From 736f55765bac7e202f5f499282425a01b6b41720 Mon Sep 17 00:00:00 2001 From: Guangxin Zhang Date: Sat, 19 Jul 2025 00:09:59 +0800 Subject: [PATCH] Update --- deck.json | 13533 ++++++++++++++++ .../liquid_handler_abstract.py | 262 +- .../devices/liquid_handling/prcxi/prcxi.py | 111 +- 3 files changed, 13746 insertions(+), 160 deletions(-) create mode 100644 deck.json diff --git a/deck.json b/deck.json new file mode 100644 index 0000000..7a97961 --- /dev/null +++ b/deck.json @@ -0,0 +1,13533 @@ +[ + { + "id": "PRCXI_Deck", + "name": "PRCXI_Deck", + "sample_id": null, + "children": [ + "HPLCPlateT1", + "container_for_nothing1", + "container_for_nothing2", + "trash", + "container_for_nothing3", + "container_for_nothing", + "container_for_nothing4", + "RackT8", + "container_for_nothing5", + "container_for_nothing6", + "PlateT11", + "container_for_nothing7", + "container_for_nothing8" + ], + "parent": "lh_PRCXI_Deck", + "type": "deck", + "class": "", + "position": { + "x": 0, + "y": 0, + 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+ "material_z_thickness": null, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "unknown", + "cross_section_type": "circle" + }, + "data": { + "liquids": [ + [ + null, + 100 + ] + ], + "pending_liquids": [ + [ + null, + 100 + ] + ], + "liquid_history": [ + null + ] + } + }, + { + "id": "PlateT11_H11", + "name": "PlateT11_H11", + "sample_id": null, + "children": [], + "parent": "PlateT11", + "type": "well", + "class": "", + "position": { + "x": 101.9545, + "y": 8.8145, + "z": 3.55 + }, + "config": { + "type": "Well", + "size_x": 4.851, + "size_y": 4.851, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "barcode": null, + "max_volume": 360, + "material_z_thickness": null, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "unknown", + "cross_section_type": "circle" + }, + "data": { + "liquids": [ + [ + null, + 100 + ] + ], + "pending_liquids": [ + [ + null, + 100 + ] + ], + "liquid_history": [ + null + ] + } + }, + { + "id": "PlateT11_A12", + "name": "PlateT11_A12", + "sample_id": null, + "children": [], + "parent": "PlateT11", + "type": "well", + "class": "", + "position": { + "x": 110.9545, + "y": 71.8145, + "z": 3.55 + }, + "config": { + "type": "Well", + "size_x": 4.851, + "size_y": 4.851, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "barcode": null, + "max_volume": 360, + "material_z_thickness": null, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "unknown", + "cross_section_type": "circle" + }, + "data": { + "liquids": [ + [ + null, + 100 + ] + ], + "pending_liquids": [ + [ + null, + 100 + ] + ], + "liquid_history": [ + null + ] + } + }, + { + "id": "PlateT11_B12", + "name": "PlateT11_B12", + "sample_id": null, + "children": [], + "parent": "PlateT11", + "type": "well", + "class": "", + "position": { + "x": 110.9545, + "y": 62.8145, + "z": 3.55 + }, + "config": { + "type": "Well", + "size_x": 4.851, + "size_y": 4.851, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "barcode": null, + "max_volume": 360, + "material_z_thickness": null, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "unknown", + "cross_section_type": "circle" + }, + "data": { + "liquids": [ + [ + null, + 100 + ] + ], + "pending_liquids": [ + [ + null, + 100 + ] + ], + "liquid_history": [ + null + ] + } + }, + { + "id": "PlateT11_C12", + "name": "PlateT11_C12", + "sample_id": null, + "children": [], + "parent": "PlateT11", + "type": "well", + "class": "", + "position": { + "x": 110.9545, + "y": 53.8145, + "z": 3.55 + }, + "config": { + "type": "Well", + "size_x": 4.851, + "size_y": 4.851, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "barcode": null, + "max_volume": 360, + "material_z_thickness": null, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "unknown", + "cross_section_type": "circle" + }, + "data": { + "liquids": [ + [ + null, + 100 + ] + ], + "pending_liquids": [ + [ + null, + 100 + ] + ], + "liquid_history": [ + null + ] + } + }, + { + "id": "PlateT11_D12", + "name": "PlateT11_D12", + "sample_id": null, + "children": [], + "parent": "PlateT11", + "type": "well", + "class": "", + "position": { + "x": 110.9545, + "y": 44.8145, + "z": 3.55 + }, + "config": { + "type": "Well", + "size_x": 4.851, + "size_y": 4.851, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "barcode": null, + "max_volume": 360, + "material_z_thickness": null, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "unknown", + "cross_section_type": "circle" + }, + "data": { + "liquids": [ + [ + null, + 100 + ] + ], + "pending_liquids": [ + [ + null, + 100 + ] + ], + "liquid_history": [ + null + ] + } + }, + { + "id": "PlateT11_E12", + "name": "PlateT11_E12", + "sample_id": null, + "children": [], + "parent": "PlateT11", + "type": "well", + "class": "", + "position": { + "x": 110.9545, + "y": 35.8145, + "z": 3.55 + }, + "config": { + "type": "Well", + "size_x": 4.851, + "size_y": 4.851, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "barcode": null, + "max_volume": 360, + "material_z_thickness": null, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "unknown", + "cross_section_type": "circle" + }, + "data": { + "liquids": [ + [ + null, + 100 + ] + ], + "pending_liquids": [ + [ + null, + 100 + ] + ], + "liquid_history": [ + null + ] + } + }, + { + "id": "PlateT11_F12", + "name": "PlateT11_F12", + "sample_id": null, + "children": [], + "parent": "PlateT11", + "type": "well", + "class": "", + "position": { + "x": 110.9545, + "y": 26.8145, + "z": 3.55 + }, + "config": { + "type": "Well", + "size_x": 4.851, + "size_y": 4.851, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "barcode": null, + "max_volume": 360, + "material_z_thickness": null, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "unknown", + "cross_section_type": "circle" + }, + "data": { + "liquids": [ + [ + null, + 100 + ] + ], + "pending_liquids": [ + [ + null, + 100 + ] + ], + "liquid_history": [ + null + ] + } + }, + { + "id": "PlateT11_G12", + "name": "PlateT11_G12", + "sample_id": null, + "children": [], + "parent": "PlateT11", + "type": "well", + "class": "", + "position": { + "x": 110.9545, + "y": 17.8145, + "z": 3.55 + }, + "config": { + "type": "Well", + "size_x": 4.851, + "size_y": 4.851, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "barcode": null, + "max_volume": 360, + "material_z_thickness": null, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "unknown", + "cross_section_type": "circle" + }, + "data": { + "liquids": [ + [ + null, + 100 + ] + ], + "pending_liquids": [ + [ + null, + 100 + ] + ], + "liquid_history": [ + null + ] + } + }, + { + "id": "PlateT11_H12", + "name": "PlateT11_H12", + "sample_id": null, + "children": [], + "parent": "PlateT11", + "type": "well", + "class": "", + "position": { + "x": 110.9545, + "y": 8.8145, + "z": 3.55 + }, + "config": { + "type": "Well", + "size_x": 4.851, + "size_y": 4.851, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "barcode": null, + "max_volume": 360, + "material_z_thickness": null, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "unknown", + "cross_section_type": "circle" + }, + "data": { + "liquids": [ + [ + null, + 100 + ] + ], + "pending_liquids": [ + [ + null, + 100 + ] + ], + "liquid_history": [ + null + ] + } + }, + { + "id": "container_for_nothing7", + "name": "container_for_nothing7", + "sample_id": null, + "children": [], + "parent": "PRCXI_Deck", + "type": "plate", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "PRCXI9300Container", + "size_x": 50, + "size_y": 50, + "size_z": 10, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "plate", + "model": null, + "barcode": null, + "ordering": {} + }, + "data": {} + }, + { + "id": "container_for_nothing8", + "name": "container_for_nothing8", + "sample_id": null, + "children": [], + "parent": "PRCXI_Deck", + "type": "plate", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "PRCXI9300Container", + "size_x": 50, + "size_y": 50, + "size_z": 10, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "plate", + "model": null, + "barcode": null, + "ordering": {} + }, + "data": {} + } +] \ No newline at end of file diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py index 27535d2..242fcb3 100644 --- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py +++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py @@ -590,14 +590,14 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): 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 and self.backend.num_channels == 1: - tip = [] - for _ in range(len(use_channels)): - tip.extend(next(self.current_tip)) - await self.pick_up_tips(tip) - for _ in range(len(waste_liquid)): + for _ in range(len(sources)): + tip = [] + for __ in range(len(use_channels)): + tip.extend(next(self.current_tip)) + await self.pick_up_tips(tip) await self.aspirate( - resources=sources, + resources=[sources[_]], vols=[vols[_]], use_channels=use_channels, flow_rates=[flow_rates[0]] if flow_rates else None, @@ -608,8 +608,9 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): ) if delays is not None: await self.custom_delay(seconds=delays[0]) + await self.dispense( - resources=[waste_liquid[_]], + resources=[waste_liquid], vols=[vols[_]], use_channels=use_channels, flow_rates=[flow_rates[1]] if flow_rates else None, @@ -618,7 +619,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): liquid_height=[liquid_height[1]] if liquid_height else None, spread=spread, ) - await self.discard_tips() + await self.discard_tips() elif len(use_channels) == 8 and self.backend.num_channels == 8: tip = [] for _ in range(len(use_channels)): @@ -706,9 +707,9 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): mix_liquid_height: Optional[float] = None, none_keys: List[str] = [], ): - """A complete *add* (aspirate reagent → dispense into targets) operation.""" + # """A complete *add* (aspirate reagent → dispense into targets) operation.""" - try: + # # try: if is_96_well: pass # This mode is not verified. else: @@ -720,9 +721,9 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): tip = [] for _ in range(len(use_channels)): tip.extend(next(self.current_tip)) - - await self.pick_up_tips(tip) + await self.pick_up_tips(tip) for _ in range(len(targets)): + print(use_channels, reagent_sources) await self.aspirate( resources=reagent_sources, vols=[asp_vols[_]], @@ -733,6 +734,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): 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( @@ -749,7 +751,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): if delays is not None: await self.custom_delay(seconds=delays[1]) await self.mix( - targets=targets[_], + targets=[targets[_]], mix_time=mix_time, mix_vol=mix_vol, offsets=offsets if offsets else None, @@ -759,7 +761,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): if delays is not None: await self.custom_delay(seconds=delays[1]) await self.touch_tip(targets[_]) - + await self.discard_tips() elif len(use_channels) == 8: # 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 @@ -825,9 +827,9 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): await self.discard_tips() - except Exception as e: - traceback.print_exc() - raise RuntimeError(f"Liquid addition failed: {e}") from e + # except Exception as e: + # traceback.print_exc() + # raise RuntimeError(f"Liquid addition failed: {e}") from e # --------------------------------------------------------------- # TRANSFER LIQUID ------------------------------------------------ @@ -872,126 +874,126 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): Set *True* to use the 96‑channel head. """ - try: - if is_96_well: - pass # This mode is not verified. - else: - if len(asp_vols) != len(targets): - raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.") - # 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: + if is_96_well: + pass # This mode is not verified. + else: + if len(asp_vols) != len(targets): + raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.") + + # 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: + for _ in range(len(targets)): + tip = [] + for ___ in range(len(use_channels)): + tip.extend(next(self.current_tip)) + await self.pick_up_tips(tip) + + await self.aspirate( + resources=[sources[_]], + vols=[asp_vols[_]], + use_channels=use_channels, + flow_rates=[asp_flow_rates[0]] if asp_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=[targets[_]], + vols=[dis_vols[_]], + use_channels=use_channels, + flow_rates=[dis_flow_rates[1]] if dis_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, + ) + if delays is not None: + await self.custom_delay(seconds=delays[1]) + await self.mix( + targets=[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 delays is not None: + await self.custom_delay(seconds=delays[1]) + await self.touch_tip(targets[_]) + await self.discard_tips() + + elif len(use_channels) == 8: + # 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(targets) % 8 != 0: + raise ValueError(f"Length of `targets` {len(targets)} 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(targets), 8): + # 取出8个任务 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_reagent_sources = sources[i:i + 8] + current_asp_vols = asp_vols[i:i + 8] + 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*8-8: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 + current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else [None] * 8 - for _ in range(len(targets)): - await