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654 lines
18 KiB
Python
654 lines
18 KiB
Python
from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
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from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
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from unilabos.resources.bioyond.YB_bottles import (
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YB_jia_yang_tou_da,
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YB_ye_Bottle,
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YB_ye_100ml_Bottle,
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YB_gao_nian_ye_Bottle,
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YB_5ml_fenyeping,
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YB_20ml_fenyeping,
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YB_pei_ye_xiao_Bottle,
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YB_pei_ye_da_Bottle,
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YB_qiang_tou,
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)
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# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
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def BIOYOND_Electrolyte_6VialCarrier(name: str) -> BottleCarrier:
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"""6瓶载架 - 2x3布局"""
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# 载架尺寸 (mm)
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carrier_size_x = 127.8
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carrier_size_y = 85.5
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carrier_size_z = 50.0
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# 瓶位尺寸
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bottle_diameter = 30.0
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bottle_spacing_x = 42.0 # X方向间距
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bottle_spacing_y = 35.0 # Y方向间距
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# 计算起始位置 (居中排列)
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start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
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start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
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sites = create_ordered_items_2d(
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klass=ResourceHolder,
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num_items_x=3,
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num_items_y=2,
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dx=start_x,
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dy=start_y,
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dz=5.0,
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item_dx=bottle_spacing_x,
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item_dy=bottle_spacing_y,
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size_x=bottle_diameter,
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size_y=bottle_diameter,
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size_z=carrier_size_z,
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)
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for k, v in sites.items():
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v.name = f"{name}_{v.name}"
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carrier = BottleCarrier(
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name=name,
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size_x=carrier_size_x,
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size_y=carrier_size_y,
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size_z=carrier_size_z,
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sites=sites,
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model="Electrolyte_6VialCarrier",
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)
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carrier.num_items_x = 3
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carrier.num_items_y = 2
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carrier.num_items_z = 1
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# for i in range(6):
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# carrier[i] = YB_Solid_Vial(f"{name}_vial_{i+1}")
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return carrier
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def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier:
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"""1瓶载架 - 单个中央位置"""
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# 载架尺寸 (mm)
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carrier_size_x = 127.8
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carrier_size_y = 85.5
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carrier_size_z = 100.0
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# 烧杯尺寸
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beaker_diameter = 80.0
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# 计算中央位置
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center_x = (carrier_size_x - beaker_diameter) / 2
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center_y = (carrier_size_y - beaker_diameter) / 2
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center_z = 5.0
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carrier = BottleCarrier(
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name=name,
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size_x=carrier_size_x,
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size_y=carrier_size_y,
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size_z=carrier_size_z,
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sites=create_homogeneous_resources(
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klass=ResourceHolder,
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locations=[Coordinate(center_x, center_y, center_z)],
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resource_size_x=beaker_diameter,
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resource_size_y=beaker_diameter,
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name_prefix=name,
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),
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model="Electrolyte_1BottleCarrier",
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)
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carrier.num_items_x = 1
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carrier.num_items_y = 1
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carrier.num_items_z = 1
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# carrier[0] = YB_Solution_Beaker(f"{name}_beaker_1")
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return carrier
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def YB_6StockCarrier(name: str) -> BottleCarrier:
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"""6瓶载架 - 2x3布局"""
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# 载架尺寸 (mm)
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carrier_size_x = 127.8
