Merge branch 'dev' of https://github.com/dptech-corp/Uni-Lab-OS into dev

unilabos-linux-64.yaml

@@ -63,4 +63,5 @@ dependencies:
   # ilab equipments
 #  - ros-humble-unilabos-msgs
   - pip:
-      - paho-mqtt
+      - paho-mqtt
+      - opentrons_shared_data

unilabos-osx-64.yaml

@@ -62,4 +62,5 @@ dependencies:
   # ilab equipments
 #  - ros-humble-unilabos-msgs
   - pip:
-      - paho-mqtt
+      - paho-mqtt
+      - opentrons_shared_data

unilabos-osx-arm64.yaml

@@ -65,4 +65,5 @@ dependencies:
   # ilab equipments
 #  - ros-humble-unilabos-msgs
   - pip:
-      - paho-mqtt
+      - paho-mqtt
+      - opentrons_shared_data

unilabos-win64.yaml

@@ -66,6 +66,7 @@ dependencies:
   #- crcmod
   - pip:
       - paho-mqtt
+      - opentrons_shared_data
       # driver
       #- ur-rtde  # set PYTHONUTF8=1
       #- pyautogui

unilabos/app/controler.py

@@ -39,6 +39,7 @@ def job_add(req: JobAddReq) -> JobData:
         HostNode.get_instance().send_goal(req.device_id, action_type=action_type, action_name=action_name, action_kwargs=action_args, goal_uuid=req.job_id, server_info=req.server_info)
     except Exception as e:
         for bridge in HostNode.get_instance().bridges:
+            traceback.print_exc()
             if hasattr(bridge, "publish_job_status"):
                 bridge.publish_job_status({}, req.job_id, "failed", serialize_result_info(traceback.format_exc(), False, {}))
     return JobData(jobId=req.job_id)

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -27,10 +27,10 @@ from pylabrobot.resources import (
 
 
 class LiquidHandlerMiddleware(LiquidHandler):
-    def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False):
+    def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8):
         self._simulator = simulator
         if simulator:
-            self._simulate_backend = LiquidHandlerChatterboxBackend(8)
+            self._simulate_backend = LiquidHandlerChatterboxBackend(channel_num)
             self._simulate_handler = LiquidHandlerAbstract(self._simulate_backend, deck, False)
         super().__init__(backend, deck)
 
@@ -533,7 +533,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
     """Extended LiquidHandler with additional operations."""
     support_touch_tip = True
 
-    def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool):
+    def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool, channel_num:int = 8):
         """Initialize a LiquidHandler.
 
         Args:
@@ -541,7 +541,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
           deck: Deck to use.
         """
         self._simulator = simulator
-        super().__init__(backend, deck, simulator)
+        super().__init__(backend, deck, simulator, channel_num)
 
     # ---------------------------------------------------------------
     # REMOVE LIQUID --------------------------------------------------
@@ -584,7 +584,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 pass  # This mode is not verified.
             else:
                 # 首先应该对任务分组，然后每次1个/8个进行操作处理
-                if len(use_channels) == 1:
+                if len(use_channels) == 1 and self.backend.num_channels == 1:
                     tip = []
                     for _ in range(len(use_channels)):
                         tip.extend(next(self.current_tip))
@@ -614,7 +614,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                             spread=spread,
                         )
                     await self.discard_tips()
-                elif len(use_channels) == 8:
+                elif len(use_channels) == 8 and self.backend.num_channels == 8:
                     tip = []
                     for _ in range(len(use_channels)):
                         tip.extend(next(self.current_tip))
@@ -715,8 +715,8 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     tip = []
                     for _ in range(len(use_channels)):
                         tip.extend(next(self.current_tip))
-                    await self.pick_up_tips(tip)
 
+                    await self.pick_up_tips(tip)
                     for _ in range(len(targets)):
                         await self.aspirate(
                             resources=reagent_sources,
@@ -740,6 +740,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                             liquid_height=[liquid_height[1]] if liquid_height else None,
                             spread=spread,
                         )
+
                         if delays is not None:
                             await self.custom_delay(seconds=delays[1])
                         await self.mix(
@@ -817,7 +818,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                             await self.custom_delay(seconds=delays[1])
                         await self.touch_tip(current_targets)
                         await self.discard_tips()
-                
+
 
         except Exception as e:
             traceback.print_exc()

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -66,14 +66,14 @@ class PRCXI9300Deck(Deck):
         self.slots = [None] * 6  # PRCXI 9300 有 6 个槽位
 
 
-class PRCXI9300Container(Plate):
+class PRCXI9300Container(Plate, TipRack):
     """PRCXI 9300 的专用 Deck 类，继承自 Deck。
 
     该类定义了 PRCXI 9300 的工作台布局和槽位信息。
     """
 
-    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, category: str):
-        super().__init__(name, size_x, size_y, size_z, category=category, ordering=collections.OrderedDict())
+    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, category: str, ordering: collections.OrderedDict, model: Optional[str] = None,):
+        super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model)
         self._unilabos_state = {}
 
     def load_state(self, state: Dict[str, Any]) -> None:
@@ -93,8 +93,11 @@ class PRCXI9300Trash(Trash):
     该类定义了 PRCXI 9300 的工作台布局和槽位信息。
     """
 
-    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, category: str):
-        super().__init__(name, size_x, size_y, size_z, category=category)
+    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, category: str, **kwargs):
+        if name != "trash":
+            name = "trash"
+            print("PRCXI9300Trash name must be 'trash', using 'trash' instead.")
+        super().__init__(name, size_x, size_y, size_z, category=category, **kwargs)
         self._unilabos_state = {}
 
     def load_state(self, state: Dict[str, Any]) -> None:
@@ -109,6 +112,7 @@ class PRCXI9300Trash(Trash):
     
 class PRCXI9300Handler(LiquidHandlerAbstract):
     support_touch_tip = False
+
     @property
     def reset_ok(self) -> bool:
         """检查设备是否已重置成功。"""
@@ -116,7 +120,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
             return True
         return self._unilabos_backend.is_reset_ok
 
-    def __init__(self, deck: Deck, host: str, port: int, timeout: float, setup=True, debug=False):
+    def __init__(self, deck: Deck, host: str, port: int, timeout: float, channel_num=8, axis="Left", setup=True, debug=False, matrix_id=""):
         tablets_info = []
         count = 0
         for child in deck.children:
@@ -125,8 +129,8 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
                 tablets_info.append(
                     WorkTablets(Number=count, Code=f"T{count}", Material=child._unilabos_state["Material"])
                 )
-        self._unilabos_backend = PRCXI9300Backend(tablets_info, host, port, timeout, setup, debug)
-        super().__init__(backend=self._unilabos_backend, deck=deck, simulator=True)
+        self._unilabos_backend = PRCXI9300Backend(tablets_info, host, port, timeout, channel_num, axis, setup, debug, matrix_id)
+        super().__init__(backend=self._unilabos_backend, deck=deck, simulator=True, channel_num=channel_num)
 
     async def create_protocol(
         self,
@@ -350,14 +354,18 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         host: str = "127.0.0.1",
         port: int = 9999,
         timeout: float = 10.0,
+        channel_num: int=8,
+        axis: str="Left",
         setup=True,
         debug=False,
+        matrix_id="",
     ) -> None:
         super().__init__()
         self.tablets_info = tablets_info
-        self.api_client = PRCXI9300Api(host, port, timeout, debug)
+        self.matrix_id = matrix_id
+        self.api_client = PRCXI9300Api(host, port, timeout, axis, debug)
         self.host, self.port, self.timeout = host, port, timeout
-        self._num_channels = 8
+        self._num_channels = channel_num
         self._execute_setup = setup
         self.debug = debug
 
@@ -375,12 +383,18 @@ class PRCXI9300Backend(LiquidHandlerBackend):
             WorkTablets=self.tablets_info,
         )
         #print(json.dumps(self.matrix_info, indent=2))
-        res = self.api_client.add_WorkTablet_Matrix(self.matrix_info)
-        assert res["Success"], f"Failed to create matrix: {res.get('Message', 'Unknown error')}"
-        print(f"PRCXI9300Backend created matrix with ID: {self.matrix_info['MatrixId']}, result: {res}")
-        solution_id = self.api_client.add_solution(
-            f"protocol_{run_time}", self.matrix_info["MatrixId"], self.steps_todo_list
-        )
+        if not len(self.matrix_id):
+            res = self.api_client.add_WorkTablet_Matrix(self.matrix_info)
+            assert res["Success"], f"Failed to create matrix: {res.get('Message', 'Unknown error')}"
+            print(f"PRCXI9300Backend created matrix with ID: {self.matrix_info['MatrixId']}, result: {res}")
+            solution_id = self.api_client.add_solution(
+                f"protocol_{run_time}", self.matrix_info["MatrixId"], self.steps_todo_list
+            )
+        else:
+            print(f"PRCXI9300Backend using predefined worktable {self.matrix_id}, skipping matrix creation.")
+            solution_id = self.api_client.add_solution(
+                f"protocol_{run_time}", self.matrix_id, self.steps_todo_list
+            )
         print(f"PRCXI9300Backend created solution with ID: {solution_id}")
         self.api_client.load_solution(solution_id)
         return self.api_client.start()
@@ -437,32 +451,20 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         PlateNo = plate_indexes[0] + 1
         hole_col = tip_columns[0] + 1
 
