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https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-06 23:15:10 +00:00
Merge remote-tracking branch 'upstream/dev' into hrdev
This commit is contained in:
ZiWei
@@ -147,6 +147,9 @@ class LiquidHandlerMiddleware(LiquidHandler):
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offsets: Optional[List[Coordinate]] = None,
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**backend_kwargs,
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):
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# 如果 use_channels 为 None，使用默认值（所有通道）
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if use_channels is None:
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use_channels = list(range(self.channel_num))
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if not offsets or (isinstance(offsets, list) and len(offsets) != len(use_channels)):
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offsets = [Coordinate.zero()] * len(use_channels)
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if self._simulator:
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@@ -759,7 +762,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
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blow_out_air_volume=current_dis_blow_out_air_volume,
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spread=spread,
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)
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if delays is not None:
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if delays is not None and len(delays) > 1:
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await self.custom_delay(seconds=delays[1])
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await self.touch_tip(current_targets)
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await self.discard_tips()
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@@ -833,17 +836,19 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
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spread=spread,
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)
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if delays is not None:
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if delays is not None and len(delays) > 1:
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await self.custom_delay(seconds=delays[1])
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await self.mix(
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targets=[targets[_]],
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mix_time=mix_time,
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mix_vol=mix_vol,
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offsets=offsets if offsets else None,
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height_to_bottom=mix_liquid_height if mix_liquid_height else None,
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mix_rate=mix_rate if mix_rate else None,
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)
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if delays is not None:
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# 只有在 mix_time 有效时才调用 mix
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if mix_time is not None and mix_time > 0:
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await self.mix(
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targets=[targets[_]],
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mix_time=mix_time,
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mix_vol=mix_vol,
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offsets=offsets if offsets else None,
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height_to_bottom=mix_liquid_height if mix_liquid_height else None,
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mix_rate=mix_rate if mix_rate else None,
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)
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if delays is not None and len(delays) > 1:
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await self.custom_delay(seconds=delays[1])
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await self.touch_tip(targets[_])
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await self.discard_tips()
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@@ -893,18 +898,20 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
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blow_out_air_volume=current_dis_blow_out_air_volume,
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spread=spread,
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)
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if delays is not None:
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if delays is not None and len(delays) > 1:
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await self.custom_delay(seconds=delays[1])
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await self.mix(
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targets=current_targets,
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mix_time=mix_time,
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mix_vol=mix_vol,
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offsets=offsets if offsets else None,
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height_to_bottom=mix_liquid_height if mix_liquid_height else None,
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mix_rate=mix_rate if mix_rate else None,
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)
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if delays is not None:
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# 只有在 mix_time 有效时才调用 mix
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if mix_time is not None and mix_time > 0:
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await self.mix(
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targets=current_targets,
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mix_time=mix_time,
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mix_vol=mix_vol,
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offsets=offsets if offsets else None,
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height_to_bottom=mix_liquid_height if mix_liquid_height else None,
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mix_rate=mix_rate if mix_rate else None,
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)
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if delays is not None and len(delays) > 1:
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await self.custom_delay(seconds=delays[1])
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await self.touch_tip(current_targets)
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await self.discard_tips()
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@@ -942,60 +949,146 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
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delays: Optional[List[int]] = None,
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none_keys: List[str] = [],
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):
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"""Transfer liquid from each *source* well/plate to the corresponding *target*.
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"""Transfer liquid with automatic mode detection.
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Supports three transfer modes:
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1. One-to-many (1 source -> N targets): Distribute from one source to multiple targets
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2. One-to-one (N sources -> N targets): Standard transfer, each source to corresponding target
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3. Many-to-one (N sources -> 1 target): Combine multiple sources into one target
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Parameters
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----------
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asp_vols, dis_vols
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Single volume (µL) or list matching the number of transfers.
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Single volume (µL) or list. Automatically expanded based on transfer mode.
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sources, targets
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Same‑length sequences of containers (wells or plates). In 96‑well mode
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each must contain exactly one plate.
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Containers (wells or plates). Length determines transfer mode:
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- len(sources) == 1, len(targets) > 1: One-to-many mode
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- len(sources) == len(targets): One-to-one mode
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- len(sources) > 1, len(targets) == 1: Many-to-one mode
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tip_racks
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One or more TipRacks providing fresh tips.
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is_96_well
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Set *True* to use the 96‑channel head.
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"""
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# 确保 use_channels 有默认值
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if use_channels is None:
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use_channels = [0] if self.channel_num >= 1 else list(range(self.channel_num))
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if is_96_well:
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pass # This mode is not verified.
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else:
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if len(asp_vols) != len(targets):
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raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.")
