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3d sim (#97)
* 修改lh的json启动 * 修改lh的json启动 * 修改backend，做成sim的通用backend * 修改yaml的地址，3D模型适配网页生产环境 * 添加laiyu硬件连接 * 修改移液枪的状态判断方法， 修改移液枪的状态判断方法， 添加三轴的表定点与零点之间的转换 添加三轴真实移动的backend * 修改laiyu移液站 简化移动方法， 取消软件限制位置， 修改当值使用Z轴时也需要重新复位Z轴的问题 * 更新lh以及laiyu workshop 1,现在可以直接通过修改backend，适配其他的移液站，主类依旧使用LiquidHandler，不用重新编写 2,修改枪头判断标准，使用枪头自身判断而不是类的判断， 3,将归零参数用毫米计算，方便手动调整， 4,修改归零方式，上电使用机械归零，确定机械零点，手动归零设置工作区域零点方便计算，二者互不干涉 * 修改枪头动作 * 修改虚拟仿真方法 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: Junhan Chang <changjh@dp.tech>
This commit is contained in:
q434343
GitHub
@@ -0,0 +1,9 @@
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"""
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LaiYu液体处理设备后端模块
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提供设备后端接口和实现
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"""
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from .laiyu_backend import LaiYuLiquidBackend, create_laiyu_backend
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__all__ = ['LaiYuLiquidBackend', 'create_laiyu_backend']
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334
unilabos/devices/liquid_handling/laiyu/backend/laiyu_backend.py
Normal file
334
unilabos/devices/liquid_handling/laiyu/backend/laiyu_backend.py
Normal file
@@ -0,0 +1,334 @@
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"""
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LaiYu液体处理设备后端实现
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提供设备的后端接口和控制逻辑
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"""
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import logging
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from typing import Dict, Any, Optional, List
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from abc import ABC, abstractmethod
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# 尝试导入PyLabRobot后端
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try:
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from pylabrobot.liquid_handling.backends import LiquidHandlerBackend
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PYLABROBOT_AVAILABLE = True
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except ImportError:
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PYLABROBOT_AVAILABLE = False
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# 创建模拟后端基类
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class LiquidHandlerBackend:
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def __init__(self, name: str):
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self.name = name
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self.is_connected = False
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def connect(self):
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"""连接设备"""
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pass
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def disconnect(self):
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"""断开连接"""
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pass
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class LaiYuLiquidBackend(LiquidHandlerBackend):
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"""LaiYu液体处理设备后端"""
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def __init__(self, name: str = "LaiYu_Liquid_Backend"):
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"""
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初始化LaiYu液体处理设备后端
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Args:
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name: 后端名称
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"""
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if PYLABROBOT_AVAILABLE:
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# PyLabRobot 的 LiquidHandlerBackend 不接受参数
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super().__init__()
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else:
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# 模拟版本接受 name 参数
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super().__init__(name)
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self.name = name
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self.logger = logging.getLogger(__name__)
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self.is_connected = False
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self.device_info = {
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"name": "LaiYu液体处理设备",
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"version": "1.0.0",
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"manufacturer": "LaiYu",
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"model": "LaiYu_Liquid_Handler"
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}
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def connect(self) -> bool:
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"""
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连接到LaiYu液体处理设备
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Returns:
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bool: 连接是否成功
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"""
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try:
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self.logger.info("正在连接到LaiYu液体处理设备...")
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# 这里应该实现实际的设备连接逻辑
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# 目前返回模拟连接成功
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self.is_connected = True
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self.logger.info("成功连接到LaiYu液体处理设备")
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return True
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except Exception as e:
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self.logger.error(f"连接LaiYu液体处理设备失败: {e}")
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self.is_connected = False
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return False
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def disconnect(self) -> bool:
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"""
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断开与LaiYu液体处理设备的连接
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Returns:
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bool: 断开连接是否成功
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"""
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try:
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self.logger.info("正在断开与LaiYu液体处理设备的连接...")
