mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-04 13:25:13 +00:00
test_transfer_liquid_3
unilabos/test/experiments/prcxi_9320_with_res_test.json需要起的部分： "debug": true, "setup": false, "simulator": true
This commit is contained in:
Xianwei Qi
15
tests/devices/liquid_handling/README.md
Normal file
15
tests/devices/liquid_handling/README.md
Normal file
@@ -0,0 +1,15 @@
|
||||
# Liquid handling 集成测试
|
||||
|
||||
`test_transfer_liquid.py` 现在会调用 PRCXI 的 RViz 仿真 backend，运行前请确保：
|
||||
|
||||
1. 已安装包含 `pylabrobot`、`rclpy` 的运行环境；
|
||||
2. 启动 ROS 依赖（`rviz` 可选，但是 `rviz_backend` 会创建 ROS 节点）；
|
||||
3. 在 shell 中设置 `UNILAB_SIM_TEST=1`，否则 pytest 会自动跳过这些慢速用例：
|
||||
|
||||
```bash
|
||||
export UNILAB_SIM_TEST=1
|
||||
pytest tests/devices/liquid_handling/test_transfer_liquid.py -m slow
|
||||
```
|
||||
|
||||
如果只需验证逻辑层（不依赖仿真），可以直接运行 `tests/devices/liquid_handling/unit_test.py`，该文件使用 Fake backend，适合作为 CI 的快速测试。***
|
||||
|
||||
@@ -1,505 +1,325 @@
|
||||
"""
|
||||
PRCXI transfer_liquid 集成测试。
|
||||
|
||||
这些用例会启动 UniLiquidHandler RViz 仿真 backend，需要同时满足：
|
||||
1. 安装 pylabrobot 依赖；
|
||||
2. 设置环境变量 UNILAB_SIM_TEST=1；
|
||||
3. 具备 ROS 运行环境（rviz_backend 会创建 ROS 节点）。
|
||||
"""
|
||||
import asyncio
|
||||
import os
|
||||
from dataclasses import dataclass
|
||||
from typing import Any, Iterable, List, Optional, Sequence, Tuple
|
||||
from typing import List, Sequence
|
||||
|
||||
import pytest
|
||||
|
||||
from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
|
||||
from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Deck, PRCXI9300Trash
|
||||
from unilabos.devices.liquid_handling.prcxi.prcxi_labware import (
|
||||
PRCXI_300ul_Tips,
|
||||
PRCXI_BioER_96_wellplate,
|
||||
)
|
||||
|
||||
pytestmark = pytest.mark.slow
|
||||
|
||||
try:
|
||||
from pylabrobot.resources import Coordinate, Deck, Plate, TipRack, Well
|
||||
except ImportError: # pragma: no cover - 测试环境缺少 pylabrobot 时直接跳过
|
||||
Coordinate = Deck = Plate = TipRack = Well = None # type: ignore[assignment]
|
||||
PYLABROBOT_AVAILABLE = False
|
||||
else:
|
||||
PYLABROBOT_AVAILABLE = True
|
||||
|
||||
SIM_ENV_VAR = "UNILAB_SIM_TEST"
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class DummyContainer:
|
||||
name: str
|
||||
|
||||
def __repr__(self) -> str: # pragma: no cover
|
||||
return f"DummyContainer({self.name})"
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class DummyTipSpot:
|
||||
name: str
|
||||
|
||||
def __repr__(self) -> str: # pragma: no cover
|
||||
return f"DummyTipSpot({self.name})"
|
||||
|
||||
|
||||
def make_tip_iter(n: int = 256) -> Iterable[List[DummyTipSpot]]:
|
||||
"""Yield lists so code can safely call `tip.extend(next(self.current_tip))`."""
|
||||
for i in range(n):
|
||||
yield [DummyTipSpot(f"tip_{i}")]
|
||||
|
||||
|
||||
class FakeLiquidHandler(LiquidHandlerAbstract):
|
||||
"""不初始化真实 backend/deck；仅用来记录 transfer_liquid 内部调用序列。"""
|
||||
|
||||
def __init__(self, channel_num: int = 8):
|
||||
# 不调用 super().__init__，避免真实硬件/后端依赖
|
||||
self.channel_num = channel_num
|
||||
self.support_touch_tip = True
|
||||
self.current_tip = iter(make_tip_iter())
|
||||
self.calls: List[Tuple[str, Any]] = []
|
||||
|
||||
async def pick_up_tips(self, tip_spots, use_channels=None, offsets=None, **backend_kwargs):
|
||||
self.calls.append(("pick_up_tips", {"tips": list(tip_spots), "use_channels": use_channels}))
|
||||
|
||||
async def aspirate(
|
||||
self,
|
||||
resources: Sequence[Any],
|
||||
vols: List[float],
|
||||
use_channels: Optional[List[int]] = None,
|
||||
flow_rates: Optional[List[Optional[float]]] = None,
|
||||
offsets: Any = None,
|
||||
liquid_height: Any = None,
|
||||
blow_out_air_volume: Any = None,
|
||||
spread: str = "wide",
|
||||
**backend_kwargs,
|
||||
):
|
||||
self.calls.append(
|
||||
(
|
||||
"aspirate",
|
||||
{
|
||||
"resources": list(resources),
|
||||
"vols": list(vols),
|
||||
"use_channels": list(use_channels) if use_channels is not None else None,
|
||||
"flow_rates": list(flow_rates) if flow_rates is not None else None,
|
||||
"offsets": list(offsets) if offsets is not None else None,
|
||||
"liquid_height": list(liquid_height) if liquid_height is not None else None,
|
||||
"blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
|
||||
},
|
||||
)
|
||||
)
|
||||
|
||||
async def dispense(
|
||||
self,
|
||||
resources: Sequence[Any],
|
||||
vols: List[float],
|
||||
use_channels: Optional[List[int]] = None,
|
||||
flow_rates: Optional[List[Optional[float]]] = None,
|
||||
offsets: Any = None,
|
||||
liquid_height: Any = None,
|
||||
blow_out_air_volume: Any = None,
|
||||
spread: str = "wide",
|
||||
**backend_kwargs,
|
||||
):
|
||||
self.calls.append(
|
||||
(
|
||||
"dispense",
|
||||
{
|
||||
"resources": list(resources),
|
||||
"vols": list(vols),
|
||||
"use_channels": list(use_channels) if use_channels is not None else None,
|
||||
"flow_rates": list(flow_rates) if flow_rates is not None else None,
|
||||
"offsets": list(offsets) if offsets is not None else None,
|
||||
"liquid_height": list(liquid_height) if liquid_height is not None else None,
|
||||
"blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
|
||||
},
|
||||
)
|
||||
)
|
||||
|
||||
async def discard_tips(self, use_channels=None, *args, **kwargs):
|
||||
# 有的分支是 discard_tips(use_channels=[0])，有的分支是 discard_tips([0..7])（位置参数）
|
||||
self.calls.append(("discard_tips", {"use_channels": list(use_channels) if use_channels is not None else None}))
|
||||
|
||||
async def custom_delay(self, seconds=0, msg=None):
|
||||
self.calls.append(("custom_delay", {"seconds": seconds, "msg": msg}))
|
||||
|
||||
async def touch_tip(self, targets):
|
||||
# 原实现会访问 targets.get_size_x() 等；测试里只记录调用
|
||||
self.calls.append(("touch_tip", {"targets": targets}))
|
||||
|
||||
async def mix(self, targets, mix_time=None, mix_vol=None, height_to_bottom=None, offsets=None, mix_rate=None, none_keys=None):
|
||||
self.calls.append(
|
||||
(
|
||||
"mix",
|
||||
{
|
||||
"targets": targets,
|
||||
"mix_time": mix_time,
|
||||
"mix_vol": mix_vol,
|
||||
},
|
||||
)
|
||||
)
|
||||
@dataclass
|
||||
class SimulationContext:
|
||||
handler: LiquidHandlerAbstract
|
||||
deck: Deck
|
||||
tip_rack: TipRack
|
||||
source_plate: Plate
|
||||
target_plate: Plate
|
||||
waste_plate: Plate
|
||||
channel_num: int
|
||||
|
||||
|
||||
def run(coro):
|
||||
return asyncio.run(coro)
|
||||
|
||||
|
||||
def test_one_to_one_single_channel_basic_calls():
|
||||
lh = FakeLiquidHandler(channel_num=1)
|
||||
lh.current_tip = iter(make_tip_iter(64))
|
||||
def _ensure_unilabos_extra(well: Well) -> None:
|
||||
if not hasattr(well, "unilabos_extra") or well.unilabos_extra is None:
|
||||
well.unilabos_extra = {} # type: ignore[attr-defined]
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(3)]
|
||||
targets = [DummyContainer(f"T{i}") for i in range(3)]
|
||||
|
||||
def _assign_sample_uuid(well: Well, value: str) -> None:
|
||||
_ensure_unilabos_extra(well)
|
||||
well.unilabos_extra["sample_uuid"] = value # type: ignore[attr-defined]
|
||||
|
||||
|
||||
def _zero_coordinate() -> Coordinate:
|
||||
if hasattr(Coordinate, "zero"):
|
||||
return Coordinate.zero()
|
||||
return Coordinate(0, 0, 0)
|
||||
|
||||
|
||||
def _zero_offsets(count: int) -> List[Coordinate]:
|
||||
return [_zero_coordinate() for _ in range(count)]
|
||||
|
||||
|
||||
def _build_simulation_deck() -> tuple[PRCXI9300Deck, TipRack, Plate, Plate, Plate, PRCXI9300Trash]:
|
||||
deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=542, size_y=374, size_z=50)
|
||||
tip_rack = PRCXI_300ul_Tips("Tips")
|
||||
source_plate = PRCXI_BioER_96_wellplate("SourcePlate")
|
||||
target_plate = PRCXI_BioER_96_wellplate("TargetPlate")
|
||||
waste_plate = PRCXI_BioER_96_wellplate("WastePlate")
|
||||
trash = PRCXI9300Trash(name="trash", size_x=100, size_y=100, size_z=50)
|
||||
deck.assign_child_resource(tip_rack, location=Coordinate(0, 0, 0))
|
||||
deck.assign_child_resource(source_plate, location=Coordinate(150, 0, 0))
|
||||
deck.assign_child_resource(target_plate, location=Coordinate(300, 0, 0))
|
||||
deck.assign_child_resource(waste_plate, location=Coordinate(450, 0, 0))
|
||||
deck.assign_child_resource(trash, location=Coordinate(150, -120, 0))
|
||||
return deck, tip_rack, source_plate, target_plate, waste_plate, trash
|
||||
|
||||
|
||||
def _stop_backend(handler: LiquidHandlerAbstract) -> None:
|
||||
try:
|
||||
run(handler.backend.stop())
|
||||
except Exception: # pragma: no cover - 如果 backend 已经停止
|
||||
pass
|
||||
simulate_handler = getattr(handler, "_simulate_handler", None)
|
||||
if simulate_handler is not None and getattr(simulate_handler, "backend", None) is not None:
|
||||
try:
|
||||
run(simulate_handler.backend.stop())
|
||||
except Exception: # pragma: no cover
|
||||
pass
|
||||
|
||||
|
||||
@pytest.fixture(params=[1, 8])
|
||||
def prcxi_simulation(request) -> SimulationContext:
|
||||
if not PYLABROBOT_AVAILABLE:
|
||||
pytest.skip("pylabrobot is required for PRCXI simulation tests.")
|
||||
if os.environ.get(SIM_ENV_VAR) != "1":
|
||||
pytest.skip(f"Set {SIM_ENV_VAR}=1 to run PRCXI simulation tests.")
|
||||
|
||||
channel_num = request.param
|
||||
deck, tip_rack, source_plate, target_plate, waste_plate, _trash = _build_simulation_deck()
|
||||
backend_cfg = {
|
||||
"type": "unilabos.devices.liquid_handling.rviz_backend.UniLiquidHandlerRvizBackend",
|
||||
"channel_num": channel_num,
|
||||
"total_height": 310,
|
||||
"lh_device_id": f"pytest_prcxi_{channel_num}",
|
||||
}
|
||||
handler = LiquidHandlerAbstract(
|
||||
backend=backend_cfg,
|
||||
deck=deck,
|
||||
simulator=True,
|
||||
channel_num=channel_num,
|
||||
total_height=310,
|
||||
)
|
||||
run(handler.setup())
|
||||
handler.set_tiprack([tip_rack])
|
||||
handler.support_touch_tip = False
|
||||
|
||||
context = SimulationContext(
|
||||
handler=handler,
|
||||
deck=deck,
|
||||
tip_rack=tip_rack,
|
||||
source_plate=source_plate,
|
||||
target_plate=target_plate,
|
||||
waste_plate=waste_plate,
|
||||
channel_num=channel_num,
|
||||
)
|
||||
|
||||
yield context
|
||||
|
||||
_stop_backend(handler)
|
||||
|
||||
|
||||
def _pick_wells(plate: Plate, start: int, count: int) -> List[Well]:
|
||||
wells = plate.children[start : start + count]
|
||||
for well in wells:
|
||||
_ensure_unilabos_extra(well)
|
||||
return wells
|
||||
|
||||
|
||||
def _assert_samples_match(sources: Sequence[Well], targets: Sequence[Well]) -> None:
|
||||
for src, tgt in zip(sources, targets):
|
||||
src_uuid = getattr(src, "unilabos_extra", {}).get("sample_uuid")
|
||||
tgt_uuid = getattr(tgt, "unilabos_extra", {}).get("sample_uuid")
|
||||
assert tgt_uuid == src_uuid
|
||||
|
||||
|
||||
def test_transfer_liquid_single_channel_one_to_one(prcxi_simulation: SimulationContext):
|
||||
if prcxi_simulation.channel_num != 1:
|
||||
pytest.skip("仅在单通道配置下运行")
|
||||
|
||||
handler = prcxi_simulation.handler
|
||||
sources = _pick_wells(prcxi_simulation.source_plate, start=0, count=3)
|
||||
targets = _pick_wells(prcxi_simulation.target_plate, start=10, count=3)
|
||||
for idx, src in enumerate(sources):
|
||||
_assign_sample_uuid(src, f"single_{idx}")
|
||||
offsets = _zero_offsets(max(len(sources), len(targets)))
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
handler.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
tip_racks=[prcxi_simulation.tip_rack],
|
||||
use_channels=[0],
|
||||
asp_vols=[1, 2, 3],
|
||||
dis_vols=[4, 5, 6],
|
||||
mix_times=None, # 应该仍能执行（不 mix）
|
||||
asp_vols=[5.0, 6.0, 7.0],
|
||||
dis_vols=[10.0, 11.0, 12.0],
|
||||
offsets=offsets,
|
||||
mix_times=None,
|
||||
)
|
||||
)
|
||||
|
||||
assert [c[0] for c in lh.calls].count("pick_up_tips") == 3
|
||||
assert [c[0] for c in lh.calls].count("aspirate") == 3
|
||||
assert [c[0] for c in lh.calls].count("dispense") == 3
|
||||
assert [c[0] for c in lh.calls].count("discard_tips") == 3
|
||||
|
||||
# 每次 aspirate/dispense 都是单孔列表
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
assert aspirates[0]["resources"] == [sources[0]]
|
||||
assert aspirates[0]["vols"] == [1.0]
|
||||
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert dispenses[2]["resources"] == [targets[2]]
|
||||
assert dispenses[2]["vols"] == [6.0]
|
||||
_assert_samples_match(sources, targets)
|
||||
|
||||
|
||||
def test_one_to_one_single_channel_before_stage_mixes_prior_to_aspirate():
|
||||
lh = FakeLiquidHandler(channel_num=1)
|
||||
lh.current_tip = iter(make_tip_iter(16))
|
||||
def test_transfer_liquid_single_channel_one_to_many(prcxi_simulation: SimulationContext):
|
||||
if prcxi_simulation.channel_num != 1:
|
||||
pytest.skip("仅在单通道配置下运行")
|
||||
|
||||
source = DummyContainer("S0")
|
||||
target = DummyContainer("T0")
|
||||
handler = prcxi_simulation.handler
|
||||
source = _pick_wells(prcxi_simulation.source_plate, start=20, count=1)[0]
|
||||
targets = _pick_wells(prcxi_simulation.target_plate, start=30, count=3)
|
||||
_assign_sample_uuid(source, "one_to_many_source")
|
||||
offsets = _zero_offsets(max(len(targets), 1))
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
handler.transfer_liquid(
|
||||
sources=[source],
|
||||
targets=[target],
|
||||
tip_racks=[],
|
||||
targets=targets,
|
||||
tip_racks=[prcxi_simulation.tip_rack],
|
||||
use_channels=[0],
|
||||
asp_vols=[5],
|
||||
dis_vols=[5],
|
||||
mix_stage="before",
|
||||
asp_vols=60.0,
|
||||
dis_vols=[15.0, 20.0, 25.0],
|
||||
offsets=offsets,
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
for target in targets:
|
||||
assert getattr(target, "unilabos_extra", {}).get("sample_uuid") == "one_to_many_source"
|
||||
|
||||
|
||||
def test_transfer_liquid_single_channel_many_to_one(prcxi_simulation: SimulationContext):
|
||||
if prcxi_simulation.channel_num != 1:
|
||||
pytest.skip("仅在单通道配置下运行")
|
||||
|
||||
handler = prcxi_simulation.handler
|
||||
sources = _pick_wells(prcxi_simulation.source_plate, start=40, count=3)
