def test_direct_cp():
deck = Deck()
trough = labware.load(trough_name, deck.position_for(1))
lw1 = labware.load(labware_name, deck.position_for(2))
# when moving from no origin location to a centered labware we should
# start in default cp
from_nothing = plan_moves(Location(Point(50, 50, 50), None),
trough.wells()[0].top(), deck)
check_arc_basic(from_nothing, Location(Point(50, 50, 50), None),
trough.wells()[0].top())
assert from_nothing[0][1] is None
assert from_nothing[1][1] == CriticalPoint.XY_CENTER
assert from_nothing[2][1] == CriticalPoint.XY_CENTER
# when moving from an origin with a centered labware to a dest with a
# centered labware we should stay in centered the entire time, whether
# arc
from_centered_arc = plan_moves(trough.wells()[0].top(),
trough.wells()[1].top(), deck)
check_arc_basic(from_centered_arc,
trough.wells()[0].top(),
trough.wells()[1].top())
assert from_centered_arc[0][1] == CriticalPoint.XY_CENTER
assert from_centered_arc[1][1] == CriticalPoint.XY_CENTER
assert from_centered_arc[2][1] == CriticalPoint.XY_CENTER
# or direct
from_centered_direct = plan_moves(trough.wells()[0].top(),
trough.wells()[1].bottom(), deck)
assert from_centered_direct[0][1] == CriticalPoint.XY_CENTER
# when moving from centered to normal, only the first move should be
# centered
to_normal = plan_moves(trough.wells()[0].top(), lw1.wells()[0].top(), deck)
check_arc_basic(to_normal, trough.wells()[0].top(), lw1.wells()[0].top())
assert to_normal[0][1] == CriticalPoint.XY_CENTER
assert to_normal[1][1] is None
assert to_normal[2][1] is None
def test_arc_lower_minimum_z_height():
deck = Deck()
lw1 = labware.load(labware_name, deck.position_for(1))
tall_z = 100
minimum_z_height = 42
old_top = lw1.wells()[0].top()
tall_point = old_top.point._replace(z=tall_z)
tall_top = old_top._replace(point=tall_point)
to_tall = plan_moves(lw1.wells()[2].top(),
tall_top,
deck,
7.0,
15.0,
False,
minimum_z_height=minimum_z_height)
check_arc_basic(to_tall, lw1.wells()[2].top(), tall_top)
assert to_tall[0][0].z == tall_z
from_tall = plan_moves(tall_top,
lw1.wells()[3].top(),
deck,
7.0,
15.0,
minimum_z_height=minimum_z_height)
check_arc_basic(from_tall, tall_top, lw1.wells()[3].top())
assert from_tall[0][0].z == tall_z
no_well = tall_top._replace(labware=lw1)
from_tall_lw = plan_moves(no_well,
lw1.wells()[4].bottom(), deck, 7.0, 15.0)
check_arc_basic(from_tall_lw, no_well, lw1.wells()[4].bottom())
def test_basic_arc():
deck = Deck()
lw1 = labware.load(labware_name, deck.position_for(1))
lw2 = labware.load(labware_name, deck.position_for(2))
deck[1] = lw1
deck[2] = lw2
# same-labware moves should use the smaller safe z
same_lw = plan_moves(lw1.wells()[0].top(),
lw1.wells()[8].bottom(),
deck,
P300M_GEN2_MAX_HEIGHT,
7.0, 15.0)
check_arc_basic(same_lw, lw1.wells()[0].top(), lw1.wells()[8].bottom())
assert same_lw[0][0].z == lw1.wells()[0].top().point.z + 7.0
# different-labware moves, or moves with no labware attached,
# should use the larger safe z and the global z
different_lw = plan_moves(lw1.wells()[0].top(),
lw2.wells()[0].bottom(),
deck,
P300M_GEN2_MAX_HEIGHT,
7.0, 15.0)
check_arc_basic(different_lw,
lw1.wells()[0].top(), lw2.wells()[0].bottom())
assert different_lw[0][0].z == deck.highest_z + 15.0
def test_no_labware_loc():
labware_def = labware.get_labware_definition(labware_name)
deck = Deck()
lw1 = labware.load(labware_name, deck.position_for(1))
lw2 = labware.load(labware_name, deck.position_for(2))
# Various flavors of locations without labware should work
no_lw = lw1.wells()[0].top()._replace(labware=None)
no_from = plan_moves(no_lw, lw2.wells()[0].bottom(), deck, 7.0, 15.0)
check_arc_basic(no_from, no_lw, lw2.wells()[0].bottom())
assert no_from[0][0].z == deck.highest_z + 15.0
no_to = plan_moves(lw1.wells()[0].bottom(), no_lw, deck, 7.0, 15.0)
check_arc_basic(no_to, lw1.wells()[0].bottom(), no_lw)
assert no_from[0][0].z == deck.highest_z + 15.0
no_well = lw1.wells()[0].top()._replace(labware=lw1)
no_from_well = plan_moves(no_well, lw1.wells()[1].top(), deck, 7.0, 15.0)
check_arc_basic(no_from_well, no_well, lw1.wells()[1].top())
assert no_from_well[0][0].z\
== labware_def['dimensions']['zDimension'] + 7.0
no_to_well = plan_moves(lw1.wells()[1].top(), no_well, deck, 7.0, 15.0)
check_arc_basic(no_to_well, lw1.wells()[1].top(), no_well)
assert no_to_well[0][0].z\
== labware_def['dimensions']['zDimension'] + 7.0
def test_instr_max_height():
deck = Deck()
trough = labware.load(trough_name, deck.position_for(1))
trough2 = labware.load(trough_name, deck.position_for(2))
deck[1] = trough
deck[2] = trough2
# if the highest deck height is between 1 mm and 10 mm below
# the max instrument achievable height, we use the max instrument
# height as the safe height
instr_max_height = trough.wells()[0].top().point.z + 1
moves1 = plan_moves(
trough.wells()[0].top(), trough2.wells()[0].top(),
deck, round(instr_max_height, 2), 7.0, 15.0)
assert moves1[0][0].z == round(instr_max_height, 2)
# if the highest deck height is > 10 mm below the max instrument
# height, we use the lw_z_margin instead
instr_max_height = trough.wells()[0].top().point.z + 30
moves2 = plan_moves(
trough.wells()[0].top(), trough2.wells()[0].top(),
deck, round(instr_max_height, 2), 7.0, 15.0)
assert moves2[0][0].z ==\
round(trough.wells()[0].top().point.z, 2) + 15.0
# it fails if the highest deck height is less than 1 mm below
# the max instr achievable height
instr_max_height = trough.wells()[0].top().point.z
with pytest.raises(Exception):
plan_moves(
trough.wells()[0].top(), trough2.wells()[0].top(),
deck, round(instr_max_height, 2), 7.0, 15.0)
def test_direct_movs():
deck = Deck()
lw1 = labware.load(labware_name, deck.position_for(1))
same_place = plan_moves(lw1.wells()[0].top(), lw1.wells()[0].top(), deck)
assert same_place == [(lw1.wells()[0].top().point, None)]
same_well = plan_moves(lw1.wells()[0].top(), lw1.wells()[0].bottom(), deck)
assert same_well == [(lw1.wells()[0].bottom().point, None)]
def test_direct_movs():
deck = Deck()
lw1 = labware.load(labware_name, deck.position_for(1))
same_place = plan_moves(
lw1.wells()[0].top(), lw1.wells()[0].top(), deck,
instr_max_height=P300M_GEN2_MAX_HEIGHT)
assert same_place == [(lw1.wells()[0].top().point, None)]
same_well = plan_moves(
