def Get_NumberOfPositions(self, request, context: grpc.ServicerContext) \
-> ValvePositionController_pb2.Get_NumberOfPositions_Responses:
"""
Requests the unobservable property Number Of Positions
The number of the valve positions available.
:param request: An empty gRPC request object (properties have no parameters)
:param context: gRPC :class:`~grpc.ServicerContext` object providing gRPC-specific information
:returns: A response object with the following fields:
NumberOfPositions (Number Of Positions): The number of the valve positions available.
"""
# initialise the return value
return_value: ValvePositionController_pb2.Get_NumberOfPositions_Responses = None
# TODO:
# Add implementation of Simulation for property NumberOfPositions here and write the resulting response
# in return_value
# fallback to default
if return_value is None:
return_value = ValvePositionController_pb2.Get_NumberOfPositions_Responses(
#**default_dict['Get_NumberOfPositions_Responses']
NumberOfPositions=silaFW_pb2.Integer(value=1)
)
return return_value
def Subscribe_Position(self, request, context: grpc.ServicerContext) \
-> ValvePositionController_pb2.Subscribe_Position_Responses:
"""
Requests the observable property Position
The current logical valve position. This is a value between 0 and NumberOfPositions - 1.
:param request: An empty gRPC request object (properties have no parameters)
:param context: gRPC :class:`~grpc.ServicerContext` object providing gRPC-specific information
:returns: A response object with the following fields:
Position (Position): The current logical valve position. This is a value between 0 and NumberOfPositions - 1.
"""
valve = self._get_valve(context.invocation_metadata(), "Property")
new_valve_position = self._get_valve_position(valve)
valve_position = new_valve_position + 1 # force sending the first value
while not self.system.state.shutting_down():
if self.system.state.is_operational():
new_valve_position = self._get_valve_position(valve)
if new_valve_position != valve_position:
valve_position = new_valve_position
yield ValvePositionController_pb2.Subscribe_Position_Responses(
Position=silaFW_pb2.Integer(value=valve_position)
)
# we add a small delay to give the client a chance to keep up.
time.sleep(0.1)
def Subscribe_Position(self, request, context: grpc.ServicerContext) \
-> ValvePositionController_pb2.Subscribe_Position_Responses:
"""
Requests the observable property Position
The current logical valve position. This is a value between 0 and NumberOfPositions - 1.
:param request: An empty gRPC request object (properties have no parameters)
:param context: gRPC :class:`~grpc.ServicerContext` object providing gRPC-specific information
:returns: A response object with the following fields:
Position (Position): The current logical valve position. This is a value between 0 and NumberOfPositions - 1.
"""
# initialise the return value
return_value: ValvePositionController_pb2.Subscribe_Position_Responses = None
# we could use a timeout here if we wanted
while True:
# TODO:
# Add implementation of Simulation for property Position here and write the resulting
# response in return_value
# create the default value
if return_value is None:
return_value = ValvePositionController_pb2.Subscribe_Position_Responses(
#**default_dict['Subscribe_Position_Responses']
Position=silaFW_pb2.Integer(value=1)
)
yield return_value
def _serialize_channel_id(self, channel_id: int) -> bytes:
"""
Converts the given Channel Index from its string representation into
a serialized protobuf message
"""
return pb2.Metadata_ChannelIndex(ChannelIndex=silaFW_pb2.Integer(
value=channel_id)).SerializeToString()
def SwitchToPosition(self,
valve_id: int,
Position: int = 1): # -> (ValvePositionController):
"""
Wrapper to call the unobservable command SwitchToPosition on the server.
:param valve_id: The index of the valve to use. Will be sent along as metadata
of the call
:param Position: The target position that the valve should be switched to.
:returns: A gRPC object with the response that has been defined for this command.
