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909 lines
28 KiB
Python
909 lines
28 KiB
Python
import requests
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from typing import List, Sequence, Optional, Union, Literal
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from geometry_msgs.msg import Point
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from pylabrobot.liquid_handling import LiquidHandler
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from unilabos_msgs.msg import Resource
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from pylabrobot.resources import (
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TipRack,
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Container,
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Coordinate,
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)
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from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker # type: ignore
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from .liquid_handler_abstract import LiquidHandlerAbstract
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import json
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from typing import Sequence, Optional, List, Union, Literal
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class LiquidHandlerBiomek(LiquidHandlerAbstract):
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"""
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Biomek液体处理器的实现类，继承自LiquidHandlerAbstract。
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该类用于处理Biomek液体处理器的特定操作。
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"""
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def __init__(self, *args, **kwargs):
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super().__init__(*args, **kwargs)
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self._status = "Idle" # 初始状态为 Idle
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self._success = False # 初始成功状态为 False
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self._status_queue = kwargs.get("status_queue", None) # 状态队列
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self.temp_protocol = {}
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self.py32_path = "/opt/py32" # Biomek的Python 3.2路径
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self.aspirate_techniques = {
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'MC P300 high':{
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'Position': 'P1',
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'Height': -2.0,
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'Volume': '50',
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'liquidtype': 'Well Contents',
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'WellsX': 12,
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'LabwareClass': 'Matrix96_750uL',
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'AutoSelectPrototype': True,
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'ColsFirst': True,
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'CustomHeight': False,
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'DataSetPattern': False,
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'HeightFrom': 0,
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'LocalPattern': True,
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'Operation': 'Aspirate',
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'OverrideHeight': False,
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'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True),
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'Prototype': 'MC P300 High',
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'ReferencedPattern': '',
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'RowsFirst': False,
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'SectionExpression': '',
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'SelectionInfo': (1,),
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'SetMark': True,
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'Source': True,
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'StartAtMark': False,
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'StartAtSelection': True,
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'UseExpression': False},
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}
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self.dispense_techniques = {
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'MC P300 high':{
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'Position': 'P11',
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'Height': -2.0,
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'Volume': '50',
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'liquidtype': 'Tip Contents',
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'WellsX': 12,
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'LabwareClass': 'Matrix96_750uL',
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'AutoSelectPrototype': True,
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'ColsFirst': True,
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'CustomHeight': False,
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'DataSetPattern': False,
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'HeightFrom': 0,
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'LocalPattern': True,
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'Operation': 'Dispense',
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'OverrideHeight': False,
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'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True),
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'Prototype': 'MC P300 High',
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'ReferencedPattern': '',
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'RowsFirst': False,
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'SectionExpression': '',
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'SelectionInfo': (1,),
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'SetMark': True,
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'Source': False,
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'StartAtMark': False,
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'StartAtSelection': True,
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'UseExpression': False}
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}
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@classmethod
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def deserialize(cls, data: dict, allow_marshal: bool = False) -> LiquidHandler:
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return LiquidHandler.deserialize(data, allow_marshal)
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def create_protocol(
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self,
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protocol_name: str,
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protocol_description: str,
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protocol_version: str,
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protocol_author: str,
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protocol_date: str,
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protocol_type: str,
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none_keys: List[str] = [],
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):
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"""
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创建一个新的协议。
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Args:
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protocol_name (str): 协议名称
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protocol_description (str): 协议描述
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protocol_version (str): 协议版本
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protocol_author (str): 协议作者
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protocol_date (str): 协议日期
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protocol_type (str): 协议类型
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none_keys (List[str]): 需要设置为None的键列表
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Returns:
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dict: 创建的协议字典
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"""
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self.temp_protocol = {
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"meta": {
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"name": protocol_name,
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"description": protocol_description,
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"version": protocol_version,
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"author": protocol_author,
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"date": protocol_date,
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"type": protocol_type,
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},
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"labwares": [],
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"steps": [],
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}
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return self.temp_protocol
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def run_protocol(self):
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"""
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执行创建的实验流程。
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工作站的完整执行流程是，
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从 create_protocol 开始，创建新的 method，
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随后执行 transfer_liquid 等操作向实验流程添加步骤，
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最后 run_protocol 执行整个方法。
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Returns:
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dict: 执行结果
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"""
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#use popen or subprocess to create py32 process and communicate send the temp protocol to it
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if not self.temp_protocol:
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raise ValueError("No protocol created. Please create a protocol first.")
