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修改真机运动方式，

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q434343
2026-03-31 14:33:50 +08:00
parent afddc6e40c
commit 6b3f9756a0
3 changed files with 285 additions and 99 deletions
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180
unilabos/devices/liquid_handling/prcxi/prcxi.py
View File

@@ -86,6 +86,23 @@ class MatrixInfo(TypedDict):
WorkTablets: list[WorkTablets]
def _get_slot_number(resource) -> Optional[int]:
"""从 resource 的 unilabos_extra["update_resource_site"]（如 "T13"）或位置反算槽位号。"""
extra = getattr(resource, "unilabos_extra", {}) or {}
site = extra.get("update_resource_site", "")
if site:
digits = "".join(c for c in str(site) if c.isdigit())
return int(digits) if digits else None
loc = getattr(resource, "location", None)
if loc is not None and loc.x is not None and loc.y is not None:
col = round((loc.x - 5) / 137.5)
row = round(3 - (loc.y - 13) / 96)
idx = row * 4 + col
if 0 <= idx < 16:
return idx + 1
return None
class PRCXI9300Deck(Deck):
"""PRCXI 9300 的专用 Deck 类，继承自 Deck。
@@ -837,22 +854,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
@staticmethod
def _get_slot_number(resource) -> Optional[int]:
"""从 resource 的 unilabos_extra["update_resource_site"]（如 "T13"）或位置反算槽位号。"""
extra = getattr(resource, "unilabos_extra", {}) or {}
site = extra.get("update_resource_site", "")
if site:
digits = "".join(c for c in str(site) if c.isdigit())
return int(digits) if digits else None
# 使用 resource.location.x 和 resource.location.y 反算槽位号
# 参考 _DEFAULT_SITE_POSITIONS: x = (i%4)*137.5+5, y = (int(i/4))*96+13
loc = getattr(resource, "location", None)
if loc is not None and loc.x is not None and loc.y is not None:
col = round((loc.x - 5) / 137.5) # 0-3
row = round(3-(loc.y - 13) / 96) # 0-3
idx = row * 4 + col # 0-15
if 0 <= idx < 16:
return idx + 1 # 槽位号从 1 开始
return None
return _get_slot_number(resource)
def _match_and_create_matrix(self):
"""首次 transfer_liquid 时，根据 deck 上的 resource 自动匹配耗材并创建 WorkTabletMatrix。"""
@@ -972,7 +974,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
if child.children:
pip_pos = self.plr_pos_to_prcxi(child.children[0], self.left_2_claw)
else:
pip_pos = self.plr_pos_to_prcxi(child, Coordinate(50, self.left_2_claw.y, self.left_2_claw.z))
pip_pos = self.plr_pos_to_prcxi(child, Coordinate(-100, self.left_2_claw.y, self.left_2_claw.z))
half_x = child.get_size_x() / 2 * abs(1 + self.x_increase)
z_wall = child.get_size_z()
@@ -1006,7 +1008,10 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
raise PRCXIError(f"Failed to create auto-matched matrix: {res.get('Message', 'Unknown error')}")
def plr_pos_to_prcxi(self, resource: Resource, offset: Coordinate = Coordinate(0, 0, 0)):
resource_pos = resource.get_absolute_location(x="c",y="c",z="t")
z_pos = 'c'
if isinstance(resource, Tip):
z_pos = 'b'
resource_pos = resource.get_absolute_location(x="c",y="c",z=z_pos)
x = resource_pos.x
y = resource_pos.y
z = resource_pos.z
@@ -1437,6 +1442,24 @@ class PRCXI9300Backend(LiquidHandlerBackend):
self.deck_z = deck_z
self.tip_length = 0
@staticmethod
def _deck_plate_slot_no(plate, deck) -> int:
"""台面板位槽号（1–16）：与 PRCXI9300Handler._get_slot_number 一致；无法解析时退回 deck 子项顺序 +1。"""
sn = PRCXI9300Handler._get_slot_number(plate)
if sn is not None:
return sn
return deck.children.index(plate) + 1
@staticmethod
def _resource_num_items_y(resource) -> int:
"""板/TipRack 等在 Y 向孔位数；无 ``num_items_y`` 或非正数时返回 1。"""
ny = getattr(resource, "num_items_y", None)
try:
n = int(ny) if ny is not None else 1
except (TypeError, ValueError):
n = 1
return n if n >= 1 else 1
async def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool):
step = self.api_client.shaker_action(
time=time,
@@ -1610,33 +1633,33 @@ class PRCXI9300Backend(LiquidHandlerBackend):
axis = "Right"
else:
raise ValueError("Invalid use channels: " + str(_use_channels))
plate_indexes = []
plate_slots = []
for op in ops:
plate = op.resource.parent
deck = plate.parent
plate_index = deck.children.index(plate)
# print(f"Plate index: {plate_index}, Plate name: {plate.name}")
# print(f"Number of children in deck: {len(deck.children)}")
plate_slots.append(self._deck_plate_slot_no(plate, deck))
plate_indexes.append(plate_index)
if len(set(plate_indexes)) != 1:
raise ValueError("All pickups must be from the same plate. Found different plates: " + str(plate_indexes))
if len(set(plate_slots)) != 1:
raise ValueError("All pickups must be from the same plate (slot). Found different slots: " + str(plate_slots))
_rack = ops[0].resource.parent
ny = self._resource_num_items_y(_rack)
tip_columns = []
for op in ops:
tipspot = op.resource
if self._resource_num_items_y(tipspot.parent) != ny:
raise ValueError("All pickups must use tip racks with the same num_items_y")
tipspot_index = tipspot.parent.children.index(tipspot)
tip_columns.append(tipspot_index // 8)
tip_columns.append(tipspot_index // ny)
if len(set(tip_columns)) != 1:
raise ValueError(
"All pickups must be from the same tip column. Found different columns: " + str(tip_columns)
)
PlateNo = plate_indexes[0] + 1
PlateNo = plate_slots[0]
hole_col = tip_columns[0] + 1
hole_row = 1
if self.num_channels != 8:
hole_row = tipspot_index % 8 + 1
hole_row = tipspot_index % ny + 1
step = self.api_client.Load(
axis=axis,
@@ -1647,8 +1670,8 @@ class PRCXI9300Backend(LiquidHandlerBackend):
hole_col=hole_col,
blending_times=0,
balance_height=0,
plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
hole_numbers=f"{(hole_col - 1) * 8 + hole_row}" if self._num_channels != 8 else "1,2,3,4,5",
plate_or_hole=f"H{hole_col}-{ny},T{PlateNo}",
hole_numbers=f"{(hole_col - 1) * ny + hole_row}" if self._num_channels != 8 else "1,2,3,4,5",
)
self.steps_todo_list.append(step)
@@ -1666,8 +1689,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
raise ValueError("Invalid use channels: " + str(_use_channels))
# 检查trash #
if ops[0].resource.name == "trash":
PlateNo = ops[0].resource.parent.parent.children.index(ops[0].resource.parent) + 1
_plate = ops[0].resource
_deck = _plate.parent
PlateNo = self._deck_plate_slot_no(_plate, _deck)
step = self.api_client.UnLoad(
axis=axis,
@@ -1685,32 +1709,35 @@ class PRCXI9300Backend(LiquidHandlerBackend):
return
# print(ops[0].resource.parent.children.index(ops[0].resource))
plate_indexes = []
plate_slots = []
for op in ops:
plate = op.resource.parent
deck = plate.parent
plate_index = deck.children.index(plate)
plate_indexes.append(plate_index)
if len(set(plate_indexes)) != 1:
plate_slots.append(self._deck_plate_slot_no(plate, deck))
if len(set(plate_slots)) != 1:
raise ValueError(
"All drop_tips must be from the same plate. Found different plates: " + str(plate_indexes)
"All drop_tips must be from the same plate (slot). Found different slots: " + str(plate_slots)
