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Add action definitions for LiquidHandlerSetGroup and LiquidHandlerTransferGroup
- Created LiquidHandlerSetGroup.action with fields for group name, wells, and volumes. - Created LiquidHandlerTransferGroup.action with fields for source and target group names and unit volume. - Both actions include response fields for return information and success status.
This commit is contained in:
Guangxin Zhang
@@ -21,9 +21,9 @@
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"timeout": 10.0,
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"axis": "Left",
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"channel_num": 8,
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"setup": false,
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"debug": false,
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"simulator": false,
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"setup": true,
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"debug": true,
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"simulator": true,
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"matrix_id": "71593"
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},
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"data": {},
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@@ -1,11 +1,11 @@
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from __future__ import annotations
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import traceback
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from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set
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from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
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from collections import Counter
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import asyncio
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import time
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import pprint as pp
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from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness
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from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod
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from pylabrobot.liquid_handling.standard import GripDirection
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@@ -29,6 +29,7 @@ from pylabrobot.resources import (
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class LiquidHandlerMiddleware(LiquidHandler):
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def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8):
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self._simulator = simulator
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self.channel_num = channel_num
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if simulator:
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self._simulate_backend = LiquidHandlerChatterboxBackend(channel_num)
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self._simulate_handler = LiquidHandlerAbstract(self._simulate_backend, deck, False)
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@@ -104,8 +105,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
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offsets: Optional[List[Coordinate]] = None,
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**backend_kwargs,
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):
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print('222'*200)
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print(tip_spots)
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if self._simulator:
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return await self._simulate_handler.pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
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return await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
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@@ -545,6 +545,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
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deck: Deck to use.
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"""
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self._simulator = simulator
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self.group_info = dict()
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super().__init__(backend, deck, simulator, channel_num)
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@classmethod
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@@ -556,6 +557,51 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
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# REMOVE LIQUID --------------------------------------------------
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# ---------------------------------------------------------------
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def set_group(self, group_name: str, wells: List[Well], volumes: List[float]):
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if len(wells) != 8:
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raise RuntimeError(f"Expected 8 wells, got {len(wells)}")
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self.group_info[group_name] = wells
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self.set_liquid(wells, [group_name] * len(wells), volumes)
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async def transfer_group(self, source_group_name: str, target_group_name: str, unit_volume: float):
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source_wells = self.group_info.get(source_group_name, [])
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target_wells = self.group_info.get(target_group_name, [])
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rack_info = dict()
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for child in self.deck.children:
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if issubclass(child.__class__, TipRack):
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rack: TipRack = cast(TipRack, child)
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if "plate" not in rack.name.lower():
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for tip in rack.get_all_tips():
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if unit_volume > tip.maximal_volume:
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break
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else:
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rack_info[rack.name] = (rack, tip.maximal_volume - unit_volume)
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if len(rack_info) == 0:
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raise ValueError(f"No tip rack can support volume {unit_volume}.")
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rack_info = sorted(rack_info.items(), key=lambda x: x[1][1])
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for child in self.deck.children:
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if child.name == rack_info[0][0]:
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target_rack = child
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target_rack = cast(TipRack, target_rack)
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available_tips = {}
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for (idx, name), tipSpot in zip(target_rack._ordering.items(), target_rack.get_all_items()):
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if tipSpot.has_tip():
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available_tips[idx] = tipSpot
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continue
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colnum_list = [int(holename[1:]) for holename in available_tips.keys()]
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available_cols = [colnum for colnum, count in dict(Counter(colnum_list)).items() if count == 8]
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available_cols.sort() # 这样就确定了列号
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tips_to_use = [available_tips[f"{chr(65 + i)}{available_cols[0]}"] for i in range(8)]
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await self.pick_up_tips(tips_to_use, use_channels=list(range(0, 8)))
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await self.aspirate(source_wells, [10] * 8, use_channels=list(range(0, 8)))
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await self.dispense(target_wells, [10] * 8, use_channels=list(range(0, 8)))
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await self.discard_tips(use_channels=list(range(0, 8)))
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async def create_protocol(
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self,
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protocol_name: str,
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@@ -569,6 +615,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
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"""Create a new protocol with the given metadata."""
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pass
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async def remove_liquid(
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self,
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vols: List[float],
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@@ -987,7 +1034,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
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if delays is not None:
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await self.custom_delay(seconds=delays[1])
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await self.touch_tip(current_targets)
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await self.discard_tips()
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await self.discard_tips([0,1,2,3,4,5,6,7])
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# except Exception as e:
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# traceback.print_exc()
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@@ -431,14 +431,14 @@ class PRCXI9300Backend(LiquidHandlerBackend):
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async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int] = None):
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"""Pick up tips from the specified resource."""
