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Merge branch 'dev' of https://github.com/dptech-corp/Uni-Lab-OS into dev

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Xuwznln
2025-07-19 13:32:35 +08:00
parent 34dd65d280 b08026f861
commit c57bb2abbd
3 changed files with 32 additions and 29 deletions
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4
.gitignore vendored
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@@ -241,5 +241,5 @@ unilabos/device_mesh/view_robot.rviz
# Certs # Certs
**/.certs **/.certs
local_test2.py local_test2.py
*.tar.bz2 ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2
*.tar.gz *.bz2

2
unilabos/devices/liquid_handling/liquid_handler_abstract.py
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@@ -104,6 +104,8 @@ class LiquidHandlerMiddleware(LiquidHandler):
offsets: Optional[List[Coordinate]] = None, offsets: Optional[List[Coordinate]] = None,
**backend_kwargs, **backend_kwargs,
): ):
print('222'*200)
print(tip_spots)
if self._simulator: if self._simulator:
return await self._simulate_handler.pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs) return await self._simulate_handler.pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
return await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs) return await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)

55
unilabos/devices/liquid_handling/prcxi/prcxi.py
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@@ -1279,22 +1279,23 @@ if __name__ == "__main__":
# asyncio.run(handler.mix([plate1.children[0]], mix_time=3, mix_vol=5, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100)) # asyncio.run(handler.mix([plate1.children[0]], mix_time=3, mix_vol=5, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
# print(plate1.children[0]) # print(plate1.children[0])
# asyncio.run(handler.discard_tips()) # asyncio.run(handler.discard_tips())
print('1111'*500)
# asyncio.run(handler.add_liquid( print(plate11.children[-2:])
# asp_vols=[10]*2, asyncio.run(handler.add_liquid(
# dis_vols=[10]*2, asp_vols=[10]*2,
# reagent_sources=[plate11.children[0]], dis_vols=[10]*2,
# targets=plate11.children[-2:], reagent_sources=[plate11.children[0]],
# use_channels=[0], targets=plate11.children[-2:],
# flow_rates=[None] * 4, use_channels=[0],
# offsets=[Coordinate(0, 0, 0)] * 4, flow_rates=[None] * 4,
# liquid_height=[None] * 2, offsets=[Coordinate(0, 0, 0)] * 4,
# blow_out_air_volume=[None] * 2, liquid_height=[None] * 2,
# delays=None, blow_out_air_volume=[None] * 2,
# mix_time=3, delays=None,
# mix_vol=5, mix_time=3,
# spread="wide", mix_vol=5,
# )) spread="wide",
))
# asyncio.run(handler.transfer_liquid( # asyncio.run(handler.transfer_liquid(
# asp_vols=[10]*2, # asp_vols=[10]*2,
@@ -1312,17 +1313,17 @@ if __name__ == "__main__":
# tip_racks=[plate8] # tip_racks=[plate8]
# )) # ))
asyncio.run(handler.remove_liquid( # asyncio.run(handler.remove_liquid(
vols=[10]*2, # vols=[10]*2,
sources=plate11.children[:2], # sources=plate11.children[:2],
waste_liquid=plate11.children[43], # waste_liquid=plate11.children[43],
use_channels=[0], # use_channels=[0],
offsets=[Coordinate(0, 0, 0)] * 4, # offsets=[Coordinate(0, 0, 0)] * 4,
liquid_height=[None] * 2, # liquid_height=[None] * 2,
blow_out_air_volume=[None] * 2, # blow_out_air_volume=[None] * 2,
delays=None, # delays=None,
spread="wide" # spread="wide"
)) # ))