diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 0367b720649d..5dd1757e339c 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -14,6 +14,6 @@ /api-client @Opentrons/js /react-api-client @Opentrons/js /app-shell @Opentrons/js -/components @Opentrons/js +/components @Opentrons/js @Opentrons/components-devs /api @Opentrons/py /shared-data/js @Opentrons/js diff --git a/.github/workflows/abr-testing-lint-test.yaml b/.github/workflows/abr-testing-lint-test.yaml index 447597c2b895..cad18a980d1e 100644 --- a/.github/workflows/abr-testing-lint-test.yaml +++ b/.github/workflows/abr-testing-lint-test.yaml @@ -7,19 +7,19 @@ on: paths: - 'Makefile' - 'abr-testing/**' - - 'scripts/**/*.mk' - - 'scripts/**/*.py' + - 'scripts/**.mk' + - 'scripts/**.py' - '.github/workflows/abr-testing-lint-test.yaml' - '.github/actions/python/**' branches: - 'edge' tags-ignore: - - '*' + - '**' pull_request: paths: - 'abr-testing/**' - - 'scripts/**/*.mk' - - 'scripts/**/*.py' + - 'scripts/**.mk' + - 'scripts/**.py' - '.github/workflows/abr-testing-lint-test.yaml' workflow_dispatch: diff --git a/.github/workflows/analyses-snapshot-test.yaml b/.github/workflows/analyses-snapshot-test.yaml index 66c9a43cfce2..e89fdcb00648 100644 --- a/.github/workflows/analyses-snapshot-test.yaml +++ b/.github/workflows/analyses-snapshot-test.yaml @@ -25,7 +25,7 @@ on: - '!api/docs/**' - '!api/release-notes-internal.md' - '!api/release-notes.md' - - 'shared-data/**/*' + - 'shared-data/**' - '!shared-data/js/**' - '.github/workflows/analyses-snapshot-test.yaml' - 'analyses-snapshot-testing/**' diff --git a/.github/workflows/api-test-lint-deploy.yaml b/.github/workflows/api-test-lint-deploy.yaml index 29565dc6019b..7671bc1fff8e 100644 --- a/.github/workflows/api-test-lint-deploy.yaml +++ b/.github/workflows/api-test-lint-deploy.yaml @@ -7,27 +7,27 @@ on: # Most of the time, we run on pull requests, which lets us handle external PRs pull_request: paths: - - 'api/**/*' + - 'api/**' - 'Makefile' - - 'shared-data/**/*' + - 'shared-data/**' - '!shared-data/js/**' - - 'hardware/**/*' - - 'scripts/**/*.mk' - - 'scripts/**/*.py' + - 'hardware/**' + - 'scripts/**.mk' + - 'scripts/**.py' - '.github/workflows/api-test-lint-deploy.yaml' - - '.github/actions/python/**/*' + - '.github/actions/python/**' - '.github/workflows/utils.js' push: paths: - 'api/**' - 'Makefile' - - 'shared-data/**/*' - - '!shared-data/js/**/*' - - 'hardware/**/*' - - 'scripts/**/*.mk' - - 'scripts/**/*.py' + - 'shared-data/**' + - '!shared-data/js/**' + - 'hardware/**' + - 'scripts/**.mk' + - 'scripts/**.py' - '.github/workflows/api-test-lint-deploy.yaml' - - '.github/actions/python/**/*' + - '.github/actions/python/**' - '.github/workflows/utils.js' branches: - 'edge' diff --git a/.github/workflows/app-test-build-deploy.yaml b/.github/workflows/app-test-build-deploy.yaml index 13a2051c767d..2d104a737d5f 100644 --- a/.github/workflows/app-test-build-deploy.yaml +++ b/.github/workflows/app-test-build-deploy.yaml @@ -6,14 +6,14 @@ on: push: paths: - 'Makefile' - - 'app/**/*' - - 'app-shell/**/*' - - 'app-shell-odd/**/*' - - 'components/**/*' - - 'shared-data/**/*' - - 'discovery-client/**/*' + - 'app/**' + - 'app-shell/**' + - 'app-shell-odd/**' + - 'components/**' + - 'shared-data/**' + - 'discovery-client/**' - '*.js' - - 'scripts/**/*' + - 'scripts/**' - '*.json' - 'yarn.lock' - '.github/workflows/app-test-build-deploy.yaml' @@ -26,24 +26,24 @@ on: pull_request: paths: - 'Makefile' - - 'app/**/*' - - 'app-shell/**/*' - - 'app-shell-odd/**/*' - - 'components/**/*' - - 'shared-data/**/*' - - 'discovery-client/**/*' + - 'app/**' + - 'app-shell/**' + - 'app-shell-odd/**' + - 'components/**' + - 'shared-data/**' + - 'discovery-client/**' - '*.js' - '*.json' - 'yarn.lock' - - 'scripts/**/*' - workflow_dispatch: + - 'scripts/**' + workflow_dispatch: {} concurrency: group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}-${{ github.ref_name != 'edge' || github.run_id}}-${{ github.ref_type != 'tag' || github.run_id }} cancel-in-progress: true env: - CI: true + CI: "true" _APP_DEPLOY_BUCKET_ROBOTSTACK: builds.opentrons.com _APP_DEPLOY_FOLDER_ROBOTSTACK: app _APP_DEPLOY_BUCKET_OT3: ot3-development.builds.opentrons.com @@ -57,33 +57,7 @@ jobs: timeout-minutes: 60 steps: - uses: 'actions/checkout@v4' - - uses: 'actions/setup-node@v4' - with: - node-version: '22.11.0' - - name: 'install udev' - run: | - # WORKAROUND: Remove microsoft debian repo due to https://github.com/microsoft/linux-package-repositories/issues/130. Remove line below after it is resolved - sudo rm -f /etc/apt/sources.list.d/microsoft-prod.list - sudo apt-get update && sudo apt-get install libudev-dev - - name: 'set complex environment variables' - id: 'set-vars' - uses: actions/github-script@v6 - with: - script: | - const { buildComplexEnvVars } = require(`${process.env.GITHUB_WORKSPACE}/.github/workflows/utils.js`) - buildComplexEnvVars(core, context) - - name: 'cache yarn cache' - uses: actions/cache@v3 - with: - path: | - ${{ github.workspace }}/.npm-cache/_prebuild - ${{ github.workspace }}/.yarn-cache - key: js-${{ secrets.GH_CACHE_VERSION }}-${{ runner.os }}-yarn-${{ hashFiles('yarn.lock') }} - - name: 'setup-js' - run: | - npm config set cache ${{ github.workspace }}/.npm-cache - yarn config set cache-folder ${{ github.workspace }}/.yarn-cache - make setup-js + - uses: ./.github/actions/js/setup - name: 'test frontend packages' run: | make -C app test-cov @@ -108,45 +82,12 @@ jobs: - uses: 'actions/checkout@v4' with: fetch-depth: 0 - # https://github.com/actions/checkout/issues/290 - - name: 'Fix actions/checkout odd handling of tags' - if: startsWith(github.ref, 'refs/tags') - run: | - git fetch -f origin ${{ github.ref }}:${{ github.ref }} - git checkout ${{ github.ref }} - - uses: 'actions/setup-node@v4' - with: - node-version: '22.11.0' + - uses: ./.github/actions/js/setup - uses: actions/setup-python@v4 with: python-version: '3.10' - name: check make version run: make --version - - name: 'install libudev and libsystemd' - if: startsWith(matrix.os, 'ubuntu') - run: | - # WORKAROUND: Remove microsoft debian repo due to https://github.com/microsoft/linux-package-repositories/issues/130. Remove line below after it is resolved - sudo rm -f /etc/apt/sources.list.d/microsoft-prod.list - sudo apt-get update && sudo apt-get install libudev-dev - - name: 'set complex environment variables' - id: 'set-vars' - uses: actions/github-script@v6 - with: - script: | - const { buildComplexEnvVars } = require(`${process.env.GITHUB_WORKSPACE}/.github/workflows/utils.js`) - buildComplexEnvVars(core, context) - - name: 'cache yarn cache' - uses: actions/cache@v3 - with: - path: | - ${{ github.workspace }}/.npm-cache/_prebuild - ${{ github.workspace }}/.yarn-cache - key: js-${{ secrets.GH_CACHE_VERSION }}-${{ runner.os }}-yarn-${{ hashFiles('yarn.lock') }} - - name: setup-js - run: | - npm config set cache ${{ github.workspace }}/.npm-cache - yarn config set cache-folder ${{ github.workspace }}/.yarn-cache - make setup-js - name: 'test native(er) packages' run: make test-js-internal tests="${{matrix.shell}}/src" cov_opts="--coverage=true" - name: 'Upload coverage report' @@ -264,72 +205,12 @@ jobs: - uses: 'actions/checkout@v4' with: fetch-depth: 0 - # https://github.com/actions/checkout/issues/290 - - name: 'Fix actions/checkout odd handling of tags' - if: startsWith(github.ref, 'refs/tags') - run: | - git fetch -f origin ${{ github.ref }}:${{ github.ref }} - git checkout ${{ github.ref }} - - uses: 'actions/setup-node@v4' - with: - node-version: '22.11.0' + - uses: ./.github/actions/js/setup - uses: actions/setup-python@v4 with: python-version: '3.10' - name: check make version run: make --version - - name: 'install libudev and libsystemd' - if: startsWith(matrix.os, 'ubuntu') - run: | - # WORKAROUND: Remove microsoft debian repo due to https://github.com/microsoft/linux-package-repositories/issues/130. Remove line below after it is resolved - sudo rm -f /etc/apt/sources.list.d/microsoft-prod.list - sudo apt-get update && sudo apt-get install libudev-dev - - name: 'set complex environment variables' - id: 'set-vars' - uses: actions/github-script@v6 - with: - script: | - const { buildComplexEnvVars } = require(`${process.env.GITHUB_WORKSPACE}/.github/workflows/utils.js`) - buildComplexEnvVars(core, context) - - name: 'cache yarn cache' - uses: actions/cache@v3 - with: - path: | - ${{ github.workspace }}/.npm-cache/_prebuild - ${{ github.workspace }}/.yarn-cache - key: js-${{ secrets.GH_CACHE_VERSION }}-${{ runner.os }}-yarn-${{ hashFiles('yarn.lock') }} - - name: setup-js - run: | - npm config set cache ${{ github.workspace }}/.npm-cache - yarn config set cache-folder ${{ github.workspace }}/.yarn-cache - make setup-js - - - name: 'Configure Windows code signing environment' - if: startsWith(matrix.os, 'windows') && contains(needs.determine-build-type.outputs.type, 'release') - shell: bash - run: | - echo "${{ secrets.SM_CLIENT_CERT_FILE_B64_V2 }}" | base64 --decode > /d/Certificate_pkcs12.p12 - echo "${{ secrets.WINDOWS_CSC_B64}}" | base64 --decode > /d/opentrons_labworks_inc.crt - echo "C:\Program Files (x86)\Windows Kits\10\App Certification Kit" >> $GITHUB_PATH - echo "C:\Program Files (x86)\Microsoft SDKs\Windows\v10.0A\bin\NETFX 4.8 Tools" >> $GITHUB_PATH - echo "C:\Program Files\DigiCert\DigiCert Keylocker Tools" >> $GITHUB_PATH - - - name: 'Setup Windows code signing helpers' - if: startsWith(matrix.os, 'windows') && contains(needs.determine-build-type.outputs.type, 'release') - shell: cmd - env: - SM_HOST: ${{ secrets.SM_HOST_V2 }} - SM_CLIENT_CERT_FILE: "D:\\Certificate_pkcs12.p12" - SM_CLIENT_CERT_PASSWORD: ${{secrets.SM_CLIENT_CERT_PASSWORD_V2}} - SM_API_KEY: ${{secrets.SM_API_KEY_V2}} - run: | - curl -X GET https://one.digicert.com/signingmanager/api-ui/v1/releases/Keylockertools-windows-x64.msi/download -H "x-api-key:${{secrets.SM_API_KEY_V2}}" -o Keylockertools-windows-x64.msi - msiexec /i Keylockertools-windows-x64.msi /quiet /qn - smksp_registrar.exe list - smctl.exe keypair ls - C:\Windows\System32\certutil.exe -csp "DigiCert Signing Manager KSP" -key -user - smksp_cert_sync.exe - smctl.exe healthcheck --all # Do the frontend dist bundle - name: 'bundle ${{matrix.variant}} frontend' @@ -348,13 +229,9 @@ jobs: OT_APP_MIXPANEL_ID: ${{ secrets.OT_APP_MIXPANEL_ID }} OT_APP_INTERCOM_ID: ${{ secrets.OT_APP_INTERCOM_ID }} WINDOWS_SIGN: ${{ format('{0}', contains(needs.determine-build-type.outputs.type, 'release')) }} - SM_CODE_SIGNING_CERT_SHA1_HASH: ${{secrets.SM_CODE_SIGNING_CERT_SHA1_HASH_V2}} - SM_KEYPAIR_ALIAS: ${{secrets.SM_KEYPAIR_ALIAS_V2}} - SM_HOST: ${{ secrets.SM_HOST_V2 }} - SM_CLIENT_CERT_FILE: "D:\\Certificate_pkcs12.p12" - SM_CLIENT_CERT_PASSWORD: ${{secrets.SM_CLIENT_CERT_PASSWORD_V2}} - SM_API_KEY: ${{secrets.SM_API_KEY_V2}} - WINDOWS_CSC_FILEPATH: "D:\\opentrons_labworks_inc.crt" + AZURE_TENANT_ID: ${{secrets.AZURE_TENANT_ID}} + AZURE_CLIENT_ID: ${{secrets.AZURE_CLIENT_ID}} + AZURE_CLIENT_SECRET: ${{secrets.AZURE_CLIENT_SECRET}} CSC_LINK: ${{ secrets.OT_APP_CSC_MACOS_V2 }} CSC_KEY_PASSWORD: ${{ secrets.OT_APP_CSC_KEY_MACOS_V2 }} APPLE_ID: ${{ secrets.OT_APP_APPLE_ID_V2 }} @@ -489,52 +366,17 @@ jobs: - name: 'pull repo for scripts' uses: 'actions/checkout@v4' - with: - path: ./monorepo - # https://github.com/actions/checkout/issues/290 - - name: 'Fix actions/checkout odd handling of tags' - if: startsWith(github.ref, 'refs/tags') - run: | - cd ./monorepo - git fetch -f origin ${{ github.ref }}:${{ github.ref }} - git checkout ${{ github.ref }} - - uses: 'actions/setup-node@v4' - with: - node-version: '22.11.0' - - name: 'install udev' - run: | - # WORKAROUND: Remove microsoft debian repo due to https://github.com/microsoft/linux-package-repositories/issues/130. Remove line below after it is resolved - sudo rm -f /etc/apt/sources.list.d/microsoft-prod.list - sudo apt-get update && sudo apt-get install libudev-dev - - name: 'set complex environment variables' - id: 'set-vars' - uses: actions/github-script@v6 - with: - script: | - const { buildComplexEnvVars } = require(`${process.env.GITHUB_WORKSPACE}/monorepo/.github/workflows/utils.js`) - buildComplexEnvVars(core, context) - - name: 'cache yarn cache' - uses: actions/cache@v3 - with: - path: | - ${{ github.workspace }}/.npm-cache/_prebuild - ${{ github.workspace }}/.yarn-cache - - name: 'setup-js' - run: | - npm config set cache ${{ github.workspace }}/.npm-cache - yarn config set cache-folder ${{ github.workspace }}/.yarn-cache - cd monorepo - make setup-js + - uses: ./.github/actions/js/setup - name: 'update internal-releases releases.json' if: needs.determine-build-type.outputs.type == 'release' && contains(fromJSON(needs.determine-build-type.outputs.variants), 'internal-release') run: | aws --profile=deploy s3 cp s3://${{ env._APP_DEPLOY_BUCKET_OT3 }}/${{ env._APP_DEPLOY_FOLDER_OT3 }}/releases.json ./to_upload_internal-release/releases.json - node ./monorepo/scripts/update-releases-json ./to_upload_internal-release/releases.json ot3 ./to_upload_internal-release https://ot3-development.builds.opentrons.com/app/ + node ./scripts/update-releases-json ./to_upload_internal-release/releases.json ot3 ./to_upload_internal-release https://ot3-development.builds.opentrons.com/app/ aws --profile=deploy s3 cp ./to_upload_internal-release/releases.json s3://${{ env._APP_DEPLOY_BUCKET_OT3 }}/${{ env._APP_DEPLOY_FOLDER_OT3 }}/releases.json - name: 'update release releases.json' if: needs.determine-build-type.outputs.type == 'release' && contains(fromJSON(needs.determine-build-type.outputs.variants), 'release') run: | aws --profile=deploy s3 cp s3://${{ env._APP_DEPLOY_BUCKET_ROBOTSTACK }}/${{ env._APP_DEPLOY_FOLDER_ROBOTSTACK }}/releases.json ./to_upload_release/releases.json - node ./monorepo/scripts/update-releases-json ./to_upload_release/releases.json robot-stack ./to_upload_release https://builds.opentrons.com/app/ + node ./scripts/update-releases-json ./to_upload_release/releases.json robot-stack ./to_upload_release https://builds.opentrons.com/app/ aws --profile=deploy s3 cp ./to_upload_release/releases.json s3://${{ env._APP_DEPLOY_BUCKET_ROBOTSTACK }}/${{ env._APP_DEPLOY_FOLDER_ROBOTSTACK }}/releases.json diff --git a/.github/workflows/components-test-build-deploy.yaml b/.github/workflows/components-test-build-deploy.yaml index aa9bfb7d342d..d5c7d5b0b75a 100644 --- a/.github/workflows/components-test-build-deploy.yaml +++ b/.github/workflows/components-test-build-deploy.yaml @@ -7,17 +7,17 @@ on: paths: - 'Makefile' - 'components/**' - - 'app/**/*.stories.*' - - 'app/src/atoms/**/*' - - 'app/src/molecules/**/*' + - 'app/**.stories.*' + - 'app/src/atoms/**' + - 'app/src/molecules/**' - 'package.json' - '.github/workflows/components-test-build-deploy.yaml' push: paths: - 'components/**' - - 'app/**/*.stories.*' - - 'app/src/atoms/**/*' - - 'app/src/molecules/**/*' + - 'app/**.stories.*' + - 'app/src/atoms/**' + - 'app/src/molecules/**' - 'package.json' - '.github/workflows/components-test-build-deploy.yaml' branches: diff --git a/.github/workflows/g-code-testing-lint-test.yaml b/.github/workflows/g-code-testing-lint-test.yaml index 65b1f75a8f38..76673a318c98 100644 --- a/.github/workflows/g-code-testing-lint-test.yaml +++ b/.github/workflows/g-code-testing-lint-test.yaml @@ -10,8 +10,8 @@ on: - 'Makefile' - 'api/**' - 'g-code-testing/**' - - 'scripts/**/*.mk' - - 'scripts/**/*.py' + - 'scripts/**.mk' + - 'scripts/**.py' - '.github/workflows/g-code-testing-lint-test.yaml' - '.github/actions/python/**' branches: @@ -23,8 +23,8 @@ on: - 'Makefile' - 'g-code-testing/**' - 'api/**' - - 'scripts/**/*.mk' - - 'scripts/**/*.py' + - 'scripts/**.mk' + - 'scripts/**.py' - '.github/workflows/g-code-testing-lint-test.yaml' - '.github/actions/python/**' workflow_dispatch: diff --git a/.github/workflows/hardware-lint-test.yaml b/.github/workflows/hardware-lint-test.yaml index 0cfd4597a5d7..ab0a41cd494c 100644 --- a/.github/workflows/hardware-lint-test.yaml +++ b/.github/workflows/hardware-lint-test.yaml @@ -9,8 +9,8 @@ on: paths: - 'Makefile' - 'hardware/**' - - 'scripts/**/*.mk' - - 'scripts/**/*.py' + - 'scripts/**.mk' + - 'scripts/**.py' - '.github/workflows/hardware-lint-test.yaml' - '.github/actions/python/**' branches: @@ -22,8 +22,8 @@ on: paths: - 'Makefile' - 'hardware/**' - - 'scripts/**/*.mk' - - 'scripts/**/*.py' + - 'scripts/**.mk' + - 'scripts/**.py' - '.github/workflows/hardware-lint-test.yaml' - '.github/actions/python/**' diff --git a/.github/workflows/pd-test-build-deploy.yaml b/.github/workflows/pd-test-build-deploy.yaml index 3c97709f3dfa..dc027bc480cd 100644 --- a/.github/workflows/pd-test-build-deploy.yaml +++ b/.github/workflows/pd-test-build-deploy.yaml @@ -99,7 +99,15 @@ jobs: needs: ['build-pd'] runs-on: 'ubuntu-24.04' if: github.event_name != 'pull_request' + permissions: + id-token: write + contents: read steps: + - name: Configure AWS Credentials + uses: aws-actions/configure-aws-credentials@v4 + with: + role-to-assume: ${{ secrets.PD_SANDBOX_ROLE }} + aws-region: us-east-2 - name: 'Checkout Repository' uses: actions/checkout@v4 @@ -112,21 +120,10 @@ jobs: with: name: pd-artifact path: ./dist - - name: 'configure ot3 s3 deploy creds and deploy' + - name: 'deploy protocol designer to sandbox' shell: bash - env: - AWS_ACCESS_KEY_ID: ${{ secrets.PD_S3_SANDBOX_KEY_ID }} - AWS_SECRET_ACCESS_KEY: ${{ secrets.PD_S3_SANDBOX_SECRET }} - AWS_DEFAULT_REGION: us-east-1 run: | - aws configure set aws_access_key_id ${{ secrets.PD_S3_SANDBOX_KEY_ID }} --profile identity - aws configure set aws_secret_access_key ${{ secrets.PD_S3_SANDBOX_SECRET }} --profile identity - aws configure set region us-east-2 --profile identity - aws configure set output json --profile identity - aws configure set region us-east-2 --profile deploy - aws configure set role_arn ${{ secrets.OT_PD_DEPLOY_ROLE }} --profile deploy - aws configure set source_profile identity --profile deploy - aws s3 sync ./dist s3://sandbox.designer.opentrons.com/${{ env.OT_BRANCH }} --acl=public-read --profile=deploy + aws s3 sync ./dist "s3://sandbox.designer.opentrons.com/${OT_BRANCH}" --acl=public-read # invalidate both sandbox.opentrons.com and www.sandbox.opentrons.com cloudfront caches - aws cloudfront create-invalidation --distribution-id ${{ secrets.PD_CLOUDFRONT_SANDBOX_DISTRIBUTION_ID }} --paths "/*" --profile deploy - aws cloudfront create-invalidation --distribution-id ${{ secrets.PD_CLOUDFRONT_SANDBOX_WWW_DISTRIBUTION_ID }} --paths "/*" --profile deploy + aws cloudfront create-invalidation --distribution-id ${{ secrets.PD_CLOUDFRONT_SANDBOX_DISTRIBUTION_ID }} --paths "/*" + aws cloudfront create-invalidation --distribution-id ${{ secrets.PD_CLOUDFRONT_SANDBOX_WWW_DISTRIBUTION_ID }} --paths "/*" diff --git a/.gitignore b/.gitignore index 2d8b2ff20cb5..9e3f45a218ee 100755 --- a/.gitignore +++ b/.gitignore @@ -164,4 +164,9 @@ mock_dir .npm-cache/ .eslintcache +# include archived API docs +!api/docs/dist/ +api/docs/dist/hardware/ +api/docs/dist/v2/ + package-testing/results diff --git a/Makefile b/Makefile index 17f0ea9ad709..ce57e64aaac4 100755 --- a/Makefile +++ b/Makefile @@ -59,7 +59,7 @@ setup: setup-js setup-py setup-py-toolchain: $(OT_PYTHON) -m pip install --upgrade pip $(OT_PYTHON) -m pip install pipenv==2023.12.1 - # this needs to be installed AFTER pipenv or pipenv will update this to the bad version +# this needs to be installed AFTER pipenv or pipenv will update this to the bad version $(OT_PYTHON) -m pip install virtualenv==20.30.0 # front-end dependecies handled by yarn @@ -77,7 +77,6 @@ PYTHON_SETUP_TARGETS := $(addsuffix -py-setup, $(PYTHON_DIRS)) setup-py: setup-py-toolchain $(MAKE) $(PYTHON_SETUP_TARGETS) - %-py-setup: $(MAKE) -C $* setup @@ -191,19 +190,17 @@ test-e2e: $(MAKE) -C $(LABWARE_LIBRARY_DIR) test-e2e $(MAKE) -C $(PROTOCOL_DESIGNER_DIR) test-e2e -.PHONY: test-py-windows -test-py-windows: - $(MAKE) -C $(HARDWARE_DIR) test - $(MAKE) -C $(API_DIR) test - $(MAKE) -C $(SHARED_DATA_DIR) test-py +PYTHON_TEST_TARGETS := $(addsuffix -py-test, $(PYTHON_DIRS)) +WINDOWS_PYTHON_TEST_TARGETS := $(addsuffix -py-test, $(HARDWARE_DIR) $(API_DIR) $(SHARED_DATA_DIR)/python) .PHONY: test-py -test-py: test-py-windows - $(MAKE) -C $(UPDATE_SERVER_DIR) test - $(MAKE) -C $(ROBOT_SERVER_DIR) test - $(MAKE) -C $(SERVER_UTILS_DIR) test - $(MAKE) -C $(G_CODE_TESTING_DIR) test - $(MAKE) -C $(USB_BRIDGE_DIR) test +test-py: $(PYTHON_TEST_TARGETS) + +.PHONY: test-py-windows +test-py-windows: $(WINDOWS_PYTHON_TEST_TARGETS) + +%-py-test: + $(MAKE) -C $* test .PHONY: test-js test-js: test-js-internal @@ -267,13 +264,20 @@ clean-ts: yarn tsc --build --clean # TODO: Ian 2019-12-17 gradually add components and shared-data +JS_CIRCULAR_DEPENDENCIES_ROOTS := \ + $(PROTOCOL_DESIGNER_DIR)/src/index.tsx \ + $(STEP_GENERATION_DIR)/src/index.ts \ + $(LABWARE_LIBRARY_DIR)/src/index.tsx \ + $(APP_DIR)/src/index.tsx \ + $(COMPONENTS_DIR)/src/index.ts + +JS_CIRCULAR_DEPENDENCIES_TARGETS := $(addsuffix -circular-dependencies-js, $(JS_CIRCULAR_DEPENDENCIES_ROOTS)) + .PHONY: circular-dependencies-js -circular-dependencies-js: - yarn madge $(and $(CI),--no-spinner --no-color) --circular protocol-designer/src/index.tsx - yarn madge $(and $(CI),--no-spinner --no-color) --circular step-generation/src/index.ts - yarn madge $(and $(CI),--no-spinner --no-color) --circular labware-library/src/index.tsx - yarn madge $(and $(CI),--no-spinner --no-color) --circular app/src/index.tsx - yarn madge $(and $(CI),--no-spinner --no-color) --circular components/src/index.ts +circular-dependencies-js: $(JS_CIRCULAR_DEPENDENCIES_TARGETS) + +%-circular-dependencies-js: + yarn madge $(and $(CI),--no-spinner --no-color) --circular $* .PHONY: test-js-internal test-js-internal: diff --git a/abr-testing/Makefile b/abr-testing/Makefile index 5c5cc6d06df3..f04078d7a453 100644 --- a/abr-testing/Makefile +++ b/abr-testing/Makefile @@ -46,7 +46,7 @@ setup: .PHONY: teardown teardown: - $(pipenv) --rm + -$(pipenv) --rm .PHONY: clean clean: diff --git a/analyses-snapshot-testing/Makefile b/analyses-snapshot-testing/Makefile index b0b173e3a769..89a92cb358fc 100644 --- a/analyses-snapshot-testing/Makefile +++ b/analyses-snapshot-testing/Makefile @@ -66,7 +66,7 @@ setup: install-pipenv .PHONY: teardown teardown: - $(PYTHON) -m pipenv --rm + -$(PYTHON) -m pipenv --rm .PHONY: format-readme format-readme: diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[004ebb2b82][OT2_S_v2_11_P10S_P300M_MM_TC1_TM_Swift].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[004ebb2b82][OT2_S_v2_11_P10S_P300M_MM_TC1_TM_Swift].json index 4585677390bb..e299763ce0e1 100644 --- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[004ebb2b82][OT2_S_v2_11_P10S_P300M_MM_TC1_TM_Swift].json +++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[004ebb2b82][OT2_S_v2_11_P10S_P300M_MM_TC1_TM_Swift].json @@ -254,7 +254,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "2", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -1406,7 +1412,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "3", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -2558,7 +2570,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "5", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -3710,7 +3728,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "6", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -5222,7 +5246,17 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "kind": "onModule", + "moduleId": "UUID" + }, + { + "addressableAreaName": "1", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -5625,7 +5659,17 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "kind": "onModule", + "moduleId": "UUID" + }, + { + "addressableAreaName": "4", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -6829,7 +6873,17 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "kind": "onModule", + "moduleId": "UUID" + }, + { + "addressableAreaName": "7", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[011481812b][OT2_S_v2_7_P20S_None_Walkthrough].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[011481812b][OT2_S_v2_7_P20S_None_Walkthrough].json index dab1dbcf5c2b..2dc216617162 100644 --- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[011481812b][OT2_S_v2_7_P20S_None_Walkthrough].json +++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[011481812b][OT2_S_v2_7_P20S_None_Walkthrough].json @@ -1162,7 +1162,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "1", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -2314,7 +2320,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "2", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[1c19a2055c][OT2_S_v2_4_P300M_None_MM_TM_Zymo].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[1c19a2055c][OT2_S_v2_4_P300M_None_MM_TM_Zymo].json index b38362f01811..5b53fb81af51 100644 --- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[1c19a2055c][OT2_S_v2_4_P300M_None_MM_TM_Zymo].json +++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[1c19a2055c][OT2_S_v2_4_P300M_None_MM_TM_Zymo].json @@ -1502,7 +1502,17 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "kind": "onModule", + "moduleId": "UUID" + }, + { + "addressableAreaName": "6", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -3128,7 +3138,17 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "kind": "onModule", + "moduleId": "UUID" + }, + { + "addressableAreaName": "1", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -3221,7 +3241,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "9", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -3468,7 +3494,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "3", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -3715,7 +3747,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "2", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -4868,7 +4906,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "5", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -6021,7 +6065,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "7", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -7174,7 +7224,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "8", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -8327,7 +8383,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "10", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -9480,7 +9542,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "11", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -10633,7 +10701,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "4", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[3251c6e175][OT2_S_v2_2_P300S_None_MM1_MM2_EngageMagHeightFromBase].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[3251c6e175][OT2_S_v2_2_P300S_None_MM1_MM2_EngageMagHeightFromBase].json index df67145c9d73..6c493165ae96 100644 --- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[3251c6e175][OT2_S_v2_2_P300S_None_MM1_MM2_EngageMagHeightFromBase].json +++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[3251c6e175][OT2_S_v2_2_P300S_None_MM1_MM2_EngageMagHeightFromBase].json @@ -1425,7 +1425,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "5", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[6f3e297a11][OT2_S_v2_3_P300S_None_MM1_MM2_TM_Mix].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[6f3e297a11][OT2_S_v2_3_P300S_None_MM1_MM2_TM_Mix].json index c37d22a7b4be..9e81328e05b1 100644 --- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[6f3e297a11][OT2_S_v2_3_P300S_None_MM1_MM2_TM_Mix].json +++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[6f3e297a11][OT2_S_v2_3_P300S_None_MM1_MM2_TM_Mix].json @@ -1190,7 +1190,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "2", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -2342,7 +2348,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "5", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[8455adcea9][OT2_S_v2_12_P300M_P20S_FailOnRun].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[8455adcea9][OT2_S_v2_12_P300M_P20S_FailOnRun].json index 78518efc2cde..17e8c8952910 100644 --- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[8455adcea9][OT2_S_v2_12_P300M_P20S_FailOnRun].json +++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[8455adcea9][OT2_S_v2_12_P300M_P20S_FailOnRun].json @@ -1161,7 +1161,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "1", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -2314,7 +2320,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "2", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -2595,7 +2607,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "3", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[94913d2988][OT2_S_v3_P300SGen1_None_Gen1PipetteSimple].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[94913d2988][OT2_S_v3_P300SGen1_None_Gen1PipetteSimple].json index bf6463ac3546..b3bd87c52222 100644 --- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[94913d2988][OT2_S_v3_P300SGen1_None_Gen1PipetteSimple].json +++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[94913d2988][OT2_S_v3_P300SGen1_None_Gen1PipetteSimple].json @@ -111,7 +111,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "12", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -1264,7 +1270,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "1", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -1357,7 +1369,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "5", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -2609,7 +2627,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "4", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -3762,7 +3786,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "6", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[9618a6623c][OT2_X_v2_11_P300S_TC1_TC2_ThermocyclerMoamError].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[9618a6623c][OT2_X_v2_11_P300S_TC1_TC2_ThermocyclerMoamError].json index 407236c5c352..7ce5e6b336a1 100644 --- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[9618a6623c][OT2_X_v2_11_P300S_TC1_TC2_ThermocyclerMoamError].json +++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[9618a6623c][OT2_X_v2_11_P300S_TC1_TC2_ThermocyclerMoamError].json @@ -254,7 +254,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "2", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -1406,7 +1412,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "3", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -2695,7 +2707,17 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "kind": "onModule", + "moduleId": "UUID" + }, + { + "addressableAreaName": "7", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[a66d700ed6][OT2_S_v2_13_P300M_P20S_HS_TC_TM_SmokeTestV3].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[a66d700ed6][OT2_S_v2_13_P300M_P20S_HS_TC_TM_SmokeTestV3].json index e3a2348a77bb..e26d7485abbb 100644 --- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[a66d700ed6][OT2_S_v2_13_P300M_P20S_HS_TC_TM_SmokeTestV3].json +++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[a66d700ed6][OT2_S_v2_13_P300M_P20S_HS_TC_TM_SmokeTestV3].json @@ -1217,7 +1217,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "5", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -2370,7 +2376,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "4", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -4606,7 +4618,17 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "kind": "onModule", + "moduleId": "UUID" + }, + { + "addressableAreaName": "9", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -5770,7 +5792,17 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "kind": "onModule", + "moduleId": "UUID" + }, + { + "addressableAreaName": "1", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -6925,7 +6957,17 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "kind": "onModule", + "moduleId": "UUID" + }, + { + "addressableAreaName": "7", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -7049,7 +7091,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "6", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -8205,7 +8253,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "2", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -8452,7 +8506,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "3", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[c821e64fad][OT2_S_v2_13_P300M_P20S_MM_TC_TM_Smoke620Release].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[c821e64fad][OT2_S_v2_13_P300M_P20S_MM_TC_TM_Smoke620Release].json index 5f7c058b2cff..3b9d53528063 100644 --- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[c821e64fad][OT2_S_v2_13_P300M_P20S_MM_TC_TM_Smoke620Release].json +++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[c821e64fad][OT2_S_v2_13_P300M_P20S_MM_TC_TM_Smoke620Release].json @@ -1161,7 +1161,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "1", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -2314,7 +2320,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "5", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -3899,7 +3911,17 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "kind": "onModule", + "moduleId": "UUID" + }, + { + "addressableAreaName": "4", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -5054,7 +5076,17 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "kind": "onModule", + "moduleId": "UUID" + }, + { + "addressableAreaName": "9", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -6209,7 +6241,17 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "kind": "onModule", + "moduleId": "UUID" + }, + { + "addressableAreaName": "7", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -6333,7 +6375,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "6", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -7489,7 +7537,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "3", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -7736,7 +7790,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "2", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[c9e6e3d59d][OT2_X_v4_P300M_P20S_MM_TC1_TM_e2eTests].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[c9e6e3d59d][OT2_X_v4_P300M_P20S_MM_TC1_TM_e2eTests].json index e361a7704037..04814db50f2e 100644 --- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[c9e6e3d59d][OT2_X_v4_P300M_P20S_MM_TC1_TM_e2eTests].json +++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[c9e6e3d59d][OT2_X_v4_P300M_P20S_MM_TC1_TM_e2eTests].json @@ -856,7 +856,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "12", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -2009,7 +2015,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "2", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -3162,7 +3174,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "4", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -3255,7 +3273,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "5", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -3502,7 +3526,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "6", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -4658,7 +4688,17 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "kind": "onModule", + "moduleId": "UUID" + }, + { + "addressableAreaName": "1", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -5822,7 +5862,17 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "kind": "onModule", + "moduleId": "UUID" + }, + { + "addressableAreaName": "3", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -6975,7 +7025,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "9", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[d2c818bf00][Flex_S_v2_20_P50_LPD].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[d2c818bf00][Flex_S_v2_20_P50_LPD].json index 64fba4ed23f4..8e69c800c4f2 100644 --- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[d2c818bf00][Flex_S_v2_20_P50_LPD].json +++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[d2c818bf00][Flex_S_v2_20_P50_LPD].json @@ -4739,7 +4739,7 @@ "offset": { "x": 0.0, "y": 0.0, - "z": 0.0 + "z": 2.0 }, "origin": "top", "volumeOffset": 0.0 @@ -4750,7 +4750,7 @@ "position": { "x": 391.88, "y": 42.74, - "z": 44.4 + "z": 46.4 }, "z_position": "SimulatedProbeResult" }, @@ -5031,7 +5031,7 @@ "offset": { "x": 0.0, "y": 0.0, - "z": 0.0 + "z": 2.0 }, "origin": "top", "volumeOffset": 0.0 @@ -5042,7 +5042,7 @@ "position": { "x": 391.88, "y": 42.74, - "z": 44.4 + "z": 46.4 }, "z_position": "SimulatedProbeResult" }, @@ -5063,7 +5063,7 @@ "offset": { "x": 0.0, "y": 0.0, - "z": 0.0 + "z": 2.0 }, "origin": "top", "volumeOffset": 0.0 @@ -5074,7 +5074,7 @@ "position": { "x": 391.88, "y": 42.74, - "z": 44.4 + "z": 46.4 }, "z_position": "SimulatedProbeResult" }, diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[d6026e11c5][OT2_X_v2_7_P300S_TwinningError].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[d6026e11c5][OT2_X_v2_7_P300S_TwinningError].json index 43e37f78a664..0a9c67879a9a 100644 --- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[d6026e11c5][OT2_X_v2_7_P300S_TwinningError].json +++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[d6026e11c5][OT2_X_v2_7_P300S_TwinningError].json @@ -1160,7 +1160,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "1", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -1406,7 +1412,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "2", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -2588,7 +2600,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "3", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[e4660ca6df][OT2_S_v4_P300S_None_MM_TM_TM_MOAMTemps].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[e4660ca6df][OT2_S_v4_P300S_None_MM_TM_TM_MOAMTemps].json index ad31529bb19e..b9b8ca465cca 100644 --- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[e4660ca6df][OT2_S_v4_P300S_None_MM_TM_TM_MOAMTemps].json +++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[e4660ca6df][OT2_S_v4_P300S_None_MM_TM_TM_MOAMTemps].json @@ -1250,7 +1250,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "12", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -2403,7 +2409,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "5", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[f345e8e33a][OT2_S_v4_P300M_P20S_MM_TM_TC1_PD40].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[f345e8e33a][OT2_S_v4_P300M_P20S_MM_TM_TC1_PD40].json index edad4755cf88..e41dc3fb546e 100644 --- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[f345e8e33a][OT2_S_v4_P300M_P20S_MM_TM_TC1_PD40].json +++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[f345e8e33a][OT2_S_v4_P300M_P20S_MM_TM_TC1_PD40].json @@ -856,7 +856,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "12", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -2009,7 +2015,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "2", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -3162,7 +3174,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "4", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -3255,7 +3273,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "5", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -3502,7 +3526,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "6", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -4658,7 +4688,17 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "kind": "onModule", + "moduleId": "UUID" + }, + { + "addressableAreaName": "1", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -5822,7 +5862,17 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "kind": "onModule", + "moduleId": "UUID" + }, + { + "addressableAreaName": "3", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" @@ -6975,7 +7025,13 @@ } } }, - "labwareId": "UUID" + "labwareId": "UUID", + "locationSequence": [ + { + "addressableAreaName": "9", + "kind": "onAddressableArea" + } + ] }, "startedAt": "TIMESTAMP", "status": "succeeded" diff --git a/api/Makefile b/api/Makefile index 28f7c7ff79ef..bf271858d7e4 100755 --- a/api/Makefile +++ b/api/Makefile @@ -90,7 +90,7 @@ clean: docs-clean .PHONY: teardown teardown: - $(pipenv) --rm + -$(pipenv) --rm .PHONY: wheel wheel: export OPENTRONS_PROJECT=$(project_rs_default) @@ -124,12 +124,12 @@ test-ot2: .PHONY: lint lint: $(python) -m mypy src tests - $(python) -m black --check src tests setup.py + $(python) -m black --check src tests docs/v2/example_protocols setup.py $(python) -m flake8 src tests setup.py .PHONY: format format: - $(python) -m black src tests setup.py + $(python) -m black src tests docs/v2/example_protocols setup.py docs/build/html/v%: docs/v% $(sphinx_build) -b html -d docs/build/doctrees -n $< $@ @@ -155,11 +155,11 @@ docs/dist/%: docs/root/% $(SHX) cp -R docs/root/* docs/dist/ .PHONY: docs -docs: docs/dist/index.html docs/dist/v1 docs/dist/v2 docs/dist/ot1 docs/dist/hardware +docs: docs/dist/v2 docs/dist/hardware .PHONY: docs-clean docs-clean: - $(SHX) rm -rf docs/dist docs/build + $(SHX) rm -rf docs/dist/v2 docs/dist/hardware docs/build .PHONY: dev dev: diff --git a/api/docs/dist/index.html b/api/docs/dist/index.html new file mode 100644 index 000000000000..29b14356e39e --- /dev/null +++ b/api/docs/dist/index.html @@ -0,0 +1,26 @@ + + + + + + + + Welcome to the OT-2 Python Protocol API Docs — Opentrons OT-2 Python Protocol API Documentation + + + + + +

Your browser should automatically redirect you from this page.

