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This commit is contained in:
Guangxin Zhang
2025-07-19 00:09:59 +08:00
parent a95e4d446b
commit 736f55765b
3 changed files with 13746 additions and 160 deletions
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111
unilabos/devices/liquid_handling/prcxi/prcxi.py
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@@ -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,