def touch_right(cur_position: Location):
if touch_tip == "right":
p10_multi.move_to(cur_position.move(Point(x=2.7, z=-0.75)))
p10_multi.move_to(cur_position.move(Point(x=-1, z=0.75)))
else:
p10_multi.move_to(cur_position.move(Point(x=-2.7, z=-0.75)))
p10_multi.move_to(cur_position.move(Point(x=1, z=0.75)))
def run(ctx):
[transfer_csv] = get_values( # noqa: F821
"transfer_csv")
tiprack20 = [
ctx.load_labware('opentrons_96_tiprack_20ul', '3', '20µl tiprack')
]
pipettes = [
ctx.load_instrument('p20_single_gen2', mount, tip_racks=tiprack20)
for mount in ['right', 'left']
]
# load labware
transfer_info = [[val.strip().lower() for val in line.split(',')[1:]]
for line in transfer_csv.splitlines()
if line.split(',')[0].strip()][1:]
src_a = Location(
Point(float(transfer_info[0][0]), float(transfer_info[0][1]),
float(transfer_info[0][2])), None)
src_b = Location(
Point(float(transfer_info[1][0]), float(transfer_info[1][1]),
float(transfer_info[1][2])), None)
for line in transfer_info[2:]:
dest = Location(Point(float(line[0]), float(line[1]), float(line[2])),
None)
vol = float(line[3])
[p.pick_up_tip() for p in pipettes]
[pip.home() for pip in pipettes]
for src, p in zip([src_a, src_b], pipettes):
p.aspirate(vol, src)
p.home()
p.dispense(vol, dest)
p.home()
[p.drop_tip() for p in pipettes]
def test_move_to_slot():
slot_position = Location(Point(1, 2, 3), 'deck')
mock_context = mock.Mock()
mock_deck = mock.MagicMock(spec=Deck)
mock_deck.__contains__.return_value = True
mock_deck.position_for.return_value = slot_position
mock_context.deck = mock_deck
pipette_mock = mock.create_autospec(InstrumentContext)
instruments = {'somePipetteId': pipette_mock}
params = {
'pipette': 'somePipetteId',
'slot': '4',
'offset': {
'x': 10,
'y': 11,
'z': 12
},
'forceDirect': mock.sentinel.force_direct,
'minimumZHeight': mock.sentinel.minimum_z_height
}
_move_to_slot(mock_context, instruments, params)
assert pipette_mock.mock_calls == [
mock.call.move_to(Location(Point(11, 13, 15), 'deck'),
force_direct=mock.sentinel.force_direct,
minimum_z_height=mock.sentinel.minimum_z_height)
]
async def test_max_speeds(loop, monkeypatch, hardware):
ctx = papi.ProtocolContext(loop)
ctx.connect(hardware)
ctx.home()
mock_move = mock.Mock()
monkeypatch.setattr(ctx._hw_manager.hardware, 'move_to', mock_move)
instr = ctx.load_instrument('p10_single', Mount.RIGHT)
instr.move_to(Location(Point(0, 0, 0), None))
assert all(
kwargs['max_speeds'] == {}
for args, kwargs in mock_move.call_args_list)
mock_move.reset_mock()
ctx.max_speeds['x'] = 10
instr.move_to(Location(Point(0, 0, 1), None))
assert all(
kwargs['max_speeds'] == {Axis.X: 10}
for args, kwargs in mock_move.call_args_list)
mock_move.reset_mock()
ctx.max_speeds['x'] = None
instr.move_to(Location(Point(1, 0, 1), None))
assert all(
kwargs['max_speeds'] == {}
for args, kwargs in mock_move.call_args_list)
def test_tiprack_list():
labware_name = 'opentrons_96_tiprack_300ul'
labware_def = labware.get_labware_definition(labware_name)
tiprack = labware.Labware(labware_def,
Location(Point(0, 0, 0), 'Test Slot'))
tiprack_2 = labware.Labware(labware_def,
Location(Point(0, 0, 0), 'Test Slot'))
assert labware.select_tiprack_from_list(
[tiprack], 1) == (tiprack, tiprack['A1'])
assert labware.select_tiprack_from_list(
[tiprack], 1, tiprack.wells()[1]) == (tiprack, tiprack['B1'])
tiprack['C1'].has_tip = False
assert labware.select_tiprack_from_list(
[tiprack], 1, tiprack.wells()[2]) == (tiprack, tiprack['D1'])
