def test_new_deck_points():
# Checks that the correct deck calibration points are being used
# if feature_flag is set (or not)
advs.set_adv_setting('deckCalibrationDots', True)
calibration_points = get_calibration_points()
expected_points1 = expected_points()
# Check that old calibration points are used in cli
assert calibration_points[1] == (12.13, 6.0)
assert calibration_points[2] == (380.87, 6.0)
assert calibration_points[3] == (12.13, 351.5)
# Check that endpoints are now using slot 7 for dots
assert expected_points1['1'] == (12.13, 6.0)
assert expected_points1['2'] == (380.87, 6.0)
assert expected_points1['3'] == (12.13, 261.0)
advs.set_adv_setting('deckCalibrationDots', False)
calibration_points2 = get_calibration_points()
expected_points2 = expected_points()
# Check that new calibration points are used
assert calibration_points2[1] == (12.13, 9.0)
assert calibration_points2[2] == (380.87, 9.0)
assert calibration_points2[3] == (12.13, 348.5)
# Check that endpoints are now using slot 7 for crosses
assert expected_points2['1'] == (12.13, 9.0)
assert expected_points2['2'] == (380.87, 9.0)
assert expected_points2['3'] == (12.13, 258.0)
def test_gantry_matrix_output(
mock_config, hw_with_pipettes, loop, monkeypatch):
# Check that the robot moves to the correct locations
monkeypatch.setattr(hw_with_pipettes, 'config', mock_config)
hw_with_pipettes.home()
tool = dc_main.CLITool(
get_calibration_points(), hw_with_pipettes, loop=loop)
expected = [
[1.00, 0.00, 0.00, 0.00],
[0.00, 0.99852725, 0.00, 0.5132547],
[0.00, 0.00, 1.00, 0.00],
[0.00, 0.00, 0.00, 1.00]]
actual_points = {
1: (12.13, 9.5),
2: (380.87, 9.5),
3: (12.13, 348.5)}
monkeypatch.setattr(
dc_main.CLITool, 'actual_points', actual_points)
assert tool.actual_points == actual_points
tool.save_transform()
assert np.allclose(expected, tool.current_transform)
def test_tip_probe(mock_config, loop, monkeypatch, hw_with_pipettes):
# Test that tip probe returns successfully
hw_with_pipettes.home()
tool = dc_main.CLITool(
get_calibration_points(), hw_with_pipettes, loop=loop)
assert tool.hardware is hw_with_pipettes
point_after = (10, 10, 10)
output = tool.probe(point_after)
assert output == 'Tip probe'
def test_tip_probe(mock_config, loop, monkeypatch, hardware):
# Test that tip probe returns successfully
# TODO (maybe): Figure out how to prevent the pytest loop fixture
# from getting closed by the CLI tool on exit for API V2
tool = dc_main.CLITool(get_calibration_points(), hardware, loop=loop)
assert tool.hardware is hardware
point_after = (10, 10, 10)
output = tool.probe(point_after)
assert output == 'Tip probe'
def test_try_pickup_tip(mock_config, hw_with_pipettes, monkeypatch, loop):
# Check that the robot moves to the correct locations
hw_with_pipettes.home()
monkeypatch.setattr(hw_with_pipettes._api, '_config', mock_config)
tool = dc_main.CLITool(get_calibration_points(),
hw_with_pipettes,
loop=loop)
output = tool.try_pickup_tip()
assert output == 'Picked up tip!'
def test_move_output(mock_config, loop, monkeypatch, hardware):
# Check that the robot moves to the correct locations
# TODO: Make tests for both APIs
tool = dc_main.CLITool(get_calibration_points(), hardware, loop=loop)
assert tool.hardware is hardware
# Move to all three calibration points
expected_pts = tool._expected_points
for pt in range(3):
point = pt + 1
tool.validate(expected_pts[point], point, tool._current_mount)
assert np.isclose(tool._position(), expected_pts[point]).all()
def test_try_pickup_tip(mock_config, hardware, monkeypatch, loop):
# Check that the robot moves to the correct locations
# TODO: Make tests for both APIs
def fake_read_model(mount):
return model2()
monkeypatch.setattr(hardware._driver, 'read_pipette_model',
fake_read_model)
monkeypatch.setattr(hardware, 'config', mock_config)
tool = dc_main.CLITool(get_calibration_points(), hardware, loop=loop)
output = tool.try_pickup_tip()
assert output == 'Picked up tip!'
def test_mount_offset(mock_config, hardware, loop, monkeypatch):
# Check that mount offset gives the expected output when position is
# slightly changed
def fake_position(something):
return [11.13, 8, 51.7]
monkeypatch.setattr(hardware, 'config', mock_config)
tool = dc_main.CLITool(get_calibration_points(), hardware, loop=loop)
monkeypatch.setattr(dc_main.CLITool, '_position', fake_position)
expected_offset = (1.0, 1.0, 0.0)
tool.save_mount_offset()
assert expected_offset == tool.hardware.config.mount_offset
hardware.reset()
def test_mount_offset(mock_config, hw_with_pipettes, loop, monkeypatch):
# Check that mount offset gives the expected output when position is
# slightly changed
def fake_position(something):
return [-22.87, 8, 0]
monkeypatch.setattr(
hw_with_pipettes._obj_to_adapt, '_config', mock_config)
hw_with_pipettes.home()
tool = dc_main.CLITool(
get_calibration_points(), hw_with_pipettes, loop=loop)
monkeypatch.setattr(
dc_main.CLITool, '_position', fake_position)
expected_offset = (1.0, 1.0, 0.0)
tool.save_mount_offset()
assert expected_offset == tool.hardware.config.mount_offset
