diff --git a/test/experiments/prcxi.json b/test/experiments/prcxi.json index 4078756..e362558 100644 --- a/test/experiments/prcxi.json +++ b/test/experiments/prcxi.json @@ -35,7 +35,8 @@ "plateT2", "plateT3", "rackT4", - "plateT5" + "plateT5", + "plateT6" ], "parent": "PRCXI", "type": "device", @@ -184,6 +185,31 @@ "uuid": "57b1e4711e9e4a32b529f3132fc5931f" } } + }, + { + "id": "plateT6", + "name": "plateT6", + "sample_id": null, + "children": [], + "parent": "deck", + "type": "device", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "PRCXI9300Container", + "size_x": 120.98, + "size_y": 82.12, + "size_z": 50.3 + }, + "data": { + "Material": { + "uuid": "57b1e4711e9e4a32b529f3132fc5931f" + } + } } ], "links": [] diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py index 54257ac..dc8757b 100644 --- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py +++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py @@ -1,5 +1,6 @@ from __future__ import annotations +import traceback from typing import List, Sequence, Optional, Literal, Union, Iterator import asyncio @@ -117,7 +118,7 @@ class LiquidHandlerAbstract(LiquidHandler): pass # This mode is not verified. else: if len(asp_vols) != len(targets): - raise ValueError("Length of `vols` must match `targets`.") + raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.") tip = next(self.current_tip) await self.pick_up_tips(tip) @@ -160,6 +161,7 @@ class LiquidHandlerAbstract(LiquidHandler): await self.discard_tips() except Exception as e: + traceback.print_exc() raise RuntimeError(f"Liquid addition failed: {e}") from e # --------------------------------------------------------------- diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index cc097e5..6dd6e71 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -88,6 +88,12 @@ class PRCXI9300Container(Plate): class PRCXI9300Handler(LiquidHandlerAbstract): + @property + def reset_ok(self) -> bool: + """检查设备是否已重置成功。""" + return self._unilabos_backend.is_reset_ok + + def __init__(self, deck: Deck, host: str, port: int, timeout: float, setup=True): tablets_info = [] count = 0 @@ -102,18 +108,18 @@ class PRCXI9300Handler(LiquidHandlerAbstract): async def create_protocol( self, - protocol_name: str, - protocol_description: str, - protocol_version: str, - protocol_author: str, - protocol_date: str, - protocol_type: str, + protocol_name: str = "", + protocol_description: str = "", + protocol_version: str = "", + protocol_author: str = "", + protocol_date: str = "", + protocol_type: str = "", none_keys: List[str] = [], ): self._unilabos_backend.create_protocol(protocol_name) async def run_protocol(self): - self._unilabos_backend.run_protocol() + return self._unilabos_backend.run_protocol() async def remove_liquid( self, @@ -299,6 +305,13 @@ class PRCXI9300Backend(LiquidHandlerBackend): """ _num_channels = 8 # 默认通道数为 8 + _is_reset_ok = False + + @property + def is_reset_ok(self) -> bool: + self._is_reset_ok = self.api_client.get_reset_status() + return self._is_reset_ok + matrix_info: MatrixInfo protocol_name: str steps_todo_list = [] @@ -323,19 +336,24 @@ class PRCXI9300Backend(LiquidHandlerBackend): self.steps_todo_list = [] def run_protocol(self): + assert self.is_reset_ok, "PRCXI9300Backend is not reset successfully. Please call setup() first." run_time = time.time() self.matrix_info = MatrixInfo( - MatrixId=f"matrix_{run_time}", + MatrixId=f"{int(run_time)}", MatrixName=f"protocol_{run_time}", MatrixCount=len(self.tablets_info), WorkTablets=self.tablets_info, ) - self.api_client.add_WorkTablet_Matrix(self.matrix_info) + print(json.dumps(self.matrix_info, indent=2)) + res = self.api_client.add_WorkTablet_Matrix(self.matrix_info) + assert res["Success"], f"Failed to create matrix: {res.get('Message', 'Unknown error')}" + print(f"PRCXI9300Backend created matrix with ID: {self.matrix_info['MatrixId']}, result: {res}") solution_id = self.api_client.add_solution( f"protocol_{run_time}", self.matrix_info["MatrixId"], self.steps_todo_list ) + print(f"PRCXI9300Backend created solution with ID: {solution_id}") self.api_client.load_solution(solution_id) - self.api_client.start() + return self.api_client.start() @classmethod def check_channels(cls, use_channels: List[int]) -> List[int]: @@ -350,6 +368,10 @@ class PRCXI9300Backend(LiquidHandlerBackend): try: if self._execute_setup: self.api_client.call("IAutomation", "Reset") + while not self.is_reset_ok: + print("Waiting for PRCXI9300 to reset...") + await asyncio.sleep(1) + print("PRCXI9300 reset successfully.") except ConnectionRefusedError as e: raise RuntimeError( f"Failed to connect to PRCXI9300 API at {self.host}:{self.port}. " @@ -363,6 +385,18 @@ class PRCXI9300Backend(LiquidHandlerBackend): """Pick up tips from the specified resource.""" # 12列，要PickUp A-H 1 # PlateNo = 1-6 # 2行3列 + print("!!!!!!!!!" * 10) + print(ops, "====="*10) + # plate: PRCXI9300Container = ops[0].resource.parent.parent + # deck: PRCXI9300Deck = plate.parent + # plate_index = deck.children.index(plate) + # tipspot = ops[0].resource + # tipspot_index = tipspot.parent.children.index(tipspot) + # print(f"PRCXI9300Backend pick_up_tips: plate_index={plate_index}, tipspot_index={tipspot_index}") + # print(f"PRCXI9300Backend pick_up_tips: plate_index={plate_index}, plate.name={plate.name}") + # print(plate._unilabos_state["Material"]) + # for op in ops: + # print(f"PRCXI9300Backend pick_up_tips: {op.resource.name}") PlateNo = 1 # 第一块板 hole_col = 2 # 第二列的8个孔 step = self.api_client.Load( @@ -406,10 +440,11 @@ class PRCXI9300Backend(LiquidHandlerBackend): print("PRCXI9300Backend drop_tips logged.") async def aspirate(self, ops: List[SingleChannelAspiration], use_channels: List[int] = None): - volumes = [op.volume for op in ops] - print(f"PRCXI9300Backend aspirate volumes: {volumes[0]} -> {int(volumes[0])} μL") - PlateNo = 1 - hole_col = 2 + volumes = [1] + # volumes = [op.volume for op in ops] + # print(f"PRCXI9300Backend aspirate volumes: {volumes[0]} -> {int(volumes[0])} μL") + PlateNo = 2 + hole_col = 4 step = self.api_client.Imbibing( "Left", dosage=int(volumes[0]), @@ -425,9 +460,10 @@ class PRCXI9300Backend(LiquidHandlerBackend): self.steps_todo_list.append(step) async def dispense(self, ops: List[SingleChannelDispense], use_channels: List[int] = None): - volumes = [op.volume for op in ops] - print(f"PRCXI9300Backend dispense volumes: {volumes[0]} -> {int(volumes[0])} μL") - PlateNo = 1 + volumes = [1] + # volumes = [op.volume for op in ops] + # print(f"PRCXI9300Backend dispense volumes: {volumes[0]} -> {int(volumes[0])} μL") + PlateNo = 2 hole_col = 2 step = self.api_client.Tapping( "Left", @@ -542,6 +578,11 @@ class PRCXI9300Api: """GetErrorCode""" return self.call("IAutomation", "GetErrorCode") + def get_reset_status(self) -> Optional[str]: + """GetErrorCode""" + res = self.call("IAutomation", "GetResetStatus") + return not res + def clear_error_code(self) -> bool: """RemoveErrorCodet""" return self.call("IAutomation", "RemoveErrorCodet") @@ -818,15 +859,59 @@ if __name__ == "__main__": "uuid": "57b1e4711e9e4a32b529f3132fc5931f", } }) + plate6 = PRCXI9300Container(name="plateT6", size_x=50, size_y=50, size_z=10, category="plate") + plate6.load_state({ + "Material": { + "uuid": "57b1e4711e9e4a32b529f3132fc5931f", + } + }) + + from pylabrobot.resources.opentrons.tip_racks import tipone_96_tiprack_200ul + from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat + tip_rack = tipone_96_tiprack_200ul("TipRack") + well_containers = corning_96_wellplate_360ul_flat("Plate") + # from pprint import pprint + # pprint(well_containers.children) + plate1.assign_child_resource(tip_rack, location=Coordinate(0, 0, 0)) + plate2.assign_child_resource(well_containers, location=Coordinate(0, 0, 0)) deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0)) deck.assign_child_resource(plate2, location=Coordinate(0, 0, 0)) deck.assign_child_resource(plate3, location=Coordinate(0, 0, 0)) deck.assign_child_resource(plate4, location=Coordinate(0, 0, 0)) deck.assign_child_resource(plate5, location=Coordinate(0, 0, 0)) - - handler = PRCXI9300Handler(deck=deck, host="192.168.3.9", port=9999, timeout=10.0, setup=True) + deck.assign_child_resource(plate6, location=Coordinate(0, 0, 0)) + input("debug....") + handler = PRCXI9300Handler(deck=deck, host="192.168.3.9", port=9999, timeout=10.0, setup=False) + handler.set_tiprack([tip_rack]) # Set the tip rack for the handler asyncio.run(handler.setup()) # Initialize the handler and setup the connection + asyncio.run(handler.create_protocol(protocol_name="Test Protocol")) # Initialize the backend and setup the connection + input("Creating protocol...") + # asyncio.run(handler.pick_up_tips(tip_rack.children[:8],[0,1,2,3,4,5,6,7])) + # asyncio.run(handler.aspirate(tip_rack.children[:8],[0,1,2,3,4,5,6,7])) + # asyncio.run(handler.dispense(tip_rack.children[:8],[0,1,2,3,4,5,6,7])) + # asyncio.run(handler.drop_tips(tip_rack.children[:8],[0,1,2,3,4,5,6,7])) + asyncio.run(handler.pick_up_tips([], [], [])) + asyncio.run(handler.aspirate([], [], [])) + asyncio.run(handler.dispense([], [], [])) + asyncio.run(handler.drop_tips([], [], [])) + # asyncio.run(handler.add_liquid( + # asp_vols=[100]*8, + # dis_vols=[100]*8, + # reagent_sources=well_containers.children[-8:], + # targets=well_containers.children[:8], + # use_channels=[0, 1, 2, 3, 4, 5, 6, 7], + # flow_rates=[None] * 8, + # offsets=[Coordinate(0, 0, 0)] * 8, + # liquid_height=[None] * 8, + # blow_out_air_volume=[None] * 8, + # spread="wide", + # )) + input("pick_up_tips add step") + asyncio.run(handler.run_protocol()) # Run the protocol + input("Running protocol...") + print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info + input("Press Enter to continue...") # Wait for user input before proceeding diff --git a/unilabos/ros/msgs/message_converter.py b/unilabos/ros/msgs/message_converter.py index f0e9468..9dceef8 100644 --- a/unilabos/ros/msgs/message_converter.py +++ b/unilabos/ros/msgs/message_converter.py @@ -132,7 +132,7 @@ _msg_converter: Dict[Type, Any] = { Bool: lambda x: Bool(data=bool(x)), str: str, String: lambda x: String(data=str(x)), - Point: lambda x: Point(x=x.x, y=x.y, z=x.z) if not isinstance(x, dict) else Point(x=x.get("x", 0.0), y=x.get("y", 0.0), z=x.get("z", 0.0)), + Point: lambda x: Point(x=x.x, y=x.y, z=x.z) if not isinstance(x, dict) else Point(x=float(x.get("x", 0.0)), y=float(x.get("y", 0.0)), z=float(x.get("z", 0.0))), Resource: lambda x: Resource( id=x.get("id", ""), name=x.get("name", ""),