修改transfer liquid方法

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -103,7 +103,7 @@ class PRCXI9300Deck(Deck):
 
     def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
                  sites: Optional[List[Dict[str, Any]]] = None, **kwargs):
-        super().__init__(size_x, size_y, size_z, name)
+        super().__init__(name, size_x, size_y, size_z)
         if sites is not None:
             self.sites: List[Dict[str, Any]] = [dict(s) for s in sites]
         else:
@@ -120,6 +120,7 @@ class PRCXI9300Deck(Deck):
         self._ordering = collections.OrderedDict(
             (site["label"], None) for site in self.sites
         )
+        self.root = self.get_root()
 
     def _get_site_location(self, idx: int) -> Coordinate:
         pos = self.sites[idx]["position"]
@@ -162,7 +163,10 @@ class PRCXI9300Deck(Deck):
             raise ValueError(f"No available site on deck '{self.name}' for resource '{resource.name}'")
 
         if not reassign and self._get_site_resource(idx) is not None:
-            raise ValueError(f"Site {idx} ('{self.sites[idx]['label']}') is already occupied")
+            existing = self.root.get_resource(resource.name)
+            if existing is not resource and existing.parent is not None:
+                existing.parent.unassign_child_resource(existing)
+
 
         loc = self._get_site_location(idx)
         super().assign_child_resource(resource, location=loc, reassign=reassign)
@@ -794,6 +798,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         touch_tip: bool = False,
         liquid_height: Optional[List[Optional[float]]] = None,
         blow_out_air_volume: Optional[List[Optional[float]]] = None,
+        blow_out_air_volume_before: 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",
@@ -819,6 +824,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
             touch_tip=touch_tip,
             liquid_height=liquid_height,
             blow_out_air_volume=blow_out_air_volume,
+            blow_out_air_volume_before=blow_out_air_volume_before,
             spread=spread,
             is_96_well=is_96_well,
             mix_stage=mix_stage,

