Merge branch '37-biomek-i5i7' of https://github.com/dptech-corp/Uni-Lab-OS into 37-biomek-i5i7

unilabos/devices/liquid_handling/biomek.py

@@ -93,6 +93,15 @@ class LiquidHandlerBiomek(LiquidHandlerAbstract):
     def deserialize(cls, data: dict, allow_marshal: bool = False) -> LiquidHandler:
         return LiquidHandler.deserialize(data, allow_marshal)
 
+    @property
+    def success(self):
+        """
+        获取操作是否成功的状态。
+
+        Returns:
+            bool: 如果操作成功，返回True；否则返回False。
+        """
+        return self._success
 
     def create_protocol(
         self,

unilabos/devices/liquid_handling/biomek_test.py

@@ -168,7 +168,7 @@ class LiquidHandlerBiomek:
                 "date": protocol_date,
                 "type": protocol_type,
             },
-            "labwares": [],
+            "labwares": {},  # 改为字典格式以匹配DeckItems
             "steps": [],
         }
         return self.temp_protocol
@@ -251,15 +251,16 @@ class LiquidHandlerBiomek:
         liquid_input_wells: list[str],
     ):
         """
-        设置Biomek仪器的参数配置，完全按照Biomek的实际格式
+        设置Biomek仪器的参数配置，按照DeckItems格式
         
         根据不同的仪器类型（容器、tip rack等）设置相应的参数结构
+        位置作为键，配置列表作为值
         """
         
         # 判断仪器类型
         instrument_type = self._get_instrument_type(class_name)
         
-        config = {} # 初始化为空字典，以便在各种情况下都能返回
+        config = None  # 初始化为None
 
         if instrument_type == "reservoir":
             # 储液槽类型配置
@@ -325,17 +326,13 @@ class LiquidHandlerBiomek:
                 "DataSets": {"Volume": {}},
                 "RuntimeDataSets": {"Volume": {}}
             }
-            
-        else:
-            # 未知类型或空位置的默认配置
-            config = {}
         
-        # 将配置直接添加到labwares列表中
+        # 按照DeckItems格式存储：位置作为键，配置列表作为值
-        if config:  # 只有非空配置才添加
+        if config is not None:
-            # 添加Name字段用于标识
+            self.temp_protocol["labwares"][slot_on_deck] = [config]
-            config["Name"] = id
+        else:
-            config["Position"] = slot_on_deck
+            # 空位置
-            self.temp_protocol["labwares"].append(config)
+            self.temp_protocol["labwares"][slot_on_deck] = []
         
         return
 
@@ -1003,7 +1000,7 @@ if __name__ == "__main__":
     script_dir = pathlib.Path(__file__).parent
     
     # 保存完整协议
-    complete_output_path = script_dir / "complete_biomek_protocol.json"
+    complete_output_path = script_dir / "complete_biomek_protocol_0607.json"
     with open(complete_output_path, 'w', encoding='utf-8') as f:
         json.dump(handler.temp_protocol, f, indent=4, ensure_ascii=False)
     

unilabos/registry/devices/liquid_handler.yaml

@@ -368,18 +368,91 @@ liquid_handler.biomek:
         result: {}
         handles:
           input:
-            - handler_key: liquid-input
+            - handler_key: sources
-              label: Liquid Input
+              label: sources
+              data_type: resource
+              data_source: handle
+              data_key: liquid
+            - handler_key: targets
+              label: targets
+              data_type: resource
+              data_source: executor
+              data_key: liquid
+            - handler_key: tip_rack
+              label: tip_rack
+              data_type: resource
+              data_source: executor
+              data_key: liquid
+          output:
+            - handler_key: sources_out
+              label: sources
+              data_type: resource
+              data_source: handle
+              data_key: liquid
+            - handler_key: targets_out
+              label: targets
+              data_type: resource
+              data_source: executor
+              data_key: liquid
+      oscillation_biomek:
+        type: LiquidHandlerOscillateBiomek
+        goal:
+          rpm: rpm
+          time: time
+        feedback: {}
+        result: {}
+        handles:
+          input:
+            - handler_key: plate
+              label: plate
               data_type: resource
-              io_type: target
               data_source: handle
               data_key: liquid
           output:
-            - handler_key: liquid-output
+            - handler_key: plate_out
-              label: Liquid Output
+              label: plate
               data_type: resource
-              io_type: source
+              data_source: handle
-              data_source: executor
+              data_key: liquid
+      move_biomek:
+        type: LiquidHandlerMoveBiomek
+        goal:
+          source: resource
+          target: target
+        feedback: {}
+        result:
+          name: name
+        handles:
+          input:
+            - handler_key: sources
+              label: sources
+              data_type: resource
+              data_source: handle
+              data_key: liquid
+          output:
+            - handler_key: targets
+              label: targets
+              data_type: resource
+              data_source: handle
+              data_key: liquid
+      incubation_biomek:
+        type: LiquidHandlerIncubateBiomek
+        goal:
+          time: time
+        feedback: {}
+        result: {}
+        handles:
+          input:
+            - handler_key: plate
+              label: plate
+              data_type: resource
+              data_source: handle
+              data_key: liquid
+          output:
+            - handler_key: plate_out
+              label: plate
+              data_type: resource
+              data_source: handle
               data_key: liquid
   schema:
     type: object

unilabos_msgs/CMakeLists.txt

@@ -45,7 +45,11 @@ set(action_files
   "action/LiquidHandlerReturnTips96.action"
   "action/LiquidHandlerStamp.action"
   "action/LiquidHandlerTransfer.action"
+
   "action/LiquidHandlerTransferBiomek.action"
+  "action/LiquidHandlerIncubateBiomek.action"
+  "action/LiquidHandlerMoveBiomek.action"
+  "action/LiquidHandlerOscillateBiomek.action"
 
   "action/LiquidHandlerAdd.action"
   "action/LiquidHandlerMix.action"