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9 Commits
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5823edec8f |
4
.gitignore
vendored
4
.gitignore
vendored
@@ -239,4 +239,6 @@ unilabos/device_mesh/view_robot.rviz
|
|||||||
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|
||||||
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||||||
# Certs
|
# Certs
|
||||||
**/.certs
|
**/.certs
|
||||||
|
local_test2.py
|
||||||
|
ros-humble-unilabos-msgs-0.9.12-h6403a04_5.tar.bz2
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||||||
|
|||||||
File diff suppressed because it is too large
Load Diff
@@ -5,9 +5,18 @@
|
|||||||
"sample_id": null,
|
"sample_id": null,
|
||||||
"children": [
|
"children": [
|
||||||
"HPLCPlateT1",
|
"HPLCPlateT1",
|
||||||
|
"container_for_nothing1",
|
||||||
|
"container_for_nothing2",
|
||||||
"trash",
|
"trash",
|
||||||
|
"container_for_nothing3",
|
||||||
|
"container_for_nothing",
|
||||||
|
"container_for_nothing4",
|
||||||
"RackT8",
|
"RackT8",
|
||||||
"PlateT11"
|
"container_for_nothing5",
|
||||||
|
"container_for_nothing6",
|
||||||
|
"PlateT11",
|
||||||
|
"container_for_nothing7",
|
||||||
|
"container_for_nothing8"
|
||||||
],
|
],
|
||||||
"parent": "lh_PRCXI_Deck",
|
"parent": "lh_PRCXI_Deck",
|
||||||
"type": "deck",
|
"type": "deck",
|
||||||
@@ -4007,6 +4016,68 @@
|
|||||||
"liquid_history": []
|
"liquid_history": []
|
||||||
}
|
}
|
||||||
},
|
},
|
||||||
|
{
|
||||||
|
"id": "container_for_nothing1",
|
||||||
|
"name": "container_for_nothing1",
|
||||||
|
"sample_id": null,
|
||||||
|
"children": [],
|
||||||
|
"parent": "PRCXI_Deck",
|
||||||
|
"type": "plate",
|
||||||
|
"class": "",
|
||||||
|
"position": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"config": {
|
||||||
|
"type": "PRCXI9300Container",
|
||||||
|
"size_x": 50,
|
||||||
|
"size_y": 50,
|
||||||
|
"size_z": 10,
|
||||||
|
"rotation": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0,
|
||||||
|
"type": "Rotation"
|
||||||
|
},
|
||||||
|
"category": "plate",
|
||||||
|
"model": null,
|
||||||
|
"barcode": null,
|
||||||
|
"ordering": {}
|
||||||
|
},
|
||||||
|
"data": {}
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"id": "container_for_nothing2",
|
||||||
|
"name": "container_for_nothing2",
|
||||||
|
"sample_id": null,
|
||||||
|
"children": [],
|
||||||
|
"parent": "PRCXI_Deck",
|
||||||
|
"type": "plate",
|
||||||
|
"class": "",
|
||||||
|
"position": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"config": {
|
||||||
|
"type": "PRCXI9300Container",
|
||||||
|
"size_x": 50,
|
||||||
|
"size_y": 50,
|
||||||
|
"size_z": 10,
|
||||||
|
"rotation": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0,
|
||||||
|
"type": "Rotation"
|
||||||
|
},
|
||||||
|
"category": "plate",
|
||||||
|
"model": null,
|
||||||
|
"barcode": null,
|
||||||
|
"ordering": {}
|
||||||
|
},
|
||||||
|
"data": {}
|
||||||
|
},
|
||||||
{
|
{
|
||||||
"id": "trash",
|
"id": "trash",
|
||||||
"name": "trash",
|
"name": "trash",
|
||||||
@@ -4048,6 +4119,99 @@
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
},
|
},
|
||||||
|
{
|
||||||
|
"id": "container_for_nothing3",
|
||||||
|
"name": "container_for_nothing3",
|
||||||
|
"sample_id": null,
|
||||||
|
"children": [],
|
||||||
|
"parent": "PRCXI_Deck",
|
||||||
|
"type": "plate",
|
||||||
|
"class": "",
|
||||||
|
"position": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"config": {
|
||||||
|
"type": "PRCXI9300Container",
|
||||||
|
"size_x": 50,
|
||||||
|
"size_y": 50,
|
||||||
|
"size_z": 10,
|
||||||
|
"rotation": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0,
|
||||||
|
