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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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9934
test/experiments/prcxi.json
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File diff suppressed because it is too large Load Diff

3
unilabos-linux-64.yaml
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@@ -63,4 +63,5 @@ dependencies:
# ilab equipments # ilab equipments
# - ros-humble-unilabos-msgs # - ros-humble-unilabos-msgs
- pip: - pip:
- paho-mqtt - paho-mqtt
- opentrons_shared_data

3
unilabos-osx-64.yaml
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@@ -62,4 +62,5 @@ dependencies:
# ilab equipments # ilab equipments
# - ros-humble-unilabos-msgs # - ros-humble-unilabos-msgs
- pip: - pip:
- paho-mqtt - paho-mqtt
- opentrons_shared_data

3
unilabos-osx-arm64.yaml
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@@ -65,4 +65,5 @@ dependencies:
# ilab equipments # ilab equipments
# - ros-humble-unilabos-msgs # - ros-humble-unilabos-msgs
- pip: - pip:
- paho-mqtt - paho-mqtt
- opentrons_shared_data

1
unilabos-win64.yaml
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@@ -66,6 +66,7 @@ dependencies:
#- crcmod #- crcmod
- pip: - pip:
- paho-mqtt - paho-mqtt
- opentrons_shared_data
# driver # driver
#- ur-rtde # set PYTHONUTF8=1 #- ur-rtde # set PYTHONUTF8=1
#- pyautogui #- pyautogui

1
unilabos/app/controler.py
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@@ -39,6 +39,7 @@ def job_add(req: JobAddReq) -> JobData:
HostNode.get_instance().send_goal(req.device_id, action_type=action_type, action_name=action_name, action_kwargs=action_args, goal_uuid=req.job_id, server_info=req.server_info) HostNode.get_instance().send_goal(req.device_id, action_type=action_type, action_name=action_name, action_kwargs=action_args, goal_uuid=req.job_id, server_info=req.server_info)
except Exception as e: except Exception as e:
for bridge in HostNode.get_instance().bridges: for bridge in HostNode.get_instance().bridges:
traceback.print_exc()
if hasattr(bridge, "publish_job_status"): if hasattr(bridge, "publish_job_status"):
bridge.publish_job_status({}, req.job_id, "failed", serialize_result_info(traceback.format_exc(), False, {})) bridge.publish_job_status({}, req.job_id, "failed", serialize_result_info(traceback.format_exc(), False, {}))
return JobData(jobId=req.job_id) return JobData(jobId=req.job_id)

