使用16个孔与固定tip头类型，来定位slot位置

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -783,12 +783,16 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         y_increase = -0.003636,
         x_offset = -1.8,
         y_offset = -37.48,
-        deck_z = 309.5,
+        deck_z = 235.5,
         deck_y = 400,
         rail_width=27.5,
         xy_coupling = -0.0045,
+        calibration_points: Optional[Dict[str, List[List[float]]]] = None,
+        calibration_labware_type: Optional[str] = "PRCXI_300ul_Tips",
     ):
 
+        self._rail_width = rail_width
+        self._rail_interval = rail_interval
         self.deck_x = (start_rail + rail_nums*5 + (rail_nums-1)*rail_interval) * rail_width
         self.deck_y = deck_y
         self.deck_z = deck_z
@@ -797,8 +801,14 @@ 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, -74)
-        self.right_2_left = Coordinate(22,-1, 11)
+        self._slot_prcxi_positions: Dict[int, Tuple[float, float]] = {}
+        self.calibration_labware_type = calibration_labware_type
+
+        if calibration_points is not None:
+            self.calibrate_from_points(calibration_points, labware_type=self.calibration_labware_type)
+
+        self.left_2_claw = Coordinate(130.2, -34, 74)
+        self.right_2_left = Coordinate(22,-1, 12)
         self.tip_height = 0
         tablets_info = []
 
@@ -876,9 +886,9 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
             # 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):
+            if isinstance(resource, TipRack):
                 expected_enum = 1  # Tips
-            elif isinstance(resource, PRCXI9300Trash) or isinstance(resource, Trash):
+            elif 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
@@ -940,21 +950,27 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
 
             # 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 = []
+            claw_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})
+                pos = self.plr_pos_to_prcxi(child, self.left_2_claw)
+                slot_pos = self._slot_prcxi_positions[number]
+                pos.x = slot_pos[0] - child.get_size_x() / 2 + self.left_2_claw.x
+                pos.y = slot_pos[1] - child.get_size_y() / 2 + self.left_2_claw.y
+                claw_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)
+                    pip_pos = self.plr_pos_to_prcxi(child.children[0])
                 else:
-                    pip_pos = self.plr_pos_to_prcxi(child, Coordinate(-100, self.left_2_claw.y, self.left_2_claw.z))
-                half_x = child.get_size_x() / 2 * abs(1 + self.x_increase)
+                    pip_pos = self.plr_pos_to_prcxi(child)
+                    pip_pos.x = slot_pos[0] - 40
+                    pip_pos.y = slot_pos[1] - child.get_size_y() / 2 
+                    pip_pos.z = pip_pos.z - 40
+                half_x = child.get_size_x() / 2
                 z_wall = child.get_size_z()
 
                 pipetting_positions.append({
@@ -975,18 +991,69 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
 
             if pipetting_positions:
                 api.update_pipetting_position(matrix_id, pipetting_positions)
-            # 更新 backend 中的 plate_positions
-            backend.plate_positions = plate_positions
+            # 更新 backend 中的 claw_positions
+            backend.claw_positions = claw_positions
 
