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workflow upload & set liquid fix & add set liquid with plate

Browse Source 
fix upload workflow json

save class name when deserialize & protocol execute test

Support root node change pos

add unilabos_class

gather query
This commit is contained in:
Xuwznln
2026-01-28 13:23:25 +08:00
parent 3a2d9e9603
commit 5179a7e48e
15 changed files with 2619 additions and 473 deletions
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3
docs/user_guide/best_practice.md
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@@ -439,6 +439,9 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
1. 访问 Web 界面，进入"仪器耗材"模块 1. 访问 Web 界面，进入"仪器耗材"模块
2. 在"仪器设备"区域找到并添加上述设备 2. 在"仪器设备"区域找到并添加上述设备
3. 在"物料耗材"区域找到并添加容器 3. 在"物料耗材"区域找到并添加容器
4. 在workstation中配置protocol_type包含PumpTransferProtocol
![添加Protocol类型](image/add_protocol.png)
![物料列表](image/material.png) ![物料列表](image/material.png)

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213
tests/workflow/test.json Normal file
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@@ -0,0 +1,213 @@
{
"workflow": [
{
"action": "transfer_liquid",
"action_args": {
"sources": "cell_lines",
"targets": "Liquid_1",
"asp_vol": 100.0,
"dis_vol": 74.75,
"asp_flow_rate": 94.0,
"dis_flow_rate": 95.5
}
},
{
"action": "transfer_liquid",
"action_args": {
"sources": "cell_lines",
"targets": "Liquid_2",
"asp_vol": 100.0,
"dis_vol": 74.75,
"asp_flow_rate": 94.0,
"dis_flow_rate": 95.5
}
},
{
"action": "transfer_liquid",
"action_args": {
"sources": "cell_lines",
"targets": "Liquid_3",
"asp_vol": 100.0,
"dis_vol": 74.75,
"asp_flow_rate": 94.0,
"dis_flow_rate": 95.5
}
},
{
"action": "transfer_liquid",
"action_args": {
"sources": "cell_lines_2",
"targets": "Liquid_4",
"asp_vol": 100.0,
"dis_vol": 74.75,
"asp_flow_rate": 94.0,
"dis_flow_rate": 95.5
}
},
{
"action": "transfer_liquid",
"action_args": {
"sources": "cell_lines_2",
"targets": "Liquid_5",
"asp_vol": 100.0,
"dis_vol": 74.75,
"asp_flow_rate": 94.0,
"dis_flow_rate": 95.5
}
},
{
"action": "transfer_liquid",
"action_args": {
"sources": "cell_lines_2",
"targets": "Liquid_6",
"asp_vol": 100.0,
"dis_vol": 74.75,
"asp_flow_rate": 94.0,
"dis_flow_rate": 95.5
}
},
{
"action": "transfer_liquid",
"action_args": {
"sources": "cell_lines_3",
"targets": "dest_set",
"asp_vol": 100.0,
"dis_vol": 74.75,
"asp_flow_rate": 94.0,
"dis_flow_rate": 95.5
}
},
{
"action": "transfer_liquid",
"action_args": {
"sources": "cell_lines_3",
"targets": "dest_set_2",
"asp_vol": 100.0,
"dis_vol": 74.75,
"asp_flow_rate": 94.0,
"dis_flow_rate": 95.5
}
},
{
"action": "transfer_liquid",
"action_args": {
"sources": "cell_lines_3",
"targets": "dest_set_3",
"asp_vol": 100.0,
"dis_vol": 74.75,
"asp_flow_rate": 94.0,
"dis_flow_rate": 95.5
}
}
],
"reagent": {
"Liquid_1": {
"slot": 1,
"well": [
"A4",
"A7",
"A10"
],
"labware": "rep 1"
},
"Liquid_4": {
"slot": 1,
"well": [
"A4",
"A7",
"A10"
],
"labware": "rep 1"
},
"dest_set": {
"slot": 1,
"well": [
"A4",
"A7",
"A10"
],
"labware": "rep 1"
},
"Liquid_2": {
"slot": 2,
"well": [
"A3",
"A5",
"A8"
],
"labware": "rep 2"
},
"Liquid_5": {
"slot": 2,
"well": [
"A3",
"A5",
"A8"
],
"labware": "rep 2"
},
"dest_set_2": {
"slot": 2,
"well": [
"A3",
"A5",
"A8"
],
"labware": "rep 2"
},
"Liquid_3": {
"slot": 3,
"well": [
"A4",
"A6",
"A10"
],
"labware": "rep 3"
},
"Liquid_6": {
"slot": 3,
"well": [
"A4",
"A6",
"A10"
],
"labware": "rep 3"
},
"dest_set_3": {
"slot": 3,
"well": [
"A4",
"A6",
"A10"
],
"labware": "rep 3"
},
"cell_lines": {
"slot": 4,
"well": [
"A1",
"A3",
"A5"
],
"labware": "DRUG + YOYO-MEDIA"
},
"cell_lines_2": {
"slot": 4,
"well": [
"A1",
"A3",
"A5"
],
"labware": "DRUG + YOYO-MEDIA"
},
"cell_lines_3": {
"slot": 4,
"well": [
"A1",
"A3",
"A5"
],
"labware": "DRUG + YOYO-MEDIA"
}
}
}

62
unilabos/app/web/client.py
View File

@@ -74,7 +74,8 @@ class HTTPClient:
Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid} Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
""" """
with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "w", encoding="utf-8") as f: with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "w", encoding="utf-8") as f:
f.write(json.dumps({"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}, indent=4)) payload = {"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}
f.write(json.dumps(payload, indent=4))
# 从序列化数据中提取所有节点的UUID（保存旧UUID） # 从序列化数据中提取所有节点的UUID（保存旧UUID）
old_uuids = {n.res_content.uuid: n for n in resources.all_nodes} old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
if not self.initialized or first_add: if not self.initialized or first_add:
@@ -333,6 +334,65 @@ class HTTPClient:
logger.error(f"响应内容: {response.text}") logger.error(f"响应内容: {response.text}")
return None return None
def workflow_import(
self,
name: str,
workflow_uuid: str,
workflow_name: str,
nodes: List[Dict[str, Any]],
edges: List[Dict[str, Any]],
tags: Optional[List[str]] = None,
published: bool = False,
) -> Dict[str, Any]:
"""
导入工作流到服务器
Args:
name: 工作流名称（顶层）
workflow_uuid: 工作流UUID
workflow_name: 工作流名称（data内部）
nodes: 工作流节点列表
edges: 工作流边列表
tags: 工作流标签列表，默认为空列表
published: 是否发布工作流，默认为False
Returns:
Dict: API响应数据，包含 code 和 data (uuid, name)
"""
payload = {
"name": name,
"data": {
"workflow_uuid": workflow_uuid,
"workflow_name": workflow_name,
"nodes": nodes,
"edges": edges,
"tags": tags if tags is not None else [],
"published": published,
},
}
# 保存请求到文件
with open(os.path.join(BasicConfig.working_dir, "req_workflow_upload.json"), "w", encoding="utf-8") as f:
f.write(json.dumps(payload, indent=4, ensure_ascii=False))
response = requests.post(
f"{self.remote_addr}/lab/workflow/owner/import",
json=payload,
headers={"Authorization": f"Lab {self.auth}"},
timeout=60,
)
# 保存响应到文件
with open(os.path.join(BasicConfig.working_dir, "res_workflow_upload.json"), "w", encoding="utf-8") as f:
f.write(f"{response.status_code}" + "\n" + response.text)
if response.status_code == 200:
res = response.json()
if "code" in res and res["code"] != 0:
logger.error(f"导入工作流失败: {response.text}")
return res
else:
logger.error(f"导入工作流失败: {response.status_code}, {response.text}")
return {"code": response.status_code, "message": response.text}
# 创建默认客户端实例 # 创建默认客户端实例
http_client = HTTPClient() http_client = HTTPClient()