-        step = self.api_client.Load(
-            "Left",
-            dosage=0,
-            plate_no=PlateNo,
-            is_whole_plate=False,
-            hole_row=1,
-            hole_col=hole_col,
-            blending_times=0,
-            balance_height=0,
-            plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
-            hole_numbers="1,2,3,4,5,6,7,8",
-        )
+        step = self.api_client.Load(dosage=0, plate_no=PlateNo, is_whole_plate=False, hole_row=1, hole_col=hole_col,
+                                    blending_times=0, balance_height=0, plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
+                                    hole_numbers="1,2,3,4,5,6,7,8")
         self.steps_todo_list.append(step)
 
     async def drop_tips(self, ops: List[Drop], use_channels: List[int] = None):
-
         """Pick up tips from the specified resource."""
 
-
         plate = ops[0].resource.parent.parent
         deck = plate.parent
         plate_index = deck.children.index(plate)
 
         if deck.children[plate_index].name == "trash":
             step = self.api_client.UnLoad(
-                "Left",
                 dosage=0,
                 plate_no=plate_index+1,
                 is_whole_plate=False,
@@ -474,10 +476,8 @@ class PRCXI9300Backend(LiquidHandlerBackend):
                 hole_numbers="1,2,3,4,5,6,7,8",
         )
             self.steps_todo_list.append(step)
-
-
             return
-            
+
 
         if len(ops) != 8:
             raise ValueError(f"PRCXI9300Backend drop_tips: Expected 8 pickups, got {len(ops)}")
@@ -600,18 +600,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         PlateNo = plate_indexes[0] + 1
         hole_col = tip_columns[0] + 1
 
-        step = self.api_client.Imbibing(
-            "Left",
-            dosage=int(volumes[0]),
-            plate_no=PlateNo,
-            is_whole_plate=False,
-            hole_row=1,
-            hole_col=hole_col,
-            blending_times=0,
-            balance_height=0,
-            plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
-            hole_numbers="1,2,3,4,5,6,7,8",
-        )
+        step = self.api_client.Imbibing(dosage=int(volumes[0]), plate_no=PlateNo, is_whole_plate=False, hole_row=1,
+                                        hole_col=hole_col, blending_times=0, balance_height=0,
+                                        plate_or_hole=f"H{hole_col}-8,T{PlateNo}", hole_numbers="1,2,3,4,5,6,7,8")
         self.steps_todo_list.append(step)
         
 
@@ -696,9 +687,10 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
 
 class PRCXI9300Api:
-    def __init__(self, host: str = "127.0.0.1", port: int = 9999, timeout: float = 10.0, debug: bool = False) -> None:
+    def __init__(self, host: str = "127.0.0.1", port: int = 9999, timeout: float = 10.0, axis="Left", debug: bool = False) -> None:
         self.host, self.port, self.timeout = host, port, timeout
         self.debug = debug
+        self.axis = axis
 
     @staticmethod
     def _len_prefix(n: int) -> bytes:
@@ -765,8 +757,10 @@ class PRCXI9300Api:
         """GetErrorCode"""
         return self.call("IAutomation", "GetErrorCode")
 
-    def get_reset_status(self) -> Optional[str]:
+    def get_reset_status(self) -> bool:
         """GetErrorCode"""
+        if self.debug:
+            return True
         res = self.call("IAutomation", "GetResetStatus")
         return not res
 
@@ -803,27 +797,12 @@ class PRCXI9300Api:
     def add_WorkTablet_Matrix(self, matrix: MatrixInfo):
         return self.call("IMatrix", "AddWorkTabletMatrix", [matrix])
 
