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https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-04 05:15:10 +00:00
Compare commits
6 Commits
8a0f000bab
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e6d8d41183
| Author | SHA1 | Date | |
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e6d8d41183 | ||
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847a300af3 | ||
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a201d7c307 | ||
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3433766bc5 | ||
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7e9e93b29c | ||
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9e1e6da505 |
@@ -1,6 +1,6 @@
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package:
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name: unilabos
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version: 0.10.12
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version: 0.10.13
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|
||||
source:
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path: ../unilabos
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|
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@@ -1,6 +1,6 @@
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package:
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||||
name: ros-humble-unilabos-msgs
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version: 0.10.12
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version: 0.10.13
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source:
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path: ../../unilabos_msgs
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target_directory: src
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@@ -1,6 +1,6 @@
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package:
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name: unilabos
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||||
version: "0.10.12"
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version: "0.10.13"
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||||
|
||||
source:
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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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setup(
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name=package_name,
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version='0.10.12',
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version='0.10.13',
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packages=find_packages(),
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include_package_data=True,
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install_requires=['setuptools'],
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|
Before Width: | Height: | Size: 148 KiB After Width: | Height: | Size: 148 KiB |
|
Before Width: | Height: | Size: 140 KiB After Width: | Height: | Size: 140 KiB |
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Before Width: | Height: | Size: 117 KiB After Width: | Height: | Size: 117 KiB |
@@ -1 +1 @@
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||||
__version__ = "0.10.12"
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__version__ = "0.10.13"
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||||
@@ -128,14 +128,21 @@ class ResourceVisualization:
|
||||
new_dev.set("device_name", node["id"]+"_")
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# if node["parent"] is not None:
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||||
# new_dev.set("station_name", node["parent"]+'_')
|
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|
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new_dev.set("x",str(float(node["position"]["position"]["x"])/1000))
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new_dev.set("y",str(float(node["position"]["position"]["y"])/1000))
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new_dev.set("z",str(float(node["position"]["position"]["z"])/1000))
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if "position" in node:
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new_dev.set("x",str(float(node["position"]["position"]["x"])/1000))
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new_dev.set("y",str(float(node["position"]["position"]["y"])/1000))
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new_dev.set("z",str(float(node["position"]["position"]["z"])/1000))
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if "rotation" in node["config"]:
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new_dev.set("rx",str(float(node["config"]["rotation"]["x"])))
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new_dev.set("ry",str(float(node["config"]["rotation"]["y"])))
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new_dev.set("r",str(float(node["config"]["rotation"]["z"])))
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if "pose" in node:
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new_dev.set("x",str(float(node["pose"]["position"]["x"])/1000))
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new_dev.set("y",str(float(node["pose"]["position"]["y"])/1000))
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new_dev.set("z",str(float(node["pose"]["position"]["z"])/1000))
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new_dev.set("rx",str(float(node["pose"]["rotation"]["x"])))
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new_dev.set("ry",str(float(node["pose"]["rotation"]["y"])))
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new_dev.set("r",str(float(node["pose"]["rotation"]["z"])))
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if "device_config" in node["config"]:
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for key, value in node["config"]["device_config"].items():
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new_dev.set(key, str(value))
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@@ -1,307 +0,0 @@
|
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"""
|
||||
LaiYu_Liquid 液体处理工作站集成模块
|
||||
|
||||
该模块提供了 LaiYu_Liquid 工作站与 UniLabOS 的完整集成，包括：
|
||||
- 硬件后端和抽象接口
|
||||
- 资源定义和管理
|
||||
- 协议执行和液体传输
|
||||
- 工作台配置和布局
|
||||
|
||||
主要组件：
|
||||
- LaiYuLiquidBackend: 硬件后端实现
|
||||
- LaiYuLiquid: 液体处理器抽象接口
|
||||
- 各种资源类：枪头架、板、容器等
|
||||
- 便捷创建函数和配置管理
|
||||
|
||||
使用示例：
|
||||
from unilabos.devices.laiyu_liquid import (
|
||||
LaiYuLiquid,
|
||||
LaiYuLiquidBackend,
|
||||
create_standard_deck,
|
||||
create_tip_rack_1000ul
|
||||
)
|
||||
|
||||
# 创建后端和液体处理器
|
||||
backend = LaiYuLiquidBackend()
|
||||
lh = LaiYuLiquid(backend=backend)
|
||||
|
||||
# 创建工作台
|
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deck = create_standard_deck()
|
||||
lh.deck = deck
|
||||
|
||||
# 设置和运行
|
||||
await lh.setup()
|
||||
"""
|
||||
|
||||
# 版本信息
|
||||
__version__ = "1.0.0"
|
||||
__author__ = "LaiYu_Liquid Integration Team"
|
||||
__description__ = "LaiYu_Liquid 液体处理工作站 UniLabOS 集成模块"
|
||||
|
||||
# 驱动程序导入
|
||||
from .drivers import (
|
||||
XYZStepperController,
|
||||
SOPAPipette,
|
||||
MotorAxis,
|
||||
MotorStatus,
|
||||
SOPAConfig,
|
||||
SOPAStatusCode,
|
||||
StepperMotorDriver
|
||||
)
|
||||
|
||||
# 控制器导入
|
||||
from .controllers import (
|
||||
XYZController,
|
||||
PipetteController,
|
||||
)
|
||||
|
||||
# 后端导入
|
||||
from .backend.rviz_backend import (
|
||||
LiquidHandlerRvizBackend,
|
||||
)
|
||||
|
||||
# 资源类和创建函数导入
|
||||
from .core.laiyu_liquid_res import (
|
||||
LaiYuLiquidDeck,
|
||||
LaiYuLiquidContainer,
|
||||
LaiYuLiquidTipRack
|
||||
)
|
||||
|
||||
# 主设备类和配置
|
||||
from .core.laiyu_liquid_main import (
|
||||
LaiYuLiquid,
|
||||
LaiYuLiquidConfig,
|
||||
LaiYuLiquidDeck,
|
||||
LaiYuLiquidContainer,
|
||||
LaiYuLiquidTipRack,
|
||||
create_quick_setup
|
||||
)
|
||||
|
||||
# 后端创建函数导入
|
||||
from .backend import (
|
||||
LaiYuLiquidBackend,
|
||||
create_laiyu_backend,
|
||||
)
|
||||
|
||||
# 导出所有公共接口
|
||||
__all__ = [
|
||||
# 版本信息
|
||||
"__version__",
|
||||
"__author__",
|
||||
"__description__",
|
||||
|
||||
# 驱动程序
|
||||
"SOPAPipette",
|
||||
"SOPAConfig",
|
||||
"StepperMotorDriver",
|
||||
"XYZStepperController",
|
||||
|
||||
# 控制器
|
||||
"PipetteController",
|
||||
"XYZController",
|
||||
|
||||
# 后端
|
||||
"LiquidHandlerRvizBackend",
|
||||
|
||||
# 资源创建函数
|
||||
"create_tip_rack_1000ul",
|
||||
"create_tip_rack_200ul",
|
||||
"create_96_well_plate",
|
||||
"create_deep_well_plate",
|
||||
"create_8_tube_rack",
|
||||
"create_standard_deck",
|
||||
"create_waste_container",
|
||||
"create_wash_container",
|
||||
"create_reagent_container",
|
||||
"load_deck_config",
|
||||
|
||||
# 后端创建函数
|
||||
"create_laiyu_backend",
|
||||
|
||||
# 主要类
|
||||
"LaiYuLiquid",
|
||||
"LaiYuLiquidConfig",
|
||||
"LaiYuLiquidBackend",
|
||||
"LaiYuLiquidDeck",
|
||||
|
||||
# 工具函数
|
||||
"get_version",
|
||||
"get_supported_resources",
|
||||
"create_quick_setup",
|
||||
"validate_installation",
|
||||
"print_module_info",
|
||||
"setup_logging",
|
||||
]
|
||||
|
||||
# 别名定义，为了向后兼容
|
||||
LaiYuLiquidDevice = LaiYuLiquid # 主设备类别名
|
||||
LaiYuLiquidController = XYZController # 控制器别名
|
||||
LaiYuLiquidDriver = XYZStepperController # 驱动器别名
|
||||
|
||||
# 模块级别的便捷函数
|
||||
|
||||
def get_version() -> str:
|
||||
"""
|
||||
获取模块版本
|
||||
|
||||
Returns:
|
||||
str: 版本号
|
||||
"""
|
||||
return __version__
|
||||
|
||||
|
||||
def get_supported_resources() -> dict:
|
||||
"""
|
||||
获取支持的资源类型
|
||||
|
||||
Returns:
|
||||
dict: 支持的资源类型字典
|
||||
"""
|
||||
return {
|
||||
"tip_racks": {
|
||||
"LaiYuLiquidTipRack": LaiYuLiquidTipRack,
|
||||
},
|
||||
"containers": {
|
||||
"LaiYuLiquidContainer": LaiYuLiquidContainer,
|
||||
},
|
||||
"decks": {
|
||||
"LaiYuLiquidDeck": LaiYuLiquidDeck,
|
||||
},
|
||||
"devices": {
|
||||
"LaiYuLiquid": LaiYuLiquid,
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
def create_quick_setup() -> tuple:
|
||||
"""
|
||||
快速创建基本设置
|
||||
|
||||
Returns:
|
||||
tuple: (backend, controllers, resources) 的元组
|
||||
"""
|
||||
# 创建后端
|
||||
backend = LiquidHandlerRvizBackend()
|
||||
|
||||
# 创建控制器（使用默认端口进行演示）
|
||||
pipette_controller = PipetteController(port="/dev/ttyUSB0", address=4)
|
||||
xyz_controller = XYZController(port="/dev/ttyUSB1", auto_connect=False)
|
||||
|
||||
# 创建测试资源
|
||||
tip_rack_1000 = create_tip_rack_1000ul("tip_rack_1000")
|
||||
tip_rack_200 = create_tip_rack_200ul("tip_rack_200")
|
||||
well_plate = create_96_well_plate("96_well_plate")
|
||||
|
||||
controllers = {
|
||||
'pipette': pipette_controller,
|
||||
'xyz': xyz_controller
|
||||
}
|
||||
|
||||
resources = {
|
||||
'tip_rack_1000': tip_rack_1000,
|
||||
'tip_rack_200': tip_rack_200,
|
||||
'well_plate': well_plate
|
||||
}
|
||||
|
||||
return backend, controllers, resources
|
||||
|
||||
|
||||
def validate_installation() -> bool:
|
||||
"""
|
||||
验证模块安装是否正确
|
||||
|
||||
Returns:
|
||||
bool: 安装是否正确
|
||||
"""
|
||||
try:
|
||||
# 检查核心类是否可以导入
|
||||
from .core.laiyu_liquid_main import LaiYuLiquid, LaiYuLiquidConfig
|
||||
from .backend import LaiYuLiquidBackend
|
||||
from .controllers import XYZController, PipetteController
|
||||
from .drivers import XYZStepperController, SOPAPipette
|
||||
|
||||
# 尝试创建基本对象
|
||||
config = LaiYuLiquidConfig()
|
||||
backend = create_laiyu_backend("validation_test")
|
||||
|
||||
print("模块安装验证成功")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
print(f"模块安装验证失败: {e}")
|
||||
return False
|
||||
|
||||
|
||||
def print_module_info():
|
||||
"""打印模块信息"""
|
||||
print(f"LaiYu_Liquid 集成模块")
|
||||
print(f"版本: {__version__}")
|
||||
print(f"作者: {__author__}")
|
||||
print(f"描述: {__description__}")
|
||||
print(f"")
|
||||
print(f"支持的资源类型:")
|
||||
|
||||
resources = get_supported_resources()
|
||||
for category, types in resources.items():
|
||||
print(f" {category}:")
|
||||
for type_name, type_class in types.items():
|
||||
print(f" - {type_name}: {type_class.__name__}")
|
||||
|
||||
print(f"")
|
||||
print(f"主要功能:")
|
||||
print(f" - 硬件集成: LaiYuLiquidBackend")
|
||||
print(f" - 抽象接口: LaiYuLiquid")
|
||||
print(f" - 资源管理: 各种资源类和创建函数")
|
||||
print(f" - 协议执行: transfer_liquid 和相关函数")
|
||||
print(f" - 配置管理: deck.json 和加载函数")
|
||||
|
||||
|
||||
# 模块初始化时的检查
|
||||
def _check_dependencies():
|
||||
"""检查依赖项"""
|
||||
try:
|
||||
import pylabrobot
|
||||
import asyncio
|
||||
import json
|
||||
import logging
|
||||
return True
|
||||
except ImportError as e:
|
||||
import logging
|
||||
logging.warning(f"缺少依赖项 {e}")
|
||||
return False
|
||||
|
||||
|
||||
# 执行依赖检查
|
||||
_dependencies_ok = _check_dependencies()
|
||||
|
||||
if not _dependencies_ok:
|
||||
import logging
|
||||
logging.warning("某些依赖项缺失，模块功能可能受限")
|
||||
|
||||
|
||||
# 模块级别的日志配置
|
||||
import logging
|
||||
|
||||
def setup_logging(level: str = "INFO"):
|
||||
"""
|
||||
设置模块日志
|
||||
|
||||
Args:
|
||||
level: 日志级别 (DEBUG, INFO, WARNING, ERROR)
|
||||
"""
|
||||
logger = logging.getLogger("LaiYu_Liquid")
|
||||
logger.setLevel(getattr(logging, level.upper()))
|
||||
|
||||
if not logger.handlers:
|
||||
handler = logging.StreamHandler()
|
||||
formatter = logging.Formatter(
|
||||
'%(asctime)s - %(name)s - %(levelname)s - %(message)s'
|
||||
)
|
||||
handler.setFormatter(formatter)
|
||||
logger.addHandler(handler)
|
||||
|
||||
return logger
|
||||
|
||||
|
||||
# 默认日志设置
|
||||
_logger = setup_logging()
|
||||
@@ -1,9 +0,0 @@
|
||||
"""
|
||||
LaiYu液体处理设备后端模块
|
||||
|
||||
提供设备后端接口和实现
|
||||
"""
|
||||
|
||||
from .laiyu_backend import LaiYuLiquidBackend, create_laiyu_backend
|
||||
|
||||
__all__ = ['LaiYuLiquidBackend', 'create_laiyu_backend']
|
||||
@@ -1,334 +0,0 @@
|
||||
"""
|
||||
LaiYu液体处理设备后端实现
|
||||
|
||||
提供设备的后端接口和控制逻辑
|
||||
"""
|
||||
|
||||
import logging
|
||||
from typing import Dict, Any, Optional, List
|
||||
from abc import ABC, abstractmethod
|
||||
|
||||
# 尝试导入PyLabRobot后端
|
||||
try:
|
||||
from pylabrobot.liquid_handling.backends import LiquidHandlerBackend
|
||||
PYLABROBOT_AVAILABLE = True
|
||||
except ImportError:
|
||||
PYLABROBOT_AVAILABLE = False
|
||||
# 创建模拟后端基类
|
||||
class LiquidHandlerBackend:
|
||||
def __init__(self, name: str):
|
||||
self.name = name
|
||||
self.is_connected = False
|
||||
|
||||
def connect(self):
|
||||
"""连接设备"""
|
||||
pass
|
||||
|
||||
def disconnect(self):
|
||||
"""断开连接"""
|
||||
pass
|
||||
|
||||
|
||||
class LaiYuLiquidBackend(LiquidHandlerBackend):
|
||||
"""LaiYu液体处理设备后端"""
|
||||
|
||||
def __init__(self, name: str = "LaiYu_Liquid_Backend"):
|
||||
"""
|
||||
初始化LaiYu液体处理设备后端
|
||||
|
||||
Args:
|
||||
name: 后端名称
|
||||
"""
|
||||
if PYLABROBOT_AVAILABLE:
|
||||
# PyLabRobot 的 LiquidHandlerBackend 不接受参数
|
||||
super().__init__()
|
||||
else:
|
||||
# 模拟版本接受 name 参数
|
||||
super().__init__(name)
|
||||
|
||||
self.name = name
|
||||
self.logger = logging.getLogger(__name__)
|
||||
self.is_connected = False
|
||||
self.device_info = {
|
||||
"name": "LaiYu液体处理设备",
|
||||
"version": "1.0.0",
|
||||
"manufacturer": "LaiYu",
|
||||
"model": "LaiYu_Liquid_Handler"
|
||||
}
|
||||
|
||||
def connect(self) -> bool:
|
||||
"""
|
||||
连接到LaiYu液体处理设备
|
||||
|
||||
Returns:
|
||||
bool: 连接是否成功
|
||||
"""
|
||||
try:
|
||||
self.logger.info("正在连接到LaiYu液体处理设备...")
|
||||
# 这里应该实现实际的设备连接逻辑
|
||||
# 目前返回模拟连接成功
|
||||
self.is_connected = True
|
||||
self.logger.info("成功连接到LaiYu液体处理设备")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"连接LaiYu液体处理设备失败: {e}")
|
||||
self.is_connected = False
|
||||
return False
|
||||
|
||||
def disconnect(self) -> bool:
|
||||
"""
|
||||
断开与LaiYu液体处理设备的连接
|
||||
|
||||
Returns:
|
||||
bool: 断开连接是否成功
|
||||
"""
|
||||
try:
|
||||
self.logger.info("正在断开与LaiYu液体处理设备的连接...")
|
||||
# 这里应该实现实际的设备断开连接逻辑
|
||||
self.is_connected = False
|
||||
self.logger.info("成功断开与LaiYu液体处理设备的连接")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"断开LaiYu液体处理设备连接失败: {e}")
|
||||
return False
|
||||
|
||||
def is_device_connected(self) -> bool:
|
||||
"""
|
||||
检查设备是否已连接
|
||||
|
||||
Returns:
|
||||
bool: 设备是否已连接
|
||||
"""
|
||||
return self.is_connected
|
||||
|
||||
def get_device_info(self) -> Dict[str, Any]:
|
||||
"""
|
||||
获取设备信息
|
||||
|
||||
Returns:
|
||||
Dict[str, Any]: 设备信息字典
|
||||
"""
|
||||
return self.device_info.copy()
|
||||
|
||||
def home_device(self) -> bool:
|
||||
"""
|
||||
设备归零操作
|
||||
|
||||
Returns:
|
||||
bool: 归零是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
self.logger.error("设备未连接，无法执行归零操作")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.logger.info("正在执行设备归零操作...")
|
||||
# 这里应该实现实际的设备归零逻辑
|
||||
self.logger.info("设备归零操作完成")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"设备归零操作失败: {e}")
|
||||
return False
|
||||
|
||||
def aspirate(self, volume: float, location: Dict[str, Any]) -> bool:
|
||||
"""
|
||||
吸液操作
|
||||
|
||||
Args:
|
||||
volume: 吸液体积 (微升)
|
||||
location: 吸液位置信息
|
||||
|
||||
Returns:
|
||||
bool: 吸液是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
self.logger.error("设备未连接，无法执行吸液操作")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.logger.info(f"正在执行吸液操作: 体积={volume}μL, 位置={location}")
|
||||
# 这里应该实现实际的吸液逻辑
|
||||
self.logger.info("吸液操作完成")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"吸液操作失败: {e}")
|
||||
return False
|
||||
|
||||
def dispense(self, volume: float, location: Dict[str, Any]) -> bool:
|
||||
"""
|
||||
排液操作
|
||||
|
||||
Args:
|
||||
volume: 排液体积 (微升)
|
||||
location: 排液位置信息
|
||||
|
||||
Returns:
|
||||
bool: 排液是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
self.logger.error("设备未连接，无法执行排液操作")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.logger.info(f"正在执行排液操作: 体积={volume}μL, 位置={location}")
|
||||
# 这里应该实现实际的排液逻辑
|
||||
self.logger.info("排液操作完成")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"排液操作失败: {e}")
|
||||
return False
|
||||
|
||||
def pick_up_tip(self, location: Dict[str, Any]) -> bool:
|
||||
"""
|
||||
取枪头操作
|
||||
|
||||
Args:
|
||||
location: 枪头位置信息
|
||||
|
||||
Returns:
|
||||
bool: 取枪头是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
self.logger.error("设备未连接，无法执行取枪头操作")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.logger.info(f"正在执行取枪头操作: 位置={location}")
|
||||
# 这里应该实现实际的取枪头逻辑
|
||||
self.logger.info("取枪头操作完成")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"取枪头操作失败: {e}")
|
||||
return False
|
||||
|
||||
def drop_tip(self, location: Dict[str, Any]) -> bool:
|
||||
"""
|
||||
丢弃枪头操作
|
||||
|
||||
Args:
|
||||
location: 丢弃位置信息
|
||||
|
||||
Returns:
|
||||
bool: 丢弃枪头是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
self.logger.error("设备未连接，无法执行丢弃枪头操作")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.logger.info(f"正在执行丢弃枪头操作: 位置={location}")
|
||||
# 这里应该实现实际的丢弃枪头逻辑
|
||||
self.logger.info("丢弃枪头操作完成")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"丢弃枪头操作失败: {e}")
|
||||
return False
|
||||
|
||||
def move_to(self, location: Dict[str, Any]) -> bool:
|
||||
"""
|
||||
移动到指定位置
|
||||
|
||||
Args:
|
||||
location: 目标位置信息
|
||||
|
||||
Returns:
|
||||
bool: 移动是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
self.logger.error("设备未连接，无法执行移动操作")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.logger.info(f"正在移动到位置: {location}")
|
||||
# 这里应该实现实际的移动逻辑
|
||||
self.logger.info("移动操作完成")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"移动操作失败: {e}")
|
||||
return False
|
||||
|
||||
def get_status(self) -> Dict[str, Any]:
|
||||
"""
|
||||
获取设备状态
|
||||
|
||||
Returns:
|
||||
Dict[str, Any]: 设备状态信息
|
||||
"""
|
||||
return {
|
||||
"connected": self.is_connected,
|
||||
"device_info": self.device_info,
|
||||
"status": "ready" if self.is_connected else "disconnected"
|
||||
}
|
||||
|
||||
# PyLabRobot 抽象方法实现
|
||||
def stop(self):
|
||||
"""停止所有操作"""
|
||||
self.logger.info("停止所有操作")
|
||||
pass
|
||||
|
||||
@property
|
||||
def num_channels(self) -> int:
|
||||
"""返回通道数量"""
|
||||
return 1 # 单通道移液器
|
||||
|
||||
def can_pick_up_tip(self, tip_rack, tip_position) -> bool:
|
||||
"""检查是否可以拾取吸头"""
|
||||
return True # 简化实现，总是返回True
|
||||
|
||||
def pick_up_tips(self, tip_rack, tip_positions):
|
||||
"""拾取多个吸头"""
|
||||
self.logger.info(f"拾取吸头: {tip_positions}")
|
||||
pass
|
||||
|
||||
def drop_tips(self, tip_rack, tip_positions):
|
||||
"""丢弃多个吸头"""
|
||||
self.logger.info(f"丢弃吸头: {tip_positions}")
|
||||
pass
|
||||
|
||||
def pick_up_tips96(self, tip_rack):
|
||||
"""拾取96个吸头"""
|
||||
self.logger.info("拾取96个吸头")
|
||||
pass
|
||||
|
||||
def drop_tips96(self, tip_rack):
|
||||
"""丢弃96个吸头"""
|
||||
self.logger.info("丢弃96个吸头")
|
||||
pass
|
||||
|
||||
def aspirate96(self, volume, plate, well_positions):
|
||||
"""96通道吸液"""
|
||||
self.logger.info(f"96通道吸液: 体积={volume}")
|
||||
pass
|
||||
|
||||
def dispense96(self, volume, plate, well_positions):
|
||||
"""96通道排液"""
|
||||
self.logger.info(f"96通道排液: 体积={volume}")
|
||||
pass
|
||||
|
||||
def pick_up_resource(self, resource, location):
|
||||
"""拾取资源"""
|
||||
self.logger.info(f"拾取资源: {resource}")
|
||||
pass
|
||||
|
||||
def drop_resource(self, resource, location):
|
||||
"""放置资源"""
|
||||
self.logger.info(f"放置资源: {resource}")
|
||||
pass
|
||||
|
||||
def move_picked_up_resource(self, resource, location):
|
||||
"""移动已拾取的资源"""
|
||||
self.logger.info(f"移动资源: {resource} 到 {location}")
|
||||
pass
|
||||
|
||||
|
||||
def create_laiyu_backend(name: str = "LaiYu_Liquid_Backend") -> LaiYuLiquidBackend:
|
||||
"""
|
||||
创建LaiYu液体处理设备后端实例
|
||||
|
||||
Args:
|
||||
name: 后端名称
|
||||
|
||||
Returns:
|
||||
LaiYuLiquidBackend: 后端实例
|
||||
"""
|
||||
return LaiYuLiquidBackend(name)
|
||||
@@ -1,209 +0,0 @@
|
||||
|
||||
import json
|
||||
from typing import List, Optional, Union
|
||||
|
||||
from pylabrobot.liquid_handling.backends.backend import (
|
||||
LiquidHandlerBackend,
|
||||
)
|
||||
from pylabrobot.liquid_handling.standard import (
|
||||
Drop,
|
||||
DropTipRack,
|
||||
MultiHeadAspirationContainer,
|
||||
MultiHeadAspirationPlate,
|
||||
MultiHeadDispenseContainer,
|
||||
MultiHeadDispensePlate,
|
||||
Pickup,
|
||||
PickupTipRack,
|
||||
ResourceDrop,
|
||||
ResourceMove,
|
||||
ResourcePickup,
|
||||
SingleChannelAspiration,
|
||||
SingleChannelDispense,
|
||||
)
|
||||
from pylabrobot.resources import Resource, Tip
|
||||
|
||||
import rclpy
|
||||
from rclpy.node import Node
|
||||
from sensor_msgs.msg import JointState
|
||||
import time
|
||||
from rclpy.action import ActionClient
|
||||
from unilabos_msgs.action import SendCmd
|
||||
import re
|
||||
|
||||
from unilabos.devices.ros_dev.liquid_handler_joint_publisher import JointStatePublisher
|
||||
|
||||
|
||||
class LiquidHandlerRvizBackend(LiquidHandlerBackend):
|
||||
"""Chatter box backend for device-free testing. Prints out all operations."""
|
||||
|
||||
_pip_length = 5
|
||||
_vol_length = 8
|
||||
_resource_length = 20
|
||||
_offset_length = 16
|
||||
_flow_rate_length = 10
|
||||
_blowout_length = 10
|
||||
_lld_z_length = 10
|
||||
_kwargs_length = 15
|
||||
_tip_type_length = 12
|
||||
_max_volume_length = 16
|
||||
_fitting_depth_length = 20
|
||||
_tip_length_length = 16
|
||||
# _pickup_method_length = 20
|
||||
_filter_length = 10
|
||||
|
||||
def __init__(self, num_channels: int = 8):
|
||||
"""Initialize a chatter box backend."""
|
||||
super().__init__()
|
||||
self._num_channels = num_channels
|
||||
# rclpy.init()
|
||||
if not rclpy.ok():
|
||||
rclpy.init()
|
||||
self.joint_state_publisher = None
|
||||
|
||||
async def setup(self):
|
||||
self.joint_state_publisher = JointStatePublisher()
|
||||
await super().setup()
|
||||
async def stop(self):
|
||||
pass
|
||||
|
||||
def serialize(self) -> dict:
|
||||
return {**super().serialize(), "num_channels": self.num_channels}
|
||||
|
||||
@property
|
||||
def num_channels(self) -> int:
|
||||
return self._num_channels
|
||||
|
||||
async def assigned_resource_callback(self, resource: Resource):
|
||||
pass
|
||||
|
||||
async def unassigned_resource_callback(self, name: str):
|
||||
pass
|
||||
|
||||
async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int], **backend_kwargs):
|
||||
|
||||
for op, channel in zip(ops, use_channels):
|
||||
offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}"
|
||||
row = (
|
||||
f" p{channel}: "
|
||||
f"{op.resource.name[-30:]:<{LiquidHandlerRvizBackend._resource_length}} "
|
||||
f"{offset:<{LiquidHandlerRvizBackend._offset_length}} "
|
||||
f"{op.tip.__class__.__name__:<{LiquidHandlerRvizBackend._tip_type_length}} "
|
||||
f"{op.tip.maximal_volume:<{LiquidHandlerRvizBackend._max_volume_length}} "
|
||||
f"{op.tip.fitting_depth:<{LiquidHandlerRvizBackend._fitting_depth_length}} "
|
||||
f"{op.tip.total_tip_length:<{LiquidHandlerRvizBackend._tip_length_length}} "
|
||||
# f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
|
||||
f"{'Yes' if op.tip.has_filter else 'No':<{LiquidHandlerRvizBackend._filter_length}}"
|
||||
)
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
x = coordinate.x
|
||||
y = coordinate.y
|
||||
z = coordinate.z + 70
|
||||
self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "pick")
|
||||
# goback()
|
||||
|
||||
|
||||
|
||||
|
||||
async def drop_tips(self, ops: List[Drop], use_channels: List[int], **backend_kwargs):
|
||||
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
x = coordinate.x
|
||||
y = coordinate.y
|
||||
z = coordinate.z + 70
|
||||
self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "drop_trash")
|
||||
# goback()
|
||||
|
||||
async def aspirate(
|
||||
self,
|
||||
ops: List[SingleChannelAspiration],
|
||||
use_channels: List[int],
|
||||
**backend_kwargs,
|
||||
):
|
||||
# 执行吸液操作
|
||||
pass
|
||||
|
||||
for o, p in zip(ops, use_channels):
|
||||
offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
|
||||
row = (
|
||||
f" p{p}: "
|
||||
f"{o.volume:<{LiquidHandlerRvizBackend._vol_length}} "
|
||||
f"{o.resource.name[-20:]:<{LiquidHandlerRvizBackend._resource_length}} "
|
||||
f"{offset:<{LiquidHandlerRvizBackend._offset_length}} "
|
||||
f"{str(o.flow_rate):<{LiquidHandlerRvizBackend._flow_rate_length}} "
|
||||
f"{str(o.blow_out_air_volume):<{LiquidHandlerRvizBackend._blowout_length}} "
|
||||
f"{str(o.liquid_height):<{LiquidHandlerRvizBackend._lld_z_length}} "
|
||||
# f"{o.liquids if o.liquids is not None else 'none'}"
|
||||
)
|
||||
for key, value in backend_kwargs.items():
|
||||
if isinstance(value, list) and all(isinstance(v, bool) for v in value):
|
||||
value = "".join("T" if v else "F" for v in value)
|
||||
if isinstance(value, list):
|
||||
value = "".join(map(str, value))
|
||||
row += f" {value:<15}"
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
x = coordinate.x
|
||||
y = coordinate.y
|
||||
z = coordinate.z + 70
|
||||
self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "")
|
||||
|
||||
|
||||
async def dispense(
|
||||
self,
|
||||
ops: List[SingleChannelDispense],
|
||||
use_channels: List[int],
|
||||
**backend_kwargs,
|
||||
):
|
||||
|
||||
for o, p in zip(ops, use_channels):
|
||||
offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
|
||||
row = (
|
||||
f" p{p}: "
|
||||
f"{o.volume:<{LiquidHandlerRvizBackend._vol_length}} "
|
||||
f"{o.resource.name[-20:]:<{LiquidHandlerRvizBackend._resource_length}} "
|
||||
f"{offset:<{LiquidHandlerRvizBackend._offset_length}} "
|
||||
f"{str(o.flow_rate):<{LiquidHandlerRvizBackend._flow_rate_length}} "
|
||||
f"{str(o.blow_out_air_volume):<{LiquidHandlerRvizBackend._blowout_length}} "
|
||||
f"{str(o.liquid_height):<{LiquidHandlerRvizBackend._lld_z_length}} "
|
||||
# f"{o.liquids if o.liquids is not None else 'none'}"
|
||||
)
|
||||
for key, value in backend_kwargs.items():
|
||||
if isinstance(value, list) and all(isinstance(v, bool) for v in value):
|
||||
value = "".join("T" if v else "F" for v in value)
|
||||
if isinstance(value, list):
|
||||
value = "".join(map(str, value))
|
||||
row += f" {value:<{LiquidHandlerRvizBackend._kwargs_length}}"
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
x = coordinate.x
|
||||
y = coordinate.y
|
||||
z = coordinate.z + 70
|
||||
self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "")
|
||||
|
||||
async def pick_up_tips96(self, pickup: PickupTipRack, **backend_kwargs):
|
||||
pass
|
||||
|
||||
async def drop_tips96(self, drop: DropTipRack, **backend_kwargs):
|
||||
pass
|
||||
|
||||
async def aspirate96(
|
||||
self, aspiration: Union[MultiHeadAspirationPlate, MultiHeadAspirationContainer]
|
||||
):
|
||||
pass
|
||||
|
||||
async def dispense96(self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]):
|
||||
pass
|
||||
|
||||
async def pick_up_resource(self, pickup: ResourcePickup):
|
||||
# 执行资源拾取操作
|
||||
pass
|
||||
|
||||
async def move_picked_up_resource(self, move: ResourceMove):
|
||||
# 执行资源移动操作
|
||||
pass
|
||||
|
||||
async def drop_resource(self, drop: ResourceDrop):
|
||||
# 执行资源放置操作
|
||||
pass
|
||||
|
||||
def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool:
|
||||
return True
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,14 +0,0 @@
|
||||
goto 171 178 57 H1
|
||||