lw1.wells()[0].top(), lw1.wells()[0].bottom(), deck,
instr_max_height=P300M_GEN2_MAX_HEIGHT)
assert same_well == [(lw1.wells()[0].bottom().point, None)]
def test_force_direct():
deck = Deck()
lw1 = labware.load(labware_name, deck.position_for(1))
lw2 = labware.load(labware_name, deck.position_for(2))
# same-labware moves should move direct
same_lw = plan_moves(lw1.wells()[0].top(),
lw1.wells()[8].bottom(),
deck,
P300M_GEN2_MAX_HEIGHT,
7.0, 15.0, force_direct=True)
assert same_lw == [(lw1.wells()[8].bottom().point, None)]
# different-labware moves should move direct
different_lw = plan_moves(lw1.wells()[0].top(),
lw2.wells()[0].bottom(),
deck,
P300M_GEN2_MAX_HEIGHT,
7.0, 15.0, force_direct=True)
assert different_lw == [(lw2.wells()[0].bottom().point, None)]
def test_direct_minimum_z_height():
deck = Deck()
lw1 = labware.load(labware_name, deck.position_for(1))
from_loc = lw1.wells()[0].bottom().move(Point(x=-2))
to_loc = lw1.wells()[0].bottom().move(Point(x=2))
zmo = 150
# This would normally be a direct move since it’s inside the same well,
# but we want to check that we override it into an arc
moves = plan_moves(from_loc, to_loc, deck, minimum_z_height=zmo)
assert len(moves) == 3
assert moves[0][0].z == zmo # equals zmo b/c 150 is max of all safe z's
check_arc_basic(moves, from_loc, to_loc)
def test_no_labware_loc(labware_offset_tempdir):
labware_def = labware.get_labware_definition(labware_name)
deck = Deck()
lw1 = labware.load(labware_name, deck.position_for(1))
lw2 = labware.load(labware_name, deck.position_for(2))
deck[1] = lw1
deck[2] = lw2
# Various flavors of locations without labware should work
no_lw = lw1.wells()[0].top()._replace(labware=None)
no_from = plan_moves(no_lw,
lw2.wells()[0].bottom(), deck, P300M_GEN2_MAX_HEIGHT,
7.0, 15.0)
check_arc_basic(no_from, no_lw, lw2.wells()[0].bottom())
assert no_from[0][0].z == deck.highest_z + 15.0
no_to = plan_moves(lw1.wells()[0].bottom(), no_lw, deck,
P300M_GEN2_MAX_HEIGHT, 7.0, 15.0)
check_arc_basic(no_to, lw1.wells()[0].bottom(), no_lw)
assert no_from[0][0].z == deck.highest_z + 15.0
no_well = lw1.wells()[0].top()._replace(labware=lw1)
no_from_well = plan_moves(no_well,
lw1.wells()[1].top(), deck,
P300M_GEN2_MAX_HEIGHT, 7.0, 15.0)
check_arc_basic(no_from_well, no_well, lw1.wells()[1].top())
no_from_well_height = no_from_well[0][0].z
lw_height_expected = labware_def['dimensions']['zDimension'] + 7
assert no_from_well_height == lw_height_expected
no_to_well = plan_moves(lw1.wells()[1].top(), no_well, deck,
P300M_GEN2_MAX_HEIGHT, 7.0, 15.0)
check_arc_basic(no_to_well, lw1.wells()[1].top(), no_well)
no_to_well_height = no_to_well[0][0].z
assert no_to_well_height == lw_height_expected
async def _move(self,
pipette_id: UUID,
request_position: Location):
# determine current location
mount = self._get_mount(pipette_id)
from_pt = await self.hardware.gantry_position(mount)
from_loc = Location(from_pt, None)
max_height = self.hardware.get_instrument_max_height(mount)
moves = geometry.plan_moves(from_loc, request_position,
self._deck, max_height)
for move in moves:
await self.hardware.move_to(mount, move[0], move[1])
