支持Biomek创建

unilabos/devices/liquid_handling/biomek.py

@@ -1,7 +1,8 @@
 import requests
 from typing import List, Sequence, Optional, Union, Literal
 from geometry_msgs.msg import Point
-#from unilabos_msgs.msg import Resource
+from pylabrobot.liquid_handling import LiquidHandler
+from unilabos_msgs.msg import Resource
 
 from pylabrobot.resources import (
     TipRack,
@@ -22,8 +23,8 @@ class LiquidHandlerBiomek(LiquidHandlerAbstract):
     该类用于处理Biomek液体处理器的特定操作。
     """
 
-    def __init__(self, *args, **kwargs):
-        super().__init__(*args, **kwargs)
+    def __init__(self, backend=None, deck=None, *args, **kwargs):
+        super().__init__(backend, deck, *args, **kwargs)
         self._status = "Idle"  # 初始状态为 Idle
         self._success = False  # 初始成功状态为 False
         self._status_queue = kwargs.get("status_queue", None)  # 状态队列
@@ -71,6 +72,10 @@ class LiquidHandlerBiomek(LiquidHandlerAbstract):
             }
         }
 
+    @classmethod
+    def deserialize(cls, data: dict, allow_marshal: bool = False) -> LiquidHandler:
+        return LiquidHandler.deserialize(data, allow_marshal)
+
 
     def create_protocol(
         self,
@@ -259,7 +264,7 @@ class LiquidHandlerBiomek(LiquidHandlerAbstract):
             }
         transfer_params["items"] = items
 
-        transfer_params["Solvent"] =  solvent if solvent else "Water"
+        transfer_params["Solvent"] = "Water"
         TipLocation = tip_racks[0].name
         transfer_params["TipLocation"] = TipLocation
 
@@ -340,8 +345,11 @@ class LiquidHandlerBiomek(LiquidHandlerAbstract):
         
         return 
 
-steps_info = ''' 
-{
+
+if __name__ == "__main__":
+
+    steps_info = ''' 
+    {
       "steps": [
         {
           "step_number": 1,
@@ -600,12 +608,12 @@ steps_info = '''
           }
         }
       ]
-}
-'''
+    }
+    '''
 
 
-labware_with_liquid = '''
-[    {
+    labware_with_liquid = '''
+    [    {
             "id": "stock plate on P1",
             "parent": "deck",
             "slot_on_deck": "P1",
@@ -801,21 +809,21 @@ labware_with_liquid = '''
             "liquid_input_wells": [
             ]
         }
-]
+    ]
     
-'''
+    '''
 
-handler = LiquidHandlerBiomek()
-handler.temp_protocol = {
+    handler = LiquidHandlerBiomek()
+    handler.temp_protocol = {
         "meta": {},
         "labwares": [],
         "steps": []
-}
+    }
 
-input_steps = json.loads(steps_info)
-labwares = json.loads(labware_with_liquid)
+    input_steps = json.loads(steps_info)
+    labwares = json.loads(labware_with_liquid)
 
-for step in input_steps['steps']:
+    for step in input_steps['steps']:
         if step['operation'] != 'transfer':
             continue
         parameters = step['parameters']
@@ -830,5 +838,5 @@ for step in input_steps['steps']:
                                 aspirate_techniques='MC P300 high',
                                 dispense_techniques='MC P300 high'
                                 )
-print(json.dumps(handler.temp_protocol['steps'],indent=4, ensure_ascii=False))
+    print(json.dumps(handler.temp_protocol['steps'],indent=4, ensure_ascii=False))
 

unilabos/ros/nodes/base_device_node.py

@@ -805,7 +805,9 @@ class ROS2DeviceNode:
         self.resource_tracker = DeviceNodeResourceTracker()
 
         # use_pylabrobot_creator 使用 cls的包路径检测
-        use_pylabrobot_creator = driver_class.__module__.startswith("pylabrobot") or driver_class.__name__ == "LiquidHandlerAbstract"
+        use_pylabrobot_creator = (driver_class.__module__.startswith("pylabrobot")
+                                  or driver_class.__name__ == "LiquidHandlerAbstract"
+                                  or driver_class.__name__ == "LiquidHandlerBiomek")
 
         # 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