Merge remote-tracking branch 'upstream/dev' into device_visualization

.gitignore

@@ -243,3 +243,4 @@ unilabos/device_mesh/view_robot.rviz
 local_test2.py
 ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2
 *.bz2
+test_config.py

test/experiments/prcxi_9320.json

@@ -21,7 +21,7 @@
                 "timeout": 10.0,
                 "axis": "Right",
                 "channel_num": 1,
-                "setup": true,
+                "setup": false,
                 "debug": false,
                 "simulator": false,
                 "matrix_id": "fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1"

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -714,15 +714,14 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
             else:
                 if len(asp_vols) != len(targets):
                     raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.")
-
                 # 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:
                     tip = []
-                    for _ in range(len(use_channels)):
+                    for x in range(len(use_channels)):
                         tip.extend(next(self.current_tip))
-                    await self.pick_up_tips(tip)             
+                    await self.pick_up_tips(tip)
+
                     for _ in range(len(targets)):
-                        print(use_channels, reagent_sources)
                         await self.aspirate(
                             resources=reagent_sources,
                             vols=[asp_vols[_]],

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -430,7 +430,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
     async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int] = None):
         """Pick up tips from the specified resource."""
-    
+        print('where?'*200)
         plate_indexes = []
         for op in ops:
             plate = op.resource.parent
@@ -969,12 +969,14 @@ class PRCXI9300Api:
 
 
 if __name__ == "__main__":
-    # # 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. backend需要支持num channel为1的情况
-    # # 3. 设计一个单点动作流程，可以跑
-    # # 4.
-    deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)
+    # 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. backend需要支持num channel为1的情况
+    # 3. 设计一个单点动作流程，可以跑
+    # 4.
+
+    
+    deck = PRCXI9300Deck(name="PRCXI_Deck_9300", size_x=100, size_y=100, size_z=100)
 
     from pylabrobot.resources.opentrons.tip_racks import opentrons_96_tiprack_300ul,opentrons_96_tiprack_10ul
     from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
@@ -1025,12 +1027,12 @@ if __name__ == "__main__":
         }
     })
 
-    plate4 = get_tip_rack("RackT4")
+    plate4 = get_well_container("PlateT4")
     plate4.load_state({
         "Material": {
-            "uuid": "076250742950465b9d6ea29a225dfb00",
-            "Code": "ZX-001-300",
-            "Name": "300μL Tip头"
+            "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
+            "Code": "ZX-019-2.2",
+            "Name": "96深孔板"
         }
     })
 
@@ -1043,6 +1045,7 @@ if __name__ == "__main__":
         }
     })
     plate6 = get_well_container("PlateT6")
+
     plate6.load_state({
         "Material": {
             "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
@@ -1075,13 +1078,19 @@ if __name__ == "__main__":
     # from pylabrobot.resources import set_tip_tracking
     set_volume_tracking(enabled=True)
     from unilabos.resources.graphio import *
-
+    A = tree_to_list([resource_plr_to_ulab(deck)])
+    with open("deck_9300_new.json", "w", encoding="utf-8") as f:
+        json.dump(A, f, indent=4, ensure_ascii=False)
     asyncio.run(handler.create_protocol(protocol_name="Test Protocol"))  # Initialize the backend and setup the connection
-    # asyncio.run(handler.pick_up_tips(plate1.children[:8],[0,1,2,3,4,5,6,7]))
 
+    # asyncio.run(handler.pick_up_tips(plate1.children[:8],[0,1,2,3,4,5,6,7]))
+    # print(plate1.children[:8])
     # asyncio.run(handler.aspirate(plate2.children[:8],[50]*8, [0,1,2,3,4,5,6,7]))
+    # print(plate2.children[:8])
     # asyncio.run(handler.dispense(plate5.children[:8],[50]*8,[0,1,2,3,4,5,6,7]))
-    # # # asyncio.run(handler.drop_tips(tip_rack.children[8:16],[0,1,2,3,4,5,6,7]))
+    # print(plate5.children[:8])
+
+    # # # # 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.mix(well_containers.children[:8
@@ -1102,7 +1111,7 @@ if __name__ == "__main__":
     #     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:],
@@ -1114,12 +1123,15 @@ if __name__ == "__main__":
     #     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
     asyncio.run(handler.transfer_liquid(
-        asp_vols=[100]*16,
-        dis_vols=[100]*16,
+        asp_vols=acid,
+        dis_vols=acid,
         tip_racks=[plate1],
-        sources=plate2.children[-16:],
-        targets=plate5.children[:16],
+        sources=plate2.children[:],
+        targets=plate5.children[:],
         use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
         offsets=[Coordinate(0, 0, 0)] * 32,
         asp_flow_rates=[None] * 16,
@@ -1130,8 +1142,6 @@ if __name__ == "__main__":
         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
@@ -1143,12 +1153,6 @@ if __name__ == "__main__":
     # 3.
 
 
-
-
-
-
-
-
 #     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
@@ -1289,8 +1293,8 @@ if __name__ == "__main__":
 #     from unilabos.resources.graphio import *
 
 #     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)
+#     # with open("deck.json", "w", encoding="utf-8") as f:
+#     #     json.dump(A, f, indent=4, ensure_ascii=False)
 
 #     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
@@ -1351,14 +1355,6 @@ if __name__ == "__main__":
 # #     delays=None,
 # #     spread="wide"
 # # ))
-
-
-
-
-
-
-
-
 #     asyncio.run(handler.run_protocol())
 
 #     # asyncio.run(handler.discard_tips())