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c7b9c6a825
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a62112ae26 |
@@ -32,46 +32,63 @@ class LiquidHandlerBiomek(LiquidHandlerAbstract):
|
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self.py32_path = "/opt/py32" # Biomek的Python 3.2路径
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self.aspirate_techniques = {
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'MC P300 high':{
|
||||
"Solvent": "Water",
|
||||
'Position': 'P1',
|
||||
'Height': -2.0,
|
||||
'Volume': '50',
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||||
'liquidtype': 'Well Contents',
|
||||
'WellsX': 12,
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||||
'LabwareClass': 'Matrix96_750uL',
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||||
'AutoSelectPrototype': True,
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'ColsFirst': True,
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'CustomHeight': False,
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||||
'DataSetPattern': False,
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||||
'HeightFrom': 0,
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||||
'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),
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||||
'Prototype': 'MC P300 High',
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||||
'ReferencedPattern': '',
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||||
'RowsFirst': False,
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'SectionExpression': '',
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||||
'SelectionInfo': (1,),
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'SetMark': True,
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||||
'Source': True,
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||||
'StartAtMark': False,
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||||
'StartAtSelection': True,
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'UseExpression': False},
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}
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}
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self.dispense_techniques = {
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'MC P300 high':{
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"Span8": False,
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"Pod": "Pod1",
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"Wash": False,
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"Dynamic?": True,
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||||
"AutoSelectActiveWashTechnique": False,
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||||
"ActiveWashTechnique": "",
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||||
"ChangeTipsBetweenDests": True,
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||||
"ChangeTipsBetweenSources": False,
|
||||
"DefaultCaption": "",
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||||
"UseExpression": False,
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||||
"LeaveTipsOn": False,
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||||
"MandrelExpression": "",
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||||
"Repeats": "1",
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||||
"RepeatsByVolume": False,
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"Replicates": "1",
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"ShowTipHandlingDetails": False,
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"ShowTransferDetails": True,
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"Span8Wash": False,
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"Span8WashVolume": "2",
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"Span8WasteVolume": "1",
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"SplitVolume": False,
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"SplitVolumeCleaning": False,
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"Stop": "Destinations",
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"UseCurrentTips": False,
|
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"UseDisposableTips": False,
|
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"UseFixedTips": False,
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||||
"UseJIT": True,
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"UseMandrelSelection": True,
