mirror of
https://github.com/deepmodeling/Uni-Lab-OS
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feat: Implement Laiyu liquid handling station with enhanced device control, testing, and documentation.
This commit is contained in:
ZiWei
@@ -1,9 +1,7 @@
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"""
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LaiYu液体处理设备后端模块
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提供设备后端接口和实现
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"""
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from .laiyu_backend import LaiYuLiquidBackend, create_laiyu_backend
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from .laiyu_v_backend import UniLiquidHandlerLaiyuBackend
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__all__ = ['LaiYuLiquidBackend', 'create_laiyu_backend']
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__all__ = ['UniLiquidHandlerLaiyuBackend']
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@@ -1,334 +0,0 @@
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"""
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LaiYu液体处理设备后端实现
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提供设备的后端接口和控制逻辑
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"""
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import logging
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from typing import Dict, Any, Optional, List
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from abc import ABC, abstractmethod
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# 尝试导入PyLabRobot后端
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try:
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from pylabrobot.liquid_handling.backends import LiquidHandlerBackend
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PYLABROBOT_AVAILABLE = True
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except ImportError:
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PYLABROBOT_AVAILABLE = False
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# 创建模拟后端基类
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class LiquidHandlerBackend:
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def __init__(self, name: str):
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self.name = name
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self.is_connected = False
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def connect(self):
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"""连接设备"""
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pass
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def disconnect(self):
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"""断开连接"""
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pass
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class LaiYuLiquidBackend(LiquidHandlerBackend):
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"""LaiYu液体处理设备后端"""
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def __init__(self, name: str = "LaiYu_Liquid_Backend"):
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"""
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初始化LaiYu液体处理设备后端
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Args:
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name: 后端名称
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"""
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if PYLABROBOT_AVAILABLE:
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# PyLabRobot 的 LiquidHandlerBackend 不接受参数
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super().__init__()
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else:
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# 模拟版本接受 name 参数
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super().__init__(name)
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self.name = name
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self.logger = logging.getLogger(__name__)
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self.is_connected = False
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self.device_info = {
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"name": "LaiYu液体处理设备",
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"version": "1.0.0",
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"manufacturer": "LaiYu",
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"model": "LaiYu_Liquid_Handler"
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}
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def connect(self) -> bool:
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"""
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连接到LaiYu液体处理设备
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Returns:
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bool: 连接是否成功
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"""
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try:
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self.logger.info("正在连接到LaiYu液体处理设备...")
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# 这里应该实现实际的设备连接逻辑
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# 目前返回模拟连接成功
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self.is_connected = True
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self.logger.info("成功连接到LaiYu液体处理设备")
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return True
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except Exception as e:
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self.logger.error(f"连接LaiYu液体处理设备失败: {e}")
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self.is_connected = False
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return False
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def disconnect(self) -> bool:
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"""
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断开与LaiYu液体处理设备的连接
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Returns:
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bool: 断开连接是否成功
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"""
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try:
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self.logger.info("正在断开与LaiYu液体处理设备的连接...")
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# 这里应该实现实际的设备断开连接逻辑
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self.is_connected = False
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self.logger.info("成功断开与LaiYu液体处理设备的连接")
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return True
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except Exception as e:
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self.logger.error(f"断开LaiYu液体处理设备连接失败: {e}")
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return False
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def is_device_connected(self) -> bool:
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"""
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检查设备是否已连接
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Returns:
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bool: 设备是否已连接
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"""
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return self.is_connected
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def get_device_info(self) -> Dict[str, Any]:
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"""
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获取设备信息
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Returns:
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Dict[str, Any]: 设备信息字典
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"""
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return self.device_info.copy()
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def home_device(self) -> bool:
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"""
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设备归零操作
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Returns:
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bool: 归零是否成功
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"""
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if not self.is_connected:
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self.logger.error("设备未连接，无法执行归零操作")
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return False
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try:
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self.logger.info("正在执行设备归零操作...")
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# 这里应该实现实际的设备归零逻辑
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self.logger.info("设备归零操作完成")
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return True
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except Exception as e:
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self.logger.error(f"设备归零操作失败: {e}")
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return False
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def aspirate(self, volume: float, location: Dict[str, Any]) -> bool:
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"""
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吸液操作
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Args:
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volume: 吸液体积 (微升)
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location: 吸液位置信息
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Returns:
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bool: 吸液是否成功
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"""
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if not self.is_connected:
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self.logger.error("设备未连接，无法执行吸液操作")
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return False
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try:
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self.logger.info(f"正在执行吸液操作: 体积={volume}μL, 位置={location}")
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# 这里应该实现实际的吸液逻辑
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self.logger.info("吸液操作完成")
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return True
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except Exception as e:
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self.logger.error(f"吸液操作失败: {e}")
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return False
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def dispense(self, volume: float, location: Dict[str, Any]) -> bool:
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"""
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排液操作
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Args:
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volume: 排液体积 (微升)
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location: 排液位置信息
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Returns:
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bool: 排液是否成功
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"""
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if not self.is_connected:
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self.logger.error("设备未连接，无法执行排液操作")
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return False
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try:
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self.logger.info(f"正在执行排液操作: 体积={volume}μL, 位置={location}")
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# 这里应该实现实际的排液逻辑
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self.logger.info("排液操作完成")
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return True
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except Exception as e:
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self.logger.error(f"排液操作失败: {e}")
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return False
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def pick_up_tip(self, location: Dict[str, Any]) -> bool:
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"""
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取枪头操作
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Args:
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location: 枪头位置信息
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Returns:
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bool: 取枪头是否成功
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"""
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if not self.is_connected:
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self.logger.error("设备未连接，无法执行取枪头操作")
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return False
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try:
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self.logger.info(f"正在执行取枪头操作: 位置={location}")
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# 这里应该实现实际的取枪头逻辑
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self.logger.info("取枪头操作完成")
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return True
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except Exception as e:
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self.logger.error(f"取枪头操作失败: {e}")
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return False
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def drop_tip(self, location: Dict[str, Any]) -> bool:
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"""
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丢弃枪头操作
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Args:
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location: 丢弃位置信息
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Returns:
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bool: 丢弃枪头是否成功
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"""
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if not self.is_connected:
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self.logger.error("设备未连接，无法执行丢弃枪头操作")
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return False
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try:
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self.logger.info(f"正在执行丢弃枪头操作: 位置={location}")
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# 这里应该实现实际的丢弃枪头逻辑
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self.logger.info("丢弃枪头操作完成")
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return True
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except Exception as e:
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self.logger.error(f"丢弃枪头操作失败: {e}")
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return False
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def move_to(self, location: Dict[str, Any]) -> bool:
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"""
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移动到指定位置
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Args:
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location: 目标位置信息
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Returns:
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bool: 移动是否成功
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"""
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if not self.is_connected:
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self.logger.error("设备未连接，无法执行移动操作")
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return False
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try:
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self.logger.info(f"正在移动到位置: {location}")
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# 这里应该实现实际的移动逻辑
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self.logger.info("移动操作完成")
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return True
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except Exception as e:
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self.logger.error(f"移动操作失败: {e}")
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return False
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def get_status(self) -> Dict[str, Any]:
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"""
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获取设备状态
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Returns:
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Dict[str, Any]: 设备状态信息
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"""
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return {
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"connected": self.is_connected,
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"device_info": self.device_info,
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"status": "ready" if self.is_connected else "disconnected"
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}
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# PyLabRobot 抽象方法实现
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def stop(self):
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"""停止所有操作"""
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self.logger.info("停止所有操作")
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pass
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@property
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def num_channels(self) -> int:
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"""返回通道数量"""
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return 1 # 单通道移液器
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def can_pick_up_tip(self, tip_rack, tip_position) -> bool:
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"""检查是否可以拾取吸头"""
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return True # 简化实现，总是返回True
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def pick_up_tips(self, tip_rack, tip_positions):
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"""拾取多个吸头"""
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self.logger.info(f"拾取吸头: {tip_positions}")
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pass
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def drop_tips(self, tip_rack, tip_positions):
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"""丢弃多个吸头"""
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self.logger.info(f"丢弃吸头: {tip_positions}")
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pass
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def pick_up_tips96(self, tip_rack):
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"""拾取96个吸头"""
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self.logger.info("拾取96个吸头")
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pass
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def drop_tips96(self, tip_rack):
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"""丢弃96个吸头"""
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self.logger.info("丢弃96个吸头")
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pass
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def aspirate96(self, volume, plate, well_positions):
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"""96通道吸液"""
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self.logger.info(f"96通道吸液: 体积={volume}")
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pass
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def dispense96(self, volume, plate, well_positions):
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"""96通道排液"""
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self.logger.info(f"96通道排液: 体积={volume}")
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pass
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def pick_up_resource(self, resource, location):
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"""拾取资源"""
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self.logger.info(f"拾取资源: {resource}")
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pass
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def drop_resource(self, resource, location):
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"""放置资源"""
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self.logger.info(f"放置资源: {resource}")
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pass
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def move_picked_up_resource(self, resource, location):
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"""移动已拾取的资源"""
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self.logger.info(f"移动资源: {resource} 到 {location}")
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pass
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def create_laiyu_backend(name: str = "LaiYu_Liquid_Backend") -> LaiYuLiquidBackend:
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"""
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创建LaiYu液体处理设备后端实例
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Args:
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name: 后端名称
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Returns:
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LaiYuLiquidBackend: 后端实例
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"""
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return LaiYuLiquidBackend(name)
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@@ -1,385 +1,307 @@
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import json
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"""LaiYu PLR 后端 — 对齐路径 B 硬件交互模式
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硬件初始化顺序与 laiyu_liquid_station.py (路径 B) 一致:
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1. XYZController(auto_connect=True) — 先开串口
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2. PipetteController.connect_shared() — 共享 XYZ 的串口 / 锁
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3. home_all_axes() + pipette.initialize()
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"""
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import logging
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from typing import List, Optional, Union
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from pylabrobot.liquid_handling.backends.backend import (
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LiquidHandlerBackend,
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)
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from pylabrobot.liquid_handling.backends.backend import LiquidHandlerBackend
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from pylabrobot.liquid_handling.standard import (
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Drop,
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DropTipRack,
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MultiHeadAspirationContainer,
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MultiHeadAspirationPlate,
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MultiHeadDispenseContainer,
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MultiHeadDispensePlate,
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Pickup,
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PickupTipRack,
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ResourceDrop,
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ResourceMove,
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ResourcePickup,
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SingleChannelAspiration,
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SingleChannelDispense,
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Drop,
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DropTipRack,
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MultiHeadAspirationContainer,
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MultiHeadAspirationPlate,
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MultiHeadDispenseContainer,
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MultiHeadDispensePlate,
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Pickup,
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PickupTipRack,
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ResourceDrop,
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ResourceMove,
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ResourcePickup,
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SingleChannelAspiration,
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SingleChannelDispense,
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)
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from pylabrobot.resources import Resource, Tip
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import rclpy
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from rclpy.node import Node
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from sensor_msgs.msg import JointState
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import time
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from rclpy.action import ActionClient
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from unilabos_msgs.action import SendCmd
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import re
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from unilabos.devices.liquid_handling.laiyu.controllers.xyz_controller import XYZController
|
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from unilabos.devices.liquid_handling.laiyu.controllers.pipette_controller import (
|
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PipetteController,
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TipStatus,
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)
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from unilabos.devices.ros_dev.liquid_handler_joint_publisher import JointStatePublisher
|
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from unilabos.devices.liquid_handling.laiyu.controllers.pipette_controller import PipetteController, TipStatus
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logger = logging.getLogger(__name__)
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class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend):
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"""Chatter box backend for device-free testing. Prints out all operations."""
