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修改Z轴最大值无法赋予的bug，

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q434343
2026-05-18 02:34:29 +08:00
parent 940abc3664
commit ad05e8c73e
3 changed files with 9 additions and 4 deletions
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7
unilabos/devices/liquid_handling/liquid_handler_abstract.py
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@@ -158,6 +158,11 @@ class LiquidHandlerMiddleware(LiquidHandler):
if self._simulator: if self._simulator:
return await self._simulate_handler.pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs) 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: 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}) task = ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{"resources": tip_spots})
submit_time = time.time() 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") self._ros_node.lab_logger().info(f"pick_up_tips {tip_spots} 超时")
break break
time.sleep(0.01) time.sleep(0.01)
return await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs) return result
async def drop_tips( async def drop_tips(
self, self,

4
unilabos/devices/liquid_handling/prcxi/prcxi.py
View File

@@ -1078,7 +1078,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
"ZAgainstTheWall": pip_pos.z - z_wall, "ZAgainstTheWall": pip_pos.z - z_wall,
"X2Pos": pip_pos.x + self.right_2_left.x, "X2Pos": pip_pos.x + self.right_2_left.x,
"Y2Pos": pip_pos.y + self.right_2_left.y, "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_Left": half_x,
"X2_Right": half_x, "X2_Right": half_x,
"ZAgainstTheWall2": pip_pos.z - z_wall, "ZAgainstTheWall2": pip_pos.z - z_wall,
@@ -2053,7 +2053,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
step = self.api_client.Imbibing( step = self.api_client.Imbibing(
axis=axis, axis=axis,
dosage=int(volumes[0]), dosage=float(volumes[0]),
plate_no=PlateNo, plate_no=PlateNo,
is_whole_plate=False, is_whole_plate=False,
hole_row=hole_row, hole_row=hole_row,

2
unilabos/test/experiments/prcxi_9320_slim.json
View File

@@ -26,7 +26,7 @@
"is_9320": true, "is_9320": true,
"timeout": 10, "timeout": 10,
"matrix_id": "", "matrix_id": "",
"simulator": true, "simulator": false,
"channel_num": 2, "channel_num": 2,
"step_mode": false, "step_mode": false,
"calibration_points": { "calibration_points": {