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# 这里应该实现实际的设备断开连接逻辑
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self.is_connected = False
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self.logger.info("成功断开与LaiYu液体处理设备的连接")
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return True
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except Exception as e:
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self.logger.error(f"断开LaiYu液体处理设备连接失败: {e}")
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return False
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def is_device_connected(self) -> bool:
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"""
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检查设备是否已连接
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Returns:
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bool: 设备是否已连接
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"""
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return self.is_connected
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def get_device_info(self) -> Dict[str, Any]:
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"""
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获取设备信息
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Returns:
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Dict[str, Any]: 设备信息字典
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"""
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return self.device_info.copy()
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def home_device(self) -> bool:
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"""
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设备归零操作
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Returns:
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bool: 归零是否成功
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"""
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if not self.is_connected:
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self.logger.error("设备未连接，无法执行归零操作")
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return False
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try:
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self.logger.info("正在执行设备归零操作...")
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# 这里应该实现实际的设备归零逻辑
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self.logger.info("设备归零操作完成")
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return True
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except Exception as e:
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self.logger.error(f"设备归零操作失败: {e}")
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return False
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def aspirate(self, volume: float, location: Dict[str, Any]) -> bool:
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"""
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吸液操作
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Args:
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volume: 吸液体积 (微升)
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location: 吸液位置信息
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Returns:
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bool: 吸液是否成功
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"""
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if not self.is_connected:
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self.logger.error("设备未连接，无法执行吸液操作")
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return False
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try:
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self.logger.info(f"正在执行吸液操作: 体积={volume}μL, 位置={location}")
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# 这里应该实现实际的吸液逻辑
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self.logger.info("吸液操作完成")
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return True
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except Exception as e:
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self.logger.error(f"吸液操作失败: {e}")
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return False
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def dispense(self, volume: float, location: Dict[str, Any]) -> bool:
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"""
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排液操作
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Args:
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volume: 排液体积 (微升)
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location: 排液位置信息
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Returns:
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bool: 排液是否成功
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"""
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if not self.is_connected:
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self.logger.error("设备未连接，无法执行排液操作")
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return False
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try:
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self.logger.info(f"正在执行排液操作: 体积={volume}μL, 位置={location}")
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# 这里应该实现实际的排液逻辑
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self.logger.info("排液操作完成")
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return True
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except Exception as e:
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self.logger.error(f"排液操作失败: {e}")
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return False
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def pick_up_tip(self, location: Dict[str, Any]) -> bool:
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"""
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取枪头操作
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Args:
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location: 枪头位置信息
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Returns:
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bool: 取枪头是否成功
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"""
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if not self.is_connected:
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self.logger.error("设备未连接，无法执行取枪头操作")
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return False
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try:
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self.logger.info(f"正在执行取枪头操作: 位置={location}")
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# 这里应该实现实际的取枪头逻辑
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self.logger.info("取枪头操作完成")
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return True
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except Exception as e:
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self.logger.error(f"取枪头操作失败: {e}")
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return False
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def drop_tip(self, location: Dict[str, Any]) -> bool:
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"""
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丢弃枪头操作
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Args:
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location: 丢弃位置信息
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Returns:
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bool: 丢弃枪头是否成功
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"""
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if not self.is_connected:
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self.logger.error("设备未连接，无法执行丢弃枪头操作")
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return False
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try:
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self.logger.info(f"正在执行丢弃枪头操作: 位置={location}")
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# 这里应该实现实际的丢弃枪头逻辑
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self.logger.info("丢弃枪头操作完成")
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return True
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except Exception as e:
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self.logger.error(f"丢弃枪头操作失败: {e}")
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return False
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def move_to(self, location: Dict[str, Any]) -> bool:
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"""
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移动到指定位置
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Args:
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location: 目标位置信息
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Returns:
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bool: 移动是否成功
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"""
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if not self.is_connected:
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self.logger.error("设备未连接，无法执行移动操作")
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return False
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try:
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self.logger.info(f"正在移动到位置: {location}")
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# 这里应该实现实际的移动逻辑
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self.logger.info("移动操作完成")
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return True
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except Exception as e:
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self.logger.error(f"移动操作失败: {e}")
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return False
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def get_status(self) -> Dict[str, Any]:
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"""
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获取设备状态
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Returns:
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Dict[str, Any]: 设备状态信息
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"""
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return {
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"connected": self.is_connected,
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"device_info": self.device_info,
