def test__stackable__calibrate_upper_rack(self):
r = racks.stackable(rack_name='RackThatCannotBeNamed',
rack_type='test_rack')
r_below = racks.stackable(rack_name='BottomRackThatCannotBeNamed',
rack_type='test_rack')
r_below.getSavedSlotCenter = mock.MagicMock()
r_below.getSavedSlotCenter.return_value = (200, 100, 600)
# Initially defining slot for lower rack, but not for the upper one
r_below.overwriteSlot(1, 4)
# Parameters of a bottom rack
r_below.updateCenter(x=200,
y=100,
z=600,
x_btm_touch=100,
y_btm_touch=50,
z_btm_touch=550)
#r_below.save()
#r_below.getSavedSlotCenter = mock.MagicMock()
#r_below.getSavedSlotCenter.return_value = (200, 100, 600)
r_below.placeItemOnTop(r)
# Parameters of the top rack that were inherited from the bottom rack; before top rack
# calibration
x_cal, y_cal, z_cal, opposite_x, orthogonal_y, raise_z = r.getSimpleCalibrationPoints(
)
self.assertEqual(x_cal, 129)
self.assertEqual(y_cal, 100)
self.assertEqual(z_cal, 406)
def test__plate_gripper__test__plate_gripper__grabAndPlaceStackable_SameSpot(
self):
cartesian.arnie = mock.MagicMock()
tools.llc.serial_device.readAll = mock.MagicMock()
tools.llc.serial_device.readAll.return_value = "mobile gripper"
tools.llc.serial.Serial = mock.MagicMock()
ar = cartesian.arnie('COM1', 'COM2')
gr = tools.mobile_gripper(robot=ar,
com_port_number='COM3',
tool_name='mobile_gripper')
gr.operateGripper = mock.MagicMock()
gr.getToRackCenter = mock.MagicMock()
s1 = racks.stackable(rack_name='RackThatCannotBeNamed-1',
rack_type='test_rack')
s1.overwriteSlot(1, 3)
s2 = racks.stackable(rack_name='RackThatCannotBeNamed-2',
rack_type='test_rack')
s1.rack_data['position'] = [400, 200, 500]
s1.rack_data['pos_stalagmyte'] = [200, 100, 400]
gr.setStalagmyteCoord(x=210, y=95, z=530)
s2.max_height = 100
s2.setGrippingProperties(90, 80, 10, gripper=gr)
s1.placeItemOnTop(s2)
gr.grabRack(s2)
gr.robot.move.assert_has_calls([mock.call(z=400 - 400 + 530 + 10)])
gr.placeRack(s1)
gr.robot.move.assert_has_calls([mock.call(z=400 - 400 + 530 + 10)])
def test__stackable__getSimpleCalibrationPoints(self):
"""
Checks that function returns proper calibration points for stackables
"""
r = racks.stackable(rack_name='RackThatCannotBeNamed',
rack_type='test_rack')
r_below = racks.stackable(rack_name='BottomRackThatCannotBeNamed',
rack_type='test_rack')
# Initially defining slot for lower rack, but not for the upper one
r_below.overwriteSlot(1, 4)
# Parameters of a bottom rack
r_below.getSavedSlotCenter = mock.MagicMock()
r_below.getSavedSlotCenter.return_value = (200, 100, 600)
# r_below.x_width = 150
# r_below.x_init_calibrat_dist_from_wall = 5
# r_below.z_height = 20
# r_below.xy_calibrat_height_dz = 5
# r_below.y_width = 90
# r_below.y_init_calibrat_dist_from_wall = 5
# r_below.max_height = 20
# r_below.dz_clearance = 10
#
#
# r.x_width = 150
# r.x_init_calibrat_dist_from_wall = 5
# r.z_height = 20
# r.xy_calibrat_height_dz = 5
# r.y_width = 90
# r.y_init_calibrat_dist_from_wall = 5
# r.max_height = 20
# r.dz_clearance = 10
r_below.placeItemOnTop(r)
bx_cal, by_cal, bz_cal, b_opposite_x, b_orthogonal_y, b_raise_z = r_below.getSimpleCalibrationPoints(
)
#self.assertEqual(bx_cal, 200 - 130/2 - 6)
x_cal, y_cal, z_cal, opposite_x, orthogonal_y, raise_z = r.getSimpleCalibrationPoints(
)
self.assertEqual(x_cal, 129)
self.assertEqual(y_cal, 100)
self.assertEqual(bz_cal, 506)
self.assertEqual(z_cal, 406)
self.assertEqual(r_below.z_height, 100)
self.assertEqual(r.z_height, 200)
self.assertEqual(opposite_x, 142)
self.assertEqual(orthogonal_y, 46)
self.assertGreater(raise_z, 6)
def test__stackable__getCalibratedRackCenter__upper_rack_calibrated(self):
r = racks.stackable(rack_name='RackThatCannotBeNamed',
rack_type='test_rack')
r_below = racks.stackable(rack_name='BottomRackThatCannotBeNamed',
rack_type='test_rack')
r_below.overwriteSlot(1, 4)
# Placing rack without calibration
r_below.placeItemOnTop(r)
# Upper rack receives calibration
r.updateCenter(200, 100, 400, 50, 70, 450)
self.assertEqual(r_below.getCalibratedRackCenter(), (200, 100, 500))
self.assertEqual(r.getCalibratedRackCenter(), (200, 100, 400))
def test__stackable__getCalibratedRackCenter__re_calibration(self):
r = racks.stackable(rack_name='RackThatCannotBeNamed',
rack_type='test_rack')
r_below = racks.stackable(rack_name='BottomRackThatCannotBeNamed',
rack_type='test_rack')
r_below.overwriteSlot(1, 4)
r_below.rack_data['position'] = [200, 100, 600]
r_below.placeItemOnTop(r)
self.assertEqual(r_below.getCalibratedRackCenter(), (200, 100, 600))
self.assertEqual(r.getCalibratedRackCenter(), (200, 100, 500))
# Simulating upper rack re-calibration
r.updateCenter(210, 95, 502, 51, 72, 449)
self.assertEqual(r_below.getCalibratedRackCenter(), (210, 95, 602))
self.assertEqual(r.getCalibratedRackCenter(), (210, 95, 502))
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__plate_gripper__grabRack__open_close_diameters(self):
cartesian.arnie = mock.MagicMock()
tools.llc.serial_device.readAll = mock.MagicMock()
tools.llc.serial_device.readAll.return_value = "mobile gripper"
tools.llc.serial.Serial = mock.MagicMock()
ar = cartesian.arnie('COM1', 'COM2')
gr = tools.mobile_gripper(robot=ar,
com_port_number='COM3',
tool_name='mobile_gripper')
gr.operateGripper = mock.MagicMock()
gr.getToRackCenter = mock.MagicMock()
gr.setStalagmyteCoord(x=210, y=95, z=530)
gr.toDiameter = mock.MagicMock()
s1 = racks.stackable(rack_name='RackThatCannotBeNamed-1',
rack_type='test_rack')
s1.rack_data['position'] = [400, 200, 500]
s1.rack_data['pos_stalagmyte'] = [200, 100, 400]
s1.setGrippingProperties(90, 80, 10, gripper=gr)
gr.grabRack(s1)
gr.toDiameter.assert_has_calls([
mock.call(diameter=90, powerdown=False),
mock.call(diameter=80, powerdown=False)
])
def test__stackable__getCalibratedRackCenter__lower_rack_calibrated(self):
r = racks.stackable(rack_name='RackThatCannotBeNamed',
rack_type='test_rack')
r_below = racks.stackable(rack_name='BottomRackThatCannotBeNamed',
rack_type='test_rack')
r_below.overwriteSlot(1, 4)
#r_below.getSavedSlotCenter = mock.MagicMock()
#r_below.getSavedSlotCenter.return_value = (200, 100, 600)
r_below.rack_data['position'] = [200, 100, 600]
r_below.placeItemOnTop(r)
self.assertEqual(r_below.getCalibratedRackCenter(), (200, 100, 600))
self.assertEqual(r.getCalibratedRackCenter(), (200, 100, 500))
def test__calibrateRack__stackable(self):
cartesian.arnie = mock.MagicMock()
tools.mobile_touch_probe = mock.MagicMock()
# Initializing robot with a tool (mocked)
ar = cartesian.arnie('COM1', 'COM2')
tp = tools.mobile_touch_probe('COM3')
# Touch probe parameters
tp.getStalagmyteCoord = mock.MagicMock()
tp.getStalagmyteCoord.return_value = (66, 66, 500)
# Initializing stack of racks
r = racks.stackable(rack_name='RackThatCannotBeNamed',
rack_type='test_rack')
r_below = racks.stackable(rack_name='BottomRackThatCannotBeNamed',
rack_type='test_rack')
r_below.overwriteSlot(1, 4)
# Parameters of a bottom rack
r_below.getSavedSlotCenter = mock.MagicMock()
r_below.getSavedSlotCenter.return_value = (200, 100, 600)
# Forming a stack by placing top rack onto the bottom rack
r_below.placeItemOnTop(r)
# Mocking findCenterOuter function to give different outputs for 'x' and 'y'
tp.findCenterOuter = mock.MagicMock(side_effect=[205, 95])
tp.findWall = mock.MagicMock()
tp.findWall.return_value = 301
# Performing calibration
x, y, z = calibration.calibrateRack(tp, r)
# Evaluating outputs
self.assertEqual(x, 205)
self.assertEqual(y, 95)
self.assertEqual(z, 301)
# Evaluating robot movements based on provided parameters
tp.robot.move.assert_has_calls([
mock.call(x=129, y=100, z=406, z_first=False),
mock.call(x=205, y=54),
mock.call(x=205, y=95),
mock.call(z=400)
])
def test__stackable__calibrate_upper_rack__coords_save(self):
# before-test cleanup
try:
os.remove('RackThatCannotBeNamed.json')
except:
pass
try:
os.remove('BottomRackThatCannotBeNamed.json')
except:
pass
r = racks.stackable(rack_name='RackThatCannotBeNamed',
rack_type='test_rack')
r_below = racks.stackable(rack_name='BottomRackThatCannotBeNamed',
rack_type='test_rack')
# Initially defining slot for lower rack, but not for the upper one
r_below.overwriteSlot(1, 4)
# Parameters of a bottom rack
r_below.rack_data['position'] = [200, 100, 600]
# Placing rack r on top of the r_below
r_below.placeItemOnTop(r)
# Simulating upper rack re-calibration
r.updateCenter(210, 95, 502, 51, 72, 449)
# Saving re-calibration (part of any calibration routine)
r.save()
self.assertEqual(r_below.getCalibratedRackCenter(), (210, 95, 602))
self.assertEqual(r.getCalibratedRackCenter(), (210, 95, 502))
# Re-initializing bottom rack to see if it still has updated coordinates
r_below = racks.stackable(rack_name='BottomRackThatCannotBeNamed',
rack_type='test_rack')
self.assertEqual(r_below.getCalibratedRackCenter(), (210, 95, 602))
# after-test cleanup
try:
os.remove('RackThatCannotBeNamed.json')
except:
pass
try:
os.remove('BottomRackThatCannotBeNamed.json')
except:
pass
def test__mobile_gripper__grabRack(self, mock_serialdev, mock_readAll,
mock_cartesian):
# Same as above, but using a real rack object
# Defining all mock values and parameters for gripper
mock_readAll.return_value = "mobile gripper"
ar = cartesian.arnie('COM1', 'COM2')
gr = tools.mobile_gripper(robot=ar,
com_port_number='COM3',
tool_name='mobile_gripper')
gr.operateGripper = mock.MagicMock()
gr.getToRackCenter = mock.MagicMock()
# Emulating tool calibration
gr.setStalagmyteCoord(x=210, y=95, z=530)
# Initializing a test rack
r = racks.stackable(rack_name="p1000_1_test",
rack_data={
'n_x': 0,
'n_y': 2,
'type': 'p1000_tips'
})
r.updateCenter(x=100,
y=200,
z=550,
x_btm_touch=90,
y_btm_touch=66,
z_btm_touch=500)
#r.z_working_height = 0
r.setGrippingProperties(open_diam=90,
grip_diam=80,
z_relative_to_top=10,
gripper=gr)
self.assertEqual(gr.getStalagmyteCoord()[2], 530)
self.assertEqual(r.rack_data['pos_stalagmyte'][2], 500)
self.assertEqual(
r.calcRackCenterFullCalibration(gr)[2], 550 - 8 - 500 + 530)
self.assertEqual(r.getGrippingHeight(gr), 550 - 8 - 500 + 530 + 10)
# Calling function to see if errors appear
param_dict = gr.grabRack(r, test=True)
# Checking gripper instance parameters changed
self.assertEqual(gr.sample, r)
self.assertEqual(gr.gripper_has_something, True)
self.assertEqual(gr.added_z_length, 86)
# Testing correctness of the default settings
self.assertEqual(r.rack_data['position'][2], 550)
self.assertEqual(r.getCalibratedRackCenter()[2], 550)
self.assertEqual(r.z_working_height, -8)
self.assertEqual(gr.getStalagmyteCoord()[2], 530 - 86)
self.assertEqual(param_dict['open_diam'], 90)
self.assertEqual(param_dict['close_diam'], 80)
self.assertEqual(param_dict['z_grab'], 582)
self.assertEqual(param_dict['z_retract'], 582 - 86)
def test__stackableOnTop__ManualPlacement(self):
"""
User manually places a stack onto the robot.
"""
try:
os.remove('RackThatCannotBeNamed.json')
except:
pass
try:
os.remove('BottomRackThatCannotBeNamed.json')
except:
pass
# The case when a user manually places a stack onto the robot.
r = racks.stackable(rack_name='RackThatCannotBeNamed',
rack_type='test_rack')
r_below = racks.stackable(rack_name='BottomRackThatCannotBeNamed',
rack_type='test_rack',
x_slot=1,
y_slot=4)
r.max_height = 100
# User would initialize those racks manually. Both racks has no calibration at this point
self.assertRaises(KeyError, lambda x: r_below.rack_data['position'], 1)
self.assertRaises(KeyError, lambda x: r.rack_data['position'], 1)
racks.logging.error = mock.MagicMock(
) # removing logging error message for not calibrated rack
r_below.placeItemOnTop(r)
self.assertEqual(r_below.getTopItem(), r)
# Simulating calibration routine
# This is a very simple simulation, need to test an actual calibration routine
# Top rack is calibrated, as the bottom ones are impossible to calibrate
r.updateCalibratedRackCenter(x=402, y=198, z=405)
r.updateStalagmyteCalibration(x=200, y=100, z=400)
# Checking whether upper rack received its calibration parameters
self.assertEqual(r.getCalibratedRackCenter(), (402, 198, 405))
self.assertEqual(r.getStalagmyteCalibration(), (200, 100, 400))
# Removing top rack
r_below.removeTopItem()
# Checking whether the bottom rack received calibration data
# And that the bottom rack height is correctly calculated
self.assertEqual(r_below.getCalibratedRackCenter(), (402, 198, 505))
self.assertEqual(r.getStalagmyteCalibration(), (200, 100, 400))
def test__stackableOnTop(self):
"""
This one tests behaviour of a stackable rack on top of a stack
"""
r = racks.stackable(rack_name='RackThatCannotBeNamed',
rack_type='test_rack')
r_below = racks.stackable(rack_name='BottomRackThatCannotBeNamed',
rack_type='test_rack',
x_slot=1,
y_slot=4)
r.max_height = 100
self.assertEqual(r.top_item, None)
self.assertEqual(r.getTopItem(), None)
# Now simulating the bottom rack being calibrated, and then a new one
# placed on top of the bottom rack.
r_below.rack_data['position'] = [400, 200, 500]
r_below.rack_data['pos_stalagmyte'] = [200, 100, 400]
self.assertEqual(r_below.getCalibratedRackCenter(), (400, 200, 500))
r_below.placeItemOnTop(r)
# Stackable rack has height 100 mm, so the new top will be 100 mm above calibrated value
# X and Y values stays the same.
self.assertEqual(r.getCalibratedRackCenter(), (400, 200, 500 - 100))
self.assertEqual(r_below.getTopItem(), r)
# Now simulating removal of the top rack from the bottom rack
r_below.removeTopItem()
self.assertEqual(r_below.getTopItem(), None)
# Coordinates should stay the same as before
self.assertEqual(r_below.getCalibratedRackCenter(), (400, 200, 500))
# Now simulating the case when the neq rack was placed on top, calibrated,
# received new calibration values and then removed.
r_below.placeItemOnTop(r)
r.updateCalibratedRackCenter(
402, 198, 405) # new values are slightly different then old ones.
r_below.removeTopItem()
self.assertEqual(r_below.getCalibratedRackCenter(), (402, 198, 505))
def test__mobile_gripper__placeRack(self):
gripped_rack = racks.stackable(rack_name='RackThatCannotBeNamed',
rack_type='test_rack')
dest_rack = racks.stackable(rack_name='BottomRackThatCannotBeNamed',
rack_type='test_rack')
dest_rack.updateCenter(600, 300, 550, 90, 66, 500)
dest_rack.overwriteSlot(1, 3)
cartesian.arnie = mock.MagicMock()
tools.llc.serial_device.readAll = mock.MagicMock()
tools.llc.serial_device.readAll.return_value = "mobile gripper"
tools.llc.serial.Serial = mock.MagicMock()
ar = cartesian.arnie('COM1', 'COM2')
gr = tools.mobile_gripper(robot=ar,
com_port_number='COM3',
tool_name='mobile_gripper')
gr.operateGripper = mock.MagicMock()
gr.getToRackCenter = mock.MagicMock()
gr.setStalagmyteCoord(x=210, y=95, z=430)
gripped_rack.setGrippingProperties(90, 80, 10, gripper=gr)
dest_rack.setGrippingProperties(90, 80, 10, gripper=gr)
gr.sample = gripped_rack
placed_rack_object, param_dict = gr.placeRack(dest_rack, test=True)
self.assertEqual(gr.getStalagmyteCoord()[2], 430)
self.assertEqual(dest_rack.calcRackCenterFullCalibration(tool=gr),
(600 + 210 - 90, 300 + 95 - 66, 550 + 430 - 500))
self.assertEqual(gripped_rack, placed_rack_object)
self.assertEqual(param_dict['destination_coord'][0], 600 + 210 - 90)
self.assertEqual(param_dict['destination_coord'][1], 300 + 95 - 66)
self.assertEqual(param_dict['destination_coord'][2], 550 + 430 - 500)
self.assertEqual(param_dict['rack_heigth'], 100)
self.assertEqual(param_dict['z_final_absolute'], 480)
self.assertEqual(param_dict['open_diam'], 90)
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__plate_gripper__grabAndPlaceStackable(self):
cartesian.arnie = mock.MagicMock()
tools.llc.serial_device.readAll = mock.MagicMock()
tools.llc.serial_device.readAll.return_value = "mobile gripper"
tools.llc.serial.Serial = mock.MagicMock()
ar = cartesian.arnie('COM1', 'COM2')
gr = tools.mobile_gripper(robot=ar,
com_port_number='COM3',
tool_name='mobile_gripper')
gr.operateGripper = mock.MagicMock()
gr.getToRackCenter = mock.MagicMock()
s1 = racks.stackable(rack_name='RackThatCannotBeNamed-1',
rack_type='test_rack')
s1.overwriteSlot(1, 3)
s2 = racks.stackable(rack_name='RackThatCannotBeNamed-2',
rack_type='test_rack')
s3 = racks.stackable(rack_name='RackThatCannotBeNamed-3',
rack_type='test_rack')
s3.overwriteSlot(2, 4)
s1.rack_data['position'] = [400, 200, 500]
s1.rack_data['pos_stalagmyte'] = [200, 100, 400]
s3.rack_data['position'] = [800, 330, 300]
s3.rack_data['pos_stalagmyte'] = [200, 100, 400]
gr.setStalagmyteCoord(x=210, y=95, z=530)
s2.max_height = 100
s2.setGrippingProperties(90, 80, 10, gripper=gr)
s1.placeItemOnTop(s2)
self.assertEqual(s2.getCalibratedRackCenter(), (400, 200, 400))
self.assertEqual(s2.rack_data['pos_stalagmyte'], [200, 100, 400])
self.assertEqual(s2.getStalagmyteCalibration(), (200, 100, 400))
self.assertEqual(s2.rack_data['n_x'], 1)
self.assertEqual(s2.rack_data['n_y'], 3)
param_dict = gr.grabRack(s2, test=True)
# Bottom rack shall now has no top rack:
self.assertEqual(s1.getTopItem(), None)
# Rack is in the gripper
self.assertEqual(gr.sample, s2)
self.assertEqual(gr.gripper_has_something, True)
self.assertEqual(gr.added_z_length, 90)
# Grabbing parameters
self.assertEqual(param_dict['z_grab'], 400 - 0 - 400 + 530 + 10)
# Placing to the new rack
placed_rack_object, param_dict = gr.placeRack(s3, test=True)
# Checking that gripper has nothing left
self.assertEqual(gr.sample, None)
self.assertEqual(gr.gripper_has_something, False)
self.assertEqual(gr.added_z_length, 0)
# Updated rack parameters:
self.assertEqual(s2.getCalibratedRackCenter(), (800, 330, 200))
self.assertEqual(s2.getStalagmyteCalibration(), (200, 100, 400))
self.assertEqual(s3.getTopItem(), s2)
self.assertEqual(s2.bottom_item, s3)
self.assertEqual(s2.rack_data['n_x'], 2)
self.assertEqual(s2.rack_data['n_y'], 4)
def test__getStalagmyteCalibration(self):
r = racks.stackable(rack_name='RackThatCannotBeNamed',
rack_type='test_rack')
# Simulating stalagmyte calibration data
r.rack_data['pos_stalagmyte'] = [200, 100, 400]
self.assertEqual(r.getStalagmyteCalibration(), (200, 100, 400))
def test__getCalibratedRackCenter(self):
r = racks.stackable(rack_name='RackThatCannotBeNamed',
rack_type='test_rack')
r.rack_data['position'] = [400, 200, 500]
self.assertEqual(r.getCalibratedRackCenter(), (400, 200, 500))