def runpgm(self,pgm,duration,waitForCompletion=True,volume=10,hotlidmode="TRACKING",hotlidtemp=1):
if self.ptcrunning:
logging.error("Attempt to start a progam on PTC when it is already running")
if len(pgm)>8:
logging.error("PTC program name (%s) too long (max is 8 char)"%pgm)
# move to thermocycler
worklist.flushQueue()
self.lihahome()
cmt="run %s"%pgm
worklist.comment(cmt)
#print "*",cmt
worklist.pyrun("PTC\\ptclid.py OPEN")
self.moveplate(decklayout.SAMPLEPLATE,"PTC")
worklist.vector("Hotel 1 Lid",decklayout.HOTELPOS,worklist.SAFETOEND,True,worklist.DONOTMOVE,worklist.CLOSE)
worklist.vector("PTC200lid",decklayout.PTCPOS,worklist.SAFETOEND,True,worklist.DONOTMOVE,worklist.OPEN)
worklist.romahome()
worklist.pyrun("PTC\\ptclid.py CLOSE")
# pgm="PAUSE30" # For debugging
assert hotlidmode=="TRACKING" or hotlidmode=="CONSTANT"
assert (hotlidmode=="TRACKING" and hotlidtemp>=0 and hotlidtemp<=45) or (hotlidmode=="CONSTANT" and hotlidtemp>30)
worklist.pyrun('PTC\\ptcrun.py %s CALC %s,%d %d'%(pgm,hotlidmode,hotlidtemp,volume))
self.pgmStartTime=clock.pipetting
self.pgmEndTime=duration*60+clock.pipetting
self.ptcrunning=True
Sample.addallhistory("{%s}"%pgm,addToEmpty=False,onlyplate=decklayout.SAMPLEPLATE.name)
if waitForCompletion:
self.waitpgm()
def waitpgm(self, sanitize=True):
if not self.ptcrunning:
return
#print "* Wait for PTC to finish"
if sanitize:
self.sanitize() # Sanitize tips before waiting for this to be done
worklist.comment("Wait for PTC")
while self.pgmEndTime-clock.pipetting > 120:
# Run any idle programs
oldElapsed=clock.pipetting
for ip in self.idlePgms:
if self.pgmEndTime-clock.pipetting > 120:
#print "Executing idle program with %.0f seconds"%(self.pgmEndTime-clock.pipetting)
ip(self.pgmEndTime-clock.pipetting-120)
if oldElapsed==clock.pipetting:
# Nothing was done
break
worklist.flushQueue() # Just in case
clock.pipandthermotime+=(clock.pipetting-self.pgmStartTime)
clock.thermotime+=(self.pgmEndTime-clock.pipetting)
clock.pipetting=self.pgmStartTime
#print "Waiting for PTC with %.0f seconds expected to remain"%(self.pgmEndTime-clock.pipetting)
self.lihahome()
worklist.pyrun('PTC\\ptcwait.py')
worklist.pyrun("PTC\\ptclid.py OPEN")
# worklist.pyrun('PTC\\ptcrun.py %s CALC ON'%"COOLDOWN")
# worklist.pyrun('PTC\\ptcwait.py')
worklist.vector("PTC200lid",decklayout.PTCPOS,worklist.SAFETOEND,True,worklist.DONOTMOVE,worklist.CLOSE)
worklist.vector("Hotel 1 Lid",decklayout.HOTELPOS,worklist.SAFETOEND,True,worklist.DONOTMOVE,worklist.OPEN)
worklist.vector("PTC200WigglePos",decklayout.PTCPOS,worklist.SAFETOEND,False,worklist.DONOTMOVE,worklist.DONOTMOVE)
worklist.vector("PTC200Wiggle",decklayout.PTCPOS,worklist.SAFETOEND,False,worklist.DONOTMOVE,worklist.CLOSE,True)
worklist.vector("PTC200Wiggle",decklayout.PTCPOS,worklist.ENDTOSAFE,False,worklist.DONOTMOVE,worklist.OPEN,True)
worklist.vector("PTC200WigglePos",decklayout.PTCPOS,worklist.ENDTOSAFE,False,worklist.DONOTMOVE,worklist.DONOTMOVE)
worklist.vector("PTC200Wiggle2Pos",decklayout.PTCPOS,worklist.SAFETOEND,False,worklist.DONOTMOVE,worklist.DONOTMOVE)
worklist.vector("PTC200Wiggle2",decklayout.PTCPOS,worklist.SAFETOEND,False,worklist.DONOTMOVE,worklist.CLOSE,True)
worklist.vector("PTC200Wiggle2",decklayout.PTCPOS,worklist.ENDTOSAFE,False,worklist.DONOTMOVE,worklist.OPEN,True)
worklist.vector("PTC200Wiggle2Pos",decklayout.PTCPOS,worklist.ENDTOSAFE,False,worklist.DONOTMOVE,worklist.DONOTMOVE)
