async def save_z(data) -> CommandResult:
"""
Save the current Z height value for the calibration data
:param data: unused
"""
if not session_wrapper.session:
raise NoSessionInProgress()
if not session_wrapper.session.tip_length:
message = "Tip length must be set before calibrating"
status = False
else:
session_wrapper.session.z_value = position(
session_wrapper.session.current_mount,
session_wrapper.session.adapter,
session_wrapper.session.cp)[-1]
session_wrapper.session.current_transform[2][3] =\
session_wrapper.session.z_value
session_wrapper.session.adapter.update_config(
gantry_calibration=list(
list(i) for i in session_wrapper.session.current_transform
)
)
message = "Saved z: {}".format(session_wrapper.session.z_value)
status = True
return CommandResult(success=status, message=message)
async def save_xy(data) -> CommandResult:
"""
Save the current XY values for the calibration data
:param data: a dict with schema:
{
'point': a string ID ['1', '2', or '3'] of the calibration point to save
}
"""
if not session_wrapper.session:
raise NoSessionInProgress()
valid_points = list(session_wrapper.session.points.keys())
point = data.get('point')
if point not in valid_points:
message = 'point must be one of {}'.format(valid_points)
status = False
elif not session_wrapper.session.current_mount:
message = "Mount must be set before calibrating"
status = False
else:
x, y, _ = position(
session_wrapper.session.current_mount,
session_wrapper.session.adapter,
session_wrapper.session.cp)
session_wrapper.session.points[point] = (x, y)
message = "Saved point {} value: {}".format(
point, session_wrapper.session.points[point])
status = True
return CommandResult(success=status, message=message)
async def save_xy(data):
"""
Save the current XY values for the calibration data
: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 xy'
'point': a string ID ['1', '2', or '3'] of the calibration point to save
}
"""
valid_points = list(session_wrapper.session.points.keys())
point = data.get('point')
if point not in valid_points:
message = 'point must be one of {}'.format(valid_points)
status = 400
elif not session_wrapper.session.current_mount:
message = "Mount must be set before calibrating"
status = 400
else:
if not feature_flags.use_protocol_api_v2():
mount = 'Z' if session_wrapper.session.current_mount == 'left'\
else 'A'
x, y, _ = position(mount, session_wrapper.session.adapter)
if session_wrapper.session.pipettes[
session_wrapper.session.current_mount].channels != 1:
# See note in `move`
y = y - pipette_config.Y_OFFSET_MULTI
if session_wrapper.session.current_mount == 'left':
dx, dy, _ = session_wrapper.session.adapter.config.mount_offset
x = x + dx
y = y + dy
else:
x, y, _ = position(
session_wrapper.session.current_mount,
session_wrapper.session.adapter,
session_wrapper.session.cp)
session_wrapper.session.points[point] = (x, y)
message = "Saved point {} value: {}".format(
point, session_wrapper.session.points[point])
status = 200
return web.json_response({'message': message}, status=status)
async def save_xy(data) -> CommandResult:
"""
Save the current XY values for the calibration data
:param data: a dict with schema:
{
'point': a string ID ['1', '2', or '3'] of the calibration point to save
}
"""
if not session_wrapper.session:
raise NoSessionInProgress()
valid_points = list(session_wrapper.session.points.keys())
point = data.get('point')
if point not in valid_points:
message = 'point must be one of {}'.format(valid_points)
status = False
elif not session_wrapper.session.current_mount:
message = "Mount must be set before calibrating"
status = False
else:
if not feature_flags.use_protocol_api_v2():
mount = 'Z' if session_wrapper.session.current_mount == 'left'\
else 'A'
x, y, _ = position(mount, session_wrapper.session.adapter)
if session_wrapper.session.pipettes[
session_wrapper.session.current_mount].channels != 1:
# See note in `move`
y = y - pipette_config.Y_OFFSET_MULTI
if session_wrapper.session.current_mount == 'left':
dx, dy, _ = session_wrapper.session.adapter.config.mount_offset
x = x + dx
y = y + dy
else:
x, y, _ = position(session_wrapper.session.current_mount,
session_wrapper.session.adapter,
session_wrapper.session.cp)
session_wrapper.session.points[point] = (x, y)
message = "Saved point {} value: {}".format(
point, session_wrapper.session.points[point])
status = True
return CommandResult(success=status, message=message)
async def save_z(data):
"""
Save the current Z height value for the calibration data
: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 z'
}
"""
if not session_wrapper.session.tip_length:
message = "Tip length must be set before calibrating"
status = 400
else:
if not feature_flags.use_protocol_api_v2():
mount = 'Z' if session_wrapper.session.current_mount == 'left' \
else 'A'
actual_z = position(
mount, session_wrapper.session.adapter)[-1]
length_offset = pipette_config.load(
session_wrapper.session.current_model,
session_wrapper.session.pipette_id).model_offset[-1]
session_wrapper.session.z_value =\
actual_z - session_wrapper.session.tip_length + length_offset
else:
session_wrapper.session.z_value = position(
session_wrapper.session.current_mount,
session_wrapper.session.adapter,
session_wrapper.session.cp)[-1]
session_wrapper.session.current_transform[2][3] =\
session_wrapper.session.z_value
session_wrapper.session.adapter.update_config(
gantry_calibration=list(
list(i) for i in session_wrapper.session.current_transform
)
)
message = "Saved z: {}".format(session_wrapper.session.z_value)
status = 200
return web.json_response({'message': message}, status=status)
async def test_set_and_jog_integration(
async_client, async_server, monkeypatch):
"""
Test that the jog function works.
