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+ "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 + ] + } + } +] \ No newline at end of file diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index 5be20a3..a847b17 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -448,7 +448,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): PlateNo = plate_indexes[0] + 1 hole_col = tip_columns[0] + 1 - if self.channel_num == 1: + if self._num_channels == 1: hole_row = tipspot_index % 8 + 1 step = self.api_client.Load(dosage=0, plate_no=PlateNo, is_whole_plate=False, hole_row=hole_row, hole_col=hole_col, @@ -459,29 +459,6 @@ class PRCXI9300Backend(LiquidHandlerBackend): async def drop_tips(self, ops: List[Drop], use_channels: List[int] = None): """Pick up tips from the specified resource.""" - plate = ops[0].resource.parent.parent - deck = plate.parent - plate_index = deck.children.index(plate) - - if deck.children[plate_index].name == "trash": - step = self.api_client.UnLoad( - dosage=0, - plate_no=plate_index+1, - is_whole_plate=False, - hole_row=1, - hole_col=2,# 强制投放第二列了 - blending_times=0, - balance_height=0, - plate_or_hole=f"H{hole_col}-8,T{PlateNo}", - hole_numbers="1,2,3,4,5,6,7,8", - ) - self.steps_todo_list.append(step) - return - - - if len(ops) != 8: - raise ValueError(f"PRCXI9300Backend drop_tips: Expected 8 pickups, got {len(ops)}") - plate_indexes = [] for op in ops: plate = op.resource.parent.parent @@ -502,11 +479,29 @@ class PRCXI9300Backend(LiquidHandlerBackend): PlateNo = plate_indexes[0] + 1 hole_col = tip_columns[0] + 1 + if deck.children[plate_index].name == "trash": + step = self.api_client.UnLoad( + dosage=0, + plate_no=PlateNo, + is_whole_plate=False, + hole_row=3, + hole_col=3, + blending_times=0, + balance_height=0, + plate_or_hole=f"H{hole_col}-8,T{PlateNo}", + hole_numbers="1,2,3,4,5,6,7,8", + ) + self.steps_todo_list.append(step) + return + + if self.channel_num == 1: + hole_row = tipspot_index % 8 + 1 + step = self.api_client.UnLoad( dosage=0, plate_no=PlateNo, is_whole_plate=False, - hole_row=1, + hole_row=hole_row, hole_col=hole_col, blending_times=0, balance_height=0, @@ -1179,7 +1174,7 @@ if __name__ == "__main__": "uuid": "04211a2dc93547fe9bf6121eac533650" } }) - plate8 = get_well_container("RackT8") + plate8 = get_tip_rack("RackT8") plate8.load_state({ "Material": { "uuid": "068b3815e36b4a72a59bae017011b29f", @@ -1231,7 +1226,10 @@ if __name__ == "__main__": # deck.assign_child_resource(plate12, location=Coordinate(0, 0, 0)) # deck.assign_child_resource(plate13, location=Coordinate(0, 0, 0)) - handler = PRCXI9300Handler(deck=deck, host="10.181.102.13", port=9999, timeout=10.0, setup=False, debug=True, matrix_id="fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1") + handler = PRCXI9300Handler(deck=deck, host="10.181.102.13", port=9999, + timeout=10.0, setup=False, debug=True, + matrix_id="fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1", + channel_num=1) handler.set_tiprack([plate8]) # Set the tip rack for the handler asyncio.run(handler.setup()) # Initialize the handler and setup the connection from pylabrobot.resources import set_volume_tracking @@ -1247,10 +1245,10 @@ if __name__ == "__main__": json.dump(A, f, indent=4, ensure_ascii=False) asyncio.run(handler.create_protocol(protocol_name="Test Protocol")) # Initialize the backend and setup the connection - asyncio.run(handler.pick_up_tips(plate8.children[3],[1])) - asyncio.run(handler.aspirate(plate11.children[1],[10], [1])) - asyncio.run(handler.dispense(plate1.children[3],[10],[1])) - 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.pick_up_tips([plate8.children[3]],[0])) + asyncio.run(handler.aspirate([plate11.children[2]],[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.discard_tips())