worklist.vector("PTC200WigglePos",decklayout.PTCPOS,worklist.SAFETOEND,False,worklist.DONOTMOVE,worklist.DONOTMOVE)
worklist.vector("PTC200Wiggle",decklayout.PTCPOS,worklist.SAFETOEND,False,worklist.DONOTMOVE,worklist.CLOSE,True)
worklist.vector("PTC200Wiggle",decklayout.PTCPOS,worklist.ENDTOSAFE,False,worklist.DONOTMOVE,worklist.OPEN,True)
worklist.vector("PTC200WigglePos",decklayout.PTCPOS,worklist.ENDTOSAFE,False,worklist.DONOTMOVE,worklist.DONOTMOVE)
self.ptcrunning=False
self.moveplate(decklayout.SAMPLEPLATE,"Home")
# Mark all samples on plate as unmixed (due to condensation)
Sample.notMixed(decklayout.SAMPLEPLATE.name)
# Verify plate is in place
worklist.vector(decklayout.SAMPLEPLATE.vectorName,decklayout.SAMPLEPLATE,worklist.SAFETOEND,False,worklist.DONOTMOVE,worklist.CLOSE)
worklist.vector(decklayout.SAMPLEPLATE.vectorName,decklayout.SAMPLEPLATE,worklist.ENDTOSAFE,False,worklist.OPEN,worklist.DONOTMOVE)
worklist.romahome()
#worklist.userprompt("Plate should be back on deck. Press return to continue")
# Wash tips again to remove any drips that may have formed while waiting for PTC
worklist.wash(15,1,5,True)
def moveplate(self,plate,dest="Home",returnHome=True):
if self.ptcrunning and plate==decklayout.SAMPLEPLATE:
self.waitpgm()
# move to given destination (one of "Home","Magnet","Shaker","PTC" )
if plate!=decklayout.SAMPLEPLATE and plate!=decklayout.DILPLATE:
print "Only able to move %s or %s plates, not %s"%(decklayout.SAMPLEPLATE.name,decklayout.DILPLATE.name,plate.name)
assert False
if plate.curloc==dest:
#print "Plate %s is already at %s"%(plate.name,dest)
return
#print "Move plate %s from %s to %s"%(plate.name,plate.curloc,dest)
worklist.flushQueue()
self.lihahome()
cmt="moveplate %s %s"%(plate.name,dest)
worklist.comment(cmt)
if plate.curloc=="Home":
worklist.vector(plate.vectorName,plate,worklist.SAFETOEND,True,worklist.DONOTMOVE,worklist.CLOSE)
elif plate.curloc=="Magnet":
worklist.vector("Magplate",decklayout.MAGPLATELOC,worklist.SAFETOEND,True,worklist.DONOTMOVE,worklist.CLOSE)
elif plate.curloc=="Shaker":
worklist.vector("Shaker",decklayout.SHAKERPLATELOC,worklist.SAFETOEND,True,worklist.DONOTMOVE,worklist.CLOSE)
elif plate.curloc=="PTC":
worklist.vector("PTC200",decklayout.PTCPOS,worklist.SAFETOEND,True,worklist.DONOTMOVE,worklist.CLOSE)
else:
print "Plate %s is in unknown location: %s"%(plate.name,plate.curloc)
assert False
if dest=="Home":
plate.movetoloc(dest)
worklist.vector(plate.vectorName,plate,worklist.SAFETOEND,True,worklist.DONOTMOVE,worklist.OPEN)
elif dest=="Magnet":
plate.movetoloc(dest,decklayout.MAGPLATELOC)
worklist.vector("Magplate",decklayout.MAGPLATELOC,worklist.SAFETOEND,True,worklist.DONOTMOVE,worklist.OPEN)
elif dest=="Shaker":
plate.movetoloc(dest,decklayout.SHAKERPLATELOC)
worklist.vector("Shaker",decklayout.SHAKERPLATELOC,worklist.SAFETOEND,True,worklist.DONOTMOVE,worklist.OPEN)
elif dest=="PTC":
plate.movetoloc(dest,decklayout.PTCPOS)
worklist.vector("PTC200",decklayout.PTCPOS,worklist.SAFETOEND,True,worklist.DONOTMOVE,worklist.OPEN)
else:
print "Attempt to move plate %s to unknown location: %s"%(plate.name,dest)
assert False
Sample.addallhistory("{->%s}"%dest,onlyplate=plate.name)
if returnHome:
worklist.romahome()
def runpgm(self,
pgm,
duration,
waitForCompletion=True,
volume=10,
hotlidmode="TRACKING",
hotlidtemp=1):
if self.ptcrunning:
logging.error(
"Attempt to start a progam on PTC when it is already running")
if len(pgm) > 8:
logging.error("PTC program name (%s) too long (max is 8 char)" %
pgm)
# move to thermocycler
worklist.flushQueue()
self.lihahome()
cmt = "run %s" % pgm
worklist.comment(cmt)
#print "*",cmt
worklist.pyrun("PTC\\ptclid.py OPEN")
self.moveplate(decklayout.SAMPLEPLATE, "PTC")
worklist.vector("Hotel 1 Lid", decklayout.HOTELPOS, worklist.SAFETOEND,
True, worklist.DONOTMOVE, worklist.CLOSE)
worklist.vector("PTC200lid", decklayout.PTCPOS, worklist.SAFETOEND,
True, worklist.DONOTMOVE, worklist.OPEN)
worklist.romahome()
worklist.pyrun("PTC\\ptclid.py CLOSE")
# pgm="PAUSE30" # For debugging
assert hotlidmode == "TRACKING" or hotlidmode == "CONSTANT"
assert (hotlidmode == "TRACKING" and hotlidtemp >= 0
and hotlidtemp <= 45) or (hotlidmode == "CONSTANT"
and hotlidtemp > 30)
worklist.pyrun('PTC\\ptcrun.py %s CALC %s,%d %d' %
(pgm, hotlidmode, hotlidtemp, volume))
self.pgmStartTime = clock.pipetting
self.pgmEndTime = duration * 60 + clock.pipetting
self.ptcrunning = True
Sample.addallhistory("{%s}" % pgm,
addToEmpty=False,
onlyplate=decklayout.SAMPLEPLATE.name,
type="ptc")
if waitForCompletion:
self.waitpgm()
def waitpgm(self, sanitize=True):
if not self.ptcrunning:
return
#print "* Wait for PTC to finish"
if sanitize:
self.sanitize() # Sanitize tips before waiting for this to be done
worklist.comment("Wait for PTC")
while self.pgmEndTime - clock.pipetting > 120:
# Run any idle programs
oldElapsed = clock.pipetting
for ip in self.idlePgms:
if self.pgmEndTime - clock.pipetting > 120:
#print "Executing idle program with %.0f seconds"%(self.pgmEndTime-clock.pipetting)
ip(self.pgmEndTime - clock.pipetting - 120)
if oldElapsed == clock.pipetting:
# Nothing was done
break
worklist.flushQueue() # Just in case
clock.pipandthermotime += (clock.pipetting - self.pgmStartTime)
clock.thermotime += (self.pgmEndTime - clock.pipetting)
clock.pipetting = self.pgmStartTime
#print "Waiting for PTC with %.0f seconds expected to remain"%(self.pgmEndTime-clock.pipetting)
worklist.pyrun('PTC\\ptcwait.py')
worklist.pyrun("PTC\\ptclid.py OPEN")
# worklist.pyrun('PTC\\ptcrun.py %s CALC ON'%"COOLDOWN")
# worklist.pyrun('PTC\\ptcwait.py')
worklist.vector("PTC200lid", decklayout.PTCPOS, worklist.SAFETOEND,
True, worklist.DONOTMOVE, worklist.CLOSE)
worklist.vector("Hotel 1 Lid", decklayout.HOTELPOS, worklist.SAFETOEND,
True, worklist.DONOTMOVE, worklist.OPEN)
worklist.vector("PTC200WigglePos", decklayout.PTCPOS,
worklist.SAFETOEND, False, worklist.DONOTMOVE,
worklist.DONOTMOVE)
worklist.vector("PTC200Wiggle", decklayout.PTCPOS, worklist.SAFETOEND,
False, worklist.DONOTMOVE, worklist.CLOSE, True)
worklist.vector("PTC200Wiggle", decklayout.PTCPOS, worklist.ENDTOSAFE,
False, worklist.DONOTMOVE, worklist.OPEN, True)
worklist.vector("PTC200WigglePos", decklayout.PTCPOS,
worklist.ENDTOSAFE, False, worklist.DONOTMOVE,
worklist.DONOTMOVE)
worklist.vector("PTC200Wiggle2Pos", decklayout.PTCPOS,
worklist.SAFETOEND, False, worklist.DONOTMOVE,
worklist.DONOTMOVE)
worklist.vector("PTC200Wiggle2", decklayout.PTCPOS, worklist.SAFETOEND,
False, worklist.DONOTMOVE, worklist.CLOSE, True)
worklist.vector("PTC200Wiggle2", decklayout.PTCPOS, worklist.ENDTOSAFE,
False, worklist.DONOTMOVE, worklist.OPEN, True)
worklist.vector("PTC200Wiggle2Pos", decklayout.PTCPOS,
worklist.ENDTOSAFE, False, worklist.DONOTMOVE,
