Uni-Lab-OS/unilabos/devices/liquid_handling/liquid_handler_abstract.py

from __future__ import annotations

import traceback
from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set

import asyncio
import time

from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness
from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod
from pylabrobot.liquid_handling.standard import GripDirection
from pylabrobot.resources import (
    Resource,
    TipRack,
    Container,
    Coordinate,
    Well,
    Deck,
    TipSpot,
    Plate,
    ResourceStack,
    ResourceHolder,
    Lid,
    Trash,
    Tip,
)


class LiquidHandlerMiddleware(LiquidHandler):
    def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8):
        self._simulator = simulator
        if simulator:
            self._simulate_backend = LiquidHandlerChatterboxBackend(channel_num)
            self._simulate_handler = LiquidHandlerAbstract(self._simulate_backend, deck, False)
        super().__init__(backend, deck)

    async def setup(self, **backend_kwargs):
        if self._simulator:
            return await self._simulate_handler.setup(**backend_kwargs)
        return await super().setup(**backend_kwargs)

    def serialize_state(self) -> Dict[str, Any]:
        if self._simulator:
            self._simulate_handler.serialize_state()
        return super().serialize_state()

    def load_state(self, state: Dict[str, Any]):
        if self._simulator:
            self._simulate_handler.load_state(state)
        super().load_state(state)

    def update_head_state(self, state: Dict[int, Optional[Tip]]):
        if self._simulator:
            self._simulate_handler.update_head_state(state)
        super().update_head_state(state)

    def clear_head_state(self):
        if self._simulator:
            self._simulate_handler.clear_head_state()
        super().clear_head_state()

    def _run_async_in_thread(self, func, *args, **kwargs):
        super()._run_async_in_thread(func, *args, **kwargs)

    def _send_assigned_resource_to_backend(self, resource: Resource):
        if self._simulator:
            self._simulate_handler._send_assigned_resource_to_backend(resource)
        super()._send_assigned_resource_to_backend(resource)

    def _send_unassigned_resource_to_backend(self, resource: Resource):
        if self._simulator:
            self._simulate_handler._send_unassigned_resource_to_backend(resource)
        super()._send_unassigned_resource_to_backend(resource)

    def summary(self):
        if self._simulator:
            self._simulate_handler.summary()
        super().summary()

    def _assert_positions_unique(self, positions: List[str]):
        super()._assert_positions_unique(positions)

    def _assert_resources_exist(self, resources: Sequence[Resource]):
        super()._assert_resources_exist(resources)

    def _check_args(
        self, method: Callable, backend_kwargs: Dict[str, Any], default: Set[str], strictness: Strictness
    ) -> Set[str]:
        return super()._check_args(method, backend_kwargs, default, strictness)

    def _make_sure_channels_exist(self, channels: List[int]):
        super()._make_sure_channels_exist(channels)

    def _format_param(self, value: Any) -> Any:
        return super()._format_param(value)

    def _log_command(self, name: str, **kwargs) -> None:
        super()._log_command(name, **kwargs)

    async def pick_up_tips(
        self,
        tip_spots: List[TipSpot],
        use_channels: Optional[List[int]] = None,
        offsets: Optional[List[Coordinate]] = None,
        **backend_kwargs,
    ):
        print('222'*200)
        print(tip_spots)
        if self._simulator:
            return await self._simulate_handler.pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
        return await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)

    async def drop_tips(
        self,
        tip_spots: Sequence[Union[TipSpot, Trash]],
        use_channels: Optional[List[int]] = None,
        offsets: Optional[List[Coordinate]] = None,
        allow_nonzero_volume: bool = False,
        **backend_kwargs,
    ):
        if self._simulator:
            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)

    async def return_tips(
        self, use_channels: Optional[list[int]] = None, allow_nonzero_volume: bool = False, **backend_kwargs
    ):
        if self._simulator:
            return await self._simulate_handler.return_tips(use_channels, allow_nonzero_volume, **backend_kwargs)
        return await super().return_tips(use_channels, allow_nonzero_volume, **backend_kwargs)

    async def discard_tips(
        self,
        use_channels: Optional[List[int]] = None,
        allow_nonzero_volume: bool = True,
        offsets: Optional[List[Coordinate]] = None,
        **backend_kwargs,
    ):
        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)

    def _check_containers(self, resources: Sequence[Resource]):
        super()._check_containers(resources)

