diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index cca11f84..33e192b3 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -339,9 +339,16 @@ async def mix( mix_rate: Optional[float] = None, none_keys: List[str] = [], ): - return await self._unilabos_backend.mix( - targets, mix_time, mix_vol, height_to_bottom, offsets, mix_rate, none_keys - ) + if self.step_mode: + await self.create_protocol(f"单点动作{time.time()}") + await self._unilabos_backend.mix( + targets, mix_time, mix_vol, height_to_bottom, offsets, mix_rate, none_keys + ) + await self.run_protocol() + else: + return await self._unilabos_backend.mix( + targets, mix_time, mix_vol, height_to_bottom, offsets, mix_rate, none_keys + ) def iter_tips(self, tip_racks: Sequence[TipRack]) -> Iterator[Resource]: return super().iter_tips(tip_racks) @@ -357,7 +364,8 @@ async def pick_up_tips( await self.create_protocol(f"单点动作{time.time()}") await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs) await self.run_protocol() - return await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs) + else: + return await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs) async def aspirate( self, @@ -371,18 +379,32 @@ async def aspirate( spread: Literal["wide", "tight", "custom"] = "wide", **backend_kwargs, ): - - return await super().aspirate( - resources, - vols, - use_channels, - flow_rates, - offsets, - liquid_height, - blow_out_air_volume, - spread, - **backend_kwargs, - ) + if self.step_mode: + await self.create_protocol(f"单点动作{time.time()}") + await super().aspirate( + resources, + vols, + use_channels, + flow_rates, + offsets, + liquid_height, + blow_out_air_volume, + spread, + **backend_kwargs, + ) + await self.run_protocol() + else: + return await super().aspirate( + resources, + vols, + use_channels, + flow_rates, + offsets, + liquid_height, + blow_out_air_volume, + spread, + **backend_kwargs, + ) async def drop_tips( self, @@ -392,7 +414,12 @@ async def drop_tips( allow_nonzero_volume: bool = False, **backend_kwargs, ): - return await super().drop_tips(tip_spots, use_channels, offsets, allow_nonzero_volume, **backend_kwargs) + if self.step_mode: + await self.create_protocol(f"单点动作{time.time()}") + await super().drop_tips(tip_spots, use_channels, offsets, allow_nonzero_volume, **backend_kwargs) + await self.run_protocol() + else: + return await super().drop_tips(tip_spots, use_channels, offsets, allow_nonzero_volume, **backend_kwargs) async def dispense( self, @@ -406,17 +433,32 @@ async def dispense( spread: Literal["wide", "tight", "custom"] = "wide", **backend_kwargs, ): - return await super().dispense( - resources, - vols, - use_channels, - flow_rates, - offsets, - liquid_height, - blow_out_air_volume, - spread, - **backend_kwargs, - ) + if self.step_mode: + await self.create_protocol(f"单点动作{time.time()}") + await super().dispense( + resources, + vols, + use_channels, + flow_rates, + offsets, + liquid_height, + blow_out_air_volume, + spread, + **backend_kwargs, + ) + await self.run_protocol() + else: + return await super().dispense( + resources, + vols, + use_channels, + flow_rates, + offsets, + liquid_height, + blow_out_air_volume, + spread, + **backend_kwargs, + ) async def discard_tips( self, @@ -425,7 +467,12 @@ async def discard_tips( offsets: Optional[List[Coordinate]] = None, **backend_kwargs, ): - return