    def steps_to_degrees(self, steps: int) -> float:
-        """
-        将步数转换为角度
-        
-        Args:
-            steps: 步数
-            
-        Returns:
-            对应的角度值
-        """
-        return steps * 360.0 / self.STEPS_PER_REVOLUTION
-    
-    def revolutions_to_steps(self, revolutions: float) -> int:
-        """
-        将圈数转换为步数
-        
-        Args:
-            revolutions: 圈数
-            
-        Returns:
-            对应的步数
-        """
-        return int(revolutions * self.STEPS_PER_REVOLUTION)
-    
-    def steps_to_revolutions(self, steps: int) -> float:
-        """
-        将步数转换为圈数
-        
-        Args:
-            steps: 步数
-            
-        Returns:
-            对应的圈数
-        """
-        return steps / self.STEPS_PER_REVOLUTION
-    
-    def get_motor_status(self, axis: MotorAxis) -> MotorPosition:
-        """
-        获取电机状态信息
-        
-        Args:
-            axis: 电机轴
-            
-        Returns:
-            电机位置信息
-        """
-        addr = self.axis_addresses[axis]
-        
-        # 读取状态、位置、速度、电流
-        values = self.read_registers(addr, self.REG_STATUS, 6)
-        
-        status = MotorStatus(values[0])
-        position_high = values[1]
-        position_low = values[2]
-        speed = values[3]
-        current = values[5]
-        
-        # 合并32位位置
-        position = (position_high << 16) | position_low
-        # 处理有符号数
-        if position > 0x7FFFFFFF:
-            position -= 0x100000000
-        
-        return MotorPosition(position, speed, current, status)
-    
-    def emergency_stop(self, axis: MotorAxis) -> bool:
-        """
-        紧急停止电机
-        
-        Args:
-            axis: 电机轴
-            
-        Returns:
-            操作是否成功
-        """
-        addr = self.axis_addresses[axis]
-        return self.write_single_register(addr, self.REG_EMERGENCY_STOP, 0x0000)
-    
-    def enable_motor(self, axis: MotorAxis, enable: bool = True) -> bool:
-        """
-        使能/失能电机
-        
-        Args:
-            axis: 电机轴
-            enable: True为使能，False为失能
-            
-        Returns:
-            操作是否成功
-        """
-        addr = self.axis_addresses[axis]
-        value = 0x0001 if enable else 0x0000
-        return self.write_single_register(addr, self.REG_ENABLE, value)
-    
-    def move_to_position(self, axis: MotorAxis, position: int, speed: int = 5000, 
-                        acceleration: int = 1000, precision: int = 100) -> bool:
-        """
-        移动到指定位置
-        
-        Args:
-            axis: 电机轴
-            position: 目标位置(步数)
-            speed: 运行速度(rpm)
-            acceleration: 加速度(rpm/s)
-            precision: 到位精度
-            
-        Returns:
-            操作是否成功
-        """
-        addr = self.axis_addresses[axis]
-        
-        # 处理32位位置
-        if position < 0:
-            position += 0x100000000
-        
-        position_high = (position >> 16) & 0xFFFF
-        position_low = position & 0xFFFF
-        
-        values = [
-            position_high,     # 目标位置高位
-            position_low,      # 目标位置低位
-            0x0000,           # 保留
-            speed,            # 速度
-            acceleration,     # 加速度
-            precision         # 精度
-        ]
-        
-        return self.write_multiple_registers(addr, self.REG_TARGET_POSITION_HIGH, values)
-    
-    def set_speed_mode(self, axis: MotorAxis, speed: int, acceleration: int = 1000) -> bool:
-        """
-        设置速度模式运行
-        
-        Args:
-            axis: 电机轴
-            speed: 运行速度(rpm)，正值正转，负值反转
-            acceleration: 加速度(rpm/s)
-            
-        Returns:
-            操作是否成功
-        """
-        addr = self.axis_addresses[axis]
-        
-        # 处理负数
-        if speed < 0:
-            speed = 0x10000 + speed  # 补码表示
-        
-        values = [0x0000, speed, acceleration, 0x0000]
-        
-        return self.write_multiple_registers(addr, 0x60, values)
-    
-    def home_axis(self, axis: MotorAxis) -> bool:
-        """
-        轴归零操作
-        
-        Args:
-            axis: 电机轴
-            
-        Returns:
-            操作是否成功
-        """
-        addr = self.axis_addresses[axis]
-        return self.write_single_register(addr, self.REG_ZERO_SINGLE, 0x0001)
-    
-    def wait_for_completion(self, axis: MotorAxis, timeout: float = 30.0) -> bool:
-        """
-        等待电机运动完成
-        
-        Args:
-            axis: 电机轴
-            timeout: 超时时间(秒)
-            
-        Returns:
-            是否在超时前完成
-        """
-        start_time = time.time()
-        
-        while time.time() - start_time < timeout:
-            status = self.get_motor_status(axis)
-            if status.status == MotorStatus.STANDBY:
-                return True
-            time.sleep(0.1)
-        
-        logger.warning(f"{axis.name}轴运动超时")
-        return False
-    
-    def move_xyz(self, x: Optional[int] = None, y: Optional[int] = None, z: Optional[int] = None,
-                speed: int = 5000, acceleration: int = 1000) -> Dict[MotorAxis, bool]:
-        """
-        同时控制XYZ轴移动
-        
-        Args:
-            x: X轴目标位置
-            y: Y轴目标位置
-            z: Z轴目标位置
-            speed: 运行速度
-            acceleration: 加速度
-            
-        Returns:
-            各轴操作结果字典
-        """
-        results = {}
-        
-        if x is not None:
-            results[MotorAxis.X] = self.move_to_position(MotorAxis.X, x, speed, acceleration)
-        
-        if y is not None:
-            results[MotorAxis.Y] = self.move_to_position(MotorAxis.Y, y, speed, acceleration)
-        
-        if z is not None:
-            results[MotorAxis.Z] = self.move_to_position(MotorAxis.Z, z, speed, acceleration)
-        
-        return results
-    
-    def move_xyz_degrees(self, x_deg: Optional[float] = None, y_deg: Optional[float] = None, 
-                        z_deg: Optional[float] = None, speed: int = 5000, 
-                        acceleration: int = 1000) -> Dict[MotorAxis, bool]:
-        """
-        使用角度值同时移动多个轴到指定位置
-        
-        Args:
-            x_deg: X轴目标角度（度）
-            y_deg: Y轴目标角度（度）
-            z_deg: Z轴目标角度（度）
-            speed: 移动速度
-            acceleration: 加速度
-            
-        Returns:
-            各轴移动操作结果
-        """
-        # 将角度转换为步数
-        x_steps = self.degrees_to_steps(x_deg) if x_deg is not None else None
-        y_steps = self.degrees_to_steps(y_deg) if y_deg is not None else None
-        z_steps = self.degrees_to_steps(z_deg) if z_deg is not None else None
-        
-        return self.move_xyz(x_steps, y_steps, z_steps, speed, acceleration)
-    
-    def move_xyz_revolutions(self, x_rev: Optional[float] = None, y_rev: Optional[float] = None, 
-                           z_rev: Optional[float] = None, speed: int = 5000, 
-                           acceleration: int = 1000) -> Dict[MotorAxis, bool]:
-        """
-        使用圈数值同时移动多个轴到指定位置
-        
-        Args:
-            x_rev: X轴目标圈数
-            y_rev: Y轴目标圈数
-            z_rev: Z轴目标圈数
-            speed: 移动速度
-            acceleration: 加速度
-            
-        Returns:
-            各轴移动操作结果
-        """
-        # 将圈数转换为步数
-        x_steps = self.revolutions_to_steps(x_rev) if x_rev is not None else None
-        y_steps = self.revolutions_to_steps(y_rev) if y_rev is not None else None
-        z_steps = self.revolutions_to_steps(z_rev) if z_rev is not None else None
-        
-        return self.move_xyz(x_steps, y_steps, z_steps, speed, acceleration)
-    
-    def move_to_position_degrees(self, axis: MotorAxis, degrees: float, speed: int = 5000, 
-                               acceleration: int = 1000, precision: int = 100) -> bool:
-        """
-        使用角度值移动单个轴到指定位置
-        
-        Args:
-            axis: 电机轴
-            degrees: 目标角度（度）
-            speed: 移动速度
-            acceleration: 加速度
-            precision: 精度
-            
-        Returns:
-            移动操作是否成功
-        """
-        steps = self.degrees_to_steps(degrees)
-        return self.move_to_position(axis, steps, speed, acceleration, precision)
-    
-    def move_to_position_revolutions(self, axis: MotorAxis, revolutions: float, speed: int = 5000, 
-                                   acceleration: int = 1000, precision: int = 100) -> bool:
-        """
-        使用圈数值移动单个轴到指定位置
-        
-        Args:
-            axis: 电机轴
-            revolutions: 目标圈数
-            speed: 移动速度
-            acceleration: 加速度
-            precision: 精度
-            
-        Returns:
-            移动操作是否成功
-        """
-        steps = self.revolutions_to_steps(revolutions)
-        return self.move_to_position(axis, steps, speed, acceleration, precision)
-    
-    def stop_all_axes(self) -> Dict[MotorAxis, bool]:
-        """
-        紧急停止所有轴
-        
-        Returns:
-            各轴停止结果字典
-        """
-        results = {}
-        for axis in MotorAxis:
-            results[axis] = self.emergency_stop(axis)
-        return results
-    
-    def enable_all_axes(self, enable: bool = True) -> Dict[MotorAxis, bool]:
-        """
-        使能/失能所有轴
-        
-        Args:
-            enable: True为使能，False为失能
-            
-        Returns:
-            各轴操作结果字典
-        """
-        results = {}
-        for axis in MotorAxis:
-            results[axis] = self.enable_motor(axis, enable)
-        return results
-    
-    def get_all_positions(self) -> Dict[MotorAxis, MotorPosition]:
-        """
-        获取所有轴的位置信息
-        
-        Returns:
-            各轴位置信息字典
-        """
-        positions = {}
-        for axis in MotorAxis:
-            positions[axis] = self.get_motor_status(axis)
-        return positions
-    
-    def home_all_axes(self) -> Dict[MotorAxis, bool]:
-        """
-        所有轴归零
-        
-        Returns:
-            各轴归零结果字典
-        """
-        results = {}
-        for axis in MotorAxis:
-            results[axis] = self.home_axis(axis)
-        return results

unilabos/devices/laiyu_liquid/tests/__init__.py

@@ -1,13 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-"""
-LaiYu液体处理设备测试模块
-
-该模块包含LaiYu液体处理设备的测试用例：
-- test_deck_config.py: 工作台配置测试
-
-作者: UniLab团队
-版本: 2.0.0
-"""
-
-__all__ = []

unilabos/devices/laiyu_liquid/tests/test_deck_config.py

@@ -1,315 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-"""
-测试脚本：验证更新后的deck配置是否正常工作
-"""
-
-import sys
-import os
-import json
-
-# 添加项目根目录到Python路径
-project_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
-sys.path.insert(0, project_root)
-
-def test_config_loading():
-    """测试配置文件加载功能"""
-    print("=" * 50)
-    print("测试配置文件加载功能")
-    print("=" * 50)
-    
-    try:
-        # 直接测试配置文件加载
-        config_path = os.path.join(os.path.dirname(__file__), "controllers", "deckconfig.json")
-        fallback_path = os.path.join(os.path.dirname(__file__), "config", "deck.json")
-        
-        config = None
-        config_source = ""
-        
-        if os.path.exists(config_path):
-            with open(config_path, 'r', encoding='utf-8') as f:
-                config = json.load(f)
-            config_source = "config/deckconfig.json"
-        elif os.path.exists(fallback_path):
-            with open(fallback_path, 'r', encoding='utf-8') as f:
-                config = json.load(f)
-            config_source = "config/deck.json"
-        else:
-            print("❌ 配置文件不存在")
-            return False
-        
-        print(f"✅ 配置文件加载成功: {config_source}")
-        print(f"   - 甲板尺寸: {config.get('size_x', 'N/A')} x {config.get('size_y', 'N/A')} x {config.get('size_z', 'N/A')}")
-        print(f"   - 子模块数量: {len(config.get('children', []))}")
-        
-        # 检查各个模块是否存在
-        modules = config.get('children', [])
-        module_types = [module.get('type') for module in modules]
-        module_names = [module.get('name') for module in modules]
-        
-        print(f"   - 模块类型: {', '.join(set(filter(None, module_types)))}")
-        print(f"   - 模块名称: {', '.join(filter(None, module_names))}")
-        
-        return config
-    except Exception as e:
-        print(f"❌ 配置文件加载失败: {e}")
-        return None
-
-def test_module_coordinates(config):
-    """测试各模块的坐标信息"""
-    print("\n" + "=" * 50)
-    print("测试模块坐标信息")
-    print("=" * 50)
-    
-    if not config:
-        print("❌ 配置为空，无法测试")
-        return False
-    
-    modules = config.get('children', [])
-    
-    for module in modules:
-        module_name = module.get('name', '未知模块')
-        module_type = module.get('type', '未知类型')
-        position = module.get('position', {})
-        size = module.get('size', {})
-        
-        print(f"\n模块: {module_name} ({module_type})")
-        print(f"   - 位置: ({position.get('x', 0)}, {position.get('y', 0)}, {position.get('z', 0)})")
-        print(f"   - 尺寸: {size.get('x', 0)} x {size.get('y', 0)} x {size.get('z', 0)}")
-        
-        # 检查孔位信息
-        wells = module.get('wells', [])
-        if wells:
-            print(f"   - 孔位数量: {len(wells)}")
-            
-            # 显示前几个和后几个孔位的坐标
-            sample_wells = wells[:3] + wells[-3:] if len(wells) > 6 else wells
-            for well in sample_wells:
-                well_id = well.get('id', '未知')
-                well_pos = well.get('position', {})
-                print(f"     {well_id}: ({well_pos.get('x', 0)}, {well_pos.get('y', 0)}, {well_pos.get('z', 0)})")
-        else:
-            print(f"   - 无孔位信息")
-    
-    return True
-
-def test_coordinate_ranges(config):
-    """测试坐标范围的合理性"""
-    print("\n" + "=" * 50)
-    print("测试坐标范围合理性")
-    print("=" * 50)
-    
-    if not config:
-        print("❌ 配置为空，无法测试")
-        return False
-    
-    deck_size = {
-        'x': config.get('size_x', 340),
-        'y': config.get('size_y', 250),
-        'z': config.get('size_z', 160)
-    }
-    
-    print(f"甲板尺寸: {deck_size['x']} x {deck_size['y']} x {deck_size['z']}")
-    
-    modules = config.get('children', [])
-    all_coordinates = []
-    
-    for module in modules:
-        module_name = module.get('name', '未知模块')
-        wells = module.get('wells', [])
-        
-        for well in wells:
-            well_pos = well.get('position', {})
-            x, y, z = well_pos.get('x', 0), well_pos.get('y', 0), well_pos.get('z', 0)
-            all_coordinates.append((x, y, z, f"{module_name}:{well.get('id', '未知')}"))
-    
-    if not all_coordinates:
-        print("❌ 没有找到任何坐标信息")
-        return False
-    
-    # 计算坐标范围
-    x_coords = [coord[0] for coord in all_coordinates]
-    y_coords = [coord[1] for coord in all_coordinates]
-    z_coords = [coord[2] for coord in all_coordinates]
-    
-    x_range = (min(x_coords), max(x_coords))
-    y_range = (min(y_coords), max(y_coords))
-    z_range = (min(z_coords), max(z_coords))
-    
-    print(f"X坐标范围: {x_range[0]:.2f} ~ {x_range[1]:.2f}")
-    print(f"Y坐标范围: {y_range[0]:.2f} ~ {y_range[1]:.2f}")
-    print(f"Z坐标范围: {z_range[0]:.2f} ~ {z_range[1]:.2f}")
-    
-    # 检查是否超出甲板范围
-    issues = []
-    if x_range[1] > deck_size['x']:
-        issues.append(f"X坐标超出甲板范围: {x_range[1]} > {deck_size['x']}")
-    if y_range[1] > deck_size['y']:
-        issues.append(f"Y坐标超出甲板范围: {y_range[1]} > {deck_size['y']}")
-    if z_range[1] > deck_size['z']:
-        issues.append(f"Z坐标超出甲板范围: {z_range[1]} > {deck_size['z']}")
-    
-    if x_range[0] < 0:
-        issues.append(f"X坐标为负值: {x_range[0]}")
-    if y_range[0] < 0:
-        issues.append(f"Y坐标为负值: {y_range[0]}")
-    if z_range[0] < 0:
-        issues.append(f"Z坐标为负值: {z_range[0]}")
-    
-    if issues:
-        print("⚠️  发现坐标问题:")
-        for issue in issues:
-            print(f"   - {issue}")
-        return False
-    else:
-        print("✅ 所有坐标都在合理范围内")
-        return True
-
-def test_well_spacing(config):
-    """测试孔位间距的一致性"""
-    print("\n" + "=" * 50)
-    print("测试孔位间距一致性")
-    print("=" * 50)
-    
-    if not config:
-        print("❌ 配置为空，无法测试")
-        return False
-    
-    modules = config.get('children', [])
-    
-    for module in modules:
-        module_name = module.get('name', '未知模块')
-        module_type = module.get('type', '未知类型')
-        wells = module.get('wells', [])
-        
-        if len(wells) < 2:
-            continue
-        
-        print(f"\n模块: {module_name} ({module_type})")
-        
-        # 计算相邻孔位的间距
-        spacings_x = []
-        spacings_y = []
-        
-        # 按行列排序孔位
-        wells_by_row = {}
-        for well in wells:
-            well_id = well.get('id', '')
-            if len(well_id) >= 3:  # 如A01格式
-                row = well_id[0]
-                col = int(well_id[1:])
-                if row not in wells_by_row:
-                    wells_by_row[row] = {}
-                wells_by_row[row][col] = well
-        
-        # 计算同行相邻孔位的X间距
-        for row, cols in wells_by_row.items():
-            sorted_cols = sorted(cols.keys())
-            for i in range(len(sorted_cols) - 1):
-                col1, col2 = sorted_cols[i], sorted_cols[i + 1]
-                if col2 == col1 + 1:  # 相邻列
-                    pos1 = cols[col1].get('position', {})
-                    pos2 = cols[col2].get('position', {})
-                    spacing = abs(pos2.get('x', 0) - pos1.get('x', 0))
-                    spacings_x.append(spacing)
-        
-        # 计算同列相邻孔位的Y间距
-        cols_by_row = {}
-        for well in wells:
-            well_id = well.get('id', '')
-            if len(well_id) >= 3:
-                row = ord(well_id[0]) - ord('A')
-                col = int(well_id[1:])
-                if col not in cols_by_row:
-                    cols_by_row[col] = {}
-                cols_by_row[col][row] = well
-        
-        for col, rows in cols_by_row.items():
-            sorted_rows = sorted(rows.keys())
-            for i in range(len(sorted_rows) - 1):
-                row1, row2 = sorted_rows[i], sorted_rows[i + 1]
-                if row2 == row1 + 1:  # 相邻行
-                    pos1 = rows[row1].get('position', {})
-                    pos2 = rows[row2].get('position', {})
-                    spacing = abs(pos2.get('y', 0) - pos1.get('y', 0))
-                    spacings_y.append(spacing)
-        
-        # 检查间距一致性
-        if spacings_x:
-            avg_x = sum(spacings_x) / len(spacings_x)
-            max_diff_x = max(abs(s - avg_x) for s in spacings_x)
-            print(f"   - X方向平均间距: {avg_x:.2f}mm, 最大偏差: {max_diff_x:.2f}mm")
-            
-        if spacings_y:
-            avg_y = sum(spacings_y) / len(spacings_y)
-            max_diff_y = max(abs(s - avg_y) for s in spacings_y)
-            print(f"   - Y方向平均间距: {avg_y:.2f}mm, 最大偏差: {max_diff_y:.2f}mm")
-    
-    return True
-
-def main():
-    """主测试函数"""
-    print("LaiYu液体处理设备配置测试")
-    print("测试时间:", os.popen('date').read().strip())
-    
-    # 运行所有测试
-    tests = [
-        ("配置文件加载", test_config_loading),
-    ]
-    
-    config = None
-    results = []
-    
-    for test_name, test_func in tests:
-        try:
-            if test_name == "配置文件加载":
-                result = test_func()
-                config = result if result else None
-                results.append((test_name, bool(result)))
-            else:
-                result = test_func(config)
-                results.append((test_name, result))
-        except Exception as e:
-            print(f"❌ 测试 {test_name} 执行失败: {e}")
-            results.append((test_name, False))
-    
-    # 如果配置加载成功，运行其他测试
-    if config:
-        additional_tests = [
-            ("模块坐标信息", test_module_coordinates),
-            ("坐标范围合理性", test_coordinate_ranges),
-            ("孔位间距一致性", test_well_spacing)
-        ]
-        
-        for test_name, test_func in additional_tests:
-            try:
-                result = test_func(config)
-                results.append((test_name, result))
-            except Exception as e:
-                print(f"❌ 测试 {test_name} 执行失败: {e}")
-                results.append((test_name, False))
-    
-    # 输出测试总结
-    print("\n" + "=" * 50)
-    print("测试总结")
-    print("=" * 50)
-    
-    passed = sum(1 for _, result in results if result)
-    total = len(results)
-    
-    for test_name, result in results:
-        status = "✅ 通过" if result else "❌ 失败"
-        print(f"   {test_name}: {status}")
-    
-    print(f"\n总计: {passed}/{total} 个测试通过")
-    
-    if passed == total:
-        print("🎉 所有测试通过！配置更新成功。")
-        return True
-    else:
-        print("⚠️  部分测试失败，需要进一步检查。")
-        return False
-
-if __name__ == "__main__":
-    success = main()
-    sys.exit(0 if success else 1)