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||||
"UseProbes": [True, True, True, True, True, True, True, True],
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"WashCycles": "3",
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"WashVolume": "110%",
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"Wizard": False
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}
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'Position': 'P11',
|
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'Height': -2.0,
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'Volume': '50',
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'liquidtype': 'Tip Contents',
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'WellsX': 12,
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'LabwareClass': 'Matrix96_750uL',
|
||||
'AutoSelectPrototype': True,
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||||
'ColsFirst': True,
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||||
'CustomHeight': False,
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||||
'DataSetPattern': False,
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||||
'HeightFrom': 0,
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||||
'LocalPattern': True,
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'Operation': 'Dispense',
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'OverrideHeight': False,
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'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),
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||||
'Prototype': 'MC P300 High',
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||||
'ReferencedPattern': '',
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||||
'RowsFirst': False,
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||||
'SectionExpression': '',
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||||
'SelectionInfo': (1,),
|
||||
'SetMark': True,
|
||||
'Source': False,
|
||||
'StartAtMark': False,
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||||
'StartAtSelection': True,
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||||
'UseExpression': False}
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||||
}
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||||
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||||
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||||
@classmethod
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||||
def deserialize(cls, data: dict, allow_marshal: bool = False) -> LiquidHandler:
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return LiquidHandler.deserialize(data, allow_marshal)
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||||
@@ -347,9 +364,63 @@ class LiquidHandlerBiomek(LiquidHandlerAbstract):
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||||
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||||
return
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||||
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||||
def move_biomek(
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||||
self,
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||||
source: str,
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||||
target: str,
|
||||
):
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||||
"""
|
||||
处理Biomek移动板子的操作。
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||||
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"""
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||||
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||||
move_params = {
|
||||
"Pod": "Pod1",
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||||
"GripSide": "A1 near",
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||||
"Source": source,
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"Target": target,
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||||
"LeaveBottomLabware": False,
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||||
}
|
||||
self.temp_protocol["steps"].append(move_params)
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||||
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||||
return
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||||
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||||
def incubation_biomek(
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||||
self,
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||||