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print('where?'*200)
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plate_indexes = []
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for op in ops:
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plate = op.resource.parent
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deck = plate.parent
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plate_index = deck.children.index(plate)
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print(f"Plate index: {plate_index}, Plate name: {plate.name}")
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print(f"Number of children in deck: {len(deck.children)}")
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# print(f"Plate index: {plate_index}, Plate name: {plate.name}")
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# print(f"Number of children in deck: {len(deck.children)}")
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plate_indexes.append(plate_index)
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@@ -452,8 +452,6 @@ class PRCXI9300Backend(LiquidHandlerBackend):
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tip_columns.append(tipspot_index // 8)
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if len(set(tip_columns)) != 1:
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raise ValueError("All pickups must be from the same tip column. Found different columns: " + str(tip_columns))
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# print('111'*99)
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# print(plate_indexes[0])
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PlateNo = plate_indexes[0] + 1
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hole_col = tip_columns[0] + 1
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hole_row = 1
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@@ -977,153 +975,162 @@ if __name__ == "__main__":
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# 4.
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# deck = PRCXI9300Deck(name="PRCXI_Deck_9300", size_x=100, size_y=100, size_z=100)
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deck = PRCXI9300Deck(name="PRCXI_Deck_9300", size_x=100, size_y=100, size_z=100)
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# from pylabrobot.resources.opentrons.tip_racks import opentrons_96_tiprack_300ul,opentrons_96_tiprack_10ul
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# from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
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from pylabrobot.resources.opentrons.tip_racks import opentrons_96_tiprack_300ul,opentrons_96_tiprack_10ul
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from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
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# def get_well_container(name: str) -> PRCXI9300Container:
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# well_containers = corning_96_wellplate_360ul_flat(name).serialize()
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# plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
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# ordering=collections.OrderedDict())
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# plate_serialized = plate.serialize()
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# plate_serialized["parent_name"] = deck.name
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# well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
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# new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
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# return new_plate
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def get_well_container(name: str) -> PRCXI9300Container:
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well_containers = corning_96_wellplate_360ul_flat(name).serialize()
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plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
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ordering=well_containers["ordering"])
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plate_serialized = plate.serialize()
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plate_serialized["parent_name"] = deck.name
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well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
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new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
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return new_plate
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# def get_tip_rack(name: str) -> PRCXI9300Container:
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# tip_racks = opentrons_96_tiprack_300ul("name").serialize()
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# tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
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# ordering=collections.OrderedDict())
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# tip_rack_serialized = tip_rack.serialize()
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# tip_rack_serialized["parent_name"] = deck.name
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# tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
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# new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
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# return new_tip_rack
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def get_tip_rack(name: str) -> PRCXI9300Container:
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tip_racks = opentrons_96_tiprack_300ul("name").serialize()
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tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
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ordering=tip_racks["ordering"])
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tip_rack_serialized = tip_rack.serialize()
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tip_rack_serialized["parent_name"] = deck.name
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tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
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new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
