diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py index 045f5a1..9795dc8 100644 --- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py +++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py @@ -48,43 +48,99 @@ class LiquidHandlerAbstract(LiquidHandler): none_keys: List[str] = [], ): """A complete *remove* (aspirate → waste) operation.""" - trash = self.deck.get_trash_area() + try: if is_96_well: - pass # This mode is not verified - else: - if len(vols) != len(sources): - raise ValueError("Length of `vols` must match `sources`.") - - for src, vol in zip(sources, vols): - await self.move_to(src, dis_to_top=top[0] if top else 0) - tip = next(self.current_tip) + pass # This mode is not verified. + else: + # 首先应该对任务分组，然后每次1个/8个进行操作处理 + if len(use_channels) == 1: + tip = [] + for _ in range(len(use_channels)): + tip.extend(next(self.current_tip)) await self.pick_up_tips(tip) - await self.aspirate( - resources=[src], - vols=[vol], - use_channels=use_channels, # only aspirate96 used, default to None - flow_rates=[flow_rates[0]] if flow_rates else None, - offsets=[offsets[0]] if offsets else None, - liquid_height=[liquid_height[0]] if liquid_height else None, - blow_out_air_volume=blow_out_air_volume[0] if blow_out_air_volume else None, - spread=spread, - ) - await self.custom_delay(seconds=delays[0] if delays else 0) - await self.dispense( - resources=waste_liquid, - vols=[vol], - use_channels=use_channels, - flow_rates=[flow_rates[1]] if flow_rates else None, - offsets=[offsets[1]] if offsets else None, - liquid_height=[liquid_height[1]] if liquid_height else None, - blow_out_air_volume=blow_out_air_volume[1] if blow_out_air_volume else None, - spread=spread, - ) - await self.discard_tips() # For now, each of tips is discarded after use + + for _ in range(len(waste_liquid)): + await self.aspirate( + resources=sources, + vols=[vols[_]], + use_channels=use_channels, + flow_rates=[flow_rates[0]] if flow_rates else None, + offsets=[offsets[0]] if offsets else None, + liquid_height=[liquid_height[0]] if liquid_height else None, + blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume else None, + spread=spread, + ) + if delays is not None: + await self.custom_delay(seconds=delays[0]) + await self.dispense( + resources=[waste_liquid[_]], + vols=[vols[_]], + use_channels=use_channels, + flow_rates=[flow_rates[1]] if flow_rates else None, + offsets=[offsets[1]] if offsets else None, + blow_out_air_volume=[blow_out_air_volume[1]] if blow_out_air_volume else None, + liquid_height=[liquid_height[1]] if liquid_height else None, + spread=spread, + ) + await self.discard_tips() + elif len(use_channels) == 8: + tip = [] + for _ in range(len(use_channels)): + tip.extend(next(self.current_tip)) + await self.pick_up_tips(tip) + + # 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(sources) % 8 != 0: + raise ValueError(f"Length of `sources` {len(sources)} 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(sources), 8): + # 取出8个任务 + current_targets = waste_liquid[i:i + 8] + current_reagent_sources = sources[i:i + 8] + current_asp_vols = vols[i:i + 8] + current_dis_vols = vols[i:i + 8] + current_asp_flow_rates = flow_rates[i:i + 8] if flow_rates else [None] * 8 + current_dis_flow_rates = flow_rates[-i*8-8:len(flow_rates)-i*8] if flow_rates else [None] * 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 + + 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, + 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]) + await self.dispense( + resources=current_targets, + vols=current_dis_vols, + use_channels=use_channels, + flow_rates=current_dis_flow_rates, + offsets=current_dis_offset, + liquid_height=current_dis_liquid_height, + blow_out_air_volume=current_dis_blow_out_air_volume, + spread=spread, + ) + if delays is not None: + await self.custom_delay(seconds=delays[1]) + + #await self.touch_tip(current_targets) except Exception as e: - raise RuntimeError(f"Liquid removal failed: {e}") from e + traceback.print_exc() + raise RuntimeError(f"Liquid addition failed: {e}") from e # --------------------------------------------------------------- # ADD LIQUID ----------------------------------------------------- @@ -183,14 +239,14 @@ class LiquidHandlerAbstract(LiquidHandler): current_asp_vols = asp_vols[i:i + 8] current_dis_vols = dis_vols[i:i + 8] current_asp_flow_rates = flow_rates[i:i + 8] if flow_rates else [None] * 8 - current_dis_flow_rates = flow_rates[i+8 :i + 16] if flow_rates else [None] * 8 + current_dis_flow_rates = flow_rates[-i*8-8:len(flow_rates)-i*8] if flow_rates else [None] * 8 current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8 - current_dis_offset = offsets[i+8 :i + 16] 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 :i + 16] 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 :i + 16] 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 + await self.aspirate( resources=current_reagent_sources, vols=current_asp_vols, @@ -347,11 +403,11 @@ class LiquidHandlerAbstract(LiquidHandler): 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 :i + 16] 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 :i + 16] 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 :i + 16] 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( diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index 0d68654..75dd31a 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -1033,22 +1033,33 @@ if __name__ == "__main__": # asyncio.run(handler.drop_tips(tip_rack.children[8:16],[0,1,2,3,4,5,6,7])) # 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=well_containers.children[-16:], - targets=well_containers.children[:16], + # asyncio.run(handler.add_liquid( + # asp_vols=[100]*16, + # dis_vols=[100]*16, + # reagent_sources=well_containers.children[-16:], + # targets=well_containers.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, + sources=well_containers.children[-16:], + waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写 use_channels=[0, 1, 2, 3, 4, 5, 6, 7], - flow_rates=[None] * 16, - offsets=[Coordinate(0, 0, 0)] * 16, - liquid_height=[None] * 16, - blow_out_air_volume=[None] * 16, - delays=None, - mix_time=3, - mix_vol=50, + flow_rates=[None] * 32, + offsets=[Coordinate(0, 0, 0)] * 32, + liquid_height=[None] * 32, + blow_out_air_volume=[None] * 32, spread="wide", )) - # asyncio.run(handler.transfer_liquid( # asp_vols=[100]*16, # dis_vols=[100]*16,