|
||||
target = _pick_wells(prcxi_simulation.target_plate, start=50, count=1)[0]
|
||||
for idx, src in enumerate(sources):
|
||||
_assign_sample_uuid(src, f"many_to_one_{idx}")
|
||||
offsets = _zero_offsets(max(len(sources), len([target])))
|
||||
|
||||
run(
|
||||
handler.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=[target],
|
||||
tip_racks=[prcxi_simulation.tip_rack],
|
||||
use_channels=[0],
|
||||
asp_vols=[8.0, 9.0, 10.0],
|
||||
dis_vols=1,
|
||||
offsets=offsets,
|
||||
mix_stage="after",
|
||||
mix_times=1,
|
||||
mix_vol=5,
|
||||
)
|
||||
)
|
||||
|
||||
assert getattr(target, "unilabos_extra", {}).get("sample_uuid") == "many_to_one_2"
|
||||
|
||||
|
||||
def test_transfer_liquid_eight_channel_batches(prcxi_simulation: SimulationContext):
|
||||
if prcxi_simulation.channel_num != 8:
|
||||
pytest.skip("仅在八通道配置下运行")
|
||||
|
||||
handler = prcxi_simulation.handler
|
||||
sources = _pick_wells(prcxi_simulation.source_plate, start=0, count=8)
|
||||
targets = _pick_wells(prcxi_simulation.target_plate, start=16, count=8)
|
||||
for idx, src in enumerate(sources):
|
||||
_assign_sample_uuid(src, f"batch_{idx}")
|
||||
offsets = _zero_offsets(len(targets))
|
||||
|
||||
use_channels = list(range(8))
|
||||
asp_vols = [float(i + 1) * 2 for i in range(8)]
|
||||
dis_vols = [float(i + 10) for i in range(8)]
|
||||
|
||||
run(
|
||||
handler.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=[prcxi_simulation.tip_rack],
|
||||
use_channels=use_channels,
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=dis_vols,
|
||||
offsets=offsets,
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
_assert_samples_match(sources, targets)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("mix_stage", ["before", "after", "both"])
|
||||
def test_transfer_liquid_mix_stages(prcxi_simulation: SimulationContext, mix_stage: str):
|
||||
if prcxi_simulation.channel_num != 1:
|
||||
pytest.skip("仅在单通道配置下运行")
|
||||
|
||||
handler = prcxi_simulation.handler
|
||||
target = _pick_wells(prcxi_simulation.target_plate, start=70, count=1)[0]
|
||||
sources = _pick_wells(prcxi_simulation.source_plate, start=80, count=2)
|
||||
for idx, src in enumerate(sources):
|
||||
_assign_sample_uuid(src, f"mix_stage_{mix_stage}_{idx}")
|
||||
|
||||
run(
|
||||
handler.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=[target],
|
||||
tip_racks=[prcxi_simulation.tip_rack],
|
||||
use_channels=[0],
|
||||
asp_vols=[4.0, 5.0],
|
||||
dis_vols=1,
|
||||
offsets=_zero_offsets(len(sources)),
|
||||
mix_stage=mix_stage,
|
||||
mix_times=2,
|
||||
mix_vol=3,
|
||||
)
|
||||
)
|
||||
|
||||
names = [name for name, _ in lh.calls]
|
||||
assert names.count("mix") == 1
|
||||
assert names.index("mix") < names.index("aspirate")
|
||||
# mix_stage 前后都应该保留最新源的 sample_uuid
|
||||
assert getattr(target, "unilabos_extra", {}).get("sample_uuid") == f"mix_stage_{mix_stage}_1"
|
||||
if prcxi_simulation.channel_num != 8:
|
||||
pytest.skip("仅在八通道配置下运行")
|
||||
|
||||
handler = prcxi_simulation.handler
|
||||
sources = _pick_wells(prcxi_simulation.source_plate, start=0, count=8)
|
||||
targets = _pick_wells(prcxi_simulation.target_plate, start=16, count=8)
|
||||
for idx, src in enumerate(sources):
|
||||
_assign_sample_uuid(src, f"batch_{idx}")
|
||||
offsets = _zero_offsets(len(targets))
|
||||
|
||||
def test_one_to_one_eight_channel_groups_by_8():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(256))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(16)]
|
||||
targets = [DummyContainer(f"T{i}") for i in range(16)]
|
||||
asp_vols = list(range(1, 17))
|
||||
dis_vols = list(range(101, 117))
|
||||
use_channels = list(range(8))
|
||||
asp_vols = [float(i + 1) * 2 for i in range(8)]
|
||||
dis_vols = [float(i + 10) for i in range(8)]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
handler.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=list(range(8)),
|
||||
tip_racks=[prcxi_simulation.tip_rack],
|
||||
use_channels=use_channels,
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=dis_vols,
|
||||
mix_times=0, # 触发逻辑但不 mix
|
||||
)
|
||||
)
|
||||
|
||||
# 16 个任务 -> 2 组，每组 8 通道一起做
|
||||
assert [c[0] for c in lh.calls].count("pick_up_tips") == 2
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert len(aspirates) == 2
|
||||
assert len(dispenses) == 2
|
||||
|
||||
assert aspirates[0]["resources"] == sources[0:8]
|
||||
assert aspirates[0]["vols"] == [float(v) for v in asp_vols[0:8]]
|
||||
assert dispenses[1]["resources"] == targets[8:16]
|
||||
assert dispenses[1]["vols"] == [float(v) for v in dis_vols[8:16]]
|
||||
|
||||
|
||||
def test_one_to_one_eight_channel_requires_multiple_of_8_targets():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(64))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(9)]
|
||||
targets = [DummyContainer(f"T{i}") for i in range(9)]
|
||||
|
||||
with pytest.raises(ValueError, match="multiple of 8"):
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=list(range(8)),
|
||||
asp_vols=[1] * 9,
|
||||
dis_vols=[1] * 9,
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
|
||||
def test_one_to_one_eight_channel_parameter_lists_are_chunked_per_8():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(512))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(16)]
|
||||
targets = [DummyContainer(f"T{i}") for i in range(16)]
|
||||
asp_vols = [i + 1 for i in range(16)]
|
||||
dis_vols = [200 + i for i in range(16)]
|
||||
asp_flow_rates = [0.1 * (i + 1) for i in range(16)]
|
||||
dis_flow_rates = [0.2 * (i + 1) for i in range(16)]
|
||||
offsets = [f"offset_{i}" for i in range(16)]
|
||||
liquid_heights = [i * 0.5 for i in range(16)]
|
||||
blow_out_air_volume = [i + 0.05 for i in range(16)]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=list(range(8)),
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=dis_vols,
|
||||
asp_flow_rates=asp_flow_rates,
|
||||
dis_flow_rates=dis_flow_rates,
|
||||
offsets=offsets,
|
||||
liquid_height=liquid_heights,
|
||||
blow_out_air_volume=blow_out_air_volume,
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert len(aspirates) == len(dispenses) == 2
|
||||
|
||||
for batch_idx in range(2):
|
||||
start = batch_idx * 8
|
||||
end = start + 8
|
||||
asp_call = aspirates[batch_idx]
|
||||
dis_call = dispenses[batch_idx]
|
||||
assert asp_call["resources"] == sources[start:end]
|
||||
assert asp_call["flow_rates"] == asp_flow_rates[start:end]
|
||||
assert asp_call["offsets"] == offsets[start:end]
|
||||
assert asp_call["liquid_height"] == liquid_heights[start:end]
|
||||
assert asp_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
|
||||
assert dis_call["flow_rates"] == dis_flow_rates[start:end]
|
||||
assert dis_call["offsets"] == offsets[start:end]
|
||||
assert dis_call["liquid_height"] == liquid_heights[start:end]
|
||||
assert dis_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
|
||||
|
||||
|
