def test_synch_adapter(loop):
api = API.build_hardware_simulator(loop=loop)
synch = adapters.SynchronousAdapter(api)
synch.cache_instruments({Mount.LEFT: 'p10_single'})
assert synch.attached_instruments[Mount.LEFT]['name']\
.startswith('p10_single')
synch.join()
def test_location_cache(loop, monkeypatch, get_labware_def):
hardware = API.build_hardware_simulator(loop=loop)
ctx = papi.ProtocolContext(loop)
ctx.connect(hardware)
right = ctx.load_instrument('p10_single', Mount.RIGHT)
lw = ctx.load_labware('corning_96_wellplate_360ul_flat', 1)
ctx.home()
test_args = None
def fake_plan_move(from_loc,
to_loc,
deck,
well_z_margin=None,
lw_z_margin=None,
force_direct=False,
minimum_z_height=None):
nonlocal test_args
test_args = (from_loc, to_loc, deck, well_z_margin, lw_z_margin)
return [(Point(0, 1, 10), None), (Point(1, 2, 10), None),
(Point(1, 2, 3), None)]
monkeypatch.setattr(papi.geometry, 'plan_moves', fake_plan_move)
# When we move without a cache, the from location should be the gantry
# position
right.move_to(lw.wells()[0].top())
# The home position from hardware_control/simulator.py, taking into account
# that the right pipette is a p10 single which is a different height than
# the reference p300 single
assert test_args[0].point == Point(418, 353, 205)
assert test_args[0].labware is None
# Once we have a location cache, that should be our from_loc
right.move_to(lw.wells()[1].top())
assert test_args[0].labware == lw.wells()[0]
def test_hw_manager(loop):
# When built without an input it should build its own adapter
mgr = papi.ProtocolContext.HardwareManager(None)
assert mgr._is_orig
adapter = mgr.hardware
# When "disconnecting" from its own simulator, the adapter should
# be stopped and a new one created
assert adapter.is_alive()
new = mgr.reset_hw()
assert new is not adapter
assert not adapter.is_alive()
# When deleted, the self-created adapter should be stopped
del mgr
assert not new.is_alive()
# When built with a hardware API input it should wrap it but not
# build its own
mgr = papi.ProtocolContext.HardwareManager(
API.build_hardware_simulator(loop=loop))
assert isinstance(mgr.hardware, adapters.SynchronousAdapter)
assert not mgr._is_orig
passed = mgr.hardware
# When disconnecting from a real external adapter, it should create
# its own simulator and should _not_ stop the old hardware thread
new = mgr.reset_hw()
assert new is not passed
assert mgr._is_orig
assert passed.is_alive()
# When connecting to an adapter it shouldn’t rewrap it
assert mgr.set_hw(passed) is passed
# And should kill its old one
assert not new.is_alive()
del mgr
# but not its new one, even if deleted
assert passed.is_alive()
async def test_get_bundled_fw(monkeypatch, tmpdir):
from opentrons.hardware_control import modules
dummy_td_file = Path(tmpdir) / '*****@*****.**'
dummy_td_file.write_text("hello")
dummy_md_file = Path(tmpdir) / '*****@*****.**'
dummy_md_file.write_text("hello")
dummy_tc_file = Path(tmpdir) / '*****@*****.**'
dummy_tc_file.write_text("hello")
dummy_bogus_file = Path(tmpdir) / '*****@*****.**'
dummy_bogus_file.write_text("hello")
monkeypatch.setattr(modules.mod_abc, 'ROBOT_FIRMWARE_DIR', Path(tmpdir))
monkeypatch.setattr(modules.mod_abc, 'IS_ROBOT', True)
from opentrons.hardware_control import API
mods = ['tempdeck', 'magdeck', 'thermocycler']
api = API.build_hardware_simulator(attached_modules=mods)
await asyncio.sleep(0.05)
assert api.attached_modules[0].bundled_fw == BundledFirmware(
version='1.2.3', path=dummy_td_file)
assert api.attached_modules[1].bundled_fw == BundledFirmware(
