add standardized BIOYOND resources: bottle_carrier, bottle

unilabos/resources/warehouse.py

@@ -0,0 +1,79 @@
+import json
+from typing import Optional, List
+from pylabrobot.resources import Coordinate, Resource
+from pylabrobot.resources.carrier import Carrier, PlateHolder, ResourceHolder, create_homogeneous_resources
+from pylabrobot.resources.deck import Deck
+
+
+class WareHouse(Carrier[ResourceHolder]):
+    """4x4x1堆栈载体类 - 可容纳16个板位的载体（4层x4行x1列）"""
+
+    def __init__(
+        self,
+        name: str,
+        num_items_x: int = 4,
+        num_items_y: int = 1,
+        num_items_z: int = 4,
+        dx: float = 137.0,
+        dy: float = 96.0,
+        dz: float = 120.0,
+        item_dx: float = 10.0,
+        item_dy: float = 10.0,
+        item_dz: float = 10.0,
+        removed_positions: Optional[List[int]] = None,
+        category: str = "warehouse",
+        model: Optional[str] = None,
+    ):
+        # 创建16个板架位 (4层 x 4位置)
+        locations = []
+
+        for layer in range(num_items_z):  # 4层
+            for row in range(num_items_y):  # 4行
+                for col in range(num_items_x):  # 1列 (每层4x1=4个位置)
+                    # 计算位置
+                    x = dx + col * item_dx
+                    y = dy + (num_items_y - row - 1) * item_dy
+                    z = dz + (num_items_z - layer - 1) * item_dz
+
+                    locations.append(Coordinate(x, y, z))
+        if removed_positions:
+            locations = [loc for i, loc in enumerate(locations) if i not in removed_positions]
+
+        sites = create_homogeneous_resources(
+            klass=ResourceHolder,
+            locations=[
+                Coordinate(4.0, 8.5, 86.15),
+                Coordinate(4.0, 104.5, 86.15),
+                Coordinate(4.0, 200.5, 86.15),
+                Coordinate(4.0, 296.5, 86.15),
+                Coordinate(4.0, 392.5, 86.15),
+            ],
+            resource_size_x=127.0,
+            resource_size_y=86.0,
+            name_prefix=name,
+        )
+
+        super().__init__(
+            name=name,
+            size_x=dx + item_dx * num_items_x,
+            size_y=dy + item_dy * num_items_y,
+            size_z=dz + item_dz * num_items_z,
+            sites=sites,
+            category=category,
+            model=model,
+        )
+
+    def get_site_by_layer_position(self, row: int, col: int, layer: int) -> PlateHolder:
+        if not (0 <= layer < 4 and 0 <= row < 4 and 0 <= col < 1):
+            raise ValueError("无效的位置: layer={}, row={}, col={}".format(layer, row, col))
+
+        site_index = layer * 4 + row * 1 + col
+        return self.sites[site_index]
+
+    def add_rack_to_position(self, row: int, col: int, layer: int, rack) -> None:
+        site = self.get_site_by_layer_position(row, col, layer)
+        site.assign_child_resource(rack)
+
+    def get_rack_at_position(self, row: int, col: int, layer: int):
+        site = self.get_site_by_layer_position(row, col, layer)
+        return site.resource