-    def Load(
-        self,
-        axis: str,
-        dosage: int,
-        plate_no: int,
-        is_whole_plate: bool,
-        hole_row: int,
-        hole_col: int,
-        blending_times: int,
-        balance_height: int,
-        plate_or_hole: str,
-        hole_numbers: str,
-        assist_fun1: str = "",
-        assist_fun2: str = "",
-        assist_fun3: str = "",
-        assist_fun4: str = "",
-        assist_fun5: str = "",
-        liquid_method: str = "NormalDispense",
-    ) -> Dict[str, Any]:
+    def Load(self, dosage: int, plate_no: int, is_whole_plate: bool, hole_row: int, hole_col: int, blending_times: int,
+             balance_height: int, plate_or_hole: str, hole_numbers: str, assist_fun1: str = "", assist_fun2: str = "",
+             assist_fun3: str = "", assist_fun4: str = "", assist_fun5: str = "",
+             liquid_method: str = "NormalDispense") -> Dict[str, Any]:
         return {
-            "StepAxis": axis,
+            "StepAxis": self.axis,
             "Function": "Load",
             "DosageNum": dosage,
             "PlateNo": plate_no,
@@ -842,27 +821,12 @@ class PRCXI9300Api:
             "LiquidDispensingMethod": liquid_method,
         }
 
-    def Imbibing(
-        self,
-        axis: str,
-        dosage: int,
-        plate_no: int,
-        is_whole_plate: bool,
-        hole_row: int,
-        hole_col: int,
-        blending_times: int,
-        balance_height: int,
-        plate_or_hole: str,
-        hole_numbers: str,
-        assist_fun1: str = "",
-        assist_fun2: str = "",
-        assist_fun3: str = "",
-        assist_fun4: str = "",
-        assist_fun5: str = "",
-        liquid_method: str = "NormalDispense",
-    ) -> Dict[str, Any]:
+    def Imbibing(self, dosage: int, plate_no: int, is_whole_plate: bool, hole_row: int, hole_col: int,
+                 blending_times: int, balance_height: int, plate_or_hole: str, hole_numbers: str, assist_fun1: str = "",
+                 assist_fun2: str = "", assist_fun3: str = "", assist_fun4: str = "", assist_fun5: str = "",
+                 liquid_method: str = "NormalDispense") -> Dict[str, Any]:
         return {
-            "StepAxis": axis,
+            "StepAxis": self.axis,
             "Function": "Imbibing",
             "DosageNum": dosage,
             "PlateNo": plate_no,
@@ -883,7 +847,6 @@ class PRCXI9300Api:
 
     def Tapping(
         self,
-        axis: str,
         dosage: int,
         plate_no: int,
         is_whole_plate: bool,
@@ -901,7 +864,7 @@ class PRCXI9300Api:
         liquid_method: str = "NormalDispense",
     ) -> Dict[str, Any]:
         return {
-            "StepAxis": axis,
+            "StepAxis": self.axis,
             "Function": "Tapping",
             "DosageNum": dosage,
             "PlateNo": plate_no,
@@ -922,7 +885,6 @@ class PRCXI9300Api:
 
     def Blending(
         self,
-        axis: str,
         dosage: int,
         plate_no: int,
         is_whole_plate: bool,
@@ -940,7 +902,7 @@ class PRCXI9300Api:
         liquid_method: str = "NormalDispense",
     ) -> Dict[str, Any]:
         return {
-            "StepAxis": axis,
+            "StepAxis": self.axis,
             "Function": "Blending",
             "DosageNum": dosage,
             "PlateNo": plate_no,
@@ -961,7 +923,6 @@ class PRCXI9300Api:
 
     def UnLoad(
         self,
-        axis: str,
         dosage: int,
         plate_no: int,
         is_whole_plate: bool,
@@ -979,7 +940,7 @@ class PRCXI9300Api:
         liquid_method: str = "NormalDispense",
     ) -> Dict[str, Any]:
         return {
-            "StepAxis": axis,
+            "StepAxis": self.axis,
             "Function": "UnLoad",
             "DosageNum": dosage,
             "PlateNo": plate_no,
@@ -1000,92 +961,348 @@ class PRCXI9300Api:
 
 
 if __name__ == "__main__":
-    # Example usage
-    deck = PRCXI9300Deck(name="PRCXI Deck", size_x=100, size_y=100, size_z=100)
-    plate1 = PRCXI9300Container(name="rackT1", size_x=50, size_y=50, size_z=10, category="plate")
-    plate1.load_state({
-        "Material": {
-            "uuid": "80652665f6a54402b2408d50b40398df",
-            "Code": "ZX-001-1000",
-            "Name": "1000μL Tip头",
-            "SummaryName": "1000μL Tip头",
-            "PipetteHeight": 100,
-            "materialEnum": 1
-        }
-    })
+    # # Example usage
+    # # 1. 用导出的json，给每个T1 T2板子设定相应的物料，如果是孔板和枪头盒，要对应区分
+    # # 2. 设计一个单点动作流程，可以跑
+    # # 3.
+    # deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)
+    # plate1 = PRCXI9300Container(name="rackT1", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
+    # plate1.load_state({
+    #     "Material": {
+    #         "uuid": "80652665f6a54402b2408d50b40398df",
+    #         "Co#de": "ZX-001-1000",
+    #         "Name": "1000μL Tip头",
+    #         "SummaryName": "1000μL Tip头",
+    #         "PipetteHeight": 100,
+    #         "materialEnum": 1
+    #     }
+    # })
 
