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workflow upload & set liquid fix & add set liquid with plate

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This commit is contained in:
Xuwznln
2026-02-02 18:23:33 +08:00
parent b0da149252
commit 23ce145f74
6 changed files with 1060 additions and 506 deletions
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2
unilabos/app/web/client.py
View File

@@ -359,9 +359,7 @@ class HTTPClient:
Returns:
Dict: API响应数据，包含 code 和 data (uuid, name)
"""
# target_lab_uuid 暂时使用默认值，后续由后端根据 ak/sk 获取
payload = {
"target_lab_uuid": "cf44e98c-7f3e-4175-b526-1fa338b43f65",
"name": name,
"data": {
"workflow_uuid": workflow_uuid,

372
unilabos/devices/liquid_handling/liquid_handler_abstract.py
View File

@@ -28,21 +28,40 @@ from pylabrobot.resources import (
Tip,
)
from unilabos.registry.placeholder_type import ResourceSlot
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
from unilabos.resources.resource_tracker import ResourceTreeSet
class SimpleReturn(TypedDict):
samples: list
volumes: list
class SetLiquidReturn(TypedDict):
wells: list
volumes: list
class SetLiquidFromPlateReturn(TypedDict):
plate: list
wells: list
volumes: list
class LiquidHandlerMiddleware(LiquidHandler):
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8, **kwargs):
def __init__(
self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8, **kwargs
):
self._simulator = simulator
self.channel_num = channel_num
self.pending_liquids_dict = {}
joint_config = kwargs.get("joint_config", None)
if simulator:
if joint_config:
self._simulate_backend = UniLiquidHandlerRvizBackend(channel_num, kwargs["total_height"],
joint_config=joint_config, lh_device_id=deck.name)
self._simulate_backend = UniLiquidHandlerRvizBackend(
channel_num, kwargs["total_height"], joint_config=joint_config, lh_device_id=deck.name
)
else:
self._simulate_backend = LiquidHandlerChatterboxBackend(channel_num)
self._simulate_handler = LiquidHandlerAbstract(self._simulate_backend, deck, False)
@@ -159,7 +178,9 @@ class LiquidHandlerMiddleware(LiquidHandler):
if not offsets or (isinstance(offsets, list) and len(offsets) != len(use_channels)):
offsets = [Coordinate.zero()] * len(use_channels)
if self._simulator:
return await self._simulate_handler.discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs)
return await self._simulate_handler.discard_tips(
use_channels, allow_nonzero_volume, offsets, **backend_kwargs
)
await super().discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs)
self.pending_liquids_dict = {}
return
@@ -180,7 +201,6 @@ class LiquidHandlerMiddleware(LiquidHandler):
**backend_kwargs,
):
if self._simulator:
return await self._simulate_handler.aspirate(
resources,
@@ -208,15 +228,16 @@ class LiquidHandlerMiddleware(LiquidHandler):
res_samples = []
res_volumes = []
for resource, volume, channel in zip(resources, vols, use_channels):
res_samples.append({"name": resource.name, "sample_uuid": resource.unilabos_extra.get("sample_uuid", None)})
res_samples.append(
{"name": resource.name, "sample_uuid": resource.unilabos_extra.get("sample_uuid", None)}
)
res_volumes.append(volume)
self.pending_liquids_dict[channel] = {
"sample_uuid": resource.unilabos_extra.get("sample_uuid", None),
"volume": volume
"volume": volume,
}
return SimpleReturn(samples=res_samples, volumes=res_volumes)
async def dispense(
self,
resources: Sequence[Container],
@@ -578,10 +599,18 @@ class LiquidHandlerMiddleware(LiquidHandler):
class LiquidHandlerAbstract(LiquidHandlerMiddleware):
"""Extended LiquidHandler with additional operations."""
support_touch_tip = True
_ros_node: BaseROS2DeviceNode
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8, total_height:float = 310):
def __init__(
self,
backend: LiquidHandlerBackend,
deck: Deck,
simulator: bool = False,
channel_num: int = 8,
total_height: float = 310,
):
"""Initialize a LiquidHandler.
Args:
@@ -605,6 +634,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
module_name = ".".join(components[:-1])
try:
import importlib
mod = importlib.import_module(module_name)
except ImportError:
mod = None
@@ -614,6 +644,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
# Try pylabrobot style import (if available)
try:
import pylabrobot
backend_cls = getattr(pylabrobot, type_str, None)
except Exception:
backend_cls = None
@@ -631,16 +662,56 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
self._ros_node = ros_node
@classmethod
def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SimpleReturn:
"""Set the liquid in a well."""
res_samples = []
def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SetLiquidReturn:
"""Set the liquid in a well.
如果 liquid_names 和 volumes 为空，但 wells 不为空，直接返回 wells。
"""
res_volumes = []
# 如果 liquid_names 和 volumes 都为空，直接返回 wells
if not liquid_names and not volumes:
return SetLiquidReturn(
wells=ResourceTreeSet.from_plr_resources(wells, known_newly_created=False).dump(), volumes=res_volumes # type: ignore
)
for well, liquid_name, volume in zip(wells, liquid_names, volumes):
well.set_liquids([(liquid_name, volume)]) # type: ignore
res_samples.append({"name": well.name, "sample_uuid": well.unilabos_extra.get("sample_uuid", None)})
res_volumes.append(volume)
return SimpleReturn(samples=res_samples, volumes=res_volumes)
return SetLiquidReturn(
wells=ResourceTreeSet.from_plr_resources(wells, known_newly_created=False).dump(), volumes=res_volumes # type: ignore
)
@classmethod
def set_liquid_from_plate(
cls, plate: ResourceSlot, well_names: list[str], liquid_names: list[str], volumes: list[float]
) -> SetLiquidFromPlateReturn:
"""Set the liquid in wells of a plate by well names (e.g., A1, A2, B3).
如果 liquid_names 和 volumes 为空，但 plate 和 well_names 不为空，直接返回 plate 和 wells。
"""
# 根据 well_names 获取对应的 Well 对象
wells = [plate.get_well(name) for name in well_names]
res_volumes = []
# 如果 liquid_names 和 volumes 都为空，直接返回
if not liquid_names and not volumes:
return SetLiquidFromPlateReturn(
plate=ResourceTreeSet.from_plr_resources([plate], known_newly_created=False).dump(), # type: ignore
wells=ResourceTreeSet.from_plr_resources(wells, known_newly_created=False).dump(), # type: ignore
volumes=res_volumes,
)
for well, liquid_name, volume in zip(wells, liquid_names, volumes):
well.set_liquids([(liquid_name, volume)]) # type: ignore
res_volumes.append(volume)
return SetLiquidFromPlateReturn(
plate=ResourceTreeSet.from_plr_resources([plate], known_newly_created=False).dump(), # type: ignore
wells=ResourceTreeSet.from_plr_resources(wells, known_newly_created=False).dump(), # type: ignore
volumes=res_volumes,
)
# ---------------------------------------------------------------
# REMOVE LIQUID --------------------------------------------------
# ---------------------------------------------------------------
@@ -676,7 +747,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
target_rack = child
target_rack = cast(TipRack, target_rack)
available_tips = {}
for (idx, tipSpot) in enumerate(target_rack.get_all_items()):
for idx, tipSpot in enumerate(target_rack.get_all_items()):
if tipSpot.has_tip():
available_tips[idx] = tipSpot
continue
@@ -684,8 +755,8 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
print("channel_num", self.channel_num)
if self.channel_num == 8:
tip_prefix = list(available_tips.values())[0].name.split('_')[0]
colnum_list = [int(tip.name.split('_')[-1][1:]) for tip in available_tips.values()]
tip_prefix = list(available_tips.values())[0].name.split("_")[0]
colnum_list = [int(tip.name.split("_")[-1][1:]) for tip in available_tips.values()]
available_cols = [colnum for colnum, count in dict(Counter(colnum_list)).items() if count == 8]
available_cols.sort()
available_tips_dict = {tip.name: tip for tip in available_tips.values()}
@@ -729,7 +800,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
"""Create a new protocol with the given metadata."""
pass
async def remove_liquid(
self,
vols: List[float],
@@ -788,10 +858,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
elif len(use_channels) == 8 and self.backend.num_channels == 8:
# 对于8个的情况，需要判断此时任务是不是能被8通道移液站来成功处理
if len(sources) % 8 != 0:
raise ValueError(f"Length of `sources` {len(sources)} must be a multiple of 8 for 8-channel mode.")
raise ValueError(
f"Length of `sources` {len(sources)} must be a multiple of 8 for 8-channel mode."
