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qxw138
2025-06-06 13:56:39 +08:00
parent 5e86112ebf
commit 5bec899479
2 changed files with 102 additions and 34 deletions
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84
unilabos/devices/liquid_handling/biomek.py
View File

@@ -46,7 +46,7 @@ class LiquidHandlerBiomek(LiquidHandlerAbstract):
'LocalPattern': True,
'Operation': 'Aspirate',
'OverrideHeight': False,
'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True),
'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True),
'Prototype': 'MC P300 High',
'ReferencedPattern': '',
'RowsFirst': False,
@@ -364,6 +364,61 @@ class LiquidHandlerBiomek(LiquidHandlerAbstract):
return
def move_biomek(
self,
source: str,
target: str,
):
"""
处理Biomek移动板子的操作。
"""
move_params = {
"Pod": "Pod1",
"GripSide": "A1 near",
"Source": source,
"Target": target,
"LeaveBottomLabware": False,
}
self.temp_protocol["steps"].append(move_params)
return
def incubation_biomek(
self,
time: int,
):
"""
处理Biomek的孵育操作。
"""
incubation_params = {
"Message": "Paused",
"Location": "the whole system",
"Time": time,
"Mode": "TimedResource"
}
self.temp_protocol["steps"].append(incubation_params)
return
def oscillation_biomek(
self,
rpm: int,
time: int,
):
"""
处理Biomek的振荡操作。
"""
oscillation_params = {
'Device': 'OrbitalShaker0',
'Parameters': (str(rpm), '2', str(time), 'CounterClockwise'),
'Command': 'Timed Shake'
}
self.temp_protocol["steps"].append(oscillation_params)
return
if __name__ == "__main__":
@@ -857,16 +912,25 @@ input_steps = json.loads(steps_info)
labwares = json.loads(labware_with_liquid)
for step in input_steps['steps']:
if step['operation'] != 'transfer':
continue
operation = step['operation']
parameters = step['parameters']
handler.transfer_biomek(source=parameters['source'],
target=parameters['target'],
volume=parameters['volume'],
tip_rack=parameters['tip_rack'],
aspirate_techniques='MC P300 high',
dispense_techniques='MC P300 high'
)
if operation == 'transfer':
handler.transfer_biomek(source=parameters['source'],
target=parameters['target'],
volume=parameters['volume'],
tip_rack=parameters['tip_rack'],
aspirate_techniques='MC P300 high',
dispense_techniques='MC P300 high')
elif operation == 'move_labware':
handler.move_biomek(source=parameters['source'],
target=parameters['target'])
elif operation == 'oscillation':
handler.oscillation_biomek(rpm=parameters['rpm'],
time=parameters['time'])
elif operation == 'incubation':
handler.incubation_biomek(time=parameters['time'])
print(json.dumps(handler.temp_protocol, indent=4))

52
unilabos/devices/liquid_handling/biomek_test.py
View File

@@ -1,14 +1,14 @@
import requests
# import requests
from typing import List, Sequence, Optional, Union, Literal
# from geometry_msgs.msg import Point
# from unilabos_msgs.msg import Resource
from pylabrobot.resources import (
Resource,
TipRack,
Container,
Coordinate,
Well
)
# from pylabrobot.resources import (
# Resource,
# TipRack,
# Container,
# Coordinate,
# Well
# )
# from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker # type: ignore
# from .liquid_handler_abstract import LiquidHandlerAbstract
@@ -299,13 +299,10 @@ class LiquidHandlerBiomek:
处理Biomek的孵育操作。
"""
incubation_params = {
"BarcodeInput?": False,
"DeckItems": {},
"Layout": "Multichannel",
"Pause?": True,
"PodSetup": {},
"SplitterPosition": 206,
"VerifyPodSetup?": True
"Message": "Paused",
"Location": "the whole system",
"Time": time,
"Mode": "TimedResource"
}
self.temp_protocol["steps"].append(incubation_params)
@@ -822,16 +819,23 @@ input_steps = json.loads(steps_info)
labwares = json.loads(labware_with_liquid)
for step in input_steps['steps']:
if step['operation'] != 'transfer':
continue
operation = step['operation']
parameters = step['parameters']
handler.transfer_biomek(source=parameters['source'],
target=parameters['target'],
volume=parameters['volume'],
tip_rack=parameters['tip_rack'],
aspirate_techniques='MC P300 high',
dispense_techniques='MC P300 high'
)
if operation == 'transfer':
handler.transfer_biomek(source=parameters['source'],
target=parameters['target'],
volume=parameters['volume'],
tip_rack=parameters['tip_rack'],
aspirate_techniques='MC P300 high',
dispense_techniques='MC P300 high')
elif operation == 'move_labware':
handler.move_biomek(source=parameters['source'],
target=parameters['target'])
elif operation == 'oscillation':
handler.oscillation_biomek(rpm=parameters['rpm'],
time=parameters['time'])
elif operation == 'incubation':
handler.incubation_biomek(time=parameters['time'])
print(json.dumps(handler.temp_protocol, indent=4))