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# 转换体积参数为列表
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if isinstance(asp_vols, (int, float)):
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asp_vols = [float(asp_vols)]
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else:
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asp_vols = [float(v) for v in asp_vols]
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if isinstance(dis_vols, (int, float)):
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dis_vols = [float(dis_vols)]
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else:
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dis_vols = [float(v) for v in dis_vols]
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# 识别传输模式
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num_sources = len(sources)
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num_targets = len(targets)
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if num_sources == 1 and num_targets > 1:
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# 模式1: 一对多 (1 source -> N targets)
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await self._transfer_one_to_many(
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sources[0], targets, tip_racks, use_channels,
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asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
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offsets, touch_tip, liquid_height, blow_out_air_volume,
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spread, mix_stage, mix_times, mix_vol, mix_rate,
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mix_liquid_height, delays
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)
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elif num_sources > 1 and num_targets == 1:
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# 模式2: 多对一 (N sources -> 1 target)
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await self._transfer_many_to_one(
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sources, targets[0], tip_racks, use_channels,
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asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
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offsets, touch_tip, liquid_height, blow_out_air_volume,
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spread, mix_stage, mix_times, mix_vol, mix_rate,
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mix_liquid_height, delays
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)
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elif num_sources == num_targets:
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# 模式3: 一对一 (N sources -> N targets) - 原有逻辑
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await self._transfer_one_to_one(
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sources, targets, tip_racks, use_channels,
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asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
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offsets, touch_tip, liquid_height, blow_out_air_volume,
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spread, mix_stage, mix_times, mix_vol, mix_rate,
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mix_liquid_height, delays
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)
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else:
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raise ValueError(
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f"Unsupported transfer mode: {num_sources} sources -> {num_targets} targets. "
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"Supported modes: 1->N, N->1, or N->N."
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)
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# 首先应该对任务分组，然后每次1个/8个进行操作处理
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if len(use_channels) == 1:
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for _ in range(len(targets)):
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tip = []
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for ___ in range(len(use_channels)):
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tip.extend(next(self.current_tip))
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await self.pick_up_tips(tip)
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async def _transfer_one_to_one(
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self,
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sources: Sequence[Container],
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targets: Sequence[Container],
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tip_racks: Sequence[TipRack],
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use_channels: List[int],
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asp_vols: List[float],
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dis_vols: List[float],
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asp_flow_rates: Optional[List[Optional[float]]],
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dis_flow_rates: Optional[List[Optional[float]]],
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offsets: Optional[List[Coordinate]],
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touch_tip: bool,
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liquid_height: Optional[List[Optional[float]]],
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blow_out_air_volume: Optional[List[Optional[float]]],
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spread: Literal["wide", "tight", "custom"],
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mix_stage: Optional[Literal["none", "before", "after", "both"]],
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mix_times: Optional[int],
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mix_vol: Optional[int],
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mix_rate: Optional[int],
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mix_liquid_height: Optional[float],
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delays: Optional[List[int]],
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):
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"""一对一传输模式：N sources -> N targets"""
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# 验证参数长度
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if len(asp_vols) != len(targets):
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raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.")
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if len(dis_vols) != len(targets):
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raise ValueError(f"Length of `dis_vols` {len(dis_vols)} must match `targets` {len(targets)}.")
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if len(sources) != len(targets):
