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37-biomek-i5i7 (#40)

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* add biomek.py demo implementation

* 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。

* Test

* fix biomek success type

* Convert LH action to biomek.

* Update biomek.py

* 注册表上报handle和schema (param input)

* 修复biomek缺少的字段

* delete 's'

* Remove warnings

* Update biomek.py

* Biomek test

* Update biomek.py

* 新增transfer_biomek的msg

* New transfer_biomek

* Updated transfer_biomek

* 更新transfer_biomek的msg

* 更新transfer_biomek的msg

* 支持Biomek创建

* new action

* fix key name typo

* New parameter for biomek to run.

* Refine

* Update

* new actions

* new actions

* 1

* registry

* fix biomek startup
add action handles

* fix handles not as default entry

* biomek_test.py

biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json

* Update biomek.py

* biomek_test.py

* fix liquid_handler.biomek handles

* host node新增resource add时间统计
create_resource新增handle
bump version to 0.9.2

* 修正物料上传时间
改用biomek_test
增加ResultInfoEncoder
支持返回结果上传

* 正确发送return_info结果

* 同步执行状态信息

* 取消raiseValueError提示

* Update biomek_test.py

* 0608 DONE

* 同步了Biomek.py 现在应可用

* biomek switch back to non-test

* temp disable initialize resource

* Refine biomek

* Refine copy issue

* Refine

---------

Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com>
Co-authored-by: qxw138 <qxw@stu.pku.edu.cn>
This commit is contained in:
Xuwznln
2025-06-09 16:57:42 +08:00
committed by GitHub
parent 3470a1cb69
commit 729a0fcf0c
74 changed files with 16032 additions and 131 deletions
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1098
unilabos/devices/liquid_handling/biomek.py Normal file
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642
unilabos/devices/liquid_handling/biomek.txt Normal file
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2697
unilabos/devices/liquid_handling/biomek_temporary_protocol.json Normal file
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1006
unilabos/devices/liquid_handling/biomek_test.py Normal file
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unilabos/devices/liquid_handling/complete_biomek_protocol_0608.json Normal file
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99
unilabos/devices/liquid_handling/liquid_handler_abstract.py
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@@ -6,13 +6,8 @@ import asyncio
import time
from pylabrobot.liquid_handling import LiquidHandler
from pylabrobot.resources import (
Resource,
TipRack,
Container,
Coordinate,
Well
)
from pylabrobot.resources import Resource, TipRack, Container, Coordinate, Well
class LiquidHandlerAbstract(LiquidHandler):
"""Extended LiquidHandler with additional operations."""
@@ -21,6 +16,19 @@ class LiquidHandlerAbstract(LiquidHandler):
# REMOVE LIQUID --------------------------------------------------
# ---------------------------------------------------------------
async def create_protocol(
self,
protocol_name: str,
protocol_description: str,
protocol_version: str,
protocol_author: str,
protocol_date: str,
protocol_type: str,
none_keys: List[str] = [],
):
"""Create a new protocol with the given metadata."""
pass
async def remove_liquid(
self,
vols: List[float],
@@ -35,26 +43,26 @@ class LiquidHandlerAbstract(LiquidHandler):
spread: Optional[Literal["wide", "tight", "custom"]] = "wide",
delays: Optional[List[int]] = None,
is_96_well: Optional[bool] = False,
top: Optional[List(float)] = None,
none_keys: List[str] = []
top: Optional[List[float]] = None,
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
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):
self.move_to(src, dis_to_top=top[0] if top else 0)
await self.move_to(src, dis_to_top=top[0] if top else 0)
tip = 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
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,
@@ -64,15 +72,15 @@ class LiquidHandlerAbstract(LiquidHandler):
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
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
except Exception as e:
raise RuntimeError(f"Liquid removal failed: {e}") from e
@@ -100,13 +108,13 @@ class LiquidHandlerAbstract(LiquidHandler):
mix_vol: Optional[int] = None,
mix_rate: Optional[int] = None,
mix_liquid_height: Optional[float] = None,
none_keys: List[str] = []
none_keys: List[str] = [],
):
"""A complete *add* (aspirate reagent → dispense into targets) operation."""
try:
if is_96_well:
pass # This mode is not verified.
pass # This mode is not verified.
else:
if len(asp_vols) != len(targets):
raise ValueError("Length of `vols` must match `targets`.")