578
unilabos/devices/liquid_handling/liquid_handler_abstract.py
View File

@@ -28,21 +28,40 @@ from pylabrobot.resources import (
Tip, Tip,
) )
from unilabos.registry.placeholder_type import ResourceSlot
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
from unilabos.resources.resource_tracker import ResourceTreeSet
class SimpleReturn(TypedDict): class SimpleReturn(TypedDict):
samples: list samples: list
volumes: list volumes: list
class SetLiquidReturn(TypedDict):
wells: list
volumes: list
class SetLiquidFromPlateReturn(TypedDict):
plate: list
wells: list
volumes: list
class LiquidHandlerMiddleware(LiquidHandler): class LiquidHandlerMiddleware(LiquidHandler):
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8, **kwargs): def __init__(
self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8, **kwargs
):
self._simulator = simulator self._simulator = simulator
self.channel_num = channel_num self.channel_num = channel_num
self.pending_liquids_dict = {} self.pending_liquids_dict = {}
joint_config = kwargs.get("joint_config", None) joint_config = kwargs.get("joint_config", None)
if simulator: if simulator:
if joint_config: if joint_config:
self._simulate_backend = UniLiquidHandlerRvizBackend(channel_num, kwargs["total_height"], self._simulate_backend = UniLiquidHandlerRvizBackend(
joint_config=joint_config, lh_device_id=deck.name) channel_num, kwargs["total_height"], joint_config=joint_config, lh_device_id=deck.name
)
else: else:
self._simulate_backend = LiquidHandlerChatterboxBackend(channel_num) self._simulate_backend = LiquidHandlerChatterboxBackend(channel_num)
self._simulate_handler = LiquidHandlerAbstract(self._simulate_backend, deck, False) self._simulate_handler = LiquidHandlerAbstract(self._simulate_backend, deck, False)
@@ -159,7 +178,9 @@ class LiquidHandlerMiddleware(LiquidHandler):
if not offsets or (isinstance(offsets, list) and len(offsets) != len(use_channels)): if not offsets or (isinstance(offsets, list) and len(offsets) != len(use_channels)):
offsets = [Coordinate.zero()] * len(use_channels) offsets = [Coordinate.zero()] * len(use_channels)
if self._simulator: if self._simulator:
return await self._simulate_handler.discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs) return await self._simulate_handler.discard_tips(
use_channels, allow_nonzero_volume, offsets, **backend_kwargs
)
await super().discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs) await super().discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs)
self.pending_liquids_dict = {} self.pending_liquids_dict = {}
return return
@@ -180,7 +201,6 @@ class LiquidHandlerMiddleware(LiquidHandler):
**backend_kwargs, **backend_kwargs,
): ):
if self._simulator: if self._simulator:
return await self._simulate_handler.aspirate( return await self._simulate_handler.aspirate(
resources, resources,
@@ -208,15 +228,16 @@ class LiquidHandlerMiddleware(LiquidHandler):
res_samples = [] res_samples = []
res_volumes = [] res_volumes = []
for resource, volume, channel in zip(resources, vols, use_channels): for resource, volume, channel in zip(resources, vols, use_channels):
res_samples.append({"name": resource.name, "sample_uuid": resource.unilabos_extra.get("sample_uuid", None)}) res_samples.append(
{"name": resource.name, "sample_uuid": resource.unilabos_extra.get("sample_uuid", None)}
)
res_volumes.append(volume) res_volumes.append(volume)
self.pending_liquids_dict[channel] = { self.pending_liquids_dict[channel] = {
"sample_uuid": resource.unilabos_extra.get("sample_uuid", None), "sample_uuid": resource.unilabos_extra.get("sample_uuid", None),
"volume": volume "volume": volume,
} }
return SimpleReturn(samples=res_samples, volumes=res_volumes) return SimpleReturn(samples=res_samples, volumes=res_volumes)
async def dispense( async def dispense(
self, self,
resources: Sequence[Container], resources: Sequence[Container],
@@ -578,10 +599,18 @@ class LiquidHandlerMiddleware(LiquidHandler):
class LiquidHandlerAbstract(LiquidHandlerMiddleware): class LiquidHandlerAbstract(LiquidHandlerMiddleware):
"""Extended LiquidHandler with additional operations.""" """Extended LiquidHandler with additional operations."""
support_touch_tip = True support_touch_tip = True
_ros_node: BaseROS2DeviceNode _ros_node: BaseROS2DeviceNode
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8, total_height:float = 310): def __init__(
self,
backend: LiquidHandlerBackend,
deck: Deck,
simulator: bool = False,
channel_num: int = 8,
total_height: float = 310,
):
"""Initialize a LiquidHandler. """Initialize a LiquidHandler.
Args: Args:
@@ -605,6 +634,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
module_name = ".".join(components[:-1]) module_name = ".".join(components[:-1])
try: try:
import importlib import importlib
mod = importlib.import_module(module_name) mod = importlib.import_module(module_name)
except ImportError: except ImportError:
mod = None mod = None
@@ -614,6 +644,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
# Try pylabrobot style import (if available) # Try pylabrobot style import (if available)
try: try:
import pylabrobot import pylabrobot
backend_cls = getattr(pylabrobot, type_str, None) backend_cls = getattr(pylabrobot, type_str, None)
except Exception: except Exception:
backend_cls = None backend_cls = None
@@ -631,16 +662,56 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
self._ros_node = ros_node self._ros_node = ros_node
@classmethod @classmethod
def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SimpleReturn: def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SetLiquidReturn:
"""Set the liquid in a well.""" """Set the liquid in a well.
res_samples = []
如果 liquid_names 和 volumes 为空，但 wells 不为空，直接返回 wells。
"""
res_volumes = [] res_volumes = []
# 如果 liquid_names 和 volumes 都为空，直接返回 wells
if not liquid_names and not volumes:
return SetLiquidReturn(
wells=ResourceTreeSet.from_plr_resources(wells, known_newly_created=False).dump(), volumes=res_volumes # type: ignore
)
for well, liquid_name, volume in zip(wells, liquid_names, volumes): for well, liquid_name, volume in zip(wells, liquid_names, volumes):
well.set_liquids([(liquid_name, volume)]) # type: ignore well.set_liquids([(liquid_name, volume)]) # type: ignore
res_samples.append({"name": well.name, "sample_uuid": well.unilabos_extra.get("sample_uuid", None)})
res_volumes.append(volume) res_volumes.append(volume)
return SimpleReturn(samples=res_samples, volumes=res_volumes) return SetLiquidReturn(
wells=ResourceTreeSet.from_plr_resources(wells, known_newly_created=False).dump(), volumes=res_volumes # type: ignore
)
@classmethod
def set_liquid_from_plate(
cls, plate: ResourceSlot, well_names: list[str], liquid_names: list[str], volumes: list[float]
) -> SetLiquidFromPlateReturn:
"""Set the liquid in wells of a plate by well names (e.g., A1, A2, B3).
如果 liquid_names 和 volumes 为空，但 plate 和 well_names 不为空，直接返回 plate 和 wells。
"""
# 根据 well_names 获取对应的 Well 对象
wells = [plate.get_well(name) for name in well_names]
res_volumes = []
# 如果 liquid_names 和 volumes 都为空，直接返回
if not liquid_names and not volumes:
return SetLiquidFromPlateReturn(
plate=ResourceTreeSet.from_plr_resources([plate], known_newly_created=False).dump(), # type: ignore
wells=ResourceTreeSet.from_plr_resources(wells, known_newly_created=False).dump(), # type: ignore
volumes=res_volumes,
)
for well, liquid_name, volume in zip(wells, liquid_names, volumes):
well.set_liquids([(liquid_name, volume)]) # type: ignore
res_volumes.append(volume)
return SetLiquidFromPlateReturn(
plate=ResourceTreeSet.from_plr_resources([plate], known_newly_created=False).dump(), # type: ignore
wells=ResourceTreeSet.from_plr_resources(wells, known_newly_created=False).dump(), # type: ignore
volumes=res_volumes,
)
# --------------------------------------------------------------- # ---------------------------------------------------------------
# REMOVE LIQUID -------------------------------------------------- # REMOVE LIQUID --------------------------------------------------
# --------------------------------------------------------------- # ---------------------------------------------------------------
@@ -676,7 +747,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
target_rack = child target_rack = child
target_rack = cast(TipRack, target_rack) target_rack = cast(TipRack, target_rack)
available_tips = {} available_tips = {}
for (idx, tipSpot) in enumerate(target_rack.get_all_items()): for idx, tipSpot in enumerate(target_rack.get_all_items()):
if tipSpot.has_tip(): if tipSpot.has_tip():
available_tips[idx] = tipSpot available_tips[idx] = tipSpot
continue continue
@@ -684,8 +755,8 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
print("channel_num", self.channel_num) print("channel_num", self.channel_num)
if self.channel_num == 8: if self.channel_num == 8:
tip_prefix = list(available_tips.values())[0].name.split('_')[0] tip_prefix = list(available_tips.values())[0].name.split("_")[0]
colnum_list = [int(tip.name.split('_')[-1][1:]) for tip in available_tips.values()] colnum_list = [int(tip.name.split("_")[-1][1:]) for tip in available_tips.values()]
available_cols = [colnum for colnum, count in dict(Counter(colnum_list)).items() if count == 8] available_cols = [colnum for colnum, count in dict(Counter(colnum_list)).items() if count == 8]
available_cols.sort() available_cols.sort()
available_tips_dict = {tip.name: tip for tip in available_tips.values()} available_tips_dict = {tip.name: tip for tip in available_tips.values()}
@@ -729,7 +800,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
"""Create a new protocol with the given metadata.""" """Create a new protocol with the given metadata."""
pass pass
async def remove_liquid( async def remove_liquid(
self, self,
vols: List[float], vols: List[float],
@@ -788,10 +858,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
elif len(use_channels) == 8 and self.backend.num_channels == 8: elif len(use_channels) == 8 and self.backend.num_channels == 8:
# 对于8个的情况，需要判断此时任务是不是能被8通道移液站来成功处理 # 对于8个的情况，需要判断此时任务是不是能被8通道移液站来成功处理
if len(sources) % 8 != 0: if len(sources) % 8 != 0:
raise ValueError(f"Length of `sources` {len(sources)} must be a multiple of 8 for 8-channel mode.") raise ValueError(
f"Length of `sources` {len(sources)} must be a multiple of 8 for 8-channel mode."
)
# 8个8个来取任务序列 # 8个8个来取任务序列
@@ -800,18 +871,28 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
for _ in range(len(use_channels)): for _ in range(len(use_channels)):
tip.extend(next(self.current_tip)) tip.extend(next(self.current_tip))
await self.pick_up_tips(tip) await self.pick_up_tips(tip)
current_targets = waste_liquid[i:i + 8] current_targets = waste_liquid[i : i + 8]
current_reagent_sources = sources[i:i + 8] current_reagent_sources = sources[i : i + 8]
current_asp_vols = vols[i:i + 8] current_asp_vols = vols[i : i + 8]
current_dis_vols = vols[i:i + 8] current_dis_vols = vols[i : i + 8]
current_asp_flow_rates = flow_rates[i:i + 8] if flow_rates else [None] * 8 current_asp_flow_rates = flow_rates[i : i + 8] if flow_rates else [None] * 8
current_dis_flow_rates = flow_rates[-i*8-8:len(flow_rates)-i*8] if flow_rates else [None] * 8 current_dis_flow_rates = (
current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8 flow_rates[-i * 8 - 8 : len(flow_rates) - i * 8] if flow_rates else [None] * 8
current_dis_offset = offsets[-i*8-8:len(offsets)-i*8] if offsets else [None] * 8 )
current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8 current_asp_offset = offsets[i : i + 8] if offsets else [None] * 8
current_dis_liquid_height = liquid_height[-i*8-8:len(liquid_height)-i*8] if liquid_height else [None] * 8 current_dis_offset = offsets[-i * 8 - 8 : len(offsets) - i * 8] if offsets else [None] * 8
current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8 current_asp_liquid_height = liquid_height[i : i + 8] if liquid_height else [None] * 8
current_dis_blow_out_air_volume = blow_out_air_volume[-i*8-8:len(blow_out_air_volume)-i*8] if blow_out_air_volume else [None] * 8 current_dis_liquid_height = (
liquid_height[-i * 8 - 8 : len(liquid_height) - i * 8] if liquid_height else [None] * 8
)
current_asp_blow_out_air_volume = (
blow_out_air_volume[i : i + 8] if blow_out_air_volume else [None] * 8
)
current_dis_blow_out_air_volume = (
blow_out_air_volume[-i * 8 - 8 : len(blow_out_air_volume) - i * 8]
if blow_out_air_volume
else [None] * 8
)
await self.aspirate( await self.aspirate(
resources=current_reagent_sources, resources=current_reagent_sources,
@@ -872,127 +953,136 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
# """A complete *add* (aspirate reagent → dispense into targets) operation.""" # """A complete *add* (aspirate reagent → dispense into targets) operation."""
# # try: # # try:
if is_96_well: if is_96_well:
pass # This mode is not verified. pass # This mode is not verified.
else: else:
if len(asp_vols) != len(targets): if len(asp_vols) != len(targets):
raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.") raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.")
# 首先应该对任务分组，然后每次1个/8个进行操作处理 # 首先应该对任务分组，然后每次1个/8个进行操作处理
if len(use_channels) == 1: if len(use_channels) == 1:
for _ in range(len(targets)): for _ in range(len(targets)):
tip = [] tip = []
for x in range(len(use_channels)): for x in range(len(use_channels)):
tip.extend(next(self.current_tip)) tip.extend(next(self.current_tip))
await self.pick_up_tips(tip) await self.pick_up_tips(tip)
await self.aspirate( await self.aspirate(
resources=[reagent_sources[_]], resources=[reagent_sources[_]],
vols=[asp_vols[_]], vols=[asp_vols[_]],
use_channels=use_channels, use_channels=use_channels,
flow_rates=[flow_rates[0]] if flow_rates else None, flow_rates=[flow_rates[0]] if flow_rates else None,
offsets=[offsets[0]] if offsets else None, offsets=[offsets[0]] if offsets else None,
liquid_height=[liquid_height[0]] if liquid_height else None, liquid_height=[liquid_height[0]] if liquid_height else None,
blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume else None, blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume else None,
spread=spread, spread=spread,
)
if delays is not None:
await self.custom_delay(seconds=delays[0])
await self.dispense(
resources=[targets[_]],
vols=[dis_vols[_]],
use_channels=use_channels,
flow_rates=[flow_rates[1]] if flow_rates else None,
offsets=[offsets[1]] if offsets else None,
blow_out_air_volume=[blow_out_air_volume[1]] if blow_out_air_volume else None,
liquid_height=[liquid_height[1]] if liquid_height else None,
spread=spread,
)
if delays is not None and len(delays) > 1:
await self.custom_delay(seconds=delays[1])
# 只有在 mix_time 有效时才调用 mix
if mix_time is not None and mix_time > 0:
await self.mix(
targets=[targets[_]],
mix_time=mix_time,
mix_vol=mix_vol,
offsets=offsets if offsets else None,
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
mix_rate=mix_rate if mix_rate else None,
) )
if delays is not None and len(delays) > 1:
await self.custom_delay(seconds=delays[1])
await self.touch_tip(targets[_])
await self.discard_tips()
if delays is not None: elif len(use_channels) == 8:
await self.custom_delay(seconds=delays[0]) # 对于8个的情况，需要判断此时任务是不是能被8通道移液站来成功处理
await self.dispense( if len(targets) % 8 != 0:
resources=[targets[_]], raise ValueError(f"Length of `targets` {len(targets)} must be a multiple of 8 for 8-channel mode.")
vols=[dis_vols[_]],
use_channels=use_channels, for i in range(0, len(targets), 8):
flow_rates=[flow_rates[1]] if flow_rates else None, tip = []
offsets=[offsets[1]] if offsets else None, for _ in range(len(use_channels)):
blow_out_air_volume=[blow_out_air_volume[1]] if blow_out_air_volume else None, tip.extend(next(self.current_tip))
liquid_height=[liquid_height[1]] if liquid_height else None, await self.pick_up_tips(tip)
spread=spread, current_targets = targets[i : i + 8]
current_reagent_sources = reagent_sources[i : i + 8]
current_asp_vols = asp_vols[i : i + 8]
current_dis_vols = dis_vols[i : i + 8]
current_asp_flow_rates = flow_rates[i : i + 8] if flow_rates else [None] * 8
current_dis_flow_rates = (
flow_rates[-i * 8 - 8 : len(flow_rates) - i * 8] if flow_rates else [None] * 8
)
current_asp_offset = offsets[i : i + 8] if offsets else [None] * 8
current_dis_offset = offsets[-i * 8 - 8 : len(offsets) - i * 8] if offsets else [None] * 8
current_asp_liquid_height = liquid_height[i : i + 8] if liquid_height else [None] * 8
current_dis_liquid_height = (
liquid_height[-i * 8 - 8 : len(liquid_height) - i * 8] if liquid_height else [None] * 8
)
current_asp_blow_out_air_volume = (
blow_out_air_volume[i : i + 8] if blow_out_air_volume else [None] * 8
)
current_dis_blow_out_air_volume = (
blow_out_air_volume[-i * 8 - 8 : len(blow_out_air_volume) - i * 8]
if blow_out_air_volume
else [None] * 8
)
await self.aspirate(
resources=current_reagent_sources,
vols=current_asp_vols,
use_channels=use_channels,
flow_rates=current_asp_flow_rates,
offsets=current_asp_offset,
liquid_height=current_asp_liquid_height,
blow_out_air_volume=current_asp_blow_out_air_volume,
spread=spread,
)
if delays is not None:
await self.custom_delay(seconds=delays[0])
await self.dispense(
resources=current_targets,
vols=current_dis_vols,
use_channels=use_channels,
flow_rates=current_dis_flow_rates,
offsets=current_dis_offset,
liquid_height=current_dis_liquid_height,
blow_out_air_volume=current_dis_blow_out_air_volume,
spread=spread,
)
if delays is not None and len(delays) > 1:
await self.custom_delay(seconds=delays[1])
# 只有在 mix_time 有效时才调用 mix
if mix_time is not None and mix_time > 0:
await self.mix(
targets=current_targets,
mix_time=mix_time,
mix_vol=mix_vol,
offsets=offsets if offsets else None,
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
mix_rate=mix_rate if mix_rate else None,
) )
if delays is not None and len(delays) > 1:
await self.custom_delay(seconds=delays[1])
await self.touch_tip(current_targets)
await self.discard_tips()
if delays is not None and len(delays) > 1: # except Exception as e:
await self.custom_delay(seconds=delays[1]) # traceback.print_exc()
# 只有在 mix_time 有效时才调用 mix # raise RuntimeError(f"Liquid addition failed: {e}") from e
if mix_time is not None and mix_time > 0:
await self.mix(
targets=[targets[_]],
mix_time=mix_time,
mix_vol=mix_vol,
offsets=offsets if offsets else None,
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
mix_rate=mix_rate if mix_rate else None,
)
if delays is not None and len(delays) > 1:
await self.custom_delay(seconds=delays[1])
await self.touch_tip(targets[_])
await self.discard_tips()
elif len(use_channels) == 8:
# 对于8个的情况，需要判断此时任务是不是能被8通道移液站来成功处理
if len(targets) % 8 != 0:
raise ValueError(f"Length of `targets` {len(targets)} must be a multiple of 8 for 8-channel mode.")
for i in range(0, len(targets), 8):
tip = []
for _ in range(len(use_channels)):
tip.extend(next(self.current_tip))
await self.pick_up_tips(tip)
current_targets = targets[i:i + 8]
current_reagent_sources = reagent_sources[i:i + 8]
current_asp_vols = asp_vols[i:i + 8]
current_dis_vols = dis_vols[i:i + 8]
current_asp_flow_rates = flow_rates[i:i + 8] if flow_rates else [None] * 8
current_dis_flow_rates = flow_rates[-i*8-8:len(flow_rates)-i*8] if flow_rates else [None] * 8
current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
current_dis_offset = offsets[-i*8-8:len(offsets)-i*8] if offsets else [None] * 8
current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
current_dis_liquid_height = liquid_height[-i*8-8:len(liquid_height)-i*8] if liquid_height else [None] * 8
current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
current_dis_blow_out_air_volume = blow_out_air_volume[-i*8-8:len(blow_out_air_volume)-i*8] if blow_out_air_volume else [None] * 8
await self.aspirate(
resources=current_reagent_sources,
vols=current_asp_vols,
use_channels=use_channels,
flow_rates=current_asp_flow_rates,
offsets=current_asp_offset,
liquid_height=current_asp_liquid_height,
blow_out_air_volume=current_asp_blow_out_air_volume,
spread=spread,
)
if delays is not None:
await self.custom_delay(seconds=delays[0])
await self.dispense(
resources=current_targets,