+ But if it does not, click one of the following links to go to the docs: + + + diff --git a/hardware-testing/hardware_testing/gravimetric/overrides/api.patch b/api/docs/dist/ot1/.nojekyll similarity index 100% rename from hardware-testing/hardware_testing/gravimetric/overrides/api.patch rename to api/docs/dist/ot1/.nojekyll diff --git a/api/docs/dist/ot1/_images/384-plate.png b/api/docs/dist/ot1/_images/384-plate.png new file mode 100644 index 000000000000..8c4bf2130467 Binary files /dev/null and b/api/docs/dist/ot1/_images/384-plate.png differ diff --git a/api/docs/dist/ot1/_images/96-Deep-Well.png b/api/docs/dist/ot1/_images/96-Deep-Well.png new file mode 100644 index 000000000000..84e8343bec5f Binary files /dev/null and b/api/docs/dist/ot1/_images/96-Deep-Well.png differ diff --git a/api/docs/dist/ot1/_images/96-PCR-Flatt.png b/api/docs/dist/ot1/_images/96-PCR-Flatt.png new file mode 100644 index 000000000000..b90e7ab6f08f Binary files /dev/null and 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000000000000..3329624f3086 --- /dev/null +++ b/api/docs/dist/ot1/_sources/api.txt @@ -0,0 +1,24 @@ +.. _api: + +API Reference +=============== + +.. module:: opentrons + +If you are reading this, you are probably looking for an in-depth explanation of API classes and methods to fully master your protocol development skills. + +Robot +----- + +All protocols are set up, simulated and executed using a Robot class. + +.. autoclass:: Robot + :members: connect, home, reset, commands, move_to, containers, actions, disconnect, head_speed, pause, resume, stop, diagnostics, get_warnings, add_instrument, get_mosfet, get_motor + +Pipette +----------------- + +.. module:: opentrons.instruments + +.. autoclass:: Pipette + :members: aspirate, dispense, mix, delay, drop_tip, blow_out, touch_tip, pick_up_tip, return_tip, calibrate, calibrate_position, move_to, home, set_speed diff --git a/api/docs/dist/ot1/_sources/calibration.txt b/api/docs/dist/ot1/_sources/calibration.txt new file mode 100644 index 000000000000..c3b0c4e17ca8 --- /dev/null +++ b/api/docs/dist/ot1/_sources/calibration.txt @@ -0,0 +1,127 @@ +.. _calibration: + +================ +How to Calibrate +================ + +Download App +-------------------- + +You can download the latest version of the app from `our website`_. + +.. _our website: https://opentrons.com/getting-started/download-app + + +Connect to Robot +-------------------- + +Make sure your robot is turned on, and your laptop is connected via USB cable. + +Go to the select port drop down, and refresh if no ports are shown. Once the port shows up, click it and the robot will jog up and down. + +.. screenshot button with port drop down + +.. image:: img/app/ports.png +.. image:: img/app/connected.png + +.. important:: + + Every time you connect to the robot, you need to home all axes before doing anything else. + +.. note:: + + Linux users will need to get permission to open the robot's serial port. This requires `sudo` privileges. + In a terminal window, run the following command + + .. code-block:: bash + + sudo usermod -a -G dialout USER_NAME_HERE + + Where USER_NAME_HERE is the name of account that will be running the App. + + Finally, logout and log back in as the user to activate the change. + +Upload Protocol +-------------------- + +Your ``.py`` protocol file can load into the App, through either clicking the "Upload" button, or drag-and-drop the ``.py`` file over that same button. + +.. note:: + + Make sure that when saving a protocol file, it ends with the ``.py`` file extension. This will ensure the App and other programs are able to properly read it. + + For example, ``my_protocol_file.py`` + +If successfully loaded, your Python protocol will be simulated in the background to detect any errors. While this is happening, you will see the word "Upload" replaced by the word "Processing". Once finished, the App will fill the calibration section of the App with your containers and pipettes. + + +Jogging +-------------------- + +XYZ +^^^^^^^^^^^^^^^^^^^^ + +Move in the X, Y and Z by selecting your desired increment, and then clicking an arrow button. + +.. image:: img/app/pipette-jog.png + +Slot Button +^^^^^^^^^^^^^^^^^^^^ + +The slot button moves exactly one slot over in either X or Y, depending on which arrow you choose. This is particularly useful when calibrating multiple containers of the same type (eg an entire deck of 96 well plates). There is no slot Z, the robot will just move 1 mm. + +AB Plungers +^^^^^^^^^^^^^^^^^^^^ + +Use the plunger jog to move the plunger up and down. If you have selected a container or the pipette for the B axis, then the B axis will move, and if you have selected a container or the pipette for the A axis, it will move. + +.. screenshot plunger jog + +The app automatically toggles between pipettes (unlike 1.2) + +Move to Slot +^^^^^^^^^^^^^^^^^^^^ + +Jump to any slot on the deck with the Move to Slot buttons. The deck will automatically react and change between a 3x5 layout and a 2x5 layout based on which robot you are connected to (Hood vs. Pro/Standard) + +.. image:: img/app/move-to-slot.png + + +Calibrate +-------------------- + +Once each container or pipette is calibrated, a check mark will appear next to it in the container list. + +.. image:: img/app/container-list.png + +Tipracks +^^^^^^^^^^^^^^^^^^^^ + +Jog the pipette down into the first tip in the tip rack. It should be firmly pushed into the tip, and the pick up tip button can be used to test its seating. + +Calling the pick up tip button from anywhere on the deck will direct the robot back to the tiprack to pick up a tip. Drop tip will send the tip to the trash. + +.. image:: img/app/container-calibration.png + +Containers +^^^^^^^^^^^^^^^^^^^^ + +With a tip on the pipette, calibrate to the bottom of the first well or tube in the container. Use the diagrams in the app to guide calibration. + +Pipettes +^^^^^^^^^^^^^^^^^^^^ + +Four calibrations positions need to be set for each pipette: Top, Bottom, Blow Out and Drop Tip. Make sure your pipette is manually set to its highest volume (or ~5 uL higher) for accurate calibration. + +.. image:: img/app/pipette-calibration.png + +Once these positions are all saved, you can test your calibrations. This is most easily done gravimetrically using a small scale. Use the aspirate and dispense buttons to pick up liquid and eject it onto the scale. If this volume isn't exactly what you expect, maybe 203 uL instead of 200, no big deal! You can go input the value into the max volume box. The robot will adjust its calculations accordingly and will then be able to dispense the correct volumes during experiments. + +The drop tip screw may need to be adjusted up or down if you cannot accurately calibrate Bottom. + +Run Protocol +-------------------- + +Once all your positions are saved, you can run your protocol. A progress will keep track of what percentage of your protocol has been done. Protocols can be paused, or they can be stopped entirely. We recommend homing after all protocols have been completed or stopped. + +.. image:: img/app/running-protocol.png diff --git a/api/docs/dist/ot1/_sources/containers.txt b/api/docs/dist/ot1/_sources/containers.txt new file mode 100644 index 000000000000..3f7e52d3d5be --- /dev/null +++ b/api/docs/dist/ot1/_sources/containers.txt @@ -0,0 +1,722 @@ +.. _containers: + +###################### +Containers +###################### + +We spend a fair amount of time organizing and counting wells when writing Python protocols. This section describes the different ways we can access wells and groups of wells. + +************************************ + +****************** +Labware Library +****************** + +The Opentrons API comes with many common labware containers built in. These containers can be loaded into you Python protocol using the ``containers.load()`` method, and the specific name of the labware you need. + +`Check out this webpage`__ to see a visualization of all the API's current built-in containers. + +__ https://andysigler.github.io/ot-api-containerviz/ + +Below are a list of some of the most commonly used containers in the API, as well as images for how they look. + +If you are interested in using your own container that is not included in the API, please take a look at how to create custom containers using ``containers.create()``, or contact Opentrons Support. + +.. note:: + + All names are case-sensitive, copying and pasting from this list into the protocol editor will ensure no errors are made. + +********************** + +Point +===== + +Use ``point`` when there is only one position per container, such as the trash or a scale. + +.. code-block:: python + + container.load('point', slot) + +You can access the point position as ``container.wells('A1')`` or ``container.wells(0)``. + +********************** + +Tipracks +========== + +tiprack-10ul +------------- + +Tip rack for a 10 uL pipette (single or 8-channel) + +.. code-block:: python + + container.load('tiprack-10ul', slot) + +**Accessing Tips:** *single channel* ``['A1']-['H12']``, *8-channel* ``['A1']-['A12']`` + +.. image:: img/labware_lib/Tiprack-10ul.png + +tiprack-10ul-H +-------------- + +Tip rack for a single channel 10 uL pipette when the pipette is in the center position. Set initial position to H1, and the pipette will use all the tips on the right hand side (E-H, 1-12) + +.. code-block:: python + + container.load('tiprack-10ul-H', slot) + +**Accessing Tips:** *single channel* ``['E-H, 1-12']`` + +.. image:: img/labware_lib/Tiprack-10ul-H.png + +tiprack-200ul +------------- + +Tip rack for a 200 or 300 uL pipette (single or 8-channel) + +.. code-block:: python + + container.load('tiprack-200ul', slot) + +**Accessing Tips:** *single channel* ``['A1']-['H12']``, *8-channel* ``['A1']-['A12']`` + +.. image:: img/labware_lib/Tiprack-200ul.png + +tiprack-1000ul +-------------- + +Tip rack for a 1000 uL pipette (single or 8-channel) + +.. code-block:: python + + container.load('tiprack-1000ul', slot) + +**Accessing Tips:** *single channel* ``['A1']-['H12']``, *8-channel* ``['A1']-['A12']`` + +.. image:: img/labware_lib/Tiprack-1000.png + +tiprack-1000ul-chem +------------------- + +Tip rack for 1000ul chem (10x10) + +.. code-block:: python + + container.load('tiprack-1000ul-chem', slot) + +**Accessing Tips:** *single channel* ``[0]-[99]`` + +.. image:: img/labware_lib/Tiprack-1000ul-chem.png + +********************** + +Troughs +======== + +trough-12row +------------- + +12 row reservoir + +.. code-block:: python + + container.load('trough-12row', slot) + +**Accessing Rows:** *single channel* ``['A1']-['A12']``, *8-channel* ``['A1']-['A12']`` + +.. image:: img/labware_lib/Trough-12row.png + +********************** + +Tube Racks +========== + +tube-rack-.75ml +------------- + +4x6 rack that holds .75 mL microcentrifuge tubes +(A1, A1-D6) + +.. code-block:: python + + container.load('tube-rack-.75ml', slot) + +**Accessing Tubes:** *single channel* ``['A1']-['D6']`` + +.. image:: img/labware_lib/Tuberack-075ml.png + +tube-rack-2ml +------------- + +4x6 rack that holds 1.5 mL microcentrifuge tubes and 2 mL microcentrifuge tubes + +.. code-block:: python + + container.load('tube-rack-2ml', slot) + +**Accessing Tubes:** *single channel* ``['A1']-['D6']`` + +.. image:: img/labware_lib/Tuberack-2ml.png + +tube-rack-15_50ml +------------------ + +rack that holds 6 15 mL tubes and 4 50 mL tubes + +.. code-block:: python + + container.load('tube-rack-15_50ml', slot) + +**Accessing Tubes:** *single channel* ``['A1']-['A3'], ['B1']-['B3'], ['C1']-['C2'], ['D1']-['D2']`` + +.. image:: img/labware_lib/Tuberack-15-50ml.png + + +Plates +======= + +96-deep-well +------------- + +See dimensions in diagram below. + +.. code-block:: python + + container.load('96-deep-well', slot) + +**Accessing Wells:** *single channel* ``['A1']-['H12']``, *8-channel* ``['A1']-['A12']`` + +.. image:: img/labware_lib/96-Deep-Well.png + +96-PCR-tall +------------- + +See dimensions in diagram below. + +.. code-block:: python + + container.load('96-PCR-tall', slot) + +**Accessing Wells:** *single channel* ``['A1']-['H12']``, *8-channel* ``['A1']-['A12']`` + +.. image:: img/labware_lib/96-PCR-Tall.png + +96-PCR-flat +------------- + +See dimensions in diagram below. + +.. code-block:: python + + container.load('96-PCR-flat', slot) + +**Accessing Wells:** *single channel* ``['A1']-['H12']``, *8-channel* ``['A1']-['A12']`` + +.. image:: img/labware_lib/96-PCR-Flatt.png + +PCR-strip-tall +---------------- + +See dimensions in diagram below. + +.. code-block:: python + + container.load('PCR-strip-tall', slot) + +**Accessing Wells:** *single channel* ``['A1']-['A8']``, *8-channel* ``['A1']`` + +.. image:: img/labware_lib/96-PCR-Strip.png + +384-plate +---------- + +See dimensions in diagram below. + +.. code-block:: python + + container.load('384-plate', slot) + +**Accessing Wells:** *single channel* ``['A1']-['P24']``, *multi-channel* ``['A1']-['A24]`` + +.. image:: img/labware_lib/384-plate.png + + +********************** + +.. testsetup:: containers + + from opentrons import containers, robot + robot.reset() + +************** +Containers +************** + +The containers module allows you to load common labware into your protocol. `Go here`__ to see a visualization of all built-in containers. + +__ https://andysigler.github.io/ot-api-containerviz/ + +.. testcode:: containers + + ''' + Examples in this section require the following + ''' + from opentrons import containers + +List +==== + +Once the container module is loaded, you can see a list of all containers currently inside the API by calling ``containers.list()`` + +.. testcode:: containers + + containers.list() + +Load +==== + +Labware is loaded with two arguments: 1) the container type, and 2) the deck slot it will be placed in on the robot. + +.. testcode:: containers + + p = containers.load('96-flat', 'B1') + +A third optional argument can be used to give a container a unique name. + +.. testcode:: containers + + p = containers.load('96-flat', 'B1', 'any-name-you-want') + +Unique names are useful in a few scenarios. First, they allow the container to have independant calibration data from other containers in the same slot. In the example above, the container named 'any-name-you-want' will assume different calibration data from the unnamed plate, even though they are the same type and in the same slot. + +.. note:: + + Calibration data refers to the saved positions for each container on deck, and is a part of the `Opentrons App calibration procedure`__. + +__ https://opentrons.com/getting-started/calibrate-deck + +Names can also be used to place multiple containers in the same slot all at once. For example, the flasks below are all placed in slot D1. So in order for the Opentrons API to tell them apart, we have given them each a unique name. + +.. testcode:: containers + + fa = containers.load('T25-flask', 'D1', 'flask_a') + fb = containers.load('T25-flask', 'D1', 'flask_b') + fc = containers.load('T25-flask', 'D1', 'flask_c') + +Create +====== + +In addition to the default containers that come with the Opentrons API, you can create your own custom containers. + +Through the API's call containers.create(), you can create simple grid containers, which consist of circular wells arranged in columns and rows. + +.. testcode:: containers + + containers.create( + '3x6_plate', # name of you container + grid=(3, 6), # specify amount of (columns, rows) + spacing=(12, 12), # distances (mm) between each (column, row) + diameter=5, # diameter (mm) of each well on the plate + depth=10) # depth (mm) of each well on the plate + +When you create your custom container, then it will be saved for later use under the name you've given it. This means you can use containers.load() to use the custom container you've created in this and any future protocol. + +.. testcode:: containers + + custom_plate = containers.load('3x6_plate', 'D1') + + for well in custom_plate.wells(): + print(well) + +will print out... + +.. testoutput:: containers + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + + + + + + + + + + + + + + + + + + + +.. testsetup:: pipettes + + from opentrons import instruments, robot + robot.reset() + +********************** + +.. testsetup:: individualwells + + from opentrons import containers, robot + + robot.reset() + plate = containers.load('96-flat', 'A1') + +****************** +Accessing Wells +****************** + +********************** + +Individual Wells +================ + +When writing a protocol using the API, you will be spending most of your time selecting which wells to transfer liquids to and from. + +The OT-One deck and containers are all set up with the same coordinate system - numbered rows and lettered columns. + +.. image:: img/well_iteration/Well_Iteration.png + +.. testcode:: individualwells + + ''' + Examples in this section expect the following + ''' + from opentrons import containers + + plate = containers.load('96-flat', 'A1') + +Wells by Name +------------- + +Once a container is loaded into your protocol, you can easily access the many wells within it using ``wells()`` method. ``wells()`` takes the name of the well as an argument, and will return the well at that location. + +.. testcode:: individualwells + + plate.wells('A1') + plate.wells('H12') + +Wells by Index +-------------- + +Wells can be referenced by their "string" name, as demonstrated above. However, they can also be referenced with zero-indexing, with the first well in a container being at position 0. + +.. testcode:: individualwells + + plate.wells(0) # well A1 + plate.wells(95) # well H12 + plate.wells(-1) # well H12 (Python let's you do this) + +Columns and Rows +---------------- + +A container's wells are organized within a series of columns and rows, which are also labelled on standard labware. In the API, columns are given letter names (``'A'`` through ``'H'`` for example) and go left to right, while rows are given numbered names (``'1'`` through ``'8'`` for example) and go from front to back. +You can access a specific row or column by using the ``rows()`` and ``cols()`` methods on a container. These will return all wells within that row or column. + +.. testcode:: individualwells + + column = plate.cols('A') + row = plate.rows('1') + + print('Column "A" has', len(column), 'wells') + print('Row "1" has', len(row), 'wells') + +will print out... + +.. testoutput:: individualwells + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + Column "A" has 12 wells + Row "1" has 8 wells + +The ``rows()`` or ``cols()`` methods can be used in combination with the ``wells()`` method to access wells within that row or column. In the example below, both lines refer to well ``'A1'``. + +.. testcode:: individualwells + + plate.cols('A').wells('1') + plate.rows('1').wells('A') + +********************** + +.. testsetup:: multiwells + + from opentrons import containers, robot + + robot.reset() + plate = containers.load('96-flat', 'A1') + + +Multiple Wells +============== + +If we had to reference each well one at a time, our protocols could get very very long. + +When describing a liquid transfer, we can point to groups of wells for the liquid's source and/or destination. Or, we can get a group of wells that we want to loop through. + +.. testcode:: multiwells + + ''' + Examples in this section expect the following + ''' + from opentrons import containers + + plate = containers.load('96-flat', 'B1') + +Wells +----- + +The ``wells()`` method can return a single well, or it can return a list of wells when multiple arguments are passed. + +Here is an example or accessing a list of wells, each specified by name: + +.. testcode:: multiwells + + w = plate.wells('A1', 'B2', 'C3', 'H12') + + print(w) + +will print out... + +.. testoutput:: multiwells + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + > + +Multiple wells can be treated just like a normal Python list, and can be iterated through: + +.. testcode:: multiwells + + for w in plate.wells('A1', 'B2', 'C3', 'H12'): + print(w) + +will print out... + +.. testoutput:: multiwells + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + + + + + +Wells To +-------- + +Instead of having to list the name of every well, we can also create a range of wells with a start and end point. The first argument is the starting well, and the ``to=`` argument is the last well. + +.. testcode:: multiwells + + for w in plate.wells('A1', to='H1'): + print(w) + +will print out... + +.. testoutput:: multiwells + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + + + + + + + + + +Not only can we get every well between the start and end positions, but we can also set the ``step=`` size. The example below will access every 2nd well between ``'A1'`` and ``'H'``: + +.. testcode:: multiwells + + for w in plate.wells('A1', to='H1', step=2): + print(w) + +will print out... + +.. testoutput:: multiwells + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + + + + + +These lists of wells can also move in the reverse direction along your container. For example, setting the ``to=`` argument to a well that comes before the starting position is allowed: + +.. testcode:: multiwells + + for w in plate.wells('H1', to='A1', step=2): + print(w) + +will print out... + +.. testoutput:: multiwells + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + + + + + +Wells Length +------------ + +Another way you can create a list of wells is by specifying the length= of the well list you need, in addition to the starting point. The example below will return eight wells, starting at well ``'A1'``: + +.. testcode:: multiwells + + for w in plate.wells('A1', length=8): + print(w) + +will print out... + +.. testoutput:: multiwells + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + + + + + + + + + +And just like before, we can also set the ``step=`` argument. Except this time the example will be accessing every 3rd well, until a total of eight wells have been found: + +.. testcode:: multiwells + + for w in plate.wells('A1', length=8, step=3): + print(w) + +will print out... + +.. testoutput:: multiwells + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + + + + + + + + + +You can set the step= value to a negative number to move in the reverse direction along the container: + +.. testcode:: multiwells + + for w in plate.wells('H11', length=8, step=-1): + print(w) + +will print out... + +.. testoutput:: multiwells + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + + + + + + + + + +Columns and Rows +---------------- + +Columns and Rows +The same arguments described above can be used with ``rows()`` and ``cols()`` to create lists of rows or columns. + +Here is an example of iterating through rows: + +.. testcode:: multiwells + + for r in plate.rows('2', length=3, step=-2): + print(r) + +will print out... + +.. testoutput:: multiwells + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + > + > + > + +And here is an example of iterating through columns: + +.. testcode:: multiwells + + for c in plate.cols('B', to='F', step=2): + print(c) + +will print out... + +.. testoutput:: multiwells + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + > + > + > + + +Slices +------ + +Containers can also be treating similarly to Python lists, and can therefore handle slices. + +.. testcode:: multiwells + + for w in plate[0:8:2]: + print(w) + +will print out... + +.. testoutput:: multiwells + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + + + + + +The API's containers are also prepared to take string values for the slice's ``start`` and ``stop`` positions. + +.. testcode:: multiwells + + for w in plate['A1':'A2':2]: + print(w) + +will print out... + +.. testoutput:: multiwells + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + + + + + +.. testcode:: multiwells + + for w in plate.cols['B']['1'::2]: + print(w) + +will print out... + +.. testoutput:: multiwells + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + + + + + + diff --git a/api/docs/dist/ot1/_sources/examples.txt b/api/docs/dist/ot1/_sources/examples.txt new file mode 100644 index 000000000000..48346fd0d10f --- /dev/null +++ b/api/docs/dist/ot1/_sources/examples.txt @@ -0,0 +1,222 @@ +.. _examples: + +######## +Examples +######## + +.. testsetup:: examples + + from opentrons import robot, containers, instruments + + plate = containers.load('96-flat', 'B1') + trough = containers.load('trough-12row', 'C1') + + tiprack_1 = containers.load('tiprack-200ul', 'A1') + tiprack_2 = containers.load('tiprack-200ul', 'A2') + + p200 = instruments.Pipette( + axis="b", + max_volume=200, + tip_racks=[tiprack_2]) + +All examples on this page assume the following containers and pipette: + +.. testcode:: examples + + from opentrons import robot, containers, instruments + + plate = containers.load('96-flat', 'B1') + trough = containers.load('trough-12row', 'C1') + + tiprack_1 = containers.load('tiprack-200ul', 'A1') + tiprack_2 = containers.load('tiprack-200ul', 'A2') + + p200 = instruments.Pipette( + axis="b", + max_volume=200, + tip_racks=[tiprack_2]) + +****************************** + +*************** +Basic Transfer +*************** + +Moving 100uL from one well to another: + +.. testcode:: examples + + p200.transfer(100, plate.wells('A1'), plate.wells('B1')) + +If you prefer to not use the ``.transfer()`` command, the following pipette commands will create the some results: + +.. testcode:: examples + + p200.pick_up_tip() + p200.aspirate(100, plate.wells('A1')) + p200.dispense(100, plate.wells('A1')) + p200.return_tip() + +****************************** + +***** +Loops +***** + +Loops in Python allows your protocol to perform many actions, or act upon many wells, all within just a few lines. The below example loops through the numbers ``0`` to ``11``, and uses that loop's current value to transfer from all wells in a trough to each row of a plate: + +.. testcode:: examples + + # distribute 20uL from trough:A1 -> plate:row:1 + # distribute 20uL from trough:A2 -> plate:row:2 + # etc... + + # ranges() starts at 0 and stops at 12, creating a range of 0-11 + for i in range(12): + p200.distribute(20, trough.wells(i), plate.rows(i)) + +****************************** + +******************* +Multiple Air Gaps +******************* + +The Opentrons liquid handler can do some things that a human cannot do with a pipette, like accurately alternate between aspirating and creating air gaps within the same tip. The below example will aspirate from five wells in the trough, while creating a air gap between each sample. + +.. testcode:: examples + + p200.pick_up_tip() + + for well in trough.wells(): + p200.aspirate(5, well).air_gap(10) + + p200.dispense(plate.wells('A1')) + + p200.return_tip() + +****************************** + +*************** +Dilution +*************** + +This example first spreads a dilutent to all wells of a plate. It then dilutes 8 samples from the trough across the 8 columns of the plate. + +.. testcode:: examples + + p200.distribute(50, trough.wells('A12'), plate.wells()) # dilutent + + # loop through each column + for i in range(8): + + # save the source well and destination column to variables + source = trough.wells(i) + column = plate.cols(i) + + # transfer 10uL of source to first well in column + p200.transfer(10, source, column.wells('1')) + + # dilute the sample down the column + p200.transfer( + 10, column.wells('1', to='11'), column.wells('2', to='12'), + mix_after=(3, 25)) + +****************************** + +*************** +Plate Mapping +*************** + +Deposit various volumes of liquids into the same plate of wells, and automatically refill the tip volume when it runs out. + +.. testcode:: examples + + # these uL values were created randomly for this example + water_volumes = [ + 1, 2, 3, 4, 5, 6, 7, 8, + 9, 10, 11, 12, 13, 14, 15, 16, + 17, 18, 19, 20, 21, 22, 23, 24, + 25, 26, 27, 28, 29, 30, 31, 32, + 33, 34, 35, 36, 37, 38, 39, 40, + 41, 42, 43, 44, 45, 46, 47, 48, + 49, 50, 51, 52, 53, 54, 55, 56, + 57, 58, 59, 60, 61, 62, 63, 64, + 65, 66, 67, 68, 69, 70, 71, 72, + 73, 74, 75, 76, 77, 78, 79, 80, + 81, 82, 83, 84, 85, 86, 87, 88, + 89, 90, 91, 92, 93, 94, 95, 96 + ] + + p200.distribute(water_volumes, trough.wells('A12'), plate) + +The final volumes can also be read from a CSV, and opened by your protocol. + +.. code-block:: python + + ''' + This example uses a CSV file saved on the same computer, formatted as follows, + where the columns in the file represent the 8 columns of the plate, + and the rows in the file represent the 12 rows of the plate, + and the values represent the uL that must end up at that location + + 1, 2, 3, 4, 5, 6, 7, 8, + 9, 10, 11, 12, 13, 14, 15, 16, + 17, 18, 19, 20, 21, 22, 23, 24, + 25, 26, 27, 28, 29, 30, 31, 32, + 33, 34, 35, 36, 37, 38, 39, 40, + 41, 42, 43, 44, 45, 46, 47, 48, + 49, 50, 51, 52, 53, 54, 55, 56, + 57, 58, 59, 60, 61, 62, 63, 64, + 65, 66, 67, 68, 69, 70, 71, 72, + 73, 74, 75, 76, 77, 78, 79, 80, + 81, 82, 83, 84, 85, 86, 87, 88, + 89, 90, 91, 92, 93, 94, 95, 96, + + ''' + + # open file with absolute path (will be different depending on operating system) + # file paths on Windows look more like 'C:\\path\\to\\your\\csv_file.csv' + with open('/path/to/your/csv_file.csv') as my_file: + + # save all volumes from CSV file into a list + volumes = [] + + # loop through each line (the plate's columns) + for l in my_file.read().splitlines(): + # loop through each comma-separated value (the plate's rows) + for v in l.split(','): + volumes.append(float(v)) # save the volume + + # distribute those volumes to the plate + p200.distribute(volumes, trough.wells('A1'), plate.wells()) + + + +****************************** + +******************* +Precision Pipetting +******************* + +This example shows how to deposit liquid around the edge of a well. + +.. testcode:: examples + + p200.pick_up_tip() + + # rotate around the edge of the well, dropping 10ul at a time + theta = 0.0 + while p200.current_volume > 0: + # we can move around a circle with radius (r) and theta (degrees) + well_edge = plate.wells('B1').from_center(r=1.0, theta=theta, h=0.9) + + # combine a Well with a Vector in a tuple + destination = (plate.wells('B1'), well_edge) + p200.move_to(destination, strategy='direct') # move straight there + p200.dispense(10) + + theta += 0.314 + + p200.drop_tip() + +****************************** diff --git a/api/docs/dist/ot1/_sources/firmware.txt b/api/docs/dist/ot1/_sources/firmware.txt new file mode 100644 index 000000000000..c614009d0580 --- /dev/null +++ b/api/docs/dist/ot1/_sources/firmware.txt @@ -0,0 +1,54 @@ +.. _firmware: + +================ +Firmware Updates +================ + +The motorcontroller inside all Opentrons liquid handlers (called Smoothieboard or just Smoothie) will need it's firmware updated if you are planning to use the Opentrons API and accompanying 2.0 app. The process is simple, and can be done from your computer in under a minute. + +To summarize, there are two files on your Smoothie that must be replaced; ``FIRMWARE.CUR`` and ``config``. + +Download Files +---------------------- + +Download the zipped files from here: + +https://github.com/OpenTrons/smoothie-config/archive/2.0.0.zip + +After downloading, unpack the zip file to view its contents. The latest firmware files are found in folder "v2.0.0". + +Open the Smoothie's MicroSD Card +--------------------------------- + +Power OFF and unplug your Opentrons liquid handler's USB cable. Remove the microSD card from Smoothieboard (just above the USB connector on the robot), and connect it to your personal computer or laptop. It will show up as a storage device on your computer. + +.. image:: img/update-firmware/firmware_files.png + +Open the microSD storage device to see it's ``FIRMWARE.CUR`` and ``config`` files. There might be other files there, but the two you need to worry about are ``FIRMWARE.CUR`` and ``config``, because these are what we will be replacing. + +Select Your Model's Config +---------------------------------- + +Opentrons `come in three models`__, the Standard, Pro, and Hood. Each model requires a unique ``config`` and ``firmware.bin`` file to go along with it. Find the files that matches your robot (the folders are named after each model). + +__ https://opentrons.com/robots + +** Note: We have release a "Plus" version of our robots, which have faster motors. If you received a robot after April 2017, and if your robot's Z motor is all black (no silver on the outside) than you have a "Plus" model. + +.. image:: img/update-firmware/SelectConfigFile.png + +Copy Over Files +--------------------------------- + +Drag both the ``config`` file and ``firmware.bin`` from the correct folder onto the microSD card. You will be overwriting the old ``config`` file, so your computer may ask if you would like to proceed with replacing it. + +.. image:: img/update-firmware/replaceConfig.png + +The contents of the microSD card should now look like this: + +.. image:: img/update-firmware/dragFirmwareBin.png + +Restart +--------------- + +Unmount the Smoothie's microSD card from your computer, and connect it back to your powered OFF robot. When the robot powers on, it will read the ``firmware.bin`` file, then save it as ``FIRMWARE.CUR``. It will then read the new ``config`` file, and your liquid handler now has updated firmware. diff --git a/api/docs/dist/ot1/_sources/index.txt b/api/docs/dist/ot1/_sources/index.txt new file mode 100644 index 000000000000..ca2374983991 --- /dev/null +++ b/api/docs/dist/ot1/_sources/index.txt @@ -0,0 +1,148 @@ +.. Opentrons API documentation master file, created by + sphinx-quickstart on Thu Oct 27 12:10:26 2016. + You can adapt this file completely to your liking, but it should at least + contain the root `toctree` directive. + +=============== +Opentrons API +=============== + +The Opentrons API is a simple framework designed to make writing automated biology lab protocols easy. + +We’ve designed it in a way we hope is accessible to anyone with basic computer and wetlab skills. As a bench scientist, you should be able to code your automated protocols in a way that reads like a lab notebook. + +`View source code on GitHub`__ + +__ https://github.com/opentrons/opentrons-api + +********************** + +.. testsetup:: helloworld + + from opentrons import containers, instruments, robot + + robot.reset() + + tiprack = containers.load('tiprack-200ul', 'A1') + plate = containers.load('96-flat', 'B1') + + pipette = instruments.Pipette(axis='b', max_volume=200) + +How it Looks +--------------- + +The design goal of the Opentrons API is to make code readable and easy to understand. For example, below is a short set of instruction to transfer from well ``'A1'`` to well ``'B1'`` that even a computer could understand: + +.. code-block:: none + + Use the Opentrons API's containers and instruments + + Add a 96 well plate, and place it in slot 'B1' + Add a 200uL tip rack, and place it in slot 'A1' + + Add a 200uL pipette to axis 'b', and tell it to use that tip rack + + Transfer 100uL from the plate's 'A1' well to its 'A2' well + +If we were to rewrite this with the Opentrons API, it would look like the following: + +.. testcode:: helloworld + + # imports + from opentrons import containers, instruments + + # containers + plate = containers.load('96-flat', 'B1') + tiprack = containers.load('tiprack-200ul', 'A1') + + # pipettes + pipette = instruments.Pipette(axis='b', max_volume=200, tip_racks=[tiprack]) + + # commands + pipette.transfer(100, plate.wells('A1'), plate.wells('A2')) + +********************** + +How it's Organized +------------------ + +When writing protocols using the Opentrons API, there are generally three sections: + +1) Imports +2) Containers +3) Pipettes +4) Commands + +Imports +^^^^^^^ + +When writing in Python, you must always include the Opentrons API within your file. We most commonly use the ``containers`` and ``instruments`` sections of the API. + +From the example above, the "imports" section looked like: + +.. code-block:: python + + from opentrons import containers, instruments + + +Containers +^^^^^^^^^^ + +While the imports section is usually the same across protocols, the containers section is different depending on the tip racks, well plates, troughs, or tubes you're using on the robot. + +Each container is given a type (ex: ``'96-flat'``), and the slot on the robot it will be placed (ex: ``'B1'``). + +From the example above, the "containers" section looked like: + +.. code-block:: python + + plate = containers.load('96-flat', 'B1') + tiprack = containers.load('tiprack-200ul', 'A1') + +Pipettes +^^^^^^^^ + +Next, pipettes are created and attached to a specific axis on the OT-One (``'a'`` or ``'b'``). Axis ``'a'`` is on the center of the head, while axis ``'b'`` is on the left. + +There are other parameters for pipettes, but the most important are the ``max_volume`` to set it's size, and the tip rack(s) it will use during the protocol. + +From the example above, the "pipettes" section looked like: + +.. code-block:: python + + pipette = instruments.Pipette(axis='b', max_volume=200, tip_racks=[tiprack]) + +Commands +^^^^^^^^ + +And finally, the most fun section, the actual protocol commands! The most common commands are ``transfer()``, ``aspirate()``, ``dispense()``, ``pick_up_tip()``, ``drop_tip()``, and much more. + +This section can tend to get long, relative to the complexity of your protocol. However, with a better understanding of Python you can learn to compress and simplify even the most complex-seeming protocols. + +From the example above, the "commands" section looked like: + +.. code-block:: python + + pipette.transfer(100, plate.wells('A1'), plate.wells('B1')) + + +Table of Contents +----------------- + +.. toctree:: + :maxdepth: 3 + + writing + containers + pipettes + transfer + robot + modules + examples + api + calibration + firmware + +.. |br| raw:: html + +
diff --git a/api/docs/dist/ot1/_sources/modules.txt b/api/docs/dist/ot1/_sources/modules.txt new file mode 100644 index 000000000000..d7141c156291 --- /dev/null +++ b/api/docs/dist/ot1/_sources/modules.txt @@ -0,0 +1,94 @@ +.. _modules: + +################ +Hardware Modules +################ + +********************** + +********** +Heat Deck +********** + +The heat deck runs off the opensource platform Arduino, which is how you can control it's temperature. Our heat decks come automatically set to reach a temperature of 55 deg Celsius, but you can edit this value by editing the Arduino file. + +Find our Heat Deck source code `on GitHub here`__, and download. + +__ https://github.com/OpenTrons/opentrons-modules + +Also download and install the `Arduino IDE`__. + +__ https://www.arduino.cc/en/main/software + +Open the file, and you will see detailed instruction for how to update the temperature. The overiew is that you simply set the number for what temperature you want, then upload that code to the Heat Deck. + +********************** + +********** +Magbead +********** + +Setting up Hardware +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Use your included DIY Mag Bead kit to configure the motor control board (see kit instructions). + + +Initializing Module in API +============================ + +Just like a pipette, you need to set up and name your module. + +**instruments.Magbead** (*mofset, name*) + + * **mosfet -** integer 0-5 (defaults to 0) + * **name -** the name you want to call your module + +.. testsetup:: main + + from opentrons import instruments + from opentrons.instruments import Pipette + p200 = instruments.Pipette(axis="b", max_volume=200) + +.. testcode:: main + + mag_deck = instruments.Magbead(name='mag_deck') + +Activate and Deactivate Magnets +================================ + +To activate the magnets and raise the module's platform, run ``.engage()``: + +**module.engage** () + +.. testcode:: main + + mag_deck.engage() + +To deactivate the magnets and lower the module's platform, run ``.disengage()``: + +**module.disengage** () + +.. testcode:: main + + mag_deck.disengage() + +Chain Other Commands +============================ + +Just like ``aspirate()`` and ``dispense()`` can be chained, you can chain ``engage()`` and ``disengage()``, as well as the ``delay()`` if you don't want to do anything between engaging and disengaging the magnets. + +.. testcode:: main + + mag_deck.engage() + mag_deck.delay(60) + mag_deck.disengage() + + mag_deck.engage().delay(60).disengage() + +You can call ``delay()`` with a ``Pipette`` or a ``Magbead`` module. + +.. testcode:: main + + p200.delay(10) + mag_deck.delay(10) diff --git a/api/docs/dist/ot1/_sources/pipettes.txt b/api/docs/dist/ot1/_sources/pipettes.txt new file mode 100644 index 000000000000..35f23561aba5 --- /dev/null +++ b/api/docs/dist/ot1/_sources/pipettes.txt @@ -0,0 +1,483 @@ +.. _pipettes: + +######################## +Liquid Handling +######################## + +The ``instruments`` module gives your protocol access to the ``Pipette``, which is what you will be primarily using to create protocol commands. + +************************ + +****************** +Creating a Pipette +****************** + +.. testcode:: pipettes + + ''' + Examples in this section require the following + ''' + from opentrons import instruments + +Axis and Max Volume +=================== + +To create a ``Pipette``, you must give it an axis and a max_volume. The axis can be either ``'a'`` or ``'b'``, and the volume is whatever your hand pipette is calibrated for. In this example, we are using a 200uL pipette. + +.. testcode:: pipettes + + pipette = instruments.Pipette( + axis='b', + name='my-p200', + max_volume=200) + +Minimum Volume +============== + +The minimum allowed volume can be set for each pipette. If your protocol attempts to aspirate or dispense a volume below this volume, the API will give you a warning. + +.. testcode:: pipettes + + pipette = instruments.Pipette( + axis='b', + name='my-p200', + max_volume=200, + min_volume=20) + +Channels +======== + +Pipettes can also be assigned a number of channels, either ``channel=1`` or ``channel=8``. If you do not specify, it will default to ``channel=1`` channel. + +.. testcode:: pipettes + + pipette = instruments.Pipette( + axis='b', + name='my-p200-multichannel', + max_volume=200, + min_volume=20, + channels=8) + +Plunger Speeds +============== + +The speeds at which the pipette will aspirate and dispense can be set through ``aspirate_speed`` and ``dispense_speed``. The values are in millimeters/minute, and default to ``aspirate_speed=300`` and ``dispense_speed=500``. + +.. testcode:: pipettes + + pipeipette = instruments.Pipette( + axis='b', + name='my-p200-multichannel', + max_volume=200, + min_volume=20, + channels=8, + aspirate_speed=200, + dispense_speed=600) + +.. testsetup:: robot + + from opentrons import robot, containers, instruments + + robot.reset() + + plate = containers.load('96-flat', 'B1', 'my-plate') + tiprack = containers.load('tiprack-200ul', 'A1', 'my-rack') + + pipette = instruments.Pipette(axis='b', max_volume=200, name='my-pipette') + + +********************** + +************** +Tip Handling +************** + +When we handle liquids with a pipette, we are constantly exchanging old, used tips for new ones to prevent cross-contamination between our wells. To help with this constant need, we describe in this section a few methods for getting new tips, and removing tips from a pipette. + +********************** + +.. testsetup:: tips + + from opentrons import containers, instruments, robot + + robot.reset() + + trash = containers.load('point', 'D2') + tiprack = containers.load('tiprack-200ul', 'B1') + + pipette = instruments.Pipette(axis='a') + +This section demonstrates the options available for controlling tips + +.. testcode:: tips + + ''' + Examples in this section expect the following + ''' + from opentrons import containers, instruments + + trash = containers.load('point', 'D2') + tiprack = containers.load('tiprack-200ul', 'B1') + + pipette = instruments.Pipette(axis='a') + +Pick Up Tip +=========== + +Before any liquid handling can be done, your pipette must have a tip on it. The command ``pick_up_tip()`` will move the pipette over to the specified tip, the press down into it to create a vacuum seal. The below example picks up the tip at location ``'A1'``. + +.. testcode:: tips + + pipette.pick_up_tip(tiprack.wells('A1')) + +Drop Tip +=========== + +Once finished with a tip, the pipette will autonomously remove the tip when we call ``drop_tip()``. We can specify where to drop the tip by passing in a location. The below example drops the tip back at its originating location on the tip rack. + +.. testcode:: tips + + pipette.drop_tip(tiprack.wells('A1')) + +Instead of returning a tip to the tip rack, we can also drop it in a trash container. + +.. testcode:: tips + + pipette.pick_up_tip(tiprack.wells('A2')) + pipette.drop_tip(trash) + +Return Tip +=========== + +When we need to return the tip to its originating location on the tip rack, we can simply call ``return_tip()``. The example below will automatically return the tip to ``'A3'`` on the tip rack. + +.. testcode:: tips + + pipette.pick_up_tip(tiprack.wells('A3')) + pipette.return_tip() + +********************** + +.. testsetup:: tipsiterating + + from opentrons import containers, instruments, robot + + robot.reset() + + trash = containers.load('point', 'D2') + tip_rack_1 = containers.load('tiprack-200ul', 'B1') + tip_rack_2 = containers.load('tiprack-200ul', 'B2') + + pipette = instruments.Pipette( + axis='b', + tip_racks=[tip_rack_1, tip_rack_2], + trash_container=trash + ) + +Tips Iterating +============== + +Automatically iterate through tips and drop tip in trash by attaching containers to a pipette + +.. testcode:: tipsiterating + + ''' + Examples in this section expect the following + ''' + from opentrons import containers, instruments + + trash = containers.load('point', 'D2') + tip_rack_1 = containers.load('tiprack-200ul', 'B1') + tip_rack_2 = containers.load('tiprack-200ul', 'B2') + +Attach Tip Rack to Pipette +-------------------------- + +Tip racks and trash containers can be "attached" to a pipette when the pipette is created. This give the pipette the ability to automatically iterate through tips, and to automatically send the tip to the trash container. + +Trash containers can be attached with the option ``trash_container=TRASH_CONTAINER``. + +Multiple tip racks are can be attached with the option ``tip_racks=[RACK_1, RACK_2, etc... ]``. + +.. testcode:: tipsiterating + + pipette = instruments.Pipette( + axis='b', + tip_racks=[tip_rack_1, tip_rack_2], + trash_container=trash + ) + +.. note:: + + The ``tip_racks=`` option expects us to give it a Python list, containing each tip rack we want to attach. If we are only attaching one tip rack, then the list will have a length of one, like the following: + + ``tip_racks=[tiprack]`` + + +Iterating Through Tips +---------------------- + +Now that we have two tip racks attached to the pipette, we can automatically step through each tip whenever we call ``pick_up_tip()``. We then have the option to either ``return_tip()`` to the tip rack, or we can ``drop_tip()`` to remove the tip in the attached trash container. + +.. testcode:: tipsiterating + + pipette.pick_up_tip() # picks up tip_rack_1:A1 + pipette.return_tip() + pipette.pick_up_tip() # picks up tip_rack_1:A2 + pipette.drop_tip() # automatically drops in trash + + # use loop to pick up tips tip_rack_1:A3 through tip_rack_2:H12 + for i in range(94 + 96): + pipette.pick_up_tip() + pipette.return_tip() + +If we try to ``pick_up_tip()`` again when all the tips have been used, the Opentrons API will show you an error. + +.. note:: + + If you run the cell above, and then uncomment and run the cell below, you will get an error because the pipette is out of tips. + +.. testcode:: tipsiterating + + # this will raise an exception if run after the previous code block + # pipette.pick_up_tip() + + +Select Starting Tip +------------------- + +Calls to ``pick_up_tip()`` will by default start at the attached tip rack's ``'A1'`` location. If you however want to start automatic tip iterating at a different tip, you can use ``start_at_tip()``. + +.. testcode:: tipsiterating + + pipette.reset() + + pipette.start_at_tip(tip_rack_1['C3']) + pipette.pick_up_tip() # pick up C3 from "tip_rack_1" + pipette.return_tip() + +Get Current Tip +--------------- + +Get the source location of the pipette's current tip by calling ``current_tip()``. If the tip was from the ``'A1'`` position on our tip rack, ``current_tip()`` will return that position. + +.. testcode:: tipsiterating + + print(pipette.current_tip()) # is holding no tip + + pipette.pick_up_tip() + print(pipette.current_tip()) # is holding the next available tip + + pipette.return_tip() + print(pipette.current_tip()) # is holding no tip + +will print out... + +.. testoutput:: tipsiterating + + None + + None + +********************** + +**************** +Liquid Control +**************** + +This is the fun section, where we get to move things around and pipette! This section describes the ``Pipette`` object's many liquid-handling commands, as well as how to move the ``robot``. + +********************** + +.. testsetup:: liquid + + from opentrons import containers, instruments, robot + + robot.reset() + + plate = containers.load('96-flat', 'B1') + pipette = instruments.Pipette(axis='b', max_volume=200) + +.. testcode:: liquid + + ''' + Examples in this section expect the following + ''' + from opentrons import containers, instruments + + plate = containers.load('96-flat', 'B1') + pipette = instruments.Pipette(axis='b', max_volume=200) + + +Aspirate +======== + +To aspirate is to pull liquid up into the pipette's tip. When calling aspirate on a pipette, we can specify how many micoliters, and at which location, to draw liquid from: + +.. testcode:: liquid + + pipette.aspirate(50, plate.wells('A1')) # aspirate 50uL from plate:A1 + +Now our pipette's tip is holding 50uL. + +We can also simply specify how many microliters to aspirate, and not mention a location. The pipette in this circumstance will aspirate from it's current location (which we previously set as ``plate.wells('A1'))``. + +.. testcode:: liquid + + pipette.aspirate(50) # aspirate 50uL from current position + +Now our pipette's tip is holding 100uL. + +We can also specify only the location to aspirate from. If we do not tell the pipette how many micoliters to aspirate, it will by default fill up the remaining volume in it's tip. In this example, since we already have 100uL in the tip, the pipette will aspirate another 100uL + +.. testcode:: liquid + + pipette.aspirate(plate.wells('A2')) # aspirate until pipette fills from plate:A2 + + +Dispense +======== + +To dispense is to push out liquid from the pipette's tip. It's usage in the Opentrons API is nearly identical to ``aspirate()``, in that you can specify microliters and location, only microliters, or only a location: + +.. testcode:: liquid + + pipette.dispense(50, plate.wells('B1')) # dispense 50uL to plate:B1 + pipette.dispense(50) # dispense 50uL to current position + pipette.dispense(plate.wells('B2')) # dispense until pipette empties to plate:B2 + +That final dispense without specifying a micoliter amount will dispense all remaining liquids in the tip to ``plate.wells('B2')``, and now our pipette is empty. + +Blow Out +======== + +To blow out is to push an extra amount of air through the pipette's tip, so as to make sure that any remaining droplets are expelled. + +When calling ``blow_out()`` on a pipette, we have the option to specify a location to blow out the remaining liquid. If no location is specified, the pipette will blow out from it's current position. + +.. testcode:: liquid + + pipette.blow_out() # blow out over current location + pipette.blow_out(plate.wells('B3')) # blow out over current plate:B3 + + +Touch Tip +========= + +To touch tip is to move the pipette's currently attached tip to the edges of a well, for the purpose of knocking off any droplets that might be hanging from the tip. + +When calling ``touch_tip()`` on a pipette, we have the option to specify a location where the tip will touch the inner walls. If no location is specified, the pipette will touch tip inside it's current location. + +.. testcode:: liquid + + pipette.touch_tip() # touch tip within current location + pipette.touch_tip(-2) # touch tip 2mm below the top of the current location + pipette.touch_tip(plate.wells('B1')) # touch tip within plate:B1 + + +Mix +=== + +Mixing is simply performing a series of ``aspirate()`` and ``dispense()`` commands in a row on a single location. However, instead of having to write those commands out every time, the Opentrons API allows you to simply say ``mix()``. + +The mix command takes three arguments: ``mix(repetitions, volume, location)`` + +.. testcode:: liquid + + pipette.mix(4, 100, plate.wells('A2')) # mix 4 times, 100uL, in plate:A2 + pipette.mix(3, 50) # mix 3 times, 50uL, in current location + pipette.mix(2) # mix 2 times, pipette's max volume, in current location + + +Air Gap +======= + +Some liquids need an extra amount of air in the pipette's tip to prevent it from sliding out. A call to ``air_gap()`` with a microliter amount will aspirate that much air into the tip. + +.. testcode:: liquid + + pipette.aspirate(100, plate.wells('B4')) + pipette.air_gap(20) + +********************** + +.. testsetup:: moving + + from opentrons import robot, containers, instruments + + robot.reset() + + tiprack = containers.load('tiprack-200ul', 'A1') + plate = containers.load('96-flat', 'B1') + + pipette = instruments.Pipette(axis='b') + +****** +Moving +****** + +Demonstrates the different ways to control the movement of the Opentrons liquid handler during a protocol run. + +.. testcode:: moving + + ''' + Examples in this section expect the following + ''' + from opentrons import containers, instruments, robot + + tiprack = containers.load('tiprack-200ul', 'A1') + plate = containers.load('96-flat', 'B1') + + pipette = instruments.Pipette(axis='b') + +Move To +======= + +Pipette's are able to ``move_to()`` any location on the deck. + +For example, we can move to the first tip in our tip rack: + +.. testcode:: moving + + pipette.move_to(tiprack.wells('A1')) + +You can also specify at what height you would like the robot to move to inside of a location using ``top()`` and ``bottom()`` methods on that location. + +.. testcode:: moving + + pipette.move_to(plate.wells('A1').bottom()) # move to the bottom of well A1 + pipette.move_to(plate.wells('A1').top()) # move to the top of well A1 + pipette.move_to(plate.wells('A1').bottom(2)) # move to 2mm above the bottom of well A1 + pipette.move_to(plate.wells('A1').top(-2)) # move to 2mm below the top of well A1 + +The above commands will cause the robot's head to first move upwards, then over to above the target location, then finally downwards until the target location is reached. If instead you would like the robot to mive in a straight line to the target location, you can set the movement strategy to ``'direct'``. + +.. testcode:: moving + + pipette.move_to(plate.wells('A1'), strategy='direct') + +.. note:: + + Moving with ``strategy='direct'`` will run the risk of colliding with things on your deck. Be very careful when using the option. + +Usually the ``strategy='direct'`` option is useful when moving inside of a well. Take a look at the below sequence of movements, which first move the head to a well, and use 'direct' movements inside that well, then finally move on to a different well. + +.. testcode:: moving + + pipette.move_to(plate.wells('A1')) + pipette.move_to(plate.wells('A1').bottom(1), strategy='direct') + pipette.move_to(plate.wells('A1').top(-2), strategy='direct') + pipette.move_to(plate.wells('A1')) + +Delay +===== + +To have your protocol pause for any given number of minutes or seconds, simply call ``delay()`` on your pipette. The value passed into ``delay()`` is the number of minutes or seconds the robot will wait until moving on to the next commands. + +.. testcode:: moving + + pipette.delay(seconds=2) # pause for 2 seconds + pipette.delay(minutes=5) # pause for 5 minutes + pipette.delay(minutes=5, seconds=2) # pause for 5 minutes and 2 seconds + + diff --git a/api/docs/dist/ot1/_sources/robot.txt b/api/docs/dist/ot1/_sources/robot.txt new file mode 100644 index 000000000000..53c9e4806100 --- /dev/null +++ b/api/docs/dist/ot1/_sources/robot.txt @@ -0,0 +1,193 @@ +.. _robot: + +.. testsetup:: robot + + from opentrons import containers, instruments, robot + from opentrons.instruments import pipette as _pipette + + robot.reset() + + plate = robot.add_container('96-flat', 'B1', 'my-plate') + + tiprack = robot.add_container('tiprack-200ul', 'A1', 'my-rack') + + pipette = _pipette.Pipette(robot, axis='b', max_volume=200, name='my-pipette') + +################### +Advanced Control +################### + +.. note:: + + The below features are designed for advanced users who wish to use the Opentrons API in their own Python environment (ie Jupyter). This page is not relevant for users only using the Opentrons App, because the features described below will not be accessible. + +The robot module can be thought of as the parent for all aspects of the Opentrons API. All containers, instruments, and protocol commands are added to and controlled by robot. + +.. testcode:: robot + + ''' + Examples in this section require the following + ''' + from opentrons import robot, containers, instruments + + plate = containers.load('96-flat', 'B1', 'my-plate') + tiprack = containers.load('tiprack-200ul', 'A1', 'my-rack') + + pipette = instruments.Pipette(axis='b', max_volume=200, name='my-pipette') + +Head Speed +========== + +The maximum speed of the robot's head can be set using ``robot.head_speed()``. The value we set the speed to is in millimeters-per-second (mm/sec). + +.. testcode:: robot + + robot.head_speed(5000) + +.. note:: + + Setting the head speed to above ``6000 mm/sec`` may cause your robot to "skip", which means the motors will lose their grip and make a loud vibrating noise. We recommend you try out different speed values on your robot, and see what works and what doesn't. + +Homing +====== + +You can `home` the robot by calling ``home()``. You can also specify axes. The robot will home immdediately when this call is made. + +.. testcode:: robot + + robot.home() # home the robot on all axis + robot.home('z') # home the Z axis only + +Commands +======== + +When commands are called on a pipette, they are recorded on the ``robot`` in the order they are called. You can see all past executed commands by calling ``robot.commands()``, which returns a `Python list`__. + +__ https://docs.python.org/3.5/tutorial/datastructures.html#more-on-lists + +.. testcode:: robot + + pipette.pick_up_tip(tiprack.wells('A1')) + pipette.drop_tip(tiprack.wells('A1')) + + for c in robot.commands(): + print(c) + +will print out... + +.. testoutput:: robot + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + Picking up tip from + Drop_tip at + +Clear Commands +============== + +We can erase the robot command history by calling ``robot.clear_commands()``. Any previously created instruments and containers will still be inside robot, but the commands history is erased. + +.. testcode:: robot + + robot.clear_commands() + pipette.pick_up_tip(tiprack['A1']) + print('There is', len(robot.commands()), 'command') + + robot.clear_commands() + print('There are now', len(robot.commands()), 'commands') + +will print out... + +.. testoutput:: robot + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + There is 1 command + There are now 0 commands + +Comment +======= + +You can add a custom message to the list of command descriptions you see when running ``robot.commands()``. This command is ``robot.comment()``, and it allows you to print out any information you want at the point in your protocol + +.. testcode:: robot + + robot.clear_commands() + + pipette.pick_up_tip(tiprack['A1']) + robot.comment("Hello, just picked up tip A1") + + pipette.pick_up_tip(tiprack['A1']) + robot.comment("Goodbye, just dropped tip A1") + + for c in robot.commands(): + print(c) + +will print out... + +.. testoutput:: robot + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + Picking up tip from + Hello, just picked up tip A1 + Picking up tip from + Goodbye, just dropped tip A1 + +Get Containers +============== + +When containers are loaded, they are automatically added to the ``robot``. You can see all currently held containers by calling ``robot.get_containers()``, which returns a `Python list`__. + +__ https://docs.python.org/3.5/tutorial/datastructures.html#more-on-lists + +.. testcode:: robot + + for name, container in robot.get_containers(): + print(name, container.get_type()) + +will print out... + +.. testoutput:: robot + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + my-plate 96-flat + my-rack tiprack-200ul + +Get Instruments +=============== + +When instruments are created, they are automatically added to the ``robot``. You can see all currently held instruments by calling ``robot.get_instruments()``, which returns a `Python list`__. + +__ https://docs.python.org/3.5/tutorial/datastructures.html#more-on-lists + +.. testcode:: robot + + for axis, pipette in robot.get_instruments(): + print(pipette.name, axis) + +will print out... + +.. testoutput:: robot + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + my-pipette B + +Reset +===== + +Calling ``robot.reset()`` will remove everything from the robot. Any previously added containers, pipettes, or commands will be erased. + +.. testcode:: robot + + robot.reset() + print(robot.get_containers()) + print(robot.get_instruments()) + print(robot.commands()) + +will print out... + +.. testoutput:: robot + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + [] + [] + [] + diff --git a/api/docs/dist/ot1/_sources/transfer.txt b/api/docs/dist/ot1/_sources/transfer.txt new file mode 100644 index 000000000000..27522ff4eb25 --- /dev/null +++ b/api/docs/dist/ot1/_sources/transfer.txt @@ -0,0 +1,1137 @@ +.. _transfer: + +.. testsetup:: transfer + + from opentrons import robot, Robot, containers, instruments + from opentrons.instruments import pipette as _pipette + + robot.reset() + robot.clear_commands() + + robot = Robot() + + plate = robot.add_container('96-flat', 'B1') + + tiprack = robot.add_container('tiprack-200ul', 'A1') + trash = robot.add_container('point', 'D2') + + pipette = _pipette.Pipette( + robot, + axis='b', + max_volume=200, + tip_racks=[tiprack], + trash_container=trash) + +####################### +Transfer Shortcuts +####################### + +The Transfer command is a nice way to wrap up the most common liquid-handling actions we take. Instead of having to write ``loop`` and ``if`` statements, we can simply use the ``transfer()`` command, making Python protocol both easier to write and read! + +********************** + +Transfer +======== + +Most of time, a protocol is really just looping over some wells, aspirating, and then dispensing. Even though they are simple in nature, these loops take up a lot of space. The ``pipette.transfer()`` command takes care of those common loops. It will combine aspirates and dispenses automatically, making your protocol easier to read and edit. + +.. testcode:: transfer + + ''' + Examples in this section expect the following + ''' + from opentrons import containers, instruments + + plate = containers.load('96-flat', 'B1') + + tiprack = containers.load('tiprack-200ul', 'A1') + trash = containers.load('point', 'D2') + + pipette = instruments.Pipette( + axis='b', + max_volume=200, + tip_racks=[tiprack], + trash_container=trash) + +Basic +----- + +The example below will transfer 100 uL from well ``'A1'`` to well ``'B1'``, automatically picking up a new tip and then dropping it when finished. + +.. testsetup:: transfer + + from opentrons import robot, containers, instruments + + robot.reset() + robot.clear_commands() + + plate = containers.load('96-flat', 'B1') + + tiprack = containers.load('tiprack-200ul', 'A1') + trash = containers.load('point', 'D2') + + pipette = instruments.Pipette( + axis='b', + max_volume=200, + tip_racks=[tiprack], + trash_container=trash) + +.. testcode:: transfer + + pipette.transfer(100, plate.wells('A1'), plate.wells('B1')) + +Transfer commands will automatically create entire series of ``aspirate()``, ``dispense()``, and other ``Pipette`` commands. We can print out all commands to see what it did in the previous example: + +.. testcode:: transfer + + for c in robot.commands(): + print(c) + +will print out... + +.. testoutput:: transfer + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + Picking up tip from + Aspirating 100.0 at + Dispensing 100.0 at + Drop_tip at + +Large Volumes +------------- + +Volumes larger than the pipette's ``max_volume`` will automatically divide into smaller transfers. + +.. testsetup:: transfer_1 + + from opentrons import robot, containers, instruments + + robot.reset() + robot.clear_commands() + + plate = containers.load('96-flat', 'B1') + + tiprack = containers.load('tiprack-200ul', 'A1') + trash = containers.load('point', 'D2') + + pipette = instruments.Pipette( + axis='b', + max_volume=200, + tip_racks=[tiprack], + trash_container=trash) + +.. testcode:: transfer_1 + + pipette.transfer(700, plate.wells('A2'), plate.wells('B2')) + + for c in robot.commands(): + print(c) + +will print out... + +.. testoutput:: transfer_1 + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + Picking up tip from + Aspirating 200.0 at + Dispensing 200.0 at + Aspirating 200.0 at + Dispensing 200.0 at + Aspirating 150.0 at + Dispensing 150.0 at + Aspirating 150.0 at + Dispensing 150.0 at + Drop_tip at + +Multiple Wells +-------------- + +Transfer commands are most useful when moving liquid between multiple wells. + +.. testsetup:: transfer_2 + + from opentrons import robot, containers, instruments + + robot.reset() + robot.clear_commands() + + plate = containers.load('96-flat', 'B1') + + tiprack = containers.load('tiprack-200ul', 'A1') + trash = containers.load('point', 'D2') + + pipette = instruments.Pipette( + axis='b', + max_volume=200, + tip_racks=[tiprack], + trash_container=trash) + +.. testcode:: transfer_2 + + pipette.transfer(100, plate.cols('A'), plate.cols('B')) + + for c in robot.commands(): + print(c) + +will print out... + +.. testoutput:: transfer_2 + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + Picking up tip from + Aspirating 100.0 at + Dispensing 100.0 at + Aspirating 100.0 at + Dispensing 100.0 at + Aspirating 100.0 at + Dispensing 100.0 at + Aspirating 100.0 at + Dispensing 100.0 at + Aspirating 100.0 at + Dispensing 100.0 at + Aspirating 100.0 at + Dispensing 100.0 at + Aspirating 100.0 at + Dispensing 100.0 at + Aspirating 100.0 at + Dispensing 100.0 at + Aspirating 100.0 at + Dispensing 100.0 at + Aspirating 100.0 at + Dispensing 100.0 at + Aspirating 100.0 at + Dispensing 100.0 at + Aspirating 100.0 at + Dispensing 100.0 at + Drop_tip at + +One to Many +------------- + +You can transfer from a single source to multiple destinations, and the other way around (many sources to one destination). + +.. testsetup:: transfer_3 + + from opentrons import robot, containers, instruments + + robot.reset() + robot.clear_commands() + + plate = containers.load('96-flat', 'B1') + + tiprack = containers.load('tiprack-200ul', 'A1') + trash = containers.load('point', 'D2') + + pipette = instruments.Pipette( + axis='b', + max_volume=200, + tip_racks=[tiprack], + trash_container=trash) + +.. testcode:: transfer_3 + + pipette.transfer(100, plate.wells('A1'), plate.rows('2')) + + for c in robot.commands(): + print(c) + +will print out... + +.. testoutput:: transfer_3 + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + Picking up tip from + Aspirating 100.0 at + Dispensing 100.0 at + Aspirating 100.0 at + Dispensing 100.0 at + Aspirating 100.0 at + Dispensing 100.0 at + Aspirating 100.0 at + Dispensing 100.0 at + Aspirating 100.0 at + Dispensing 100.0 at + Aspirating 100.0 at + Dispensing 100.0 at + Aspirating 100.0 at + Dispensing 100.0 at + Aspirating 100.0 at + Dispensing 100.0 at + Drop_tip at + +Few to Many +------------- + +What happens if, for example, you tell your pipette to transfer from 4 source wells to 2 destination wells? The transfer command will attempt to divide the wells evenly, or raise an error if the number of wells aren't divisible. + +.. testsetup:: transfer_4 + + from opentrons import robot, containers, instruments + + robot.reset() + robot.clear_commands() + + plate = containers.load('96-flat', 'B1') + + tiprack = containers.load('tiprack-200ul', 'A1') + trash = containers.load('point', 'D2') + + pipette = instruments.Pipette( + axis='b', + max_volume=200, + tip_racks=[tiprack], + trash_container=trash) + +.. testcode:: transfer_4 + + pipette.transfer( + 100, + plate.wells('A1', 'A2', 'A3', 'A4'), + plate.wells('B1', 'B2')) + + for c in robot.commands(): + print(c) + +will print out... + +.. testoutput:: transfer_4 + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + Picking up tip from + Aspirating 100.0 at + Dispensing 100.0 at + Aspirating 100.0 at + Dispensing 100.0 at + Aspirating 100.0 at + Dispensing 100.0 at + Aspirating 100.0 at + Dispensing 100.0 at + Drop_tip at + +List of Volumes +--------------- + +Instead of applying a single volume amount to all source/destination wells, you can instead pass a list of volumes. + +.. testsetup:: transfer_5 + + from opentrons import robot, containers, instruments + + robot.reset() + robot.clear_commands() + + plate = containers.load('96-flat', 'B1') + + tiprack = containers.load('tiprack-200ul', 'A1') + trash = containers.load('point', 'D2') + + pipette = instruments.Pipette( + axis='b', + max_volume=200, + tip_racks=[tiprack], + trash_container=trash) + +.. testcode:: transfer_5 + + pipette.transfer( + [20, 40, 60], + plate.wells('A1'), + plate.wells('B1', 'B2', 'B3')) + + for c in robot.commands(): + print(c) + +will print out... + +.. testoutput:: transfer_5 + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + Picking up tip from + Aspirating 20.0 at + Dispensing 20.0 at + Aspirating 40.0 at + Dispensing 40.0 at + Aspirating 60.0 at + Dispensing 60.0 at + Drop_tip at + +Volume Gradient +--------------- + +Create a linear gradient between a start and ending volume (uL). The start and ending volumes must be the first and second elements of a tuple. + +.. testsetup:: transfer_6 + + from opentrons import robot, containers, instruments + + robot.reset() + robot.clear_commands() + + plate = containers.load('96-flat', 'B1') + + tiprack = containers.load('tiprack-200ul', 'A1') + trash = containers.load('point', 'D2') + + pipette = instruments.Pipette( + axis='b', + max_volume=200, + tip_racks=[tiprack], + trash_container=trash) + +.. testcode:: transfer_6 + + pipette.transfer( + (100, 30), + plate.wells('A1'), + plate.rows('2')) + + for c in robot.commands(): + print(c) + +will print out... + +.. testoutput:: transfer_6 + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + Picking up tip from + Aspirating 100.0 at + Dispensing 100.0 at + Aspirating 90.0 at + Dispensing 90.0 at + Aspirating 80.0 at + Dispensing 80.0 at + Aspirating 70.0 at + Dispensing 70.0 at + Aspirating 60.0 at + Dispensing 60.0 at + Aspirating 50.0 at + Dispensing 50.0 at + Aspirating 40.0 at + Dispensing 40.0 at + Aspirating 30.0 at + Dispensing 30.0 at + Drop_tip at + +********************** + +.. testsetup:: distributeconsolidate + + from opentrons import robot, containers, instruments + + robot.reset() + robot.clear_commands() + + plate = containers.load('96-flat', 'B1') + + tiprack = containers.load('tiprack-200ul', 'A1') + trash = containers.load('point', 'D2') + + pipette = instruments.Pipette( + axis='b', + max_volume=200, + tip_racks=[tiprack], + trash_container=trash) + +Distribute and Consolidate +========================== + +Save time and tips with the ``distribute()`` and ``consolidate()`` commands. These are nearly identical to ``transfer()``, except that they will combine multiple transfer's into a single tip. + +.. testcode:: distributeconsolidate + + ''' + Examples in this section expect the following + ''' + from opentrons import containers, instruments + + plate = containers.load('96-flat', 'B1') + + tiprack = containers.load('tiprack-200ul', 'A1') + trash = containers.load('point', 'D2') + + pipette = instruments.Pipette( + axis='b', + max_volume=200, + tip_racks=[tiprack], + trash_container=trash) + +Consolidate +----------- + +Volumes going to the same destination well are combined within the same tip, so that multiple aspirates can be combined to a single dispense. + +.. testsetup:: distributeconsolidate_1 + + from opentrons import robot, containers, instruments + + robot.reset() + robot.clear_commands() + + plate = containers.load('96-flat', 'B1') + + tiprack = containers.load('tiprack-200ul', 'A1') + trash = containers.load('point', 'D2') + + pipette = instruments.Pipette( + axis='b', + max_volume=200, + tip_racks=[tiprack], + trash_container=trash) + +.. testcode:: distributeconsolidate_1 + + pipette.consolidate(30, plate.rows('2'), plate.wells('A1')) + + for c in robot.commands(): + print(c) + +will print out... + +.. testoutput:: distributeconsolidate_1 + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + Picking up tip from + Aspirating 30.0 at + Aspirating 30.0 at + Aspirating 30.0 at + Aspirating 30.0 at + Aspirating 30.0 at + Aspirating 30.0 at + Dispensing 180.0 at + Aspirating 30.0 at + Aspirating 30.0 at + Dispensing 60.0 at + Drop_tip at + +If there are multiple destination wells, the pipette will never combine their volumes into the same tip. + +.. testsetup:: distributeconsolidate_2 + + from opentrons import robot, containers, instruments + + robot.reset() + robot.clear_commands() + + plate = containers.load('96-flat', 'B1') + + tiprack = containers.load('tiprack-200ul', 'A1') + trash = containers.load('point', 'D2') + + pipette = instruments.Pipette( + axis='b', + max_volume=200, + tip_racks=[tiprack], + trash_container=trash) + +.. testcode:: distributeconsolidate_2 + + pipette.consolidate(30, plate.rows('2'), plate.wells('A1', 'A2')) + + for c in robot.commands(): + print(c) + +will print out... + +.. testoutput:: distributeconsolidate_2 + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + Picking up tip from + Aspirating 30.0 at + Aspirating 30.0 at + Aspirating 30.0 at + Aspirating 30.0 at + Dispensing 120.0 at + Aspirating 30.0 at + Aspirating 30.0 at + Aspirating 30.0 at + Aspirating 30.0 at + Dispensing 120.0 at + Drop_tip at + +Distribute +----------- + +Volumes from the same source well are combined within the same tip, so that one aspirate can provide for multiple dispenses. + +.. testsetup:: distributeconsolidate_3 + + from opentrons import robot, containers, instruments + + robot.reset() + robot.clear_commands() + + plate = containers.load('96-flat', 'B1') + + tiprack = containers.load('tiprack-200ul', 'A1') + trash = containers.load('point', 'D2') + + pipette = instruments.Pipette( + axis='b', + max_volume=200, + tip_racks=[tiprack], + trash_container=trash) + +.. testcode:: distributeconsolidate_3 + + pipette.distribute(55, plate.wells('A1'), plate.rows('2')) + + for c in robot.commands(): + print(c) + +will print out... + +.. testoutput:: distributeconsolidate_3 + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + Picking up tip from + Aspirating 165.0 at + Dispensing 55.0 at + Dispensing 55.0 at + Dispensing 55.0 at + Aspirating 165.0 at + Dispensing 55.0 at + Dispensing 55.0 at + Dispensing 55.0 at + Aspirating 110.0 at + Dispensing 55.0 at + Dispensing 55.0 at + Drop_tip at + +If there are multiple source wells, the pipette will never combine their volumes into the same tip. + +.. testsetup:: distributeconsolidate_4 + + from opentrons import robot, containers, instruments + + robot.reset() + robot.clear_commands() + + plate = containers.load('96-flat', 'B1') + + tiprack = containers.load('tiprack-200ul', 'A1') + trash = containers.load('point', 'D2') + + pipette = instruments.Pipette( + axis='b', + max_volume=200, + tip_racks=[tiprack], + trash_container=trash) + +.. testcode:: distributeconsolidate_4 + + pipette.distribute(30, plate.wells('A1', 'A2'), plate.rows('2')) + + for c in robot.commands(): + print(c) + +will print out... + +.. testoutput:: distributeconsolidate_4 + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + Picking up tip from + Aspirating 120.0 at + Dispensing 30.0 at + Dispensing 30.0 at + Dispensing 30.0 at + Dispensing 30.0 at + Aspirating 120.0 at + Dispensing 30.0 at + Dispensing 30.0 at + Dispensing 30.0 at + Dispensing 30.0 at + Drop_tip at + +Disposal Volume +--------------- + +When dispensing multiple times from the same tip, it is recommended to aspirate an extra amount of liquid to be disposed of after distributing. This added ``disposal_vol`` can be set as an optional argument. + +.. testsetup:: distributeconsolidate_5 + + from opentrons import robot, containers, instruments + + robot.reset() + robot.clear_commands() + + plate = containers.load('96-flat', 'B1') + + tiprack = containers.load('tiprack-200ul', 'A1') + trash = containers.load('point', 'D2') + + pipette = instruments.Pipette( + axis='b', + max_volume=200, + tip_racks=[tiprack], + trash_container=trash) + +.. testcode:: distributeconsolidate_5 + + pipette.distribute( + 30, + plate.wells('A1', 'A2'), + plate.rows('2'), + disposal_vol=10) # include extra liquid to make dispenses more accurate + + for c in robot.commands(): + print(c) + +will print out... + +.. testoutput:: distributeconsolidate_5 + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + Picking up tip from + Aspirating 130.0 at + Dispensing 30.0 at + Dispensing 30.0 at + Dispensing 30.0 at + Dispensing 30.0 at + Blowing out at + Aspirating 130.0 at + Dispensing 30.0 at + Dispensing 30.0 at + Dispensing 30.0 at + Dispensing 30.0 at + Blowing out at + Drop_tip at + +.. note:: + + If you do not specify a ``disposal_vol``, the pipette will by default use a ``disposal_vol`` equal to it's ``min_volume``. This tutorial has not given the pipette any ``min_volume``, so below is an example of allowing the pipette's ``min_volume`` to be used as a default for ``disposal_vol``. + +.. testsetup:: distributeconsolidate_6 + + from opentrons import robot, containers, instruments + + robot.reset() + robot.clear_commands() + + plate = containers.load('96-flat', 'B1') + + tiprack = containers.load('tiprack-200ul', 'A1') + trash = containers.load('point', 'D2') + + pipette = instruments.Pipette( + axis='b', + max_volume=200, + tip_racks=[tiprack], + trash_container=trash) + +.. testcode:: distributeconsolidate_6 + + pipette.min_volume = 20 # `min_volume` is used as default to `disposal_vol` + + pipette.distribute( + 30, + plate.wells('A1', 'A2'), + plate.rows('2')) + + for c in robot.commands(): + print(c) + +will print out... + +.. testoutput:: distributeconsolidate_6 + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + Picking up tip from + Aspirating 140.0 at + Dispensing 30.0 at + Dispensing 30.0 at + Dispensing 30.0 at + Dispensing 30.0 at + Blowing out at + Aspirating 140.0 at + Dispensing 30.0 at + Dispensing 30.0 at + Dispensing 30.0 at + Dispensing 30.0 at + Blowing out at + Drop_tip at + +********************** + +.. testsetup:: options + + from opentrons import robot, containers, instruments + + robot.reset() + robot.clear_commands() + + plate = containers.load('96-flat', 'B1') + + tiprack = containers.load('tiprack-200ul', 'A1') + trash = containers.load('point', 'D2') + + pipette = instruments.Pipette( + axis='b', + max_volume=200, + tip_racks=[tiprack], + trash_container=trash) + +Transfer Options +================ + +There are other options for customizing your transfer command: + +.. testcode:: options + + ''' + Examples in this section expect the following + ''' + from opentrons import containers, instruments + + plate = containers.load('96-flat', 'B1') + + tiprack = containers.load('tiprack-200ul', 'A1') + trash = containers.load('point', 'D2') + + pipette = instruments.Pipette( + axis='b', + max_volume=200, + tip_racks=[tiprack], + trash_container=trash) + +Always Get a New Tip +------------------------ + +Transfer commands will by default use the same one tip for each well, then finally drop it in the trash once finished. + +The pipette can optionally get a new tip at the beginning of each aspirate, to help avoid cross contamination. + +.. testsetup:: options_1 + + from opentrons import robot, containers, instruments + + robot.reset() + robot.clear_commands() + + plate = containers.load('96-flat', 'B1') + + tiprack = containers.load('tiprack-200ul', 'A1') + trash = containers.load('point', 'D2') + + pipette = instruments.Pipette( + axis='b', + max_volume=200, + tip_racks=[tiprack], + trash_container=trash) + +.. testcode:: options_1 + + pipette.transfer( + 100, + plate.wells('A1', 'A2', 'A3'), + plate.wells('B1', 'B2', 'B3'), + new_tip='always') # always pick up a new tip + + for c in robot.commands(): + print(c) + +will print out... + +.. testoutput:: options_1 + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + Picking up tip from + Aspirating 100.0 at + Dispensing 100.0 at + Drop_tip at + Picking up tip from + Aspirating 100.0 at + Dispensing 100.0 at + Drop_tip at + Picking up tip from + Aspirating 100.0 at + Dispensing 100.0 at + Drop_tip at + +Never Get a New Tip +------------------------ + +For scenarios where you instead are calling ``pick_up_tip()`` and ``drop_tip()`` elsewhere in your protocol, the transfer command can ignore picking up or dropping tips. + +.. testsetup:: options_2 + + from opentrons import robot, containers, instruments + + robot.reset() + robot.clear_commands() + + plate = containers.load('96-flat', 'B1') + + tiprack = containers.load('tiprack-200ul', 'A1') + trash = containers.load('point', 'D2') + + pipette = instruments.Pipette( + axis='b', + max_volume=200, + tip_racks=[tiprack], + trash_container=trash) + +.. testcode:: options_2 + + pipette.transfer( + 100, + plate.wells('A1', 'A2', 'A3'), + plate.wells('B1', 'B2', 'B3'), + new_tip='never') # never pick up or drop a tip + + for c in robot.commands(): + print(c) + +will print out... + +.. testoutput:: options_2 + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + Aspirating 100.0 at + Dispensing 100.0 at + Aspirating 100.0 at + Dispensing 100.0 at + Aspirating 100.0 at + Dispensing 100.0 at + +Trash or Return Tip +------------------------ + +By default, the transfer command will drop the pipette's tips in the trash container. However, if you wish to instead return the tip to it's tip rack, you can set ``trash=False``. + +.. testsetup:: options_3 + + from opentrons import robot, containers, instruments + + robot.reset() + robot.clear_commands() + + plate = containers.load('96-flat', 'B1') + + tiprack = containers.load('tiprack-200ul', 'A1') + trash = containers.load('point', 'D2') + + pipette = instruments.Pipette( + axis='b', + max_volume=200, + tip_racks=[tiprack], + trash_container=trash) + +.. testcode:: options_3 + + pipette.transfer( + 100, + plate.wells('A1'), + plate.wells('B1'), + trash=False) # do not trash tip + + for c in robot.commands(): + print(c) + +will print out... + +.. testoutput:: options_3 + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + Picking up tip from + Aspirating 100.0 at + Dispensing 100.0 at + Returning tip + Drop_tip at + +Touch Tip +--------- + +A touch-tip can be performed after every aspirate and dispense by setting ``touch_tip=True``. + +.. testsetup:: options_4 + + from opentrons import robot, containers, instruments + + robot.reset() + robot.clear_commands() + + plate = containers.load('96-flat', 'B1') + + tiprack = containers.load('tiprack-200ul', 'A1') + trash = containers.load('point', 'D2') + + pipette = instruments.Pipette( + axis='b', + max_volume=200, + tip_racks=[tiprack], + trash_container=trash) + +.. testcode:: options_4 + + pipette.transfer( + 100, + plate.wells('A1'), + plate.wells('A2'), + touch_tip=True) # touch tip to each well's edge + + for c in robot.commands(): + print(c) + +will print out... + +.. testoutput:: options_4 + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + Picking up tip from + Aspirating 100.0 at + Touching tip + Dispensing 100.0 at + Touching tip + Drop_tip at + +Blow Out +-------- + +A blow-out can be performed after every dispense that leaves the tip empty by setting ``blow_out=True``. + +.. testsetup:: options_5 + + from opentrons import robot, containers, instruments + + robot.reset() + robot.clear_commands() + + plate = containers.load('96-flat', 'B1') + + tiprack = containers.load('tiprack-200ul', 'A1') + trash = containers.load('point', 'D2') + + pipette = instruments.Pipette( + axis='b', + max_volume=200, + tip_racks=[tiprack], + trash_container=trash) + +.. testcode:: options_5 + + pipette.transfer( + 100, + plate.wells('A1'), + plate.wells('A2'), + blow_out=True) # blow out droplets when tip is empty + + for c in robot.commands(): + print(c) + +will print out... + +.. testoutput:: options_5 + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + Picking up tip from + Aspirating 100.0 at + Dispensing 100.0 at + Blowing out + Drop_tip at + +Mix Before/After +---------------- + +A mix can be performed before every aspirate by setting ``mix_before=``. The value of ``mix_before=`` must be a tuple, the 1st value is the number of repetitions, the 2nd value is the amount of liquid to mix. + +.. testsetup:: options_6 + + from opentrons import robot, containers, instruments + + robot.reset() + robot.clear_commands() + + plate = containers.load('96-flat', 'B1') + + tiprack = containers.load('tiprack-200ul', 'A1') + trash = containers.load('point', 'D2') + + pipette = instruments.Pipette( + axis='b', + max_volume=200, + tip_racks=[tiprack], + trash_container=trash) + +.. testcode:: options_6 + + pipette.transfer( + 100, + plate.wells('A1'), + plate.wells('A2'), + mix_before=(2, 50), # mix 2 times with 50uL before aspirating + mix_after=(3, 75)) # mix 3 times with 75uL after dispensing + + for c in robot.commands(): + print(c) + +will print out... + +.. testoutput:: options_6 + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + Picking up tip from + Mixing 2 times with a volume of 50ul + Aspirating 50 at + Dispensing 50 + Aspirating 50 + Dispensing 50 + Aspirating 100.0 at + Dispensing 100.0 at + Mixing 3 times with a volume of 75ul + Aspirating 75 at + Dispensing 75.0 + Aspirating 75 + Dispensing 75.0 + Aspirating 75 + Dispensing 75.0 + Drop_tip at + +Air Gap +------- + +An air gap can be performed after every aspirate by setting ``air_gap=int``, where the value is the volume of air in microliters to aspirate after aspirating the liquid. + +.. testsetup:: options_7 + + from opentrons import robot, containers, instruments + + robot.reset() + robot.clear_commands() + + plate = containers.load('96-flat', 'B1') + + tiprack = containers.load('tiprack-200ul', 'A1') + trash = containers.load('point', 'D2') + + pipette = instruments.Pipette( + axis='b', + max_volume=200, + tip_racks=[tiprack], + trash_container=trash) + +.. testcode:: options_7 + + pipette.transfer( + 100, + plate.wells('A1'), + plate.wells('A2'), + air_gap=20) # add 20uL of air after each aspirate + + for c in robot.commands(): + print(c) + +will print out... + +.. testoutput:: options_7 + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + Picking up tip from + Aspirating 100.0 at + Air gap + Aspirating 20 + Dispensing 20 at + Dispensing 100.0 at + Drop_tip at + + + diff --git a/api/docs/dist/ot1/_sources/writing.txt b/api/docs/dist/ot1/_sources/writing.txt new file mode 100644 index 000000000000..b9fe10102ef8 --- /dev/null +++ b/api/docs/dist/ot1/_sources/writing.txt @@ -0,0 +1,72 @@ +.. _writing: + +#################### +Design with Python +#################### + +Writing protocols in Python requires some up-front design before seeing your liquid handling automation in action. At a high-level, writing protocols with the Opentrons API looks like: + +1) Write a Python protocol +2) Test the code for errors +3) Repeat steps 1 & 2 +4) Calibrate labware on robot +5) Run your protocol + +These sets of documents aim to help you get the most out of steps 1 & 2, the "design" stage. + +******************************* + +******************** +Python for Beginners +******************** + +If Python is new to you, we suggest going through a few simple tutorials to acquire a base understanding to build upon. The following tutorials are a great starting point for working with the Opentrons API (from `learnpython.org `_): + +1) `Hello World `_ +2) `Variables and Types `_ +3) `Lists `_ +4) `Basic Operators `_ +5) `Conditions `_ +6) `Loops `_ +7) `Functions `_ +8) `Dictionaries `_ + +After going through the above tutorials, you should have enough of an understanding of Python to work with the Opentrons API and start designing your experiments! + +******************************* + +******************* +Working with Python +******************* + +Currently, we recommend writing your protocols in one of two ways: + +Text Editor +=========== + +Using a popular and free code editor, like `Sublime Text 3`__, is a common method for writing Python protocols. Download onto your computer, and you can now write and save Python scripts. + +__ https://www.sublimetext.com/3 + +.. note:: + + Make sure that when saving a protocol file, it ends with the ``.py`` file extension. This will ensure the App and other programs are able to properly read it. + + For example, ``my_protocol_file.py`` + +Jupyter Notebook +================ + +For a more interactive environment to write and debug using some of our API tools, we recommend using Jupyter Notebook. To begin, just install `Anaconda`__, which comes with Jupyter Notebook. + +__ https://www.continuum.io/downloads + +Once installed, launch Jupyter Notebook, and install the Opentrons API by doing the following: + +1) Create a new Python notebook +2) Run the command ``!pip install --upgrade opentrons`` in a cell +3) Restart your notebook's Kernel, and API will be installed + +.. note:: + + Be sure to download the **Python 3.7 version** if Anaconda, and Python 2.7 will not work with the Opentrons API. diff --git a/api/docs/dist/ot1/_static/Akko-Pro-All.js b/api/docs/dist/ot1/_static/Akko-Pro-All.js new file mode 100644 index 000000000000..dbaea734e1ab --- /dev/null +++ b/api/docs/dist/ot1/_static/Akko-Pro-All.js @@ -0,0 +1,65 @@ +/* + + MyFonts Webfont Build ID 3275970, 2016-08-29T14:31:34-0400 + + The fonts listed in this notice are subject to the End User License + Agreement(s) entered into by the website owner. All other parties are + explicitly restricted from using the Licensed Webfonts(s). + + You may obtain a valid license at the URLs below. + + Webfont: AkkoPro-MediumItalic by Linotype + URL: http://www.myfonts.com/fonts/linotype/akko/pro-medium-italic/ + + Webfont: AkkoPro-BlackItalic by Linotype + URL: http://www.myfonts.com/fonts/linotype/akko/pro-black-italic/ + + Webfont: AkkoPro-ThinItalic by Linotype + URL: http://www.myfonts.com/fonts/linotype/akko/pro-thin-italic/ + + Webfont: AkkoPro-Light by Linotype + URL: http://www.myfonts.com/fonts/linotype/akko/pro-light/ + + Webfont: AkkoPro-LightItalic by Linotype + URL: http://www.myfonts.com/fonts/linotype/akko/pro-light-italic/ + + Webfont: AkkoPro-Bold by Linotype + URL: http://www.myfonts.com/fonts/linotype/akko/pro-bold/ + + Webfont: AkkoPro-BoldItalic by Linotype + URL: http://www.myfonts.com/fonts/linotype/akko/pro-bold-italic/ + + Webfont: AkkoPro-Black by Linotype + URL: http://www.myfonts.com/fonts/linotype/akko/pro-black/ + + Webfont: AkkoPro-Thin by Linotype + URL: http://www.myfonts.com/fonts/linotype/akko/pro-thin/ + + Webfont: AkkoPro-Regular by Linotype + URL: http://www.myfonts.com/fonts/linotype/akko/pro-regular/ + + Webfont: AkkoPro-Italic by Linotype + URL: http://www.myfonts.com/fonts/linotype/akko/pro-italic/ + + Webfont: AkkoPro-Medium by Linotype + URL: http://www.myfonts.com/fonts/linotype/akko/pro-medium/ + + + License: http://www.myfonts.com/viewlicense?type=web&buildid=3275970 + Licensed pageviews: 1,250,000 + Webfonts copyright: Copyright © 2011 Linotype Corp., www.linotype.com. All rights reserved. This font software may not be reproduced, modified, disclosed or transferred without the express written approval of Linotype Corp. Akko is a trademark of Linotype Corp. and ma + + ? 2016 MyFonts Inc +*/ +var protocol=document.location.protocol;"https:"!=protocol&&(protocol="http:");var count=document.createElement("script");count.type="text/javascript";count.async=!0;count.src=protocol+"//hello.myfonts.net/count/31fcc2";var s=document.getElementsByTagName("script")[0];s.parentNode.insertBefore(count,s);var browserName,browserVersion,webfontType;if("undefined"==typeof woffEnabled)var woffEnabled=!0;var svgEnabled=0,woff2Enabled=0; +if("undefined"!=typeof customPath)var path=customPath;else{var scripts=document.getElementsByTagName("SCRIPT"),script=scripts[scripts.length-1].src;script.match("://")||"/"==script.charAt(0)||(script="./"+script);path=script.replace(/\\/g,"/").replace(/\/[^\/]*\/?$/,"")} +var wfpath="https://s3.amazonaws.com/opentrons-landing-img/fonts/",browsers=[{regex:"MSIE (\\d+\\.\\d+)",versionRegex:"new Number(RegExp.$1)",type:[{version:9,type:"woff"},{version:5,type:"eot"}]},{regex:"Trident/(\\d+\\.\\d+); (.+)?rv:(\\d+\\.\\d+)",versionRegex:"new Number(RegExp.$3)",type:[{version:11,type:"woff"}]},{regex:"Firefox[/s](\\d+\\.\\d+)",versionRegex:"new Number(RegExp.$1)",type:[{version:3.6,type:"woff"},{version:3.5,type:"ttf"}]},{regex:"Edge/(\\d+\\.\\d+)",versionRegex:"new Number(RegExp.$1)",type:[{version:12,type:"woff"}]}, +{regex:"Chrome/(\\d+\\.\\d+)",versionRegex:"new Number(RegExp.$1)",type:[{version:36,type:"woff2"},{version:6,type:"woff"},{version:4,type:"ttf"}]},{regex:"Mozilla.*Android (\\d+\\.\\d+).*AppleWebKit.*Safari",versionRegex:"new Number(RegExp.$1)",type:[{version:4.1,type:"woff"},{version:3.1,type:"svg#wf"},{version:2.2,type:"ttf"}]},{regex:"Mozilla.*(iPhone|iPad).* OS (\\d+)_(\\d+).* AppleWebKit.*Safari",versionRegex:"new Number(RegExp.$2) + (new Number(RegExp.$3) / 10)",unhinted:!0,type:[{version:5, +type:"woff"},{version:4.2,type:"ttf"},{version:1,type:"svg#wf"}]},{regex:"Mozilla.*(iPhone|iPad|BlackBerry).*AppleWebKit.*Safari",versionRegex:"1.0",type:[{version:1,type:"svg#wf"}]},{regex:"Version/(\\d+\\.\\d+)(\\.\\d+)? 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+"ttf"==webfontType?data_fn="_unhinted"==suffix?"31FCC2_data_unhintedttf.css":"31FCC2_datattf.css":"woff"==webfontType&&(data_fn="_unhinted"==suffix?"31FCC2_data_unhintedwoff.css":"31FCC2_datawoff.css");var link=document.createElement("link");link.setAttribute("rel","stylesheet");link.setAttribute("type","text/css");link.setAttribute("href",wfpath+data_fn);head.appendChild(link); +for(var css="",i=0;i .section { + text-align: left; +} + +div.footer { + width: 940px; + margin: 20px auto 30px auto; + font-size: 14px; + color: #888; + text-align: right; +} + +div.footer a { + color: #888; +} + +p.caption { + font-family: inherit; + font-size: inherit; +} + + +div.relations { + display: none; +} + + +div.sphinxsidebar a { + color: #444; + text-decoration: none; + border-bottom: 1px dotted #DDDDDD; +} + +div.sphinxsidebar a:hover { + border-bottom: 1px solid #DDDDDD; +} + +div.sphinxsidebarwrapper { + padding: 18px 10px; +} + +div.sphinxsidebarwrapper p.logo { + padding: 0; + margin: -10px 0 0 0px; + text-align: center; +} + +div.sphinxsidebarwrapper h1.logo { + margin-top: -10px; + text-align: center; + margin-bottom: 5px; + text-align: left; +} + +div.sphinxsidebarwrapper h1.logo-name { + margin-top: 0px; +} + +div.sphinxsidebarwrapper p.blurb { + margin-top: 0; + font-style: normal; +} + +div.sphinxsidebar h3, +div.sphinxsidebar h4 { + font-family: 'AkkoPro-Regular', 'Open Sans'; + color: #444; + font-size: 24px; + font-weight: normal; + margin: 0 0 5px 0; + padding: 0; +} + +div.sphinxsidebar h4 { + font-size: 20px; +} + +div.sphinxsidebar h3 a { + color: #444; +} + +div.sphinxsidebar p.logo a, +div.sphinxsidebar h3 a, +div.sphinxsidebar p.logo a:hover, +div.sphinxsidebar h3 a:hover { + border: none; +} + +div.sphinxsidebar p { + color: #555; + margin: 10px 0; +} + +div.sphinxsidebar ul { + margin: 10px 0; + padding: 0; + color: #05C1B3; +} + +div.sphinxsidebar ul li.toctree-l1 > a { + font-size: 120%; +} + +div.sphinxsidebar ul li.toctree-l2 > a { + font-size: 110%; +} + +div.sphinxsidebar input { + border: 1px solid #CCC; + font-family: 'Open Sans', sans-serif; + font-size: 1em; +} + +div.sphinxsidebar hr { + border: none; + height: 1px; + color: #AAA; + background: #AAA; + + text-align: left; + margin-left: 0; + width: 50%; +} + +/* -- body styles ----------------------------------------------------------- */ + +a { + color: #006FFF; + text-decoration: underline; +} + +a:hover { + color: #05C1B3; + text-decoration: underline; +} + +div.body h1, +div.body h2, +div.body h3, +div.body h4, +div.body h5, +div.body h6 { + font-family: 'AkkoPro-Regular', 'Open Sans'; + font-weight: normal; + margin: 30px 0px 10px 0px; + padding: 0; +} + +div.body h1 { margin-top: 0; padding-top: 0; font-size: 240%; } +div.body h2 { font-size: 180%; } +div.body h3 { font-size: 150%; } +div.body h4 { font-size: 130%; } +div.body h5 { font-size: 100%; } +div.body h6 { font-size: 100%; } + +a.headerlink { + color: #DDD; + padding: 0 4px; + text-decoration: none; +} + +a.headerlink:hover { + color: #444; + background: #EAEAEA; +} + +div.body p, div.body dd, div.body li { + line-height: 1.4em; +} + +div.admonition { + margin: 20px 0px; + padding: 10px 30px; + background-color: #EEE; + border: 1px solid #CCC; +} + +div.admonition tt.xref, div.admonition code.xref, div.admonition a tt { + background-color: #FBFBFB; + border-bottom: 1px solid #fafafa; +} + +div.admonition p.admonition-title { + font-family: 'AkkoPro-Regular', 'Open Sans'; + font-weight: normal; + font-size: 24px; + margin: 0 0 10px 0; + padding: 0; + line-height: 1; +} + +div.admonition p.last { + margin-bottom: 0; +} + +div.highlight { + background-color: #fff; +} + +dt:target, .highlight { + background: #FAF3E8; +} + +div.warning { + background-color: #FCC; + border: 1px solid #FAA; +} + +div.danger { + background-color: #FCC; + border: 1px solid #FAA; + -moz-box-shadow: 2px 2px 4px #D52C2C; + -webkit-box-shadow: 2px 2px 4px #D52C2C; + box-shadow: 2px 2px 4px #D52C2C; +} + +div.error { + background-color: #FCC; + border: 1px solid #FAA; + -moz-box-shadow: 2px 2px 4px #D52C2C; + -webkit-box-shadow: 2px 2px 4px #D52C2C; + box-shadow: 2px 2px 4px #D52C2C; +} + +div.caution { + background-color: #FCC; + border: 1px solid #FAA; +} + +div.attention { + background-color: #FCC; + border: 1px solid #FAA; +} + +div.important { + background-color: #EEE; + border: 1px solid #CCC; +} + +div.note { + background-color: #EEE; + border: 1px solid #CCC; +} + +div.tip { + background-color: #EEE; + border: 1px solid #CCC; +} + +div.hint { + background-color: #EEE; + border: 1px solid #CCC; +} + +div.seealso { + background-color: #EEE; + border: 1px solid #CCC; +} + +div.topic { + background-color: #EEE; +} + +p.admonition-title { + display: inline; +} + +p.admonition-title:after { + content: ":"; +} + +pre, tt, code { + font-family: 'Consolas', 'Menlo', 'Deja Vu Sans Mono', 'Bitstream Vera Sans Mono', monospace; + font-size: 0.9em; +} + +.hll { + background-color: #FFC; + margin: 0 -12px; + padding: 0 12px; + display: block; +} + +img.screenshot { +} + +tt.descname, tt.descclassname, code.descname, code.descclassname { + font-size: 0.95em; +} + +tt.descname, code.descname { + padding-right: 0.08em; +} + +img.screenshot { + -moz-box-shadow: 2px 2px 4px #EEE; + -webkit-box-shadow: 2px 2px 4px #EEE; + box-shadow: 2px 2px 4px #EEE; +} + +table.docutils { + border: 1px solid #888; + -moz-box-shadow: 2px 2px 4px #EEE; + -webkit-box-shadow: 2px 2px 4px #EEE; + box-shadow: 2px 2px 4px #EEE; +} + +table.docutils td, table.docutils th { + border: 1px solid #888; + padding: 0.25em 0.7em; +} + +table.field-list, table.footnote { + border: none; + -moz-box-shadow: none; + -webkit-box-shadow: none; + box-shadow: none; +} + +table.footnote { + margin: 15px 0; + width: 100%; + border: 1px solid #EEE; + background: #FDFDFD; + font-size: 0.9em; +} + +table.footnote + table.footnote { + margin-top: -15px; + border-top: none; +} + +table.field-list th { + padding: 0 0.8em 0 0; +} + +table.field-list td { + padding: 0; +} + +table.field-list p { + margin-bottom: 0.8em; +} + +/* Cloned from + * https://github.com/sphinx-doc/sphinx/commit/ef60dbfce09286b20b7385333d63a60321784e68 + */ +.field-name { + -moz-hyphens: manual; + -ms-hyphens: manual; + -webkit-hyphens: manual; + hyphens: manual; +} + +table.footnote td.label { + width: .1px; + padding: 0.3em 0 0.3em 0.5em; +} + +table.footnote td { + padding: 0.3em 0.5em; +} + +dl { + margin: 0; + padding: 0; +} + +dl dd { + margin-left: 30px; +} + +blockquote { + margin: 0 0 0 30px; + padding: 0; +} + +ul, ol { + /* Matches the 30px from the narrow-screen "li > ul" selector below */ + margin: 10px 0 10px 30px; + padding: 0; +} + +pre { + background: #EEE; + padding: 7px 30px; + margin: 15px 0px; + line-height: 1.3em; +} + +div.viewcode-block:target { + background: #ffd; +} + +dl pre, blockquote pre, li pre { + margin-left: 0; + padding-left: 30px; +} + +tt, code { + background-color: #ecf0f3; + color: #222; + /* padding: 1px 2px; */ +} + +tt.xref, code.xref, a tt { + background-color: #FBFBFB; + border-bottom: 1px solid #fff; +} + +a.reference { + text-decoration: none; + border-bottom: 1px dotted #006FFF; +} + +/* Don't put an underline on images */ +a.image-reference, a.image-reference:hover { + border-bottom: none; +} + +a.reference:hover { + border-bottom: 1px solid #05C1B3; +} + +a.footnote-reference { + text-decoration: none; + font-size: 0.7em; + vertical-align: top; + border-bottom: 1px dotted #006FFF; +} + +a.footnote-reference:hover { + border-bottom: 1px solid #05C1B3; +} + +a:hover tt, a:hover code { + background: #EEE; +} + + +@media screen and (max-width: 870px) { + + div.sphinxsidebar { + display: none; + } + + div.document { + width: 100%; + + } + + div.documentwrapper { + margin-left: 0; + margin-top: 0; + margin-right: 0; + margin-bottom: 0; + } + + div.bodywrapper { + margin-top: 0; + margin-right: 0; + margin-bottom: 0; + margin-left: 0; + } + + ul { + margin-left: 0; + } + + li > ul { + /* Matches the 30px from the "ul, ol" selector above */ + margin-left: 30px; + } + + .document { + width: auto; + } + + .footer { + width: auto; + } + + .bodywrapper { + margin: 0; + } + + .footer { + width: auto; + } + + .github { + display: none; + } + + + +} + + + +@media screen and (max-width: 875px) { + + body { + margin: 0; + padding: 20px 30px; + } + + div.documentwrapper { + float: none; + background: #fff; + } + + div.sphinxsidebar { + display: block; + float: none; + width: 102.5%; + margin: 50px -30px -20px -30px; + padding: 10px 20px; + background: #333; + color: #FFF; + } + + div.sphinxsidebar h3, div.sphinxsidebar h4, div.sphinxsidebar p, + div.sphinxsidebar h3 a { + color: #fff; + } + + div.sphinxsidebar a { + color: #AAA; + } + + div.sphinxsidebar p.logo { + display: none; + } + + div.document { + width: 100%; + margin: 0; + } + + div.footer { + display: none; + } + + div.bodywrapper { + margin: 0; + } + + div.body { + min-height: 0; + padding: 0; + } + + .rtd_doc_footer { + display: none; + } + + .document { + width: auto; + } + + .footer { + width: auto; + } + + .footer { + width: auto; + } + + .github { + display: none; + } +} + + +/* misc. */ + +.revsys-inline { + display: none!important; +} + +/* Make nested-list/multi-paragraph items look better in Releases changelog + * pages. Without this, docutils' magical list fuckery causes inconsistent + * formatting between different release sub-lists. + */ +div#changelog > div.section > ul > li > p:only-child { + margin-bottom: 0; +} + +/* Hide fugly table cell borders in ..bibliography:: directive output */ +table.docutils.citation, table.docutils.citation td, table.docutils.citation th { + border: none; + /* Below needed in some edge cases; if not applied, bottom shadows appear */ + -moz-box-shadow: none; + -webkit-box-shadow: none; + box-shadow: none; +} diff --git a/api/docs/dist/ot1/_static/banners.css b/api/docs/dist/ot1/_static/banners.css new file mode 100644 index 000000000000..b8d9ba333254 --- /dev/null +++ b/api/docs/dist/ot1/_static/banners.css @@ -0,0 +1,45 @@ +.banner_wrapper { + border: 1px solid #d8d8d8; + padding: 1rem; + margin-bottom: 1rem; + width: auto; +} + +.banner_wrapper a { + text-decoration: none; +} + +.banner_v1 { + display: flex; + justify-content: space-between; + align-items:center; +} + +@media only screen and (min-width: 1024px) { + .banner_wrapper { + width: 105%; + } +} + +#heading_2 { + color: black; + font-weight: 600; + font-size: 18px; + margin: 0 0 0.25rem; +} + +#heading_4 { + color: black; + font-size: 14px; + margin: 0; +} + +#heading_v2 { + color: black; + font-size: 24px; + margin: 0 0 0.25rem; +} + +.banner_list li { + margin: 0.25rem 0; +} diff --git a/api/docs/dist/ot1/_static/basic.css b/api/docs/dist/ot1/_static/basic.css new file mode 100644 index 000000000000..0b79414a16ad --- /dev/null +++ b/api/docs/dist/ot1/_static/basic.css @@ -0,0 +1,611 @@ +/* + * basic.css + * ~~~~~~~~~ + * + * Sphinx stylesheet -- basic theme. + * + * :copyright: Copyright 2007-2016 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/* -- main layout ----------------------------------------------------------- */ + +div.clearer { + clear: both; +} + +/* -- relbar ---------------------------------------------------------------- */ + +div.related { + width: 100%; + font-size: 90%; +} + +div.related h3 { + display: none; +} + +div.related ul { + margin: 0; + padding: 0 0 0 10px; + list-style: none; +} + +div.related li { + display: inline; +} + +div.related li.right { + float: right; + margin-right: 5px; +} + +/* -- sidebar --------------------------------------------------------------- */ + +div.sphinxsidebarwrapper { + padding: 10px 5px 0 10px; +} + +div.sphinxsidebar { + float: left; + width: 230px; + margin-left: -100%; + font-size: 90%; + word-wrap: break-word; + overflow-wrap : break-word; +} + +div.sphinxsidebar ul { + list-style: none; +} + +div.sphinxsidebar ul ul, +div.sphinxsidebar ul.want-points { + margin-left: 20px; + list-style: square; +} + +div.sphinxsidebar ul ul { + margin-top: 0; + margin-bottom: 0; +} + +div.sphinxsidebar form { + margin-top: 10px; +} + +div.sphinxsidebar input { + border: 1px solid #98dbcc; + font-family: sans-serif; + font-size: 1em; +} + +div.sphinxsidebar #searchbox input[type="text"] { + width: 170px; +} + +img { + border: 0; + max-width: 100%; +} + +/* -- search page ----------------------------------------------------------- */ + +ul.search { + margin: 10px 0 0 20px; + padding: 0; +} + +ul.search li { + padding: 5px 0 5px 20px; + background-image: url(file.png); + background-repeat: no-repeat; + background-position: 0 7px; +} + +ul.search li a { + font-weight: bold; +} + +ul.search li div.context { + color: #888; + margin: 2px 0 0 30px; + text-align: left; +} + +ul.keywordmatches li.goodmatch a { + font-weight: bold; +} + +/* -- index page ------------------------------------------------------------ */ + +table.contentstable { + width: 90%; +} + +table.contentstable p.biglink { + line-height: 150%; +} + +a.biglink { + font-size: 1.3em; +} + +span.linkdescr { + font-style: italic; + padding-top: 5px; + font-size: 90%; +} + +/* -- general index --------------------------------------------------------- */ + +table.indextable { + width: 100%; +} + +table.indextable td { + text-align: left; + vertical-align: top; +} + +table.indextable dl, table.indextable dd { + margin-top: 0; + margin-bottom: 0; +} + +table.indextable tr.pcap { + height: 10px; +} + +table.indextable tr.cap { + margin-top: 10px; + background-color: #f2f2f2; +} + +img.toggler { + margin-right: 3px; + margin-top: 3px; + cursor: pointer; +} + +div.modindex-jumpbox { + border-top: 1px solid #ddd; + border-bottom: 1px solid #ddd; + margin: 1em 0 1em 0; + padding: 0.4em; +} + +div.genindex-jumpbox { + border-top: 1px solid #ddd; + border-bottom: 1px solid #ddd; + margin: 1em 0 1em 0; + padding: 0.4em; +} + +/* -- general body styles --------------------------------------------------- */ + +div.body p, div.body dd, div.body li, div.body blockquote { + -moz-hyphens: auto; + -ms-hyphens: auto; + -webkit-hyphens: auto; + hyphens: auto; +} + +a.headerlink { + visibility: hidden; +} + +h1:hover > a.headerlink, +h2:hover > a.headerlink, +h3:hover > a.headerlink, +h4:hover > a.headerlink, +h5:hover > a.headerlink, +h6:hover > a.headerlink, +dt:hover > a.headerlink, +caption:hover > a.headerlink, +p.caption:hover > a.headerlink, +div.code-block-caption:hover > a.headerlink { + visibility: visible; +} + +div.body p.caption { + text-align: inherit; +} + +div.body td { + text-align: left; +} + +.field-list ul { + padding-left: 1em; +} + +.first { + margin-top: 0 !important; +} + +p.rubric { + margin-top: 30px; + font-weight: bold; +} + +img.align-left, .figure.align-left, object.align-left { + clear: left; + float: left; + margin-right: 1em; +} + +img.align-right, .figure.align-right, object.align-right { + clear: right; + float: right; + margin-left: 1em; +} + +img.align-center, .figure.align-center, object.align-center { + display: block; + margin-left: auto; + margin-right: auto; +} + +.align-left { + text-align: left; +} + +.align-center { + text-align: center; +} + +.align-right { + text-align: right; +} + +/* -- sidebars -------------------------------------------------------------- */ + +div.sidebar { + margin: 0 0 0.5em 1em; + border: 1px solid #ddb; + padding: 7px 7px 0 7px; + background-color: #ffe; + width: 40%; + float: right; +} + +p.sidebar-title { + font-weight: bold; +} + +/* -- topics ---------------------------------------------------------------- */ + +div.topic { + border: 1px solid #ccc; + padding: 7px 7px 0 7px; + margin: 10px 0 10px 0; +} + +p.topic-title { + font-size: 1.1em; + font-weight: bold; + margin-top: 10px; +} + +/* -- admonitions ----------------------------------------------------------- */ + +div.admonition { + margin-top: 10px; + margin-bottom: 10px; + padding: 7px; +} + +div.admonition dt { + font-weight: bold; +} + +div.admonition dl { + margin-bottom: 0; +} + +p.admonition-title { + margin: 0px 10px 5px 0px; + font-weight: bold; +} + +div.body p.centered { + text-align: center; + margin-top: 25px; +} + +/* -- tables ---------------------------------------------------------------- */ + +table.docutils { + border: 0; + border-collapse: collapse; +} + +table caption span.caption-number { + font-style: italic; +} + +table caption span.caption-text { +} + +table.docutils td, table.docutils th { + padding: 1px 8px 1px 5px; + border-top: 0; + border-left: 0; + border-right: 0; + border-bottom: 1px solid #aaa; +} + +table.field-list td, table.field-list th { + border: 0 !important; +} + +table.footnote td, table.footnote th { + border: 0 !important; +} + +th { + text-align: left; + padding-right: 5px; +} + +table.citation { + border-left: solid 1px gray; + margin-left: 1px; +} + +table.citation td { + border-bottom: none; +} + +/* -- figures --------------------------------------------------------------- */ + +div.figure { + margin: 0.5em; + padding: 0.5em; +} + +div.figure p.caption { + padding: 0.3em; +} + +div.figure p.caption span.caption-number { + font-style: italic; +} + +div.figure p.caption span.caption-text { +} + + +/* -- other body styles ----------------------------------------------------- */ + +ol.arabic { + list-style: decimal; +} + +ol.loweralpha { + list-style: lower-alpha; +} + +ol.upperalpha { + list-style: upper-alpha; +} + +ol.lowerroman { + list-style: lower-roman; +} + +ol.upperroman { + list-style: upper-roman; +} + +dl { + margin-bottom: 15px; +} + +dd p { + margin-top: 0px; +} + +dd ul, dd table { + margin-bottom: 10px; +} + +dd { + margin-top: 3px; + margin-bottom: 10px; + margin-left: 30px; +} + +dt:target, .highlighted { + background-color: #fbe54e; +} + +dl.glossary dt { + font-weight: bold; + font-size: 1.1em; +} + +.field-list ul { + margin: 0; + padding-left: 1em; +} + +.field-list p { + margin: 0; +} + +.optional { + font-size: 1.3em; +} + +.sig-paren { + font-size: larger; +} + +.versionmodified { + font-style: italic; +} + +.system-message { + background-color: #fda; + padding: 5px; + border: 3px solid red; +} + +.footnote:target { + background-color: #ffa; +} + +.line-block { + display: block; + margin-top: 1em; + margin-bottom: 1em; +} + +.line-block .line-block { + margin-top: 0; + margin-bottom: 0; + margin-left: 1.5em; +} + +.guilabel, .menuselection { + font-family: sans-serif; +} + +.accelerator { + text-decoration: underline; +} + +.classifier { + font-style: oblique; +} + +abbr, acronym { + border-bottom: dotted 1px; + cursor: help; +} + +/* -- code displays --------------------------------------------------------- */ + +pre { + overflow: auto; + overflow-y: hidden; /* fixes display issues on Chrome browsers */ +} + +span.pre { + -moz-hyphens: none; + -ms-hyphens: none; + -webkit-hyphens: none; + hyphens: none; +} + +td.linenos pre { + padding: 5px 0px; + border: 0; + background-color: transparent; + color: #aaa; +} + +table.highlighttable { + margin-left: 0.5em; +} + +table.highlighttable td { + padding: 0 0.5em 0 0.5em; +} + +div.code-block-caption { + padding: 2px 5px; + font-size: small; +} + +div.code-block-caption code { + background-color: transparent; +} + +div.code-block-caption + div > div.highlight > pre { + margin-top: 0; +} + +div.code-block-caption span.caption-number { + padding: 0.1em 0.3em; + font-style: italic; +} + +div.code-block-caption span.caption-text { +} + +div.literal-block-wrapper { + padding: 1em 1em 0; +} + +div.literal-block-wrapper div.highlight { + margin: 0; +} + +code.descname { + background-color: transparent; + font-weight: bold; + font-size: 1.2em; +} + +code.descclassname { + background-color: transparent; +} + +code.xref, a code { + background-color: transparent; + font-weight: bold; +} + +h1 code, h2 code, h3 code, h4 code, h5 code, h6 code { + background-color: transparent; +} + +.viewcode-link { + float: right; +} + +.viewcode-back { + float: right; + font-family: sans-serif; +} + +div.viewcode-block:target { + margin: -1px -10px; + padding: 0 10px; +} + +/* -- math display ---------------------------------------------------------- */ + +img.math { + vertical-align: middle; +} + +div.body div.math p { + text-align: center; +} + +span.eqno { + float: right; +} + +/* -- printout stylesheet --------------------------------------------------- */ + +@media print { + div.document, + div.documentwrapper, + div.bodywrapper { + margin: 0 !important; + width: 100%; + } + + div.sphinxsidebar, + div.related, + div.footer, + #top-link { + display: none; + } +} \ No newline at end of file diff --git a/api/docs/dist/ot1/_static/comment-bright.png b/api/docs/dist/ot1/_static/comment-bright.png new file mode 100644 index 000000000000..551517b8c83b Binary files /dev/null and b/api/docs/dist/ot1/_static/comment-bright.png differ diff --git a/api/docs/dist/ot1/_static/comment-close.png b/api/docs/dist/ot1/_static/comment-close.png new file mode 100644 index 000000000000..09b54be46da3 Binary files /dev/null and b/api/docs/dist/ot1/_static/comment-close.png differ diff --git a/api/docs/dist/ot1/_static/comment.png b/api/docs/dist/ot1/_static/comment.png new file mode 100644 index 000000000000..92feb52b8824 Binary files /dev/null and b/api/docs/dist/ot1/_static/comment.png differ diff --git a/api/docs/dist/ot1/_static/custom.css b/api/docs/dist/ot1/_static/custom.css new file mode 100644 index 000000000000..2a924f1d6a8b --- /dev/null +++ b/api/docs/dist/ot1/_static/custom.css @@ -0,0 +1 @@ +/* This file intentionally left blank. */ diff --git a/api/docs/dist/ot1/_static/doctools.js b/api/docs/dist/ot1/_static/doctools.js new file mode 100644 index 000000000000..816349563588 --- /dev/null +++ b/api/docs/dist/ot1/_static/doctools.js @@ -0,0 +1,287 @@ +/* + * doctools.js + * ~~~~~~~~~~~ + * + * Sphinx JavaScript utilities for all documentation. + * + * :copyright: Copyright 2007-2016 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/** + * select a different prefix for underscore + */ +$u = _.noConflict(); + +/** + * make the code below compatible with browsers without + * an installed firebug like debugger +if (!window.console || !console.firebug) { + var names = ["log", "debug", "info", "warn", "error", "assert", "dir", + "dirxml", "group", "groupEnd", "time", "timeEnd", "count", "trace", + "profile", "profileEnd"]; + window.console = {}; + for (var i = 0; i < names.length; ++i) + window.console[names[i]] = function() {}; +} + */ + +/** + * small helper function to urldecode strings + */ +jQuery.urldecode = function(x) { + return decodeURIComponent(x).replace(/\+/g, ' '); +}; + +/** + * small helper function to urlencode strings + */ +jQuery.urlencode = encodeURIComponent; + +/** + * This function returns the parsed url parameters of the + * current request. Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s == 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; + } + return result; +}; + +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node) { + if (node.nodeType == 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && !jQuery(node.parentNode).hasClass(className)) { + var span = document.createElement("span"); + span.className = className; + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this); + }); + } + } + return this.each(function() { + highlight(this); + }); +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} + +/** + * Small JavaScript module for the documentation. + */ +var Documentation = { + + init : function() { + this.fixFirefoxAnchorBug(); + this.highlightSearchWords(); + this.initIndexTable(); + + }, + + /** + * i18n support + */ + TRANSLATIONS : {}, + PLURAL_EXPR : function(n) { return n == 1 ? 0 : 1; }, + LOCALE : 'unknown', + + // gettext and ngettext don't access this so that the functions + // can safely bound to a different name (_ = Documentation.gettext) + gettext : function(string) { + var translated = Documentation.TRANSLATIONS[string]; + if (typeof translated == 'undefined') + return string; + return (typeof translated == 'string') ? translated : translated[0]; + }, + + ngettext : function(singular, plural, n) { + var translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated == 'undefined') + return (n == 1) ? singular : plural; + return translated[Documentation.PLURALEXPR(n)]; + }, + + addTranslations : function(catalog) { + for (var key in catalog.messages) + this.TRANSLATIONS[key] = catalog.messages[key]; + this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')'); + this.LOCALE = catalog.locale; + }, + + /** + * add context elements like header anchor links + */ + addContextElements : function() { + $('div[id] > :header:first').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this headline')). + appendTo(this); + }); + $('dt[id]').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this definition')). + appendTo(this); + }); + }, + + /** + * workaround a firefox stupidity + * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075 + */ + fixFirefoxAnchorBug : function() { + if (document.location.hash) + window.setTimeout(function() { + document.location.href += ''; + }, 10); + }, + + /** + * highlight the search words provided in the url in the text + */ + highlightSearchWords : function() { + var params = $.getQueryParameters(); + var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : []; + if (terms.length) { + var body = $('div.body'); + if (!body.length) { + body = $('body'); + } + window.setTimeout(function() { + $.each(terms, function() { + body.highlightText(this.toLowerCase(), 'highlighted'); + }); + }, 10); + $('

' + _('Hide Search Matches') + '

