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Merge branch '37-biomek-i5i7' into dev

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# Conflicts:
#	README.md
#	README_zh.md
#	recipes/ros-humble-unilabos-msgs/recipe.yaml
#	recipes/unilabos/recipe.yaml
#	setup.py
#	unilabos/devices/liquid_handling/biomek.py
#	unilabos/devices/liquid_handling/biomek_test.py
#	unilabos/registry/devices/liquid_handler.yaml
#	unilabos/registry/registry.py
#	unilabos/ros/msgs/message_converter.py
#	unilabos_msgs/action/LiquidHandlerMoveBiomek.action
#	unilabos_msgs/action/LiquidHandlerTransferBiomek.action
This commit is contained in:
Xuwznln
2025-06-10 02:00:43 +08:00
parent 2e9a0a4677 6ae77e0408
commit ea5e7a5ce2
2 changed files with 25 additions and 13 deletions
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18
unilabos/devices/liquid_handling/biomek.py
View File

@@ -10,7 +10,6 @@ from pylabrobot.resources import (
Container,
Coordinate,
)
import copy
from unilabos_msgs.msg import Resource
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker # type: ignore
@@ -62,7 +61,7 @@ class LiquidHandlerBiomek:
'LocalPattern': True,
'Operation': 'Aspirate',
'OverrideHeight': False,
'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True),
'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True),
'Prototype': 'MC P300 High',
'ReferencedPattern': '',
'RowsFirst': False,
@@ -451,8 +450,8 @@ class LiquidHandlerBiomek:
"""
items = []
asp_params = copy.deepcopy(self.aspirate_techniques[aspirate_techniques])
dis_params = copy.deepcopy(self.dispense_techniques[dispense_techniques])
asp_params = self.aspirate_techniques.get(aspirate_techniques, {})
dis_params = self.dispense_techniques.get(dispense_techniques, {})
asp_params['Position'] = source
dis_params['Position'] = target
@@ -565,7 +564,7 @@ class LiquidHandlerBiomek:
if __name__ == "__main__":
print("=== Biomek完整流程测试 ===")
print("包含: 仪器设置 + 完整实验步骤")
@@ -969,6 +968,15 @@ if __name__ == "__main__":
"liquid_volume": [],
"liquid_input_wells": []
},
{
"id": "working plate on P12",
"parent": "deck",
"slot_on_deck": "P12",
"class_name": "BCDeep96Round",
"liquid_type": [],
"liquid_volume": [],
"liquid_input_wells": []
},
{
"id": "working plate on P13",
"parent": "deck",

20
unilabos/devices/liquid_handling/biomek_test.py
View File

@@ -15,7 +15,6 @@ from typing import List, Sequence, Optional, Union, Literal
import json
import pathlib
from typing import Sequence, Optional, List, Union, Literal
import copy
@@ -68,7 +67,7 @@ class LiquidHandlerBiomek:
'LocalPattern': True,
'Operation': 'Aspirate',
'OverrideHeight': False,
'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True),
'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True),
'Prototype': 'MC P300 High',
'ReferencedPattern': '',
'RowsFirst': False,
@@ -352,9 +351,8 @@ class LiquidHandlerBiomek:
"""
items = []
asp_params = copy.deepcopy(self.aspirate_techniques[aspirate_techniques])
dis_params = copy.deepcopy(self.dispense_techniques[dispense_techniques])
asp_params = self.aspirate_techniques.get(aspirate_techniques, {})
dis_params = self.dispense_techniques.get(dispense_techniques, {})
asp_params['Position'] = source
dis_params['Position'] = target
@@ -405,9 +403,7 @@ class LiquidHandlerBiomek:
transfer_params["Solvent"] = 'Water'
transfer_params["TipLocation"] = tip_rack
tmp={'transfer': transfer_params}
self.temp_protocol["steps"].append(tmp)
return
@@ -876,6 +872,15 @@ if __name__ == "__main__":
"liquid_volume": [],
"liquid_input_wells": []
},
{
"id": "working plate on P12",
"parent": "deck",
"slot_on_deck": "P12",
"class_name": "BCDeep96Round",
"liquid_type": [],
"liquid_volume": [],
"liquid_input_wells": []
},
{
"id": "working plate on P13",
"parent": "deck",
@@ -963,7 +968,6 @@ if __name__ == "__main__":
print(f"步骤 {step['step_number']}: {description}")
if operation == 'transfer':
handler.transfer_biomek(
source=parameters['source'],
target=parameters['target'],