unilabos/devices/laiyu_liquid_test/driver_enable_move_test.py

@@ -1,138 +0,0 @@
-
-import os
-import time
-import json
-import logging
-from xyz_stepper_driver import ModbusRTUTransport, ModbusClient, XYZStepperController, MotorStatus
-
-# ========== 日志配置 ==========
-logging.basicConfig(level=logging.INFO)
-logger = logging.getLogger("XYZ_Debug")
-
-
-def create_controller(port: str = "/dev/ttyUSB1", baudrate: int = 115200) -> XYZStepperController:
-    """
-    初始化通信层与三轴控制器
-    """
-    logger.info(f"🔧 初始化控制器: {port} @ {baudrate}bps")
-    transport = ModbusRTUTransport(port=port, baudrate=baudrate)
-    transport.open()
-    client = ModbusClient(transport)
-    return XYZStepperController(client=client, port=port, baudrate=baudrate)
-
-
-def load_existing_soft_zero(ctrl: XYZStepperController, path: str = "work_origin.json") -> bool:
-    """
-    如果已存在软零点文件则加载，否则返回 False
-    """
-    if not os.path.exists(path):
-        logger.warning("⚠ 未找到已有软零点文件，将等待人工定义新零点。")
-        return False
-
-    try:
-        with open(path, "r", encoding="utf-8") as f:
-            data = json.load(f)
-        origin = data.get("work_origin_steps", {})
-        ctrl.work_origin_steps = origin
-        ctrl.is_homed = True
-        logger.info(f"✔ 已加载软零点文件：{path}")
-        logger.info(f"当前软零点步数: {origin}")
-        return True
-    except Exception as e:
-        logger.error(f"读取软零点文件失败: {e}")
-        return False
-
-
-def test_enable_axis(ctrl: XYZStepperController):
-    """
-    依次使能 X / Y / Z 三轴
-    """
-    logger.info("=== 测试各轴使能 ===")
-    for axis in ["X", "Y", "Z"]:
-        try:
-            result = ctrl.enable(axis, True)
-            if result:
-                vals = ctrl.get_status(axis)
-                st = MotorStatus(vals[3])
-                logger.info(f"{axis} 轴使能成功，当前状态: {st.name}")
-            else:
-                logger.error(f"{axis} 轴使能失败")
-        except Exception as e:
-            logger.error(f"{axis} 轴使能异常: {e}")
-        time.sleep(0.5)
-
-
-def test_status_read(ctrl: XYZStepperController):
-    """
-    读取各轴当前状态（调试）
-    """
-    logger.info("=== 当前各轴状态 ===")
-    for axis in ["X", "Y", "Z"]:
-        try:
-            vals = ctrl.get_status(axis)
-            st = MotorStatus(vals[3])
-            logger.info(
-                f"{axis}: steps={vals[0]}, speed={vals[1]}, "
-                f"current={vals[2]}, status={st.name}"
-            )
-        except Exception as e:
-            logger.error(f"获取 {axis} 状态失败: {e}")
-        time.sleep(0.2)
-
-
-def redefine_soft_zero(ctrl: XYZStepperController):
-    """
-    手动重新定义软零点
-    """
-    logger.info("=== ⚙️ 重新定义软零点 ===")
-    ctrl.define_current_as_zero("work_origin.json")
-    logger.info("✅ 新软零点已写入 work_origin.json")
-
-
-def test_soft_zero_move(ctrl: XYZStepperController):
-    """
-    以软零点为基准执行三轴运动测试
-    """
-    logger.info("=== 测试软零点相对运动 ===")
-    ctrl.move_xyz_work(x=100.0, y=100.0, z=40.0, speed=100, acc=800)
-
-    for axis in ["X", "Y", "Z"]:
-        ctrl.wait_complete(axis)
-
-    test_status_read(ctrl)
-    logger.info("✅ 软零点运动测试完成")
-
-
-def main():
-    ctrl = create_controller(port="/dev/ttyUSB1", baudrate=115200)
-
-    try:
-        test_enable_axis(ctrl)
-        test_status_read(ctrl)
-
-        # === 初始化或加载软零点 ===
-        loaded = load_existing_soft_zero(ctrl)
-        if not loaded:
-            logger.info("👣 首次运行，定义软零点并保存。")
-            ctrl.define_current_as_zero("work_origin.json")
-
-        # === 软零点回归动作 ===
-        ctrl.return_to_work_origin()
-
-        # === 可选软零点运动测试 ===
-        # test_soft_zero_move(ctrl)
-
-    except KeyboardInterrupt:
-        logger.info("🛑 手动中断退出")
-
-    except Exception as e:
-        logger.exception(f"❌ 调试出错: {e}")
-
-    finally:
-        if hasattr(ctrl.client, "transport"):
-            ctrl.client.transport.close()
-        logger.info("串口已安全关闭 ✅")
-
-
-if __name__ == "__main__":
-    main()

unilabos/devices/laiyu_liquid_test/driver_status_test.py

@@ -1,58 +0,0 @@
-
-import logging
-from xyz_stepper_driver import (
-    ModbusRTUTransport,
-    ModbusClient,
-    XYZStepperController,
-    MotorAxis,
-)
-
-logger = logging.getLogger("XYZStepperCommTest")
-logging.basicConfig(level=logging.INFO, format="%(asctime)s [%(levelname)s] %(message)s")
-
-
-def test_xyz_stepper_comm():
-    """仅测试 Modbus 通信是否正常（并输出寄存器数据，不做电机运动）"""
-    port = "/dev/ttyUSB1"
-    baudrate = 115200
-    timeout = 1.2  # 略长避免响应被截断
-
-    logger.info(f"尝试连接 Modbus 设备 {port} ...")
-    transport = ModbusRTUTransport(port, baudrate=baudrate, timeout=timeout)
-    transport.open()
-
-    client = ModbusClient(transport)
-    ctrl = XYZStepperController(client)
-
-    try:
-        logger.info("✅ 串口已打开，开始读取三个轴状态（打印寄存器内容） ...")
-        for axis in [MotorAxis.X, MotorAxis.Y, MotorAxis.Z]:
-            addr = ctrl.axis_addr[axis]
-
-            try:
-                # # 在 get_status 前打印原始寄存器内容
-                # regs = client.read_registers(addr, ctrl.REG_STATUS, 6)
-                # hex_regs = [f"0x{val:04X}" for val in regs]
-                # logger.info(f"[{axis.name}] 原始寄存器 ({len(regs)} 个): {regs} -> {hex_regs}")
-
-                # 调用 get_status() 正常解析
-                status = ctrl.get_status(axis)
-                logger.info(
-                    f"[{axis.name}] ✅ 通信正常: steps={status.steps}, speed={status.speed}, "
-                    f"current={status.current}, status={status.status.name}"
-                )
-
-            except Exception as e_axis:
-                logger.error(f"[{axis.name}] ❌ 通信失败: {e_axis}")
-
-
-    except Exception as e:
-        logger.error(f"❌ 通讯测试失败: {e}")
-
-    finally:
-        transport.close()
-        logger.info("🔌 串口已关闭")
-
-
-if __name__ == "__main__":
-    test_xyz_stepper_comm()

unilabos/devices/laiyu_liquid_test/work_origin.json

@@ -1,8 +0,0 @@
-{
-    "work_origin_steps": {
-        "x": 11799,
-        "y": 11476,
-        "z": 3312
-    },
-    "timestamp": "2025-11-04T15:31:09.802155"
-}

unilabos/devices/laiyu_liquid_test/xyz_stepper_driver.py

@@ -1,336 +0,0 @@
-
-"""
-XYZ 三轴步进电机驱动（统一字符串参数版）
-基于 Modbus RTU 协议
-Author: Xiuyu Chen (Modified by Assistant)
-"""
-
-import serial  # type: ignore
-import struct
-import time
-import logging
-from enum import Enum
-from dataclasses import dataclass
-from typing import Optional, List, Dict
-
-# ========== 日志配置 ==========
-logging.basicConfig(level=logging.INFO)
-logger = logging.getLogger("XYZStepper")
-
-
-# ========== 层 1：Modbus RTU ==========
-class ModbusException(Exception):
-    pass
-
-
-class ModbusRTUTransport:
-    """底层串口通信层"""
-
-    def __init__(self, port: str, baudrate: int = 115200, timeout: float = 1.2):
-        self.port = port
-        self.baudrate = baudrate
-        self.timeout = timeout
-        self.ser: Optional[serial.Serial] = None
-
-    def open(self):
-        try:
-            self.ser = serial.Serial(
-                port=self.port,
-                baudrate=self.baudrate,
-                bytesize=serial.EIGHTBITS,
-                parity=serial.PARITY_NONE,
-                stopbits=serial.STOPBITS_ONE,
-                timeout=0.02,
-                write_timeout=0.5,
-            )
-            logger.info(f"[RTU] 串口连接成功: {self.port}")
-        except Exception as e:
-            raise ModbusException(f"无法打开串口 {self.port}: {e}")
-
-    def close(self):
-        if self.ser and self.ser.is_open:
-            self.ser.close()
-            logger.info("[RTU] 串口已关闭")
-
-    def send(self, frame: bytes):
-        if not self.ser or not self.ser.is_open:
-            raise ModbusException("串口未连接")
-
-        self.ser.reset_input_buffer()
-        self.ser.write(frame)
-        self.ser.flush()
-        logger.debug(f"[TX] {frame.hex(' ').upper()}")
-
-    def receive(self, expected_len: int) -> bytes:
-        if not self.ser or not self.ser.is_open:
-            raise ModbusException("串口未连接")
-
-        start = time.time()
-        buf = bytearray()
-        while len(buf) < expected_len and (time.time() - start) < self.timeout:
-            chunk = self.ser.read(expected_len - len(buf))
-            if chunk:
-                buf.extend(chunk)
-            else:
-                time.sleep(0.01)
-        return bytes(buf)
-
-
-# ========== 层 2：Modbus 协议 ==========
-class ModbusFunction(Enum):
-    READ_HOLDING_REGISTERS = 0x03
-    WRITE_SINGLE_REGISTER = 0x06
-    WRITE_MULTIPLE_REGISTERS = 0x10
-
-
-class ModbusClient:
-    """Modbus RTU 客户端"""
-
-    def __init__(self, transport: ModbusRTUTransport):
-        self.transport = transport
-
-    @staticmethod
-    def calc_crc(data: bytes) -> bytes:
-        crc = 0xFFFF
-        for b in data:
-            crc ^= b
-            for _ in range(8):
-                crc = (crc >> 1) ^ 0xA001 if crc & 1 else crc >> 1
-        return struct.pack("<H", crc)
-
-    def send_request(self, addr: int, func: int, payload: bytes) -> bytes:
-        frame = bytes([addr, func]) + payload
-        full = frame + self.calc_crc(frame)
-        self.transport.send(full)
-        time.sleep(0.01)
-        resp = self.transport.ser.read(256)
-        if not resp:
-            raise ModbusException("未收到响应")
-
-        start = resp.find(bytes([addr, func]))
-        if start > 0:
-            resp = resp[start:]
-        if len(resp) < 5:
-            raise ModbusException(f"响应长度不足: {resp.hex(' ').upper()}")
-        if self.calc_crc(resp[:-2]) != resp[-2:]:
-            raise ModbusException("CRC 校验失败")
-        return resp
-
-    def read_registers(self, addr: int, start: int, count: int) -> List[int]:
-        payload = struct.pack(">HH", start, count)
-        resp = self.send_request(addr, ModbusFunction.READ_HOLDING_REGISTERS.value, payload)
-        byte_count = resp[2]
-        regs = [struct.unpack(">H", resp[3 + i:5 + i])[0] for i in range(0, byte_count, 2)]
-        return regs
-
-    def write_single_register(self, addr: int, reg: int, val: int) -> bool:
-        payload = struct.pack(">HH", reg, val)
-        resp = self.send_request(addr, ModbusFunction.WRITE_SINGLE_REGISTER.value, payload)
-        return resp[1] == ModbusFunction.WRITE_SINGLE_REGISTER.value
-
-    def write_multiple_registers(self, addr: int, start: int, values: List[int]) -> bool:
-        byte_count = len(values) * 2
-        payload = struct.pack(">HHB", start, len(values), byte_count)
-        payload += b"".join(struct.pack(">H", v & 0xFFFF) for v in values)
-        resp = self.send_request(addr, ModbusFunction.WRITE_MULTIPLE_REGISTERS.value, payload)
-        return resp[1] == ModbusFunction.WRITE_MULTIPLE_REGISTERS.value
-
-
-# ========== 层 3：业务逻辑 ==========
-class MotorAxis(Enum):
-    X = 1
-    Y = 2
-    Z = 3
-
-
-class MotorStatus(Enum):
-    STANDBY = 0
-    RUNNING = 1
-    COLLISION_STOP = 2
-    FORWARD_LIMIT_STOP = 3
-    REVERSE_LIMIT_STOP = 4
-
-
-@dataclass
-class MotorPosition:
-    steps: int
-    speed: int
-    current: int
-    status: MotorStatus
-
-
-class XYZStepperController:
-    """XYZ 三轴步进控制器（字符串接口版）"""
-
-    STEPS_PER_REV = 16384
-    LEAD_MM_X, LEAD_MM_Y, LEAD_MM_Z = 80.0, 80.0, 5.0
-    STEPS_PER_MM_X = STEPS_PER_REV / LEAD_MM_X
-    STEPS_PER_MM_Y = STEPS_PER_REV / LEAD_MM_Y
-    STEPS_PER_MM_Z = STEPS_PER_REV / LEAD_MM_Z
-
-    REG_STATUS, REG_POS_HIGH, REG_POS_LOW = 0x00, 0x01, 0x02
-    REG_ACTUAL_SPEED, REG_CURRENT, REG_ENABLE = 0x03, 0x05, 0x06
-    REG_ZERO_CMD, REG_TARGET_HIGH, REG_TARGET_LOW = 0x0F, 0x10, 0x11
-    REG_SPEED, REG_ACCEL, REG_PRECISION, REG_START = 0x13, 0x14, 0x15, 0x16
-    REG_COMMAND = 0x60
-
-    def __init__(self, client: Optional[ModbusClient] = None, 
-                port="/dev/ttyUSB0", baudrate=115200, 
-                origin_path="unilabos/devices/laiyu_liquid_test/work_origin.json"):
-        if client is None:
-            transport = ModbusRTUTransport(port, baudrate)
-            transport.open()
-            self.client = ModbusClient(transport)
-        else:
-            self.client = client
-
-        self.axis_addr = {MotorAxis.X: 1, MotorAxis.Y: 2, MotorAxis.Z: 3}
-        self.work_origin_steps = {"x": 0, "y": 0, "z": 0}
-        self.is_homed = False
-        self._load_work_origin(origin_path)
-
-    # ========== 基础工具 ==========
-    @staticmethod
-    def s16(v: int) -> int:
-        return v - 0x10000 if v & 0x8000 else v
-
-    @staticmethod
-    def s32(h: int, l: int) -> int:
-        v = (h << 16) | l
-        return v - 0x100000000 if v & 0x80000000 else v
-
-    @classmethod
-    def mm_to_steps(cls, axis: str, mm: float = 0.0) -> int:
-        axis = axis.upper()
-        if axis == "X":
-            return int(mm * cls.STEPS_PER_MM_X)
-        elif axis == "Y":
-            return int(mm * cls.STEPS_PER_MM_Y)
-        elif axis == "Z":
-            return int(mm * cls.STEPS_PER_MM_Z)
-        raise ValueError(f"未知轴: {axis}")
-
-    @classmethod
-    def steps_to_mm(cls, axis: str, steps: int) -> float:
-        axis = axis.upper()
-        if axis == "X":
-            return steps / cls.STEPS_PER_MM_X
-        elif axis == "Y":
-            return steps / cls.STEPS_PER_MM_Y
-        elif axis == "Z":
-            return steps / cls.STEPS_PER_MM_Z
-        raise ValueError(f"未知轴: {axis}")
-
-    # ========== 状态与控制 ==========
-    def get_status(self, axis: str = "Z") -> list:
-        """返回简化数组格式: [steps, speed, current, status_value]"""
-        if isinstance(axis, MotorAxis):
-            axis_enum = axis
-        elif isinstance(axis, str):
-            axis_enum = MotorAxis[axis.upper()]
-        else:
-            raise TypeError("axis 参数必须为 str 或 MotorAxis")
-
-        vals = self.client.read_registers(self.axis_addr[axis_enum], self.REG_STATUS, 6)
-        return [
-            self.s32(vals[1], vals[2]),
-            self.s16(vals[3]),
-            vals[4],
-            int(MotorStatus(vals[0]).value)
-        ]
-
-    def enable(self, axis: str, state: bool) -> bool:
-        a = MotorAxis[axis.upper()]
-        return self.client.write_single_register(self.axis_addr[a], self.REG_ENABLE, 1 if state else 0)
-
-    def wait_complete(self, axis: str, timeout=30.0) -> bool:
-        a = axis.upper()
-        start = time.time()
-        while time.time() - start < timeout:
-            vals = self.get_status(a)
-            st = MotorStatus(vals[3])  # 第4个元素是状态值
-            if st == MotorStatus.STANDBY:
-                return True
-            if st in (MotorStatus.COLLISION_STOP, MotorStatus.FORWARD_LIMIT_STOP, MotorStatus.REVERSE_LIMIT_STOP):
-                logger.warning(f"{a} 轴异常停止: {st.name}")
-                return False
-            time.sleep(0.1)
-        logger.warning(f"{a} 轴运动超时")
-        return False
-
-    # ========== 控制命令 ==========
-    def move_to(self, axis: str, steps: int, speed: int = 2000, acc: int = 500, precision: int = 50) -> bool:
-        a = MotorAxis[axis.upper()]
-        addr = self.axis_addr[a]
-        hi, lo = (steps >> 16) & 0xFFFF, steps & 0xFFFF
-        values = [hi, lo, speed, acc, precision]
-        ok = self.client.write_multiple_registers(addr, self.REG_TARGET_HIGH, values)
-        if ok:
-            self.client.write_single_register(addr, self.REG_START, 1)
-        return ok
-
-    def move_xyz_work(self, x: float = 0.0, y: float = 0.0, z: float = 0.0, speed: int = 100, acc: int = 1500):
-        logger.info("🧭 执行安全多轴运动：Z→XY→Z")
-        if z is not None:
-            safe_z = self._to_machine_steps("Z", 0.0)
-            self.move_to("Z", safe_z, speed, acc)
-            self.wait_complete("Z")
-
-        if x is not None or y is not None:
-            if x is not None:
-                self.move_to("X", self._to_machine_steps("X", x), speed, acc)
-            if y is not None:
-                self.move_to("Y", self._to_machine_steps("Y", y), speed, acc)
-            if x is not None:
-                self.wait_complete("X")
-            if y is not None:
-                self.wait_complete("Y")
-
-        if z is not None:
-            self.move_to("Z", self._to_machine_steps("Z", z), speed, acc)
-            self.wait_complete("Z")
-        logger.info("✅ 多轴顺序运动完成")
-
-    # ========== 坐标与零点 ==========
-    def _to_machine_steps(self, axis: str, mm: float) -> int:
-        base = self.work_origin_steps.get(axis.lower(), 0)
-        return base + self.mm_to_steps(axis, mm)
-
-    def define_current_as_zero(self, save_path="work_origin.json"):
-        import json
-        from datetime import datetime
-
-        origin = {}
-        for axis in ["X", "Y", "Z"]:
-            vals = self.get_status(axis)
-            origin[axis.lower()] = int(vals[0])  # 第1个是步数
-        with open(save_path, "w", encoding="utf-8") as f:
-            json.dump({"work_origin_steps": origin, "timestamp": datetime.now().isoformat()}, f, indent=2)
-        self.work_origin_steps = origin
-        self.is_homed = True
-        logger.info(f"✅ 零点已定义并保存至 {save_path}")
-
-    def _load_work_origin(self, path: str) -> bool:
-        import json, os
-
-        if not os.path.exists(path):
-            logger.warning("⚠️ 未找到软零点文件")
-            return False
-        with open(path, "r", encoding="utf-8") as f:
-            data = json.load(f)
-        self.work_origin_steps = data.get("work_origin_steps", {"x": 0, "y": 0, "z": 0})
-        self.is_homed = True
-        logger.info(f"📂 软零点已加载: {self.work_origin_steps}")
-        return True
-
-    def return_to_work_origin(self, speed: int = 200, acc: int = 800):
-        logger.info("🏁 回工件软零点")
-        self.move_to("Z", self._to_machine_steps("Z", 0.0), speed, acc)
-        self.wait_complete("Z")
-        self.move_to("X", self.work_origin_steps.get("x", 0), speed, acc)
-        self.move_to("Y", self.work_origin_steps.get("y", 0), speed, acc)
-        self.wait_complete("X")
-        self.wait_complete("Y")
-        self.move_to("Z", self.work_origin_steps.get("z", 0), speed, acc)
-        self.wait_complete("Z")
-        logger.info("🎯 回软零点完成 ✅")