)
_rack = ops[0].resource.parent
ny = self._resource_num_items_y(_rack)
tip_columns = []
for op in ops:
tipspot = op.resource
if self._resource_num_items_y(tipspot.parent) != ny:
raise ValueError("All drop_tips must use tip racks with the same num_items_y")
tipspot_index = tipspot.parent.children.index(tipspot)
tip_columns.append(tipspot_index // 8)
tip_columns.append(tipspot_index // ny)
if len(set(tip_columns)) != 1:
raise ValueError(
"All drop_tips must be from the same tip column. Found different columns: " + str(tip_columns)
)
PlateNo = plate_indexes[0] + 1
PlateNo = plate_slots[0]
hole_col = tip_columns[0] + 1
hole_row = 1
if self.num_channels != 8:
hole_row = tipspot_index % 8 + 1
hole_row = tipspot_index % ny + 1
step = self.api_client.UnLoad(
axis=axis,
@@ -1721,7 +1748,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
hole_col=hole_col,
blending_times=0,
balance_height=0,
plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
plate_or_hole=f"H{hole_col}-{ny},T{PlateNo}",
hole_numbers="1,2,3,4,5,6,7,8",
)
self.steps_todo_list.append(step)
@@ -1744,31 +1771,34 @@ class PRCXI9300Backend(LiquidHandlerBackend):
axis = "Right"
else:
raise ValueError("Invalid use channels: " + str(use_channels))
plate_indexes = []
plate_slots = []
for op in targets:
deck = op.parent.parent.parent
plate = op.parent
plate_index = deck.children.index(plate)
plate_indexes.append(plate_index)
plate_slots.append(self._deck_plate_slot_no(plate, deck))
if len(set(plate_indexes)) != 1:
raise ValueError("All pickups must be from the same plate. Found different plates: " + str(plate_indexes))
if len(set(plate_slots)) != 1:
raise ValueError("All mix targets must be from the same plate (slot). Found different slots: " + str(plate_slots))
_plate0 = targets[0].parent
ny = self._resource_num_items_y(_plate0)
tip_columns = []
for op in targets:
if self._resource_num_items_y(op.parent) != ny:
raise ValueError("All mix targets must be on plates with the same num_items_y")
tipspot_index = op.parent.children.index(op)
tip_columns.append(tipspot_index // 8)
tip_columns.append(tipspot_index // ny)
if len(set(tip_columns)) != 1:
raise ValueError(
"All pickups must be from the same tip column. Found different columns: " + str(tip_columns)
"All mix targets must be in the same column group. Found different columns: " + str(tip_columns)
)
PlateNo = plate_indexes[0] + 1
PlateNo = plate_slots[0]
hole_col = tip_columns[0] + 1
hole_row = 1
if self.num_channels != 8:
hole_row = tipspot_index % 8 + 1
hole_row = tipspot_index % ny + 1
assert mix_time > 0
step = self.api_client.Blending(
@@ -1779,7 +1809,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
hole_col=hole_col,
blending_times=mix_time,
balance_height=0,
plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
plate_or_hole=f"H{hole_col}-{ny},T{PlateNo}",
hole_numbers="1,2,3,4,5,6,7,8",
)
self.steps_todo_list.append(step)
@@ -1796,36 +1826,39 @@ class PRCXI9300Backend(LiquidHandlerBackend):
axis = "Right"
else:
raise ValueError("Invalid use channels: " + str(_use_channels))
plate_indexes = []
plate_slots = []
for op in ops:
plate = op.resource.parent
deck = plate.parent
plate_index = deck.children.index(plate)
plate_indexes.append(plate_index)
plate_slots.append(self._deck_plate_slot_no(plate, deck))
if len(set(plate_indexes)) != 1:
raise ValueError("All pickups must be from the same plate. Found different plates: " + str(plate_indexes))
if len(set(plate_slots)) != 1:
raise ValueError("All aspirate must be from the same plate (slot). Found different slots: " + str(plate_slots))
_plate0 = ops[0].resource.parent
ny = self._resource_num_items_y(_plate0)
tip_columns = []
for op in ops:
tipspot = op.resource
if self._resource_num_items_y(tipspot.parent) != ny:
raise ValueError("All aspirate wells must be on plates with the same num_items_y")
tipspot_index = tipspot.parent.children.index(tipspot)
tip_columns.append(tipspot_index // 8)
tip_columns.append(tipspot_index // ny)
if len(set(tip_columns)) != 1:
raise ValueError(
"All pickups must be from the same tip column. Found different columns: " + str(tip_columns)
"All aspirate must be from the same tip column. Found different columns: " + str(tip_columns)
)
volumes = [op.volume for op in ops]
if len(set(volumes)) != 1:
raise ValueError("All aspirate volumes must be the same. Found different volumes: " + str(volumes))
PlateNo = plate_indexes[0] + 1
PlateNo = plate_slots[0]
hole_col = tip_columns[0] + 1
hole_row = 1
if self.num_channels != 8:
hole_row = tipspot_index % 8 + 1
hole_row = tipspot_index % ny + 1
step = self.api_client.Imbibing(
axis=axis,
@@ -1836,7 +1869,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
hole_col=hole_col,
blending_times=0,
balance_height=0,
plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
plate_or_hole=f"H{hole_col}-{ny},T{PlateNo}",
hole_numbers="1,2,3,4,5,6,7,8",
)
self.steps_todo_list.append(step)
@@ -1853,21 +1886,24 @@ class PRCXI9300Backend(LiquidHandlerBackend):
axis = "Right"
else:
raise ValueError("Invalid use channels: " + str(_use_channels))
plate_indexes = []
plate_slots = []
for op in ops:
plate = op.resource.parent
deck = plate.parent
plate_index = deck.children.index(plate)
plate_indexes.append(plate_index)
plate_slots.append(self._deck_plate_slot_no(plate, deck))
if len(set(plate_indexes)) != 1:
raise ValueError("All dispense must be from the same plate. Found different plates: " + str(plate_indexes))
if len(set(plate_slots)) != 1:
raise ValueError("All dispense must be from the same plate (slot). Found different slots: " + str(plate_slots))
_plate0 = ops[0].resource.parent
ny = self._resource_num_items_y(_plate0)
tip_columns = []
for op in ops:
tipspot = op.resource
if self._resource_num_items_y(tipspot.parent) != ny:
raise ValueError("All dispense wells must be on plates with the same num_items_y")
tipspot_index = tipspot.parent.children.index(tipspot)
tip_columns.append(tipspot_index // 8)
tip_columns.append(tipspot_index // ny)
if len(set(tip_columns)) != 1:
raise ValueError(
@@ -1878,12 +1914,12 @@ class PRCXI9300Backend(LiquidHandlerBackend):
if len(set(volumes)) != 1:
raise ValueError("All dispense volumes must be the same. Found different volumes: " + str(volumes))
PlateNo = plate_indexes[0] + 1
PlateNo = plate_slots[0]
hole_col = tip_columns[0] + 1
hole_row = 1
if self.num_channels != 8:
hole_row = tipspot_index % 8 + 1
hole_row = tipspot_index % ny + 1
step = self.api_client.Tapping(
axis=axis,
@@ -1894,7 +1930,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
hole_col=hole_col,
blending_times=0,
balance_height=0,
plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
plate_or_hole=f"H{hole_col}-{ny},T{PlateNo}",
hole_numbers="1,2,3,4,5,6,7,8",
