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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>
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218
unilabos/devices/liquid_handling/laiyu/laiyu.py
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218
unilabos/devices/liquid_handling/laiyu/laiyu.py
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import asyncio
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import collections
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import contextlib
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import json
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import time
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from typing import Any, List, Dict, Optional, TypedDict, Union, Sequence, Iterator, Literal
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from pylabrobot.liquid_handling import (
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LiquidHandlerBackend,
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Pickup,
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SingleChannelAspiration,
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Drop,
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SingleChannelDispense,
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PickupTipRack,
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DropTipRack,
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MultiHeadAspirationPlate, ChatterBoxBackend, LiquidHandlerChatterboxBackend,
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)
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from pylabrobot.liquid_handling.standard import (
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MultiHeadAspirationContainer,
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MultiHeadDispenseContainer,
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MultiHeadDispensePlate,
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ResourcePickup,
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ResourceMove,
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ResourceDrop,
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)
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from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash
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from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
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from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
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from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend
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class TransformXYZDeck(Deck):
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"""Laiyu 的专用 Deck 类，继承自 Deck。
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该类定义了 Laiyu 的工作台布局和槽位信息。
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"""
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def __init__(self, name: str, size_x: float, size_y: float, size_z: float):
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super().__init__(name, size_x, size_y, size_z)
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self.name = name
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class TransformXYZBackend(LiquidHandlerBackend):
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def __init__(self, name: str, host: str, port: int, timeout: float):
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super().__init__()
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self.host = host
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self.port = port
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self.timeout = timeout
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class TransformXYZRvizBackend(UniLiquidHandlerRvizBackend):
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def __init__(self, name: str, channel_num: int):
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super().__init__(channel_num)
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self.name = name
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class TransformXYZContainer(Plate, TipRack):
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"""Laiyu 的专用 Container 类，继承自 Plate和TipRack。
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该类定义了 Laiyu 的工作台布局和槽位信息。
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"""
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def __init__(
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self,
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name: str,
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size_x: float,
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size_y: float,
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size_z: float,
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category: str,
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ordering: collections.OrderedDict,
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model: Optional[str] = None,
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):
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super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model)
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self._unilabos_state = {}
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def load_state(self, state: Dict[str, Any]) -> None:
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"""从给定的状态加载工作台信息。"""
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super().load_state(state)
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self._unilabos_state = state
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def serialize_state(self) -> Dict[str, Dict[str, Any]]:
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data = super().serialize_state()
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data.update(self._unilabos_state)
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return data
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class TransformXYZHandler(LiquidHandlerAbstract):
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support_touch_tip = False
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def __init__(self, deck: Deck, host: str = "127.0.0.1", port: int = 9999, timeout: float = 10.0, channel_num=1, simulator=True, **backend_kwargs):
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# Handle case where deck is passed as a dict (from serialization)
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if isinstance(deck, dict):
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# Try to create a TransformXYZDeck from the dict
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if 'name' in deck and 'size_x' in deck and 'size_y' in deck and 'size_z' in deck:
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deck = TransformXYZDeck(
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name=deck['name'],
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size_x=deck.get('size_x', 100),
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size_y=deck.get('size_y', 100),
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size_z=deck.get('size_z', 100)
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)
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else:
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# Fallback: create a basic deck
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deck = TransformXYZDeck(name='deck', size_x=100, size_y=100, size_z=100)
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if simulator:
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self._unilabos_backend = TransformXYZRvizBackend(name="laiyu",channel_num=channel_num)
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else:
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self._unilabos_backend = TransformXYZBackend(name="laiyu",host=host, port=port, timeout=timeout)
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super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num)
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async def add_liquid(
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self,
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asp_vols: Union[List[float], float],
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dis_vols: Union[List[float], float],
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reagent_sources: Sequence[Container],
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targets: Sequence[Container],
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*,
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use_channels: Optional[List[int]] = None,
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flow_rates: Optional[List[Optional[float]]] = None,
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offsets: Optional[List[Coordinate]] = None,
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liquid_height: Optional[List[Optional[float]]] = None,
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blow_out_air_volume: Optional[List[Optional[float]]] = None,
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spread: Optional[Literal["wide", "tight", "custom"]] = "wide",
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is_96_well: bool = False,
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delays: Optional[List[int]] = None,
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mix_time: Optional[int] = None,
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mix_vol: Optional[int] = None,
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mix_rate: Optional[int] = None,
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mix_liquid_height: Optional[float] = None,
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none_keys: List[str] = [],
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):
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pass
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async def aspirate(
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self,
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resources: Sequence[Container],
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vols: List[float],
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use_channels: Optional[List[int]] = None,
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flow_rates: Optional[List[Optional[float]]] = None,
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offsets: Optional[List[Coordinate]] = None,
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liquid_height: Optional[List[Optional[float]]] = None,
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blow_out_air_volume: Optional[List[Optional[float]]] = None,
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spread: Literal["wide", "tight", "custom"] = "wide",
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**backend_kwargs,
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):
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pass
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async def dispense(
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self,
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resources: Sequence[Container],
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vols: List[float],
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use_channels: Optional[List[int]] = None,
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flow_rates: Optional[List[Optional[float]]] = None,
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offsets: Optional[List[Coordinate]] = None,
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liquid_height: Optional[List[Optional[float]]] = None,
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blow_out_air_volume: Optional[List[Optional[float]]] = None,
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spread: Literal["wide", "tight", "custom"] = "wide",
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**backend_kwargs,
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):
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pass
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async def drop_tips(
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self,
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tip_spots: Sequence[Union[TipSpot, Trash]],
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use_channels: Optional[List[int]] = None,
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offsets: Optional[List[Coordinate]] = None,
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allow_nonzero_volume: bool = False,
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**backend_kwargs,
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):
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pass
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async def mix(
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self,
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targets: Sequence[Container],
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mix_time: int = None,
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mix_vol: Optional[int] = None,
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height_to_bottom: Optional[float] = None,
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offsets: Optional[Coordinate] = None,
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mix_rate: Optional[float] = None,
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none_keys: List[str] = [],
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):
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pass
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async def pick_up_tips(
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self,
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tip_spots: List[TipSpot],
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use_channels: Optional[List[int]] = None,
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offsets: Optional[List[Coordinate]] = None,
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**backend_kwargs,
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):
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pass
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async def transfer_liquid(
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self,
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sources: Sequence[Container],
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targets: Sequence[Container],
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tip_racks: Sequence[TipRack],
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*,
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use_channels: Optional[List[int]] = None,
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asp_vols: Union[List[float], float],
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dis_vols: Union[List[float], float],
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asp_flow_rates: Optional[List[Optional[float]]] = None,
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dis_flow_rates: Optional[List[Optional[float]]] = None,
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offsets: Optional[List[Coordinate]] = None,
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touch_tip: bool = False,
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liquid_height: Optional[List[Optional[float]]] = None,
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blow_out_air_volume: Optional[List[Optional[float]]] = None,
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spread: Literal["wide", "tight", "custom"] = "wide",
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is_96_well: bool = False,
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mix_stage: Optional[Literal["none", "before", "after", "both"]] = "none",
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mix_times: Optional[List[int]] = None,
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mix_vol: Optional[int] = None,
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mix_rate: Optional[int] = None,
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mix_liquid_height: Optional[float] = None,
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delays: Optional[List[int]] = None,
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none_keys: List[str] = [],
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):
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pass
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