"type": "Rotation"
|
||||||
|
},
|
||||||
|
"category": "plate",
|
||||||
|
"model": null,
|
||||||
|
"barcode": null,
|
||||||
|
"ordering": {}
|
||||||
|
},
|
||||||
|
"data": {}
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"id": "container_for_nothing",
|
||||||
|
"name": "container_for_nothing",
|
||||||
|
"sample_id": null,
|
||||||
|
"children": [],
|
||||||
|
"parent": "PRCXI_Deck",
|
||||||
|
"type": "plate",
|
||||||
|
"class": "",
|
||||||
|
"position": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"config": {
|
||||||
|
"type": "PRCXI9300Container",
|
||||||
|
"size_x": 50,
|
||||||
|
"size_y": 50,
|
||||||
|
"size_z": 10,
|
||||||
|
"rotation": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0,
|
||||||
|
"type": "Rotation"
|
||||||
|
},
|
||||||
|
"category": "plate",
|
||||||
|
"model": null,
|
||||||
|
"barcode": null,
|
||||||
|
"ordering": {}
|
||||||
|
},
|
||||||
|
"data": {}
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"id": "container_for_nothing4",
|
||||||
|
"name": "container_for_nothing4",
|
||||||
|
"sample_id": null,
|
||||||
|
"children": [],
|
||||||
|
"parent": "PRCXI_Deck",
|
||||||
|
"type": "plate",
|
||||||
|
"class": "",
|
||||||
|
"position": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"config": {
|
||||||
|
"type": "PRCXI9300Container",
|
||||||
|
"size_x": 50,
|
||||||
|
"size_y": 50,
|
||||||
|
"size_z": 10,
|
||||||
|
"rotation": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0,
|
||||||
|
"type": "Rotation"
|
||||||
|
},
|
||||||
|
"category": "plate",
|
||||||
|
"model": null,
|
||||||
|
"barcode": null,
|
||||||
|
"ordering": {}
|
||||||
|
},
|
||||||
|
"data": {}
|
||||||
|
},
|
||||||
{
|
{
|
||||||
"id": "RackT8",
|
"id": "RackT8",
|
||||||
"name": "RackT8",
|
"name": "RackT8",
|
||||||
@@ -8118,6 +8282,68 @@
|
|||||||
"pending_tip": null
|
"pending_tip": null
|
||||||
}
|
}
|
||||||
},
|
},
|
||||||
|
{
|
||||||
|
"id": "container_for_nothing5",
|
||||||
|
"name": "container_for_nothing5",
|
||||||
|
"sample_id": null,
|
||||||
|
"children": [],
|
||||||
|
"parent": "PRCXI_Deck",
|
||||||
|
"type": "plate",
|
||||||
|
"class": "",
|
||||||
|
"position": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"config": {
|
||||||
|
"type": "PRCXI9300Container",
|
||||||
|
"size_x": 50,
|
||||||
|
"size_y": 50,
|
||||||
|
"size_z": 10,
|
||||||
|
"rotation": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0,
|
||||||
|
"type": "Rotation"
|
||||||
|
},
|
||||||
|
"category": "plate",
|
||||||
|
"model": null,
|
||||||
|
"barcode": null,
|
||||||
|
"ordering": {}
|
||||||
|
},
|
||||||
|
"data": {}
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"id": "container_for_nothing6",
|
||||||
|
"name": "container_for_nothing6",
|
||||||
|
"sample_id": null,
|
||||||
|
"children": [],
|
||||||
|
"parent": "PRCXI_Deck",
|
||||||
|
"type": "plate",
|
||||||
|
"class": "",
|
||||||
|
"position": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"config": {
|
||||||
|
"type": "PRCXI9300Container",
|
||||||
|
"size_x": 50,
|
||||||
|
"size_y": 50,
|
||||||
|
"size_z": 10,
|
||||||
|
"rotation": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0,
|
||||||
|
"type": "Rotation"
|
||||||
|
},
|
||||||
|
"category": "plate",
|
||||||
|
"model": null,
|
||||||
|
"barcode": null,
|
||||||
|
"ordering": {}
|
||||||
|
},
|
||||||
|
"data": {}
|
||||||
|
},
|
||||||
{
|
{
|
||||||
"id": "PlateT11",
|
"id": "PlateT11",
|
||||||
"name": "PlateT11",
|
"name": "PlateT11",
|
||||||
@@ -13241,5 +13467,67 @@
|
|||||||
null
|
null
|
||||||
]
|
]
|
||||||
}
|
}
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"id": "container_for_nothing7",