vols=current_dis_vols,
use_channels=use_channels,
flow_rates=current_dis_flow_rates,
offsets=current_dis_offset,
liquid_height=current_dis_liquid_height,
blow_out_air_volume=current_dis_blow_out_air_volume,
spread=spread,
)
if delays is not None and len(delays) > 1:
await self.custom_delay(seconds=delays[1])
# 只有在 mix_time 有效时才调用 mix
if mix_time is not None and mix_time > 0:
await self.mix(
targets=current_targets,
mix_time=mix_time,
mix_vol=mix_vol,
offsets=offsets if offsets else None,
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
mix_rate=mix_rate if mix_rate else None,
)
if delays is not None and len(delays) > 1:
await self.custom_delay(seconds=delays[1])
await self.touch_tip(current_targets)
await self.discard_tips()
# except Exception as e:
# traceback.print_exc()
# raise RuntimeError(f"Liquid addition failed: {e}") from e
# --------------------------------------------------------------- # ---------------------------------------------------------------
# TRANSFER LIQUID ------------------------------------------------ # TRANSFER LIQUID ------------------------------------------------
@@ -1089,29 +1179,71 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
if num_sources == 1 and num_targets > 1: if num_sources == 1 and num_targets > 1:
# 模式1: 一对多 (1 source -> N targets) # 模式1: 一对多 (1 source -> N targets)
await self._transfer_one_to_many( await self._transfer_one_to_many(
sources[0], targets, tip_racks, use_channels, sources[0],
asp_vols, dis_vols, asp_flow_rates, dis_flow_rates, targets,
offsets, touch_tip, liquid_height, blow_out_air_volume, tip_racks,
spread, mix_stage, mix_times, mix_vol, mix_rate, use_channels,
mix_liquid_height, delays asp_vols,
dis_vols,
asp_flow_rates,
dis_flow_rates,
offsets,
touch_tip,
liquid_height,
blow_out_air_volume,
spread,
mix_stage,
mix_times,
mix_vol,
mix_rate,
mix_liquid_height,
delays,
) )
elif num_sources > 1 and num_targets == 1: elif num_sources > 1 and num_targets == 1:
# 模式2: 多对一 (N sources -> 1 target) # 模式2: 多对一 (N sources -> 1 target)
await self._transfer_many_to_one( await self._transfer_many_to_one(
sources, targets[0], tip_racks, use_channels, sources,
asp_vols, dis_vols, asp_flow_rates, dis_flow_rates, targets[0],
offsets, touch_tip, liquid_height, blow_out_air_volume, tip_racks,
spread, mix_stage, mix_times, mix_vol, mix_rate, use_channels,
mix_liquid_height, delays asp_vols,
dis_vols,
asp_flow_rates,
dis_flow_rates,
offsets,
touch_tip,
liquid_height,
blow_out_air_volume,
spread,
mix_stage,
mix_times,
mix_vol,
mix_rate,
mix_liquid_height,
delays,
) )
elif num_sources == num_targets: elif num_sources == num_targets:
# 模式3: 一对一 (N sources -> N targets) # 模式3: 一对一 (N sources -> N targets)
await self._transfer_one_to_one( await self._transfer_one_to_one(
sources, targets, tip_racks, use_channels, sources,
asp_vols, dis_vols, asp_flow_rates, dis_flow_rates, targets,
offsets, touch_tip, liquid_height, blow_out_air_volume, tip_racks,
spread, mix_stage, mix_times, mix_vol, mix_rate, use_channels,
mix_liquid_height, delays asp_vols,
dis_vols,
asp_flow_rates,
dis_flow_rates,
offsets,
touch_tip,
liquid_height,
blow_out_air_volume,
spread,
mix_stage,
mix_times,
mix_vol,
mix_rate,
mix_liquid_height,
delays,
) )
else: else:
raise ValueError( raise ValueError(
@@ -1174,7 +1306,9 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
flow_rates=[asp_flow_rates[_]] if asp_flow_rates and len(asp_flow_rates) > _ else None, flow_rates=[asp_flow_rates[_]] if asp_flow_rates and len(asp_flow_rates) > _ else None,
offsets=[offsets[_]] if offsets and len(offsets) > _ else None, offsets=[offsets[_]] if offsets and len(offsets) > _ else None,
liquid_height=[liquid_height[_]] if liquid_height and len(liquid_height) > _ else None, liquid_height=[liquid_height[_]] if liquid_height and len(liquid_height) > _ else None,
blow_out_air_volume=[blow_out_air_volume[_]] if blow_out_air_volume and len(blow_out_air_volume) > _ else None, blow_out_air_volume=(
[blow_out_air_volume[_]] if blow_out_air_volume and len(blow_out_air_volume) > _ else None
),
spread=spread, spread=spread,
) )
if delays is not None: if delays is not None:
@@ -1185,7 +1319,9 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
use_channels=use_channels, use_channels=use_channels,
flow_rates=[dis_flow_rates[_]] if dis_flow_rates and len(dis_flow_rates) > _ else None, flow_rates=[dis_flow_rates[_]] if dis_flow_rates and len(dis_flow_rates) > _ else None,
offsets=[offsets[_]] if offsets and len(offsets) > _ else None, offsets=[offsets[_]] if offsets and len(offsets) > _ else None,
blow_out_air_volume=[blow_out_air_volume[_]] if blow_out_air_volume and len(blow_out_air_volume) > _ else None, blow_out_air_volume=(
[blow_out_air_volume[_]] if blow_out_air_volume and len(blow_out_air_volume) > _ else None
),
liquid_height=[liquid_height[_]] if liquid_height and len(liquid_height) > _ else None, liquid_height=[liquid_height[_]] if liquid_height and len(liquid_height) > _ else None,
spread=spread, spread=spread,
) )
@@ -1214,18 +1350,18 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
for _ in range(len(use_channels)): for _ in range(len(use_channels)):
tip.extend(next(self.current_tip)) tip.extend(next(self.current_tip))
await self.pick_up_tips(tip) await self.pick_up_tips(tip)
current_targets = targets[i:i + 8] current_targets = targets[i : i + 8]
current_reagent_sources = sources[i:i + 8] current_reagent_sources = sources[i : i + 8]
current_asp_vols = asp_vols[i:i + 8] current_asp_vols = asp_vols[i : i + 8]
current_dis_vols = dis_vols[i:i + 8] current_dis_vols = dis_vols[i : i + 8]
current_asp_flow_rates = asp_flow_rates[i:i + 8] if asp_flow_rates else None current_asp_flow_rates = asp_flow_rates[i : i + 8] if asp_flow_rates else None
current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8 current_asp_offset = offsets[i : i + 8] if offsets else [None] * 8
current_dis_offset = offsets[i:i + 8] if offsets else [None] * 8 current_dis_offset = offsets[i : i + 8] if offsets else [None] * 8
current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8 current_asp_liquid_height = liquid_height[i : i + 8] if liquid_height else [None] * 8
current_dis_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8 current_dis_liquid_height = liquid_height[i : i + 8] if liquid_height else [None] * 8
current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8 current_asp_blow_out_air_volume = blow_out_air_volume[i : i + 8] if blow_out_air_volume else [None] * 8
current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8 current_dis_blow_out_air_volume = blow_out_air_volume[i : i + 8] if blow_out_air_volume else [None] * 8
current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None current_dis_flow_rates = dis_flow_rates[i : i + 8] if dis_flow_rates else None
if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0: if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
await self.mix( await self.mix(
@@ -1275,7 +1411,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
if delays is not None and len(delays) > 1: if delays is not None and len(delays) > 1:
await self.custom_delay(seconds=delays[1]) await self.custom_delay(seconds=delays[1])
await self.touch_tip(current_targets) await self.touch_tip(current_targets)
await self.discard_tips([0,1,2,3,4,5,6,7]) await self.discard_tips([0, 1, 2, 3, 4, 5, 6, 7])
async def _transfer_one_to_many( async def _transfer_one_to_many(
self, self,
@@ -1324,7 +1460,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
targets=[target], targets=[target],
mix_time=mix_times, mix_time=mix_times,
mix_vol=mix_vol, mix_vol=mix_vol,
offsets=offsets[idx:idx + 1] if offsets and len(offsets) > idx else None, offsets=offsets[idx : idx + 1] if offsets and len(offsets) > idx else None,
height_to_bottom=mix_liquid_height if mix_liquid_height else None, height_to_bottom=mix_liquid_height if mix_liquid_height else None,
mix_rate=mix_rate if mix_rate else None, mix_rate=mix_rate if mix_rate else None,
) )
@@ -1337,7 +1473,9 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
flow_rates=[asp_flow_rates[0]] if asp_flow_rates and len(asp_flow_rates) > 0 else None, flow_rates=[asp_flow_rates[0]] if asp_flow_rates and len(asp_flow_rates) > 0 else None,
offsets=[offsets[0]] if offsets and len(offsets) > 0 else None, offsets=[offsets[0]] if offsets and len(offsets) > 0 else None,
liquid_height=[liquid_height[0]] if liquid_height and len(liquid_height) > 0 else None, liquid_height=[liquid_height[0]] if liquid_height and len(liquid_height) > 0 else None,
blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None, blow_out_air_volume=(
[blow_out_air_volume[0]] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None
),
spread=spread, spread=spread,
) )
@@ -1352,7 +1490,9 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
use_channels=use_channels, use_channels=use_channels,
flow_rates=[dis_flow_rates[idx]] if dis_flow_rates and len(dis_flow_rates) > idx else None, flow_rates=[dis_flow_rates[idx]] if dis_flow_rates and len(dis_flow_rates) > idx else None,
offsets=[offsets[idx]] if offsets and len(offsets) > idx else None, offsets=[offsets[idx]] if offsets and len(offsets) > idx else None,
blow_out_air_volume=[blow_out_air_volume[idx]] if blow_out_air_volume and len(blow_out_air_volume) > idx else None, blow_out_air_volume=(
[blow_out_air_volume[idx]] if blow_out_air_volume and len(blow_out_air_volume) > idx else None
),
liquid_height=[liquid_height[idx]] if liquid_height and len(liquid_height) > idx else None, liquid_height=[liquid_height[idx]] if liquid_height and len(liquid_height) > idx else None,
spread=spread, spread=spread,
) )
@@ -1363,7 +1503,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
targets=[target], targets=[target],
mix_time=mix_times, mix_time=mix_times,
mix_vol=mix_vol, mix_vol=mix_vol,
offsets=offsets[idx:idx+1] if offsets else None, offsets=offsets[idx : idx + 1] if offsets else None,
height_to_bottom=mix_liquid_height if mix_liquid_height else None, height_to_bottom=mix_liquid_height if mix_liquid_height else None,
mix_rate=mix_rate if mix_rate else None, mix_rate=mix_rate if mix_rate else None,
) )
@@ -1384,21 +1524,29 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
tip.extend(next(self.current_tip)) tip.extend(next(self.current_tip))
await self.pick_up_tips(tip) await self.pick_up_tips(tip)
current_targets = targets[i:i + 8] current_targets = targets[i : i + 8]
current_dis_vols = dis_vols[i:i + 8] current_dis_vols = dis_vols[i : i + 8]
# 8个通道都从同一个源容器吸液，每个通道的吸液体积等于对应的分液体积 # 8个通道都从同一个源容器吸液，每个通道的吸液体积等于对应的分液体积
current_asp_flow_rates = asp_flow_rates[0:1] * 8 if asp_flow_rates and len(asp_flow_rates) > 0 else None current_asp_flow_rates = (
asp_flow_rates[0:1] * 8 if asp_flow_rates and len(asp_flow_rates) > 0 else None
)
current_asp_offset = offsets[0:1] * 8 if offsets and len(offsets) > 0 else [None] * 8 current_asp_offset = offsets[0:1] * 8 if offsets and len(offsets) > 0 else [None] * 8
current_asp_liquid_height = liquid_height[0:1] * 8 if liquid_height and len(liquid_height) > 0 else [None] * 8 current_asp_liquid_height = (
current_asp_blow_out_air_volume = blow_out_air_volume[0:1] * 8 if blow_out_air_volume and len(blow_out_air_volume) > 0 else [None] * 8 liquid_height[0:1] * 8 if liquid_height and len(liquid_height) > 0 else [None] * 8
)
current_asp_blow_out_air_volume = (
blow_out_air_volume[0:1] * 8
if blow_out_air_volume and len(blow_out_air_volume) > 0
else [None] * 8
)
if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0: if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
await self.mix( await self.mix(
targets=current_targets, targets=current_targets,
mix_time=mix_times, mix_time=mix_times,
mix_vol=mix_vol, mix_vol=mix_vol,
offsets=offsets[i:i + 8] if offsets else None, offsets=offsets[i : i + 8] if offsets else None,
height_to_bottom=mix_liquid_height if mix_liquid_height else None, height_to_bottom=mix_liquid_height if mix_liquid_height else None,
mix_rate=mix_rate if mix_rate else None, mix_rate=mix_rate if mix_rate else None,
) )
@@ -1419,10 +1567,10 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
await self.custom_delay(seconds=delays[0]) await self.custom_delay(seconds=delays[0])
# 分液到8个目标 # 分液到8个目标
current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None current_dis_flow_rates = dis_flow_rates[i : i + 8] if dis_flow_rates else None
current_dis_offset = offsets[i:i + 8] if offsets else [None] * 8 current_dis_offset = offsets[i : i + 8] if offsets else [None] * 8
current_dis_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8 current_dis_liquid_height = liquid_height[i : i + 8] if liquid_height else [None] * 8
current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8 current_dis_blow_out_air_volume = blow_out_air_volume[i : i + 8] if blow_out_air_volume else [None] * 8
await self.dispense( await self.dispense(
resources=current_targets, resources=current_targets,
@@ -1451,7 +1599,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
if touch_tip: if touch_tip:
await self.touch_tip(current_targets) await self.touch_tip(current_targets)
await self.discard_tips([0,1,2,3,4,5,6,7]) await self.discard_tips([0, 1, 2, 3, 4, 5, 6, 7])
async def _transfer_many_to_one( async def _transfer_many_to_one(
self, self,
@@ -1524,7 +1672,9 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
flow_rates=[asp_flow_rates[idx]] if asp_flow_rates and len(asp_flow_rates) > idx else None, flow_rates=[asp_flow_rates[idx]] if asp_flow_rates and len(asp_flow_rates) > idx else None,
offsets=[offsets[idx]] if offsets and len(offsets) > idx else None, offsets=[offsets[idx]] if offsets and len(offsets) > idx else None,
liquid_height=[liquid_height[idx]] if liquid_height and len(liquid_height) > idx else None, liquid_height=[liquid_height[idx]] if liquid_height and len(liquid_height) > idx else None,
blow_out_air_volume=[blow_out_air_volume[idx]] if blow_out_air_volume and len(blow_out_air_volume) > idx else None, blow_out_air_volume=(
[blow_out_air_volume[idx]] if blow_out_air_volume and len(blow_out_air_volume) > idx else None
),
spread=spread, spread=spread,
) )
@@ -1538,14 +1688,18 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
dis_flow_rate = dis_flow_rates[idx] if dis_flow_rates and len(dis_flow_rates) > idx else None dis_flow_rate = dis_flow_rates[idx] if dis_flow_rates and len(dis_flow_rates) > idx else None
dis_offset = offsets[idx] if offsets and len(offsets) > idx else None dis_offset = offsets[idx] if offsets and len(offsets) > idx else None
dis_liquid_height = liquid_height[idx] if liquid_height and len(liquid_height) > idx else None dis_liquid_height = liquid_height[idx] if liquid_height and len(liquid_height) > idx else None
dis_blow_out = blow_out_air_volume[idx] if blow_out_air_volume and len(blow_out_air_volume) > idx else None dis_blow_out = (
blow_out_air_volume[idx] if blow_out_air_volume and len(blow_out_air_volume) > idx else None
)
else: else:
# 标准模式：分液体积等于吸液体积 # 标准模式：分液体积等于吸液体积
dis_vol = asp_vols[idx] dis_vol = asp_vols[idx]
dis_flow_rate = dis_flow_rates[0] if dis_flow_rates and len(dis_flow_rates) > 0 else None dis_flow_rate = dis_flow_rates[0] if dis_flow_rates and len(dis_flow_rates) > 0 else None
dis_offset = offsets[0] if offsets and len(offsets) > 0 else None dis_offset = offsets[0] if offsets and len(offsets) > 0 else None
dis_liquid_height = liquid_height[0] if liquid_height and len(liquid_height) > 0 else None dis_liquid_height = liquid_height[0] if liquid_height and len(liquid_height) > 0 else None
dis_blow_out = blow_out_air_volume[0] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None dis_blow_out = (
blow_out_air_volume[0] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None
)
await self.dispense( await self.dispense(
resources=[target], resources=[target],
@@ -1599,12 +1753,12 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
tip.extend(next(self.current_tip)) tip.extend(next(self.current_tip))
await self.pick_up_tips(tip) await self.pick_up_tips(tip)
current_sources = sources[i:i + 8] current_sources = sources[i : i + 8]
current_asp_vols = asp_vols[i:i + 8] current_asp_vols = asp_vols[i : i + 8]
current_asp_flow_rates = asp_flow_rates[i:i + 8] if asp_flow_rates else None current_asp_flow_rates = asp_flow_rates[i : i + 8] if asp_flow_rates else None
current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8 current_asp_offset = offsets[i : i + 8] if offsets else [None] * 8
current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8 current_asp_liquid_height = liquid_height[i : i + 8] if liquid_height else [None] * 8
current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8 current_asp_blow_out_air_volume = blow_out_air_volume[i : i + 8] if blow_out_air_volume else [None] * 8
# 从8个源容器吸液 # 从8个源容器吸液
await self.aspirate( await self.aspirate(
@@ -1624,18 +1778,22 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
# 分液到目标容器（每个通道分液到同一个目标） # 分液到目标容器（每个通道分液到同一个目标）
if use_proportional_mixing: if use_proportional_mixing:
# 按比例混合：使用对应的 dis_vols # 按比例混合：使用对应的 dis_vols
current_dis_vols = dis_vols[i:i + 8] current_dis_vols = dis_vols[i : i + 8]
current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None current_dis_flow_rates = dis_flow_rates[i : i + 8] if dis_flow_rates else None
current_dis_offset = offsets[i:i + 8] if offsets else [None] * 8 current_dis_offset = offsets[i : i + 8] if offsets else [None] * 8
current_dis_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8 current_dis_liquid_height = liquid_height[i : i + 8] if liquid_height else [None] * 8
current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8 current_dis_blow_out_air_volume = (
blow_out_air_volume[i : i + 8] if blow_out_air_volume else [None] * 8
)
else: else:
# 标准模式：每个通道分液体积等于其吸液体积 # 标准模式：每个通道分液体积等于其吸液体积
current_dis_vols = current_asp_vols current_dis_vols = current_asp_vols
current_dis_flow_rates = dis_flow_rates[0:1] * 8 if dis_flow_rates else None current_dis_flow_rates = dis_flow_rates[0:1] * 8 if dis_flow_rates else None
current_dis_offset = offsets[0:1] * 8 if offsets else [None] * 8 current_dis_offset = offsets[0:1] * 8 if offsets else [None] * 8
current_dis_liquid_height = liquid_height[0:1] * 8 if liquid_height else [None] * 8 current_dis_liquid_height = liquid_height[0:1] * 8 if liquid_height else [None] * 8
current_dis_blow_out_air_volume = blow_out_air_volume[0:1] * 8 if blow_out_air_volume else [None] * 8 current_dis_blow_out_air_volume = (
blow_out_air_volume[0:1] * 8 if blow_out_air_volume else [None] * 8
)
await self.dispense( await self.dispense(
resources=[target] * 8, # 8个通道都分到同一个目标 resources=[target] * 8, # 8个通道都分到同一个目标
@@ -1651,7 +1809,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
if delays is not None and len(delays) > 1: if delays is not None and len(delays) > 1:
await self.custom_delay(seconds=delays[1]) await self.custom_delay(seconds=delays[1])
await self.discard_tips([0,1,2,3,4,5,6,7]) await self.discard_tips([0, 1, 2, 3, 4, 5, 6, 7])
# 最后在目标容器中混合（如果需要） # 最后在目标容器中混合（如果需要）
if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0: if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
@@ -1671,7 +1829,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
# traceback.print_exc() # traceback.print_exc()
# raise RuntimeError(f"Liquid addition failed: {e}") from e # raise RuntimeError(f"Liquid addition failed: {e}") from e
# --------------------------------------------------------------- # ---------------------------------------------------------------
# Helper utilities # Helper utilities
# --------------------------------------------------------------- # ---------------------------------------------------------------
@@ -1692,7 +1849,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
print(f"Current time: {time.strftime('%H:%M:%S')}") print(f"Current time: {time.strftime('%H:%M:%S')}")
async def touch_tip(self, targets: Sequence[Container]): async def touch_tip(self, targets: Sequence[Container]):
"""Touch the tip to the side of the well.""" """Touch the tip to the side of the well."""
if not self.support_touch_tip: if not self.support_touch_tip:

331
unilabos/devices/liquid_handling/prcxi/prcxi.py
View File

@@ -30,9 +30,30 @@ from pylabrobot.liquid_handling.standard import (
ResourceMove, ResourceMove,
ResourceDrop, ResourceDrop,
) )
from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, PlateAdapter, TubeRack from pylabrobot.resources import (
ResourceHolder,
ResourceStack,
Tip,
Deck,
Plate,
Well,
TipRack,
Resource,
Container,
Coordinate,
TipSpot,
Trash,
PlateAdapter,
TubeRack,
)
from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract, SimpleReturn from unilabos.devices.liquid_handling.liquid_handler_abstract import (
LiquidHandlerAbstract,
SimpleReturn,
SetLiquidReturn,
SetLiquidFromPlateReturn,
)
from unilabos.registry.placeholder_type import ResourceSlot
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
@@ -80,6 +101,7 @@ class PRCXI9300Deck(Deck):
self.slots[slot - 1] = resource self.slots[slot - 1] = resource
super().assign_child_resource(resource, location=self.slot_locations[slot - 1]) super().assign_child_resource(resource, location=self.slot_locations[slot - 1])
class PRCXI9300Container(Plate): class PRCXI9300Container(Plate):
"""PRCXI 9300 的专用 Container 类，继承自 Plate，用于槽位定位和未知模块。 """PRCXI 9300 的专用 Container 类，继承自 Plate，用于槽位定位和未知模块。
@@ -109,19 +131,28 @@ class PRCXI9300Container(Plate):
data = super().serialize_state() data = super().serialize_state()
data.update(self._unilabos_state) data.update(self._unilabos_state)
return data return data
class PRCXI9300Plate(Plate): class PRCXI9300Plate(Plate):
""" """
专用孔板类： 专用孔板类：
1. 继承自 PLR 原生 Plate，保留所有物理特性。 1. 继承自 PLR 原生 Plate，保留所有物理特性。
2. 增加 material_info 参数，用于在初始化时直接绑定 Unilab UUID。 2. 增加 material_info 参数，用于在初始化时直接绑定 Unilab UUID。
""" """
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
category: str = "plate", def __init__(
ordered_items: collections.OrderedDict = None, self,
ordering: Optional[collections.OrderedDict] = None, name: str,
model: Optional[str] = None, size_x: float,
material_info: Optional[Dict[str, Any]] = None, size_y: float,
**kwargs): size_z: float,
category: str = "plate",
ordered_items: collections.OrderedDict = None,
ordering: Optional[collections.OrderedDict] = None,
model: Optional[str] = None,
material_info: Optional[Dict[str, Any]] = None,
**kwargs,
):
# 如果 ordered_items 不为 None，直接使用 # 如果 ordered_items 不为 None，直接使用
if ordered_items is not None: if ordered_items is not None:
items = ordered_items items = ordered_items
@@ -145,37 +176,31 @@ class PRCXI9300Plate(Plate):
# 根据情况传递不同的参数 # 根据情况传递不同的参数
if items is not None: if items is not None:
super().__init__(name, size_x, size_y, size_z, super().__init__(
ordered_items=items, name, size_x, size_y, size_z, ordered_items=items, category=category, model=model, **kwargs
category=category, )
model=model, **kwargs)
elif ordering_param is not None: elif ordering_param is not None:
# 传递 ordering 参数，让 Plate 自己创建 Well 对象 # 传递 ordering 参数，让 Plate 自己创建 Well 对象
super().__init__(name, size_x, size_y, size_z, super().__init__(
ordering=ordering_param, name, size_x, size_y, size_z, ordering=ordering_param, category=category, model=model, **kwargs
category=category, )
model=model, **kwargs)
else: else:
super().__init__(name, size_x, size_y, size_z, super().__init__(name, size_x, size_y, size_z, category=category, model=model, **kwargs)
category=category,
model=model, **kwargs)
self._unilabos_state = {} self._unilabos_state = {}
if material_info: if material_info:
self._unilabos_state["Material"] = material_info self._unilabos_state["Material"] = material_info
def load_state(self, state: Dict[str, Any]) -> None: def load_state(self, state: Dict[str, Any]) -> None:
super().load_state(state) super().load_state(state)
self._unilabos_state = state self._unilabos_state = state
def serialize_state(self) -> Dict[str, Dict[str, Any]]: def serialize_state(self) -> Dict[str, Dict[str, Any]]:
try: try:
data = super().serialize_state() data = super().serialize_state()
except AttributeError: except AttributeError:
data = {} data = {}
if hasattr(self, '_unilabos_state') and self._unilabos_state: if hasattr(self, "_unilabos_state") and self._unilabos_state:
safe_state = {} safe_state = {}
for k, v in self._unilabos_state.items(): for k, v in self._unilabos_state.items():
# 如果是 Material 字典，深入检查 # 如果是 Material 字典，深入检查
@@ -195,16 +220,25 @@ class PRCXI9300Plate(Plate):
safe_state[k] = v safe_state[k] = v
data.update(safe_state) data.update(safe_state)
return data # 其他顶层属性也进行类型检查 return data # 其他顶层属性也进行类型检查
class PRCXI9300TipRack(TipRack): class PRCXI9300TipRack(TipRack):
""" 专用吸头盒类 """ """专用吸头盒类"""
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
category: str = "tip_rack", def __init__(
ordered_items: collections.OrderedDict = None, self,
ordering: Optional[collections.OrderedDict] = None, name: str,
model: Optional[str] = None, size_x: float,
material_info: Optional[Dict[str, Any]] = None, size_y: float,
**kwargs): size_z: float,
category: str = "tip_rack",
ordered_items: collections.OrderedDict = None,
ordering: Optional[collections.OrderedDict] = None,
model: Optional[str] = None,
material_info: Optional[Dict[str, Any]] = None,
**kwargs,
):
# 如果 ordered_items 不为 None，直接使用 # 如果 ordered_items 不为 None，直接使用
if ordered_items is not None: if ordered_items is not None:
items = ordered_items items = ordered_items
@@ -228,20 +262,16 @@ class PRCXI9300TipRack(TipRack):
# 根据情况传递不同的参数 # 根据情况传递不同的参数
if items is not None: if items is not None:
super().__init__(name, size_x, size_y, size_z, super().__init__(
ordered_items=items, name, size_x, size_y, size_z, ordered_items=items, category=category, model=model, **kwargs
category=category, )
model=model, **kwargs)
elif ordering_param is not None: elif ordering_param is not None:
# 传递 ordering 参数，让 TipRack 自己创建 Tip 对象 # 传递 ordering 参数，让 TipRack 自己创建 Tip 对象
super().__init__(name, size_x, size_y, size_z, super().__init__(
ordering=ordering_param, name, size_x, size_y, size_z, ordering=ordering_param, category=category, model=model, **kwargs
category=category, )
model=model, **kwargs)
else: else:
super().__init__(name, size_x, size_y, size_z, super().__init__(name, size_x, size_y, size_z, category=category, model=model, **kwargs)
category=category,
model=model, **kwargs)
self._unilabos_state = {} self._unilabos_state = {}
if material_info: if material_info:
self._unilabos_state["Material"] = material_info self._unilabos_state["Material"] = material_info
@@ -255,7 +285,7 @@ class PRCXI9300TipRack(TipRack):
data = super().serialize_state() data = super().serialize_state()
except AttributeError: except AttributeError:
data = {} data = {}
if hasattr(self, '_unilabos_state') and self._unilabos_state: if hasattr(self, "_unilabos_state") and self._unilabos_state:
safe_state = {} safe_state = {}
for k, v in self._unilabos_state.items(): for k, v in self._unilabos_state.items():
# 如果是 Material 字典，深入检查 # 如果是 Material 字典，深入检查
@@ -277,16 +307,23 @@ class PRCXI9300TipRack(TipRack):
data.update(safe_state) data.update(safe_state)
return data return data
class PRCXI9300Trash(Trash): class PRCXI9300Trash(Trash):
"""PRCXI 9300 的专用 Trash 类，继承自 Trash。 """PRCXI 9300 的专用 Trash 类，继承自 Trash。
该类定义了 PRCXI 9300 的工作台布局和槽位信息。 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, def __init__(
category: str = "trash", self,
material_info: Optional[Dict[str, Any]] = None, name: str,
**kwargs): size_x: float,
size_y: float,
size_z: float,
category: str = "trash",
material_info: Optional[Dict[str, Any]] = None,
**kwargs,
):
if name != "trash": if name != "trash":
print(f"Warning: PRCXI9300Trash usually expects name='trash' for backend logic, but got '{name}'.") print(f"Warning: PRCXI9300Trash usually expects name='trash' for backend logic, but got '{name}'.")
@@ -306,7 +343,7 @@ class PRCXI9300Trash(Trash):
data = super().serialize_state() data = super().serialize_state()
except AttributeError: except AttributeError:
data = {} data = {}
if hasattr(self, '_unilabos_state') and self._unilabos_state: if hasattr(self, "_unilabos_state") and self._unilabos_state:
safe_state = {} safe_state = {}
for k, v in self._unilabos_state.items(): for k, v in self._unilabos_state.items():
# 如果是 Material 字典，深入检查 # 如果是 Material 字典，深入检查
@@ -328,19 +365,27 @@ class PRCXI9300Trash(Trash):
data.update(safe_state) data.update(safe_state)
return data return data
class PRCXI9300TubeRack(TubeRack): class PRCXI9300TubeRack(TubeRack):
""" """
专用管架类：用于 EP 管架、试管架等。 专用管架类：用于 EP 管架、试管架等。
继承自 PLR 的 TubeRack，并支持注入 material_info (UUID)。 继承自 PLR 的 TubeRack，并支持注入 material_info (UUID)。
""" """
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
category: str = "tube_rack", def __init__(
items: Optional[Dict[str, Any]] = None, self,
ordered_items: Optional[OrderedDict] = None, name: str,
ordering: Optional[OrderedDict] = None, size_x: float,
model: Optional[str] = None, size_y: float,
material_info: Optional[Dict[str, Any]] = None, size_z: float,
**kwargs): category: str = "tube_rack",
items: Optional[Dict[str, Any]] = None,
ordered_items: Optional[OrderedDict] = None,
ordering: Optional[OrderedDict] = None,
model: Optional[str] = None,
material_info: Optional[Dict[str, Any]] = None,
**kwargs,
):
# 如果 ordered_items 不为 None，直接使用 # 如果 ordered_items 不为 None，直接使用
if ordered_items is not None: if ordered_items is not None:
@@ -370,20 +415,12 @@ class PRCXI9300TubeRack(TubeRack):
# 根据情况传递不同的参数 # 根据情况传递不同的参数
if items_to_pass is not None: if items_to_pass is not None:
super().__init__(name, size_x, size_y, size_z, super().__init__(name, size_x, size_y, size_z, ordered_items=items_to_pass, model=model, **kwargs)
ordered_items=items_to_pass,
model=model,
**kwargs)
elif ordering_param is not None: elif ordering_param is not None:
# 传递 ordering 参数，让 TubeRack 自己创建 Tube 对象 # 传递 ordering 参数，让 TubeRack 自己创建 Tube 对象
super().__init__(name, size_x, size_y, size_z, super().__init__(name, size_x, size_y, size_z, ordering=ordering_param, model=model, **kwargs)
ordering=ordering_param,
model=model,
**kwargs)
else: else:
super().__init__(name, size_x, size_y, size_z, super().__init__(name, size_x, size_y, size_z, model=model, **kwargs)
model=model,
**kwargs)
self._unilabos_state = {} self._unilabos_state = {}
if material_info: if material_info:
@@ -394,7 +431,7 @@ class PRCXI9300TubeRack(TubeRack):
data = super().serialize_state() data = super().serialize_state()
except AttributeError: except AttributeError:
data = {} data = {}
if hasattr(self, '_unilabos_state') and self._unilabos_state: if hasattr(self, "_unilabos_state") and self._unilabos_state:
safe_state = {} safe_state = {}
for k, v in self._unilabos_state.items(): for k, v in self._unilabos_state.items():
# 如果是 Material 字典，深入检查 # 如果是 Material 字典，深入检查
@@ -416,23 +453,31 @@ class PRCXI9300TubeRack(TubeRack):
data.update(safe_state) data.update(safe_state)
return data return data
class PRCXI9300PlateAdapter(PlateAdapter): class PRCXI9300PlateAdapter(PlateAdapter):
""" """
专用板式适配器类：用于承载 Plate 的底座（如 PCR 适配器、磁吸架等）。 专用板式适配器类：用于承载 Plate 的底座（如 PCR 适配器、磁吸架等）。
支持注入 material_info (UUID)。 支持注入 material_info (UUID)。
""" """
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
category: str = "plate_adapter", def __init__(
model: Optional[str] = None, self,
material_info: Optional[Dict[str, Any]] = None, name: str,
# 参数给予默认值 (标准96孔板尺寸) size_x: float,
adapter_hole_size_x: float = 127.76, size_y: float,
adapter_hole_size_y: float = 85.48, size_z: float,
adapter_hole_size_z: float = 10.0, # 假设凹槽深度或板子放置高度 category: str = "plate_adapter",
dx: Optional[float] = None, model: Optional[str] = None,
dy: Optional[float] = None, material_info: Optional[Dict[str, Any]] = None,
dz: float = 0.0, # 默认Z轴偏移 # 参数给予默认值 (标准96孔板尺寸)
**kwargs): adapter_hole_size_x: float = 127.76,
adapter_hole_size_y: float = 85.48,
adapter_hole_size_z: float = 10.0, # 假设凹槽深度或板子放置高度
dx: Optional[float] = None,
dy: Optional[float] = None,
dz: float = 0.0, # 默认Z轴偏移
**kwargs,
):
# 自动居中计算：如果未指定 dx/dy，则根据适配器尺寸和孔尺寸计算居中位置 # 自动居中计算：如果未指定 dx/dy，则根据适配器尺寸和孔尺寸计算居中位置
if dx is None: if dx is None:
@@ -452,7 +497,7 @@ class PRCXI9300PlateAdapter(PlateAdapter):
adapter_hole_size_y=adapter_hole_size_y, adapter_hole_size_y=adapter_hole_size_y,
adapter_hole_size_z=adapter_hole_size_z, adapter_hole_size_z=adapter_hole_size_z,
model=model, model=model,
**kwargs **kwargs,
) )
self._unilabos_state = {} self._unilabos_state = {}
@@ -464,7 +509,7 @@ class PRCXI9300PlateAdapter(PlateAdapter):
data = super().serialize_state() data = super().serialize_state()
except AttributeError: except AttributeError:
data = {} data = {}
if hasattr(self, '_unilabos_state') and self._unilabos_state: if hasattr(self, "_unilabos_state") and self._unilabos_state:
safe_state = {} safe_state = {}
for k, v in self._unilabos_state.items(): for k, v in self._unilabos_state.items():
# 如果是 Material 字典，深入检查 # 如果是 Material 字典，深入检查
@@ -486,6 +531,7 @@ class PRCXI9300PlateAdapter(PlateAdapter):
data.update(safe_state) data.update(safe_state)
return data return data
class PRCXI9300Handler(LiquidHandlerAbstract): class PRCXI9300Handler(LiquidHandlerAbstract):
support_touch_tip = False support_touch_tip = False
@@ -518,7 +564,9 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
if "Material" in child.children[0]._unilabos_state: if "Material" in child.children[0]._unilabos_state:
number = int(child.name.replace("T", "")) number = int(child.name.replace("T", ""))
tablets_info.append( tablets_info.append(
WorkTablets(Number=number, Code=f"T{number}", Material=child.children[0]._unilabos_state["Material"]) WorkTablets(
Number=number, Code=f"T{number}", Material=child.children[0]._unilabos_state["Material"]
)
) )
if is_9320: if is_9320:
print("当前设备是9320") print("当前设备是9320")
@@ -538,9 +586,14 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
super().post_init(ros_node) super().post_init(ros_node)
self._unilabos_backend.post_init(ros_node) self._unilabos_backend.post_init(ros_node)
def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SimpleReturn: def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SetLiquidReturn:
return super().set_liquid(wells, liquid_names, volumes) return super().set_liquid(wells, liquid_names, volumes)
def set_liquid_from_plate(
self, plate: ResourceSlot, well_names: list[str], liquid_names: list[str], volumes: list[float]
) -> SetLiquidFromPlateReturn:
return super().set_liquid_from_plate(plate, well_names, liquid_names, volumes)
def set_group(self, group_name: str, wells: List[Well], volumes: List[float]): def set_group(self, group_name: str, wells: List[Well], volumes: List[float]):
return super().set_group(group_name, wells, volumes) return super().set_group(group_name, wells, volumes)
@@ -800,6 +853,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
async def heater_action(self, temperature: float, time: int): 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( async def move_plate(
self, self,
plate: Plate, plate: Plate,
@@ -822,10 +876,11 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
drop_direction, drop_direction,
pickup_direction, pickup_direction,
pickup_distance_from_top, pickup_distance_from_top,
target_plate_number = to, target_plate_number=to,
**backend_kwargs, **backend_kwargs,
) )
class PRCXI9300Backend(LiquidHandlerBackend): class PRCXI9300Backend(LiquidHandlerBackend):
"""PRCXI 9300 的后端实现，继承自 LiquidHandlerBackend。 """PRCXI 9300 的后端实现，继承自 LiquidHandlerBackend。
@@ -878,13 +933,12 @@ class PRCXI9300Backend(LiquidHandlerBackend):
self.steps_todo_list.append(step) self.steps_todo_list.append(step)
return step return step
async def pick_up_resource(self, pickup: ResourcePickup, **backend_kwargs): async def pick_up_resource(self, pickup: ResourcePickup, **backend_kwargs):
resource=pickup.resource resource = pickup.resource
offset=pickup.offset offset = pickup.offset
pickup_distance_from_top=pickup.pickup_distance_from_top pickup_distance_from_top = pickup.pickup_distance_from_top
direction=pickup.direction direction = pickup.direction
plate_number = int(resource.parent.name.replace("T", "")) plate_number = int(resource.parent.name.replace("T", ""))
is_whole_plate = True is_whole_plate = True
@@ -896,13 +950,11 @@ class PRCXI9300Backend(LiquidHandlerBackend):
async def drop_resource(self, drop: ResourceDrop, **backend_kwargs): async def drop_resource(self, drop: ResourceDrop, **backend_kwargs):
plate_number = None plate_number = None
target_plate_number = backend_kwargs.get("target_plate_number", None) target_plate_number = backend_kwargs.get("target_plate_number", None)
if target_plate_number is not None: if target_plate_number is not None:
plate_number = int(target_plate_number.name.replace("T", "")) plate_number = int(target_plate_number.name.replace("T", ""))
is_whole_plate = True is_whole_plate = True
balance_height = 0 balance_height = 0
if plate_number is None: if plate_number is None:
@@ -911,7 +963,6 @@ class PRCXI9300Backend(LiquidHandlerBackend):
self.steps_todo_list.append(step) self.steps_todo_list.append(step)
return step return step
async def heater_action(self, temperature: float, time: int): async def heater_action(self, temperature: float, time: int):
print(f"\n\nHeater action: temperature={temperature}, time={time}\n\n") print(f"\n\nHeater action: temperature={temperature}, time={time}\n\n")
# return await self.api_client.heater_action(temperature, time) # return await self.api_client.heater_action(temperature, time)
@@ -980,7 +1031,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
# 检查重置状态并等待完成 # 检查重置状态并等待完成
while not self.is_reset_ok: while not self.is_reset_ok:
print("Waiting for PRCXI9300 to reset...") print("Waiting for PRCXI9300 to reset...")
if hasattr(self, '_ros_node') and self._ros_node is not None: if hasattr(self, "_ros_node") and self._ros_node is not None:
await self._ros_node.sleep(1) await self._ros_node.sleep(1)
else: else:
await asyncio.sleep(1) await asyncio.sleep(1)
@@ -998,7 +1049,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
"""Pick up tips from the specified resource.""" """Pick up tips from the specified resource."""
# INSERT_YOUR_CODE # INSERT_YOUR_CODE
# Ensure use_channels is converted to a list of ints if it's an array # Ensure use_channels is converted to a list of ints if it's an array
if hasattr(use_channels, 'tolist'): if hasattr(use_channels, "tolist"):
_use_channels = use_channels.tolist() _use_channels = use_channels.tolist()
else: else:
_use_channels = list(use_channels) if use_channels is not None else None _use_channels = list(use_channels) if use_channels is not None else None
@@ -1052,7 +1103,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
async def drop_tips(self, ops: List[Drop], use_channels: List[int] = None): async def drop_tips(self, ops: List[Drop], use_channels: List[int] = None):
"""Pick up tips from the specified resource.""" """Pick up tips from the specified resource."""
if hasattr(use_channels, 'tolist'): if hasattr(use_channels, "tolist"):
_use_channels = use_channels.tolist() _use_channels = use_channels.tolist()
else: else:
_use_channels = list(use_channels) if use_channels is not None else None _use_channels = list(use_channels) if use_channels is not None else None
@@ -1178,7 +1229,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
async def aspirate(self, ops: List[SingleChannelAspiration], use_channels: List[int] = None): async def aspirate(self, ops: List[SingleChannelAspiration], use_channels: List[int] = None):
"""Aspirate liquid from the specified resources.""" """Aspirate liquid from the specified resources."""
if hasattr(use_channels, 'tolist'): if hasattr(use_channels, "tolist"):
_use_channels = use_channels.tolist() _use_channels = use_channels.tolist()
else: else:
_use_channels = list(use_channels) if use_channels is not None else None _use_channels = list(use_channels) if use_channels is not None else None
@@ -1235,7 +1286,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
async def dispense(self, ops: List[SingleChannelDispense], use_channels: List[int] = None): async def dispense(self, ops: List[SingleChannelDispense], use_channels: List[int] = None):
"""Dispense liquid into the specified resources.""" """Dispense liquid into the specified resources."""
if hasattr(use_channels, 'tolist'): if hasattr(use_channels, "tolist"):
_use_channels = use_channels.tolist() _use_channels = use_channels.tolist()
else: else:
_use_channels = list(use_channels) if use_channels is not None else None _use_channels = list(use_channels) if use_channels is not None else None
@@ -1416,7 +1467,6 @@ class PRCXI9300Api:
time.sleep(1) time.sleep(1)
return success return success
def call(self, service: str, method: str, params: Optional[list] = None) -> Any: def call(self, service: str, method: str, params: Optional[list] = None) -> Any:
payload = json.dumps( payload = json.dumps(
{"ServiceName": service, "MethodName": method, "Paramters": params or []}, separators=(",", ":") {"ServiceName": service, "MethodName": method, "Paramters": params or []}, separators=(",", ":")
@@ -1543,7 +1593,7 @@ class PRCXI9300Api:
assist_fun5: str = "", assist_fun5: str = "",
liquid_method: str = "NormalDispense", liquid_method: str = "NormalDispense",
axis: str = "Left", axis: str = "Left",
) -> Dict[str, Any]: ) -> Dict[str, Any]:
return { return {
"StepAxis": axis, "StepAxis": axis,
"Function": "Imbibing", "Function": "Imbibing",
@@ -1621,7 +1671,7 @@ class PRCXI9300Api:
assist_fun5: str = "", assist_fun5: str = "",
liquid_method: str = "NormalDispense", liquid_method: str = "NormalDispense",
axis: str = "Left", axis: str = "Left",
) -> Dict[str, Any]: ) -> Dict[str, Any]:
return { return {
"StepAxis": axis, "StepAxis": axis,
"Function": "Blending", "Function": "Blending",
@@ -1681,11 +1731,11 @@ class PRCXI9300Api:
"LiquidDispensingMethod": liquid_method, "LiquidDispensingMethod": liquid_method,
} }
def clamp_jaw_pick_up(self, def clamp_jaw_pick_up(
self,
plate_no: int, plate_no: int,
is_whole_plate: bool, is_whole_plate: bool,
balance_height: int, balance_height: int,
) -> Dict[str, Any]: ) -> Dict[str, Any]:
return { return {
"StepAxis": "ClampingJaw", "StepAxis": "ClampingJaw",
@@ -1695,7 +1745,7 @@ class PRCXI9300Api:
"HoleRow": 1, "HoleRow": 1,
"HoleCol": 1, "HoleCol": 1,
"BalanceHeight": balance_height, "BalanceHeight": balance_height,
"PlateOrHoleNum": f"T{plate_no}" "PlateOrHoleNum": f"T{plate_no}",
} }
def clamp_jaw_drop( def clamp_jaw_drop(
@@ -1703,7 +1753,6 @@ class PRCXI9300Api:
plate_no: int, plate_no: int,
is_whole_plate: bool, is_whole_plate: bool,
balance_height: int, balance_height: int,
) -> Dict[str, Any]: ) -> Dict[str, Any]:
return { return {
"StepAxis": "ClampingJaw", "StepAxis": "ClampingJaw",
@@ -1713,7 +1762,7 @@ class PRCXI9300Api:
"HoleRow": 1, "HoleRow": 1,
"HoleCol": 1, "HoleCol": 1,
"BalanceHeight": balance_height, "BalanceHeight": balance_height,
"PlateOrHoleNum": f"T{plate_no}" "PlateOrHoleNum": f"T{plate_no}",
} }
def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool): def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool):
@@ -1726,6 +1775,7 @@ class PRCXI9300Api:
"AssistFun4": is_wait, "AssistFun4": is_wait,
} }
class DefaultLayout: class DefaultLayout:
def __init__(self, product_name: str = "PRCXI9300"): def __init__(self, product_name: str = "PRCXI9300"):
@@ -2104,7 +2154,9 @@ if __name__ == "__main__":
size_y=50, size_y=50,
size_z=10, size_z=10,
category="tip_rack", category="tip_rack",
ordered_items=collections.OrderedDict({k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}), ordered_items=collections.OrderedDict(
{k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}
),
) )
tip_rack_serialized = tip_rack.serialize() tip_rack_serialized = tip_rack.serialize()
tip_rack_serialized["parent_name"] = deck.name tip_rack_serialized["parent_name"] = deck.name
@@ -2299,43 +2351,37 @@ if __name__ == "__main__":
A = tree_to_list([resource_plr_to_ulab(deck)]) A = tree_to_list([resource_plr_to_ulab(deck)])
with open("deck.json", "w", encoding="utf-8") as f: with open("deck.json", "w", encoding="utf-8") as f:
A.insert(0, { A.insert(
"id": "PRCXI", 0,
"name": "PRCXI", {
"parent": None, "id": "PRCXI",
"type": "device", "name": "PRCXI",
"class": "liquid_handler.prcxi", "parent": None,
"position": { "type": "device",
"x": 0, "class": "liquid_handler.prcxi",
"y": 0, "position": {"x": 0, "y": 0, "z": 0},
"z": 0 "config": {
}, "deck": {
"config": { "_resource_child_name": "PRCXI_Deck",
"deck": { "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
"_resource_child_name": "PRCXI_Deck", },
"_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck" "host": "192.168.0.121",
"port": 9999,
"timeout": 10.0,
"axis": "Right",
"channel_num": 1,
"setup": False,
"debug": True,
"simulator": True,
"matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
"is_9320": True,
}, },
"host": "192.168.0.121", "data": {},
"port": 9999, "children": ["PRCXI_Deck"],
"timeout": 10.0,
"axis": "Right",
"channel_num": 1,
"setup": False,
"debug": True,
"simulator": True,
"matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
"is_9320": True
}, },
"data": {}, )
"children": [
"PRCXI_Deck"
]
})
A[1]["parent"] = "PRCXI" A[1]["parent"] = "PRCXI"
json.dump({ json.dump({"nodes": A, "links": []}, f, indent=4, ensure_ascii=False)
"nodes": A,
"links": []
}, f, indent=4, ensure_ascii=False)
handler = PRCXI9300Handler( handler = PRCXI9300Handler(
deck=deck, deck=deck,
@@ -2377,7 +2423,6 @@ if __name__ == "__main__":
time.sleep(5) time.sleep(5)
os._exit(0) os._exit(0)
prcxi_api = PRCXI9300Api(host="192.168.0.121", port=9999) prcxi_api = PRCXI9300Api(host="192.168.0.121", port=9999)
prcxi_api.list_matrices() prcxi_api.list_matrices()
prcxi_api.get_all_materials() prcxi_api.get_all_materials()