goto 171 117 57 A1
|
||||
goto 172 178 130
|
||||
goto 173 179 133
|
||||
goto 173 180 133
|
||||
goto 173 180 138
|
||||
goto 173 180 125 （+10mm，在空的上面边缘）
|
||||
goto 173 180 130 取不到
|
||||
goto 173 180 133 取不到
|
||||
goto 173 180 135
|
||||
goto 173 180 137 取到了！！！！
|
||||
goto 173 180 131 弹出枪头 H1
|
||||
|
||||
goto 173 117 137 A1 （+10mm，可以取到新枪头了！！！！）
|
||||
@@ -1,25 +0,0 @@
|
||||
"""
|
||||
LaiYu_Liquid 控制器模块
|
||||
|
||||
该模块包含了LaiYu_Liquid液体处理工作站的高级控制器：
|
||||
- 移液器控制器：提供液体处理的高级接口
|
||||
- XYZ运动控制器：提供三轴运动的高级接口
|
||||
"""
|
||||
|
||||
# 移液器控制器导入
|
||||
from .pipette_controller import PipetteController
|
||||
|
||||
# XYZ运动控制器导入
|
||||
from .xyz_controller import XYZController
|
||||
|
||||
__all__ = [
|
||||
# 移液器控制器
|
||||
"PipetteController",
|
||||
|
||||
# XYZ运动控制器
|
||||
"XYZController",
|
||||
]
|
||||
|
||||
__version__ = "1.0.0"
|
||||
__author__ = "LaiYu_Liquid Controller Team"
|
||||
__description__ = "LaiYu_Liquid 高级控制器集合"
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,44 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
# -*- coding: utf-8 -*-
|
||||
"""
|
||||
LaiYu液体处理设备核心模块
|
||||
|
||||
该模块包含LaiYu液体处理设备的核心功能组件：
|
||||
- LaiYu_Liquid.py: 主设备类和配置管理
|
||||
- abstract_protocol.py: 抽象协议定义
|
||||
- laiyu_liquid_res.py: 设备资源管理
|
||||
|
||||
作者: UniLab团队
|
||||
版本: 2.0.0
|
||||
"""
|
||||
|
||||
from .laiyu_liquid_main import (
|
||||
LaiYuLiquid,
|
||||
LaiYuLiquidConfig,
|
||||
LaiYuLiquidBackend,
|
||||
LaiYuLiquidDeck,
|
||||
LaiYuLiquidContainer,
|
||||
LaiYuLiquidTipRack,
|
||||
create_quick_setup
|
||||
)
|
||||
|
||||
from .laiyu_liquid_res import (
|
||||
LaiYuLiquidDeck,
|
||||
LaiYuLiquidContainer,
|
||||
LaiYuLiquidTipRack
|
||||
)
|
||||
|
||||
__all__ = [
|
||||
# 主设备类
|
||||
'LaiYuLiquid',
|
||||
'LaiYuLiquidConfig',
|
||||
'LaiYuLiquidBackend',
|
||||
|
||||
# 设备资源
|
||||
'LaiYuLiquidDeck',
|
||||
'LaiYuLiquidContainer',
|
||||
'LaiYuLiquidTipRack',
|
||||
|
||||
# 工具函数
|
||||
'create_quick_setup'
|
||||
]
|
||||
@@ -1,529 +0,0 @@
|
||||
"""
|
||||
LaiYu_Liquid 抽象协议实现
|
||||
|
||||
该模块提供了液体资源管理和转移的抽象协议，包括：
|
||||
- MaterialResource: 液体资源管理类
|
||||
- transfer_liquid: 液体转移函数
|
||||
- 相关的辅助类和函数
|
||||
|
||||
主要功能：
|
||||
- 管理多孔位的液体资源
|
||||
- 计算和跟踪液体体积
|
||||
- 处理液体转移操作
|
||||
- 提供资源状态查询
|
||||
"""
|
||||
|
||||
import logging
|
||||
from typing import Dict, List, Optional, Union, Any, Tuple
|
||||
from dataclasses import dataclass, field
|
||||
from enum import Enum
|
||||
import uuid
|
||||
import time
|
||||
|
||||
# pylabrobot 导入
|
||||
from pylabrobot.resources import Resource, Well, Plate
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
|
||||
class LiquidType(Enum):
|
||||
"""液体类型枚举"""
|
||||
WATER = "water"
|
||||
ETHANOL = "ethanol"
|
||||
DMSO = "dmso"
|
||||
BUFFER = "buffer"
|
||||
SAMPLE = "sample"
|
||||
REAGENT = "reagent"
|
||||
WASTE = "waste"
|
||||
UNKNOWN = "unknown"
|
||||
|
||||
|
||||
@dataclass
|
||||
class LiquidInfo:
|
||||
"""液体信息类"""
|
||||
liquid_type: LiquidType = LiquidType.UNKNOWN
|
||||
volume: float = 0.0 # 体积 (μL)
|
||||
concentration: Optional[float] = None # 浓度 (mg/ml, M等)
|
||||
ph: Optional[float] = None # pH值
|
||||
temperature: Optional[float] = None # 温度 (°C)
|
||||
viscosity: Optional[float] = None # 粘度 (cP)
|
||||
density: Optional[float] = None # 密度 (g/ml)
|
||||
description: str = "" # 描述信息
|
||||
|
||||
def __str__(self) -> str:
|
||||
return f"{self.liquid_type.value}({self.description})"
|
||||
|
||||
|
||||
@dataclass
|
||||
class WellContent:
|
||||
"""孔位内容类"""
|
||||
volume: float = 0.0 # 当前体积 (ul)
|
||||
max_volume: float = 1000.0 # 最大容量 (ul)
|
||||
liquid_info: LiquidInfo = field(default_factory=LiquidInfo)
|
||||
last_updated: float = field(default_factory=time.time)
|
||||
|
||||
@property
|
||||
def is_empty(self) -> bool:
|
||||
"""检查是否为空"""
|
||||
return self.volume <= 0.0
|
||||
|
||||
@property
|
||||
def is_full(self) -> bool:
|
||||
"""检查是否已满"""
|
||||
return self.volume >= self.max_volume
|
||||
|
||||
@property
|
||||
def available_volume(self) -> float:
|
||||
"""可用体积"""
|
||||
return max(0.0, self.max_volume - self.volume)
|
||||
|
||||
@property
|
||||
def fill_percentage(self) -> float:
|
||||
"""填充百分比"""
|
||||
return (self.volume / self.max_volume) * 100.0 if self.max_volume > 0 else 0.0
|
||||
|
||||
def can_add_volume(self, volume: float) -> bool:
|
||||
"""检查是否可以添加指定体积"""
|
||||
return (self.volume + volume) <= self.max_volume
|
||||
|
||||
def can_remove_volume(self, volume: float) -> bool:
|
||||
"""检查是否可以移除指定体积"""
|
||||
return self.volume >= volume
|
||||
|
||||
def add_volume(self, volume: float, liquid_info: Optional[LiquidInfo] = None) -> bool:
|
||||
"""
|
||||
添加液体体积
|
||||
|
||||
Args:
|
||||
volume: 要添加的体积 (ul)
|
||||
liquid_info: 液体信息
|
||||
|
||||
Returns:
|
||||
bool: 是否成功添加
|
||||
"""
|
||||
if not self.can_add_volume(volume):
|
||||
return False
|
||||
|
||||
self.volume += volume
|
||||
if liquid_info:
|
||||
self.liquid_info = liquid_info
|
||||
self.last_updated = time.time()
|
||||
return True
|
||||
|
||||
def remove_volume(self, volume: float) -> bool:
|
||||
"""
|
||||
移除液体体积
|
||||
|
||||
Args:
|
||||
volume: 要移除的体积 (ul)
|
||||
|
||||
Returns:
|
||||
bool: 是否成功移除
|
||||
"""
|
||||
if not self.can_remove_volume(volume):
|
||||
return False
|
||||
|
||||
self.volume -= volume
|
||||
self.last_updated = time.time()
|
||||
|
||||
# 如果完全清空，重置液体信息
|
||||
if self.volume <= 0.0:
|
||||
self.volume = 0.0
|
||||
self.liquid_info = LiquidInfo()
|
||||
|
||||
return True
|
||||
|
||||
|
||||
class MaterialResource:
|
||||
"""
|
||||
液体资源管理类
|
||||
|
||||
该类用于管理液体处理过程中的资源状态，包括：
|
||||
- 跟踪多个孔位的液体体积和类型
|
||||
- 计算总体积和可用体积
|
||||
- 处理液体的添加和移除
|
||||
- 提供资源状态查询
|
||||
"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
resource: Resource,
|
||||
wells: Optional[List[Well]] = None,
|
||||
default_max_volume: float = 1000.0
|
||||
):
|
||||
"""
|
||||
初始化材料资源
|
||||
|
||||
Args:
|
||||
resource: pylabrobot 资源对象
|
||||
wells: 孔位列表，如果为None则自动获取
|
||||
default_max_volume: 默认最大体积 (ul)
|
||||
"""
|
||||
self.resource = resource
|
||||
self.resource_id = str(uuid.uuid4())
|
||||
self.default_max_volume = default_max_volume
|
||||
|
||||
# 获取孔位列表
|
||||
if wells is None:
|
||||
if hasattr(resource, 'get_wells'):
|
||||
self.wells = resource.get_wells()
|
||||
elif hasattr(resource, 'wells'):
|
||||
self.wells = resource.wells
|
||||
else:
|
||||
# 如果没有孔位，创建一个虚拟孔位
|
||||
self.wells = [resource]
|
||||
else:
|
||||
self.wells = wells
|
||||
|
||||
# 初始化孔位内容
|
||||
self.well_contents: Dict[str, WellContent] = {}
|
||||
for well in self.wells:
|
||||
well_id = self._get_well_id(well)
|
||||
self.well_contents[well_id] = WellContent(
|
||||
max_volume=default_max_volume
|
||||
)
|
||||
|
||||
logger.info(f"初始化材料资源: {resource.name}, 孔位数: {len(self.wells)}")
|
||||
|
||||
def _get_well_id(self, well: Union[Well, Resource]) -> str:
|
||||
"""获取孔位ID"""
|
||||
if hasattr(well, 'name'):
|
||||
return well.name
|
||||
else:
|
||||
return str(id(well))
|
||||
|
||||
@property
|
||||
def name(self) -> str:
|
||||
"""资源名称"""
|
||||
return self.resource.name
|
||||
|
||||
@property
|
||||
def total_volume(self) -> float:
|
||||
"""总液体体积"""
|
||||
return sum(content.volume for content in self.well_contents.values())
|
||||
|
||||
@property
|
||||
def total_max_volume(self) -> float:
|
||||
"""总最大容量"""
|
||||
return sum(content.max_volume for content in self.well_contents.values())
|
||||
|
||||
@property
|
||||
def available_volume(self) -> float:
|
||||
"""总可用体积"""
|
||||
return sum(content.available_volume for content in self.well_contents.values())
|
||||
|
||||
@property
|
||||
def well_count(self) -> int:
|
||||
"""孔位数量"""
|
||||
return len(self.wells)
|
||||
|
||||
@property
|
||||
def empty_wells(self) -> List[str]:
|
||||
"""空孔位列表"""
|
||||
return [well_id for well_id, content in self.well_contents.items()
|
||||
if content.is_empty]
|
||||
|
||||
@property
|
||||
def full_wells(self) -> List[str]:
|
||||
"""满孔位列表"""
|
||||
return [well_id for well_id, content in self.well_contents.items()
|
||||
if content.is_full]
|
||||
|
||||
@property
|
||||
def occupied_wells(self) -> List[str]:
|
||||
"""有液体的孔位列表"""
|
||||
return [well_id for well_id, content in self.well_contents.items()
|
||||
if not content.is_empty]
|
||||
|
||||
def get_well_content(self, well_id: str) -> Optional[WellContent]:
|
||||
"""获取指定孔位的内容"""
|
||||
return self.well_contents.get(well_id)
|
||||
|
||||
def get_well_volume(self, well_id: str) -> float:
|
||||
"""获取指定孔位的体积"""
|
||||
content = self.get_well_content(well_id)
|
||||
return content.volume if content else 0.0
|
||||
|
||||
def set_well_volume(
|
||||
self,
|
||||
well_id: str,
|
||||
volume: float,
|
||||
liquid_info: Optional[LiquidInfo] = None
|
||||
) -> bool:
|
||||
"""
|
||||
设置指定孔位的体积
|
||||
|
||||
Args:
|
||||
well_id: 孔位ID
|
||||
volume: 体积 (ul)
|
||||
liquid_info: 液体信息
|
||||
|
||||
Returns:
|
||||
bool: 是否成功设置
|
||||
"""
|
||||
if well_id not in self.well_contents:
|
||||
logger.error(f"孔位 {well_id} 不存在")
|
||||
return False
|
||||
|
||||
content = self.well_contents[well_id]
|
||||
if volume > content.max_volume:
|
||||
logger.error(f"体积 {volume} 超过最大容量 {content.max_volume}")
|
||||
return False
|
||||
|
||||
content.volume = max(0.0, volume)
|
||||
if liquid_info:
|
||||
content.liquid_info = liquid_info
|
||||
content.last_updated = time.time()
|
||||
|
||||
logger.info(f"设置孔位 {well_id} 体积: {volume}ul")
|
||||
return True
|
||||
|
||||
def add_liquid(
|
||||
self,
|
||||
well_id: str,
|
||||
volume: float,
|
||||
liquid_info: Optional[LiquidInfo] = None
|
||||
) -> bool:
|
||||
"""
|
||||
向指定孔位添加液体
|
||||
|
||||
Args:
|
||||
well_id: 孔位ID
|
||||
volume: 添加的体积 (ul)
|
||||
liquid_info: 液体信息
|
||||
|
||||
Returns:
|
||||
bool: 是否成功添加
|
||||
"""
|
||||
if well_id not in self.well_contents:
|
||||
logger.error(f"孔位 {well_id} 不存在")
|
||||
return False
|
||||
|
||||
content = self.well_contents[well_id]
|
||||
success = content.add_volume(volume, liquid_info)
|
||||
|
||||
if success:
|
||||
logger.info(f"向孔位 {well_id} 添加 {volume}ul 液体")
|
||||
else:
|
||||
logger.error(f"无法向孔位 {well_id} 添加 {volume}ul 液体")
|
||||
|
||||
return success
|
||||
|
||||
def remove_liquid(self, well_id: str, volume: float) -> bool:
|
||||
"""
|
||||
从指定孔位移除液体
|
||||
|
||||
Args:
|
||||
well_id: 孔位ID
|
||||
volume: 移除的体积 (ul)
|
||||
|
||||
Returns:
|
||||
bool: 是否成功移除
|
||||
"""
|
||||
if well_id not in self.well_contents:
|
||||
logger.error(f"孔位 {well_id} 不存在")
|
||||
return False
|
||||
|
||||
content = self.well_contents[well_id]
|
||||
success = content.remove_volume(volume)
|
||||
|
||||
if success:
|
||||
logger.info(f"从孔位 {well_id} 移除 {volume}ul 液体")
|
||||
else:
|
||||
logger.error(f"无法从孔位 {well_id} 移除 {volume}ul 液体")
|
||||
|
||||
return success
|
||||
|
||||
def find_wells_with_volume(self, min_volume: float) -> List[str]:
|
||||
"""
|
||||
查找具有指定最小体积的孔位
|
||||
|
||||
Args:
|
||||
min_volume: 最小体积 (ul)
|
||||
|
||||
Returns:
|
||||
List[str]: 符合条件的孔位ID列表
|
||||
"""
|
||||
return [well_id for well_id, content in self.well_contents.items()
|
||||
if content.volume >= min_volume]
|
||||
|
||||
def find_wells_with_space(self, min_space: float) -> List[str]:
|
||||
"""
|
||||
查找具有指定最小空间的孔位
|
||||
|
||||
Args:
|
||||
min_space: 最小空间 (ul)
|
||||
|
||||
Returns:
|
||||
List[str]: 符合条件的孔位ID列表
|
||||
"""
|
||||
return [well_id for well_id, content in self.well_contents.items()
|
||||
if content.available_volume >= min_space]
|
||||
|
||||
def get_status_summary(self) -> Dict[str, Any]:
|
||||
"""获取资源状态摘要"""
|
||||
return {
|
||||
"resource_name": self.name,
|
||||
"resource_id": self.resource_id,
|
||||
"well_count": self.well_count,
|
||||
"total_volume": self.total_volume,
|
||||
"total_max_volume": self.total_max_volume,
|
||||
"available_volume": self.available_volume,
|
||||
"fill_percentage": (self.total_volume / self.total_max_volume) * 100.0,
|
||||
"empty_wells": len(self.empty_wells),
|
||||
"full_wells": len(self.full_wells),
|
||||
"occupied_wells": len(self.occupied_wells)
|
||||
}
|
||||
|
||||
def get_detailed_status(self) -> Dict[str, Any]:
|
||||
"""获取详细状态信息"""
|
||||
well_details = {}
|
||||
for well_id, content in self.well_contents.items():
|
||||
well_details[well_id] = {
|
||||
"volume": content.volume,
|
||||
"max_volume": content.max_volume,
|
||||
"available_volume": content.available_volume,
|
||||
"fill_percentage": content.fill_percentage,
|
||||
"liquid_type": content.liquid_info.liquid_type.value,
|
||||
"description": content.liquid_info.description,
|
||||
"last_updated": content.last_updated
|
||||
}
|
||||
|
||||
return {
|
||||
"summary": self.get_status_summary(),
|
||||
"wells": well_details
|
||||
}
|
||||
|
||||
|
||||
def transfer_liquid(
|
||||
source: MaterialResource,
|
||||
target: MaterialResource,
|
||||
volume: float,
|
||||
source_well_id: Optional[str] = None,
|
||||
target_well_id: Optional[str] = None,
|
||||
liquid_info: Optional[LiquidInfo] = None
|
||||
) -> bool:
|
||||
"""
|
||||
在两个材料资源之间转移液体
|
||||
|
||||
Args:
|
||||
source: 源资源
|
||||
target: 目标资源
|
||||
volume: 转移体积 (ul)
|
||||
source_well_id: 源孔位ID，如果为None则自动选择
|
||||
target_well_id: 目标孔位ID，如果为None则自动选择
|
||||
liquid_info: 液体信息
|
||||
|
||||
Returns:
|
||||
bool: 转移是否成功
|
||||
"""
|
||||
try:
|
||||
# 自动选择源孔位
|
||||
if source_well_id is None:
|
||||
available_wells = source.find_wells_with_volume(volume)
|
||||
if not available_wells:
|
||||
logger.error(f"源资源 {source.name} 没有足够体积的孔位")
|
||||
return False
|
||||
source_well_id = available_wells[0]
|
||||
|
||||
# 自动选择目标孔位
|
||||
if target_well_id is None:
|
||||
available_wells = target.find_wells_with_space(volume)
|
||||
if not available_wells:
|
||||
logger.error(f"目标资源 {target.name} 没有足够空间的孔位")
|
||||
return False
|
||||
target_well_id = available_wells[0]
|
||||
|
||||
# 检查源孔位是否有足够液体
|
||||
if not source.get_well_content(source_well_id).can_remove_volume(volume):
|
||||
logger.error(f"源孔位 {source_well_id} 液体不足")
|
||||
return False
|
||||
|
||||
# 检查目标孔位是否有足够空间
|
||||
if not target.get_well_content(target_well_id).can_add_volume(volume):
|
||||
logger.error(f"目标孔位 {target_well_id} 空间不足")
|
||||
return False
|
||||
|
||||
# 获取源液体信息
|
||||
source_content = source.get_well_content(source_well_id)
|
||||
transfer_liquid_info = liquid_info or source_content.liquid_info
|
||||
|
||||
# 执行转移
|
||||
if source.remove_liquid(source_well_id, volume):
|
||||
if target.add_liquid(target_well_id, volume, transfer_liquid_info):
|
||||
logger.info(f"成功转移 {volume}ul 液体: {source.name}[{source_well_id}] -> {target.name}[{target_well_id}]")
|
||||
return True
|
||||
else:
|
||||
# 如果目标添加失败，回滚源操作
|
||||
source.add_liquid(source_well_id, volume, source_content.liquid_info)
|
||||
logger.error("目标添加失败，已回滚源操作")
|
||||
return False
|
||||
else:
|
||||
logger.error("源移除失败")
|
||||
return False
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"液体转移失败: {e}")
|
||||
return False
|
||||
|
||||
|
||||
def create_material_resource(
|
||||
name: str,
|
||||
resource: Resource,
|
||||
initial_volumes: Optional[Dict[str, float]] = None,
|
||||
liquid_info: Optional[LiquidInfo] = None,
|
||||
max_volume: float = 1000.0
|
||||
) -> MaterialResource:
|
||||
"""
|
||||
创建材料资源的便捷函数
|
||||
|
||||
Args:
|
||||
name: 资源名称
|
||||
resource: pylabrobot 资源对象
|
||||
initial_volumes: 初始体积字典 {well_id: volume}
|
||||
liquid_info: 液体信息
|
||||
max_volume: 最大体积
|
||||
|
||||
Returns:
|
||||
MaterialResource: 创建的材料资源
|
||||
"""
|
||||
material_resource = MaterialResource(
|
||||
resource=resource,
|
||||
default_max_volume=max_volume
|
||||
)
|
||||
|
||||
# 设置初始体积
|
||||
if initial_volumes:
|
||||
for well_id, volume in initial_volumes.items():
|
||||
material_resource.set_well_volume(well_id, volume, liquid_info)
|
||||
|
||||
return material_resource
|
||||
|
||||
|
||||
def batch_transfer_liquid(
|
||||
transfers: List[Tuple[MaterialResource, MaterialResource, float]],
|
||||
liquid_info: Optional[LiquidInfo] = None
|
||||
) -> List[bool]:
|
||||
"""
|
||||
批量液体转移
|
||||
|
||||
Args:
|
||||
transfers: 转移列表 [(source, target, volume), ...]
|
||||
liquid_info: 液体信息
|
||||
|
||||
Returns:
|
||||
List[bool]: 每个转移操作的结果
|
||||
"""
|
||||
results = []
|
||||
|
||||
for source, target, volume in transfers:
|
||||
result = transfer_liquid(source, target, volume, liquid_info=liquid_info)
|
||||
results.append(result)
|
||||
|
||||
if not result:
|
||||
logger.warning(f"批量转移中的操作失败: {source.name} -> {target.name}")
|
||||
|
||||
success_count = sum(results)
|
||||
logger.info(f"批量转移完成: {success_count}/{len(transfers)} 成功")
|
||||
|
||||
return results
|
||||
@@ -1,888 +0,0 @@
|
||||
"""
|
||||
LaiYu_Liquid 液体处理工作站主要集成文件
|
||||
|
||||
该模块实现了 LaiYu_Liquid 与 UniLabOS 系统的集成，提供标准化的液体处理接口。
|
||||
主要包含：
|
||||
- LaiYuLiquidBackend: 硬件通信后端
|
||||
- LaiYuLiquid: 主要接口类
|
||||
- 相关的异常类和容器类
|
||||
"""
|
||||
|
||||
import asyncio
|
||||
import logging
|
||||
import time
|
||||
from typing import List, Optional, Dict, Any, Union, Tuple
|
||||
from dataclasses import dataclass
|
||||
from abc import ABC, abstractmethod
|
||||
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
# 基础导入
|
||||
try:
|
||||
from pylabrobot.resources import Deck, Plate, TipRack, Tip, Resource, Well
|
||||
|
||||
PYLABROBOT_AVAILABLE = True
|
||||
except ImportError:
|
||||
# 如果 pylabrobot 不可用，创建基础的模拟类
|
||||
PYLABROBOT_AVAILABLE = False
|
||||
|
||||
class Resource:
|
||||
def __init__(self, name: str):
|
||||
self.name = name
|
||||
|
||||
class Deck(Resource):
|
||||
pass
|
||||
|
||||
class Plate(Resource):
|
||||
pass
|
||||
|
||||
class TipRack(Resource):
|
||||
pass
|
||||
|
||||
class Tip(Resource):
|
||||
pass
|
||||
|
||||
class Well(Resource):
|
||||
pass
|
||||
|
||||
|
||||
# LaiYu_Liquid 控制器导入
|
||||
try:
|
||||
from .controllers.pipette_controller import PipetteController, TipStatus, LiquidClass, LiquidParameters
|
||||
from .controllers.xyz_controller import XYZController, MachineConfig, CoordinateOrigin, MotorAxis
|
||||
|
||||
CONTROLLERS_AVAILABLE = True
|
||||
except ImportError:
|
||||
CONTROLLERS_AVAILABLE = False
|
||||
|
||||
# 创建模拟的控制器类
|
||||
class PipetteController:
|
||||
def __init__(self, *args, **kwargs):
|
||||
pass
|
||||
|
||||
def connect(self):
|
||||
return True
|
||||
|
||||
def initialize(self):
|
||||
return True
|
||||
|
||||
class XYZController:
|
||||
def __init__(self, *args, **kwargs):
|
||||
pass
|
||||
|
||||
def connect_device(self):
|
||||
return True
|
||||
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
|
||||
class LaiYuLiquidError(RuntimeError):
|
||||
"""LaiYu_Liquid 设备异常"""
|
||||
|
||||
pass
|
||||
|
||||
|
||||
@dataclass
|
||||
class LaiYuLiquidConfig:
|
||||
"""LaiYu_Liquid 设备配置"""
|
||||
|
||||
port: str = "/dev/cu.usbserial-3130" # RS485转USB端口
|
||||
address: int = 1 # 设备地址
|
||||
baudrate: int = 9600 # 波特率
|
||||
timeout: float = 5.0 # 通信超时时间
|
||||
|
||||
# 工作台尺寸
|
||||
deck_width: float = 340.0 # 工作台宽度 (mm)
|
||||
deck_height: float = 250.0 # 工作台高度 (mm)
|
||||
deck_depth: float = 160.0 # 工作台深度 (mm)
|
||||
|
||||
# 移液参数
|
||||
max_volume: float = 1000.0 # 最大体积 (μL)
|
||||
min_volume: float = 0.1 # 最小体积 (μL)
|
||||
|
||||
# 运动参数
|
||||
max_speed: float = 100.0 # 最大速度 (mm/s)
|
||||
acceleration: float = 50.0 # 加速度 (mm/s²)
|
||||
|
||||
# 安全参数
|
||||
safe_height: float = 50.0 # 安全高度 (mm)
|
||||
tip_pickup_depth: float = 10.0 # 吸头拾取深度 (mm)
|
||||
liquid_detection: bool = True # 液面检测
|
||||
|
||||
# 取枪头相关参数
|
||||
tip_pickup_speed: int = 30 # 取枪头时的移动速度 (rpm)
|
||||
tip_pickup_acceleration: int = 500 # 取枪头时的加速度 (rpm/s)
|
||||
tip_approach_height: float = 5.0 # 接近枪头时的高度 (mm)
|
||||
tip_pickup_force_depth: float = 2.0 # 强制插入深度 (mm)
|
||||
tip_pickup_retract_height: float = 20.0 # 取枪头后的回退高度 (mm)
|
||||
|
||||
# 丢弃枪头相关参数
|
||||
tip_drop_height: float = 10.0 # 丢弃枪头时的高度 (mm)
|
||||
tip_drop_speed: int = 50 # 丢弃枪头时的移动速度 (rpm)
|
||||
trash_position: Tuple[float, float, float] = (300.0, 200.0, 0.0) # 垃圾桶位置 (mm)
|
||||
|
||||
# 安全范围配置
|
||||
deck_width: float = 300.0 # 工作台宽度 (mm)
|
||||
deck_height: float = 200.0 # 工作台高度 (mm)
|
||||
deck_depth: float = 100.0 # 工作台深度 (mm)
|
||||
safe_height: float = 50.0 # 安全高度 (mm)
|
||||
position_validation: bool = True # 启用位置验证
|
||||
emergency_stop_enabled: bool = True # 启用紧急停止
|
||||
|
||||
|
||||
class LaiYuLiquidDeck:
|
||||
"""LaiYu_Liquid 工作台管理"""
|
||||
|
||||
def __init__(self, config: LaiYuLiquidConfig):
|
||||
self.config = config
|
||||
self.resources: Dict[str, Resource] = {}
|
||||
self.positions: Dict[str, Tuple[float, float, float]] = {}
|
||||
|
||||
def add_resource(self, name: str, resource: Resource, position: Tuple[float, float, float]):
|
||||
"""添加资源到工作台"""
|
||||
self.resources[name] = resource
|
||||
self.positions[name] = position
|
||||
|
||||
def get_resource(self, name: str) -> Optional[Resource]:
|
||||
"""获取资源"""
|
||||
return self.resources.get(name)
|
||||
|
||||
def get_position(self, name: str) -> Optional[Tuple[float, float, float]]:
|
||||
"""获取资源位置"""
|
||||
return self.positions.get(name)
|
||||
|
||||
def list_resources(self) -> List[str]:
|
||||
"""列出所有资源"""
|
||||
return list(self.resources.keys())
|
||||
|
||||
|
||||
class LaiYuLiquidContainer:
|
||||
"""LaiYu_Liquid 容器类"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float = 0,
|
||||
size_y: float = 0,
|
||||
size_z: float = 0,
|
||||
container_type: str = "",
|
||||
volume: float = 0.0,
|
||||
max_volume: float = 1000.0,
|
||||
lid_height: float = 0.0,
|
||||
):
|
||||
self.name = name
|
||||
self.size_x = size_x
|
||||
self.size_y = size_y
|
||||
self.size_z = size_z
|
||||
self.lid_height = lid_height
|
||||
self.container_type = container_type
|
||||
self.volume = volume
|
||||
self.max_volume = max_volume
|
||||
self.last_updated = time.time()
|
||||
self.child_resources = {} # 存储子资源
|
||||
|
||||
@property
|
||||
def is_empty(self) -> bool:
|
||||
return self.volume <= 0.0
|
||||
|
||||
@property
|
||||
def is_full(self) -> bool:
|
||||
return self.volume >= self.max_volume
|
||||
|
||||
@property
|
||||
def available_volume(self) -> float:
|
||||
return max(0.0, self.max_volume - self.volume)
|
||||
|
||||
def add_volume(self, volume: float) -> bool:
|
||||
"""添加体积"""
|
||||
if self.volume + volume <= self.max_volume:
|
||||
self.volume += volume
|
||||
self.last_updated = time.time()
|
||||
return True
|
||||
return False
|
||||
|
||||
def remove_volume(self, volume: float) -> bool:
|
||||
"""移除体积"""
|
||||
if self.volume >= volume:
|
||||
self.volume -= volume
|
||||
self.last_updated = time.time()
|
||||
return True
|
||||
return False
|
||||
|
||||
def assign_child_resource(self, resource, location=None):
|
||||
"""分配子资源 - 与 PyLabRobot 资源管理系统兼容"""
|
||||
if hasattr(resource, "name"):
|
||||
self.child_resources[resource.name] = {"resource": resource, "location": location}
|
||||
|
||||
|
||||
class LaiYuLiquidTipRack:
|
||||
"""LaiYu_Liquid 吸头架类"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float = 0,
|
||||
size_y: float = 0,
|
||||
size_z: float = 0,
|
||||
tip_count: int = 96,
|
||||
tip_volume: float = 1000.0,
|
||||
):
|
||||
self.name = name
|
||||
self.size_x = size_x
|
||||
self.size_y = size_y
|
||||
self.size_z = size_z
|
||||
self.tip_count = tip_count
|
||||
self.tip_volume = tip_volume
|
||||
self.tips_available = [True] * tip_count
|
||||
self.child_resources = {} # 存储子资源
|
||||
|
||||
@property
|
||||
def available_tips(self) -> int:
|
||||
return sum(self.tips_available)
|
||||
|
||||
@property
|
||||
def is_empty(self) -> bool:
|
||||
return self.available_tips == 0
|
||||
|
||||
def pick_tip(self, position: int) -> bool:
|
||||
"""拾取吸头"""
|
||||
if 0 <= position < self.tip_count and self.tips_available[position]:
|
||||
self.tips_available[position] = False
|
||||
return True
|
||||
return False
|
||||
|
||||
def has_tip(self, position: int) -> bool:
|
||||
"""检查位置是否有吸头"""
|
||||
if 0 <= position < self.tip_count:
|
||||
return self.tips_available[position]
|
||||
return False
|
||||
|
||||
def assign_child_resource(self, resource, location=None):
|
||||
"""分配子资源到指定位置"""
|
||||
self.child_resources[resource.name] = {"resource": resource, "location": location}
|
||||
|
||||
|
||||
def get_module_info():
|
||||
"""获取模块信息"""
|
||||
return {
|
||||
"name": "LaiYu_Liquid",
|
||||
"version": "1.0.0",
|
||||
"description": "LaiYu液体处理工作站模块，提供移液器控制、XYZ轴控制和资源管理功能",
|
||||
"author": "UniLabOS Team",
|
||||
"capabilities": ["移液器控制", "XYZ轴运动控制", "吸头架管理", "板和容器管理", "资源位置管理"],
|
||||
"dependencies": {"required": ["serial"], "optional": ["pylabrobot"]},
|
||||
}
|
||||
|
||||
|
||||
class LaiYuLiquidBackend:
|
||||
"""LaiYu_Liquid 硬件通信后端"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, config: LaiYuLiquidConfig, deck: Optional["LaiYuLiquidDeck"] = None):
|
||||
self.config = config
|
||||
self.deck = deck # 工作台引用，用于获取资源位置信息
|
||||
self.pipette_controller = None
|
||||
self.xyz_controller = None
|
||||
self.is_connected = False
|
||||
self.is_initialized = False
|
||||
|
||||
# 状态跟踪
|
||||
self.current_position = (0.0, 0.0, 0.0)
|
||||
self.tip_attached = False
|
||||
self.current_volume = 0.0
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
def _validate_position(self, x: float, y: float, z: float) -> bool:
|
||||
"""验证位置是否在安全范围内"""
|
||||
try:
|
||||
# 检查X轴范围
|
||||
if not (0 <= x <= self.config.deck_width):
|
||||
logger.error(f"X轴位置 {x:.2f}mm 超出范围 [0, {self.config.deck_width}]")
|
||||
return False
|
||||
|
||||
# 检查Y轴范围
|
||||
if not (0 <= y <= self.config.deck_height):
|
||||
logger.error(f"Y轴位置 {y:.2f}mm 超出范围 [0, {self.config.deck_height}]")
|
||||
return False
|
||||
|
||||
# 检查Z轴范围（负值表示向下，0为工作台表面）
|
||||
if not (-self.config.deck_depth <= z <= self.config.safe_height):
|
||||
logger.error(f"Z轴位置 {z:.2f}mm 超出安全范围 [{-self.config.deck_depth}, {self.config.safe_height}]")
|
||||
return False
|
||||
|
||||
return True
|
||||
except Exception as e:
|
||||
logger.error(f"位置验证失败: {e}")
|
||||
return False
|
||||
|
||||
def _check_hardware_ready(self) -> bool:
|
||||
"""检查硬件是否准备就绪"""
|
||||
if not self.is_connected:
|
||||
logger.error("设备未连接")
|
||||
return False
|
||||
|
||||
if CONTROLLERS_AVAILABLE:
|
||||
if self.xyz_controller is None:
|
||||
logger.error("XYZ控制器未初始化")
|
||||
return False
|
||||
|
||||
return True
|
||||
|
||||
async def emergency_stop(self) -> bool:
|
||||
"""紧急停止所有运动"""
|
||||
try:
|
||||
logger.warning("执行紧急停止")
|
||||
|
||||
if CONTROLLERS_AVAILABLE and self.xyz_controller:
|
||||
# 停止XYZ控制器
|
||||
await self.xyz_controller.stop_all_motion()
|
||||
logger.info("XYZ控制器已停止")
|
||||
|
||||
if self.pipette_controller:
|
||||
# 停止移液器控制器
|
||||
await self.pipette_controller.stop()
|
||||
logger.info("移液器控制器已停止")
|
||||
|
||||
return True
|
||||
except Exception as e:
|
||||
logger.error(f"紧急停止失败: {e}")
|
||||
return False
|
||||
|
||||
async def move_to_safe_position(self) -> bool:
|
||||
"""移动到安全位置"""
|
||||
try:
|
||||
if not self._check_hardware_ready():
|
||||
return False
|
||||
|
||||
safe_position = (
|
||||
self.config.deck_width / 2, # 工作台中心X
|
||||
self.config.deck_height / 2, # 工作台中心Y
|
||||
self.config.safe_height, # 安全高度Z
|
||||
)
|
||||
|
||||
if not self._validate_position(*safe_position):
|
||||
logger.error("安全位置无效")
|
||||
return False
|
||||
|
||||
if CONTROLLERS_AVAILABLE and self.xyz_controller:
|
||||
await self.xyz_controller.move_to_work_coord(*safe_position)
|
||||
self.current_position = safe_position
|
||||
logger.info(f"已移动到安全位置: {safe_position}")
|
||||
return True
|
||||
else:
|
||||
# 模拟模式
|
||||
self.current_position = safe_position
|
||||
logger.info("模拟移动到安全位置")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"移动到安全位置失败: {e}")
|
||||
return False
|
||||
|
||||
async def setup(self) -> bool:
|
||||
"""设置硬件连接"""
|
||||
try:
|
||||
if CONTROLLERS_AVAILABLE:
|
||||
# 初始化移液器控制器
|
||||
self.pipette_controller = PipetteController(port=self.config.port, address=self.config.address)
|
||||
|
||||
# 初始化XYZ控制器
|
||||
machine_config = MachineConfig()
|
||||
self.xyz_controller = XYZController(
|
||||
port=self.config.port, baudrate=self.config.baudrate, machine_config=machine_config
|
||||
)
|
||||
|
||||
# 连接设备
|
||||
pipette_connected = await asyncio.to_thread(self.pipette_controller.connect)
|
||||
xyz_connected = await asyncio.to_thread(self.xyz_controller.connect_device)
|
||||
|
||||
if pipette_connected and xyz_connected:
|
||||
self.is_connected = True
|
||||
logger.info("LaiYu_Liquid 硬件连接成功")
|
||||
return True
|
||||
else:
|
||||
logger.error("LaiYu_Liquid 硬件连接失败")
|
||||
return False
|
||||
else:
|
||||
# 模拟模式
|
||||
logger.info("LaiYu_Liquid 运行在模拟模式")
|
||||
self.is_connected = True
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"LaiYu_Liquid 设置失败: {e}")
|
||||
return False
|
||||
|
||||
async def stop(self):
|
||||
"""停止设备"""
|
||||
try:
|
||||
if self.pipette_controller and hasattr(self.pipette_controller, "disconnect"):
|
||||
await asyncio.to_thread(self.pipette_controller.disconnect)
|
||||
|
||||
if self.xyz_controller and hasattr(self.xyz_controller, "disconnect"):
|
||||
await asyncio.to_thread(self.xyz_controller.disconnect)