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# 模拟执行协议
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self._status = "Running"
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self._success = True
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# 在这里可以添加实际执行协议的逻辑
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response = requests.post("localhost:5000/api/protocols", json=self.temp_protocol)
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def create_resource(
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self,
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resource_tracker: DeviceNodeResourceTracker,
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resources: list[Resource],
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bind_parent_id: str,
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bind_location: dict[str, float],
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liquid_input_slot: list[int],
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liquid_type: list[str],
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liquid_volume: list[int],
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slot_on_deck: int,
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):
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"""
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创建一个新的资源。
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Args:
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device_id (str): 设备ID
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res_id (str): 资源ID
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class_name (str): 资源类名
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parent (str): 父级ID
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bind_locations (Point): 绑定位置
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liquid_input_slot (list[int]): 液体输入槽列表
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liquid_type (list[str]): 液体类型列表
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liquid_volume (list[int]): 液体体积列表
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slot_on_deck (int): 甲板上的槽位
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Returns:
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dict: 创建的资源字典
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"""
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# TODO：需要对好接口，下面这个是临时的
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for resource in resources:
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res_id = resource.id
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class_name = resource.class_name
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parent = bind_parent_id
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bind_locations = Coordinate.from_point(resource.bind_location)
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liquid_input_slot = liquid_input_slot
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liquid_type = liquid_type
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liquid_volume = liquid_volume
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slot_on_deck = slot_on_deck
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resource = {
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"id": res_id,
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"class": class_name,
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"parent": parent,
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"bind_locations": bind_locations.to_dict(),
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"liquid_input_slot": liquid_input_slot,
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"liquid_type": liquid_type,
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"liquid_volume": liquid_volume,
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"slot_on_deck": slot_on_deck,
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}
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self.temp_protocol["labwares"].append(resource)
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return resource
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def transfer_liquid(
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self,
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sources: Sequence[Container],
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targets: Sequence[Container],
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tip_racks: Sequence[TipRack],
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*,
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use_channels: Optional[List[int]] = None,
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asp_vols: Union[List[float], float],
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dis_vols: Union[List[float], float],
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asp_flow_rates: Optional[List[Optional[float]]] = None,
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dis_flow_rates: Optional[List[Optional[float]]] = None,
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offsets: Optional[List[Coordinate]] = None,
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touch_tip: bool = False,
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liquid_height: Optional[List[Optional[float]]] = None,
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blow_out_air_volume: Optional[List[Optional[float]]] = None,
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spread: Literal["wide", "tight", "custom"] = "wide",