165
unilabos/registry/devices/liquid_handler.yaml
View File

@@ -9284,7 +9284,13 @@ liquid_handler.prcxi:
data_source: handle data_source: handle
data_type: resource data_type: resource
handler_key: input_wells handler_key: input_wells
label: InputWells label: 待设定液体孔
output:
- data_key: wells.@flatten
data_source: executor
data_type: resource
handler_key: output_wells
label: 已设定液体孔
placeholder_keys: placeholder_keys:
wells: unilabos_resources wells: unilabos_resources
result: {} result: {}
@@ -9400,6 +9406,163 @@ liquid_handler.prcxi:
title: LiquidHandlerSetLiquid title: LiquidHandlerSetLiquid
type: object type: object
type: LiquidHandlerSetLiquid type: LiquidHandlerSetLiquid
set_liquid_from_plate:
feedback: {}
goal: {}
goal_default:
liquid_names: null
plate: null
volumes: null
well_names: null
handles:
input:
- data_key: plate
data_source: handle
data_type: resource
handler_key: input_plate
label: 待设定液体板
output:
- data_key: plate.@flatten
data_source: executor
data_type: resource
handler_key: output_plate
label: 已设定液体板
- data_key: wells.@flatten
data_source: executor
data_type: resource
handler_key: output_wells
label: 已设定液体孔
- data_key: volumes
data_source: executor
data_type: number_array
handler_key: output_volumes
label: 各孔设定体积
placeholder_keys:
plate: unilabos_resources
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
liquid_names:
items:
type: string
type: array
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
volumes:
items:
type: number
type: array
well_names:
items:
type: string
type: array
required:
- plate
- well_names
- liquid_names
- volumes
type: object
result:
properties:
plate:
items: {}
title: Plate
type: array
volumes:
items:
type: number
title: Volumes
type: array
wells:
items: {}
title: Wells
type: array
required:
- plate
- wells
- volumes
title: SetLiquidFromPlateReturn
type: object
required:
- goal
title: set_liquid_from_plate参数
type: object
type: UniLabJsonCommand
set_tiprack: set_tiprack:
feedback: {} feedback: {}
goal: goal:

1
unilabos/registry/registry.py
View File

@@ -163,6 +163,7 @@ class Registry:
"res_id": "unilabos_resources", # 将当前实验室的全部物料id作为下拉框可选择 "res_id": "unilabos_resources", # 将当前实验室的全部物料id作为下拉框可选择
"device_id": "unilabos_devices", # 将当前实验室的全部设备id作为下拉框可选择 "device_id": "unilabos_devices", # 将当前实验室的全部设备id作为下拉框可选择
"parent": "unilabos_nodes", # 将当前实验室的设备/物料作为下拉框可选择 "parent": "unilabos_nodes", # 将当前实验室的设备/物料作为下拉框可选择
"class_name": "unilabos_class",
}, },
}, },
"test_latency": { "test_latency": {

2
unilabos/resources/graphio.py
View File

@@ -260,7 +260,7 @@ def read_node_link_json(
resource_tree_set = canonicalize_nodes_data(nodes) resource_tree_set = canonicalize_nodes_data(nodes)
# 标准化边数据 # 标准化边数据
links = data.get("links", []) links = data.get("links", data.get("edges", []))
standardized_links = canonicalize_links_ports(links, resource_tree_set) standardized_links = canonicalize_links_ports(links, resource_tree_set)
# 构建 NetworkX 图（需要转换回 dict 格式） # 构建 NetworkX 图（需要转换回 dict 格式）

19
unilabos/resources/resource_tracker.py
View File

@@ -13,6 +13,9 @@ if TYPE_CHECKING:
from pylabrobot.resources import Resource as PLRResource from pylabrobot.resources import Resource as PLRResource
EXTRA_CLASS = "unilabos_resource_class"
class ResourceDictPositionSize(BaseModel): class ResourceDictPositionSize(BaseModel):
depth: float = Field(description="Depth", default=0.0) # z depth: float = Field(description="Depth", default=0.0) # z
width: float = Field(description="Width", default=0.0) # x width: float = Field(description="Width", default=0.0) # x
@@ -393,7 +396,7 @@ class ResourceTreeSet(object):
"parent": parent_resource, # 直接传入 ResourceDict 对象 "parent": parent_resource, # 直接传入 ResourceDict 对象
"parent_uuid": parent_uuid, # 使用 parent_uuid 而不是 parent 对象 "parent_uuid": parent_uuid, # 使用 parent_uuid 而不是 parent 对象
"type": replace_plr_type(d.get("category", "")), "type": replace_plr_type(d.get("category", "")),
"class": d.get("class", ""), "class": extra.get(EXTRA_CLASS, ""),
"position": pos, "position": pos,
"pose": pos, "pose": pos,
"config": { "config": {
@@ -443,7 +446,7 @@ class ResourceTreeSet(object):
trees.append(tree_instance) trees.append(tree_instance)
return cls(trees) return cls(trees)
def to_plr_resources(self) -> List["PLRResource"]: def to_plr_resources(self, skip_devices=True) -> List["PLRResource"]:
""" """
将 ResourceTreeSet 转换为 PLR 资源列表 将 ResourceTreeSet 转换为 PLR 资源列表
@@ -468,6 +471,7 @@ class ResourceTreeSet(object):
name_to_uuid[node.res_content.name] = node.res_content.uuid name_to_uuid[node.res_content.name] = node.res_content.uuid
all_states[node.res_content.name] = node.res_content.data all_states[node.res_content.name] = node.res_content.data
name_to_extra[node.res_content.name] = node.res_content.extra name_to_extra[node.res_content.name] = node.res_content.extra
name_to_extra[node.res_content.name][EXTRA_CLASS] = node.res_content.klass
for child in node.children: for child in node.children:
collect_node_data(child, name_to_uuid, all_states, name_to_extra) collect_node_data(child, name_to_uuid, all_states, name_to_extra)
@@ -512,7 +516,10 @@ class ResourceTreeSet(object):
plr_dict = node_to_plr_dict(tree.root_node, has_model) plr_dict = node_to_plr_dict(tree.root_node, has_model)
try: try:
sub_cls = find_subclass(plr_dict["type"], PLRResource) sub_cls = find_subclass(plr_dict["type"], PLRResource)
if sub_cls is None: if skip_devices and plr_dict["type"] == "device":
logger.info(f"跳过更新 {plr_dict['name']} 设备是class")
continue
elif sub_cls is None:
raise ValueError( raise ValueError(
f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类。原始信息：{tree.root_node.res_content}" f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类。原始信息：{tree.root_node.res_content}"
) )
@@ -520,6 +527,10 @@ class ResourceTreeSet(object):
if "category" not in spec.parameters: if "category" not in spec.parameters:
plr_dict.pop("category", None) plr_dict.pop("category", None)
plr_resource = sub_cls.deserialize(plr_dict, allow_marshal=True) plr_resource = sub_cls.deserialize(plr_dict, allow_marshal=True)
from pylabrobot.resources import Coordinate
from pylabrobot.serializer import deserialize
location = cast(Coordinate, deserialize(plr_dict["location"]))
plr_resource.location = location
plr_resource.load_all_state(all_states) plr_resource.load_all_state(all_states)
# 使用 DeviceNodeResourceTracker 设置 UUID 和 Extra # 使用 DeviceNodeResourceTracker 设置 UUID 和 Extra
tracker.loop_set_uuid(plr_resource, name_to_uuid) tracker.loop_set_uuid(plr_resource, name_to_uuid)
@@ -986,7 +997,7 @@ class DeviceNodeResourceTracker(object):
extra = name_to_extra_map[resource_name] extra = name_to_extra_map[resource_name]
self.set_resource_extra(res, extra) self.set_resource_extra(res, extra)
if len(extra): if len(extra):
logger.debug(f"设置资源Extra: {resource_name} -> {extra}") logger.trace(f"设置资源Extra: {resource_name} -> {extra}")
return 1 return 1
return 0 return 0

30
unilabos/ros/nodes/base_device_node.py
View File

@@ -884,6 +884,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
parent_appended = True parent_appended = True
# 加载状态 # 加载状态
original_instance.location = plr_resource.location
original_instance.rotation = plr_resource.rotation
original_instance.barcode = plr_resource.barcode
original_instance.load_all_state(states) original_instance.load_all_state(states)
child_count = len(original_instance.get_all_children()) child_count = len(original_instance.get_all_children())
self.lab_logger().info( self.lab_logger().info(
@@ -1319,19 +1322,32 @@ class BaseROS2DeviceNode(Node, Generic[T]):
resource_inputs = action_kwargs[k] if is_sequence else [action_kwargs[k]] resource_inputs = action_kwargs[k] if is_sequence else [action_kwargs[k]]
# 批量查询资源 # 批量查询资源
queried_resources = [] queried_resources: list = [None] * len(resource_inputs)
for resource_data in resource_inputs: uuid_indices: list[tuple[int, str, dict]] = [] # (index, uuid, resource_data)
# 第一遍：处理没有uuid的资源，收集有uuid的资源信息
for idx, resource_data in enumerate(resource_inputs):
unilabos_uuid = resource_data.get("data", {}).get("unilabos_uuid") unilabos_uuid = resource_data.get("data", {}).get("unilabos_uuid")
if unilabos_uuid is None: if unilabos_uuid is None:
plr_resource = await self.get_resource_with_dir( plr_resource = await self.get_resource_with_dir(
resource_id=resource_data["id"], with_children=True resource_id=resource_data["id"], with_children=True
) )
if "sample_id" in resource_data:
plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
queried_resources[idx] = plr_resource
else: else:
resource_tree = await self.get_resource([unilabos_uuid]) uuid_indices.append((idx, unilabos_uuid, resource_data))
plr_resource = resource_tree.to_plr_resources()[0]
if "sample_id" in resource_data: # 第二遍：批量查询有uuid的资源
plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"] if uuid_indices:
queried_resources.append(plr_resource) uuids = [item[1] for item in uuid_indices]
resource_tree = await self.get_resource(uuids)
plr_resources = resource_tree.to_plr_resources()
for i, (idx, _, resource_data) in enumerate(uuid_indices):
plr_resource = plr_resources[i]
if "sample_id" in resource_data:
plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
queried_resources[idx] = plr_resource
self.lab_logger().debug(f"资源查询结果: 共 {len(queried_resources)} 个资源") self.lab_logger().debug(f"资源查询结果: 共 {len(queried_resources)} 个资源")

