修改部分移液逻辑

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -391,6 +391,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
                 except Exception:
                     free_volume = None
 
+
                 if isinstance(free_volume, (int, float)):
                     req = min(req, max(float(free_volume), 0.0))
                 safe.append(req)
@@ -934,6 +935,10 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     if (isinstance(local_history, list) and len(local_history) == 0
                             and isinstance(plr_history, list) and len(plr_history) > 0):
                         local_tracker.liquid_history = list(plr_history)
+                    elif (isinstance(local_history, list) and len(local_history) > 0
+                            and isinstance(plr_history, list) and len(plr_history) == 0):
+                        # 远端认为容器为空，重置本地 tracker 以保持同步
+                        local_tracker.liquid_history = []
                 resolved.append(local)
             if len(resolved) != len(uuids):
                 raise ValueError(
@@ -947,13 +952,17 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
             if isinstance(orig_dict, dict) and hasattr(res, "tracker"):
                 tracker = res.tracker
                 local_history = getattr(tracker, "liquid_history", None)
+                data = orig_dict.get("data") or {}
+                dict_history = data.get("liquid_history")
                 if isinstance(local_history, list) and len(local_history) == 0:
-                    data = orig_dict.get("data") or {}
-                    dict_history = data.get("liquid_history")
                     if isinstance(dict_history, list) and len(dict_history) > 0:
                         tracker.liquid_history = [
                             (name, float(vol)) for name, vol in dict_history
                         ]
+                elif isinstance(local_history, list) and len(local_history) > 0:
+                    if isinstance(dict_history, list) and len(dict_history) == 0:
+                        # 调用方认为容器为空，重置本地 tracker
+                        tracker.liquid_history = []
             result[idx] = res
         return result
 
@@ -1528,7 +1537,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         #         raise ValueError(f"dis_vols length must be equal to sources or targets length, but got {len_dis_vols} and {num_sources} and {num_targets}")
 
         if len(use_channels) != 8:
-            max_len = max(num_sources, num_targets)
+            max_len = max(num_sources, num_targets, len_asp_vols, len_dis_vols)
             prev_dropped = True  # 循环开始前通道上无 tip
             for i in range(max_len):
 
@@ -1663,7 +1672,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
 
         if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
             await self.mix(
-                targets=[targets[0]],
+                targets=[sources[0]],
                 mix_time=mix_times,
                 mix_vol=mix_vol,
                 offsets=offsets if offsets else None,
@@ -1852,76 +1861,141 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
     def iter_tips(self, tip_racks: Sequence[TipRack]) -> Iterator[Resource]:
         """Yield tips from a list of TipRacks one-by-one until depleted."""
         for rack in tip_racks:
-            if isinstance(rack, TipSpot):
-                yield rack
-            elif isinstance(rack, TipRack):
-                for item in rack:
-                    if isinstance(item, list):
-                        yield from item
-                    else:
-                        yield item
+            yield from self._iter_tips_single_rack_or_spot(rack)
+
+    def _iter_tips_single_rack_or_spot(self, rack: Resource) -> Iterator[Resource]:
+        """单盒或单孔：与 ``iter_tips`` 中单项逻辑一致，供扁平池构建复用。"""
+        if isinstance(rack, TipSpot):
+            yield rack
+        elif isinstance(rack, TipRack):
+            for item in rack:
+                if isinstance(item, list):
+                    yield from item
+                else:
+                    yield item
+
+    def _flatten_tips_from_one(self, rack: Resource) -> List[Resource]:
+        """将单个 TipRack/TipSpot 展开为孔位列表（顺序与 ``iter_tips`` 一致）。"""
+        return list(self._iter_tips_single_rack_or_spot(rack))
 
     def _get_next_tip(self):
-        """从 current_tip 迭代器获取下一个 tip，耗尽时抛出明确错误而非 StopIteration"""
+        """从按型号分组的扁平枪头池取下一孔；耗尽时抛出明确错误而非 StopIteration。"""
+        key = getattr(self, "_active_tip_type_key", None)
+        flat_map = getattr(self, "_tip_flat_spots", None)
+        if key is not None and flat_map is not None:
+            flat = flat_map.get(key)
+            if flat is not None and len(flat) > 0:
+                idx = self._tip_next_index.get(key, 0)
+                if idx < len(flat):
+                    self._tip_next_index[key] = idx + 1
+                    return flat[idx]
+                diag = (
+                    f"active_type_key={key}, next_index={idx}, pool_len={len(flat)}; "
+                    f"_tip_racks_by_type[{key}] count={len(self._tip_racks_by_type.get(key, []))}"
+                )
+                raise RuntimeError(
+                    "Tip rack exhausted: no more tips available for this tip type. "
+                    f"Diagnostics: {diag}"
+                )
+
+        if not hasattr(self, "current_tip"):
+            raise RuntimeError(
+                "No tip source: call set_tiprack with TipRack/TipSpot before picking tips."
+            )
         try:
             return next(self.current_tip)
         except StopIteration as e:
             diag_parts = []
-            tip_racks = getattr(self, 'tip_racks', None)
+            tip_racks = getattr(self, "tip_racks", None)
             if tip_racks is not None:
                 for idx, rack in enumerate(tip_racks):
-                    r_name = getattr(rack, 'name', '?')
+                    r_name = getattr(rack, "name", "?")
                     r_type = type(rack).__name__
                     is_tr = isinstance(rack, TipRack)
                     is_ts = isinstance(rack, TipSpot)
-                    n_children = len(getattr(rack, 'children', []))
+                    n_children = len(getattr(rack, "children", []))
                     diag_parts.append(
                         f"rack[{idx}] name={r_name}, type={r_type}, "
                         f"is_TipRack={is_tr}, is_TipSpot={is_ts}, children={n_children}"
                     )
             else:
                 diag_parts.append("tip_racks=None")
-            by_type = getattr(self, '_tip_racks_by_type', {})
+            by_type = getattr(self, "_tip_racks_by_type", {})
             diag_parts.append(f"_tip_racks_by_type keys={list(by_type.keys())}")
+            active = getattr(self, "_active_tip_type_key", None)
+            diag_parts.append(f"_active_tip_type_key={active}")
             raise RuntimeError(
-                f"Tip rack exhausted: no more tips available for transfer. "
+                "Tip rack exhausted: no more tips available for transfer. "
                 f"Diagnostics: {'; '.join(diag_parts)}"
             ) from e
 
