open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/dptech-corp/Uni-Lab-OS.git synced 2026-02-11 18:25:10 +00:00
Code Issues Packages Projects Releases Wiki Activity

adapt to new samples sys

Browse Source
This commit is contained in:
Xuwznln
2026-02-04 18:49:08 +08:00
parent 84a8223173
commit 26271bcab8
6 changed files with 202 additions and 88 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
unilabos/devices/liquid_handling/liquid_handler_abstract.py
View File

@@ -27,7 +27,12 @@ from typing_extensions import TypedDict
from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
from unilabos.registry.placeholder_type import ResourceSlot
from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDict
from unilabos.resources.resource_tracker import (
ResourceTreeSet,
ResourceDict,
EXTRA_SAMPLE_UUID,
EXTRA_UNILABOS_SAMPLE_UUID,
)
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
@@ -231,12 +236,11 @@ 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)}
)
sample_uuid_value = resource.unilabos_extra.get(EXTRA_SAMPLE_UUID, None)
res_samples.append({"name": resource.name, EXTRA_SAMPLE_UUID: sample_uuid_value})
res_volumes.append(volume)
self.pending_liquids_dict[channel] = {
"sample_uuid": resource.unilabos_extra.get("sample_uuid", None),
EXTRA_SAMPLE_UUID: sample_uuid_value,
"volume": volume,
}
return SimpleReturn(samples=res_samples, volumes=res_volumes)
@@ -278,10 +282,10 @@ class LiquidHandlerMiddleware(LiquidHandler):
res_samples = []
res_volumes = []
for resource, volume, channel in zip(resources, vols, use_channels):
res_uuid = self.pending_liquids_dict[channel]["sample_uuid"]
res_uuid = self.pending_liquids_dict[channel][EXTRA_SAMPLE_UUID]
self.pending_liquids_dict[channel]["volume"] -= volume
resource.unilabos_extra["sample_uuid"] = res_uuid
res_samples.append({"name": resource.name, "sample_uuid": res_uuid})
resource.unilabos_extra[EXTRA_SAMPLE_UUID] = res_uuid
res_samples.append({"name": resource.name, EXTRA_SAMPLE_UUID: res_uuid})
res_volumes.append(volume)
return SimpleReturn(samples=res_samples, volumes=res_volumes)