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return new_tip_rack
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# plate1 = get_tip_rack("RackT1")
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# plate1.load_state({
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# "Material": {
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# "uuid": "076250742950465b9d6ea29a225dfb00",
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# "Code": "ZX-001-300",
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# "Name": "300μL Tip头"
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# }
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# })
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plate1 = get_tip_rack("RackT1")
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plate1.load_state({
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"Material": {
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"uuid": "076250742950465b9d6ea29a225dfb00",
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"Code": "ZX-001-300",
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"Name": "300μL Tip头"
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}
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})
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# plate2 = get_well_container("PlateT2")
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# plate2.load_state({
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# "Material": {
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# "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
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# "Code": "ZX-019-2.2",
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# "Name": "96深孔板"
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# }
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# })
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plate2 = get_well_container("PlateT2")
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plate2.load_state({
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"Material": {
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"uuid": "57b1e4711e9e4a32b529f3132fc5931f",
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"Code": "ZX-019-2.2",
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"Name": "96深孔板"
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}
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})
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# plate3 = PRCXI9300Trash("trash", size_x=50, size_y=100, size_z=10, category="trash")
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# plate3.load_state({
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# "Material": {
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# "uuid": "730067cf07ae43849ddf4034299030e9"
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# }
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# })
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plate3 = PRCXI9300Trash("trash", size_x=50, size_y=100, size_z=10, category="trash")
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plate3.load_state({
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"Material": {
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"uuid": "730067cf07ae43849ddf4034299030e9"
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}
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})
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# plate4 = get_well_container("PlateT4")
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# plate4.load_state({
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# "Material": {
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# "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
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# "Code": "ZX-019-2.2",
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# "Name": "96深孔板"
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# }
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# })
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plate4 = get_well_container("PlateT4")
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plate4.load_state({
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"Material": {
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"uuid": "57b1e4711e9e4a32b529f3132fc5931f",
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"Code": "ZX-019-2.2",
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"Name": "96深孔板"
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}
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})
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# plate5 = get_well_container("PlateT5")
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# plate5.load_state({
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# "Material": {
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# "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
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# "Code": "ZX-019-2.2",
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# "Name": "96深孔板"
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# }
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# })
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# plate6 = get_well_container("PlateT6")
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plate5 = get_well_container("PlateT5")
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plate5.load_state({
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"Material": {
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"uuid": "57b1e4711e9e4a32b529f3132fc5931f",
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"Code": "ZX-019-2.2",
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"Name": "96深孔板"
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}
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})
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plate6 = get_well_container("PlateT6")
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# plate6.load_state({
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# "Material": {
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# "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
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# "Code": "ZX-019-2.2",