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is_96_well: bool = False,
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mix_stage: Optional[Literal["none", "before", "after", "both"]] = "none",
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mix_times: Optional[int] = None,
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mix_vol: Optional[int] = None,
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mix_rate: Optional[int] = None,
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mix_liquid_height: Optional[float] = None,
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delays: Optional[List[int]] = None,
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none_keys: List[str] = []
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):
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transfer_params = {
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"Span8": False,
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"Pod": "Pod1",
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"items": {},
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"Wash": False,
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"Dynamic?": True,
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"AutoSelectActiveWashTechnique": False,
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"ActiveWashTechnique": "",
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"ChangeTipsBetweenDests": False,
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"ChangeTipsBetweenSources": False,
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"DefaultCaption": "",
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"UseExpression": False,
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"LeaveTipsOn": False,
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"MandrelExpression": "",
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"Repeats": "1",
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"RepeatsByVolume": False,
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"Replicates": "1",
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"ShowTipHandlingDetails": False,
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"ShowTransferDetails": True,
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"Solvent": "Well Content",
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"Span8Wash": False,
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"Span8WashVolume": "2",
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"Span8WasteVolume": "1",
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"SplitVolume": False,
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"SplitVolumeCleaning": False,
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"Stop": "Destinations",
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"TipLocation": "BC1025F",
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"UseCurrentTips": False,
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"UseDisposableTips": True,
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"UseFixedTips": False,
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"UseJIT": True,
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"UseMandrelSelection": True,
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"UseProbes": [True, True, True, True, True, True, True, True],
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"WashCycles": "1",
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"WashVolume": "110%",
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"Wizard": False
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}
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items: dict = {}
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for idx, (src, dst) in enumerate(zip(sources, targets)):
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items[str(idx)] = {
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"Source": str(src),
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"Destination": str(dst),
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"Volume": dis_vols[idx]
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}
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transfer_params["items"] = items
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transfer_params["Solvent"] = "Water"
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TipLocation = tip_racks[0].name
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transfer_params["TipLocation"] = TipLocation
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if len(tip_racks) == 1:
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transfer_params['UseCurrentTips'] = True
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elif len(tip_racks) > 1:
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transfer_params["ChangeTipsBetweenDests"] = True
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self.temp_protocol["steps"].append(transfer_params)
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return
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def transfer_biomek(
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self,
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source: str,
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target: str,
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tip_rack: str,
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volume: float,
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aspirate_techniques: str,
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dispense_techniques: str,