|
||||
|
||||
self.is_connected = False
|
||||
self.is_initialized = False
|
||||
logger.info("LaiYu_Liquid 已停止")
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"LaiYu_Liquid 停止失败: {e}")
|
||||
|
||||
async def move_to(self, x: float, y: float, z: float) -> bool:
|
||||
"""移动到指定位置"""
|
||||
try:
|
||||
if not self.is_connected:
|
||||
raise LaiYuLiquidError("设备未连接")
|
||||
|
||||
# 模拟移动
|
||||
await self._ros_node.sleep(0.1) # 模拟移动时间
|
||||
self.current_position = (x, y, z)
|
||||
logger.debug(f"移动到位置: ({x}, {y}, {z})")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"移动失败: {e}")
|
||||
return False
|
||||
|
||||
async def pick_up_tip(self, tip_rack: str, position: int) -> bool:
|
||||
"""拾取吸头 - 包含真正的Z轴下降控制"""
|
||||
try:
|
||||
# 硬件准备检查
|
||||
if not self._check_hardware_ready():
|
||||
return False
|
||||
|
||||
if self.tip_attached:
|
||||
logger.warning("已有吸头附着，无法拾取新吸头")
|
||||
return False
|
||||
|
||||
logger.info(f"开始从 {tip_rack} 位置 {position} 拾取吸头")
|
||||
|
||||
# 获取枪头架位置信息
|
||||
if self.deck is None:
|
||||
logger.error("工作台未初始化")
|
||||
return False
|
||||
|
||||
tip_position = self.deck.get_position(tip_rack)
|
||||
if tip_position is None:
|
||||
logger.error(f"未找到枪头架 {tip_rack} 的位置信息")
|
||||
return False
|
||||
|
||||
# 计算具体枪头位置（这里简化处理，实际应根据position计算偏移）
|
||||
tip_x, tip_y, tip_z = tip_position
|
||||
|
||||
# 验证所有关键位置的安全性
|
||||
safe_z = tip_z + self.config.tip_approach_height
|
||||
pickup_z = tip_z - self.config.tip_pickup_force_depth
|
||||
retract_z = tip_z + self.config.tip_pickup_retract_height
|
||||
|
||||
if not (
|
||||
self._validate_position(tip_x, tip_y, safe_z)
|
||||
and self._validate_position(tip_x, tip_y, pickup_z)
|
||||
and self._validate_position(tip_x, tip_y, retract_z)
|
||||
):
|
||||
logger.error("枪头拾取位置超出安全范围")
|
||||
return False
|
||||
|
||||
if CONTROLLERS_AVAILABLE and self.xyz_controller:
|
||||
# 真实硬件控制流程
|
||||
logger.info("使用真实XYZ控制器进行枪头拾取")
|
||||
|
||||
try:
|
||||
# 1. 移动到枪头上方的安全位置
|
||||
safe_z = tip_z + self.config.tip_approach_height
|
||||
logger.info(f"移动到枪头上方安全位置: ({tip_x:.2f}, {tip_y:.2f}, {safe_z:.2f})")
|
||||
move_success = await asyncio.to_thread(
|
||||
self.xyz_controller.move_to_work_coord, tip_x, tip_y, safe_z
|
||||
)
|
||||
if not move_success:
|
||||
logger.error("移动到枪头上方失败")
|
||||
return False
|
||||
|
||||
# 2. Z轴下降到枪头位置
|
||||
pickup_z = tip_z - self.config.tip_pickup_force_depth
|
||||
logger.info(f"Z轴下降到枪头拾取位置: {pickup_z:.2f}mm")
|
||||
z_down_success = await asyncio.to_thread(
|
||||
self.xyz_controller.move_to_work_coord, tip_x, tip_y, pickup_z
|
||||
)
|
||||
if not z_down_success:
|
||||
logger.error("Z轴下降到枪头位置失败")
|
||||
return False
|
||||
|
||||
# 3. 等待一小段时间确保枪头牢固附着
|
||||
await self._ros_node.sleep(0.2)
|
||||
|
||||
# 4. Z轴上升到回退高度
|
||||
retract_z = tip_z + self.config.tip_pickup_retract_height
|
||||
logger.info(f"Z轴上升到回退高度: {retract_z:.2f}mm")
|
||||
z_up_success = await asyncio.to_thread(
|
||||
self.xyz_controller.move_to_work_coord, tip_x, tip_y, retract_z
|
||||
)
|
||||
if not z_up_success:
|
||||
logger.error("Z轴上升失败")
|
||||
return False
|
||||
|
||||
# 5. 更新当前位置
|
||||
self.current_position = (tip_x, tip_y, retract_z)
|
||||
|
||||
except Exception as move_error:
|
||||
logger.error(f"枪头拾取过程中发生错误: {move_error}")
|
||||
# 尝试移动到安全位置
|
||||
if self.config.emergency_stop_enabled:
|
||||
await self.emergency_stop()
|
||||
await self.move_to_safe_position()
|
||||
return False
|
||||
|
||||
else:
|
||||
# 模拟模式
|
||||
logger.info("模拟模式：执行枪头拾取动作")
|
||||
await self._ros_node.sleep(1.0) # 模拟整个拾取过程的时间
|
||||
self.current_position = (tip_x, tip_y, tip_z + self.config.tip_pickup_retract_height)
|
||||
|
||||
# 6. 标记枪头已附着
|
||||
self.tip_attached = True
|
||||
logger.info("吸头拾取成功")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"拾取吸头失败: {e}")
|
||||
return False
|
||||
|
||||
async def drop_tip(self, location: str = "trash") -> bool:
|
||||
"""丢弃吸头 - 包含真正的Z轴控制"""
|
||||
try:
|
||||
# 硬件准备检查
|
||||
if not self._check_hardware_ready():
|
||||
return False
|
||||
|
||||
if not self.tip_attached:
|
||||
logger.warning("没有吸头附着，无需丢弃")
|
||||
return True
|
||||
|
||||
logger.info(f"开始丢弃吸头到 {location}")
|
||||
|
||||
# 确定丢弃位置
|
||||
if location == "trash":
|
||||
# 使用配置中的垃圾桶位置
|
||||
drop_x, drop_y, drop_z = self.config.trash_position
|
||||
else:
|
||||
# 尝试从deck获取指定位置
|
||||
if self.deck is None:
|
||||
logger.error("工作台未初始化")
|
||||
return False
|
||||
|
||||
drop_position = self.deck.get_position(location)
|
||||
if drop_position is None:
|
||||
logger.error(f"未找到丢弃位置 {location} 的信息")
|
||||
return False
|
||||
drop_x, drop_y, drop_z = drop_position
|
||||
|
||||
# 验证丢弃位置的安全性
|
||||
safe_z = drop_z + self.config.safe_height
|
||||
drop_height_z = drop_z + self.config.tip_drop_height
|
||||
|
||||
if not (
|
||||
self._validate_position(drop_x, drop_y, safe_z)
|
||||
and self._validate_position(drop_x, drop_y, drop_height_z)
|
||||
):
|
||||
logger.error("枪头丢弃位置超出安全范围")
|
||||
return False
|
||||
|
||||
if CONTROLLERS_AVAILABLE and self.xyz_controller:
|
||||
# 真实硬件控制流程
|
||||
logger.info("使用真实XYZ控制器进行枪头丢弃")
|
||||
|
||||
try:
|
||||
# 1. 移动到丢弃位置上方的安全高度
|
||||
safe_z = drop_z + self.config.tip_drop_height
|
||||
logger.info(f"移动到丢弃位置上方: ({drop_x:.2f}, {drop_y:.2f}, {safe_z:.2f})")
|
||||
move_success = await asyncio.to_thread(
|
||||
self.xyz_controller.move_to_work_coord, drop_x, drop_y, safe_z
|
||||
)
|
||||
if not move_success:
|
||||
logger.error("移动到丢弃位置上方失败")
|
||||
return False
|
||||
|
||||
# 2. Z轴下降到丢弃高度
|
||||
logger.info(f"Z轴下降到丢弃高度: {drop_z:.2f}mm")
|
||||
z_down_success = await asyncio.to_thread(
|
||||
self.xyz_controller.move_to_work_coord, drop_x, drop_y, drop_z
|
||||
)
|
||||
if not z_down_success:
|
||||
logger.error("Z轴下降到丢弃位置失败")
|
||||
return False
|
||||
|
||||
# 3. 执行枪头弹出动作（如果有移液器控制器）
|
||||
if self.pipette_controller:
|
||||
try:
|
||||
# 发送弹出枪头命令
|
||||
await asyncio.to_thread(self.pipette_controller.eject_tip)
|
||||
logger.info("执行枪头弹出命令")
|
||||
except Exception as e:
|
||||
logger.warning(f"枪头弹出命令失败: {e}")
|
||||
|
||||
# 4. 等待一小段时间确保枪头完全脱离
|
||||
await self._ros_node.sleep(0.3)
|
||||
|
||||
# 5. Z轴上升到安全高度
|
||||
logger.info(f"Z轴上升到安全高度: {safe_z:.2f}mm")
|
||||
z_up_success = await asyncio.to_thread(
|
||||
self.xyz_controller.move_to_work_coord, drop_x, drop_y, safe_z
|
||||
)
|
||||
if not z_up_success:
|
||||
logger.error("Z轴上升失败")
|
||||
return False
|
||||
|
||||
# 6. 更新当前位置
|
||||
self.current_position = (drop_x, drop_y, safe_z)
|
||||
|
||||
except Exception as drop_error:
|
||||
logger.error(f"枪头丢弃过程中发生错误: {drop_error}")
|
||||
# 尝试移动到安全位置
|
||||
if self.config.emergency_stop_enabled:
|
||||
await self.emergency_stop()
|
||||
await self.move_to_safe_position()
|
||||
return False
|
||||
|
||||
else:
|
||||
# 模拟模式
|
||||
logger.info("模拟模式：执行枪头丢弃动作")
|
||||
await self._ros_node.sleep(0.8) # 模拟整个丢弃过程的时间
|
||||
self.current_position = (drop_x, drop_y, drop_z + self.config.tip_drop_height)
|
||||
|
||||
# 7. 标记枪头已脱离，清空体积
|
||||
self.tip_attached = False
|
||||
self.current_volume = 0.0
|
||||
logger.info("吸头丢弃成功")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"丢弃吸头失败: {e}")
|
||||
return False
|
||||
|
||||
async def aspirate(self, volume: float, location: str) -> bool:
|
||||
"""吸取液体"""
|
||||
try:
|
||||
if not self.is_connected:
|
||||
raise LaiYuLiquidError("设备未连接")
|
||||
|
||||
if not self.tip_attached:
|
||||
raise LaiYuLiquidError("没有吸头附着")
|
||||
|
||||
if volume <= 0 or volume > self.config.max_volume:
|
||||
raise LaiYuLiquidError(f"体积超出范围: {volume}")
|
||||
|
||||
# 模拟吸取
|
||||
await self._ros_node.sleep(0.3)
|
||||
self.current_volume += volume
|
||||
logger.debug(f"从 {location} 吸取 {volume} μL")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"吸取失败: {e}")
|
||||
return False
|
||||
|
||||
async def dispense(self, volume: float, location: str) -> bool:
|
||||
"""分配液体"""
|
||||
try:
|
||||
if not self.is_connected:
|
||||
raise LaiYuLiquidError("设备未连接")
|
||||
|
||||
if not self.tip_attached:
|
||||
raise LaiYuLiquidError("没有吸头附着")
|
||||
|
||||
if volume <= 0 or volume > self.current_volume:
|
||||
raise LaiYuLiquidError(f"分配体积无效: {volume}")
|
||||
|
||||
# 模拟分配
|
||||
await self._ros_node.sleep(0.3)
|
||||
self.current_volume -= volume
|
||||
logger.debug(f"向 {location} 分配 {volume} μL")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"分配失败: {e}")
|
||||
return False
|
||||
|
||||
|
||||
class LaiYuLiquid:
|
||||
"""LaiYu_Liquid 主要接口类"""
|
||||
|
||||
def __init__(self, config: Optional[LaiYuLiquidConfig] = None, **kwargs):
|
||||
# 如果传入了关键字参数，创建配置对象
|
||||
if kwargs and config is None:
|
||||
# 从kwargs中提取配置参数
|
||||
config_params = {}
|
||||
for key, value in kwargs.items():
|
||||
if hasattr(LaiYuLiquidConfig, key):
|
||||
config_params[key] = value
|
||||
self.config = LaiYuLiquidConfig(**config_params)
|
||||
else:
|
||||
self.config = config or LaiYuLiquidConfig()
|
||||
|
||||
# 先创建deck，然后传递给backend
|
||||
self.deck = LaiYuLiquidDeck(self.config)
|
||||
self.backend = LaiYuLiquidBackend(self.config, self.deck)
|
||||
self.is_setup = False
|
||||
|
||||
@property
|
||||
def current_position(self) -> Tuple[float, float, float]:
|
||||
"""获取当前位置"""
|
||||
return self.backend.current_position
|
||||
|
||||
@property
|
||||
def current_volume(self) -> float:
|
||||
"""获取当前体积"""
|
||||
return self.backend.current_volume
|
||||
|
||||
@property
|
||||
def is_connected(self) -> bool:
|
||||
"""获取连接状态"""
|
||||
return self.backend.is_connected
|
||||
|
||||
@property
|
||||
def is_initialized(self) -> bool:
|
||||
"""获取初始化状态"""
|
||||
return self.backend.is_initialized
|
||||
|
||||
@property
|
||||
def tip_attached(self) -> bool:
|
||||
"""获取吸头附着状态"""
|
||||
return self.backend.tip_attached
|
||||
|
||||
async def setup(self) -> bool:
|
||||
"""设置液体处理器"""
|
||||
try:
|
||||
success = await self.backend.setup()
|
||||
if success:
|
||||
self.is_setup = True
|
||||
logger.info("LaiYu_Liquid 设置完成")
|
||||
return success
|
||||
except Exception as e:
|
||||
logger.error(f"LaiYu_Liquid 设置失败: {e}")
|
||||
return False
|
||||
|
||||
async def stop(self):
|
||||
"""停止液体处理器"""
|
||||
await self.backend.stop()
|
||||
self.is_setup = False
|
||||
|
||||
async def transfer(
|
||||
self, source: str, target: str, volume: float, tip_rack: str = "tip_rack_1", tip_position: int = 0
|
||||
) -> bool:
|
||||
"""液体转移"""
|
||||
try:
|
||||
if not self.is_setup:
|
||||
raise LaiYuLiquidError("设备未设置")
|
||||
|
||||
# 获取源和目标位置
|
||||
source_pos = self.deck.get_position(source)
|
||||
target_pos = self.deck.get_position(target)
|
||||
tip_pos = self.deck.get_position(tip_rack)
|
||||
|
||||
if not all([source_pos, target_pos, tip_pos]):
|
||||
raise LaiYuLiquidError("位置信息不完整")
|
||||
|
||||
# 执行转移步骤
|
||||
steps = [
|
||||
("移动到吸头架", self.backend.move_to(*tip_pos)),
|
||||
("拾取吸头", self.backend.pick_up_tip(tip_rack, tip_position)),
|
||||
("移动到源位置", self.backend.move_to(*source_pos)),
|
||||
("吸取液体", self.backend.aspirate(volume, source)),
|
||||
("移动到目标位置", self.backend.move_to(*target_pos)),
|
||||
("分配液体", self.backend.dispense(volume, target)),
|
||||
("丢弃吸头", self.backend.drop_tip()),
|
||||
]
|
||||
|
||||
for step_name, step_coro in steps:
|
||||
logger.debug(f"执行步骤: {step_name}")
|
||||
success = await step_coro
|
||||
if not success:
|
||||
raise LaiYuLiquidError(f"步骤失败: {step_name}")
|
||||
|
||||
logger.info(f"液体转移完成: {source} -> {target}, {volume} μL")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"液体转移失败: {e}")
|
||||
return False
|
||||
|
||||
def add_resource(self, name: str, resource_type: str, position: Tuple[float, float, float]):
|
||||
"""添加资源到工作台"""
|
||||
if resource_type == "plate":
|
||||
resource = Plate(name)
|
||||
elif resource_type == "tip_rack":
|
||||
resource = TipRack(name)
|
||||
else:
|
||||
resource = Resource(name)
|
||||
|
||||
self.deck.add_resource(name, resource, position)
|
||||
|
||||
def get_status(self) -> Dict[str, Any]:
|
||||
"""获取设备状态"""
|
||||
return {
|
||||
"connected": self.backend.is_connected,
|
||||
"setup": self.is_setup,
|
||||
"current_position": self.backend.current_position,
|
||||
"tip_attached": self.backend.tip_attached,
|
||||
"current_volume": self.backend.current_volume,
|
||||
"resources": self.deck.list_resources(),
|
||||
}
|
||||
|
||||
|
||||
def create_quick_setup() -> LaiYuLiquidDeck:
|
||||
"""
|
||||
创建快速设置的LaiYu液体处理工作站
|
||||
|
||||
Returns:
|
||||
LaiYuLiquidDeck: 配置好的工作台实例
|
||||
"""
|
||||
# 创建默认配置
|
||||
config = LaiYuLiquidConfig()
|
||||
|
||||
# 创建工作台
|
||||
deck = LaiYuLiquidDeck(config)
|
||||
|
||||
# 导入资源创建函数
|
||||
try:
|
||||
from .laiyu_liquid_res import (
|
||||
create_tip_rack_1000ul,
|
||||
create_tip_rack_200ul,
|
||||
create_96_well_plate,
|
||||
create_waste_container,
|
||||
)
|
||||
|
||||
# 添加基本资源
|
||||
tip_rack_1000 = create_tip_rack_1000ul("tip_rack_1000")
|
||||
tip_rack_200 = create_tip_rack_200ul("tip_rack_200")
|
||||
plate_96 = create_96_well_plate("plate_96")
|
||||
waste = create_waste_container("waste")
|
||||
|
||||
# 添加到工作台
|
||||
deck.add_resource("tip_rack_1000", tip_rack_1000, (50, 50, 0))
|
||||
deck.add_resource("tip_rack_200", tip_rack_200, (150, 50, 0))
|
||||
deck.add_resource("plate_96", plate_96, (250, 50, 0))
|
||||
deck.add_resource("waste", waste, (50, 150, 0))
|
||||
|
||||
except ImportError:
|
||||
# 如果资源模块不可用，创建空的工作台
|
||||
logger.warning("资源模块不可用，创建空的工作台")
|
||||
|
||||
return deck
|
||||
|
||||
|
||||
__all__ = [
|
||||
"LaiYuLiquid",
|
||||
"LaiYuLiquidBackend",
|
||||
"LaiYuLiquidConfig",
|
||||
"LaiYuLiquidDeck",
|
||||
"LaiYuLiquidContainer",
|
||||
"LaiYuLiquidTipRack",
|
||||
"LaiYuLiquidError",
|
||||
"create_quick_setup",
|
||||
"get_module_info",
|
||||
]
|
||||
@@ -1,954 +0,0 @@
|
||||
"""
|
||||
LaiYu_Liquid 资源定义模块
|
||||
|
||||
该模块提供了 LaiYu_Liquid 工作站专用的资源定义函数，包括：
|
||||
- 各种规格的枪头架
|
||||
- 不同类型的板和容器
|
||||
- 特殊功能位置
|
||||
- 资源创建的便捷函数
|
||||
|
||||
所有资源都基于 deck.json 中的配置参数创建。
|
||||
"""
|
||||
|
||||
import json
|
||||
import os
|
||||
from typing import Dict, List, Optional, Tuple, Any
|
||||
from pathlib import Path
|
||||
|
||||
# PyLabRobot 资源导入
|
||||
try:
|
||||
from pylabrobot.resources import (
|
||||
Resource, Deck, Plate, TipRack, Container, Tip,
|
||||
Coordinate
|
||||
)
|
||||
from pylabrobot.resources.tip_rack import TipSpot
|
||||
from pylabrobot.resources.well import Well as PlateWell
|
||||
PYLABROBOT_AVAILABLE = True
|
||||
except ImportError:
|
||||
# 如果 PyLabRobot 不可用，创建模拟类
|
||||
PYLABROBOT_AVAILABLE = False
|
||||
|
||||
class Resource:
|
||||
def __init__(self, name: str):
|
||||
self.name = name
|
||||
|
||||
class Deck(Resource):
|
||||
pass
|
||||
|
||||
class Plate(Resource):
|
||||
pass
|
||||
|
||||
class TipRack(Resource):
|
||||
pass
|
||||
|
||||
class Container(Resource):
|
||||
pass
|
||||
|
||||
class Tip(Resource):
|
||||
pass
|
||||
|
||||
class TipSpot(Resource):
|
||||
def __init__(self, name: str, **kwargs):
|
||||
super().__init__(name)
|
||||
# 忽略其他参数
|
||||
|
||||
class PlateWell(Resource):
|
||||
pass
|
||||
|
||||
class Coordinate:
|
||||
def __init__(self, x: float, y: float, z: float):
|
||||
self.x = x
|
||||
self.y = y
|
||||
self.z = z
|
||||
|
||||
# 本地导入
|
||||
from .laiyu_liquid_main import LaiYuLiquidDeck, LaiYuLiquidContainer, LaiYuLiquidTipRack
|
||||
|
||||
|
||||
def load_deck_config() -> Dict[str, Any]:
|
||||
"""
|
||||
加载工作台配置文件
|
||||
|
||||
Returns:
|
||||
Dict[str, Any]: 配置字典
|
||||
"""
|
||||
# 优先使用最新的deckconfig.json文件
|
||||
config_path = Path(__file__).parent / "controllers" / "deckconfig.json"
|
||||
|
||||
# 如果最新配置文件不存在，回退到旧配置文件
|
||||
if not config_path.exists():
|
||||
config_path = Path(__file__).parent / "config" / "deck.json"
|
||||
|
||||
try:
|
||||
with open(config_path, 'r', encoding='utf-8') as f:
|
||||
return json.load(f)
|
||||
except FileNotFoundError:
|
||||
# 如果找不到配置文件，返回默认配置
|
||||
return {
|
||||
"name": "LaiYu_Liquid_Deck",
|
||||
"size_x": 340.0,
|
||||
"size_y": 250.0,
|
||||
"size_z": 160.0
|
||||
}
|
||||
|
||||
|
||||
# 加载配置
|
||||
DECK_CONFIG = load_deck_config()
|
||||
|
||||
|
||||
class LaiYuTipRack1000(LaiYuLiquidTipRack):
|
||||
"""1000μL 枪头架"""
|
||||
|
||||
def __init__(self, name: str):
|
||||
"""
|
||||
初始化1000μL枪头架
|
||||
|
||||
Args:
|
||||
name: 枪头架名称
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=127.76,
|
||||
size_y=85.48,
|
||||
size_z=30.0,
|
||||
tip_count=96,
|
||||
tip_volume=1000.0
|
||||
)
|
||||
|
||||
# 创建枪头位置
|
||||
self._create_tip_spots(
|
||||
tip_count=96,
|
||||
tip_spacing=9.0,
|
||||
tip_type="1000ul"
|
||||
)
|
||||
|
||||
def _create_tip_spots(self, tip_count: int, tip_spacing: float, tip_type: str):
|
||||
"""
|
||||
创建枪头位置 - 从配置文件中读取绝对坐标
|
||||
|
||||
Args:
|
||||
tip_count: 枪头数量
|
||||
tip_spacing: 枪头间距
|
||||
tip_type: 枪头类型
|
||||
"""
|
||||
# 从配置文件中获取枪头架的孔位信息
|
||||
config = DECK_CONFIG
|
||||
tip_module = None
|
||||
|
||||
# 查找枪头架模块
|
||||
for module in config.get("children", []):
|
||||
if module.get("type") == "tip_rack":
|
||||
tip_module = module
|
||||
break
|
||||
|
||||
if not tip_module:
|
||||
# 如果配置文件中没有找到，使用默认的相对坐标计算
|
||||
rows = 8
|
||||
cols = 12
|
||||
|
||||
for row in range(rows):
|
||||
for col in range(cols):
|
||||
spot_name = f"{chr(65 + row)}{col + 1:02d}"
|
||||
x = col * tip_spacing + tip_spacing / 2
|
||||
y = row * tip_spacing + tip_spacing / 2
|
||||
|
||||
# 创建枪头 - 根据PyLabRobot或模拟类使用不同参数
|
||||
if PYLABROBOT_AVAILABLE:
|
||||
# PyLabRobot的Tip需要特定参数
|
||||
tip = Tip(
|
||||
has_filter=False,
|
||||
total_tip_length=95.0, # 1000ul枪头长度
|
||||
maximal_volume=1000.0, # 最大体积
|
||||
fitting_depth=8.0 # 安装深度
|
||||
)
|
||||
else:
|
||||
# 模拟类只需要name
|
||||
tip = Tip(name=f"tip_{spot_name}")
|
||||
|
||||
# 创建枪头位置
|
||||
if PYLABROBOT_AVAILABLE:
|
||||
# PyLabRobot的TipSpot需要特定参数
|
||||
tip_spot = TipSpot(
|
||||
name=spot_name,
|
||||
size_x=9.0, # 枪头位置宽度
|
||||
size_y=9.0, # 枪头位置深度
|
||||
size_z=95.0, # 枪头位置高度
|
||||
make_tip=lambda: tip # 创建枪头的函数
|
||||
)
|
||||
else:
|
||||
# 模拟类只需要name
|
||||
tip_spot = TipSpot(name=spot_name)
|
||||
|
||||
# 将吸头位置分配到吸头架
|
||||
self.assign_child_resource(
|
||||
tip_spot,
|
||||
location=Coordinate(x, y, 0)
|
||||
)
|
||||
return
|
||||
|
||||
# 使用配置文件中的绝对坐标
|
||||
module_position = tip_module.get("position", {"x": 0, "y": 0, "z": 0})
|
||||
|
||||
for well_config in tip_module.get("wells", []):
|
||||
spot_name = well_config["id"]
|
||||
well_pos = well_config["position"]
|
||||
|
||||
# 计算相对于模块的坐标（绝对坐标减去模块位置）
|
||||
relative_x = well_pos["x"] - module_position["x"]
|
||||
relative_y = well_pos["y"] - module_position["y"]
|
||||
relative_z = well_pos["z"] - module_position["z"]
|
||||
|
||||
# 创建枪头 - 根据PyLabRobot或模拟类使用不同参数
|
||||
if PYLABROBOT_AVAILABLE:
|
||||
# PyLabRobot的Tip需要特定参数
|
||||
tip = Tip(
|
||||
has_filter=False,
|
||||
total_tip_length=95.0, # 1000ul枪头长度
|
||||
maximal_volume=1000.0, # 最大体积
|
||||
fitting_depth=8.0 # 安装深度
|
||||
)
|
||||
else:
|
||||
# 模拟类只需要name
|
||||
tip = Tip(name=f"tip_{spot_name}")
|
||||
|
||||
# 创建枪头位置
|
||||
if PYLABROBOT_AVAILABLE:
|
||||
# PyLabRobot的TipSpot需要特定参数
|
||||
tip_spot = TipSpot(
|
||||
name=spot_name,
|
||||
size_x=well_config.get("diameter", 9.0), # 使用配置中的直径
|
||||
size_y=well_config.get("diameter", 9.0),
|
||||
size_z=well_config.get("depth", 95.0), # 使用配置中的深度
|
||||
make_tip=lambda: tip # 创建枪头的函数
|
||||
)
|
||||
else:
|
||||
# 模拟类只需要name
|
||||
tip_spot = TipSpot(name=spot_name)
|
||||
|
||||
# 将吸头位置分配到吸头架
|
||||
self.assign_child_resource(
|
||||
tip_spot,
|
||||
location=Coordinate(relative_x, relative_y, relative_z)
|
||||
)
|
||||
|
||||
# 注意：在PyLabRobot中，Tip不是Resource，不需要分配给TipSpot
|
||||
# TipSpot的make_tip函数会在需要时创建Tip
|
||||
|
||||
|
||||
class LaiYuTipRack200(LaiYuLiquidTipRack):
|
||||
"""200μL 枪头架"""
|
||||
|
||||
def __init__(self, name: str):
|
||||
"""
|
||||
初始化200μL枪头架
|
||||
|
||||
Args:
|
||||
name: 枪头架名称
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=127.76,
|
||||
size_y=85.48,
|
||||
size_z=30.0,
|
||||
tip_count=96,
|
||||
tip_volume=200.0
|
||||
)
|
||||
|
||||
# 创建枪头位置
|
||||
self._create_tip_spots(
|
||||
tip_count=96,
|
||||
tip_spacing=9.0,
|
||||
tip_type="200ul"
|
||||
)
|
||||
|
||||
def _create_tip_spots(self, tip_count: int, tip_spacing: float, tip_type: str):
|
||||
"""
|
||||
创建枪头位置
|
||||
|
||||
Args:
|
||||
tip_count: 枪头数量
|
||||
tip_spacing: 枪头间距
|
||||
tip_type: 枪头类型
|
||||
"""
|
||||
rows = 8
|
||||
cols = 12
|
||||
|
||||
for row in range(rows):
|
||||
for col in range(cols):
|
||||
spot_name = f"{chr(65 + row)}{col + 1:02d}"
|
||||
x = col * tip_spacing + tip_spacing / 2
|
||||
y = row * tip_spacing + tip_spacing / 2
|
||||
|
||||
# 创建枪头 - 根据PyLabRobot或模拟类使用不同参数
|
||||
if PYLABROBOT_AVAILABLE:
|
||||
# PyLabRobot的Tip需要特定参数
|
||||
tip = Tip(
|
||||
has_filter=False,
|
||||
total_tip_length=72.0, # 200ul枪头长度
|
||||
maximal_volume=200.0, # 最大体积
|
||||
fitting_depth=8.0 # 安装深度
|
||||
)
|
||||
else:
|
||||
# 模拟类只需要name
|
||||
tip = Tip(name=f"tip_{spot_name}")
|
||||
|
||||
# 创建枪头位置
|
||||
if PYLABROBOT_AVAILABLE:
|
||||
# PyLabRobot的TipSpot需要特定参数
|
||||
tip_spot = TipSpot(
|
||||
name=spot_name,
|
||||
size_x=9.0, # 枪头位置宽度
|
||||
size_y=9.0, # 枪头位置深度
|
||||
size_z=72.0, # 枪头位置高度
|
||||
make_tip=lambda: tip # 创建枪头的函数
|
||||
)
|
||||
else:
|
||||
# 模拟类只需要name
|
||||
tip_spot = TipSpot(name=spot_name)
|
||||
|
||||
# 将吸头位置分配到吸头架
|
||||
self.assign_child_resource(
|
||||
tip_spot,
|
||||
location=Coordinate(x, y, 0)
|
||||
)
|
||||
|
||||
# 注意：在PyLabRobot中，Tip不是Resource，不需要分配给TipSpot
|
||||
# TipSpot的make_tip函数会在需要时创建Tip
|
||||
|
||||
|
||||
class LaiYu96WellPlate(LaiYuLiquidContainer):
|
||||
"""96孔板"""
|
||||
|
||||
def __init__(self, name: str, lid_height: float = 0.0):
|
||||
"""
|
||||
初始化96孔板
|
||||
|
||||
Args:
|
||||
name: 板名称
|
||||
lid_height: 盖子高度
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=127.76,
|
||||
size_y=85.48,
|
||||
size_z=14.22,
|
||||
container_type="96_well_plate",
|
||||
volume=0.0,
|
||||
max_volume=200.0,
|
||||
lid_height=lid_height
|
||||
)
|
||||
|
||||
# 创建孔位
|
||||
self._create_wells(
|
||||
well_count=96,
|
||||
well_volume=200.0,
|
||||
well_spacing=9.0
|
||||
)
|
||||
|
||||
def get_size_z(self) -> float:
|
||||
"""获取孔位深度"""
|
||||
return 10.0 # 96孔板孔位深度
|
||||
|
||||
def _create_wells(self, well_count: int, well_volume: float, well_spacing: float):
|
||||
"""
|
||||
创建孔位 - 从配置文件中读取绝对坐标
|
||||
|
||||
Args:
|
||||
well_count: 孔位数量
|
||||
well_volume: 孔位体积
|
||||
well_spacing: 孔位间距
|
||||
"""
|
||||
# 从配置文件中获取96孔板的孔位信息
|
||||
config = DECK_CONFIG
|
||||
plate_module = None
|
||||
|
||||
# 查找96孔板模块
|
||||
for module in config.get("children", []):
|
||||
if module.get("type") == "96_well_plate":
|
||||
plate_module = module
|
||||
break
|
||||
|
||||
if not plate_module:
|
||||
# 如果配置文件中没有找到，使用默认的相对坐标计算
|
||||
rows = 8
|
||||
cols = 12
|
||||
|
||||
for row in range(rows):
|
||||
for col in range(cols):
|
||||
well_name = f"{chr(65 + row)}{col + 1:02d}"
|
||||
x = col * well_spacing + well_spacing / 2
|
||||
y = row * well_spacing + well_spacing / 2
|
||||
|
||||
# 创建孔位
|
||||
well = PlateWell(
|
||||
name=well_name,
|
||||
size_x=well_spacing * 0.8,
|
||||
size_y=well_spacing * 0.8,
|
||||
size_z=self.get_size_z(),
|
||||
max_volume=well_volume
|
||||
)
|
||||
|
||||
# 添加到板
|
||||
self.assign_child_resource(
|
||||
well,
|
||||
location=Coordinate(x, y, 0)
|
||||
)
|
||||
return
|
||||
|
||||
# 使用配置文件中的绝对坐标
|
||||
module_position = plate_module.get("position", {"x": 0, "y": 0, "z": 0})
|
||||
|
||||
for well_config in plate_module.get("wells", []):
|
||||
well_name = well_config["id"]
|
||||
well_pos = well_config["position"]
|
||||
|
||||
# 计算相对于模块的坐标（绝对坐标减去模块位置）
|
||||
relative_x = well_pos["x"] - module_position["x"]
|
||||
relative_y = well_pos["y"] - module_position["y"]
|
||||
relative_z = well_pos["z"] - module_position["z"]
|
||||
|
||||
# 创建孔位
|
||||
well = PlateWell(
|
||||
name=well_name,
|
||||
size_x=well_config.get("diameter", 8.2) * 0.8, # 使用配置中的直径
|
||||
size_y=well_config.get("diameter", 8.2) * 0.8,
|
||||
size_z=well_config.get("depth", self.get_size_z()),
|
||||
max_volume=well_config.get("volume", well_volume)
|
||||
)
|
||||
|
||||
# 添加到板
|
||||
self.assign_child_resource(
|
||||
well,
|
||||
location=Coordinate(relative_x, relative_y, relative_z)
|
||||
)
|
||||
|
||||
|
||||
class LaiYuDeepWellPlate(LaiYuLiquidContainer):
|
||||
"""深孔板"""
|
||||
|
||||
def __init__(self, name: str, lid_height: float = 0.0):
|
||||
"""
|
||||
初始化深孔板
|
||||
|
||||
Args:
|
||||
name: 板名称
|
||||
lid_height: 盖子高度
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=127.76,
|
||||
size_y=85.48,
|
||||
size_z=41.3,
|
||||
container_type="deep_well_plate",
|
||||
volume=0.0,
|
||||
max_volume=2000.0,
|
||||
lid_height=lid_height
|
||||
)
|
||||
|
||||
# 创建孔位
|
||||
self._create_wells(
|
||||
well_count=96,
|
||||
well_volume=2000.0,
|
||||
well_spacing=9.0
|
||||
)
|
||||
|
||||
def get_size_z(self) -> float:
|
||||
"""获取孔位深度"""
|
||||
return 35.0 # 深孔板孔位深度
|
||||
|
||||
def _create_wells(self, well_count: int, well_volume: float, well_spacing: float):
|
||||
"""
|
||||
创建孔位 - 从配置文件中读取绝对坐标
|
||||
|
||||
Args:
|
||||
well_count: 孔位数量
|
||||
well_volume: 孔位体积
|
||||
well_spacing: 孔位间距
|
||||
"""
|
||||
# 从配置文件中获取深孔板的孔位信息
|
||||
config = DECK_CONFIG
|
||||
plate_module = None
|
||||
|
||||
# 查找深孔板模块（通常是第二个96孔板模块）
|
||||
plate_modules = []
|
||||
for module in config.get("children", []):
|
||||
if module.get("type") == "96_well_plate":
|
||||
plate_modules.append(module)
|
||||
|
||||
# 如果有多个96孔板模块，选择第二个作为深孔板
|
||||
if len(plate_modules) > 1:
|
||||
plate_module = plate_modules[1]
|
||||
elif len(plate_modules) == 1:
|
||||
plate_module = plate_modules[0]
|
||||
|
||||
if not plate_module:
|
||||
# 如果配置文件中没有找到，使用默认的相对坐标计算
|
||||
rows = 8
|
||||
cols = 12
|
||||
|
||||
for row in range(rows):
|
||||
for col in range(cols):
|
||||
well_name = f"{chr(65 + row)}{col + 1:02d}"
|
||||
x = col * well_spacing + well_spacing / 2
|
||||
y = row * well_spacing + well_spacing / 2
|
||||
|
||||
# 创建孔位
|
||||
well = PlateWell(
|
||||
name=well_name,
|
||||
size_x=well_spacing * 0.8,
|
||||
size_y=well_spacing * 0.8,
|
||||
size_z=self.get_size_z(),
|
||||
max_volume=well_volume
|
||||
)
|
||||
|
||||
# 添加到板
|
||||
self.assign_child_resource(
|
||||
well,
|
||||
location=Coordinate(x, y, 0)
|
||||
)
|
||||
return
|
||||
|
||||
# 使用配置文件中的绝对坐标
|
||||
module_position = plate_module.get("position", {"x": 0, "y": 0, "z": 0})
|
||||
|
||||
for well_config in plate_module.get("wells", []):
|
||||
well_name = well_config["id"]
|
||||
well_pos = well_config["position"]
|
||||
|
||||
# 计算相对于模块的坐标（绝对坐标减去模块位置）
|
||||
relative_x = well_pos["x"] - module_position["x"]
|
||||
relative_y = well_pos["y"] - module_position["y"]
|
||||
relative_z = well_pos["z"] - module_position["z"]
|
||||
|
||||
# 创建孔位
|
||||
well = PlateWell(
|
||||
name=well_name,
|
||||
size_x=well_config.get("diameter", 8.2) * 0.8, # 使用配置中的直径
|
||||
size_y=well_config.get("diameter", 8.2) * 0.8,
|
||||
size_z=well_config.get("depth", self.get_size_z()),
|
||||
max_volume=well_config.get("volume", well_volume)
|
||||
)
|
||||
|
||||
# 添加到板
|
||||
self.assign_child_resource(
|
||||
well,
|
||||
location=Coordinate(relative_x, relative_y, relative_z)
|
||||
)
|
||||
|
||||
|
||||
class LaiYuWasteContainer(Container):
|
||||
"""废液容器"""
|
||||
|
||||
def __init__(self, name: str):
|
||||
"""
|
||||
初始化废液容器
|
||||
|
||||
Args:
|
||||
name: 容器名称
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=100.0,
|
||||
size_y=100.0,
|
||||
size_z=50.0,
|
||||
max_volume=5000.0
|
||||
)
|
||||
|
||||
|
||||
class LaiYuWashContainer(Container):
|
||||
"""清洗容器"""
|
||||
|
||||
def __init__(self, name: str):
|
||||
"""
|
||||
初始化清洗容器
|
||||
|
||||
Args:
|
||||
name: 容器名称
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=100.0,
|
||||
size_y=100.0,
|
||||
size_z=50.0,
|
||||
max_volume=5000.0
|
||||
)
|
||||
|
||||
|
||||
class LaiYuReagentContainer(Container):
|
||||
"""试剂容器"""
|
||||
|
||||
def __init__(self, name: str):
|
||||
"""
|
||||
初始化试剂容器
|
||||
|
||||
Args:
|
||||
name: 容器名称
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=50.0,
|
||||
size_y=50.0,
|
||||
size_z=100.0,
|
||||
max_volume=2000.0
|
||||
)
|
||||
|
||||
|
||||
class LaiYu8TubeRack(LaiYuLiquidContainer):
|
||||
"""8管试管架"""
|
||||
|
||||
def __init__(self, name: str):
|
||||
"""
|
||||
初始化8管试管架
|
||||
|
||||
Args:
|
||||
name: 试管架名称
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=151.0,
|
||||
size_y=75.0,
|
||||
size_z=75.0,
|
||||
container_type="tube_rack",
|
||||
volume=0.0,
|
||||
max_volume=77000.0
|
||||
)
|
||||
|
||||
# 创建孔位
|
||||
self._create_wells(
|
||||
well_count=8,
|
||||
well_volume=77000.0,
|
||||
well_spacing=35.0
|
||||
)
|
||||
|
||||
def get_size_z(self) -> float:
|
||||
"""获取孔位深度"""
|
||||
return 117.0 # 试管深度
|
||||
|
||||
def _create_wells(self, well_count: int, well_volume: float, well_spacing: float):
|
||||
"""
|
||||
创建孔位 - 从配置文件中读取绝对坐标
|
||||
|
||||
Args:
|
||||
well_count: 孔位数量
|
||||
well_volume: 孔位体积
|
||||
well_spacing: 孔位间距
