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Add PRCXI 9300 (3x2) deck layout support via model parameter

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PRCXI9300Deck now accepts model="9300"|"9320" to auto-select 6-slot or
16-slot layout. DefaultLayout gains default_layout for 9300 with T6 as
trash. PRCXI9300Handler auto-derives is_9320 from deck.model when not
explicitly passed. Includes 9300 slim experiment JSON and test fixes.

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
This commit is contained in:
ALITTLELZ
2026-03-31 16:00:26 +08:00
parent d13d3f7dfe
commit 14cf4ddc0d
3 changed files with 809 additions and 13 deletions
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57
unilabos/devices/liquid_handling/prcxi/prcxi.py
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@@ -93,24 +93,35 @@ class PRCXI9300Deck(Deck):
该类定义了 PRCXI 9300 的工作台布局和槽位信息。
"""
# T1-T16 默认位置 (4列×4行, Y轴从上往下递减, T1在左上角)
_DEFAULT_SITE_POSITIONS = [
# 9320: 4列×4行 = 16 slots（Y轴从上往下递减, T1在左上角）
_9320_SITE_POSITIONS = [
(0, 288, 0), (138, 288, 0), (276, 288, 0), (414, 288, 0), # T1-T4 (第1行, 最上)
(0, 192, 0), (138, 192, 0), (276, 192, 0), (414, 192, 0), # T5-T8 (第2行)
(0, 96, 0), (138, 96, 0), (276, 96, 0), (414, 96, 0), # T9-T12 (第3行)
(0, 0, 0), (138, 0, 0), (276, 0, 0), (414, 0, 0), # T13-T16 (第4行, 最下)
]
# 9300: 3列×2行 = 6 slots，间距与9320相同（X: 138mm, Y: 96mm）
_9300_SITE_POSITIONS = [
(0, 96, 0), (138, 96, 0), (276, 96, 0), # T1-T3 (第1行, 上)
(0, 0, 0), (138, 0, 0), (276, 0, 0), # T4-T6 (第2行, 下)
]
# 向后兼容别名
_DEFAULT_SITE_POSITIONS = _9320_SITE_POSITIONS
_DEFAULT_SITE_SIZE = {"width": 128.0, "height": 86, "depth": 0}
_DEFAULT_CONTENT_TYPE = ["plate", "tip_rack", "plates", "tip_racks", "tube_rack", "adaptor", "plateadapter", "module"]
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
sites: Optional[List[Dict[str, Any]]] = None, **kwargs):
sites: Optional[List[Dict[str, Any]]] = None, model: str = "9320", **kwargs):
super().__init__(size_x, size_y, size_z, name)
self.model = model
if sites is not None:
self.sites: List[Dict[str, Any]] = [dict(s) for s in sites]
else:
positions = self._9300_SITE_POSITIONS if model == "9300" else self._9320_SITE_POSITIONS
self.sites = []
for i, (x, y, z) in enumerate(self._DEFAULT_SITE_POSITIONS):
for i, (x, y, z) in enumerate(positions):
self.sites.append({
"label": f"T{i + 1}",
"visible": True,
@@ -174,6 +185,7 @@ class PRCXI9300Deck(Deck):
def serialize(self) -> dict:
data = super().serialize()
data["model"] = self.model
sites_out = []
for i, site in enumerate(self.sites):
occupied = self._get_site_resource(i)
@@ -749,7 +761,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
simulator=False,
step_mode=False,
matrix_id="",
is_9320=False,
is_9320=None,
):
tablets_info = []
for site_id in range(len(deck.sites)):
@@ -762,6 +774,8 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
Number=number, Code=f"T{number}", Material=child._unilabos_state["Material"]
)
)
if is_9320 is None:
is_9320 = getattr(deck, 'model', '9300') == '9320'
if is_9320:
print("当前设备是9320")
# 始终初始化 step_mode 属性
@@ -1983,8 +1997,20 @@ class DefaultLayout:
self.rows = 2
self.columns = 3
self.layout = [1, 2, 3, 4, 5, 6]
self.trash_slot = 3
self.waste_liquid_slot = 6
self.trash_slot = 6
self.default_layout = {
"MatrixId": f"{time.time()}",
"MatrixName": f"{time.time()}",
"MatrixCount": 6,
"WorkTablets": [
{"Number": 1, "Code": "T1", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 2, "Code": "T2", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 3, "Code": "T3", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 4, "Code": "T4", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 5, "Code": "T5", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 6, "Code": "T6", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}}, # trash
],
}
elif product_name == "PRCXI9320":
self.rows = 4
@@ -2081,13 +2107,15 @@ class DefaultLayout:
}
def get_layout(self) -> Dict[str, Any]:
return {
result = {
"rows": self.rows,
"columns": self.columns,
"layout": self.layout,
"trash_slot": self.trash_slot,
"waste_liquid_slot": self.waste_liquid_slot,
}
if hasattr(self, 'waste_liquid_slot'):
result["waste_liquid_slot"] = self.waste_liquid_slot
return result
def get_trash_slot(self) -> int:
return self.trash_slot
@@ -2105,15 +2133,18 @@ class DefaultLayout:
if material_name not in self.labresource:
raise ValueError(f"Material {reagent_name} not found in lab resources.")
# 预留位置12和16不动
reserved_positions = {12, 16}
available_positions = [i for i in range(1, 17) if i not in reserved_positions]
# 预留位置动态计算
reserved_positions = {self.trash_slot}
if hasattr(self, 'waste_liquid_slot'):
reserved_positions.add(self.waste_liquid_slot)
total_slots = self.rows * self.columns
available_positions = [i for i in range(1, total_slots + 1) if i not in reserved_positions]
# 计算总需求
total_needed = sum(count for _, _, count in needs)
if total_needed > len(available_positions):
raise ValueError(
f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）"
f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除预留位置 {reserved_positions}）"
)
# 依次分配位置

226
unilabos/test/experiments/prcxi_9300_slim.json Normal file
View File

@@ -0,0 +1,226 @@
{
"nodes": [
{
"id": "PRCXI",
"name": "PRCXI",
"type": "device",
"class": "liquid_handler.prcxi",
"parent": "",
"pose": {
"size": {
"width": 424,
"height": 202,
"depth": 0
}
},
"config": {
"axis": "Left",
"deck": {
"_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
"_resource_child_name": "PRCXI_Deck"
},
"host": "10.20.30.167",
"port": 9999,
"debug": false,
"setup": true,
"timeout": 10,
"simulator": false,
"channel_num": 8
},
"data": {
"reset_ok": true
},
"schema": {},
"description": "",
"model": null,
"position": {
"x": 0,
"y": 240,
"z": 0
}
},
{
"id": "PRCXI_Deck",
"name": "PRCXI_Deck",
"children": [],
"parent": "PRCXI",
"type": "deck",
"class": "",
"position": {
"x": 10,
"y": 10,
"z": 0
},
"config": {
"type": "PRCXI9300Deck",
"size_x": 404,
"size_y": 182,
"size_z": 0,
"model": "9300",
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "deck",
"barcode": null,
"preferred_pickup_location": null,
"sites": [
{
"label": "T1",
"visible": true,
"occupied_by": null,
"position": {
"x": 0,
"y": 96,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor",
"plateadapter",
"module"
]
},
{
"label": "T2",
"visible": true,
"occupied_by": null,
"position": {
"x": 138,
"y": 96,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor",
"plateadapter",
"module"
]
},
{
"label": "T3",
"visible": true,
"occupied_by": null,
"position": {
"x": 276,
"y": 96,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor",
"plateadapter",
"module"
]
},
{
"label": "T4",
"visible": true,
"occupied_by": null,
"position": {
"x": 0,
"y": 0,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor",
"plateadapter",
"module"
]
},
{
"label": "T5",
"visible": true,
"occupied_by": null,
"position": {
"x": 138,
"y": 0,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor",
"plateadapter",
"module"
]
},
{
"label": "T6",
"visible": true,
"occupied_by": null,
"position": {
"x": 276,
"y": 0,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor",
"plateadapter",
"module"
]
}
]
},
"data": {}
}
],
"edges": []
}