def _calibrate_container_with_delta(pose_tree,
container,
delta_x,
delta_y,
delta_z,
save,
new_container_name=None):
delta = pose_tracker.Point(delta_x, delta_y, delta_z)
# Note: pose tree is updated here, in order to update in-memory state.
# Separately from that, on-disk state is updated. This is a point of
# possible dis-unity. Would probably work better to un-load the labware
# after calibration, and then reload it (would have to figure out where
# in the call-stack this could be done without raising exceptions due
# to trying to access old references).
# Have to update all of the things in the pose tree that have the same
# load name, otherwise you end up getting the calibration values
# added together in the on-disk representation
target_name = container.get_name()
matching_entries = [
x for x in list(pose_tree.keys())
if type(x) == Container and x.get_name() == target_name
]
for entry in matching_entries:
old_coordinates = pose_tracker.change_base(pose_tree,
src=entry,
dst=entry.parent)
new_coordinates = old_coordinates + delta
pose_tree = pose_tracker.update(pose_tree, entry, new_coordinates)
entry._coordinates = entry._coordinates + delta
if save and container.properties.get('labware_hash'):
save_new_offsets(container.properties['labware_hash'], delta,
container.properties['definition'])
elif save and new_container_name:
database.save_new_container(container, new_container_name)
elif save:
database.overwrite_container(container)
return pose_tree
def _calibrate_container_with_delta(pose_tree,
container,
delta_x,
delta_y,
delta_z,
save,
new_container_name=None):
delta = pose_tracker.Point(delta_x, delta_y, delta_z)
new_coordinates = pose_tracker.change_base(
pose_tree, src=container, dst=container.parent) + delta
pose_tree = pose_tracker.update(pose_tree, container, new_coordinates)
container._coordinates = container._coordinates + delta
if save and container.properties.get('labware_hash'):
save_new_offsets(container.properties['labware_hash'], delta)
elif save and new_container_name:
database.save_new_container(container, new_container_name)
elif save:
database.overwrite_container(container)
return pose_tree