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modify prcxi

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This commit is contained in:
Xuwznln
2025-07-18 03:19:38 +08:00
parent 5674e180fc
commit 2a686e6ff2
4 changed files with 39 additions and 34 deletions
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1
test/experiments/prcxi.json
View File

@@ -23,6 +23,7 @@
"channel_num": 1, "channel_num": 1,
"setup": false, "setup": false,
"debug": true, "debug": true,
"simulator": false,
"matrix_id": "fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1" "matrix_id": "fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1"
}, },
"data": {}, "data": {},

56
unilabos/devices/liquid_handling/liquid_handler_abstract.py
View File

@@ -36,7 +36,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
async def setup(self, **backend_kwargs): async def setup(self, **backend_kwargs):
if self._simulator: if self._simulator:
await self._simulate_handler.setup(**backend_kwargs) return await self._simulate_handler.setup(**backend_kwargs)
return await super().setup(**backend_kwargs) return await super().setup(**backend_kwargs)
def serialize_state(self) -> Dict[str, Any]: def serialize_state(self) -> Dict[str, Any]:
@@ -105,7 +105,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
**backend_kwargs, **backend_kwargs,
): ):
if self._simulator: if self._simulator:
await self._simulate_handler.pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs) return await self._simulate_handler.pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
return await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs) return await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
async def drop_tips( async def drop_tips(
@@ -117,7 +117,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
**backend_kwargs, **backend_kwargs,
): ):
if self._simulator: if self._simulator:
await self._simulate_handler.drop_tips( return await self._simulate_handler.drop_tips(
tip_spots, use_channels, offsets, allow_nonzero_volume, **backend_kwargs tip_spots, use_channels, offsets, allow_nonzero_volume, **backend_kwargs
) )
return await super().drop_tips(tip_spots, use_channels, offsets, allow_nonzero_volume, **backend_kwargs) return await super().drop_tips(tip_spots, use_channels, offsets, allow_nonzero_volume, **backend_kwargs)
@@ -126,7 +126,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
self, use_channels: Optional[list[int]] = None, allow_nonzero_volume: bool = False, **backend_kwargs self, use_channels: Optional[list[int]] = None, allow_nonzero_volume: bool = False, **backend_kwargs
): ):
if self._simulator: if self._simulator:
await self._simulate_handler.return_tips(use_channels, allow_nonzero_volume, **backend_kwargs) return await self._simulate_handler.return_tips(use_channels, allow_nonzero_volume, **backend_kwargs)
return await super().return_tips(use_channels, allow_nonzero_volume, **backend_kwargs) return await super().return_tips(use_channels, allow_nonzero_volume, **backend_kwargs)
async def discard_tips( async def discard_tips(
@@ -137,7 +137,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
**backend_kwargs, **backend_kwargs,
): ):
if self._simulator: if self._simulator:
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)
return await super().discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs) return await super().discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs)
def _check_containers(self, resources: Sequence[Resource]): def _check_containers(self, resources: Sequence[Resource]):
@@ -156,7 +156,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
**backend_kwargs, **backend_kwargs,
): ):
if self._simulator: if self._simulator:
await self._simulate_handler.aspirate( return await self._simulate_handler.aspirate(
resources, resources,
vols, vols,
use_channels, use_channels,
@@ -192,7 +192,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
**backend_kwargs, **backend_kwargs,
): ):
if self._simulator: if self._simulator:
await self._simulate_handler.dispense( return await self._simulate_handler.dispense(
resources, resources,
vols, vols,
use_channels, use_channels,
@@ -227,7 +227,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
**backend_kwargs, **backend_kwargs,
): ):
if self._simulator: if self._simulator:
await self._simulate_handler.transfer( return await self._simulate_handler.transfer(
source, source,
targets, targets,
source_vol, source_vol,
@@ -255,7 +255,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
async def pick_up_tips96(self, tip_rack: TipRack, offset: Coordinate = Coordinate.zero(), **backend_kwargs): async def pick_up_tips96(self, tip_rack: TipRack, offset: Coordinate = Coordinate.zero(), **backend_kwargs):
if self._simulator: if self._simulator:
await self._simulate_handler.pick_up_tips96(tip_rack, offset, **backend_kwargs) return await self._simulate_handler.pick_up_tips96(tip_rack, offset, **backend_kwargs)
return await super().pick_up_tips96(tip_rack, offset, **backend_kwargs) return await super().pick_up_tips96(tip_rack, offset, **backend_kwargs)