    async def aspirate(
        self,
        resources: Sequence[Container],
        vols: List[float],
        use_channels: Optional[List[int]] = None,
        flow_rates: Optional[List[Optional[float]]] = None,
        offsets: Optional[List[Coordinate]] = None,
        liquid_height: Optional[List[Optional[float]]] = None,
        blow_out_air_volume: Optional[List[Optional[float]]] = None,
        spread: Literal["wide", "tight", "custom"] = "wide",
        **backend_kwargs,
    ):
        if self._simulator:
            return await self._simulate_handler.aspirate(
                resources,
                vols,
                use_channels,
                flow_rates,
                offsets,
                liquid_height,
                blow_out_air_volume,
                spread,
                **backend_kwargs,
            )
        return await super().aspirate(
            resources,
            vols,
            use_channels,
            flow_rates,
            offsets,
            liquid_height,
            blow_out_air_volume,
            spread,
            **backend_kwargs,
        )

    async def dispense(
        self,
        resources: Sequence[Container],
        vols: List[float],
        use_channels: Optional[List[int]] = None,
        flow_rates: Optional[List[Optional[float]]] = None,
        offsets: Optional[List[Coordinate]] = None,
        liquid_height: Optional[List[Optional[float]]] = None,
        blow_out_air_volume: Optional[List[Optional[float]]] = None,
        spread: Literal["wide", "tight", "custom"] = "wide",
        **backend_kwargs,
    ):
        if self._simulator:
            return await self._simulate_handler.dispense(
                resources,
                vols,
                use_channels,
                flow_rates,
                offsets,
                liquid_height,
                blow_out_air_volume,
                spread,
                **backend_kwargs,
            )
        return await super().dispense(
            resources,
            vols,
            use_channels,
            flow_rates,
            offsets,
            liquid_height,
            blow_out_air_volume,
            spread,
            **backend_kwargs,
        )

    async def transfer(
        self,
        source: Well,
        targets: List[Well],
        source_vol: Optional[float] = None,
        ratios: Optional[List[float]] = None,
        target_vols: Optional[List[float]] = None,
        aspiration_flow_rate: Optional[float] = None,
        dispense_flow_rates: Optional[List[Optional[float]]] = None,
        **backend_kwargs,
    ):
        if self._simulator:
            return await self._simulate_handler.transfer(
                source,
                targets,
                source_vol,
                ratios,
                target_vols,
                aspiration_flow_rate,
                dispense_flow_rates,
                **backend_kwargs,
            )
        return await super().transfer(
            source,
            targets,
            source_vol,
            ratios,
            target_vols,
            aspiration_flow_rate,
            dispense_flow_rates,
            **backend_kwargs,
        )

    def use_channels(self, channels: List[int]):
        if self._simulator:
            self._simulate_handler.use_channels(channels)
        return super().use_channels(channels)

    async def pick_up_tips96(self, tip_rack: TipRack, offset: Coordinate = Coordinate.zero(), **backend_kwargs):
        if self._simulator:
            return await self._simulate_handler.pick_up_tips96(tip_rack, offset, **backend_kwargs)
        return await super().pick_up_tips96(tip_rack, offset, **backend_kwargs)

    async def drop_tips96(
        self,
        resource: Union[TipRack, Trash],
        offset: Coordinate = Coordinate.zero(),
        allow_nonzero_volume: bool = False,
        **backend_kwargs,
    ):
        if self._simulator:
            return await self._simulate_handler.drop_tips96(resource, offset, allow_nonzero_volume, **backend_kwargs)
        return await super().drop_tips96(resource, offset, allow_nonzero_volume, **backend_kwargs)

    def _get_96_head_origin_tip_rack(self) -> Optional[TipRack]:
        return super()._get_96_head_origin_tip_rack()

    async def return_tips96(self, allow_nonzero_volume: bool = False, **backend_kwargs):
        if self._simulator:
            return await self._simulate_handler.return_tips96(allow_nonzero_volume, **backend_kwargs)
        return await super().return_tips96(allow_nonzero_volume, **backend_kwargs)

    async def discard_tips96(self, allow_nonzero_volume: bool = True, **backend_kwargs):
        if self._simulator:
            return await self._simulate_handler.discard_tips96(allow_nonzero_volume, **backend_kwargs)
        return await super().discard_tips96(allow_nonzero_volume, **backend_kwargs)

    async def aspirate96(
        self,
        resource: Union[Plate, Container, List[Well]],
        volume: float,
        offset: Coordinate = Coordinate.zero(),
        flow_rate: Optional[float] = None,
        blow_out_air_volume: Optional[float] = None,
        **backend_kwargs,
    ):
        if self._simulator:
            return await self._simulate_handler.aspirate96(
                resource, volume, offset, flow_rate, blow_out_air_volume, **backend_kwargs
            )
        return await super().aspirate96(resource, volume, offset, flow_rate, blow_out_air_volume, **backend_kwargs)