await super().discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs) + if self.step_mode: + await self.create_protocol(f"单点动作{time.time()}") + await super().discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs) + await self.run_protocol() + else: + return await super().discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs) def set_tiprack(self, tip_racks: Sequence[TipRack]): super().set_tiprack(tip_racks) @@ -1322,6 +1369,188 @@ def recommend_layout(self, needs: List[Tuple[str, str, int]]) -> Dict[str, Any]: if __name__ == "__main__": + + FETCH_LAYOUT_AND_MATERIALS_ONLY = True + + if FETCH_LAYOUT_AND_MATERIALS_ONLY: + # 获取布局和物料列表并保存为JSON + prcxi_api = PRCXI9300Api(host="192.168.1.201", port=9999) + matrices = prcxi_api.list_matrices() + materials = prcxi_api.get_all_materials() + + # 保存为格式规整的JSON文件 + output_data = { + "matrices": matrices, + "materials": materials + } + + with open("prcxi_layout_and_materials.json", "w", encoding="utf-8") as f: + json.dump(output_data, f, indent=4, ensure_ascii=False) + + print("布局和物料列表已保存到 prcxi_layout_and_materials.json") + exit(0) + + # ============================================================================ + # step_mode 使用示例 + # ============================================================================ + # step_mode 是 PRCXI9320 设备支持的单点动作模式 + # 在 step_mode=True 时，每个操作会立即创建协议并执行，适合调试和单步测试 + # 在 step_mode=False 时，所有操作会先添加到协议中，最后统一执行，适合生产流程 + + # 示例1: 使用 step_mode=True 进行单点动作调试（仅 PRCXI9320 支持） + async def example_step_mode(): + """单点动作模式示例 - 每个操作立即执行""" + from pylabrobot.resources.opentrons.tip_racks import opentrons_96_tiprack_300ul + from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat + + # 创建 deck + deck = PRCXI9300Deck(name="PRCXI_Deck_9320", size_x=100, size_y=100, size_z=100) + + # 创建资源 + tip_rack = opentrons_96_tiprack_300ul("RackT1") + plate = corning_96_wellplate_360ul_flat("PlateT2") + + # 设置物料信息 + tip_rack.load_state({ + "Material": { + "uuid": "076250742950465b9d6ea29a225dfb00", + "Code": "ZX-001-300", + "Name": "300μL Tip头" + } + }) + plate.load_state({ + "Material": { + "uuid": "57b1e4711e9e4a32b529f3132fc5931f", + "Code": "ZX-019-2.2", + "Name": "96深孔板" + } + }) + + deck.assign_child_resource(tip_rack, location=Coordinate(0, 0, 0)) + deck.assign_child_resource(plate, location=Coordinate(50, 0, 0)) + + # 创建 handler，启用 step_mode（仅 PRCXI9320 支持） + handler = PRCXI9300Handler( + deck=deck, + host="192.168.1.201", + port=9999, + timeout=10.0, + step_mode=True, # 启用单点动作模式 + is_9320=True, # 必须是 9320 设备 + setup=True + ) + + await handler.setup() + handler.set_tiprack([tip_rack]) + + # 在 step_mode 下，每个操作会立即执行 + print("=== 单点动作模式示例 ===") + print("1. 拾取枪头（立即执行）") + await handler.pick_up_tips([tip_rack.get_item("A1")], [0]) + + print("2. 吸取液体（立即执行）") + await handler.aspirate([plate.get_item("A1")], [50], [0]) + + print("3. 分液（立即执行）") + await handler.dispense([plate.get_item("B1")], [50], [0]) + + print("4. 混合（立即执行）") + await handler.mix([plate.get_item("B1")], mix_time=3, mix_vol=20) + + print("5. 