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refactor(api): reorganize existing transfer planner (#16724)
Preparation for AUTH-843 # Overview This PR moves the existing transfer planner to a new `transfers` directory and moves some functions into a common location in anticipation of the new `transfer_liquid` planner, which will be using the common functions.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,38 @@ | ||
| """Common resources for all advanced control functions.""" | ||
| import enum | ||
| from typing import NamedTuple, Optional | ||
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| class MixStrategy(enum.Enum): | ||
| BOTH = enum.auto() | ||
| BEFORE = enum.auto() | ||
| AFTER = enum.auto() | ||
| NEVER = enum.auto() | ||
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| class MixOpts(NamedTuple): | ||
| """ | ||
| Options to customize behavior of mix. | ||
| These options will be passed to | ||
| :py:meth:`InstrumentContext.mix` when it is called during the | ||
| transfer. | ||
| """ | ||
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| repetitions: Optional[int] = None | ||
| volume: Optional[float] = None | ||
| rate: Optional[float] = None | ||
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| MixOpts.repetitions.__doc__ = ":py:class:`int`" | ||
| MixOpts.volume.__doc__ = ":py:class:`float`" | ||
| MixOpts.rate.__doc__ = ":py:class:`float`" | ||
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| class Mix(NamedTuple): | ||
| """ | ||
| Options to control mix behavior before aspirate and after dispense. | ||
| """ | ||
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| mix_before: MixOpts = MixOpts() | ||
| mix_after: MixOpts = MixOpts() |
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api/src/opentrons/protocols/advanced_control/transfers/common.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,45 @@ | ||
| """Common functions between v1 transfer and liquid-class-based transfer.""" | ||
| from typing import Iterable, Generator, Tuple, TypeVar | ||
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| Target = TypeVar("Target") | ||
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| def check_valid_volume_parameters( | ||
| disposal_volume: float, air_gap: float, max_volume: float | ||
| ) -> None: | ||
| if air_gap >= max_volume: | ||
| raise ValueError( | ||
| "The air gap must be less than the maximum volume of the pipette" | ||
| ) | ||
| elif disposal_volume >= max_volume: | ||
| raise ValueError( | ||
| "The disposal volume must be less than the maximum volume of the pipette" | ||
| ) | ||
| elif disposal_volume + air_gap >= max_volume: | ||
| raise ValueError( | ||
| "The sum of the air gap and disposal volume must be less than" | ||
| " the maximum volume of the pipette" | ||
| ) | ||
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| def expand_for_volume_constraints( | ||
| volumes: Iterable[float], | ||
| targets: Iterable[Target], | ||
| max_volume: float, | ||
| ) -> Generator[Tuple[float, "Target"], None, None]: | ||
| """Split a sequence of proposed transfers if necessary to keep each | ||
| transfer under the given max volume. | ||
| """ | ||
| # A final defense against an infinite loop. | ||
| # Raising a proper exception with a helpful message is left to calling code, | ||
| # because it has more context about what the user is trying to do. | ||
| assert max_volume > 0 | ||
| for volume, target in zip(volumes, targets): | ||
| while volume > max_volume * 2: | ||
| yield max_volume, target | ||
| volume -= max_volume | ||
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| if volume > max_volume: | ||
| volume /= 2 | ||
| yield volume, target | ||
| yield volume, target |
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