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

168
unilabos/devices/liquid_handling/prcxi/prcxi.py
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@@ -72,8 +72,8 @@ class PRCXI9300Container(Plate):
该类定义了 PRCXI 9300 的工作台布局和槽位信息。 该类定义了 PRCXI 9300 的工作台布局和槽位信息。
""" """
def __init__(self, name: str, size_x: float, size_y: float, size_z: float, category: str): def __init__(self, name: str, size_x: float, size_y: float, size_z: float, category: str, ordering: collections.OrderedDict):
super().__init__(name, size_x, size_y, size_z, category=category, ordering=collections.OrderedDict()) super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering)
self._unilabos_state = {} self._unilabos_state = {}
def load_state(self, state: Dict[str, Any]) -> None: def load_state(self, state: Dict[str, Any]) -> None:
@@ -93,8 +93,11 @@ class PRCXI9300Trash(Trash):
该类定义了 PRCXI 9300 的工作台布局和槽位信息。 该类定义了 PRCXI 9300 的工作台布局和槽位信息。
""" """
def __init__(self, name: str, size_x: float, size_y: float, size_z: float, category: str): def __init__(self, name: str, size_x: float, size_y: float, size_z: float, category: str, **kwargs):
super().__init__(name, size_x, size_y, size_z, category=category) if name != "trash":
name = "trash"
print("PRCXI9300Trash name must be 'trash', using 'trash' instead.")
super().__init__(name, size_x, size_y, size_z, category=category, **kwargs)
self._unilabos_state = {} self._unilabos_state = {}
def load_state(self, state: Dict[str, Any]) -> None: def load_state(self, state: Dict[str, Any]) -> None:
@@ -117,7 +120,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
return True return True
return self._unilabos_backend.is_reset_ok return self._unilabos_backend.is_reset_ok
def __init__(self, deck: Deck, host: str, port: int, timeout: float, setup=True, debug=False): def __init__(self, deck: Deck, host: str, port: int, timeout: float, channel_num=8, axis="Left", setup=True, debug=False, matrix_id=""):
tablets_info = [] tablets_info = []
count = 0 count = 0
for child in deck.children: for child in deck.children:
@@ -126,8 +129,8 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
tablets_info.append( tablets_info.append(
WorkTablets(Number=count, Code=f"T{count}", Material=child._unilabos_state["Material"]) WorkTablets(Number=count, Code=f"T{count}", Material=child._unilabos_state["Material"])
) )
self._unilabos_backend = PRCXI9300Backend(tablets_info, host, port, timeout, setup, debug) self._unilabos_backend = PRCXI9300Backend(tablets_info, host, port, timeout, channel_num, axis, setup, debug, matrix_id)
super().__init__(backend=self._unilabos_backend, deck=deck, simulator=True) super().__init__(backend=self._unilabos_backend, deck=deck, simulator=True, channel_num=channel_num)
async def create_protocol( async def create_protocol(
self, self,
@@ -351,14 +354,18 @@ class PRCXI9300Backend(LiquidHandlerBackend):
host: str = "127.0.0.1", host: str = "127.0.0.1",
port: int = 9999, port: int = 9999,
timeout: float = 10.0, timeout: float = 10.0,
channel_num: int=8,
axis: str="Left",
setup=True, setup=True,
debug=False, debug=False,
matrix_id="",
) -> None: ) -> None:
super().__init__() super().__init__()
self.tablets_info = tablets_info self.tablets_info = tablets_info
self.api_client = PRCXI9300Api(host, port, timeout, debug) self.matrix_id = matrix_id
self.api_client = PRCXI9300Api(host, port, timeout, axis, debug)
self.host, self.port, self.timeout = host, port, timeout self.host, self.port, self.timeout = host, port, timeout
self._num_channels = 8 self._num_channels = channel_num
self._execute_setup = setup self._execute_setup = setup
self.debug = debug self.debug = debug
@@ -376,12 +383,18 @@ class PRCXI9300Backend(LiquidHandlerBackend):
WorkTablets=self.tablets_info, WorkTablets=self.tablets_info,
) )
#print(json.dumps(self.matrix_info, indent=2)) #print(json.dumps(self.matrix_info, indent=2))
res = self.api_client.add_WorkTablet_Matrix(self.matrix_info) if not len(self.matrix_id):
assert res["Success"], f"Failed to create matrix: {res.get('Message', 'Unknown error')}" res = self.api_client.add_WorkTablet_Matrix(self.matrix_info)
print(f"PRCXI9300Backend created matrix with ID: {self.matrix_info['MatrixId']}, result: {res}") assert res["Success"], f"Failed to create matrix: {res.get('Message', 'Unknown error')}"
solution_id = self.api_client.add_solution( print(f"PRCXI9300Backend created matrix with ID: {self.matrix_info['MatrixId']}, result: {res}")
f"protocol_{run_time}", self.matrix_info["MatrixId"], self.steps_todo_list solution_id = self.api_client.add_solution(
) f"protocol_{run_time}", self.matrix_info["MatrixId"], self.steps_todo_list
)
else:
print(f"PRCXI9300Backend using predefined worktable {self.matrix_id}, skipping matrix creation.")
solution_id = self.api_client.add_solution(
f"protocol_{run_time}", self.matrix_id, self.steps_todo_list
)
print(f"PRCXI9300Backend created solution with ID: {solution_id}") print(f"PRCXI9300Backend created solution with ID: {solution_id}")
self.api_client.load_solution(solution_id) self.api_client.load_solution(solution_id)
return self.api_client.start() return self.api_client.start()
@@ -438,22 +451,12 @@ class PRCXI9300Backend(LiquidHandlerBackend):
PlateNo = plate_indexes[0] + 1 PlateNo = plate_indexes[0] + 1
hole_col = tip_columns[0] + 1 hole_col = tip_columns[0] + 1