@@ -122,7 +130,7 @@ class LiquidHandlerAbstract(LiquidHandler):
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
spread=spread,
)
if delays is not None:
await self.custom_delay(seconds=delays[0])
@@ -144,7 +152,8 @@ class LiquidHandlerAbstract(LiquidHandler):
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)
mix_rate=mix_rate if mix_rate else None,
)
if delays is not None:
await self.custom_delay(seconds=delays[1])
await self.touch_tip(targets[_])
@@ -158,13 +167,13 @@ class LiquidHandlerAbstract(LiquidHandler):
# ---------------------------------------------------------------
async def transfer_liquid(
self,
asp_vols: Union[List[float], float],
dis_vols: Union[List[float], float],
sources: Sequence[Container],
targets: Sequence[Container],
tip_racks: Sequence[TipRack],
*,
use_channels: Optional[List[int]] = None,
asp_vols: Union[List[float], float],
dis_vols: Union[List[float], float],
asp_flow_rates: Optional[List[Optional[float]]] = None,
dis_flow_rates: Optional[List[Optional[float]]] = None,
offsets: Optional[List[Coordinate]] = None,
@@ -179,7 +188,7 @@ class LiquidHandlerAbstract(LiquidHandler):
mix_rate: Optional[int] = None,
mix_liquid_height: Optional[float] = None,
delays: Optional[List[int]] = None,
none_keys: List[str] = []
none_keys: List[str] = [],
):
"""Transfer liquid from each *source* well/plate to the corresponding *target*.
@@ -201,14 +210,15 @@ class LiquidHandlerAbstract(LiquidHandler):
# 96‑channel head mode
# ------------------------------------------------------------------
if is_96_well:
pass # This mode is not verified
pass # This mode is not verified
else:
if not (len(asp_vols) == len(sources) and len(dis_vols) == len(targets)):
raise ValueError("`sources`, `targets`, and `vols` must have the same length.")
tip_iter = self.iter_tips(tip_racks)
for src, tgt, asp_vol, asp_flow_rate, dis_vol, dis_flow_rate in (
zip(sources, targets, asp_vols, asp_flow_rates, dis_vols, dis_flow_rates)):
for src, tgt, asp_vol, asp_flow_rate, dis_vol, dis_flow_rate in zip(
sources, targets, asp_vols, asp_flow_rates, dis_vols, dis_flow_rates
):
tip = next(tip_iter)
await self.pick_up_tips(tip)
# Aspirate from source
@@ -247,9 +257,9 @@ class LiquidHandlerAbstract(LiquidHandler):
except Exception as exc:
raise RuntimeError(f"Liquid transfer failed: {exc}") from exc
# ---------------------------------------------------------------
# Helper utilities
# ---------------------------------------------------------------
# ---------------------------------------------------------------
# Helper utilities
# ---------------------------------------------------------------
async def custom_delay(self, seconds=0, msg=None):
"""
@@ -266,28 +276,26 @@ class LiquidHandlerAbstract(LiquidHandler):
print(f"Done: {msg}")
print(f"Current time: {time.strftime('%H:%M:%S')}")
async def touch_tip(self,
targets: Sequence[Container],
):
async def touch_tip(self, targets: Sequence[Container]):
"""Touch the tip to the side of the well."""
await self.aspirate(
resources=[targets],
vols=[0],
use_channels=None,
flow_rates=None,
offsets=[Coordinate(x=-targets.get_size_x()/2,y=0,z=0)],
offsets=[Coordinate(x=-targets.get_size_x() / 2, y=0, z=0)],
liquid_height=None,
blow_out_air_volume=None
blow_out_air_volume=None,
)
#await self.custom_delay(seconds=1) # In the simulation, we do not need to wait
# await self.custom_delay(seconds=1) # In the simulation, we do not need to wait
await self.aspirate(
resources=[targets],
vols=[0],
use_channels=None,
flow_rates=None,
offsets=[Coordinate(x=targets.get_size_x()/2,y=0,z=0)],
offsets=[Coordinate(x=targets.get_size_x() / 2, y=0, z=0)],
liquid_height=None,
blow_out_air_volume=None
blow_out_air_volume=None,
)
async def mix(
@@ -298,9 +306,9 @@ class LiquidHandlerAbstract(LiquidHandler):
height_to_bottom: Optional[float] = None,
offsets: Optional[Coordinate] = None,
mix_rate: Optional[float] = None,
none_keys: List[str] = []
none_keys: List[str] = [],
):
if mix_time is None: # No mixing required
if mix_time is None: # No mixing required
return
"""Mix the liquid in the target wells."""
for _ in range(mix_time):
@@ -333,7 +341,7 @@ class LiquidHandlerAbstract(LiquidHandler):
tip_iter = self.iter_tips(tip_racks)
self.current_tip = tip_iter
async def move_to(self, well: Well, dis_to_top: float = 0 , channel: int = 0):
async def move_to(self, well: Well, dis_to_top: float = 0, channel: int = 0):
"""
Move a single channel to a specific well with a given z-height.
@@ -352,4 +360,3 @@ class LiquidHandlerAbstract(LiquidHandler):
await self.move_channel_x(channel, abs_loc.x)
await self.move_channel_y(channel, abs_loc.y)
await self.move_channel_z(channel, abs_loc.z + well_height + dis_to_top)

