def __init__(self, hardware, loop=None, broker=None, lock=None):
self._broker = broker or Broker()
self._hardware = hardware
self._loop = loop
self.state = None
self._lock = lock
self._has_homed = False
def __init__(
self,
protocol: UploadedProtocol,
loop: asyncio.AbstractEventLoop,
hardware: ThreadManager,
motion_lock: ThreadedAsyncLock,
):
"""Constructor"""
self._protocol = protocol
self._loop = loop
self._hardware = hardware
self._motion_lock = motion_lock
self._session: typing.Optional[ApiProtocolSession] = None
self._broker = Broker()
self._broker.subscribe(command_types.COMMAND, self._on_message)
self._broker.subscribe(ApiProtocolSession.TOPIC, self._on_message)
self._listeners: typing.List[ListenerType] = []
def __init__(self, hardware, loop=None, broker=None, lock=None):
self._broker = broker or Broker()
self._loop = loop or asyncio.get_event_loop()
self.session = None
self._session_lock = False
self._hardware = hardware
self._command_logger = logging.getLogger(
'opentrons.server.command_logger')
self._broker.set_logger(self._command_logger)
self._motion_lock = lock
def __init__(self, hardware=None, loop=None, lock=None):
topics = [Session.TOPIC, CalibrationManager.TOPIC]
self._broker = Broker()
self._notifications = Notifications(topics, self._broker, loop=loop)
if hardware:
hardware = adapters.SynchronousAdapter(hardware)
self.session_manager = SessionManager(hardware=hardware,
loop=loop,
broker=self._broker,
lock=lock)
self.calibration_manager = CalibrationManager(hardware=hardware,
loop=loop,
broker=self._broker,
lock=lock)
def __init__(self, hardware=None, loop=None, lock=None):
topics = [Session.TOPIC, CalibrationManager.TOPIC]
self._broker = Broker()
self._notifications = Notifications(topics, self._broker, loop=loop)
checked_hw = None
if hardware:
checked_hw = hardware.sync
self.session_manager = SessionManager(hardware=checked_hw,
loop=loop,
broker=self._broker,
lock=lock)
self.calibration_manager = CalibrationManager(hardware=checked_hw,
loop=loop,
broker=self._broker,
lock=lock)
def __init__(self, broker):
self._broker = broker or Broker()
class ProtocolRunner:
"""A class that runs an UploadedProtocol.
Protocols are run and simulated synchronously. A listener callback can
be provided for inspecting and control flow of the protocol execution."""
def __init__(
self,
protocol: UploadedProtocol,
loop: asyncio.AbstractEventLoop,
hardware: ThreadManager,
motion_lock: ThreadedAsyncLock,
):
"""Constructor"""
self._protocol = protocol
self._loop = loop
self._hardware = hardware
self._motion_lock = motion_lock
self._session: typing.Optional[ApiProtocolSession] = None
self._broker = Broker()
self._broker.subscribe(command_types.COMMAND, self._on_message)
self._broker.subscribe(ApiProtocolSession.TOPIC, self._on_message)
self._listeners: typing.List[ListenerType] = []
def add_listener(self, listener: ListenerType):
"""Add a command listener"""
self._listeners.append(listener)
def remove_listener(self, listener: ListenerType):
"""Remove a command listener"""
self._listeners.remove(listener)
def load(self):
"""Create and simulate the api protocol session"""
with ProtocolRunnerContext(self._protocol):
self._session = ApiProtocolSession.build_and_prep(
name=self._protocol.meta.protocol_file.path.name,
contents=self._protocol.get_contents(),
hardware=self._hardware,
loop=self._loop,
broker=self._broker,
motion_lock=self._motion_lock,
# TODO Amit 8/3/2020 - need an answer for custom labware
extra_labware={})
def run(self):
"""Run the protocol"""
if self._session:
with ProtocolRunnerContext(self._protocol):
self._session.run()
def simulate(self):
"""Simulate the protocol"""
if self._session:
with ProtocolRunnerContext(self._protocol):
self._session.refresh()
def cancel(self):
"""Cancel running"""
if self._session:
self._session.stop()
def pause(self):
"""Pause running"""
if self._session:
self._session.pause()
def resume(self):
"""Resume running"""
if self._session:
self._session.resume()
def _on_message(self, msg):
"""Dispatch the events"""
for listener in self._listeners:
listener(msg)