#!/usr/bin/env python3 # -*- coding: utf-8 -*- """ 移液控制器模块 封装SOPA移液器的高级控制功能 """ # 添加项目根目录到Python路径以解决模块导入问题 import sys import os from tkinter import N from unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver import ModbusException # 无论如何都添加项目根目录到路径 current_file = os.path.abspath(__file__) # 从 .../Uni-Lab-OS/unilabos/devices/LaiYu_Liquid/controllers/pipette_controller.py # 向上5级到 .../Uni-Lab-OS project_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(current_file))))) # 强制添加项目根目录到sys.path的开头 sys.path.insert(0, project_root) import time import logging from typing import Optional, List, Dict, Tuple from dataclasses import dataclass from enum import Enum from unilabos.devices.liquid_handling.laiyu.drivers.sopa_pipette_driver import ( SOPAPipette, SOPAConfig, SOPAStatusCode, DetectionMode, create_sopa_pipette, ) # from unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver import ( # XYZStepperController, # MotorAxis, # MotorStatus, # ModbusException # ) from unilabos.devices.liquid_handling.laiyu.controllers.xyz_controller import ( XYZController, MotorAxis, MotorStatus ) logger = logging.getLogger(__name__) class TipStatus(Enum): """枪头状态""" NO_TIP = "no_tip" TIP_ATTACHED = "tip_attached" TIP_USED = "tip_used" class LiquidClass(Enum): """液体类型""" WATER = "water" SERUM = "serum" VISCOUS = "viscous" VOLATILE = "volatile" CUSTOM = "custom" @dataclass class LiquidParameters: """液体处理参数""" aspirate_speed: int = 500 # 吸液速度 dispense_speed: int = 800 # 排液速度 air_gap: float = 10.0 # 空气间隙 blow_out: float = 5.0 # 吹出量 pre_wet: bool = False # 预润湿 mix_cycles: int = 0 # 混合次数 mix_volume: float = 50.0 # 混合体积 touch_tip: bool = False # 接触壁 delay_after_aspirate: float = 0.5 # 吸液后延时 delay_after_dispense: float = 0.5 # 排液后延时 class PipetteController: """移液控制器""" # 预定义液体参数 LIQUID_PARAMS = { LiquidClass.WATER: LiquidParameters( aspirate_speed=500, dispense_speed=800, air_gap=10.0 ), LiquidClass.SERUM: LiquidParameters( aspirate_speed=200, dispense_speed=400, air_gap=15.0, pre_wet=True, delay_after_aspirate=1.0 ), LiquidClass.VISCOUS: LiquidParameters( aspirate_speed=100, dispense_speed=200, air_gap=20.0, delay_after_aspirate=2.0, delay_after_dispense=2.0 ), LiquidClass.VOLATILE: LiquidParameters( aspirate_speed=800, dispense_speed=1000, air_gap=5.0, delay_after_aspirate=0.2, delay_after_dispense=0.2 ) } def __init__(self, port: str, address: int = 4, xyz_port: Optional[str] = None): """ 初始化移液控制器 Args: port: 移液器串口端口 address: 移液器RS485地址 xyz_port: XYZ步进电机串口端口（可选，用于枪头装载等运动控制） """ self.config = SOPAConfig( port=port, address=address, baudrate=115200 ) self.pipette = SOPAPipette(self.config) self.tip_status = TipStatus.NO_TIP self.current_volume = 0.0 self.max_volume = 1000.0 # 默认1000ul self.liquid_class = LiquidClass.WATER self.liquid_params = self.LIQUID_PARAMS[LiquidClass.WATER] # XYZ步进电机控制器（用于运动控制） self.xyz_controller: Optional[XYZController] = None self.xyz_port = xyz_port if xyz_port else port self.xyz_connected = True # 统计信息 # self.tip_count = 0 self.aspirate_count = 0 self.dispense_count = 0 def connect(self) -> bool: """连接移液器和XYZ步进电机控制器""" try: # 连接移液器 if not self.pipette.connect(): logger.error("移液器连接失败") return False 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: try: self.xyz_controller = XYZController(self.xyz_port) if self.xyz_controller.connect(): self.xyz_connected = True logger.info(f"XYZ步进电机控制器连接成功: {self.xyz_port}") else: logger.warning(f"XYZ步进电机控制器连接失败: {self.xyz_port}") self.xyz_controller = None except Exception as e: logger.warning(f"XYZ步进电机控制器连接异常: {e}") 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") return True except Exception as e: logger.error(f"设备连接失败: {e}") return False def initialize(self) -> bool: """初始化移液器""" try: if self.pipette.initialize(): logger.info("移液器初始化成功") # 检查枪头状态 self._update_tip_status() self.xyz_controller.home_all_axes() self.xyz_controller.move_to_work_coord_safe(x=0, y=-150, z=0) return True return False except Exception as e: logger.error(f"移液器初始化失败: {e}") return False def disconnect(self): """断开连接""" # 断开移液器连接 self.pipette.disconnect() logger.info("移液器已断开") # 断开 XYZ 步进电机连接 if self.xyz_controller and self.xyz_connected: try: self.xyz_controller.disconnect() self.xyz_connected = False logger.info("XYZ 步进电机已断开") except Exception as e: logger.error(f"断开 XYZ 步进电机失败: {e}") def _check_xyz_safety(self, axis: MotorAxis, target_position: int) -> bool: """ 检查 XYZ 轴移动的安全性 Args: axis: 电机轴 target_position: 目标位置(步数) Returns: 是否安全 """ try: # 获取当前电机状态 motor_position = self.xyz_controller.get_motor_status(axis) # 检查电机状态是否正常 (不是碰撞停止或限位停止) if motor_position.status in [MotorStatus.COLLISION_STOP, MotorStatus.FORWARD_LIMIT_STOP, MotorStatus.REVERSE_LIMIT_STOP]: logger.error(f"{axis.name} 轴电机处于错误状态: {motor_position.status.name}") return False # 检查位置限制 (扩大安全范围以适应实际硬件) # 步进电机的位置范围通常很大，这里设置更合理的范围 if target_position < -500000 or target_position > 500000: logger.error(f"{axis.name} 轴目标位置超出安全范围: {target_position}") return False # 检查移动距离是否过大 (单次移动不超过 20000 步，约12mm) current_position = motor_position.steps move_distance = abs(target_position - current_position) if move_distance > 20000: logger.error(f"{axis.name} 轴单次移动距离过大: {move_distance}步") return False return True except Exception as e: logger.error(f"安全检查失败: {e}") return False def move_z_relative(self, distance_mm: float, speed: int = 2000, acceleration: int = 500) -> bool: """ Z轴相对移动 Args: distance_mm: 移动距离(mm)，正值向下，负值向上 speed: 移动速度(rpm) acceleration: 加速度(rpm/s) Returns: 移动是否成功 """ if not self.xyz_controller or not self.xyz_connected: logger.error("XYZ 步进电机未连接，无法执行移动") return False try: # 参数验证 if abs(distance_mm) > 15.0: logger.error(f"移动距离过大: {distance_mm}mm，最大允许15mm") return False if speed < 100 or speed > 5000: logger.error(f"速度参数无效: {speed}rpm，范围应为100-5000") return False # 获取当前 Z 轴位置 current_status = self.xyz_controller.get_motor_status(MotorAxis.Z) current_z_position = current_status.steps # 计算移动距离对应的步数 (1mm = 1638.4步) mm_to_steps = 1638.4 move_distance_steps = int(distance_mm * mm_to_steps) # 计算目标位置 target_z_position = current_z_position + move_distance_steps # 安全检查 if not self._check_xyz_safety(MotorAxis.Z, target_z_position): logger.error("Z轴移动安全检查失败") return False logger.info(f"Z轴相对移动: {distance_mm}mm ({move_distance_steps}步)") logger.info(f"当前位置: {current_z_position}步 -> 目标位置: {target_z_position}步") # 执行移动 success = self.xyz_controller.move_to_position( axis=MotorAxis.Z, position=target_z_position, speed=speed, acceleration=acceleration, precision=50 ) if not success: logger.error("Z轴移动命令发送失败") return False # 等待移动完成 if not self.xyz_controller.wait_for_completion(MotorAxis.Z, timeout=10.0): logger.error("Z轴移动超时") return False # 验证移动结果 final_status = self.xyz_controller.get_motor_status(MotorAxis.Z) final_position = final_status.steps position_error = abs(final_position - target_z_position) logger.info(f"Z轴移动完成，最终位置: {final_position}步，误差: {position_error}步") if position_error > 100: logger.warning(f"Z轴位置误差较大: {position_error}步") return True except ModbusException as e: logger.error(f"Modbus通信错误: {e}") return False except Exception as e: logger.error(f"Z轴移动失败: {e}") return False def emergency_stop(self) -> bool: """ 紧急停止所有运动 Returns: 停止是否成功 """ success = True # 停止移液器操作 try: if self.pipette and self.connected: # 这里可以添加移液器的紧急停止逻辑 logger.info("移液器紧急停止") except Exception as e: logger.error(f"移液器紧急停止失败: {e}") success = False # 停止 XYZ 轴运动 try: if self.xyz_controller and self.xyz_connected: self.xyz_controller.emergency_stop() logger.info("XYZ 轴紧急停止") except Exception as e: logger.error(f"XYZ 轴紧急停止失败: {e}") success = False return success def pickup_tip(self) -> bool: """ 装载枪头 - Z轴向下移动10mm进行枪头装载 Returns: 是否成功 """ self._update_tip_status() if self.tip_status == TipStatus.TIP_ATTACHED: logger.warning("已有枪头，无需重复装载") return True logger.info("开始装载枪头 - Z轴向下移动10mm") # 使用相对移动方法，向下移动10mm if self.move_z_relative(distance_mm=10.0, speed=2000, acceleration=500): # 更新枪头状态 self._update_tip_status() # self.tip_status = TipStatus.TIP_ATTACHED # self.tip_count += 1 self.current_volume = 0.0 if self.tip_status == TipStatus.TIP_ATTACHED: logger.info("枪头装载成功") return True else : logger.info("枪头装载失败") return False else: logger.error("枪头装载失败 - Z轴移动失败") return False def eject_tip(self) -> bool: """ 弹出枪头 Returns: 是否成功 """ self._update_tip_status() if self.tip_status == TipStatus.NO_TIP: logger.warning("无枪头可弹出") return True try: if self.pipette.eject_tip(): self._update_tip_status() if self.tip_status == TipStatus.NO_TIP: self.current_volume = 0.0 logger.info("枪头已弹出") return True return False except Exception as e: logger.error(f"弹出枪头失败: {e}") return False def aspirate(self, volume: float, liquid_class: Optional[LiquidClass] = None, detection: bool = True) -> bool: """ 