Merge remote-tracking branch 'origin/dev' into device_visualization

# Conflicts: # README.md # README_zh.md # recipes/ros-humble-unilabos-msgs/recipe.yaml # recipes/unilabos/recipe.yaml # setup.py # unilabos/devices/liquid_handling/biomek.py # unilabos/devices/liquid_handling/biomek_test.py # unilabos/devices/liquid_handling/complete_biomek_protocol_0608.json # unilabos/registry/devices/liquid_handler.yaml # unilabos/registry/registry.py # unilabos/ros/msgs/message_converter.py # unilabos_msgs/action/LiquidHandlerMoveBiomek.action # unilabos_msgs/action/LiquidHandlerTransferBiomek.action
37-biomek-i5i7 (#40 )
2026-02-04 05:15:10 +00:00 · 2025-06-09 17:04:41 +08:00 · 2025-06-09 16:57:42 +08:00
2 changed files with 13 additions and 25 deletions
--- a/unilabos/devices/liquid_handling/biomek.py
+++ b/unilabos/devices/liquid_handling/biomek.py
@@ -10,6 +10,7 @@ from pylabrobot.resources import (
    Container,
    Coordinate,
 )
+import copy
 from unilabos_msgs.msg import Resource

 from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker  # type: ignore
@@ -61,7 +62,7 @@ class LiquidHandlerBiomek:
                            'LocalPattern': True, 
                            'Operation': 'Aspirate', 
                            'OverrideHeight': False, 
-                            'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True),
+                            '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', 
                            'ReferencedPattern': '', 
                            'RowsFirst': False, 
@@ -450,8 +451,8 @@ class LiquidHandlerBiomek:
        """
        items = []

-        asp_params = self.aspirate_techniques.get(aspirate_techniques, {})
-        dis_params = self.dispense_techniques.get(dispense_techniques, {})
+        asp_params = copy.deepcopy(self.aspirate_techniques[aspirate_techniques])
+        dis_params = copy.deepcopy(self.dispense_techniques[dispense_techniques])

        asp_params['Position'] = source
        dis_params['Position'] = target
@@ -564,7 +565,7 @@ class LiquidHandlerBiomek:


 if __name__ == "__main__":
-  
+
    print("=== Biomek完整流程测试 ===")
    print("包含: 仪器设置 + 完整实验步骤")
    
@@ -968,15 +969,6 @@ if __name__ == "__main__":
        "liquid_volume": [],
        "liquid_input_wells": []
    },
-    {
-        "id": "working plate on P12",
-        "parent": "deck",
-        "slot_on_deck": "P12",
-        "class_name": "BCDeep96Round",
-        "liquid_type": [],
-        "liquid_volume": [],
-        "liquid_input_wells": []
-    },
    {
        "id": "working plate on P13",
        "parent": "deck",
--- a/unilabos/devices/liquid_handling/biomek_test.py
+++ b/unilabos/devices/liquid_handling/biomek_test.py
@@ -15,6 +15,7 @@ from typing import List, Sequence, Optional, Union, Literal
 import json
 import pathlib
 from typing import Sequence, Optional, List, Union, Literal
+import copy



@@ -67,7 +68,7 @@ class LiquidHandlerBiomek:
                            'LocalPattern': True, 
                            'Operation': 'Aspirate', 
                            'OverrideHeight': False, 
-                            'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True),
+                            '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', 
                            'ReferencedPattern': '', 
                            'RowsFirst': False, 
@@ -351,8 +352,9 @@ class LiquidHandlerBiomek:
        """
        items = []

-        asp_params = self.aspirate_techniques.get(aspirate_techniques, {})
-        dis_params = self.dispense_techniques.get(dispense_techniques, {})
+        asp_params = copy.deepcopy(self.aspirate_techniques[aspirate_techniques])
+        dis_params = copy.deepcopy(self.dispense_techniques[dispense_techniques])
+

        asp_params['Position'] = source
        dis_params['Position'] = target
@@ -403,7 +405,9 @@ class LiquidHandlerBiomek:
        transfer_params["Solvent"] = 'Water'
        transfer_params["TipLocation"] = tip_rack
        tmp={'transfer': transfer_params}
+       
        self.temp_protocol["steps"].append(tmp)
+        

        return

@@ -872,15 +876,6 @@ if __name__ == "__main__":
        "liquid_volume": [],
        "liquid_input_wells": []
    },
-    {
-        "id": "working plate on P12",
-        "parent": "deck",
-        "slot_on_deck": "P12",
-        "class_name": "BCDeep96Round",
-        "liquid_type": [],
-        "liquid_volume": [],
-        "liquid_input_wells": []
-    },
    {
        "id": "working plate on P13",
        "parent": "deck",
@@ -968,6 +963,7 @@ if __name__ == "__main__":
        print(f"步骤 {step['step_number']}: {description}")
        
        if operation == 'transfer':
+            
            handler.transfer_biomek(
                source=parameters['source'],
                target=parameters['target'],