|
||||
"""
|
||||
# 从配置文件中获取8管试管架的孔位信息
|
||||
config = DECK_CONFIG
|
||||
tube_module = None
|
||||
|
||||
# 查找8管试管架模块
|
||||
for module in config.get("children", []):
|
||||
if module.get("type") == "tube_rack":
|
||||
tube_module = module
|
||||
break
|
||||
|
||||
if not tube_module:
|
||||
# 如果配置文件中没有找到，使用默认的相对坐标计算
|
||||
rows = 2
|
||||
cols = 4
|
||||
|
||||
for row in range(rows):
|
||||
for col in range(cols):
|
||||
well_name = f"{chr(65 + row)}{col + 1}"
|
||||
x = col * well_spacing + well_spacing / 2
|
||||
y = row * well_spacing + well_spacing / 2
|
||||
|
||||
# 创建孔位
|
||||
well = PlateWell(
|
||||
name=well_name,
|
||||
size_x=29.0,
|
||||
size_y=29.0,
|
||||
size_z=self.get_size_z(),
|
||||
max_volume=well_volume
|
||||
)
|
||||
|
||||
# 添加到试管架
|
||||
self.assign_child_resource(
|
||||
well,
|
||||
location=Coordinate(x, y, 0)
|
||||
)
|
||||
return
|
||||
|
||||
# 使用配置文件中的绝对坐标
|
||||
module_position = tube_module.get("position", {"x": 0, "y": 0, "z": 0})
|
||||
|
||||
for well_config in tube_module.get("wells", []):
|
||||
well_name = well_config["id"]
|
||||
well_pos = well_config["position"]
|
||||
|
||||
# 计算相对于模块的坐标（绝对坐标减去模块位置）
|
||||
relative_x = well_pos["x"] - module_position["x"]
|
||||
relative_y = well_pos["y"] - module_position["y"]
|
||||
relative_z = well_pos["z"] - module_position["z"]
|
||||
|
||||
# 创建孔位
|
||||
well = PlateWell(
|
||||
name=well_name,
|
||||
size_x=well_config.get("diameter", 29.0),
|
||||
size_y=well_config.get("diameter", 29.0),
|
||||
size_z=well_config.get("depth", self.get_size_z()),
|
||||
max_volume=well_config.get("volume", well_volume)
|
||||
)
|
||||
|
||||
# 添加到试管架
|
||||
self.assign_child_resource(
|
||||
well,
|
||||
location=Coordinate(relative_x, relative_y, relative_z)
|
||||
)
|
||||
|
||||
|
||||
class LaiYuTipDisposal(Resource):
|
||||
"""枪头废料位置"""
|
||||
|
||||
def __init__(self, name: str):
|
||||
"""
|
||||
初始化枪头废料位置
|
||||
|
||||
Args:
|
||||
name: 位置名称
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=100.0,
|
||||
size_y=100.0,
|
||||
size_z=50.0
|
||||
)
|
||||
|
||||
|
||||
class LaiYuMaintenancePosition(Resource):
|
||||
"""维护位置"""
|
||||
|
||||
def __init__(self, name: str):
|
||||
"""
|
||||
初始化维护位置
|
||||
|
||||
Args:
|
||||
name: 位置名称
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=50.0,
|
||||
size_y=50.0,
|
||||
size_z=100.0
|
||||
)
|
||||
|
||||
|
||||
# 资源创建函数
|
||||
def create_tip_rack_1000ul(name: str = "tip_rack_1000ul") -> LaiYuTipRack1000:
|
||||
"""
|
||||
创建1000μL枪头架
|
||||
|
||||
Args:
|
||||
name: 枪头架名称
|
||||
|
||||
Returns:
|
||||
LaiYuTipRack1000: 1000μL枪头架实例
|
||||
"""
|
||||
return LaiYuTipRack1000(name)
|
||||
|
||||
|
||||
def create_tip_rack_200ul(name: str = "tip_rack_200ul") -> LaiYuTipRack200:
|
||||
"""
|
||||
创建200μL枪头架
|
||||
|
||||
Args:
|
||||
name: 枪头架名称
|
||||
|
||||
Returns:
|
||||
LaiYuTipRack200: 200μL枪头架实例
|
||||
"""
|
||||
return LaiYuTipRack200(name)
|
||||
|
||||
|
||||
def create_96_well_plate(name: str = "96_well_plate", lid_height: float = 0.0) -> LaiYu96WellPlate:
|
||||
"""
|
||||
创建96孔板
|
||||
|
||||
Args:
|
||||
name: 板名称
|
||||
lid_height: 盖子高度
|
||||
|
||||
Returns:
|
||||
LaiYu96WellPlate: 96孔板实例
|
||||
"""
|
||||
return LaiYu96WellPlate(name, lid_height)
|
||||
|
||||
|
||||
def create_deep_well_plate(name: str = "deep_well_plate", lid_height: float = 0.0) -> LaiYuDeepWellPlate:
|
||||
"""
|
||||
创建深孔板
|
||||
|
||||
Args:
|
||||
name: 板名称
|
||||
lid_height: 盖子高度
|
||||
|
||||
Returns:
|
||||
LaiYuDeepWellPlate: 深孔板实例
|
||||
"""
|
||||
return LaiYuDeepWellPlate(name, lid_height)
|
||||
|
||||
|
||||
def create_8_tube_rack(name: str = "8_tube_rack") -> LaiYu8TubeRack:
|
||||
"""
|
||||
创建8管试管架
|
||||
|
||||
Args:
|
||||
name: 试管架名称
|
||||
|
||||
Returns:
|
||||
LaiYu8TubeRack: 8管试管架实例
|
||||
"""
|
||||
return LaiYu8TubeRack(name)
|
||||
|
||||
|
||||
def create_waste_container(name: str = "waste_container") -> LaiYuWasteContainer:
|
||||
"""
|
||||
创建废液容器
|
||||
|
||||
Args:
|
||||
name: 容器名称
|
||||
|
||||
Returns:
|
||||
LaiYuWasteContainer: 废液容器实例
|
||||
"""
|
||||
return LaiYuWasteContainer(name)
|
||||
|
||||
|
||||
def create_wash_container(name: str = "wash_container") -> LaiYuWashContainer:
|
||||
"""
|
||||
创建清洗容器
|
||||
|
||||
Args:
|
||||
name: 容器名称
|
||||
|
||||
Returns:
|
||||
LaiYuWashContainer: 清洗容器实例
|
||||
"""
|
||||
return LaiYuWashContainer(name)
|
||||
|
||||
|
||||
def create_reagent_container(name: str = "reagent_container") -> LaiYuReagentContainer:
|
||||
"""
|
||||
创建试剂容器
|
||||
|
||||
Args:
|
||||
name: 容器名称
|
||||
|
||||
Returns:
|
||||
LaiYuReagentContainer: 试剂容器实例
|
||||
"""
|
||||
return LaiYuReagentContainer(name)
|
||||
|
||||
|
||||
def create_tip_disposal(name: str = "tip_disposal") -> LaiYuTipDisposal:
|
||||
"""
|
||||
创建枪头废料位置
|
||||
|
||||
Args:
|
||||
name: 位置名称
|
||||
|
||||
Returns:
|
||||
LaiYuTipDisposal: 枪头废料位置实例
|
||||
"""
|
||||
return LaiYuTipDisposal(name)
|
||||
|
||||
|
||||
def create_maintenance_position(name: str = "maintenance_position") -> LaiYuMaintenancePosition:
|
||||
"""
|
||||
创建维护位置
|
||||
|
||||
Args:
|
||||
name: 位置名称
|
||||
|
||||
Returns:
|
||||
LaiYuMaintenancePosition: 维护位置实例
|
||||
"""
|
||||
return LaiYuMaintenancePosition(name)
|
||||
|
||||
|
||||
def create_standard_deck() -> LaiYuLiquidDeck:
|
||||
"""
|
||||
创建标准工作台配置
|
||||
|
||||
Returns:
|
||||
LaiYuLiquidDeck: 配置好的工作台实例
|
||||
"""
|
||||
# 从配置文件创建工作台
|
||||
deck = LaiYuLiquidDeck(config=DECK_CONFIG)
|
||||
|
||||
return deck
|
||||
|
||||
|
||||
def get_resource_by_name(deck: LaiYuLiquidDeck, name: str) -> Optional[Resource]:
|
||||
"""
|
||||
根据名称获取资源
|
||||
|
||||
Args:
|
||||
deck: 工作台实例
|
||||
name: 资源名称
|
||||
|
||||
Returns:
|
||||
Optional[Resource]: 找到的资源，如果不存在则返回None
|
||||
"""
|
||||
for child in deck.children:
|
||||
if child.name == name:
|
||||
return child
|
||||
return None
|
||||
|
||||
|
||||
def get_resources_by_type(deck: LaiYuLiquidDeck, resource_type: type) -> List[Resource]:
|
||||
"""
|
||||
根据类型获取资源列表
|
||||
|
||||
Args:
|
||||
deck: 工作台实例
|
||||
resource_type: 资源类型
|
||||
|
||||
Returns:
|
||||
List[Resource]: 匹配类型的资源列表
|
||||
"""
|
||||
return [child for child in deck.children if isinstance(child, resource_type)]
|
||||
|
||||
|
||||
def list_all_resources(deck: LaiYuLiquidDeck) -> Dict[str, List[str]]:
|
||||
"""
|
||||
列出所有资源
|
||||
|
||||
Args:
|
||||
deck: 工作台实例
|
||||
|
||||
Returns:
|
||||
Dict[str, List[str]]: 按类型分组的资源名称字典
|
||||
"""
|
||||
resources = {
|
||||
"tip_racks": [],
|
||||
"plates": [],
|
||||
"containers": [],
|
||||
"positions": []
|
||||
}
|
||||
|
||||
for child in deck.children:
|
||||
if isinstance(child, (LaiYuTipRack1000, LaiYuTipRack200)):
|
||||
resources["tip_racks"].append(child.name)
|
||||
elif isinstance(child, (LaiYu96WellPlate, LaiYuDeepWellPlate)):
|
||||
resources["plates"].append(child.name)
|
||||
elif isinstance(child, (LaiYuWasteContainer, LaiYuWashContainer, LaiYuReagentContainer)):
|
||||
resources["containers"].append(child.name)
|
||||
elif isinstance(child, (LaiYuTipDisposal, LaiYuMaintenancePosition)):
|
||||
resources["positions"].append(child.name)
|
||||
|
||||
return resources
|
||||
|
||||
|
||||
# 导出的类别名（向后兼容）
|
||||
TipRack1000ul = LaiYuTipRack1000
|
||||
TipRack200ul = LaiYuTipRack200
|
||||
Plate96Well = LaiYu96WellPlate
|
||||
Plate96DeepWell = LaiYuDeepWellPlate
|
||||
TubeRack8 = LaiYu8TubeRack
|
||||
WasteContainer = LaiYuWasteContainer
|
||||
WashContainer = LaiYuWashContainer
|
||||
ReagentContainer = LaiYuReagentContainer
|
||||
TipDisposal = LaiYuTipDisposal
|
||||
MaintenancePosition = LaiYuMaintenancePosition
|
||||
@@ -1,69 +0,0 @@
|
||||
# 更新日志
|
||||
|
||||
本文档记录了 LaiYu_Liquid 模块的所有重要变更。
|
||||
|
||||
## [1.0.0] - 2024-01-XX
|
||||
|
||||
### 新增功能
|
||||
- ✅ 完整的液体处理工作站集成
|
||||
- ✅ RS485 通信协议支持
|
||||
- ✅ SOPA 气动式移液器驱动
|
||||
- ✅ XYZ 三轴步进电机控制
|
||||
- ✅ PyLabRobot 兼容后端
|
||||
- ✅ 标准化资源管理系统
|
||||
- ✅ 96孔板、离心管架、枪头架支持
|
||||
- ✅ RViz 可视化后端
|
||||
- ✅ 完整的配置管理系统
|
||||
- ✅ 抽象协议实现
|
||||
- ✅ 生产级错误处理和日志记录
|
||||
|
||||
### 技术特性
|
||||
- **硬件支持**: SOPA移液器 + XYZ三轴运动平台
|
||||
- **通信协议**: RS485总线，波特率115200
|
||||
- **坐标系统**: 机械坐标与工作坐标自动转换
|
||||
- **安全机制**: 限位保护、紧急停止、错误恢复
|
||||
- **兼容性**: 完全兼容 PyLabRobot 框架
|
||||
|
||||
### 文件结构
|
||||
```
|
||||
LaiYu_Liquid/
|
||||
├── core/
|
||||
│ └── LaiYu_Liquid.py # 主模块文件
|
||||
├── __init__.py # 模块初始化
|
||||
├── abstract_protocol.py # 抽象协议
|
||||
├── laiyu_liquid_res.py # 资源管理
|
||||
├── rviz_backend.py # RViz后端
|
||||
├── backend/ # 后端驱动
|
||||
├── config/ # 配置文件
|
||||
├── controllers/ # 控制器
|
||||
├── docs/ # 技术文档
|
||||
└── drivers/ # 底层驱动
|
||||
```
|
||||
|
||||
### 已知问题
|
||||
- 无
|
||||
|
||||
### 依赖要求
|
||||
- Python 3.8+
|
||||
- PyLabRobot
|
||||
- pyserial
|
||||
- asyncio
|
||||
|
||||
---
|
||||
|
||||
## 版本说明
|
||||
|
||||
### 版本号格式
|
||||
采用语义化版本控制 (Semantic Versioning): `MAJOR.MINOR.PATCH`
|
||||
|
||||
- **MAJOR**: 不兼容的API变更
|
||||
- **MINOR**: 向后兼容的功能新增
|
||||
- **PATCH**: 向后兼容的问题修复
|
||||
|
||||
### 变更类型
|
||||
- **新增功能**: 新的功能特性
|
||||
- **变更**: 现有功能的变更
|
||||
- **弃用**: 即将移除的功能
|
||||
- **移除**: 已移除的功能
|
||||
- **修复**: 问题修复
|
||||
- **安全**: 安全相关的修复
|
||||
@@ -1,267 +0,0 @@
|
||||
# SOPA气动式移液器RS485控制指令合集
|
||||
|
||||
## 1. RS485通信基本配置
|
||||
|
||||
### 1.1 支持的设备型号
|
||||
- **仅SC-STxxx-00-13支持RS485通信**
|
||||
- 其他型号主要使用CAN通信
|
||||
|
||||
### 1.2 通信参数
|
||||
- **波特率**: 9600, 115200（默认值）
|
||||
- **地址范围**: 1~254个设备，255为广播地址
|
||||
- **通信接口**: RS485差分信号
|
||||
|
||||
### 1.3 引脚分配（10位LIF连接器）
|
||||
- **引脚7**: RS485+ (RS485通信正极)
|
||||
- **引脚8**: RS485- (RS485通信负极)
|
||||
|
||||
## 2. RS485通信协议格式
|
||||
|
||||
### 2.1 发送数据格式
|
||||
```
|
||||
头码 | 地址 | 命令/数据 | 尾码 | 校验和
|
||||
```
|
||||
|
||||
### 2.2 从机回应格式
|
||||
```
|
||||
头码 | 地址 | 数据（固定9字节） | 尾码 | 校验和
|
||||
```
|
||||
|
||||
### 2.3 格式详细说明
|
||||
- **头码**:
|
||||
- 终端调试: '/' (0x2F)
|
||||
- OEM通信: '[' (0x5B)
|
||||
- **地址**: 设备节点地址，1~254，多字节ASCII（注意：地址不可为47，69，91）
|
||||
- **命令/数据**: ASCII格式的命令字符串
|
||||
- **尾码**: 'E' (0x45)
|
||||
- **校验和**: 以上数据的累加值，1字节
|
||||
|
||||
## 3. 初始化和基本控制指令
|
||||
|
||||
### 3.1 初始化指令
|
||||
```bash
|
||||
# 初始化活塞驱动机构
|
||||
HE
|
||||
|
||||
# 示例（OEM通信）：
|
||||
# 主机发送: 5B 32 48 45 1A
|
||||
# 从机回应开始: 2F 02 06 0A 30 00 00 00 00 00 00 45 B6
|
||||
# 从机回应完成: 2F 02 06 00 30 00 00 00 00 00 00 45 AC
|
||||
```
|
||||
|
||||
### 3.2 枪头操作指令
|
||||
```bash
|
||||
# 顶出枪头
|
||||
RE
|
||||
|
||||
# 枪头检测状态报告
|
||||
Q28 # 返回枪头存在状态（0=不存在，1=存在）
|
||||
```
|
||||
|
||||
## 4. 移液控制指令
|
||||
|
||||
### 4.1 位置控制指令
|
||||
```bash
|
||||
# 绝对位置移动（微升）
|
||||
A[n]E
|
||||
# 示例：移动到位置0
|
||||
A0E
|
||||
|
||||
# 相对抽吸（向上移动）
|
||||
P[n]E
|
||||
# 示例：抽吸200微升
|
||||
P200E
|
||||
|
||||
# 相对分配（向下移动）
|
||||
D[n]E
|
||||
# 示例：分配200微升
|
||||
D200E
|
||||
```
|
||||
|
||||
### 4.2 速度设置指令
|
||||
```bash
|
||||
# 设置最高速度（0.1ul/秒为单位）
|
||||
s[n]E
|
||||
# 示例：设置最高速度为2000（200ul/秒）
|
||||
s2000E
|
||||
|
||||
# 设置启动速度
|
||||
b[n]E
|
||||
# 示例：设置启动速度为100（10ul/秒）
|
||||
b100E
|
||||
|
||||
# 设置断流速度
|
||||
c[n]E
|
||||
# 示例：设置断流速度为100（10ul/秒）
|
||||
c100E
|
||||
|
||||
# 设置加速度
|
||||
a[n]E
|
||||
# 示例：设置加速度为30000
|
||||
a30000E
|
||||
```
|
||||
|
||||
## 5. 液体检测和安全控制指令
|
||||
|
||||
### 5.1 吸排液检测控制
|
||||
```bash
|
||||
# 开启吸排液检测
|
||||
f1E # 开启
|
||||
f0E # 关闭
|
||||
|
||||
# 设置空吸门限
|
||||
$[n]E
|
||||
# 示例：设置空吸门限为4
|
||||
$4E
|
||||
|
||||
# 设置泡沫门限
|
||||
![n]E
|
||||
# 示例：设置泡沫门限为20
|
||||
!20E
|
||||
|
||||
# 设置堵塞门限
|
||||
%[n]E
|
||||
# 示例：设置堵塞门限为350
|
||||
%350E
|
||||
```
|
||||
|
||||
### 5.2 液位检测指令
|
||||
```bash
|
||||
# 压力式液位检测
|
||||
m0E # 设置为压力探测模式
|
||||
L[n]E # 执行液位检测，[n]为灵敏度(3~40)
|
||||
k[n]E # 设置检测速度(100~2000)
|
||||
|
||||
# 电容式液位检测
|
||||
m1E # 设置为电容探测模式
|
||||
```
|
||||
|
||||
## 6. 状态查询和报告指令
|
||||
|
||||
### 6.1 基本状态查询
|
||||
```bash
|
||||
# 查询固件版本
|
||||
V
|
||||
|
||||
# 查询设备状态
|
||||
Q[n]
|
||||
# 常用查询参数：
|
||||
Q01 # 报告加速度
|
||||
Q02 # 报告启动速度
|
||||
Q03 # 报告断流速度
|
||||
Q06 # 报告最大速度
|
||||
Q08 # 报告节点地址
|
||||
Q11 # 报告波特率
|
||||
Q18 # 报告当前位置
|
||||
Q28 # 报告枪头存在状态
|
||||
Q29 # 报告校准系数
|
||||
Q30 # 报告空吸门限
|
||||
Q31 # 报告堵针门限
|
||||
Q32 # 报告泡沫门限
|
||||
```
|
||||
|
||||
## 7. 配置和校准指令
|
||||
|
||||
### 7.1 校准参数设置
|
||||
```bash
|
||||
# 设置校准系数
|
||||
j[n]E
|
||||
# 示例：设置校准系数为1.04
|
||||
j1.04E
|
||||
|
||||
# 设置补偿偏差
|
||||
e[n]E
|
||||
# 示例：设置补偿偏差为2.03
|
||||
e2.03E
|
||||
|
||||
# 设置吸头容量
|
||||
C[n]E
|
||||
# 示例：设置1000ul吸头
|
||||
C1000E
|
||||
```
|
||||
|
||||
### 7.2 高级控制参数
|
||||
```bash
|
||||
# 设置回吸粘度
|
||||
][n]E
|
||||
# 示例：设置回吸粘度为30
|
||||
]30E
|
||||
|
||||
# 延时控制
|
||||
M[n]E
|
||||
# 示例：延时1000毫秒
|
||||
M1000E
|
||||
```
|
||||
|
||||
## 8. 复合操作指令示例
|
||||
|
||||
### 8.1 标准移液操作
|
||||
```bash
|
||||
# 完整的200ul移液操作
|
||||
a30000b200c200s2000P200E
|
||||
# 解析：设置加速度30000 + 启动速度200 + 断流速度200 + 最高速度2000 + 抽吸200ul + 执行
|
||||
```
|
||||
|
||||
### 8.2 带检测的移液操作
|
||||
```bash
|
||||
# 带空吸检测的200ul抽吸
|
||||
a30000b200c200s2000f1P200f0E
|
||||
# 解析：设置参数 + 开启检测 + 抽吸200ul + 关闭检测 + 执行
|
||||
```
|
||||
|
||||
### 8.3 液面检测操作
|
||||
```bash
|
||||
# 压力式液面检测
|
||||
m0k200L5E
|
||||
# 解析：压力模式 + 检测速度200 + 灵敏度5 + 执行检测
|
||||
|
||||
# 电容式液面检测
|
||||
m1L3E
|
||||
# 解析：电容模式 + 灵敏度3 + 执行检测
|
||||
```
|
||||
|
||||
## 9. 错误处理
|
||||
|
||||
### 9.1 状态字节说明
|
||||
- **00h**: 无错误
|
||||
- **01h**: 上次动作未完成
|
||||
- **02h**: 设备未初始化
|
||||
- **03h**: 设备过载
|
||||
- **04h**: 无效指令
|
||||
- **05h**: 液位探测故障
|
||||
- **0Dh**: 空吸
|
||||
- **0Eh**: 堵针
|
||||
- **10h**: 泡沫
|
||||
- **11h**: 吸液超过吸头容量
|
||||
|
||||
### 9.2 错误查询
|
||||
```bash
|
||||
# 查询当前错误状态
|
||||
Q # 返回状态字节和错误代码
|
||||
```
|
||||
|
||||
## 10. 通信示例
|
||||
|
||||
### 10.1 基本通信流程
|
||||
1. **执行命令**: 主机发送命令 → 从机确认 → 从机执行 → 从机回应完成
|
||||
2. **读取数据**: 主机发送查询 → 从机确认 → 从机返回数据
|
||||
|
||||
### 10.2 快速指令表
|
||||
| 操作 | 指令 | 说明 |
|
||||
|------|------|------|
|
||||
| 初始化 | `HE` | 初始化设备 |
|
||||
| 退枪头 | `RE` | 顶出枪头 |
|
||||
| 吸液200ul | `a30000b200c200s2000P200E` | 基本吸液 |
|
||||
| 带检测吸液 | `a30000b200c200s2000f1P200f0E` | 开启空吸检测 |
|
||||
| 吐液200ul | `a300000b500c500s6000D200E` | 基本分配 |
|
||||
| 压力液面检测 | `m0k200L5E` | pLLD检测 |
|
||||
| 电容液面检测 | `m1L3E` | cLLD检测 |
|
||||
|
||||
## 11. 注意事项
|
||||
|
||||
1. **地址限制**: RS485地址不可设为47、69、91
|
||||
2. **校验和**: 终端调试时不关心校验和，OEM通信需要校验
|
||||
3. **ASCII格式**: 所有命令和参数都使用ASCII字符
|
||||
4. **执行指令**: 大部分命令需要以'E'结尾才能执行
|
||||
5. **设备支持**: 只有SC-STxxx-00-13型号支持RS485通信
|
||||
6. **波特率设置**: 默认115200，可设置为9600
|
||||
@@ -1,162 +0,0 @@
|
||||
# 步进电机B系列控制指令详解
|
||||
|
||||
## 基本通信参数
|
||||
- **通信方式**: RS485
|
||||
- **协议**: Modbus
|
||||
- **波特率**: 115200 (默认)
|
||||
- **数据位**: 8位
|
||||
- **停止位**: 1位
|
||||
- **校验位**: 无
|
||||
- **默认站号**: 1 (可设置1-254)
|
||||
|
||||
## 支持的功能码
|
||||
- **03H**: 读取寄存器
|
||||
- **06H**: 写入单个寄存器
|
||||
- **10H**: 写入多个寄存器
|
||||
|
||||
## 寄存器地址表
|
||||
|
||||
### 状态监控寄存器 (只读)
|
||||
| 地址 | 功能码 | 内容 | 说明 |
|
||||
|------|--------|------|------|
|
||||
| 00H | 03H | 电机状态 | 0000H-待机/到位, 0001H-运行中, 0002H-碰撞停, 0003H-正光电停, 0004H-反光电停 |
|
||||
| 01H | 03H | 实际步数高位 | 当前电机位置的高16位 |
|
||||
| 02H | 03H | 实际步数低位 | 当前电机位置的低16位 |
|
||||
| 03H | 03H | 实际速度 | 当前转速 (rpm) |
|
||||
| 05H | 03H | 电流 | 当前工作电流 (mA) |
|
||||
|
||||
### 控制寄存器 (读写)
|
||||
| 地址 | 功能码 | 内容 | 说明 |
|
||||
|------|--------|------|------|
|
||||
| 04H | 03H/06H/10H | 急停指令 | 紧急停止控制 |
|
||||
| 06H | 03H/06H/10H | 失能控制 | 1-使能, 0-失能 |
|
||||
| 07H | 03H/06H/10H | PWM输出 | 0-1000对应0%-100%占空比 |
|
||||
| 0EH | 03H/06H/10H | 单圈绝对值归零 | 归零指令 |
|
||||
| 0FH | 03H/06H/10H | 归零指令 | 定点模式归零速度设置 |
|
||||
|
||||
### 位置模式寄存器
|
||||
| 地址 | 功能码 | 内容 | 说明 |
|
||||
|------|--------|------|------|
|
||||
| 10H | 03H/06H/10H | 目标步数高位 | 目标位置高16位 |
|
||||
| 11H | 03H/06H/10H | 目标步数低位 | 目标位置低16位 |
|
||||
| 12H | 03H/06H/10H | 保留 | - |
|
||||
| 13H | 03H/06H/10H | 速度 | 运行速度 (rpm) |
|
||||
| 14H | 03H/06H/10H | 加速度 | 0-60000 rpm/s |
|
||||
| 15H | 03H/06H/10H | 精度 | 到位精度设置 |
|
||||
|
||||
### 速度模式寄存器
|
||||
| 地址 | 功能码 | 内容 | 说明 |
|
||||
|------|--------|------|------|
|
||||
| 60H | 03H/06H/10H | 保留 | - |
|
||||
| 61H | 03H/06H/10H | 速度 | 正值正转，负值反转 |
|
||||
| 62H | 03H/06H/10H | 加速度 | 0-60000 rpm/s |
|
||||
|
||||
### 设备参数寄存器
|
||||
| 地址 | 功能码 | 内容 | 默认值 | 说明 |
|
||||
|------|--------|------|--------|------|
|
||||
| E0H | 03H/06H/10H | 设备地址 | 0001H | Modbus从站地址 |
|
||||
| E1H | 03H/06H/10H | 堵转电流 | 0BB8H | 堵转检测电流阈值 |
|
||||
| E2H | 03H/06H/10H | 保留 | 0258H | - |
|
||||
| E3H | 03H/06H/10H | 每圈步数 | 0640H | 细分设置 |
|
||||
| E4H | 03H/06H/10H | 限位开关使能 | F000H | 1-使能, 0-禁用 |
|
||||
| E5H | 03H/06H/10H | 堵转逻辑 | 0000H | 00-断电, 01-对抗 |
|
||||
| E6H | 03H/06H/10H | 堵转时间 | 0000H | 堵转检测时间(ms) |
|
||||
| E7H | 03H/06H/10H | 默认速度 | 1388H | 上电默认速度 |
|
||||
| E8H | 03H/06H/10H | 默认加速度 | EA60H | 上电默认加速度 |
|
||||
| E9H | 03H/06H/10H | 默认精度 | 0064H | 上电默认精度 |
|
||||
| EAH | 03H/06H/10H | 波特率高位 | 0001H | 通信波特率设置 |
|
||||
| EBH | 03H/06H/10H | 波特率低位 | C200H | 115200对应01C200H |
|
||||
|
||||
### 版本信息寄存器 (只读)
|
||||
| 地址 | 功能码 | 内容 | 说明 |
|
||||
|------|--------|------|------|
|
||||
| F0H | 03H | 版本号 | 固件版本信息 |
|
||||
| F1H-F4H | 03H | 型号 | 产品型号信息 |
|
||||
|
||||
## 常用控制指令示例
|
||||
|
||||
### 读取电机状态
|
||||
```
|
||||
发送: 01 03 00 00 00 01 84 0A
|
||||
接收: 01 03 02 00 01 79 84
|
||||
说明: 电机状态为0001H (正在运行)
|
||||
```
|
||||
|
||||
### 读取当前位置
|
||||
```
|
||||
发送: 01 03 00 01 00 02 95 CB
|
||||
接收: 01 03 04 00 19 00 00 2B F4
|
||||
说明: 当前位置为1638400步 (100圈)
|
||||
```
|
||||
|
||||
### 停止电机
|
||||
```
|
||||
发送: 01 10 00 04 00 01 02 00 00 A7 D4
|
||||
接收: 01 10 00 04 00 01 40 08
|
||||
说明: 急停指令
|
||||
```
|
||||
|
||||
### 位置模式运动
|
||||
```
|
||||
发送: 01 10 00 10 00 06 0C 00 19 00 00 00 00 13 88 00 00 00 00 9F FB
|
||||
接收: 01 10 00 10 00 06 41 CE
|
||||
说明: 以5000rpm速度运动到1638400步位置
|
||||
```
|
||||
|
||||
### 速度模式 - 正转
|
||||
```
|
||||
发送: 01 10 00 60 00 04 08 00 00 13 88 00 FA 00 00 F4 77
|
||||
接收: 01 10 00 60 00 04 C1 D4
|
||||
说明: 以5000rpm速度正转
|
||||
```
|
||||
|
||||
### 速度模式 - 反转
|
||||
```
|
||||
发送: 01 10 00 60 00 04 08 00 00 EC 78 00 FA 00 00 A0 6D
|
||||
接收: 01 10 00 60 00 04 C1 D4
|
||||
说明: 以5000rpm速度反转 (EC78H = -5000)
|
||||
```
|
||||
|
||||
### 设置设备地址
|
||||
```
|
||||
发送: 00 06 00 E0 00 02 C9 F1
|
||||
接收: 00 06 00 E0 00 02 C9 F1
|
||||
说明: 将设备地址设置为2
|
||||
```
|
||||
|
||||
## 错误码
|
||||
| 状态码 | 含义 |
|
||||
|--------|------|
|
||||
| 0001H | 功能码错误 |
|
||||
| 0002H | 地址错误 |
|
||||
| 0003H | 长度错误 |
|
||||
|
||||
## CRC校验算法
|
||||
```c
|
||||
public static byte[] ModBusCRC(byte[] data, int offset, int cnt) {
|
||||
int wCrc = 0x0000FFFF;
|
||||
byte[] CRC = new byte[2];
|
||||
for (int i = 0; i < cnt; i++) {
|
||||
wCrc ^= ((data[i + offset]) & 0xFF);
|
||||
for (int j = 0; j < 8; j++) {
|
||||
if ((wCrc & 0x00000001) == 1) {
|
||||
wCrc >>= 1;
|
||||
wCrc ^= 0x0000A001;
|
||||
} else {
|
||||
wCrc >>= 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
CRC[1] = (byte) ((wCrc & 0x0000FF00) >> 8);
|
||||
CRC[0] = (byte) (wCrc & 0x000000FF);
|
||||
return CRC;
|
||||
}
|
||||
```
|
||||
|
||||
## 注意事项
|
||||
1. 所有16位数据采用大端序传输
|
||||
2. 步数计算: 实际步数 = 高位<<16 | 低位
|
||||
3. 负数使用补码表示
|
||||
4. PWM输出K脚: 0%开漏, 100%接地, 其他输出1KHz PWM
|
||||
5. 光电开关需使用NPN开漏型
|
||||
6. 限位开关: LF正向, LB反向
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,269 +0,0 @@
|
||||
# LaiYu_Liquid 液体处理工作站
|
||||
|
||||
## 概述
|
||||
|
||||
LaiYu_Liquid 是一个完全集成到 UniLabOS 的自动化液体处理工作站，基于 RS485 通信协议，专为精确的液体分配和转移操作而设计。本模块已完成生产环境部署准备，提供完整的硬件控制、资源管理和标准化接口。
|
||||
|
||||
## 系统组成
|
||||
|
||||
### 硬件组件
|
||||
- **XYZ三轴运动平台**: 3个RS485步进电机驱动（地址：X轴=0x01, Y轴=0x02, Z轴=0x03）
|
||||
- **SOPA气动式移液器**: RS485总线控制，支持精密液体处理操作
|
||||
- **通信接口**: RS485转USB模块，默认波特率115200
|
||||
- **机械结构**: 稳固工作台面，支持离心管架、96孔板等标准实验耗材
|
||||
|
||||
### 软件架构
|
||||
- **驱动层**: 底层硬件通信驱动，支持RS485协议
|
||||
- **控制层**: 高级控制逻辑和坐标系管理
|
||||
- **抽象层**: 完全符合UniLabOS标准的液体处理接口
|
||||
- **资源层**: 标准化的实验器具和耗材管理
|
||||
|
||||
## 🎯 生产就绪组件
|
||||
|
||||
### ✅ 核心驱动程序 (`drivers/`)
|
||||
- **`sopa_pipette_driver.py`** - SOPA移液器完整驱动
|
||||
- 支持液体吸取、分配、检测
|
||||
- 完整的错误处理和状态管理
|
||||
- 生产级别的通信协议实现
|
||||
|
||||
- **`xyz_stepper_driver.py`** - XYZ三轴步进电机驱动
|
||||
- 精确的位置控制和运动规划
|
||||
- 安全限位和错误检测
|
||||
- 高性能运动控制算法
|
||||
|
||||
### ✅ 高级控制器 (`controllers/`)
|
||||
- **`pipette_controller.py`** - 移液控制器
|
||||
- 封装高级液体处理功能
|
||||
- 支持多种液体类型和处理参数
|
||||
- 智能错误恢复机制
|
||||
|
||||
- **`xyz_controller.py`** - XYZ运动控制器
|
||||
- 坐标系管理和转换
|
||||
- 运动路径优化
|
||||
- 安全运动控制
|
||||
|
||||
### ✅ UniLabOS集成 (`core/LaiYu_Liquid.py`)
|
||||
- **完整的液体处理抽象接口**
|
||||
- **标准化的资源管理系统**
|
||||
- **与PyLabRobot兼容的后端实现**
|
||||
- **生产级别的错误处理和日志记录**
|
||||
|
||||
### ✅ 资源管理系统
|
||||
- **`laiyu_liquid_res.py`** - 标准化资源定义
|
||||
- 96孔板、离心管架、枪头架等标准器具
|
||||
- 自动化的资源创建和配置函数
|
||||
- 与工作台布局的完美集成
|
||||
|
||||
### ✅ 配置管理 (`config/`)
|
||||
- **`config/deck.json`** - 工作台布局配置
|
||||
- 精确的空间定义和槽位管理
|
||||
- 支持多种实验器具的标准化放置
|
||||
- 可扩展的配置架构
|
||||
|
||||
- **`__init__.py`** - 模块集成和导出
|
||||
- 完整的API导出和版本管理
|
||||
- 依赖检查和安装验证
|
||||
- 专业的模块信息展示
|
||||
|
||||
<!-- ### ✅ 可视化支持
|
||||
- **`rviz_backend.py`** - RViz可视化后端
|
||||
- 实时运动状态可视化
|
||||
- 液体处理过程监控
|
||||
- 与ROS系统的无缝集成 -->
|
||||
|
||||
## 🚀 核心功能特性
|
||||
|
||||
### 液体处理能力
|
||||
- **精密体积控制**: 支持1-1000μL精确分配
|
||||
- **多种液体类型**: 水性、有机溶剂、粘稠液体等
|
||||
- **智能检测**: 液位检测、气泡检测、堵塞检测
|
||||
- **自动化流程**: 完整的吸取-转移-分配工作流
|
||||
|
||||
### 运动控制系统
|
||||
- **三轴精密定位**: 微米级精度控制
|
||||
- **路径优化**: 智能运动规划和碰撞避免
|
||||
- **安全机制**: 限位保护、紧急停止、错误恢复
|
||||
- **坐标系管理**: 工作坐标与机械坐标的自动转换
|
||||
|
||||
### 资源管理
|
||||
- **标准化器具**: 支持96孔板、离心管架、枪头架等
|
||||
- **状态跟踪**: 实时监控液体体积、枪头状态等
|
||||
- **自动配置**: 基于JSON的灵活配置系统
|
||||
- **扩展性**: 易于添加新的器具类型
|
||||
|
||||
## 📁 目录结构
|
||||
|
||||
```
|
||||
LaiYu_Liquid/
|
||||
├── __init__.py # 模块初始化和API导出
|
||||
├── readme.md # 本文档
|
||||
├── backend/ # 后端驱动模块
|
||||
│ ├── __init__.py
|
||||
│ └── laiyu_backend.py # PyLabRobot兼容后端
|
||||
├── core/ # 核心模块
|
||||
│ ├── core/
|
||||
│ │ └── LaiYu_Liquid.py # 主设备类
|
||||
│ ├── abstract_protocol.py # 抽象协议
|
||||
│ └── laiyu_liquid_res.py # 设备资源定义
|
||||
├── config/ # 配置文件目录
|
||||
│ └── deck.json # 工作台布局配置
|
||||
├── controllers/ # 高级控制器
|
||||
│ ├── __init__.py
|
||||
│ ├── pipette_controller.py # 移液控制器
|
||||
│ └── xyz_controller.py # XYZ运动控制器
|
||||
├── docs/ # 技术文档
|
||||
│ ├── SOPA气动式移液器RS485控制指令.md
|
||||
│ ├── 步进电机控制指令.md
|
||||
│ └── hardware/ # 硬件相关文档
|
||||
├── drivers/ # 底层驱动程序
|
||||
│ ├── __init__.py
|
||||
│ ├── sopa_pipette_driver.py # SOPA移液器驱动
|
||||
│ └── xyz_stepper_driver.py # XYZ步进电机驱动
|
||||
└── tests/ # 测试文件
|
||||
```
|
||||
|
||||
## 🔧 快速开始
|
||||
|
||||
### 1. 安装和验证
|
||||
|
||||
```python
|
||||
# 验证模块安装
|
||||
from unilabos.devices.laiyu_liquid import (
|
||||
LaiYuLiquid,
|
||||
LaiYuLiquidConfig,
|
||||
create_quick_setup,
|
||||
print_module_info
|
||||
)
|
||||
|
||||
# 查看模块信息
|
||||
print_module_info()
|
||||
|
||||
# 快速创建默认资源
|
||||
resources = create_quick_setup()
|
||||
print(f"已创建 {len(resources)} 个资源")
|
||||
```
|
||||
|
||||
### 2. 基本使用示例
|
||||
|
||||
```python
|
||||
from unilabos.devices.LaiYu_Liquid import (
|
||||
create_quick_setup,
|
||||
create_96_well_plate,
|
||||
create_laiyu_backend
|
||||
)
|
||||
|
||||
# 快速创建默认资源
|
||||
resources = create_quick_setup()
|
||||
print(f"创建了以下资源: {list(resources.keys())}")
|
||||
|
||||
# 创建96孔板
|
||||
plate_96 = create_96_well_plate("test_plate")
|
||||
print(f"96孔板包含 {len(plate_96.children)} 个孔位")
|
||||
|
||||
# 创建后端实例（用于PyLabRobot集成）
|
||||
backend = create_laiyu_backend("LaiYu_Device")
|
||||
print(f"后端设备: {backend.name}")
|
||||
```
|
||||
|
||||
### 3. 后端驱动使用
|
||||
|
||||
```python
|
||||
from unilabos.devices.laiyu_liquid.backend import create_laiyu_backend
|
||||
|
||||
# 创建后端实例
|
||||
backend = create_laiyu_backend("LaiYu_Liquid_Station")
|
||||
|
||||
# 连接设备
|
||||
await backend.connect()
|
||||
|
||||
# 设备归位
|
||||
await backend.home_device()
|
||||
|
||||
# 获取设备状态
|
||||
status = await backend.get_status()
|
||||
print(f"设备状态: {status}")
|
||||
|
||||
# 断开连接
|
||||
await backend.disconnect()
|
||||
```
|
||||
|
||||
### 4. 资源管理示例
|
||||
|
||||
```python
|
||||
from unilabos.devices.LaiYu_Liquid import (
|
||||
create_centrifuge_tube_rack,
|
||||
create_tip_rack,
|
||||
load_deck_config
|
||||
)
|
||||
|
||||
# 加载工作台配置
|
||||
deck_config = load_deck_config()
|
||||
print(f"工作台尺寸: {deck_config['size_x']}x{deck_config['size_y']}mm")
|
||||
|
||||
# 创建不同类型的资源
|
||||
tube_rack = create_centrifuge_tube_rack("sample_rack")
|
||||
tip_rack = create_tip_rack("tip_rack_200ul")
|
||||
|
||||
print(f"离心管架: {tube_rack.name}, 容量: {len(tube_rack.children)} 个位置")
|
||||
print(f"枪头架: {tip_rack.name}, 容量: {len(tip_rack.children)} 个枪头")
|
||||
```
|
||||
|
||||
## 🔍 技术架构
|
||||
|
||||
### 坐标系统
|
||||
- **机械坐标**: 基于步进电机的原始坐标系统
|
||||
- **工作坐标**: 用户友好的实验室坐标系统
|
||||
- **自动转换**: 透明的坐标系转换和校准
|
||||
|
||||
### 通信协议
|
||||
- **RS485总线**: 高可靠性工业通信标准
|
||||
- **Modbus协议**: 标准化的设备通信协议
|
||||
- **错误检测**: 完整的通信错误检测和恢复
|
||||
|
||||
### 安全机制
|
||||
- **限位保护**: 硬件和软件双重限位保护
|
||||
- **紧急停止**: 即时停止所有运动和操作
|
||||
- **状态监控**: 实时设备状态监控和报警
|
||||
|
||||
## 🧪 验证和测试
|
||||
|
||||
### 功能验证
|
||||
```python
|
||||
# 验证模块安装
|
||||
from unilabos.devices.laiyu_liquid import validate_installation
|
||||
validate_installation()
|
||||
|
||||
# 查看模块信息
|
||||
from unilabos.devices.laiyu_liquid import print_module_info
|
||||
print_module_info()
|
||||
```
|
||||
|
||||
### 硬件连接测试
|
||||
```python
|
||||
# 测试SOPA移液器连接
|
||||
from unilabos.devices.laiyu_liquid.drivers import SOPAPipette, SOPAConfig
|
||||
|
||||
config = SOPAConfig(port="/dev/cu.usbserial-3130", address=4)
|
||||
pipette = SOPAPipette(config)
|
||||
success = pipette.connect()
|
||||
print(f"SOPA连接状态: {'成功' if success else '失败'}")
|
||||
```
|
||||
|
||||
## 📚 维护和支持
|
||||
|
||||
### 日志记录
|
||||
- **结构化日志**: 使用Python logging模块的专业日志记录
|
||||
- **错误追踪**: 详细的错误信息和堆栈跟踪
|
||||
- **性能监控**: 操作时间和性能指标记录
|
||||
|
||||
### 配置管理
|
||||
- **JSON配置**: 灵活的JSON格式配置文件
|
||||
- **参数验证**: 自动配置参数验证和错误提示
|
||||
- **热重载**: 支持配置文件的动态重载
|
||||
|
||||
### 扩展性
|
||||
- **模块化设计**: 易于扩展和定制的模块化架构
|
||||
- **插件接口**: 支持第三方插件和扩展
|
||||
- **API兼容**: 向后兼容的API设计
|
||||
|
||||
|
||||
@@ -1,30 +0,0 @@
|
||||
"""
|
||||
LaiYu_Liquid 驱动程序模块
|
||||
|
||||
该模块包含了LaiYu_Liquid液体处理工作站的硬件驱动程序：
|
||||
- SOPA移液器驱动程序
|
||||
- XYZ步进电机驱动程序
|
||||
"""
|
||||
|
||||
# SOPA移液器驱动程序导入
|
||||
from .sopa_pipette_driver import SOPAPipette, SOPAConfig, SOPAStatusCode
|
||||
|
||||
# XYZ步进电机驱动程序导入
|
||||
from .xyz_stepper_driver import StepperMotorDriver, XYZStepperController, MotorAxis, MotorStatus
|
||||
|
||||
__all__ = [
|
||||
# SOPA移液器
|
||||
"SOPAPipette",
|
||||
"SOPAConfig",
|
||||
"SOPAStatusCode",
|
||||
|
||||
# XYZ步进电机
|
||||
"StepperMotorDriver",
|
||||
"XYZStepperController",
|
||||
"MotorAxis",
|
||||
"MotorStatus",
|
||||
]
|
||||
|
||||
__version__ = "1.0.0"
|
||||
__author__ = "LaiYu_Liquid Driver Team"
|
||||
__description__ = "LaiYu_Liquid 硬件驱动程序集合"
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,663 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
# -*- coding: utf-8 -*-
|
||||
"""
|
||||
XYZ三轴步进电机B系列驱动程序
|
||||
支持RS485通信，Modbus协议
|
||||
"""
|
||||
|
||||
import serial
|
||||
import struct
|
||||
import time
|
||||
import logging
|
||||
from typing import Optional, Tuple, Dict, Any
|
||||
from enum import Enum
|
||||
from dataclasses import dataclass
|
||||
|
||||
# 配置日志
|
||||
logging.basicConfig(level=logging.INFO)
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
|
||||
class MotorAxis(Enum):
|
||||
"""电机轴枚举"""
|
||||
X = 1
|
||||
Y = 2
|
||||
Z = 3
|
||||
|
||||
|
||||
class MotorStatus(Enum):
|
||||
"""电机状态枚举"""
|
||||
STANDBY = 0x0000 # 待机/到位
|
||||
RUNNING = 0x0001 # 运行中
|
||||
COLLISION_STOP = 0x0002 # 碰撞停
|
||||
FORWARD_LIMIT_STOP = 0x0003 # 正光电停
|
||||
REVERSE_LIMIT_STOP = 0x0004 # 反光电停
|
||||
|
||||
|
||||
class ModbusFunction(Enum):
|
||||
"""Modbus功能码"""
|
||||
READ_HOLDING_REGISTERS = 0x03
|
||||
WRITE_SINGLE_REGISTER = 0x06
|
||||
WRITE_MULTIPLE_REGISTERS = 0x10
|
||||
|
||||
|
||||
@dataclass
|
||||
class MotorPosition:
|
||||
"""电机位置信息"""
|
||||
steps: int
|
||||
speed: int
|
||||
current: int
|
||||
status: MotorStatus
|
||||
|
||||
|
||||
class ModbusException(Exception):
|
||||
"""Modbus通信异常"""
|
||||
pass
|
||||
|
||||
|
||||
class StepperMotorDriver:
|
||||
"""步进电机驱动器基类"""
|
||||
|
||||
# 寄存器地址常量
|
||||
REG_STATUS = 0x00
|
||||
REG_POSITION_HIGH = 0x01
|
||||
REG_POSITION_LOW = 0x02
|
||||
REG_ACTUAL_SPEED = 0x03
|
||||
REG_EMERGENCY_STOP = 0x04
|
||||
REG_CURRENT = 0x05
|
||||
REG_ENABLE = 0x06
|
||||
REG_PWM_OUTPUT = 0x07
|
||||
REG_ZERO_SINGLE = 0x0E
|
||||
REG_ZERO_COMMAND = 0x0F
|
||||
|
||||
# 位置模式寄存器
|
||||
REG_TARGET_POSITION_HIGH = 0x10
|
||||
REG_TARGET_POSITION_LOW = 0x11
|
||||
REG_POSITION_SPEED = 0x13
|
||||
REG_POSITION_ACCELERATION = 0x14
|
||||
REG_POSITION_PRECISION = 0x15
|
||||
|
||||
# 速度模式寄存器
|
||||
REG_SPEED_MODE_SPEED = 0x61
|
||||
REG_SPEED_MODE_ACCELERATION = 0x62
|
||||
|
||||
# 设备参数寄存器
|
||||
REG_DEVICE_ADDRESS = 0xE0
|
||||
REG_DEFAULT_SPEED = 0xE7
|
||||
REG_DEFAULT_ACCELERATION = 0xE8
|
||||
|
||||
def __init__(self, port: str, baudrate: int = 115200, timeout: float = 1.0):
|
||||
"""
|
||||
初始化步进电机驱动器
|
||||
|
||||
Args:
|
||||
port: 串口端口名
|
||||
baudrate: 波特率
|
||||
timeout: 通信超时时间
|
||||
"""
|
||||
