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v0.9.5
| Author | SHA1 | Date | |
|---|---|---|---|
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7db3123547 | ||
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6da7a20a7a | ||
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aa1c67de29 |
@@ -1,3 +1,5 @@
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recursive-include unilabos/registry *.yaml
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recursive-include unilabos/registry *.yaml
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||||||
recursive-include unilabos/app/web *.html
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recursive-include unilabos/app/web *.html
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||||||
recursive-include unilabos/app/web *.css
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recursive-include unilabos/app/web *.css
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||||||
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recursive-include unilabos/device_mesh/devices *
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recursive-include unilabos/device_mesh/resources *
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@@ -49,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n environment_name
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# Currently, you need to install the `unilabos_msgs` package
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# Currently, you need to install the `unilabos_msgs` package
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||||||
# You can download the system-specific package from the Release page
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# You can download the system-specific package from the Release page
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conda install ros-humble-unilabos-msgs-0.9.4-xxxxx.tar.bz2
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conda install ros-humble-unilabos-msgs-0.9.5-xxxxx.tar.bz2
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||||||
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# Install PyLabRobot and other prerequisites
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# Install PyLabRobot and other prerequisites
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git clone https://github.com/PyLabRobot/pylabrobot plr_repo
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git clone https://github.com/PyLabRobot/pylabrobot plr_repo
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@@ -49,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n 环境名
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|
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# 现阶段，需要安装 `unilabos_msgs` 包
|
# 现阶段，需要安装 `unilabos_msgs` 包
|
||||||
# 可以前往 Release 页面下载系统对应的包进行安装
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# 可以前往 Release 页面下载系统对应的包进行安装
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||||||
conda install ros-humble-unilabos-msgs-0.9.4-xxxxx.tar.bz2
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conda install ros-humble-unilabos-msgs-0.9.5-xxxxx.tar.bz2
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# 安装PyLabRobot等前置
|
# 安装PyLabRobot等前置
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git clone https://github.com/PyLabRobot/pylabrobot plr_repo
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git clone https://github.com/PyLabRobot/pylabrobot plr_repo
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7
recipes/macos_sdk_config.yaml
Normal file
7
recipes/macos_sdk_config.yaml
Normal file
@@ -0,0 +1,7 @@
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CONDA_BUILD_SYSROOT:
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- /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk
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MACOSX_DEPLOYMENT_TARGET:
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- "11.0"
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CONDA_SUBDIR:
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- osx-arm64
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# boa build -m ./recipes/conda_build_config.yaml -m ./recipes/macos_sdk_config.yaml ./recipes/ros-humble-unilabos-msgs
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@@ -1,6 +1,6 @@
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package:
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package:
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name: ros-humble-unilabos-msgs
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name: ros-humble-unilabos-msgs
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version: 0.9.4
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version: 0.9.5
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source:
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source:
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path: ../../unilabos_msgs
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path: ../../unilabos_msgs
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folder: ros-humble-unilabos-msgs/src/work
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folder: ros-humble-unilabos-msgs/src/work
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@@ -1,6 +1,6 @@
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package:
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package:
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name: unilabos
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name: unilabos
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version: "0.9.4"
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version: "0.9.5"
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source:
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source:
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path: ../..
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path: ../..
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2
setup.py
2
setup.py
@@ -4,7 +4,7 @@ package_name = 'unilabos'
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|
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setup(
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setup(
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name=package_name,
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name=package_name,
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version='0.9.4',
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version='0.9.5',
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packages=find_packages(),
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packages=find_packages(),
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include_package_data=True,
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include_package_data=True,
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install_requires=['setuptools'],
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install_requires=['setuptools'],
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@@ -2,13 +2,38 @@ import numpy as np
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import networkx as nx
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import networkx as nx
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def is_integrated_pump(node_name):
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return "pump" in node_name and "valve" in node_name
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def find_connected_pump(G, valve_node):
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for neighbor in G.neighbors(valve_node):
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if "pump" in G.nodes[neighbor]["class"]:
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return neighbor
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raise ValueError(f"未找到与阀 {valve_node} 唯一相连的泵节点")
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def build_pump_valve_maps(G, pump_backbone):
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pumps_from_node = {}
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valve_from_node = {}
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for node in pump_backbone:
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if is_integrated_pump(node):
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|
pumps_from_node[node] = node
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valve_from_node[node] = node
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|
else:
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pump_node = find_connected_pump(G, node)
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pumps_from_node[node] = pump_node
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valve_from_node[node] = node
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return pumps_from_node, valve_from_node
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def generate_pump_protocol(
|
def generate_pump_protocol(
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G: nx.DiGraph,
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G: nx.DiGraph,
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from_vessel: str,
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from_vessel: str,
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to_vessel: str,
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to_vessel: str,
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volume: float,
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volume: float,
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flowrate: float = 0.5,
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flowrate: float = 0.5,
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transfer_flowrate: float = 0,
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transfer_flowrate: float = 0,
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) -> list[dict]:
|
) -> list[dict]:
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"""
|
"""
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生成泵操作的动作序列。
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生成泵操作的动作序列。
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@@ -24,27 +49,10 @@ def generate_pump_protocol(
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# 生成泵操作的动作序列
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# 生成泵操作的动作序列
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pump_action_sequence = []
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pump_action_sequence = []
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nodes = G.nodes(data=True)
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# 检查节点是否存在
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# 从from_vessel到to_vessel的最短路径
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if from_vessel not in G.nodes:
|
shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel)
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print(f"Warning: Source vessel '{from_vessel}' not found in graph. Skipping.")
