def load_pipette_values(self):
"""Load pipette values from data/pipette_calibrations.json
"""
logger.debug('head.load_pipette_values called')
old_values = FileIO.get_dict_from_json(
os.path.join(self.dir_path,
'otone_data/pipette_calibrations.json'))
logger.debug('old_values:\n')
logger.debug(old_values)
if self.PIPETTES is not None and len(self.PIPETTES) > 0:
for axis in old_values:
#for n in old_values[axis]:
for k, v in old_values[axis].items():
self.PIPETTES[axis].__dict__[k] = v
# should include:
# 'resting'
# 'top'
# 'bottom'
# 'blowout'
# 'droptip'
# 'volume'
# 'theContainers'
logger.debug('self.PIPETTES[{}]:\n\n'.format(axis))
logger.debug(self.PIPETTES[axis])
else:
logger.debug(
'head.load_pipette_values: No pipettes defined in PIPETTES')
def load_pipette_values(self):
"""Load pipette values from data/pipette_calibrations.json
"""
if debug == True: FileIO.log('head.load_pipette_values called')
old_values = FileIO.get_dict_from_json(os.path.join(self.dir_par_par_path,'otone_data/pipette_calibrations.json'))
if debug == True: FileIO.log('old_values:\n',old_values,'\n')
if self.PIPETTES is not None and len(self.PIPETTES) > 0:
for axis in old_values:
#for n in old_values[axis]:
for k, v in old_values[axis].items():
self.PIPETTES[axis].__dict__[k] = v
# should include:
# 'resting'
# 'top'
# 'bottom'
# 'blowout'
# 'droptip'
# 'volume'
# 'theContainers'
if debug == True: FileIO.log('self.PIPETTES[',axis,']:\n\n',self.PIPETTES[axis],'\n')
else:
if debug == True: FileIO.log('head.load_pipette_values: No pipettes defined in PIPETTES')
def instantiate_objects():
"""After connection has been made, instatiate the various robot objects
"""
global perm_dir_path
global dir_path
logger.debug('instantiate_objects called')
#get default json file
def_start_protocol = FileIO.get_dict_from_json(
os.path.join(dir_path, 'data/default_startup_protocol.json'))
#FileIO.get_dict_from_json('/home/pi/PythonProject/default_startup_protocol.json')
#instantiate the head
head = Head(def_start_protocol['head'], publisher, perm_dir_path)
logger.debug('head string: ')
logger.debug(str(head))
logger.debug('head representation: ')
logger.debug(repr(head))
#use the head data to configure the head
head_data = {}
head_data = prot_dict['head'] #extract the head section from prot_dict
logger.debug("Head configured!")
#instantiate the script keeper (sk)
#instantiate the deck
deck = Deck(def_start_protocol['deck'], publisher, perm_dir_path)
logger.debug('deck string: ')
logger.debug(str(deck))
logger.debug('deck representation: ')
logger.debug(repr(deck))
runner = ProtocolRunner(head, publisher)
#use the deck data to configure the deck
deck_data = {}
deck_data = prot_dict['deck'] #extract the deck section from prot_dict
# deck = RobotLib.Deck({}) #instantiate an empty deck
deck.configure_deck(deck_data) #configure the deck from prot_dict data
logger.debug("Deck configured!")
#do something with the Ingredient data
ingr_data = {}
ingr_data = prot_dict[
'ingredients'] #extract the ingredient section from prot_dict
ingr = Ingredients({})
ingr.configure_ingredients(
ingr_data) #configure the ingredienets from prot_dict data
logger.debug('Ingredients imported!')
publisher.set_head(head)
publisher.set_runner(runner)
subscriber.set_deck(deck)
subscriber.set_head(head)
subscriber.set_runner(runner)
def container_depth_override(self, container_name, new_depth):
containers = FileIO.get_dict_from_json(os.path.join(self.dir_path,'otone_data/containers.json'))
if container_name in containers and new_depth is not None:
if 'locations' in containers[container_name]:
containers[container_name]['locations']['depth'] = new_depth
self.save_containers(containers)
self.publish_containers()
else:
logger.error('error in deck.container_depth_override, locations not in containers--> {}'.format(container_name))
def instantiate_objects():
"""After connection has been made, instatiate the various robot objects
"""
global perm_dir_path
global dir_path
#get default json file
def_start_protocol = FileIO.get_dict_from_json(os.path.join(dir_path,'data/default_startup_protocol.json'))
#FileIO.get_dict_from_json('/home/pi/PythonProject/default_startup_protocol.json')
#instantiate the head
head = Head(def_start_protocol['head'], publisher, perm_dir_path)
#use the head data to configure the head
head_data = {}
head_data = prot_dict['head'] #extract the head section from prot_dict
#instantiate the script keeper (sk)
#instantiate the deck
deck = Deck(def_start_protocol['deck'], publisher, perm_dir_path)
runner = ProtocolRunner(head, publisher)
#use the deck data to configure the deck
deck_data = {}
deck_data = prot_dict['deck'] #extract the deck section from prot_dict
# deck = RobotLib.Deck({}) #instantiate an empty deck
deck.configure_deck(deck_data) #configure the deck from prot_dict data
#do something with the Ingredient data
ingr_data = {}
ingr_data = prot_dict['ingredients'] #extract the ingredient section from prot_dict
ingr = Ingredients({})
ingr.configure_ingredients(ingr_data) #configure the ingredienets from prot_dict data
publisher.set_head(head)
publisher.set_runner(runner)
subscriber.set_deck(deck)
subscriber.set_head(head)
subscriber.set_runner(runner)