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# "Name": "96深孔板"
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# }
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# })
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plate6.load_state({
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"Material": {
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"uuid": "57b1e4711e9e4a32b529f3132fc5931f",
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"Code": "ZX-019-2.2",
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"Name": "96深孔板"
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}
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})
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# deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
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# deck.assign_child_resource(plate2, location=Coordinate(0, 0, 0))
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# deck.assign_child_resource(plate3, location=Coordinate(0, 0, 0))
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# deck.assign_child_resource(plate4, location=Coordinate(0, 0, 0))
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# deck.assign_child_resource(plate5, location=Coordinate(0, 0, 0))
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# deck.assign_child_resource(plate6, location=Coordinate(0, 0, 0))
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deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
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deck.assign_child_resource(plate2, location=Coordinate(0, 0, 0))
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deck.assign_child_resource(plate3, location=Coordinate(0, 0, 0))
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deck.assign_child_resource(plate4, location=Coordinate(0, 0, 0))
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deck.assign_child_resource(plate5, location=Coordinate(0, 0, 0))
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deck.assign_child_resource(plate6, location=Coordinate(0, 0, 0))
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# # print(plate2)
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# plate_2_liquids = [[('water', 500)]]*96
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# plate2.set_well_liquids(plate_2_liquids)
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# handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999,
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# timeout=10.0, setup=False, debug=False,
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# matrix_id="71593",
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# channel_num=8, axis="Left") # Initialize the handler with the deck and host settings
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# handler.set_tiprack([plate1])
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# asyncio.run(handler.setup()) # Initialize the handler and setup the connection
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# from pylabrobot.resources import set_volume_tracking
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# # from pylabrobot.resources import set_tip_tracking
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# set_volume_tracking(enabled=True)
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handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999,
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timeout=10.0, setup=False, debug=False,
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simulator=True,
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matrix_id="71593",
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channel_num=8, axis="Left") # Initialize the handler with the deck and host settings
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plate_2_liquids = handler.set_group("water", plate2.children[:8], [200]*8)
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plate5_liquids = handler.set_group("master_mix", plate5.children[:8], [100]*8)
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handler.set_tiprack([plate1])
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asyncio.run(handler.setup()) # Initialize the handler and setup the connection
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from pylabrobot.resources import set_volume_tracking
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# from pylabrobot.resources import set_tip_tracking
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set_volume_tracking(enabled=True)
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# from unilabos.resources.graphio import *
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# A = tree_to_list([resource_plr_to_ulab(deck)])
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# with open("deck_9300_new.json", "w", encoding="utf-8") as f:
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# json.dump(A, f, indent=4, ensure_ascii=False)
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# asyncio.run(handler.create_protocol(protocol_name="Test Protocol")) # Initialize the backend and setup the connection
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# # A = tree_to_list([resource_plr_to_ulab(deck)])
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# # with open("deck_9300_new.json", "w", encoding="utf-8") as f:
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# # json.dump(A, f, indent=4, ensure_ascii=False)
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asyncio.run(handler.create_protocol(protocol_name="Test Protocol")) # Initialize the backend and setup the connection
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asyncio.run(handler.transfer_group("water", "master_mix", 100)) # Reset tip tracking
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# # asyncio.run(handler.pick_up_tips(plate1.children[:8],[0,1,2,3,4,5,6,7]))
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# # print(plate1.children[:8])
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# # asyncio.run(handler.aspirate(plate2.children[:8],[50]*8, [0,1,2,3,4,5,6,7]))
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# # print(plate2.children[:8])
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# # asyncio.run(handler.dispense(plate5.children[:8],[50]*8,[0,1,2,3,4,5,6,7]))