-    plate2 = PRCXI9300Container(name="plateT2", size_x=50, size_y=50, size_z=10, category="plate")
+    # plate2 = PRCXI9300Container(name="plateT2", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
+    # plate2.load_state({
+    #     "Material": {
+    #         "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
+    #     }
+    # })
+
+    # plate3 = PRCXI9300Container(name="plateT3", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
+    # plate3.load_state({
+    #     "Material": {
+    #         "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
+    #     }
+    # })
+
+    # plate4 = PRCXI9300Container(name="rackT4", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
+    # plate4.load_state({
+    #     "Material": {
+    #         "uuid": "80652665f6a54402b2408d50b40398df",
+    #         "Code": "ZX-001-1000",
+    #         "Name": "1000μL Tip头",
+    #         "SummaryName": "1000μL Tip头",
+    #         "PipetteHeight": 100,
+    #         "materialEnum": 1
+    #     }
+    # })
+
+    # plate5 = PRCXI9300Container(name="plateT5", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
+    # plate5.load_state({
+    #     "Material": {
+    #         "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
+    #     }
+    # })
+    # plate6 = PRCXI9300Trash(name="trash", size_x=50, size_y=500, size_z=10, category="trash")
+    # plate6.load_state({
+    #     "Material": {
+    #         "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
+    #     }
+    # })
+
+    # from pylabrobot.resources.opentrons.tip_racks import tipone_96_tiprack_200ul
+    # from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat
+
+    # tip_rack = tipone_96_tiprack_200ul("TipRack")
+    # well_containers = corning_96_wellplate_360ul_flat("Plate")
+    # # from pprint import pprint
+    # # pprint(well_containers.children)
+    # plate1.assign_child_resource(tip_rack, location=Coordinate(0, 0, 0))
+    # plate2.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
+
+    # deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
+    # deck.assign_child_resource(plate2, location=Coordinate(0, 0, 0))
+    # deck.assign_child_resource(plate3, location=Coordinate(0, 0, 0))
+    # deck.assign_child_resource(plate4, location=Coordinate(0, 0, 0))
+    # deck.assign_child_resource(plate5, location=Coordinate(0, 0, 0))
+    # deck.assign_child_resource(plate6, location=Coordinate(0, 0, 0))
+
+    # print(plate2)
+    # # plate_2_liquids = [[(None, 500)]]*96
+
+    # # plate2.set_well_liquids(plate_2_liquids)
+
+
+    # handler = PRCXI9300Handler(deck=deck, host="192.168.3.9", port=9999, timeout=10.0, setup=False, debug=True, matrix_id="fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1")
+    # handler.set_tiprack([tip_rack])  # Set the tip rack for the handler
+    # asyncio.run(handler.setup())  # Initialize the handler and setup the connection
+    # from pylabrobot.resources import set_volume_tracking
+
+    # # from pylabrobot.resources import set_tip_tracking
+    # set_volume_tracking(enabled=True)
+    # plate2.set_well_liquids([("Water", 100)] * plate2.num_items)
+    # asyncio.run(handler.create_protocol(protocol_name="Test Protocol"))  # Initialize the backend and setup the connection
+    # # asyncio.run(handler.pick_up_tips(tip_rack.children[:8],[0,1,2,3,4,5,6,7]))
+
+    # # asyncio.run(handler.aspirate(well_containers.children[:8],[50]*8, [0,1,2,3,4,5,6,7]))
+    # # asyncio.run(handler.dispense(well_containers.children[:8],[50]*8,[0,1,2,3,4,5,6,7]))
+    # # asyncio.run(handler.drop_tips(tip_rack.children[8:16],[0,1,2,3,4,5,6,7]))
+    # # asyncio.run(handler.discard_tips())
+    # # asyncio.run(handler.mix(well_containers.children[:8
+    # # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
+    # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
+    # asyncio.run(handler.add_liquid(
+    #     asp_vols=[100]*16,
+    #     dis_vols=[100]*16,
+    #     reagent_sources=well_containers.children[-16:],
+    #     targets=well_containers.children[:16],
+    #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
+    #     flow_rates=[None] * 32,
+    #     offsets=[Coordinate(0, 0, 0)] * 32,
+    #     liquid_height=[None] * 16,
+    #     blow_out_air_volume=[None] * 16,
+    #     delays=None,
+    #     mix_time=3,
+    #     mix_vol=50,
+    #     spread="wide",
+    # ))
+
+    # # asyncio.run(handler.remove_liquid(
+    # #     vols=[100]*16,
+    # #     sources=well_containers.children[-16:],
+    # #     waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
+    # #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
+    # #     flow_rates=[None] * 32,
+    # #     offsets=[Coordinate(0, 0, 0)] * 32,
+    # #     liquid_height=[None] * 32,
+    # #     blow_out_air_volume=[None] * 32,
+    # #     spread="wide",
+    # # ))
+    # # asyncio.run(handler.transfer_liquid(
+    # #     asp_vols=[100]*16,
+    # #     dis_vols=[100]*16,
+    # #     tip_racks=[tip_rack],
+    # #     sources=well_containers.children[-16:],
+    # #     targets=well_containers.children[:16],
+    # #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
+    # #     offsets=[Coordinate(0, 0, 0)] * 32,
+    # #     asp_flow_rates=[None] * 16,
+    # #     dis_flow_rates=[None] * 16,
+    # #     liquid_height=[None] * 32,
+    # #     blow_out_air_volume=[None] * 32,
+    # #     mix_times=3,
+    # #     mix_vol=50,
+    # #     spread="wide",
+    # # ))
+    # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
+    # # input("pick_up_tips add step")
+    # #asyncio.run(handler.run_protocol())  # Run the protocol
+    # # input("Running protocol...")
+    # # input("Press Enter to continue...")  # Wait for user input before proceeding
+    # # print("PRCXI9300Handler initialized with deck and host settings.")
+
+    # Example usage
+    # 1. 用导出的json，给每个T1 T2板子设定相应的物料，如果是孔板和枪头盒，要对应区分
+    # 2. 设计一个单点动作流程，可以跑
+    # 3.
+    deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)
+
+
+    plate2 = PRCXI9300Container(name="plateT2", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
     plate2.load_state({
         "Material": {
-            "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
+            "uuid": "04211a2dc93547fe9bf6121eac533650"
         }
     })
 
