mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-04 13:25:13 +00:00
添加切换枪头方法，添加mock振荡与加热方法
This commit is contained in:
zhangshixiang
@@ -433,6 +433,12 @@ 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 heater_action(self, temperature: float, time: int):
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return await self._unilabos_backend.heater_action(temperature, time)
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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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@@ -474,6 +480,15 @@ class PRCXI9300Backend(LiquidHandlerBackend):
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self._num_channels = channel_num
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self._execute_setup = setup
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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 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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# return await self.api_client.heater_action(temperature, time)
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def post_init(self, ros_node: BaseROS2DeviceNode):
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self._ros_node = ros_node
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@@ -555,7 +570,18 @@ class PRCXI9300Backend(LiquidHandlerBackend):
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async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int] = None):
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"""Pick up tips from the specified resource."""
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# INSERT_YOUR_CODE
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# Ensure use_channels is converted to a list of ints if it's an array
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if hasattr(use_channels, 'tolist'):
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_use_channels = use_channels.tolist()
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else:
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_use_channels = list(use_channels) if use_channels is not None else None
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if _use_channels == [0]:
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axis = "Left"
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elif _use_channels == [1]:
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axis = "Right"
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else:
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raise ValueError("Invalid use channels: " + str(_use_channels))
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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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@@ -585,6 +611,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
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hole_row = tipspot_index % 8 + 1
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step = self.api_client.Load(
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axis=axis,
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dosage=0,
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plate_no=PlateNo,
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is_whole_plate=False,
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@@ -599,13 +626,23 @@ class PRCXI9300Backend(LiquidHandlerBackend):
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async def drop_tips(self, ops: List[Drop], use_channels: List[int] = None):
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"""Pick up tips from the specified resource."""
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if hasattr(use_channels, 'tolist'):
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_use_channels = use_channels.tolist()
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else:
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_use_channels = list(use_channels) if use_channels is not None else None
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if _use_channels == [0]:
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axis = "Left"
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elif _use_channels == [1]:
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axis = "Right"
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else:
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raise ValueError("Invalid use channels: " + str(_use_channels))
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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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step = self.api_client.UnLoad(
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axis=axis,
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dosage=0,
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plate_no=PlateNo,
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is_whole_plate=False,
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@@ -648,6 +685,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
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hole_row = tipspot_index % 8 + 1
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step = self.api_client.UnLoad(
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axis=axis,
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dosage=0,
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plate_no=PlateNo,
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is_whole_plate=False,
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@@ -714,7 +752,16 @@ class PRCXI9300Backend(LiquidHandlerBackend):
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async def aspirate(self, ops: List[SingleChannelAspiration], use_channels: List[int] = None):
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"""Aspirate liquid from the specified resources."""
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if hasattr(use_channels, 'tolist'):
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_use_channels = use_channels.tolist()
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else:
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_use_channels = list(use_channels) if use_channels is not None else None
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if _use_channels == [0]:
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axis = "Left"
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elif _use_channels == [1]:
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axis = "Right"
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else:
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raise ValueError("Invalid use channels: " + str(_use_channels))
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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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@@ -747,6 +794,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
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hole_row = tipspot_index % 8 + 1
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step = self.api_client.Imbibing(
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axis=axis,
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dosage=int(volumes[0]),
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plate_no=PlateNo,
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is_whole_plate=False,
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@@ -761,7 +809,16 @@ class PRCXI9300Backend(LiquidHandlerBackend):
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async def dispense(self, ops: List[SingleChannelDispense], use_channels: List[int] = None):
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"""Dispense liquid into the specified resources."""
