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https://github.com/dptech-corp/Uni-Lab-OS.git
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Workshop bj (#99)
* Add LaiYu Liquid device integration and tests Introduce LaiYu Liquid device implementation, including backend, controllers, drivers, configuration, and resource files. Add hardware connection, tip pickup, and simplified test scripts, as well as experiment and registry configuration for LaiYu Liquid. Documentation and .gitignore for the device are also included. * feat(LaiYu_Liquid): 重构设备模块结构并添加硬件文档 refactor: 重新组织LaiYu_Liquid模块目录结构 docs: 添加SOPA移液器和步进电机控制指令文档 fix: 修正设备配置中的最大体积默认值 test: 新增工作台配置测试用例 chore: 删除过时的测试脚本和配置文件 * add * 重构: 将 LaiYu_Liquid.py 重命名为 laiyu_liquid_main.py 并更新所有导入引用 - 使用 git mv 将 LaiYu_Liquid.py 重命名为 laiyu_liquid_main.py - 更新所有相关文件中的导入引用 - 保持代码功能不变，仅改善命名一致性 - 测试确认所有导入正常工作 * 修复: 在 core/__init__.py 中添加 LaiYuLiquidBackend 导出 - 添加 LaiYuLiquidBackend 到导入列表 - 添加 LaiYuLiquidBackend 到 __all__ 导出列表 - 确保所有主要类都可以正确导入 * 修复大小写文件夹名字
This commit is contained in:
ZiWei
GitHub
9
unilabos/devices/laiyu_liquid/backend/__init__.py
Normal file
9
unilabos/devices/laiyu_liquid/backend/__init__.py
Normal file
@@ -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/laiyu_liquid/backend/laiyu_backend.py
Normal file
334
unilabos/devices/laiyu_liquid/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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"""
|
||||
创建LaiYu液体处理设备后端实例
|
||||
|
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Args:
|
||||
name: 后端名称
|
||||
|
||||
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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209
unilabos/devices/laiyu_liquid/backend/rviz_backend.py
Normal file
209
unilabos/devices/laiyu_liquid/backend/rviz_backend.py
Normal file
@@ -0,0 +1,209 @@
|
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|
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import json
|
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from typing import List, Optional, Union
|
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|
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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,
|
||||
Pickup,
|
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PickupTipRack,
|
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ResourceDrop,
|
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ResourceMove,
|
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ResourcePickup,
|
||||
SingleChannelAspiration,
|
||||
SingleChannelDispense,
|
||||
)
|
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from pylabrobot.resources import Resource, Tip
|
||||
|
||||
import rclpy
|
||||
from rclpy.node import Node
|
||||
from sensor_msgs.msg import JointState
|
||||
import time
|
||||
from rclpy.action import ActionClient
|
||||
from unilabos_msgs.action import SendCmd
|
||||
import re
|
||||
|
||||
from unilabos.devices.ros_dev.liquid_handler_joint_publisher import JointStatePublisher
|
||||
|
||||
|
||||
class LiquidHandlerRvizBackend(LiquidHandlerBackend):
|
||||
"""Chatter box backend for device-free testing. Prints out all operations."""
|
||||
|
||||
_pip_length = 5
|
||||
_vol_length = 8
|
||||
_resource_length = 20
|
||||
_offset_length = 16
|
||||
_flow_rate_length = 10
|
||||
_blowout_length = 10
|
||||
_lld_z_length = 10
|
||||
_kwargs_length = 15
|
||||
_tip_type_length = 12
|
||||
_max_volume_length = 16
|
||||
_fitting_depth_length = 20
|
||||
_tip_length_length = 16
|
||||
# _pickup_method_length = 20
|
||||
_filter_length = 10
|
||||
|
||||
def __init__(self, num_channels: int = 8):
|
||||
"""Initialize a chatter box backend."""