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):
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"""
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处理Biomek的液体转移操作。
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"""
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items = []
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asp_params = self.aspirate_techniques.get(aspirate_techniques, {})
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dis_params = self.dispense_techniques.get(dispense_techniques, {})
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asp_params['Position'] = source
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dis_params['Position'] = target
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asp_params['Volume'] = str(volume)
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dis_params['Volume'] = str(volume)
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items.append(asp_params)
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items.append(dis_params)
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transfer_params = {
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"Span8": False,
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"Pod": "Pod1",
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"items": [],
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"Wash": False,
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"Dynamic?": True,
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"AutoSelectActiveWashTechnique": False,
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"ActiveWashTechnique": "",
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"ChangeTipsBetweenDests": True,
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"ChangeTipsBetweenSources": False,
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"DefaultCaption": "",
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"UseExpression": False,
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"LeaveTipsOn": False,
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"MandrelExpression": "",
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"Repeats": "1",
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"RepeatsByVolume": False,
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"Replicates": "1",
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"ShowTipHandlingDetails": False,
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"ShowTransferDetails": True,
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"Solvent": "Water",
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"Span8Wash": False,
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"Span8WashVolume": "2",
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"Span8WasteVolume": "1",
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"SplitVolume": False,
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"SplitVolumeCleaning": False,
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"Stop": "Destinations",
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"TipLocation": "BC230",
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"UseCurrentTips": False,
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"UseDisposableTips": False,
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"UseFixedTips": False,
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"UseJIT": True,
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"UseMandrelSelection": True,
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"UseProbes": [True, True, True, True, True, True, True, True],
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"WashCycles": "4",
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"WashVolume": "110%",
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"Wizard": False
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}
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transfer_params["items"] = items
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transfer_params["Solvent"] = 'Water'
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transfer_params["TipLocation"] = tip_rack
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self.temp_protocol["steps"].append(transfer_params)
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return
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def move_biomek(
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self,
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source: str,
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target: str,
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):
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"""
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处理Biomek移动板子的操作。
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"""
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move_params = {
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"Pod": "Pod1",
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"GripSide": "A1 near",
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"Source": source,
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"Target": target,
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"LeaveBottomLabware": False,
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}
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self.temp_protocol["steps"].append(move_params)
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return
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def incubation_biomek(
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self,