unilabos/devices/liquid_handling/laiyu/backend/laiyu_v_backend.py

@@ -153,7 +153,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend):
     if self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED:
         print("已有枪头，无需重复拾取")
         return
-    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=100)
+    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
     self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height,speed=100)
     # self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "pick",channels=use_channels)
     #   goback()
@@ -202,7 +202,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend):
     if self.hardware_interface.tip_status == TipStatus.NO_TIP:
         print("无枪头，无需丢弃")
         return
-    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z)
+    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
     self.hardware_interface.eject_tip
     self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height)  
 
@@ -267,7 +267,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend):
         return
 
     # 移动到吸液位置
-    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z)
+    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
     self.pipette_aspirate(volume=ops[0].volume, flow_rate=flow_rate)
 
 
@@ -340,7 +340,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend):
 
     
     # 移动到排液位置  
-    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z)
+    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
     self.pipette_dispense(volume=ops[0].volume, flow_rate=flow_rate)
 
 

unilabos/devices/liquid_handling/laiyu/controllers/pipette_controller.py

@@ -128,6 +128,7 @@ class PipetteController:
             baudrate=115200
         )
         self.pipette = SOPAPipette(self.config)
+        self.pipette_port = port
         self.tip_status = TipStatus.NO_TIP
         self.current_volume = 0.0
         self.max_volume = 1000.0  # 默认1000ul
@@ -154,7 +155,7 @@ class PipetteController:
             logger.info("移液器连接成功")
             
             # 连接XYZ步进电机控制器（如果提供了端口）
-            if self.xyz_port:
+            if self.xyz_port != self.pipette_port:
                 try:
                     self.xyz_controller = XYZController(self.xyz_port)
                     if self.xyz_controller.connect():
@@ -168,7 +169,12 @@ class PipetteController:
                     self.xyz_controller = None
                     self.xyz_connected = False
             else:
-                logger.info("未配置XYZ步进电机端口，跳过运动控制器连接")
+                try:
+                    self.xyz_controller = XYZController(self.xyz_port, auto_connect=False)
+                    self.xyz_controller.serial_conn = self.pipette.serial_port
+                    self.xyz_controller.is_connected = True
+                except Exception as e:
+                    logger.info("未配置XYZ步进电机端口，跳过运动控制器连接")
             
             return True
         except Exception as e:

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -6,6 +6,7 @@ import traceback
 from collections import Counter
 from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
 
+from typing_extensions import TypedDict
 from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness
 from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
 from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend
@@ -28,12 +29,15 @@ from pylabrobot.resources import (
 )
 
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-
+class SimpleReturn(TypedDict):
+    samples: list
+    volumes: list
 
 class LiquidHandlerMiddleware(LiquidHandler):
     def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8, **kwargs):
         self._simulator = simulator
         self.channel_num = channel_num
+        self.pending_liquids_dict = {}
         joint_config = kwargs.get("joint_config", None)
         if simulator:
             if joint_config:
@@ -131,7 +135,9 @@ class LiquidHandlerMiddleware(LiquidHandler):
             return await self._simulate_handler.drop_tips(
                 tip_spots, use_channels, offsets, allow_nonzero_volume, **backend_kwargs
             )
-        return await super().drop_tips(tip_spots, use_channels, offsets, allow_nonzero_volume, **backend_kwargs)
+        await super().drop_tips(tip_spots, use_channels, offsets, allow_nonzero_volume, **backend_kwargs)
+        self.pending_liquids_dict = {}
+        return 
 
     async def return_tips(
         self, use_channels: Optional[list[int]] = None, allow_nonzero_volume: bool = False, **backend_kwargs
@@ -154,8 +160,10 @@ class LiquidHandlerMiddleware(LiquidHandler):
             offsets = [Coordinate.zero()] * len(use_channels)
         if self._simulator:
             return await self._simulate_handler.discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs)
-        return await super().discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs)
-
+        await super().discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs)
+        self.pending_liquids_dict = {}
+        return 
+        
     def _check_containers(self, resources: Sequence[Resource]):
         super()._check_containers(resources)
 
@@ -171,6 +179,8 @@ class LiquidHandlerMiddleware(LiquidHandler):
         spread: Literal["wide", "tight", "custom"] = "wide",
         **backend_kwargs,
     ):
+
+        
         if self._simulator:
             return await self._simulate_handler.aspirate(
                 resources,
@@ -183,7 +193,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
                 spread,
                 **backend_kwargs,
             )
-        return await super().aspirate(
+        await super().aspirate(
             resources,
             vols,
             use_channels,
@@ -195,6 +205,25 @@ class LiquidHandlerMiddleware(LiquidHandler):
             **backend_kwargs,
         )
 
+        res_samples = []
+        res_volumes = []
+        # 处理 use_channels 为 None 的情况（通常用于单通道操作）
+        if use_channels is None:
+            # 对于单通道操作，推断通道为 [0]
+            channels_to_use = [0] * len(resources)
+        else:
+            channels_to_use = use_channels
+
+        for resource, volume, channel in zip(resources, vols, channels_to_use):
+            res_samples.append({"name": resource.name, "sample_uuid": resource.unilabos_extra.get("sample_uuid", None)})
+            res_volumes.append(volume)
+            self.pending_liquids_dict[channel] = {
+                "sample_uuid": resource.unilabos_extra.get("sample_uuid", None),
+                "volume": volume
+            }
+        return SimpleReturn(samples=res_samples, volumes=res_volumes)
+
+
     async def dispense(
         self,
         resources: Sequence[Container],
@@ -206,7 +235,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
         blow_out_air_volume: Optional[List[Optional[float]]] = None,
         spread: Literal["wide", "tight", "custom"] = "wide",
         **backend_kwargs,
-    ):
+    ) -> SimpleReturn:
         if self._simulator:
             return await self._simulate_handler.dispense(
                 resources,
@@ -219,7 +248,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
                 spread,
                 **backend_kwargs,
             )
-        return await super().dispense(
+        await super().dispense(
             resources,
             vols,
             use_channels,
@@ -229,7 +258,17 @@ class LiquidHandlerMiddleware(LiquidHandler):
             blow_out_air_volume,
             **backend_kwargs,
         )
+        res_samples = []
+        res_volumes = []
+        for resource, volume, channel in zip(resources, vols, use_channels):
+            res_uuid = self.pending_liquids_dict[channel]["sample_uuid"]
+            self.pending_liquids_dict[channel]["volume"] -= volume
+            resource.unilabos_extra["sample_uuid"] = res_uuid
+            res_samples.append({"name": resource.name, "sample_uuid": res_uuid})
+            res_volumes.append(volume)
 
+        return SimpleReturn(samples=res_samples, volumes=res_volumes)
+        
     async def transfer(
         self,
         source: Well,
@@ -549,25 +588,66 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
     support_touch_tip = True
     _ros_node: BaseROS2DeviceNode
 
-    def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8):
+    def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8, total_height:float = 310):
         """Initialize a LiquidHandler.
 
         Args:
           backend: Backend to use.
           deck: Deck to use.
         """
+        backend_type = None
+        if isinstance(backend, dict) and "type" in backend:
+            backend_dict = backend.copy()
+            type_str = backend_dict.pop("type")
+            try:
+                # Try to get class from string using globals (current module), or fallback to pylabrobot or unilabos namespaces
+                backend_cls = None
+                if type_str in globals():
+                    backend_cls = globals()[type_str]
+                else:
+                    # Try resolving dotted notation, e.g. "xxx.yyy.ClassName"
+                    components = type_str.split(".")
+                    mod = None
+                    if len(components) > 1:
+                        module_name = ".".join(components[:-1])
+                        try:
+                            import importlib
+                            mod = importlib.import_module(module_name)
+                        except ImportError:
+                            mod = None
+                        if mod is not None:
+                            backend_cls = getattr(mod, components[-1], None)
+                    if backend_cls is None:
+                        # Try pylabrobot style import (if available)
+                        try:
+                            import pylabrobot
+                            backend_cls = getattr(pylabrobot, type_str, None)
+                        except Exception:
+                            backend_cls = None
+                if backend_cls is not None and isinstance(backend_cls, type):
+                    backend_type = backend_cls(**backend_dict)  # pass the rest of dict as kwargs
+            except Exception as exc:
+                raise RuntimeError(f"Failed to convert backend type '{type_str}' to class: {exc}")
+        else:
+            backend_type = backend
         self._simulator = simulator
         self.group_info = dict()
-        super().__init__(backend, deck, simulator, channel_num)
+        super().__init__(backend_type, deck, simulator, channel_num)
 
     def post_init(self, ros_node: BaseROS2DeviceNode):
         self._ros_node = ros_node
 
     @classmethod
-    def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]):
+    def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SimpleReturn:
         """Set the liquid in a well."""
+        res_samples = []
+        res_volumes = []
         for well, liquid_name, volume in zip(wells, liquid_names, volumes):
             well.set_liquids([(liquid_name, volume)])  # type: ignore
+            res_samples.append({"name": well.name, "sample_uuid": well.unilabos_extra.get("sample_uuid", None)})
+            res_volumes.append(volume)
+        
+        return SimpleReturn(samples=res_samples, volumes=res_volumes)
     # ---------------------------------------------------------------
     # REMOVE LIQUID --------------------------------------------------
     # ---------------------------------------------------------------
@@ -847,6 +927,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                                 offsets=offsets if offsets else None,
                                 height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                                 mix_rate=mix_rate if mix_rate else None,
+                                use_channels=use_channels,
                             )
                         if delays is not None and len(delays) > 1:
                             await self.custom_delay(seconds=delays[1])
@@ -910,6 +991,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                                 offsets=offsets if offsets else None,
                                 height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                                 mix_rate=mix_rate if mix_rate else None,
+                                use_channels=use_channels,
                             )
                         if delays is not None and len(delays) > 1:
                             await self.custom_delay(seconds=delays[1])
@@ -969,11 +1051,19 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
             One or more TipRacks providing fresh tips.
         is_96_well
             Set *True* to use the 96‑channel head.
+        mix_stage
+            When to mix the target wells relative to dispensing. Default "none" means
+            no mixing occurs even if mix_times is provided. Use "before", "after", or
+            "both" to mix at the corresponding stage(s).
+        mix_times
+            Number of mix cycles. If *None* (default) no mixing occurs regardless of
+            mix_stage.
         """
         
         # 确保 use_channels 有默认值
         if use_channels is None:
-            use_channels = [0] if self.channel_num >= 1 else list(range(self.channel_num))
+            # 默认使用设备所有通道（例如 8 通道移液站默认就是 0-7）
+            use_channels = list(range(self.channel_num)) if self.channel_num > 0 else [0]
         
         if is_96_well:
             pass  # This mode is not verified.
@@ -1001,42 +1091,42 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         if mix_times is not None:
             mix_times = int(mix_times)
             
-            # 识别传输模式
-            num_sources = len(sources)
-            num_targets = len(targets)
-            
-            if num_sources == 1 and num_targets > 1:
-                # 模式1: 一对多 (1 source -> N targets)
-                await self._transfer_one_to_many(
-                    sources[0], targets, tip_racks, use_channels,
-                    asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
-                    offsets, touch_tip, liquid_height, blow_out_air_volume,
-                    spread, mix_stage, mix_times, mix_vol, mix_rate,
-                    mix_liquid_height, delays
-                )
-            elif num_sources > 1 and num_targets == 1:
-                # 模式2: 多对一 (N sources -> 1 target)
-                await self._transfer_many_to_one(
-                    sources, targets[0], tip_racks, use_channels,
-                    asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
-                    offsets, touch_tip, liquid_height, blow_out_air_volume,
-                    spread, mix_stage, mix_times, mix_vol, mix_rate,
-                    mix_liquid_height, delays
-                )
-            elif num_sources == num_targets:
-                # 模式3: 一对一 (N sources -> N targets) - 原有逻辑
-                await self._transfer_one_to_one(
-                    sources, targets, tip_racks, use_channels,
-                    asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
-                    offsets, touch_tip, liquid_height, blow_out_air_volume,
-                    spread, mix_stage, mix_times, mix_vol, mix_rate,
-                    mix_liquid_height, delays
-                )
-            else:
-                raise ValueError(
-                    f"Unsupported transfer mode: {num_sources} sources -> {num_targets} targets. "
-                    "Supported modes: 1->N, N->1, or N->N."
-                )
+        # 识别传输模式（mix_times 为 None 也应该能正常移液，只是不做 mix）
+        num_sources = len(sources)
+        num_targets = len(targets)
+        
+        if num_sources == 1 and num_targets > 1:
+            # 模式1: 一对多 (1 source -> N targets)
+            await self._transfer_one_to_many(
+                sources[0], targets, tip_racks, use_channels,
+                asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
+                offsets, touch_tip, liquid_height, blow_out_air_volume,
+                spread, mix_stage, mix_times, mix_vol, mix_rate,
+                mix_liquid_height, delays
+            )
+        elif num_sources > 1 and num_targets == 1:
+            # 模式2: 多对一 (N sources -> 1 target)
+            await self._transfer_many_to_one(
+                sources, targets[0], tip_racks, use_channels,
+                asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
+                offsets, touch_tip, liquid_height, blow_out_air_volume,
+                spread, mix_stage, mix_times, mix_vol, mix_rate,
+                mix_liquid_height, delays
+            )
+        elif num_sources == num_targets:
+            # 模式3: 一对一 (N sources -> N targets)
+            await self._transfer_one_to_one(
+                sources, targets, tip_racks, use_channels,
+                asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
+                offsets, touch_tip, liquid_height, blow_out_air_volume,
+                spread, mix_stage, mix_times, mix_vol, mix_rate,
+                mix_liquid_height, delays
+            )
+        else:
+            raise ValueError(
+                f"Unsupported transfer mode: {num_sources} sources -> {num_targets} targets. "
+                "Supported modes: 1->N, N->1, or N->N."
+            )
 
     async def _transfer_one_to_one(
         self,
@@ -1076,6 +1166,17 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     tip.extend(next(self.current_tip))
                 await self.pick_up_tips(tip)
 