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print(shortest_path)
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return []
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if to_vessel not in G.nodes:
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print(f"Warning: Target vessel '{to_vessel}' not found in graph. Skipping.")
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return []
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# 检查是否存在路径
|
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try:
|
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shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel)
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except nx.NetworkXNoPath:
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print(f"Warning: No path from '{from_vessel}' to '{to_vessel}'. Skipping.")
|
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return []
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except nx.NodeNotFound as e:
|
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print(f"Warning: Node not found: {e}. Skipping.")
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||||||
return []
|
|
||||||
|
|
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print(f"Shortest path: {shortest_path}")
|
|
||||||
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pump_backbone = shortest_path
|
pump_backbone = shortest_path
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if not from_vessel.startswith("pump"):
|
if not from_vessel.startswith("pump"):
|
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@@ -52,34 +60,12 @@ def generate_pump_protocol(
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if not to_vessel.startswith("pump"):
|
if not to_vessel.startswith("pump"):
|
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pump_backbone = pump_backbone[:-1]
|
pump_backbone = pump_backbone[:-1]
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|
|
||||||
print(f"Pump backbone: {pump_backbone}")
|
|
||||||
|
|
||||||
# 修复：检查pump_backbone是否为空
|
|
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if not pump_backbone:
|
|
||||||
print(f"Warning: No pumps found in path from '{from_vessel}' to '{to_vessel}'. Skipping.")
|
|
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return []
|
|
||||||
|
|
||||||
if transfer_flowrate == 0:
|
if transfer_flowrate == 0:
|
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transfer_flowrate = flowrate
|
transfer_flowrate = flowrate
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||||||
|
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||||||
# 修复：正确访问节点数据
|
pumps_from_node, valve_from_node = build_pump_valve_maps(G, pump_backbone)
|
||||||
pump_max_volumes = []
|
|
||||||
for pump in pump_backbone:
|
|
||||||
# 直接使用 G.nodes[pump] 来访问节点数据
|
|
||||||
pump_data = G.nodes[pump] if pump in G.nodes else {}
|
|
||||||
# 尝试多种可能的键名，并提供默认值
|
|
||||||
max_vol = pump_data.get('max_volume') or pump_data.get('max_vol') or pump_data.get('volume')
|
|
||||||
if max_vol is None:
|
|
||||||
# 如果是设备节点，尝试从config中获取
|
|
||||||
config = pump_data.get('config', {})
|
|
||||||
max_vol = config.get('max_volume', 25.0)
|
|
||||||
pump_max_volumes.append(float(max_vol))
|
|
||||||
|
|
||||||
if pump_max_volumes:
|
|
||||||
min_transfer_volume = min(pump_max_volumes)
|
|
||||||
else:
|
|
||||||
min_transfer_volume = 25.0 # 默认值
|
|
||||||
|
|
||||||
|
min_transfer_volume = min([nodes[pumps_from_node[node]]["config"]["max_volume"] for node in pump_backbone])
|
||||||
repeats = int(np.ceil(volume / min_transfer_volume))
|
repeats = int(np.ceil(volume / min_transfer_volume))
|
||||||
if repeats > 1 and (from_vessel.startswith("pump") or to_vessel.startswith("pump")):
|
if repeats > 1 and (from_vessel.startswith("pump") or to_vessel.startswith("pump")):
|
||||||
raise ValueError("Cannot transfer volume larger than min_transfer_volume between two pumps.")
|
raise ValueError("Cannot transfer volume larger than min_transfer_volume between two pumps.")