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time: int,
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):
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"""
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处理Biomek的孵育操作。
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"""
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incubation_params = {
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"Message": "Paused",
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"Location": "the whole system",
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"Time": time,
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"Mode": "TimedResource"
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}
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self.temp_protocol["steps"].append(incubation_params)
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return
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def oscillation_biomek(
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self,
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rpm: int,
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time: int,
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):
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"""
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处理Biomek的振荡操作。
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"""
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oscillation_params = {
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'Device': 'OrbitalShaker0',
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'Parameters': (str(rpm), '2', str(time), 'CounterClockwise'),
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'Command': 'Timed Shake'
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}
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self.temp_protocol["steps"].append(oscillation_params)
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return
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if __name__ == "__main__":
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steps_info = '''
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{
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"steps": [
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{
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"step_number": 1,
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"operation": "transfer",
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"description": "转移PCR产物或酶促反应液至0.05ml 96孔板中",
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"parameters": {
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"source": "P1",
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"target": "P11",
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"tip_rack": "BC230",
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"volume": 50
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}
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},
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{
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"step_number": 2,
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"operation": "transfer",
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"description": "加入2倍体积Bind Beads BC至产物中",
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"parameters": {
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"source": "P2",
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"target": "P11",
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"tip_rack": "BC230",
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"volume": 100
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}
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},
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{
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"step_number": 3,
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"operation": "move_labware",
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"description": "移动P11至Orbital1用于振荡混匀",
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"parameters": {
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"source": "P11",
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"target": "Orbital1"
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}
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},
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{
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"step_number": 4,
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"operation": "oscillation",
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"description": "在Orbital1上振荡混匀Bind Beads BC与PCR产物（700-900rpm，300秒）",
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"parameters": {
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"rpm": 800,
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"time": 300
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}
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},
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{
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"step_number": 5,
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"operation": "move_labware",
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"description": "移动混匀后的板回P11",
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"parameters": {
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"source": "Orbital1",
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"target": "P11"
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}
