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Workstation templates: Resources and its CRUD, and workstation tasks (#95)

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* coin_cell_station draft

* refactor: rename "station_resource" to "deck"

* add standardized BIOYOND resources: bottle_carrier, bottle

* refactor and add BIOYOND resources tests

* add BIOYOND deck assignment and pass all tests

* fix: update resource with correct structure; remove deprecated liquid_handler set_group action

* feat: 将新威电池测试系统驱动与配置文件并入 workstation_dev_YB2 (#92)

* feat: 新威电池测试系统驱动与注册文件

* feat: bring neware driver & battery.json into workstation_dev_YB2

* add bioyond studio draft

* bioyond station with communication init and resource sync

* fix bioyond station and registry

* create/update resources with POST/PUT for big amount/ small amount data

* refactor: add itemized_carrier instead of carrier consists of ResourceHolder

* create warehouse by factory func

* update bioyond launch json

* add child_size for itemized_carrier

* fix bioyond resource io

---------

Co-authored-by: h840473807 <47357934+h840473807@users.noreply.github.com>
Co-authored-by: Xie Qiming <97236197+Andy6M@users.noreply.github.com>
This commit is contained in:
Junhan Chang
2025-09-30 17:23:13 +08:00
committed by GitHub
parent 709eb0d91c
commit cfc1ee6e79
29 changed files with 21729 additions and 110 deletions
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0
unilabos/resources/bioyond/__init__.py Normal file
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unilabos/resources/bioyond/bottle_carriers.py Normal file
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from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
from unilabos.resources.bioyond.bottles import BIOYOND_PolymerStation_Solid_Vial, BIOYOND_PolymerStation_Solution_Beaker, BIOYOND_PolymerStation_Reagent_Bottle
# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
def BIOYOND_Electrolyte_6VialCarrier(name: str) -> BottleCarrier:
"""6瓶载架 - 2x3布局"""
# 载架尺寸 (mm)
carrier_size_x = 127.8
carrier_size_y = 85.5
carrier_size_z = 50.0
# 瓶位尺寸
bottle_diameter = 30.0
bottle_spacing_x = 42.0 # X方向间距
bottle_spacing_y = 35.0 # Y方向间距
# 计算起始位置 (居中排列)
start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
sites = create_ordered_items_2d(
klass=ResourceHolder,
num_items_x=3,
num_items_y=2,
dx=start_x,
dy=start_y,
dz=5.0,
item_dx=bottle_spacing_x,
item_dy=bottle_spacing_y,
size_x=bottle_diameter,
size_y=bottle_diameter,
size_z=carrier_size_z,
)
for k, v in sites.items():
v.name = f"{name}_{v.name}"
carrier = BottleCarrier(
name=name,
size_x=carrier_size_x,
size_y=carrier_size_y,
size_z=carrier_size_z,
sites=sites,
model="BIOYOND_Electrolyte_6VialCarrier",
)
carrier.num_items_x = 3
carrier.num_items_y = 2
carrier.num_items_z = 1
for i in range(6):
carrier[i] = BIOYOND_PolymerStation_Solid_Vial(f"{name}_vial_{i+1}")
return carrier
def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier:
"""1瓶载架 - 单个中央位置"""
# 载架尺寸 (mm)
carrier_size_x = 127.8
carrier_size_y = 85.5
carrier_size_z = 100.0
# 烧杯尺寸
beaker_diameter = 80.0
# 计算中央位置
center_x = (carrier_size_x - beaker_diameter) / 2
center_y = (carrier_size_y - beaker_diameter) / 2
center_z = 5.0
carrier = BottleCarrier(
name=name,
size_x=carrier_size_x,
size_y=carrier_size_y,
size_z=carrier_size_z,
sites=create_homogeneous_resources(
klass=ResourceHolder,
locations=[Coordinate(center_x, center_y, center_z)],
resource_size_x=beaker_diameter,
resource_size_y=beaker_diameter,
name_prefix=name,
),
model="BIOYOND_Electrolyte_1BottleCarrier",
)
carrier.num_items_x = 1
carrier.num_items_y = 1
carrier.num_items_z = 1
carrier[0] = BIOYOND_PolymerStation_Solution_Beaker(f"{name}_beaker_1")
return carrier
def BIOYOND_PolymerStation_6VialCarrier(name: str) -> BottleCarrier:
"""6瓶载架 - 2x3布局"""