def load_pipette_values(self):
"""Load pipette values from data/pipette_calibrations.json
"""
logger.debug('loading pipette calibrations:')
old_values = FileIO.get_dict_from_json(os.path.join(self.dir_path,'otone_data/pipette_calibrations.json'))
logger.debug(old_values)
if self.PIPETTES is not None and len(self.PIPETTES) > 0:
for axis in old_values:
#for n in old_values[axis]:
for k, v in old_values[axis].items():
self.PIPETTES[axis].__dict__[k] = v
# should include:
# 'resting'
# 'top'
# 'bottom'
# 'blowout'
# 'droptip'
# 'volume'
# 'theContainers'
else:
logger.debug('head.load_pipette_values: No pipettes defined in PIPETTES')
f = open(os.devnull, 'w') sys.stdout = f sys.stderr = f from head import Head from deck import Deck from subscriber import Subscriber from publisher import Publisher from file_io import FileIO from ingredients import Ingredients from protocol_runner import ProtocolRunner prot_dict = FileIO.get_dict_from_json(fname_default_protocol) #VARIABLES #declare globol objects here head = None deck = None runner = None subscriber = None publisher = None def_start_protocol = None client_status = False crossbar_status = False #Import and setup autobahn WAMP peer from autobahn.asyncio import wamp, websocket
def instantiate_objects():
"""After connection has been made, instatiate the various robot objects
"""
FileIO.log('instantiate_objects called')
#get default json file
def_start_protocol = FileIO.get_dict_from_json(os.path.join(dir_path,'data/default_startup_protocol.json'))
#FileIO.get_dict_from_json('/home/pi/PythonProject/default_startup_protocol.json')
#instantiate the head
head = Head(def_start_protocol['head'], publisher)
if debug == True:
FileIO.log('head string: ', str(head))
FileIO.log('head representation: ', repr(head))
#use the head data to configure the head
head_data = {}
head_data = prot_dict['head'] #extract the head section from prot_dict
# head = RobotLib.Head({}) #instantiate an empty head
#head.configure_head(head_data) #configure the head from prot_dict data
if debug == True:
FileIO.log ("Head configured!")
#instantiate the script keeper (sk)
the_sk = ScriptKeeper(publisher)
#instantiate the deck
deck = Deck(def_start_protocol['deck'], publisher)
if debug == True:
FileIO.log('deck string: ', str(deck))
FileIO.log('deck representation: ', repr(deck))
runner = ProtocolRunner(head, publisher)
#use the deck data to configure the deck
deck_data = {}
deck_data = prot_dict['deck'] #extract the deck section from prot_dict
# deck = RobotLib.Deck({}) #instantiate an empty deck
deck.configure_deck(deck_data) #configure the deck from prot_dict data
if debug == True:
FileIO.log ("Deck configured!")
#do something with the Ingredient data
ingr_data = {}
ingr_data = prot_dict['ingredients'] #extract the ingredient section from prot_dict
ingr = Ingredients({})
ingr.configure_ingredients(ingr_data) #configure the ingredienets from prot_dict data
if debug == True:
FileIO.log('Ingredients imported!')
FileIO.log('this is a test')
publisher.set_head(head)
publisher.set_runner(runner)
subscriber.set_deck(deck)
subscriber.set_head(head)
subscriber.set_runner(runner)
@asyncio.coroutine
def periodically_send_ip_addresses():
"""Coroutine that periodically sends information to browser
"""
if debug == True and verbose == True: FileIO.log('periodically_send_ip_addresses called')
while True:
if debug == True and verbose == True: FileIO.log('periodically_send_ip_addresses again...')
yield from asyncio.sleep(2)
stuff = yield from sk.per_data()
session_factory._myAppSession.publish('com.opentrons.robot_to_browser_ctrl',json.dumps(stuff,sort_keys=True,indent=4,separators=(',',': ')))
asyncio.Task(periodically_send_ip_addresses())
print('fname_data: ', fname_data)
print('fname_default_containers: ', fname_default_containers)
print('fname_data_containers: ', fname_data_containers)
if not os.path.isdir(fname_data):
os.makedirs(fname_data)
#if not os.path.exists(fname_data_containers):
open(fname_data_containers,"w+")
shutil.copy(fname_default_containers, fname_data_containers)
if not os.path.exists(fname_data_calibrations):
open(fname_data_calibrations,"w+")
shutil.copy(fname_default_calibrations, fname_data_calibrations)
prot_dict = FileIO.get_dict_from_json(fname_default_protocol)
#Import and setup autobahn WAMP peer
from autobahn.asyncio import wamp, websocket
class WampComponent(wamp.ApplicationSession):
"""WAMP application session for OTOne (Overrides protocol.ApplicationSession - WAMP endpoint session)
"""
def onConnect(self):
"""Callback fired when the transport this session will run over has been established.
"""
self.join(u"ot_realm")
def get_containers(self):
containers = FileIO.get_dict_from_json(os.path.join(self.dir_path,'otone_data/containers.json'))
return containers
def get_containers(self):
if debug == True: FileIO.log('deck.get_containers called')
containers = FileIO.get_dict_from_json(os.path.join(self.dir_par_par_path,'otone_data/containers.json'))
return containers
def get_containers(self):
logger.debug('deck.get_containers called')
containers = FileIO.get_dict_from_json(os.path.join(self.dir_path,'otone_data/containers.json'))
return containers
