修改tracker的问题，在volumetracker报错时，禁用并进行下一步

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -10,6 +10,7 @@ from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, Liqu
 from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod
 from pylabrobot.liquid_handling.standard import GripDirection
 from pylabrobot.resources.errors import TooLittleLiquidError, TooLittleVolumeError
+from pylabrobot.resources.volume_tracker import no_volume_tracking
 from pylabrobot.resources import (
     Resource,
     TipRack,
@@ -213,48 +214,48 @@ class LiquidHandlerMiddleware(LiquidHandler):
         if spread == "":
             spread = "custom"
 
-        def _safe_aspirate_volumes(_resources: Sequence[Container], _vols: List[float]) -> List[float]:
-            """将 aspirate 体积裁剪到源容器当前液量及 tip 剩余容量范围内，避免 volume tracker 报错。"""
-            safe: List[float] = []
-            _head_owner = getattr(self, '_simulate_handler', None) or self
-            _head = getattr(_head_owner, 'head', {})
-            _channels = use_channels or list(range(len(_resources)))
-            for i, (res, vol) in enumerate(zip(_resources, _vols)):
-                req = max(float(vol), 0.0)
-                tracker_disabled = False
-                try:
+        for res in resources:
             tracker = getattr(res, "tracker", None)
-                    tracker_disabled = bool(getattr(tracker, "is_disabled", False))
-                    if not tracker_disabled:
-                        get_used = getattr(tracker, "get_used_volume", None)
-                        if callable(get_used):
-                            used_volume = get_used()
-                            if isinstance(used_volume, (int, float)) and used_volume > 0:
-                                req = min(req, float(used_volume))
-                except Exception:
-                    pass
-
-                if not tracker_disabled:
+            if tracker is None or getattr(tracker, "is_disabled", False):
+                continue
+            history = getattr(tracker, "liquid_history", None)
+            if tracker.get_used_volume() <= 0 and isinstance(history, list) and len(history) == 0:
+                fill_vol = tracker.max_volume if tracker.max_volume > 0 else 50000
                 try:
-                        ch = _channels[i] if i < len(_channels) else i
-                        if ch in _head and _head[ch].has_tip:
-                            _tip = _head[ch].get_tip()
-                            _tip_free = _tip.maximal_volume - _tip.tracker.get_used_volume()
-                            if _tip_free >= 0:
-                                req = min(req, _tip_free)
+                    tracker.add_liquid(fill_vol)
                 except Exception:
-                        pass
+                    tracker.liquid_history.append(("auto_init", fill_vol))
 
-                safe.append(req)
-            return safe
-
-        actual_vols = _safe_aspirate_volumes(resources, vols)
-        if actual_vols != vols and hasattr(self, "_ros_node") and self._ros_node is not None:
-            self._ros_node.lab_logger().warning(f"[aspirate] volume adjusted, requested_vols={vols}, actual_vols={actual_vols}")
         if self._simulator:
+            try:
                 return await self._simulate_handler.aspirate(
                     resources,
-                actual_vols,
+                    vols,
+                    use_channels,
+                    flow_rates,
+                    offsets,
+                    liquid_height,
+                    blow_out_air_volume,
+                    spread,
+                    **backend_kwargs,
+                )
+            except (TooLittleLiquidError, TooLittleVolumeError) as e:
+                tracker_info = []
+                for r in resources:
+                    t = r.tracker
+                    tracker_info.append(
+                        f"{r.name}(used={t.get_used_volume():.1f}, "
+                        f"free={t.get_free_volume():.1f}, max={r.max_volume})"
+                    )
+                if hasattr(self, "_ros_node") and self._ros_node is not None:
+                    self._ros_node.lab_logger().warning(
+                        f"[aspirate] volume tracker error, bypassing tracking. "
+                        f"error={e}, vols={vols}, trackers={tracker_info}"
+                    )
+                with no_volume_tracking():
+                    return await self._simulate_handler.aspirate(
+                        resources,
+                        vols,
                         use_channels,
                         flow_rates,
                         offsets,
@@ -266,7 +267,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
         try:
             await super().aspirate(
                 resources,
-                actual_vols,
+                vols,
                 use_channels,
                 flow_rates,
                 offsets,
@@ -279,7 +280,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
             if "Resource is too small to space channels" in str(e) and spread != "custom":
                 await super().aspirate(
                     resources,
-                    actual_vols,
+                    vols,
                     use_channels,
                     flow_rates,
                     offsets,
@@ -290,35 +291,15 @@ class LiquidHandlerMiddleware(LiquidHandler):
                 )
             else:
                 raise
-        except TooLittleLiquidError:
-            # 再兜底一次：按实时可用液量重算后重试，避免状态更新竞争导致的瞬时不足
-            retry_vols = _safe_aspirate_volumes(resources, actual_vols)
-            if any(v > 0 for v in retry_vols):
-                await super().aspirate(
-                    resources,
-                    retry_vols,
-                    use_channels,
-                    flow_rates,
-                    offsets,
-                    liquid_height,
-                    blow_out_air_volume,
-                    spread,
-                    **backend_kwargs,
-                )
-                actual_vols = retry_vols
-            else:
-                actual_vols = retry_vols
 
         res_samples = []
         res_volumes = []
-        # 处理 use_channels 为 None 的情况（通常用于单通道操作）
         if use_channels is None:
-            # 对于单通道操作，推断通道为 [0]
             channels_to_use = [0] * len(resources)
         else:
             channels_to_use = use_channels
 
