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refactor and add BIOYOND resources tests

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This commit is contained in:
Junhan Chang
2025-09-25 08:14:48 +08:00
parent a8419dc0c3
commit 63ab1af45d
11 changed files with 606 additions and 108 deletions
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78
unilabos/resources/bioyond/bottle_carrier.py
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@@ -1,78 +0,0 @@
from unilabos.resources.bottle_carrier import Bottle, BottleCarrier
from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder
# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
def BIOYOND_Electrolyte_6VialCarrier(name: str) -> BottleCarrier:
"""6瓶载架 - 2x3布局"""
# 载架尺寸 (mm)
carrier_size_x = 127.8
carrier_size_y = 85.5
carrier_size_z = 50.0
# 瓶位尺寸
bottle_diameter = 30.0
bottle_spacing_x = 42.0 # X方向间距
bottle_spacing_y = 35.0 # Y方向间距
# 计算起始位置 (居中排列)
start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
# 创建6个位置坐标 (2行 x 3列)
locations = []
for row in range(2):
for col in range(3):
x = start_x + col * bottle_spacing_x
y = start_y + row * bottle_spacing_y
z = 5.0 # 架位底部
locations.append(Coordinate(x, y, z))
return BottleCarrier(
name=name,
size_x=carrier_size_x,
size_y=carrier_size_y,
size_z=carrier_size_z,
sites=create_homogeneous_resources(
klass=ResourceHolder,
locations=locations,
resource_size_x=bottle_diameter,
resource_size_y=bottle_diameter,
name_prefix=name,
),
model="BIOYOND_Electrolyte_6VialCarrier",
)
def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier:
"""1瓶载架 - 单个中央位置"""
# 载架尺寸 (mm)
carrier_size_x = 127.8
carrier_size_y = 85.5
carrier_size_z = 100.0
# 烧杯尺寸
beaker_diameter = 80.0
# 计算中央位置
center_x = (carrier_size_x - beaker_diameter) / 2
center_y = (carrier_size_y - beaker_diameter) / 2
center_z = 5.0
return BottleCarrier(
name=name,
size_x=carrier_size_x,
size_y=carrier_size_y,
size_z=carrier_size_z,
sites=create_homogeneous_resources(
klass=ResourceHolder,
locations=[Coordinate(center_x, center_y, center_z)],
resource_size_x=beaker_diameter,
resource_size_y=beaker_diameter,
name_prefix=name,
),
model="BIOYOND_Electrolyte_1BottleCarrier",
)