+                if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
+                    await self.mix(
+                        targets=[targets[_]],
+                        mix_time=mix_times,
+                        mix_vol=mix_vol,
+                        offsets=offsets if offsets else None,
+                        height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                        mix_rate=mix_rate if mix_rate else None,
+                        use_channels=use_channels,
+                    )
+
                 await self.aspirate(
                     resources=[sources[_]],
                     vols=[asp_vols[_]],
@@ -1108,6 +1209,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets if offsets else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
+                        use_channels=use_channels,
                     )
                 if delays is not None and len(delays) > 1:
                     await self.custom_delay(seconds=delays[1])
@@ -1136,6 +1238,17 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
                 current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None
 
+                if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
+                    await self.mix(
+                        targets=current_targets,
+                        mix_time=mix_times,
+                        mix_vol=mix_vol,
+                        offsets=offsets if offsets else None,
+                        height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                        mix_rate=mix_rate if mix_rate else None,
+                        use_channels=use_channels,
+                    )
+
                 await self.aspirate(
                     resources=current_reagent_sources,
                     vols=current_asp_vols,
@@ -1170,6 +1283,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets if offsets else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
+                        use_channels=use_channels,
                     )
                 if delays is not None and len(delays) > 1:
                     await self.custom_delay(seconds=delays[1])
@@ -1217,6 +1331,18 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 tip.extend(next(self.current_tip))
             await self.pick_up_tips(tip)
 
+            if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
+                for idx, target in enumerate(targets):
+                    await self.mix(
+                        targets=[target],
+                        mix_time=mix_times,
+                        mix_vol=mix_vol,
+                        offsets=offsets[idx:idx + 1] if offsets and len(offsets) > idx else None,
+                        height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                        mix_rate=mix_rate if mix_rate else None,
+                        use_channels=use_channels,
+                    )
+
             # 从源容器吸液（总体积）
             await self.aspirate(
                 resources=[source],
@@ -1254,6 +1380,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets[idx:idx+1] if offsets else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
+                        use_channels=use_channels,
                     )
                 if touch_tip:
                     await self.touch_tip([target])
@@ -1281,6 +1408,17 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 current_asp_liquid_height = liquid_height[0:1] * 8 if liquid_height and len(liquid_height) > 0 else [None] * 8
                 current_asp_blow_out_air_volume = blow_out_air_volume[0:1] * 8 if blow_out_air_volume and len(blow_out_air_volume) > 0 else [None] * 8
                 
+                if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
+                    await self.mix(
+                        targets=current_targets,
+                        mix_time=mix_times,
+                        mix_vol=mix_vol,
+                        offsets=offsets[i:i + 8] if offsets else None,
+                        height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                        mix_rate=mix_rate if mix_rate else None,
+                        use_channels=use_channels,
+                    )
+                
                 # 从源容器吸液（8个通道都从同一个源，但每个通道的吸液体积不同）
                 await self.aspirate(
                     resources=[source] * 8,  # 8个通道都从同一个源
@@ -1324,6 +1462,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets if offsets else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
+                        use_channels=use_channels,
                     )
                 
                 if touch_tip:
@@ -1375,13 +1514,31 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 f"(matching `asp_vols`). Got length {len(dis_vols)}."
             )
 
+        need_mix_after = mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0
+        defer_final_discard = need_mix_after or touch_tip
+
         if len(use_channels) == 1:
             # 单通道模式：多次吸液，一次分液
-            # 先混合前（如果需要）
+
+            # 如果需要 before mix，先 pick up tip 并执行 mix
             if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
-                # 注意：在吸液前混合源容器通常不常见，这里跳过
-                pass
-            
+                tip = []
+                for _ in range(len(use_channels)):
+                    tip.extend(next(self.current_tip))
+                await self.pick_up_tips(tip)
+
+                await self.mix(
+                    targets=[target],
+                    mix_time=mix_times,
+                    mix_vol=mix_vol,
+                    offsets=offsets[0:1] if offsets else None,
+                    height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                    mix_rate=mix_rate if mix_rate else None,
+                    use_channels=use_channels,
+                )
+
+                await self.discard_tips(use_channels=use_channels)
+
             # 从每个源容器吸液并分液到目标容器
             for idx, source in enumerate(sources):
                 tip = []
@@ -1399,10 +1556,10 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     blow_out_air_volume=[blow_out_air_volume[idx]] if blow_out_air_volume and len(blow_out_air_volume) > idx else None,
                     spread=spread,
                 )
-                
+
                 if delays is not None:
                     await self.custom_delay(seconds=delays[0])
-                
+
                 # 分液到目标容器
                 if use_proportional_mixing:
                     # 按不同比例混合：使用对应的 dis_vols
@@ -1418,7 +1575,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     dis_offset = offsets[0] if offsets and len(offsets) > 0 else None
                     dis_liquid_height = liquid_height[0] if liquid_height and len(liquid_height) > 0 else None
                     dis_blow_out = blow_out_air_volume[0] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None
-                
+
                 await self.dispense(
                     resources=[target],
                     vols=[dis_vol],
@@ -1429,14 +1586,15 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     liquid_height=[dis_liquid_height] if dis_liquid_height is not None else None,
                     spread=spread,
                 )
-                
+
                 if delays is not None and len(delays) > 1:
                     await self.custom_delay(seconds=delays[1])
-                
-                await self.discard_tips(use_channels=use_channels)
-            
+
+                if not (defer_final_discard and idx == len(sources) - 1):
+                    await self.discard_tips(use_channels=use_channels)
+
             # 最后在目标容器中混合（如果需要）
-            if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
+            if need_mix_after:
                 await self.mix(
                     targets=[target],
                     mix_time=mix_times,
@@ -1444,17 +1602,39 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     offsets=offsets[0:1] if offsets else None,
                     height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                     mix_rate=mix_rate if mix_rate else None,
+                    use_channels=use_channels,
                 )
             
             if touch_tip:
                 await self.touch_tip([target])
+
+            if defer_final_discard:
+                await self.discard_tips(use_channels=use_channels)
         
         elif len(use_channels) == 8:
             # 8通道模式：需要确保源数量是8的倍数
             if len(sources) % 8 != 0:
                 raise ValueError(f"For 8-channel mode, number of sources {len(sources)} must be a multiple of 8.")
-            
-            # 每次处理8个源
+
+            # 如果需要 before mix，先 pick up tips 并执行 mix
+            if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
+                tip = []
+                for _ in range(len(use_channels)):
+                    tip.extend(next(self.current_tip))
+                await self.pick_up_tips(tip)
+
+                await self.mix(
+                    targets=[target],
+                    mix_time=mix_times,
+                    mix_vol=mix_vol,
+                    offsets=offsets[0:1] if offsets else None,
+                    height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                    mix_rate=mix_rate if mix_rate else None,
+                    use_channels=use_channels,
+                )
+
+                await self.discard_tips([0,1,2,3,4,5,6,7])
+
             for i in range(0, len(sources), 8):
                 tip = []
                 for _ in range(len(use_channels)):
@@ -1512,11 +1692,12 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 
                 if delays is not None and len(delays) > 1:
                     await self.custom_delay(seconds=delays[1])
-                
-                await self.discard_tips([0,1,2,3,4,5,6,7])
-            
+
+                if not (defer_final_discard and i + 8 >= len(sources)):
+                    await self.discard_tips([0,1,2,3,4,5,6,7])
+
             # 最后在目标容器中混合（如果需要）
-            if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
+            if need_mix_after:
                 await self.mix(
                     targets=[target],
                     mix_time=mix_times,
@@ -1524,11 +1705,15 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     offsets=offsets[0:1] if offsets else None,
                     height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                     mix_rate=mix_rate if mix_rate else None,
+                    use_channels=use_channels,
                 )
             
             if touch_tip:
                 await self.touch_tip([target])
 
+            if defer_final_discard:
+                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
@@ -1548,7 +1733,12 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 print(f"Waiting time: {msg}")
                 print(f"Current time: {time.strftime('%H:%M:%S')}")
                 print(f"Time to finish: {time.strftime('%H:%M:%S', time.localtime(time.time() + seconds))}")
-            await self._ros_node.sleep(seconds)
+            # Use ROS node sleep if available, otherwise use asyncio.sleep
+            if hasattr(self, '_ros_node') and self._ros_node is not None:
+                await self._ros_node.sleep(seconds)
+            else:
+                import asyncio
+                await asyncio.sleep(seconds)
             if msg:
                 print(f"Done: {msg}")
                 print(f"Current time: {time.strftime('%H:%M:%S')}")
@@ -1587,27 +1777,59 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         height_to_bottom: Optional[float] = None,
         offsets: Optional[Coordinate] = None,
         mix_rate: Optional[float] = None,
+        use_channels: Optional[List[int]] = None,
         none_keys: List[str] = [],
     ):
-        if mix_time is None:  # No mixing required
+        if mix_time is None or mix_time <= 0:  # No mixing required
             return
         """Mix the liquid in the target wells."""
+        if mix_vol is None:
+            raise ValueError("`mix_vol` must be provided when `mix_time` is set.")
+
+        targets_list: List[Container] = list(targets)
+        if len(targets_list) == 0:
+            return
+
+        def _expand(value, count: int):
+            if value is None:
+                return [None] * count
+            if isinstance(value, (list, tuple)):
+                if len(value) != count:
+                    raise ValueError("Length of per-target parameters must match targets.")
+                return list(value)
+            return [value] * count
+
+        offsets_list = _expand(offsets, len(targets_list))
+        heights_list = _expand(height_to_bottom, len(targets_list))
+        rates_list = _expand(mix_rate, len(targets_list))
+
         for _ in range(mix_time):
-            await self.aspirate(
-                resources=[targets],
-                vols=[mix_vol],
-                flow_rates=[mix_rate] if mix_rate else None,
-                offsets=[offsets] if offsets else None,
-                liquid_height=[height_to_bottom] if height_to_bottom else None,
-            )
-            await self.custom_delay(seconds=1)
-            await self.dispense(
-                resources=[targets],
-                vols=[mix_vol],
-                flow_rates=[mix_rate] if mix_rate else None,
-                offsets=[offsets] if offsets else None,
-                liquid_height=[height_to_bottom] if height_to_bottom else None,
-            )
+            for idx, target in enumerate(targets_list):
+                offset_arg = (
+                    [offsets_list[idx]] if offsets_list[idx] is not None else None
+                )
+                height_arg = (
+                    [heights_list[idx]] if heights_list[idx] is not None else None
+                )
+                rate_arg = [rates_list[idx]] if rates_list[idx] is not None else None
+
+                await self.aspirate(
+                    resources=[target],
+                    vols=[mix_vol],
+                    use_channels=use_channels,
+                    flow_rates=rate_arg,
+                    offsets=offset_arg,
+                    liquid_height=height_arg,
+                )
+                await self.custom_delay(seconds=1)
+                await self.dispense(
+                    resources=[target],
+                    vols=[mix_vol],
+                    use_channels=use_channels,
+                    flow_rates=rate_arg,
+                    offsets=offset_arg,
+                    liquid_height=height_arg,
+                )
 
     def iter_tips(self, tip_racks: Sequence[TipRack]) -> Iterator[Resource]:
         """Yield tips from a list of TipRacks one-by-one until depleted."""