-        for resource, volume, channel in zip(resources, actual_vols, channels_to_use):
+        for resource, volume, channel in zip(resources, vols, channels_to_use):
             sample_uuid_value = getattr(resource, "unilabos_extra", {}).get(EXTRA_SAMPLE_UUID, None)
             res_samples.append({"name": resource.name, "sample_uuid": sample_uuid_value})
             res_volumes.append(volume)
@@ -365,6 +346,32 @@ class LiquidHandlerMiddleware(LiquidHandler):
         actual_vols = _safe_dispense_volumes(resources, vols)
 
         if self._simulator:
+            try:
+                return await self._simulate_handler.dispense(
+                    resources,
+                    actual_vols,
+                    use_channels,
+                    flow_rates,
+                    offsets,
+                    liquid_height,
+                    blow_out_air_volume,
+                    spread,
+                    **backend_kwargs,
+                )
+            except (TooLittleLiquidError, TooLittleVolumeError) as e:
+                tracker_info = []
+                for r in resources:
+                    t = r.tracker
+                    tracker_info.append(
+                        f"{r.name}(used={t.get_used_volume():.1f}, "
+                        f"free={t.get_free_volume():.1f}, max={r.max_volume})"
+                    )
+                if hasattr(self, "_ros_node") and self._ros_node is not None:
+                    self._ros_node.lab_logger().warning(
+                        f"[dispense] volume tracker error, bypassing tracking. "
+                        f"error={e}, vols={actual_vols}, trackers={tracker_info}"
+                    )
+                with no_volume_tracking():
                     return await self._simulate_handler.dispense(
                         resources,
                         actual_vols,
@@ -859,6 +866,14 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     local = cast(Union[Container, TipRack], plr)
                 if hasattr(plr, "unilabos_extra") and hasattr(local, "unilabos_extra"):
                     local.unilabos_extra = getattr(plr, "unilabos_extra", {}).copy()
+                if local is not plr and hasattr(plr, "tracker") and hasattr(local, "tracker"):
+                    local_tracker = local.tracker
+                    plr_tracker = plr.tracker
+                    local_history = getattr(local_tracker, "liquid_history", None)
+                    plr_history = getattr(plr_tracker, "liquid_history", None)
+                    if (isinstance(local_history, list) and len(local_history) == 0
+                            and isinstance(plr_history, list) and len(plr_history) > 0):
+                        local_tracker.liquid_history = list(plr_history)
                 resolved.append(local)
             if len(resolved) != len(uuids):
                 raise ValueError(
@@ -868,8 +883,18 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
             resolved = _resolve_from_local_by_uuids()
 
         result = list(items)
-        for (idx, _), plr in zip(dict_items, resolved):
-            result[idx] = plr
+        for (idx, orig_dict), res in zip(dict_items, resolved):
+            if isinstance(orig_dict, dict) and hasattr(res, "tracker"):
+                tracker = res.tracker
+                local_history = getattr(tracker, "liquid_history", None)
+                if isinstance(local_history, list) and len(local_history) == 0:
+                    data = orig_dict.get("data") or {}
+                    dict_history = data.get("liquid_history")
+                    if isinstance(dict_history, list) and len(dict_history) > 0:
+                        tracker.liquid_history = [
+                            (name, float(vol)) for name, vol in dict_history
+                        ]
+            result[idx] = res
         return result
 
     @classmethod
@@ -1070,7 +1095,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     for _ in range(len(sources)):
                         tip = []
                         for __ in range(len(use_channels)):
-                            tip.extend(self._get_next_tip())
+                            tip.append(self._get_next_tip())
                         await self.pick_up_tips(tip)
                         await self.aspirate(
                             resources=[sources[_]],
@@ -1110,7 +1135,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     for i in range(0, len(sources), 8):
                         tip = []
                         for _ in range(len(use_channels)):
-                            tip.extend(self._get_next_tip())
+                            tip.append(self._get_next_tip())
                         await self.pick_up_tips(tip)
                         current_targets = waste_liquid[i : i + 8]
                         current_reagent_sources = sources[i : i + 8]
@@ -1204,7 +1229,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 for _ in range(len(targets)):
                     tip = []
                     for x in range(len(use_channels)):
-                        tip.extend(self._get_next_tip())
+                        tip.append(self._get_next_tip())
                     await self.pick_up_tips(tip)
 
                     await self.aspirate(
@@ -1256,7 +1281,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 for i in range(0, len(targets), 8):
                     tip = []
                     for _ in range(len(use_channels)):
-                        tip.extend(self._get_next_tip())
+                        tip.append(self._get_next_tip())
                     await self.pick_up_tips(tip)
                     current_targets = targets[i : i + 8]
                     current_reagent_sources = reagent_sources[i : i + 8]
@@ -1538,7 +1563,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         delays = kwargs.get('delays')
 
         tip = []
-        tip.extend(self._get_next_tip())
+        tip.append(self._get_next_tip())
         await self.pick_up_tips(tip)
         blow_out_air_volume_before_vol = 0.0
         if blow_out_air_volume_before is not None and len(blow_out_air_volume_before) > 0:
@@ -1741,9 +1766,13 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
     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:
+            if isinstance(rack, TipSpot):
+                yield rack
+            elif hasattr(rack, "get_all_items"):
+                yield from rack.get_all_items()
+            else:
                 for tip in rack:
                     yield tip
-        # raise RuntimeError("Out of tips!")
 
     def _get_next_tip(self):
         """从 current_tip 迭代器获取下一个 tip，耗尽时抛出明确错误而非 StopIteration"""