def test_add():
state = init()
assert state == {
ROOT: Node(parent=None,
children=[],
transform=translate(Point(0, 0, 0)))
}
state = add(state, obj='child', point=Point(1, 2, 3))
assert state == {
ROOT:
Node(parent=None,
children=['child'],
transform=translate(Point(0, 0, 0))),
'child':
Node(parent=ROOT, children=[], transform=translate(Point(-1, -2, -3)))
}
with pytest.raises(AssertionError):
add(state, obj='child', point=Point(1, 2, 3))
with pytest.raises(KeyError):
add(state,
obj='new-child',
parent='another-root',
point=Point(1, 2, 3))
def state():
return init() \
.add('1', point=Point(1, 2, 3)) \
.add('2', point=Point(-1, -2, -3)) \
.add('1-1', parent='1', point=Point(11, 12, 13)) \
.add('1-1-1', parent='1-1', point=Point(0, 0, 0)) \
.add('1-2', parent='1', point=Point(21, 22, 23)) \
.add('2-1', parent='2', point=Point(-11, -12, -13)) \
.add('2-2', parent='2', point=Point(-21, -22, -23))
def test_functional(smoothie):
scale = array([
[2, 0, 0, -1],
[0, 2, 0, -2],
[0, 0, 2, -3],
[0, 0, 0, 1],
])
back = array([
[0.5, 0, 0, 0],
[0, 0.5, 0, 0],
[0, 0, 0.5, 0],
[0, 0, 0, 1],
])
left = Mover(driver=smoothie,
axis_mapping={'z': 'Z'},
src=ROOT,
dst=id(scale))
right = Mover(driver=smoothie,
axis_mapping={'z': 'A'},
src=ROOT,
dst=id(scale))
gantry = Mover(
driver=smoothie,
axis_mapping={
'x': 'X',
'y': 'Y'
},
src=ROOT,
dst=id(scale),
)
state = init() \
.add(id(scale), transform=scale) \
.add(gantry, id(scale)) \
.add(left, gantry) \
.add(right, gantry) \
.add('left', left, transform=back) \
.add('right', right, transform=back)
state = gantry.move(state, x=1, y=1)
state = left.move(state, z=1)
assert isclose(change_base(state, src='left'), (1, 1, 1)).all()
assert isclose(change_base(state, src='right'), (1, 1, 1.5)).all()
state = gantry.move(state, x=2, y=2)
state = right.move(state, z=3)
assert isclose(change_base(state, src='left'), (2, 2, 1)).all()
assert isclose(change_base(state, src='right'), (2, 2, 3)).all()
state = gantry.jog(state, axis='x', distance=1)
assert isclose(change_base(state, src='left'), (3, 2, 1)).all()
assert isclose(change_base(state, src='right'), (3, 2, 3)).all()
state = right.jog(state, axis='z', distance=1)
assert isclose(change_base(state, src='left'), (3, 2, 1)).all()
assert isclose(change_base(state, src='right'), (3, 2, 4)).all()
def test_relative(state):
from math import pi
assert (change_base(state, src='1-1', dst='2-1') == (24., 28., 32.)).all()
state = \
init() \
.add('1', transform=rotate(pi / 2.0)) \
.add('1-1', parent='1', point=Point(1, 0, 0)) \
.add('2', point=Point(1, 0, 0))
assert isclose(change_base(state, src='1-1', dst='2'),
(-1.0, -1.0, 0)).all()
assert isclose(change_base(state, src='2', dst='1-1'), (0.0, 0.0, 0)).all()
state = init() \
.add('1', transform=scale(2, 1, 1)) \
.add('1-1', parent='1', point=Point(1, 1, 1)) \
assert isclose(change_base(state, src=ROOT, dst='1-1'),
(-2.0, -1.0, -1.0)).all()
assert isclose(change_base(state, src='1-1', dst=ROOT),
(0.5, 1.0, 1.0)).all()
def test_change_base():
state = init() \
.add('1', parent=ROOT, transform=scale(2, 2, 2)) \
.add('1-1', parent='1', point=Point(1, 0, 0))
assert isclose(change_base(state, src='1-1'), (0.5, 0, 0)).all()
def reset(self):
"""
Resets the state of the robot and clears:
* Deck
* Instruments
* Command queue
* Runtime warnings
Examples
--------
>>> from opentrons import robot # doctest: +SKIP
>>> robot.reset() # doctest: +SKIP
"""
self._gantry_cal_id = id(self.config.gantry_calibration)
self._actuators = {
'left': {
'carriage':
Mover(driver=self._driver,
src=pose_tracker.ROOT,
dst=self._gantry_cal_id,
axis_mapping={'z': 'Z'}),
'plunger':
Mover(driver=self._driver,
src=pose_tracker.ROOT,
dst='volume-calibration-left',
axis_mapping={'x': 'B'})
},
'right': {
'carriage':
Mover(driver=self._driver,
src=pose_tracker.ROOT,
dst=self._gantry_cal_id,
axis_mapping={'z': 'A'}),
'plunger':
Mover(driver=self._driver,
src=pose_tracker.ROOT,
dst='volume-calibration-right',
axis_mapping={'x': 'C'})
}
}
self.clear_tips()
self.poses = pose_tracker.init()
self._runtime_warnings = []
self._deck = containers.Deck()
self._fixed_trash = None
self.setup_deck()
self.setup_gantry()
self._instruments = {}
self._use_safest_height = False
self._previous_instrument = None
self._prev_container = None
# TODO: Move homing info to driver
self.axis_homed = {
'x': False,
'y': False,
'z': False,
'a': False,
'b': False
}
self.clear_commands()
# update the position of each Mover
self._driver.update_position()
for mount in self._actuators.values():
for mover in mount.values():
self.poses = mover.update_pose_from_driver(self.poses)
self.cache_instrument_models()
return self
