Merge branch '37-biomek-i5i7' of https://github.com/dptech-corp/Uni-Lab-OS into 37-biomek-i5i7

unilabos/devices/liquid_handling/biomek.py

@@ -1,7 +1,8 @@
 import requests
 from typing import List, Sequence, Optional, Union, Literal
 from geometry_msgs.msg import Point
-#from unilabos_msgs.msg import Resource
+from pylabrobot.liquid_handling import LiquidHandler
+from unilabos_msgs.msg import Resource
 
 from pylabrobot.resources import (
     TipRack,
@@ -22,8 +23,8 @@ class LiquidHandlerBiomek(LiquidHandlerAbstract):
     该类用于处理Biomek液体处理器的特定操作。
     """
 
-    def __init__(self, *args, **kwargs):
-        super().__init__(*args, **kwargs)
+    def __init__(self, backend=None, deck=None, *args, **kwargs):
+        super().__init__(backend, deck, *args, **kwargs)
         self._status = "Idle"  # 初始状态为 Idle
         self._success = False  # 初始成功状态为 False
         self._status_queue = kwargs.get("status_queue", None)  # 状态队列
@@ -71,6 +72,10 @@ class LiquidHandlerBiomek(LiquidHandlerAbstract):
             }
         }
 
+    @classmethod
+    def deserialize(cls, data: dict, allow_marshal: bool = False) -> LiquidHandler:
+        return LiquidHandler.deserialize(data, allow_marshal)
+
 
     def create_protocol(
         self,
@@ -259,7 +264,7 @@ class LiquidHandlerBiomek(LiquidHandlerAbstract):
             }
         transfer_params["items"] = items
 
-        transfer_params["Solvent"] =  solvent if solvent else "Water"
+        transfer_params["Solvent"] = "Water"
         TipLocation = tip_racks[0].name
         transfer_params["TipLocation"] = TipLocation
 
@@ -343,8 +348,10 @@ class LiquidHandlerBiomek(LiquidHandlerAbstract):
         return 
 
 
-steps_info = ''' 
-{
+if __name__ == "__main__":
+
+    steps_info = ''' 
+    {
       "steps": [
         {
           "step_number": 1,
@@ -603,8 +610,8 @@ steps_info = '''
           }
         }
       ]
-}
-'''
+    }
+    '''
 
 
 
@@ -622,6 +629,16 @@ labware_with_liquid = '''
             "A1"
         ]
     },
+    {
+        "id": "Tip Rack BC230 TL2",
+        "parent": "deck",
+        "slot_on_deck": "TL2",
+        "class_name": "BC230",
+        "liquid_type": [],
+        "liquid_volume": [],
+        "liquid_input_wells": [
+        ]
+    },
         {
             "id": "Tip Rack BC230 TL2",
             "parent": "deck",
@@ -805,9 +822,11 @@ labware_with_liquid = '''
             "liquid_input_wells": [
             ]
         }
-]
+    ]
+    
+    '''
+
 
-'''
 
 handler = LiquidHandlerBiomek()
 

unilabos/registry/devices/liquid_handler.yaml

@@ -340,6 +340,17 @@ liquid_handler.biomek:
           none_keys: none_keys
         feedback: {}
         result: {}
+      transfer_biomek:
+        type: LiquidHandlerTransferBiomek
+        goal:
+          source: source
+          target: target
+          tip_rack: tip_rack
+          volume: volume
+          aspirate_techniques: aspirate_techniques
+          dispense_techniques: dispense_techniques
+        feedback: {}
+        result: {}
   schema:
     type: object
     properties: {}

unilabos/ros/nodes/base_device_node.py

@@ -805,7 +805,9 @@ class ROS2DeviceNode:
         self.resource_tracker = DeviceNodeResourceTracker()
 
         # use_pylabrobot_creator 使用 cls的包路径检测
-        use_pylabrobot_creator = driver_class.__module__.startswith("pylabrobot") or driver_class.__name__ == "LiquidHandlerAbstract"
+        use_pylabrobot_creator = (driver_class.__module__.startswith("pylabrobot")
+                                  or driver_class.__name__ == "LiquidHandlerAbstract"
+                                  or driver_class.__name__ == "LiquidHandlerBiomek")
 
         # TODO: 要在创建之前预先请求服务器是否有当前id的物料，放到resource_tracker中，让pylabrobot进行创建
         # 创建设备类实例

unilabos_msgs/action/LiquidHandlerTransferBiomek.action

@@ -1,6 +1,7 @@
-Resource source
-Resource target
-Resource tip_rack
+string source
+string target
+string tip_rack
+float64 volume
 string aspirate_technique
 string dispense_technique