||||
def test_one_to_one_eight_channel_handles_32_tasks_four_batches():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(1024))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(32)]
|
||||
targets = [DummyContainer(f"T{i}") for i in range(32)]
|
||||
asp_vols = [i + 1 for i in range(32)]
|
||||
dis_vols = [300 + i for i in range(32)]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=list(range(8)),
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=dis_vols,
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
pick_calls = [name for name, _ in lh.calls if name == "pick_up_tips"]
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert len(pick_calls) == 4
|
||||
assert len(aspirates) == len(dispenses) == 4
|
||||
assert aspirates[0]["resources"] == sources[0:8]
|
||||
assert aspirates[-1]["resources"] == sources[24:32]
|
||||
assert dispenses[0]["resources"] == targets[0:8]
|
||||
assert dispenses[-1]["resources"] == targets[24:32]
|
||||
|
||||
|
||||
def test_one_to_many_single_channel_aspirates_total_when_asp_vol_too_small():
|
||||
lh = FakeLiquidHandler(channel_num=1)
|
||||
lh.current_tip = iter(make_tip_iter(64))
|
||||
|
||||
source = DummyContainer("SRC")
|
||||
targets = [DummyContainer(f"T{i}") for i in range(3)]
|
||||
dis_vols = [10, 20, 30] # sum=60
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=[source],
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=[0],
|
||||
asp_vols=10, # 小于 sum(dis_vols) -> 应吸 60
|
||||
dis_vols=dis_vols,
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
assert len(aspirates) == 1
|
||||
assert aspirates[0]["resources"] == [source]
|
||||
assert aspirates[0]["vols"] == [60.0]
|
||||
assert aspirates[0]["use_channels"] == [0]
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert [d["vols"][0] for d in dispenses] == [10.0, 20.0, 30.0]
|
||||
|
||||
|
||||
def test_one_to_many_eight_channel_basic():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(128))
|
||||
|
||||
source = DummyContainer("SRC")
|
||||
targets = [DummyContainer(f"T{i}") for i in range(8)]
|
||||
dis_vols = [i + 1 for i in range(8)]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=[source],
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=list(range(8)),
|
||||
asp_vols=999, # one-to-many 8ch 会按 dis_vols 吸（每通道各自）
|
||||
dis_vols=dis_vols,
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
assert aspirates[0]["resources"] == [source] * 8
|
||||
assert aspirates[0]["vols"] == [float(v) for v in dis_vols]
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert dispenses[0]["resources"] == targets
|
||||
assert dispenses[0]["vols"] == [float(v) for v in dis_vols]
|
||||
|
||||
|
||||
def test_many_to_one_single_channel_standard_dispense_equals_asp_by_default():
|
||||
lh = FakeLiquidHandler(channel_num=1)
|
||||
lh.current_tip = iter(make_tip_iter(128))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(3)]
|
||||
target = DummyContainer("T")
|
||||
asp_vols = [5, 6, 7]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=[target],
|
||||
tip_racks=[],
|
||||
use_channels=[0],
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=1, # many-to-one 允许标量；非比例模式下实际每次分液=对应 asp_vol
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert [d["vols"][0] for d in dispenses] == [float(v) for v in asp_vols]
|
||||
assert all(d["resources"] == [target] for d in dispenses)
|
||||
|
||||
|
||||
def test_many_to_one_single_channel_before_stage_mixes_target_once():
|
||||
lh = FakeLiquidHandler(channel_num=1)
|
||||
lh.current_tip = iter(make_tip_iter(128))
|
||||
|
||||
sources = [DummyContainer("S0"), DummyContainer("S1")]
|
||||
target = DummyContainer("T")
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=[target],
|
||||
tip_racks=[],
|
||||
use_channels=[0],
|
||||
asp_vols=[5, 6],
|
||||
dis_vols=1,
|
||||
mix_stage="before",
|
||||
mix_stage="after",
|
||||
mix_times=2,
|
||||
mix_vol=4,
|
||||
mix_vol=3,
|
||||
)
|
||||
)
|
||||
|
||||
names = [name for name, _ in lh.calls]
|
||||
assert names[0] == "mix"
|
||||
assert names.count("mix") == 1
|
||||
|
||||
|
||||
def test_many_to_one_single_channel_proportional_mixing_uses_dis_vols_per_source():
|
||||
lh = FakeLiquidHandler(channel_num=1)
|
||||
lh.current_tip = iter(make_tip_iter(128))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(3)]
|
||||
target = DummyContainer("T")
|
||||
asp_vols = [5, 6, 7]
|
||||
dis_vols = [1, 2, 3]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=[target],
|
||||
tip_racks=[],
|
||||
use_channels=[0],
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=dis_vols, # 比例模式
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert [d["vols"][0] for d in dispenses] == [float(v) for v in dis_vols]
|
||||
|
||||
|
||||
def test_many_to_one_eight_channel_basic():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(256))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(8)]
|
||||
target = DummyContainer("T")
|
||||
asp_vols = [10 + i for i in range(8)]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=[target],
|
||||
tip_racks=[],
|
||||
use_channels=list(range(8)),
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=999, # 非比例模式下每通道分液=对应 asp_vol
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert aspirates[0]["resources"] == sources
|
||||
assert aspirates[0]["vols"] == [float(v) for v in asp_vols]
|
||||
assert dispenses[0]["resources"] == [target] * 8
|
||||
assert dispenses[0]["vols"] == [float(v) for v in asp_vols]
|
||||
|
||||
|
||||
def test_transfer_liquid_mode_detection_unsupported_shape_raises():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(64))
|
||||
|
||||
sources = [DummyContainer("S0"), DummyContainer("S1")]
|
||||
targets = [DummyContainer("T0"), DummyContainer("T1"), DummyContainer("T2")]
|
||||
|
||||
with pytest.raises(ValueError, match="Unsupported transfer mode"):
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=[0],
|
||||
asp_vols=[1, 1],
|
||||
dis_vols=[1, 1, 1],
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
_assert_samples_match(sources, targets)
|
||||
|
||||
547
tests/devices/liquid_handling/unit_test.py
Normal file
547
tests/devices/liquid_handling/unit_test.py
Normal file
@@ -0,0 +1,547 @@
|
||||
import asyncio
|
||||
from dataclasses import dataclass
|
||||
from typing import Any, Iterable, List, Optional, Sequence, Tuple
|
||||
|
||||
import pytest
|
||||
|
||||
from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class DummyContainer:
|
||||
name: str
|
||||
|
||||
def __repr__(self) -> str: # pragma: no cover
|
||||
return f"DummyContainer({self.name})"
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class DummyTipSpot:
|
||||
name: str
|
||||
|
||||
def __repr__(self) -> str: # pragma: no cover
|
||||
return f"DummyTipSpot({self.name})"
|
||||
|
||||
|
||||
def make_tip_iter(n: int = 256) -> Iterable[List[DummyTipSpot]]:
|
||||
"""Yield lists so code can safely call `tip.extend(next(self.current_tip))`."""
