mirror of
https://github.com/deepmodeling/Uni-Lab-OS
synced 2026-03-31 18:43:05 +00:00
Merge branch 'prcix9320' into sjs_middle_school
This commit is contained in:
q434343
@@ -57,7 +57,8 @@ from unilabos.devices.liquid_handling.liquid_handler_abstract import (
|
||||
)
|
||||
from unilabos.registry.placeholder_type import ResourceSlot
|
||||
from unilabos.resources.itemized_carrier import ItemizedCarrier
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
|
||||
from unilabos.resources.resource_tracker import ResourceTreeSet
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
|
||||
class PRCXIError(RuntimeError):
|
||||
@@ -109,11 +110,19 @@ 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)
|
||||
_DEFAULT_SITE_POSITIONS = [((i%4)*137.5+5, (3-int(i/4))*96+13, 0) for i in range(0, 16)]
|
||||
_9320_SITE_POSITIONS = [((i%4)*137.5+5, (3-int(i/4))*96+13, 0) for i in range(0, 16)]
|
||||
|
||||
|
||||
# 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"]
|
||||
_DEFAULT_CONTENT_TYPE = ["plate", "tip_rack", "plates", "tip_racks", "tube_rack", "adaptor", "plateadapter", "module", "trash"]
|
||||
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
sites: Optional[List[Dict[str, Any]]] = None, **kwargs):
|
||||
@@ -190,6 +199,7 @@ 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)
|
||||
@@ -276,30 +286,9 @@ class PRCXI9300Plate(Plate):
|
||||
elif value is None:
|
||||
ordering_param = ordering
|
||||
else:
|
||||
# ordering 的值是对象（可能是 Well 对象），检查是否有有效的 location
|
||||
# 如果是反序列化过程，Well 对象可能没有正确的 location，需要让 Plate 重新创建
|
||||
sample_value = next(iter(ordering.values()), None)
|
||||
if sample_value is not None and hasattr(sample_value, 'location'):
|
||||
# 如果是 Well 对象但 location 为 None，说明是反序列化过程
|
||||
# 让 Plate 自己创建 Well 对象
|
||||
if sample_value.location is None:
|
||||
items = None
|
||||
ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
|
||||
else:
|
||||
# Well 对象有有效的 location，可以直接使用
|
||||
items = ordering
|
||||
ordering_param = None
|
||||
elif sample_value is None:
|
||||
# ordering 的值都是 None，让 Plate 自己创建 Well 对象
|
||||
items = None
|
||||
ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
|
||||
else:
|
||||
# 其他情况，直接使用
|
||||
items = ordering
|
||||
ordering_param = None
|
||||
else:
|
||||
items = None
|
||||
ordering_param = collections.OrderedDict() # 提供空的 ordering
|
||||
# ordering 的值已经是对象，可以直接使用
|
||||
items = ordering
|
||||
ordering_param = None
|
||||
|
||||
# 根据情况传递不同的参数
|
||||
if items is not None:
|
||||
@@ -381,16 +370,9 @@ class PRCXI9300TipRack(TipRack):
|
||||
items = None
|
||||
ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
|
||||
else:
|
||||
# ordering 的值已经是对象，需要过滤掉 None 值
|
||||
# 只保留有效的对象，用于 ordered_items 参数
|
||||
valid_items = {k: v for k, v in ordering.items() if v is not None}
|
||||
if valid_items:
|
||||
items = valid_items
|
||||
ordering_param = None
|
||||
else:
|
||||
# 如果没有有效对象，使用 ordering 参数
|
||||
items = None
|
||||
ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
|
||||
# ordering 的值已经是对象，可以直接使用
|
||||
items = ordering
|
||||
ordering_param = None
|
||||
else:
|
||||
items = None
|
||||
ordering_param = None
|
||||
@@ -449,11 +431,17 @@ class PRCXI9300Trash(Trash):
|
||||
该类定义了 PRCXI 9300 的工作台布局和槽位信息。
|
||||
"""
|
||||
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
category: str = "plate",
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs):
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
category: str = "trash",
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs,
|
||||
):
|
||||
|
||||
if name != "trash":
|
||||
print(f"Warning: PRCXI9300Trash usually expects name='trash' for backend logic, but got '{name}'.")
|
||||
super().__init__(name, size_x, size_y, size_z, **kwargs)
|
||||
@@ -521,25 +509,20 @@ class PRCXI9300TubeRack(TubeRack):
|
||||
items_to_pass = ordered_items
|
||||
ordering_param = None
|
||||
elif ordering is not None:
|
||||
# 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
|
||||
if ordering and isinstance(next(iter(ordering.values()), None), str):
|
||||
# ordering 的值是字符串，这种情况下我们让 TubeRack 使用默认行为
|
||||
# 不在初始化时创建 items，而是在 deserialize 后处理
|
||||
# 检查 ordering 中的值类型来决定如何处理：
|
||||
# - 字符串值（从 JSON 反序列化）: 只用键创建 ordering_param
|
||||
# - None 值（从第二次往返序列化）: 同样只用键创建 ordering_param
|
||||
# - 对象值（已经是实际的 Resource 对象）: 直接作为 ordered_items 使用
|
||||
first_val = next(iter(ordering.values()), None) if ordering else None
|
||||
if not ordering or first_val is None or isinstance(first_val, str):
|
||||
# ordering 的值是字符串或 None，只使用键（位置信息）创建新的 OrderedDict
|
||||
# 传递 ordering 参数而不是 ordered_items，让 TubeRack 自己创建 Tube 对象
|
||||
items_to_pass = None
|
||||
ordering_param = collections.OrderedDict((k, None) for k in ordering.keys()) # 提供空的 ordering 来满足要求
|
||||
# 保存 ordering 信息以便后续处理
|
||||
self._temp_ordering = ordering
|
||||
ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
|
||||
else:
|
||||
# ordering 的值已经是对象，需要过滤掉 None 值
|
||||
# 只保留有效的对象，用于 ordered_items 参数
|
||||
valid_items = {k: v for k, v in ordering.items() if v is not None}
|
||||
if valid_items:
|
||||
items_to_pass = valid_items
|
||||
ordering_param = None
|
||||
else:
|
||||
# 如果没有有效对象，创建空的 ordered_items
|
||||
items_to_pass = {}
|
||||
ordering_param = None
|
||||
# ordering 的值已经是对象，可以直接使用
|
||||
items_to_pass = ordering
|
||||
ordering_param = None
|
||||
elif items is not None:
|
||||
# 兼容旧的 items 参数
|
||||
items_to_pass = items
|
||||
@@ -561,29 +544,6 @@ class PRCXI9300TubeRack(TubeRack):
|
||||
if material_info:
|
||||
self._unilabos_state["Material"] = material_info
|
||||
|
||||
# 如果有临时 ordering 信息，在初始化完成后处理
|
||||
if hasattr(self, '_temp_ordering') and self._temp_ordering:
|
||||
self._process_temp_ordering()
|
||||
|
||||
def _process_temp_ordering(self):
|
||||
"""处理临时的 ordering 信息，创建相应的 Tube 对象"""
|
||||
from pylabrobot.resources import Tube, Coordinate
|
||||
|
||||
for location, item_type in self._temp_ordering.items():
|
||||
if item_type == 'Tube' or item_type == 'tube':
|
||||
# 为每个位置创建 Tube 对象
|
||||
tube = Tube(name=f"{self.name}_{location}", size_x=10, size_y=10, size_z=50, max_volume=2000.0)
|
||||
# 使用 assign_child_resource 添加到 rack 中
|
||||
self.assign_child_resource(tube, location=Coordinate(0, 0, 0))
|
||||
|
||||
# 清理临时数据
|
||||
del self._temp_ordering
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""从给定的状态加载工作台信息。"""
|
||||
# super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
try:
|
||||
data = super().serialize_state()
|
||||
@@ -610,62 +570,66 @@ class PRCXI9300TubeRack(TubeRack):
|
||||
|
||||
data.update(safe_state)
|
||||
return data
|
||||
class PRCXI9300PlateAdapterSite(ItemizedCarrier):
|
||||
|
||||
|
||||
class PRCXI9300ModuleSite(ItemizedCarrier):
|
||||
"""
|
||||
PRCXI 功能模块的基础站点类（加热/冷却/震荡/磁吸等）。
|
||||
|
||||
- 继承 ItemizedCarrier，可被拖放到 Deck 槽位上
|
||||
- 顶面有一个 ResourceHolder 站点，可吸附板类资源（叠放）
|
||||
- content_type 包含 "plateadapter" 以支持适配器叠放
|
||||
- 支持 material_info 注入
|
||||
"""
|
||||
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
material_info: Optional[Dict[str, Any]] = None, **kwargs):
|
||||
# 处理 sites 参数的不同格式
|
||||
|
||||
sites = create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=[Coordinate(0, 0, 0)],
|
||||
resource_size_x=size_x,
|
||||
resource_size_y=size_y,
|
||||
resource_size_z=size_z,
|
||||
name_prefix=name,
|
||||
klass=ResourceHolder,
|
||||
locations=[Coordinate(0, 0, 0)],
|
||||
resource_size_x=size_x,
|
||||
resource_size_y=size_y,
|
||||
resource_size_z=size_z,
|
||||
name_prefix=name,
|
||||
)[0]
|
||||
|
||||
# 确保不传递重复的参数
|
||||
|
||||
kwargs.pop('layout', None)
|
||||
sites_in = kwargs.pop('sites', None)
|
||||
|
||||
# 创建默认的sites字典
|
||||
sites_dict = {name: sites}
|
||||
# 优先从 sites_in 读取 'content_type'，否则使用默认值
|
||||
|
||||
content_type = [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack"
|
||||
]
|
||||
# 如果提供了sites参数，则用sites_in中的值替换sites_dict中对应的元素
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"plateadapter",
|
||||
]
|
||||
|
||||
if sites_in is not None and isinstance(sites_in, dict):
|
||||
for site_key, site_value in sites_in.items():
|
||||
if site_key in sites_dict:
|
||||
sites_dict[site_key] = site_value
|
||||
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
sites=sites_dict,
|
||||
num_items_x=kwargs.pop('num_items_x', 1),
|
||||
num_items_y=kwargs.pop('num_items_y', 1),
|
||||
num_items_z=kwargs.pop('num_items_z', 1),
|
||||
content_type=content_type,
|
||||
**kwargs)
|
||||
|
||||
super().__init__(
|
||||
name, size_x, size_y, size_z,
|
||||
sites=sites_dict,
|
||||
num_items_x=kwargs.pop('num_items_x', 1),
|
||||
num_items_y=kwargs.pop('num_items_y', 1),
|
||||
num_items_z=kwargs.pop('num_items_z', 1),
|
||||
content_type=content_type,
|
||||
**kwargs,
|
||||
)
|
||||
self._unilabos_state = {}
|
||||
if material_info:
|
||||
self._unilabos_state["Material"] = material_info
|
||||
|
||||
|
||||
def assign_child_resource(self, resource, location=Coordinate(0, 0, 0), reassign=True, spot=None):
|
||||
"""重写 assign_child_resource 方法，对于适配器位置，不使用索引分配"""
|
||||
# 直接调用 Resource 的 assign_child_resource，避免 ItemizedCarrier 的索引逻辑
|
||||
from pylabrobot.resources.resource import Resource
|
||||
Resource.assign_child_resource(self, resource, location=location, reassign=reassign)
|
||||
|
||||
def unassign_child_resource(self, resource):
|
||||
"""重写 unassign_child_resource 方法，对于适配器位置，不使用 sites 列表"""
|
||||
# 直接调用 Resource 的 unassign_child_resource，避免 ItemizedCarrier 的 sites 逻辑
|
||||
from pylabrobot.resources.resource import Resource
|
||||
Resource.unassign_child_resource(self, resource)
|
||||
|
||||
@@ -675,13 +639,10 @@ class PRCXI9300PlateAdapterSite(ItemizedCarrier):
|
||||
except AttributeError:
|
||||
data = {}
|
||||
|
||||
# 包含 sites 配置信息，但避免序列化 ResourceHolder 对象
|
||||
if hasattr(self, 'sites') and self.sites:
|
||||
# 只保存 sites 的基本信息，不保存 ResourceHolder 对象本身
|
||||
sites_info = []
|
||||
for site in self.sites:
|
||||
if hasattr(site, '__class__') and 'pylabrobot' in str(site.__class__.__module__):
|
||||
# 对于 pylabrobot 对象，只保存基本信息
|
||||
sites_info.append({
|
||||
"__pylabrobot_object__": True,
|
||||
"class": site.__class__.__name__,
|
||||
@@ -692,13 +653,23 @@ class PRCXI9300PlateAdapterSite(ItemizedCarrier):
|
||||
sites_info.append(site)
|
||||
data['sites'] = sites_info
|
||||
|
||||
if hasattr(self, "_unilabos_state") and self._unilabos_state:
|
||||
safe_state: Dict[str, Any] = {}
|
||||
for k, v in self._unilabos_state.items():
|
||||
if k == "Material" and isinstance(v, dict):
|
||||
safe_material: Dict[str, Any] = {}
|
||||
for mk, mv in v.items():
|
||||
if isinstance(mv, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_material[mk] = mv
|
||||
safe_state[k] = safe_material
|
||||
elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_state[k] = v
|
||||
data.update(safe_state)
|
||||
|
||||
return data
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""加载状态，包括 sites 配置信息"""
|
||||
super().load_state(state)
|
||||
|
||||
# 从状态中恢复 sites 配置信息
|
||||
if 'sites' in state:
|
||||
self.sites = [state['sites']]
|
||||
|
||||
@@ -793,7 +764,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
deck: Deck,
|
||||
deck: PRCXI9300Deck,
|
||||
host: str,
|
||||
port: int,
|
||||
timeout: float,
|
||||
@@ -828,12 +799,25 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
self.xy_coupling = xy_coupling
|
||||
self.left_2_claw = Coordinate(-130.2, 34, -134)
|
||||
self.right_2_left = Coordinate(22,-1, 8)
|
||||
tablets_info = {}
|
||||
plate_positions = []
|
||||
|
||||
|
||||
tablets_info = []
|
||||
|
||||
if is_9320 is None:
|
||||
is_9320 = getattr(deck, 'model', '9300') == '9320'
|
||||
if is_9320:
|
||||
print("当前设备是9320")
|
||||
else:
|
||||
for site_id in range(len(deck.sites)):
|
||||
child = deck._get_site_resource(site_id)
|
||||
# 如果放其他类型的物料，是不可以的
|
||||
if hasattr(child, "_unilabos_state") and "Material" in child._unilabos_state:
|
||||
number = site_id + 1
|
||||
tablets_info.append(
|
||||
WorkTablets(
|
||||
Number=number, Code=f"T{number}", Material=child._unilabos_state["Material"]
|
||||
)
|
||||
)
|
||||
# 始终初始化 step_mode 属性
|
||||
self.step_mode = False
|
||||
if step_mode:
|
||||
@@ -841,13 +825,9 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
self.step_mode = step_mode
|
||||
else:
|
||||
print("9300设备不支持 单点动作模式")
|
||||
|
||||
self._unilabos_backend = PRCXI9300Backend(
|
||||
tablets_info, plate_positions, host, port, timeout, channel_num, axis, setup, debug, matrix_id, is_9320,
|
||||
x_increase, y_increase, x_offset, y_offset,
|
||||
deck_z, deck_x=self.deck_x, deck_y=self.deck_y, xy_coupling=xy_coupling
|
||||
tablets_info, host, port, timeout, channel_num, axis, setup, debug, matrix_id, is_9320
|
||||
)
|
||||
|
||||
super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num)
|
||||
self._first_transfer_done = False
|
||||
|
||||
@@ -1245,32 +1225,18 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
spread: Literal["wide", "tight", "custom"] = "wide",
|
||||
**backend_kwargs,
|
||||
):
|
||||
try:
|
||||
return await super().aspirate(
|
||||
resources,
|
||||
vols,
|
||||
use_channels,
|
||||
flow_rates,
|
||||
offsets,
|
||||
liquid_height,
|
||||
blow_out_air_volume,
|
||||
spread,
|
||||
**backend_kwargs,
|
||||
)
|
||||
except ValueError as e:
|
||||
if "Resource is too small to space channels" in str(e) and spread != "custom":
|
||||
return await super().aspirate(
|
||||
resources,
|
||||
vols,
|
||||
use_channels,
|
||||
flow_rates,
|
||||
offsets,
|
||||
liquid_height,
|
||||
blow_out_air_volume,
|
||||
spread="custom",
|
||||
**backend_kwargs,
|
||||
)
|
||||
raise
|
||||
|
||||
return await super().aspirate(
|
||||
resources,
|
||||
vols,
|
||||
use_channels,
|
||||
flow_rates,
|
||||
offsets,
|
||||
liquid_height,
|
||||
blow_out_air_volume,
|
||||
spread,
|
||||
**backend_kwargs,
|
||||
)
|
||||
|
||||
async def drop_tips(
|
||||
self,
|
||||
@@ -1294,33 +1260,17 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
spread: Literal["wide", "tight", "custom"] = "wide",
|
||||
**backend_kwargs,
|
||||
):
|
||||
try:
|
||||
return await super().dispense(
|
||||
resources,
|
||||
vols,
|
||||
use_channels,
|
||||
flow_rates,
|
||||
offsets,
|
||||
liquid_height,
|
||||
blow_out_air_volume,
|
||||
spread,
|
||||
**backend_kwargs,
|
||||
)
|
||||
except ValueError as e:
|
||||
if "Resource is too small to space channels" in str(e) and spread != "custom":
|
||||
# 目标资源过小无法分布多通道时，退化为 custom（所有通道对准中心）
|
||||
return await super().dispense(
|
||||
resources,
|
||||
vols,
|
||||
use_channels,
|
||||
flow_rates,
|
||||
offsets,
|
||||
liquid_height,
|
||||
blow_out_air_volume,
|
||||
"custom",
|
||||
**backend_kwargs,
|
||||
)
|
||||
raise
|
||||
return await super().dispense(
|
||||
resources,
|
||||
vols,
|
||||
use_channels,
|
||||
flow_rates,
|
||||
offsets,
|
||||
liquid_height,
|
||||
blow_out_air_volume,
|
||||
spread,
|
||||
**backend_kwargs,
|
||||
)
|
||||
|
||||
async def discard_tips(
|
||||
self,
|
||||
@@ -1340,11 +1290,6 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
async def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool):
|
||||
return await self._unilabos_backend.shaker_action(time, module_no, amplitude, is_wait)
|
||||
|
||||
async def magnetic_action(self, time: int, module_no: int, height: int, is_wait: bool):
|
||||
return await self._unilabos_backend.magnetic_action(time, module_no, height, is_wait)
|
||||
|
||||
async def shaking_incubation_action(self, time: int, module_no: int, amplitude: int, is_wait: bool, temperature: int):
|
||||
return await self._unilabos_backend.shaking_incubation_action(time, module_no, amplitude, is_wait, temperature)
|
||||
async def heater_action(self, temperature: float, time: int):
|
||||
return await self._unilabos_backend.heater_action(temperature, time)
|
||||
|
||||
@@ -1361,7 +1306,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
**backend_kwargs,
|
||||
):
|
||||
|
||||
res = await super().move_plate(
|
||||
return await super().move_plate(
|
||||
plate,
|
||||
to,
|
||||
intermediate_locations,
|
||||
@@ -1373,12 +1318,6 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
target_plate_number=to,
|
||||
**backend_kwargs,
|
||||
)
|
||||
plate.unassign()
|
||||
to.assign_child_resource(plate, location=Coordinate(0, 0, 0))
|
||||
ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
|
||||
"resources": [self.deck]
|
||||
})
|
||||
return res
|
||||
|
||||
|
||||
class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
@@ -1403,7 +1342,6 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
def __init__(
|
||||
self,
|
||||
tablets_info: list[WorkTablets],
|
||||
plate_positions: dict[int, Coordinate],
|
||||
host: str = "127.0.0.1",
|
||||
port: int = 9999,
|
||||
timeout: float = 10.0,
|
||||
@@ -1412,19 +1350,10 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
setup=True,
|
||||
debug=False,
|
||||
matrix_id="",
|
||||
is_9320=False,
|
||||
x_increase = 0,
|
||||
y_increase = 0,
|
||||
x_offset = 0,
|
||||
y_offset = 0,
|
||||
deck_z = 300,
|
||||
deck_x = 0,
|
||||
deck_y = 0,
|
||||
xy_coupling = 0.0,
|
||||
is_9320=False,
|
||||
) -> None:
|
||||
super().__init__()
|
||||
self.tablets_info = tablets_info
|
||||
self.plate_positions = plate_positions
|
||||
self.matrix_id = matrix_id
|
||||
self.api_client = PRCXI9300Api(host, port, timeout, axis, debug, is_9320)
|
||||
self.host, self.port, self.timeout = host, port, timeout
|
||||
@@ -1432,15 +1361,6 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
self._execute_setup = setup
|
||||
self.debug = debug
|
||||
self.axis = "Left"
|
||||
self.x_increase = x_increase
|
||||
self.y_increase = y_increase
|
||||
self.xy_coupling = xy_coupling
|
||||
self.x_offset = x_offset
|
||||
self.y_offset = y_offset
|
||||
self.deck_x = deck_x
|
||||
self.deck_y = deck_y
|
||||
self.deck_z = deck_z
|
||||
self.tip_length = 0
|
||||
|
||||
@staticmethod
|
||||
def _deck_plate_slot_no(plate, deck) -> int:
|
||||
@@ -1470,27 +1390,6 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
self.steps_todo_list.append(step)
|
||||
return step
|
||||
|
||||
async def shaking_incubation_action(self, time: int, module_no: int, amplitude: int, is_wait: bool, temperature: int):
|
||||
step = self.api_client.shaking_incubation_action(
|
||||
time=time,
|
||||
module_no=module_no,
|
||||
amplitude=amplitude,
|
||||
is_wait=is_wait,
|
||||
temperature=temperature,
|
||||
)
|
||||
self.steps_todo_list.append(step)
|
||||
return step
|
||||
|
||||
async def magnetic_action(self, time: int, module_no: int, height: int, is_wait: bool):
|
||||
step = self.api_client.magnetic_action(
|
||||
time=time,
|
||||
module_no=module_no,
|
||||
height=height,
|
||||
is_wait=is_wait,
|
||||
)
|
||||
self.steps_todo_list.append(step)
|
||||
return step
|
||||
|
||||
async def pick_up_resource(self, pickup: ResourcePickup, **backend_kwargs):
|
||||
|
||||
resource = pickup.resource
|
||||
@@ -1529,8 +1428,6 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
self._ros_node = ros_node
|
||||
|
||||
def create_protocol(self, protocol_name):
|
||||
if protocol_name == "":
|
||||
protocol_name = f"protocol_{time.time()}"
|
||||
self.protocol_name = protocol_name
|
||||
self.steps_todo_list = []
|
||||
|
||||
@@ -2047,10 +1944,10 @@ class PRCXI9300Api:
|
||||
start = False
|
||||
while not success:
|
||||
status = self.step_state_list()
|
||||
if status is None:
|
||||
break
|
||||
if len(status) == 1:
|
||||
start = True
|
||||
if status is None:
|
||||
break
|
||||
if len(status) == 0:
|
||||
break
|
||||
if status[-1]["State"] == 2 and start:
|
||||
@@ -2386,26 +2283,6 @@ class PRCXI9300Api:
|
||||
"AssistFun4": is_wait,
|
||||
}
|
||||
|
||||
def shaking_incubation_action(self, time: int, module_no: int, amplitude: int, is_wait: bool, temperature: int):
|
||||
return {
|
||||
"StepAxis": "Left",
|
||||
"Function": "Shaking_Incubation",
|
||||
"AssistFun1": time,
|
||||
"AssistFun2": module_no,
|
||||
"AssistFun3": amplitude,
|
||||
"AssistFun4": is_wait,
|
||||
"AssistFun5": temperature,
|
||||
}
|
||||
|
||||
def magnetic_action(self, time: int, module_no: int, height: int, is_wait: bool):
|
||||
return {
|
||||
"StepAxis": "Left",
|
||||
"Function": "Magnetic",
|
||||
"AssistFun1": time,
|
||||
"AssistFun2": module_no,
|
||||
"AssistFun3": height,
|
||||
"AssistFun4": is_wait,
|
||||
}
|
||||
|
||||
class DefaultLayout:
|
||||
|
||||
@@ -2420,8 +2297,20 @@ 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
|
||||
@@ -2437,94 +2326,96 @@ class DefaultLayout:
|
||||
{
|
||||
"Number": 1,
|
||||
"Code": "T1",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 2,
|
||||
"Code": "T2",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 3,
|
||||
"Code": "T3",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 4,
|
||||
"Code": "T4",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 5,
|
||||
"Code": "T5",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 6,
|
||||
"Code": "T6",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 7,
|
||||
"Code": "T7",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 8,
|
||||
"Code": "T8",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 9,
|
||||
"Code": "T9",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 10,
|
||||
"Code": "T10",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 11,
|
||||
"Code": "T11",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 12,
|
||||
"Code": "T12",
|
||||
"Material": {"uuid": "730067cf07ae43849ddf4034299030e9"},
|
||||
"Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0},
|
||||
}, # 这个设置成废液槽，用储液槽表示
|
||||
{
|
||||
"Number": 13,
|
||||
"Code": "T13",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 14,
|
||||
"Code": "T14",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 15,
|
||||
"Code": "T15",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 16,
|
||||
"Code": "T16",
|
||||
"Material": {"uuid": "730067cf07ae43849ddf4034299030e9"},
|
||||
"Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0},
|
||||
}, # 这个设置成垃圾桶，用储液槽表示
|
||||
],
|
||||
}
|
||||
|
||||
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
|
||||
@@ -2542,15 +2433,18 @@ 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
|
||||
|
||||
Reference in New Issue
Block a user