-            if plate_positions:
-                api.update_clamp_jaw_position(matrix_id, plate_positions)
+            if claw_positions:
+                api.update_clamp_jaw_position(matrix_id, claw_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)):
+    def calibrate_from_points(
+        self,
+        calibration_points: Dict[str, List[List[float]]],
+        labware_type: Optional[str] = "PRCXI_300ul_Tips",
+    ):
+        """从实测 PRCXI 机器坐标直接计算每个 slot 的 PRCXI 原点坐标。
+
+        校准点是将参考物料放在各 slot 后，机器移至其 A1 位置所读取的
+        PRCXI 坐标。通过 ``labware_type`` 创建临时实例，取 ``children[0]``
+        （即 A1）的 location 作为偏移量，逆运算得 slot 原点。
+        line_1~line_N 依次对应 T1~T4, T5~T8, ...
+
+        Args:
+            calibration_points: ``{"line_1": [[px, py], ...], ...}``。
+                ``[0, 0]`` 表示该点无效，不计入。
+            labware_type: prcxi_labware 中的工厂函数名（如 ``"PRCXI_300ul_Tips"``）。
+                为 ``None`` 时 dx=dy=0，即校准点直接作为 slot 原点。
+        """
+        dx, dy = 0.0, 0.0
+        if labware_type is not None:
+            from . import prcxi_labware
+            factory = getattr(prcxi_labware, labware_type)
+            temp = factory("_calibration_ref")
+            a1 = temp.children[0]
+            dx, dy = a1.location.x + a1.get_size_x() / 2, a1.location.y + a1.get_size_y() / 2
+
+
+        sorted_keys = sorted(
+            calibration_points.keys(),
+            key=lambda k: int("".join(c for c in k if c.isdigit()) or "0"),
+        )
+
+        slot_number = 0
+        for key in sorted_keys:
+            for pt in calibration_points[key]:
+                slot_number += 1
+                if isinstance(pt, (list, tuple)) and len(pt) >= 2 and not (pt[0] == 0 and pt[1] == 0):
+                    self._slot_prcxi_positions[slot_number] = (
+                        float(pt[0]) + dx,
+                        float(pt[1]) + dy,
+                    )
+
+    def _find_slot_for_resource(self, resource: Resource) -> Optional[int]:
+        """沿 parent 链向上找到 Deck 的直接子节点，返回其槽位号。"""
+        current = resource
+        while current is not None:
+            if isinstance(current.parent, (PRCXI9300Deck, LiquidHandlerAbstract)):
+                return self._get_slot_number(current)
+            current = getattr(current, "parent", None)
+        return self._get_slot_number(resource)
+
+    def plr_pos_to_prcxi(self, resource: Resource, resource_offset: Coordinate = Coordinate(0, 0, 0), offset: Coordinate = Coordinate(0, 0, 0)):
         z_pos = 'c'
         tip_height = self.tip_height
         if isinstance(resource, TipSpot):
@@ -996,7 +1063,6 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         x = resource_pos.x 
         y = resource_pos.y 
         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
         res_z = resource.location.z
@@ -1004,14 +1070,21 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
             z += parent.get_size_z()
             res_z = parent.location.z
             parent = getattr(parent, "parent", None)
-        
-        prcxi_x = (self.deck_x - x)*(1+self.x_increase) + self.x_offset + self.xy_coupling * (self.deck_y - y)
-        prcxi_y = (self.deck_y - y)*(1+self.y_increase) + self.y_offset
+
+        slot_number = self._find_slot_for_resource(resource) if self._slot_prcxi_positions else None
+        if slot_number is not None and slot_number in self._slot_prcxi_positions and self.calibration_labware_type is not None:
+            slot_prcxi_x, slot_prcxi_y = self._slot_prcxi_positions[slot_number]
+            prcxi_x = slot_prcxi_x - resource.location.x - resource.get_size_x() / 2
+            prcxi_y = slot_prcxi_y - resource.location.y - resource.get_size_y() / 2
+        else:
+            prcxi_x = (self.deck_x - x)*(1+self.x_increase) + self.x_offset + self.xy_coupling * (self.deck_y - y)
+            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+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)
+        prcxi_x = min(max(0, prcxi_x+resource_offset.x),self.deck_x)
+        prcxi_y = min(max(0, prcxi_y+resource_offset.y),self.deck_y)
+        prcxi_z = min(max(0, prcxi_z+resource_offset.z),self.deck_z)
 
         return Coordinate(prcxi_x, prcxi_y, prcxi_z)
 
@@ -1158,7 +1231,7 @@ 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)
+            mix_vol = max(min(mix_vol,10),0) if mix_vol is not None else None
         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))
@@ -1179,7 +1252,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         
             number = self._get_slot_number(slot)
             
-            pip_pos = self.plr_pos_to_prcxi(slot.children[0], self.left_2_claw)
+            pip_pos = self.plr_pos_to_prcxi(slot.children[0])
             half_x = slot.children[0].get_size_x() / 2 * abs(1 + self.x_increase)
             z_wall = slot.children[0].get_size_z()
 
@@ -1215,7 +1288,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
             touch_tip=touch_tip,
             liquid_height=liquid_height,
             blow_out_air_volume=blow_out_air_volume,
-            blow_out_air_volume_before=blow_out_air_volume_before,
+            blow_out_air_volume_before=None,
             spread=spread,
             is_96_well=is_96_well,
             mix_stage=mix_stage,
@@ -1446,8 +1519,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         offset = pickup.offset
         pickup_distance_from_top = pickup.pickup_distance_from_top
         direction = pickup.direction
-
-        plate_number = int(resource.parent.name.replace("T", ""))
+        plate = resource.parent
+        deck = plate.parent
+        plate_number = self._deck_plate_slot_no(plate, deck)
         is_whole_plate = True
         balance_height = 0
         step = self.api_client.clamp_jaw_pick_up(plate_number, is_whole_plate, balance_height)
@@ -1460,7 +1534,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         plate_number = None
         target_plate_number = backend_kwargs.get("target_plate_number", None)
         if target_plate_number is not None:
-            plate_number = int(target_plate_number.name.replace("T", ""))
+            plate = target_plate_number
+            deck = plate.parent
+            plate_number = self._deck_plate_slot_no(plate, deck)
 