    async def dispense96(
        self,
        resource: Union[Plate, Container, List[Well]],
        volume: float,
        offset: Coordinate = Coordinate.zero(),
        flow_rate: Optional[float] = None,
        blow_out_air_volume: Optional[float] = None,
        **backend_kwargs,
    ):
        if self._simulator:
            return await self._simulate_handler.dispense96(
                resource, volume, offset, flow_rate, blow_out_air_volume, **backend_kwargs
            )
        return await super().dispense96(resource, volume, offset, flow_rate, blow_out_air_volume, **backend_kwargs)

    async def stamp(
        self,
        source: Plate,
        target: Plate,
        volume: float,
        aspiration_flow_rate: Optional[float] = None,
        dispense_flow_rate: Optional[float] = None,
    ):
        if self._simulator:
            return await self._simulate_handler.stamp(source, target, volume, aspiration_flow_rate, dispense_flow_rate)
        return await super().stamp(source, target, volume, aspiration_flow_rate, dispense_flow_rate)

    async def pick_up_resource(
        self,
        resource: Resource,
        offset: Coordinate = Coordinate.zero(),
        pickup_distance_from_top: float = 0,
        direction: GripDirection = GripDirection.FRONT,
        **backend_kwargs,
    ):
        if self._simulator:
            return await self._simulate_handler.pick_up_resource(
                resource, offset, pickup_distance_from_top, direction, **backend_kwargs
            )
        return await super().pick_up_resource(resource, offset, pickup_distance_from_top, direction, **backend_kwargs)

    async def move_picked_up_resource(
        self,
        to: Coordinate,
        offset: Coordinate = Coordinate.zero(),
        direction: Optional[GripDirection] = None,
        **backend_kwargs,
    ):
        if self._simulator:
            return await self._simulate_handler.move_picked_up_resource(to, offset, direction, **backend_kwargs)
        return await super().move_picked_up_resource(to, offset, direction, **backend_kwargs)

    async def drop_resource(
        self,
        destination: Union[ResourceStack, ResourceHolder, Resource, Coordinate],
        offset: Coordinate = Coordinate.zero(),
        direction: GripDirection = GripDirection.FRONT,
        **backend_kwargs,
    ):
        if self._simulator:
            return await self._simulate_handler.drop_resource(destination, offset, direction, **backend_kwargs)
        return await super().drop_resource(destination, offset, direction, **backend_kwargs)

    async def move_resource(
        self,
        resource: Resource,
        to: Union[ResourceStack, ResourceHolder, Resource, Coordinate],
        intermediate_locations: Optional[List[Coordinate]] = None,
        pickup_offset: Coordinate = Coordinate.zero(),
        destination_offset: Coordinate = Coordinate.zero(),
        pickup_distance_from_top: float = 0,
        pickup_direction: GripDirection = GripDirection.FRONT,
        drop_direction: GripDirection = GripDirection.FRONT,
        **backend_kwargs,
    ):
        if self._simulator:
            return await self._simulate_handler.move_resource(
                resource,
                to,
                intermediate_locations,
                pickup_offset,
                destination_offset,
                pickup_distance_from_top,
                pickup_direction,
                drop_direction,
                **backend_kwargs,
            )
        return await super().move_resource(
            resource,
            to,
            intermediate_locations,
            pickup_offset,
            destination_offset,
            pickup_distance_from_top,
            pickup_direction,
            drop_direction,
            **backend_kwargs,
        )

    async def move_lid(
        self,
        lid: Lid,
        to: Union[Plate, ResourceStack, Coordinate],
        intermediate_locations: Optional[List[Coordinate]] = None,
        pickup_offset: Coordinate = Coordinate.zero(),
        destination_offset: Coordinate = Coordinate.zero(),
        pickup_direction: GripDirection = GripDirection.FRONT,
        drop_direction: GripDirection = GripDirection.FRONT,
        pickup_distance_from_top: float = 5.7 - 3.33,
        **backend_kwargs,
    ):
        if self._simulator:
            return await self._simulate_handler.move_lid(
                lid,
                to,
                intermediate_locations,
                pickup_offset,
                destination_offset,
                pickup_direction,
                drop_direction,
                pickup_distance_from_top,
                **backend_kwargs,
            )
        return await super().move_lid(
            lid,
            to,
            intermediate_locations,
            pickup_offset,
            destination_offset,
            pickup_direction,
            drop_direction,
            pickup_distance_from_top,
            **backend_kwargs,
        )