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},
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{
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"step_number": 6,
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"operation": "move_labware",
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"description": "将P11移动到磁力架（P12）吸附3分钟",
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"parameters": {
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"source": "P11",
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"target": "P12"
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}
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},
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{
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"step_number": 7,
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"operation": "incubation",
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"description": "磁力架上室温静置3分钟完成吸附",
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"parameters": {
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"time": 180
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}
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},
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{
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"step_number": 8,
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"operation": "transfer",
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"description": "去除上清液至废液槽",
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"parameters": {
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"source": "P12",
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"target": "P22",
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"tip_rack": "BC230",
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"volume": 150
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}
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},
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{
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"step_number": 9,
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"operation": "transfer",
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"description": "加入300-500μl 75%乙醇清洗",
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"parameters": {
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"source": "P3",
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"target": "P12",
|
||
"tip_rack": "BC230",
|
||
"volume": 400
|
||
}
|
||
},
|
||
{
|
||
"step_number": 10,
|
||
"operation": "move_labware",
|
||
"description": "移动清洗板到Orbital1进行振荡",
|
||
"parameters": {
|
||
"source": "P12",
|
||
"target": "Orbital1"
|
||
}
|
||
},
|
||
{
|
||
"step_number": 11,
|
||
"operation": "oscillation",
|
||
"description": "乙醇清洗液振荡混匀（700-900rpm, 45秒）",
|
||
"parameters": {
|
||
"rpm": 800,
|
||
"time": 45
|
||
}
|
||
},
|
||
{
|
||
"step_number": 12,
|
||
"operation": "move_labware",
|
||
"description": "振荡后将板移回磁力架P12吸附",
|
||
"parameters": {
|
||
"source": "Orbital1",
|
||
"target": "P12"
|
||
}
|
||
},
|
||
{
|
||
"step_number": 13,
|
||
"operation": "incubation",
|
||
"description": "吸附3分钟",
|
||
"parameters": {
|
||
"time": 180
|
||
}
|
||
},
|
||
{
|
||
"step_number": 14,
|
||
"operation": "transfer",
|
||
"description": "去除乙醇上清液至废液槽",
|
||
"parameters": {
|
||
"source": "P12",
|
||
"target": "P22",
|
||
"tip_rack": "BC230",
|
||
"volume": 400
|
||
}
|
||
},
|
||
{
|
||
"step_number": 15,
|
||
"operation": "transfer",
|
||
"description": "第二次加入300-500μl 75%乙醇清洗",
|
||
"parameters": {
|
||
"source": "P3",
|
||
"target": "P12",
|
||
"tip_rack": "BC230",
|
||
"volume": 400
|
||
}
|
||
},
|
||
{
|
||
"step_number": 16,
|
||
"operation": "move_labware",
|
||
"description": "再次移动清洗板到Orbital1振荡",
|
||
"parameters": {
|
||
"source": "P12",
|
||
"target": "Orbital1"
|
||
}
|
||
},
|
||
{
|
||
"step_number": 17,
|
||
"operation": "oscillation",
|
||
"description": "再次乙醇清洗液振荡混匀（700-900rpm, 45秒）",
|
||
"parameters": {
|
||
"rpm": 800,
|
||
"time": 45
|
||
}
|
||
},
|
||
{
|
||
"step_number": 18,
|
||
"operation": "move_labware",
|
||
"description": "振荡后板送回磁力架P12吸附",
|
||
"parameters": {
|
||
"source": "Orbital1",
|
||
"target": "P12"
|
||
}
|
||
},
|
||
{
|
||
"step_number": 19,
|
||
"operation": "incubation",
|
||
"description": "再次吸附3分钟",
|
||
"parameters": {
|
||
"time": 180
|
||
}
|
||
},
|
||
{
|
||
"step_number": 20,
|
||
"operation": "transfer",
|
||
"description": "去除乙醇上清液至废液槽",
|
||
"parameters": {
|
||
"source": "P12",
|
||
"target": "P22",
|
||
"tip_rack": "BC230",
|
||
"volume": 400
|
||
}
|
||
},
|
||
{
|
||
"step_number": 21,
|
||
"operation": "incubation",
|
||
"description": "空气干燥15分钟",
|
||
"parameters": {
|
||
"time": 900
|
||
}
|
||
},
|
||
{
|
||
"step_number": 22,
|
||
"operation": "transfer",
|
||
"description": "加30-50μl Elution Buffer洗脱",
|
||
"parameters": {
|
||
"source": "P4",
|
||
"target": "P12",
|
||
"tip_rack": "BC230",
|
||
"volume": 40
|
||
}
|
||
},
|
||
{
|
||
"step_number": 23,
|
||
"operation": "move_labware",
|
||
"description": "移动到Orbital1振荡混匀（60秒）",
|
||
"parameters": {
|
||
"source": "P12",
|
||
"target": "Orbital1"
|
||
}
|
||
},
|
||
{
|
||
"step_number": 24,
|
||
"operation": "oscillation",
|
||
"description": "Elution Buffer振荡混匀（700-900rpm, 60秒）",
|
||
"parameters": {
|
||
"rpm": 800,
|
||
"time": 60
|
||
}
|
||
},
|
||
{
|
||
"step_number": 25,
|
||
"operation": "move_labware",
|
||
"description": "振荡后送回磁力架P12",
|
||
"parameters": {
|
||
"source": "Orbital1",
|
||
"target": "P12"
|
||
}
|
||
},
|
||
{
|
||
