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

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This commit is contained in:
Guangxin Zhang
2025-07-17 23:03:01 +08:00
parent 2d30fb79c1 743ec8839d
commit 41c130ef54
1 changed files with 54 additions and 45 deletions
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99
unilabos/devices/liquid_handling/prcxi/prcxi.py
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@@ -66,14 +66,14 @@ class PRCXI9300Deck(Deck):
self.slots = [None] * 6 # PRCXI 9300 有 6 个槽位
class PRCXI9300Container(Plate):
class PRCXI9300Container(Plate, TipRack):
"""PRCXI 9300 的专用 Deck 类，继承自 Deck。
该类定义了 PRCXI 9300 的工作台布局和槽位信息。
"""
def __init__(self, name: str, size_x: float, size_y: float, size_z: float, category: str, ordering: collections.OrderedDict):
super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering)
def __init__(self, name: str, size_x: float, size_y: float, size_z: float, category: str, ordering: collections.OrderedDict, model: Optional[str] = None,):
super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model)
self._unilabos_state = {}
def load_state(self, state: Dict[str, Any]) -> None:
@@ -1018,7 +1018,7 @@ if __name__ == "__main__":
# })
# from pylabrobot.resources.opentrons.tip_racks import tipone_96_tiprack_200ul
# from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat
# from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat
# tip_rack = tipone_96_tiprack_200ul("TipRack")
# well_containers = corning_96_wellplate_360ul_flat("Plate")
@@ -1034,7 +1034,7 @@ if __name__ == "__main__":
# deck.assign_child_resource(plate5, location=Coordinate(0, 0, 0))
# deck.assign_child_resource(plate6, location=Coordinate(0, 0, 0))
# print(plate2)
# print(plate2)
# # plate_2_liquids = [[(None, 500)]]*96
# # plate2.set_well_liquids(plate_2_liquids)
@@ -1108,43 +1108,12 @@ if __name__ == "__main__":
# # input("Press Enter to continue...") # Wait for user input before proceeding
# # print("PRCXI9300Handler initialized with deck and host settings.")
# Example usage
# 1. 用导出的json，给每个T1 T2板子设定相应的物料，如果是孔板和枪头盒，要对应区分
# 2. 设计一个单点动作流程，可以跑
# 3.
deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)
plate1 = PRCXI9300Container(name="HPLCPlateT1", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
plate1.load_state({
"Material": {
"uuid": "548bbc3df0d4447586f2c19d2c0c0c55",
"Code": "HPLC01",
"Name": "HPLC料盘"
}
})
plate2 = PRCXI9300Container(name="plateT2", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
plate2.load_state({
@@ -1152,7 +1121,7 @@ if __name__ == "__main__":
"uuid": "04211a2dc93547fe9bf6121eac533650"
}
})
#储液槽
plate3 = PRCXI9300Container(name="plateT3", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
@@ -1239,8 +1208,44 @@ if __name__ == "__main__":
from pylabrobot.resources.opentrons.tip_racks import tipone_96_tiprack_200ul,opentrons_96_tiprack_10ul
from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
tip_rack = opentrons_96_tiprack_10ul("TipRack")
well_containers = nest_96_wellplate_2ml_deep("Plate")
def get_well_container(name: str) -> PRCXI9300Container:
well_containers = corning_96_wellplate_360ul_flat(name).serialize()
plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
ordering=collections.OrderedDict())
plate_serialized = plate.serialize()
plate_serialized["parent_name"] = deck.name
well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
return new_plate
def get_tip_rack(name: str) -> PRCXI9300Container:
tip_racks = opentrons_96_tiprack_10ul("name").serialize()
tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
ordering=collections.OrderedDict())
tip_rack_serialized = tip_rack.serialize()
tip_rack_serialized["parent_name"] = deck.name
tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
return new_tip_rack
plate1 = get_well_container("HPLCPlateT1")
plate1.load_state({
"Material": {
"uuid": "548bbc3df0d4447586f2c19d2c0c0c55",
"Code": "HPLC01",
"Name": "HPLC料盘"
}
})
plate2 = get_well_container("HPLCPlateT1")
plate2.load_state({
"Material": {
"uuid": "548bbc3df0d4447586f2c19d2c0c0c55",
"Code": "HPLC01",
"Name": "HPLC料盘"
}
})
# from pprint import pprint
# pprint(well_containers.children)
plate1.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
@@ -1258,7 +1263,9 @@ if __name__ == "__main__":
plate13.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
deck.assign_child_resource(plate2, location=Coordinate(0, 0, 0))
deck.assign_child_resource(plate3, location=Coordinate(0, 0, 0))
deck.assign_child_resource(plate4, location=Coordinate(0, 0, 0))
deck.assign_child_resource(plate5, location=Coordinate(0, 0, 0))
@@ -1275,10 +1282,12 @@ if __name__ == "__main__":
handler.set_tiprack([tip_rack]) # Set the tip rack for the handler
asyncio.run(handler.setup()) # Initialize the handler and setup the connection
from pylabrobot.resources import set_volume_tracking
# from pylabrobot.resources import set_tip_tracking
set_volume_tracking(enabled=True)
plate2.set_well_liquids([("Water", 100)] * plate2.num_items)
plate1.set_well_liquids([("Water", 100)] * plate1.num_items)
asyncio.run(handler.create_protocol(protocol_name="Test Protocol")) # Initialize the backend and setup the connection
# asyncio.run(handler.pick_up_tips(tip_rack.children[:8],[0,1,2,3,4,5,6,7]))
@@ -1292,8 +1301,8 @@ if __name__ == "__main__":
asyncio.run(handler.add_liquid(
asp_vols=[100]*16,
dis_vols=[100]*16,
reagent_sources=well_containers.children[-16:],
targets=well_containers.children[:16],
reagent_sources=final_plate_2.children[-16:],
targets=final_plate_2.children[:16],
use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
flow_rates=[None] * 32,
offsets=[Coordinate(0, 0, 0)] * 32,