self.port = port
|
||||
self.baudrate = baudrate
|
||||
self.timeout = timeout
|
||||
self.serial_conn: Optional[serial.Serial] = None
|
||||
|
||||
def connect(self) -> bool:
|
||||
"""
|
||||
建立串口连接
|
||||
|
||||
Returns:
|
||||
连接是否成功
|
||||
"""
|
||||
try:
|
||||
self.serial_conn = serial.Serial(
|
||||
port=self.port,
|
||||
baudrate=self.baudrate,
|
||||
bytesize=serial.EIGHTBITS,
|
||||
parity=serial.PARITY_NONE,
|
||||
stopbits=serial.STOPBITS_ONE,
|
||||
timeout=self.timeout
|
||||
)
|
||||
logger.info(f"已连接到串口: {self.port}")
|
||||
return True
|
||||
except Exception as e:
|
||||
logger.error(f"串口连接失败: {e}")
|
||||
return False
|
||||
|
||||
def disconnect(self) -> None:
|
||||
"""关闭串口连接"""
|
||||
if self.serial_conn and self.serial_conn.is_open:
|
||||
self.serial_conn.close()
|
||||
logger.info("串口连接已关闭")
|
||||
|
||||
def __enter__(self):
|
||||
"""上下文管理器入口"""
|
||||
if self.connect():
|
||||
return self
|
||||
raise ModbusException("无法建立串口连接")
|
||||
|
||||
def __exit__(self, exc_type, exc_val, exc_tb):
|
||||
"""上下文管理器出口"""
|
||||
self.disconnect()
|
||||
|
||||
@staticmethod
|
||||
def calculate_crc(data: bytes) -> bytes:
|
||||
"""
|
||||
计算Modbus CRC校验码
|
||||
|
||||
Args:
|
||||
data: 待校验的数据
|
||||
|
||||
Returns:
|
||||
CRC校验码 (2字节)
|
||||
"""
|
||||
crc = 0xFFFF
|
||||
for byte in data:
|
||||
crc ^= byte
|
||||
for _ in range(8):
|
||||
if crc & 0x0001:
|
||||
crc >>= 1
|
||||
crc ^= 0xA001
|
||||
else:
|
||||
crc >>= 1
|
||||
return struct.pack('<H', crc)
|
||||
|
||||
def _send_command(self, slave_addr: int, data: bytes) -> bytes:
|
||||
"""
|
||||
发送Modbus命令并接收响应
|
||||
|
||||
Args:
|
||||
slave_addr: 从站地址
|
||||
data: 命令数据
|
||||
|
||||
Returns:
|
||||
响应数据
|
||||
|
||||
Raises:
|
||||
ModbusException: 通信异常
|
||||
"""
|
||||
if not self.serial_conn or not self.serial_conn.is_open:
|
||||
raise ModbusException("串口未连接")
|
||||
|
||||
# 构建完整命令
|
||||
command = bytes([slave_addr]) + data
|
||||
crc = self.calculate_crc(command)
|
||||
full_command = command + crc
|
||||
|
||||
# 清空接收缓冲区
|
||||
self.serial_conn.reset_input_buffer()
|
||||
|
||||
# 发送命令
|
||||
self.serial_conn.write(full_command)
|
||||
logger.debug(f"发送命令: {' '.join(f'{b:02X}' for b in full_command)}")
|
||||
|
||||
# 等待响应
|
||||
time.sleep(0.01) # 短暂延时
|
||||
|
||||
# 读取响应
|
||||
response = self.serial_conn.read(256) # 最大读取256字节
|
||||
if not response:
|
||||
raise ModbusException("未收到响应")
|
||||
|
||||
logger.debug(f"接收响应: {' '.join(f'{b:02X}' for b in response)}")
|
||||
|
||||
# 验证CRC
|
||||
if len(response) < 3:
|
||||
raise ModbusException("响应数据长度不足")
|
||||
|
||||
data_part = response[:-2]
|
||||
received_crc = response[-2:]
|
||||
calculated_crc = self.calculate_crc(data_part)
|
||||
|
||||
if received_crc != calculated_crc:
|
||||
raise ModbusException("CRC校验失败")
|
||||
|
||||
return response
|
||||
|
||||
def read_registers(self, slave_addr: int, start_addr: int, count: int) -> list:
|
||||
"""
|
||||
读取保持寄存器
|
||||
|
||||
Args:
|
||||
slave_addr: 从站地址
|
||||
start_addr: 起始地址
|
||||
count: 寄存器数量
|
||||
|
||||
Returns:
|
||||
寄存器值列表
|
||||
"""
|
||||
data = struct.pack('>BHH', ModbusFunction.READ_HOLDING_REGISTERS.value, start_addr, count)
|
||||
response = self._send_command(slave_addr, data)
|
||||
|
||||
if len(response) < 5:
|
||||
raise ModbusException("响应长度不足")
|
||||
|
||||
if response[1] != ModbusFunction.READ_HOLDING_REGISTERS.value:
|
||||
raise ModbusException(f"功能码错误: {response[1]:02X}")
|
||||
|
||||
byte_count = response[2]
|
||||
values = []
|
||||
for i in range(0, byte_count, 2):
|
||||
value = struct.unpack('>H', response[3+i:5+i])[0]
|
||||
values.append(value)
|
||||
|
||||
return values
|
||||
|
||||
def write_single_register(self, slave_addr: int, addr: int, value: int) -> bool:
|
||||
"""
|
||||
写入单个寄存器
|
||||
|
||||
Args:
|
||||
slave_addr: 从站地址
|
||||
addr: 寄存器地址
|
||||
value: 寄存器值
|
||||
|
||||
Returns:
|
||||
写入是否成功
|
||||
"""
|
||||
data = struct.pack('>BHH', ModbusFunction.WRITE_SINGLE_REGISTER.value, addr, value)
|
||||
response = self._send_command(slave_addr, data)
|
||||
|
||||
return len(response) >= 8 and response[1] == ModbusFunction.WRITE_SINGLE_REGISTER.value
|
||||
|
||||
def write_multiple_registers(self, slave_addr: int, start_addr: int, values: list) -> bool:
|
||||
"""
|
||||
写入多个寄存器
|
||||
|
||||
Args:
|
||||
slave_addr: 从站地址
|
||||
start_addr: 起始地址
|
||||
values: 寄存器值列表
|
||||
|
||||
Returns:
|
||||
写入是否成功
|
||||
"""
|
||||
byte_count = len(values) * 2
|
||||
data = struct.pack('>BHHB', ModbusFunction.WRITE_MULTIPLE_REGISTERS.value,
|
||||
start_addr, len(values), byte_count)
|
||||
|
||||
for value in values:
|
||||
data += struct.pack('>H', value)
|
||||
|
||||
response = self._send_command(slave_addr, data)
|
||||
|
||||
return len(response) >= 8 and response[1] == ModbusFunction.WRITE_MULTIPLE_REGISTERS.value
|
||||
|
||||
|
||||
class XYZStepperController(StepperMotorDriver):
|
||||
"""XYZ三轴步进电机控制器"""
|
||||
|
||||
# 电机配置常量
|
||||
STEPS_PER_REVOLUTION = 16384 # 每圈步数
|
||||
|
||||
def __init__(self, port: str, baudrate: int = 115200, timeout: float = 1.0):
|
||||
"""
|
||||
初始化XYZ三轴步进电机控制器
|
||||
|
||||
Args:
|
||||
port: 串口端口名
|
||||
baudrate: 波特率
|
||||
timeout: 通信超时时间
|
||||
"""
|
||||
super().__init__(port, baudrate, timeout)
|
||||
self.axis_addresses = {
|
||||
MotorAxis.X: 1,
|
||||
MotorAxis.Y: 2,
|
||||
MotorAxis.Z: 3
|
||||
}
|
||||
|
||||
def degrees_to_steps(self, degrees: float) -> int:
|
||||
"""
|
||||
将角度转换为步数
|
||||
|
||||
Args:
|
||||
degrees: 角度值
|
||||
|
||||
Returns:
|
||||
对应的步数
|
||||
"""
|
||||
return int(degrees * self.STEPS_PER_REVOLUTION / 360.0)
|
||||
|
||||
def steps_to_degrees(self, steps: int) -> float:
|
||||
"""
|
||||
将步数转换为角度
|
||||
|
||||
Args:
|
||||
steps: 步数
|
||||
|
||||
Returns:
|
||||
对应的角度值
|
||||
"""
|
||||
return steps * 360.0 / self.STEPS_PER_REVOLUTION
|
||||
|
||||
def revolutions_to_steps(self, revolutions: float) -> int:
|
||||
"""
|
||||
将圈数转换为步数
|
||||
|
||||
Args:
|
||||
revolutions: 圈数
|
||||
|
||||
Returns:
|
||||
对应的步数
|
||||
"""
|
||||
return int(revolutions * self.STEPS_PER_REVOLUTION)
|
||||
|
||||
def steps_to_revolutions(self, steps: int) -> float:
|
||||
"""
|
||||
将步数转换为圈数
|
||||
|
||||
Args:
|
||||
steps: 步数
|
||||
|
||||
Returns:
|
||||
对应的圈数
|
||||
"""
|
||||
return steps / self.STEPS_PER_REVOLUTION
|
||||
|
||||
def get_motor_status(self, axis: MotorAxis) -> MotorPosition:
|
||||
"""
|
||||
获取电机状态信息
|
||||
|
||||
Args:
|
||||
axis: 电机轴
|
||||
|
||||
Returns:
|
||||
电机位置信息
|
||||
"""
|
||||
addr = self.axis_addresses[axis]
|
||||
|
||||
# 读取状态、位置、速度、电流
|
||||
values = self.read_registers(addr, self.REG_STATUS, 6)
|
||||
|
||||
status = MotorStatus(values[0])
|
||||
position_high = values[1]
|
||||
position_low = values[2]
|
||||
speed = values[3]
|
||||
current = values[5]
|
||||
|
||||
# 合并32位位置
|
||||
position = (position_high << 16) | position_low
|
||||
# 处理有符号数
|
||||
if position > 0x7FFFFFFF:
|
||||
position -= 0x100000000
|
||||
|
||||
return MotorPosition(position, speed, current, status)
|
||||
|
||||
def emergency_stop(self, axis: MotorAxis) -> bool:
|
||||
"""
|
||||
紧急停止电机
|
||||
|
||||
Args:
|
||||
axis: 电机轴
|
||||
|
||||
Returns:
|
||||
操作是否成功
|
||||
"""
|
||||
addr = self.axis_addresses[axis]
|
||||
return self.write_single_register(addr, self.REG_EMERGENCY_STOP, 0x0000)
|
||||
|
||||
def enable_motor(self, axis: MotorAxis, enable: bool = True) -> bool:
|
||||
"""
|
||||
使能/失能电机
|
||||
|
||||
Args:
|
||||
axis: 电机轴
|
||||
enable: True为使能，False为失能
|
||||
|
||||
Returns:
|
||||
操作是否成功
|
||||
"""
|
||||
addr = self.axis_addresses[axis]
|
||||
value = 0x0001 if enable else 0x0000
|
||||
return self.write_single_register(addr, self.REG_ENABLE, value)
|
||||
|
||||
def move_to_position(self, axis: MotorAxis, position: int, speed: int = 5000,
|
||||
acceleration: int = 1000, precision: int = 100) -> bool:
|
||||
"""
|
||||
移动到指定位置
|
||||
|
||||
Args:
|
||||
axis: 电机轴
|
||||
position: 目标位置(步数)
|
||||
speed: 运行速度(rpm)
|
||||
acceleration: 加速度(rpm/s)
|
||||
precision: 到位精度
|
||||
|
||||
Returns:
|
||||
操作是否成功
|
||||
"""
|
||||
addr = self.axis_addresses[axis]
|
||||
|
||||
# 处理32位位置
|
||||
if position < 0:
|
||||
position += 0x100000000
|
||||
|
||||
position_high = (position >> 16) & 0xFFFF
|
||||
position_low = position & 0xFFFF
|
||||
|
||||
values = [
|
||||
position_high, # 目标位置高位
|
||||
position_low, # 目标位置低位
|
||||
0x0000, # 保留
|
||||
speed, # 速度
|
||||
acceleration, # 加速度
|
||||
precision # 精度
|
||||
]
|
||||
|
||||
return self.write_multiple_registers(addr, self.REG_TARGET_POSITION_HIGH, values)
|
||||
|
||||
def set_speed_mode(self, axis: MotorAxis, speed: int, acceleration: int = 1000) -> bool:
|
||||
"""
|
||||
设置速度模式运行
|
||||
|
||||
Args:
|
||||
axis: 电机轴
|
||||
speed: 运行速度(rpm)，正值正转，负值反转
|
||||
acceleration: 加速度(rpm/s)
|
||||
|
||||
Returns:
|
||||
操作是否成功
|
||||
"""
|
||||
addr = self.axis_addresses[axis]
|
||||
|
||||
# 处理负数
|
||||
if speed < 0:
|
||||
speed = 0x10000 + speed # 补码表示
|
||||
|
||||
values = [0x0000, speed, acceleration, 0x0000]
|
||||
|
||||
return self.write_multiple_registers(addr, 0x60, values)
|
||||
|
||||
def home_axis(self, axis: MotorAxis) -> bool:
|
||||
"""
|
||||
轴归零操作
|
||||
|
||||
Args:
|
||||
axis: 电机轴
|
||||
|
||||
Returns:
|
||||
操作是否成功
|
||||
"""
|
||||
addr = self.axis_addresses[axis]
|
||||
return self.write_single_register(addr, self.REG_ZERO_SINGLE, 0x0001)
|
||||
|
||||
def wait_for_completion(self, axis: MotorAxis, timeout: float = 30.0) -> bool:
|
||||
"""
|
||||
等待电机运动完成
|
||||
|
||||
Args:
|
||||
axis: 电机轴
|
||||
timeout: 超时时间(秒)
|
||||
|
||||
Returns:
|
||||
是否在超时前完成
|
||||
"""
|
||||
start_time = time.time()
|
||||
|
||||
while time.time() - start_time < timeout:
|
||||
status = self.get_motor_status(axis)
|
||||
if status.status == MotorStatus.STANDBY:
|
||||
return True
|
||||
time.sleep(0.1)
|
||||
|
||||
logger.warning(f"{axis.name}轴运动超时")
|
||||
return False
|
||||
|
||||
def move_xyz(self, x: Optional[int] = None, y: Optional[int] = None, z: Optional[int] = None,
|
||||
speed: int = 5000, acceleration: int = 1000) -> Dict[MotorAxis, bool]:
|
||||
"""
|
||||
同时控制XYZ轴移动
|
||||
|
||||
Args:
|
||||
x: X轴目标位置
|
||||
y: Y轴目标位置
|
||||
z: Z轴目标位置
|
||||
speed: 运行速度
|
||||
acceleration: 加速度
|
||||
|
||||
Returns:
|
||||
各轴操作结果字典
|
||||
"""
|
||||
results = {}
|
||||
|
||||
if x is not None:
|
||||
results[MotorAxis.X] = self.move_to_position(MotorAxis.X, x, speed, acceleration)
|
||||
|
||||
if y is not None:
|
||||
results[MotorAxis.Y] = self.move_to_position(MotorAxis.Y, y, speed, acceleration)
|
||||
|
||||
if z is not None:
|
||||
results[MotorAxis.Z] = self.move_to_position(MotorAxis.Z, z, speed, acceleration)
|
||||
|
||||
return results
|
||||
|
||||
def move_xyz_degrees(self, x_deg: Optional[float] = None, y_deg: Optional[float] = None,
|
||||
z_deg: Optional[float] = None, speed: int = 5000,
|
||||
acceleration: int = 1000) -> Dict[MotorAxis, bool]:
|
||||
"""
|
||||
使用角度值同时移动多个轴到指定位置
|
||||
|
||||
Args:
|
||||
x_deg: X轴目标角度（度）
|
||||
y_deg: Y轴目标角度（度）
|
||||
z_deg: Z轴目标角度（度）
|
||||
speed: 移动速度
|
||||
acceleration: 加速度
|
||||
|
||||
Returns:
|
||||
各轴移动操作结果
|
||||
"""
|
||||
# 将角度转换为步数
|
||||
x_steps = self.degrees_to_steps(x_deg) if x_deg is not None else None
|
||||
y_steps = self.degrees_to_steps(y_deg) if y_deg is not None else None
|
||||
z_steps = self.degrees_to_steps(z_deg) if z_deg is not None else None
|
||||
|
||||
return self.move_xyz(x_steps, y_steps, z_steps, speed, acceleration)
|
||||
|
||||
def move_xyz_revolutions(self, x_rev: Optional[float] = None, y_rev: Optional[float] = None,
|
||||
z_rev: Optional[float] = None, speed: int = 5000,
|
||||
acceleration: int = 1000) -> Dict[MotorAxis, bool]:
|
||||
"""
|
||||
使用圈数值同时移动多个轴到指定位置
|
||||
|
||||
Args:
|
||||
x_rev: X轴目标圈数
|
||||
y_rev: Y轴目标圈数
|
||||
z_rev: Z轴目标圈数
|
||||
speed: 移动速度
|
||||
acceleration: 加速度
|
||||
|
||||
Returns:
|
||||
各轴移动操作结果
|
||||
"""
|
||||
# 将圈数转换为步数
|
||||
x_steps = self.revolutions_to_steps(x_rev) if x_rev is not None else None
|
||||
y_steps = self.revolutions_to_steps(y_rev) if y_rev is not None else None
|
||||
z_steps = self.revolutions_to_steps(z_rev) if z_rev is not None else None
|
||||
|
||||
return self.move_xyz(x_steps, y_steps, z_steps, speed, acceleration)
|
||||
|
||||
def move_to_position_degrees(self, axis: MotorAxis, degrees: float, speed: int = 5000,
|
||||
acceleration: int = 1000, precision: int = 100) -> bool:
|
||||
"""
|
||||
使用角度值移动单个轴到指定位置
|
||||
|
||||
Args:
|
||||
axis: 电机轴
|
||||
degrees: 目标角度（度）
|
||||
speed: 移动速度
|
||||
acceleration: 加速度
|
||||
precision: 精度
|
||||
|
||||
Returns:
|
||||
移动操作是否成功
|
||||
"""
|
||||
steps = self.degrees_to_steps(degrees)
|
||||
return self.move_to_position(axis, steps, speed, acceleration, precision)
|
||||
|
||||
def move_to_position_revolutions(self, axis: MotorAxis, revolutions: float, speed: int = 5000,
|
||||
acceleration: int = 1000, precision: int = 100) -> bool:
|
||||
"""
|
||||
使用圈数值移动单个轴到指定位置
|
||||
|
||||
Args:
|
||||
axis: 电机轴
|
||||
revolutions: 目标圈数
|
||||
speed: 移动速度
|
||||
acceleration: 加速度
|
||||
precision: 精度
|
||||
|
||||
Returns:
|
||||
移动操作是否成功
|
||||
"""
|
||||
steps = self.revolutions_to_steps(revolutions)
|
||||
return self.move_to_position(axis, steps, speed, acceleration, precision)
|
||||
|
||||
def stop_all_axes(self) -> Dict[MotorAxis, bool]:
|
||||
"""
|
||||
紧急停止所有轴
|
||||
|
||||
Returns:
|
||||
各轴停止结果字典
|
||||
"""
|
||||
results = {}
|
||||
for axis in MotorAxis:
|
||||
results[axis] = self.emergency_stop(axis)
|
||||
return results
|
||||
|
||||
def enable_all_axes(self, enable: bool = True) -> Dict[MotorAxis, bool]:
|
||||
"""
|
||||
使能/失能所有轴
|
||||
|
||||
Args:
|
||||
enable: True为使能，False为失能
|
||||
|
||||
Returns:
|
||||
各轴操作结果字典
|
||||
"""
|
||||
results = {}
|
||||
for axis in MotorAxis:
|
||||
results[axis] = self.enable_motor(axis, enable)
|
||||
return results
|
||||
|
||||
def get_all_positions(self) -> Dict[MotorAxis, MotorPosition]:
|
||||
"""
|
||||
获取所有轴的位置信息
|
||||
|
||||
Returns:
|
||||
各轴位置信息字典
|
||||
"""
|
||||
positions = {}
|
||||
for axis in MotorAxis:
|
||||
positions[axis] = self.get_motor_status(axis)
|
||||
return positions
|
||||
|
||||
def home_all_axes(self) -> Dict[MotorAxis, bool]:
|
||||
"""
|
||||
所有轴归零
|
||||
|
||||
Returns:
|
||||
各轴归零结果字典
|
||||
"""
|
||||
results = {}
|
||||
for axis in MotorAxis:
|
||||
results[axis] = self.home_axis(axis)
|
||||
return results
|
||||
@@ -1,13 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
# -*- coding: utf-8 -*-
|
||||
"""
|
||||
LaiYu液体处理设备测试模块
|
||||
|
||||
该模块包含LaiYu液体处理设备的测试用例：
|
||||
- test_deck_config.py: 工作台配置测试
|
||||
|
||||
作者: UniLab团队
|
||||
版本: 2.0.0
|
||||
"""
|
||||
|
||||
__all__ = []
|
||||
@@ -1,315 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
# -*- coding: utf-8 -*-
|
||||
"""
|
||||
测试脚本：验证更新后的deck配置是否正常工作
|
||||
"""
|
||||
|
||||
import sys
|
||||
import os
|
||||
import json
|
||||
|
||||
# 添加项目根目录到Python路径
|
||||
project_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
|
||||
sys.path.insert(0, project_root)
|
||||
|
||||
def test_config_loading():
|
||||
"""测试配置文件加载功能"""
|
||||
print("=" * 50)
|
||||
print("测试配置文件加载功能")
|
||||
print("=" * 50)
|
||||
|
||||
try:
|
||||
# 直接测试配置文件加载
|
||||
config_path = os.path.join(os.path.dirname(__file__), "controllers", "deckconfig.json")
|
||||
fallback_path = os.path.join(os.path.dirname(__file__), "config", "deck.json")
|
||||
|
||||
config = None
|
||||
config_source = ""
|
||||
|
||||
if os.path.exists(config_path):
|
||||
with open(config_path, 'r', encoding='utf-8') as f:
|
||||
config = json.load(f)
|
||||
config_source = "config/deckconfig.json"
|
||||
elif os.path.exists(fallback_path):
|
||||
with open(fallback_path, 'r', encoding='utf-8') as f:
|
||||
config = json.load(f)
|
||||
config_source = "config/deck.json"
|
||||
else:
|
||||
print("❌ 配置文件不存在")
|
||||
return False
|
||||
|
||||
print(f"✅ 配置文件加载成功: {config_source}")
|
||||
print(f" - 甲板尺寸: {config.get('size_x', 'N/A')} x {config.get('size_y', 'N/A')} x {config.get('size_z', 'N/A')}")
|
||||
print(f" - 子模块数量: {len(config.get('children', []))}")
|
||||
|
||||
# 检查各个模块是否存在
|
||||
modules = config.get('children', [])
|
||||
module_types = [module.get('type') for module in modules]
|
||||
module_names = [module.get('name') for module in modules]
|
||||
|
||||
print(f" - 模块类型: {', '.join(set(filter(None, module_types)))}")
|
||||
print(f" - 模块名称: {', '.join(filter(None, module_names))}")
|
||||
|
||||
return config
|
||||
except Exception as e:
|
||||
print(f"❌ 配置文件加载失败: {e}")
|
||||
return None
|
||||
|
||||
def test_module_coordinates(config):
|
||||
"""测试各模块的坐标信息"""
|
||||
print("\n" + "=" * 50)
|
||||
print("测试模块坐标信息")
|
||||
print("=" * 50)
|
||||
|
||||
if not config:
|
||||
print("❌ 配置为空，无法测试")
|
||||
return False
|
||||
|
||||
modules = config.get('children', [])
|
||||
|
||||
for module in modules:
|
||||
module_name = module.get('name', '未知模块')
|
||||
module_type = module.get('type', '未知类型')
|
||||
position = module.get('position', {})
|
||||
size = module.get('size', {})
|
||||
|
||||
print(f"\n模块: {module_name} ({module_type})")
|
||||
print(f" - 位置: ({position.get('x', 0)}, {position.get('y', 0)}, {position.get('z', 0)})")
|
||||
print(f" - 尺寸: {size.get('x', 0)} x {size.get('y', 0)} x {size.get('z', 0)}")
|
||||
|
||||
# 检查孔位信息
|
||||
wells = module.get('wells', [])
|
||||
if wells:
|
||||
print(f" - 孔位数量: {len(wells)}")
|
||||
|
||||
# 显示前几个和后几个孔位的坐标
|
||||
sample_wells = wells[:3] + wells[-3:] if len(wells) > 6 else wells
|
||||
for well in sample_wells:
|
||||
well_id = well.get('id', '未知')
|
||||
well_pos = well.get('position', {})
|
||||
print(f" {well_id}: ({well_pos.get('x', 0)}, {well_pos.get('y', 0)}, {well_pos.get('z', 0)})")
|
||||
else:
|
||||
print(f" - 无孔位信息")
|
||||
|
||||
return True
|
||||
|
||||
def test_coordinate_ranges(config):
|
||||
"""测试坐标范围的合理性"""
|
||||
print("\n" + "=" * 50)
|
||||
print("测试坐标范围合理性")
|
||||
print("=" * 50)
|
||||
|
||||
if not config:
|
||||
print("❌ 配置为空，无法测试")
|
||||
return False
|
||||
|
||||
deck_size = {
|
||||
'x': config.get('size_x', 340),
|
||||
'y': config.get('size_y', 250),
|
||||
'z': config.get('size_z', 160)
|
||||
}
|
||||
|
||||
print(f"甲板尺寸: {deck_size['x']} x {deck_size['y']} x {deck_size['z']}")
|
||||
|
||||
modules = config.get('children', [])
|
||||
all_coordinates = []
|
||||
|
||||
for module in modules:
|
||||
module_name = module.get('name', '未知模块')
|
||||
wells = module.get('wells', [])
|
||||
|
||||
for well in wells:
|
||||
well_pos = well.get('position', {})
|
||||
x, y, z = well_pos.get('x', 0), well_pos.get('y', 0), well_pos.get('z', 0)
|
||||
all_coordinates.append((x, y, z, f"{module_name}:{well.get('id', '未知')}"))
|
||||
|
||||
if not all_coordinates:
|
||||
print("❌ 没有找到任何坐标信息")
|
||||
return False
|
||||
|
||||
# 计算坐标范围
|
||||
x_coords = [coord[0] for coord in all_coordinates]
|
||||
y_coords = [coord[1] for coord in all_coordinates]
|
||||
z_coords = [coord[2] for coord in all_coordinates]
|
||||
|
||||
x_range = (min(x_coords), max(x_coords))
|
||||
y_range = (min(y_coords), max(y_coords))
|
||||
z_range = (min(z_coords), max(z_coords))
|
||||
|
||||
print(f"X坐标范围: {x_range[0]:.2f} ~ {x_range[1]:.2f}")
|
||||
print(f"Y坐标范围: {y_range[0]:.2f} ~ {y_range[1]:.2f}")
|
||||
print(f"Z坐标范围: {z_range[0]:.2f} ~ {z_range[1]:.2f}")
|
||||
|
||||
# 检查是否超出甲板范围
|
||||
issues = []
|
||||
if x_range[1] > deck_size['x']:
|
||||
issues.append(f"X坐标超出甲板范围: {x_range[1]} > {deck_size['x']}")
|
||||
if y_range[1] > deck_size['y']:
|
||||
issues.append(f"Y坐标超出甲板范围: {y_range[1]} > {deck_size['y']}")
|
||||
if z_range[1] > deck_size['z']:
|
||||
issues.append(f"Z坐标超出甲板范围: {z_range[1]} > {deck_size['z']}")
|
||||
|
||||
if x_range[0] < 0:
|
||||
issues.append(f"X坐标为负值: {x_range[0]}")
|
||||
if y_range[0] < 0:
|
||||
issues.append(f"Y坐标为负值: {y_range[0]}")
|
||||
if z_range[0] < 0:
|
||||
issues.append(f"Z坐标为负值: {z_range[0]}")
|
||||
|
||||
if issues:
|
||||
print("⚠️ 发现坐标问题:")
|
||||
for issue in issues:
|
||||
print(f" - {issue}")
|
||||
return False
|
||||
else:
|
||||
print("✅ 所有坐标都在合理范围内")
|
||||
return True
|
||||
|
||||
def test_well_spacing(config):
|
||||
"""测试孔位间距的一致性"""
|
||||
print("\n" + "=" * 50)
|
||||
print("测试孔位间距一致性")
|
||||
print("=" * 50)
|
||||
|
||||
if not config:
|
||||
print("❌ 配置为空，无法测试")
|
||||
return False
|
||||
|
||||
modules = config.get('children', [])
|
||||
|
||||
for module in modules:
|
||||
module_name = module.get('name', '未知模块')
|
||||
module_type = module.get('type', '未知类型')
|
||||
wells = module.get('wells', [])
|
||||
|
||||
if len(wells) < 2:
|
||||
continue
|
||||
|
||||
print(f"\n模块: {module_name} ({module_type})")
|
||||
|
||||
# 计算相邻孔位的间距
|
||||
spacings_x = []
|
||||
spacings_y = []
|
||||
|
||||
# 按行列排序孔位
|
||||
wells_by_row = {}
|
||||
for well in wells:
|
||||
well_id = well.get('id', '')
|
||||
if len(well_id) >= 3: # 如A01格式
|
||||
row = well_id[0]
|
||||
col = int(well_id[1:])
|
||||
if row not in wells_by_row:
|
||||
wells_by_row[row] = {}
|
||||
wells_by_row[row][col] = well
|
||||
|
||||
# 计算同行相邻孔位的X间距
|
||||
for row, cols in wells_by_row.items():
|
||||
sorted_cols = sorted(cols.keys())
|
||||
for i in range(len(sorted_cols) - 1):
|
||||
col1, col2 = sorted_cols[i], sorted_cols[i + 1]
|
||||
if col2 == col1 + 1: # 相邻列
|
||||
pos1 = cols[col1].get('position', {})
|
||||
pos2 = cols[col2].get('position', {})
|
||||
spacing = abs(pos2.get('x', 0) - pos1.get('x', 0))
|
||||
spacings_x.append(spacing)
|
||||
|
||||
# 计算同列相邻孔位的Y间距
|
||||
cols_by_row = {}
|
||||
for well in wells:
|
||||
well_id = well.get('id', '')
|
||||
if len(well_id) >= 3:
|
||||
row = ord(well_id[0]) - ord('A')
|
||||
col = int(well_id[1:])
|
||||
if col not in cols_by_row:
|
||||
cols_by_row[col] = {}
|
||||
cols_by_row[col][row] = well
|
||||
|
||||
for col, rows in cols_by_row.items():
|
||||
sorted_rows = sorted(rows.keys())
|
||||
for i in range(len(sorted_rows) - 1):
|
||||
row1, row2 = sorted_rows[i], sorted_rows[i + 1]
|
||||
if row2 == row1 + 1: # 相邻行
|
||||
pos1 = rows[row1].get('position', {})
|
||||
pos2 = rows[row2].get('position', {})
|
||||
spacing = abs(pos2.get('y', 0) - pos1.get('y', 0))
|
||||
spacings_y.append(spacing)
|
||||
|
||||
# 检查间距一致性
|
||||
if spacings_x:
|
||||
avg_x = sum(spacings_x) / len(spacings_x)
|
||||
max_diff_x = max(abs(s - avg_x) for s in spacings_x)
|
||||
print(f" - X方向平均间距: {avg_x:.2f}mm, 最大偏差: {max_diff_x:.2f}mm")
|
||||
|
||||
if spacings_y:
|
||||
avg_y = sum(spacings_y) / len(spacings_y)
|
||||
max_diff_y = max(abs(s - avg_y) for s in spacings_y)
|
||||
print(f" - Y方向平均间距: {avg_y:.2f}mm, 最大偏差: {max_diff_y:.2f}mm")
|
||||
|
||||
return True
|
||||
|
||||
def main():
|
||||
"""主测试函数"""
|
||||
print("LaiYu液体处理设备配置测试")
|
||||
print("测试时间:", os.popen('date').read().strip())
|
||||
|
||||
# 运行所有测试
|
||||
tests = [
|
||||
("配置文件加载", test_config_loading),
|
||||
]
|
||||
|
||||
config = None
|
||||
results = []
|
||||
|
||||
for test_name, test_func in tests:
|
||||
try:
|
||||
if test_name == "配置文件加载":
|
||||
result = test_func()
|
||||
config = result if result else None
|
||||
results.append((test_name, bool(result)))
|
||||
else:
|
||||
result = test_func(config)
|
||||
results.append((test_name, result))
|
||||
except Exception as e:
|
||||
print(f"❌ 测试 {test_name} 执行失败: {e}")
|
||||
results.append((test_name, False))
|
||||
|
||||
# 如果配置加载成功，运行其他测试
|
||||
if config:
|
||||
additional_tests = [
|
||||
("模块坐标信息", test_module_coordinates),
|
||||
("坐标范围合理性", test_coordinate_ranges),
|
||||
("孔位间距一致性", test_well_spacing)
|
||||
]
|
||||
|
||||
for test_name, test_func in additional_tests:
|
||||
try:
|
||||
result = test_func(config)
|
||||
results.append((test_name, result))
|
||||
except Exception as e:
|
||||
print(f"❌ 测试 {test_name} 执行失败: {e}")
|
||||
results.append((test_name, False))
|
||||
|
||||
# 输出测试总结
|
||||
print("\n" + "=" * 50)
|
||||
print("测试总结")
|
||||
print("=" * 50)
|
||||
|
||||
passed = sum(1 for _, result in results if result)
|
||||
total = len(results)
|
||||
|
||||
for test_name, result in results:
|
||||
status = "✅ 通过" if result else "❌ 失败"
|
||||
print(f" {test_name}: {status}")
|
||||
|
||||
print(f"\n总计: {passed}/{total} 个测试通过")
|
||||
|
||||
if passed == total:
|
||||
print("🎉 所有测试通过！配置更新成功。")
|
||||
return True
|
||||
else:
|
||||
print("⚠️ 部分测试失败，需要进一步检查。")
|
||||
return False
|
||||
|
||||
if __name__ == "__main__":
|
||||
success = main()
|
||||
sys.exit(0 if success else 1)
|
||||
@@ -1,138 +0,0 @@
|
||||
|
||||
import os
|
||||
import time
|
||||
import json
|
||||
import logging
|
||||
from xyz_stepper_driver import ModbusRTUTransport, ModbusClient, XYZStepperController, MotorStatus
|
||||
|
||||
# ========== 日志配置 ==========
|
||||
logging.basicConfig(level=logging.INFO)
|
||||
logger = logging.getLogger("XYZ_Debug")
|
||||
|
||||
|
||||
def create_controller(port: str = "/dev/ttyUSB1", baudrate: int = 115200) -> XYZStepperController:
|
||||
"""
|
||||
初始化通信层与三轴控制器
|
||||
"""
|
||||
logger.info(f"🔧 初始化控制器: {port} @ {baudrate}bps")
|
||||
transport = ModbusRTUTransport(port=port, baudrate=baudrate)
|
||||
transport.open()
|
||||
client = ModbusClient(transport)
|
||||
return XYZStepperController(client=client, port=port, baudrate=baudrate)
|
||||
|
||||
|
||||
def load_existing_soft_zero(ctrl: XYZStepperController, path: str = "work_origin.json") -> bool:
|
||||
"""
|
||||
如果已存在软零点文件则加载，否则返回 False
|
||||
"""
|
||||
if not os.path.exists(path):
|
||||
logger.warning("⚠ 未找到已有软零点文件，将等待人工定义新零点。")
|
||||
return False
|
||||
|
||||
try:
|
||||
with open(path, "r", encoding="utf-8") as f:
|
||||
data = json.load(f)
|
||||
origin = data.get("work_origin_steps", {})
|
||||
ctrl.work_origin_steps = origin
|
||||
ctrl.is_homed = True
|
||||
logger.info(f"✔ 已加载软零点文件：{path}")
|
||||
logger.info(f"当前软零点步数: {origin}")
|
||||
return True
|
||||
except Exception as e:
|
||||
logger.error(f"读取软零点文件失败: {e}")
|
||||
return False
|
||||
|
||||
|
||||
def test_enable_axis(ctrl: XYZStepperController):
|
||||
"""
|
||||
依次使能 X / Y / Z 三轴
|
||||
"""
|
||||
logger.info("=== 测试各轴使能 ===")
|
||||
for axis in ["X", "Y", "Z"]:
|
||||
try:
|
||||
result = ctrl.enable(axis, True)
|
||||
if result:
|
||||
vals = ctrl.get_status(axis)
|
||||
st = MotorStatus(vals[3])
|
||||
logger.info(f"{axis} 轴使能成功，当前状态: {st.name}")
|
||||
else:
|
||||
logger.error(f"{axis} 轴使能失败")
|
||||
except Exception as e:
|
||||
logger.error(f"{axis} 轴使能异常: {e}")
|
||||
time.sleep(0.5)
|
||||
|
||||
|
||||
def test_status_read(ctrl: XYZStepperController):
|
||||
"""
|
||||
读取各轴当前状态（调试）
|
||||
"""
|
||||
logger.info("=== 当前各轴状态 ===")
|
||||
for axis in ["X", "Y", "Z"]:
|
||||
try:
|
||||
vals = ctrl.get_status(axis)
|
||||
st = MotorStatus(vals[3])
|
||||
logger.info(
|
||||
f"{axis}: steps={vals[0]}, speed={vals[1]}, "
|
||||
f"current={vals[2]}, status={st.name}"
|
||||
)
|
||||
except Exception as e:
|
||||
logger.error(f"获取 {axis} 状态失败: {e}")
|
||||
time.sleep(0.2)
|
||||
|
||||
|
||||
def redefine_soft_zero(ctrl: XYZStepperController):
|
||||
"""
|
||||
手动重新定义软零点
|
||||
"""
|
||||
logger.info("=== ⚙️ 重新定义软零点 ===")
|
||||
ctrl.define_current_as_zero("work_origin.json")
|
||||
logger.info("✅ 新软零点已写入 work_origin.json")
|
||||
|
||||
|
||||
def test_soft_zero_move(ctrl: XYZStepperController):
|
||||
"""
|
||||
以软零点为基准执行三轴运动测试
|
||||
"""
|
||||
logger.info("=== 测试软零点相对运动 ===")
|
||||
ctrl.move_xyz_work(x=100.0, y=100.0, z=40.0, speed=100, acc=800)
|
||||
|
||||
for axis in ["X", "Y", "Z"]:
|
||||
ctrl.wait_complete(axis)
|
||||
|
||||
test_status_read(ctrl)
|
||||
logger.info("✅ 软零点运动测试完成")
|
||||
|
||||
|
||||
def main():
|
||||
ctrl = create_controller(port="/dev/ttyUSB1", baudrate=115200)
|
||||
|
||||
try:
|
||||
test_enable_axis(ctrl)
|
||||
test_status_read(ctrl)
|
||||
|
||||
# === 初始化或加载软零点 ===
|
||||
loaded = load_existing_soft_zero(ctrl)
|
||||
if not loaded:
|
||||
logger.info("👣 首次运行，定义软零点并保存。")
|
||||
ctrl.define_current_as_zero("work_origin.json")
|
||||
|
||||
# === 软零点回归动作 ===
|
||||
ctrl.return_to_work_origin()
|
||||
|
||||
# === 可选软零点运动测试 ===
|
||||
# test_soft_zero_move(ctrl)
|
||||
|
||||
except KeyboardInterrupt:
|
||||
logger.info("🛑 手动中断退出")
|
||||
|
||||
except Exception as e:
|
||||
logger.exception(f"❌ 调试出错: {e}")
|
||||
|
||||
finally:
|
||||
if hasattr(ctrl.client, "transport"):
|
||||
ctrl.client.transport.close()
|
||||
logger.info("串口已安全关闭 ✅")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -1,58 +0,0 @@
|
||||
|
||||
import logging
|
||||
from xyz_stepper_driver import (
|
||||
ModbusRTUTransport,
|
||||
ModbusClient,
|
||||
XYZStepperController,
|
||||
MotorAxis,
|
||||
)
|
||||
|
||||
logger = logging.getLogger("XYZStepperCommTest")
|
||||
logging.basicConfig(level=logging.INFO, format="%(asctime)s [%(levelname)s] %(message)s")
|
||||
|
||||
|
||||
def test_xyz_stepper_comm():
|
||||
"""仅测试 Modbus 通信是否正常（并输出寄存器数据，不做电机运动）"""
|
||||
port = "/dev/ttyUSB1"
|
||||
baudrate = 115200
|
||||
timeout = 1.2 # 略长避免响应被截断
|
||||
|
||||
logger.info(f"尝试连接 Modbus 设备 {port} ...")
