mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-04 13:25:13 +00:00
夹爪添加
This commit is contained in:
zhangshixiang
@@ -6,6 +6,7 @@ import os
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import socket
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import time
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from typing import Any, List, Dict, Optional, Tuple, TypedDict, Union, Sequence, Iterator, Literal
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from pylabrobot.liquid_handling.standard import GripDirection
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from pylabrobot.liquid_handling import (
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LiquidHandlerBackend,
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@@ -27,7 +28,7 @@ from pylabrobot.liquid_handling.standard import (
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ResourceMove,
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ResourceDrop,
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)
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from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash
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from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash
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from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract, SimpleReturn
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from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
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@@ -153,11 +154,12 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
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tablets_info = []
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count = 0
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for child in deck.children:
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if "Material" in child._unilabos_state:
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count += 1
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tablets_info.append(
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WorkTablets(Number=count, Code=f"T{count}", Material=child._unilabos_state["Material"])
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)
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if child.children:
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if "Material" in child.children[0]._unilabos_state:
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number = int(child.name.replace("T", ""))
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tablets_info.append(
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WorkTablets(Number=number, Code=f"T{number}", Material=child.children[0]._unilabos_state["Material"])
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)
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if is_9320:
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print("当前设备是9320")
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# 始终初始化 step_mode 属性
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@@ -433,12 +435,46 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
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async def move_to(self, well: Well, dis_to_top: float = 0, channel: int = 0):
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return await super().move_to(well, dis_to_top, channel)
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async def shaker_action(self, time: int, frequency: float):
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return await self._unilabos_backend.shaker_action(time, frequency)
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async def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool):
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return await self._unilabos_backend.shaker_action(time, module_no, amplitude, is_wait)
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async def heater_action(self, temperature: float, time: int):
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return await self._unilabos_backend.heater_action(temperature, time)
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return await self._unilabos_backend.heater_action(temperature, time)
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async def move_plate(
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self,
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plate: Plate,
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to: Union[ResourceStack, ResourceHolder, Resource, Coordinate],
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intermediate_locations: Optional[List[Coordinate]] = None,
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pickup_offset: Coordinate = Coordinate.zero(),
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destination_offset: Coordinate = Coordinate.zero(),
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drop_direction: GripDirection = GripDirection.FRONT,
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pickup_direction: GripDirection = GripDirection.FRONT,
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pickup_distance_from_top: float = 13.2 - 3.33,
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**backend_kwargs,
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):
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if self._simulator:
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return await self._simulate_handler.move_plate(
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plate,
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to,
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intermediate_locations,
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pickup_offset,
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destination_offset,
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drop_direction,
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pickup_direction,
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pickup_distance_from_top,
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**backend_kwargs,
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)
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return await super().move_plate(
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plate,
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to,
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intermediate_locations,
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pickup_offset,
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destination_offset,
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drop_direction,
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pickup_direction,
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pickup_distance_from_top,
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**backend_kwargs,
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)
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class PRCXI9300Backend(LiquidHandlerBackend):
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"""PRCXI 9300 的后端实现，继承自 LiquidHandlerBackend。
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@@ -482,9 +518,42 @@ class PRCXI9300Backend(LiquidHandlerBackend):
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self.debug = debug
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self.axis = "Left"
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async def shaker_action(self, time: int, frequency: float):
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print(f"\n\nShaker action: time={time}, frequency={frequency}\n\n")
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# return await self.api_client.shaker_action(time, frequency)
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async def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool):
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step = self.api_client.shaker_action(
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time=time,
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module_no=module_no,
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amplitude=amplitude,
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is_wait=is_wait,
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)
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self.steps_todo_list.append(step)