unilabos/devices/liquid_handling/prcxi/base_material.json

@@ -0,0 +1,954 @@
+[
+  {
+    "uuid": "3b6f33ffbf734014bcc20e3c63e124d4",
+    "Code": "ZX-58-1250",
+    "Name": "Tip头适配器 1250uL",
+    "SummaryName": "Tip头适配器 1250uL",
+    "SupplyType": 2,
+    "Factory": "宁静致远",
+    "LengthNum": 128,
+    "WidthNum": 85,
+    "HeightNum": 20,
+    "DepthNum": 4,
+    "StandardHeight": 0,
+    "PipetteHeight": null,
+    "HoleColum": 1,
+    "HoleRow": 1,
+    "HoleDiameter": 0,
+    "Volume": 1250,
+    "ImagePath": "/images/20220624015044.jpg",
+    "QRCode": null,
+    "Qty": 10,
+    "CreateName": null,
+    "CreateTime": "2021-12-30 16:03:52.6583727",
+    "UpdateName": null,
+    "UpdateTime": "2022-06-24 13:50:44.8123474",
+    "IsStright": 0,
+    "IsGeneral": 0,
+    "IsControl": 1,
+    "ArmCode": null,
+    "XSpacing": null,
+    "YSpacing": null,
+    "materialEnum": null,
+    "Margins_X": 0,
+    "Margins_Y": 0
+  },
+  {
+    "uuid": "7c822592b360451fb59690e49ac6b181",
+    "Code": "ZX-58-300",
+    "Name": "ZHONGXI 适配器 300uL",
+    "SummaryName": "ZHONGXI 适配器 300uL",
+    "SupplyType": 2,
+    "Factory": "宁静致远",
+    "LengthNum": 127,
+    "WidthNum": 85,
+    "HeightNum": 81,
+    "DepthNum": 4,
+    "StandardHeight": 0,
+    "PipetteHeight": null,
+    "HoleColum": 1,
+    "HoleRow": 1,
+    "HoleDiameter": 0,
+    "Volume": 300,
+    "ImagePath": "/images/20220623102838.jpg",
+    "QRCode": null,
+    "Qty": 10,
+    "CreateName": null,
+    "CreateTime": "2021-12-30 16:07:53.7453351",
+    "UpdateName": null,
+    "UpdateTime": "2022-06-23 10:28:38.6190575",
+    "IsStright": 0,
+    "IsGeneral": 0,
+    "IsControl": 1,
+    "ArmCode": null,
+    "XSpacing": null,
+    "YSpacing": null,
+    "materialEnum": null,
+    "Margins_X": 0,
+    "Margins_Y": 0
+  },
+  {
+    "uuid": "8cc3dce884ac41c09f4570d0bcbfb01c",
+    "Code": "ZX-58-10",
+    "Name": "吸头10ul 适配器",
+    "SummaryName": "吸头10ul 适配器",
+    "SupplyType": 2,
+    "Factory": "宁静致远",
+    "LengthNum": 128,
+    "WidthNum": 85,
+    "HeightNum": 72.3,
+    "DepthNum": 0,
+    "StandardHeight": 0,
+    "PipetteHeight": 0,
+    "HoleColum": 1,
+    "HoleRow": 1,
+    "HoleDiameter": 127,
+    "Volume": 1000,
+    "ImagePath": "",
+    "QRCode": null,
+    "Qty": 10,
+    "CreateName": null,
+    "CreateTime": "2021-12-30 16:37:40.7073733",
+    "UpdateName": null,
+    "UpdateTime": "2025-05-30 15:17:01.8231737",
+    "IsStright": 0,
+    "IsGeneral": 1,
+    "IsControl": 1,
+    "ArmCode": null,
+    "XSpacing": 0,
+    "YSpacing": 0,
+    "materialEnum": 0,
+    "Margins_X": 0,
+    "Margins_Y": 0
+  },
+  {
+    "uuid": "7960f49ddfe9448abadda89bd1556936",
+    "Code": "ZX-001-1250",
+    "Name": "1250μL Tip头",
+    "SummaryName": "1250μL Tip头",
+    "SupplyType": 1,
+    "Factory": "宁静致远",
+    "LengthNum": 118.09,
+    "WidthNum": 80.7,
+    "HeightNum": 107.67,
+    "DepthNum": 100,
+    "StandardHeight": 0,
+    "PipetteHeight": null,
+    "HoleColum": 12,
+    "HoleRow": 8,
+    "HoleDiameter": 7.95,
+    "Volume": 1250,
+    "ImagePath": "/images/20220623102536.jpg",
+    "QRCode": null,
+    "Qty": 96,
+    "CreateName": null,
+    "CreateTime": "2021-12-30 20:53:27.8591195",
+    "UpdateName": null,
+    "UpdateTime": "2022-06-23 10:25:36.2592442",
+    "IsStright": 0,
+    "IsGeneral": 0,
+    "IsControl": 1,
+    "ArmCode": null,
+    "XSpacing": 9,
+    "YSpacing": 9,
+    "materialEnum": null,
+    "Margins_X": 0,
+    "Margins_Y": 0
+  },
+  {
+    "uuid": "45f2ed3ad925484d96463d675a0ebf66",
+    "Code": "ZX-001-10",
+    "Name": "10μL Tip头",
+    "SummaryName": "10μL Tip头",
+    "SupplyType": 1,
+    "Factory": "宁静致远",
+    "LengthNum": 120.98,
+    "WidthNum": 82.12,
+    "HeightNum": 67,
+    "DepthNum": 39.1,
+    "StandardHeight": 0,
+    "PipetteHeight": null,
+    "HoleColum": 12,
+    "HoleRow": 8,
+    "HoleDiameter": 5,
+    "Volume": 10,
+    "ImagePath": "/images/20221119041031.jpg",
+    "QRCode": null,
+    "Qty": -21,
+    "CreateName": null,
+    "CreateTime": "2021-12-30 20:56:53.462015",
+    "UpdateName": null,
+    "UpdateTime": "2022-11-19 16:10:31.126801",
+    "IsStright": 0,
+    "IsGeneral": 1,
+    "IsControl": 1,
+    "ArmCode": null,
+    "XSpacing": 9,
+    "YSpacing": 9,
+    "materialEnum": null,
+    "Margins_X": 0,
+    "Margins_Y": 0
+  },
+  {
+    "uuid": "068b3815e36b4a72a59bae017011b29f",
+    "Code": "ZX-001-10+",
+    "Name": "10μL加长 Tip头",
+    "SummaryName": "10μL加长 Tip头",
+    "SupplyType": 1,
+    "Factory": "宁静致远",
+    "LengthNum": 122.11,
+    "WidthNum": 80.05,
+    "HeightNum": 58.23,
+    "DepthNum": 45.1,
+    "StandardHeight": 0,
+    "PipetteHeight": 60,
+    "HoleColum": 12,
+    "HoleRow": 8,
+    "HoleDiameter": 7,
+    "Volume": 10,
+    "ImagePath": "",
+    "QRCode": null,
+    "Qty": 42,
+    "CreateName": null,
+    "CreateTime": "2021-12-30 20:57:57.331211",
+    "UpdateName": null,
+    "UpdateTime": "2025-09-17 17:02:51.2070383",
+    "IsStright": 0,
+    "IsGeneral": 0,
+    "IsControl": 1,
+    "ArmCode": null,
+    "XSpacing": 9,
+    "YSpacing": 9,
+    "materialEnum": 1,
+    "Margins_X": 7.97,
+    "Margins_Y": 5
+  },
+  {
+    "uuid": "80652665f6a54402b2408d50b40398df",
+    "Code": "ZX-001-1000",
+    "Name": "1000μL Tip头",
+    "SummaryName": "1000μL Tip头",
+    "SupplyType": 1,
+    "Factory": "宁静致远",
+    "LengthNum": 128.09,
+    "WidthNum": 85.8,
+    "HeightNum": 98,
+    "DepthNum": 88,
+    "StandardHeight": 0,
+    "PipetteHeight": 100,
+    "HoleColum": 12,
+    "HoleRow": 8,
+    "HoleDiameter": 7.95,
+    "Volume": 1000,
+    "ImagePath": "",
+    "QRCode": null,
+    "Qty": 47,
+    "CreateName": null,
+    "CreateTime": "2021-12-30 20:59:20.5534915",
+    "UpdateName": null,
+    "UpdateTime": "2025-05-30 14:49:53.639727",
+    "IsStright": 0,
+    "IsGeneral": 0,
+    "IsControl": 1,
+    "ArmCode": null,
+    "XSpacing": 9,
+    "YSpacing": 9,
+    "materialEnum": 1,
+    "Margins_X": 14.5,
+    "Margins_Y": 11.4
+  },
+  {
+    "uuid": "076250742950465b9d6ea29a225dfb00",
+    "Code": "ZX-001-300",
+    "Name": "300μL Tip头",
+    "SummaryName": "300μL Tip头",
+    "SupplyType": 1,
+    "Factory": "宁静致远",
+    "LengthNum": 122.11,
+    "WidthNum": 80.05,
+    "HeightNum": 58.23,
+    "DepthNum": 45.1,
+    "StandardHeight": 0,
+    "PipetteHeight": 60,
+    "HoleColum": 12,
+    "HoleRow": 8,
+    "HoleDiameter": 7,
+    "Volume": 300,
+    "ImagePath": "",
+    "QRCode": null,
+    "Qty": 11,
+    "CreateName": null,
+    "CreateTime": "2021-12-30 21:00:24.7266192",
+    "UpdateName": null,
+    "UpdateTime": "2025-09-17 17:02:40.6676947",
+    "IsStright": 0,
+    "IsGeneral": 0,
+    "IsControl": 1,
+    "ArmCode": null,
+    "XSpacing": 9,
+    "YSpacing": 9,
+    "materialEnum": 1,
+    "Margins_X": 7.97,
+    "Margins_Y": 5
+  },
+  {
+    "uuid": "7a73bb9e5c264515a8fcbe88aed0e6f7",
+    "Code": "ZX-001-200",
+    "Name": "200μL Tip头",
+    "SummaryName": "200μL Tip头",
+    "SupplyType": 1,
+    "Factory": "宁静致远",
+    "LengthNum": 120.98,
+    "WidthNum": 82.12,
+    "HeightNum": 66.9,
+    "DepthNum": 52,
+    "StandardHeight": 0,
+    "PipetteHeight": 30,
+    "HoleColum": 12,
+    "HoleRow": 8,
+    "HoleDiameter": 5.5,
+    "Volume": 200,
+    "ImagePath": "",
+    "QRCode": null,
+    "Qty": 19,
+    "CreateName": null,
+    "CreateTime": "2021-12-30 21:01:17.626704",
+    "UpdateName": null,
+    "UpdateTime": "2025-05-27 11:42:24.6021522",
+    "IsStright": 0,
+    "IsGeneral": 0,
+    "IsControl": 1,
+    "ArmCode": null,
+    "XSpacing": 9,
+    "YSpacing": 9,
+    "materialEnum": 0,
+    "Margins_X": 0,
+    "Margins_Y": 0
+  },
+  {
+    "uuid": "73bb9b10bc394978b70e027bf45ce2d3",
+    "Code": "ZX-023-0.2",
+    "Name": "0.2ml PCR板",
+    "SummaryName": "0.2ml PCR板",
+    "SupplyType": 1,
+    "Factory": "中析",
+    "LengthNum": 126,
+    "WidthNum": 86,
+    "HeightNum": 21.2,
+    "DepthNum": 15.17,
+    "StandardHeight": 0,
+    "PipetteHeight": null,
+    "HoleColum": 12,
+    "HoleRow": 8,
+    "HoleDiameter": 6,
+    "Volume": 1000,
+    "ImagePath": "",
+    "QRCode": null,
+    "Qty": -12,
+    "CreateName": null,
+    "CreateTime": "2021-12-30 21:06:02.7746392",
+    "UpdateName": null,
+    "UpdateTime": "2024-02-20 16:17:16.7921748",
+    "IsStright": 0,
+    "IsGeneral": 1,
+    "IsControl": 1,
+    "ArmCode": null,
+    "XSpacing": 9,
+    "YSpacing": 9,
+    "materialEnum": null,
+    "Margins_X": 0,
+    "Margins_Y": 0
+  },
+  {
+    "uuid": "ca877b8b114a4310b429d1de4aae96ee",
+    "Code": "ZX-019-2.2",
+    "Name": "2.2ml 深孔板",
+    "SummaryName": "2.2ml 深孔板",
+    "SupplyType": 1,
+    "Factory": "宁静致远",
+    "LengthNum": 127.3,
+    "WidthNum": 85.35,
+    "HeightNum": 44,
+    "DepthNum": 42,
+    "StandardHeight": 0,
+    "PipetteHeight": null,
+    "HoleColum": 12,
+    "HoleRow": 8,
+    "HoleDiameter": 8.2,
+    "Volume": 2200,
+    "ImagePath": "",
+    "QRCode": null,
+    "Qty": 34,
+    "CreateName": null,
+    "CreateTime": "2021-12-30 21:07:16.4538022",
+    "UpdateName": null,
+    "UpdateTime": "2023-08-12 13:11:26.3993472",
+    "IsStright": 0,
+    "IsGeneral": 1,
+    "IsControl": 1,
+    "ArmCode": null,
+    "XSpacing": 9,
+    "YSpacing": 9,
+    "materialEnum": null,
+    "Margins_X": 0,
+    "Margins_Y": 0
+  },
+  {
+    "uuid": "04211a2dc93547fe9bf6121eac533650",
+    "Code": "ZX-58-10000",
+    "Name": "储液槽",
+    "SummaryName": "储液槽",
+    "SupplyType": 1,
+    "Factory": "宁静致远",
+    "LengthNum": 125.02,
+    "WidthNum": 82.97,
+    "HeightNum": 31.2,
+    "DepthNum": 24,
+    "StandardHeight": 0,
+    "PipetteHeight": 0,
+    "HoleColum": 1,
+    "HoleRow": 1,
+    "HoleDiameter": 99.33,
+    "Volume": 1250,
+    "ImagePath": "",
+    "QRCode": null,
+    "Qty": -172,
+    "CreateName": null,
+    "CreateTime": "2021-12-31 18:37:56.7949909",
+    "UpdateName": null,
+    "UpdateTime": "2025-09-17 17:22:22.8543991",
+    "IsStright": 0,
+    "IsGeneral": 0,
+    "IsControl": 1,
+    "ArmCode": null,
+    "XSpacing": 9,
+    "YSpacing": 9,
+    "materialEnum": 0,
+    "Margins_X": 8.5,
+    "Margins_Y": 5.5
+  },
+  {
+    "uuid": "4a043a07c65a4f9bb97745e1f129b165",
+    "Code": "ZX-58-0001",
+    "Name": "全裙边 PCR适配器",
+    "SummaryName": "全裙边 PCR适配器",
+    "SupplyType": 2,
+    "Factory": "宁静致远",
+    "LengthNum": 125.42,
+    "WidthNum": 83.13,
+    "HeightNum": 15.69,
+    "DepthNum": 13.41,
+    "StandardHeight": 0,
+    "PipetteHeight": 0,
+    "HoleColum": 12,
+    "HoleRow": 8,
+    "HoleDiameter": 5.1,
+    "Volume": 1250,
+    "ImagePath": "",
+    "QRCode": null,
+    "Qty": 100,
+    "CreateName": null,
+    "CreateTime": "2022-01-02 19:21:35.8664843",
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+    "SummaryName": "适配器",
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+    "WidthNum": 90,
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+    "CreateTime": "2022-11-07 09:00:10.7579131",
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+    "UpdateTime": "2022-11-07 09:00:10.7579134",
+    "IsStright": 0,
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+    "Margins_Y": 0
+  },
+  {
+    "uuid": "730067cf07ae43849ddf4034299030e9",
+    "Code": "q1",
+    "Name": "废弃槽",
+    "SummaryName": "废弃槽",
+    "SupplyType": 1,
+    "Factory": "中析",
+    "LengthNum": 126.59,
+    "WidthNum": 84.87,
+    "HeightNum": 103.17,
+    "DepthNum": 80,
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+    "PipetteHeight": 0,
+    "HoleColum": 1,
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+    "HoleDiameter": 1,
+    "Volume": 1250,
+    "ImagePath": "",
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+    "Qty": null,
+    "CreateName": null,
+    "CreateTime": "2023-10-14 13:15:45.8172852",
+    "UpdateName": null,
+    "UpdateTime": "2025-09-17 17:06:18.3331101",
+    "IsStright": 0,
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+    "Margins_Y": 2.64
+  },
+  {
+    "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
+    "Code": "q2",
+    "Name": "96深孔板",
+    "SummaryName": "96深孔板",
+    "SupplyType": 1,
+    "Factory": "中析",
+    "LengthNum": 127.3,
+    "WidthNum": 85.35,
+    "HeightNum": 44,
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+  {
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+    "Code": "q3",
+    "Name": "384板",
+    "SummaryName": "384板",
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+    "Factory": "中析",
+    "LengthNum": 126.6,
+    "WidthNum": 84,
+    "HeightNum": 9.4,
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+    "Volume": 1250,
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+    "CreateTime": "2023-10-14 13:22:34.779818",
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+    "YSpacing": 4.5,
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+    "Margins_Y": 0
+  },
+  {
+    "uuid": "01953864f6f140ccaa8ddffd4f3e46f5",
+    "Code": "sdfrth654",
+    "Name": "4道储液槽",
+    "SummaryName": "4道储液槽",
+    "SupplyType": 1,
+    "Factory": "中析",
+    "LengthNum": 100,
+    "WidthNum": 40,
+    "HeightNum": 30,
+    "DepthNum": 10,
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+    "PipetteHeight": null,
+    "HoleColum": 4,
+    "HoleRow": 8,
+    "HoleDiameter": 4,
+    "Volume": 1000,
+    "ImagePath": "",
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+    "Qty": null,
+    "CreateName": null,
+    "CreateTime": "2024-02-20 14:44:25.0021372",
+    "UpdateName": null,
+    "UpdateTime": "2025-03-31 15:09:30.7392062",
+    "IsStright": 0,
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+    "XSpacing": 27,
+    "YSpacing": 9,
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+    "Margins_X": 0,
+    "Margins_Y": 0
+  },
+  {
+    "uuid": "026c5d5cf3d94e56b4e16b7fb53a995b",
+    "Code": "22",
+    "Name": "48孔深孔板",
+    "SummaryName": "48孔深孔板",
+    "SupplyType": 1,
+    "Factory": "",
+    "LengthNum": null,
+    "WidthNum": null,
+    "HeightNum": null,
+    "DepthNum": null,
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+    "CreateName": null,
+    "CreateTime": "2025-03-19 09:38:09.8535874",
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+    "UpdateTime": "2025-03-19 09:38:09.8536386",
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+    "XSpacing": 18.5,
+    "YSpacing": 9,
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+    "Margins_X": 0,
+    "Margins_Y": 0
+  },
+  {
+    "uuid": "0f1639987b154e1fac78f4fb29a1f7c1",
+    "Code": "12道储液槽",
+    "Name": "12道储液槽",
+    "SummaryName": "12道储液槽",
+    "SupplyType": 1,
+    "Factory": "",
+    "LengthNum": 129.5,
+    "WidthNum": 83.047,
+    "HeightNum": 30.6,
+    "DepthNum": 26.7,
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+    "PipetteHeight": 0,
+    "HoleColum": 12,
+    "HoleRow": 8,
+    "HoleDiameter": 8.04,
+    "Volume": 12,
+    "ImagePath": "",
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+    "CreateTime": "2025-05-21 13:10:53.2735971",
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+    "UpdateTime": "2025-09-17 17:20:40.4460256",
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+    "Margins_Y": 5.35
+  },
+  {
+    "uuid": "548bbc3df0d4447586f2c19d2c0c0c55",
+    "Code": "HPLC01",
+    "Name": "HPLC料盘",
+    "SummaryName": "HPLC料盘",
+    "SupplyType": 1,
+    "Factory": "",
+    "LengthNum": 0,
+    "WidthNum": 0,
+    "HeightNum": 0,
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+    "CreateTime": "2025-07-12 17:10:43.2660127",
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+  {
+    "uuid": "e146697c395e4eabb3d6b74f0dd6aaf7",
+    "Code": "1",
+    "Name": "ep适配器",
+    "SummaryName": "ep适配器",
+    "SupplyType": 1,
+    "Factory": "",
+    "LengthNum": 128.04,
+    "WidthNum": 85.8,
+    "HeightNum": 42.66,
+    "DepthNum": 38.08,
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+    "HoleColum": 6,
+    "HoleRow": 4,
+    "HoleDiameter": 10.6,
+    "Volume": 1,
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+    "CreateName": null,
+    "CreateTime": "2025-09-03 13:31:54.1541015",
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+    "YSpacing": 18,
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+  },
+  {
+    "uuid": "a0757a90d8e44e81a68f306a608694f2",
+    "Code": "ZX-58-30",
+    "Name": "30mm适配器",
+    "SummaryName": "30mm适配器",
+    "SupplyType": 2,
+    "Factory": "",
+    "LengthNum": 132,
+    "WidthNum": 93.5,
+    "HeightNum": 30,
+    "DepthNum": 7,
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+    "HoleRow": 8,
+    "HoleDiameter": 8.1,
+    "Volume": 30,
+    "ImagePath": null,
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+    "CreateName": null,
+    "CreateTime": "2025-09-15 14:02:30.8094658",
+    "UpdateName": null,
+    "UpdateTime": "2025-09-15 14:02:30.8098183",
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+    "XSpacing": 9,
+    "YSpacing": 9,
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+  },
+  {
+    "uuid": "b05b3b2aafd94ec38ea0cd3215ecea8f",
+    "Code": "ZX-78-096",
+    "Name": "细菌培养皿",
+    "SummaryName": "细菌培养皿",
+    "SupplyType": 1,
+    "Factory": "",
+    "LengthNum": 124.09,
+    "WidthNum": 81.89,
+    "HeightNum": 13.67,
+    "DepthNum": 11.2,
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+    "HoleColum": 12,
+    "HoleRow": 8,
+    "HoleDiameter": 6.58,
+    "Volume": 78,
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+    "CreateName": null,
+    "CreateTime": "2025-09-17 17:10:54.1859566",
+    "UpdateName": null,
+    "UpdateTime": "2025-09-17 17:10:54.1859568",
+    "IsStright": null,
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+    "XSpacing": 9,
+    "YSpacing": 9,
+    "materialEnum": 4,
+    "Margins_X": 9.28,
+    "Margins_Y": 6.19
+  }
+]

unilabos/devices/liquid_handling/prcxi/deck.json

@@ -156,7 +156,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Container",
+            "type": "PRCXI9300TipRack",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -4323,7 +4323,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Container",
+            "type": "PRCXI9300Plate",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -8297,7 +8297,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Container",
+            "type": "PRCXI9300Plate",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -8425,7 +8425,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Container",
+            "type": "PRCXI9300Plate",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -12496,7 +12496,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Container",
+            "type": "PRCXI9300TipRack",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -16664,7 +16664,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Container",
+            "type": "PRCXI9300Plate",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -20640,7 +20640,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Container",
+            "type": "PRCXI9300Plate",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -20671,7 +20671,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Container",
+            "type": "PRCXI9300Plate",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -20799,7 +20799,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Container",
+            "type": "PRCXI9300Plate",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -24872,7 +24872,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Container",
+            "type": "PRCXI9300Plate",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -28848,7 +28848,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Container",
+            "type": "PRCXI9300Plate",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -28879,7 +28879,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Container",
+            "type": "PRCXI9300Plate",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -29007,7 +29007,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Container",
+            "type": "PRCXI9300Plate",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -33080,7 +33080,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Container",
+            "type": "PRCXI9300Plate",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -37153,7 +37153,7 @@
             "z": 0
         },
         "config": {
-            "type": "PRCXI9300Container",
+            "type": "PRCXI9300Plate",
             "size_x": 50,
             "size_y": 50,
             "size_z": 10,
@@ -41151,6 +41151,5 @@
                 "uuid": "730067cf07ae43849ddf4034299030e9"
             }
         }
-    ],
-    "links": []
-}
+    }
+]

unilabos/devices/liquid_handling/prcxi/json_output/CodeDataEntity.json

@@ -0,0 +1 @@
+[]

unilabos/devices/liquid_handling/prcxi/json_output/CurveCompensate.json

@@ -0,0 +1,607 @@
+[
+  {
+    "Id": "1853794d-8cc1-4268-94b8-fc83e8be3ecc",
+    "StartDosage": 1.0,
+    "EndDosage": 55.0,
+    "Aspiration": 0.0,
+    "Dispensing": 0.0,
+    "K": 2126.89990234375,
+    "B": 2085.300048828125,
+    "compensateEnum": 7,
+    "materialVolume": 10
+  },
+  {
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unilabos/devices/liquid_handling/prcxi/json_output/_base_material_old_20240226.json