         is_whole_plate = True
         balance_height = 0
@@ -1558,7 +1634,7 @@ 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.claw_positions)
 
         except ConnectionRefusedError as e:
             raise RuntimeError(
@@ -1767,8 +1843,6 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
     async def aspirate(self, ops: List[SingleChannelAspiration], use_channels: List[int] = None):
         """Aspirate liquid from the specified resources."""
-        if ops[0].blow_out_air_volume and ops[0].volume == 0:
-            return
         if hasattr(use_channels, "tolist"):
             _use_channels = use_channels.tolist()
         else:
@@ -1810,8 +1884,11 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         PlateNo = plate_slots[0]
         hole_col = tip_columns[0] + 1
         hole_row = 1
+        assist_fun1 = ""
         if self.num_channels != 8:
             hole_row = tipspot_index % ny + 1
+        if ops[0].blow_out_air_volume is not None:
+            assist_fun1 = f"反向吸液({float(min(max(ops[0].blow_out_air_volume,0),10))}ul)"
 
         step = self.api_client.Imbibing(
             axis=axis,
@@ -1821,9 +1898,10 @@ class PRCXI9300Backend(LiquidHandlerBackend):
             hole_row=hole_row,
             hole_col=hole_col,
             blending_times=0,
-            balance_height=0,
+            balance_height=int(min(max(ops[0].liquid_height,0),10)),
             plate_or_hole=f"H{hole_col}-{ny},T{PlateNo}",
             hole_numbers="1,2,3,4,5,6,7,8",
+            assist_fun1=assist_fun1,
         )
         self.steps_todo_list.append(step)
 
@@ -1874,6 +1952,10 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         if self.num_channels != 8:
             hole_row = tipspot_index % ny + 1
 
+        assist_fun1 = ""
+        if ops[0].blow_out_air_volume is not None:
+            assist_fun1 = f"吹样({float(min(max(ops[0].blow_out_air_volume,0),10))}ul)"
+
         step = self.api_client.Tapping(
             axis=axis,
             dosage=int(volumes[0]),
@@ -1882,9 +1964,10 @@ class PRCXI9300Backend(LiquidHandlerBackend):
             hole_row=hole_row,
             hole_col=hole_col,
             blending_times=0,
-            balance_height=0,
+            balance_height=int(min(max(ops[0].liquid_height,0),10)),
             plate_or_hole=f"H{hole_col}-{ny},T{PlateNo}",
             hole_numbers="1,2,3,4,5,6,7,8",
+            assist_fun1=assist_fun1,
         )
         self.steps_todo_list.append(step)
 
@@ -2079,10 +2162,10 @@ class PRCXI9300Api:
         """GetWorkTabletMatrixById"""
         return self.call("IMatrix", "GetWorkTabletMatrixById", [matrix_id])
 
-    def update_clamp_jaw_position(self, target_matrix_id: str, plate_positions: List[Dict[str, Any]]):
+    def update_clamp_jaw_position(self, target_matrix_id: str, claw_positions: List[Dict[str, Any]]):
         position_params = {
             "MatrixId": target_matrix_id,
-            "WorkTablets": plate_positions
+            "WorkTablets": claw_positions
         }
         return self.call("IMatrix", "UpdateClampJawPosition", [position_params])
 

unilabos/test/experiments/prcxi_9320_slim.json

@@ -28,7 +28,13 @@
                 "matrix_id": "",
                 "simulator": false,
                 "channel_num": 2,
-                "step_mode": true
+                "step_mode": true,
+                "calibration_points": {
+                    "line_1": [[452.07,21.19], [313.88,21.19], [176.87,21.19], [39.08,21.19]],
+                    "line_2": [[415.67,116.68], [313.28,116.88], [176.58,116.69], [38.58,117.18]],
+                    "line_3": [[450.87,212.18], [312.98,212.38], [176.08,212.68], [38.08,213.18]],
+                    "line_4": [[450.08,307.68], [312.18,307.89], [175.18,308.18], [37.58,309.18]]
+                }
             },
             "data": {
                 "reset_ok": true

unilabos/workflow/common.py

@@ -217,6 +217,68 @@ def _tip_volume_hint(item: Dict[str, Any], labware_id: str) -> Optional[float]:
     return None
 