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# # print(plate5.children[:8])
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# asyncio.run(handler.pick_up_tips(plate1.children[:8],[0,1,2,3,4,5,6,7]))
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# print(plate1.children[:8])
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# asyncio.run(handler.aspirate(plate2.children[:8],[50]*8, [0,1,2,3,4,5,6,7]))
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# print(plate2.children[:8])
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# asyncio.run(handler.dispense(plate5.children[:8],[50]*8,[0,1,2,3,4,5,6,7]))
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# print(plate5.children[:8])
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|
||||
# # # # # asyncio.run(handler.drop_tips(tip_rack.children[8:16],[0,1,2,3,4,5,6,7]))
|
||||
# # asyncio.run(handler.discard_tips())
|
||||
# #asyncio.run(handler.drop_tips(tip_rack.children[8:16],[0,1,2,3,4,5,6,7]))
|
||||
# asyncio.run(handler.discard_tips([0,1,2,3,4,5,6,7]))
|
||||
|
||||
# # asyncio.run(handler.mix(well_containers.children[:8
|
||||
# # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
|
||||
# # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
|
||||
# # asyncio.run(handler.add_liquid(
|
||||
# # asp_vols=[100]*16,
|
||||
# # dis_vols=[100]*16,
|
||||
# # reagent_sources=plate2.children[:16],
|
||||
# # targets=plate5.children[:16],
|
||||
# # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
|
||||
# # flow_rates=[None] * 32,
|
||||
# # offsets=[Coordinate(0, 0, 0)] * 32,
|
||||
# # liquid_height=[None] * 16,
|
||||
# # blow_out_air_volume=[None] * 16,
|
||||
# # delays=None,
|
||||
# # mix_time=3,
|
||||
# # mix_vol=50,
|
||||
# # spread="wide",
|
||||
# # ))
|
||||
# # asyncio.run(handler.run_protocol()) # Run the protocol
|
||||
# # asyncio.run(handler.remove_liquid(
|
||||
# # vols=[100]*16,
|
||||
# # sources=plate2.children[-16:],
|
||||
# # waste_liquid=plate5.children[:16], # 这个有些奇怪，但是好像也只能这么写
|
||||
# # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
|
||||
# # flow_rates=[None] * 32,
|
||||
# # offsets=[Coordinate(0, 0, 0)] * 32,
|
||||
# # liquid_height=[None] * 32,
|
||||
# # blow_out_air_volume=[None] * 32,
|
||||
# # spread="wide",
|
||||
# # ))
|
||||
# asyncio.run(handler.mix(well_containers.children[:8
|
||||
# ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
|
||||
# #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
|
||||
# asyncio.run(handler.add_liquid(
|
||||
# asp_vols=[100]*16,
|
||||
# dis_vols=[100]*16,
|
||||
# reagent_sources=plate2.children[:16],
|
||||
# targets=plate5.children[:16],
|
||||
# use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
|
||||
# flow_rates=[None] * 32,
|
||||
# offsets=[Coordinate(0, 0, 0)] * 32,
|
||||
# liquid_height=[None] * 16,
|
||||
# blow_out_air_volume=[None] * 16,
|
||||
# delays=None,
|
||||
# mix_time=3,
|
||||
# mix_vol=50,
|
||||
# spread="wide",
|
||||
# ))
|
||||
# asyncio.run(handler.run_protocol()) # Run the protocol
|
||||
# asyncio.run(handler.remove_liquid(
|
||||
# vols=[100]*16,
|
||||
# sources=plate2.children[-16:],
|
||||
# waste_liquid=plate5.children[:16], # 这个有些奇怪，但是好像也只能这么写
|
||||
# use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
|
||||
# flow_rates=[None] * 32,
|
||||
# offsets=[Coordinate(0, 0, 0)] * 32,
|
||||
# liquid_height=[None] * 32,
|
||||
# blow_out_air_volume=[None] * 32,
|
||||
# spread="wide",
|
||||
# ))
|
||||
|
||||
# acid = [20]*8+[40]*8+[60]*8+[80]*8+[100]*8+[120]*8+[140]*8+[160]*8+[180]*8+[200]*8+[220]*8+[240]*8
|
||||
# alkaline = acid[::-1] # Reverse the acid list for alkaline
|
||||
@@ -1144,258 +1151,264 @@ if __name__ == "__main__":
|
||||
# spread="wide",
|
||||
# ))
|
||||
# asyncio.run(handler.run_protocol()) # Run the protocol
|
||||
# # # input("Running protocol...")
|
||||
# # # input("Press Enter to continue...") # Wait for user input before proceeding
|
||||
# # # print("PRCXI9300Handler initialized with deck and host settings.")
|
||||
|
||||
# # Example usage
|
||||
# # 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
|
||||
# # 2. 设计一个单点动作流程，可以跑
|
||||
# # 3.
|
||||
# # input("Running protocol...")
|
||||
# # input("Press Enter to continue...") # Wait for user input before proceeding
|
||||
# # print("PRCXI9300Handler initialized with deck and host settings.")
|
||||
|
||||
|
||||
deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)
|
||||
|
||||
from pylabrobot.resources.opentrons.tip_racks import tipone_96_tiprack_200ul,opentrons_96_tiprack_10ul
|
||||
from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
|
||||
### 9320 ###
|
||||
|
||||
def get_well_container(name: str) -> PRCXI9300Container:
|
||||
well_containers = corning_96_wellplate_360ul_flat(name).serialize()
|
||||
plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
|
||||
ordering=collections.OrderedDict())
|
||||
plate_serialized = plate.serialize()
|
||||
plate_serialized["parent_name"] = deck.name
|
||||
well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
|
||||
new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
|
||||
return new_plate
|
||||
|
||||
def get_tip_rack(name: str) -> PRCXI9300Container:
|
||||
tip_racks = opentrons_96_tiprack_10ul("name").serialize()
|
||||
tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
|
||||
ordering=collections.OrderedDict())
|
||||
tip_rack_serialized = tip_rack.serialize()
|
||||
tip_rack_serialized["parent_name"] = deck.name
|
||||
tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
|
||||
new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
|
||||
return new_tip_rack
|
||||
# deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)
|
||||
|
||||
plate1 = get_well_container("HPLCPlateT1")
|
||||
plate1.load_state({
|
||||
"Material": {
|
||||
"uuid": "548bbc3df0d4447586f2c19d2c0c0c55",
|
||||
"Code": "HPLC01",
|
||||
"Name": "HPLC料盘"
|
||||
}
|
||||
})
|
||||
plate2 = get_well_container("PlateT2")
|
||||
plate2.load_state({
|
||||
"Material": {
|
||||
"uuid": "04211a2dc93547fe9bf6121eac533650",
|
||||
}
|
||||
})
|
||||
plate3 = get_well_container("PlateT3")
|
||||
plate3.load_state({
|
||||
"Material": {
|
||||
"uuid": "04211a2dc93547fe9bf6121eac533650",
|
||||
}
|
||||
})
|
||||
trash = PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash")
|
||||
trash.load_state({
|
||||
"Material": {
|
