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Update 9320

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This commit is contained in:
Guangxin Zhang
2025-07-17 23:23:37 +08:00
parent 41c130ef54
commit 6eaa8e1c63
1 changed files with 120 additions and 136 deletions
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256
unilabos/devices/liquid_handling/prcxi/prcxi.py
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@@ -1114,101 +1114,9 @@ if __name__ == "__main__":
# 3.
deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)
plate2 = PRCXI9300Container(name="plateT2", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
plate2.load_state({
"Material": {
"uuid": "04211a2dc93547fe9bf6121eac533650"
}
})
#储液槽
plate3 = PRCXI9300Container(name="plateT3", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
plate3.load_state({
"Material": {
"uuid": "04211a2dc93547fe9bf6121eac533650"
}
})
plate4 = PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash", ordering=collections.OrderedDict())
plate4.load_state({
"Material": {
"uuid": "730067cf07ae43849ddf4034299030e9"
}
})
plate5 = PRCXI9300Container(name="plateT5", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
plate5.load_state({
"Material": {
"uuid": "04211a2dc93547fe9bf6121eac533650"
}
})
plate6 = PRCXI9300Container(name="plateT6", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
plate6.load_state({
"Material": {
"uuid": "04211a2dc93547fe9bf6121eac533650"
}
})
plate7 = PRCXI9300Container(name="plateT7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
plate7.load_state({
"Material": {
"uuid": "04211a2dc93547fe9bf6121eac533650"
}
})
plate8 = PRCXI9300Container(name="rackT8", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
plate8.load_state({
"Material": {
"uuid": "068b3815e36b4a72a59bae017011b29f",
"Code": "ZX-001-10+",
"Name": "10μL加长 Tip头"
}
})
plate9 = PRCXI9300Container(name="plateT9", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
plate9.load_state({
"Material": {
"uuid": "04211a2dc93547fe9bf6121eac533650"
}
})
plate10 = PRCXI9300Container(name="plateT10", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
plate10.load_state({
"Material": {
"uuid": "04211a2dc93547fe9bf6121eac533650"
}
})
plate11 = PRCXI9300Container(name="plateT11", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
plate11.load_state({
"Material": {
"uuid": "57b1e4711e9e4a32b529f3132fc5931f",
}
})
plate12 = PRCXI9300Container(name="plateT12", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
plate12.load_state({
"Material": {
"uuid": "04211a2dc93547fe9bf6121eac533650"
}
})
plate13 = PRCXI9300Container(name="plateT13", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
plate13.load_state({
"Material": {
"uuid": "04211a2dc93547fe9bf6121eac533650"
}
})
from pylabrobot.resources.opentrons.tip_racks import tipone_96_tiprack_200ul,opentrons_96_tiprack_10ul
from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
def get_well_container(name: str) -> PRCXI9300Container:
well_containers = corning_96_wellplate_360ul_flat(name).serialize()
plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
@@ -1238,36 +1146,113 @@ if __name__ == "__main__":
}
})
plate2 = get_well_container("HPLCPlateT1")
plate2 = get_well_container("PlateT2")
plate2.load_state({
"Material": {
"uuid": "548bbc3df0d4447586f2c19d2c0c0c55",
"Code": "HPLC01",
"Name": "HPLC料盘"
"uuid": "04211a2dc93547fe9bf6121eac533650",
}
})
plate3 = get_well_container("PlateT3")
plate3.load_state({
"Material": {
"uuid": "04211a2dc93547fe9bf6121eac533650",
}
})
trash = PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash", ordering=collections.OrderedDict())
trash.load_state({
"Material": {
"uuid": "730067cf07ae43849ddf4034299030e9"
}
})
plate5 = get_well_container("PlateT5")
plate5.load_state({
"Material": {
"uuid": "04211a2dc93547fe9bf6121eac533650",
}
})
plate6 = get_well_container("PlateT6")
plate6.load_state({
"Material": {
"uuid": "04211a2dc93547fe9bf6121eac533650"
}
})
plate7 = PRCXI9300Container(name="plateT7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
plate7.load_state({
"Material": {
"uuid": "04211a2dc93547fe9bf6121eac533650"
}
})
plate8 = get_well_container("RackT8")
plate8.load_state({
"Material": {
"uuid": "068b3815e36b4a72a59bae017011b29f",
"Code": "ZX-001-10+",
"Name": "10μL加长 Tip头"
}
})
plate9 = get_well_container("PlateT9")
plate9.load_state({
"Material": {
"uuid": "04211a2dc93547fe9bf6121eac533650"
}
})
plate10 = get_well_container("PlateT10")
plate10.load_state({
"Material": {
"uuid": "04211a2dc93547fe9bf6121eac533650"
}
})
plate11 = get_well_container("PlateT11")
plate11.load_state({
"Material": {
"uuid": "57b1e4711e9e4a32b529f3132fc5931f",
}
})
plate12 = get_well_container("PlateT12")
plate12.load_state({
"Material": {
"uuid": "04211a2dc93547fe9bf6121eac533650"
}
})
plate13 = get_well_container("PlateT13")
plate13.load_state({
"Material": {