time: int,
|
||||
):
|
||||
"""
|
||||
处理Biomek的孵育操作。
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||||
"""
|
||||
incubation_params = {
|
||||
"Message": "Paused",
|
||||
"Location": "the whole system",
|
||||
"Time": time,
|
||||
"Mode": "TimedResource"
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||||
}
|
||||
self.temp_protocol["steps"].append(incubation_params)
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||||
|
||||
return
|
||||
|
||||
def oscillation_biomek(
|
||||
self,
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||||
rpm: int,
|
||||
time: int,
|
||||
):
|
||||
"""
|
||||
处理Biomek的振荡操作。
|
||||
"""
|
||||
oscillation_params = {
|
||||
'Device': 'OrbitalShaker0',
|
||||
'Parameters': (str(rpm), '2', str(time), 'CounterClockwise'),
|
||||
'Command': 'Timed Shake'
|
||||
}
|
||||
self.temp_protocol["steps"].append(oscillation_params)
|
||||
|
||||
return
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
steps_info = '''
|
||||
{
|
||||
"steps": [
|
||||
@@ -612,33 +683,20 @@ if __name__ == "__main__":
|
||||
]
|
||||
}
|
||||
'''
|
||||
|
||||
|
||||
|
||||
labware_with_liquid = '''
|
||||
[ {
|
||||
"id": "stock plate on P1",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "P1",
|
||||
"class_name": "nest_12_reservoir_15ml",
|
||||
"liquid_type": [
|
||||
"master_mix"
|
||||
],
|
||||
"liquid_volume": [10000],
|
||||
"liquid_input_wells": [
|
||||
"A1"
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "Tip Rack BC230 TL2",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "TL2",
|
||||
"class_name": "BC230",
|
||||
"liquid_type": [],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
},
|
||||
labware_with_liquid = '''
|
||||
[ {
|
||||
"id": "stock plate on P1",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "P1",
|
||||
"class_name": "nest_12_reservoir_15ml",
|
||||
"liquid_type": [
|
||||
"master_mix"
|
||||
],
|
||||
"liquid_volume": [10000],
|
||||
"liquid_input_wells": [
|
||||
"A1"
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "Tip Rack BC230 TL2",
|
||||
"parent": "deck",
|
||||
@@ -650,206 +708,222 @@ labware_with_liquid = '''
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "Tip Rack BC230 on TL3",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "TL3",
|
||||
"class_name": "BC230",
|
||||
"liquid_type": [],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "Tip Rack BC230 on TL4",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "TL4",
|
||||
"class_name": "BC230",
|
||||
"liquid_type": [],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "Tip Rack BC230 on TL5",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "TL5",
|
||||
"class_name": "BC230",
|
||||
"liquid_type": [],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
},
|
||||
"id": "Tip Rack BC230 TL2",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "TL2",
|
||||
"class_name": "BC230",
|
||||
"liquid_type": [],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "Tip Rack BC230 on P5",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "P5",
|
||||
"class_name": "BC230",
|
||||
"liquid_type": [],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
},
|
||||
"id": "Tip Rack BC230 on TL3",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "TL3",
|
||||
"class_name": "BC230",
|
||||
"liquid_type": [],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "Tip Rack BC230 on TL4",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "TL4",
|
||||
"class_name": "BC230",
|
||||
"liquid_type": [],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "Tip Rack BC230 on TL5",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "TL5",
|
||||
"class_name": "BC230",
|
||||
"liquid_type": [],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "Tip Rack BC230 on P6",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "P6",
|
||||
"class_name": "BC230",
|
||||
"liquid_type": [],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
},
|
||||
"id": "Tip Rack BC230 on P5",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "P5",
|
||||
"class_name": "BC230",
|
||||
"liquid_type": [],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "Tip Rack BC230 on P7",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "P7",
|
||||
"class_name": "BC230",
|
||||
"liquid_type": [],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "Tip Rack BC230 on P8",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "P8",
|
||||
"class_name": "BC230",
