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added bounds getter test
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@sanni-t
sanni-t committed Feb 6, 2024
1 parent 4ed40ed commit ed0a766
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Showing 3 changed files with 264 additions and 3 deletions.
4 changes: 2 additions & 2 deletions api/src/opentrons/protocol_engine/state/pipettes.py
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Original file line number Diff line number Diff line change
Expand Up @@ -706,12 +706,12 @@ def get_nozzle_bounds_at_specified_move_to_position(
pip_back_left_bound = (
primary_nozzle_position
- primary_nozzle_offset
- bounding_nozzles_offsets.back_left_offset
+ bounding_nozzles_offsets.back_left_offset
)
pip_front_right_bound = (
primary_nozzle_position
- primary_nozzle_offset
- bounding_nozzles_offsets.front_right_offset
+ bounding_nozzles_offsets.front_right_offset
)
pip_back_right_bound = Point(
pip_front_right_bound.x, pip_back_left_bound.y, pip_front_right_bound.z
Expand Down
54 changes: 54 additions & 0 deletions api/tests/opentrons/protocol_engine/pipette_fixtures.py
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Original file line number Diff line number Diff line change
Expand Up @@ -263,3 +263,57 @@
("H12", Point(63.0, -88.5, -259.15)),
)
)

EIGHT_CHANNEL_ROWS = OrderedDict(
(
(
"A",
["A1"],
),
(
"B",
["B1"],
),
(
"C",
["C1"],
),
(
"D",
["D1"],
),
(
"E",
["E1"],
),
(
"F",
["F1"],
),
(
"G",
["G1"],
),
(
"H",
["H1"],
),
)
)

EIGHT_CHANNEL_COLS = OrderedDict(
(("1", ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"]),)
)

EIGHT_CHANNEL_MAP = OrderedDict(
(
("A1", Point(0.0, 31.5, 35.52)),
("B1", Point(0.0, 22.5, 35.52)),
("C1", Point(0.0, 13.5, 35.52)),
("D1", Point(0.0, 4.5, 35.52)),
("E1", Point(0.0, -4.5, 35.52)),
("F1", Point(0.0, -13.5, 35.52)),
("G1", Point(0.0, -22.5, 35.52)),
("H1", Point(0.0, -31.5, 35.52)),
)
)
209 changes: 208 additions & 1 deletion api/tests/opentrons/protocol_engine/state/test_pipette_view.py
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Original file line number Diff line number Diff line change
@@ -1,8 +1,9 @@
"""Tests for pipette state accessors in the protocol_engine state store."""
from collections import OrderedDict
from dataclasses import dataclass

import pytest
from typing import cast, Dict, List, Optional
from typing import cast, Dict, List, Optional, Tuple, NamedTuple

from opentrons_shared_data.pipette.dev_types import PipetteNameType
from opentrons_shared_data.pipette import pipette_definition
Expand Down Expand Up @@ -30,6 +31,14 @@
from opentrons.hardware_control.nozzle_manager import NozzleMap, NozzleConfigurationType
from opentrons.protocol_engine.errors import TipNotAttachedError, PipetteNotLoadedError

from ..pipette_fixtures import (
NINETY_SIX_ROWS,
NINETY_SIX_COLS,
NINETY_SIX_MAP,
EIGHT_CHANNEL_ROWS,
EIGHT_CHANNEL_COLS,
EIGHT_CHANNEL_MAP,
)

_SAMPLE_NOZZLE_BOUNDS_OFFSETS = BoundingNozzlesOffsets(
back_left_offset=Point(x=10, y=20, z=30), front_right_offset=Point(x=40, y=50, z=60)
Expand Down Expand Up @@ -542,3 +551,201 @@ def test_nozzle_configuration_getters() -> None:
assert subject.get_nozzle_layout_type("pipette-id") == NozzleConfigurationType.FULL
assert subject.get_is_partially_configured("pipette-id") is False
assert subject.get_primary_nozzle("pipette-id") == "A1"


class _PipetteSpecs(NamedTuple):
tip_length: float
bounding_nozzle_offsets: BoundingNozzlesOffsets
nozzle_map: NozzleMap
destination_position: Point
nozzle_bounds_result: Tuple[Point, Point, Point, Point]


