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432 lines
13 KiB
Python
432 lines
13 KiB
Python
from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d, Container
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from unilabos.resources.itemized_carrier import BottleCarrier
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from unilabos.resources.bioyond.bottles import (
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BIOYOND_PolymerStation_Solid_Stock,
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BIOYOND_PolymerStation_Solid_Vial,
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BIOYOND_PolymerStation_Liquid_Vial,
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BIOYOND_PolymerStation_Solution_Beaker,
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BIOYOND_PolymerStation_Reagent_Bottle,
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BIOYOND_PolymerStation_Flask,
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)
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def BIOYOND_PolymerStation_Tip(name: str, size_x: float = 8.0, size_y: float = 8.0, size_z: float = 50.0) -> Container:
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"""创建单个枪头资源
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Args:
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name: 枪头名称
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size_x: 枪头宽度 (mm)
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size_y: 枪头长度 (mm)
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size_z: 枪头高度 (mm)
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Returns:
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Container: 枪头容器
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"""
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return Container(
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name=name,
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size_x=size_x,
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size_y=size_y,
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size_z=size_z,
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category="tip",
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model="BIOYOND_PolymerStation_Tip",
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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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# ============================================================================
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# 聚合站（PolymerStation）载体定义（统一入口）
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# ============================================================================
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def BIOYOND_PolymerStation_6StockCarrier(name: str) -> BottleCarrier:
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"""聚合站-6孔样品板 - 2x3布局
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参数:
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- name: 载架名称前缀
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说明:
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- 统一站点命名为 PolymerStation，使用 PolymerStation 的 Vial 资源类
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- A行（PLR y=0，对应 Bioyond 位置A01~A03）使用 Liquid_Vial（10% 分装小瓶）
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- B行（PLR y=1，对应 Bioyond 位置B01~B03）使用 Solid_Vial（90% 分装小瓶）
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"""
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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="BIOYOND_PolymerStation_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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# 布局说明：
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# - num_items_x=3, num_items_y=2 表示 3列×2行
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# - create_ordered_items_2d 按先y后x的顺序创建(列优先)
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# - 索引顺序: 0=A1(x=0,y=0), 1=B1(x=0,y=1), 2=A2(x=1,y=0), 3=B2(x=1,y=1), 4=A3(x=2,y=0), 5=B3(x=2,y=1)
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#
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# Bioyond坐标映射: PLR(x,y) → Bioyond(y+1,x+1)
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# - A行(PLR y=0) → Bioyond x=1 → 10%分装小瓶
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# - B行(PLR y=1) → Bioyond x=2 → 90%分装小瓶
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ordering = ["A1", "B1", "A2", "B2", "A3", "B3"]
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for col in range(3): # 3列
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for row in range(2): # 2行
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idx = col * 2 + row # 计算索引: 列优先顺序
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if row == 0: # A行 (PLR y=0 → Bioyond x=1)
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carrier[idx] = BIOYOND_PolymerStation_Liquid_Vial(f"{ordering[idx]}")
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else: # B行 (PLR y=1 → Bioyond x=2)
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carrier[idx] = BIOYOND_PolymerStation_Solid_Vial(f"{ordering[idx]}")
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return carrier
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def BIOYOND_PolymerStation_8StockCarrier(name: str) -> BottleCarrier:
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"""聚合站-8孔样品板 - 2x4布局
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参数:
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- name: 载架名称前缀
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说明:
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- 统一站点命名为 PolymerStation，使用 PolymerStation 的 Solid_Stock 资源类
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"""
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# 载架尺寸 (mm)
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carrier_size_x = 128.0
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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 = 30.0 # 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="BIOYOND_PolymerStation_8StockCarrier",
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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", "B1", "A2", "B2", "A3", "B3", "A4", "B4"]
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for i in range(8):
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carrier[i] = BIOYOND_PolymerStation_Solid_Stock(f"{name}_vial_{ordering[i]}")
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return carrier
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def BIOYOND_PolymerStation_1BottleCarrier(name: str) -> BottleCarrier:
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"""聚合站-单试剂瓶载架
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参数:
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- name: 载架名称前缀
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"""
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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/试剂瓶占位尺寸（使用圆形占位）
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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="BIOYOND_PolymerStation_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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# 统一后缀采用 "flask_1" 命名（可按需调整）
