From 604d82140d37d82fee6ca18701bc8c0a81a92782 Mon Sep 17 00:00:00 2001 From: Guangxin Zhang Date: Wed, 16 Jul 2025 21:04:58 +0800 Subject: [PATCH] Update prcxi.py --- .../liquid_handler_abstract.py | 10 ++- .../devices/liquid_handling/prcxi/prcxi.py | 77 +++++++++++++------ 2 files changed, 61 insertions(+), 26 deletions(-) diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py index cf4a625..1742048 100644 --- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py +++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py @@ -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], diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index 122607b..077597d 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -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,