-    plate3 = PRCXI9300Container(name="plateT3", size_x=50, size_y=50, size_z=10, category="plate")
+    #储液槽
+
+    plate3 = PRCXI9300Container(name="plateT3", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
     plate3.load_state({
         "Material": {
-            "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
+            "uuid": "04211a2dc93547fe9bf6121eac533650"
         }
     })
 
-    plate4 = PRCXI9300Container(name="rackT4", size_x=50, size_y=50, size_z=10, category="plate")
+    plate4 = PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash", ordering=collections.OrderedDict())
     plate4.load_state({
         "Material": {
-            "uuid": "80652665f6a54402b2408d50b40398df",
-            "Code": "ZX-001-1000",
-            "Name": "1000μL Tip头",
-            "SummaryName": "1000μL Tip头",
-            "PipetteHeight": 100,
-            "materialEnum": 1
+            "uuid": "730067cf07ae43849ddf4034299030e9"
         }
     })
 
-    plate5 = PRCXI9300Container(name="plateT5", size_x=50, size_y=50, size_z=10, category="plate")
+    plate5 = PRCXI9300Container(name="plateT5", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
     plate5.load_state({
         "Material": {
-            "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
+            "uuid": "04211a2dc93547fe9bf6121eac533650"
         }
     })
-    plate6 = PRCXI9300Trash(name="trash", size_x=50, size_y=500, size_z=10, category="trash")
+
+    plate6 = PRCXI9300Container(name="plateT6", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
     plate6.load_state({
+        "Material": {
+            "uuid": "04211a2dc93547fe9bf6121eac533650"
+        }
+    })
+
+    plate7 = PRCXI9300Container(name="plateT7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
+    plate7.load_state({
+        "Material": {
+            "uuid": "04211a2dc93547fe9bf6121eac533650"
+        }
+    })
+
+    plate8 = PRCXI9300Container(name="rackT8", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
+    plate8.load_state({
+        "Material": {
+            "uuid": "068b3815e36b4a72a59bae017011b29f",
+            "Code": "ZX-001-10+",
+            "Name": "10μL加长 Tip头"
+        }
+    })
+
+    plate9 = PRCXI9300Container(name="plateT9", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
+    plate9.load_state({
+        "Material": {
+            "uuid": "04211a2dc93547fe9bf6121eac533650"
+        }
+    })
+
+    plate10 = PRCXI9300Container(name="plateT10", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
+    plate10.load_state({
+        "Material": {
+            "uuid": "04211a2dc93547fe9bf6121eac533650"
+        }
+    })
+
+    plate11 = PRCXI9300Container(name="plateT11", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
+    plate11.load_state({
         "Material": {
             "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
         }
     })
 