self.aspirate( - resources=sources, - vols=[asp_vols[_]], - use_channels=use_channels, - flow_rates=[asp_flow_rates[0]] if asp_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=[targets[_]], - vols=[dis_vols[_]], - use_channels=use_channels, - flow_rates=[dis_flow_rates[1]] if dis_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, - ) - if delays is not None: - await self.custom_delay(seconds=delays[1]) - await self.mix( - targets=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 delays is not None: - await self.custom_delay(seconds=delays[1]) - await self.touch_tip(targets[_]) + 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, + 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]) + 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: + await self.custom_delay(seconds=delays[1]) + + 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 delays is not None: + await self.custom_delay(seconds=delays[1]) + await self.touch_tip(current_targets) await self.discard_tips() - - elif len(use_channels) == 8: - # 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(targets) % 8 != 0: - raise ValueError(f"Length of `targets` {len(targets)} 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(targets), 8): - # 取出8个任务 - 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_reagent_sources = sources[i:i + 8] - current_asp_vols = asp_vols[i:i + 8] - 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*8-8: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 - current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates 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, - 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]) - 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: - await self.custom_delay(seconds=delays[1]) - - 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 delays is not None: - await self.custom_delay(seconds=delays[1]) - await self.touch_tip(current_targets) - await self.discard_tips() - - except Exception as e: - traceback.print_exc() - raise RuntimeError(f"Liquid addition failed: {e}") from e + + # except Exception as e: + # traceback.print_exc() + # raise RuntimeError(f"Liquid addition failed: {e}") from e # --------------------------------------------------------------- diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index 3e791a1..925a84b 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -433,10 +433,14 @@ class PRCXI9300Backend(LiquidHandlerBackend): plate_indexes = [] for op in ops: - plate = op.resource.parent.parent + plate = op.resource.parent deck = plate.parent plate_index = deck.children.index(plate) + print(f"Plate index: {plate_index}, Plate name: {plate.name}") + print(f"Number of children in deck: {len(deck.children)}") + plate_indexes.append(plate_index) + if len(set(plate_indexes)) != 1: raise ValueError("All pickups must be from the same plate. Found different plates: " + str(plate_indexes)) @@ -447,7 +451,8 @@ class PRCXI9300Backend(LiquidHandlerBackend): tip_columns.append(tipspot_index // 8) if len(set(tip_columns)) != 1: raise ValueError("All pickups must be from the same tip column. Found different columns: " + str(tip_columns)) - + # print('111'*99) + # print(plate_indexes[0]) PlateNo = plate_indexes[0] + 1 hole_col = tip_columns[0] + 1 @@ -485,7 +490,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): plate_indexes = [] for op in ops: - plate = op.resource.parent.parent + plate = op.resource.parent deck = plate.parent plate_index = deck.children.index(plate) plate_indexes.append(plate_index) @@ -532,11 +537,10 @@ class PRCXI9300Backend(LiquidHandlerBackend): """Mix liquid in the specified resources.""" - plate_indexes = [] for op in targets: - deck = op.parent.parent.parent - plate = op.parent.parent + deck = op.parent.parent + plate = op.parent plate_index = deck.children.index(plate) plate_indexes.append(plate_index) @@ -577,7 +581,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): plate_indexes = [] for op in ops: - plate = op.resource.parent.parent + plate = op.resource.parent deck = plate.parent plate_index = deck.children.index(plate) plate_indexes.append(plate_index) @@ -617,7 +621,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): plate_indexes = [] for op in ops: - plate = op.resource.parent.parent + plate = op.resource.parent deck = plate.parent plate_index = deck.children.index(plate) plate_indexes.append(plate_index) @@ -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,