def comment(self, description):
def _do():
pass
def _setup():
pass
c = Command(do=_do, setup=_setup, description=description)
self.add_command(c)
def test_command(self):
expected = ''
def _setup():
nonlocal expected
expected = 'hello'
def _do():
nonlocal expected
expected += ' world'
description = 'hello world'
command = Command(do=_do, setup=_setup, description=description)
command()
self.assertEquals(expected, command.description)
def home(self, *args, **kwargs):
"""
Home robot's head and plunger motors.
Parameters
----------
*args :
A string with axes to home. For example ``'xyz'`` or ``'ab'``.
If no arguments provided home Z-axis then X, Y, B, A
enqueue : {True, False} Default: ``False``
If ``True`` put into command queue,
if ``False`` execute immediately.
Notes
-----
Sometimes while executing a long protocol,
a robot might accumulate precision
error and it is recommended to home it. In this scenario, add
``robot.home('xyzab', enqueue=True)`` into your script.
Examples
--------
>>> from opentrons import Robot
>>> robot.connect('Virtual Smoothie')
True
>>> robot.home()
True
"""
def _do():
if self._driver.calm_down():
if args:
self._update_axis_homed(*args)
return self._driver.home(*args)
else:
self._update_axis_homed('xyzab')
self._driver.home('z')
return self._driver.home('x', 'y', 'b', 'a')
else:
return False
if kwargs.get('enqueue'):
description = "Homing Robot"
self.add_command(Command(do=_do, description=description))
else:
log.info('Executing: Home now')
return _do()
def create_command(self, do, setup=None, description=None, enqueue=True):
"""
Creates an instance of Command to be appended to the
:any:`Robot` run queue.
Parameters
----------
do : callable
The method to execute on the robot. This usually includes
moving an instrument's motors, or the robot head
setup : callable
The method to execute just before `do()`, which includes
updating the instrument's state
description : str
Human-readable description of the action taking place
enqueue : bool
If set to `True` (default), the method will be appended
to the robots list of commands for executing during
:any:`run` or :any:`simulate`. If set to `False`, the
method will skip the command queue and execute immediately
Examples
--------
..
>>> instrument = Instrument()
>>> def setup():
>>> print('hello')
>>> def do():
>>> print(' world')
>>> description = 'printing "hello world"'
>>> instrument.create_command(do, setup, description)
hello
>>> robot.simulate()
hello world
>>> instrument.create_command(do, setup, description, enqueue=False)
hello world
"""
command = Command(do=do, setup=setup, description=description)
if enqueue:
Robot().add_command(command)
else:
command()
def test_macro(self):
expected = []
macro = Macro('macro_test')
for i in range(3):
def _do():
nonlocal expected
expected.append('test')
command = Command(do=_do)
macro.add(command)
macro.do()
self.assertEquals(expected, ['test', 'test', 'test'])
def move_to(self, location, instrument=None, strategy='arc', **kwargs):
"""
Move an instrument to a coordinate, container or a coordinate within
a container.
Parameters
----------
location : one of the following:
1. :class:`Placeable` (i.e. Container, Deck, Slot, Well) — will
move to the origin of a container.
2. :class:`Vector` move to the given coordinate in Deck coordinate
system.
3. (:class:`Placeable`, :class:`Vector`) move to a given coordinate
within object's coordinate system.
instrument :
Instrument to move relative to. If ``None``, move relative to the
center of a gantry.
strategy : {'arc', 'direct'}
``arc`` : move to the point using arc trajectory
avoiding obstacles.
``direct`` : move to the point in a straight line.
Examples
--------
>>> from opentrons import Robot
>>> robot.reset() # doctest: +ELLIPSIS
<opentrons.robot.robot.Robot object at ...>
>>> robot.connect('Virtual Smoothie')
True
>>> robot.home()
True
>>> plate = robot.add_container('96-flat', 'A1', 'plate')
>>> robot.move_to(plate[0])
>>> robot.move_to(plate[0].top())
"""
enqueue = kwargs.get('enqueue', False)
# Adding this for backwards compatibility with old move_to(now=False)
# convention.
if 'now' in kwargs:
enqueue = not kwargs.get('now')
placeable, coordinates = containers.unpack_location(location)
if instrument:
coordinates = instrument.calibrator.convert(placeable, coordinates)
else:
coordinates += placeable.coordinates(placeable.get_deck())
def _do():
if strategy == 'arc':
arc_coords = self._create_arc(coordinates, placeable)
for coord in arc_coords:
self._driver.move_head(**coord)
elif strategy == 'direct':
self._driver.move_head(x=coordinates[0],
y=coordinates[1],
z=coordinates[2])
else:
raise RuntimeError(
'Unknown move strategy: {}'.format(strategy))
if enqueue:
_description = 'Moving to {}'.format(placeable)
self.add_command(Command(do=_do, description=_description))
else:
_do()
def commandable():
self.add_command(Command(do=callback))
