def get_motion_lock() -> ThreadedAsyncLock:
"""
Get the single motion lock.
:return: a threaded async lock
"""
return ThreadedAsyncLock()
async def post_home_robot(
robot_home_target: control.RobotHomeTarget,
hardware: ThreadManager = Depends(get_hardware),
motion_lock: ThreadedAsyncLock = Depends(get_motion_lock)) \
-> V1BasicResponse:
"""Home the robot or one of the pipettes"""
try:
async with motion_lock.forbid():
mount = robot_home_target.mount
target = robot_home_target.target
home = hardware.home # type: ignore
home_plunger = hardware.home_plunger # type: ignore
if target == control.HomeTarget.pipette and mount:
await home([Axis.by_mount(Mount[mount.upper()])])
await home_plunger(Mount[mount.upper()])
message = f"Pipette on {mount} homed successfully"
elif target == control.HomeTarget.robot:
await home()
message = "Homing robot."
else:
raise V1HandlerError(message=f"{target} is invalid",
status_code=status.HTTP_400_BAD_REQUEST)
return V1BasicResponse(message=message)
except ThreadedAsyncForbidden as e:
raise V1HandlerError(status_code=status.HTTP_403_FORBIDDEN,
message=str(e))
async def post_move_robot(
robot_move_target: control.RobotMoveTarget,
hardware: ThreadManager = Depends(get_hardware),
motion_lock: ThreadedAsyncLock = Depends(get_motion_lock))\
-> V1BasicResponse:
"""Move the robot"""
try:
async with motion_lock.forbid():
pos = await _do_move(hardware=hardware,
robot_move_target=robot_move_target)
return V1BasicResponse(
message=f"Move complete. New position: {pos}")
except ThreadedAsyncForbidden as e:
raise V1HandlerError(status_code=status.HTTP_403_FORBIDDEN,
message=str(e))
def protocol_runner(mock_protocol, loop, hardware):
return ProtocolRunner(protocol=mock_protocol,
loop=loop,
hardware=hardware,
motion_lock=ThreadedAsyncLock())
def session_manager(hardware) -> SessionManager:
return SessionManager(hardware=hardware,
motion_lock=ThreadedAsyncLock(),
protocol_manager=ProtocolManager())
def main_router(loop, virtual_smoothie_env, hardware):
router = MainRouter(hardware=hardware, loop=loop, lock=ThreadedAsyncLock())
router.wait_until = partial(wait_until,
notifications=router.notifications,
loop=loop)
yield router