mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-05 14:05:12 +00:00
Update
This commit is contained in:
Guangxin Zhang
@@ -590,14 +590,14 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
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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 and self.backend.num_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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for _ in range(len(waste_liquid)):
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for _ in range(len(sources)):
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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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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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@@ -608,8 +608,9 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
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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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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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@@ -618,7 +619,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
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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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await self.discard_tips()
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elif len(use_channels) == 8 and self.backend.num_channels == 8:
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tip = []
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for _ in range(len(use_channels)):
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@@ -706,9 +707,9 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
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mix_liquid_height: Optional[float] = None,
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none_keys: List[str] = [],
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):
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"""A complete *add* (aspirate reagent → dispense into targets) operation."""
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# """A complete *add* (aspirate reagent → dispense into targets) operation."""
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try:
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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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@@ -720,9 +721,9 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
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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.pick_up_tips(tip)
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for _ in range(len(targets)):
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print(use_channels, reagent_sources)
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await self.aspirate(
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resources=reagent_sources,
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vols=[asp_vols[_]],
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@@ -733,6 +734,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
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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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@@ -749,7 +751,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
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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.mix(
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targets=targets[_],
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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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@@ -759,7 +761,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
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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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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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@@ -825,9 +827,9 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
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await self.discard_tips()
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except Exception as 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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# except Exception as 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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# TRANSFER LIQUID ------------------------------------------------
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@@ -872,126 +874,126 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
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Set *True* to use the 96‑channel head.
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"""
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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(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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# 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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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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# 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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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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await self.mix(
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targets=[targets[_]],
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mix_time=mix_times,
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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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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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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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# 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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# 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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for _ in range(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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await self.mix(
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targets=targets[_],
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mix_time=mix_times,
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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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await self.custom_delay(seconds=delays[1])
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await self.touch_tip(targets[_])
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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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await self.mix(
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targets=current_targets,
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mix_time=mix_times,
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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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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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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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# 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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# 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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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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await self.mix(
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targets=current_targets,
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mix_time=mix_times,
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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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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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except Exception as 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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# except Exception as 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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@@ -433,10 +433,14 @@ class PRCXI9300Backend(LiquidHandlerBackend):
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plate_indexes = []
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for op in ops:
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plate = op.resource.parent.parent
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plate = op.resource.parent
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deck = plate.parent
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plate_index = deck.children.index(plate)
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print(f"Plate index: {plate_index}, Plate name: {plate.name}")
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print(f"Number of children in deck: {len(deck.children)}")
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plate_indexes.append(plate_index)
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if len(set(plate_indexes)) != 1:
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raise ValueError("All pickups must be from the same plate. Found different plates: " + str(plate_indexes))
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@@ -447,7 +451,8 @@ class PRCXI9300Backend(LiquidHandlerBackend):
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tip_columns.append(tipspot_index // 8)
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if len(set(tip_columns)) != 1:
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raise ValueError("All pickups must be from the same tip column. Found different columns: " + str(tip_columns))
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# print('111'*99)
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# print(plate_indexes[0])
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PlateNo = plate_indexes[0] + 1
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hole_col = tip_columns[0] + 1
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||||
@@ -485,7 +490,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
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||||
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||||
plate_indexes = []
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for op in ops:
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plate = op.resource.parent.parent
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plate = op.resource.parent
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deck = plate.parent
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plate_index = deck.children.index(plate)
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plate_indexes.append(plate_index)
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@@ -532,11 +537,10 @@ class PRCXI9300Backend(LiquidHandlerBackend):
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"""Mix liquid in the specified resources."""
