def __init__(self, hardware):
self.id = _get_uuid()
self.pipettes = {}
self.current_mount = None
self.current_model = None
self.tip_length = None
self.points = {k: None for k in expected_points().keys()}
self.z_value = None
self.cp = None
self.pipette_id = None
self.adapter = hardware.sync
self.current_transform = identity_deck_transform()
robot_configs.backup_configuration(self.adapter.config)
# Start from fresh identity matrix every calibration session
self.adapter.update_config(gantry_calibration=list(
map(lambda i: list(i), self.current_transform)))
async def save_transform(data):
"""
Calculate the transormation matrix that calibrates the gantry to the deck
:param data: Information obtained from a POST request.
The content type is application/json.
The correct packet form should be as follows:
{
'token': UUID token from current session start
'command': 'save transform'
}
"""
if any([v is None for v in session.points.values()]):
message = "Not all points have been saved"
status = 400
else:
# expected values based on mechanical drawings of the robot
expected_pos = expected_points()
expected = [
expected_pos[p] for p in expected_pos.keys()]
# measured data
actual = [session.points[p] for p in sorted(session.points.keys())]
# Generate a 2 dimensional transform matrix from the two matricies
flat_matrix = solve(expected, actual).round(4)
# replace relevant X, Y and angular components
# [[cos_x, sin_y, const_zero, delta_x___],
# [-sin_x, cos_y, const_zero, delta_y___],
# [const_zero, const_zero, const_one_, delta_z___],
# [const_zero, const_zero, const_zero, const_one_]]
session.current_transform = add_z(flat_matrix, session.z_value)
session.adapter.update_config(gantry_calibration=list(
map(lambda i: list(i), session.current_transform)))
robot_configs.save_deck_calibration(session.adapter.config)
robot_configs.backup_configuration(session.adapter.config)
message = "Config file saved and backed up"
status = 200
return web.json_response({'message': message}, status=status)
def backup_configuration(hardware, tag):
robot_configs.backup_configuration(hardware.config, tag)