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https://github.com/dptech-corp/Uni-Lab-OS.git
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Update prcxi.py
This commit is contained in:
Guangxin Zhang
@@ -48,43 +48,99 @@ class LiquidHandlerAbstract(LiquidHandler):
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none_keys: List[str] = [],
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):
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"""A complete *remove* (aspirate → waste) operation."""
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trash = self.deck.get_trash_area()
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try:
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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(vols) != len(sources):
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raise ValueError("Length of `vols` must match `sources`.")
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for src, vol in zip(sources, vols):
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await self.move_to(src, dis_to_top=top[0] if top else 0)
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tip = next(self.current_tip)
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pass # This mode is not verified.
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else:
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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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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=[src],
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vols=[vol],
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use_channels=use_channels, # only aspirate96 used, default to None
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flow_rates=[flow_rates[0]] if 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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await self.custom_delay(seconds=delays[0] if delays else 0)
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await self.dispense(
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resources=waste_liquid,
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vols=[vol],
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use_channels=use_channels,
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flow_rates=[flow_rates[1]] if flow_rates else None,
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offsets=[offsets[1]] if offsets else None,
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liquid_height=[liquid_height[1]] if liquid_height 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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spread=spread,
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)
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await self.discard_tips() # For now, each of tips is discarded after use
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for _ in range(len(waste_liquid)):
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await self.aspirate(
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resources=sources,
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vols=[vols[_]],
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use_channels=use_channels,
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flow_rates=[flow_rates[0]] if 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=[waste_liquid[_]],
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vols=[vols[_]],
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use_channels=use_channels,
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flow_rates=[flow_rates[1]] if 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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await self.discard_tips()
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elif len(use_channels) == 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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# 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(sources) % 8 != 0:
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raise ValueError(f"Length of `sources` {len(sources)} 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(sources), 8):
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# 取出8个任务
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current_targets = waste_liquid[i:i + 8]
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current_reagent_sources = sources[i:i + 8]
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current_asp_vols = vols[i:i + 8]
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current_dis_vols = vols[i:i + 8]
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current_asp_flow_rates = flow_rates[i:i + 8] if flow_rates else [None] * 8
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current_dis_flow_rates = flow_rates[-i*8-8:len(flow_rates)-i*8] if flow_rates else [None] * 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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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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liquid_height=current_asp_liquid_height,
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blow_out_air_volume=current_asp_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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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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liquid_height=current_dis_liquid_height,
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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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await self.custom_delay(seconds=delays[1])
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#await self.touch_tip(current_targets)
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except Exception as e:
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raise RuntimeError(f"Liquid removal failed: {e}") from e
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traceback.print_exc()
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raise RuntimeError(f"Liquid addition failed: {e}") from e
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# ---------------------------------------------------------------
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# ADD LIQUID -----------------------------------------------------
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@@ -183,14 +239,14 @@ class LiquidHandlerAbstract(LiquidHandler):
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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 = flow_rates[i:i + 8] if flow_rates else [None] * 8
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current_dis_flow_rates = flow_rates[i+8 :i + 16] if flow_rates else [None] * 8
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current_dis_flow_rates = flow_rates[-i*8-8:len(flow_rates)-i*8] if flow_rates else [None] * 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 :i + 16] 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 :i + 16] 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 :i + 16] 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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await self.aspirate(
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resources=current_reagent_sources,
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vols=current_asp_vols,
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@@ -347,11 +403,11 @@ class LiquidHandlerAbstract(LiquidHandler):
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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 :i + 16] 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 :i + 16] 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 :i + 16] 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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