213
unilabos/resources/bioyond/bottle_carriers.py Normal file
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@@ -0,0 +1,213 @@
from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder
from unilabos.resources.bottle_carrier import Bottle, BottleCarrier
from unilabos.resources.bioyond.bottles import BIOYOND_PolymerStation_Solid_Vial, BIOYOND_PolymerStation_Solution_Beaker, BIOYOND_PolymerStation_Reagent_Bottle
# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
def BIOYOND_Electrolyte_6VialCarrier(name: str) -> BottleCarrier:
"""6瓶载架 - 2x3布局"""
# 载架尺寸 (mm)
carrier_size_x = 127.8
carrier_size_y = 85.5
carrier_size_z = 50.0
# 瓶位尺寸
bottle_diameter = 30.0
bottle_spacing_x = 42.0 # X方向间距
bottle_spacing_y = 35.0 # Y方向间距
# 计算起始位置 (居中排列)
start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
# 创建6个位置坐标 (2行 x 3列)
locations = []
for row in range(2):
for col in range(3):
x = start_x + col * bottle_spacing_x
y = start_y + row * bottle_spacing_y
z = 5.0 # 架位底部
locations.append(Coordinate(x, y, z))
carrier = BottleCarrier(
name=name,
size_x=carrier_size_x,
size_y=carrier_size_y,
size_z=carrier_size_z,
sites=create_homogeneous_resources(
klass=ResourceHolder,
locations=locations,
resource_size_x=bottle_diameter,
resource_size_y=bottle_diameter,
name_prefix=name,
),
model="BIOYOND_Electrolyte_6VialCarrier",
)
carrier.num_items_x = 3
carrier.num_items_y = 2
carrier.num_items_z = 1
for i in range(6):
carrier[i] = BIOYOND_PolymerStation_Solid_Vial(f"{name}_vial_{i+1}")
return carrier
def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier:
"""1瓶载架 - 单个中央位置"""
# 载架尺寸 (mm)
carrier_size_x = 127.8
carrier_size_y = 85.5
carrier_size_z = 100.0
# 烧杯尺寸
beaker_diameter = 80.0
# 计算中央位置
center_x = (carrier_size_x - beaker_diameter) / 2
center_y = (carrier_size_y - beaker_diameter) / 2
center_z = 5.0
carrier = BottleCarrier(
name=name,
size_x=carrier_size_x,
size_y=carrier_size_y,
size_z=carrier_size_z,
sites=create_homogeneous_resources(
klass=ResourceHolder,
locations=[Coordinate(center_x, center_y, center_z)],
resource_size_x=beaker_diameter,
resource_size_y=beaker_diameter,
name_prefix=name,
),
model="BIOYOND_Electrolyte_1BottleCarrier",
)
carrier.num_items_x = 1
carrier.num_items_y = 1
carrier.num_items_z = 1
carrier[0] = BIOYOND_PolymerStation_Solution_Beaker(f"{name}_beaker_1")
return carrier
def BIOYOND_PolymerStation_6VialCarrier(name: str) -> BottleCarrier:
"""6瓶载架 - 2x3布局"""
# 载架尺寸 (mm)
carrier_size_x = 127.8
carrier_size_y = 85.5
carrier_size_z = 50.0
# 瓶位尺寸
bottle_diameter = 30.0
bottle_spacing_x = 42.0 # X方向间距
bottle_spacing_y = 35.0 # Y方向间距
# 计算起始位置 (居中排列)
start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
# 创建6个位置坐标 (2行 x 3列)
locations = []
for row in range(2):
for col in range(3):
x = start_x + col * bottle_spacing_x
y = start_y + row * bottle_spacing_y
z = 5.0 # 架位底部
locations.append(Coordinate(x, y, z))
carrier = BottleCarrier(
name=name,
size_x=carrier_size_x,
size_y=carrier_size_y,
size_z=carrier_size_z,
sites=create_homogeneous_resources(
klass=ResourceHolder,
locations=locations,
resource_size_x=bottle_diameter,
resource_size_y=bottle_diameter,
name_prefix=name,
),
model="BIOYOND_PolymerStation_6VialCarrier",
)
carrier.num_items_x = 3
carrier.num_items_y = 2
carrier.num_items_z = 1
ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序
for i in range(6):
carrier[i] = BIOYOND_PolymerStation_Solid_Vial(f"{name}_vial_{ordering[i]}")
return carrier
def BIOYOND_PolymerStation_1BottleCarrier(name: str) -> BottleCarrier:
"""1瓶载架 - 单个中央位置"""
# 载架尺寸 (mm)
carrier_size_x = 127.8
carrier_size_y = 85.5
carrier_size_z = 20.0
# 烧杯尺寸
beaker_diameter = 60.0
# 计算中央位置
center_x = (carrier_size_x - beaker_diameter) / 2
center_y = (carrier_size_y - beaker_diameter) / 2
center_z = 5.0
carrier = BottleCarrier(
name=name,
size_x=carrier_size_x,
size_y=carrier_size_y,
size_z=carrier_size_z,
sites=create_homogeneous_resources(
klass=ResourceHolder,
locations=[Coordinate(center_x, center_y, center_z)],
resource_size_x=beaker_diameter,
resource_size_y=beaker_diameter,
name_prefix=name,
),
model="BIOYOND_PolymerStation_1BottleCarrier",
)
carrier.num_items_x = 1
carrier.num_items_y = 1
carrier.num_items_z = 1
carrier[0] = BIOYOND_PolymerStation_Reagent_Bottle(f"{name}_flask_1")
return carrier
def BIOYOND_PolymerStation_1FlaskCarrier(name: str) -> BottleCarrier:
"""1瓶载架 - 单个中央位置"""
# 载架尺寸 (mm)
carrier_size_x = 127.8
carrier_size_y = 85.5
carrier_size_z = 20.0
# 烧杯尺寸
beaker_diameter = 70.0
# 计算中央位置
center_x = (carrier_size_x - beaker_diameter) / 2
center_y = (carrier_size_y - beaker_diameter) / 2
center_z = 5.0
carrier = BottleCarrier(
name=name,
size_x=carrier_size_x,
size_y=carrier_size_y,
size_z=carrier_size_z,
sites=create_homogeneous_resources(
klass=ResourceHolder,
locations=[Coordinate(center_x, center_y, center_z)],
resource_size_x=beaker_diameter,
resource_size_y=beaker_diameter,
name_prefix=name,
),
model="BIOYOND_PolymerStation_1FlaskCarrier",
)
carrier.num_items_x = 1
carrier.num_items_y = 1
carrier.num_items_z = 1
carrier[0] = BIOYOND_PolymerStation_Reagent_Bottle(f"{name}_bottle_1")
return carrier