|
||||||
|
"name": "container_for_nothing7",
|
||||||
|
"sample_id": null,
|
||||||
|
"children": [],
|
||||||
|
"parent": "PRCXI_Deck",
|
||||||
|
"type": "plate",
|
||||||
|
"class": "",
|
||||||
|
"position": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"config": {
|
||||||
|
"type": "PRCXI9300Container",
|
||||||
|
"size_x": 50,
|
||||||
|
"size_y": 50,
|
||||||
|
"size_z": 10,
|
||||||
|
"rotation": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0,
|
||||||
|
"type": "Rotation"
|
||||||
|
},
|
||||||
|
"category": "plate",
|
||||||
|
"model": null,
|
||||||
|
"barcode": null,
|
||||||
|
"ordering": {}
|
||||||
|
},
|
||||||
|
"data": {}
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"id": "container_for_nothing8",
|
||||||
|
"name": "container_for_nothing8",
|
||||||
|
"sample_id": null,
|
||||||
|
"children": [],
|
||||||
|
"parent": "PRCXI_Deck",
|
||||||
|
"type": "plate",
|
||||||
|
"class": "",
|
||||||
|
"position": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"config": {
|
||||||
|
"type": "PRCXI9300Container",
|
||||||
|
"size_x": 50,
|
||||||
|
"size_y": 50,
|
||||||
|
"size_z": 10,
|
||||||
|
"rotation": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0,
|
||||||
|
"type": "Rotation"
|
||||||
|
},
|
||||||
|
"category": "plate",
|
||||||
|
"model": null,
|
||||||
|
"barcode": null,
|
||||||
|
"ordering": {}
|
||||||
|
},
|
||||||
|
"data": {}
|
||||||
}
|
}
|
||||||
]
|
]
|
||||||
@@ -462,6 +462,27 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
|||||||
async def drop_tips(self, ops: List[Drop], use_channels: List[int] = None):
|
async def drop_tips(self, ops: List[Drop], use_channels: List[int] = None):
|
||||||
"""Pick up tips from the specified resource."""
|
"""Pick up tips from the specified resource."""
|
||||||
|
|
||||||
|
# 检查trash #
|
||||||
|
if ops[0].resource.name == "trash":
|
||||||
|
|
||||||
|
PlateNo = ops[0].resource.parent.children.index(ops[0].resource) + 1
|
||||||
|
|
||||||
|
step = self.api_client.UnLoad(
|
||||||
|
dosage=0,
|
||||||
|
plate_no=PlateNo,
|
||||||
|
is_whole_plate=False,
|
||||||
|
hole_row=3,
|
||||||
|
hole_col=3,
|
||||||
|
blending_times=0,
|
||||||
|
balance_height=0,
|
||||||
|
plate_or_hole=f"H{1}-8,T{PlateNo}",
|
||||||
|
hole_numbers="1,2,3,4,5,6,7,8",
|
||||||
|
)
|
||||||
|
self.steps_todo_list.append(step)
|
||||||
|
return
|
||||||
|
#print(ops[0].resource.parent.children.index(ops[0].resource))
|
||||||
|
|
||||||
|
|
||||||
plate_indexes = []
|
plate_indexes = []
|
||||||
for op in ops:
|
for op in ops:
|
||||||
plate = op.resource.parent.parent
|
plate = op.resource.parent.parent
|
||||||
@@ -482,21 +503,6 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
|||||||
PlateNo = plate_indexes[0] + 1
|
PlateNo = plate_indexes[0] + 1
|
||||||
hole_col = tip_columns[0] + 1
|
hole_col = tip_columns[0] + 1
|
||||||
|
|
||||||
if deck.children[plate_index].name == "trash":
|
|
||||||
step = self.api_client.UnLoad(
|
|
||||||
dosage=0,
|
|
||||||
plate_no=PlateNo,
|
|
||||||
is_whole_plate=False,
|
|
||||||
hole_row=3,
|
|
||||||
hole_col=3,
|
|
||||||
blending_times=0,
|
|
||||||
balance_height=0,
|
|
||||||
plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
|
|
||||||
hole_numbers="1,2,3,4,5,6,7,8",
|
|
||||||
)
|
|
||||||
self.steps_todo_list.append(step)
|
|
||||||
return
|
|
||||||
|
|
||||||
if self.channel_num == 1:
|
if self.channel_num == 1:
|
||||||
hole_row = tipspot_index % 8 + 1
|
hole_row = tipspot_index % 8 + 1
|
||||||
|
|
||||||
@@ -526,8 +532,6 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
|||||||
|
|
||||||
"""Mix liquid in the specified resources."""
