diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index 02ef20d..67e25ea 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -30,10 +30,11 @@ from pylabrobot.liquid_handling.standard import ( ResourceMove, ResourceDrop, ) -from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, PlateAdapter, TubeRack +from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, PlateAdapter, TubeRack, create_homogeneous_resources, create_ordered_items_2d from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract, SimpleReturn -from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode +from unilabos.resources.itemized_carrier import ItemizedCarrier +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode class PRCXIError(RuntimeError): @@ -86,19 +87,81 @@ class PRCXI9300Container(Plate): category: str, ordering: collections.OrderedDict, model: Optional[str] = None, + material_info: Optional[Dict[str, Any]] = None, + ordering_layout: str = "col-major", **kwargs, ): super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model) self._unilabos_state = {} + self.sites = kwargs.get("sites", []) + self.sites = create_homogeneous_resources( + klass=ResourceHolder, + locations=[Coordinate(0, 0, 0)], + resource_size_x=size_x, + resource_size_y=size_y, + resource_size_z=size_z, + name_prefix=name, + )[0] + # 为 ItemizedCarrier 添加 _unilabos_state 属性，以便与其他 PRCXI 组件兼容 + sites_resource = ItemizedCarrier( + name=name+"_sites", + sites={name: self.sites}, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category="warehouse", + model=model, + ) + sites_resource._unilabos_state = {} # 添加 _unilabos_state 属性 + if material_info: + sites_resource._unilabos_state["Material"] = material_info + + self.assign_child_resource(sites_resource, location=self.sites.location) + + # 保存排序方式，供graphio.py的坐标映射使用 + # 使用独立属性避免与父类的layout冲突 + self.ordering_layout = ordering_layout + + def serialize(self) -> dict: + """序列化时保存 ordering_layout 属性""" + data = super().serialize() + data['ordering_layout'] = self.ordering_layout + return data def load_state(self, state: Dict[str, Any]) -> None: """从给定的状态加载工作台信息。""" super().load_state(state) self._unilabos_state = state + def get_site(self) -> ResourceHolder: + """获取容器的站点""" + return self.sites + + def add_resource_to_site(self, resource) -> None: + """向站点添加资源""" + self.sites.assign_child_resource(resource) + + def get_resource_at_site(self): + """获取站点上的资源""" + return self.sites.children[0] if self.sites.children else None + def serialize_state(self) -> Dict[str, Dict[str, Any]]: data = super().serialize_state() data.update(self._unilabos_state) + + # 避免序列化 ResourceHolder 对象 + if hasattr(self, 'sites') and self.sites: + # 创建 sites 的可序列化版本 + if hasattr(self.sites, '__class__') and 'pylabrobot' in str(self.sites.__class__.__module__): + data['sites'] = { + "__pylabrobot_object__": True, + "class": self.sites.__class__.__name__, + "module": self.sites.__class__.__module__, + "name": getattr(self.sites, 'name', str(self.sites)) + } + else: + data['sites'] = self.sites + return data class PRCXI9300Plate(Plate): """ @@ -210,9 +273,16 @@ class PRCXI9300TipRack(TipRack): # 使用 ordering 参数，只包含位置信息（键） ordering_param = collections.OrderedDict((k, None) for k in ordering.keys()) else: - # ordering 的值已经是对象，可以直接使用 - items = ordering - ordering_param = None + # ordering 的值已经是对象，需要过滤掉 None 值 + # 只保留有效的对象，用于 ordered_items 参数 + valid_items = {k: v for k, v in ordering.items() if v is not None} + if valid_items: + items = valid_items + ordering_param = None + else: + # 如果没有有效对象，使用 ordering 参数 + items = None + ordering_param = collections.OrderedDict((k, None) for k in ordering.keys()) else: items = None ordering_param = None @@ -348,9 +418,16 @@ class PRCXI9300TubeRack(TubeRack): # 使用 ordering 参数，只包含位置信息（键） ordering_param = collections.OrderedDict((k, None) for k in ordering.keys()) else: - # ordering 的值已经是对象，可以直接使用 - items_to_pass = ordering - ordering_param = None + # ordering 的值已经是对象，需要过滤掉 None 值 + # 只保留有效的对象，用于 ordered_items 参数 + valid_items = {k: v for k, v in ordering.items() if v is not None} + if valid_items: + items_to_pass = valid_items + ordering_param = None + else: + # 如果没有有效对象，使用 ordering 参数 + items_to_pass = None + ordering_param = collections.OrderedDict((k, None) for k in ordering.keys()) elif items is not None: # 兼容旧的 items 参数 items_to_pass = items @@ -804,7 +881,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract): **backend_kwargs, ): - return await super().move_plate( + res = await super().move_plate( plate, to, intermediate_locations, @@ -816,6 +893,12 @@ class PRCXI9300Handler(LiquidHandlerAbstract): target_plate_number = to, **backend_kwargs, ) + plate.unassign() + to.assign_child_resource(plate, location=Coordinate(0, 0, 0)) + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [self.deck] + }) + return res class PRCXI9300Backend(LiquidHandlerBackend): """PRCXI 9300 的后端实现，继承自 LiquidHandlerBackend。 diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml index b0656d1..c611d21 100644 --- a/unilabos/registry/devices/liquid_handler.yaml +++ b/unilabos/registry/devices/liquid_handler.yaml @@ -4019,7 +4019,8 @@ liquid_handler: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: 0 + mix_times: + - 0 mix_vol: 0 none_keys: - '' @@ -4175,9 +4176,11 @@ liquid_handler: mix_stage: type: string mix_times: - maximum: 2147483647 - minimum: -2147483648 - type: integer + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array mix_vol: maximum: 2147483647 minimum: -2147483648 @@ -5040,7 +5043,8 @@ liquid_handler.biomek: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: 0 + mix_times: + - 0 mix_vol: 0 none_keys: - '' @@ -5183,9 +5187,11 @@ liquid_handler.biomek: mix_stage: type: string mix_times: - maximum: 2147483647 - minimum: -2147483648 - type: integer + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array mix_vol: maximum: 2147483647 minimum: -2147483648 @@ -9665,7 +9671,8 @@ liquid_handler.prcxi: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: 0 + mix_times: + - 0 mix_vol: 0 none_keys: - '' @@ -9821,9 +9828,11 @@ liquid_handler.prcxi: mix_stage: type: string mix_times: - maximum: 2147483647 - minimum: -2147483648 - type: integer + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array mix_vol: maximum: 2147483647 minimum: -2147483648 diff --git a/unilabos/test/experiments/prcxi_9320_with_res_test.json b/unilabos/test/experiments/prcxi_9320_with_res_test.json index d29918c..96f780d 100644 --- a/unilabos/test/experiments/prcxi_9320_with_res_test.json +++ b/unilabos/test/experiments/prcxi_9320_with_res_test.json @@ -8,8 +8,8 @@ "parent": "", "pose": { "size": { - "width": 562, - "height": 394, + "width": 542, + "height": 374, "depth": 0 } }, @@ -37,7 +37,7 @@ "model": null, "position": { "x": 0, - "y": 240, + "y": 700, "z": 0 } }, @@ -50,8 +50,8 @@ "type": "deck", "class": "", "position": { - "x": 10, - "y": 10, + "x": 0, + "y": 0, "z": 0 }, "config": { @@ -83,7 +83,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300PlateAdapterSite", "size_x": 127, "size_y": 85.5, "size_z": 10, @@ -96,7 +96,7 @@ "category": "plate", "model": null, "barcode": null, - "ordering": {}, + "sites": [ { "label": "T1", @@ -128,7 +128,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300PlateAdapterSite", "size_x": 127, "size_y": 85.5, "size_z": 10, @@ -141,7 +141,7 @@ "category": "plate", "model": null, "barcode": null, - "ordering": {}, + "sites": [ { "label": "T2", @@ -173,7 +173,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300PlateAdapterSite", "size_x": 127, "size_y": 85.5, "size_z": 10, @@ -186,7 +186,7 @@ "category": "plate", "model": null, "barcode": null, - "ordering": {}, + "sites": [ { "label": "T3", @@ -218,7 +218,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300PlateAdapterSite", "size_x": 127, "size_y": 85.5, "size_z": 10, @@ -231,7 +231,7 @@ "category": "plate", "model": null, "barcode": null, - "ordering": {}, + "sites": [ { "label": "T4", @@ -263,7 +263,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300PlateAdapterSite", "size_x": 127, "size_y": 85.5, "size_z": 10, @@ -276,7 +276,7 @@ "category": "plate", "model": null, "barcode": null, - "ordering": {}, + "sites": [ { "label": "T5", @@ -308,7 +308,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300PlateAdapterSite", "size_x": 127, "size_y": 85.5, "size_z": 10, @@ -321,7 +321,7 @@ "category": "plate", "model": null, "barcode": null, - "ordering": {}, + "sites": [ { "label": "T6", @@ -353,7 +353,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300PlateAdapterSite", "size_x": 127, "size_y": 85.5, "size_z": 10, @@ -366,7 +366,7 @@ "category": "plate", "model": null, "barcode": null, - "ordering": {}, + "sites": [ { "label": "T7", @@ -398,7 +398,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300PlateAdapterSite", "size_x": 127, "size_y": 85.5, "size_z": 10, @@ -411,7 +411,7 @@ "category": "plate", "model": null, "barcode": null, - "ordering": {}, + "sites": [ { "label": "T8", @@ -443,7 +443,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300PlateAdapterSite", "size_x": 127, "size_y": 85.5, "size_z": 10, @@ -456,7 +456,7 @@ "category": "plate", "model": null, "barcode": null, - "ordering": {}, + "sites": [ { "label": "T9", @@ -488,7 +488,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300PlateAdapterSite", "size_x": 127, "size_y": 85.5, "size_z": 10, @@ -501,7 +501,7 @@ "category": "plate", "model": null, "barcode": null, - "ordering": {}, + "sites": [ { "label": "T10", @@ -533,7 +533,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300PlateAdapterSite", "size_x": 127, "size_y": 85.5, "size_z": 10, @@ -546,7 +546,7 @@ "category": "plate", "model": null, "barcode": null, - "ordering": {}, + "sites": [ { "label": "T11", @@ -578,7 +578,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300PlateAdapterSite", "size_x": 127, "size_y": 85.5, "size_z": 10, @@ -591,7 +591,7 @@ "category": "plate", "model": null, "barcode": null, - "ordering": {}, + "sites": [ { "label": "T12", @@ -623,7 +623,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300PlateAdapterSite", "size_x": 127, "size_y": 85.5, "size_z": 10, @@ -636,7 +636,7 @@ "category": "plate", "model": null, "barcode": null, - "ordering": {}, + "sites": [ { "label": "T13", @@ -668,7 +668,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300PlateAdapterSite", "size_x": 127, "size_y": 85.5, "size_z": 10, @@ -681,7 +681,7 @@ "category": "plate", "model": null, "barcode": null, - "ordering": {}, + "sites": [ { "label": "T14", @@ -713,7 +713,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300PlateAdapterSite", "size_x": 127, "size_y": 85.5, "size_z": 10, @@ -726,7 +726,7 @@ "category": "plate", "model": null, "barcode": null, - "ordering": {}, + "sites": [ { "label": "T15", @@ -758,7 +758,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300PlateAdapterSite", "size_x": 127, "size_y": 85.5, "size_z": 10, @@ -771,7 +771,7 @@ "category": "plate", "model": null, "barcode": null, - "ordering": {}, + "sites": [ { "label": "T16",