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This commit is contained in:
Guangxin Zhang
2025-07-18 21:44:57 +08:00
parent 3d9798476b
commit 2c06f94bcf
3 changed files with 20 additions and 13 deletions
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2
.gitignore vendored
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@@ -240,3 +240,5 @@ unilabos/device_mesh/view_robot.rviz
# Certs # Certs
**/.certs **/.certs
local_test2.py
ros-humble-unilabos-msgs-0.9.12-h6403a04_5.tar.bz2

23
unilabos/devices/liquid_handling/prcxi/prcxi.py
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@@ -464,6 +464,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
# 检查trash # # 检查trash #
if ops[0].resource.name == "trash": if ops[0].resource.name == "trash":
PlateNo = ops[0].resource.parent.children.index(ops[0].resource) + 1 PlateNo = ops[0].resource.parent.children.index(ops[0].resource) + 1
step = self.api_client.UnLoad( step = self.api_client.UnLoad(
@@ -1223,24 +1224,28 @@ if __name__ == "__main__":
"uuid": "04211a2dc93547fe9bf6121eac533650" "uuid": "04211a2dc93547fe9bf6121eac533650"
} }
}) })
container_for_nothing = PRCXI9300Container(name="container_for_nothing", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
deck.assign_child_resource(plate1, 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(container_for_nothing, location=Coordinate(0, 0, 0))
# deck.assign_child_resource(plate3, location=Coordinate(0, 0, 0)) deck.assign_child_resource(container_for_nothing, location=Coordinate(0, 0, 0))
deck.assign_child_resource(trash, location=Coordinate(0, 0, 0)) deck.assign_child_resource(trash, location=Coordinate(0, 0, 0))
# deck.assign_child_resource(plate5, location=Coordinate(0, 0, 0)) deck.assign_child_resource(container_for_nothing, location=Coordinate(0, 0, 0))
# deck.assign_child_resource(plate6, location=Coordinate(0, 0, 0)) deck.assign_child_resource(container_for_nothing, location=Coordinate(0, 0, 0))
# deck.assign_child_resource(plate7, location=Coordinate(0, 0, 0)) deck.assign_child_resource(container_for_nothing, location=Coordinate(0, 0, 0))
deck.assign_child_resource(plate8, location=Coordinate(0, 0, 0)) deck.assign_child_resource(plate8, location=Coordinate(0, 0, 0))
# deck.assign_child_resource(plate9, location=Coordinate(0, 0, 0)) deck.assign_child_resource(container_for_nothing, location=Coordinate(0, 0, 0))
# deck.assign_child_resource(plate10, location=Coordinate(0, 0, 0)) deck.assign_child_resource(container_for_nothing, location=Coordinate(0, 0, 0))
deck.assign_child_resource(plate11, location=Coordinate(0, 0, 0)) deck.assign_child_resource(plate11, location=Coordinate(0, 0, 0))
# deck.assign_child_resource(plate12, location=Coordinate(0, 0, 0)) deck.assign_child_resource(container_for_nothing, location=Coordinate(0, 0, 0))
# deck.assign_child_resource(plate13, location=Coordinate(0, 0, 0)) deck.assign_child_resource(container_for_nothing, location=Coordinate(0, 0, 0))
handler = PRCXI9300Handler(deck=deck, host="10.181.102.13", port=9999, handler = PRCXI9300Handler(deck=deck, host="10.181.102.13", port=9999,
timeout=10.0, setup=False, debug=True, timeout=10.0, setup=False, debug=True,
matrix_id="fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1", matrix_id="fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1",
channel_num=1) channel_num=1)
handler.set_tiprack([plate8]) # Set the tip rack for the handler handler.set_tiprack([plate8]) # Set the tip rack for the handler
asyncio.run(handler.setup()) # Initialize the handler and setup the connection asyncio.run(handler.setup()) # Initialize the handler and setup the connection
from pylabrobot.resources import set_volume_tracking from pylabrobot.resources import set_volume_tracking

4
unilabos/registry/devices/work_station.yaml
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@@ -240,8 +240,6 @@ workstation:
type: object type: object
type: AGVTransfer type: AGVTransfer
AddProtocol: AddProtocol:
placeholder_keys:
vessel: unilabos_resources
feedback: {} feedback: {}
goal: goal:
amount: amount amount: amount
@@ -307,6 +305,8 @@ workstation:
data_type: resource data_type: resource
handler_key: VesselOut handler_key: VesselOut
label: Vessel label: Vessel
placeholder_keys:
vessel: unilabos_resources
result: {} result: {}
schema: schema:
description: '' description: ''