|
||||
"liquid_type": [],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
},
|
||||
"id": "Tip Rack BC230 on P6",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "P6",
|
||||
"class_name": "BC230",
|
||||
"liquid_type": [],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "Tip Rack BC230 on P7",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "P7",
|
||||
"class_name": "BC230",
|
||||
"liquid_type": [],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "Tip Rack BC230 P16",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "P16",
|
||||
"class_name": "BC230",
|
||||
"liquid_type": [],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "stock plate on 4",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "P2",
|
||||
"class_name": "nest_12_reservoir_15ml",
|
||||
"liquid_type": [
|
||||
"bind beads"
|
||||
],
|
||||
"liquid_volume": [10000],
|
||||
"liquid_input_wells": [
|
||||
"A1"
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "stock plate on P2",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "P2",
|
||||
"class_name": "nest_12_reservoir_15ml",
|
||||
"liquid_type": [
|
||||
"bind beads"
|
||||
],
|
||||
"liquid_volume": [10000],
|
||||
"liquid_input_wells": [
|
||||
"A1"
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "stock plate on P3",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "P3",
|
||||
"class_name": "nest_12_reservoir_15ml",
|
||||
"liquid_type": [
|
||||
"ethyl alcohol"
|
||||
],
|
||||
"liquid_volume": [10000],
|
||||
"liquid_input_wells": [
|
||||
"A1"
|
||||
]
|
||||
},
|
||||
|
||||
{
|
||||
"id": "oscillation",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "Orbital1",
|
||||
"class_name": "Orbital",
|
||||
"liquid_type": [],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "working plate on P11",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "P11",
|
||||
"class_name": "NEST 2ml Deep Well Plate",
|
||||
"liquid_type": [
|
||||
],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
},
|
||||
"id": "Tip Rack BC230 on P8",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "P8",
|
||||
"class_name": "BC230",
|
||||
"liquid_type": [],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "magnetics module on P12",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "P12",
|
||||
"class_name": "magnetics module",
|
||||
"liquid_type": [],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "working plate on P13",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "P13",
|
||||
"class_name": "NEST 2ml Deep Well Plate",
|
||||
"liquid_type": [
|
||||
],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
},
|
||||
"id": "Tip Rack BC230 P16",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "P16",
|
||||
"class_name": "BC230",
|
||||
"liquid_type": [],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "waste on P22",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "P22",
|
||||
"class_name": "nest_1_reservoir_195ml",
|
||||
"liquid_type": [
|
||||
],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
}
|
||||
]
|
||||
|
||||
'''
|
||||
|
||||
|
||||
|
||||
handler = LiquidHandlerBiomek()
|
||||
|
||||
handler.temp_protocol = {
|
||||
"meta": {},
|
||||
"labwares": [],
|
||||
"steps": []
|
||||
}
|
||||
|
||||
input_steps = json.loads(steps_info)
|
||||
labwares = json.loads(labware_with_liquid)
|
||||
|
||||
for step in input_steps['steps']:
|
||||
if step['operation'] != 'transfer':
|
||||
continue
|
||||
parameters = step['parameters']
|
||||
|
||||
handler.transfer_biomek(source=parameters['source'],
|
||||
target=parameters['target'],
|
||||
volume=parameters['volume'],
|
||||
tip_rack=parameters['tip_rack'],
|
||||
aspirate_techniques='MC P300 high',
|
||||
dispense_techniques='MC P300 high'
|
||||
)
|
||||
"id": "stock plate on 4",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "P2",
|
||||
"class_name": "nest_12_reservoir_15ml",
|
||||
"liquid_type": [
|
||||
"bind beads"
|
||||
],
|
||||
"liquid_volume": [10000],
|
||||
"liquid_input_wells": [
|
||||
"A1"
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "stock plate on P2",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "P2",
|
||||
"class_name": "nest_12_reservoir_15ml",
|
||||
"liquid_type": [
|
||||
"bind beads"
|
||||
],
|
||||
"liquid_volume": [10000],
|
||||
"liquid_input_wells": [
|
||||
"A1"
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "stock plate on P3",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "P3",