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"""LaiYu 硬件后端 — PLR Backend 接口实现"""
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_pip_length = 5
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_vol_length = 8
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_resource_length = 20
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_offset_length = 16
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_flow_rate_length = 10
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_blowout_length = 10
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_lld_z_length = 10
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_kwargs_length = 15
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_tip_type_length = 12
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_max_volume_length = 16
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_fitting_depth_length = 20
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_tip_length_length = 16
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# _pickup_method_length = 20
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_filter_length = 10
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def __init__(
|
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self,
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num_channels: int = 1,
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tip_length: float = 0,
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total_height: float = 310,
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port: str = "/dev/ttyUSB0",
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baudrate: int = 115200,
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pipette_address: int = 4,
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):
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super().__init__()
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self._num_channels = num_channels
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self.tip_length = tip_length
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self.total_height = total_height
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def __init__(self, num_channels: int = 8 , tip_length: float = 0 , total_height: float = 310, port: str = "/dev/ttyUSB0"):
|
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"""Initialize a chatter box backend."""
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super().__init__()
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self._num_channels = num_channels
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self.tip_length = tip_length
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self.total_height = total_height
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# rclpy.init()
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if not rclpy.ok():
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rclpy.init()
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self.joint_state_publisher = None
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self.hardware_interface = PipetteController(port=port)
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# 保存配置，延迟到 setup() 再创建硬件对象
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self._port = port
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self._baudrate = baudrate
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self._pipette_address = pipette_address
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||||
async def setup(self):
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# self.joint_state_publisher = JointStatePublisher()
|
||||
# self.hardware_interface.xyz_controller.connect_device()
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||||
# self.hardware_interface.xyz_controller.home_all_axes()
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await super().setup()
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self.hardware_interface.connect()
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self.hardware_interface.initialize()
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self._xyz: Optional[XYZController] = None
|
||||
self._pipette_ctrl: Optional[PipetteController] = None
|
||||
self._ros_node = None
|
||||
|
||||
print("Setting up the liquid handler.")
|
||||
# ------------------------------------------------------------------ lifecycle
|
||||
|
||||
async def stop(self):
|
||||
print("Stopping the liquid handler.")
|
||||
def post_init(self, ros_node):
|
||||
"""接收 ROS 节点引用（由 Handler.post_init 调用）"""
|
||||
self._ros_node = ros_node
|
||||
|
||||
def serialize(self) -> dict:
|
||||
return {**super().serialize(), "num_channels": self.num_channels}
|
||||
async def setup(self):
|
||||
"""按路径 B 顺序初始化硬件"""
|
||||
await super().setup()
|
||||
|
||||
def pipette_aspirate(self, volume: float, flow_rate: float):
|
||||
# 1. XYZ 先开串口
|
||||
self._xyz = XYZController(
|
||||
port=self._port,
|
||||
baudrate=self._baudrate,
|
||||
auto_connect=True,
|
||||
)
|
||||
if not self._xyz.is_connected:
|
||||
raise RuntimeError("XYZ 控制器连接失败")
|
||||
|
||||
self.hardware_interface.pipette.set_max_speed(flow_rate)
|
||||
res = self.hardware_interface.pipette.aspirate(volume=volume)
|
||||
|
||||
if not res:
|
||||
self.hardware_interface.logger.error("吸取失败，当前体积: {self.hardware_interface.current_volume}")
|
||||
return
|
||||
# 2. PipetteController 共享 XYZ 串口
|
||||
self._pipette_ctrl = PipetteController(
|
||||
port=self._port,
|
||||
address=self._pipette_address,
|
||||
)
|
||||
self._pipette_ctrl.connect_shared(
|
||||
serial_conn=self._xyz.serial_conn,
|
||||
serial_lock=self._xyz.serial_lock,
|
||||
xyz_controller=self._xyz,
|
||||
)
|
||||
|
||||
self.hardware_interface.current_volume += volume
|
||||
# 3. 回零 + 移液器初始化
|
||||
self._xyz.home_all_axes()
|
||||
self._pipette_ctrl.initialize()
|
||||
|
||||
def pipette_dispense(self, volume: float, flow_rate: float):
|
||||
logger.info("LaiYu 后端硬件初始化完成")
|
||||
|
||||
self.hardware_interface.pipette.set_max_speed(flow_rate)
|
||||
res = self.hardware_interface.pipette.dispense(volume=volume)
|
||||
if not res:
|
||||
self.hardware_interface.logger.error("排液失败，当前体积: {self.hardware_interface.current_volume}")
|
||||
return
|
||||
self.hardware_interface.current_volume -= volume
|
||||
async def stop(self):
|
||||
"""正确断开硬件"""
|
||||
try:
|
||||
if self._pipette_ctrl:
|
||||
self._pipette_ctrl.disconnect_shared()
|
||||
if self._xyz:
|
||||
self._xyz.disconnect()
|
||||
logger.info("LaiYu 后端硬件已断开")
|
||||
except Exception as e:
|
||||
logger.error(f"停止后端失败: {e}")
|
||||
|
||||
@property
|
||||
def num_channels(self) -> int:
|
||||
return self._num_channels
|
||||
# ------------------------------------------------------------------ helpers
|
||||
|
||||
async def assigned_resource_callback(self, resource: Resource):
|
||||
print(f"Resource {resource.name} was assigned to the liquid handler.")
|
||||
def _plr_to_machine_coords(self, resource, offset):
|
||||
"""PLR Resource 坐标 → 机器坐标 (倒置龙门架: total_height - z, -y)"""
|
||||
coordinate = resource.get_absolute_location(x="c", y="c")
|
||||
x = coordinate.x + offset.x
|
||||
y = coordinate.y + offset.y
|
||||
z_plr = coordinate.z + offset.z
|
||||
return x, -y, self.total_height - (z_plr + self.tip_length)
|
||||
|
||||
async def unassigned_resource_callback(self, name: str):
|
||||
print(f"Resource {name} was unassigned from the liquid handler.")
|
||||
def _pipette_aspirate(self, volume: float, flow_rate: float):
|
||||
self._pipette_ctrl.pipette.set_max_speed(flow_rate)
|
||||
res = self._pipette_ctrl.pipette.aspirate(volume=volume)
|
||||
if not res:
|
||||
logger.error(f"吸取失败，当前体积: {self._pipette_ctrl.current_volume}")
|
||||
return
|
||||
self._pipette_ctrl.current_volume += volume
|
||||
|
||||
async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int], **backend_kwargs):
|
||||
print("Picking up tips:")
|
||||
# print(ops.tip)
|
||||
header = (
|
||||
f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
|
||||
f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{'tip type':<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
|
||||
f"{'max volume (µL)':<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
|
||||
f"{'fitting depth (mm)':<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
|
||||
f"{'tip length (mm)':<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
|
||||
# f"{'pickup method':<{ChatterboxBackend._pickup_method_length}} "
|
||||
f"{'filter':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
|
||||
)
|
||||
# print(header)
|
||||
def _pipette_dispense(self, volume: float, flow_rate: float):
|
||||
self._pipette_ctrl.pipette.set_max_speed(flow_rate)
|
||||
res = self._pipette_ctrl.pipette.dispense(volume=volume)
|
||||
if not res:
|
||||
logger.error(f"排液失败，当前体积: {self._pipette_ctrl.current_volume}")
|
||||
return
|
||||
self._pipette_ctrl.current_volume -= volume
|
||||
|
||||
for op, channel in zip(ops, use_channels):
|
||||
offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}"
|
||||
row = (
|
||||
f" p{channel}: "
|
||||
f"{op.resource.name[-30:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{op.tip.__class__.__name__:<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
|
||||
f"{op.tip.maximal_volume:<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
|
||||
f"{op.tip.fitting_depth:<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
|
||||
f"{op.tip.total_tip_length:<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
|
||||
# f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
|
||||
f"{'Yes' if op.tip.has_filter else 'No':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
|
||||
)
|
||||
# print(row)
|
||||
# print(op.resource.get_absolute_location())
|
||||
|
||||
self.tip_length = ops[0].tip.total_tip_length
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
offset_xyz = ops[0].offset
|
||||
x = coordinate.x + offset_xyz.x
|
||||
y = coordinate.y + offset_xyz.y
|
||||
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
|
||||
# print("moving")
|
||||
self.hardware_interface._update_tip_status()
|
||||
if self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED:
|
||||
print("已有枪头，无需重复拾取")
|
||||
return
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height,speed=100)
|
||||
# self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "pick",channels=use_channels)
|
||||
# goback()
|
||||
# ------------------------------------------------------------------ properties
|
||||
|
||||
def serialize(self) -> dict:
|
||||
return {**super().serialize(), "num_channels": self.num_channels}
|
||||
|
||||
@property
|
||||
def num_channels(self) -> int:
|
||||
return self._num_channels
|
||||
|
||||
# ------------------------------------------------------------------ resource callbacks
|
||||
|
||||
async def drop_tips(self, ops: List[Drop], use_channels: List[int], **backend_kwargs):
|
||||
print("Dropping tips:")
|
||||
header = (
|
||||
f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
|
||||
f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{'tip type':<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
|
||||
f"{'max volume (µL)':<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
|
||||
f"{'fitting depth (mm)':<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
|
||||
f"{'tip length (mm)':<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
|
||||
# f"{'pickup method':<{ChatterboxBackend._pickup_method_length}} "
|
||||
f"{'filter':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
|
||||
)
|
||||
# print(header)
|
||||
async def assigned_resource_callback(self, resource: Resource):
|
||||
logger.info(f"Resource {resource.name} was assigned to the liquid handler.")
|
||||
|
||||
for op, channel in zip(ops, use_channels):
|
||||
offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}"
|
||||
row = (
|
||||
f" p{channel}: "
|
||||
f"{op.resource.name[-30:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{op.tip.__class__.__name__:<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
|
||||
f"{op.tip.maximal_volume:<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
|
||||
f"{op.tip.fitting_depth:<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
|
||||
f"{op.tip.total_tip_length:<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
|
||||
# f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
|
||||
f"{'Yes' if op.tip.has_filter else 'No':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
|
||||
)
|
||||
# print(row)
|
||||
async def unassigned_resource_callback(self, name: str):
|
||||
logger.info(f"Resource {name} was unassigned from the liquid handler.")
|
||||
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
offset_xyz = ops[0].offset
|
||||
x = coordinate.x + offset_xyz.x
|
||||
y = coordinate.y + offset_xyz.y
|
||||
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z -20
|
||||
# print(x, y, z)
|
||||
# print("moving")
|
||||
self.hardware_interface._update_tip_status()
|
||||
if self.hardware_interface.tip_status == TipStatus.NO_TIP:
|
||||
print("无枪头，无需丢弃")
|
||||
return
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
|
||||
self.hardware_interface.eject_tip
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height)
|
||||
# ------------------------------------------------------------------ pick_up_tips
|
||||
|
||||
async def aspirate(
|
||||
self,
|
||||
ops: List[SingleChannelAspiration],
|
||||
use_channels: List[int],
|
||||
**backend_kwargs,
|
||||
):
|
||||
print("Aspirating:")
|
||||
header = (
|
||||
f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
|
||||
f"{'vol(ul)':<{UniLiquidHandlerLaiyuBackend._vol_length}} "
|
||||
f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{'flow rate':<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
|
||||
f"{'blowout':<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
|
||||
f"{'lld_z':<{UniLiquidHandlerLaiyuBackend._lld_z_length}} "
|
||||
# f"{'liquids':<20}" # TODO: add liquids
|
||||
)
|
||||
for key in backend_kwargs:
|
||||
header += f"{key:<{UniLiquidHandlerLaiyuBackend._kwargs_length}} "[-16:]
|
||||
# print(header)
|
||||
async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int], **backend_kwargs):
|
||||
tip = ops[0].tip
|
||||
self.tip_length = tip.total_tip_length
|
||||
x, y, z_top = self._plr_to_machine_coords(ops[0].resource, ops[0].offset)
|
||||
|
||||
for o, p in zip(ops, use_channels):
|
||||
offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
|
||||
row = (
|
||||
f" p{p}: "
|
||||
f"{o.volume:<{UniLiquidHandlerLaiyuBackend._vol_length}} "
|
||||
f"{o.resource.name[-20:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{str(o.flow_rate):<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
|
||||
f"{str(o.blow_out_air_volume):<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
|
||||
f"{str(o.liquid_height):<{UniLiquidHandlerLaiyuBackend._lld_z_length}} "
|
||||
# f"{o.liquids if o.liquids is not None else 'none'}"
|
||||
)
|
||||
for key, value in backend_kwargs.items():
|
||||
if isinstance(value, list) and all(isinstance(v, bool) for v in value):
|
||||
value = "".join("T" if v else "F" for v in value)
|
||||
if isinstance(value, list):
|
||||
value = "".join(map(str, value))
|
||||
row += f" {value:<15}"
|
||||
# print(row)
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
offset_xyz = ops[0].offset
|
||||
x = coordinate.x + offset_xyz.x
|
||||
y = coordinate.y + offset_xyz.y
|
||||
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
|
||||
# print(x, y, z)
|
||||
# print("moving")
|
||||
self._pipette_ctrl._update_tip_status()
|
||||
if self._pipette_ctrl.tip_status == TipStatus.TIP_ATTACHED:
|
||||
logger.warning("已有枪头，无需重复拾取")
|
||||
return
|
||||
|
||||
# 判断枪头是否存在
|
||||
self.hardware_interface._update_tip_status()
|
||||
if not self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED:
|
||||
print("无枪头，无法吸液")
|
||||
return
|
||||
# 判断吸液量是否超过枪头容量
|
||||
flow_rate = backend_kwargs["flow_rate"] if "flow_rate" in backend_kwargs else 500
|
||||
blow_out_air_volume = backend_kwargs["blow_out_air_volume"] if "blow_out_air_volume" in backend_kwargs else 0
|
||||
if self.hardware_interface.current_volume + ops[0].volume + blow_out_air_volume > self.hardware_interface.max_volume:
|
||||
self.hardware_interface.logger.error(f"吸液量超过枪头容量: {self.hardware_interface.current_volume + ops[0].volume} > {self.hardware_interface.max_volume}")
|
||||
return
|
||||
try:
|
||||
# 1. 移到枪头正上方
|
||||
self._xyz.move_to_work_coord_safe(x=x, y=y, z=z_top, speed=200)
|
||||
# 2. 下压到套枪头深度（fitting_depth 是枪头套入长度）
|
||||
z_pickup = z_top + tip.fitting_depth
|
||||
self._xyz.move_to_work_coord_safe(z=z_pickup, speed=100)
|
||||
# 3. 退回安全高度
|
||||
self._xyz.move_to_work_coord_safe(