"""
# noinspection PyUnusedLocal - type definition, just for convenience
grpc_err: grpc.Call
logging.debug(f"Calling SwitchToPosition for valve {valve_id}:")
try:
parameter = ValvePositionController_pb2.SwitchToPosition_Parameters(
Position=silaFW_pb2.Integer(value=Position))
metadata = ((METADATA_VALVE_INDEX,
self._serialize_valve_id(valve_id)), )
response = self.ValvePositionController_stub.SwitchToPosition(
parameter, metadata=metadata)
logging.debug(f"SwitchToPosition response: {response}")
except grpc.RpcError as grpc_err:
self.grpc_error_handling(grpc_err)
return None
return
def _serialize_valve_id(self, valve_id: int) -> bytes:
"""
Converts the given Valve Index from its integer representation into
a serialized protobuf message
"""
return ValveGatewayService_pb2.Metadata_ValveIndex(
ValveIndex=silaFW_pb2.Integer(value=valve_id)).SerializeToString()
def Get_NumberOfValves(self, request, context: grpc.ServicerContext) \
-> ValveGatewayService_pb2.Get_NumberOfValves_Responses:
"""
Requests the unobservable property Number Of Valves
The number of valves of a terminal
:param request: An empty gRPC request object (properties have no parameters)
:param context: gRPC :class:`~grpc.ServicerContext` object providing gRPC-specific information
:returns: A response object with the following fields:
NumberOfValves (Number Of Valves): The number of valves of a terminal
"""
return ValveGatewayService_pb2.Get_NumberOfValves_Responses(
NumberOfValves=silaFW_pb2.Integer(value=self.num_valves))
def Get_NumberOfChannels(self, request, context: grpc.ServicerContext) \
-> AnalogOutChannelController_pb2.Get_NumberOfChannels_Responses:
"""
Requests the unobservable property Number Of Channels
The number of analog output channels. This value is 0-indexed, i.e. the first channel has index 0, the second one index 1 and so on.
:param request: An empty gRPC request object (properties have no parameters)
:param context: gRPC :class:`~grpc.ServicerContext` object providing gRPC-specific information
:returns: A response object with the following fields:
NumberOfChannels (Number Of Channels): The number of analog output channels. This value is 0-indexed, i.e. the first channel has index 0, the second one index 1 and so on.
"""
logging.debug(
"Property NumberOfChannels requested in {current_mode} mode".
format(current_mode=(
'simulation' if self.simulation_mode else 'real')))
return AnalogOutChannelController_pb2.Get_NumberOfChannels_Responses(
NumberOfChannels=silaFW_pb2.Integer(value=self.num_channels))
def Get_NumberOfPositions(self, request, context: grpc.ServicerContext) \
-> ValvePositionController_pb2.Get_NumberOfPositions_Responses:
"""
Requests the unobservable property Number Of Positions
The number of the valve positions available.
:param request: An empty gRPC request object (properties have no parameters)
:param context: gRPC :class:`~grpc.ServicerContext` object providing gRPC-specific information
:returns: A response object with the following fields:
NumberOfPositions (Number Of Positions): The number of the valve positions available.
"""
valve = self._get_valve(context.invocation_metadata(), "Property")
if valve not in self.valve_positions:
self.valve_positions[valve] = valve.number_of_valve_positions()
return ValvePositionController_pb2.Get_NumberOfPositions_Responses(
NumberOfPositions=silaFW_pb2.Integer(value=self.valve_positions[valve])
)
def RunProtocol(self, request, context: grpc.ServicerContext) \
-> Ot2Controller_pb2.RunProtocol_Responses:
"""
Executes the unobservable command "Run Protocol"
Runs the given Protocol on the OT-2.
:param request: gRPC request containing the parameters passed:
request.ProtocolFile (Protocol File): The file name of the Protocol to run.
request.IsSimulating (Is Simulating): Defines whether the protocol gets just simulated or actually executed.
:param context: gRPC :class:`~grpc.ServicerContext` object providing gRPC-specific information
:returns: The return object defined for the command with the following fields:
request.ReturnValue (Return Value): The returned value.
"""
is_simulating: bool = request.IsSimulating.value
if is_simulating:
cmd: str = "python3 -m opentrons.simulate " + USER_STORAGE_DIR + request.ProtocolFile.value
else:
cmd: str = "python3 -m opentrons.execute " + USER_STORAGE_DIR + request.ProtocolFile.value
logging.debug(f"run '{cmd}'")
ssh_stdin, ssh_stdout, ssh_stderr = self.ssh.exec_command(cmd)
for line in ssh_stderr.readlines():
print(line, end='')
for line in ssh_stdout.readlines():
print(line, end='')
run_ret: int = ssh_stdout.channel.recv_exit_status()
logging.debug("run returned '" + str(run_ret) + "'")
if is_simulating and run_ret != 0:
raise ValueError("The simulation of the protocol was not successful.")