63
unilabos/ros/nodes/presets/workstation.py
View File

@@ -6,8 +6,6 @@ from typing import List, Dict, Any, Optional, TYPE_CHECKING
import rclpy import rclpy
from rosidl_runtime_py import message_to_ordereddict from rosidl_runtime_py import message_to_ordereddict
from unilabos_msgs.msg import Resource
from unilabos_msgs.srv import ResourceUpdate
from unilabos.messages import * # type: ignore # protocol names from unilabos.messages import * # type: ignore # protocol names
from rclpy.action import ActionServer, ActionClient from rclpy.action import ActionServer, ActionClient
@@ -15,7 +13,6 @@ from rclpy.action.server import ServerGoalHandle
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
from unilabos.compile import action_protocol_generators from unilabos.compile import action_protocol_generators
from unilabos.resources.graphio import nested_dict_to_list
from unilabos.ros.initialize_device import initialize_device_from_dict from unilabos.ros.initialize_device import initialize_device_from_dict
from unilabos.ros.msgs.message_converter import ( from unilabos.ros.msgs.message_converter import (
get_action_type, get_action_type,
@@ -231,15 +228,15 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
try: try:
# 统一处理单个或多个资源 # 统一处理单个或多个资源
resource_id = ( resource_id = (
protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"] protocol_kwargs[k]["id"]
if v == "unilabos_msgs/Resource"
else protocol_kwargs[k][0]["id"]
) )
resource_uuid = protocol_kwargs[k].get("uuid", None) resource_uuid = protocol_kwargs[k].get("uuid", None)
r = SerialCommand_Request() r = SerialCommand_Request()
r.command = json.dumps({"id": resource_id, "uuid": resource_uuid, "with_children": True}) r.command = json.dumps({"id": resource_id, "uuid": resource_uuid, "with_children": True})
# 发送请求并等待响应 # 发送请求并等待响应
response: SerialCommand_Response = await self._resource_clients[ response: SerialCommand_Response = await self._resource_clients["resource_get"].call_async(
"resource_get"
].call_async(
r r
) # type: ignore ) # type: ignore
raw_data = json.loads(response.response) raw_data = json.loads(response.response)
@@ -307,12 +304,52 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
# 向Host更新物料当前状态 # 向Host更新物料当前状态
for k, v in goal.get_fields_and_field_types().items(): for k, v in goal.get_fields_and_field_types().items():
if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]: if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
r = ResourceUpdate.Request() continue
r.resources = [ self.lab_logger().info(f"更新资源状态: {k}")
convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k]) try:
] # 去重：使用 seen 集合获取唯一的资源对象
response = await self._resource_clients["resource_update"].call_async(r) seen = set()
unique_resources = []
# 获取资源数据，统一转换为列表
resource_data = protocol_kwargs[k]
is_sequence = v != "unilabos_msgs/Resource"
if not is_sequence:
resource_list = [resource_data] if isinstance(resource_data, dict) else resource_data
else:
# 处理序列类型，可能是嵌套列表
resource_list = []
if isinstance(resource_data, list):
for item in resource_data:
if isinstance(item, list):
resource_list.extend(item)
else:
resource_list.append(item)
else:
resource_list = [resource_data]
for res_data in resource_list:
if not isinstance(res_data, dict):
continue
res_name = res_data.get("id") or res_data.get("name")
if not res_name:
continue
# 使用 resource_tracker 获取本地 PLR 实例
plr = self.resource_tracker.figure_resource({"name": res_name}, try_mode=False)
# 获取父资源
res = self.resource_tracker.parent_resource(plr)
if id(res) not in seen:
seen.add(id(res))
unique_resources.append(res)
# 使用新的资源树接口更新
if unique_resources:
await self.update_resource(unique_resources)
except Exception as e:
self.lab_logger().error(f"资源更新失败: {e}")
self.lab_logger().error(traceback.format_exc())
# 设置成功状态和返回值 # 设置成功状态和返回值
execution_success = True execution_success = True

