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更新axis等参数

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This commit is contained in:
Xuwznln
2025-07-17 21:53:25 +08:00
parent aaf33a8878
commit 0466b57e0a
12 changed files with 9992 additions and 159 deletions
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14
unilabos/devices/liquid_handling/liquid_handler_abstract.py
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@@ -27,10 +27,10 @@ from pylabrobot.resources import (
class LiquidHandlerMiddleware(LiquidHandler):
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False):
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8):
self._simulator = simulator
if simulator:
self._simulate_backend = LiquidHandlerChatterboxBackend(8)
self._simulate_backend = LiquidHandlerChatterboxBackend(channel_num)
self._simulate_handler = LiquidHandlerAbstract(self._simulate_backend, deck, False)
super().__init__(backend, deck)
@@ -533,7 +533,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
"""Extended LiquidHandler with additional operations."""
support_touch_tip = True
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool):
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool, channel_num:int = 8):
"""Initialize a LiquidHandler.
Args:
@@ -541,7 +541,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
deck: Deck to use.
"""
self._simulator = simulator
super().__init__(backend, deck, simulator)
super().__init__(backend, deck, simulator, channel_num)
# ---------------------------------------------------------------
# REMOVE LIQUID --------------------------------------------------
@@ -584,7 +584,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
pass # This mode is not verified.
else:
# 首先应该对任务分组，然后每次1个/8个进行操作处理
if len(use_channels) == 1:
if len(use_channels) == 1 and self.backend.num_channels == 1:
tip = []
for _ in range(len(use_channels)):
tip.extend(next(self.current_tip))
@@ -614,7 +614,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
spread=spread,
)
await self.discard_tips()
elif len(use_channels) == 8:
elif len(use_channels) == 8 and self.backend.num_channels == 8:
tip = []
for _ in range(len(use_channels)):
tip.extend(next(self.current_tip))
@@ -818,7 +818,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
await self.custom_delay(seconds=delays[1])
await self.touch_tip(current_targets)
await self.discard_tips()
except Exception as e:
traceback.print_exc()