return Ot2Controller_pb2.RunProtocol_Responses(ReturnValue=silaFW_pb2.Integer(value=run_ret))
import sila2lib.framework.SiLABinaryTransfer_pb2 as silaBinary_pb2
from .gRPC import AxisSystemPositionController_pb2 as pb2
# initialise the default dictionary so we can add keys.
# We need to do this separately/add keys separately, so we can access keys already defined e.g.
# for the use in data type identifiers
default_dict = dict()
default_dict['DataType_Position'] = {
'Position':
pb2.DataType_Position.Position_Struct(X=silaFW_pb2.Real(value=1.0),
Y=silaFW_pb2.Real(value=1.0))
}
default_dict['MoveToPosition_Parameters'] = {
'Position': pb2.DataType_Position(**default_dict['DataType_Position']),
'Velocity': silaFW_pb2.Integer(value=1)
}
default_dict['MoveToPosition_Responses'] = {}
default_dict['MoveToHomePosition_Parameters'] = {}
default_dict['MoveToHomePosition_Responses'] = {}
default_dict['StopMoving_Parameters'] = {}
default_dict['StopMoving_Responses'] = {}
default_dict['Subscribe_Position_Responses'] = {
'Position': pb2.DataType_Position(**default_dict['DataType_Position'])
}
# This file contains default values that are used for the implementations to supply them with
# working, albeit mostly useless arguments.
# You can also use this file as an example to create your custom responses. Feel free to remove
# Once you have replaced every occurrence of the defaults with more reasonable values.
# Or you continue using this file, supplying good defaults..
# import the required packages
import sila2lib.framework.SiLAFramework_pb2 as silaFW_pb2
import sila2lib.framework.SiLABinaryTransfer_pb2 as silaBinary_pb2
from .gRPC import ValveGatewayService_pb2 as pb2
# initialise the default dictionary so we can add keys.
# We need to do this separately/add keys separately, so we can access keys already defined e.g.
# for the use in data type identifiers
default_dict = dict()
default_dict['Get_NumberOfValves_Responses'] = {
'NumberOfValves': silaFW_pb2.Integer(value=1)
}
default_dict['Get_FCPAffectedByMetadata_ValveIndex_Responses'] = {
'AffectedCalls': [silaFW_pb2.String(value='default string')]
}
# Once you have replaced every occurrence of the defaults with more reasonable values.
# Or you continue using this file, supplying good defaults..
# import the required packages
import sila2lib.framework.SiLAFramework_pb2 as silaFW_pb2
import sila2lib.framework.SiLABinaryTransfer_pb2 as silaBinary_pb2
from .gRPC import AnalogOutChannelController_pb2 as pb2
# initialise the default dictionary so we can add keys.
# We need to do this separately/add keys separately, so we can access keys already defined e.g.
# for the use in data type identifiers
default_dict = dict()
default_dict['SetOutputValue_Parameters'] = {
'Value': silaFW_pb2.Real(value=1.0)
}
default_dict['SetOutputValue_Responses'] = {}
default_dict['Get_NumberOfChannels_Responses'] = {
'NumberOfChannels': silaFW_pb2.Integer(value=1)
}
default_dict['Subscribe_Value_Responses'] = {
'Value': silaFW_pb2.Real(value=1.0)
}
default_dict['Get_FCPAffectedByMetadata_ChannelIndex_Responses'] = {
'AffectedCalls': [silaFW_pb2.String(value='default string')]
}
# You can also use this file as an example to create your custom responses. Feel free to remove
# Once you have replaced every occurrence of the defaults with more reasonable values.
# Or you continue using this file, supplying good defaults..
# import the required packages
import sila2lib.framework.SiLAFramework_pb2 as silaFW_pb2
import sila2lib.framework.SiLABinaryTransfer_pb2 as silaBinary_pb2
from .gRPC import ValvePositionController_pb2 as pb2
# initialise the default dictionary so we can add keys.
# We need to do this separately/add keys separately, so we can access keys already defined e.g.
# for the use in data type identifiers
default_dict = dict()
default_dict['SwitchToPosition_Parameters'] = {
'Position': silaFW_pb2.Integer(value=1)
}
default_dict['SwitchToPosition_Responses'] = {}
default_dict['TogglePosition_Parameters'] = {}
default_dict['TogglePosition_Responses'] = {}
default_dict['Get_NumberOfPositions_Responses'] = {
'NumberOfPositions': silaFW_pb2.Integer(value=1)
}
default_dict['Subscribe_Position_Responses'] = {
'Position': silaFW_pb2.Integer(value=1)
}