|
||||
"class_name": "nest_12_reservoir_15ml",
|
||||
"liquid_type": [
|
||||
"ethyl alcohol"
|
||||
],
|
||||
"liquid_volume": [10000],
|
||||
"liquid_input_wells": [
|
||||
"A1"
|
||||
]
|
||||
},
|
||||
|
||||
{
|
||||
"id": "oscillation",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "Orbital1",
|
||||
"class_name": "Orbital",
|
||||
"liquid_type": [],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "working plate on P11",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "P11",
|
||||
"class_name": "NEST 2ml Deep Well Plate",
|
||||
"liquid_type": [
|
||||
],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "magnetics module on P12",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "P12",
|
||||
"class_name": "magnetics module",
|
||||
"liquid_type": [],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "working plate on P13",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "P13",
|
||||
"class_name": "NEST 2ml Deep Well Plate",
|
||||
"liquid_type": [
|
||||
],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "waste on P22",
|
||||
"parent": "deck",
|
||||
"slot_on_deck": "P22",
|
||||
"class_name": "nest_1_reservoir_195ml",
|
||||
"liquid_type": [
|
||||
],
|
||||
"liquid_volume": [],
|
||||
"liquid_input_wells": [
|
||||
]
|
||||
}
|
||||
]
|
||||
|
||||
'''
|
||||
handler = LiquidHandlerBiomek()
|
||||
|
||||
handler.temp_protocol = {
|
||||
"meta": {},
|
||||
"labwares": [],
|
||||
"steps": []
|
||||
}
|
||||
|
||||
input_steps = json.loads(steps_info)
|
||||
labwares = json.loads(labware_with_liquid)
|
||||
|
||||
for step in input_steps['steps']:
|
||||
operation = step['operation']
|
||||
parameters = step['parameters']
|
||||
|
||||
if operation == 'transfer':
|
||||
handler.transfer_biomek(source=parameters['source'],
|
||||
target=parameters['target'],
|
||||
volume=parameters['volume'],
|
||||
tip_rack=parameters['tip_rack'],
|
||||
aspirate_techniques='MC P300 high',
|
||||
dispense_techniques='MC P300 high')
|
||||
elif operation == 'move_labware':
|
||||
handler.move_biomek(source=parameters['source'],
|
||||
target=parameters['target'])
|
||||
elif operation == 'oscillation':
|
||||
handler.oscillation_biomek(rpm=parameters['rpm'],
|
||||
time=parameters['time'])
|
||||
elif operation == 'incubation':
|
||||
handler.incubation_biomek(time=parameters['time'])
|
||||
|
||||
print(json.dumps(handler.temp_protocol, indent=4))
|
||||
|
||||
|
||||
|
||||
@@ -1,14 +1,14 @@
|
||||
import requests
|
||||
# import requests
|
||||
from typing import List, Sequence, Optional, Union, Literal
|
||||
# from geometry_msgs.msg import Point
|
||||
# from unilabos_msgs.msg import Resource
|
||||
from pylabrobot.resources import (
|
||||
Resource,
|
||||
TipRack,
|
||||
Container,
|
||||
Coordinate,
|
||||
Well
|
||||
)
|
||||
# from pylabrobot.resources import (
|
||||
# Resource,
|
||||
# TipRack,
|
||||
# Container,
|
||||
# Coordinate,
|
||||
# Well
|
||||
# )
|
||||
# from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker # type: ignore
|
||||
# from .liquid_handler_abstract import LiquidHandlerAbstract
|
||||
|
||||
@@ -268,7 +268,63 @@ class LiquidHandlerBiomek:
|
||||
transfer_params["TipLocation"] = tip_rack
|
||||
self.temp_protocol["steps"].append(transfer_params)
|
||||
|
||||
return
|
||||
return
|
||||
|
||||
def move_biomek(
|
||||
self,
|
||||
source: str,
|
||||
target: str,
|
||||
):
|
||||
"""
|
||||
处理Biomek移动板子的操作。
|
||||
|
||||
"""
|
||||
|
||||
move_params = {
|
||||
"Pod": "Pod1",
|
||||
"GripSide": "A1 near",
|
||||
"Source": source,
|
||||
"Target": target,
|
||||
"LeaveBottomLabware": False,
|
||||
}
|
||||
self.temp_protocol["steps"].append(move_params)
|
||||
|
||||
return
|
||||
|
||||
def incubation_biomek(
|
||||
self,
|
||||
time: int,
|
||||
):
|
||||
"""
|
||||
处理Biomek的孵育操作。
|
||||
"""
|
||||
incubation_params = {
|
||||
"Message": "Paused",
|
||||
"Location": "the whole system",
|
||||
"Time": time,
|
||||
"Mode": "TimedResource"
|
||||
}
|
||||
self.temp_protocol["steps"].append(incubation_params)
|
||||
|
||||
return
|
||||
|
||||
def oscillation_biomek(
|
||||
self,
|
||||
rpm: int,
|
||||
time: int,
|
||||
):
|
||||
"""
|
||||
处理Biomek的振荡操作。
|
||||
"""
|
||||
oscillation_params = {
|
||||
'Device': 'OrbitalShaker0',
|
||||
'Parameters': (str(rpm), '2', str(time), 'CounterClockwise'),
|
||||
'Command': 'Timed Shake'
|
||||
}
|
||||
self.temp_protocol["steps"].append(oscillation_params)
|
||||
|
||||
return