    async def move_plate(
        self,
        plate: Plate,
        to: Union[ResourceStack, ResourceHolder, Resource, Coordinate],
        intermediate_locations: Optional[List[Coordinate]] = None,
        pickup_offset: Coordinate = Coordinate.zero(),
        destination_offset: Coordinate = Coordinate.zero(),
        drop_direction: GripDirection = GripDirection.FRONT,
        pickup_direction: GripDirection = GripDirection.FRONT,
        pickup_distance_from_top: float = 13.2 - 3.33,
        **backend_kwargs,
    ):
        if self._simulator:
            return await self._simulate_handler.move_plate(
                plate,
                to,
                intermediate_locations,
                pickup_offset,
                destination_offset,
                drop_direction,
                pickup_direction,
                pickup_distance_from_top,
                **backend_kwargs,
            )
        return await super().move_plate(
            plate,
            to,
            intermediate_locations,
            pickup_offset,
            destination_offset,
            drop_direction,
            pickup_direction,
            pickup_distance_from_top,
            **backend_kwargs,
        )

    def serialize(self):
        if self._simulator:
            self._simulate_handler.serialize()
        return super().serialize()

    @classmethod
    def deserialize(cls, data: dict, allow_marshal: bool = False) -> LiquidHandler:
        return super().deserialize(data, allow_marshal)

    @classmethod
    def load(cls, path: str) -> LiquidHandler:
        return super().load(path)

    async def prepare_for_manual_channel_operation(self, channel: int):
        if self._simulator:
            return await self._simulate_handler.prepare_for_manual_channel_operation(channel)
        return await super().prepare_for_manual_channel_operation(channel)

    async def move_channel_x(self, channel: int, x: float):
        if self._simulator:
            return await self._simulate_handler.move_channel_x(channel, x)
        return await super().move_channel_x(channel, x)

    async def move_channel_y(self, channel: int, y: float):
        if self._simulator:
            return await self._simulate_handler.move_channel_y(channel, y)
        return await super().move_channel_y(channel, y)

    async def move_channel_z(self, channel: int, z: float):
        if self._simulator:
            return await self._simulate_handler.move_channel_z(channel, z)
        return await super().move_channel_z(channel, z)

    def assign_child_resource(self, resource: Resource, location: Optional[Coordinate], reassign: bool = True):
        if self._simulator:
            self._simulate_handler.assign_child_resource(resource, location, reassign)
        pass

    async def probe_tip_presence_via_pickup(
        self, tip_spots: List[TipSpot], use_channels: Optional[List[int]] = None
    ) -> Dict[str, bool]:
        if self._simulator:
            return await self._simulate_handler.probe_tip_presence_via_pickup(tip_spots, use_channels)
        return await super().probe_tip_presence_via_pickup(tip_spots, use_channels)

    async def probe_tip_inventory(
        self,
        tip_spots: List[TipSpot],
        probing_fn: Optional[TipPresenceProbingMethod] = None,
        use_channels: Optional[List[int]] = None,
    ) -> Dict[str, bool]:
        if self._simulator:
            return await self._simulate_handler.probe_tip_inventory(tip_spots, probing_fn, use_channels)
        return await super().probe_tip_inventory(tip_spots, probing_fn, use_channels)

    async def consolidate_tip_inventory(self, tip_racks: List[TipRack], use_channels: Optional[List[int]] = None):
        if self._simulator:
            return await self._simulate_handler.consolidate_tip_inventory(tip_racks, use_channels)
        return await super().consolidate_tip_inventory(tip_racks, use_channels)


class LiquidHandlerAbstract(LiquidHandlerMiddleware):
    """Extended LiquidHandler with additional operations."""
    support_touch_tip = True

    def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8):
        """Initialize a LiquidHandler.

        Args:
          backend: Backend to use.
          deck: Deck to use.
        """
        self._simulator = simulator
        super().__init__(backend, deck, simulator, channel_num)

    @classmethod
    def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]):
        """Set the liquid in a well."""
        for well, liquid_name, volume in zip(wells, liquid_names, volumes):
            well.set_liquids([(liquid_name, volume)])  # type: ignore
    # ---------------------------------------------------------------
    # REMOVE LIQUID --------------------------------------------------
    # ---------------------------------------------------------------

    async def create_protocol(
        self,
        protocol_name: str,
        protocol_description: str,
        protocol_version: str,
        protocol_author: str,
        protocol_date: str,
        protocol_type: str,
        none_keys: List[str] = [],
    ):
        """Create a new protocol with the given metadata."""
        pass

    async def remove_liquid(
        self,
        vols: List[float],
        sources: Sequence[Container],
        waste_liquid: Optional[Container] = None,
        *,
        use_channels: Optional[List[int]] = None,
        flow_rates: Optional[List[Optional[float]]] = None,
        offsets: Optional[List[Coordinate]] = None,
        liquid_height: Optional[List[Optional[float]]] = None,
        blow_out_air_volume: Optional[List[Optional[float]]] = None,
        spread: Optional[Literal["wide", "tight", "custom"]] = "wide",
        delays: Optional[List[int]] = None,
        is_96_well: Optional[bool] = False,
        top: Optional[List[float]] = None,
        none_keys: List[str] = [],
    ):
        """A complete *remove* (aspirate → waste) operation."""

