def test_top_bottom(self):
deck = Deck()
slot = Slot()
plate = self.generate_plate(
wells=4,
cols=2,
spacing=(10, 10),
offset=(0, 0),
radius=5,
height=10
)
deck.add(slot, 'A1', (0, 0, 0))
slot.add(plate)
self.assertEqual(
plate['A1'].bottom(10),
(plate['A1'], Vector(5, 5, 10)))
self.assertEqual(
plate['A1'].top(10),
(plate['A1'], Vector(5, 5, 20)))
self.assertEqual(
plate['A1'].bottom(10, radius=1.0, degrees=90),
(plate['A1'], Vector(5, 10, 10)))
self.assertEqual(
plate['A1'].top(10, radius=1.0, degrees=90),
(plate['A1'], Vector(5, 10, 20)))
self.assertEqual(
plate['A1'].bottom(10, radius=0.5, degrees=270),
(plate['A1'], Vector(5, 2.5, 10.00)))
self.assertEqual(
plate['A1'].top(10, radius=0.5, degrees=270),
(plate['A1'], Vector(5, 2.5, 20.00)))
def test_coordinates(self):
deck = Deck()
slot = Slot()
plate = generate_plate(wells=96,
cols=8,
spacing=(10, 15),
offset=(5, 15),
radius=5)
deck.add(slot, 'B2', (100, 200, 0))
slot.add(plate)
self.assertEqual(plate['A1'].coordinates(deck), (105, 215, 0))
def generate_deck(self):
deck = Deck()
slot = Slot()
deck.add(slot, 'A1', (5, 10, 0))
c = Container()
red = Well(properties={'radius': 5})
blue = Well(properties={'radius': 5})
c.add(red, "Red", (5, 5, 0))
c.add(blue, "Blue", (15, 5, 0))
slot.add(c, 'tube_rack')
return deck
def test_get_container_name(self):
deck = Deck()
slot = Slot()
c = Container()
deck.add(slot, 'A1', (0, 0, 0))
red = Well(properties={'radius': 5})
blue = Well(properties={'radius': 5})
c.add(red, "Red", (0, 0, 0))
c.add(blue, "Blue", (10, 0, 0))
slot.add(c)
self.assertEqual(red.get_name(), 'Red')
def test_get_name(self):
deck = Deck()
slot = Slot()
c = Container()
deck.add(slot, 'A1', (0, 0, 0))
red = Well(properties={'radius': 5})
blue = Well(properties={'radius': 5})
c.add(red, "Red", (0, 0, 0))
c.add(blue, "Blue", (10, 0, 0))
slot.add(c)
self.assertEqual(red.get_name(), 'Red')
def test_named_well(self):
deck = Deck()
slot = Slot()
c = Container()
deck.add(slot, 'A1', (0, 0, 0))
red = Well(properties={'radius': 5})
blue = Well(properties={'radius': 5})
c.add(red, "Red", (0, 0, 0))
c.add(blue, "Blue", (10, 0, 0))
slot.add(c)
self.assertEqual(deck['A1'][0]['Red'], red)
def generate_deck(self):
deck = Deck()
slot = Slot()
deck.add(slot, 'A1', (5, 10, 0))
c = Container()
red = Well(properties={'radius': 5})
blue = Well(properties={'radius': 5})
c.add(red, "Red", (5, 5, 0))
c.add(blue, "Blue", (15, 5, 0))
slot.add(c, 'tube_rack')
return deck
def test_coordinates(self):
deck = Deck()
slot = Slot()
plate = self.generate_plate(
wells=96,
cols=8,
spacing=(10, 15),
offset=(5, 15),
radius=5
)
deck.add(slot, 'B2', (100, 200, 0))
slot.add(plate)
self.assertEqual(plate['A1'].coordinates(deck), (105, 215, 0))
def test_well_from_center(self):
deck = Deck()
slot = Slot()
plate = generate_plate(wells=4,
cols=2,
spacing=(10, 10),
offset=(0, 0),
radius=5)
deck.add(slot, 'A1', (0, 0, 0))
slot.add(plate)
self.assertEqual(plate['B2'].center(), (5, 5, 0))
self.assertEqual(plate['B2'].from_center(x=0.0, y=0.0, z=0.0),
(5, 5, 0))
self.assertEqual(
plate['B2'].from_center(r=1.0, theta=math.pi / 2, h=0.0),
(5.0, 10.0, 0))
def test_get_all_children(self):