|
"""Mix liquid in the specified resources."""
|
||||||
|
|
||||||
if len(targets) != 8:
|
|
||||||
raise ValueError(f"PRCXI9300Backend aspirate: Expected 8 aspirate, got {len(targets)}")
|
|
||||||
|
|
||||||
plate_indexes = []
|
plate_indexes = []
|
||||||
for op in targets:
|
for op in targets:
|
||||||
@@ -549,12 +553,16 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
|||||||
|
|
||||||
PlateNo = plate_indexes[0] + 1
|
PlateNo = plate_indexes[0] + 1
|
||||||
hole_col = tip_columns[0] + 1
|
hole_col = tip_columns[0] + 1
|
||||||
|
hole_row = 1
|
||||||
|
if self.num_channels == 1:
|
||||||
|
hole_row = tipspot_index % 8 + 1
|
||||||
|
|
||||||
assert mix_time > 0
|
assert mix_time > 0
|
||||||
step = self.api_client.Blending(
|
step = self.api_client.Blending(
|
||||||
dosage=mix_vol,
|
dosage=mix_vol,
|
||||||
plate_no=PlateNo,
|
plate_no=PlateNo,
|
||||||
is_whole_plate=False,
|
is_whole_plate=False,
|
||||||
hole_row=1,
|
hole_row=hole_row,
|
||||||
hole_col=hole_col,
|
hole_col=hole_col,
|
||||||
blending_times=mix_time,
|
blending_times=mix_time,
|
||||||
balance_height=0,
|
balance_height=0,
|
||||||
@@ -592,7 +600,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
|||||||
|
|
||||||
PlateNo = plate_indexes[0] + 1
|
PlateNo = plate_indexes[0] + 1
|
||||||
hole_col = tip_columns[0] + 1
|
hole_col = tip_columns[0] + 1
|
||||||
|
hole_row = 1
|
||||||
if self.num_channels == 1:
|
if self.num_channels == 1:
|
||||||
hole_row = tipspot_index % 8 + 1
|
hole_row = tipspot_index % 8 + 1
|
||||||
|
|
||||||
@@ -633,6 +641,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
|||||||
PlateNo = plate_indexes[0] + 1
|
PlateNo = plate_indexes[0] + 1
|
||||||
hole_col = tip_columns[0] + 1
|
hole_col = tip_columns[0] + 1
|
||||||
|
|
||||||
|
hole_row = 1
|
||||||
if self.num_channels == 1:
|
if self.num_channels == 1:
|
||||||
hole_row = tipspot_index % 8 + 1
|
hole_row = tipspot_index % 8 + 1
|
||||||
|
|
||||||
@@ -1132,7 +1141,7 @@ if __name__ == "__main__":
|
|||||||
tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
|
tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
|
||||||
new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
|
new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
|
||||||
return new_tip_rack
|
return new_tip_rack
|
||||||
|
|
||||||
plate1 = get_well_container("HPLCPlateT1")
|
plate1 = get_well_container("HPLCPlateT1")
|
||||||
plate1.load_state({
|
plate1.load_state({
|
||||||
"Material": {
|
"Material": {
|
||||||
@@ -1215,24 +1224,28 @@ if __name__ == "__main__":
|
|||||||
"uuid": "04211a2dc93547fe9bf6121eac533650"
|
"uuid": "04211a2dc93547fe9bf6121eac533650"
|
||||||
}
|
}
|
||||||
})
|
})
|
||||||
|
|
||||||
|
# container_for_nothing = PRCXI9300Container(name="container_for_nothing", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
|
||||||
|
|
||||||
deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
|
deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
|
||||||
# deck.assign_child_resource(plate2, location=Coordinate(0, 0, 0))
|
deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing1", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||||
# deck.assign_child_resource(plate3, location=Coordinate(0, 0, 0))
|
deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing2", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||||
deck.assign_child_resource(trash, location=Coordinate(0, 0, 0))
|
deck.assign_child_resource(trash, location=Coordinate(0, 0, 0))
|
||||||