)
# 8个8个来取任务序列
@@ -800,18 +871,28 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
for _ in range(len(use_channels)):
tip.extend(next(self.current_tip))
await self.pick_up_tips(tip)
current_targets = waste_liquid[i:i + 8]
current_reagent_sources = sources[i:i + 8]
current_asp_vols = vols[i:i + 8]
current_dis_vols = vols[i:i + 8]
current_asp_flow_rates = flow_rates[i:i + 8] if flow_rates else [None] * 8
current_dis_flow_rates = flow_rates[-i*8-8:len(flow_rates)-i*8] if flow_rates else [None] * 8
current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
current_dis_offset = offsets[-i*8-8:len(offsets)-i*8] if offsets else [None] * 8
current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
current_dis_liquid_height = liquid_height[-i*8-8:len(liquid_height)-i*8] if liquid_height else [None] * 8
current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
current_dis_blow_out_air_volume = blow_out_air_volume[-i*8-8:len(blow_out_air_volume)-i*8] if blow_out_air_volume else [None] * 8
current_targets = waste_liquid[i : i + 8]
current_reagent_sources = sources[i : i + 8]
current_asp_vols = vols[i : i + 8]
current_dis_vols = vols[i : i + 8]
current_asp_flow_rates = flow_rates[i : i + 8] if flow_rates else [None] * 8
current_dis_flow_rates = (
flow_rates[-i * 8 - 8 : len(flow_rates) - i * 8] if flow_rates else [None] * 8
)
current_asp_offset = offsets[i : i + 8] if offsets else [None] * 8
current_dis_offset = offsets[-i * 8 - 8 : len(offsets) - i * 8] if offsets else [None] * 8
current_asp_liquid_height = liquid_height[i : i + 8] if liquid_height else [None] * 8
current_dis_liquid_height = (
liquid_height[-i * 8 - 8 : len(liquid_height) - i * 8] if liquid_height else [None] * 8
)
current_asp_blow_out_air_volume = (
blow_out_air_volume[i : i + 8] if blow_out_air_volume else [None] * 8
)
current_dis_blow_out_air_volume = (
blow_out_air_volume[-i * 8 - 8 : len(blow_out_air_volume) - i * 8]
if blow_out_air_volume
else [None] * 8
)
await self.aspirate(
resources=current_reagent_sources,
@@ -936,18 +1017,28 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
for _ in range(len(use_channels)):
tip.extend(next(self.current_tip))
await self.pick_up_tips(tip)
current_targets = targets[i:i + 8]
current_reagent_sources = reagent_sources[i:i + 8]
current_asp_vols = asp_vols[i:i + 8]
current_dis_vols = dis_vols[i:i + 8]
current_asp_flow_rates = flow_rates[i:i + 8] if flow_rates else [None] * 8
current_dis_flow_rates = flow_rates[-i*8-8:len(flow_rates)-i*8] if flow_rates else [None] * 8
current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
current_dis_offset = offsets[-i*8-8:len(offsets)-i*8] if offsets else [None] * 8
current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
current_dis_liquid_height = liquid_height[-i*8-8:len(liquid_height)-i*8] if liquid_height else [None] * 8
current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
current_dis_blow_out_air_volume = blow_out_air_volume[-i*8-8:len(blow_out_air_volume)-i*8] if blow_out_air_volume else [None] * 8
current_targets = targets[i : i + 8]
current_reagent_sources = reagent_sources[i : i + 8]
current_asp_vols = asp_vols[i : i + 8]
current_dis_vols = dis_vols[i : i + 8]
current_asp_flow_rates = flow_rates[i : i + 8] if flow_rates else [None] * 8
current_dis_flow_rates = (
flow_rates[-i * 8 - 8 : len(flow_rates) - i * 8] if flow_rates else [None] * 8
)
current_asp_offset = offsets[i : i + 8] if offsets else [None] * 8
current_dis_offset = offsets[-i * 8 - 8 : len(offsets) - i * 8] if offsets else [None] * 8
current_asp_liquid_height = liquid_height[i : i + 8] if liquid_height else [None] * 8
current_dis_liquid_height = (
liquid_height[-i * 8 - 8 : len(liquid_height) - i * 8] if liquid_height else [None] * 8
)
current_asp_blow_out_air_volume = (
blow_out_air_volume[i : i + 8] if blow_out_air_volume else [None] * 8
)
current_dis_blow_out_air_volume = (
blow_out_air_volume[-i * 8 - 8 : len(blow_out_air_volume) - i * 8]
if blow_out_air_volume
else [None] * 8
)
await self.aspirate(
resources=current_reagent_sources,
@@ -989,7 +1080,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
await self.touch_tip(current_targets)
await self.discard_tips()
# except Exception as e:
# traceback.print_exc()
# raise RuntimeError(f"Liquid addition failed: {e}") from e
@@ -1089,29 +1179,71 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
if num_sources == 1 and num_targets > 1:
# 模式1: 一对多 (1 source -> N targets)
await self._transfer_one_to_many(
sources[0], targets, tip_racks, use_channels,
asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
offsets, touch_tip, liquid_height, blow_out_air_volume,
spread, mix_stage, mix_times, mix_vol, mix_rate,
mix_liquid_height, delays
sources[0],
targets,
tip_racks,
use_channels,
asp_vols,
dis_vols,
asp_flow_rates,
dis_flow_rates,
offsets,
touch_tip,
liquid_height,
blow_out_air_volume,
spread,
mix_stage,
mix_times,
mix_vol,
mix_rate,
mix_liquid_height,
delays,
)
elif num_sources > 1 and num_targets == 1:
# 模式2: 多对一 (N sources -> 1 target)
await self._transfer_many_to_one(
sources, targets[0], tip_racks, use_channels,
asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
offsets, touch_tip, liquid_height, blow_out_air_volume,
spread, mix_stage, mix_times, mix_vol, mix_rate,
mix_liquid_height, delays
sources,
targets[0],
tip_racks,
use_channels,
asp_vols,
dis_vols,
asp_flow_rates,
dis_flow_rates,
offsets,
touch_tip,
liquid_height,
blow_out_air_volume,
spread,
mix_stage,
mix_times,
mix_vol,
mix_rate,
mix_liquid_height,
delays,
)
elif num_sources == num_targets:
# 模式3: 一对一 (N sources -> N targets)
await self._transfer_one_to_one(
sources, targets, tip_racks, use_channels,
asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
offsets, touch_tip, liquid_height, blow_out_air_volume,
spread, mix_stage, mix_times, mix_vol, mix_rate,
mix_liquid_height, delays
sources,
targets,
tip_racks,
use_channels,
asp_vols,
dis_vols,
asp_flow_rates,
dis_flow_rates,
offsets,
touch_tip,
liquid_height,
blow_out_air_volume,
spread,
mix_stage,
mix_times,
mix_vol,
mix_rate,
mix_liquid_height,
delays,
)
else:
raise ValueError(
@@ -1174,7 +1306,9 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
flow_rates=[asp_flow_rates[_]] if asp_flow_rates and len(asp_flow_rates) > _ else None,
offsets=[offsets[_]] if offsets and len(offsets) > _ else None,
liquid_height=[liquid_height[_]] if liquid_height and len(liquid_height) > _ else None,
blow_out_air_volume=[blow_out_air_volume[_]] if blow_out_air_volume and len(blow_out_air_volume) > _ else None,
blow_out_air_volume=(
[blow_out_air_volume[_]] if blow_out_air_volume and len(blow_out_air_volume) > _ else None
),
spread=spread,
)
if delays is not None:
@@ -1185,7 +1319,9 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
use_channels=use_channels,
flow_rates=[dis_flow_rates[_]] if dis_flow_rates and len(dis_flow_rates) > _ else None,
offsets=[offsets[_]] if offsets and len(offsets) > _ else None,
blow_out_air_volume=[blow_out_air_volume[_]] if blow_out_air_volume and len(blow_out_air_volume) > _ else None,
blow_out_air_volume=(
[blow_out_air_volume[_]] if blow_out_air_volume and len(blow_out_air_volume) > _ else None
),
liquid_height=[liquid_height[_]] if liquid_height and len(liquid_height) > _ else None,
spread=spread,
)
@@ -1214,18 +1350,18 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
for _ in range(len(use_channels)):
tip.extend(next(self.current_tip))
await self.pick_up_tips(tip)
current_targets = targets[i:i + 8]
current_reagent_sources = sources[i:i + 8]
current_asp_vols = asp_vols[i:i + 8]
current_dis_vols = dis_vols[i:i + 8]
current_asp_flow_rates = asp_flow_rates[i:i + 8] if asp_flow_rates else None
current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
current_dis_offset = offsets[i:i + 8] if offsets else [None] * 8
