def cache_instrument_models(self):
"""
Queries Smoothie for the model and ID strings of attached pipettes, and
saves them so they can be reported without querying Smoothie again (as
this could interrupt a command if done during a run or other movement).
Shape of return dict should be:
```
{
"left": {
"model": "<model_string>" or None,
"id": "<pipette_id_string>" or None
},
"right": {
"model": "<model_string>" or None,
"id": "<pipette_id_string>" or None
}
}
```
:return: a dict with pipette data (shape described above)
"""
log.debug("Updating instrument model cache")
for mount in self.model_by_mount.keys():
model_value = self._driver.read_pipette_model(mount)
if model_value:
name_value = pipette_config.name_for_model(model_value)
else:
name_value = None
plunger_axis = 'B' if mount == 'left' else 'C'
mount_axis = 'Z' if mount == 'left' else 'A'
if model_value:
cfg = pipette_config.load(model_value)
home_pos = cfg.home_position
max_travel = cfg.max_travel
steps_mm = cfg.steps_per_mm
else:
home_pos = self.config.default_pipette_configs['homePosition']
max_travel = self.config.default_pipette_configs['maxTravel']
steps_mm = self.config.default_pipette_configs['stepsPerMM']
self._driver.update_steps_per_mm({plunger_axis: steps_mm})
self._driver.update_pipette_config(mount_axis, {'home': home_pos})
self._driver.update_pipette_config(plunger_axis,
{'max_travel': max_travel})
if model_value:
id_response = self._driver.read_pipette_id(mount)
else:
id_response = None
self.model_by_mount[mount] = {
'model': model_value,
'id': id_response,
'name': name_value
}
log.debug("{}: {} [{}]".format(mount,
self.model_by_mount[mount]['model'],
self.model_by_mount[mount]['id']))
def test_load_instrument(loop):
ctx = papi.ProtocolContext(loop=loop)
for model in config_models:
loaded = ctx.load_instrument(model, Mount.LEFT, replace=True)
assert loaded.model == model
instr_name = name_for_model(model)
loaded = ctx.load_instrument(instr_name, Mount.RIGHT, replace=True)
assert loaded.name == instr_name
def __init__(self,
model: str,
inst_offset_config: Dict[str, Tuple[float, float, float]],
pipette_id: str = None) -> None:
self._config = pipette_config.load(model, pipette_id)
self._name = pipette_config.name_for_model(model)
self._model = model
self._model_offset = self._config.model_offset
self._current_volume = 0.0
self._working_volume = self._config.max_volume
self._current_tip_length = 0.0
self._fallback_tip_length = self._config.tip_length
self._has_tip = False
self._pipette_id = pipette_id
pip_type = 'multi' if self._config.channels > 1 else 'single'
self._instrument_offset = Point(*inst_offset_config[pip_type])
self._log = mod_log.getChild(
self._pipette_id if self._pipette_id else '<unknown>')
self._log.info("loaded: {}, instr offset {}".format(
model, self._instrument_offset))
self.ready_to_aspirate = False
async def test_get_cached_pipettes(async_server, async_client, monkeypatch):
test_model = 'p300_multi_v1'
test_name = 'p300_multi'
test_id = '123abc'
hw = async_server['com.opentrons.hardware']
hw._backend._attached_instruments = {
types.Mount.RIGHT: {
'model': test_model,
'id': test_id
},
types.Mount.LEFT: {
'model': test_model,
'id': test_id
}
}
await hw.reset()
model = pipette_config.load(test_model)
expected = {
'left': {
'model': test_model,
'name': test_name,
'tip_length': model.tip_length,
'mount_axis': 'z',
'plunger_axis': 'b',
'id': test_id
},
'right': {
'model': test_model,
'name': test_name,
'tip_length': model.tip_length,
'mount_axis': 'a',
'plunger_axis': 'c',
'id': test_id
}
}
resp = await async_client.get('/pipettes')
text = await resp.text()
assert resp.status == 200
assert json.loads(text) == expected
model1 = 'p10_single_v1.3'
config1 = pipette_config.load(model1)
id1 = 'fgh876'
hw._backend._attached_instruments = {
types.Mount.RIGHT: {
'model': model1,
'id': id1
},
types.Mount.LEFT: {
'model': model1,
'id': id1
}
}
resp1 = await async_client.get('/pipettes')
text1 = await resp1.text()
assert resp1.status == 200
assert json.loads(text1) == expected
expected2 = {
'left': {
'model': model1,
'name': pipette_config.name_for_model(model1),
'tip_length': config1.tip_length,
'mount_axis': 'z',
'plunger_axis': 'b',
'id': id1
},
'right': {
'model': model1,
'name': pipette_config.name_for_model(model1),
'tip_length': config1.tip_length,
'mount_axis': 'a',
'plunger_axis': 'c',
'id': id1
}
}
resp2 = await async_client.get('/pipettes?refresh=true')
text2 = await resp2.text()
assert resp2.status == 200
assert json.loads(text2) == expected2
def cache_instrument_models(self):
"""
Queries Smoothie for the model and ID strings of attached pipettes, and
saves them so they can be reported without querying Smoothie again (as
this could interrupt a command if done during a run or other movement).
Shape of return dict should be:
```
{
"left": {
"model": "<model_string>" or None,
"id": "<pipette_id_string>" or None
},
"right": {
"model": "<model_string>" or None,
"id": "<pipette_id_string>" or None
}
}
```
:return: a dict with pipette data (shape described above)
"""
log.debug("Updating instrument model cache")
for mount in self.model_by_mount.keys():
plunger_axis = 'B' if mount == 'left' else 'C'
mount_axis = 'Z' if mount == 'left' else 'A'
model_value = self._driver.read_pipette_model(mount)
splits = {plunger_axis: None}
if model_value:
name_value = pipette_config.name_for_model(model_value)
pc = pipette_config.load(model_value)
home_current = pc.plunger_current
if 'needsUnstick' in pc.quirks:
splits[plunger_axis] = MoveSplit(split_distance=1,
split_current=1.5,
split_speed=1,
after_time=1800,
fullstep=True)
else:
name_value = None
home_current = self.config.high_current[plunger_axis]
if model_value:
cfg = pipette_config.load(model_value)
home_pos = cfg.home_position
max_travel = cfg.max_travel
steps_mm = cfg.steps_per_mm
idle_current = cfg.idle_current
else:
home_pos = self.config.default_pipette_configs['homePosition']
max_travel = self.config.default_pipette_configs['maxTravel']
steps_mm = self.config.default_pipette_configs['stepsPerMM']
idle_current = self.config.low_current[plunger_axis]
self._driver.update_steps_per_mm({plunger_axis: steps_mm})
self._driver.update_pipette_config(mount_axis, {'home': home_pos})
self._driver.update_pipette_config(plunger_axis,
{'max_travel': max_travel})
self._driver.set_dwelling_current({plunger_axis: idle_current})
self._driver.configure_splits_for(splits)
if model_value:
id_response = self._driver.read_pipette_id(mount)
else:
id_response = None
self.model_by_mount[mount] = {
'model': model_value,
'id': id_response,
'name': name_value,
'home_current': home_current
}
log.debug("{}: {} [{}]".format(mount,
self.model_by_mount[mount]['model'],
self.model_by_mount[mount]['id']))