|
||||||
@@ -89,102 +75,84 @@ def generate_pump_protocol(
|
|||||||
# 生成泵操作的动作序列
|
# 生成泵操作的动作序列
|
||||||
for i in range(repeats):
|
for i in range(repeats):
|
||||||
# 单泵依次执行阀指令、活塞指令，将液体吸入与之相连的第一台泵
|
# 单泵依次执行阀指令、活塞指令，将液体吸入与之相连的第一台泵
|
||||||
if not from_vessel.startswith("pump") and pump_backbone:
|
if not from_vessel.startswith("pump"):
|
||||||
# 修复：添加边缘数据检查
|
pump_action_sequence.extend([
|
||||||
edge_data = G.get_edge_data(pump_backbone[0], from_vessel)
|
{
|
||||||
if edge_data and "port" in edge_data:
|
"device_id": valve_from_node[pump_backbone[0]],
|
||||||
pump_action_sequence.extend([
|
"action_name": "set_valve_position",
|
||||||
{
|
"action_kwargs": {
|
||||||
"device_id": pump_backbone[0],
|
"command": G.get_edge_data(pump_backbone[0], from_vessel)["port"][pump_backbone[0]]
|
||||||
"action_name": "set_valve_position",
|
|
||||||
"action_kwargs": {
|
|
||||||
"command": edge_data["port"][pump_backbone[0]]
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"device_id": pump_backbone[0],
|
|
||||||
"action_name": "set_position",
|
|
||||||
"action_kwargs": {
|
|
||||||
"position": float(min(volume_left, min_transfer_volume)),
|
|
||||||
"max_velocity": transfer_flowrate
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
])
|
},
|
||||||
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
|
{
|
||||||
else:
|
"device_id": pumps_from_node[pump_backbone[0]],
|
||||||
print(f"Warning: No edge data found between {pump_backbone[0]} and {from_vessel}")
|
"action_name": "set_position",
|
||||||
|
"action_kwargs": {
|
||||||
# 修复：检查pump_backbone长度，避免多泵操作时出错
|
"position": float(min(volume_left, min_transfer_volume)),
|
||||||
if len(pump_backbone) > 1:
|
"max_velocity": transfer_flowrate
|
||||||
for pumpA, pumpB in zip(pump_backbone[:-1], pump_backbone[1:]):
|
|
||||||
# 相邻两泵同时切换阀门至连通位置
|
|
||||||
edge_AB = G.get_edge_data(pumpA, pumpB)
|
|
||||||
edge_BA = G.get_edge_data(pumpB, pumpA)
|
|
||||||
|
|
||||||
if edge_AB and "port" in edge_AB and edge_BA and "port" in edge_BA:
|
|
||||||
pump_action_sequence.append([
|
|
||||||
{
|
|
||||||
"device_id": pumpA,
|
|
||||||
"action_name": "set_valve_position",
|
|
||||||
"action_kwargs": {
|
|
||||||
"command": edge_AB["port"][pumpA]
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"device_id": pumpB,
|
|
||||||
"action_name": "set_valve_position",
|
|
||||||
"action_kwargs": {
|
|
||||||
"command": edge_BA["port"][pumpB],
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
])
|
}
|
||||||
# 相邻两泵液体转移：泵A排出液体，泵B吸入液体
|
])
|
||||||
pump_action_sequence.append([
|
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
|
||||||
{
|
for nodeA, nodeB in zip(pump_backbone[:-1], pump_backbone[1:]):
|
||||||
"device_id": pumpA,
|
# 相邻两泵同时切换阀门至连通位置
|
||||||
"action_name": "set_position",
|
pump_action_sequence.append([
|
||||||
"action_kwargs": {
|
{
|
||||||
"position": 0.0,
|
"device_id": valve_from_node[nodeA],
|
||||||
"max_velocity": transfer_flowrate
|
"action_name": "set_valve_position",
|
||||||
}
|
"action_kwargs": {
|
||||||
},
|
"command": G.get_edge_data(nodeA, nodeB)["port"][nodeA]
|
||||||
{
|
|
||||||
"device_id": pumpB,
|
|
||||||
"action_name": "set_position",
|
|
||||||
"action_kwargs": {
|
|
||||||
"position": float(min(volume_left, min_transfer_volume)),
|
|
||||||
"max_velocity": transfer_flowrate
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
])
|
},
|
||||||
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
|
{
|
||||||
else:
|
"device_id": valve_from_node[nodeB],
|
||||||
print(f"Warning: No edge data found between {pumpA} and {pumpB}")
|
"action_name": "set_valve_position",
|
||||||
|
"action_kwargs": {
|
||||||
|
"command": G.get_edge_data(nodeB, nodeA)["port"][nodeB],
|
||||||
|
}
|
||||||
|
}
|
||||||
|
])
|
||||||
|
# 相邻两泵液体转移：泵A排出液体，泵B吸入液体
|
||||||
|
pump_action_sequence.append([
|
||||||
|
{
|
||||||
|
"device_id": pumps_from_node[nodeA],
|
||||||
|
"action_name": "set_position",
|
||||||
|
"action_kwargs": {
|
||||||
|
"position": 0.0,
|
||||||
|
"max_velocity": transfer_flowrate
|
||||||
|
}
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"device_id": pumps_from_node[nodeB],
|
||||||
|
"action_name": "set_position",
|
||||||
|
"action_kwargs": {
|
||||||
|
"position": float(min(volume_left, min_transfer_volume)),
|
||||||
|
"max_velocity": transfer_flowrate
|
||||||
|
}
|
||||||
|
}
|
||||||
|
])
|
||||||
|
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
|
||||||
|
|
||||||
if not to_vessel.startswith("pump") and pump_backbone:
|
if not to_vessel.startswith("pump"):
|
||||||
# 单泵依次执行阀指令、活塞指令，将最后一台泵液体缓慢加入容器B
|
# 单泵依次执行阀指令、活塞指令，将最后一台泵液体缓慢加入容器B
|
||||||
edge_data = G.get_edge_data(pump_backbone[-1], to_vessel)
|
pump_action_sequence.extend([
|
||||||
if edge_data and "port" in edge_data:
|
{
|
||||||
pump_action_sequence.extend([
|
"device_id": valve_from_node[pump_backbone[-1]],
|
||||||
{
|
"action_name": "set_valve_position",
|
||||||
"device_id": pump_backbone[-1],
|
"action_kwargs": {
|
||||||
"action_name": "set_valve_position",
|
"command": G.get_edge_data(pump_backbone[-1], to_vessel)["port"][pump_backbone[-1]]
|
||||||
"action_kwargs": {
|
|
||||||
"command": edge_data["port"][pump_backbone[-1]]
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"device_id": pump_backbone[-1],
|
|
||||||
"action_name": "set_position",
|
|
||||||
"action_kwargs": {
|
|
||||||
"position": 0.0,
|
|
||||||
"max_velocity": flowrate
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
])
|
},
|
||||||
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
|
{
|
||||||
else:
|
"device_id": pumps_from_node[pump_backbone[-1]],
|
||||||
print(f"Warning: No edge data found between {pump_backbone[-1]} and {to_vessel}")
|
"action_name": "set_position",
|
||||||
|
"action_kwargs": {
|
||||||
|
"position": 0.0,
|
||||||
|
"max_velocity": flowrate
|
||||||
|
}
|
||||||
|
}
|
||||||
|
])
|
||||||
|
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
|
||||||
|
|
||||||
volume_left -= min_transfer_volume
|
volume_left -= min_transfer_volume
|
||||||
return pump_action_sequence
|
return pump_action_sequence
|
||||||
@@ -192,19 +160,19 @@ def generate_pump_protocol(
|
|||||||
|
|
||||||
# Pump protocol compilation
|
# Pump protocol compilation
|
||||||
def generate_pump_protocol_with_rinsing(
|
def generate_pump_protocol_with_rinsing(
|
||||||
G: nx.DiGraph,
|
G: nx.DiGraph,
|
||||||
from_vessel: str,
|
from_vessel: str,
|
||||||
to_vessel: str,
|
to_vessel: str,
|
||||||
volume: float,
|
volume: float,
|
||||||
amount: str = "",
|
amount: str = "",
|
||||||
time: float = 0,
|
time: float = 0,
|
||||||
viscous: bool = False,
|
viscous: bool = False,
|
||||||
rinsing_solvent: str = "air",
|
rinsing_solvent: str = "air",
|
||||||
rinsing_volume: float = 5.0,
|
rinsing_volume: float = 5.0,
|
||||||
rinsing_repeats: int = 2,
|
rinsing_repeats: int = 2,
|
||||||
solid: bool = False,
|
solid: bool = False,
|
||||||
flowrate: float = 2.5,
|
flowrate: float = 2.5,
|
||||||
transfer_flowrate: float = 0.5,
|
transfer_flowrate: float = 0.5,
|
||||||
) -> list[dict]:
|
) -> list[dict]:
|
||||||
"""
|
"""
|
||||||
Generates a pump protocol for transferring a specified volume between vessels, including rinsing steps with a chosen solvent. This function constructs a sequence of pump actions based on the provided parameters and the shortest path in a directed graph.
|
Generates a pump protocol for transferring a specified volume between vessels, including rinsing steps with a chosen solvent. This function constructs a sequence of pump actions based on the provided parameters and the shortest path in a directed graph.
|
||||||
@@ -233,86 +201,54 @@ def generate_pump_protocol_with_rinsing(
|
|||||||
Examples:
|
Examples:
|
||||||
pump_protocol = generate_pump_protocol_with_rinsing(G, "vessel_A", "vessel_B", 0.1, rinsing_solvent="water")
|
pump_protocol = generate_pump_protocol_with_rinsing(G, "vessel_A", "vessel_B", 0.1, rinsing_solvent="water")
|
||||||
"""
|
"""
|
||||||
# 修复：使用实际存在的节点名称
|
air_vessel = "flask_air"
|
||||||
air_vessel = "flask_air" # 这个在你的配置中存在
|
waste_vessel = f"waste_workup"
|
||||||
|
|
||||||
# 寻找合适的废料容器，如果没有找到则使用空的容器作为替代
|
shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel)
|
||||||
waste_vessel = None
|
pump_backbone = shortest_path[1: -1]
|
||||||
available_vessels = [node for node in G.nodes if node.startswith("flask_") and node != air_vessel]
|
nodes = G.nodes(data=True)
|
||||||
if available_vessels:
|
|
||||||
# 使用第一个可用的容器作为废料容器
|
|
||||||
waste_vessel = available_vessels[0]
|
|
||||||
print(f"Using {waste_vessel} as waste vessel")
|
|
||||||
else:
|
|
||||||
waste_vessel = "flask_1" # 备用选择
|
|
||||||
|
|
||||||
# 修复：添加路径检查
|
pumps_from_node, valve_from_node = build_pump_valve_maps(G, pump_backbone)
|
||||||
try:
|
|
||||||
shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel)
|
|
||||||
pump_backbone = shortest_path[1: -1]
|
|
||||||
except (nx.NetworkXNoPath, nx.NodeNotFound) as e:
|
|
||||||
print(f"Warning: Cannot find path from {from_vessel} to {to_vessel}: {e}")
|
|
||||||
return []
|
|
||||||
|
|
||||||
# 修复：正确访问节点数据
|
|
||||||
pump_max_volumes = []
|
|
||||||
for pump in pump_backbone:
|
|
||||||
# 直接使用 G.nodes[pump] 来访问节点数据
|
|
||||||
pump_data = G.nodes[pump] if pump in G.nodes else {}
|
|
||||||
# 尝试多种可能的键名，并提供默认值
|
|
||||||
max_vol = pump_data.get('max_volume') or pump_data.get('max_vol') or pump_data.get('volume')
|
|
||||||
if max_vol is None:
|
|
||||||
# 如果是设备节点，尝试从config中获取
|
|
||||||
config = pump_data.get('config', {})
|
|
||||||
max_vol = config.get('max_volume', 25.0)
|
|
||||||
pump_max_volumes.append(float(max_vol))
|
|
||||||
|
|
||||||
if pump_max_volumes:
|
|
||||||
min_transfer_volume = float(min(pump_max_volumes))
|
|
||||||
else:
|
|
||||||
min_transfer_volume = 25.0 # 默认值
|
|
||||||
|
|
||||||
|
min_transfer_volume = min([nodes[pumps_from_node[node]]["config"]["max_volume"] for node in pump_backbone])
|
||||||
if time != 0:
|
if time != 0:
|
||||||
flowrate = transfer_flowrate = volume / time
|
flowrate = transfer_flowrate = volume / time
|
||||||
|
|
||||||
pump_action_sequence = generate_pump_protocol(G, from_vessel, to_vessel, float(volume), flowrate, transfer_flowrate)
|
pump_action_sequence = generate_pump_protocol(G, from_vessel, to_vessel, float(volume), flowrate, transfer_flowrate)
|
||||||
|
if rinsing_solvent != "air" and rinsing_solvent != "":
|
||||||
# 修复：只在需要清洗且相关节点存在时才执行清洗步骤
|
|
||||||
if rinsing_solvent != "air" and pump_backbone:
|
|
||||||
if "," in rinsing_solvent:
|
if "," in rinsing_solvent:
|
||||||
rinsing_solvents = rinsing_solvent.split(",")
|
rinsing_solvents = rinsing_solvent.split(",")
|
||||||
assert len(rinsing_solvents) == rinsing_repeats, "Number of rinsing solvents must match number of rinsing repeats."
|
assert len(
|
||||||
|
rinsing_solvents) == rinsing_repeats, "Number of rinsing solvents must match number of rinsing repeats."
|
||||||
else:
|
else:
|
||||||
rinsing_solvents = [rinsing_solvent] * rinsing_repeats
|
rinsing_solvents = [rinsing_solvent] * rinsing_repeats
|
||||||
|
|
||||||
for rinsing_solvent in rinsing_solvents:
|
for rinsing_solvent in rinsing_solvents:
|
||||||
solvent_vessel = f"flask_{rinsing_solvent}"
|
solvent_vessel = f"flask_{rinsing_solvent}"
|
||||||
|
# 清洗泵
|
||||||
# 检查溶剂容器是否存在
|
pump_action_sequence.extend(
|
||||||
if solvent_vessel not in G.nodes:
|
generate_pump_protocol(G, solvent_vessel, pump_backbone[0], min_transfer_volume, flowrate,
|
||||||
print(f"Warning: Solvent vessel '{solvent_vessel}' not found in graph. Skipping rinsing step.")
|
transfer_flowrate) +
|
||||||
continue
|
generate_pump_protocol(G, pump_backbone[0], pump_backbone[-1], min_transfer_volume, flowrate,
|
||||||
|
transfer_flowrate) +
|
||||||
# 清洗泵 - 只有当所有必需的节点都存在且pump_backbone不为空时才执行
|
generate_pump_protocol(G, pump_backbone[-1], waste_vessel, min_transfer_volume, flowrate,
|
||||||
if pump_backbone and len(pump_backbone) > 0 and waste_vessel in G.nodes:
|
transfer_flowrate)
|
||||||
|
)
|
||||||
|
# 如果转移的是溶液，第一种冲洗溶剂请选用溶液的溶剂，稀释泵内、转移管道内的溶液。后续冲洗溶剂不需要此操作。
|
||||||
|
if rinsing_solvent == rinsing_solvents[0]:
|
||||||
pump_action_sequence.extend(
|
pump_action_sequence.extend(
|
||||||
generate_pump_protocol(G, solvent_vessel, pump_backbone[0], min_transfer_volume, flowrate, transfer_flowrate) +
|
generate_pump_protocol(G, solvent_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||||
generate_pump_protocol(G, pump_backbone[0], pump_backbone[-1], min_transfer_volume, flowrate, transfer_flowrate) +
|
pump_action_sequence.extend(
|
||||||
generate_pump_protocol(G, pump_backbone[-1], waste_vessel, min_transfer_volume, flowrate, transfer_flowrate)
|
generate_pump_protocol(G, solvent_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||||
)
|
pump_action_sequence.extend(
|
||||||
|
generate_pump_protocol(G, air_vessel, solvent_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||||
# 如果转移的是溶液，第一种冲洗溶剂请选用溶液的溶剂，稀释泵内、转移管道内的溶液。后续冲洗溶剂不需要此操作。
|
pump_action_sequence.extend(
|
||||||
if rinsing_solvent == rinsing_solvents[0]:
|
generate_pump_protocol(G, air_vessel, waste_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||||
pump_action_sequence.extend(generate_pump_protocol(G, solvent_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
if rinsing_solvent != "":
|
||||||
pump_action_sequence.extend(generate_pump_protocol(G, solvent_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
pump_action_sequence.extend(
|
||||||
|
generate_pump_protocol(G, air_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
|
||||||
pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, solvent_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
pump_action_sequence.extend(
|
||||||
pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, waste_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
generate_pump_protocol(G, air_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
|
||||||
|
|
||||||
# 最后的空气清洗 - 只有当节点存在时才执行
|
|
||||||
if air_vessel in G.nodes:
|
|
||||||
pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
|
|
||||||
pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
|
|
||||||
|
|
||||||
return pump_action_sequence
|
return pump_action_sequence
|
||||||
# End Protocols
|
# End Protocols
|
||||||
|
|||||||
@@ -9,7 +9,7 @@ Panels:
|
|||||||
- /MotionPlanning1/Scene Robot1
|
- /MotionPlanning1/Scene Robot1
|
||||||
- /MotionPlanning1/Planning Request1
|
- /MotionPlanning1/Planning Request1
|
||||||
Splitter Ratio: 0.5016146302223206
|
Splitter Ratio: 0.5016146302223206
|
||||||
Tree Height: 575
|
Tree Height: 1112
|
||||||
- Class: rviz_common/Selection
|
- Class: rviz_common/Selection
|
||||||
Name: Selection
|
Name: Selection
|
||||||
- Class: rviz_common/Tool Properties
|
- Class: rviz_common/Tool Properties
|
||||||
@@ -571,21 +571,21 @@ Visualization Manager:
|
|||||||
Saved: ~
|
Saved: ~
|
||||||
Window Geometry:
|
Window Geometry:
|
||||||
Displays:
|
Displays:
|
||||||
collapsed: true
|
collapsed: false
|
||||||
Height: 1061
|
Height: 2032
|
||||||
Hide Left Dock: true
|
Hide Left Dock: false
|
||||||
Hide Right Dock: true
|
Hide Right Dock: true
|
||||||
MotionPlanning:
|
MotionPlanning:
|
||||||
collapsed: true
|
collapsed: true
|
||||||
MotionPlanning - Trajectory Slider:
|
MotionPlanning - Trajectory Slider:
|
||||||
collapsed: false
|
collapsed: false
|
||||||
QMainWindow State: 000000ff00000000fd0000000400000000000003a3000003f2fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007300000000170000027b000000ca00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004300fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670000000296000001730000013e00ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000387000000a100fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000784000003f200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
|