 
+def _flatten_transfer_vols(value: Any) -> List[float]:
+    """将 asp_vols/dis_vols 标量或列表展平为 float 列表，无法转换的项跳过。"""
+    if value is None:
+        return []
+    if isinstance(value, (list, tuple)):
+        out: List[float] = []
+        for v in value:
+            try:
+                out.append(float(v))
+            except (TypeError, ValueError):
+                continue
+        return out
+    try:
+        return [float(value)]
+    except (TypeError, ValueError):
+        return []
+
+
+def _tip_prcxi_class_for_max_ul(max_ul: float) -> str:
+    """按移液最大体积分档推介 PRCXI tip 类名：≤10 µL → 10µL；<300 → 300µL；否则 1000µL。"""
+    if max_ul <= 10:
+        return "PRCXI_10uL_Tips"
+    if max_ul < 300:
+        return "PRCXI_300ul_Tips"
+    return "PRCXI_1000uL_Tips"
+
+
+def _apply_tip_rack_class_from_transfer_volumes(
+    labware_info: Dict[str, Dict[str, Any]],
+    protocol_steps_refactored: List[Dict[str, Any]],
+) -> None:
+    """根据各 ``transfer_liquid`` 的 asp_vols/dis_vols 为对应 ``tip_racks`` 写入 ``prcxi_class_name``。"""
+    tip_to_max_ul: Dict[str, float] = {}
+
+    for step in protocol_steps_refactored:
+        if step.get("template_name") != "transfer_liquid":
+            continue
+        p = step.get("param") or {}
+        tip_key_raw = p.get("tip_racks")
+        if tip_key_raw is None or str(tip_key_raw).strip() == "":
+            continue
+        tip_key = str(tip_key_raw).strip()
+        if tip_key not in labware_info:
+            continue
+
+        nums = _flatten_transfer_vols(p.get("asp_vols", p.get("asp_vol"))) + _flatten_transfer_vols(
+            p.get("dis_vols", p.get("dis_vol"))
+        )
+        if not nums:
+            continue
+        step_max = max(nums)
+        tip_to_max_ul[tip_key] = max(tip_to_max_ul.get(tip_key, 0.0), step_max)
+
+    for tip_key, max_ul in tip_to_max_ul.items():
+        item = labware_info.get(tip_key)
+        if item is None:
+            continue
+        if _infer_reagent_kind(tip_key, item) != "tip_rack":
+            continue
+        item["prcxi_class_name"] = _tip_prcxi_class_for_max_ul(max_ul)
+
+
 def _volume_template_covers_requirement(template: Dict[str, Any], req: Optional[float], kind: str) -> bool:
     """有明确需求体积时，模板标称 Volume 必须 >= 需求；无 Volume 的模板不参与（trash 除外）。"""
     if kind == "trash":
@@ -636,11 +698,18 @@ def build_protocol_graph(
         labware_defs: 可选，``[{"id": "...", "num_wells": 96, "max_volume": 2200}, ...]`` 等，辅助 PRCXI 模板匹配
         preserve_tip_rack_incoming_class: 默认 True 时**仅 tip_rack** 不跑模板匹配（类名由传入的 class/labware 决定）；
             **其它载体**仍按 PRCXI 模板匹配。False 时 **全部**（含 tip_rack）都走模板匹配。
+
+    会先 ``refactor_data`` 规范化步骤，再根据 ``transfer_liquid`` 的 ``asp_vols``/``dis_vols`` 为对应
+    ``tip_racks`` 写入 ``prcxi_class_name``（最大体积 ``≤10`` → ``PRCXI_10uL_Tips``，``<300`` → ``PRCXI_300ul_Tips``，
+    否则 ``PRCXI_1000uL_Tips``）；无有效体积的步骤不覆盖。
     """
     G = WorkflowGraph()
     resource_last_writer = {}  # reagent_name -> "node_id:port"
     slot_to_create_resource = {}  # slot -> create_resource node_id
 
+    protocol_steps = refactor_data(protocol_steps, action_resource_mapping)
+    _apply_tip_rack_class_from_transfer_volumes(labware_info, protocol_steps)
+
     _apply_prcxi_labware_auto_match(
         labware_info,
         labware_defs,
@@ -651,8 +720,6 @@ def build_protocol_graph(
         preserve_tip_rack_incoming_class=preserve_tip_rack_incoming_class,
     )
 
-    protocol_steps = refactor_data(protocol_steps, action_resource_mapping)
-
     # ==================== 第一步：按 slot 去重创建 create_resource 节点 ====================
     # 按槽聚合：同一 slot 多条 reagent 时不能只取遍历顺序第一条，否则 tip 的 prcxi_class_name / object 会被其它条目盖住
     by_slot: Dict[str, List[Tuple[str, Dict[str, Any]]]] = {}