修改物料位置与初始化位置计算方法

unilabos/app/ws_client.py

@@ -1369,6 +1369,10 @@ class WebSocketClient(BaseCommunicationClient):
         self.message_processor = MessageProcessor(self.websocket_url, self.send_queue, self.device_manager)
         self.queue_processor = QueueProcessor(self.device_manager, self.message_processor)
 
+        # running状态debounce缓存: {job_id: (last_send_timestamp, last_feedback_data)}
+        self._job_running_last_sent: Dict[str, tuple] = {}
+        self._job_running_debounce_interval: float = 10.0  # 秒
+
         # 设置相互引用
         self.message_processor.set_queue_processor(self.queue_processor)
         self.message_processor.set_websocket_client(self)
@@ -1468,22 +1472,32 @@ class WebSocketClient(BaseCommunicationClient):
             logger.debug(f"[WebSocketClient] Not connected, cannot publish job status for job_id: {item.job_id}")
             return
 
+        job_log = format_job_log(item.job_id, item.task_id, item.device_id, item.action_name)
+
         # 拦截最终结果状态，与原版本逻辑一致
         if status in ["success", "failed"]:
+            self._job_running_last_sent.pop(item.job_id, None)
+
             host_node = HostNode.get_instance(0)
             if host_node:
-                # 从HostNode的device_action_status中移除job_id
                 try:
                     host_node._device_action_status[item.device_action_key].job_ids.pop(item.job_id, None)
                 except (KeyError, AttributeError):
                     logger.warning(f"[WebSocketClient] Failed to remove job {item.job_id} from HostNode status")
 
-            # logger.debug(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
-
-            # 通知队列处理器job完成（包括timeout的job）
             self.queue_processor.handle_job_completed(item.job_id, status)
 
-        # 发送job状态消息
+        # running状态按job_id做debounce，内容变化时仍然上报
+        if status == "running":
+            now = time.time()
+            cached = self._job_running_last_sent.get(item.job_id)
+            if cached is not None:
+                last_ts, last_data = cached
+                if now - last_ts < self._job_running_debounce_interval and last_data == feedback_data:
+                    logger.trace(f"[WebSocketClient] Job status debounced (skip): {job_log} - {status}")
+                    return
+            self._job_running_last_sent[item.job_id] = (now, feedback_data)
+
         message = {
             "action": "job_status",
             "data": {
@@ -1499,7 +1513,6 @@ class WebSocketClient(BaseCommunicationClient):
         }
         self.message_processor.send_message(message)
 
-        job_log = format_job_log(item.job_id, item.task_id, item.device_id, item.action_name)
         logger.trace(f"[WebSocketClient] Job status published: {job_log} - {status}")
 
     def send_ping(self, ping_id: str, timestamp: float) -> None:

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -797,10 +797,9 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         self.x_offset = x_offset
         self.y_offset = y_offset
         self.xy_coupling = xy_coupling
-        self.left_2_claw = Coordinate(-130.2, 34, -134)
+        self.left_2_claw = Coordinate(-130.2, 34, -74)
         self.right_2_left = Coordinate(22,-1, 11)
-        plate_positions = []
+        self.tip_height = 0
-
         tablets_info = []
 
         if is_9320 is None:
@@ -989,12 +988,14 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
 
     def plr_pos_to_prcxi(self, resource: Resource, offset: Coordinate = Coordinate(0, 0, 0)):
         z_pos = 'c'
-        if isinstance(resource, Tip):
+        tip_height = self.tip_height
-            z_pos = 'b'
+        if isinstance(resource, TipSpot):
+            z_pos = 't'
+            tip_height = 0
         resource_pos = resource.get_absolute_location(x="c",y="c",z=z_pos)
         x = resource_pos.x 
         y = resource_pos.y 
-        z = resource_pos.z
+        z = resource_pos.z + tip_height
         # 如果z等于0，则递归resource.parent的高度并向z加，使用get_size_z方法
 