Note that in order for the jog function to work, the following must
be done:
1. Create a session manager
Then jog requests will work as expected.
"""
test_model = 'p300_multi_v1'
hardware = async_server['com.opentrons.hardware']
# Why does this need to be awaited for a synch adapter
await hardware.cache_instruments(
{types.Mount.LEFT: None, types.Mount.RIGHT: test_model})
dummy_token = 'Test Token'
def uuid_mock():
return dummy_token
monkeypatch.setattr(endpoints, '_get_uuid', uuid_mock)
token_res = await async_client.post('/calibration/deck/start')
assert token_res.status == 201, token_res
token_text = await token_res.json()
token = token_text['token']
axis = 'z'
direction = 1
step = 3
# left pipette z carriage motor is smoothie axis "Z", right is "A"
sess = dc.endpoints.session
sess.adapter.home()
prior_x, prior_y, prior_z = dc.position(
sess.current_mount, sess.adapter, sess.cp)
resp = await async_client.post(
'/calibration/deck',
json={
'token': token,
'command': 'jog',
'axis': axis,
'direction': direction,
'step': step
})
body = await resp.json()
msg = body.get('message')
assert '{}'.format((prior_x, prior_y, prior_z + step)) in msg
async def save_z(data) -> CommandResult:
"""
Save the current Z height value for the calibration data
:param data: unused
"""
if not session_wrapper.session:
raise NoSessionInProgress()
if not session_wrapper.session.tip_length:
message = "Tip length must be set before calibrating"
status = False
else:
if not feature_flags.use_protocol_api_v2():
mount = 'Z' if session_wrapper.session.current_mount == 'left' \
else 'A'
actual_z = position(mount, session_wrapper.session.adapter)[-1]
length_offset = pipette_config.load(
session_wrapper.session.current_model,
session_wrapper.session.pipette_id).model_offset[-1]
session_wrapper.session.z_value =\
actual_z - session_wrapper.session.tip_length + length_offset
else:
session_wrapper.session.z_value = position(
session_wrapper.session.current_mount,
session_wrapper.session.adapter,
session_wrapper.session.cp)[-1]
session_wrapper.session.current_transform[2][3] =\
session_wrapper.session.z_value
session_wrapper.session.adapter.update_config(gantry_calibration=list(
list(i) for i in session_wrapper.session.current_transform))
message = "Saved z: {}".format(session_wrapper.session.z_value)
status = True
return CommandResult(success=status, message=message)
async def test_set_and_jog_integration(async_client, monkeypatch):
"""
Test that the jog function works.
Note that in order for the jog function to work, the following must
be done:
1. Create a session manager
Then jog requests will work as expected.