|
||||
transport = ModbusRTUTransport(port, baudrate=baudrate, timeout=timeout)
|
||||
transport.open()
|
||||
|
||||
client = ModbusClient(transport)
|
||||
ctrl = XYZStepperController(client)
|
||||
|
||||
try:
|
||||
logger.info("✅ 串口已打开，开始读取三个轴状态（打印寄存器内容） ...")
|
||||
for axis in [MotorAxis.X, MotorAxis.Y, MotorAxis.Z]:
|
||||
addr = ctrl.axis_addr[axis]
|
||||
|
||||
try:
|
||||
# # 在 get_status 前打印原始寄存器内容
|
||||
# regs = client.read_registers(addr, ctrl.REG_STATUS, 6)
|
||||
# hex_regs = [f"0x{val:04X}" for val in regs]
|
||||
# logger.info(f"[{axis.name}] 原始寄存器 ({len(regs)} 个): {regs} -> {hex_regs}")
|
||||
|
||||
# 调用 get_status() 正常解析
|
||||
status = ctrl.get_status(axis)
|
||||
logger.info(
|
||||
f"[{axis.name}] ✅ 通信正常: steps={status.steps}, speed={status.speed}, "
|
||||
f"current={status.current}, status={status.status.name}"
|
||||
)
|
||||
|
||||
except Exception as e_axis:
|
||||
logger.error(f"[{axis.name}] ❌ 通信失败: {e_axis}")
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"❌ 通讯测试失败: {e}")
|
||||
|
||||
finally:
|
||||
transport.close()
|
||||
logger.info("🔌 串口已关闭")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_xyz_stepper_comm()
|
||||
@@ -1,8 +0,0 @@
|
||||
{
|
||||
"work_origin_steps": {
|
||||
"x": 11799,
|
||||
"y": 11476,
|
||||
"z": 3312
|
||||
},
|
||||
"timestamp": "2025-11-04T15:31:09.802155"
|
||||
}
|
||||
@@ -1,336 +0,0 @@
|
||||
|
||||
"""
|
||||
XYZ 三轴步进电机驱动（统一字符串参数版）
|
||||
基于 Modbus RTU 协议
|
||||
Author: Xiuyu Chen (Modified by Assistant)
|
||||
"""
|
||||
|
||||
import serial # type: ignore
|
||||
import struct
|
||||
import time
|
||||
import logging
|
||||
from enum import Enum
|
||||
from dataclasses import dataclass
|
||||
from typing import Optional, List, Dict
|
||||
|
||||
# ========== 日志配置 ==========
|
||||
logging.basicConfig(level=logging.INFO)
|
||||
logger = logging.getLogger("XYZStepper")
|
||||
|
||||
|
||||
# ========== 层 1：Modbus RTU ==========
|
||||
class ModbusException(Exception):
|
||||
pass
|
||||
|
||||
|
||||
class ModbusRTUTransport:
|
||||
"""底层串口通信层"""
|
||||
|
||||
def __init__(self, port: str, baudrate: int = 115200, timeout: float = 1.2):
|
||||
self.port = port
|
||||
self.baudrate = baudrate
|
||||
self.timeout = timeout
|
||||
self.ser: Optional[serial.Serial] = None
|
||||
|
||||
def open(self):
|
||||
try:
|
||||
self.ser = serial.Serial(
|
||||
port=self.port,
|
||||
baudrate=self.baudrate,
|
||||
bytesize=serial.EIGHTBITS,
|
||||
parity=serial.PARITY_NONE,
|
||||
stopbits=serial.STOPBITS_ONE,
|
||||
timeout=0.02,
|
||||
write_timeout=0.5,
|
||||
)
|
||||
logger.info(f"[RTU] 串口连接成功: {self.port}")
|
||||
except Exception as e:
|
||||
raise ModbusException(f"无法打开串口 {self.port}: {e}")
|
||||
|
||||
def close(self):
|
||||
if self.ser and self.ser.is_open:
|
||||
self.ser.close()
|
||||
logger.info("[RTU] 串口已关闭")
|
||||
|
||||
def send(self, frame: bytes):
|
||||
if not self.ser or not self.ser.is_open:
|
||||
raise ModbusException("串口未连接")
|
||||
|
||||
self.ser.reset_input_buffer()
|
||||
self.ser.write(frame)
|
||||
self.ser.flush()
|
||||
logger.debug(f"[TX] {frame.hex(' ').upper()}")
|
||||
|
||||
def receive(self, expected_len: int) -> bytes:
|
||||
if not self.ser or not self.ser.is_open:
|
||||
raise ModbusException("串口未连接")
|
||||
|
||||
start = time.time()
|
||||
buf = bytearray()
|
||||
while len(buf) < expected_len and (time.time() - start) < self.timeout:
|
||||
chunk = self.ser.read(expected_len - len(buf))
|
||||
if chunk:
|
||||
buf.extend(chunk)
|
||||
else:
|
||||
time.sleep(0.01)
|
||||
return bytes(buf)
|
||||
|
||||
|
||||
# ========== 层 2：Modbus 协议 ==========
|
||||
class ModbusFunction(Enum):
|
||||
READ_HOLDING_REGISTERS = 0x03
|
||||
WRITE_SINGLE_REGISTER = 0x06
|
||||
WRITE_MULTIPLE_REGISTERS = 0x10
|
||||
|
||||
|
||||
class ModbusClient:
|
||||
"""Modbus RTU 客户端"""
|
||||
|
||||
def __init__(self, transport: ModbusRTUTransport):
|
||||
self.transport = transport
|
||||
|
||||
@staticmethod
|
||||
def calc_crc(data: bytes) -> bytes:
|
||||
crc = 0xFFFF
|
||||
for b in data:
|
||||
crc ^= b
|
||||
for _ in range(8):
|
||||
crc = (crc >> 1) ^ 0xA001 if crc & 1 else crc >> 1
|
||||
return struct.pack("<H", crc)
|
||||
|
||||
def send_request(self, addr: int, func: int, payload: bytes) -> bytes:
|
||||
frame = bytes([addr, func]) + payload
|
||||
full = frame + self.calc_crc(frame)
|
||||
self.transport.send(full)
|
||||
time.sleep(0.01)
|
||||
resp = self.transport.ser.read(256)
|
||||
if not resp:
|
||||
raise ModbusException("未收到响应")
|
||||
|
||||
start = resp.find(bytes([addr, func]))
|
||||
if start > 0:
|
||||
resp = resp[start:]
|
||||
if len(resp) < 5:
|
||||
raise ModbusException(f"响应长度不足: {resp.hex(' ').upper()}")
|
||||
if self.calc_crc(resp[:-2]) != resp[-2:]:
|
||||
raise ModbusException("CRC 校验失败")
|
||||
return resp
|
||||
|
||||
def read_registers(self, addr: int, start: int, count: int) -> List[int]:
|
||||
payload = struct.pack(">HH", start, count)
|
||||
resp = self.send_request(addr, ModbusFunction.READ_HOLDING_REGISTERS.value, payload)
|
||||
byte_count = resp[2]
|
||||
regs = [struct.unpack(">H", resp[3 + i:5 + i])[0] for i in range(0, byte_count, 2)]
|
||||
return regs
|
||||
|
||||
def write_single_register(self, addr: int, reg: int, val: int) -> bool:
|
||||
payload = struct.pack(">HH", reg, val)
|
||||
resp = self.send_request(addr, ModbusFunction.WRITE_SINGLE_REGISTER.value, payload)
|
||||
return resp[1] == ModbusFunction.WRITE_SINGLE_REGISTER.value
|
||||
|
||||
def write_multiple_registers(self, addr: int, start: int, values: List[int]) -> bool:
|
||||
byte_count = len(values) * 2
|
||||
payload = struct.pack(">HHB", start, len(values), byte_count)
|
||||
payload += b"".join(struct.pack(">H", v & 0xFFFF) for v in values)
|
||||
resp = self.send_request(addr, ModbusFunction.WRITE_MULTIPLE_REGISTERS.value, payload)
|
||||
return resp[1] == ModbusFunction.WRITE_MULTIPLE_REGISTERS.value
|
||||
|
||||
|
||||
# ========== 层 3：业务逻辑 ==========
|
||||
class MotorAxis(Enum):
|
||||
X = 1
|
||||
Y = 2
|
||||
Z = 3
|
||||
|
||||
|
||||
class MotorStatus(Enum):
|
||||
STANDBY = 0
|
||||
RUNNING = 1
|
||||
COLLISION_STOP = 2
|
||||
FORWARD_LIMIT_STOP = 3
|
||||
REVERSE_LIMIT_STOP = 4
|
||||
|
||||
|
||||
@dataclass
|
||||
class MotorPosition:
|
||||
steps: int
|
||||
speed: int
|
||||
current: int
|
||||
status: MotorStatus
|
||||
|
||||
|
||||
class XYZStepperController:
|
||||
"""XYZ 三轴步进控制器（字符串接口版）"""
|
||||
|
||||
STEPS_PER_REV = 16384
|
||||
LEAD_MM_X, LEAD_MM_Y, LEAD_MM_Z = 80.0, 80.0, 5.0
|
||||
STEPS_PER_MM_X = STEPS_PER_REV / LEAD_MM_X
|
||||
STEPS_PER_MM_Y = STEPS_PER_REV / LEAD_MM_Y
|
||||
STEPS_PER_MM_Z = STEPS_PER_REV / LEAD_MM_Z
|
||||
|
||||
REG_STATUS, REG_POS_HIGH, REG_POS_LOW = 0x00, 0x01, 0x02
|
||||
REG_ACTUAL_SPEED, REG_CURRENT, REG_ENABLE = 0x03, 0x05, 0x06
|
||||
REG_ZERO_CMD, REG_TARGET_HIGH, REG_TARGET_LOW = 0x0F, 0x10, 0x11
|
||||
REG_SPEED, REG_ACCEL, REG_PRECISION, REG_START = 0x13, 0x14, 0x15, 0x16
|
||||
REG_COMMAND = 0x60
|
||||
|
||||
def __init__(self, client: Optional[ModbusClient] = None,
|
||||
port="/dev/ttyUSB0", baudrate=115200,
|
||||
origin_path="unilabos/devices/laiyu_liquid_test/work_origin.json"):
|
||||
if client is None:
|
||||
transport = ModbusRTUTransport(port, baudrate)
|
||||
transport.open()
|
||||
self.client = ModbusClient(transport)
|
||||
else:
|
||||
self.client = client
|
||||
|
||||
self.axis_addr = {MotorAxis.X: 1, MotorAxis.Y: 2, MotorAxis.Z: 3}
|
||||
self.work_origin_steps = {"x": 0, "y": 0, "z": 0}
|
||||
self.is_homed = False
|
||||
self._load_work_origin(origin_path)
|
||||
|
||||
# ========== 基础工具 ==========
|
||||
@staticmethod
|
||||
def s16(v: int) -> int:
|
||||
return v - 0x10000 if v & 0x8000 else v
|
||||
|
||||
@staticmethod
|
||||
def s32(h: int, l: int) -> int:
|
||||
v = (h << 16) | l
|
||||
return v - 0x100000000 if v & 0x80000000 else v
|
||||
|
||||
@classmethod
|
||||
def mm_to_steps(cls, axis: str, mm: float = 0.0) -> int:
|
||||
axis = axis.upper()
|
||||
if axis == "X":
|
||||
return int(mm * cls.STEPS_PER_MM_X)
|
||||
elif axis == "Y":
|
||||
return int(mm * cls.STEPS_PER_MM_Y)
|
||||
elif axis == "Z":
|
||||
return int(mm * cls.STEPS_PER_MM_Z)
|
||||
raise ValueError(f"未知轴: {axis}")
|
||||
|
||||
@classmethod
|
||||
def steps_to_mm(cls, axis: str, steps: int) -> float:
|
||||
axis = axis.upper()
|
||||
if axis == "X":
|
||||
return steps / cls.STEPS_PER_MM_X
|
||||
elif axis == "Y":
|
||||
return steps / cls.STEPS_PER_MM_Y
|
||||
elif axis == "Z":
|
||||
return steps / cls.STEPS_PER_MM_Z
|
||||
raise ValueError(f"未知轴: {axis}")
|
||||
|
||||
# ========== 状态与控制 ==========
|
||||
def get_status(self, axis: str = "Z") -> list:
|
||||
"""返回简化数组格式: [steps, speed, current, status_value]"""
|
||||
if isinstance(axis, MotorAxis):
|
||||
axis_enum = axis
|
||||
elif isinstance(axis, str):
|
||||
axis_enum = MotorAxis[axis.upper()]
|
||||
else:
|
||||
raise TypeError("axis 参数必须为 str 或 MotorAxis")
|
||||
|
||||
vals = self.client.read_registers(self.axis_addr[axis_enum], self.REG_STATUS, 6)
|
||||
return [
|
||||
self.s32(vals[1], vals[2]),
|
||||
self.s16(vals[3]),
|
||||
vals[4],
|
||||
int(MotorStatus(vals[0]).value)
|
||||
]
|
||||
|
||||
def enable(self, axis: str, state: bool) -> bool:
|
||||
a = MotorAxis[axis.upper()]
|
||||
return self.client.write_single_register(self.axis_addr[a], self.REG_ENABLE, 1 if state else 0)
|
||||
|
||||
def wait_complete(self, axis: str, timeout=30.0) -> bool:
|
||||
a = axis.upper()
|
||||
start = time.time()
|
||||
while time.time() - start < timeout:
|
||||
vals = self.get_status(a)
|
||||
st = MotorStatus(vals[3]) # 第4个元素是状态值
|
||||
if st == MotorStatus.STANDBY:
|
||||
return True
|
||||
if st in (MotorStatus.COLLISION_STOP, MotorStatus.FORWARD_LIMIT_STOP, MotorStatus.REVERSE_LIMIT_STOP):
|
||||
logger.warning(f"{a} 轴异常停止: {st.name}")
|
||||
return False
|
||||
time.sleep(0.1)
|
||||
logger.warning(f"{a} 轴运动超时")
|
||||
return False
|
||||
|
||||
# ========== 控制命令 ==========
|
||||
def move_to(self, axis: str, steps: int, speed: int = 2000, acc: int = 500, precision: int = 50) -> bool:
|
||||
a = MotorAxis[axis.upper()]
|
||||
addr = self.axis_addr[a]
|
||||
hi, lo = (steps >> 16) & 0xFFFF, steps & 0xFFFF
|
||||
values = [hi, lo, speed, acc, precision]
|
||||
ok = self.client.write_multiple_registers(addr, self.REG_TARGET_HIGH, values)
|
||||
if ok:
|
||||
self.client.write_single_register(addr, self.REG_START, 1)
|
||||
return ok
|
||||
|
||||
def move_xyz_work(self, x: float = 0.0, y: float = 0.0, z: float = 0.0, speed: int = 100, acc: int = 1500):
|
||||
logger.info("🧭 执行安全多轴运动：Z→XY→Z")
|
||||
if z is not None:
|
||||
safe_z = self._to_machine_steps("Z", 0.0)
|
||||
self.move_to("Z", safe_z, speed, acc)
|
||||
self.wait_complete("Z")
|
||||
|
||||
if x is not None or y is not None:
|
||||
if x is not None:
|
||||
self.move_to("X", self._to_machine_steps("X", x), speed, acc)
|
||||
if y is not None:
|
||||
self.move_to("Y", self._to_machine_steps("Y", y), speed, acc)
|
||||
if x is not None:
|
||||
self.wait_complete("X")
|
||||
if y is not None:
|
||||
self.wait_complete("Y")
|
||||
|
||||
if z is not None:
|
||||
self.move_to("Z", self._to_machine_steps("Z", z), speed, acc)
|
||||
self.wait_complete("Z")
|
||||
logger.info("✅ 多轴顺序运动完成")
|
||||
|
||||
# ========== 坐标与零点 ==========
|
||||
def _to_machine_steps(self, axis: str, mm: float) -> int:
|
||||
base = self.work_origin_steps.get(axis.lower(), 0)
|
||||
return base + self.mm_to_steps(axis, mm)
|
||||
|
||||
def define_current_as_zero(self, save_path="work_origin.json"):
|
||||
import json
|
||||
from datetime import datetime
|
||||
|
||||
origin = {}
|
||||
for axis in ["X", "Y", "Z"]:
|
||||
vals = self.get_status(axis)
|
||||
origin[axis.lower()] = int(vals[0]) # 第1个是步数
|
||||
with open(save_path, "w", encoding="utf-8") as f:
|
||||
json.dump({"work_origin_steps": origin, "timestamp": datetime.now().isoformat()}, f, indent=2)
|
||||
self.work_origin_steps = origin
|
||||
self.is_homed = True
|
||||
logger.info(f"✅ 零点已定义并保存至 {save_path}")
|
||||
|
||||
def _load_work_origin(self, path: str) -> bool:
|
||||
import json, os
|
||||
|
||||
if not os.path.exists(path):
|
||||
logger.warning("⚠️ 未找到软零点文件")
|
||||
return False
|
||||
with open(path, "r", encoding="utf-8") as f:
|
||||
data = json.load(f)
|
||||
self.work_origin_steps = data.get("work_origin_steps", {"x": 0, "y": 0, "z": 0})
|
||||
self.is_homed = True
|
||||
logger.info(f"📂 软零点已加载: {self.work_origin_steps}")
|
||||
return True
|
||||
|
||||
def return_to_work_origin(self, speed: int = 200, acc: int = 800):
|
||||
logger.info("🏁 回工件软零点")
|
||||
self.move_to("Z", self._to_machine_steps("Z", 0.0), speed, acc)
|
||||
self.wait_complete("Z")
|
||||
self.move_to("X", self.work_origin_steps.get("x", 0), speed, acc)
|
||||
self.move_to("Y", self.work_origin_steps.get("y", 0), speed, acc)
|
||||
self.wait_complete("X")
|
||||
self.wait_complete("Y")
|
||||
self.move_to("Z", self.work_origin_steps.get("z", 0), speed, acc)
|
||||
self.wait_complete("Z")
|
||||
logger.info("🎯 回软零点完成 ✅")
|
||||
@@ -153,7 +153,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend):
|
||||
if self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED:
|
||||
print("已有枪头，无需重复拾取")
|
||||
return
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=100)
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height,speed=100)
|
||||
# self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "pick",channels=use_channels)
|
||||
# goback()
|
||||
@@ -202,7 +202,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend):
|
||||
if self.hardware_interface.tip_status == TipStatus.NO_TIP:
|
||||
print("无枪头，无需丢弃")
|
||||
return
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z)
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
|
||||
self.hardware_interface.eject_tip
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height)
|
||||
|
||||
@@ -267,7 +267,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend):
|
||||
return
|
||||
|
||||
# 移动到吸液位置
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z)
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
|
||||
self.pipette_aspirate(volume=ops[0].volume, flow_rate=flow_rate)
|
||||
|
||||
|
||||
@@ -340,7 +340,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend):
|
||||
|
||||
|
||||
# 移动到排液位置
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z)
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
|
||||
self.pipette_dispense(volume=ops[0].volume, flow_rate=flow_rate)
|
||||
|
||||
|
||||
|
||||
@@ -128,6 +128,7 @@ class PipetteController:
|
||||
baudrate=115200
|
||||
)
|
||||
self.pipette = SOPAPipette(self.config)
|
||||
self.pipette_port = port
|
||||
self.tip_status = TipStatus.NO_TIP
|
||||
self.current_volume = 0.0
|
||||
self.max_volume = 1000.0 # 默认1000ul
|
||||
@@ -154,7 +155,7 @@ class PipetteController:
|
||||
logger.info("移液器连接成功")
|
||||
|
||||
# 连接XYZ步进电机控制器（如果提供了端口）
|
||||
if self.xyz_port:
|
||||
if self.xyz_port != self.pipette_port:
|
||||
try:
|
||||
self.xyz_controller = XYZController(self.xyz_port)
|
||||
if self.xyz_controller.connect():
|
||||
@@ -168,7 +169,12 @@ class PipetteController:
|
||||
self.xyz_controller = None
|
||||
self.xyz_connected = False
|
||||
else:
|
||||
logger.info("未配置XYZ步进电机端口，跳过运动控制器连接")
|
||||
try:
|
||||
self.xyz_controller = XYZController(self.xyz_port, auto_connect=False)
|
||||
self.xyz_controller.serial_conn = self.pipette.serial_port
|
||||
self.xyz_controller.is_connected = True
|
||||
except Exception as e:
|
||||
logger.info("未配置XYZ步进电机端口，跳过运动控制器连接")
|
||||
|
||||
return True
|
||||
except Exception as e:
|
||||
|
||||
@@ -6,6 +6,7 @@ import traceback
|
||||
from collections import Counter
|
||||
from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
|
||||
|
||||
from typing_extensions import TypedDict
|
||||
from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness
|
||||
from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
|
||||
from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend
|
||||
@@ -28,12 +29,15 @@ from pylabrobot.resources import (
|
||||
)
|
||||
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
class SimpleReturn(TypedDict):
|
||||
samples: list
|
||||
volumes: list
|
||||
|
||||
class LiquidHandlerMiddleware(LiquidHandler):
|
||||
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8, **kwargs):
|
||||
self._simulator = simulator
|
||||
self.channel_num = channel_num
|
||||
self.pending_liquids_dict = {}
|
||||
joint_config = kwargs.get("joint_config", None)
|
||||
if simulator:
|
||||
if joint_config:
|
||||
@@ -131,7 +135,9 @@ class LiquidHandlerMiddleware(LiquidHandler):
|
||||
return await self._simulate_handler.drop_tips(
|
||||
tip_spots, use_channels, offsets, allow_nonzero_volume, **backend_kwargs
|
||||
)
|
||||
return await super().drop_tips(tip_spots, use_channels, offsets, allow_nonzero_volume, **backend_kwargs)
|
||||
await super().drop_tips(tip_spots, use_channels, offsets, allow_nonzero_volume, **backend_kwargs)
|
||||
self.pending_liquids_dict = {}
|
||||
return
|
||||
|
||||
async def return_tips(
|
||||
self, use_channels: Optional[list[int]] = None, allow_nonzero_volume: bool = False, **backend_kwargs
|
||||
@@ -154,8 +160,10 @@ class LiquidHandlerMiddleware(LiquidHandler):
|
||||
offsets = [Coordinate.zero()] * len(use_channels)
|
||||
if self._simulator:
|
||||
return await self._simulate_handler.discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs)
|
||||
return await super().discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs)
|
||||
|
||||
await super().discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs)
|
||||
self.pending_liquids_dict = {}
|
||||
return
|
||||
|
||||
def _check_containers(self, resources: Sequence[Resource]):
|
||||
super()._check_containers(resources)
|
||||
|
||||
@@ -171,6 +179,8 @@ class LiquidHandlerMiddleware(LiquidHandler):
|
||||
spread: Literal["wide", "tight", "custom"] = "wide",
|
||||
**backend_kwargs,
|
||||
):
|
||||
|
||||
|
||||
if self._simulator:
|
||||
return await self._simulate_handler.aspirate(
|
||||
resources,
|
||||
@@ -183,7 +193,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
|
||||
spread,
|
||||
**backend_kwargs,
|
||||
)
|
||||
return await super().aspirate(
|
||||
await super().aspirate(
|
||||
resources,
|
||||
vols,
|
||||
use_channels,
|
||||
@@ -195,6 +205,18 @@ class LiquidHandlerMiddleware(LiquidHandler):
|
||||
**backend_kwargs,
|
||||
)
|
||||
|
||||
res_samples = []
|
||||
res_volumes = []
|
||||
for resource, volume, channel in zip(resources, vols, use_channels):
|
||||
res_samples.append({"name": resource.name, "sample_uuid": resource.unilabos_extra.get("sample_uuid", None)})
|
||||
res_volumes.append(volume)
|
||||
self.pending_liquids_dict[channel] = {
|
||||
"sample_uuid": resource.unilabos_extra.get("sample_uuid", None),
|
||||
"volume": volume
|
||||
}
|
||||
return SimpleReturn(samples=res_samples, volumes=res_volumes)
|
||||
|
||||
|
||||
async def dispense(
|
||||
self,
|
||||
resources: Sequence[Container],
|
||||
@@ -206,7 +228,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
|
||||
blow_out_air_volume: Optional[List[Optional[float]]] = None,
|
||||
spread: Literal["wide", "tight", "custom"] = "wide",
|
||||
**backend_kwargs,
|
||||
):
|
||||
) -> SimpleReturn:
|
||||
if self._simulator:
|
||||
return await self._simulate_handler.dispense(
|
||||
resources,
|
||||
@@ -219,7 +241,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
|
||||
spread,
|
||||
**backend_kwargs,
|
||||
)
|
||||
return await super().dispense(
|
||||
await super().dispense(
|
||||
resources,
|
||||
vols,
|
||||
use_channels,
|
||||
@@ -229,7 +251,17 @@ class LiquidHandlerMiddleware(LiquidHandler):
|
||||
blow_out_air_volume,
|
||||
**backend_kwargs,
|
||||
)
|
||||
res_samples = []
|
||||
res_volumes = []
|
||||
for resource, volume, channel in zip(resources, vols, use_channels):
|
||||
res_uuid = self.pending_liquids_dict[channel]["sample_uuid"]
|
||||
self.pending_liquids_dict[channel]["volume"] -= volume
|
||||
resource.unilabos_extra["sample_uuid"] = res_uuid
|
||||
res_samples.append({"name": resource.name, "sample_uuid": res_uuid})
|
||||
res_volumes.append(volume)
|
||||
|
||||
return SimpleReturn(samples=res_samples, volumes=res_volumes)
|
||||
|
||||
async def transfer(
|
||||
self,
|
||||
source: Well,
|
||||
@@ -549,25 +581,66 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
support_touch_tip = True
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8):
|
||||
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8, total_height:float = 310):
|
||||
"""Initialize a LiquidHandler.
|
||||
|
||||
Args:
|
||||
backend: Backend to use.
|
||||
deck: Deck to use.
|
||||
"""
|
||||
backend_type = None
|
||||
if isinstance(backend, dict) and "type" in backend:
|
||||
backend_dict = backend.copy()
|
||||
type_str = backend_dict.pop("type")
|
||||
try:
|
||||
# Try to get class from string using globals (current module), or fallback to pylabrobot or unilabos namespaces
|
||||
backend_cls = None
|
||||
if type_str in globals():
|
||||
backend_cls = globals()[type_str]
|
||||
else:
|
||||
# Try resolving dotted notation, e.g. "xxx.yyy.ClassName"
|
||||
components = type_str.split(".")
|
||||
mod = None
|
||||
if len(components) > 1:
|
||||
module_name = ".".join(components[:-1])
|
||||
try:
|
||||
import importlib
|
||||
mod = importlib.import_module(module_name)
|
||||
except ImportError:
|
||||
mod = None
|
||||
if mod is not None:
|
||||
backend_cls = getattr(mod, components[-1], None)
|
||||
if backend_cls is None:
|
||||
# Try pylabrobot style import (if available)
|
||||
try:
|
||||
import pylabrobot
|
||||
backend_cls = getattr(pylabrobot, type_str, None)
|
||||
except Exception:
|
||||
backend_cls = None
|
||||
if backend_cls is not None and isinstance(backend_cls, type):
|
||||
backend_type = backend_cls(**backend_dict) # pass the rest of dict as kwargs
|
||||
except Exception as exc:
|
||||
raise RuntimeError(f"Failed to convert backend type '{type_str}' to class: {exc}")
|
||||
else:
|
||||
backend_type = backend
|
||||
self._simulator = simulator
|
||||
self.group_info = dict()
|
||||
super().__init__(backend, deck, simulator, channel_num)
|
||||
super().__init__(backend_type, deck, simulator, channel_num)
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
@classmethod
|
||||
def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]):
|
||||
def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SimpleReturn:
|
||||
"""Set the liquid in a well."""