') + .appendTo($('#searchbox')); + } + }, + + /** + * init the domain index toggle buttons + */ + initIndexTable : function() { + var togglers = $('img.toggler').click(function() { + var src = $(this).attr('src'); + var idnum = $(this).attr('id').substr(7); + $('tr.cg-' + idnum).toggle(); + if (src.substr(-9) == 'minus.png') + $(this).attr('src', src.substr(0, src.length-9) + 'plus.png'); + else + $(this).attr('src', src.substr(0, src.length-8) + 'minus.png'); + }).css('display', ''); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) { + togglers.click(); + } + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords : function() { + $('#searchbox .highlight-link').fadeOut(300); + $('span.highlighted').removeClass('highlighted'); + }, + + /** + * make the url absolute + */ + makeURL : function(relativeURL) { + return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL; + }, + + /** + * get the current relative url + */ + getCurrentURL : function() { + var path = document.location.pathname; + var parts = path.split(/\//); + $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() { + if (this == '..') + parts.pop(); + }); + var url = parts.join('/'); + return path.substring(url.lastIndexOf('/') + 1, path.length - 1); + }, + + initOnKeyListeners: function() { + $(document).keyup(function(event) { + var activeElementType = document.activeElement.tagName; + // don't navigate when in search box or textarea + if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT') { + switch (event.keyCode) { + case 37: // left + var prevHref = $('link[rel="prev"]').prop('href'); + if (prevHref) { + window.location.href = prevHref; + return false; + } + case 39: // right + var nextHref = $('link[rel="next"]').prop('href'); + if (nextHref) { + window.location.href = nextHref; + return false; + } + } + } + }); + } +}; + +// quick alias for translations +_ = Documentation.gettext; + +$(document).ready(function() { + Documentation.init(); +}); \ No newline at end of file diff --git a/api/docs/dist/ot1/_static/down-pressed.png b/api/docs/dist/ot1/_static/down-pressed.png new file mode 100644 index 000000000000..7c30d004b71b Binary files /dev/null and b/api/docs/dist/ot1/_static/down-pressed.png differ diff --git a/api/docs/dist/ot1/_static/down.png b/api/docs/dist/ot1/_static/down.png new file mode 100644 index 000000000000..f48098a43b0c Binary files /dev/null and b/api/docs/dist/ot1/_static/down.png differ diff --git a/api/docs/dist/ot1/_static/file.png b/api/docs/dist/ot1/_static/file.png new file mode 100644 index 000000000000..254c60bfbe27 Binary files /dev/null and b/api/docs/dist/ot1/_static/file.png differ diff --git a/api/docs/dist/ot1/_static/jquery-1.11.1.js b/api/docs/dist/ot1/_static/jquery-1.11.1.js new file mode 100644 index 000000000000..d4b67f7e6c1a --- /dev/null +++ b/api/docs/dist/ot1/_static/jquery-1.11.1.js @@ -0,0 +1,10308 @@ +/*! + * jQuery JavaScript Library v1.11.1 + * http://jquery.com/ + * + * Includes Sizzle.js + * http://sizzlejs.com/ + * + * Copyright 2005, 2014 jQuery Foundation, Inc. and other contributors + * Released under the MIT license + * http://jquery.org/license + * + * Date: 2014-05-01T17:42Z + */ + +(function( global, factory ) { + + if ( typeof module === "object" && typeof module.exports === "object" ) { + // For CommonJS and CommonJS-like environments where a proper window is present, + // execute the factory and get jQuery + // For environments that do not inherently posses a window with a document + // (such as Node.js), expose a jQuery-making factory as module.exports + // This accentuates the need for the creation of a real window + // e.g. var jQuery = require("jquery")(window); + // See ticket #14549 for more info + module.exports = global.document ? + factory( global, true ) : + function( w ) { + if ( !w.document ) { + throw new Error( "jQuery requires a window with a document" ); + } + return factory( w ); + }; + } else { + factory( global ); + } + +// Pass this if window is not defined yet +}(typeof window !== "undefined" ? window : this, function( window, noGlobal ) { + +// Can't do this because several apps including ASP.NET trace +// the stack via arguments.caller.callee and Firefox dies if +// you try to trace through "use strict" call chains. (#13335) +// Support: Firefox 18+ +// + +var deletedIds = []; + +var slice = deletedIds.slice; + +var concat = deletedIds.concat; + +var push = deletedIds.push; + +var indexOf = deletedIds.indexOf; + +var class2type = {}; + +var toString = class2type.toString; + +var hasOwn = class2type.hasOwnProperty; + +var support = {}; + + + +var + version = "1.11.1", + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + // The jQuery object is actually just the init constructor 'enhanced' + // Need init if jQuery is called (just allow error to be thrown if not included) + return new jQuery.fn.init( selector, context ); + }, + + // Support: Android<4.1, IE<9 + // Make sure we trim BOM and NBSP + rtrim = /^[\s\uFEFF\xA0]+|[\s\uFEFF\xA0]+$/g, + + // Matches dashed string for camelizing + rmsPrefix = /^-ms-/, + rdashAlpha = /-([\da-z])/gi, + + // Used by jQuery.camelCase as callback to replace() + fcamelCase = function( all, letter ) { + return letter.toUpperCase(); + }; + +jQuery.fn = jQuery.prototype = { + // The current version of jQuery being used + jquery: version, + + constructor: jQuery, + + // Start with an empty selector + selector: "", + + // The default length of a jQuery object is 0 + length: 0, + + toArray: function() { + return slice.call( this ); + }, + + // Get the Nth element in the matched element set OR + // Get the whole matched element set as a clean array + get: function( num ) { + return num != null ? + + // Return just the one element from the set + ( num < 0 ? this[ num + this.length ] : this[ num ] ) : + + // Return all the elements in a clean array + slice.call( this ); + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + ret.context = this.context; + + // Return the newly-formed element set + return ret; + }, + + // Execute a callback for every element in the matched set. + // (You can seed the arguments with an array of args, but this is + // only used internally.) + each: function( callback, args ) { + return jQuery.each( this, callback, args ); + }, + + map: function( callback ) { + return this.pushStack( jQuery.map(this, function( elem, i ) { + return callback.call( elem, i, elem ); + })); + }, + + slice: function() { + return this.pushStack( slice.apply( this, arguments ) ); + }, + + first: function() { + return this.eq( 0 ); + }, + + last: function() { + return this.eq( -1 ); + }, + + eq: function( i ) { + var len = this.length, + j = +i + ( i < 0 ? len : 0 ); + return this.pushStack( j >= 0 && j < len ? [ this[j] ] : [] ); + }, + + end: function() { + return this.prevObject || this.constructor(null); + }, + + // For internal use only. + // Behaves like an Array's method, not like a jQuery method. + push: push, + sort: deletedIds.sort, + splice: deletedIds.splice +}; + +jQuery.extend = jQuery.fn.extend = function() { + var src, copyIsArray, copy, name, options, clone, + target = arguments[0] || {}, + i = 1, + length = arguments.length, + deep = false; + + // Handle a deep copy situation + if ( typeof target === "boolean" ) { + deep = target; + + // skip the boolean and the target + target = arguments[ i ] || {}; + i++; + } + + // Handle case when target is a string or something (possible in deep copy) + if ( typeof target !== "object" && !jQuery.isFunction(target) ) { + target = {}; + } + + // extend jQuery itself if only one argument is passed + if ( i === length ) { + target = this; + i--; + } + + for ( ; i < length; i++ ) { + // Only deal with non-null/undefined values + if ( (options = arguments[ i ]) != null ) { + // Extend the base object + for ( name in options ) { + src = target[ name ]; + copy = options[ name ]; + + // Prevent never-ending loop + if ( target === copy ) { + continue; + } + + // Recurse if we're merging plain objects or arrays + if ( deep && copy && ( jQuery.isPlainObject(copy) || (copyIsArray = jQuery.isArray(copy)) ) ) { + if ( copyIsArray ) { + copyIsArray = false; + clone = src && jQuery.isArray(src) ? src : []; + + } else { + clone = src && jQuery.isPlainObject(src) ? src : {}; + } + + // Never move original objects, clone them + target[ name ] = jQuery.extend( deep, clone, copy ); + + // Don't bring in undefined values + } else if ( copy !== undefined ) { + target[ name ] = copy; + } + } + } + } + + // Return the modified object + return target; +}; + +jQuery.extend({ + // Unique for each copy of jQuery on the page + expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ), + + // Assume jQuery is ready without the ready module + isReady: true, + + error: function( msg ) { + throw new Error( msg ); + }, + + noop: function() {}, + + // See test/unit/core.js for details concerning isFunction. + // Since version 1.3, DOM methods and functions like alert + // aren't supported. They return false on IE (#2968). + isFunction: function( obj ) { + return jQuery.type(obj) === "function"; + }, + + isArray: Array.isArray || function( obj ) { + return jQuery.type(obj) === "array"; + }, + + isWindow: function( obj ) { + /* jshint eqeqeq: false */ + return obj != null && obj == obj.window; + }, + + isNumeric: function( obj ) { + // parseFloat NaNs numeric-cast false positives (null|true|false|"") + // ...but misinterprets leading-number strings, particularly hex literals ("0x...") + // subtraction forces infinities to NaN + return !jQuery.isArray( obj ) && obj - parseFloat( obj ) >= 0; + }, + + isEmptyObject: function( obj ) { + var name; + for ( name in obj ) { + return false; + } + return true; + }, + + isPlainObject: function( obj ) { + var key; + + // Must be an Object. + // Because of IE, we also have to check the presence of the constructor property. + // Make sure that DOM nodes and window objects don't pass through, as well + if ( !obj || jQuery.type(obj) !== "object" || obj.nodeType || jQuery.isWindow( obj ) ) { + return false; + } + + try { + // Not own constructor property must be Object + if ( obj.constructor && + !hasOwn.call(obj, "constructor") && + !hasOwn.call(obj.constructor.prototype, "isPrototypeOf") ) { + return false; + } + } catch ( e ) { + // IE8,9 Will throw exceptions on certain host objects #9897 + return false; + } + + // Support: IE<9 + // Handle iteration over inherited properties before own properties. + if ( support.ownLast ) { + for ( key in obj ) { + return hasOwn.call( obj, key ); + } + } + + // Own properties are enumerated firstly, so to speed up, + // if last one is own, then all properties are own. + for ( key in obj ) {} + + return key === undefined || hasOwn.call( obj, key ); + }, + + type: function( obj ) { + if ( obj == null ) { + return obj + ""; + } + return typeof obj === "object" || typeof obj === "function" ? + class2type[ toString.call(obj) ] || "object" : + typeof obj; + }, + + // Evaluates a script in a global context + // Workarounds based on findings by Jim Driscoll + // http://weblogs.java.net/blog/driscoll/archive/2009/09/08/eval-javascript-global-context + globalEval: function( data ) { + if ( data && jQuery.trim( data ) ) { + // We use execScript on Internet Explorer + // We use an anonymous function so that context is window + // rather than jQuery in Firefox + ( window.execScript || function( data ) { + window[ "eval" ].call( window, data ); + } )( data ); + } + }, + + // Convert dashed to camelCase; used by the css and data modules + // Microsoft forgot to hump their vendor prefix (#9572) + camelCase: function( string ) { + return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); + }, + + nodeName: function( elem, name ) { + return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); + }, + + // args is for internal usage only + each: function( obj, callback, args ) { + var value, + i = 0, + length = obj.length, + isArray = isArraylike( obj ); + + if ( args ) { + if ( isArray ) { + for ( ; i < length; i++ ) { + value = callback.apply( obj[ i ], args ); + + if ( value === false ) { + break; + } + } + } else { + for ( i in obj ) { + value = callback.apply( obj[ i ], args ); + + if ( value === false ) { + break; + } + } + } + + // A special, fast, case for the most common use of each + } else { + if ( isArray ) { + for ( ; i < length; i++ ) { + value = callback.call( obj[ i ], i, obj[ i ] ); + + if ( value === false ) { + break; + } + } + } else { + for ( i in obj ) { + value = callback.call( obj[ i ], i, obj[ i ] ); + + if ( value === false ) { + break; + } + } + } + } + + return obj; + }, + + // Support: Android<4.1, IE<9 + trim: function( text ) { + return text == null ? + "" : + ( text + "" ).replace( rtrim, "" ); + }, + + // results is for internal usage only + makeArray: function( arr, results ) { + var ret = results || []; + + if ( arr != null ) { + if ( isArraylike( Object(arr) ) ) { + jQuery.merge( ret, + typeof arr === "string" ? + [ arr ] : arr + ); + } else { + push.call( ret, arr ); + } + } + + return ret; + }, + + inArray: function( elem, arr, i ) { + var len; + + if ( arr ) { + if ( indexOf ) { + return indexOf.call( arr, elem, i ); + } + + len = arr.length; + i = i ? i < 0 ? Math.max( 0, len + i ) : i : 0; + + for ( ; i < len; i++ ) { + // Skip accessing in sparse arrays + if ( i in arr && arr[ i ] === elem ) { + return i; + } + } + } + + return -1; + }, + + merge: function( first, second ) { + var len = +second.length, + j = 0, + i = first.length; + + while ( j < len ) { + first[ i++ ] = second[ j++ ]; + } + + // Support: IE<9 + // Workaround casting of .length to NaN on otherwise arraylike objects (e.g., NodeLists) + if ( len !== len ) { + while ( second[j] !== undefined ) { + first[ i++ ] = second[ j++ ]; + } + } + + first.length = i; + + return first; + }, + + grep: function( elems, callback, invert ) { + var callbackInverse, + matches = [], + i = 0, + length = elems.length, + callbackExpect = !invert; + + // Go through the array, only saving the items + // that pass the validator function + for ( ; i < length; i++ ) { + callbackInverse = !callback( elems[ i ], i ); + if ( callbackInverse !== callbackExpect ) { + matches.push( elems[ i ] ); + } + } + + return matches; + }, + + // arg is for internal usage only + map: function( elems, callback, arg ) { + var value, + i = 0, + length = elems.length, + isArray = isArraylike( elems ), + ret = []; + + // Go through the array, translating each of the items to their new values + if ( isArray ) { + for ( ; i < length; i++ ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + + // Go through every key on the object, + } else { + for ( i in elems ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + } + + // Flatten any nested arrays + return concat.apply( [], ret ); + }, + + // A global GUID counter for objects + guid: 1, + + // Bind a function to a context, optionally partially applying any + // arguments. + proxy: function( fn, context ) { + var args, proxy, tmp; + + if ( typeof context === "string" ) { + tmp = fn[ context ]; + context = fn; + fn = tmp; + } + + // Quick check to determine if target is callable, in the spec + // this throws a TypeError, but we will just return undefined. + if ( !jQuery.isFunction( fn ) ) { + return undefined; + } + + // Simulated bind + args = slice.call( arguments, 2 ); + proxy = function() { + return fn.apply( context || this, args.concat( slice.call( arguments ) ) ); + }; + + // Set the guid of unique handler to the same of original handler, so it can be removed + proxy.guid = fn.guid = fn.guid || jQuery.guid++; + + return proxy; + }, + + now: function() { + return +( new Date() ); + }, + + // jQuery.support is not used in Core but other projects attach their + // properties to it so it needs to exist. + support: support +}); + +// Populate the class2type map +jQuery.each("Boolean Number String Function Array Date RegExp Object Error".split(" "), function(i, name) { + class2type[ "[object " + name + "]" ] = name.toLowerCase(); +}); + +function isArraylike( obj ) { + var length = obj.length, + type = jQuery.type( obj ); + + if ( type === "function" || jQuery.isWindow( obj ) ) { + return false; + } + + if ( obj.nodeType === 1 && length ) { + return true; + } + + return type === "array" || length === 0 || + typeof length === "number" && length > 0 && ( length - 1 ) in obj; +} +var Sizzle = +/*! + * Sizzle CSS Selector Engine v1.10.19 + * http://sizzlejs.com/ + * + * Copyright 2013 jQuery Foundation, Inc. and other contributors + * Released under the MIT license + * http://jquery.org/license + * + * Date: 2014-04-18 + */ +(function( window ) { + +var i, + support, + Expr, + getText, + isXML, + tokenize, + compile, + select, + outermostContext, + sortInput, + hasDuplicate, + + // Local document vars + setDocument, + document, + docElem, + documentIsHTML, + rbuggyQSA, + rbuggyMatches, + matches, + contains, + + // Instance-specific data + expando = "sizzle" + -(new Date()), + preferredDoc = window.document, + dirruns = 0, + done = 0, + classCache = createCache(), + tokenCache = createCache(), + compilerCache = createCache(), + sortOrder = function( a, b ) { + if ( a === b ) { + hasDuplicate = true; + } + return 0; + }, + + // General-purpose constants + strundefined = typeof undefined, + MAX_NEGATIVE = 1 << 31, + + // Instance methods + hasOwn = ({}).hasOwnProperty, + arr = [], + pop = arr.pop, + push_native = arr.push, + push = arr.push, + slice = arr.slice, + // Use a stripped-down indexOf if we can't use a native one + indexOf = arr.indexOf || function( elem ) { + var i = 0, + len = this.length; + for ( ; i < len; i++ ) { + if ( this[i] === elem ) { + return i; + } + } + return -1; + }, + + booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|ismap|loop|multiple|open|readonly|required|scoped", + + // Regular expressions + + // Whitespace characters http://www.w3.org/TR/css3-selectors/#whitespace + whitespace = "[\\x20\\t\\r\\n\\f]", + // http://www.w3.org/TR/css3-syntax/#characters + characterEncoding = "(?:\\\\.|[\\w-]|[^\\x00-\\xa0])+", + + // Loosely modeled on CSS identifier characters + // An unquoted value should be a CSS identifier http://www.w3.org/TR/css3-selectors/#attribute-selectors + // Proper syntax: http://www.w3.org/TR/CSS21/syndata.html#value-def-identifier + identifier = characterEncoding.replace( "w", "w#" ), + + // Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors + attributes = "\\[" + whitespace + "*(" + characterEncoding + ")(?:" + whitespace + + // Operator (capture 2) + "*([*^$|!~]?=)" + whitespace + + // "Attribute values must be CSS identifiers [capture 5] or strings [capture 3 or capture 4]" + "*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" + whitespace + + "*\\]", + + pseudos = ":(" + characterEncoding + ")(?:\\((" + + // To reduce the number of selectors needing tokenize in the preFilter, prefer arguments: + // 1. quoted (capture 3; capture 4 or capture 5) + "('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" + + // 2. simple (capture 6) + "((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" + + // 3. anything else (capture 2) + ".*" + + ")\\)|)", + + // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter + rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + whitespace + "+$", "g" ), + + rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), + rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace + "*" ), + + rattributeQuotes = new RegExp( "=" + whitespace + "*([^\\]'\"]*?)" + whitespace + "*\\]", "g" ), + + rpseudo = new RegExp( pseudos ), + ridentifier = new RegExp( "^" + identifier + "$" ), + + matchExpr = { + "ID": new RegExp( "^#(" + characterEncoding + ")" ), + "CLASS": new RegExp( "^\\.(" + characterEncoding + ")" ), + "TAG": new RegExp( "^(" + characterEncoding.replace( "w", "w*" ) + ")" ), + "ATTR": new RegExp( "^" + attributes ), + "PSEUDO": new RegExp( "^" + pseudos ), + "CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" + whitespace + + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + whitespace + + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), + "bool": new RegExp( "^(?:" + booleans + ")$", "i" ), + // For use in libraries implementing .is() + // We use this for POS matching in `select` + "needsContext": new RegExp( "^" + whitespace + "*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + + whitespace + "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" ) + }, + + rinputs = /^(?:input|select|textarea|button)$/i, + rheader = /^h\d$/i, + + rnative = /^[^{]+\{\s*\[native \w/, + + // Easily-parseable/retrievable ID or TAG or CLASS selectors + rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/, + + rsibling = /[+~]/, + rescape = /'|\\/g, + + // CSS escapes http://www.w3.org/TR/CSS21/syndata.html#escaped-characters + runescape = new RegExp( "\\\\([\\da-f]{1,6}" + whitespace + "?|(" + whitespace + ")|.)", "ig" ), + funescape = function( _, escaped, escapedWhitespace ) { + var high = "0x" + escaped - 0x10000; + // NaN means non-codepoint + // Support: Firefox<24 + // Workaround erroneous numeric interpretation of +"0x" + return high !== high || escapedWhitespace ? + escaped : + high < 0 ? + // BMP codepoint + String.fromCharCode( high + 0x10000 ) : + // Supplemental Plane codepoint (surrogate pair) + String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 ); + }; + +// Optimize for push.apply( _, NodeList ) +try { + push.apply( + (arr = slice.call( preferredDoc.childNodes )), + preferredDoc.childNodes + ); + // Support: Android<4.0 + // Detect silently failing push.apply + arr[ preferredDoc.childNodes.length ].nodeType; +} catch ( e ) { + push = { apply: arr.length ? + + // Leverage slice if possible + function( target, els ) { + push_native.apply( target, slice.call(els) ); + } : + + // Support: IE<9 + // Otherwise append directly + function( target, els ) { + var j = target.length, + i = 0; + // Can't trust NodeList.length + while ( (target[j++] = els[i++]) ) {} + target.length = j - 1; + } + }; +} + +function Sizzle( selector, context, results, seed ) { + var match, elem, m, nodeType, + // QSA vars + i, groups, old, nid, newContext, newSelector; + + if ( ( context ? context.ownerDocument || context : preferredDoc ) !== document ) { + setDocument( context ); + } + + context = context || document; + results = results || []; + + if ( !selector || typeof selector !== "string" ) { + return results; + } + + if ( (nodeType = context.nodeType) !== 1 && nodeType !== 9 ) { + return []; + } + + if ( documentIsHTML && !seed ) { + + // Shortcuts + if ( (match = rquickExpr.exec( selector )) ) { + // Speed-up: Sizzle("#ID") + if ( (m = match[1]) ) { + if ( nodeType === 9 ) { + elem = context.getElementById( m ); + // Check parentNode to catch when Blackberry 4.6 returns + // nodes that are no longer in the document (jQuery #6963) + if ( elem && elem.parentNode ) { + // Handle the case where IE, Opera, and Webkit return items + // by name instead of ID + if ( elem.id === m ) { + results.push( elem ); + return results; + } + } else { + return results; + } + } else { + // Context is not a document + if ( context.ownerDocument && (elem = context.ownerDocument.getElementById( m )) && + contains( context, elem ) && elem.id === m ) { + results.push( elem ); + return results; + } + } + + // Speed-up: Sizzle("TAG") + } else if ( match[2] ) { + push.apply( results, context.getElementsByTagName( selector ) ); + return results; + + // Speed-up: Sizzle(".CLASS") + } else if ( (m = match[3]) && support.getElementsByClassName && context.getElementsByClassName ) { + push.apply( results, context.getElementsByClassName( m ) ); + return results; + } + } + + // QSA path + if ( support.qsa && (!rbuggyQSA || !rbuggyQSA.test( selector )) ) { + nid = old = expando; + newContext = context; + newSelector = nodeType === 9 && selector; + + // qSA works strangely on Element-rooted queries + // We can work around this by specifying an extra ID on the root + // and working up from there (Thanks to Andrew Dupont for the technique) + // IE 8 doesn't work on object elements + if ( nodeType === 1 && context.nodeName.toLowerCase() !== "object" ) { + groups = tokenize( selector ); + + if ( (old = context.getAttribute("id")) ) { + nid = old.replace( rescape, "\\$&" ); + } else { + context.setAttribute( "id", nid ); + } + nid = "[id='" + nid + "'] "; + + i = groups.length; + while ( i-- ) { + groups[i] = nid + toSelector( groups[i] ); + } + newContext = rsibling.test( selector ) && testContext( context.parentNode ) || context; + newSelector = groups.join(","); + } + + if ( newSelector ) { + try { + push.apply( results, + newContext.querySelectorAll( newSelector ) + ); + return results; + } catch(qsaError) { + } finally { + if ( !old ) { + context.removeAttribute("id"); + } + } + } + } + } + + // All others + return select( selector.replace( rtrim, "$1" ), context, results, seed ); +} + +/** + * Create key-value caches of limited size + * @returns {Function(string, Object)} Returns the Object data after storing it on itself with + * property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength) + * deleting the oldest entry + */ +function createCache() { + var keys = []; + + function cache( key, value ) { + // Use (key + " ") to avoid collision with native prototype properties (see Issue #157) + if ( keys.push( key + " " ) > Expr.cacheLength ) { + // Only keep the most recent entries + delete cache[ keys.shift() ]; + } + return (cache[ key + " " ] = value); + } + return cache; +} + +/** + * Mark a function for special use by Sizzle + * @param {Function} fn The function to mark + */ +function markFunction( fn ) { + fn[ expando ] = true; + return fn; +} + +/** + * Support testing using an element + * @param {Function} fn Passed the created div and expects a boolean result + */ +function assert( fn ) { + var div = document.createElement("div"); + + try { + return !!fn( div ); + } catch (e) { + return false; + } finally { + // Remove from its parent by default + if ( div.parentNode ) { + div.parentNode.removeChild( div ); + } + // release memory in IE + div = null; + } +} + +/** + * Adds the same handler for all of the specified attrs + * @param {String} attrs Pipe-separated list of attributes + * @param {Function} handler The method that will be applied + */ +function addHandle( attrs, handler ) { + var arr = attrs.split("|"), + i = attrs.length; + + while ( i-- ) { + Expr.attrHandle[ arr[i] ] = handler; + } +} + +/** + * Checks document order of two siblings + * @param {Element} a + * @param {Element} b + * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b + */ +function siblingCheck( a, b ) { + var cur = b && a, + diff = cur && a.nodeType === 1 && b.nodeType === 1 && + ( ~b.sourceIndex || MAX_NEGATIVE ) - + ( ~a.sourceIndex || MAX_NEGATIVE ); + + // Use IE sourceIndex if available on both nodes + if ( diff ) { + return diff; + } + + // Check if b follows a + if ( cur ) { + while ( (cur = cur.nextSibling) ) { + if ( cur === b ) { + return -1; + } + } + } + + return a ? 1 : -1; +} + +/** + * Returns a function to use in pseudos for input types + * @param {String} type + */ +function createInputPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for buttons + * @param {String} type + */ +function createButtonPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return (name === "input" || name === "button") && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for positionals + * @param {Function} fn + */ +function createPositionalPseudo( fn ) { + return markFunction(function( argument ) { + argument = +argument; + return markFunction(function( seed, matches ) { + var j, + matchIndexes = fn( [], seed.length, argument ), + i = matchIndexes.length; + + // Match elements found at the specified indexes + while ( i-- ) { + if ( seed[ (j = matchIndexes[i]) ] ) { + seed[j] = !(matches[j] = seed[j]); + } + } + }); + }); +} + +/** + * Checks a node for validity as a Sizzle context + * @param {Element|Object=} context + * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value + */ +function testContext( context ) { + return context && typeof context.getElementsByTagName !== strundefined && context; +} + +// Expose support vars for convenience +support = Sizzle.support = {}; + +/** + * Detects XML nodes + * @param {Element|Object} elem An element or a document + * @returns {Boolean} True iff elem is a non-HTML XML node + */ +isXML = Sizzle.isXML = function( elem ) { + // documentElement is verified for cases where it doesn't yet exist + // (such as loading iframes in IE - #4833) + var documentElement = elem && (elem.ownerDocument || elem).documentElement; + return documentElement ? documentElement.nodeName !== "HTML" : false; +}; + +/** + * Sets document-related variables once based on the current document + * @param {Element|Object} [doc] An element or document object to use to set the document + * @returns {Object} Returns the current document + */ +setDocument = Sizzle.setDocument = function( node ) { + var hasCompare, + doc = node ? node.ownerDocument || node : preferredDoc, + parent = doc.defaultView; + + // If no document and documentElement is available, return + if ( doc === document || doc.nodeType !== 9 || !doc.documentElement ) { + return document; + } + + // Set our document + document = doc; + docElem = doc.documentElement; + + // Support tests + documentIsHTML = !isXML( doc ); + + // Support: IE>8 + // If iframe document is assigned to "document" variable and if iframe has been reloaded, + // IE will throw "permission denied" error when accessing "document" variable, see jQuery #13936 + // IE6-8 do not support the defaultView property so parent will be undefined + if ( parent && parent !== parent.top ) { + // IE11 does not have attachEvent, so all must suffer + if ( parent.addEventListener ) { + parent.addEventListener( "unload", function() { + setDocument(); + }, false ); + } else if ( parent.attachEvent ) { + parent.attachEvent( "onunload", function() { + setDocument(); + }); + } + } + + /* Attributes + ---------------------------------------------------------------------- */ + + // Support: IE<8 + // Verify that getAttribute really returns attributes and not properties (excepting IE8 booleans) + support.attributes = assert(function( div ) { + div.className = "i"; + return !div.getAttribute("className"); + }); + + /* getElement(s)By* + ---------------------------------------------------------------------- */ + + // Check if getElementsByTagName("*") returns only elements + support.getElementsByTagName = assert(function( div ) { + div.appendChild( doc.createComment("") ); + return !div.getElementsByTagName("*").length; + }); + + // Check if getElementsByClassName can be trusted + support.getElementsByClassName = rnative.test( doc.getElementsByClassName ) && assert(function( div ) { + div.innerHTML = "
"; + + // Support: Safari<4 + // Catch class over-caching + div.firstChild.className = "i"; + // Support: Opera<10 + // Catch gEBCN failure to find non-leading classes + return div.getElementsByClassName("i").length === 2; + }); + + // Support: IE<10 + // Check if getElementById returns elements by name + // The broken getElementById methods don't pick up programatically-set names, + // so use a roundabout getElementsByName test + support.getById = assert(function( div ) { + docElem.appendChild( div ).id = expando; + return !doc.getElementsByName || !doc.getElementsByName( expando ).length; + }); + + // ID find and filter + if ( support.getById ) { + Expr.find["ID"] = function( id, context ) { + if ( typeof context.getElementById !== strundefined && documentIsHTML ) { + var m = context.getElementById( id ); + // Check parentNode to catch when Blackberry 4.6 returns + // nodes that are no longer in the document #6963 + return m && m.parentNode ? [ m ] : []; + } + }; + Expr.filter["ID"] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + return elem.getAttribute("id") === attrId; + }; + }; + } else { + // Support: IE6/7 + // getElementById is not reliable as a find shortcut + delete Expr.find["ID"]; + + Expr.filter["ID"] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + var node = typeof elem.getAttributeNode !== strundefined && elem.getAttributeNode("id"); + return node && node.value === attrId; + }; + }; + } + + // Tag + Expr.find["TAG"] = support.getElementsByTagName ? + function( tag, context ) { + if ( typeof context.getElementsByTagName !== strundefined ) { + return context.getElementsByTagName( tag ); + } + } : + function( tag, context ) { + var elem, + tmp = [], + i = 0, + results = context.getElementsByTagName( tag ); + + // Filter out possible comments + if ( tag === "*" ) { + while ( (elem = results[i++]) ) { + if ( elem.nodeType === 1 ) { + tmp.push( elem ); + } + } + + return tmp; + } + return results; + }; + + // Class + Expr.find["CLASS"] = support.getElementsByClassName && function( className, context ) { + if ( typeof context.getElementsByClassName !== strundefined && documentIsHTML ) { + return context.getElementsByClassName( className ); + } + }; + + /* QSA/matchesSelector + ---------------------------------------------------------------------- */ + + // QSA and matchesSelector support + + // matchesSelector(:active) reports false when true (IE9/Opera 11.5) + rbuggyMatches = []; + + // qSa(:focus) reports false when true (Chrome 21) + // We allow this because of a bug in IE8/9 that throws an error + // whenever `document.activeElement` is accessed on an iframe + // So, we allow :focus to pass through QSA all the time to avoid the IE error + // See http://bugs.jquery.com/ticket/13378 + rbuggyQSA = []; + + if ( (support.qsa = rnative.test( doc.querySelectorAll )) ) { + // Build QSA regex + // Regex strategy adopted from Diego Perini + assert(function( div ) { + // Select is set to empty string on purpose + // This is to test IE's treatment of not explicitly + // setting a boolean content attribute, + // since its presence should be enough + // http://bugs.jquery.com/ticket/12359 + div.innerHTML = ""; + + // Support: IE8, Opera 11-12.16 + // Nothing should be selected when empty strings follow ^= or $= or *= + // The test attribute must be unknown in Opera but "safe" for WinRT + // http://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section + if ( div.querySelectorAll("[msallowclip^='']").length ) { + rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" ); + } + + // Support: IE8 + // Boolean attributes and "value" are not treated correctly + if ( !div.querySelectorAll("[selected]").length ) { + rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" ); + } + + // Webkit/Opera - :checked should return selected option elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + // IE8 throws error here and will not see later tests + if ( !div.querySelectorAll(":checked").length ) { + rbuggyQSA.push(":checked"); + } + }); + + assert(function( div ) { + // Support: Windows 8 Native Apps + // The type and name attributes are restricted during .innerHTML assignment + var input = doc.createElement("input"); + input.setAttribute( "type", "hidden" ); + div.appendChild( input ).setAttribute( "name", "D" ); + + // Support: IE8 + // Enforce case-sensitivity of name attribute + if ( div.querySelectorAll("[name=d]").length ) { + rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" ); + } + + // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) + // IE8 throws error here and will not see later tests + if ( !div.querySelectorAll(":enabled").length ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Opera 10-11 does not throw on post-comma invalid pseudos + div.querySelectorAll("*,:x"); + rbuggyQSA.push(",.*:"); + }); + } + + if ( (support.matchesSelector = rnative.test( (matches = docElem.matches || + docElem.webkitMatchesSelector || + docElem.mozMatchesSelector || + docElem.oMatchesSelector || + docElem.msMatchesSelector) )) ) { + + assert(function( div ) { + // Check to see if it's possible to do matchesSelector + // on a disconnected node (IE 9) + support.disconnectedMatch = matches.call( div, "div" ); + + // This should fail with an exception + // Gecko does not error, returns false instead + matches.call( div, "[s!='']:x" ); + rbuggyMatches.push( "!=", pseudos ); + }); + } + + rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join("|") ); + rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join("|") ); + + /* Contains + ---------------------------------------------------------------------- */ + hasCompare = rnative.test( docElem.compareDocumentPosition ); + + // Element contains another + // Purposefully does not implement inclusive descendent + // As in, an element does not contain itself + contains = hasCompare || rnative.test( docElem.contains ) ? + function( a, b ) { + var adown = a.nodeType === 9 ? a.documentElement : a, + bup = b && b.parentNode; + return a === bup || !!( bup && bup.nodeType === 1 && ( + adown.contains ? + adown.contains( bup ) : + a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16 + )); + } : + function( a, b ) { + if ( b ) { + while ( (b = b.parentNode) ) { + if ( b === a ) { + return true; + } + } + } + return false; + }; + + /* Sorting + ---------------------------------------------------------------------- */ + + // Document order sorting + sortOrder = hasCompare ? + function( a, b ) { + + // Flag for duplicate removal + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + // Sort on method existence if only one input has compareDocumentPosition + var compare = !a.compareDocumentPosition - !b.compareDocumentPosition; + if ( compare ) { + return compare; + } + + // Calculate position if both inputs belong to the same document + compare = ( a.ownerDocument || a ) === ( b.ownerDocument || b ) ? + a.compareDocumentPosition( b ) : + + // Otherwise we know they are disconnected + 1; + + // Disconnected nodes + if ( compare & 1 || + (!support.sortDetached && b.compareDocumentPosition( a ) === compare) ) { + + // Choose the first element that is related to our preferred document + if ( a === doc || a.ownerDocument === preferredDoc && contains(preferredDoc, a) ) { + return -1; + } + if ( b === doc || b.ownerDocument === preferredDoc && contains(preferredDoc, b) ) { + return 1; + } + + // Maintain original order + return sortInput ? + ( indexOf.call( sortInput, a ) - indexOf.call( sortInput, b ) ) : + 0; + } + + return compare & 4 ? -1 : 1; + } : + function( a, b ) { + // Exit early if the nodes are identical + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + var cur, + i = 0, + aup = a.parentNode, + bup = b.parentNode, + ap = [ a ], + bp = [ b ]; + + // Parentless nodes are either documents or disconnected + if ( !aup || !bup ) { + return a === doc ? -1 : + b === doc ? 1 : + aup ? -1 : + bup ? 1 : + sortInput ? + ( indexOf.call( sortInput, a ) - indexOf.call( sortInput, b ) ) : + 0; + + // If the nodes are siblings, we can do a quick check + } else if ( aup === bup ) { + return siblingCheck( a, b ); + } + + // Otherwise we need full lists of their ancestors for comparison + cur = a; + while ( (cur = cur.parentNode) ) { + ap.unshift( cur ); + } + cur = b; + while ( (cur = cur.parentNode) ) { + bp.unshift( cur ); + } + + // Walk down the tree looking for a discrepancy + while ( ap[i] === bp[i] ) { + i++; + } + + return i ? + // Do a sibling check if the nodes have a common ancestor + siblingCheck( ap[i], bp[i] ) : + + // Otherwise nodes in our document sort first + ap[i] === preferredDoc ? -1 : + bp[i] === preferredDoc ? 1 : + 0; + }; + + return doc; +}; + +Sizzle.matches = function( expr, elements ) { + return Sizzle( expr, null, null, elements ); +}; + +Sizzle.matchesSelector = function( elem, expr ) { + // Set document vars if needed + if ( ( elem.ownerDocument || elem ) !== document ) { + setDocument( elem ); + } + + // Make sure that attribute selectors are quoted + expr = expr.replace( rattributeQuotes, "='$1']" ); + + if ( support.matchesSelector && documentIsHTML && + ( !rbuggyMatches || !rbuggyMatches.test( expr ) ) && + ( !rbuggyQSA || !rbuggyQSA.test( expr ) ) ) { + + try { + var ret = matches.call( elem, expr ); + + // IE 9's matchesSelector returns false on disconnected nodes + if ( ret || support.disconnectedMatch || + // As well, disconnected nodes are said to be in a document + // fragment in IE 9 + elem.document && elem.document.nodeType !== 11 ) { + return ret; + } + } catch(e) {} + } + + return Sizzle( expr, document, null, [ elem ] ).length > 0; +}; + +Sizzle.contains = function( context, elem ) { + // Set document vars if needed + if ( ( context.ownerDocument || context ) !== document ) { + setDocument( context ); + } + return contains( context, elem ); +}; + +Sizzle.attr = function( elem, name ) { + // Set document vars if needed + if ( ( elem.ownerDocument || elem ) !== document ) { + setDocument( elem ); + } + + var fn = Expr.attrHandle[ name.toLowerCase() ], + // Don't get fooled by Object.prototype properties (jQuery #13807) + val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ? + fn( elem, name, !documentIsHTML ) : + undefined; + + return val !== undefined ? + val : + support.attributes || !documentIsHTML ? + elem.getAttribute( name ) : + (val = elem.getAttributeNode(name)) && val.specified ? + val.value : + null; +}; + +Sizzle.error = function( msg ) { + throw new Error( "Syntax error, unrecognized expression: " + msg ); +}; + +/** + * Document sorting and removing duplicates + * @param {ArrayLike} results + */ +Sizzle.uniqueSort = function( results ) { + var elem, + duplicates = [], + j = 0, + i = 0; + + // Unless we *know* we can detect duplicates, assume their presence + hasDuplicate = !support.detectDuplicates; + sortInput = !support.sortStable && results.slice( 0 ); + results.sort( sortOrder ); + + if ( hasDuplicate ) { + while ( (elem = results[i++]) ) { + if ( elem === results[ i ] ) { + j = duplicates.push( i ); + } + } + while ( j-- ) { + results.splice( duplicates[ j ], 1 ); + } + } + + // Clear input after sorting to release objects + // See https://github.com/jquery/sizzle/pull/225 + sortInput = null; + + return results; +}; + +/** + * Utility function for retrieving the text value of an array of DOM nodes + * @param {Array|Element} elem + */ +getText = Sizzle.getText = function( elem ) { + var node, + ret = "", + i = 0, + nodeType = elem.nodeType; + + if ( !nodeType ) { + // If no nodeType, this is expected to be an array + while ( (node = elem[i++]) ) { + // Do not traverse comment nodes + ret += getText( node ); + } + } else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { + // Use textContent for elements + // innerText usage removed for consistency of new lines (jQuery #11153) + if ( typeof elem.textContent === "string" ) { + return elem.textContent; + } else { + // Traverse its children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + ret += getText( elem ); + } + } + } else if ( nodeType === 3 || nodeType === 4 ) { + return elem.nodeValue; + } + // Do not include comment or processing instruction nodes + + return ret; +}; + +Expr = Sizzle.selectors = { + + // Can be adjusted by the user + cacheLength: 50, + + createPseudo: markFunction, + + match: matchExpr, + + attrHandle: {}, + + find: {}, + + relative: { + ">": { dir: "parentNode", first: true }, + " ": { dir: "parentNode" }, + "+": { dir: "previousSibling", first: true }, + "~": { dir: "previousSibling" } + }, + + preFilter: { + "ATTR": function( match ) { + match[1] = match[1].replace( runescape, funescape ); + + // Move the given value to match[3] whether quoted or unquoted + match[3] = ( match[3] || match[4] || match[5] || "" ).replace( runescape, funescape ); + + if ( match[2] === "~=" ) { + match[3] = " " + match[3] + " "; + } + + return match.slice( 0, 4 ); + }, + + "CHILD": function( match ) { + /* matches from matchExpr["CHILD"] + 1 type (only|nth|...) + 2 what (child|of-type) + 3 argument (even|odd|\d*|\d*n([+-]\d+)?|...) + 4 xn-component of xn+y argument ([+-]?\d*n|) + 5 sign of xn-component + 6 x of xn-component + 7 sign of y-component + 8 y of y-component + */ + match[1] = match[1].toLowerCase(); + + if ( match[1].slice( 0, 3 ) === "nth" ) { + // nth-* requires argument + if ( !match[3] ) { + Sizzle.error( match[0] ); + } + + // numeric x and y parameters for Expr.filter.CHILD + // remember that false/true cast respectively to 0/1 + match[4] = +( match[4] ? match[5] + (match[6] || 1) : 2 * ( match[3] === "even" || match[3] === "odd" ) ); + match[5] = +( ( match[7] + match[8] ) || match[3] === "odd" ); + + // other types prohibit arguments + } else if ( match[3] ) { + Sizzle.error( match[0] ); + } + + return match; + }, + + "PSEUDO": function( match ) { + var excess, + unquoted = !match[6] && match[2]; + + if ( matchExpr["CHILD"].test( match[0] ) ) { + return null; + } + + // Accept quoted arguments as-is + if ( match[3] ) { + match[2] = match[4] || match[5] || ""; + + // Strip excess characters from unquoted arguments + } else if ( unquoted && rpseudo.test( unquoted ) && + // Get excess from tokenize (recursively) + (excess = tokenize( unquoted, true )) && + // advance to the next closing parenthesis + (excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length) ) { + + // excess is a negative index + match[0] = match[0].slice( 0, excess ); + match[2] = unquoted.slice( 0, excess ); + } + + // Return only captures needed by the pseudo filter method (type and argument) + return match.slice( 0, 3 ); + } + }, + + filter: { + + "TAG": function( nodeNameSelector ) { + var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase(); + return nodeNameSelector === "*" ? + function() { return true; } : + function( elem ) { + return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; + }; + }, + + "CLASS": function( className ) { + var pattern = classCache[ className + " " ]; + + return pattern || + (pattern = new RegExp( "(^|" + whitespace + ")" + className + "(" + whitespace + "|$)" )) && + classCache( className, function( elem ) { + return pattern.test( typeof elem.className === "string" && elem.className || typeof elem.getAttribute !== strundefined && elem.getAttribute("class") || "" ); + }); + }, + + "ATTR": function( name, operator, check ) { + return function( elem ) { + var result = Sizzle.attr( elem, name ); + + if ( result == null ) { + return operator === "!="; + } + if ( !operator ) { + return true; + } + + result += ""; + + return operator === "=" ? result === check : + operator === "!=" ? result !== check : + operator === "^=" ? check && result.indexOf( check ) === 0 : + operator === "*=" ? check && result.indexOf( check ) > -1 : + operator === "$=" ? check && result.slice( -check.length ) === check : + operator === "~=" ? ( " " + result + " " ).indexOf( check ) > -1 : + operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" : + false; + }; + }, + + "CHILD": function( type, what, argument, first, last ) { + var simple = type.slice( 0, 3 ) !== "nth", + forward = type.slice( -4 ) !== "last", + ofType = what === "of-type"; + + return first === 1 && last === 0 ? + + // Shortcut for :nth-*(n) + function( elem ) { + return !!elem.parentNode; + } : + + function( elem, context, xml ) { + var cache, outerCache, node, diff, nodeIndex, start, + dir = simple !== forward ? "nextSibling" : "previousSibling", + parent = elem.parentNode, + name = ofType && elem.nodeName.toLowerCase(), + useCache = !xml && !ofType; + + if ( parent ) { + + // :(first|last|only)-(child|of-type) + if ( simple ) { + while ( dir ) { + node = elem; + while ( (node = node[ dir ]) ) { + if ( ofType ? node.nodeName.toLowerCase() === name : node.nodeType === 1 ) { + return false; + } + } + // Reverse direction for :only-* (if we haven't yet done so) + start = dir = type === "only" && !start && "nextSibling"; + } + return true; + } + + start = [ forward ? parent.firstChild : parent.lastChild ]; + + // non-xml :nth-child(...) stores cache data on `parent` + if ( forward && useCache ) { + // Seek `elem` from a previously-cached index + outerCache = parent[ expando ] || (parent[ expando ] = {}); + cache = outerCache[ type ] || []; + nodeIndex = cache[0] === dirruns && cache[1]; + diff = cache[0] === dirruns && cache[2]; + node = nodeIndex && parent.childNodes[ nodeIndex ]; + + while ( (node = ++nodeIndex && node && node[ dir ] || + + // Fallback to seeking `elem` from the start + (diff = nodeIndex = 0) || start.pop()) ) { + + // When found, cache indexes on `parent` and break + if ( node.nodeType === 1 && ++diff && node === elem ) { + outerCache[ type ] = [ dirruns, nodeIndex, diff ]; + break; + } + } + + // Use previously-cached element index if available + } else if ( useCache && (cache = (elem[ expando ] || (elem[ expando ] = {}))[ type ]) && cache[0] === dirruns ) { + diff = cache[1]; + + // xml :nth-child(...) or :nth-last-child(...) or :nth(-last)?-of-type(...) + } else { + // Use the same loop as above to seek `elem` from the start + while ( (node = ++nodeIndex && node && node[ dir ] || + (diff = nodeIndex = 0) || start.pop()) ) { + + if ( ( ofType ? node.nodeName.toLowerCase() === name : node.nodeType === 1 ) && ++diff ) { + // Cache the index of each encountered element + if ( useCache ) { + (node[ expando ] || (node[ expando ] = {}))[ type ] = [ dirruns, diff ]; + } + + if ( node === elem ) { + break; + } + } + } + } + + // Incorporate the offset, then check against cycle size + diff -= last; + return diff === first || ( diff % first === 0 && diff / first >= 0 ); + } + }; + }, + + "PSEUDO": function( pseudo, argument ) { + // pseudo-class names are case-insensitive + // http://www.w3.org/TR/selectors/#pseudo-classes + // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters + // Remember that setFilters inherits from pseudos + var args, + fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || + Sizzle.error( "unsupported pseudo: " + pseudo ); + + // The user may use createPseudo to indicate that + // arguments are needed to create the filter function + // just as Sizzle does + if ( fn[ expando ] ) { + return fn( argument ); + } + + // But maintain support for old signatures + if ( fn.length > 1 ) { + args = [ pseudo, pseudo, "", argument ]; + return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? + markFunction(function( seed, matches ) { + var idx, + matched = fn( seed, argument ), + i = matched.length; + while ( i-- ) { + idx = indexOf.call( seed, matched[i] ); + seed[ idx ] = !( matches[ idx ] = matched[i] ); + } + }) : + function( elem ) { + return fn( elem, 0, args ); + }; + } + + return fn; + } + }, + + pseudos: { + // Potentially complex pseudos + "not": markFunction(function( selector ) { + // Trim the selector passed to compile + // to avoid treating leading and trailing + // spaces as combinators + var input = [], + results = [], + matcher = compile( selector.replace( rtrim, "$1" ) ); + + return matcher[ expando ] ? + markFunction(function( seed, matches, context, xml ) { + var elem, + unmatched = matcher( seed, null, xml, [] ), + i = seed.length; + + // Match elements unmatched by `matcher` + while ( i-- ) { + if ( (elem = unmatched[i]) ) { + seed[i] = !(matches[i] = elem); + } + } + }) : + function( elem, context, xml ) { + input[0] = elem; + matcher( input, null, xml, results ); + return !results.pop(); + }; + }), + + "has": markFunction(function( selector ) { + return function( elem ) { + return Sizzle( selector, elem ).length > 0; + }; + }), + + "contains": markFunction(function( text ) { + return function( elem ) { + return ( elem.textContent || elem.innerText || getText( elem ) ).indexOf( text ) > -1; + }; + }), + + // "Whether an element is represented by a :lang() selector + // is based solely on the element's language value + // being equal to the identifier C, + // or beginning with the identifier C immediately followed by "-". + // The matching of C against the element's language value is performed case-insensitively. + // The identifier C does not have to be a valid language name." + // http://www.w3.org/TR/selectors/#lang-pseudo + "lang": markFunction( function( lang ) { + // lang value must be a valid identifier + if ( !ridentifier.test(lang || "") ) { + Sizzle.error( "unsupported lang: " + lang ); + } + lang = lang.replace( runescape, funescape ).toLowerCase(); + return function( elem ) { + var elemLang; + do { + if ( (elemLang = documentIsHTML ? + elem.lang : + elem.getAttribute("xml:lang") || elem.getAttribute("lang")) ) { + + elemLang = elemLang.toLowerCase(); + return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0; + } + } while ( (elem = elem.parentNode) && elem.nodeType === 1 ); + return false; + }; + }), + + // Miscellaneous + "target": function( elem ) { + var hash = window.location && window.location.hash; + return hash && hash.slice( 1 ) === elem.id; + }, + + "root": function( elem ) { + return elem === docElem; + }, + + "focus": function( elem ) { + return elem === document.activeElement && (!document.hasFocus || document.hasFocus()) && !!(elem.type || elem.href || ~elem.tabIndex); + }, + + // Boolean properties + "enabled": function( elem ) { + return elem.disabled === false; + }, + + "disabled": function( elem ) { + return elem.disabled === true; + }, + + "checked": function( elem ) { + // In CSS3, :checked should return both checked and selected elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + var nodeName = elem.nodeName.toLowerCase(); + return (nodeName === "input" && !!elem.checked) || (nodeName === "option" && !!elem.selected); + }, + + "selected": function( elem ) { + // Accessing this property makes selected-by-default + // options in Safari work properly + if ( elem.parentNode ) { + elem.parentNode.selectedIndex; + } + + return elem.selected === true; + }, + + // Contents + "empty": function( elem ) { + // http://www.w3.org/TR/selectors/#empty-pseudo + // :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5), + // but not by others (comment: 8; processing instruction: 7; etc.) + // nodeType < 6 works because attributes (2) do not appear as children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + if ( elem.nodeType < 6 ) { + return false; + } + } + return true; + }, + + "parent": function( elem ) { + return !Expr.pseudos["empty"]( elem ); + }, + + // Element/input types + "header": function( elem ) { + return rheader.test( elem.nodeName ); + }, + + "input": function( elem ) { + return rinputs.test( elem.nodeName ); + }, + + "button": function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === "button" || name === "button"; + }, + + "text": function( elem ) { + var attr; + return elem.nodeName.toLowerCase() === "input" && + elem.type === "text" && + + // Support: IE<8 + // New HTML5 attribute values (e.g., "search") appear with elem.type === "text" + ( (attr = elem.getAttribute("type")) == null || attr.toLowerCase() === "text" ); + }, + + // Position-in-collection + "first": createPositionalPseudo(function() { + return [ 0 ]; + }), + + "last": createPositionalPseudo(function( matchIndexes, length ) { + return [ length - 1 ]; + }), + + "eq": createPositionalPseudo(function( matchIndexes, length, argument ) { + return [ argument < 0 ? argument + length : argument ]; + }), + + "even": createPositionalPseudo(function( matchIndexes, length ) { + var i = 0; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + }), + + "odd": createPositionalPseudo(function( matchIndexes, length ) { + var i = 1; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + }), + + "lt": createPositionalPseudo(function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; --i >= 0; ) { + matchIndexes.push( i ); + } + return matchIndexes; + }), + + "gt": createPositionalPseudo(function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; ++i < length; ) { + matchIndexes.push( i ); + } + return matchIndexes; + }) + } +}; + +Expr.pseudos["nth"] = Expr.pseudos["eq"]; + +// Add button/input type pseudos +for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) { + Expr.pseudos[ i ] = createInputPseudo( i ); +} +for ( i in { submit: true, reset: true } ) { + Expr.pseudos[ i ] = createButtonPseudo( i ); +} + +// Easy API for creating new setFilters +function setFilters() {} +setFilters.prototype = Expr.filters = Expr.pseudos; +Expr.setFilters = new setFilters(); + +tokenize = Sizzle.tokenize = function( selector, parseOnly ) { + var matched, match, tokens, type, + soFar, groups, preFilters, + cached = tokenCache[ selector + " " ]; + + if ( cached ) { + return parseOnly ? 0 : cached.slice( 0 ); + } + + soFar = selector; + groups = []; + preFilters = Expr.preFilter; + + while ( soFar ) { + + // Comma and first run + if ( !matched || (match = rcomma.exec( soFar )) ) { + if ( match ) { + // Don't consume trailing commas as valid + soFar = soFar.slice( match[0].length ) || soFar; + } + groups.push( (tokens = []) ); + } + + matched = false; + + // Combinators + if ( (match = rcombinators.exec( soFar )) ) { + matched = match.shift(); + tokens.push({ + value: matched, + // Cast descendant combinators to space + type: match[0].replace( rtrim, " " ) + }); + soFar = soFar.slice( matched.length ); + } + + // Filters + for ( type in Expr.filter ) { + if ( (match = matchExpr[ type ].exec( soFar )) && (!preFilters[ type ] || + (match = preFilters[ type ]( match ))) ) { + matched = match.shift(); + tokens.push({ + value: matched, + type: type, + matches: match + }); + soFar = soFar.slice( matched.length ); + } + } + + if ( !matched ) { + break; + } + } + + // Return the length of the invalid excess + // if we're just parsing + // Otherwise, throw an error or return tokens + return parseOnly ? + soFar.length : + soFar ? + Sizzle.error( selector ) : + // Cache the tokens + tokenCache( selector, groups ).slice( 0 ); +}; + +function toSelector( tokens ) { + var i = 0, + len = tokens.length, + selector = ""; + for ( ; i < len; i++ ) { + selector += tokens[i].value; + } + return selector; +} + +function addCombinator( matcher, combinator, base ) { + var dir = combinator.dir, + checkNonElements = base && dir === "parentNode", + doneName = done++; + + return combinator.first ? + // Check against closest ancestor/preceding element + function( elem, context, xml ) { + while ( (elem = elem[ dir ]) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + return matcher( elem, context, xml ); + } + } + } : + + // Check against all ancestor/preceding elements + function( elem, context, xml ) { + var oldCache, outerCache, + newCache = [ dirruns, doneName ]; + + // We can't set arbitrary data on XML nodes, so they don't benefit from dir caching + if ( xml ) { + while ( (elem = elem[ dir ]) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + if ( matcher( elem, context, xml ) ) { + return true; + } + } + } + } else { + while ( (elem = elem[ dir ]) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + outerCache = elem[ expando ] || (elem[ expando ] = {}); + if ( (oldCache = outerCache[ dir ]) && + oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) { + + // Assign to newCache so results back-propagate to previous elements + return (newCache[ 2 ] = oldCache[ 2 ]); + } else { + // Reuse newcache so results back-propagate to previous elements + outerCache[ dir ] = newCache; + + // A match means we're done; a fail means we have to keep checking + if ( (newCache[ 2 ] = matcher( elem, context, xml )) ) { + return true; + } + } + } + } + } + }; +} + +function elementMatcher( matchers ) { + return matchers.length > 1 ? + function( elem, context, xml ) { + var i = matchers.length; + while ( i-- ) { + if ( !matchers[i]( elem, context, xml ) ) { + return false; + } + } + return true; + } : + matchers[0]; +} + +function multipleContexts( selector, contexts, results ) { + var i = 0, + len = contexts.length; + for ( ; i < len; i++ ) { + Sizzle( selector, contexts[i], results ); + } + return results; +} + +function condense( unmatched, map, filter, context, xml ) { + var elem, + newUnmatched = [], + i = 0, + len = unmatched.length, + mapped = map != null; + + for ( ; i < len; i++ ) { + if ( (elem = unmatched[i]) ) { + if ( !filter || filter( elem, context, xml ) ) { + newUnmatched.push( elem ); + if ( mapped ) { + map.push( i ); + } + } + } + } + + return newUnmatched; +} + +function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { + if ( postFilter && !postFilter[ expando ] ) { + postFilter = setMatcher( postFilter ); + } + if ( postFinder && !postFinder[ expando ] ) { + postFinder = setMatcher( postFinder, postSelector ); + } + return markFunction(function( seed, results, context, xml ) { + var temp, i, elem, + preMap = [], + postMap = [], + preexisting = results.length, + + // Get initial elements from seed or context + elems = seed || multipleContexts( selector || "*", context.nodeType ? [ context ] : context, [] ), + + // Prefilter to get matcher input, preserving a map for seed-results synchronization + matcherIn = preFilter && ( seed || !selector ) ? + condense( elems, preMap, preFilter, context, xml ) : + elems, + + matcherOut = matcher ? + // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, + postFinder || ( seed ? preFilter : preexisting || postFilter ) ? + + // ...intermediate processing is necessary + [] : + + // ...otherwise use results directly + results : + matcherIn; + + // Find primary matches + if ( matcher ) { + matcher( matcherIn, matcherOut, context, xml ); + } + + // Apply postFilter + if ( postFilter ) { + temp = condense( matcherOut, postMap ); + postFilter( temp, [], context, xml ); + + // Un-match failing elements by moving them back to matcherIn + i = temp.length; + while ( i-- ) { + if ( (elem = temp[i]) ) { + matcherOut[ postMap[i] ] = !(matcherIn[ postMap[i] ] = elem); + } + } + } + + if ( seed ) { + if ( postFinder || preFilter ) { + if ( postFinder ) { + // Get the final matcherOut by condensing this intermediate into postFinder contexts + temp = []; + i = matcherOut.length; + while ( i-- ) { + if ( (elem = matcherOut[i]) ) { + // Restore matcherIn since elem is not yet a final match + temp.push( (matcherIn[i] = elem) ); + } + } + postFinder( null, (matcherOut = []), temp, xml ); + } + + // Move matched elements from seed to results to keep them synchronized + i = matcherOut.length; + while ( i-- ) { + if ( (elem = matcherOut[i]) && + (temp = postFinder ? indexOf.call( seed, elem ) : preMap[i]) > -1 ) { + + seed[temp] = !(results[temp] = elem); + } + } + } + + // Add elements to results, through postFinder if defined + } else { + matcherOut = condense( + matcherOut === results ? + matcherOut.splice( preexisting, matcherOut.length ) : + matcherOut + ); + if ( postFinder ) { + postFinder( null, results, matcherOut, xml ); + } else { + push.apply( results, matcherOut ); + } + } + }); +} + +function matcherFromTokens( tokens ) { + var checkContext, matcher, j, + len = tokens.length, + leadingRelative = Expr.relative[ tokens[0].type ], + implicitRelative = leadingRelative || Expr.relative[" "], + i = leadingRelative ? 1 : 0, + + // The foundational matcher ensures that elements are reachable from top-level context(s) + matchContext = addCombinator( function( elem ) { + return elem === checkContext; + }, implicitRelative, true ), + matchAnyContext = addCombinator( function( elem ) { + return indexOf.call( checkContext, elem ) > -1; + }, implicitRelative, true ), + matchers = [ function( elem, context, xml ) { + return ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( + (checkContext = context).nodeType ? + matchContext( elem, context, xml ) : + matchAnyContext( elem, context, xml ) ); + } ]; + + for ( ; i < len; i++ ) { + if ( (matcher = Expr.relative[ tokens[i].type ]) ) { + matchers = [ addCombinator(elementMatcher( matchers ), matcher) ]; + } else { + matcher = Expr.filter[ tokens[i].type ].apply( null, tokens[i].matches ); + + // Return special upon seeing a positional matcher + if ( matcher[ expando ] ) { + // Find the next relative operator (if any) for proper handling + j = ++i; + for ( ; j < len; j++ ) { + if ( Expr.relative[ tokens[j].type ] ) { + break; + } + } + return setMatcher( + i > 1 && elementMatcher( matchers ), + i > 1 && toSelector( + // If the preceding token was a descendant combinator, insert an implicit any-element `*` + tokens.slice( 0, i - 1 ).concat({ value: tokens[ i - 2 ].type === " " ? "*" : "" }) + ).replace( rtrim, "$1" ), + matcher, + i < j && matcherFromTokens( tokens.slice( i, j ) ), + j < len && matcherFromTokens( (tokens = tokens.slice( j )) ), + j < len && toSelector( tokens ) + ); + } + matchers.push( matcher ); + } + } + + return elementMatcher( matchers ); +} + +function matcherFromGroupMatchers( elementMatchers, setMatchers ) { + var bySet = setMatchers.length > 0, + byElement = elementMatchers.length > 0, + superMatcher = function( seed, context, xml, results, outermost ) { + var elem, j, matcher, + matchedCount = 0, + i = "0", + unmatched = seed && [], + setMatched = [], + contextBackup = outermostContext, + // We must always have either seed elements or outermost context + elems = seed || byElement && Expr.find["TAG"]( "*", outermost ), + // Use integer dirruns iff this is the outermost matcher + dirrunsUnique = (dirruns += contextBackup == null ? 1 : Math.random() || 0.1), + len = elems.length; + + if ( outermost ) { + outermostContext = context !== document && context; + } + + // Add elements passing elementMatchers directly to results + // Keep `i` a string if there are no elements so `matchedCount` will be "00" below + // Support: IE<9, Safari + // Tolerate NodeList properties (IE: "length"; Safari: ) matching elements by id + for ( ; i !== len && (elem = elems[i]) != null; i++ ) { + if ( byElement && elem ) { + j = 0; + while ( (matcher = elementMatchers[j++]) ) { + if ( matcher( elem, context, xml ) ) { + results.push( elem ); + break; + } + } + if ( outermost ) { + dirruns = dirrunsUnique; + } + } + + // Track unmatched elements for set filters + if ( bySet ) { + // They will have gone through all possible matchers + if ( (elem = !matcher && elem) ) { + matchedCount--; + } + + // Lengthen the array for every element, matched or not + if ( seed ) { + unmatched.push( elem ); + } + } + } + + // Apply set filters to unmatched elements + matchedCount += i; + if ( bySet && i !== matchedCount ) { + j = 0; + while ( (matcher = setMatchers[j++]) ) { + matcher( unmatched, setMatched, context, xml ); + } + + if ( seed ) { + // Reintegrate element matches to eliminate the need for sorting + if ( matchedCount > 0 ) { + while ( i-- ) { + if ( !(unmatched[i] || setMatched[i]) ) { + setMatched[i] = pop.call( results ); + } + } + } + + // Discard index placeholder values to get only actual matches + setMatched = condense( setMatched ); + } + + // Add matches to results + push.apply( results, setMatched ); + + // Seedless set matches succeeding multiple successful matchers stipulate sorting + if ( outermost && !seed && setMatched.length > 0 && + ( matchedCount + setMatchers.length ) > 1 ) { + + Sizzle.uniqueSort( results ); + } + } + + // Override manipulation of globals by nested matchers + if ( outermost ) { + dirruns = dirrunsUnique; + outermostContext = contextBackup; + } + + return unmatched; + }; + + return bySet ? + markFunction( superMatcher ) : + superMatcher; +} + +compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) { + var i, + setMatchers = [], + elementMatchers = [], + cached = compilerCache[ selector + " " ]; + + if ( !cached ) { + // Generate a function of recursive functions that can be used to check each element + if ( !match ) { + match = tokenize( selector ); + } + i = match.length; + while ( i-- ) { + cached = matcherFromTokens( match[i] ); + if ( cached[ expando ] ) { + setMatchers.push( cached ); + } else { + elementMatchers.push( cached ); + } + } + + // Cache the compiled function + cached = compilerCache( selector, matcherFromGroupMatchers( elementMatchers, setMatchers ) ); + + // Save selector and tokenization + cached.selector = selector; + } + return cached; +}; + +/** + * A low-level selection function that works with Sizzle's compiled + * selector functions + * @param {String|Function} selector A selector or a pre-compiled + * selector function built with Sizzle.compile + * @param {Element} context + * @param {Array} [results] + * @param {Array} [seed] A set of elements to match against + */ +select = Sizzle.select = function( selector, context, results, seed ) { + var i, tokens, token, type, find, + compiled = typeof selector === "function" && selector, + match = !seed && tokenize( (selector = compiled.selector || selector) ); + + results = results || []; + + // Try to minimize operations if there is no seed and only one group + if ( match.length === 1 ) { + + // Take a shortcut and set the context if the root selector is an ID + tokens = match[0] = match[0].slice( 0 ); + if ( tokens.length > 2 && (token = tokens[0]).type === "ID" && + support.getById && context.nodeType === 9 && documentIsHTML && + Expr.relative[ tokens[1].type ] ) { + + context = ( Expr.find["ID"]( token.matches[0].replace(runescape, funescape), context ) || [] )[0]; + if ( !context ) { + return results; + + // Precompiled matchers will still verify ancestry, so step up a level + } else if ( compiled ) { + context = context.parentNode; + } + + selector = selector.slice( tokens.shift().value.length ); + } + + // Fetch a seed set for right-to-left matching + i = matchExpr["needsContext"].test( selector ) ? 0 : tokens.length; + while ( i-- ) { + token = tokens[i]; + + // Abort if we hit a combinator + if ( Expr.relative[ (type = token.type) ] ) { + break; + } + if ( (find = Expr.find[ type ]) ) { + // Search, expanding context for leading sibling combinators + if ( (seed = find( + token.matches[0].replace( runescape, funescape ), + rsibling.test( tokens[0].type ) && testContext( context.parentNode ) || context + )) ) { + + // If seed is empty or no tokens remain, we can return early + tokens.splice( i, 1 ); + selector = seed.length && toSelector( tokens ); + if ( !selector ) { + push.apply( results, seed ); + return results; + } + + break; + } + } + } + } + + // Compile and execute a filtering function if one is not provided + // Provide `match` to avoid retokenization if we modified the selector above + ( compiled || compile( selector, match ) )( + seed, + context, + !documentIsHTML, + results, + rsibling.test( selector ) && testContext( context.parentNode ) || context + ); + return results; +}; + +// One-time assignments + +// Sort stability +support.sortStable = expando.split("").sort( sortOrder ).join("") === expando; + +// Support: Chrome<14 +// Always assume duplicates if they aren't passed to the comparison function +support.detectDuplicates = !!hasDuplicate; + +// Initialize against the default document +setDocument(); + +// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27) +// Detached nodes confoundingly follow *each other* +support.sortDetached = assert(function( div1 ) { + // Should return 1, but returns 4 (following) + return div1.compareDocumentPosition( document.createElement("div") ) & 1; +}); + +// Support: IE<8 +// Prevent attribute/property "interpolation" +// http://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx +if ( !assert(function( div ) { + div.innerHTML = ""; + return div.firstChild.getAttribute("href") === "#" ; +}) ) { + addHandle( "type|href|height|width", function( elem, name, isXML ) { + if ( !isXML ) { + return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 ); + } + }); +} + +// Support: IE<9 +// Use defaultValue in place of getAttribute("value") +if ( !support.attributes || !assert(function( div ) { + div.innerHTML = ""; + div.firstChild.setAttribute( "value", "" ); + return div.firstChild.getAttribute( "value" ) === ""; +}) ) { + addHandle( "value", function( elem, name, isXML ) { + if ( !isXML && elem.nodeName.toLowerCase() === "input" ) { + return elem.defaultValue; + } + }); +} + +// Support: IE<9 +// Use getAttributeNode to fetch booleans when getAttribute lies +if ( !assert(function( div ) { + return div.getAttribute("disabled") == null; +}) ) { + addHandle( booleans, function( elem, name, isXML ) { + var val; + if ( !isXML ) { + return elem[ name ] === true ? name.toLowerCase() : + (val = elem.getAttributeNode( name )) && val.specified ? + val.value : + null; + } + }); +} + +return Sizzle; + +})( window ); + + + +jQuery.find = Sizzle; +jQuery.expr = Sizzle.selectors; +jQuery.expr[":"] = jQuery.expr.pseudos; +jQuery.unique = Sizzle.uniqueSort; +jQuery.text = Sizzle.getText; +jQuery.isXMLDoc = Sizzle.isXML; +jQuery.contains = Sizzle.contains; + + + +var rneedsContext = jQuery.expr.match.needsContext; + +var rsingleTag = (/^<(\w+)\s*\/?>(?:<\/\1>|)$/); + + + +var risSimple = /^.[^:#\[\.,]*$/; + +// Implement the identical functionality for filter and not +function winnow( elements, qualifier, not ) { + if ( jQuery.isFunction( qualifier ) ) { + return jQuery.grep( elements, function( elem, i ) { + /* jshint -W018 */ + return !!qualifier.call( elem, i, elem ) !== not; + }); + + } + + if ( qualifier.nodeType ) { + return jQuery.grep( elements, function( elem ) { + return ( elem === qualifier ) !== not; + }); + + } + + if ( typeof qualifier === "string" ) { + if ( risSimple.test( qualifier ) ) { + return jQuery.filter( qualifier, elements, not ); + } + + qualifier = jQuery.filter( qualifier, elements ); + } + + return jQuery.grep( elements, function( elem ) { + return ( jQuery.inArray( elem, qualifier ) >= 0 ) !== not; + }); +} + +jQuery.filter = function( expr, elems, not ) { + var elem = elems[ 0 ]; + + if ( not ) { + expr = ":not(" + expr + ")"; + } + + return elems.length === 1 && elem.nodeType === 1 ? + jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : [] : + jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) { + return elem.nodeType === 1; + })); +}; + +jQuery.fn.extend({ + find: function( selector ) { + var i, + ret = [], + self = this, + len = self.length; + + if ( typeof selector !== "string" ) { + return this.pushStack( jQuery( selector ).filter(function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( self[ i ], this ) ) { + return true; + } + } + }) ); + } + + for ( i = 0; i < len; i++ ) { + jQuery.find( selector, self[ i ], ret ); + } + + // Needed because $( selector, context ) becomes $( context ).find( selector ) + ret = this.pushStack( len > 1 ? jQuery.unique( ret ) : ret ); + ret.selector = this.selector ? this.selector + " " + selector : selector; + return ret; + }, + filter: function( selector ) { + return this.pushStack( winnow(this, selector || [], false) ); + }, + not: function( selector ) { + return this.pushStack( winnow(this, selector || [], true) ); + }, + is: function( selector ) { + return !!winnow( + this, + + // If this is a positional/relative selector, check membership in the returned set + // so $("p:first").is("p:last") won't return true for a doc with two "p". + typeof selector === "string" && rneedsContext.test( selector ) ? + jQuery( selector ) : + selector || [], + false + ).length; + } +}); + + +// Initialize a jQuery object + + +// A central reference to the root jQuery(document) +var rootjQuery, + + // Use the correct document accordingly with window argument (sandbox) + document = window.document, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + // Strict HTML recognition (#11290: must start with <) + rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]*))$/, + + init = jQuery.fn.init = function( selector, context ) { + var match, elem; + + // HANDLE: $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector.charAt(0) === "<" && selector.charAt( selector.length - 1 ) === ">" && selector.length >= 3 ) { + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && (match[1] || !context) ) { + + // HANDLE: $(html) -> $(array) + if ( match[1] ) { + context = context instanceof jQuery ? context[0] : context; + + // scripts is true for back-compat + // Intentionally let the error be thrown if parseHTML is not present + jQuery.merge( this, jQuery.parseHTML( + match[1], + context && context.nodeType ? context.ownerDocument || context : document, + true + ) ); + + // HANDLE: $(html, props) + if ( rsingleTag.test( match[1] ) && jQuery.isPlainObject( context ) ) { + for ( match in context ) { + // Properties of context are called as methods if possible + if ( jQuery.isFunction( this[ match ] ) ) { + this[ match ]( context[ match ] ); + + // ...and otherwise set as attributes + } else { + this.attr( match, context[ match ] ); + } + } + } + + return this; + + // HANDLE: $(#id) + } else { + elem = document.getElementById( match[2] ); + + // Check parentNode to catch when Blackberry 4.6 returns + // nodes that are no longer in the document #6963 + if ( elem && elem.parentNode ) { + // Handle the case where IE and Opera return items + // by name instead of ID + if ( elem.id !== match[2] ) { + return rootjQuery.find( selector ); + } + + // Otherwise, we inject the element directly into the jQuery object + this.length = 1; + this[0] = elem; + } + + this.context = document; + this.selector = selector; + return this; + } + + // HANDLE: $(expr, $(...)) + } else if ( !context || context.jquery ) { + return ( context || rootjQuery ).find( selector ); + + // HANDLE: $(expr, context) + // (which is just equivalent to: $(context).find(expr) + } else { + return this.constructor( context ).find( selector ); + } + + // HANDLE: $(DOMElement) + } else if ( selector.nodeType ) { + this.context = this[0] = selector; + this.length = 1; + return this; + + // HANDLE: $(function) + // Shortcut for document ready + } else if ( jQuery.isFunction( selector ) ) { + return typeof rootjQuery.ready !== "undefined" ? + rootjQuery.ready( selector ) : + // Execute immediately if ready is not present + selector( jQuery ); + } + + if ( selector.selector !== undefined ) { + this.selector = selector.selector; + this.context = selector.context; + } + + return jQuery.makeArray( selector, this ); + }; + +// Give the init function the jQuery prototype for later instantiation +init.prototype = jQuery.fn; + +// Initialize central reference +rootjQuery = jQuery( document ); + + +var rparentsprev = /^(?:parents|prev(?:Until|All))/, + // methods guaranteed to produce a unique set when starting from a unique set + guaranteedUnique = { + children: true, + contents: true, + next: true, + prev: true + }; + +jQuery.extend({ + dir: function( elem, dir, until ) { + var matched = [], + cur = elem[ dir ]; + + while ( cur && cur.nodeType !== 9 && (until === undefined || cur.nodeType !== 1 || !jQuery( cur ).is( until )) ) { + if ( cur.nodeType === 1 ) { + matched.push( cur ); + } + cur = cur[dir]; + } + return matched; + }, + + sibling: function( n, elem ) { + var r = []; + + for ( ; n; n = n.nextSibling ) { + if ( n.nodeType === 1 && n !== elem ) { + r.push( n ); + } + } + + return r; + } +}); + +jQuery.fn.extend({ + has: function( target ) { + var i, + targets = jQuery( target, this ), + len = targets.length; + + return this.filter(function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( this, targets[i] ) ) { + return true; + } + } + }); + }, + + closest: function( selectors, context ) { + var cur, + i = 0, + l = this.length, + matched = [], + pos = rneedsContext.test( selectors ) || typeof selectors !== "string" ? + jQuery( selectors, context || this.context ) : + 0; + + for ( ; i < l; i++ ) { + for ( cur = this[i]; cur && cur !== context; cur = cur.parentNode ) { + // Always skip document fragments + if ( cur.nodeType < 11 && (pos ? + pos.index(cur) > -1 : + + // Don't pass non-elements to Sizzle + cur.nodeType === 1 && + jQuery.find.matchesSelector(cur, selectors)) ) { + + matched.push( cur ); + break; + } + } + } + + return this.pushStack( matched.length > 1 ? jQuery.unique( matched ) : matched ); + }, + + // Determine the position of an element within + // the matched set of elements + index: function( elem ) { + + // No argument, return index in parent + if ( !elem ) { + return ( this[0] && this[0].parentNode ) ? this.first().prevAll().length : -1; + } + + // index in selector + if ( typeof elem === "string" ) { + return jQuery.inArray( this[0], jQuery( elem ) ); + } + + // Locate the position of the desired element + return jQuery.inArray( + // If it receives a jQuery object, the first element is used + elem.jquery ? elem[0] : elem, this ); + }, + + add: function( selector, context ) { + return this.pushStack( + jQuery.unique( + jQuery.merge( this.get(), jQuery( selector, context ) ) + ) + ); + }, + + addBack: function( selector ) { + return this.add( selector == null ? + this.prevObject : this.prevObject.filter(selector) + ); + } +}); + +function sibling( cur, dir ) { + do { + cur = cur[ dir ]; + } while ( cur && cur.nodeType !== 1 ); + + return cur; +} + +jQuery.each({ + parent: function( elem ) { + var parent = elem.parentNode; + return parent && parent.nodeType !== 11 ? parent : null; + }, + parents: function( elem ) { + return jQuery.dir( elem, "parentNode" ); + }, + parentsUntil: function( elem, i, until ) { + return jQuery.dir( elem, "parentNode", until ); + }, + next: function( elem ) { + return sibling( elem, "nextSibling" ); + }, + prev: function( elem ) { + return sibling( elem, "previousSibling" ); + }, + nextAll: function( elem ) { + return jQuery.dir( elem, "nextSibling" ); + }, + prevAll: function( elem ) { + return jQuery.dir( elem, "previousSibling" ); + }, + nextUntil: function( elem, i, until ) { + return jQuery.dir( elem, "nextSibling", until ); + }, + prevUntil: function( elem, i, until ) { + return jQuery.dir( elem, "previousSibling", until ); + }, + siblings: function( elem ) { + return jQuery.sibling( ( elem.parentNode || {} ).firstChild, elem ); + }, + children: function( elem ) { + return jQuery.sibling( elem.firstChild ); + }, + contents: function( elem ) { + return jQuery.nodeName( elem, "iframe" ) ? + elem.contentDocument || elem.contentWindow.document : + jQuery.merge( [], elem.childNodes ); + } +}, function( name, fn ) { + jQuery.fn[ name ] = function( until, selector ) { + var ret = jQuery.map( this, fn, until ); + + if ( name.slice( -5 ) !== "Until" ) { + selector = until; + } + + if ( selector && typeof selector === "string" ) { + ret = jQuery.filter( selector, ret ); + } + + if ( this.length > 1 ) { + // Remove duplicates + if ( !guaranteedUnique[ name ] ) { + ret = jQuery.unique( ret ); + } + + // Reverse order for parents* and prev-derivatives + if ( rparentsprev.test( name ) ) { + ret = ret.reverse(); + } + } + + return this.pushStack( ret ); + }; +}); +var rnotwhite = (/\S+/g); + + + +// String to Object options format cache +var optionsCache = {}; + +// Convert String-formatted options into Object-formatted ones and store in cache +function createOptions( options ) { + var object = optionsCache[ options ] = {}; + jQuery.each( options.match( rnotwhite ) || [], function( _, flag ) { + object[ flag ] = true; + }); + return object; +} + +/* + * Create a callback list using the following parameters: + * + * options: an optional list of space-separated options that will change how + * the callback list behaves or a more traditional option object + * + * By default a callback list will act like an event callback list and can be + * "fired" multiple times. + * + * Possible options: + * + * once: will ensure the callback list can only be fired once (like a Deferred) + * + * memory: will keep track of previous values and will call any callback added + * after the list has been fired right away with the latest "memorized" + * values (like a Deferred) + * + * unique: will ensure a callback can only be added once (no duplicate in the list) + * + * stopOnFalse: interrupt callings when a callback returns false + * + */ +jQuery.Callbacks = function( options ) { + + // Convert options from String-formatted to Object-formatted if needed + // (we check in cache first) + options = typeof options === "string" ? + ( optionsCache[ options ] || createOptions( options ) ) : + jQuery.extend( {}, options ); + + var // Flag to know if list is currently firing + firing, + // Last fire value (for non-forgettable lists) + memory, + // Flag to know if list was already fired + fired, + // End of the loop when firing + firingLength, + // Index of currently firing callback (modified by remove if needed) + firingIndex, + // First callback to fire (used internally by add and fireWith) + firingStart, + // Actual callback list + list = [], + // Stack of fire calls for repeatable lists + stack = !options.once && [], + // Fire callbacks + fire = function( data ) { + memory = options.memory && data; + fired = true; + firingIndex = firingStart || 0; + firingStart = 0; + firingLength = list.length; + firing = true; + for ( ; list && firingIndex < firingLength; firingIndex++ ) { + if ( list[ firingIndex ].apply( data[ 0 ], data[ 1 ] ) === false && options.stopOnFalse ) { + memory = false; // To prevent further calls using add + break; + } + } + firing = false; + if ( list ) { + if ( stack ) { + if ( stack.length ) { + fire( stack.shift() ); + } + } else if ( memory ) { + list = []; + } else { + self.disable(); + } + } + }, + // Actual Callbacks object + self = { + // Add a callback or a collection of callbacks to the list + add: function() { + if ( list ) { + // First, we save the current length + var start = list.length; + (function add( args ) { + jQuery.each( args, function( _, arg ) { + var type = jQuery.type( arg ); + if ( type === "function" ) { + if ( !options.unique || !self.has( arg ) ) { + list.push( arg ); + } + } else if ( arg && arg.length && type !== "string" ) { + // Inspect recursively + add( arg ); + } + }); + })( arguments ); + // Do we need to add the callbacks to the + // current firing batch? + if ( firing ) { + firingLength = list.length; + // With memory, if we're not firing then + // we should call right away + } else if ( memory ) { + firingStart = start; + fire( memory ); + } + } + return this; + }, + // Remove a callback from the list + remove: function() { + if ( list ) { + jQuery.each( arguments, function( _, arg ) { + var index; + while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { + list.splice( index, 1 ); + // Handle firing indexes + if ( firing ) { + if ( index <= firingLength ) { + firingLength--; + } + if ( index <= firingIndex ) { + firingIndex--; + } + } + } + }); + } + return this; + }, + // Check if a given callback is in the list. + // If no argument is given, return whether or not list has callbacks attached. + has: function( fn ) { + return fn ? jQuery.inArray( fn, list ) > -1 : !!( list && list.length ); + }, + // Remove all callbacks from the list + empty: function() { + list = []; + firingLength = 0; + return this; + }, + // Have the list do nothing anymore + disable: function() { + list = stack = memory = undefined; + return this; + }, + // Is it disabled? + disabled: function() { + return !list; + }, + // Lock the list in its current state + lock: function() { + stack = undefined; + if ( !memory ) { + self.disable(); + } + return this; + }, + // Is it locked? + locked: function() { + return !stack; + }, + // Call all callbacks with the given context and arguments + fireWith: function( context, args ) { + if ( list && ( !fired || stack ) ) { + args = args || []; + args = [ context, args.slice ? args.slice() : args ]; + if ( firing ) { + stack.push( args ); + } else { + fire( args ); + } + } + return this; + }, + // Call all the callbacks with the given arguments + fire: function() { + self.fireWith( this, arguments ); + return this; + }, + // To know if the callbacks have already been called at least once + fired: function() { + return !!fired; + } + }; + + return self; +}; + + +jQuery.extend({ + + Deferred: function( func ) { + var tuples = [ + // action, add listener, listener list, final state + [ "resolve", "done", jQuery.Callbacks("once memory"), "resolved" ], + [ "reject", "fail", jQuery.Callbacks("once memory"), "rejected" ], + [ "notify", "progress", jQuery.Callbacks("memory") ] + ], + state = "pending", + promise = { + state: function() { + return state; + }, + always: function() { + deferred.done( arguments ).fail( arguments ); + return this; + }, + then: function( /* fnDone, fnFail, fnProgress */ ) { + var fns = arguments; + return jQuery.Deferred(function( newDefer ) { + jQuery.each( tuples, function( i, tuple ) { + var fn = jQuery.isFunction( fns[ i ] ) && fns[ i ]; + // deferred[ done | fail | progress ] for forwarding actions to newDefer + deferred[ tuple[1] ](function() { + var returned = fn && fn.apply( this, arguments ); + if ( returned && jQuery.isFunction( returned.promise ) ) { + returned.promise() + .done( newDefer.resolve ) + .fail( newDefer.reject ) + .progress( newDefer.notify ); + } else { + newDefer[ tuple[ 0 ] + "With" ]( this === promise ? newDefer.promise() : this, fn ? [ returned ] : arguments ); + } + }); + }); + fns = null; + }).promise(); + }, + // Get a promise for this deferred + // If obj is provided, the promise aspect is added to the object + promise: function( obj ) { + return obj != null ? jQuery.extend( obj, promise ) : promise; + } + }, + deferred = {}; + + // Keep pipe for back-compat + promise.pipe = promise.then; + + // Add list-specific methods + jQuery.each( tuples, function( i, tuple ) { + var list = tuple[ 2 ], + stateString = tuple[ 3 ]; + + // promise[ done | fail | progress ] = list.add + promise[ tuple[1] ] = list.add; + + // Handle state + if ( stateString ) { + list.add(function() { + // state = [ resolved | rejected ] + state = stateString; + + // [ reject_list | resolve_list ].disable; progress_list.lock + }, tuples[ i ^ 1 ][ 2 ].disable, tuples[ 2 ][ 2 ].lock ); + } + + // deferred[ resolve | reject | notify ] + deferred[ tuple[0] ] = function() { + deferred[ tuple[0] + "With" ]( this === deferred ? promise : this, arguments ); + return this; + }; + deferred[ tuple[0] + "With" ] = list.fireWith; + }); + + // Make the deferred a promise + promise.promise( deferred ); + + // Call given func if any + if ( func ) { + func.call( deferred, deferred ); + } + + // All done! + return deferred; + }, + + // Deferred helper + when: function( subordinate /* , ..., subordinateN */ ) { + var i = 0, + resolveValues = slice.call( arguments ), + length = resolveValues.length, + + // the count of uncompleted subordinates + remaining = length !== 1 || ( subordinate && jQuery.isFunction( subordinate.promise ) ) ? length : 0, + + // the master Deferred. If resolveValues consist of only a single Deferred, just use that. + deferred = remaining === 1 ? subordinate : jQuery.Deferred(), + + // Update function for both resolve and progress values + updateFunc = function( i, contexts, values ) { + return function( value ) { + contexts[ i ] = this; + values[ i ] = arguments.length > 1 ? slice.call( arguments ) : value; + if ( values === progressValues ) { + deferred.notifyWith( contexts, values ); + + } else if ( !(--remaining) ) { + deferred.resolveWith( contexts, values ); + } + }; + }, + + progressValues, progressContexts, resolveContexts; + + // add listeners to Deferred subordinates; treat others as resolved + if ( length > 1 ) { + progressValues = new Array( length ); + progressContexts = new Array( length ); + resolveContexts = new Array( length ); + for ( ; i < length; i++ ) { + if ( resolveValues[ i ] && jQuery.isFunction( resolveValues[ i ].promise ) ) { + resolveValues[ i ].promise() + .done( updateFunc( i, resolveContexts, resolveValues ) ) + .fail( deferred.reject ) + .progress( updateFunc( i, progressContexts, progressValues ) ); + } else { + --remaining; + } + } + } + + // if we're not waiting on anything, resolve the master + if ( !remaining ) { + deferred.resolveWith( resolveContexts, resolveValues ); + } + + return deferred.promise(); + } +}); + + +// The deferred used on DOM ready +var readyList; + +jQuery.fn.ready = function( fn ) { + // Add the callback + jQuery.ready.promise().done( fn ); + + return this; +}; + +jQuery.extend({ + // Is the DOM ready to be used? Set to true once it occurs. + isReady: false, + + // A counter to track how many items to wait for before + // the ready event fires. See #6781 + readyWait: 1, + + // Hold (or release) the ready event + holdReady: function( hold ) { + if ( hold ) { + jQuery.readyWait++; + } else { + jQuery.ready( true ); + } + }, + + // Handle when the DOM is ready + ready: function( wait ) { + + // Abort if there are pending holds or we're already ready + if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { + return; + } + + // Make sure body exists, at least, in case IE gets a little overzealous (ticket #5443). + if ( !document.body ) { + return setTimeout( jQuery.ready ); + } + + // Remember that the DOM is ready + jQuery.isReady = true; + + // If a normal DOM Ready event fired, decrement, and wait if need be + if ( wait !== true && --jQuery.readyWait > 0 ) { + return; + } + + // If there are functions bound, to execute + readyList.resolveWith( document, [ jQuery ] ); + + // Trigger any bound ready events + if ( jQuery.fn.triggerHandler ) { + jQuery( document ).triggerHandler( "ready" ); + jQuery( document ).off( "ready" ); + } + } +}); + +/** + * Clean-up method for dom ready events + */ +function detach() { + if ( document.addEventListener ) { + document.removeEventListener( "DOMContentLoaded", completed, false ); + window.removeEventListener( "load", completed, false ); + + } else { + document.detachEvent( "onreadystatechange", completed ); + window.detachEvent( "onload", completed ); + } +} + +/** + * The ready event handler and self cleanup method + */ +function completed() { + // readyState === "complete" is good enough for us to call the dom ready in oldIE + if ( document.addEventListener || event.type === "load" || document.readyState === "complete" ) { + detach(); + jQuery.ready(); + } +} + +jQuery.ready.promise = function( obj ) { + if ( !readyList ) { + + readyList = jQuery.Deferred(); + + // Catch cases where $(document).ready() is called after the browser event has already occurred. + // we once tried to use readyState "interactive" here, but it caused issues like the one + // discovered by ChrisS here: http://bugs.jquery.com/ticket/12282#comment:15 + if ( document.readyState === "complete" ) { + // Handle it asynchronously to allow scripts the opportunity to delay ready + setTimeout( jQuery.ready ); + + // Standards-based browsers support DOMContentLoaded + } else if ( document.addEventListener ) { + // Use the handy event callback + document.addEventListener( "DOMContentLoaded", completed, false ); + + // A fallback to window.onload, that will always work + window.addEventListener( "load", completed, false ); + + // If IE event model is used + } else { + // Ensure firing before onload, maybe late but safe also for iframes + document.attachEvent( "onreadystatechange", completed ); + + // A fallback to window.onload, that will always work + window.attachEvent( "onload", completed ); + + // If IE and not a frame + // continually check to see if the document is ready + var top = false; + + try { + top = window.frameElement == null && document.documentElement; + } catch(e) {} + + if ( top && top.doScroll ) { + (function doScrollCheck() { + if ( !jQuery.isReady ) { + + try { + // Use the trick by Diego Perini + // http://javascript.nwbox.com/IEContentLoaded/ + top.doScroll("left"); + } catch(e) { + return setTimeout( doScrollCheck, 50 ); + } + + // detach all dom ready events + detach(); + + // and execute any waiting functions + jQuery.ready(); + } + })(); + } + } + } + return readyList.promise( obj ); +}; + + +var strundefined = typeof undefined; + + + +// Support: IE<9 +// Iteration over object's inherited properties before its own +var i; +for ( i in jQuery( support ) ) { + break; +} +support.ownLast = i !== "0"; + +// Note: most support tests are defined in their respective modules. +// false until the test is run +support.inlineBlockNeedsLayout = false; + +// Execute ASAP in case we need to set body.style.zoom +jQuery(function() { + // Minified: var a,b,c,d + var val, div, body, container; + + body = document.getElementsByTagName( "body" )[ 0 ]; + if ( !body || !body.style ) { + // Return for frameset docs that don't have a body + return; + } + + // Setup + div = document.createElement( "div" ); + container = document.createElement( "div" ); + container.style.cssText = "position:absolute;border:0;width:0;height:0;top:0;left:-9999px"; + body.appendChild( container ).appendChild( div ); + + if ( typeof div.style.zoom !== strundefined ) { + // Support: IE<8 + // Check if natively block-level elements act like inline-block + // elements when setting their display to 'inline' and giving + // them layout + div.style.cssText = "display:inline;margin:0;border:0;padding:1px;width:1px;zoom:1"; + + support.inlineBlockNeedsLayout = val = div.offsetWidth === 3; + if ( val ) { + // Prevent IE 6 from affecting layout for positioned elements #11048 + // Prevent IE from shrinking the body in IE 7 mode #12869 + // Support: IE<8 + body.style.zoom = 1; + } + } + + body.removeChild( container ); +}); + + + + +(function() { + var div = document.createElement( "div" ); + + // Execute the test only if not already executed in another module. + if (support.deleteExpando == null) { + // Support: IE<9 + support.deleteExpando = true; + try { + delete div.test; + } catch( e ) { + support.deleteExpando = false; + } + } + + // Null elements to avoid leaks in IE. + div = null; +})(); + + +/** + * Determines whether an object can have data + */ +jQuery.acceptData = function( elem ) { + var noData = jQuery.noData[ (elem.nodeName + " ").toLowerCase() ], + nodeType = +elem.nodeType || 1; + + // Do not set data on non-element DOM nodes because it will not be cleared (#8335). + return nodeType !== 1 && nodeType !== 9 ? + false : + + // Nodes accept data unless otherwise specified; rejection can be conditional + !noData || noData !== true && elem.getAttribute("classid") === noData; +}; + + +var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/, + rmultiDash = /([A-Z])/g; + +function dataAttr( elem, key, data ) { + // If nothing was found internally, try to fetch any + // data from the HTML5 data-* attribute + if ( data === undefined && elem.nodeType === 1 ) { + + var name = "data-" + key.replace( rmultiDash, "-$1" ).toLowerCase(); + + data = elem.getAttribute( name ); + + if ( typeof data === "string" ) { + try { + data = data === "true" ? true : + data === "false" ? false : + data === "null" ? null : + // Only convert to a number if it doesn't change the string + +data + "" === data ? +data : + rbrace.test( data ) ? jQuery.parseJSON( data ) : + data; + } catch( e ) {} + + // Make sure we set the data so it isn't changed later + jQuery.data( elem, key, data ); + + } else { + data = undefined; + } + } + + return data; +} + +// checks a cache object for emptiness +function isEmptyDataObject( obj ) { + var name; + for ( name in obj ) { + + // if the public data object is empty, the private is still empty + if ( name === "data" && jQuery.isEmptyObject( obj[name] ) ) { + continue; + } + if ( name !== "toJSON" ) { + return false; + } + } + + return true; +} + +function internalData( elem, name, data, pvt /* Internal Use Only */ ) { + if ( !jQuery.acceptData( elem ) ) { + return; + } + + var ret, thisCache, + internalKey = jQuery.expando, + + // We have to handle DOM nodes and JS objects differently because IE6-7 + // can't GC object references properly across the DOM-JS boundary + isNode = elem.nodeType, + + // Only DOM nodes need the global jQuery cache; JS object data is + // attached directly to the object so GC can occur automatically + cache = isNode ? jQuery.cache : elem, + + // Only defining an ID for JS objects if its cache already exists allows + // the code to shortcut on the same path as a DOM node with no cache + id = isNode ? elem[ internalKey ] : elem[ internalKey ] && internalKey; + + // Avoid doing any more work than we need to when trying to get data on an + // object that has no data at all + if ( (!id || !cache[id] || (!pvt && !cache[id].data)) && data === undefined && typeof name === "string" ) { + return; + } + + if ( !id ) { + // Only DOM nodes need a new unique ID for each element since their data + // ends up in the global cache + if ( isNode ) { + id = elem[ internalKey ] = deletedIds.pop() || jQuery.guid++; + } else { + id = internalKey; + } + } + + if ( !cache[ id ] ) { + // Avoid exposing jQuery metadata on plain JS objects when the object + // is serialized using JSON.stringify + cache[ id ] = isNode ? {} : { toJSON: jQuery.noop }; + } + + // An object can be passed to jQuery.data instead of a key/value pair; this gets + // shallow copied over onto the existing cache + if ( typeof name === "object" || typeof name === "function" ) { + if ( pvt ) { + cache[ id ] = jQuery.extend( cache[ id ], name ); + } else { + cache[ id ].data = jQuery.extend( cache[ id ].data, name ); + } + } + + thisCache = cache[ id ]; + + // jQuery data() is stored in a separate object inside the object's internal data + // cache in order to avoid key collisions between internal data and user-defined + // data. + if ( !pvt ) { + if ( !thisCache.data ) { + thisCache.data = {}; + } + + thisCache = thisCache.data; + } + + if ( data !== undefined ) { + thisCache[ jQuery.camelCase( name ) ] = data; + } + + // Check for both converted-to-camel and non-converted data property names + // If a data property was specified + if ( typeof name === "string" ) { + + // First Try to find as-is property data + ret = thisCache[ name ]; + + // Test for null|undefined property data + if ( ret == null ) { + + // Try to find the camelCased property + ret = thisCache[ jQuery.camelCase( name ) ]; + } + } else { + ret = thisCache; + } + + return ret; +} + +function internalRemoveData( elem, name, pvt ) { + if ( !jQuery.acceptData( elem ) ) { + return; + } + + var thisCache, i, + isNode = elem.nodeType, + + // See jQuery.data for more information + cache = isNode ? jQuery.cache : elem, + id = isNode ? elem[ jQuery.expando ] : jQuery.expando; + + // If there is already no cache entry for this object, there is no + // purpose in continuing + if ( !cache[ id ] ) { + return; + } + + if ( name ) { + + thisCache = pvt ? cache[ id ] : cache[ id ].data; + + if ( thisCache ) { + + // Support array or space separated string names for data keys + if ( !jQuery.isArray( name ) ) { + + // try the string as a key before any manipulation + if ( name in thisCache ) { + name = [ name ]; + } else { + + // split the camel cased version by spaces unless a key with the spaces exists + name = jQuery.camelCase( name ); + if ( name in thisCache ) { + name = [ name ]; + } else { + name = name.split(" "); + } + } + } else { + // If "name" is an array of keys... + // When data is initially created, via ("key", "val") signature, + // keys will be converted to camelCase. + // Since there is no way to tell _how_ a key was added, remove + // both plain key and camelCase key. #12786 + // This will only penalize the array argument path. + name = name.concat( jQuery.map( name, jQuery.camelCase ) ); + } + + i = name.length; + while ( i-- ) { + delete thisCache[ name[i] ]; + } + + // If there is no data left in the cache, we want to continue + // and let the cache object itself get destroyed + if ( pvt ? !isEmptyDataObject(thisCache) : !jQuery.isEmptyObject(thisCache) ) { + return; + } + } + } + + // See jQuery.data for more information + if ( !pvt ) { + delete cache[ id ].data; + + // Don't destroy the parent cache unless the internal data object + // had been the only thing left in it + if ( !isEmptyDataObject( cache[ id ] ) ) { + return; + } + } + + // Destroy the cache + if ( isNode ) { + jQuery.cleanData( [ elem ], true ); + + // Use delete when supported for expandos or `cache` is not a window per isWindow (#10080) + /* jshint eqeqeq: false */ + } else if ( support.deleteExpando || cache != cache.window ) { + /* jshint eqeqeq: true */ + delete cache[ id ]; + + // When all else fails, null + } else { + cache[ id ] = null; + } +} + +jQuery.extend({ + cache: {}, + + // The following elements (space-suffixed to avoid Object.prototype collisions) + // throw uncatchable exceptions if you attempt to set expando properties + noData: { + "applet ": true, + "embed ": true, + // ...but Flash objects (which have this classid) *can* handle expandos + "object ": "clsid:D27CDB6E-AE6D-11cf-96B8-444553540000" + }, + + hasData: function( elem ) { + elem = elem.nodeType ? jQuery.cache[ elem[jQuery.expando] ] : elem[ jQuery.expando ]; + return !!elem && !isEmptyDataObject( elem ); + }, + + data: function( elem, name, data ) { + return internalData( elem, name, data ); + }, + + removeData: function( elem, name ) { + return internalRemoveData( elem, name ); + }, + + // For internal use only. + _data: function( elem, name, data ) { + return internalData( elem, name, data, true ); + }, + + _removeData: function( elem, name ) { + return internalRemoveData( elem, name, true ); + } +}); + +jQuery.fn.extend({ + data: function( key, value ) { + var i, name, data, + elem = this[0], + attrs = elem && elem.attributes; + + // Special expections of .data basically thwart jQuery.access, + // so implement the relevant behavior ourselves + + // Gets all values + if ( key === undefined ) { + if ( this.length ) { + data = jQuery.data( elem ); + + if ( elem.nodeType === 1 && !jQuery._data( elem, "parsedAttrs" ) ) { + i = attrs.length; + while ( i-- ) { + + // Support: IE11+ + // The attrs elements can be null (#14894) + if ( attrs[ i ] ) { + name = attrs[ i ].name; + if ( name.indexOf( "data-" ) === 0 ) { + name = jQuery.camelCase( name.slice(5) ); + dataAttr( elem, name, data[ name ] ); + } + } + } + jQuery._data( elem, "parsedAttrs", true ); + } + } + + return data; + } + + // Sets multiple values + if ( typeof key === "object" ) { + return this.each(function() { + jQuery.data( this, key ); + }); + } + + return arguments.length > 1 ? + + // Sets one value + this.each(function() { + jQuery.data( this, key, value ); + }) : + + // Gets one value + // Try to fetch any internally stored data first + elem ? dataAttr( elem, key, jQuery.data( elem, key ) ) : undefined; + }, + + removeData: function( key ) { + return this.each(function() { + jQuery.removeData( this, key ); + }); + } +}); + + +jQuery.extend({ + queue: function( elem, type, data ) { + var queue; + + if ( elem ) { + type = ( type || "fx" ) + "queue"; + queue = jQuery._data( elem, type ); + + // Speed up dequeue by getting out quickly if this is just a lookup + if ( data ) { + if ( !queue || jQuery.isArray(data) ) { + queue = jQuery._data( elem, type, jQuery.makeArray(data) ); + } else { + queue.push( data ); + } + } + return queue || []; + } + }, + + dequeue: function( elem, type ) { + type = type || "fx"; + + var queue = jQuery.queue( elem, type ), + startLength = queue.length, + fn = queue.shift(), + hooks = jQuery._queueHooks( elem, type ), + next = function() { + jQuery.dequeue( elem, type ); + }; + + // If the fx queue is dequeued, always remove the progress sentinel + if ( fn === "inprogress" ) { + fn = queue.shift(); + startLength--; + } + + if ( fn ) { + + // Add a progress sentinel to prevent the fx queue from being + // automatically dequeued + if ( type === "fx" ) { + queue.unshift( "inprogress" ); + } + + // clear up the last queue stop function + delete hooks.stop; + fn.call( elem, next, hooks ); + } + + if ( !startLength && hooks ) { + hooks.empty.fire(); + } + }, + + // not intended for public consumption - generates a queueHooks object, or returns the current one + _queueHooks: function( elem, type ) { + var key = type + "queueHooks"; + return jQuery._data( elem, key ) || jQuery._data( elem, key, { + empty: jQuery.Callbacks("once memory").add(function() { + jQuery._removeData( elem, type + "queue" ); + jQuery._removeData( elem, key ); + }) + }); + } +}); + +jQuery.fn.extend({ + queue: function( type, data ) { + var setter = 2; + + if ( typeof type !== "string" ) { + data = type; + type = "fx"; + setter--; + } + + if ( arguments.length < setter ) { + return jQuery.queue( this[0], type ); + } + + return data === undefined ? + this : + this.each(function() { + var queue = jQuery.queue( this, type, data ); + + // ensure a hooks for this queue + jQuery._queueHooks( this, type ); + + if ( type === "fx" && queue[0] !== "inprogress" ) { + jQuery.dequeue( this, type ); + } + }); + }, + dequeue: function( type ) { + return this.each(function() { + jQuery.dequeue( this, type ); + }); + }, + clearQueue: function( type ) { + return this.queue( type || "fx", [] ); + }, + // Get a promise resolved when queues of a certain type + // are emptied (fx is the type by default) + promise: function( type, obj ) { + var tmp, + count = 1, + defer = jQuery.Deferred(), + elements = this, + i = this.length, + resolve = function() { + if ( !( --count ) ) { + defer.resolveWith( elements, [ elements ] ); + } + }; + + if ( typeof type !== "string" ) { + obj = type; + type = undefined; + } + type = type || "fx"; + + while ( i-- ) { + tmp = jQuery._data( elements[ i ], type + "queueHooks" ); + if ( tmp && tmp.empty ) { + count++; + tmp.empty.add( resolve ); + } + } + resolve(); + return defer.promise( obj ); + } +}); +var pnum = (/[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/).source; + +var cssExpand = [ "Top", "Right", "Bottom", "Left" ]; + +var isHidden = function( elem, el ) { + // isHidden might be called from jQuery#filter function; + // in that case, element will be second argument + elem = el || elem; + return jQuery.css( elem, "display" ) === "none" || !jQuery.contains( elem.ownerDocument, elem ); + }; + + + +// Multifunctional method to get and set values of a collection +// The value/s can optionally be executed if it's a function +var access = jQuery.access = function( elems, fn, key, value, chainable, emptyGet, raw ) { + var i = 0, + length = elems.length, + bulk = key == null; + + // Sets many values + if ( jQuery.type( key ) === "object" ) { + chainable = true; + for ( i in key ) { + jQuery.access( elems, fn, i, key[i], true, emptyGet, raw ); + } + + // Sets one value + } else if ( value !== undefined ) { + chainable = true; + + if ( !jQuery.isFunction( value ) ) { + raw = true; + } + + if ( bulk ) { + // Bulk operations run against the entire set + if ( raw ) { + fn.call( elems, value ); + fn = null; + + // ...except when executing function values + } else { + bulk = fn; + fn = function( elem, key, value ) { + return bulk.call( jQuery( elem ), value ); + }; + } + } + + if ( fn ) { + for ( ; i < length; i++ ) { + fn( elems[i], key, raw ? value : value.call( elems[i], i, fn( elems[i], key ) ) ); + } + } + } + + return chainable ? + elems : + + // Gets + bulk ? + fn.call( elems ) : + length ? fn( elems[0], key ) : emptyGet; +}; +var rcheckableType = (/^(?:checkbox|radio)$/i); + + + +(function() { + // Minified: var a,b,c + var input = document.createElement( "input" ), + div = document.createElement( "div" ), + fragment = document.createDocumentFragment(); + + // Setup + div.innerHTML = "
a"; + + // IE strips leading whitespace when .innerHTML is used + support.leadingWhitespace = div.firstChild.nodeType === 3; + + // Make sure that tbody elements aren't automatically inserted + // IE will insert them into empty tables + support.tbody = !div.getElementsByTagName( "tbody" ).length; + + // Make sure that link elements get serialized correctly by innerHTML + // This requires a wrapper element in IE + support.htmlSerialize = !!div.getElementsByTagName( "link" ).length; + + // Makes sure cloning an html5 element does not cause problems + // Where outerHTML is undefined, this still works + support.html5Clone = + document.createElement( "nav" ).cloneNode( true ).outerHTML !== "<:nav>"; + + // Check if a disconnected checkbox will retain its checked + // value of true after appended to the DOM (IE6/7) + input.type = "checkbox"; + input.checked = true; + fragment.appendChild( input ); + support.appendChecked = input.checked; + + // Make sure textarea (and checkbox) defaultValue is properly cloned + // Support: IE6-IE11+ + div.innerHTML = ""; + support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue; + + // #11217 - WebKit loses check when the name is after the checked attribute + fragment.appendChild( div ); + div.innerHTML = ""; + + // Support: Safari 5.1, iOS 5.1, Android 4.x, Android 2.3 + // old WebKit doesn't clone checked state correctly in fragments + support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked; + + // Support: IE<9 + // Opera does not clone events (and typeof div.attachEvent === undefined). + // IE9-10 clones events bound via attachEvent, but they don't trigger with .click() + support.noCloneEvent = true; + if ( div.attachEvent ) { + div.attachEvent( "onclick", function() { + support.noCloneEvent = false; + }); + + div.cloneNode( true ).click(); + } + + // Execute the test only if not already executed in another module. + if (support.deleteExpando == null) { + // Support: IE<9 + support.deleteExpando = true; + try { + delete div.test; + } catch( e ) { + support.deleteExpando = false; + } + } +})(); + + +(function() { + var i, eventName, + div = document.createElement( "div" ); + + // Support: IE<9 (lack submit/change bubble), Firefox 23+ (lack focusin event) + for ( i in { submit: true, change: true, focusin: true }) { + eventName = "on" + i; + + if ( !(support[ i + "Bubbles" ] = eventName in window) ) { + // Beware of CSP restrictions (https://developer.mozilla.org/en/Security/CSP) + div.setAttribute( eventName, "t" ); + support[ i + "Bubbles" ] = div.attributes[ eventName ].expando === false; + } + } + + // Null elements to avoid leaks in IE. + div = null; +})(); + + +var rformElems = /^(?:input|select|textarea)$/i, + rkeyEvent = /^key/, + rmouseEvent = /^(?:mouse|pointer|contextmenu)|click/, + rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, + rtypenamespace = /^([^.]*)(?:\.(.+)|)$/; + +function returnTrue() { + return true; +} + +function returnFalse() { + return false; +} + +function safeActiveElement() { + try { + return document.activeElement; + } catch ( err ) { } +} + +/* + * Helper functions for managing events -- not part of the public interface. + * Props to Dean Edwards' addEvent library for many of the ideas. + */ +jQuery.event = { + + global: {}, + + add: function( elem, types, handler, data, selector ) { + var tmp, events, t, handleObjIn, + special, eventHandle, handleObj, + handlers, type, namespaces, origType, + elemData = jQuery._data( elem ); + + // Don't attach events to noData or text/comment nodes (but allow plain objects) + if ( !elemData ) { + return; + } + + // Caller can pass in an object of custom data in lieu of the handler + if ( handler.handler ) { + handleObjIn = handler; + handler = handleObjIn.handler; + selector = handleObjIn.selector; + } + + // Make sure that the handler has a unique ID, used to find/remove it later + if ( !handler.guid ) { + handler.guid = jQuery.guid++; + } + + // Init the element's event structure and main handler, if this is the first + if ( !(events = elemData.events) ) { + events = elemData.events = {}; + } + if ( !(eventHandle = elemData.handle) ) { + eventHandle = elemData.handle = function( e ) { + // Discard the second event of a jQuery.event.trigger() and + // when an event is called after a page has unloaded + return typeof jQuery !== strundefined && (!e || jQuery.event.triggered !== e.type) ? + jQuery.event.dispatch.apply( eventHandle.elem, arguments ) : + undefined; + }; + // Add elem as a property of the handle fn to prevent a memory leak with IE non-native events + eventHandle.elem = elem; + } + + // Handle multiple events separated by a space + types = ( types || "" ).match( rnotwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[t] ) || []; + type = origType = tmp[1]; + namespaces = ( tmp[2] || "" ).split( "." ).sort(); + + // There *must* be a type, no attaching namespace-only handlers + if ( !type ) { + continue; + } + + // If event changes its type, use the special event handlers for the changed type + special = jQuery.event.special[ type ] || {}; + + // If selector defined, determine special event api type, otherwise given type + type = ( selector ? special.delegateType : special.bindType ) || type; + + // Update special based on newly reset type + special = jQuery.event.special[ type ] || {}; + + // handleObj is passed to all event handlers + handleObj = jQuery.extend({ + type: type, + origType: origType, + data: data, + handler: handler, + guid: handler.guid, + selector: selector, + needsContext: selector && jQuery.expr.match.needsContext.test( selector ), + namespace: namespaces.join(".") + }, handleObjIn ); + + // Init the event handler queue if we're the first + if ( !(handlers = events[ type ]) ) { + handlers = events[ type ] = []; + handlers.delegateCount = 0; + + // Only use addEventListener/attachEvent if the special events handler returns false + if ( !special.setup || special.setup.call( elem, data, namespaces, eventHandle ) === false ) { + // Bind the global event handler to the element + if ( elem.addEventListener ) { + elem.addEventListener( type, eventHandle, false ); + + } else if ( elem.attachEvent ) { + elem.attachEvent( "on" + type, eventHandle ); + } + } + } + + if ( special.add ) { + special.add.call( elem, handleObj ); + + if ( !handleObj.handler.guid ) { + handleObj.handler.guid = handler.guid; + } + } + + // Add to the element's handler list, delegates in front + if ( selector ) { + handlers.splice( handlers.delegateCount++, 0, handleObj ); + } else { + handlers.push( handleObj ); + } + + // Keep track of which events have ever been used, for event optimization + jQuery.event.global[ type ] = true; + } + + // Nullify elem to prevent memory leaks in IE + elem = null; + }, + + // Detach an event or set of events from an element + remove: function( elem, types, handler, selector, mappedTypes ) { + var j, handleObj, tmp, + origCount, t, events, + special, handlers, type, + namespaces, origType, + elemData = jQuery.hasData( elem ) && jQuery._data( elem ); + + if ( !elemData || !(events = elemData.events) ) { + return; + } + + // Once for each type.namespace in types; type may be omitted + types = ( types || "" ).match( rnotwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[t] ) || []; + type = origType = tmp[1]; + namespaces = ( tmp[2] || "" ).split( "." ).sort(); + + // Unbind all events (on this namespace, if provided) for the element + if ( !type ) { + for ( type in events ) { + jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); + } + continue; + } + + special = jQuery.event.special[ type ] || {}; + type = ( selector ? special.delegateType : special.bindType ) || type; + handlers = events[ type ] || []; + tmp = tmp[2] && new RegExp( "(^|\\.)" + namespaces.join("\\.(?:.*\\.|)") + "(\\.|$)" ); + + // Remove matching events + origCount = j = handlers.length; + while ( j-- ) { + handleObj = handlers[ j ]; + + if ( ( mappedTypes || origType === handleObj.origType ) && + ( !handler || handler.guid === handleObj.guid ) && + ( !tmp || tmp.test( handleObj.namespace ) ) && + ( !selector || selector === handleObj.selector || selector === "**" && handleObj.selector ) ) { + handlers.splice( j, 1 ); + + if ( handleObj.selector ) { + handlers.delegateCount--; + } + if ( special.remove ) { + special.remove.call( elem, handleObj ); + } + } + } + + // Remove generic event handler if we removed something and no more handlers exist + // (avoids potential for endless recursion during removal of special event handlers) + if ( origCount && !handlers.length ) { + if ( !special.teardown || special.teardown.call( elem, namespaces, elemData.handle ) === false ) { + jQuery.removeEvent( elem, type, elemData.handle ); + } + + delete events[ type ]; + } + } + + // Remove the expando if it's no longer used + if ( jQuery.isEmptyObject( events ) ) { + delete elemData.handle; + + // removeData also checks for emptiness and clears the expando if empty + // so use it instead of delete + jQuery._removeData( elem, "events" ); + } + }, + + trigger: function( event, data, elem, onlyHandlers ) { + var handle, ontype, cur, + bubbleType, special, tmp, i, + eventPath = [ elem || document ], + type = hasOwn.call( event, "type" ) ? event.type : event, + namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split(".") : []; + + cur = tmp = elem = elem || document; + + // Don't do events on text and comment nodes + if ( elem.nodeType === 3 || elem.nodeType === 8 ) { + return; + } + + // focus/blur morphs to focusin/out; ensure we're not firing them right now + if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { + return; + } + + if ( type.indexOf(".") >= 0 ) { + // Namespaced trigger; create a regexp to match event type in handle() + namespaces = type.split("."); + type = namespaces.shift(); + namespaces.sort(); + } + ontype = type.indexOf(":") < 0 && "on" + type; + + // Caller can pass in a jQuery.Event object, Object, or just an event type string + event = event[ jQuery.expando ] ? + event : + new jQuery.Event( type, typeof event === "object" && event ); + + // Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true) + event.isTrigger = onlyHandlers ? 2 : 3; + event.namespace = namespaces.join("."); + event.namespace_re = event.namespace ? + new RegExp( "(^|\\.)" + namespaces.join("\\.(?:.*\\.|)") + "(\\.|$)" ) : + null; + + // Clean up the event in case it is being reused + event.result = undefined; + if ( !event.target ) { + event.target = elem; + } + + // Clone any incoming data and prepend the event, creating the handler arg list + data = data == null ? + [ event ] : + jQuery.makeArray( data, [ event ] ); + + // Allow special events to draw outside the lines + special = jQuery.event.special[ type ] || {}; + if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) { + return; + } + + // Determine event propagation path in advance, per W3C events spec (#9951) + // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) + if ( !onlyHandlers && !special.noBubble && !jQuery.isWindow( elem ) ) { + + bubbleType = special.delegateType || type; + if ( !rfocusMorph.test( bubbleType + type ) ) { + cur = cur.parentNode; + } + for ( ; cur; cur = cur.parentNode ) { + eventPath.push( cur ); + tmp = cur; + } + + // Only add window if we got to document (e.g., not plain obj or detached DOM) + if ( tmp === (elem.ownerDocument || document) ) { + eventPath.push( tmp.defaultView || tmp.parentWindow || window ); + } + } + + // Fire handlers on the event path + i = 0; + while ( (cur = eventPath[i++]) && !event.isPropagationStopped() ) { + + event.type = i > 1 ? + bubbleType : + special.bindType || type; + + // jQuery handler + handle = ( jQuery._data( cur, "events" ) || {} )[ event.type ] && jQuery._data( cur, "handle" ); + if ( handle ) { + handle.apply( cur, data ); + } + + // Native handler + handle = ontype && cur[ ontype ]; + if ( handle && handle.apply && jQuery.acceptData( cur ) ) { + event.result = handle.apply( cur, data ); + if ( event.result === false ) { + event.preventDefault(); + } + } + } + event.type = type; + + // If nobody prevented the default action, do it now + if ( !onlyHandlers && !event.isDefaultPrevented() ) { + + if ( (!special._default || special._default.apply( eventPath.pop(), data ) === false) && + jQuery.acceptData( elem ) ) { + + // Call a native DOM method on the target with the same name name as the event. + // Can't use an .isFunction() check here because IE6/7 fails that test. + // Don't do default actions on window, that's where global variables be (#6170) + if ( ontype && elem[ type ] && !jQuery.isWindow( elem ) ) { + + // Don't re-trigger an onFOO event when we call its FOO() method + tmp = elem[ ontype ]; + + if ( tmp ) { + elem[ ontype ] = null; + } + + // Prevent re-triggering of the same event, since we already bubbled it above + jQuery.event.triggered = type; + try { + elem[ type ](); + } catch ( e ) { + // IE<9 dies on focus/blur to hidden element (#1486,#12518) + // only reproducible on winXP IE8 native, not IE9 in IE8 mode + } + jQuery.event.triggered = undefined; + + if ( tmp ) { + elem[ ontype ] = tmp; + } + } + } + } + + return event.result; + }, + + dispatch: function( event ) { + + // Make a writable jQuery.Event from the native event object + event = jQuery.event.fix( event ); + + var i, ret, handleObj, matched, j, + handlerQueue = [], + args = slice.call( arguments ), + handlers = ( jQuery._data( this, "events" ) || {} )[ event.type ] || [], + special = jQuery.event.special[ event.type ] || {}; + + // Use the fix-ed jQuery.Event rather than the (read-only) native event + args[0] = event; + event.delegateTarget = this; + + // Call the preDispatch hook for the mapped type, and let it bail if desired + if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { + return; + } + + // Determine handlers + handlerQueue = jQuery.event.handlers.call( this, event, handlers ); + + // Run delegates first; they may want to stop propagation beneath us + i = 0; + while ( (matched = handlerQueue[ i++ ]) && !event.isPropagationStopped() ) { + event.currentTarget = matched.elem; + + j = 0; + while ( (handleObj = matched.handlers[ j++ ]) && !event.isImmediatePropagationStopped() ) { + + // Triggered event must either 1) have no namespace, or + // 2) have namespace(s) a subset or equal to those in the bound event (both can have no namespace). + if ( !event.namespace_re || event.namespace_re.test( handleObj.namespace ) ) { + + event.handleObj = handleObj; + event.data = handleObj.data; + + ret = ( (jQuery.event.special[ handleObj.origType ] || {}).handle || handleObj.handler ) + .apply( matched.elem, args ); + + if ( ret !== undefined ) { + if ( (event.result = ret) === false ) { + event.preventDefault(); + event.stopPropagation(); + } + } + } + } + } + + // Call the postDispatch hook for the mapped type + if ( special.postDispatch ) { + special.postDispatch.call( this, event ); + } + + return event.result; + }, + + handlers: function( event, handlers ) { + var sel, handleObj, matches, i, + handlerQueue = [], + delegateCount = handlers.delegateCount, + cur = event.target; + + // Find delegate handlers + // Black-hole SVG instance trees (#13180) + // Avoid non-left-click bubbling in Firefox (#3861) + if ( delegateCount && cur.nodeType && (!event.button || event.type !== "click") ) { + + /* jshint eqeqeq: false */ + for ( ; cur != this; cur = cur.parentNode || this ) { + /* jshint eqeqeq: true */ + + // Don't check non-elements (#13208) + // Don't process clicks on disabled elements (#6911, #8165, #11382, #11764) + if ( cur.nodeType === 1 && (cur.disabled !== true || event.type !== "click") ) { + matches = []; + for ( i = 0; i < delegateCount; i++ ) { + handleObj = handlers[ i ]; + + // Don't conflict with Object.prototype properties (#13203) + sel = handleObj.selector + " "; + + if ( matches[ sel ] === undefined ) { + matches[ sel ] = handleObj.needsContext ? + jQuery( sel, this ).index( cur ) >= 0 : + jQuery.find( sel, this, null, [ cur ] ).length; + } + if ( matches[ sel ] ) { + matches.push( handleObj ); + } + } + if ( matches.length ) { + handlerQueue.push({ elem: cur, handlers: matches }); + } + } + } + } + + // Add the remaining (directly-bound) handlers + if ( delegateCount < handlers.length ) { + handlerQueue.push({ elem: this, handlers: handlers.slice( delegateCount ) }); + } + + return handlerQueue; + }, + + fix: function( event ) { + if ( event[ jQuery.expando ] ) { + return event; + } + + // Create a writable copy of the event object and normalize some properties + var i, prop, copy, + type = event.type, + originalEvent = event, + fixHook = this.fixHooks[ type ]; + + if ( !fixHook ) { + this.fixHooks[ type ] = fixHook = + rmouseEvent.test( type ) ? this.mouseHooks : + rkeyEvent.test( type ) ? this.keyHooks : + {}; + } + copy = fixHook.props ? this.props.concat( fixHook.props ) : this.props; + + event = new jQuery.Event( originalEvent ); + + i = copy.length; + while ( i-- ) { + prop = copy[ i ]; + event[ prop ] = originalEvent[ prop ]; + } + + // Support: IE<9 + // Fix target property (#1925) + if ( !event.target ) { + event.target = originalEvent.srcElement || document; + } + + // Support: Chrome 23+, Safari? + // Target should not be a text node (#504, #13143) + if ( event.target.nodeType === 3 ) { + event.target = event.target.parentNode; + } + + // Support: IE<9 + // For mouse/key events, metaKey==false if it's undefined (#3368, #11328) + event.metaKey = !!event.metaKey; + + return fixHook.filter ? fixHook.filter( event, originalEvent ) : event; + }, + + // Includes some event props shared by KeyEvent and MouseEvent + props: "altKey bubbles cancelable ctrlKey currentTarget eventPhase metaKey relatedTarget shiftKey target timeStamp view which".split(" "), + + fixHooks: {}, + + keyHooks: { + props: "char charCode key keyCode".split(" "), + filter: function( event, original ) { + + // Add which for key events + if ( event.which == null ) { + event.which = original.charCode != null ? original.charCode : original.keyCode; + } + + return event; + } + }, + + mouseHooks: { + props: "button buttons clientX clientY fromElement offsetX offsetY pageX pageY screenX screenY toElement".split(" "), + filter: function( event, original ) { + var body, eventDoc, doc, + button = original.button, + fromElement = original.fromElement; + + // Calculate pageX/Y if missing and clientX/Y available + if ( event.pageX == null && original.clientX != null ) { + eventDoc = event.target.ownerDocument || document; + doc = eventDoc.documentElement; + body = eventDoc.body; + + event.pageX = original.clientX + ( doc && doc.scrollLeft || body && body.scrollLeft || 0 ) - ( doc && doc.clientLeft || body && body.clientLeft || 0 ); + event.pageY = original.clientY + ( doc && doc.scrollTop || body && body.scrollTop || 0 ) - ( doc && doc.clientTop || body && body.clientTop || 0 ); + } + + // Add relatedTarget, if necessary + if ( !event.relatedTarget && fromElement ) { + event.relatedTarget = fromElement === event.target ? original.toElement : fromElement; + } + + // Add which for click: 1 === left; 2 === middle; 3 === right + // Note: button is not normalized, so don't use it + if ( !event.which && button !== undefined ) { + event.which = ( button & 1 ? 1 : ( button & 2 ? 3 : ( button & 4 ? 2 : 0 ) ) ); + } + + return event; + } + }, + + special: { + load: { + // Prevent triggered image.load events from bubbling to window.load + noBubble: true + }, + focus: { + // Fire native event if possible so blur/focus sequence is correct + trigger: function() { + if ( this !== safeActiveElement() && this.focus ) { + try { + this.focus(); + return false; + } catch ( e ) { + // Support: IE<9 + // If we error on focus to hidden element (#1486, #12518), + // let .trigger() run the handlers + } + } + }, + delegateType: "focusin" + }, + blur: { + trigger: function() { + if ( this === safeActiveElement() && this.blur ) { + this.blur(); + return false; + } + }, + delegateType: "focusout" + }, + click: { + // For checkbox, fire native event so checked state will be right + trigger: function() { + if ( jQuery.nodeName( this, "input" ) && this.type === "checkbox" && this.click ) { + this.click(); + return false; + } + }, + + // For cross-browser consistency, don't fire native .click() on links + _default: function( event ) { + return jQuery.nodeName( event.target, "a" ); + } + }, + + beforeunload: { + postDispatch: function( event ) { + + // Support: Firefox 20+ + // Firefox doesn't alert if the returnValue field is not set. + if ( event.result !== undefined && event.originalEvent ) { + event.originalEvent.returnValue = event.result; + } + } + } + }, + + simulate: function( type, elem, event, bubble ) { + // Piggyback on a donor event to simulate a different one. + // Fake originalEvent to avoid donor's stopPropagation, but if the + // simulated event prevents default then we do the same on the donor. + var e = jQuery.extend( + new jQuery.Event(), + event, + { + type: type, + isSimulated: true, + originalEvent: {} + } + ); + if ( bubble ) { + jQuery.event.trigger( e, null, elem ); + } else { + jQuery.event.dispatch.call( elem, e ); + } + if ( e.isDefaultPrevented() ) { + event.preventDefault(); + } + } +}; + +jQuery.removeEvent = document.removeEventListener ? + function( elem, type, handle ) { + if ( elem.removeEventListener ) { + elem.removeEventListener( type, handle, false ); + } + } : + function( elem, type, handle ) { + var name = "on" + type; + + if ( elem.detachEvent ) { + + // #8545, #7054, preventing memory leaks for custom events in IE6-8 + // detachEvent needed property on element, by name of that event, to properly expose it to GC + if ( typeof elem[ name ] === strundefined ) { + elem[ name ] = null; + } + + elem.detachEvent( name, handle ); + } + }; + +jQuery.Event = function( src, props ) { + // Allow instantiation without the 'new' keyword + if ( !(this instanceof jQuery.Event) ) { + return new jQuery.Event( src, props ); + } + + // Event object + if ( src && src.type ) { + this.originalEvent = src; + this.type = src.type; + + // Events bubbling up the document may have been marked as prevented + // by a handler lower down the tree; reflect the correct value. + this.isDefaultPrevented = src.defaultPrevented || + src.defaultPrevented === undefined && + // Support: IE < 9, Android < 4.0 + src.returnValue === false ? + returnTrue : + returnFalse; + + // Event type + } else { + this.type = src; + } + + // Put explicitly provided properties onto the event object + if ( props ) { + jQuery.extend( this, props ); + } + + // Create a timestamp if incoming event doesn't have one + this.timeStamp = src && src.timeStamp || jQuery.now(); + + // Mark it as fixed + this[ jQuery.expando ] = true; +}; + +// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding +// http://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html +jQuery.Event.prototype = { + isDefaultPrevented: returnFalse, + isPropagationStopped: returnFalse, + isImmediatePropagationStopped: returnFalse, + + preventDefault: function() { + var e = this.originalEvent; + + this.isDefaultPrevented = returnTrue; + if ( !e ) { + return; + } + + // If preventDefault exists, run it on the original event + if ( e.preventDefault ) { + e.preventDefault(); + + // Support: IE + // Otherwise set the returnValue property of the original event to false + } else { + e.returnValue = false; + } + }, + stopPropagation: function() { + var e = this.originalEvent; + + this.isPropagationStopped = returnTrue; + if ( !e ) { + return; + } + // If stopPropagation exists, run it on the original event + if ( e.stopPropagation ) { + e.stopPropagation(); + } + + // Support: IE + // Set the cancelBubble property of the original event to true + e.cancelBubble = true; + }, + stopImmediatePropagation: function() { + var e = this.originalEvent; + + this.isImmediatePropagationStopped = returnTrue; + + if ( e && e.stopImmediatePropagation ) { + e.stopImmediatePropagation(); + } + + this.stopPropagation(); + } +}; + +// Create mouseenter/leave events using mouseover/out and event-time checks +jQuery.each({ + mouseenter: "mouseover", + mouseleave: "mouseout", + pointerenter: "pointerover", + pointerleave: "pointerout" +}, function( orig, fix ) { + jQuery.event.special[ orig ] = { + delegateType: fix, + bindType: fix, + + handle: function( event ) { + var ret, + target = this, + related = event.relatedTarget, + handleObj = event.handleObj; + + // For mousenter/leave call the handler if related is outside the target. + // NB: No relatedTarget if the mouse left/entered the browser window + if ( !related || (related !== target && !jQuery.contains( target, related )) ) { + event.type = handleObj.origType; + ret = handleObj.handler.apply( this, arguments ); + event.type = fix; + } + return ret; + } + }; +}); + +// IE submit delegation +if ( !support.submitBubbles ) { + + jQuery.event.special.submit = { + setup: function() { + // Only need this for delegated form submit events + if ( jQuery.nodeName( this, "form" ) ) { + return false; + } + + // Lazy-add a submit handler when a descendant form may potentially be submitted + jQuery.event.add( this, "click._submit keypress._submit", function( e ) { + // Node name check avoids a VML-related crash in IE (#9807) + var elem = e.target, + form = jQuery.nodeName( elem, "input" ) || jQuery.nodeName( elem, "button" ) ? elem.form : undefined; + if ( form && !jQuery._data( form, "submitBubbles" ) ) { + jQuery.event.add( form, "submit._submit", function( event ) { + event._submit_bubble = true; + }); + jQuery._data( form, "submitBubbles", true ); + } + }); + // return undefined since we don't need an event listener + }, + + postDispatch: function( event ) { + // If form was submitted by the user, bubble the event up the tree + if ( event._submit_bubble ) { + delete event._submit_bubble; + if ( this.parentNode && !event.isTrigger ) { + jQuery.event.simulate( "submit", this.parentNode, event, true ); + } + } + }, + + teardown: function() { + // Only need this for delegated form submit events + if ( jQuery.nodeName( this, "form" ) ) { + return false; + } + + // Remove delegated handlers; cleanData eventually reaps submit handlers attached above + jQuery.event.remove( this, "._submit" ); + } + }; +} + +// IE change delegation and checkbox/radio fix +if ( !support.changeBubbles ) { + + jQuery.event.special.change = { + + setup: function() { + + if ( rformElems.test( this.nodeName ) ) { + // IE doesn't fire change on a check/radio until blur; trigger it on click + // after a propertychange. Eat the blur-change in special.change.handle. + // This still fires onchange a second time for check/radio after blur. + if ( this.type === "checkbox" || this.type === "radio" ) { + jQuery.event.add( this, "propertychange._change", function( event ) { + if ( event.originalEvent.propertyName === "checked" ) { + this._just_changed = true; + } + }); + jQuery.event.add( this, "click._change", function( event ) { + if ( this._just_changed && !event.isTrigger ) { + this._just_changed = false; + } + // Allow triggered, simulated change events (#11500) + jQuery.event.simulate( "change", this, event, true ); + }); + } + return false; + } + // Delegated event; lazy-add a change handler on descendant inputs + jQuery.event.add( this, "beforeactivate._change", function( e ) { + var elem = e.target; + + if ( rformElems.test( elem.nodeName ) && !jQuery._data( elem, "changeBubbles" ) ) { + jQuery.event.add( elem, "change._change", function( event ) { + if ( this.parentNode && !event.isSimulated && !event.isTrigger ) { + jQuery.event.simulate( "change", this.parentNode, event, true ); + } + }); + jQuery._data( elem, "changeBubbles", true ); + } + }); + }, + + handle: function( event ) { + var elem = event.target; + + // Swallow native change events from checkbox/radio, we already triggered them above + if ( this !== elem || event.isSimulated || event.isTrigger || (elem.type !== "radio" && elem.type !== "checkbox") ) { + return event.handleObj.handler.apply( this, arguments ); + } + }, + + teardown: function() { + jQuery.event.remove( this, "._change" ); + + return !rformElems.test( this.nodeName ); + } + }; +} + +// Create "bubbling" focus and blur events +if ( !support.focusinBubbles ) { + jQuery.each({ focus: "focusin", blur: "focusout" }, function( orig, fix ) { + + // Attach a single capturing handler on the document while someone wants focusin/focusout + var handler = function( event ) { + jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ), true ); + }; + + jQuery.event.special[ fix ] = { + setup: function() { + var doc = this.ownerDocument || this, + attaches = jQuery._data( doc, fix ); + + if ( !attaches ) { + doc.addEventListener( orig, handler, true ); + } + jQuery._data( doc, fix, ( attaches || 0 ) + 1 ); + }, + teardown: function() { + var doc = this.ownerDocument || this, + attaches = jQuery._data( doc, fix ) - 1; + + if ( !attaches ) { + doc.removeEventListener( orig, handler, true ); + jQuery._removeData( doc, fix ); + } else { + jQuery._data( doc, fix, attaches ); + } + } + }; + }); +} + +jQuery.fn.extend({ + + on: function( types, selector, data, fn, /*INTERNAL*/ one ) { + var type, origFn; + + // Types can be a map of types/handlers + if ( typeof types === "object" ) { + // ( types-Object, selector, data ) + if ( typeof selector !== "string" ) { + // ( types-Object, data ) + data = data || selector; + selector = undefined; + } + for ( type in types ) { + this.on( type, selector, data, types[ type ], one ); + } + return this; + } + + if ( data == null && fn == null ) { + // ( types, fn ) + fn = selector; + data = selector = undefined; + } else if ( fn == null ) { + if ( typeof selector === "string" ) { + // ( types, selector, fn ) + fn = data; + data = undefined; + } else { + // ( types, data, fn ) + fn = data; + data = selector; + selector = undefined; + } + } + if ( fn === false ) { + fn = returnFalse; + } else if ( !fn ) { + return this; + } + + if ( one === 1 ) { + origFn = fn; + fn = function( event ) { + // Can use an empty set, since event contains the info + jQuery().off( event ); + return origFn.apply( this, arguments ); + }; + // Use same guid so caller can remove using origFn + fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); + } + return this.each( function() { + jQuery.event.add( this, types, fn, data, selector ); + }); + }, + one: function( types, selector, data, fn ) { + return this.on( types, selector, data, fn, 1 ); + }, + off: function( types, selector, fn ) { + var handleObj, type; + if ( types && types.preventDefault && types.handleObj ) { + // ( event ) dispatched jQuery.Event + handleObj = types.handleObj; + jQuery( types.delegateTarget ).off( + handleObj.namespace ? handleObj.origType + "." + handleObj.namespace : handleObj.origType, + handleObj.selector, + handleObj.handler + ); + return this; + } + if ( typeof types === "object" ) { + // ( types-object [, selector] ) + for ( type in types ) { + this.off( type, selector, types[ type ] ); + } + return this; + } + if ( selector === false || typeof selector === "function" ) { + // ( types [, fn] ) + fn = selector; + selector = undefined; + } + if ( fn === false ) { + fn = returnFalse; + } + return this.each(function() { + jQuery.event.remove( this, types, fn, selector ); + }); + }, + + trigger: function( type, data ) { + return this.each(function() { + jQuery.event.trigger( type, data, this ); + }); + }, + triggerHandler: function( type, data ) { + var elem = this[0]; + if ( elem ) { + return jQuery.event.trigger( type, data, elem, true ); + } + } +}); + + +function createSafeFragment( document ) { + var list = nodeNames.split( "|" ), + safeFrag = document.createDocumentFragment(); + + if ( safeFrag.createElement ) { + while ( list.length ) { + safeFrag.createElement( + list.pop() + ); + } + } + return safeFrag; +} + +var nodeNames = "abbr|article|aside|audio|bdi|canvas|data|datalist|details|figcaption|figure|footer|" + + "header|hgroup|mark|meter|nav|output|progress|section|summary|time|video", + rinlinejQuery = / jQuery\d+="(?:null|\d+)"/g, + rnoshimcache = new RegExp("<(?:" + nodeNames + ")[\\s/>]", "i"), + rleadingWhitespace = /^\s+/, + rxhtmlTag = /<(?!area|br|col|embed|hr|img|input|link|meta|param)(([\w:]+)[^>]*)\/>/gi, + rtagName = /<([\w:]+)/, + rtbody = /\s*$/g, + + // We have to close these tags to support XHTML (#13200) + wrapMap = { + option: [ 1, "" ], + legend: [ 1, "
", "
" ], + area: [ 1, "", "" ], + param: [ 1, "", "" ], + thead: [ 1, "", "
" ], + tr: [ 2, "", "
" ], + col: [ 2, "", "
" ], + td: [ 3, "", "
" ], + + // IE6-8 can't serialize link, script, style, or any html5 (NoScope) tags, + // unless wrapped in a div with non-breaking characters in front of it. + _default: support.htmlSerialize ? [ 0, "", "" ] : [ 1, "X
", "
" ] + }, + safeFragment = createSafeFragment( document ), + fragmentDiv = safeFragment.appendChild( document.createElement("div") ); + +wrapMap.optgroup = wrapMap.option; +wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; +wrapMap.th = wrapMap.td; + +function getAll( context, tag ) { + var elems, elem, + i = 0, + found = typeof context.getElementsByTagName !== strundefined ? context.getElementsByTagName( tag || "*" ) : + typeof context.querySelectorAll !== strundefined ? context.querySelectorAll( tag || "*" ) : + undefined; + + if ( !found ) { + for ( found = [], elems = context.childNodes || context; (elem = elems[i]) != null; i++ ) { + if ( !tag || jQuery.nodeName( elem, tag ) ) { + found.push( elem ); + } else { + jQuery.merge( found, getAll( elem, tag ) ); + } + } + } + + return tag === undefined || tag && jQuery.nodeName( context, tag ) ? + jQuery.merge( [ context ], found ) : + found; +} + +// Used in buildFragment, fixes the defaultChecked property +function fixDefaultChecked( elem ) { + if ( rcheckableType.test( elem.type ) ) { + elem.defaultChecked = elem.checked; + } +} + +// Support: IE<8 +// Manipulating tables requires a tbody +function manipulationTarget( elem, content ) { + return jQuery.nodeName( elem, "table" ) && + jQuery.nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ? + + elem.getElementsByTagName("tbody")[0] || + elem.appendChild( elem.ownerDocument.createElement("tbody") ) : + elem; +} + +// Replace/restore the type attribute of script elements for safe DOM manipulation +function disableScript( elem ) { + elem.type = (jQuery.find.attr( elem, "type" ) !== null) + "/" + elem.type; + return elem; +} +function restoreScript( elem ) { + var match = rscriptTypeMasked.exec( elem.type ); + if ( match ) { + elem.type = match[1]; + } else { + elem.removeAttribute("type"); + } + return elem; +} + +// Mark scripts as having already been evaluated +function setGlobalEval( elems, refElements ) { + var elem, + i = 0; + for ( ; (elem = elems[i]) != null; i++ ) { + jQuery._data( elem, "globalEval", !refElements || jQuery._data( refElements[i], "globalEval" ) ); + } +} + +function cloneCopyEvent( src, dest ) { + + if ( dest.nodeType !== 1 || !jQuery.hasData( src ) ) { + return; + } + + var type, i, l, + oldData = jQuery._data( src ), + curData = jQuery._data( dest, oldData ), + events = oldData.events; + + if ( events ) { + delete curData.handle; + curData.events = {}; + + for ( type in events ) { + for ( i = 0, l = events[ type ].length; i < l; i++ ) { + jQuery.event.add( dest, type, events[ type ][ i ] ); + } + } + } + + // make the cloned public data object a copy from the original + if ( curData.data ) { + curData.data = jQuery.extend( {}, curData.data ); + } +} + +function fixCloneNodeIssues( src, dest ) { + var nodeName, e, data; + + // We do not need to do anything for non-Elements + if ( dest.nodeType !== 1 ) { + return; + } + + nodeName = dest.nodeName.toLowerCase(); + + // IE6-8 copies events bound via attachEvent when using cloneNode. + if ( !support.noCloneEvent && dest[ jQuery.expando ] ) { + data = jQuery._data( dest ); + + for ( e in data.events ) { + jQuery.removeEvent( dest, e, data.handle ); + } + + // Event data gets referenced instead of copied if the expando gets copied too + dest.removeAttribute( jQuery.expando ); + } + + // IE blanks contents when cloning scripts, and tries to evaluate newly-set text + if ( nodeName === "script" && dest.text !== src.text ) { + disableScript( dest ).text = src.text; + restoreScript( dest ); + + // IE6-10 improperly clones children of object elements using classid. + // IE10 throws NoModificationAllowedError if parent is null, #12132. + } else if ( nodeName === "object" ) { + if ( dest.parentNode ) { + dest.outerHTML = src.outerHTML; + } + + // This path appears unavoidable for IE9. When cloning an object + // element in IE9, the outerHTML strategy above is not sufficient. + // If the src has innerHTML and the destination does not, + // copy the src.innerHTML into the dest.innerHTML. #10324 + if ( support.html5Clone && ( src.innerHTML && !jQuery.trim(dest.innerHTML) ) ) { + dest.innerHTML = src.innerHTML; + } + + } else if ( nodeName === "input" && rcheckableType.test( src.type ) ) { + // IE6-8 fails to persist the checked state of a cloned checkbox + // or radio button. Worse, IE6-7 fail to give the cloned element + // a checked appearance if the defaultChecked value isn't also set + + dest.defaultChecked = dest.checked = src.checked; + + // IE6-7 get confused and end up setting the value of a cloned + // checkbox/radio button to an empty string instead of "on" + if ( dest.value !== src.value ) { + dest.value = src.value; + } + + // IE6-8 fails to return the selected option to the default selected + // state when cloning options + } else if ( nodeName === "option" ) { + dest.defaultSelected = dest.selected = src.defaultSelected; + + // IE6-8 fails to set the defaultValue to the correct value when + // cloning other types of input fields + } else if ( nodeName === "input" || nodeName === "textarea" ) { + dest.defaultValue = src.defaultValue; + } +} + +jQuery.extend({ + clone: function( elem, dataAndEvents, deepDataAndEvents ) { + var destElements, node, clone, i, srcElements, + inPage = jQuery.contains( elem.ownerDocument, elem ); + + if ( support.html5Clone || jQuery.isXMLDoc(elem) || !rnoshimcache.test( "<" + elem.nodeName + ">" ) ) { + clone = elem.cloneNode( true ); + + // IE<=8 does not properly clone detached, unknown element nodes + } else { + fragmentDiv.innerHTML = elem.outerHTML; + fragmentDiv.removeChild( clone = fragmentDiv.firstChild ); + } + + if ( (!support.noCloneEvent || !support.noCloneChecked) && + (elem.nodeType === 1 || elem.nodeType === 11) && !jQuery.isXMLDoc(elem) ) { + + // We eschew Sizzle here for performance reasons: http://jsperf.com/getall-vs-sizzle/2 + destElements = getAll( clone ); + srcElements = getAll( elem ); + + // Fix all IE cloning issues + for ( i = 0; (node = srcElements[i]) != null; ++i ) { + // Ensure that the destination node is not null; Fixes #9587 + if ( destElements[i] ) { + fixCloneNodeIssues( node, destElements[i] ); + } + } + } + + // Copy the events from the original to the clone + if ( dataAndEvents ) { + if ( deepDataAndEvents ) { + srcElements = srcElements || getAll( elem ); + destElements = destElements || getAll( clone ); + + for ( i = 0; (node = srcElements[i]) != null; i++ ) { + cloneCopyEvent( node, destElements[i] ); + } + } else { + cloneCopyEvent( elem, clone ); + } + } + + // Preserve script evaluation history + destElements = getAll( clone, "script" ); + if ( destElements.length > 0 ) { + setGlobalEval( destElements, !inPage && getAll( elem, "script" ) ); + } + + destElements = srcElements = node = null; + + // Return the cloned set + return clone; + }, + + buildFragment: function( elems, context, scripts, selection ) { + var j, elem, contains, + tmp, tag, tbody, wrap, + l = elems.length, + + // Ensure a safe fragment + safe = createSafeFragment( context ), + + nodes = [], + i = 0; + + for ( ; i < l; i++ ) { + elem = elems[ i ]; + + if ( elem || elem === 0 ) { + + // Add nodes directly + if ( jQuery.type( elem ) === "object" ) { + jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem ); + + // Convert non-html into a text node + } else if ( !rhtml.test( elem ) ) { + nodes.push( context.createTextNode( elem ) ); + + // Convert html into DOM nodes + } else { + tmp = tmp || safe.appendChild( context.createElement("div") ); + + // Deserialize a standard representation + tag = (rtagName.exec( elem ) || [ "", "" ])[ 1 ].toLowerCase(); + wrap = wrapMap[ tag ] || wrapMap._default; + + tmp.innerHTML = wrap[1] + elem.replace( rxhtmlTag, "<$1>" ) + wrap[2]; + + // Descend through wrappers to the right content + j = wrap[0]; + while ( j-- ) { + tmp = tmp.lastChild; + } + + // Manually add leading whitespace removed by IE + if ( !support.leadingWhitespace && rleadingWhitespace.test( elem ) ) { + nodes.push( context.createTextNode( rleadingWhitespace.exec( elem )[0] ) ); + } + + // Remove IE's autoinserted from table fragments + if ( !support.tbody ) { + + // String was a , *may* have spurious + elem = tag === "table" && !rtbody.test( elem ) ? + tmp.firstChild : + + // String was a bare or + wrap[1] === "
" && !rtbody.test( elem ) ? + tmp : + 0; + + j = elem && elem.childNodes.length; + while ( j-- ) { + if ( jQuery.nodeName( (tbody = elem.childNodes[j]), "tbody" ) && !tbody.childNodes.length ) { + elem.removeChild( tbody ); + } + } + } + + jQuery.merge( nodes, tmp.childNodes ); + + // Fix #12392 for WebKit and IE > 9 + tmp.textContent = ""; + + // Fix #12392 for oldIE + while ( tmp.firstChild ) { + tmp.removeChild( tmp.firstChild ); + } + + // Remember the top-level container for proper cleanup + tmp = safe.lastChild; + } + } + } + + // Fix #11356: Clear elements from fragment + if ( tmp ) { + safe.removeChild( tmp ); + } + + // Reset defaultChecked for any radios and checkboxes + // about to be appended to the DOM in IE 6/7 (#8060) + if ( !support.appendChecked ) { + jQuery.grep( getAll( nodes, "input" ), fixDefaultChecked ); + } + + i = 0; + while ( (elem = nodes[ i++ ]) ) { + + // #4087 - If origin and destination elements are the same, and this is + // that element, do not do anything + if ( selection && jQuery.inArray( elem, selection ) !== -1 ) { + continue; + } + + contains = jQuery.contains( elem.ownerDocument, elem ); + + // Append to fragment + tmp = getAll( safe.appendChild( elem ), "script" ); + + // Preserve script evaluation history + if ( contains ) { + setGlobalEval( tmp ); + } + + // Capture executables + if ( scripts ) { + j = 0; + while ( (elem = tmp[ j++ ]) ) { + if ( rscriptType.test( elem.type || "" ) ) { + scripts.push( elem ); + } + } + } + } + + tmp = null; + + return safe; + }, + + cleanData: function( elems, /* internal */ acceptData ) { + var elem, type, id, data, + i = 0, + internalKey = jQuery.expando, + cache = jQuery.cache, + deleteExpando = support.deleteExpando, + special = jQuery.event.special; + + for ( ; (elem = elems[i]) != null; i++ ) { + if ( acceptData || jQuery.acceptData( elem ) ) { + + id = elem[ internalKey ]; + data = id && cache[ id ]; + + if ( data ) { + if ( data.events ) { + for ( type in data.events ) { + if ( special[ type ] ) { + jQuery.event.remove( elem, type ); + + // This is a shortcut to avoid jQuery.event.remove's overhead + } else { + jQuery.removeEvent( elem, type, data.handle ); + } + } + } + + // Remove cache only if it was not already removed by jQuery.event.remove + if ( cache[ id ] ) { + + delete cache[ id ]; + + // IE does not allow us to delete expando properties from nodes, + // nor does it have a removeAttribute function on Document nodes; + // we must handle all of these cases + if ( deleteExpando ) { + delete elem[ internalKey ]; + + } else if ( typeof elem.removeAttribute !== strundefined ) { + elem.removeAttribute( internalKey ); + + } else { + elem[ internalKey ] = null; + } + + deletedIds.push( id ); + } + } + } + } + } +}); + +jQuery.fn.extend({ + text: function( value ) { + return access( this, function( value ) { + return value === undefined ? + jQuery.text( this ) : + this.empty().append( ( this[0] && this[0].ownerDocument || document ).createTextNode( value ) ); + }, null, value, arguments.length ); + }, + + append: function() { + return this.domManip( arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.appendChild( elem ); + } + }); + }, + + prepend: function() { + return this.domManip( arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.insertBefore( elem, target.firstChild ); + } + }); + }, + + before: function() { + return this.domManip( arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this ); + } + }); + }, + + after: function() { + return this.domManip( arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this.nextSibling ); + } + }); + }, + + remove: function( selector, keepData /* Internal Use Only */ ) { + var elem, + elems = selector ? jQuery.filter( selector, this ) : this, + i = 0; + + for ( ; (elem = elems[i]) != null; i++ ) { + + if ( !keepData && elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem ) ); + } + + if ( elem.parentNode ) { + if ( keepData && jQuery.contains( elem.ownerDocument, elem ) ) { + setGlobalEval( getAll( elem, "script" ) ); + } + elem.parentNode.removeChild( elem ); + } + } + + return this; + }, + + empty: function() { + var elem, + i = 0; + + for ( ; (elem = this[i]) != null; i++ ) { + // Remove element nodes and prevent memory leaks + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + } + + // Remove any remaining nodes + while ( elem.firstChild ) { + elem.removeChild( elem.firstChild ); + } + + // If this is a select, ensure that it displays empty (#12336) + // Support: IE<9 + if ( elem.options && jQuery.nodeName( elem, "select" ) ) { + elem.options.length = 0; + } + } + + return this; + }, + + clone: function( dataAndEvents, deepDataAndEvents ) { + dataAndEvents = dataAndEvents == null ? false : dataAndEvents; + deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; + + return this.map(function() { + return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); + }); + }, + + html: function( value ) { + return access( this, function( value ) { + var elem = this[ 0 ] || {}, + i = 0, + l = this.length; + + if ( value === undefined ) { + return elem.nodeType === 1 ? + elem.innerHTML.replace( rinlinejQuery, "" ) : + undefined; + } + + // See if we can take a shortcut and just use innerHTML + if ( typeof value === "string" && !rnoInnerhtml.test( value ) && + ( support.htmlSerialize || !rnoshimcache.test( value ) ) && + ( support.leadingWhitespace || !rleadingWhitespace.test( value ) ) && + !wrapMap[ (rtagName.exec( value ) || [ "", "" ])[ 1 ].toLowerCase() ] ) { + + value = value.replace( rxhtmlTag, "<$1>" ); + + try { + for (; i < l; i++ ) { + // Remove element nodes and prevent memory leaks + elem = this[i] || {}; + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + elem.innerHTML = value; + } + } + + elem = 0; + + // If using innerHTML throws an exception, use the fallback method + } catch(e) {} + } + + if ( elem ) { + this.empty().append( value ); + } + }, null, value, arguments.length ); + }, + + replaceWith: function() { + var arg = arguments[ 0 ]; + + // Make the changes, replacing each context element with the new content + this.domManip( arguments, function( elem ) { + arg = this.parentNode; + + jQuery.cleanData( getAll( this ) ); + + if ( arg ) { + arg.replaceChild( elem, this ); + } + }); + + // Force removal if there was no new content (e.g., from empty arguments) + return arg && (arg.length || arg.nodeType) ? this : this.remove(); + }, + + detach: function( selector ) { + return this.remove( selector, true ); + }, + + domManip: function( args, callback ) { + + // Flatten any nested arrays + args = concat.apply( [], args ); + + var first, node, hasScripts, + scripts, doc, fragment, + i = 0, + l = this.length, + set = this, + iNoClone = l - 1, + value = args[0], + isFunction = jQuery.isFunction( value ); + + // We can't cloneNode fragments that contain checked, in WebKit + if ( isFunction || + ( l > 1 && typeof value === "string" && + !support.checkClone && rchecked.test( value ) ) ) { + return this.each(function( index ) { + var self = set.eq( index ); + if ( isFunction ) { + args[0] = value.call( this, index, self.html() ); + } + self.domManip( args, callback ); + }); + } + + if ( l ) { + fragment = jQuery.buildFragment( args, this[ 0 ].ownerDocument, false, this ); + first = fragment.firstChild; + + if ( fragment.childNodes.length === 1 ) { + fragment = first; + } + + if ( first ) { + scripts = jQuery.map( getAll( fragment, "script" ), disableScript ); + hasScripts = scripts.length; + + // Use the original fragment for the last item instead of the first because it can end up + // being emptied incorrectly in certain situations (#8070). + for ( ; i < l; i++ ) { + node = fragment; + + if ( i !== iNoClone ) { + node = jQuery.clone( node, true, true ); + + // Keep references to cloned scripts for later restoration + if ( hasScripts ) { + jQuery.merge( scripts, getAll( node, "script" ) ); + } + } + + callback.call( this[i], node, i ); + } + + if ( hasScripts ) { + doc = scripts[ scripts.length - 1 ].ownerDocument; + + // Reenable scripts + jQuery.map( scripts, restoreScript ); + + // Evaluate executable scripts on first document insertion + for ( i = 0; i < hasScripts; i++ ) { + node = scripts[ i ]; + if ( rscriptType.test( node.type || "" ) && + !jQuery._data( node, "globalEval" ) && jQuery.contains( doc, node ) ) { + + if ( node.src ) { + // Optional AJAX dependency, but won't run scripts if not present + if ( jQuery._evalUrl ) { + jQuery._evalUrl( node.src ); + } + } else { + jQuery.globalEval( ( node.text || node.textContent || node.innerHTML || "" ).replace( rcleanScript, "" ) ); + } + } + } + } + + // Fix #11809: Avoid leaking memory + fragment = first = null; + } + } + + return this; + } +}); + +jQuery.each({ + appendTo: "append", + prependTo: "prepend", + insertBefore: "before", + insertAfter: "after", + replaceAll: "replaceWith" +}, function( name, original ) { + jQuery.fn[ name ] = function( selector ) { + var elems, + i = 0, + ret = [], + insert = jQuery( selector ), + last = insert.length - 1; + + for ( ; i <= last; i++ ) { + elems = i === last ? this : this.clone(true); + jQuery( insert[i] )[ original ]( elems ); + + // Modern browsers can apply jQuery collections as arrays, but oldIE needs a .get() + push.apply( ret, elems.get() ); + } + + return this.pushStack( ret ); + }; +}); + + +var iframe, + elemdisplay = {}; + +/** + * Retrieve the actual display of a element + * @param {String} name nodeName of the element + * @param {Object} doc Document object + */ +// Called only from within defaultDisplay +function actualDisplay( name, doc ) { + var style, + elem = jQuery( doc.createElement( name ) ).appendTo( doc.body ), + + // getDefaultComputedStyle might be reliably used only on attached element + display = window.getDefaultComputedStyle && ( style = window.getDefaultComputedStyle( elem[ 0 ] ) ) ? + + // Use of this method is a temporary fix (more like optmization) until something better comes along, + // since it was removed from specification and supported only in FF + style.display : jQuery.css( elem[ 0 ], "display" ); + + // We don't have any data stored on the element, + // so use "detach" method as fast way to get rid of the element + elem.detach(); + + return display; +} + +/** + * Try to determine the default display value of an element + * @param {String} nodeName + */ +function defaultDisplay( nodeName ) { + var doc = document, + display = elemdisplay[ nodeName ]; + + if ( !display ) { + display = actualDisplay( nodeName, doc ); + + // If the simple way fails, read from inside an iframe + if ( display === "none" || !display ) { + + // Use the already-created iframe if possible + iframe = (iframe || jQuery( " + +
+ + +
+
+
+ + +
+