step = self.api_client.Load( step = self.api_client.Load(dosage=0, plate_no=PlateNo, is_whole_plate=False, hole_row=1, hole_col=hole_col,
"Left", blending_times=0, balance_height=0, plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
dosage=0, hole_numbers="1,2,3,4,5,6,7,8")
plate_no=PlateNo,
is_whole_plate=False,
hole_row=1,
hole_col=hole_col,
blending_times=0,
balance_height=0,
plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
hole_numbers="1,2,3,4,5,6,7,8",
)
self.steps_todo_list.append(step) self.steps_todo_list.append(step)
async def drop_tips(self, ops: List[Drop], use_channels: List[int] = None): async def drop_tips(self, ops: List[Drop], use_channels: List[int] = None):
"""Pick up tips from the specified resource.""" """Pick up tips from the specified resource."""
plate = ops[0].resource.parent.parent plate = ops[0].resource.parent.parent
@@ -462,7 +465,6 @@ class PRCXI9300Backend(LiquidHandlerBackend):
if deck.children[plate_index].name == "trash": if deck.children[plate_index].name == "trash":
step = self.api_client.UnLoad( step = self.api_client.UnLoad(
"Left",
dosage=0, dosage=0,
plate_no=plate_index+1, plate_no=plate_index+1,
is_whole_plate=False, is_whole_plate=False,
@@ -475,7 +477,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
) )
self.steps_todo_list.append(step) self.steps_todo_list.append(step)
return return
if len(ops) != 8: if len(ops) != 8:
raise ValueError(f"PRCXI9300Backend drop_tips: Expected 8 pickups, got {len(ops)}") raise ValueError(f"PRCXI9300Backend drop_tips: Expected 8 pickups, got {len(ops)}")
@@ -598,18 +600,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
PlateNo = plate_indexes[0] + 1 PlateNo = plate_indexes[0] + 1
hole_col = tip_columns[0] + 1 hole_col = tip_columns[0] + 1
step = self.api_client.Imbibing( step = self.api_client.Imbibing(dosage=int(volumes[0]), plate_no=PlateNo, is_whole_plate=False, hole_row=1,
"Left", hole_col=hole_col, blending_times=0, balance_height=0,
dosage=int(volumes[0]), plate_or_hole=f"H{hole_col}-8,T{PlateNo}", hole_numbers="1,2,3,4,5,6,7,8")
plate_no=PlateNo,
is_whole_plate=False,
hole_row=1,
hole_col=hole_col,
blending_times=0,
balance_height=0,
plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
hole_numbers="1,2,3,4,5,6,7,8",
)
self.steps_todo_list.append(step) self.steps_todo_list.append(step)
@@ -694,9 +687,10 @@ class PRCXI9300Backend(LiquidHandlerBackend):
class PRCXI9300Api: class PRCXI9300Api:
def __init__(self, host: str = "127.0.0.1", port: int = 9999, timeout: float = 10.0, debug: bool = False) -> None: def __init__(self, host: str = "127.0.0.1", port: int = 9999, timeout: float = 10.0, axis="Left", debug: bool = False) -> None:
self.host, self.port, self.timeout = host, port, timeout self.host, self.port, self.timeout = host, port, timeout
self.debug = debug self.debug = debug
self.axis = axis
@staticmethod @staticmethod
def _len_prefix(n: int) -> bytes: def _len_prefix(n: int) -> bytes:
@@ -763,8 +757,10 @@ class PRCXI9300Api:
"""GetErrorCode""" """GetErrorCode"""
return self.call("IAutomation", "GetErrorCode") return self.call("IAutomation", "GetErrorCode")
def get_reset_status(self) -> Optional[str]: def get_reset_status(self) -> bool:
"""GetErrorCode""" """GetErrorCode"""
if self.debug:
return True
res = self.call("IAutomation", "GetResetStatus") res = self.call("IAutomation", "GetResetStatus")
return not res return not res
@@ -801,27 +797,12 @@ class PRCXI9300Api:
def add_WorkTablet_Matrix(self, matrix: MatrixInfo): def add_WorkTablet_Matrix(self, matrix: MatrixInfo):
return self.call("IMatrix", "AddWorkTabletMatrix", [matrix]) return self.call("IMatrix", "AddWorkTabletMatrix", [matrix])
def Load( def Load(self, dosage: int, plate_no: int, is_whole_plate: bool, hole_row: int, hole_col: int, blending_times: int,
self, balance_height: int, plate_or_hole: str, hole_numbers: str, assist_fun1: str = "", assist_fun2: str = "",
axis: str, assist_fun3: str = "", assist_fun4: str = "", assist_fun5: str = "",
dosage: int, liquid_method: str = "NormalDispense") -> Dict[str, Any]:
plate_no: int,
is_whole_plate: bool,
hole_row: int,
hole_col: int,
blending_times: int,
balance_height: int,
plate_or_hole: str,
hole_numbers: str,
assist_fun1: str = "",
assist_fun2: str = "",
assist_fun3: str = "",
assist_fun4: str = "",
assist_fun5: str = "",
liquid_method: str = "NormalDispense",
) -> Dict[str, Any]:
return { return {
"StepAxis": axis, "StepAxis": self.axis,
"Function": "Load", "Function": "Load",
"DosageNum": dosage, "DosageNum": dosage,
"PlateNo": plate_no, "PlateNo": plate_no,
@@ -840,27 +821,12 @@ class PRCXI9300Api:
"LiquidDispensingMethod": liquid_method, "LiquidDispensingMethod": liquid_method,
} }
def Imbibing( def Imbibing(self, dosage: int, plate_no: int, is_whole_plate: bool, hole_row: int, hole_col: int,
self, blending_times: int, balance_height: int, plate_or_hole: str, hole_numbers: str, assist_fun1: str = "",
axis: str, assist_fun2: str = "", assist_fun3: str = "", assist_fun4: str = "", assist_fun5: str = "",
dosage: int, liquid_method: str = "NormalDispense") -> Dict[str, Any]:
plate_no: int,
is_whole_plate: bool,
hole_row: int,
hole_col: int,
blending_times: int,
balance_height: int,
plate_or_hole: str,
hole_numbers: str,
assist_fun1: str = "",
assist_fun2: str = "",
assist_fun3: str = "",
assist_fun4: str = "",
assist_fun5: str = "",
liquid_method: str = "NormalDispense",
) -> Dict[str, Any]:
return { return {
"StepAxis": axis, "StepAxis": self.axis,
"Function": "Imbibing", "Function": "Imbibing",
"DosageNum": dosage, "DosageNum": dosage,
"PlateNo": plate_no, "PlateNo": plate_no,
@@ -881,7 +847,6 @@ class PRCXI9300Api:
def Tapping( def Tapping(
self, self,
axis: str,
dosage: int, dosage: int,
plate_no: int, plate_no: int,
is_whole_plate: bool, is_whole_plate: bool,
@@ -899,7 +864,7 @@ class PRCXI9300Api:
liquid_method: str = "NormalDispense", liquid_method: str = "NormalDispense",
) -> Dict[str, Any]: ) -> Dict[str, Any]:
return { return {
"StepAxis": axis, "StepAxis": self.axis,
"Function": "Tapping", "Function": "Tapping",
"DosageNum": dosage, "DosageNum": dosage,
"PlateNo": plate_no, "PlateNo": plate_no,
@@ -920,7 +885,6 @@ class PRCXI9300Api:
def Blending( def Blending(
self, self,
axis: str,
dosage: int, dosage: int,
plate_no: int, plate_no: int,
is_whole_plate: bool, is_whole_plate: bool,
@@ -938,7 +902,7 @@ class PRCXI9300Api:
liquid_method: str = "NormalDispense", liquid_method: str = "NormalDispense",
) -> Dict[str, Any]: ) -> Dict[str, Any]:
return { return {
"StepAxis": axis, "StepAxis": self.axis,
"Function": "Blending", "Function": "Blending",
"DosageNum": dosage, "DosageNum": dosage,
"PlateNo": plate_no, "PlateNo": plate_no,
@@ -959,7 +923,6 @@ class PRCXI9300Api:
def UnLoad( def UnLoad(
self, self,
axis: str,
dosage: int, dosage: int,
plate_no: int, plate_no: int,
is_whole_plate: bool, is_whole_plate: bool,
@@ -977,7 +940,7 @@ class PRCXI9300Api:
liquid_method: str = "NormalDispense", liquid_method: str = "NormalDispense",
) -> Dict[str, Any]: ) -> Dict[str, Any]:
return { return {
"StepAxis": axis, "StepAxis": self.axis,
"Function": "UnLoad", "Function": "UnLoad",
"DosageNum": dosage, "DosageNum": dosage,
"PlateNo": plate_no, "PlateNo": plate_no,
@@ -999,11 +962,11 @@ class PRCXI9300Api:
if __name__ == "__main__": if __name__ == "__main__":
# Example usage # Example usage
# from pylabrobot.resources import set_volume_tracking # 1. 用导出的json，给每个T1 T2板子设定相应的物料，如果是孔板和枪头盒，要对应区分
# from pylabrobot.resources import set_tip_tracking # 2. 设计一个单点动作流程，可以跑
# set_tip_tracking(True) # 3.
deck = PRCXI9300Deck(name="PRCXI Deck", size_x=100, size_y=100, size_z=100) deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)
plate1 = PRCXI9300Container(name="rackT1", size_x=50, size_y=50, size_z=10, category="plate") plate1 = PRCXI9300Container(name="rackT1", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
plate1.load_state({ plate1.load_state({
"Material": { "Material": {
"uuid": "80652665f6a54402b2408d50b40398df", "uuid": "80652665f6a54402b2408d50b40398df",
@@ -1015,21 +978,21 @@ if __name__ == "__main__":
} }
}) })
plate2 = PRCXI9300Container(name="plateT2", size_x=50, size_y=50, size_z=10, category="plate") plate2 = PRCXI9300Container(name="plateT2", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
plate2.load_state({ plate2.load_state({
"Material": { "Material": {
"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
} }
}) })
plate3 = PRCXI9300Container(name="plateT3", size_x=50, size_y=50, size_z=10, category="plate") plate3 = PRCXI9300Container(name="plateT3", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
plate3.load_state({ plate3.load_state({
"Material": { "Material": {
"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
} }
}) })
plate4 = PRCXI9300Container(name="rackT4", size_x=50, size_y=50, size_z=10, category="plate") plate4 = PRCXI9300Container(name="rackT4", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
plate4.load_state({ plate4.load_state({
"Material": { "Material": {
"uuid": "80652665f6a54402b2408d50b40398df", "uuid": "80652665f6a54402b2408d50b40398df",
@@ -1041,7 +1004,7 @@ if __name__ == "__main__":
} }
}) })
plate5 = PRCXI9300Container(name="plateT5", size_x=50, size_y=50, size_z=10, category="plate") plate5 = PRCXI9300Container(name="plateT5", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
plate5.load_state({ plate5.load_state({
"Material": { "Material": {
"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
@@ -1077,9 +1040,14 @@ if __name__ == "__main__":
# plate2.set_well_liquids(plate_2_liquids) # plate2.set_well_liquids(plate_2_liquids)
handler = PRCXI9300Handler(deck=deck, host="192.168.3.9", port=9999, timeout=10.0, setup=False, debug=True) handler = PRCXI9300Handler(deck=deck, host="192.168.3.9", port=9999, timeout=10.0, setup=False, debug=True, matrix_id="fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1")
handler.set_tiprack([tip_rack]) # Set the tip rack for the handler handler.set_tiprack([tip_rack]) # Set the tip rack for the handler
asyncio.run(handler.setup()) # Initialize the handler and setup the connection asyncio.run(handler.setup()) # Initialize the handler and setup the connection
from pylabrobot.resources import set_volume_tracking
# from pylabrobot.resources import set_tip_tracking
set_volume_tracking(enabled=True)
plate2.set_well_liquids([("Water", 100)] * plate2.num_items)
asyncio.run(handler.create_protocol(protocol_name="Test Protocol")) # Initialize the backend and setup the connection asyncio.run(handler.create_protocol(protocol_name="Test Protocol")) # Initialize the backend and setup the connection
# asyncio.run(handler.pick_up_tips(tip_rack.children[:8],[0,1,2,3,4,5,6,7])) # asyncio.run(handler.pick_up_tips(tip_rack.children[:8],[0,1,2,3,4,5,6,7]))