丢弃枪头（立即执行）") + await handler.discard_tips([0]) + + print("单点动作模式示例完成") + + # 示例2: 使用 step_mode=False 进行批量操作（默认模式） + async def example_normal_mode(): + """正常模式示例 - 批量执行所有操作""" + from pylabrobot.resources.opentrons.tip_racks import opentrons_96_tiprack_300ul + from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat + + # 创建 deck + deck = PRCXI9300Deck(name="PRCXI_Deck_9320", size_x=100, size_y=100, size_z=100) + + # 创建资源 + tip_rack = opentrons_96_tiprack_300ul("RackT1") + source_plate = corning_96_wellplate_360ul_flat("PlateT2") + dest_plate = corning_96_wellplate_360ul_flat("PlateT3") + + # 设置物料信息 + tip_rack.load_state({ + "Material": { + "uuid": "076250742950465b9d6ea29a225dfb00", + "Code": "ZX-001-300", + "Name": "300μL Tip头" + } + }) + source_plate.load_state({ + "Material": { + "uuid": "57b1e4711e9e4a32b529f3132fc5931f", + "Code": "ZX-019-2.2", + "Name": "96深孔板" + } + }) + dest_plate.load_state({ + "Material": { + "uuid": "57b1e4711e9e4a32b529f3132fc5931f", + "Code": "ZX-019-2.2", + "Name": "96深孔板" + } + }) + + deck.assign_child_resource(tip_rack, location=Coordinate(0, 0, 0)) + deck.assign_child_resource(source_plate, location=Coordinate(50, 0, 0)) + deck.assign_child_resource(dest_plate, location=Coordinate(100, 0, 0)) + + # 创建 handler，使用默认的 step_mode=False + handler = PRCXI9300Handler( + deck=deck, + host="192.168.1.201", + port=9999, + timeout=10.0, + step_mode=False, # 正常模式（默认） + is_9320=True, + setup=True + ) + + await handler.setup() + handler.set_tiprack([tip_rack]) + + # 创建协议 + await handler.create_protocol("批量转移示例") + + # 在正常模式下，所有操作先添加到协议中 + print("=== 正常模式示例 ===") + print("添加操作到协议中...") + + # 批量转移：从 A1-A8 转移到 B1-B8 + for i in range(8): + well_name = f"{chr(65+i)}1" # A1, B1, C1, ... + await handler.pick_up_tips([tip_rack.get_item(well_name)], [0]) + await handler.aspirate([source_plate.get_item(well_name)], [100], [0]) + await handler.dispense([dest_plate.get_item(well_name)], [100], [0]) + await handler.discard_tips([0]) + + print("执行协议...") + # 最后统一执行所有操作 + await handler.run_protocol() + + print("正常模式示例完成") + + # 示例3: 混合使用 - 部分操作使用 step_mode，部分使用正常模式 + async def example_mixed_usage(): + """混合使用示例 - 演示如何在不同场景下切换模式""" + print("=== 混合使用示例 ===") + print("注意：step_mode 是在创建 handler 时设置的，不能动态切换") + print("如果需要混合使用，需要创建两个 handler 实例，或者") + print("在代码中根据需求选择使用哪个 handler") + + # 取消注释下面的代码来运行示例： + # asyncio.run(example_step_mode()) # 运行单点动作模式示例 + # asyncio.run(example_normal_mode()) # 运行正常模式示例 + # asyncio.run(example_mixed_usage()) # 运行混合使用说明 + # Example usage # 1. 用导出的json，给每个T1 T2板子设定相应的物料，如果是孔板和枪头盒，要对应区分 # 2. backend需要支持num channel为1的情况 @@ -1739,7 +1968,7 @@ def get_tip_rack(name: str, child_prefix: str = "tip") -> PRCXI9300Container: "_resource_child_name": "PRCXI_Deck", "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck" }, - "host": "192.168.0.121", + "host": "192.168.1.201", "port": 9999, "timeout": 10.0, "axis": "Right", diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi_layout_and_materials.json b/unilabos/devices/liquid_handling/prcxi/prcxi_layout_and_materials.json new file mode 100644 index 00000000..a6c1cf21 --- /dev/null +++ b/unilabos/devices/liquid_handling/prcxi/prcxi_layout_and_materials.json @@ -0,0 +1,20620 @@ +{ + "matrices": [ + { + "LengthTwoEdge": 139.0, + "WidthTwoEdge": 95.8, + "BaseplateId": "9af15efc-29d2-4c44-8533-bbaf24913be6", + "MatrixId": "0547f1d9-05c3-4a9f-abd4-0b25f9a8409b", + "MatrixName": "test01", + "MatrixCount": 0, + "Rows": 3, + "Cols": 4, + "Arm": 4, + "Dosage": 50, + "Arm2": 4, + "Dosage2": 10, + "WorkTablets": [ + { + "Code": "T1", + "Number": 1, + "Row": 1, + "Col": 1, + "XPos": 0.0, + "YPos": 0.0, + "ZPos": 0.0, + "ZGradientPos": 0.0, + "XCenterPos": 0.0, + "YCenterPos": 0.0, + "X2Pos": 0.0, + "Y2Pos": 0.0, + "Z2Pos": 0.0, + "Z2GradientPos": 0.0, + "Z1ReverseImbibitionPos": 0.0, + "Z2ReverseImbibitionPos": 0.0, + "X2CenterPos": 0.0, + "Y2CenterPos": 0.0, + "Material": { + "uuid": null, + "Code": "96", + "SupplyType": 1, + "Name": "8 x 12", + "SummaryName": null, + "Factory": null, + "LengthNum": null, + "WidthNum": null, + "HeightNum": 0.0, + "DepthNum": 0.0, + "PipetteHeight": null, + "HoleDiameter": null, + "Margins_X": null, + "Margins_Y": null, + "HoleColum": 12, + "HoleRow": 8, + "Volume": 0, + "ImagePath": null, + "CreateTime": null, + "UpdateTime": null, + "XSpacing": 9.0, + "YSpacing": 9.0, + "materialEnum": 0 + }, + "Adapter": null + }, + { + "Code": "T2", + "Number": 2, + "Row": 1, + "Col": 2, + "XPos": 0.0, + "YPos": 0.0, + "ZPos": 0.0, + "ZGradientPos": 0.0, + "XCenterPos": 0.0, + "YCenterPos": 0.0, + "X2Pos": 0.0, + "Y2Pos": 0.0, + "Z2Pos": 0.0, + "Z2GradientPos": 0.0, + "Z1ReverseImbibitionPos": 0.0, + "Z2ReverseImbibitionPos": 0.0, + "X2CenterPos": 0.0, + "Y2CenterPos": 0.0, + "Material": { + "uuid": null, + "Code": "96", + "SupplyType": 1, + "Name": "8 x 12", + "SummaryName": null, + "Factory": null, + "LengthNum": null, + "WidthNum": null, + "HeightNum": 0.0, + "DepthNum": 0.0, + "PipetteHeight": null, + "HoleDiameter": null, + "Margins_X": null, + "Margins_Y": null, + "HoleColum": 12, + "HoleRow": 8, + "Volume": 0, + "ImagePath": null, + "CreateTime": null, + "UpdateTime": null, + "XSpacing": 9.0, + "YSpacing": 9.0, + "materialEnum": 0 + }, + "Adapter": null + }, + { + "Code": "T3", + "Number": 3, + "Row": 1, + "Col": 3, + "XPos": 0.0, + "YPos": 0.0, + "ZPos": 0.0, + "ZGradientPos": 0.0, + "XCenterPos": 0.0, + "YCenterPos": 0.0, + "X2Pos": 0.0, + "Y2Pos": 0.0, + "Z2Pos": 0.0, + "Z2GradientPos": 0.0, + "Z1ReverseImbibitionPos": 0.0, + "Z2ReverseImbibitionPos": 0.0, + "X2CenterPos": 0.0, + "Y2CenterPos": 0.0, + "Material": { + "uuid": null, + "Code": "96", + "SupplyType": 1, + "Name": "8 x 12", + "SummaryName": null, + "Factory": null, + "LengthNum": null, + "WidthNum": null, + "HeightNum": 0.0, + "DepthNum": 0.0, + "PipetteHeight": null, + "HoleDiameter": null, + "Margins_X": null, + "Margins_Y": null, + "HoleColum": 12, + "HoleRow": 8, + "Volume": 0, + "ImagePath": null, + "CreateTime": null, + "UpdateTime": null, + "XSpacing": 9.0, + "YSpacing": 9.0, + "materialEnum": 0 + }, + "Adapter": null + }, + { + "Code": "T4", + "Number": 4, + "Row": 1, + "Col": 4, + "XPos": 0.0, + "YPos": 0.0, + "ZPos": 0.0, + "ZGradientPos": 0.0, + "XCenterPos": 0.0, + "YCenterPos": 0.0, + "X2Pos": 0.0, + "Y2Pos": 0.0, + "Z2Pos": 0.0, + "Z2GradientPos": 0.0, + "Z1ReverseImbibitionPos": 0.0, + "Z2ReverseImbibitionPos": 0.0, + "X2CenterPos": 0.0, + "Y2CenterPos": 0.0, + "Material": { + "uuid": null, + "Code": "96", + "SupplyType": 1, + "Name": "8 x 12", + "SummaryName": null, + "Factory": null, + "LengthNum": null, + "WidthNum": null, + "HeightNum": 0.0, + "DepthNum": 0.0, + "PipetteHeight": null, + "HoleDiameter": null, + "Margins_X": null, + "Margins_Y": null, + "HoleColum": 12, + "HoleRow": 8, + "Volume": 0, + "ImagePath": null, + "CreateTime": null, + "UpdateTime": null, + "XSpacing": 9.0, + "YSpacing": 9.0, + "materialEnum": 0 + }, + "Adapter": null + }, + { + "Code": "T5", + "Number": 