+    @staticmethod
+    def _tip_type_key(rack: Resource) -> str:
+        """生成枪头盒的分组键：优先用 model（区分 10uL/300uL 等），否则回退到类名。"""
+        model = getattr(rack, "model", None)
+        if model and str(model).strip():
+            return str(model).strip()
+        return type(rack).__name__
+
+    def _register_rack(self, rack: Resource) -> None:
+        """将单个 TipRack/TipSpot 注册到按型号分组的扁平池（去重、不重置已消耗下标）。"""
+        if not isinstance(rack, (TipRack, TipSpot)):
+            return
+        rack_name = rack.name if hasattr(rack, "name") else str(id(rack))
+        if rack_name in self._seen_rack_names:
+            return
+        self._seen_rack_names.add(rack_name)
+        type_key = self._tip_type_key(rack)
+        self._tip_racks_by_type.setdefault(type_key, []).append(rack)
+        self._tip_flat_spots.setdefault(type_key, []).extend(self._flatten_tips_from_one(rack))
+        self._tip_next_index.setdefault(type_key, 0)
+
+    def _init_all_tip_pools(self) -> None:
+        """首次调用：从 deck 上一次性扫描所有 TipRack/TipSpot，构建完整的按型号扁平池。"""
+        self._tip_racks_by_type: Dict[str, List[TipRack]] = {}
+        self._seen_rack_names: Set[str] = set()
+        self._tip_flat_spots: Dict[str, List[Resource]] = {}
+        self._tip_next_index: Dict[str, int] = {}
+        self._tip_pools_initialized = True
+
+        # 遍历 deck 直接子资源，收集所有 TipRack
+        deck = getattr(self, "deck", None)
+        if deck is not None:
+            for child in deck.children:
+                self._register_rack(child)
+
     def set_tiprack(self, tip_racks: Sequence[TipRack]):
-        """Set the tip racks for the liquid handler.
+        """设置当前 transfer 使用的枪头类型。
 
-        Groups tip racks by type name (``type(rack).__name__``).
-        - Only actual TipRack / TipSpot instances are registered.
-        - If a rack has already been registered (by ``name``), it is skipped.
-        - If a rack is new and its type already exists, it is appended to that type's list.
-        - If the type is new, a new key-value pair is created.
+        首次调用时从 ``self.deck`` 一次性扫描所有 TipRack/TipSpot，按
+        ``model``（或 ``type(rack).__name__``）分组构建扁平枪头池与消费下标。
+        后续调用仅切换 ``_active_tip_type_key``，不重建池。
 
-        If the current ``tip_racks`` contain no valid TipRack/TipSpot (e.g. a
-        Plate was passed by mistake), the iterator falls back to all previously
-        registered racks.
+        同型号多次 transfer 时，游标接续（如 A1-A12 用完后继续 B1-B12），
+        而非从新盒 A1 重新开始。
         """
-        if not hasattr(self, '_tip_racks_by_type'):
-            self._tip_racks_by_type: Dict[str, List[TipRack]] = {}
-            self._seen_rack_names: Set[str] = set()
+        # —— 首次：全量初始化 ——
+        if not getattr(self, "_tip_pools_initialized", False):
+            self._init_all_tip_pools()
 
+        # 将本次传入但 deck 上不存在的新盒也注册进去（兜底）
         for rack in tip_racks:
-            if not isinstance(rack, (TipRack, TipSpot)):
-                continue
-            rack_name = rack.name if hasattr(rack, 'name') else str(id(rack))
-            if rack_name in self._seen_rack_names:
-                continue
-            self._seen_rack_names.add(rack_name)
-            type_key = type(rack).__name__
-            if type_key not in self._tip_racks_by_type:
-                self._tip_racks_by_type[type_key] = []
-            self._tip_racks_by_type[type_key].append(rack)
+            self._register_rack(rack)
 
+        # —— 切换当前激活的枪头类型（按 model 区分 10uL/300uL 等）——
+        first_valid = next(
+            (r for r in tip_racks if isinstance(r, (TipRack, TipSpot))),
+            None,
+        )
+        self._active_tip_type_key = (
+            self._tip_type_key(first_valid) if first_valid is not None else None
+        )
+
+        # 兼容旧路径（add_liquid / remove_liquid 等可能直接用 current_tip）
+        self.tip_racks = tip_racks
         valid_racks = [r for r in tip_racks if isinstance(r, (TipRack, TipSpot))]
         if not valid_racks:
             valid_racks = [r for racks in self._tip_racks_by_type.values() for r in racks]
-
-        self.tip_racks = tip_racks
         self.current_tip = self.iter_tips(valid_racks)
 
     async def move_to(self, well: Well, dis_to_top: float = 0, channel: int = 0):

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -881,6 +881,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
                 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]})
+                    slot_none.remove(number)
                     continue
 
             # 根据 resource 类型推断 materialEnum