|
||||
for i in range(n):
|
||||
yield [DummyTipSpot(f"tip_{i}")]
|
||||
|
||||
|
||||
class FakeLiquidHandler(LiquidHandlerAbstract):
|
||||
"""不初始化真实 backend/deck；仅用来记录 transfer_liquid 内部调用序列。"""
|
||||
|
||||
def __init__(self, channel_num: int = 8):
|
||||
# 不调用 super().__init__，避免真实硬件/后端依赖
|
||||
self.channel_num = channel_num
|
||||
self.support_touch_tip = True
|
||||
self.current_tip = iter(make_tip_iter())
|
||||
self.calls: List[Tuple[str, Any]] = []
|
||||
|
||||
async def pick_up_tips(self, tip_spots, use_channels=None, offsets=None, **backend_kwargs):
|
||||
self.calls.append(("pick_up_tips", {"tips": list(tip_spots), "use_channels": use_channels}))
|
||||
|
||||
async def aspirate(
|
||||
self,
|
||||
resources: Sequence[Any],
|
||||
vols: List[float],
|
||||
use_channels: Optional[List[int]] = None,
|
||||
flow_rates: Optional[List[Optional[float]]] = None,
|
||||
offsets: Any = None,
|
||||
liquid_height: Any = None,
|
||||
blow_out_air_volume: Any = None,
|
||||
spread: str = "wide",
|
||||
**backend_kwargs,
|
||||
):
|
||||
self.calls.append(
|
||||
(
|
||||
"aspirate",
|
||||
{
|
||||
"resources": list(resources),
|
||||
"vols": list(vols),
|
||||
"use_channels": list(use_channels) if use_channels is not None else None,
|
||||
"flow_rates": list(flow_rates) if flow_rates is not None else None,
|
||||
"offsets": list(offsets) if offsets is not None else None,
|
||||
"liquid_height": list(liquid_height) if liquid_height is not None else None,
|
||||
"blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
|
||||
},
|
||||
)
|
||||
)
|
||||
|
||||
async def dispense(
|
||||
self,
|
||||
resources: Sequence[Any],
|
||||
vols: List[float],
|
||||
use_channels: Optional[List[int]] = None,
|
||||
flow_rates: Optional[List[Optional[float]]] = None,
|
||||
offsets: Any = None,
|
||||
liquid_height: Any = None,
|
||||
blow_out_air_volume: Any = None,
|
||||
spread: str = "wide",
|
||||
**backend_kwargs,
|
||||
):
|
||||
self.calls.append(
|
||||
(
|
||||
"dispense",
|
||||
{
|
||||
"resources": list(resources),
|
||||
"vols": list(vols),
|
||||
"use_channels": list(use_channels) if use_channels is not None else None,
|
||||
"flow_rates": list(flow_rates) if flow_rates is not None else None,
|
||||
"offsets": list(offsets) if offsets is not None else None,
|
||||
"liquid_height": list(liquid_height) if liquid_height is not None else None,
|
||||
"blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
|
||||
},
|
||||
)
|
||||
)
|
||||
|
||||
async def discard_tips(self, use_channels=None, *args, **kwargs):
|
||||
# 有的分支是 discard_tips(use_channels=[0])，有的分支是 discard_tips([0..7])（位置参数）
|
||||
self.calls.append(("discard_tips", {"use_channels": list(use_channels) if use_channels is not None else None}))
|
||||
|
||||
async def custom_delay(self, seconds=0, msg=None):
|
||||
self.calls.append(("custom_delay", {"seconds": seconds, "msg": msg}))
|
||||
|
||||
async def touch_tip(self, targets):
|
||||
# 原实现会访问 targets.get_size_x() 等；测试里只记录调用
|
||||
self.calls.append(("touch_tip", {"targets": targets}))
|
||||
|
||||
def run(coro):
|
||||
return asyncio.run(coro)
|
||||
|
||||
|
||||
def test_one_to_one_single_channel_basic_calls():
|
||||
lh = FakeLiquidHandler(channel_num=1)
|
||||
lh.current_tip = iter(make_tip_iter(64))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(3)]
|
||||
targets = [DummyContainer(f"T{i}") for i in range(3)]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=[0],
|
||||
asp_vols=[1, 2, 3],
|
||||
dis_vols=[4, 5, 6],
|
||||
mix_times=None, # 应该仍能执行（不 mix）
|
||||
)
|
||||
)
|
||||
|
||||
assert [c[0] for c in lh.calls].count("pick_up_tips") == 3
|
||||
assert [c[0] for c in lh.calls].count("aspirate") == 3
|
||||
assert [c[0] for c in lh.calls].count("dispense") == 3
|
||||
assert [c[0] for c in lh.calls].count("discard_tips") == 3
|
||||
|
||||
# 每次 aspirate/dispense 都是单孔列表
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
assert aspirates[0]["resources"] == [sources[0]]
|
||||
assert aspirates[0]["vols"] == [1.0]
|
||||
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert dispenses[2]["resources"] == [targets[2]]
|
||||
assert dispenses[2]["vols"] == [6.0]
|
||||
|
||||
|
||||
def test_one_to_one_single_channel_before_stage_mixes_prior_to_aspirate():
|
||||
lh = FakeLiquidHandler(channel_num=1)
|
||||
lh.current_tip = iter(make_tip_iter(16))
|
||||
|
||||
source = DummyContainer("S0")
|
||||
target = DummyContainer("T0")
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=[source],
|
||||
targets=[target],
|
||||
tip_racks=[],
|
||||
use_channels=[0],
|
||||
asp_vols=[5],
|
||||
dis_vols=[5],
|
||||
mix_stage="before",
|
||||
mix_times=1,
|
||||
mix_vol=3,
|
||||
)
|
||||
)
|
||||
|
||||
aspirate_calls = [(idx, payload) for idx, (name, payload) in enumerate(lh.calls) if name == "aspirate"]
|
||||
assert len(aspirate_calls) >= 2
|
||||
mix_idx, mix_payload = aspirate_calls[0]
|
||||
assert mix_payload["resources"] == [target]
|
||||
assert mix_payload["vols"] == [3]
|
||||
transfer_idx, transfer_payload = aspirate_calls[1]
|
||||
assert transfer_payload["resources"] == [source]
|
||||
assert mix_idx < transfer_idx
|
||||
|
||||
|
||||
def test_one_to_one_eight_channel_groups_by_8():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(256))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(16)]
|
||||
targets = [DummyContainer(f"T{i}") for i in range(16)]
|
||||
asp_vols = list(range(1, 17))
|
||||
dis_vols = list(range(101, 117))
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=list(range(8)),
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=dis_vols,
|
||||
mix_times=0, # 触发逻辑但不 mix
|
||||
)
|
||||
)
|
||||
|
||||
# 16 个任务 -> 2 组，每组 8 通道一起做
|
||||
assert [c[0] for c in lh.calls].count("pick_up_tips") == 2
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert len(aspirates) == 2
|
||||
assert len(dispenses) == 2
|
||||
|
||||
assert aspirates[0]["resources"] == sources[0:8]
|
||||
assert aspirates[0]["vols"] == [float(v) for v in asp_vols[0:8]]
|
||||
assert dispenses[1]["resources"] == targets[8:16]
|
||||
assert dispenses[1]["vols"] == [float(v) for v in dis_vols[8:16]]
|
||||
|
||||
|
||||
def test_one_to_one_eight_channel_requires_multiple_of_8_targets():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(64))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(9)]
|
||||
targets = [DummyContainer(f"T{i}") for i in range(9)]
|
||||
|
||||
with pytest.raises(ValueError, match="multiple of 8"):
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=list(range(8)),
|
||||
asp_vols=[1] * 9,
|
||||
dis_vols=[1] * 9,
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
|
||||
def test_one_to_one_eight_channel_parameter_lists_are_chunked_per_8():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(512))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(16)]
|
||||
targets = [DummyContainer(f"T{i}") for i in range(16)]
|
||||
asp_vols = [i + 1 for i in range(16)]
|
||||
dis_vols = [200 + i for i in range(16)]
|
||||
asp_flow_rates = [0.1 * (i + 1) for i in range(16)]
|
||||
dis_flow_rates = [0.2 * (i + 1) for i in range(16)]
|
||||
offsets = [f"offset_{i}" for i in range(16)]
|
||||
liquid_heights = [i * 0.5 for i in range(16)]
|
||||
blow_out_air_volume = [i + 0.05 for i in range(16)]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=list(range(8)),
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=dis_vols,
|
||||
asp_flow_rates=asp_flow_rates,
|
||||
dis_flow_rates=dis_flow_rates,
|
||||
offsets=offsets,
|
||||
liquid_height=liquid_heights,
|
||||
blow_out_air_volume=blow_out_air_volume,
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert len(aspirates) == len(dispenses) == 2
|
||||
|
||||
for batch_idx in range(2):
|
||||
start = batch_idx * 8
|
||||
end = start + 8
|
||||
asp_call = aspirates[batch_idx]
|
||||
dis_call = dispenses[batch_idx]
|
||||
