diff --git a/unilabos/devices/workstation/bioyond_studio/station.py b/unilabos/devices/workstation/bioyond_studio/station.py index 327d819..60c18e1 100644 --- a/unilabos/devices/workstation/bioyond_studio/station.py +++ b/unilabos/devices/workstation/bioyond_studio/station.py @@ -258,7 +258,7 @@ class BioyondResourceSynchronizer(ResourceSynchronizer): logger.info(f"[同步→Bioyond] ➕ 物料不存在于 Bioyond，将创建新物料并入库") # 第1步：从配置中获取仓库配置 - warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {}) + warehouse_mapping = self.workstation.bioyond_config.get("warehouse_mapping", {}) # 确定目标仓库名称 parent_name = None diff --git a/unilabos/registry/resources/bioyond/bottle_carriers.yaml b/unilabos/registry/resources/bioyond/bottle_carriers.yaml index 764a8aa..89f2bdd 100644 --- a/unilabos/registry/resources/bioyond/bottle_carriers.yaml +++ b/unilabos/registry/resources/bioyond/bottle_carriers.yaml @@ -46,3 +46,16 @@ BIOYOND_PolymerStation_8StockCarrier: init_param_schema: {} registry_type: resource version: 1.0.0 +BIOYOND_PolymerStation_TipBox: + category: + - bottle_carriers + - tip_racks + class: + module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_TipBox + type: pylabrobot + description: BIOYOND_PolymerStation_TipBox (4x6布局，24个枪头孔位) + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 diff --git a/unilabos/registry/resources/bioyond/bottles.yaml b/unilabos/registry/resources/bioyond/bottles.yaml index ecc5525..e493e7b 100644 --- a/unilabos/registry/resources/bioyond/bottles.yaml +++ b/unilabos/registry/resources/bioyond/bottles.yaml @@ -82,14 +82,3 @@ BIOYOND_PolymerStation_Solution_Beaker: icon: '' init_param_schema: {} version: 1.0.0 -BIOYOND_PolymerStation_TipBox: - category: - - bottles - - tip_boxes - class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_TipBox - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 diff --git a/unilabos/resources/bioyond/bottle_carriers.py b/unilabos/resources/bioyond/bottle_carriers.py index d79b849..e1932b2 100644 --- a/unilabos/resources/bioyond/bottle_carriers.py +++ b/unilabos/resources/bioyond/bottle_carriers.py @@ -1,4 +1,4 @@ -from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d +from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d, Container from unilabos.resources.itemized_carrier import BottleCarrier from unilabos.resources.bioyond.bottles import ( @@ -9,6 +9,28 @@ from unilabos.resources.bioyond.bottles import ( BIOYOND_PolymerStation_Reagent_Bottle, BIOYOND_PolymerStation_Flask, ) + + +def BIOYOND_PolymerStation_Tip(name: str, size_x: float = 8.0, size_y: float = 8.0, size_z: float = 50.0) -> Container: + """创建单个枪头资源 + + Args: + name: 枪头名称 + size_x: 枪头宽度 (mm) + size_y: 枪头长度 (mm) + size_z: 枪头高度 (mm) + + Returns: + Container: 枪头容器 + """ + return Container( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category="tip", + model="BIOYOND_PolymerStation_Tip", + ) # 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask,小瓶-Vial @@ -322,3 +344,88 @@ def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier: carrier.num_items_z = 1 carrier[0] = BIOYOND_PolymerStation_Solution_Beaker(f"{name}_beaker_1") return carrier + + +def BIOYOND_PolymerStation_TipBox( + name: str, + size_x: float = 127.76, # 枪头盒宽度 + size_y: float = 85.48, # 枪头盒长度 + size_z: float = 100.0, # 枪头盒高度 + barcode: str = None, +) -> BottleCarrier: + """创建4×6枪头盒 (24个枪头) - 使用 BottleCarrier 结构 + + Args: + name: 枪头盒名称 + size_x: 枪头盒宽度 (mm) + size_y: 枪头盒长度 (mm) + size_z: 枪头盒高度 (mm) + barcode: 条形码 + + Returns: + BottleCarrier: 包含24个枪头孔位的枪头盒载架 + + 布局说明: + - 4行×6列 (A-D, 