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"status": "ready" if self.is_connected else "disconnected"
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}
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# PyLabRobot 抽象方法实现
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def stop(self):
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"""停止所有操作"""
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self.logger.info("停止所有操作")
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pass
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@property
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def num_channels(self) -> int:
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"""返回通道数量"""
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return 1 # 单通道移液器
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def can_pick_up_tip(self, tip_rack, tip_position) -> bool:
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"""检查是否可以拾取吸头"""
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return True # 简化实现，总是返回True
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def pick_up_tips(self, tip_rack, tip_positions):
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"""拾取多个吸头"""
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self.logger.info(f"拾取吸头: {tip_positions}")
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pass
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def drop_tips(self, tip_rack, tip_positions):
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"""丢弃多个吸头"""
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self.logger.info(f"丢弃吸头: {tip_positions}")
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pass
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def pick_up_tips96(self, tip_rack):
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"""拾取96个吸头"""
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self.logger.info("拾取96个吸头")
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pass
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def drop_tips96(self, tip_rack):
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"""丢弃96个吸头"""
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self.logger.info("丢弃96个吸头")
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pass
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def aspirate96(self, volume, plate, well_positions):
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"""96通道吸液"""
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self.logger.info(f"96通道吸液: 体积={volume}")
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pass
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def dispense96(self, volume, plate, well_positions):
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"""96通道排液"""
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self.logger.info(f"96通道排液: 体积={volume}")
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pass
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def pick_up_resource(self, resource, location):
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"""拾取资源"""
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self.logger.info(f"拾取资源: {resource}")
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pass
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def drop_resource(self, resource, location):
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"""放置资源"""
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self.logger.info(f"放置资源: {resource}")
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pass
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def move_picked_up_resource(self, resource, location):
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"""移动已拾取的资源"""
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self.logger.info(f"移动资源: {resource} 到 {location}")
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pass
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def create_laiyu_backend(name: str = "LaiYu_Liquid_Backend") -> LaiYuLiquidBackend:
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"""
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创建LaiYu液体处理设备后端实例
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Args:
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name: 后端名称
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Returns:
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LaiYuLiquidBackend: 后端实例
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"""
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return LaiYuLiquidBackend(name)
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@@ -0,0 +1,385 @@
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import json
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from typing import List, Optional, Union
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from pylabrobot.liquid_handling.backends.backend import (
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LiquidHandlerBackend,
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)
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from pylabrobot.liquid_handling.standard import (
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Drop,
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DropTipRack,
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MultiHeadAspirationContainer,
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MultiHeadAspirationPlate,
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MultiHeadDispenseContainer,
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MultiHeadDispensePlate,
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Pickup,
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PickupTipRack,
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ResourceDrop,
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ResourceMove,
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ResourcePickup,
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SingleChannelAspiration,
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SingleChannelDispense,
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)
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from pylabrobot.resources import Resource, Tip
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import rclpy
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from rclpy.node import Node
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from sensor_msgs.msg import JointState
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import time
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from rclpy.action import ActionClient
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from unilabos_msgs.action import SendCmd
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import re
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from unilabos.devices.ros_dev.liquid_handler_joint_publisher import JointStatePublisher
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from unilabos.devices.liquid_handling.laiyu.controllers.pipette_controller import PipetteController, TipStatus
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class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend):
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"""Chatter box backend for device-free testing. Prints out all operations."""
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_pip_length = 5
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_vol_length = 8
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_resource_length = 20
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_offset_length = 16
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_flow_rate_length = 10
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_blowout_length = 10
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_lld_z_length = 10
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_kwargs_length = 15
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_tip_type_length = 12
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_max_volume_length = 16
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_fitting_depth_length = 20
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_tip_length_length = 16
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# _pickup_method_length = 20
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_filter_length = 10
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def __init__(self, num_channels: int = 8 , tip_length: float = 0 , total_height: float = 310, port: str = "/dev/ttyUSB0"):
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"""Initialize a chatter box backend."""
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super().__init__()
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self._num_channels = num_channels
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self.tip_length = tip_length
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self.total_height = total_height
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# rclpy.init()
|
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if not rclpy.ok():
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rclpy.init()
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self.joint_state_publisher = None
|
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self.hardware_interface = PipetteController(port=port)
|
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async def setup(self):
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# self.joint_state_publisher = JointStatePublisher()
|
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# self.hardware_interface.xyz_controller.connect_device()
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# self.hardware_interface.xyz_controller.home_all_axes()
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await super().setup()
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self.hardware_interface.connect()
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self.hardware_interface.initialize()
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||||
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print("Setting up the liquid handler.")
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async def stop(self):
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print("Stopping the liquid handler.")