assert asp_call["resources"] == sources[start:end]
|
||||
assert asp_call["flow_rates"] == asp_flow_rates[start:end]
|
||||
assert asp_call["offsets"] == offsets[start:end]
|
||||
assert asp_call["liquid_height"] == liquid_heights[start:end]
|
||||
assert asp_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
|
||||
assert dis_call["flow_rates"] == dis_flow_rates[start:end]
|
||||
assert dis_call["offsets"] == offsets[start:end]
|
||||
assert dis_call["liquid_height"] == liquid_heights[start:end]
|
||||
assert dis_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
|
||||
|
||||
|
||||
def test_one_to_one_eight_channel_handles_32_tasks_four_batches():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(1024))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(32)]
|
||||
targets = [DummyContainer(f"T{i}") for i in range(32)]
|
||||
asp_vols = [i + 1 for i in range(32)]
|
||||
dis_vols = [300 + i for i in range(32)]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=list(range(8)),
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=dis_vols,
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
pick_calls = [name for name, _ in lh.calls if name == "pick_up_tips"]
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert len(pick_calls) == 4
|
||||
assert len(aspirates) == len(dispenses) == 4
|
||||
assert aspirates[0]["resources"] == sources[0:8]
|
||||
assert aspirates[-1]["resources"] == sources[24:32]
|
||||
assert dispenses[0]["resources"] == targets[0:8]
|
||||
assert dispenses[-1]["resources"] == targets[24:32]
|
||||
|
||||
|
||||
def test_one_to_many_single_channel_aspirates_total_when_asp_vol_too_small():
|
||||
lh = FakeLiquidHandler(channel_num=1)
|
||||
lh.current_tip = iter(make_tip_iter(64))
|
||||
|
||||
source = DummyContainer("SRC")
|
||||
targets = [DummyContainer(f"T{i}") for i in range(3)]
|
||||
dis_vols = [10, 20, 30] # sum=60
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=[source],
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=[0],
|
||||
asp_vols=10, # 小于 sum(dis_vols) -> 应吸 60
|
||||
dis_vols=dis_vols,
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
assert len(aspirates) == 1
|
||||
assert aspirates[0]["resources"] == [source]
|
||||
assert aspirates[0]["vols"] == [60.0]
|
||||
assert aspirates[0]["use_channels"] == [0]
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert [d["vols"][0] for d in dispenses] == [10.0, 20.0, 30.0]
|
||||
|
||||
|
||||
def test_one_to_many_eight_channel_basic():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(128))
|
||||
|
||||
source = DummyContainer("SRC")
|
||||
targets = [DummyContainer(f"T{i}") for i in range(8)]
|
||||
dis_vols = [i + 1 for i in range(8)]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=[source],
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=list(range(8)),
|
||||
asp_vols=999, # one-to-many 8ch 会按 dis_vols 吸（每通道各自）
|
||||
dis_vols=dis_vols,
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
assert aspirates[0]["resources"] == [source] * 8
|
||||
assert aspirates[0]["vols"] == [float(v) for v in dis_vols]
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert dispenses[0]["resources"] == targets
|
||||
assert dispenses[0]["vols"] == [float(v) for v in dis_vols]
|
||||
|
||||
|
||||
def test_many_to_one_single_channel_standard_dispense_equals_asp_by_default():
|
||||
lh = FakeLiquidHandler(channel_num=1)
|
||||
lh.current_tip = iter(make_tip_iter(128))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(3)]
|
||||
target = DummyContainer("T")
|
||||
asp_vols = [5, 6, 7]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=[target],
|
||||
tip_racks=[],
|
||||
use_channels=[0],
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=1, # many-to-one 允许标量；非比例模式下实际每次分液=对应 asp_vol
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert [d["vols"][0] for d in dispenses] == [float(v) for v in asp_vols]
|
||||
assert all(d["resources"] == [target] for d in dispenses)
|
||||
|
||||
|
||||
def test_many_to_one_single_channel_before_stage_mixes_target_once():
|
||||
lh = FakeLiquidHandler(channel_num=1)
|
||||
lh.current_tip = iter(make_tip_iter(128))
|
||||
|
||||
sources = [DummyContainer("S0"), DummyContainer("S1")]
|
||||
target = DummyContainer("T")
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=[target],
|
||||
tip_racks=[],
|
||||
use_channels=[0],
|
||||
asp_vols=[5, 6],
|
||||
dis_vols=1,
|
||||
mix_stage="before",
|
||||
mix_times=2,
|
||||
mix_vol=4,
|
||||
)
|
||||
)
|
||||
|
||||
aspirate_calls = [(idx, payload) for idx, (name, payload) in enumerate(lh.calls) if name == "aspirate"]
|
||||
assert len(aspirate_calls) >= 1
|
||||
mix_idx, mix_payload = aspirate_calls[0]
|
||||
assert mix_payload["resources"] == [target]
|
||||
assert mix_payload["vols"] == [4]
|
||||
# 第一個 mix 之後會真正開始吸 source
|
||||
assert any(call["resources"] == [sources[0]] for _, call in aspirate_calls[1:])
|
||||
|
||||
|
||||
def test_many_to_one_single_channel_proportional_mixing_uses_dis_vols_per_source():
|
||||
lh = FakeLiquidHandler(channel_num=1)
|
||||
lh.current_tip = iter(make_tip_iter(128))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(3)]
|
||||
target = DummyContainer("T")
|
||||
asp_vols = [5, 6, 7]
|
||||
dis_vols = [1, 2, 3]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=[target],
|
||||
tip_racks=[],
|
||||
use_channels=[0],
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=dis_vols, # 比例模式
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert [d["vols"][0] for d in dispenses] == [float(v) for v in dis_vols]
|
||||
|
||||
|
||||
def test_many_to_one_eight_channel_basic():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(256))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(8)]
|
||||
target = DummyContainer("T")
|
||||
asp_vols = [10 + i for i in range(8)]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=[target],
|
||||
tip_racks=[],
|
||||
use_channels=list(range(8)),
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=999, # 非比例模式下每通道分液=对应 asp_vol
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert aspirates[0]["resources"] == sources
|
||||
assert aspirates[0]["vols"] == [float(v) for v in asp_vols]
|
||||
assert dispenses[0]["resources"] == [target] * 8
|
||||
assert dispenses[0]["vols"] == [float(v) for v in asp_vols]
|
||||
|
||||
|
||||
def test_transfer_liquid_mode_detection_unsupported_shape_raises():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(64))
|
||||
|
||||
sources = [DummyContainer("S0"), DummyContainer("S1")]
|
||||
targets = [DummyContainer("T0"), DummyContainer("T1"), DummyContainer("T2")]
|
||||
|
||||
with pytest.raises(ValueError, match="Unsupported transfer mode"):
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=[0],
|
||||
asp_vols=[1, 1],
|
||||
dis_vols=[1, 1, 1],
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
|
||||
def test_mix_single_target_produces_matching_cycles():
|
||||
lh = FakeLiquidHandler(channel_num=1)
|
||||
target = DummyContainer("T_mix")
|
||||
|
||||
run(lh.mix(targets=[target], mix_time=2, mix_vol=5))
|
||||
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert len(aspirates) == len(dispenses) == 2
|
||||
assert all(call["resources"] == [target] for call in aspirates)
|
||||
assert all(call["vols"] == [5] for call in aspirates)
|
||||
assert all(call["resources"] == [target] for call in dispenses)
|
||||
assert all(call["vols"] == [5] for call in dispenses)
|
||||
|
||||
|
||||
def test_mix_multiple_targets_supports_per_target_offsets():
|
||||
lh = FakeLiquidHandler(channel_num=1)
|
||||
targets = [DummyContainer("T0"), DummyContainer("T1")]
|
||||
offsets = ["left", "right"]
|
||||
heights = [0.1, 0.2]
|
||||
rates = [0.5, 1.0]
|
||||
|
||||
run(
|
||||
lh.mix(
|
||||
targets=targets,
|
||||
mix_time=1,
|
||||
mix_vol=3,
|
||||
offsets=offsets,
|
||||
height_to_bottom=heights,
|
||||
mix_rate=rates,
|