c1 = self.generate_plate(4, 2, (5, 5), (0, 0), 5)
c2 = self.generate_plate(4, 2, (5, 5), (0, 0), 5)
deck = Deck()
deck.add(c1, "A1", (0, 0, 0))
deck.add(c2, "A2", (50, 50, 50))
self.assertEqual(len(deck.get_all_children()), 10)
def test_well_from_center_new(split_labware_def):
print("Split labware definitions? {}".format(
ff.split_labware_definitions()))
deck = Deck()
slot = Slot()
plate = generate_plate(wells=4,
cols=2,
spacing=(10, 10),
offset=(0, 0),
radius=5,
height=20)
deck.add(slot, 'A1', (0, 0, 0))
slot.add(plate)
assert plate['B2'].center() == (5, 5, 10)
assert plate['B2'].from_center(x=0.0, y=0.0, z=2.0) == (5, 5, 30)
assert plate['B2'].from_center(r=1.0, theta=pi / 2, h=5.0) == (5, 10, 60)
assert plate['B2'].top()[1] == (5, 5, 20)
assert plate['B2'].bottom()[1] == (5, 5, 0)
def test_top_bottom(self):
deck = Deck()
slot = Slot()
plate = self.generate_plate(
wells=4,
cols=2,
spacing=(10, 10),
offset=(0, 0),
radius=5,
height=10
)
deck.add(slot, 'A1', (0, 0, 0))
slot.add(plate)
self.assertEqual(
plate['A1'].bottom(10),
(plate['A1'], Vector(5, 5, 10)))
self.assertEqual(
plate['A1'].top(10),
(plate['A1'], Vector(5, 5, 20)))
def test_max_dimensions(self):
c1 = self.generate_plate(4, 2, (5, 5), (0, 0), 5)
c2 = self.generate_plate(4, 2, (5, 5), (0, 0), 5)
deck = Deck()
deck.add(c1, "A1", (0, 0, 0))
deck.add(c2, "A2", (50, 50, 50))
actual = deck.max_dimensions(deck)
expected = (65.0, 65.0, 50.0)
self.assertEqual(actual, expected)
def test_robot_pause_and_resume(self):
self.robot.move_to((Deck(), (100, 0, 0)), enqueue=True)
self.robot.move_to((Deck(), (101, 0, 0)), enqueue=True)
self.assertEqual(len(self.robot._commands), 2)
self.robot.pause()
def _run():
self.robot.run()
thread = threading.Thread(target=_run)
thread.start()
self.robot.resume()
thread.join(0.5)
self.assertEquals(thread.is_alive(), False)
self.assertEqual(len(self.robot._commands), 2)
self.robot.clear_commands()
self.assertEqual(len(self.robot._commands), 0)
self.robot.move_to((Deck(), (100, 0, 0)), enqueue=True)
self.robot.move_to((Deck(), (101, 0, 0)), enqueue=True)
def _run():
self.robot.run()
self.robot.pause()
thread = threading.Thread(target=_run)
thread.start()
thread.join(0.01)
self.assertEquals(thread.is_alive(), True)
self.assertEqual(len(self.robot._commands) > 0, True)
self.robot.resume()
thread.join(1)
self.assertEqual(len(self.robot._commands), 2)
def test_well_from_center(self):
deck = Deck()
slot = Slot()
plate = self.generate_plate(
wells=4,
cols=2,
spacing=(10, 10),
offset=(0, 0),
radius=5
)
deck.add(slot, 'A1', (0, 0, 0))
slot.add(plate)
self.assertEqual(
plate['B2'].center(),
(5, 5, 0))
self.assertEqual(
plate['B2'].from_center(x=0.0, y=0.0, z=0.0),
(5, 5, 0))
self.assertEqual(
plate['B2'].from_center(r=1.0, theta=math.pi / 2, h=0.0),
(5.0, 10.0, 0))
def test_robot_move_to(self):
self.robot.move_to((Deck(), (100, 0, 0)))
self.robot.run()
position = self.robot._driver.get_head_position()['current']
self.assertEqual(position, (100, 0, 0))
def test_robot_pause_and_resume(self):
self.robot.move_to((Deck(), (100, 0, 0)))
self.robot.move_to((Deck(), (101, 0, 0)))
self.assertEqual(len(self.robot._commands), 0)