unilabos/registry/devices/liquid_handler.yaml

@@ -4976,13 +4976,13 @@ liquid_handler.biomek:
             handler_key: tip_rack
             label: tip_rack
           output:
-          - data_key: liquid
+          - data_key: sources
             data_source: handle
             data_type: resource
             handler_key: sources_out
             label: sources
-          - data_key: liquid
+          - data_key: targets
-            data_source: executor
+            data_source: handle
             data_type: resource
             handler_key: targets_out
             label: targets
@@ -7656,6 +7656,43 @@ liquid_handler.prcxi:
           title: iter_tips参数
           type: object
         type: UniLabJsonCommand
+      auto-magnetic_action:
+        feedback: {}
+        goal: {}
+        goal_default:
+          height: null
+          is_wait: null
+          module_no: null
+          time: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                height:
+                  type: integer
+                is_wait:
+                  type: boolean
+                module_no:
+                  type: integer
+                time:
+                  type: integer
+              required:
+              - time
+              - module_no
+              - height
+              - is_wait
+              type: object
+            result: {}
+          required:
+          - goal
+          title: magnetic_action参数
+          type: object
+        type: UniLabJsonCommandAsync
       auto-move_to:
         feedback: {}
         goal: {}
@@ -7689,6 +7726,31 @@ liquid_handler.prcxi:
           title: move_to参数
           type: object
         type: UniLabJsonCommandAsync
+      auto-plr_pos_to_prcxi:
+        feedback: {}
+        goal: {}
+        goal_default:
+          resource: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                resource:
+                  type: object
+              required:
+              - resource
+              type: object
+            result: {}
+          required:
+          - goal
+          title: plr_pos_to_prcxi参数
+          type: object
+        type: UniLabJsonCommand
       auto-post_init:
         feedback: {}
         goal: {}
@@ -7809,6 +7871,47 @@ liquid_handler.prcxi:
           title: shaker_action参数
           type: object
         type: UniLabJsonCommandAsync
+      auto-shaking_incubation_action:
+        feedback: {}
+        goal: {}
+        goal_default:
+          amplitude: null
+          is_wait: null
+          module_no: null
+          temperature: null
+          time: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                amplitude:
+                  type: integer
+                is_wait:
+                  type: boolean
+                module_no:
+                  type: integer
+                temperature:
+                  type: integer
+                time:
+                  type: integer
+              required:
+              - time
+              - module_no
+              - amplitude
+              - is_wait
+              - temperature
+              type: object
+            result: {}
+          required:
+          - goal
+          title: shaking_incubation_action参数
+          type: object
+        type: UniLabJsonCommandAsync
       auto-touch_tip:
         feedback: {}
         goal: {}
@@ -10034,116 +10137,28 @@ liquid_handler.prcxi:
         type: Transfer
       transfer_liquid:
         feedback: {}
-        goal:
+        goal: {}
-          asp_flow_rates: asp_flow_rates
-          asp_vols: asp_vols
-          blow_out_air_volume: blow_out_air_volume
-          delays: delays
-          dis_flow_rates: dis_flow_rates
-          dis_vols: dis_vols
-          is_96_well: is_96_well
-          liquid_height: liquid_height
-          mix_liquid_height: mix_liquid_height
-          mix_rate: mix_rate
-          mix_stage: mix_stage
-          mix_times: mix_times
-          mix_vol: mix_vol
-          none_keys: none_keys
-          offsets: offsets
-          sources: sources
-          spread: spread
-          targets: targets
-          tip_racks: tip_racks
-          touch_tip: touch_tip
-          use_channels: use_channels
         goal_default:
-          asp_flow_rates:
+          asp_flow_rates: null
-          - 0.0
+          asp_vols: null
-          asp_vols:
+          blow_out_air_volume: null
-          - 0.0
+          blow_out_air_volume_before: null
-          blow_out_air_volume:
+          delays: null
-          - 0.0
+          dis_flow_rates: null
-          delays:
+          dis_vols: null
-          - 0
-          dis_flow_rates:
-          - 0.0
-          dis_vols:
-          - 0.0
           is_96_well: false
-          liquid_height:
+          liquid_height: null
-          - 0.0
+          mix_liquid_height: null
-          mix_liquid_height: 0.0
+          mix_rate: null
-          mix_rate: 0
+          mix_stage: none
-          mix_stage: ''
+          mix_times: null
-          mix_times: 0
+          mix_vol: null
-          mix_vol: 0
+          none_keys: []
-          none_keys:
+          offsets: null
-          - ''
+          sources: null
-          offsets:
+          spread: wide
-          - x: 0.0
+          targets: null
-            y: 0.0
+          tip_racks: null
-            z: 0.0
-          sources:
-          - category: ''
-            children: []
-            config: ''
-            data: ''
-            id: ''
-            name: ''
-            parent: ''
-            pose:
-              orientation:
-                w: 1.0
-                x: 0.0
-                y: 0.0
-                z: 0.0
-              position:
-                x: 0.0
-                y: 0.0
-                z: 0.0
-            sample_id: ''
-            type: ''
-          spread: ''
-          targets:
-          - category: ''
-            children: []
-            config: ''
-            data: ''
-            id: ''
-            name: ''
-            parent: ''
-            pose:
-              orientation:
-                w: 1.0
-                x: 0.0
-                y: 0.0
-                z: 0.0
-              position:
-                x: 0.0
-                y: 0.0
-                z: 0.0
-            sample_id: ''
-            type: ''
-          tip_racks:
-          - category: ''
-            children: []
-            config: ''
-            data: ''
-            id: ''
-            name: ''
-            parent: ''
-            pose:
-              orientation:
-                w: 1.0
-                x: 0.0
-                y: 0.0
-                z: 0.0
-              position:
-                x: 0.0
-                y: 0.0
-                z: 0.0
-            sample_id: ''
-            type: ''
           touch_tip: false
           use_channels:
           - 0
@@ -10159,7 +10174,7 @@ liquid_handler.prcxi:
             data_type: resource
             handler_key: targets_identifier
             label: 转移目标
-          - data_key: tip_rack
+          - data_key: tip_racks
             data_source: handle
             data_type: resource
             handler_key: tip_rack_identifier
@@ -10183,11 +10198,7 @@ liquid_handler.prcxi:
         schema:
           description: ''
           properties:
-            feedback:
+            feedback: {}
-              properties: {}
-              required: []
-              title: LiquidHandlerTransfer_Feedback
-              type: object
             goal:
               properties:
                 asp_flow_rates:
@@ -10202,6 +10213,10 @@ liquid_handler.prcxi:
                   items:
                     type: number
                   type: array
+                blow_out_air_volume_before:
+                  items:
+                    type: number
+                  type: array
                 delays:
                   items:
                     maximum: 2147483647
@@ -10217,6 +10232,7 @@ liquid_handler.prcxi:
                     type: number
                   type: array
                 is_96_well:
+                  default: false
                   type: boolean
                 liquid_height:
                   items:
@@ -10229,6 +10245,7 @@ liquid_handler.prcxi:
                   minimum: -2147483648
                   type: integer
                 mix_stage:
+                  default: none
                   type: string
                 mix_times:
                   maximum: 2147483647
@@ -10239,6 +10256,7 @@ liquid_handler.prcxi:
                   minimum: -2147483648
                   type: integer
                 none_keys:
+                  default: []
                   items:
                     type: string
                   type: array
@@ -10334,6 +10352,7 @@ liquid_handler.prcxi:
                     type: object
                   type: array
                 spread:
+                  default: wide
                   type: string
                 targets:
                   items:
@@ -10486,6 +10505,7 @@ liquid_handler.prcxi:
                     type: object
                   type: array
                 touch_tip:
+                  default: false
                   type: boolean
                 use_channels:
                   items:
@@ -10494,45 +10514,221 @@ liquid_handler.prcxi:
                     type: integer
                   type: array
               required:
-              - asp_vols
-              - dis_vols
               - sources
               - targets
               - tip_racks
-              - use_channels
+              - asp_vols
-              - asp_flow_rates
+              - dis_vols
-              - dis_flow_rates
-              - offsets
-              - touch_tip
-              - liquid_height
-              - blow_out_air_volume
-              - spread
-              - is_96_well
-              - mix_stage
-              - mix_times
-              - mix_vol
-              - mix_rate
-              - mix_liquid_height
-              - delays
-              - none_keys
-              title: LiquidHandlerTransfer_Goal
               type: object
             result:
+              $defs:
+                ResourceDict:
+                  properties:
+                    class:
+                      description: Resource class name
+                      title: Class
+                      type: string
+                    config:
+                      additionalProperties: true
+                      description: Resource configuration
+                      title: Config
+                      type: object
+                    data:
+                      additionalProperties: true
+                      description: 'Resource data, eg: container liquid data'
+                      title: Data
+                      type: object
+                    description:
+                      default: ''
+                      description: Resource description
+                      title: Description
+                      type: string
+                    extra:
+                      additionalProperties: true
+                      description: 'Extra data, eg: slot index'
+                      title: Extra
+                      type: object
+                    icon:
+                      default: ''
+                      description: Resource icon
+                      title: Icon
+                      type: string
+                    id:
+                      description: Resource ID
+                      title: Id
+                      type: string
+                    model:
+                      additionalProperties: true
+                      description: Resource model
+                      title: Model
+                      type: object
+                    name:
+                      description: Resource name
+                      title: Name
+                      type: string
+                    parent:
+                      anyOf:
+                      - $ref: '#/$defs/ResourceDict'
+                      - type: 'null'
+                      default: null
+                      description: Parent resource object
+                    parent_uuid:
+                      anyOf:
+                      - type: string
+                      - type: 'null'
+                      default: null
+                      description: Parent resource uuid
+                      title: Parent Uuid
+                    pose:
+                      $ref: '#/$defs/ResourceDictPosition'
+                      description: Resource position
+                    schema:
+                      additionalProperties: true
+                      description: Resource schema
+                      title: Schema
+                      type: object
+                    type:
+                      anyOf:
+                      - const: device
+                        type: string
+                      - type: string
+                      description: Resource type
+                      title: Type
+                    uuid:
+                      description: Resource UUID
