Revert "Merge pull request #214 from ALITTLELZ/prcxi1"

This reverts commit 4595f86725, reversing
changes made to 1340bae838.

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/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]]
+
+

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -207,7 +207,14 @@ class LiquidHandlerMiddleware(LiquidHandler):
 
         res_samples = []
         res_volumes = []
-        for resource, volume, channel in zip(resources, vols, use_channels):
+        # 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] = {
@@ -920,6 +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])
@@ -983,6 +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])
@@ -1165,6 +1174,7 @@ 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,
                     )
 
                 await self.aspirate(
@@ -1199,6 +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])
@@ -1235,6 +1246,7 @@ 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,
                     )
 
                 await self.aspirate(
@@ -1271,6 +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])
@@ -1327,6 +1340,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         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）
@@ -1366,6 +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])
@@ -1401,6 +1416,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         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）
@@ -1446,6 +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:
@@ -1497,10 +1514,19 @@ 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:
+                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,
@@ -1508,8 +1534,11 @@ 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,
                 )
-            
+
+                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 = []
@@ -1527,10 +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
@@ -1546,7 +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],
@@ -1557,14 +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,
@@ -1572,18 +1602,27 @@ 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,
@@ -1591,8 +1630,11 @@ 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,
                 )
 
+                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)):
@@ -1650,11 +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,
@@ -1662,11 +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
@@ -1686,7 +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')}")
@@ -1725,27 +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/prcxi.py

@@ -30,10 +30,11 @@ from pylabrobot.liquid_handling.standard import (
     ResourceMove,
     ResourceDrop,
 )
-from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, PlateAdapter, TubeRack
+from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, PlateAdapter, TubeRack, create_homogeneous_resources, create_ordered_items_2d
 
 from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract, SimpleReturn
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+from unilabos.resources.itemized_carrier import ItemizedCarrier
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
 
 
 class PRCXIError(RuntimeError):
@@ -136,13 +137,31 @@ class PRCXI9300Plate(Plate):
                 # 使用 ordering 参数，只包含位置信息（键）
                 ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
             else:
-                # ordering 的值已经是对象，可以直接使用
-                items = ordering
-                ordering_param = None
+                # ordering 的值是对象（可能是 Well 对象），检查是否有有效的 location
+                # 如果是反序列化过程，Well 对象可能没有正确的 location，需要让 Plate 重新创建
+                sample_value = next(iter(ordering.values()), None)
+                if sample_value is not None and hasattr(sample_value, 'location'):
+                    # 如果是 Well 对象但 location 为 None，说明是反序列化过程
+                    # 让 Plate 自己创建 Well 对象
+                    if sample_value.location is None:
+                        items = None
+                        ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
+                    else:
+                        # Well 对象有有效的 location，可以直接使用
+                        items = ordering
+                        ordering_param = None
+                elif sample_value is None:
+                    # ordering 的值都是 None，让 Plate 自己创建 Well 对象
+                    items = None
+                    ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
+                else:
+                    # 其他情况，直接使用
+                    items = ordering
+                    ordering_param = None
         else:
             items = None
-            ordering_param = None
-        
+            ordering_param = collections.OrderedDict()  # 提供空的 ordering
+
         # 根据情况传递不同的参数
         if items is not None:
             super().__init__(name, size_x, size_y, size_z, 
@@ -219,9 +238,16 @@ class PRCXI9300TipRack(TipRack):
                 # 使用 ordering 参数，只包含位置信息（键）
                 ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
             else:
-                # ordering 的值已经是对象，可以直接使用
-                items = ordering
-                ordering_param = None
+                # ordering 的值已经是对象，需要过滤掉 None 值
+                # 只保留有效的对象，用于 ordered_items 参数
+                valid_items = {k: v for k, v in ordering.items() if v is not None}
+                if valid_items:
+                    items = valid_items
+                    ordering_param = None
+                else:
+                    # 如果没有有效对象，使用 ordering 参数
+                    items = None
+                    ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
         else:
             items = None
             ordering_param = None
@@ -284,7 +310,7 @@ class PRCXI9300Trash(Trash):
     """
 
     def __init__(self, name: str, size_x: float, size_y: float, size_z: float, 
-                 category: str = "trash", 
+                 category: str = "plate", 
                  material_info: Optional[Dict[str, Any]] = None,
                  **kwargs):
         
