def tip_probe(self, instrument):
inst = instrument._instrument
log.info('Probing tip with {}'.format(instrument.name))
self._set_state('probing')
if ff.use_protocol_api_v2():
mount = Mount[instrument._instrument.mount.upper()]
assert instrument.tip_racks,\
'No known tipracks for {}'.format(instrument)
tip_length = inst._tip_length_for(
instrument.tip_racks[0]._container)
# TODO (tm, 2019-04-22): This warns "coroutine not awaited" in
# TODO: test. The test fixture probably needs to be modified to get
# TODO: a synchronous adapter instead of a raw hardware_control API
measured_center = self._hardware.locate_tip_probe_center(
mount, tip_length)
else:
measured_center = calibration_functions.probe_instrument(
instrument=inst, robot=inst.robot)
log.info('Measured probe top center: {0}'.format(measured_center))
if ff.use_protocol_api_v2():
self._hardware.update_instrument_offset(
Mount[instrument._instrument.mount.upper()],
from_tip_probe=measured_center)
config = self._hardware.config
else:
config = calibration_functions.update_instrument_config(
instrument=inst, measured_center=measured_center)
log.info('New config: {0}'.format(config))
self.move_to_front(instrument)
self._set_state('ready')
def tip_probe(self, instrument):
inst = instrument._instrument
log.info('Probing tip with {}'.format(instrument.name))
self._set_state('probing')
measured_center = calibration_functions.probe_instrument(
instrument=inst, robot=inst.robot)
log.debug('Measured probe top center: {0}'.format(measured_center))
config = calibration_functions.update_instrument_config(
instrument=inst, measured_center=measured_center)
log.info('New config: {0}'.format(config))
calibration_functions.move_instrument_for_probing_prep(
inst, inst.robot)
self._set_state('ready')
def test_update_instrument_config(fixture):
from opentrons.trackers.pose_tracker import change_base
from numpy import array
import json
robot = fixture.robot
inst = fixture.instrument
inst_offset = robot.config.instrument_offset[inst.mount][inst.type]
cfg = update_instrument_config(instrument=inst,
measured_center=(0.0, 0.0, 105.0))
new_tip_length = cfg.tip_length[inst.name]
new_instrument_offset = cfg.instrument_offset[inst.mount][inst.type]
assert new_tip_length == 55.0
assert new_instrument_offset == tuple(array(inst_offset) + (5.0, 5.0, 0.0))
assert tuple(change_base(
robot.poses,
src=inst,
dst=inst.instrument_mover)) == (5.0, 5.0, 0), \
"Expected instrument position to update relative to mover in pose tree"
filename = get_config_index().get('robotSettingsFile')
expected = dict(robot_configs._build_config({}, {})._asdict())
expected.pop('gantry_calibration')
expected['instrument_offset']['right']['single'] = [5.0, 5.0, 0.0]
expected['tip_length']['Pipette'] = 55.0
with open(filename, 'r') as file:
actual = json.load(file)
# from pprint import pprint
# print('=------> <------=')
# print("Expected:")
# pprint(expected)
# print()
# print("Actual:")
# pprint(actual)
# print()
assert actual == expected