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carrier_size_y = 85.5
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carrier_size_z = 50.0
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# 瓶位尺寸
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bottle_diameter = 20.0
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bottle_spacing_x = 42.0 # X方向间距
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bottle_spacing_y = 35.0 # Y方向间距
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# 计算起始位置 (居中排列)
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start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
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start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
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sites = create_ordered_items_2d(
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klass=ResourceHolder,
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num_items_x=3,
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num_items_y=2,
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dx=start_x,
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dy=start_y,
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dz=5.0,
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item_dx=bottle_spacing_x,
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item_dy=bottle_spacing_y,
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size_x=bottle_diameter,
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size_y=bottle_diameter,
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size_z=carrier_size_z,
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)
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for k, v in sites.items():
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v.name = f"{name}_{v.name}"
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carrier = BottleCarrier(
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name=name,
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size_x=carrier_size_x,
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size_y=carrier_size_y,
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size_z=carrier_size_z,
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sites=sites,
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model="6StockCarrier",
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)
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carrier.num_items_x = 3
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carrier.num_items_y = 2
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carrier.num_items_z = 1
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ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序
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# for i in range(6):
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# carrier[i] = YB_Solid_Stock(f"{name}_vial_{ordering[i]}")
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return carrier
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def YB_6VialCarrier(name: str) -> BottleCarrier:
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"""6瓶载架 - 2x3布局"""
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# 载架尺寸 (mm)
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carrier_size_x = 127.8
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carrier_size_y = 85.5
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carrier_size_z = 50.0
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# 瓶位尺寸
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bottle_diameter = 30.0
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bottle_spacing_x = 42.0 # X方向间距
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bottle_spacing_y = 35.0 # Y方向间距
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# 计算起始位置 (居中排列)
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start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
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start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
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sites = create_ordered_items_2d(
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klass=ResourceHolder,
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num_items_x=3,
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num_items_y=2,
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dx=start_x,
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dy=start_y,
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dz=5.0,
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item_dx=bottle_spacing_x,
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item_dy=bottle_spacing_y,
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size_x=bottle_diameter,
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size_y=bottle_diameter,
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size_z=carrier_size_z,
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)
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for k, v in sites.items():
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v.name = f"{name}_{v.name}"
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carrier = BottleCarrier(
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name=name,
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size_x=carrier_size_x,
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size_y=carrier_size_y,
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size_z=carrier_size_z,
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sites=sites,
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model="6VialCarrier",
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)
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carrier.num_items_x = 3
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carrier.num_items_y = 2
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carrier.num_items_z = 1
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ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序
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# for i in range(3):
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# carrier[i] = YB_Solid_Vial(f"{name}_solidvial_{ordering[i]}")
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# for i in range(3, 6):
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# carrier[i] = YB_Liquid_Vial(f"{name}_liquidvial_{ordering[i]}")
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return carrier
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# 1瓶载架 - 单个中央位置
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def YB_ye(name: str) -> BottleCarrier:
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# 载架尺寸 (mm)
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carrier_size_x = 127.8
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carrier_size_y = 85.5
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carrier_size_z = 20.0
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# 烧杯尺寸
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beaker_diameter = 60.0
