def add_container_to_pose_tracker(self, location, container: Container):
"""
Add container and child wells to pose tracker. Sets container.parent
(slot) as pose tracker parent
"""
self.poses = pose_tracker.add(
self.poses,
container,
container.parent,
pose_tracker.Point(*container._coordinates))
for well in container:
center_x, center_y, center_z = well.top()[1]
offset_x, offset_y, offset_z = well._coordinates
center_z = 0
self.poses = pose_tracker.add(
self.poses,
well,
container,
pose_tracker.Point(
center_x + offset_x,
center_y + offset_y,
center_z + offset_z
)
)
def setup_deck(self):
self.add_slots_to_deck()
# Setup Deck as root object for pose tracker
self.poses = pose_tracker.add(
self.poses,
self._deck
)
for slot in self._deck:
self.poses = pose_tracker.add(
self.poses,
slot,
self._deck,
pose_tracker.Point(*slot._coordinates)
)
# @TODO (Laura & Andy) Slot and type of trash
# needs to be pulled from config file
if fflags.short_fixed_trash():
self._fixed_trash = self.add_container(
'opentrons_1_trash_850ml_fixed', '12')
else:
self._fixed_trash = self.add_container(
'opentrons_1_trash_1100ml_fixed', '12')
def update_config(self, **kwargs):
""" Replace configuration values.
kwargs should contain configuration keys. For instance:
`robot.update_config(name='Grace Hopper')` will update the `name` key
of the configuration.
"""
# Deck CLI tool needs to update the pose_tracker in real time to
# successfully save tip probe center. Here, update the position
# with freshly determined deck transform.
if 'gantry_calibration' in kwargs:
self.poses = pose_tracker.update(self.poses,
self._gantry_cal_id,
point=pose_tracker.Point(0, 0, 0),
transform=array(
kwargs['gantry_calibration']))
self.config = self.config._replace(**kwargs)
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