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raise ValueError(f"Length of `sources` {len(sources)} must match `targets` {len(targets)}.")
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await self.aspirate(
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resources=[sources[_]],
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vols=[asp_vols[_]],
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use_channels=use_channels,
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flow_rates=[asp_flow_rates[0]] if asp_flow_rates else None,
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offsets=[offsets[0]] if offsets else None,
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liquid_height=[liquid_height[0]] if liquid_height else None,
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blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume else None,
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spread=spread,
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)
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if delays is not None:
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await self.custom_delay(seconds=delays[0])
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await self.dispense(
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resources=[targets[_]],
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vols=[dis_vols[_]],
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use_channels=use_channels,
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flow_rates=[dis_flow_rates[1]] if dis_flow_rates else None,
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offsets=[offsets[1]] if offsets else None,
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blow_out_air_volume=[blow_out_air_volume[1]] if blow_out_air_volume else None,
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liquid_height=[liquid_height[1]] if liquid_height else None,
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spread=spread,
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)
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if delays is not None:
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await self.custom_delay(seconds=delays[1])
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if len(use_channels) == 1:
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for _ in range(len(targets)):
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tip = []
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for ___ in range(len(use_channels)):
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tip.extend(next(self.current_tip))
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await self.pick_up_tips(tip)
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await self.aspirate(
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resources=[sources[_]],
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vols=[asp_vols[_]],
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use_channels=use_channels,
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flow_rates=[asp_flow_rates[_]] if asp_flow_rates and len(asp_flow_rates) > _ else None,
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offsets=[offsets[_]] if offsets and len(offsets) > _ else None,
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liquid_height=[liquid_height[_]] if liquid_height and len(liquid_height) > _ else None,
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blow_out_air_volume=[blow_out_air_volume[_]] if blow_out_air_volume and len(blow_out_air_volume) > _ else None,
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spread=spread,
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)
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if delays is not None:
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await self.custom_delay(seconds=delays[0])
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await self.dispense(
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resources=[targets[_]],
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vols=[dis_vols[_]],
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||||
use_channels=use_channels,
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||||
flow_rates=[dis_flow_rates[_]] if dis_flow_rates and len(dis_flow_rates) > _ else None,
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offsets=[offsets[_]] if offsets and len(offsets) > _ else None,
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||||
blow_out_air_volume=[blow_out_air_volume[_]] if blow_out_air_volume and len(blow_out_air_volume) > _ else None,
|
||||
liquid_height=[liquid_height[_]] if liquid_height and len(liquid_height) > _ else None,
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||||
spread=spread,
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||||
)
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||||
if delays is not None and len(delays) > 1:
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||||
await self.custom_delay(seconds=delays[1])
|
||||
if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
|
||||
await self.mix(
|
||||
targets=[targets[_]],
|
||||
mix_time=mix_times,
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||||
@@ -1004,63 +1097,60 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||
mix_rate=mix_rate if mix_rate else None,
|
||||
)
|
||||
if delays is not None:
|
||||
await self.custom_delay(seconds=delays[1])
|
||||
await self.touch_tip(targets[_])
|
||||
await self.discard_tips()
|
||||
if delays is not None and len(delays) > 1:
|
||||
await self.custom_delay(seconds=delays[1])
|
||||
await self.touch_tip(targets[_])
|
||||
await self.discard_tips(use_channels=use_channels)
|
||||
|
||||
elif len(use_channels) == 8:
|
||||
# 对于8个的情况，需要判断此时任务是不是能被8通道移液站来成功处理
|
||||
if len(targets) % 8 != 0:
|
||||
raise ValueError(f"Length of `targets` {len(targets)} must be a multiple of 8 for 8-channel mode.")
|
||||
elif len(use_channels) == 8:
|
||||
if len(targets) % 8 != 0:
|
||||
raise ValueError(f"Length of `targets` {len(targets)} must be a multiple of 8 for 8-channel mode.")
|
||||
|
||||
# 8个8个来取任务序列
|
||||
for i in range(0, len(targets), 8):
|
||||
tip = []
|
||||
for _ in range(len(use_channels)):
|
||||
tip.extend(next(self.current_tip))
|
||||
await self.pick_up_tips(tip)
|
||||
current_targets = targets[i:i + 8]
|
||||
current_reagent_sources = sources[i:i + 8]
|
||||
current_asp_vols = asp_vols[i:i + 8]
|
||||
current_dis_vols = dis_vols[i:i + 8]
|
||||
current_asp_flow_rates = asp_flow_rates[i:i + 8] if asp_flow_rates else None
|
||||
current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
|
||||
current_dis_offset = offsets[i:i + 8] if offsets else [None] * 8
|
||||
current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
|
||||
current_dis_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
|
||||
current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
|
||||