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if hasattr(use_channels, 'tolist'):
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_use_channels = use_channels.tolist()
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else:
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_use_channels = list(use_channels) if use_channels is not None else None
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if _use_channels == [0]:
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axis = "Left"
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elif _use_channels == [1]:
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axis = "Right"
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else:
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raise ValueError("Invalid use channels: " + str(_use_channels))
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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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@@ -795,6 +852,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
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hole_row = tipspot_index % 8 + 1
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step = self.api_client.Tapping(
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axis=axis,
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dosage=int(volumes[0]),
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plate_no=PlateNo,
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is_whole_plate=False,
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@@ -1000,9 +1058,10 @@ class PRCXI9300Api:
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assist_fun4: str = "",
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assist_fun5: str = "",
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liquid_method: str = "NormalDispense",
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axis: str = "Left",
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) -> Dict[str, Any]:
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return {
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"StepAxis": self.axis,
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"StepAxis": axis,
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"Function": "Load",
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"DosageNum": dosage,
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"PlateNo": plate_no,
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@@ -1038,9 +1097,10 @@ class PRCXI9300Api:
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assist_fun4: str = "",
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assist_fun5: str = "",
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liquid_method: str = "NormalDispense",
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) -> Dict[str, Any]:
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axis: str = "Left",
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) -> Dict[str, Any]:
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return {
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"StepAxis": self.axis,
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"StepAxis": axis,
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"Function": "Imbibing",
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"DosageNum": dosage,
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"PlateNo": plate_no,
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@@ -1076,9 +1136,10 @@ class PRCXI9300Api:
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assist_fun4: str = "",
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assist_fun5: str = "",
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liquid_method: str = "NormalDispense",
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axis: str = "Left",
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) -> Dict[str, Any]:
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return {
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"StepAxis": self.axis,
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"StepAxis": axis,
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"Function": "Tapping",
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"DosageNum": dosage,
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"PlateNo": plate_no,
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@@ -1114,9 +1175,10 @@ class PRCXI9300Api:
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assist_fun4: str = "",
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assist_fun5: str = "",
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liquid_method: str = "NormalDispense",
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) -> Dict[str, Any]:
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axis: str = "Left",
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) -> Dict[str, Any]:
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return {
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"StepAxis": self.axis,
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"StepAxis": axis,
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"Function": "Blending",
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"DosageNum": dosage,
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"PlateNo": plate_no,
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@@ -1152,9 +1214,10 @@ class PRCXI9300Api:
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assist_fun4: str = "",
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assist_fun5: str = "",
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liquid_method: str = "NormalDispense",
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axis: str = "Left",
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) -> Dict[str, Any]:
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return {
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"StepAxis": self.axis,
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"StepAxis": axis,
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"Function": "UnLoad",
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"DosageNum": dosage,
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"PlateNo": plate_no,
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@@ -4500,6 +4500,9 @@ liquid_handler:
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simulator:
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default: false
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type: boolean
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total_height:
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default: 310
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type: number
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required:
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- backend
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- deck
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@@ -7553,6 +7556,35 @@ liquid_handler.prcxi:
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title: custom_delay参数
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type: object
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type: UniLabJsonCommandAsync
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auto-heater_action:
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feedback: {}
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goal: {}
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goal_default:
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temperature: null
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time: null
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: ''
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properties:
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feedback: {}
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goal:
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properties:
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temperature:
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type: number
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time:
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type: integer
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required:
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- temperature
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- time
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type: object
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result: {}
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required:
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- goal
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title: heater_action参数
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type: object
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type: UniLabJsonCommandAsync
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auto-iter_tips:
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feedback: {}
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goal: {}
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@@ -7694,6 +7726,35 @@ liquid_handler.prcxi:
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title: set_group参数
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type: object
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type: UniLabJsonCommand
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auto-shaker_action:
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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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time: null
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: ''
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properties:
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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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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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type: object
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result: {}
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required:
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- goal
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title: shaker_action参数
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type: object
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type: UniLabJsonCommandAsync
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auto-touch_tip:
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feedback: {}
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goal: {}
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@@ -21,7 +21,7 @@
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"_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
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"_resource_child_name": "PRCXI_Deck"
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},
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"host": "192.168.1.201",
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"host": "10.20.30.184",
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"port": 9999,
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"debug": false,
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"setup": true,
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@@ -29,7 +29,7 @@
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"timeout": 10,
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"matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
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"simulator": false,
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"channel_num": 1
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"channel_num": 2
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},
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"data": {
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"reset_ok": true
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@@ -9964,8 +9964,8 @@
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},
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{
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"id": "container_for_nothing3",
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"name": "container_for_nothing3",
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"id": "emptyT3",
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"name": "emptyT3",
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"children": [],
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"parent": "PRCXI_Deck",
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@@ -9996,8 +9996,8 @@
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},
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{
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"id": "container_for_nothing4",
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"name": "container_for_nothing4",
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"id": "emptyT4",
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"name": "emptyT4",
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"children": [],
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"parent": "PRCXI_Deck",
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@@ -19806,8 +19806,8 @@
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},
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{
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"id": "container_for_nothing7",
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"name": "container_for_nothing7",
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"id": "emptyT7",
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"name": "emptyT7",
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"children": [],
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"parent": "PRCXI_Deck",
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@@ -19837,8 +19837,8 @@
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"data": {}
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},
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{
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"id": "container_for_nothing8",
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"name": "container_for_nothing8",
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"id": "emptyT8",
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"name": "emptyT8",
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"children": [],
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"parent": "PRCXI_Deck",
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@@ -28015,8 +28015,8 @@
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},
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{
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"id": "container_for_nothing11",
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"name": "container_for_nothing11",
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"id": "emptyT11",
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"name": "emptyT11",
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"children": [],
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"parent": "PRCXI_Deck",
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@@ -28046,8 +28046,8 @@
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"data": {}
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},
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{
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"id": "container_for_nothing12",
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"name": "container_for_nothing12",
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"id": "emptyT12",
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"name": "emptyT12",
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"children": [],
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"parent": "PRCXI_Deck",
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