version='3.2.1', path=dummy_md_file)
assert api.attached_modules[2].bundled_fw == BundledFirmware(
version='0.1.2', path=dummy_tc_file)
async def test_motion(loop):
hardware = API.build_hardware_simulator(loop=loop)
ctx = papi.ProtocolContext(loop)
ctx.connect(hardware)
ctx.home()
instr = ctx.load_instrument('p10_single', Mount.RIGHT)
old_pos = await hardware.current_position(instr._mount)
instr.home()
assert instr.move_to(Location(Point(0, 0, 0), None)) is instr
old_pos[Axis.X] = 0
old_pos[Axis.Y] = 0
old_pos[Axis.A] = 0
old_pos[Axis.C] = 2
assert await hardware.current_position(instr._mount) == old_pos
def test_move_uses_arc(loop, monkeypatch, get_labware_def):
hardware = API.build_hardware_simulator(loop=loop)
ctx = papi.ProtocolContext(loop)
ctx.connect(hardware)
ctx.home()
right = ctx.load_instrument('p10_single', Mount.RIGHT)
lw = ctx.load_labware('corning_96_wellplate_360ul_flat', 1)
ctx.home()
targets = []
async def fake_move(mount, target_pos, **kwargs):
nonlocal targets
targets.append((mount, target_pos, kwargs))
monkeypatch.setattr(hardware, 'move_to', fake_move)
right.move_to(lw.wells()[0].top())
assert len(targets) == 3
assert targets[-1][0] == Mount.RIGHT
assert targets[-1][1] == lw.wells()[0].top().point
def test_hw_manager(loop):
# When built without an input it should build its own adapter
mgr = HardwareManager(None)
assert mgr._is_orig
assert mgr._built_own_adapter
adapter = mgr.hardware
# When "disconnecting" from its own simulator, the adapter should
# be stopped and a new one created
assert adapter.is_alive()
new = mgr.reset_hw()
assert new is not adapter
assert not adapter.is_alive()
# When deleted, the self-created adapter should be stopped
del mgr
assert not new.is_alive()
# When built with a hardware API input it should wrap it with a new
# synchronous adapter and not build its own API
mgr = HardwareManager(API.build_hardware_simulator(loop=loop))
assert isinstance(mgr.hardware, adapters.SynchronousAdapter)
assert not mgr._is_orig
assert mgr._built_own_adapter
passed = mgr.hardware
# When disconnecting from a real external adapter, it should create
# its own simulator and should stop the old hardware thread
new = mgr.reset_hw()
assert new is not passed
assert mgr._is_orig
assert mgr._built_own_adapter
assert not passed.is_alive()
sa = adapters.SynchronousAdapter.build(API.build_hardware_simulator)
# When connecting to an adapter it shouldn’t rewrap it
assert mgr.set_hw(sa) is sa
# And should kill its old one
assert not new.is_alive()
# it should know it didn't build its own adapter
assert not mgr._built_own_adapter
del mgr
# but not its new one, even if deleted
assert sa.is_alive()
async def test_max_speeds(loop, monkeypatch):
hardware = API.build_hardware_simulator(loop=loop)
ctx = papi.ProtocolContext(loop)
ctx.connect(hardware)
ctx.home()
mock_move = mock.Mock()
monkeypatch.setattr(ctx._hw_manager.hardware, 'move_to', mock_move)
instr = ctx.load_instrument('p10_single', Mount.RIGHT)
instr.move_to(Location(Point(0, 0, 0), None))
assert all(kwargs['max_speeds'] == {}
for args, kwargs in mock_move.call_args_list)
mock_move.reset_mock()
ctx.max_speeds['x'] = 10
instr.move_to(Location(Point(0, 0, 1), None))
assert all(kwargs['max_speeds'] == {Axis.X: 10}
for args, kwargs in mock_move.call_args_list)
mock_move.reset_mock()
ctx.max_speeds['x'] = None
instr.move_to(Location(Point(1, 0, 1), None))
assert all(kwargs['max_speeds'] == {}
for args, kwargs in mock_move.call_args_list)
def hardware_api(loop):
hw_api = API.build_hardware_simulator(loop=loop)
return hw_api