||||
"uuid": "730067cf07ae43849ddf4034299030e9"
|
||||
}
|
||||
})
|
||||
plate5 = get_well_container("PlateT5")
|
||||
plate5.load_state({
|
||||
"Material": {
|
||||
"uuid": "04211a2dc93547fe9bf6121eac533650",
|
||||
}
|
||||
})
|
||||
plate6 = get_well_container("PlateT6")
|
||||
plate6.load_state({
|
||||
"Material": {
|
||||
"uuid": "04211a2dc93547fe9bf6121eac533650"
|
||||
}
|
||||
})
|
||||
plate7 = PRCXI9300Container(name="plateT7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
|
||||
plate7.load_state({
|
||||
"Material": {
|
||||
"uuid": "04211a2dc93547fe9bf6121eac533650"
|
||||
}
|
||||
})
|
||||
plate8 = get_tip_rack("RackT8")
|
||||
plate8.load_state({
|
||||
"Material": {
|
||||
"uuid": "068b3815e36b4a72a59bae017011b29f",
|
||||
"Code": "ZX-001-10+",
|
||||
"Name": "10μL加长 Tip头"
|
||||
}
|
||||
})
|
||||
plate9 = get_well_container("PlateT9")
|
||||
plate9.load_state({
|
||||
"Material": {
|
||||
"uuid": "04211a2dc93547fe9bf6121eac533650"
|
||||
}
|
||||
})
|
||||
plate10 = get_well_container("PlateT10")
|
||||
plate10.load_state({
|
||||
"Material": {
|
||||
"uuid": "04211a2dc93547fe9bf6121eac533650"
|
||||
}
|
||||
})
|
||||
plate11 = get_well_container("PlateT11")
|
||||
plate11.load_state({
|
||||
"Material": {
|
||||
"uuid": "57b1e4711e9e4a32b529f3132fc5931f",
|
||||
}
|
||||
})
|
||||
plate12 = get_well_container("PlateT12")
|
||||
plate12.load_state({
|
||||
"Material": {
|
||||
"uuid": "04211a2dc93547fe9bf6121eac533650"
|
||||
}
|
||||
})
|
||||
plate13 = get_well_container("PlateT13")
|
||||
plate13.load_state({
|
||||
"Material": {
|
||||
"uuid": "04211a2dc93547fe9bf6121eac533650"
|
||||
}
|
||||
})
|
||||
# from pylabrobot.resources.opentrons.tip_racks import tipone_96_tiprack_200ul,opentrons_96_tiprack_10ul
|
||||
# from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
|
||||
|
||||
# container_for_nothing = PRCXI9300Container(name="container_for_nothing", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
|
||||
# def get_well_container(name: str) -> PRCXI9300Container:
|
||||
# well_containers = corning_96_wellplate_360ul_flat(name).serialize()
|
||||
# plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
|
||||
# ordering=collections.OrderedDict())
|
||||
# plate_serialized = plate.serialize()
|
||||
# plate_serialized["parent_name"] = deck.name
|
||||
# well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
|
||||
# new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
|
||||
# return new_plate
|
||||
|
||||
deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
|
||||
deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing1", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||
deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing2", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||
deck.assign_child_resource(trash, location=Coordinate(0, 0, 0))
|
||||
deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing3", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||
deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||
deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing4", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||
deck.assign_child_resource(plate8, location=Coordinate(0, 0, 0))
|
||||
deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing5", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||
deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing6", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||
deck.assign_child_resource(plate11, location=Coordinate(0, 0, 0))
|
||||
deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||
deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing8", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||
# def get_tip_rack(name: str) -> PRCXI9300Container:
|
||||
# tip_racks = opentrons_96_tiprack_10ul("name").serialize()
|
||||
# tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
|
||||
# ordering=collections.OrderedDict())
|
||||
# tip_rack_serialized = tip_rack.serialize()
|
||||
# tip_rack_serialized["parent_name"] = deck.name
|
||||
# tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
|
||||
# new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
|
||||
# return new_tip_rack
|
||||
|
||||
handler = PRCXI9300Handler(deck=deck, host="10.181.102.13", port=9999,
|
||||
timeout=10.0, setup=False, debug=False,
|
||||
matrix_id="fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1",
|
||||
channel_num=1, axis="Right") # Initialize the handler with the deck and host settings
|
||||
# plate1 = get_well_container("HPLCPlateT1")
|
||||
# plate1.load_state({
|
||||
# "Material": {
|
||||
# "uuid": "548bbc3df0d4447586f2c19d2c0c0c55",
|
||||
# "Code": "HPLC01",
|
||||
# "Name": "HPLC料盘"
|
||||
# }
|
||||
# })
|
||||
# plate2 = get_well_container("PlateT2")
|
||||
# plate2.load_state({
|
||||
# "Material": {
|
||||
# "uuid": "04211a2dc93547fe9bf6121eac533650",
|
||||
# }
|
||||
# })
|
||||
# plate3 = get_well_container("PlateT3")
|
||||
# plate3.load_state({
|
||||
# "Material": {
|
||||
# "uuid": "04211a2dc93547fe9bf6121eac533650",
|
||||
# }
|
||||
# })
|
||||
# trash = PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash")
|
||||
# trash.load_state({
|
||||
# "Material": {
|
||||
# "uuid": "730067cf07ae43849ddf4034299030e9"
|
||||
# }
|
||||
# })
|
||||
# plate5 = get_well_container("PlateT5")
|
||||
# plate5.load_state({
|
||||
# "Material": {
|
||||
# "uuid": "04211a2dc93547fe9bf6121eac533650",
|
||||
# }
|
||||
# })
|
||||
# plate6 = get_well_container("PlateT6")
|
||||
# plate6.load_state({
|
||||
# "Material": {
|
||||
# "uuid": "04211a2dc93547fe9bf6121eac533650"
|
||||
# }
|
||||
# })
|
||||
# plate7 = PRCXI9300Container(name="plateT7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
|
||||
# plate7.load_state({
|
||||
# "Material": {
|
||||
# "uuid": "04211a2dc93547fe9bf6121eac533650"
|
||||
# }
|
||||
# })
|
||||
# plate8 = get_tip_rack("RackT8")
|
||||
# plate8.load_state({
|
||||
# "Material": {
|
||||
# "uuid": "068b3815e36b4a72a59bae017011b29f",
|
||||
# "Code": "ZX-001-10+",
|
||||
# "Name": "10μL加长 Tip头"
|
||||
# }
|
||||
# })
|
||||
# plate9 = get_well_container("PlateT9")
|
||||
# plate9.load_state({
|
||||
# "Material": {
|
||||
# "uuid": "04211a2dc93547fe9bf6121eac533650"
|
||||
# }
|
||||
# })
|
||||
# plate10 = get_well_container("PlateT10")
|
||||
# plate10.load_state({
|