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return step
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async def pick_up_resource(self, pickup: ResourcePickup):
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resource=pickup.resource
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offset=pickup.offset
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pickup_distance_from_top=pickup.pickup_distance_from_top
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direction=pickup.direction
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plate_number = int(resource.parent.name.replace("T", ""))
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is_whole_plate = True
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balance_height = 0
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step = self.api_client.clamp_jaw_pick_up(plate_number, is_whole_plate, balance_height)
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self.steps_todo_list.append(step)
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return step
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async def drop_resource(self, drop: ResourceDrop):
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resource=drop.resource
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plate_number = int(resource.name.replace("T", ""))
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is_whole_plate = True
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balance_height = drop.pickup_distance_from_top
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step = self.api_client.clamp_jaw_drop(plate_number, is_whole_plate, balance_height)
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self.steps_todo_list.append(step)
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return step
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async def heater_action(self, temperature: float, time: int):
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print(f"\n\nHeater action: temperature={temperature}, time={time}\n\n")
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@@ -585,8 +654,8 @@ class PRCXI9300Backend(LiquidHandlerBackend):
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plate_indexes = []
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for op in ops:
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plate = op.resource.parent
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deck = plate.parent
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plate_index = deck.children.index(plate)
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deck = plate.parent.parent
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plate_index = deck.children.index(plate.parent)
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# print(f"Plate index: {plate_index}, Plate name: {plate.name}")
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# print(f"Number of children in deck: {len(deck.children)}")
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@@ -639,7 +708,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
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# 检查trash #
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if ops[0].resource.name == "trash":
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PlateNo = ops[0].resource.parent.children.index(ops[0].resource) + 1
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PlateNo = ops[0].resource.parent.parent.children.index(ops[0].resource.parent) + 1
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step = self.api_client.UnLoad(
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axis=axis,
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@@ -660,8 +729,8 @@ class PRCXI9300Backend(LiquidHandlerBackend):
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plate_indexes = []
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for op in ops:
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plate = op.resource.parent
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deck = plate.parent
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plate_index = deck.children.index(plate)
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deck = plate.parent.parent
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plate_index = deck.children.index(plate.parent)
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plate_indexes.append(plate_index)
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if len(set(plate_indexes)) != 1:
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raise ValueError(
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@@ -712,9 +781,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
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plate_indexes = []
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for op in targets:
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deck = op.parent.parent
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deck = op.parent.parent.parent
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plate = op.parent
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plate_index = deck.children.index(plate)
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plate_index = deck.children.index(plate.parent)
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plate_indexes.append(plate_index)
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if len(set(plate_indexes)) != 1:
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@@ -765,8 +834,8 @@ class PRCXI9300Backend(LiquidHandlerBackend):
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plate_indexes = []
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for op in ops:
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plate = op.resource.parent
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deck = plate.parent
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plate_index = deck.children.index(plate)
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deck = plate.parent.parent
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plate_index = deck.children.index(plate.parent)
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plate_indexes.append(plate_index)
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if len(set(plate_indexes)) != 1:
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@@ -822,8 +891,8 @@ class PRCXI9300Backend(LiquidHandlerBackend):
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plate_indexes = []
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for op in ops:
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plate = op.resource.parent
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deck = plate.parent
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plate_index = deck.children.index(plate)
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deck = plate.parent.parent
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plate_index = deck.children.index(plate.parent)
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plate_indexes.append(plate_index)
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if len(set(plate_indexes)) != 1:
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@@ -877,14 +946,8 @@ class PRCXI9300Backend(LiquidHandlerBackend):
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async def dispense96(self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]):
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raise NotImplementedError("The Opentrons backend does not support the 96 head.")
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async def pick_up_resource(self, pickup: ResourcePickup):
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raise NotImplementedError("The Opentrons backend does not support the robotic arm.")
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async def move_picked_up_resource(self, move: ResourceMove):
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raise NotImplementedError("The Opentrons backend does not support the robotic arm.")
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async def drop_resource(self, drop: ResourceDrop):
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raise NotImplementedError("The Opentrons backend does not support the robotic arm.")