current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
current_dis_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None
current_targets = targets[i : i + 8]
current_reagent_sources = sources[i : i + 8]
current_asp_vols = asp_vols[i : i + 8]
current_dis_vols = dis_vols[i : i + 8]
current_asp_flow_rates = asp_flow_rates[i : i + 8] if asp_flow_rates else None
current_asp_offset = offsets[i : i + 8] if offsets else [None] * 8
current_dis_offset = offsets[i : i + 8] if offsets else [None] * 8
current_asp_liquid_height = liquid_height[i : i + 8] if liquid_height else [None] * 8
current_dis_liquid_height = liquid_height[i : i + 8] if liquid_height else [None] * 8
current_asp_blow_out_air_volume = blow_out_air_volume[i : i + 8] if blow_out_air_volume else [None] * 8
current_dis_blow_out_air_volume = blow_out_air_volume[i : i + 8] if blow_out_air_volume else [None] * 8
current_dis_flow_rates = dis_flow_rates[i : i + 8] if dis_flow_rates else None
if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
await self.mix(
@@ -1275,7 +1411,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
if delays is not None and len(delays) > 1:
await self.custom_delay(seconds=delays[1])
await self.touch_tip(current_targets)
await self.discard_tips([0,1,2,3,4,5,6,7])
await self.discard_tips([0, 1, 2, 3, 4, 5, 6, 7])
async def _transfer_one_to_many(
self,
@@ -1324,7 +1460,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
targets=[target],
mix_time=mix_times,
mix_vol=mix_vol,
offsets=offsets[idx:idx + 1] if offsets and len(offsets) > idx else None,
offsets=offsets[idx : idx + 1] if offsets and len(offsets) > idx else None,
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
mix_rate=mix_rate if mix_rate else None,
)
@@ -1337,7 +1473,9 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
flow_rates=[asp_flow_rates[0]] if asp_flow_rates and len(asp_flow_rates) > 0 else None,
offsets=[offsets[0]] if offsets and len(offsets) > 0 else None,
liquid_height=[liquid_height[0]] if liquid_height and len(liquid_height) > 0 else None,
blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None,
blow_out_air_volume=(
[blow_out_air_volume[0]] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None
),
spread=spread,
)
@@ -1352,7 +1490,9 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
use_channels=use_channels,
flow_rates=[dis_flow_rates[idx]] if dis_flow_rates and len(dis_flow_rates) > idx else None,
offsets=[offsets[idx]] if offsets and len(offsets) > idx else None,
blow_out_air_volume=[blow_out_air_volume[idx]] if blow_out_air_volume and len(blow_out_air_volume) > idx else None,
blow_out_air_volume=(
[blow_out_air_volume[idx]] if blow_out_air_volume and len(blow_out_air_volume) > idx else None
),
liquid_height=[liquid_height[idx]] if liquid_height and len(liquid_height) > idx else None,
spread=spread,
)
@@ -1363,7 +1503,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
targets=[target],
mix_time=mix_times,
mix_vol=mix_vol,
offsets=offsets[idx:idx+1] if offsets else None,
offsets=offsets[idx : idx + 1] if offsets else None,
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
mix_rate=mix_rate if mix_rate else None,
)
@@ -1384,21 +1524,29 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
tip.extend(next(self.current_tip))
await self.pick_up_tips(tip)
current_targets = targets[i:i + 8]
current_dis_vols = dis_vols[i:i + 8]
current_targets = targets[i : i + 8]
current_dis_vols = dis_vols[i : i + 8]
# 8个通道都从同一个源容器吸液，每个通道的吸液体积等于对应的分液体积
current_asp_flow_rates = asp_flow_rates[0:1] * 8 if asp_flow_rates and len(asp_flow_rates) > 0 else None
current_asp_flow_rates = (
asp_flow_rates[0:1] * 8 if asp_flow_rates and len(asp_flow_rates) > 0 else None
)
current_asp_offset = offsets[0:1] * 8 if offsets and len(offsets) > 0 else [None] * 8
current_asp_liquid_height = liquid_height[0:1] * 8 if liquid_height and len(liquid_height) > 0 else [None] * 8
current_asp_blow_out_air_volume = blow_out_air_volume[0:1] * 8 if blow_out_air_volume and len(blow_out_air_volume) > 0 else [None] * 8
current_asp_liquid_height = (
liquid_height[0:1] * 8 if liquid_height and len(liquid_height) > 0 else [None] * 8
)
current_asp_blow_out_air_volume = (
blow_out_air_volume[0:1] * 8
if blow_out_air_volume and len(blow_out_air_volume) > 0
else [None] * 8
)
if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
await self.mix(
targets=current_targets,
mix_time=mix_times,
mix_vol=mix_vol,
offsets=offsets[i:i + 8] if offsets else None,
offsets=offsets[i : i + 8] if offsets else None,
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
mix_rate=mix_rate if mix_rate else None,
)
@@ -1419,10 +1567,10 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
await self.custom_delay(seconds=delays[0])
# 分液到8个目标
current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None
current_dis_offset = offsets[i:i + 8] if offsets else [None] * 8
current_dis_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
current_dis_flow_rates = dis_flow_rates[i : i + 8] if dis_flow_rates else None
current_dis_offset = offsets[i : i + 8] if offsets else [None] * 8
current_dis_liquid_height = liquid_height[i : i + 8] if liquid_height else [None] * 8
current_dis_blow_out_air_volume = blow_out_air_volume[i : i + 8] if blow_out_air_volume else [None] * 8
await self.dispense(
resources=current_targets,
@@ -1451,7 +1599,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
if touch_tip:
await self.touch_tip(current_targets)
await self.discard_tips([0,1,2,3,4,5,6,7])
await self.discard_tips([0, 1, 2, 3, 4, 5, 6, 7])
async def _transfer_many_to_one(
self,
@@ -1524,7 +1672,9 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
flow_rates=[asp_flow_rates[idx]] if asp_flow_rates and len(asp_flow_rates) > idx else None,
offsets=[offsets[idx]] if offsets and len(offsets) > idx else None,
liquid_height=[liquid_height[idx]] if liquid_height and len(liquid_height) > idx else None,
blow_out_air_volume=[blow_out_air_volume[idx]] if blow_out_air_volume and len(blow_out_air_volume) > idx else None,
blow_out_air_volume=(
[blow_out_air_volume[idx]] if blow_out_air_volume and len(blow_out_air_volume) > idx else None
),
spread=spread,
)
@@ -1538,14 +1688,18 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
dis_flow_rate = dis_flow_rates[idx] if dis_flow_rates and len(dis_flow_rates) > idx else None
dis_offset = offsets[idx] if offsets and len(offsets) > idx else None
dis_liquid_height = liquid_height[idx] if liquid_height and len(liquid_height) > idx else None
dis_blow_out = blow_out_air_volume[idx] if blow_out_air_volume and len(blow_out_air_volume) > idx else None
dis_blow_out = (
blow_out_air_volume[idx] if blow_out_air_volume and len(blow_out_air_volume) > idx else None
)
else:
# 标准模式：分液体积等于吸液体积
dis_vol = asp_vols[idx]
dis_flow_rate = dis_flow_rates[0] if dis_flow_rates and len(dis_flow_rates) > 0 else None
dis_offset = offsets[0] if offsets and len(offsets) > 0 else None
dis_liquid_height = liquid_height[0] if liquid_height and len(liquid_height) > 0 else None
dis_blow_out = blow_out_air_volume[0] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None
dis_blow_out = (
blow_out_air_volume[0] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None
)
await self.dispense(
resources=[target],
@@ -1599,12 +1753,12 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
tip.extend(next(self.current_tip))
await self.pick_up_tips(tip)
current_sources = sources[i:i + 8]
current_asp_vols = asp_vols[i:i + 8]
current_asp_flow_rates = asp_flow_rates[i:i + 8] if asp_flow_rates else None
current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
current_sources = sources[i : i + 8]
current_asp_vols = asp_vols[i : i + 8]
current_asp_flow_rates = asp_flow_rates[i : i + 8] if asp_flow_rates else None
current_asp_offset = offsets[i : i + 8] if offsets else [None] * 8
