mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-07 15:35:10 +00:00
Update prcxi.py
This commit is contained in:
Guangxin Zhang
@@ -119,46 +119,114 @@ class LiquidHandlerAbstract(LiquidHandler):
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else:
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if len(asp_vols) != len(targets):
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raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.")
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tip = next(self.current_tip)
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await self.pick_up_tips(tip)
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# 首先应该对任务分组，然后每次1个/8个进行操作处理
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if len(use_channels) == 1:
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tip = []
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for _ in range(len(use_channels)):
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tip.extend(next(self.current_tip))
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await self.pick_up_tips(tip)
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for _ in range(len(targets)):
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await self.aspirate(
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resources=reagent_sources,
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vols=[asp_vols[_]],
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use_channels=use_channels,
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flow_rates=[flow_rates[0]] if flow_rates else None,
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offsets=[offsets[0]] if offsets else None,
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liquid_height=[liquid_height[0]] if liquid_height else None,
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blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume else None,
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spread=spread,
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)
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if delays is not None:
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await self.custom_delay(seconds=delays[0])
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await self.dispense(
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resources=[targets[_]],
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vols=[dis_vols[_]],
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use_channels=use_channels,
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flow_rates=[flow_rates[1]] if flow_rates else None,
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offsets=[offsets[1]] if offsets else None,
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blow_out_air_volume=[blow_out_air_volume[1]] if blow_out_air_volume else None,
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liquid_height=[liquid_height[1]] if liquid_height else None,
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spread=spread,
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)
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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.mix(
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targets=targets[_],
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mix_time=mix_time,
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mix_vol=mix_vol,
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offsets=offsets if offsets else None,
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height_to_bottom=mix_liquid_height if mix_liquid_height else None,
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mix_rate=mix_rate if mix_rate else None,
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)
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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(targets[_])
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await self.discard_tips()
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for _ in range(len(targets)):
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await self.aspirate(
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resources=reagent_sources,
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vols=[asp_vols[_]],
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use_channels=use_channels,
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flow_rates=[flow_rates[0]] if flow_rates else None,
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offsets=[offsets[0]] if offsets else None,
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liquid_height=[liquid_height[0]] if liquid_height else None,
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blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume else None,
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spread=spread,
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)
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if delays is not None:
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await self.custom_delay(seconds=delays[0])
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await self.dispense(
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resources=[targets[_]],
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vols=[dis_vols[_]],
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use_channels=use_channels,
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flow_rates=[flow_rates[1]] if flow_rates else None,
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offsets=[offsets[1]] if offsets else None,
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blow_out_air_volume=[blow_out_air_volume[1]] if blow_out_air_volume else None,
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liquid_height=[liquid_height[1]] if liquid_height else None,
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spread=spread,
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)
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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.mix(
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targets=targets[_],
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mix_time=mix_time,
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mix_vol=mix_vol,
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offsets=offsets if offsets else None,
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height_to_bottom=mix_liquid_height if mix_liquid_height else None,
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mix_rate=mix_rate if mix_rate else None,
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)
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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(targets[_])
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await self.discard_tips()
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elif len(use_channels) == 8:
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tip = []
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for _ in range(len(use_channels)):
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tip.extend(next(self.current_tip))
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await self.pick_up_tips(tip)
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# 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
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if len(targets) % 8 != 0:
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raise ValueError(f"Length of `targets` {len(targets)} must be a multiple of 8 for 8-channel mode.")
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# 8个8个来取任务序列
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for i in range(0, len(targets), 8):
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# 取出8个任务
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current_targets = targets[i:i + 8]
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current_reagent_sources = reagent_sources[i:i + 8]
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current_asp_vols = asp_vols[i:i + 8]
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current_dis_vols = dis_vols[i:i + 8]
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current_asp_flow_rates = flow_rates[i:i + 8] if flow_rates else [None] * 8
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current_dis_flow_rates = flow_rates[i+8 :i + 16] if flow_rates else [None] * 8
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current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
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current_dis_offset = offsets[i+8 :i + 16] if offsets else [None] * 8
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current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
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current_dis_liquid_height = liquid_height[i+8 :i + 16] if liquid_height else [None] * 8
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current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
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current_dis_blow_out_air_volume = blow_out_air_volume[i+8 :i + 16] if blow_out_air_volume else [None] * 8
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await self.aspirate(
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resources=current_reagent_sources,
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vols=current_asp_vols,
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use_channels=use_channels,
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flow_rates=current_asp_flow_rates,
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offsets=current_asp_offset,
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liquid_height=current_asp_liquid_height,
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blow_out_air_volume=current_asp_blow_out_air_volume,
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spread=spread,
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)
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if delays is not None:
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await self.custom_delay(seconds=delays[0])
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await self.dispense(
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resources=current_targets,
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vols=current_dis_vols,
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use_channels=use_channels,
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flow_rates=current_dis_flow_rates,
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offsets=current_dis_offset,
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liquid_height=current_dis_liquid_height,
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blow_out_air_volume=current_dis_blow_out_air_volume,
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spread=spread,
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)
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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.mix(
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targets=current_targets,
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mix_time=mix_time,
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mix_vol=mix_vol,
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offsets=offsets if offsets else None,
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height_to_bottom=mix_liquid_height if mix_liquid_height else None,
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mix_rate=mix_rate if mix_rate else None,
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)
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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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except Exception as e:
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traceback.print_exc()
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@@ -208,56 +276,126 @@ class LiquidHandlerAbstract(LiquidHandler):
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"""
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try:
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# ------------------------------------------------------------------
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# 96‑channel head mode
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# ------------------------------------------------------------------
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if is_96_well:
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pass # This mode is not verified
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pass # This mode is not verified.
