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Update for prcxi

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Guangxin Zhang
2025-07-19 16:13:15 +08:00
parent 27132bbbc1
commit aac3c9d561
3 changed files with 13759 additions and 5992 deletions
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1
.gitignore vendored
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@@ -243,3 +243,4 @@ unilabos/device_mesh/view_robot.rviz
local_test2.py local_test2.py
ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2 ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2
*.bz2 *.bz2
test_config.py

19732
deck.json → test/experiments/prcxi_9300.json
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File diff suppressed because it is too large Load Diff

18
unilabos/devices/liquid_handling/prcxi/prcxi.py
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@@ -430,7 +430,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int] = None): async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int] = None):
"""Pick up tips from the specified resource.""" """Pick up tips from the specified resource."""
print('where?'*200)
plate_indexes = [] plate_indexes = []
for op in ops: for op in ops:
plate = op.resource.parent plate = op.resource.parent
@@ -1075,14 +1075,20 @@ if __name__ == "__main__":
# from pylabrobot.resources import set_tip_tracking # from pylabrobot.resources import set_tip_tracking
set_volume_tracking(enabled=True) set_volume_tracking(enabled=True)
from unilabos.resources.graphio import * from unilabos.resources.graphio import *
A = tree_to_list([resource_plr_to_ulab(deck)])
with open("deck.json", "w", encoding="utf-8") as f:
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.create_protocol(protocol_name="Test Protocol")) # Initialize the backend and setup the connection
# asyncio.run(handler.pick_up_tips(plate1.children[:8],[0,1,2,3,4,5,6,7]))
# asyncio.run(handler.aspirate(plate2.children[:8],[50]*8, [0,1,2,3,4,5,6,7])) asyncio.run(handler.pick_up_tips(plate1.children[:8],[0,1,2,3,4,5,6,7]))
# asyncio.run(handler.dispense(plate5.children[:8],[50]*8,[0,1,2,3,4,5,6,7])) print(plate1.children[:8])
asyncio.run(handler.aspirate(plate2.children[:8],[50]*8, [0,1,2,3,4,5,6,7]))
print(plate2.children[:8])
asyncio.run(handler.dispense(plate5.children[:8],[50]*8,[0,1,2,3,4,5,6,7]))
print(plate5.children[:8])
# # # asyncio.run(handler.drop_tips(tip_rack.children[8:16],[0,1,2,3,4,5,6,7])) # # # asyncio.run(handler.drop_tips(tip_rack.children[8:16],[0,1,2,3,4,5,6,7]))
# asyncio.run(handler.discard_tips()) asyncio.run(handler.discard_tips())
# asyncio.run(handler.mix(well_containers.children[:8 # asyncio.run(handler.mix(well_containers.children[:8
# ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100)) # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))