From 0c55147ee4d69b9afe62cdf3427a0ddf82c07727 Mon Sep 17 00:00:00 2001
From: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
Date: Thu, 13 Nov 2025 17:30:21 +0800
Subject: [PATCH] prcxi example

---
 .../devices/liquid_handling/prcxi/prcxi.py    | 54 ++++++++++++++++++-
 .../liquid_handling/prcxi/prcxi_materials.py  | 21 ++++++++
 .../registry/resources/prcxi/tip_racks.yaml   | 14 +++++
 unilabos/resources/container.py               |  1 +
 4 files changed, 89 insertions(+), 1 deletion(-)
 create mode 100644 unilabos/devices/liquid_handling/prcxi/prcxi_materials.py

diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py
index a8677f49..1f938ae0 100644
--- a/unilabos/devices/liquid_handling/prcxi/prcxi.py
+++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py
@@ -145,6 +145,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         setup=True,
         debug=False,
         simulator=False,
+        step_mode=False,
         matrix_id="",
         is_9320=False,
     ):
@@ -158,6 +159,11 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
                 )
         if is_9320:
             print("当前设备是9320")
+        if step_mode:
+            if is_9320:
+                self.step_mode = step_mode
+            else:
+                print("9300设备不支持 单点动作模式")
         self._unilabos_backend = PRCXI9300Backend(
             tablets_info, host, port, timeout, channel_num, axis, setup, debug, matrix_id, is_9320
         )
@@ -344,6 +350,10 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         offsets: Optional[List[Coordinate]] = None,
         **backend_kwargs,
     ):
+        if self.step_mode:
+            await self.create_protocol(f"单点动作{time.time()}")
+            await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
+            await self.run_protocol()
         return await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
 
     async def aspirate(
@@ -1694,7 +1704,43 @@ if __name__ == "__main__":
 
     A = tree_to_list([resource_plr_to_ulab(deck)])
     with open("deck.json", "w", encoding="utf-8") as f:
-        json.dump(A, f, indent=4, ensure_ascii=False)
+        A.insert(0, {
+            "id": "PRCXI",
+            "name": "PRCXI",
+            "parent": None,
+            "type": "device",
+            "class": "liquid_handler.prcxi",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "deck": {
+                    "_resource_child_name": "PRCXI_Deck",
+                    "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck"
+                },
+                "host": "192.168.0.121",
+                "port": 9999,
+                "timeout": 10.0,
+                "axis": "Right",
+                "channel_num": 1,
+                "setup": False,
+                "debug": True,
+                "simulator": True,
+                "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
+                "is_9320": True
+            },
+            "data": {},
+            "children": [
+                "PRCXI_Deck"
+            ]
+        })
+        A[1]["parent"] = "PRCXI"
+        json.dump({
+            "nodes": A,
+            "links": []
+        }, f, indent=4, ensure_ascii=False)
 
     handler = PRCXI9300Handler(
         deck=deck,
@@ -1735,6 +1781,12 @@ if __name__ == "__main__":
     asyncio.run(handler.run_protocol())
     time.sleep(5)
     os._exit(0)
+
+
+    prcxi_api = PRCXI9300Api(host="192.168.0.121", port=9999)
+    prcxi_api.list_matrices()
+    prcxi_api.get_all_materials()
+
     # 第一种情景：一个孔往多个孔加液
     # plate_2_liquids = handler.set_group("water", [plate2.children[0]], [300])
     # plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23)
diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi_materials.py b/unilabos/devices/liquid_handling/prcxi/prcxi_materials.py
new file mode 100644
index 00000000..097ee0a1
--- /dev/null
+++ b/unilabos/devices/liquid_handling/prcxi/prcxi_materials.py
@@ -0,0 +1,21 @@
+import collections
+import json
+from pathlib import Path
+
+from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container
+
+
+prcxi_materials_path = str(Path(__file__).parent / "prcxi_material.json")
+with open(prcxi_materials_path, mode="r", encoding="utf-8") as f:
+    prcxi_materials = json.loads(f.read())
+
+
+def tip_adaptor_1250ul(name="Tip头适配器 1250uL") -> PRCXI9300Container:  # 必须传入一个name参数，是plr的规范要求
+    # tip_rack = PRCXI9300Container(name, prcxi_materials["name"]["Height"])
+    tip_rack = PRCXI9300Container(name, 1000,400,800, "tip_rack", collections.OrderedDict())
+    tip_rack.load_state({
+        "Materials": {"uuid": "7960f49ddfe9448abadda89bd1556936", "materialEnum": "0"}
+    })
+    return tip_rack
+
+
diff --git a/unilabos/registry/resources/prcxi/tip_racks.yaml b/unilabos/registry/resources/prcxi/tip_racks.yaml
index e74c17ad..7caff53d 100644
--- a/unilabos/registry/resources/prcxi/tip_racks.yaml
+++ b/unilabos/registry/resources/prcxi/tip_racks.yaml
@@ -10,3 +10,17 @@ prcxi_opentrons_96_tiprack_10ul:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
+
+
+tip_adaptor_1250ul_2:
+  category:
+    - prcxi
+  class:
+    module: unilabos.devices.liquid_handling.prcxi.prcxi_materials:tip_adaptor_1250ul
+    type: pylabrobot
+  description: Tip头适配器 1250uL
+  handles: [ ]
+  icon: ''
+  init_param_schema: { }
+  registry_type: resource
+  version: 1.0.0
\ No newline at end of file
diff --git a/unilabos/resources/container.py b/unilabos/resources/container.py
index 150d2a3a..d7a0e799 100644
--- a/unilabos/resources/container.py
+++ b/unilabos/resources/container.py
@@ -9,6 +9,7 @@ from unilabos.ros.msgs.message_converter import convert_from_ros_msg
 
 class RegularContainer(Container):
     def __init__(self, *args, **kwargs):
+        pose = kwargs.pop("pose", None)
         if "size_x" not in kwargs:
             kwargs["size_x"] = 0
         if "size_y" not in kwargs: