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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>
322 lines
13 KiB
Python
322 lines
13 KiB
Python
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import json
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import threading
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from typing import List, Optional, Union
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from pylabrobot.liquid_handling.backends.backend import (
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LiquidHandlerBackend,
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)
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from pylabrobot.liquid_handling.standard import (
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Drop,
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DropTipRack,
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MultiHeadAspirationContainer,
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MultiHeadAspirationPlate,
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MultiHeadDispenseContainer,
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MultiHeadDispensePlate,
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Pickup,
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PickupTipRack,
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ResourceDrop,
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ResourceMove,
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ResourcePickup,
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SingleChannelAspiration,
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SingleChannelDispense,
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)
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from pylabrobot.resources import Resource, Tip
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import rclpy
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from rclpy.node import Node
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from sensor_msgs.msg import JointState
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import time
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from rclpy.action import ActionClient
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from unilabos_msgs.action import SendCmd
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import re
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from unilabos.devices.ros_dev.liquid_handler_joint_publisher_node import LiquidHandlerJointPublisher
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class UniLiquidHandlerRvizBackend(LiquidHandlerBackend):
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"""Chatter box backend for device-free testing. Prints out all operations."""
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_pip_length = 5
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_vol_length = 8
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_resource_length = 20
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_offset_length = 16
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_flow_rate_length = 10
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_blowout_length = 10
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_lld_z_length = 10
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_kwargs_length = 15
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_tip_type_length = 12
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_max_volume_length = 16
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_fitting_depth_length = 20
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_tip_length_length = 16
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_filter_length = 10
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def __init__(self, num_channels: int = 8 , tip_length: float = 0 , total_height: float = 310, **kwargs):
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"""Initialize a chatter box backend."""
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super().__init__()
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self._num_channels = num_channels
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self.tip_length = tip_length
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self.total_height = total_height
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self.joint_config = kwargs.get("joint_config", None)
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self.lh_device_id = kwargs.get("lh_device_id", "lh_joint_publisher")
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if not rclpy.ok():
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rclpy.init()
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self.joint_state_publisher = None
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self.executor = None
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self.executor_thread = None
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async def setup(self):
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self.joint_state_publisher = LiquidHandlerJointPublisher(
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joint_config=self.joint_config,
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lh_device_id=self.lh_device_id,
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simulate_rviz=True)
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# 启动ROS executor
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self.executor = rclpy.executors.MultiThreadedExecutor()
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self.executor.add_node(self.joint_state_publisher)
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self.executor_thread = threading.Thread(target=self.executor.spin, daemon=True)
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self.executor_thread.start()
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await super().setup()
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print("Setting up the liquid handler.")
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async def stop(self):
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# 停止ROS executor
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if self.executor and self.joint_state_publisher:
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self.executor.remove_node(self.joint_state_publisher)
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if self.executor_thread and self.executor_thread.is_alive():
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self.executor.shutdown()
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print("Stopping the liquid handler.")
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def serialize(self) -> dict:
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return {**super().serialize(), "num_channels": self.num_channels}
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@property
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def num_channels(self) -> int:
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return self._num_channels
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async def assigned_resource_callback(self, resource: Resource):
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print(f"Resource {resource.name} was assigned to the liquid handler.")
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async def unassigned_resource_callback(self, name: str):
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print(f"Resource {name} was unassigned from the liquid handler.")
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async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int], **backend_kwargs):
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print("Picking up tips:")
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# print(ops.tip)
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header = (
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f"{'pip#':<{UniLiquidHandlerRvizBackend._pip_length}} "
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f"{'resource':<{UniLiquidHandlerRvizBackend._resource_length}} "
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f"{'offset':<{UniLiquidHandlerRvizBackend._offset_length}} "
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f"{'tip type':<{UniLiquidHandlerRvizBackend._tip_type_length}} "
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f"{'max volume (µL)':<{UniLiquidHandlerRvizBackend._max_volume_length}} "
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f"{'fitting depth (mm)':<{UniLiquidHandlerRvizBackend._fitting_depth_length}} "
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f"{'tip length (mm)':<{UniLiquidHandlerRvizBackend._tip_length_length}} "
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# f"{'pickup method':<{ChatterboxBackend._pickup_method_length}} "
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f"{'filter':<{UniLiquidHandlerRvizBackend._filter_length}}"
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)
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# print(header)
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for op, channel in zip(ops, use_channels):
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offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}"
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row = (
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f" p{channel}: "
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f"{op.resource.name[-30:]:<{UniLiquidHandlerRvizBackend._resource_length}} "
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f"{offset:<{UniLiquidHandlerRvizBackend._offset_length}} "
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f"{op.tip.__class__.__name__:<{UniLiquidHandlerRvizBackend._tip_type_length}} "
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f"{op.tip.maximal_volume:<{UniLiquidHandlerRvizBackend._max_volume_length}} "
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f"{op.tip.fitting_depth:<{UniLiquidHandlerRvizBackend._fitting_depth_length}} "
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f"{op.tip.total_tip_length:<{UniLiquidHandlerRvizBackend._tip_length_length}} "
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# f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
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f"{'Yes' if op.tip.has_filter else 'No':<{UniLiquidHandlerRvizBackend._filter_length}}"
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)
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# print(row)
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# print(op.resource.get_absolute_location())
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self.tip_length = ops[0].tip.total_tip_length
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coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
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offset_xyz = ops[0].offset
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x = coordinate.x + offset_xyz.x
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y = coordinate.y + offset_xyz.y
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z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
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# print("moving")
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self.joint_state_publisher.move_joints(ops[0].resource.name, x, y, z, "pick",channels=use_channels)
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# goback()
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async def drop_tips(self, ops: List[Drop], use_channels: List[int], **backend_kwargs):
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print("Dropping tips:")
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header = (
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f"{'pip#':<{UniLiquidHandlerRvizBackend._pip_length}} "
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f"{'resource':<{UniLiquidHandlerRvizBackend._resource_length}} "
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f"{'offset':<{UniLiquidHandlerRvizBackend._offset_length}} "
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f"{'tip type':<{UniLiquidHandlerRvizBackend._tip_type_length}} "
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f"{'max volume (µL)':<{UniLiquidHandlerRvizBackend._max_volume_length}} "
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f"{'fitting depth (mm)':<{UniLiquidHandlerRvizBackend._fitting_depth_length}} "
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f"{'tip length (mm)':<{UniLiquidHandlerRvizBackend._tip_length_length}} "
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# f"{'pickup method':<{ChatterboxBackend._pickup_method_length}} "
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f"{'filter':<{UniLiquidHandlerRvizBackend._filter_length}}"
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)
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# print(header)
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for op, channel in zip(ops, use_channels):
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offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}"
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row = (
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f" p{channel}: "
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f"{op.resource.name[-30:]:<{UniLiquidHandlerRvizBackend._resource_length}} "
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f"{offset:<{UniLiquidHandlerRvizBackend._offset_length}} "
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f"{op.tip.__class__.__name__:<{UniLiquidHandlerRvizBackend._tip_type_length}} "
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f"{op.tip.maximal_volume:<{UniLiquidHandlerRvizBackend._max_volume_length}} "
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f"{op.tip.fitting_depth:<{UniLiquidHandlerRvizBackend._fitting_depth_length}} "
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f"{op.tip.total_tip_length:<{UniLiquidHandlerRvizBackend._tip_length_length}} "
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# f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
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f"{'Yes' if op.tip.has_filter else 'No':<{UniLiquidHandlerRvizBackend._filter_length}}"
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)
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# print(row)
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coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
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offset_xyz = ops[0].offset
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x = coordinate.x + offset_xyz.x
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y = coordinate.y + offset_xyz.y
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z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
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# print(x, y, z)
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# print("moving")
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self.joint_state_publisher.move_joints(ops[0].resource.name, x, y, z, "drop_trash",channels=use_channels)
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# goback()
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async def aspirate(
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self,
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ops: List[SingleChannelAspiration],
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use_channels: List[int],
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**backend_kwargs,
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):
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print("Aspirating:")
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header = (
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f"{'pip#':<{UniLiquidHandlerRvizBackend._pip_length}} "
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f"{'vol(ul)':<{UniLiquidHandlerRvizBackend._vol_length}} "
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f"{'resource':<{UniLiquidHandlerRvizBackend._resource_length}} "
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f"{'offset':<{UniLiquidHandlerRvizBackend._offset_length}} "
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f"{'flow rate':<{UniLiquidHandlerRvizBackend._flow_rate_length}} "
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f"{'blowout':<{UniLiquidHandlerRvizBackend._blowout_length}} "
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f"{'lld_z':<{UniLiquidHandlerRvizBackend._lld_z_length}} "
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# f"{'liquids':<20}" # TODO: add liquids
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)
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for key in backend_kwargs:
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header += f"{key:<{UniLiquidHandlerRvizBackend._kwargs_length}} "[-16:]
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# print(header)
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for o, p in zip(ops, use_channels):
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offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
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row = (
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f" p{p}: "
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f"{o.volume:<{UniLiquidHandlerRvizBackend._vol_length}} "
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f"{o.resource.name[-20:]:<{UniLiquidHandlerRvizBackend._resource_length}} "
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f"{offset:<{UniLiquidHandlerRvizBackend._offset_length}} "
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f"{str(o.flow_rate):<{UniLiquidHandlerRvizBackend._flow_rate_length}} "
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f"{str(o.blow_out_air_volume):<{UniLiquidHandlerRvizBackend._blowout_length}} "
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f"{str(o.liquid_height):<{UniLiquidHandlerRvizBackend._lld_z_length}} "
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# f"{o.liquids if o.liquids is not None else 'none'}"
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)
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for key, value in backend_kwargs.items():
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if isinstance(value, list) and all(isinstance(v, bool) for v in value):
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value = "".join("T" if v else "F" for v in value)
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if isinstance(value, list):
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value = "".join(map(str, value))
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row += f" {value:<15}"
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# print(row)
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coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
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offset_xyz = ops[0].offset
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x = coordinate.x + offset_xyz.x
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y = coordinate.y + offset_xyz.y
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z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
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# print(x, y, z)
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# print("moving")
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self.joint_state_publisher.move_joints(ops[0].resource.name, x, y, z, "",channels=use_channels)
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async def dispense(
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self,
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ops: List[SingleChannelDispense],
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use_channels: List[int],
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**backend_kwargs,
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):
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# print("Dispensing:")
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header = (
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f"{'pip#':<{UniLiquidHandlerRvizBackend._pip_length}} "
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f"{'vol(ul)':<{UniLiquidHandlerRvizBackend._vol_length}} "
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f"{'resource':<{UniLiquidHandlerRvizBackend._resource_length}} "
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f"{'offset':<{UniLiquidHandlerRvizBackend._offset_length}} "
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f"{'flow rate':<{UniLiquidHandlerRvizBackend._flow_rate_length}} "
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f"{'blowout':<{UniLiquidHandlerRvizBackend._blowout_length}} "
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f"{'lld_z':<{UniLiquidHandlerRvizBackend._lld_z_length}} "
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# f"{'liquids':<20}" # TODO: add liquids
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)
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for key in backend_kwargs:
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header += f"{key:<{UniLiquidHandlerRvizBackend._kwargs_length}} "[-16:]
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# print(header)
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for o, p in zip(ops, use_channels):
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offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
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row = (
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f" p{p}: "
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f"{o.volume:<{UniLiquidHandlerRvizBackend._vol_length}} "
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f"{o.resource.name[-20:]:<{UniLiquidHandlerRvizBackend._resource_length}} "
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f"{offset:<{UniLiquidHandlerRvizBackend._offset_length}} "
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f"{str(o.flow_rate):<{UniLiquidHandlerRvizBackend._flow_rate_length}} "
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f"{str(o.blow_out_air_volume):<{UniLiquidHandlerRvizBackend._blowout_length}} "
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f"{str(o.liquid_height):<{UniLiquidHandlerRvizBackend._lld_z_length}} "
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# f"{o.liquids if o.liquids is not None else 'none'}"
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)
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for key, value in backend_kwargs.items():
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if isinstance(value, list) and all(isinstance(v, bool) for v in value):
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value = "".join("T" if v else "F" for v in value)
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if isinstance(value, list):
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value = "".join(map(str, value))
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row += f" {value:<{UniLiquidHandlerRvizBackend._kwargs_length}}"
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# print(row)
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coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
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offset_xyz = ops[0].offset
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x = coordinate.x + offset_xyz.x
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y = coordinate.y + offset_xyz.y
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z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
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self.joint_state_publisher.move_joints(ops[0].resource.name, x, y, z, "",channels=use_channels)
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async def pick_up_tips96(self, pickup: PickupTipRack, **backend_kwargs):
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print(f"Picking up tips from {pickup.resource.name}.")
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async def drop_tips96(self, drop: DropTipRack, **backend_kwargs):
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print(f"Dropping tips to {drop.resource.name}.")
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async def aspirate96(
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self, aspiration: Union[MultiHeadAspirationPlate, MultiHeadAspirationContainer]
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):
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if isinstance(aspiration, MultiHeadAspirationPlate):
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resource = aspiration.wells[0].parent
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else:
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resource = aspiration.container
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print(f"Aspirating {aspiration.volume} from {resource}.")
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async def dispense96(self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]):
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if isinstance(dispense, MultiHeadDispensePlate):
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resource = dispense.wells[0].parent
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else:
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resource = dispense.container
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print(f"Dispensing {dispense.volume} to {resource}.")
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async def pick_up_resource(self, pickup: ResourcePickup):
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print(f"Picking up resource: {pickup}")
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async def move_picked_up_resource(self, move: ResourceMove):
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print(f"Moving picked up resource: {move}")
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async def drop_resource(self, drop: ResourceDrop):
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print(f"Dropping resource: {drop}")
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def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool:
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return True
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