def test__getSampleCenter__WithCalibration2(self):
r = racks.stackable(rack_name='RackThatCannotBeNamed',
rack_type='test_rack')
s = samples.sample(sample_name='SampleThatCannotBeNamed',
sample_type='test_sample')
# Rack receives calibration
r.updateCenter(200, 100, 400, 50, 70, 450)
# Placing sample into the rack
s.place(r, 0, 0)
cartesian.arnie = mock.MagicMock()
tools.llc.serial_device.readAll = mock.MagicMock()
tools.llc.serial_device.readAll.return_value = "Servo"
tools.llc.serial.Serial = mock.MagicMock()
tools.pipettor.home = mock.MagicMock()
ar = cartesian.arnie('COM1', 'COM2')
ar.getToolAtCoord = mock.MagicMock()
serial_device = llc.serial_device('COM3')
p1000 = tools.pipettor.getTool(robot=ar, tool_name='p1000_tool')
# Tool receives calibration
p1000.setStalagmyteCoord(51, 69, 420)
x, y = s.getSampleCenterXY(p1000)
self.assertEqual(x, 201 - 51.75)
self.assertEqual(y, 99 - 33.75)
def test__pipettor__getTool(self, mock_home, mock_serialdev, mock_readAll,
mock_cartesian):
"""
If coordinates are not matched, then library for some reason
not loading json file, and using probably slot calibration data instead.
"""
with open('p1000_tool_rack.json', 'r') as f:
saved_dict = json.loads(f.read())
x, y, z = saved_dict['position']
config = configparser.ConfigParser()
config_path = 'configs/pipette_rack.ini'
config.read(config_path)
z_working_height = float(config['geometry']['z_working_height'])
z_height = float(config['geometry']['z_box_height'])
z_pickup = z - z_working_height
# Setting mocks
mock_readAll.return_value = "Servo"
# Initializing
ar = cartesian.arnie('COM1', 'COM2')
ar.getToolAtCoord = mock.MagicMock()
serial_device = llc.serial_device('COM3')
p1000_tool = tools.pipettor.getTool(robot=ar, tool_name='p1000_tool')
# Testing
ar.getToolAtCoord.assert_called_with(x,
y,
z_pickup,
z_init=0,
speed_xy=None,
speed_z=None)
def test__init__3(self, mock_serial):
with patch.object(low_level_comm.serial_device,
'readAll',
return_value='Message') as mock_readAll:
dev = low_level_comm.serial_device(port_name='COM1')
mock_readAll.assert_called()
self.assertEqual(dev.actual_welcome_message, 'Message')
def test__pipettor__getStalagmyteCoord(self):
# Mocking pipettor
cartesian.arnie = mock.MagicMock()
tools.llc.serial_device.readAll = mock.MagicMock()
tools.llc.serial_device.readAll.return_value = "Servo"
tools.llc.serial.Serial = mock.MagicMock()
tools.pipettor.home = mock.MagicMock()
# Initializing the robot
ar = cartesian.arnie('COM1', 'COM2')
ar.getToolAtCoord = mock.MagicMock()
serial_device = llc.serial_device('COM3')
p1000 = tools.pipettor.getTool(robot=ar, tool_name='p1000_tool')
# Mimicking initial calibration
p1000.setStalagmyteCoord(51, 69, 420)
# Checking that calibration was properly saved
x, y, z = p1000.getStalagmyteCoord()
self.assertEqual(x, 51)
self.assertEqual(y, 69)
self.assertEqual(z, 420)
# Emulating pipette tip pickup
p1000.tip_attached = True
# Checking the calibration recalculated due to the added tip
xt, yt, zt = p1000.getStalagmyteCoord()
self.assertEqual(xt, 51)
self.assertEqual(yt, 69)
self.assertEqual(zt, 420 - p1000.tip_added_z_length)
# Repeating calibration with a new tip added
p1000.setStalagmyteCoord(50, 70, 350)
# Checking that the robot returns updated calibration points
xt2, yt2, zt2 = p1000.getStalagmyteCoord()
self.assertEqual(xt2, 50)
self.assertEqual(yt2, 70)
self.assertEqual(zt2, 350)
# Emulating tip discard
p1000.tip_attached = False
# Calibration points must be the same as before tip calibration
x2, y2, z2 = p1000.getStalagmyteCoord()
self.assertEqual(x2, 51)
self.assertEqual(y2, 69)
self.assertEqual(z2, 420)
def test__mobile_tool__getTool(self, mock_serialdev, mock_readAll,
mock_cartesian):
# Preparing for the test
try:
os.remove('generic_tool.json')
except:
pass
with open('generic_tool_rack.json', 'w') as f:
f.write(json.dumps({'a': 'b', 'position': [50, 66, 450]}))
# Setting mocks
mock_readAll.return_value = "Welcome returned from the device"
# Initializing
ar = cartesian.arnie('COM1', 'COM2')
ar.getToolAtCoord = mock.MagicMock()
serial_device = llc.serial_device('COM3')
generic_tool = tools.mobile_tool.getTool(robot=ar,
welcome_message='welcome',
tool_name='generic_tool')
z_pickup = 450 - generic_tool.rack.z_working_height
# Testing
ar.getToolAtCoord.assert_called_with(50,
66,
z_pickup,
z_init=0,
speed_xy=None,
speed_z=None)
# Cleaning up after the test
try:
os.remove('generic_tool.json')
except:
pass
try:
os.remove('generic_tool_rack.json')
except:
pass
def test_mobile_tool_getToolFromSerialDev(self, mock_serialdev,
mock_readAll, mock_cartesian):
mock_readAll.return_value = "Welcome returned from the device"
ar = cartesian.arnie('COM1', 'COM2')
serial_device = llc.serial_device('COM3')
generic_tool = tools.mobile_tool.getToolFromSerialDev(
robot=ar,
device=serial_device,
welcome_message='welcome',
tool_name='generic_tool')
mock_readAll.assert_called()
self.assertEqual(generic_tool.actual_welcome_message,
"Welcome returned from the device")
mock_cartesian.assert_called()
mock_serialdev.assert_called()
mock_serialdev.assert_called_with('COM3', 115200, timeout=0.1)
tool_data = generic_tool.tool_data
self.assertEqual(tool_data, {
'name': 'generic_tool',
'welcome_message': 'welcome'
})
def getToolAtCoord(self, x, y, z, z_init=0, speed_xy=None, speed_z=None):
"""
Get tool positioned at known absolute coordinates x, y, z.