吸液 Args: volume: 吸液体积(ul) liquid_class: 液体类型 detection: 是否开启液位检测 Returns: 是否成功 """ self._update_tip_status() if self.tip_status != TipStatus.TIP_ATTACHED: logger.error("无枪头，无法吸液") return False if self.current_volume + volume > self.max_volume: logger.error(f"吸液量超过枪头容量: {self.current_volume + volume} > {self.max_volume}") return False # 设置液体参数 if liquid_class: self.set_liquid_class(liquid_class) try: # 设置吸液速度 self.pipette.set_max_speed(self.liquid_params.aspirate_speed) # 执行液位检测 if detection: if not self.pipette.liquid_level_detection(): logger.warning("液位检测失败，继续吸液") # 预润湿 if self.liquid_params.pre_wet and self.current_volume == 0: logger.info("执行预润湿") self._pre_wet(volume * 0.2) # 吸液 if self.pipette.aspirate(volume, detection=False): self.current_volume += volume self.aspirate_count += 1 # 吸液后延时 time.sleep(self.liquid_params.delay_after_aspirate) # 吸取空气间隙 if self.liquid_params.air_gap > 0: self.pipette.aspirate(self.liquid_params.air_gap, detection=False) self.current_volume += self.liquid_params.air_gap logger.info(f"吸液完成: {volume}ul, 当前体积: {self.current_volume}ul") return True else: logger.error("吸液失败") return False except Exception as e: logger.error(f"吸液异常: {e}") return False def dispense(self, volume: float, blow_out: bool = False) -> bool: """ 排液 Args: volume: 排液体积(ul) blow_out: 是否吹出 Returns: 是否成功 """ self._update_tip_status() if self.tip_status != TipStatus.TIP_ATTACHED: logger.error("无枪头，无法排液") return False if volume > self.current_volume: logger.error(f"排液量超过当前体积: {volume} > {self.current_volume}") return False try: # 设置排液速度 self.pipette.set_max_speed(self.liquid_params.dispense_speed) # 排液 if self.pipette.dispense(volume): self.current_volume -= volume self.dispense_count += 1 # 排液后延时 time.sleep(self.liquid_params.delay_after_dispense) # 吹出 if blow_out and self.liquid_params.blow_out > 0: self.pipette.dispense(self.liquid_params.blow_out) logger.debug(f"执行吹出: {self.liquid_params.blow_out}ul") # 接触壁 if self.liquid_params.touch_tip: self._touch_tip() logger.info(f"排液完成: {volume}ul, 剩余体积: {self.current_volume}ul") return True else: logger.error("排液失败") return False except Exception as e: logger.error(f"排液异常: {e}") return False def transfer(self, volume: float, source_well: Optional[str] = None, dest_well: Optional[str] = None, liquid_class: Optional[LiquidClass] = None, new_tip: bool = True, mix_before: Optional[Tuple[int, float]] = None, mix_after: Optional[Tuple[int, float]] = None) -> bool: """ 液体转移 Args: volume: 转移体积 source_well: 源孔位 dest_well: 目标孔位 liquid_class: 液体类型 new_tip: 是否使用新枪头 mix_before: 吸液前混合(次数, 体积) mix_after: 排液后混合(次数, 体积) Returns: 是否成功 """ try: # 装载新枪头 if new_tip: self.eject_tip() if not self.pickup_tip(): return False # 设置液体类型 if liquid_class: self.set_liquid_class(liquid_class) # 吸液前混合 if mix_before: cycles, mix_vol = mix_before self.mix(cycles, mix_vol) # 吸液 if not self.aspirate(volume): return False # 排液 if not