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else:
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if not (len(asp_vols) == len(sources) and len(dis_vols) == len(targets)):
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raise ValueError("`sources`, `targets`, and `vols` must have the same length.")
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tip_iter = self.iter_tips(tip_racks)
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for src, tgt, asp_vol, asp_flow_rate, dis_vol, dis_flow_rate in zip(
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sources, targets, asp_vols, asp_flow_rates, dis_vols, dis_flow_rates
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):
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tip = next(tip_iter)
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if len(asp_vols) != len(targets):
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raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.")
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# 首先应该对任务分组，然后每次1个/8个进行操作处理
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if len(use_channels) == 1:
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tip = []
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for _ in range(len(use_channels)):
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tip.extend(next(self.current_tip))
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await self.pick_up_tips(tip)
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# Aspirate from source
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await self.aspirate(
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resources=[src],
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vols=[asp_vol],
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use_channels=use_channels,
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flow_rates=[asp_flow_rate],
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offsets=offsets,
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liquid_height=liquid_height,
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blow_out_air_volume=blow_out_air_volume,
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spread=spread,
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)
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self.custom_delay(seconds=delays[0] if delays else 0)
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# Dispense into target
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await self.dispense(
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resources=[tgt],
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vols=[dis_vol],
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use_channels=use_channels,
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flow_rates=[dis_flow_rate],
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offsets=offsets,
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liquid_height=liquid_height,
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blow_out_air_volume=blow_out_air_volume,
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spread=spread,
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)
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await self.mix(
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targets=[tgt],
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mix_time=mix_times[0] if mix_times else None,
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mix_vol=mix_vol[0] if mix_vol else None,
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mix_rate=mix_rate[0] if mix_rate else None,
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)
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if touch_tip:
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await self.touch_tip(tgt)
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for _ in range(len(targets)):
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await self.aspirate(
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resources=sources,
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vols=[asp_vols[_]],
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use_channels=use_channels,
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flow_rates=[asp_flow_rates[0]] if asp_flow_rates else None,
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offsets=[offsets[0]] if offsets else None,
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liquid_height=[liquid_height[0]] if liquid_height else None,
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blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume else None,
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spread=spread,
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)
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if delays is not None:
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await self.custom_delay(seconds=delays[0])
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await self.dispense(
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resources=[targets[_]],
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vols=[dis_vols[_]],
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use_channels=use_channels,
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flow_rates=[dis_flow_rates[1]] if dis_flow_rates else None,
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offsets=[offsets[1]] if offsets else None,
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blow_out_air_volume=[blow_out_air_volume[1]] if blow_out_air_volume else None,
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liquid_height=[liquid_height[1]] if liquid_height else None,
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spread=spread,
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)
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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.mix(
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targets=targets[_],
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mix_time=mix_times,
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mix_vol=mix_vol,
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offsets=offsets if offsets else None,
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height_to_bottom=mix_liquid_height if mix_liquid_height else None,
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mix_rate=mix_rate if mix_rate else None,
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)
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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(targets[_])
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await self.discard_tips()
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except Exception as exc:
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raise RuntimeError(f"Liquid transfer failed: {exc}") from exc
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elif len(use_channels) == 8:
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tip = []
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for _ in range(len(use_channels)):
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tip.extend(next(self.current_tip))
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await self.pick_up_tips(tip)
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# 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
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if len(targets) % 8 != 0:
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raise ValueError(f"Length of `targets` {len(targets)} must be a multiple of 8 for 8-channel mode.")
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# 8个8个来取任务序列
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for i in range(0, len(targets), 8):
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# 取出8个任务
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current_targets = targets[i:i + 8]
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current_reagent_sources = sources[i:i + 8]
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current_asp_vols = asp_vols[i:i + 8]
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current_dis_vols = dis_vols[i:i + 8]
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current_asp_flow_rates = asp_flow_rates[i:i + 8]
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current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
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current_dis_offset = offsets[i+8 :i + 16] if offsets else [None] * 8
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current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
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current_dis_liquid_height = liquid_height[i+8 :i + 16] if liquid_height else [None] * 8
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current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
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current_dis_blow_out_air_volume = blow_out_air_volume[i+8 :i + 16] if blow_out_air_volume else [None] * 8
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current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else [None] * 8
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await self.aspirate(
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resources=current_reagent_sources,
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vols=current_asp_vols,
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use_channels=use_channels,
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flow_rates=current_asp_flow_rates,
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offsets=current_asp_offset,
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blow_out_air_volume=current_asp_blow_out_air_volume,
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liquid_height=current_asp_liquid_height,
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spread=spread,
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)
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if delays is not None:
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await self.custom_delay(seconds=delays[0])
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await self.dispense(
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resources=current_targets,
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vols=current_dis_vols,
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use_channels=use_channels,
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flow_rates=current_dis_flow_rates,
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offsets=current_dis_offset,
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blow_out_air_volume=current_dis_blow_out_air_volume,
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liquid_height=current_dis_liquid_height,
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spread=spread,
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)
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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.mix(
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targets=current_targets,
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mix_time=mix_times,
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mix_vol=mix_vol,
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offsets=offsets if offsets else None,
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height_to_bottom=mix_liquid_height if mix_liquid_height else None,
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mix_rate=mix_rate if mix_rate else None,
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)
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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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except Exception as e:
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traceback.print_exc()
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raise RuntimeError(f"Liquid addition failed: {e}") from e
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# ---------------------------------------------------------------
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# Helper utilities
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@@ -339,6 +477,7 @@ class LiquidHandlerAbstract(LiquidHandler):
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def set_tiprack(self, tip_racks: Sequence[TipRack]):
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"""Set the tip racks for the liquid handler."""
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self.tip_racks = tip_racks
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tip_iter = self.iter_tips(tip_racks)
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self.current_tip = tip_iter
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