5, + "Row": 2, + "Col": 1, + "XPos": 0.0, + "YPos": 0.0, + "ZPos": 0.0, + "ZGradientPos": 0.0, + "XCenterPos": 0.0, + "YCenterPos": 0.0, + "X2Pos": 0.0, + "Y2Pos": 0.0, + "Z2Pos": 0.0, + "Z2GradientPos": 0.0, + "Z1ReverseImbibitionPos": 0.0, + "Z2ReverseImbibitionPos": 0.0, + "X2CenterPos": 0.0, + "Y2CenterPos": 0.0, + "Material": { + "uuid": null, + "Code": "96", + "SupplyType": 1, + "Name": "8 x 12", + "SummaryName": null, + "Factory": null, + "LengthNum": null, + "WidthNum": null, + "HeightNum": 0.0, + "DepthNum": 0.0, + "PipetteHeight": null, + "HoleDiameter": null, + "Margins_X": null, + "Margins_Y": null, + "HoleColum": 12, + "HoleRow": 8, + "Volume": 0, + "ImagePath": null, + "CreateTime": null, + "UpdateTime": null, + "XSpacing": 9.0, + "YSpacing": 9.0, + "materialEnum": 0 + }, + "Adapter": null + }, + { + "Code": "T6", + "Number": 6, + "Row": 2, + "Col": 2, + "XPos": 0.0, + "YPos": 0.0, + "ZPos": 0.0, + "ZGradientPos": 0.0, + "XCenterPos": 0.0, + "YCenterPos": 0.0, + "X2Pos": 0.0, + "Y2Pos": 0.0, + "Z2Pos": 0.0, + "Z2GradientPos": 0.0, + "Z1ReverseImbibitionPos": 0.0, + "Z2ReverseImbibitionPos": 0.0, + "X2CenterPos": 0.0, + "Y2CenterPos": 0.0, + "Material": { + "uuid": null, + "Code": "96", + "SupplyType": 1, + "Name": "8 x 12", + "SummaryName": null, + "Factory": null, + "LengthNum": null, + "WidthNum": null, + "HeightNum": 0.0, + "DepthNum": 0.0, + "PipetteHeight": null, + "HoleDiameter": null, + "Margins_X": null, + "Margins_Y": null, + "HoleColum": 12, + "HoleRow": 8, + "Volume": 0, + "ImagePath": null, + "CreateTime": null, + "UpdateTime": null, + "XSpacing": 9.0, + "YSpacing": 9.0, + "materialEnum": 0 + }, + "Adapter": null + }, + { + "Code": "T7", + "Number": 7, + "Row": 2, + "Col": 3, + "XPos": 0.0, + "YPos": 0.0, + "ZPos": 0.0, + "ZGradientPos": 0.0, + "XCenterPos": 0.0, + "YCenterPos": 0.0, + "X2Pos": 0.0, + "Y2Pos": 0.0, + "Z2Pos": 0.0, + "Z2GradientPos": 0.0, + "Z1ReverseImbibitionPos": 0.0, + "Z2ReverseImbibitionPos": 0.0, + "X2CenterPos": 0.0, + "Y2CenterPos": 0.0, + "Material": { + "uuid": null, + "Code": "96", + "SupplyType": 1, + "Name": "8 x 12", + "SummaryName": null, + "Factory": null, + "LengthNum": null, + "WidthNum": null, + "HeightNum": 0.0, + "DepthNum": 0.0, + "PipetteHeight": null, + "HoleDiameter": null, + "Margins_X": null, + "Margins_Y": null, + "HoleColum": 12, + "HoleRow": 8, + "Volume": 0, + "ImagePath": null, + "CreateTime": null, + "UpdateTime": null, + "XSpacing": 9.0, + "YSpacing": 9.0, + "materialEnum": 0 + }, + "Adapter": null + }, + { + "Code": "T8", + "Number": 8, + "Row": 2, + "Col": 4, + "XPos": 0.0, + "YPos": 0.0, + "ZPos": 0.0, + "ZGradientPos": 0.0, + "XCenterPos": 0.0, + "YCenterPos": 0.0, + "X2Pos": 0.0, + "Y2Pos": 0.0, + "Z2Pos": 0.0, + "Z2GradientPos": 0.0, + "Z1ReverseImbibitionPos": 0.0, + "Z2ReverseImbibitionPos": 0.0, + "X2CenterPos": 0.0, + "Y2CenterPos": 0.0, + "Material": { + "uuid": null, + "Code": "96", + "SupplyType": 1, + "Name": "8 x 12", + "SummaryName": null, + "Factory": null, + "LengthNum": null, + "WidthNum": null, + "HeightNum": 0.0, + "DepthNum": 0.0, + "PipetteHeight": null, + "HoleDiameter": null, + "Margins_X": null, + "Margins_Y": null, + "HoleColum": 12, + "HoleRow": 8, + "Volume": 0, + "ImagePath": null, + "CreateTime": null, + "UpdateTime": 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