tiprack['H12'].has_tip = False
tiprack_2['A1'].has_tip = False
assert labware.select_tiprack_from_list(
[tiprack, tiprack_2], 1, tiprack.wells()[95]) == (
tiprack_2, tiprack_2['B1'])
with pytest.raises(labware.OutOfTipsError):
labware.select_tiprack_from_list(
[tiprack], 1, tiprack.wells()[95])
def _get_move_to_point_loc_by_state(self) -> Location:
assert self._z_height_reference is not None, \
"saveOffset has not been called yet"
pt_id = MOVE_POINT_STATE_MAP[self._current_state]
coords = self._deck.get_calibration_position(pt_id).position
loc = Location(Point(*coords), None)
return loc.move(point=Point(0, 0, self._z_height_reference))
def test_air_gap():
m = mock.MagicMock()
m.pipette_mock = mock.create_autospec(InstrumentContext)
m.mock_set_flow_rate = mock.MagicMock()
deck = Location(Point(0, 0, 0), 'deck')
well_name = 'A2'
some_labware = labware.Labware(minimalLabwareDef2, deck)
loaded_labware = {'someLabwareId': some_labware}
params = {'labware': 'someLabwareId', 'well': well_name}
params = {'pipette': 'somePipetteId', 'volume': 42,
'labware': 'someLabwareId', 'well': well_name,
'offsetFromBottomMm': 12}
instruments = {'somePipetteId': m.pipette_mock}
loaded_labware = {'someLabwareId': some_labware}
with mock.patch(
'opentrons.protocols.execution.execute_json_v3._set_flow_rate',
new=m.mock_set_flow_rate):
_air_gap(instruments, loaded_labware, params)
# NOTE: air_gap `height` arg is mm from well top,
# so we expect it to equal offsetFromBottomMm - well depth.
assert m.mock_calls == [
mock.call.mock_set_flow_rate(m.pipette_mock, params),
mock.call.pipette_mock.move_to(
Location(point=Point(x=19, y=28, z=17.0),
labware=some_labware[well_name])),
mock.call.pipette_mock.air_gap(42, 12 - 40)
]
def test_direct_cp():
deck = Deck()
trough = labware.load(trough_name, deck.position_for(1))
lw1 = labware.load(labware_name, deck.position_for(2))
# when moving from no origin location to a centered labware we should
# start in default cp
from_nothing = plan_moves(Location(Point(50, 50, 50), None),
trough.wells()[0].top(), deck)
check_arc_basic(from_nothing, Location(Point(50, 50, 50), None),
trough.wells()[0].top())
assert from_nothing[0][1] is None
assert from_nothing[1][1] == CriticalPoint.XY_CENTER
assert from_nothing[2][1] == CriticalPoint.XY_CENTER
# when moving from an origin with a centered labware to a dest with a
# centered labware we should stay in centered the entire time, whether
# arc
from_centered_arc = plan_moves(trough.wells()[0].top(),
trough.wells()[1].top(), deck)
check_arc_basic(from_centered_arc,
trough.wells()[0].top(),
trough.wells()[1].top())
assert from_centered_arc[0][1] == CriticalPoint.XY_CENTER
assert from_centered_arc[1][1] == CriticalPoint.XY_CENTER
assert from_centered_arc[2][1] == CriticalPoint.XY_CENTER
# or direct
from_centered_direct = plan_moves(trough.wells()[0].top(),
trough.wells()[1].bottom(), deck)
assert from_centered_direct[0][1] == CriticalPoint.XY_CENTER
# when moving from centered to normal, only the first move should be
# centered
to_normal = plan_moves(trough.wells()[0].top(), lw1.wells()[0].top(), deck)
check_arc_basic(to_normal, trough.wells()[0].top(), lw1.wells()[0].top())
assert to_normal[0][1] == CriticalPoint.XY_CENTER
assert to_normal[1][1] is None
assert to_normal[2][1] is None
def test_select_next_tip():
labware_name = 'opentrons_96_tiprack_300ul'
labware_def = labware.get_labware_definition(labware_name)