770
unilabos/workflow/common.py Normal file
View File

@@ -0,0 +1,770 @@
"""
工作流转换模块 - JSON 到 WorkflowGraph 的转换流程
==================== 输入格式 (JSON) ====================
{
"workflow": [
{"action": "transfer_liquid", "action_args": {"sources": "cell_lines", "targets": "Liquid_1", "asp_vol": 100.0, "dis_vol": 74.75, ...}},
...
],
"reagent": {
"cell_lines": {"slot": 4, "well": ["A1", "A3", "A5"], "labware": "DRUG + YOYO-MEDIA"},
"Liquid_1": {"slot": 1, "well": ["A4", "A7", "A10"], "labware": "rep 1"},
...
}
}
==================== 转换步骤 ====================
第一步: 按 slot 去重创建 create_resource 节点（创建板子）
--------------------------------------------------------------------------------
- 遍历所有 reagent，按 slot 去重，为每个唯一的 slot 创建一个板子
- 生成参数:
res_id: plate_slot_{slot}
device_id: /PRCXI
class_name: PRCXI_BioER_96_wellplate
parent: /PRCXI/PRCXI_Deck/T{slot}
slot_on_deck: "{slot}"
- 输出端口: labware（用于连接 set_liquid_from_plate）
- 控制流: create_resource 之间通过 ready 端口串联
示例: slot=1, slot=4 -> 创建 2 个 create_resource 节点
第二步: 为每个 reagent 创建 set_liquid_from_plate 节点（设置液体）
--------------------------------------------------------------------------------
- 遍历所有 reagent，为每个试剂创建 set_liquid_from_plate 节点
- 生成参数:
plate: []（通过连接传递，来自 create_resource 的 labware）
well_names: ["A1", "A3", "A5"]（来自 reagent 的 well 数组）
liquid_names: ["cell_lines", "cell_lines", "cell_lines"]（与 well 数量一致）
volumes: [1e5, 1e5, 1e5]（与 well 数量一致，默认体积）
- 输入连接: create_resource (labware) -> set_liquid_from_plate (input_plate)
- 输出端口: output_wells（用于连接 transfer_liquid）
- 控制流: set_liquid_from_plate 连接在所有 create_resource 之后，通过 ready 端口串联
第三步: 解析 workflow，创建 transfer_liquid 等动作节点
--------------------------------------------------------------------------------
- 遍历 workflow 数组，为每个动作创建步骤节点
- 参数重命名: asp_vol -> asp_vols, dis_vol -> dis_vols, asp_flow_rate -> asp_flow_rates, dis_flow_rate -> dis_flow_rates
- 参数扩展: 根据 targets 的 wells 数量，将单值扩展为数组
例: asp_vol=100.0, targets 有 3 个 wells -> asp_vols=[100.0, 100.0, 100.0]
- 连接处理: 如果 sources/targets 已通过 set_liquid_from_plate 连接，参数值改为 []
- 输入连接: set_liquid_from_plate (output_wells) -> transfer_liquid (sources_identifier / targets_identifier)
- 输出端口: sources_out, targets_out（用于连接下一个 transfer_liquid）
==================== 连接关系图 ====================
控制流 (ready 端口串联):
create_resource_1 -> create_resource_2 -> ... -> set_liquid_1 -> set_liquid_2 -> ... -> transfer_liquid_1 -> transfer_liquid_2 -> ...
物料流:
[create_resource] --labware--> [set_liquid_from_plate] --output_wells--> [transfer_liquid] --sources_out/targets_out--> [下一个 transfer_liquid]
(slot=1) (cell_lines) (input_plate) (sources_identifier) (sources_identifier)
(slot=4) (Liquid_1) (targets_identifier) (targets_identifier)
==================== 端口映射 ====================
create_resource:
输出: labware
set_liquid_from_plate:
输入: input_plate
输出: output_plate, output_wells
transfer_liquid:
输入: sources -> sources_identifier, targets -> targets_identifier
输出: sources -> sources_out, targets -> targets_out
==================== 校验规则 ====================
- 检查 sources/targets 是否在 reagent 中定义
- 检查 sources 和 targets 的 wells 数量是否匹配
- 检查参数数组长度是否与 wells 数量一致
- 如有问题，在 footer 中添加 [WARN: ...] 标记
"""
import re
import uuid
import networkx as nx
from networkx.drawing.nx_agraph import to_agraph
import matplotlib.pyplot as plt
from typing import Dict, List, Any, Tuple, Optional
Json = Dict[str, Any]
# ==================== 默认配置 ====================
# create_resource 节点默认参数
CREATE_RESOURCE_DEFAULTS = {
"device_id": "/PRCXI",
"parent_template": "/PRCXI/PRCXI_Deck/T{slot}", # {slot} 会被替换为实际的 slot 值
"class_name": "PRCXI_BioER_96_wellplate",
}
# 默认液体体积 (uL)
DEFAULT_LIQUID_VOLUME = 1e5
# 参数重命名映射：单数 -> 复数（用于 transfer_liquid 等动作）
PARAM_RENAME_MAPPING = {
"asp_vol": "asp_vols",
"dis_vol": "dis_vols",
"asp_flow_rate": "asp_flow_rates",
"dis_flow_rate": "dis_flow_rates",
}
# ---------------- Graph ----------------
class WorkflowGraph:
"""简单的有向图实现：使用 params 单层参数；inputs 内含连线；支持 node-link 导出"""
def __init__(self):
self.nodes: Dict[str, Dict[str, Any]] = {}
self.edges: List[Dict[str, Any]] = []
def add_node(self, node_id: str, **attrs):
self.nodes[node_id] = attrs
def add_edge(self, source: str, target: str, **attrs):
# 将 source_port/target_port 映射为服务端期望的 source_handle_key/target_handle_key
source_handle_key = attrs.pop("source_port", "") or attrs.pop("source_handle_key", "")
target_handle_key = attrs.pop("target_port", "") or attrs.pop("target_handle_key", "")
edge = {
"source": source,
"target": target,
"source_node_uuid": source,
"target_node_uuid": target,
"source_handle_key": source_handle_key,
"source_handle_io": attrs.pop("source_handle_io", "source"),
"target_handle_key": target_handle_key,
"target_handle_io": attrs.pop("target_handle_io", "target"),
**attrs,
}
self.edges.append(edge)
def _materialize_wiring_into_inputs(
self,
obj: Any,
inputs: Dict[str, Any],
variable_sources: Dict[str, Dict[str, Any]],
target_node_id: str,
base_path: List[str],
):
has_var = False
def walk(node: Any, path: List[str]):
nonlocal has_var
if isinstance(node, dict):
if "__var__" in node:
has_var = True
varname = node["__var__"]
placeholder = f"${{{varname}}}"
src = variable_sources.get(varname)
if src:
key = ".".join(path) # e.g. "params.foo.bar.0"
inputs[key] = {"node": src["node_id"], "output": src.get("output_name", "result")}
self.add_edge(
str(src["node_id"]),
target_node_id,
source_handle_io=src.get("output_name", "result"),
target_handle_io=key,
)
return placeholder
return {k: walk(v, path + [k]) for k, v in node.items()}
if isinstance(node, list):
return [walk(v, path + [str(i)]) for i, v in enumerate(node)]
return node
replaced = walk(obj, base_path[:])
return replaced, has_var
def add_workflow_node(
self,
node_id: int,
*,
device_key: Optional[str] = None, # 实例名，如 "ser"
resource_name: Optional[str] = None, # registry key（原 device_class）
module: Optional[str] = None,
template_name: Optional[str] = None, # 动作/模板名（原 action_key）
params: Dict[str, Any],
variable_sources: Dict[str, Dict[str, Any]],
add_ready_if_no_vars: bool = True,
prev_node_id: Optional[int] = None,
**extra_attrs,
) -> None:
"""添加工作流节点：params 单层；自动变量连线与 ready 串联；支持附加属性"""
node_id_str = str(node_id)
inputs: Dict[str, Any] = {}
params, has_var = self._materialize_wiring_into_inputs(
params, inputs, variable_sources, node_id_str, base_path=["params"]
)
if add_ready_if_no_vars and not has_var:
last_id = str(prev_node_id) if prev_node_id is not None else "-1"
inputs["ready"] = {"node": int(last_id), "output": "ready"}
self.add_edge(last_id, node_id_str, source_handle_io="ready", target_handle_io="ready")
node_obj = {
"device_key": device_key,
"resource_name": resource_name, # ✅ 新名字
"module": module,
"template_name": template_name, # ✅ 新名字
"params": params,
"inputs": inputs,
}
node_obj.update(extra_attrs or {})
self.add_node(node_id_str, parameters=node_obj)
# 顺序工作流导出（连线在 inputs，不返回 edges）
def to_dict(self) -> List[Dict[str, Any]]:
result = []
for node_id, attrs in self.nodes.items():
node = {"uuid": node_id}
params = dict(attrs.get("parameters", {}) or {})
flat = {k: v for k, v in attrs.items() if k != "parameters"}
flat.update(params)
node.update(flat)
result.append(node)
return sorted(result, key=lambda n: int(n["uuid"]) if str(n["uuid"]).isdigit() else n["uuid"])
# node-link 导出（含 edges）
def to_node_link_dict(self) -> Dict[str, Any]:
nodes_list = []
for node_id, attrs in self.nodes.items():
node_attrs = attrs.copy()
params = node_attrs.pop("parameters", {}) or {}
node_attrs.update(params)
nodes_list.append({"uuid": node_id, **node_attrs})
return {
"directed": True,
"multigraph": False,
"graph": {},
"nodes": nodes_list,
"edges": self.edges,
"links": self.edges,
}
def refactor_data(
data: List[Dict[str, Any]],
action_resource_mapping: Optional[Dict[str, str]] = None,
) -> List[Dict[str, Any]]:
"""统一的数据重构函数，根据操作类型自动选择模板
Args:
data: 原始步骤数据列表
action_resource_mapping: action 到 resource_name 的映射字典，可选
"""
refactored_data = []
# 定义操作映射，包含生物实验和有机化学的所有操作
OPERATION_MAPPING = {
# 生物实验操作
"transfer_liquid": "transfer_liquid",
"transfer": "transfer",
"incubation": "incubation",
"move_labware": "move_labware",
"oscillation": "oscillation",
# 有机化学操作
"HeatChillToTemp": "HeatChillProtocol",
"StopHeatChill": "HeatChillStopProtocol",
"StartHeatChill": "HeatChillStartProtocol",
"HeatChill": "HeatChillProtocol",
"Dissolve": "DissolveProtocol",
"Transfer": "TransferProtocol",
"Evaporate": "EvaporateProtocol",
"Recrystallize": "RecrystallizeProtocol",
"Filter": "FilterProtocol",
"Dry": "DryProtocol",
"Add": "AddProtocol",
}
UNSUPPORTED_OPERATIONS = ["Purge", "Wait", "Stir", "ResetHandling"]
for step in data:
operation = step.get("action")
if not operation or operation in UNSUPPORTED_OPERATIONS:
continue
# 处理重复操作
if operation == "Repeat":
times = step.get("times", step.get("parameters", {}).get("times", 1))
sub_steps = step.get("steps", step.get("parameters", {}).get("steps", []))
for i in range(int(times)):
sub_data = refactor_data(sub_steps, action_resource_mapping)
refactored_data.extend(sub_data)
continue
# 获取模板名称
template_name = OPERATION_MAPPING.get(operation)
if not template_name:
# 自动推断模板类型
if operation.lower() in ["transfer", "incubation", "move_labware", "oscillation"]:
template_name = f"biomek-{operation}"
else:
template_name = f"{operation}Protocol"
# 获取 resource_name
resource_name = f"device.{operation.lower()}"
if action_resource_mapping:
resource_name = action_resource_mapping.get(operation, resource_name)
# 获取步骤编号，生成 name 字段
step_number = step.get("step_number")
name = f"Step {step_number}" if step_number is not None else None
# 创建步骤数据
step_data = {
"template_name": template_name,
"resource_name": resource_name,
"description": step.get("description", step.get("purpose", f"{operation} operation")),
"lab_node_type": "Device",
"param": step.get("parameters", step.get("action_args", {})),
"footer": f"{template_name}-{resource_name}",
}
if name:
step_data["name"] = name
refactored_data.append(step_data)
return refactored_data
def build_protocol_graph(
labware_info: Dict[str, Dict[str, Any]],
protocol_steps: List[Dict[str, Any]],
workstation_name: str,
action_resource_mapping: Optional[Dict[str, str]] = None,
) -> WorkflowGraph:
"""统一的协议图构建函数，根据设备类型自动选择构建逻辑
Args:
labware_info: labware 信息字典，格式为 {name: {slot, well, labware, ...}, ...}
protocol_steps: 协议步骤列表
workstation_name: 工作站名称
action_resource_mapping: action 到 resource_name 的映射字典，可选
"""
G = WorkflowGraph()
resource_last_writer = {} # reagent_name -> "node_id:port"
slot_to_create_resource = {} # slot -> create_resource node_id
protocol_steps = refactor_data(protocol_steps, action_resource_mapping)
# ==================== 第一步：按 slot 去重创建 create_resource 节点 ====================
# 收集所有唯一的 slot
slots_info = {} # slot -> {labware, res_id}
for labware_id, item in labware_info.items():
slot = str(item.get("slot", ""))
if slot and slot not in slots_info:
res_id = f"plate_slot_{slot}"
slots_info[slot] = {
"labware": item.get("labware", ""),
"res_id": res_id,
}
# 为每个唯一的 slot 创建 create_resource 节点
res_index = 0
last_create_resource_id = None
for slot, info in slots_info.items():
node_id = str(uuid.uuid4())
res_id = info["res_id"]
res_index += 1
G.add_node(
node_id,
template_name="create_resource",
resource_name="host_node",
name=f"Plate {res_index}",
description=f"Create plate on slot {slot}",
lab_node_type="Labware",
footer="create_resource-host_node",
param={
"res_id": res_id,
"device_id": CREATE_RESOURCE_DEFAULTS["device_id"],
"class_name": CREATE_RESOURCE_DEFAULTS["class_name"],
"parent": CREATE_RESOURCE_DEFAULTS["parent_template"].format(slot=slot),
"bind_locations": {"x": 0.0, "y": 0.0, "z": 0.0},
"slot_on_deck": slot,
},
)
slot_to_create_resource[slot] = node_id
# create_resource 之间通过 ready 串联
if last_create_resource_id is not None:
G.add_edge(last_create_resource_id, node_id, source_port="ready", target_port="ready")
last_create_resource_id = node_id
# ==================== 第二步：为每个 reagent 创建 set_liquid_from_plate 节点 ====================
set_liquid_index = 0
last_set_liquid_id = last_create_resource_id # set_liquid_from_plate 连接在 create_resource 之后
for labware_id, item in labware_info.items():
# 跳过 Tip/Rack 类型
if "Rack" in str(labware_id) or "Tip" in str(labware_id):
continue
if item.get("type") == "hardware":
continue
slot = str(item.get("slot", ""))
wells = item.get("well", [])
if not wells or not slot:
continue
# res_id 不能有空格
res_id = str(labware_id).replace(" ", "_")
well_count = len(wells)
node_id = str(uuid.uuid4())
set_liquid_index += 1
G.add_node(
node_id,
template_name="set_liquid_from_plate",
resource_name="liquid_handler.prcxi",
name=f"SetLiquid {set_liquid_index}",
description=f"Set liquid: {labware_id}",
lab_node_type="Reagent",
footer="set_liquid_from_plate-liquid_handler.prcxi",
param={
"plate": [], # 通过连接传递
"well_names": wells, # 孔位名数组，如 ["A1", "A3", "A5"]
"liquid_names": [res_id] * well_count,
"volumes": [DEFAULT_LIQUID_VOLUME] * well_count,
},
)
# ready 连接：上一个节点 -> set_liquid_from_plate
if last_set_liquid_id is not None:
G.add_edge(last_set_liquid_id, node_id, source_port="ready", target_port="ready")
last_set_liquid_id = node_id
# 物料流：create_resource 的 labware -> set_liquid_from_plate 的 input_plate
create_res_node_id = slot_to_create_resource.get(slot)
if create_res_node_id:
G.add_edge(create_res_node_id, node_id, source_port="labware", target_port="input_plate")
# set_liquid_from_plate 的输出 output_wells 用于连接 transfer_liquid
resource_last_writer[labware_id] = f"{node_id}:output_wells"
last_control_node_id = last_set_liquid_id
# 端口名称映射：JSON 字段名 -> 实际 handle key
INPUT_PORT_MAPPING = {
"sources": "sources_identifier",
"targets": "targets_identifier",
"vessel": "vessel",
"to_vessel": "to_vessel",
"from_vessel": "from_vessel",
"reagent": "reagent",
"solvent": "solvent",
"compound": "compound",
}
OUTPUT_PORT_MAPPING = {
"sources": "sources_out", # 输出端口是 xxx_out
"targets": "targets_out", # 输出端口是 xxx_out
"vessel": "vessel_out",
"to_vessel": "to_vessel_out",
"from_vessel": "from_vessel_out",
"filtrate_vessel": "filtrate_out",
"reagent": "reagent",
"solvent": "solvent",
"compound": "compound",
}
# 需要根据 wells 数量扩展的参数列表（复数形式）
EXPAND_BY_WELLS_PARAMS = ["asp_vols", "dis_vols", "asp_flow_rates", "dis_flow_rates"]
# 处理协议步骤
for step in protocol_steps:
node_id = str(uuid.uuid4())
params = step.get("param", {}).copy() # 复制一份，避免修改原数据
connected_params = set() # 记录被连接的参数
warnings = [] # 收集警告信息
# 参数重命名：单数 -> 复数
for old_name, new_name in PARAM_RENAME_MAPPING.items():
if old_name in params:
params[new_name] = params.pop(old_name)
# 处理输入连接
for param_key, target_port in INPUT_PORT_MAPPING.items():
resource_name = params.get(param_key)
if resource_name and resource_name in resource_last_writer:
source_node, source_port = resource_last_writer[resource_name].split(":")
G.add_edge(source_node, node_id, source_port=source_port, target_port=target_port)
connected_params.add(param_key)
elif resource_name and resource_name not in resource_last_writer:
# 资源名在 labware_info 中不存在
warnings.append(f"{param_key}={resource_name} 未找到")
# 获取 targets 对应的 wells 数量，用于扩展参数
targets_name = params.get("targets")
sources_name = params.get("sources")
targets_wells_count = 1
sources_wells_count = 1
if targets_name and targets_name in labware_info:
target_wells = labware_info[targets_name].get("well", [])
targets_wells_count = len(target_wells) if target_wells else 1
elif targets_name:
warnings.append(f"targets={targets_name} 未在 reagent 中定义")
if sources_name and sources_name in labware_info:
source_wells = labware_info[sources_name].get("well", [])
sources_wells_count = len(source_wells) if source_wells else 1
elif sources_name:
warnings.append(f"sources={sources_name} 未在 reagent 中定义")
# 检查 sources 和 targets 的 wells 数量是否匹配
if targets_wells_count != sources_wells_count and targets_name and sources_name:
warnings.append(f"wells 数量不匹配: sources={sources_wells_count}, targets={targets_wells_count}")
# 使用 targets 的 wells 数量来扩展参数
wells_count = targets_wells_count
# 扩展单值参数为数组（根据 targets 的 wells 数量）
for expand_param in EXPAND_BY_WELLS_PARAMS:
if expand_param in params:
value = params[expand_param]
# 如果是单个值，扩展为数组
if not isinstance(value, list):
params[expand_param] = [value] * wells_count
# 如果已经是数组但长度不对，记录警告
elif len(value) != wells_count:
warnings.append(f"{expand_param} 数量({len(value)})与 wells({wells_count})不匹配")
# 如果 sources/targets 已通过连接传递，将参数值改为空数组
for param_key in connected_params:
if param_key in params:
params[param_key] = []
# 更新 step 的 param 和 footer
step_copy = step.copy()
step_copy["param"] = params
# 如果有警告，修改 footer 添加警告标记（警告放前面）
if warnings:
original_footer = step.get("footer", "")
step_copy["footer"] = f"[WARN: {'; '.join(warnings)}] {original_footer}"
G.add_node(node_id, **step_copy)
# 控制流
if last_control_node_id is not None:
G.add_edge(last_control_node_id, node_id, source_port="ready", target_port="ready")
last_control_node_id = node_id
# 处理输出：更新 resource_last_writer
for param_key, output_port in OUTPUT_PORT_MAPPING.items():
resource_name = step.get("param", {}).get(param_key) # 使用原始参数值
if resource_name:
resource_last_writer[resource_name] = f"{node_id}:{output_port}"
return G
def draw_protocol_graph(protocol_graph: WorkflowGraph, output_path: str):
"""
(辅助功能) 使用 networkx 和 matplotlib 绘制协议工作流图，用于可视化。
"""
if not protocol_graph:
print("Cannot draw graph: Graph object is empty.")
return
G = nx.DiGraph()
for node_id, attrs in protocol_graph.nodes.items():
label = attrs.get("description", attrs.get("template_name", node_id[:8]))
G.add_node(node_id, label=label, **attrs)
for edge in protocol_graph.edges:
G.add_edge(edge["source"], edge["target"])
plt.figure(figsize=(20, 15))
try:
pos = nx.nx_agraph.graphviz_layout(G, prog="dot")
except Exception:
pos = nx.shell_layout(G) # Fallback layout
node_labels = {node: data["label"] for node, data in G.nodes(data=True)}
nx.draw(
G,
pos,
with_labels=False,
node_size=2500,
node_color="skyblue",
node_shape="o",
edge_color="gray",
width=1.5,
arrowsize=15,
)
nx.draw_networkx_labels(G, pos, labels=node_labels, font_size=8, font_weight="bold")
plt.title("Chemical Protocol Workflow Graph", size=15)
plt.savefig(output_path, dpi=300, bbox_inches="tight")
plt.close()
print(f" - Visualization saved to '{output_path}'")
COMPASS = {"n", "e", "s", "w", "ne", "nw", "se", "sw", "c"}
def _is_compass(port: str) -> bool:
return isinstance(port, str) and port.lower() in COMPASS
def draw_protocol_graph_with_ports(protocol_graph, output_path: str, rankdir: str = "LR"):
"""
使用 Graphviz 端口语法绘制协议工作流图。
- 若边上的 source_port/target_port 是 compass（n/e/s/w/...），直接用 compass。
- 否则自动为节点创建 record 形状并定义命名端口 <portname>。
最终由 PyGraphviz 渲染并输出到 output_path（后缀决定格式，如 .png/.svg/.pdf）。
"""
if not protocol_graph:
print("Cannot draw graph: Graph object is empty.")
return
# 1) 先用 networkx 搭建有向图，保留端口属性
G = nx.DiGraph()
for node_id, attrs in protocol_graph.nodes.items():
label = attrs.get("description", attrs.get("template_name", node_id[:8]))
# 保留一个干净的“中心标签”，用于放在 record 的中间槽
G.add_node(node_id, _core_label=str(label), **{k: v for k, v in attrs.items() if k not in ("label",)})
edges_data = []
in_ports_by_node = {} # 收集命名输入端口
out_ports_by_node = {} # 收集命名输出端口
for edge in protocol_graph.edges:
u = edge["source"]
v = edge["target"]
sp = edge.get("source_handle_key") or edge.get("source_port")
tp = edge.get("target_handle_key") or edge.get("target_port")
# 记录到图里（保留原始端口信息）
G.add_edge(u, v, source_handle_key=sp, target_handle_key=tp)
edges_data.append((u, v, sp, tp))
# 如果不是 compass，就按“命名端口”先归类，等会儿给节点造 record
if sp and not _is_compass(sp):
out_ports_by_node.setdefault(u, set()).add(str(sp))
if tp and not _is_compass(tp):
in_ports_by_node.setdefault(v, set()).add(str(tp))
# 2) 转为 AGraph，使用 Graphviz 渲染
A = to_agraph(G)
A.graph_attr.update(rankdir=rankdir, splines="true", concentrate="false", fontsize="10")
A.node_attr.update(
shape="box", style="rounded,filled", fillcolor="lightyellow", color="#999999", fontname="Helvetica"
)
A.edge_attr.update(arrowsize="0.8", color="#666666")
# 3) 为需要命名端口的节点设置 record 形状与 label
# 左列 = 输入端口；中间 = 核心标签；右列 = 输出端口
for n in A.nodes():
node = A.get_node(n)
core = G.nodes[n].get("_core_label", n)
in_ports = sorted(in_ports_by_node.get(n, []))
out_ports = sorted(out_ports_by_node.get(n, []))
# 如果该节点涉及命名端口，则用 record；否则保留原 box
if in_ports or out_ports:
def port_fields(ports):
if not ports:
return " " # 必须留一个空槽占位
# 每个端口一个小格子，<p> name
return "|".join(f"<{re.sub(r'[^A-Za-z0-9_:.|-]', '_', p)}> {p}" for p in ports)
left = port_fields(in_ports)
right = port_fields(out_ports)
# 三栏：左(入) | 中(节点名) | 右(出)
record_label = f"{{ {left} | {core} | {right} }}"
node.attr.update(shape="record", label=record_label)
else:
# 没有命名端口：普通盒子，显示核心标签
node.attr.update(label=str(core))
# 4) 给边设置 headport / tailport
# - 若端口为 compass：直接用 compass（e.g., headport="e"）
# - 若端口为命名端口：使用在 record 中定义的 <port> 名（同名即可）
for u, v, sp, tp in edges_data:
e = A.get_edge(u, v)
# Graphviz 属性：tail 是源，head 是目标
if sp:
if _is_compass(sp):
e.attr["tailport"] = sp.lower()
else:
# 与 record label 中 <port> 名一致；特殊字符已在 label 中做了清洗
e.attr["tailport"] = re.sub(r"[^A-Za-z0-9_:.|-]", "_", str(sp))
if tp:
if _is_compass(tp):
e.attr["headport"] = tp.lower()
else:
e.attr["headport"] = re.sub(r"[^A-Za-z0-9_:.|-]", "_", str(tp))
# 可选：若想让边更贴边缘，可设置 constraint/spline 等
# e.attr["arrowhead"] = "vee"
# 5) 输出
A.draw(output_path, prog="dot")
print(f" - Port-aware workflow rendered to '{output_path}'")
# ---------------- Registry Adapter ----------------
class RegistryAdapter:
"""根据 module 的类名（冒号右侧）反查 registry 的 resource_name（原 device_class），并抽取参数顺序"""
def __init__(self, device_registry: Dict[str, Any]):
self.device_registry = device_registry or {}
self.module_class_to_resource = self._build_module_class_index()
def _build_module_class_index(self) -> Dict[str, str]:
idx = {}
for resource_name, info in self.device_registry.items():
module = info.get("module")
if isinstance(module, str) and ":" in module:
cls = module.split(":")[-1]
idx[cls] = resource_name
idx[cls.lower()] = resource_name
return idx
def resolve_resource_by_classname(self, class_name: str) -> Optional[str]:
if not class_name:
return None
return self.module_class_to_resource.get(class_name) or self.module_class_to_resource.get(class_name.lower())
def get_device_module(self, resource_name: Optional[str]) -> Optional[str]:
if not resource_name:
return None
return self.device_registry.get(resource_name, {}).get("module")
def get_actions(self, resource_name: Optional[str]) -> Dict[str, Any]:
if not resource_name:
return {}
return (self.device_registry.get(resource_name, {}).get("class", {}).get("action_value_mappings", {})) or {}
def get_action_schema(self, resource_name: Optional[str], template_name: str) -> Optional[Json]:
return (self.get_actions(resource_name).get(template_name) or {}).get("schema")
def get_action_goal_default(self, resource_name: Optional[str], template_name: str) -> Json:
return (self.get_actions(resource_name).get(template_name) or {}).get("goal_default", {}) or {}
def get_action_input_keys(self, resource_name: Optional[str], template_name: str) -> List[str]:
schema = self.get_action_schema(resource_name, template_name) or {}
goal = (schema.get("properties") or {}).get("goal") or {}
props = goal.get("properties") or {}
required = goal.get("required") or []
return list(dict.fromkeys(required + list(props.keys())))