async def drop_tips96( async def drop_tips96(
@@ -266,7 +266,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
**backend_kwargs, **backend_kwargs,
): ):
if self._simulator: if self._simulator:
await self._simulate_handler.drop_tips96(resource, offset, allow_nonzero_volume, **backend_kwargs) return await self._simulate_handler.drop_tips96(resource, offset, allow_nonzero_volume, **backend_kwargs)
return await super().drop_tips96(resource, offset, allow_nonzero_volume, **backend_kwargs) return await super().drop_tips96(resource, offset, allow_nonzero_volume, **backend_kwargs)
def _get_96_head_origin_tip_rack(self) -> Optional[TipRack]: def _get_96_head_origin_tip_rack(self) -> Optional[TipRack]:
@@ -274,12 +274,12 @@ class LiquidHandlerMiddleware(LiquidHandler):
async def return_tips96(self, allow_nonzero_volume: bool = False, **backend_kwargs): async def return_tips96(self, allow_nonzero_volume: bool = False, **backend_kwargs):
if self._simulator: if self._simulator:
await self._simulate_handler.return_tips96(allow_nonzero_volume, **backend_kwargs) return await self._simulate_handler.return_tips96(allow_nonzero_volume, **backend_kwargs)
return await super().return_tips96(allow_nonzero_volume, **backend_kwargs) return await super().return_tips96(allow_nonzero_volume, **backend_kwargs)
async def discard_tips96(self, allow_nonzero_volume: bool = True, **backend_kwargs): async def discard_tips96(self, allow_nonzero_volume: bool = True, **backend_kwargs):
if self._simulator: if self._simulator:
await self._simulate_handler.discard_tips96(allow_nonzero_volume, **backend_kwargs) return await self._simulate_handler.discard_tips96(allow_nonzero_volume, **backend_kwargs)
return await super().discard_tips96(allow_nonzero_volume, **backend_kwargs) return await super().discard_tips96(allow_nonzero_volume, **backend_kwargs)
async def aspirate96( async def aspirate96(
@@ -292,7 +292,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
**backend_kwargs, **backend_kwargs,
): ):
if self._simulator: if self._simulator:
await self._simulate_handler.aspirate96( return await self._simulate_handler.aspirate96(
resource, volume, offset, flow_rate, blow_out_air_volume, **backend_kwargs resource, volume, offset, flow_rate, blow_out_air_volume, **backend_kwargs
) )
return await super().aspirate96(resource, volume, offset, flow_rate, blow_out_air_volume, **backend_kwargs) return await super().aspirate96(resource, volume, offset, flow_rate, blow_out_air_volume, **backend_kwargs)
@@ -307,7 +307,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
**backend_kwargs, **backend_kwargs,
): ):
if self._simulator: if self._simulator:
await self._simulate_handler.dispense96( return await self._simulate_handler.dispense96(
resource, volume, offset, flow_rate, blow_out_air_volume, **backend_kwargs resource, volume, offset, flow_rate, blow_out_air_volume, **backend_kwargs
) )
return await super().dispense96(resource, volume, offset, flow_rate, blow_out_air_volume, **backend_kwargs) return await super().dispense96(resource, volume, offset, flow_rate, blow_out_air_volume, **backend_kwargs)
@@ -321,7 +321,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
dispense_flow_rate: Optional[float] = None, dispense_flow_rate: Optional[float] = None,
): ):
if self._simulator: if self._simulator:
await self._simulate_handler.stamp(source, target, volume, aspiration_flow_rate, dispense_flow_rate) return await self._simulate_handler.stamp(source, target, volume, aspiration_flow_rate, dispense_flow_rate)
return await super().stamp(source, target, volume, aspiration_flow_rate, dispense_flow_rate) return await super().stamp(source, target, volume, aspiration_flow_rate, dispense_flow_rate)
async def pick_up_resource( async def pick_up_resource(
@@ -333,7 +333,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
**backend_kwargs, **backend_kwargs,
): ):
if self._simulator: if self._simulator:
await self._simulate_handler.pick_up_resource( return await self._simulate_handler.pick_up_resource(
resource, offset, pickup_distance_from_top, direction, **backend_kwargs resource, offset, pickup_distance_from_top, direction, **backend_kwargs
) )
return await super().pick_up_resource(resource, offset, pickup_distance_from_top, direction, **backend_kwargs) return await super().pick_up_resource(resource, offset, pickup_distance_from_top, direction, **backend_kwargs)
@@ -346,7 +346,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
**backend_kwargs, **backend_kwargs,
): ):
if self._simulator: if self._simulator:
await self._simulate_handler.move_picked_up_resource(to, offset, direction, **backend_kwargs) return await self._simulate_handler.move_picked_up_resource(to, offset, direction, **backend_kwargs)
return await super().move_picked_up_resource(to, offset, direction, **backend_kwargs) return await super().move_picked_up_resource(to, offset, direction, **backend_kwargs)
async def drop_resource( async def drop_resource(
@@ -357,7 +357,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
**backend_kwargs, **backend_kwargs,
): ):