worklist.DONOTMOVE)
worklist.vector("PTC200WigglePos", decklayout.PTCPOS,
worklist.SAFETOEND, False, worklist.DONOTMOVE,
worklist.DONOTMOVE)
worklist.vector("PTC200Wiggle", decklayout.PTCPOS, worklist.SAFETOEND,
False, worklist.DONOTMOVE, worklist.CLOSE, True)
worklist.vector("PTC200Wiggle", decklayout.PTCPOS, worklist.ENDTOSAFE,
False, worklist.DONOTMOVE, worklist.OPEN, True)
worklist.vector("PTC200WigglePos", decklayout.PTCPOS,
worklist.ENDTOSAFE, False, worklist.DONOTMOVE,
worklist.DONOTMOVE)
self.ptcrunning = False
self.moveplate(decklayout.SAMPLEPLATE, "Home")
# Mark all samples on plate as unmixed (due to condensation)
Sample.notMixed(decklayout.SAMPLEPLATE.name)
# Verify plate is in place
worklist.vector(decklayout.SAMPLEPLATE.vectorName,
decklayout.SAMPLEPLATE, worklist.SAFETOEND, False,
worklist.DONOTMOVE, worklist.CLOSE)
worklist.vector(decklayout.SAMPLEPLATE.vectorName,
decklayout.SAMPLEPLATE, worklist.ENDTOSAFE, False,
worklist.OPEN, worklist.DONOTMOVE)
worklist.romahome()
#worklist.userprompt("Plate should be back on deck. Press return to continue")
# Wash tips again to remove any drips that may have formed while waiting for PTC
worklist.wash(15, 1, 5, True)
def moveplate(self, plate, dest="Home", returnHome=True):
if self.ptcrunning and plate == decklayout.SAMPLEPLATE:
self.waitpgm()
# move to given destination (one of "Home","Magnet","Shaker","PTC" )
if plate != decklayout.SAMPLEPLATE and plate != decklayout.DILPLATE:
print "Only able to move %s or %s plates, not %s" % (
decklayout.SAMPLEPLATE.name, decklayout.DILPLATE.name,
plate.name)
assert False
if plate.curloc == dest:
#print "Plate %s is already at %s"%(plate.name,dest)
return
#print "Move plate %s from %s to %s"%(plate.name,plate.curloc,dest)
worklist.flushQueue()
self.lihahome()
cmt = "moveplate %s %s" % (plate.name, dest)
worklist.comment(cmt)
if plate.curloc == "Home":
worklist.vector(plate.vectorName, plate, worklist.SAFETOEND, True,
worklist.DONOTMOVE, worklist.CLOSE)
elif plate.curloc == "Magnet":
worklist.vector("Magplate", decklayout.MAGPLATELOC,
worklist.SAFETOEND, True, worklist.DONOTMOVE,
worklist.CLOSE)
elif plate.curloc == "Shaker":
worklist.vector("Shaker", decklayout.SHAKERPLATELOC,
worklist.SAFETOEND, True, worklist.DONOTMOVE,
worklist.CLOSE)
elif plate.curloc == "PTC":
worklist.vector("PTC200", decklayout.PTCPOS, worklist.SAFETOEND,
True, worklist.DONOTMOVE, worklist.CLOSE)
else:
print "Plate %s is in unknown location: %s" % (plate.name,
plate.curloc)
assert False
if dest == "Home":
plate.movetoloc(dest)
worklist.vector(plate.vectorName, plate, worklist.SAFETOEND, True,
worklist.DONOTMOVE, worklist.OPEN)
elif dest == "Magnet":
plate.movetoloc(dest, decklayout.MAGPLATELOC)
worklist.vector("Magplate", decklayout.MAGPLATELOC,
worklist.SAFETOEND, True, worklist.DONOTMOVE,
worklist.OPEN)
elif dest == "Shaker":
plate.movetoloc(dest, decklayout.SHAKERPLATELOC)
worklist.vector("Shaker", decklayout.SHAKERPLATELOC,
worklist.SAFETOEND, True, worklist.DONOTMOVE,
worklist.OPEN)
elif dest == "PTC":
plate.movetoloc(dest, decklayout.PTCPOS)
worklist.vector("PTC200", decklayout.PTCPOS, worklist.SAFETOEND,
True, worklist.DONOTMOVE, worklist.OPEN)
else:
print "Attempt to move plate %s to unknown location: %s" % (
plate.name, dest)
assert False
Sample.addallhistory("{->%s}" % dest, onlyplate=plate.name)
if returnHome:
worklist.romahome()