API Reference¶

+

If you are reading this, you are probably looking for an in-depth explanation of API classes and methods to fully master your protocol development skills.

+
+

Robot¶

+

All protocols are set up, simulated and executed using a Robot class.

+
+
+class robot.Robot(config=None, broker=None)¶
+

This class is the main interface to the robot.

+

It should never be instantiated directly; instead, the global instance may +be accessed at opentrons.robot.

+
+
Through this class you can can:
+
+
+

Each Opentrons protocol is a Python script. When evaluated the script +creates an execution plan which is stored as a list of commands in +Robot’s command queue.

+
+
Here are the typical steps of writing the protocol:
    +

  • Using a Python script and the Opentrons API load your +containers and define instruments +(see Pipette).

    • +

  • Call reset() to reset the robot’s state and clear commands.

    • +

  • Write your instructions which will get converted +into an execution plan.

    • +

  • Review the list of commands generated by a protocol +commands().

    • +

  • connect() to the robot and call run() it on a real robot.

    • +
+
+
+

See Pipette for the list of supported instructions.

+
+
+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 “rightâ€.

    • +

  • instrument (Instrument) – An instance of a 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 add_instrument() +to attach the instrument.

+
+ +
+
+connect(self, port=None, options=None)¶
+

Connects the robot to a serial port.

+
+
Parameters:
+
    +

  • port (str) – OS-specific port name or 'Virtual Smoothie'

    • +

  • options (dict) – if port is set to 'Virtual Smoothie', provide +the list of options to be passed to get_virtual_device()

    • +
+
+
Return type:
+

True for success, False for failure.

+
+
+

Notes

+

If you wish to connect to the robot without using the OT App, you will +need to use this function.

+

Examples

+
>>> from opentrons import robot 
+>>> robot.connect() 
+
+
+
+ +
+
+disconnect(self)¶
+

Disconnects from the robot.

+
+ +
+
+get_warnings(self)¶
+

Get current runtime warnings.

+
+
Returns:
+

    +

  • Runtime warnings accumulated since the last run()

    • +

  • or simulate().

    • +
+

+
+
+
+ +
+
+head_speed(self, combined_speed=None, x=None, y=None, z=None, a=None, b=None, c=None)¶
+

Set the speeds (mm/sec) of the robot

+
+
Parameters:
+
    +

  • combined_speed (number specifying a combined-axes speed) –

    • +

  • <axis> (key/value pair, specifying the maximum speed of that axis) –

    • +
+
+
+

Examples

+
>>> from opentrons import robot 
+>>> robot.reset() 
+>>> robot.head_speed(combined_speed=400) 
+#  sets the head speed to 400 mm/sec or the axis max per axis
+>>> robot.head_speed(x=400, y=200) 
+# sets max speeds of X and Y
+
+
+
+ +
+
+home(self, \*args, \*\*kwargs)¶
+

Home robot’s head and plunger motors.

+
+ +
+
+move_to(self, location, instrument, strategy='arc', \*\*kwargs)¶
+

Move an instrument to a coordinate, container or a coordinate within +a container.

+
+
Parameters:
+
    +

  • location (one of the following:) – 1. Placeable (i.e. Container, Deck, Slot, Well) — will +move to the origin of a container. +2. Vector move to the given coordinate in Deck coordinate +system. +3. (Placeable, Vector) move to a given coordinate +within object’s coordinate system.

    • +

  • instrument – Instrument to move relative to. If None, move relative to the +center of a gantry.

    • +

  • strategy ({'arc', 'direct'}) –

    arc : move to the point using arc trajectory +avoiding obstacles.

    +

    direct : move to the point in a straight line.

    +

    • +
+
+
+
+ +
+
+pause(self, msg=None)¶
+

Pauses execution of the protocol. Use resume() to resume

+
+ +
+
+reset(self)¶
+
+
Resets the state of the robot and clears:
    +

  • Deck

    • +

  • Instruments

    • +

  • Command queue

    • +

  • Runtime warnings

    • +
+
+
+

Examples

+
>>> from opentrons import robot 
+>>> robot.reset() 
+
+
+
+ +
+
+resume(self)¶
+

Resume execution of the protocol after pause()

+
+ +
+
+stop(self)¶
+

Stops execution of the protocol. (alias for halt)

+
+ +
+ +
+
+

Pipette¶

+
+
+class pipette.Pipette(robot, model_offset=(0, 0, 0), mount=None, axis=None, mount_obj=None, model=None, name=None, ul_per_mm=None, channels=1, min_volume=0, max_volume=None, trash_container='', tip_racks=[], aspirate_speed=5, dispense_speed=10, blow_out_speed=60, aspirate_flow_rate=None, dispense_flow_rate=None, plunger_current=0.5, drop_tip_current=0.5, return_tip_height=None, drop_tip_speed=5, plunger_positions={'blow_out': 0, 'bottom': 2, 'drop_tip': - 3.5, 'top': 18.5}, pick_up_current=0.1, pick_up_distance=10, pick_up_increment=1, pick_up_presses=3, pick_up_speed=30, quirks=[], fallback_tip_length=51.7, blow_out_flow_rate=None, requested_as=None, pipette_id=None)¶
+

DIRECT USE OF THIS CLASS IS DEPRECATED – this class should not be used +directly. Its parameters, defaults, methods, and behaviors are subject to +change without a major version release. Use the model-specific constructors +available through from opentrons import instruments.

+

All model-specific instrument constructors are inheritors of this class. +With any of those instances you can can:

+ +

Here are the typical steps of using the Pipette:

+
    +

  • Instantiate a pipette with a maximum volume (uL) +and a mount (left or right)

    • +

  • Design your protocol through the pipette’s liquid-handling commands

    • +
+

Methods in this class include assertions where needed to ensure that any +action that requires a tip must be preceeded by pick_up_tip. For example: +mix, transfer, aspirate, blow_out, and drop_tip.

+
+
Parameters:
+
    +

  • mount (str) – The mount of the pipette’s actuator on the Opentrons robot +(‘left’ or ‘right’)

    • +

  • trash_container (Container) – Sets the default location drop_tip() will put tips +(Default: fixed-trash)

    • +

  • tip_racks (list) – A list of Containers for this Pipette to track tips when calling +pick_up_tip() (Default: [])

    • +

  • aspirate_flow_rate (int) – The speed (in ul/sec) the plunger will move while aspirating +(Default: See Model Type)

    • +

  • dispense_flow_rate (int) – The speed (in ul/sec) the plunger will move while dispensing +(Default: See Model Type)

    • +
+
+
Return type:
+

A new instance of Pipette.

+
+
+

Examples

+
>>> from opentrons import instruments, labware, robot 
+>>> robot.reset() 
+>>> tip_rack_300ul = labware.load(
+...     'GEB-tiprack-300ul', '1') 
+>>> p300 = instruments.P300_Single(mount='left',
+...     tip_racks=[tip_rack_300ul]) 
+
+
+
+
+aspirate(self, volume=None, location=None, rate=1.0)¶
+

Aspirate a volume of liquid (in microliters/uL) using this pipette +from the specified location

+

Notes

+

If only a volume is passed, the pipette will aspirate +from it’s current position. If only a location is passed, +aspirate will default to it’s max_volume.

+

The location may be a Well, or a specific position in relation to a +Well, such as Well.top(). If a Well is specified without calling a +a position method (such as .top or .bottom), this method will default +to the bottom of the well.

+
+
Parameters:
+
    +

  • volume (int or float) – The number of microliters to aspirate (Default: self.max_volume)

    • +

  • location (Placeable or tuple(Placeable, Vector)) – The Placeable (Well) to perform the aspirate. +Can also be a tuple with first item Placeable, +second item relative Vector

    • +

  • rate (float) – Set plunger speed for this aspirate, where +speed = rate * aspirate_speed (see set_speed())

    • +
+
+
Return type:
+

This instance of Pipette.

+
+
+

Examples

+
>>> from opentrons import instruments, labware, robot 
+>>> robot.reset() 
+>>> plate = labware.load('96-flat', '2') 
+>>> p300 = instruments.P300_Single(mount='right') 
+>>> p300.pick_up_tip() 
+# aspirate 50uL from a Well
+>>> p300.aspirate(50, plate[0]) 
+# aspirate 50uL from the center of a well
+>>> p300.aspirate(50, plate[1].bottom()) 
+>>> # aspirate 20uL in place, twice as fast
+>>> p300.aspirate(20, rate=2.0) 
+>>> # aspirate the pipette's remaining volume (80uL) from a Well
+>>> p300.aspirate(plate[2]) 
+
+
+
+ +
+
+blow_out(self, location=None)¶
+

Force any remaining liquid to dispense, by moving +this pipette’s plunger to the calibrated blow_out position

+

Notes

+

If no location is passed, the pipette will blow_out +from it’s current position.

+
+
Parameters:
+

location (Placeable or tuple(Placeable, Vector)) – The Placeable (Well) to perform the blow_out. +Can also be a tuple with first item Placeable, +second item relative Vector

+
+
Return type:
+

This instance of Pipette.

+
+
+

Examples

+
>>> from opentrons import instruments, robot 
+>>> robot.reset() 
+>>> p300 = instruments.P300_Single(mount='left') 
+>>> p300.aspirate(50).dispense().blow_out() 
+
+
+
+ +
+
+consolidate(self, volume, source, dest, \*args, \*\*kwargs)¶
+

Consolidate will move a volume of liquid from a list of sources +to a single target location. See Transfer for details +and a full list of optional arguments.

+
+
Return type:
+

This instance of Pipette.

+
+
+

Examples

+
>>> from opentrons import instruments, labware, robot 
+>>> robot.reset() 
+>>> plate = labware.load('96-flat', 'A3') 
+>>> p300 = instruments.P300_Single(mount='left') 
+>>> p300.consolidate(50, plate.cols[0], plate[1]) 
+
+
+
+ +
+
+delay(self, seconds=0, minutes=0)¶
+
+
Parameters:
+

seconds (float) – The number of seconds to freeze in place.

+
+
+
+ +
+
+dispense(self, volume=None, location=None, rate=1.0)¶
+

Dispense a volume of liquid (in microliters/uL) using this pipette

+

Notes

+

If only a volume is passed, the pipette will dispense +from it’s current position. If only a location is passed, +dispense will default to it’s current_volume

+

The location may be a Well, or a specific position in relation to a +Well, such as Well.top(). If a Well is specified without calling a +a position method (such as .top or .bottom), this method will default +to the bottom of the well.

+
+
Parameters:
+
    +

  • volume (int or float) – The number of microliters to dispense +(Default: self.current_volume)

    • +

  • location (Placeable or tuple(Placeable, Vector)) – The Placeable (Well) to perform the dispense. +Can also be a tuple with first item Placeable, +second item relative Vector

    • +

  • rate (float) – Set plunger speed for this dispense, where +speed = rate * dispense_speed (see set_speed())

    • +
+
+
Return type:
+

This instance of Pipette.

+
+
+

Examples

+
>>> from opentrons import instruments, labware, robot 
+>>> robot.reset() 
+>>> plate = labware.load('96-flat', '3') 
+>>> p300 = instruments.P300_Single(mount='left') 
+# fill the pipette with liquid (200uL)
+>>> p300.aspirate(plate[0]) 
+# dispense 50uL to a Well
+>>> p300.dispense(50, plate[0]) 
+# dispense 50uL to the center of a well
+>>> relative_vector = plate[1].center() 
+>>> p300.dispense(50, (plate[1], relative_vector)) 
+# dispense 20uL in place, at half the speed
+>>> p300.dispense(20, rate=0.5) 
+# dispense the pipette's remaining volume (80uL) to a Well
+>>> p300.dispense(plate[2]) 
+
+
+
+ +
+
+distribute(self, volume, source, dest, \*args, \*\*kwargs)¶
+

Distribute will move a volume of liquid from a single of source +to a list of target locations. See Transfer for details +and a full list of optional arguments.

+
+
Return type:
+

This instance of Pipette.

+
+
+

Examples

+
>>> from opentrons import instruments, labware, robot 
+>>> robot.reset() 
+>>> plate = labware.load('96-flat', '3') 
+>>> p300 = instruments.P300_Single(mount='left') 
+>>> p300.distribute(50, plate[1], plate.cols[0]) 
+
+
+
+ +
+
+drop_tip(self, location=None, home_after=True)¶
+

Drop the pipette’s current tip

+

Notes

+

If no location is passed, the pipette defaults to its trash_container +(see Pipette)

+
+
Parameters:
+

location (Placeable or tuple(Placeable, Vector)) – The Placeable (Well) to perform the drop_tip. +Can also be a tuple with first item Placeable, +second item relative Vector

+
+
Return type:
+

This instance of Pipette.

+
+
+

Examples

+
>>> from opentrons import instruments, labware, robot 
+>>> robot.reset() 
+>>> tiprack = labware.load('opentrons_96_tiprack_300ul', 'C2') 
+>>> trash = labware.load('point', 'A3') 
+>>> p300 = instruments.P300_Single(mount='left') 
+>>> p300.pick_up_tip(tiprack[0]) 
+# drops the tip in the fixed trash
+>>> p300.drop_tip() 
+>>> p300.pick_up_tip(tiprack[1]) 
+# drops the tip back at its tip rack
+>>> p300.drop_tip(tiprack[1]) 
+
+
+
+ +
+
+home(self)¶
+

Home the pipette’s plunger axis during a protocol run

+

Notes

+

Pipette.home() homes the Robot

+
+
Return type:
+

This instance of Pipette.

+
+
+

Examples

+
>>> from opentrons import instruments, robot 
+>>> robot.reset() 
+>>> p300 = instruments.P300_Single(mount='right') 
+>>> p300.home() 
+
+
+
+ +
+
+mix(self, repetitions=1, volume=None, location=None, rate=1.0)¶
+

Mix a volume of liquid (in microliters/uL) using this pipette

+

Notes

+

If no location is passed, the pipette will mix +from it’s current position. If no volume is passed, +mix will default to it’s max_volume

+
+
Parameters:
+
    +

  • repetitions (int) – How many times the pipette should mix (Default: 1)

    • +

  • volume (int or float) – The number of microliters to mix (Default: self.max_volume)

    • +

  • location (Placeable or tuple(Placeable, Vector)) – The Placeable (Well) to perform the mix. +Can also be a tuple with first item Placeable, +second item relative Vector

    • +

  • rate (float) – Set plunger speed for this mix, where +speed = rate * (aspirate_speed or dispense_speed) +(see set_speed())

    • +
+
+
Return type:
+

This instance of Pipette.

+
+
+

Examples

+
>>> from opentrons import instruments, labware, robot 
+>>> robot.reset() 
+>>> plate = labware.load('96-flat', '4') 
+>>> p300 = instruments.P300_Single(mount='left') 
+# mix 50uL in a Well, three times
+>>> p300.mix(3, 50, plate[0]) 
+# mix 3x with the pipette's max volume, from current position
+>>> p300.mix(3) 
+
+
+
+ +
+
+move_to(self, location, strategy=None)¶
+

Move this Pipette to a Placeable on the Deck

+

Notes

+

Until obstacle-avoidance algorithms are in place, +Robot and Pipette move_to() use either an +“arc†or “directâ€

+
+
Parameters:
+
    +

  • location (Placeable or tuple(Placeable, Vector)) – The destination to arrive at

    • +

  • strategy ("arc" or "direct") – “arc†strategies (default) will pick the head up on Z axis, then +over to the XY destination, then finally down to the Z destination. +“direct†strategies will simply move in a straight line from +the current position

    • +
+
+
Return type:
+

This instance of Pipette.

+
+
+
+ +
+
+pick_up_tip(self, location=None, presses=None, increment=None)¶
+

Pick up a tip for the Pipette to run liquid-handling commands with

+

Notes

+

A tip can be manually set by passing a location. If no location +is passed, the Pipette will pick up the next available tip in +it’s tip_racks list (see Pipette)

+
+
Parameters:
+
    +

  • location (Placeable or tuple(Placeable, Vector)) – The Placeable (Well) to perform the pick_up_tip. +Can also be a tuple with first item Placeable, +second item relative Vector

    • +

  • presses (:any:int) – The number of times to lower and then raise the pipette when +picking up a tip, to ensure a good seal (0 [zero] will result in +the pipette hovering over the tip but not picking it up–generally +not desireable, but could be used for dry-run). Default: 3 presses

    • +

  • increment (:int) – The additional distance to travel on each successive press (e.g.: +if presses=3 and increment=1, then the first press will travel down +into the tip by 3.5mm, the second by 4.5mm, and the third by 5.5mm. +Default: 1mm

    • +
+
+
Return type:
+

This instance of Pipette.

+
+
+

Examples

+
>>> from opentrons import instruments, labware, robot 
+>>> robot.reset() 
+>>> tiprack = labware.load('GEB-tiprack-300', '2') 
+>>> p300 = instruments.P300_Single(mount='left',
+...     tip_racks=[tiprack]) 
+>>> p300.pick_up_tip(tiprack[0]) 
+>>> p300.return_tip() 
+# `pick_up_tip` will automatically go to tiprack[1]
+>>> p300.pick_up_tip() 
+>>> p300.return_tip() 
+
+
+
+ +
+
+return_tip(self, home_after=True)¶
+

Drop the pipette’s current tip to it’s originating tip rack

+

Notes

+

This method requires one or more tip-rack Container +to be in this Pipette’s tip_racks list (see Pipette)

+
+
Return type:
+

This instance of Pipette.

+
+
+

Examples

+
>>> from opentrons import instruments, labware, robot 
+>>> robot.reset() 
+>>> tiprack = labware.load('GEB-tiprack-300', '2') 
+>>> p300 = instruments.P300_Single(mount='left',
+...     tip_racks=[tiprack, tiprack2]) 
+>>> p300.pick_up_tip() 
+>>> p300.aspirate(50, plate[0]) 
+>>> p300.dispense(plate[1]) 
+>>> p300.return_tip() 
+
+
+
+ +
+
+set_flow_rate(self, aspirate=None, dispense=None, blow_out=None)¶
+

Set the speed (uL/second) the Pipette plunger will move +during aspirate() and dispense(). The speed is set using +nominal max volumes for any given pipette model.

+
+
Parameters:
+
    +

  • aspirate (int) – The speed in microliters-per-second, at which the plunger will +move while performing an aspirate

    • +

  • dispense (int) – The speed in microliters-per-second, at which the plunger will +move while performing an dispense

    • +
+
+
+
+ +
+
+touch_tip(self, location=None, radius=1.0, v_offset=- 1.0, speed=60.0)¶
+

Touch the Pipette tip to the sides of a well, +with the intent of removing left-over droplets

+

Notes

+

If no location is passed, the pipette will touch_tip +from it’s current position.

+
+
Parameters:
+
    +

  • location (Placeable) – The Placeable (Well) to perform the touch_tip.

    • +

  • radius (float) – Radius is a floating point describing the percentage of a well’s +radius. When radius=1.0, touch_tip() will move to 100% of +the wells radius. When radius=0.5, touch_tip() will move to +50% of the wells radius. +Default: 1.0 (100%)

    • +

  • speed (float) – The speed for touch tip motion, in mm/s. +Default: 60.0 mm/s, Max: 80.0 mm/s, Min: 20.0 mm/s

    • +

  • v_offset (float) – The offset in mm from the top of the well to touch tip. +Default: -1.0 mm

    • +
+
+
Return type:
+

This instance of Pipette.

+
+
+

Examples

+
>>> from opentrons import instruments, labware, robot 
+>>> robot.reset() 
+>>> plate = labware.load('96-flat', '8') 
+>>> p300 = instruments.P300_Single(mount='left') 
+>>> p300.aspirate(50, plate[0]) 
+>>> p300.dispense(plate[1]).touch_tip() 
+
+
+
+ +
+
+transfer(self, volume, source, dest, \*\*kwargs)¶
+

Transfer will move a volume of liquid from a source location(s) +to a dest location(s). It is a higher-level command, incorporating +other Pipette commands, like aspirate and +dispense, designed to make protocol writing easier at the +cost of specificity.

+
+
Parameters:
+
    +

  • volumes (number, list, or tuple) – The amount of volume to remove from each sources Placeable +and add to each targets Placeable. If volumes is a list, +each volume will be used for the sources/targets at the +matching index. If volumes is a tuple with two elements, +like (20, 100), then a list of volumes will be generated with +a linear gradient between the two volumes in the tuple.

    • +

  • source (Placeable or list) – Single Placeable or list of Placeables, from where +liquid will be aspirated from.

    • +

  • dest (Placeable or list) – Single Placeable or list of Placeables, where +liquid will be dispenseed to.

    • +

  • new_tip (str) – The number of clean tips this transfer command will use. If +‘never’, no tips will be picked up nor dropped. If ‘once’, a +single tip will be used for all cmds. If ‘always’, a new tip +will be used for each transfer. Default is ‘once’.

    • +

  • trash (boolean) – If True (default behavior) and trash container has been attached +to this Pipette, then the tip will be sent to the trash +container. +If False, then tips will be returned to their associated tiprack.

    • +

  • touch_tip (boolean) – If True, a touch_tip will occur following each +aspirate and dispense. If set to False (default), +no touch_tip will occur.

    • +

  • blow_out (boolean) – If True, a blow_out will occur following each +dispense, but only if the pipette has no liquid left in it. +If set to False (default), no blow_out will occur.

    • +

  • mix_before (tuple) – Specify the number of repetitions volume to mix, and a mix +will proceed each aspirate during the transfer and dispense. +The tuple’s values is interpreted as (repetitions, volume).

    • +

  • mix_after (tuple) – Specify the number of repetitions volume to mix, and a mix +will following each dispense during the transfer or +consolidate. The tuple’s values is interpreted as +(repetitions, volume).

    • +

  • carryover (boolean) – If True (default), any volumes that exceed the maximum volume +of this Pipette will be split into multiple smaller volumes.

    • +

  • repeat (boolean) – (Only applicable to distribute and consolidate)If +True (default), sequential aspirate volumes will be +combined into one tip for the purpose of saving time. If False, +all volumes will be transferred seperately.

    • +

  • gradient (lambda) – Function for calculated the curve used for gradient volumes. +When volumes is a tuple of length 2, it’s values are used +to create a list of gradient volumes. The default curve for +this gradient is linear (lambda x: x), however a method can +be passed with the gradient keyword argument to create a +custom curve.

    • +
+
+
Return type:
+

This instance of Pipette.

+
+
+

Examples

+
>>> from opentrons import instruments, labware, robot 
+>>> robot.reset() 
+>>> plate = labware.load('96-flat', '5') 
+>>> p300 = instruments.P300_Single(mount='right') 
+>>> p300.transfer(50, plate[0], plate[1]) 
+
+
+
+ +
+ +
+
+

Placeable¶

+
+
+class placeable.Placeable(parent=None, properties=None)¶
+

This class represents every item on the deck.

+

It maintains the hierarchy and provides means to: +* traverse +* retrieve items by name +* calculate coordinates in different reference systems

+

It should never be directly created; it is created by the system during +labware load and when accessing wells.

+
+
+bottom(self, z=0, radius=0, degrees=0, reference=None)¶
+

Returns (Placeable, Vector) tuple where +the vector points to the bottom of the placeable. This can be passed +into any Robot or Pipette method +location argument.

+

If reference (a Placeable) is provided, the return +value will be in that placeable’s coordinate system.

+

The radius and degrees arguments are interpreted as +in from_center() (except that degrees is in degrees, not +radians). They can be used to specify a further distance from the +bottom center of the well; for instance, calling +bottom(radius=0.5, degrees=180) will move half the radius in the +180 degree direction from the center of the well.

+

The z argument is a distance in mm to move in z from the bottom, +and can be used to hover above the bottom. For instance, calling +bottom(z=1) will move 1mm above the bottom.

+
+
Parameters:
+
    +

  • z – Absolute distance in mm to move in z from the bottom. +Note that unlike the other arguments, this is a distance, not +a ratio.

    • +

  • degrees – Direction in which to move radius from the bottom +center.

    • +

  • radius – Ratio of the placeable’s radius to move in the direction +specified by degrees from the bottom center.

    • +

  • reference – An optional placeable for the vector to be relative +to.

    • +
+
+
Returns:
+

A tuple of the placeable and the offset. This can be passed +into any Robot or Pipette method +location argument.

+
+
+
+ +
+
+center(self, reference=None)¶
+

Returns (Placeable, Vector) tuple where +the vector points to the center of the placeable, in x, y, +and z. This can be passed into any Robot or +Pipette method location argument.

+

If reference (a Placeable) is provided, the return +value will be in that placeable’s coordinate system.

+
+
Parameters:
+

reference – An optional placeable for the vector to be relative +to.

+
+
Returns:
+

A tuple of the placeable and the offset. This can be passed +into any Robot or Pipette method +location argument.

+
+
+
+ +
+
+from_center(self, x=None, y=None, z=None, r=None, theta=None, h=None, reference=None)¶
+

Accepts a set of ratios for Cartesian or ratios/angle for Polar +and returns Vector using reference as origin.

+

Though both polar and cartesian arguments are accepted, only one +set should be used at the same time, and the set selected should be +entirely used. In addition, all variables in the set should be used.

+

For instance, if you want to use cartesian coordinates, you must +specify all of x, y, and z as numbers; if you want to +use polar coordinates, you must specify all of theta, r and +h as numbers.

+

While theta is an absolute angle in radians, the other values are +actually ratios which are multiplied by the relevant dimensions of the +placeable on which from_center is called. For instance, calling +from_center(x=0.5, y=0.5, z=0.5) does not mean “500 micromenters +from the center in each dimensionâ€, but “half the x size, half the y +size, and half the z size from the centerâ€. Similarly, +from_center(r=0.5, theta=3.14, h=0.5) means “half the radius +dimension at 180 degrees, and half the height upwardsâ€.

+
+
Parameters:
+
    +

  • x – Ratio of the x dimension of the placeable to move from the +center.

    • +

  • y – Ratio of the y dimension of the placeable to move from the +center.

    • +

  • z – Ratio of the z dimension of the placeable to move from the +center.

    • +

  • r – Ratio of the radius to move from the center.

    • +

  • theta – Angle in radians at which to move the percentage of the +radius specified by r from the center.

    • +

  • h – Percentage of the height to move up in z from the center.

    • +

  • reference – If specified, an origin to add to the offset vector +specified by the other arguments.

    • +
+
+
Returns:
+

A vector from either the origin or the specified reference. +This can be passed into any Robot or +Pipette method location argument.

+
+
+
+ +
+
+top(self, z=0, radius=0, degrees=0, reference=None)¶
+

Returns (Placeable, Vector) tuple where +the vector points to the top of the placeable. This can be passed +into any Robot or Pipette method +location argument.

+

If reference (a Placeable) is provided, the return +value will be in that placeable’s coordinate system.

+

The radius and degrees arguments are interpreted as +in from_center() (except that degrees is in degrees, not +radians). They can be used to specify a further distance from the top +center of the well; for instance, calling +top(radius=0.5, degrees=180) will move half the radius in the 180 +degree direction from the center of the well.

+

The z argument is a distance in mm to move in z from the top, and +can be used to hover above or below the top. For instance, calling +top(z=-1) will move 1mm below the top.

+
+
Parameters:
+
    +

  • z – Absolute distance in mm to move in z from the top. Note +that unlike the other arguments, this is a distance, not a +ratio.

    • +

  • degrees – Direction in which to move radius from the top +center.

    • +

  • radius – Ratio of the placeable’s radius to move in the direction +specified by degrees from the top center.

    • +
+
+
Returns:
+

A tuple of the placeable and the offset. This can be passed +into any Robot or Pipette method +location argument.

+
+
+
+ +
+ +
+
+

Simulation¶

+

opentrons.simulate: functions and entrypoints for simulating protocols

+

This module has functions that provide a console entrypoint for simulating +a protocol from the command line.

+
+
+opentrons.simulate.allow_bundle() → bool¶
+

Check if bundling is allowed with a special not-exposed-to-the-app flag.

+

Returns True if the environment variable +OT_API_FF_allowBundleCreation is "1"

+
+ +
+
+opentrons.simulate.format_runlog(runlog: List[Mapping[str, Any]]) → str¶
+

Format a run log (return value of simulate) into a +human-readable string

+
+
Parameters:
+

runlog – The output of a call to simulate

+
+
+
+ +
+
+opentrons.simulate.get_arguments(parser: argparse.ArgumentParser) → argparse.ArgumentParser¶
+

Get the argument parser for this module

+

Useful if you want to use this module as a component of another CLI program +and want to add its arguments.

+
+
Parameters:
+

parser – A parser to add arguments to. If not specified, one will be created.

+
+
Returns argparse.ArgumentParser:
+

The parser with arguments added.

+
+
+
+ +
+
+opentrons.simulate.simulate(protocol_file: Union[BinaryIO, TextIO], file_name: Optional[str] = None, custom_labware_paths: Optional[List[str]] = None, custom_data_paths: Optional[List[str]] = None, propagate_logs: bool = False, hardware_simulator_file_path: Optional[str] = None, duration_estimator: Optional[opentrons.protocols.duration.estimator.DurationEstimator] = None, log_level: str = 'warning') → Tuple[List[Mapping[str, Any]], Optional[opentrons.protocols.types.BundleContents]]¶
+

Simulate the protocol itself.

+

This is a one-stop function to simulate a protocol, whether Python or JSON, +no matter the API version, from external (i.e. not bound up in other +internal server infrastructure) sources.

+

To simulate an opentrons protocol from other places, pass in a file-like +object as protocol_file; this function either returns (if the simulation +has no problems) or raises an exception.

+

To call from the command line, use either the autogenerated entrypoint +opentrons_simulate (opentrons_simulate.exe, on windows) or +python -m opentrons.simulate.

+

The return value is the run log, a list of dicts that represent the +commands executed by the robot; and either the contents of the protocol +that would be required to bundle, or None.

+

Each dict element in the run log has the following keys:

+
+
    +

  • level: The depth at which this command is nested. If this an +aspirate inside a mix inside a transfer, for instance, it would be 3.

    • +

  • payload: The command. The human-readable run log text is available at +payload["text"]. The other keys of payload are command-dependent; +see opentrons.legacy_commands.

    +
    +

    Note

    +

    In older software versions, payload["text"] was a +format string. +To get human-readable text, you had to do payload["text"].format(**payload). +Don’t do that anymore. If payload["text"] happens to contain any +{ or } characters, it can confuse .format() and cause it to raise a +KeyError.

    +
    +
    • +

  • logs: Any log messages that occurred during execution of this +command, as a standard Python LogRecord.

    • +
+
+
+
Parameters:
+
    +

  • protocol_file – The protocol file to simulate.

    • +

  • file_name – The name of the file

    • +

  • custom_labware_paths – A list of directories to search for custom labware. +Loads valid labware from these paths and makes them available +to the protocol context. If this is None (the default), and +this function is called on a robot, it will look in the labware +subdirectory of the Jupyter data directory.

    • +

  • custom_data_paths – A list of directories or files to load custom +data files from. Ignored if the apiv2 feature +flag if not set. Entries may be either files or +directories. Specified files and the +non-recursive contents of specified directories +are presented by the protocol context in +protocol_api.ProtocolContext.bundled_data.

    • +

  • hardware_simulator_file_path – A path to a JSON file defining the simulated +hardware. This is mainly for internal use by Opentrons, and is not necessary +to simulate protocols.

    • +

  • duration_estimator – For internal use only. +Optional duration estimator object.

    • +

  • propagate_logs – Whether this function should allow logs from the +Opentrons stack to propagate up to the root handler. +This can be useful if you’re integrating this +function in a larger application, but most logs that +occur during protocol simulation are best associated +with the actions in the protocol that cause them. +Default: False

    • +

  • log_level – The level of logs to capture in the run log: +"debug", "info", "warning", or "error". +Defaults to "warning".

    • +
+
+
Returns:
+

A tuple of a run log for user output, and possibly the required +data to write to a bundle to bundle this protocol. The bundle is +only emitted if bundling is allowed +and this is an unbundled Protocol API +v2 python protocol. In other cases it is None.

+
+
+
+ +
+
+ + +
+
+
+
+
+ + + + + + + \ No newline at end of file diff --git a/api/docs/dist/v1/atomic_commands.html b/api/docs/dist/v1/atomic_commands.html new file mode 100644 index 000000000000..8f70f8afbd1b --- /dev/null +++ b/api/docs/dist/v1/atomic_commands.html @@ -0,0 +1,1668 @@ + + + + + + + + + Atomic Liquid Handling — OT-2 Python API Version 1 Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + +
+
+
+ + +
+

Atomic Liquid Handling¶

+
+

Tip Handling¶

+

When we handle liquids with a pipette, we are constantly exchanging old, used tips for new ones to prevent cross-contamination between our wells. To help with this constant need, we describe in this section a few methods for getting new tips, and removing tips from a pipette.

+
+

This section demonstrates the options available for controlling tips

+
'''
+Examples in this section expect the following
+'''
+from opentrons import labware, instruments, robot
+
+tiprack = labware.load("opentrons_96_tiprack_300ul", "2")
+
+pipette = instruments.P300_Single(mount="left")
+
+
+
+

Pick Up Tip¶

+

Before any liquid handling can be done, your pipette must have a tip on it. The command pick_up_tip() will move the pipette over to the specified tip, the press down into it to create a vacuum seal. The below example picks up the tip at location "A1".

+
pipette.pick_up_tip(tiprack.wells("A1"))
+
+
+
+
+

Drop Tip¶

+

Once finished with a tip, the pipette will autonomously remove the tip when we call drop_tip(). We can specify where to drop the tip by passing in a location. The below example drops the tip back at its originating location on the tip rack. +If no location is specified, it will go to the fixed trash location on the deck.

+
pipette.drop_tip(tiprack.wells("A1"))
+
+
+

Instead of returning a tip to the tip rack, we can also drop it in an alternative trash container besides the fixed trash on the deck.

+
trash = labware.load("trash-box", "1")
+pipette.pick_up_tip(tiprack.wells("A2"))
+pipette.drop_tip(trash)
+
+
+
+
+

Return Tip¶

+

When we need to return the tip to its originating location on the tip rack, we can simply call return_tip(). The example below will automatically return the tip to "A3" on the tip rack.

+
pipette.pick_up_tip(tiprack.wells("A3"))
+pipette.return_tip()
+
+
+
+
+
+

Tips Iterating¶

+

Automatically iterate through tips and drop tip in trash by attaching containers to a pipette. +If no location is specified, the pipette will move to the next available tip by iterating through the tiprack that is associated with it.

+
'''
+Examples in this section expect the following
+'''
+from opentrons import labware, instruments, robot
+
+trash = labware.load("trash-box", "1")
+tip_rack_1 = containers.load("opentrons_96_tiprack_300ul", "2")
+tip_rack_2 = containers.load("opentrons_96_tiprack_300ul", "3")
+
+
+
+

Attach Tip Rack to Pipette¶

+

Tip racks and trash containers can be “attached†to a pipette when the pipette is created. This give the pipette the ability to automatically iterate through tips, and to automatically send the tip to the trash container.

+

Trash containers can be attached with the option trash_container=TRASH_CONTAINER.

+

Multiple tip racks are can be attached with the option tip_racks=[RACK_1, RACK_2, etc... ].

+
pipette = instruments.P300_Single(mount="left",
+                                  tip_racks=[tip_rack_1, tip_rack_2],
+                                  trash_container=trash)
+
+
+
+

Note

+

The tip_racks= option expects us to give it a Python list, containing each tip rack we want to attach. If we are only attaching one tip rack, then the list will have a length of one, like the following:

+

tip_racks=[tiprack]

+
+
+
+

Iterating Through Tips¶

+

Now that we have two tip racks attached to the pipette, we can automatically step through each tip whenever we call pick_up_tip(). We then have the option to either return_tip() to the tip rack, or we can drop_tip() to remove the tip in the attached trash container.

+
pipette.pick_up_tip()  # picks up tip_rack_1:A1
+pipette.return_tip()
+pipette.pick_up_tip()  # picks up tip_rack_1:A2
+pipette.drop_tip()     # automatically drops in trash
+
+# use loop to pick up tips tip_rack_1:A3 through tip_rack_2:H12
+tips_left = 94 + 96 # add up the number of tips leftover in both tipracks
+for _ in range(tips_left):
+    pipette.pick_up_tip()
+    pipette.return_tip()
+
+
+

If we try to pick_up_tip() again when all the tips have been used, the Opentrons API will show you an error.

+
+

Note

+

If you run the cell above, and then uncomment and run the cell below, you will get an error because the pipette is out of tips.

+
+
# this will raise an exception if run after the previous code block
+# pipette.pick_up_tip()
+
+
+
+
+

Reseting Tip Tracking¶

+

If you plan to change out tipracks during the protocol run, you must reset tip tracking to prevent any errors. This is done through pipette.reset() which resets the tipracks and sets the current volume back to 0 ul.

+
pipette.reset()
+
+
+
+
+

Select Starting Tip¶

+

Calls to pick_up_tip() will by default start at the attached tip rack’s "A1" location in order of tipracks listed. If you however want to start automatic tip iterating at a different tip, you can use start_at_tip().

+
pipette.start_at_tip(tip_rack_1.well("C3"))
+pipette.pick_up_tip()  # pick up C3 from "tip_rack_1"
+pipette.return_tip()
+
+
+
+
+

Get Current Tip¶

+

Get the source location of the pipette’s current tip by calling current_tip(). If the tip was from the "A1" position on our tip rack, current_tip() will return that position.

+
print(pipette.current_tip())  # is holding no tip
+
+pipette.pick_up_tip()
+print(pipette.current_tip())  # is holding the next available tip
+
+pipette.return_tip()
+print(pipette.current_tip())  # is holding no tip
+
+
+

will print out…

+
+
+
+
+
+

Liquid Control¶

+

This is the fun section, where we get to move things around and pipette! This section describes the Pipette object’s many liquid-handling commands, as well as how to move the robot. +Please note that the default now for pipette aspirate and dispense location is a 1mm offset from the bottom of the well now.

+
+
from opentrons import labware, instruments, robot
+
+'''
+Examples in this section expect the following:
+'''
+plate = labware.load("96-flat", "1")
+pipette = instruments.P300_Single(mount="left")
+pipette.pick_up_tip()
+
+
+
+

Aspirate¶

+

To aspirate is to pull liquid up into the pipette’s tip. When calling aspirate on a pipette, we can specify how many micoliters, and at which location, to draw liquid from:

+
pipette.aspirate(50, plate.wells("A1"))  # aspirate 50uL from plate:A1
+
+
+

Now our pipette’s tip is holding 50uL.

+

We can also simply specify how many microliters to aspirate, and not mention a location. The pipette in this circumstance will aspirate from it’s current location (which we previously set as plate.wells("A1")).

+
pipette.aspirate(50)                     # aspirate 50uL from current position
+
+
+

Now our pipette’s tip is holding 100uL.

+

We can also specify only the location to aspirate from. If we do not tell the pipette how many micoliters to aspirate, it will by default fill up the remaining volume in it’s tip. In this example, since we already have 100uL in the tip, the pipette will aspirate another 200uL

+
pipette.aspirate(plate.wells("A2"))      # aspirate until pipette fills from plate:A2
+
+
+
+
+

Dispense¶

+

To dispense is to push out liquid from the pipette’s tip. It’s usage in the Opentrons API is nearly identical to aspirate(), in that you can specify microliters and location, only microliters, or only a location:

+
pipette.dispense(50, plate.wells("B1")) # dispense 50uL to plate:B1
+pipette.dispense(50)                    # dispense 50uL to current position
+pipette.dispense(plate.wells("B2"))     # dispense until pipette empties to plate:B2
+
+
+

That final dispense without specifying a micoliter amount will dispense all remaining liquids in the tip to plate.wells("B2"), and now our pipette is empty.

+
+
+

Blow Out¶

+

To blow out is to push an extra amount of air through the pipette’s tip, so as to make sure that any remaining droplets are expelled.

+

When calling blow_out() on a pipette, we have the option to specify a location to blow out the remaining liquid. If no location is specified, the pipette will blow out from it’s current position.

+
pipette.blow_out()                  # blow out in current location
+pipette.blow_out(plate.wells("B3")) # blow out in current plate:B3
+
+
+
+
+

Touch Tip¶

+

To touch tip is to move the pipette’s currently attached tip to four opposite edges of a well, for the purpose of knocking off any droplets that might be hanging from the tip.

+

When calling touch_tip() on a pipette, we have the option to specify a location where the tip will touch the inner walls. If no location is specified, the pipette will touch tip inside it’s current location.

+
pipette.touch_tip()                  # touch tip within current location
+pipette.touch_tip(v_offset=-2)       # touch tip 2mm below the top of the current location
+pipette.touch_tip(plate.wells("B1")) # touch tip within plate:B1
+
+
+
+
+

Mix¶

+

Mixing is simply performing a series of aspirate() and dispense() commands in a row on a single location. However, instead of having to write those commands out every time, the Opentrons API allows you to simply say mix().

+

The mix command takes three arguments: mix(repetitions, volume, location)

+
pipette.mix(4, 100, plate.wells("A2"))   # mix 4 times, 100uL, in plate:A2
+pipette.mix(3, 50)                       # mix 3 times, 50uL, in current location
+pipette.mix(2)                           # mix 2 times, pipette's max volume, in current location
+
+
+
+
+

Air Gap¶

+

Some liquids need an extra amount of air in the pipette’s tip to prevent it from sliding out. A call to air_gap() with a microliter amount will aspirate that much air into the tip.

+
pipette.aspirate(100, plate.wells("B4"))
+pipette.air_gap(20)
+pipette.drop_tip()
+
+
+
+
from opentrons import labware, instruments, robot
+
+'''
+Examples in this section expect the following
+'''
+tiprack = labware.load("opentrons_96_tiprack_300ul", "1")
+plate = labware.load("96-flat", "2")
+
+pipette = instruments.P300_Single(mount="right", tip_racks=[tiprack])
+
+
+
+
+

Controlling Speed¶

+

You can change the speed at which you aspirate or dispense liquid by either changing the +defaults in the pipette constructor (more info under the Creating a Pipette section) or +using our set_flow_rate function. This can be called at any time during the protocol.

+
from opentrons import labware, instruments, robot
+
+'''
+Examples in this section expect the following
+'''
+tiprack = labware.load("opentrons_96_tiprack_300ul", "1")
+plate = labware.load("96-flat", "2")
+
+pipette = instruments.P300_Single(mount="right", tip_racks=[tiprack])
+
+pipette.set_flow_rate(aspirate=50, dispense=100)
+
+
+

You can also choose to only update aspirate OR dispense depending on the application. +Pipette liquid handling speed is in ul/s.

+

Note The dispense speed also controls the speed of blow_out.

+
+
+
+

Moving¶

+
+

Move To¶

+

Pipette’s are able to move_to() any location on the deck.

+

For example, we can move to the first tip in our tip rack:

+
pipette.move_to(tiprack.wells("A1"))
+
+
+

You can also specify at what height you would like the robot to move to inside of a location using top() and bottom() methods on that location.

+
pipette.move_to(plate.wells("A1").bottom())  # move to the bottom of well A1
+pipette.move_to(plate.wells("A1").top())     # move to the top of well A1
+pipette.move_to(plate.wells("A1").bottom(2)) # move to 2mm above the bottom of well A1
+pipette.move_to(plate.wells("A1").top(-2))   # move to 2mm below the top of well A1
+
+
+

The above commands will cause the robot’s head to first move upwards, then over to above the target location, then finally downwards until the target location is reached. If instead you would like the robot to move in a straight line to the target location, you can set the movement strategy to "direct".

+
pipette.move_to(plate.wells("A1"), strategy="direct")
+
+
+
+

Note

+

Moving with strategy="direct" will run the risk of colliding with things on your deck. Be very careful when using this option.

+
+

Usually the strategy="direct" option is useful when moving inside of a well. Take a look at the below sequence of movements, which first move the head to a well, and use “direct†movements inside that well, then finally move on to a different well.

+
pipette.move_to(plate.wells("A1"))
+pipette.move_to(plate.wells("A1").bottom(1), strategy="direct")
+pipette.move_to(plate.wells("A1").top(-2), strategy="direct")
+pipette.move_to(plate.wells("A1"))
+
+
+
+
+

Delay¶

+

To have your protocol pause for any given number of minutes or seconds, simply call delay() on your pipette. The value passed into delay() is the number of minutes or seconds the robot will wait until moving on to the next commands.

+
pipette.delay(seconds=2)             # pause for 2 seconds
+pipette.delay(minutes=5)             # pause for 5 minutes
+pipette.delay(minutes=5, seconds=2)  # pause for 5 minutes and 2 seconds
+
+
+
+
+
+ + +
+
+
+
+
+ + + + + + + \ No newline at end of file diff --git a/api/docs/dist/v1/complex_commands.html b/api/docs/dist/v1/complex_commands.html new file mode 100644 index 000000000000..715090149832 --- /dev/null +++ b/api/docs/dist/v1/complex_commands.html @@ -0,0 +1,2022 @@ + + + + + + + + + Complex Liquid Handling — OT-2 Python API Version 1 Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + +
+
+
+ + +
+

Complex Liquid Handling¶

+

The examples below will use the following set-up:

+
from opentrons import robot, labware, instruments
+
+plate = labware.load("96-flat", "1")
+
+tiprack = labware.load("opentrons_96_tiprack_300ul", "2")
+
+pipette = instruments.P300_Single(
+    mount="left",
+    tip_racks=[tiprack])
+
+
+

You could simulate the protocol using our protocol simulator, which can be installed by following the instructions here.

+
+
+

Transfer¶

+

Most of time, a protocol is really just looping over some wells, aspirating, and then dispensing. Even though they are simple in nature, these loops take up a lot of space. The pipette.transfer() command takes care of those common loops. It will combine aspirates and dispenses automatically, making your protocol easier to read and edit. +For transferring with a multi-channel, please refer to the Multi-Channel Pipettes and Complex Liquid Handling section.

+
+

Basic¶

+

The example below will transfer 100 uL from well "A1" to well "B1", automatically picking up a new tip and then disposing it when finished.

+
pipette.transfer(100, plate.wells("A1"), plate.wells("B1"))
+
+
+

Transfer commands will automatically create entire series of aspirate(), dispense(), and other Pipette commands.

+
+
+

Large Volumes¶

+

Volumes larger than the pipette’s max_volume will automatically divide into smaller transfers.

+
pipette.transfer(700, plate.wells("A2"), plate.wells("B2"))
+
+
+

will have the steps…

+
Transferring 700 from well A2 in "1" to well B2 in "1"
+Picking up tip well A1 in "2"
+Aspirating 300.0 uL from well A2 in "1" at 1 speed
+Dispensing 300.0 uL into well B2 in "1"
+Aspirating 200.0 uL from well A2 in "1" at 1 speed
+Dispensing 200.0 uL into well B2 in "1"
+Aspirating 200.0 uL from well A2 in "1" at 1 speed
+Dispensing 200.0 uL into well B2 in "1"
+Dropping tip well A1 in "12"
+
+
+
+
+

Multiple Wells¶

+

Transfer commands are most useful when moving liquid between multiple wells.

+
pipette.transfer(100, plate.cols("1"), plate.cols("2"))
+
+
+

will have the steps…

+
Transferring 100 from wells A1...H1 in "1" to wells A2...H2 in "1"
+Picking up tip well A1 in "2"
+Aspirating 100.0 uL from well A1 in "1" at 1 speed
+Dispensing 100.0 uL into well A2 in "1"
+Aspirating 100.0 uL from well B1 in "1" at 1 speed
+Dispensing 100.0 uL into well B2 in "1"
+Aspirating 100.0 uL from well C1 in "1" at 1 speed
+Dispensing 100.0 uL into well C2 in "1"
+Aspirating 100.0 uL from well D1 in "1" at 1 speed
+Dispensing 100.0 uL into well D2 in "1"
+Aspirating 100.0 uL from well E1 in "1" at 1 speed
+Dispensing 100.0 uL into well E2 in "1"
+Aspirating 100.0 uL from well F1 in "1" at 1 speed
+Dispensing 100.0 uL into well F2 in "1"
+Aspirating 100.0 uL from well G1 in "1" at 1 speed
+Dispensing 100.0 uL into well G2 in "1"
+Aspirating 100.0 uL from well H1 in "1" at 1 speed
+Dispensing 100.0 uL into well H2 in "1"
+Dropping tip well A1 in "12"
+
+
+
+
+

One to Many¶

+

You can transfer from a single source to multiple destinations, and the other way around (many sources to one destination).

+
pipette.transfer(100, plate.wells("A1"), plate.cols("2"))
+
+
+

will have the steps…

+
Transferring 100 from well A1 in "1" to wells A2...H2 in "1"
+Picking up tip well A1 in "2"
+Aspirating 100.0 uL from well A1 in "1" at 1 speed
+Dispensing 100.0 uL into well A2 in "1"
+Aspirating 100.0 uL from well A1 in "1" at 1 speed
+Dispensing 100.0 uL into well B2 in "1"
+Aspirating 100.0 uL from well A1 in "1" at 1 speed
+Dispensing 100.0 uL into well C2 in "1"
+Aspirating 100.0 uL from well A1 in "1" at 1 speed
+Dispensing 100.0 uL into well D2 in "1"
+Aspirating 100.0 uL from well A1 in "1" at 1 speed
+Dispensing 100.0 uL into well E2 in "1"
+Aspirating 100.0 uL from well A1 in "1" at 1 speed
+Dispensing 100.0 uL into well F2 in "1"
+Aspirating 100.0 uL from well A1 in "1" at 1 speed
+Dispensing 100.0 uL into well G2 in "1"
+Aspirating 100.0 uL from well A1 in "1" at 1 speed
+Dispensing 100.0 uL into well H2 in "1"
+Dropping tip well A1 in "12"
+
+
+
+
+

Few to Many¶

+

What happens if, for example, you tell your pipette to transfer from 2 source wells to 4 destination wells? The transfer command will attempt to divide the wells evenly, or raise an error if the number of wells aren’t divisible.

+
pipette.transfer(
+    100,
+    plate.wells("A1", "A2"),
+    plate.wells("B1", "B2", "B3", "B4"))
+
+
+

will have the steps…

+
Transferring 100 from wells A1...A2 in "1" to wells B1...B4 in "1"
+Picking up tip well A1 in "2"
+Aspirating 100.0 uL from well A1 in "1" at 1 speed
+Dispensing 100.0 uL into well B1 in "1"
+Aspirating 100.0 uL from well A1 in "1" at 1 speed
+Dispensing 100.0 uL into well B2 in "1"
+Aspirating 100.0 uL from well A2 in "1" at 1 speed
+Dispensing 100.0 uL into well B3 in "1"
+Aspirating 100.0 uL from well A2 in "1" at 1 speed
+Dispensing 100.0 uL into well B4 in "1"
+Dropping tip well A1 in "12"
+
+
+
+
+

List of Volumes¶

+

Instead of applying a single volume amount to all source/destination wells, you can instead pass a list of volumes.

+
pipette.transfer(
+    [20, 40, 60],
+    plate.wells("A1"),
+    plate.wells("B1", "B2", "B3"))
+
+
+

will have the steps…

+
Transferring [20, 40, 60] from well A1 in "1" to wells B1...B3 in "1"
+Picking up tip well A1 in "2"
+Aspirating 20.0 uL from well A1 in "1" at 1 speed
+Dispensing 20.0 uL into well B1 in "1"
+Aspirating 40.0 uL from well A1 in "1" at 1 speed
+Dispensing 40.0 uL into well B2 in "1"
+Aspirating 60.0 uL from well A1 in "1" at 1 speed
+Dispensing 60.0 uL into well B3 in "1"
+Dropping tip well A1 in "12"
+
+
+
+
+

Volume Gradient¶

+

Create a linear gradient between a start and ending volume (uL). The start and ending volumes must be the first and second elements of a tuple.

+
pipette.transfer(
+    (100, 30),
+    plate.wells("A1"),
+    plate.cols("2"))
+
+
+

will have the steps…

+
Transferring (100, 30) from well A1 in "1" to wells A2...H2 in "1"
+Picking up tip well A1 in "2"
+Aspirating 100.0 uL from well A1 in "1" at 1 speed
+Dispensing 100.0 uL into well A2 in "1"
+Aspirating 90.0 uL from well A1 in "1" at 1 speed
+Dispensing 90.0 uL into well B2 in "1"
+Aspirating 80.0 uL from well A1 in "1" at 1 speed
+Dispensing 80.0 uL into well C2 in "1"
+Aspirating 70.0 uL from well A1 in "1" at 1 speed
+Dispensing 70.0 uL into well D2 in "1"
+Aspirating 60.0 uL from well A1 in "1" at 1 speed
+Dispensing 60.0 uL into well E2 in "1"
+Aspirating 50.0 uL from well A1 in "1" at 1 speed
+Dispensing 50.0 uL into well F2 in "1"
+Aspirating 40.0 uL from well A1 in "1" at 1 speed
+Dispensing 40.0 uL into well G2 in "1"
+Aspirating 30.0 uL from well A1 in "1" at 1 speed
+Dispensing 30.0 uL into well H2 in "1"
+Dropping tip well A1 in "12"
+
+
+
+
+
+
+

Distribute and Consolidate¶

+

Save time and tips with the distribute() and consolidate() commands. These are nearly identical to transfer(), except that they will combine multiple transfer’s into a single tip.

+
+

Consolidate¶

+

Volumes going to the same destination well are combined within the same tip, so that multiple aspirates can be combined to a single dispense.

+
pipette.consolidate(30, plate.cols("2"), plate.wells("A1"))
+
+
+

will have the steps…

+
Consolidating 30 from wells A2...H2 in "1" to well A1 in "1"
+Transferring 30 from wells A2...H2 in "1" to well A1 in "1"
+Picking up tip well A1 in "2"
+Aspirating 30.0 uL from well A2 in "1" at 1 speed
+Aspirating 30.0 uL from well B2 in "1" at 1 speed
+Aspirating 30.0 uL from well C2 in "1" at 1 speed
+Aspirating 30.0 uL from well D2 in "1" at 1 speed
+Aspirating 30.0 uL from well E2 in "1" at 1 speed
+Aspirating 30.0 uL from well F2 in "1" at 1 speed
+Aspirating 30.0 uL from well G2 in "1" at 1 speed
+Aspirating 30.0 uL from well H2 in "1" at 1 speed
+Dispensing 240.0 uL into well A1 in "1"
+Dropping tip well A1 in "12"
+
+
+

If there are multiple destination wells, the pipette will never combine their volumes into the same tip.

