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Xuwznln
2026-02-03 15:15:57 +08:00
parent 56eb7e2ab4
commit 380b39100d
7 changed files with 937 additions and 78 deletions
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6
unilabos/devices/liquid_handling/liquid_handler_abstract.py
View File

@@ -684,12 +684,16 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
@classmethod
def set_liquid_from_plate(
cls, plate: ResourceSlot, well_names: list[str], liquid_names: list[str], volumes: list[float]
cls, plate: List[ResourceSlot], well_names: list[str], liquid_names: list[str], volumes: list[float]
) -> SetLiquidFromPlateReturn:
"""Set the liquid in wells of a plate by well names (e.g., A1, A2, B3).
如果 liquid_names 和 volumes 为空，但 plate 和 well_names 不为空，直接返回 plate 和 wells。
"""
if isinstance(plate, list): # 未来移除
plate = plate[0]
assert issubclass(plate.__class__, Plate), "plate must be a Plate"
plate: Plate = cast(Plate, plate)
# 根据 well_names 获取对应的 Well 对象
wells = [plate.get_well(name) for name in well_names]
res_volumes = []

2
unilabos/devices/liquid_handling/prcxi/prcxi.py
View File

@@ -590,7 +590,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
return super().set_liquid(wells, liquid_names, volumes)
def set_liquid_from_plate(
self, plate: ResourceSlot, well_names: list[str], liquid_names: list[str], volumes: list[float]
self, plate: List[ResourceSlot], well_names: list[str], liquid_names: list[str], volumes: list[float]
) -> SetLiquidFromPlateReturn:
return super().set_liquid_from_plate(plate, well_names, liquid_names, volumes)

146
unilabos/registry/devices/liquid_handler.yaml
View File

@@ -9451,78 +9451,81 @@ liquid_handler.prcxi:
type: string
type: array
plate:
properties:
category:
type: string
children:
items:
items:
properties:
category:
type: string
type: array
config:
type: string
data:
type: string
id:
type: string
name:
type: string
parent:
type: string
pose:
properties:
orientation:
properties:
w:
type: number
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
- w
title: orientation
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: position
type: object
required:
- position
- orientation
title: pose
type: object
sample_id:
type: string
type:
type: string
required:
- id
- name
- sample_id
- children
- parent
- type
- category
- pose
- config
- data
children:
items:
type: string
type: array
config:
type: string
data:
type: string
id:
type: string
name:
type: string
parent:
type: string
pose:
properties:
orientation:
properties:
w:
type: number
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
- w
title: orientation
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: position
type: object
required:
- position
- orientation
title: pose
type: object
sample_id:
type: string
type:
type: string
required:
- id
- name
- sample_id
- children
- parent
- type
- category
- pose
- config
- data
title: plate
type: object
title: plate
type: object
type: array
volumes:
items:
type: number
@@ -9544,8 +9547,7 @@ liquid_handler.prcxi:
title: Plate
type: array
volumes:
items:
type: number
items: {}
title: Volumes
type: array
wells:

2
unilabos/ros/nodes/presets/host_node.py
View File

@@ -1180,7 +1180,7 @@ class HostNode(BaseROS2DeviceNode):
"""
更新节点信息回调
"""
# self.lab_logger().info(f"[Host Node] Node info update request received: {request}")
self.lab_logger().trace(f"[Host Node] Node info update request received: {request}")
try:
from unilabos.app.communication import get_communication_client
from unilabos.app.web.client import HTTPClient, http_client