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pass
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def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool:
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return True # PRCXI9300Backend does not have tip compatibility issues
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@@ -957,6 +1020,8 @@ class PRCXI9300Api:
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start = False
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while not success:
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status = self.step_state_list()
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if len(status) == 1:
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start = True
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if status is None:
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break
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if len(status) == 0:
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@@ -1236,6 +1301,50 @@ class PRCXI9300Api:
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"LiquidDispensingMethod": liquid_method,
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}
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def clamp_jaw_pick_up(self,
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plate_no: int,
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is_whole_plate: bool,
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balance_height: int,
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) -> Dict[str, Any]:
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return {
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"StepAxis": "ClampingJaw",
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"Function": "DefectiveLift",
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"PlateNo": plate_no,
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"IsWholePlate": is_whole_plate,
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"HoleRow": 1,
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"HoleCol": 1,
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"BalanceHeight": balance_height,
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"PlateOrHoleNum": f"T{plate_no}"
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}
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def clamp_jaw_drop(
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self,
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plate_no: int,
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is_whole_plate: bool,
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balance_height: int,
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) -> Dict[str, Any]:
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return {
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"StepAxis": "ClampingJaw",
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"Function": "PutDown",
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"PlateNo": plate_no,
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"IsWholePlate": is_whole_plate,
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"HoleRow": 1,
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"HoleCol": 1,
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"BalanceHeight": balance_height,
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"PlateOrHoleNum": f"T{plate_no}"
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}
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def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool):
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return {
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"StepAxis": "Left",
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"Function": "Shaking",
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"AssistFun1": time,
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"AssistFun2": module_no,
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"AssistFun3": amplitude,
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"AssistFun4": is_wait,
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}
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class DefaultLayout:
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@@ -7730,7 +7730,9 @@ liquid_handler.prcxi:
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feedback: {}
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goal: {}
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goal_default:
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frequency: null
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amplitude: null
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is_wait: null
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module_no: null
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time: null
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handles: {}
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placeholder_keys: {}
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@@ -7741,13 +7743,19 @@ liquid_handler.prcxi:
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feedback: {}
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goal:
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properties:
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frequency:
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type: number
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amplitude:
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type: integer
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is_wait:
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type: boolean
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module_no:
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type: integer
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||||
time:
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type: integer
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required:
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||||
- time
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- frequency
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- module_no
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- amplitude
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- is_wait
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type: object
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result: {}
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required:
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@@ -8414,6 +8422,341 @@ liquid_handler.prcxi:
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title: LiquidHandlerMix
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type: object
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type: LiquidHandlerMix
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move_plate:
|
||||
feedback: {}
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goal:
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destination_offset: destination_offset
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drop_direction: drop_direction
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get_direction: get_direction
|
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intermediate_locations: intermediate_locations
|
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pickup_direction: pickup_direction
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pickup_offset: pickup_offset
|
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plate: plate
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put_direction: put_direction
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resource_offset: resource_offset
|
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to: to
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goal_default:
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destination_offset:
|
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x: 0.0
|
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y: 0.0
|
||||
z: 0.0
|
||||
drop_direction: ''
|
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get_direction: ''
|
||||
intermediate_locations:
|
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- x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
pickup_direction: ''
|
||||
pickup_distance_from_top: 0.0
|
||||
pickup_offset:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
plate:
|
||||
category: ''
|
||||
children: []
|
||||
config: ''
|
||||
data: ''
|
||||
id: ''
|
||||
name: ''
|
||||
parent: ''
|
||||
pose:
|
||||
orientation:
|
||||
w: 1.0
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
position:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
put_direction: ''
|
||||
resource_offset:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
to:
|
||||
category: ''
|
||||
children: []
|
||||
config: ''
|
||||
data: ''
|
||||
id: ''
|
||||
name: ''
|
||||
parent: ''
|
||||
pose:
|
||||
orientation:
|
||||
w: 1.0
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
position:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: {}
|
||||
placeholder_keys:
|
||||
plate: unilabos_resources
|
||||
to: unilabos_resources
|
||||
result:
|
||||
name: name
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: LiquidHandlerMovePlate_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
destination_offset:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: destination_offset
|
||||
type: object
|
||||
drop_direction:
|
||||
type: string
|
||||
get_direction:
|
||||
type: string
|
||||
intermediate_locations:
|
||||
items:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: intermediate_locations
|
||||
type: object
|
||||
type: array
|
||||
pickup_direction:
|
||||
type: string
|
||||
pickup_distance_from_top:
|
||||
type: number
|
||||
pickup_offset:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: pickup_offset
|
||||
type: object
|
||||
plate:
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
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
|
||||
put_direction:
|
||||
type: string
|
||||
resource_offset:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: resource_offset
|
||||
type: object
|
||||
to:
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
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: to
|
||||
type: object
|
||||
required:
|
||||
- plate
|
||||
- to
|
||||
- intermediate_locations
|
||||
- resource_offset
|
||||
- pickup_offset
|
||||
- destination_offset
|
||||
- pickup_direction
|
||||
- drop_direction
|
||||
- get_direction
|
||||
- put_direction
|
||||
- pickup_distance_from_top
|
||||
title: LiquidHandlerMovePlate_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: LiquidHandlerMovePlate_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: LiquidHandlerMovePlate
|
||||
type: object
|
||||
type: LiquidHandlerMovePlate
|
||||
pick_up_tips:
|
||||
feedback: {}
|
||||
goal:
|
||||
|
||||
40662
unilabos/test/experiments/prcxi_9320_with_res_test.json
Normal file
40662
unilabos/test/experiments/prcxi_9320_with_res_test.json
Normal file
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user