tiprack = labware.Labware(labware_def,
Location(Point(0, 0, 0), 'Test Slot'))
well_list = tiprack.wells()
next_one = tiprack.next_tip()
assert next_one == well_list[0]
next_five = tiprack.next_tip(5)
assert next_five == well_list[0]
next_eight = tiprack.next_tip(8)
assert next_eight == well_list[0]
next_nine = tiprack.next_tip(9)
assert next_nine is None
# A1 tip only has been used
tiprack.use_tips(well_list[0])
next_one = tiprack.next_tip()
assert next_one == well_list[1]
next_five = tiprack.next_tip(5)
assert next_five == well_list[1]
next_eight = tiprack.next_tip(8)
assert next_eight == well_list[8]
# 2nd column has also been used
tiprack.use_tips(well_list[8], num_channels=8)
next_one = tiprack.next_tip()
assert next_one == well_list[1]
next_five = tiprack.next_tip(5)
assert next_five == well_list[1]
next_eight = tiprack.next_tip(8)
assert next_eight == well_list[16]
# Bottom 4 tips of 1rd column are also used
tiprack.use_tips(well_list[4], num_channels=4)
next_one = tiprack.next_tip()
assert next_one == well_list[1]
next_three = tiprack.next_tip(3)
assert next_three == well_list[1]
next_five = tiprack.next_tip(5)
assert next_five == well_list[16]
next_eight = tiprack.next_tip(8)
assert next_eight == well_list[16]
# you can reuse tips infinitely on api level 2.2
tiprack.use_tips(well_list[0])
tiprack.use_tips(well_list[0])
# you can't on api level 2.1 or previous
early_tr = labware.Labware(labware_def,
Location(Point(0, 0, 0), 'Test Slot'),
api_level=APIVersion(2, 1))
early_tr.use_tips(well_list[0])
with pytest.raises(AssertionError):
early_tr.use_tips(well_list[0])
def test_get_location_with_offset():
deck = Location(Point(0, 0, 0), 'deck')
some_labware = labware.Labware(minimalLabwareDef2, deck)
loaded_labware = {'someLabwareId': some_labware}
params = {'offsetFromBottomMm': 3,
'labware': 'someLabwareId', 'well': 'A2'}
result = _get_location_with_offset(loaded_labware, params)
assert result == Location(Point(19, 28, 8), some_labware['A2'])
def test_bottom():
slot = Location(Point(7, 8, 9), 1)
well_name = 'rectangular_well_json'
has_tip = False
well = labware.Well(test_data[well_name], slot, well_name, has_tip)
well_data = test_data[well_name]
expected_x = well_data['x'] + slot.point.x
expected_y = well_data['y'] + slot.point.y
expected_z = well_data['z'] + slot.point.z
assert well.bottom() == Location(Point(expected_x, expected_y, expected_z),
well)
def test_top():
slot = Location(Point(4, 5, 6), 1)
well_name = 'circular_well_json'
has_tip = False
well = labware.Well(test_data[well_name], slot, well_name, has_tip)
well_data = test_data[well_name]
expected_x = well_data['x'] + slot.point.x
expected_y = well_data['y'] + slot.point.y
expected_z = well_data['z'] + well_data['depth'] + slot.point.z
assert well.top() == Location(Point(expected_x, expected_y, expected_z),
well)
async def move_to_tip_rack(self):
# point safely above target tip well in tip rack
pt_above_well = self._tip_rack.wells()[0].top().point + \
MOVE_TO_TIP_RACK_SAFETY_BUFFER
if self._tip_origin_pt is not None:
# use jogged to x and y offsets only if returning tip to rack
await self._move(Location(Point(self._tip_origin_pt.x,
self._tip_origin_pt.y,
pt_above_well.z),
None))
else:
await self._move(Location(pt_above_well, None))
def test_get_location_with_offset_fixed_trash():
deck = Location(Point(0, 0, 0), 'deck')
trash_labware_def = deepcopy(minimalLabwareDef2)
trash_labware_def['parameters']['quirks'] = ["fixedTrash"]