@@ -0,0 +1,794 @@
+[
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+    "Name": "Tip头适配器 1250uL",
+    "SummaryName": "Tip头适配器 1250uL",
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+    "Factory": "宁静致远",
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+    "ImagePath": "/images/20220624015044.jpg",
+    "QRCode": null,
+    "Qty": 10,
+    "CreateName": null,
+    "CreateTime": "2021-12-30 16:03:52.6583727",
+    "UpdateName": null,
+    "UpdateTime": "2022-06-24 13:50:44.8123474",
+    "IsStright": 0,
+    "IsGeneral": 0,
+    "IsControl": 1,
+    "ArmCode": null,
+    "XSpacing": null,
+    "YSpacing": null,
+    "materialEnum": null
+  },
+  {
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unilabos/devices/liquid_handling/prcxi/json_output/_base_plan_master_old_20240416.json

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+  {
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unilabos/devices/liquid_handling/prcxi/json_output/_base_plate_position_detail_old_20240221.json

@@ -0,0 +1,302 @@
+[
+  {
+    "id": "630a9ca9-dfbf-40f9-b90b-6df73e6a1d7f",
+    "number": 1,
+    "name": "T1",
+    "row": 0,
+    "col": 0,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "ef121889-2724-4b3d-a786-bbf0bd213c3d"
+  },
+  {
+    "id": "db955443-1397-4a7a-a0cc-185eb6422c27",
+    "number": 2,
+    "name": "T2",
+    "row": 0,
+    "col": 1,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "ef121889-2724-4b3d-a786-bbf0bd213c3d"
+  },
+  {
+    "id": "635e8265-e2b9-430e-8a4e-ddf94256266f",
+    "number": 3,
+    "name": "T3",
+    "row": 0,
+    "col": 2,
+    "row_span": 2,
+    "col_span": 1,
+    "plate_position_id": "ef121889-2724-4b3d-a786-bbf0bd213c3d"
+  },
+  {
+    "id": "6de1521d-a249-4a7e-800f-1d49b5c7b56f",
+    "number": 4,
+    "name": "T4",
+    "row": 1,
+    "col": 0,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "ef121889-2724-4b3d-a786-bbf0bd213c3d"
+  },
+  {
+    "id": "4f9f2527-0f71-4ec4-a0ac-e546407e2960",
+    "number": 5,
+    "name": "T5",
+    "row": 1,
+    "col": 1,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "ef121889-2724-4b3d-a786-bbf0bd213c3d"
+  },
+  {
+    "id": "55ecff40-453f-4a5f-9ed3-1267b0a03cae",
+    "number": 1,
+    "name": "T1",
+    "row": 0,
+    "col": 0,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
+  },
+  {
+    "id": "7dcd9c87-6702-4659-b28a-f6565b27f8e3",
+    "number": 2,
+    "name": "T2",
+    "row": 0,
+    "col": 1,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
+  },
+  {
+    "id": "67e51bd6-6eee-46e4-931c-73d9e07397eb",
+    "number": 3,
+    "name": "T3",
+    "row": 0,
+    "col": 2,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
+  },
+  {
+    "id": "e1289406-4f5e-4966-a1e6-fb29be6cd4bd",
+    "number": 4,
+    "name": "T4",
+    "row": 0,
+    "col": 3,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
+  },
+  {
+    "id": "4ecb9ef7-cbd4-44bc-a6a9-fdbbefdc01d6",
+    "number": 5,
+    "name": "T5",
+    "row": 1,
+    "col": 0,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
+  },
+  {
+    "id": "c7bcaeeb-7ce7-479d-8dae-e82f4023a2b6",
+    "number": 6,
+    "name": "T6",
+    "row": 1,
+    "col": 1,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
+  },
+  {
+    "id": "e502d5ee-3197-4f60-8ac4-3bc005349dfd",
+    "number": 7,
+    "name": "T7",
+    "row": 1,
+    "col": 2,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
+  },
+  {
+    "id": "829c78b0-9e05-448f-9531-6d19c094c83f",
+    "number": 8,
+    "name": "T8",
+    "row": 1,
+    "col": 3,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
+  },
+  {
+    "id": "d0fd64d6-360d-4f5e-9451-21a332e247f5",
+    "number": 9,
+    "name": "T9",
+    "row": 2,
+    "col": 0,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
+  },
+  {
+    "id": "7f3da25d-0be0-4e07-885f-fbbbfa952f9f",
+    "number": 10,
+    "name": "T10",
+    "row": 2,
+    "col": 1,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
+  },
+  {
+    "id": "491d396d-7264-43d6-9ad4-60bffbe66c26",
+    "number": 11,
+    "name": "T11",
+    "row": 2,
+    "col": 2,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
+  },
+  {
+    "id": "a8853b6d-639d-46f9-a4bf-9153c0c22461",
+    "number": 12,
+    "name": "T12",
+    "row": 2,
+    "col": 3,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
+  },
+  {
+    "id": "b7beb8d0-0003-471d-bd8d-a9c0e09b07d5",
+    "number": 1,
+    "name": "T1",
+    "row": 0,
+    "col": 0,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
+  },
+  {
+    "id": "306e3f96-a6d7-484a-83ef-722e3710d5c4",
+    "number": 2,
+    "name": "T2",
+    "row": 0,
+    "col": 1,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
+  },
+  {
+    "id": "4e7bb617-ac1a-4360-b379-7ac4197089c4",
+    "number": 3,
+    "name": "T3",
+    "row": 0,
+    "col": 2,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
+  },
+  {
+    "id": "af583180-c29d-418e-9061-9e030f77cf57",
+    "number": 4,
+    "name": "T4",
+    "row": 0,
+    "col": 3,
+    "row_span": 2,
+    "col_span": 1,
+    "plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
+  },
+  {
+    "id": "24a85ce8-e9e3-44f5-9d08-25116173ba75",
+    "number": 5,
+    "name": "T5",
+    "row": 1,
+    "col": 0,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
+  },
+  {
+    "id": "7bf61a40-f65a-4d2f-bb19-d42bfd80e2e9",
+    "number": 6,
+    "name": "T6",
+    "row": 1,
+    "col": 1,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
+  },
+  {
+    "id": "a3177806-3c02-4c4f-86d6-604a38c2ba2a",
+    "number": 7,
+    "name": "T7",
+    "row": 1,
+    "col": 2,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
+  },
+  {
+    "id": "8ccaad5a-8588-4ff3-b0d7-17e7fd5ac6cc",
+    "number": 1,
+    "name": "T1",
+    "row": 0,
+    "col": 0,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "77673540-92c4-4404-b659-4257034a9c5e"
+  },
+  {
+    "id": "93ae7707-b6b8-4bc4-8700-c500c3d7b165",
+    "number": 2,
+    "name": "T2",
+    "row": 0,
+    "col": 1,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "77673540-92c4-4404-b659-4257034a9c5e"
+  },
+  {
+    "id": "3591a07b-4922-4882-996f-7bebee843be1",
+    "number": 3,
+    "name": "T3",
+    "row": 0,
+    "col": 2,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "77673540-92c4-4404-b659-4257034a9c5e"
+  },
+  {
+    "id": "669fdba9-b20c-4bd2-8352-8fe5682e3e0c",
+    "number": 4,
+    "name": "T4",
+    "row": 1,
+    "col": 0,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "77673540-92c4-4404-b659-4257034a9c5e"
+  },
+  {
+    "id": "8bf3333e-4a73-4e4c-959a-8ae44e1038a2",
+    "number": 5,
+    "name": "T5",
+    "row": 1,
+    "col": 1,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "77673540-92c4-4404-b659-4257034a9c5e"
+  },
+  {
+    "id": "2837bf69-273a-4cbb-a74c-0af1b362f609",
+    "number": 6,
+    "name": "T6",
+    "row": 1,
+    "col": 2,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "77673540-92c4-4404-b659-4257034a9c5e"
+  }
+]

unilabos/devices/liquid_handling/prcxi/json_output/base_arm_model.json

@@ -0,0 +1,74 @@
+[
+  {
+    "uuid": "9a3007baa748457b8d5162f5c5918553",
+    "ArmCode": "SC10",
+    "ArmName": "单道-10uL",
+    "CmdCode": "SC10",
+    "ChannelNum": 1,
+    "Dosage": 10,
+    "CreateName": "admin",
+    "CreateTime": "2021-11-13 14:04:02.000",
+    "UpdateName": "admin",
+    "UpdateTime": "2021-11-13 14:04:12.000"
+  },
+  {
+    "uuid": "8f57a4cc859d4c02bffbeeadcfb2b661",
+    "ArmCode": "SC300",
+    "ArmName": "单道-300uL",
+    "CmdCode": "SC300",
+    "ChannelNum": 1,
+    "Dosage": 300,
+    "CreateName": "admin",
+    "CreateTime": "2021-11-11 11:11:11.000",
+    "UpdateName": "admin",
+    "UpdateTime": "2021-11-11 11:11:11.000"
+  },
+  {
+    "uuid": "8fe0320823de49a99bfa5060ce1aaa28",
+    "ArmCode": "SC1250",
+    "ArmName": "单道-1250",
+    "CmdCode": "SC1250",
+    "ChannelNum": 1,
+    "Dosage": 1250,
+    "CreateName": "admin",
+    "CreateTime": "2021-11-12 10:10:10.000",
+    "UpdateName": "admin",
+    "UpdateTime": "2021-11-12 11:11:11.000"
+  },
+  {
+    "uuid": "88f22c5384e94dbbad60961d4d2b5e91",
+    "ArmCode": "MC10",
+    "ArmName": "八道-10uL",
+    "CmdCode": "MC10",
+    "ChannelNum": 8,
+    "Dosage": 10,
+    "CreateName": "admin",
+    "CreateTime": "2021-11-12 10:10:10.000",
+    "UpdateName": "admin",
+    "UpdateTime": "2021-11-13 12:12:12.000"
+  },
+  {
+    "uuid": "09206ff90e64466f90ce6a785a24bad8",
+    "ArmCode": "MC300",
+    "ArmName": "八道-300uL",
+    "CmdCode": "MC300",
+    "ChannelNum": 8,
+    "Dosage": 300,
+    "CreateName": "admin",
+    "CreateTime": "2021-11-12 12:12:12.000",
+    "UpdateName": "admin",
+    "UpdateTime": "2021-11-12 10:10:10.000"
+  },
+  {
+    "uuid": "5afcbd7d1d6749079d1c94f8c2e68f06",
+    "ArmCode": "MC1250",
+    "ArmName": "八道-1250uL",
+    "CmdCode": "MC1250",
+    "ChannelNum": 8,
+    "Dosage": 1250,
+    "CreateName": "admin",
+    "CreateTime": "2021-11-12 12:12:10.000",
+    "UpdateName": "admin",
+    "UpdateTime": "2021-11-12 12:11:11.000"
+  }
+]

unilabos/devices/liquid_handling/prcxi/json_output/base_layout_detail.json

@@ -0,0 +1,10 @@
+[
+  {
+    "uuid": "bd52d6566534441ea523265814dc06e8",
+    "uuidMaterial": "01bdeb95a1314dc78b8f25667b08d531",
+    "ChannelNum": 8,
+    "HoleNo": 96,
+    "HoleCenterXYZ": "300",
+    "uuidLayoutMaster": "4f35adc958c540fcb40d6f9dd51e40fa"
+  }
+]

unilabos/devices/liquid_handling/prcxi/json_output/base_layout_master.json

@@ -0,0 +1,20 @@
+[
+  {
+    "uuid": "4f35adc958c540fcb40d6f9dd51e40fa",
+    "BoardCode": 34,
+    "BoardNum": 1,
+    "BoardLength": 500,
+    "BoardWidth": 400,
+    "BoardColum": 4,
+    "BoardRow": 3,
+    "TotalColum": 4,
+    "TotalRow": 3,
+    "BoardCenterXY": "300",
+    "HoleQty": 96,
+    "Version": 1,
+    "CreateTime": "2021-11-15",
+    "CreateName": "admin",
+    "UpdateTime": "2021-11-15",
+    "UpdateName": "admin"
+  }
+]

unilabos/devices/liquid_handling/prcxi/json_output/base_plate_position.json

@@ -0,0 +1,98 @@
+[
+  {
+    "id": "ef121889-2724-4b3d-a786-bbf0bd213c3d",
+    "name": "9300_V02",
+    "row": 2,
+    "col": 3,
+    "create_name": "",
+    "create_time": "2023-08-12 16:02:20.994",
+    "update_name": null,
+    "update_time": null,
+    "remark": "9300_V02",
+    "isUse": 0
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unilabos/devices/liquid_handling/prcxi/json_output/base_plate_position_detail.json

@@ -0,0 +1,872 @@
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+  },
+  {
+    "id": "dba90870-4b7a-4fbd-b33f-948bbb594703",
+    "number": 2,
+    "name": "T2",
+    "row": 0,
+    "col": 1,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
+  },
+  {
+    "id": "fddc5c2b-157f-4554-8b39-2c9e338f4d3a",
+    "number": 3,
+    "name": "T3",
+    "row": 0,
+    "col": 2,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
+  },
+  {
+    "id": "2569a396-2cd8-4cac-8b78-a8af1313c993",
+    "number": 4,
+    "name": "T4",
+    "row": 0,
+    "col": 3,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
+  },
+  {
+    "id": "f0f693c7-a45f-4dd3-b629-621461ca9992",
+    "number": 5,
+    "name": "T5",
+    "row": 1,
+    "col": 1,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
+  },
+  {
+    "id": "9dcba2bf-8a48-4bc6-a9b1-88f51ffaa8af",
+    "number": 6,
+    "name": "T6",
+    "row": 1,
+    "col": 2,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
+  },
+  {
+    "id": "08449a38-0dca-48c4-a156-6f1055cf74c4",
+    "number": 7,
+    "name": "T7",
+    "row": 1,
+    "col": 3,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
+  },
+  {
+    "id": "6ec7343f-12b9-42ae-86d1-3894758e69b4",
+    "number": 8,
+    "name": "T8",
+    "row": 2,
+    "col": 1,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
+  },
+  {
+    "id": "b5f02dbc-ffc6-452a-ad9f-2d1ff3db2064",
+    "number": 9,
+    "name": "T9",
+    "row": 2,
+    "col": 2,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
+  },
+  {
+    "id": "7635380a-4f96-4894-9a54-37c2bd27f148",
+    "number": 10,
+    "name": "T10",
+    "row": 2,
+    "col": 3,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
+  },
+  {
+    "id": "b4b6b063-5a0b-45a2-aa47-f427d4cd06f6",
+    "number": 11,
+    "name": "T11",
+    "row": 3,
+    "col": 1,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
+  },
+  {
+    "id": "af02c689-7bca-476b-bd05-ce21d3e83f27",
+    "number": 12,
+    "name": "T12",
+    "row": 3,
+    "col": 2,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
+  },
+  {
+    "id": "52a42e58-c0d6-420c-bc0b-575f749c7e3b",
+    "number": 13,
+    "name": "T13",
+    "row": 3,
+    "col": 3,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
+  },
+  {
+    "id": "169c12fe-e2f4-465e-9fd3-e58eac83a502",
+    "number": 1,
+    "name": "T1",
+    "row": 0,
+    "col": 0,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "b6072651-1df5-4946-a5b4-fbff3fa54e6a",
+    "number": 2,
+    "name": "T2",
+    "row": 0,
+    "col": 1,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "d0b8ea7c-f06e-4d94-98a8-70ffcba73c47",
+    "number": 3,
+    "name": "T3",
+    "row": 0,
+    "col": 2,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "a7a8eb69-63f6-494e-a441-b7aef0f7c8a4",
+    "number": 4,
+    "name": "T4",
+    "row": 0,
+    "col": 3,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "21966669-6761-4e37-947c-12fec82173fb",
+    "number": 5,
+    "name": "T5",
+    "row": 1,
+    "col": 0,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "2227b825-fe1d-4fa3-bcb2-6e4b3c10ea53",
+    "number": 6,
+    "name": "T6",
+    "row": 1,
+    "col": 1,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "b799da88-c2d9-4ec4-81ec-bc0991a50fe5",
+    "number": 7,
+    "name": "T7",
+    "row": 1,
+    "col": 2,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "adaaa00a-ff6b-4bd8-b8f1-bb100488f306",
+    "number": 8,
+    "name": "T8",
+    "row": 1,
+    "col": 3,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "3bc98311-b548-46d3-a0e0-4f1edcf10e24",
+    "number": 9,
+    "name": "T9",
+    "row": 2,
+    "col": 0,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "81befc70-d249-49af-93dd-2efbe88c0211",
+    "number": 10,
+    "name": "T10",
+    "row": 2,
+    "col": 1,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "45dd5535-0293-4d27-beab-1e486657b148",
+    "number": 11,
+    "name": "T11",
+    "row": 2,
+    "col": 2,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "12ccf33a-6fe7-44a4-8643-b0b0ac6dd181",
+    "number": 12,
+    "name": "T12",
+    "row": 2,
+    "col": 3,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "900272dd-23fd-41a4-a366-254999a30487",
+    "number": 13,
+    "name": "T13",
+    "row": 3,
+    "col": 0,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "c366710d-2b81-4cee-8667-2b86e77e5c34",
+    "number": 14,
+    "name": "T14",
+    "row": 3,
+    "col": 1,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "e18a9271-bc66-4c2b-8bc1-0fb129b5cc2f",
+    "number": 15,
+    "name": "T15",
+    "row": 3,
+    "col": 2,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "6737cba0-de84-4c1f-992d-645e7f159b0c",
+    "number": 16,
+    "name": "T16",
+    "row": 3,
+    "col": 3,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
+  },
+  {
+    "id": "8ace38ab-dbc7-48a1-8226-0fe92d176e07",
+    "number": 1,
+    "name": "T1",
+    "row": 0,
+    "col": 0,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
+  },
+  {
+    "id": "033fec53-c52d-4b59-aec6-2135ae0e18b9",
+    "number": 2,
+    "name": "T2",
+    "row": 0,
+    "col": 1,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
+  },
+  {
+    "id": "fa730930-8709-4250-928f-f757fce57b60",
+    "number": 3,
+    "name": "T3",
+    "row": 0,
+    "col": 2,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
+  },
+  {
+    "id": "e279d6f1-5243-4224-8953-1033dbea25ac",
+    "number": 4,
+    "name": "T4",
+    "row": 0,
+    "col": 3,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
+  },
+  {
+    "id": "76bd9426-6324-4af2-b12f-6ec0ff8c416e",
+    "number": 5,
+    "name": "T5",
+    "row": 1,
+    "col": 0,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
+  },
+  {
+    "id": "3f4ff652-3d87-4254-a235-bafde3359dae",
+    "number": 6,
+    "name": "T6",
+    "row": 1,
+    "col": 1,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
+  },
+  {
+    "id": "a38e94af-e91e-4e7a-b49d-8668001bb356",
+    "number": 7,
+    "name": "T7",
+    "row": 1,
+    "col": 2,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
+  },
+  {
+    "id": "9e45da24-1346-4886-a303-932880a79954",
+    "number": 8,
+    "name": "T8",
+    "row": 1,
+    "col": 3,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
+  },
+  {
+    "id": "1ac46e58-86ae-42d9-b230-d476b984507a",
+    "number": 9,
+    "name": "T9",
+    "row": 2,
+    "col": 0,
+    "row_span": 1,
+    "col_span": 1,
+    "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
+  }
+]