|
||||
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
@@ -763,16 +819,23 @@ input_steps = json.loads(steps_info)
|
||||
labwares = json.loads(labware_with_liquid)
|
||||
|
||||
for step in input_steps['steps']:
|
||||
if step['operation'] != 'transfer':
|
||||
continue
|
||||
operation = step['operation']
|
||||
parameters = step['parameters']
|
||||
|
||||
handler.transfer_biomek(source=parameters['source'],
|
||||
target=parameters['target'],
|
||||
volume=parameters['volume'],
|
||||
tip_rack=parameters['tip_rack'],
|
||||
aspirate_techniques='MC P300 high',
|
||||
dispense_techniques='MC P300 high'
|
||||
)
|
||||
if operation == 'transfer':
|
||||
handler.transfer_biomek(source=parameters['source'],
|
||||
target=parameters['target'],
|
||||
volume=parameters['volume'],
|
||||
tip_rack=parameters['tip_rack'],
|
||||
aspirate_techniques='MC P300 high',
|
||||
dispense_techniques='MC P300 high')
|
||||
elif operation == 'move_labware':
|
||||
handler.move_biomek(source=parameters['source'],
|
||||
target=parameters['target'])
|
||||
elif operation == 'oscillation':
|
||||
handler.oscillation_biomek(rpm=parameters['rpm'],
|
||||
time=parameters['time'])
|
||||
elif operation == 'incubation':
|
||||
handler.incubation_biomek(time=parameters['time'])
|
||||
|
||||
print(json.dumps(handler.temp_protocol, indent=4))
|
||||
|
||||
@@ -340,6 +340,21 @@ liquid_handler.biomek:
|
||||
none_keys: none_keys
|
||||
feedback: {}
|
||||
result: {}
|
||||
handles:
|
||||
input:
|
||||
- handler_key: liquid-input
|
||||
label: Liquid Input
|
||||
data_type: resource
|
||||
io_type: target
|
||||
data_source: handle
|
||||
data_key: liquid
|
||||
output:
|
||||
- handler_key: liquid-output
|
||||
label: Liquid Output
|
||||
data_type: resource
|
||||
io_type: source
|
||||
data_source: executor
|
||||
data_key: liquid
|
||||
transfer_biomek:
|
||||
type: LiquidHandlerTransferBiomek
|
||||
goal:
|
||||
@@ -351,6 +366,21 @@ liquid_handler.biomek:
|
||||
dispense_techniques: dispense_techniques
|
||||
feedback: {}
|
||||
result: {}
|
||||
handles:
|
||||
input:
|
||||
- handler_key: liquid-input
|
||||
label: Liquid Input
|
||||
data_type: resource
|
||||
io_type: target
|
||||
data_source: handle
|
||||
data_key: liquid
|
||||
output:
|
||||
- handler_key: liquid-output
|
||||
label: Liquid Output
|
||||
data_type: resource
|
||||
io_type: source
|
||||
data_source: executor
|
||||
data_key: liquid
|
||||
schema:
|
||||
type: object
|
||||
properties: {}
|
||||
|
||||
@@ -64,6 +64,7 @@ class Registry:
|
||||
"goal_default": yaml.safe_load(
|
||||
io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuter.Goal))
|
||||
),
|
||||
"handles": {},
|
||||
},
|
||||
"create_resource": {
|
||||
"type": self.ResourceCreateFromOuterEasy,
|
||||
@@ -84,6 +85,7 @@ class Registry:
|
||||
"goal_default": yaml.safe_load(
|
||||
io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuterEasy.Goal))
|
||||
),
|
||||
"handles": {},
|
||||
},
|
||||
"test_latency": {
|
||||
"type": self.EmptyIn,
|
||||
@@ -92,6 +94,7 @@ class Registry:
|
||||
"result": {"latency_ms": "latency_ms", "time_diff_ms": "time_diff_ms"},
|
||||
"schema": ros_action_to_json_schema(self.EmptyIn),
|
||||
"goal_default": {},
|
||||
"handles": {},
|
||||
},
|
||||
},
|
||||
},
|
||||
@@ -214,6 +217,8 @@ class Registry:
|
||||
# 处理动作值映射
|
||||
if "action_value_mappings" in device_config["class"]:
|
||||
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
||||
if "handles" not in action_config:
|
||||
action_config["handles"] = []
|
||||
if "type" in action_config:
|
||||
action_config["type"] = self._replace_type_with_class(
|
||||
action_config["type"], device_id, f"动作 {action_name}"
|
||||
|
||||
6
unilabos_msgs/action/LiquidHandlerMoveBiomek.action
Normal file
6
unilabos_msgs/action/LiquidHandlerMoveBiomek.action
Normal file
@@ -0,0 +1,6 @@
|
||||
string source
|
||||
string target
|
||||
|
||||
---
|
||||
bool success
|
||||
---
|
||||
@@ -0,0 +1,6 @@
|
||||
int32 rpm
|
||||
int32 time
|
||||
|
||||
---
|
||||
bool success
|
||||
---
|
||||
5
unilabos_msgs/action/LiquidHandlerPauseBiomek.action
Normal file
5
unilabos_msgs/action/LiquidHandlerPauseBiomek.action
Normal file
@@ -0,0 +1,5 @@
|
||||
int32 time
|
||||
|
||||
---
|
||||
bool success
|
||||
---
|
||||
@@ -6,5 +6,5 @@ string aspirate_technique
|
||||
string dispense_technique
|
||||
|
||||
---
|
||||
|
||||
bool success
|
||||
---
|
||||
|
||||
Reference in New Issue
Block a user