trash_labware = labware.Labware(trash_labware_def, deck)
loaded_labware = {'someLabwareId': trash_labware}
params = {'offsetFromBottomMm': 3,
'labware': 'someLabwareId', 'well': 'A1'}
result = _get_location_with_offset(loaded_labware, params)
assert result == Location(Point(10, 28, 45), trash_labware['A1'])
def test_get_parent_identifier():
labware_name = 'corning_96_wellplate_360ul_flat'
labware_def = labware.get_labware_definition(labware_name)
lw = labware.Labware(labware_def, Location(Point(0, 0, 0), 'Test Slot'))
# slots have no parent identifier
assert labware._get_parent_identifier(lw) == ''
# modules do
mmg = ModuleGeometry('my magdeck',
MagneticModuleModel.MAGNETIC_V1,
ModuleType.MAGNETIC,
Point(0, 0, 0), 10, 10, Location(Point(1, 2, 3), '3'),
APIVersion(2, 4))
lw = labware.Labware(labware_def, mmg.location)
assert labware._get_parent_identifier(lw)\
== MagneticModuleModel.MAGNETIC_V1.value
def test_tip_tracking_init():
labware_name = 'opentrons_96_tiprack_300ul'
labware_def = labware.get_labware_definition(labware_name)
tiprack = labware.Labware(labware_def,
Location(Point(0, 0, 0), 'Test Slot'))
assert tiprack.is_tiprack
for well in tiprack.wells():
assert well.has_tip
labware_name = 'corning_96_wellplate_360ul_flat'
labware_def = labware.get_labware_definition(labware_name)
lw = labware.Labware(labware_def, Location(Point(0, 0, 0), 'Test Slot'))
assert not lw.is_tiprack
for well in lw.wells():
assert not well.has_tip
def test_well_parent():
labware_name = 'corning_96_wellplate_360ul_flat'
labware_def = labware.get_labware_definition(labware_name)
lw = labware.Labware(labware_def, Location(Point(0, 0, 0), 'Test Slot'))
parent = Location(Point(7, 8, 9), lw)
well_name = 'circular_well_json'
has_tip = True
well = labware.Well(test_data[well_name], parent, well_name, has_tip)
assert well.parent is lw
assert well.top().labware is well
assert well.top().labware.parent is lw
assert well.bottom().labware is well
assert well.bottom().labware.parent is lw
assert well.center().labware is well
assert well.center().labware.parent is lw
def test_labware_init():
deck = Location(Point(0, 0, 0), 'deck')
fake_labware = labware.Labware(minimalLabwareDef, deck)
ordering = [well for col in minimalLabwareDef['ordering'] for well in col]
assert fake_labware._ordering == ordering
assert fake_labware._well_definition == minimalLabwareDef['wells']
assert fake_labware._offset == Point(x=10, y=10, z=5)
def test_load_calibration(monkeypatch, clear_calibration):
calibration_point = None
def mock_set_calibration(self, delta):
nonlocal calibration_point
calibration_point = delta
monkeypatch.setattr(labware.Labware, 'set_calibration',
mock_set_calibration)
monkeypatch.setattr(labware, '_hash_labware_def', mock_hash_labware)
test_labware = labware.Labware(minimalLabwareDef,
Location(Point(0, 0, 0), 'deck'))
test_offset = Point(1, 1, 1)
test_tip_length = 31.7
labware.save_calibration(test_labware, test_offset)
labware.save_tip_length(test_labware, test_tip_length)
# Set without saving to show that load will update with previously saved
# data
test_labware.set_calibration(Point(0, 0, 0))
test_labware.tip_length = 46.8
labware.load_calibration(test_labware)
assert calibration_point == test_offset
assert test_labware.tip_length == test_tip_length
def test_build_edges():
lw_def = get_labware_definition('corning_96_wellplate_360ul_flat')
test_lw = Labware(lw_def, Location(Point(0, 0, 0), None))
off = Point(0, 0, 1.0)
deck = Deck()
old_correct_edges = [
test_lw['A1']._from_center_cartesian(x=1.0, y=0, z=1) + off,
test_lw['A1']._from_center_cartesian(x=-1.0, y=0, z=1) + off,
test_lw['A1']._from_center_cartesian(x=0, y=1.0, z=1) + off,
test_lw['A1']._from_center_cartesian(x=0, y=-1.0, z=1) + off,
]
res = build_edges(
test_lw['A1'], 1.0, Mount.RIGHT, deck, version=APIVersion(2, 2))
assert res == old_correct_edges
new_correct_edges = [
test_lw['A1']._from_center_cartesian(x=1.0, y=0, z=1) + off,
test_lw['A1']._from_center_cartesian(x=-1.0, y=0, z=1) + off,
test_lw['A1']._from_center_cartesian(x=0, y=0, z=1) + off,
test_lw['A1']._from_center_cartesian(x=0, y=1.0, z=1) + off,
test_lw['A1']._from_center_cartesian(x=0, y=-1.0, z=1) + off,
]
res2 = build_edges(
test_lw['A1'], 1.0, Mount.RIGHT, deck, version=APIVersion(2, 4))
assert res2 == new_correct_edges
def test_module_load_v2(module_model):
mod = module_geometry.load_module(
module_model, Location(Point(0, 0, 0), '3'))
mod_def = module_geometry._load_module_definition(MAX_SUPPORTED_VERSION,
module_model)
high_z = mod_def['dimensions']['bareOverallHeight']
assert mod.highest_z == high_z
def __init__(self, definition: dict, parent: Location) -> None:
"""
Create a Module for tracking the position of a module.
Note that modules do not currently have a concept of calibration apart
from calibration of labware on top of the module. The practical result
of this is that if the module parent :py:class:`.Location` is
incorrect, then acorrect calibration of one labware on the deck would
be incorrect on the module, and vice-versa. Currently, the way around
this would be to correct the :py:class:`.Location` so that the
calibrated labware is targeted accurately in both positions.
:param definition: A dict containing all the data required to define
the geometry of the module.
:type definition: dict
:param parent: A location representing location of the front left of
the outside of the module (usually the front-left corner
of a slot on the deck).
:type parent: :py:class:`.Location`
"""
self._parent = parent
self._display_name = "{} on {}".format(definition["displayName"],
str(parent.labware))
self._load_name = definition["loadName"]
self._offset = Point(definition["labwareOffset"]["x"],
definition["labwareOffset"]["y"],
definition["labwareOffset"]["z"])
self._height = definition["dimensions"]["bareOverallHeight"]\
+ self._parent.point.z
self._over_labware = definition["dimensions"]["overLabwareHeight"]
self._labware: Optional[Labware] = None
self._location = Location(point=self._offset + self._parent.point,
labware=self)
def test_touch_tip():
location = Location(Point(1, 2, 3), 'deck')
well = labware.Well(
{
'shape': 'circular',
'depth': 40,
'totalLiquidVolume': 100,
'diameter': 30,
'x': 40,
'y': 50,
'z': 3
},
parent=Location(Point(10, 20, 30), 1),
has_tip=False,
display_name='some well',
api_level=MAX_SUPPORTED_VERSION)
pipette_mock = mock.create_autospec(InstrumentContext, name='pipette_mock')
mock_get_location_with_offset = mock.MagicMock(
return_value=location, name='mock_get_location_with_offset')
mock_get_well = mock.MagicMock(return_value=well, name='mock_get_well')
mock_set_flow_rate = mock.MagicMock(name='mock_set_flow_rate')
params = {
'pipette': 'somePipetteId',
'labware': 'someLabwareId',
'well': 'someWell'
}
instruments = {'somePipetteId': pipette_mock}
with mock.patch(
'opentrons.protocol_api.execute_v3._get_location_with_offset',