unilabos/devices/liquid_handling/prcxi/json_output/base_process_detail.json

@@ -0,0 +1 @@
+[]

unilabos/devices/liquid_handling/prcxi/json_output/base_process_master.json

@@ -0,0 +1 @@
+[]

unilabos/devices/liquid_handling/prcxi/json_output/base_qrcode.json

@@ -0,0 +1,58 @@
+[
+  {
+    "uuid": "4034fa042e7f418db42ab80b0044a8cd",
+    "Code": "MDHC-001-10",
+    "Key": "c28ae2cb",
+    "Value": "MDHC-001-1000522001001612db9dc",
+    "CreateTime": "2022-01-22 17:07:00.8651386"
+  },
+  {
+    "uuid": "8fb6d7589fdd42df93c1e1989ff13a62",
+    "Code": "MDHC-001-10",
+    "Key": "52980979",
+    "Value": "MDHC-001-100052200100119bb6731",
+    "CreateTime": "2022-01-22 20:19:20.9444209"
+  },
+  {
+    "uuid": "efc4c92b40a94de6b0662c64486c18d1",
+    "Code": "MDHC-001-10",
+    "Key": "79da8402",
+    "Value": "MDHC-001-1000522001001e24ea780",
+    "CreateTime": "2022-01-22 20:19:26.8107506"
+  },
+  {
+    "uuid": "3b81b1a9eabc4449b4dcbbbde47cb17f",
+    "Code": "MDHC-001-10",
+    "Key": "daa51755",
+    "Value": "MDHC-001-100052200100185dd22e2",
+    "CreateTime": "2022-01-22 20:19:36.1581374"
+  },
+  {
+    "uuid": "d005a70801544e42ab9d216ad68dbf50",
+    "Code": "MDHC-023-0.2",
+    "Key": "992bbdab",
+    "Value": "MDHC-023-0.2005220010014871a385",
+    "CreateTime": "2022-02-16 15:49:53.760377"
+  },
+  {
+    "uuid": "222315afb8e04320b0fcff10e3ddb8ae",
+    "Code": "MDHC-023-0.2",
+    "Key": "76d23270",
+    "Value": "MDHC-023-0.200522001001e61547ee",
+    "CreateTime": "2022-02-16 15:50:05.1932055"
+  },
+  {
+    "uuid": "31e2a5d4f884419aa9ba96cef98b7385",
+    "Code": "MDHC-023-0.2",
+    "Key": "ba2b8a46",
+    "Value": "MDHC-023-0.2005220010013bfed6cf",
+    "CreateTime": "2022-02-16 17:26:20.0024235"
+  },
+  {
+    "uuid": "9ccb8e0c5ca64ef09b8aced680395335",
+    "Code": "MDHC-023-0.2",
+    "Key": "1d1276d0",
+    "Value": "MDHC-023-0.2005220010015c039a9c",
+    "CreateTime": "2022-02-16 17:26:31.8479966"
+  }
+]

unilabos/devices/liquid_handling/prcxi/json_output/sys_role.json

@@ -0,0 +1,22 @@
+[
+  {
+    "uuid": "f3932aeae93533f19c0519c4c14702aa",
+    "RoleCode": "admin",
+    "RoleName": "管理员",
+    "RoleMenu": "all",
+    "CreateTime": "2022-02-26 00:00:00.000",
+    "CreateName": "admin",
+    "UpdateTime": "2022-02-26 14:50:10.000",
+    "UpdateName": "admin"
+  },
+  {
+    "uuid": "8c822592b360345fb59690e49ac6b181",
+    "RoleCode": "user",
+    "RoleName": "实验员",
+    "RoleMenu": "nosetting",
+    "CreateTime": "2022-02-26 14:54:16.000",
+    "CreateName": "admin",
+    "UpdateTime": "2022-02-26 14:54:19.000",
+    "UpdateName": "admin"
+  }
+]

unilabos/devices/liquid_handling/prcxi/json_output/sys_user.json

@@ -0,0 +1,54 @@
+[
+  {
+    "uuid": "f3932aeae93533f19c0519c4c14702dd",
+    "UserName": "admin",
+    "Password": "NuGlByx4NZBm7XcV9f89qA==",
+    "RealName": "管理员",
+    "IsEnable": 1,
+    "uuidRole": "f3932aeae93533f19c0519c4c14702aa",
+    "IsDel": 0,
+    "CreateTime": "2022-02-26 14:51:41.000",
+    "CreateName": "admin",
+    "UpdateTime": "2022-02-26 14:51:49.000",
+    "UpdateName": "admin"
+  },
+  {
+    "uuid": "5c522592b366645fb55690e49ac6b166",
+    "UserName": "user",
+    "Password": "4QrcOUm6Wau+VuBX8g+IPg==",
+    "RealName": "实验员",
+    "IsEnable": 1,
+    "uuidRole": "8c822592b360345fb59690e49ac6b181",
+    "IsDel": 0,
+    "CreateTime": "2022-02-26 14:56:57.000",
+    "CreateName": "admin",
+    "UpdateTime": "2022-02-26 14:58:39.000",
+    "UpdateName": "admin"
+  },
+  {
+    "uuid": "ju0514zjhi9267mz8s0buspq8b9s0bgb",
+    "UserName": "Administrator",
+    "Password": "3J17Il4KOR+wKPszf/0cHQ==",
+    "RealName": "超级管理员",
+    "IsEnable": 1,
+    "uuidRole": "f3932aeae93533f19c0519c4c14702aa",
+    "IsDel": 0,
+    "CreateTime": "2023-08-12 00:00:00.000",
+    "CreateName": "admin",
+    "UpdateTime": "2023-08-12 00:00:00.000",
+    "UpdateName": "admin"
+  },
+  {
+    "uuid": "2",
+    "UserName": "shortcut",
+    "Password": "4QrcOUm6Wau+VuBX8g+IPg==",
+    "RealName": "实验员",
+    "IsEnable": 1,
+    "uuidRole": "8c822592b360345fb59690e49ac6b181",
+    "IsDel": 0,
+    "CreateTime": null,
+    "CreateName": "admin",
+    "UpdateTime": "2023-10-23 00:00:00.000",
+    "UpdateName": null
+  }
+]