+
pipette.consolidate(30, plate.cols("1"), plate.wells("A1", "A2"))
+
+
+

will have the steps…

+
Consolidating 30 from wells A1...H1 in "1" to wells A1...A2 in "1"
+Transferring 30 from wells A1...H1 in "1" to wells A1...A2 in "1"
+Picking up tip well A1 in "2"
+Aspirating 30.0 uL from well A1 in "1" at 1 speed
+Aspirating 30.0 uL from well B1 in "1" at 1 speed
+Aspirating 30.0 uL from well C1 in "1" at 1 speed
+Aspirating 30.0 uL from well D1 in "1" at 1 speed
+Dispensing 120.0 uL into well A1 in "1"
+Aspirating 30.0 uL from well E1 in "1" at 1 speed
+Aspirating 30.0 uL from well F1 in "1" at 1 speed
+Aspirating 30.0 uL from well G1 in "1" at 1 speed
+Aspirating 30.0 uL from well H1 in "1" at 1 speed
+Dispensing 120.0 uL into well A2 in "1"
+Dropping tip well A1 in "12"
+
+
+
+
+

Distribute¶

+

Volumes from the same source well are combined within the same tip, so that one aspirate can provide for multiple dispenses.

+
pipette.distribute(55, plate.wells("A1"), plate.rows("A"))
+
+
+

will have the steps…

+
Distributing 55 from well A1 in "1" to wells A1...A12 in "1"
+Transferring 55 from well A1 in "1" to wells A1...A12 in "1"
+Picking up tip well A1 in "2"
+Aspirating 250.0 uL from well A1 in "1" at 1 speed
+Dispensing 55.0 uL into well A1 in "1"
+Dispensing 55.0 uL into well A2 in "1"
+Dispensing 55.0 uL into well A3 in "1"
+Dispensing 55.0 uL into well A4 in "1"
+Blowing out at well A1 in "12"
+Aspirating 250.0 uL from well A1 in "1" at 1 speed
+Dispensing 55.0 uL into well A5 in "1"
+Dispensing 55.0 uL into well A6 in "1"
+Dispensing 55.0 uL into well A7 in "1"
+Dispensing 55.0 uL into well A8 in "1"
+Blowing out at well A1 in "12"
+Aspirating 250.0 uL from well A1 in "1" at 1 speed
+Dispensing 55.0 uL into well A9 in "1"
+Dispensing 55.0 uL into well A10 in "1"
+Dispensing 55.0 uL into well A11 in "1"
+Dispensing 55.0 uL into well A12 in "1"
+Blowing out at well A1 in "12"
+Dropping tip well A1 in "12"
+
+
+

If there are multiple source wells, the pipette will never combine their volumes into the same tip.

+
pipette.distribute(30, plate.wells("A1", "A2"), plate.rows("A"))
+
+
+

will have the steps…

+
Distributing 30 from wells A1...A2 in "1" to wells A1...A12 in "1"
+Transferring 30 from wells A1...A2 in "1" to wells A1...A12 in "1"
+Picking up tip well A1 in "2"
+Aspirating 210.0 uL from well A1 in "1" at 1 speed
+Dispensing 30.0 uL into well A1 in "1"
+Dispensing 30.0 uL into well A2 in "1"
+Dispensing 30.0 uL into well A3 in "1"
+Dispensing 30.0 uL into well A4 in "1"
+Dispensing 30.0 uL into well A5 in "1"
+Dispensing 30.0 uL into well A6 in "1"
+Blowing out at well A1 in "12"
+Aspirating 210.0 uL from well A2 in "1" at 1 speed
+Dispensing 30.0 uL into well A7 in "1"
+Dispensing 30.0 uL into well A8 in "1"
+Dispensing 30.0 uL into well A9 in "1"
+Dispensing 30.0 uL into well A10 in "1"
+Dispensing 30.0 uL into well A11 in "1"
+Dispensing 30.0 uL into well A12 in "1"
+Blowing out at well A1 in "12"
+Dropping tip well A1 in "12"
+
+
+
+
+

Disposal Volume¶

+

When dispensing multiple times from the same tip, it is recommended to aspirate an extra amount of liquid to be disposed of after distributing. This added disposal_vol can be set as an optional argument. There is a default disposal volume (equal to the pipette’s minimum volume), which will be blown out at the trash after the dispenses.

+
pipette.distribute(
+    30,
+    plate.wells("A1", "A2"),
+    plate.cols("2"),
+    disposal_vol=10)   # include extra liquid to make dispenses more accurate
+
+
+

will have the steps…

+
Distributing 30 from wells A1...A2 in "1" to wells A2...H2 in "1"
+Transferring 30 from wells A1...A2 in "1" to wells A2...H2 in "1"
+Picking up tip well A1 in "2"
+Aspirating 130.0 uL from well A1 in "1" at 1 speed
+Dispensing 30.0 uL into well A2 in "1"
+Dispensing 30.0 uL into well B2 in "1"
+Dispensing 30.0 uL into well C2 in "1"
+Dispensing 30.0 uL into well D2 in "1"
+Blowing out at well A1 in "12"
+Aspirating 130.0 uL from well A2 in "1" at 1 speed
+Dispensing 30.0 uL into well E2 in "1"
+Dispensing 30.0 uL into well F2 in "1"
+Dispensing 30.0 uL into well G2 in "1"
+Dispensing 30.0 uL into well H2 in "1"
+Blowing out at well A1 in "12"
+Dropping tip well A1 in "12"
+
+
+
+
+
+
+

Transfer Options¶

+

There are other options for customizing your transfer command:

+
+

Always Get a New Tip¶

+

Transfer commands will by default use the same one tip for each well, then finally drop it in the trash once finished.

+

The pipette can optionally get a new tip at the beginning of each aspirate, to help avoid cross contamination.

+
pipette.transfer(
+    100,
+    plate.wells("A1", "A2", "A3"),
+    plate.wells("B1", "B2", "B3"),
+    new_tip="always")    # always pick up a new tip
+
+
+

will have the steps…

+
Transferring 100 from wells A1...A3 in "1" to wells B1...B3 in "1"
+Picking up tip well A1 in "2"
+Aspirating 100.0 uL from well A1 in "1" at 1 speed
+Dispensing 100.0 uL into well B1 in "1"
+Dropping tip well A1 in "12"
+Picking up tip well B1 in "2"
+Aspirating 100.0 uL from well A2 in "1" at 1 speed
+Dispensing 100.0 uL into well B2 in "1"
+Dropping tip well A1 in "12"
+Picking up tip well C1 in "2"
+Aspirating 100.0 uL from well A3 in "1" at 1 speed
+Dispensing 100.0 uL into well B3 in "1"
+Dropping tip well A1 in "12"
+
+
+
+
+

Never Get a New Tip¶

+

For scenarios where you instead are calling pick_up_tip() and drop_tip() elsewhere in your protocol, the transfer command can ignore picking up or dropping tips.

+
pipette.pick_up_tip()
+...
+pipette.transfer(
+    100,
+    plate.wells("A1", "A2", "A3"),
+    plate.wells("B1", "B2", "B3"),
+    new_tip="never")    # never pick up or drop a tip
+...
+pipette.drop_tip()
+
+
+

will have the steps…

+
Picking up tip well A1 in "2"
+...
+Transferring 100 from wells A1...A3 in "1" to wells B1...B3 in "1"
+Aspirating 100.0 uL from well A1 in "1" at 1 speed
+Dispensing 100.0 uL into well B1 in "1"
+Aspirating 100.0 uL from well A2 in "1" at 1 speed
+Dispensing 100.0 uL into well B2 in "1"
+Aspirating 100.0 uL from well A3 in "1" at 1 speed
+Dispensing 100.0 uL into well B3 in "1"
+...
+Dropping tip well A1 in "12"
+
+
+
+
+

Use One Tip¶

+

The default behavior of complex commands is to use one tip:

+
pipette.transfer(
+    100,
+    plate.wells("A1", "A2", "A3"),
+    plate.wells("B1", "B2", "B3"),
+    new_tip="once")    # use one tip (default behavior)
+
+
+

will have the steps…

+
Transferring 100 from wells A1...A3 in "1" to wells B1...B3 in "1"
+Picking up tip well A1 in "2"
+Aspirating 100.0 uL from well A1 in "1" at 1 speed
+Dispensing 100.0 uL into well B1 in "1"
+Aspirating 100.0 uL from well A2 in "1" at 1 speed
+Dispensing 100.0 uL into well B2 in "1"
+Aspirating 100.0 uL from well A3 in "1" at 1 speed
+Dispensing 100.0 uL into well B3 in "1"
+Dropping tip well A1 in "12"
+
+
+
+
+

Trash or Return Tip¶

+

By default, the transfer command will drop the pipette’s tips in the trash container. However, if you wish to instead return the tip to it’s tip rack, you can set trash=False.

+
pipette.transfer(
+    100,
+    plate.wells("A1"),
+    plate.wells("B1"),
+    trash=False)       # do not trash tip
+
+
+

will have the steps…

+
Transferring 100 from well A1 in "1" to well B1 in "1"
+Picking up tip well A1 in "2"
+Aspirating 100.0 uL from well A1 in "1" at 1 speed
+Dispensing 100.0 uL into well B1 in "1"
+Returning tip
+Dropping tip well A1 in "2"
+
+
+
+
+

Touch Tip¶

+

A touch-tip can be performed after every aspirate and dispense by setting touch_tip=True.

+
pipette.transfer(
+    100,
+    plate.wells("A1"),
+    plate.wells("A2"),
+    touch_tip=True)     # touch tip to each well's edge
+
+
+

will have the steps…

+
Transferring 100 from well A1 in "1" to well A2 in "1"
+Picking up tip well A1 in "2"
+Aspirating 100.0 uL from well A1 in "1" at 1 speed
+Touching tip
+Dispensing 100.0 uL into well A2 in "1"
+Touching tip
+Dropping tip well A1 in "12"
+
+
+
+
+

Blow Out¶

+

A blow-out can be performed after every dispense that leaves the tip empty by setting blow_out=True.

+
pipette.transfer(
+    100,
+    plate.wells("A1"),
+    plate.wells("A2"),
+    blow_out=True)      # blow out droplets when tip is empty
+
+
+

will have the steps…

+
Transferring 100 from well A1 in "1" to well A2 in "1"
+Picking up tip well A1 in "2"
+Aspirating 100.0 uL from well A1 in "1" at 1 speed
+Dispensing 100.0 uL into well A2 in "1"
+Blowing out
+Dropping tip well A1 in "12"
+
+
+
+
+

Mix Before/After¶

+

A mix can be performed before every aspirate by setting mix_before=. The value of mix_before= must be a tuple, the 1st value is the number of repetitions, the 2nd value is the amount of liquid to mix.

+
pipette.transfer(
+    100,
+    plate.wells("A1"),
+    plate.wells("A2"),
+    mix_before=(2, 50), # mix 2 times with 50uL before aspirating
+    mix_after=(3, 75))  # mix 3 times with 75uL after dispensing
+
+
+

will have the steps…

+
Transferring 100 from well A1 in "1" to well A2 in "1"
+Picking up tip well A1 in "2"
+Mixing 2 times with a volume of 50ul
+Aspirating 50 uL from well A1 in "1" at 1.0 speed
+Dispensing 50 uL into well A1 in "1"
+Aspirating 50 uL from well A1 in "1" at 1.0 speed
+Dispensing 50 uL into well A1 in "1"
+Aspirating 100.0 uL from well A1 in "1" at 1 speed
+Dispensing 100.0 uL into well A2 in "1"
+Mixing 3 times with a volume of 75ul
+Aspirating 75 uL from well A2 in "1" at 1.0 speed
+Dispensing 75.0 uL into well A2 in "1"
+Aspirating 75 uL from well A2 in "1" at 1.0 speed
+Dispensing 75.0 uL into well A2 in "1"
+Aspirating 75 uL from well A2 in "1" at 1.0 speed
+Dispensing 75.0 uL into well A2 in "1"
+Dropping tip well A1 in "12"
+
+
+
+
+

Air Gap¶

+

An air gap can be performed after every aspirate by setting air_gap=int, where the value is the volume of air in microliters to aspirate after aspirating the liquid.

+
pipette.transfer(
+    100,
+    plate.wells("A1"),
+    plate.wells("A2"),
+    air_gap=20)         # add 20uL of air after each aspirate
+
+
+

will have the steps…

+
Transferring 100 from well A1 in "1" to well A2 in "1"
+Picking up tip well A1 in "2"
+Aspirating 100.0 uL from well A1 in "1" at 1 speed
+Air gap
+Aspirating 20 uL from well A1 in "1" at 1.0 speed
+Dispensing 20 uL into well A2 in "1"
+Dispensing 100.0 uL into well A2 in "1"
+Dropping tip well A1 in "12"
+
+
+
+
+
+

Multi-Channel Pipettes and Complex Liquid Handling¶

+

When the robot is determining positioning for a multi-channel pipette, it uses +the back-nozzle (A1 channel) to move to the plate. While considering which +wells you should input into your complex function, always keep in mind that +you should determine the multi-channel position via the back-nozzle position.

+

We will be using the code-block below to perform our examples.

+
from opentrons import robot, labware, instruments
+
+plate_96 = labware.load("96-flat", "1")
+plate_384 = labware.load("384-plate", "3")
+trough = labware.load("trough-12row", "4")
+
+tiprack = labware.load("opentrons_96_tiprack_300ul", "2")
+
+multi_pipette = instruments.P300_Multi(
+    mount="left",
+    tip_racks=[tiprack])
+
+
+
+

Transfer in a 96 Well Plate¶

+

If you want to move across a 96 well plate using a multi-channel you can do the +following:

+
multi_pipette.transfer(50, plate_96.columns("1"), plate_96.columns("2", to="12"))
+
+
+

will have the steps

+
Transferring 50 from well A1 in "3" to wells A2...H12 in "3"
+Picking up tip wells A1...H1 in "4"
+Aspirating 50.0 uL from wells A1...H1 in "3" at 1 speed
+Dispensing 50.0 uL into wells A2...H2 in "3"
+Aspirating 50.0 uL from wells A1...H1 in "3" at 1 speed
+Dispensing 50.0 uL into wells A3...H3 in "3"
+Aspirating 50.0 uL from wells A1...H1 in "3" at 1 speed
+Dispensing 50.0 uL into wells A4...H4 in "3"
+Aspirating 50.0 uL from wells A1...H1 in "3" at 1 speed
+Dispensing 50.0 uL into wells A5...H5 in "3"
+Aspirating 50.0 uL from wells A1...H1 in "3" at 1 speed
+Dispensing 50.0 uL into wells A6...H6 in "3"
+Aspirating 50.0 uL from wells A1...H1 in "3" at 1 speed
+Dispensing 50.0 uL into wells A7...H7 in "3"
+Aspirating 50.0 uL from wells A1...H1 in "3" at 1 speed
+Dispensing 50.0 uL into wells A8...H8 in "3"
+Aspirating 50.0 uL from wells A1...H1 in "3" at 1 speed
+Dispensing 50.0 uL into wells A9...H9 in "3"
+Aspirating 50.0 uL from wells A1...H1 in "3" at 1 speed
+Dispensing 50.0 uL into wells A10...H10 in "3"
+Aspirating 50.0 uL from wells A1...H1 in "3" at 1 speed
+Dispensing 50.0 uL into wells A11...H11 in "3"
+Aspirating 50.0 uL from wells A1...H1 in "3" at 1 speed
+Dispensing 50.0 uL into wells A12...H12 in "3"
+Dropping tip well A1 in "12"
+
+
+

or

+
multi_pipette.transfer(50, plate_96.wells("A1"), plate_96.columns("2", to="12"))
+
+
+

will have the steps

+
Transferring 50 from well A1 in "3" to wells A2...H12 in "3"
+Picking up tip wells A1...H1 in "4"
+Aspirating 50.0 uL from well A1 in "3" at 1 speed
+Dispensing 50.0 uL into wells A2...H2 in "3"
+Aspirating 50.0 uL from well A1 in "3" at 1 speed
+Dispensing 50.0 uL into wells A3...H3 in "3"
+Aspirating 50.0 uL from well A1 in "3" at 1 speed
+Dispensing 50.0 uL into wells A4...H4 in "3"
+Aspirating 50.0 uL from well A1 in "3" at 1 speed
+Dispensing 50.0 uL into wells A5...H5 in "3"
+Aspirating 50.0 uL from well A1 in "3" at 1 speed
+Dispensing 50.0 uL into wells A6...H6 in "3"
+Aspirating 50.0 uL from well A1 in "3" at 1 speed
+Dispensing 50.0 uL into wells A7...H7 in "3"
+Aspirating 50.0 uL from well A1 in "3" at 1 speed
+Dispensing 50.0 uL into wells A8...H8 in "3"
+Aspirating 50.0 uL from well A1 in "3" at 1 speed
+Dispensing 50.0 uL into wells A9...H9 in "3"
+Aspirating 50.0 uL from well A1 in "3" at 1 speed
+Dispensing 50.0 uL into wells A10...H10 in "3"
+Aspirating 50.0 uL from well A1 in "3" at 1 speed
+Dispensing 50.0 uL into wells A11...H11 in "3"
+Aspirating 50.0 uL from well A1 in "3" at 1 speed
+Dispensing 50.0 uL into wells A12...H12 in "3"
+Dropping tip well A1 in "12"
+
+
+
+

Note

+

The following scenarios may not work as you expect them to.

+
multi_pipette.transfer(50, plate_96.wells("A1"), plate_96.wells())
+
+
+

The multi-channel would visit every well in the plate and dispense liquid +outside of the plate boundaries so be careful!

+
multi_pipette.transfer(50, plate_96.wells("A1"), plate_96.rows("A"))
+
+
+

In this scenario, the multi-channel would only visit the first column of the plate.

+
+
+
+

Transfer in a 384 Well Plate¶

+

In a 384 Well plate, there are 2 sets of “columns†that the multi-channel can +dispense into [“A1â€, “C1â€â€¦â€A2â€, “C2â€â€¦] and [“B1â€, “D1â€â€¦â€B2â€, “D2â€].

+

If you want to transfer to a 384 well plate in order, you can do:

+
alternating_wells = []
+for row in plate_384.rows():
+    alternating_wells.append(row.wells("A"))
+    alternating_wells.append(row.wells("B"))
+multi_pipette.transfer(50, trough.wells("A1"), alternating_wells)
+
+
+

or you can choose to dispense by row first, moving first through row A +and then through row B of the 384 well plate.

+
list_of_wells = [for well in plate_384.rows("A")] + [for well in plate_384.rows("B")]
+multi_pipette.transfer(50, trough.wells("A1"), list_of_wells)
+
+
+
+
+
+ + +
+
+
+
+
+ + + + + + + \ No newline at end of file diff --git a/api/docs/dist/v1/examples.html b/api/docs/dist/v1/examples.html new file mode 100644 index 000000000000..fe101d72aa1d --- /dev/null +++ b/api/docs/dist/v1/examples.html @@ -0,0 +1,1518 @@ + + + + + + + + + Examples — OT-2 Python API Version 1 Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + +
+
+
+ + +
+

Examples¶

+

All examples on this page assume the following labware and pipette:

+
from opentrons import robot, labware, instruments
+
+plate = labware.load("96-flat", "1")
+trough = labware.load("trough-12row", "2")
+
+tiprack_1 = labware.load("opentrons_96_tiprack_300ul", "3")
+tiprack_2 = labware.load("opentrons_96_tiprack_300ul", "4")
+
+p300 = instruments.P300_Single(
+    mount="left",
+    tip_racks=[tiprack_2])
+
+
+
+
+

Basic Transfer¶

+

Moving 100uL from one well to another:

+
p300.transfer(100, plate.wells("A1"), plate.wells("B1"))
+
+
+

If you prefer to not use the .transfer() command, the following pipette commands will create the some results:

+
p300.pick_up_tip()
+p300.aspirate(100, plate.wells("A1"))
+p300.dispense(100, plate.wells("A1"))
+p300.return_tip()
+
+
+
+
+
+

Loops¶

+

Loops in Python allows your protocol to perform many actions, or act upon many wells, all within just a few lines. The below example loops through the numbers 0 to 11, and uses that loop’s current value to transfer from all wells in a trough to each row of a plate:

+
# distribute 20uL from trough:A1 -> plate:row:1
+# distribute 20uL from trough:A2 -> plate:row:2
+# etc...
+
+# ranges() starts at 0 and stops at 12, creating a range of 0-11
+for i in range(12):
+  p300.distribute(200, trough.wells(i), plate.rows(i))
+
+
+
+
+
+

Multiple Air Gaps¶

+

The Opentrons liquid handler can do some things that a human cannot do with a pipette, like accurately alternate between aspirating and creating air gaps within the same tip. The below example will aspirate from five wells in the trough, while creating a air gap between each sample.

+
p300.pick_up_tip()
+
+for well in trough.wells():
+  p300.aspirate(35, well).air_gap(10)
+
+p300.dispense(plate.wells("A1"))
+
+p300.return_tip()
+
+
+
+
+
+

Dilution¶

+

This example first spreads a dilutent to all wells of a plate. It then dilutes 8 samples from the trough across the 8 columns of the plate.

+
p300.distribute(50, trough.wells("A12"), plate.wells())  # dilutent
+
+# loop through each row
+for i in range(8):
+
+  # save the source well and destination column to variables
+  source = trough.wells(i)
+  row = plate.rows(i)
+
+  # transfer 30uL of source to first well in column
+  p300.transfer(30, source, column.wells("1"))
+
+  # dilute the sample down the column
+  p300.transfer(
+    30, row.wells("1", to="11"), row.wells("2", to="12"),
+    mix_after=(3, 25))
+
+
+
+
+
+

Plate Mapping¶

+

Deposit various volumes of liquids into the same plate of wells, and automatically refill the tip volume when it runs out.

+
# these uL values were created randomly for this example
+water_volumes = [
+  1,  2,  3,  4,  5,  6,  7,  8,
+  9,  10, 11, 12, 13, 14, 15, 16,
+  17, 18, 19, 20, 21, 22, 23, 24,
+  25, 26, 27, 28, 29, 30, 31, 32,
+  33, 34, 35, 36, 37, 38, 39, 40,
+  41, 42, 43, 44, 45, 46, 47, 48,
+  49, 50, 51, 52, 53, 54, 55, 56,
+  57, 58, 59, 60, 61, 62, 63, 64,
+  65, 66, 67, 68, 69, 70, 71, 72,
+  73, 74, 75, 76, 77, 78, 79, 80,
+  81, 82, 83, 84, 85, 86, 87, 88,
+  89, 90, 91, 92, 93, 94, 95, 96
+]
+
+p300.distribute(water_volumes, trough.wells("A12"), plate)
+
+
+

The final volumes can also be read from a CSV, and opened by your protocol.

+
'''
+  This example uses a CSV file saved on the same computer, formatted as follows,
+  where the columns in the file represent the 12 columns of the plate,
+  and the rows in the file represent the 8 rows of the plate,
+  and the values represent the uL that must end up at that location
+
+  1,  2,  3,  4,  5,  6,  7,  8, 9,  10, 11, 12,
+  13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24,
+  25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36,
+  37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48,
+  49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60,
+  61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72,
+  73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84,
+  85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96
+'''
+
+# open file with absolute path (will be different depending on operating system)
+# file paths on Windows look more like 'C:\\path\\to\\your\\csv_file.csv'
+with open("/path/to/your/csv_file.csv") as my_file:
+
+    # save all volumes from CSV file into a list
+    volumes = []
+
+    # loop through each line (the plate's columns)
+    for l in my_file.read().splitlines():
+        # loop through each comma-separated value (the plate's rows)
+        for v in l.split(","):
+            volumes.append(float(v))  # save the volume
+
+    # distribute those volumes to the plate
+    p300.distribute(volumes, trough.wells("A1"), plate.wells())
+
+
+
+
+
+

Precision Pipetting¶

+

This example shows how to deposit liquid around the edge of a well using +Placeable.from_center() to specify locations within a well.

+
p300.pick_up_tip()
+p300.aspirate(200, trough.wells("A1"))
+# rotate around the edge of the well, dropping 20ul at a time
+theta = 0.0
+while p300.current_volume > 0:
+    # we can move around a circle with radius (r) and theta (degrees)
+    well_edge = plate.wells("B1").from_center(r=1.0, theta=theta, h=0.9)
+
+    # combine a Well with a Vector in a tuple
+    destination = (plate.wells("B1"), well_edge)
+    p300.move_to(destination, strategy="direct")  # move straight there
+    p300.dispense(20)
+
+    theta += 0.314
+
+p300.drop_tip()
+
+
+
+
+ + +
+
+
+
+
+ + + + + + + \ No newline at end of file diff --git a/api/docs/dist/v1/genindex.html b/api/docs/dist/v1/genindex.html new file mode 100644 index 000000000000..5ae5b830a355 --- /dev/null +++ b/api/docs/dist/v1/genindex.html @@ -0,0 +1,1579 @@ + + + + + + + + Index — OT-2 Python API Version 1 Documentation + + + + + + + + + + + + + + + + + + + + + + + + +
+ + +
+
+
+ + + +

Index

+ +
+ A + | B + | C + | D + | F + | G + | H + | I + | M + | O + | P + | R + | S + | T + +
+

A

+
+ + +
+ +

B

+ + + +
+ +

C

+ + + +
+ +

D

+ + + +
+ +

F

+ + + +
+ +

G

+ + + +
+ +

H

+ + + +
+ +

I

+ + +
    +
  • + instruments + +
    • +
+ +

M

+ + + +
+ +

O

+ + + +
    +
  • + opentrons + +
    • +
    +
  • + opentrons.simulate + +
    • +
+ +

P

+ + + +
+ +

R

+ + + +
+ +

S

+ + + +
+ +

T

+ + + +
+ + + + + + +
+ + + + + + + + \ No newline at end of file diff --git a/api/docs/dist/v1/hardware_control.html b/api/docs/dist/v1/hardware_control.html new file mode 100644 index 000000000000..d6922df275aa --- /dev/null +++ b/api/docs/dist/v1/hardware_control.html @@ -0,0 +1,1489 @@ + + + + + + + + + Advanced Control — OT-2 Python API Version 1 Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + +
+
+
+ + + 
from opentrons import robot
+robot.reset()
+
+
+
+

Advanced Control¶

+
+

Note

+

The below features are designed for advanced users who wish to use the Opentrons API in their own Python environment (ie Jupyter). This page is not relevant for users only using the Opentrons App, because the features described below will not be accessible.

+
+

The robot module can be thought of as the parent for all aspects of the Opentrons API. All containers, instruments, and protocol commands are added to and controlled by robot.

+
'''
+Examples in this section require the following
+'''
+from opentrons import robot, labware, instruments
+
+plate = labware.load("96-flat", "B1", "my-plate")
+tiprack = labware.load("opentrons_96_tiprack_300ul", "A1", "my-rack")
+
+pipette = instruments.P300_Single(mount="left", tip_racks=[tiprack])
+
+
+
+

User-Specified Pause¶

+

This will pause your protocol at a specific step. You can resume by pressing “resume†in your OT App.

+
robot.pause()
+
+
+
+
+

Head Speed¶

+

The speed of the robot’s motors can be set using robot.head_speed(). The units are all millimeters-per-second (mm/sec). The x, y, z, a, b, c parameters set the maximum speed of the corresponding axis on Smoothie.

+

“xâ€: lateral motion, “yâ€: front to back motion, “zâ€: vertical motion of the left mount, “aâ€: vertical motion of the right mount, “bâ€: plunger motor for the left pipette, “câ€: plunger motor for the right pipette.

+

The combined_speed parameter sets the speed across all axes to either the specified value or the axis max, whichever is lower. Defaults are specified by DEFAULT_MAX_SPEEDS in robot_configs.py.

+
max_speed_per_axis = {
+    "x": 600, "y": 400, "z": 125, "a": 125, "b": 50, "c": 50}
+robot.head_speed(
+    combined_speed=max(max_speed_per_axis.values()),
+    **max_speed_per_axis)
+
+
+
+
+

Homing¶

+

You can home the robot by calling home(). You can also specify axes. The robot will home immdediately when this call is made.

+
robot.home()           # home the robot on all axis
+robot.home("z")        # home the Z axis only
+
+
+
+
+

Commands¶

+

When commands are called on a pipette, they are recorded on the robot in the order they are called. You can see all past executed commands by calling robot.commands(), which returns a Python list.

+
pipette.pick_up_tip(tiprack.wells("A1"))
+pipette.drop_tip(tiprack.wells("A1"))
+
+for c in robot.commands():
+    print(c)
+
+
+

will print out…

+
Picking up tip <Well A1>
+Dropping tip <Well A1>
+
+
+
+
+

Clear Commands¶

+

We can erase the robot command history by calling robot.clear_commands(). Any previously created instruments and containers will still be inside robot, but the commands history is erased.

+
robot.clear_commands()
+pipette.pick_up_tip(tiprack["A1"])
+print("There is", len(robot.commands()), "command")
+
+robot.clear_commands()
+print("There are now", len(robot.commands()), "commands")
+
+
+

will print out…

+
There is 1 command
+There are now 0 commands
+
+
+
+
+

Comment¶

+

You can add a custom message to the list of command descriptions you see when running robot.commands(). This command is robot.comment(), and it allows you to print out any information you want at the point in your protocol

+
robot.clear_commands()
+
+pipette.pick_up_tip(tiprack["A1"])
+robot.comment("Hello, just picked up tip A1")
+
+pipette.pick_up_tip(tiprack["A1"])
+robot.comment("Goodbye, just dropped tip A1")
+
+for c in robot.commands():
+    print(c)
+
+
+

will print out…

+
Picking up tip <Well A1>
+Hello, just picked up tip A1
+Picking up tip <Well A1>
+Goodbye, just dropped tip A1
+
+
+
+
+

Get Containers¶

+

When containers are loaded, they are automatically added to the robot. You can see all currently held containers by calling robot.get_containers(), which returns a Python list.

+
for container in robot.get_containers():
+    print(container.get_name(), container.get_type())
+
+
+

will print out…

+
my-rack opentrons_96_tiprack_300ul
+my-plate 96-flat
+
+
+
+
+

Reset¶

+

Calling robot.reset() will remove everything from the robot. Any previously added containers, pipettes, or commands will be erased.

+
robot.reset()
+print(robot.get_containers())
+print(robot.commands())
+
+
+

will print out…

+
[]
+[]
+[]
+
+
+
+
+ + +
+
+
+
+
+ + + + + + + \ No newline at end of file diff --git a/api/docs/dist/v1/index.html b/api/docs/dist/v1/index.html new file mode 100644 index 000000000000..068c933cf425 --- /dev/null +++ b/api/docs/dist/v1/index.html @@ -0,0 +1,1654 @@ + + + + + + + + + OT-2 Python API Version 1 — OT-2 Python API Version 1 Documentation + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + +
+
+
+ + + +
+

OT-2 Python API Version 1¶

+

The Opentrons API is a simple Python framework designed to make writing automated biology lab protocols easy.

+

We’ve designed it in a way we hope is accessible to anyone with basic Python and wetlab skills. As a bench scientist, you should be able to code your automated protocols in a way that reads like a lab notebook.

+
+
+

Getting Started¶

+

New to Python? Check out our Using Python In Protocols page first before continuing. To get a sense of the typical structure of our scripts, take a look at our Examples page.

+

Our API requires Python version 3.7.6 or later. Once this is set up on your computer, you can simply use pip to install the Opentrons package.

+
pip install opentrons
+
+
+

To simulate protocols on your laptop, check out Simulating Your Scripts. When you’re ready to run your script on a robot, download our latest desktop app

+
+
+

Troubleshooting¶

+

If you encounter problems using our products please take a look at our support docs or contact our team via intercom on our website at opentrons.com.

+
+
+
+

Overview¶

+
+

How it Looks¶

+

The design goal of the Opentrons API is to make code readable and easy to understand. For example, below is a short set of instruction to transfer from well "A1" to well "B1" that even a computer could understand:

+
Use the Opentrons API's labware and instruments
+
+This protocol is by me; it’s called Opentrons Protocol Tutorial and is used for demonstrating the Opentrons API
+
+Add a 96 well plate, and place it in slot "2" of the robot deck
+Add a 200uL tip rack, and place it in slot "1" of the robot deck
+
+Add a single-channel 300uL pipette to the left mount, and tell it to use that tip rack
+
+Transfer 100uL from the plate's "A1" well to it's "B2" well
+
+
+

If we were to rewrite this with the Opentrons API, it would look like the following:

+
# imports
+from opentrons import labware, instruments
+
+# metadata
+metadata = {
+    "protocolName": "My Protocol",
+    "author": "Name <email@address.com>",
+    "description": "Simple protocol to get started using OT2",
+}
+
+# labware
+plate = labware.load("96-flat", "2")
+tiprack = labware.load("opentrons_96_tiprack_300ul", "1")
+
+# pipettes
+pipette = instruments.P300_Single(mount="left", tip_racks=[tiprack])
+
+# commands
+pipette.transfer(100, plate.wells("A1"), plate.wells("B2"))
+
+
+
+
+

How it’s Organized¶

+

When writing protocols using the Opentrons API, there are generally five sections:

+
    +

  1. Imports

    2. +

  2. Metadata

    3. +

  3. Labware

    4. +

  4. Pipettes

    5. +

  5. Commands

    6. +
+
+

Imports¶

+

When writing in Python, you must always include the Opentrons API within your file. We most commonly use the labware and instruments sections of the API.

+

From the example above, the “imports†section looked like:

+
from opentrons import labware, instruments
+
+
+
+
+

Metadata¶

+

Metadata is a dictionary of data that is read by the server and returned to client applications (such as the Opentrons App). It is not needed to run a protocol (and is entirely optional), but if present can help the client application display additional data about the protocol currently being executed.

+

The fields above (“protocolNameâ€, “authorâ€, and “descriptionâ€) are the recommended fields, but the metadata dictionary can contain fewer or additional fields as desired (though non-standard fields may not be rendered by the client, depending on how it is designed).

+

You may see a metadata field called “source†in protocols you download directly from Opentrons. The “source†field is used for anonymously tracking protocol usage if you opt-in to analytics in the Opentrons App. For example, protocols from the Opentrons Protocol Library may have “source†set to “Opentrons Protocol Libraryâ€. You shouldn’t define “source†in your own protocols.

+
+
+

Labware¶

+

While the imports section is usually the same across protocols, the labware section is different depending on the tip racks, well plates, troughs, or tubes you’re using on the robot.

+

Each labware is given a type (ex: "96-flat"), and the slot on the robot it will be placed (ex: "2").

+

From the example above, the “labware†section looked like:

+
plate = labware.load("96-flat", "2")
+tiprack = labware.load("opentrons_96_tiprack_300ul", "1")
+
+
+
+
+

Pipettes¶

+

Next, pipettes are created and attached to a specific mount on the OT-2 ("left" or "right").

+

There are other parameters for pipettes, but the most important are the tip rack(s) it will use during the protocol.

+

From the example above, the “pipettes†section looked like:

+
pipette = instruments.P300_Single(mount="left", tip_racks=[tiprack])
+
+
+
+
+

Commands¶

+

And finally, the most fun section, the actual protocol commands! The most common commands are transfer(), aspirate(), dispense(), pick_up_tip(), drop_tip(), and much more.

+

This section can tend to get long, relative to the complexity of your protocol. However, with a better understanding of Python you can learn to compress and simplify even the most complex-seeming protocols.

+

From the example above, the “commands†section looked like:

+
pipette.transfer(100, plate.wells("A1"), plate.wells("B1"))
+
+
+
+
+
+
+
+

Feature Requests¶

+

Have an interesting idea or improvement for our software? Create a ticket on github by following these guidelines.

+
+
+

Developer’s guide¶

+

Do you want to contribute to our open-source API? You can find more information on how to be involved here.

+
+ +
+
+
+ + +
+
+
+
+
+ + + + + + + \ No newline at end of file diff --git a/api/docs/dist/v1/labware.html b/api/docs/dist/v1/labware.html new file mode 100644 index 000000000000..71f6941b9a30 --- /dev/null +++ b/api/docs/dist/v1/labware.html @@ -0,0 +1,1979 @@ + + + + + + + + + Labware — OT-2 Python API Version 1 Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + +
+
+
+ + +
+

Labware¶

+

We spend a fair amount of time organizing and counting wells when writing +Python protocols. This section describes the different ways we can access +wells and groups of wells.

+
+
+

Labware Library¶

+

The Opentrons API comes with many common labware built in. These can be loaded +into your Python protocol by using the labware.load() method with the +specific load name of the labware you need.

+

Please see the Opentrons Labware Library for a list of currently supported +labware, along with visualizations, pictures, and load names.

+
+

Tip

+

Copy and paste load names directly from the Labware Library to ensure +your load() statements get the correct definitions.

+
+

If you are interested in using your own labware that is not included in the +API, please take a look at how to create custom labware definitions using +labware.create(), or contact Opentrons Support.

+
+

Labware Versions¶

+

Some labware on the Opentrons Labware Library have multiple versions of their +definitions available. Opentrons publishes new versions of a labware definition +when we find an issue with a labware definition. In general, you should use the +newest version of a labware definition; however, the older definitions remain +available for use with previously-written protocols that may have been customized +to work with the older definition.

+

If you do not specify a version when loading labware, version 1 will be used by default.

+
+
+
+
+

Placing labware on the robot deck¶

+

The robot deck is made up of slots labeled 1, 2, 3, 4, and so on.

+_images/DeckMapEmpty.png +

To tell the robot what labware will be on the deck for your protocol, use +labware.load after importing labware as follows:

+
from opentrons import labware
+
+# ...
+
+tiprack = labware.load("opentrons_96_tiprack_300ul", slot="1")
+
+
+
+
+
+

Labware Import Reference¶

+
'''
+Examples in this section require the following
+'''
+from opentrons import labware
+
+
+
+

Load¶

+

labware.load tells the robot that your protocol will be using a given +labware in a certain slot.

+
my_labware = labware.load("usascientific_12_reservoir_22ml", slot="1")
+
+
+

A third optional argument can be used to give a labware a nickname for display +in the Opentrons App.

+
my_labware = labware.load("usascientific_12_reservoir_22ml",
+                 slot="2",
+                 label="any-name-you-want")
+
+
+

Sometimes, you may need to place a labware on top of something else on the +deck, like modules. For this, you should use the share parameter.

+
from opentrons import labware, modules
+
+td = modules.load("tempdeck", slot="1")
+plate = labware.load("opentrons_96_aluminumblock_biorad_wellplate_200ul",
+                     slot="1",
+                     share=True)
+
+
+

To specify the version of the labware definition to use, you can use the version +parameter:

+
from opentrons import labware
+block1 = labware.load(
+             "opentrons_96_aluminumblock_biorad_wellplate_200ul",
+             slot="1",
+             version=2)  # version 2 of the aluminum block definition
+block2 = labware.load(
+             "opentrons_96_aluminumblock_biorad_wellplate_200ul",
+              slot="2",
+              version=1)  # version 1 of the aluminum block definition
+block3 = labware.load(
+             "opentrons_96_aluminumblock_biorad_wellplate_200ul",
+             slot="2")  # if you don't specify version, version 1 is used
+
+
+
+
+

Create¶

+
+

Note

+

The current custom labware creation mechanisms in the API are fairly +limited. We’re working on a much more robust system for custom labware +definitions. If the current API isn’t able to support your labware, please +reach out to our support team.

+
+

Using labware.create, you can create your own custom labware. The labware +created through this method must consist of circular wells arranged in +regularly-spaced columns and rows.

+
custom_plate_name = "custom_18_wellplate_200ul"
+
+if plate_name not in labware.list():
+    labware.create(
+        custom_plate_name,  # name of you labware
+        grid=(3, 6),        # number of (columns, rows)
+        spacing=(12, 12),   # distances (mm) between each (column, row)
+        diameter=5,         # diameter (mm) of each well
+        depth=10,           # depth (mm) of each well
+        volume=200)         # volume (µL) of each well
+
+custom_plate = labware.load(custom_plate_name, slot="3")
+
+for well in custom_plate.wells():
+    print(well)
+
+
+

The above example will print out…

+
<Well A1>
+<Well B1>
+<Well C1>
+<Well A2>
+<Well B2>
+<Well C2>
+<Well A3>
+<Well B3>
+<Well C3>
+<Well A4>
+<Well B4>
+<Well C4>
+<Well A5>
+<Well B5>
+<Well C5>
+<Well A6>
+<Well B6>
+<Well C6>
+
+
+

You only need to call labware.create once. It will save the labware +definition on the robot so that your labware will be available to all your +subsequent protocol runs.

+

labware.create will throw an error if you try to call it more than once +with the same load name. In the example above, the call to labware.create +is wrapped in an if-block so it does not try to add the definition twice, which +would cause an error.

+

If you would like to delete a labware you have already added to the database +(for example: to make changes to its definition), you can do the following:

+
from opentrons.data_storage import database
+
+database.delete_container("custom_18_wellplate_200ul")
+
+
+
+

Note

+

There is some specialty labware that will require you to specify the +type within your labware name. If you are creating a custom tip rack, it +must be tiprack-REST-OF-LABWARE-NAME in order for the software to act +reliably.

+
+
+
+

List (deprecated)¶

+

labware.list returns an array of all labware load names in the old, +unsupported format.

+
labware.list()
+
+
+
+

Tip

+

For a list of all currently supported labware, please visit the Opentrons +Labware Library

+
+
+
+
+

Accessing Wells¶

+
+

Individual Wells¶

+

When writing a protocol using the API, you will need to select which wells to +transfer liquids to and from.

+

The OT-2 deck and labware are all set up with the same coordinate system

+
    +

  • Lettered rows ["A"]-["END"]

    • +

  • Numbered columns ["1"]-["END"].

    • +
+_images/Well_Iteration.png +
'''
+Examples in this section expect the following
+'''
+from opentrons import labware
+
+plate = labware.load("corning_24_wellplate_3.4ml_flat", slot="1")
+
+
+
+

Wells by Name¶

+

Once a labware is loaded into your protocol, you can easily access the many +wells within it using wells() method. wells() takes the name of the +well as an argument, and will return the well at that location.

+
a1 = plate.wells("A1")
+d6 = plate.wells("D6")
+
+
+
+
+

Wells by Index¶

+

Wells can be referenced by their “string†name, as demonstrated above. +However, they can also be referenced with zero-indexing, with the first well in +a labware being at position 0.

+
plate.wells(0)   # well A1
+plate.wells(23)  # well D6
+
+
+
+

Tip

+

You may find well names (e.g. B3) to be easier to reason with, +especially with irregular labware (e.g. +opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical). Whichever well +access method you use, your protocol will be most maintainable if you pick +one method and don’t use the other one.

+
+
+
+

Columns and Rows¶

+

A labware’s wells are organized within a series of columns and rows, which are +also labelled on standard labware. In the API, rows are given letter names +("A" through "D" for example) and go left to right, while columns are +given numbered names ("1" through "6" for example) and go from front to +back.

+

You can access a specific row or column by using the rows() and +columns() methods on a labware. These will return all wells within that row +or column.

+
row = plate.rows("A")
+column = plate.columns("1")
+
+print('Column "1" has', len(column), 'wells')
+print('Row "A" has', len(row), 'wells')
+
+
+

will print out…

+
Column "1" has 4 wells
+Row "A" has 6 wells
+
+
+

The rows() or cols() methods can be used in combination with the +wells() method to access wells within that row or column. In the example +below, both lines refer to well "A1".

+
plate.cols("1").wells("A")
+plate.rows("A").wells("1")
+
+
+
+

Tip

+

The example above works but is a little convoluted. If you can, always get +individual wells like A1 with wells("A1") or wells(0)

+
+
+
+
+

Multiple Wells¶

+

If we had to reference each well one at a time, our protocols could get very +long.

+

When describing a liquid transfer, we can point to groups of wells for the +liquid’s source and/or destination. Or, we can get a group of wells and loop +(or iterate) through them.

+
'''
+Examples in this section expect the following
+'''
+from opentrons import labware
+
+plate = labware.load("corning_24_wellplate_3.4ml_flat", slot="1")
+
+
+
+

Wells¶

+

The wells() method can return a single well, or it can return a list of +wells when multiple arguments are passed.

+

Here is an example or accessing a list of wells, each specified by name:

+
w = plate.wells("A1", "B2", "C3", "D4")
+
+print(w)
+
+
+

will print out…

+
<WellSeries: <Well A1><Well B2><Well C3><Well D4>>
+
+
+

Multiple wells can be treated just like a normal Python list, and can be +iterated through:

+
for w in plate.wells("A1", "B2", "C3", "D4"):
+    print(w)
+
+
+

will print out…

+
<Well A1>
+<Well B2>
+<Well C3>
+<Well D3>
+
+
+
+
+

Wells To¶

+

Instead of having to list the name of every well, we can also create a range of +wells with a start and end point. The first argument is the starting well, and +the to= argument is the last well.

+
for w in plate.wells("A1", to="D1"):
+    print(w)
+
+
+

will print out…

+
<Well A1>
+<Well B1>
+<Well C1>
+<Well D1>
+
+
+

These lists of wells can also move in the reverse direction along your labware. +For example, setting the to= argument to a well that comes before the +starting position is allowed:

+
for w in plate.wells("D1", to="A1"):
+    print(w)
+
+
+

will print out…

+
<Well D1>
+<Well C1>
+<Well B1>
+<Well A1>
+
+
+
+
+

Wells Length¶

+

Another way you can create a list of wells is by specifying the length of the +well list you need, including the starting well. The example below will +return 4 wells, starting at well "A1":

+
for w in plate.wells("A1", length=4):
+    print(w)
+
+
+

will print out…

+
<Well A1>
+<Well B1>
+<Well C1>
+<Well D1>
+
+
+
+
+

Columns and Rows¶

+

The same arguments described above can be used with rows() and cols() +to create lists of rows or columns.

+

Here is an example of iterating through rows:

+
for r in plate.rows("A", length=3):
+    print(r)
+
+
+

will print out…

+
<WellSeries: <Well A1><Well A2><Well A3><Well A4><Well A5><Well A6>>
+<WellSeries: <Well B1><Well B2><Well B3><Well B4><Well B5><Well B6>>
+<WellSeries: <Well C1><Well C2><Well C3><Well C4><Well C5><Well C6>>
+
+
+

And here is an example of iterating through columns:

+
for c in plate.cols("1", to="6"):
+    print(c)
+
+
+

will print out…

+
<WellSeries: <Well A1><Well B1><Well C1><Well D1>>
+<WellSeries: <Well A2><Well B2><Well C2><Well D2>>
+<WellSeries: <Well A3><Well B3><Well C3><Well D3>>
+<WellSeries: <Well A4><Well B4><Well C4><Well D4>>
+<WellSeries: <Well A5><Well B5><Well C5><Well D5>>
+<WellSeries: <Well A6><Well B6><Well C6><Well D6>>
+
+
+
+
+

Slices¶

+

Labware can also be treating similarly to Python lists, and can therefore +handle slices.

+
# start at index 0
+# slice until index 8, without including it
+# increment by 2
+for w in plate[0:8:2]:
+    print(w)
+
+
+

will print out…

+
<Well A1>
+<Well C1>
+<Well A2>
+<Well C2>
+
+
+

The API’s labware are also prepared to take string values for the slice’s +start and stop positions.

+
for w in plate["A1":"A2":2]:
+    print(w)
+
+
+

will print out…

+
<Well A1>
+<Well C1>
+
+
+
for w in plate.rows["B"]["1"::2]:
+    print(w)
+
+
+

will print out…

+
<Well B1>
+<Well B3>
+<Well B5>
+
+
+
+
+
+
+

Deprecated Labware Load Names¶

+

Prior to version 3.10.0 of the Opentrons API, we used a completely +different set of labware load names. They will continue to work until version +4.0.0 is released, but they should be considered deprecated.

+

We recommend you switch over to using the load names from the Labware Library +as soon as possible. The following mapping can be used as a guide:

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Deprecated

Recommended

Notes

6-well-plate

corning_6_wellplate_16.8ml_flat

12-well-plate

corning_12_wellplate_6.9ml_flat

24-well-plate

corning_24_wellplate_3.4ml_flat

48-well-plate

corning_48_wellplate_1.6ml_flat

384-plate

corning_384_wellplate_112ul_flat

96-deep-well

usascientific_96_wellplate_2.4ml_deep

This labware has square wells

96-flat

corning_96_wellplate_360ul_flat

96-PCR-flat

biorad_96_wellplate_200ul_pcr

96-PCR-tall

biorad_96_wellplate_200ul_pcr

alum-block-pcr-strips

opentrons_40_aluminumblock_eppendorf_24x2ml_safelock_snapcap_generic_16x0.2ml_pcr_strip

This product has been discontinued

biorad-hardshell-96-PCR

biorad_96_wellplate_200ul_pcr

opentrons-aluminum-block-2ml-eppendorf

opentrons_24_aluminumblock_generic_2ml_screwcap

Opentrons Aluminum Block Set

opentrons-aluminum-block-2ml-screwcap

opentrons_24_aluminumblock_generic_2ml_screwcap

Opentrons Aluminum Block Set

opentrons-aluminum-block-96-PCR-plate

opentrons_96_aluminumblock_biorad_wellplate_200ul

Opentrons Aluminum Block Set

opentrons-aluminum-block-PCR-strips-200ul

opentrons_96_aluminumblock_generic_pcr_strip_200ul

Opentrons Aluminum Block Set

opentrons-tiprack-300ul

opentrons_96_tiprack_300ul

opentrons-tuberack-1.5ml-eppendorf

opentrons_24_tuberack_eppendorf_1.5ml_safelock_snapcap

Opentrons 4-in-1 Tube Rack Set

opentrons-tuberack-15_50ml

opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical

Opentrons 4-in-1 Tube Rack Set

opentrons-tuberack-15ml

opentrons_15_tuberack_falcon_15ml_conical

Opentrons 4-in-1 Tube Rack Set

opentrons-tuberack-2ml-eppendorf

opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap

Opentrons 4-in-1 Tube Rack Set

opentrons-tuberack-2ml-screwcap

opentrons_24_tuberack_generic_2ml_screwcap

Opentrons 4-in-1 Tube Rack Set

opentrons-tuberack-50ml

opentrons_6_tuberack_falcon_50ml_conical

Opentrons 4-in-1 Tube Rack Set

PCR-strip-tall

opentrons_96_aluminumblock_generic_pcr_strip_200ul

tiprack-10ul

opentrons_96_tiprack_10ul

If possible, please use an Opentrons tip rack rather than a rack with a slot adapter

tiprack-200ul

tipone_96_tiprack_200ul

If possible, please use an Opentrons tip rack rather than a rack with a slot adapter

tiprack-1000ul

opentrons_96_tiprack_1000ul

If possible, please use an Opentrons tip rack rather than a rack with a slot adapter

trash-box

agilent_1_reservoir_290ml

trash-box is no longer supported; we recommend using a 1-well reservoir for liquid trash

trough-12row

usascientific_12_reservoir_22ml

tube-rack-.75ml

opentrons_24_tuberack_generic_0.75ml_snapcap_acrylic

Discontinued; please upgrade to the Opentrons 4-in-1 Tube Rack Set

tube-rack-2ml

opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic

Discontinued; please upgrade to the Opentrons 4-in-1 Tube Rack Set

tube-rack-15_50ml

opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical_acrylic

Discontinued; please upgrade to the Opentrons 4-in-1 Tube Rack Set

+
+

Note

+

If your labware is missing from the list above, or you’re unsure how to +update your protocol’s load names, please contact our support team

+
+

The following load names do not have a new definitions available, and could +eventually be removed. They will continue to function normally for now. If you +have any concerns about their deprecation and/or removal, please reach out!

+
    +

  • 24-vial-rack

    • +

  • 48-vial-plate

    • +

  • 5ml-3x4

    • +

  • 96-well-plate-20mm

    • +

  • MALDI-plate

    • +

  • T25-flask

    • +

  • T75-flask

    • +

  • e-gelgol

    • +

  • hampton-1ml-deep-block

    • +

  • point

    • +

  • rigaku-compact-crystallization-plate

    • +

  • small_vial_rack_16x45

    • +

  • temperature-plate

    • +

  • tiprack-10ul-H

    • +

  • trough-12row-short

    • +

  • trough-1row-25ml

    • +

  • trough-1row-test

    • +

  • tube-rack-2ml-9x9

    • +

  • tube-rack-5ml-96

    • +

  • tube-rack-80well

    • +

  • wheaton_vial_rack

    • +
+
+
+ + +
+
+
+
+
+ + + + + + + \ No newline at end of file diff --git a/api/docs/dist/v1/modules.html b/api/docs/dist/v1/modules.html new file mode 100644 index 000000000000..4f961d5e3943 --- /dev/null +++ b/api/docs/dist/v1/modules.html @@ -0,0 +1,1563 @@ + + + + + + + + + Hardware Modules — OT-2 Python API Version 1 Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + +
+
+
+ + +
+

Hardware Modules¶

+

This documentation and modules API is subject to change. Check here or on +our github for updated information.

+

This code is only valid on software version 3.3.0 or later.

+
+

Loading your Module onto a deck¶

+

Just like labware, you will also need to load in your module in order to use it +within a protocol. To do this, you call:

+
from opentrons import modules
+
+module = modules.load("Module Name", slot)
+
+
+

Above, Module Name represents either tempdeck or magdeck.

+

To add a labware onto a given module, you will need to use the share=True call-out

+
from opentrons import labware
+
+labware = labware.load("96-flat", slot, share=True)
+
+
+

Where slot is the same slot in which you loaded your module.

+
+
+

Detecting your Module on the robot¶

+

The Run App auto-detects and connects to modules that are plugged into the robot upon robot connection. +If you plug in a module with the app open and connected to your robot already, you can simply navigate to the +Pipettes & Modules in the Run App and hit the refresh icon.

+

If you are running a program outside of the app, you will need to initiate robot connection to the module. This can +be done like the following:

+
from opentrons import modules, robot
+
+robot.connect()
+robot.discover_modules()
+
+module = modules.load("Module Name", slot)
+... etc
+
+
+
+
+

Checking the status of your Module¶

+

Both modules have the ability to check what state they are currently in. To do this run the following:

+
from opentrons import modules
+
+module = modules.load("Module Name", slot)
+status = module.status
+
+
+

For the temperature module this will return a string stating whether it’s heating, cooling, holding at target or idle. +For the magnetic module this will return a string stating whether it’s engaged or disengaged.

+
+

Temperature Module¶

+

Our temperature module acts as both a cooling and heating device. The range +of temperatures this module can reach goes from 4 to 95 degrees celsius with a resolution of 1 degree celcius.

+

The temperature module has the following methods that can be accessed during a protocol.

+
+
+
+

Set Temperature¶

+

To set the temperature module to a given temperature in degrees celsius do the following:

+
from opentrons import modules, labware
+
+module = modules.load("tempdeck", slot)
+plate = labware.load("96-flat", slot, share=True)
+
+module.set_temperature(4)
+
+
+

This will set your Temperature module to 4 degrees celsius.

+
+
+

Wait Until Setpoint Reached¶

+

This function will pause your protocol until your target temperature is reached.

+
from opentrons import modules, labware
+
+module = modules.load("tempdeck", slot)
+plate = labware.load("96-flat", slot, share=True)
+
+module.set_temperature(4)
+module.wait_for_temp()
+
+
+

Before using wait_for_temp() you must set a target temperature with set_temperature(). +Once the target temperature is set, when you want the protocol to wait until the module +reaches the target you can call wait_for_temp().

+

If no target temperature is set via set_temperature(), the protocol will be stuck in +an indefinite loop.

+
+
+

Read the Current Temperature¶

+

You can read the current real-time temperature of the module by the following:

+
from opentrons import modules, labware
+
+module = modules.load("tempdeck", slot)
+plate = labware.load("96-flat", slot, share=True)
+
+temperature = module.temperature
+
+
+

This will return a float of the temperature in celsius.

+
+
+

Read the Target Temperature¶

+

We can read the target temperature of the module by the following:

+
from opentrons import modules, labware
+
+module = modules.load("tempdeck", slot)
+plate = labware.load("96-flat", slot, share=True)
+
+temperature = module.target
+
+
+

This will return a float of the temperature that the module is trying to reach.

+
+
+

Deactivate¶

+

This function will stop heating or cooling and will turn off the fan on the module. +You would still be able to call set_temperature() function to initiate a heating +or cooling phase again.

+
from opentrons import modules, labware
+
+module = modules.load("tempdeck", slot)
+plate = labware.load("96-flat", slot, share=True)
+
+module.set_temperature(4)
+module.wait_for_temp()
+
+## OTHER PROTOCOL ACTIONS
+
+module.deactivate()
+
+
+

** Note** +You can also deactivate your temperature module through our Run App by +clicking on the Pipettes & Modules tab. Your temperature module will automatically +deactivate if another protocol is uploaded to the app. Your temperature module will +not deactivate automatically upon protocol end, cancel or re-setting a protocol.

+
+

Magnetic Module¶

+

The magnetic module has two actions:

+
    +

  • engage: The magnetic stage rises to a default height unless an offset or a custom height is specified

    • +

  • disengage: The magnetic stage moves down to its home position

    • +
+

The magnetic module api is currently fully compatible with the BioRad Hardshell 96-PCR (.2ml) well plates. The magnets will +default to an engaged height of about 4.3 mm from the bottom of the well (or 18mm from magdeck home position). This is +roughly 30% of the well depth. This engaged height has been tested for an elution volume of 40ul.

+

You can also specify a custom engage height for the magnets so you can use a different labware with the magdeck. +In the future, we will have adapters to support tuberacks as well as deep well plates.

+
+
+
+

Engage¶

+
from opentrons import modules, labware
+
+module = modules.load("magdeck", slot)
+plate = labware.load("biorad-hardshell-96-PCR", slot, share=True)
+
+module.engage()
+
+
+

If you deem that the default engage height is not ideal for your applications, +you can include an offset in mm for the magnet to move to. The engage function +will take in a value (positive or negative) to offset the magnets from the default position.

+

To move the magnets higher than the default position you would specify a positive mm offset such as: +module.engage(offset=4)

+

To move the magnets lower than the default position you would input a negative mm value such as: +module.engage(offset=-4)

+

You can also use a custom height parameter with engage():

+
from opentrons import modules, labware
+
+module = modules.load("magdeck", slot)
+plate = labware.load("96-deep-well", slot, share=True)
+
+module.engage(height=12)
+
+
+

The height should be specified in mm from the magdeck home position (i.e. the position of magnets when power-cycled or +disengaged)

+

** Note ** +engage() and engage(offset=y) can only be used for labware that have default heights defined in the api. If your +labware doesn’t yet have a default height definition and your protocol uses either of those methods then you will get +an error. Simply use the height parameter to provide a custom height for you labware in such a case.

+
+
+

Disengage¶

+
from opentrons import modules, labware
+
+module = modules.load("magdeck", slot)
+plate = labware.load("biorad-hardshell-96-PCR", slot, share=True)
+
+module.engage()
+## OTHER PROTOCOL ACTIONS
+module.disengage()
+
+
+

The magnetic modules will disengage on power cycle of the device. It will not auto-disengage otherwise +unless you specify in your protocol.

+
+
+ + +
+
+
+
+
+ + + + + + + \ No newline at end of file diff --git a/api/docs/dist/v1/objects.inv b/api/docs/dist/v1/objects.inv new file mode 100644 index 000000000000..12e82ab92e80 Binary files /dev/null and b/api/docs/dist/v1/objects.inv differ diff --git a/api/docs/dist/v1/pipettes.html b/api/docs/dist/v1/pipettes.html new file mode 100644 index 000000000000..9d58931410d7 --- /dev/null +++ b/api/docs/dist/v1/pipettes.html @@ -0,0 +1,1547 @@ + + + + + + + + + Creating a Pipette — OT-2 Python API Version 1 Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + +
+
+
+ + +

The instruments module gives your protocol access to the pipette constructors, which is what you will be primarily using to create protocol commands.

+
+
+

Creating a Pipette¶

+
'''
+Examples in this section require the following:
+'''
+from opentrons import instruments, robot
+
+
+
+

Pipette Model(s)¶

+

Currently in our API there are 10 pipette models to correspond with the offered pipette models on our website.

+

They are as follows:

+
    +

  • P10_Single (1 - 10 ul)

    • +

  • P10_Multi (1 - 10ul)

    • +

  • P50_Single (5 - 50ul)

    • +

  • P50_Multi (5 - 50ul)

    • +

  • P300_Single (30 - 300ul)

    • +

  • P300_Multi (30 - 300ul)

    • +

  • P1000_Single (100 - 1000ul)

    • +

  • P20_Single_GEN2 (1 - 20ul)

    • +

  • P300_Single_GEN2 (20 - 300ul)

    • +

  • P1000_Single_GEN2 (100 - 1000ul)

    • +
+

For every pipette type you are using in a protocol, you must use one of the +model names specified above and call it out as instruments.(Model Name). +You must also specify a mount. The mount can be either "left" or "right". +In this example, we are using a Single-Channel 300uL pipette.

+
pipette = instruments.P300_Single(mount="left")
+
+
+
+
+

Pipette GEN2 Backwards Compatibility¶

+

Because the Gen 2 pipettes behave similarly to the Gen 1 pipettes, if you specify a Gen 1 pipette +in your protocol (for instance, instruments.P300_Single) but have a Gen 2 pipette attached (for instance, +instruments.P300_Single_GEN2), you can still run your protocol. The robot will consider the Gen 2 +pipette to have the same minimum volume as the Gen 1 pipette, so any advanced commands have the +same behavior as before.

+

The P20 Single GEN2 is back-compatible with the P10 Single in this regard. If your protocol +specifies an instruments.P10_Single and your robot has an instruments.P20_Single_GEN2 +attached, you can run your protocol, and the robot will act as if the maximum volume of the P20 +Single GEN2 is 10 µl.

+

If you have a P50 Single specified in your protocol, there is no automatic backwards compatibility. +If you want to use a Gen2 Pipette, you must change your protocol to load either a P300 Single GEN2 +(if you are using volumes between 20 and 50 µl) or a P20 Single GEN2 (if you are using volumes +below 20 µl).

+
+
+

Plunger Flow Rates¶

+

The speeds at which the pipette will aspirate and dispense can be set through aspirate_speed, dispense_speed, and blow_out_speed in units of millimeters of plunger travel per second, or through aspirate_flow_rate, dispense_flow_rate, and blow_out_flow_rate in units of microliters/second. These have varying defaults depending on the model.

+
pipette = instruments.P300_Single(
+    mount="right",
+    aspirate_flow_rate=200,
+    dispense_flow_rate=600,
+    blow_out_flow_rate=600)
+
+
+
+
+

Minimum and Maximum Volume¶

+

The minimum and maximum volume of the pipette may be set using +min_volume and max_volume. The values are in microliters and have +varying defaults depending on the model.

+
pipette = instruments.P10_Single(
+    mount="right",
+    min_volume=2,
+    max_volume=8)
+
+
+

The given defaults for every pipette model is the following:

+
+

P10_Single¶

+
    +

  • Aspirate Default: 5 µl/s

    • +

  • Dispense Default: 10 µl/s

    • +

  • Blow Out Default: 1000 µl/s

    • +

  • Minimum Volume: 1 µl

    • +

  • Maximum Volume: 10 µl

    • +
+
+
+

P10_Multi¶

+
    +

  • Aspirate Default: 5 µl/s

    • +

  • Dispense Default: 10 µl/s

    • +

  • Blow Out Default: 1000 µl/s

    • +

  • Minimum Volume: 1 µl

    • +

  • Maximum Volume: 10 µl

    • +
+
+
+

P50_Single¶

+
    +

  • Aspirate Default: 25 µl/s

    • +

  • Dispense Default: 50 µl/s

    • +

  • Blow Out Default: 1000 µl/s

    • +

  • Minimum Volume: 5 µl

    • +

  • Maximum Volume: 50 µl

    • +
+
+
+

P50_Multi¶

+
    +

  • Aspirate Default: 25 µl/s

    • +

  • Dispense Default: 50 µl/s

    • +

  • Blow Out Default: 1000 µl/s

    • +

  • Minimum Volume: 5 µl

    • +

  • Maximum Volume: 50 µl

    • +
+
+
+

P300_Single¶

+
    +

  • Aspirate Default: 150 µl/s

    • +

  • Dispense Default: 300 µl/s

    • +

  • Blow Out Default: 1000 µl/s

    • +

  • Minimum Volume: 30 µl

    • +

  • Maximum Volume: 300 µl

    • +
+
+
+

P300_Multi¶

+
    +

  • Aspirate Default: 150 µl/s

    • +

  • Dispense Default: 300 µl/s

    • +

  • Blow Out Default: 1000 µl/s

    • +

  • Minimum Volume: 30 µl

    • +

  • Maximum Volume: 300 µl

    • +
+
+
+

P1000_Single¶

+
    +

  • Aspirate Default: 500 µl/s

    • +

  • Dispense Default: 1000 µl/s

    • +

  • Blow Out Default: 1000 µl/s

    • +

  • Minimum Volume: 100 µl

    • +

  • Maximum Volume: 1000 µl

    • +
+
+
+

P20_Single_GEN2¶

+
    +

  • Aspirate Default: 3.78 µl/s

    • +

  • Dispense Default: 3.78 µl/s

    • +

  • Blow Out Default: 3.78 µl/s

    • +

  • Minimum Volume: 1 µl

    • +

  • Maximum Volume: 20 µl

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+
+
+

P300_Single_GEN2¶

+
    +

  • Aspirate Default: 46.43 µl/s

    • +

  • Dispense Default: 46.43 µl/s

    • +

  • Blow Out Default: 46.43 µl/s

    • +

  • Minimum Volume: 20 µl

    • +

  • Maximum Volume: 300 µl

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+
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+

P1000_Single_GEN2¶

+
    +

  • Aspirate Default: 137.35 µl/s

    • +

  • Dispense Default: 137.35 µl/s

    • +

  • Blow Out Default: 137.35 µl/s

    • +

  • Minimum Volume: 100 µl

    • +

  • Maximum Volume: 1000 µl

    • +
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+
+
+

Old Pipette Constructor¶

+

The Pipette constructor that was used directly in OT-One protocols is now +an internal-only class. Its behavior is difficult to predict when not used +through the public constructors mentioned above. Pipette constructor +arguments are subject to change of their default values, behaviors, and +parameters may be added or removed without warning or a major version +increment.

+
+
+ + +
+
+
+
+
+ + + + + + + \ No newline at end of file diff --git a/api/docs/dist/v1/py-modindex.html b/api/docs/dist/v1/py-modindex.html new file mode 100644 index 000000000000..2d53e59dd643 --- /dev/null +++ b/api/docs/dist/v1/py-modindex.html @@ -0,0 +1,1378 @@ + + + + + + + + Python Module Index — OT-2 Python API Version 1 Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + +
+
+
+ + + +

Python Module Index

+ +
+ i | + o +
+ + + + + + + + + + + + + + + +
 
+ i
+ instruments +
 
+ o
+ opentrons +
    + opentrons.simulate +
+ + +
+
+
+
+
+ + + + + + + \ No newline at end of file diff --git a/api/docs/dist/v1/search.html b/api/docs/dist/v1/search.html new file mode 100644 index 000000000000..f6c399caf877 --- /dev/null +++ b/api/docs/dist/v1/search.html @@ -0,0 +1,1364 @@ + + + + + + + + Search — OT-2 Python API Version 1 Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + +
+
+
+ + +

Search

+ + + + +

+ Searching for multiple words only shows matches that contain + all words. +

+ + +
+ + + +
+ + + +
+ +
+ + +
+
+
+
+
+ + + + + + + \ No newline at end of file diff --git a/api/docs/dist/v1/searchindex.js b/api/docs/dist/v1/searchindex.js new file mode 100644 index 000000000000..4679d1910336 --- /dev/null +++ b/api/docs/dist/v1/searchindex.js @@ -0,0 +1 @@ +Search.setIndex({"docnames": ["api", "atomic_commands", "complex_commands", "examples", "hardware_control", "index", "labware", "modules", "pipettes", "writing"], "filenames": ["api.rst", "atomic_commands.rst", "complex_commands.rst", "examples.rst", "hardware_control.rst", "index.rst", "labware.rst", "modules.rst", "pipettes.rst", "writing.rst"], "titles": ["API Reference", "Atomic Liquid Handling", "Complex Liquid Handling", "Examples", "Advanced Control", "OT-2 Python API Version 1", "Labware", "Hardware Modules", "Creating a Pipette", "Using Python In Protocols"], "terms": {"If": [0, 1, 2, 3, 5, 6, 7, 8, 9], "you": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], "ar": [0, 1, 2, 4, 5, 6, 7, 8, 9], "read": [0, 2, 3, 5, 9], "thi": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], "probabl": 0, "look": [0, 1, 3, 6, 9], "an": [0, 1, 2, 5, 6, 7, 8, 9], "depth": [0, 6, 7], "explan": 0, "class": [0, 8], "method": [0, 1, 6, 7, 9], "fulli": [0, 7], "master": 0, "your": [0, 1, 2, 3, 4, 5, 6, 8], "protocol": [0, 1, 2, 3, 4, 5, 6, 7, 8], "develop": [0, 9], "skill": [0, 5], "all": [0, 1, 2, 3, 4, 6], "set": [0, 1, 2, 4, 5, 6, 8, 9], "up": [0, 2, 3, 4, 5, 6, 9], "execut": [0, 4, 5, 9], "us": [0, 1, 3, 4, 5, 6, 7, 8], "config": 0, "none": 0, "broker": 0, "main": 0, "interfac": 0, "It": [0, 1, 2, 3, 5, 6, 7], "should": [0, 2, 5, 6, 7, 9], "never": [0, 5], "instanti": 0, "directli": [0, 5, 6, 8], "instead": [0, 1, 2, 6], "global": 0, "instanc": [0, 8, 9], "mai": [0, 2, 5, 6, 8, 9], "access": [0, 4, 5, 7, 8, 9], "opentron": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], "through": [0, 2, 3, 5, 6, 7, 8, 9], "can": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], "defin": [0, 5, 7], "deck": [0, 1, 5], "connect": [0, 7, 9], "physic": 0, "home": [0, 5, 7], "axi": [0, 4], "move": [0, 2, 3, 5, 6, 7, 9], "head": [0, 1, 5], "move_to": [0, 1, 3], "paus": [0, 1, 5, 7], "resum": [0, 4], "run": [0, 1, 3, 4, 5, 6, 7, 8, 9], "head_spe": [0, 4], "each": [0, 1, 2, 3, 5, 6], "python": [0, 1, 3, 4, 6], "script": [0, 5], "when": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], "evalu": 0, "creat": [0, 1, 2, 3, 4, 5, 9], "plan": [0, 1], "which": [0, 1, 2, 4, 6, 7, 8, 9], "store": [0, 9], "list": [0, 1, 3, 4, 5, 9], "command": [0, 1, 2, 3, 8, 9], "s": [0, 1, 2, 3, 4, 6, 7], "queue": 0, "here": [0, 2, 5, 6, 7, 9], "typic": [0, 5], "step": [0, 1, 2, 4, 9], "write": [0, 1, 5, 6, 9], "load": [0, 1, 2, 3, 4, 5, 8], "contain": [0, 1, 2, 5, 9], "instrument": [0, 1, 2, 3, 4, 5, 8], "see": [0, 4, 5, 6, 9], "call": [0, 1, 2, 4, 5, 6, 7, 8, 9], "reset": [0, 5], "state": [0, 7], "clear": [0, 5], "instruct": [0, 2, 5], "get": [0, 6, 7, 9], "convert": 0, "review": 0, "gener": [0, 5, 6, 9], "real": [0, 7], "support": [0, 5, 6, 7], "add_instru": 0, "self": 0, "mount": [0, 1, 2, 3, 4, 5, 8], "add": [0, 1, 2, 4, 5, 6, 7], "paramet": [0, 4, 5, 6, 7, 8], "str": 0, "specifi": [0, 1, 3, 5, 6, 7, 8], "attach": [0, 5, 8], "valid": [0, 7], "option": [0, 1, 5, 6], "left": [0, 1, 2, 3, 4, 5, 6, 8], "right": [0, 1, 4, 5, 6, 8], "note": [0, 1, 6, 7, 9], "A": [0, 1, 2, 6, 9], "canon": 0, "wai": [0, 2, 5, 6, 9], "from": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], "import": [0, 1, 2, 3, 4, 7, 8, 9], "m300": 0, "p300_multi": [0, 2, 5], "port": 0, "serial": 0, "os": [0, 9], "specif": [0, 4, 5, 6, 9], "name": [0, 5, 7, 8], "virtual": [0, 9], "smoothi": [0, 4], "dict": 0, "provid": [0, 2, 7, 9], "pass": [0, 1, 2, 6, 9], "get_virtual_devic": 0, "return": [0, 4, 5, 6, 7, 9], "type": [0, 5, 6, 8, 9], "true": [0, 2, 6, 7], "success": 0, "fals": [0, 2], "failur": 0, "wish": [0, 2, 4], "without": [0, 1, 6, 8, 9], "ot": [0, 4, 6, 8, 9], "app": [0, 4, 5, 6, 7, 9], "need": [0, 1, 5, 6, 7, 9], "function": [0, 1, 2, 6, 7, 9], "exampl": [0, 1, 2, 4, 5, 6, 8, 9], "disconnect": 0, "get_warn": 0, "current": [0, 3, 4, 5, 6, 8], "runtim": 0, "warn": [0, 8], "accumul": 0, "sinc": [0, 1], "last": [0, 6], "combined_spe": [0, 4], "x": [0, 4, 9], "y": [0, 4, 7], "z": [0, 4], "b": [0, 2, 4, 6], "c": [0, 3, 4, 6, 9], "speed": [0, 2, 5, 8], "mm": [0, 4, 6, 7], "sec": [0, 4], "number": [0, 1, 2, 3, 6, 9], "combin": [0, 2, 3, 6], "ax": [0, 4], "kei": 0, "valu": [0, 1, 2, 3, 4, 6, 7, 8], "pair": 0, "maximum": [0, 4, 5], "400": [0, 4], "max": [0, 1, 4], "per": [0, 4, 8], "200": [0, 2, 3, 6, 8], "arg": 0, "kwarg": 0, "plunger": [0, 4, 5], "motor": [0, 4], "locat": [0, 1, 3, 6, 9], "strategi": [0, 1, 3], "arc": 0, "coordin": [0, 6], "within": [0, 1, 2, 3, 5, 6, 7], "one": [0, 1, 2, 3, 6, 8], "follow": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], "1": [0, 1, 2, 3, 4, 6, 7, 8, 9], "i": [0, 3, 7], "e": [0, 6, 7], "slot": [0, 5, 6, 7], "well": [0, 1, 3, 4, 5, 7], "origin": [0, 1], "2": [0, 1, 2, 3, 6, 8, 9], "vector": [0, 3], "given": [0, 1, 5, 6, 7, 8, 9], "system": [0, 3, 6], "3": [0, 1, 2, 3, 5, 6, 7, 8, 9], "object": [0, 1], "rel": [0, 5], "center": 0, "gantri": 0, "direct": [0, 1, 3, 6], "point": [0, 4, 6, 9], "trajectori": 0, "avoid": [0, 2, 9], "obstacl": 0, "straight": [0, 1, 3], "line": [0, 1, 3, 6, 9], "msg": 0, "after": [0, 1, 5, 6, 9], "stop": [0, 3, 6, 7, 9], "alia": 0, "halt": 0, "model_offset": 0, "0": [0, 1, 2, 3, 4, 6, 7], "mount_obj": 0, "model": [0, 5], "ul_per_mm": 0, "channel": [0, 5, 8], "min_volum": [0, 8], "max_volum": [0, 2, 8], "trash_contain": [0, 1], "tip_rack": [0, 1, 2, 3, 4, 5], "aspirate_spe": [0, 8], "5": [0, 1, 3, 6, 8, 9], "dispense_spe": [0, 8], "10": [0, 2, 3, 6, 8], "blow_out_spe": [0, 8], "60": [0, 2, 3], "aspirate_flow_r": [0, 8], "dispense_flow_r": [0, 8], "plunger_curr": 0, "drop_tip_curr": 0, "return_tip_height": 0, "drop_tip_spe": 0, "plunger_posit": 0, "blow_out": [0, 1, 2], "bottom": [0, 1, 7], "drop_tip": [0, 1, 2, 3, 4, 5], "top": [0, 1, 6], "18": [0, 3], "pick_up_curr": 0, "pick_up_dist": 0, "pick_up_incr": 0, "pick_up_press": 0, "pick_up_spe": 0, "30": [0, 2, 3, 7, 8], "quirk": 0, 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"list": [2, 6], "gradient": 2, "distribut": 2, "consolid": 2, "dispos": 2, "option": 2, "alwai": 2, "new": 2, "never": 2, "us": [2, 9], "trash": 2, "befor": 2, "after": 2, "multi": 2, "channel": 2, "96": 2, "plate": [2, 3], "384": 2, "exampl": 3, "loop": 3, "dilut": 3, "map": 3, "precis": 3, "pipet": 3, "advanc": 4, "user": 4, "specifi": 4, "paus": 4, "head": 4, "home": 4, "command": [4, 5], "clear": 4, "comment": 4, "contain": 4, "ot": 5, "2": 5, "python": [5, 9], "version": [5, 6], "1": 5, "troubleshoot": 5, "overview": 5, "how": 5, "look": 5, "s": [5, 8, 9], "organ": 5, "import": [5, 6], "metadata": 5, "labwar": [5, 6], "featur": 5, "request": 5, "develop": 5, "guid": 5, "librari": 6, "place": 6, "deck": [6, 7], "load": [6, 7], "creat": [6, 8], "deprec": 6, "access": 6, "individu": 6, "name": 6, "index": 6, "column": 6, "row": 6, "length": 6, "slice": 6, "hardwar": 7, "modul": 7, "your": [7, 9], "onto": 7, "detect": 7, "check": 7, "statu": 7, "temperatur": 7, "set": 7, "wait": 7, "until": 7, "setpoint": 7, "reach": 7, "read": 7, "target": 7, "deactiv": 7, "magnet": 7, "engag": 7, "disengag": 7, "model": 8, "gen2": 8, "backward": 8, "compat": 8, "plunger": 8, "flow": 8, "rate": 8, "minimum": 8, "maximum": 8, "p10_singl": 8, "p10_multi": 8, "p50_singl": 8, "p50_multi": 8, "p300_singl": 8, "p300_multi": 8, "p1000_singl": 8, "p20_single_gen2": 8, "p300_single_gen2": 8, "p1000_single_gen2": 8, "old": 8, "constructor": 8, "In": 9, "protocol": 9, "beginn": 9, "work": 9, "instal": 9, "non": 9, "jupyt": 9, "script": 9, "configur": 9, "local": 9, "storag": 9, "notebook": 9}, "envversion": {"sphinx.domains.c": 2, "sphinx.domains.changeset": 1, "sphinx.domains.citation": 1, "sphinx.domains.cpp": 6, "sphinx.domains.index": 1, "sphinx.domains.javascript": 2, "sphinx.domains.math": 2, "sphinx.domains.python": 3, "sphinx.domains.rst": 2, "sphinx.domains.std": 2, "sphinx": 56}}) \ No newline at end of file diff --git a/api/docs/dist/v1/writing.html b/api/docs/dist/v1/writing.html new file mode 100644 index 000000000000..6b2f41ffdba7 --- /dev/null +++ b/api/docs/dist/v1/writing.html @@ -0,0 +1,1472 @@ + + + + + + + + + Using Python In Protocols — OT-2 Python API Version 1 Documentation + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + +
+
+
+ + +
+

Using Python In Protocols¶

+

Writing protocols in Python requires some up-front design before seeing your liquid handling automation in action. At a high-level, writing protocols with the Opentrons API looks like:

+
    +

  1. Write a Python protocol

    2. +

  2. Test the code for errors

    3. +

  3. Repeat steps 1 & 2

    4. +

  4. Calibrate labware on robot

    5. +

  5. Run your protocol

    6. +
+

These sets of documents aim to help you get the most out of steps 1 & 2, the “design†stage.

+
+
+

Python for Beginners¶

+

If Python is new to you, we suggest going through a few simple tutorials to acquire a base understanding to build upon. The following tutorials are a great starting point for working with the Opentrons API (from learnpython.org):

+
    +

  1. Hello World

    2. +

  2. Variables and Types

    3. +

  3. Lists

    4. +

  4. Basic Operators

    5. +

  5. Conditions

    6. +

  6. Loops

    7. +

  7. Functions

    8. +

  8. Dictionaries

    9. +
+

After going through the above tutorials, you should have enough of an understanding of Python to work with the Opentrons API and start designing your experiments! +More detailed information on python can always be found at the python docs

+
+
+
+

Working with Python¶

+

Using a popular and free code editor, like Sublime Text 3, is a common method for writing Python protocols. Download onto your computer, and you can now write and save Python scripts.

+
+

Note

+

Make sure that when saving a protocol file, it ends with the .py file extension. This will ensure the App and other programs are able to properly read it.

+

For example, my_protocol.py

+
+
+
+

Simulating Python Protocols¶

+

In general, the best way to simulate a protocol is to simply upload it to an OT 2 through the Opentrons app. When you upload a protocol via the Opentrons app, the robot simulates the protocol and the app displays any errors. However, if you want to simulate protocols without being connected to a robot, you can download the Opentrons python package.

+
+

Installing¶

+

To install the Opentrons package, you must install it from Python’s package manager, pip. The exact method of installation is slightly different depending on whether you use Jupyter on your computer (note: you do not need to do this if you want to use the Robot’s Jupyter Notebook, ONLY for your locally-installed notebook) or not.

+
+

Non-Jupyter Installation¶

+

First, install Python 3.7 (Windows x64, Windows x86, OS X) on your local computer.

+

Once the installer is done, make sure that Python is properly installed by opening a terminal and doing python --version. If this is not 3.7.6, you have another version of Python installed; this happens frequently on OS X and sometimes on windows. We recommend using a tool like pyenv to manage multiple Python versions. This is particularly useful on OS X, whch has a built in install of Python 2.7 that should not be removed.

+

Once python is installed, install the opentrons package using pip:

+
pip install opentrons
+
+
+

You should see some output that ends with Successfully installed opentrons-3.6.5 (the version number may be different).

+
+
+

Jupyter Installation¶

+

You must make sure that you install the opentrons package for whichever kernel and virtual environment the notebook is using. A generally good way to do this is

+
import sys
+!{sys.executable} -m pip install opentrons
+
+
+
+
+
+

Simulating Your Scripts¶

+

Once the Opentrons Python package is installed, you can simulate protocols in your terminal using the opentrons_simulate command:

+
opentrons_simulate.exe my_protocol.py
+
+
+

or, on OS X or linux,

+
opentrons_simulate my_protocol.py
+
+
+

The simulator will print out a log of the actions the protocol will cause, similar to the Opentrons app; it will also print out any log messages caused by a given command next to that list of actions. If there is a problem with the protocol, the simulation will stop and the error will be printed.

+

The simulation script can also be invoked through python with python -m opentrons.simulate /path/to/protocol.

+

This also provides an entrypoint to use the Opentrons simulation package from other Python contexts such as an interactive prompt or Jupyter. To simulate a protocol in python, open a file containing a protocol and pass it to opentrons.simulate.simulate:

+
from opentrons.simulate import simulate, format_runlog
+# read the file
+protocol_file = open("/path/to/protocol.py")
+# simulate() the protocol, keeping the runlog
+runlog, _bundle = simulate(protocol_file)
+# print the runlog
+print(format_runlog(runlog))
+
+
+

The opentrons.simulate.simulate() method does the work of simulating the protocol and returns the run log, which is a list of structured dictionaries. opentrons.simulate.format_runlog() turns that list of dictionaries into a human readable string, which is then printed out. For more information on the protocol simulator, see Simulation.

+
+
+

Configuration and Local Storage¶

+

The module uses a folder in your user directory as a place to store and read configuration and changes to its internal data. For instance, if your protocol creates a custom labware, the custom labware will live in the local storage location. This location is ~/.opentrons on Linux or OSX and C:\Users\%USERNAME%\.opentrons on Windows.

+
+
+
+

Robot’s Jupyter Notebook¶

+

For a more interactive environment to write and debug using some of our API tools, we recommend using the Jupyter notebook which is installed on the robot. Using this notebook, you can develop a protocol by running its commands line-by-line, ensuring they do exactly what you want, before saving the protocol for later execution.

+

You can access the robot’s Jupyter notebook by following these steps:

+
    +

  1. Open your Opentrons App and look for the IP address of your robot on the robot information page.

    2. +

  2. Type in (Your Robot's IP Address):48888 into any browser on your computer.

    3. +
+

Here, you can select a notebook and develop protocols that will be saved on the robot itself. Note that these protocols will only be on the robot unless specifically downloaded to your computer using the File / Download As buttons in the notebook.

+
+

Note

+

When running protocol code in a Jupyter notebook, before executing protocol steps you must call robot.connect():

+
from opentrons import robot
+robot.connect()
+
+
+

This tells the notebook to connect to the robot’s hardware so the commands you enter actually cause the robot to move.

+

However, this happens automatically when you upload a protocol through the Opentrons app, and connecting twice will cause errors. To avoid this, remove the call to robot.connect() before uploading the protocol through the Opentrons app.

