def test_add():
state = init()
assert state == {
ROOT: Node(parent=None,
children=[],
transform=translate(Point(0, 0, 0)))
}
state = add(state, obj='child', point=Point(1, 2, 3))
assert state == {
ROOT:
Node(parent=None,
children=['child'],
transform=translate(Point(0, 0, 0))),
'child':
Node(parent=ROOT, children=[], transform=translate(Point(-1, -2, -3)))
}
with pytest.raises(AssertionError):
add(state, obj='child', point=Point(1, 2, 3))
with pytest.raises(KeyError):
add(state,
obj='new-child',
parent='another-root',
point=Point(1, 2, 3))
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 add_instrument(self, mount, instrument):
"""
Adds instrument to a robot.
Parameters
----------
mount : str
Specifies which axis the instruments is attached to.
Valid options are "left" or "right".
instrument : Instrument
An instance of a :class:`Pipette` to attached to the axis.
Notes
-----
A canonical way to add to add a Pipette to a robot is:
::
from opentrons import instruments
m300 = instruments.P300_Multi(mount='left')
This will create a pipette and call :func:`add_instrument`
to attach the instrument.
"""
if mount in self._instruments:
prev_instr = self._instruments[mount]
raise RuntimeError('Instrument {0} already on {1} mount'.format(
prev_instr.name, mount))
self._instruments[mount] = instrument
instrument.instrument_actuator = self._actuators[mount]['plunger']
instrument.instrument_mover = self._actuators[mount]['carriage']
# instrument_offset is the distance found (with tip-probe) between
# the pipette's expected position, and the actual position
# this is expected to be no greater than ~3mm
# Z is not included, because Z offsets found during tip-probe are used
# to determined the tip's length
cx, cy, _ = self.config.instrument_offset[mount][instrument.type]
# model_offset is the expected position of the pipette, determined
# by designed dimensions of that model (eg: p10-multi vs p300-single)
mx, my, mz = instrument.model_offset
# combine each offset to get the pipette's position relative to gantry
_x, _y, _z = (mx + cx, my + cy, mz)
# if it's the left mount, apply the offset from right pipette
if mount == 'left':
_x, _y, _z = (_x + self.config.mount_offset[0],
_y + self.config.mount_offset[1],
_z + self.config.mount_offset[2])
self.poses = pose_tracker.add(self.poses,
instrument,
parent=mount,
point=(_x, _y, _z))