|
||||
z=self._xyz.machine_config.safe_z_height, speed=100
|
||||
)
|
||||
except Exception as e:
|
||||
logger.error(f"pick_up_tips 移动失败: {e}")
|
||||
raise
|
||||
|
||||
# 移动到吸液位置
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
|
||||
self.pipette_aspirate(volume=ops[0].volume, flow_rate=flow_rate)
|
||||
# ------------------------------------------------------------------ drop_tips
|
||||
|
||||
async def drop_tips(self, ops: List[Drop], use_channels: List[int], **backend_kwargs):
|
||||
x, y, z = self._plr_to_machine_coords(ops[0].resource, ops[0].offset)
|
||||
z -= 20 # 额外下移补偿
|
||||
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height)
|
||||
if blow_out_air_volume >0:
|
||||
self.pipette_aspirate(volume=blow_out_air_volume, flow_rate=flow_rate)
|
||||
self._pipette_ctrl._update_tip_status()
|
||||
if self._pipette_ctrl.tip_status == TipStatus.NO_TIP:
|
||||
logger.warning("无枪头，无需丢弃")
|
||||
return
|
||||
|
||||
try:
|
||||
self._xyz.move_to_work_coord_safe(x=x, y=y, z=z, speed=200)
|
||||
self._pipette_ctrl.eject_tip() # 修复: 原来缺少 ()
|
||||
self._xyz.move_to_work_coord_safe(
|
||||
z=self._xyz.machine_config.safe_z_height
|
||||
)
|
||||
except Exception as e:
|
||||
logger.error(f"drop_tips 失败: {e}")
|
||||
raise
|
||||
|
||||
# ------------------------------------------------------------------ aspirate
|
||||
|
||||
async def aspirate(
|
||||
self,
|
||||
ops: List[SingleChannelAspiration],
|
||||
use_channels: List[int],
|
||||
**backend_kwargs,
|
||||
):
|
||||
x, y, z = self._plr_to_machine_coords(ops[0].resource, ops[0].offset)
|
||||
|
||||
async def dispense(
|
||||
self,
|
||||
ops: List[SingleChannelDispense],
|
||||
use_channels: List[int],
|
||||
**backend_kwargs,
|
||||
):
|
||||
# print("Dispensing:")
|
||||
header = (
|
||||
f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
|
||||
f"{'vol(ul)':<{UniLiquidHandlerLaiyuBackend._vol_length}} "
|
||||
f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{'flow rate':<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
|
||||
f"{'blowout':<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
|
||||
f"{'lld_z':<{UniLiquidHandlerLaiyuBackend._lld_z_length}} "
|
||||
# f"{'liquids':<20}" # TODO: add liquids
|
||||
)
|
||||
for key in backend_kwargs:
|
||||
header += f"{key:<{UniLiquidHandlerLaiyuBackend._kwargs_length}} "[-16:]
|
||||
# print(header)
|
||||
self._pipette_ctrl._update_tip_status()
|
||||
if self._pipette_ctrl.tip_status != TipStatus.TIP_ATTACHED:
|
||||
raise RuntimeError("无枪头，无法吸液")
|
||||
|
||||
for o, p in zip(ops, use_channels):
|
||||
offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
|
||||
row = (
|
||||
f" p{p}: "
|
||||
f"{o.volume:<{UniLiquidHandlerLaiyuBackend._vol_length}} "
|
||||
f"{o.resource.name[-20:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{str(o.flow_rate):<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
|
||||
f"{str(o.blow_out_air_volume):<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
|
||||
f"{str(o.liquid_height):<{UniLiquidHandlerLaiyuBackend._lld_z_length}} "
|
||||
# f"{o.liquids if o.liquids is not None else 'none'}"
|
||||
)
|
||||
for key, value in backend_kwargs.items():
|
||||
if isinstance(value, list) and all(isinstance(v, bool) for v in value):
|
||||
value = "".join("T" if v else "F" for v in value)
|
||||
if isinstance(value, list):
|
||||
value = "".join(map(str, value))
|
||||
row += f" {value:<{UniLiquidHandlerLaiyuBackend._kwargs_length}}"
|
||||
# print(row)
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
offset_xyz = ops[0].offset
|
||||
x = coordinate.x + offset_xyz.x
|
||||
y = coordinate.y + offset_xyz.y
|
||||
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
|
||||
# print(x, y, z)
|
||||
# print("moving")
|
||||
flow_rate = backend_kwargs.get("flow_rate", 500)
|
||||
blow_out_air_volume = backend_kwargs.get("blow_out_air_volume", 0)
|
||||
|
||||
# 判断枪头是否存在
|
||||
self.hardware_interface._update_tip_status()
|
||||
if not self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED:
|
||||
print("无枪头，无法排液")
|
||||
return
|
||||
# 判断排液量是否超过枪头容量
|
||||
flow_rate = backend_kwargs["flow_rate"] if "flow_rate" in backend_kwargs else 500
|
||||
blow_out_air_volume = backend_kwargs["blow_out_air_volume"] if "blow_out_air_volume" in backend_kwargs else 0
|
||||
if self.hardware_interface.current_volume - ops[0].volume - blow_out_air_volume < 0:
|
||||
self.hardware_interface.logger.error(f"排液量超过枪头容量: {self.hardware_interface.current_volume - ops[0].volume - blow_out_air_volume} < 0")
|
||||
return
|
||||
if (
|
||||
self._pipette_ctrl.current_volume + ops[0].volume + blow_out_air_volume
|
||||
> self._pipette_ctrl.max_volume
|
||||
):
|
||||
raise RuntimeError(
|
||||
f"吸液量超过枪头容量: "
|
||||
f"{self._pipette_ctrl.current_volume + ops[0].volume} > {self._pipette_ctrl.max_volume}"
|
||||
)
|
||||
|
||||
|
||||
# 移动到排液位置
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
|
||||
self.pipette_dispense(volume=ops[0].volume, flow_rate=flow_rate)
|
||||
self._xyz.move_to_work_coord_safe(x=x, y=y, z=z, speed=200)
|
||||
self._pipette_aspirate(volume=ops[0].volume, flow_rate=flow_rate)
|
||||
|
||||
self._xyz.move_to_work_coord_safe(
|
||||
z=self._xyz.machine_config.safe_z_height
|
||||
)
|
||||
if blow_out_air_volume > 0:
|
||||
self._pipette_aspirate(volume=blow_out_air_volume, flow_rate=flow_rate)
|
||||
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height)
|
||||
if blow_out_air_volume > 0:
|
||||
self.pipette_dispense(volume=blow_out_air_volume, flow_rate=flow_rate)
|
||||
# self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "",channels=use_channels)
|
||||
# ------------------------------------------------------------------ dispense
|
||||
|
||||
async def pick_up_tips96(self, pickup: PickupTipRack, **backend_kwargs):
|
||||
print(f"Picking up tips from {pickup.resource.name}.")
|
||||
async def dispense(
|
||||
self,
|
||||
ops: List[SingleChannelDispense],
|
||||
use_channels: List[int],
|
||||
**backend_kwargs,
|
||||
):
|
||||
x, y, z = self._plr_to_machine_coords(ops[0].resource, ops[0].offset)
|
||||
|
||||
async def drop_tips96(self, drop: DropTipRack, **backend_kwargs):
|
||||
print(f"Dropping tips to {drop.resource.name}.")
|
||||
self._pipette_ctrl._update_tip_status()
|
||||
if self._pipette_ctrl.tip_status != TipStatus.TIP_ATTACHED:
|
||||
raise RuntimeError("无枪头，无法排液")
|
||||
|
||||
async def aspirate96(
|
||||
self, aspiration: Union[MultiHeadAspirationPlate, MultiHeadAspirationContainer]
|
||||
):
|
||||
if isinstance(aspiration, MultiHeadAspirationPlate):
|
||||
resource = aspiration.wells[0].parent
|
||||
else:
|
||||
resource = aspiration.container
|
||||
print(f"Aspirating {aspiration.volume} from {resource}.")
|
||||
flow_rate = backend_kwargs.get("flow_rate", 500)
|
||||
blow_out_air_volume = backend_kwargs.get("blow_out_air_volume", 0)
|
||||
|
||||
async def dispense96(self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]):
|
||||
if isinstance(dispense, MultiHeadDispensePlate):
|
||||
resource = dispense.wells[0].parent
|
||||
else:
|
||||
resource = dispense.container
|
||||
print(f"Dispensing {dispense.volume} to {resource}.")
|
||||
if (
|
||||
self._pipette_ctrl.current_volume - ops[0].volume - blow_out_air_volume < 0
|
||||
):
|
||||
raise RuntimeError(
|
||||
f"排液量超过当前体积: "
|
||||
f"{self._pipette_ctrl.current_volume - ops[0].volume - blow_out_air_volume} < 0"
|
||||
)
|
||||
|
||||
async def pick_up_resource(self, pickup: ResourcePickup):
|
||||
print(f"Picking up resource: {pickup}")
|
||||
self._xyz.move_to_work_coord_safe(x=x, y=y, z=z, speed=200)
|
||||
self._pipette_dispense(volume=ops[0].volume, flow_rate=flow_rate)
|
||||
|
||||
async def move_picked_up_resource(self, move: ResourceMove):
|
||||
print(f"Moving picked up resource: {move}")
|
||||
self._xyz.move_to_work_coord_safe(
|
||||
z=self._xyz.machine_config.safe_z_height
|
||||
)
|
||||
if blow_out_air_volume > 0:
|
||||
self._pipette_dispense(volume=blow_out_air_volume, flow_rate=flow_rate)
|
||||
|
||||
async def drop_resource(self, drop: ResourceDrop):
|
||||
print(f"Dropping resource: {drop}")
|
||||
# ------------------------------------------------------------------ 96-channel stubs
|
||||
|
||||
def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool:
|
||||
return True
|
||||
|
||||
async def pick_up_tips96(self, pickup: PickupTipRack, **backend_kwargs):
|
||||
logger.info(f"Picking up tips from {pickup.resource.name}.")
|
||||
|
||||
async def drop_tips96(self, drop: DropTipRack, **backend_kwargs):
|
||||
logger.info(f"Dropping tips to {drop.resource.name}.")
|
||||
|
||||
async def aspirate96(
|
||||
self, aspiration: Union[MultiHeadAspirationPlate, MultiHeadAspirationContainer]
|
||||
):
|
||||
if isinstance(aspiration, MultiHeadAspirationPlate):
|
||||
resource = aspiration.wells[0].parent
|
||||
else:
|
||||
resource = aspiration.container
|
||||
logger.info(f"Aspirating {aspiration.volume} from {resource}.")
|
||||
|
||||
async def dispense96(
|
||||
self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]
|
||||
):
|
||||
if isinstance(dispense, MultiHeadDispensePlate):
|
||||
resource = dispense.wells[0].parent
|
||||
else:
|
||||
resource = dispense.container
|
||||
logger.info(f"Dispensing {dispense.volume} to {resource}.")
