更新prcxi的版面更新与工作流上传方法

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -793,8 +793,8 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         rail_interval=0,
         x_increase = -0.003636,
         y_increase = -0.003636,
-        x_offset = -0.8,
-        y_offset = -37.98,
+        x_offset = 9.2,
+        y_offset = -27.98,
         deck_z = 300,
         deck_y = 400,
         rail_width=27.5,
@@ -809,28 +809,10 @@ 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.right_2_left = Coordinate(22,-1, 8)
         tablets_info = {}
         plate_positions = []
-        for child in deck.children:
-            number = int(child.name.replace("T", ""))
-
-            if child.children:
-                if "Material" in child.children[0]._unilabos_state:
-                    tablets_info[number] = child.children[0]._unilabos_state["Material"].get("uuid", "730067cf07ae43849ddf4034299030e9")
-                else:
-                    tablets_info[number] = "730067cf07ae43849ddf4034299030e9"
-            else:
-                tablets_info[number] = "730067cf07ae43849ddf4034299030e9"
-            pos = self.plr_pos_to_prcxi(child)
-            plate_positions.append(
-                {
-                    "Number": number,
-                    "XPos": pos.x,
-                    "YPos": pos.y,
-                    "ZPos": pos.z
-                }
-            )
 
         
         if is_9320:
@@ -850,8 +832,180 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         )
 