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|
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def serialize(self) -> dict:
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return {**super().serialize(), "num_channels": self.num_channels}
|
||||
|
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def pipette_aspirate(self, volume: float, flow_rate: float):
|
||||
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self.hardware_interface.pipette.set_max_speed(flow_rate)
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res = self.hardware_interface.pipette.aspirate(volume=volume)
|
||||
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||||
if not res:
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||||
self.hardware_interface.logger.error("吸取失败，当前体积: {self.hardware_interface.current_volume}")
|
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return
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self.hardware_interface.current_volume += volume
|
||||
|
||||
def pipette_dispense(self, volume: float, flow_rate: float):
|
||||
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self.hardware_interface.pipette.set_max_speed(flow_rate)
|
||||
res = self.hardware_interface.pipette.dispense(volume=volume)
|
||||
if not res:
|
||||
self.hardware_interface.logger.error("排液失败，当前体积: {self.hardware_interface.current_volume}")
|
||||
return
|
||||
self.hardware_interface.current_volume -= volume
|
||||
|
||||
@property
|
||||
def num_channels(self) -> int:
|
||||
return self._num_channels
|
||||
|
||||
async def assigned_resource_callback(self, resource: Resource):
|
||||
print(f"Resource {resource.name} was assigned to the liquid handler.")
|
||||
|
||||
async def unassigned_resource_callback(self, name: str):
|
||||
print(f"Resource {name} was unassigned from the liquid handler.")
|
||||
|
||||
async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int], **backend_kwargs):
|
||||
print("Picking up tips:")
|
||||
# print(ops.tip)
|
||||
header = (
|
||||
f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
|
||||
f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{'tip type':<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
|
||||
f"{'max volume (µL)':<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
|
||||
f"{'fitting depth (mm)':<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
|
||||
f"{'tip length (mm)':<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
|
||||
# f"{'pickup method':<{ChatterboxBackend._pickup_method_length}} "
|
||||
f"{'filter':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
|
||||
)
|
||||
# print(header)
|
||||
|
||||
for op, channel in zip(ops, use_channels):
|
||||
offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}"
|
||||
row = (
|
||||
f" p{channel}: "
|
||||
f"{op.resource.name[-30:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{op.tip.__class__.__name__:<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
|
||||
f"{op.tip.maximal_volume:<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
|
||||
f"{op.tip.fitting_depth:<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
|
||||
f"{op.tip.total_tip_length:<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
|
||||
# f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
|
||||
f"{'Yes' if op.tip.has_filter else 'No':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
|
||||
)
|
||||
# print(row)
|
||||
# print(op.resource.get_absolute_location())
|
||||
|
||||
self.tip_length = ops[0].tip.total_tip_length
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
offset_xyz = ops[0].offset
|
||||
x = coordinate.x + offset_xyz.x
|
||||
y = coordinate.y + offset_xyz.y
|
||||
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
|
||||
# print("moving")
|
||||
self.hardware_interface._update_tip_status()
|
||||
if self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED:
|
||||
print("已有枪头，无需重复拾取")
|
||||
return
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=100)
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height,speed=100)
|
||||
# self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "pick",channels=use_channels)
|
||||
# goback()
|
||||
|
||||
|
||||
|
||||
|
||||
async def drop_tips(self, ops: List[Drop], use_channels: List[int], **backend_kwargs):
|
||||
print("Dropping tips:")
|
||||
header = (
|
||||
f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
|
||||
f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{'tip type':<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
|
||||
f"{'max volume (µL)':<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
|
||||
