mirror of
https://github.com/deepmodeling/Uni-Lab-OS
synced 2026-03-24 09:17:39 +00:00
修改transfer liquid方法
This commit is contained in:
q434343
File diff suppressed because it is too large
Load Diff
@@ -103,7 +103,7 @@ class PRCXI9300Deck(Deck):
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def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
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sites: Optional[List[Dict[str, Any]]] = None, **kwargs):
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super().__init__(size_x, size_y, size_z, name)
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super().__init__(name, size_x, size_y, size_z)
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if sites is not None:
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self.sites: List[Dict[str, Any]] = [dict(s) for s in sites]
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else:
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@@ -120,6 +120,7 @@ class PRCXI9300Deck(Deck):
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self._ordering = collections.OrderedDict(
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(site["label"], None) for site in self.sites
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)
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self.root = self.get_root()
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def _get_site_location(self, idx: int) -> Coordinate:
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pos = self.sites[idx]["position"]
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@@ -162,7 +163,10 @@ class PRCXI9300Deck(Deck):
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raise ValueError(f"No available site on deck '{self.name}' for resource '{resource.name}'")
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if not reassign and self._get_site_resource(idx) is not None:
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raise ValueError(f"Site {idx} ('{self.sites[idx]['label']}') is already occupied")
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existing = self.root.get_resource(resource.name)
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if existing is not resource and existing.parent is not None:
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existing.parent.unassign_child_resource(existing)
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loc = self._get_site_location(idx)
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super().assign_child_resource(resource, location=loc, reassign=reassign)
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@@ -794,6 +798,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
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touch_tip: bool = False,
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liquid_height: Optional[List[Optional[float]]] = None,
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blow_out_air_volume: Optional[List[Optional[float]]] = None,
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blow_out_air_volume_before: Optional[List[Optional[float]]] = None,
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spread: Literal["wide", "tight", "custom"] = "wide",
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is_96_well: bool = False,
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mix_stage: Optional[Literal["none", "before", "after", "both"]] = "none",
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@@ -819,6 +824,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
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touch_tip=touch_tip,
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liquid_height=liquid_height,
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blow_out_air_volume=blow_out_air_volume,
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blow_out_air_volume_before=blow_out_air_volume_before,
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spread=spread,
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is_96_well=is_96_well,
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mix_stage=mix_stage,
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@@ -4976,13 +4976,13 @@ liquid_handler.biomek:
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handler_key: tip_rack
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label: tip_rack
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output:
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- data_key: liquid
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- data_key: sources
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data_source: handle
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data_type: resource
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handler_key: sources_out
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label: sources
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- data_key: liquid
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data_source: executor
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- data_key: targets
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data_source: handle
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data_type: resource
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handler_key: targets_out
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label: targets
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@@ -7656,6 +7656,43 @@ liquid_handler.prcxi:
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title: iter_tips参数
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type: object
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type: UniLabJsonCommand
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auto-magnetic_action:
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feedback: {}
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goal: {}
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goal_default:
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height: null
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is_wait: null
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module_no: null
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time: null
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: ''
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properties:
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feedback: {}
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goal:
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properties:
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height:
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type: integer
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is_wait:
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type: boolean
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module_no:
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type: integer
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time:
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type: integer
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required:
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- time
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- module_no
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- height
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- is_wait
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type: object
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result: {}
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required:
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- goal
