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_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_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_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
height = safe_height(
trough.wells()[0].top(), trough2.wells()[0].top(),
deck, round(instr_max_height, 2), 7.0, 15.0)
assert height == 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
height2 = safe_height(
trough.wells()[0].top(), trough2.wells()[0].top(),
deck, round(instr_max_height, 2), 7.0, 15.0)
assert height2 ==\
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):
safe_height(
trough.wells()[0].top(), trough2.wells()[0].top(),
deck, round(instr_max_height, 2), 7.0, 15.0)
def test_labware_in_next_slow():
deck = Deck()
trough = labware.load(trough_name, deck.position_for(4))
trough2 = labware.load(trough_name, deck.position_for(1))
trough3 = labware.load(trough_name, deck.position_for(3))
deck[4] = trough
deck[1] = trough2
deck[3] = trough3
assert deck.right_of('3') is None
assert deck.left_of('2') is trough2
assert deck.right_of('2') is trough3
assert deck.right_of('9') is None
def test_highest_z():
deck = Deck()
assert deck.highest_z == 0
lw = labware.load(labware_name, deck.position_for(1))
deck[1] = lw
assert deck.highest_z == pytest.approx(lw.wells()[0].top().point.z)
del deck[1]
assert deck.highest_z == 0
mod = labware.load_module('tempdeck', deck.position_for(8))
deck[8] = mod
assert deck.highest_z == mod.highest_z
lw = labware.load(labware_name, mod.location)
mod.add_labware(lw)
deck.recalculate_high_z()
assert deck.highest_z == mod.highest_z
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_highest_z():
deck = Deck()
assert deck.highest_z == 0
lw = labware.load(labware_name, deck.position_for(1))
deck[1] = lw
assert deck.highest_z == pytest.approx(lw.wells()[0].top().point.z)
del deck[1]
assert deck.highest_z == 0
mod = module_geometry.load_module(
module_geometry.TemperatureModuleModel.TEMPERATURE_V1,
deck.position_for(8))
deck[8] = mod
assert deck.highest_z == mod.highest_z
lw = labware.load(labware_name, mod.location)
mod.add_labware(lw)
deck.recalculate_high_z()
assert deck.highest_z == mod.highest_z
def _initialize_deck(self):
self._deck[TIP_RACK_SLOT] = self._tip_rack
if self._has_calibration_block:
cb_setup = CAL_BLOCK_SETUP_BY_MOUNT[self._mount]
self._deck[cb_setup['slot']] = labware.load(
cb_setup['load_name'],
self._deck.position_for(cb_setup['slot']))
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 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_first_parent():
deck = Deck()
trough = labware.load(trough_name, deck.position_for(1))
assert first_parent(trough) == '1'
assert first_parent(trough['A2']) == '1'
assert first_parent(None) is None
assert first_parent('6') == '6'
mod = module_geometry.load_module(
module_geometry.TemperatureModuleModel.TEMPERATURE_V2,
deck.position_for('6'), MAX_SUPPORTED_VERSION)
mod_trough = mod.add_labware(labware.load(trough_name, mod.location))
assert first_parent(mod_trough['A5']) == '6'
assert first_parent(mod_trough) == '6'
assert first_parent(mod) == '6'
mod_trough._parent = mod_trough
with pytest.raises(RuntimeError):
# make sure we catch cycles
first_parent(mod_trough)
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)]
async def test_tip_probe_v2(main_router, model, monkeypatch):
def fake_locate(mount, tip_length):
assert mount == Mount[model.instrument.mount.upper()]
assert tip_length is None
return Point(0, 0, 0)
def fake_update(mount, new_offset=None, from_tip_probe=None):
assert mount == Mount[model.instrument.mount.upper()]
if new_offset:
assert new_offset == Point(0, 0, 0)
elif from_tip_probe:
assert from_tip_probe == Point(0, 0, 0)
else:
assert False, "fake_update called with no args"
def fake_move(instrument):
assert instrument == model.instrument
def fake_add_tip(tip_length):
assert tip_length == 51.7
def fake_remove_tip():
pass
monkeypatch.setattr(main_router.calibration_manager._hardware._api,
'locate_tip_probe_center', fake_locate)
monkeypatch.setattr(main_router.calibration_manager._hardware._api,
'update_instrument_offset', fake_update)
monkeypatch.setattr(main_router.calibration_manager, 'move_to_front',
fake_move)
tr = labware.load('opentrons_96_tiprack_300ul', Location(Point(), 'test'))
tr.tip_length = 2
model.instrument.tip_racks = [
models.Container(tr, [model.instrument._instrument],
model.instrument._context)
]
def new_fake_locate(mount, tip_length):
assert tip_length == pytest.approx(2)
return Point(0, 0, 0)
monkeypatch.setattr(main_router.calibration_manager._hardware._api,
'locate_tip_probe_center', new_fake_locate)
main_router.calibration_manager.tip_probe(model.instrument)
await main_router.wait_until(state('ready'))
def new_fake_locate2(mount, tip_length):
assert tip_length == pytest.approx(2)
return Point(0, 0, 0)
monkeypatch.setattr(main_router.calibration_manager._hardware._api,
'locate_tip_probe_center', new_fake_locate2)
main_router.calibration_manager.tip_probe(model.instrument)
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_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_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
def test_slot_collisions():
d = Deck()
mod_slot = '7'
mod = labware.load_module('thermocycler', d.position_for(mod_slot))
d[mod_slot] = mod
with pytest.raises(ValueError):
d['7'] = 'not this time boyo'
with pytest.raises(ValueError):
d['8'] = 'nor this time boyo'
with pytest.raises(ValueError):
d['10'] = 'or even this time boyo'
with pytest.raises(ValueError):
d['11'] = 'def not this time though'
lw_slot = '4'
lw = labware.load(labware_name, d.position_for(lw_slot))
d[lw_slot] = lw
assert lw_slot in d
def test_slot_names():
slots_by_int = list(range(1, 13))
slots_by_str = [str(idx) for idx in slots_by_int]
for method in (slots_by_int, slots_by_str):
d = Deck()
for idx, slot in enumerate(method):
lw = labware.load(labware_name, d.position_for(slot))
assert slot in d
d[slot] = lw
with pytest.raises(ValueError):
d[slot] = 'not this time boyo'
del d[slot]
assert slot in d
assert d[slot] is None
mod = labware.load_module('tempdeck', d.position_for(slot))
d[slot] = mod
assert mod == d[slot]
assert 'hasasdaia' not in d
with pytest.raises(ValueError):
d['ahgoasia'] = 'nope'
def _get_tip_rack_lw(self) -> labware.Labware:
pip_vol = self._hw_pipette.config.max_volume
lw_load_name = TIP_RACK_LOOKUP_BY_MAX_VOL[str(pip_vol)].load_name
return labware.load(
lw_load_name, self._deck.position_for(TIP_RACK_SLOT))
def test_get_non_fixture_slots():
deck = Deck()
trough = labware.load(trough_name, deck.position_for(4))
deck[4] = trough
assert deck.get_non_fixture_slots() == [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11]