-    from pylabrobot.resources.opentrons.tip_racks import tipone_96_tiprack_200ul
-    from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat 
 
-    tip_rack = tipone_96_tiprack_200ul("TipRack")
-    well_containers = corning_96_wellplate_360ul_flat("Plate")
+    plate12 = PRCXI9300Container(name="plateT12", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
+    plate12.load_state({
+        "Material": {
+            "uuid": "04211a2dc93547fe9bf6121eac533650"
+        }
+    })
+
+
+    plate13 = PRCXI9300Container(name="plateT13", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
+    plate13.load_state({
+        "Material": {
+            "uuid": "04211a2dc93547fe9bf6121eac533650"
+        }
+    })
+
+    from pylabrobot.resources.opentrons.tip_racks import tipone_96_tiprack_200ul,opentrons_96_tiprack_10ul
+    from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
+
+
+    def get_well_container(name: str) -> PRCXI9300Container:
+        well_containers = corning_96_wellplate_360ul_flat(name).serialize()
+        plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
+                           ordering=collections.OrderedDict())
+        plate_serialized = plate.serialize()
+        plate_serialized["parent_name"] = deck.name
+        well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
+        new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
+        return new_plate
+
+    def get_tip_rack(name: str) -> PRCXI9300Container:
+        tip_racks = opentrons_96_tiprack_10ul("name").serialize()
+        tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
+                           ordering=collections.OrderedDict())
+        tip_rack_serialized = tip_rack.serialize()
+        tip_rack_serialized["parent_name"] = deck.name
+        tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
+        new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
+        return new_tip_rack
+
+    plate1 = get_well_container("HPLCPlateT1")
+    plate1.load_state({
+        "Material": {
+            "uuid": "548bbc3df0d4447586f2c19d2c0c0c55",
+            "Code": "HPLC01",
+            "Name":  "HPLC料盘"
+        }
+    })
+
+    plate2 = get_well_container("HPLCPlateT1")
+    plate2.load_state({
+        "Material": {
+            "uuid": "548bbc3df0d4447586f2c19d2c0c0c55",
+            "Code": "HPLC01",
+            "Name":  "HPLC料盘"
+        }
+    })
     # from pprint import pprint
     # pprint(well_containers.children)
-    plate1.assign_child_resource(tip_rack, location=Coordinate(0, 0, 0))
+    plate1.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
     plate2.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
+    plate3.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
+    plate4.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
+    plate5.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
+    plate6.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
+    plate7.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
+    plate8.assign_child_resource(tip_rack, location=Coordinate(0, 0, 0))
+    plate9.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
+    plate10.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
+    plate11.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
+    plate12.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
+    plate13.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
 
     deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(plate2, location=Coordinate(0, 0, 0))
+
+
+
     deck.assign_child_resource(plate3, location=Coordinate(0, 0, 0))
     deck.assign_child_resource(plate4, location=Coordinate(0, 0, 0))
     deck.assign_child_resource(plate5, location=Coordinate(0, 0, 0))
     deck.assign_child_resource(plate6, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate7, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate8, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate9, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate10, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate11, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate12, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate13, location=Coordinate(0, 0, 0))
 