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carrier[0] = BIOYOND_PolymerStation_Reagent_Bottle(f"{name}_flask_1")
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return carrier
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def BIOYOND_PolymerStation_1FlaskCarrier(name: str) -> BottleCarrier:
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"""聚合站-单烧杯载架
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说明:
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- 使用 BIOYOND_PolymerStation_Flask 资源类
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- 载架命名与 model 统一为 PolymerStation
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"""
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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="BIOYOND_PolymerStation_1FlaskCarrier",
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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] = BIOYOND_PolymerStation_Flask(f"{name}_flask_1")
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return carrier
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# ============================================================================
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# 其他载体定义
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# ============================================================================
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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="BIOYOND_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] = BIOYOND_PolymerStation_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="BIOYOND_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] = BIOYOND_PolymerStation_Solution_Beaker(f"{name}_beaker_1")
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return carrier
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def BIOYOND_PolymerStation_TipBox(
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name: str,
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size_x: float = 127.76, # 枪头盒宽度
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size_y: float = 85.48, # 枪头盒长度
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size_z: float = 100.0, # 枪头盒高度
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barcode: str = None,
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) -> BottleCarrier:
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"""创建4×6枪头盒 (24个枪头) - 使用 BottleCarrier 结构
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Args:
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name: 枪头盒名称
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size_x: 枪头盒宽度 (mm)
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size_y: 枪头盒长度 (mm)
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size_z: 枪头盒高度 (mm)
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barcode: 条形码
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Returns:
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BottleCarrier: 包含24个枪头孔位的枪头盒载架
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布局说明:
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- 4行×6列 (A-D, 1-6)
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- 枪头孔位间距: 18mm (x方向) × 18mm (y方向)
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- 起始位置居中对齐
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- 索引顺序: 列优先 (0=A1, 1=B1, 2=C1, 3=D1, 4=A2, ...)
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"""
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# 枪头孔位参数
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num_cols = 6 # 1-6 (x方向)
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num_rows = 4 # A-D (y方向)
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tip_diameter = 8.0 # 枪头孔位直径
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tip_spacing_x = 18.0 # 列间距 (增加到18mm，更宽松)
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tip_spacing_y = 18.0 # 行间距 (增加到18mm，更宽松)
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# 计算起始位置 (居中对齐)
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total_width = (num_cols - 1) * tip_spacing_x + tip_diameter
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total_height = (num_rows - 1) * tip_spacing_y + tip_diameter
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start_x = (size_x - total_width) / 2
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start_y = (size_y - total_height) / 2
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# 使用 create_ordered_items_2d 创建孔位
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# create_ordered_items_2d 返回的 key 是数字索引: 0, 1, 2, ...
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# 顺序是列优先: 先y后x (即 0=A1, 1=B1, 2=C1, 3=D1, 4=A2, 5=B2, ...)
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sites = create_ordered_items_2d(
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klass=ResourceHolder,
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num_items_x=num_cols,
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num_items_y=num_rows,
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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=tip_spacing_x,
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item_dy=tip_spacing_y,
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size_x=tip_diameter,
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size_y=tip_diameter,
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size_z=50.0, # 枪头深度
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)
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# 更新 sites 中每个 ResourceHolder 的名称
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for k, v in sites.items():
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v.name = f"{name}_{v.name}"
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# 创建枪头盒载架
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# 注意：不设置 category，使用默认的 "bottle_carrier"，这样前端会显示为完整的矩形载架
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tip_box = BottleCarrier(
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name=name,
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size_x=size_x,
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size_y=size_y,
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size_z=size_z,
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sites=sites, # 直接使用数字索引的 sites
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model="BIOYOND_PolymerStation_TipBox",
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)
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# 设置自定义属性
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tip_box.barcode = barcode
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tip_box.tip_count = 24 # 4行×6列
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tip_box.num_items_x = num_cols
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tip_box.num_items_y = num_rows
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tip_box.num_items_z = 1
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# ⭐ 枪头盒不需要放入子资源
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# 与其他 carrier 不同，枪头盒在 Bioyond 中是一个整体
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# 不需要追踪每个枪头的状态，保持为空的 ResourceHolder 即可
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# 这样前端会显示24个空槽位，可以用于放置枪头
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return tip_box
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