# deck.assign_child_resource(plate5, location=Coordinate(0, 0, 0))
|
deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing3", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||||
# deck.assign_child_resource(plate6, location=Coordinate(0, 0, 0))
|
deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||||
# deck.assign_child_resource(plate7, location=Coordinate(0, 0, 0))
|
deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing4", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||||
deck.assign_child_resource(plate8, location=Coordinate(0, 0, 0))
|
deck.assign_child_resource(plate8, location=Coordinate(0, 0, 0))
|
||||||
# deck.assign_child_resource(plate9, location=Coordinate(0, 0, 0))
|
deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing5", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||||
# deck.assign_child_resource(plate10, location=Coordinate(0, 0, 0))
|
deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing6", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||||
deck.assign_child_resource(plate11, location=Coordinate(0, 0, 0))
|
deck.assign_child_resource(plate11, location=Coordinate(0, 0, 0))
|
||||||
# deck.assign_child_resource(plate12, location=Coordinate(0, 0, 0))
|
deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||||
# deck.assign_child_resource(plate13, location=Coordinate(0, 0, 0))
|
deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing8", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
|
||||||
|
|
||||||
handler = PRCXI9300Handler(deck=deck, host="10.181.102.13", port=9999,
|
handler = PRCXI9300Handler(deck=deck, host="10.181.102.13", port=9999,
|
||||||
timeout=10.0, setup=False, debug=True,
|
timeout=10.0, setup=False, debug=False,
|
||||||
matrix_id="fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1",
|
matrix_id="fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1",
|
||||||
channel_num=1)
|
channel_num=1)
|
||||||
|
|
||||||
handler.set_tiprack([plate8]) # Set the tip rack for the handler
|
handler.set_tiprack([plate8]) # Set the tip rack for the handler
|
||||||
asyncio.run(handler.setup()) # Initialize the handler and setup the connection
|
asyncio.run(handler.setup()) # Initialize the handler and setup the connection
|
||||||
from pylabrobot.resources import set_volume_tracking
|
from pylabrobot.resources import set_volume_tracking
|
||||||
@@ -1249,8 +1262,9 @@ if __name__ == "__main__":
|
|||||||
|
|
||||||
print(plate11.get_well(0).tracker.get_used_volume())
|
print(plate11.get_well(0).tracker.get_used_volume())
|
||||||
asyncio.run(handler.create_protocol(protocol_name="Test Protocol")) # Initialize the backend and setup the connection
|
asyncio.run(handler.create_protocol(protocol_name="Test Protocol")) # Initialize the backend and setup the connection
|
||||||
|
print(plate8.children[3])
|
||||||
asyncio.run(handler.pick_up_tips([plate8.children[3]],[0]))
|
asyncio.run(handler.pick_up_tips([plate8.children[3]],[0]))
|
||||||
asyncio.run(handler.aspirate([plate11.children[0]],[9], [0]))
|
asyncio.run(handler.aspirate([plate11.children[0]],[10], [0]))
|
||||||
asyncio.run(handler.dispense([plate1.children[3]],[10],[0]))
|
asyncio.run(handler.dispense([plate1.children[3]],[10],[0]))
|
||||||
asyncio.run(handler.mix([plate1.children[3]], mix_time=3, mix_vol=5, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
|
asyncio.run(handler.mix([plate1.children[3]], mix_time=3, mix_vol=5, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
|
||||||
asyncio.run(handler.discard_tips())
|
asyncio.run(handler.discard_tips())
