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lid live data positioning corrections
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@CaseyBatten
CaseyBatten committed Aug 14, 2024
1 parent f776469 commit ab5caef
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Showing 3 changed files with 118 additions and 125 deletions.
120 changes: 56 additions & 64 deletions api/src/opentrons/protocol_engine/commands/absorbance_reader/close_lid.py
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Original file line number Diff line number Diff line change
Expand Up @@ -65,80 +65,72 @@ async def execute(
loaded_lid = self._state_view.labware.get(mod_substate.lid_id)
assert labware_validation.is_absorbance_reader_lid(loaded_lid.loadName)

# If the lid is already Closed, No-op out
if mod_substate.is_lid_on:
current_offset_id = self._equipment.find_applicable_labware_offset_id(
hardware_lid_status = AbsorbanceReaderLidStatus.OFF
# If the lid is closed, if the lid is open No-op out
if not self._state_view.config.use_virtual_modules:
abs_reader = self._equipment.get_module_hardware_api(mod_substate.module_id)

if abs_reader is not None:
result = await abs_reader.get_current_lid_status()
hardware_lid_status = result
else:
raise CannotPerformModuleAction(
"Could not reach the Hardware API for Opentrons Plate Reader Module."
)

# If the lid is already ON, no-op losing lid
if hardware_lid_status is AbsorbanceReaderLidStatus.ON:
# The lid is already On, so we can no-op and return the lids current location data
assert isinstance(loaded_lid.location, AddressableAreaLocation)
new_location = loaded_lid.location
new_offset_id = self._equipment.find_applicable_labware_offset_id(
labware_definition_uri=loaded_lid.definitionUri,
labware_location=loaded_lid.location,
)
return SuccessData(
public=CloseLidResult(
lidId=loaded_lid.id,
newLocation=loaded_lid.location,
offsetId=current_offset_id,
),
private=None,
)

# Allow propagation of ModuleNotAttachedError.
_ = self._equipment.get_module_hardware_api(mod_substate.module_id)

current_location = loaded_lid.location
validated_current_location = (
self._state_view.geometry.ensure_valid_gripper_location(current_location)
)
else:
# Allow propagation of ModuleNotAttachedError.
_ = self._equipment.get_module_hardware_api(mod_substate.module_id)

# we need to move the lid onto the module reader
absorbance_model = self._state_view.modules.get_requested_model(params.moduleId)
assert absorbance_model is not None
new_location = AddressableAreaLocation(
addressableAreaName=self._state_view.modules.ensure_and_convert_module_fixture_location(
deck_slot=self._state_view.modules.get_location(
params.moduleId
).slotName,
deck_type=self._state_view.config.deck_type,
model=absorbance_model,
current_location = self._state_view.modules.absorbance_reader_dock_location(
params.moduleId
)
)
validated_new_location = (
self._state_view.geometry.ensure_valid_gripper_location(new_location)
)

lid_gripper_offsets = self._state_view.labware.get_labware_gripper_offsets(
loaded_lid.id, None
)
if lid_gripper_offsets is None:
raise ValueError(
"Gripper Offset values for Absorbance Reader Lid labware must not be None."
# we need to move the lid onto the module reader
absorbance_model = self._state_view.modules.get_requested_model(
params.moduleId
)
assert absorbance_model is not None
new_location = AddressableAreaLocation(
addressableAreaName=self._state_view.modules.ensure_and_convert_module_fixture_location(
deck_slot=self._state_view.modules.get_location(
params.moduleId
).slotName,
deck_type=self._state_view.config.deck_type,
model=absorbance_model,
)
)

# Skips gripper moves when using virtual gripper
await self._labware_movement.move_labware_with_gripper(
labware_id=loaded_lid.id,
current_location=validated_current_location,
new_location=validated_new_location,
user_offset_data=lid_gripper_offsets,
post_drop_slide_offset=None,
)

new_offset_id = self._equipment.find_applicable_labware_offset_id(
labware_definition_uri=loaded_lid.definitionUri,
labware_location=new_location,
)
lid_gripper_offsets = self._state_view.labware.get_labware_gripper_offsets(
loaded_lid.id, None
)
if lid_gripper_offsets is None:
raise ValueError(
"Gripper Offset values for Absorbance Reader Lid labware must not be None."
)

if not self._state_view.config.use_virtual_modules:
abs_reader = self._equipment.get_module_hardware_api(mod_substate.module_id)
# Skips gripper moves when using virtual gripper
await self._labware_movement.move_labware_with_gripper(
labware_id=loaded_lid.id,
current_location=current_location,
new_location=new_location,
user_offset_data=lid_gripper_offsets,
post_drop_slide_offset=None,
)

if abs_reader is not None:
result = await abs_reader.get_current_lid_status()
if result is not AbsorbanceReaderLidStatus.ON:
raise CannotPerformModuleAction(
"The mechanical position of the Absorbance Plate Reader's lid did not match the expected 'closed' state."
)
else:
raise CannotPerformModuleAction(
"Could not reach the Hardware API for Opentrons Plate Reader Module."
)
new_offset_id = self._equipment.find_applicable_labware_offset_id(
labware_definition_uri=loaded_lid.definitionUri,
labware_location=new_location,
)

return SuccessData(
public=CloseLidResult(
Expand Down
114 changes: 57 additions & 57 deletions api/src/opentrons/protocol_engine/commands/absorbance_reader/open_lid.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@

from .types import MoveLidResult
from opentrons.protocol_engine.resources import labware_validation
from opentrons.protocol_engine.types import AddressableAreaLocation

from opentrons.drivers.types import AbsorbanceReaderLidStatus

Expand Down Expand Up @@ -59,76 +60,75 @@ async def execute(self, params: OpenLidParams) -> SuccessData[OpenLidResult, Non
loaded_lid = self._state_view.labware.get(mod_substate.lid_id)
assert labware_validation.is_absorbance_reader_lid(loaded_lid.loadName)