current_asp_liquid_height = liquid_height[i : i + 8] if liquid_height else [None] * 8
current_asp_blow_out_air_volume = blow_out_air_volume[i : i + 8] if blow_out_air_volume else [None] * 8
# 从8个源容器吸液
await self.aspirate(
@@ -1624,18 +1778,22 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
# 分液到目标容器（每个通道分液到同一个目标）
if use_proportional_mixing:
# 按比例混合：使用对应的 dis_vols
current_dis_vols = dis_vols[i:i + 8]
current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None
current_dis_offset = offsets[i:i + 8] if offsets else [None] * 8
current_dis_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
current_dis_vols = dis_vols[i : i + 8]
current_dis_flow_rates = dis_flow_rates[i : i + 8] if dis_flow_rates else None
current_dis_offset = offsets[i : i + 8] if offsets else [None] * 8
current_dis_liquid_height = liquid_height[i : i + 8] if liquid_height else [None] * 8
current_dis_blow_out_air_volume = (
blow_out_air_volume[i : i + 8] if blow_out_air_volume else [None] * 8
)
else:
# 标准模式：每个通道分液体积等于其吸液体积
current_dis_vols = current_asp_vols
current_dis_flow_rates = dis_flow_rates[0:1] * 8 if dis_flow_rates else None
current_dis_offset = offsets[0:1] * 8 if offsets else [None] * 8
current_dis_liquid_height = liquid_height[0:1] * 8 if liquid_height else [None] * 8
current_dis_blow_out_air_volume = blow_out_air_volume[0:1] * 8 if blow_out_air_volume else [None] * 8
current_dis_blow_out_air_volume = (
blow_out_air_volume[0:1] * 8 if blow_out_air_volume else [None] * 8
)
await self.dispense(
resources=[target] * 8, # 8个通道都分到同一个目标
@@ -1651,7 +1809,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
if delays is not None and len(delays) > 1:
await self.custom_delay(seconds=delays[1])
await self.discard_tips([0,1,2,3,4,5,6,7])
await self.discard_tips([0, 1, 2, 3, 4, 5, 6, 7])
# 最后在目标容器中混合（如果需要）
if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
@@ -1671,7 +1829,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
# traceback.print_exc()
# raise RuntimeError(f"Liquid addition failed: {e}") from e
# ---------------------------------------------------------------
# Helper utilities
# ---------------------------------------------------------------
@@ -1692,7 +1849,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
print(f"Current time: {time.strftime('%H:%M:%S')}")
async def touch_tip(self, targets: Sequence[Container]):
"""Touch the tip to the side of the well."""
if not self.support_touch_tip:

233
unilabos/devices/liquid_handling/prcxi/prcxi.py
View File

@@ -30,9 +30,30 @@ from pylabrobot.liquid_handling.standard import (
ResourceMove,
ResourceDrop,
)
from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, PlateAdapter, TubeRack
from pylabrobot.resources import (
ResourceHolder,
ResourceStack,
Tip,
Deck,
Plate,
Well,
TipRack,
Resource,
Container,
Coordinate,
TipSpot,
Trash,
PlateAdapter,
TubeRack,
)
from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract, SimpleReturn
from unilabos.devices.liquid_handling.liquid_handler_abstract import (
LiquidHandlerAbstract,
SimpleReturn,
SetLiquidReturn,
SetLiquidFromPlateReturn,
)
from unilabos.registry.placeholder_type import ResourceSlot
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
@@ -80,6 +101,7 @@ class PRCXI9300Deck(Deck):
self.slots[slot - 1] = resource
super().assign_child_resource(resource, location=self.slot_locations[slot - 1])
class PRCXI9300Container(Plate):
"""PRCXI 9300 的专用 Container 类，继承自 Plate，用于槽位定位和未知模块。
@@ -109,19 +131,28 @@ class PRCXI9300Container(Plate):
data = super().serialize_state()
data.update(self._unilabos_state)
return data
class PRCXI9300Plate(Plate):
"""
专用孔板类：
1. 继承自 PLR 原生 Plate，保留所有物理特性。
2. 增加 material_info 参数，用于在初始化时直接绑定 Unilab UUID。
"""
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
def __init__(
self,
name: str,
size_x: float,
size_y: float,
size_z: float,
category: str = "plate",
ordered_items: collections.OrderedDict = None,
ordering: Optional[collections.OrderedDict] = None,
model: Optional[str] = None,
material_info: Optional[Dict[str, Any]] = None,
**kwargs):
**kwargs,
):
# 如果 ordered_items 不为 None，直接使用
if ordered_items is not None:
items = ordered_items
@@ -145,37 +176,31 @@ class PRCXI9300Plate(Plate):
# 根据情况传递不同的参数
if items is not None:
super().__init__(name, size_x, size_y, size_z,
ordered_items=items,
category=category,
model=model, **kwargs)
super().__init__(
name, size_x, size_y, size_z, ordered_items=items, category=category, model=model, **kwargs
)
elif ordering_param is not None:
# 传递 ordering 参数，让 Plate 自己创建 Well 对象
super().__init__(name, size_x, size_y, size_z,
ordering=ordering_param,
category=category,
model=model, **kwargs)
super().__init__(
name, size_x, size_y, size_z, ordering=ordering_param, category=category, model=model, **kwargs
)
else:
super().__init__(name, size_x, size_y, size_z,
category=category,
model=model, **kwargs)
super().__init__(name, size_x, size_y, size_z, category=category, model=model, **kwargs)
self._unilabos_state = {}
if material_info:
self._unilabos_state["Material"] = material_info
def load_state(self, state: Dict[str, Any]) -> None:
super().load_state(state)
self._unilabos_state = state
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
try:
data = super().serialize_state()
except AttributeError:
data = {}
if hasattr(self, '_unilabos_state') and self._unilabos_state:
if hasattr(self, "_unilabos_state") and self._unilabos_state:
safe_state = {}
for k, v in self._unilabos_state.items():
# 如果是 Material 字典，深入检查
@@ -196,15 +221,24 @@ class PRCXI9300Plate(Plate):
data.update(safe_state)
return data # 其他顶层属性也进行类型检查
class PRCXI9300TipRack(TipRack):
""" 专用吸头盒类 """
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
"""专用吸头盒类"""
def __init__(
self,
name: str,
size_x: float,
size_y: float,
size_z: float,
category: str = "tip_rack",
ordered_items: collections.OrderedDict = None,
ordering: Optional[collections.OrderedDict] = None,
model: Optional[str] = None,
material_info: Optional[Dict[str, Any]] = None,
**kwargs):
**kwargs,
):
# 如果 ordered_items 不为 None，直接使用
if ordered_items is not None:
items = ordered_items
@@ -228,20 +262,16 @@ class PRCXI9300TipRack(TipRack):
# 根据情况传递不同的参数
if items is not None:
super().__init__(name, size_x, size_y, size_z,
ordered_items=items,
category=category,
model=model, **kwargs)
super().__init__(
name, size_x, size_y, size_z, ordered_items=items, category=category, model=model, **kwargs
)
elif ordering_param is not None:
# 传递 ordering 参数，让 TipRack 自己创建 Tip 对象
super().__init__(name, size_x, size_y, size_z,
ordering=ordering_param,
category=category,
model=model, **kwargs)
super().__init__(
name, size_x, size_y, size_z, ordering=ordering_param, category=category, model=model, **kwargs
)
else:
super().__init__(name, size_x, size_y, size_z,
category=category,
model=model, **kwargs)
super().__init__(name, size_x, size_y, size_z, category=category, model=model, **kwargs)
self._unilabos_state = {}
if material_info:
self._unilabos_state["Material"] = material_info
@@ -255,7 +285,7 @@ class PRCXI9300TipRack(TipRack):
data = super().serialize_state()
except AttributeError:
data = {}
if hasattr(self, '_unilabos_state') and self._unilabos_state:
if hasattr(self, "_unilabos_state") and self._unilabos_state:
safe_state = {}
for k, v in self._unilabos_state.items():
# 如果是 Material 字典，深入检查
@@ -277,16 +307,23 @@ class PRCXI9300TipRack(TipRack):
data.update(safe_state)
return data
class PRCXI9300Trash(Trash):
"""PRCXI 9300 的专用 Trash 类，继承自 Trash。
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,
def __init__(
self,
name: str,
size_x: float,
size_y: float,
size_z: float,
category: str = "trash",
material_info: Optional[Dict[str, Any]] = None,
**kwargs):
**kwargs,
):
if name != "trash":
print(f"Warning: PRCXI9300Trash usually expects name='trash' for backend logic, but got '{name}'.")