f"{'fitting depth (mm)':<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
|
||||
f"{'tip length (mm)':<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
|
||||
# f"{'pickup method':<{ChatterboxBackend._pickup_method_length}} "
|
||||
f"{'filter':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
|
||||
)
|
||||
# print(header)
|
||||
|
||||
for op, channel in zip(ops, use_channels):
|
||||
offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}"
|
||||
row = (
|
||||
f" p{channel}: "
|
||||
f"{op.resource.name[-30:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{op.tip.__class__.__name__:<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
|
||||
f"{op.tip.maximal_volume:<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
|
||||
f"{op.tip.fitting_depth:<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
|
||||
f"{op.tip.total_tip_length:<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
|
||||
# f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
|
||||
f"{'Yes' if op.tip.has_filter else 'No':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
|
||||
)
|
||||
# print(row)
|
||||
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
offset_xyz = ops[0].offset
|
||||
x = coordinate.x + offset_xyz.x
|
||||
y = coordinate.y + offset_xyz.y
|
||||
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z -20
|
||||
# print(x, y, z)
|
||||
# print("moving")
|
||||
self.hardware_interface._update_tip_status()
|
||||
if self.hardware_interface.tip_status == TipStatus.NO_TIP:
|
||||
print("无枪头，无需丢弃")
|
||||
return
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z)
|
||||
self.hardware_interface.eject_tip
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height)
|
||||
|
||||
async def aspirate(
|
||||
self,
|
||||
ops: List[SingleChannelAspiration],
|
||||
use_channels: List[int],
|
||||
**backend_kwargs,
|
||||
):
|
||||
print("Aspirating:")
|
||||
header = (
|
||||
f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
|
||||
f"{'vol(ul)':<{UniLiquidHandlerLaiyuBackend._vol_length}} "
|
||||
f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{'flow rate':<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
|
||||
f"{'blowout':<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
|
||||
f"{'lld_z':<{UniLiquidHandlerLaiyuBackend._lld_z_length}} "
|
||||
# f"{'liquids':<20}" # TODO: add liquids
|
||||
)
|
||||
for key in backend_kwargs:
|
||||
header += f"{key:<{UniLiquidHandlerLaiyuBackend._kwargs_length}} "[-16:]
|
||||
# print(header)
|
||||
|
||||
for o, p in zip(ops, use_channels):
|
||||
offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
|
||||
row = (
|
||||
f" p{p}: "
|
||||
f"{o.volume:<{UniLiquidHandlerLaiyuBackend._vol_length}} "
|
||||
f"{o.resource.name[-20:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{str(o.flow_rate):<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
|
||||
f"{str(o.blow_out_air_volume):<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
|
||||
f"{str(o.liquid_height):<{UniLiquidHandlerLaiyuBackend._lld_z_length}} "
|
||||
# f"{o.liquids if o.liquids is not None else 'none'}"
|
||||
)
|
||||
for key, value in backend_kwargs.items():
|
||||
if isinstance(value, list) and all(isinstance(v, bool) for v in value):
|
||||
value = "".join("T" if v else "F" for v in value)
|
||||
if isinstance(value, list):
|
||||
value = "".join(map(str, value))
|
||||
row += f" {value:<15}"
|
||||
# print(row)
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
offset_xyz = ops[0].offset
|
||||
x = coordinate.x + offset_xyz.x
|
||||
y = coordinate.y + offset_xyz.y
|
||||
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
|
||||
# print(x, y, z)
|
||||
# print("moving")
|
||||
|
||||
# 判断枪头是否存在
|
||||
self.hardware_interface._update_tip_status()
|
||||
if not self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED:
|
||||
print("无枪头，无法吸液")
|
||||
return
|
||||
# 判断吸液量是否超过枪头容量
|
||||
flow_rate = backend_kwargs["flow_rate"] if "flow_rate" in backend_kwargs else 500
|
||||
blow_out_air_volume = backend_kwargs["blow_out_air_volume"] if "blow_out_air_volume" in backend_kwargs else 0
|
||||
if self.hardware_interface.current_volume + ops[0].volume + blow_out_air_volume > self.hardware_interface.max_volume:
|
||||
self.hardware_interface.logger.error(f"吸液量超过枪头容量: {self.hardware_interface.current_volume + ops[0].volume} > {self.hardware_interface.max_volume}")
|
||||
return
|
||||
|
||||
# 移动到吸液位置
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z)
|
||||
self.pipette_aspirate(volume=ops[0].volume, flow_rate=flow_rate)
|
||||
|
||||
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height)
|
||||
if blow_out_air_volume >0:
|
||||