current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
|
||||
current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None
|
||||
|
||||
for i in range(0, len(targets), 8):
|
||||
# 取出8个任务
|
||||
tip = []
|
||||
for _ in range(len(use_channels)):
|
||||
tip.extend(next(self.current_tip))
|
||||
await self.pick_up_tips(tip)
|
||||
current_targets = targets[i:i + 8]
|
||||
current_reagent_sources = sources[i:i + 8]
|
||||
current_asp_vols = asp_vols[i:i + 8]
|
||||
current_dis_vols = dis_vols[i:i + 8]
|
||||
current_asp_flow_rates = asp_flow_rates[i:i + 8]
|
||||
current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
|
||||
current_dis_offset = offsets[-i*8-8:len(offsets)-i*8] if offsets else [None] * 8
|
||||
current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
|
||||
current_dis_liquid_height = liquid_height[-i*8-8:len(liquid_height)-i*8] if liquid_height else [None] * 8
|
||||
current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
|
||||
current_dis_blow_out_air_volume = blow_out_air_volume[-i*8-8:len(blow_out_air_volume)-i*8] if blow_out_air_volume else [None] * 8
|
||||
current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else [None] * 8
|
||||
await self.aspirate(
|
||||
resources=current_reagent_sources,
|
||||
vols=current_asp_vols,
|
||||
use_channels=use_channels,
|
||||
flow_rates=current_asp_flow_rates,
|
||||
offsets=current_asp_offset,
|
||||
blow_out_air_volume=current_asp_blow_out_air_volume,
|
||||
liquid_height=current_asp_liquid_height,
|
||||
spread=spread,
|
||||
)
|
||||
|
||||
await self.aspirate(
|
||||
resources=current_reagent_sources,
|
||||
vols=current_asp_vols,
|
||||
use_channels=use_channels,
|
||||
flow_rates=current_asp_flow_rates,
|
||||
offsets=current_asp_offset,
|
||||
blow_out_air_volume=current_asp_blow_out_air_volume,
|
||||
liquid_height=current_asp_liquid_height,
|
||||
spread=spread,
|
||||
)
|
||||
|
||||
if delays is not None:
|
||||
await self.custom_delay(seconds=delays[0])
|
||||
await self.dispense(
|
||||
resources=current_targets,
|
||||
vols=current_dis_vols,
|
||||
use_channels=use_channels,
|
||||
flow_rates=current_dis_flow_rates,
|
||||
offsets=current_dis_offset,
|
||||
blow_out_air_volume=current_dis_blow_out_air_volume,
|
||||
liquid_height=current_dis_liquid_height,
|
||||
spread=spread,
|
||||
)
|
||||
if delays is not None:
|
||||
await self.custom_delay(seconds=delays[1])
|
||||
if delays is not None:
|
||||
await self.custom_delay(seconds=delays[0])
|
||||
await self.dispense(
|
||||
resources=current_targets,
|
||||
vols=current_dis_vols,
|
||||
use_channels=use_channels,
|
||||
flow_rates=current_dis_flow_rates,
|
||||
offsets=current_dis_offset,
|
||||
blow_out_air_volume=current_dis_blow_out_air_volume,
|
||||
liquid_height=current_dis_liquid_height,
|
||||
spread=spread,
|
||||
)
|
||||
if delays is not None and len(delays) > 1:
|
||||
await self.custom_delay(seconds=delays[1])
|
||||
|
||||
if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
|
||||
await self.mix(
|
||||
targets=current_targets,
|
||||
mix_time=mix_times,
|
||||
@@ -1069,10 +1159,363 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||
mix_rate=mix_rate if mix_rate else None,
|
||||
)
|
||||
if delays is not None:
|
||||
await self.custom_delay(seconds=delays[1])
|
||||
if delays is not None and len(delays) > 1:
|
||||
await self.custom_delay(seconds=delays[1])
|
||||
await self.touch_tip(current_targets)
|
||||
await self.discard_tips([0,1,2,3,4,5,6,7])
|
||||
|
||||
async def _transfer_one_to_many(
|
||||
self,
|
||||
source: Container,
|
||||
targets: Sequence[Container],
|
||||
tip_racks: Sequence[TipRack],
|
||||
use_channels: List[int],
|
||||
asp_vols: List[float],
|
||||
dis_vols: List[float],
|
||||
asp_flow_rates: Optional[List[Optional[float]]],
|
||||
dis_flow_rates: Optional[List[Optional[float]]],
|
||||
offsets: Optional[List[Coordinate]],
|
||||
touch_tip: bool,
|
||||
liquid_height: Optional[List[Optional[float]]],
|
||||
blow_out_air_volume: Optional[List[Optional[float]]],
|
||||
spread: Literal["wide", "tight", "custom"],
|
||||
mix_stage: Optional[Literal["none", "before", "after", "both"]],
|
||||
mix_times: Optional[int],
|
||||
mix_vol: Optional[int],
|
||||
mix_rate: Optional[int],
|
||||
mix_liquid_height: Optional[float],
|
||||
delays: Optional[List[int]],
|
||||
):
|
||||
"""一对多传输模式：1 source -> N targets"""
|
||||
# 验证和扩展体积参数
|
||||
if len(asp_vols) == 1:
|
||||
# 如果只提供一个吸液体积，计算总吸液体积（所有分液体积之和）
|
||||
total_asp_vol = sum(dis_vols)
|
||||
asp_vol = asp_vols[0] if asp_vols[0] >= total_asp_vol else total_asp_vol
|
||||
else:
|
||||
raise ValueError("For one-to-many mode, `asp_vols` should be a single value or list with one element.")
|
||||
|
||||
if len(dis_vols) != len(targets):
|
||||
raise ValueError(f"Length of `dis_vols` {len(dis_vols)} must match `targets` {len(targets)}.")
|
||||
|
||||
if len(use_channels) == 1:
|
||||
# 单通道模式：一次吸液，多次分液
|
||||
tip = []
|
||||
for _ in range(len(use_channels)):
|
||||
tip.extend(next(self.current_tip))
|
||||
await self.pick_up_tips(tip)
|
||||
|
||||
# 从源容器吸液（总体积）
|
||||
await self.aspirate(
|
||||
resources=[source],
|
||||
vols=[asp_vol],
|
||||
use_channels=use_channels,
|
||||
flow_rates=[asp_flow_rates[0]] if asp_flow_rates and len(asp_flow_rates) > 0 else None,
|
||||
offsets=[offsets[0]] if offsets and len(offsets) > 0 else None,
|
||||
liquid_height=[liquid_height[0]] if liquid_height and len(liquid_height) > 0 else None,
|
||||
blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None,
|
||||
spread=spread,
|
||||
)
|
||||
|
||||
if delays is not None:
|
||||
await self.custom_delay(seconds=delays[0])
|
||||
|
||||
# 分多次分液到不同的目标容器
|
||||
for idx, target in enumerate(targets):
|
||||
await self.dispense(
|
||||
resources=[target],
|
||||
vols=[dis_vols[idx]],
|
||||
use_channels=use_channels,
|
||||
flow_rates=[dis_flow_rates[idx]] if dis_flow_rates and len(dis_flow_rates) > idx else None,
|
||||
offsets=[offsets[idx]] if offsets and len(offsets) > idx else None,
|
||||
blow_out_air_volume=[blow_out_air_volume[idx]] if blow_out_air_volume and len(blow_out_air_volume) > idx else None,
|
||||
liquid_height=[liquid_height[idx]] if liquid_height and len(liquid_height) > idx else None,
|
||||
spread=spread,
|
||||
)
|
||||
if delays is not None and len(delays) > 1:
|
||||
await self.custom_delay(seconds=delays[1])
|
||||
if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
|
||||
await self.mix(
|
||||
targets=[target],
|
||||
mix_time=mix_times,
|
||||
mix_vol=mix_vol,
|
||||
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,
|
||||
)
|
||||
if touch_tip:
|
||||
await self.touch_tip([target])
|
||||
|
||||
await self.discard_tips(use_channels=use_channels)
|
||||
|
||||
elif len(use_channels) == 8:
|
||||
# 8通道模式：需要确保目标数量是8的倍数
|
||||
if len(targets) % 8 != 0:
|
||||
raise ValueError(f"For 8-channel mode, number of targets {len(targets)} must be a multiple of 8.")