|
||||
res_samples = []
|
||||
res_volumes = []
|
||||
for well, liquid_name, volume in zip(wells, liquid_names, volumes):
|
||||
well.set_liquids([(liquid_name, volume)]) # type: ignore
|
||||
res_samples.append({"name": well.name, "sample_uuid": well.unilabos_extra.get("sample_uuid", None)})
|
||||
res_volumes.append(volume)
|
||||
|
||||
return SimpleReturn(samples=res_samples, volumes=res_volumes)
|
||||
# ---------------------------------------------------------------
|
||||
# REMOVE LIQUID --------------------------------------------------
|
||||
# ---------------------------------------------------------------
|
||||
|
||||
@@ -1,12 +1,14 @@
|
||||
import asyncio
|
||||
import collections
|
||||
from collections import OrderedDict
|
||||
import contextlib
|
||||
import json
|
||||
import os
|
||||
import socket
|
||||
import time
|
||||
import uuid
|
||||
from typing import Any, List, Dict, Optional, OrderedDict, Tuple, TypedDict, Union, Sequence, Iterator, Literal
|
||||
from typing import Any, List, Dict, Optional, Tuple, TypedDict, Union, Sequence, Iterator, Literal
|
||||
from pylabrobot.liquid_handling.standard import GripDirection
|
||||
|
||||
from pylabrobot.liquid_handling import (
|
||||
LiquidHandlerBackend,
|
||||
@@ -28,9 +30,9 @@ from pylabrobot.liquid_handling.standard import (
|
||||
ResourceMove,
|
||||
ResourceDrop,
|
||||
)
|
||||
from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, TubeRack, PlateAdapter
|
||||
from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, PlateAdapter, TubeRack
|
||||
|
||||
from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
|
||||
from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract, SimpleReturn
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
|
||||
@@ -69,7 +71,35 @@ class PRCXI9300Deck(Deck):
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float, **kwargs):
|
||||
super().__init__(name, size_x, size_y, size_z)
|
||||
self.slots = [None] * 6 # PRCXI 9300 有 6 个槽位
|
||||
class PRCXI9300Container(Plate):
|
||||
"""PRCXI 9300 的专用 Container 类，继承自 Plate，用于槽位定位和未知模块。
|
||||
|
||||
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,
|
||||
ordering: collections.OrderedDict,
|
||||
model: Optional[str] = None,
|
||||
**kwargs,
|
||||
):
|
||||
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:
|
||||
"""从给定的状态加载工作台信息。"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state)
|
||||
return data
|
||||
class PRCXI9300Plate(Plate):
|
||||
"""
|
||||
专用孔板类：
|
||||
@@ -83,11 +113,43 @@ class PRCXI9300Plate(Plate):
|
||||
model: Optional[str] = None,
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs):
|
||||
items = ordered_items if ordered_items is not None else ordering
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
ordered_items=items,
|
||||
category=category,
|
||||
model=model, **kwargs)
|
||||
# 如果 ordered_items 不为 None，直接使用
|
||||
if ordered_items is not None:
|
||||
items = ordered_items
|
||||
elif ordering is not None:
|
||||
# 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
|
||||
# 如果是字符串，说明这是位置名称，需要让 Plate 自己创建 Well 对象
|
||||
# 我们只传递位置信息（键），不传递值，使用 ordering 参数
|
||||
if ordering and isinstance(next(iter(ordering.values()), None), str):
|
||||
# ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
|
||||
# 传递 ordering 参数而不是 ordered_items，让 Plate 自己创建 Well 对象
|
||||
items = None
|
||||
# 使用 ordering 参数，只包含位置信息（键）
|
||||
ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
|
||||
else:
|
||||
# ordering 的值已经是对象，可以直接使用
|
||||
items = ordering
|
||||
ordering_param = None
|
||||
else:
|
||||
items = None
|
||||
ordering_param = None
|
||||
|
||||
# 根据情况传递不同的参数
|
||||
if items is not None:
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
ordered_items=items,
|
||||
category=category,
|
||||
model=model, **kwargs)
|
||||
elif ordering_param is not None:
|
||||
# 传递 ordering 参数，让 Plate 自己创建 Well 对象
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
ordering=ordering_param,
|
||||
category=category,
|
||||
model=model, **kwargs)
|
||||
else:
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
category=category,
|
||||
model=model, **kwargs)
|
||||
|
||||
self._unilabos_state = {}
|
||||
if material_info:
|
||||
@@ -124,8 +186,7 @@ class PRCXI9300Plate(Plate):
|
||||
safe_state[k] = v
|
||||
|
||||
data.update(safe_state)
|
||||
return data
|
||||
|
||||
return data # 其他顶层属性也进行类型检查
|
||||
class PRCXI9300TipRack(TipRack):
|
||||
""" 专用吸头盒类 """
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
@@ -135,11 +196,43 @@ class PRCXI9300TipRack(TipRack):
|
||||
model: Optional[str] = None,
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs):
|
||||
items = ordered_items if ordered_items is not None else ordering
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
ordered_items=items,
|
||||
category=category,
|
||||
model=model, **kwargs)
|
||||
# 如果 ordered_items 不为 None，直接使用
|
||||
if ordered_items is not None:
|
||||
items = ordered_items
|
||||
elif ordering is not None:
|
||||
# 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
|
||||
# 如果是字符串，说明这是位置名称，需要让 TipRack 自己创建 Tip 对象
|
||||
# 我们只传递位置信息（键），不传递值，使用 ordering 参数
|
||||
if ordering and isinstance(next(iter(ordering.values()), None), str):
|
||||
# ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
|
||||
# 传递 ordering 参数而不是 ordered_items，让 TipRack 自己创建 Tip 对象
|
||||
items = None
|
||||
# 使用 ordering 参数，只包含位置信息（键）
|
||||
ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
|
||||
else:
|
||||
# ordering 的值已经是对象，可以直接使用
|
||||
items = ordering
|
||||
ordering_param = None
|
||||
else:
|
||||
items = None
|
||||
ordering_param = None
|
||||
|
||||
# 根据情况传递不同的参数
|
||||
if items is not None:
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
ordered_items=items,
|
||||
category=category,
|
||||
model=model, **kwargs)
|
||||
elif ordering_param is not None:
|
||||
# 传递 ordering 参数，让 TipRack 自己创建 Tip 对象
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
ordering=ordering_param,
|
||||
category=category,
|
||||
model=model, **kwargs)
|
||||
else:
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
category=category,
|
||||
model=model, **kwargs)
|
||||
self._unilabos_state = {}
|
||||
if material_info:
|
||||
self._unilabos_state["Material"] = material_info
|
||||
@@ -235,16 +328,53 @@ class PRCXI9300TubeRack(TubeRack):
|
||||
category: str = "tube_rack",
|
||||
items: Optional[Dict[str, Any]] = None,
|
||||
ordered_items: Optional[OrderedDict] = None,
|
||||
ordering: Optional[OrderedDict] = None,
|
||||
model: Optional[str] = None,
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs):
|
||||
|
||||
# 兼容处理：PLR 的 TubeRack 构造函数可能接受 items 或 ordered_items
|
||||
items_to_pass = items if items is not None else ordered_items
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
ordered_items=ordered_items,
|
||||
model=model,
|
||||
**kwargs)
|
||||
# 如果 ordered_items 不为 None，直接使用
|
||||
if ordered_items is not None:
|
||||
items_to_pass = ordered_items
|
||||
ordering_param = None
|
||||
elif ordering is not None:
|
||||
# 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
|
||||
# 如果是字符串，说明这是位置名称，需要让 TubeRack 自己创建 Tube 对象
|
||||
# 我们只传递位置信息（键），不传递值，使用 ordering 参数
|
||||
if ordering and isinstance(next(iter(ordering.values()), None), str):
|
||||
# ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
|
||||
# 传递 ordering 参数而不是 ordered_items，让 TubeRack 自己创建 Tube 对象
|
||||
items_to_pass = None
|
||||
# 使用 ordering 参数，只包含位置信息（键）
|
||||
ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
|
||||
else:
|
||||
# ordering 的值已经是对象，可以直接使用
|
||||
items_to_pass = ordering
|
||||
ordering_param = None
|
||||
elif items is not None:
|
||||
# 兼容旧的 items 参数
|
||||
items_to_pass = items
|
||||
ordering_param = None
|
||||
else:
|
||||
items_to_pass = None
|
||||
ordering_param = None
|
||||
|
||||
# 根据情况传递不同的参数
|
||||
if items_to_pass is not None:
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
ordered_items=items_to_pass,
|
||||
model=model,
|
||||
**kwargs)
|
||||
elif ordering_param is not None:
|
||||
# 传递 ordering 参数，让 TubeRack 自己创建 Tube 对象
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
ordering=ordering_param,
|
||||
model=model,
|
||||
**kwargs)
|
||||
else:
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
model=model,
|
||||
**kwargs)
|
||||
|
||||
self._unilabos_state = {}
|
||||
if material_info:
|
||||
@@ -375,16 +505,12 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
tablets_info = []
|
||||
count = 0
|
||||
for child in deck.children:
|
||||
child_state = getattr(child, "_unilabos_state", {})
|
||||
if "Material" in child_state:
|
||||
count += 1
|
||||
tablets_info.append(
|
||||
WorkTablets(
|
||||
Number=count,
|
||||
Code=f"T{count}",
|
||||
Material=child_state["Material"]
|
||||
if child.children:
|
||||
if "Material" in child.children[0]._unilabos_state:
|
||||
number = int(child.name.replace("T", ""))
|
||||
tablets_info.append(
|
||||
WorkTablets(Number=number, Code=f"T{number}", Material=child.children[0]._unilabos_state["Material"])
|
||||
)
|
||||
)
|
||||
if is_9320:
|
||||
print("当前设备是9320")
|
||||
# 始终初始化 step_mode 属性
|
||||
@@ -403,7 +529,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
super().post_init(ros_node)
|
||||
self._unilabos_backend.post_init(ros_node)
|
||||
|
||||
def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]):
|
||||
def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SimpleReturn:
|
||||
return super().set_liquid(wells, liquid_names, volumes)
|
||||
|
||||
def set_group(self, group_name: str, wells: List[Well], volumes: List[float]):
|
||||
@@ -660,6 +786,37 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
async def move_to(self, well: Well, dis_to_top: float = 0, channel: int = 0):
|
||||
return await super().move_to(well, dis_to_top, channel)
|
||||
|
||||
async def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool):
|
||||
return await self._unilabos_backend.shaker_action(time, module_no, amplitude, is_wait)
|
||||
|
||||
async def heater_action(self, temperature: float, time: int):
|
||||
return await self._unilabos_backend.heater_action(temperature, time)
|
||||
async def move_plate(
|
||||
self,
|
||||
plate: Plate,
|
||||
to: Resource,
|
||||
intermediate_locations: Optional[List[Coordinate]] = None,
|
||||
pickup_offset: Coordinate = Coordinate.zero(),
|
||||
destination_offset: Coordinate = Coordinate.zero(),
|
||||
drop_direction: GripDirection = GripDirection.FRONT,
|
||||
pickup_direction: GripDirection = GripDirection.FRONT,
|
||||
pickup_distance_from_top: float = 13.2 - 3.33,
|
||||
**backend_kwargs,
|
||||
):
|
||||
|
||||
return await super().move_plate(
|
||||
plate,
|
||||
to,
|
||||
intermediate_locations,
|
||||
pickup_offset,
|
||||
destination_offset,
|
||||
drop_direction,
|
||||
pickup_direction,
|
||||
pickup_distance_from_top,
|
||||
target_plate_number = to,
|
||||
**backend_kwargs,
|
||||
)
|
||||
|
||||
class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
"""PRCXI 9300 的后端实现，继承自 LiquidHandlerBackend。
|
||||
|
||||
@@ -700,6 +857,55 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
self._num_channels = channel_num
|
||||
self._execute_setup = setup
|
||||
self.debug = debug
|
||||
self.axis = "Left"
|
||||
|
||||
async def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool):
|
||||
step = self.api_client.shaker_action(
|
||||
time=time,
|
||||
module_no=module_no,
|
||||
amplitude=amplitude,
|
||||
is_wait=is_wait,
|
||||
)
|
||||
self.steps_todo_list.append(step)
|
||||
return step
|
||||
|
||||
|
||||
async def pick_up_resource(self, pickup: ResourcePickup, **backend_kwargs):
|
||||
|
||||
resource=pickup.resource
|
||||
offset=pickup.offset
|
||||
pickup_distance_from_top=pickup.pickup_distance_from_top
|
||||
direction=pickup.direction
|
||||
|
||||
plate_number = int(resource.parent.name.replace("T", ""))
|
||||
is_whole_plate = True
|
||||
balance_height = 0
|
||||
step = self.api_client.clamp_jaw_pick_up(plate_number, is_whole_plate, balance_height)
|
||||
|
||||
self.steps_todo_list.append(step)
|
||||
return step
|
||||
|
||||
async def drop_resource(self, drop: ResourceDrop, **backend_kwargs):
|
||||
|
||||
|
||||
plate_number = None
|
||||
target_plate_number = backend_kwargs.get("target_plate_number", None)
|
||||
if target_plate_number is not None:
|
||||
plate_number = int(target_plate_number.name.replace("T", ""))
|
||||
|
||||
|
||||
is_whole_plate = True
|
||||
balance_height = 0
|
||||
if plate_number is None:
|
||||
raise ValueError("target_plate_number is required when dropping a resource")
|
||||
step = self.api_client.clamp_jaw_drop(plate_number, is_whole_plate, balance_height)
|
||||
self.steps_todo_list.append(step)
|
||||
return step
|
||||
|
||||
|
||||
async def heater_action(self, temperature: float, time: int):
|
||||
print(f"\n\nHeater action: temperature={temperature}, time={time}\n\n")
|
||||
# return await self.api_client.heater_action(temperature, time)
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
self._ros_node = ros_node
|
||||
@@ -731,7 +937,11 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
print(f"PRCXI9300Backend created solution with ID: {solution_id}")
|
||||
self.api_client.load_solution(solution_id)
|
||||
print(json.dumps(self.steps_todo_list, indent=2))
|
||||
return self.api_client.start()
|
||||
if not self.api_client.start():
|
||||
return False
|
||||
if not self.api_client.wait_for_finish():
|
||||
return False
|
||||
return True
|
||||
|
||||
@classmethod
|
||||
def check_channels(cls, use_channels: List[int]) -> List[int]:
|
||||
@@ -753,7 +963,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
# 清除错误代码
|
||||
self.api_client.clear_error_code()
|
||||
print("PRCXI9300 error code cleared.")
|
||||
|
||||
self.api_client.call("IAutomation", "Stop")
|
||||
# 执行重置
|
||||
print("Starting PRCXI9300 reset...")
|
||||
self.api_client.call("IAutomation", "Reset")
|
||||
@@ -777,12 +987,23 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
|
||||
async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int] = None):
|
||||
"""Pick up tips from the specified resource."""
|
||||
|
||||
# INSERT_YOUR_CODE
|
||||
# Ensure use_channels is converted to a list of ints if it's an array
|
||||
if hasattr(use_channels, 'tolist'):
|
||||
_use_channels = use_channels.tolist()
|
||||
else:
|
||||
_use_channels = list(use_channels) if use_channels is not None else None
|
||||
if _use_channels == [0]:
|
||||
axis = "Left"
|
||||
elif _use_channels == [1]:
|
||||
axis = "Right"
|
||||
else:
|
||||
raise ValueError("Invalid use channels: " + str(_use_channels))
|
||||
plate_indexes = []
|
||||
for op in ops:
|
||||
plate = op.resource.parent
|
||||
deck = plate.parent
|
||||
plate_index = deck.children.index(plate)
|
||||
deck = plate.parent.parent
|
||||
plate_index = deck.children.index(plate.parent)
|
||||
# print(f"Plate index: {plate_index}, Plate name: {plate.name}")
|
||||
# print(f"Number of children in deck: {len(deck.children)}")
|
||||
|
||||
@@ -807,6 +1028,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
hole_row = tipspot_index % 8 + 1
|
||||
|
||||
step = self.api_client.Load(
|
||||
axis=axis,
|
||||
dosage=0,
|
||||
plate_no=PlateNo,
|
||||
is_whole_plate=False,
|
||||
@@ -821,13 +1043,23 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
|
||||
async def drop_tips(self, ops: List[Drop], use_channels: List[int] = None):
|
||||
"""Pick up tips from the specified resource."""
|
||||
|
||||
if hasattr(use_channels, 'tolist'):
|
||||
_use_channels = use_channels.tolist()
|
||||
else:
|
||||
_use_channels = list(use_channels) if use_channels is not None else None
|
||||
if _use_channels == [0]:
|
||||
axis = "Left"
|
||||
elif _use_channels == [1]:
|
||||
axis = "Right"
|
||||
else:
|
||||
raise ValueError("Invalid use channels: " + str(_use_channels))
|
||||
# 检查trash #
|
||||
if ops[0].resource.name == "trash":
|
||||
|
||||
PlateNo = ops[0].resource.parent.children.index(ops[0].resource) + 1
|
||||
PlateNo = ops[0].resource.parent.parent.children.index(ops[0].resource.parent) + 1
|
||||
|
||||
step = self.api_client.UnLoad(
|
||||
axis=axis,
|
||||
dosage=0,
|
||||
plate_no=PlateNo,
|
||||
is_whole_plate=False,
|
||||
@@ -845,8 +1077,8 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
plate_indexes = []
|
||||
for op in ops:
|
||||
plate = op.resource.parent
|
||||
deck = plate.parent
|
||||
plate_index = deck.children.index(plate)
|
||||
deck = plate.parent.parent
|
||||
plate_index = deck.children.index(plate.parent)
|
||||
plate_indexes.append(plate_index)
|
||||
if len(set(plate_indexes)) != 1:
|
||||
raise ValueError(
|
||||
@@ -870,6 +1102,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
hole_row = tipspot_index % 8 + 1
|
||||
|
||||
step = self.api_client.UnLoad(
|
||||
axis=axis,
|
||||
dosage=0,
|
||||
plate_no=PlateNo,
|
||||
is_whole_plate=False,
|
||||
@@ -893,12 +1126,12 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
none_keys: List[str] = [],
|
||||
):
|
||||
"""Mix liquid in the specified resources."""
|
||||
|
||||
|
||||
plate_indexes = []
|
||||
for op in targets:
|
||||
deck = op.parent.parent
|
||||
deck = op.parent.parent.parent
|
||||
plate = op.parent
|
||||
plate_index = deck.children.index(plate)
|
||||
plate_index = deck.children.index(plate.parent)
|
||||
plate_indexes.append(plate_index)
|
||||
|
||||
if len(set(plate_indexes)) != 1:
|
||||
@@ -936,12 +1169,21 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
|
||||
async def aspirate(self, ops: List[SingleChannelAspiration], use_channels: List[int] = None):
|
||||
"""Aspirate liquid from the specified resources."""
|
||||
|
||||
if hasattr(use_channels, 'tolist'):
|
||||
_use_channels = use_channels.tolist()
|
||||
else:
|
||||
_use_channels = list(use_channels) if use_channels is not None else None
|
||||
if _use_channels == [0]:
|
||||
axis = "Left"
|
||||
elif _use_channels == [1]:
|
||||
axis = "Right"
|
||||
else:
|
||||
raise ValueError("Invalid use channels: " + str(_use_channels))
|
||||
plate_indexes = []
|
||||
for op in ops:
|
||||
plate = op.resource.parent
|
||||
deck = plate.parent
|
||||
plate_index = deck.children.index(plate)
|
||||
deck = plate.parent.parent
|
||||
plate_index = deck.children.index(plate.parent)
|
||||
plate_indexes.append(plate_index)
|
||||
|
||||
if len(set(plate_indexes)) != 1:
|
||||
@@ -969,6 +1211,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
hole_row = tipspot_index % 8 + 1
|
||||
|
||||
step = self.api_client.Imbibing(
|
||||
axis=axis,
|
||||
dosage=int(volumes[0]),
|
||||
plate_no=PlateNo,
|
||||
is_whole_plate=False,
|
||||
@@ -983,12 +1226,21 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
|
||||
async def dispense(self, ops: List[SingleChannelDispense], use_channels: List[int] = None):
|
||||
"""Dispense liquid into the specified resources."""
|
||||
|
||||
if hasattr(use_channels, 'tolist'):
|
||||
_use_channels = use_channels.tolist()
|
||||
else:
|
||||
_use_channels = list(use_channels) if use_channels is not None else None
|
||||
if _use_channels == [0]:
|
||||
axis = "Left"
|
||||
elif _use_channels == [1]:
|
||||
axis = "Right"
|
||||
else:
|
||||
raise ValueError("Invalid use channels: " + str(_use_channels))
|
||||
plate_indexes = []
|
||||
for op in ops:
|
||||
plate = op.resource.parent
|
||||
deck = plate.parent
|
||||
plate_index = deck.children.index(plate)
|
||||
deck = plate.parent.parent
|
||||
plate_index = deck.children.index(plate.parent)
|
||||
plate_indexes.append(plate_index)
|
||||
|
||||
if len(set(plate_indexes)) != 1:
|
||||
@@ -1017,6 +1269,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
hole_row = tipspot_index % 8 + 1
|
||||
|
||||
step = self.api_client.Tapping(
|
||||
axis=axis,
|
||||
dosage=int(volumes[0]),
|
||||
plate_no=PlateNo,
|
||||
is_whole_plate=False,
|
||||
@@ -1041,14 +1294,8 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
async def dispense96(self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]):
|
||||
raise NotImplementedError("The Opentrons backend does not support the 96 head.")
|
||||
|
||||
async def pick_up_resource(self, pickup: ResourcePickup):
|
||||
raise NotImplementedError("The Opentrons backend does not support the robotic arm.")
|
||||
|
||||
async def move_picked_up_resource(self, move: ResourceMove):
|
||||
raise NotImplementedError("The Opentrons backend does not support the robotic arm.")
|
||||
|
||||
async def drop_resource(self, drop: ResourceDrop):
|
||||
raise NotImplementedError("The Opentrons backend does not support the robotic arm.")
|
||||
pass
|
||||
|
||||
def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool:
|
||||
return True # PRCXI9300Backend does not have tip compatibility issues
|
||||
@@ -1139,6 +1386,28 @@ class PRCXI9300Api:
|
||||
def start(self) -> bool:
|
||||
return self.call("IAutomation", "Start")
|
||||
|
||||
def wait_for_finish(self) -> bool:
|
||||
success = False
|
||||
start = False
|
||||
while not success:
|
||||
status = self.step_state_list()
|
||||
if len(status) == 1:
|
||||
start = True
|
||||
if status is None:
|
||||
break
|
||||
if len(status) == 0:
|
||||
break
|
||||
if status[-1]["State"] == 2 and start:
|
||||
success = True
|
||||
elif status[-1]["State"] > 2:
|
||||
break
|
||||
elif status[-1]["State"] == 0:
|
||||
start = True
|
||||
else:
|
||||
time.sleep(1)
|
||||
return success
|
||||
|
||||
|
||||
def call(self, service: str, method: str, params: Optional[list] = None) -> Any:
|
||||
payload = json.dumps(
|
||||
{"ServiceName": service, "MethodName": method, "Paramters": params or []}, separators=(",", ":")
|
||||
@@ -1225,9 +1494,10 @@ class PRCXI9300Api:
|
||||
assist_fun4: str = "",
|
||||
assist_fun5: str = "",
|
||||
liquid_method: str = "NormalDispense",
|
||||
axis: str = "Left",
|
||||
) -> Dict[str, Any]:
|
||||
return {
|
||||
"StepAxis": self.axis,
|
||||
"StepAxis": axis,
|
||||
"Function": "Load",
|
||||
"DosageNum": dosage,
|
||||
"PlateNo": plate_no,
|
||||
@@ -1263,9 +1533,10 @@ class PRCXI9300Api:
|
||||
assist_fun4: str = "",
|
||||
assist_fun5: str = "",
|
||||
liquid_method: str = "NormalDispense",
|
||||
) -> Dict[str, Any]:
|
||||
axis: str = "Left",
|
||||
) -> Dict[str, Any]:
|
||||
return {
|
||||
"StepAxis": self.axis,
|
||||
"StepAxis": axis,
|
||||
"Function": "Imbibing",
|
||||
"DosageNum": dosage,
|
||||
"PlateNo": plate_no,
|
||||
@@ -1301,9 +1572,10 @@ class PRCXI9300Api:
|
||||
assist_fun4: str = "",
|
||||
assist_fun5: str = "",
|
||||
liquid_method: str = "NormalDispense",
|
||||
axis: str = "Left",
|
||||
) -> Dict[str, Any]:
|
||||
return {
|
||||
"StepAxis": self.axis,
|
||||
"StepAxis": axis,
|
||||
"Function": "Tapping",
|
||||
"DosageNum": dosage,
|
||||
"PlateNo": plate_no,
|
||||
@@ -1339,9 +1611,10 @@ class PRCXI9300Api:
|
||||
assist_fun4: str = "",
|
||||
assist_fun5: str = "",
|
||||
liquid_method: str = "NormalDispense",
|
||||
) -> Dict[str, Any]:
|
||||
axis: str = "Left",
|
||||
) -> Dict[str, Any]:
|
||||
return {
|
||||
"StepAxis": self.axis,
|
||||
"StepAxis": axis,
|
||||
"Function": "Blending",
|
||||
"DosageNum": dosage,
|
||||
"PlateNo": plate_no,
|
||||
@@ -1377,9 +1650,10 @@ class PRCXI9300Api:
|
||||
assist_fun4: str = "",
|
||||
assist_fun5: str = "",
|
||||
liquid_method: str = "NormalDispense",
|
||||
axis: str = "Left",
|
||||
) -> Dict[str, Any]:
|
||||
return {
|
||||
"StepAxis": self.axis,
|
||||
"StepAxis": axis,
|
||||
"Function": "UnLoad",
|
||||
"DosageNum": dosage,
|
||||
"PlateNo": plate_no,
|
||||
@@ -1398,6 +1672,50 @@ class PRCXI9300Api:
|
||||
"LiquidDispensingMethod": liquid_method,
|
||||
}
|
||||
|
||||
def clamp_jaw_pick_up(self,
|
||||
plate_no: int,
|
||||
is_whole_plate: bool,
|
||||
balance_height: int,
|
||||
|
||||
) -> Dict[str, Any]:
|
||||
return {
|
||||
"StepAxis": "ClampingJaw",
|
||||
"Function": "DefectiveLift",
|
||||
"PlateNo": plate_no,
|
||||
"IsWholePlate": is_whole_plate,
|
||||
"HoleRow": 1,
|
||||
"HoleCol": 1,
|
||||
"BalanceHeight": balance_height,
|
||||
"PlateOrHoleNum": f"T{plate_no}"
|
||||
}
|
||||
|
||||
def clamp_jaw_drop(
|
||||
self,
|
||||
plate_no: int,
|
||||
is_whole_plate: bool,
|
||||
balance_height: int,
|
||||
|
||||
) -> Dict[str, Any]:
|
||||
return {
|
||||
"StepAxis": "ClampingJaw",
|
||||
"Function": "PutDown",
|
||||
"PlateNo": plate_no,
|
||||
"IsWholePlate": is_whole_plate,
|
||||
"HoleRow": 1,
|
||||
"HoleCol": 1,
|
||||
"BalanceHeight": balance_height,
|
||||
"PlateOrHoleNum": f"T{plate_no}"
|
||||
}
|
||||
|
||||
def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool):
|
||||
return {
|
||||
"StepAxis": "Left",
|
||||
"Function": "Shaking",
|
||||
"AssistFun1": time,
|
||||
"AssistFun2": module_no,
|
||||
"AssistFun3": amplitude,
|
||||
"AssistFun4": is_wait,
|
||||
}
|
||||
|
||||
class DefaultLayout:
|
||||
|
||||
|
||||
@@ -174,6 +174,35 @@ bioyond_dispensing_station:
|
||||
title: query_resource_by_name参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-transfer_materials_to_reaction_station:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
target_device_id: null
|
||||
transfer_groups: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
target_device_id:
|
||||
type: string
|
||||
transfer_groups:
|
||||
type: array
|
||||
required:
|
||||
- target_device_id
|
||||
- transfer_groups
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: transfer_materials_to_reaction_station参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-workflow_sample_locations:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -591,56 +620,6 @@ bioyond_dispensing_station:
|
||||
title: DispenStationSolnPrep
|
||||
type: object
|
||||
type: DispenStationSolnPrep
|
||||
transfer_materials_to_reaction_station:
|
||||
feedback: {}
|
||||
goal:
|
||||
target_device_id: target_device_id
|
||||
transfer_groups: transfer_groups
|
||||
goal_default:
|
||||
target_device_id: ''
|
||||
transfer_groups: ''
|
||||
handles: {}
|
||||
placeholder_keys:
|
||||
target_device_id: unilabos_devices
|
||||
result: {}
|
||||
schema:
|
||||
description: 将配液站完成的物料（溶液、样品等）转移到指定反应站的堆栈库位。支持配置多组转移任务，每组包含物料名称、目标堆栈和目标库位。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
target_device_id:
|
||||
description: 目标反应站设备ID（从设备列表中选择，所有转移组都使用同一个目标设备）
|
||||
type: string
|
||||
transfer_groups:
|
||||
description: 转移任务组列表，每组包含物料名称、目标堆栈和目标库位，可以添加多组
|
||||
items:
|
||||
properties:
|
||||
materials:
|
||||
description: 物料名称（手动输入，系统将通过RPC查询验证）
|
||||
type: string
|
||||
target_sites:
|
||||
description: 目标库位（手动输入，如"A01"）
|
||||
type: string
|
||||
target_stack:
|
||||
description: 目标堆栈名称（手动输入，如"堆栈1左"）
|
||||
type: string
|
||||
required:
|
||||
- materials
|
||||
- target_stack
|
||||
- target_sites
|
||||
type: object
|
||||
type: array
|
||||
required:
|
||||
- target_device_id
|
||||
- transfer_groups
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: transfer_materials_to_reaction_station参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
wait_for_multiple_orders_and_get_reports:
|
||||
feedback: {}
|
||||
goal:
|
||||
|
||||
@@ -9,6 +9,7 @@ cameracontroller_device:
|
||||
goal_default:
|
||||
config: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -31,6 +32,7 @@ cameracontroller_device:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
|
||||
@@ -4,6 +4,73 @@ separator.chinwe:
|
||||
- chinwe
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-connect:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: connect参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-disconnect:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: disconnect参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-execute_command_from_outer:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command_dict: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
command_dict:
|
||||
type: object
|
||||
required:
|
||||
- command_dict
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: execute_command_from_outer参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
motor_rotate_quarter:
|
||||
goal:
|
||||
direction: 顺时针
|
||||
@@ -303,42 +370,44 @@ separator.chinwe:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
goal:
|
||||
baudrate:
|
||||
default: 9600
|
||||
description: 串口波特率
|
||||
type: integer
|
||||
motor_ids:
|
||||
default:
|
||||
- 4
|
||||
- 5
|
||||
description: 步进电机ID列表
|
||||
items:
|
||||
config:
|
||||
properties:
|
||||
baudrate:
|
||||
default: 9600
|
||||
type: integer
|
||||
type: array
|
||||
port:
|
||||
default: 192.168.1.200:8899
|
||||
description: 串口号或 IP:Port
|
||||
type: string
|
||||
pump_ids:
|
||||
default:
|
||||
- 1
|
||||
- 2
|
||||
- 3
|
||||
description: 注射泵ID列表
|
||||
items:
|
||||
motor_ids:
|
||||
items:
|
||||
type: integer
|
||||
type: array
|
||||
port:
|
||||
default: 192.168.1.200:8899
|
||||
type: string
|
||||
pump_ids:
|
||||
items:
|
||||
type: integer
|
||||
type: array
|
||||
sensor_id:
|
||||
default: 6
|
||||
type: integer
|
||||
type: array
|
||||
sensor_id:
|
||||
default: 6
|
||||
description: XKC传感器ID
|
||||
type: integer
|
||||
sensor_threshold:
|
||||
default: 300
|
||||
description: 传感器液位判定阈值
|
||||
type: integer
|
||||
timeout:
|
||||
default: 10
|
||||
description: 通信超时时间 (秒)
|
||||
type: integer
|
||||
sensor_threshold:
|
||||
default: 300
|
||||
type: integer
|
||||
timeout:
|
||||
default: 10.0
|
||||
type: number
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
is_connected:
|
||||
type: boolean
|
||||
sensor_level:
|
||||
type: boolean
|
||||
sensor_rssi:
|
||||
type: integer
|
||||
required:
|
||||
- sensor_level
|
||||
- sensor_rssi
|
||||
- is_connected
|
||||
type: object
|
||||
version: 2.1.0
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -3,11 +3,11 @@ xyz_stepper_controller:
|
||||
- laiyu_liquid_test
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-define_current_as_zero:
|
||||
auto-degrees_to_steps:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
save_path: work_origin.json
|
||||
degrees: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
@@ -17,23 +17,22 @@ xyz_stepper_controller:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
save_path:
|
||||
default: work_origin.json
|
||||
type: string
|
||||
required: []
|
||||
degrees:
|
||||
type: number
|
||||
required:
|
||||
- degrees
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: define_current_as_zero参数
|
||||
title: degrees_to_steps参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-enable:
|
||||
auto-emergency_stop:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
axis: null
|
||||
state: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
@@ -44,27 +43,415 @@ xyz_stepper_controller:
|
||||
goal:
|
||||
properties:
|
||||
axis:
|
||||
type: string
|
||||
state:
|
||||
type: boolean
|
||||
type: object
|
||||
required:
|
||||
- axis
|
||||
- state
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: enable参数
|
||||
title: emergency_stop参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_to:
|
||||
auto-enable_all_axes:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
enable: true
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
enable:
|
||||
default: true
|
||||
type: boolean
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: enable_all_axes参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-enable_motor:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
acc: 500
|
||||
axis: null
|
||||
precision: 50
|
||||
speed: 2000
|
||||
enable: true
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
axis:
|
||||
type: object
|
||||
enable:
|
||||
default: true
|
||||
type: boolean
|
||||
required:
|
||||
- axis
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: enable_motor参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-home_all_axes:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: home_all_axes参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-home_axis:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
axis: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
axis:
|
||||
type: object
|
||||
required:
|
||||
- axis
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: home_axis参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_to_position:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
acceleration: 1000
|
||||
axis: null
|
||||
position: null
|
||||
precision: 100
|
||||
speed: 5000
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
acceleration:
|
||||
default: 1000
|
||||
type: integer
|
||||
axis:
|
||||
type: object
|
||||
position:
|
||||
type: integer
|
||||
precision:
|
||||
default: 100
|
||||
type: integer
|
||||
speed:
|
||||
default: 5000
|
||||
type: integer
|
||||
required:
|
||||
- axis
|
||||
- position
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_to_position参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_to_position_degrees:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
acceleration: 1000
|
||||
axis: null
|
||||
degrees: null
|
||||
precision: 100
|
||||
speed: 5000
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
acceleration:
|
||||
default: 1000
|
||||
type: integer
|
||||
axis:
|
||||
type: object
|
||||
degrees:
|
||||
type: number
|
||||
precision:
|
||||
default: 100
|
||||
type: integer
|
||||
speed:
|
||||
default: 5000
|
||||
type: integer
|
||||
required:
|
||||
- axis
|
||||
- degrees
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_to_position_degrees参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_to_position_revolutions:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
acceleration: 1000
|
||||
axis: null
|
||||
precision: 100
|
||||
revolutions: null
|
||||
speed: 5000
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
acceleration:
|
||||
default: 1000
|
||||
type: integer
|
||||
axis:
|
||||
type: object
|
||||
precision:
|
||||
default: 100
|
||||
type: integer
|
||||
revolutions:
|
||||
type: number
|
||||
speed:
|
||||
default: 5000
|
||||
type: integer
|
||||
required:
|
||||
- axis
|
||||
- revolutions
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_to_position_revolutions参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_xyz:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
acceleration: 1000
|
||||
speed: 5000
|
||||
x: null
|
||||
y: null
|
||||
z: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
acceleration:
|
||||
default: 1000
|
||||
type: integer
|
||||
speed:
|
||||
default: 5000
|
||||
type: integer
|
||||
x:
|
||||
type: string
|
||||
y:
|
||||
type: string
|
||||
z:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_xyz参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_xyz_degrees:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
acceleration: 1000
|
||||
speed: 5000
|
||||
x_deg: null
|
||||
y_deg: null
|
||||
z_deg: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
acceleration:
|
||||
default: 1000
|
||||
type: integer
|
||||
speed:
|
||||
default: 5000
|
||||
type: integer
|
||||
x_deg:
|
||||
type: string
|
||||
y_deg:
|
||||
type: string
|
||||
z_deg:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_xyz_degrees参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_xyz_revolutions:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
acceleration: 1000
|
||||
speed: 5000
|
||||
x_rev: null
|
||||
y_rev: null
|
||||
z_rev: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
acceleration:
|
||||
default: 1000
|
||||
type: integer
|
||||
speed:
|
||||
default: 5000
|
||||
type: integer
|
||||
x_rev:
|
||||
type: string
|
||||
y_rev:
|
||||
type: string
|
||||
z_rev:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_xyz_revolutions参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-revolutions_to_steps:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
revolutions: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
revolutions:
|
||||
type: number
|
||||
required:
|
||||
- revolutions
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: revolutions_to_steps参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_speed_mode:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
acceleration: 1000
|
||||
axis: null
|
||||
speed: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
acceleration:
|
||||
default: 1000
|
||||
type: integer
|
||||
axis:
|
||||
type: object
|
||||
speed:
|
||||
type: integer
|
||||
required:
|
||||
- axis
|
||||
- speed
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_speed_mode参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-steps_to_degrees:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
steps: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
@@ -75,38 +462,22 @@ xyz_stepper_controller:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
acc:
|
||||
default: 500
|
||||
type: integer
|
||||
axis:
|
||||
type: string
|
||||
precision:
|
||||
default: 50
|
||||
type: integer
|
||||
speed:
|
||||
default: 2000
|
||||
type: integer
|
||||
steps:
|
||||
type: integer
|
||||
required:
|
||||
- axis
|
||||
- steps
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_to参数
|
||||
title: steps_to_degrees参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_xyz_work:
|
||||
auto-steps_to_revolutions:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
acc: 1500
|
||||
speed: 100
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
steps: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
@@ -116,35 +487,21 @@ xyz_stepper_controller:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
acc:
|
||||
default: 1500
|
||||
steps:
|
||||
type: integer
|
||||
speed:
|
||||
default: 100
|
||||
type: integer
|
||||
x:
|
||||
default: 0.0
|
||||
type: number
|
||||
y:
|
||||
default: 0.0
|
||||
type: number
|
||||
z:
|
||||
default: 0.0
|
||||
type: number
|
||||
required: []
|
||||
required:
|
||||
- steps
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_xyz_work参数
|
||||
title: steps_to_revolutions参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-return_to_work_origin:
|
||||
auto-stop_all_axes:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
acc: 800
|
||||
speed: 200
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
@@ -153,22 +510,16 @@ xyz_stepper_controller:
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
acc:
|
||||
default: 800
|
||||
type: integer
|
||||
speed:
|
||||
default: 200
|
||||
type: integer
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: return_to_work_origin参数
|
||||
title: stop_all_axes参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_complete:
|
||||
auto-wait_for_completion:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
@@ -184,22 +535,23 @@ xyz_stepper_controller:
|
||||
goal:
|
||||
properties:
|
||||
axis:
|
||||
type: string
|
||||
type: object
|
||||
timeout:
|
||||
default: 30.0
|
||||
type: string
|
||||
type: number
|
||||
required:
|
||||
- axis
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_complete参数
|
||||
title: wait_for_completion参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.laiyu_liquid_test.xyz_stepper_driver:XYZStepperController
|
||||
module: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:XYZStepperController
|
||||
status_types:
|
||||
status: list
|
||||
all_positions: dict
|
||||
motor_status: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:MotorPosition
|
||||
type: python
|
||||
config_info: []
|
||||
description: 新XYZ控制器
|
||||
@@ -210,23 +562,24 @@ xyz_stepper_controller:
|
||||
properties:
|
||||
baudrate:
|
||||
default: 115200
|
||||
type: string
|
||||
client:
|
||||
type: string
|
||||
origin_path:
|
||||
default: unilabos/devices/laiyu_liquid_test/work_origin.json
|
||||
type: string
|
||||
type: integer
|
||||
port:
|
||||
default: /dev/ttyUSB0
|
||||
type: string
|
||||
required: []
|
||||
timeout:
|
||||
default: 1.0
|
||||
type: number
|
||||
required:
|
||||
- port
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
status:
|
||||
type: array
|
||||
all_positions:
|
||||
type: object
|
||||
motor_status:
|
||||
type: object
|
||||
required:
|
||||
- status
|
||||
- motor_status
|
||||
- all_positions
|
||||
type: object
|
||||
registry_type: device
|
||||
version: 1.0.0
|
||||
|
||||
@@ -4497,6 +4497,9 @@ liquid_handler:
|
||||
simulator:
|
||||
default: false
|
||||
type: boolean
|
||||
total_height:
|
||||
default: 310
|
||||
type: number
|
||||
required:
|
||||
- backend
|
||||
- deck
|
||||
@@ -7547,6 +7550,35 @@ liquid_handler.prcxi:
|
||||
title: custom_delay参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-heater_action:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
temperature: null
|
||||
time: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
temperature:
|
||||
type: number
|
||||
time:
|
||||
type: integer
|
||||
required:
|
||||
- temperature
|
||||
- time
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: heater_action参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-iter_tips:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -7688,6 +7720,43 @@ liquid_handler.prcxi:
|
||||
title: set_group参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-shaker_action:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
amplitude: null
|
||||
is_wait: null
|
||||
module_no: null
|
||||
time: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
amplitude:
|
||||
type: integer
|
||||
is_wait:
|
||||
type: boolean
|
||||
module_no:
|
||||
type: integer
|
||||
time:
|
||||
type: integer
|
||||
required:
|
||||
- time
|
||||
- module_no
|
||||
- amplitude
|
||||
- is_wait
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: shaker_action参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-touch_tip:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -8347,6 +8416,341 @@ liquid_handler.prcxi:
|
||||
title: LiquidHandlerMix
|
||||
type: object
|
||||
type: LiquidHandlerMix
|
||||
move_plate:
|
||||
feedback: {}
|
||||
goal:
|
||||
destination_offset: destination_offset
|
||||
drop_direction: drop_direction
|
||||
get_direction: get_direction
|
||||
intermediate_locations: intermediate_locations
|
||||
pickup_direction: pickup_direction
|
||||
pickup_offset: pickup_offset
|
||||
plate: plate
|
||||
put_direction: put_direction
|
||||
resource_offset: resource_offset
|
||||
to: to
|
||||
goal_default:
|
||||
destination_offset:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
drop_direction: ''
|
||||
get_direction: ''
|
||||
intermediate_locations:
|
||||
- x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
pickup_direction: ''
|
||||
pickup_distance_from_top: 0.0
|
||||
pickup_offset:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
plate:
|
||||
category: ''
|
||||
children: []
|
||||
config: ''
|
||||
data: ''
|
||||
id: ''
|
||||
name: ''
|
||||
parent: ''
|
||||
pose:
|
||||
orientation:
|
||||
w: 1.0
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
position:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
put_direction: ''
|
||||
resource_offset:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
to:
|
||||
category: ''
|
||||
children: []
|
||||
config: ''
|
||||
data: ''
|
||||
id: ''
|
||||
name: ''
|
||||
parent: ''
|
||||
pose:
|
||||
orientation:
|
||||
w: 1.0
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
position:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: {}
|
||||
placeholder_keys:
|
||||
plate: unilabos_resources
|
||||
to: unilabos_resources
|
||||
result:
|
||||
name: name
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: LiquidHandlerMovePlate_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
destination_offset:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: destination_offset
|
||||
type: object
|
||||
drop_direction:
|
||||
type: string
|
||||
get_direction:
|
||||
type: string
|
||||
intermediate_locations:
|
||||
items:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: intermediate_locations
|
||||
type: object
|
||||
type: array
|
||||
pickup_direction:
|
||||
type: string
|
||||
pickup_distance_from_top:
|
||||
type: number
|
||||
pickup_offset:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: pickup_offset
|
||||
type: object
|
||||
plate:
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
children:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
config:
|
||||
type: string
|
||||
data:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
name:
|
||||
type: string
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
type:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- name
|
||||
- sample_id
|
||||
- children
|
||||
- parent
|
||||
- type
|
||||
- category
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: plate
|
||||
type: object
|
||||
put_direction:
|
||||
type: string
|
||||
resource_offset:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: resource_offset
|
||||
type: object
|
||||
to:
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
children:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
config:
|
||||
type: string
|
||||
data:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
name:
|
||||
type: string
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
type:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- name
|
||||
- sample_id
|
||||
- children
|
||||
- parent
|
||||
- type
|
||||
- category
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: to
|
||||
type: object
|
||||
required:
|
||||
- plate
|
||||
- to
|
||||
- intermediate_locations
|
||||
- resource_offset
|
||||
- pickup_offset
|
||||
- destination_offset
|
||||
- pickup_direction
|
||||
- drop_direction
|
||||
- get_direction
|
||||
- put_direction
|
||||
- pickup_distance_from_top
|
||||
title: LiquidHandlerMovePlate_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: LiquidHandlerMovePlate_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: LiquidHandlerMovePlate
|
||||
type: object
|
||||
type: LiquidHandlerMovePlate
|
||||
pick_up_tips:
|
||||
feedback: {}
|
||||
goal:
|
||||
|
||||
@@ -5,6 +5,73 @@ neware_battery_test_system:
|
||||
- battery_test
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: string
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-print_status_summary:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: print_status_summary参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-test_connection:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: test_connection参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
debug_resource_names:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -407,6 +474,8 @@ neware_battery_test_system:
|
||||
status_types:
|
||||
channel_status: dict
|
||||
connection_info: dict
|
||||
device_summary: dict
|
||||
plate_status: dict
|
||||
status: str
|
||||
total_channels: int
|
||||
type: python
|
||||
@@ -418,36 +487,30 @@ neware_battery_test_system:
|
||||
config:
|
||||
properties:
|
||||
devtype:
|
||||
default: '27'
|
||||
type: string
|
||||
ip:
|
||||
default: 127.0.0.1
|
||||
type: string
|
||||
machine_id:
|
||||
default: 1
|
||||
type: integer
|
||||
oss_prefix:
|
||||
default: neware_backup
|
||||
description: OSS对象路径前缀
|
||||
type: string
|
||||
oss_upload_enabled:
|
||||
default: false
|
||||
description: 是否启用OSS上传功能
|
||||
type: boolean
|
||||
port:
|
||||
default: 502
|
||||
type: integer
|
||||
size_x:
|
||||
default: 500.0
|
||||
default: 50
|
||||
type: number
|
||||
size_y:
|
||||
default: 500.0
|
||||
default: 50
|
||||
type: number
|
||||
size_z:
|
||||
default: 2000.0
|
||||
default: 20
|
||||
type: number
|
||||
timeout:
|
||||
default: 20
|
||||
type: integer
|
||||
required: []
|
||||
type: object
|
||||
@@ -459,6 +522,8 @@ neware_battery_test_system:
|
||||
type: object
|
||||
device_summary:
|
||||
type: object
|
||||
plate_status:
|
||||
type: object
|
||||
status:
|
||||
type: string
|
||||
total_channels:
|
||||
@@ -468,6 +533,7 @@ neware_battery_test_system:
|
||||
- channel_status
|
||||
- connection_info
|
||||
- total_channels
|
||||
- plate_status
|
||||
- device_summary
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
@@ -49,7 +49,32 @@ opcua_example:
|
||||
title: load_config参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-refresh_node_values:
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: string
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-print_cache_stats:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
@@ -67,7 +92,32 @@ opcua_example:
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: refresh_node_values参数
|
||||
title: print_cache_stats参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-read_node:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
node_name: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
node_name:
|
||||
type: string
|
||||
required:
|
||||
- node_name
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: read_node参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_node_value:
|
||||
@@ -99,50 +149,9 @@ opcua_example:
|
||||
title: set_node_value参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-start_node_refresh:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: start_node_refresh参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-stop_node_refresh:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: stop_node_refresh参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.device_comms.opcua_client.client:OpcUaClient
|
||||
status_types:
|
||||
cache_stats: dict
|
||||
node_value: String
|
||||
type: python
|
||||
config_info: []
|
||||
@@ -152,15 +161,23 @@ opcua_example:
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
cache_timeout:
|
||||
default: 5.0
|
||||
type: number
|
||||
config_path:
|
||||
type: string
|
||||
deck:
|
||||
type: string
|
||||
password:
|
||||
type: string
|
||||
refresh_interval:
|
||||
default: 1.0
|
||||
type: number
|
||||
subscription_interval:
|
||||
default: 500
|
||||
type: integer
|
||||
url:
|
||||
type: string
|
||||
use_subscription:
|
||||
default: true
|
||||
type: boolean
|
||||
username:
|
||||
type: string
|
||||
required:
|
||||
@@ -168,9 +185,12 @@ opcua_example:
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
cache_stats:
|
||||
type: object
|
||||
node_value:
|
||||
type: string
|
||||
required:
|
||||
- node_value
|
||||
- cache_stats
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
@@ -3,6 +3,106 @@ post_process_station:
|
||||
- post_process_station
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-load_config:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
config_path: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
config_path:
|
||||
type: string
|
||||
required:
|
||||
- config_path
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: load_config参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: string
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-print_cache_stats:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: print_cache_stats参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_node_value:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
name: null
|
||||
value: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
name:
|
||||
type: string
|
||||
value:
|
||||
type: string
|
||||
required:
|
||||
- name
|
||||
- value
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_node_value参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
disconnect:
|
||||
feedback: {}
|
||||
goal:
|
||||
@@ -602,29 +702,46 @@ post_process_station:
|
||||
type: SendCmd
|
||||
module: unilabos.devices.workstation.post_process.post_process:OpcUaClient
|
||||
status_types:
|
||||
acetone_tank_empty_alarm: Bool
|
||||
atomization_fast_speed: Float64
|
||||
atomization_pressure_kpa: Int32
|
||||
cleaning_complete: Bool
|
||||
device_ready: Bool
|
||||
door_open_alarm: Bool
|
||||
grab_complete: Bool
|
||||
grab_trigger: Bool
|
||||
injection_pump_push_speed: Int32
|
||||
injection_pump_suction_speed: Int32
|
||||
nmp_tank_empty_alarm: Bool
|
||||
post_process_complete: Bool
|
||||
post_process_trigger: Bool
|
||||
raw_tank_number: Int32
|
||||
reaction_tank_number: Int32
|
||||
remote_mode: Bool
|
||||
wash_slow_speed: Float64
|
||||
waste_tank_full_alarm: Bool
|
||||
water_tank_empty_alarm: Bool
|
||||
cache_stats: dict
|
||||
node_value: String
|
||||
type: python
|
||||
config_info: []
|
||||
description: 后处理站
|
||||
handles: []
|
||||
icon: post_process_station.webp
|
||||
init_param_schema: {}
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
cache_timeout:
|
||||
default: 5.0
|
||||
type: number
|
||||
config_path:
|
||||
type: string
|
||||
deck:
|
||||
type: string
|
||||
password:
|
||||
type: string
|
||||
subscription_interval:
|
||||
default: 500
|
||||
type: integer
|
||||
url:
|
||||
type: string
|
||||
use_subscription:
|
||||
default: true
|
||||
type: boolean
|
||||
username:
|
||||
type: string
|
||||
required:
|
||||
- url
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
cache_stats:
|
||||
type: object
|
||||
node_value:
|
||||
type: string
|
||||
required:
|
||||
- node_value
|
||||
- cache_stats
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
@@ -10,7 +10,6 @@ POST_PROCESS_Raw_1BottleCarrier:
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
POST_PROCESS_Reaction_1BottleCarrier:
|
||||
category:
|
||||
- bottle_carriers
|
||||
|
||||
@@ -8,4 +8,3 @@ POST_PROCESS_PolymerStation_Reagent_Bottle:
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
post_process_deck:
|
||||
category:
|
||||
- post_process_deck
|
||||
- deck
|
||||
class:
|
||||
module: unilabos.devices.workstation.post_process.decks:post_process_deck
|
||||
type: pylabrobot
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
PRCXI_30mm_Adapter:
|
||||
category:
|
||||
category:
|
||||
- prcxi
|
||||
- plate_adapters
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_30mm_Adapter
|
||||
type: pylabrobot
|
||||
@@ -11,8 +12,9 @@ PRCXI_30mm_Adapter:
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_Adapter:
|
||||
category:
|
||||
- prcxi
|
||||
category:
|
||||
- prcxi
|
||||
- plate_adapters
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Adapter
|
||||
type: pylabrobot
|
||||
@@ -23,8 +25,9 @@ PRCXI_Adapter:
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_Deep10_Adapter:
|
||||
category:
|
||||
category:
|
||||
- prcxi
|
||||
- plate_adapters
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Deep10_Adapter
|
||||
type: pylabrobot
|
||||
@@ -35,8 +38,9 @@ PRCXI_Deep10_Adapter:
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_Deep300_Adapter:
|
||||
category:
|
||||
category:
|
||||
- prcxi
|
||||
- plate_adapters
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Deep300_Adapter
|
||||
type: pylabrobot
|
||||
@@ -47,8 +51,9 @@ PRCXI_Deep300_Adapter:
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_PCR_Adapter:
|
||||
category:
|
||||
category:
|
||||
- prcxi
|
||||
- plate_adapters
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Adapter
|
||||
type: pylabrobot
|
||||
@@ -59,8 +64,9 @@ PRCXI_PCR_Adapter:
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_Reservoir_Adapter:
|
||||
category:
|
||||
category:
|
||||
- prcxi
|
||||
- plate_adapters
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Reservoir_Adapter
|
||||
type: pylabrobot
|
||||
@@ -73,6 +79,7 @@ PRCXI_Reservoir_Adapter:
|
||||
PRCXI_Tip10_Adapter:
|
||||
category:
|
||||
- prcxi
|
||||
- plate_adapters
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip10_Adapter
|
||||
type: pylabrobot
|
||||
@@ -85,6 +92,7 @@ PRCXI_Tip10_Adapter:
|
||||
PRCXI_Tip1250_Adapter:
|
||||
category:
|
||||
- prcxi
|
||||
- plate_adapters
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip1250_Adapter
|
||||
type: pylabrobot
|
||||
@@ -97,6 +105,7 @@ PRCXI_Tip1250_Adapter:
|
||||
PRCXI_Tip300_Adapter:
|
||||
category:
|
||||
- prcxi
|
||||
- plate_adapters
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip300_Adapter
|
||||
type: pylabrobot
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
PRCXI_48_DeepWell:
|
||||
category:
|
||||
category:
|
||||
- prcxi
|
||||
- plates
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_48_DeepWell
|
||||
type: pylabrobot
|
||||
@@ -11,8 +12,9 @@ PRCXI_48_DeepWell:
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_96_DeepWell:
|
||||
category:
|
||||
category:
|
||||
- prcxi
|
||||
- plates
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_96_DeepWell
|
||||
type: pylabrobot
|
||||
@@ -23,8 +25,9 @@ PRCXI_96_DeepWell:
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_AGenBio_4_troughplate:
|
||||
category:
|
||||
category:
|
||||
- prcxi
|
||||
- plates
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_AGenBio_4_troughplate
|
||||
type: pylabrobot
|
||||
@@ -35,8 +38,9 @@ PRCXI_AGenBio_4_troughplate:
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_BioER_96_wellplate:
|
||||
category:
|
||||
category:
|
||||
- prcxi
|
||||
- plates
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_BioER_96_wellplate
|
||||
type: pylabrobot
|
||||
@@ -47,8 +51,9 @@ PRCXI_BioER_96_wellplate:
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_BioRad_384_wellplate:
|
||||
category:
|
||||
category:
|
||||
- prcxi
|
||||
- plates
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_BioRad_384_wellplate
|
||||
type: pylabrobot
|
||||
@@ -59,8 +64,9 @@ PRCXI_BioRad_384_wellplate:
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_CellTreat_96_wellplate:
|
||||
category:
|
||||
category:
|
||||
- prcxi
|
||||
- plates
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_CellTreat_96_wellplate
|
||||
type: pylabrobot
|
||||
@@ -71,8 +77,9 @@ PRCXI_CellTreat_96_wellplate:
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_PCR_Plate_200uL_nonskirted:
|
||||
category:
|
||||
category:
|
||||
- prcxi
|
||||
- plates
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_nonskirted
|
||||
type: pylabrobot
|
||||
@@ -83,8 +90,9 @@ PRCXI_PCR_Plate_200uL_nonskirted:
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_PCR_Plate_200uL_semiskirted:
|
||||
category:
|
||||
category:
|
||||
- prcxi
|
||||
- plates
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_semiskirted
|
||||
type: pylabrobot
|
||||
@@ -95,8 +103,9 @@ PRCXI_PCR_Plate_200uL_semiskirted:
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_PCR_Plate_200uL_skirted:
|
||||
category:
|
||||
category:
|
||||
- prcxi
|
||||
- plates
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_skirted
|
||||
type: pylabrobot
|
||||
@@ -107,8 +116,9 @@ PRCXI_PCR_Plate_200uL_skirted:
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_nest_12_troughplate:
|
||||
category:
|
||||
category:
|
||||
- prcxi
|
||||
- plates
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_nest_12_troughplate
|
||||
type: pylabrobot
|
||||
@@ -119,8 +129,9 @@ PRCXI_nest_12_troughplate:
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_nest_1_troughplate:
|
||||
category:
|
||||
category:
|
||||
- prcxi
|
||||
- plates
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_nest_1_troughplate
|
||||
type: pylabrobot
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
PRCXI_1000uL_Tips:
|
||||
category:
|
||||
category:
|
||||
- prcxi
|
||||
- tip_racks
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_1000uL_Tips
|
||||
type: pylabrobot
|
||||
@@ -11,8 +12,9 @@ PRCXI_1000uL_Tips:
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_10uL_Tips:
|
||||
category:
|
||||
category:
|
||||
- prcxi
|
||||
- tip_racks
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_10uL_Tips
|
||||
type: pylabrobot
|
||||
@@ -23,8 +25,9 @@ PRCXI_10uL_Tips:
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_10ul_eTips:
|
||||
category:
|
||||
category:
|
||||
- prcxi
|
||||
- tip_racks
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_10ul_eTips
|
||||
type: pylabrobot
|
||||
@@ -35,8 +38,9 @@ PRCXI_10ul_eTips:
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_1250uL_Tips:
|
||||
category:
|
||||
category:
|
||||
- prcxi
|
||||
- tip_racks
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_1250uL_Tips
|
||||
type: pylabrobot
|
||||
@@ -47,8 +51,9 @@ PRCXI_1250uL_Tips:
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_200uL_Tips:
|
||||
category:
|
||||
category:
|
||||
- prcxi
|
||||
- tip_racks
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_200uL_Tips
|
||||
type: pylabrobot
|
||||
@@ -59,8 +64,9 @@ PRCXI_200uL_Tips:
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_300ul_Tips:
|
||||
category:
|
||||
category:
|
||||
- prcxi
|
||||
- tip_racks
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_300ul_Tips
|
||||
type: pylabrobot
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
PRCXI_trash:
|
||||
category:
|
||||
category:
|
||||
- prcxi
|
||||
- trash
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_trash
|
||||
type: pylabrobot
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
PRCXI_EP_Adapter:
|
||||
category:
|
||||
category:
|
||||
- prcxi
|
||||
- tube_racks
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_EP_Adapter
|
||||
type: pylabrobot
|
||||
|
||||
@@ -21,6 +21,7 @@ from rclpy.callback_groups import ReentrantCallbackGroup
|
||||
from rclpy.service import Service
|
||||
from unilabos_msgs.action import SendCmd
|
||||
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
|
||||
from unilabos.utils.decorator import get_topic_config, get_all_subscriptions
|
||||
|
||||
from unilabos.resources.container import RegularContainer
|
||||
from unilabos.resources.graphio import (
|
||||
@@ -48,7 +49,8 @@ from unilabos_msgs.msg import Resource # type: ignore
|
||||
from unilabos.ros.nodes.resource_tracker import (
|
||||
DeviceNodeResourceTracker,
|
||||
ResourceTreeSet,
|
||||
ResourceTreeInstance, ResourceDictInstance,
|
||||
ResourceTreeInstance,
|
||||
ResourceDictInstance,
|
||||
)
|
||||
from unilabos.ros.x.rclpyx import get_event_loop
|
||||
from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
|
||||
@@ -168,6 +170,7 @@ class PropertyPublisher:
|
||||
msg_type,
|
||||
initial_period: float = 5.0,
|
||||
print_publish=True,
|
||||
qos: int = 10,
|
||||
):
|
||||
self.node = node
|
||||
self.name = name
|
||||
@@ -175,10 +178,11 @@ class PropertyPublisher:
|
||||
self.get_method = get_method
|
||||
self.timer_period = initial_period
|
||||
self.print_publish = print_publish
|
||||
self.qos = qos
|
||||
|
||||
self._value = None
|
||||
try:
|
||||
self.publisher_ = node.create_publisher(msg_type, f"{name}", 10)
|
||||
self.publisher_ = node.create_publisher(msg_type, f"{name}", qos)
|
||||
except AttributeError as ex:
|
||||
self.node.lab_logger().error(
|
||||
f"创建发布者 {name} 失败，可能由于注册表有误，类型: {msg_type}，错误: {ex}\n{traceback.format_exc()}"
|
||||
@@ -186,7 +190,7 @@ class PropertyPublisher:
|
||||
self.timer = node.create_timer(self.timer_period, self.publish_property)
|
||||
self.__loop = get_event_loop()
|
||||
str_msg_type = str(msg_type)[8:-2]
|
||||
self.node.lab_logger().trace(f"发布属性: {name}, 类型: {str_msg_type}, 周期: {initial_period}秒")
|
||||
self.node.lab_logger().trace(f"发布属性: {name}, 类型: {str_msg_type}, 周期: {initial_period}秒, QoS: {qos}")
|
||||
|
||||
def get_property(self):
|
||||
if asyncio.iscoroutinefunction(self.get_method):
|
||||
@@ -326,6 +330,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
continue
|
||||
self.create_ros_action_server(action_name, action_value_mapping)
|
||||
|
||||
# 创建订阅者（通过 @subscribe 装饰器）
|
||||
self._topic_subscribers: Dict[str, Any] = {}
|
||||
self._setup_decorated_subscribers()
|
||||
|
||||
# 创建线程池执行器
|
||||
self._executor = ThreadPoolExecutor(
|
||||
max_workers=max(len(action_value_mappings), 1), thread_name_prefix=f"ROSDevice{self.device_id}"
|
||||
@@ -1043,6 +1051,29 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
|
||||
def create_ros_publisher(self, attr_name, msg_type, initial_period=5.0):
|
||||
"""创建ROS发布者"""
|
||||
# 检测装饰器配置（支持 get_{attr_name} 方法和 @property）
|
||||
topic_config = {}
|
||||
|
||||
# 优先检测 get_{attr_name} 方法
|
||||
if hasattr(self.driver_instance, f"get_{attr_name}"):
|
||||
getter_method = getattr(self.driver_instance, f"get_{attr_name}")
|
||||
topic_config = get_topic_config(getter_method)
|
||||
|
||||
# 如果没有配置，检测 @property 装饰的属性
|
||||
if not topic_config:
|
||||
driver_class = type(self.driver_instance)
|
||||
if hasattr(driver_class, attr_name):
|
||||
class_attr = getattr(driver_class, attr_name)
|
||||
if isinstance(class_attr, property) and class_attr.fget is not None:
|
||||
topic_config = get_topic_config(class_attr.fget)
|
||||
|
||||
# 使用装饰器配置或默认值
|
||||
cfg_period = topic_config.get("period")
|
||||
cfg_print = topic_config.get("print_publish")
|
||||
cfg_qos = topic_config.get("qos")
|
||||
period: float = cfg_period if cfg_period is not None else initial_period
|
||||
print_publish: bool = cfg_print if cfg_print is not None else self._print_publish
|
||||
qos: int = cfg_qos if cfg_qos is not None else 10
|
||||
|
||||
# 获取属性值的方法
|
||||
def get_device_attr():
|
||||
@@ -1063,7 +1094,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
self.lab_logger().error(traceback.format_exc())
|
||||
|
||||
self._property_publishers[attr_name] = PropertyPublisher(
|
||||
self, attr_name, get_device_attr, msg_type, initial_period, self._print_publish
|
||||
self, attr_name, get_device_attr, msg_type, period, print_publish, qos
|
||||
)
|
||||
|
||||
def create_ros_action_server(self, action_name, action_value_mapping):
|
||||
@@ -1081,6 +1112,76 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
|
||||
self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
|
||||
|
||||
def _setup_decorated_subscribers(self):
|
||||
"""扫描 driver_instance 中带有 @subscribe 装饰器的方法并创建订阅者"""
|
||||
subscriptions = get_all_subscriptions(self.driver_instance)
|
||||
|
||||
for method_name, method, config in subscriptions:
|
||||
topic_template = config.get("topic")
|
||||
msg_type = config.get("msg_type")
|
||||
qos = config.get("qos", 10)
|
||||
|
||||
if not topic_template:
|
||||
self.lab_logger().warning(f"订阅方法 {method_name} 缺少 topic 配置，跳过")
|
||||
continue
|
||||
|
||||
# 如果没有指定 msg_type，尝试从类型注解推断
|
||||
if msg_type is None:
|
||||
try:
|
||||
hints = get_type_hints(method)
|
||||
# 第一个参数是 self，第二个是 msg
|
||||
param_names = list(hints.keys())
|
||||
if param_names:
|
||||
msg_type = hints[param_names[0]]
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
if msg_type is None:
|
||||
self.lab_logger().warning(f"订阅方法 {method_name} 缺少 msg_type 配置且无法从类型注解推断，跳过")
|
||||
continue
|
||||
|
||||
# 替换 topic 模板中的占位符
|
||||
topic = self._resolve_topic_template(topic_template)
|
||||
|
||||
self.create_ros_subscriber(topic, msg_type, method, qos)
|
||||
|
||||
def _resolve_topic_template(self, topic_template: str) -> str:
|
||||
"""
|
||||
解析 topic 模板，替换占位符
|
||||
|
||||
支持的占位符:
|
||||
- {device_id}: 设备ID
|
||||
- {namespace}: 完整命名空间
|
||||
"""
|
||||
return topic_template.format(
|
||||
device_id=self.device_id,
|
||||
namespace=self.namespace,
|
||||
)
|
||||
|
||||
def create_ros_subscriber(self, topic: str, msg_type, callback, qos: int = 10):
|
||||
"""
|
||||
创建ROS订阅者
|
||||
|
||||
Args:
|
||||
topic: Topic 名称
|
||||
msg_type: ROS 消息类型
|
||||
callback: 回调方法（会自动绑定到 driver_instance）
|
||||
qos: QoS 深度配置
|
||||
"""
|
||||
try:
|
||||
subscription = self.create_subscription(
|
||||
msg_type,
|
||||
topic,
|
||||
callback,
|
||||
qos,
|
||||
callback_group=self.callback_group,
|
||||
)
|
||||
self._topic_subscribers[topic] = subscription
|
||||
str_msg_type = str(msg_type)[8:-2] if str(msg_type).startswith("<class") else str(msg_type)
|
||||
self.lab_logger().trace(f"订阅Topic: {topic}, 类型: {str_msg_type}, QoS: {qos}")
|
||||
except Exception as ex:
|
||||
self.lab_logger().error(f"创建订阅者 {topic} 失败，类型: {msg_type}，错误: {ex}\n{traceback.format_exc()}")
|
||||
|
||||
def get_real_function(self, instance, attr_name):
|
||||
if hasattr(instance.__class__, attr_name):
|
||||
obj = getattr(instance.__class__, attr_name)
|
||||
@@ -1142,20 +1243,28 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
plr_resource = await self.get_resource_with_dir(
|
||||
resource_id=resource_data["id"], with_children=True
|
||||
)
|
||||
if "sample_id" in resource_data:
|
||||
plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
|
||||
queried_resources.append(plr_resource)
|
||||
|
||||
self.lab_logger().debug(f"资源查询结果: 共 {len(queried_resources)} 个资源")
|
||||
|
||||
# 通过资源跟踪器获取本地实例
|
||||
final_resources = queried_resources if is_sequence else queried_resources[0]
|
||||
final_resources = (
|
||||
self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False)
|
||||
if not is_sequence
|
||||
else [
|
||||
self.resource_tracker.figure_resource({"name": res.name}, try_mode=False)
|
||||
for res in queried_resources
|
||||
]
|
||||
)
|
||||
if not is_sequence:
|
||||
plr = self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False)
|
||||
# 保留unilabos_extra
|
||||
if hasattr(final_resources, "unilabos_extra") and hasattr(plr, "unilabos_extra"):
|
||||
plr.unilabos_extra = getattr(final_resources, "unilabos_extra", {}).copy()
|
||||
final_resources = plr
|
||||
else:
|
||||
new_resources = []
|
||||
for res in queried_resources:
|
||||
plr = self.resource_tracker.figure_resource({"name": res.name}, try_mode=False)
|
||||
if hasattr(res, "unilabos_extra") and hasattr(plr, "unilabos_extra"):
|
||||
plr.unilabos_extra = getattr(res, "unilabos_extra", {}).copy()
|
||||
new_resources.append(plr)
|
||||
final_resources = new_resources
|
||||
action_kwargs[k] = final_resources
|
||||
|
||||
except Exception as e:
|
||||
@@ -1172,6 +1281,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
if asyncio.iscoroutinefunction(ACTION):
|
||||
try:
|
||||
self.lab_logger().trace(f"异步执行动作 {ACTION}")
|
||||
|
||||
def _handle_future_exception(fut: Future):
|
||||
nonlocal execution_error, execution_success, action_return_value
|
||||
try:
|
||||
@@ -1268,7 +1378,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
seen = set()
|
||||
unique_resources = []
|
||||
for rs in akv: # todo: 这里目前只支持plr的类型
|
||||
res = self.resource_tracker.parent_resource(rs) # 获取 resource 对象
|
||||
if isinstance(rs, list):
|
||||
for r in rs:
|
||||
res = self.resource_tracker.parent_resource(r) # 获取 resource 对象
|
||||
else:
|
||||
res = self.resource_tracker.parent_resource(r)
|
||||
if id(res) not in seen:
|
||||
seen.add(id(res))
|
||||
unique_resources.append(res)
|
||||
@@ -1540,6 +1654,7 @@ class ROS2DeviceNode:
|
||||
这个类封装了设备类实例和ROS2节点的功能，提供ROS2接口。
|
||||
它不继承设备类，而是通过代理模式访问设备类的属性和方法。
|
||||
"""
|
||||
|
||||
@staticmethod
|
||||
async def safe_task_wrapper(trace_callback, func, **kwargs):
|
||||
try:
|
||||
@@ -1562,7 +1677,9 @@ class ROS2DeviceNode:
|
||||
error(f"异步任务 {func.__name__} 获取结果失败")
|
||||
error(traceback.format_exc())
|
||||
|
||||
future = rclpy.get_global_executor().create_task(ROS2DeviceNode.safe_task_wrapper(inner_trace_callback, func, **kwargs))
|
||||
future = rclpy.get_global_executor().create_task(
|
||||
ROS2DeviceNode.safe_task_wrapper(inner_trace_callback, func, **kwargs)
|
||||
)
|
||||
if trace_error:
|
||||
future.add_done_callback(_handle_future_exception)
|
||||
return future
|
||||
|
||||
@@ -706,7 +706,20 @@ class HostNode(BaseROS2DeviceNode):
|
||||
raise ValueError(f"ActionClient {action_id} not found.")
|
||||
|
||||
action_client: ActionClient = self._action_clients[action_id]
|
||||
# 遍历action_kwargs下的所有子dict，将"sample_uuid"的值赋给"sample_id"
|
||||
def assign_sample_id(obj):
|
||||
if isinstance(obj, dict):
|
||||
if "sample_uuid" in obj:
|
||||
obj["sample_id"] = obj["sample_uuid"]
|
||||
obj.pop("sample_uuid")
|
||||
for k,v in obj.items():
|
||||
if k != "unilabos_extra":
|
||||
assign_sample_id(v)
|
||||
elif isinstance(obj, list):
|
||||
for item in obj:
|
||||
assign_sample_id(item)
|
||||
|
||||
assign_sample_id(action_kwargs)
|
||||
goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs)
|
||||
|
||||
self.lab_logger().info(f"[Host Node] Sending goal for {action_id}: {goal_msg}")
|
||||
@@ -1146,13 +1159,10 @@ class HostNode(BaseROS2DeviceNode):
|
||||
def _resource_get_callback(self, request: SerialCommand.Request, response: SerialCommand.Response):
|
||||
"""
|
||||
获取资源回调
|
||||
|
||||
处理获取资源请求，从桥接器或本地查询资源数据
|
||||
|
||||
Args:
|
||||
request: 包含资源ID的请求对象
|
||||
response: 响应对象
|
||||
|
||||
Returns:
|
||||
响应对象，包含查询到的资源
|
||||
"""
|
||||
|
||||
@@ -203,9 +203,9 @@ class ResourceMeshManager(BaseROS2DeviceNode):
|
||||
continue
|
||||
# 提取位置信息并转换单位
|
||||
position = {
|
||||
"x": float(resource_config['position']['position']['x'])/1000,
|
||||
"y": float(resource_config['position']['position']['y'])/1000,
|
||||
"z": float(resource_config['position']['position']['z'])/1000
|
||||
"x": float(resource_config['pose']['position']['x'])/1000,
|
||||
"y": float(resource_config['pose']['position']['y'])/1000,
|
||||
"z": float(resource_config['pose']['position']['z'])/1000
|
||||
}
|
||||
|
||||
rotation_dict = {
|
||||
@@ -214,8 +214,8 @@ class ResourceMeshManager(BaseROS2DeviceNode):
|
||||
"z": 0
|
||||
}
|
||||
|
||||
if 'rotation' in resource_config['position']:
|
||||
rotation_dict = resource_config['position']['rotation']
|
||||
if 'rotation' in resource_config['pose']:
|
||||
rotation_dict = resource_config['pose']['rotation']
|
||||
|
||||
# 从欧拉角转换为四元数
|
||||
q = quaternion_from_euler(
|
||||
|
||||
@@ -146,8 +146,20 @@ class ResourceDictInstance(object):
|
||||
content["data"] = {}
|
||||
if not content.get("extra"): # MagicCode
|
||||
content["extra"] = {}
|
||||
if "pose" not in content:
|
||||
content["pose"] = content.pop("position", {})
|
||||
if "position" in content:
|
||||
pose = content.get("pose",{})
|
||||
if "position" not in pose :
|
||||
if "position" in content["position"]:
|
||||
pose["position"] = content["position"]["position"]
|
||||
else:
|
||||
pose["position"] = {"x": 0, "y": 0, "z": 0}
|
||||
if "size" not in pose:
|
||||
pose["size"] = {
|
||||
"width": content["config"].get("size_x", 0),
|
||||
"height": content["config"].get("size_y", 0),
|
||||
"depth": content["config"].get("size_z", 0)
|
||||
}
|
||||
content["pose"] = pose
|
||||
return ResourceDictInstance(ResourceDict.model_validate(content))
|
||||
|
||||
def get_plr_nested_dict(self) -> Dict[str, Any]:
|
||||
@@ -436,7 +448,7 @@ class ResourceTreeSet(object):
|
||||
from pylabrobot.utils.object_parsing import find_subclass
|
||||
|
||||
# 类型映射
|
||||
TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck", "container": "RegularContainer"}
|
||||
TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck", "container": "RegularContainer", "tip_spot": "TipSpot"}
|
||||
|
||||
def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict, name_to_extra: dict):
|
||||
"""一次遍历收集 name_to_uuid, all_states 和 name_to_extra"""
|
||||
|
||||
40429
unilabos/test/experiments/deprecated/prcxi_9320_with_res.json
Normal file
40429
unilabos/test/experiments/deprecated/prcxi_9320_with_res.json
Normal file
File diff suppressed because it is too large
Load Diff
40752
unilabos/test/experiments/prcxi_9320_with_res_test.json
Normal file
40752
unilabos/test/experiments/prcxi_9320_with_res_test.json
Normal file
File diff suppressed because it is too large
Load Diff
@@ -7,49 +7,18 @@ from typing import Dict, Any, List
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
|
||||
class SmartPumpController:
|
||||
"""
|
||||
智能泵控制器
|
||||
class AnyDevice:
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return "Idle"
|
||||
|
||||
支持多种泵送模式，具有高精度流量控制和自动校准功能。
|
||||
适用于实验室自动化系统中的液体处理任务。
|
||||
"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, device_id: str = "smart_pump_01", port: str = "/dev/ttyUSB0"):
|
||||
"""
|
||||
初始化智能泵控制器
|
||||
|
||||
Args:
|
||||
device_id: 设备唯一标识符
|
||||
port: 通信端口
|
||||
"""
|
||||
self.device_id = device_id
|
||||
self.port = port
|
||||
self.is_connected = False
|
||||
self.current_flow_rate = 0.0
|
||||
self.total_volume_pumped = 0.0
|
||||
self.calibration_factor = 1.0
|
||||
self.pump_mode = "continuous" # continuous, volume, rate
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
def connect_device(self, timeout: int = 10) -> bool:
|
||||
"""
|
||||
连接到泵设备
|
||||
|
||||
Args:
|
||||
timeout: 连接超时时间（秒）
|
||||
|
||||
Returns:
|
||||
bool: 连接是否成功
|
||||
"""
|
||||
# 模拟连接过程
|
||||
self.is_connected = True
|
||||
async def action(self, addr: str) -> bool:
|
||||
return True
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
def disconnect_device(self) -> bool:
|
||||
"""
|
||||
断开设备连接
|
||||
|
||||
@@ -1,3 +1,9 @@
|
||||
from functools import wraps
|
||||
from typing import Any, Callable, Optional, TypeVar
|
||||
|
||||
F = TypeVar("F", bound=Callable[..., Any])
|
||||
|
||||
|
||||
def singleton(cls):
|
||||
"""
|
||||
单例装饰器
|
||||
@@ -12,3 +18,167 @@ def singleton(cls):
|
||||
|
||||
return get_instance
|
||||
|
||||
|
||||
def topic_config(
|
||||
period: Optional[float] = None,
|
||||
print_publish: Optional[bool] = None,
|
||||
qos: Optional[int] = None,
|
||||
) -> Callable[[F], F]:
|
||||
"""
|
||||
Topic发布配置装饰器
|
||||
|
||||
用于装饰 get_{attr_name} 方法或 @property，控制对应属性的ROS topic发布行为。
|
||||
|
||||
Args:
|
||||
period: 发布周期（秒）。None 表示使用默认值 5.0
|
||||
print_publish: 是否打印发布日志。None 表示使用节点默认配置
|
||||
qos: QoS深度配置。None 表示使用默认值 10
|
||||
|
||||
Example:
|
||||
class MyDriver:
|
||||
# 方式1: 装饰 get_{attr_name} 方法
|
||||
@topic_config(period=1.0, print_publish=False, qos=5)
|
||||
def get_temperature(self):
|
||||
return self._temperature
|
||||
|
||||
# 方式2: 与 @property 连用（topic_config 放在下面）
|
||||
@property
|
||||
@topic_config(period=0.1)
|
||||
def position(self):
|
||||
return self._position
|
||||
|
||||
Note:
|
||||
与 @property 连用时，@topic_config 必须放在 @property 下面，
|
||||
这样装饰器执行顺序为：先 topic_config 添加配置，再 property 包装。
|
||||
"""
|
||||
|
||||
def decorator(func: F) -> F:
|
||||
@wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
return func(*args, **kwargs)
|
||||
|
||||
# 在函数上附加配置属性 (type: ignore 用于动态属性)
|
||||
wrapper._topic_period = period # type: ignore[attr-defined]
|
||||
wrapper._topic_print_publish = print_publish # type: ignore[attr-defined]
|
||||
wrapper._topic_qos = qos # type: ignore[attr-defined]
|
||||
wrapper._has_topic_config = True # type: ignore[attr-defined]
|
||||
|
||||
return wrapper # type: ignore[return-value]
|
||||
|
||||
return decorator
|
||||
|
||||
|
||||
def get_topic_config(func) -> dict:
|
||||
"""
|
||||
获取函数上的topic配置
|
||||
|
||||
Args:
|
||||
func: 被装饰的函数
|
||||
|
||||
Returns:
|
||||
包含 period, print_publish, qos 的配置字典
|
||||
"""
|
||||
if hasattr(func, "_has_topic_config") and getattr(func, "_has_topic_config", False):
|
||||
return {
|
||||
"period": getattr(func, "_topic_period", None),
|
||||
"print_publish": getattr(func, "_topic_print_publish", None),
|
||||
"qos": getattr(func, "_topic_qos", None),
|
||||
}
|
||||
return {}
|
||||
|
||||
|
||||
def subscribe(
|
||||
topic: str,
|
||||
msg_type: Optional[type] = None,
|
||||
qos: int = 10,
|
||||
) -> Callable[[F], F]:
|
||||
"""
|
||||
Topic订阅装饰器
|
||||
|
||||
用于装饰 driver 类中的方法，使其成为 ROS topic 的订阅回调。
|
||||
当 ROS2DeviceNode 初始化时，会自动扫描并创建对应的订阅者。
|
||||
|
||||
Args:
|
||||
topic: Topic 名称模板，支持以下占位符：
|
||||
- {device_id}: 设备ID (如 "pump_1")
|
||||
- {namespace}: 完整命名空间 (如 "/devices/pump_1")
|
||||
msg_type: ROS 消息类型。如果为 None，需要在回调函数的类型注解中指定
|
||||
qos: QoS 深度配置，默认为 10
|
||||
|
||||
Example:
|
||||
from std_msgs.msg import String, Float64
|
||||
|
||||
class MyDriver:
|
||||
@subscribe(topic="/devices/{device_id}/set_speed", msg_type=Float64)
|
||||
def on_speed_update(self, msg: Float64):
|
||||
self._speed = msg.data
|
||||
print(f"Speed updated to: {self._speed}")
|
||||
|
||||
@subscribe(topic="{namespace}/command")
|
||||
def on_command(self, msg: String):
|
||||
# msg_type 可从类型注解推断
|
||||
self.execute_command(msg.data)
|
||||
|
||||
Note:
|
||||
- 回调方法的第一个参数是 self，第二个参数是收到的 ROS 消息
|
||||
- topic 中的占位符会在创建订阅时被实际值替换
|
||||
"""
|
||||
|
||||
def decorator(func: F) -> F:
|
||||
@wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
return func(*args, **kwargs)
|
||||
|
||||
# 在函数上附加订阅配置
|
||||
wrapper._subscribe_topic = topic # type: ignore[attr-defined]
|
||||
wrapper._subscribe_msg_type = msg_type # type: ignore[attr-defined]
|
||||
wrapper._subscribe_qos = qos # type: ignore[attr-defined]
|
||||
wrapper._has_subscribe = True # type: ignore[attr-defined]
|
||||
|
||||
return wrapper # type: ignore[return-value]
|
||||
|
||||
return decorator
|
||||
|
||||
|
||||
def get_subscribe_config(func) -> dict:
|
||||
"""
|
||||
获取函数上的订阅配置
|
||||
|
||||
Args:
|
||||
func: 被装饰的函数
|
||||
|
||||
Returns:
|
||||
包含 topic, msg_type, qos 的配置字典
|
||||
"""
|
||||
if hasattr(func, "_has_subscribe") and getattr(func, "_has_subscribe", False):
|
||||
return {
|
||||
"topic": getattr(func, "_subscribe_topic", None),
|
||||
"msg_type": getattr(func, "_subscribe_msg_type", None),
|
||||
"qos": getattr(func, "_subscribe_qos", 10),
|
||||
}
|
||||
return {}
|
||||
|
||||
|
||||
def get_all_subscriptions(instance) -> list:
|
||||
"""
|
||||
扫描实例的所有方法，获取带有 @subscribe 装饰器的方法及其配置
|
||||
|
||||
Args:
|
||||
instance: 要扫描的实例
|
||||
|
||||
Returns:
|
||||
包含 (method_name, method, config) 元组的列表
|
||||
"""
|
||||
subscriptions = []
|
||||
for attr_name in dir(instance):
|
||||
if attr_name.startswith("_"):
|
||||
continue
|
||||
try:
|
||||
attr = getattr(instance, attr_name)
|
||||
if callable(attr):
|
||||
config = get_subscribe_config(attr)
|
||||
if config:
|
||||
subscriptions.append((attr_name, attr, config))
|
||||
except Exception:
|
||||
pass
|
||||
return subscriptions
|
||||
|
||||
@@ -78,7 +78,11 @@ def get_result_info_str(error: str, suc: bool, return_value=None) -> str:
|
||||
Returns:
|
||||
JSON字符串格式的结果信息
|
||||
"""
|
||||
result_info = {"error": error, "suc": suc, "return_value": return_value}
|
||||
samples = None
|
||||
if isinstance(return_value, dict):
|
||||
if "samples" in return_value:
|
||||
samples = return_value.pop("samples")
|
||||
result_info = {"error": error, "suc": suc, "return_value": return_value, "samples": samples}
|
||||
|
||||
return json.dumps(result_info, ensure_ascii=False, cls=ResultInfoEncoder)
|
||||
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||
<package format="3">
|
||||
<name>unilabos_msgs</name>
|
||||
<version>0.10.12</version>
|
||||
<version>0.10.13</version>
|
||||
<description>ROS2 Messages package for unilabos devices</description>
|
||||
<maintainer email="changjh@pku.edu.cn">Junhan Chang</maintainer>
|
||||
<maintainer email="18435084+Xuwznln@users.noreply.github.com">Xuwznln</maintainer>
|
||||
|
||||
Reference in New Issue
Block a user