# If the lid is already Open, No-op out
if not mod_substate.is_lid_on:
current_offset_id = self._equipment.find_applicable_labware_offset_id(
labware_definition_uri=loaded_lid.definitionUri,
labware_location=loaded_lid.location,
)
return SuccessData(
public=OpenLidResult(
lidId=loaded_lid.id,
newLocation=loaded_lid.location,
offsetId=current_offset_id,
),
private=None,
)

# Allow propagation of ModuleNotAttachedError.
_ = self._equipment.get_module_hardware_api(mod_substate.module_id)

current_location = loaded_lid.location
validated_current_location = (
self._state_view.geometry.ensure_valid_gripper_location(current_location)
)

# we need to move the lid to the lid dock
new_location = self._state_view.modules.absorbance_reader_dock_location(
mod_substate.module_id
)
validated_new_location = (
self._state_view.geometry.ensure_valid_gripper_location(new_location)
)

lid_gripper_offsets = self._state_view.labware.get_labware_gripper_offsets(
loaded_lid.id, None
)
if lid_gripper_offsets is None:
raise ValueError(
"Gripper Offset values for Absorbance Reader Lid labware must not be None."
)

# Skips gripper moves when using virtual gripper
await self._labware_movement.move_labware_with_gripper(
labware_id=loaded_lid.id,
current_location=validated_current_location,
new_location=validated_new_location,
user_offset_data=lid_gripper_offsets,
post_drop_slide_offset=None,
)
new_offset_id = self._equipment.find_applicable_labware_offset_id(
labware_definition_uri=loaded_lid.definitionUri,
labware_location=new_location,
)

hardware_lid_status = AbsorbanceReaderLidStatus.ON
# If the lid is closed, if the lid is open No-op out
if not self._state_view.config.use_virtual_modules:
abs_reader = self._equipment.get_module_hardware_api(mod_substate.module_id)

if abs_reader is not None:
result = await abs_reader.get_current_lid_status()
if result is not AbsorbanceReaderLidStatus.OFF:
raise CannotPerformModuleAction(
"The Opentrons Plate Reader lid mechanicaly position did not match expected Open state."
)
hardware_lid_status = result
else:
raise CannotPerformModuleAction(
"Could not reach the Hardware API for Opentrons Plate Reader Module."
)

# If the lid is already OFF, no-op the lid removal
if hardware_lid_status is AbsorbanceReaderLidStatus.OFF:
assert isinstance(loaded_lid.location, AddressableAreaLocation)
new_location = loaded_lid.location
new_offset_id = self._equipment.find_applicable_labware_offset_id(
labware_definition_uri=loaded_lid.definitionUri,
labware_location=loaded_lid.location,
)
else:
# Allow propagation of ModuleNotAttachedError.
_ = self._equipment.get_module_hardware_api(mod_substate.module_id)

absorbance_model = self._state_view.modules.get_requested_model(
params.moduleId
)
assert absorbance_model is not None
current_location = AddressableAreaLocation(
addressableAreaName=self._state_view.modules.ensure_and_convert_module_fixture_location(
deck_slot=self._state_view.modules.get_location(
params.moduleId
).slotName,
deck_type=self._state_view.config.deck_type,
model=absorbance_model,
)
)

# we need to move the lid to the lid dock
new_location = self._state_view.modules.absorbance_reader_dock_location(
mod_substate.module_id
)

lid_gripper_offsets = self._state_view.labware.get_labware_gripper_offsets(
loaded_lid.id, None
)
if lid_gripper_offsets is None:
raise ValueError(
"Gripper Offset values for Absorbance Reader Lid labware must not be None."
)

# Skips gripper moves when using virtual gripper
await self._labware_movement.move_labware_with_gripper(
labware_id=loaded_lid.id,
current_location=current_location,
new_location=new_location,
user_offset_data=lid_gripper_offsets,
post_drop_slide_offset=None,
)
new_offset_id = self._equipment.find_applicable_labware_offset_id(
labware_definition_uri=loaded_lid.definitionUri,
labware_location=new_location,
)

return SuccessData(
public=OpenLidResult(
lidId=loaded_lid.id,
newLocation=validated_new_location,
newLocation=new_location,
offsetId=new_offset_id,
),
private=None,
Expand Down
9 changes: 5 additions & 4 deletions api/src/opentrons/protocol_engine/commands/load_module.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -179,11 +179,12 @@ async def execute(
lid_labware = self._state_view.labware.get_by_addressable_area(
reader_area
)

if lid_labware is not None:
lid_labware.location = (
self._state_view.modules.absorbance_reader_dock_location(
params.moduleId
)
self._state_view.labware._state.labware_by_id[
lid_labware.id
].location = self._state_view.modules.absorbance_reader_dock_location(
params.moduleId
)

return SuccessData(
Expand Down

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