self.pipette_aspirate(volume=blow_out_air_volume, flow_rate=flow_rate)
|
||||
|
||||
|
||||
|
||||
|
||||
async def dispense(
|
||||
self,
|
||||
ops: List[SingleChannelDispense],
|
||||
use_channels: List[int],
|
||||
**backend_kwargs,
|
||||
):
|
||||
# print("Dispensing:")
|
||||
header = (
|
||||
f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
|
||||
f"{'vol(ul)':<{UniLiquidHandlerLaiyuBackend._vol_length}} "
|
||||
f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{'flow rate':<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
|
||||
f"{'blowout':<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
|
||||
f"{'lld_z':<{UniLiquidHandlerLaiyuBackend._lld_z_length}} "
|
||||
# f"{'liquids':<20}" # TODO: add liquids
|
||||
)
|
||||
for key in backend_kwargs:
|
||||
header += f"{key:<{UniLiquidHandlerLaiyuBackend._kwargs_length}} "[-16:]
|
||||
# print(header)
|
||||
|
||||
for o, p in zip(ops, use_channels):
|
||||
offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
|
||||
row = (
|
||||
f" p{p}: "
|
||||
f"{o.volume:<{UniLiquidHandlerLaiyuBackend._vol_length}} "
|
||||
f"{o.resource.name[-20:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{str(o.flow_rate):<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
|
||||
f"{str(o.blow_out_air_volume):<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
|
||||
f"{str(o.liquid_height):<{UniLiquidHandlerLaiyuBackend._lld_z_length}} "
|
||||
# f"{o.liquids if o.liquids is not None else 'none'}"
|
||||
)
|
||||
for key, value in backend_kwargs.items():
|
||||
if isinstance(value, list) and all(isinstance(v, bool) for v in value):
|
||||
value = "".join("T" if v else "F" for v in value)
|
||||
if isinstance(value, list):
|
||||
value = "".join(map(str, value))
|
||||
row += f" {value:<{UniLiquidHandlerLaiyuBackend._kwargs_length}}"
|
||||
# print(row)
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
offset_xyz = ops[0].offset
|
||||
x = coordinate.x + offset_xyz.x
|
||||
y = coordinate.y + offset_xyz.y
|
||||
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
|
||||
# print(x, y, z)
|
||||
# print("moving")
|
||||
|
||||
# 判断枪头是否存在
|
||||
self.hardware_interface._update_tip_status()
|
||||
if not self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED:
|
||||
print("无枪头，无法排液")
|
||||
return
|
||||
# 判断排液量是否超过枪头容量
|
||||
flow_rate = backend_kwargs["flow_rate"] if "flow_rate" in backend_kwargs else 500
|
||||
blow_out_air_volume = backend_kwargs["blow_out_air_volume"] if "blow_out_air_volume" in backend_kwargs else 0
|
||||
if self.hardware_interface.current_volume - ops[0].volume - blow_out_air_volume < 0:
|
||||
self.hardware_interface.logger.error(f"排液量超过枪头容量: {self.hardware_interface.current_volume - ops[0].volume - blow_out_air_volume} < 0")
|
||||
return
|
||||
|
||||
|
||||
# 移动到排液位置
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z)
|
||||
self.pipette_dispense(volume=ops[0].volume, flow_rate=flow_rate)
|
||||
|
||||
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height)
|
||||
if blow_out_air_volume > 0:
|
||||
self.pipette_dispense(volume=blow_out_air_volume, flow_rate=flow_rate)
|
||||
# self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "",channels=use_channels)
|
||||
|
||||
async def pick_up_tips96(self, pickup: PickupTipRack, **backend_kwargs):
|
||||
print(f"Picking up tips from {pickup.resource.name}.")
|
||||
|
||||
async def drop_tips96(self, drop: DropTipRack, **backend_kwargs):
|
||||
print(f"Dropping tips to {drop.resource.name}.")
|
||||
|
||||
async def aspirate96(
|
||||
self, aspiration: Union[MultiHeadAspirationPlate, MultiHeadAspirationContainer]
|
||||
):
|
||||
if isinstance(aspiration, MultiHeadAspirationPlate):
|
||||
resource = aspiration.wells[0].parent
|
||||
else:
|
||||
resource = aspiration.container
|
||||
print(f"Aspirating {aspiration.volume} from {resource}.")
|
||||
|
||||
async def dispense96(self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]):
|
||||
if isinstance(dispense, MultiHeadDispensePlate):
|
||||
resource = dispense.wells[0].parent
|
||||
else:
|
||||
resource = dispense.container
|
||||
print(f"Dispensing {dispense.volume} to {resource}.")
|
||||
|
||||
async def pick_up_resource(self, pickup: ResourcePickup):
|
||||
print(f"Picking up resource: {pickup}")
|
||||
|
||||
async def move_picked_up_resource(self, move: ResourceMove):
|
||||
print(f"Moving picked up resource: {move}")
|
||||
|
||||
async def drop_resource(self, drop: ResourceDrop):
|
||||
print(f"Dropping resource: {drop}")
|
||||
|
||||
def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool:
|
||||
return True
|
||||
|
||||
Reference in New Issue
Block a user