         super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num)
-    
-    def plr_pos_to_prcxi(self, resource: Resource):
+        self._first_transfer_done = False
+
+    @staticmethod
+    def _get_slot_number(resource) -> Optional[int]:
+        """从 resource 的 unilabos_extra["update_resource_site"]（如 "T13"）或位置反算槽位号。"""
+        extra = getattr(resource, "unilabos_extra", {}) or {}
+        site = extra.get("update_resource_site", "")
+        if site:
+            digits = "".join(c for c in str(site) if c.isdigit())
+            return int(digits) if digits else None
+        # 使用 resource.location.x 和 resource.location.y 反算槽位号
+        # 参考 _DEFAULT_SITE_POSITIONS: x = (i%4)*137.5+5, y = (int(i/4))*96+13
+        loc = getattr(resource, "location", None)
+        if loc is not None and loc.x is not None and loc.y is not None:
+            col = round((loc.x - 5) / 137.5)  # 0-3
+            row = round(3-(loc.y - 13) / 96)  # 0-3
+            idx = row * 4 + col  # 0-15
+            if 0 <= idx < 16:
+                return idx + 1  # 槽位号从 1 开始
+
+        return None
+
+    def _match_and_create_matrix(self):
+        """首次 transfer_liquid 时，根据 deck 上的 resource 自动匹配耗材并创建 WorkTabletMatrix。"""
+        backend = self._unilabos_backend
+        api = backend.api_client
+
+        if backend.matrix_id:
+            return
+
+        material_list = api.get_all_materials()
+        if not material_list:
+            return
+
+        # 按 materialEnum 分组: {enum_value: [material, ...]}
+        material_dict = {}
+        material_uuid_map = {}
+        for m in material_list:
+            enum_key = m.get("materialEnum")
+            material_dict.setdefault(enum_key, []).append(m)
+            if "uuid" in m:
+                material_uuid_map[m["uuid"]] = m
+
+        work_tablets = []
+        slot_none = [i for i in range(1, 17)]
+
+        for child in self.deck.children:
+
+            resource = child
+            number = self._get_slot_number(resource)
+            if number is None:
+                continue
+
+            # 如果 resource 已有 Material UUID，直接使用
+            if hasattr(resource, "_unilabos_state") and "Material" in getattr(resource, "_unilabos_state", {}):
+                mat_uuid = resource._unilabos_state["Material"].get("uuid")
+                if mat_uuid and mat_uuid in material_uuid_map:
+                    work_tablets.append({"Number": number, "Material": material_uuid_map[mat_uuid]})
+                    continue
+
+            # 根据 resource 类型推断 materialEnum
+            # MaterialEnum: Other=0, Tips=1, DeepWellPlate=2, PCRPlate=3, ELISAPlate=4, Reservoir=5, WasteBox=6
+            expected_enum = None
+            if isinstance(resource, PRCXI9300TipRack) or isinstance(resource, TipRack):
+                expected_enum = 1  # Tips
+            elif isinstance(resource, PRCXI9300Trash) or isinstance(resource, Trash):
+                expected_enum = 6  # WasteBox
+            elif isinstance(resource, (PRCXI9300Plate, Plate)):
+                expected_enum = None  # Plate 可能是 DeepWellPlate/PCRPlate/ELISAPlate，不限定
+
+
+            # 根据 expected_enum 筛选候选耗材列表
+            if expected_enum is not None:
+                candidates = material_dict.get(expected_enum, [])
+            else:
+                # expected_enum 未确定时，搜索所有耗材
+                candidates = material_list
+
+            # 根据 children 个数和容量匹配最相似的耗材
+            num_children = len(resource.children)
+            child_max_volume = None
+            if resource.children:
+                first_child = resource.children[0]
+                if hasattr(first_child, "max_volume") and first_child.max_volume is not None:
+                    child_max_volume = first_child.max_volume
+
+            best_material = None
+            best_score = float("inf")
+
+            for material in candidates:
+                hole_count = (material.get("HoleRow", 0) or 0) * (material.get("HoleColum", 0) or 0)
+                material_volume = material.get("Volume", 0) or 0
+
+                # 孔数差异（高权重优先匹配孔数）
+                hole_diff = abs(num_children - hole_count)
+                # 容量差异（归一化）
+                if child_max_volume is not None and material_volume > 0:
+                    vol_diff = abs(child_max_volume - material_volume) / material_volume
+                else:
+                    vol_diff = 0
+
+                score = hole_diff * 1000 + vol_diff
+                if score < best_score:
+                    best_score = score
+                    best_material = material
+
+            if best_material:
+                work_tablets.append({"Number": number, "Material": best_material})
+                slot_none.remove(number)
+
+        if not work_tablets:
+            return
+
+        matrix_id = str(uuid.uuid4())
+        matrix_info = {
+            "MatrixId": matrix_id,
+            "MatrixName": matrix_id,
+            "WorkTablets": work_tablets + 
+                            [{"Number": number, "Material": {"uuid": "730067cf07ae43849ddf4034299030e9"}} for number in slot_none],
+        }
+        res = api.add_WorkTablet_Matrix(matrix_info)
+        if res.get("Success"):
+            backend.matrix_id = matrix_id
+            backend.matrix_info = matrix_info
+
+            # 重新计算所有槽位的位置（初始化时 deck 可能为空，此时才有资源）
+            pipetting_positions = []
+            plate_positions = []
+            for child in self.deck.children:
+                number = self._get_slot_number(child)
+
+                if number is None:
+                    continue
+
+                pos = self.plr_pos_to_prcxi(child)
+                plate_positions.append({"Number": number, "XPos": pos.x, "YPos": pos.y, "ZPos": pos.z})
+
+                if child.children:
+                    pip_pos = self.plr_pos_to_prcxi(child.children[0], self.left_2_claw)
+                else:
+                    pip_pos = self.plr_pos_to_prcxi(child, Coordinate(50, self.left_2_claw.y, self.left_2_claw.z))
+                half_x = child.get_size_x() / 2 * abs(1 + self.x_increase)
+                z_wall = child.get_size_z()
+
+                pipetting_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 pipetting_positions:
+                api.update_pipetting_position(matrix_id, pipetting_positions)
+            # 更新 backend 中的 plate_positions
+            backend.plate_positions = plate_positions
+
+            if plate_positions:
+                api.update_clamp_jaw_position(matrix_id, plate_positions)
+
+
+            print(f"Auto-matched materials and created matrix: {matrix_id}")
+        else:
+            raise PRCXIError(f"Failed to create auto-matched matrix: {res.get('Message', 'Unknown error')}")
+
+    def plr_pos_to_prcxi(self, resource: Resource, offset: Coordinate = Coordinate(0, 0, 0)):
         resource_pos = resource.get_absolute_location(x="c",y="c",z="t")
         x = resource_pos.x 
         y = resource_pos.y 
@@ -869,9 +1023,9 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         prcxi_y = (self.deck_y - y)*(1+self.y_increase) + self.y_offset
         prcxi_z = self.deck_z - z
 