|
||||
|
||||
async def pick_up_resource(self, pickup: ResourcePickup):
|
||||
logger.info(f"Picking up resource: {pickup}")
|
||||
|
||||
async def move_picked_up_resource(self, move: ResourceMove):
|
||||
logger.info(f"Moving picked up resource: {move}")
|
||||
|
||||
async def drop_resource(self, drop: ResourceDrop):
|
||||
logger.info(f"Dropping resource: {drop}")
|
||||
|
||||
def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool:
|
||||
return True
|
||||
|
||||
@@ -5,21 +5,16 @@
|
||||
封装SOPA移液器的高级控制功能
|
||||
"""
|
||||
|
||||
# 添加项目根目录到Python路径以解决模块导入问题
|
||||
import sys
|
||||
import os
|
||||
from tkinter import N
|
||||
|
||||
_current_file = os.path.abspath(__file__)
|
||||
_project_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(_current_file)))))
|
||||
if _project_root not in sys.path:
|
||||
sys.path.insert(0, _project_root)
|
||||
|
||||
from unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver import ModbusException
|
||||
|
||||
# 无论如何都添加项目根目录到路径
|
||||
current_file = os.path.abspath(__file__)
|
||||
# 从 .../Uni-Lab-OS/unilabos/devices/LaiYu_Liquid/controllers/pipette_controller.py
|
||||
# 向上5级到 .../Uni-Lab-OS
|
||||
project_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(current_file)))))
|
||||
# 强制添加项目根目录到sys.path的开头
|
||||
sys.path.insert(0, project_root)
|
||||
|
||||
import time
|
||||
import logging
|
||||
from typing import Optional, List, Dict, Tuple
|
||||
@@ -153,7 +148,7 @@ class PipetteController:
|
||||
logger.error("移液器连接失败")
|
||||
return False
|
||||
logger.info("移液器连接成功")
|
||||
|
||||
|
||||
# 连接XYZ步进电机控制器（如果提供了端口）
|
||||
if self.xyz_port != self.pipette_port:
|
||||
try:
|
||||
@@ -172,24 +167,62 @@ class PipetteController:
|
||||
try:
|
||||
self.xyz_controller = XYZController(self.xyz_port, auto_connect=False)
|
||||
self.xyz_controller.serial_conn = self.pipette.serial_port
|
||||
self.xyz_controller.serial_lock = self.pipette.lock
|
||||
self.xyz_controller.is_connected = True
|
||||
logger.info("XYZ控制器与移液器共享串口和互斥锁")
|
||||
except Exception as e:
|
||||
logger.info("未配置XYZ步进电机端口，跳过运动控制器连接")
|
||||
|
||||
logger.warning(f"共享端口 XYZ 控制器创建失败: {e}")
|
||||
self.xyz_controller = None
|
||||
self.xyz_connected = False
|
||||
|
||||
return True
|
||||
except Exception as e:
|
||||
logger.error(f"设备连接失败: {e}")
|
||||
return False
|
||||
|
||||
def connect_shared(self, serial_conn, serial_lock, xyz_controller: XYZController) -> bool:
|
||||
"""使用已连接的串口和XYZ控制器（路径 B 模式：XYZ 先开串口，移液器共享）
|
||||
|
||||
Args:
|
||||
serial_conn: 已打开的串口连接（来自 XYZController）
|
||||
serial_lock: 串口互斥锁（来自 XYZController）
|
||||
xyz_controller: 已连接的 XYZController 实例
|
||||
"""
|
||||
try:
|
||||
self.pipette.serial_port = serial_conn
|
||||
self.pipette.lock = serial_lock
|
||||
self.pipette.is_connected = True
|
||||
|
||||
self.xyz_controller = xyz_controller
|
||||
self.xyz_connected = True
|
||||
|
||||
logger.info("移液控制器已通过 connect_shared 共享 XYZ 串口")
|
||||
return True
|
||||
except Exception as e:
|
||||
logger.error(f"connect_shared 失败: {e}")
|
||||
return False
|
||||
|
||||
def disconnect_shared(self) -> None:
|
||||
"""释放共享串口引用（与 connect_shared 对称）。
|
||||
|
||||
注意：不关闭串口本身，串口由 XYZController 负责关闭。
|
||||
"""
|
||||
try:
|
||||
self.pipette.serial_port = None
|
||||
self.pipette.lock = None
|
||||
self.pipette.is_connected = False
|
||||
self.xyz_controller = None
|
||||
self.xyz_connected = False
|
||||
logger.info("移液控制器已释放共享串口引用")
|
||||
except Exception as e:
|
||||
logger.error(f"disconnect_shared 失败: {e}")
|
||||
|
||||
def initialize(self) -> bool:
|
||||
"""初始化移液器"""
|
||||
try:
|
||||
if self.pipette.initialize():
|
||||
logger.info("移液器初始化成功")
|
||||
# 检查枪头状态
|
||||
self._update_tip_status()
|
||||
self.xyz_controller.home_all_axes()
|
||||
self.xyz_controller.move_to_work_coord_safe(x=0, y=-150, z=0)
|
||||
return True
|
||||
return False
|
||||
except Exception as e:
|
||||
@@ -198,56 +231,58 @@ class PipetteController:
|
||||
|
||||
def disconnect(self):
|
||||
"""断开连接"""
|
||||
# 断开移液器连接
|
||||
if self.xyz_controller and self.xyz_connected:
|
||||
if self.xyz_port != self.pipette_port:
|
||||
try:
|
||||
self.xyz_controller.disconnect()
|
||||
logger.info("XYZ 步进电机已断开")
|
||||
except Exception as e:
|
||||
logger.error(f"断开 XYZ 步进电机失败: {e}")
|
||||
else:
|
||||
self.xyz_controller.serial_conn = None
|
||||
self.xyz_connected = False
|
||||
self.xyz_controller = None
|
||||
|
||||
self.pipette.disconnect()
|
||||
logger.info("移液器已断开")
|
||||
|
||||
# 断开 XYZ 步进电机连接
|
||||
if self.xyz_controller and self.xyz_connected:
|
||||
try:
|
||||
self.xyz_controller.disconnect()
|
||||
self.xyz_connected = False
|
||||
logger.info("XYZ 步进电机已断开")
|
||||
except Exception as e:
|
||||
logger.error(f"断开 XYZ 步进电机失败: {e}")
|
||||
|
||||
def _check_xyz_safety(self, axis: MotorAxis, target_position: int) -> bool:
|
||||
"""
|
||||
检查 XYZ 轴移动的安全性
|
||||
|
||||
|
||||
Args:
|
||||
axis: 电机轴
|
||||
target_position: 目标位置(步数)
|
||||
|
||||
|
||||
Returns:
|
||||
是否安全
|
||||
"""
|
||||
try:
|
||||
# 获取当前电机状态
|
||||
motor_position = self.xyz_controller.get_motor_status(axis)
|
||||
|
||||
|
||||
# 检查电机状态是否正常 (不是碰撞停止或限位停止)
|
||||
if motor_position.status in [MotorStatus.COLLISION_STOP,
|
||||
MotorStatus.FORWARD_LIMIT_STOP,
|
||||
if motor_position.status in [MotorStatus.COLLISION_STOP,
|
||||
MotorStatus.FORWARD_LIMIT_STOP,
|
||||
MotorStatus.REVERSE_LIMIT_STOP]:
|
||||
logger.error(f"{axis.name} 轴电机处于错误状态: {motor_position.status.name}")
|
||||
return False
|
||||
|
||||
|
||||
# 检查位置限制 (扩大安全范围以适应实际硬件)
|
||||
# 步进电机的位置范围通常很大，这里设置更合理的范围
|
||||
if target_position < -500000 or target_position > 500000:
|
||||
logger.error(f"{axis.name} 轴目标位置超出安全范围: {target_position}")
|
||||
return False
|
||||
|
||||
|
||||
# 检查移动距离是否过大 (单次移动不超过 20000 步，约12mm)
|
||||
current_position = motor_position.steps
|
||||
move_distance = abs(target_position - current_position)
|
||||
if move_distance > 20000:
|
||||
logger.error(f"{axis.name} 轴单次移动距离过大: {move_distance}步")
|
||||
return False
|
||||
|
||||
|
||||
return True
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"安全检查失败: {e}")
|
||||
return False
|
||||
@@ -255,48 +290,48 @@ class PipetteController:
|
||||
def move_z_relative(self, distance_mm: float, speed: int = 2000, acceleration: int = 500) -> bool:
|
||||
"""
|
||||
Z轴相对移动
|
||||
|
||||
|
||||
Args:
|
||||
distance_mm: 移动距离(mm)，正值向下，负值向上
|
||||
speed: 移动速度(rpm)
|
||||
acceleration: 加速度(rpm/s)
|
||||
|
||||
|
||||
Returns:
|
||||
移动是否成功
|
||||
"""
|
||||
if not self.xyz_controller or not self.xyz_connected:
|
||||
logger.error("XYZ 步进电机未连接，无法执行移动")
|
||||
return False
|
||||
|
||||
|
||||
try:
|
||||
# 参数验证
|
||||
if abs(distance_mm) > 15.0:
|
||||
logger.error(f"移动距离过大: {distance_mm}mm，最大允许15mm")
|
||||