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# 计算中央位置
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center_x = (carrier_size_x - beaker_diameter) / 2
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center_y = (carrier_size_y - beaker_diameter) / 2
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center_z = 5.0
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carrier = BottleCarrier(
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name=name,
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size_x=carrier_size_x,
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size_y=carrier_size_y,
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size_z=carrier_size_z,
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sites=create_homogeneous_resources(
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klass=ResourceHolder,
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locations=[Coordinate(center_x, center_y, center_z)],
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resource_size_x=beaker_diameter,
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resource_size_y=beaker_diameter,
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name_prefix=name,
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),
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model="YB_ye",
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)
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carrier.num_items_x = 1
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carrier.num_items_y = 1
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carrier.num_items_z = 1
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carrier[0] = YB_ye_Bottle(f"{name}_flask_1")
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return carrier
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# 高粘液瓶载架 - 单个中央位置
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def YB_gaonianye(name: str) -> BottleCarrier:
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# 载架尺寸 (mm)
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carrier_size_x = 127.8
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carrier_size_y = 85.5
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carrier_size_z = 20.0
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# 烧杯尺寸
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beaker_diameter = 60.0
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# 计算中央位置
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center_x = (carrier_size_x - beaker_diameter) / 2
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center_y = (carrier_size_y - beaker_diameter) / 2
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center_z = 5.0
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carrier = BottleCarrier(
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name=name,
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size_x=carrier_size_x,
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size_y=carrier_size_y,
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size_z=carrier_size_z,
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sites=create_homogeneous_resources(
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klass=ResourceHolder,
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locations=[Coordinate(center_x, center_y, center_z)],
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resource_size_x=beaker_diameter,
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resource_size_y=beaker_diameter,
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name_prefix=name,
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),
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model="YB_gaonianye",
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)
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carrier.num_items_x = 1
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carrier.num_items_y = 1
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carrier.num_items_z = 1
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carrier[0] = YB_gao_nian_ye_Bottle(f"{name}_flask_1")
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return carrier
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# 100ml液体瓶载架 - 单个中央位置
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def YB_100ml_yeti(name: str) -> BottleCarrier:
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# 载架尺寸 (mm)
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carrier_size_x = 127.8
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carrier_size_y = 85.5
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carrier_size_z = 20.0
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# 烧杯尺寸
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beaker_diameter = 60.0
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# 计算中央位置
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center_x = (carrier_size_x - beaker_diameter) / 2
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center_y = (carrier_size_y - beaker_diameter) / 2
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center_z = 5.0
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carrier = BottleCarrier(
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name=name,
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size_x=carrier_size_x,
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size_y=carrier_size_y,
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size_z=carrier_size_z,
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sites=create_homogeneous_resources(
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klass=ResourceHolder,
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locations=[Coordinate(center_x, center_y, center_z)],
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resource_size_x=beaker_diameter,
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resource_size_y=beaker_diameter,
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name_prefix=name,
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),
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model="YB_100ml_yeti",
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)
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carrier.num_items_x = 1
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carrier.num_items_y = 1
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carrier.num_items_z = 1
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carrier[0] = YB_ye_100ml_Bottle(f"{name}_flask_1")
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return carrier
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# 5ml分液瓶板 - 4x2布局，8个位置
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def YB_5ml_fenyepingban(name: str) -> BottleCarrier:
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# 载架尺寸 (mm)
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carrier_size_x = 127.8
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carrier_size_y = 85.5
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carrier_size_z = 50.0
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# 瓶位尺寸