+                      title: Uuid
+                      type: string
+                  required:
+                  - id
+                  - uuid
+                  - name
+                  - type
+                  - class
+                  - config
+                  - data
+                  - extra
+                  title: ResourceDict
+                  type: object
+                ResourceDictPosition:
+                  properties:
+                    cross_section_type:
+                      default: rectangle
+                      description: Cross section type
+                      enum:
+                      - rectangle
+                      - circle
+                      - rounded_rectangle
+                      title: Cross Section Type
+                      type: string
+                    layout:
+                      default: x-y
+                      description: Resource layout
+                      enum:
+                      - 2d
+                      - x-y
+                      - z-y
+                      - x-z
+                      title: Layout
+                      type: string
+                    position:
+                      $ref: '#/$defs/ResourceDictPositionObject'
+                      description: Resource position
+                    position3d:
+                      $ref: '#/$defs/ResourceDictPositionObject'
+                      description: Resource position in 3D space
+                    rotation:
+                      $ref: '#/$defs/ResourceDictPositionObject'
+                      description: Resource rotation
+                    scale:
+                      $ref: '#/$defs/ResourceDictPositionScale'
+                      description: Resource scale
+                    size:
+                      $ref: '#/$defs/ResourceDictPositionSize'
+                      description: Resource size
+                  title: ResourceDictPosition
+                  type: object
+                ResourceDictPositionObject:
+                  properties:
+                    x:
+                      default: 0.0
+                      description: X coordinate
+                      title: X
+                      type: number
+                    y:
+                      default: 0.0
+                      description: Y coordinate
+                      title: Y
+                      type: number
+                    z:
+                      default: 0.0
+                      description: Z coordinate
+                      title: Z
+                      type: number
+                  title: ResourceDictPositionObject
+                  type: object
+                ResourceDictPositionScale:
+                  properties:
+                    x:
+                      default: 0.0
+                      description: x scale
+                      title: X
+                      type: number
+                    y:
+                      default: 0.0
+                      description: y scale
+                      title: Y
+                      type: number
+                    z:
+                      default: 0.0
+                      description: z scale
+                      title: Z
+                      type: number
+                  title: ResourceDictPositionScale
+                  type: object
+                ResourceDictPositionSize:
+                  properties:
+                    depth:
+                      default: 0.0
+                      description: Depth
+                      title: Depth
+                      type: number
+                    height:
+                      default: 0.0
+                      description: Height
+                      title: Height
+                      type: number
+                    width:
+                      default: 0.0
+                      description: Width
+                      title: Width
+                      type: number
+                  title: ResourceDictPositionSize
+                  type: object
               properties:
-                return_info:
+                sources:
-                  type: string
+                  items:
-                success:
+                    items:
-                  type: boolean
+                      $ref: '#/$defs/ResourceDict'
+                    type: array
+                  title: Sources
+                  type: array
+                targets:
+                  items:
+                    items:
+                      $ref: '#/$defs/ResourceDict'
+                    type: array
+                  title: Targets
+                  type: array
               required:
-              - return_info
+              - sources
-              - success
+              - targets
-              title: LiquidHandlerTransfer_Result
+              title: TransferLiquidReturn
               type: object
           required:
           - goal
-          title: LiquidHandlerTransfer
+          title: transfer_liquid参数
           type: object
-        type: LiquidHandlerTransfer
+        type: UniLabJsonCommandAsync
     module: unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Handler
     status_types:
       reset_ok: bool
@@ -10555,6 +10751,12 @@ liquid_handler.prcxi:
           type: string
         deck:
           type: object
+        deck_y:
+          default: 400
+          type: string
+        deck_z:
+          default: 300
+          type: string
         host:
           type: string
         is_9320:
@@ -10565,17 +10767,44 @@ liquid_handler.prcxi:
           type: string
         port:
           type: integer
+        rail_interval:
+          default: 0
+          type: string
+        rail_nums:
+          default: 4
+          type: string
+        rail_width:
+          default: 27.5
+          type: string
         setup:
           default: true
           type: string
         simulator:
           default: false
           type: string
+        start_rail:
+          default: 2
+          type: string
         step_mode:
           default: false
           type: string
         timeout:
           type: number
+        x_increase:
+          default: -0.003636
+          type: string
+        x_offset:
+          default: -0.8
+          type: string
+        xy_coupling:
+          default: -0.0045
+          type: string
+        y_increase:
+          default: -0.003636
+          type: string
+        y_offset:
+          default: -37.98
+          type: string
       required:
       - deck
       - host