        try:
            if is_96_well:
                pass  # This mode is not verified.
            else:
                # 首先应该对任务分组，然后每次1个/8个进行操作处理
                if len(use_channels) == 1 and self.backend.num_channels == 1:

                    for _ in range(len(sources)):
                        tip = []
                        for __ in range(len(use_channels)):
                            tip.extend(next(self.current_tip))
                        await self.pick_up_tips(tip)
                        await self.aspirate(
                            resources=[sources[_]],
                            vols=[vols[_]],
                            use_channels=use_channels,
                            flow_rates=[flow_rates[0]] if flow_rates else None,
                            offsets=[offsets[0]] if offsets else None,
                            liquid_height=[liquid_height[0]] if liquid_height else None,
                            blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume else None,
                            spread=spread,
                        )
                        if delays is not None:
                            await self.custom_delay(seconds=delays[0])

                        await self.dispense(
                            resources=[waste_liquid],
                            vols=[vols[_]],
                            use_channels=use_channels,
                            flow_rates=[flow_rates[1]] if flow_rates else None,
                            offsets=[offsets[1]] if offsets else None,
                            blow_out_air_volume=[blow_out_air_volume[1]] if blow_out_air_volume else None,
                            liquid_height=[liquid_height[1]] if liquid_height else None,
                            spread=spread,
                        )
                        await self.discard_tips()

                elif len(use_channels) == 8 and self.backend.num_channels == 8:
               
                  
                    # 对于8个的情况，需要判断此时任务是不是能被8通道移液站来成功处理
                    if len(sources) % 8 != 0:
                        raise ValueError(f"Length of `sources` {len(sources)} must be a multiple of 8 for 8-channel mode.")

                    # 8个8个来取任务序列

                    for i in range(0, len(sources), 8):
                        tip = []
                        for _ in range(len(use_channels)):
                            tip.extend(next(self.current_tip))
                        await self.pick_up_tips(tip)
                        current_targets = waste_liquid[i:i + 8]
                        current_reagent_sources = sources[i:i + 8]
                        current_asp_vols = vols[i:i + 8]
                        current_dis_vols = vols[i:i + 8]
                        current_asp_flow_rates = flow_rates[i:i + 8] if flow_rates else [None] * 8
                        current_dis_flow_rates = flow_rates[-i*8-8:len(flow_rates)-i*8] if flow_rates else [None] * 8
                        current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
                        current_dis_offset = offsets[-i*8-8:len(offsets)-i*8] if offsets else [None] * 8
                        current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
                        current_dis_liquid_height = liquid_height[-i*8-8:len(liquid_height)-i*8] if liquid_height else [None] * 8
                        current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
                        current_dis_blow_out_air_volume = blow_out_air_volume[-i*8-8:len(blow_out_air_volume)-i*8] if blow_out_air_volume else [None] * 8

                        await self.aspirate(
                            resources=current_reagent_sources,
                            vols=current_asp_vols,
                            use_channels=use_channels,
                            flow_rates=current_asp_flow_rates,
                            offsets=current_asp_offset,
                            liquid_height=current_asp_liquid_height,
                            blow_out_air_volume=current_asp_blow_out_air_volume,
                            spread=spread,
                        )
                        if delays is not None:
                            await self.custom_delay(seconds=delays[0])
                        await self.dispense(
                            resources=current_targets,
                            vols=current_dis_vols,
                            use_channels=use_channels,
                            flow_rates=current_dis_flow_rates,
                            offsets=current_dis_offset,
                            liquid_height=current_dis_liquid_height,
                            blow_out_air_volume=current_dis_blow_out_air_volume,
                            spread=spread,
                        )
                        if delays is not None:
                            await self.custom_delay(seconds=delays[1])
                        await self.touch_tip(current_targets)
                        await self.discard_tips()        

        except Exception as e:
            traceback.print_exc()
            raise RuntimeError(f"Liquid addition failed: {e}") from e