||||
)
|
||||
)
|
||||
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
assert len(aspirates) == 2
|
||||
assert aspirates[0]["resources"] == [targets[0]]
|
||||
assert aspirates[0]["offsets"] == [offsets[0]]
|
||||
assert aspirates[0]["liquid_height"] == [heights[0]]
|
||||
assert aspirates[0]["flow_rates"] == [rates[0]]
|
||||
assert aspirates[1]["resources"] == [targets[1]]
|
||||
assert aspirates[1]["offsets"] == [offsets[1]]
|
||||
assert aspirates[1]["liquid_height"] == [heights[1]]
|
||||
assert aspirates[1]["flow_rates"] == [rates[1]]
|
||||
|
||||
|
||||
@@ -207,7 +207,14 @@ class LiquidHandlerMiddleware(LiquidHandler):
|
||||
|
||||
res_samples = []
|
||||
res_volumes = []
|
||||
for resource, volume, channel in zip(resources, vols, use_channels):
|
||||
# 处理 use_channels 为 None 的情况（通常用于单通道操作）
|
||||
if use_channels is None:
|
||||
# 对于单通道操作，推断通道为 [0]
|
||||
channels_to_use = [0] * len(resources)
|
||||
else:
|
||||
channels_to_use = use_channels
|
||||
|
||||
for resource, volume, channel in zip(resources, vols, channels_to_use):
|
||||
res_samples.append({"name": resource.name, "sample_uuid": resource.unilabos_extra.get("sample_uuid", None)})
|
||||
res_volumes.append(volume)
|
||||
self.pending_liquids_dict[channel] = {
|
||||
@@ -920,6 +927,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
offsets=offsets if offsets else None,
|
||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||
mix_rate=mix_rate if mix_rate else None,
|
||||
use_channels=use_channels,
|
||||
)
|
||||
if delays is not None and len(delays) > 1:
|
||||
await self.custom_delay(seconds=delays[1])
|
||||
@@ -983,6 +991,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
offsets=offsets if offsets else None,
|
||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||
mix_rate=mix_rate if mix_rate else None,
|
||||
use_channels=use_channels,
|
||||
)
|
||||
if delays is not None and len(delays) > 1:
|
||||
await self.custom_delay(seconds=delays[1])
|
||||
@@ -1165,6 +1174,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
offsets=offsets if offsets else None,
|
||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||
mix_rate=mix_rate if mix_rate else None,
|
||||
use_channels=use_channels,
|
||||
)
|
||||
|
||||
await self.aspirate(
|
||||
@@ -1199,6 +1209,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
offsets=offsets if offsets else None,
|
||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||
mix_rate=mix_rate if mix_rate else None,
|
||||
use_channels=use_channels,
|
||||
)
|
||||
if delays is not None and len(delays) > 1:
|
||||
await self.custom_delay(seconds=delays[1])
|
||||
@@ -1235,6 +1246,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
offsets=offsets if offsets else None,
|
||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||
mix_rate=mix_rate if mix_rate else None,
|
||||
use_channels=use_channels,
|
||||
)
|
||||
|
||||
await self.aspirate(
|
||||
@@ -1271,6 +1283,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
offsets=offsets if offsets else None,
|
||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||
mix_rate=mix_rate if mix_rate else None,
|
||||
use_channels=use_channels,
|
||||
)
|
||||
if delays is not None and len(delays) > 1:
|
||||
await self.custom_delay(seconds=delays[1])
|
||||
@@ -1327,6 +1340,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
offsets=offsets[idx:idx + 1] if offsets and len(offsets) > idx else None,
|
||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||
mix_rate=mix_rate if mix_rate else None,
|
||||
use_channels=use_channels,
|
||||
)
|
||||
|
||||
# 从源容器吸液（总体积）
|
||||
@@ -1366,6 +1380,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
offsets=offsets[idx:idx+1] if offsets else None,
|
||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||
mix_rate=mix_rate if mix_rate else None,
|
||||
use_channels=use_channels,
|
||||
)
|
||||
if touch_tip:
|
||||
await self.touch_tip([target])
|
||||
@@ -1401,6 +1416,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
offsets=offsets[i:i + 8] if offsets else None,
|
||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||
mix_rate=mix_rate if mix_rate else None,
|
||||
use_channels=use_channels,
|
||||
)
|
||||
|
||||
# 从源容器吸液（8个通道都从同一个源，但每个通道的吸液体积不同）
|
||||
@@ -1446,6 +1462,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
offsets=offsets if offsets else None,
|
||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||
mix_rate=mix_rate if mix_rate else None,
|
||||
use_channels=use_channels,
|
||||
)
|
||||
|
||||
if touch_tip:
|
||||
@@ -1497,10 +1514,19 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
f"(matching `asp_vols`). Got length {len(dis_vols)}."
|
||||
)
|
||||
|
||||
need_mix_after = mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0
|
||||
defer_final_discard = need_mix_after or touch_tip
|
||||
|
||||
if len(use_channels) == 1:
|
||||
# 单通道模式：多次吸液，一次分液
|
||||
# 先混合前（如果需要）
|
||||
|
||||
# 如果需要 before mix，先 pick up tip 并执行 mix
|
||||
if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
|
||||
tip = []
|
||||
for _ in range(len(use_channels)):
|
||||
tip.extend(next(self.current_tip))
|
||||
await self.pick_up_tips(tip)
|
||||
|
||||
await self.mix(
|
||||
targets=[target],
|
||||
mix_time=mix_times,
|
||||
@@ -1508,8 +1534,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
offsets=offsets[0:1] if offsets else None,
|
||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||
mix_rate=mix_rate if mix_rate else None,
|
||||
use_channels=use_channels,
|
||||
)
|
||||
|
||||
|
||||
await self.discard_tips(use_channels=use_channels)
|
||||
|
||||
# 从每个源容器吸液并分液到目标容器
|
||||
for idx, source in enumerate(sources):
|
||||
tip = []
|
||||
@@ -1527,10 +1556,10 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
blow_out_air_volume=[blow_out_air_volume[idx]] if blow_out_air_volume and len(blow_out_air_volume) > idx else None,
|
||||
spread=spread,
|
||||
)
|
||||
|
||||
|
||||
if delays is not None:
|
||||
await self.custom_delay(seconds=delays[0])
|
||||
|
||||
|
||||
# 分液到目标容器
|
||||
if use_proportional_mixing:
|
||||
# 按不同比例混合：使用对应的 dis_vols
|
||||
@@ -1546,7 +1575,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
dis_offset = offsets[0] if offsets and len(offsets) > 0 else None
|
||||
dis_liquid_height = liquid_height[0] if liquid_height and len(liquid_height) > 0 else None
|
||||
dis_blow_out = blow_out_air_volume[0] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None
|
||||
|
||||
|
||||
await self.dispense(
|
||||
resources=[target],
|
||||
vols=[dis_vol],
|
||||
@@ -1557,14 +1586,15 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
liquid_height=[dis_liquid_height] if dis_liquid_height is not None else None,
|
||||
spread=spread,
|
||||
)
|
||||
|
||||
|
||||
if delays is not None and len(delays) > 1:
|
||||
await self.custom_delay(seconds=delays[1])
|
||||
|
||||
await self.discard_tips(use_channels=use_channels)
|
||||
|
||||
|
||||
if not (defer_final_discard and idx == len(sources) - 1):
|
||||
await self.discard_tips(use_channels=use_channels)
|
||||
|
||||
# 最后在目标容器中混合（如果需要）
|
||||
if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
|
||||
if need_mix_after:
|
||||
await self.mix(
|
||||
targets=[target],
|
||||
mix_time=mix_times,
|
||||
@@ -1572,18 +1602,27 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
offsets=offsets[0:1] if offsets else None,
|
||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||
mix_rate=mix_rate if mix_rate else None,
|
||||
use_channels=use_channels,
|
||||
)
|
||||
|
||||
if touch_tip:
|
||||
await self.touch_tip([target])
|
||||
|
||||
if defer_final_discard:
|
||||
await self.discard_tips(use_channels=use_channels)
|
||||
|
||||
elif len(use_channels) == 8:
|
||||
# 8通道模式：需要确保源数量是8的倍数
|
||||
if len(sources) % 8 != 0:
|
||||
raise ValueError(f"For 8-channel mode, number of sources {len(sources)} must be a multiple of 8.")
