diff --git a/unilabos/devices/liquid_handling/biomek.py b/unilabos/devices/liquid_handling/biomek.py index ea71c6d..3fe3049 100644 --- a/unilabos/devices/liquid_handling/biomek.py +++ b/unilabos/devices/liquid_handling/biomek.py @@ -10,6 +10,7 @@ from pylabrobot.resources import ( Container, Coordinate, ) +import copy from unilabos_msgs.msg import Resource from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker # type: ignore @@ -61,7 +62,7 @@ class LiquidHandlerBiomek: 'LocalPattern': True, 'Operation': 'Aspirate', 'OverrideHeight': False, - 'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True), + 'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True), 'Prototype': 'MC P300 High', 'ReferencedPattern': '', 'RowsFirst': False, @@ -450,8 +451,8 @@ class LiquidHandlerBiomek: """ items = [] - asp_params = self.aspirate_techniques.get(aspirate_techniques, {}) - dis_params = self.dispense_techniques.get(dispense_techniques, {}) + asp_params = copy.deepcopy(self.aspirate_techniques[aspirate_techniques]) + dis_params = copy.deepcopy(self.dispense_techniques[dispense_techniques]) asp_params['Position'] = source dis_params['Position'] = target @@ -564,7 +565,7 @@ class LiquidHandlerBiomek: if __name__ == "__main__": - + print("=== Biomek完整流程测试 ===") print("包含: 仪器设置 + 完整实验步骤") @@ -968,15 +969,6 @@ if __name__ == "__main__": "liquid_volume": [], "liquid_input_wells": [] }, - { - "id": "working plate on P12", - "parent": "deck", - "slot_on_deck": "P12", - "class_name": "BCDeep96Round", - "liquid_type": [], - "liquid_volume": [], - "liquid_input_wells": [] - }, { "id": "working plate on P13", "parent": "deck", diff --git a/unilabos/devices/liquid_handling/biomek_test.py b/unilabos/devices/liquid_handling/biomek_test.py index 1e56f18..af6339a 100644 --- a/unilabos/devices/liquid_handling/biomek_test.py +++ b/unilabos/devices/liquid_handling/biomek_test.py @@ -15,6 +15,7 @@ from typing import List, Sequence, Optional, Union, Literal import json import pathlib from typing import Sequence, Optional, List, Union, Literal +import copy @@ -67,7 +68,7 @@ class LiquidHandlerBiomek: 'LocalPattern': True, 'Operation': 'Aspirate', 'OverrideHeight': False, - 'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True), + 'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True), 'Prototype': 'MC P300 High', 'ReferencedPattern': '', 'RowsFirst': False, @@ -351,8 +352,9 @@ class LiquidHandlerBiomek: """ items = [] - asp_params = self.aspirate_techniques.get(aspirate_techniques, {}) - dis_params = self.dispense_techniques.get(dispense_techniques, {}) + asp_params = copy.deepcopy(self.aspirate_techniques[aspirate_techniques]) + dis_params = copy.deepcopy(self.dispense_techniques[dispense_techniques]) + asp_params['Position'] = source dis_params['Position'] = target @@ -403,7 +405,9 @@ class LiquidHandlerBiomek: transfer_params["Solvent"] = 'Water' transfer_params["TipLocation"] = tip_rack tmp={'transfer': transfer_params} + self.temp_protocol["steps"].append(tmp) + return @@ -872,15 +876,6 @@ if __name__ == "__main__": "liquid_volume": [], "liquid_input_wells": [] }, - { - "id": "working plate on P12", - "parent": "deck", - "slot_on_deck": "P12", - "class_name": "BCDeep96Round", - "liquid_type": [], - "liquid_volume": [], - "liquid_input_wells": [] - }, { "id": "working plate on P13", "parent": "deck", @@ -968,6 +963,7 @@ if __name__ == "__main__": print(f"步骤 {step['step_number']}: {description}") if operation == 'transfer': + handler.transfer_biomek( source=parameters['source'], target=parameters['target'],