@@ -357,9 +383,16 @@ class PRCXI9300TubeRack(TubeRack):
                 # 使用 ordering 参数，只包含位置信息（键）
                 ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
             else:
-                # ordering 的值已经是对象，可以直接使用
-                items_to_pass = ordering
-                ordering_param = None
+                # ordering 的值已经是对象，需要过滤掉 None 值
+                # 只保留有效的对象，用于 ordered_items 参数
+                valid_items = {k: v for k, v in ordering.items() if v is not None}
+                if valid_items:
+                    items_to_pass = valid_items
+                    ordering_param = None
+                else:
+                    # 如果没有有效对象，使用 ordering 参数
+                    items_to_pass = None
+                    ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
         elif items is not None:
             # 兼容旧的 items 参数
             items_to_pass = items
@@ -415,6 +448,81 @@ class PRCXI9300TubeRack(TubeRack):
             
             data.update(safe_state)
         return data
+class PRCXI9300PlateAdapterSite(ItemizedCarrier):
+    def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
+                 material_info: Optional[Dict[str, Any]] = None, **kwargs):
+        # 处理 sites 参数的不同格式
+
+        sites = create_homogeneous_resources(
+        klass=ResourceHolder,
+        locations=[Coordinate(0, 0, 0)],
+        resource_size_x=size_x,
+        resource_size_y=size_y,
+        resource_size_z=size_z,
+        name_prefix=name,
+    )[0]
+        # 确保不传递重复的参数
+        kwargs.pop('layout', None)
+        kwargs.pop('num_items_x', None)
+        kwargs.pop('num_items_y', None)
+        kwargs.pop('num_items_z', None)
+        kwargs.pop('sites', None)
+
+        super().__init__(name, size_x, size_y, size_z,
+        sites={name: sites},
+        num_items_x=1,
+        num_items_y=1,
+        num_items_z=1,
+        **kwargs)
+        self._unilabos_state = {}
+        if material_info:
+            self._unilabos_state["Material"] = material_info
+
+
+    def assign_child_resource(self, resource, location=Coordinate(0, 0, 0), reassign=True, spot=None):
+        """重写 assign_child_resource 方法，对于适配器位置，不使用索引分配"""
+        # 直接调用 Resource 的 assign_child_resource，避免 ItemizedCarrier 的索引逻辑
+        from pylabrobot.resources.resource import Resource
+        Resource.assign_child_resource(self, resource, location=location, reassign=reassign)
+
+    def unassign_child_resource(self, resource):
+        """重写 unassign_child_resource 方法，对于适配器位置，不使用 sites 列表"""
+        # 直接调用 Resource 的 unassign_child_resource，避免 ItemizedCarrier 的 sites 逻辑
+        from pylabrobot.resources.resource import Resource
+        Resource.unassign_child_resource(self, resource)
+
+    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
+        try:
+            data = super().serialize_state()
+        except AttributeError:
+            data = {}
+
+        # 包含 sites 配置信息，但避免序列化 ResourceHolder 对象
+        if hasattr(self, 'sites') and self.sites:
+            # 只保存 sites 的基本信息，不保存 ResourceHolder 对象本身
+            sites_info = []
+            for site in self.sites:
+                if hasattr(site, '__class__') and 'pylabrobot' in str(site.__class__.__module__):
+                    # 对于 pylabrobot 对象，只保存基本信息
+                    sites_info.append({
+                        "__pylabrobot_object__": True,
+                        "class": site.__class__.__name__,
+                        "module": site.__class__.__module__,
+                        "name": getattr(site, 'name', str(site))
+                    })
+                else:
+                    sites_info.append(site)
+            data['sites'] = sites_info
+
+        return data
+
+    def load_state(self, state: Dict[str, Any]) -> None:
+        """加载状态，包括 sites 配置信息"""
+        super().load_state(state)
+
+        # 从状态中恢复 sites 配置信息
+        if 'sites' in state:
+            self.sites = [state['sites']]
 
 class PRCXI9300PlateAdapter(PlateAdapter):
     """
@@ -813,7 +921,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         **backend_kwargs,
     ):
 
-        return await super().move_plate(
+        res = await super().move_plate(
             plate,
             to,
             intermediate_locations,
@@ -825,6 +933,12 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
             target_plate_number = to,
             **backend_kwargs,
         )
+        plate.unassign()
+        to.assign_child_resource(plate, location=Coordinate(0, 0, 0))
+        ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
+            "resources": [self.deck]
+        })
+        return res
 
 class PRCXI9300Backend(LiquidHandlerBackend):
     """PRCXI 9300 的后端实现，继承自 LiquidHandlerBackend。