# 载架尺寸 (mm)
carrier_size_x = 127.8
carrier_size_y = 85.5
carrier_size_z = 50.0
# 瓶位尺寸
bottle_diameter = 30.0
bottle_spacing_x = 42.0 # X方向间距
bottle_spacing_y = 35.0 # Y方向间距
# 计算起始位置 (居中排列)
start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
sites = create_ordered_items_2d(
klass=ResourceHolder,
num_items_x=3,
num_items_y=2,
dx=start_x,
dy=start_y,
dz=5.0,
item_dx=bottle_spacing_x,
item_dy=bottle_spacing_y,
size_x=bottle_diameter,
size_y=bottle_diameter,
size_z=carrier_size_z,
)
for k, v in sites.items():
v.name = f"{name}_{v.name}"
carrier = BottleCarrier(
name=name,
size_x=carrier_size_x,
size_y=carrier_size_y,
size_z=carrier_size_z,
sites=sites,
model="BIOYOND_PolymerStation_6VialCarrier",
)
carrier.num_items_x = 3
carrier.num_items_y = 2
carrier.num_items_z = 1
ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序
for i in range(6):
carrier[i] = BIOYOND_PolymerStation_Solid_Vial(f"{name}_vial_{ordering[i]}")
return carrier
def BIOYOND_PolymerStation_1BottleCarrier(name: str) -> BottleCarrier:
"""1瓶载架 - 单个中央位置"""
# 载架尺寸 (mm)
carrier_size_x = 127.8
carrier_size_y = 85.5
carrier_size_z = 20.0
# 烧杯尺寸
beaker_diameter = 60.0
# 计算中央位置
center_x = (carrier_size_x - beaker_diameter) / 2
center_y = (carrier_size_y - beaker_diameter) / 2
center_z = 5.0
carrier = BottleCarrier(
name=name,
size_x=carrier_size_x,
size_y=carrier_size_y,
size_z=carrier_size_z,
sites=create_homogeneous_resources(
klass=ResourceHolder,
locations=[Coordinate(center_x, center_y, center_z)],
resource_size_x=beaker_diameter,
resource_size_y=beaker_diameter,
name_prefix=name,
),
model="BIOYOND_PolymerStation_1BottleCarrier",
)
carrier.num_items_x = 1
carrier.num_items_y = 1
carrier.num_items_z = 1
carrier[0] = BIOYOND_PolymerStation_Reagent_Bottle(f"{name}_flask_1")
return carrier
def BIOYOND_PolymerStation_1FlaskCarrier(name: str) -> BottleCarrier:
"""1瓶载架 - 单个中央位置"""
# 载架尺寸 (mm)
carrier_size_x = 127.8
carrier_size_y = 85.5
carrier_size_z = 20.0
# 烧杯尺寸
beaker_diameter = 70.0
# 计算中央位置
center_x = (carrier_size_x - beaker_diameter) / 2
center_y = (carrier_size_y - beaker_diameter) / 2
center_z = 5.0
carrier = BottleCarrier(
name=name,
size_x=carrier_size_x,
size_y=carrier_size_y,
size_z=carrier_size_z,
sites=create_homogeneous_resources(
klass=ResourceHolder,
locations=[Coordinate(center_x, center_y, center_z)],
resource_size_x=beaker_diameter,
resource_size_y=beaker_diameter,
name_prefix=name,
),
model="BIOYOND_PolymerStation_1FlaskCarrier",
)
carrier.num_items_x = 1
carrier.num_items_y = 1
carrier.num_items_z = 1
carrier[0] = BIOYOND_PolymerStation_Reagent_Bottle(f"{name}_bottle_1")
return carrier

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unilabos/resources/bioyond/bottles.py Normal file
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from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
# 工厂函数
def BIOYOND_PolymerStation_Solid_Vial(
name: str,
diameter: float = 20.0,
height: float = 100.0,
max_volume: float = 30000.0, # 30mL
barcode: str = None,
) -> Bottle:
"""创建粉末瓶"""
return Bottle(
name=name,
diameter=diameter,
height=height,
max_volume=max_volume,
barcode=barcode,
model="BIOYOND_PolymerStation_Solid_Vial",
)
def BIOYOND_PolymerStation_Solution_Beaker(
name: str,
diameter: float = 60.0,
height: float = 70.0,
max_volume: float = 200000.0, # 200mL
barcode: str = None,
) -> Bottle:
"""创建溶液烧杯"""
return Bottle(
name=name,
diameter=diameter,
height=height,
max_volume=max_volume,
barcode=barcode,
model="BIOYOND_PolymerStation_Solution_Beaker",
)
def BIOYOND_PolymerStation_Reagent_Bottle(
name: str,
diameter: float = 70.0,
height: float = 120.0,
max_volume: float = 500000.0, # 500mL
barcode: str = None,
) -> Bottle:
"""创建试剂瓶"""
return Bottle(
name=name,
diameter=diameter,
height=height,
max_volume=max_volume,
barcode=barcode,
model="BIOYOND_PolymerStation_Reagent_Bottle",
)