|
||||
super().__init__()
|
||||
self._num_channels = num_channels
|
||||
# rclpy.init()
|
||||
if not rclpy.ok():
|
||||
rclpy.init()
|
||||
self.joint_state_publisher = None
|
||||
|
||||
async def setup(self):
|
||||
self.joint_state_publisher = JointStatePublisher()
|
||||
await super().setup()
|
||||
async def stop(self):
|
||||
pass
|
||||
|
||||
def serialize(self) -> dict:
|
||||
return {**super().serialize(), "num_channels": self.num_channels}
|
||||
|
||||
@property
|
||||
def num_channels(self) -> int:
|
||||
return self._num_channels
|
||||
|
||||
async def assigned_resource_callback(self, resource: Resource):
|
||||
pass
|
||||
|
||||
async def unassigned_resource_callback(self, name: str):
|
||||
pass
|
||||
|
||||
async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int], **backend_kwargs):
|
||||
|
||||
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:]:<{LiquidHandlerRvizBackend._resource_length}} "
|
||||
f"{offset:<{LiquidHandlerRvizBackend._offset_length}} "
|
||||
f"{op.tip.__class__.__name__:<{LiquidHandlerRvizBackend._tip_type_length}} "
|
||||
f"{op.tip.maximal_volume:<{LiquidHandlerRvizBackend._max_volume_length}} "
|
||||
f"{op.tip.fitting_depth:<{LiquidHandlerRvizBackend._fitting_depth_length}} "
|
||||
f"{op.tip.total_tip_length:<{LiquidHandlerRvizBackend._tip_length_length}} "
|
||||
# f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
|
||||
f"{'Yes' if op.tip.has_filter else 'No':<{LiquidHandlerRvizBackend._filter_length}}"
|
||||
)
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
x = coordinate.x
|
||||
y = coordinate.y
|
||||
z = coordinate.z + 70
|
||||
self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "pick")
|
||||
# goback()
|
||||
|
||||
|
||||
|
||||
|
||||
async def drop_tips(self, ops: List[Drop], use_channels: List[int], **backend_kwargs):
|
||||
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
x = coordinate.x
|
||||
y = coordinate.y
|
||||
z = coordinate.z + 70
|
||||
self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "drop_trash")
|
||||
# goback()
|
||||
|
||||
async def aspirate(
|
||||
self,
|
||||
ops: List[SingleChannelAspiration],
|
||||
use_channels: List[int],
|
||||
**backend_kwargs,
|
||||
):
|
||||
# 执行吸液操作
|
||||
pass
|
||||
|
||||
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:<{LiquidHandlerRvizBackend._vol_length}} "
|
||||
f"{o.resource.name[-20:]:<{LiquidHandlerRvizBackend._resource_length}} "
|
||||
f"{offset:<{LiquidHandlerRvizBackend._offset_length}} "
|
||||
f"{str(o.flow_rate):<{LiquidHandlerRvizBackend._flow_rate_length}} "
|
||||
f"{str(o.blow_out_air_volume):<{LiquidHandlerRvizBackend._blowout_length}} "
|
||||
f"{str(o.liquid_height):<{LiquidHandlerRvizBackend._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}"
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
x = coordinate.x
|
||||
y = coordinate.y
|
||||
z = coordinate.z + 70
|
||||
self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "")
|
||||
|
||||
|
||||
async def dispense(
|
||||
self,
|
||||
ops: List[SingleChannelDispense],
|
||||
use_channels: List[int],
|
||||
**backend_kwargs,
|
||||
):
|
||||
|
||||
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:<{LiquidHandlerRvizBackend._vol_length}} "
|
||||
f"{o.resource.name[-20:]:<{LiquidHandlerRvizBackend._resource_length}} "
|
||||
f"{offset:<{LiquidHandlerRvizBackend._offset_length}} "
|
||||
f"{str(o.flow_rate):<{LiquidHandlerRvizBackend._flow_rate_length}} "
|
||||
f"{str(o.blow_out_air_volume):<{LiquidHandlerRvizBackend._blowout_length}} "
|
||||
f"{str(o.liquid_height):<{LiquidHandlerRvizBackend._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:<{LiquidHandlerRvizBackend._kwargs_length}}"
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
x = coordinate.x
|
||||
y = coordinate.y
|
||||
z = coordinate.z + 70
|
||||
self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "")
|
||||
|
||||
async def pick_up_tips96(self, pickup: PickupTipRack, **backend_kwargs):
|
||||
pass
|
||||
|
||||
async def drop_tips96(self, drop: DropTipRack, **backend_kwargs):
|
||||
pass
|
||||
|
||||
async def aspirate96(
|
||||
self, aspiration: Union[MultiHeadAspirationPlate, MultiHeadAspirationContainer]
|
||||
):
|
||||
pass
|
||||
|
||||
async def dispense96(self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]):
|
||||
pass
|
||||
|
||||
async def pick_up_resource(self, pickup: ResourcePickup):
|
||||
# 执行资源拾取操作
|
||||
pass
|
||||
|
||||
async def move_picked_up_resource(self, move: ResourceMove):
|
||||
# 执行资源移动操作
|
||||
pass
|
||||
|
||||
async def drop_resource(self, drop: ResourceDrop):
|
||||
# 执行资源放置操作
|
||||
pass
|
||||
|
||||
def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool:
|
||||
return True
|
||||
|
||||
Reference in New Issue
Block a user