def __init__(self,
hardware: ThreadManager):
self._hardware = hardware
self._hw_pipette, self._mount = self._select_target_pipette()
deck_load_name = SHORT_TRASH_DECK if ff.short_fixed_trash() \
else STANDARD_DECK
self._deck = deck.Deck(load_name=deck_load_name)
self._tip_rack = self._get_tip_rack_lw()
self._deck[TIP_RACK_SLOT] = self._tip_rack
self._current_state = State.sessionStarted
self._state_machine = DeckCalibrationStateMachine()
self._tip_origin_pt: Optional[Point] = None
self._z_height_reference: Optional[float] = None
self._expected_points = self._build_expected_points_dict()
self._saved_points: SavedPoints = {}
self._command_map: COMMAND_MAP = {
CalibrationCommand.load_labware: self.load_labware,
CalibrationCommand.jog: self.jog,
CalibrationCommand.pick_up_tip: self.pick_up_tip,
CalibrationCommand.invalidate_tip: self.invalidate_tip,
CalibrationCommand.save_offset: self.save_offset,
CalibrationCommand.move_to_tip_rack: self.move_to_tip_rack,
CalibrationCommand.move_to_deck: self.move_to_deck,
CalibrationCommand.move_to_point_one: self.move_to_point_one,
DeckCalibrationCommand.move_to_point_two: self.move_to_point_two,
DeckCalibrationCommand.move_to_point_three: self.move_to_point_three, # noqa: E501
CalibrationCommand.exit: self.exit_session,
}
def __init__(self,
hardware: ThreadManager,
mount: Mount,
has_calibration_block: bool,
tip_rack: 'LabwareDefinition'):
self._tip_rack_definition = tip_rack
self._hardware = hardware
self._mount = mount
self._has_calibration_block = has_calibration_block
self._hw_pipette = self._hardware._attached_instruments[mount]
if not self._hw_pipette:
raise ErrorExc(Error.NO_PIPETTE, mount)
self._tip_origin_pt: Optional[Point] = None
self._nozzle_height_at_reference: Optional[float] = None
deck_load_name = SHORT_TRASH_DECK if ff.short_fixed_trash() \
else STANDARD_DECK
self._deck = geometry.Deck(load_name=deck_load_name)
self._initialize_deck()
self._current_state = State.sessionStarted
self._state_machine = TipCalibrationStateMachine()
self._command_map: COMMAND_MAP = {
CalibrationCommand.load_labware: self.load_labware,
CalibrationCommand.jog: self.jog,
CalibrationCommand.pick_up_tip: self.pick_up_tip,
CalibrationCommand.invalidate_tip: self.invalidate_tip,
CalibrationCommand.save_offset: self.save_offset,
TipLengthCalibrationCommand.move_to_reference_point: self.move_to_reference_point, # noqa: E501
TipLengthCalibrationCommand.move_to_tip_rack: self.move_to_tip_rack, # noqa: E501
CalibrationCommand.exit: self.exit_session,
}
def __init__(self, hardware: ThreadManager, mount: Mount = Mount.RIGHT):
self._hardware = hardware
self._mount = mount
self._hw_pipette = self._hardware._attached_instruments[mount]
if not self._hw_pipette:
raise RobotServerError(
definition=CalibrationError.NO_PIPETTE_ON_MOUNT, mount=mount)
deck_load_name = SHORT_TRASH_DECK if ff.short_fixed_trash() \
else STANDARD_DECK
self._deck = deck.Deck(load_name=deck_load_name)
self._tip_rack = self._get_tip_rack_lw()
self._deck[TIP_RACK_SLOT] = self._tip_rack
self._current_state = State.sessionStarted
self._state_machine = PipetteOffsetCalibrationStateMachine()
point_one_pos = \
self._deck.get_calibration_position(POINT_ONE_ID).position
self._cal_ref_point = Point(*point_one_pos)
self._tip_origin_pt: Optional[Point] = None
self._command_map: COMMAND_MAP = {
CalibrationCommand.load_labware: self.load_labware,
CalibrationCommand.jog: self.jog,
CalibrationCommand.pick_up_tip: self.pick_up_tip,
CalibrationCommand.invalidate_tip: self.invalidate_tip,
CalibrationCommand.save_offset: self.save_offset,
CalibrationCommand.move_to_tip_rack: self.move_to_tip_rack,
CalibrationCommand.move_to_deck: self.move_to_deck,
CalibrationCommand.move_to_point_one: self.move_to_point_one,
CalibrationCommand.exit: self.exit_session,
}
def setup_deck(self):
self.add_slots_to_deck()
# Setup Deck as root object for pose tracker
self.poses = pose_tracker.add(
self.poses,
self._deck
)
for slot in self._deck:
self.poses = pose_tracker.add(
self.poses,
slot,
self._deck,
pose_tracker.Point(*slot._coordinates)
)
# @TODO (Laura & Andy) Slot and type of trash
# needs to be pulled from config file
if fflags.short_fixed_trash():
self._fixed_trash = self.add_container(
'opentrons_1_trash_850ml_fixed', '12')
else:
self._fixed_trash = self.add_container(
'opentrons_1_trash_1100ml_fixed', '12')
def __init__(self,
hardware: ThreadManager,
lights_on_before: bool = False):
self._hardware = hardware
self._lights_on_before = lights_on_before
deck_load_name = SHORT_TRASH_DECK if ff.short_fixed_trash() \
else STANDARD_DECK
self._deck = geometry.Deck(load_name=deck_load_name)
self._pip_info_by_mount = self._get_pip_info_by_mount(
hardware.get_attached_instruments())
self._labware_info = self._determine_required_labware()
self._moves = self._build_deck_moves()
def __init__(self, hardware: ThreadManager):
self._hardware = hardware
self._deck = geometry.Deck()
self._pip_info_by_mount = self._get_pip_info_by_mount(
hardware.get_attached_instruments())
if ff.short_fixed_trash():
trash_lw = labware.load(
'opentrons_1_trash_850ml_fixed',
self._deck.position_for('12'))
else:
trash_lw = labware.load(
'opentrons_1_trash_1100ml_fixed',
self._deck.position_for('12'))
self._deck['12'] = trash_lw
self._trash_lw = trash_lw
self._labware_info = self._determine_required_labware()
self._moves = self._build_deck_moves()
def _default_probe_dimensions():
if fflags.short_fixed_trash():
probe_height = 55.0
else:
probe_height = DEFAULT_PROBE_HEIGHT
return [35.0, 40.0, probe_height + 5.0]
def _default_probe_center():
if fflags.short_fixed_trash():
probe_height = 55.0
else:
probe_height = DEFAULT_PROBE_HEIGHT
return [293.03, 301.27, probe_height]
def __init__(self,
loop: asyncio.AbstractEventLoop = None,
hardware: HardwareToManage = None,
broker=None,
bundled_labware: Dict[str, LabwareDefinition] = None,
bundled_data: Dict[str, bytes] = None,
extra_labware: Dict[str, LabwareDefinition] = None,
api_version: APIVersion = None,
) -> None:
""" Build a :py:class:`.ProtocolContext`.
:param loop: An event loop to use. If not specified, this ctor will
(eventually) call :py:meth:`asyncio.get_event_loop`.
:param hardware: An optional hardware controller to link to. If not
specified, a new simulator will be created.
:param broker: An optional command broker to link to. If not
specified, a dummy one is used.
:param bundled_labware: A dict mapping labware URIs to definitions.
This is used when executing bundled protocols,
and if specified will be the only allowed
source for labware definitions, excluding the
built in definitions and anything in
``extra_labware``.
:param bundled_data: A dict mapping filenames to the contents of data
files. Can be used by the protocol, since it is
exposed as
:py:attr:`.ProtocolContext.bundled_data`
:param extra_labware: A dict mapping labware URIs to definitions. These
URIs are searched during :py:meth:`.load_labware`
in addition to the system definitions (if
``bundled_labware`` was not specified). Used to
provide custom labware definitions.
:param api_version: The API version to use. If this is ``None``, uses
the max supported version.
"""
super().__init__(broker)
self._api_version = api_version or MAX_SUPPORTED_VERSION
if self._api_version > MAX_SUPPORTED_VERSION:
raise RuntimeError(
f'API version {self._api_version} is not supported by this '
f'robot software. Please either reduce your requested API '
f'version or update your robot.')
self._loop = loop or asyncio.get_event_loop()
self._deck_layout = geometry.Deck()
self._instruments: Dict[types.Mount, Optional[InstrumentContext]]\
= {mount: None for mount in types.Mount}
self._modules: Set[ModuleContext] = set()
self._last_moved_instrument: Optional[types.Mount] = None
self._location_cache: Optional[types.Location] = None
self._hw_manager = HardwareManager(hardware)
self._log = MODULE_LOG.getChild(self.__class__.__name__)
self._commands: List[str] = []
self._unsubscribe_commands = None
self.clear_commands()
self._bundled_labware = bundled_labware
self._extra_labware = extra_labware or {}
self._bundled_data: Dict[str, bytes] = bundled_data or {}
self._default_max_speeds = AxisMaxSpeeds()
if fflags.short_fixed_trash():
trash_name = 'opentrons_1_trash_850ml_fixed'
else:
trash_name = 'opentrons_1_trash_1100ml_fixed'
if self._deck_layout['12']:
del self._deck_layout['12']
self.load_labware(trash_name, '12')