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unilabos/workflow/convert_from_json.py Normal file
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"""
JSON 工作流转换模块
将 workflow/reagent 格式的 JSON 转换为统一工作流格式。
输入格式:
{
"workflow": [
{"action": "...", "action_args": {...}},
...
],
"reagent": {
"reagent_name": {"slot": int, "well": [...], "labware": "..."},
...
}
}
"""
import json
from os import PathLike
from pathlib import Path
from typing import Any, Dict, List, Optional, Tuple, Union
from unilabos.workflow.common import WorkflowGraph, build_protocol_graph
from unilabos.registry.registry import lab_registry
# ==================== 字段映射配置 ====================
# action 到 resource_name 的映射
ACTION_RESOURCE_MAPPING: Dict[str, str] = {
# 生物实验操作
"transfer_liquid": "liquid_handler.prcxi",
"transfer": "liquid_handler.prcxi",
"incubation": "incubator.prcxi",
"move_labware": "labware_mover.prcxi",
"oscillation": "shaker.prcxi",
# 有机化学操作
"HeatChillToTemp": "heatchill.chemputer",
"StopHeatChill": "heatchill.chemputer",
"StartHeatChill": "heatchill.chemputer",
"HeatChill": "heatchill.chemputer",
"Dissolve": "stirrer.chemputer",
"Transfer": "liquid_handler.chemputer",
"Evaporate": "rotavap.chemputer",
"Recrystallize": "reactor.chemputer",
"Filter": "filter.chemputer",
"Dry": "dryer.chemputer",
"Add": "liquid_handler.chemputer",
}
# action_args 字段到 parameters 字段的映射
# 格式: {"old_key": "new_key"}, 仅映射需要重命名的字段
ARGS_FIELD_MAPPING: Dict[str, str] = {
# 如果需要字段重命名，在这里配置
# "old_field_name": "new_field_name",
}
# 默认工作站名称
DEFAULT_WORKSTATION = "PRCXI"
# ==================== 核心转换函数 ====================
def get_action_handles(resource_name: str, template_name: str) -> Dict[str, List[str]]:
"""
从 registry 获取指定设备和动作的 handles 配置
Args:
resource_name: 设备资源名称，如 "liquid_handler.prcxi"
template_name: 动作模板名称，如 "transfer_liquid"
Returns:
包含 source 和 target handler_keys 的字典:
{"source": ["sources_out", "targets_out", ...], "target": ["sources", "targets", ...]}
"""
result = {"source": [], "target": []}
device_info = lab_registry.device_type_registry.get(resource_name, {})
if not device_info:
return result
action_mappings = device_info.get("class", {}).get("action_value_mappings", {})
action_config = action_mappings.get(template_name, {})
handles = action_config.get("handles", {})
if isinstance(handles, dict):
for handle in handles.get("input", []):
handler_key = handle.get("handler_key", "")
if handler_key:
result["source"].append(handler_key)
for handle in handles.get("output", []):
handler_key = handle.get("handler_key", "")
if handler_key:
result["target"].append(handler_key)
return result
def validate_workflow_handles(graph: WorkflowGraph) -> Tuple[bool, List[str]]:
"""
校验工作流图中所有边的句柄配置是否正确
Args:
graph: 工作流图对象
Returns:
(is_valid, errors): 是否有效，错误信息列表
"""
errors = []
nodes = graph.nodes
for edge in graph.edges:
left_uuid = edge.get("source")
right_uuid = edge.get("target")
right_source_conn_key = edge.get("target_handle_key", "")
left_target_conn_key = edge.get("source_handle_key", "")
left_node = nodes.get(left_uuid, {})
right_node = nodes.get(right_uuid, {})
left_res_name = left_node.get("resource_name", "")
left_template_name = left_node.get("template_name", "")
right_res_name = right_node.get("resource_name", "")
right_template_name = right_node.get("template_name", "")
left_node_handles = get_action_handles(left_res_name, left_template_name)
target_valid_keys = left_node_handles.get("target", [])
target_valid_keys.append("ready")
right_node_handles = get_action_handles(right_res_name, right_template_name)
source_valid_keys = right_node_handles.get("source", [])
source_valid_keys.append("ready")
# 验证目标节点（right）的输入端口
if not right_source_conn_key:
node_name = right_node.get("name", right_uuid[:8])
errors.append(f"目标节点 '{node_name}' 的输入端口 (target_handle_key) 为空，应设置为: {source_valid_keys}")
elif right_source_conn_key not in source_valid_keys:
node_name = right_node.get("name", right_uuid[:8])
errors.append(
f"目标节点 '{node_name}' 的输入端口 '{right_source_conn_key}' 不存在，支持的输入端口: {source_valid_keys}"
)
# 验证源节点（left）的输出端口
if not left_target_conn_key:
node_name = left_node.get("name", left_uuid[:8])
errors.append(f"源节点 '{node_name}' 的输出端口 (source_handle_key) 为空，应设置为: {target_valid_keys}")
elif left_target_conn_key not in target_valid_keys:
node_name = left_node.get("name", left_uuid[:8])
errors.append(
f"源节点 '{node_name}' 的输出端口 '{left_target_conn_key}' 不存在，支持的输出端口: {target_valid_keys}"
)
return len(errors) == 0, errors
def normalize_workflow_steps(workflow: List[Dict[str, Any]]) -> List[Dict[str, Any]]:
"""
将 workflow 格式的步骤数据规范化
输入格式:
[{"action": "...", "action_args": {...}}, ...]
输出格式:
[{"action": "...", "parameters": {...}, "step_number": int}, ...]
Args:
workflow: workflow 数组
Returns:
规范化后的步骤列表
"""
normalized = []
for idx, step in enumerate(workflow):
action = step.get("action")
if not action:
continue
# 获取参数: action_args
raw_params = step.get("action_args", {})
params = {}
# 应用字段映射
for key, value in raw_params.items():
mapped_key = ARGS_FIELD_MAPPING.get(key, key)
params[mapped_key] = value
step_dict = {
"action": action,
"parameters": params,
"step_number": idx + 1,
}
# 保留描述字段
if "description" in step:
step_dict["description"] = step["description"]
normalized.append(step_dict)
return normalized
def convert_from_json(
data: Union[str, PathLike, Dict[str, Any]],
workstation_name: str = DEFAULT_WORKSTATION,
validate: bool = True,
) -> WorkflowGraph:
"""
从 JSON 数据或文件转换为 WorkflowGraph
JSON 格式:
{"workflow": [...], "reagent": {...}}
Args:
data: JSON 文件路径、字典数据、或 JSON 字符串
workstation_name: 工作站名称，默认 "PRCXi"
validate: 是否校验句柄配置，默认 True
Returns:
WorkflowGraph: 构建好的工作流图
Raises:
ValueError: 不支持的 JSON 格式
FileNotFoundError: 文件不存在
json.JSONDecodeError: JSON 解析失败
"""
# 处理输入数据
if isinstance(data, (str, PathLike)):
path = Path(data)
if path.exists():
with path.open("r", encoding="utf-8") as fp:
json_data = json.load(fp)
elif isinstance(data, str):
json_data = json.loads(data)
else:
raise FileNotFoundError(f"文件不存在: {data}")
elif isinstance(data, dict):
json_data = data
else:
raise TypeError(f"不支持的数据类型: {type(data)}")
# 校验格式
if "workflow" not in json_data or "reagent" not in json_data:
raise ValueError(
"不支持的 JSON 格式。请使用标准格式:\n"
'{"workflow": [{"action": "...", "action_args": {...}}, ...], '
'"reagent": {"name": {"slot": int, "well": [...], "labware": "..."}, ...}}'
)
# 提取数据
workflow = json_data["workflow"]
reagent = json_data["reagent"]
# 规范化步骤数据
protocol_steps = normalize_workflow_steps(workflow)
# reagent 已经是字典格式，直接使用
labware_info = reagent
# 构建工作流图
graph = build_protocol_graph(
labware_info=labware_info,
protocol_steps=protocol_steps,
workstation_name=workstation_name,
action_resource_mapping=ACTION_RESOURCE_MAPPING,
)
# 校验句柄配置
if validate:
is_valid, errors = validate_workflow_handles(graph)
if not is_valid:
import warnings
for error in errors:
warnings.warn(f"句柄校验警告: {error}")
return graph
def convert_json_to_node_link(
data: Union[str, PathLike, Dict[str, Any]],
workstation_name: str = DEFAULT_WORKSTATION,
) -> Dict[str, Any]:
"""
将 JSON 数据转换为 node-link 格式的字典
Args:
data: JSON 文件路径、字典数据、或 JSON 字符串
workstation_name: 工作站名称，默认 "PRCXi"
Returns:
Dict: node-link 格式的工作流数据
"""
graph = convert_from_json(data, workstation_name)
return graph.to_node_link_dict()
def convert_json_to_workflow_list(
data: Union[str, PathLike, Dict[str, Any]],
workstation_name: str = DEFAULT_WORKSTATION,
) -> List[Dict[str, Any]]:
"""
将 JSON 数据转换为工作流列表格式
Args:
data: JSON 文件路径、字典数据、或 JSON 字符串
workstation_name: 工作站名称，默认 "PRCXi"
Returns:
List: 工作流节点列表
"""
graph = convert_from_json(data, workstation_name)
return graph.to_dict()

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"""
JSON 工作流转换模块
提供从多种 JSON 格式转换为统一工作流格式的功能。
支持的格式：
1. workflow/reagent 格式
2. steps_info/labware_info 格式
"""
import json
from os import PathLike
from pathlib import Path
from typing import Any, Dict, List, Optional, Set, Tuple, Union
from unilabos.workflow.common import WorkflowGraph, build_protocol_graph
from unilabos.registry.registry import lab_registry
def get_action_handles(resource_name: str, template_name: str) -> Dict[str, List[str]]:
"""
从 registry 获取指定设备和动作的 handles 配置
Args:
resource_name: 设备资源名称，如 "liquid_handler.prcxi"
template_name: 动作模板名称，如 "transfer_liquid"
Returns:
包含 source 和 target handler_keys 的字典:
{"source": ["sources_out", "targets_out", ...], "target": ["sources", "targets", ...]}
"""
result = {"source": [], "target": []}
device_info = lab_registry.device_type_registry.get(resource_name, {})
if not device_info:
return result
action_mappings = device_info.get("class", {}).get("action_value_mappings", {})
action_config = action_mappings.get(template_name, {})
handles = action_config.get("handles", {})
if isinstance(handles, dict):
# 处理 input handles (作为 target)
for handle in handles.get("input", []):
handler_key = handle.get("handler_key", "")
if handler_key:
result["source"].append(handler_key)
# 处理 output handles (作为 source)
for handle in handles.get("output", []):
handler_key = handle.get("handler_key", "")
if handler_key:
result["target"].append(handler_key)
return result
def validate_workflow_handles(graph: WorkflowGraph) -> Tuple[bool, List[str]]:
"""
校验工作流图中所有边的句柄配置是否正确
Args:
graph: 工作流图对象
Returns:
(is_valid, errors): 是否有效，错误信息列表
"""
errors = []
nodes = graph.nodes
for edge in graph.edges:
left_uuid = edge.get("source")
right_uuid = edge.get("target")
# target_handle_key是target, right的输入节点（入节点）
# source_handle_key是source, left的输出节点（出节点）
right_source_conn_key = edge.get("target_handle_key", "")
left_target_conn_key = edge.get("source_handle_key", "")
# 获取源节点和目标节点信息
left_node = nodes.get(left_uuid, {})
right_node = nodes.get(right_uuid, {})
left_res_name = left_node.get("resource_name", "")
left_template_name = left_node.get("template_name", "")
right_res_name = right_node.get("resource_name", "")
right_template_name = right_node.get("template_name", "")
# 获取源节点的 output handles
left_node_handles = get_action_handles(left_res_name, left_template_name)
target_valid_keys = left_node_handles.get("target", [])
target_valid_keys.append("ready")
# 获取目标节点的 input handles
right_node_handles = get_action_handles(right_res_name, right_template_name)
source_valid_keys = right_node_handles.get("source", [])
source_valid_keys.append("ready")
# 如果节点配置了 output handles，则 source_port 必须有效
if not right_source_conn_key:
node_name = left_node.get("name", left_uuid[:8])
errors.append(f"源节点 '{node_name}' 的 source_handle_key 为空，" f"应设置为: {source_valid_keys}")
elif right_source_conn_key not in source_valid_keys:
node_name = left_node.get("name", left_uuid[:8])
errors.append(
f"源节点 '{node_name}' 的 source 端点 '{right_source_conn_key}' 不存在，" f"支持的端点: {source_valid_keys}"
)
# 如果节点配置了 input handles，则 target_port 必须有效
if not left_target_conn_key:
node_name = right_node.get("name", right_uuid[:8])
errors.append(f"目标节点 '{node_name}' 的 target_handle_key 为空，" f"应设置为: {target_valid_keys}")
elif left_target_conn_key not in target_valid_keys:
node_name = right_node.get("name", right_uuid[:8])
errors.append(
f"目标节点 '{node_name}' 的 target 端点 '{left_target_conn_key}' 不存在，"
f"支持的端点: {target_valid_keys}"
)
return len(errors) == 0, errors
# action 到 resource_name 的映射
ACTION_RESOURCE_MAPPING: Dict[str, str] = {
# 生物实验操作
"transfer_liquid": "liquid_handler.prcxi",
"transfer": "liquid_handler.prcxi",
"incubation": "incubator.prcxi",
"move_labware": "labware_mover.prcxi",
"oscillation": "shaker.prcxi",
# 有机化学操作
"HeatChillToTemp": "heatchill.chemputer",
"StopHeatChill": "heatchill.chemputer",
"StartHeatChill": "heatchill.chemputer",
"HeatChill": "heatchill.chemputer",
"Dissolve": "stirrer.chemputer",
"Transfer": "liquid_handler.chemputer",
"Evaporate": "rotavap.chemputer",
"Recrystallize": "reactor.chemputer",
"Filter": "filter.chemputer",
"Dry": "dryer.chemputer",
"Add": "liquid_handler.chemputer",
}
def normalize_steps(data: List[Dict[str, Any]]) -> List[Dict[str, Any]]:
"""
将不同格式的步骤数据规范化为统一格式
支持的输入格式：
- action + parameters
- action + action_args
- operation + parameters
Args:
data: 原始步骤数据列表
Returns:
规范化后的步骤列表，格式为 [{"action": str, "parameters": dict, "description": str?, "step_number": int?}, ...]
"""
normalized = []
for idx, step in enumerate(data):
# 获取动作名称（支持 action 或 operation 字段）
action = step.get("action") or step.get("operation")
if not action:
continue
# 获取参数（支持 parameters 或 action_args 字段）
raw_params = step.get("parameters") or step.get("action_args") or {}
params = dict(raw_params)
# 规范化 source/target -> sources/targets
if "source" in raw_params and "sources" not in raw_params:
params["sources"] = raw_params["source"]
if "target" in raw_params and "targets" not in raw_params:
params["targets"] = raw_params["target"]
# 获取描述（支持 description 或 purpose 字段）
description = step.get("description") or step.get("purpose")
# 获取步骤编号（优先使用原始数据中的 step_number，否则使用索引+1）
step_number = step.get("step_number", idx + 1)
step_dict = {"action": action, "parameters": params, "step_number": step_number}
if description:
step_dict["description"] = description
normalized.append(step_dict)
return normalized
def normalize_labware(data: List[Dict[str, Any]]) -> Dict[str, Dict[str, Any]]:
"""
将不同格式的 labware 数据规范化为统一的字典格式
支持的输入格式：
- reagent_name + material_name + positions
- name + labware + slot
Args:
data: 原始 labware 数据列表
Returns:
规范化后的 labware 字典，格式为 {name: {"slot": int, "labware": str, "well": list, "type": str, "role": str, "name": str}, ...}
"""
labware = {}
for item in data:
# 获取 key 名称（优先使用 reagent_name，其次是 material_name 或 name）
reagent_name = item.get("reagent_name")
key = reagent_name or item.get("material_name") or item.get("name")
if not key:
continue
key = str(key)
# 处理重复 key，自动添加后缀
idx = 1
original_key = key
while key in labware:
idx += 1
key = f"{original_key}_{idx}"
labware[key] = {
"slot": item.get("positions") or item.get("slot"),
"labware": item.get("material_name") or item.get("labware"),
"well": item.get("well", []),
"type": item.get("type", "reagent"),
"role": item.get("role", ""),
"name": key,
}
return labware
def convert_from_json(
data: Union[str, PathLike, Dict[str, Any]],
workstation_name: str = "PRCXi",
validate: bool = True,
) -> WorkflowGraph:
"""
从 JSON 数据或文件转换为 WorkflowGraph
支持的 JSON 格式：
1. {"workflow": [...], "reagent": {...}} - 直接格式
2. {"steps_info": [...], "labware_info": [...]} - 需要规范化的格式
Args:
data: JSON 文件路径、字典数据、或 JSON 字符串
workstation_name: 工作站名称，默认 "PRCXi"
validate: 是否校验句柄配置，默认 True
Returns:
WorkflowGraph: 构建好的工作流图
Raises:
ValueError: 不支持的 JSON 格式 或 句柄校验失败
FileNotFoundError: 文件不存在
json.JSONDecodeError: JSON 解析失败
"""
# 处理输入数据
if isinstance(data, (str, PathLike)):
path = Path(data)
if path.exists():
with path.open("r", encoding="utf-8") as fp:
json_data = json.load(fp)
elif isinstance(data, str):
# 尝试作为 JSON 字符串解析
json_data = json.loads(data)
else:
raise FileNotFoundError(f"文件不存在: {data}")
elif isinstance(data, dict):
json_data = data
else:
raise TypeError(f"不支持的数据类型: {type(data)}")
# 根据格式解析数据
if "workflow" in json_data and "reagent" in json_data:
# 格式1: workflow/reagent（已经是规范格式）
protocol_steps = json_data["workflow"]
labware_info = json_data["reagent"]
elif "steps_info" in json_data and "labware_info" in json_data:
# 格式2: steps_info/labware_info（需要规范化）
protocol_steps = normalize_steps(json_data["steps_info"])
labware_info = normalize_labware(json_data["labware_info"])
elif "steps" in json_data and "labware" in json_data:
# 格式3: steps/labware（另一种常见格式）
protocol_steps = normalize_steps(json_data["steps"])
if isinstance(json_data["labware"], list):
labware_info = normalize_labware(json_data["labware"])
else:
labware_info = json_data["labware"]
else:
raise ValueError(
"不支持的 JSON 格式。支持的格式：\n"
"1. {'workflow': [...], 'reagent': {...}}\n"
"2. {'steps_info': [...], 'labware_info': [...]}\n"
"3. {'steps': [...], 'labware': [...]}"
)
# 构建工作流图
graph = build_protocol_graph(
labware_info=labware_info,
protocol_steps=protocol_steps,
workstation_name=workstation_name,
action_resource_mapping=ACTION_RESOURCE_MAPPING,
)
# 校验句柄配置
if validate:
is_valid, errors = validate_workflow_handles(graph)
if not is_valid:
import warnings
for error in errors:
warnings.warn(f"句柄校验警告: {error}")
return graph
def convert_json_to_node_link(
data: Union[str, PathLike, Dict[str, Any]],
workstation_name: str = "PRCXi",
) -> Dict[str, Any]:
"""
将 JSON 数据转换为 node-link 格式的字典
Args:
data: JSON 文件路径、字典数据、或 JSON 字符串
workstation_name: 工作站名称，默认 "PRCXi"
Returns:
Dict: node-link 格式的工作流数据
"""
graph = convert_from_json(data, workstation_name)
return graph.to_node_link_dict()
def convert_json_to_workflow_list(
data: Union[str, PathLike, Dict[str, Any]],
workstation_name: str = "PRCXi",
) -> List[Dict[str, Any]]:
"""
将 JSON 数据转换为工作流列表格式
Args:
data: JSON 文件路径、字典数据、或 JSON 字符串
workstation_name: 工作站名称，默认 "PRCXi"
Returns:
List: 工作流节点列表
"""
graph = convert_from_json(data, workstation_name)
return graph.to_dict()
# 为了向后兼容，保留下划线前缀的别名
_normalize_steps = normalize_steps
_normalize_labware = normalize_labware