@@ -306,7 +343,7 @@ class PRCXI9300Trash(Trash):
data = super().serialize_state()
except AttributeError:
data = {}
if hasattr(self, '_unilabos_state') and self._unilabos_state:
if hasattr(self, "_unilabos_state") and self._unilabos_state:
safe_state = {}
for k, v in self._unilabos_state.items():
# 如果是 Material 字典，深入检查
@@ -328,19 +365,27 @@ class PRCXI9300Trash(Trash):
data.update(safe_state)
return data
class PRCXI9300TubeRack(TubeRack):
"""
专用管架类：用于 EP 管架、试管架等。
继承自 PLR 的 TubeRack，并支持注入 material_info (UUID)。
"""
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
def __init__(
self,
name: str,
size_x: float,
size_y: float,
size_z: float,
category: str = "tube_rack",
items: Optional[Dict[str, Any]] = None,
ordered_items: Optional[OrderedDict] = None,
ordering: Optional[OrderedDict] = None,
model: Optional[str] = None,
material_info: Optional[Dict[str, Any]] = None,
**kwargs):
**kwargs,
):
# 如果 ordered_items 不为 None，直接使用
if ordered_items is not None:
@@ -370,20 +415,12 @@ class PRCXI9300TubeRack(TubeRack):
# 根据情况传递不同的参数
if items_to_pass is not None:
super().__init__(name, size_x, size_y, size_z,
ordered_items=items_to_pass,
model=model,
**kwargs)
super().__init__(name, size_x, size_y, size_z, ordered_items=items_to_pass, model=model, **kwargs)
elif ordering_param is not None:
# 传递 ordering 参数，让 TubeRack 自己创建 Tube 对象
super().__init__(name, size_x, size_y, size_z,
ordering=ordering_param,
model=model,
**kwargs)
super().__init__(name, size_x, size_y, size_z, ordering=ordering_param, model=model, **kwargs)
else:
super().__init__(name, size_x, size_y, size_z,
model=model,
**kwargs)
super().__init__(name, size_x, size_y, size_z, model=model, **kwargs)
self._unilabos_state = {}
if material_info:
@@ -394,7 +431,7 @@ class PRCXI9300TubeRack(TubeRack):
data = super().serialize_state()
except AttributeError:
data = {}
if hasattr(self, '_unilabos_state') and self._unilabos_state:
if hasattr(self, "_unilabos_state") and self._unilabos_state:
safe_state = {}
for k, v in self._unilabos_state.items():
# 如果是 Material 字典，深入检查
@@ -416,12 +453,19 @@ class PRCXI9300TubeRack(TubeRack):
data.update(safe_state)
return data
class PRCXI9300PlateAdapter(PlateAdapter):
"""
专用板式适配器类：用于承载 Plate 的底座（如 PCR 适配器、磁吸架等）。
支持注入 material_info (UUID)。
"""
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
def __init__(
self,
name: str,
size_x: float,
size_y: float,
size_z: float,
category: str = "plate_adapter",
model: Optional[str] = None,
material_info: Optional[Dict[str, Any]] = None,
@@ -432,7 +476,8 @@ class PRCXI9300PlateAdapter(PlateAdapter):
dx: Optional[float] = None,
dy: Optional[float] = None,
dz: float = 0.0, # 默认Z轴偏移
**kwargs):
**kwargs,
):
# 自动居中计算：如果未指定 dx/dy，则根据适配器尺寸和孔尺寸计算居中位置
if dx is None:
@@ -452,7 +497,7 @@ class PRCXI9300PlateAdapter(PlateAdapter):
adapter_hole_size_y=adapter_hole_size_y,
adapter_hole_size_z=adapter_hole_size_z,
model=model,
**kwargs
**kwargs,
)
self._unilabos_state = {}
@@ -464,7 +509,7 @@ class PRCXI9300PlateAdapter(PlateAdapter):
data = super().serialize_state()
except AttributeError:
data = {}
if hasattr(self, '_unilabos_state') and self._unilabos_state:
if hasattr(self, "_unilabos_state") and self._unilabos_state:
safe_state = {}
for k, v in self._unilabos_state.items():
# 如果是 Material 字典，深入检查
@@ -486,6 +531,7 @@ class PRCXI9300PlateAdapter(PlateAdapter):
data.update(safe_state)
return data
class PRCXI9300Handler(LiquidHandlerAbstract):
support_touch_tip = False
@@ -518,7 +564,9 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
if "Material" in child.children[0]._unilabos_state:
number = int(child.name.replace("T", ""))
tablets_info.append(
WorkTablets(Number=number, Code=f"T{number}", Material=child.children[0]._unilabos_state["Material"])
WorkTablets(
Number=number, Code=f"T{number}", Material=child.children[0]._unilabos_state["Material"]
)
)
if is_9320:
print("当前设备是9320")
@@ -538,9 +586,14 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
super().post_init(ros_node)
self._unilabos_backend.post_init(ros_node)
def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SimpleReturn:
def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SetLiquidReturn:
return super().set_liquid(wells, liquid_names, volumes)
def set_liquid_from_plate(
self, plate: ResourceSlot, well_names: list[str], liquid_names: list[str], volumes: list[float]
) -> SetLiquidFromPlateReturn:
return super().set_liquid_from_plate(plate, well_names, liquid_names, volumes)
def set_group(self, group_name: str, wells: List[Well], volumes: List[float]):
return super().set_group(group_name, wells, volumes)
@@ -800,6 +853,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
async def heater_action(self, temperature: float, time: int):
return await self._unilabos_backend.heater_action(temperature, time)
async def move_plate(
self,
plate: Plate,
@@ -822,10 +876,11 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
drop_direction,
pickup_direction,
pickup_distance_from_top,
target_plate_number = to,
target_plate_number=to,
**backend_kwargs,
)
class PRCXI9300Backend(LiquidHandlerBackend):
"""PRCXI 9300 的后端实现，继承自 LiquidHandlerBackend。
@@ -878,13 +933,12 @@ class PRCXI9300Backend(LiquidHandlerBackend):
self.steps_todo_list.append(step)
return step
async def pick_up_resource(self, pickup: ResourcePickup, **backend_kwargs):
resource=pickup.resource
offset=pickup.offset
pickup_distance_from_top=pickup.pickup_distance_from_top
direction=pickup.direction
resource = pickup.resource
offset = pickup.offset
pickup_distance_from_top = pickup.pickup_distance_from_top
direction = pickup.direction
plate_number = int(resource.parent.name.replace("T", ""))
is_whole_plate = True
@@ -896,13 +950,11 @@ class PRCXI9300Backend(LiquidHandlerBackend):
async def drop_resource(self, drop: ResourceDrop, **backend_kwargs):
plate_number = None
target_plate_number = backend_kwargs.get("target_plate_number", None)
if target_plate_number is not None:
plate_number = int(target_plate_number.name.replace("T", ""))
is_whole_plate = True
balance_height = 0
if plate_number is None:
@@ -911,7 +963,6 @@ class PRCXI9300Backend(LiquidHandlerBackend):
self.steps_todo_list.append(step)
return step
async def heater_action(self, temperature: float, time: int):
print(f"\n\nHeater action: temperature={temperature}, time={time}\n\n")
# return await self.api_client.heater_action(temperature, time)
@@ -980,7 +1031,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
# 检查重置状态并等待完成
while not self.is_reset_ok:
print("Waiting for PRCXI9300 to reset...")