unilabos/registry/devices/liquid_handler.yaml

@@ -4019,7 +4019,8 @@ liquid_handler:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times: 0
+          mix_times:
+          - 0
           mix_vol: 0
           none_keys:
           - ''
@@ -4175,9 +4176,11 @@ liquid_handler:
                 mix_stage:
                   type: string
                 mix_times:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
+                  items:
+                    maximum: 2147483647
+                    minimum: -2147483648
+                    type: integer
+                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648
@@ -5040,7 +5043,8 @@ liquid_handler.biomek:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times: 0
+          mix_times:
+          - 0
           mix_vol: 0
           none_keys:
           - ''
@@ -5183,9 +5187,11 @@ liquid_handler.biomek:
                 mix_stage:
                   type: string
                 mix_times:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
+                  items:
+                    maximum: 2147483647
+                    minimum: -2147483648
+                    type: integer
+                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648
@@ -9665,7 +9671,8 @@ liquid_handler.prcxi:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times: 0
+          mix_times:
+          - 0
           mix_vol: 0
           none_keys:
           - ''
@@ -9821,9 +9828,11 @@ liquid_handler.prcxi:
                 mix_stage:
                   type: string
                 mix_times:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
+                  items:
+                    maximum: 2147483647
+                    minimum: -2147483648
+                    type: integer
+                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648