|
||||
|
||||
# 每次处理8个源
|
||||
|
||||
# 如果需要 before mix，先 pick up tips 并执行 mix
|
||||
if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
|
||||
tip = []
|
||||
for _ in range(len(use_channels)):
|
||||
tip.extend(next(self.current_tip))
|
||||
await self.pick_up_tips(tip)
|
||||
|
||||
await self.mix(
|
||||
targets=[target],
|
||||
mix_time=mix_times,
|
||||
@@ -1591,8 +1630,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
offsets=offsets[0:1] if offsets else None,
|
||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||
mix_rate=mix_rate if mix_rate else None,
|
||||
use_channels=use_channels,
|
||||
)
|
||||
|
||||
await self.discard_tips([0,1,2,3,4,5,6,7])
|
||||
|
||||
for i in range(0, len(sources), 8):
|
||||
tip = []
|
||||
for _ in range(len(use_channels)):
|
||||
@@ -1650,11 +1692,12 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
|
||||
if delays is not None and len(delays) > 1:
|
||||
await self.custom_delay(seconds=delays[1])
|
||||
|
||||
await self.discard_tips([0,1,2,3,4,5,6,7])
|
||||
|
||||
|
||||
if not (defer_final_discard and i + 8 >= len(sources)):
|
||||
await self.discard_tips([0,1,2,3,4,5,6,7])
|
||||
|
||||
# 最后在目标容器中混合（如果需要）
|
||||
if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
|
||||
if need_mix_after:
|
||||
await self.mix(
|
||||
targets=[target],
|
||||
mix_time=mix_times,
|
||||
@@ -1662,11 +1705,15 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
offsets=offsets[0:1] if offsets else None,
|
||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||
mix_rate=mix_rate if mix_rate else None,
|
||||
use_channels=use_channels,
|
||||
)
|
||||
|
||||
if touch_tip:
|
||||
await self.touch_tip([target])
|
||||
|
||||
if defer_final_discard:
|
||||
await self.discard_tips([0,1,2,3,4,5,6,7])
|
||||
|
||||
# except Exception as e:
|
||||
# traceback.print_exc()
|
||||
# raise RuntimeError(f"Liquid addition failed: {e}") from e
|
||||
@@ -1686,7 +1733,12 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
print(f"Waiting time: {msg}")
|
||||
print(f"Current time: {time.strftime('%H:%M:%S')}")
|
||||
print(f"Time to finish: {time.strftime('%H:%M:%S', time.localtime(time.time() + seconds))}")
|
||||
await self._ros_node.sleep(seconds)
|
||||
# Use ROS node sleep if available, otherwise use asyncio.sleep
|
||||
if hasattr(self, '_ros_node') and self._ros_node is not None:
|
||||
await self._ros_node.sleep(seconds)
|
||||
else:
|
||||
import asyncio
|
||||
await asyncio.sleep(seconds)
|
||||
if msg:
|
||||
print(f"Done: {msg}")
|
||||
print(f"Current time: {time.strftime('%H:%M:%S')}")
|
||||
@@ -1725,27 +1777,59 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
height_to_bottom: Optional[float] = None,
|
||||
offsets: Optional[Coordinate] = None,
|
||||
mix_rate: Optional[float] = None,
|
||||
use_channels: Optional[List[int]] = None,
|
||||
none_keys: List[str] = [],
|
||||
):
|
||||
if mix_time is None: # No mixing required
|
||||
if mix_time is None or mix_time <= 0: # No mixing required
|
||||
return
|
||||
"""Mix the liquid in the target wells."""
|
||||
if mix_vol is None:
|
||||
raise ValueError("`mix_vol` must be provided when `mix_time` is set.")
|
||||
|
||||
targets_list: List[Container] = list(targets)
|
||||
if len(targets_list) == 0:
|
||||
return
|
||||
|
||||
def _expand(value, count: int):
|
||||
if value is None:
|
||||
return [None] * count
|
||||
if isinstance(value, (list, tuple)):
|
||||
if len(value) != count:
|
||||
raise ValueError("Length of per-target parameters must match targets.")
|
||||
return list(value)
|
||||
return [value] * count
|
||||
|
||||
offsets_list = _expand(offsets, len(targets_list))
|
||||
heights_list = _expand(height_to_bottom, len(targets_list))
|
||||
rates_list = _expand(mix_rate, len(targets_list))
|
||||
|
||||
for _ in range(mix_time):
|
||||
await self.aspirate(
|
||||
resources=[targets],
|
||||
vols=[mix_vol],
|
||||
flow_rates=[mix_rate] if mix_rate else None,
|
||||
offsets=[offsets] if offsets else None,
|
||||
liquid_height=[height_to_bottom] if height_to_bottom else None,
|
||||
)
|
||||
await self.custom_delay(seconds=1)
|
||||
await self.dispense(
|
||||
resources=[targets],
|
||||
vols=[mix_vol],
|
||||
flow_rates=[mix_rate] if mix_rate else None,
|
||||
offsets=[offsets] if offsets else None,
|
||||
liquid_height=[height_to_bottom] if height_to_bottom else None,
|
||||
)
|
||||
for idx, target in enumerate(targets_list):
|
||||
offset_arg = (
|
||||
[offsets_list[idx]] if offsets_list[idx] is not None else None
|
||||
)
|
||||
height_arg = (
|
||||
[heights_list[idx]] if heights_list[idx] is not None else None
|
||||
)
|
||||
rate_arg = [rates_list[idx]] if rates_list[idx] is not None else None
|
||||
|
||||
await self.aspirate(
|
||||
resources=[target],
|
||||
vols=[mix_vol],
|
||||
use_channels=use_channels,
|
||||
flow_rates=rate_arg,
|
||||
offsets=offset_arg,
|
||||
liquid_height=height_arg,
|
||||
)
|
||||
await self.custom_delay(seconds=1)
|
||||
await self.dispense(
|
||||
resources=[target],
|
||||
vols=[mix_vol],
|
||||
use_channels=use_channels,
|
||||
flow_rates=rate_arg,
|
||||
offsets=offset_arg,
|
||||
liquid_height=height_arg,
|
||||
)
|
||||
|
||||
def iter_tips(self, tip_racks: Sequence[TipRack]) -> Iterator[Resource]:
|
||||
"""Yield tips from a list of TipRacks one-by-one until depleted."""
|
||||
|
||||
Reference in New Issue
Block a user