unilabos/devices/liquid_handling/prcxi/prcxi_labware.py

@@ -0,0 +1,841 @@
+from typing import Optional
+from pylabrobot.resources import Tube, Coordinate
+from pylabrobot.resources.well import Well, WellBottomType, CrossSectionType
+from pylabrobot.resources.tip import Tip, TipCreator
+from pylabrobot.resources.tip_rack import TipRack, TipSpot
+from pylabrobot.resources.utils import create_ordered_items_2d
+from pylabrobot.resources.height_volume_functions import (
+  compute_height_from_volume_rectangle,
+  compute_volume_from_height_rectangle,
+)
+
+from .prcxi import PRCXI9300Plate, PRCXI9300TipRack, PRCXI9300Trash, PRCXI9300TubeRack, PRCXI9300PlateAdapter
+
+def _make_tip_helper(volume: float, length: float, depth: float) -> Tip:
+    """
+    PLR 的 Tip 类参数名为: maximal_volume, total_tip_length, fitting_depth
+    """
+    return Tip(
+        has_filter=False, # 默认无滤芯
+        maximal_volume=volume, 
+        total_tip_length=length, 
+        fitting_depth=depth
+    )
+
+# =========================================================================
+# 标准品 参照 PLR 标准库的参数，但是用 PRCXI9300Plate 实例化，并注入 UUID
+# =========================================================================
+def PRCXI_BioER_96_wellplate(name: str) -> PRCXI9300Plate: 
+    """
+    对应 JSON Code: ZX-019-2.2 (2.2ml 深孔板)
+    原型: pylabrobot.resources.bioer.BioER_96_wellplate_Vb_2200uL
+    """
+    return PRCXI9300Plate(
+        name=name,
+        size_x=127.1, 
+        size_y=85.0, 
+        size_z=44.2, 
+        lid=None,
+        model="PRCXI_BioER_96_wellplate", 
+        category="plate",
+        material_info={
+            "uuid": "ca877b8b114a4310b429d1de4aae96ee",
+            "Code": "ZX-019-2.2",
+            "Name": "2.2ml 深孔板",
+            "materialEnum": 0,
+            "SupplyType": 1
+        },
+
+        ordered_items=create_ordered_items_2d(
+            Well,
+            size_x=8.25,  
+            size_y=8.25, 
+            size_z=39.3,  # 修改过
+            dx=9.5,  
+            dy=7.5, 
+            dz=6, 
+            material_z_thickness=0.8,
+            item_dx=9.0,
+            item_dy=9.0,
+            num_items_x=12, 
+            num_items_y=8,
+            cross_section_type=CrossSectionType.RECTANGLE,
+            bottom_type=WellBottomType.V,  # 是否需要修改？
+            max_volume=2200, 
+        ),
+    )
+def PRCXI_nest_1_troughplate(name: str) -> PRCXI9300Plate: 
+    """
+    对应 JSON Code: ZX-58-10000 (储液槽)
+    原型: pylabrobot.resources.nest.nest_1_troughplate_195000uL_Vb
+    """
+    well_size_x = 127.76 - (14.38 - 9 / 2) * 2  
+    well_size_y = 85.48 - (11.24 - 9 / 2) * 2   
+    well_kwargs = {
+        "size_x": well_size_x,
+        "size_y": well_size_y,
+        "size_z": 26.85,
+        "bottom_type": WellBottomType.V,
+        "compute_height_from_volume": lambda liquid_volume: compute_height_from_volume_rectangle(
+            liquid_volume=liquid_volume, well_length=well_size_x, well_width=well_size_y
+        ),
+        "compute_volume_from_height": lambda liquid_height: compute_volume_from_height_rectangle(
+            liquid_height=liquid_height, well_length=well_size_x, well_width=well_size_y
+        ),
+        "material_z_thickness": 31.4 - 26.85 - 3.55,
+    }
+
+    return PRCXI9300Plate(
+        name=name,
+        size_x=127.76,
+        size_y=85.48,
+        size_z=31.4,
+        lid=None,
+        model="PRCXI_Nest_1_troughplate", 
+        category="plate",
+        material_info={
+            "uuid": "04211a2dc93547fe9bf6121eac533650",
+            "Code": "ZX-58-10000",
+            "Name": "储液槽",
+            "materialEnum": 0,
+            "SupplyType": 1
+        },
+
+        ordered_items=create_ordered_items_2d(
+            Well,
+            num_items_x=1,
+            num_items_y=1,
+            dx=14.38 - 9 / 2, 
+            dy=11.24 - 9 / 2,  
+            dz=3.55,        
+            item_dx=9.0,       
+            item_dy=9.0,
+            **well_kwargs,     # 传入上面计算好的孔参数
+        ),
+    )
+def PRCXI_BioRad_384_wellplate(name: str) -> PRCXI9300Plate: 
+    """
+    对应 JSON Code: q3 (384板)
+    原型: pylabrobot.resources.biorad.BioRad_384_wellplate_50uL_Vb
+    """
+    return PRCXI9300Plate(
+        name=name,
+        # 直接抄录 PLR 标准品的物理尺寸
+        size_x=127.76,
+        size_y=85.48,
+        size_z=10.40,
+        model="BioRad_384_wellplate_50uL_Vb",
+        category="plate",
+        # 2. 注入 Unilab 必须的 UUID 信息
+        material_info={
+            "uuid": "853dcfb6226f476e8b23c250217dc7da",
+            "Code": "q3",
+            "Name": "384板",
+            "SupplyType": 1,
+        },
+        # 3. 定义孔的排列 (抄录标准参数)
+        ordered_items=create_ordered_items_2d(
+            Well,
+            num_items_x=24,
+            num_items_y=16,
+            dx=10.58,   # A1 左边缘距离板子左边缘 需要进一步测量
+            dy=7.44,    # P1 下边缘距离板子下边缘 需要进一步测量
+            dz=1.05,
+            item_dx=4.5,
+            item_dy=4.5,
+            size_x=3.10,
+            size_y=3.10,
+            size_z=9.35,
+            max_volume=50,
+            material_z_thickness=1,
+            bottom_type=WellBottomType.V,
+            cross_section_type=CrossSectionType.CIRCLE,
+        )
+    )
+def PRCXI_AGenBio_4_troughplate(name: str) -> PRCXI9300Plate:
+  """
+    对应 JSON Code: sdfrth654 (4道储液槽)
+    原型: pylabrobot.resources.agenbio.AGenBio_4_troughplate_75000uL_Vb
+  """
+  INNER_WELL_WIDTH = 26.1  
+  INNER_WELL_LENGTH = 71.2 
+  well_kwargs = {
+    "size_x": 26,
+    "size_y": 71.2,  
+    "size_z": 42.55,
+    "bottom_type": WellBottomType.FLAT,
+    "cross_section_type": CrossSectionType.RECTANGLE,
+    "compute_height_from_volume": lambda liquid_volume: compute_height_from_volume_rectangle(
+      liquid_volume,
+      INNER_WELL_LENGTH,
+      INNER_WELL_WIDTH,
+    ),
+    "compute_volume_from_height": lambda liquid_height: compute_volume_from_height_rectangle(
+      liquid_height,
+      INNER_WELL_LENGTH,
+      INNER_WELL_WIDTH,
+    ),
+    "material_z_thickness": 1,
+  }
+
+  return PRCXI9300Plate(
+    name=name,
+    size_x=127.76,
+    size_y=85.48,
+    size_z=43.80,
+    model="PRCXI_AGenBio_4_troughplate",
+    category="plate",
+    material_info={
+        "uuid": "01953864f6f140ccaa8ddffd4f3e46f5",
+        "Code": "sdfrth654",
+        "Name": "4道储液槽",
+        "materialEnum": 0,
+        "SupplyType": 1
+    },
+        
+    ordered_items=create_ordered_items_2d(
+      Well,
+      num_items_x=4,
+      num_items_y=1,
+      dx=9.8,
+      dy=7.2,
+      dz=0.9, 
+      item_dx=INNER_WELL_WIDTH + 1,  # 1 mm wall thickness
+      item_dy=INNER_WELL_LENGTH,
+      **well_kwargs,
+    ),
+  )
+def PRCXI_nest_12_troughplate(name: str) -> PRCXI9300Plate:
+  """
+    对应 JSON Code: 12道储液槽 (12道储液槽)
+    原型: pylabrobot.resources.nest.nest_12_troughplate_15000uL_Vb
+    """
+  well_size_x = 8.2 
+  well_size_y = 71.2
+  well_kwargs = {
+    "size_x": well_size_x,
+    "size_y": well_size_y,
+    "size_z": 26.85,
+    "bottom_type": WellBottomType.V,
+    "compute_height_from_volume": lambda liquid_volume: compute_height_from_volume_rectangle(
+      liquid_volume=liquid_volume, well_length=well_size_x, well_width=well_size_y
+    ),
+    "compute_volume_from_height": lambda liquid_height: compute_volume_from_height_rectangle(
+      liquid_height=liquid_height, well_length=well_size_x, well_width=well_size_y
+    ),
+    "material_z_thickness": 31.4 - 26.85 - 3.55,
+  }
+
+  return PRCXI9300Plate(
+    name=name,
+    size_x=127.76, 
+    size_y=85.48, 
+    size_z=31.4,
+    lid=None,
+    model="PRCXI_nest_12_troughplate",
+    category="plate",
+    material_info={
+        "uuid": "0f1639987b154e1fac78f4fb29a1f7c1",
+        "Code": "12道储液槽",
+        "Name": "12道储液槽",
+        "materialEnum": 0,
+        "SupplyType": 1
+    },
+    ordered_items=create_ordered_items_2d(
+      Well,
+      num_items_x=12,
+      num_items_y=1,
+      dx=14.38 - 8.2 / 2, 
+      dy=(85.48 - 71.2) / 2, 
+      dz=3.55, 
+      item_dx=9.0, 
+      item_dy=9.0,  
+      **well_kwargs,
+    ),
+  )
+def PRCXI_CellTreat_96_wellplate(name: str) -> PRCXI9300Plate:
+  """
+    对应 JSON Code: ZX-78-096 (细菌培养皿)
+    原型: pylabrobot.resources.celltreat.CellTreat_96_wellplate_350ul_Fb
+    """
+  well_kwargs = {
+    "size_x": 6.96,
+    "size_y": 6.96,
+    "size_z": 10.04,
+    "bottom_type": WellBottomType.FLAT,
+    "material_z_thickness": 1.75,
+    "cross_section_type": CrossSectionType.CIRCLE,
+    "max_volume": 300,
+  }
+
+  return PRCXI9300Plate(
+    name=name,
+    size_x=127.61,
+    size_y=85.24,
+    size_z=14.30, 
+    lid=None,
+    model="PRCXI_CellTreat_96_wellplate",
+    category="plate",
+    material_info={
+        "uuid": "b05b3b2aafd94ec38ea0cd3215ecea8f",
+        "Code": "ZX-78-096",
+        "Name": "细菌培养皿",
+        "materialEnum": 4,
+        "SupplyType": 1
+    },
+    ordered_items=create_ordered_items_2d(
+      Well,
+      num_items_x=12,
+      num_items_y=8,
+      dx=10.83, 
+      dy=7.67, 
+      dz=4.05, 
+      item_dx=9,
+      item_dy=9,
+      **well_kwargs,
+    ),
+  )
+# =========================================================================
+# 自定义/需测量品 (Custom Measurement)
+# =========================================================================
+def PRCXI_10ul_eTips(name: str) -> PRCXI9300TipRack:
+    """
+    对应 JSON Code: ZX-001-10+
+    """
+    return PRCXI9300TipRack(
+        name=name,
+        size_x=122.11,
+        size_y=85.48, #修改
+        size_z=58.23,
+        model="PRCXI_10ul_eTips",
+        material_info={
+            "uuid": "068b3815e36b4a72a59bae017011b29f",
+            "Code": "ZX-001-10+",
+            "Name": "10μL加长 Tip头",
+            "SupplyType": 1
+        },
+        ordered_items=create_ordered_items_2d(
+            TipSpot,
+            num_items_x=12,
+            num_items_y=8,
+            dx=7.97,  #需要修改
+            dy=5.0,   #需修改
+            dz=2.0,   #需修改
+            item_dx=9.0,
+            item_dy=9.0,
+            size_x=7.0,
+            size_y=7.0,
+            size_z=0,
+            make_tip=lambda: _make_tip_helper(volume=10, length=52.0, depth=45.1)
+        )
+    )
+def PRCXI_300ul_Tips(name: str) -> PRCXI9300TipRack:
+    """
+    对应 JSON Code: ZX-001-300
+    吸头盒通常比较特殊，需要定义 Tip 对象
+    """
+    return PRCXI9300TipRack(
+        name=name,
+        size_x=122.11,
+        size_y=85.48, #修改
+        size_z=58.23,
+        model="PRCXI_300ul_Tips",
+        material_info={
+            "uuid": "076250742950465b9d6ea29a225dfb00",
+            "Code": "ZX-001-300",
+            "Name": "300μL Tip头",
+            "SupplyType": 1
+        },
+        ordered_items=create_ordered_items_2d(
+            TipSpot,
+            num_items_x=12,
+            num_items_y=8,
+            dx=7.97,  #需要修改
+            dy=5.0,   #需修改
+            dz=2.0,   #需修改
+            item_dx=9.0,
+            item_dy=9.0,
+            size_x=7.0,
+            size_y=7.0,
+            size_z=0,
+            make_tip=lambda: _make_tip_helper(volume=300, length=60.0, depth=51.0)
+        )
+    )
+def PRCXI_PCR_Plate_200uL_nonskirted(name: str) -> PRCXI9300Plate:
+    """
+    对应 JSON Code: ZX-023-0.2 (0.2ml PCR 板)
+    """
+    return PRCXI9300Plate(
+    name=name,
+    size_x=119.5,
+    size_y=80.0,
+    size_z=26.0,
+    model="PRCXI_PCR_Plate_200uL_nonskirted",
+    plate_type="non-skirted",
+    category="plate",
+    material_info={
+        "uuid": "73bb9b10bc394978b70e027bf45ce2d3",
+        "Code": "ZX-023-0.2",
+        "Name": "0.2ml PCR 板",
+        "materialEnum": 0,
+        "SupplyType": 1
+    },
+    ordered_items=create_ordered_items_2d(
+      Well,
+      num_items_x=12,
+      num_items_y=8,
+      dx=7,
+      dy=5,
+      dz=0.0,
+      item_dx=9,
+      item_dy=9,
+      size_x=6,
+      size_y=6,
+      size_z=15.17,
+      bottom_type=WellBottomType.V,
+      cross_section_type=CrossSectionType.CIRCLE,
+    ),
+)
+def PRCXI_PCR_Plate_200uL_semiskirted(name: str) -> PRCXI9300Plate:
+    """
+    对应 JSON Code: ZX-023-0.2 (0.2ml PCR 板)
+    """
+    return PRCXI9300Plate(
+    name=name,
+    size_x=126,
+    size_y=86,
+    size_z=21.2,
+    model="PRCXI_PCR_Plate_200uL_semiskirted",
+    plate_type="semi-skirted",
+    category="plate",
+    material_info={
+        "uuid": "73bb9b10bc394978b70e027bf45ce2d3",
+        "Code": "ZX-023-0.2",
+        "Name": "0.2ml PCR 板",
+        "materialEnum": 0,
+        "SupplyType": 1
+    },
+    ordered_items=create_ordered_items_2d(
+      Well,
+      num_items_x=12,
+      num_items_y=8,
+      dx=11,
+      dy=8,
+      dz=0.0,
+      item_dx=9,
+      item_dy=9,
+      size_x=6,
+      size_y=6,
+      size_z=15.17,
+      bottom_type=WellBottomType.V,
+      cross_section_type=CrossSectionType.CIRCLE,
+    ),
+)
+def PRCXI_PCR_Plate_200uL_skirted(name: str) -> PRCXI9300Plate:
+    """
+    对应 JSON Code: ZX-023-0.2 (0.2ml PCR 板)
+    """
+    return PRCXI9300Plate(
+    name=name,
+    size_x=127.76,
+    size_y=86,
+    size_z=16.1,
+    model="PRCXI_PCR_Plate_200uL_skirted",
+    plate_type="skirted",
+    category="plate",
+    material_info={
+        "uuid": "73bb9b10bc394978b70e027bf45ce2d3",
+        "Code": "ZX-023-0.2",
+        "Name": "0.2ml PCR 板",
+        "materialEnum": 0,
+        "SupplyType": 1
+    },
+    ordered_items=create_ordered_items_2d(
+      Well,
+      num_items_x=12,
+      num_items_y=8,
+      dx=11,
+      dy=8.49,
+      dz=0.8,
+      item_dx=9,
+      item_dy=9,
+      size_x=6,
+      size_y=6,
+      size_z=15.1,
+      bottom_type=WellBottomType.V,
+      cross_section_type=CrossSectionType.CIRCLE,
+    ),
+)
+def PRCXI_trash(name: str = "trash") -> PRCXI9300Trash:
+    """
+    对应 JSON Code: q1 (废弃槽)
+    """
+    return PRCXI9300Trash(
+        name="trash",
+        size_x=126.59,
+        size_y=84.87, 
+        size_z=89.5,  # 修改
+        category="trash",
+        model="PRCXI_trash",
+        material_info={
+            "uuid": "730067cf07ae43849ddf4034299030e9",
+            "Code": "q1",
+            "Name": "废弃槽",
+            "materialEnum": 0,
+            "SupplyType": 1
+        }
+    )
+def PRCXI_96_DeepWell(name: str) -> PRCXI9300Plate:
+    """
+    对应 JSON Code: q2 (96深孔板)
+    """ 
+    return PRCXI9300Plate(
+        name=name,
+        size_x=127.3,
+        size_y=85.35,
+        size_z=45.0,   #修改
+        model="PRCXI_96_DeepWell",
+        material_info={
+            "uuid": "57b1e4711e9e4a32b529f3132fc5931f", # 对应 q2 uuid
+            "Code": "q2",
+            "Name": "96深孔板",
+            "materialEnum": 0
+        },
+        ordered_items=create_ordered_items_2d(
+            Well,
+            num_items_x=12,
+            num_items_y=8,
+            dx=10.9, 
+            dy=8.25, 
+            dz=2.0, 
+            item_dx=9.0,
+            item_dy=9.0,
+            size_x=8.2,
+            size_y=8.2,
+            size_z=42.0,
+            max_volume=2200
+        )
+    )
+def PRCXI_EP_Adapter(name: str) -> PRCXI9300TubeRack:
+    """
+    对应 JSON Code: 1 (ep适配器)
+    这是一个 4x6 的 EP 管架，适配 1.5mL/2.0mL 离心管
+    """
+    ep_tube_prototype = Tube(
+        name="EP_Tube_1.5mL",
+        size_x=10.6,
+        size_y=10.6,
+        size_z=40.0,  # 管子本身的高度，通常比架子孔略高或持平
+        max_volume=1500,
+        model="EP_Tube_1.5mL"
+    )
+
+    # 计算 PRCXI9300TubeRack 中孔的起始位置 dx, dy
+    dy_calc = 85.8 - 10.5 - (3 * 18) - 10.6 
+    dx_calc = 3.54
+    return PRCXI9300TubeRack(
+        name=name,
+        size_x=128.04,
+        size_y=85.8,
+        size_z=42.66,
+        model="PRCXI_EP_Adapter",
+        category="tube_rack",
+        material_info={
+            "uuid": "e146697c395e4eabb3d6b74f0dd6aaf7",
+            "Code": "1",
+            "Name": "ep适配器",
+            "materialEnum": 0,
+            "SupplyType": 1
+        },
+        ordered_items=create_ordered_items_2d(
+            Tube, 
+            num_items_x=6,
+            num_items_y=4,
+            dx=dx_calc, 
+            dy=dy_calc, 
+            dz=42.66 - 38.08, # 架高 - 孔深
+            item_dx=21.0,  
+            item_dy=18.0, 
+            size_x=10.6,
+            size_y=10.6,
+            size_z=40.0,
+            max_volume=1500
+        )
+    )
+# =========================================================================
+# 无实物，需要测量
+# =========================================================================
+def PRCXI_Tip1250_Adapter(name: str) -> PRCXI9300PlateAdapter:
+    """ Code: ZX-58-1250 """
+    return PRCXI9300PlateAdapter(
+        name=name, 
+        size_x=128, 
+        size_y=85, 
+        size_z=20,
+        material_info={
+            "uuid": "3b6f33ffbf734014bcc20e3c63e124d4", 
+            "Code": "ZX-58-1250", 
+            "Name": "Tip头适配器 1250uL", 
+            "SupplyType": 2
+            }
+    )
+def PRCXI_Tip300_Adapter(name: str) -> PRCXI9300PlateAdapter:
+    """ Code: ZX-58-300 """
+    return PRCXI9300PlateAdapter(
+        name=name, 
+        size_x=127, 
+        size_y=85, 
+        size_z=81,
+        material_info={
+            "uuid": "7c822592b360451fb59690e49ac6b181", 
+            "Code": "ZX-58-300", 
+            "Name": "ZHONGXI 适配器 300uL", 
+            "SupplyType": 2
+            }
+    )
+def PRCXI_Tip10_Adapter(name: str) -> PRCXI9300PlateAdapter:
+    """ Code: ZX-58-10 """
+    return PRCXI9300PlateAdapter(
+        name=name, 
+        size_x=128, 
+        size_y=85, 
+        size_z=72.3,
+        material_info={
+            "uuid": "8cc3dce884ac41c09f4570d0bcbfb01c", 
+            "Code": "ZX-58-10", 
+            "Name": "吸头10ul 适配器", 
+            "SupplyType": 2
+            }
+    )
+def PRCXI_1250uL_Tips(name: str) -> PRCXI9300TipRack:
+    """ Code: ZX-001-1250 """
+    return PRCXI9300TipRack(
+        name=name,
+        size_x=118.09, 
+        size_y=80.7, 
+        size_z=107.67,
+        model="PRCXI_1250uL_Tips",
+        material_info={
+            "uuid": "7960f49ddfe9448abadda89bd1556936", 
+            "Code": "ZX-001-1250", 
+            "Name": "1250μL Tip头", 
+            "SupplyType": 1
+            },
+        ordered_items=create_ordered_items_2d(
+            TipSpot, 
+            num_items_x=12, 
+            num_items_y=8,
+            dx=9.545 - 7.95/2, 
+            dy=8.85 - 7.95/2, 
+            dz=2.0,
+            item_dx=9, 
+            item_dy=9,
+            size_x=7.0,
+            size_y=7.0,
+            size_z=0,
+            make_tip=lambda: _make_tip_helper(volume=1250, length=107.67, depth=8)
+        )
+    )
+def PRCXI_10uL_Tips(name: str) -> PRCXI9300TipRack:
+    """ Code: ZX-001-10 """
+    return PRCXI9300TipRack(
+        name=name,
+        size_x=120.98, 
+        size_y=82.12, 
+        size_z=67,
+        model="PRCXI_10uL_Tips",
+        material_info={
+            "uuid": "45f2ed3ad925484d96463d675a0ebf66", 
+            "Code": "ZX-001-10", 
+            "Name": "10μL Tip头", 
+            "SupplyType": 1
+            },
+        ordered_items=create_ordered_items_2d(
+            TipSpot, 
+            num_items_x=12, 
+            num_items_y=8,
+            dx=10.99 - 5/2, 
+            dy=9.56 - 5/2, 
+            dz=2.0,
+            item_dx=9, 
+            item_dy=9,
+            size_x=7.0,
+            size_y=7.0,
+            size_z=0,
+            make_tip=lambda: _make_tip_helper(volume=1250, length=52.0, depth=5)
+        )
+    )
+def PRCXI_1000uL_Tips(name: str) -> PRCXI9300TipRack:
+    """ Code: ZX-001-1000 """
+    return PRCXI9300TipRack(
+        name=name,
+        size_x=128.09, 
+        size_y=85.8, 
+        size_z=98,
+        model="PRCXI_1000uL_Tips",
+        material_info={
+            "uuid": "80652665f6a54402b2408d50b40398df", 
+            "Code": "ZX-001-1000", 
+            "Name": "1000μL Tip头", 
+            "SupplyType": 1
+            },
+        ordered_items=create_ordered_items_2d(
+            TipSpot, 
+            num_items_x=12, 
+            num_items_y=8,
+            dx=14.5 - 7.95/2, 
+            dy=7.425, 
+            dz=2.0,
+            item_dx=9, 
+            item_dy=9,
+            size_x=7.0,
+            size_y=7.0,
+            size_z=0,
+            make_tip=lambda: _make_tip_helper(volume=1000, length=55.0, depth=8)
+        )
+    )
+def PRCXI_200uL_Tips(name: str) -> PRCXI9300TipRack:
+    """ Code: ZX-001-200 """
+    return PRCXI9300TipRack(
+        name=name,
+        size_x=120.98, 
+        size_y=82.12, 
+        size_z=66.9,
+        model="PRCXI_200uL_Tips",
+        material_info={
+            "uuid": "7a73bb9e5c264515a8fcbe88aed0e6f7", 
+            "Code": "ZX-001-200", 
+            "Name": "200μL Tip头", 
+            "SupplyType": 1},
+        ordered_items=create_ordered_items_2d(
+            TipSpot, 
+            num_items_x=12, 
+            num_items_y=8,
+            dx=10.99 - 5.5/2, 
+            dy=9.56 - 5.5/2, 
+            dz=2.0,
+            item_dx=9, 
+            item_dy=9,
+            size_x=7.0,
+            size_z=0,
+            size_y=7.0,
+            make_tip=lambda: _make_tip_helper(volume=200, length=52.0, depth=5)
+        )
+    )
+def PRCXI_PCR_Adapter(name: str) -> PRCXI9300PlateAdapter:
+    """
+    对应 JSON Code: ZX-58-0001 (全裙边 PCR适配器)
+    """
+    return PRCXI9300PlateAdapter(
+        name=name,
+        size_x=127.76,
+        size_y=85.48,
+        size_z=21.69,
+        model="PRCXI_PCR_Adapter",
+        material_info={
+            "uuid": "4a043a07c65a4f9bb97745e1f129b165",
+            "Code": "ZX-58-0001",
+            "Name": "全裙边 PCR适配器",
+            "materialEnum": 3,
+            "SupplyType": 2
+        }
+    )
+def PRCXI_Reservoir_Adapter(name: str) -> PRCXI9300PlateAdapter:
+    """ Code: ZX-ADP-001 """
+    return PRCXI9300PlateAdapter(
+        name=name, 
+        size_x=133, 
+        size_y=91.8, 
+        size_z=70,
+        material_info={
+            "uuid": "6bdfdd7069df453896b0806df50f2f4d", 
+            "Code": "ZX-ADP-001", 
+            "Name": "储液槽 适配器", 
+            "SupplyType": 2
+            }
+    )
+def PRCXI_Deep300_Adapter(name: str) -> PRCXI9300PlateAdapter:
+    """ Code: ZX-002-300 """
+    return PRCXI9300PlateAdapter(
+        name=name, 
+        size_x=136.4, 
+        size_y=93.8, 
+        size_z=96,
+        material_info={
+            "uuid": "9a439bed8f3344549643d6b3bc5a5eb4", 
+            "Code": "ZX-002-300", 
+            "Name": "300ul深孔板适配器", 
+            "SupplyType": 2
+            }
+    )
+def PRCXI_Deep10_Adapter(name: str) -> PRCXI9300PlateAdapter:
+    """ Code: ZX-002-10 """
+    return PRCXI9300PlateAdapter(
+        name=name, 
+        size_x=136.5, 
+        size_y=93.8, 
+        size_z=121.5,
+        material_info={
+            "uuid": "4dc8d6ecfd0449549683b8ef815a861b", 
+            "Code": "ZX-002-10", 
+            "Name": "10ul专用深孔板适配器", 
+            "SupplyType": 2
+            }
+    )
+def PRCXI_Adapter(name: str) -> PRCXI9300PlateAdapter:
+    """ Code: Fhh478 """
+    return PRCXI9300PlateAdapter(
+        name=name, 
+        size_x=120, 
+        size_y=90, 
+        size_z=86,
+        material_info={
+            "uuid": "adfabfffa8f24af5abfbba67b8d0f973", 
+            "Code": "Fhh478", 
+            "Name": "适配器", 
+            "SupplyType": 2
+            }
+    )
+def PRCXI_48_DeepWell(name: str) -> PRCXI9300Plate:
+    """ Code: 22 (48孔深孔板) """
+    print("Warning: Code '22' (48孔深孔板) dimensions are null in JSON.")
+    return PRCXI9300Plate(
+        name=name, 
+        size_x=127, 
+        size_y=85, 
+        size_z=44, 
+        model="PRCXI_48_DeepWell",
+        material_info={
+            "uuid": "026c5d5cf3d94e56b4e16b7fb53a995b", 
+            "Code": "22", 
+            "Name": "48孔深孔板", 
+            "SupplyType": 1
+            },
+        ordered_items=create_ordered_items_2d(
+            Well, 
+            num_items_x=6, 
+            num_items_y=8, 
+            dx=10, 
+            dy=10, 
+            dz=1, 
+            item_dx=18.5, 
+            item_dy=9, 
+            size_x=8, 
+            size_y=8, 
+            size_z=40
+        )
+    )
+def PRCXI_30mm_Adapter(name: str) -> PRCXI9300PlateAdapter:
+    """ Code: ZX-58-30 """
+    return PRCXI9300PlateAdapter(
+        name=name, 
+        size_x=132, 
+        size_y=93.5, 
+        size_z=30,
+        material_info={
+            "uuid": "a0757a90d8e44e81a68f306a608694f2", 
+            "Code": "ZX-58-30", 
+            "Name": "30mm适配器", 
+            "SupplyType": 2
+            }
+    )

unilabos/devices/liquid_handling/prcxi/prcxi_material.json

@@ -1,31 +0,0 @@
-{
-  "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"}
-}

unilabos/devices/liquid_handling/prcxi/prcxi_materials.py

@@ -1,21 +0,0 @@
-import collections
-import json
-from pathlib import Path
-
-from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container
-
-
-prcxi_materials_path = str(Path(__file__).parent / "prcxi_material.json")
-with open(prcxi_materials_path, mode="r", encoding="utf-8") as f:
-    prcxi_materials = json.loads(f.read())
-
-
-def tip_adaptor_1250ul(name="Tip头适配器 1250uL") -> PRCXI9300Container:  # 必须传入一个name参数，是plr的规范要求
-    # tip_rack = PRCXI9300Container(name, prcxi_materials["name"]["Height"])
-    tip_rack = PRCXI9300Container(name, 1000,400,800, "tip_rack", collections.OrderedDict())
-    tip_rack.load_state({
-        "Materials": {"uuid": "7960f49ddfe9448abadda89bd1556936", "materialEnum": "0"}
-    })
-    return tip_rack
-
-