QMainWindow State: 000000ff00000000fd0000000400000000000003a30000079bfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000027000004c60000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000007a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000004f9000002c9000002b800ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003870000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000bc50000079b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
|
||||||
Selection:
|
Selection:
|
||||||
collapsed: false
|
collapsed: false
|
||||||
Tool Properties:
|
Tool Properties:
|
||||||
collapsed: false
|
collapsed: false
|
||||||
Views:
|
Views:
|
||||||
collapsed: true
|
collapsed: true
|
||||||
Width: 1924
|
Width: 3956
|
||||||
X: 140
|
X: 140
|
||||||
Y: 54
|
Y: 54
|
||||||
|
|||||||
@@ -10,6 +10,7 @@ from pylabrobot.resources import (
|
|||||||
Container,
|
Container,
|
||||||
Coordinate,
|
Coordinate,
|
||||||
)
|
)
|
||||||
|
import copy
|
||||||
from unilabos_msgs.msg import Resource
|
from unilabos_msgs.msg import Resource
|
||||||
|
|
||||||
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker # type: ignore
|
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker # type: ignore
|
||||||
@@ -61,7 +62,7 @@ class LiquidHandlerBiomek:
|
|||||||
'LocalPattern': True,
|
'LocalPattern': True,
|
||||||
'Operation': 'Aspirate',
|
'Operation': 'Aspirate',
|
||||||
'OverrideHeight': False,
|
'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),
|
'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),
|
||||||
'Prototype': 'MC P300 High',
|
'Prototype': 'MC P300 High',
|
||||||
'ReferencedPattern': '',
|
'ReferencedPattern': '',
|
||||||
'RowsFirst': False,
|
'RowsFirst': False,
|
||||||
@@ -450,8 +451,8 @@ class LiquidHandlerBiomek:
|
|||||||
"""
|
"""
|
||||||
items = []
|
items = []
|
||||||
|
|
||||||
asp_params = self.aspirate_techniques.get(aspirate_techniques, {})
|
asp_params = copy.deepcopy(self.aspirate_techniques[aspirate_techniques])
|
||||||
dis_params = self.dispense_techniques.get(dispense_techniques, {})
|
dis_params = copy.deepcopy(self.dispense_techniques[dispense_techniques])
|
||||||
|
|
||||||
asp_params['Position'] = source
|
asp_params['Position'] = source
|
||||||
dis_params['Position'] = target
|
dis_params['Position'] = target
|
||||||
@@ -968,15 +969,6 @@ if __name__ == "__main__":
|
|||||||
"liquid_volume": [],
|
"liquid_volume": [],
|
||||||
"liquid_input_wells": []
|
"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",
|
"id": "working plate on P13",
|
||||||
"parent": "deck",
|
"parent": "deck",
|
||||||
|
|||||||
@@ -15,6 +15,7 @@ from typing import List, Sequence, Optional, Union, Literal
|
|||||||
import json
|
import json
|
||||||
import pathlib
|
import pathlib
|
||||||
from typing import Sequence, Optional, List, Union, Literal
|
from typing import Sequence, Optional, List, Union, Literal
|
||||||
|
import copy
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
@@ -67,7 +68,7 @@ class LiquidHandlerBiomek:
|
|||||||
'LocalPattern': True,
|
'LocalPattern': True,
|
||||||
'Operation': 'Aspirate',
|
'Operation': 'Aspirate',
|
||||||
'OverrideHeight': False,
|
'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),
|
'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),
|
||||||
'Prototype': 'MC P300 High',
|
'Prototype': 'MC P300 High',
|
||||||
'ReferencedPattern': '',
|
'ReferencedPattern': '',
|
||||||
'RowsFirst': False,
|
'RowsFirst': False,
|
||||||
@@ -351,8 +352,9 @@ class LiquidHandlerBiomek:
|
|||||||
"""
|
"""
|
||||||
items = []
|
items = []
|
||||||
|
|
||||||
asp_params = self.aspirate_techniques.get(aspirate_techniques, {})
|
asp_params = copy.deepcopy(self.aspirate_techniques[aspirate_techniques])
|
||||||
dis_params = self.dispense_techniques.get(dispense_techniques, {})
|
dis_params = copy.deepcopy(self.dispense_techniques[dispense_techniques])
|
||||||
|
|
||||||
|
|
||||||
asp_params['Position'] = source
|
asp_params['Position'] = source
|
||||||
dis_params['Position'] = target
|
dis_params['Position'] = target
|
||||||
@@ -403,8 +405,10 @@ class LiquidHandlerBiomek:
|
|||||||
transfer_params["Solvent"] = 'Water'
|
transfer_params["Solvent"] = 'Water'
|
||||||
transfer_params["TipLocation"] = tip_rack
|
transfer_params["TipLocation"] = tip_rack
|
||||||
tmp={'transfer': transfer_params}
|
tmp={'transfer': transfer_params}
|
||||||
|
|
||||||
self.temp_protocol["steps"].append(tmp)
|
self.temp_protocol["steps"].append(tmp)
|
||||||
|
|
||||||
|
|
||||||
return
|
return
|
||||||
