夹爪添加

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:
+            if child.children:
-                count += 1
+                if "Material" in child.children[0]._unilabos_state:
-                tablets_info.append(
+                    number = int(child.name.replace("T", ""))
-                    WorkTablets(Number=count, Code=f"T{count}", Material=child._unilabos_state["Material"])
+                    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):
+    async def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool):
-        return await self._unilabos_backend.shaker_action(time, frequency)
+        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):
+    async def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool):
-        print(f"\n\nShaker action: time={time}, frequency={frequency}\n\n")
+        step = self.api_client.shaker_action(
-        # return await self.api_client.shaker_action(time, frequency)
+            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
+            deck = plate.parent.parent
-            plate_index = deck.children.index(plate)
+            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
+            deck = plate.parent.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:
             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
+            deck = plate.parent.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:
@@ -822,8 +891,8 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         plate_indexes = []
         for op in ops:
             plate = op.resource.parent
-            deck = plate.parent
+            deck = plate.parent.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:
@@ -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.")
+        pass
-
-    async def drop_resource(self, drop: ResourceDrop):
-        raise NotImplementedError("The Opentrons backend does not support the robotic arm.")
 
     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:
 

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:
+                amplitude:
-                  type: number
+                  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: