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更新中析仪器，以及启动示例
This commit is contained in:
Xuwznln
190
test/experiments/prcxi.json
Normal file
190
test/experiments/prcxi.json
Normal file
@@ -0,0 +1,190 @@
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{
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"nodes": [
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{
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"id": "PLR_STATION_PRCXI",
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"name": "PLR_LH_TEST",
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"parent": null,
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"type": "device",
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"class": "liquid_handler.prcxi",
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"position": {
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"x": 0,
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"y": 0,
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"z": 0
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},
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"config": {
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"deck": {
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"_resource_child_name": "deck",
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"_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck"
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},
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"host": "127.0.0.1",
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"port": 9999,
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"timeout": 10.0,
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"setup": false
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},
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"data": {},
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"children": [
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"deck"
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]
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},
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{
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"id": "deck",
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"name": "deck",
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"sample_id": null,
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"children": [
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"rackT1",
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"plateT2",
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"plateT3",
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"rackT4",
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"plateT5"
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],
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"parent": "PLR_STATION_PRCXI",
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"type": "device",
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"class": "",
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"position": {
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"x": 0,
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"y": 0,
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"z": 0
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},
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"config": {
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"type": "PRCXI9300Deck"
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},
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"data": {}
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},
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{
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"id": "rackT1",
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"name": "rackT1",
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"sample_id": null,
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"children": [],
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"parent": "deck",
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"type": "device",
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"class": "",
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"position": {
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"x": 0,
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"y": 0,
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"z": 0
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},
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"config": {
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"type": "PRCXI9300Container",
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"size_x": 120.98,
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"size_y": 82.12,
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"size_z": 50.3
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},
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"data": {
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"Material": {
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"uuid": "80652665f6a54402b2408d50b40398df",
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"Code": "ZX-001-1000",
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"Name": "1000μL Tip头",
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"SummaryName": "1000μL Tip头",
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"PipetteHeight": 100,
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"materialEnum": 1
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}
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}
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},
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{
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"id": "plateT2",
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"name": "plateT2",
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"sample_id": null,
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"children": [],
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"parent": "deck",
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"type": "device",
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"class": "",
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"position": {
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"x": 0,
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"y": 0,
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"z": 0
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},
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"config": {
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"type": "PRCXI9300Container",
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"size_x": 120.98,
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"size_y": 82.12,
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"size_z": 50.3
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},
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"data": {
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"Material": {
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"uuid": "57b1e4711e9e4a32b529f3132fc5931f"
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}
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}
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},
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{
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"id": "plateT3",
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"name": "plateT3",
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"sample_id": null,
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"children": [],
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"parent": "deck",
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"type": "device",
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"class": "",
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"position": {
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"x": 0,
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"y": 0,
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"z": 0
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},
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"config": {
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"type": "PRCXI9300Container",
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"size_x": 120.98,
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"size_y": 82.12,
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"size_z": 50.3
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},
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"data": {
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"Material": {
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"uuid": "57b1e4711e9e4a32b529f3132fc5931f"
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}
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}
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},
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{
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"id": "rackT4",
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"name": "rackT4",
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"sample_id": null,
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"children": [],
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"parent": "deck",
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"type": "device",
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"class": "",
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"position": {
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"x": 0,
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"y": 0,
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"z": 0
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},
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"config": {
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"type": "PRCXI9300Container",
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"size_x": 120.98,
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"size_y": 82.12,
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"size_z": 50.3
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},
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"data": {
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"Material": {
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"uuid": "80652665f6a54402b2408d50b40398df",
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"Code": "ZX-001-1000",
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"Name": "1000μL Tip头",
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"SummaryName": "1000μL Tip头",
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"PipetteHeight": 100,
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"materialEnum": 1
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}
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}
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},
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{
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"id": "plateT5",
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"name": "plateT5",
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"sample_id": null,
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"children": [],
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"parent": "deck",
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"type": "device",
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"class": "",
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"position": {
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"x": 0,
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"y": 0,
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"z": 0
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},
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"config": {
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"type": "PRCXI9300Container",
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"size_x": 120.98,
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"size_y": 82.12,
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"size_z": 50.3
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},
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"data": {
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"Material": {
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"uuid": "57b1e4711e9e4a32b529f3132fc5931f"
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}
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}
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}
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],
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"links": []
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}
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@@ -183,7 +183,7 @@ class LiquidHandlerAbstract(LiquidHandler):
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spread: Literal["wide", "tight", "custom"] = "wide",
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is_96_well: bool = False,
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mix_stage: Optional[Literal["none", "before", "after", "both"]] = "none",
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mix_times: Optional[List(int)] = None,
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mix_times: Optional[List[int]] = None,
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mix_vol: Optional[int] = None,
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mix_rate: Optional[int] = None,
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mix_liquid_height: Optional[float] = None,
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@@ -1,17 +1,456 @@
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import socket, json, contextlib
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from typing import Any, List, Dict, Optional
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import collections
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import contextlib
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import json
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import socket
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import time
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from typing import Any, List, Dict, Optional, TypedDict, Union, Sequence, Iterator, Literal
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from pylabrobot.liquid_handling import (
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LiquidHandlerBackend,
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Pickup,
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SingleChannelAspiration,
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Drop,
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SingleChannelDispense,
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PickupTipRack,
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DropTipRack,
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MultiHeadAspirationPlate,
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)
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from pylabrobot.liquid_handling.standard import (
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MultiHeadAspirationContainer,
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MultiHeadDispenseContainer,
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MultiHeadDispensePlate,
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ResourcePickup,
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ResourceMove,
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ResourceDrop,
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)
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from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate
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from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
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class PRCXIError(RuntimeError):
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"""Lilith 返回 Success=false 时抛出的业务异常"""
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class PRCXI9300:
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class Material(TypedDict): # 和Plate同关系
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uuid: str
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Code: Optional[str]
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Name: Optional[str]
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SummaryName: Optional[str]
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PipetteHeight: Optional[int]
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materialEnum: Optional[int]
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def __init__(self, host: str = "127.0.0.1", port: int = 9999,
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timeout: float = 10.0) -> None:
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class WorkTablets(TypedDict):
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Number: int
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Code: str
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Material: Dict[str, Any]
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class MatrixInfo(TypedDict):
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MatrixId: str
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MatrixName: str
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MatrixCount: int
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WorkTablets: list[WorkTablets]
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class PRCXI9300Deck(Deck):
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"""PRCXI 9300 的专用 Deck 类，继承自 Deck。
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该类定义了 PRCXI 9300 的工作台布局和槽位信息。
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"""
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def __init__(self, name: str, size_x: float, size_y: float, size_z: float):
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super().__init__(name, size_x, size_y, size_z)
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self.slots = [None] * 6 # PRCXI 9300 有 6 个槽位
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class PRCXI9300Container(Plate):
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"""PRCXI 9300 的专用 Deck 类，继承自 Deck。
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该类定义了 PRCXI 9300 的工作台布局和槽位信息。
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"""
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def __init__(self, name: str, size_x: float, size_y: float, size_z: float, category: str):
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super().__init__(name, size_x, size_y, size_z, category=category, ordering=collections.OrderedDict())
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self._unilabos_state = {}
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def load_state(self, state: Dict[str, Any]) -> None:
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"""从给定的状态加载工作台信息。"""
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super().load_state(state)
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self._unilabos_state = state
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def serialize_state(self) -> Dict[str, Dict[str, Any]]:
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data = super().serialize_state()
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data.update(self._unilabos_state)
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return data
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class PRCXI9300Handler(LiquidHandlerAbstract):
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def __init__(self, deck: Deck, host: str, port: int, timeout: float, setup=True):
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tablets_info = []
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count = 0
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for child in deck.children:
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if "Material" in child._unilabos_state:
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count += 1
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tablets_info.append(
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WorkTablets(Number=count, Code=f"T{count}", Material=child._unilabos_state["Material"])
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)
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self._unilabos_backend = PRCXI9300Backend(tablets_info, host, port, timeout, setup)
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super().__init__(backend=self._unilabos_backend, deck=deck)
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async def create_protocol(
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self,
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protocol_name: str,
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protocol_description: str,
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protocol_version: str,
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protocol_author: str,
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protocol_date: str,
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protocol_type: str,
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none_keys: List[str] = [],
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):
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self._unilabos_backend.create_protocol(protocol_name)
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async def run_protocol(self):
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self._unilabos_backend.run_protocol()
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async def remove_liquid(
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self,
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vols: List[float],
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sources: Sequence[Container],
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waste_liquid: Optional[Container] = None,
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*,
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use_channels: Optional[List[int]] = None,
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flow_rates: Optional[List[Optional[float]]] = None,
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offsets: Optional[List[Coordinate]] = None,
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liquid_height: Optional[List[Optional[float]]] = None,
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blow_out_air_volume: Optional[List[Optional[float]]] = None,
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spread: Optional[Literal["wide", "tight", "custom"]] = "wide",
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delays: Optional[List[int]] = None,
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is_96_well: Optional[bool] = False,
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top: Optional[List[float]] = None,
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none_keys: List[str] = [],
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):
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return await super().remove_liquid(
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vols,
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sources,
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waste_liquid,
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use_channels=use_channels,
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flow_rates=flow_rates,
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offsets=offsets,
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liquid_height=liquid_height,
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blow_out_air_volume=blow_out_air_volume,
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spread=spread,
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delays=delays,
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is_96_well=is_96_well,
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top=top,
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none_keys=none_keys,
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)
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async def add_liquid(
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self,
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asp_vols: Union[List[float], float],
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dis_vols: Union[List[float], float],
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reagent_sources: Sequence[Container],
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targets: Sequence[Container],
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*,
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use_channels: Optional[List[int]] = None,
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flow_rates: Optional[List[Optional[float]]] = None,
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offsets: Optional[List[Coordinate]] = None,
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liquid_height: Optional[List[Optional[float]]] = None,
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blow_out_air_volume: Optional[List[Optional[float]]] = None,
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spread: Optional[Literal["wide", "tight", "custom"]] = "wide",
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is_96_well: bool = False,
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delays: Optional[List[int]] = None,
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mix_time: Optional[int] = None,
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mix_vol: Optional[int] = None,
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mix_rate: Optional[int] = None,
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mix_liquid_height: Optional[float] = None,
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none_keys: List[str] = [],
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):
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return await super().add_liquid(
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asp_vols,
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dis_vols,
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reagent_sources,
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targets,
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use_channels=use_channels,
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flow_rates=flow_rates,
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offsets=offsets,
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liquid_height=liquid_height,
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blow_out_air_volume=blow_out_air_volume,
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spread=spread,
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is_96_well=is_96_well,
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delays=delays,
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mix_time=mix_time,
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mix_vol=mix_vol,
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mix_rate=mix_rate,
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mix_liquid_height=mix_liquid_height,
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none_keys=none_keys,
|
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)
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async def transfer_liquid(
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self,
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sources: Sequence[Container],
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targets: Sequence[Container],
|
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tip_racks: Sequence[TipRack],
|
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*,
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||||
use_channels: Optional[List[int]] = None,
|
||||
asp_vols: Union[List[float], float],
|
||||
dis_vols: Union[List[float], float],
|
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asp_flow_rates: Optional[List[Optional[float]]] = None,
|
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dis_flow_rates: Optional[List[Optional[float]]] = None,
|
||||
offsets: Optional[List[Coordinate]] = None,
|
||||
touch_tip: bool = False,
|
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liquid_height: Optional[List[Optional[float]]] = None,
|
||||
blow_out_air_volume: Optional[List[Optional[float]]] = None,
|
||||
spread: Literal["wide", "tight", "custom"] = "wide",
|
||||
is_96_well: bool = False,
|
||||
mix_stage: Optional[Literal["none", "before", "after", "both"]] = "none",
|
||||
mix_times: Optional[List[int]] = None,
|
||||
mix_vol: Optional[int] = None,
|
||||
mix_rate: Optional[int] = None,
|
||||
mix_liquid_height: Optional[float] = None,
|
||||
delays: Optional[List[int]] = None,
|
||||
none_keys: List[str] = [],
|
||||
):
|
||||
return await super().transfer_liquid(
|
||||
sources,
|
||||
targets,
|
||||
tip_racks,
|
||||
use_channels=use_channels,
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=dis_vols,
|
||||
asp_flow_rates=asp_flow_rates,
|
||||
dis_flow_rates=dis_flow_rates,
|
||||
offsets=offsets,
|
||||
touch_tip=touch_tip,
|
||||
liquid_height=liquid_height,
|
||||
blow_out_air_volume=blow_out_air_volume,
|
||||
spread=spread,
|
||||
is_96_well=is_96_well,
|
||||
mix_stage=mix_stage,
|
||||
mix_times=mix_times,
|
||||
mix_vol=mix_vol,
|
||||
mix_rate=mix_rate,
|
||||
mix_liquid_height=mix_liquid_height,
|
||||
delays=delays,
|
||||
none_keys=none_keys,
|
||||
)
|
||||
|
||||
async def custom_delay(self, seconds=0, msg=None):
|
||||
return await super().custom_delay(seconds, msg)
|
||||
|
||||
async def touch_tip(self, targets: Sequence[Container]):
|
||||
return await super().touch_tip(targets)
|
||||
|
||||
async def mix(
|
||||
self,
|
||||
targets: Sequence[Container],
|
||||
mix_time: int = None,
|
||||
mix_vol: Optional[int] = None,
|
||||
height_to_bottom: Optional[float] = None,
|
||||
offsets: Optional[Coordinate] = None,
|
||||
mix_rate: Optional[float] = None,
|
||||
none_keys: List[str] = [],
|
||||
):
|
||||
return await super().mix(targets, mix_time, mix_vol, height_to_bottom, offsets, mix_rate, none_keys)
|
||||
|
||||
def iter_tips(self, tip_racks: Sequence[TipRack]) -> Iterator[Resource]:
|
||||
return super().iter_tips(tip_racks)
|
||||
|
||||
def set_tiprack(self, tip_racks: Sequence[TipRack]):
|
||||
super().set_tiprack(tip_racks)
|
||||
|
||||
async def move_to(self, well: Well, dis_to_top: float = 0, channel: int = 0):
|
||||
return await super().move_to(well, dis_to_top, channel)
|
||||
|
||||
|
||||
class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
"""PRCXI 9300 的后端实现，继承自 LiquidHandlerBackend。
|
||||
|
||||
该类提供了与 PRCXI 9300 设备进行通信的基本方法，包括方案管理、自动化控制、运行状态查询等。
|
||||
"""
|
||||
|
||||
_num_channels = 8 # 默认通道数为 8
|
||||
matrix_info: MatrixInfo
|
||||
protocol_name: str
|
||||
steps_todo_list = []
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
tablets_info: list[WorkTablets],
|
||||
host: str = "127.0.0.1",
|
||||
port: int = 9999,
|
||||
timeout: float = 10.0,
|
||||
setup=True,
|
||||
) -> None:
|
||||
super().__init__()
|
||||
self.tablets_info = tablets_info
|
||||
self.api_client = PRCXI9300Api(host, port, timeout)
|
||||
self.host, self.port, self.timeout = host, port, timeout
|
||||
self._num_channels = 8
|
||||
self._execute_setup = setup
|
||||
|
||||
def create_protocol(self, protocol_name):
|
||||
self.protocol_name = protocol_name
|
||||
self.steps_todo_list = []
|
||||
|
||||
def run_protocol(self):
|
||||
run_time = time.time()
|
||||
self.matrix_info = MatrixInfo(
|
||||
MatrixId=f"matrix_{run_time}",
|
||||
MatrixName=f"protocol_{run_time}",
|
||||
MatrixCount=len(self.tablets_info),
|
||||
WorkTablets=self.tablets_info,
|
||||
)
|
||||
self.api_client.add_WorkTablet_Matrix(self.matrix_info)
|
||||
solution_id = self.api_client.add_solution(
|
||||
f"protocol_{run_time}", self.matrix_info["MatrixId"], self.steps_todo_list
|
||||
)
|
||||
self.api_client.load_solution(solution_id)
|
||||
self.api_client.start()
|
||||
|
||||
@classmethod
|
||||
def check_channels(cls, use_channels: List[int]) -> List[int]:
|
||||
"""检查通道是否符合要求，PRCXI9300Backend 只支持所有 8 个通道。"""
|
||||
if use_channels != [0, 1, 2, 3, 4, 5, 6, 7]:
|
||||
print("PRCXI9300Backend only supports all 8 channels, using default [0, 1, 2, 3, 4, 5, 6, 7].")
|
||||
return [0, 1, 2, 3, 4, 5, 6, 7]
|
||||
return use_channels
|
||||
|
||||
async def setup(self):
|
||||
await super().setup()
|
||||
try:
|
||||
if self._execute_setup:
|
||||
self.api_client.call("IAutomation", "Reset")
|
||||
except ConnectionRefusedError as e:
|
||||
raise RuntimeError(
|
||||
f"Failed to connect to PRCXI9300 API at {self.host}:{self.port}. "
|
||||
"Please ensure the PRCXI9300 service is running."
|
||||
) from e
|
||||
|
||||
async def stop(self):
|
||||
self.api_client.call("IAutomation", "Stop")
|
||||
|
||||
async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int] = None):
|
||||
"""Pick up tips from the specified resource."""
|
||||
# 12列，要PickUp A-H 1
|
||||
# PlateNo = 1-6 # 2行3列
|
||||
PlateNo = 1 # 第一块板
|
||||
hole_col = 2 # 第二列的8个孔
|
||||
step = self.api_client.Load(
|
||||
"Left",
|
||||
dosage=0,
|
||||
plate_no=PlateNo,
|
||||
is_whole_plate=False,
|
||||
hole_row=1,
|
||||
hole_col=hole_col,
|
||||
blending_times=0,
|
||||
balance_height=0,
|
||||
plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
|
||||
hole_numbers="1,2,3,4,5,6,7,8",
|
||||
)
|
||||
self.steps_todo_list.append(step)
|
||||
print("PRCXI9300Backend pick_up_tips logged.")
|
||||
|
||||
async def drop_tips(self, ops: List[Drop], use_channels: List[int] = None):
|
||||
PlateNo = 1
|
||||
hole_col = 2
|
||||
step = self.api_client.UnLoad(
|
||||
"Left",
|
||||
dosage=0,
|
||||
plate_no=PlateNo,
|
||||
is_whole_plate=False,
|
||||
hole_row=1,
|
||||
hole_col=hole_col,
|
||||
blending_times=0,
|
||||
balance_height=0,
|
||||
plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
|
||||
hole_numbers="1,2,3,4,5,6,7,8",
|
||||
)
|
||||
allow_drop = False
|
||||
for s in self.steps_todo_list:
|
||||
if s.get("Function") == "Load":
|
||||
self.steps_todo_list.append(step)
|
||||
allow_drop = True
|
||||
break
|
||||
if not allow_drop:
|
||||
raise ValueError("No matching Load step found for drop_tips.")
|
||||
print("PRCXI9300Backend drop_tips logged.")
|
||||
|
||||
async def aspirate(self, ops: List[SingleChannelAspiration], use_channels: List[int] = None):
|
||||
volumes = [op.volume for op in ops]
|
||||
print(f"PRCXI9300Backend aspirate volumes: {volumes[0]} -> {int(volumes[0])} μL")
|
||||
PlateNo = 1
|
||||
hole_col = 2
|
||||
step = self.api_client.Imbibing(
|
||||
"Left",
|
||||
dosage=int(volumes[0]),
|
||||
plate_no=PlateNo,
|
||||
is_whole_plate=False,
|
||||
hole_row=1,
|
||||
hole_col=hole_col,
|
||||
blending_times=0,
|
||||
balance_height=0,
|
||||
plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
|
||||
hole_numbers="1,2,3,4,5,6,7,8",
|
||||
)
|
||||
self.steps_todo_list.append(step)
|
||||
|
||||
async def dispense(self, ops: List[SingleChannelDispense], use_channels: List[int] = None):
|
||||
volumes = [op.volume for op in ops]
|
||||
print(f"PRCXI9300Backend dispense volumes: {volumes[0]} -> {int(volumes[0])} μL")
|
||||
PlateNo = 1
|
||||
hole_col = 2
|
||||
step = self.api_client.Tapping(
|
||||
"Left",
|
||||
dosage=int(volumes[0]),
|
||||
plate_no=PlateNo,
|
||||
is_whole_plate=False,
|
||||
hole_row=1,
|
||||
hole_col=hole_col,
|
||||
blending_times=0,
|
||||
balance_height=0,
|
||||
plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
|
||||
hole_numbers="1,2,3,4,5,6,7,8",
|
||||
)
|
||||
self.steps_todo_list.append(step)
|
||||
|
||||
async def pick_up_tips96(self, pickup: PickupTipRack):
|
||||
raise NotImplementedError("The PRCXI backend does not support the 96 head.")
|
||||
|
||||
async def drop_tips96(self, drop: DropTipRack):
|
||||
raise NotImplementedError("The PRCXI backend does not support the 96 head.")
|
||||
|
||||
async def aspirate96(self, aspiration: Union[MultiHeadAspirationPlate, MultiHeadAspirationContainer]):
|
||||
raise NotImplementedError("The Opentrons backend does not support the 96 head.")
|
||||
|
||||
async def dispense96(self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]):
|
||||
raise NotImplementedError("The Opentrons backend does not support the 96 head.")
|
||||
|
||||
async def pick_up_resource(self, pickup: ResourcePickup):
|
||||
raise NotImplementedError("The Opentrons backend does not support the robotic arm.")
|
||||
|
||||
async def move_picked_up_resource(self, move: ResourceMove):
|
||||
raise NotImplementedError("The Opentrons backend does not support the robotic arm.")
|
||||
|
||||
async def drop_resource(self, drop: ResourceDrop):
|
||||
raise NotImplementedError("The Opentrons backend does not support the robotic arm.")
|
||||
|
||||
def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool:
|
||||
return True # PRCXI9300Backend does not have tip compatibility issues
|
||||
|
||||
def serialize(self) -> dict:
|
||||
raise NotImplementedError()
|
||||
|
||||
@property
|
||||
def num_channels(self) -> int:
|
||||
return self._num_channels
|
||||
|
||||
|
||||
class PRCXI9300Api:
|
||||
def __init__(self, host: str = "127.0.0.1", port: int = 9999, timeout: float = 10.0) -> None:
|
||||
self.host, self.port, self.timeout = host, port, timeout
|
||||
|
||||
@staticmethod
|
||||
def _len_prefix(n: int) -> bytes:
|
||||
@@ -34,13 +473,26 @@ class PRCXI9300:
|
||||
chunks.append(chunk)
|
||||
return b"".join(chunks).decode()
|
||||
|
||||
def _call(self, service: str, method: str,
|
||||
params: Optional[list] = None) -> Any:
|
||||
# ---------------------------------------------------- 方案相关（ISolution）
|
||||
def list_solutions(self) -> List[Dict[str, Any]]:
|
||||
"""GetSolutionList"""
|
||||
return self.call("ISolution", "GetSolutionList")
|
||||
|
||||
def load_solution(self, solution_id: str) -> bool:
|
||||
"""LoadSolution"""
|
||||
return self.call("ISolution", "LoadSolution", [solution_id])
|
||||
|
||||
def add_solution(self, name: str, matrix_id: str, steps: List[Dict[str, Any]]) -> str:
|
||||
"""AddSolution → 返回新方案 GUID"""
|
||||
return self.call("ISolution", "AddSolution", [name, matrix_id, steps])
|
||||
|
||||
# ---------------------------------------------------- 自动化控制（IAutomation）
|
||||
def start(self) -> bool:
|
||||
return self.call("IAutomation", "Start")
|
||||
|
||||
def call(self, service: str, method: str, params: Optional[list] = None) -> Any:
|
||||
payload = json.dumps(
|
||||
{"ServiceName": service,
|
||||
"MethodName": method,
|
||||
"Paramters": params or []},
|
||||
separators=(",", ":")
|
||||
{"ServiceName": service, "MethodName": method, "Paramters": params or []}, separators=(",", ":")
|
||||
)
|
||||
resp = json.loads(self._raw_request(payload))
|
||||
if not resp.get("Success", False):
|
||||
@@ -51,84 +503,50 @@ class PRCXI9300:
|
||||
except (TypeError, json.JSONDecodeError):
|
||||
return data
|
||||
|
||||
# ---------------------------------------------------- 方案相关（ISolution）
|
||||
def list_solutions(self) -> List[Dict[str, Any]]:
|
||||
"""GetSolutionList"""
|
||||
return self._call("ISolution", "GetSolutionList")
|
||||
|
||||
def load_solution(self, solution_id: str) -> bool:
|
||||
"""LoadSolution"""
|
||||
return self._call("ISolution", "LoadSolution", [solution_id])
|
||||
|
||||
def add_solution(self, name: str, matrix_id: str,
|
||||
steps: List[Dict[str, Any]]) -> str:
|
||||
"""AddSolution → 返回新方案 GUID"""
|
||||
return self._call("ISolution", "AddSolution",
|
||||
[name, matrix_id, steps])
|
||||
|
||||
# ---------------------------------------------------- 自动化控制（IAutomation）
|
||||
def start(self) -> bool:
|
||||
return self._call("IAutomation", "Start")
|
||||
|
||||
def stop(self) -> bool:
|
||||
"""Stop"""
|
||||
return self._call("IAutomation", "Stop")
|
||||
|
||||
def reset(self) -> bool:
|
||||
"""Reset"""
|
||||
return self._call("IAutomation", "Reset")
|
||||
|
||||
def pause(self) -> bool:
|
||||
"""Pause"""
|
||||
return self._call("IAutomation", "Pause")
|
||||
return self.call("IAutomation", "Pause")
|
||||
|
||||
def resume(self) -> bool:
|
||||
"""Resume"""
|
||||
return self._call("IAutomation", "Resume")
|
||||
return self.call("IAutomation", "Resume")
|
||||
|
||||
def get_error_code(self) -> Optional[str]:
|
||||
"""GetErrorCode"""
|
||||
return self._call("IAutomation", "GetErrorCode")
|
||||
return self.call("IAutomation", "GetErrorCode")
|
||||
|
||||
def clear_error_code(self) -> bool:
|
||||
"""RemoveErrorCodet"""
|
||||
return self._call("IAutomation", "RemoveErrorCodet")
|
||||
return self.call("IAutomation", "RemoveErrorCodet")
|
||||
|
||||
# ---------------------------------------------------- 运行状态（IMachineState）
|
||||
def step_state_list(self) -> List[Dict[str, Any]]:
|
||||
"""GetStepStateList"""
|
||||
return self._call("IMachineState", "GetStepStateList")
|
||||
return self.call("IMachineState", "GetStepStateList")
|
||||
|
||||
def step_status(self, seq_num: int) -> Dict[str, Any]:
|
||||
"""GetStepStatus"""
|
||||
return self._call("IMachineState", "GetStepStatus", [seq_num])
|
||||
return self.call("IMachineState", "GetStepStatus", [seq_num])
|
||||
|
||||
def step_state(self, seq_num: int) -> Dict[str, Any]:
|
||||
"""GetStepState"""
|
||||
return self._call("IMachineState", "GetStepState", [seq_num])
|
||||
return self.call("IMachineState", "GetStepState", [seq_num])
|
||||
|
||||
def axis_location(self, axis_num: int = 1) -> Dict[str, Any]:
|
||||
"""GetLocation"""
|
||||
return self._call("IMachineState", "GetLocation", [axis_num])
|
||||
return self.call("IMachineState", "GetLocation", [axis_num])
|
||||
|
||||
# ---------------------------------------------------- 版位矩阵（IMatrix）
|
||||
def list_matrices(self) -> List[Dict[str, Any]]:
|
||||
"""GetWorkTabletMatrices"""
|
||||
return self._call("IMatrix", "GetWorkTabletMatrices")
|
||||
return self.call("IMatrix", "GetWorkTabletMatrices")
|
||||
|
||||
def matrix_by_id(self, matrix_id: str) -> Dict[str, Any]:
|
||||
"""GetWorkTabletMatrixById"""
|
||||
return self._call("IMatrix", "GetWorkTabletMatrixById", [matrix_id])
|
||||
return self.call("IMatrix", "GetWorkTabletMatrixById", [matrix_id])
|
||||
|
||||
def add_WorkTablet_Matrix(self,matrix):
|
||||
return self._call("IMatrix", "AddWorkTabletMatrix", [matrix])
|
||||
|
||||
# ---------------------------------------------------- 一键运行
|
||||
def run_solution(self, solution_id: str, channel_idx: int = 1) -> None:
|
||||
self.load_solution(solution_id)
|
||||
self.start(channel_idx)
|
||||
|
||||
# ---------------------------------------------------- 单点动作
|
||||
def add_WorkTablet_Matrix(self, matrix: MatrixInfo):
|
||||
return self.call("IMatrix", "AddWorkTabletMatrix", [matrix])
|
||||
|
||||
def Load(
|
||||
self,
|
||||
@@ -147,7 +565,7 @@ class PRCXI9300:
|
||||
assist_fun3: str = "",
|
||||
assist_fun4: str = "",
|
||||
assist_fun5: str = "",
|
||||
liquid_method: str = "NormalDispense"
|
||||
liquid_method: str = "NormalDispense",
|
||||
) -> Dict[str, Any]:
|
||||
return {
|
||||
"StepAxis": axis,
|
||||
@@ -166,7 +584,7 @@ class PRCXI9300:
|
||||
"AssistFun4": assist_fun4,
|
||||
"AssistFun5": assist_fun5,
|
||||
"HoleNumbers": hole_numbers,
|
||||
"LiquidDispensingMethod": liquid_method
|
||||
"LiquidDispensingMethod": liquid_method,
|
||||
}
|
||||
|
||||
def Imbibing(
|
||||
@@ -186,7 +604,7 @@ class PRCXI9300:
|
||||
assist_fun3: str = "",
|
||||
assist_fun4: str = "",
|
||||
assist_fun5: str = "",
|
||||
liquid_method: str = "NormalDispense"
|
||||
liquid_method: str = "NormalDispense",
|
||||
) -> Dict[str, Any]:
|
||||
return {
|
||||
"StepAxis": axis,
|
||||
@@ -205,10 +623,9 @@ class PRCXI9300:
|
||||
"AssistFun4": assist_fun4,
|
||||
"AssistFun5": assist_fun5,
|
||||
"HoleNumbers": hole_numbers,
|
||||
"LiquidDispensingMethod": liquid_method
|
||||
"LiquidDispensingMethod": liquid_method,
|
||||
}
|
||||
|
||||
|
||||
def Tapping(
|
||||
self,
|
||||
axis: str,
|
||||
@@ -226,7 +643,7 @@ class PRCXI9300:
|
||||
assist_fun3: str = "",
|
||||
assist_fun4: str = "",
|
||||
assist_fun5: str = "",
|
||||
liquid_method: str = "NormalDispense"
|
||||
liquid_method: str = "NormalDispense",
|
||||
) -> Dict[str, Any]:
|
||||
return {
|
||||
"StepAxis": axis,
|
||||
@@ -245,10 +662,9 @@ class PRCXI9300:
|
||||
"AssistFun4": assist_fun4,
|
||||
"AssistFun5": assist_fun5,
|
||||
"HoleNumbers": hole_numbers,
|
||||
"LiquidDispensingMethod": liquid_method
|
||||
"LiquidDispensingMethod": liquid_method,
|
||||
}
|
||||
|
||||
|
||||
def Blending(
|
||||
self,
|
||||
axis: str,
|
||||
@@ -266,7 +682,7 @@ class PRCXI9300:
|
||||
assist_fun3: str = "",
|
||||
assist_fun4: str = "",
|
||||
assist_fun5: str = "",
|
||||
liquid_method: str = "NormalDispense"
|
||||
liquid_method: str = "NormalDispense",
|
||||
) -> Dict[str, Any]:
|
||||
return {
|
||||
"StepAxis": axis,
|
||||
@@ -285,7 +701,7 @@ class PRCXI9300:
|
||||
"AssistFun4": assist_fun4,
|
||||
"AssistFun5": assist_fun5,
|
||||
"HoleNumbers": hole_numbers,
|
||||
"LiquidDispensingMethod": liquid_method
|
||||
"LiquidDispensingMethod": liquid_method,
|
||||
}
|
||||
|
||||
def UnLoad(
|
||||
@@ -305,7 +721,7 @@ class PRCXI9300:
|
||||
assist_fun3: str = "",
|
||||
assist_fun4: str = "",
|
||||
assist_fun5: str = "",
|
||||
liquid_method: str = "NormalDispense"
|
||||
liquid_method: str = "NormalDispense",
|
||||
) -> Dict[str, Any]:
|
||||
return {
|
||||
"StepAxis": axis,
|
||||
@@ -324,5 +740,5 @@ class PRCXI9300:
|
||||
"AssistFun4": assist_fun4,
|
||||
"AssistFun5": assist_fun5,
|
||||
"HoleNumbers": hole_numbers,
|
||||
"LiquidDispensingMethod": liquid_method
|
||||
"LiquidDispensingMethod": liquid_method,
|
||||
}
|
||||
|
||||
@@ -6064,6 +6064,516 @@ liquid_handler.biomek:
|
||||
required:
|
||||
- success
|
||||
type: object
|
||||
liquid_handler.prcxi:
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-add_liquid:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
asp_vols: null
|
||||
blow_out_air_volume: null
|
||||
delays: null
|
||||
dis_vols: null
|
||||
flow_rates: null
|
||||
is_96_well: false
|
||||
liquid_height: null
|
||||
mix_liquid_height: null
|
||||
mix_rate: null
|
||||
mix_time: null
|
||||
mix_vol: null
|
||||
none_keys: []
|
||||
offsets: null
|
||||
reagent_sources: null
|
||||
spread: wide
|
||||
targets: null
|
||||
use_channels: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: add_liquid的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
asp_vols:
|
||||
type: string
|
||||
blow_out_air_volume:
|
||||
type: string
|
||||
delays:
|
||||
type: string
|
||||
dis_vols:
|
||||
type: string
|
||||
flow_rates:
|
||||
type: string
|
||||
is_96_well:
|
||||
default: false
|
||||
type: boolean
|
||||
liquid_height:
|
||||
type: string
|
||||
mix_liquid_height:
|
||||
type: string
|
||||
mix_rate:
|
||||
type: string
|
||||
mix_time:
|
||||
type: string
|
||||
mix_vol:
|
||||
type: string
|
||||
none_keys:
|
||||
default: []
|
||||
type: array
|
||||
offsets:
|
||||
type: string
|
||||
reagent_sources:
|
||||
type: string
|
||||
spread:
|
||||
default: wide
|
||||
type: string
|
||||
targets:
|
||||
type: string
|
||||
use_channels:
|
||||
type: string
|
||||
required:
|
||||
- asp_vols
|
||||
- dis_vols
|
||||
- reagent_sources
|
||||
- targets
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: add_liquid参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-create_protocol:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
none_keys: []
|
||||
protocol_author: null
|
||||
protocol_date: null
|
||||
protocol_description: null
|
||||
protocol_name: null
|
||||
protocol_type: null
|
||||
protocol_version: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: create_protocol的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
none_keys:
|
||||
default: []
|
||||
type: array
|
||||
protocol_author:
|
||||
type: string
|
||||
protocol_date:
|
||||
type: string
|
||||
protocol_description:
|
||||
type: string
|
||||
protocol_name:
|
||||
type: string
|
||||
protocol_type:
|
||||
type: string
|
||||
protocol_version:
|
||||
type: string
|
||||
required:
|
||||
- protocol_name
|
||||
- protocol_description
|
||||
- protocol_version
|
||||
- protocol_author
|
||||
- protocol_date
|
||||
- protocol_type
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: create_protocol参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-custom_delay:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
msg: null
|
||||
seconds: 0
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: custom_delay的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
msg:
|
||||
type: string
|
||||
seconds:
|
||||
default: 0
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: custom_delay参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-iter_tips:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
tip_racks: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: iter_tips的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
tip_racks:
|
||||
type: string
|
||||
required:
|
||||
- tip_racks
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: iter_tips参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-mix:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
height_to_bottom: null
|
||||
mix_rate: null
|
||||
mix_time: null
|
||||
mix_vol: null
|
||||
none_keys: []
|
||||
offsets: null
|
||||
targets: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: mix的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
height_to_bottom:
|
||||
type: string
|
||||
mix_rate:
|
||||
type: string
|
||||
mix_time:
|
||||
type: integer
|
||||
mix_vol:
|
||||
type: string
|
||||
none_keys:
|
||||
default: []
|
||||
type: array
|
||||
offsets:
|
||||
type: string
|
||||
targets:
|
||||
type: string
|
||||
required:
|
||||
- targets
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: mix参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-move_to:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
channel: 0
|
||||
dis_to_top: 0
|
||||
well: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: move_to的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
channel:
|
||||
default: 0
|
||||
type: integer
|
||||
dis_to_top:
|
||||
default: 0
|
||||
type: number
|
||||
well:
|
||||
type: string
|
||||
required:
|
||||
- well
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_to参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-remove_liquid:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
blow_out_air_volume: null
|
||||
delays: null
|
||||
flow_rates: null
|
||||
is_96_well: false
|
||||
liquid_height: null
|
||||
none_keys: []
|
||||
offsets: null
|
||||
sources: null
|
||||
spread: wide
|
||||
top: null
|
||||
use_channels: null
|
||||
vols: null
|
||||
waste_liquid: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: remove_liquid的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
blow_out_air_volume:
|
||||
type: string
|
||||
delays:
|
||||
type: string
|
||||
flow_rates:
|
||||
type: string
|
||||
is_96_well:
|
||||
default: false
|
||||
type: string
|
||||
liquid_height:
|
||||
type: string
|
||||
none_keys:
|
||||
default: []
|
||||
type: array
|
||||
offsets:
|
||||
type: string
|
||||
sources:
|
||||
type: string
|
||||
spread:
|
||||
default: wide
|
||||
type: string
|
||||
top:
|
||||
type: string
|
||||
use_channels:
|
||||
type: string
|
||||
vols:
|
||||
type: array
|
||||
waste_liquid:
|
||||
type: string
|
||||
required:
|
||||
- vols
|
||||
- sources
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: remove_liquid参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-run_protocol:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: run_protocol的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: run_protocol参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-set_tiprack:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
tip_racks: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: set_tiprack的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
tip_racks:
|
||||
type: string
|
||||
required:
|
||||
- tip_racks
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_tiprack参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-touch_tip:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
targets: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: touch_tip的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
targets:
|
||||
type: string
|
||||
required:
|
||||
- targets
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: touch_tip参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-transfer_liquid:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
asp_flow_rates: null
|
||||
asp_vols: null
|
||||
blow_out_air_volume: null
|
||||
delays: null
|
||||
dis_flow_rates: null
|
||||
dis_vols: null
|
||||
is_96_well: false
|
||||
liquid_height: null
|
||||
mix_liquid_height: null
|
||||
mix_rate: null
|
||||
mix_stage: none
|
||||
mix_times: null
|
||||
mix_vol: null
|
||||
none_keys: []
|
||||
offsets: null
|
||||
sources: null
|
||||
spread: wide
|
||||
targets: null
|
||||
tip_racks: null
|
||||
touch_tip: false
|
||||
use_channels: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: transfer_liquid的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
asp_flow_rates:
|
||||
type: string
|
||||
asp_vols:
|
||||
type: string
|
||||
blow_out_air_volume:
|
||||
type: string
|
||||
delays:
|
||||
type: string
|
||||
dis_flow_rates:
|
||||
type: string
|
||||
dis_vols:
|
||||
type: string
|
||||
is_96_well:
|
||||
default: false
|
||||
type: boolean
|
||||
liquid_height:
|
||||
type: string
|
||||
mix_liquid_height:
|
||||
type: string
|
||||
mix_rate:
|
||||
type: string
|
||||
mix_stage:
|
||||
default: none
|
||||
type: string
|
||||
mix_times:
|
||||
type: string
|
||||
mix_vol:
|
||||
type: string
|
||||
none_keys:
|
||||
default: []
|
||||
type: array
|
||||
offsets:
|
||||
type: string
|
||||
sources:
|
||||
type: string
|
||||
spread:
|
||||
default: wide
|
||||
type: string
|
||||
targets:
|
||||
type: string
|
||||
tip_racks:
|
||||
type: string
|
||||
touch_tip:
|
||||
default: false
|
||||
type: boolean
|
||||
use_channels:
|
||||
type: string
|
||||
required:
|
||||
- sources
|
||||
- targets
|
||||
- tip_racks
|
||||
- asp_vols
|
||||
- dis_vols
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: transfer_liquid参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Handler
|
||||
status_types: {}
|
||||
type: python
|
||||
description: prcxi液体处理器设备，基于pylabrobot控制
|
||||
handles: []
|
||||
icon: icon_yiyezhan.webp
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
deck:
|
||||
type: string
|
||||
host:
|
||||
type: string
|
||||
port:
|
||||
type: integer
|
||||
setup:
|
||||
default: true
|
||||
type: string
|
||||
timeout:
|
||||
type: number
|
||||
required:
|
||||
- deck
|
||||
- host
|
||||
- port
|
||||
- timeout
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
liquid_handler.revvity:
|
||||
class:
|
||||
action_value_mappings:
|
||||
|
||||
@@ -356,6 +356,85 @@ workstation:
|
||||
title: Add
|
||||
type: object
|
||||
type: Add
|
||||
AdjustPHProtocol:
|
||||
feedback: {}
|
||||
goal:
|
||||
ph_value: ph_value
|
||||
reagent: reagent
|
||||
vessel: vessel
|
||||
goal_default:
|
||||
ph_value: 0.0
|
||||
reagent: ''
|
||||
vessel: ''
|
||||
handles:
|
||||
input:
|
||||
- data_key: vessel
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: Vessel
|
||||
label: Vessel
|
||||
- data_key: reagent
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: reagent
|
||||
label: Reagent
|
||||
output:
|
||||
- data_key: vessel
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: VesselOut
|
||||
label: Vessel
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action AdjustPH 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:
|
||||
progress:
|
||||
type: number
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
- progress
|
||||
title: AdjustPH_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
ph_value:
|
||||
type: number
|
||||
reagent:
|
||||
type: string
|
||||
vessel:
|
||||
type: string
|
||||
required:
|
||||
- vessel
|
||||
- ph_value
|
||||
- reagent
|
||||
title: AdjustPH_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
message:
|
||||
type: string
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- success
|
||||
- message
|
||||
- return_info
|
||||
title: AdjustPH_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: AdjustPH
|
||||
type: object
|
||||
type: AdjustPH
|
||||
CentrifugeProtocol:
|
||||
feedback: {}
|
||||
goal:
|
||||
@@ -751,6 +830,75 @@ workstation:
|
||||
title: Dissolve
|
||||
type: object
|
||||
type: Dissolve
|
||||
DryProtocol:
|
||||
feedback: {}
|
||||
goal:
|
||||
compound: compound
|
||||
vessel: vessel
|
||||
goal_default:
|
||||
compound: ''
|
||||
vessel: ''
|
||||
handles:
|
||||
input:
|
||||
- data_key: vessel
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: Vessel
|
||||
label: Vessel
|
||||
output:
|
||||
- data_key: vessel
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: VesselOut
|
||||
label: Vessel
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action Dry 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:
|
||||
progress:
|
||||
type: number
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
- progress
|
||||
title: Dry_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
compound:
|
||||
type: string
|
||||
vessel:
|
||||
type: string
|
||||
required:
|
||||
- compound
|
||||
- vessel
|
||||
title: Dry_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
message:
|
||||
type: string
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- success
|
||||
- message
|
||||
- return_info
|
||||
title: Dry_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: Dry
|
||||
type: object
|
||||
type: Dry
|
||||
EvacuateAndRefillProtocol:
|
||||
feedback: {}
|
||||
goal:
|
||||
@@ -1399,6 +1547,80 @@ workstation:
|
||||
title: HeatChillStop
|
||||
type: object
|
||||
type: HeatChillStop
|
||||
HydrogenateProtocol:
|
||||
feedback: {}
|
||||
goal:
|
||||
temp: temp
|
||||
time: time
|
||||
vessel: vessel
|
||||
goal_default:
|
||||
temp: ''
|
||||
time: ''
|
||||
vessel: ''
|
||||
handles:
|
||||
input:
|
||||
- data_key: vessel
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: Vessel
|
||||
label: Vessel
|
||||
output:
|
||||
- data_key: vessel
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: VesselOut
|
||||
label: Vessel
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action Hydrogenate 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:
|
||||
progress:
|
||||
type: number
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
- progress
|
||||
title: Hydrogenate_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
temp:
|
||||
type: string
|
||||
time:
|
||||
type: string
|
||||
vessel:
|
||||
type: string
|
||||
required:
|
||||
- temp
|
||||
- time
|
||||
- vessel
|
||||
title: Hydrogenate_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
message:
|
||||
type: string
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- success
|
||||
- message
|
||||
- return_info
|
||||
title: Hydrogenate_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: Hydrogenate
|
||||
type: object
|
||||
type: Hydrogenate
|
||||
PumpTransferProtocol:
|
||||
feedback: {}
|
||||
goal:
|
||||
@@ -1554,6 +1776,159 @@ workstation:
|
||||
title: PumpTransfer
|
||||
type: object
|
||||
type: PumpTransfer
|
||||
RecrystallizeProtocol:
|
||||
feedback: {}
|
||||
goal:
|
||||
ratio: ratio
|
||||
solvent1: solvent1
|
||||
solvent2: solvent2
|
||||
vessel: vessel
|
||||
volume: volume
|
||||
goal_default:
|
||||
ratio: ''
|
||||
solvent1: ''
|
||||
solvent2: ''
|
||||
vessel: ''
|
||||
volume: 0.0
|
||||
handles:
|
||||
input:
|
||||
- data_key: vessel
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: Vessel
|
||||
label: Vessel
|
||||
- data_key: solvent
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: solvent1
|
||||
label: Solvent 1
|
||||
- data_key: solvent
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: solvent2
|
||||
label: Solvent 2
|
||||
output:
|
||||
- data_key: vessel
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: VesselOut
|
||||
label: Vessel
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action Recrystallize 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:
|
||||
progress:
|
||||
type: number
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
- progress
|
||||
title: Recrystallize_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
ratio:
|
||||
type: string
|
||||
solvent1:
|
||||
type: string
|
||||
solvent2:
|
||||
type: string
|
||||
vessel:
|
||||
type: string
|
||||
volume:
|
||||
type: number
|
||||
required:
|
||||
- ratio
|
||||
- solvent1
|
||||
- solvent2
|
||||
- vessel
|
||||
- volume
|
||||
title: Recrystallize_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
message:
|
||||
type: string
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- success
|
||||
- message
|
||||
- return_info
|
||||
title: Recrystallize_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: Recrystallize
|
||||
type: object
|
||||
type: Recrystallize
|
||||
ResetHandlingProtocol:
|
||||
feedback: {}
|
||||
goal:
|
||||
solvent: solvent
|
||||
goal_default:
|
||||
solvent: ''
|
||||
handles:
|
||||
input:
|
||||
- data_key: solvent
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: solvent
|
||||
label: Solvent
|
||||
output: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action ResetHandling 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:
|
||||
progress:
|
||||
type: number
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
- progress
|
||||
title: ResetHandling_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
solvent:
|
||||
type: string
|
||||
required:
|
||||
- solvent
|
||||
title: ResetHandling_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
message:
|
||||
type: string
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- success
|
||||
- message
|
||||
- return_info
|
||||
title: ResetHandling_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: ResetHandling
|
||||
type: object
|
||||
type: ResetHandling
|
||||
RunColumnProtocol:
|
||||
feedback: {}
|
||||
goal:
|
||||
@@ -2355,381 +2730,6 @@ workstation:
|
||||
title: initialize_device参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
AdjustPHProtocol:
|
||||
feedback: {}
|
||||
goal:
|
||||
vessel: vessel
|
||||
ph_value: ph_value
|
||||
reagent: reagent
|
||||
goal_default:
|
||||
vessel: ''
|
||||
ph_value: 7.0
|
||||
reagent: ''
|
||||
handles:
|
||||
input:
|
||||
- data_key: vessel
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: Vessel
|
||||
label: Vessel
|
||||
- data_key: reagent
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: reagent
|
||||
label: Reagent
|
||||
output:
|
||||
- data_key: vessel
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: VesselOut
|
||||
label: Vessel
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action AdjustPH 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:
|
||||
status:
|
||||
type: string
|
||||
progress:
|
||||
type: number
|
||||
required:
|
||||
- status
|
||||
- progress
|
||||
title: AdjustPH_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
vessel:
|
||||
type: string
|
||||
ph_value:
|
||||
type: number
|
||||
reagent:
|
||||
type: string
|
||||
required:
|
||||
- vessel
|
||||
- ph_value
|
||||
- reagent
|
||||
title: AdjustPH_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
message:
|
||||
type: string
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- success
|
||||
- message
|
||||
- return_info
|
||||
title: AdjustPH_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: AdjustPH
|
||||
type: object
|
||||
type: AdjustPH
|
||||
ResetHandlingProtocol:
|
||||
feedback: {}
|
||||
goal:
|
||||
solvent: solvent
|
||||
goal_default:
|
||||
solvent: ''
|
||||
handles:
|
||||
input:
|
||||
- data_key: solvent
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: solvent
|
||||
label: Solvent
|
||||
output: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action ResetHandling 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:
|
||||
status:
|
||||
type: string
|
||||
progress:
|
||||
type: number
|
||||
required:
|
||||
- status
|
||||
- progress
|
||||
title: ResetHandling_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
solvent:
|
||||
type: string
|
||||
required:
|
||||
- solvent
|
||||
title: ResetHandling_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
message:
|
||||
type: string
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- success
|
||||
- message
|
||||
- return_info
|
||||
title: ResetHandling_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: ResetHandling
|
||||
type: object
|
||||
type: ResetHandling
|
||||
DryProtocol:
|
||||
feedback: {}
|
||||
goal:
|
||||
compound: compound
|
||||
vessel: vessel
|
||||
goal_default:
|
||||
compound: ''
|
||||
vessel: ''
|
||||
handles:
|
||||
input:
|
||||
- data_key: vessel
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: Vessel
|
||||
label: Vessel
|
||||
output:
|
||||
- data_key: vessel
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: VesselOut
|
||||
label: Vessel
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action Dry 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:
|
||||
status:
|
||||
type: string
|
||||
progress:
|
||||
type: number
|
||||
required:
|
||||
- status
|
||||
- progress
|
||||
title: Dry_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
compound:
|
||||
type: string
|
||||
vessel:
|
||||
type: string
|
||||
required:
|
||||
- compound
|
||||
- vessel
|
||||
title: Dry_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
message:
|
||||
type: string
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- success
|
||||
- message
|
||||
- return_info
|
||||
title: Dry_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: Dry
|
||||
type: object
|
||||
type: Dry
|
||||
HydrogenateProtocol:
|
||||
feedback: {}
|
||||
goal:
|
||||
temp: temp
|
||||
time: time
|
||||
vessel: vessel
|
||||
goal_default:
|
||||
temp: ''
|
||||
time: ''
|
||||
vessel: ''
|
||||
handles:
|
||||
input:
|
||||
- data_key: vessel
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: Vessel
|
||||
label: Vessel
|
||||
output:
|
||||
- data_key: vessel
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: VesselOut
|
||||
label: Vessel
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action Hydrogenate 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:
|
||||
status:
|
||||
type: string
|
||||
progress:
|
||||
type: number
|
||||
required:
|
||||
- status
|
||||
- progress
|
||||
title: Hydrogenate_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
temp:
|
||||
type: string
|
||||
time:
|
||||
type: string
|
||||
vessel:
|
||||
type: string
|
||||
required:
|
||||
- temp
|
||||
- time
|
||||
- vessel
|
||||
title: Hydrogenate_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
message:
|
||||
type: string
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- success
|
||||
- message
|
||||
- return_info
|
||||
title: Hydrogenate_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: Hydrogenate
|
||||
type: object
|
||||
type: Hydrogenate
|
||||
RecrystallizeProtocol:
|
||||
feedback: {}
|
||||
goal:
|
||||
ratio: ratio
|
||||
solvent1: solvent1
|
||||
solvent2: solvent2
|
||||
vessel: vessel
|
||||
volume: volume
|
||||
goal_default:
|
||||
ratio: ''
|
||||
solvent1: ''
|
||||
solvent2: ''
|
||||
vessel: ''
|
||||
volume: 0.0
|
||||
handles:
|
||||
input:
|
||||
- data_key: vessel
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: Vessel
|
||||
label: Vessel
|
||||
- data_key: solvent
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: solvent1
|
||||
label: Solvent 1
|
||||
- data_key: solvent
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: solvent2
|
||||
label: Solvent 2
|
||||
output:
|
||||
- data_key: vessel
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: VesselOut
|
||||
label: Vessel
|
||||
result: {}
|
||||
schema:
|
||||
description: ROS Action Recrystallize 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:
|
||||
status:
|
||||
type: string
|
||||
progress:
|
||||
type: number
|
||||
required:
|
||||
- status
|
||||
- progress
|
||||
title: Recrystallize_Feedback
|
||||
type: object
|
||||
goal:
|
||||
description: Action 目标 - 从客户端发送到服务器
|
||||
properties:
|
||||
ratio:
|
||||
type: string
|
||||
solvent1:
|
||||
type: string
|
||||
solvent2:
|
||||
type: string
|
||||
vessel:
|
||||
type: string
|
||||
volume:
|
||||
type: number
|
||||
required:
|
||||
- ratio
|
||||
- solvent1
|
||||
- solvent2
|
||||
- vessel
|
||||
- volume
|
||||
title: Recrystallize_Goal
|
||||
type: object
|
||||
result:
|
||||
description: Action 结果 - 完成后从服务器发送到客户端
|
||||
properties:
|
||||
message:
|
||||
type: string
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- success
|
||||
- message
|
||||
- return_info
|
||||
title: Recrystallize_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: Recrystallize
|
||||
type: object
|
||||
type: Recrystallize
|
||||
module: unilabos.ros.nodes.presets.protocol_node:ROS2ProtocolNode
|
||||
status_types: {}
|
||||
type: ros2
|
||||
|
||||
@@ -923,11 +923,18 @@ class ROS2DeviceNode:
|
||||
driver_class.__module__.startswith("pylabrobot")
|
||||
or driver_class.__name__ == "LiquidHandlerAbstract"
|
||||
or driver_class.__name__ == "LiquidHandlerBiomek"
|
||||
or driver_class.__name__ == "PRCXI9300Handler"
|
||||
)
|
||||
|
||||
# TODO: 要在创建之前预先请求服务器是否有当前id的物料，放到resource_tracker中，让pylabrobot进行创建
|
||||
# 创建设备类实例
|
||||
if use_pylabrobot_creator:
|
||||
# 先对pylabrobot的子资源进行加载，不然subclass无法认出
|
||||
# 在下方对于加载Deck等Resource要手动import
|
||||
# noinspection PyUnresolvedReferences
|
||||
from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Deck
|
||||
# noinspection PyUnresolvedReferences
|
||||
from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container
|
||||
self._driver_creator = PyLabRobotCreator(
|
||||
driver_class, children=children, resource_tracker=self.resource_tracker
|
||||
)
|
||||
|
||||
@@ -148,7 +148,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
|
||||
contain_model = not issubclass(target_type, Deck)
|
||||
resource, target_type = self._process_resource_mapping(resource, target_type)
|
||||
resource_instance: Resource = resource_ulab_to_plr(resource, contain_model)
|
||||
|
||||
states[prefix_path] = resource_instance.serialize_all_state()
|
||||
# 使用 prefix_path 作为 key 存储资源状态
|
||||
if to_dict:
|
||||
serialized = resource_instance.serialize()
|
||||
@@ -199,7 +199,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
|
||||
spect = inspect.signature(deserialize_method)
|
||||
spec_args = spect.parameters
|
||||
for param_name, param_value in data.copy().items():
|
||||
if "_resource_child_name" in param_value and "_resource_type" not in param_value:
|
||||
if isinstance(param_value, dict) and "_resource_child_name" in param_value and "_resource_type" not in param_value:
|
||||
arg_value = spec_args[param_name].annotation
|
||||
data[param_name]["_resource_type"] = self.device_cls.__module__ + ":" + arg_value
|
||||
logger.debug(f"自动补充 _resource_type: {data[param_name]['_resource_type']}")
|
||||
@@ -230,7 +230,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
|
||||
spect = inspect.signature(self.device_cls.__init__)
|
||||
spec_args = spect.parameters
|
||||
for param_name, param_value in data.copy().items():
|
||||
if "_resource_child_name" in param_value and "_resource_type" not in param_value:
|
||||
if isinstance(param_value, dict) and "_resource_child_name" in param_value and "_resource_type" not in param_value:
|
||||
arg_value = spec_args[param_name].annotation
|
||||
data[param_name]["_resource_type"] = self.device_cls.__module__ + ":" + arg_value
|
||||
logger.debug(f"自动补充 _resource_type: {data[param_name]['_resource_type']}")
|
||||
|
||||
Reference in New Issue
Block a user