|
||||||
|
|||||||
@@ -5466,6 +5466,354 @@ liquid_handler.biomek:
|
|||||||
liquid_handler.prcxi:
|
liquid_handler.prcxi:
|
||||||
class:
|
class:
|
||||||
action_value_mappings:
|
action_value_mappings:
|
||||||
|
add_liquid:
|
||||||
|
feedback: {}
|
||||||
|
goal:
|
||||||
|
asp_vols: asp_vols
|
||||||
|
blow_out_air_volume: blow_out_air_volume
|
||||||
|
dis_vols: dis_vols
|
||||||
|
flow_rates: flow_rates
|
||||||
|
is_96_well: is_96_well
|
||||||
|
liquid_height: liquid_height
|
||||||
|
mix_liquid_height: mix_liquid_height
|
||||||
|
mix_rate: mix_rate
|
||||||
|
mix_time: mix_time
|
||||||
|
mix_vol: mix_vol
|
||||||
|
none_keys: none_keys
|
||||||
|
offsets: offsets
|
||||||
|
reagent_sources: reagent_sources
|
||||||
|
spread: spread
|
||||||
|
targets: targets
|
||||||
|
use_channels: use_channels
|
||||||
|
goal_default:
|
||||||
|
asp_vols:
|
||||||
|
- 0.0
|
||||||
|
blow_out_air_volume:
|
||||||
|
- 0.0
|
||||||
|
dis_vols:
|
||||||
|
- 0.0
|
||||||
|
flow_rates:
|
||||||
|
- 0.0
|
||||||
|
is_96_well: false
|
||||||
|
liquid_height:
|
||||||
|
- 0.0
|
||||||
|
mix_liquid_height: 0.0
|
||||||
|
mix_rate: 0
|
||||||
|
mix_time: 0
|
||||||
|
mix_vol: 0
|
||||||
|
none_keys:
|
||||||
|
- ''
|
||||||
|
offsets:
|
||||||
|
- x: 0.0
|
||||||
|
y: 0.0
|
||||||
|
z: 0.0
|
||||||
|
reagent_sources:
|
||||||
|
- 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: ''
|
||||||
|
spread: ''
|
||||||
|
targets:
|
||||||
|
- 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: ''
|
||||||
|
use_channels:
|
||||||
|
- 0
|
||||||
|
handles: []
|
||||||
|
placeholder_keys:
|
||||||
|
reagent_sources: unilabos_resources
|
||||||
|
targets: unilabos_resources
|
||||||
|
result: {}
|
||||||
|
schema:
|
||||||
|
description: ''
|
||||||
|
properties:
|
||||||
|
feedback:
|
||||||
|
properties: {}
|
||||||
|
required: []
|
||||||
|
title: LiquidHandlerAdd_Feedback
|
||||||
|
type: object
|
||||||
|
goal:
|
||||||
|
properties:
|
||||||
|
asp_vols:
|
||||||
|
items:
|
||||||
|
type: number
|
||||||
|
type: array
|
||||||
|
blow_out_air_volume:
|
||||||
|
items:
|
||||||
|
type: number
|
||||||
|
type: array
|
||||||
|
dis_vols:
|
||||||
|
items:
|
||||||
|
type: number
|
||||||
|
type: array
|
||||||
|
flow_rates:
|
||||||
|
items:
|
||||||
|
type: number
|
||||||
|
type: array
|
||||||
|
is_96_well:
|
||||||
|
type: boolean
|
||||||
|
liquid_height:
|
||||||
|
items:
|
||||||
|
type: number
|
||||||
|
type: array
|
||||||
|
mix_liquid_height:
|
||||||
|
type: number
|
||||||
|
mix_rate:
|
||||||
|
maximum: 2147483647
|
||||||
|
minimum: -2147483648
|
||||||
|
type: integer
|
||||||
|
mix_time:
|
||||||
|
maximum: 2147483647
|
||||||
|
minimum: -2147483648
|
||||||
|
type: integer
|
||||||
|
mix_vol:
|
||||||
|
maximum: 2147483647
|
||||||
|
minimum: -2147483648
|
||||||
|
type: integer
|
||||||
|
none_keys:
|
||||||
|
items:
|
||||||
|
type: string
|
||||||
|
type: array
|
||||||
|
offsets:
|
||||||
|
items:
|
||||||
|
properties:
|
||||||
|
x:
|
||||||
|
type: number
|
||||||
|
y:
|
||||||
|
type: number
|
||||||
|
z:
|
||||||
|
type: number
|
||||||
|
required:
|
||||||
|
- x
|
||||||
|
- y
|
||||||
|
- z
|
||||||
|
title: Point
|
||||||
|
type: object
|
||||||
|
type: array
|
||||||
|
reagent_sources:
|
||||||
|
items:
|
||||||
|
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: Quaternion
|
||||||
|
type: object
|
||||||
|
position:
|
||||||
|
properties:
|
||||||
|
x:
|
||||||
|
type: number
|
||||||
|
y:
|
||||||
|
type: number
|
||||||
|
z:
|
