def format_field(self, value, spec):
if spec.endswith('n'): # 'n' for number
precision = 2
if spec.startswith('.', 0, -1):
precision = int(spec[1:-1])
if is_finite_scalar(value):
factor = 1
abs_val = abs(value)
for i in range(precision):
no_decimals = int(abs_val * factor + 0.5)
scaled = abs_val * factor
if is_close(scaled, no_decimals):
precision = i
break
factor *= 10
fmt = f'{{:.{ precision }f}}'
result = fmt.format(value)
return result
elif hasattr(value, 'format'):
return value.format(format_spec="{0:%s}" % spec, formatter=self)
else:
return str(value)
return super().format_field(value, spec)
def dispense(self,
volume=None,
location=None,
rate=1.0,
full_dispense: bool = False,
top_clearance=None,
bottom_clearance=None,
manual_liquid_volume_allowance=None):
if not helpers.is_number(volume): # recapitulate super
if volume and not location:
location = volume
volume = self._working_volume - self.current_volume
location = location if location else self.previous_placeable
well, _ = well_vector(location)
if top_clearance is None:
if tls.dispense_params_transfer:
top_clearance = tls.dispense_params_transfer.top_clearance_transfer
if top_clearance is None:
top_clearance = self.config.dispense.top_clearance
if bottom_clearance is None:
if tls.dispense_params_transfer:
bottom_clearance = tls.dispense_params_transfer.bottom_clearance_transfer
if bottom_clearance is None:
bottom_clearance = self.config.dispense.bottom_clearance
if manual_liquid_volume_allowance is None:
if tls.dispense_params_transfer:
manual_liquid_volume_allowance = tls.dispense_params_transfer.manual_manufacture_tolerance_transfer
if manual_liquid_volume_allowance is None:
manual_liquid_volume_allowance = self.config.dispense.manual_liquid_volume_allowance
if is_close(volume, self.current_volume
): # avoid finicky floating-point precision issues
volume = self.current_volume
location = self._adjust_location_to_liquid_top(
location=location,
aspirate_volume=None,
top_clearance=top_clearance,
bottom_clearance=bottom_clearance,
manual_liquid_volume_allowance=manual_liquid_volume_allowance)
with DispenseParams():
tls.dispense_params.full_dispense_from_dispense = full_dispense
def call_super():
super(EnhancedPipette, self).dispense(volume=volume,
location=location,
rate=rate)
self._update_pose_tree_in_place(call_super)
if tls.dispense_params.fully_dispensed:
assert self.current_volume == 0
if self.current_volume == 0:
pass # nothing to do: the next self._position_for_aspirate will reposition for us: 'if pipette is currently empty, ensure the plunger is at "bottom"'
else:
raise NotImplementedError
# track volume
well, __ = well_vector(location)
well.liquid_volume.dispense(volume)
def dispense(
self,
volume=None,
location=None,
rate=1.0,
# remainder are added params
full_dispense: bool = False,
top_clearance=None,
bottom_clearance=None,
manual_liquid_volume_allowance=None):
# figure out where we're dispensing to
# recapitulate super
if isinstance(location, WellV2):
if 'fixedTrash' in quirks_from_any_parent(location):
loc = location.top()
else:
point, well = location.bottom()
loc = types.Location(
point +
types.Point(0, 0, self.well_bottom_clearance.dispense),
well)
self.move_to(loc)
elif isinstance(location, types.Location):
loc = location
self.move_to(location)
elif location is not None:
raise TypeError(
'location should be a Well or Location, but it is {}'.format(
location))
elif self._ctx.location_cache:
loc = self._ctx.location_cache
else:
raise RuntimeError(
"If dispense is called without an explicit location, another method that moves to a location (such as move_to or aspirate) must previously have been called so the robot knows where it is."
)
location = loc # no need for new variable
assert isinstance(location, types.Location)
point, well = location
if top_clearance is None:
if tls.dispense_params_transfer:
top_clearance = tls.dispense_params_transfer.top_clearance_transfer
if top_clearance is None:
top_clearance = self.well_top_clearance.dispense
if bottom_clearance is None:
if tls.dispense_params_transfer:
bottom_clearance = tls.dispense_params_transfer.bottom_clearance_transfer
if bottom_clearance is None:
bottom_clearance = self.well_bottom_clearance.dispense
if manual_liquid_volume_allowance is None:
if tls.dispense_params_transfer:
manual_liquid_volume_allowance = tls.dispense_params_transfer.manual_manufacture_tolerance_transfer
if manual_liquid_volume_allowance is None:
manual_liquid_volume_allowance = self.config.dispense.manual_liquid_volume_allowance
if is_close(volume, self.current_volume
): # avoid finicky floating-point precision issues
volume = self.current_volume
location = self._adjust_location_to_liquid_top(
location=location,
aspirate_volume=None,
top_clearance=top_clearance,
bottom_clearance=bottom_clearance,
manual_liquid_volume_allowance=manual_liquid_volume_allowance)
with DispenseParams():
tls.dispense_params.full_dispense_from_dispense = full_dispense
def call_super():
super(EnhancedPipette, self).dispense(volume=volume,
location=location,
rate=rate)
self.use_self_while(call_super)
if tls.dispense_params.fully_dispensed:
assert self.current_volume == 0
if self.current_volume == 0:
pass # nothing to do: the next self._position_for_aspirate will reposition for us: 'if pipette is currently empty, ensure the plunger is at "bottom"'
else:
raise NotImplementedError
# track volume
well.liquid_volume.dispense(volume)
def do_layer(y_layer):
return y_layer <= y_max or is_close(y_layer, y_max)
def test(v, scale):
return not is_close(int(v * scale + 0.5), 0)