-        prcxi_x = min(max(0, prcxi_x),self.deck_x)
-        prcxi_y = min(max(0, prcxi_y),self.deck_y)
-        prcxi_z = min(max(0, prcxi_z),self.deck_z)
+        prcxi_x = min(max(0, prcxi_x+offset.x),self.deck_x)
+        prcxi_y = min(max(0, prcxi_y+offset.y),self.deck_y)
+        prcxi_z = min(max(0, prcxi_z+offset.z),self.deck_z)
 
         return Coordinate(prcxi_x, prcxi_y, prcxi_z)
 
@@ -1008,6 +1162,9 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         delays: Optional[List[int]] = None,
         none_keys: List[str] = [],
     ) -> TransferLiquidReturn:
+        if not self._first_transfer_done:
+            self._match_and_create_matrix()
+            self._first_transfer_done = True
         if self.step_mode:
             await self.create_protocol(f"transfer_liquid{time.time()}")
         res =  await super().transfer_liquid(
@@ -1069,10 +1226,6 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         offsets: Optional[List[Coordinate]] = None,
         **backend_kwargs,
     ):
-        if self.step_mode:
-            await self.create_protocol(f"单点动作{time.time()}")
-            await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
-            await self.run_protocol()
         return await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
 
     async def aspirate(
@@ -1432,7 +1585,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
                         await asyncio.sleep(1)
                 print("PRCXI9300 reset successfully.")
                 
-                self.api_client.update_clamp_jaw_position(self.matrix_id, self.plate_positions)
+                # self.api_client.update_clamp_jaw_position(self.matrix_id, self.plate_positions)
 
         except ConnectionRefusedError as e:
             raise RuntimeError(
@@ -1460,8 +1613,8 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         plate_indexes = []
         for op in ops:
             plate = op.resource.parent
-            deck = plate.parent.parent
-            plate_index = deck.children.index(plate.parent)
+            deck = plate.parent
+            plate_index = deck.children.index(plate)
             # print(f"Plate index: {plate_index}, Plate name: {plate.name}")
             # print(f"Number of children in deck: {len(deck.children)}")
 
@@ -1535,8 +1688,8 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         plate_indexes = []
         for op in ops:
             plate = op.resource.parent
-            deck = plate.parent.parent
-            plate_index = deck.children.index(plate.parent)
+            deck = plate.parent
+            plate_index = deck.children.index(plate)
             plate_indexes.append(plate_index)
         if len(set(plate_indexes)) != 1:
             raise ValueError(
@@ -1595,7 +1748,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         for op in targets:
             deck = op.parent.parent.parent
             plate = op.parent
-            plate_index = deck.children.index(plate.parent)
+            plate_index = deck.children.index(plate)
             plate_indexes.append(plate_index)
 
         if len(set(plate_indexes)) != 1:
@@ -1646,8 +1799,8 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         plate_indexes = []
         for op in ops:
             plate = op.resource.parent
-            deck = plate.parent.parent
-            plate_index = deck.children.index(plate.parent)
+            deck = plate.parent
+            plate_index = deck.children.index(plate)
             plate_indexes.append(plate_index)
 
         if len(set(plate_indexes)) != 1:
@@ -1703,8 +1856,8 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         plate_indexes = []
         for op in ops:
             plate = op.resource.parent
-            deck = plate.parent.parent
-            plate_index = deck.children.index(plate.parent)
+            deck = plate.parent
+            plate_index = deck.children.index(plate)
             plate_indexes.append(plate_index)
 
         if len(set(plate_indexes)) != 1:
@@ -1939,11 +2092,19 @@ class PRCXI9300Api:
 
     def update_clamp_jaw_position(self, target_matrix_id: str, plate_positions: List[Dict[str, Any]]):
         position_params = {
-            "MatrixId": target_matrix_id,  
+            "MatrixId": target_matrix_id,
             "WorkTablets": plate_positions
         }
         return self.call("IMatrix", "UpdateClampJawPosition", [position_params])
 
+    def update_pipetting_position(self, target_matrix_id: str, pipetting_positions: List[Dict[str, Any]]):
+        """UpdatePipettingPosition - 更新移液位置"""
+        position_params = {
+            "MatrixId": target_matrix_id,
+            "WorkTablets": pipetting_positions
+        }
+        return self.call("IMatrix", "UpdatePipettingPosition", [position_params])
+
     def add_WorkTablet_Matrix(self, matrix: MatrixInfo):
         return self.call("IMatrix", "AddWorkTabletMatrix2" if self.is_9320 else "AddWorkTabletMatrix", [matrix])