if self._simulator: if self._simulator:
await self._simulate_handler.drop_resource(destination, offset, direction, **backend_kwargs) return await self._simulate_handler.drop_resource(destination, offset, direction, **backend_kwargs)
return await super().drop_resource(destination, offset, direction, **backend_kwargs) return await super().drop_resource(destination, offset, direction, **backend_kwargs)
async def move_resource( async def move_resource(
@@ -373,7 +373,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
**backend_kwargs, **backend_kwargs,
): ):
if self._simulator: if self._simulator:
await self._simulate_handler.move_resource( return await self._simulate_handler.move_resource(
resource, resource,
to, to,
intermediate_locations, intermediate_locations,
@@ -409,7 +409,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
**backend_kwargs, **backend_kwargs,
): ):
if self._simulator: if self._simulator:
await self._simulate_handler.move_lid( return await self._simulate_handler.move_lid(
lid, lid,
to, to,
intermediate_locations, intermediate_locations,
@@ -445,7 +445,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
**backend_kwargs, **backend_kwargs,
): ):
if self._simulator: if self._simulator:
await self._simulate_handler.move_plate( return await self._simulate_handler.move_plate(
plate, plate,
to, to,
intermediate_locations, intermediate_locations,
@@ -483,22 +483,22 @@ class LiquidHandlerMiddleware(LiquidHandler):
async def prepare_for_manual_channel_operation(self, channel: int): async def prepare_for_manual_channel_operation(self, channel: int):
if self._simulator: if self._simulator:
await self._simulate_handler.prepare_for_manual_channel_operation(channel) return await self._simulate_handler.prepare_for_manual_channel_operation(channel)
return await super().prepare_for_manual_channel_operation(channel) return await super().prepare_for_manual_channel_operation(channel)
async def move_channel_x(self, channel: int, x: float): async def move_channel_x(self, channel: int, x: float):
if self._simulator: if self._simulator:
await self._simulate_handler.move_channel_x(channel, x) return await self._simulate_handler.move_channel_x(channel, x)
return await super().move_channel_x(channel, x) return await super().move_channel_x(channel, x)
async def move_channel_y(self, channel: int, y: float): async def move_channel_y(self, channel: int, y: float):
if self._simulator: if self._simulator:
await self._simulate_handler.move_channel_y(channel, y) return await self._simulate_handler.move_channel_y(channel, y)
return await super().move_channel_y(channel, y) return await super().move_channel_y(channel, y)
async def move_channel_z(self, channel: int, z: float): async def move_channel_z(self, channel: int, z: float):
if self._simulator: if self._simulator:
await self._simulate_handler.move_channel_z(channel, z) return await self._simulate_handler.move_channel_z(channel, z)
return await super().move_channel_z(channel, z) return await super().move_channel_z(channel, z)
def assign_child_resource(self, resource: Resource, location: Optional[Coordinate], reassign: bool = True): def assign_child_resource(self, resource: Resource, location: Optional[Coordinate], reassign: bool = True):
@@ -510,7 +510,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
self, tip_spots: List[TipSpot], use_channels: Optional[List[int]] = None self, tip_spots: List[TipSpot], use_channels: Optional[List[int]] = None
) -> Dict[str, bool]: ) -> Dict[str, bool]:
if self._simulator: if self._simulator:
await self._simulate_handler.probe_tip_presence_via_pickup(tip_spots, use_channels) return await self._simulate_handler.probe_tip_presence_via_pickup(tip_spots, use_channels)
return await super().probe_tip_presence_via_pickup(tip_spots, use_channels) return await super().probe_tip_presence_via_pickup(tip_spots, use_channels)
async def probe_tip_inventory( async def probe_tip_inventory(
@@ -520,12 +520,12 @@ class LiquidHandlerMiddleware(LiquidHandler):
use_channels: Optional[List[int]] = None, use_channels: Optional[List[int]] = None,
) -> Dict[str, bool]: ) -> Dict[str, bool]:
if self._simulator: if self._simulator:
await self._simulate_handler.probe_tip_inventory(tip_spots, probing_fn, use_channels) return await self._simulate_handler.probe_tip_inventory(tip_spots, probing_fn, use_channels)
return await super().probe_tip_inventory(tip_spots, probing_fn, use_channels) return await super().probe_tip_inventory(tip_spots, probing_fn, use_channels)
async def consolidate_tip_inventory(self, tip_racks: List[TipRack], use_channels: Optional[List[int]] = None): async def consolidate_tip_inventory(self, tip_racks: List[TipRack], use_channels: Optional[List[int]] = None):
if self._simulator: if self._simulator:
await self._simulate_handler.consolidate_tip_inventory(tip_racks, use_channels) return await self._simulate_handler.consolidate_tip_inventory(tip_racks, use_channels)
return await super().consolidate_tip_inventory(tip_racks, use_channels) return await super().consolidate_tip_inventory(tip_racks, use_channels)