)
self.steps_todo_list.append(step)

102
unilabos/devices/liquid_handling/prcxi/prcxi_labware.py
View File

@@ -1,4 +1,4 @@
from typing import Optional
from typing import Any, Callable, Dict, List, Optional, Tuple
from pylabrobot.resources import Tube, Coordinate
from pylabrobot.resources.well import Well, WellBottomType, CrossSectionType
from pylabrobot.resources.tip import Tip, TipCreator
@@ -838,4 +838,102 @@ def PRCXI_30mm_Adapter(name: str) -> PRCXI9300PlateAdapter:
"Name": "30mm适配器",
"SupplyType": 2
}
)
)
# ---------------------------------------------------------------------------
# 协议上传 / workflow 用：与设备端耗材字典字段对齐的模板描述（供 common 自动匹配）
# ---------------------------------------------------------------------------
_PRCXI_TEMPLATE_SPECS_CACHE: Optional[List[Dict[str, Any]]] = None
def _probe_prcxi_resource(factory: Callable[..., Any]) -> Any:
probe = "__unilab_template_probe__"
if factory.__name__ == "PRCXI_trash":
return factory()
return factory(probe)
def _first_child_capacity_for_match(resource: Any) -> float:
"""Well max_volume 或 Tip 的 maximal_volume，用于与设备端 Volume 类似的打分。"""
ch = getattr(resource, "children", None) or []
if not ch:
return 0.0
c0 = ch[0]
mv = getattr(c0, "max_volume", None)
if mv is not None:
return float(mv)
tip = getattr(c0, "tip", None)
if tip is not None:
mv2 = getattr(tip, "maximal_volume", None)
if mv2 is not None:
return float(mv2)
return 0.0
# (factory, kind) — 不含各类 Adapter，避免与真实板子误匹配
PRCXI_TEMPLATE_FACTORY_KINDS: List[Tuple[Callable[..., Any], str]] = [
(PRCXI_BioER_96_wellplate, "plate"),
(PRCXI_nest_1_troughplate, "plate"),
(PRCXI_BioRad_384_wellplate, "plate"),
(PRCXI_AGenBio_4_troughplate, "plate"),
(PRCXI_nest_12_troughplate, "plate"),
(PRCXI_CellTreat_96_wellplate, "plate"),
(PRCXI_10ul_eTips, "tip_rack"),
(PRCXI_300ul_Tips, "tip_rack"),
(PRCXI_PCR_Plate_200uL_nonskirted, "plate"),
(PRCXI_PCR_Plate_200uL_semiskirted, "plate"),
(PRCXI_PCR_Plate_200uL_skirted, "plate"),
(PRCXI_trash, "trash"),
(PRCXI_96_DeepWell, "plate"),
(PRCXI_EP_Adapter, "tube_rack"),
(PRCXI_1250uL_Tips, "tip_rack"),
(PRCXI_10uL_Tips, "tip_rack"),
(PRCXI_1000uL_Tips, "tip_rack"),
(PRCXI_200uL_Tips, "tip_rack"),
(PRCXI_48_DeepWell, "plate"),
]
def get_prcxi_labware_template_specs() -> List[Dict[str, Any]]:
"""返回与 ``prcxi._match_and_create_matrix`` 中耗材字段兼容的模板列表，用于按孔数+容量打分。"""
global _PRCXI_TEMPLATE_SPECS_CACHE
if _PRCXI_TEMPLATE_SPECS_CACHE is not None:
return _PRCXI_TEMPLATE_SPECS_CACHE
out: List[Dict[str, Any]] = []
for factory, kind in PRCXI_TEMPLATE_FACTORY_KINDS:
try:
r = _probe_prcxi_resource(factory)
except Exception:
continue
nx = int(getattr(r, "num_items_x", None) or 0)
ny = int(getattr(r, "num_items_y", None) or 0)
nchild = len(getattr(r, "children", []) or [])
hole_count = nx * ny if nx > 0 and ny > 0 else nchild
hole_row = ny if nx > 0 and ny > 0 else 0
hole_col = nx if nx > 0 and ny > 0 else 0
mi = getattr(r, "material_info", None) or {}
vol = _first_child_capacity_for_match(r)
menum = mi.get("materialEnum")
if menum is None and kind == "tip_rack":
menum = 1
elif menum is None and kind == "trash":
menum = 6
out.append(
{
"class_name": factory.__name__,
"kind": kind,
"materialEnum": menum,
"HoleRow": hole_row,
"HoleColum": hole_col,
"Volume": vol,
"hole_count": hole_count,
"material_uuid": mi.get("uuid"),
"material_code": mi.get("Code"),
}
)
_PRCXI_TEMPLATE_SPECS_CACHE = out
return out