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refactor: add itemized_carrier instead of carrier consists of ResourceHolder

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Junhan Chang
2025-09-29 20:36:45 +08:00
parent a5397ffe12
commit 10aabb7592
6 changed files with 373 additions and 121 deletions
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68
unilabos/resources/bioyond/bottle_carriers.py
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@@ -1,6 +1,6 @@
from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder
from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
from unilabos.resources.bottle_carrier import Bottle, BottleCarrier
from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
from unilabos.resources.bioyond.bottles import BIOYOND_PolymerStation_Solid_Vial, BIOYOND_PolymerStation_Solution_Beaker, BIOYOND_PolymerStation_Reagent_Bottle
# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
@@ -22,27 +22,29 @@ def BIOYOND_Electrolyte_6VialCarrier(name: str) -> BottleCarrier:
start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
# 创建6个位置坐标 (2行 x 3列)
locations = []
for row in range(2):
for col in range(3):
x = start_x + col * bottle_spacing_x
y = start_y + row * bottle_spacing_y
z = 5.0 # 架位底部
locations.append(Coordinate(x, y, z))
sites = create_ordered_items_2d(
klass=ResourceHolder,
num_items_x=3,
num_items_y=2,
dx=start_x,
dy=start_y,
dz=5.0,
item_dx=bottle_spacing_x,
item_dy=bottle_spacing_y,
size_x=bottle_diameter,
size_y=bottle_diameter,
size_z=carrier_size_z,
)
for k, v in sites.items():
v.name = f"{name}_{v.name}"
carrier = BottleCarrier(
name=name,
size_x=carrier_size_x,
size_y=carrier_size_y,
size_z=carrier_size_z,
sites=create_homogeneous_resources(
klass=ResourceHolder,
locations=locations,
resource_size_x=bottle_diameter,
resource_size_y=bottle_diameter,
name_prefix=name,
),
sites=sites,
model="BIOYOND_Electrolyte_6VialCarrier",
)
carrier.num_items_x = 3
@@ -107,27 +109,29 @@ def BIOYOND_PolymerStation_6VialCarrier(name: str) -> BottleCarrier:
start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
# 创建6个位置坐标 (2行 x 3列)
locations = []
for row in range(2):
for col in range(3):
x = start_x + col * bottle_spacing_x
y = start_y + row * bottle_spacing_y
z = 5.0 # 架位底部
locations.append(Coordinate(x, y, z))
sites = create_ordered_items_2d(
klass=ResourceHolder,
num_items_x=3,
num_items_y=2,
dx=start_x,
dy=start_y,
dz=5.0,
item_dx=bottle_spacing_x,
item_dy=bottle_spacing_y,
size_x=bottle_diameter,
size_y=bottle_diameter,
size_z=carrier_size_z,
)
for k, v in sites.items():
v.name = f"{name}_{v.name}"
carrier = BottleCarrier(
name=name,
size_x=carrier_size_x,
size_y=carrier_size_y,
size_z=carrier_size_z,
sites=create_homogeneous_resources(
klass=ResourceHolder,
locations=locations,
resource_size_x=bottle_diameter,
resource_size_y=bottle_diameter,
name_prefix=name,
),
sites=sites,
model="BIOYOND_PolymerStation_6VialCarrier",
)
carrier.num_items_x = 3