From 5d5569121c0f638f229afbd7ff5a53ce1fbce2b2 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Sun, 14 Dec 2025 12:55:25 +0800 Subject: [PATCH] fix "laiyu" missing init file. --- .../devices/liquid_handling/laiyu/__init__.py | 307 ++++++++++++++++++ 1 file changed, 307 insertions(+) create mode 100644 unilabos/devices/liquid_handling/laiyu/__init__.py diff --git a/unilabos/devices/liquid_handling/laiyu/__init__.py b/unilabos/devices/liquid_handling/laiyu/__init__.py new file mode 100644 index 00000000..89352521 --- /dev/null +++ b/unilabos/devices/liquid_handling/laiyu/__init__.py @@ -0,0 +1,307 @@ +""" +LaiYu_Liquid 液体处理工作站集成模块 + +该模块提供了 LaiYu_Liquid 工作站与 UniLabOS 的完整集成，包括： +- 硬件后端和抽象接口 +- 资源定义和管理 +- 协议执行和液体传输 +- 工作台配置和布局 + +主要组件： +- LaiYuLiquidBackend: 硬件后端实现 +- LaiYuLiquid: 液体处理器抽象接口 +- 各种资源类：枪头架、板、容器等 +- 便捷创建函数和配置管理 + +使用示例： + from unilabos.devices.laiyu_liquid import ( + LaiYuLiquid, + LaiYuLiquidBackend, + create_standard_deck, + create_tip_rack_1000ul + ) + + # 创建后端和液体处理器 + backend = LaiYuLiquidBackend() + lh = LaiYuLiquid(backend=backend) + + # 创建工作台 + deck = create_standard_deck() + lh.deck = deck + + # 设置和运行 + await lh.setup() +""" + +# 版本信息 +__version__ = "1.0.0" +__author__ = "LaiYu_Liquid Integration Team" +__description__ = "LaiYu_Liquid 液体处理工作站 UniLabOS 集成模块" + +# 驱动程序导入 +from .drivers import ( + XYZStepperController, + SOPAPipette, + MotorAxis, + MotorStatus, + SOPAConfig, + SOPAStatusCode, + StepperMotorDriver +) + +# 控制器导入 +from .controllers import ( + XYZController, + PipetteController, +) + +# 后端导入 +from .backend.rviz_backend import ( + LiquidHandlerRvizBackend, +) + +# 资源类和创建函数导入 +from .core.laiyu_liquid_res import ( + LaiYuLiquidDeck, + LaiYuLiquidContainer, + LaiYuLiquidTipRack +) + +# 主设备类和配置 +from .core.laiyu_liquid_main import ( + LaiYuLiquid, + LaiYuLiquidConfig, + LaiYuLiquidDeck, + LaiYuLiquidContainer, + LaiYuLiquidTipRack, + create_quick_setup +) + +# 后端创建函数导入 +from .backend import ( + LaiYuLiquidBackend, + create_laiyu_backend, +) + +# 导出所有公共接口 +__all__ = [ + # 版本信息 + "__version__", + "__author__", + "__description__", + + # 驱动程序 + "SOPAPipette", + "SOPAConfig", + "StepperMotorDriver", + "XYZStepperController", + + # 控制器 + "PipetteController", + "XYZController", + + # 后端 + "LiquidHandlerRvizBackend", + + # 资源创建函数 + "create_tip_rack_1000ul", + "create_tip_rack_200ul", + "create_96_well_plate", + "create_deep_well_plate", + "create_8_tube_rack", + "create_standard_deck", + "create_waste_container", + "create_wash_container", + "create_reagent_container", + "load_deck_config", + + # 后端创建函数 + "create_laiyu_backend", + + # 主要类 + "LaiYuLiquid", + "LaiYuLiquidConfig", + "LaiYuLiquidBackend", + "LaiYuLiquidDeck", + + # 工具函数 + "get_version", + "get_supported_resources", + "create_quick_setup", + "validate_installation", + "print_module_info", + "setup_logging", +] + +# 别名定义，为了向后兼容 +LaiYuLiquidDevice = LaiYuLiquid # 主设备类别名 +LaiYuLiquidController = XYZController # 控制器别名 +LaiYuLiquidDriver = XYZStepperController # 驱动器别名 + +# 模块级别的便捷函数 + +def get_version() -> str: + """ + 获取模块版本 + + Returns: + str: 版本号 + """ + return __version__ + + +def get_supported_resources() -> dict: + """ + 获取支持的资源类型 + + Returns: + dict: 支持的资源类型字典 + """ + return { + "tip_racks": { + "LaiYuLiquidTipRack": LaiYuLiquidTipRack, + }, + "containers": { + "LaiYuLiquidContainer": LaiYuLiquidContainer, + }, + "decks": { + "LaiYuLiquidDeck": LaiYuLiquidDeck, + }, + "devices": { + "LaiYuLiquid": LaiYuLiquid, + } + } + + +def create_quick_setup() -> tuple: + """ + 快速创建基本设置 + + Returns: + tuple: (backend, controllers, resources) 的元组 + """ + # 创建后端 + backend = LiquidHandlerRvizBackend() + + # 创建控制器（使用默认端口进行演示） + pipette_controller = PipetteController(port="/dev/ttyUSB0", address=4) + xyz_controller = XYZController(port="/dev/ttyUSB1", auto_connect=False) + + # 创建测试资源 + tip_rack_1000 = create_tip_rack_1000ul("tip_rack_1000") + tip_rack_200 = create_tip_rack_200ul("tip_rack_200") + well_plate = create_96_well_plate("96_well_plate") + + controllers = { + 'pipette': pipette_controller, + 'xyz': xyz_controller + } + + resources = { + 'tip_rack_1000': tip_rack_1000, + 'tip_rack_200': tip_rack_200, + 'well_plate': well_plate + } + + return backend, controllers, resources + + +def validate_installation() -> bool: + """ + 验证模块安装是否正确 + + Returns: + bool: 安装是否正确 + """ + try: + # 检查核心类是否可以导入 + from .core.laiyu_liquid_main import LaiYuLiquid, LaiYuLiquidConfig + from .backend import LaiYuLiquidBackend + from .controllers import XYZController, PipetteController + from .drivers import XYZStepperController, SOPAPipette + + # 尝试创建基本对象 + config = LaiYuLiquidConfig() + backend = create_laiyu_backend("validation_test") + + print("模块安装验证成功") + return True + + except Exception as e: + print(f"模块安装验证失败: {e}") + return False + + +def print_module_info(): + """打印模块信息""" + print(f"LaiYu_Liquid 集成模块") + print(f"版本: {__version__}") + print(f"作者: {__author__}") + print(f"描述: {__description__}") + print(f"") + print(f"支持的资源类型:") + + resources = get_supported_resources() + for category, types in resources.items(): + print(f" {category}:") + for type_name, type_class in types.items(): + print(f" - {type_name}: {type_class.__name__}") + + print(f"") + print(f"主要功能:") + print(f" - 硬件集成: LaiYuLiquidBackend") + print(f" - 抽象接口: LaiYuLiquid") + print(f" - 资源管理: 各种资源类和创建函数") + print(f" - 协议执行: transfer_liquid 和相关函数") + print(f" - 配置管理: deck.json 和加载函数") + + +# 模块初始化时的检查 +def _check_dependencies(): + """检查依赖项""" + try: + import pylabrobot + import asyncio + import json + import logging + return True + except ImportError as e: + import logging + logging.warning(f"缺少依赖项 {e}") + return False + + +# 执行依赖检查 +_dependencies_ok = _check_dependencies() + +if not _dependencies_ok: + import logging + logging.warning("某些依赖项缺失，模块功能可能受限") + + +# 模块级别的日志配置 +import logging + +def setup_logging(level: str = "INFO"): + """ + 设置模块日志 + + Args: + level: 日志级别 (DEBUG, INFO, WARNING, ERROR) + """ + logger = logging.getLogger("LaiYu_Liquid") + logger.setLevel(getattr(logging, level.upper())) + + if not logger.handlers: + handler = logging.StreamHandler() + formatter = logging.Formatter( + '%(asctime)s - %(name)s - %(levelname)s - %(message)s' + ) + handler.setFormatter(formatter) + logger.addHandler(handler) + + return logger + + +# 默认日志设置 +_logger = setup_logging() \ No newline at end of file