|
||||
|
||||
# 每次处理8个目标
|
||||
for i in range(0, len(targets), 8):
|
||||
tip = []
|
||||
for _ in range(len(use_channels)):
|
||||
tip.extend(next(self.current_tip))
|
||||
await self.pick_up_tips(tip)
|
||||
|
||||
current_targets = targets[i:i + 8]
|
||||
current_dis_vols = dis_vols[i:i + 8]
|
||||
|
||||
# 8个通道都从同一个源容器吸液，每个通道的吸液体积等于对应的分液体积
|
||||
current_asp_flow_rates = asp_flow_rates[0:1] * 8 if asp_flow_rates and len(asp_flow_rates) > 0 else None
|
||||
current_asp_offset = offsets[0:1] * 8 if offsets and len(offsets) > 0 else [None] * 8
|
||||
current_asp_liquid_height = liquid_height[0:1] * 8 if liquid_height and len(liquid_height) > 0 else [None] * 8
|
||||
current_asp_blow_out_air_volume = blow_out_air_volume[0:1] * 8 if blow_out_air_volume and len(blow_out_air_volume) > 0 else [None] * 8
|
||||
|
||||
# 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）
|
||||
await self.aspirate(
|
||||
resources=[source] * 8, # 8个通道都从同一个源
|
||||
vols=current_dis_vols, # 每个通道的吸液体积等于对应的分液体积
|
||||
use_channels=use_channels,
|
||||
flow_rates=current_asp_flow_rates,
|
||||
offsets=current_asp_offset,
|
||||
liquid_height=current_asp_liquid_height,
|
||||
blow_out_air_volume=current_asp_blow_out_air_volume,
|
||||
spread=spread,
|
||||
)
|
||||
|
||||
if delays is not None:
|
||||
await self.custom_delay(seconds=delays[0])
|
||||
|
||||
# 分液到8个目标
|
||||
current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None
|
||||
current_dis_offset = offsets[i:i + 8] if offsets else [None] * 8
|
||||
current_dis_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
|
||||
current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
|
||||
|
||||
await self.dispense(
|
||||
resources=current_targets,
|
||||
vols=current_dis_vols,
|
||||
use_channels=use_channels,
|
||||
flow_rates=current_dis_flow_rates,
|
||||
offsets=current_dis_offset,
|
||||
blow_out_air_volume=current_dis_blow_out_air_volume,
|
||||
liquid_height=current_dis_liquid_height,
|
||||
spread=spread,
|
||||
)
|
||||
|
||||
if delays is not None and len(delays) > 1:
|
||||
await self.custom_delay(seconds=delays[1])
|
||||
|
||||
if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
|
||||
await self.mix(
|
||||
targets=current_targets,
|
||||
mix_time=mix_times,
|
||||
mix_vol=mix_vol,
|
||||
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,
|
||||
)
|
||||
|
||||
if touch_tip:
|
||||
await self.touch_tip(current_targets)
|
||||
await self.discard_tips([0,1,2,3,4,5,6,7])
|
||||
|
||||
await self.discard_tips([0,1,2,3,4,5,6,7])
|
||||
|
||||
async def _transfer_many_to_one(
|
||||
self,
|
||||
sources: Sequence[Container],
|
||||
target: Container,
|
||||
tip_racks: Sequence[TipRack],
|
||||
use_channels: List[int],
|
||||
asp_vols: List[float],
|
||||
dis_vols: List[float],
|
||||
asp_flow_rates: Optional[List[Optional[float]]],
|
||||
dis_flow_rates: Optional[List[Optional[float]]],
|
||||
offsets: Optional[List[Coordinate]],
|
||||
touch_tip: bool,
|
||||
liquid_height: Optional[List[Optional[float]]],
|
||||
blow_out_air_volume: Optional[List[Optional[float]]],
|
||||
spread: Literal["wide", "tight", "custom"],
|
||||
mix_stage: Optional[Literal["none", "before", "after", "both"]],
|
||||
mix_times: Optional[int],
|
||||
mix_vol: Optional[int],
|
||||
mix_rate: Optional[int],
|
||||
mix_liquid_height: Optional[float],
|
||||
delays: Optional[List[int]],
|
||||
):
|
||||
"""多对一传输模式：N sources -> 1 target（汇总/混合）"""
|
||||
# 验证和扩展体积参数
|
||||
if len(asp_vols) != len(sources):
|
||||
raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `sources` {len(sources)}.")
