mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
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a599eb70e5
* 修改lh的json启动 * 修改lh的json启动 * 修改backend，做成sim的通用backend * 修改yaml的地址，3D模型适配网页生产环境 * 添加laiyu硬件连接 * 修改移液枪的状态判断方法， 修改移液枪的状态判断方法， 添加三轴的表定点与零点之间的转换 添加三轴真实移动的backend * 修改laiyu移液站 简化移动方法， 取消软件限制位置， 修改当值使用Z轴时也需要重新复位Z轴的问题 * 更新lh以及laiyu workshop 1,现在可以直接通过修改backend，适配其他的移液站，主类依旧使用LiquidHandler，不用重新编写 2,修改枪头判断标准，使用枪头自身判断而不是类的判断， 3,将归零参数用毫米计算，方便手动调整， 4,修改归零方式，上电使用机械归零，确定机械零点，手动归零设置工作区域零点方便计算，二者互不干涉 * 修改枪头动作 * 修改虚拟仿真方法 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: Junhan Chang <changjh@dp.tech>
334 lines
9.9 KiB
Python
334 lines
9.9 KiB
Python
"""
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LaiYu液体处理设备后端实现
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提供设备的后端接口和控制逻辑
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"""
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import logging
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from typing import Dict, Any, Optional, List
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from abc import ABC, abstractmethod
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# 尝试导入PyLabRobot后端
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try:
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from pylabrobot.liquid_handling.backends import LiquidHandlerBackend
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PYLABROBOT_AVAILABLE = True
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except ImportError:
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PYLABROBOT_AVAILABLE = False
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# 创建模拟后端基类
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class LiquidHandlerBackend:
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def __init__(self, name: str):
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self.name = name
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self.is_connected = False
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def connect(self):
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"""连接设备"""
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pass
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def disconnect(self):
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"""断开连接"""
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pass
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class LaiYuLiquidBackend(LiquidHandlerBackend):
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"""LaiYu液体处理设备后端"""
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def __init__(self, name: str = "LaiYu_Liquid_Backend"):
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"""
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初始化LaiYu液体处理设备后端
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Args:
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name: 后端名称
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"""
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if PYLABROBOT_AVAILABLE:
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# PyLabRobot 的 LiquidHandlerBackend 不接受参数
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super().__init__()
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else:
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# 模拟版本接受 name 参数
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super().__init__(name)
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self.name = name
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self.logger = logging.getLogger(__name__)
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self.is_connected = False
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self.device_info = {
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"name": "LaiYu液体处理设备",
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"version": "1.0.0",
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"manufacturer": "LaiYu",
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"model": "LaiYu_Liquid_Handler"
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}
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def connect(self) -> bool:
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"""
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连接到LaiYu液体处理设备
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Returns:
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bool: 连接是否成功
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"""
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try:
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self.logger.info("正在连接到LaiYu液体处理设备...")
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# 这里应该实现实际的设备连接逻辑
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# 目前返回模拟连接成功
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self.is_connected = True
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self.logger.info("成功连接到LaiYu液体处理设备")
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return True
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except Exception as e:
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self.logger.error(f"连接LaiYu液体处理设备失败: {e}")
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self.is_connected = False
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return False
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def disconnect(self) -> bool:
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"""
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断开与LaiYu液体处理设备的连接
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Returns:
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bool: 断开连接是否成功
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"""
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try:
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self.logger.info("正在断开与LaiYu液体处理设备的连接...")
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# 这里应该实现实际的设备断开连接逻辑
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self.is_connected = False
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self.logger.info("成功断开与LaiYu液体处理设备的连接")
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return True
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except Exception as e:
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self.logger.error(f"断开LaiYu液体处理设备连接失败: {e}")
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return False
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def is_device_connected(self) -> bool:
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"""
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检查设备是否已连接
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Returns:
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bool: 设备是否已连接
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"""
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return self.is_connected
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def get_device_info(self) -> Dict[str, Any]:
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"""
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获取设备信息
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Returns:
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Dict[str, Any]: 设备信息字典
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"""
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return self.device_info.copy()
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def home_device(self) -> bool:
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"""
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设备归零操作
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Returns:
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bool: 归零是否成功
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"""
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if not self.is_connected:
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self.logger.error("设备未连接，无法执行归零操作")
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return False
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try:
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self.logger.info("正在执行设备归零操作...")