795
unilabos/test/experiments/prcxi_9320_slim.json Normal file
View File

@@ -0,0 +1,795 @@
{
"nodes": [
{
"id": "PRCXI",
"name": "PRCXI",
"type": "device",
"class": "liquid_handler.prcxi",
"parent": "",
"pose": {
"size": {
"width": 562,
"height": 394,
"depth": 0
}
},
"config": {
"axis": "Left",
"deck": {
"_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
"_resource_child_name": "PRCXI_Deck"
},
"host": "10.20.30.184",
"port": 9999,
"debug": true,
"setup": true,
"is_9320": true,
"timeout": 10,
"matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
"simulator": true,
"channel_num": 2
},
"data": {
"reset_ok": true
},
"schema": {},
"description": "",
"model": null,
"position": {
"x": 0,
"y": 240,
"z": 0
}
},
{
"id": "PRCXI_Deck",
"name": "PRCXI_Deck",
"children": [],
"parent": "PRCXI",
"type": "deck",
"class": "",
"position": {
"x": 10,
"y": 10,
"z": 0
},
"config": {
"type": "PRCXI9300Deck",
"size_x": 542,
"size_y": 374,
"size_z": 0,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "deck",
"barcode": null
},
"data": {}
},
{
"id": "T1",
"name": "T1",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 0,
"y": 288,
"z": 0
},
"config": {
"type": "PRCXI9300Container",
"size_x": 127,
"size_y": 85.5,
"size_z": 10,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"ordering": {},
"sites": [
{
"label": "T1",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T2",
"name": "T2",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 138,
"y": 288,
"z": 0
},
"config": {
"type": "PRCXI9300Container",
"size_x": 127,
"size_y": 85.5,
"size_z": 10,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"ordering": {},
"sites": [
{
"label": "T2",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T3",
"name": "T3",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 276,
"y": 288,
"z": 0
},
"config": {
"type": "PRCXI9300Container",
"size_x": 127,
"size_y": 85.5,
"size_z": 10,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"ordering": {},
"sites": [
{
"label": "T3",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T4",
"name": "T4",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 414,
"y": 288,
"z": 0
},
"config": {
"type": "PRCXI9300Container",
"size_x": 127,
"size_y": 85.5,
"size_z": 10,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"ordering": {},
"sites": [
{
"label": "T4",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T5",
"name": "T5",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 0,
"y": 192,
"z": 0
},
"config": {
"type": "PRCXI9300Container",
"size_x": 127,
"size_y": 85.5,
"size_z": 10,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"ordering": {},
"sites": [
{
"label": "T5",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T6",
"name": "T6",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 138,
"y": 192,
"z": 0
},
"config": {
"type": "PRCXI9300Container",
"size_x": 127,
"size_y": 85.5,
"size_z": 10,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"ordering": {},
"sites": [
{
"label": "T6",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T7",
"name": "T7",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 276,
"y": 192,
"z": 0
},
"config": {
"type": "PRCXI9300Container",
"size_x": 127,
"size_y": 85.5,
"size_z": 10,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"ordering": {},
"sites": [
{
"label": "T7",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T8",
"name": "T8",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 414,
"y": 192,
"z": 0
},
"config": {
"type": "PRCXI9300Container",
"size_x": 127,
"size_y": 85.5,
"size_z": 10,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"ordering": {},
"sites": [
{
"label": "T8",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T9",
"name": "T9",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 0,
"y": 96,
"z": 0
},
"config": {
"type": "PRCXI9300Container",
"size_x": 127,
"size_y": 85.5,
"size_z": 10,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"ordering": {},
"sites": [
{
"label": "T9",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T10",
"name": "T10",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 138,
"y": 96,
"z": 0
},
"config": {
"type": "PRCXI9300Container",
"size_x": 127,
"size_y": 85.5,
"size_z": 10,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"ordering": {},
"sites": [
{
"label": "T10",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T11",
"name": "T11",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 276,
"y": 96,
"z": 0
},
"config": {
"type": "PRCXI9300Container",
"size_x": 127,
"size_y": 85.5,
"size_z": 10,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"ordering": {},
"sites": [
{
"label": "T11",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T12",
"name": "T12",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 414,
"y": 96,
"z": 0
},
"config": {
"type": "PRCXI9300Container",
"size_x": 127,
"size_y": 85.5,
"size_z": 10,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"ordering": {},
"sites": [
{
"label": "T12",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T13",
"name": "T13",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 0,
"y": 0,
"z": 0
},
"config": {
"type": "PRCXI9300Container",
"size_x": 127,
"size_y": 85.5,
"size_z": 10,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"ordering": {},
"sites": [
{
"label": "T13",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T14",
"name": "T14",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 138,
"y": 0,
"z": 0
},
"config": {
"type": "PRCXI9300Container",
"size_x": 127,
"size_y": 85.5,
"size_z": 10,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"ordering": {},
"sites": [
{
"label": "T14",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T15",
"name": "T15",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 276,
"y": 0,
"z": 0
},
"config": {
"type": "PRCXI9300Container",
"size_x": 127,
"size_y": 85.5,
"size_z": 10,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"ordering": {},
"sites": [
{
"label": "T15",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T16",
"name": "T16",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 414,
"y": 0,
"z": 0
},
"config": {
"type": "PRCXI9300Container",
"size_x": 127,
"size_y": 85.5,
"size_z": 10,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"ordering": {},
"sites": [
{
"label": "T16",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
}
],
"edges": []
}

