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Junhan Chang
2025-04-17 15:19:47 +08:00
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19
unilabos/compile/__init__.py Normal file
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from unilabos.messages import *
from .pump_protocol import generate_pump_protocol, generate_pump_protocol_with_rinsing
from .clean_protocol import generate_clean_protocol
from .separate_protocol import generate_separate_protocol
from .evaporate_protocol import generate_evaporate_protocol
from .evacuateandrefill_protocol import generate_evacuateandrefill_protocol
from .agv_transfer_protocol import generate_agv_transfer_protocol
# Define a dictionary of protocol generators.
action_protocol_generators = {
PumpTransferProtocol: generate_pump_protocol_with_rinsing,
CleanProtocol: generate_clean_protocol,
SeparateProtocol: generate_separate_protocol,
EvaporateProtocol: generate_evaporate_protocol,
EvacuateAndRefillProtocol: generate_evacuateandrefill_protocol,
AGVTransferProtocol: generate_agv_transfer_protocol,
}
# End Protocols

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unilabos/compile/agv_transfer_protocol.py Normal file
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import networkx as nx
def generate_agv_transfer_protocol(
G: nx.Graph,
from_repo: dict,
from_repo_position: str,
to_repo: dict = {},
to_repo_position: str = ""
):
from_repo_ = list(from_repo.values())[0]
to_repo_ = list(to_repo.values())[0]
resource_to_move = from_repo_["children"].pop(from_repo_position)
resource_to_move["parent"] = to_repo_["id"]
to_repo_["children"][to_repo_position] = resource_to_move
from_repo_id = from_repo_["id"]
to_repo_id = to_repo_["id"]
wf_list = {
("AiChemEcoHiWo", "zhixing_agv"): {"nav_command" : '{"target" : "LM14"}',
"arm_command": '{"task_name" : "camera/250111_biaozhi.urp"}'},
("AiChemEcoHiWo", "AGV"): {"nav_command" : '{"target" : "LM14"}',
"arm_command": '{"task_name" : "camera/250111_biaozhi.urp"}'},
("zhixing_agv", "Revvity"): {"nav_command" : '{"target" : "LM13"}',
"arm_command": '{"task_name" : "camera/250111_put_board.urp"}'},
("AGV", "Revvity"): {"nav_command" : '{"target" : "LM13"}',
"arm_command": '{"task_name" : "camera/250111_put_board.urp"}'},
("Revvity", "HPLC"): {"nav_command": '{"target" : "LM13"}',
"arm_command": '{"task_name" : "camera/250111_hplc.urp"}'},
("HPLC", "Revvity"): {"nav_command": '{"target" : "LM13"}',
"arm_command": '{"task_name" : "camera/250111_lfp.urp"}'},
}
return [
{
"device_id": "zhixing_agv",
"action_name": "send_nav_task",
"action_kwargs": {
"command": wf_list[(from_repo_id, to_repo_id)]["nav_command"]
}
},
{
"device_id": "zhixing_ur_arm",
"action_name": "move_pos_task",
"action_kwargs": {
"command": wf_list[(from_repo_id, to_repo_id)]["arm_command"]
}
}
]

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unilabos/compile/clean_protocol.py Normal file
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import numpy as np
import networkx as nx
def generate_clean_protocol(
G: nx.DiGraph,
vessel: str, # Vessel to clean.
solvent: str, # Solvent to clean vessel with.
volume: float = 25000.0, # Optional. Volume of solvent to clean vessel with.
temp: float = 25, # Optional. Temperature to heat vessel to while cleaning.
repeats: int = 1, # Optional. Number of cleaning cycles to perform.
) -> list[dict]:
"""
Generate a protocol to clean a vessel with a solvent.
:param G: Directed graph. Nodes are containers and pumps, edges are fluidic connections.
:param vessel: Vessel to clean.
:param solvent: Solvent to clean vessel with.
:param volume: Volume of solvent to clean vessel with.
:param temp: Temperature to heat vessel to while cleaning.
:param repeats: Number of cleaning cycles to perform.
:return: List of actions to clean vessel.
"""
# 生成泵操作的动作序列
pump_action_sequence = []
from_vessel = f"flask_{solvent}"
waste_vessel = f"waste_workup"
transfer_flowrate = flowrate = 2500.0
# 生成泵操作的动作序列
for i in range(repeats):
# 单泵依次执行阀指令、活塞指令，将液体吸入与之相连的第一台泵
pump_action_sequence.extend([
{
"device_id": "",
"action_name": "PumpTransferProtocol",
"action_kwargs": {
"from_vessel": from_vessel,
"to_vessel": vessel,
"volume": volume,
"time": volume / flowrate,
# "transfer_flowrate": transfer_flowrate,
}
}
])
pump_action_sequence.extend([
{
"device_id": "",
"action_name": "PumpTransferProtocol",
"action_kwargs": {
"from_vessel": vessel,
"to_vessel": waste_vessel,
"volume": volume,
"time": volume / flowrate,
# "transfer_flowrate": transfer_flowrate,
}
}
])
return pump_action_sequence

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unilabos/compile/evacuateandrefill_protocol.py Normal file
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import numpy as np
import networkx as nx
def generate_evacuateandrefill_protocol(
G: nx.DiGraph,
vessel: str,
gas: str,
repeats: int = 1
) -> list[dict]:
"""
生成泵操作的动作序列。
:param G: 有向图, 节点为容器和注射泵, 边为流体管道, A→B边的属性为管道接A端的阀门位置
:param from_vessel: 容器A
:param to_vessel: 容器B
:param volume: 转移的体积
:param flowrate: 最终注入容器B时的流速
:param transfer_flowrate: 泵骨架中转移流速（若不指定，默认与注入流速相同）
:return: 泵操作的动作序列
"""
# 生成电磁阀、真空泵、气源操作的动作序列
vacuum_action_sequence = []
nodes = G.nodes(data=True)
# 找到和 vessel 相连的电磁阀和真空泵、气源
vacuum_backbone = {"vessel": vessel}
for neighbor in G.neighbors(vessel):
if nodes[neighbor]["class"].startswith("solenoid_valve"):
for neighbor2 in G.neighbors(neighbor):
if neighbor2 == vessel:
continue
if nodes[neighbor2]["class"].startswith("vacuum_pump"):
vacuum_backbone.update({"vacuum_valve": neighbor, "pump": neighbor2})
break
elif nodes[neighbor2]["class"].startswith("gas_source"):
vacuum_backbone.update({"gas_valve": neighbor, "gas": neighbor2})
break
# 判断是否设备齐全
if len(vacuum_backbone) < 5:
print(f"\n\n\n{vacuum_backbone}\n\n\n")
raise ValueError("Not all devices are connected to the vessel.")
# 生成操作的动作序列
for i in range(repeats):
# 打开真空泵阀门、关闭气源阀门
vacuum_action_sequence.append([
{
"device_id": vacuum_backbone["vacuum_valve"],
"action_name": "set_valve_position",
"action_kwargs": {
"command": "OPEN"
}
},
{
"device_id": vacuum_backbone["gas_valve"],
"action_name": "set_valve_position",
"action_kwargs": {
"command": "CLOSED"
}
}
])
# 打开真空泵、关闭气源
vacuum_action_sequence.append([
{
"device_id": vacuum_backbone["pump"],
"action_name": "set_status",
"action_kwargs": {
"command": "ON"
}
},
{
"device_id": vacuum_backbone["gas"],
"action_name": "set_status",
"action_kwargs": {
"command": "OFF"
}
}
])
vacuum_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 60}})
# 关闭真空泵阀门、打开气源阀门
vacuum_action_sequence.append([
{
"device_id": vacuum_backbone["vacuum_valve"],
"action_name": "set_valve_position",
"action_kwargs": {
"command": "CLOSED"
}
},
{
"device_id": vacuum_backbone["gas_valve"],
"action_name": "set_valve_position",
"action_kwargs": {
"command": "OPEN"
}
}
])
# 关闭真空泵、打开气源
vacuum_action_sequence.append([
{
"device_id": vacuum_backbone["pump"],
"action_name": "set_status",
"action_kwargs": {
"command": "OFF"
}
},
{
"device_id": vacuum_backbone["gas"],
"action_name": "set_status",
"action_kwargs": {
"command": "ON"
}
}
])
vacuum_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 60}})
# 关闭气源
vacuum_action_sequence.append(
{
"device_id": vacuum_backbone["gas"],
"action_name": "set_status",
"action_kwargs": {
"command": "OFF"
}
}
)
# 关闭阀门
vacuum_action_sequence.append(
{
"device_id": vacuum_backbone["gas_valve"],
"action_name": "set_valve_position",
"action_kwargs": {
"command": "CLOSED"
}
}
)
return vacuum_action_sequence

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unilabos/compile/evaporate_protocol.py Normal file
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import numpy as np
import networkx as nx
def generate_evaporate_protocol(
G: nx.DiGraph,
vessel: str,
pressure: float,
temp: float,
time: float,
stir_speed: float
) -> list[dict]:
"""
Generate a protocol to evaporate a solution from a vessel.
:param G: Directed graph. Nodes are containers and pumps, edges are fluidic connections.
:param vessel: Vessel to clean.
:param solvent: Solvent to clean vessel with.
:param volume: Volume of solvent to clean vessel with.
:param temp: Temperature to heat vessel to while cleaning.
:param repeats: Number of cleaning cycles to perform.
:return: List of actions to clean vessel.
"""
# 生成泵操作的动作序列
pump_action_sequence = []
reactor_volume = 500000.0
transfer_flowrate = flowrate = 2500.0
# 开启冷凝器
pump_action_sequence.append({
"device_id": "rotavap_chiller",
"action_name": "set_temperature",
"action_kwargs": {
"command": "-40"
}
})
# TODO: 通过温度反馈改为 HeatChillToTemp，而非等待固定时间
pump_action_sequence.append({
"action_name": "wait",
"action_kwargs": {
"time": 1800
}
})
# 开启旋蒸真空泵、旋转，在液体转移后运行time时间
pump_action_sequence.append({
"device_id": "rotavap_controller",
"action_name": "set_pump_time",
"action_kwargs": {
"command": str(time + reactor_volume / flowrate * 3)
}
})
pump_action_sequence.append({
"device_id": "rotavap_controller",
"action_name": "set_pump_time",
"action_kwargs": {
"command": str(time + reactor_volume / flowrate * 3)
}
})
# 液体转入旋转蒸发器
pump_action_sequence.append({
"device_id": "",
"action_name": "PumpTransferProtocol",
"action_kwargs": {
"from_vessel": vessel,
"to_vessel": "rotavap",
"volume": reactor_volume,
"time": reactor_volume / flowrate,
# "transfer_flowrate": transfer_flowrate,
}
})
pump_action_sequence.append({
"action_name": "wait",
"action_kwargs": {
"time": time
}
})
return pump_action_sequence

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unilabos/compile/pump_protocol.py Normal file
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import numpy as np
import networkx as nx
def generate_pump_protocol(
G: nx.DiGraph,
from_vessel: str,
to_vessel: str,
volume: float,
flowrate: float = 500.0,
transfer_flowrate: float = 0,
) -> list[dict]:
"""
生成泵操作的动作序列。
:param G: 有向图, 节点为容器和注射泵, 边为流体管道, A→B边的属性为管道接A端的阀门位置
:param from_vessel: 容器A
:param to_vessel: 容器B
:param volume: 转移的体积
:param flowrate: 最终注入容器B时的流速
:param transfer_flowrate: 泵骨架中转移流速（若不指定，默认与注入流速相同）
:return: 泵操作的动作序列
"""
# 生成泵操作的动作序列
pump_action_sequence = []
nodes = G.nodes(data=True)
# 从from_vessel到to_vessel的最短路径
shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel)
print(shortest_path)
pump_backbone = shortest_path
if not from_vessel.startswith("pump"):
pump_backbone = pump_backbone[1:]
if not to_vessel.startswith("pump"):
pump_backbone = pump_backbone[:-1]
if transfer_flowrate == 0:
transfer_flowrate = flowrate
min_transfer_volume = min([nodes[pump]["max_volume"] for pump in pump_backbone])
repeats = int(np.ceil(volume / min_transfer_volume))
if repeats > 1 and (from_vessel.startswith("pump") or to_vessel.startswith("pump")):
raise ValueError("Cannot transfer volume larger than min_transfer_volume between two pumps.")
volume_left = volume
# 生成泵操作的动作序列
for i in range(repeats):
# 单泵依次执行阀指令、活塞指令，将液体吸入与之相连的第一台泵
if not from_vessel.startswith("pump"):
pump_action_sequence.extend([
{
"device_id": pump_backbone[0],
"action_name": "set_valve_position",
"action_kwargs": {
"command": G.get_edge_data(pump_backbone[0], from_vessel)["port"][pump_backbone[0]]
}
},
{
"device_id": pump_backbone[0],
"action_name": "set_position",
"action_kwargs": {
"position": float(min(volume_left, min_transfer_volume)),
"max_velocity": transfer_flowrate
}
}
])
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
for pumpA, pumpB in zip(pump_backbone[:-1], pump_backbone[1:]):
# 相邻两泵同时切换阀门至连通位置
pump_action_sequence.append([
{
"device_id": pumpA,
"action_name": "set_valve_position",
"action_kwargs": {
"command": G.get_edge_data(pumpA, pumpB)["port"][pumpA]
}
},
{
"device_id": pumpB,
"action_name": "set_valve_position",
"action_kwargs": {
"command": G.get_edge_data(pumpB, pumpA)["port"][pumpB],
}
}
])
# 相邻两泵液体转移：泵A排出液体，泵B吸入液体
pump_action_sequence.append([
{
"device_id": pumpA,
"action_name": "set_position",
"action_kwargs": {
"position": 0.0,
"max_velocity": transfer_flowrate
}
},
{
"device_id": pumpB,
"action_name": "set_position",
"action_kwargs": {
"position": float(min(volume_left, min_transfer_volume)),
"max_velocity": transfer_flowrate
}
}
])
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
if not to_vessel.startswith("pump"):
# 单泵依次执行阀指令、活塞指令，将最后一台泵液体缓慢加入容器B
pump_action_sequence.extend([
{
"device_id": pump_backbone[-1],
"action_name": "set_valve_position",
"action_kwargs": {
"command": G.get_edge_data(pump_backbone[-1], to_vessel)["port"][pump_backbone[-1]]
}
},
{
"device_id": pump_backbone[-1],
"action_name": "set_position",
"action_kwargs": {
"position": 0.0,
"max_velocity": flowrate
}
}
])
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
volume_left -= min_transfer_volume
return pump_action_sequence
# Pump protocol compilation
def generate_pump_protocol_with_rinsing(
G: nx.DiGraph,
from_vessel: str,
to_vessel: str,
volume: float,
amount: str = "",
time: float = 0,
viscous: bool = False,
rinsing_solvent: str = "air",
rinsing_volume: float = 5000.0,
rinsing_repeats: int = 2,
solid: bool = False,
flowrate: float = 2500.0,
transfer_flowrate: float = 500.0,
) -> list[dict]:
"""
Generates a pump protocol for transferring a specified volume between vessels, including rinsing steps with a chosen solvent. This function constructs a sequence of pump actions based on the provided parameters and the shortest path in a directed graph.
Args:
G (nx.DiGraph): The directed graph representing the vessels and connections. 有向图, 节点为容器和注射泵, 边为流体管道, A→B边的属性为管道接A端的阀门位置
from_vessel (str): The name of the vessel to transfer from.
to_vessel (str): The name of the vessel to transfer to.
volume (float): The volume to transfer.
amount (str, optional): Additional amount specification (default is "").
time (float, optional): Time over which to perform the transfer (default is 0).
viscous (bool, optional): Indicates if the fluid is viscous (default is False).
rinsing_solvent (str, optional): The solvent to use for rinsing (default is "air").
rinsing_volume (float, optional): The volume of rinsing solvent to use (default is 5000.0).
rinsing_repeats (int, optional): The number of times to repeat rinsing (default is 2).
solid (bool, optional): Indicates if the transfer involves a solid (default is False).
flowrate (float, optional): The flow rate for the transfer (default is 2500.0). 最终注入容器B时的流速
transfer_flowrate (float, optional): The flow rate for the transfer action (default is 500.0). 泵骨架中转移流速（若不指定，默认与注入流速相同）
Returns:
list[dict]: A sequence of pump actions to be executed for the transfer and rinsing process. 泵操作的动作序列.
Raises:
AssertionError: If the number of rinsing solvents does not match the number of rinsing repeats.
Examples:
pump_protocol = generate_pump_protocol_with_rinsing(G, "vessel_A", "vessel_B", 100.0, rinsing_solvent="water")
"""
air_vessel = "flask_air"
waste_vessel = f"waste_workup"
shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel)
pump_backbone = shortest_path[1: -1]
nodes = G.nodes(data=True)
min_transfer_volume = float(min([nodes[pump]["max_volume"] for pump in pump_backbone]))
if time != 0:
flowrate = transfer_flowrate = volume / time
pump_action_sequence = generate_pump_protocol(G, from_vessel, to_vessel, float(volume), flowrate, transfer_flowrate)
if rinsing_solvent != "air":
if "," in rinsing_solvent:
rinsing_solvents = rinsing_solvent.split(",")
assert len(rinsing_solvents) == rinsing_repeats, "Number of rinsing solvents must match number of rinsing repeats."
else:
rinsing_solvents = [rinsing_solvent] * rinsing_repeats
for rinsing_solvent in rinsing_solvents:
solvent_vessel = f"flask_{rinsing_solvent}"
# 清洗泵
pump_action_sequence.extend(
generate_pump_protocol(G, solvent_vessel, pump_backbone[0], min_transfer_volume, flowrate, transfer_flowrate) +
generate_pump_protocol(G, pump_backbone[0], pump_backbone[-1], min_transfer_volume, flowrate, transfer_flowrate) +
generate_pump_protocol(G, pump_backbone[-1], waste_vessel, min_transfer_volume, flowrate, transfer_flowrate)
)
# 如果转移的是溶液，第一种冲洗溶剂请选用溶液的溶剂，稀释泵内、转移管道内的溶液。后续冲洗溶剂不需要此操作。
if rinsing_solvent == rinsing_solvents[0]:
pump_action_sequence.extend(generate_pump_protocol(G, solvent_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate))
pump_action_sequence.extend(generate_pump_protocol(G, solvent_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate))
pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, solvent_vessel, rinsing_volume, flowrate, transfer_flowrate))
pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, waste_vessel, rinsing_volume, flowrate, transfer_flowrate))
pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
return pump_action_sequence
# End Protocols

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unilabos/compile/separate_protocol.py Normal file
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import numpy as np
import networkx as nx
def generate_separate_protocol(
G: nx.DiGraph,
purpose: str, # 'wash' or 'extract'. 'wash' means that product phase will not be the added solvent phase, 'extract' means product phase will be the added solvent phase. If no solvent is added just use 'extract'.
product_phase: str, # 'top' or 'bottom'. Phase that product will be in.
from_vessel: str, #Contents of from_vessel are transferred to separation_vessel and separation is performed.
separation_vessel: str, # Vessel in which separation of phases will be carried out.
to_vessel: str, # Vessel to send product phase to.
waste_phase_to_vessel: str, # Optional. Vessel to send waste phase to.
solvent: str, # Optional. Solvent to add to separation vessel after contents of from_vessel has been transferred to create two phases.
solvent_volume: float = 50000, # Optional. Volume of solvent to add.
through: str = "", # Optional. Solid chemical to send product phase through on way to to_vessel, e.g. 'celite'.
repeats: int = 1, # Optional. Number of separations to perform.
stir_time: float = 30, # Optional. Time stir for after adding solvent, before separation of phases.
stir_speed: float = 300, # Optional. Speed to stir at after adding solvent, before separation of phases.
settling_time: float = 300 # Optional. Time
) -> list[dict]:
"""
Generate a protocol to clean a vessel with a solvent.
:param G: Directed graph. Nodes are containers and pumps, edges are fluidic connections.
:param vessel: Vessel to clean.
:param solvent: Solvent to clean vessel with.
:param volume: Volume of solvent to clean vessel with.
:param temp: Temperature to heat vessel to while cleaning.
:param repeats: Number of cleaning cycles to perform.
:return: List of actions to clean vessel.
"""
# 生成泵操作的动作序列
pump_action_sequence = []
reactor_volume = 500000.0
waste_vessel = waste_phase_to_vessel
# TODO：通过物料管理系统找到溶剂的容器
if "," in solvent:
solvents = solvent.split(",")
assert len(solvents) == repeats, "Number of solvents must match number of repeats."
else:
solvents = [solvent] * repeats
# TODO: 通过设备连接图找到分离容器的控制器、底部出口
separator_controller = f"{separation_vessel}_controller"
separation_vessel_bottom = f"flask_{separation_vessel}"
transfer_flowrate = flowrate = 2500.0
if from_vessel != separation_vessel:
pump_action_sequence.append(
{
"device_id": "",
"action_name": "PumpTransferProtocol",
"action_kwargs": {
"from_vessel": from_vessel,
"to_vessel": separation_vessel,
"volume": reactor_volume,
"time": reactor_volume / flowrate,
# "transfer_flowrate": transfer_flowrate,
}
}
)
# for i in range(2):
# pump_action_sequence.append(
# {
# "device_id": "",
# "action_name": "CleanProtocol",
# "action_kwargs": {
# "vessel": from_vessel,
# "solvent": "H2O", # Solvent to clean vessel with.
# "volume": solvent_volume, # Optional. Volume of solvent to clean vessel with.
# "temp": 25.0, # Optional. Temperature to heat vessel to while cleaning.
# "repeats": 1
# }
# }
# )
# pump_action_sequence.append(
# {
# "device_id": "",
# "action_name": "CleanProtocol",
# "action_kwargs": {
# "vessel": from_vessel,
# "solvent": "CH2Cl2", # Solvent to clean vessel with.
# "volume": solvent_volume, # Optional. Volume of solvent to clean vessel with.
# "temp": 25.0, # Optional. Temperature to heat vessel to while cleaning.
# "repeats": 1
# }
# }
# )
# 生成泵操作的动作序列
for i in range(repeats):
# 找到当次萃取所用溶剂
solvent_thistime = solvents[i]
solvent_vessel = f"flask_{solvent_thistime}"
pump_action_sequence.append(
{
"device_id": "",
"action_name": "PumpTransferProtocol",
"action_kwargs": {
"from_vessel": solvent_vessel,
"to_vessel": separation_vessel,
"volume": solvent_volume,
"time": solvent_volume / flowrate,
# "transfer_flowrate": transfer_flowrate,
}
}
)
pump_action_sequence.extend([
# 搅拌、静置
{
"device_id": separator_controller,
"action_name": "stir",
"action_kwargs": {
"stir_time": stir_time,
"stir_speed": stir_speed,
"settling_time": settling_time
}
},
# 分液（判断电导突跃）
{
"device_id": separator_controller,
"action_name": "valve_open",
"action_kwargs": {
"command": "delta > 0.05"
}
}
])
if product_phase == "bottom":
# 产物转移到目标瓶
pump_action_sequence.append(
{
"device_id": "",
"action_name": "PumpTransferProtocol",
"action_kwargs": {
"from_vessel": separation_vessel_bottom,
"to_vessel": to_vessel,
"volume": 250000.0,
"time": 250000.0 / flowrate,
# "transfer_flowrate": transfer_flowrate,
}
}
)
# 放出上面那一相，60秒后关阀门
pump_action_sequence.append(
{
"device_id": separator_controller,
"action_name": "valve_open",
"action_kwargs": {
"command": "time > 60"
}
}
)
# 弃去上面那一相进废液
pump_action_sequence.append(
{
"device_id": "",
"action_name": "PumpTransferProtocol",
"action_kwargs": {
"from_vessel": separation_vessel_bottom,
"to_vessel": waste_vessel,
"volume": 250000.0,
"time": 250000.0 / flowrate,
# "transfer_flowrate": transfer_flowrate,
}
}
)
elif product_phase == "top":
# 弃去下面那一相进废液
pump_action_sequence.append(
{
"device_id": "",
"action_name": "PumpTransferProtocol",
"action_kwargs": {
"from_vessel": separation_vessel_bottom,
"to_vessel": waste_vessel,
"volume": 250000.0,
"time": 250000.0 / flowrate,
# "transfer_flowrate": transfer_flowrate,
}
}
)
# 放出上面那一相
pump_action_sequence.append(
{
"device_id": separator_controller,
"action_name": "valve_open",
"action_kwargs": {
"command": "time > 60"
}
}
)
# 产物转移到目标瓶
pump_action_sequence.append(
{
"device_id": "",
"action_name": "PumpTransferProtocol",
"action_kwargs": {
"from_vessel": separation_vessel_bottom,
"to_vessel": to_vessel,
"volume": 250000.0,
"time": 250000.0 / flowrate,
# "transfer_flowrate": transfer_flowrate,
}
}
)
elif product_phase == "organic":
pass
# 如果不是最后一次，从中转瓶转移回分液漏斗
if i < repeats - 1:
pump_action_sequence.append(
{
"device_id": "",
"action_name": "PumpTransferProtocol",
"action_kwargs": {
"from_vessel": to_vessel,
"to_vessel": separation_vessel,
"volume": 250000.0,
"time": 250000.0 / flowrate,
# "transfer_flowrate": transfer_flowrate,
}
}
)
return pump_action_sequence