self.dispense(volume, blow_out=True): return False # 排液后混合 if mix_after: cycles, mix_vol = mix_after self.mix(cycles, mix_vol) logger.info(f"液体转移完成: {volume}ul") return True except Exception as e: logger.error(f"液体转移失败: {e}") return False def mix(self, cycles: int = 3, volume: Optional[float] = None) -> bool: """ 混合 Args: cycles: 混合次数 volume: 混合体积 Returns: 是否成功 """ volume = volume or self.liquid_params.mix_volume logger.info(f"开始混合: {cycles}次, {volume}ul") for i in range(cycles): if not self.aspirate(volume, detection=False): return False if not self.dispense(volume): return False logger.info("混合完成") return True def _pre_wet(self, volume: float): """预润湿""" self.pipette.aspirate(volume, detection=False) time.sleep(0.2) self.pipette.dispense(volume) time.sleep(0.2) def _touch_tip(self): """接触壁(需要与运动控制配合)""" # TODO: 实现接触壁动作 logger.debug("执行接触壁") time.sleep(0.5) def _update_tip_status(self): """更新枪头状态""" if self.pipette.get_tip_status(): self.tip_status = TipStatus.TIP_ATTACHED else: self.tip_status = TipStatus.NO_TIP def set_liquid_class(self, liquid_class: LiquidClass): """设置液体类型""" self.liquid_class = liquid_class if liquid_class in self.LIQUID_PARAMS: self.liquid_params = self.LIQUID_PARAMS[liquid_class] logger.info(f"液体类型设置为: {liquid_class.value}") def set_custom_parameters(self, params: LiquidParameters): """设置自定义液体参数""" self.liquid_params = params self.liquid_class = LiquidClass.CUSTOM def calibrate_volume(self, expected: float, actual: float): """ 体积校准 Args: expected: 期望体积 actual: 实际体积 """ factor = actual / expected self.pipette.set_calibration_factor(factor) logger.info(f"体积校准系数: {factor}") def get_status(self) -> Dict: """获取状态信息""" self._update_tip_status() return { 'tip_status': self.tip_status.value, 'current_volume': self.current_volume, 'max_volume': self.max_volume, 'liquid_class': self.liquid_class.value, 'statistics': { # 'tip_count': self.tip_count, 'aspirate_count': self.aspirate_count, 'dispense_count': self.dispense_count } } def reset_statistics(self): """重置统计信息""" # self.tip_count = 0 self.aspirate_count = 0 self.dispense_count = 0 # ============================================================================ # 实例化代码块 - 移液控制器使用示例 # ============================================================================ if __name__ == "__main__": # 配置日志 import logging # 设置日志级别 logging.basicConfig( level=logging.INFO, format='%(asctime)s - %(name)s - %(levelname)s - %(message)s' ) def interactive_test(): """交互式测试模式 - 适用于已连接的设备""" print("\n" + "=" * 60) print("🧪 移液器交互式测试模式") print("=" * 60) # 获取用户输入的连接参数 print("\n📡 设备连接配置:") port = input("请输入移液器串口端口 (默认: /dev/ttyUSB_CH340): ").strip() or "/dev/ttyUSB_CH340" address_input = input("请输入移液器设备地址 (默认: 4): ").strip() address = int(address_input) if address_input else 4 # 询问是否连接 XYZ 步进电机控制器 xyz_enable = input("是否连接 XYZ 步进电机控制器? (y/N): ").strip().lower() xyz_port = None if xyz_enable not in ['n', 