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add pickup tips for prcxi

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This commit is contained in:
Xuwznln
2025-07-11 16:09:53 +08:00
parent 5a2cc2d709
commit b85722f44d
2 changed files with 348 additions and 1 deletions
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28
unilabos/devices/liquid_handling/prcxi/prcxi.py
View File

@@ -24,7 +24,7 @@ from pylabrobot.liquid_handling.standard import (
ResourceMove,
ResourceDrop,
)
from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate
from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot
from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
@@ -259,6 +259,32 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
def iter_tips(self, tip_racks: Sequence[TipRack]) -> Iterator[Resource]:
return super().iter_tips(tip_racks)
async def pick_up_tips(self, tip_spots: List[TipSpot], use_channels: Optional[List[int]] = None,
offsets: Optional[List[Coordinate]] = None, **backend_kwargs):
return await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
async def aspirate(self, resources: Sequence[Container], vols: List[float],
use_channels: Optional[List[int]] = None, flow_rates: Optional[List[Optional[float]]] = None,
offsets: Optional[List[Coordinate]] = None,
liquid_height: Optional[List[Optional[float]]] = None,
blow_out_air_volume: Optional[List[Optional[float]]] = None,
spread: Literal["wide", "tight", "custom"] = "wide", **backend_kwargs):
return await super().aspirate(resources, vols, use_channels, flow_rates, offsets, liquid_height,
blow_out_air_volume, spread, **backend_kwargs)
async def dispense(self, resources: Sequence[Container], vols: List[float],
use_channels: Optional[List[int]] = None, flow_rates: Optional[List[Optional[float]]] = None,
offsets: Optional[List[Coordinate]] = None,
liquid_height: Optional[List[Optional[float]]] = None,
blow_out_air_volume: Optional[List[Optional[float]]] = None,
spread: Literal["wide", "tight", "custom"] = "wide", **backend_kwargs):
return await super().dispense(resources, vols, use_channels, flow_rates, offsets, liquid_height,
blow_out_air_volume, spread, **backend_kwargs)
async def discard_tips(self, use_channels: Optional[List[int]] = None, allow_nonzero_volume: bool = True,
offsets: Optional[List[Coordinate]] = None, **backend_kwargs):
return await super().discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs)
def set_tiprack(self, tip_racks: Sequence[TipRack]):
super().set_tiprack(tip_racks)

321
unilabos/registry/devices/liquid_handler.yaml
View File

@@ -6145,6 +6145,53 @@ liquid_handler.prcxi:
title: add_liquid参数
type: object
type: UniLabJsonCommandAsync
auto-aspirate:
feedback: {}
goal: {}
goal_default:
blow_out_air_volume: null
flow_rates: null
liquid_height: null
offsets: null
resources: null
spread: wide
use_channels: null
vols: null
handles: []
result: {}
schema:
description: aspirate的参数schema
properties:
feedback: {}
goal:
properties:
blow_out_air_volume:
type: string
flow_rates:
type: string
liquid_height:
type: string
offsets:
type: string
resources:
type: string
spread:
default: wide
type: string
use_channels:
type: string
vols:
type: array
required:
- resources
- vols
type: object
result: {}
required:
- goal
title: aspirate参数
type: object
type: UniLabJsonCommandAsync
auto-create_protocol:
feedback: {}
goal: {}
@@ -6220,6 +6267,83 @@ liquid_handler.prcxi:
title: custom_delay参数
type: object
type: UniLabJsonCommandAsync
auto-discard_tips:
feedback: {}
goal: {}
goal_default:
allow_nonzero_volume: true
offsets: null
use_channels: null
handles: []
result: {}
schema:
description: discard_tips的参数schema
properties:
feedback: {}
goal:
properties:
allow_nonzero_volume:
default: true
type: boolean
offsets:
type: string
use_channels:
type: string
required: []
type: object
result: {}
required:
- goal
title: discard_tips参数
type: object
type: UniLabJsonCommandAsync
auto-dispense:
feedback: {}
goal: {}
goal_default:
blow_out_air_volume: null
flow_rates: null
liquid_height: null
offsets: null
resources: null
spread: wide
use_channels: null
vols: null
handles: []
result: {}
schema:
description: dispense的参数schema
properties:
feedback: {}
goal:
properties:
blow_out_air_volume:
type: string
flow_rates:
type: string
liquid_height:
type: string
offsets:
type: string
resources:
type: string
spread:
default: wide
type: string
use_channels:
type: string
vols:
type: array
required:
- resources
- vols
type: object
result: {}
required:
- goal
title: dispense参数
type: object
type: UniLabJsonCommandAsync
auto-iter_tips:
feedback: {}
goal: {}
@@ -6319,6 +6443,36 @@ liquid_handler.prcxi:
title: move_to参数
type: object
type: UniLabJsonCommandAsync
auto-pick_up_tips:
feedback: {}
goal: {}
goal_default:
offsets: null
tip_spots: null
use_channels: null
handles: []
result: {}
schema:
description: pick_up_tips的参数schema
properties:
feedback: {}
goal:
properties:
offsets:
type: string
tip_spots:
type: array
use_channels:
type: string
required:
- tip_spots
type: object
result: {}
required:
- goal
title: pick_up_tips参数
type: object
type: UniLabJsonCommandAsync
auto-remove_liquid:
feedback: {}
goal: {}
@@ -6544,6 +6698,173 @@ liquid_handler.prcxi:
title: transfer_liquid参数
type: object
type: UniLabJsonCommandAsync
pick_up_tips:
feedback: {}
goal:
offsets: offsets
tip_spots: tip_spots
use_channels: use_channels
goal_default:
offsets:
- x: 0.0
y: 0.0
z: 0.0
tip_spots:
- category: ''
children: []
config: ''
data: ''
id: ''
name: ''
parent: ''
pose:
orientation:
w: 1.0
x: 0.0
y: 0.0
z: 0.0
position:
x: 0.0
y: 0.0
z: 0.0
sample_id: ''
type: ''
use_channels:
- 0
handles: []
result: {}
schema:
description: ROS Action LiquidHandlerPickUpTips 的 JSON Schema
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties: {}
required: []
title: LiquidHandlerPickUpTips_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
offsets:
items:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: Point
type: object
type: array
tip_spots:
items:
properties:
category:
type: string
children:
items:
type: string
type: array
config:
type: string
data:
type: string
id:
type: string
name:
type: string
parent:
type: string
pose:
properties:
orientation:
properties:
w:
type: number
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
- w
title: Quaternion
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: Point
type: object
required:
- position
- orientation
title: Pose
type: object
sample_id:
type: string
type:
type: string
required:
- id
- name
- sample_id
- children
- parent
- type
- category
- pose
- config
- data
title: Resource
type: object
type: array
use_channels:
items:
maximum: 2147483647
minimum: -2147483648
type: integer
type: array
required:
- tip_spots
- use_channels
- offsets
title: LiquidHandlerPickUpTips_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: LiquidHandlerPickUpTips_Result
type: object
required:
- goal
title: LiquidHandlerPickUpTips
type: object
type: LiquidHandlerPickUpTips
module: unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Handler
status_types: {}
type: python