"""
# Producing a list of present serial ports BEFORE engaging a new tool
initial_ports_list = llc.listSerialPorts()
# Moving to the save height, so nothing is kicked by a robot
self.move(z=z_init, speed_z=None)
# Opening docker
self.openTool()
# Moving to the tool coordinate
self.move(x=x,
y=y,
z=z,
z_first=False,
speed_xy=speed_xy,
speed_z=SPEED_Z_MOVING_DOWN)
# Closing docker (hopefully gripping the tool)
self.closeTool()
# Obtaining updated list of serial devices. Now a new device should be present there.
updated_ports_list = llc.listSerialPorts()
# Obtaining newly appeared port
new_port = list(set(updated_ports_list) - set(initial_ports_list))[0]
# Connecting to the device
device = llc.serial_device(new_port)
self.move(z=z_init)
# After liting a tool, closing the jaws again, to make grip stronger, and to fix
# possible non-ideal pickup.
# Added 3/19/2020, after getting tired with precise calibration of pickup height.
self.closeTool()
self.closeTool()
return device
def test__mobile_touch_probe__returnTool(self, mock_serialdev,
mock_readAll, mock_cartesian):
with open('mobile_touch_probe_rack.json', 'r') as f:
saved_dict = json.loads(f.read())
x, y, z = saved_dict['position']
config = configparser.ConfigParser()
config_path = 'configs/mobile_touch_probe_rack.ini'
config.read(config_path)
z_working_height = float(config['geometry']['z_working_height'])
z_height = float(config['geometry']['z_box_height'])
z_pickup = z - z_working_height
# Setting mocks
mock_readAll.return_value = "Arnie's mobile touch probe/nRev. 1.01, 11/27/2019"
# Initializing
ar = cartesian.arnie('COM1', 'COM2')
ar.getToolAtCoord = mock.MagicMock()
serial_device = llc.serial_device('COM3')
mobile_touch_probe = tools.mobile_touch_probe.getTool(robot=ar)
mobile_touch_probe.returnTool()
# Testing
ar.getToolAtCoord.assert_called_with(x,
y,
z_pickup,
z_init=0,
speed_xy=None,
speed_z=None)
ar.returnToolToCoord.assert_called_with(x,
y,
z_pickup,
z_init=0,
speed_xy=None,
speed_z=None)
def test_calcWorkingPosition2(self):
r = racks.stackable(rack_name='RackThatCannotBeNamed',
rack_type='test_rack')
# Rack receives calibration
r.updateCenter(200, 100, 400, 50, 70, 450)
cartesian.arnie = mock.MagicMock()
tools.llc.serial_device.readAll = mock.MagicMock()
tools.llc.serial_device.readAll.return_value = "Servo"
tools.llc.serial.Serial = mock.MagicMock()
tools.pipettor.home = mock.MagicMock()
ar = cartesian.arnie('COM1', 'COM2')
ar.getToolAtCoord = mock.MagicMock()
serial_device = llc.serial_device('COM3')
p1000 = tools.pipettor.getTool(robot=ar, tool_name='p1000_tool')
# Tool receives calibration
p1000.setStalagmyteCoord(51, 69, 420)
x, y, z = r.calcWorkingPosition(well_col=0, well_row=0, tool=p1000)
self.assertEqual(x, 201 - 51.75)
self.assertEqual(y, 99 - 33.75)
self.assertEqual(z, 370)
def test__init__(self, mock_serial, mock_readAll):
mock_readAll.return_value = "Welcome returned from the device"
dev = low_level_comm.serial_device(port_name='COM1')
self.assertEqual(dev.port_name, 'COM1')
dev.readAll.assert_called()
def test__init__2(self, mock_serial, mock_readAll):
mock_readAll.return_value = 'Message'
dev = low_level_comm.serial_device(port_name='COM1')
mock_serial.assert_called()
mock_serial.assert_called_with('COM1', 115200, timeout=0.1)