open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/dptech-corp/Uni-Lab-OS.git synced 2026-02-06 06:25:06 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'dev' into feature/organic-extraction

Browse Source
This commit is contained in:
ZiWei
2026-02-04 15:47:47 +08:00
parent 64c748d921 84a8223173
commit e4e4bfbe20
9 changed files with 1096 additions and 183 deletions
Download Patch File Download Diff File Expand all files Collapse all files

71
unilabos/devices/liquid_handling/liquid_handler_abstract.py
View File

@@ -1,15 +1,11 @@
from __future__ import annotations
import asyncio
import time
import traceback
from collections import Counter
from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
from typing_extensions import TypedDict
from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness
from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend
from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod
from pylabrobot.liquid_handling.standard import GripDirection
from pylabrobot.resources import (
@@ -28,14 +24,27 @@ from pylabrobot.resources import (
Tip,
)
from unilabos.registry.placeholder_type import ResourceSlot
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
from unilabos.resources.resource_tracker import ResourceTreeSet
class SimpleReturn(TypedDict):
samples: list
volumes: list
samples: List[List[ResourceDict]]
volumes: List[float]
class SetLiquidReturn(TypedDict):
wells: List[List[ResourceDict]]
volumes: List[float]
class SetLiquidFromPlateReturn(TypedDict):
plate: List[List[ResourceDict]]
wells: List[List[ResourceDict]]
volumes: List[float]
class TransferLiquidReturn(TypedDict):
sources: List[List[ResourceDict]]
targets: List[List[ResourceDict]]
class SetLiquidReturn(TypedDict):
@@ -678,40 +687,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
well.set_liquids([(liquid_name, volume)]) # type: ignore
res_volumes.append(volume)
return SetLiquidReturn(
wells=ResourceTreeSet.from_plr_resources(wells, known_newly_created=False).dump(), volumes=res_volumes # type: ignore
)
@classmethod
def set_liquid_from_plate(
cls, plate: ResourceSlot, well_names: list[str], liquid_names: list[str], volumes: list[float]
) -> SetLiquidFromPlateReturn:
"""Set the liquid in wells of a plate by well names (e.g., A1, A2, B3).
如果 liquid_names 和 volumes 为空，但 plate 和 well_names 不为空，直接返回 plate 和 wells。
"""
# 根据 well_names 获取对应的 Well 对象
wells = [plate.get_well(name) for name in well_names]
res_volumes = []
# 如果 liquid_names 和 volumes 都为空，直接返回
if not liquid_names and not volumes:
return SetLiquidFromPlateReturn(
plate=ResourceTreeSet.from_plr_resources([plate], known_newly_created=False).dump(), # type: ignore
wells=ResourceTreeSet.from_plr_resources(wells, known_newly_created=False).dump(), # type: ignore
volumes=res_volumes,
)
for well, liquid_name, volume in zip(wells, liquid_names, volumes):
well.set_liquids([(liquid_name, volume)]) # type: ignore
res_volumes.append(volume)
return SetLiquidFromPlateReturn(
plate=ResourceTreeSet.from_plr_resources([plate], known_newly_created=False).dump(), # type: ignore
wells=ResourceTreeSet.from_plr_resources(wells, known_newly_created=False).dump(), # type: ignore
volumes=res_volumes,
)
return SimpleReturn(samples=res_samples, volumes=res_volumes)
# ---------------------------------------------------------------
# REMOVE LIQUID --------------------------------------------------
# ---------------------------------------------------------------
@@ -1111,7 +1087,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
mix_liquid_height: Optional[float] = None,
delays: Optional[List[int]] = None,
none_keys: List[str] = [],
):
) -> TransferLiquidReturn:
"""Transfer liquid with automatic mode detection.
Supports three transfer modes:
@@ -1251,6 +1227,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
"Supported modes: 1->N, N->1, or N->N."
)
return TransferLiquidReturn(
sources=ResourceTreeSet.from_plr_resources(list(sources), known_newly_created=False).dump(), # type: ignore
targets=ResourceTreeSet.from_plr_resources(list(targets), known_newly_created=False).dump(), # type: ignore
)
async def _transfer_one_to_one(
self,
sources: Sequence[Container],

27
unilabos/devices/liquid_handling/prcxi/prcxi.py
View File

@@ -52,6 +52,7 @@ from unilabos.devices.liquid_handling.liquid_handler_abstract import (
SimpleReturn,
SetLiquidReturn,
SetLiquidFromPlateReturn,
TransferLiquidReturn,
)
from unilabos.registry.placeholder_type import ResourceSlot
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
@@ -154,25 +155,29 @@ class PRCXI9300Plate(Plate):
**kwargs,
):
# 如果 ordered_items 不为 None，直接使用
items = None
ordering_param = None
if ordered_items is not None:
items = ordered_items
elif ordering is not None:
# 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
# 如果是字符串，说明这是位置名称，需要让 Plate 自己创建 Well 对象
# 我们只传递位置信息（键），不传递值，使用 ordering 参数
if ordering and isinstance(next(iter(ordering.values()), None), str):
# ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
# 传递 ordering 参数而不是 ordered_items，让 Plate 自己创建 Well 对象
items = None
# 使用 ordering 参数，只包含位置信息（键）
ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
if ordering:
values = list(ordering.values())
value = values[0]
if isinstance(value, str):
# ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
# 传递 ordering 参数而不是 ordered_items，让 Plate 自己创建 Well 对象
items = None
# 使用 ordering 参数，只包含位置信息（键）
ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
elif value is None:
ordering_param = ordering
else:
# ordering 的值已经是对象，可以直接使用
items = ordering
ordering_param = None
else:
items = None
ordering_param = None
# 根据情况传递不同的参数
if items is not None:
@@ -590,7 +595,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
return super().set_liquid(wells, liquid_names, volumes)
def set_liquid_from_plate(
self, plate: ResourceSlot, well_names: list[str], liquid_names: list[str], volumes: list[float]
self, plate: List[ResourceSlot], well_names: list[str], liquid_names: list[str], volumes: list[float]
) -> SetLiquidFromPlateReturn:
return super().set_liquid_from_plate(plate, well_names, liquid_names, volumes)
@@ -713,7 +718,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
mix_liquid_height: Optional[float] = None,
delays: Optional[List[int]] = None,
none_keys: List[str] = [],
):
) -> TransferLiquidReturn:
return await super().transfer_liquid(
sources,
targets,