||||||
|
type: number
|
||||||
|
required:
|
||||||
|
- x
|
||||||
|
- y
|
||||||
|
- z
|
||||||
|
title: Point
|
||||||
|
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: Resource
|
||||||
|
type: object
|
||||||
|
type: array
|
||||||
|
spread:
|
||||||
|
type: string
|
||||||
|
targets:
|
||||||
|
items:
|
||||||
|
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: Quaternion
|
||||||
|
type: object
|
||||||
|
position:
|
||||||
|
properties:
|
||||||
|
x:
|
||||||
|
type: number
|
||||||
|
y:
|
||||||
|
type: number
|
||||||
|
z:
|
||||||
|
type: number
|
||||||
|
required:
|
||||||
|
- x
|
||||||
|
- y
|
||||||
|
- z
|
||||||
|
title: Point
|
||||||
|
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: Resource
|
||||||
|
type: object
|
||||||
|
type: array
|
||||||
|
use_channels:
|
||||||
|
items:
|
||||||
|
maximum: 2147483647
|
||||||
|
minimum: -2147483648
|
||||||
|
type: integer
|
||||||
|
type: array
|
||||||
|
required:
|
||||||
|
- asp_vols
|
||||||
|
- dis_vols
|
||||||
|
- reagent_sources
|
||||||
|
- targets
|
||||||
|
- use_channels
|
||||||
|
- flow_rates
|
||||||
|
- offsets
|
||||||
|
- liquid_height
|
||||||
|
- blow_out_air_volume
|
||||||
|
- spread
|
||||||
|
- is_96_well
|
||||||
|
- mix_time
|
||||||
|
- mix_vol
|
||||||
|
- mix_rate
|
||||||
|
- mix_liquid_height
|
||||||
|
- none_keys
|
||||||
|
title: LiquidHandlerAdd_Goal
|
||||||
|
type: object
|
||||||
|
result:
|
||||||
|
properties:
|
||||||
|
return_info:
|
||||||
|
type: string
|
||||||
|
success:
|
||||||
|
type: boolean
|
||||||
|
required:
|
||||||
|
- return_info
|
||||||
|
- success
|
||||||
|
title: LiquidHandlerAdd_Result
|
||||||
|
type: object
|
||||||
|
required:
|
||||||
|
- goal
|
||||||
|
title: LiquidHandlerAdd
|
||||||
|
type: object
|
||||||
|
type: LiquidHandlerAdd
|
||||||
aspirate:
|
aspirate:
|
||||||
feedback: {}
|
feedback: {}
|
||||||
goal:
|
goal:
|
||||||
@@ -5669,84 +6017,6 @@ liquid_handler.prcxi:
|
|||||||
title: LiquidHandlerAspirate
|
title: LiquidHandlerAspirate
|
||||||
type: object
|
type: object
|
||||||
type: LiquidHandlerAspirate
|
type: LiquidHandlerAspirate
|
||||||
auto-add_liquid:
|
|
||||||
feedback: {}
|
|
||||||
goal: {}
|
|
||||||
goal_default:
|
|
||||||
asp_vols: null
|
|
||||||
blow_out_air_volume: null
|
|
||||||
delays: null
|
|
||||||
dis_vols: null
|
|
||||||
flow_rates: null
|
|
||||||
is_96_well: false
|
|
||||||
liquid_height: null
|
|
||||||
mix_liquid_height: null
|
|
||||||
mix_rate: null
|
|
||||||
mix_time: null
|
|
||||||
mix_vol: null
|
|
||||||
none_keys: []
|
|
||||||
offsets: null
|
|
||||||
reagent_sources: null
|
|
||||||
spread: wide
|
|
||||||
targets: null
|
|
||||||
use_channels: null
|
|
||||||
handles: []
|
|
||||||
result: {}
|
|
||||||
schema:
|
|
||||||
description: add_liquid的参数schema
|
|
||||||
properties:
|
|
||||||
feedback: {}
|
|
||||||
goal:
|
|
||||||
properties:
|
|
||||||
asp_vols:
|
|
||||||
type: string
|
|
||||||
blow_out_air_volume:
|
|
||||||
type: string
|
|
||||||
delays:
|
|
||||||
type: string
|
|
||||||
dis_vols:
|
|
||||||
type: string
|
|
||||||
flow_rates:
|
|
||||||
type: string
|
|
||||||
is_96_well:
|
|
||||||
default: false
|
|
||||||
type: boolean
|
|
||||||
liquid_height:
|
|
||||||
type: string
|
|
||||||
mix_liquid_height:
|
|
||||||
type: string
|
|
||||||
mix_rate:
|
|
||||||
type: string
|
|
||||||
mix_time:
|
|
||||||
type: string
|
|
||||||
mix_vol:
|
|
||||||
type: string
|
|
||||||
none_keys:
|
|
||||||
default: []
|
|
||||||
type: array
|
|
||||||