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bottle_diameter = 15.0
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bottle_spacing_x = 42.0 # X方向间距
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bottle_spacing_y = 35.0 # Y方向间距
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# 计算起始位置 (居中排列)
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start_x = (carrier_size_x - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2
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start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
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sites = create_ordered_items_2d(
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klass=ResourceHolder,
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num_items_x=4,
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num_items_y=2,
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dx=start_x,
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dy=start_y,
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dz=5.0,
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item_dx=bottle_spacing_x,
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item_dy=bottle_spacing_y,
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size_x=bottle_diameter,
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size_y=bottle_diameter,
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size_z=carrier_size_z,
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)
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for k, v in sites.items():
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v.name = f"{name}_{v.name}"
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carrier = BottleCarrier(
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name=name,
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size_x=carrier_size_x,
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size_y=carrier_size_y,
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size_z=carrier_size_z,
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sites=sites,
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model="YB_5ml_fenyepingban",
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)
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carrier.num_items_x = 4
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carrier.num_items_y = 2
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carrier.num_items_z = 1
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ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
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for i in range(8):
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carrier[i] = YB_5ml_fenyeping(f"{name}_vial_{ordering[i]}")
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return carrier
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# 20ml分液瓶板 - 4x2布局，8个位置
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def YB_20ml_fenyepingban(name: str) -> BottleCarrier:
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# 载架尺寸 (mm)
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carrier_size_x = 127.8
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carrier_size_y = 85.5
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carrier_size_z = 70.0
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# 瓶位尺寸
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bottle_diameter = 20.0
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bottle_spacing_x = 42.0 # X方向间距
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bottle_spacing_y = 35.0 # Y方向间距
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# 计算起始位置 (居中排列)
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start_x = (carrier_size_x - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2
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start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
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sites = create_ordered_items_2d(
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klass=ResourceHolder,
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num_items_x=4,
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num_items_y=2,
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dx=start_x,
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dy=start_y,
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dz=5.0,
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item_dx=bottle_spacing_x,
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item_dy=bottle_spacing_y,
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size_x=bottle_diameter,
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size_y=bottle_diameter,
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size_z=carrier_size_z,
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)
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for k, v in sites.items():
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v.name = f"{name}_{v.name}"
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carrier = BottleCarrier(
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name=name,
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size_x=carrier_size_x,
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size_y=carrier_size_y,
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size_z=carrier_size_z,
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sites=sites,
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model="YB_20ml_fenyepingban",
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)
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carrier.num_items_x = 4
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carrier.num_items_y = 2
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carrier.num_items_z = 1
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ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
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for i in range(8):
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carrier[i] = YB_20ml_fenyeping(f"{name}_vial_{ordering[i]}")
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return carrier
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# 配液瓶(小)板 - 4x2布局，8个位置
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def YB_peiyepingxiaoban(name: str) -> BottleCarrier:
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# 载架尺寸 (mm)
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carrier_size_x = 127.8
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carrier_size_y = 85.5
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carrier_size_z = 65.0
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# 瓶位尺寸
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bottle_diameter = 35.0
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bottle_spacing_x = 42.0 # X方向间距
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bottle_spacing_y = 35.0 # Y方向间距
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# 计算起始位置 (居中排列)
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start_x = (carrier_size_x - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2