if hasattr(self, '_ros_node') and self._ros_node is not None:
if hasattr(self, "_ros_node") and self._ros_node is not None:
await self._ros_node.sleep(1)
else:
await asyncio.sleep(1)
@@ -998,7 +1049,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
"""Pick up tips from the specified resource."""
# INSERT_YOUR_CODE
# Ensure use_channels is converted to a list of ints if it's an array
if hasattr(use_channels, 'tolist'):
if hasattr(use_channels, "tolist"):
_use_channels = use_channels.tolist()
else:
_use_channels = list(use_channels) if use_channels is not None else None
@@ -1052,7 +1103,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
async def drop_tips(self, ops: List[Drop], use_channels: List[int] = None):
"""Pick up tips from the specified resource."""
if hasattr(use_channels, 'tolist'):
if hasattr(use_channels, "tolist"):
_use_channels = use_channels.tolist()
else:
_use_channels = list(use_channels) if use_channels is not None else None
@@ -1178,7 +1229,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
async def aspirate(self, ops: List[SingleChannelAspiration], use_channels: List[int] = None):
"""Aspirate liquid from the specified resources."""
if hasattr(use_channels, 'tolist'):
if hasattr(use_channels, "tolist"):
_use_channels = use_channels.tolist()
else:
_use_channels = list(use_channels) if use_channels is not None else None
@@ -1235,7 +1286,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
async def dispense(self, ops: List[SingleChannelDispense], use_channels: List[int] = None):
"""Dispense liquid into the specified resources."""
if hasattr(use_channels, 'tolist'):
if hasattr(use_channels, "tolist"):
_use_channels = use_channels.tolist()
else:
_use_channels = list(use_channels) if use_channels is not None else None
@@ -1416,7 +1467,6 @@ class PRCXI9300Api:
time.sleep(1)
return success
def call(self, service: str, method: str, params: Optional[list] = None) -> Any:
payload = json.dumps(
{"ServiceName": service, "MethodName": method, "Paramters": params or []}, separators=(",", ":")
@@ -1681,11 +1731,11 @@ class PRCXI9300Api:
"LiquidDispensingMethod": liquid_method,
}
def clamp_jaw_pick_up(self,
def clamp_jaw_pick_up(
self,
plate_no: int,
is_whole_plate: bool,
balance_height: int,
) -> Dict[str, Any]:
return {
"StepAxis": "ClampingJaw",
@@ -1695,7 +1745,7 @@ class PRCXI9300Api:
"HoleRow": 1,
"HoleCol": 1,
"BalanceHeight": balance_height,
"PlateOrHoleNum": f"T{plate_no}"
"PlateOrHoleNum": f"T{plate_no}",
}
def clamp_jaw_drop(
@@ -1703,7 +1753,6 @@ class PRCXI9300Api:
plate_no: int,
is_whole_plate: bool,
balance_height: int,
) -> Dict[str, Any]:
return {
"StepAxis": "ClampingJaw",
@@ -1713,7 +1762,7 @@ class PRCXI9300Api:
"HoleRow": 1,
"HoleCol": 1,
"BalanceHeight": balance_height,
"PlateOrHoleNum": f"T{plate_no}"
"PlateOrHoleNum": f"T{plate_no}",
}
def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool):
@@ -1726,6 +1775,7 @@ class PRCXI9300Api:
"AssistFun4": is_wait,
}
class DefaultLayout:
def __init__(self, product_name: str = "PRCXI9300"):
@@ -2104,7 +2154,9 @@ if __name__ == "__main__":
size_y=50,
size_z=10,
category="tip_rack",
ordered_items=collections.OrderedDict({k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}),
ordered_items=collections.OrderedDict(
{k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}
),
)
tip_rack_serialized = tip_rack.serialize()
tip_rack_serialized["parent_name"] = deck.name
@@ -2299,21 +2351,19 @@ if __name__ == "__main__":
A = tree_to_list([resource_plr_to_ulab(deck)])
with open("deck.json", "w", encoding="utf-8") as f:
A.insert(0, {
A.insert(
0,
{
"id": "PRCXI",
"name": "PRCXI",
"parent": None,
"type": "device",
"class": "liquid_handler.prcxi",
"position": {
"x": 0,
"y": 0,
"z": 0
},
"position": {"x": 0, "y": 0, "z": 0},
"config": {
"deck": {
"_resource_child_name": "PRCXI_Deck",
"_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck"
"_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
},
"host": "192.168.0.121",
"port": 9999,
@@ -2324,18 +2374,14 @@ if __name__ == "__main__":
"debug": True,
"simulator": True,
"matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
"is_9320": True
"is_9320": True,
},
"data": {},
"children": [
"PRCXI_Deck"
]
})
"children": ["PRCXI_Deck"],
},
)
A[1]["parent"] = "PRCXI"
json.dump({
"nodes": A,
"links": []
}, f, indent=4, ensure_ascii=False)
json.dump({"nodes": A, "links": []}, f, indent=4, ensure_ascii=False)
handler = PRCXI9300Handler(
deck=deck,
@@ -2377,7 +2423,6 @@ if __name__ == "__main__":
time.sleep(5)
os._exit(0)
prcxi_api = PRCXI9300Api(host="192.168.0.121", port=9999)
prcxi_api.list_matrices()
prcxi_api.get_all_materials()

165
unilabos/registry/devices/liquid_handler.yaml
View File

@@ -9284,7 +9284,13 @@ liquid_handler.prcxi:
data_source: handle
data_type: resource
handler_key: input_wells
label: InputWells
label: 待设定液体孔
output:
- data_key: wells.@flatten
data_source: executor
data_type: resource
handler_key: output_wells
label: 已设定液体孔
placeholder_keys:
wells: unilabos_resources
result: {}
@@ -9400,6 +9406,163 @@ liquid_handler.prcxi:
title: LiquidHandlerSetLiquid
type: object
type: LiquidHandlerSetLiquid
set_liquid_from_plate:
feedback: {}
goal: {}
goal_default:
liquid_names: null
plate: null
volumes: null
well_names: null
handles:
input:
- data_key: plate
data_source: handle
data_type: resource
handler_key: input_plate
label: 待设定液体板
output:
- data_key: plate.@flatten
data_source: executor
data_type: resource
handler_key: output_plate
label: 已设定液体板
- data_key: wells.@flatten
data_source: executor
data_type: resource
handler_key: output_wells
label: 已设定液体孔
- data_key: volumes
data_source: executor
data_type: number_array
handler_key: output_volumes
label: 各孔设定体积
placeholder_keys:
plate: unilabos_resources
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
liquid_names:
items:
type: string
type: array
plate:
properties:
category:
type: string
children:
items:
type: string
type: array
config:
type: string
data:
type: string
id:
type: string
name:
type: string
parent:
type: string
pose:
properties:
orientation:
properties:
w:
type: number
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
- w
title: orientation
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: position
type: object
required:
- position
- orientation
title: pose
type: object
sample_id:
type: string
type:
type: string
required:
- id
- name
- sample_id
- children
- parent
- type
- category
- pose
- config
- data
title: plate
type: object
volumes:
items:
type: number
type: array
well_names:
items:
type: string
type: array
required:
- plate
- well_names
- liquid_names
- volumes
type: object
result:
properties:
plate:
items: {}
title: Plate
type: array
volumes:
items:
type: number
title: Volumes
type: array
wells:
items: {}
title: Wells
type: array
required:
- plate
- wells
- volumes
title: SetLiquidFromPlateReturn
type: object
required:
- goal
title: set_liquid_from_plate参数
type: object
type: UniLabJsonCommand
set_tiprack:
feedback: {}
goal:

2
unilabos/resources/resource_tracker.py
View File

@@ -997,7 +997,7 @@ class DeviceNodeResourceTracker(object):
extra = name_to_extra_map[resource_name]
self.set_resource_extra(res, extra)
if len(extra):
logger.debug(f"设置资源Extra: {resource_name} -> {extra}")
logger.trace(f"设置资源Extra: {resource_name} -> {extra}")
return 1
return 0

304
unilabos/workflow/common.py
View File

@@ -1,3 +1,89 @@
"""
工作流转换模块 - JSON 到 WorkflowGraph 的转换流程
==================== 输入格式 (JSON) ====================
{
"workflow": [
{"action": "transfer_liquid", "action_args": {"sources": "cell_lines", "targets": "Liquid_1", "asp_vol": 100.0, "dis_vol": 74.75, ...}},
...
