diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index 46a42346..02ef20d1 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -1,10 +1,12 @@ import asyncio import collections +from collections import OrderedDict import contextlib import json import os import socket import time +import uuid from typing import Any, List, Dict, Optional, Tuple, TypedDict, Union, Sequence, Iterator, Literal from pylabrobot.liquid_handling.standard import GripDirection @@ -28,7 +30,7 @@ ResourceMove, ResourceDrop, ) -from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash +from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, PlateAdapter, TubeRack from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract, SimpleReturn from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode @@ -69,7 +71,35 @@ class PRCXI9300Deck(Deck): def __init__(self, name: str, size_x: float, size_y: float, size_z: float, **kwargs): super().__init__(name, size_x, size_y, size_z) self.slots = [None] * 6 # PRCXI 9300 有 6 个槽位 +class PRCXI9300Container(Plate): + """PRCXI 9300 的专用 Container 类，继承自 Plate，用于槽位定位和未知模块。 + 该类定义了 PRCXI 9300 的工作台布局和槽位信息。 + """ + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + category: str, + ordering: collections.OrderedDict, + model: Optional[str] = None, + **kwargs, + ): + super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model) + self._unilabos_state = {} + + def load_state(self, state: Dict[str, Any]) -> None: + """从给定的状态加载工作台信息。""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + data = super().serialize_state() + data.update(self._unilabos_state) + return data class PRCXI9300Plate(Plate): """ 专用孔板类： @@ -83,11 +113,43 @@ def __init__(self, name: str, size_x: float, size_y: float, size_z: float, model: Optional[str] = None, material_info: Optional[Dict[str, Any]] = None, **kwargs): - items = ordered_items if ordered_items is not None else ordering - super().__init__(name, size_x, size_y, size_z, - ordered_items=items, - category=category, - model=model, **kwargs) + # 如果 ordered_items 不为 None，直接使用 + if ordered_items is not None: + items = ordered_items + elif ordering is not None: + # 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况） + # 如果是字符串，说明这是位置名称，需要让 Plate 自己创建 Well 对象 + # 我们只传递位置信息（键），不传递值，使用 ordering 参数 + if ordering and isinstance(next(iter(ordering.values()), None), str): + # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict + # 传递 ordering 参数而不是 ordered_items，让 Plate 自己创建 Well 对象 + items = None + # 使用 ordering 参数，只包含位置信息（键） + ordering_param = collections.OrderedDict((k, None) for k in ordering.keys()) + else: + # ordering 的值已经是对象，可以直接使用 + items = ordering + ordering_param = None + else: + items = None + ordering_param = None + + # 根据情况传递不同的参数 + if items is not None: + super().__init__(name, size_x, size_y, size_z, + ordered_items=items, + category=category, + model=model, **kwargs) + elif ordering_param is not None: + # 传递 ordering 参数，让 Plate 自己创建 Well 对象 + super().__init__(name, size_x, size_y, size_z, + ordering=ordering_param, + category=category, + model=model, **kwargs) + else: + super().__init__(name, size_x, size_y, size_z, + category=category, + model=model, **kwargs) self._unilabos_state = {} if material_info: @@ -124,8 +186,7 @@ def serialize_state(self) -> Dict[str, Dict[str, Any]]: safe_state[k] = v data.update(safe_state) - return data - + return data # 其他顶层属性也进行类型检查 class PRCXI9300TipRack(TipRack): """ 专用吸头盒类 """ def __init__(self, name: str, size_x: float, size_y: float, size_z: float, @@ -135,11 +196,43 @@ def __init__(self, name: str, size_x: float, size_y: float, size_z: float, model: Optional[str] = None, material_info: Optional[Dict[str, Any]] = None, **kwargs): - items = ordered_items if ordered_items is not None else ordering - super().__init__(name, size_x, size_y, size_z, - ordered_items=items, - category=category, - model=model, **kwargs) + # 如果 ordered_items 不为 None，直接使用 + if ordered_items is not None: + items = ordered_items + elif ordering is not None: + # 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况） + # 如果是字符串，说明这是位置名称，需要让 TipRack 自己创建 Tip 对象 + # 我们只传递位置信息（键），不传递值，使用 ordering 参数 + if ordering and isinstance(next(iter(ordering.values()), None), str): + # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict + # 传递 ordering 参数而不是 ordered_items，让 TipRack 自己创建 Tip 对象 + items = None + # 使用 ordering 参数，只包含位置信息（键） + ordering_param = collections.OrderedDict((k, None) for k in ordering.keys()) + else: + # ordering 的值已经是对象，可以直接使用 + items = ordering + ordering_param = None + else: + items = None + ordering_param = None + + # 根据情况传递不同的参数 + if items is not None: + super().