offsets:
|
|
||||||
type: string
|
|
||||||
reagent_sources:
|
|
||||||
type: string
|
|
||||||
spread:
|
|
||||||
default: wide
|
|
||||||
type: string
|
|
||||||
targets:
|
|
||||||
type: string
|
|
||||||
use_channels:
|
|
||||||
type: string
|
|
||||||
required:
|
|
||||||
- asp_vols
|
|
||||||
- dis_vols
|
|
||||||
- reagent_sources
|
|
||||||
- targets
|
|
||||||
type: object
|
|
||||||
result: {}
|
|
||||||
required:
|
|
||||||
- goal
|
|
||||||
title: add_liquid参数
|
|
||||||
type: object
|
|
||||||
type: UniLabJsonCommandAsync
|
|
||||||
auto-create_protocol:
|
auto-create_protocol:
|
||||||
feedback: {}
|
feedback: {}
|
||||||
goal: {}
|
goal: {}
|
||||||
@@ -6178,6 +6448,8 @@ liquid_handler.prcxi:
|
|||||||
vols:
|
vols:
|
||||||
- 0.0
|
- 0.0
|
||||||
handles: []
|
handles: []
|
||||||
|
placeholder_keys:
|
||||||
|
resources: unilabos_resources
|
||||||
result: {}
|
result: {}
|
||||||
schema:
|
schema:
|
||||||
description: ''
|
description: ''
|
||||||
@@ -6535,6 +6807,8 @@ liquid_handler.prcxi:
|
|||||||
sample_id: ''
|
sample_id: ''
|
||||||
type: ''
|
type: ''
|
||||||
handles: []
|
handles: []
|
||||||
|
placeholder_keys:
|
||||||
|
targets: unilabos_resources
|
||||||
result: {}
|
result: {}
|
||||||
schema:
|
schema:
|
||||||
description: ''
|
description: ''
|
||||||
@@ -6847,7 +7121,10 @@ liquid_handler.prcxi:
|
|||||||
type: LiquidHandlerPickUpTips
|
type: LiquidHandlerPickUpTips
|
||||||
set_liquid:
|
set_liquid:
|
||||||
feedback: {}
|
feedback: {}
|
||||||
goal: {}
|
goal:
|
||||||
|
liquid_names: liquid_names
|
||||||
|
volumes: volumes
|
||||||
|
wells: wells
|
||||||
goal_default:
|
goal_default:
|
||||||
liquid_names:
|
liquid_names:
|
||||||
- ''
|
- ''
|
||||||
|
|||||||
@@ -305,6 +305,8 @@ workstation:
|
|||||||
data_type: resource
|
data_type: resource
|
||||||
handler_key: VesselOut
|
handler_key: VesselOut
|
||||||
label: Vessel
|
label: Vessel
|
||||||
|
placeholder_keys:
|
||||||
|
vessel: unilabos_resources
|
||||||
result: {}
|
result: {}
|
||||||
schema:
|
schema:
|
||||||
description: ''
|
description: ''
|
||||||
|
|||||||
@@ -461,7 +461,6 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None):
|
|||||||
"data": all_states[d["name"]],
|
"data": all_states[d["name"]],
|
||||||
}
|
}
|
||||||
return r
|
return r
|
||||||
|
|
||||||
d = resource_plr.serialize()
|
d = resource_plr.serialize()
|
||||||
all_states = resource_plr.serialize_all_state()
|
all_states = resource_plr.serialize_all_state()
|
||||||
r = resource_plr_to_ulab_inner(d, all_states)
|
r = resource_plr_to_ulab_inner(d, all_states)
|
||||||
|
|||||||
@@ -10,6 +10,15 @@ class DeviceNodeResourceTracker(object):
|
|||||||
self.resource2parent_resource = {}
|
self.resource2parent_resource = {}
|
||||||
pass
|
pass
|
||||||
|
|
||||||
|
def prefix_path(self, resource):
|
||||||
|
resource_prefix_path = "/"
|
||||||
|
resource_parent = getattr(resource, "parent", None)
|
||||||
|
while resource_parent is not None:
|
||||||
|
resource_prefix_path = f"/{resource_parent.name}" + resource_prefix_path
|
||||||
|
resource_parent = resource_parent.parent
|
||||||
|
|
||||||
|
return resource_prefix_path
|
||||||
|
|
||||||
def parent_resource(self, resource):
|
def parent_resource(self, resource):
|
||||||
if id(resource) in self.resource2parent_resource:
|
if id(resource) in self.resource2parent_resource:
|
||||||
return self.resource2parent_resource[id(resource)]
|
return self.resource2parent_resource[id(resource)]
|
||||||
|
|||||||
Reference in New Issue
Block a user