],
"reagent": {
"cell_lines": {"slot": 4, "well": ["A1", "A3", "A5"], "labware": "DRUG + YOYO-MEDIA"},
"Liquid_1": {"slot": 1, "well": ["A4", "A7", "A10"], "labware": "rep 1"},
...
}
}
==================== 转换步骤 ====================
第一步: 按 slot 去重创建 create_resource 节点（创建板子）
--------------------------------------------------------------------------------
- 遍历所有 reagent，按 slot 去重，为每个唯一的 slot 创建一个板子
- 生成参数:
res_id: plate_slot_{slot}
device_id: /PRCXI
class_name: PRCXI_BioER_96_wellplate
parent: /PRCXI/PRCXI_Deck/T{slot}
slot_on_deck: "{slot}"
- 输出端口: labware（用于连接 set_liquid_from_plate）
- 控制流: create_resource 之间通过 ready 端口串联
示例: slot=1, slot=4 -> 创建 2 个 create_resource 节点
第二步: 为每个 reagent 创建 set_liquid_from_plate 节点（设置液体）
--------------------------------------------------------------------------------
- 遍历所有 reagent，为每个试剂创建 set_liquid_from_plate 节点
- 生成参数:
plate: []（通过连接传递，来自 create_resource 的 labware）
well_names: ["A1", "A3", "A5"]（来自 reagent 的 well 数组）
liquid_names: ["cell_lines", "cell_lines", "cell_lines"]（与 well 数量一致）
volumes: [1e5, 1e5, 1e5]（与 well 数量一致，默认体积）
- 输入连接: create_resource (labware) -> set_liquid_from_plate (input_plate)
- 输出端口: output_wells（用于连接 transfer_liquid）
- 控制流: set_liquid_from_plate 连接在所有 create_resource 之后，通过 ready 端口串联
第三步: 解析 workflow，创建 transfer_liquid 等动作节点
--------------------------------------------------------------------------------
- 遍历 workflow 数组，为每个动作创建步骤节点
- 参数重命名: asp_vol -> asp_vols, dis_vol -> dis_vols, asp_flow_rate -> asp_flow_rates, dis_flow_rate -> dis_flow_rates
- 参数扩展: 根据 targets 的 wells 数量，将单值扩展为数组
例: asp_vol=100.0, targets 有 3 个 wells -> asp_vols=[100.0, 100.0, 100.0]
- 连接处理: 如果 sources/targets 已通过 set_liquid_from_plate 连接，参数值改为 []
- 输入连接: set_liquid_from_plate (output_wells) -> transfer_liquid (sources_identifier / targets_identifier)
- 输出端口: sources_out, targets_out（用于连接下一个 transfer_liquid）
==================== 连接关系图 ====================
控制流 (ready 端口串联):
create_resource_1 -> create_resource_2 -> ... -> set_liquid_1 -> set_liquid_2 -> ... -> transfer_liquid_1 -> transfer_liquid_2 -> ...
物料流:
[create_resource] --labware--> [set_liquid_from_plate] --output_wells--> [transfer_liquid] --sources_out/targets_out--> [下一个 transfer_liquid]
(slot=1) (cell_lines) (input_plate) (sources_identifier) (sources_identifier)
(slot=4) (Liquid_1) (targets_identifier) (targets_identifier)
==================== 端口映射 ====================
create_resource:
输出: labware
set_liquid_from_plate:
输入: input_plate
输出: output_plate, output_wells
transfer_liquid:
输入: sources -> sources_identifier, targets -> targets_identifier
输出: sources -> sources_out, targets -> targets_out
==================== 校验规则 ====================
- 检查 sources/targets 是否在 reagent 中定义
- 检查 sources 和 targets 的 wells 数量是否匹配
- 检查参数数组长度是否与 wells 数量一致
- 如有问题，在 footer 中添加 [WARN: ...] 标记
"""
import re
import uuid
@@ -14,13 +100,21 @@ Json = Dict[str, Any]
# create_resource 节点默认参数
CREATE_RESOURCE_DEFAULTS = {
"device_id": "/PRCXI",
"parent": "/PRCXI/PRCXI_Deck",
"parent_template": "/PRCXI/PRCXI_Deck/T{slot}", # {slot} 会被替换为实际的 slot 值
"class_name": "PRCXI_BioER_96_wellplate",
}
# 默认液体体积 (uL)
DEFAULT_LIQUID_VOLUME = 1e5
# 参数重命名映射：单数 -> 复数（用于 transfer_liquid 等动作）
PARAM_RENAME_MAPPING = {
"asp_vol": "asp_vols",
"dis_vol": "dis_vols",
"asp_flow_rate": "asp_flow_rates",
"dis_flow_rate": "dis_flow_rates",
}
# ---------------- Graph ----------------
@@ -256,73 +350,108 @@ def build_protocol_graph(
action_resource_mapping: action 到 resource_name 的映射字典，可选
"""
G = WorkflowGraph()
resource_last_writer = {}
resource_last_writer = {} # reagent_name -> "node_id:port"
slot_to_create_resource = {} # slot -> create_resource node_id
protocol_steps = refactor_data(protocol_steps, action_resource_mapping)
# 有机化学&移液站协议图构建
WORKSTATION_ID = workstation_name
# 为所有labware创建资源节点
res_index = 0
# ==================== 第一步：按 slot 去重创建 create_resource 节点 ====================
# 收集所有唯一的 slot
slots_info = {} # slot -> {labware, res_id}
for labware_id, item in labware_info.items():
slot = str(item.get("slot", ""))
if slot and slot not in slots_info:
res_id = f"plate_slot_{slot}"
slots_info[slot] = {
"labware": item.get("labware", ""),
"res_id": res_id,
}
# 为每个唯一的 slot 创建 create_resource 节点
res_index = 0
last_create_resource_id = None
for slot, info in slots_info.items():
node_id = str(uuid.uuid4())
# res_id 不能有空格，替换为下划线
res_id = str(labware_id).replace(" ", "_")
# 从 reagent 数据中获取 well 信息
wells = item.get("well", [])
slot = str(item.get("slot", "")) # slot_on_deck 是字符串
well_count = len(wells) if wells else 1
# 判断节点类型
if "Rack" in str(labware_id) or "Tip" in str(labware_id):
lab_node_type = "Labware"
description = f"Prepare Labware: {labware_id}"
liquid_input_slot = wells if wells else [-1]
liquid_type = []
liquid_volume = []
elif item.get("type") == "hardware" or "reactor" in str(labware_id).lower():
if "reactor" not in str(labware_id).lower():
continue
lab_node_type = "Sample"
description = f"Prepare Reactor: {labware_id}"
liquid_input_slot = wells if wells else [-1]
liquid_type = []
liquid_volume = []
else:
lab_node_type = "Reagent"
description = f"Add Reagent to Flask: {labware_id}"
# liquid_input_slot, liquid_type, liquid_volume 数量与 wells 保持一致
liquid_input_slot = wells if wells else [-1]
liquid_type = [res_id] * well_count
liquid_volume = [DEFAULT_LIQUID_VOLUME] * well_count
res_id = info["res_id"]
res_index += 1
G.add_node(
node_id,
template_name="create_resource",
resource_name="host_node",
name=f"Res {res_index}",
description=description,
lab_node_type=lab_node_type,
name=f"Plate {res_index}",
description=f"Create plate on slot {slot}",
lab_node_type="Labware",
footer="create_resource-host_node",
param={
"res_id": res_id,
"device_id": CREATE_RESOURCE_DEFAULTS["device_id"],