38
unilabos/resources/bioyond/bottle.py → unilabos/resources/bioyond/bottles.py
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@@ -2,11 +2,12 @@ from unilabos.resources.bottle_carrier import Bottle, BottleCarrier
# 工厂函数
def create_powder_bottle(
def BIOYOND_PolymerStation_Solid_Vial(
name: str,
diameter: float = 30.0,
height: float = 50.0,
max_volume: float = 50000.0, # 50mL
diameter: float = 20.0,
height: float = 100.0,
max_volume: float = 30000.0, # 30mL
barcode: str = None,
) -> Bottle:
"""创建粉末瓶"""
return Bottle(
@@ -14,15 +15,17 @@ def create_powder_bottle(
diameter=diameter,
height=height,
max_volume=max_volume,
category="powder_bottle",
barcode=barcode,
model="BIOYOND_PolymerStation_Solid_Vial",
)
def create_solution_beaker(
def BIOYOND_PolymerStation_Solution_Beaker(
name: str,
diameter: float = 80.0,
height: float = 100.0,
max_volume: float = 500000.0, # 500mL
diameter: float = 60.0,
height: float = 70.0,
max_volume: float = 200000.0, # 200mL
barcode: str = None,
) -> Bottle:
"""创建溶液烧杯"""
return Bottle(
@@ -30,15 +33,17 @@ def create_solution_beaker(
diameter=diameter,
height=height,
max_volume=max_volume,
category="solution_beaker",
barcode=barcode,
model="BIOYOND_PolymerStation_Solution_Beaker",
)
def create_reagent_bottle(
def BIOYOND_PolymerStation_Reagent_Bottle(
name: str,
diameter: float = 20.0,
height: float = 40.0,
max_volume: float = 15000.0, # 15mL
diameter: float = 70.0,
height: float = 120.0,
max_volume: float = 500000.0, # 500mL
barcode: str = None,
) -> Bottle:
"""创建试剂瓶"""
return Bottle(
@@ -46,5 +51,6 @@ def create_reagent_bottle(
diameter=diameter,
height=height,
max_volume=max_volume,
category="reagent_bottle",
)
barcode=barcode,
model="BIOYOND_PolymerStation_Reagent_Bottle",
)

48
unilabos/resources/bioyond/decks.py Normal file
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@@ -0,0 +1,48 @@
from pylabrobot.resources import Deck, Coordinate
from unilabos.resources.bioyond.warehouses import bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x2, bioyond_warehouse_liquid_and_lid_handling
class BIOYOND_PolymerReactionStation_Deck(Deck):
def __init__(self, name: str = "PolymerReactionStation_Deck") -> None:
super().__init__(name=name, size_x=2700.0, size_y=1080.0, size_z=1500.0)
def setup(self) -> None:
# 添加仓库
self.warehouses = {
"io_warehouse_left": bioyond_warehouse_1x4x4("io_warehouse_left"),
"io_warehouse_right": bioyond_warehouse_1x4x4("io_warehouse_right"),
"liquid_and_lid_handling": bioyond_warehouse_liquid_and_lid_handling("liquid_and_lid_handling"),
}
self.warehouse_locations = {
"io_warehouse_left": Coordinate(0.0, 650.0, 0.0),
"io_warehouse_right": Coordinate(2550.0, 650.0, 0.0),
"liquid_and_lid_handling": Coordinate(800.0, 475.0, 0.0),
}
for warehouse_name, warehouse in self.warehouses.items():
self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
class BIOYOND_PolymerPreparationStation_Deck(Deck):
def __init__(self, name: str = "PolymerPreparationStation_Deck") -> None:
super().__init__(name=name, size_x=2700.0, size_y=1080.0, size_z=1500.0)
self.warehouses = {}
def setup(self) -> None:
# 添加仓库
self.warehouses = {
"io_warehouse_left": bioyond_warehouse_1x4x4("io_warehouse_left"),
"io_warehouse_right": bioyond_warehouse_1x4x4("io_warehouse_right"),
"solutions": bioyond_warehouse_1x4x2("warehouse_solutions"),
"liquid_and_lid_handling": bioyond_warehouse_liquid_and_lid_handling("warehouse_liquid_and_lid_handling"),
}
self.warehouse_locations = {
"io_warehouse_left": Coordinate(0.0, 650.0, 0.0),
"io_warehouse_right": Coordinate(2550.0, 650.0, 0.0),
"solutions": Coordinate(1915.0, 900.0, 0.0),
"liquid_and_lid_handling": Coordinate(1330.0, 490.0, 0.0),
}
for warehouse_name, warehouse in self.warehouses.items():
self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])

6
unilabos/resources/bioyond/warehouse.py → unilabos/resources/bioyond/warehouses.py
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@@ -18,12 +18,12 @@ def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
)
def bioyond_warehouse_1x3x2(name: str) -> WareHouse:
"""创建BioYond 3x1x2仓库"""
def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
"""创建BioYond 4x1x2仓库"""
return WareHouse(
name=name,
num_items_x=1,
num_items_y=3,
num_items_y=4,
num_items_z=2,
dx=137.0,
dy=96.0,