new=mock_get_location_with_offset):
with mock.patch('opentrons.protocol_api.execute_v3._get_well',
new=mock_get_well):
with mock.patch('opentrons.protocol_api.execute_v3._set_flow_rate',
new=mock_set_flow_rate):
_touch_tip(instruments, mock.sentinel.loaded_labware, params)
# note: for this fn, order of calls doesn't matter b/c
# we don't have stateful stuff like flow_rate
mock_get_location_with_offset.assert_called_once_with(
mock.sentinel.loaded_labware, params)
mock_get_well.assert_called_once_with(mock.sentinel.loaded_labware, params)
assert pipette_mock.mock_calls == [
mock.call.touch_tip(well, v_offset=-70.0)
]
def test_uris():
details = ('opentrons', 'opentrons_96_tiprack_300ul', '1')
uri = 'opentrons/opentrons_96_tiprack_300ul/1'
assert labware.uri_from_details(*details) == uri
defn = labware.get_labware_definition(details[1], details[0], details[2])
assert labware.uri_from_definition(defn) == uri
lw = labware.Labware(defn, Location(Point(0, 0, 0), 'Test Slot'))
assert lw.uri == uri
async def _return_first_tip(self):
first_pip = self._get_pipette_by_rank(PipetteRank.first)
assert first_pip, \
'cannot drop tip on first mount, pipette not present'
state_name = CalibrationCheckState.preparingFirstPipette
loc = Location(getattr(self._moves, state_name).position, None)
await self._move(first_pip.mount, loc)
await self._drop_tip(first_pip.mount)
async def _return_second_tip(self):
second_pip = self._get_pipette_by_rank(PipetteRank.second)
assert second_pip, \
'cannot drop tip on second mount, pipette not present'
state_name = CalibrationCheckState.preparingSecondPipette
loc = Location(getattr(self._moves, state_name).position, None)
await self._move(second_pip.mount, loc)
await self._drop_tip(second_pip.mount)
async def _move_second_pipette(self):
second_pip = self._get_pipette_by_rank(PipetteRank.second)
assert second_pip, \
'cannot move pipette on second mount, pipette not present'
loc_to_move = Location(
getattr(self._moves, self.current_state_name).position, None)
if self.current_state_name ==\
CalibrationCheckState.joggingSecondPipetteToPointOne:
saved_height =\
self._saved_points[getattr(CalibrationCheckState,
'comparingSecondPipetteHeight')]
z_point = \
saved_height + self._initial_z_offset - HEIGHT_SAFETY_BUFFER
updated_point = loc_to_move.point + z_point._replace(x=0.0, y=0.0)
loc_to_move = Location(updated_point, None)
await self._move(second_pip.mount, loc_to_move)
await self._register_point_second_pipette()
def test_get_well():
deck = Location(Point(0, 0, 0), 'deck')
well_name = 'A2'
some_labware = labware.Labware(minimalLabwareDef2, deck)
loaded_labware = {'someLabwareId': some_labware}
params = {'labware': 'someLabwareId', 'well': well_name}
result = _get_well(loaded_labware, params)
assert result == some_labware[well_name]
async def move_to_deck(self):
deck_pt = self._deck.get_slot_center(JOG_TO_DECK_SLOT)
ydim = self._deck.get_slot_definition(
JOG_TO_DECK_SLOT)['boundingBox']['yDimension']
new_pt = deck_pt - Point(0, (ydim/2), deck_pt.z) + \
MOVE_TO_DECK_SAFETY_BUFFER
to_loc = Location(new_pt, None)
await self._move(to_loc)
def center(self) -> Location:
"""
:return: a Point corresponding to the absolute position of the center
of the well relative to the deck (with the front-left corner of slot 1
as (0,0,0))
"""
top = self.top()
center_z = top.point.z - (self._depth / 2.0)
return Location(Point(x=top.point.x, y=top.point.y, z=center_z), self)