1-6) + - 枪头孔位间距: 18mm (x方向) × 18mm (y方向) + - 起始位置居中对齐 + - 索引顺序: 列优先 (0=A1, 1=B1, 2=C1, 3=D1, 4=A2, ...) + """ + # 枪头孔位参数 + num_cols = 6 # 1-6 (x方向) + num_rows = 4 # A-D (y方向) + tip_diameter = 8.0 # 枪头孔位直径 + tip_spacing_x = 18.0 # 列间距 (增加到18mm，更宽松) + tip_spacing_y = 18.0 # 行间距 (增加到18mm，更宽松) + + # 计算起始位置 (居中对齐) + total_width = (num_cols - 1) * tip_spacing_x + tip_diameter + total_height = (num_rows - 1) * tip_spacing_y + tip_diameter + start_x = (size_x - total_width) / 2 + start_y = (size_y - total_height) / 2 + + # 使用 create_ordered_items_2d 创建孔位 + # create_ordered_items_2d 返回的 key 是数字索引: 0, 1, 2, ... + # 顺序是列优先: 先y后x (即 0=A1, 1=B1, 2=C1, 3=D1, 4=A2, 5=B2, ...) + sites = create_ordered_items_2d( + klass=ResourceHolder, + num_items_x=num_cols, + num_items_y=num_rows, + dx=start_x, + dy=start_y, + dz=5.0, + item_dx=tip_spacing_x, + item_dy=tip_spacing_y, + size_x=tip_diameter, + size_y=tip_diameter, + size_z=50.0, # 枪头深度 + ) + + # 更新 sites 中每个 ResourceHolder 的名称 + for k, v in sites.items(): + v.name = f"{name}_{v.name}" + + # 创建枪头盒载架 + # 注意：不设置 category，使用默认的 "bottle_carrier"，这样前端会显示为完整的矩形载架 + tip_box = BottleCarrier( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + sites=sites, # 直接使用数字索引的 sites + model="BIOYOND_PolymerStation_TipBox", + ) + + # 设置自定义属性 + tip_box.barcode = barcode + tip_box.tip_count = 24 # 4行×6列 + tip_box.num_items_x = num_cols + tip_box.num_items_y = num_rows + tip_box.num_items_z = 1 + + # ⭐ 枪头盒不需要放入子资源 + # 与其他 carrier 不同，枪头盒在 Bioyond 中是一个整体 + # 不需要追踪每个枪头的状态，保持为空的 ResourceHolder 即可 + # 这样前端会显示24个空槽位，可以用于放置枪头 + + return tip_box diff --git a/unilabos/resources/bioyond/bottles.py b/unilabos/resources/bioyond/bottles.py index 7045d8b..73343bc 100644 --- a/unilabos/resources/bioyond/bottles.py +++ b/unilabos/resources/bioyond/bottles.py @@ -116,7 +116,9 @@ def BIOYOND_PolymerStation_TipBox( size_z: float = 100.0, # 枪头盒高度 barcode: str = None, ): - """创建4×6枪头盒 (24个枪头) + """创建4×6枪头盒 (24个枪头) - 使用 BottleCarrier 结构 + + 注意：此函数已弃用，请使用 bottle_carriers.py 中的版本 Args: name: 枪头盒名称 @@ -126,55 +128,11 @@ def BIOYOND_PolymerStation_TipBox( barcode: 条形码 Returns: - TipBoxCarrier: 包含24个枪头孔位的枪头盒 + BottleCarrier: 包含24个枪头孔位的枪头盒载架 """ - from pylabrobot.resources import Container, Coordinate - - # 创建枪头盒容器 - tip_box = Container( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - category="tip_rack", - model="BIOYOND_PolymerStation_TipBox_4x6", - ) - - # 设置自定义属性 - tip_box.barcode = barcode - tip_box.tip_count = 24 # 4行×6列 - tip_box.num_items_x = 6 # 6列 - tip_box.num_items_y = 4 # 4行 - - # 创建24个枪头孔位 (4行×6列) - # 假设孔位间距为 9mm - tip_spacing_x = 9.0 # 列间距 - tip_spacing_y = 9.0 # 行间距 - start_x = 14.38 # 第一个孔位的x偏移 - start_y = 11.24 # 第一个孔位的y偏移 - - for row in range(4): # A, B, C, D - for col in range(6): # 1-6 - spot_name = f"{chr(65 + row)}{col + 1}" # A1, A2, ..., D6 - x = start_x + col * tip_spacing_x - y = start_y + row * tip_spacing_y - - # 创建枪头孔位容器 - tip_spot = Container( - name=spot_name, - size_x=8.0, # 单个枪头孔位大小 - size_y=8.0, - size_z=size_z - 10.0, # 略低于盒子高度 - category="tip_spot", - ) - - # 添加到枪头盒 - tip_box.assign_child_resource( - tip_spot, - location=Coordinate(x=x, y=y, z=0) - ) - - return tip_box + # 重定向到 bottle_carriers.py 中的实现 + from unilabos.resources.bioyond.bottle_carriers import BIOYOND_PolymerStation_TipBox as TipBox_Carrier + return TipBox_Carrier(name=name, size_x=size_x, size_y=size_y, size_z=size_z, barcode=barcode) def BIOYOND_PolymerStation_Flask( diff --git a/unilabos/resources/graphio.py b/unilabos/resources/graphio.py index 8233ae7..7c11cd8 100644 --- a/unilabos/resources/graphio.py +++ b/unilabos/resources/graphio.py @@ -759,9 +759,12 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st bottle = plr_material[number] = initialize_resource( {"name": f'{detail["name"]}_{number}', "class": reverse_type_mapping[typeName][0]}, resource_type=ResourcePLR ) - bottle.tracker.liquids = [ - (detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0) - ] + # 只有具有 tracker 属性的容器才设置液体信息（如 Bottle, Well） + # ResourceHolder 等不支持液体追踪的容器跳过 + if hasattr(bottle, "tracker"): + bottle.tracker.liquids = [ + (detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0) + ] bottle.code = detail.get("code", "") logger.debug(f" └─ [子物料] {detail['name']} → {plr_material.name}[{number}] (类型:{typeName})") else: @@ -770,9 +773,11 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st # 只对有 capacity 属性的容器（液体容器）处理液体追踪 if hasattr(plr_material, 'capacity'): bottle = plr_material[0] if plr_material.capacity > 0 else plr_material - bottle.tracker.liquids = [ - (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0) - ] + # 确保 bottle 有 tracker 属性才设置液体信息 + if hasattr(bottle, "tracker"): + bottle.tracker.liquids = [ + (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0) + ] plr_materials.append(plr_material) @@ -801,24 +806,29 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st wh_name = loc.get("whName") logger.debug(f"[物料位置] {unique_name} 尝试放置到 warehouse: {wh_name} (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')}, z={loc.get('z')})") + # Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1) + # 必须在warehouse映射之前先获取坐标，以便后续调整 + x = loc.get("x", 1) # 行号 (1-based: 1=A, 2=B, 3=C, 4=D) + y = loc.get("y", 1) # 列号 (1-based: 1=01, 2=02, 3=03...) + z = loc.get("z", 1) # 层号 (1-based, 通常为1) + # 特殊处理: Bioyond的"堆栈1"需要映射到"堆栈1左"或"堆栈1右" - # 根据列号(x)判断: 1-4映射到左侧, 5-8映射到右侧 + # 根据列号(y)判断: 1-4映射到左侧, 5-8映射到右侧 if wh_name == "堆栈1": - x_val = loc.get("x", 1) - if 1 <= x_val <= 4: + if 1 <= y <= 4: wh_name = "堆栈1左" - elif 5 <= x_val <= 8: + elif 5 <= y <= 8: wh_name = "堆栈1右" + y = y - 4 # 调整列号: 5-8映射到1-4 else: - logger.warning(f"物料 {material['name']} 的列号 x={x_val} 超出范围，无法映射到堆栈1左或堆栈1右") + logger.warning(f"物料 {material['name']} 的列号 y={y} 超出范围，无法映射到堆栈1左或堆栈1右") continue # 特殊处理: Bioyond的"站内Tip盒堆栈"也需要进行拆分映射 if wh_name == "站内Tip盒堆栈": - y_val = loc.get("y", 1) - if y_val == 1: + if y == 1: wh_name = "站内Tip盒堆栈(右)" - elif y_val in [2, 3]: + elif y in [2, 3]: wh_name = "站内Tip盒堆栈(左)" y = y - 1 # 调整列号，因为左侧仓库对应的 Bioyond y=2 实际上是它的第1列 @@ -826,15 +836,6 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st warehouse = deck.warehouses[wh_name] logger.debug(f"[Warehouse匹配] 找到warehouse: {wh_name} (容量: {warehouse.capacity}, 行×列: {warehouse.num_items_x}×{warehouse.num_items_y})") - # Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1) - x = loc.get("x", 1) # 行号 (1-based: 1=A, 2=B, 3=C, 4=D) - y = loc.get("y", 1) # 列号 (1-based: 1=01, 2=02, 3=03...) - z = loc.get("z", 1) # 层号 (1-based, 通常为1) - - # 如果是右侧堆栈，需要调整列号 (5→1, 6→2, 7→3, 8→4) - if wh_name == "堆栈1右": - y = y - 4 # 将5-8映射到1-4 - # 特殊处理竖向warehouse（站内试剂存放堆栈、测量小瓶仓库） # 这些warehouse使用 vertical-col-major 布局 if wh_name in ["站内试剂存放堆栈", "测量小瓶仓库(测密度)"]: diff --git a/unilabos/resources/resource_tracker.py b/unilabos/resources/resource_tracker.py index 4097782..9401182 100644 --- a/unilabos/resources/resource_tracker.py +++ b/unilabos/resources/resource_tracker.py @@ -338,6 +338,7 @@ class ResourceTreeSet(object): "deck": "deck", "tip_rack": "tip_rack", "tip_spot": "tip_spot", + "tip": "tip", # 添加 tip 类型支持 "tube": "tube", "bottle_carrier": "bottle_carrier", }