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title: magnetic_action参数
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type: object
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type: UniLabJsonCommandAsync
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auto-move_to:
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feedback: {}
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goal: {}
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@@ -7689,6 +7726,31 @@ liquid_handler.prcxi:
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title: move_to参数
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type: object
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type: UniLabJsonCommandAsync
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auto-plr_pos_to_prcxi:
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feedback: {}
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goal: {}
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goal_default:
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resource: null
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: ''
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properties:
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feedback: {}
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goal:
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properties:
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resource:
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type: object
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required:
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- resource
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type: object
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result: {}
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required:
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- goal
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title: plr_pos_to_prcxi参数
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type: object
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type: UniLabJsonCommand
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auto-post_init:
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feedback: {}
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goal: {}
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@@ -7809,6 +7871,47 @@ liquid_handler.prcxi:
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title: shaker_action参数
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type: object
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type: UniLabJsonCommandAsync
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auto-shaking_incubation_action:
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feedback: {}
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goal: {}
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goal_default:
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amplitude: null
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is_wait: null
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module_no: null
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temperature: null
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time: null
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: ''
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properties:
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feedback: {}
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goal:
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properties:
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amplitude:
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type: integer
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is_wait:
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type: boolean
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module_no:
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type: integer
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temperature:
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type: integer
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time:
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type: integer
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required:
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- time
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- module_no
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- amplitude
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- is_wait
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- temperature
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type: object
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result: {}
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required:
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- goal
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title: shaking_incubation_action参数
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type: object
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type: UniLabJsonCommandAsync
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auto-touch_tip:
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feedback: {}
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goal: {}
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@@ -10034,116 +10137,28 @@ liquid_handler.prcxi:
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type: Transfer
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transfer_liquid:
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feedback: {}
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goal:
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asp_flow_rates: asp_flow_rates
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asp_vols: asp_vols
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blow_out_air_volume: blow_out_air_volume
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delays: delays
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dis_flow_rates: dis_flow_rates
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dis_vols: dis_vols
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is_96_well: is_96_well
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liquid_height: liquid_height
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mix_liquid_height: mix_liquid_height
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mix_rate: mix_rate
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mix_stage: mix_stage
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mix_times: mix_times
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mix_vol: mix_vol
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none_keys: none_keys
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offsets: offsets
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sources: sources
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spread: spread
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targets: targets
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tip_racks: tip_racks
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touch_tip: touch_tip
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use_channels: use_channels
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goal: {}
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goal_default:
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asp_flow_rates:
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- 0.0
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asp_vols:
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- 0.0
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blow_out_air_volume:
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- 0.0
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delays:
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- 0
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dis_flow_rates:
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- 0.0
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dis_vols:
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- 0.0
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asp_flow_rates: null
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asp_vols: null
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blow_out_air_volume: null
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blow_out_air_volume_before: null
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delays: null
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dis_flow_rates: null
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dis_vols: null
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is_96_well: false
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liquid_height:
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- 0.0
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mix_liquid_height: 0.0
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mix_rate: 0
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mix_stage: ''
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mix_times: 0
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mix_vol: 0
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none_keys:
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- ''
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offsets:
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- x: 0.0
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y: 0.0
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z: 0.0
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sources:
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- category: ''
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children: []
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config: ''
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data: ''
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id: ''
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name: ''
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parent: ''
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pose:
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orientation:
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w: 1.0
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x: 0.0
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y: 0.0
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z: 0.0
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position:
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x: 0.0
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y: 0.0
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z: 0.0
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sample_id: ''
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type: ''
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spread: ''
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targets:
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- category: ''
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children: []
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config: ''
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data: ''
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id: ''
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name: ''
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parent: ''
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pose:
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orientation:
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w: 1.0
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x: 0.0
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y: 0.0
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z: 0.0
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position:
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x: 0.0
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y: 0.0
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z: 0.0
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sample_id: ''
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type: ''
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tip_racks:
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- category: ''
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children: []
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config: ''
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data: ''
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id: ''
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name: ''
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parent: ''
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pose:
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orientation:
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w: 1.0
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x: 0.0
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y: 0.0
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z: 0.0
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position:
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x: 0.0
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y: 0.0
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z: 0.0
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sample_id: ''
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type: ''
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liquid_height: null
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mix_liquid_height: null
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mix_rate: null
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mix_stage: none
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mix_times: null
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mix_vol: null
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none_keys: []
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offsets: null
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sources: null
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spread: wide
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targets: null
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tip_racks: null
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touch_tip: false
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use_channels:
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- 0
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@@ -10159,7 +10174,7 @@ liquid_handler.prcxi:
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data_type: resource
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handler_key: targets_identifier
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label: 转移目标
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- data_key: tip_rack
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- data_key: tip_racks
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data_source: handle
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data_type: resource
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handler_key: tip_rack_identifier
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@@ -10183,11 +10198,7 @@ liquid_handler.prcxi:
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schema:
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description: ''
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properties:
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feedback:
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properties: {}
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required: []
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title: LiquidHandlerTransfer_Feedback
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type: object
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feedback: {}
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goal:
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properties:
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asp_flow_rates:
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@@ -10202,6 +10213,10 @@ liquid_handler.prcxi:
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items:
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type: number
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type: array
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blow_out_air_volume_before:
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items:
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type: number
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type: array
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delays:
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items:
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maximum: 2147483647
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@@ -10217,6 +10232,7 @@ liquid_handler.prcxi:
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type: number
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type: array
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is_96_well:
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default: false
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type: boolean
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liquid_height:
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items:
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@@ -10229,6 +10245,7 @@ liquid_handler.prcxi:
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minimum: -2147483648
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type: integer
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mix_stage:
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default: none
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type: string
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mix_times:
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maximum: 2147483647
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@@ -10239,6 +10256,7 @@ liquid_handler.prcxi:
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minimum: -2147483648
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type: integer
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none_keys:
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default: []
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items:
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type: string
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type: array
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@@ -10334,6 +10352,7 @@ liquid_handler.prcxi:
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type: object
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type: array
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spread:
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default: wide
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type: string
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targets:
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items:
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@@ -10486,6 +10505,7 @@ liquid_handler.prcxi:
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type: object
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type: array
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touch_tip:
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default: false
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type: boolean
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use_channels:
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items:
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||||
@@ -10494,45 +10514,221 @@ liquid_handler.prcxi:
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type: integer
|
||||
type: array
|
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required:
|
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- asp_vols
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- dis_vols
|
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- sources
|
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- targets
|
||||
- tip_racks
|
||||
- use_channels
|
||||
- asp_flow_rates
|
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- dis_flow_rates
|
||||
- offsets
|
||||
- touch_tip
|
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- liquid_height
|
||||
- blow_out_air_volume
|
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- spread
|
||||
- is_96_well
|
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- mix_stage
|
||||
- mix_times
|
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- mix_vol
|
||||
- mix_rate
|
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- mix_liquid_height
|
||||
- delays
|
||||
- none_keys
|
||||
title: LiquidHandlerTransfer_Goal
|
||||
- asp_vols
|
||||
- dis_vols
|
||||
type: object
|
||||
result:
|
||||
$defs:
|
||||
ResourceDict:
|
||||
properties:
|
||||
class:
|
||||
description: Resource class name
|
||||
title: Class
|
||||
type: string
|
||||
config:
|
||||
additionalProperties: true
|
||||
description: Resource configuration
|
||||
title: Config
|
||||
type: object
|
||||
data:
|
||||
additionalProperties: true
|
||||
description: 'Resource data, eg: container liquid data'
|
||||
title: Data
|
||||
type: object
|
||||
description:
|
||||
default: ''
|
||||
description: Resource description
|
||||
title: Description
|
||||
type: string
|
||||
extra:
|
||||
additionalProperties: true
|
||||
description: 'Extra data, eg: slot index'
|
||||
title: Extra
|
||||
type: object
|
||||
icon:
|
||||
default: ''
|
||||
description: Resource icon
|
||||
title: Icon
|
||||
type: string
|
||||
id:
|
||||
description: Resource ID
|
||||
title: Id
|
||||
type: string
|
||||
model:
|
||||
additionalProperties: true
|
||||
description: Resource model
|
||||
title: Model
|
||||
type: object
|
||||
name:
|
||||
description: Resource name
|
||||
title: Name
|
||||
type: string
|
||||
parent:
|
||||
anyOf:
|
||||
- $ref: '#/$defs/ResourceDict'
|
||||
- type: 'null'
|
||||
default: null
|
||||
description: Parent resource object
|
||||
parent_uuid:
|
||||
anyOf:
|
||||
- type: string
|
||||
- type: 'null'
|
||||
default: null
|
||||
description: Parent resource uuid
|
||||
title: Parent Uuid
|
||||
pose:
|
||||
$ref: '#/$defs/ResourceDictPosition'
|
||||
description: Resource position
|
||||
schema:
|
||||
additionalProperties: true
|
||||
description: Resource schema
|
||||
title: Schema
|
||||
type: object
|
||||
type:
|
||||
anyOf:
|
||||
- const: device
|
||||
type: string
|
||||
- type: string
|
||||
description: Resource type
|
||||
title: Type
|
||||
uuid:
|
||||
description: Resource UUID
|
||||
title: Uuid
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- uuid
|
||||
- name
|
||||
- type
|
||||
- class
|
||||
- config
|
||||
- data
|
||||
- extra
|
||||
title: ResourceDict
|
||||
type: object
|
||||
ResourceDictPosition:
|
||||
properties:
|
||||
cross_section_type:
|
||||
default: rectangle
|
||||
description: Cross section type
|
||||
enum:
|
||||
- rectangle
|
||||
- circle
|
||||
- rounded_rectangle
|
||||
title: Cross Section Type
|
||||
type: string
|
||||
layout:
|
||||
default: x-y
|
||||
description: Resource layout
|
||||
enum:
|
||||
- 2d
|
||||
- x-y
|
||||
- z-y
|
||||
- x-z
|
||||
title: Layout
|
||||
type: string
|
||||
position:
|
||||
$ref: '#/$defs/ResourceDictPositionObject'
|
||||
description: Resource position
|
||||
position3d:
|
||||
$ref: '#/$defs/ResourceDictPositionObject'
|
||||
description: Resource position in 3D space
|
||||
rotation:
|
||||
$ref: '#/$defs/ResourceDictPositionObject'
|
||||
description: Resource rotation
|
||||
scale:
|
||||
$ref: '#/$defs/ResourceDictPositionScale'
|
||||
description: Resource scale
|
||||
size:
|
||||
$ref: '#/$defs/ResourceDictPositionSize'
|
||||
description: Resource size
|
||||
title: ResourceDictPosition
|
||||
type: object
|
||||
ResourceDictPositionObject:
|
||||
properties:
|
||||
x:
|
||||
default: 0.0
|
||||
description: X coordinate
|
||||
title: X
|
||||
type: number
|
||||
y:
|
||||
default: 0.0
|
||||
description: Y coordinate
|
||||
title: Y
|
||||
type: number
|
||||
z:
|
||||
default: 0.0
|
||||
description: Z coordinate
|
||||
title: Z
|
||||
type: number
|
||||
title: ResourceDictPositionObject
|
||||
type: object
|
||||
ResourceDictPositionScale:
|
||||
properties:
|
||||
x:
|
||||
default: 0.0
|
||||
description: x scale
|
||||
title: X
|
||||
type: number
|
||||
y:
|
||||
default: 0.0
|
||||
description: y scale
|
||||
title: Y
|
||||
type: number
|
||||
z:
|
||||
default: 0.0
|
||||
description: z scale
|
||||
title: Z
|
||||
type: number
|
||||
title: ResourceDictPositionScale
|
||||
type: object
|
||||
ResourceDictPositionSize:
|
||||
properties:
|
||||
depth:
|
||||
default: 0.0
|
||||
description: Depth
|
||||
title: Depth
|
||||
type: number
|
||||
height:
|
||||
default: 0.0
|
||||
description: Height
|
||||
title: Height
|
||||
type: number
|
||||
width:
|
||||
default: 0.0
|
||||
description: Width
|
||||
title: Width
|
||||
type: number
|
||||
title: ResourceDictPositionSize
|
||||
type: object
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
sources:
|
||||
items:
|
||||
items:
|
||||
$ref: '#/$defs/ResourceDict'
|
||||
type: array
|
||||
title: Sources
|
||||
type: array
|
||||
targets:
|
||||
items:
|
||||
items:
|
||||
$ref: '#/$defs/ResourceDict'
|
||||
type: array
|
||||
title: Targets
|
||||
type: array
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: LiquidHandlerTransfer_Result
|
||||
- sources
|
||||
- targets
|
||||
title: TransferLiquidReturn
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: LiquidHandlerTransfer
|
||||
title: transfer_liquid参数
|
||||
type: object
|
||||
type: LiquidHandlerTransfer
|
||||
type: UniLabJsonCommandAsync
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Handler
|
||||
status_types:
|
||||
reset_ok: bool
|
||||
@@ -10555,6 +10751,12 @@ liquid_handler.prcxi:
|
||||
type: string
|
||||
deck:
|
||||
type: object
|
||||
deck_y:
|
||||
default: 400
|
||||
type: string
|
||||
deck_z:
|
||||
default: 300
|
||||
type: string
|
||||
host:
|
||||
type: string
|
||||
is_9320:
|
||||
@@ -10565,17 +10767,44 @@ liquid_handler.prcxi:
|
||||
type: string
|
||||
port:
|
||||
type: integer
|
||||
rail_interval:
|
||||
default: 0
|
||||
type: string
|
||||
rail_nums:
|
||||
default: 4
|
||||
type: string
|
||||
rail_width:
|
||||
default: 27.5
|
||||
type: string
|
||||
setup:
|
||||
default: true
|
||||
type: string
|
||||
simulator:
|
||||
default: false
|
||||
type: string
|
||||
start_rail:
|
||||
default: 2
|
||||
type: string
|
||||
step_mode:
|
||||
default: false
|
||||
type: string
|
||||
timeout:
|
||||
type: number
|
||||
x_increase:
|
||||
default: -0.003636
|
||||
type: string
|
||||
x_offset:
|
||||
default: -0.8
|
||||
type: string
|
||||
xy_coupling:
|
||||
default: -0.0045
|
||||
type: string
|
||||
y_increase:
|
||||
default: -0.003636
|
||||
type: string
|
||||
y_offset:
|
||||
default: -37.98
|
||||
type: string
|
||||
required:
|
||||
- deck
|
||||
- host
|
||||
|
||||
@@ -534,10 +534,17 @@ class ResourceTreeSet(object):
|
||||
trees.append(tree_instance)
|
||||
return cls(trees)
|
||||
|
||||
def to_plr_resources(self, skip_devices=True) -> List["PLRResource"]:
|
||||
def to_plr_resources(
|
||||
self, skip_devices: bool = True, requested_uuids: Optional[List[str]] = None
|
||||
) -> List["PLRResource"]:
|
||||
"""
|
||||
将 ResourceTreeSet 转换为 PLR 资源列表
|
||||
|
||||
Args:
|
||||
skip_devices: 是否跳过 device 类型节点
|
||||
requested_uuids: 若指定，则按此 UUID 顺序返回对应资源（用于批量查询时一一对应），
|
||||
否则返回各树的根节点列表
|
||||
|
||||
Returns:
|
||||
List[PLRResource]: PLR 资源实例列表
|
||||
"""
|
||||
@@ -691,12 +698,24 @@ class ResourceTreeSet(object):
|
||||
plr_resources.append(plr_resource)
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"转换 PLR 资源失败: {e} {str(plr_dict)[:1000]}")
|
||||
logger.error(f"转换 PLR 资源失败: {e}")
|
||||
import traceback
|
||||
|
||||
logger.error(f"堆栈: {traceback.format_exc()}")
|
||||
raise
|
||||
|
||||
if requested_uuids:
|
||||
# 按请求的 UUID 顺序返回对应资源（从整棵树中按 uuid 提取）
|
||||
result = []
|
||||
for uid in requested_uuids:
|
||||
if uid in tracker.uuid_to_resources:
|
||||
result.append(tracker.uuid_to_resources[uid])
|
||||
else:
|
||||
raise ValueError(
|
||||
f"请求的 UUID {uid} 在资源树中未找到。"
|
||||
f"可用 UUID 数量: {len(tracker.uuid_to_resources)}"
|
||||
)
|
||||
return result
|
||||
return plr_resources
|
||||
|
||||
@classmethod
|
||||
|
||||
@@ -386,12 +386,14 @@ def build_protocol_graph(
|
||||
slots_info = {} # slot -> {labware, res_id}
|
||||
for labware_id, item in labware_info.items():
|
||||
slot = str(item.get("slot", ""))
|
||||
labware = item.get("labware", "")
|
||||
if slot and slot not in slots_info:
|
||||
res_id = f"plate_slot_{slot}"
|
||||
res_id = f"{labware}_slot_{slot}"
|
||||
slots_info[slot] = {
|
||||
"labware": item.get("labware", ""),
|
||||
"labware": labware,
|
||||
"res_id": res_id,
|
||||
"labware_id": labware_id,
|
||||
"object": item.get("object", ""),
|
||||
}
|
||||
|
||||
# 创建 Group 节点，包含所有 create_resource 节点
|
||||
@@ -414,8 +416,10 @@ def build_protocol_graph(
|
||||
node_id = str(uuid.uuid4())
|
||||
res_id = info["res_id"]
|
||||
res_type_name = info["labware"].lower().replace(".", "point")
|
||||
object_type = info.get("object", "")
|
||||
res_type_name = f"lab_{res_type_name}"
|
||||
|
||||
if object_type == "trash":
|
||||
res_type_name = "PRCXI_trash"
|
||||
G.add_node(
|
||||
node_id,
|
||||
template_name="create_resource",
|
||||
@@ -438,7 +442,7 @@ def build_protocol_graph(
|
||||
},
|
||||
)
|
||||
slot_to_create_resource[slot] = node_id
|
||||
if "tip" in res_type_name and "rack" in res_type_name:
|
||||
if object_type == "tiprack":
|
||||
resource_last_writer[info["labware_id"]] = f"{node_id}:labware"
|
||||
# create_resource 之间不需要 ready 连接
|
||||
|
||||
@@ -475,6 +479,8 @@ def build_protocol_graph(
|
||||
# res_id 不能有空格
|
||||
res_id = str(labware_id).replace(" ", "_")
|
||||
well_count = len(wells)
|
||||
object_type = item.get("object", "")
|
||||
liquid_volume = DEFAULT_LIQUID_VOLUME if object_type == "source" else 0
|
||||
|
||||
node_id = str(uuid.uuid4())
|
||||
set_liquid_index += 1
|
||||
@@ -495,7 +501,7 @@ def build_protocol_graph(
|
||||
"plate": [], # 通过连接传递
|
||||
"well_names": wells, # 孔位名数组，如 ["A1", "A3", "A5"]
|
||||
"liquid_names": [res_id] * well_count,
|
||||
"volumes": [DEFAULT_LIQUID_VOLUME] * well_count,
|
||||
"volumes": [liquid_volume] * well_count,
|
||||
},
|
||||
)
|
||||
|
||||
|
||||
Reference in New Issue
Block a user