|
||||
|
||||
# 支持两种模式：
|
||||
# 1. dis_vols 为单个值：所有源汇总，使用总吸液体积或指定分液体积
|
||||
# 2. dis_vols 长度等于 asp_vols：每个源按不同比例分液（按比例混合）
|
||||
if len(dis_vols) == 1:
|
||||
# 模式1：使用单个分液体积
|
||||
total_dis_vol = sum(asp_vols)
|
||||
dis_vol = dis_vols[0] if dis_vols[0] >= total_dis_vol else total_dis_vol
|
||||
use_proportional_mixing = False
|
||||
elif len(dis_vols) == len(asp_vols):
|
||||
# 模式2：按不同比例混合
|
||||
use_proportional_mixing = True
|
||||
else:
|
||||
raise ValueError(
|
||||
f"For many-to-one mode, `dis_vols` should be a single value or list with length {len(asp_vols)} "
|
||||
f"(matching `asp_vols`). Got length {len(dis_vols)}."
|
||||
)
|
||||
|
||||
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）
|
||||
if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
|
||||
# 注意：在吸液前混合源容器通常不常见，这里跳过
|
||||
pass
|
||||
|
||||
# 从每个源容器吸液并分液到目标容器
|
||||
for idx, source in enumerate(sources):
|
||||
tip = []
|
||||
for _ in range(len(use_channels)):
|
||||
tip.extend(next(self.current_tip))
|
||||
await self.pick_up_tips(tip)
|
||||
|
||||
await self.aspirate(
|
||||
resources=[source],
|
||||
vols=[asp_vols[idx]],
|
||||
use_channels=use_channels,
|
||||
flow_rates=[asp_flow_rates[idx]] if asp_flow_rates and len(asp_flow_rates) > idx else None,
|
||||
offsets=[offsets[idx]] if offsets and len(offsets) > idx else None,
|
||||
liquid_height=[liquid_height[idx]] if liquid_height and len(liquid_height) > idx else None,
|
||||
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
|
||||
dis_vol = dis_vols[idx]
|
||||
dis_flow_rate = dis_flow_rates[idx] if dis_flow_rates and len(dis_flow_rates) > idx else None
|
||||
dis_offset = offsets[idx] if offsets and len(offsets) > idx else None
|
||||
dis_liquid_height = liquid_height[idx] if liquid_height and len(liquid_height) > idx else None
|
||||
dis_blow_out = blow_out_air_volume[idx] if blow_out_air_volume and len(blow_out_air_volume) > idx else None
|
||||
else:
|
||||
# 标准模式：分液体积等于吸液体积
|
||||
dis_vol = asp_vols[idx]
|
||||
dis_flow_rate = dis_flow_rates[0] if dis_flow_rates and len(dis_flow_rates) > 0 else None
|
||||
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],
|
||||
use_channels=use_channels,
|
||||
flow_rates=[dis_flow_rate] if dis_flow_rate is not None else None,
|
||||
offsets=[dis_offset] if dis_offset is not None else None,
|
||||
blow_out_air_volume=[dis_blow_out] if dis_blow_out is not None else None,
|
||||
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)
|
||||
|
||||
# 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:
|
||||
await self.mix(
|
||||
targets=[target],
|
||||
mix_time=mix_times,
|
||||
mix_vol=mix_vol,
|
||||
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,
|
||||
)
|
||||
|
||||
if touch_tip:
|
||||
await self.touch_tip([target])
|
||||
|
||||
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
|
||||
for i in range(0, len(sources), 8):
|
||||
tip = []
|
||||
for _ in range(len(use_channels)):
|
||||
tip.extend(next(self.current_tip))
|
||||
await self.pick_up_tips(tip)
|
||||
|
||||
current_sources = sources[i:i + 8]
|
||||
current_asp_vols = asp_vols[i:i + 8]
|
||||
current_asp_flow_rates = asp_flow_rates[i:i + 8] if asp_flow_rates else None
|
||||
current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
|
||||
current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
|
||||
current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
|
||||
|
||||
# 从8个源容器吸液
|
||||
await self.aspirate(
|
||||
resources=current_sources,
|
||||
vols=current_asp_vols,
|
||||
use_channels=use_channels,
|
||||
flow_rates=current_asp_flow_rates,
|
||||
offsets=current_asp_offset,
|
||||
blow_out_air_volume=current_asp_blow_out_air_volume,