    # ---------------------------------------------------------------
    # ADD LIQUID -----------------------------------------------------
    # ---------------------------------------------------------------

    async def add_liquid(
        self,
        asp_vols: Union[List[float], float],
        dis_vols: Union[List[float], float],
        reagent_sources: Sequence[Container],
        targets: Sequence[Container],
        *,
        use_channels: Optional[List[int]] = None,
        flow_rates: Optional[List[Optional[float]]] = None,
        offsets: Optional[List[Coordinate]] = None,
        liquid_height: Optional[List[Optional[float]]] = None,
        blow_out_air_volume: Optional[List[Optional[float]]] = None,
        spread: Optional[Literal["wide", "tight", "custom"]] = "wide",
        is_96_well: bool = False,
        delays: Optional[List[int]] = None,
        mix_time: Optional[int] = None,
        mix_vol: Optional[int] = None,
        mix_rate: Optional[int] = None,
        mix_liquid_height: Optional[float] = None,
        none_keys: List[str] = [],
    ):
        # """A complete *add* (aspirate reagent → dispense into targets) operation."""

        # # try:
            if is_96_well:
                pass  # This mode is not verified.
            else:
                if len(asp_vols) != len(targets):
                    raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.")
                # 首先应该对任务分组，然后每次1个/8个进行操作处理
                if len(use_channels) == 1:
                    for _ in range(len(targets)):
                        tip = []
                        for x in range(len(use_channels)):
                            tip.extend(next(self.current_tip))
                        await self.pick_up_tips(tip)

                        await self.aspirate(
                            resources=[reagent_sources[_]],
                            vols=[asp_vols[_]],
                            use_channels=use_channels,
                            flow_rates=[flow_rates[0]] if flow_rates else None,
                            offsets=[offsets[0]] if offsets else None,
                            liquid_height=[liquid_height[0]] if liquid_height else None,
                            blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume else None,
                            spread=spread,
                        )
                        
                        if delays is not None:
                            await self.custom_delay(seconds=delays[0])
                        await self.dispense(
                            resources=[targets[_]],
                            vols=[dis_vols[_]],
                            use_channels=use_channels,
                            flow_rates=[flow_rates[1]] if flow_rates else None,
                            offsets=[offsets[1]] if offsets else None,
                            blow_out_air_volume=[blow_out_air_volume[1]] if blow_out_air_volume else None,
                            liquid_height=[liquid_height[1]] if liquid_height else None,
                            spread=spread,
                        )

                        if delays is not None:
                            await self.custom_delay(seconds=delays[1])
                        await self.mix(
                            targets=[targets[_]],
                            mix_time=mix_time,
                            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,
                        )
                        if delays is not None:
                            await self.custom_delay(seconds=delays[1])
                        await self.touch_tip(targets[_])
                        await self.discard_tips()

                elif len(use_channels) == 8:
                    # 对于8个的情况，需要判断此时任务是不是能被8通道移液站来成功处理
                    if len(targets) % 8 != 0:
                        raise ValueError(f"Length of `targets` {len(targets)} must be a multiple of 8 for 8-channel mode.")

                    for i in range(0, len(targets), 8):
                        tip = []
                        for _ in range(len(use_channels)):
                            tip.extend(next(self.current_tip))
                        await self.pick_up_tips(tip)
                        current_targets = targets[i:i + 8]
                        current_reagent_sources = reagent_sources[i:i + 8]
                        current_asp_vols = asp_vols[i:i + 8]
                        current_dis_vols = dis_vols[i:i + 8]
                        current_asp_flow_rates = flow_rates[i:i + 8] if flow_rates else [None] * 8
                        current_dis_flow_rates = flow_rates[-i*8-8:len(flow_rates)-i*8] if flow_rates else [None] * 8
                        current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
                        current_dis_offset = offsets[-i*8-8:len(offsets)-i*8] if offsets else [None] * 8
                        current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
                        current_dis_liquid_height = liquid_height[-i*8-8:len(liquid_height)-i*8] if liquid_height else [None] * 8
                        current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
                        current_dis_blow_out_air_volume = blow_out_air_volume[-i*8-8:len(blow_out_air_volume)-i*8] if blow_out_air_volume else [None] * 8

                        await self.aspirate(
                            resources=current_reagent_sources,
                            vols=current_asp_vols,
                            use_channels=use_channels,
                            flow_rates=current_asp_flow_rates,
                            offsets=current_asp_offset,
                            liquid_height=current_asp_liquid_height,
                            blow_out_air_volume=current_asp_blow_out_air_volume,
                            spread=spread,
                        )
                        if delays is not None:
                            await self.custom_delay(seconds=delays[0])
                        await self.dispense(
                            resources=current_targets,
                            vols=current_dis_vols,
                            use_channels=use_channels,
                            flow_rates=current_dis_flow_rates,
                            offsets=current_dis_offset,
                            liquid_height=current_dis_liquid_height,
                            blow_out_air_volume=current_dis_blow_out_air_volume,
                            spread=spread,
                        )
                        if delays is not None:
                            await self.custom_delay(seconds=delays[1])