'no']: xyz_port = input("请输入 XYZ 控制器串口端口 (默认: /dev/ttyUSB_CH340): ").strip() or "/dev/ttyUSB_CH340" try: # 创建移液控制器实例 if xyz_port: print(f"\n🔧 创建移液控制器实例 (移液器端口: {port}, 地址: {address}, XYZ端口: {xyz_port})...") pipette = PipetteController(port=port, address=address, xyz_port=xyz_port) else: print(f"\n🔧 创建移液控制器实例 (端口: {port}, 地址: {address})...") pipette = PipetteController(port=port, address=address) # 连接设备 print("\n📞 连接移液器设备...") if not pipette.connect(): print("❌ 设备连接失败，请检查连接") return print("✅ 设备连接成功") # 初始化设备 print("\n🚀 初始化设备...") if not pipette.initialize(): print("❌ 设备初始化失败") return print("✅ 设备初始化成功") # 交互式菜单 while True: print("\n" + "=" * 50) print("🎮 交互式操作菜单:") print("1. 📋 查看设备状态") print("2. 🔧 装载枪头") print("3. 🗑️ 弹出枪头") print("4. 💧 吸液操作") print("5. 💦 排液操作") print("6. 🌀 混合操作") print("7. 🔄 液体转移") print("8. ⚙️ 设置液体类型") print("9. 🎯 自定义参数") print("10. 📊 校准体积") print("11. 🧹 重置统计") print("12. 🔍 液体类型测试") print("99. 🚨 紧急停止") print("0. 🚪 退出程序") print("=" * 50) choice = input("\n请选择操作 (0-12, 99): ").strip() if choice == "0": print("\n👋 退出程序...") break elif choice == "1": # 查看设备状态 status = pipette.get_status() print("\n📊 设备状态信息:") print(f" 🎯 枪头状态: {status['tip_status']}") print(f" 💧 当前体积: {status['current_volume']}ul") print(f" 📏 最大体积: {status['max_volume']}ul") print(f" 🧪 液体类型: {status['liquid_class']}") print(f" 📈 统计信息:") # print(f" 🔧 枪头使用次数: {status['statistics']['tip_count']}") print(f" ⬆️ 吸液次数: {status['statistics']['aspirate_count']}") print(f" ⬇️ 排液次数: {status['statistics']['dispense_count']}") elif choice == "2": # 装载枪头 print("\n🔧 装载枪头...") if pipette.xyz_connected: print("📍 使用 XYZ 控制器进行 Z 轴定位 (下移 10mm)") else: print("⚠️ 未连接 XYZ 控制器，仅执行移液器枪头装载") if pipette.pickup_tip(): print("✅ 枪头装载成功") if pipette.xyz_connected: print("📍 Z 轴已移动到装载位置") else: print("❌ 枪头装载失败") elif choice == "3": # 弹出枪头 print("\n🗑️ 弹出枪头...") if pipette.eject_tip(): print("✅ 枪头弹出成功") else: print("❌ 枪头弹出失败") elif choice == "4": # 吸液操作 try: volume = float(input("请输入吸液体积 (ul): ")) detection = input("是否启用液面检测? (y/n, 默认y): ").strip().lower() != 'n' print(f"\n💧 执行吸液操作 ({volume}ul)...") if pipette.aspirate(volume, detection=detection): print(f"✅ 吸液成功: {volume}ul") print(f"📊 当前体积: {pipette.current_volume}ul") else: print("❌ 吸液失败") except ValueError: print("❌ 请输入有效的数字") elif choice == "5": # 排液操作 try: volume = float(input("请输入排液体积 (ul): ")) blow_out = input("是否执行吹出操作? (y/n, 默认n): ").strip().lower() == 'y' print(f"\n💦 执行排液操作 ({volume}ul)...") if pipette.dispense(volume, blow_out=blow_out): print(f"✅ 排液成功: {volume}ul") print(f"📊 剩余体积: {pipette.current_volume}ul") else: print("❌ 排液失败") except ValueError: print("❌ 请输入有效的数字") elif choice == "6": # 混合操作 try: cycles = int(input("请输入混合次数 (默认3): ") or "3") volume_input = input("请输入混合体积 (ul, 默认使用当前体积的50%): ").strip() volume = float(volume_input) if volume_input else None print(f"\n🌀 执行混合操作 ({cycles}次)...") if pipette.mix(cycles=cycles, volume=volume): print("✅ 