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unilabos/resources/bioyond/decks.py Normal file
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from pylabrobot.resources import Deck, Coordinate, Rotation
from unilabos.resources.bioyond.warehouses import bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x2, bioyond_warehouse_liquid_and_lid_handling
class BIOYOND_PolymerReactionStation_Deck(Deck):
def __init__(
self,
name: str = "PolymerReactionStation_Deck",
size_x: float = 2700.0,
size_y: float = 1080.0,
size_z: float = 1500.0,
category: str = "deck",
setup: bool = False
) -> None:
super().__init__(name=name, size_x=2700.0, size_y=1080.0, size_z=1500.0)
if setup:
self.setup()
def setup(self) -> None:
# 添加仓库
self.warehouses = {
"堆栈1": bioyond_warehouse_1x4x4("堆栈1"),
"堆栈2": bioyond_warehouse_1x4x4("堆栈2"),
"站内试剂存放堆栈": bioyond_warehouse_liquid_and_lid_handling("站内试剂存放堆栈"),
}
self.warehouse_locations = {
"堆栈1": Coordinate(0.0, 430.0, 0.0),
"堆栈2": Coordinate(2550.0, 430.0, 0.0),
"站内试剂存放堆栈": Coordinate(800.0, 475.0, 0.0),
}
self.warehouses["站内试剂存放堆栈"].rotation = Rotation(z=90)
for warehouse_name, warehouse in self.warehouses.items():
self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
class BIOYOND_PolymerPreparationStation_Deck(Deck):
def __init__(
self,
name: str = "PolymerPreparationStation_Deck",
size_x: float = 2700.0,
size_y: float = 1080.0,
size_z: float = 1500.0,
category: str = "deck",
setup: bool = False
) -> None:
super().__init__(name=name, size_x=2700.0, size_y=1080.0, size_z=1500.0)
if setup:
self.setup()
def setup(self) -> None:
# 添加仓库
self.warehouses = {
"io_warehouse_left": bioyond_warehouse_1x4x4("io_warehouse_left"),
"io_warehouse_right": bioyond_warehouse_1x4x4("io_warehouse_right"),
"solutions": bioyond_warehouse_1x4x2("warehouse_solutions"),
"liquid_and_lid_handling": bioyond_warehouse_liquid_and_lid_handling("warehouse_liquid_and_lid_handling"),
}
self.warehouse_locations = {
"io_warehouse_left": Coordinate(0.0, 650.0, 0.0),
"io_warehouse_right": Coordinate(2550.0, 650.0, 0.0),
"solutions": Coordinate(1915.0, 900.0, 0.0),
"liquid_and_lid_handling": Coordinate(1330.0, 490.0, 0.0),
}
for warehouse_name, warehouse in self.warehouses.items():
self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])

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unilabos/resources/bioyond/warehouses.py Normal file
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from unilabos.resources.warehouse import WareHouse, warehouse_factory
def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
"""创建BioYond 4x1x4仓库"""
return warehouse_factory(
name=name,
num_items_x=1,
num_items_y=4,
num_items_z=4,
dx=10.0,
dy=10.0,
dz=10.0,
item_dx=137.0,
item_dy=96.0,
item_dz=120.0,
category="warehouse",
)
def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
"""创建BioYond 4x1x2仓库"""
return warehouse_factory(
name=name,
num_items_x=1,
num_items_y=4,
num_items_z=2,
dx=10.0,
dy=10.0,
dz=10.0,
item_dx=137.0,
item_dy=96.0,
item_dz=120.0,
category="warehouse",
removed_positions=None
)
def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse:
"""创建BioYond开关盖加液模块台面"""
return warehouse_factory(
name=name,
num_items_x=2,
num_items_y=5,
num_items_z=1,
dx=10.0,
dy=10.0,
dz=10.0,
item_dx=137.0,
item_dy=96.0,
item_dz=120.0,
category="warehouse",
removed_positions=None
)