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Update prcxi.py

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This commit is contained in:
Guangxin Zhang
2025-07-16 21:04:58 +08:00
parent 9c4fdd8001
commit 604d82140d
2 changed files with 61 additions and 26 deletions
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10
unilabos/devices/liquid_handling/liquid_handler_abstract.py
View File

@@ -531,6 +531,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
class LiquidHandlerAbstract(LiquidHandlerMiddleware):
"""Extended LiquidHandler with additional operations."""
support_touch_tip = True
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool):
"""Initialize a LiquidHandler.
@@ -748,7 +749,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
if delays is not None:
await self.custom_delay(seconds=delays[1])
await self.touch_tip(targets[_])
await self.discard_tips()
elif len(use_channels) == 8:
tip = []
for _ in range(len(use_channels)):
@@ -811,7 +812,8 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
)
if delays is not None:
await self.custom_delay(seconds=delays[1])
#await self.touch_tip(current_targets)
await self.touch_tip(current_targets)
await self.discard_tips()
except Exception as e:
traceback.print_exc()
@@ -1002,7 +1004,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
print(f"Current time: {time.strftime('%H:%M:%S')}")
async def touch_tip(self, targets: Sequence[Container]):
"""Touch the tip to the side of the well."""
if not self.support_touch_tip:
return
await self.aspirate(
resources=[targets],
vols=[0],

77
unilabos/devices/liquid_handling/prcxi/prcxi.py
View File

@@ -87,7 +87,31 @@ class PRCXI9300Container(Plate):
return data
class PRCXI9300Trash(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。
"""
def __init__(self, name: str, size_x: float, size_y: float, size_z: float, category: str):
super().__init__(name, size_x, size_y, size_z, category=category)
self._unilabos_state = {}
def load_state(self, state: Dict[str, Any]) -> None:
"""从给定的状态加载工作台信息。"""
#super().load_state(state)
self._unilabos_state = state
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
data = super().serialize_state()
data.update(self._unilabos_state)
return data
class PRCXI9300Handler(LiquidHandlerAbstract):
support_touch_tip = False
@property
def reset_ok(self) -> bool:
"""检查设备是否已重置成功。"""
@@ -434,6 +458,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
"""Pick up tips from the specified resource."""
print('111'*500)
if len(ops) != 8:
raise ValueError(f"PRCXI9300Backend drop_tips: Expected 8 pickups, got {len(ops)}")
@@ -1001,7 +1028,7 @@ if __name__ == "__main__":
"uuid": "57b1e4711e9e4a32b529f3132fc5931f",
}
})
plate6 = PRCXI9300Container(name="plateT6", size_x=50, size_y=50, size_z=10, category="plate")
plate6 = PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash")
plate6.load_state({
"Material": {
"uuid": "57b1e4711e9e4a32b529f3132fc5931f",
@@ -1009,13 +1036,15 @@ if __name__ == "__main__":
})
from pylabrobot.resources.opentrons.tip_racks import tipone_96_tiprack_200ul
from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat
from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat
tip_rack = tipone_96_tiprack_200ul("TipRack")
well_containers = corning_96_wellplate_360ul_flat("Plate")
# from pprint import pprint
# pprint(well_containers.children)
plate1.assign_child_resource(tip_rack, location=Coordinate(0, 0, 0))
plate2.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
deck.assign_child_resource(plate2, location=Coordinate(0, 0, 0))
deck.assign_child_resource(plate3, location=Coordinate(0, 0, 0))
@@ -1033,33 +1062,33 @@ if __name__ == "__main__":
# asyncio.run(handler.drop_tips(tip_rack.children[8:16],[0,1,2,3,4,5,6,7]))
# asyncio.run(handler.mix(well_containers.children[:8], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
#print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
# asyncio.run(handler.add_liquid(
# asp_vols=[100]*16,
# dis_vols=[100]*16,
# reagent_sources=well_containers.children[-16:],
# targets=well_containers.children[:16],
# use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
# flow_rates=[None] * 32,
# offsets=[Coordinate(0, 0, 0)] * 32,
# liquid_height=[None] * 16,
# blow_out_air_volume=[None] * 16,
# delays=None,
# mix_time=3,
# mix_vol=50,
# spread="wide",
# ))
asyncio.run(handler.remove_liquid(
vols=[100]*16,
sources=well_containers.children[-16:],
waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
asyncio.run(handler.add_liquid(
asp_vols=[100]*16,
dis_vols=[100]*16,
reagent_sources=well_containers.children[-16:],
targets=well_containers.children[:16],
use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
flow_rates=[None] * 32,
offsets=[Coordinate(0, 0, 0)] * 32,
liquid_height=[None] * 32,
blow_out_air_volume=[None] * 32,
liquid_height=[None] * 16,
blow_out_air_volume=[None] * 16,
delays=None,
mix_time=3,
mix_vol=50,
spread="wide",
))
# asyncio.run(handler.remove_liquid(
# vols=[100]*16,
# sources=well_containers.children[-16:],
# waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
# use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
# flow_rates=[None] * 32,
# offsets=[Coordinate(0, 0, 0)] * 32,
# liquid_height=[None] * 32,
# blow_out_air_volume=[None] * 32,
# spread="wide",
# ))
# asyncio.run(handler.transfer_liquid(
# asp_vols=[100]*16,
# dis_vols=[100]*16,