         parent = resource.parent
@@ -1157,6 +1158,49 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         _dis_list = dis_vols if isinstance(dis_vols, list) else [dis_vols]
         if all(v <= 10.0 for v in _asp_list) and all(v <= 10.0 for v in _dis_list):
             use_channels = [1]
+            mix_vol = max(min(mix_vol,10),0)
+        sources = await self._resolve_to_plr_resources(sources)
+        targets = await self._resolve_to_plr_resources(targets)
+        tip_racks = list(await self._resolve_to_plr_resources(tip_racks))
+        change_slots = []
+        change_slots.append(sources[0].parent)
+        change_slots.append(targets[0].parent)
+        if isinstance(tip_racks[0], TipRack):
+            tip_rack = tip_racks[0]
+        else:
+            tip_rack = tip_racks[0].parent
+
+        change_slots.append(tip_rack)
+        
+        self.tip_height = tip_rack.children[0].get_size_z()
+
+        change_slots_positions = []
+        for slot in change_slots:
+        
+            number = self._get_slot_number(slot)
+            
+            pip_pos = self.plr_pos_to_prcxi(slot.children[0], self.left_2_claw)
+            half_x = slot.children[0].get_size_x() / 2 * abs(1 + self.x_increase)
+            z_wall = slot.children[0].get_size_z()
+
+            change_slots_positions.append({
+                "Number": number,
+                "XPos": pip_pos.x,
+                "YPos": pip_pos.y,
+                "ZPos": pip_pos.z, 
+                "X_Left": half_x,
+                "X_Right": half_x,
+                "ZAgainstTheWall": pip_pos.z - z_wall,
+                "X2Pos": pip_pos.x + self.right_2_left.x,
+                "Y2Pos": pip_pos.y + self.right_2_left.y,
+                "Z2Pos": pip_pos.z + self.right_2_left.z,
+                "X2_Left": half_x,
+                "X2_Right": half_x,
+                "ZAgainstTheWall2": pip_pos.z - z_wall,
+            })
+        if change_slots_positions:
+            self._unilabos_backend.api_client.update_pipetting_position(self._unilabos_backend.matrix_id, change_slots_positions)
+
 
         res =  await super().transfer_liquid(
             sources,
@@ -1708,6 +1752,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
         assert mix_time > 0
         step = self.api_client.Blending(
+            axis=axis,
             dosage=mix_vol,
             plate_no=PlateNo,
             is_whole_plate=False,

unilabos/devices/liquid_handling/prcxi/prcxi_labware.py

@@ -418,7 +418,7 @@ def PRCXI_10ul_eTips(name: str) -> PRCXI9300TipRack:
             item_dy=9.0,
             size_x=7.5,
             size_y=7.5,
-            size_z=0.0,
+            size_z=52.0,
             make_tip=lambda: _make_tip_helper(volume=10.0, length=52.0, depth=8.2)
         )
     )
@@ -445,7 +445,7 @@ def PRCXI_300ul_Tips(name: str) -> PRCXI9300TipRack:
             item_dy=9.0,
             size_x=7.5,
             size_y=7.5,
-            size_z=0.0,
+            size_z=60.0,
             make_tip=lambda: _make_tip_helper(volume=300.0, length=60.0, depth=8.2)
         )
     )
@@ -497,7 +497,7 @@ def PRCXI_10uL_Tips(name: str) -> PRCXI9300TipRack:
             item_dy=9.0,
             size_x=7.5,
             size_y=7.5,
-            size_z=0.0,
+            size_z=52.0,
             make_tip=lambda: _make_tip_helper(volume=10.0, length=52.0, depth=8.2)
         )
     )
@@ -549,7 +549,7 @@ def PRCXI_200uL_Tips(name: str) -> PRCXI9300TipRack:
             item_dy=9.0,
             size_x=7.0,
             size_y=7.0,
-            size_z=0.0,
+            size_z=60.0,
             make_tip=lambda: _make_tip_helper(volume=300.0, length=60.0, depth=51.0)
         )
     )
@@ -575,7 +575,7 @@ def PRCXI_50uL_tips(name: str) -> PRCXI9300TipRack:
             item_dy=9.0,
             size_x=7.5,
             size_y=7.5,
-            size_z=0.0,
+            size_z=53.0,
             make_tip=lambda: _make_tip_helper(volume=50.0, length=53.0, depth=8.2)
         )
     )