unilabos/test/experiments/prcxi_9320_with_res_test.json

@@ -8,8 +8,8 @@
       "parent": "",
       "pose": {
         "size": {
-          "width": 562,
-          "height": 394,
+          "width": 542,
+          "height": 374,
           "depth": 0
         }
       },
@@ -21,12 +21,12 @@
         },
         "host": "10.20.30.184",
         "port": 9999,
-        "debug": true,
+        "debug": false,
         "setup": true,
         "is_9320": true,
         "timeout": 10,
         "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
-        "simulator": true,
+        "simulator": false,
         "channel_num": 2
       },
       "data": {
@@ -37,7 +37,7 @@
       "model": null,
       "position": {
         "x": 0,
-        "y": 240,
+        "y": 700,
         "z": 0
       }
     },
@@ -50,8 +50,8 @@
       "type": "deck",
       "class": "",
       "position": {
-        "x": 10,
-        "y": 10,
+        "x": 0,
+        "y": 0,
         "z": 0
       },
       "config": {
@@ -83,7 +83,7 @@
         "z": 0
       },
       "config": {
-        "type": "PRCXI9300Container",
+        "type": "PRCXI9300PlateAdapterSite",
         "size_x": 127,
         "size_y": 85.5,
         "size_z": 10,
@@ -96,7 +96,7 @@
         "category": "plate",
         "model": null,
         "barcode": null,
-        "ordering": {},
+        
         "sites": [
           {
             "label": "T1",
@@ -128,7 +128,7 @@
         "z": 0
       },
       "config": {
-        "type": "PRCXI9300Container",
+        "type": "PRCXI9300PlateAdapterSite",
         "size_x": 127,
         "size_y": 85.5,
         "size_z": 10,
@@ -141,7 +141,7 @@
         "category": "plate",
         "model": null,
         "barcode": null,
-        "ordering": {},
+        
         "sites": [
           {
             "label": "T2",
@@ -173,7 +173,7 @@
         "z": 0
       },
       "config": {
-        "type": "PRCXI9300Container",
+        "type": "PRCXI9300PlateAdapterSite",
         "size_x": 127,
         "size_y": 85.5,
         "size_z": 10,
@@ -186,7 +186,7 @@
         "category": "plate",
         "model": null,
         "barcode": null,
-        "ordering": {},
+        
         "sites": [
           {
             "label": "T3",
@@ -218,7 +218,7 @@
         "z": 0
       },
       "config": {
-        "type": "PRCXI9300Container",
+        "type": "PRCXI9300PlateAdapterSite",
         "size_x": 127,
         "size_y": 85.5,
         "size_z": 10,
@@ -231,7 +231,7 @@
         "category": "plate",
         "model": null,
         "barcode": null,
-        "ordering": {},
+        
         "sites": [
           {
             "label": "T4",
@@ -263,7 +263,7 @@
         "z": 0
       },
       "config": {
-        "type": "PRCXI9300Container",
+        "type": "PRCXI9300PlateAdapterSite",
         "size_x": 127,
         "size_y": 85.5,
         "size_z": 10,
@@ -276,7 +276,7 @@
         "category": "plate",
         "model": null,
         "barcode": null,
-        "ordering": {},
+        
         "sites": [
           {
             "label": "T5",
@@ -308,7 +308,7 @@
         "z": 0
       },
       "config": {
-        "type": "PRCXI9300Container",
+        "type": "PRCXI9300PlateAdapterSite",
         "size_x": 127,
         "size_y": 85.5,
         "size_z": 10,
@@ -321,7 +321,7 @@
         "category": "plate",
         "model": null,
         "barcode": null,
-        "ordering": {},
+        
         "sites": [
           {
             "label": "T6",
@@ -353,7 +353,7 @@
         "z": 0
       },
       "config": {
-        "type": "PRCXI9300Container",
+        "type": "PRCXI9300PlateAdapterSite",
         "size_x": 127,
         "size_y": 85.5,
         "size_z": 10,
@@ -366,7 +366,7 @@
         "category": "plate",
         "model": null,
         "barcode": null,
-        "ordering": {},
+        
         "sites": [
           {
             "label": "T7",
@@ -398,7 +398,7 @@
         "z": 0
       },
       "config": {
-        "type": "PRCXI9300Container",
+        "type": "PRCXI9300PlateAdapterSite",
         "size_x": 127,
         "size_y": 85.5,
         "size_z": 10,
@@ -411,7 +411,7 @@
         "category": "plate",
         "model": null,
         "barcode": null,
-        "ordering": {},
+        
         "sites": [
           {
             "label": "T8",
@@ -443,7 +443,7 @@
         "z": 0
       },
       "config": {
-        "type": "PRCXI9300Container",
+        "type": "PRCXI9300PlateAdapterSite",
         "size_x": 127,
         "size_y": 85.5,
         "size_z": 10,
@@ -456,7 +456,7 @@
         "category": "plate",
         "model": null,
         "barcode": null,
-        "ordering": {},
+        
         "sites": [
           {
             "label": "T9",
@@ -488,7 +488,7 @@
         "z": 0
       },
       "config": {
-        "type": "PRCXI9300Container",
+        "type": "PRCXI9300PlateAdapterSite",
         "size_x": 127,
         "size_y": 85.5,
         "size_z": 10,
@@ -501,7 +501,7 @@
         "category": "plate",
         "model": null,
         "barcode": null,
-        "ordering": {},
+        
         "sites": [
           {
             "label": "T10",
@@ -533,7 +533,7 @@
         "z": 0
       },
       "config": {
-        "type": "PRCXI9300Container",
+        "type": "PRCXI9300PlateAdapterSite",
         "size_x": 127,
         "size_y": 85.5,
         "size_z": 10,
@@ -546,7 +546,7 @@
         "category": "plate",
         "model": null,
         "barcode": null,
-        "ordering": {},
+        
         "sites": [
           {
             "label": "T11",
@@ -578,7 +578,7 @@
         "z": 0
       },
       "config": {
-        "type": "PRCXI9300Container",
+        "type": "PRCXI9300PlateAdapterSite",
         "size_x": 127,
         "size_y": 85.5,
         "size_z": 10,
@@ -591,7 +591,7 @@
         "category": "plate",
         "model": null,
         "barcode": null,
-        "ordering": {},
+        
         "sites": [
           {
             "label": "T12",
@@ -623,7 +623,7 @@
         "z": 0
       },
       "config": {
-        "type": "PRCXI9300Container",
+        "type": "PRCXI9300PlateAdapterSite",
         "size_x": 127,
         "size_y": 85.5,
         "size_z": 10,
@@ -636,7 +636,7 @@
         "category": "plate",
         "model": null,
         "barcode": null,
-        "ordering": {},
+        
         "sites": [
           {
             "label": "T13",
@@ -668,7 +668,7 @@
         "z": 0
       },
       "config": {
-        "type": "PRCXI9300Container",
+        "type": "PRCXI9300PlateAdapterSite",
         "size_x": 127,
         "size_y": 85.5,
         "size_z": 10,
@@ -681,7 +681,7 @@
         "category": "plate",
         "model": null,
         "barcode": null,
-        "ordering": {},
+        
         "sites": [
           {
             "label": "T14",
@@ -713,7 +713,7 @@
         "z": 0
       },
       "config": {
-        "type": "PRCXI9300Container",
+        "type": "PRCXI9300PlateAdapterSite",
         "size_x": 127,
         "size_y": 85.5,
         "size_z": 10,
@@ -726,7 +726,7 @@
         "category": "plate",
         "model": null,
         "barcode": null,
-        "ordering": {},
+        
         "sites": [
           {
             "label": "T15",
@@ -758,7 +758,7 @@
         "z": 0
       },
       "config": {
-        "type": "PRCXI9300Container",
+        "type": "PRCXI9300PlateAdapterSite",
         "size_x": 127,
         "size_y": 85.5,
         "size_z": 10,
@@ -771,7 +771,7 @@
         "category": "plate",
         "model": null,
         "barcode": null,
-        "ordering": {},
+        
         "sites": [
           {
             "label": "T16",
@@ -40712,7 +40712,7 @@
 
       "children": [],
       "parent": "T16",
-      "type": "plate",
+      "type": "trash",
       "class": "",
       "position": {
         "x": 0,