+
+
+
+ + +
+
+
+
+
+ + + + + + + \ No newline at end of file diff --git a/api/docs/v2/example_protocols/dilution_tutorial.py b/api/docs/v2/example_protocols/dilution_tutorial.py index a7d38c53eb40..0f5878f41f5a 100644 --- a/api/docs/v2/example_protocols/dilution_tutorial.py +++ b/api/docs/v2/example_protocols/dilution_tutorial.py @@ -8,26 +8,29 @@ https://docs.opentrons.com/v2/tutorial.html. It takes a solution and progressively dilutes it by transferring it stepwise across a plate.""", - "author": "New API User" - } + "author": "New API User", +} + def run(protocol: protocol_api.ProtocolContext): - tips = protocol.load_labware("opentrons_96_tiprack_300ul", 1) - reservoir = protocol.load_labware("nest_12_reservoir_15ml", 2) - plate = protocol.load_labware("nest_96_wellplate_200ul_flat", 3) - left_pipette = protocol.load_instrument("p300_single_gen2", "left", tip_racks=[tips]) + tips = protocol.load_labware("opentrons_96_tiprack_300ul", 1) + reservoir = protocol.load_labware("nest_12_reservoir_15ml", 2) + plate = protocol.load_labware("nest_96_wellplate_200ul_flat", 3) + left_pipette = protocol.load_instrument( + "p300_single_gen2", "left", tip_racks=[tips] + ) - # distribute diluent - left_pipette.transfer(100, reservoir["A1"], plate.wells()) + # distribute diluent + left_pipette.transfer(100, reservoir["A1"], plate.wells()) - # loop through each row - for i in range(8): + # loop through each row + for i in range(8): - # save the destination row to a variable - row = plate.rows()[i] + # save the destination row to a variable + row = plate.rows()[i] - # transfer solution to first well in column - left_pipette.transfer(100, reservoir["A2"], row[0], mix_after=(3, 50)) + # transfer solution to first well in column + left_pipette.transfer(100, reservoir["A2"], row[0], mix_after=(3, 50)) - # dilute the sample down the row - left_pipette.transfer(100, row[:11], row[1:], mix_after=(3, 50)) \ No newline at end of file + # dilute the sample down the row + left_pipette.transfer(100, row[:11], row[1:], mix_after=(3, 50)) diff --git a/api/docs/v2/example_protocols/dilution_tutorial_flex.py b/api/docs/v2/example_protocols/dilution_tutorial_flex.py index bc3cad10dd78..37fd57389322 100644 --- a/api/docs/v2/example_protocols/dilution_tutorial_flex.py +++ b/api/docs/v2/example_protocols/dilution_tutorial_flex.py @@ -7,20 +7,20 @@ https://docs.opentrons.com/v2/tutorial.html. It takes a solution and progressively dilutes it by transferring it stepwise across a plate.""", - "author": "New API User" - } - -requirements = { - "robotType": "Flex", - "apiLevel": "2.16" - } + "author": "New API User", +} + +requirements = {"robotType": "Flex", "apiLevel": "2.16"} + def run(protocol: protocol_api.ProtocolContext): tips = protocol.load_labware("opentrons_flex_96_tiprack_200ul", "D1") reservoir = protocol.load_labware("nest_12_reservoir_15ml", "D2") plate = protocol.load_labware("nest_96_wellplate_200ul_flat", "D3") trash = protocol.load_trash_bin("A3") - left_pipette = protocol.load_instrument("flex_1channel_1000", "left", tip_racks=[tips]) + left_pipette = protocol.load_instrument( + "flex_1channel_1000", "left", tip_racks=[tips] + ) # distribute diluent left_pipette.transfer(100, reservoir["A1"], plate.wells()) @@ -35,4 +35,4 @@ def run(protocol: protocol_api.ProtocolContext): left_pipette.transfer(100, reservoir["A2"], row[0], mix_after=(3, 50)) # dilute the sample down the row - left_pipette.transfer(100, row[:11], row[1:], mix_after=(3, 50)) \ No newline at end of file + left_pipette.transfer(100, row[:11], row[1:], mix_after=(3, 50)) diff --git a/api/docs/v2/example_protocols/dilution_tutorial_multi.py b/api/docs/v2/example_protocols/dilution_tutorial_multi.py index a121d345a58d..1d4e75dea439 100644 --- a/api/docs/v2/example_protocols/dilution_tutorial_multi.py +++ b/api/docs/v2/example_protocols/dilution_tutorial_multi.py @@ -8,25 +8,28 @@ https://docs.opentrons.com/v2/tutorial.html. It takes a solution and progressively dilutes it by transferring it stepwise across a plate.""", - "author": "New API User" - } - + "author": "New API User", +} + + def run(protocol: protocol_api.ProtocolContext): - tips = protocol.load_labware("opentrons_96_tiprack_300ul", 1) - reservoir = protocol.load_labware("nest_12_reservoir_15ml", 2) - plate = protocol.load_labware("nest_96_wellplate_200ul_flat", 3) - left_pipette = protocol.load_instrument("p300_multi_gen2", "right", tip_racks=[tips]) + tips = protocol.load_labware("opentrons_96_tiprack_300ul", 1) + reservoir = protocol.load_labware("nest_12_reservoir_15ml", 2) + plate = protocol.load_labware("nest_96_wellplate_200ul_flat", 3) + left_pipette = protocol.load_instrument( + "p300_multi_gen2", "right", tip_racks=[tips] + ) - # distribute diluent - left_pipette.transfer(100, reservoir["A1"], plate.rows()[0]) + # distribute diluent + left_pipette.transfer(100, reservoir["A1"], plate.rows()[0]) - # no loop, 8-channel pipette + # no loop, 8-channel pipette - # save the destination row to a variable - row = plate.rows()[0] + # save the destination row to a variable + row = plate.rows()[0] - # transfer solution to first well in column - left_pipette.transfer(100, reservoir["A2"], row[0], mix_after=(3, 50)) + # transfer solution to first well in column + left_pipette.transfer(100, reservoir["A2"], row[0], mix_after=(3, 50)) - # dilute the sample down the row - left_pipette.transfer(100, row[:11], row[1:], mix_after=(3, 50)) \ No newline at end of file + # dilute the sample down the row + left_pipette.transfer(100, row[:11], row[1:], mix_after=(3, 50)) diff --git a/api/docs/v2/example_protocols/dilution_tutorial_multi_flex.py b/api/docs/v2/example_protocols/dilution_tutorial_multi_flex.py index 21f659db62c8..739ed266a34a 100644 --- a/api/docs/v2/example_protocols/dilution_tutorial_multi_flex.py +++ b/api/docs/v2/example_protocols/dilution_tutorial_multi_flex.py @@ -7,23 +7,23 @@ https://docs.opentrons.com/v2/tutorial.html. It takes a solution and progressively dilutes it by transferring it stepwise across a plate.""", - "author": "New API User" - } - -requirements = { - "robotType": "Flex", - "apiLevel": "2.16" - } - + "author": "New API User", +} + +requirements = {"robotType": "Flex", "apiLevel": "2.16"} + + def run(protocol: protocol_api.ProtocolContext): tips = protocol.load_labware("opentrons_96_tiprack_300ul", "D1") reservoir = protocol.load_labware("nest_12_reservoir_15ml", "D2") plate = protocol.load_labware("nest_96_wellplate_200ul_flat", "D3") trash = protocol.load_trash_bin("A3") - left_pipette = protocol.load_instrument("flex_8channel_1000", "right", tip_racks=[tips]) + left_pipette = protocol.load_instrument( + "flex_8channel_1000", "right", tip_racks=[tips] + ) # distribute diluent - left_pipette.transfer(100, reservoir["A1"], plate.rows()[0]) + left_pipette.transfer(100, reservoir["A1"], plate.rows()[0]) # no loop, 8-channel pipette @@ -34,4 +34,4 @@ def run(protocol: protocol_api.ProtocolContext): left_pipette.transfer(100, reservoir["A2"], row[0], mix_after=(3, 50)) # dilute the sample down the row - left_pipette.transfer(100, row[:11], row[1:], mix_after=(3, 50)) \ No newline at end of file + left_pipette.transfer(100, row[:11], row[1:], mix_after=(3, 50)) diff --git a/api/docs/v2/new_labware.rst b/api/docs/v2/new_labware.rst index 0ede3a9573b6..66de028637b0 100644 --- a/api/docs/v2/new_labware.rst +++ b/api/docs/v2/new_labware.rst @@ -156,13 +156,17 @@ Use the ``adapter`` argument of ``load_labware()`` to load an adapter at the sam .. versionadded:: 2.15 The ``adapter`` parameter. -The API also has some "combination" labware definitions, which treat the adapter and labware as a unit:: +.. note:: - hs_combo = hs_mod.load_labware( - "opentrons_96_flat_bottom_adapter_nest_wellplate_200ul_flat" - ) + The API also has some "combination" labware definitions, which treat the adapter and labware as a unit:: + + hs_combo = hs_mod.load_labware( + "opentrons_96_flat_bottom_adapter_nest_wellplate_200ul_flat" + ) + + .. deprecated:: 2.15 -Loading labware this way prevents you from :ref:`moving the labware ` onto or off of the adapter, so it's less flexible than loading the two separately. Avoid using combination definitions unless your protocol specifies an ``apiLevel`` of 2.14 or lower. + Labware loaded with combination adapters no longer support all API features, such as moving the top labware or pipetting relative to liquid meniscus. These definitions are marked as "Retired" in version 8.5.0 of the Opentrons App and later. Avoid using combination definitions unless your protocol specifies an ``apiLevel`` of 2.14 or lower, in which case they are required. .. _new-well-access: diff --git a/api/docs/v2/pipettes/characteristics.rst b/api/docs/v2/pipettes/characteristics.rst index 00971d718324..a5f523d989ea 100644 --- a/api/docs/v2/pipettes/characteristics.rst +++ b/api/docs/v2/pipettes/characteristics.rst @@ -188,23 +188,23 @@ The following table provides data on the default aspirate, dispense, and blowout .. Excludes low-vol 96 channel. Not yet released. -+-----------------------------+-------------------+------------------------+ -| Pipette Model | Tip Capacity (µL) | Default Flow Rate (µL) | -+=============================+===================+========================+ -| 1- and 8-channel (50 µL) | 50 | 35 | -+-----------------------------+-------------------+------------------------+ -| 1- and 8-channel (1000 µL) | 50 | 478 | -+ +-------------------+------------------------+ -| | 200 | 716 | -+ +-------------------+------------------------+ -| | 1000 | 716 | -+-----------------------------+-------------------+------------------------+ -| 96-channel (5-1000 µL) | 50 | 6 | -+ +-------------------+------------------------+ -| | 200 | 80 | -+ +-------------------+------------------------+ -| | 1000 | 160 | -+-----------------------------+-------------------+------------------------+ ++-----------------------------+-------------------+--------------------------+ +| Pipette Model | Tip Capacity (µL) | Default Flow Rate (µL/s) | ++=============================+===================+==========================+ +| 1- and 8-channel (50 µL) | 50 | 35 | ++-----------------------------+-------------------+--------------------------+ +| 1- and 8-channel (1000 µL) | 50 | 478 | ++ +-------------------+--------------------------+ +| | 200 | 716 | ++ +-------------------+--------------------------+ +| | 1000 | 716 | ++-----------------------------+-------------------+--------------------------+ +| 96-channel (5-1000 µL) | 50 | 6 | ++ +-------------------+--------------------------+ +| | 200 | 80 | ++ +-------------------+--------------------------+ +| | 1000 | 160 | ++-----------------------------+-------------------+--------------------------+ Additionally: diff --git a/api/src/opentrons/config/defaults_ot3.py b/api/src/opentrons/config/defaults_ot3.py index 53fab18392c0..cf7807ed385c 100644 --- a/api/src/opentrons/config/defaults_ot3.py +++ b/api/src/opentrons/config/defaults_ot3.py @@ -158,7 +158,7 @@ OT3AxisKind.X: 0.5, OT3AxisKind.Y: 0.5, OT3AxisKind.Z: 0.5, - OT3AxisKind.P: 0.3, + OT3AxisKind.P: 0.8, OT3AxisKind.Z_G: 0.2, OT3AxisKind.Q: 0.3, }, diff --git a/api/src/opentrons/legacy_commands/commands.py b/api/src/opentrons/legacy_commands/commands.py index 8db3720eb076..bd07ab18d539 100755 --- a/api/src/opentrons/legacy_commands/commands.py +++ b/api/src/opentrons/legacy_commands/commands.py @@ -328,12 +328,18 @@ def transfer_with_liquid_class( liquid_class: LiquidClass, volume: float, source: Union[Well, Sequence[Well], Sequence[Sequence[Well]]], - destination: Union[Well, Sequence[Well], Sequence[Sequence[Well]]], + destination: Union[ + Well, Sequence[Well], Sequence[Sequence[Well]], TrashBin, WasteChute + ], ) -> command_types.TransferWithLiquidClassCommand: + if isinstance(destination, (TrashBin, WasteChute)): + destination_text = stringify_disposal_location(destination) + else: + destination_text = stringify_well_list(destination) text = ( "Transferring " + f"{volume} uL of {liquid_class.display_name} liquid class from " - + f"{stringify_well_list(source)} to {stringify_well_list(destination)}" + + f"{stringify_well_list(source)} to {destination_text}" ) return { "name": command_types.TRANSFER_WITH_LIQUID_CLASS, @@ -378,12 +384,18 @@ def consolidate_with_liquid_class( liquid_class: LiquidClass, volume: float, source: Union[Well, Sequence[Well], Sequence[Sequence[Well]]], - destination: Union[Well, Sequence[Well], Sequence[Sequence[Well]]], + destination: Union[ + Well, Sequence[Well], Sequence[Sequence[Well]], TrashBin, WasteChute + ], ) -> command_types.ConsolidateWithLiquidClassCommand: + if isinstance(destination, (TrashBin, WasteChute)): + destination_text = stringify_disposal_location(destination) + else: + destination_text = stringify_well_list(destination) text = ( "Consolidating " + f"{volume} uL of {liquid_class.display_name} liquid class from " - + f"{stringify_well_list(source)} to {stringify_well_list(destination)}" + + f"{stringify_well_list(source)} to {destination_text}" ) return { "name": command_types.CONSOLIDATE_WITH_LIQUID_CLASS, diff --git a/api/src/opentrons/legacy_commands/robot_commands.py b/api/src/opentrons/legacy_commands/robot_commands.py new file mode 100644 index 000000000000..14cbc59b549d --- /dev/null +++ b/api/src/opentrons/legacy_commands/robot_commands.py @@ -0,0 +1,51 @@ +from opentrons.types import Location, Mount, AxisMapType +from .helpers import stringify_location +from . import types as command_types +from typing import Optional + + +def move_to( + mount: Mount, location: Location, speed: Optional[float] +) -> command_types.RobotMoveToCommand: + location_text = stringify_location(location) + text = f"Moving to {location_text} at {speed}" + return { + "name": command_types.ROBOT_MOVE_TO, + "payload": {"mount": mount, "location": location, "text": text}, + } + + +def move_axis_to( + axis_map: AxisMapType, speed: Optional[float] +) -> command_types.RobotMoveAxisToCommand: + text = f"Moving to the provided absolute axis map {axis_map} at {speed}." + return { + "name": command_types.ROBOT_MOVE_AXES_TO, + "payload": {"absolute_axes": axis_map, "text": text}, + } + + +def move_axis_relative( + axis_map: AxisMapType, speed: Optional[float] +) -> command_types.RobotMoveAxisRelativeCommand: + text = f"Moving to the provided relative axis map {axis_map} as {speed}" + return { + "name": command_types.ROBOT_MOVE_RELATIVE_TO, + "payload": {"relative_axes": axis_map, "text": text}, + } + + +def open_gripper() -> command_types.RobotOpenGripperJawCommand: + text = "Opening the gripper jaw." + return { + "name": command_types.ROBOT_OPEN_GRIPPER_JAW, + "payload": {"text": text}, + } + + +def close_gripper(force: Optional[float]) -> command_types.RobotCloseGripperJawCommand: + text = f"Closing the gripper jaw with force {force}." + return { + "name": command_types.ROBOT_CLOSE_GRIPPER_JAW, + "payload": {"text": text}, + } diff --git a/api/src/opentrons/legacy_commands/types.py b/api/src/opentrons/legacy_commands/types.py index e9901cd24d8e..f81f587a7259 100755 --- a/api/src/opentrons/legacy_commands/types.py +++ b/api/src/opentrons/legacy_commands/types.py @@ -10,7 +10,7 @@ from opentrons.protocol_api.disposal_locations import TrashBin, WasteChute from opentrons.protocol_api._liquid import LiquidClass -from opentrons.types import Location +from opentrons.types import Location, Mount, AxisMapType # type for subscriptions @@ -86,6 +86,13 @@ THERMOCYCLER_DEACTIVATE_LID: Final = "command.THERMOCYCLER_DEACTIVATE_LID" THERMOCYCLER_DEACTIVATE_BLOCK: Final = "command.THERMOCYCLER_DEACTIVATE_BLOCK" +# Robot # +ROBOT_MOVE_TO: Final = "command.ROBOT_MOVE_TO" +ROBOT_MOVE_AXES_TO: Final = "command.ROBOT_MOVE_AXES_TO" +ROBOT_MOVE_RELATIVE_TO: Final = "command.ROBOT_MOVE_RELATIVE_TO" +ROBOT_OPEN_GRIPPER_JAW: Final = "command.ROBOT_OPEN_GRIPPER_JAW" +ROBOT_CLOSE_GRIPPER_JAW: Final = "command.ROBOT_CLOSE_GRIPPER_JAW" + class TextOnlyPayload(TypedDict): text: str @@ -548,7 +555,9 @@ class LiquidClassCommandPayload(TextOnlyPayload, SingleInstrumentPayload): liquid_class: LiquidClass volume: float source: Union[Well, Sequence[Well], Sequence[Sequence[Well]]] - destination: Union[Well, Sequence[Well], Sequence[Sequence[Well]]] + destination: Union[ + Well, Sequence[Well], Sequence[Sequence[Well]], TrashBin, WasteChute + ] class TransferWithLiquidClassCommand(TypedDict): @@ -600,6 +609,49 @@ class PressurizeCommand(TypedDict): payload: PressurizeCommandPayload +# Robot Commands and Payloads +class GripperCommandPayload(TextOnlyPayload): + pass + + +class RobotMoveToCommandPayload(TextOnlyPayload): + location: Location + mount: Mount + + +class RobotMoveAxisToCommandPayload(TextOnlyPayload): + absolute_axes: AxisMapType + + +class RobotMoveAxisRelativeCommandPayload(TextOnlyPayload): + relative_axes: AxisMapType + + +class RobotMoveToCommand(TypedDict): + name: Literal["command.ROBOT_MOVE_TO"] + payload: RobotMoveToCommandPayload + + +class RobotMoveAxisToCommand(TypedDict): + name: Literal["command.ROBOT_MOVE_AXES_TO"] + payload: RobotMoveAxisToCommandPayload + + +class RobotMoveAxisRelativeCommand(TypedDict): + name: Literal["command.ROBOT_MOVE_RELATIVE_TO"] + payload: RobotMoveAxisRelativeCommandPayload + + +class RobotOpenGripperJawCommand(TypedDict): + name: Literal["command.ROBOT_OPEN_GRIPPER_JAW"] + payload: GripperCommandPayload + + +class RobotCloseGripperJawCommand(TypedDict): + name: Literal["command.ROBOT_CLOSE_GRIPPER_JAW"] + payload: GripperCommandPayload + + Command = Union[ DropTipCommand, DropTipInDisposalLocationCommand, @@ -654,6 +706,12 @@ class PressurizeCommand(TypedDict): SealCommand, UnsealCommand, PressurizeCommand, + # Robot commands + RobotMoveToCommand, + RobotMoveAxisToCommand, + RobotMoveAxisRelativeCommand, + RobotOpenGripperJawCommand, + RobotCloseGripperJawCommand, ] @@ -707,6 +765,11 @@ class PressurizeCommand(TypedDict): SealCommandPayload, UnsealCommandPayload, PressurizeCommandPayload, + # Robot payloads + RobotMoveToCommandPayload, + RobotMoveAxisRelativeCommandPayload, + RobotMoveAxisToCommandPayload, + GripperCommandPayload, ] @@ -947,6 +1010,26 @@ class MoveLabwareMessage(CommandMessageFields, MoveLabwareCommand): pass +class RobotMoveToMessage(CommandMessageFields, RobotMoveToCommand): + pass + + +class RobotMoveAxisToMessage(CommandMessageFields, RobotMoveAxisToCommand): + pass + + +class RobotMoveAxisRelativeMessage(CommandMessageFields, RobotMoveAxisRelativeCommand): + pass + + +class RobotOpenGripperJawMessage(CommandMessageFields, RobotOpenGripperJawCommand): + pass + + +class RobotCloseGripperJawMessage(CommandMessageFields, RobotCloseGripperJawCommand): + pass + + CommandMessage = Union[ DropTipMessage, DropTipInDisposalLocationMessage, @@ -994,4 +1077,10 @@ class MoveLabwareMessage(CommandMessageFields, MoveLabwareCommand): MoveToMessage, MoveToDisposalLocationMessage, MoveLabwareMessage, + # Robot Messages + RobotMoveToMessage, + RobotMoveAxisToMessage, + RobotMoveAxisRelativeMessage, + RobotOpenGripperJawMessage, + RobotCloseGripperJawMessage, ] diff --git a/api/src/opentrons/protocol_api/_liquid.py b/api/src/opentrons/protocol_api/_liquid.py index 6fdafafa37bd..f5a6029e19de 100644 --- a/api/src/opentrons/protocol_api/_liquid.py +++ b/api/src/opentrons/protocol_api/_liquid.py @@ -1,7 +1,7 @@ from __future__ import annotations from dataclasses import dataclass -from typing import Optional, Dict, Union, TYPE_CHECKING +from typing import Optional, Dict, Union, TYPE_CHECKING, Tuple from opentrons_shared_data.liquid_classes.liquid_class_definition import ( LiquidClassSchemaV1, @@ -63,6 +63,20 @@ def create(cls, liquid_class_definition: LiquidClassSchemaV1) -> "LiquidClass": _by_pipette_setting=by_pipette_settings, ) + @classmethod + def create_from( + cls, + name: str, + display_name: str, + by_pipette_setting: Dict[str, Dict[str, TransferProperties]], + ) -> "LiquidClass": + """Create a liquid class from the passed in args.""" + return cls( + _name=name, + _display_name=display_name, + _by_pipette_setting=by_pipette_setting, + ) + @property def name(self) -> str: return self._name @@ -71,10 +85,54 @@ def name(self) -> str: def display_name(self) -> str: return self._display_name + def update_for( + self, + pipette: Union[str, InstrumentContext], + tip_rack: Union[str, Labware], + transfer_properties: TransferProperties, + ) -> None: + """Update the transfer properties for the given pipette and tip combo. + + If an entry does not exist, it will be created. + """ + pipette_name, tiprack_uri = self._get_pipette_and_tiprack_names( + pipette, tip_rack + ) + try: + self._by_pipette_setting[pipette_name].update( + {tiprack_uri: transfer_properties} + ) + except KeyError: + self._by_pipette_setting[pipette_name] = {tiprack_uri: transfer_properties} + def get_for( self, pipette: Union[str, InstrumentContext], tip_rack: Union[str, Labware] ) -> TransferProperties: """Get liquid class transfer properties for the specified pipette and tip.""" + pipette_name, tiprack_uri = self._get_pipette_and_tiprack_names( + pipette, tip_rack + ) + + try: + settings_for_pipette = self._by_pipette_setting[pipette_name] + except KeyError: + raise NoLiquidClassPropertyError( + f"No properties found for {pipette_name} in {self._name} liquid class" + ) + try: + transfer_properties = settings_for_pipette[tiprack_uri] + except KeyError: + raise NoLiquidClassPropertyError( + f"No properties found for {tiprack_uri} for {pipette_name} in {self._name} liquid class" + ) + return transfer_properties + + @staticmethod + def _get_pipette_and_tiprack_names( + pipette: Union[str, InstrumentContext], + tip_rack: Union[str, Labware], + ) -> Tuple[str, str]: + """Return the pipette and tip rack name strings from the given pipette and tip rack.""" from . import InstrumentContext, Labware if isinstance(pipette, InstrumentContext): @@ -96,17 +154,4 @@ def get_for( f"{tip_rack} should either be a tiprack Labware object" f" or a tiprack URI string." ) - - try: - settings_for_pipette = self._by_pipette_setting[pipette_name] - except KeyError: - raise NoLiquidClassPropertyError( - f"No properties found for {pipette_name} in {self._name} liquid class" - ) - try: - transfer_properties = settings_for_pipette[tiprack_uri] - except KeyError: - raise NoLiquidClassPropertyError( - f"No properties found for {tiprack_uri} for {pipette_name} in {self._name} liquid class" - ) - return transfer_properties + return pipette_name, tiprack_uri diff --git a/api/src/opentrons/protocol_api/_liquid_properties.py b/api/src/opentrons/protocol_api/_liquid_properties.py index 6a199cffa1d1..facf1362abd5 100644 --- a/api/src/opentrons/protocol_api/_liquid_properties.py +++ b/api/src/opentrons/protocol_api/_liquid_properties.py @@ -1,11 +1,13 @@ from dataclasses import dataclass from numpy import interp -from typing import Optional, Dict, Sequence, Tuple, List +from typing import Optional, Dict, Sequence, Tuple, List, Union from opentrons_shared_data.liquid_classes.liquid_class_definition import ( + TransferProperties as SharedDataTransferProperties, AspirateProperties as SharedDataAspirateProperties, SingleDispenseProperties as SharedDataSingleDispenseProperties, MultiDispenseProperties as SharedDataMultiDispenseProperties, + TipPosition as SharedDataTipPosition, DelayProperties as SharedDataDelayProperties, DelayParams as SharedDataDelayParams, TouchTipProperties as SharedDataTouchTipProperties, @@ -22,12 +24,12 @@ PositionReference, Coordinate, ) - from . import validation class LiquidHandlingPropertyByVolume: def __init__(self, by_volume_property: Sequence[Tuple[float, float]]) -> None: + self._initial_properties_by_volume = by_volume_property self._properties_by_volume: Dict[float, float] = { float(volume): value for volume, value in by_volume_property } @@ -60,6 +62,11 @@ def get_for_volume(self, volume: float) -> float: interp(validated_volume, self._sorted_volumes, self._sorted_values) ) + def set_for_all_volumes(self, value: float) -> None: + """Override all existing volume-dependent values with the given value.""" + self.clear_values() + self.set_for_volume(0, value) + def set_for_volume(self, volume: float, value: float) -> None: """Add a new volume and value for the property for the interpolation curve.""" validated_volume = validation.ensure_positive_float(volume) @@ -74,6 +81,17 @@ def delete_for_volume(self, volume: float) -> None: raise KeyError(f"No value set for volume {volume} uL") self._sort_volume_and_values() + def clear_values(self) -> None: + """Removes all existing volume and value pairs from the curve.""" + self._properties_by_volume = {} + + def reset_values(self) -> None: + """Resets volumes and values to the default.""" + self._properties_by_volume = { + float(volume): value for volume, value in self._initial_properties_by_volume + } + self._sort_volume_and_values() + def _sort_volume_and_values(self) -> None: """Sort volume in increasing order along with corresponding values in matching order.""" self._sorted_volumes, self._sorted_values = ( @@ -86,6 +104,36 @@ def _sort_volume_and_values(self) -> None: # We use slots for this dataclass (and the rest of liquid properties) to prevent dynamic creation of attributes # not defined in the class, not for any performance reasons. This is so that mistyping properties when overriding # values will cause the protocol to fail analysis, rather than silently passing. +@dataclass(slots=True) +class TipPosition: + + _position_reference: PositionReference + _offset: Coordinate + + @property + def position_reference(self) -> PositionReference: + return self._position_reference + + @position_reference.setter + def position_reference(self, new_position: str) -> None: + self._position_reference = PositionReference(new_position) + + @property + def offset(self) -> Coordinate: + return self._offset + + @offset.setter + def offset(self, new_offset: Sequence[float]) -> None: + x, y, z = validation.validate_coordinates(new_offset) + self._offset = Coordinate(x=x, y=y, z=z) + + def as_shared_data_model(self) -> SharedDataTipPosition: + return SharedDataTipPosition( + positionReference=self._position_reference, + offset=self.offset, + ) + + @dataclass(slots=True) class DelayProperties: @@ -126,7 +174,7 @@ class TouchTipProperties: _enabled: bool _z_offset: Optional[float] - _mm_to_edge: Optional[float] + _mm_from_edge: Optional[float] _speed: Optional[float] @property @@ -137,10 +185,10 @@ def enabled(self) -> bool: def enabled(self, enable: bool) -> None: validated_enable = validation.ensure_boolean(enable) if validated_enable and ( - self._z_offset is None or self._mm_to_edge is None or self._speed is None + self._z_offset is None or self._mm_from_edge is None or self._speed is None ): raise ValueError( - "z_offset, mm_to_edge and speed must be set before enabling touch tip." + "z_offset, mm_from_edge and speed must be set before enabling touch tip." ) self._enabled = validated_enable @@ -154,13 +202,13 @@ def z_offset(self, new_offset: float) -> None: self._z_offset = validated_offset @property - def mm_to_edge(self) -> Optional[float]: - return self._mm_to_edge + def mm_from_edge(self) -> Optional[float]: + return self._mm_from_edge - @mm_to_edge.setter - def mm_to_edge(self, new_mm: float) -> None: + @mm_from_edge.setter + def mm_from_edge(self, new_mm: float) -> None: validated_mm = validation.ensure_float(new_mm) - self._mm_to_edge = validated_mm + self._mm_from_edge = validated_mm @property def speed(self) -> Optional[float]: @@ -175,12 +223,12 @@ def _get_shared_data_params(self) -> Optional[SharedDataTouchTipParams]: """Get the touch tip params in schema v1 shape.""" if ( self._z_offset is not None - and self._mm_to_edge is not None + and self._mm_from_edge is not None and self._speed is not None ): return SharedDataTouchTipParams( zOffset=self._z_offset, - mmToEdge=self._mm_to_edge, + mmFromEdge=self._mm_from_edge, speed=self._speed, ) else: @@ -301,30 +349,11 @@ def as_shared_data_model(self) -> SharedDataBlowoutProperties: @dataclass(slots=True) -class SubmergeRetractCommon: +class _SubmergeRetractCommon: - _position_reference: PositionReference - _offset: Coordinate _speed: float _delay: DelayProperties - @property - def position_reference(self) -> PositionReference: - return self._position_reference - - @position_reference.setter - def position_reference(self, new_position: str) -> None: - self._position_reference = PositionReference(new_position) - - @property - def offset(self) -> Coordinate: - return self._offset - - @offset.setter - def offset(self, new_offset: Sequence[float]) -> None: - x, y, z = validation.validate_coordinates(new_offset) - self._offset = Coordinate(x=x, y=y, z=z) - @property def speed(self) -> float: return self._speed @@ -340,22 +369,33 @@ def delay(self) -> DelayProperties: @dataclass(slots=True) -class Submerge(SubmergeRetractCommon): +class Submerge(_SubmergeRetractCommon): + + _start_position: TipPosition + + @property + def start_position(self) -> TipPosition: + return self._start_position + def as_shared_data_model(self) -> SharedDataSubmerge: return SharedDataSubmerge( - positionReference=self._position_reference, - offset=self._offset, + startPosition=self._start_position.as_shared_data_model(), speed=self._speed, delay=self._delay.as_shared_data_model(), ) @dataclass(slots=True) -class RetractAspirate(SubmergeRetractCommon): +class RetractAspirate(_SubmergeRetractCommon): + _end_position: TipPosition _air_gap_by_volume: LiquidHandlingPropertyByVolume _touch_tip: TouchTipProperties + @property + def end_position(self) -> TipPosition: + return self._end_position + @property def air_gap_by_volume(self) -> LiquidHandlingPropertyByVolume: return self._air_gap_by_volume @@ -366,8 +406,7 @@ def touch_tip(self) -> TouchTipProperties: def as_shared_data_model(self) -> SharedDataRetractAspirate: return SharedDataRetractAspirate( - positionReference=self._position_reference, - offset=self._offset, + endPosition=self._end_position.as_shared_data_model(), speed=self._speed, airGapByVolume=self._air_gap_by_volume.as_list_of_tuples(), touchTip=self._touch_tip.as_shared_data_model(), @@ -376,12 +415,16 @@ def as_shared_data_model(self) -> SharedDataRetractAspirate: @dataclass(slots=True) -class RetractDispense(SubmergeRetractCommon): - +class RetractDispense(_SubmergeRetractCommon): + _end_position: TipPosition _air_gap_by_volume: LiquidHandlingPropertyByVolume _touch_tip: TouchTipProperties _blowout: BlowoutProperties + @property + def end_position(self) -> TipPosition: + return self._end_position + @property def air_gap_by_volume(self) -> LiquidHandlingPropertyByVolume: return self._air_gap_by_volume @@ -396,8 +439,7 @@ def blowout(self) -> BlowoutProperties: def as_shared_data_model(self) -> SharedDataRetractDispense: return SharedDataRetractDispense( - positionReference=self._position_reference, - offset=self._offset, + endPosition=self._end_position.as_shared_data_model(), speed=self._speed, airGapByVolume=self._air_gap_by_volume.as_list_of_tuples(), blowout=self._blowout.as_shared_data_model(), @@ -407,11 +449,9 @@ def as_shared_data_model(self) -> SharedDataRetractDispense: @dataclass(slots=True) -class BaseLiquidHandlingProperties: +class _BaseLiquidHandlingProperties: _submerge: Submerge - _position_reference: PositionReference - _offset: Coordinate _flow_rate_by_volume: LiquidHandlingPropertyByVolume _correction_by_volume: LiquidHandlingPropertyByVolume _delay: DelayProperties @@ -420,23 +460,6 @@ class BaseLiquidHandlingProperties: def submerge(self) -> Submerge: return self._submerge - @property - def position_reference(self) -> PositionReference: - return self._position_reference - - @position_reference.setter - def position_reference(self, new_position: str) -> None: - self._position_reference = PositionReference(new_position) - - @property - def offset(self) -> Coordinate: - return self._offset - - @offset.setter - def offset(self, new_offset: Sequence[float]) -> None: - x, y, z = validation.validate_coordinates(new_offset) - self._offset = Coordinate(x=x, y=y, z=z) - @property def flow_rate_by_volume(self) -> LiquidHandlingPropertyByVolume: return self._flow_rate_by_volume @@ -451,12 +474,17 @@ def delay(self) -> DelayProperties: @dataclass(slots=True) -class AspirateProperties(BaseLiquidHandlingProperties): +class AspirateProperties(_BaseLiquidHandlingProperties): + _aspirate_position: TipPosition _retract: RetractAspirate _pre_wet: bool _mix: MixProperties + @property + def aspirate_position(self) -> TipPosition: + return self._aspirate_position + @property def pre_wet(self) -> bool: return self._pre_wet @@ -478,8 +506,7 @@ def as_shared_data_model(self) -> SharedDataAspirateProperties: return SharedDataAspirateProperties( submerge=self._submerge.as_shared_data_model(), retract=self._retract.as_shared_data_model(), - positionReference=self._position_reference, - offset=self._offset, + aspiratePosition=self._aspirate_position.as_shared_data_model(), flowRateByVolume=self._flow_rate_by_volume.as_list_of_tuples(), preWet=self._pre_wet, mix=self._mix.as_shared_data_model(), @@ -489,12 +516,17 @@ def as_shared_data_model(self) -> SharedDataAspirateProperties: @dataclass(slots=True) -class SingleDispenseProperties(BaseLiquidHandlingProperties): +class SingleDispenseProperties(_BaseLiquidHandlingProperties): + _dispense_position: TipPosition _retract: RetractDispense _push_out_by_volume: LiquidHandlingPropertyByVolume _mix: MixProperties + @property + def dispense_position(self) -> TipPosition: + return self._dispense_position + @property def push_out_by_volume(self) -> LiquidHandlingPropertyByVolume: return self._push_out_by_volume @@ -511,8 +543,7 @@ def as_shared_data_model(self) -> SharedDataSingleDispenseProperties: return SharedDataSingleDispenseProperties( submerge=self._submerge.as_shared_data_model(), retract=self._retract.as_shared_data_model(), - positionReference=self._position_reference, - offset=self._offset, + dispensePosition=self._dispense_position.as_shared_data_model(), flowRateByVolume=self._flow_rate_by_volume.as_list_of_tuples(), mix=self._mix.as_shared_data_model(), pushOutByVolume=self._push_out_by_volume.as_list_of_tuples(), @@ -522,12 +553,17 @@ def as_shared_data_model(self) -> SharedDataSingleDispenseProperties: @dataclass(slots=True) -class MultiDispenseProperties(BaseLiquidHandlingProperties): +class MultiDispenseProperties(_BaseLiquidHandlingProperties): + _dispense_position: TipPosition _retract: RetractDispense _conditioning_by_volume: LiquidHandlingPropertyByVolume _disposal_by_volume: LiquidHandlingPropertyByVolume + @property + def dispense_position(self) -> TipPosition: + return self._dispense_position + @property def retract(self) -> RetractDispense: return self._retract @@ -544,8 +580,7 @@ def as_shared_data_model(self) -> SharedDataMultiDispenseProperties: return SharedDataMultiDispenseProperties( submerge=self._submerge.as_shared_data_model(), retract=self._retract.as_shared_data_model(), - positionReference=self._position_reference, - offset=self._offset, + dispensePosition=self._dispense_position.as_shared_data_model(), flowRateByVolume=self._flow_rate_by_volume.as_list_of_tuples(), conditioningByVolume=self._conditioning_by_volume.as_list_of_tuples(), disposalByVolume=self._disposal_by_volume.as_list_of_tuples(), @@ -576,6 +611,12 @@ def multi_dispense(self) -> Optional[MultiDispenseProperties]: return self._multi_dispense +def _build_tip_position(tip_position: SharedDataTipPosition) -> TipPosition: + return TipPosition( + _position_reference=tip_position.positionReference, _offset=tip_position.offset + ) + + def _build_delay_properties( delay_properties: SharedDataDelayProperties, ) -> DelayProperties: @@ -591,16 +632,16 @@ def _build_touch_tip_properties( ) -> TouchTipProperties: if touch_tip_properties.params is not None: z_offset = touch_tip_properties.params.zOffset - mm_to_edge = touch_tip_properties.params.mmToEdge + mm_from_edge = touch_tip_properties.params.mmFromEdge speed = touch_tip_properties.params.speed else: z_offset = None - mm_to_edge = None + mm_from_edge = None speed = None return TouchTipProperties( _enabled=touch_tip_properties.enable, _z_offset=z_offset, - _mm_to_edge=mm_to_edge, + _mm_from_edge=mm_from_edge, _speed=speed, ) @@ -637,8 +678,7 @@ def _build_submerge( submerge_properties: SharedDataSubmerge, ) -> Submerge: return Submerge( - _position_reference=submerge_properties.positionReference, - _offset=submerge_properties.offset, + _start_position=_build_tip_position(submerge_properties.startPosition), _speed=submerge_properties.speed, _delay=_build_delay_properties(submerge_properties.delay), ) @@ -648,8 +688,7 @@ def _build_retract_aspirate( retract_aspirate: SharedDataRetractAspirate, ) -> RetractAspirate: return RetractAspirate( - _position_reference=retract_aspirate.positionReference, - _offset=retract_aspirate.offset, + _end_position=_build_tip_position(retract_aspirate.endPosition), _speed=retract_aspirate.speed, _air_gap_by_volume=LiquidHandlingPropertyByVolume( retract_aspirate.airGapByVolume @@ -663,8 +702,7 @@ def _build_retract_dispense( retract_dispense: SharedDataRetractDispense, ) -> RetractDispense: return RetractDispense( - _position_reference=retract_dispense.positionReference, - _offset=retract_dispense.offset, + _end_position=_build_tip_position(retract_dispense.endPosition), _speed=retract_dispense.speed, _air_gap_by_volume=LiquidHandlingPropertyByVolume( retract_dispense.airGapByVolume @@ -681,8 +719,7 @@ def build_aspirate_properties( return AspirateProperties( _submerge=_build_submerge(aspirate_properties.submerge), _retract=_build_retract_aspirate(aspirate_properties.retract), - _position_reference=aspirate_properties.positionReference, - _offset=aspirate_properties.offset, + _aspirate_position=_build_tip_position(aspirate_properties.aspiratePosition), _flow_rate_by_volume=LiquidHandlingPropertyByVolume( aspirate_properties.flowRateByVolume ), @@ -701,8 +738,9 @@ def build_single_dispense_properties( return SingleDispenseProperties( _submerge=_build_submerge(single_dispense_properties.submerge), _retract=_build_retract_dispense(single_dispense_properties.retract), - _position_reference=single_dispense_properties.positionReference, - _offset=single_dispense_properties.offset, + _dispense_position=_build_tip_position( + single_dispense_properties.dispensePosition + ), _flow_rate_by_volume=LiquidHandlingPropertyByVolume( single_dispense_properties.flowRateByVolume ), @@ -725,8 +763,9 @@ def build_multi_dispense_properties( return MultiDispenseProperties( _submerge=_build_submerge(multi_dispense_properties.submerge), _retract=_build_retract_dispense(multi_dispense_properties.retract), - _position_reference=multi_dispense_properties.positionReference, - _offset=multi_dispense_properties.offset, + _dispense_position=_build_tip_position( + multi_dispense_properties.dispensePosition + ), _flow_rate_by_volume=LiquidHandlingPropertyByVolume( multi_dispense_properties.flowRateByVolume ), @@ -744,12 +783,20 @@ def build_multi_dispense_properties( def build_transfer_properties( - by_tip_type_setting: SharedByTipTypeSetting, + transfer_properties: Union[SharedDataTransferProperties, SharedByTipTypeSetting], ) -> TransferProperties: + if isinstance(transfer_properties, SharedByTipTypeSetting): + _transfer_properties = SharedDataTransferProperties( + aspirate=transfer_properties.aspirate, + singleDispense=transfer_properties.singleDispense, + multiDispense=transfer_properties.multiDispense, + ) + else: + _transfer_properties = transfer_properties return TransferProperties( - _aspirate=build_aspirate_properties(by_tip_type_setting.aspirate), - _dispense=build_single_dispense_properties(by_tip_type_setting.singleDispense), + _aspirate=build_aspirate_properties(_transfer_properties.aspirate), + _dispense=build_single_dispense_properties(_transfer_properties.singleDispense), _multi_dispense=build_multi_dispense_properties( - by_tip_type_setting.multiDispense + _transfer_properties.multiDispense ), ) diff --git a/api/src/opentrons/protocol_api/_transfer_liquid_validation.py b/api/src/opentrons/protocol_api/_transfer_liquid_validation.py index d87c21a82728..4aea3b6f6962 100644 --- a/api/src/opentrons/protocol_api/_transfer_liquid_validation.py +++ b/api/src/opentrons/protocol_api/_transfer_liquid_validation.py @@ -19,8 +19,8 @@ @dataclass class TransferInfo: - sources_list: List[Well] - destinations_list: List[Well] + source: List[Well] + dest: Union[List[Well], TrashBin, WasteChute] tip_policy: TransferTipPolicyV2 tip_racks: List[Labware] trash_location: Union[Location, TrashBin, WasteChute] @@ -28,7 +28,7 @@ class TransferInfo: def verify_and_normalize_transfer_args( source: Union[Well, Sequence[Well], Sequence[Sequence[Well]]], - dest: Union[Well, Sequence[Well], Sequence[Sequence[Well]]], + dest: Union[Well, Sequence[Well], Sequence[Sequence[Well]], TrashBin, WasteChute], tip_policy: TransferTipPolicyV2Type, last_tip_picked_up_from: Optional[Well], tip_racks: List[Labware], @@ -38,7 +38,11 @@ def verify_and_normalize_transfer_args( trash_location: Union[Location, Well, Labware, TrashBin, WasteChute], ) -> TransferInfo: flat_sources_list = validation.ensure_valid_flat_wells_list_for_transfer_v2(source) - flat_dests_list = validation.ensure_valid_flat_wells_list_for_transfer_v2(dest) + if not isinstance(dest, (TrashBin, WasteChute)): + flat_dests_list = validation.ensure_valid_flat_wells_list_for_transfer_v2(dest) + else: + # If trash bin or waste chute, set this to empty to have less isinstance checks after this + flat_dests_list = [] if not target_all_wells and nozzle_map.tip_count > 1: flat_sources_list = tx_liquid_utils.group_wells_for_multi_channel_transfer( flat_sources_list, nozzle_map @@ -83,8 +87,8 @@ def verify_and_normalize_transfer_args( ) return TransferInfo( - sources_list=flat_sources_list, - destinations_list=flat_dests_list, + source=flat_sources_list, + dest=flat_dests_list if not isinstance(dest, (TrashBin, WasteChute)) else dest, tip_policy=valid_new_tip, tip_racks=valid_tip_racks, trash_location=valid_trash_location, diff --git a/api/src/opentrons/protocol_api/core/engine/instrument.py b/api/src/opentrons/protocol_api/core/engine/instrument.py index 71bb39aa6052..127b5ef3fe9f 100644 --- a/api/src/opentrons/protocol_api/core/engine/instrument.py +++ b/api/src/opentrons/protocol_api/core/engine/instrument.py @@ -3,12 +3,14 @@ from __future__ import annotations from contextlib import contextmanager from itertools import dropwhile +from copy import deepcopy from typing import ( Optional, TYPE_CHECKING, cast, Union, List, + Sequence, Tuple, NamedTuple, Generator, @@ -88,6 +90,7 @@ from opentrons.protocol_api._liquid_properties import ( TransferProperties, MultiDispenseProperties, + SingleDispenseProperties, ) _DISPENSE_VOLUME_VALIDATION_ADDED_IN = APIVersion(2, 17) @@ -389,12 +392,7 @@ def dispense( ) ) - if isinstance(location, (TrashBin, WasteChute)): - self._protocol_core.set_last_location(location=None, mount=self.get_mount()) - else: - self._protocol_core.set_last_location( - location=location, mount=self.get_mount() - ) + self._protocol_core.set_last_location(location=location, mount=self.get_mount()) def blow_out( self, @@ -470,12 +468,7 @@ def blow_out( ) ) - if isinstance(location, (TrashBin, WasteChute)): - self._protocol_core.set_last_location(location=None, mount=self.get_mount()) - else: - self._protocol_core.set_last_location( - location=location, mount=self.get_mount() - ) + self._protocol_core.set_last_location(location=location, mount=self.get_mount()) def touch_tip( self, @@ -803,12 +796,8 @@ def move_to( speed=speed, ) ) - if isinstance(location, (TrashBin, WasteChute)): - self._protocol_core.set_last_location(location=None, mount=self.get_mount()) - else: - self._protocol_core.set_last_location( - location=location, mount=self.get_mount() - ) + + self._protocol_core.set_last_location(location=location, mount=self.get_mount()) def resin_tip_seal( self, location: Location, well_core: WellCore, in_place: Optional[bool] = False @@ -1010,15 +999,15 @@ def get_hardware_state(self) -> PipetteDict: return self._sync_hardware_api.get_attached_instrument(self.get_mount()) # type: ignore[no-any-return] def get_channels(self) -> int: - return self._engine_client.state.tips.get_pipette_channels(self._pipette_id) + return self._engine_client.state.pipettes.get_channels(self._pipette_id) def get_active_channels(self) -> int: - return self._engine_client.state.tips.get_pipette_active_channels( - self._pipette_id - ) + return self._engine_client.state.pipettes.get_active_channels(self._pipette_id) def get_nozzle_map(self) -> NozzleMapInterface: - return self._engine_client.state.tips.get_pipette_nozzle_map(self._pipette_id) + return self._engine_client.state.pipettes.get_nozzle_configuration( + self._pipette_id + ) def has_tip(self) -> bool: return ( @@ -1210,7 +1199,7 @@ def transfer_with_liquid_class( # noqa: C901 liquid_class: LiquidClass, volume: float, source: List[Tuple[Location, WellCore]], - dest: List[Tuple[Location, WellCore]], + dest: Union[List[Tuple[Location, WellCore]], TrashBin, WasteChute], new_tip: TransferTipPolicyV2, tip_racks: List[Tuple[Location, LabwareCore]], starting_tip: Optional[WellCore], @@ -1256,18 +1245,30 @@ def transfer_with_liquid_class( # noqa: C901 tiprack_uri=tiprack_uri_for_transfer_props, ) + target_destinations: Sequence[ + Union[Tuple[Location, WellCore], TrashBin, WasteChute] + ] + if isinstance(dest, (TrashBin, WasteChute)): + target_destinations = [dest] * len(source) + else: + target_destinations = dest + + max_volume = min( + self.get_max_volume(), + self._engine_client.state.geometry.get_nominal_tip_geometry( + pipette_id=self.pipette_id, + labware_id=tip_racks[0][1].labware_id, + well_name=None, + ).volume, + ) + + aspirate_air_gap_by_volume = transfer_props.aspirate.retract.air_gap_by_volume source_dest_per_volume_step = ( tx_commons.expand_for_volume_constraints_for_liquid_classes( volumes=[volume for _ in range(len(source))], - targets=zip(source, dest), - max_volume=min( - self.get_max_volume(), - self._engine_client.state.geometry.get_nominal_tip_geometry( - pipette_id=self.pipette_id, - labware_id=tip_racks[0][1].labware_id, - well_name=None, - ).volume, - ), + targets=zip(source, target_destinations), + max_volume=max_volume, + air_gap=aspirate_air_gap_by_volume, ) ) @@ -1328,6 +1329,9 @@ def _pick_up_tip() -> WellCore: last_tip_picked_up_from = _pick_up_tip() prev_src: Optional[Tuple[Location, WellCore]] = None + prev_dest: Optional[ + Union[Tuple[Location, WellCore], TrashBin, WasteChute] + ] = None post_disp_tip_contents = [ tx_comps_executor.LiquidAndAirGapPair( liquid=0, @@ -1347,10 +1351,18 @@ def _pick_up_tip() -> WellCore: except StopIteration: is_last_step = True - if new_tip == TransferTipPolicyV2.ALWAYS or ( - new_tip == TransferTipPolicyV2.PER_SOURCE and step_source != prev_src + if ( + new_tip == TransferTipPolicyV2.ALWAYS + or ( + new_tip == TransferTipPolicyV2.PER_SOURCE + and step_source != prev_src + ) + or ( + new_tip == TransferTipPolicyV2.PER_DESTINATION + and step_destination != prev_dest + ) ): - if prev_src is not None: + if prev_src is not None and prev_dest is not None: _drop_tip() last_tip_picked_up_from = _pick_up_tip() post_disp_tip_contents = [ @@ -1399,6 +1411,7 @@ def _pick_up_tip() -> WellCore: trash_location=trash_location, ) prev_src = step_source + prev_dest = step_destination if new_tip != TransferTipPolicyV2.NEVER: _drop_tip() @@ -1507,6 +1520,11 @@ def distribute_with_liquid_class( # noqa: C901 tiprack_uri=tiprack_uri_for_transfer_props, ) + aspirate_air_gap_by_volume = transfer_props.aspirate.retract.air_gap_by_volume + disposal_vol_by_volume = transfer_props.multi_dispense.disposal_by_volume + conditioning_vol_by_volume = ( + transfer_props.multi_dispense.conditioning_by_volume + ) # This will return a generator that provides pairs of destination well and # the volume to dispense into it dest_per_volume_step = ( @@ -1514,6 +1532,9 @@ def distribute_with_liquid_class( # noqa: C901 volumes=[volume for _ in range(len(dest))], targets=dest, max_volume=working_volume, + air_gap=aspirate_air_gap_by_volume, + disposal_vol=disposal_vol_by_volume, + conditioning_vol=conditioning_vol_by_volume, ) ) @@ -1726,7 +1747,7 @@ def consolidate_with_liquid_class( # noqa: C901 liquid_class: LiquidClass, volume: float, source: List[Tuple[Location, WellCore]], - dest: Tuple[Location, WellCore], + dest: Union[Tuple[Location, WellCore], TrashBin, WasteChute], new_tip: Literal[TransferTipPolicyV2.NEVER, TransferTipPolicyV2.ONCE], tip_racks: List[Tuple[Location, LabwareCore]], starting_tip: Optional[WellCore], @@ -1776,11 +1797,13 @@ def consolidate_with_liquid_class( # noqa: C901 ).volume, ) + aspirate_air_gap_by_volume = transfer_props.aspirate.retract.air_gap_by_volume source_per_volume_step = ( tx_commons.expand_for_volume_constraints_for_liquid_classes( volumes=[volume for _ in range(len(source))], targets=source, max_volume=max_volume, + air_gap=aspirate_air_gap_by_volume, ) ) @@ -1852,12 +1875,16 @@ def _pick_up_tip() -> WellCore: while not is_last_step: total_dispense_volume = 0.0 vol_aspirate_combo = [] + air_gap = aspirate_air_gap_by_volume.get_for_volume(next_step_volume) # Take air gap into account because there will be a final air gap before the dispense - while total_dispense_volume + next_step_volume <= max_volume: + while total_dispense_volume + next_step_volume <= max_volume - air_gap: total_dispense_volume += next_step_volume vol_aspirate_combo.append((next_step_volume, next_source)) try: next_step_volume, next_source = next(source_per_volume_step) + air_gap = aspirate_air_gap_by_volume.get_for_volume( + next_step_volume + total_dispense_volume + ) except StopIteration: is_last_step = True break @@ -1871,6 +1898,7 @@ def _pick_up_tip() -> WellCore: else: enable_lpd = False + total_aspirated_volume = 0.0 for step_num, (step_volume, step_source) in enumerate(vol_aspirate_combo): with self.lpd_for_transfer(enable=enable_lpd): tip_contents = self.aspirate_liquid_class( @@ -1882,7 +1910,9 @@ def _pick_up_tip() -> WellCore: volume_for_pipette_mode_configuration=( total_dispense_volume if step_num == 0 else None ), + current_volume=total_aspirated_volume, ) + total_aspirated_volume += step_volume is_first_step = False enable_lpd = False tip_contents = self.dispense_liquid_class( @@ -1931,6 +1961,7 @@ def aspirate_liquid_class( tip_contents: List[tx_comps_executor.LiquidAndAirGapPair], volume_for_pipette_mode_configuration: Optional[float], conditioning_volume: Optional[float] = None, + current_volume: float = 0.0, ) -> List[tx_comps_executor.LiquidAndAirGapPair]: """Execute aspiration steps. @@ -1944,33 +1975,64 @@ def aspirate_liquid_class( Return: List of liquid and air gap pairs in tip. """ aspirate_props = transfer_properties.aspirate + volume_for_air_gap = aspirate_props.retract.air_gap_by_volume.get_for_volume( + volume + current_volume + ) tx_commons.check_valid_liquid_class_volume_parameters( aspirate_volume=volume, - air_gap=( - aspirate_props.retract.air_gap_by_volume.get_for_volume(volume) - if conditioning_volume is None - else 0 - ), - disposal_volume=0, # Disposal volume is accounted for in aspirate vol + air_gap=volume_for_air_gap if conditioning_volume is None else 0, max_volume=self.get_working_volume(), + current_volume=current_volume, ) source_loc, source_well = source - aspirate_point = ( - tx_comps_executor.absolute_point_from_position_reference_and_offset( - well=source_well, - position_reference=aspirate_props.position_reference, - offset=aspirate_props.offset, - ) - ) - aspirate_location = Location(aspirate_point, labware=source_loc.labware) last_liquid_and_airgap_in_tip = ( - tip_contents[-1] + deepcopy(tip_contents[-1]) # don't modify caller's object if tip_contents else tx_comps_executor.LiquidAndAirGapPair( liquid=0, air_gap=0, ) ) + if volume_for_pipette_mode_configuration is not None: + prep_location = Location( + point=source_well.get_top(LIQUID_PROBE_START_OFFSET_FROM_WELL_TOP.z), + labware=source_loc.labware, + ) + self.move_to( + location=prep_location, + well_core=source_well, + force_direct=False, + minimum_z_height=None, + speed=None, + ) + self.remove_air_gap_during_transfer_with_liquid_class( + last_air_gap=last_liquid_and_airgap_in_tip.air_gap, + dispense_props=transfer_properties.dispense, + location=prep_location, + ) + last_liquid_and_airgap_in_tip.air_gap = 0 + if ( + transfer_type != tx_comps_executor.TransferType.MANY_TO_ONE + and self.get_liquid_presence_detection() + ): + self.liquid_probe_with_recovery( + well_core=source_well, loc=prep_location + ) + # TODO: do volume configuration + prepare for aspirate only if the mode needs to be changed + self.configure_for_volume(volume_for_pipette_mode_configuration) + self.prepare_to_aspirate() + + aspirate_point = ( + tx_comps_executor.absolute_point_from_position_reference_and_offset( + well=source_well, + well_volume_difference=-volume, + position_reference=aspirate_props.aspirate_position.position_reference, + offset=aspirate_props.aspirate_position.offset, + mount=self.get_mount(), + ) + ) + aspirate_location = Location(aspirate_point, labware=source_loc.labware) + components_executor = tx_comps_executor.TransferComponentsExecutor( instrument_core=self, transfer_properties=transfer_properties, @@ -1982,9 +2044,7 @@ def aspirate_liquid_class( ), ) components_executor.submerge( - submerge_properties=aspirate_props.submerge, - post_submerge_action="aspirate", - volume_for_pipette_mode_configuration=volume_for_pipette_mode_configuration, + submerge_properties=aspirate_props.submerge, post_submerge_action="aspirate" ) # Do not do a pre-aspirate mix or pre-wet if consolidating if transfer_type != tx_comps_executor.TransferType.MANY_TO_ONE: @@ -2023,10 +2083,42 @@ def aspirate_liquid_class( new_tip_contents = tip_contents[0:-1] + [last_contents] return new_tip_contents + def remove_air_gap_during_transfer_with_liquid_class( + self, + last_air_gap: float, + dispense_props: SingleDispenseProperties, + location: Union[Location, TrashBin, WasteChute], + ) -> None: + """Remove an air gap that was previously added during a transfer.""" + if last_air_gap == 0: + return + + correction_volume = dispense_props.correction_by_volume.get_for_volume( + last_air_gap + ) + # The minimum flow rate should be air_gap_volume per second + flow_rate = max( + dispense_props.flow_rate_by_volume.get_for_volume(last_air_gap), + last_air_gap, + ) + self.dispense( + location=location, + well_core=None, + volume=last_air_gap, + rate=1, + flow_rate=flow_rate, + in_place=True, + push_out=0, + correction_volume=correction_volume, + ) + dispense_delay = dispense_props.delay + if dispense_delay.enabled and dispense_delay.duration: + self.delay(dispense_delay.duration) + def dispense_liquid_class( self, volume: float, - dest: Tuple[Location, WellCore], + dest: Union[Tuple[Location, WellCore], TrashBin, WasteChute], source: Optional[Tuple[Location, WellCore]], transfer_properties: TransferProperties, transfer_type: tx_comps_executor.TransferType, @@ -2065,15 +2157,21 @@ def dispense_liquid_class( List of liquid and air gap pairs in tip. """ dispense_props = transfer_properties.dispense - dest_loc, dest_well = dest - dispense_point = ( - tx_comps_executor.absolute_point_from_position_reference_and_offset( + dispense_location: Union[Location, TrashBin, WasteChute] + if isinstance(dest, tuple): + dest_loc, dest_well = dest + dispense_point = tx_comps_executor.absolute_point_from_position_reference_and_offset( well=dest_well, - position_reference=dispense_props.position_reference, - offset=dispense_props.offset, + well_volume_difference=volume, + position_reference=dispense_props.dispense_position.position_reference, + offset=dispense_props.dispense_position.offset, + mount=self.get_mount(), ) - ) - dispense_location = Location(dispense_point, labware=dest_loc.labware) + dispense_location = Location(dispense_point, labware=dest_loc.labware) + else: + dispense_location = dest + dest_well = None + last_liquid_and_airgap_in_tip = ( tip_contents[-1] if tip_contents @@ -2093,9 +2191,7 @@ def dispense_liquid_class( ), ) components_executor.submerge( - submerge_properties=dispense_props.submerge, - post_submerge_action="dispense", - volume_for_pipette_mode_configuration=None, + submerge_properties=dispense_props.submerge, post_submerge_action="dispense" ) push_out_vol = ( 0.0 @@ -2151,8 +2247,10 @@ def dispense_liquid_class_during_multi_dispense( dispense_point = ( tx_comps_executor.absolute_point_from_position_reference_and_offset( well=dest_well, - position_reference=dispense_props.position_reference, - offset=dispense_props.offset, + well_volume_difference=volume, + position_reference=dispense_props.dispense_position.position_reference, + offset=dispense_props.dispense_position.offset, + mount=self.get_mount(), ) ) dispense_location = Location(dispense_point, labware=dest_loc.labware) @@ -2175,9 +2273,7 @@ def dispense_liquid_class_during_multi_dispense( ), ) components_executor.submerge( - submerge_properties=dispense_props.submerge, - post_submerge_action="dispense", - volume_for_pipette_mode_configuration=None, + submerge_properties=dispense_props.submerge, post_submerge_action="dispense" ) tip_starting_volume = self.get_current_volume() is_last_dispense_without_disposal_vol = ( @@ -2220,8 +2316,9 @@ def _pressure_supported_by_pipette(self) -> bool: def detect_liquid_presence(self, well_core: WellCore, loc: Location) -> bool: labware_id = well_core.labware_id well_name = well_core.get_name() + offset = LIQUID_PROBE_START_OFFSET_FROM_WELL_TOP well_location = WellLocation( - origin=WellOrigin.TOP, offset=WellOffset(x=0, y=0, z=0) + origin=WellOrigin.TOP, offset=WellOffset(x=offset.x, y=offset.y, z=offset.z) ) # The error handling here is a bit nuanced and also a bit broken: @@ -2301,14 +2398,14 @@ def liquid_probe_with_recovery(self, well_core: WellCore, loc: Location) -> None self._protocol_core.set_last_location(location=loc, mount=self.get_mount()) - # TODO(cm, 3.4.25): decide whether to allow users to try and do math on a potential SimulatedProbeResult def liquid_probe_without_recovery( self, well_core: WellCore, loc: Location ) -> LiquidTrackingType: labware_id = well_core.labware_id well_name = well_core.get_name() + offset = LIQUID_PROBE_START_OFFSET_FROM_WELL_TOP well_location = WellLocation( - origin=WellOrigin.TOP, offset=WellOffset(x=0, y=0, z=2) + origin=WellOrigin.TOP, offset=WellOffset(x=offset.x, y=offset.y, z=offset.z) ) pipette_movement_conflict.check_safe_for_pipette_movement( engine_state=self._engine_client.state, diff --git a/api/src/opentrons/protocol_api/core/engine/protocol.py b/api/src/opentrons/protocol_api/core/engine/protocol.py index a730faafd7e1..5818f535b69f 100644 --- a/api/src/opentrons/protocol_api/core/engine/protocol.py +++ b/api/src/opentrons/protocol_api/core/engine/protocol.py @@ -4,10 +4,6 @@ from typing import Dict, Optional, Type, Union, List, Tuple, TYPE_CHECKING from opentrons_shared_data.liquid_classes import LiquidClassDefinitionDoesNotExist - -from opentrons.protocol_engine import commands as cmd -from opentrons.protocol_engine.commands import LoadModuleResult - from opentrons_shared_data.deck.types import DeckDefinitionV5, SlotDefV3 from opentrons_shared_data.labware.labware_definition import ( labware_definition_type_adapter, @@ -35,7 +31,8 @@ from opentrons.protocols.api_support.util import AxisMaxSpeeds from opentrons.protocols.api_support.types import APIVersion - +from opentrons.protocol_engine import commands as cmd +from opentrons.protocol_engine.commands import LoadModuleResult from opentrons.protocol_engine import ( DeckSlotLocation, AddressableAreaLocation, @@ -112,14 +109,14 @@ def __init__( self._engine_client = engine_client self._api_version = api_version self._sync_hardware = sync_hardware - self._last_location: Optional[Location] = None + self._last_location: Optional[Union[Location, TrashBin, WasteChute]] = None self._last_mount: Optional[Mount] = None self._labware_cores_by_id: Dict[str, LabwareCore] = {} self._module_cores_by_id: Dict[ str, Union[ModuleCore, NonConnectedModuleCore] ] = {} self._disposal_locations: List[Union[Labware, TrashBin, WasteChute]] = [] - self._defined_liquid_class_defs_by_name: Dict[str, LiquidClassSchemaV1] = {} + self._liquid_class_def_cache: Dict[Tuple[str, int], LiquidClassSchemaV1] = {} self._load_fixed_trash() @property @@ -918,7 +915,7 @@ def door_closed(self) -> bool: def get_last_location( self, mount: Optional[Mount] = None, - ) -> Optional[Location]: + ) -> Optional[Union[Location, TrashBin, WasteChute]]: """Get the last accessed location.""" if mount is None or mount == self._last_mount: return self._last_location @@ -927,7 +924,7 @@ def get_last_location( def set_last_location( self, - location: Optional[Location], + location: Optional[Union[Location, TrashBin, WasteChute]], mount: Optional[Mount] = None, ) -> None: """Set the last accessed location.""" @@ -1097,20 +1094,22 @@ def define_liquid( display_color=(liquid.displayColor.root if liquid.displayColor else None), ) - def define_liquid_class(self, name: str) -> LiquidClass: + def define_liquid_class(self, name: str, version: int) -> LiquidClass: """Define a liquid class for use in transfer functions.""" try: # Check if we have already loaded this liquid class' definition - liquid_class_def = self._defined_liquid_class_defs_by_name[name] + liquid_class_def = self._liquid_class_def_cache[(name, version)] except KeyError: try: # Fetching the liquid class data from file and parsing it # is an expensive operation and should be avoided. # Calling this often will degrade protocol execution performance. - liquid_class_def = liquid_classes.load_definition(name) - self._defined_liquid_class_defs_by_name[name] = liquid_class_def + liquid_class_def = liquid_classes.load_definition(name, version=version) + self._liquid_class_def_cache[(name, version)] = liquid_class_def except LiquidClassDefinitionDoesNotExist: - raise ValueError(f"Liquid class definition not found for '{name}'.") + raise ValueError( + f"Liquid class definition not found for '{name}' version {version}." + ) return LiquidClass.create(liquid_class_def) diff --git a/api/src/opentrons/protocol_api/core/engine/robot.py b/api/src/opentrons/protocol_api/core/engine/robot.py index 0418afcbb95a..f6920173699f 100644 --- a/api/src/opentrons/protocol_api/core/engine/robot.py +++ b/api/src/opentrons/protocol_api/core/engine/robot.py @@ -131,9 +131,9 @@ def move_axes_relative(self, axis_map: AxisMapType, speed: Optional[float]) -> N ) def release_grip(self) -> None: - self._engine_client.execute_command(cmd.robot.openGripperJawParams()) + self._engine_client.execute_command(cmd.robot.OpenGripperJawParams()) def close_gripper(self, force: Optional[float] = None) -> None: self._engine_client.execute_command( - cmd.robot.closeGripperJawParams(force=force) + cmd.robot.CloseGripperJawParams(force=force) ) diff --git a/api/src/opentrons/protocol_api/core/engine/transfer_components_executor.py b/api/src/opentrons/protocol_api/core/engine/transfer_components_executor.py index da60a8cf2cbe..cc7ca68df666 100644 --- a/api/src/opentrons/protocol_api/core/engine/transfer_components_executor.py +++ b/api/src/opentrons/protocol_api/core/engine/transfer_components_executor.py @@ -12,7 +12,6 @@ Coordinate, BlowoutLocation, ) -from opentrons_shared_data.pipette.types import LIQUID_PROBE_START_OFFSET_FROM_WELL_TOP from opentrons.protocol_api._liquid_properties import ( Submerge, @@ -23,7 +22,7 @@ TouchTipProperties, ) from opentrons.protocol_engine.errors import TouchTipDisabledError -from opentrons.types import Location, Point +from opentrons.types import Location, Point, Mount from opentrons.protocols.advanced_control.transfers.transfer_liquid_utils import ( LocationCheckDescriptors, ) @@ -119,11 +118,32 @@ def __init__( self, instrument_core: InstrumentCore, transfer_properties: TransferProperties, - target_location: Location, - target_well: WellCore, + target_location: Union[Location, TrashBin, WasteChute], + target_well: Optional[WellCore], tip_state: TipState, transfer_type: TransferType, ) -> None: + """Create a TransferComponentsExecutor instance. + + One instance should be created to execute all the steps inside each of the + liquid class' transfer components- aspirate, dispense and multi-dispense. + The state of the TransferComponentsExecutor instance is expected to be valid + only for the component it was created. + + For example, if we want to execute all the steps (submerge, dispense, retract, etc) + related to the 'dispense' component of a liquid-class based transfer, the class + will be used to initialize info about the dispense by assigning values + to class attributes as follows- + - target_location: the dispense location + - target_well: the well associated with dispense location, will be None when the + target_location argument is a TrashBin or WasteChute + - tip_state: the state of the tip before dispense component steps are executed + - transfer_type: whether the dispense component is being called as a part of a + 1-to-1 transfer or a consolidation or a distribution + + These attributes will remain the same throughout the component's execution, + except `tip_state`, which will keep updating as fluids are handled. + """ self._instrument = instrument_core self._transfer_properties = transfer_properties self._target_location = target_location @@ -140,7 +160,6 @@ def submerge( self, submerge_properties: Submerge, post_submerge_action: Literal["aspirate", "dispense"], - volume_for_pipette_mode_configuration: Optional[float], ) -> None: """Execute submerge steps. @@ -148,56 +167,38 @@ def submerge( Should raise an error if this point is inside the liquid? For liquid meniscus this is easy to tell. Can’t be below meniscus For reference pos of anything else, do not allow submerge position to be below aspirate position - 2. move to aspirate position at desired speed + 2. move to aspirate/dispense position at desired speed 3. delay + + If target location is a trash bin or waste chute, the pipette will move to the disposal location given, + remove air gap and delay """ - submerge_start_point = absolute_point_from_position_reference_and_offset( - well=self._target_well, - position_reference=submerge_properties.position_reference, - offset=submerge_properties.offset, - ) - submerge_start_location = Location( - point=submerge_start_point, labware=self._target_location.labware - ) - prep_before_moving_to_submerge = ( - post_submerge_action == "aspirate" - and volume_for_pipette_mode_configuration is not None - ) - if prep_before_moving_to_submerge: - # Move to the tip probe start position - self._instrument.move_to( - location=Location( - point=self._target_well.get_top( - LIQUID_PROBE_START_OFFSET_FROM_WELL_TOP.z - ), - labware=self._target_location.labware, - ), + submerge_start_location: Union[Location, TrashBin, WasteChute] + if isinstance(self._target_location, Location): + assert self._target_well is not None + submerge_start_point = absolute_point_from_position_reference_and_offset( + well=self._target_well, + well_volume_difference=0, + position_reference=submerge_properties.start_position.position_reference, + offset=submerge_properties.start_position.offset, + mount=self._instrument.get_mount(), + ) + submerge_start_location = Location( + point=submerge_start_point, labware=self._target_location.labware + ) + tx_utils.raise_if_location_inside_liquid( + location=submerge_start_location, + well_location=self._target_location, well_core=self._target_well, - force_direct=False, - minimum_z_height=None, - speed=None, + location_check_descriptors=LocationCheckDescriptors( + location_type="submerge start", + pipetting_action=post_submerge_action, + ), + logger=log, ) - self._remove_air_gap(location=submerge_start_location) - if ( - self._transfer_type != TransferType.MANY_TO_ONE - and self._instrument.get_liquid_presence_detection() - ): - self._instrument.liquid_probe_with_recovery( - well_core=self._target_well, loc=submerge_start_location - ) - # TODO: do volume configuration + prepare for aspirate only if the mode needs to be changed - self._instrument.configure_for_volume(volume_for_pipette_mode_configuration) # type: ignore[arg-type] - self._instrument.prepare_to_aspirate() - tx_utils.raise_if_location_inside_liquid( - location=submerge_start_location, - well_location=self._target_location, - well_core=self._target_well, - location_check_descriptors=LocationCheckDescriptors( - location_type="submerge start", - pipetting_action=post_submerge_action, - ), - logger=log, - ) + else: + submerge_start_location = self._target_location + self._instrument.move_to( location=submerge_start_location, well_core=self._target_well, @@ -205,21 +206,26 @@ def submerge( minimum_z_height=None, speed=None, ) - if not prep_before_moving_to_submerge: - self._remove_air_gap(location=submerge_start_location) - self._instrument.move_to( - location=self._target_location, - well_core=self._target_well, - force_direct=True, - minimum_z_height=None, - speed=submerge_properties.speed, - ) + self._remove_air_gap(location=submerge_start_location) + if isinstance(self._target_location, Location): + self._instrument.move_to( + location=self._target_location, + well_core=self._target_well, + force_direct=True, + minimum_z_height=None, + speed=submerge_properties.speed, + ) + if submerge_properties.delay.enabled and submerge_properties.delay.duration: self._instrument.delay(submerge_properties.delay.duration) def aspirate_and_wait(self, volume: float) -> None: """Aspirate according to aspirate properties and wait if enabled.""" # TODO: handle volume correction + assert ( + isinstance(self._target_location, Location) + and self._target_well is not None + ) aspirate_props = self._transfer_properties.aspirate correction_volume = aspirate_props.correction_by_volume.get_for_volume(volume) self._instrument.aspirate( @@ -275,11 +281,15 @@ def mix(self, mix_properties: MixProperties, last_dispense_push_out: bool) -> No NOTE: For most of our built-in definitions, we will keep _mix_ off because it is a very application specific thing. We should mention in our docs that users should adjust this property according to their application. """ - if not mix_properties.enabled: + if not mix_properties.enabled or not isinstance( + self._target_location, Location + ): return # Assertion only for mypy purposes assert ( - mix_properties.repetitions is not None and mix_properties.volume is not None + mix_properties.repetitions is not None + and mix_properties.volume is not None + and self._target_well is not None ) push_out_vol = ( self._transfer_properties.dispense.push_out_by_volume.get_for_volume( @@ -337,11 +347,17 @@ def retract_after_aspiration( during a multi-dispense. """ # TODO: Raise error if retract is below the meniscus + assert ( + isinstance(self._target_location, Location) + and self._target_well is not None + ) retract_props = self._transfer_properties.aspirate.retract retract_point = absolute_point_from_position_reference_and_offset( well=self._target_well, - position_reference=retract_props.position_reference, - offset=retract_props.offset, + well_volume_difference=0, + position_reference=retract_props.end_position.position_reference, + offset=retract_props.end_position.offset, + mount=self._instrument.get_mount(), ) retract_location = Location( retract_point, labware=self._target_location.labware @@ -371,7 +387,7 @@ def retract_after_aspiration( assert ( touch_tip_props.speed is not None and touch_tip_props.z_offset is not None - and touch_tip_props.mm_to_edge is not None + and touch_tip_props.mm_from_edge is not None ) self._instrument.touch_tip( location=retract_location, @@ -379,7 +395,7 @@ def retract_after_aspiration( radius=1, z_offset=touch_tip_props.z_offset, speed=touch_tip_props.speed, - mm_from_edge=touch_tip_props.mm_to_edge, + mm_from_edge=touch_tip_props.mm_from_edge, ) self._instrument.move_to( location=retract_location, @@ -431,35 +447,47 @@ def retract_after_dispensing( - Prepare-to-aspirate (top of well) - Do air-gap (top of well) 7. If drop tip, move to drop tip location, drop tip + + If target location is a trash bin or waste chute, the retract movement step is skipped along with touch tip, + even if it is enabled. """ # TODO: Raise error if retract is below the meniscus - retract_props = self._transfer_properties.dispense.retract - retract_point = absolute_point_from_position_reference_and_offset( - well=self._target_well, - position_reference=retract_props.position_reference, - offset=retract_props.offset, - ) - retract_location = Location( - retract_point, labware=self._target_location.labware - ) - tx_utils.raise_if_location_inside_liquid( - location=retract_location, - well_location=self._target_location, - well_core=self._target_well, - location_check_descriptors=LocationCheckDescriptors( - location_type="retract end", - pipetting_action="dispense", - ), - logger=log, - ) - self._instrument.move_to( - location=retract_location, - well_core=self._target_well, - force_direct=True, - minimum_z_height=None, - speed=retract_props.speed, - ) + + retract_location: Union[Location, TrashBin, WasteChute] + if isinstance(self._target_location, Location): + assert self._target_well is not None + retract_point = absolute_point_from_position_reference_and_offset( + well=self._target_well, + well_volume_difference=0, + position_reference=retract_props.end_position.position_reference, + offset=retract_props.end_position.offset, + mount=self._instrument.get_mount(), + ) + retract_location = Location( + retract_point, labware=self._target_location.labware + ) + tx_utils.raise_if_location_inside_liquid( + location=retract_location, + well_location=self._target_location, + well_core=self._target_well, + location_check_descriptors=LocationCheckDescriptors( + location_type="retract end", + pipetting_action="dispense", + ), + logger=log, + ) + self._instrument.move_to( + location=retract_location, + well_core=self._target_well, + force_direct=True, + minimum_z_height=None, + speed=retract_props.speed, + ) + else: + retract_location = self._target_location + + # TODO should we delay here for a trash despite not having a "retract"? retract_delay = retract_props.delay if retract_delay.enabled and retract_delay.duration: self._instrument.delay(retract_delay.duration) @@ -487,7 +515,9 @@ def retract_after_dispensing( # then skip the final air gap if we have been told to do so. self._do_touch_tip_and_air_gap( touch_tip_properties=retract_props.touch_tip, - location=retract_location, + location=retract_location + if isinstance(retract_location, Location) + else None, well=self._target_well, add_air_gap=False if is_final_air_gap and not add_final_air_gap else True, ) @@ -573,14 +603,19 @@ def retract_during_multi_dispensing( and whether we are moving to another dispense or going back to the source. """ # TODO: Raise error if retract is below the meniscus - + assert ( + isinstance(self._target_location, Location) + and self._target_well is not None + ) assert self._transfer_properties.multi_dispense is not None retract_props = self._transfer_properties.multi_dispense.retract retract_point = absolute_point_from_position_reference_and_offset( well=self._target_well, - position_reference=retract_props.position_reference, - offset=retract_props.offset, + well_volume_difference=0, + position_reference=retract_props.end_position.position_reference, + offset=retract_props.end_position.offset, + mount=self._instrument.get_mount(), ) retract_location = Location( retract_point, labware=self._target_location.labware @@ -740,7 +775,7 @@ def _do_touch_tip_and_air_gap( assert ( touch_tip_properties.speed is not None and touch_tip_properties.z_offset is not None - and touch_tip_properties.mm_to_edge is not None + and touch_tip_properties.mm_from_edge is not None ) # TODO:, check that when blow out is a non-dest-well, # whether the touch tip params from transfer props should be used for @@ -753,7 +788,7 @@ def _do_touch_tip_and_air_gap( radius=1, z_offset=touch_tip_properties.z_offset, speed=touch_tip_properties.speed, - mm_from_edge=touch_tip_properties.mm_to_edge, + mm_from_edge=touch_tip_properties.mm_from_edge, ) except TouchTipDisabledError: # TODO: log a warning @@ -803,43 +838,33 @@ def _add_air_gap(self, air_gap_volume: float) -> None: self._instrument.delay(delay_props.duration) self._tip_state.append_air_gap(air_gap_volume) - def _remove_air_gap(self, location: Location) -> None: + def _remove_air_gap(self, location: Union[Location, TrashBin, WasteChute]) -> None: """Remove a previously added air gap.""" last_air_gap = self._tip_state.last_liquid_and_air_gap_in_tip.air_gap - if last_air_gap == 0: - return - dispense_props = self._transfer_properties.dispense - correction_volume = dispense_props.correction_by_volume.get_for_volume( - last_air_gap - ) - # The minimum flow rate should be air_gap_volume per second - flow_rate = max( - dispense_props.flow_rate_by_volume.get_for_volume(last_air_gap), - last_air_gap, - ) - self._instrument.dispense( + self._instrument.remove_air_gap_during_transfer_with_liquid_class( + last_air_gap=last_air_gap, + dispense_props=dispense_props, location=location, - well_core=None, - volume=last_air_gap, - rate=1, - flow_rate=flow_rate, - in_place=True, - push_out=0, - correction_volume=correction_volume, ) self._tip_state.delete_air_gap(last_air_gap) - dispense_delay = dispense_props.delay - if dispense_delay.enabled and dispense_delay.duration: - self._instrument.delay(dispense_delay.duration) def absolute_point_from_position_reference_and_offset( well: WellCore, + well_volume_difference: float, position_reference: PositionReference, offset: Coordinate, + mount: Mount, ) -> Point: - """Return the absolute point, given the well, the position reference and offset.""" + """Return the absolute point, given the well, the position reference and offset. + + If using meniscus as the position reference, well_volume_difference should be specified. + `well_volume_difference` is the expected *difference* in well volume we want to consider + when estimating the height of the liquid meniscus after an aspirate/ dispense. + So, for liquid height estimation after an aspirate, well_volume_difference is + expected to be a -ve value while for a dispense, it will be a +ve value. + """ match position_reference: case PositionReference.WELL_TOP: reference_point = well.get_top(0) @@ -848,11 +873,17 @@ def absolute_point_from_position_reference_and_offset( case PositionReference.WELL_CENTER: reference_point = well.get_center() case PositionReference.LIQUID_MENISCUS: - meniscus_point = well.get_meniscus() - if not isinstance(meniscus_point, Point): - reference_point = well.get_center() + estimated_liquid_height = well.estimate_liquid_height_after_pipetting( + mount=mount, + operation_volume=well_volume_difference, + ) + if isinstance(estimated_liquid_height, (float, int)): + reference_point = well.get_bottom(z_offset=estimated_liquid_height) else: - reference_point = meniscus_point + # If estimated liquid height gives a SimulatedProbeResult then + # assume meniscus is at well center. + # Will this cause more harm than good? Is there a better alternative to this? + reference_point = well.get_center() case _: raise ValueError(f"Unknown position reference {position_reference}") return reference_point + Point(offset.x, offset.y, offset.z) diff --git a/api/src/opentrons/protocol_api/core/engine/well.py b/api/src/opentrons/protocol_api/core/engine/well.py index 06ad7ee79900..79b507d9258f 100644 --- a/api/src/opentrons/protocol_api/core/engine/well.py +++ b/api/src/opentrons/protocol_api/core/engine/well.py @@ -223,3 +223,19 @@ def get_liquid_volume(self) -> LiquidTrackingType: return self._engine_client.state.geometry.get_current_well_volume( labware_id=labware_id, well_name=well_name ) + + def height_from_volume(self, volume: LiquidTrackingType) -> LiquidTrackingType: + """Return the height in a well corresponding to a given volume.""" + labware_id = self.labware_id + well_name = self._name + return self._engine_client.state.geometry.get_well_height_at_volume( + labware_id=labware_id, well_name=well_name, volume=volume + ) + + def volume_from_height(self, height: LiquidTrackingType) -> LiquidTrackingType: + """Return the volume contained in a well at any height.""" + labware_id = self.labware_id + well_name = self._name + return self._engine_client.state.geometry.get_well_volume_at_height( + labware_id=labware_id, well_name=well_name, height=height + ) diff --git a/api/src/opentrons/protocol_api/core/instrument.py b/api/src/opentrons/protocol_api/core/instrument.py index 643992ca08f7..e9f8f63765e3 100644 --- a/api/src/opentrons/protocol_api/core/instrument.py +++ b/api/src/opentrons/protocol_api/core/instrument.py @@ -365,7 +365,7 @@ def transfer_with_liquid_class( liquid_class: LiquidClass, volume: float, source: List[Tuple[types.Location, WellCoreType]], - dest: List[Tuple[types.Location, WellCoreType]], + dest: Union[List[Tuple[types.Location, WellCoreType]], TrashBin, WasteChute], new_tip: TransferTipPolicyV2, tip_racks: List[Tuple[types.Location, LabwareCoreType]], starting_tip: Optional[WellCoreType], @@ -400,7 +400,7 @@ def consolidate_with_liquid_class( liquid_class: LiquidClass, volume: float, source: List[Tuple[types.Location, WellCoreType]], - dest: Tuple[types.Location, WellCoreType], + dest: Union[Tuple[types.Location, WellCoreType], TrashBin, WasteChute], new_tip: Literal[TransferTipPolicyV2.NEVER, TransferTipPolicyV2.ONCE], tip_racks: List[Tuple[types.Location, LabwareCoreType]], starting_tip: Optional[WellCoreType], diff --git a/api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py b/api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py index 3faaf1ac86d9..cbb0d70b7662 100644 --- a/api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py +++ b/api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py @@ -605,7 +605,7 @@ def transfer_with_liquid_class( liquid_class: LiquidClass, volume: float, source: List[Tuple[types.Location, LegacyWellCore]], - dest: List[Tuple[types.Location, LegacyWellCore]], + dest: Union[List[Tuple[types.Location, LegacyWellCore]], TrashBin, WasteChute], new_tip: TransferTipPolicyV2, tip_racks: List[Tuple[types.Location, LegacyLabwareCore]], starting_tip: Optional[LegacyWellCore], @@ -635,7 +635,7 @@ def consolidate_with_liquid_class( liquid_class: LiquidClass, volume: float, source: List[Tuple[types.Location, LegacyWellCore]], - dest: Tuple[types.Location, LegacyWellCore], + dest: Union[Tuple[types.Location, LegacyWellCore], TrashBin, WasteChute], new_tip: Literal[TransferTipPolicyV2.NEVER, TransferTipPolicyV2.ONCE], tip_racks: List[Tuple[types.Location, LegacyLabwareCore]], starting_tip: Optional[LegacyWellCore], diff --git a/api/src/opentrons/protocol_api/core/legacy/legacy_protocol_core.py b/api/src/opentrons/protocol_api/core/legacy/legacy_protocol_core.py index 321bb1570bc2..6c5b05ba9f6a 100644 --- a/api/src/opentrons/protocol_api/core/legacy/legacy_protocol_core.py +++ b/api/src/opentrons/protocol_api/core/legacy/legacy_protocol_core.py @@ -599,7 +599,7 @@ def define_liquid( """Define a liquid to load into a well.""" assert False, "define_liquid only supported on engine core" - def define_liquid_class(self, name: str) -> LiquidClass: + def define_liquid_class(self, name: str, version: int) -> LiquidClass: """Define a liquid class.""" assert False, "define_liquid_class is only supported on engine core" diff --git a/api/src/opentrons/protocol_api/core/legacy/legacy_well_core.py b/api/src/opentrons/protocol_api/core/legacy/legacy_well_core.py index 671409c9587a..5616d5037e6b 100644 --- a/api/src/opentrons/protocol_api/core/legacy/legacy_well_core.py +++ b/api/src/opentrons/protocol_api/core/legacy/legacy_well_core.py @@ -143,6 +143,14 @@ def get_liquid_volume(self) -> LiquidTrackingType: """Get the current well volume.""" return 0.0 + def height_from_volume(self, volume: LiquidTrackingType) -> LiquidTrackingType: + """Return the height in a well corresponding to a given volume.""" + return 0.0 + + def volume_from_height(self, height: LiquidTrackingType) -> LiquidTrackingType: + """Return the volume contained in a well at any height.""" + return 0.0 + # TODO(mc, 2022-10-28): is this used and/or necessary? def __repr__(self) -> str: """Use the well's display name as its repr.""" diff --git a/api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py b/api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py index a18a705c24e2..c230117cae38 100644 --- a/api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py +++ b/api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py @@ -519,7 +519,7 @@ def transfer_with_liquid_class( liquid_class: LiquidClass, volume: float, source: List[Tuple[types.Location, LegacyWellCore]], - dest: List[Tuple[types.Location, LegacyWellCore]], + dest: Union[List[Tuple[types.Location, LegacyWellCore]], TrashBin, WasteChute], new_tip: TransferTipPolicyV2, tip_racks: List[Tuple[types.Location, LegacyLabwareCore]], starting_tip: Optional[LegacyWellCore], @@ -549,7 +549,7 @@ def consolidate_with_liquid_class( liquid_class: LiquidClass, volume: float, source: List[Tuple[types.Location, LegacyWellCore]], - dest: Tuple[types.Location, LegacyWellCore], + dest: Union[Tuple[types.Location, LegacyWellCore], TrashBin, WasteChute], new_tip: Literal[TransferTipPolicyV2.NEVER, TransferTipPolicyV2.ONCE], tip_racks: List[Tuple[types.Location, LegacyLabwareCore]], starting_tip: Optional[LegacyWellCore], diff --git a/api/src/opentrons/protocol_api/core/protocol.py b/api/src/opentrons/protocol_api/core/protocol.py index c323f3e8e27b..85b9285a1782 100644 --- a/api/src/opentrons/protocol_api/core/protocol.py +++ b/api/src/opentrons/protocol_api/core/protocol.py @@ -230,7 +230,7 @@ def door_closed(self) -> bool: def get_last_location( self, mount: Optional[Mount] = None, - ) -> Optional[Location]: + ) -> Optional[Union[Location, TrashBin, WasteChute]]: ... @abstractmethod @@ -311,7 +311,7 @@ def define_liquid( """Define a liquid to load into a well.""" @abstractmethod - def define_liquid_class(self, name: str) -> LiquidClass: + def define_liquid_class(self, name: str, version: int) -> LiquidClass: """Define a liquid class for use in transfer functions.""" @abstractmethod diff --git a/api/src/opentrons/protocol_api/core/well.py b/api/src/opentrons/protocol_api/core/well.py index 02fe1f47f424..d5a96f7e3b5c 100644 --- a/api/src/opentrons/protocol_api/core/well.py +++ b/api/src/opentrons/protocol_api/core/well.py @@ -104,5 +104,13 @@ def current_liquid_height(self) -> LiquidTrackingType: def get_liquid_volume(self) -> LiquidTrackingType: """Get the current volume within a well.""" + @abstractmethod + def height_from_volume(self, volume: LiquidTrackingType) -> LiquidTrackingType: + """Return the height in a well corresponding to a given volume.""" + + @abstractmethod + def volume_from_height(self, height: LiquidTrackingType) -> LiquidTrackingType: + """Return the volume contained in a well at any height.""" + WellCoreType = TypeVar("WellCoreType", bound=AbstractWellCore) diff --git a/api/src/opentrons/protocol_api/instrument_context.py b/api/src/opentrons/protocol_api/instrument_context.py index c26a2072ffef..e10168959b87 100644 --- a/api/src/opentrons/protocol_api/instrument_context.py +++ b/api/src/opentrons/protocol_api/instrument_context.py @@ -1,7 +1,7 @@ from __future__ import annotations import logging from contextlib import ExitStack -from typing import Any, List, Optional, Sequence, Union, cast, Dict +from typing import Any, List, Optional, Sequence, Union, cast, Tuple from opentrons_shared_data.errors.exceptions import ( CommandPreconditionViolated, CommandParameterLimitViolated, @@ -12,7 +12,10 @@ from opentrons.legacy_broker import LegacyBroker from opentrons.hardware_control.dev_types import PipetteDict from opentrons import types -from opentrons.legacy_commands import commands as cmds +from opentrons.legacy_commands import ( + commands as cmds, + protocol_commands as protocol_cmds, +) from opentrons.legacy_commands import publisher from opentrons.protocols.advanced_control.mix import mix_from_kwargs @@ -29,7 +32,7 @@ UnsupportedAPIError, ) -from .core.common import InstrumentCore, ProtocolCore +from .core.common import InstrumentCore, ProtocolCore, WellCore from .core.engine import ENGINE_CORE_API_VERSION from .core.legacy.legacy_instrument_core import LegacyInstrumentCore from .config import Clearances @@ -70,6 +73,16 @@ AdvancedLiquidHandling = v1_transfer.AdvancedLiquidHandling +class _Unset: + """A sentinel value when no value has been supplied for an argument. + User code should never use this explicitly.""" + + def __repr__(self) -> str: + # Without this, the generated docs render the argument as + # "" + return self.__class__.__name__ + + class InstrumentContext(publisher.CommandPublisher): """ A context for a specific pipette or instrument. @@ -173,11 +186,12 @@ def get_minimum_liquid_sense_height(self) -> float: return self._core.get_minimum_liquid_sense_height() @requires_version(2, 0) - def aspirate( + def aspirate( # noqa: C901 self, volume: Optional[float] = None, location: Optional[Union[types.Location, labware.Well]] = None, rate: float = 1.0, + flow_rate: Optional[float] = None, ) -> InstrumentContext: """ Draw liquid into a pipette tip. @@ -214,6 +228,9 @@ def aspirate( `. If not specified, defaults to 1.0. See :ref:`new-plunger-flow-rates`. :type rate: float + :param flow_rate: The absolute flow rate in µL/s. If ``flow_rate`` is specified, + ``rate`` must not be set. + :type flow_rate: float :returns: This instance. .. note:: @@ -223,15 +240,30 @@ def aspirate( ``location``, specify it as a keyword argument: ``pipette.aspirate(location=plate['A1'])`` + .. versionchanged:: 2.24 + Added the ``flow_rate`` parameter. """ + if flow_rate is not None: + if self.api_version < APIVersion(2, 24): + raise APIVersionError( + api_element="flow_rate", + until_version="2.24", + current_version=f"{self.api_version}", + ) + if rate != 1.0: + raise ValueError("rate must not be set if flow_rate is specified") + rate = flow_rate / self._core.get_aspirate_flow_rate() + else: + flow_rate = self._core.get_aspirate_flow_rate(rate) + _log.debug( - "aspirate {} from {} at {}".format( - volume, location if location else "current position", rate + "aspirate {} from {} at {} µL/s".format( + volume, location if location else "current position", flow_rate ) ) move_to_location: types.Location - well: Optional[labware.Well] = None + well: Optional[labware.Well] last_location = self._get_last_location_by_api_version() try: target = validation.validate_location( @@ -245,7 +277,7 @@ def aspirate( "knows where it is." ) from e - if isinstance(target, (TrashBin, WasteChute)): + if isinstance(target, validation.DisposalTarget): raise ValueError( "Trash Bin and Waste Chute are not acceptable location parameters for Aspirate commands." ) @@ -263,7 +295,6 @@ def aspirate( c_vol = self._core.get_available_volume() if volume is None else volume else: c_vol = self._core.get_available_volume() if not volume else volume - flow_rate = self._core.get_aspirate_flow_rate(rate) if ( self.api_version >= APIVersion(2, 20) @@ -299,7 +330,7 @@ def aspirate( return self @requires_version(2, 0) - def dispense( + def dispense( # noqa: C901 self, volume: Optional[float] = None, location: Optional[ @@ -307,6 +338,7 @@ def dispense( ] = None, rate: float = 1.0, push_out: Optional[float] = None, + flow_rate: Optional[float] = None, ) -> InstrumentContext: """ Dispense liquid from a pipette tip. @@ -363,15 +395,19 @@ def dispense( `. If not specified, defaults to 1.0. See :ref:`new-plunger-flow-rates`. :type rate: float + :param push_out: Continue past the plunger bottom to help ensure all liquid leaves the tip. Measured in µL. The default value is ``None``. When not specified or set to ``None``, the plunger moves by a non-zero default amount. - For a table of default values, see :ref:`push-out-dispense`. :type push_out: float + :param flow_rate: The absolute flow rate in µL/s. If ``flow_rate`` is specified, + ``rate`` must not be set. + :type flow_rate: float + :returns: This instance. .. note:: @@ -386,6 +422,13 @@ def dispense( .. versionchanged:: 2.17 Behavior of the ``volume`` parameter. + + .. versionchanged:: 2.24 + Added the ``flow_rate`` parameter. + + .. versionchanged:: 2.24 + ``location`` is no longer required if the pipette just moved to, dispensed, or blew out + into a trash bin or waste chute. """ if self.api_version < APIVersion(2, 15) and push_out: raise APIVersionError( @@ -393,13 +436,27 @@ def dispense( until_version="2.15", current_version=f"{self.api_version}", ) + + if flow_rate is not None: + if self.api_version < APIVersion(2, 24): + raise APIVersionError( + api_element="flow_rate", + until_version="2.24", + current_version=f"{self.api_version}", + ) + if rate != 1.0: + raise ValueError("rate must not be set if flow_rate is specified") + rate = flow_rate / self._core.get_dispense_flow_rate() + else: + flow_rate = self._core.get_dispense_flow_rate(rate) + _log.debug( - "dispense {} from {} at {}".format( - volume, location if location else "current position", rate + "dispense {} from {} at {} µL/s".format( + volume, location if location else "current position", flow_rate ) ) - last_location = self._get_last_location_by_api_version() + last_location = self._get_last_location_by_api_version() try: target = validation.validate_location( location=location, last_location=last_location @@ -417,15 +474,13 @@ def dispense( else: c_vol = self._core.get_current_volume() if not volume else volume - flow_rate = self._core.get_dispense_flow_rate(rate) - - if isinstance(target, (TrashBin, WasteChute)): + if isinstance(target, validation.DisposalTarget): with publisher.publish_context( broker=self.broker, command=cmds.dispense_in_disposal_location( instrument=self, volume=c_vol, - location=target, + location=target.location, rate=rate, flow_rate=flow_rate, ), @@ -433,10 +488,10 @@ def dispense( self._core.dispense( volume=c_vol, rate=rate, - location=target, + location=target.location, well_core=None, flow_rate=flow_rate, - in_place=False, + in_place=target.in_place, push_out=push_out, meniscus_tracking=None, ) @@ -477,12 +532,17 @@ def dispense( return self @requires_version(2, 0) - def mix( + def mix( # noqa: C901 self, repetitions: int = 1, volume: Optional[float] = None, location: Optional[Union[types.Location, labware.Well]] = None, rate: float = 1.0, + aspirate_flow_rate: Optional[float] = None, + dispense_flow_rate: Optional[float] = None, + aspirate_delay: Optional[float] = None, + dispense_delay: Optional[float] = None, + final_push_out: Optional[float] = None, ) -> InstrumentContext: """ Mix a volume of liquid by repeatedly aspirating and dispensing it in a single location. @@ -507,6 +567,16 @@ def mix( dispensing flow rate is calculated as ``rate`` multiplied by :py:attr:`flow_rate.dispense `. See :ref:`new-plunger-flow-rates`. + :param aspirate_flow_rate: The flow rate for each aspirate in the mix, in µL/s. + If this is specified, ``rate`` must not be set. + :param dispense_flow_rate: The flow rate for each dispense in the mix, in µL/s. + If this is specified, ``rate`` must not be set. + :param aspirate_delay: How long to wait after each aspirate in the mix, in seconds. + :param dispense_delay: How long to wait after each dispense in the mix, in seconds. + :param final_push_out: How much to push out after the final mix repetition. The + pipette will not push out after earlier repetitions. If + not specified or ``None``, the pipette will push out the + default non-zero amount. See :ref:`push-out-dispense`. :raises: ``UnexpectedTipRemovalError`` -- If no tip is attached to the pipette. :returns: This instance. @@ -519,6 +589,9 @@ def mix( .. versionchanged:: 2.21 Does not repeatedly check for liquid presence. + .. versionchanged:: 2.24 + Adds the ``aspirate_flow_rate``, ``dispense_flow_rate``, ``aspirate_delay``, + ``dispense_delay``, and ``final_push_out`` parameters. """ _log.debug( "mixing {}uL with {} repetitions in {} at rate={}".format( @@ -533,9 +606,69 @@ def mix( else: c_vol = self._core.get_available_volume() if not volume else volume - dispense_kwargs: Dict[str, Any] = {} - if self.api_version >= APIVersion(2, 16): - dispense_kwargs["push_out"] = 0.0 + if aspirate_flow_rate: + if self.api_version < APIVersion(2, 24): + raise APIVersionError( + api_element="aspirate_flow_rate", + until_version="2.24", + current_version=f"{self._api_version}", + ) + if rate != 1.0: + raise ValueError( + "rate must not be set if aspirate_flow_rate is specified" + ) + if dispense_flow_rate: + if self.api_version < APIVersion(2, 24): + raise APIVersionError( + api_element="dispense_flow_rate", + until_version="2.24", + current_version=f"{self._api_version}", + ) + if rate != 1.0: + raise ValueError( + "rate must not be set if dispense_flow_rate is specified" + ) + if aspirate_delay and self.api_version < APIVersion(2, 24): + raise APIVersionError( + api_element="aspirate_delay", + until_version="2.24", + current_version=f"{self._api_version}", + ) + if dispense_delay and self.api_version < APIVersion(2, 24): + raise APIVersionError( + api_element="dispense_delay", + until_version="2.24", + current_version=f"{self._api_version}", + ) + if final_push_out and self.api_version < APIVersion(2, 24): + raise APIVersionError( + api_element="final_push_out", + until_version="2.24", + current_version=f"{self._api_version}", + ) + + def delay_with_publish(seconds: float) -> None: + # We don't have access to ProtocolContext.delay() which would automatically + # publish a message to the broker, so we have to do it manually: + with publisher.publish_context( + broker=self.broker, + command=protocol_cmds.delay(seconds=seconds, minutes=0, msg=None), + ): + self._protocol_core.delay(seconds=seconds, msg=None) + + def aspirate_with_delay( + location: Optional[types.Location | labware.Well], + ) -> None: + self.aspirate(volume, location, rate, flow_rate=aspirate_flow_rate) + if aspirate_delay: + delay_with_publish(aspirate_delay) + + def dispense_with_delay(push_out: Optional[float]) -> None: + self.dispense( + volume, None, rate, flow_rate=dispense_flow_rate, push_out=push_out + ) + if dispense_delay: + delay_with_publish(dispense_delay) with publisher.publish_context( broker=self.broker, @@ -546,13 +679,22 @@ def mix( location=location, ), ): - self.aspirate(volume, location, rate) + aspirate_with_delay(location=location) with AutoProbeDisable(self): while repetitions - 1 > 0: - self.dispense(volume, rate=rate, **dispense_kwargs) - self.aspirate(volume, rate=rate) + # starting in 2.16, we disable push_out on all but the last + # dispense() to prevent the tip from jumping out of the liquid + # during the mix (PR #14004): + dispense_with_delay( + push_out=0 if self.api_version >= APIVersion(2, 16) else None + ) + # aspirate location was set above, do subsequent aspirates in-place: + aspirate_with_delay(location=None) repetitions -= 1 - self.dispense(volume, rate=rate) + if final_push_out is not None: + dispense_with_delay(push_out=final_push_out) + else: + dispense_with_delay(push_out=None) return self @requires_version(2, 0) @@ -583,6 +725,10 @@ def blow_out( without first calling a method that takes a location, like :py:meth:`.aspirate` or :py:meth:`dispense`. :returns: This instance. + + .. versionchanged:: 2.24 + ``location`` is no longer required if the pipette just moved to, dispensed, or blew out + into a trash bin or waste chute. """ well: Optional[labware.Well] = None move_to_location: types.Location @@ -623,17 +769,17 @@ def blow_out( well = target.well elif isinstance(target, validation.PointTarget): move_to_location = target.location - elif isinstance(target, (TrashBin, WasteChute)): + elif isinstance(target, validation.DisposalTarget): with publisher.publish_context( broker=self.broker, command=cmds.blow_out_in_disposal_location( - instrument=self, location=target + instrument=self, location=target.location ), ): self._core.blow_out( - location=target, + location=target.location, well_core=None, - in_place=False, + in_place=target.in_place, ) return self @@ -657,12 +803,13 @@ def _determine_speed(self, speed: float) -> float: @publisher.publish(command=cmds.touch_tip) @requires_version(2, 0) - def touch_tip( + def touch_tip( # noqa: C901 self, location: Optional[labware.Well] = None, radius: float = 1.0, v_offset: float = -1.0, speed: float = 60.0, + mm_from_edge: Union[float, _Unset] = _Unset(), ) -> InstrumentContext: """ Touch the pipette tip to the sides of a well, with the intent of removing leftover droplets. @@ -688,12 +835,28 @@ def touch_tip( - Maximum: 80.0 mm/s - Minimum: 1.0 mm/s :type speed: float + :param mm_from_edge: How far to move inside the well, as a distance from the + well's edge. + When ``mm_from_edge=0``, the pipette tip will move all the + way to the edge of the target well. When ``mm_from_edge=1``, + the pipette tip will move to 1 mm from the well's edge. + Lower values will press the tip harder into the well's + walls; higher values will touch the well more lightly, or + not at all. + ``mm_from_edge`` and ``radius`` are mutually exclusive: to + use ``mm_from_edge``, ``radius`` must be unspecified (left + to its default value of 1.0). + :type mm_from_edge: float :raises: ``UnexpectedTipRemovalError`` -- If no tip is attached to the pipette. :raises RuntimeError: If no location is specified and the location cache is ``None``. This should happen if ``touch_tip`` is called without first calling a method that takes a location, like :py:meth:`.aspirate` or :py:meth:`dispense`. + :raises: ValueError: If both ``mm_from_edge`` and ``radius`` are specified. :returns: This instance. + + .. versionchanged:: 2.24 + Added the ``mm_from_edge`` parameter. """ if not self._core.has_tip(): raise UnexpectedTipRemovalError("touch_tip", self.name, self.mount) @@ -703,8 +866,12 @@ def touch_tip( # If location is a valid well, move to the well first if location is None: last_location = self._protocol_core.get_last_location() - if not last_location: - raise RuntimeError("No valid current location cache present") + if last_location is None or isinstance( + last_location, (TrashBin, WasteChute) + ): + raise RuntimeError( + f"Cached location of {last_location} is not valid for touch tip." + ) parent_labware, well = last_location.labware.get_parent_labware_and_well() if not well or not parent_labware: raise RuntimeError( @@ -716,6 +883,18 @@ def touch_tip( else: raise TypeError(f"location should be a Well, but it is {location}") + if not isinstance(mm_from_edge, _Unset): + if self.api_version < APIVersion(2, 24): + raise APIVersionError( + api_element="mm_from_edge", + until_version="2.24", + current_version=f"{self.api_version}", + ) + if radius != 1.0: + raise ValueError( + "radius must be set to 1.0 if mm_from_edge is specified" + ) + if "touchTipDisabled" in parent_labware.quirks: _log.info(f"Ignoring touch tip on labware {well}") return self @@ -735,13 +914,19 @@ def touch_tip( radius=radius, z_offset=v_offset, speed=checked_speed, + mm_from_edge=mm_from_edge if not isinstance(mm_from_edge, _Unset) else None, ) return self @publisher.publish(command=cmds.air_gap) @requires_version(2, 0) - def air_gap( - self, volume: Optional[float] = None, height: Optional[float] = None + def air_gap( # noqa: C901 + self, + volume: Optional[float] = None, + height: Optional[float] = None, + in_place: Optional[bool] = None, + rate: Optional[float] = None, + flow_rate: Optional[float] = None, ) -> InstrumentContext: """ Draw air into the pipette's tip at the current well. @@ -756,12 +941,27 @@ def air_gap( the air gap. The default is 5 mm above the current well. :type height: float + :param in_place: Air gap at the pipette's current position, without moving to + some height above the well. If ``in_place`` is specified, + ``height`` must be unset. + :type in_place: bool + + :param rate: A multiplier for the default flow rate of the pipette. Calculated + as ``rate`` multiplied by :py:attr:`flow_rate.aspirate + `. If neither rate nor flow_rate is specified, the pipette + will aspirate at a rate of 1.0 * InstrumentContext.flow_rate.aspirate. See + :ref:`new-plunger-flow-rates`. + :type rate: float + + :param flow_rate: The rate, in µL/s, at which the pipette will draw in air. + :type flow_rate: float + :raises: ``UnexpectedTipRemovalError`` -- If no tip is attached to the pipette. - :raises RuntimeError: If location cache is ``None``. This should happen if - ``air_gap()`` is called without first calling a method - that takes a location (e.g., :py:meth:`.aspirate`, - :py:meth:`dispense`) + :raises RuntimeError: If location cache is ``None`` and the air gap is not + ``in_place``. This would happen if ``air_gap()`` is called + without first calling a method that takes a location (e.g., + :py:meth:`.aspirate`, :py:meth:`dispense`) :returns: This instance. @@ -779,22 +979,75 @@ def air_gap( .. versionchanged:: 2.22 No longer implemented as an aspirate. + .. versionchanged:: 2.24 + Added the ``in_place`` option. + .. versionchanged:: 2.24 + Adds the ``rate`` and ``flow_rate`` parameter. You can only define one or the other. If + both are unspecified then ``rate`` is by default set to 1.0. + Can air gap over a trash bin or waste chute. """ if not self._core.has_tip(): raise UnexpectedTipRemovalError("air_gap", self.name, self.mount) - if height is None: - height = 5 - loc = self._protocol_core.get_last_location() - if not loc or not loc.labware.is_well: - raise RuntimeError("No previous Well cached to perform air gap") - target = loc.labware.as_well().top(height) - self.move_to(target, publish=False) + if rate is not None and self.api_version < APIVersion(2, 24): + raise APIVersionError( + api_element="rate", + until_version="2.24", + current_version=f"{self._api_version}", + ) + + if flow_rate is not None and self.api_version < APIVersion(2, 24): + raise APIVersionError( + api_element="flow_rate", + until_version="2.24", + current_version=f"{self._api_version}", + ) + + if flow_rate is not None and rate is not None: + raise ValueError("Cannot define both flow_rate and rate.") + + if in_place: + if self.api_version < APIVersion(2, 24): + raise APIVersionError( + api_element="in_place", + until_version="2.24", + current_version=f"{self._api_version}", + ) + if height is not None: + raise ValueError("height must be unset if air gapping in_place") + else: + if height is None: + height = 5 + last_location = self._protocol_core.get_last_location() + if self.api_version < APIVersion(2, 24) and isinstance( + last_location, (TrashBin, WasteChute) + ): + last_location = None + if last_location is None or ( + isinstance(last_location, types.Location) + and not last_location.labware.is_well + ): + raise RuntimeError( + f"Cached location of {last_location} is not valid for air gap." + ) + target: Union[types.Location, TrashBin, WasteChute] + if isinstance(last_location, types.Location): + target = last_location.labware.as_well().top(height) + else: + target = last_location.top(height) + self.move_to(target, publish=False) + if self.api_version >= _AIR_GAP_TRACKING_ADDED_IN: self._core.prepare_to_aspirate() c_vol = self._core.get_available_volume() if volume is None else volume - flow_rate = self._core.get_aspirate_flow_rate() - self._core.air_gap_in_place(c_vol, flow_rate) + if flow_rate is not None: + calculated_rate = flow_rate + elif rate is not None: + calculated_rate = rate * self._core.get_aspirate_flow_rate() + else: + calculated_rate = self._core.get_aspirate_flow_rate() + + self._core.air_gap_in_place(c_vol, calculated_rate) else: self.aspirate(volume) return self @@ -1530,7 +1783,11 @@ def transfer_with_liquid_class( labware.Well, Sequence[labware.Well], Sequence[Sequence[labware.Well]] ], dest: Union[ - labware.Well, Sequence[labware.Well], Sequence[Sequence[labware.Well]] + labware.Well, + Sequence[labware.Well], + Sequence[Sequence[labware.Well]], + TrashBin, + WasteChute, ], new_tip: TransferTipPolicyV2Type = "once", trash_location: Optional[ @@ -1552,7 +1809,7 @@ def transfer_with_liquid_class( :param volume: The amount, in µL, to aspirate from each source and dispense to each destination. :param source: A single well or a list of wells to aspirate liquid from. - :param dest: A single well or a list of wells to dispense liquid into. + :param dest: A single well, list of wells, trash bin, or waste chute to dispense liquid into. :param new_tip: When to pick up and drop tips during the command. Defaults to ``"once"``. @@ -1560,6 +1817,8 @@ def transfer_with_liquid_class( - ``"always"``: Use a new tip for each set of aspirate and dispense steps. - ``"per source"``: Use one tip for each source well, even if :ref:`tip refilling ` is required. + - ``"per destination"``: Use one tip for each destination well, even if + :ref:`tip refilling ` is required. - ``"never"``: Do not pick up or drop tips at all. See :ref:`param-tip-handling` for details. @@ -1591,12 +1850,23 @@ def transfer_with_liquid_class( trash_location if trash_location is not None else self.trash_container ), ) - if len(transfer_args.sources_list) != len(transfer_args.destinations_list): - raise ValueError( - "Sources and destinations should be of the same length in order to perform a transfer." - " To transfer liquid from one source to many destinations, use 'distribute_liquid'," - " to transfer liquid onto one destinations from many sources, use 'consolidate_liquid'." - ) + + verified_dest: Union[ + List[Tuple[types.Location, WellCore]], TrashBin, WasteChute + ] + if isinstance(transfer_args.dest, (TrashBin, WasteChute)): + verified_dest = transfer_args.dest + else: + if len(transfer_args.source) != len(transfer_args.dest): + raise ValueError( + "Sources and destinations should be of the same length in order to perform a transfer." + " To transfer liquid from one source to many destinations, use 'distribute_liquid'," + " to transfer liquid to one destination from many sources, use 'consolidate_liquid'." + ) + verified_dest = [ + (types.Location(types.Point(), labware=well), well._core) + for well in transfer_args.dest + ] with publisher.publish_context( broker=self.broker, @@ -1613,12 +1883,9 @@ def transfer_with_liquid_class( volume=volume, source=[ (types.Location(types.Point(), labware=well), well._core) - for well in transfer_args.sources_list - ], - dest=[ - (types.Location(types.Point(), labware=well), well._core) - for well in transfer_args.destinations_list + for well in transfer_args.source ], + dest=verified_dest, new_tip=transfer_args.tip_policy, tip_racks=[ (types.Location(types.Point(), labware=rack), rack._core) @@ -1661,7 +1928,8 @@ def distribute_with_liquid_class( :param volume: The amount, in µL, to aspirate from the source and dispense to each destination. - :param source: A single well to aspirate liquid from. + :param source: A single well for the pipette to target, or a group of wells to + target in a single aspirate for a multi-channel pipette. :param dest: A list of wells to dispense liquid into. :param new_tip: When to pick up and drop tips during the command. Defaults to ``"once"``. @@ -1698,10 +1966,15 @@ def distribute_with_liquid_class( trash_location if trash_location is not None else self.trash_container ), ) - if len(transfer_args.sources_list) != 1: + if isinstance(transfer_args.dest, (TrashBin, WasteChute)): + raise ValueError( + "distribute_with_liquid_class() does not support trash bin or waste chute" + " as a destination." + ) + if len(transfer_args.source) != 1: raise ValueError( f"Source should be a single well (or resolve to a single transfer for multi-channel) " - f"but received {transfer_args.sources_list}." + f"but received {transfer_args.source}." ) if transfer_args.tip_policy not in [ TransferTipPolicyV2.ONCE, @@ -1713,7 +1986,7 @@ def distribute_with_liquid_class( f" 'once' and 'never'." ) - verified_source = transfer_args.sources_list[0] + verified_source = transfer_args.source[0] with publisher.publish_context( broker=self.broker, command=cmds.distribute_with_liquid_class( @@ -1733,7 +2006,7 @@ def distribute_with_liquid_class( ), dest=[ (types.Location(types.Point(), labware=well), well._core) - for well in transfer_args.destinations_list + for well in transfer_args.dest ], new_tip=transfer_args.tip_policy, # type: ignore[arg-type] tip_racks=[ @@ -1756,7 +2029,7 @@ def consolidate_with_liquid_class( source: Union[ labware.Well, Sequence[labware.Well], Sequence[Sequence[labware.Well]] ], - dest: Union[labware.Well, Sequence[labware.Well]], + dest: Union[labware.Well, Sequence[labware.Well], TrashBin, WasteChute], new_tip: TransferTipPolicyV2Type = "once", trash_location: Optional[ Union[types.Location, labware.Well, TrashBin, WasteChute] @@ -1778,7 +2051,9 @@ def consolidate_with_liquid_class( :param volume: The amount, in µL, to aspirate from the source and dispense to each destination. :param source: A list of wells to aspirate liquid from. - :param dest: A single well to dispense liquid into. + :param dest: A single well, list of wells, trash bin, or waste chute to dispense liquid into. + Multiple wells can only be given for multi-channel pipette configurations, and + must be able to be dispensed to in a single dispense. :param new_tip: When to pick up and drop tips during the command. Defaults to ``"once"``. @@ -1814,10 +2089,18 @@ def consolidate_with_liquid_class( trash_location if trash_location is not None else self.trash_container ), ) - if len(transfer_args.destinations_list) != 1: - raise ValueError( - f"Destination should be a single well (or resolve to a single transfer for multi-channel) " - f"but received {transfer_args.destinations_list}." + verified_dest: Union[Tuple[types.Location, WellCore], TrashBin, WasteChute] + if isinstance(transfer_args.dest, (TrashBin, WasteChute)): + verified_dest = transfer_args.dest + else: + if len(transfer_args.dest) != 1: + raise ValueError( + f"Destination should be a single well (or resolve to a single transfer for multi-channel) " + f"but received {transfer_args.dest}." + ) + verified_dest = ( + types.Location(types.Point(), labware=transfer_args.dest[0]), + transfer_args.dest[0]._core, ) if transfer_args.tip_policy not in [ TransferTipPolicyV2.ONCE, @@ -1829,7 +2112,6 @@ def consolidate_with_liquid_class( f" 'once' and 'never'." ) - verified_dest = transfer_args.destinations_list[0] with publisher.publish_context( broker=self.broker, command=cmds.consolidate_with_liquid_class( @@ -1845,12 +2127,9 @@ def consolidate_with_liquid_class( volume=volume, source=[ (types.Location(types.Point(), labware=well), well._core) - for well in transfer_args.sources_list + for well in transfer_args.source ], - dest=( - types.Location(types.Point(), labware=verified_dest), - verified_dest._core, - ), + dest=verified_dest, new_tip=transfer_args.tip_policy, # type: ignore[arg-type] tip_racks=[ (types.Location(types.Point(), labware=rack), rack._core) @@ -2413,14 +2692,22 @@ def well_bottom_clearance(self) -> "Clearances": """ return self._well_bottom_clearances - def _get_last_location_by_api_version(self) -> Optional[types.Location]: + def _get_last_location_by_api_version( + self, + ) -> Optional[Union[types.Location, TrashBin, WasteChute]]: """Get the last location accessed by this pipette, if any. In pre-engine Protocol API versions, this call omits the pipette mount. + Between 2.14 (first engine PAPI version) and 2.23 this only returns None or a Location object. This is to preserve pre-existing, potentially buggy behavior. """ - if self._api_version >= ENGINE_CORE_API_VERSION: + if self._api_version >= APIVersion(2, 24): return self._protocol_core.get_last_location(mount=self._core.get_mount()) + elif self._api_version >= ENGINE_CORE_API_VERSION: + last_location = self._protocol_core.get_last_location( + mount=self._core.get_mount() + ) + return last_location if isinstance(last_location, types.Location) else None else: return self._protocol_core.get_last_location() @@ -2476,7 +2763,11 @@ def configure_for_volume(self, volume: float) -> None: actual_value=str(volume), ) last_location = self._get_last_location_by_api_version() - if last_location and isinstance(last_location.labware, labware.Well): + if ( + last_location + and isinstance(last_location, types.Location) + and isinstance(last_location.labware, labware.Well) + ): self.move_to(last_location.labware.top()) self._core.configure_for_volume(volume) @@ -2498,19 +2789,19 @@ def prepare_to_aspirate(self) -> None: If the pipette is in a well, it will move out of the well, move the plunger, and then move back. - Use ``prepare_to_aspirate`` when you need to control exactly when the plunger + Use ``prepare_to_aspirate()`` when you need to control exactly when the plunger motion will happen. A common use case is a pre-wetting routine, which requires preparing for aspiration, moving into a well, and then aspirating *without leaving the well*:: pipette.move_to(well.bottom(z=2)) - pipette.delay(5) + protocol.delay(5) pipette.mix(10, 10) pipette.move_to(well.top(z=5)) pipette.blow_out() pipette.prepare_to_aspirate() pipette.move_to(well.bottom(z=2)) - pipette.delay(5) + protocol.delay(5) pipette.aspirate(10, well.bottom(z=2)) The call to ``prepare_to_aspirate()`` means that the plunger will be in the diff --git a/api/src/opentrons/protocol_api/labware.py b/api/src/opentrons/protocol_api/labware.py index 6580c004fa33..703f2292bc5a 100644 --- a/api/src/opentrons/protocol_api/labware.py +++ b/api/src/opentrons/protocol_api/labware.py @@ -346,6 +346,16 @@ def current_liquid_volume(self) -> LiquidTrackingType: """Get the current liquid volume in a well.""" return self._core.get_liquid_volume() + @requires_version(2, 24) + def volume_from_height(self, height: LiquidTrackingType) -> LiquidTrackingType: + """Return the volume contained in a well at any height.""" + return self._core.volume_from_height(height) + + @requires_version(2, 24) + def height_from_volume(self, volume: LiquidTrackingType) -> LiquidTrackingType: + """Return the height in a well corresponding to a given volume.""" + return self._core.height_from_volume(volume) + @requires_version(2, 21) def estimate_liquid_height_after_pipetting( self, diff --git a/api/src/opentrons/protocol_api/protocol_context.py b/api/src/opentrons/protocol_api/protocol_context.py index 5a6bf2c1352d..7b67e3efd4bf 100644 --- a/api/src/opentrons/protocol_api/protocol_context.py +++ b/api/src/opentrons/protocol_api/protocol_context.py @@ -1,6 +1,7 @@ from __future__ import annotations import logging +from copy import deepcopy from typing import ( Callable, Dict, @@ -13,6 +14,11 @@ ) from opentrons_shared_data.labware.types import LabwareDefinition +from opentrons_shared_data.liquid_classes.liquid_class_definition import ( + TransferProperties as SharedTransferProperties, +) +from opentrons_shared_data.liquid_classes import DEFAULT_LC_VERSION, definition_exists +from opentrons_shared_data.liquid_classes.types import TransferPropertiesDict from opentrons_shared_data.pipette.types import PipetteNameType from opentrons.types import Mount, Location, DeckLocation, DeckSlotName, StagingSlotName @@ -48,6 +54,7 @@ ) from opentrons_shared_data.errors.exceptions import CommandPreconditionViolated from opentrons.protocol_engine.errors import LabwareMovementNotAllowedError +from ._liquid_properties import build_transfer_properties from ._types import OffDeckType from .core.common import ModuleCore, LabwareCore, ProtocolCore @@ -196,6 +203,7 @@ def __init__( core=self._core.load_robot(), protocol_core=self._core, api_version=self._api_version, + broker=broker, ) except APIVersionError: self._robot = None @@ -1189,9 +1197,16 @@ def home(self) -> None: self._core.home() @property - def location_cache(self) -> Optional[Location]: - """The cache used by the robot to determine where it last was.""" - return self._core.get_last_location() + def location_cache(self) -> Optional[Union[Location, TrashBin, WasteChute]]: + """The cache used by the robot to determine where it last was. + + .. versionchanged:: 2.24 + Can return a ``TrashBin`` or ``WasteChute`` object. + """ + last_loc = self._core.get_last_location() + if isinstance(last_loc, Location) or self._api_version >= APIVersion(2, 24): + return last_loc + return None @location_cache.setter def location_cache(self, loc: Optional[Location]) -> None: @@ -1368,7 +1383,67 @@ def define_liquid_class( :meta private: """ - return self._core.define_liquid_class(name=name) + return self._core.define_liquid_class(name=name, version=DEFAULT_LC_VERSION) + + @requires_version(2, 24) + def define_custom_liquid_class( + self, + name: str, + properties: Dict[str, Dict[str, TransferPropertiesDict]], + base_liquid_class: Optional[LiquidClass] = None, + display_name: Optional[str] = None, + ) -> LiquidClass: + """Define a custom liquid class, either a completely new one or based on an existing one. + + Args: + name: The name to give to the new liquid class. Cannot use names of existing in-built liquid classes. + properties: A dict of transfer properties per tip per pipette. + Accepts a nested dictionary in the following format: + + .. code-block:: python + + { + : { + : + + # TransferPropertiesDict is a dictionary representation of the + # transfer properties returned by the `LiquidClass.get_for(..)` function. + }} + + base_liquid_class: A LiquidClass to base this liquid class on. The properties + specified in transfer_properties will override any existing ones + for the specified pipettes & tips. + display_name: An optional human-readable name for the liquid. If not provided, + will default to title-cased name. + + """ + if definition_exists(name, DEFAULT_LC_VERSION): + raise ValueError( + f"Liquid class named {name} already exists. Please specify a different name." + ) + new_liquid_class: LiquidClass + if base_liquid_class: + # If base liquid is provided, copy to new class + # and replace the entries mentioned in transfer props arg + new_liquid_class = deepcopy(base_liquid_class) + else: + new_liquid_class = LiquidClass.create_from( + name=name, + display_name=display_name or name.title(), + by_pipette_setting={}, + ) + for pipette, by_tiprack_props in properties.items(): + for tiprack, transfer_props in by_tiprack_props.items(): + new_liquid_class.update_for( + pipette=pipette, + tip_rack=tiprack, + transfer_properties=build_transfer_properties( + transfer_properties=SharedTransferProperties.model_validate( + transfer_props + ) + ), + ) + return new_liquid_class @property @requires_version(2, 5) diff --git a/api/src/opentrons/protocol_api/robot_context.py b/api/src/opentrons/protocol_api/robot_context.py index df14b8bb7c54..886de3ebc439 100644 --- a/api/src/opentrons/protocol_api/robot_context.py +++ b/api/src/opentrons/protocol_api/robot_context.py @@ -9,6 +9,8 @@ AxisType, StringAxisMap, ) +from opentrons.legacy_broker import LegacyBroker +from opentrons.legacy_commands import robot_commands as cmds from opentrons.legacy_commands import publisher from opentrons.hardware_control import SyncHardwareAPI from opentrons.protocols.api_support.util import requires_version @@ -49,8 +51,13 @@ class RobotContext(publisher.CommandPublisher): """ def __init__( - self, core: RobotCore, protocol_core: ProtocolCore, api_version: APIVersion + self, + core: RobotCore, + protocol_core: ProtocolCore, + api_version: APIVersion, + broker: Optional[LegacyBroker] = None, ) -> None: + super().__init__(broker) self._hardware = HardwareManager(hardware=protocol_core.get_hardware()) self._core = core self._protocol_core = protocol_core @@ -87,7 +94,16 @@ def move_to( :param speed: """ mount = validation.ensure_instrument_mount(mount) - self._core.move_to(mount, destination.point, speed) + with publisher.publish_context( + broker=self.broker, + command=cmds.move_to( + # This needs to be called from protocol context and not the command for import loop reasons + mount=mount, + location=destination, + speed=speed, + ), + ): + self._core.move_to(mount, destination.point, speed) @requires_version(2, 22) def move_axes_to( @@ -119,7 +135,15 @@ def move_axes_to( ) else: critical_point = None - self._core.move_axes_to(axis_map, critical_point, speed) + with publisher.publish_context( + broker=self.broker, + command=cmds.move_axis_to( + # This needs to be called from protocol context and not the command for import loop reasons + axis_map=axis_map, + speed=speed, + ), + ): + self._core.move_axes_to(axis_map, critical_point, speed) @requires_version(2, 22) def move_axes_relative( @@ -142,15 +166,33 @@ def move_axes_relative( axis_map = validation.ensure_axis_map_type( axis_map, self._protocol_core.robot_type, is_96_channel ) - self._core.move_axes_relative(axis_map, speed) + with publisher.publish_context( + broker=self.broker, + command=cmds.move_axis_relative( + # This needs to be called from protocol context and not the command for import loop reasons + axis_map=axis_map, + speed=speed, + ), + ): + self._core.move_axes_relative(axis_map, speed) def close_gripper_jaw(self, force: Optional[float] = None) -> None: """Command the gripper closed with some force.""" - self._core.close_gripper(force) + with publisher.publish_context( + broker=self.broker, + command=cmds.close_gripper( + force=force, + ), + ): + self._core.close_gripper(force) def open_gripper_jaw(self) -> None: """Command the gripper open.""" - self._core.release_grip() + with publisher.publish_context( + broker=self.broker, + command=cmds.open_gripper(), + ): + self._core.release_grip() def axis_coordinates_for( self, diff --git a/api/src/opentrons/protocol_api/validation.py b/api/src/opentrons/protocol_api/validation.py index 178a6fc54d8a..c3c3f923624d 100644 --- a/api/src/opentrons/protocol_api/validation.py +++ b/api/src/opentrons/protocol_api/validation.py @@ -545,6 +545,11 @@ class PointTarget(NamedTuple): in_place: bool +class DisposalTarget(NamedTuple): + location: Union[TrashBin, WasteChute] + in_place: bool + + class NoLocationError(ValueError): """Error representing that no location was supplied.""" @@ -553,12 +558,12 @@ class LocationTypeError(TypeError): """Error representing that the location supplied is of different expected type.""" -ValidTarget = Union[WellTarget, PointTarget, TrashBin, WasteChute] +ValidTarget = Union[WellTarget, PointTarget, DisposalTarget] def validate_location( - location: Union[Location, Well, TrashBin, WasteChute, None], - last_location: Optional[Location], + location: Optional[Union[Location, Well, TrashBin, WasteChute]], + last_location: Optional[Union[Location, TrashBin, WasteChute]], ) -> ValidTarget: """Validate a given location for a liquid handling command. @@ -569,9 +574,11 @@ def validate_location( Returns: A `WellTarget` if the input location represents a well. A `PointTarget` if the input location is an x, y, z coordinate. + A `TrashBin` if the input location is a trash bin + A `WasteChute` if the input location is a waste chute Raises: - NoLocationError: The is no input location and no cached loaction. + NoLocationError: There is no input location and no cached location. LocationTypeError: The location supplied is of unexpected type. """ from .labware import Well @@ -586,11 +593,11 @@ def validate_location( f"location should be a Well, Location, TrashBin or WasteChute, but it is {location}" ) - if isinstance(target_location, (TrashBin, WasteChute)): - return target_location - in_place = target_location == last_location + if isinstance(target_location, (TrashBin, WasteChute)): + return DisposalTarget(location=target_location, in_place=in_place) + if isinstance(target_location, Well): return WellTarget(well=target_location, location=None, in_place=in_place) @@ -662,7 +669,7 @@ def ensure_new_tip_policy(value: str) -> TransferTipPolicyV2: except ValueError: raise ValueError( f"'{value}' is invalid value for 'new_tip'." - f" Acceptable value is either 'never', 'once', 'always' or 'per source'." + f" Acceptable value is either 'never', 'once', 'always', 'per source' or 'per destination'." ) diff --git a/api/src/opentrons/protocol_engine/commands/aspirate_while_tracking.py b/api/src/opentrons/protocol_engine/commands/aspirate_while_tracking.py index 8c8958def99d..efe0bb5cb2ad 100644 --- a/api/src/opentrons/protocol_engine/commands/aspirate_while_tracking.py +++ b/api/src/opentrons/protocol_engine/commands/aspirate_while_tracking.py @@ -113,7 +113,6 @@ async def execute(self, params: AspirateWhileTrackingParams) -> _ExecuteReturn: labware_id=params.labwareId, well_name=params.wellName, well_location=params.wellLocation, - operation_volume=-params.volume, ) state_update.append(move_result.state_update) if isinstance(move_result, DefinedErrorData): diff --git a/api/src/opentrons/protocol_engine/commands/command_unions.py b/api/src/opentrons/protocol_engine/commands/command_unions.py index 3733537ab249..d2701e640035 100644 --- a/api/src/opentrons/protocol_engine/commands/command_unions.py +++ b/api/src/opentrons/protocol_engine/commands/command_unions.py @@ -498,8 +498,8 @@ robot.MoveTo, robot.MoveAxesRelative, robot.MoveAxesTo, - robot.openGripperJaw, - robot.closeGripperJaw, + robot.OpenGripperJaw, + robot.CloseGripperJaw, ], Field(discriminator="commandType"), ] @@ -599,8 +599,8 @@ robot.MoveAxesRelativeParams, robot.MoveAxesToParams, robot.MoveToParams, - robot.openGripperJawParams, - robot.closeGripperJawParams, + robot.OpenGripperJawParams, + robot.CloseGripperJawParams, ] CommandType = Union[ @@ -698,8 +698,8 @@ robot.MoveAxesRelativeCommandType, robot.MoveAxesToCommandType, robot.MoveToCommandType, - robot.openGripperJawCommandType, - robot.closeGripperJawCommandType, + robot.OpenGripperJawCommandType, + robot.CloseGripperJawCommandType, ] CommandCreate = Annotated[ @@ -798,8 +798,8 @@ robot.MoveAxesRelativeCreate, robot.MoveAxesToCreate, robot.MoveToCreate, - robot.openGripperJawCreate, - robot.closeGripperJawCreate, + robot.OpenGripperJawCreate, + robot.CloseGripperJawCreate, ], Field(discriminator="commandType"), ] @@ -906,8 +906,8 @@ robot.MoveAxesRelativeResult, robot.MoveAxesToResult, robot.MoveToResult, - robot.openGripperJawResult, - robot.closeGripperJawResult, + robot.OpenGripperJawResult, + robot.CloseGripperJawResult, ] diff --git a/api/src/opentrons/protocol_engine/commands/generate_command_schema.py b/api/src/opentrons/protocol_engine/commands/generate_command_schema.py index 0545e37b55d6..11715fda7822 100644 --- a/api/src/opentrons/protocol_engine/commands/generate_command_schema.py +++ b/api/src/opentrons/protocol_engine/commands/generate_command_schema.py @@ -11,7 +11,7 @@ def generate_command_schema(version: str) -> str: """Generate a JSON Schema that all valid create commands can validate against.""" - schema_as_dict = CommandCreateAdapter.json_schema(mode="validation") + schema_as_dict = CommandCreateAdapter.json_schema(mode="validation", by_alias=False) schema_as_dict["$id"] = f"opentronsCommandSchemaV{version}" schema_as_dict["$schema"] = "http://json-schema.org/draft-07/schema#" return json.dumps(schema_as_dict, indent=2, sort_keys=True) diff --git a/api/src/opentrons/protocol_engine/commands/get_next_tip.py b/api/src/opentrons/protocol_engine/commands/get_next_tip.py index 9e0cf3b50cf0..236c90001a37 100644 --- a/api/src/opentrons/protocol_engine/commands/get_next_tip.py +++ b/api/src/opentrons/protocol_engine/commands/get_next_tip.py @@ -73,8 +73,8 @@ async def execute(self, params: GetNextTipParams) -> SuccessData[GetNextTipResul pipette_id = params.pipetteId starting_tip_name = params.startingTipWell - num_tips = self._state_view.tips.get_pipette_active_channels(pipette_id) - nozzle_map = self._state_view.tips.get_pipette_nozzle_map(pipette_id) + num_tips = self._state_view.pipettes.get_active_channels(pipette_id) + nozzle_map = self._state_view.pipettes.get_nozzle_configuration(pipette_id) if ( starting_tip_name is not None diff --git a/api/src/opentrons/protocol_engine/commands/pick_up_tip.py b/api/src/opentrons/protocol_engine/commands/pick_up_tip.py index 0d35312364ab..f9463573a5e5 100644 --- a/api/src/opentrons/protocol_engine/commands/pick_up_tip.py +++ b/api/src/opentrons/protocol_engine/commands/pick_up_tip.py @@ -121,6 +121,12 @@ async def execute( labware_id = params.labwareId well_name = params.wellName + tips_to_mark_as_used = self._state_view.tips.compute_tips_to_mark_as_used( + labware_id=labware_id, + well_name=well_name, + nozzle_map=self._state_view.pipettes.get_nozzle_configuration(pipette_id), + ) + well_location = self._state_view.geometry.convert_pick_up_tip_well_location( well_location=params.wellLocation ) @@ -152,7 +158,7 @@ async def execute( ) .set_fluid_empty(pipette_id=pipette_id, clean_tip=True) .mark_tips_as_used( - pipette_id=pipette_id, labware_id=labware_id, well_name=well_name + labware_id=labware_id, well_names=tips_to_mark_as_used ) ) state_update = ( @@ -160,7 +166,7 @@ async def execute( update_types.StateUpdate(), move_result.state_update ) .mark_tips_as_used( - pipette_id=pipette_id, labware_id=labware_id, well_name=well_name + labware_id=labware_id, well_names=tips_to_mark_as_used ) .set_fluid_unknown(pipette_id=pipette_id) ) @@ -186,7 +192,7 @@ async def execute( tip_geometry=tip_geometry, ) .mark_tips_as_used( - pipette_id=pipette_id, labware_id=labware_id, well_name=well_name + labware_id=labware_id, well_names=tips_to_mark_as_used ) .set_fluid_empty(pipette_id=pipette_id, clean_tip=True) .set_pipette_ready_to_aspirate( diff --git a/api/src/opentrons/protocol_engine/commands/robot/__init__.py b/api/src/opentrons/protocol_engine/commands/robot/__init__.py index 048fecd09fe7..5cfd0d7c12ed 100644 --- a/api/src/opentrons/protocol_engine/commands/robot/__init__.py +++ b/api/src/opentrons/protocol_engine/commands/robot/__init__.py @@ -22,18 +22,18 @@ MoveAxesRelativeCommandType, ) from .open_gripper_jaw import ( - openGripperJaw, - openGripperJawCreate, - openGripperJawParams, - openGripperJawResult, - openGripperJawCommandType, + OpenGripperJaw, + OpenGripperJawCreate, + OpenGripperJawParams, + OpenGripperJawResult, + OpenGripperJawCommandType, ) from .close_gripper_jaw import ( - closeGripperJaw, - closeGripperJawCreate, - closeGripperJawParams, - closeGripperJawResult, - closeGripperJawCommandType, + CloseGripperJaw, + CloseGripperJawCreate, + CloseGripperJawParams, + CloseGripperJawResult, + CloseGripperJawCommandType, ) __all__ = [ @@ -56,15 +56,15 @@ "MoveAxesRelativeResult", "MoveAxesRelativeCommandType", # robot/openGripperJaw - "openGripperJaw", - "openGripperJawCreate", - "openGripperJawParams", - "openGripperJawResult", - "openGripperJawCommandType", + "OpenGripperJaw", + "OpenGripperJawCreate", + "OpenGripperJawParams", + "OpenGripperJawResult", + "OpenGripperJawCommandType", # robot/closeGripperJaw - "closeGripperJaw", - "closeGripperJawCreate", - "closeGripperJawParams", - "closeGripperJawResult", - "closeGripperJawCommandType", + "CloseGripperJaw", + "CloseGripperJawCreate", + "CloseGripperJawParams", + "CloseGripperJawResult", + "CloseGripperJawCommandType", ] diff --git a/api/src/opentrons/protocol_engine/commands/robot/close_gripper_jaw.py b/api/src/opentrons/protocol_engine/commands/robot/close_gripper_jaw.py index 5ff11891a1ba..0a0a845f7a0d 100644 --- a/api/src/opentrons/protocol_engine/commands/robot/close_gripper_jaw.py +++ b/api/src/opentrons/protocol_engine/commands/robot/close_gripper_jaw.py @@ -1,6 +1,7 @@ """Command models for opening a gripper jaw.""" + from __future__ import annotations -from typing import Literal, Type, Optional, Any +from typing import Literal, Type, Optional, Any, TYPE_CHECKING from pydantic import BaseModel, Field from pydantic.json_schema import SkipJsonSchema @@ -16,15 +17,18 @@ ) from opentrons.protocol_engine.errors.error_occurrence import ErrorOccurrence +if TYPE_CHECKING: + from ...state.state import StateView + -closeGripperJawCommandType = Literal["robot/closeGripperJaw"] +CloseGripperJawCommandType = Literal["robot/closeGripperJaw"] def _remove_default(s: dict[str, Any]) -> None: s.pop("default", None) -class closeGripperJawParams(BaseModel): +class CloseGripperJawParams(BaseModel): """Payload required to close a gripper.""" force: float | SkipJsonSchema[None] = Field( @@ -34,53 +38,59 @@ class closeGripperJawParams(BaseModel): ) -class closeGripperJawResult(BaseModel): - """Result data from the execution of a closeGripperJaw command.""" +class CloseGripperJawResult(BaseModel): + """Result data from the execution of a CloseGripperJaw command.""" pass -class closeGripperJawImplementation( - AbstractCommandImpl[closeGripperJawParams, SuccessData[closeGripperJawResult]] +class CloseGripperJawImplementation( + AbstractCommandImpl[CloseGripperJawParams, SuccessData[CloseGripperJawResult]] ): - """closeGripperJaw command implementation.""" + """CloseGripperJaw command implementation.""" def __init__( self, hardware_api: HardwareControlAPI, + state_view: StateView, **kwargs: object, ) -> None: self._hardware_api = hardware_api + self._state_view = state_view async def execute( - self, params: closeGripperJawParams - ) -> SuccessData[closeGripperJawResult]: + self, params: CloseGripperJawParams + ) -> SuccessData[CloseGripperJawResult]: """Release the gripper.""" + if self._state_view.config.use_virtual_gripper: + return SuccessData( + public=CloseGripperJawResult(), + ) ot3_hardware_api = ensure_ot3_hardware(self._hardware_api) await ot3_hardware_api.grip(force_newtons=params.force) return SuccessData( - public=closeGripperJawResult(), + public=CloseGripperJawResult(), ) -class closeGripperJaw( - BaseCommand[closeGripperJawParams, closeGripperJawResult, ErrorOccurrence] +class CloseGripperJaw( + BaseCommand[CloseGripperJawParams, CloseGripperJawResult, ErrorOccurrence] ): - """closeGripperJaw command model.""" + """CloseGripperJaw command model.""" - commandType: closeGripperJawCommandType = "robot/closeGripperJaw" - params: closeGripperJawParams - result: Optional[closeGripperJawResult] = None + commandType: CloseGripperJawCommandType = "robot/closeGripperJaw" + params: CloseGripperJawParams + result: Optional[CloseGripperJawResult] = None _ImplementationCls: Type[ - closeGripperJawImplementation - ] = closeGripperJawImplementation + CloseGripperJawImplementation + ] = CloseGripperJawImplementation -class closeGripperJawCreate(BaseCommandCreate[closeGripperJawParams]): - """closeGripperJaw command request model.""" +class CloseGripperJawCreate(BaseCommandCreate[CloseGripperJawParams]): + """CloseGripperJaw command request model.""" - commandType: closeGripperJawCommandType = "robot/closeGripperJaw" - params: closeGripperJawParams + commandType: CloseGripperJawCommandType = "robot/closeGripperJaw" + params: CloseGripperJawParams - _CommandCls: Type[closeGripperJaw] = closeGripperJaw + _CommandCls: Type[CloseGripperJaw] = CloseGripperJaw diff --git a/api/src/opentrons/protocol_engine/commands/robot/open_gripper_jaw.py b/api/src/opentrons/protocol_engine/commands/robot/open_gripper_jaw.py index 83b586473944..5d25fd4fcfca 100644 --- a/api/src/opentrons/protocol_engine/commands/robot/open_gripper_jaw.py +++ b/api/src/opentrons/protocol_engine/commands/robot/open_gripper_jaw.py @@ -1,6 +1,7 @@ """Command models for opening a gripper jaw.""" + from __future__ import annotations -from typing import Literal, Type, Optional +from typing import Literal, Type, Optional, TYPE_CHECKING from opentrons.hardware_control import HardwareControlAPI from opentrons.protocol_engine.resources import ensure_ot3_hardware @@ -14,64 +15,72 @@ ) from opentrons.protocol_engine.errors.error_occurrence import ErrorOccurrence +if TYPE_CHECKING: + from ...state.state import StateView + -openGripperJawCommandType = Literal["robot/openGripperJaw"] +OpenGripperJawCommandType = Literal["robot/openGripperJaw"] -class openGripperJawParams(BaseModel): +class OpenGripperJawParams(BaseModel): """Payload required to release a gripper.""" pass -class openGripperJawResult(BaseModel): +class OpenGripperJawResult(BaseModel): """Result data from the execution of a openGripperJaw command.""" pass -class openGripperJawImplementation( - AbstractCommandImpl[openGripperJawParams, SuccessData[openGripperJawResult]] +class OpenGripperJawImplementation( + AbstractCommandImpl[OpenGripperJawParams, SuccessData[OpenGripperJawResult]] ): """openGripperJaw command implementation.""" def __init__( self, hardware_api: HardwareControlAPI, + state_view: StateView, **kwargs: object, ) -> None: self._hardware_api = hardware_api + self._state_view = state_view async def execute( - self, params: openGripperJawParams - ) -> SuccessData[openGripperJawResult]: + self, params: OpenGripperJawParams + ) -> SuccessData[OpenGripperJawResult]: """Release the gripper.""" + if self._state_view.config.use_virtual_gripper: + return SuccessData(public=OpenGripperJawResult()) + ot3_hardware_api = ensure_ot3_hardware(self._hardware_api) await ot3_hardware_api.home_gripper_jaw() return SuccessData( - public=openGripperJawResult(), + public=OpenGripperJawResult(), ) -class openGripperJaw( - BaseCommand[openGripperJawParams, openGripperJawResult, ErrorOccurrence] +class OpenGripperJaw( + BaseCommand[OpenGripperJawParams, OpenGripperJawResult, ErrorOccurrence] ): """openGripperJaw command model.""" - commandType: openGripperJawCommandType = "robot/openGripperJaw" - params: openGripperJawParams - result: Optional[openGripperJawResult] = None + commandType: OpenGripperJawCommandType = "robot/openGripperJaw" + params: OpenGripperJawParams + result: Optional[OpenGripperJawResult] = None _ImplementationCls: Type[ - openGripperJawImplementation - ] = openGripperJawImplementation + OpenGripperJawImplementation + ] = OpenGripperJawImplementation -class openGripperJawCreate(BaseCommandCreate[openGripperJawParams]): +class OpenGripperJawCreate(BaseCommandCreate[OpenGripperJawParams]): """openGripperJaw command request model.""" - commandType: openGripperJawCommandType = "robot/openGripperJaw" - params: openGripperJawParams + commandType: OpenGripperJawCommandType = "robot/openGripperJaw" + params: OpenGripperJawParams - _CommandCls: Type[openGripperJaw] = openGripperJaw + _CommandCls: Type[OpenGripperJaw] = OpenGripperJaw diff --git a/api/src/opentrons/protocol_engine/commands/seal_pipette_to_tip.py b/api/src/opentrons/protocol_engine/commands/seal_pipette_to_tip.py index 762dec4e47e8..7af38a62dfbb 100644 --- a/api/src/opentrons/protocol_engine/commands/seal_pipette_to_tip.py +++ b/api/src/opentrons/protocol_engine/commands/seal_pipette_to_tip.py @@ -273,7 +273,7 @@ async def execute( # Begin relative pickup steps for the resin tips - channels = self._state_view.tips.get_pipette_active_channels(pipette_id) + channels = self._state_view.pipettes.get_active_channels(pipette_id) mount = self._state_view.pipettes.get_mount(pipette_id) tip_pick_up_params = params.tipPickUpParams diff --git a/api/src/opentrons/protocol_engine/commands/unsafe/__init__.py b/api/src/opentrons/protocol_engine/commands/unsafe/__init__.py index eb138d89914d..e148a0488d27 100644 --- a/api/src/opentrons/protocol_engine/commands/unsafe/__init__.py +++ b/api/src/opentrons/protocol_engine/commands/unsafe/__init__.py @@ -1,4 +1,20 @@ -"""Commands that will cause inaccuracy or incorrect behavior but are still necessary.""" +"""Commands that are "unsafe". + +"Unsafe" means that they can cause inaccuracy or incorrect behavior. They should +therefore never be used in protocols, and should only be used otherwise as a last +resort. + +These exist as a necessary evil for implementing things like error recovery. +Even in those narrow contexts, these commands must be used with care. +e.g. after an `UpdatePositionEstimators` command, there must be a `Home` command, +or positioning will be subtly wrong. Each unsafe command should document its intended +use case and its caveats. + +Because we don't expect unsafe commands to be used in any protocols whose behavior we +must preserve, we may change the commands' semantics over time. We may also change +their shapes if we're confident that it won't break something in robot-server's +persistent storage. +""" from .unsafe_blow_out_in_place import ( UnsafeBlowOutInPlaceCommandType, diff --git a/api/src/opentrons/protocol_engine/commands/unsafe/unsafe_drop_tip_in_place.py b/api/src/opentrons/protocol_engine/commands/unsafe/unsafe_drop_tip_in_place.py index 33542d37f60c..fcea7075473c 100644 --- a/api/src/opentrons/protocol_engine/commands/unsafe/unsafe_drop_tip_in_place.py +++ b/api/src/opentrons/protocol_engine/commands/unsafe/unsafe_drop_tip_in_place.py @@ -81,8 +81,7 @@ async def execute( pipette_id=params.pipetteId, home_after=params.homeAfter, ignore_plunger=( - self._state_view.tips.get_pipette_active_channels(params.pipetteId) - == 96 + self._state_view.pipettes.get_active_channels(params.pipetteId) == 96 ), ) diff --git a/api/src/opentrons/protocol_engine/execution/labware_movement.py b/api/src/opentrons/protocol_engine/execution/labware_movement.py index f85f3ecf0d3a..6a862ea1681c 100644 --- a/api/src/opentrons/protocol_engine/execution/labware_movement.py +++ b/api/src/opentrons/protocol_engine/execution/labware_movement.py @@ -61,6 +61,7 @@ def __init__( """Initialize a LabwareMovementHandler instance.""" self._hardware_api = hardware_api self._state_store = state_store + self._equipment = equipment self._thermocycler_plate_lifter = ( thermocycler_plate_lifter or ThermocyclerPlateLifter( @@ -72,7 +73,13 @@ def __init__( self._tc_movement_flagger = ( thermocycler_movement_flagger or ThermocyclerMovementFlagger( - state_store=self._state_store, hardware_api=self._hardware_api + state_store=self._state_store, + hardware_api=self._hardware_api, + equipment=self._equipment + or EquipmentHandler( + hardware_api=self._hardware_api, + state_store=self._state_store, + ), ) ) self._hs_movement_flagger = ( @@ -264,7 +271,7 @@ async def ensure_movement_not_obstructed_by_module( ) for parent in (current_parent, new_location): try: - await self._tc_movement_flagger.raise_if_labware_in_non_open_thermocycler( + await self._tc_movement_flagger.ensure_labware_in_open_thermocycler( labware_parent=parent ) await self._hs_movement_flagger.raise_if_labware_latched_on_heater_shaker( diff --git a/api/src/opentrons/protocol_engine/execution/movement.py b/api/src/opentrons/protocol_engine/execution/movement.py index be8bbbb8de2f..c1efd7f70050 100644 --- a/api/src/opentrons/protocol_engine/execution/movement.py +++ b/api/src/opentrons/protocol_engine/execution/movement.py @@ -24,6 +24,7 @@ from .heater_shaker_movement_flagger import HeaterShakerMovementFlagger from .gantry_mover import GantryMover +from .equipment import EquipmentHandler log = logging.getLogger(__name__) @@ -43,6 +44,7 @@ def __init__( model_utils: Optional[ModelUtils] = None, thermocycler_movement_flagger: Optional[ThermocyclerMovementFlagger] = None, heater_shaker_movement_flagger: Optional[HeaterShakerMovementFlagger] = None, + equipment: Optional[EquipmentHandler] = None, ) -> None: """Initialize a MovementHandler instance.""" self._state_store = state_store @@ -50,7 +52,13 @@ def __init__( self._tc_movement_flagger = ( thermocycler_movement_flagger or ThermocyclerMovementFlagger( - state_store=self._state_store, hardware_api=hardware_api + state_store=self._state_store, + hardware_api=hardware_api, + equipment=equipment + or EquipmentHandler( + hardware_api=hardware_api, + state_store=state_store, + ), ) ) self._hs_movement_flagger = ( @@ -83,8 +91,7 @@ async def move_to_well( self._state_store.labware.raise_if_labware_has_labware_on_top( labware_id=labware_id ) - - await self._tc_movement_flagger.raise_if_labware_in_non_open_thermocycler( + await self._tc_movement_flagger.ensure_labware_in_open_thermocycler( labware_parent=self._state_store.labware.get_location(labware_id=labware_id) ) @@ -105,9 +112,7 @@ async def move_to_well( self._hs_movement_flagger.raise_if_movement_restricted( hs_movement_restrictors=hs_movement_restrictors, destination_slot=dest_slot_int, - is_multi_channel=( - self._state_store.tips.get_pipette_channels(pipette_id) > 1 - ), + is_multi_channel=(self._state_store.pipettes.get_channels(pipette_id) > 1), destination_is_tip_rack=self._state_store.labware.is_tiprack(labware_id), ) @@ -204,9 +209,7 @@ async def move_to_addressable_area( self._hs_movement_flagger.raise_if_movement_restricted( hs_movement_restrictors=hs_movement_restrictors, destination_slot=dest_slot_int, - is_multi_channel=( - self._state_store.tips.get_pipette_channels(pipette_id) > 1 - ), + is_multi_channel=(self._state_store.pipettes.get_channels(pipette_id) > 1), destination_is_tip_rack=False, ) diff --git a/api/src/opentrons/protocol_engine/execution/queue_worker.py b/api/src/opentrons/protocol_engine/execution/queue_worker.py index 015adf085c90..2f00c0ed2082 100644 --- a/api/src/opentrons/protocol_engine/execution/queue_worker.py +++ b/api/src/opentrons/protocol_engine/execution/queue_worker.py @@ -72,7 +72,14 @@ async def _run_commands(self) -> None: try: await self._command_executor.execute(command_id=command_id) except BaseException: - log.exception("Unhandled failure in command executor") + log.exception( + # The state can tear if e.g. we've finished updating PipetteStore, + # but the exception came before we could update LabwareStore. Or + # the exception could have interrupted updating a single store. + "Unhandled failure in command executor." + " This is a bug in opentrons.protocol_engine" + " and has probably left the ProtocolEngine in a torn state." + ) raise # Yield to the event loop in case we're executing a long sequence of commands # that never yields internally. For example, a long sequence of comment commands. diff --git a/api/src/opentrons/protocol_engine/execution/thermocycler_movement_flagger.py b/api/src/opentrons/protocol_engine/execution/thermocycler_movement_flagger.py index 742bc6b4278d..3ea43c0acb19 100644 --- a/api/src/opentrons/protocol_engine/execution/thermocycler_movement_flagger.py +++ b/api/src/opentrons/protocol_engine/execution/thermocycler_movement_flagger.py @@ -1,15 +1,18 @@ """Helpers for flagging unsafe movements to a Thermocycler Module.""" - from typing import Optional from opentrons.drivers.types import ThermocyclerLidStatus from opentrons.hardware_control import HardwareControlAPI from opentrons.hardware_control.modules import Thermocycler as HardwareThermocycler + +from opentrons.protocol_engine.state.module_substates import ThermocyclerModuleId from ..types import ModuleLocation, LabwareLocation from ..state.state import StateStore from ..errors import ThermocyclerNotOpenError, WrongModuleTypeError +from .equipment import EquipmentHandler + class ThermocyclerMovementFlagger: """A helper for flagging unsafe movements to a Thermocycler Module. @@ -19,7 +22,10 @@ class ThermocyclerMovementFlagger: """ def __init__( - self, state_store: StateStore, hardware_api: HardwareControlAPI + self, + state_store: StateStore, + hardware_api: HardwareControlAPI, + equipment: EquipmentHandler, ) -> None: """Initialize the ThermocyclerMovementFlagger. @@ -28,18 +34,59 @@ def __init__( which Thermocycler a labware is in, if any. hardware_api: The underlying hardware interface. Used to query Thermocyclers' current lid states. + equipment: The protocol engine interface to move a present thermocycler to an + operable state if need be. """ self._state_store = state_store self._hardware_api = hardware_api + self._equipment = equipment + + async def _verify_tc_lid_status(self, module_id: str) -> None: + """Ensure the thermocycler's lid state is correct or raise an error.""" + try: + hw_tc_lid_status = await self._get_hardware_thermocycler_lid_status( + module_id=module_id + ) + except self._HardwareThermocyclerMissingError as e: + raise ThermocyclerNotOpenError( + "Thermocycler must be open when moving to labware inside it," + " but can't confirm Thermocycler's current status." + ) from e + + if ( + hw_tc_lid_status == ThermocyclerLidStatus.IN_BETWEEN + or hw_tc_lid_status == ThermocyclerLidStatus.UNKNOWN + ): + # NOTE(cm): due to a potential hardware bug, the thermocycler might lose its position + # status when idling in an open position and default to UNKNOWN or IN_BETWEEN. + # This tries to recover only from an unexpected known position. + await self._open_tc_lid(module_id=module_id) + hw_tc_lid_status = await self._get_hardware_thermocycler_lid_status( + module_id=module_id + ) + if hw_tc_lid_status != ThermocyclerLidStatus.OPEN: + raise ThermocyclerNotOpenError( + f"Thermocycler must be open when moving to labware inside it," + f' but Thermocycler is currently "{hw_tc_lid_status}".' + ) + + async def _open_tc_lid(self, module_id: str) -> None: + """Try to open the thermocycler lid.""" + tc_hardware = self._equipment.get_module_hardware_api( + ThermocyclerModuleId(module_id) + ) + if tc_hardware: + await tc_hardware.open() - async def raise_if_labware_in_non_open_thermocycler( + async def ensure_labware_in_open_thermocycler( self, labware_parent: LabwareLocation ) -> None: """Flag unsafe movements to a Thermocycler. If the given labware is in a Thermocycler, and that Thermocycler's lid isn't currently open according the engine's thermocycler state as well as - the hardware API (for non-virtual modules), raises ThermocyclerNotOpenError. + the hardware API (for non-virtual modules), tries to open the thermocycler lid. + If this is unsuccessful, raises ThermocyclerNotOpenError. If it is a virtual module, checks only for thermocycler lid state in engine. Otherwise, no-ops. @@ -81,21 +128,7 @@ async def raise_if_labware_in_non_open_thermocycler( # There is a chance that the engine might not have the latest lid status; # do a hardware state check just to be sure that the lid is truly open. if not self._state_store.config.use_virtual_modules: - try: - hw_tc_lid_status = await self._get_hardware_thermocycler_lid_status( - module_id=tc_substate.module_id - ) - except self._HardwareThermocyclerMissingError as e: - raise ThermocyclerNotOpenError( - "Thermocycler must be open when moving to labware inside it," - " but can't confirm Thermocycler's current status." - ) from e - - if hw_tc_lid_status != ThermocyclerLidStatus.OPEN: - raise ThermocyclerNotOpenError( - f"Thermocycler must be open when moving to labware inside it," - f' but Thermocycler is currently "{hw_tc_lid_status}".' - ) + await self._verify_tc_lid_status(module_id=module_id) async def _get_hardware_thermocycler_lid_status( self, diff --git a/api/src/opentrons/protocol_engine/state/_well_math.py b/api/src/opentrons/protocol_engine/state/_well_math.py index 2d0998580f59..5a9d19a621c7 100644 --- a/api/src/opentrons/protocol_engine/state/_well_math.py +++ b/api/src/opentrons/protocol_engine/state/_well_math.py @@ -63,7 +63,7 @@ def wells_covered_dense( # noqa: C901 row_downsample = len(target_wells_by_column[0]) // 8 if column_downsample < 1 or row_downsample < 1: raise InvalidStoredData( - "This labware cannot be used wells_covered_dense because it is less dense than an SBS 96 standard" + "This labware cannot be used with wells_covered_dense() because it is less dense than an SBS 96 standard" ) for nozzle_column in range(len(nozzle_map.columns)): @@ -126,7 +126,7 @@ def wells_covered_sparse( # noqa: C901 row_upsample = 8 // len(target_wells_by_column[0]) if column_upsample < 1 or row_upsample < 1: raise InvalidStoredData( - "This labware cannot be used with wells_covered_sparse because it is more dense than an SBS 96 standard." + "This labware cannot be used with wells_covered_sparse() because it is more dense than an SBS 96 standard." ) for nozzle_column in range(max(1, len(nozzle_map.columns) // column_upsample)): for nozzle_row in range(max(1, len(nozzle_map.rows) // row_upsample)): diff --git a/api/src/opentrons/protocol_engine/state/commands.py b/api/src/opentrons/protocol_engine/state/commands.py index dd8ec108687c..ff90658bbd76 100644 --- a/api/src/opentrons/protocol_engine/state/commands.py +++ b/api/src/opentrons/protocol_engine/state/commands.py @@ -611,49 +611,35 @@ def get_slice( """Get a subset of commands around a given cursor. If the cursor is omitted, a cursor will be selected automatically - based on the currently running or most recently executed command. + based on the currently running or most recently executed command, + and the slice of commands returned is the previous `length` commands + inclusive of the currently running or most recently executed command. """ command_ids = self._state.command_history.get_filtered_command_ids( include_fixit_commands=include_fixit_commands ) - running_command = self._state.command_history.get_running_command() - queued_command_ids = self._state.command_history.get_queue_ids() total_length = len(command_ids) - # TODO(mm, 2024-05-17): This looks like it's attempting to do the same thing - # as self.get_current(), but in a different way. Can we unify them? if cursor is None: - if running_command is not None: - cursor = running_command.index - elif len(queued_command_ids) > 0: - # Get the most recently executed command, - # which we can find just before the first queued command. - cursor = ( - self._state.command_history.get(queued_command_ids.head()).index - 1 - ) - elif ( - self._state.run_result - and self._state.run_result == RunResult.FAILED - and self._state.failed_command - ): - # Currently, if the run fails, we mark all the commands we didn't - # reach as failed. This makes command status alone insufficient to - # find the most recent command that actually executed, so we need to - # store that separately. - cursor = self._state.failed_command.index + current_pointer = self.get_current() + + if current_pointer is not None: + cursor = current_pointer.index else: - cursor = total_length - length + cursor = total_length - 1 + + cursor = max(cursor - length + 1, 0) # start is inclusive, stop is exclusive - actual_cursor = max(0, min(cursor, total_length - 1)) - stop = min(total_length, actual_cursor + length) + start = max(0, min(cursor, total_length - 1)) + stop = min(total_length, start + length) commands = self._state.command_history.get_slice( - start=actual_cursor, stop=stop, command_ids=command_ids + start=start, stop=stop, command_ids=command_ids ) return CommandSlice( commands=commands, - cursor=actual_cursor, + cursor=start, total_length=total_length, ) diff --git a/api/src/opentrons/protocol_engine/state/frustum_helpers.py b/api/src/opentrons/protocol_engine/state/frustum_helpers.py index 2c288a37200f..28c4bdadd29f 100644 --- a/api/src/opentrons/protocol_engine/state/frustum_helpers.py +++ b/api/src/opentrons/protocol_engine/state/frustum_helpers.py @@ -88,10 +88,12 @@ def _circular_frustum_polynomial_roots( def _volume_from_height_circular( target_height: float, segment: ConicalFrustum ) -> float: - """Find the volume given a height within a circular frustum.""" - heights = segment.height_to_volume_table.keys() - best_fit_height = min(heights, key=lambda x: abs(x - target_height)) - return segment.height_to_volume_table[best_fit_height] + return segment.volume_from_height_circular( + top_radius=segment.topDiameter / 2, + bottom_radius=segment.bottomDiameter / 2, + target_height=target_height, + total_height=segment.topHeight - segment.bottomHeight, + ) def _volume_from_height_rectangular( @@ -138,9 +140,7 @@ def _height_from_volume_circular( target_volume: float, segment: ConicalFrustum ) -> float: """Find the height given a volume within a squared cone segment.""" - volumes = segment.volume_to_height_table.keys() - best_fit_volume = min(volumes, key=lambda x: abs(x - target_volume)) - return segment.volume_to_height_table[best_fit_volume] + return segment.height_from_volume_search(target_volume) def _height_from_volume_rectangular( @@ -401,8 +401,12 @@ def _find_height_in_partial_frustum( ) -> float: """Look through a sorted list of frusta for a target volume, and find the height at that volume.""" bottom_section_volume = 0.0 + if target_volume == 0.0: + return 0.0 for section, capacity in zip(sorted_well, volumetric_capacity): section_top_height, section_volume = capacity + if target_volume == section_volume + bottom_section_volume: + return section_top_height if ( bottom_section_volume <= target_volume diff --git a/api/src/opentrons/protocol_engine/state/modules.py b/api/src/opentrons/protocol_engine/state/modules.py index fdd2e9e397c1..d0047b8c8c63 100644 --- a/api/src/opentrons/protocol_engine/state/modules.py +++ b/api/src/opentrons/protocol_engine/state/modules.py @@ -1361,7 +1361,7 @@ def convert_absorbance_reader_data_points(data: List[float]) -> Dict[str, float] col = (i % 12) + 1 # Convert index to column (1-12) well_key = f"{row}{col}" # Truncate the value to the third decimal place - well_map[well_key] = math.floor(value * 1000) / 1000 + well_map[well_key] = max(0.0, math.floor(value * 1000) / 1000) return well_map else: raise ValueError( diff --git a/api/src/opentrons/protocol_engine/state/pipettes.py b/api/src/opentrons/protocol_engine/state/pipettes.py index 518753f822eb..189d312d76e8 100644 --- a/api/src/opentrons/protocol_engine/state/pipettes.py +++ b/api/src/opentrons/protocol_engine/state/pipettes.py @@ -650,6 +650,10 @@ def get_channels(self, pipette_id: str) -> int: """Return the max channels of the pipette.""" return self.get_config(pipette_id).channels + def get_active_channels(self, pipette_id: str) -> int: + """Get the number of channels being used in the given pipette's configuration.""" + return self.get_nozzle_configuration(pipette_id).tip_count + def get_minimum_volume(self, pipette_id: str) -> float: """Return the given pipette's minimum volume.""" return self.get_config(pipette_id).min_volume @@ -727,6 +731,10 @@ def get_primary_nozzle(self, pipette_id: str) -> str: nozzle_map = self._state.nozzle_configuration_by_id[pipette_id] return nozzle_map.starting_nozzle + def get_nozzle_configurations(self) -> Dict[str, NozzleMap]: + """Get the nozzle maps of all pipettes, keyed by pipette ID.""" + return self._state.nozzle_configuration_by_id.copy() + def get_nozzle_configuration(self, pipette_id: str) -> NozzleMap: """Get the nozzle map of the pipette.""" return self._state.nozzle_configuration_by_id[pipette_id] diff --git a/api/src/opentrons/protocol_engine/state/tips.py b/api/src/opentrons/protocol_engine/state/tips.py index 80ce7d083508..74445603ffbb 100644 --- a/api/src/opentrons/protocol_engine/state/tips.py +++ b/api/src/opentrons/protocol_engine/state/tips.py @@ -2,7 +2,7 @@ from dataclasses import dataclass from enum import Enum -from typing import Dict, Optional, List, Union +from typing import Dict, Iterable, Optional, List, Union from opentrons.types import NozzleMapInterface from opentrons.protocol_engine.state import update_types @@ -14,36 +14,22 @@ from opentrons.hardware_control.nozzle_manager import NozzleMap -class TipRackWellState(Enum): +class _TipRackWellState(Enum): """The state of a single tip in a tip rack's well.""" CLEAN = "clean" USED = "used" -TipRackStateByWellName = Dict[str, TipRackWellState] - - -# todo(mm, 2024-10-10): This info is duplicated between here and PipetteState because -# TipStore is using it to compute which tips a PickUpTip removes from the tip rack, -# given the pipette's current nozzle map. We could avoid this duplication by moving the -# computation to TipView, calling it from PickUpTipImplementation, and passing the -# precomputed list of wells to TipStore. -@dataclass -class _PipetteInfo: - channels: int - active_channels: int - nozzle_map: NozzleMap +_TipRackStateByWellName = Dict[str, _TipRackWellState] @dataclass class TipState: """State of all tips.""" - tips_by_labware_id: Dict[str, TipRackStateByWellName] - column_by_labware_id: Dict[str, List[List[str]]] - - pipette_info_by_pipette_id: Dict[str, _PipetteInfo] + tips_by_labware_id: Dict[str, _TipRackStateByWellName] + columns_by_labware_id: Dict[str, List[List[str]]] class TipStore(HasState[TipState], HandlesActions): @@ -55,8 +41,7 @@ def __init__(self) -> None: """Initialize a liquid store and its state.""" self._state = TipState( tips_by_labware_id={}, - column_by_labware_id={}, - pipette_info_by_pipette_id={}, + columns_by_labware_id={}, ) def handle_action(self, action: Action) -> None: @@ -70,44 +55,25 @@ def handle_action(self, action: Action) -> None: for well_name in self._state.tips_by_labware_id[labware_id].keys(): self._state.tips_by_labware_id[labware_id][ well_name - ] = TipRackWellState.CLEAN + ] = _TipRackWellState.CLEAN def _handle_state_update(self, state_update: update_types.StateUpdate) -> None: - if state_update.pipette_config != update_types.NO_CHANGE: - self._state.pipette_info_by_pipette_id[ - state_update.pipette_config.pipette_id - ] = _PipetteInfo( - channels=state_update.pipette_config.config.channels, - active_channels=state_update.pipette_config.config.channels, - nozzle_map=state_update.pipette_config.config.nozzle_map, - ) - if state_update.tips_used != update_types.NO_CHANGE: self._set_used_tips( - pipette_id=state_update.tips_used.pipette_id, labware_id=state_update.tips_used.labware_id, - well_name=state_update.tips_used.well_name, - ) - - if state_update.pipette_nozzle_map != update_types.NO_CHANGE: - pipette_info = self._state.pipette_info_by_pipette_id[ - state_update.pipette_nozzle_map.pipette_id - ] - pipette_info.active_channels = ( - state_update.pipette_nozzle_map.nozzle_map.tip_count + well_names=state_update.tips_used.well_names, ) - pipette_info.nozzle_map = state_update.pipette_nozzle_map.nozzle_map if state_update.loaded_labware != update_types.NO_CHANGE: labware_id = state_update.loaded_labware.labware_id definition = state_update.loaded_labware.definition if definition.parameters.isTiprack: self._state.tips_by_labware_id[labware_id] = { - well_name: TipRackWellState.CLEAN + well_name: _TipRackWellState.CLEAN for column in definition.ordering for well_name in column } - self._state.column_by_labware_id[labware_id] = [ + self._state.columns_by_labware_id[labware_id] = [ column for column in definition.ordering ] if state_update.batch_loaded_labware != update_types.NO_CHANGE: @@ -117,20 +83,18 @@ def _handle_state_update(self, state_update: update_types.StateUpdate) -> None: ] if definition.parameters.isTiprack: self._state.tips_by_labware_id[labware_id] = { - well_name: TipRackWellState.CLEAN + well_name: _TipRackWellState.CLEAN for column in definition.ordering for well_name in column } - self._state.column_by_labware_id[labware_id] = [ + self._state.columns_by_labware_id[labware_id] = [ column for column in definition.ordering ] - def _set_used_tips(self, pipette_id: str, well_name: str, labware_id: str) -> None: - columns = self._state.column_by_labware_id.get(labware_id, []) - wells = self._state.tips_by_labware_id.get(labware_id, {}) - nozzle_map = self._state.pipette_info_by_pipette_id[pipette_id].nozzle_map - for well in wells_covered_dense(nozzle_map, well_name, columns): - wells[well] = TipRackWellState.USED + def _set_used_tips(self, labware_id: str, well_names: Iterable[str]) -> None: + well_states = self._state.tips_by_labware_id.get(labware_id, {}) + for well_name in well_names: + well_states[well_name] = _TipRackWellState.USED class TipView: @@ -155,7 +119,7 @@ def get_next_tip( # noqa: C901 ) -> Optional[str]: """Get the next available clean tip. Does not support use of a starting tip if the pipette used is in a partial configuration.""" wells = self._state.tips_by_labware_id.get(labware_id, {}) - columns = self._state.column_by_labware_id.get(labware_id, []) + columns = self._state.columns_by_labware_id.get(labware_id, []) # TODO(sf): I'm pretty sure this can be replaced with wells_covered_96 but I'm not quite sure how def _identify_tip_cluster( @@ -202,9 +166,9 @@ def _identify_tip_cluster( def _validate_tip_cluster( active_columns: int, active_rows: int, tip_cluster: List[str] ) -> Union[str, int, None]: - if not any(wells[well] == TipRackWellState.USED for well in tip_cluster): + if not any(wells[well] == _TipRackWellState.USED for well in tip_cluster): return tip_cluster[0] - elif all(wells[well] == TipRackWellState.USED for well in tip_cluster): + elif all(wells[well] == _TipRackWellState.USED for well in tip_cluster): return None else: # In the case of an 8ch pipette where a column has mixed state tips we may simply progress to the next column in our search @@ -224,12 +188,12 @@ def _validate_tip_cluster( tip_cluster[(active_rows - 1) + (i * active_rows)] ) if all( - wells[well] == TipRackWellState.USED + wells[well] == _TipRackWellState.USED for well in tip_cluster_final_column ): return None elif all( - wells[well] == TipRackWellState.USED + wells[well] == _TipRackWellState.USED for well in tip_cluster_final_row ): return None @@ -386,7 +350,9 @@ def _cluster_search_H12(active_columns: int, active_rows: int) -> Optional[str]: starting_column_index = idx for column in columns[starting_column_index:]: - if not any(wells[well] == TipRackWellState.USED for well in column): + if not any( + wells[well] == _TipRackWellState.USED for well in column + ): return column[0] elif num_tips == len(wells.keys()): # Get next tips for 96 channel @@ -394,7 +360,7 @@ def _cluster_search_H12(active_columns: int, active_rows: int) -> Optional[str]: return None if not any( - tip_state == TipRackWellState.USED for tip_state in wells.values() + tip_state == _TipRackWellState.USED for tip_state in wells.values() ): return next(iter(wells)) @@ -403,29 +369,10 @@ def _cluster_search_H12(active_columns: int, active_rows: int) -> Optional[str]: wells = _drop_wells_before_starting_tip(wells, starting_tip_name) for well_name, tip_state in wells.items(): - if tip_state == TipRackWellState.CLEAN: + if tip_state == _TipRackWellState.CLEAN: return well_name return None - def get_pipette_channels(self, pipette_id: str) -> int: - """Return the given pipette's number of channels.""" - return self._state.pipette_info_by_pipette_id[pipette_id].channels - - def get_pipette_active_channels(self, pipette_id: str) -> int: - """Get the number of channels being used in the given pipette's configuration.""" - return self._state.pipette_info_by_pipette_id[pipette_id].active_channels - - def get_pipette_nozzle_map(self, pipette_id: str) -> NozzleMap: - """Get the current nozzle map the given pipette's configuration.""" - return self._state.pipette_info_by_pipette_id[pipette_id].nozzle_map - - def get_pipette_nozzle_maps(self) -> Dict[str, NozzleMap]: - """Get current nozzle maps keyed by pipette id.""" - return { - pipette_id: pipette_info.nozzle_map - for pipette_id, pipette_info in self._state.pipette_info_by_pipette_id.items() - } - def has_clean_tip(self, labware_id: str, well_name: str) -> bool: """Get whether a well in a labware has a clean tip. @@ -440,15 +387,31 @@ def has_clean_tip(self, labware_id: str, well_name: str) -> bool: tip_rack = self._state.tips_by_labware_id.get(labware_id) well_state = tip_rack.get(well_name) if tip_rack else None - return well_state == TipRackWellState.CLEAN + return well_state == _TipRackWellState.CLEAN + + def compute_tips_to_mark_as_used( + self, labware_id: str, well_name: str, nozzle_map: NozzleMap + ) -> list[str]: + """Compute which tips a hypothetical tip pickup should mark as "used". + + Params: + labware_id: The labware ID of the tip rack. + well_name: The single target well of the tip pickup. + nozzle_map: The nozzle configuration that the pipette will use for the pickup. + + Returns: + The well names of all the tips that the operation will use. + """ + columns = self._state.columns_by_labware_id.get(labware_id, []) + return list(wells_covered_dense(nozzle_map, well_name, columns)) def _drop_wells_before_starting_tip( - wells: TipRackStateByWellName, starting_tip_name: str -) -> TipRackStateByWellName: + wells: _TipRackStateByWellName, starting_tip_name: str +) -> _TipRackStateByWellName: """Drop any wells that come before the starting tip and return the remaining ones after.""" seen_starting_well = False - remaining_wells = {} + remaining_wells: dict[str, _TipRackWellState] = {} for well_name, tip_state in wells.items(): if well_name == starting_tip_name: seen_starting_well = True diff --git a/api/src/opentrons/protocol_engine/state/update_types.py b/api/src/opentrons/protocol_engine/state/update_types.py index 30fee20956f0..783715bb6fa3 100644 --- a/api/src/opentrons/protocol_engine/state/update_types.py +++ b/api/src/opentrons/protocol_engine/state/update_types.py @@ -61,16 +61,6 @@ class _ClearEnum(enum.Enum): """ -class _SimulatedEnum(enum.Enum): - SIMULATED = enum.auto() - - -SIMULATED: typing.Final = _SimulatedEnum.SIMULATED -"""A sentinel value to indicate that a liquid probe return value is simulated. - -Useful to avoid throwing unnecessary errors in protocol analysis.""" - - @dataclasses.dataclass(frozen=True) class Well: """Designates a well in a labware.""" @@ -127,6 +117,7 @@ class BatchLabwareLocationUpdate: """The new offsets of each id.""" +# todo(mm, 2025-04-28): Combine with BatchLoadedLabwareUpdate. @dataclasses.dataclass class LoadedLabwareUpdate: """An update that loads a new labware.""" @@ -250,16 +241,14 @@ class PipetteAspirateReadyUpdate: class TipsUsedUpdate: """Represents an update that marks tips in a tip rack as used.""" - pipette_id: str - """The pipette that did the tip pickup.""" - labware_id: str + """The labware ID of the tip rack.""" - well_name: str - """The well that the pipette's primary nozzle targeted. + well_names: list[str] + """The exact wells in the tip rack that should be marked as used. - Wells in addition to this one will also be marked as used, depending on the - pipette's nozzle layout. + This is the *full* list, which is probably more than what appeared in the pickUpTip + command's params, for multi-channel reasons. """ @@ -701,13 +690,9 @@ def update_pipette_tip_state( ) return self - def mark_tips_as_used( - self: Self, pipette_id: str, labware_id: str, well_name: str - ) -> Self: + def mark_tips_as_used(self: Self, labware_id: str, well_names: list[str]) -> Self: """Mark tips in a tip rack as used. See `TipsUsedUpdate`.""" - self.tips_used = TipsUsedUpdate( - pipette_id=pipette_id, labware_id=labware_id, well_name=well_name - ) + self.tips_used = TipsUsedUpdate(labware_id=labware_id, well_names=well_names) return self def set_liquid_loaded( diff --git a/api/src/opentrons/protocol_runner/legacy_command_mapper.py b/api/src/opentrons/protocol_runner/legacy_command_mapper.py index 4df76910a340..5237db9dffd4 100644 --- a/api/src/opentrons/protocol_runner/legacy_command_mapper.py +++ b/api/src/opentrons/protocol_runner/legacy_command_mapper.py @@ -634,13 +634,21 @@ def _map_labware_load( count = self._command_count["LOAD_LABWARE"] slot = labware_load_info.deck_slot location: pe_types.LabwareLocation + location_sequence: pe_types.LabwareLocationSequence = [] if labware_load_info.on_module: - location = pe_types.ModuleLocation.model_construct( - moduleId=self._module_id_by_slot[slot] + module_id = self._module_id_by_slot[slot] + location = pe_types.ModuleLocation.model_construct(moduleId=module_id) + location_sequence.append( + pe_types.OnModuleLocationSequenceComponent(moduleId=module_id) ) else: location = pe_types.DeckSlotLocation.model_construct(slotName=slot) + location_sequence.append( + pe_types.OnAddressableAreaLocationSequenceComponent( + addressableAreaName=slot.value + ) + ) command_id = f"commands.LOAD_LABWARE-{count}" labware_id = f"labware-{count}" @@ -665,8 +673,7 @@ def _map_labware_load( labware_load_info.labware_definition ), offsetId=labware_load_info.offset_id, - # These legacy json protocols don't get location sequences because - # to do so we'd have to go back and look up where the module gets loaded + locationSequence=location_sequence, ), ) queue_action = pe_actions.QueueCommandAction( diff --git a/api/src/opentrons/protocol_runner/run_orchestrator.py b/api/src/opentrons/protocol_runner/run_orchestrator.py index b45d8b9db94b..92606b1e85f4 100644 --- a/api/src/opentrons/protocol_runner/run_orchestrator.py +++ b/api/src/opentrons/protocol_runner/run_orchestrator.py @@ -429,7 +429,7 @@ def get_deck_type(self) -> DeckType: def get_nozzle_maps(self) -> Mapping[str, NozzleMapInterface]: """Get current nozzle maps keyed by pipette id.""" - return self._protocol_engine.state_view.tips.get_pipette_nozzle_maps() + return self._protocol_engine.state_view.pipettes.get_nozzle_configurations() def get_tip_attached(self) -> Dict[str, bool]: """Get current tip state keyed by pipette id.""" diff --git a/api/src/opentrons/protocols/advanced_control/transfers/common.py b/api/src/opentrons/protocols/advanced_control/transfers/common.py index 695c9e548da9..ee5e79d8c2d3 100644 --- a/api/src/opentrons/protocols/advanced_control/transfers/common.py +++ b/api/src/opentrons/protocols/advanced_control/transfers/common.py @@ -1,7 +1,9 @@ """Common functions between v1 transfer and liquid-class-based transfer.""" import enum import math -from typing import Iterable, Generator, Tuple, TypeVar, Literal, List +from typing import Iterable, Generator, Tuple, TypeVar, Literal, List, Union + +from opentrons.protocol_api._liquid_properties import LiquidHandlingPropertyByVolume class NoLiquidClassPropertyError(ValueError): @@ -13,9 +15,12 @@ class TransferTipPolicyV2(enum.Enum): NEVER = "never" ALWAYS = "always" PER_SOURCE = "per source" + PER_DESTINATION = "per destination" -TransferTipPolicyV2Type = Literal["once", "always", "per source", "never"] +TransferTipPolicyV2Type = Literal[ + "once", "always", "per source", "never", "per destination" +] Target = TypeVar("Target") @@ -39,18 +44,24 @@ def check_valid_volume_parameters( def check_valid_liquid_class_volume_parameters( - aspirate_volume: float, air_gap: float, disposal_volume: float, max_volume: float + aspirate_volume: float, + air_gap: float, + max_volume: float, + current_volume: float, ) -> None: - if air_gap + aspirate_volume > max_volume: + if ( + current_volume != 0.0 + and air_gap + aspirate_volume + current_volume > max_volume + ): raise ValueError( - f"Cannot have an air gap of {air_gap} µL for an aspiration of {aspirate_volume} µL" - f" with a max volume of {max_volume} µL. Please adjust the retract air gap to fit within" - f" the bounds of the tip." + f"Cannot have an air gap of {air_gap} µL for an aspiration of {aspirate_volume} µL with" + f" a max volume of {max_volume} µL when {current_volume} µL has already been aspirated." + f" Please adjust the retract air gap to fit within the bounds of the tip." ) - elif disposal_volume + aspirate_volume > max_volume: + elif air_gap + aspirate_volume > max_volume: raise ValueError( - f"Cannot have a dispense volume of {disposal_volume} µL for an aspiration of {aspirate_volume} µL" - f" with a max volume of {max_volume} µL. Please adjust the dispense volume to fit within" + f"Cannot have an air gap of {air_gap} µL for an aspiration of {aspirate_volume} µL" + f" with a max volume of {max_volume} µL. Please adjust the retract air gap to fit within" f" the bounds of the tip." ) @@ -95,9 +106,41 @@ def expand_for_volume_constraints_for_liquid_classes( volumes: Iterable[float], targets: Iterable[Target], max_volume: float, + air_gap: Union[LiquidHandlingPropertyByVolume, float], + disposal_vol: Union[LiquidHandlingPropertyByVolume, float] = 0.0, + conditioning_vol: Union[LiquidHandlingPropertyByVolume, float] = 0.0, ) -> Generator[Tuple[float, "Target"], None, None]: """Split a sequence of proposed transfers to keep each under the max volume, splitting larger ones equally.""" assert max_volume > 0 for volume, target in zip(volumes, targets): - for split_volume in _split_volume_equally(volume, max_volume): + disposal_volume = ( + disposal_vol + if isinstance(disposal_vol, float) + else disposal_vol.get_for_volume(volume) + ) + air_gap_volume = ( + air_gap + if isinstance(air_gap, float) + else air_gap.get_for_volume(volume + disposal_volume) + ) + conditioning_volume = ( + conditioning_vol + if isinstance(conditioning_vol, float) + else conditioning_vol.get_for_volume(volume) + ) + # If there is conditioning volume in a multi-aspirate, it will negate the air gap + if conditioning_volume > 0: + air_gap_volume = 0 + adjusted_max_volume = ( + max_volume - air_gap_volume - disposal_volume - conditioning_volume + ) + if adjusted_max_volume <= 0: + error_text = f"Pipette cannot aspirate {volume} µL when pipette will need {air_gap_volume} µL for air gap" + if disposal_volume: + error_text += f", {disposal_volume} for disposal volume" + if conditioning_volume: + error_text += f", {conditioning_volume} for conditioning volume" + error_text += f" with a max volume of {max_volume} µL." + raise ValueError(error_text) + for split_volume in _split_volume_equally(volume, adjusted_max_volume): yield split_volume, target diff --git a/api/src/opentrons/protocols/advanced_control/transfers/transfer_liquid_utils.py b/api/src/opentrons/protocols/advanced_control/transfers/transfer_liquid_utils.py index 090061f45628..a724f77232d3 100644 --- a/api/src/opentrons/protocols/advanced_control/transfers/transfer_liquid_utils.py +++ b/api/src/opentrons/protocols/advanced_control/transfers/transfer_liquid_utils.py @@ -48,7 +48,7 @@ def raise_if_location_inside_liquid( liquid_height_from_bottom = well_core.current_liquid_height() except LiquidHeightUnknownError: liquid_height_from_bottom = None - if liquid_height_from_bottom is not None: + if isinstance(liquid_height_from_bottom, (int, float)): if liquid_height_from_bottom + well_core.get_bottom(0).z > location.point.z: raise RuntimeError( f"{location_check_descriptors.location_type.capitalize()} location {location} is" diff --git a/api/src/opentrons/protocols/api_support/definitions.py b/api/src/opentrons/protocols/api_support/definitions.py