return False
|
||||
|
||||
|
||||
if speed < 100 or speed > 5000:
|
||||
logger.error(f"速度参数无效: {speed}rpm，范围应为100-5000")
|
||||
return False
|
||||
|
||||
|
||||
# 获取当前 Z 轴位置
|
||||
current_status = self.xyz_controller.get_motor_status(MotorAxis.Z)
|
||||
current_z_position = current_status.steps
|
||||
|
||||
|
||||
# 计算移动距离对应的步数 (1mm = 1638.4步)
|
||||
mm_to_steps = 1638.4
|
||||
move_distance_steps = int(distance_mm * mm_to_steps)
|
||||
|
||||
|
||||
# 计算目标位置
|
||||
target_z_position = current_z_position + move_distance_steps
|
||||
|
||||
|
||||
# 安全检查
|
||||
if not self._check_xyz_safety(MotorAxis.Z, target_z_position):
|
||||
logger.error("Z轴移动安全检查失败")
|
||||
return False
|
||||
|
||||
|
||||
logger.info(f"Z轴相对移动: {distance_mm}mm ({move_distance_steps}步)")
|
||||
logger.info(f"当前位置: {current_z_position}步 -> 目标位置: {target_z_position}步")
|
||||
|
||||
|
||||
# 执行移动
|
||||
success = self.xyz_controller.move_to_position(
|
||||
axis=MotorAxis.Z,
|
||||
@@ -305,28 +340,28 @@ class PipetteController:
|
||||
acceleration=acceleration,
|
||||
precision=50
|
||||
)
|
||||
|
||||
|
||||
if not success:
|
||||
logger.error("Z轴移动命令发送失败")
|
||||
return False
|
||||
|
||||
|
||||
# 等待移动完成
|
||||
if not self.xyz_controller.wait_for_completion(MotorAxis.Z, timeout=10.0):
|
||||
logger.error("Z轴移动超时")
|
||||
return False
|
||||
|
||||
|
||||
# 验证移动结果
|
||||
final_status = self.xyz_controller.get_motor_status(MotorAxis.Z)
|
||||
final_position = final_status.steps
|
||||
position_error = abs(final_position - target_z_position)
|
||||
|
||||
|
||||
logger.info(f"Z轴移动完成，最终位置: {final_position}步，误差: {position_error}步")
|
||||
|
||||
|
||||
if position_error > 100:
|
||||
logger.warning(f"Z轴位置误差较大: {position_error}步")
|
||||
|
||||
|
||||
return True
|
||||
|
||||
|
||||
except ModbusException as e:
|
||||
logger.error(f"Modbus通信错误: {e}")
|
||||
return False
|
||||
@@ -337,21 +372,20 @@ class PipetteController:
|
||||
def emergency_stop(self) -> bool:
|
||||
"""
|
||||
紧急停止所有运动
|
||||
|
||||
|
||||
Returns:
|
||||
停止是否成功
|
||||
"""
|
||||
success = True
|
||||
|
||||
# 停止移液器操作
|
||||
|
||||
try:
|
||||
if self.pipette and self.connected:
|
||||
# 这里可以添加移液器的紧急停止逻辑
|
||||
if self.pipette and self.pipette.is_connected:
|
||||
self.pipette.emergency_stop()
|
||||
logger.info("移液器紧急停止")
|
||||
except Exception as e:
|
||||
logger.error(f"移液器紧急停止失败: {e}")
|
||||
success = False
|
||||
|
||||
|
||||
# 停止 XYZ 轴运动
|
||||
try:
|
||||
if self.xyz_controller and self.xyz_connected:
|
||||
@@ -360,7 +394,7 @@ class PipetteController:
|
||||
except Exception as e:
|
||||
logger.error(f"XYZ 轴紧急停止失败: {e}")
|
||||
success = False
|
||||
|
||||
|
||||
return success
|
||||
|
||||
def pickup_tip(self) -> bool:
|
||||
@@ -376,7 +410,7 @@ class PipetteController:
|
||||
return True
|
||||
|
||||
logger.info("开始装载枪头 - Z轴向下移动10mm")
|
||||
|
||||
|
||||
# 使用相对移动方法，向下移动10mm
|
||||
if self.move_z_relative(distance_mm=10.0, speed=2000, acceleration=500):
|
||||
# 更新枪头状态
|
||||
@@ -688,31 +722,31 @@ class PipetteController:
|
||||
if __name__ == "__main__":
|
||||
# 配置日志
|
||||
import logging
|
||||
|
||||
|
||||
# 设置日志级别
|
||||
logging.basicConfig(
|
||||
level=logging.INFO,
|
||||
format='%(asctime)s - %(name)s - %(levelname)s - %(message)s'
|
||||
)
|
||||
|
||||
|
||||
def interactive_test():
|
||||
"""交互式测试模式 - 适用于已连接的设备"""
|
||||
print("\n" + "=" * 60)
|
||||
print("🧪 移液器交互式测试模式")
|
||||
print("=" * 60)
|
||||
|
||||
|
||||
# 获取用户输入的连接参数
|
||||
print("\n📡 设备连接配置:")
|
||||
port = input("请输入移液器串口端口 (默认: /dev/ttyUSB_CH340): ").strip() or "/dev/ttyUSB_CH340"
|
||||
address_input = input("请输入移液器设备地址 (默认: 4): ").strip()
|
||||
address = int(address_input) if address_input else 4
|
||||
|
||||
|
||||
# 询问是否连接 XYZ 步进电机控制器
|
||||
xyz_enable = input("是否连接 XYZ 步进电机控制器? (y/N): ").strip().lower()
|
||||
xyz_port = None
|
||||
if xyz_enable not in ['n', 'no']:
|
||||
xyz_port = input("请输入 XYZ 控制器串口端口 (默认: /dev/ttyUSB_CH340): ").strip() or "/dev/ttyUSB_CH340"
|
||||
|
||||
|
||||
try:
|
||||
# 创建移液控制器实例
|
||||
if xyz_port:
|
||||
@@ -721,21 +755,21 @@ if __name__ == "__main__":
|
||||
else:
|
||||
print(f"\n🔧 创建移液控制器实例 (端口: {port}, 地址: {address})...")
|
||||
pipette = PipetteController(port=port, address=address)
|
||||
|
||||
|
||||
# 连接设备
|
||||
print("\n📞 连接移液器设备...")
|
||||
if not pipette.connect():
|
||||
print("❌ 设备连接失败，请检查连接")
|
||||
return
|
||||
print("✅ 设备连接成功")
|
||||
|
||||
|
||||
# 初始化设备
|
||||
print("\n🚀 初始化设备...")
|
||||
if not pipette.initialize():
|
||||
print("❌ 设备初始化失败")
|
||||
return
|
||||
print("✅ 设备初始化成功")
|
||||
|
||||
|
||||
# 交互式菜单
|
||||
while True:
|
||||
print("\n" + "=" * 50)
|
||||
@@ -755,9 +789,9 @@ if __name__ == "__main__":
|
||||
print("99. 🚨 紧急停止")
|
||||
print("0. 🚪 退出程序")
|
||||
print("=" * 50)
|
||||
|
||||
|
||||
choice = input("\n请选择操作 (0-12, 99): ").strip()
|
||||
|
||||
|
||||
if choice == "0":
|
||||
print("\n👋 退出程序...")
|
||||
break
|
||||
@@ -773,7 +807,7 @@ if __name__ == "__main__":
|
||||
# print(f" 🔧 枪头使用次数: {status['statistics']['tip_count']}")
|
||||
print(f" ⬆️ 吸液次数: {status['statistics']['aspirate_count']}")
|
||||
print(f" ⬇️ 排液次数: {status['statistics']['dispense_count']}")
|
||||
|
||||
|
||||
elif choice == "2":
|
||||
# 装载枪头
|
||||
print("\n🔧 装载枪头...")
|
||||
@@ -781,14 +815,14 @@ if __name__ == "__main__":
|
||||
print("📍 使用 XYZ 控制器进行 Z 轴定位 (下移 10mm)")
|
||||
else:
|
||||
print("⚠️ 未连接 XYZ 控制器，仅执行移液器枪头装载")
|
||||
|
||||
|
||||
if pipette.pickup_tip():
|
||||
print("✅ 枪头装载成功")
|
||||
if pipette.xyz_connected:
|
||||
print("📍 Z 轴已移动到装载位置")
|
||||
else:
|
||||
print("❌ 枪头装载失败")
|
||||
|
||||
|
||||
elif choice == "3":
|
||||
# 弹出枪头
|
||||
print("\n🗑️ 弹出枪头...")
|
||||
@@ -796,7 +830,7 @@ if __name__ == "__main__":
|
||||
print("✅ 枪头弹出成功")
|
||||
else:
|
||||
print("❌ 枪头弹出失败")
|
||||
|
||||
|
||||
elif choice == "4":
|
||||
# 吸液操作
|
||||
try:
|
||||
@@ -810,7 +844,7 @@ if __name__ == "__main__":
|
||||
print("❌ 吸液失败")
|
||||
except ValueError:
|
||||
print("❌ 请输入有效的数字")
|
||||
|
||||
|
||||
elif choice == "5":
|
||||
# 排液操作
|
||||
try:
|
||||
@@ -824,7 +858,7 @@ if __name__ == "__main__":
|
||||
print("❌ 排液失败")
|
||||
except ValueError:
|
||||
print("❌ 请输入有效的数字")
|
||||
|
||||
|
||||
elif choice == "6":
|
||||
# 混合操作
|
||||
try:
|
||||
@@ -838,7 +872,7 @@ if __name__ == "__main__":
|
||||
print("❌ 混合失败")
|
||||
except ValueError:
|
||||
print("❌ 请输入有效的数字")
|
||||
|
||||
|
||||
elif choice == "7":
|
||||
# 液体转移
|
||||
try:
|
||||
@@ -846,7 +880,7 @@ if __name__ == "__main__":
|
||||
source = input("源孔位 (可选, 如A1): ").strip() or None
|
||||
dest = input("目标孔位 (可选, 如B1): ").strip() or None
|
||||
new_tip = input("是否使用新枪头? (y/n, 默认y): ").strip().lower() != 'n'
|
||||
|
||||
|
||||
print(f"\n🔄 执行液体转移 ({volume}ul)...")
|
||||
if pipette.transfer(volume=volume, source_well=source, dest_well=dest, new_tip=new_tip):
|
||||
print("✅ 液体转移完成")
|
||||
@@ -854,7 +888,7 @@ if __name__ == "__main__":
|
||||
print("❌ 液体转移失败")
|
||||
except ValueError:
|
||||
print("❌ 请输入有效的数字")
|
||||
|
||||
|
||||
elif choice == "8":
|
||||
# 设置液体类型
|
||||
print("\n🧪 可用液体类型:")
|
||||
@@ -864,16 +898,16 @@ if __name__ == "__main__":
|
||||
"3": (LiquidClass.VISCOUS, "粘稠液体"),
|
||||
"4": (LiquidClass.VOLATILE, "挥发性液体")
|
||||
}
|
||||
|
||||
|
||||
for key, (liquid_class, description) in liquid_options.items():
|
||||
print(f" {key}. {description}")
|
||||
|
||||
|
||||
liquid_choice = input("请选择液体类型 (1-4): ").strip()
|
||||
if liquid_choice in liquid_options:
|
||||
liquid_class, description = liquid_options[liquid_choice]
|
||||
pipette.set_liquid_class(liquid_class)
|
||||
print(f"✅ 液体类型设置为: {description}")
|
||||
|
||||
|
||||
# 显示参数
|
||||
params = pipette.liquid_params
|
||||
print(f"📋 参数设置:")
|
||||
@@ -883,7 +917,7 @@ if __name__ == "__main__":
|
||||
print(f" 💧 预润湿: {'是' if params.pre_wet else '否'}")
|
||||
else:
|
||||
print("❌ 无效选择")
|
||||
|
||||
|
||||
elif choice == "9":
|
||||
# 自定义参数
|
||||
try:
|
||||
@@ -892,19 +926,19 @@ if __name__ == "__main__":
|
||||
dispense_speed = input("排液速度 (默认800): ").strip()
|
||||
air_gap = input("空气间隙 (ul, 默认10.0): ").strip()
|
||||
pre_wet = input("预润湿 (y/n, 默认n): ").strip().lower() == 'y'
|
||||
|
||||
|
||||
custom_params = LiquidParameters(
|
||||
aspirate_speed=int(aspirate_speed) if aspirate_speed else 500,
|
||||
dispense_speed=int(dispense_speed) if dispense_speed else 800,
|
||||
air_gap=float(air_gap) if air_gap else 10.0,
|
||||
pre_wet=pre_wet
|
||||
)
|
||||
|
||||
|
||||
pipette.set_custom_parameters(custom_params)
|
||||
print("✅ 自定义参数设置完成")
|
||||
except ValueError:
|
||||
print("❌ 请输入有效的数字")
|
||||
|
||||
|
||||
elif choice == "10":
|
||||
# 校准体积
|
||||
try:
|
||||
@@ -914,12 +948,12 @@ if __name__ == "__main__":
|
||||
print(f"✅ 校准完成，校准系数: {actual/expected:.3f}")
|
||||
except ValueError:
|
||||
print("❌ 请输入有效的数字")
|
||||
|
||||
|
||||
elif choice == "11":
|
||||
# 重置统计
|
||||
pipette.reset_statistics()
|
||||
print("✅ 统计信息已重置")
|
||||
|
||||
|
||||
elif choice == "12":
|
||||
# 液体类型测试
|
||||
print("\n🧪 液体类型参数对比:")
|
||||
@@ -929,7 +963,7 @@ if __name__ == "__main__":
|
||||
(LiquidClass.VISCOUS, "粘稠液体"),
|
||||
(LiquidClass.VOLATILE, "挥发性液体")
|
||||
]
|
||||
|
||||
|
||||
for liquid_class, description in liquid_tests:
|
||||
params = pipette.LIQUID_PARAMS[liquid_class]
|
||||
print(f"\n📋 {description} ({liquid_class.value}):")
|
||||
@@ -938,7 +972,7 @@ if __name__ == "__main__":
|
||||
print(f" 💨 空气间隙: {params.air_gap}ul")
|
||||
print(f" 💧 预润湿: {'是' if params.pre_wet else '否'}")
|
||||
print(f" ⏱️ 吸液后延时: {params.delay_after_aspirate}s")
|
||||
|
||||
|
||||
elif choice == "99":
|
||||
# 紧急停止
|
||||
print("\n🚨 执行紧急停止...")
|
||||
@@ -949,19 +983,19 @@ if __name__ == "__main__":
|
||||
else:
|
||||
print("❌ 紧急停止执行失败")
|
||||
print("⚠️ 请手动检查设备状态并采取必要措施")
|
||||
|
||||
|
||||
# 紧急停止后询问是否继续
|
||||
continue_choice = input("\n是否继续操作？(y/n): ").strip().lower()
|
||||
if continue_choice != 'y':
|
||||
print("🚪 退出程序")
|
||||
break
|
||||
|
||||
|
||||
else:
|
||||
print("❌ 无效选择，请重新输入")
|
||||
|
||||
|
||||
# 等待用户确认继续
|
||||
input("\n按回车键继续...")
|
||||
|
||||
|
||||
except KeyboardInterrupt:
|
||||
print("\n\n⚠️ 用户中断操作")
|
||||
except Exception as e:
|
||||
@@ -974,19 +1008,19 @@ if __name__ == "__main__":
|
||||
print("✅ 连接已断开")
|
||||
except:
|
||||
print("⚠️ 断开连接时出现问题")
|
||||
|
||||
|
||||
def demo_test():
|
||||
"""演示测试模式 - 完整功能演示"""
|
||||
print("\n" + "=" * 60)
|
||||
print("🎬 移液控制器演示测试")
|
||||
print("=" * 60)
|
||||
|
||||
|
||||
try:
|
||||
# 创建移液控制器实例
|
||||
print("1. 🔧 创建移液控制器实例...")
|
||||
pipette = PipetteController(port="/dev/ttyUSB0", address=4)
|
||||
print("✅ 移液控制器实例创建成功")
|
||||
|
||||
|
||||
# 连接设备
|
||||
print("\n2. 📞 连接移液器设备...")
|
||||
if pipette.connect():
|
||||
@@ -994,7 +1028,7 @@ if __name__ == "__main__":
|
||||
else:
|
||||
print("❌ 设备连接失败")
|
||||
return False
|
||||
|
||||
|
||||
# 初始化设备
|
||||
print("\n3. 🚀 初始化设备...")
|
||||
if pipette.initialize():
|
||||
@@ -1002,19 +1036,19 @@ if __name__ == "__main__":
|
||||
else:
|
||||
print("❌ 设备初始化失败")
|
||||
return False
|
||||
|
||||
|
||||
# 装载枪头
|
||||
print("\n4. 🔧 装载枪头...")
|
||||
if pipette.pickup_tip():
|
||||
print("✅ 枪头装载成功")
|
||||
else:
|
||||
print("❌ 枪头装载失败")
|
||||
|
||||
|
||||
# 设置液体类型
|
||||
print("\n5. 🧪 设置液体类型为血清...")
|
||||
pipette.set_liquid_class(LiquidClass.SERUM)
|
||||
print("✅ 液体类型设置完成")
|
||||
|
||||
|
||||
# 吸液操作
|
||||
print("\n6. 💧 执行吸液操作...")
|
||||
volume_to_aspirate = 100.0
|
||||
@@ -1023,7 +1057,7 @@ if __name__ == "__main__":
|
||||
print(f"📊 当前体积: {pipette.current_volume}ul")
|
||||
else:
|
||||
print("❌ 吸液失败")
|
||||
|
||||
|
||||
# 排液操作
|
||||
print("\n7. 💦 执行排液操作...")
|
||||
volume_to_dispense = 50.0
|
||||
@@ -1032,14 +1066,14 @@ if __name__ == "__main__":
|
||||
print(f"📊 剩余体积: {pipette.current_volume}ul")
|
||||
else:
|
||||
print("❌ 排液失败")
|
||||
|
||||
|
||||
# 混合操作
|
||||
print("\n8. 🌀 执行混合操作...")
|
||||
if pipette.mix(cycles=3, volume=30.0):
|
||||
print("✅ 混合完成")
|
||||
else:
|
||||
print("❌ 混合失败")
|
||||
|
||||
|
||||
# 获取状态信息
|
||||
print("\n9. 📊 获取设备状态...")
|
||||
status = pipette.get_status()
|
||||
@@ -1052,30 +1086,30 @@ if __name__ == "__main__":
|
||||
# print(f" 🔧 枪头使用次数: {status['statistics']['tip_count']}")
|
||||
print(f" ⬆️ 吸液次数: {status['statistics']['aspirate_count']}")
|
||||
print(f" ⬇️ 排液次数: {status['statistics']['dispense_count']}")
|
||||
|
||||
|
||||
# 弹出枪头
|
||||
print("\n10. 🗑️ 弹出枪头...")
|
||||
if pipette.eject_tip():
|
||||
print("✅ 枪头弹出成功")
|
||||
else:
|
||||
print("❌ 枪头弹出失败")
|
||||
|
||||
|
||||
print("\n" + "=" * 60)
|
||||
print("✅ 移液控制器演示测试完成")
|
||||
print("=" * 60)
|
||||
|
||||
|
||||
return True
|
||||
|
||||
|
||||
except Exception as e:
|
||||
print(f"\n❌ 测试过程中发生异常: {e}")
|
||||
return False
|
||||
|
||||
|
||||
finally:
|
||||
# 断开连接
|
||||
print("\n📞 断开连接...")
