def get_attached_pipettes(self):
"""
Gets model names of attached pipettes
:return: :dict with keys 'left' and 'right' and a model string for each
mount, or 'uncommissioned' if no model string available
"""
left_data = {
'mount_axis': 'z',
'plunger_axis': 'b',
'model': self.model_by_mount['left'],
}
left_model = left_data.get('model')
if left_model:
tip_length = pipette_config.load(left_model).tip_length
left_data.update({'tip_length': tip_length})
right_data = {
'mount_axis': 'a',
'plunger_axis': 'c',
'model': self.model_by_mount['right']
}
right_model = right_data.get('model')
if right_model:
tip_length = pipette_config.load(right_model).tip_length
right_data.update({'tip_length': tip_length})
return {'left': left_data, 'right': right_data}
def set_current_mount(attached_pipettes):
"""
Choose the pipette in which to execute commands. If there is no pipette,
or it is uncommissioned, the pipette is not mounted.
:attached_pipettes attached_pipettes: Information obtained from the current
pipettes attached to the robot. This looks like the following:
:dict with keys 'left' and 'right' and a model string for each
mount, or 'uncommissioned' if no model string available
:return: The selected pipette
"""
global session
left = attached_pipettes.get('left')
right = attached_pipettes.get('right')
left_pipette = None
right_pipette = None
pipette = None
model = None
if left['model'] in pipette_config.configs:
pip_config = pipette_config.load(left['model'])
left_pipette = instruments._create_pipette_from_config(
mount='left', config=pip_config)
if right['model'] in pipette_config.configs:
pip_config = pipette_config.load(right['model'])
right_pipette = instruments._create_pipette_from_config(
mount='right', config=pip_config)
if right_pipette and right_pipette.channels == 1:
session.current_mount = 'A'
pipette = right_pipette
model = right['model']
elif left_pipette and left_pipette.channels == 1:
session.current_mount = 'Z'
pipette = left_pipette
model = left['model']
else:
if right_pipette:
session.current_mount = 'A'
pipette = right_pipette
model = right['model']
elif left_pipette:
session.current_mount = 'Z'
pipette = left_pipette
model = left['model']
return {'pipette': pipette, 'model': model}
async def test_get_pipettes(virtual_smoothie_env, loop, test_client,
monkeypatch):
test_model = 'p300_multi_v1'
def dummy_read_model(mount):
return test_model
monkeypatch.setattr(robot._driver, 'read_pipette_model', dummy_read_model)
robot.reset()
app = init(loop)
cli = await loop.create_task(test_client(app))
model = pipette_config.load(test_model)
expected = {
'left': {
'model': model.name,
'tip_length': model.tip_length,
'mount_axis': 'z',
'plunger_axis': 'b'
},
'right': {
'model': model.name,
'tip_length': model.tip_length,
'mount_axis': 'a',
'plunger_axis': 'c'
}
}
resp = await cli.get('/pipettes?refresh=true')
text = await resp.text()
assert resp.status == 200
assert json.loads(text) == expected
def test_all_pipette_models_can_transfer():
from opentrons.instruments import pipette_config
models = [
'p10_single', 'p10_multi', 'p50_single', 'p50_multi', 'p300_single',
'p300_multi', 'p1000_single'
]
for m in models:
robot.reset()
left = instruments._create_pipette_from_config(
config=pipette_config.load(m + '_v1'), mount='left')
right = instruments._create_pipette_from_config(
config=pipette_config.load(m + '_v1.3'), mount='right')
left.tip_attached = True
right.tip_attached = True
left.aspirate().dispense()
right.aspirate().dispense()
def load_pipettes(protocol_data):
pipettes = protocol_data.get('pipettes', {})
pipettes_by_id = {}
for pipette_id, props in pipettes.items():
model = props.get('model')
mount = props.get('mount')
config = pipette_config.load(model)
pipettes_by_id[pipette_id] = instruments._create_pipette_from_config(
config=config, mount=mount)
return pipettes_by_id
def test_pipette_models_reach_max_volume():
from opentrons.instruments import pipette_config
for model in pipette_config.configs:
config = pipette_config.load(model)
robot.reset()
pipette = instruments._create_pipette_from_config(config=config,
mount='right')
pipette.tip_attached = True
pipette.aspirate(pipette.max_volume)
pos = pose_tracker.absolute(robot.poses, pipette.instrument_actuator)
assert pos[0] < pipette.plunger_positions['top']
def _fetch_or_create_pipette(mount, model=None):
existing_pipettes = robot.get_instruments()
pipette = None
for existing_mount, existing_pipette in existing_pipettes:
if existing_mount == mount:
pipette = existing_pipette
if pipette is None:
if model is None:
pipette = instruments.Pipette(mount=mount)
else:
config = pipette_config.load(model)
pipette = instruments._create_pipette_from_config(config=config,
mount=mount)
return pipette
def test_pipette_version_1_0_and_1_3_extended_travel():
from opentrons.instruments import pipette_config
models = [
'p10_single', 'p10_multi', 'p50_single', 'p50_multi', 'p300_single',
'p300_multi', 'p1000_single'
]
for m in models:
robot.reset()
left = instruments._create_pipette_from_config(
config=pipette_config.load(m + '_v1'), mount='left')
right = instruments._create_pipette_from_config(
config=pipette_config.load(m + '_v1.3'), mount='right')
# the difference between v1 and v1.3 is that the plunger's travel
# distance extended, allowing greater ranges for aspirate/dispense
# and blow-out. Test that all v1.3 pipette have larger travel thant v1
left_poses = left.plunger_positions
left_diff = left_poses['top'] - left_poses['blow_out']
right_poses = right.plunger_positions
right_diff = right_poses['top'] - right_poses['blow_out']
assert right_diff > left_diff
def P50_Single(self,
mount,
trash_container='',
tip_racks=[],
aspirate_flow_rate=None,
dispense_flow_rate=None):
pipette_model_version = self._retrieve_version_number(
mount, 'p50_single')
config = pipette_config.load(pipette_model_version)
return self._create_pipette_from_config(
config=config,
mount=mount,
trash_container=trash_container,
tip_racks=tip_racks,
aspirate_flow_rate=aspirate_flow_rate,
dispense_flow_rate=dispense_flow_rate)
async def save_z(data):
"""
Save the current Z height value for the calibration data
:param data: Information obtained from a POST request.
The content type is application/json.
The correct packet form should be as follows:
{
'token': UUID token from current session start
'command': 'save z'
}
"""
if not session.tip_length:
message = "Tip length must be set before calibrating"
status = 400
else:
actual_z = position(session.current_mount)[-1]
length_offset = pipette_config.load(
session.current_model).model_offset[-1]
session.z_value = actual_z - session.tip_length + length_offset
message = "Saved z: {}".format(session.z_value)
status = 200
return web.json_response({'message': message}, status=status)