|
|
||||||
def move_biomek(
|
def move_biomek(
|
||||||
@@ -872,15 +876,6 @@ if __name__ == "__main__":
|
|||||||
"liquid_volume": [],
|
"liquid_volume": [],
|
||||||
"liquid_input_wells": []
|
"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",
|
"id": "working plate on P13",
|
||||||
"parent": "deck",
|
"parent": "deck",
|
||||||
@@ -968,6 +963,7 @@ if __name__ == "__main__":
|
|||||||
print(f"步骤 {step['step_number']}: {description}")
|
print(f"步骤 {step['step_number']}: {description}")
|
||||||
|
|
||||||
if operation == 'transfer':
|
if operation == 'transfer':
|
||||||
|
|
||||||
handler.transfer_biomek(
|
handler.transfer_biomek(
|
||||||
source=parameters['source'],
|
source=parameters['source'],
|
||||||
target=parameters['target'],
|
target=parameters['target'],
|
||||||
|
|||||||
@@ -1,7 +1,7 @@
|
|||||||
io_snrd:
|
io_snrd:
|
||||||
description: IO Board with 16 IOs
|
description: IO Board with 16 IOs
|
||||||
class:
|
class:
|
||||||
module: unilabos.device_comms.SRND_16_IO:SRND_16_IO
|
module: ilabos.device_comms.SRND_16_IO:SRND_16_IO
|
||||||
type: python
|
type: python
|
||||||
hardware_interface:
|
hardware_interface:
|
||||||
name: modbus_client
|
name: modbus_client
|
||||||
|
|||||||
@@ -71,3 +71,13 @@ solenoid_valve:
|
|||||||
class:
|
class:
|
||||||
module: unilabos.devices.pump_and_valve.solenoid_valve:SolenoidValve
|
module: unilabos.devices.pump_and_valve.solenoid_valve:SolenoidValve
|
||||||
type: python
|
type: python
|
||||||
|
status_types:
|
||||||
|
status: String
|
||||||
|
valve_position: String
|
||||||
|
action_value_mappings:
|
||||||
|
set_valve_position:
|
||||||
|
type: StrSingleInput
|
||||||
|
goal:
|
||||||
|
string: position
|
||||||
|
feedback: {}
|
||||||
|
result: {}
|
||||||
@@ -601,10 +601,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
goal = goal_handle.request
|
goal = goal_handle.request
|
||||||
|
|
||||||
# 从目标消息中提取参数, 并调用对应的方法
|
# 从目标消息中提取参数, 并调用对应的方法
|
||||||
if "sequence" in self._action_value_mappings:
|
if "sequence" in action_value_mapping:
|
||||||
# 如果一个指令对应函数的连续调用，如启动和等待结果，默认参数应该属于第一个函数调用
|
# 如果一个指令对应函数的连续调用，如启动和等待结果，默认参数应该属于第一个函数调用
|
||||||
def ACTION(**kwargs):
|
def ACTION(**kwargs):
|
||||||
for i, action in enumerate(self._action_value_mappings["sequence"]):
|
for i, action in enumerate(action_value_mapping["sequence"]):
|
||||||
if i == 0:
|
if i == 0:
|
||||||
self.lab_logger().info(f"执行序列动作第一步: {action}")
|
self.lab_logger().info(f"执行序列动作第一步: {action}")
|
||||||
self.get_real_function(self.driver_instance, action)[0](**kwargs)
|
self.get_real_function(self.driver_instance, action)[0](**kwargs)
|
||||||
@@ -612,9 +612,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
self.lab_logger().info(f"执行序列动作后续步骤: {action}")
|
self.lab_logger().info(f"执行序列动作后续步骤: {action}")
|
||||||
self.get_real_function(self.driver_instance, action)[0]()
|
self.get_real_function(self.driver_instance, action)[0]()
|
||||||
|
|
||||||
action_paramtypes = get_type_hints(
|
action_paramtypes = self.get_real_function(self.driver_instance, action_value_mapping["sequence"][0])[1]
|
||||||
self.get_real_function(self.driver_instance, self._action_value_mappings["sequence"][0])
|
|
||||||
)[1]
|
|
||||||
else:
|
else:
|
||||||
ACTION, action_paramtypes = self.get_real_function(self.driver_instance, action_name)
|
ACTION, action_paramtypes = self.get_real_function(self.driver_instance, action_name)
|
||||||
|
|
||||||
|
|||||||
@@ -256,12 +256,12 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
|
|||||||
return write_func(*args, **kwargs)
|
return write_func(*args, **kwargs)
|
||||||
|
|
||||||
if read_method:
|
if read_method:
|
||||||
bound_read = MethodType(_read, device.driver_instance)
|
# bound_read = MethodType(_read, device.driver_instance)
|
||||||
setattr(device.driver_instance, read_method, bound_read)
|
setattr(device.driver_instance, read_method, _read)
|
||||||
|
|
||||||
if write_method:
|
if write_method:
|
||||||
bound_write = MethodType(_write, device.driver_instance)
|
# bound_write = MethodType(_write, device.driver_instance)
|
||||||
setattr(device.driver_instance, write_method, bound_write)
|
setattr(device.driver_instance, write_method, _write)
|
||||||
|
|
||||||
|
|
||||||
async def _update_resources(self, goal, protocol_kwargs):
|
async def _update_resources(self, goal, protocol_kwargs):
|
||||||
|
|||||||
Reference in New Issue
Block a user