"""
test_model = 'p300_multi_v1'
def dummy_read_model(mount):
return test_model
monkeypatch.setattr(robot._driver, 'read_pipette_model', dummy_read_model)
robot.reset()
dummy_token = 'Test Token'
def uuid_mock():
return dummy_token
monkeypatch.setattr(endpoints, '_get_uuid', uuid_mock)
token_res = await async_client.post('/calibration/deck/start')
token_text = await token_res.json()
token = token_text['token']
axis = 'z'
direction = 1
step = 3
# left pipette z carriage motor is smoothie axis "Z", right is "A"
sess = dc.endpoints.session
smoothie_axis = 'Z' if sess.current_mount == 'left' else 'A'
robot.reset()
prior_x, prior_y, prior_z = dc.position(smoothie_axis)
resp = await async_client.post('/calibration/deck',
json={
'token': token,
'command': 'jog',
'axis': axis,
'direction': direction,
'step': step
})
body = await resp.json()
msg = body.get('message')
assert '{}'.format((prior_x, prior_y, prior_z + step)) in msg
async def save_z(data):
"""
Save the current Z height value for the calibration data
: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 z'
}
"""
if not session.tip_length:
message = "Tip length must be set before calibrating"
status = 400
else:
actual_z = position(session.current_mount)[-1]
length_offset = pipette_config.load(
session.current_model).model_offset[-1]
session.z_value = actual_z - session.tip_length + length_offset
message = "Saved z: {}".format(session.z_value)
status = 200
return web.json_response({'message': message}, status=status)
async def move(data) -> CommandResult:
"""
Allow the user to move the selected pipette to a specific point
:param data: a dict with schema:
{
'point': The name of the point to move to. Must be one of
["1", "2", "3", "safeZ", "attachTip"]
}
:return: The position you are moving to
"""
if not session_wrapper.session:
raise NoSessionInProgress()
point_name = data.get('point')
point = safe_points().get(str(point_name))
if point and len(point) == 3:
if not feature_flags.use_protocol_api_v2():
pipette = session_wrapper.session.pipettes[
session_wrapper.session.current_mount]
channels = pipette.channels
# For multichannel pipettes in the V1 session, we use the tip closest
# to the front of the robot rather than the back (this is the tip that
# would go into well H1 of a plate when pipetting from the first row of
# a 96 well plate, for instance). Since moves are issued for the A1 tip
# we have to adjust the target point by 2 * Y_OFFSET_MULTI (where the
# offset value is the distance from the axial center of the pipette to
# the A1 tip). By sending the A1 tip to to the adjusted target, the H1
# tip should go to the desired point. Y_OFFSET_MULT must then be backed
# out of xy positions saved in the `save_xy` handler
# (not 2 * Y_OFFSET_MULTI, because the axial center of the pipette
# will only be off by 1* Y_OFFSET_MULTI).
if not channels == 1:
x = point[0]
y = point[1] + pipette_config.Y_OFFSET_MULTI * 2
z = point[2]
point = (x, y, z)
# hack: z=150mm is not a safe point for a gen2 pipette with a tip
# attached, since their home location is z=+172mm and both 300ul
# and 1000ul tips are more than 22mm long. This isn't an issue for
# apiv2 because it can select the NOZZLE critical point.
if pipette.tip_attached and point_name == 'attachTip':
point = (point[0], point[1], point[2] - pipette._tip_length)
pipette.move_to((session_wrapper.session.adapter.deck, point),
strategy='arc')
else:
if not point_name == 'attachTip':
intermediate_pos = position(
session_wrapper.session.current_mount,
session_wrapper.session.adapter,
session_wrapper.session.cp)
session_wrapper.session.adapter.move_to(
session_wrapper.session.current_mount,
Point(x=intermediate_pos[0],
y=intermediate_pos[1],
z=session_wrapper.session.tip_length),
critical_point=session_wrapper.session.cp)
session_wrapper.session.adapter.move_to(
session_wrapper.session.current_mount,
Point(x=point[0],
y=point[1],
z=session_wrapper.session.tip_length),
critical_point=session_wrapper.session.cp)
session_wrapper.session.adapter.move_to(
session_wrapper.session.current_mount,
Point(x=point[0], y=point[1], z=point[2]),
critical_point=session_wrapper.session.cp)
else:
if session_wrapper.session.cp == CriticalPoint.TIP:
session_wrapper.session.cp = CriticalPoint.NOZZLE
session_wrapper.session.adapter.move_to(
session_wrapper.session.current_mount,
Point(x=point[0], y=point[1], z=point[2]),
critical_point=session_wrapper.session.cp)
message = 'Moved to {}'.format(point)
status = True
else:
message = '"point" must be one of "1", "2", "3", "safeZ", "attachTip"'
status = False
return CommandResult(success=status, message=message)
