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Update prcxi driver & fix transfer_liquid mix_times (#90)

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* Update prcxi driver & fix transfer_liquid mix_times

* fix: correct mix_times type

* Update liquid_handler registry

* test: prcxi.py
This commit is contained in:
shiyubo0410
2025-10-12 22:56:39 +08:00
committed by GitHub
parent 0f976a1874
commit 2d4ecec1e1
5 changed files with 42 additions and 35 deletions
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2
test/experiments/prcxi_9320.json
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@@ -19,7 +19,7 @@
"host": "192.168.0.121",
"port": 9999,
"timeout": 10.0,
"axis": "Left",
"axis": "Right",
"channel_num": 1,
"setup": true,
"debug": false,

2
unilabos/devices/liquid_handling/liquid_handler_abstract.py
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@@ -923,7 +923,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
spread: Literal["wide", "tight", "custom"] = "wide",
is_96_well: bool = False,
mix_stage: Optional[Literal["none", "before", "after", "both"]] = "none",
mix_times: Optional[List[int]] = None,
mix_times: Optional[int] = None,
mix_vol: Optional[int] = None,
mix_rate: Optional[int] = None,
mix_liquid_height: Optional[float] = None,

36
unilabos/devices/liquid_handling/prcxi/prcxi.py
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@@ -2,6 +2,7 @@ import asyncio
import collections
import contextlib
import json
import os
import socket
import time
from typing import Any, List, Dict, Optional, Tuple, TypedDict, Union, Sequence, Iterator, Literal
@@ -548,7 +549,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
blending_times=0,
balance_height=0,
plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
hole_numbers="1,2,3,4,5,6,7,8",
hole_numbers=f"{(hole_col - 1) * 8 + hole_row}" if self._num_channels == 1 else "1,2,3,4,5",
)
self.steps_todo_list.append(step)
@@ -1618,24 +1619,39 @@ if __name__ == "__main__":
host="192.168.0.121",
port=9999,
timeout=10.0,
setup=False,
setup=True,
debug=False,
matrix_id="5de524d0-3f95-406c-86dd-f83626ebc7cb",
channel_num=1,
axis="Left",
axis="Right",
simulator=False,
is_9320=True,
) # Initialize the handler with the deck and host settings
)
backend: PRCXI9300Backend = handler.backend
res = backend.api_client.get_all_materials()
handler.set_tiprack([plate8]) # Set the tip rack for the handler
asyncio.run(handler.setup()) # Initialize the handler and setup the connection
from pylabrobot.resources import set_volume_tracking
# from pylabrobot.resources import set_tip_tracking
set_volume_tracking(enabled=True)
# res = backend.api_client.get_all_materials()
asyncio.run(handler.setup()) # Initialize the handler and setup the connection
handler.set_tiprack([plate1, plate5]) # Set the tip rack for the handler
handler.set_liquid([plate9.get_well("H12")], ["water"], [5])
asyncio.run(handler.create_protocol(protocol_name="Test Protocol"))
asyncio.run(handler.pick_up_tips([plate5.get_item("C5")], [0]))
asyncio.run(handler.aspirate([plate9.get_item("H12")], [5], [0]))
for well in plate13.get_all_items():
# well_pos = well.name.split("_")[1] # 走一行
# if well_pos.startswith("A"):
if well.name.startswith("PlateT13"): # 走整个Plate
asyncio.run(handler.dispense([well], [0.01], [0]))
# asyncio.run(handler.dispense([plate10.get_item("H12")], [1], [0]))
# asyncio.run(handler.dispense([plate13.get_item("A1")], [1], [0]))
# asyncio.run(handler.dispense([plate14.get_item("C5")], [1], [0]))
asyncio.run(handler.mix([plate10.get_item("H12")], mix_time=3, mix_vol=5))
asyncio.run(handler.discard_tips([0]))
asyncio.run(handler.run_protocol())
time.sleep(5)
os._exit(0)
# 第一种情景：一个孔往多个孔加液
# plate_2_liquids = handler.set_group("water", [plate2.children[0]], [300])
# plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23)
@@ -1652,7 +1668,7 @@ if __name__ == "__main__":
# # json.dump(A, f, indent=4, ensure_ascii=False)
# 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
# Initialize the backend and setup the connection
asyncio.run(handler.transfer_group("water", "master_mix", 10)) # Reset tip tracking

15
unilabos/registry/devices/liquid_handler.yaml
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@@ -3994,8 +3994,7 @@ liquid_handler:
mix_liquid_height: 0.0
mix_rate: 0
mix_stage: ''
mix_times:
- 0
mix_times: 0
mix_vol: 0
none_keys:
- ''
@@ -4151,11 +4150,9 @@ liquid_handler:
mix_stage:
type: string
mix_times:
items:
maximum: 2147483647
minimum: -2147483648
type: integer
type: array
mix_vol:
maximum: 2147483647
minimum: -2147483648
@@ -5015,8 +5012,7 @@ liquid_handler.biomek:
mix_liquid_height: 0.0
mix_rate: 0
mix_stage: ''
mix_times:
- 0
mix_times: 0
mix_vol: 0
none_keys:
- ''
@@ -5159,11 +5155,9 @@ liquid_handler.biomek:
mix_stage:
type: string
mix_times:
items:
maximum: 2147483647
minimum: -2147483648
type: integer
type: array
mix_vol:
maximum: 2147483647
minimum: -2147483648
@@ -7807,8 +7801,7 @@ liquid_handler.prcxi:
mix_liquid_height: 0.0
mix_rate: 0
mix_stage: ''
mix_times:
- 0
mix_times: 0
mix_vol: 0
none_keys:
- ''
@@ -7937,11 +7930,9 @@ liquid_handler.prcxi:
mix_stage:
type: string
mix_times:
items:
maximum: 2147483647
minimum: -2147483648
type: integer
type: array
mix_vol:
maximum: 2147483647
minimum: -2147483648

2
unilabos_msgs/action/LiquidHandlerTransfer.action
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@@ -13,7 +13,7 @@ float64[] blow_out_air_volume
string spread
bool is_96_well
string mix_stage
int32[] mix_times
int32 mix_times
int32 mix_vol
int32 mix_rate
float64 mix_liquid_height