154
unilabos/devices/liquid_handling/test liquid handler/convert_biomek.py Normal file
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@@ -0,0 +1,154 @@
import json
from typing import Sequence, Optional, List, Union, Literal
json_path = "/Users/guangxinzhang/Documents/Deep Potential/opentrons/convert/protocols/enriched_steps/sci-lucif-assay4.json"
with open(json_path, "r") as f:
data = json.load(f)
transfer_example = data[0]
#print(transfer_example)
temp_protocol = []
TipLocation = "BC1025F" # Assuming this is a fixed tip location for the transfer
sources = transfer_example["sources"] # Assuming sources is a list of Container objects
targets = transfer_example["targets"] # Assuming targets is a list of Container objects
tip_racks = transfer_example["tip_racks"] # Assuming tip_racks is a list of TipRack objects
asp_vols = transfer_example["asp_vols"] # Assuming asp_vols is a list of volumes
solvent = "PBS"
def transfer_liquid(
#self,
sources,#: Sequence[Container],
targets,#: Sequence[Container],
tip_racks,#: Sequence[TipRack],
TipLocation,
# *,
# use_channels: Optional[List[int]] = None,
asp_vols: Union[List[float], float],
solvent: Optional[str] = None,
# dis_vols: Union[List[float], float],
# asp_flow_rates: Optional[List[Optional[float]]] = None,
# dis_flow_rates: Optional[List[Optional[float]]] = None,
# offsets,#: Optional[List[]] = None,
# touch_tip: bool = False,
# liquid_height: Optional[List[Optional[float]]] = None,
# blow_out_air_volume: Optional[List[Optional[float]]] = None,
# spread: Literal["wide", "tight", "custom"] = "wide",
# is_96_well: bool = False,
# mix_stage: Optional[Literal["none", "before", "after", "both"]] = "none",
# mix_times,#: Optional[list() = None,
# mix_vol: Optional[int] = None,
# mix_rate: Optional[int] = None,
# mix_liquid_height: Optional[float] = None,
# delays: Optional[List[int]] = None,
# none_keys: List[str] = []
):
# -------- Build Biomek transfer step --------
# 1) Construct default parameter scaffold (values mirror Biomek “Transfer” block).
transfer_params = {
"Span8": False,
"Pod": "Pod1",
"items": {}, # to be filled below
"Wash": False,
"Dynamic?": True,
"AutoSelectActiveWashTechnique": False,
"ActiveWashTechnique": "",
"ChangeTipsBetweenDests": False,
"ChangeTipsBetweenSources": False,
"DefaultCaption": "", # filled after we know first pair/vol
"UseExpression": False,
"LeaveTipsOn": False,
"MandrelExpression": "",
"Repeats": "1",
"RepeatsByVolume": False,
"Replicates": "1",
"ShowTipHandlingDetails": False,
"ShowTransferDetails": True,
"Solvent": "Water",
"Span8Wash": False,
"Span8WashVolume": "2",
"Span8WasteVolume": "1",
"SplitVolume": False,
"SplitVolumeCleaning": False,
"Stop": "Destinations",
"TipLocation": "BC1025F",
"UseCurrentTips": False,
"UseDisposableTips": True,
"UseFixedTips": False,
"UseJIT": True,
"UseMandrelSelection": True,