unilabos/resources/resource_tracker.py

@@ -534,10 +534,17 @@ class ResourceTreeSet(object):
             trees.append(tree_instance)
         return cls(trees)
 
-    def to_plr_resources(self, skip_devices=True) -> List["PLRResource"]:
+    def to_plr_resources(
+        self, skip_devices: bool = True, requested_uuids: Optional[List[str]] = None
+    ) -> List["PLRResource"]:
         """
         将 ResourceTreeSet 转换为 PLR 资源列表
 
+        Args:
+            skip_devices: 是否跳过 device 类型节点
+            requested_uuids: 若指定，则按此 UUID 顺序返回对应资源（用于批量查询时一一对应），
+                否则返回各树的根节点列表
+
         Returns:
             List[PLRResource]: PLR 资源实例列表
         """
@@ -691,12 +698,24 @@ class ResourceTreeSet(object):
                 plr_resources.append(plr_resource)
 
             except Exception as e:
-                logger.error(f"转换 PLR 资源失败: {e} {str(plr_dict)[:1000]}")
+                logger.error(f"转换 PLR 资源失败: {e}")
                 import traceback
 
                 logger.error(f"堆栈: {traceback.format_exc()}")
                 raise
 
+        if requested_uuids:
+            # 按请求的 UUID 顺序返回对应资源（从整棵树中按 uuid 提取）
+            result = []
+            for uid in requested_uuids:
+                if uid in tracker.uuid_to_resources:
+                    result.append(tracker.uuid_to_resources[uid])
+                else:
+                    raise ValueError(
+                        f"请求的 UUID {uid} 在资源树中未找到。"
+                        f"可用 UUID 数量: {len(tracker.uuid_to_resources)}"
+                    )
+            return result
         return plr_resources
 
     @classmethod

unilabos/workflow/common.py

@@ -386,12 +386,14 @@ def build_protocol_graph(
     slots_info = {}  # slot -> {labware, res_id}
     for labware_id, item in labware_info.items():
         slot = str(item.get("slot", ""))
+        labware = item.get("labware", "")
         if slot and slot not in slots_info:
-            res_id = f"plate_slot_{slot}"
+            res_id = f"{labware}_slot_{slot}"
             slots_info[slot] = {
-                "labware": item.get("labware", ""),
+                "labware": labware,
                 "res_id": res_id,
                 "labware_id": labware_id,
+                "object": item.get("object", ""),
             }
 
     # 创建 Group 节点，包含所有 create_resource 节点
@@ -414,8 +416,10 @@ def build_protocol_graph(
         node_id = str(uuid.uuid4())
         res_id = info["res_id"]
         res_type_name = info["labware"].lower().replace(".", "point")
+        object_type = info.get("object", "")
         res_type_name = f"lab_{res_type_name}"
-        
+        if object_type == "trash":
+            res_type_name = "PRCXI_trash"
         G.add_node(
             node_id,
             template_name="create_resource",
@@ -438,7 +442,7 @@ def build_protocol_graph(
             },
         )
         slot_to_create_resource[slot] = node_id
-        if "tip" in res_type_name and "rack" in res_type_name:
+        if object_type == "tiprack":
             resource_last_writer[info["labware_id"]] = f"{node_id}:labware"
         # create_resource 之间不需要 ready 连接
 
@@ -475,6 +479,8 @@ def build_protocol_graph(
         # res_id 不能有空格
         res_id = str(labware_id).replace(" ", "_")
         well_count = len(wells)
+        object_type = item.get("object", "")
+        liquid_volume = DEFAULT_LIQUID_VOLUME if object_type == "source" else 0
 
         node_id = str(uuid.uuid4())
         set_liquid_index += 1
@@ -495,7 +501,7 @@ def build_protocol_graph(
                 "plate": [],  # 通过连接传递
                 "well_names": wells,  # 孔位名数组，如 ["A1", "A3", "A5"]
                 "liquid_names": [res_id] * well_count,
-                "volumes": [DEFAULT_LIQUID_VOLUME] * well_count,
+                "volumes": [liquid_volume] * well_count,
             },
         )