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更新添加版位方法

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zhangshixiang
2026-01-15 21:13:22 +08:00
parent 269ce440d1
commit 6f600b4fc7
1 changed files with 33 additions and 26 deletions
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59
unilabos/devices/liquid_handling/prcxi/prcxi.py
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@@ -442,6 +442,11 @@ class PRCXI9300TubeRack(TubeRack):
# 清理临时数据
del self._temp_ordering
def load_state(self, state: Dict[str, Any]) -> None:
"""从给定的状态加载工作台信息。"""
# super().load_state(state)
self._unilabos_state = state
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
try:
@@ -677,26 +682,18 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
self.y_offset = y_offset
self.xy_coupling = xy_coupling
tablets_info = []
tablets_info = {}
plate_positions = []
for child in deck.children:
number = int(child.name.replace("T", ""))
if child.children:
if "Material" in child.children[0]._unilabos_state:
tablets_info.append(
{
"Number": number,
"Material": child.children[0]._unilabos_state["Material"]
}
)
tablets_info[number] = child.children[0]._unilabos_state["Material"].get("uuid", "730067cf07ae43849ddf4034299030e9")
else:
tablets_info[number] = "730067cf07ae43849ddf4034299030e9"
else:
tablets_info.append(
{
"Number": number,
"Material": {"uuid": "730067cf07ae43849ddf4034299030e9"}
}
)
tablets_info[number] = "730067cf07ae43849ddf4034299030e9"
pos = self.plr_pos_to_prcxi(child)
plate_positions.append(
{
@@ -1167,12 +1164,22 @@ class PRCXI9300Backend(LiquidHandlerBackend):
if not len(self.matrix_id):
self.matrix_id = str(uuid.uuid4())
material_list = self.api_client.get_all_materials()
material_dict = {material["uuid"]: material for material in material_list}
work_tablets = []
for num, material_id in self.tablets_info.items():
work_tablets.append({
"Number": num,
"Material": material_dict[material_id]
})
self.matrix_info = {
"MatrixId": self.matrix_id,
"MatrixName": self.matrix_id,
"WorkTablets": [{"Number": i, "Material": {"uuid": "068b3815e36b4a72a59bae017011b29f"}} for i in range(1, 16)]+
[{"Number": 16, "Material": {'uuid': '730067cf07ae43849ddf4034299030e9', 'Code': 'q1', 'SupplyType': 1, 'Name': '废弃槽', 'SummaryName': None, 'Factory': None, 'LengthNum': None, 'WidthNum': None, 'HeightNum': 0.0, 'DepthNum': 0.0, 'PipetteHeight': None, 'HoleDiameter': None, 'Margins_X': None, 'Margins_Y': None, 'HoleColum': 1, 'HoleRow': 1, 'Volume': 1250, 'ImagePath': 'C:\\Program Files (x86)\\Pipetting workstation chip', 'CreateTime': None, 'UpdateTime': None, 'XSpacing': 1.0, 'YSpacing': 1.0, 'materialEnum': 0}}]
}
"WorkTablets": work_tablets,
}
# print(json.dumps(self.matrix_info, indent=2))
res = self.api_client.add_WorkTablet_Matrix(self.matrix_info)
if not res["Success"]:
@@ -1217,17 +1224,17 @@ class PRCXI9300Backend(LiquidHandlerBackend):
print("PRCXI9300 error code cleared.")
self.api_client.call("IAutomation", "Stop")
# 执行重置
print("Starting PRCXI9300 reset...")
self.api_client.call("IAutomation", "Reset")
# print("Starting PRCXI9300 reset...")
# self.api_client.call("IAutomation", "Reset")
# 检查重置状态并等待完成
while not self.is_reset_ok:
print("Waiting for PRCXI9300 to reset...")
if hasattr(self, '_ros_node') and self._ros_node is not None:
await self._ros_node.sleep(1)
else:
await asyncio.sleep(1)
print("PRCXI9300 reset successfully.")
# # 检查重置状态并等待完成
# while not self.is_reset_ok:
# print("Waiting for PRCXI9300 to reset...")
# if hasattr(self, '_ros_node') and self._ros_node is not None:
# await self._ros_node.sleep(1)
# else:
# await asyncio.sleep(1)
# print("PRCXI9300 reset successfully.")
self.api_client.update_clamp_jaw_position(self.matrix_id, self.plate_positions)