16
unilabos/resources/graphio.py
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@@ -429,6 +429,20 @@ def resource_ulab_to_plr(resource: dict, plr_model=False) -> "ResourcePLR":
def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None): def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None):
def replace_plr_type_to_ulab(source: str):
replace_info = {
"plate": "plate",
"well": "well",
"tip_spot": "container",
"trash": "container",
"deck": "deck",
"tip_rack": "container",
}
if source in replace_info:
return replace_info[source]
else:
print("转换pylabrobot的时候，出现未知类型", source)
return "container"
def resource_plr_to_ulab_inner(d: dict, all_states: dict) -> dict: def resource_plr_to_ulab_inner(d: dict, all_states: dict) -> dict:
r = { r = {
"id": d["name"], "id": d["name"],
@@ -436,7 +450,7 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None):
"sample_id": None, "sample_id": None,
"children": [resource_plr_to_ulab_inner(child, all_states) for child in d["children"]], "children": [resource_plr_to_ulab_inner(child, all_states) for child in d["children"]],
"parent": d["parent_name"] if d["parent_name"] else parent_name if parent_name else None, "parent": d["parent_name"] if d["parent_name"] else parent_name if parent_name else None,
"type": "device", # FIXME plr自带的type是python class name "type": replace_plr_type_to_ulab(d.get("category")), # FIXME plr自带的type是python class name
"class": d.get("class", ""), "class": d.get("class", ""),
"position": ( "position": (
{"x": d["location"]["x"], "y": d["location"]["y"], "z": d["location"]["z"]} {"x": d["location"]["x"], "y": d["location"]["y"], "z": d["location"]["z"]}