62
unilabos/workflow/common.py
View File

@@ -19,7 +19,9 @@
第一步: 按 slot 去重创建 create_resource 节点（创建板子）
--------------------------------------------------------------------------------
- 首先创建一个 Group 节点（type="Group", minimized=true），用于包含所有 create_resource 节点
- 遍历所有 reagent，按 slot 去重，为每个唯一的 slot 创建一个板子
- 所有 create_resource 节点的 parent_uuid 指向 Group 节点，minimized=true
- 生成参数:
res_id: plate_slot_{slot}
device_id: /PRCXI
@@ -29,11 +31,13 @@
- 输出端口: labware（用于连接 set_liquid_from_plate）
- 控制流: create_resource 之间通过 ready 端口串联
示例: slot=1, slot=4 -> 创建 2 个 create_resource 节点
示例: slot=1, slot=4 -> 创建 1 个 Group + 2 个 create_resource 节点
第二步: 为每个 reagent 创建 set_liquid_from_plate 节点（设置液体）
--------------------------------------------------------------------------------
- 首先创建一个 Group 节点（type="Group", minimized=true），用于包含所有 set_liquid_from_plate 节点
- 遍历所有 reagent，为每个试剂创建 set_liquid_from_plate 节点
- 所有 set_liquid_from_plate 节点的 parent_uuid 指向 Group 节点，minimized=true
- 生成参数:
plate: []（通过连接传递，来自 create_resource 的 labware）
well_names: ["A1", "A3", "A5"]（来自 reagent 的 well 数组）
@@ -76,6 +80,13 @@ transfer_liquid:
输入: sources -> sources_identifier, targets -> targets_identifier
输出: sources -> sources_out, targets -> targets_out
==================== 设备名配置 (device_name) ====================
每个节点都有 device_name 字段，指定在哪个设备上执行:
- create_resource: device_name = "host_node"（固定）
- set_liquid_from_plate: device_name = "PRCXI"（可配置，见 DEVICE_NAME_DEFAULT）
- transfer_liquid 等动作: device_name = "PRCXI"（可配置，见 DEVICE_NAME_DEFAULT）
==================== 校验规则 ====================
- 检查 sources/targets 是否在 reagent 中定义
@@ -97,6 +108,13 @@ Json = Dict[str, Any]
# ==================== 默认配置 ====================
# 设备名配置
DEVICE_NAME_HOST = "host_node" # create_resource 固定在 host_node 上执行
DEVICE_NAME_DEFAULT = "PRCXI" # transfer_liquid, set_liquid_from_plate 等动作的默认设备名
# 节点类型
NODE_TYPE_DEFAULT = "ILab" # 所有节点的默认类型
# create_resource 节点默认参数
CREATE_RESOURCE_DEFAULTS = {
"device_id": "/PRCXI",
@@ -367,6 +385,21 @@ def build_protocol_graph(
"res_id": res_id,
}
# 创建 Group 节点，包含所有 create_resource 节点
group_node_id = str(uuid.uuid4())
G.add_node(
group_node_id,
name="Resources Group",
type="Group",
parent_uuid="",
lab_node_type="Device",
template_name="",
resource_name="",
footer="",
minimized=True,
param=None,
)
# 为每个唯一的 slot 创建 create_resource 节点
res_index = 0
last_create_resource_id = None
@@ -383,6 +416,10 @@ def build_protocol_graph(
description=f"Create plate on slot {slot}",
lab_node_type="Labware",
footer="create_resource-host_node",
device_name=DEVICE_NAME_HOST,
type=NODE_TYPE_DEFAULT,
parent_uuid=group_node_id, # 指向 Group 节点
minimized=True, # 折叠显示
param={
"res_id": res_id,
"device_id": CREATE_RESOURCE_DEFAULTS["device_id"],
@@ -400,6 +437,21 @@ def build_protocol_graph(
last_create_resource_id = node_id
# ==================== 第二步：为每个 reagent 创建 set_liquid_from_plate 节点 ====================
# 创建 Group 节点，包含所有 set_liquid_from_plate 节点
set_liquid_group_id = str(uuid.uuid4())
G.add_node(
set_liquid_group_id,
name="SetLiquid Group",
type="Group",
parent_uuid="",
lab_node_type="Device",
template_name="",
resource_name="",
footer="",
minimized=True,
param=None,
)
set_liquid_index = 0
last_set_liquid_id = last_create_resource_id # set_liquid_from_plate 连接在 create_resource 之后
@@ -430,6 +482,10 @@ def build_protocol_graph(
description=f"Set liquid: {labware_id}",
lab_node_type="Reagent",
footer="set_liquid_from_plate-liquid_handler.prcxi",
device_name=DEVICE_NAME_DEFAULT,
type=NODE_TYPE_DEFAULT,
parent_uuid=set_liquid_group_id, # 指向 Group 节点
minimized=True, # 折叠显示
param={
"plate": [], # 通过连接传递
"well_names": wells, # 孔位名数组，如 ["A1", "A3", "A5"]
@@ -544,9 +600,11 @@ def build_protocol_graph(
if param_key in params:
params[param_key] = []
# 更新 step 的 param 和 footer
# 更新 step 的 param、footer、device_name 和 type
step_copy = step.copy()
step_copy["param"] = params
step_copy["device_name"] = DEVICE_NAME_DEFAULT # 动作节点使用默认设备名
step_copy["type"] = NODE_TYPE_DEFAULT # 节点类型
# 如果有警告，修改 footer 添加警告标记（警告放前面）
if warnings: