def test_all_pipette_models_can_transfer():
from opentrons.config import pipette_config
models = [
'p10_single', 'p10_multi', 'p50_single', 'p50_multi',
'p300_single', 'p300_multi', 'p1000_single'
]
for m in models:
robot.reset()
v1 = m + '_v1'
v13 = m + '_v1.3'
left = instruments._create_pipette_from_config(
config=pipette_config.load(v1),
mount='left',
name=v1)
right = instruments._create_pipette_from_config(
config=pipette_config.load(v13),
mount='right',
name=v13)
left.tip_attached = True
right.tip_attached = True
left.aspirate().dispense()
right.aspirate().dispense()
def test_pipette_version_1_0_and_1_3_extended_travel():
models = [
'p10_single', 'p10_multi', 'p50_single', 'p50_multi',
'p300_single', 'p300_multi', 'p1000_single'
]
for m in models:
robot.reset()
v1 = m + '_v1'
v13 = m + '_v1.3'
left = instruments._create_pipette_from_config(
config=pipette_config.load(v1),
mount='left',
name=v1)
right = instruments._create_pipette_from_config(
config=pipette_config.load(v13),
mount='right',
name=v13)
# the difference between v1 and v1.3 is that the plunger's travel
# distance extended, allowing greater ranges for aspirate/dispense
# and blow-out. Test that all v1.3 pipette have larger travel thant v1
left_poses = left.plunger_positions
left_diff = left_poses['top'] - left_poses['blow_out']
right_poses = right.plunger_positions
right_diff = right_poses['top'] - right_poses['blow_out']
assert right_diff > left_diff
def set_current_mount(attached_pipettes):
"""
Choose the pipette in which to execute commands. If there is no pipette,
or it is uncommissioned, the pipette is not mounted.
:attached_pipettes attached_pipettes: Information obtained from the current
pipettes attached to the robot. This looks like the following:
:dict with keys 'left' and 'right' and a model string for each
mount, or 'uncommissioned' if no model string available
:return: The selected pipette
"""
global session
left = attached_pipettes.get('left')
right = attached_pipettes.get('right')
left_pipette = None
right_pipette = None
pipette = None
model = None
if left['model'] in pipette_config.configs:
pip_config = pipette_config.load(left['model'])
left_pipette = instruments._create_pipette_from_config(
mount='left', config=pip_config)
if right['model'] in pipette_config.configs:
pip_config = pipette_config.load(right['model'])
right_pipette = instruments._create_pipette_from_config(
mount='right', config=pip_config)
if right_pipette and right_pipette.channels == 1:
session.current_mount = 'A'
pipette = right_pipette
model = right['model']
elif left_pipette and left_pipette.channels == 1:
session.current_mount = 'Z'
pipette = left_pipette
model = left['model']
else:
if right_pipette:
session.current_mount = 'A'
pipette = right_pipette
model = right['model']
elif left_pipette:
session.current_mount = 'Z'
pipette = left_pipette
model = left['model']
return {'pipette': pipette, 'model': model}
def test_shake_during_pick_up(monkeypatch):
robot.reset()
pip = instruments._create_pipette_from_config(
config=pipette_config.load('p1000_single_v2.0'),
mount='left',
name='p1000_single_v2.0')
tiprack = containers_load(robot, 'opentrons_96_tiprack_1000ul', '1')
shake_tips_pick_up = mock.Mock(
side_effect=pip._shake_off_tips_pick_up)
monkeypatch.setattr(pip, '_shake_off_tips_pick_up',
shake_tips_pick_up)
# Test double shake for after pick up tips
pip.pick_up_tip(tiprack[0])
assert shake_tips_pick_up.call_count == 2
actual_calls = []
def mock_jog(pose_tree, axis, distance):
actual_calls.append((axis, distance))
monkeypatch.setattr(pip, '_jog', mock_jog)
# Test shake in both x and y
shake_tips_pick_up()
expected_calls = [('x', -0.3), ('x', 0.6), ('x', -0.3),
('y', -0.3), ('y', 0.6), ('y', -0.3),
('z', 20)]
assert actual_calls == expected_calls
pip.tip_attached = False
def test_shake_during_drop(monkeypatch):
robot.reset()
pip = instruments._create_pipette_from_config(
config=pipette_config.load('p1000_single_v2.0'),
mount='left',
name='p1000_single_v2.0')
tiprack = containers_load(robot, 'opentrons_96_tiprack_1000ul', '1')
shake_tips_drop = mock.Mock(
side_effect=pip._shake_off_tips_drop)
monkeypatch.setattr(pip, '_shake_off_tips_drop',
shake_tips_drop)
# Test single shake for after pick up tips
pip.tip_attached = True
pip.drop_tip(tiprack.wells(0))
assert shake_tips_drop.call_count == 1
actual_calls = []
def jog_side_effect(pose_tree, axis, distance):
actual_calls.append((axis, distance))
jog = mock.Mock(side_effect=jog_side_effect)
monkeypatch.setattr(pip, '_jog', jog)
# Test shake only in x, with no location passed, shake distance is 2.25
shake_tips_drop()
expected_calls = [('x', -2.25), ('x', 4.5), ('x', -2.25),
('z', 20)]
assert actual_calls == expected_calls
# Test drop tip shake at a well with diameter above upper limit (2.25 mm)
tiprack.wells(0).properties['width'] = 2.3*4
actual_calls.clear()
shake_tips_drop(tiprack.wells(0))
expected_calls = [('x', -2.25), ('x', 4.5), ('x', -2.25),
('z', 20)]
assert actual_calls == expected_calls
# Test drop tip shake at a well with diameter between upper limit
# and lower limit (1.00 - 2.25 mm)
tiprack.wells(0).properties['width'] = 2*4
actual_calls.clear()
shake_tips_drop(tiprack.wells(0))
expected_calls = [('x', -2), ('x', 4), ('x', -2),
('z', 20)]
assert actual_calls == expected_calls
# Test drop tip shake at a well with diameter below lower limit (1.00 mm)
tiprack.wells(0).properties['width'] = 0.9*4
actual_calls.clear()
shake_tips_drop(tiprack.wells(0))
expected_calls = [('x', -1), ('x', 2), ('x', -1),
('z', 20)]
assert actual_calls == expected_calls
pip.tip_attached = False
def load_pipettes(protocol_data):
pipettes = protocol_data.get('pipettes', {})
pipettes_by_id = {}
for pipette_id, props in pipettes.items():
model = props.get('model')
mount = props.get('mount')
config = pipette_config.load(model)
pipettes_by_id[pipette_id] = instruments._create_pipette_from_config(
config=config, mount=mount)
return pipettes_by_id
def test_pipette_models_reach_max_volume():
for model in pipette_config.config_models:
config = pipette_config.load(model)
robot.reset()
pipette = instruments._create_pipette_from_config(config=config,
mount='right',
name=model)
pipette.tip_attached = True
pipette.aspirate(pipette.max_volume)
pos = pose_tracker.absolute(robot.poses, pipette.instrument_actuator)
assert pos[0] < pipette.plunger_positions['top']
def _fetch_or_create_pipette(mount, model=None):
existing_pipettes = robot.get_instruments()
pipette = None
for existing_mount, existing_pipette in existing_pipettes:
if existing_mount == mount:
pipette = existing_pipette
if pipette is None:
if model is None:
pipette = instruments.Pipette(mount=mount)
else:
config = pipette_config.load(model)
pipette = instruments._create_pipette_from_config(config=config,
mount=mount)
return pipette
def _fetch_or_create_pipette(robot, mount, model=None):
existing_pipettes = robot.get_instruments()
pipette = None
should_remove = True
for existing_mount, existing_pipette in existing_pipettes:
if existing_mount == mount:
pipette = existing_pipette
should_remove = False
if pipette is None:
if model is None:
pipette = instruments.Pipette(
mount=mount, max_volume=1000, ul_per_mm=1000)
else:
config = pipette_config.load(model)
pipette = instruments._create_pipette_from_config(
config=config,
mount=mount,
name=model)
return pipette, should_remove