2
unilabos/ros/msgs/message_converter.py
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@@ -367,7 +367,7 @@ def convert_to_ros_msg(ros_msg_type: Union[Type, Any], obj: Any) -> Any:
logger.warning(f"Not Supported type: {td}") logger.warning(f"Not Supported type: {td}")
setattr(ros_msg, key, []) # FIXME setattr(ros_msg, key, []) # FIXME
elif "array.array" in str(type(attr)): elif "array.array" in str(type(attr)):
if attr.typecode == "f": if attr.typecode == "f" or attr.typecode == "d":
setattr(ros_msg, key, [float(i) for i in value]) setattr(ros_msg, key, [float(i) for i in value])
else: else:
setattr(ros_msg, key, value) setattr(ros_msg, key, value)

2
unilabos/ros/nodes/base_device_node.py
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@@ -660,7 +660,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
if len(action_kwargs[k]) > 1: if len(action_kwargs[k]) > 1:
for i in action_kwargs[k]: for i in action_kwargs[k]:
r = ResourceGet.Request() r = ResourceGet.Request()
r.id = i["id"] r.id = i["id"] # splash optional
r.with_children = True r.with_children = True
response = await self._resource_clients["resource_get"].call_async(r) response = await self._resource_clients["resource_get"].call_async(r)
current_resources.extend(response.resources) current_resources.extend(response.resources)

4
unilabos/utils/log.py
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@@ -148,7 +148,7 @@ def configure_logger():
"""配置日志记录器""" """配置日志记录器"""
# 获取根日志记录器 # 获取根日志记录器
root_logger = logging.getLogger() root_logger = logging.getLogger()
root_logger.setLevel(logging.INFO) # 修改为DEBUG以显示所有级别 root_logger.setLevel(logging.DEBUG) # 修改为DEBUG以显示所有级别
# 移除已存在的处理器 # 移除已存在的处理器
for handler in root_logger.handlers[:]: for handler in root_logger.handlers[:]:
@@ -156,7 +156,7 @@ def configure_logger():
# 创建控制台处理器 # 创建控制台处理器
console_handler = logging.StreamHandler() console_handler = logging.StreamHandler()
console_handler.setLevel(logging.INFO) # 修改为DEBUG以显示所有级别 console_handler.setLevel(logging.DEBUG) # 修改为DEBUG以显示所有级别
# 使用自定义的颜色格式化器 # 使用自定义的颜色格式化器
color_formatter = ColoredFormatter() color_formatter = ColoredFormatter()