|
||||
pipette.disconnect()
|
||||
print("✅ 连接已断开")
|
||||
|
||||
|
||||
# 主程序入口
|
||||
print("🧪 移液器控制器测试程序")
|
||||
print("=" * 40)
|
||||
@@ -1083,9 +1117,9 @@ if __name__ == "__main__":
|
||||
print("2. 🎬 演示测试")
|
||||
print("0. 🚪 退出")
|
||||
print("=" * 40)
|
||||
|
||||
|
||||
mode = input("请选择测试模式 (0-2): ").strip()
|
||||
|
||||
|
||||
if mode == "1":
|
||||
interactive_test()
|
||||
elif mode == "2":
|
||||
@@ -1094,7 +1128,7 @@ if __name__ == "__main__":
|
||||
print("👋 再见！")
|
||||
else:
|
||||
print("❌ 无效选择")
|
||||
|
||||
|
||||
print("\n🎉 程序结束！")
|
||||
print("\n💡 使用说明:")
|
||||
print("1. 确保移液器硬件已正确连接")
|
||||
|
||||
@@ -13,7 +13,7 @@ from pylabrobot.liquid_handling import (
|
||||
SingleChannelDispense,
|
||||
PickupTipRack,
|
||||
DropTipRack,
|
||||
MultiHeadAspirationPlate, ChatterBoxBackend, LiquidHandlerChatterboxBackend,
|
||||
MultiHeadAspirationPlate,
|
||||
)
|
||||
from pylabrobot.liquid_handling.standard import (
|
||||
MultiHeadAspirationContainer,
|
||||
@@ -41,12 +41,6 @@ class TransformXYZDeck(Deck):
|
||||
super().__init__(name, size_x, size_y, size_z)
|
||||
self.name = name
|
||||
|
||||
class TransformXYZBackend(LiquidHandlerBackend):
|
||||
def __init__(self, name: str, host: str, port: int, timeout: float):
|
||||
super().__init__()
|
||||
self.host = host
|
||||
self.port = port
|
||||
self.timeout = timeout
|
||||
|
||||
class TransformXYZRvizBackend(UniLiquidHandlerRvizBackend):
|
||||
def __init__(self, name: str, channel_num: int):
|
||||
@@ -86,7 +80,9 @@ class TransformXYZContainer(Plate, TipRack):
|
||||
class TransformXYZHandler(LiquidHandlerAbstract):
|
||||
support_touch_tip = False
|
||||
|
||||
def __init__(self, deck: Deck, host: str = "127.0.0.1", port: int = 9999, timeout: float = 10.0, channel_num=1, simulator=True, **backend_kwargs):
|
||||
def __init__(self, deck: Deck, host: str = "127.0.0.1", port: int = 9999, timeout: float = 10.0, channel_num=1, simulator=True,
|
||||
serial_port: str = "/dev/ttyUSB0", baudrate: int = 115200, pipette_address: int = 4,
|
||||
total_height: float = 310, **backend_kwargs):
|
||||
# Handle case where deck is passed as a dict (from serialization)
|
||||
if isinstance(deck, dict):
|
||||
# Try to create a TransformXYZDeck from the dict
|
||||
@@ -102,11 +98,22 @@ class TransformXYZHandler(LiquidHandlerAbstract):
|
||||
deck = TransformXYZDeck(name='deck', size_x=100, size_y=100, size_z=100)
|
||||
|
||||
if simulator:
|
||||
self._unilabos_backend = TransformXYZRvizBackend(name="laiyu",channel_num=channel_num)
|
||||
self._unilabos_backend = TransformXYZRvizBackend(name="laiyu", channel_num=channel_num)
|
||||
else:
|
||||
self._unilabos_backend = TransformXYZBackend(name="laiyu",host=host, port=port, timeout=timeout)
|
||||
self._unilabos_backend = UniLiquidHandlerLaiyuBackend(
|
||||
num_channels=channel_num,
|
||||
total_height=total_height,
|
||||
port=serial_port,
|
||||
baudrate=baudrate,
|
||||
pipette_address=pipette_address,
|
||||
)
|
||||
super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num)
|
||||
|
||||
def post_init(self, ros_node):
|
||||
super().post_init(ros_node)
|
||||
if hasattr(self._unilabos_backend, 'post_init'):
|
||||
self._unilabos_backend.post_init(ros_node)
|
||||
|
||||
async def add_liquid(
|
||||
self,
|
||||
asp_vols: Union[List[float], float],
|
||||
@@ -128,7 +135,25 @@ class TransformXYZHandler(LiquidHandlerAbstract):
|
||||
mix_liquid_height: Optional[float] = None,
|
||||
none_keys: List[str] = [],
|
||||
):
|
||||
pass
|
||||
return await super().add_liquid(
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=dis_vols,
|
||||
reagent_sources=reagent_sources,
|
||||
targets=targets,
|
||||
use_channels=use_channels,
|
||||
flow_rates=flow_rates,
|
||||
offsets=offsets,
|
||||
liquid_height=liquid_height,
|
||||
blow_out_air_volume=blow_out_air_volume,
|
||||
spread=spread,
|
||||
is_96_well=is_96_well,
|
||||
delays=delays,
|
||||
mix_time=mix_time,
|
||||
mix_vol=mix_vol,
|
||||
mix_rate=mix_rate,
|
||||
mix_liquid_height=mix_liquid_height,
|
||||
none_keys=none_keys,
|
||||
)
|
||||
|
||||
async def aspirate(
|
||||
self,
|
||||
@@ -142,7 +167,17 @@ class TransformXYZHandler(LiquidHandlerAbstract):
|
||||
spread: Literal["wide", "tight", "custom"] = "wide",
|
||||
**backend_kwargs,
|
||||
):
|
||||
pass
|
||||
return await super().aspirate(
|
||||
resources=resources,
|
||||
vols=vols,
|
||||
use_channels=use_channels,
|
||||
flow_rates=flow_rates,
|
||||
offsets=offsets,
|
||||
liquid_height=liquid_height,
|
||||
blow_out_air_volume=blow_out_air_volume,
|
||||
spread=spread,
|
||||
**backend_kwargs,
|
||||
)
|
||||
|
||||
async def dispense(
|
||||
self,
|
||||
@@ -156,7 +191,17 @@ class TransformXYZHandler(LiquidHandlerAbstract):
|
||||
spread: Literal["wide", "tight", "custom"] = "wide",
|
||||
**backend_kwargs,
|
||||
):
|
||||
pass
|
||||
return await super().dispense(
|
||||
resources=resources,
|
||||
vols=vols,
|
||||
use_channels=use_channels,
|
||||
flow_rates=flow_rates,
|
||||
offsets=offsets,
|
||||
liquid_height=liquid_height,
|
||||
blow_out_air_volume=blow_out_air_volume,
|
||||
spread=spread,
|
||||
**backend_kwargs,
|
||||
)
|
||||
|
||||
async def drop_tips(
|
||||
self,
|
||||
@@ -166,7 +211,13 @@ class TransformXYZHandler(LiquidHandlerAbstract):
|
||||
allow_nonzero_volume: bool = False,
|
||||
**backend_kwargs,
|
||||
):
|
||||
pass
|
||||
return await super().drop_tips(
|
||||
tip_spots=tip_spots,
|
||||
use_channels=use_channels,
|
||||
offsets=offsets,
|
||||
allow_nonzero_volume=allow_nonzero_volume,
|
||||
**backend_kwargs,
|
||||
)
|
||||
|
||||
async def mix(
|
||||
self,
|
||||
@@ -178,7 +229,15 @@ class TransformXYZHandler(LiquidHandlerAbstract):
|
||||
mix_rate: Optional[float] = None,
|
||||
none_keys: List[str] = [],
|
||||
):
|
||||
pass
|
||||
return await super().mix(
|
||||
targets=targets,
|
||||
mix_time=mix_time,
|
||||
mix_vol=mix_vol,
|
||||
height_to_bottom=height_to_bottom,
|
||||
offsets=offsets,
|
||||
mix_rate=mix_rate,
|
||||
none_keys=none_keys,
|
||||
)
|
||||
|
||||
async def pick_up_tips(
|
||||
self,
|
||||
@@ -187,7 +246,12 @@ class TransformXYZHandler(LiquidHandlerAbstract):
|
||||
offsets: Optional[List[Coordinate]] = None,
|
||||
**backend_kwargs,
|
||||
):
|
||||
pass
|
||||
return await super().pick_up_tips(
|
||||
tip_spots=tip_spots,
|
||||
use_channels=use_channels,
|
||||
offsets=offsets,
|
||||
**backend_kwargs,
|
||||
)
|
||||
|
||||
async def transfer_liquid(
|
||||
self,
|
||||
@@ -214,5 +278,26 @@ class TransformXYZHandler(LiquidHandlerAbstract):
|
||||
delays: Optional[List[int]] = None,
|
||||
none_keys: List[str] = [],
|
||||
):
|
||||
pass
|
||||
|
||||
return await super().transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=tip_racks,
|
||||
use_channels=use_channels,
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=dis_vols,
|
||||
asp_flow_rates=asp_flow_rates,
|
||||
dis_flow_rates=dis_flow_rates,
|
||||
offsets=offsets,
|
||||
touch_tip=touch_tip,
|
||||
liquid_height=liquid_height,
|
||||
blow_out_air_volume=blow_out_air_volume,
|
||||
spread=spread,
|
||||
is_96_well=is_96_well,
|
||||
mix_stage=mix_stage,
|
||||
mix_times=mix_times,
|
||||
mix_vol=mix_vol,
|
||||
mix_rate=mix_rate,
|
||||
mix_liquid_height=mix_liquid_height,
|
||||
delays=delays,
|
||||
none_keys=none_keys,
|
||||
)
|
||||
|
||||
@@ -6945,7 +6945,7 @@ liquid_handler.laiyu:
|
||||
properties:
|
||||
channel_num:
|
||||
default: 1
|
||||
type: string
|
||||
type: integer
|
||||
deck:
|
||||
type: object
|
||||
host:
|
||||
@@ -6956,10 +6956,25 @@ liquid_handler.laiyu:
|
||||
type: integer
|
||||
simulator:
|
||||
default: true
|
||||
type: string
|
||||
type: boolean
|
||||
timeout:
|
||||
default: 10.0
|
||||
type: number
|
||||
serial_port:
|
||||
default: /dev/ttyUSB0
|
||||
description: 硬件串口端口（非 simulator 模式下使用）
|
||||
type: string
|
||||
baudrate:
|
||||
default: 115200
|
||||
type: integer
|
||||
pipette_address:
|
||||
default: 4
|
||||
description: SOPA 移液器 RS485 地址
|
||||
type: integer
|
||||
total_height:
|
||||
default: 310
|
||||
description: 龙门架总高度 (mm)，用于坐标转换
|
||||
type: number
|
||||
required:
|
||||
- deck
|
||||
type: object
|
||||
|
||||
Reference in New Issue
Block a user