__init__(name, size_x, size_y, size_z, + ordered_items=items, + category=category, + model=model, **kwargs) + elif ordering_param is not None: + # 传递 ordering 参数，让 TipRack 自己创建 Tip 对象 + super().__init__(name, size_x, size_y, size_z, + ordering=ordering_param, + category=category, + model=model, **kwargs) + else: + super().__init__(name, size_x, size_y, size_z, + category=category, + model=model, **kwargs) self._unilabos_state = {} if material_info: self._unilabos_state["Material"] = material_info @@ -235,16 +328,53 @@ def __init__(self, name: str, size_x: float, size_y: float, size_z: float, category: str = "tube_rack", items: Optional[Dict[str, Any]] = None, ordered_items: Optional[OrderedDict] = None, + ordering: Optional[OrderedDict] = None, model: Optional[str] = None, material_info: Optional[Dict[str, Any]] = None, **kwargs): - # 兼容处理：PLR 的 TubeRack 构造函数可能接受 items 或 ordered_items - items_to_pass = items if items is not None else ordered_items - super().__init__(name, size_x, size_y, size_z, - ordered_items=ordered_items, - model=model, - **kwargs) + # 如果 ordered_items 不为 None，直接使用 + if ordered_items is not None: + items_to_pass = ordered_items + ordering_param = None + elif ordering is not None: + # 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况） + # 如果是字符串，说明这是位置名称，需要让 TubeRack 自己创建 Tube 对象 + # 我们只传递位置信息（键），不传递值，使用 ordering 参数 + if ordering and isinstance(next(iter(ordering.values()), None), str): + # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict + # 传递 ordering 参数而不是 ordered_items，让 TubeRack 自己创建 Tube 对象 + items_to_pass = None + # 使用 ordering 参数，只包含位置信息（键） + ordering_param = collections.OrderedDict((k, None) for k in ordering.keys()) + else: + # ordering 的值已经是对象，可以直接使用 + items_to_pass = ordering + ordering_param = None + elif items is not None: + # 兼容旧的 items 参数 + items_to_pass = items + ordering_param = None + else: + items_to_pass = None + ordering_param = None + + # 根据情况传递不同的参数 + if items_to_pass is not None: + super().__init__(name, size_x, size_y, size_z, + ordered_items=items_to_pass, + model=model, + **kwargs) + elif ordering_param is not None: + # 传递 ordering 参数，让 TubeRack 自己创建 Tube 对象 + super().__init__(name, size_x, size_y, size_z, + ordering=ordering_param, + model=model, + **kwargs) + else: + super().__init__(name, size_x, size_y, size_z, + model=model, + **kwargs) self._unilabos_state = {} if material_info: diff --git a/unilabos/test/experiments/prcxi_9320_with_res_test.json b/unilabos/test/experiments/prcxi_9320_with_res_test.json index 6d98a0df..8008013a 100644 --- a/unilabos/test/experiments/prcxi_9320_with_res_test.json +++ b/unilabos/test/experiments/prcxi_9320_with_res_test.json @@ -812,7 +812,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300TipRack", "size_x": 127, "size_y": 85.5, "size_z": 10, @@ -6515,7 +6515,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300Plate", "size_x": 127, "size_y": 85.5, "size_z": 10, @@ -10587,7 +10587,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300TipRack", "size_x": 127, "size_y": 85.5, "size_z": 10, @@ -16291,7 +16291,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300Plate", "size_x": 127, "size_y": 85.5, "size_z": 10, @@ -20365,7 +20365,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300Plate", "size_x": 127, "size_y": 85.5, "size_z": 10, @@ -24438,7 +24438,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300Plate", "size_x": 127, "size_y": 85.5, "size_z": 10, @@ -28512,7 +28512,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300Plate", "size_x": 127, "size_y": 85.5, "size_z": 10, @@ -32585,7 +32585,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300Plate", "size_x": 127, "size_y": 85.5, "size_z": 10, @@ -36658,7 +36658,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300Plate", "size_x": 127, "size_y": 85.5, "size_z": 10,