"uuid": "04211a2dc93547fe9bf6121eac533650"
}
})
# from pprint import pprint
# pprint(well_containers.children)
plate1.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
plate2.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
plate3.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
plate4.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
plate5.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
plate6.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
plate7.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
plate8.assign_child_resource(tip_rack, location=Coordinate(0, 0, 0))
plate9.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
plate10.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
plate11.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
plate12.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
plate13.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
plate1.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
plate2.assign_child_resource(plate2, location=Coordinate(0, 0, 0))
plate3.assign_child_resource(plate3, location=Coordinate(0, 0, 0))
trash.assign_child_resource(trash, location=Coordinate(0, 0, 0))
plate5.assign_child_resource(plate5, location=Coordinate(0, 0, 0))
plate6.assign_child_resource(plate6, location=Coordinate(0, 0, 0))
plate7.assign_child_resource(plate7, location=Coordinate(0, 0, 0))
plate8.assign_child_resource(plate8, location=Coordinate(0, 0, 0))
plate9.assign_child_resource(plate9, location=Coordinate(0, 0, 0))
plate10.assign_child_resource(plate10, location=Coordinate(0, 0, 0))
plate11.assign_child_resource(plate11, location=Coordinate(0, 0, 0))
plate12.assign_child_resource(plate12, location=Coordinate(0, 0, 0))
plate13.assign_child_resource(plate13, location=Coordinate(0, 0, 0))
deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
deck.assign_child_resource(plate3, location=Coordinate(0, 0, 0))
deck.assign_child_resource(plate4, location=Coordinate(0, 0, 0))
deck.assign_child_resource(trash, location=Coordinate(0, 0, 0))
deck.assign_child_resource(plate5, location=Coordinate(0, 0, 0))
deck.assign_child_resource(plate6, location=Coordinate(0, 0, 0))
deck.assign_child_resource(plate7, location=Coordinate(0, 0, 0))
@@ -1279,40 +1264,39 @@ if __name__ == "__main__":
deck.assign_child_resource(plate13, location=Coordinate(0, 0, 0))
handler = PRCXI9300Handler(deck=deck, host="10.181.102.13", port=9999, timeout=10.0, setup=False, debug=True, matrix_id="fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1")
handler.set_tiprack([tip_rack]) # Set the tip rack for the handler
handler.set_tiprack([plate8]) # Set the tip rack for the handler
asyncio.run(handler.setup()) # Initialize the handler and setup the connection
from pylabrobot.resources import set_volume_tracking
# from pylabrobot.resources import set_tip_tracking
set_volume_tracking(enabled=True)
plate1.set_well_liquids([("Water", 100)] * plate1.num_items)
plate8.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)]) # Set liquids for every 8 wells in plate8
asyncio.run(handler.create_protocol(protocol_name="Test Protocol")) # Initialize the backend and setup the connection
# asyncio.run(handler.pick_up_tips(tip_rack.children[:8],[0,1,2,3,4,5,6,7]))
# asyncio.run(handler.aspirate(well_containers.children[:8],[50]*8, [0,1,2,3,4,5,6,7]))
# asyncio.run(handler.dispense(well_containers.children[:8],[50]*8,[0,1,2,3,4,5,6,7]))
# asyncio.run(handler.drop_tips(tip_rack.children[8:16],[0,1,2,3,4,5,6,7]))
asyncio.run(handler.pick_up_tips(plate8.children[3],[1]))
asyncio.run(handler.aspirate(plate11.children[1],[10], [1]))
asyncio.run(handler.dispense(plate1.children[3],[10],[1]))
asyncio.run(handler.mix(plate1.children[3], mix_time=3, mix_vol=5, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
asyncio.run(handler.discard_tips())
# asyncio.run(handler.discard_tips())
# asyncio.run(handler.mix(well_containers.children[:8
# ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
#print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
asyncio.run(handler.add_liquid(
asp_vols=[100]*16,
dis_vols=[100]*16,
reagent_sources=final_plate_2.children[-16:],
targets=final_plate_2.children[:16],
use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
flow_rates=[None] * 32,
offsets=[Coordinate(0, 0, 0)] * 32,
liquid_height=[None] * 16,
blow_out_air_volume=[None] * 16,
delays=None,
mix_time=3,
mix_vol=50,
spread="wide",
))
# asyncio.run(handler.add_liquid(
# asp_vols=[100]*16,
# dis_vols=[100]*16,
# reagent_sources=final_plate_2.children[-16:],
# targets=final_plate_2.children[:16],
# use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
# flow_rates=[None] * 32,
# offsets=[Coordinate(0, 0, 0)] * 32,
# liquid_height=[None] * 16,
# blow_out_air_volume=[None] * 16,
# delays=None,
# mix_time=3,
# mix_vol=50,
# spread="wide",
# ))
# asyncio.run(handler.remove_liquid(
# vols=[100]*16,