mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-18 05:21:19 +00:00
Resource update & asyncio fix
correct bioyond config prcxi example fix append_resource fix regularcontainer fix cancel error fix resource_get param fix json dumps support name change during materials change enable slave mode change uuid logger to trace level correct remove_resource stats disable slave connect websocket adjust with_children param modify devices to use correct executor (sleep, create_task) support sleep and create_task in node fix run async execution error
This commit is contained in:
Xuwznln
@@ -1,11 +1,11 @@
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from __future__ import annotations
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import re
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import traceback
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from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
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from collections import Counter
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import asyncio
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import time
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import pprint as pp
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import traceback
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from collections import Counter
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from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
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from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness
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from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod
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from pylabrobot.liquid_handling.standard import GripDirection
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@@ -25,6 +25,8 @@ from pylabrobot.resources import (
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Tip,
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)
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from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
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class LiquidHandlerMiddleware(LiquidHandler):
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def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8):
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@@ -536,6 +538,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
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class LiquidHandlerAbstract(LiquidHandlerMiddleware):
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"""Extended LiquidHandler with additional operations."""
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support_touch_tip = True
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_ros_node: BaseROS2DeviceNode
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def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8):
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"""Initialize a LiquidHandler.
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@@ -548,8 +551,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
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self.group_info = dict()
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super().__init__(backend, deck, simulator, channel_num)
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def post_init(self, ros_node: BaseROS2DeviceNode):
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self._ros_node = ros_node
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@classmethod
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def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]):
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def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]):
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"""Set the liquid in a well."""
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for well, liquid_name, volume in zip(wells, liquid_names, volumes):
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well.set_liquids([(liquid_name, volume)]) # type: ignore
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@@ -1081,7 +1087,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
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print(f"Waiting time: {msg}")
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print(f"Current time: {time.strftime('%H:%M:%S')}")
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print(f"Time to finish: {time.strftime('%H:%M:%S', time.localtime(time.time() + seconds))}")
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await asyncio.sleep(seconds)
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await self._ros_node.sleep(seconds)
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if msg:
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print(f"Done: {msg}")
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print(f"Current time: {time.strftime('%H:%M:%S')}")
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@@ -30,6 +30,7 @@ from pylabrobot.liquid_handling.standard import (
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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.ros.nodes.base_device_node import BaseROS2DeviceNode
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class PRCXIError(RuntimeError):
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@@ -144,6 +145,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
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setup=True,
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debug=False,
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simulator=False,
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step_mode=False,
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matrix_id="",
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is_9320=False,
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):
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@@ -157,11 +159,20 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
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)
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if is_9320:
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print("当前设备是9320")
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if step_mode:
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if is_9320:
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self.step_mode = step_mode
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else:
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print("9300设备不支持 单点动作模式")
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self._unilabos_backend = PRCXI9300Backend(
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tablets_info, host, port, timeout, channel_num, axis, setup, debug, matrix_id, is_9320
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)
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super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num)
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def post_init(self, ros_node: BaseROS2DeviceNode):
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super().post_init(ros_node)
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self._unilabos_backend.post_init(ros_node)
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def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]):
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return super().set_liquid(wells, liquid_names, volumes)
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@@ -339,6 +350,10 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
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offsets: Optional[List[Coordinate]] = None,
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**backend_kwargs,
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):
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if self.step_mode:
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await self.create_protocol(f"单点动作{time.time()}")
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await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
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await self.run_protocol()
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return await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
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async def aspirate(
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@@ -424,6 +439,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
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_num_channels = 8 # 默认通道数为 8
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_is_reset_ok = False
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_ros_node: BaseROS2DeviceNode
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@property
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def is_reset_ok(self) -> bool:
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@@ -456,6 +472,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
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self._execute_setup = setup
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self.debug = debug
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def post_init(self, ros_node: BaseROS2DeviceNode):
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self._ros_node = ros_node
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def create_protocol(self, protocol_name):
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self.protocol_name = protocol_name
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self.steps_todo_list = []
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@@ -500,7 +519,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
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self.api_client.call("IAutomation", "Reset")
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while not self.is_reset_ok:
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print("Waiting for PRCXI9300 to reset...")
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await asyncio.sleep(1)
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await self._ros_node.sleep(1)
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print("PRCXI9300 reset successfully.")
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except ConnectionRefusedError as e:
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raise RuntimeError(
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@@ -533,7 +552,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
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tipspot_index = tipspot.parent.children.index(tipspot)
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tip_columns.append(tipspot_index // 8)
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if len(set(tip_columns)) != 1:
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raise ValueError("All pickups must be from the same tip column. Found different columns: " + str(tip_columns))
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raise ValueError(
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"All pickups must be from the same tip column. Found different columns: " + str(tip_columns)
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)
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PlateNo = plate_indexes[0] + 1
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hole_col = tip_columns[0] + 1
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hole_row = 1
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@@ -1109,12 +1130,15 @@ class PRCXI9300Api:
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"LiquidDispensingMethod": liquid_method,
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}
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class DefaultLayout:
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def __init__(self, product_name: str = "PRCXI9300"):
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self.labresource = {}
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if product_name not in ["PRCXI9300", "PRCXI9320"]:
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raise ValueError(f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported.")
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raise ValueError(
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f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported."
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)
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if product_name == "PRCXI9300":
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self.rows = 2
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@@ -1129,25 +1153,93 @@ class DefaultLayout:
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self.layout = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]
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self.trash_slot = 16
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self.waste_liquid_slot = 12
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self.default_layout = {"MatrixId":f"{time.time()}","MatrixName":f"{time.time()}","MatrixCount":16,"WorkTablets":
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[{"Number": 1, "Code": "T1", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
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{"Number": 2, "Code": "T2", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
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{"Number": 3, "Code": "T3", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
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{"Number": 4, "Code": "T4", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
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{"Number": 5, "Code": "T5", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
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{"Number": 6, "Code": "T6", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
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{"Number": 7, "Code": "T7", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
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{"Number": 8, "Code": "T8", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
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{"Number": 9, "Code": "T9", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
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{"Number": 10, "Code": "T10", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
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{"Number": 11, "Code": "T11", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
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{"Number": 12, "Code": "T12", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}}, # 这个设置成废液槽，用储液槽表示
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{"Number": 13, "Code": "T13", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
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{"Number": 14, "Code": "T14", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
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{"Number": 15, "Code": "T15", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
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{"Number": 16, "Code": "T16", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}} # 这个设置成垃圾桶，用储液槽表示
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]
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}
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self.default_layout = {
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"MatrixId": f"{time.time()}",
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"MatrixName": f"{time.time()}",
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"MatrixCount": 16,
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"WorkTablets": [
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{
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"Number": 1,
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"Code": "T1",
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"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
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},
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{
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"Number": 2,
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"Code": "T2",
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"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
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},
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{
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"Number": 3,
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"Code": "T3",
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"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
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},
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{
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"Number": 4,
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"Code": "T4",
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"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
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},
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{
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"Number": 5,
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"Code": "T5",
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"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
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},
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{
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"Number": 6,
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"Code": "T6",
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"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
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},
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{
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"Number": 7,
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"Code": "T7",
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"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
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},
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{
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"Number": 8,
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"Code": "T8",
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"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
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},
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{
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"Number": 9,
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"Code": "T9",
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"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
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},
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{
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"Number": 10,
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"Code": "T10",
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"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
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},
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{
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"Number": 11,
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"Code": "T11",
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"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
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},
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{
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"Number": 12,
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"Code": "T12",
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"Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0},
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}, # 这个设置成废液槽，用储液槽表示
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{
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"Number": 13,
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"Code": "T13",
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"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
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},
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{
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"Number": 14,
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"Code": "T14",
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"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
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},
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{
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"Number": 15,
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"Code": "T15",
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"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
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},
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{
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"Number": 16,
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"Code": "T16",
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"Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0},
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}, # 这个设置成垃圾桶，用储液槽表示
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],
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}
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def get_layout(self) -> Dict[str, Any]:
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return {
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@@ -1155,7 +1247,7 @@ class DefaultLayout:
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"columns": self.columns,
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"layout": self.layout,
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"trash_slot": self.trash_slot,
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"waste_liquid_slot": self.waste_liquid_slot
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"waste_liquid_slot": self.waste_liquid_slot,
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}
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def get_trash_slot(self) -> int:
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@@ -1178,17 +1270,19 @@ class DefaultLayout:
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reserved_positions = {12, 16}
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available_positions = [i for i in range(1, 17) if i not in reserved_positions]
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# 计算总需求
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# 计算总需求
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total_needed = sum(count for _, _, count in needs)
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if total_needed > len(available_positions):
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raise ValueError(f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）")
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raise ValueError(
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f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）"
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)
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# 依次分配位置
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current_pos = 0
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for reagent_name, material_name, count in needs:
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material_uuid = self.labresource[material_name]['uuid']
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material_enum = self.labresource[material_name]['materialEnum']
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material_uuid = self.labresource[material_name]["uuid"]
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material_enum = self.labresource[material_name]["materialEnum"]
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for _ in range(count):
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if current_pos >= len(available_positions):
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@@ -1196,17 +1290,18 @@ class DefaultLayout:
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position = available_positions[current_pos]
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# 找到对应的tablet并更新
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for tablet in self.default_layout['WorkTablets']:
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if tablet['Number'] == position:
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tablet['Material']['uuid'] = material_uuid
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tablet['Material']['materialEnum'] = material_enum
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layout_list.append(dict(reagent_name=reagent_name, material_name=material_name, positions=position))
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for tablet in self.default_layout["WorkTablets"]:
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if tablet["Number"] == position:
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tablet["Material"]["uuid"] = material_uuid
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tablet["Material"]["materialEnum"] = material_enum
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layout_list.append(
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dict(reagent_name=reagent_name, material_name=material_name, positions=position)
|
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)
|
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break
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current_pos += 1
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return self.default_layout, layout_list
|
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|
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|
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|
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if __name__ == "__main__":
|
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# Example usage
|
||||
# 1. 用导出的json，给每个T1 T2板子设定相应的物料，如果是孔板和枪头盒，要对应区分
|
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@@ -1302,10 +1397,7 @@ if __name__ == "__main__":
|
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|
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# # # plate2.set_well_liquids(plate_2_liquids)
|
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|
||||
|
||||
|
||||
|
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# handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999,
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# handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999,
|
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# timeout=10.0, setup=False, debug=False,
|
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# simulator=True,
|
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# matrix_id="71593",
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@@ -1391,10 +1483,7 @@ if __name__ == "__main__":
|
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# # input("Press Enter to continue...") # Wait for user input before proceeding
|
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# # print("PRCXI9300Handler initialized with deck and host settings.")
|
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|
||||
|
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|
||||
### 9320 ###
|
||||
|
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### 9320 ###
|
||||
|
||||
deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)
|
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|
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@@ -1412,12 +1501,15 @@ if __name__ == "__main__":
|
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new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
|
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return new_plate
|
||||
|
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def get_tip_rack(name: str, child_prefix: str="tip") -> PRCXI9300Container:
|
||||
def get_tip_rack(name: str, child_prefix: str = "tip") -> PRCXI9300Container:
|
||||
tip_racks = opentrons_96_tiprack_10ul(name).serialize()
|
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tip_rack = PRCXI9300Container(
|
||||
name=name, size_x=50, size_y=50, size_z=10, category="tip_rack", ordering=collections.OrderedDict({
|
||||
k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()
|
||||
})
|
||||
name=name,
|
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size_x=50,
|
||||
size_y=50,
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||||
size_z=10,
|
||||
category="tip_rack",
|
||||
ordering=collections.OrderedDict({k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}),
|
||||
)
|
||||
tip_rack_serialized = tip_rack.serialize()
|
||||
tip_rack_serialized["parent_name"] = deck.name
|
||||
@@ -1612,7 +1704,43 @@ if __name__ == "__main__":
|
||||
|
||||
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)
|
||||
A.insert(0, {
|
||||
"id": "PRCXI",
|
||||
"name": "PRCXI",
|
||||
"parent": None,
|
||||
"type": "device",
|
||||
"class": "liquid_handler.prcxi",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"deck": {
|
||||
"_resource_child_name": "PRCXI_Deck",
|
||||
"_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck"
|
||||
},
|
||||
"host": "192.168.0.121",
|
||||
"port": 9999,
|
||||
"timeout": 10.0,
|
||||
"axis": "Right",
|
||||
"channel_num": 1,
|
||||
"setup": False,
|
||||
"debug": True,
|
||||
"simulator": True,
|
||||
"matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
|
||||
"is_9320": True
|
||||
},
|
||||
"data": {},
|
||||
"children": [
|
||||
"PRCXI_Deck"
|
||||
]
|
||||
})
|
||||
A[1]["parent"] = "PRCXI"
|
||||
json.dump({
|
||||
"nodes": A,
|
||||
"links": []
|
||||
}, f, indent=4, ensure_ascii=False)
|
||||
|
||||
handler = PRCXI9300Handler(
|
||||
deck=deck,
|
||||
@@ -1629,6 +1757,7 @@ if __name__ == "__main__":
|
||||
)
|
||||
backend: PRCXI9300Backend = handler.backend
|
||||
from pylabrobot.resources import set_volume_tracking
|
||||
|
||||
set_volume_tracking(enabled=True)
|
||||
# res = backend.api_client.get_all_materials()
|
||||
asyncio.run(handler.setup()) # Initialize the handler and setup the connection
|
||||
@@ -1640,10 +1769,10 @@ if __name__ == "__main__":
|
||||
|
||||
for well in plate13.get_all_items():
|
||||
# well_pos = well.name.split("_")[1] # 走一行
|
||||
# if well_pos.startswith("A"):
|
||||
if well.name.startswith("PlateT13"): # 走整个Plate
|
||||
# if well_pos.startswith("A"):
|
||||
if well.name.startswith("PlateT13"): # 走整个Plate
|
||||
asyncio.run(handler.dispense([well], [0.01], [0]))
|
||||
|
||||
|
||||
# asyncio.run(handler.dispense([plate10.get_item("H12")], [1], [0]))
|
||||
# asyncio.run(handler.dispense([plate13.get_item("A1")], [1], [0]))
|
||||
# asyncio.run(handler.dispense([plate14.get_item("C5")], [1], [0]))
|
||||
@@ -1652,26 +1781,31 @@ if __name__ == "__main__":
|
||||
asyncio.run(handler.run_protocol())
|
||||
time.sleep(5)
|
||||
os._exit(0)
|
||||
# 第一种情景：一个孔往多个孔加液
|
||||
|
||||
|
||||
prcxi_api = PRCXI9300Api(host="192.168.0.121", port=9999)
|
||||
prcxi_api.list_matrices()
|
||||
prcxi_api.get_all_materials()
|
||||
|
||||
# 第一种情景：一个孔往多个孔加液
|
||||
# plate_2_liquids = handler.set_group("water", [plate2.children[0]], [300])
|
||||
# plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23)
|
||||
# 第二个情景：多个孔往多个孔加液(但是个数得对应)
|
||||
plate_2_liquids = handler.set_group("water", plate2.children[:23], [300]*23)
|
||||
plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23)
|
||||
# 第二个情景：多个孔往多个孔加液(但是个数得对应)
|
||||
plate_2_liquids = handler.set_group("water", plate2.children[:23], [300] * 23)
|
||||
plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100] * 23)
|
||||
|
||||
# plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)]) # Set liquids for every 8 wells in plate8
|
||||
|
||||
# plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)]) # Set liquids for every 8 wells in plate8
|
||||
|
||||
# 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)
|
||||
# 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)
|
||||
|
||||
# print(plate11.get_well(0).tracker.get_used_volume())
|
||||
# Initialize the backend and setup the connection
|
||||
# print(plate11.get_well(0).tracker.get_used_volume())
|
||||
# Initialize the backend and setup the connection
|
||||
asyncio.run(handler.transfer_group("water", "master_mix", 10)) # Reset tip tracking
|
||||
|
||||
|
||||
# asyncio.run(handler.pick_up_tips([plate8.children[8]],[0]))
|
||||
# print(plate8.children[8])
|
||||
# asyncio.run(handler.run_protocol())
|
||||
@@ -1685,121 +1819,118 @@ if __name__ == "__main__":
|
||||
# print(plate1.children[0])
|
||||
# asyncio.run(handler.discard_tips([0]))
|
||||
|
||||
# asyncio.run(handler.add_liquid(
|
||||
# asp_vols=[10]*7,
|
||||
# dis_vols=[10]*7,
|
||||
# reagent_sources=plate11.children[:7],
|
||||
# targets=plate1.children[2:9],
|
||||
# use_channels=[0],
|
||||
# flow_rates=[None] * 7,
|
||||
# offsets=[Coordinate(0, 0, 0)] * 7,
|
||||
# liquid_height=[None] * 7,
|
||||
# blow_out_air_volume=[None] * 2,
|
||||
# delays=None,
|
||||
# mix_time=3,
|
||||
# mix_vol=5,
|
||||
# spread="custom",
|
||||
# ))
|
||||
# asyncio.run(handler.add_liquid(
|
||||
# asp_vols=[10]*7,
|
||||
# dis_vols=[10]*7,
|
||||
# reagent_sources=plate11.children[:7],
|
||||
# targets=plate1.children[2:9],
|
||||
# use_channels=[0],
|
||||
# flow_rates=[None] * 7,
|
||||
# offsets=[Coordinate(0, 0, 0)] * 7,
|
||||
# liquid_height=[None] * 7,
|
||||
# blow_out_air_volume=[None] * 2,
|
||||
# delays=None,
|
||||
# mix_time=3,
|
||||
# mix_vol=5,
|
||||
# spread="custom",
|
||||
# ))
|
||||
|
||||
# asyncio.run(handler.run_protocol()) # Run the protocol
|
||||
|
||||
# # # asyncio.run(handler.transfer_liquid(
|
||||
# # # asp_vols=[10]*2,
|
||||
# # # dis_vols=[10]*2,
|
||||
# # # sources=plate11.children[:2],
|
||||
# # # targets=plate11.children[-2:],
|
||||
# # # use_channels=[0],
|
||||
# # # offsets=[Coordinate(0, 0, 0)] * 4,
|
||||
# # # liquid_height=[None] * 2,
|
||||
# # # blow_out_air_volume=[None] * 2,
|
||||
# # # delays=None,
|
||||
# # # mix_times=3,
|
||||
# # # mix_vol=5,
|
||||
# # # spread="wide",
|
||||
# # # tip_racks=[plate8]
|
||||
# # # ))
|
||||
|
||||
# # # asyncio.run(handler.remove_liquid(
|
||||
# # # vols=[10]*2,
|
||||
# # # sources=plate11.children[:2],
|
||||
# # # waste_liquid=plate11.children[43],
|
||||
# # # use_channels=[0],
|
||||
# # # offsets=[Coordinate(0, 0, 0)] * 4,
|
||||
# # # liquid_height=[None] * 2,
|
||||
# # # blow_out_air_volume=[None] * 2,
|
||||
# # # delays=None,
|
||||
# # # spread="wide"
|
||||
# # # ))
|
||||
# # asyncio.run(handler.run_protocol())
|
||||
|
||||
# # # asyncio.run(handler.discard_tips())
|
||||
# # # 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))
|
||||
# # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
|
||||
|
||||
# # # asyncio.run(handler.transfer_liquid(
|
||||
# # # asp_vols=[10]*2,
|
||||
# # # dis_vols=[10]*2,
|
||||
# # # sources=plate11.children[:2],
|
||||
# # # targets=plate11.children[-2:],
|
||||
# # # use_channels=[0],
|
||||
# # # offsets=[Coordinate(0, 0, 0)] * 4,
|
||||
# # # liquid_height=[None] * 2,
|
||||
# # # blow_out_air_volume=[None] * 2,
|
||||
# # # delays=None,
|
||||
# # # mix_times=3,
|
||||
# # # mix_vol=5,
|
||||
# # # spread="wide",
|
||||
# # # tip_racks=[plate8]
|
||||
# # # ))
|
||||
|
||||
# # # asyncio.run(handler.remove_liquid(
|
||||
# # # vols=[10]*2,
|
||||
# # # sources=plate11.children[:2],
|
||||
# # # waste_liquid=plate11.children[43],
|
||||
# # # use_channels=[0],
|
||||
# # # offsets=[Coordinate(0, 0, 0)] * 4,
|
||||
# # # liquid_height=[None] * 2,
|
||||
# # # blow_out_air_volume=[None] * 2,
|
||||
# # # delays=None,
|
||||
# # # spread="wide"
|
||||
# # # ))
|
||||
# # asyncio.run(handler.run_protocol())
|
||||
|
||||
# # # asyncio.run(handler.discard_tips())
|
||||
# # # 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))
|
||||
# # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
|
||||
|
||||
|
||||
# # # asyncio.run(handler.remove_liquid(
|
||||
# # # vols=[100]*16,
|
||||
# # # sources=well_containers.children[-16:],
|
||||
# # # waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
|
||||
# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
|
||||
# # # flow_rates=[None] * 32,
|
||||
# # # offsets=[Coordinate(0, 0, 0)] * 32,
|
||||
# # # liquid_height=[None] * 32,
|
||||
# # # blow_out_air_volume=[None] * 32,
|
||||
# # # spread="wide",
|
||||
# # # ))
|
||||
# # # asyncio.run(handler.transfer_liquid(
|
||||
# # # asp_vols=[100]*16,
|
||||
# # # dis_vols=[100]*16,
|
||||
# # # tip_racks=[tip_rack],
|
||||
# # # sources=well_containers.children[-16:],
|
||||
# # # targets=well_containers.children[:16],
|
||||
# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
|
||||
# # # offsets=[Coordinate(0, 0, 0)] * 32,
|
||||
# # # asp_flow_rates=[None] * 16,
|
||||
# # # dis_flow_rates=[None] * 16,
|
||||
# # # liquid_height=[None] * 32,
|
||||
# # # blow_out_air_volume=[None] * 32,
|
||||
# # # mix_times=3,
|
||||
# # # mix_vol=50,
|
||||
# # # spread="wide",
|
||||
# # # ))
|
||||
# # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
|
||||
# # # input("pick_up_tips add step")
|
||||
#asyncio.run(handler.run_protocol()) # Run the protocol
|
||||
# # # input("Running protocol...")
|
||||
# # # input("Press Enter to continue...") # Wait for user input before proceeding
|
||||
# # # print("PRCXI9300Handler initialized with deck and host settings.")
|
||||
|
||||
|
||||
# 一些推荐版位组合的测试样例：
|
||||
|
||||
# 一些推荐版位组合的测试样例：
|
||||
# # # asyncio.run(handler.remove_liquid(
|
||||
# # # vols=[100]*16,
|
||||
# # # sources=well_containers.children[-16:],
|
||||
# # # waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
|
||||
# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
|
||||
# # # flow_rates=[None] * 32,
|
||||
# # # offsets=[Coordinate(0, 0, 0)] * 32,
|
||||
# # # liquid_height=[None] * 32,
|
||||
# # # blow_out_air_volume=[None] * 32,
|
||||
# # # spread="wide",
|
||||
# # # ))
|
||||
# # # asyncio.run(handler.transfer_liquid(
|
||||
# # # asp_vols=[100]*16,
|
||||
# # # dis_vols=[100]*16,
|
||||
# # # tip_racks=[tip_rack],
|
||||
# # # sources=well_containers.children[-16:],
|
||||
# # # targets=well_containers.children[:16],
|
||||
# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
|
||||
# # # offsets=[Coordinate(0, 0, 0)] * 32,
|
||||
# # # asp_flow_rates=[None] * 16,
|
||||
# # # dis_flow_rates=[None] * 16,
|
||||
# # # liquid_height=[None] * 32,
|
||||
# # # blow_out_air_volume=[None] * 32,
|
||||
# # # mix_times=3,
|
||||
# # # mix_vol=50,
|
||||
# # # spread="wide",
|
||||
# # # ))
|
||||
# # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
|
||||
# # # input("pick_up_tips add step")
|
||||
# asyncio.run(handler.run_protocol()) # Run the protocol
|
||||
# # # input("Running protocol...")
|
||||
# # # input("Press Enter to continue...") # Wait for user input before proceeding
|
||||
# # # print("PRCXI9300Handler initialized with deck and host settings.")
|
||||
|
||||
# 一些推荐版位组合的测试样例：
|
||||
|
||||
# 一些推荐版位组合的测试样例：
|
||||
|
||||
with open("prcxi_material.json", "r") as f:
|
||||
material_info = json.load(f)
|
||||
|
||||
layout = DefaultLayout("PRCXI9320")
|
||||
layout.add_lab_resource(material_info)
|
||||
MatrixLayout_1, dict_1 = layout.recommend_layout([
|
||||
("reagent_1", "96 细胞培养皿", 3),
|
||||
("reagent_2", "12道储液槽", 1),
|
||||
("reagent_3", "200μL Tip头", 7),
|
||||
("reagent_4", "10μL加长 Tip头", 1),
|
||||
])
|
||||
MatrixLayout_1, dict_1 = layout.recommend_layout(
|
||||
[
|
||||
("reagent_1", "96 细胞培养皿", 3),
|
||||
("reagent_2", "12道储液槽", 1),
|
||||
("reagent_3", "200μL Tip头", 7),
|
||||
("reagent_4", "10μL加长 Tip头", 1),
|
||||
]
|
||||
)
|
||||
print(dict_1)
|
||||
MatrixLayout_2, dict_2 = layout.recommend_layout([
|
||||
("reagent_1", "96深孔板", 4),
|
||||
("reagent_2", "12道储液槽", 1),
|
||||
("reagent_3", "200μL Tip头", 1),
|
||||
("reagent_4", "10μL加长 Tip头", 1),
|
||||
])
|
||||
MatrixLayout_2, dict_2 = layout.recommend_layout(
|
||||
[
|
||||
("reagent_1", "96深孔板", 4),
|
||||
("reagent_2", "12道储液槽", 1),
|
||||
("reagent_3", "200μL Tip头", 1),
|
||||
("reagent_4", "10μL加长 Tip头", 1),
|
||||
]
|
||||
)
|
||||
|
||||
# with open("prcxi_material.json", "r") as f:
|
||||
# material_info = json.load(f)
|
||||
|
||||
21
unilabos/devices/liquid_handling/prcxi/prcxi_materials.py
Normal file
21
unilabos/devices/liquid_handling/prcxi/prcxi_materials.py
Normal file
@@ -0,0 +1,21 @@
|
||||
import collections
|
||||
import json
|
||||
from pathlib import Path
|
||||
|
||||
from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container
|
||||
|
||||
|
||||
prcxi_materials_path = str(Path(__file__).parent / "prcxi_material.json")
|
||||
with open(prcxi_materials_path, mode="r", encoding="utf-8") as f:
|
||||
prcxi_materials = json.loads(f.read())
|
||||
|
||||
|
||||
def tip_adaptor_1250ul(name="Tip头适配器 1250uL") -> PRCXI9300Container: # 必须传入一个name参数，是plr的规范要求
|
||||
# tip_rack = PRCXI9300Container(name, prcxi_materials["name"]["Height"])
|
||||
tip_rack = PRCXI9300Container(name, 1000,400,800, "tip_rack", collections.OrderedDict())
|
||||
tip_rack.load_state({
|
||||
"Materials": {"uuid": "7960f49ddfe9448abadda89bd1556936", "materialEnum": "0"}
|
||||
})
|
||||
return tip_rack
|
||||
|
||||
|
||||
Reference in New Issue
Block a user