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start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
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sites = create_ordered_items_2d(
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klass=ResourceHolder,
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num_items_x=4,
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num_items_y=2,
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dx=start_x,
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dy=start_y,
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dz=5.0,
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item_dx=bottle_spacing_x,
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item_dy=bottle_spacing_y,
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size_x=bottle_diameter,
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size_y=bottle_diameter,
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size_z=carrier_size_z,
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)
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for k, v in sites.items():
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v.name = f"{name}_{v.name}"
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carrier = BottleCarrier(
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name=name,
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size_x=carrier_size_x,
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size_y=carrier_size_y,
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size_z=carrier_size_z,
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sites=sites,
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model="YB_peiyepingxiaoban",
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)
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carrier.num_items_x = 4
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carrier.num_items_y = 2
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carrier.num_items_z = 1
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ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
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for i in range(8):
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carrier[i] = YB_pei_ye_xiao_Bottle(f"{name}_bottle_{ordering[i]}")
|
||
return carrier
|
||
|
||
|
||
# 配液瓶(大)板 - 2x2布局，4个位置
|
||
def YB_peiyepingdaban(name: str) -> BottleCarrier:
|
||
|
||
# 载架尺寸 (mm)
|
||
carrier_size_x = 127.8
|
||
carrier_size_y = 85.5
|
||
carrier_size_z = 95.0
|
||
|
||
# 瓶位尺寸
|
||
bottle_diameter = 55.0
|
||
bottle_spacing_x = 60.0 # X方向间距
|
||
bottle_spacing_y = 60.0 # Y方向间距
|
||
|
||
# 计算起始位置 (居中排列)
|
||
start_x = (carrier_size_x - (2 - 1) * bottle_spacing_x - bottle_diameter) / 2
|
||
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||
|
||
sites = create_ordered_items_2d(
|
||
klass=ResourceHolder,
|
||
num_items_x=2,
|
||
num_items_y=2,
|
||
dx=start_x,
|
||
dy=start_y,
|
||
dz=5.0,
|
||
item_dx=bottle_spacing_x,
|
||
item_dy=bottle_spacing_y,
|
||
size_x=bottle_diameter,
|
||
size_y=bottle_diameter,
|
||
size_z=carrier_size_z,
|
||
)
|
||
for k, v in sites.items():
|
||
v.name = f"{name}_{v.name}"
|
||
|
||
carrier = BottleCarrier(
|
||
name=name,
|
||
size_x=carrier_size_x,
|
||
size_y=carrier_size_y,
|
||
size_z=carrier_size_z,
|
||
sites=sites,
|
||
model="YB_peiyepingdaban",
|
||
)
|
||
carrier.num_items_x = 2
|
||
carrier.num_items_y = 2
|
||
carrier.num_items_z = 1
|
||
ordering = ["A1", "A2", "B1", "B2"]
|
||
for i in range(4):
|
||
carrier[i] = YB_pei_ye_da_Bottle(f"{name}_bottle_{ordering[i]}")
|
||
return carrier
|
||
|
||
# 加样头(大)板 - 1x1布局，1个位置
|
||
def YB_jia_yang_tou_da_Carrier(name: str) -> BottleCarrier:
|
||
|
||
# 载架尺寸 (mm)
|
||
carrier_size_x = 127.8
|
||
carrier_size_y = 85.5
|
||
carrier_size_z = 95.0
|
||
|
||
# 瓶位尺寸
|
||
bottle_diameter = 35.0
|
||
bottle_spacing_x = 42.0 # X方向间距
|
||
bottle_spacing_y = 35.0 # Y方向间距
|
||
|
||
# 计算起始位置 (居中排列)
|
||
start_x = (carrier_size_x - (1 - 1) * bottle_spacing_x - bottle_diameter) / 2
|
||
start_y = (carrier_size_y - (1 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||
|
||
sites = create_ordered_items_2d(
|
||
klass=ResourceHolder,
|
||
num_items_x=1,
|
||
num_items_y=1,
|
||
dx=start_x,
|
||
dy=start_y,
|
||
dz=5.0,
|
||
item_dx=bottle_spacing_x,
|
||
item_dy=bottle_spacing_y,
|
||
size_x=bottle_diameter,
|
||
size_y=bottle_diameter,
|
||
size_z=carrier_size_z,
|
||
)
|
||
for k, v in sites.items():
|
||
v.name = f"{name}_{v.name}"
|
||
|
||
carrier = BottleCarrier(
|
||
name=name,
|
||
size_x=carrier_size_x,
|
||
size_y=carrier_size_y,
|
||
size_z=carrier_size_z,
|
||
sites=sites,
|
||
model="YB_jia_yang_tou_da_Carrier",
|
||
)
|
||
carrier.num_items_x = 1
|
||
carrier.num_items_y = 1
|
||
carrier.num_items_z = 1
|
||
carrier[0] = YB_jia_yang_tou_da(f"{name}_head_1")
|
||
return carrier
|
||
|
||
|
||
def YB_shi_pei_qi_kuai(name: str) -> BottleCarrier:
|
||
"""适配器块 - 单个中央位置"""
|
||
|
||
# 载架尺寸 (mm)
|
||
carrier_size_x = 127.8
|
||
carrier_size_y = 85.5
|
||
carrier_size_z = 30.0
|
||
|
||
# 适配器尺寸
|
||
adapter_diameter = 80.0
|
||
|
||
# 计算中央位置
|
||
center_x = (carrier_size_x - adapter_diameter) / 2
|
||
center_y = (carrier_size_y - adapter_diameter) / 2
|
||
center_z = 0.0
|
||
|
||
carrier = BottleCarrier(
|
||
name=name,
|
||
size_x=carrier_size_x,
|
||
size_y=carrier_size_y,
|
||
size_z=carrier_size_z,
|
||
sites=create_homogeneous_resources(
|
||
klass=ResourceHolder,
|
||
locations=[Coordinate(center_x, center_y, center_z)],
|
||
resource_size_x=adapter_diameter,
|
||
resource_size_y=adapter_diameter,
|
||
name_prefix=name,
|
||
),
|
||
model="YB_shi_pei_qi_kuai",
|
||
)
|
||
carrier.num_items_x = 1
|
||
carrier.num_items_y = 1
|
||
carrier.num_items_z = 1
|
||
# 适配器块本身不包含瓶子，只是一个支撑结构
|
||
return carrier
|
||
|
||
|
||
def YB_qiang_tou_he(name: str) -> BottleCarrier:
|
||
"""枪头盒 - 8x12布局，96个位置"""
|
||
|
||
# 载架尺寸 (mm)
|
||
carrier_size_x = 127.8
|
||
carrier_size_y = 85.5
|
||
carrier_size_z = 55.0
|
||
|
||
# 枪头尺寸
|
||
tip_diameter = 10.0
|
||
tip_spacing_x = 9.0 # X方向间距
|
||
tip_spacing_y = 9.0 # Y方向间距
|
||
|
||
# 计算起始位置 (居中排列)
|
||
start_x = (carrier_size_x - (12 - 1) * tip_spacing_x - tip_diameter) / 2
|
||
start_y = (carrier_size_y - (8 - 1) * tip_spacing_y - tip_diameter) / 2
|
||
|
||
sites = create_ordered_items_2d(
|
||
klass=ResourceHolder,
|
||
num_items_x=12,
|
||
num_items_y=8,
|
||
dx=start_x,
|
||
dy=start_y,
|
||
dz=5.0,
|
||
item_dx=tip_spacing_x,
|
||
item_dy=tip_spacing_y,
|
||
size_x=tip_diameter,
|
||
size_y=tip_diameter,
|
||
size_z=carrier_size_z,
|
||
)
|
||
for k, v in sites.items():
|
||
v.name = f"{name}_{v.name}"
|
||
|
||
carrier = BottleCarrier(
|
||
name=name,
|
||
size_x=carrier_size_x,
|
||
size_y=carrier_size_y,
|
||
size_z=carrier_size_z,
|
||
sites=sites,
|
||
model="YB_qiang_tou_he",
|
||
)
|
||
carrier.num_items_x = 12
|
||
carrier.num_items_y = 8
|
||
carrier.num_items_z = 1
|
||
# 创建96个枪头
|
||
for i in range(96):
|
||
row = chr(65 + i // 12) # A-H
|
||
col = (i % 12) + 1 # 1-12
|
||
carrier[i] = YB_qiang_tou(f"{name}_tip_{row}{col}")
|
||
return carrier
|
||
|