|
||||
liquid_height=current_asp_liquid_height,
|
||||
spread=spread,
|
||||
)
|
||||
|
||||
if delays is not None:
|
||||
await self.custom_delay(seconds=delays[0])
|
||||
|
||||
# 分液到目标容器（每个通道分液到同一个目标）
|
||||
if use_proportional_mixing:
|
||||
# 按比例混合：使用对应的 dis_vols
|
||||
current_dis_vols = dis_vols[i:i + 8]
|
||||
current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None
|
||||
current_dis_offset = offsets[i:i + 8] if offsets else [None] * 8
|
||||
current_dis_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
|
||||
current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
|
||||
else:
|
||||
# 标准模式：每个通道分液体积等于其吸液体积
|
||||
current_dis_vols = current_asp_vols
|
||||
current_dis_flow_rates = dis_flow_rates[0:1] * 8 if dis_flow_rates else None
|
||||
current_dis_offset = offsets[0:1] * 8 if offsets else [None] * 8
|
||||
current_dis_liquid_height = liquid_height[0:1] * 8 if liquid_height else [None] * 8
|
||||
current_dis_blow_out_air_volume = blow_out_air_volume[0:1] * 8 if blow_out_air_volume else [None] * 8
|
||||
|
||||
await self.dispense(
|
||||
resources=[target] * 8, # 8个通道都分到同一个目标
|
||||
vols=current_dis_vols,
|
||||
use_channels=use_channels,
|
||||
flow_rates=current_dis_flow_rates,
|
||||
offsets=current_dis_offset,
|
||||
blow_out_air_volume=current_dis_blow_out_air_volume,
|
||||
liquid_height=current_dis_liquid_height,
|
||||
spread=spread,
|
||||
)
|
||||
|
||||
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])
|
||||
|
||||
# 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:
|
||||
await self.mix(
|
||||
targets=[target],
|
||||
mix_time=mix_times,
|
||||
mix_vol=mix_vol,
|
||||
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,
|
||||
)
|
||||
|
||||
if touch_tip:
|
||||
await self.touch_tip([target])
|
||||
|
||||
# except Exception as e:
|
||||
# traceback.print_exc()
|
||||
|
||||
@@ -7,7 +7,7 @@ class VirtualMultiwayValve:
|
||||
"""
|
||||
虚拟九通阀门 - 0号位连接transfer pump，1-8号位连接其他设备 🔄
|
||||
"""
|
||||
def __init__(self, port: str = "VIRTUAL", positions: int = 8):
|
||||
def __init__(self, port: str = "VIRTUAL", positions: int = 8, **kwargs):
|
||||
self.port = port
|
||||
self.max_positions = positions # 1-8号位
|
||||
self.total_positions = positions + 1 # 0-8号位，共9个位置
|
||||
|
||||
@@ -2,6 +2,7 @@ from datetime import datetime
|
||||
import json
|
||||
import time
|
||||
from typing import Optional, Dict, Any, List
|
||||
from typing_extensions import TypedDict
|
||||
import requests
|
||||
import pint
|
||||
from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG
|
||||
@@ -14,6 +15,14 @@ import sys
|
||||
from pathlib import Path
|
||||
import importlib
|
||||
|
||||
class ComputeExperimentDesignReturn(TypedDict):
|
||||
solutions: list
|
||||
titration: dict
|
||||
solvents: dict
|
||||
feeding_order: list
|
||||
return_info: str
|
||||
|
||||
|
||||
class BioyondDispensingStation(BioyondWorkstation):
|
||||
def __init__(
|
||||
self,
|
||||
@@ -138,85 +147,20 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
wt_percent: str = "0.25",
|
||||
m_tot: str = "70",
|
||||
titration_percent: str = "0.03",
|
||||
) -> dict:
|
||||
"""计算实验设计参数
|
||||
|
||||
参数:
|
||||
ratio: 化合物配比，支持多种格式:
|
||||
1. 简化格式(推荐): "MDA:0.5,PAPP:0.5,BTDA:0.95"
|
||||
2. JSON字符串: '{"MDA": 1, "BTDA": 0.95, "PAPP": 1}'
|
||||
3. Python字典: {"MDA": 1, "BTDA": 0.95, "PAPP": 1}
|
||||
wt_percent: 固体重量百分比，默认 0.25
|
||||
m_tot: 反应混合物总质量(g)，默认 70
|
||||
titration_percent: 滴定溶液百分比，默认 0.03
|
||||
|
||||
返回:
|
||||
包含实验设计参数的字典
|
||||
"""
|
||||
) -> ComputeExperimentDesignReturn:
|
||||
try:
|
||||
# 1. 参数解析和验证
|
||||
original_ratio = ratio
|
||||
|
||||
if isinstance(ratio, str):
|
||||
