From ad05e8c73eb55c5e5ae8a5be2ec6c80e7ea0f9a5 Mon Sep 17 00:00:00 2001
From: q434343 <554662886@qq.com>
Date: Mon, 18 May 2026 02:34:29 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9Z=E8=BD=B4=E6=9C=80=E5=A4=A7?=
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---
 .../devices/liquid_handling/liquid_handler_abstract.py     | 7 ++++++-
 unilabos/devices/liquid_handling/prcxi/prcxi.py            | 4 ++--
 unilabos/test/experiments/prcxi_9320_slim.json             | 2 +-
 3 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py
index ad0b8267..6c8e7ff4 100644
--- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py
+++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py
@@ -158,6 +158,11 @@ class LiquidHandlerMiddleware(LiquidHandler):
 
         if self._simulator:
             return await self._simulate_handler.pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
+        # 让 PLR 走标准链路：tracker.remove_tip -> 成功 commit / 失败 rollback，
+        # 由此 TipSpot.has_tip() 自动反映为 False，符合 LiquidHandler 规范。
+        result = await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
+        for tip_spot in tip_spots:
+            tip_spot.empty()
         if hasattr(self, "_ros_node") and self._ros_node is not None:
             task = ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{"resources": tip_spots})
             submit_time = time.time()
@@ -166,7 +171,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
                     self._ros_node.lab_logger().info(f"pick_up_tips {tip_spots} 超时")
                     break
                 time.sleep(0.01)
-        return await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
+        return result
 
     async def drop_tips(
         self,
diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py
index 95731fcd..fa28218c 100644
--- a/unilabos/devices/liquid_handling/prcxi/prcxi.py
+++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py
@@ -1078,7 +1078,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
                     "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": max(min(pip_pos.z + self.right_2_left.z, self.max_z_pipetting),0),
+                    "Z2Pos": max(min((pip_pos.z + self.right_2_left.z), self.max_z_pipetting),0),
                     "X2_Left": half_x,
                     "X2_Right": half_x,
                     "ZAgainstTheWall2": pip_pos.z - z_wall,
@@ -2053,7 +2053,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
         step = self.api_client.Imbibing(
             axis=axis,
-            dosage=int(volumes[0]),
+            dosage=float(volumes[0]),
             plate_no=PlateNo,
             is_whole_plate=False,
             hole_row=hole_row,
diff --git a/unilabos/test/experiments/prcxi_9320_slim.json b/unilabos/test/experiments/prcxi_9320_slim.json
index 4c4ea49f..73ccd4a2 100644
--- a/unilabos/test/experiments/prcxi_9320_slim.json
+++ b/unilabos/test/experiments/prcxi_9320_slim.json
@@ -26,7 +26,7 @@
                 "is_9320": true,
                 "timeout": 10,
                 "matrix_id": "",
-                "simulator": true,
+                "simulator": false,
                 "channel_num": 2,
                 "step_mode": false,
                 "calibration_points": {