Add PRCXi liquid handler

unilabos/devices/liquid_handling/prcxi.py

@@ -0,0 +1,320 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+prcxi9300.py – 完整版 PRCXI 9300 Python SDK（支持新增方案）
+"""
+
+import socket, json, contextlib
+from typing import Any, List, Dict, Optional
+
+
+class PRCXIError(RuntimeError):
+    """Lilith 返回 Success=false 时抛出的业务异常"""
+
+
+class PRCXI9300:
+    # ---------------------------------------------------- 基础初始化
+    def __init__(self, host: str = "127.0.0.1", port: int = 9999,
+                 timeout: float = 10.0) -> None:
+        self.host, self.port, self.timeout = host, port, timeout
+
+    # ---------------------------------------------------- 公共底座
+    @staticmethod
+    def _len_prefix(n: int) -> bytes:
+        return bytes.fromhex(format(n, "016x"))
+
+    def _raw_request(self, payload: str) -> str:
+        with contextlib.closing(socket.socket()) as sock:
+            sock.settimeout(self.timeout)
+            sock.connect((self.host, self.port))
+            data = payload.encode()
+            sock.sendall(self._len_prefix(len(data)) + data)
+
+            chunks, first = [], True
+            while True:
+                chunk = sock.recv(4096)
+                if not chunk:
+                    break
+                if first:
+                    chunk, first = chunk[8:], False  # 去掉首8字节长度
+                chunks.append(chunk)
+            return b"".join(chunks).decode()
+
+    def _call(self, service: str, method: str,
+              params: Optional[list] = None) -> Any:
+        payload = json.dumps(
+            {"ServiceName": service,
+             "MethodName": method,
+             "Paramters": params or []},
+            separators=(",", ":")
+        )
+        resp = json.loads(self._raw_request(payload))
+        if not resp.get("Success", False):
+            raise PRCXIError(resp.get("Msg", "Unknown error"))
+        data = resp.get("Data")
+        try:
+            return json.loads(data)
+        except (TypeError, json.JSONDecodeError):
+            return data
+
+    # ---------------------------------------------------- 方案相关（ISolution）
+    def list_solutions(self) -> List[Dict[str, Any]]:
+        """GetSolutionList"""
+        return self._call("ISolution", "GetSolutionList")
+
+    def load_solution(self, solution_id: str) -> bool:
+        """LoadSolution"""
+        return self._call("ISolution", "LoadSolution", [solution_id])
+
+    def add_solution(self, name: str, matrix_id: str,
+                     steps: List[Dict[str, Any]]) -> str:
+        """AddSolution → 返回新方案 GUID"""
+        return self._call("ISolution", "AddSolution",
+                          [name, matrix_id, steps])
+
+    # ---------------------------------------------------- 自动化控制（IAutomation）
+    def start(self) -> bool:
+        return self._call("IAutomation", "Start")
+
+    def stop(self) -> bool:
+        """Stop"""
+        return self._call("IAutomation", "Stop")
+
+    def reset(self) -> bool:
+        """Reset"""
+        return self._call("IAutomation", "Reset")
+
+    def pause(self) -> bool:
+        """Pause"""
+        return self._call("IAutomation", "Pause")
+
+    def resume(self) -> bool:
+        """Resume"""
+        return self._call("IAutomation", "Resume")
+
+    def get_error_code(self) -> Optional[str]:
+        """GetErrorCode"""
+        return self._call("IAutomation", "GetErrorCode")
+
+    def clear_error_code(self) -> bool:
+        """RemoveErrorCodet"""
+        return self._call("IAutomation", "RemoveErrorCodet")
+
+    # ---------------------------------------------------- 运行状态（IMachineState）
+    def step_state_list(self) -> List[Dict[str, Any]]:
+        """GetStepStateList"""
+        return self._call("IMachineState", "GetStepStateList")
+
+    def step_status(self, seq_num: int) -> Dict[str, Any]:
+        """GetStepStatus"""
+        return self._call("IMachineState", "GetStepStatus", [seq_num])
+
+    def step_state(self, seq_num: int) -> Dict[str, Any]:
+        """GetStepState"""
+        return self._call("IMachineState", "GetStepState", [seq_num])
+
+    def axis_location(self, axis_num: int = 1) -> Dict[str, Any]:
+        """GetLocation"""
+        return self._call("IMachineState", "GetLocation", [axis_num])
+
+    # ---------------------------------------------------- 版位矩阵（IMatrix）
+    def list_matrices(self) -> List[Dict[str, Any]]:
+        """GetWorkTabletMatrices"""
+        return self._call("IMatrix", "GetWorkTabletMatrices")
+
+    def matrix_by_id(self, matrix_id: str) -> Dict[str, Any]:
+        """GetWorkTabletMatrixById"""
+        return self._call("IMatrix", "GetWorkTabletMatrixById", [matrix_id])
+
+    # ---------------------------------------------------- 辅助：一键运行
+    def run_solution(self, solution_id: str, channel_idx: int = 1) -> None:
+        self.load_solution(solution_id)
+        self.start(channel_idx)
+
+
+# ---------------------------------------------------- 辅助类 StepData 工具
+def build_step(
+    axis: str,
+    function: str,
+    dosage: int,
+    plate_no: int,
+    is_whole_plate: bool,
+    hole_row: int,
+    hole_col: int,
+    blending_times: int,
+    balance_height: int,
+    plate_or_hole: str,
+    hole_numbers: str,
+    assist_fun1: str = "",
+    assist_fun2: str = "",
+    assist_fun3: str = "",
+    assist_fun4: str = "",
+    assist_fun5: str = "",
+    liquid_method: str = "NormalDispense"
+) -> Dict[str, Any]:
+    return {
+        "StepAxis": axis,
+        "Function": function,
+        "DosageNum": dosage,
+        "PlateNo": plate_no,
+        "IsWholePlate": is_whole_plate,
+        "HoleRow": hole_row,
+        "HoleCol": hole_col,
+        "BlendingTimes": blending_times,
+        "BalanceHeight": balance_height,
+        "PlateOrHoleNum": plate_or_hole,
+        "AssistFun1": assist_fun1,
+        "AssistFun2": assist_fun2,
+        "AssistFun3": assist_fun3,
+        "AssistFun4": assist_fun4,
+        "AssistFun5": assist_fun5,
+        "HoleNumbers": hole_numbers,
+        "LiquidDispensingMethod": liquid_method
+    }
+
+if __name__ == "__main__":
+    # 连接
+    # client = PRCXI9300("192.168.43.236", 9999)
+    client = PRCXI9300("10.10.35.80", 9999)
+
+
+    # 获取方案
+    solutions = client.list_solutions()
+    print(solutions)
+
+    # client.reset()
+
+    solutions = client.list_solutions()
+    if not solutions:
+        raise RuntimeError("未获取到任何方案")
+
+    solution_id = solutions[0]["Id"]  # ✅ 这是方案 Id
+    client.load_solution(solution_id)
+    client.start()  # 默认通道 1
+#
+#     #
+#     # # 查询状态
+#     # steps = client.step_state_list()
+#     # for step in steps:
+#     #     print(f"Step {step['SequenceNumber']} status: {step['ProcessState']}")
+#     #
+#     # # 暂停/继续/停止
+#     # client.pause()
+#     # client.resume()
+#     # client.stop()
+#     # client.reset()
+#     #
+#     # # 错误码处理
+#     # error = client.get_error_code()
+#     # print(f"Error code: {error}")
+#     # client.clear_error_code()
+#     #
+#     # # 新增方案
+#     # steps = [
+#     #     build_step("Left", "Load", 0, 1, False, 1, 1, 0, 0, "H1-8,T1", "1,2,3,4,5,6,7,8"),
+#     #     build_step("Left", "Imbibing", 10, 2, True, 1, 1, 0, 0, "T2", "1"),
+#     #     build_step("Left", "Tapping", 10, 4, False, 1, 1, 0, 0, "H1-8,T4", "1,2,3,4,5,6,7,8"),
+#     #     build_step("Left", "Blending", 10, 3, True, 1, 1, 5, 0, "T3", "1"),
+#     #     build_step("Left", "UnLoad", 0, 1, False, 1, 1, 0, 0, "H1-8,T1", "1,2,3,4,5,6,7,8")
+#     # ]
+#     # matrix_list = client.list_matrices()
+#     # matrix_id = matrix_list[0]['MatrixId']
+#     # #
+#     # new_solution_id = client.add_solution(f"test_solution", matrix_id, steps)
+#     # print(f"New solution created: {new_solution_id}")
+#
+#     import time
+#
+#     # 建立连接
+#     client = PRCXI9300("192.168.43.236", 9999)
+#
+#     # 定义步骤列表
+#     steps = [
+#         build_step("Left", "Load", 0, 1, False, 1, 1, 0, 0, "H1-8,T1", "1,2,3,4,5,6,7,8"),
+#         build_step("Left", "Imbibing", 10, 2, True, 1, 1, 0, 0, "T2", "1"),
+#         build_step("Left", "Tapping", 10, 4, False, 1, 1, 0, 0, "H1-8,T4", "1,2,3,4,5,6,7,8"),
+#         build_step("Left", "Blending", 10, 3, True, 1, 1, 5, 0, "T3", "1"),
+#         build_step("Left", "UnLoad", 0, 1, False, 1, 1, 0, 0, "H1-8,T1", "1,2,3,4,5,6,7,8")
+#     ]
+#
+#     # 获取可用矩阵 ID
+#     matrix_list = client.list_matrices()
+#     if not matrix_list:
+#         raise RuntimeError("未获取到任何矩阵 MatrixId")
+#     matrix_id = matrix_list[0]['MatrixId']
+#
+#     # 创建方案
+#     plan_name = f"test_solution_{int(time.time())}"  # 确保唯一名称
+#     new_solution_id = client.add_solution(plan_name, matrix_id, steps)
+#     print(f"✅ 新增方案: {new_solution_id}（名称: {plan_name}）")
+#
+#     # 加载并运行方案
+#     print("🚀 加载并启动方案 ...")
+#     client.load_solution(new_solution_id)
+#     client.start()
+#
+#     # 可选：延时几秒后查看状态
+#     time.sleep(3)
+#     print("📋 步骤运行状态：")
+#     for step in client.step_state_list():
+#         print(f"Step {step['SequenceNumber']} 状态: {step['ProcessState']}")
+
+# if __name__ == "__main__":
+#     import time
+#
+#     # 建立连接
+#     client = PRCXI9300("10.10.35.80", 9999)
+#
+#     # 定义步骤列表
+#     steps = [
+#         build_step("Left", "Load", 0, 1, False, 1, 1, 0, 0, "H1-8,T1", "1,2,3,4,5,6,7,8"),
+#         build_step("Left", "Imbibing", 10, 2, True, 1, 1, 0, 0, "T2", "1"),
+#         build_step("Left", "Tapping", 10, 4, False, 1, 1, 0, 0, "H1-8,T4", "1,2,3,4,5,6,7,8"),
+#         build_step("Left", "Blending", 10, 3, True, 1, 1, 5, 0, "T3", "1"),
+#         build_step("Left", "UnLoad", 0, 1, False, 1, 1, 0, 0, "H1-8,T1", "1,2,3,4,5,6,7,8")
+#     ]
+#
+#     # 获取可用矩阵 ID
+#     matrix_list = client.list_matrices()
+#     if not matrix_list:
+#         raise RuntimeError("❌ 未获取到任何矩阵 MatrixId")
+#     matrix_id = matrix_list[0].get("MatrixId")
+#     print(f"✅ 获取矩阵 ID: {matrix_id}")
+#
+#     # 创建方案
+#     plan_name = f"test_solution_{int(time.time())}"
+#     try:
+#         new_solution_id = client.add_solution(plan_name, matrix_id, steps)
+#         assert new_solution_id, "方案创建失败，返回空 ID"
+#         print(f"✅ 新增方案成功: {plan_name}, ID: {new_solution_id}")
+#     except Exception as e:
+#         print(f"❌ 方案创建失败: {e}")
+#         raise
+#
+#     # 加载方案
+#     try:
+#         load_ok = client.load_solution(new_solution_id)
+#         assert load_ok, "加载方案失败"
+#         print("✅ 加载方案成功")
+#     except Exception as e:
+#         print(f"❌ 加载方案失败: {e}")
+#         raise
+#
+#     # 启动方案
+#     try:
+#         start_ok = client.start()
+#         assert start_ok, "启动方案失败"
+#         print("✅ 方案已启动")
+#     except Exception as e:
+#         print(f"❌ 启动失败: {e}")
+#         raise
+#
+#     # 等待设备反馈后获取状态
+#     time.sleep(3)
+#     try:
+#         steps_status = client.step_state_list()
+#         print(f"📋 共加载步骤: {len(steps_status)} 个")
+#         for step in steps_status:
+#             print(f"→ Step {step['SequenceNumber']} 状态: {step['ProcessState']}")
+#     except Exception as e:
+#         print(f"⚠️ 获取步骤状态失败: {e}")