From 3ad20c85a57f2695b58f04863a0ee8dd3cd62a27 Mon Sep 17 00:00:00 2001 From: zhangshixiang <@zhangshixiang> Date: Tue, 23 Dec 2025 14:54:36 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A4=B9=E7=88=AA=E6=B7=BB=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../devices/liquid_handling/prcxi/prcxi.py | 171 +- unilabos/registry/devices/liquid_handler.yaml | 351 +- .../experiments/prcxi_9320_with_res_test.json | 40662 ++++++++++++++++ 3 files changed, 41149 insertions(+), 35 deletions(-) create mode 100644 unilabos/test/experiments/prcxi_9320_with_res_test.json diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index 4625055..b5cf3c1 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -6,6 +6,7 @@ import os import socket import time from typing import Any, List, Dict, Optional, Tuple, TypedDict, Union, Sequence, Iterator, Literal +from pylabrobot.liquid_handling.standard import GripDirection from pylabrobot.liquid_handling import ( LiquidHandlerBackend, @@ -27,7 +28,7 @@ from pylabrobot.liquid_handling.standard import ( ResourceMove, ResourceDrop, ) -from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash +from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract, SimpleReturn from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode @@ -153,11 +154,12 @@ class PRCXI9300Handler(LiquidHandlerAbstract): tablets_info = [] count = 0 for child in deck.children: - if "Material" in child._unilabos_state: - count += 1 - tablets_info.append( - WorkTablets(Number=count, Code=f"T{count}", Material=child._unilabos_state["Material"]) - ) + if child.children: + if "Material" in child.children[0]._unilabos_state: + number = int(child.name.replace("T", "")) + tablets_info.append( + WorkTablets(Number=number, Code=f"T{number}", Material=child.children[0]._unilabos_state["Material"]) + ) if is_9320: print("当前设备是9320") # 始终初始化 step_mode 属性 @@ -433,12 +435,46 @@ class PRCXI9300Handler(LiquidHandlerAbstract): async def move_to(self, well: Well, dis_to_top: float = 0, channel: int = 0): return await super().move_to(well, dis_to_top, channel) - async def shaker_action(self, time: int, frequency: float): - return await self._unilabos_backend.shaker_action(time, frequency) + async def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool): + return await self._unilabos_backend.shaker_action(time, module_no, amplitude, is_wait) async def heater_action(self, temperature: float, time: int): - return await self._unilabos_backend.heater_action(temperature, time) - + return await self._unilabos_backend.heater_action(temperature, time) + async def move_plate( + self, + plate: Plate, + to: Union[ResourceStack, ResourceHolder, Resource, Coordinate], + intermediate_locations: Optional[List[Coordinate]] = None, + pickup_offset: Coordinate = Coordinate.zero(), + destination_offset: Coordinate = Coordinate.zero(), + drop_direction: GripDirection = GripDirection.FRONT, + pickup_direction: GripDirection = GripDirection.FRONT, + pickup_distance_from_top: float = 13.2 - 3.33, + **backend_kwargs, + ): + if self._simulator: + return await self._simulate_handler.move_plate( + plate, + to, + intermediate_locations, + pickup_offset, + destination_offset, + drop_direction, + pickup_direction, + pickup_distance_from_top, + **backend_kwargs, + ) + return await super().move_plate( + plate, + to, + intermediate_locations, + pickup_offset, + destination_offset, + drop_direction, + pickup_direction, + pickup_distance_from_top, + **backend_kwargs, + ) class PRCXI9300Backend(LiquidHandlerBackend): """PRCXI 9300 的后端实现，继承自 LiquidHandlerBackend。 @@ -482,9 +518,42 @@ class PRCXI9300Backend(LiquidHandlerBackend): self.debug = debug self.axis = "Left" - async def shaker_action(self, time: int, frequency: float): - print(f"\n\nShaker action: time={time}, frequency={frequency}\n\n") - # return await self.api_client.shaker_action(time, frequency) + async def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool): + step = self.api_client.shaker_action( + time=time, + module_no=module_no, + amplitude=amplitude, + is_wait=is_wait, + ) + self.steps_todo_list.append(step) + return step + + + async def pick_up_resource(self, pickup: ResourcePickup): + + resource=pickup.resource + offset=pickup.offset + pickup_distance_from_top=pickup.pickup_distance_from_top + direction=pickup.direction + + plate_number = int(resource.parent.name.replace("T", "")) + is_whole_plate = True + balance_height = 0 + step = self.api_client.clamp_jaw_pick_up(plate_number, is_whole_plate, balance_height) + + self.steps_todo_list.append(step) + return step + + async def drop_resource(self, drop: ResourceDrop): + resource=drop.resource + + plate_number = int(resource.name.replace("T", "")) + is_whole_plate = True + balance_height = drop.pickup_distance_from_top + step = self.api_client.clamp_jaw_drop(plate_number, is_whole_plate, balance_height) + self.steps_todo_list.append(step) + return step + async def heater_action(self, temperature: float, time: int): print(f"\n\nHeater action: temperature={temperature}, time={time}\n\n") @@ -585,8 +654,8 @@ class PRCXI9300Backend(LiquidHandlerBackend): plate_indexes = [] for op in ops: plate = op.resource.parent - deck = plate.parent - plate_index = deck.children.index(plate) + deck = plate.parent.parent + plate_index = deck.children.index(plate.parent) # print(f"Plate index: {plate_index}, Plate name: {plate.name}") # print(f"Number of children in deck: {len(deck.children)}") @@ -639,7 +708,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): # 检查trash # if ops[0].resource.name == "trash": - PlateNo = ops[0].resource.parent.children.index(ops[0].resource) + 1 + PlateNo = ops[0].resource.parent.parent.children.index(ops[0].resource.parent) + 1 step = self.api_client.UnLoad( axis=axis, @@ -660,8 +729,8 @@ class PRCXI9300Backend(LiquidHandlerBackend): plate_indexes = [] for op in ops: plate = op.resource.parent - deck = plate.parent - plate_index = deck.children.index(plate) + deck = plate.parent.parent + plate_index = deck.children.index(plate.parent) plate_indexes.append(plate_index) if len(set(plate_indexes)) != 1: raise ValueError( @@ -712,9 +781,9 @@ class PRCXI9300Backend(LiquidHandlerBackend): plate_indexes = [] for op in targets: - deck = op.parent.parent + deck = op.parent.parent.parent plate = op.parent - plate_index = deck.children.index(plate) + plate_index = deck.children.index(plate.parent) plate_indexes.append(plate_index) if len(set(plate_indexes)) != 1: @@ -765,8 +834,8 @@ class PRCXI9300Backend(LiquidHandlerBackend): plate_indexes = [] for op in ops: plate = op.resource.parent - deck = plate.parent - plate_index = deck.children.index(plate) + deck = plate.parent.parent + plate_index = deck.children.index(plate.parent) plate_indexes.append(plate_index) if len(set(plate_indexes)) != 1: @@ -822,8 +891,8 @@ class PRCXI9300Backend(LiquidHandlerBackend): plate_indexes = [] for op in ops: plate = op.resource.parent - deck = plate.parent - plate_index = deck.children.index(plate) + deck = plate.parent.parent + plate_index = deck.children.index(plate.parent) plate_indexes.append(plate_index) if len(set(plate_indexes)) != 1: @@ -877,14 +946,8 @@ class PRCXI9300Backend(LiquidHandlerBackend): async def dispense96(self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]): raise NotImplementedError("The Opentrons backend does not support the 96 head.") - async def pick_up_resource(self, pickup: ResourcePickup): - raise NotImplementedError("The Opentrons backend does not support the robotic arm.") - async def move_picked_up_resource(self, move: ResourceMove): - raise NotImplementedError("The Opentrons backend does not support the robotic arm.") - - async def drop_resource(self, drop: ResourceDrop): - raise NotImplementedError("The Opentrons backend does not support the robotic arm.") + pass def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool: return True # PRCXI9300Backend does not have tip compatibility issues @@ -957,6 +1020,8 @@ class PRCXI9300Api: start = False while not success: status = self.step_state_list() + if len(status) == 1: + start = True if status is None: break if len(status) == 0: @@ -1236,6 +1301,50 @@ class PRCXI9300Api: "LiquidDispensingMethod": liquid_method, } + def clamp_jaw_pick_up(self, + plate_no: int, + is_whole_plate: bool, + balance_height: int, + + ) -> Dict[str, Any]: + return { + "StepAxis": "ClampingJaw", + "Function": "DefectiveLift", + "PlateNo": plate_no, + "IsWholePlate": is_whole_plate, + "HoleRow": 1, + "HoleCol": 1, + "BalanceHeight": balance_height, + "PlateOrHoleNum": f"T{plate_no}" + } + + def clamp_jaw_drop( + self, + plate_no: int, + is_whole_plate: bool, + balance_height: int, + + ) -> Dict[str, Any]: + return { + "StepAxis": "ClampingJaw", + "Function": "PutDown", + "PlateNo": plate_no, + "IsWholePlate": is_whole_plate, + "HoleRow": 1, + "HoleCol": 1, + "BalanceHeight": balance_height, + "PlateOrHoleNum": f"T{plate_no}" + } + + def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool): + return { + "StepAxis": "Left", + "Function": "Shaking", + "AssistFun1": time, + "AssistFun2": module_no, + "AssistFun3": amplitude, + "AssistFun4": is_wait, + } class DefaultLayout: diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml index 33c30a7..c2db16c 100644 --- a/unilabos/registry/devices/liquid_handler.yaml +++ b/unilabos/registry/devices/liquid_handler.yaml @@ -7730,7 +7730,9 @@ liquid_handler.prcxi: feedback: {} goal: {} goal_default: - frequency: null + amplitude: null + is_wait: null + module_no: null time: null handles: {} placeholder_keys: {} @@ -7741,13 +7743,19 @@ liquid_handler.prcxi: feedback: {} goal: properties: - frequency: - type: number + amplitude: + type: integer + is_wait: + type: boolean + module_no: + type: integer time: type: integer required: - time - - frequency + - module_no + - amplitude + - is_wait type: object result: {} required: @@ -8414,6 +8422,341 @@ liquid_handler.prcxi: title: LiquidHandlerMix type: object type: LiquidHandlerMix + move_plate: + feedback: {} + goal: + destination_offset: destination_offset + drop_direction: drop_direction + get_direction: get_direction + intermediate_locations: intermediate_locations + pickup_direction: pickup_direction + pickup_offset: pickup_offset + plate: plate + put_direction: put_direction + resource_offset: resource_offset + to: to + goal_default: + destination_offset: + x: 0.0 + y: 0.0 + z: 0.0 + drop_direction: '' + get_direction: '' + intermediate_locations: + - 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: diff --git a/unilabos/test/experiments/prcxi_9320_with_res_test.json b/unilabos/test/experiments/prcxi_9320_with_res_test.json new file mode 100644 index 0000000..6d98a0d --- /dev/null +++ b/unilabos/test/experiments/prcxi_9320_with_res_test.json @@ -0,0 +1,40662 @@ +{ + "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": false, + "setup": true, + "is_9320": true, + "timeout": 10, + "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb", + "simulator": false, + "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": 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": "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": 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": "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": 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": "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": 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": "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": 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": "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": 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": "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": 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": "T7", + "visible": true, + "position": {"x": 0, "y": 0, "z": 0}, + "size": {"width": 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