"class_name": CREATE_RESOURCE_DEFAULTS["class_name"],
"parent": CREATE_RESOURCE_DEFAULTS["parent"],
"parent": CREATE_RESOURCE_DEFAULTS["parent_template"].format(slot=slot),
"bind_locations": {"x": 0.0, "y": 0.0, "z": 0.0},
"liquid_input_slot": liquid_input_slot,
"liquid_type": liquid_type,
"liquid_volume": liquid_volume,
"slot_on_deck": slot,
},
)
# create_resource 节点输出 liquid_slots，用于连接 transfer_liquid 的 sources/targets
resource_last_writer[labware_id] = f"{node_id}:liquid_slots"
slot_to_create_resource[slot] = node_id
last_control_node_id = None
# create_resource 之间通过 ready 串联
if last_create_resource_id is not None:
G.add_edge(last_create_resource_id, node_id, source_port="ready", target_port="ready")
last_create_resource_id = node_id
# ==================== 第二步：为每个 reagent 创建 set_liquid_from_plate 节点 ====================
set_liquid_index = 0
last_set_liquid_id = last_create_resource_id # set_liquid_from_plate 连接在 create_resource 之后
for labware_id, item in labware_info.items():
# 跳过 Tip/Rack 类型
if "Rack" in str(labware_id) or "Tip" in str(labware_id):
continue
if item.get("type") == "hardware":
continue
slot = str(item.get("slot", ""))
wells = item.get("well", [])
if not wells or not slot:
continue
# res_id 不能有空格
res_id = str(labware_id).replace(" ", "_")
well_count = len(wells)
node_id = str(uuid.uuid4())
set_liquid_index += 1
G.add_node(
node_id,
template_name="set_liquid_from_plate",
resource_name="liquid_handler.prcxi",
name=f"SetLiquid {set_liquid_index}",
description=f"Set liquid: {labware_id}",
lab_node_type="Reagent",
footer="set_liquid_from_plate-liquid_handler.prcxi",
param={
"plate": [], # 通过连接传递
"well_names": wells, # 孔位名数组，如 ["A1", "A3", "A5"]
"liquid_names": [res_id] * well_count,
"volumes": [DEFAULT_LIQUID_VOLUME] * well_count,
},
)
# ready 连接：上一个节点 -> set_liquid_from_plate
if last_set_liquid_id is not None:
G.add_edge(last_set_liquid_id, node_id, source_port="ready", target_port="ready")
last_set_liquid_id = node_id
# 物料流：create_resource 的 labware -> set_liquid_from_plate 的 input_plate
create_res_node_id = slot_to_create_resource.get(slot)
if create_res_node_id:
G.add_edge(create_res_node_id, node_id, source_port="labware", target_port="input_plate")
# set_liquid_from_plate 的输出 output_wells 用于连接 transfer_liquid
resource_last_writer[labware_id] = f"{node_id}:output_wells"
last_control_node_id = last_set_liquid_id
# 端口名称映射：JSON 字段名 -> 实际 handle key
INPUT_PORT_MAPPING = {
@@ -348,18 +477,20 @@ def build_protocol_graph(
"compound": "compound",
}
# 需要根据 wells 数量扩展的参数列表（复数形式）
EXPAND_BY_WELLS_PARAMS = ["asp_vols", "dis_vols", "asp_flow_rates", "dis_flow_rates"]
# 处理协议步骤
for step in protocol_steps:
node_id = str(uuid.uuid4())
G.add_node(node_id, **step)
params = step.get("param", {}).copy() # 复制一份，避免修改原数据
connected_params = set() # 记录被连接的参数
warnings = [] # 收集警告信息
# 控制流
if last_control_node_id is not None:
G.add_edge(last_control_node_id, node_id, source_port="ready", target_port="ready")
last_control_node_id = node_id
# 物料流
params = step.get("param", {})
# 参数重命名：单数 -> 复数
for old_name, new_name in PARAM_RENAME_MAPPING.items():
if old_name in params:
params[new_name] = params.pop(old_name)
# 处理输入连接
for param_key, target_port in INPUT_PORT_MAPPING.items():
@@ -367,10 +498,71 @@ def build_protocol_graph(
if resource_name and resource_name in resource_last_writer:
source_node, source_port = resource_last_writer[resource_name].split(":")
G.add_edge(source_node, node_id, source_port=source_port, target_port=target_port)
connected_params.add(param_key)
elif resource_name and resource_name not in resource_last_writer:
# 资源名在 labware_info 中不存在
warnings.append(f"{param_key}={resource_name} 未找到")
# 获取 targets 对应的 wells 数量，用于扩展参数
targets_name = params.get("targets")
sources_name = params.get("sources")
targets_wells_count = 1
sources_wells_count = 1
if targets_name and targets_name in labware_info:
target_wells = labware_info[targets_name].get("well", [])
targets_wells_count = len(target_wells) if target_wells else 1
elif targets_name:
warnings.append(f"targets={targets_name} 未在 reagent 中定义")
if sources_name and sources_name in labware_info:
source_wells = labware_info[sources_name].get("well", [])
sources_wells_count = len(source_wells) if source_wells else 1
elif sources_name:
warnings.append(f"sources={sources_name} 未在 reagent 中定义")
# 检查 sources 和 targets 的 wells 数量是否匹配
if targets_wells_count != sources_wells_count and targets_name and sources_name:
warnings.append(f"wells 数量不匹配: sources={sources_wells_count}, targets={targets_wells_count}")
# 使用 targets 的 wells 数量来扩展参数
wells_count = targets_wells_count
# 扩展单值参数为数组（根据 targets 的 wells 数量）
for expand_param in EXPAND_BY_WELLS_PARAMS:
if expand_param in params:
value = params[expand_param]
# 如果是单个值，扩展为数组
if not isinstance(value, list):
params[expand_param] = [value] * wells_count
# 如果已经是数组但长度不对，记录警告
elif len(value) != wells_count:
warnings.append(f"{expand_param} 数量({len(value)})与 wells({wells_count})不匹配")
# 如果 sources/targets 已通过连接传递，将参数值改为空数组
for param_key in connected_params:
if param_key in params:
params[param_key] = []
# 更新 step 的 param 和 footer
step_copy = step.copy()
step_copy["param"] = params
# 如果有警告，修改 footer 添加警告标记（警告放前面）
if warnings:
original_footer = step.get("footer", "")
step_copy["footer"] = f"[WARN: {'; '.join(warnings)}] {original_footer}"
G.add_node(node_id, **step_copy)
# 控制流
if last_control_node_id is not None:
G.add_edge(last_control_node_id, node_id, source_port="ready", target_port="ready")
last_control_node_id = node_id
# 处理输出：更新 resource_last_writer
for param_key, output_port in OUTPUT_PORT_MAPPING.items():
resource_name = params.get(param_key)
resource_name = step.get("param", {}).get(param_key) # 使用原始参数值
if resource_name:
resource_last_writer[resource_name] = f"{node_id}:{output_port}"