Canonicalize liquid_handler code

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -42,6 +42,7 @@ def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool =
             else:
                 self._simulate_backend = LiquidHandlerChatterboxBackend(channel_num)
             self._simulate_handler = LiquidHandlerAbstract(self._simulate_backend, deck, False)
+
         super().__init__(backend, deck)
 
     async def setup(self, **backend_kwargs):
@@ -549,16 +550,51 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
     support_touch_tip = True
     _ros_node: BaseROS2DeviceNode
 
-    def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8):
+    def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8,**backend_kwargs):
         """Initialize a LiquidHandler.
 
         Args:
           backend: Backend to use.
           deck: Deck to use.
         """
+        backend_type = None
+        if isinstance(backend, dict) and "type" in backend:
+            backend_dict = backend.copy()
+            type_str = backend_dict.pop("type")
+            try:
+                # Try to get class from string using globals (current module), or fallback to pylabrobot or unilabos namespaces
+                backend_cls = None
+                if type_str in globals():
+                    backend_cls = globals()[type_str]
+                else:
+                    # Try resolving dotted notation, e.g. "xxx.yyy.ClassName"
+                    components = type_str.split(".")
+                    mod = None
+                    if len(components) > 1:
+                        module_name = ".".join(components[:-1])
+                        try:
+                            import importlib
+                            mod = importlib.import_module(module_name)
+                        except ImportError:
+                            mod = None
+                        if mod is not None:
+                            backend_cls = getattr(mod, components[-1], None)
+                    if backend_cls is None:
+                        # Try pylabrobot style import (if available)
+                        try:
+                            import pylabrobot
+                            backend_cls = getattr(pylabrobot, type_str, None)
+                        except Exception:
+                            backend_cls = None
+                if backend_cls is not None and isinstance(backend_cls, type):
+                    backend_type = backend_cls(**backend_dict)  # pass the rest of dict as kwargs
+            except Exception as exc:
+                raise RuntimeError(f"Failed to convert backend type '{type_str}' to class: {exc}")
+        else:
+            backend_type = backend
         self._simulator = simulator
         self.group_info = dict()
-        super().__init__(backend, deck, simulator, channel_num)
+        super().__init__(backend_type, deck, simulator, channel_num,**backend_kwargs)
 
     def post_init(self, ros_node: BaseROS2DeviceNode):
         self._ros_node = ros_node

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -67,8 +67,37 @@ 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
-
+        self.slots = [None] * 12  # PRCXI 9300 有 6 个槽位
+        self.slot_locations = [
+        Coordinate(x=0.0, y=0.0, z=0.0),
+        Coordinate(x=132.5, y=0.0, z=0.0),
+        Coordinate(x=265.0, y=0.0, z=0.0),
+        Coordinate(x=0.0, y=90.5, z=0.0),
+        Coordinate(x=132.5, y=90.5, z=0.0),
+        Coordinate(x=265.0, y=90.5, z=0.0),
+        Coordinate(x=0.0, y=181.0, z=0.0),
+        Coordinate(x=132.5, y=181.0, z=0.0),
+        Coordinate(x=265.0, y=181.0, z=0.0),
+        Coordinate(x=0.0, y=271.5, z=0.0),
+        Coordinate(x=132.5, y=271.5, z=0.0),
+        Coordinate(x=265.0, y=271.5, z=0.0),
+        ]
+
+    def serialize(self):
+        super_serialized = super().serialize()
+        if hasattr(self, "slot_locations"):
+            super_serialized["sites"] = [
+                {
+                "label": str(i),
+                "visible": True,
+                "position": {"x": slot.x, "y": slot.y, "z": slot.z},
+                "size": {"width": 127.0, "height": 85.5, "depth":0},
+                "content_type": ["plate", "tip_rack", "tube_rack"],
+                } for i, slot in enumerate(self.slot_locations)
+            ]
+        print("----"*10)
+        print(super_serialized)
+        return super_serialized
 
 class PRCXI9300Container(Plate, TipRack):
     """PRCXI 9300 的专用 Container 类，继承自 Plate和TipRack。
@@ -149,6 +178,7 @@ def __init__(
         step_mode=False,
         matrix_id="",
         is_9320=False,
+        **kwargs,
     ):
         tablets_info = []
         count = 0

unilabos/registry/devices/laiyu_liquid.yaml

@@ -1361,7 +1361,8 @@ laiyu_liquid:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times: 0
+          mix_times:
+          - 0
           mix_vol: 0
           none_keys:
           - ''
@@ -1491,9 +1492,11 @@ laiyu_liquid:
                 mix_stage:
                   type: string
                 mix_times:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
+                  items:
+                    maximum: 2147483647
+                    minimum: -2147483648
+                    type: integer
+                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648

unilabos/registry/devices/liquid_handler.yaml

@@ -4019,7 +4019,8 @@ liquid_handler:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times: 0
+          mix_times:
+          - 0
           mix_vol: 0
           none_keys:
           - ''
@@ -4175,9 +4176,11 @@ liquid_handler:
                 mix_stage:
                   type: string
                 mix_times:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
+                  items:
+                    maximum: 2147483647
+                    minimum: -2147483648
+                    type: integer
+                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648
@@ -5037,7 +5040,8 @@ liquid_handler.biomek:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times: 0
+          mix_times:
+          - 0
           mix_vol: 0
           none_keys:
           - ''
@@ -5180,9 +5184,11 @@ liquid_handler.biomek:
                 mix_stage:
                   type: string
                 mix_times:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
+                  items:
+                    maximum: 2147483647
+                    minimum: -2147483648
+                    type: integer
+                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648
@@ -8876,6 +8882,8 @@ liquid_handler.prcxi:
             type: ''
         handles: {}
         placeholder_keys:
+          liquid_names: unilabos_resource_names
+          volumes: unilabos_resource_amounts
           wells: unilabos_resources
         result: {}
         schema:
@@ -9261,7 +9269,8 @@ liquid_handler.prcxi:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times: 0
+          mix_times:
+          - 0
           mix_vol: 0
           none_keys:
           - ''
@@ -9390,9 +9399,11 @@ liquid_handler.prcxi:
                 mix_stage:
                   type: string
                 mix_times:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
+                  items:
+                    maximum: 2147483647
+                    minimum: -2147483648
+                    type: integer
+                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648

unilabos/registry/resources/common/resource_container.yaml

@@ -31,6 +31,7 @@ hplc_plate:
   init_param_schema: {}
   model:
     mesh: hplc_plate/meshes/hplc_plate.stl
+    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
     mesh_tf:
     - 0
     - 0
@@ -126,6 +127,7 @@ plate_96_high:
   init_param_schema: {}
   model:
     mesh: plate_96_high/meshes/plate_96_high.stl
+    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
     mesh_tf:
     - 0
     - 0.086
@@ -186,6 +188,7 @@ tiprack_96_high:
     - 0
     - 0
     mesh: tiprack_96_high/meshes/tiprack_96_high.stl
+    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
     mesh_tf:
     - 0
     - 0.086
@@ -229,3 +232,60 @@ tiprack_box:
     type: resource
   registry_type: resource
   version: 1.0.0
+
+tiprack_box:
+  category:
+  - resource_container
+  class:
+    module: unilabos.devices.resource_container.container:TipRackContainer
+    type: python
+  description: 96针头盒
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  model:
+    children_mesh: tip/meshes/tip.stl
+    children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tip/modal.xacro
+    children_mesh_tf:
+    - 0.0045
+    - 0.0045
+    - 0
+    - 0
+    - 0
+    - 0
+    mesh: tiprack_box/meshes/tiprack_box.stl
+    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
+    mesh_tf:
+    - 0
+    - 0
+    - 0
+    - 0
+    - 0
+    - 0
+    type: resource
+  registry_type: resource
+  version: 1.0.0
+
+plate_96:
+  category:
+  - resource_container
+  class:
+    module: unilabos.devices.resource_container.container:PlateContainer
+    type: python
+  description: 96孔板
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  model:
+    mesh: plate_96/meshes/plate_96.stl
+    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
+    mesh_tf:
+    - 0
+    - 0
+    - 0
+    - 0
+    - 0
+    - 0
+    type: resource
+  registry_type: resource
+  version: 1.0.0

unilabos/registry/resources/laiyu/deck.yaml

@@ -14,3 +14,21 @@ TransformXYZDeck:
     type: device
   registry_type: resource
   version: 1.0.0
+
+TransformXYZDeck:
+  category:
+  - deck
+  class:
+    module: unilabos.devices.liquid_handling.laiyu.laiyu:TransformXYZDeck
+    type: pylabrobot
+  description: Laiyu deck
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  model:
+    mesh: liquid_transform_xyz
+    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/liquid_transform_xyz/macro_device.xacro
+    type: device
+  registry_type: resource
+  version: 1.0.0
+

unilabos/registry/resources/opentrons/plates.yaml

@@ -127,6 +127,7 @@ nest_96_wellplate_100ul_pcr_full_skirt:
     - 0
     - 0
     mesh: tecan_nested_tip_rack/meshes/plate.stl
+    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
     mesh_tf:
     - 0.064
     - 0.043
@@ -162,6 +163,7 @@ nest_96_wellplate_2ml_deep:
   init_param_schema: {}
   model:
     mesh: tecan_nested_tip_rack/meshes/plate.stl
+    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
     mesh_tf:
     - 0.064
     - 0.043

unilabos/registry/resources/opentrons/tip_racks.yaml

@@ -66,6 +66,7 @@ opentrons_96_filtertiprack_1000ul:
     - 0
     - 0
     mesh: tecan_nested_tip_rack/meshes/plate.stl
+    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
     mesh_tf:
     - 0.064
     - 0.043

unilabos/registry/resources/prcxi/plates.yaml

@@ -1,6 +1,6 @@
 prcxi_96_wellplate_360ul_flat:
   category:
-  - plates
+  - plate
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_res:prcxi_96_wellplate_360ul_flat
     type: pylabrobot

unilabos/registry/resources/prcxi/tip_racks.yaml

@@ -1,6 +1,6 @@
 prcxi_opentrons_96_tiprack_10ul:
   category:
-  - tip_racks
+  - tip_rack
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_res:prcxi_opentrons_96_tiprack_10ul
     type: pylabrobot
@@ -12,8 +12,7 @@ prcxi_opentrons_96_tiprack_10ul:
   version: 1.0.0
 tip_adaptor_1250ul_2:
   category:
-  - prcxi
-  - tip_racks
+  - tip_rack
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_materials:tip_adaptor_1250ul
     type: pylabrobot