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Transfer_liquid (#176)
* change 9320 desk row number to 4 * Updated 9320 host address * Updated 9320 host address * Add **kwargs in classes: PRCXI9300Deck and PRCXI9300Container * Removed all sample_id in prcxi_9320.json to avoid KeyError * 9320 machine testing settings * Typo * Typo in base_device_node.py * Enhance liquid handling functionality by adding support for multiple transfer modes (one-to-many, one-to-one, many-to-one) and improving parameter validation. Default channel usage is set when not specified. Adjusted mixing logic to ensure it only occurs when valid conditions are met. Updated documentation for clarity.
This commit is contained in:
Harry Liu
Xuwznln
@@ -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,
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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])
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if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
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await self.mix(
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targets=[targets[_]],
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mix_time=mix_times,
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@@ -1004,63 +1097,60 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
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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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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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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(use_channels=use_channels)
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elif len(use_channels) == 8:
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# 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
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if len(targets) % 8 != 0:
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raise ValueError(f"Length of `targets` {len(targets)} must be a multiple of 8 for 8-channel mode.")
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elif len(use_channels) == 8:
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if len(targets) % 8 != 0:
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raise ValueError(f"Length of `targets` {len(targets)} must be a multiple of 8 for 8-channel mode.")
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# 8个8个来取任务序列
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for i in range(0, len(targets), 8):
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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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current_targets = targets[i:i + 8]
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current_reagent_sources = sources[i:i + 8]
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current_asp_vols = asp_vols[i:i + 8]
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current_dis_vols = dis_vols[i:i + 8]
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current_asp_flow_rates = asp_flow_rates[i:i + 8] if asp_flow_rates else None
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current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
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current_dis_offset = offsets[i:i + 8] if offsets else [None] * 8
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current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
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current_dis_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
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current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
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current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
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current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None
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for i in range(0, len(targets), 8):
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# 取出8个任务
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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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current_targets = targets[i:i + 8]
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current_reagent_sources = sources[i:i + 8]
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current_asp_vols = asp_vols[i:i + 8]
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current_dis_vols = dis_vols[i:i + 8]
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current_asp_flow_rates = asp_flow_rates[i:i + 8]
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current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
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current_dis_offset = offsets[-i*8-8:len(offsets)-i*8] if offsets else [None] * 8
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current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
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current_dis_liquid_height = liquid_height[-i*8-8:len(liquid_height)-i*8] if liquid_height else [None] * 8
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current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
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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
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current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else [None] * 8
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await self.aspirate(
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resources=current_reagent_sources,
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vols=current_asp_vols,
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use_channels=use_channels,
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flow_rates=current_asp_flow_rates,
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offsets=current_asp_offset,
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blow_out_air_volume=current_asp_blow_out_air_volume,
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liquid_height=current_asp_liquid_height,
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spread=spread,
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)
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await self.aspirate(
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resources=current_reagent_sources,
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vols=current_asp_vols,
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use_channels=use_channels,
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flow_rates=current_asp_flow_rates,
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offsets=current_asp_offset,
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blow_out_air_volume=current_asp_blow_out_air_volume,
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liquid_height=current_asp_liquid_height,
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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=current_targets,
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vols=current_dis_vols,
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use_channels=use_channels,
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flow_rates=current_dis_flow_rates,
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offsets=current_dis_offset,
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blow_out_air_volume=current_dis_blow_out_air_volume,
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liquid_height=current_dis_liquid_height,
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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 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=current_targets,
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vols=current_dis_vols,
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use_channels=use_channels,
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flow_rates=current_dis_flow_rates,
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offsets=current_dis_offset,
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blow_out_air_volume=current_dis_blow_out_air_volume,
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liquid_height=current_dis_liquid_height,
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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])
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|
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if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
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await self.mix(
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targets=current_targets,
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mix_time=mix_times,
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@@ -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()
|
||||
|
||||
@@ -1144,7 +1144,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
queried_resources = []
|
||||
for resource_data in resource_inputs:
|
||||
plr_resource = await self.get_resource_with_dir(
|
||||
resource_ids=resource_data["id"], with_children=True
|
||||
resource_id=resource_data["id"], with_children=True
|
||||
)
|
||||
queried_resources.append(plr_resource)
|
||||
|
||||
|
||||
Reference in New Issue
Block a user