                        await self.mix(
                            targets=current_targets,
                            mix_time=mix_time,
                            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,
                        )
                        if delays is not None:
                            await self.custom_delay(seconds=delays[1])
                        await self.touch_tip(current_targets)
                        await self.discard_tips()


        # except Exception as e:
        #     traceback.print_exc()
        #     raise RuntimeError(f"Liquid addition failed: {e}") from e

    # ---------------------------------------------------------------
    # TRANSFER LIQUID ------------------------------------------------
    # ---------------------------------------------------------------
    async def transfer_liquid(
        self,
        sources: Sequence[Container],
        targets: Sequence[Container],
        tip_racks: Sequence[TipRack],
        *,
        use_channels: Optional[List[int]] = None,
        asp_vols: Union[List[float], float],
        dis_vols: Union[List[float], float],
        asp_flow_rates: Optional[List[Optional[float]]] = None,
        dis_flow_rates: Optional[List[Optional[float]]] = None,
        offsets: Optional[List[Coordinate]] = None,
        touch_tip: bool = False,
        liquid_height: Optional[List[Optional[float]]] = None,
        blow_out_air_volume: Optional[List[Optional[float]]] = None,
        spread: Literal["wide", "tight", "custom"] = "wide",
        is_96_well: bool = False,
        mix_stage: Optional[Literal["none", "before", "after", "both"]] = "none",
        mix_times: Optional[List[int]] = None,
        mix_vol: Optional[int] = None,
        mix_rate: Optional[int] = None,
        mix_liquid_height: Optional[float] = None,
        delays: Optional[List[int]] = None,
        none_keys: List[str] = [],
    ):
        """Transfer liquid from each *source* well/plate to the corresponding *target*.

        Parameters
        ----------
        asp_vols, dis_vols
            Single volume (µL) or list matching the number of transfers.
        sources, targets
            Same‑length sequences of containers (wells or plates). In 96‑well mode
            each must contain exactly one plate.
        tip_racks
            One or more TipRacks providing fresh tips.
        is_96_well
            Set *True* to use the 96‑channel head.
        """


        if is_96_well:
            pass  # This mode is not verified.
        else:
            if len(asp_vols) != len(targets):
                raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.")

            # 首先应该对任务分组，然后每次1个/8个进行操作处理
            if len(use_channels) == 1:
                for _ in range(len(targets)):
                    tip = []
                    for ___ in range(len(use_channels)):
                        tip.extend(next(self.current_tip))
                    await self.pick_up_tips(tip)

                    await self.aspirate(
                        resources=[sources[_]],
                        vols=[asp_vols[_]],
                        use_channels=use_channels,
                        flow_rates=[asp_flow_rates[0]] if asp_flow_rates else None,
                        offsets=[offsets[0]] if offsets else None,
                        liquid_height=[liquid_height[0]] if liquid_height else None,
                        blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume else None,
                        spread=spread,
                    )
                    if delays is not None:
                        await self.custom_delay(seconds=delays[0])
                    await self.dispense(
                        resources=[targets[_]],
                        vols=[dis_vols[_]],
                        use_channels=use_channels,
                        flow_rates=[dis_flow_rates[1]] if dis_flow_rates else None,
                        offsets=[offsets[1]] if offsets else None,
                        blow_out_air_volume=[blow_out_air_volume[1]] if blow_out_air_volume else None,
                        liquid_height=[liquid_height[1]] if liquid_height else None,
                        spread=spread,
                    )
                    if delays is not None:
                        await self.custom_delay(seconds=delays[1])
                    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,
                    )
                    if delays is not None:
                        await self.custom_delay(seconds=delays[1])
                    await self.touch_tip(targets[_])
                    await self.discard_tips()

            elif len(use_channels) == 8:
                # 对于8个的情况，需要判断此时任务是不是能被8通道移液站来成功处理
                if len(targets) % 8 != 0:
                    raise ValueError(f"Length of `targets` {len(targets)} must be a multiple of 8 for 8-channel mode.")