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# 这里应该实现实际的设备归零逻辑
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self.logger.info("设备归零操作完成")
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return True
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except Exception as e:
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self.logger.error(f"设备归零操作失败: {e}")
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return False
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def aspirate(self, volume: float, location: Dict[str, Any]) -> bool:
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"""
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吸液操作
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Args:
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volume: 吸液体积 (微升)
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location: 吸液位置信息
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Returns:
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bool: 吸液是否成功
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"""
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if not self.is_connected:
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self.logger.error("设备未连接，无法执行吸液操作")
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return False
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try:
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self.logger.info(f"正在执行吸液操作: 体积={volume}μL, 位置={location}")
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# 这里应该实现实际的吸液逻辑
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self.logger.info("吸液操作完成")
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return True
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except Exception as e:
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self.logger.error(f"吸液操作失败: {e}")
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return False
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def dispense(self, volume: float, location: Dict[str, Any]) -> bool:
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"""
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排液操作
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Args:
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volume: 排液体积 (微升)
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location: 排液位置信息
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Returns:
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bool: 排液是否成功
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"""
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if not self.is_connected:
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self.logger.error("设备未连接，无法执行排液操作")
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return False
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try:
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self.logger.info(f"正在执行排液操作: 体积={volume}μL, 位置={location}")
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# 这里应该实现实际的排液逻辑
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self.logger.info("排液操作完成")
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return True
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except Exception as e:
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self.logger.error(f"排液操作失败: {e}")
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return False
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def pick_up_tip(self, location: Dict[str, Any]) -> bool:
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"""
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取枪头操作
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Args:
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location: 枪头位置信息
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Returns:
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bool: 取枪头是否成功
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"""
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if not self.is_connected:
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self.logger.error("设备未连接，无法执行取枪头操作")
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return False
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try:
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self.logger.info(f"正在执行取枪头操作: 位置={location}")
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# 这里应该实现实际的取枪头逻辑
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self.logger.info("取枪头操作完成")
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return True
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except Exception as e:
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self.logger.error(f"取枪头操作失败: {e}")
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return False
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def drop_tip(self, location: Dict[str, Any]) -> bool:
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"""
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丢弃枪头操作
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Args:
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location: 丢弃位置信息
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Returns:
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bool: 丢弃枪头是否成功
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"""
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if not self.is_connected:
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self.logger.error("设备未连接，无法执行丢弃枪头操作")
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return False
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try:
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self.logger.info(f"正在执行丢弃枪头操作: 位置={location}")
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# 这里应该实现实际的丢弃枪头逻辑
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self.logger.info("丢弃枪头操作完成")
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return True
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except Exception as e:
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self.logger.error(f"丢弃枪头操作失败: {e}")
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return False
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def move_to(self, location: Dict[str, Any]) -> bool:
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"""
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移动到指定位置
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Args:
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location: 目标位置信息
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Returns:
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bool: 移动是否成功
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"""
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if not self.is_connected:
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self.logger.error("设备未连接，无法执行移动操作")
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return False
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try:
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self.logger.info(f"正在移动到位置: {location}")
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# 这里应该实现实际的移动逻辑
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self.logger.info("移动操作完成")
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return True
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except Exception as e:
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self.logger.error(f"移动操作失败: {e}")
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return False
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def get_status(self) -> Dict[str, Any]:
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"""
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获取设备状态
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Returns:
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Dict[str, Any]: 设备状态信息
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"""
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return {
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"connected": self.is_connected,
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"device_info": self.device_info,
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"status": "ready" if self.is_connected else "disconnected"
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}
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# PyLabRobot 抽象方法实现
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def stop(self):
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"""停止所有操作"""
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self.logger.info("停止所有操作")
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pass
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@property
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def num_channels(self) -> int:
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"""返回通道数量"""
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return 1 # 单通道移液器
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def can_pick_up_tip(self, tip_rack, tip_position) -> bool:
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"""检查是否可以拾取吸头"""
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return True # 简化实现，总是返回True
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def pick_up_tips(self, tip_rack, tip_positions):
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"""拾取多个吸头"""
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self.logger.info(f"拾取吸头: {tip_positions}")
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pass
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def drop_tips(self, tip_rack, tip_positions):
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"""丢弃多个吸头"""
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self.logger.info(f"丢弃吸头: {tip_positions}")
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pass
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def pick_up_tips96(self, tip_rack):
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"""拾取96个吸头"""
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self.logger.info("拾取96个吸头")
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pass
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def drop_tips96(self, tip_rack):
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"""丢弃96个吸头"""
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self.logger.info("丢弃96个吸头")
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pass
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def aspirate96(self, volume, plate, well_positions):
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"""96通道吸液"""
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self.logger.info(f"96通道吸液: 体积={volume}")
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pass
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def dispense96(self, volume, plate, well_positions):
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"""96通道排液"""
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self.logger.info(f"96通道排液: 体积={volume}")
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pass
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def pick_up_resource(self, resource, location):
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"""拾取资源"""
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self.logger.info(f"拾取资源: {resource}")
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pass
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def drop_resource(self, resource, location):
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"""放置资源"""
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self.logger.info(f"放置资源: {resource}")
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pass
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def move_picked_up_resource(self, resource, location):
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"""移动已拾取的资源"""
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self.logger.info(f"移动资源: {resource} 到 {location}")
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pass
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def create_laiyu_backend(name: str = "LaiYu_Liquid_Backend") -> LaiYuLiquidBackend:
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"""
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创建LaiYu液体处理设备后端实例
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Args:
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name: 后端名称
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Returns:
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LaiYuLiquidBackend: 后端实例
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"""
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return LaiYuLiquidBackend(name) |