"step_number": 26,
|
||
"operation": "incubation",
|
||
"description": "室温静置3分钟（洗脱反应）",
|
||
"parameters": {
|
||
"time": 180
|
||
}
|
||
},
|
||
{
|
||
"step_number": 27,
|
||
"operation": "transfer",
|
||
"description": "将上清液（DNA）转移到新板（P13）",
|
||
"parameters": {
|
||
"source": "P12",
|
||
"target": "P13",
|
||
"tip_rack": "BC230",
|
||
"volume": 40
|
||
}
|
||
}
|
||
]
|
||
}
|
||
'''
|
||
|
||
|
||
|
||
labware_with_liquid = '''
|
||
[
|
||
{
|
||
"id": "Tip Rack BC230 on TL1",
|
||
"parent": "deck",
|
||
"slot_on_deck": "TL1",
|
||
"class_name": "BC230",
|
||
"liquid_type": [],
|
||
"liquid_volume": [],
|
||
"liquid_input_wells": []
|
||
},
|
||
{
|
||
"id": "Tip Rack BC230 on TL2",
|
||
"parent": "deck",
|
||
"slot_on_deck": "TL2",
|
||
"class_name": "BC230",
|
||
"liquid_type": [],
|
||
"liquid_volume": [],
|
||
"liquid_input_wells": []
|
||
},
|
||
{
|
||
"id": "Tip Rack BC230 on TL3",
|
||
"parent": "deck",
|
||
"slot_on_deck": "TL3",
|
||
"class_name": "BC230",
|
||
"liquid_type": [],
|
||
"liquid_volume": [],
|
||
"liquid_input_wells": []
|
||
},
|
||
{
|
||
"id": "Tip Rack BC230 on TL4",
|
||
"parent": "deck",
|
||
"slot_on_deck": "TL4",
|
||
"class_name": "BC230",
|
||
"liquid_type": [],
|
||
"liquid_volume": [],
|
||
"liquid_input_wells": []
|
||
},
|
||
{
|
||
"id": "Tip Rack BC230 on TL5",
|
||
"parent": "deck",
|
||
"slot_on_deck": "TL5",
|
||
"class_name": "BC230",
|
||
"liquid_type": [],
|
||
"liquid_volume": [],
|
||
"liquid_input_wells": []
|
||
},
|
||
{
|
||
"id": "Tip Rack BC230 on P5",
|
||
"parent": "deck",
|
||
"slot_on_deck": "P5",
|
||
"class_name": "BC230",
|
||
"liquid_type": [],
|
||
"liquid_volume": [],
|
||
"liquid_input_wells": []
|
||
},
|
||
{
|
||
"id": "Tip Rack BC230 on P6",
|
||
"parent": "deck",
|
||
"slot_on_deck": "P6",
|
||
"class_name": "BC230",
|
||
"liquid_type": [],
|
||
"liquid_volume": [],
|
||
"liquid_input_wells": []
|
||
},
|
||
{
|
||
"id": "Tip Rack BC230 on P15",
|
||
"parent": "deck",
|
||
"slot_on_deck": "P15",
|
||
"class_name": "BC230",
|
||
"liquid_type": [],
|
||
"liquid_volume": [],
|
||
"liquid_input_wells": []
|
||
},
|
||
{
|
||
"id": "Tip Rack BC230 on P16",
|
||
"parent": "deck",
|
||
"slot_on_deck": "P16",
|
||
"class_name": "BC230",
|
||
"liquid_type": [],
|
||
"liquid_volume": [],
|
||
"liquid_input_wells": []
|
||
},
|
||
{
|
||
"id": "stock plate on P1",
|
||
"parent": "deck",
|
||
"slot_on_deck": "P1",
|
||
"class_name": "nest_12_reservoir_15ml",
|
||
"liquid_type": [
|
||
"master_mix"
|
||
],
|
||
"liquid_volume": [10000],
|
||
"liquid_input_wells": [
|
||
"A1"
|
||
]
|
||
},
|
||
{
|
||
"id": "stock plate on P2",
|
||
"parent": "deck",
|
||
"slot_on_deck": "P2",
|
||
"class_name": "nest_12_reservoir_15ml",
|
||
"liquid_type": [
|
||
"bind beads"
|
||
],
|
||
"liquid_volume": [10000],
|
||
"liquid_input_wells": [
|
||
"A1"
|
||
]
|
||
},
|
||
{
|
||
"id": "stock plate on P3",
|
||
"parent": "deck",
|
||
"slot_on_deck": "P3",
|
||
"class_name": "nest_12_reservoir_15ml",
|
||
"liquid_type": [
|
||
"ethyl alcohol"
|
||
],
|
||
"liquid_volume": [10000],
|
||
"liquid_input_wells": [
|
||
"A1"
|
||
]
|
||
},
|
||
{
|
||
"id": "elution buffer on P4",
|
||
"parent": "deck",
|
||
"slot_on_deck": "P4",
|
||
"class_name": "nest_12_reservoir_15ml",
|
||
"liquid_type": [
|
||
"elution buffer"
|
||
],
|
||
"liquid_volume": [5000],
|
||
"liquid_input_wells": [
|
||
"A1"
|
||
]
|
||
},
|
||
{
|
||
"id": "oscillation",
|
||
"parent": "deck",
|
||
"slot_on_deck": "Orbital1",
|
||
"class_name": "Orbital",
|
||
"liquid_type": [],
|
||
"liquid_volume": [],
|
||
"liquid_input_wells": []
|
||
},
|
||
{
|
||
"id": "working plate on P11",
|
||
"parent": "deck",
|
||
"slot_on_deck": "P11",
|
||
"class_name": "NEST 2ml Deep Well Plate",
|
||
"liquid_type": [],
|
||
"liquid_volume": [],
|
||
"liquid_input_wells": []
|
||
},
|
||
{
|
||
"id": "magnetics module on P12",
|
||
"parent": "deck",
|
||
"slot_on_deck": "P12",
|
||
"class_name": "magnetics module",
|
||
"liquid_type": [],
|
||
"liquid_volume": [],
|
||
"liquid_input_wells": []
|
||
},
|
||
{
|
||
"id": "working plate on P13",
|
||
"parent": "deck",
|
||
"slot_on_deck": "P13",
|
||
"class_name": "NEST 2ml Deep Well Plate",
|
||
"liquid_type": [],
|
||
"liquid_volume": [],
|
||
"liquid_input_wells": []
|
||
},
|
||
{
|
||
"id": "waste on P22",
|
||
"parent": "deck",
|
||
"slot_on_deck": "P22",
|
||
"class_name": "nest_1_reservoir_195ml",
|
||
"liquid_type": [],
|
||
"liquid_volume": [],
|
||
"liquid_input_wells": []
|
||
}
|
||
]
|
||
'''
|
||
|
||
|
||
|
||
handler = LiquidHandlerBiomek()
|
||
|
||
handler.temp_protocol = {
|
||
"meta": {},
|
||
"labwares": [],
|
||
"steps": []
|
||
}
|
||
|
||
input_steps = json.loads(steps_info)
|
||
labwares = json.loads(labware_with_liquid)
|
||
|
||
for step in input_steps['steps']:
|
||
operation = step['operation']
|
||
parameters = step['parameters']
|
||
|
||
if operation == 'transfer':
|
||
handler.transfer_biomek(source=parameters['source'],
|
||
target=parameters['target'],
|
||
volume=parameters['volume'],
|
||
tip_rack=parameters['tip_rack'],
|
||
aspirate_techniques='MC P300 high',
|
||
dispense_techniques='MC P300 high')
|
||
elif operation == 'move_labware':
|
||
handler.move_biomek(source=parameters['source'],
|
||
target=parameters['target'])
|
||
elif operation == 'oscillation':
|
||
handler.oscillation_biomek(rpm=parameters['rpm'],
|
||
time=parameters['time'])
|
||
elif operation == 'incubation':
|
||
handler.incubation_biomek(time=parameters['time'])
|
||
|
||
print(json.dumps(handler.temp_protocol, indent=4))
|
||
|
||
|