混合完成") else: print("❌ 混合失败") except ValueError: print("❌ 请输入有效的数字") elif choice == "7": # 液体转移 try: volume = float(input("请输入转移体积 (ul): ")) source = input("源孔位 (可选, 如A1): ").strip() or None dest = input("目标孔位 (可选, 如B1): ").strip() or None new_tip = input("是否使用新枪头? (y/n, 默认y): ").strip().lower() != 'n' print(f"\n🔄 执行液体转移 ({volume}ul)...") if pipette.transfer(volume=volume, source_well=source, dest_well=dest, new_tip=new_tip): print("✅ 液体转移完成") else: print("❌ 液体转移失败") except ValueError: print("❌ 请输入有效的数字") elif choice == "8": # 设置液体类型 print("\n🧪 可用液体类型:") liquid_options = { "1": (LiquidClass.WATER, "水溶液"), "2": (LiquidClass.SERUM, "血清"), "3": (LiquidClass.VISCOUS, "粘稠液体"), "4": (LiquidClass.VOLATILE, "挥发性液体") } for key, (liquid_class, description) in liquid_options.items(): print(f" {key}. {description}") liquid_choice = input("请选择液体类型 (1-4): ").strip() if liquid_choice in liquid_options: liquid_class, description = liquid_options[liquid_choice] pipette.set_liquid_class(liquid_class) print(f"✅ 液体类型设置为: {description}") # 显示参数 params = pipette.liquid_params print(f"📋 参数设置:") print(f" ⬆️ 吸液速度: {params.aspirate_speed}") print(f" ⬇️ 排液速度: {params.dispense_speed}") print(f" 💨 空气间隙: {params.air_gap}ul") print(f" 💧 预润湿: {'是' if params.pre_wet else '否'}") else: print("❌ 无效选择") elif choice == "9": # 自定义参数 try: print("\n⚙️ 设置自定义参数 (直接回车使用默认值):") aspirate_speed = input("吸液速度 (默认500): ").strip() dispense_speed = input("排液速度 (默认800): ").strip() air_gap = input("空气间隙 (ul, 默认10.0): ").strip() pre_wet = input("预润湿 (y/n, 默认n): ").strip().lower() == 'y' custom_params = LiquidParameters( aspirate_speed=int(aspirate_speed) if aspirate_speed else 500, dispense_speed=int(dispense_speed) if dispense_speed else 800, air_gap=float(air_gap) if air_gap else 10.0, pre_wet=pre_wet ) pipette.set_custom_parameters(custom_params) print("✅ 自定义参数设置完成") except ValueError: print("❌ 请输入有效的数字") elif choice == "10": # 校准体积 try: expected = float(input("期望体积 (ul): ")) actual = float(input("实际测量体积 (ul): ")) pipette.calibrate_volume(expected, actual) print(f"✅ 校准完成，校准系数: {actual/expected:.3f}") except ValueError: print("❌ 请输入有效的数字") elif choice == "11": # 重置统计 pipette.reset_statistics() print("✅ 统计信息已重置") elif choice == "12": # 液体类型测试 print("\n🧪 液体类型参数对比:") liquid_tests = [ (LiquidClass.WATER, "水溶液"), (LiquidClass.SERUM, "血清"), (LiquidClass.VISCOUS, "粘稠液体"), (LiquidClass.VOLATILE, "挥发性液体") ] for liquid_class, description in liquid_tests: params = pipette.LIQUID_PARAMS[liquid_class] print(f"\n📋 {description} ({liquid_class.value}):") print(f" ⬆️ 吸液速度: {params.aspirate_speed}") print(f" ⬇️ 排液速度: {params.dispense_speed}") print(f" 💨 空气间隙: {params.air_gap}ul") print(f" 💧 预润湿: {'是' if params.pre_wet else '否'}") print(f" ⏱️ 吸液后延时: {params.delay_after_aspirate}s") elif choice == "99": # 紧急停止 print("\n🚨 执行紧急停止...") success = pipette.emergency_stop() if success: print("✅ 紧急停止执行成功") print("⚠️ 所有运动已停止，请检查设备状态") else: print("❌ 紧急停止执行失败") print("⚠️ 请手动检查设备状态并采取必要措施") # 紧急停止后询问是否继续 continue_choice = input("\n是否继续操作？