12
unilabos/devices/liquid_handling/prcxi/prcxi.py
View File

@@ -120,7 +120,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
return True return True
return self._unilabos_backend.is_reset_ok return self._unilabos_backend.is_reset_ok
def __init__(self, deck: Deck, host: str, port: int, timeout: float, channel_num=8, axis="Left", setup=True, debug=False, matrix_id=""): def __init__(self, deck: Deck, host: str, port: int, timeout: float, channel_num=8, axis="Left", setup=True, debug=False, simulator=False, matrix_id=""):
tablets_info = [] tablets_info = []
count = 0 count = 0
for child in deck.children: for child in deck.children:
@@ -130,7 +130,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
WorkTablets(Number=count, Code=f"T{count}", Material=child._unilabos_state["Material"]) WorkTablets(Number=count, Code=f"T{count}", Material=child._unilabos_state["Material"])
) )
self._unilabos_backend = PRCXI9300Backend(tablets_info, host, port, timeout, channel_num, axis, setup, debug, matrix_id) self._unilabos_backend = PRCXI9300Backend(tablets_info, host, port, timeout, channel_num, axis, setup, debug, matrix_id)
super().__init__(backend=self._unilabos_backend, deck=deck, simulator=True, channel_num=channel_num) super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num)
def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]): def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]):
return super().set_liquid(wells, liquid_names, volumes) return super().set_liquid(wells, liquid_names, volumes)
@@ -593,7 +593,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
PlateNo = plate_indexes[0] + 1 PlateNo = plate_indexes[0] + 1
hole_col = tip_columns[0] + 1 hole_col = tip_columns[0] + 1
if self.channel_num == 1: if self.num_channels == 1:
hole_row = tipspot_index % 8 + 1 hole_row = tipspot_index % 8 + 1
step = self.api_client.Imbibing(dosage=int(volumes[0]), plate_no=PlateNo, is_whole_plate=False, hole_row=hole_row, step = self.api_client.Imbibing(dosage=int(volumes[0]), plate_no=PlateNo, is_whole_plate=False, hole_row=hole_row,
@@ -633,7 +633,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
PlateNo = plate_indexes[0] + 1 PlateNo = plate_indexes[0] + 1
hole_col = tip_columns[0] + 1 hole_col = tip_columns[0] + 1
if self.channel_num == 1: if self.num_channels == 1:
hole_row = tipspot_index % 8 + 1 hole_row = tipspot_index % 8 + 1
step = self.api_client.Tapping( step = self.api_client.Tapping(
@@ -1247,10 +1247,10 @@ if __name__ == "__main__":
with open("deck.json", "w", encoding="utf-8") as f: with open("deck.json", "w", encoding="utf-8") as f:
json.dump(A, f, indent=4, ensure_ascii=False) json.dump(A, f, indent=4, ensure_ascii=False)
print(plate11.get_item('A1').tracker.get_used_volume()) print(plate11.get_well(0).tracker.get_used_volume())
asyncio.run(handler.create_protocol(protocol_name="Test Protocol")) # Initialize the backend and setup the connection asyncio.run(handler.create_protocol(protocol_name="Test Protocol")) # Initialize the backend and setup the connection
asyncio.run(handler.pick_up_tips([plate8.children[3]],[0])) asyncio.run(handler.pick_up_tips([plate8.children[3]],[0]))
asyncio.run(handler.aspirate([plate11.children[0]],[10], [0])) asyncio.run(handler.aspirate([plate11.children[0]],[9], [0]))
asyncio.run(handler.dispense([plate1.children[3]],[10],[0])) asyncio.run(handler.dispense([plate1.children[3]],[10],[0]))
asyncio.run(handler.mix([plate1.children[3]], mix_time=3, mix_vol=5, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100)) asyncio.run(handler.mix([plate1.children[3]], mix_time=3, mix_vol=5, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
asyncio.run(handler.discard_tips()) asyncio.run(handler.discard_tips())

4
unilabos/registry/devices/liquid_handler.yaml
View File

@@ -5514,6 +5514,8 @@ liquid_handler.prcxi:
vols: vols:
- 0.0 - 0.0
handles: [] handles: []
placeholder_keys:
resources: unilabos_resources
result: {} result: {}
schema: schema:
description: '' description: ''
@@ -6711,6 +6713,8 @@ liquid_handler.prcxi:
use_channels: use_channels:
- 0 - 0
handles: [] handles: []
placeholder_keys:
tip_spots: unilabos_resources
result: {} result: {}
schema: schema:
description: '' description: ''