# 尝试解析简化格式: "MDA:0.5,PAPP:0.5,BTDA:0.95"
|
||||
if ':' in ratio and ',' in ratio:
|
||||
try:
|
||||
ratio_dict = {}
|
||||
pairs = ratio.split(',')
|
||||
for pair in pairs:
|
||||
pair = pair.strip()
|
||||
if ':' in pair:
|
||||
key, value = pair.split(':', 1)
|
||||
key = key.strip()
|
||||
value = value.strip()
|
||||
try:
|
||||
ratio_dict[key] = float(value)
|
||||
except ValueError:
|
||||
raise BioyondException(f"无法将 '{value}' 转换为数字")
|
||||
if ratio_dict:
|
||||
ratio = ratio_dict
|
||||
self.hardware_interface._logger.info(
|
||||
f"从简化格式解析 ratio: '{original_ratio}' -> {ratio}"
|
||||
)
|
||||
except BioyondException:
|
||||
raise
|
||||
except Exception as e:
|
||||
self.hardware_interface._logger.warning(
|
||||
f"简化格式解析失败，尝试JSON格式: {e}"
|
||||
)
|
||||
|
||||
# 如果不是简化格式或解析失败，尝试JSON格式
|
||||
if isinstance(ratio, str):
|
||||
try:
|
||||
ratio = json.loads(ratio)
|
||||
# 处理可能的多层 JSON 编码
|
||||
if isinstance(ratio, str):
|
||||
try:
|
||||
ratio = json.loads(ratio)
|
||||
except Exception:
|
||||
pass
|
||||
except Exception as e:
|
||||
raise BioyondException(
|
||||
f"ratio 参数解析失败: {e}。\n"
|
||||
f"支持的格式:\n"
|
||||
f" 1. 简化格式(推荐): 'MDA:0.5,PAPP:0.5,BTDA:0.95'\n"
|
||||
f" 2. JSON格式: '{{\"MDA\": 0.5, \"BTDA\": 0.95, \"PAPP\": 0.5}}'"
|
||||
)
|
||||
|
||||
if not isinstance(ratio, dict):
|
||||
raise BioyondException(
|
||||
f"ratio 必须是字典类型或可解析的字符串，当前类型: {type(ratio)}。\n"
|
||||
f"支持的格式:\n"
|
||||
f" 1. 简化格式(推荐): 'MDA:0.5,PAPP:0.5,BTDA:0.95'\n"
|
||||
f" 2. JSON格式: '{{\"MDA\": 0.5, \"BTDA\": 0.95, \"PAPP\": 0.5}}'"
|
||||
)
|
||||
|
||||
if not ratio:
|
||||
raise BioyondException("ratio 参数不能为空")
|
||||
|
||||
# 记录解析后的参数用于调试
|
||||
self.hardware_interface._logger.info(f"最终解析的 ratio 参数: {ratio} (类型: {type(ratio)})")
|
||||
|
||||
try:
|
||||
ratio = json.loads(ratio)
|
||||
except Exception:
|
||||
ratio = {}
|
||||
root = str(Path(__file__).resolve().parents[3])
|
||||
if root not in sys.path:
|
||||
sys.path.append(root)
|
||||
try:
|
||||
mod = importlib.import_module("tem.compute")
|
||||
except Exception as e:
|
||||
raise BioyondException(f"无法导入计算模块: {e}")
|
||||
try:
|
||||
wp = float(wt_percent) if isinstance(wt_percent, str) else wt_percent
|
||||
mt = float(m_tot) if isinstance(m_tot, str) else m_tot
|
||||
@@ -1299,25 +1243,6 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
'actualVolume': actual_volume
|
||||
}
|
||||
|
||||
def scheduler_start(self) -> dict:
|
||||
"""启动调度器 - 启动Bioyond工作站的任务调度器，开始执行队列中的任务
|
||||
|
||||
Returns:
|
||||
dict: 包含return_info的字典，return_info为整型(1=成功)
|
||||
|
||||
Raises:
|
||||
BioyondException: 调度器启动失败时抛出异常
|
||||
"""
|
||||
result = self.hardware_interface.scheduler_start()
|
||||
self.hardware_interface._logger.info(f"调度器启动结果: {result}")
|
||||
|
||||
if result != 1:
|
||||
error_msg = "启动调度器失败: 有未处理错误，调度无法启动。请检查Bioyond系统状态。"
|
||||
self.hardware_interface._logger.error(error_msg)
|
||||
raise BioyondException(error_msg)
|
||||
|
||||
return {"return_info": result}
|
||||
|
||||
# 等待多个任务完成并获取实验报告
|
||||
def wait_for_multiple_orders_and_get_reports(self,
|
||||
batch_create_result: str = None,
|
||||
|
||||
@@ -147,7 +147,7 @@ class WorkstationBase(ABC):
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
deck: Deck,
|
||||
deck: Optional[Deck],
|
||||
*args,
|
||||
**kwargs, # 必须有kwargs
|
||||
):
|
||||
@@ -349,5 +349,5 @@ class WorkstationBase(ABC):
|
||||
|
||||
|
||||
class ProtocolNode(WorkstationBase):
|
||||
def __init__(self, deck: Optional[PLRResource], *args, **kwargs):
|
||||
def __init__(self, protocol_type: List[str], deck: Optional[PLRResource], *args, **kwargs):
|
||||
super().__init__(deck, *args, **kwargs)
|
||||
|
||||
Reference in New Issue
Block a user