||||
# "Material": {
|
||||
# "uuid": "04211a2dc93547fe9bf6121eac533650"
|
||||
# }
|
||||
# })
|
||||
# plate11 = get_well_container("PlateT11")
|
||||
# plate11.load_state({
|
||||
# "Material": {
|
||||
# "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
|
||||
# }
|
||||
# })
|
||||
# plate12 = get_well_container("PlateT12")
|
||||
# plate12.load_state({
|
||||
# "Material": {
|
||||
# "uuid": "04211a2dc93547fe9bf6121eac533650"
|
||||
# }
|
||||
# })
|
||||
# plate13 = get_well_container("PlateT13")
|
||||
# plate13.load_state({
|
||||
# "Material": {
|
||||
# "uuid": "04211a2dc93547fe9bf6121eac533650"
|
||||
# }
|
||||
# })
|
||||
|
||||
handler.set_tiprack([plate8]) # Set the tip rack for the handler
|
||||
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)
|
||||
# # container_for_nothing = PRCXI9300Container(name="container_for_nothing", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
|
||||
|
||||
plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)]) # Set liquids for every 8 wells in plate8
|
||||
# deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
|
||||
# deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing1", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||
# deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing2", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||
# deck.assign_child_resource(trash, location=Coordinate(0, 0, 0))
|
||||
# deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing3", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||
# deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||
# deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing4", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||
# deck.assign_child_resource(plate8, location=Coordinate(0, 0, 0))
|
||||
# deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing5", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||
# deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing6", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||
# deck.assign_child_resource(plate11, location=Coordinate(0, 0, 0))
|
||||
# deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||
# deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing8", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||
|
||||
from unilabos.resources.graphio import *
|
||||
# handler = PRCXI9300Handler(deck=deck, host="10.181.102.13", port=9999,
|
||||
# timeout=10.0, setup=False, debug=False,
|
||||
# matrix_id="fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1",
|
||||
# channel_num=8, axis="Right") # Initialize the handler with the deck and host settings
|
||||
|
||||
A = tree_to_list([resource_plr_to_ulab(deck)])
|
||||
# with open("deck.json", "w", encoding="utf-8") as f:
|
||||
# json.dump(A, f, indent=4, ensure_ascii=False)
|
||||
# handler.set_tiprack([plate8]) # Set the tip rack for the handler
|
||||
# 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)
|
||||
|
||||
print(plate11.get_well(0).tracker.get_used_volume())
|
||||
asyncio.run(handler.create_protocol(protocol_name="Test Protocol")) # Initialize the backend and setup the connection
|
||||
# plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)]) # Set liquids for every 8 wells in plate8
|
||||
|
||||
# asyncio.run(handler.pick_up_tips([plate8.children[8]],[0]))
|
||||
# print(plate8.children[8])
|
||||
# # asyncio.run(handler.run_protocol())
|
||||
# asyncio.run(handler.aspirate([plate11.children[0]],[10], [0]))
|
||||
# print(plate11.children[0])
|
||||
# # asyncio.run(handler.run_protocol())
|
||||
# asyncio.run(handler.dispense([plate1.children[0]],[10],[0]))
|
||||
# print(plate1.children[0])
|
||||
# # asyncio.run(handler.run_protocol())
|
||||
# asyncio.run(handler.mix([plate1.children[0]], mix_time=3, mix_vol=5, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
|
||||
# print(plate1.children[0])
|
||||
# asyncio.run(handler.discard_tips())
|
||||
# from unilabos.resources.graphio import *
|
||||
|
||||
asyncio.run(handler.add_liquid(
|
||||
asp_vols=[10]*7,
|
||||
dis_vols=[10]*7,
|
||||
reagent_sources=plate11.children[:7],
|
||||
targets=plate1.children[2:9],
|
||||
use_channels=[0],
|
||||
flow_rates=[None] * 7,
|
||||
offsets=[Coordinate(0, 0, 0)] * 7,
|
||||
liquid_height=[None] * 7,
|
||||
blow_out_air_volume=[None] * 2,
|
||||
delays=None,
|
||||
mix_time=3,
|
||||
mix_vol=5,
|
||||
spread="custom",
|
||||
))
|
||||
# A = tree_to_list([resource_plr_to_ulab(deck)])
|
||||
# # with open("deck.json", "w", encoding="utf-8") as f:
|
||||
# # json.dump(A, f, indent=4, ensure_ascii=False)
|
||||
|
||||
asyncio.run(handler.run_protocol()) # Run the protocol
|
||||
# # asyncio.run(handler.transfer_liquid(
|
||||
# # asp_vols=[10]*2,
|
||||
# # dis_vols=[10]*2,
|
||||
# # sources=plate11.children[:2],
|
||||
# # targets=plate11.children[-2:],
|
||||
# # use_channels=[0],
|
||||
# # offsets=[Coordinate(0, 0, 0)] * 4,
|
||||
# # liquid_height=[None] * 2,
|
||||
# # blow_out_air_volume=[None] * 2,
|
||||
# # delays=None,
|
||||
# # mix_times=3,
|
||||
# # mix_vol=5,
|
||||
# # spread="wide",
|
||||
# # tip_racks=[plate8]
|
||||
# # ))
|
||||
|
||||
# # asyncio.run(handler.remove_liquid(
|
||||
# # vols=[10]*2,
|
||||
# # sources=plate11.children[:2],
|
||||
# # waste_liquid=plate11.children[43],
|
||||
# # use_channels=[0],
|
||||
# # offsets=[Coordinate(0, 0, 0)] * 4,
|
||||
# # liquid_height=[None] * 2,
|
||||
# # blow_out_air_volume=[None] * 2,
|
||||
# # delays=None,
|
||||
# # spread="wide"
|
||||
# # ))
|
||||
# asyncio.run(handler.run_protocol())
|
||||
# print(plate11.get_well(0).tracker.get_used_volume())
|
||||
# asyncio.run(handler.create_protocol(protocol_name="Test Protocol")) # Initialize the backend and setup the connection
|
||||
|
||||
# # asyncio.run(handler.pick_up_tips([plate8.children[8]],[0]))
|
||||
# # print(plate8.children[8])
|
||||
# # # asyncio.run(handler.run_protocol())
|
||||
# # asyncio.run(handler.aspirate([plate11.children[0]],[10], [0]))
|
||||
# # print(plate11.children[0])
|
||||
# # # asyncio.run(handler.run_protocol())
|
||||
# # asyncio.run(handler.dispense([plate1.children[0]],[10],[0]))
|
||||
# # print(plate1.children[0])
|
||||
# # # asyncio.run(handler.run_protocol())
|
||||
# # asyncio.run(handler.mix([plate1.children[0]], mix_time=3, mix_vol=5, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