-    handler = PRCXI9300Handler(deck=deck, host="192.168.3.9", port=9999, timeout=10.0, setup=False, debug=True)
+    handler = PRCXI9300Handler(deck=deck, host="10.181.102.13", port=9999, timeout=10.0, setup=False, debug=True, matrix_id="fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1")
     handler.set_tiprack([tip_rack])  # Set the tip rack for the handler
     asyncio.run(handler.setup())  # Initialize the handler and setup the connection
+    from pylabrobot.resources import set_volume_tracking
+    # from pylabrobot.resources import set_tip_tracking
+    set_volume_tracking(enabled=True)
+
+    plate1.set_well_liquids([("Water", 100)] * plate1.num_items)
+
+
     asyncio.run(handler.create_protocol(protocol_name="Test Protocol"))  # Initialize the backend and setup the connection
     # asyncio.run(handler.pick_up_tips(tip_rack.children[:8],[0,1,2,3,4,5,6,7]))
+
     # asyncio.run(handler.aspirate(well_containers.children[:8],[50]*8, [0,1,2,3,4,5,6,7]))
     # asyncio.run(handler.dispense(well_containers.children[:8],[50]*8,[0,1,2,3,4,5,6,7]))
-    #asyncio.run(handler.drop_tips(tip_rack.children[8:16],[0,1,2,3,4,5,6,7]))
+    # asyncio.run(handler.drop_tips(tip_rack.children[8:16],[0,1,2,3,4,5,6,7]))
     # asyncio.run(handler.discard_tips())
-    # asyncio.run(handler.mix(well_containers.children[:8], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
+    # asyncio.run(handler.mix(well_containers.children[:8
+    # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
     #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
     asyncio.run(handler.add_liquid(
         asp_vols=[100]*16,
         dis_vols=[100]*16,
-        reagent_sources=well_containers.children[-16:],
-        targets=well_containers.children[:16],
+        reagent_sources=final_plate_2.children[-16:],
+        targets=final_plate_2.children[:16],
         use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
         flow_rates=[None] * 32,
         offsets=[Coordinate(0, 0, 0)] * 32,
@@ -1131,6 +1348,3 @@ if __name__ == "__main__":
     # input("Press Enter to continue...")  # Wait for user input before proceeding
     # print("PRCXI9300Handler initialized with deck and host settings.")
 
-
-
-# 但是怎么丢tip？这个需要手动设置一下？

unilabos/resources/graphio.py

@@ -429,6 +429,20 @@ def resource_ulab_to_plr(resource: dict, plr_model=False) -> "ResourcePLR":
 
 
 def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None):
+    def replace_plr_type_to_ulab(source: str):
+        replace_info = {
+            "plate": "plate",
+            "well": "well",
+            "tip_spot": "container",
+            "trash": "container",
+            "deck": "deck",
+            "tip_rack": "container",
+        }
+        if source in replace_info:
+            return replace_info[source]
+        else:
+            print("转换pylabrobot的时候，出现未知类型", source)
+            return "container"
     def resource_plr_to_ulab_inner(d: dict, all_states: dict) -> dict:
         r = {
             "id": d["name"],
@@ -436,7 +450,7 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None):
             "sample_id": None,
             "children": [resource_plr_to_ulab_inner(child, all_states) for child in d["children"]],
             "parent": d["parent_name"] if d["parent_name"] else parent_name if parent_name else None,
-            "type": "device",  # FIXME plr自带的type是python class name
+            "type": replace_plr_type_to_ulab(d.get("category")),  # FIXME plr自带的type是python class name
             "class": d.get("class", ""),
             "position": (
                 {"x": d["location"]["x"], "y": d["location"]["y"], "z": d["location"]["z"]}

unilabos/ros/msgs/message_converter.py

@@ -367,7 +367,7 @@ def convert_to_ros_msg(ros_msg_type: Union[Type, Any], obj: Any) -> Any:
                     logger.warning(f"Not Supported type: {td}")
                     setattr(ros_msg, key, [])  # FIXME
             elif "array.array" in str(type(attr)):
-                if attr.typecode == "f":
+                if attr.typecode == "f" or attr.typecode == "d":
                     setattr(ros_msg, key, [float(i) for i in value])
                 else:
                     setattr(ros_msg, key, value)

unilabos/ros/nodes/base_device_node.py

@@ -660,7 +660,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             if len(action_kwargs[k]) > 1:
                                 for i in action_kwargs[k]:
                                     r = ResourceGet.Request()
-                                    r.id = i["id"]
+                                    r.id = i["id"]  # splash optional
                                     r.with_children = True
                                     response = await self._resource_clients["resource_get"].call_async(r)
                                     current_resources.extend(response.resources)

unilabos/utils/log.py

@@ -148,7 +148,7 @@ def configure_logger():
     """配置日志记录器"""
     # 获取根日志记录器
     root_logger = logging.getLogger()
-    root_logger.setLevel(logging.INFO)  # 修改为DEBUG以显示所有级别
+    root_logger.setLevel(logging.DEBUG)  # 修改为DEBUG以显示所有级别
 
     # 移除已存在的处理器
     for handler in root_logger.handlers[:]:
@@ -156,7 +156,7 @@ def configure_logger():
 
     # 创建控制台处理器
     console_handler = logging.StreamHandler()
-    console_handler.setLevel(logging.INFO)  # 修改为DEBUG以显示所有级别
+    console_handler.setLevel(logging.DEBUG)  # 修改为DEBUG以显示所有级别
 
     # 使用自定义的颜色格式化器
     color_formatter = ColoredFormatter()