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Merge branch 'dev' into prcix9320

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q434343
2026-02-06 15:14:59 +08:00
parent abf5555e37 4f7d431c0b
commit f6d46e669d
20 changed files with 1603 additions and 361 deletions
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21
unilabos/devices/liquid_handling/liquid_handler_abstract.py
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@@ -27,7 +27,12 @@ from typing_extensions import TypedDict
from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
from unilabos.registry.placeholder_type import ResourceSlot
from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDict
from unilabos.resources.resource_tracker import (
ResourceTreeSet,
ResourceDict,
EXTRA_SAMPLE_UUID,
EXTRA_UNILABOS_SAMPLE_UUID,
)
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
@@ -241,7 +246,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
res_samples.append({"name": resource.name, "sample_uuid": resource.unilabos_extra.get("sample_uuid", None)})
res_volumes.append(volume)
self.pending_liquids_dict[channel] = {
"sample_uuid": resource.unilabos_extra.get("sample_uuid", None),
EXTRA_SAMPLE_UUID: sample_uuid_value,
"volume": volume,
}
return SimpleReturn(samples=res_samples, volumes=res_volumes)
@@ -283,10 +288,10 @@ class LiquidHandlerMiddleware(LiquidHandler):
res_samples = []
res_volumes = []
for resource, volume, channel in zip(resources, vols, use_channels):
res_uuid = self.pending_liquids_dict[channel]["sample_uuid"]
res_uuid = self.pending_liquids_dict[channel][EXTRA_SAMPLE_UUID]
self.pending_liquids_dict[channel]["volume"] -= volume
resource.unilabos_extra["sample_uuid"] = res_uuid
res_samples.append({"name": resource.name, "sample_uuid": res_uuid})
resource.unilabos_extra[EXTRA_SAMPLE_UUID] = res_uuid
res_samples.append({"name": resource.name, EXTRA_SAMPLE_UUID: res_uuid})
res_volumes.append(volume)
return SimpleReturn(samples=res_samples, volumes=res_volumes)
@@ -691,16 +696,14 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
)
def set_liquid_from_plate(
self, plate: List[ResourceSlot], well_names: list[str], liquid_names: list[str], volumes: list[float]
self, 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。
"""
if isinstance(plate, list): # 未来移除
plate = plate[0]
assert issubclass(plate.__class__, Plate), "plate must be a Plate"
plate: Plate = cast(Plate, plate)
plate: Plate = cast(Plate, cast(Resource, plate))
# 根据 well_names 获取对应的 Well 对象
wells = [plate.get_well(name) for name in well_names]
res_volumes = []