|
||||
# # print(plate1.children[0])
|
||||
# # asyncio.run(handler.discard_tips())
|
||||
# # asyncio.run(handler.mix(well_containers.children[:8
|
||||
# # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
|
||||
# #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
|
||||
|
||||
# asyncio.run(handler.add_liquid(
|
||||
# asp_vols=[10]*7,
|
||||
# dis_vols=[10]*7,
|
||||
# reagent_sources=plate11.children[:7],
|
||||
# targets=plate1.children[2:9],
|
||||
# use_channels=[0],
|
||||
# flow_rates=[None] * 7,
|
||||
# offsets=[Coordinate(0, 0, 0)] * 7,
|
||||
# liquid_height=[None] * 7,
|
||||
# blow_out_air_volume=[None] * 2,
|
||||
# delays=None,
|
||||
# mix_time=3,
|
||||
# mix_vol=5,
|
||||
# spread="custom",
|
||||
# ))
|
||||
|
||||
# asyncio.run(handler.run_protocol()) # Run the protocol
|
||||
|
||||
|
||||
# # asyncio.run(handler.remove_liquid(
|
||||
# # vols=[100]*16,
|
||||
# # sources=well_containers.children[-16:],
|
||||
# # waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
|
||||
# # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
|
||||
# # flow_rates=[None] * 32,
|
||||
# # offsets=[Coordinate(0, 0, 0)] * 32,
|
||||
# # liquid_height=[None] * 32,
|
||||
# # blow_out_air_volume=[None] * 32,
|
||||
# # spread="wide",
|
||||
# # ))
|
||||
# # asyncio.run(handler.transfer_liquid(
|
||||
# # asp_vols=[100]*16,
|
||||
# # dis_vols=[100]*16,
|
||||
# # tip_racks=[tip_rack],
|
||||
# # sources=well_containers.children[-16:],
|
||||
# # targets=well_containers.children[:16],
|
||||
# # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
|
||||
# # offsets=[Coordinate(0, 0, 0)] * 32,
|
||||
# # asp_flow_rates=[None] * 16,
|
||||
# # dis_flow_rates=[None] * 16,
|
||||
# # liquid_height=[None] * 32,
|
||||
# # blow_out_air_volume=[None] * 32,
|
||||
# # mix_times=3,
|
||||
# # mix_vol=50,
|
||||
# # spread="wide",
|
||||
# # ))
|
||||
print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
|
||||
# # input("pick_up_tips add step")
|
||||
# #asyncio.run(handler.run_protocol()) # Run the protocol
|
||||
# # input("Running protocol...")
|
||||
# # input("Press Enter to continue...") # Wait for user input before proceeding
|
||||
# # print("PRCXI9300Handler initialized with deck and host settings.")
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
# # # asyncio.run(handler.transfer_liquid(
|
||||
# # # asp_vols=[10]*2,
|
||||
# # # dis_vols=[10]*2,
|
||||
# # # sources=plate11.children[:2],
|
||||
# # # targets=plate11.children[-2:],
|
||||
# # # use_channels=[0],
|
||||
# # # offsets=[Coordinate(0, 0, 0)] * 4,
|
||||
# # # liquid_height=[None] * 2,
|
||||
# # # blow_out_air_volume=[None] * 2,
|
||||
# # # delays=None,
|
||||
# # # mix_times=3,
|
||||
# # # mix_vol=5,
|
||||
# # # spread="wide",
|
||||
# # # tip_racks=[plate8]
|
||||
# # # ))
|
||||
|
||||
# # # asyncio.run(handler.remove_liquid(
|
||||
# # # vols=[10]*2,
|
||||
# # # sources=plate11.children[:2],
|
||||
# # # waste_liquid=plate11.children[43],
|
||||
# # # use_channels=[0],
|
||||
# # # offsets=[Coordinate(0, 0, 0)] * 4,
|
||||
# # # liquid_height=[None] * 2,
|
||||
# # # blow_out_air_volume=[None] * 2,
|
||||
# # # delays=None,
|
||||
# # # spread="wide"
|
||||
# # # ))
|
||||
# # asyncio.run(handler.run_protocol())
|
||||
|
||||
# # # asyncio.run(handler.discard_tips())
|
||||
# # # asyncio.run(handler.mix(well_containers.children[:8
|
||||
# # # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
|
||||
# # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
|
||||
|
||||
|
||||
# # # asyncio.run(handler.remove_liquid(
|
||||
# # # vols=[100]*16,
|
||||
# # # sources=well_containers.children[-16:],
|
||||
# # # waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
|
||||
# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
|
||||
# # # flow_rates=[None] * 32,
|
||||
# # # offsets=[Coordinate(0, 0, 0)] * 32,
|
||||
# # # liquid_height=[None] * 32,
|
||||
# # # blow_out_air_volume=[None] * 32,
|
||||
# # # spread="wide",
|
||||
# # # ))
|
||||
# # # asyncio.run(handler.transfer_liquid(
|
||||
# # # asp_vols=[100]*16,
|
||||
# # # dis_vols=[100]*16,
|
||||
# # # tip_racks=[tip_rack],
|
||||
# # # sources=well_containers.children[-16:],
|
||||
# # # targets=well_containers.children[:16],
|
||||
# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
|
||||
# # # offsets=[Coordinate(0, 0, 0)] * 32,
|
||||
# # # asp_flow_rates=[None] * 16,
|
||||
# # # dis_flow_rates=[None] * 16,
|
||||
# # # liquid_height=[None] * 32,
|
||||
# # # blow_out_air_volume=[None] * 32,
|
||||
# # # mix_times=3,
|
||||
# # # mix_vol=50,
|
||||
# # # spread="wide",
|
||||
# # # ))
|
||||
# # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
|
||||
# # # input("pick_up_tips add step")
|
||||
# # #asyncio.run(handler.run_protocol()) # Run the protocol
|
||||
# # # input("Running protocol...")
|
||||
# # # input("Press Enter to continue...") # Wait for user input before proceeding
|
||||
# # # print("PRCXI9300Handler initialized with deck and host settings.")
|
||||
|
||||
|
||||
8
unilabos_msgs/action/LiquidHandlerSetGroup.action
Normal file
8
unilabos_msgs/action/LiquidHandlerSetGroup.action
Normal file
@@ -0,0 +1,8 @@
|
||||
string group_name
|
||||
Resource[] wells
|
||||
float64[] volumes
|
||||
---
|
||||
string return_info
|
||||
bool success
|
||||
---
|
||||
# 反馈
|
||||
8
unilabos_msgs/action/LiquidHandlerTransferGroup.action
Normal file
8
unilabos_msgs/action/LiquidHandlerTransferGroup.action
Normal file
@@ -0,0 +1,8 @@
|
||||
string source_group_name
|
||||
string target_group_name
|
||||
float64 unit_volume
|
||||
---
|
||||
string return_info
|
||||
bool success
|
||||
---
|
||||
# 反馈
|
||||
Reference in New Issue
Block a user