From 8b0c8456618caa3ca7b684c41885fff85652e72e Mon Sep 17 00:00:00 2001 From: lixinyu1011 <61094742+lixinyu1011@users.noreply.github.com> Date: Tue, 21 Oct 2025 16:25:54 +0800 Subject: [PATCH] More decks&plates support for bioyond (#115) --- unilabos/registry/resources/bioyond/deck.yaml | 18 +++ unilabos/resources/bioyond/decks.py | 60 ++++++++- unilabos/resources/bioyond/warehouses.py | 116 +++++++++++++++++- 3 files changed, 188 insertions(+), 6 deletions(-) diff --git a/unilabos/registry/resources/bioyond/deck.yaml b/unilabos/registry/resources/bioyond/deck.yaml index d5a49b84..24c6dd48 100644 --- a/unilabos/registry/resources/bioyond/deck.yaml +++ b/unilabos/registry/resources/bioyond/deck.yaml @@ -22,3 +22,21 @@ BIOYOND_PolymerReactionStation_Deck: init_param_schema: {} registry_type: resource version: 1.0.0 + +YB_Deck11: + category: + - deck + class: + module: unilabos.resources.bioyond.decks:YB_Deck + type: pylabrobot + description: BIOYOND PolymerReactionStation Deck + handles: [] + icon: 配液站.webp + init_param_schema: {} + registry_type: resource + version: 1.0.0 + + + + + diff --git a/unilabos/resources/bioyond/decks.py b/unilabos/resources/bioyond/decks.py index e8c021fd..fa242c3d 100644 --- a/unilabos/resources/bioyond/decks.py +++ b/unilabos/resources/bioyond/decks.py @@ -1,6 +1,7 @@ +from os import name from pylabrobot.resources import Deck, Coordinate, Rotation -from unilabos.resources.bioyond.warehouses import bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x2, bioyond_warehouse_liquid_and_lid_handling +from unilabos.resources.bioyond.warehouses import bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x2, bioyond_warehouse_liquid_and_lid_handling, bioyond_warehouse_1x2x2, bioyond_warehouse_1x3x3, bioyond_warehouse_10x1x1, bioyond_warehouse_3x3x1, bioyond_warehouse_3x3x1_2, bioyond_warehouse_5x1x1 class BIOYOND_PolymerReactionStation_Deck(Deck): @@ -66,3 +67,60 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck): for warehouse_name, warehouse in self.warehouses.items(): self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name]) + +class BIOYOND_YB_Deck(Deck): + def __init__( + self, + name: str = "YB_Deck", + size_x: float = 4150, + size_y: float = 1400.0, + size_z: float = 2670.0, + category: str = "deck", + setup: bool = False + ) -> None: + super().__init__(name=name, size_x=4150.0, size_y=1400.0, size_z=2670.0) + if setup: + self.setup() + + def setup(self) -> None: + # 添加仓库 + self.warehouses = { + "321窗口": bioyond_warehouse_1x2x2("321窗口"), + "43窗口": bioyond_warehouse_1x2x2("43窗口"), + "手动传递窗左": bioyond_warehouse_1x3x3("手动传递窗左"), + "手动传递窗右": bioyond_warehouse_1x3x3("手动传递窗右"), + "加样头堆栈左": bioyond_warehouse_10x1x1("加样头堆栈左"), + "加样头堆栈右": bioyond_warehouse_10x1x1("加样头堆栈右"), + + "15ml配液堆栈左": bioyond_warehouse_3x3x1("15ml配液堆栈左"), + "母液加样右": bioyond_warehouse_3x3x1_2("母液加样右"), + "大瓶母液堆栈左": bioyond_warehouse_5x1x1("大瓶母液堆栈左"), + "大瓶母液堆栈右": bioyond_warehouse_5x1x1("大瓶母液堆栈右"), + } + # warehouse 的位置 + self.warehouse_locations = { + "321窗口": Coordinate(-150.0, 158.0, 0.0), + "43窗口": Coordinate(4160.0, 158.0, 0.0), + "手动传递窗左": Coordinate(-150.0, 877.0, 0.0), + "手动传递窗右": Coordinate(4160.0, 877.0, 0.0), + "加样头堆栈左": Coordinate(385.0, 1300.0, 0.0), + "加样头堆栈右": Coordinate(2187.0, 1300.0, 0.0), + + "15ml配液堆栈左": Coordinate(749.0, 355.0, 0.0), + "母液加样右": Coordinate(2152.0, 333.0, 0.0), + "大瓶母液堆栈左": Coordinate(1164.0, 676.0, 0.0), + "大瓶母液堆栈右": Coordinate(2717.0, 676.0, 0.0), + } + + for warehouse_name, warehouse in self.warehouses.items(): + self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name]) + +def YB_Deck(name: str) -> Deck: + by=BIOYOND_YB_Deck(name=name) + by.setup() + return by + + + + + diff --git a/unilabos/resources/bioyond/warehouses.py b/unilabos/resources/bioyond/warehouses.py index 266a3666..477e8aee 100644 --- a/unilabos/resources/bioyond/warehouses.py +++ b/unilabos/resources/bioyond/warehouses.py @@ -5,15 +5,15 @@ def bioyond_warehouse_1x4x4(name: str) -> WareHouse: """创建BioYond 4x1x4仓库""" return warehouse_factory( name=name, - num_items_x=4, + num_items_x=1, num_items_y=4, - num_items_z=1, + num_items_z=4, dx=10.0, dy=10.0, dz=10.0, - item_dx=147.0, - item_dy=106.0, - item_dz=130.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, category="warehouse", ) @@ -34,7 +34,113 @@ def bioyond_warehouse_1x4x2(name: str) -> WareHouse: category="warehouse", removed_positions=None ) + # 定义benyond的堆栈 +def bioyond_warehouse_1x2x2(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=1, + num_items_y=2, + num_items_z=2, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) +def bioyond_warehouse_10x1x1(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=10, + num_items_y=1, + num_items_z=1, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) +def bioyond_warehouse_1x3x3(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=1, + num_items_y=3, + num_items_z=3, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) +def bioyond_warehouse_2x1x3(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=2, + num_items_y=1, + num_items_z=3, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) +def bioyond_warehouse_3x3x1(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=3, + num_items_y=3, + num_items_z=1, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) +def bioyond_warehouse_5x1x1(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=5, + num_items_y=1, + num_items_z=1, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) +def bioyond_warehouse_3x3x1_2(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=3, + num_items_y=3, + num_items_z=1, + dx=12.0, + dy=12.0, + dz=12.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse: """创建BioYond开关盖加液模块台面"""