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||||
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plate_indexes = []
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||||
for op in targets:
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deck = op.parent.parent.parent
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plate = op.parent.parent
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||||
deck = op.parent.parent
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||||
plate = op.parent
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plate_index = deck.children.index(plate)
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plate_indexes.append(plate_index)
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||||
|
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@@ -577,7 +581,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
|
||||
plate_indexes = []
|
||||
for op in ops:
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||||
plate = op.resource.parent.parent
|
||||
plate = op.resource.parent
|
||||
deck = plate.parent
|
||||
plate_index = deck.children.index(plate)
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plate_indexes.append(plate_index)
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@@ -617,7 +621,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
|
||||
plate_indexes = []
|
||||
for op in ops:
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||||
plate = op.resource.parent.parent
|
||||
plate = op.resource.parent
|
||||
deck = plate.parent
|
||||
plate_index = deck.children.index(plate)
|
||||
plate_indexes.append(plate_index)
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@@ -1244,7 +1248,7 @@ if __name__ == "__main__":
|
||||
handler = PRCXI9300Handler(deck=deck, host="10.181.102.13", port=9999,
|
||||
timeout=10.0, setup=False, debug=False,
|
||||
matrix_id="fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1",
|
||||
channel_num=1)
|
||||
channel_num=1, axis="Right") # Initialize the handler with the deck and host settings
|
||||
|
||||
handler.set_tiprack([plate8]) # Set the tip rack for the handler
|
||||
asyncio.run(handler.setup()) # Initialize the handler and setup the connection
|
||||
@@ -1262,32 +1266,79 @@ if __name__ == "__main__":
|
||||
|
||||
print(plate11.get_well(0).tracker.get_used_volume())
|
||||
asyncio.run(handler.create_protocol(protocol_name="Test Protocol")) # Initialize the backend and setup the connection
|
||||
print(plate8.children[3])
|
||||
asyncio.run(handler.pick_up_tips([plate8.children[3]],[0]))
|
||||
asyncio.run(handler.aspirate([plate11.children[0]],[10], [0]))
|
||||
asyncio.run(handler.dispense([plate1.children[3]],[10],[0]))
|
||||
asyncio.run(handler.mix([plate1.children[3]], mix_time=3, mix_vol=5, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
|
||||
asyncio.run(handler.discard_tips())
|
||||
|
||||
# asyncio.run(handler.pick_up_tips([plate8.children[8]],[0]))
|
||||
# print(plate8.children[8])
|
||||
# # asyncio.run(handler.run_protocol())
|
||||
# asyncio.run(handler.aspirate([plate11.children[0]],[10], [0]))
|
||||
# print(plate11.children[0])
|
||||
# # asyncio.run(handler.run_protocol())
|
||||
# asyncio.run(handler.dispense([plate1.children[0]],[10],[0]))
|
||||
# print(plate1.children[0])
|
||||
# # asyncio.run(handler.run_protocol())
|
||||
# asyncio.run(handler.mix([plate1.children[0]], mix_time=3, mix_vol=5, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
|
||||
# print(plate1.children[0])
|
||||
# asyncio.run(handler.discard_tips())
|
||||
|
||||
# asyncio.run(handler.add_liquid(
|
||||
# asp_vols=[10]*2,
|
||||
# dis_vols=[10]*2,
|
||||
# reagent_sources=[plate11.children[0]],
|
||||
# targets=plate11.children[-2:],
|
||||
# use_channels=[0],
|
||||
# flow_rates=[None] * 4,
|
||||
# offsets=[Coordinate(0, 0, 0)] * 4,
|
||||
# liquid_height=[None] * 2,
|
||||
# blow_out_air_volume=[None] * 2,
|
||||
# delays=None,
|
||||
# mix_time=3,
|
||||
# mix_vol=5,
|
||||
# spread="wide",
|
||||
# ))
|
||||
|
||||
# asyncio.run(handler.transfer_liquid(
|
||||
# asp_vols=[10]*2,
|
||||
# dis_vols=[10]*2,
|
||||
# sources=plate11.children[:2],
|
||||
# targets=plate11.children[-2:],
|
||||
# use_channels=[0],
|
||||
# offsets=[Coordinate(0, 0, 0)] * 4,
|
||||
# liquid_height=[None] * 2,
|
||||
# blow_out_air_volume=[None] * 2,
|
||||
# delays=None,
|
||||
# mix_times=3,
|
||||
# mix_vol=5,
|
||||
# spread="wide",
|
||||
# tip_racks=[plate8]
|
||||
# ))
|
||||
|
||||
asyncio.run(handler.remove_liquid(
|
||||
vols=[10]*2,
|
||||
sources=plate11.children[:2],
|
||||
waste_liquid=plate11.children[43],
|
||||
use_channels=[0],
|
||||
offsets=[Coordinate(0, 0, 0)] * 4,
|
||||
liquid_height=[None] * 2,
|
||||
blow_out_air_volume=[None] * 2,
|
||||
delays=None,
|
||||
spread="wide"
|
||||
|
||||
))
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
asyncio.run(handler.run_protocol())
|
||||
|
||||
# asyncio.run(handler.discard_tips())
|
||||
# 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=final_plate_2.children[-16:],
|
||||
# targets=final_plate_2.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,
|
||||
|
||||
Reference in New Issue
Block a user