new actions

unilabos/devices/liquid_handling/biomek.py

@@ -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':
+    operation = step['operation']
-        continue
     parameters = step['parameters']
 
+    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'
+                                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))
 
 

unilabos/devices/liquid_handling/biomek_test.py

@@ -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 (
+# from pylabrobot.resources import (
-    Resource,
+#     Resource,
-    TipRack,
+#     TipRack,
-    Container,
+#     Container,
-    Coordinate,
+#     Coordinate,
-    Well
+#     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,
+            "Message": "Paused",
-            "DeckItems": {},
+            "Location": "the whole system",
-            "Layout": "Multichannel",
+            "Time": time,
-            "Pause?": True,
+            "Mode": "TimedResource"
-            "PodSetup": {},
-            "SplitterPosition": 206,
-            "VerifyPodSetup?": True
         }
         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':
+    operation = step['operation']
-        continue
     parameters = step['parameters']
 
+    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'
+                                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))