"UseProbes": [True, True, True, True, True, True, True, True],
"WashCycles": "1",
"WashVolume": "110%",
"Wizard": False
}
items: dict = {}
for idx, (src, dst) in enumerate(zip(sources, targets)):
items[str(idx)] = {
"Source": str(src),
"Destination": str(dst),
"Volume": asp_vols[idx]
}
transfer_params["items"] = items
transfer_params["Solvent"] = solvent if solvent else "Water"
transfer_params["TipLocation"] = TipLocation
if len(tip_racks) == 1:
transfer_params['UseCurrentTips'] = True
elif len(tip_racks) > 1:
transfer_params["ChangeTipsBetweenDests"] = True
return transfer_params
action = transfer_liquid(sources=sources,targets=targets,tip_racks=tip_racks, asp_vols=asp_vols,solvent = solvent, TipLocation=TipLocation)
print(json.dumps(action,indent=2))
# print(action)
"""
"transfer": {
"items": {},
"Wash": false,
"Dynamic?": true,
"AutoSelectActiveWashTechnique": false,
"ActiveWashTechnique": "",
"ChangeTipsBetweenDests": true,
"ChangeTipsBetweenSources": false,
"DefaultCaption": "Transfer 100 µL from P13 to P3",
"UseExpression": false,
"LeaveTipsOn": false,
"MandrelExpression": "",
"Repeats": "1",
"RepeatsByVolume": false,
"Replicates": "1",
"ShowTipHandlingDetails": true,
"ShowTransferDetails": true,
"Span8Wash": false,
"Span8WashVolume": "2",
"Span8WasteVolume": "1",
"SplitVolume": false,
"SplitVolumeCleaning": false,
"Stop": "Destinations",
"TipLocation": "BC1025F",
"UseCurrentTips": false,
"UseDisposableTips": false,
"UseFixedTips": false,
"UseJIT": true,
"UseMandrelSelection": true,
"UseProbes": [true, true, true, true, true, true, true, true],
"WashCycles": "3",
"WashVolume": "110%",
"Wizard": false
"""

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unilabos/devices/liquid_handling/test liquid handler/sci-lucif-assay4.json Normal file
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8
unilabos/devices/pump_and_valve/solenoid_valve_mock.py
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@@ -5,22 +5,22 @@ class SolenoidValveMock:
def __init__(self, port: str = "COM6"):
self._status = "Idle"
self._valve_position = "OPEN"
@property
def status(self) -> str:
return self._status
@property
def valve_position(self) -> str:
return self._valve_position
def get_valve_position(self) -> str:
return self._valve_position
def set_valve_position(self, position):
self._status = "Busy"
time.sleep(5)
self._valve_position = position
time.sleep(5)
self._status = "Idle"

6
unilabos/devices/pump_and_valve/vacuum_pump_mock.py
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@@ -4,17 +4,17 @@ import time
class VacuumPumpMock:
def __init__(self, port: str = "COM6"):
self._status = "OPEN"
@property
def status(self) -> str:
return self._status
def get_status(self) -> str:
return self._status
def set_status(self, position):
time.sleep(5)
self._status = position
time.sleep(5)