(y/n): ").strip().lower() if continue_choice != 'y': print("🚪 退出程序") break else: print("❌ 无效选择，请重新输入") # 等待用户确认继续 input("\n按回车键继续...") except KeyboardInterrupt: print("\n\n⚠️ 用户中断操作") except Exception as e: print(f"\n❌ 发生异常: {e}") finally: # 断开连接 print("\n📞 断开设备连接...") try: pipette.disconnect() print("✅ 连接已断开") except: print("⚠️ 断开连接时出现问题") def demo_test(): """演示测试模式 - 完整功能演示""" print("\n" + "=" * 60) print("🎬 移液控制器演示测试") print("=" * 60) try: # 创建移液控制器实例 print("1. 🔧 创建移液控制器实例...") pipette = PipetteController(port="/dev/ttyUSB0", address=4) print("✅ 移液控制器实例创建成功") # 连接设备 print("\n2. 📞 连接移液器设备...") if pipette.connect(): print("✅ 设备连接成功") else: print("❌ 设备连接失败") return False # 初始化设备 print("\n3. 🚀 初始化设备...") if pipette.initialize(): print("✅ 设备初始化成功") else: print("❌ 设备初始化失败") return False # 装载枪头 print("\n4. 🔧 装载枪头...") if pipette.pickup_tip(): print("✅ 枪头装载成功") else: print("❌ 枪头装载失败") # 设置液体类型 print("\n5. 🧪 设置液体类型为血清...") pipette.set_liquid_class(LiquidClass.SERUM) print("✅ 液体类型设置完成") # 吸液操作 print("\n6. 💧 执行吸液操作...") volume_to_aspirate = 100.0 if pipette.aspirate(volume_to_aspirate, detection=True): print(f"✅ 吸液成功: {volume_to_aspirate}ul") print(f"📊 当前体积: {pipette.current_volume}ul") else: print("❌ 吸液失败") # 排液操作 print("\n7. 💦 执行排液操作...") volume_to_dispense = 50.0 if pipette.dispense(volume_to_dispense, blow_out=True): print(f"✅ 排液成功: {volume_to_dispense}ul") print(f"📊 剩余体积: {pipette.current_volume}ul") else: print("❌ 排液失败") # 混合操作 print("\n8. 🌀 执行混合操作...") if pipette.mix(cycles=3, volume=30.0): print("✅ 混合完成") else: print("❌ 混合失败") # 获取状态信息 print("\n9. 📊 获取设备状态...") status = pipette.get_status() print("设备状态信息:") print(f" 🎯 枪头状态: {status['tip_status']}") print(f" 💧 当前体积: {status['current_volume']}ul") print(f" 📏 最大体积: {status['max_volume']}ul") print(f" 🧪 液体类型: {status['liquid_class']}") print(f" 📈 统计信息:") # print(f" 🔧 枪头使用次数: {status['statistics']['tip_count']}") print(f" ⬆️ 吸液次数: {status['statistics']['aspirate_count']}") print(f" ⬇️ 排液次数: {status['statistics']['dispense_count']}") # 弹出枪头 print("\n10. 🗑️ 弹出枪头...") if pipette.eject_tip(): print("✅ 枪头弹出成功") else: print("❌ 枪头弹出失败") print("\n" + "=" * 60) print("✅ 移液控制器演示测试完成") print("=" * 60) return True except Exception as e: print(f"\n❌ 测试过程中发生异常: {e}") return False finally: # 断开连接 print("\n📞 断开连接...") pipette.disconnect() print("✅ 连接已断开") # 主程序入口 print("🧪 移液器控制器测试程序") print("=" * 40) print("1. 🎮 交互式测试 (推荐)") print("2. 🎬 演示测试") print("0. 🚪 退出") print("=" * 40) mode = input("请选择测试模式 (0-2): ").strip() if mode == "1": interactive_test() elif mode == "2": demo_test() elif mode == "0": print("👋 再见！") else: print("❌ 无效选择") print("\n🎉 程序结束！") print("\n💡 使用说明:") print("1. 确保移液器硬件已正确连接") print("2. 根据实际情况修改串口端口号") print("3. 交互模式支持实时操作和参数调整") print("4. 在实际使用中需要配合运动控制器进行位置移动")