                # 8个8个来取任务序列

                for i in range(0, len(targets), 8):
                    # 取出8个任务
                    tip = []
                    for _ in range(len(use_channels)):
                        tip.extend(next(self.current_tip))
                    await self.pick_up_tips(tip)
                    current_targets = targets[i:i + 8]
                    current_reagent_sources = sources[i:i + 8]
                    current_asp_vols = asp_vols[i:i + 8]
                    current_dis_vols = dis_vols[i:i + 8]
                    current_asp_flow_rates = asp_flow_rates[i:i + 8]
                    current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
                    current_dis_offset = offsets[-i*8-8:len(offsets)-i*8] if offsets else [None] * 8
                    current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
                    current_dis_liquid_height = liquid_height[-i*8-8:len(liquid_height)-i*8] if liquid_height else [None] * 8
                    current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
                    current_dis_blow_out_air_volume = blow_out_air_volume[-i*8-8:len(blow_out_air_volume)-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] * 8

                    await self.aspirate(
                        resources=current_reagent_sources,
                        vols=current_asp_vols,
                        use_channels=use_channels,
                        flow_rates=current_asp_flow_rates,
                        offsets=current_asp_offset,
                        blow_out_air_volume=current_asp_blow_out_air_volume,
                        liquid_height=current_asp_liquid_height,
                        spread=spread,
                    )

                    if delays is not None:
                        await self.custom_delay(seconds=delays[0])
                    await self.dispense(
                        resources=current_targets,
                        vols=current_dis_vols,
                        use_channels=use_channels,
                        flow_rates=current_dis_flow_rates,
                        offsets=current_dis_offset,
                        blow_out_air_volume=current_dis_blow_out_air_volume,
                        liquid_height=current_dis_liquid_height,
                        spread=spread,
                    )
                    if delays is not None:
                        await self.custom_delay(seconds=delays[1])

                    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,
                    )
                    if delays is not None:
                        await self.custom_delay(seconds=delays[1])
                    await self.touch_tip(current_targets)
                    await self.discard_tips()
                    
    # except Exception as e:
    #     traceback.print_exc()
    #     raise RuntimeError(f"Liquid addition failed: {e}") from e


    # ---------------------------------------------------------------
    # Helper utilities
    # ---------------------------------------------------------------

    async def custom_delay(self, seconds=0, msg=None):
        """
        seconds: seconds to wait
        msg: information to be printed
        """
        if seconds != None and seconds > 0:
            if msg:
                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 asyncio.sleep(seconds)
            if msg:
                print(f"Done: {msg}")
                print(f"Current time: {time.strftime('%H:%M:%S')}")

    async def touch_tip(self, targets: Sequence[Container]):

        """Touch the tip to the side of the well."""

        if not self.support_touch_tip:
            return
        await self.aspirate(
            resources=[targets],
            vols=[0],
            use_channels=None,
            flow_rates=None,
            offsets=[Coordinate(x=-targets.get_size_x() / 2, y=0, z=0)],
            liquid_height=None,
            blow_out_air_volume=None,
        )
        # await self.custom_delay(seconds=1) # In the simulation, we do not need to wait
        await self.aspirate(
            resources=[targets],
            vols=[0],
            use_channels=None,
            flow_rates=None,
            offsets=[Coordinate(x=targets.get_size_x() / 2, y=0, z=0)],
            liquid_height=None,
            blow_out_air_volume=None,
        )

    async def mix(
        self,
        targets: Sequence[Container],
        mix_time: int = None,
        mix_vol: Optional[int] = None,
        height_to_bottom: Optional[float] = None,
        offsets: Optional[Coordinate] = None,
        mix_rate: Optional[float] = None,
        none_keys: List[str] = [],
    ):
        if mix_time is None:  # No mixing required
            return
        """Mix the liquid in the target wells."""
        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,
            )

    def iter_tips(self, tip_racks: Sequence[TipRack]) -> Iterator[Resource]:
        """Yield tips from a list of TipRacks one-by-one until depleted."""
        for rack in tip_racks:
            for tip in rack:
                yield tip
        raise RuntimeError("Out of tips!")

    def set_tiprack(self, tip_racks: Sequence[TipRack]):
        """Set the tip racks for the liquid handler."""

        self.tip_racks = tip_racks
        tip_iter = self.iter_tips(tip_racks)
        self.current_tip = tip_iter

    async def move_to(self, well: Well, dis_to_top: float = 0, channel: int = 0):
        """
        Move a single channel to a specific well with a given z-height.

        Parameters
        ----------
        well : Well
            The target well.
        dis_to_top : float
            Height in mm to move to relative to the well top.
        channel : int
            Pipetting channel to move (default: 0).
        """
        await self.prepare_for_manual_channel_operation(channel=channel)
        abs_loc = well.get_absolute_location()
        well_height = well.get_absolute_size_z()
        await self.move_channel_x(channel, abs_loc.x)
        await self.move_channel_y(channel, abs_loc.y)
        await self.move_channel_z(channel, abs_loc.z + well_height + dis_to_top)