_pipette_spec_cases = [
_PipetteSpecs(
# 8-channel P300, full configuration
tip_length=42,
bounding_nozzle_offsets=BoundingNozzlesOffsets(
back_left_offset=Point(0.0, 31.5, 35.52),
front_right_offset=Point(0.0, -31.5, 35.52),
),
nozzle_map=NozzleMap.build(
physical_nozzles=EIGHT_CHANNEL_MAP,
physical_rows=EIGHT_CHANNEL_ROWS,
physical_columns=EIGHT_CHANNEL_COLS,
starting_nozzle="A1",
back_left_nozzle="A1",
front_right_nozzle="H1",
),
destination_position=Point(100, 200, 300),
nozzle_bounds_result=(
(
Point(x=100.0, y=200.0, z=342.0),
Point(x=100.0, y=137.0, z=342.0),
Point(x=100.0, y=200.0, z=342.0),
Point(x=100.0, y=137.0, z=342.0),
)
),
),
_PipetteSpecs(
# 8-channel P300, single configuration
tip_length=42,
bounding_nozzle_offsets=BoundingNozzlesOffsets(
back_left_offset=Point(0.0, 31.5, 35.52),
front_right_offset=Point(0.0, -31.5, 35.52),
),
nozzle_map=NozzleMap.build(
physical_nozzles=EIGHT_CHANNEL_MAP,
physical_rows=EIGHT_CHANNEL_ROWS,
physical_columns=EIGHT_CHANNEL_COLS,
starting_nozzle="H1",
back_left_nozzle="H1",
front_right_nozzle="H1",
),
destination_position=Point(100, 200, 300),
nozzle_bounds_result=(
(
Point(x=100.0, y=263.0, z=342.0),
Point(x=100.0, y=200.0, z=342.0),
Point(x=100.0, y=263.0, z=342.0),
Point(x=100.0, y=200.0, z=342.0),
)
),
),
_PipetteSpecs(
# 96-channel P1000, full configuration
tip_length=42,
bounding_nozzle_offsets=BoundingNozzlesOffsets(
back_left_offset=Point(-36.0, -25.5, -259.15),
front_right_offset=Point(63.0, -88.5, -259.15),
),
nozzle_map=NozzleMap.build(
physical_nozzles=NINETY_SIX_MAP,
physical_rows=NINETY_SIX_ROWS,
physical_columns=NINETY_SIX_COLS,
starting_nozzle="A1",
back_left_nozzle="A1",
front_right_nozzle="H12",
),
destination_position=Point(100, 200, 300),
nozzle_bounds_result=(
(
Point(x=100.0, y=200.0, z=342.0),
Point(x=199.0, y=137.0, z=342.0),
Point(x=199.0, y=200.0, z=342.0),
Point(x=100.0, y=137.0, z=342.0),
)
),
),
_PipetteSpecs(
# 96-channel P1000, A1 COLUMN configuration
tip_length=42,
bounding_nozzle_offsets=BoundingNozzlesOffsets(
back_left_offset=Point(-36.0, -25.5, -259.15),
front_right_offset=Point(63.0, -88.5, -259.15),
),
nozzle_map=NozzleMap.build(
physical_nozzles=NINETY_SIX_MAP,
physical_rows=NINETY_SIX_ROWS,
physical_columns=NINETY_SIX_COLS,
starting_nozzle="A1",
back_left_nozzle="A1",
front_right_nozzle="H1",
),
destination_position=Point(100, 200, 300),
nozzle_bounds_result=(
Point(100, 200, 342),
Point(199, 137, 342),
Point(199, 200, 342),
Point(100, 137, 342),
),
),
_PipetteSpecs(
# 96-channel P1000, A12 COLUMN configuration
tip_length=42,
bounding_nozzle_offsets=BoundingNozzlesOffsets(
back_left_offset=Point(-36.0, -25.5, -259.15),
front_right_offset=Point(63.0, -88.5, -259.15),
),
nozzle_map=NozzleMap.build(
physical_nozzles=NINETY_SIX_MAP,
physical_rows=NINETY_SIX_ROWS,
physical_columns=NINETY_SIX_COLS,
starting_nozzle="A12",
back_left_nozzle="A12",
front_right_nozzle="H12",
),
destination_position=Point(100, 200, 300),
nozzle_bounds_result=(
Point(1, 200, 342),
Point(100, 137, 342),
Point(100, 200, 342),
Point(1, 137, 342),
),
),
_PipetteSpecs(
# 96-channel P1000, ROW configuration
tip_length=42,
bounding_nozzle_offsets=BoundingNozzlesOffsets(
back_left_offset=Point(-36.0, -25.5, -259.15),
front_right_offset=Point(63.0, -88.5, -259.15),
),
nozzle_map=NozzleMap.build(
physical_nozzles=NINETY_SIX_MAP,
physical_rows=NINETY_SIX_ROWS,
physical_columns=NINETY_SIX_COLS,
starting_nozzle="A1",
back_left_nozzle="A1",
front_right_nozzle="A12",
),
destination_position=Point(100, 200, 300),
nozzle_bounds_result=(
Point(100, 200, 342),
Point(199, 137, 342),
Point(199, 200, 342),
Point(100, 137, 342),
),
),
]


@pytest.mark.parametrize(
argnames=_PipetteSpecs._fields,
argvalues=_pipette_spec_cases,
)
def test_get_nozzle_bounds_at_location(
tip_length: float,
bounding_nozzle_offsets: BoundingNozzlesOffsets,
nozzle_map: NozzleMap,
destination_position: Point,
nozzle_bounds_result: Tuple[Point, Point, Point, Point],
) -> None:
"""It should get the pipette's nozzle's bounds at the given location."""
subject = get_pipette_view(
nozzle_layout_by_id={"pipette-id": nozzle_map},
attached_tip_by_id={
"pipette-id": TipGeometry(length=tip_length, diameter=123, volume=123),
},
static_config_by_id={
"pipette-id": StaticPipetteConfig(
min_volume=1,
max_volume=9001,
channels=5,
model="blah",
display_name="bleh",
serial_number="",
tip_configuration_lookup_table={},
nominal_tip_overlap={},
home_position=0,
nozzle_offset_z=0,
bounding_nozzle_offsets=bounding_nozzle_offsets,
)
},
)
assert (
subject.get_nozzle_bounds_at_specified_move_to_position(
pipette_id="pipette-id",
destination_position=destination_position,
)
== nozzle_bounds_result
)

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