index a353e1d49fe9..b96440a3295b 100644 --- a/api/src/opentrons/protocols/api_support/definitions.py +++ b/api/src/opentrons/protocols/api_support/definitions.py @@ -1,6 +1,6 @@ from .types import APIVersion -MAX_SUPPORTED_VERSION = APIVersion(2, 23) +MAX_SUPPORTED_VERSION = APIVersion(2, 24) """The maximum supported protocol API version in this release.""" MIN_SUPPORTED_VERSION = APIVersion(2, 0) diff --git a/api/src/opentrons/types.py b/api/src/opentrons/types.py index 32d614fcaaac..fc4679a4ba98 100644 --- a/api/src/opentrons/types.py +++ b/api/src/opentrons/types.py @@ -35,12 +35,6 @@ class Point(NamedTuple): y: float = 0.0 z: float = 0.0 - def __eq__(self, other: Any) -> bool: - if not isinstance(other, Point): - return False - pairs = ((self.x, other.x), (self.y, other.y), (self.z, other.z)) - return all(isclose(s, o, rel_tol=1e-05, abs_tol=1e-08) for s, o in pairs) - def __add__(self, other: Any) -> Point: if not isinstance(other, Point): return NotImplemented @@ -75,6 +69,12 @@ def magnitude_to(self, other: Any) -> float: z_diff = self.z - other.z return sqrt(x_diff**2 + y_diff**2 + z_diff**2) + def elementwise_isclose( + self, other: Point, *, rel_tol: float = 1e-05, abs_tol: float = 1e-08 + ) -> bool: + pairs = ((self.x, other.x), (self.y, other.y), (self.z, other.z)) + return all(isclose(s, o, rel_tol=rel_tol, abs_tol=abs_tol) for s, o in pairs) + LocationLabware = Union[ "Labware", diff --git a/api/tests/opentrons/conftest.py b/api/tests/opentrons/conftest.py index 9f8ce0fbd256..3aff0bec82c3 100755 --- a/api/tests/opentrons/conftest.py +++ b/api/tests/opentrons/conftest.py @@ -27,6 +27,19 @@ from _pytest.fixtures import SubRequest from decoy import Decoy +from opentrons_shared_data.liquid_classes.types import ( + TransferPropertiesDict, + AspiratePropertiesDict, + SingleDispensePropertiesDict, + SubmergeDict, + RetractAspirateDict, + RetractDispenseDict, + MixPropertiesDict, + BlowoutPropertiesDict, + TouchTipPropertiesDict, + TipPositionDict, + DelayPropertiesDict, +) from opentrons.protocol_engine.types import PostRunHardwareState try: @@ -44,6 +57,7 @@ ByTipTypeSetting, AspirateProperties, Submerge, + TipPosition, PositionReference, DelayProperties, DelayParams, @@ -797,6 +811,7 @@ def minimal_liquid_class_def1() -> LiquidClassSchemaV1: displayName="water 1", description="some water", schemaVersion=1, + version=1, namespace="test-fixture-1", byPipette=[], ) @@ -809,6 +824,7 @@ def minimal_liquid_class_def2() -> LiquidClassSchemaV1: displayName="water 2", description="some water", schemaVersion=1, + version=1, namespace="test-fixture-2", byPipette=[ ByPipetteSetting( @@ -818,23 +834,29 @@ def minimal_liquid_class_def2() -> LiquidClassSchemaV1: tiprack="opentrons_flex_96_tiprack_50ul", aspirate=AspirateProperties( submerge=Submerge( - positionReference=PositionReference.WELL_TOP, - offset=Coordinate(x=0, y=0, z=-5), + startPosition=TipPosition( + positionReference=PositionReference.WELL_TOP, + offset=Coordinate(x=0, y=0, z=-5), + ), speed=100, delay=DelayProperties( enable=True, params=DelayParams(duration=1.5) ), ), retract=RetractAspirate( - positionReference=PositionReference.WELL_TOP, - offset=Coordinate(x=0, y=0, z=5), + endPosition=TipPosition( + positionReference=PositionReference.WELL_TOP, + offset=Coordinate(x=0, y=0, z=5), + ), speed=100, airGapByVolume=[(5.0, 3.0), (10.0, 4.0)], touchTip=TouchTipProperties(enable=False), delay=DelayProperties(enable=False), ), - positionReference=PositionReference.WELL_BOTTOM, - offset=Coordinate(x=0, y=0, z=-5), + aspiratePosition=TipPosition( + positionReference=PositionReference.WELL_BOTTOM, + offset=Coordinate(x=0, y=0, z=-5), + ), flowRateByVolume=[(10.0, 40.0), (20.0, 30.0)], correctionByVolume=[(15.0, 1.5), (30.0, -5.0)], preWet=True, @@ -845,22 +867,28 @@ def minimal_liquid_class_def2() -> LiquidClassSchemaV1: ), singleDispense=SingleDispenseProperties( submerge=Submerge( - positionReference=PositionReference.LIQUID_MENISCUS, - offset=Coordinate(x=0, y=0, z=-5), + startPosition=TipPosition( + positionReference=PositionReference.LIQUID_MENISCUS, + offset=Coordinate(x=0, y=0, z=-5), + ), speed=100, delay=DelayProperties(enable=False), ), retract=RetractDispense( - positionReference=PositionReference.WELL_TOP, - offset=Coordinate(x=0, y=0, z=5), + endPosition=TipPosition( + positionReference=PositionReference.WELL_TOP, + offset=Coordinate(x=0, y=0, z=5), + ), speed=100, airGapByVolume=[(5.0, 3.0), (10.0, 4.0)], blowout=BlowoutProperties(enable=False), touchTip=TouchTipProperties(enable=False), delay=DelayProperties(enable=False), ), - positionReference=PositionReference.WELL_BOTTOM, - offset=Coordinate(x=0, y=0, z=-5), + dispensePosition=TipPosition( + positionReference=PositionReference.WELL_BOTTOM, + offset=Coordinate(x=0, y=0, z=-5), + ), flowRateByVolume=[(10.0, 40.0), (20.0, 30.0)], correctionByVolume=[(15.0, -1.5), (30.0, 5.0)], mix=MixProperties(enable=False), @@ -883,6 +911,7 @@ def maximal_liquid_class_def() -> LiquidClassSchemaV1: displayName="Test Water", description="some water", schemaVersion=1, + version=1, namespace="opentrons", byPipette=[ ByPipetteSetting( @@ -892,30 +921,36 @@ def maximal_liquid_class_def() -> LiquidClassSchemaV1: tiprack="opentrons_flex_96_tiprack_50ul", aspirate=AspirateProperties( submerge=Submerge( - positionReference=PositionReference.WELL_TOP, - offset=Coordinate(x=1, y=2, z=3), + startPosition=TipPosition( + positionReference=PositionReference.WELL_TOP, + offset=Coordinate(x=1, y=2, z=3), + ), speed=100, delay=DelayProperties( enable=True, params=DelayParams(duration=10.0) ), ), retract=RetractAspirate( - positionReference=PositionReference.WELL_TOP, - offset=Coordinate(x=3, y=2, z=1), + endPosition=TipPosition( + positionReference=PositionReference.WELL_TOP, + offset=Coordinate(x=3, y=2, z=1), + ), speed=50, airGapByVolume=[(1.0, 0.1), (49.9, 0.1), (50.0, 0.0)], touchTip=TouchTipProperties( enable=True, params=LiquidClassTouchTipParams( - zOffset=-1, mmToEdge=0.5, speed=30 + zOffset=-1, mmFromEdge=0.5, speed=30 ), ), delay=DelayProperties( enable=True, params=DelayParams(duration=20) ), ), - positionReference=PositionReference.WELL_BOTTOM, - offset=Coordinate(x=10, y=20, z=30), + aspiratePosition=TipPosition( + positionReference=PositionReference.WELL_BOTTOM, + offset=Coordinate(x=10, y=20, z=30), + ), flowRateByVolume=[(1.0, 35.0), (10.0, 24.0), (50.0, 35.0)], correctionByVolume=[(0.0, 0.0)], preWet=True, @@ -928,16 +963,20 @@ def maximal_liquid_class_def() -> LiquidClassSchemaV1: ), singleDispense=SingleDispenseProperties( submerge=Submerge( - positionReference=PositionReference.WELL_TOP, - offset=Coordinate(x=30, y=20, z=10), + startPosition=TipPosition( + positionReference=PositionReference.WELL_TOP, + offset=Coordinate(x=30, y=20, z=10), + ), speed=100, delay=DelayProperties( - enable=True, params=DelayParams(duration=0.0) + enable=True, params=DelayParams(duration=1.1) ), ), retract=RetractDispense( - positionReference=PositionReference.WELL_TOP, - offset=Coordinate(x=11, y=22, z=33), + endPosition=TipPosition( + positionReference=PositionReference.WELL_TOP, + offset=Coordinate(x=11, y=22, z=33), + ), speed=50, airGapByVolume=[(1.0, 0.1), (49.9, 0.1), (50.0, 0.0)], blowout=BlowoutProperties( @@ -950,15 +989,17 @@ def maximal_liquid_class_def() -> LiquidClassSchemaV1: touchTip=TouchTipProperties( enable=True, params=LiquidClassTouchTipParams( - zOffset=-1, mmToEdge=0.75, speed=30 + zOffset=-1, mmFromEdge=0.75, speed=30 ), ), delay=DelayProperties( enable=True, params=DelayParams(duration=10) ), ), - positionReference=PositionReference.WELL_BOTTOM, - offset=Coordinate(x=33, y=22, z=11), + dispensePosition=TipPosition( + positionReference=PositionReference.WELL_BOTTOM, + offset=Coordinate(x=33, y=22, z=11), + ), flowRateByVolume=[(1.0, 50.0)], correctionByVolume=[(0.0, 0.0)], mix=MixProperties( @@ -977,16 +1018,20 @@ def maximal_liquid_class_def() -> LiquidClassSchemaV1: ), multiDispense=MultiDispenseProperties( submerge=Submerge( - positionReference=PositionReference.WELL_TOP, - offset=Coordinate(x=0, y=0, z=2), + startPosition=TipPosition( + positionReference=PositionReference.WELL_TOP, + offset=Coordinate(x=0, y=0, z=2), + ), speed=100, delay=DelayProperties( enable=False, params=DelayParams(duration=0.0) ), ), retract=RetractDispense( - positionReference=PositionReference.WELL_TOP, - offset=Coordinate(x=2, y=3, z=1), + endPosition=TipPosition( + positionReference=PositionReference.WELL_TOP, + offset=Coordinate(x=2, y=3, z=1), + ), speed=50, airGapByVolume=[(1.0, 0.1), (49.9, 0.1), (50.0, 0.0)], blowout=BlowoutProperties( @@ -999,15 +1044,17 @@ def maximal_liquid_class_def() -> LiquidClassSchemaV1: touchTip=TouchTipProperties( enable=False, params=LiquidClassTouchTipParams( - zOffset=-1, mmToEdge=0.5, speed=30 + zOffset=-1, mmFromEdge=0.5, speed=30 ), ), delay=DelayProperties( enable=False, params=DelayParams(duration=0) ), ), - positionReference=PositionReference.WELL_BOTTOM, - offset=Coordinate(x=1, y=3, z=2), + dispensePosition=TipPosition( + positionReference=PositionReference.WELL_BOTTOM, + offset=Coordinate(x=1, y=3, z=2), + ), flowRateByVolume=[(50.0, 50.0)], correctionByVolume=[(0.0, 0.0)], conditioningByVolume=[(1.0, 5.0), (45.0, 5.0), (50.0, 0.0)], @@ -1021,3 +1068,153 @@ def maximal_liquid_class_def() -> LiquidClassSchemaV1: ) ], ) + + +@pytest.fixture +def minimal_transfer_properties_dict() -> Dict[str, Dict[str, TransferPropertiesDict]]: + """A minimal dictionary representation of transfer properties of a liquid class.""" + return { + "flex_1channel_50": { + "opentrons/opentrons_flex_96_tiprack_50ul/1": TransferPropertiesDict( + aspirate=AspiratePropertiesDict( + submerge=SubmergeDict( + start_position=TipPositionDict( + position_reference="well-bottom", + offset={"x": 1, "y": 2, "z": 3}, + ), + speed=100, + delay=DelayPropertiesDict( + enabled=False, + ), + ), + retract=RetractAspirateDict( + end_position=TipPositionDict( + position_reference="well-bottom", + offset={"x": 1, "y": 2, "z": 3}, + ), + speed=40, + air_gap_by_volume=[(5.0, 3.0), (10.0, 4.0)], + touch_tip=TouchTipPropertiesDict(enabled=False), + delay=DelayPropertiesDict(enabled=False), + ), + aspirate_position=TipPositionDict( + position_reference="well-bottom", + offset={"x": 1, "y": 2, "z": 3}, + ), + flow_rate_by_volume=[(10.0, 40.0), (20.0, 30.0)], + correction_by_volume=[(0.0, 0.0)], + pre_wet=True, + mix=MixPropertiesDict(enabled=False), + delay=DelayPropertiesDict(enabled=False), + ), + dispense=SingleDispensePropertiesDict( + submerge=SubmergeDict( + start_position=TipPositionDict( + position_reference="well-bottom", + offset={"x": 1, "y": 2, "z": 3}, + ), + speed=100, + delay=DelayPropertiesDict( + enabled=False, + ), + ), + retract=RetractDispenseDict( + end_position=TipPositionDict( + position_reference="well-bottom", + offset={"x": 1, "y": 2, "z": 3}, + ), + speed=40, + air_gap_by_volume=[(5.0, 3.0), (10.0, 4.0)], + touch_tip=TouchTipPropertiesDict(enabled=False), + delay=DelayPropertiesDict(enabled=False), + blowout=BlowoutPropertiesDict(enabled=False), + ), + dispense_position=TipPositionDict( + position_reference="well-bottom", + offset={"x": 1, "y": 2, "z": 3}, + ), + flow_rate_by_volume=[(10.0, 40.0), (20.0, 30.0)], + correction_by_volume=[(0.0, 0.0)], + push_out_by_volume=[(10.0, 7.0), (20.0, 10.0)], + mix=MixPropertiesDict(enabled=False), + delay=DelayPropertiesDict(enabled=False), + ), + ) + } + } + + +@pytest.fixture +def custom_pip_n_tip_transfer_properties_dict() -> Dict[ + str, Dict[str, TransferPropertiesDict] +]: + """A minimal dictionary representation of transfer properties for a custom pipette and tiprack.""" + return { + "a_custom_pipette_type": { + "a_custom_tiprack_uri": TransferPropertiesDict( + aspirate=AspiratePropertiesDict( + submerge=SubmergeDict( + start_position=TipPositionDict( + position_reference="well-bottom", + offset={"x": 1, "y": 2, "z": 3}, + ), + speed=100, + delay=DelayPropertiesDict( + enabled=False, + ), + ), + retract=RetractAspirateDict( + end_position=TipPositionDict( + position_reference="well-bottom", + offset={"x": 1, "y": 2, "z": 3}, + ), + speed=40, + air_gap_by_volume=[(5.0, 3.0), (10.0, 4.0)], + touch_tip=TouchTipPropertiesDict(enabled=False), + delay=DelayPropertiesDict(enabled=False), + ), + aspirate_position=TipPositionDict( + position_reference="well-bottom", + offset={"x": 1, "y": 2, "z": 3}, + ), + flow_rate_by_volume=[(10.0, 40.0), (20.0, 30.0)], + correction_by_volume=[(0.0, 0.0)], + pre_wet=True, + mix=MixPropertiesDict(enabled=False), + delay=DelayPropertiesDict(enabled=False), + ), + dispense=SingleDispensePropertiesDict( + submerge=SubmergeDict( + start_position=TipPositionDict( + position_reference="well-bottom", + offset={"x": 1, "y": 2, "z": 3}, + ), + speed=100, + delay=DelayPropertiesDict( + enabled=False, + ), + ), + retract=RetractDispenseDict( + end_position=TipPositionDict( + position_reference="well-bottom", + offset={"x": 1, "y": 2, "z": 3}, + ), + speed=40, + air_gap_by_volume=[(5.0, 3.0), (10.0, 4.0)], + touch_tip=TouchTipPropertiesDict(enabled=False), + delay=DelayPropertiesDict(enabled=False), + blowout=BlowoutPropertiesDict(enabled=False), + ), + dispense_position=TipPositionDict( + position_reference="well-bottom", + offset={"x": 1, "y": 2, "z": 3}, + ), + flow_rate_by_volume=[(10.0, 40.0), (20.0, 30.0)], + correction_by_volume=[(0.0, 0.0)], + push_out_by_volume=[(10.0, 7.0), (20.0, 10.0)], + mix=MixPropertiesDict(enabled=False), + delay=DelayPropertiesDict(enabled=False), + ), + ) + } + } diff --git a/api/tests/opentrons/protocol_api/core/engine/test_instrument_core.py b/api/tests/opentrons/protocol_api/core/engine/test_instrument_core.py index 6e323e3c38e3..1525517f9355 100644 --- a/api/tests/opentrons/protocol_api/core/engine/test_instrument_core.py +++ b/api/tests/opentrons/protocol_api/core/engine/test_instrument_core.py @@ -7,7 +7,7 @@ CommandPreconditionViolated, ) import pytest -from decoy import Decoy +from decoy import Decoy, matchers from decoy import errors from opentrons_shared_data.liquid_classes.liquid_class_definition import ( LiquidClassSchemaV1, @@ -193,6 +193,41 @@ def subject( ) +@pytest.fixture +def instrument_core_with_lpd( + decoy: Decoy, + mock_engine_client: EngineClient, + mock_sync_hardware: SyncHardwareAPI, + mock_protocol_core: ProtocolCore, +) -> InstrumentCore: + """Get an InstrumentCore test subject with liquid presence detection enabled.""" + decoy.when(mock_engine_client.state.pipettes.get("abc123")).then_return( + LoadedPipette.model_construct(mount=MountType.LEFT) # type: ignore[call-arg] + ) + + decoy.when(mock_engine_client.state.pipettes.get_flow_rates("abc123")).then_return( + FlowRates( + default_aspirate={"1.2": 2.3}, + default_dispense={"3.4": 4.5}, + default_blow_out={"5.6": 6.7}, + ), + ) + decoy.when( + mock_engine_client.state.pipettes.get_liquid_presence_detection("abc123") + ).then_return(True) + decoy.when( + mock_engine_client.state.pipettes.get_pipette_supports_pressure("abc123") + ).then_return(True) + return InstrumentCore( + pipette_id="abc123", + engine_client=mock_engine_client, + sync_hardware_api=mock_sync_hardware, + protocol_core=mock_protocol_core, + # When this baby hits 88 mph, you're going to see some serious shit. + default_movement_speed=39339.5, + ) + + def test_pipette_id(subject: InstrumentCore) -> None: """It should have a ProtocolEngine ID.""" assert subject.pipette_id == "abc123" @@ -374,6 +409,43 @@ def test_move_to_coordinates( ) +def test_move_to_trash( + decoy: Decoy, + mock_engine_client: EngineClient, + mock_protocol_core: ProtocolCore, + subject: InstrumentCore, +) -> None: + """It should move the pipette to a trash and update the location cache.""" + mock_trash = decoy.mock(cls=TrashBin) + + decoy.when(mock_trash.offset).then_return(DisposalOffset(x=1, y=2, z=3)) + decoy.when(mock_trash.area_name).then_return("waste management") + + subject.move_to( + location=mock_trash, + well_core=None, + force_direct=True, + minimum_z_height=42.0, + speed=4.56, + ) + + decoy.verify( + mock_engine_client.execute_command( + cmd.MoveToAddressableAreaForDropTipParams( + pipetteId="abc123", + addressableAreaName="waste management", + offset=AddressableOffsetVector(x=1, y=2, z=3), + forceDirect=True, + speed=4.56, + minimumZHeight=None, + alternateDropLocation=False, + ignoreTipConfiguration=True, + ) + ), + mock_protocol_core.set_last_location(location=mock_trash, mount=Mount.LEFT), + ) + + def test_pick_up_tip( decoy: Decoy, mock_engine_client: EngineClient, @@ -463,9 +535,7 @@ def test_drop_tip_no_location( labware_id="labware-id", engine_client=mock_engine_client, ) - decoy.when( - mock_engine_client.state.tips.get_pipette_channels("abc123") - ).then_return(8) + decoy.when(mock_engine_client.state.pipettes.get_channels("abc123")).then_return(8) subject.drop_tip(location=None, well_core=well_core, home_after=True) @@ -517,9 +587,7 @@ def test_drop_tip_with_location( ).then_return( (WellLocation(origin=WellOrigin.TOP, offset=WellOffset(x=3, y=2, z=1)), False) ) - decoy.when( - mock_engine_client.state.tips.get_pipette_channels("abc123") - ).then_return(8) + decoy.when(mock_engine_client.state.pipettes.get_channels("abc123")).then_return(8) decoy.when(mock_engine_client.state.labware.is_tiprack("labware-id")).then_return( True ) @@ -599,9 +667,7 @@ def test_drop_tip_in_waste_chute( waste_chute = decoy.mock(cls=WasteChute) decoy.when(waste_chute.offset).then_return(DisposalOffset(x=4, y=5, z=6)) - decoy.when( - mock_engine_client.state.tips.get_pipette_channels("abc123") - ).then_return(96) + decoy.when(mock_engine_client.state.pipettes.get_channels("abc123")).then_return(96) subject.drop_tip_in_disposal_location( waste_chute, home_after=True, alternate_tip_drop=True @@ -945,6 +1011,48 @@ def test_blow_out_in_place( ) +def test_blow_out_to_trash_bin( + decoy: Decoy, + mock_engine_client: EngineClient, + mock_protocol_core: ProtocolCore, + subject: InstrumentCore, +) -> None: + """It should move to a trash and blow out there.""" + decoy.when(mock_protocol_core.api_version).then_return(MAX_SUPPORTED_VERSION) + mock_trash = decoy.mock(cls=TrashBin) + + decoy.when(mock_trash.offset).then_return(DisposalOffset(x=1, y=2, z=3)) + decoy.when(mock_trash.area_name).then_return("rubbish") + + subject.blow_out( + location=mock_trash, + well_core=None, + in_place=False, + ) + + decoy.verify( + mock_engine_client.execute_command( + cmd.MoveToAddressableAreaForDropTipParams( + pipetteId="abc123", + addressableAreaName="rubbish", + offset=AddressableOffsetVector(x=1, y=2, z=3), + forceDirect=False, + speed=None, + minimumZHeight=None, + alternateDropLocation=False, + ignoreTipConfiguration=True, + ) + ), + mock_engine_client.execute_command( + cmd.BlowOutInPlaceParams( + pipetteId="abc123", + flowRate=6.7, + ) + ), + mock_protocol_core.set_last_location(location=mock_trash, mount=Mount.LEFT), + ) + + def test_dispense_to_well( decoy: Decoy, mock_engine_client: EngineClient, @@ -1092,6 +1200,56 @@ def test_dispense_to_coordinates( ) +def test_dispense_to_trash_bin( + decoy: Decoy, + mock_engine_client: EngineClient, + mock_protocol_core: ProtocolCore, + subject: InstrumentCore, +) -> None: + """It should move to a trash and dispense there.""" + decoy.when(mock_protocol_core.api_version).then_return(MAX_SUPPORTED_VERSION) + mock_trash = decoy.mock(cls=TrashBin) + + decoy.when(mock_trash.offset).then_return(DisposalOffset(x=1, y=2, z=3)) + decoy.when(mock_trash.area_name).then_return("garbage day") + + subject.dispense( + volume=12.34, + rate=5.6, + flow_rate=7.8, + well_core=None, + location=mock_trash, + in_place=False, + push_out=None, + meniscus_tracking=None, + ) + + decoy.verify( + mock_engine_client.execute_command( + cmd.MoveToAddressableAreaForDropTipParams( + pipetteId="abc123", + addressableAreaName="garbage day", + offset=AddressableOffsetVector(x=1, y=2, z=3), + forceDirect=False, + speed=None, + minimumZHeight=None, + alternateDropLocation=False, + ignoreTipConfiguration=True, + ) + ), + mock_engine_client.execute_command( + cmd.DispenseInPlaceParams( + pipetteId="abc123", + volume=12.34, + correctionVolume=None, + flowRate=7.8, + pushOut=None, + ) + ), + mock_protocol_core.set_last_location(location=mock_trash, mount=Mount.LEFT), + ) + + @pytest.mark.parametrize( ("api_version", "expect_clampage"), [(APIVersion(2, 16), True), (APIVersion(2, 17), False)], @@ -1306,9 +1464,7 @@ def test_get_channels( ) -> None: """It should get the pipette's number of channels.""" decoy.when( - mock_engine_client.state.tips.get_pipette_channels( - pipette_id=subject.pipette_id - ) + mock_engine_client.state.pipettes.get_channels(pipette_id=subject.pipette_id) ).then_return(42) assert subject.get_channels() == 42 @@ -1639,7 +1795,7 @@ def test_is_tip_tracking_available( ) -> None: """It should return whether tip tracking is available based on nozzle configuration.""" decoy.when( - mock_engine_client.state.tips.get_pipette_channels(subject.pipette_id) + mock_engine_client.state.pipettes.get_channels(subject.pipette_id) ).then_return(pipette_channels) decoy.when( mock_engine_client.state.pipettes.get_nozzle_layout_type(subject.pipette_id) @@ -1730,7 +1886,7 @@ def test_detect_liquid_presence( cmd.TryLiquidProbeParams( pipetteId=subject.pipette_id, wellLocation=WellLocation( - origin=WellOrigin.TOP, offset=WellOffset(x=0, y=0, z=0) + origin=WellOrigin.TOP, offset=WellOffset(x=0, y=0, z=2) ), wellName=well_core.get_name(), labwareId=well_core.labware_id, @@ -1958,7 +2114,7 @@ def test_load_liquid_class( assert result == "liquid-class-id" -def test_aspirate_liquid_class_for_transfer( +def test_aspirate_liquid_class_for_transfer_without_volume_config( decoy: Decoy, mock_engine_client: EngineClient, subject: InstrumentCore, @@ -1975,8 +2131,10 @@ def test_aspirate_liquid_class_for_transfer( decoy.when( transfer_components_executor.absolute_point_from_position_reference_and_offset( well=source_well, + well_volume_difference=-123, position_reference=PositionReference.WELL_BOTTOM, offset=Coordinate(x=0, y=0, z=-5), + mount=Mount.LEFT, ) ).then_return(Point(1, 2, 3)) decoy.when( @@ -1985,14 +2143,211 @@ def test_aspirate_liquid_class_for_transfer( transfer_properties=test_transfer_properties, target_location=Location(Point(1, 2, 3), labware=None), target_well=source_well, - transfer_type=TransferType.ONE_TO_ONE, tip_state=TipState(), + transfer_type=TransferType.ONE_TO_ONE, ) ).then_return(mock_transfer_components_executor) decoy.when( mock_transfer_components_executor.tip_state.last_liquid_and_air_gap_in_tip ).then_return(LiquidAndAirGapPair(liquid=111, air_gap=222)) result = subject.aspirate_liquid_class( + volume=123, + source=(source_location, source_well), + transfer_properties=test_transfer_properties, + transfer_type=TransferType.ONE_TO_ONE, + tip_contents=[], + volume_for_pipette_mode_configuration=None, + ) + decoy.verify( + mock_transfer_components_executor.submerge( + submerge_properties=test_transfer_properties.aspirate.submerge, + post_submerge_action="aspirate", + ), + mock_transfer_components_executor.mix( + mix_properties=test_transfer_properties.aspirate.mix, + last_dispense_push_out=False, + ), + mock_transfer_components_executor.pre_wet(volume=123), + mock_transfer_components_executor.aspirate_and_wait(volume=123), + mock_transfer_components_executor.retract_after_aspiration( + volume=123, add_air_gap=True + ), + ) + assert result == [LiquidAndAirGapPair(air_gap=222, liquid=111)] + + +@pytest.mark.parametrize("version", versions_at_or_above(APIVersion(2, 23))) +def test_aspirate_liquid_class_using_volume_config_without_lpd( + decoy: Decoy, + mock_engine_client: EngineClient, + subject: InstrumentCore, + minimal_liquid_class_def2: LiquidClassSchemaV1, + mock_transfer_components_executor: TransferComponentsExecutor, + mock_protocol_core: ProtocolCore, + version: APIVersion, +) -> None: + """It should execute steps required for volume config only, without LPD steps.""" + source_well = decoy.mock(cls=WellCore) + source_location = Location(Point(1, 2, 3), labware=None) + liquid_probe_start_point = Point(3, 2, 1) + + test_liquid_class = LiquidClass.create(minimal_liquid_class_def2) + test_transfer_properties = test_liquid_class.get_for( + "flex_1channel_50", "opentrons_flex_96_tiprack_50ul" + ) + test_transfer_properties.dispense.flow_rate_by_volume.set_for_volume(100, 234) + test_transfer_properties.dispense.correction_by_volume.set_for_volume(100, 111) + test_transfer_properties.dispense.delay.duration = 22 + test_transfer_properties.dispense.delay.enabled = True + + last_liquid_and_airgap_in_tip = LiquidAndAirGapPair(liquid=0, air_gap=100) + decoy.when(mock_protocol_core.api_version).then_return(version) + decoy.when(source_well.labware_id).then_return("source-labware-id") + decoy.when(source_well.get_name()).then_return("source-well") + decoy.when(source_well.get_top(2)).then_return(liquid_probe_start_point) + decoy.when( + mock_engine_client.state.geometry.get_relative_well_location( + labware_id="source-labware-id", + well_name="source-well", + absolute_point=liquid_probe_start_point, + location_type=WellLocationFunction.LIQUID_HANDLING, + ) + ).then_return((LiquidHandlingWellLocation(origin=WellOrigin.BOTTOM), True)) + decoy.when( + transfer_components_executor.absolute_point_from_position_reference_and_offset( + well=source_well, + well_volume_difference=-123, + position_reference=PositionReference.WELL_BOTTOM, + offset=Coordinate(x=0, y=0, z=-5), + mount=Mount.LEFT, + ) + ).then_return(Point(1, 2, 3)) + decoy.when( + transfer_components_executor.TransferComponentsExecutor( + instrument_core=subject, + transfer_properties=test_transfer_properties, + target_location=Location(Point(1, 2, 3), labware=None), + target_well=source_well, + tip_state=TipState(), # air gap would have been removed during volume config + transfer_type=TransferType.ONE_TO_ONE, + ) + ).then_return(mock_transfer_components_executor) + decoy.when( + mock_transfer_components_executor.tip_state.last_liquid_and_air_gap_in_tip + ).then_return(LiquidAndAirGapPair(liquid=111, air_gap=222)) + result = subject.aspirate_liquid_class( + volume=123, + source=(source_location, source_well), + transfer_properties=test_transfer_properties, + transfer_type=TransferType.ONE_TO_ONE, + tip_contents=[last_liquid_and_airgap_in_tip], + volume_for_pipette_mode_configuration=123, + ) + decoy.verify( + mock_engine_client.execute_command( + cmd.MoveToWellParams( + pipetteId="abc123", + labwareId="source-labware-id", + wellName="source-well", + wellLocation=LiquidHandlingWellLocation(origin=WellOrigin.BOTTOM), + minimumZHeight=None, + forceDirect=False, + speed=None, + ) + ), + mock_engine_client.execute_command( + cmd.DispenseInPlaceParams( + pipetteId="abc123", + volume=100, + flowRate=234, + pushOut=0, + correctionVolume=111, + ) + ), + mock_protocol_core.delay(seconds=22, msg=None), + mock_engine_client.execute_command( + cmd.ConfigureForVolumeParams( + pipetteId="abc123", + volume=123, + tipOverlapNotAfterVersion="v3", + ) + ), + mock_engine_client.execute_command( + cmd.PrepareToAspirateParams( + pipetteId="abc123", + ) + ), + mock_transfer_components_executor.submerge( + submerge_properties=test_transfer_properties.aspirate.submerge, + post_submerge_action="aspirate", + ), + mock_transfer_components_executor.mix( + mix_properties=test_transfer_properties.aspirate.mix, + last_dispense_push_out=False, + ), + mock_transfer_components_executor.pre_wet(volume=123), + mock_transfer_components_executor.aspirate_and_wait(volume=123), + mock_transfer_components_executor.retract_after_aspiration( + volume=123, add_air_gap=True + ), + ) + assert result == [LiquidAndAirGapPair(air_gap=222, liquid=111)] + + +@pytest.mark.parametrize("version", versions_at_or_above(APIVersion(2, 23))) +def test_aspirate_liquid_class_using_volume_config_and_lpd( + decoy: Decoy, + mock_engine_client: EngineClient, + instrument_core_with_lpd: InstrumentCore, + minimal_liquid_class_def2: LiquidClassSchemaV1, + mock_transfer_components_executor: TransferComponentsExecutor, + mock_protocol_core: ProtocolCore, + version: APIVersion, +) -> None: + """It should execute steps required for volume config and LPD.""" + source_well = decoy.mock(cls=WellCore) + source_location = Location(Point(1, 2, 3), labware=None) + liquid_probe_start_point = Point(3, 2, 1) + + test_liquid_class = LiquidClass.create(minimal_liquid_class_def2) + test_transfer_properties = test_liquid_class.get_for( + "flex_1channel_50", "opentrons_flex_96_tiprack_50ul" + ) + decoy.when(source_well.labware_id).then_return("source-labware-id") + decoy.when(source_well.get_name()).then_return("source-well") + decoy.when(source_well.get_top(2)).then_return(liquid_probe_start_point) + decoy.when( + mock_engine_client.state.geometry.get_relative_well_location( + labware_id="source-labware-id", + well_name="source-well", + absolute_point=liquid_probe_start_point, + location_type=WellLocationFunction.LIQUID_HANDLING, + ) + ).then_return((LiquidHandlingWellLocation(origin=WellOrigin.BOTTOM), True)) + decoy.when( + transfer_components_executor.absolute_point_from_position_reference_and_offset( + well=source_well, + well_volume_difference=-123, + position_reference=PositionReference.WELL_BOTTOM, + offset=Coordinate(x=0, y=0, z=-5), + mount=Mount.LEFT, + ) + ).then_return(Point(1, 2, 3)) + decoy.when( + transfer_components_executor.TransferComponentsExecutor( + instrument_core=instrument_core_with_lpd, + transfer_properties=test_transfer_properties, + target_location=Location(Point(1, 2, 3), labware=None), + target_well=source_well, + tip_state=TipState(), + transfer_type=TransferType.ONE_TO_ONE, + ) + ).then_return(mock_transfer_components_executor) + decoy.when( + mock_transfer_components_executor.tip_state.last_liquid_and_air_gap_in_tip + ).then_return(LiquidAndAirGapPair(liquid=111, air_gap=222)) + decoy.when(mock_protocol_core.api_version).then_return(version) + result = instrument_core_with_lpd.aspirate_liquid_class( volume=123, source=(source_location, source_well), transfer_properties=test_transfer_properties, @@ -2001,10 +2356,42 @@ def test_aspirate_liquid_class_for_transfer( volume_for_pipette_mode_configuration=123, ) decoy.verify( + mock_engine_client.execute_command( + cmd.MoveToWellParams( + pipetteId="abc123", + labwareId="source-labware-id", + wellName="source-well", + wellLocation=LiquidHandlingWellLocation(origin=WellOrigin.BOTTOM), + minimumZHeight=None, + forceDirect=False, + speed=None, + ) + ), + mock_engine_client.execute_command( + cmd.LiquidProbeParams( + pipetteId="abc123", + labwareId="source-labware-id", + wellName="source-well", + wellLocation=WellLocation( + origin=WellOrigin.TOP, offset=WellOffset(x=0, y=0, z=2) + ), + ) + ), + mock_engine_client.execute_command( + cmd.ConfigureForVolumeParams( + pipetteId="abc123", + volume=123, + tipOverlapNotAfterVersion="v3", + ) + ), + mock_engine_client.execute_command( + cmd.PrepareToAspirateParams( + pipetteId="abc123", + ) + ), mock_transfer_components_executor.submerge( submerge_properties=test_transfer_properties.aspirate.submerge, post_submerge_action="aspirate", - volume_for_pipette_mode_configuration=123, ), mock_transfer_components_executor.mix( mix_properties=test_transfer_properties.aspirate.mix, @@ -2019,6 +2406,73 @@ def test_aspirate_liquid_class_for_transfer( assert result == [LiquidAndAirGapPair(air_gap=222, liquid=111)] +@pytest.mark.parametrize("version", versions_at_or_above(APIVersion(2, 23))) +def test_aspirate_liquid_class_does_not_do_lpd_for_consolidate( + decoy: Decoy, + mock_engine_client: EngineClient, + subject: InstrumentCore, + minimal_liquid_class_def2: LiquidClassSchemaV1, + mock_transfer_components_executor: TransferComponentsExecutor, + mock_protocol_core: ProtocolCore, + version: APIVersion, +) -> None: + """It should execute steps required for LPD.""" + source_well = decoy.mock(cls=WellCore) + source_location = Location(Point(1, 2, 3), labware=None) + liquid_probe_start_point = Point(3, 2, 1) + + test_liquid_class = LiquidClass.create(minimal_liquid_class_def2) + test_transfer_properties = test_liquid_class.get_for( + "flex_1channel_50", "opentrons_flex_96_tiprack_50ul" + ) + decoy.when(source_well.labware_id).then_return("source-labware-id") + decoy.when(source_well.get_name()).then_return("source-well") + decoy.when(source_well.get_top(2)).then_return(liquid_probe_start_point) + decoy.when( + mock_engine_client.state.geometry.get_relative_well_location( + labware_id="source-labware-id", + well_name="source-well", + absolute_point=liquid_probe_start_point, + location_type=WellLocationFunction.LIQUID_HANDLING, + ) + ).then_return((LiquidHandlingWellLocation(origin=WellOrigin.BOTTOM), True)) + decoy.when( + transfer_components_executor.absolute_point_from_position_reference_and_offset( + well=source_well, + well_volume_difference=-123, + position_reference=PositionReference.WELL_BOTTOM, + offset=Coordinate(x=0, y=0, z=-5), + mount=Mount.LEFT, + ) + ).then_return(Point(1, 2, 3)) + decoy.when( + transfer_components_executor.TransferComponentsExecutor( + instrument_core=subject, + transfer_properties=test_transfer_properties, + target_location=Location(Point(1, 2, 3), labware=None), + target_well=source_well, + tip_state=TipState(), + transfer_type=TransferType.ONE_TO_ONE, + ) + ).then_return(mock_transfer_components_executor) + decoy.when( + mock_transfer_components_executor.tip_state.last_liquid_and_air_gap_in_tip + ).then_return(LiquidAndAirGapPair(liquid=111, air_gap=222)) + decoy.when(mock_protocol_core.api_version).then_return(version) + subject.aspirate_liquid_class( + volume=123, + source=(source_location, source_well), + transfer_properties=test_transfer_properties, + transfer_type=TransferType.ONE_TO_ONE, + tip_contents=[], + volume_for_pipette_mode_configuration=123, + ) + decoy.verify( + mock_engine_client.execute_command(params=matchers.IsA(cmd.LiquidProbeParams)), + times=0, + ) + + def test_aspirate_liquid_class_for_consolidate( decoy: Decoy, mock_engine_client: EngineClient, @@ -2036,8 +2490,10 @@ def test_aspirate_liquid_class_for_consolidate( decoy.when( transfer_components_executor.absolute_point_from_position_reference_and_offset( well=source_well, + well_volume_difference=-123, position_reference=PositionReference.WELL_BOTTOM, offset=Coordinate(x=0, y=0, z=-5), + mount=Mount.LEFT, ) ).then_return(Point(1, 2, 3)) decoy.when( @@ -2046,8 +2502,8 @@ def test_aspirate_liquid_class_for_consolidate( transfer_properties=test_transfer_properties, target_location=Location(Point(1, 2, 3), labware=None), target_well=source_well, - transfer_type=TransferType.MANY_TO_ONE, tip_state=TipState(), + transfer_type=TransferType.MANY_TO_ONE, ) ).then_return(mock_transfer_components_executor) decoy.when( @@ -2059,13 +2515,12 @@ def test_aspirate_liquid_class_for_consolidate( transfer_properties=test_transfer_properties, transfer_type=TransferType.MANY_TO_ONE, tip_contents=[], - volume_for_pipette_mode_configuration=543, + volume_for_pipette_mode_configuration=None, ) decoy.verify( mock_transfer_components_executor.submerge( submerge_properties=test_transfer_properties.aspirate.submerge, post_submerge_action="aspirate", - volume_for_pipette_mode_configuration=543, ), mock_transfer_components_executor.aspirate_and_wait(volume=123), mock_transfer_components_executor.retract_after_aspiration( @@ -2103,11 +2558,11 @@ def test_aspirate_liquid_class_raises_for_more_than_max_volume( decoy.when( tx_commons.check_valid_liquid_class_volume_parameters( aspirate_volume=123, - disposal_volume=0, air_gap=test_transfer_properties.aspirate.retract.air_gap_by_volume.get_for_volume( 123 ), max_volume=100, + current_volume=4.56, ) ).then_raise(ValueError("Oh oh!")) with pytest.raises(ValueError, match="Oh oh!"): @@ -2117,10 +2572,111 @@ def test_aspirate_liquid_class_raises_for_more_than_max_volume( transfer_properties=test_transfer_properties, transfer_type=TransferType.ONE_TO_ONE, tip_contents=[], - volume_for_pipette_mode_configuration=543, + volume_for_pipette_mode_configuration=None, + current_volume=4.56, ) +@pytest.mark.parametrize("version", versions_at_or_above(APIVersion(2, 23))) +@pytest.mark.parametrize( + argnames=[ + "air_gap_volume", + "air_gap_flow_rate_by_vol", + "expected_air_gap_flow_rate", + ], + argvalues=[(0.123, 123, 123), (1.23, 0.123, 1.23)], +) +def test_remove_air_gap_during_transfer_with_liquid_class( + decoy: Decoy, + mock_engine_client: EngineClient, + mock_protocol_core: ProtocolCore, + subject: InstrumentCore, + air_gap_volume: float, + air_gap_flow_rate_by_vol: float, + expected_air_gap_flow_rate: float, + version: APIVersion, +) -> None: + """It should remove ait gap by calling dispense and delay with liquid class props.""" + test_transfer_props = decoy.mock(cls=TransferProperties) + air_gap_correction_by_vol = 0.321 + + test_transfer_props.dispense.delay.duration = 321 + test_transfer_props.dispense.delay.enabled = True + + decoy.when(mock_protocol_core.api_version).then_return(version) + decoy.when( + test_transfer_props.dispense.flow_rate_by_volume.get_for_volume(air_gap_volume) + ).then_return(air_gap_flow_rate_by_vol) + decoy.when( + test_transfer_props.dispense.correction_by_volume.get_for_volume(air_gap_volume) + ).then_return(air_gap_correction_by_vol) + subject.remove_air_gap_during_transfer_with_liquid_class( + last_air_gap=air_gap_volume, + dispense_props=test_transfer_props.dispense, + location=Location(Point(1, 2, 3), labware=None), + ) + decoy.verify( + mock_engine_client.execute_command( + cmd.DispenseInPlaceParams( + pipetteId="abc123", + volume=air_gap_volume, + flowRate=expected_air_gap_flow_rate, + pushOut=0, + correctionVolume=air_gap_correction_by_vol, + ) + ), + mock_protocol_core.delay(321, None), + ) + + +@pytest.mark.parametrize("version", versions_at_or_above(APIVersion(2, 23))) +def test_remove_air_gap_during_transfer_with_liquid_class_handles_delays( + decoy: Decoy, + mock_engine_client: EngineClient, + mock_protocol_core: ProtocolCore, + subject: InstrumentCore, + version: APIVersion, +) -> None: + """It should remove ait gap by calling dispense and delay with liquid class props.""" + test_transfer_props = decoy.mock(cls=TransferProperties) + air_gap_volume = 0.123 + air_gap_flow_rate_by_vol = 123 + air_gap_correction_by_vol = 0.321 + + test_transfer_props.dispense.delay.enabled = False + + decoy.when(mock_protocol_core.api_version).then_return(version) + decoy.when( + test_transfer_props.dispense.flow_rate_by_volume.get_for_volume(air_gap_volume) + ).then_return(air_gap_flow_rate_by_vol) + decoy.when( + test_transfer_props.dispense.correction_by_volume.get_for_volume(air_gap_volume) + ).then_return(air_gap_correction_by_vol) + + subject.remove_air_gap_during_transfer_with_liquid_class( + last_air_gap=air_gap_volume, + dispense_props=test_transfer_props.dispense, + location=Location(Point(1, 2, 3), labware=None), + ) + decoy.verify( + mock_protocol_core.delay(seconds=matchers.Anything(), msg=None), + times=0, + ) + + test_transfer_props.dispense.delay.enabled = True + test_transfer_props.dispense.delay.duration = 321 + + subject.remove_air_gap_during_transfer_with_liquid_class( + last_air_gap=air_gap_volume, + dispense_props=test_transfer_props.dispense, + location=Location(Point(1, 2, 3), labware=None), + ) + decoy.verify( + mock_protocol_core.delay(seconds=321, msg=None), + times=1, + ) + + def test_dispense_liquid_class( decoy: Decoy, mock_engine_client: EngineClient, @@ -2143,8 +2699,10 @@ def test_dispense_liquid_class( decoy.when( transfer_components_executor.absolute_point_from_position_reference_and_offset( well=dest_well, + well_volume_difference=123, position_reference=PositionReference.WELL_BOTTOM, offset=Coordinate(x=0, y=0, z=-5), + mount=Mount.LEFT, ) ).then_return(Point(1, 2, 3)) decoy.when( @@ -2153,8 +2711,8 @@ def test_dispense_liquid_class( transfer_properties=test_transfer_properties, target_location=Location(Point(1, 2, 3), labware=None), target_well=dest_well, - transfer_type=TransferType.ONE_TO_ONE, tip_state=TipState(), + transfer_type=TransferType.ONE_TO_ONE, ) ).then_return(mock_transfer_components_executor) decoy.when( @@ -2174,7 +2732,6 @@ def test_dispense_liquid_class( mock_transfer_components_executor.submerge( submerge_properties=test_transfer_properties.dispense.submerge, post_submerge_action="dispense", - volume_for_pipette_mode_configuration=None, ), mock_transfer_components_executor.dispense_and_wait( dispense_properties=test_transfer_properties.dispense, @@ -2222,8 +2779,10 @@ def test_dispense_liquid_class_during_multi_dispense( decoy.when( transfer_components_executor.absolute_point_from_position_reference_and_offset( well=dest_well, + well_volume_difference=123, position_reference=PositionReference.WELL_BOTTOM, offset=Coordinate(x=1, y=3, z=2), + mount=Mount.LEFT, ) ).then_return(Point(1, 2, 3)) decoy.when( @@ -2232,8 +2791,8 @@ def test_dispense_liquid_class_during_multi_dispense( transfer_properties=test_transfer_properties, target_location=Location(Point(1, 2, 3), labware=None), target_well=dest_well, - transfer_type=TransferType.ONE_TO_MANY, tip_state=TipState(), + transfer_type=TransferType.ONE_TO_MANY, ) ).then_return(mock_transfer_components_executor) decoy.when( @@ -2258,7 +2817,6 @@ def test_dispense_liquid_class_during_multi_dispense( mock_transfer_components_executor.submerge( submerge_properties=test_transfer_properties.multi_dispense.submerge, post_submerge_action="dispense", - volume_for_pipette_mode_configuration=None, ), mock_transfer_components_executor.dispense_and_wait( dispense_properties=test_transfer_properties.multi_dispense, @@ -2305,8 +2863,10 @@ def test_last_dispense_liquid_class_during_multi_dispense( decoy.when( transfer_components_executor.absolute_point_from_position_reference_and_offset( well=dest_well, + well_volume_difference=123, position_reference=PositionReference.WELL_BOTTOM, offset=Coordinate(x=1, y=3, z=2), + mount=Mount.LEFT, ) ).then_return(Point(1, 2, 3)) decoy.when( @@ -2315,8 +2875,8 @@ def test_last_dispense_liquid_class_during_multi_dispense( transfer_properties=test_transfer_properties, target_location=Location(Point(1, 2, 3), labware=None), target_well=dest_well, - transfer_type=TransferType.ONE_TO_MANY, tip_state=TipState(), + transfer_type=TransferType.ONE_TO_MANY, ) ).then_return(mock_transfer_components_executor) decoy.when( @@ -2341,7 +2901,6 @@ def test_last_dispense_liquid_class_during_multi_dispense( mock_transfer_components_executor.submerge( submerge_properties=test_transfer_properties.multi_dispense.submerge, post_submerge_action="dispense", - volume_for_pipette_mode_configuration=None, ), mock_transfer_components_executor.dispense_and_wait( dispense_properties=test_transfer_properties.multi_dispense, diff --git a/api/tests/opentrons/protocol_api/core/engine/test_protocol_core.py b/api/tests/opentrons/protocol_api/core/engine/test_protocol_core.py index 72435d1446ad..da2fcb27099a 100644 --- a/api/tests/opentrons/protocol_api/core/engine/test_protocol_core.py +++ b/api/tests/opentrons/protocol_api/core/engine/test_protocol_core.py @@ -1873,15 +1873,24 @@ def test_define_liquid_class( expected_liquid_class = LiquidClass( _name="water1", _display_name="water 1", _by_pipette_setting={} ) - decoy.when(liquid_classes.load_definition("water")).then_return( + decoy.when(liquid_classes.load_definition("water", version=123)).then_return( minimal_liquid_class_def1 ) - assert subject.define_liquid_class("water") == expected_liquid_class + assert subject.define_liquid_class("water", 123) == expected_liquid_class - decoy.when(liquid_classes.load_definition("water")).then_return( + # Test that different version number works + decoy.when(liquid_classes.load_definition("water", version=456)).then_return( minimal_liquid_class_def2 ) - assert subject.define_liquid_class("water") == expected_liquid_class + different_liquid_class = subject.define_liquid_class("water", 456) + assert different_liquid_class.name == "water2" + assert different_liquid_class.display_name == "water 2" + + # Test that definition caching works + decoy.when(liquid_classes.load_definition("water", version=123)).then_return( + minimal_liquid_class_def2 + ) + assert subject.define_liquid_class("water", 123) == expected_liquid_class def test_get_labware_location_deck_slot( diff --git a/api/tests/opentrons/protocol_api/core/engine/test_transfer_components_executor.py b/api/tests/opentrons/protocol_api/core/engine/test_transfer_components_executor.py index c3c96c8e2b3d..0db2a40a54ff 100644 --- a/api/tests/opentrons/protocol_api/core/engine/test_transfer_components_executor.py +++ b/api/tests/opentrons/protocol_api/core/engine/test_transfer_components_executor.py @@ -8,7 +8,7 @@ BlowoutLocation, ) -from opentrons.protocol_api import TrashBin +from opentrons.protocol_api import TrashBin, WasteChute from opentrons.protocol_api._liquid import LiquidClass from opentrons.protocol_api._liquid_properties import TransferProperties from opentrons.protocol_api.core.engine.well import WellCore @@ -27,7 +27,7 @@ from opentrons.protocols.advanced_control.transfers.transfer_liquid_utils import ( LocationCheckDescriptors, ) -from opentrons.types import Location, Point +from opentrons.types import Location, Point, Mount @pytest.fixture @@ -57,19 +57,16 @@ def patch_mock_raise_if_location_inside_liquid( """ Test aspirate properties: "submerge": { - "positionReference": "well-top", - "offset": {"x": 1, "y": 2, "z": 3}, + "startPosition": {"positionReference": "well-top", "offset": {"x": 1, "y": 2, "z": 3}}, "speed": 100, "delay": {"enable": true, "params": {"duration": 10.0}}}, "retract": { - "positionReference": "well-top", - "offset": {"x": 3, "y": 2, "z": 1}, + "endPosition": {"positionReference": "well-top", "offset": {"x": 3, "y": 2, "z": 1}}, "speed": 50, "airGapByVolume": [[1.0, 0.1], [49.9, 0.1], [50.0, 0.0]], - "touchTip": {"enable": true, "params": {"zOffset": -1, "mmToEdge": 0.5, "speed": 30}}, + "touchTip": {"enable": true, "params": {"zOffset": -1, "mmFromEdge": 0.5, "speed": 30}}, "delay": {"enable": true, "params": {"duration": 20}}}, -"positionReference": "well-bottom", -"offset": {"x": 10, "y": 20, "z": 30}, +"aspiratePosition": {"positionReference": "well-bottom", "offset": {"x": 10, "y": 20, "z": 30}}, "flowRateByVolume": [[1.0, 35.0], [10.0, 24.0], [50.0, 35.0]], "correctionByVolume": [[0.0, 0.0]], "preWet": true, @@ -82,17 +79,15 @@ def patch_mock_raise_if_location_inside_liquid( argnames=[ "air_gap_volume", "air_gap_flow_rate_by_vol", - "expected_air_gap_flow_rate", ], - argvalues=[(0.123, 123, 123), (1.23, 0.123, 1.23)], + argvalues=[(0.123, 123), (1.23, 0.123)], ) -def test_submerge_without_lpd( +def test_submerge( decoy: Decoy, mock_instrument_core: InstrumentCore, sample_transfer_props: TransferProperties, air_gap_volume: float, air_gap_flow_rate_by_vol: float, - expected_air_gap_flow_rate: float, ) -> None: """Should perform the expected submerge steps.""" source_well = decoy.mock(cls=WellCore) @@ -122,34 +117,11 @@ def test_submerge_without_lpd( decoy.when(source_well.get_bottom(0)).then_return(well_bottom_point) decoy.when(source_well.get_top(0)).then_return(well_top_point) decoy.when(source_well.get_top(2)).then_return(Point(1, 2, 6)) - decoy.when(mock_instrument_core.get_liquid_presence_detection()).then_return(False) subject.submerge( submerge_properties=sample_transfer_props.aspirate.submerge, post_submerge_action="aspirate", - volume_for_pipette_mode_configuration=123, ) - decoy.verify( - mock_instrument_core.move_to( - location=Location(point=Point(1, 2, 6), labware=None), - well_core=source_well, - force_direct=False, - minimum_z_height=None, - speed=None, - ), - mock_instrument_core.dispense( - location=Location(Point(x=2, y=4, z=7), labware=None), - well_core=None, - volume=air_gap_volume, - rate=1, - flow_rate=expected_air_gap_flow_rate, - in_place=True, - push_out=0, - correction_volume=air_gap_correction_by_vol, - ), - mock_instrument_core.delay(0.5), - mock_instrument_core.configure_for_volume(123), - mock_instrument_core.prepare_to_aspirate(), tx_utils.raise_if_location_inside_liquid( location=Location(Point(x=2, y=4, z=7), labware=None), well_location=Location(Point(x=1, y=2, z=3), labware=None), @@ -167,6 +139,11 @@ def test_submerge_without_lpd( minimum_z_height=None, speed=None, ), + mock_instrument_core.remove_air_gap_during_transfer_with_liquid_class( + last_air_gap=air_gap_volume, + dispense_props=sample_transfer_props.dispense, + location=Location(Point(x=2, y=4, z=7), labware=None), + ), mock_instrument_core.move_to( location=Location(Point(1, 2, 3), labware=None), well_core=source_well, @@ -178,7 +155,7 @@ def test_submerge_without_lpd( ) -def test_submerge_with_lpd( +def test_submerge_without_starting_air_gap( decoy: Decoy, mock_instrument_core: InstrumentCore, sample_transfer_props: TransferProperties, @@ -187,14 +164,12 @@ def test_submerge_with_lpd( source_well = decoy.mock(cls=WellCore) well_top_point = Point(1, 2, 4) well_bottom_point = Point(4, 5, 6) - air_gap_flow_rate_by_vol = 1234 - air_gap_correction_by_vol = 0.321 - + air_gap_volume = 0 sample_transfer_props.dispense.flow_rate_by_volume.set_for_volume( - 123, air_gap_flow_rate_by_vol + air_gap_volume, 1234 ) sample_transfer_props.dispense.correction_by_volume.set_for_volume( - 123, air_gap_correction_by_vol + air_gap_volume, 1234 ) subject = TransferComponentsExecutor( @@ -204,44 +179,30 @@ def test_submerge_with_lpd( target_well=source_well, tip_state=TipState( ready_to_aspirate=True, - last_liquid_and_air_gap_in_tip=LiquidAndAirGapPair(liquid=0, air_gap=123), + last_liquid_and_air_gap_in_tip=LiquidAndAirGapPair( + liquid=0, air_gap=air_gap_volume + ), ), transfer_type=TransferType.ONE_TO_ONE, ) decoy.when(source_well.get_bottom(0)).then_return(well_bottom_point) decoy.when(source_well.get_top(0)).then_return(well_top_point) decoy.when(source_well.get_top(2)).then_return(Point(1, 2, 6)) - decoy.when(mock_instrument_core.get_liquid_presence_detection()).then_return(True) subject.submerge( submerge_properties=sample_transfer_props.aspirate.submerge, post_submerge_action="aspirate", - volume_for_pipette_mode_configuration=123, ) - decoy.verify( - mock_instrument_core.move_to( - location=Location(point=Point(1, 2, 6), labware=None), - well_core=source_well, - force_direct=False, - minimum_z_height=None, - speed=None, - ), - mock_instrument_core.dispense( + tx_utils.raise_if_location_inside_liquid( location=Location(Point(x=2, y=4, z=7), labware=None), - well_core=None, - volume=123, - rate=1, - flow_rate=air_gap_flow_rate_by_vol, - in_place=True, - push_out=0, - correction_volume=air_gap_correction_by_vol, - ), - mock_instrument_core.delay(0.5), - mock_instrument_core.liquid_probe_with_recovery( - source_well, Location(Point(x=2, y=4, z=7), labware=None) + well_location=Location(Point(x=1, y=2, z=3), labware=None), + well_core=source_well, + location_check_descriptors=LocationCheckDescriptors( + location_type="submerge start", + pipetting_action="aspirate", + ), + logger=matchers.Anything(), ), - mock_instrument_core.configure_for_volume(123), - mock_instrument_core.prepare_to_aspirate(), mock_instrument_core.move_to( location=Location(Point(x=2, y=4, z=7), labware=None), well_core=source_well, @@ -260,6 +221,65 @@ def test_submerge_with_lpd( ) +@pytest.mark.parametrize( + argnames=[ + "air_gap_volume", + "air_gap_flow_rate_by_vol", + ], + argvalues=[(0.123, 123), (1.23, 0.123)], +) +def test_submerge_with_trash_location( + decoy: Decoy, + mock_instrument_core: InstrumentCore, + sample_transfer_props: TransferProperties, + air_gap_volume: float, + air_gap_flow_rate_by_vol: float, +) -> None: + """Should perform the expected submerge steps.""" + air_gap_correction_by_vol = 0.321 + sample_transfer_props.dispense.flow_rate_by_volume.set_for_volume( + air_gap_volume, air_gap_flow_rate_by_vol + ) + sample_transfer_props.dispense.correction_by_volume.set_for_volume( + air_gap_volume, air_gap_correction_by_vol + ) + mock_trash_bin = decoy.mock(cls=TrashBin) + + subject = TransferComponentsExecutor( + instrument_core=mock_instrument_core, + transfer_properties=sample_transfer_props, + target_location=mock_trash_bin, + target_well=None, + tip_state=TipState( + ready_to_aspirate=True, + last_liquid_and_air_gap_in_tip=LiquidAndAirGapPair( + liquid=0, air_gap=air_gap_volume + ), + ), + transfer_type=TransferType.ONE_TO_ONE, + ) + subject.submerge( + submerge_properties=sample_transfer_props.dispense.submerge, + post_submerge_action="dispense", + ) + + decoy.verify( + mock_instrument_core.move_to( + location=mock_trash_bin, + well_core=None, + force_direct=False, + minimum_z_height=None, + speed=None, + ), + mock_instrument_core.remove_air_gap_during_transfer_with_liquid_class( + last_air_gap=air_gap_volume, + dispense_props=sample_transfer_props.dispense, + location=mock_trash_bin, + ), + mock_instrument_core.delay(1.1), + ) + + def test_submerge_raises_when_submerge_point_is_invalid( decoy: Decoy, mock_instrument_core: InstrumentCore, @@ -299,7 +319,6 @@ def test_submerge_raises_when_submerge_point_is_invalid( subject.submerge( submerge_properties=sample_transfer_props.aspirate.submerge, post_submerge_action="aspirate", - volume_for_pipette_mode_configuration=123, ) @@ -318,7 +337,9 @@ def test_aspirate_and_wait( ) -> None: """It should execute an aspirate and a delay according to properties.""" source_well = decoy.mock(cls=WellCore) - sample_transfer_props.aspirate.position_reference = position_reference + sample_transfer_props.aspirate.aspirate_position.position_reference = ( + position_reference + ) aspirate_flow_rate = ( sample_transfer_props.aspirate.flow_rate_by_volume.get_for_volume(10) ) @@ -387,7 +408,9 @@ def test_dispense_and_wait( ) -> None: """It should execute a dispense and a delay according to properties.""" source_well = decoy.mock(cls=WellCore) - sample_transfer_props.dispense.position_reference = position_reference + sample_transfer_props.dispense.dispense_position.position_reference = ( + position_reference + ) dispense_flow_rate = ( sample_transfer_props.dispense.flow_rate_by_volume.get_for_volume(10) ) @@ -450,6 +473,47 @@ def test_dispense_and_wait_skips_delay( ) +def test_dispense_into_trash_and_wait( + decoy: Decoy, + mock_instrument_core: InstrumentCore, + sample_transfer_props: TransferProperties, +) -> None: + """It should execute a dispense and a delay according to properties.""" + mock_trash_bin = decoy.mock(cls=TrashBin) + dispense_flow_rate = ( + sample_transfer_props.dispense.flow_rate_by_volume.get_for_volume(10) + ) + correction_volume = ( + sample_transfer_props.dispense.correction_by_volume.get_for_volume(50) + ) + subject = TransferComponentsExecutor( + instrument_core=mock_instrument_core, + transfer_properties=sample_transfer_props, + target_location=mock_trash_bin, + target_well=None, + tip_state=TipState(), + transfer_type=TransferType.ONE_TO_ONE, + ) + subject.dispense_and_wait( + dispense_properties=sample_transfer_props.dispense, + volume=10, + push_out_override=123, + ) + decoy.verify( + mock_instrument_core.dispense( + location=mock_trash_bin, + well_core=None, + volume=10, + rate=1, + flow_rate=dispense_flow_rate, + in_place=True, + push_out=123, + correction_volume=correction_volume, + ), + mock_instrument_core.delay(0.5), + ) + + def test_mix( decoy: Decoy, mock_instrument_core: InstrumentCore, @@ -898,22 +962,19 @@ def test_retract_after_aspiration_for_consolidate( "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": {"x": 30, "y": 20, "z": 10}, + "startPosition": {"positionReference": "well-top", "offset": {"x": 30, "y": 20, "z": 10}}, "speed": 100, "delay": {"enable": true, "params": { "duration": 0.0 }} }, "retract": { - "positionReference": "well-top", - "offset": {"x": 11, "y": 22, "z": 33}, + "endPosition": {"positionReference": "well-top", "offset": {"x": 11, "y": 22, "z": 33}}, "speed": 50, "airGapByVolume": [[1.0, 0.1], [49.9, 0.1], [50.0, 0.0]], "blowout": { "enable": true , "params": {"location": "source", "flowRate": 100}}, - "touchTip": { "enable": true, "params": { "zOffset": -1, "mmToEdge": 0.5, "speed": 30}}, + "touchTip": { "enable": true, "params": { "zOffset": -1, "mmFromEdge": 0.5, "speed": 30}}, "delay": {"enable": true, "params": { "duration": 10 }} }, - "positionReference": "well-bottom", - "offset": {"x": 33, "y": 22, "z": 11}, + "dispensePosition": {"positionReference": "well-bottom", "offset": {"x": 33, "y": 22, "z": 11}}, "flowRateByVolume": [[1.0, 50.0]], "correctionByVolume": [[0.0, 0.0]], "mix": { "enable": true, "params": { "repetitions": 1, "volume": 50 }}, @@ -1356,6 +1417,247 @@ def test_retract_after_dispense_with_blowout_in_disposal_location( ) +@pytest.mark.parametrize( + "add_final_air_gap", + [True, False], +) +def test_retract_after_dispense_in_trash_with_blowout_in_source( + decoy: Decoy, + mock_instrument_core: InstrumentCore, + sample_transfer_props: TransferProperties, + add_final_air_gap: bool, +) -> None: + """It should execute steps to retract after a dispense into a trash.""" + source_location = Location(Point(1, 2, 3), labware=None) + source_well = decoy.mock(cls=WellCore) + target_chute = decoy.mock(cls=WasteChute) + + air_gap_volume = 0.123 + air_gap_flow_rate_by_vol = 123 + air_gap_correction_by_vol = 0.321 + + sample_transfer_props.aspirate.retract.air_gap_by_volume.set_for_volume( + 0, air_gap_volume + ) + sample_transfer_props.aspirate.flow_rate_by_volume.set_for_volume( + air_gap_volume, air_gap_flow_rate_by_vol + ) + sample_transfer_props.aspirate.correction_by_volume.set_for_volume( + air_gap_volume, air_gap_correction_by_vol + ) + + subject = TransferComponentsExecutor( + instrument_core=mock_instrument_core, + transfer_properties=sample_transfer_props, + target_location=target_chute, + target_well=None, + tip_state=TipState(), + transfer_type=TransferType.ONE_TO_ONE, + ) + + decoy.when(source_well.get_top(0)).then_return(Point(10, 20, 30)) + subject.retract_after_dispensing( + trash_location=Location(Point(), labware=None), + source_location=source_location, + source_well=source_well, + add_final_air_gap=add_final_air_gap, + ) + decoy.verify( + mock_instrument_core.delay(10), + mock_instrument_core.air_gap_in_place( + volume=air_gap_volume, + flow_rate=air_gap_flow_rate_by_vol, + correction_volume=air_gap_correction_by_vol, + ), + mock_instrument_core.delay(0.2), + mock_instrument_core.set_flow_rate(blow_out=100), + mock_instrument_core.blow_out( + location=Location(Point(10, 20, 30), labware=None), + well_core=source_well, + in_place=False, + ), + mock_instrument_core.touch_tip( + location=Location(Point(10, 20, 30), labware=None), + well_core=source_well, + radius=1, + mm_from_edge=0.75, + z_offset=-1, + speed=30, + ), + mock_instrument_core.move_to( + location=Location(Point(10, 20, 30), labware=None), + well_core=source_well, + force_direct=True, + minimum_z_height=None, + speed=None, + ), + mock_instrument_core.prepare_to_aspirate(), + *( + add_final_air_gap + and [ + mock_instrument_core.air_gap_in_place( # type: ignore[func-returns-value] + volume=air_gap_volume, + flow_rate=air_gap_flow_rate_by_vol, + correction_volume=air_gap_correction_by_vol, + ), + mock_instrument_core.delay(0.2), # type: ignore[func-returns-value] + ] + or [] + ), + ) + + +@pytest.mark.parametrize( + "add_final_air_gap", + [True, False], +) +def test_retract_after_dispense_in_trash_with_blowout_in_destination( + decoy: Decoy, + mock_instrument_core: InstrumentCore, + sample_transfer_props: TransferProperties, + add_final_air_gap: bool, +) -> None: + """It should execute steps to retract after a dispense into a trash.""" + source_well = decoy.mock(cls=WellCore) + target_trash = decoy.mock(cls=TrashBin) + + air_gap_volume = 0.123 + air_gap_flow_rate_by_vol = 123 + air_gap_correction_by_vol = 0.321 + + sample_transfer_props.aspirate.retract.air_gap_by_volume.set_for_volume( + 0, air_gap_volume + ) + sample_transfer_props.aspirate.flow_rate_by_volume.set_for_volume( + air_gap_volume, air_gap_flow_rate_by_vol + ) + sample_transfer_props.aspirate.correction_by_volume.set_for_volume( + air_gap_volume, air_gap_correction_by_vol + ) + + sample_transfer_props.dispense.retract.blowout.location = ( + BlowoutLocation.DESTINATION + ) + + subject = TransferComponentsExecutor( + instrument_core=mock_instrument_core, + transfer_properties=sample_transfer_props, + target_location=target_trash, + target_well=None, + tip_state=TipState( + ready_to_aspirate=True, + last_liquid_and_air_gap_in_tip=LiquidAndAirGapPair( + liquid=10, + air_gap=0, + ), + ), + transfer_type=TransferType.ONE_TO_ONE, + ) + + subject.retract_after_dispensing( + trash_location=Location(Point(), labware=None), + source_location=Location(Point(1, 2, 3), labware=None), + source_well=source_well, + add_final_air_gap=True, + ) + decoy.verify( + mock_instrument_core.delay(10), + mock_instrument_core.set_flow_rate(blow_out=100), + mock_instrument_core.blow_out( + location=target_trash, + well_core=None, + in_place=True, + ), + *( + add_final_air_gap + and [ + mock_instrument_core.air_gap_in_place( # type: ignore[func-returns-value] + volume=air_gap_volume, + flow_rate=air_gap_flow_rate_by_vol, + correction_volume=air_gap_correction_by_vol, + ), + mock_instrument_core.delay(0.2), # type: ignore[func-returns-value] + ] + or [] + ), + ) + + +@pytest.mark.parametrize( + "add_final_air_gap", + [True, False], +) +def test_retract_after_dispense_in_trash_with_blowout_in_disposal_location( + decoy: Decoy, + mock_instrument_core: InstrumentCore, + sample_transfer_props: TransferProperties, + add_final_air_gap: bool, +) -> None: + """It should execute steps to retract after a dispense into a trash.""" + source_location = Location(Point(1, 2, 3), labware=None) + source_well = decoy.mock(cls=WellCore) + target_trash = decoy.mock(cls=TrashBin) + trash_location = decoy.mock(cls=WasteChute) + + air_gap_volume = 0.123 + air_gap_flow_rate_by_vol = 123 + air_gap_correction_by_vol = 0.321 + + sample_transfer_props.aspirate.retract.air_gap_by_volume.set_for_volume( + 0, air_gap_volume + ) + sample_transfer_props.aspirate.flow_rate_by_volume.set_for_volume( + air_gap_volume, air_gap_flow_rate_by_vol + ) + sample_transfer_props.aspirate.correction_by_volume.set_for_volume( + air_gap_volume, air_gap_correction_by_vol + ) + + sample_transfer_props.dispense.retract.blowout.location = BlowoutLocation.TRASH + + subject = TransferComponentsExecutor( + instrument_core=mock_instrument_core, + transfer_properties=sample_transfer_props, + target_location=target_trash, + target_well=None, + tip_state=TipState(), + transfer_type=TransferType.ONE_TO_ONE, + ) + subject.retract_after_dispensing( + trash_location=trash_location, + source_location=source_location, + source_well=source_well, + add_final_air_gap=True, + ) + decoy.verify( + mock_instrument_core.delay(10), + mock_instrument_core.air_gap_in_place( + volume=air_gap_volume, + flow_rate=air_gap_flow_rate_by_vol, + correction_volume=air_gap_correction_by_vol, + ), + mock_instrument_core.delay(0.2), + mock_instrument_core.set_flow_rate(blow_out=100), + mock_instrument_core.blow_out( + location=trash_location, + well_core=None, + in_place=False, + ), + *( + add_final_air_gap + and [ + mock_instrument_core.air_gap_in_place( # type: ignore[func-returns-value] + volume=air_gap_volume, + flow_rate=air_gap_flow_rate_by_vol, + correction_volume=air_gap_correction_by_vol, + ), + mock_instrument_core.delay(0.2), # type: ignore[func-returns-value] + ] + or [] + ), + ) + + def test_retract_after_dispense_raises_for_invalid_retract_point( decoy: Decoy, mock_instrument_core: InstrumentCore, @@ -1701,7 +2003,7 @@ def test_multi_dispense_retract_raises_for_invalid_retract_point( ( PositionReference.LIQUID_MENISCUS, Coordinate(x=41, y=42, z=43), - Point(51, 53, 55), + Point(45, 47, 61), ), ], ) @@ -1717,15 +2019,24 @@ def test_absolute_point_from_position_reference_and_offset( well_top_point = Point(1, 2, 3) well_bottom_point = Point(4, 5, 6) well_center_point = Point(7, 8, 9) - liquid_meniscus_point = Point(10, 11, 12) + estimated_liquid_height = 12 decoy.when(well.get_bottom(0)).then_return(well_bottom_point) decoy.when(well.get_top(0)).then_return(well_top_point) decoy.when(well.get_center()).then_return(well_center_point) - decoy.when(well.get_meniscus()).then_return(liquid_meniscus_point) + decoy.when( + well.estimate_liquid_height_after_pipetting( + operation_volume=123, mount=Mount.RIGHT + ), + ).then_return(estimated_liquid_height) + decoy.when(well.get_bottom(12)).then_return(Point(4, 5, 18)) assert ( absolute_point_from_position_reference_and_offset( - well=well, position_reference=position_reference, offset=offset + well=well, + well_volume_difference=123, + position_reference=position_reference, + offset=offset, + mount=Mount.RIGHT, ) == expected_result ) @@ -1739,6 +2050,8 @@ def test_absolute_point_from_position_reference_and_offset_raises_errors( with pytest.raises(ValueError, match="Unknown position reference"): absolute_point_from_position_reference_and_offset( well=well, + well_volume_difference=123, position_reference="PositionReference", # type: ignore[arg-type] offset=Coordinate(x=0, y=0, z=0), + mount=Mount.RIGHT, ) diff --git a/api/tests/opentrons/protocol_api/test_instrument_context.py b/api/tests/opentrons/protocol_api/test_instrument_context.py index 9ac1aae69fd6..e9251510c8e1 100644 --- a/api/tests/opentrons/protocol_api/test_instrument_context.py +++ b/api/tests/opentrons/protocol_api/test_instrument_context.py @@ -7,7 +7,7 @@ from typing import ContextManager, Optional, Any from unittest.mock import sentinel -from decoy import Decoy +from decoy import Decoy, matchers from pytest_lazyfixture import lazy_fixture # type: ignore[import-untyped] from opentrons.protocol_engine.commands.pipetting_common import LiquidNotFoundError @@ -48,10 +48,8 @@ Labware, Well, labware, - validation as mock_validation, LiquidClass, ) -from opentrons.protocol_api.validation import WellTarget, PointTarget from opentrons.protocol_api.core.common import InstrumentCore, ProtocolCore from opentrons.protocol_api.core.legacy.legacy_instrument_core import ( LegacyInstrumentCore, @@ -78,12 +76,6 @@ from . import versions_at_or_above, versions_between -@pytest.fixture(autouse=True) -def _mock_validation_module(decoy: Decoy, monkeypatch: pytest.MonkeyPatch) -> None: - for name, func in inspect.getmembers(mock_validation, inspect.isfunction): - monkeypatch.setattr(mock_validation, name, decoy.mock(func=func)) - - @pytest.fixture(autouse=True) def _mock_instrument_support_module( decoy: Decoy, monkeypatch: pytest.MonkeyPatch @@ -334,24 +326,22 @@ def test_aspirate( mock_protocol_core: ProtocolCore, ) -> None: """It should aspirate to a well.""" + # Before PR #12105, this function tested calling aspirate(location=Well). + # Then this function was changed to call aspirate(location=Location), but that's + # the same thing that test_aspirate_well_location() is testing for. + # So we're restoring this function to test for aspirate(location=Well). mock_well = decoy.mock(cls=Well) bottom_location = Location(point=Point(1, 2, 3), labware=mock_well) - input_location = Location(point=Point(2, 2, 2), labware=None) last_location = Location(point=Point(9, 9, 9), labware=None) decoy.when(mock_instrument_core.get_mount()).then_return(Mount.RIGHT) decoy.when(mock_protocol_core.get_last_location(Mount.RIGHT)).then_return( last_location ) - decoy.when( - mock_validation.validate_location( - location=input_location, last_location=last_location - ) - ).then_return(WellTarget(well=mock_well, location=None, in_place=False)) decoy.when(mock_well.bottom(z=1.0)).then_return(bottom_location) decoy.when(mock_instrument_core.get_aspirate_flow_rate(1.23)).then_return(5.67) - subject.aspirate(volume=42.0, location=input_location, rate=1.23) + subject.aspirate(volume=42.0, location=mock_well, rate=1.23) decoy.verify( mock_instrument_core.aspirate( @@ -382,11 +372,6 @@ def test_aspirate_well_location( decoy.when(mock_protocol_core.get_last_location(Mount.RIGHT)).then_return( last_location ) - decoy.when( - mock_validation.validate_location( - location=input_location, last_location=last_location - ) - ).then_return(WellTarget(well=mock_well, location=input_location, in_place=False)) decoy.when(mock_instrument_core.get_aspirate_flow_rate(1.23)).then_return(5.67) subject.aspirate(volume=42.0, location=input_location, rate=1.23) @@ -420,11 +405,6 @@ def test_aspirate_meniscus_well_location( decoy.when(mock_protocol_core.get_last_location(Mount.RIGHT)).then_return( last_location ) - decoy.when( - mock_validation.validate_location( - location=input_location, last_location=last_location - ) - ).then_return(WellTarget(well=mock_well, location=input_location, in_place=False)) decoy.when(mock_instrument_core.get_aspirate_flow_rate(1.23)).then_return(5.67) subject.aspirate(volume=42.0, location=input_location, rate=1.23) @@ -451,17 +431,12 @@ def test_aspirate_from_coordinates( ) -> None: """It should aspirate from given coordinates.""" input_location = Location(point=Point(2, 2, 2), labware=None) - last_location = Location(point=Point(9, 9, 9), labware=None) + last_location = input_location # to demonstrate in_place=True decoy.when(mock_instrument_core.get_mount()).then_return(Mount.RIGHT) decoy.when(mock_protocol_core.get_last_location(Mount.RIGHT)).then_return( last_location ) - decoy.when( - mock_validation.validate_location( - location=input_location, last_location=last_location - ) - ).then_return(PointTarget(location=input_location, in_place=True)) decoy.when(mock_instrument_core.get_aspirate_flow_rate(1.23)).then_return(5.67) subject.aspirate(volume=42.0, location=input_location, rate=1.23) @@ -486,17 +461,48 @@ def test_aspirate_raises_no_location( subject: InstrumentContext, mock_protocol_core: ProtocolCore, ) -> None: - """Shound raise a RuntimeError error.""" + """Should raise a RuntimeError error.""" decoy.when(mock_instrument_core.get_mount()).then_return(Mount.RIGHT) decoy.when(mock_protocol_core.get_last_location(Mount.RIGHT)).then_return(None) - decoy.when( - mock_validation.validate_location(location=None, last_location=None) - ).then_raise(mock_validation.NoLocationError()) with pytest.raises(RuntimeError): subject.aspirate(location=None) +def test_aspirate_flow_rate( + decoy: Decoy, + mock_instrument_core: InstrumentCore, + subject: InstrumentContext, + mock_protocol_core: ProtocolCore, +) -> None: + """It should aspirate with absolute_flow_rate.""" + decoy.when(mock_instrument_core.get_mount()).then_return(Mount.RIGHT) + last_location = Location(point=Point(9, 9, 9), labware=None) + decoy.when(mock_protocol_core.get_last_location(Mount.RIGHT)).then_return( + last_location + ) + decoy.when(mock_instrument_core.get_aspirate_flow_rate()).then_return(400) + + subject.aspirate(volume=30, flow_rate=600) + + decoy.verify( + mock_instrument_core.aspirate( + location=last_location, + well_core=None, + in_place=True, + volume=30, + rate=1.5, # requested flow_rate is 1.5 times default of 400 + flow_rate=600, + meniscus_tracking=None, + ), + times=1, + ) + + # Should raise if both `rate` and `flow_rate` are specified: + with pytest.raises(ValueError): + subject.aspirate(volume=30, rate=1.5, flow_rate=600) + + def test_blow_out_to_well( decoy: Decoy, mock_instrument_core: InstrumentCore, @@ -506,20 +512,14 @@ def test_blow_out_to_well( """It should blow out to a well.""" mock_well = decoy.mock(cls=Well) top_location = Location(point=Point(1, 2, 3), labware=mock_well) - input_location = Location(point=Point(2, 2, 2), labware=None) last_location = Location(point=Point(9, 9, 9), labware=None) decoy.when(mock_instrument_core.get_mount()).then_return(Mount.RIGHT) decoy.when(mock_protocol_core.get_last_location(Mount.RIGHT)).then_return( last_location ) - decoy.when( - mock_validation.validate_location( - location=input_location, last_location=last_location - ) - ).then_return(WellTarget(well=mock_well, location=None, in_place=False)) decoy.when(mock_well.top()).then_return(top_location) - subject.blow_out(location=input_location) + subject.blow_out(location=mock_well) decoy.verify( mock_instrument_core.blow_out( @@ -537,18 +537,13 @@ def test_blow_out_to_well_location( ) -> None: """It should blow out to a well location.""" mock_well = decoy.mock(cls=Well) - input_location = Location(point=Point(2, 2, 2), labware=None) + input_location = Location(point=Point(2, 2, 2), labware=mock_well) last_location = Location(point=Point(9, 9, 9), labware=None) decoy.when(mock_instrument_core.get_mount()).then_return(Mount.RIGHT) decoy.when(mock_protocol_core.get_last_location(Mount.RIGHT)).then_return( last_location ) - decoy.when( - mock_validation.validate_location( - location=input_location, last_location=last_location - ) - ).then_return(WellTarget(well=mock_well, location=input_location, in_place=False)) subject.blow_out(location=input_location) decoy.verify( @@ -593,12 +588,6 @@ def test_blow_out_to_well_meniscus_location( decoy.when(mock_protocol_core.get_last_location(Mount.RIGHT)).then_return( last_location ) - decoy.when( - mock_validation.validate_location( - location=input_location, last_location=last_location - ) - ).then_return(WellTarget(well=mock_well, location=input_location, in_place=False)) - subject.blow_out(location=input_location) mock_instrument_core.blow_out( @@ -613,20 +602,13 @@ def test_blow_out_to_location( mock_protocol_core: ProtocolCore, ) -> None: """It should blow out to a location.""" - mock_well = decoy.mock(cls=Well) - input_location = Location(point=Point(2, 2, 2), labware=mock_well) - last_location = Location(point=Point(9, 9, 9), labware=None) - point_target = PointTarget(location=input_location, in_place=True) + input_location = Location(point=Point(2, 2, 2), labware=None) + last_location = input_location # to demonstrate how we set in_place=True decoy.when(mock_instrument_core.get_mount()).then_return(Mount.RIGHT) decoy.when(mock_protocol_core.get_last_location(Mount.RIGHT)).then_return( last_location ) - decoy.when( - mock_validation.validate_location( - location=input_location, last_location=last_location - ) - ).then_return(point_target) subject.blow_out(location=input_location) @@ -638,6 +620,53 @@ def test_blow_out_to_location( ) +@pytest.mark.parametrize("api_version", versions_at_or_above(APIVersion(2, 24))) +def test_blow_out_with_trash_last_location( + decoy: Decoy, + mock_instrument_core: InstrumentCore, + subject: InstrumentContext, + mock_protocol_core: ProtocolCore, +) -> None: + """It should blow out into a previously accessed disposal location.""" + mock_chute = decoy.mock(cls=WasteChute) + decoy.when(mock_instrument_core.get_mount()).then_return(Mount.LEFT) + decoy.when(mock_protocol_core.get_last_location(mount=Mount.LEFT)).then_return( + mock_chute + ) + subject.blow_out() + + decoy.verify( + mock_instrument_core.blow_out( + location=mock_chute, well_core=None, in_place=True + ), + times=1, + ) + + +@pytest.mark.parametrize( + "api_version", + versions_between( + low_exclusive_bound=APIVersion(2, 13), high_inclusive_bound=APIVersion(2, 23) + ), +) +def test_blow_out_with_trash_last_location_raises_earlier_api( + decoy: Decoy, + mock_instrument_core: InstrumentCore, + subject: InstrumentContext, + mock_protocol_core: ProtocolCore, +) -> None: + """It should raise if a trash is the last accessed location and on 2.23.""" + mock_trash = decoy.mock(cls=TrashBin) + decoy.when(mock_instrument_core.get_mount()).then_return(Mount.LEFT) + decoy.when(mock_protocol_core.get_last_location(mount=Mount.LEFT)).then_return( + mock_trash + ) + with pytest.raises( + RuntimeError, match="blow out is called without an explicit location" + ): + subject.blow_out() + + def test_blow_out_raises_no_location( decoy: Decoy, mock_instrument_core: InstrumentCore, @@ -648,9 +677,6 @@ def test_blow_out_raises_no_location( decoy.when(mock_instrument_core.get_mount()).then_return(Mount.RIGHT) decoy.when(mock_protocol_core.get_last_location(Mount.RIGHT)).then_return(None) - decoy.when( - mock_validation.validate_location(location=None, last_location=None) - ).then_raise(mock_validation.NoLocationError()) with pytest.raises(RuntimeError): subject.blow_out(location=None) @@ -1011,17 +1037,12 @@ def test_dispense_with_location( ) -> None: """It should dispense to a given location.""" input_location = Location(point=Point(2, 2, 2), labware=None) - last_location = Location(point=Point(9, 9, 9), labware=None) + last_location = input_location # to demonstrate in_place=True decoy.when(mock_instrument_core.get_mount()).then_return(Mount.RIGHT) decoy.when(mock_protocol_core.get_last_location(Mount.RIGHT)).then_return( last_location ) - decoy.when( - mock_validation.validate_location( - location=input_location, last_location=last_location - ) - ).then_return(PointTarget(location=input_location, in_place=True)) decoy.when(mock_instrument_core.get_dispense_flow_rate(1.23)).then_return(5.67) subject.dispense(volume=42.0, location=input_location, rate=1.23) @@ -1049,18 +1070,13 @@ def test_dispense_with_well_location( ) -> None: """It should dispense to a well location.""" mock_well = decoy.mock(cls=Well) - input_location = Location(point=Point(2, 2, 2), labware=None) + input_location = Location(point=Point(2, 2, 2), labware=mock_well) last_location = Location(point=Point(9, 9, 9), labware=None) decoy.when(mock_instrument_core.get_mount()).then_return(Mount.RIGHT) decoy.when(mock_protocol_core.get_last_location(Mount.RIGHT)).then_return( last_location ) - decoy.when( - mock_validation.validate_location( - location=input_location, last_location=last_location - ) - ).then_return(WellTarget(well=mock_well, location=input_location, in_place=False)) decoy.when(mock_instrument_core.get_dispense_flow_rate(1.23)).then_return(3.0) subject.dispense(volume=42.0, location=input_location, rate=1.23, push_out=7) @@ -1089,22 +1105,16 @@ def test_dispense_with_well( """It should dispense to a well.""" mock_well = decoy.mock(cls=Well) bottom_location = Location(point=Point(1, 2, 3), labware=mock_well) - input_location = Location(point=Point(2, 2, 2), labware=None) last_location = Location(point=Point(9, 9, 9), labware=None) decoy.when(mock_instrument_core.get_mount()).then_return(Mount.RIGHT) decoy.when(mock_protocol_core.get_last_location(Mount.RIGHT)).then_return( last_location ) - decoy.when( - mock_validation.validate_location( - location=input_location, last_location=last_location - ) - ).then_return(WellTarget(well=mock_well, location=None, in_place=False)) decoy.when(mock_well.bottom(z=1.0)).then_return(bottom_location) decoy.when(mock_instrument_core.get_dispense_flow_rate(1.23)).then_return(5.67) - subject.dispense(volume=42.0, location=input_location, rate=1.23, push_out=None) + subject.dispense(volume=42.0, location=mock_well, rate=1.23, push_out=None) decoy.verify( mock_instrument_core.dispense( @@ -1131,9 +1141,6 @@ def test_dispense_raises_no_location( decoy.when(mock_instrument_core.get_mount()).then_return(Mount.RIGHT) decoy.when(mock_protocol_core.get_last_location(Mount.RIGHT)).then_return(None) - decoy.when( - mock_validation.validate_location(location=None, last_location=None) - ).then_raise(mock_validation.NoLocationError()) with pytest.raises(RuntimeError): subject.dispense(location=None) @@ -1149,13 +1156,45 @@ def test_dispense_push_out_on_not_allowed_version( decoy.when(mock_instrument_core.get_mount()).then_return(Mount.RIGHT) decoy.when(mock_protocol_core.get_last_location(Mount.RIGHT)).then_return(None) - decoy.when( - mock_validation.validate_location(location=None, last_location=None) - ).then_raise(mock_validation.NoLocationError()) with pytest.raises(APIVersionError): subject.dispense(push_out=3) +def test_dispense_flow_rate( + decoy: Decoy, + mock_instrument_core: InstrumentCore, + subject: InstrumentContext, + mock_protocol_core: ProtocolCore, +) -> None: + """It should dispense with absolute_flow_rate.""" + decoy.when(mock_instrument_core.get_mount()).then_return(Mount.RIGHT) + last_location = Location(point=Point(9, 9, 9), labware=None) + decoy.when(mock_protocol_core.get_last_location(Mount.RIGHT)).then_return( + last_location + ) + decoy.when(mock_instrument_core.get_dispense_flow_rate()).then_return(400) + + subject.dispense(volume=30, flow_rate=600) + + decoy.verify( + mock_instrument_core.dispense( + location=last_location, + well_core=None, + volume=30, + rate=1.5, # requested flow_rate is 1.5 times default of 400 + flow_rate=600, + in_place=True, + push_out=None, + meniscus_tracking=None, + ), + times=1, + ) + + # Should raise if both `rate` and `flow_rate` are specified: + with pytest.raises(ValueError): + subject.dispense(volume=30, rate=1.5, flow_rate=600) + + def test_touch_tip( decoy: Decoy, mock_instrument_core: InstrumentCore, @@ -1172,6 +1211,8 @@ def test_touch_tip( decoy.when(mock_well.parent.quirks).then_return([]) + # touch_tip() with the old `radius` argument: + subject.touch_tip(mock_well, radius=0.123, v_offset=4.56, speed=42.0) decoy.verify( @@ -1181,9 +1222,50 @@ def test_touch_tip( radius=0.123, z_offset=4.56, speed=42.0, + mm_from_edge=None, + ) + ) + + # touch_tip() with the new `mm_from_edge` argument: + + subject.touch_tip(mock_well, v_offset=4.56, speed=42.0, mm_from_edge=0.5) + + decoy.verify( + mock_instrument_core.touch_tip( + location=Location(point=Point(1, 2, 3), labware=mock_well), + well_core=mock_well._core, + radius=1, + z_offset=4.56, + speed=42.0, + mm_from_edge=0.5, ) ) + # `radius` and `mm_from_edge` are mutually exclusive, should raise if both specified: + with pytest.raises(ValueError): + subject.touch_tip( + mock_well, radius=0.75, v_offset=4.56, speed=42.0, mm_from_edge=0.5 + ) + + +def test_touch_tip_raises_if_trash_last_location( + decoy: Decoy, + mock_instrument_core: InstrumentCore, + subject: InstrumentContext, + mock_protocol_core: ProtocolCore, +) -> None: + """It should raise if the last location was a trash bin or waste chute.""" + decoy.when(mock_instrument_core.has_tip()).then_return(True) + mock_trash = decoy.mock(cls=TrashBin) + decoy.when(mock_protocol_core.get_last_location()).then_return(mock_trash) + with pytest.raises(RuntimeError, match="not valid for touch tip"): + subject.touch_tip() + + mock_chute = decoy.mock(cls=WasteChute) + decoy.when(mock_protocol_core.get_last_location()).then_return(mock_chute) + with pytest.raises(RuntimeError, match="not valid for touch tip"): + subject.touch_tip() + def test_return_height( decoy: Decoy, mock_instrument_core: InstrumentCore, subject: InstrumentContext @@ -1354,9 +1436,6 @@ def test_dispense_0_volume_means_dispense_everything( ) -> None: """It should dispense all liquid to a well.""" input_location = Location(point=Point(2, 2, 2), labware=None) - decoy.when( - mock_validation.validate_location(location=input_location, last_location=None) - ).then_return(mock_validation.PointTarget(location=input_location, in_place=False)) decoy.when(mock_instrument_core.get_current_volume()).then_return(100) decoy.when(mock_instrument_core.get_dispense_flow_rate(1.23)).then_return(5.67) subject.dispense(volume=0, location=input_location, rate=1.23, push_out=None) @@ -1385,9 +1464,6 @@ def test_dispense_0_volume_means_dispense_nothing( ) -> None: """It should dispense no liquid to a well.""" input_location = Location(point=Point(2, 2, 2), labware=None) - decoy.when( - mock_validation.validate_location(location=input_location, last_location=None) - ).then_return(mock_validation.PointTarget(location=input_location, in_place=False)) decoy.when(mock_instrument_core.get_dispense_flow_rate(1.23)).then_return(5.67) subject.dispense(volume=0, location=input_location, rate=1.23, push_out=None) @@ -1423,11 +1499,6 @@ def test_aspirate_0_volume_means_aspirate_everything( last_location ) - decoy.when( - mock_validation.validate_location( - location=input_location, last_location=last_location - ) - ).then_return(WellTarget(well=mock_well, location=input_location, in_place=False)) decoy.when(mock_instrument_core.get_aspirate_flow_rate(1.23)).then_return(5.67) decoy.when(mock_instrument_core.get_available_volume()).then_return(200) subject.aspirate(volume=0, location=input_location, rate=1.23) @@ -1463,11 +1534,6 @@ def test_aspirate_0_volume_means_aspirate_nothing( last_location ) - decoy.when( - mock_validation.validate_location( - location=input_location, last_location=last_location - ) - ).then_return(WellTarget(well=mock_well, location=input_location, in_place=False)) decoy.when(mock_instrument_core.get_aspirate_flow_rate(1.23)).then_return(5.67) subject.aspirate(volume=0, location=input_location, rate=1.23) @@ -1486,6 +1552,61 @@ def test_aspirate_0_volume_means_aspirate_nothing( ) +@pytest.mark.parametrize("api_version", versions_at_or_above(APIVersion(2, 24))) +def test_dispense_with_trash_last_location( + decoy: Decoy, + mock_instrument_core: InstrumentCore, + subject: InstrumentContext, + mock_protocol_core: ProtocolCore, +) -> None: + """It should dispense into a previously accessed trash.""" + mock_trash = decoy.mock(cls=TrashBin) + decoy.when(mock_instrument_core.get_mount()).then_return(Mount.LEFT) + decoy.when(mock_protocol_core.get_last_location(mount=Mount.LEFT)).then_return( + mock_trash + ) + decoy.when(mock_instrument_core.get_dispense_flow_rate(4.5)).then_return(6.7) + subject.dispense(volume=12.3, rate=4.5) + + decoy.verify( + mock_instrument_core.dispense( + location=mock_trash, + well_core=None, + in_place=True, + volume=12.3, + rate=4.5, + flow_rate=6.7, + push_out=None, + meniscus_tracking=None, + ), + times=1, + ) + + +@pytest.mark.parametrize( + "api_version", + versions_between( + low_exclusive_bound=APIVersion(2, 13), high_inclusive_bound=APIVersion(2, 23) + ), +) +def test_dispense_with_trash_last_location_raises_earlier_api( + decoy: Decoy, + mock_instrument_core: InstrumentCore, + subject: InstrumentContext, + mock_protocol_core: ProtocolCore, +) -> None: + """It should raise if a trash is the last accessed location and on 2.23.""" + mock_trash = decoy.mock(cls=TrashBin) + decoy.when(mock_instrument_core.get_mount()).then_return(Mount.LEFT) + decoy.when(mock_protocol_core.get_last_location(mount=Mount.LEFT)).then_return( + mock_trash + ) + with pytest.raises( + RuntimeError, match="dispense is called without an explicit location" + ): + subject.dispense(volume=12.3, rate=4.5) + + @pytest.mark.parametrize("api_version", [APIVersion(2, 20)]) def test_detect_liquid_presence( decoy: Decoy, @@ -1580,20 +1701,14 @@ def test_mix_no_lpd( bottom_location = Location(point=Point(1, 2, 3), labware=mock_well) top_location = Location(point=Point(3, 2, 1), labware=None) - input_location = Location(point=Point(2, 2, 2), labware=None) last_location = Location(point=Point(9, 9, 9), labware=None) decoy.when(mock_protocol_core.get_last_location(Mount.LEFT)).then_return( - last_location + # We start at last_location, then we're at bottom_location for the + # subsequent dispenses/aspirates + last_location, + bottom_location, ) - decoy.when( - mock_validation.validate_location( - location=input_location, last_location=last_location - ) - ).then_return(WellTarget(well=mock_well, location=None, in_place=False)) - decoy.when( - mock_validation.validate_location(location=None, last_location=last_location) - ).then_return(WellTarget(well=mock_well, location=None, in_place=False)) decoy.when(mock_well.bottom(z=1.0)).then_return(bottom_location) decoy.when(mock_well.top()).then_return(top_location) decoy.when(mock_instrument_core.get_aspirate_flow_rate(1.23)).then_return(5.67) @@ -1601,7 +1716,7 @@ def test_mix_no_lpd( decoy.when(mock_instrument_core.has_tip()).then_return(True) decoy.when(mock_instrument_core.get_current_volume()).then_return(0.0) - subject.mix(repetitions=10, volume=10.0, location=input_location, rate=1.23) + subject.mix(repetitions=10, volume=10.0, location=mock_well, rate=1.23) decoy.verify( mock_instrument_core.aspirate( bottom_location, @@ -1609,7 +1724,7 @@ def test_mix_no_lpd( 10.0, 1.23, 5.67, - False, + matchers.Anything(), # first one is not in_place, the other 9 are in_place None, ), times=10, @@ -1624,7 +1739,7 @@ def test_mix_no_lpd( 10.0, 1.23, 5.67, - False, + True, None, None, ), @@ -1638,7 +1753,7 @@ def test_mix_no_lpd( 10.0, 1.23, 5.67, - False, + True, 0.0, None, ), @@ -1651,7 +1766,7 @@ def test_mix_no_lpd( 10.0, 1.23, 5.67, - False, + True, None, None, ), @@ -1676,20 +1791,14 @@ def test_mix_with_lpd( mock_well = decoy.mock(cls=Well) bottom_location = Location(point=Point(1, 2, 3), labware=mock_well) top_location = Location(point=Point(3, 2, 1), labware=None) - input_location = Location(point=Point(2, 2, 2), labware=None) last_location = Location(point=Point(9, 9, 9), labware=None) decoy.when(mock_protocol_core.get_last_location(Mount.LEFT)).then_return( - last_location + # We start at last_location, then we're at bottom_location for the + # subsequent dispenses/aspirates + last_location, + bottom_location, ) - decoy.when( - mock_validation.validate_location( - location=input_location, last_location=last_location - ) - ).then_return(WellTarget(well=mock_well, location=None, in_place=False)) - decoy.when( - mock_validation.validate_location(location=None, last_location=last_location) - ).then_return(WellTarget(well=mock_well, location=None, in_place=False)) decoy.when(mock_well.bottom(z=1.0)).then_return(bottom_location) decoy.when(mock_well.top()).then_return(top_location) decoy.when(mock_instrument_core.get_aspirate_flow_rate(1.23)).then_return(5.67) @@ -1702,7 +1811,7 @@ def test_mix_with_lpd( ) subject.liquid_presence_detection = True - subject.mix(repetitions=10, volume=10.0, location=input_location, rate=1.23) + subject.mix(repetitions=10, volume=10.0, location=mock_well, rate=1.23) decoy.verify( mock_instrument_core.aspirate( bottom_location, @@ -1710,7 +1819,7 @@ def test_mix_with_lpd( 10.0, 1.23, 5.67, - False, + matchers.Anything(), # first one is not in_place, the other 9 are in_place None, ), times=10, @@ -1722,7 +1831,7 @@ def test_mix_with_lpd( 10.0, 1.23, 5.67, - False, + True, 0.0, None, ), @@ -1735,7 +1844,7 @@ def test_mix_with_lpd( 10.0, 1.23, 5.67, - False, + True, None, None, ), @@ -1747,67 +1856,219 @@ def test_mix_with_lpd( ) -@pytest.mark.ot3_only -@pytest.mark.parametrize("clean,expected", [(True, 1), (False, 0)]) -def test_aspirate_with_lpd( +def test_mix_with_flow_rates( decoy: Decoy, mock_instrument_core: InstrumentCore, subject: InstrumentContext, mock_protocol_core: ProtocolCore, - clean: bool, - expected: int, ) -> None: - """It should aspirate/dispense to a well several times and do 1 lpd.""" + """It should mix with aspirate_flow_rate and dispense_flow_rate.""" mock_well = decoy.mock(cls=Well) - bottom_location = Location(point=Point(1, 2, 3), labware=mock_well) - top_location = Location(point=Point(3, 2, 1), labware=None) - input_location = Location(point=Point(2, 2, 2), labware=None) - last_location = Location(point=Point(9, 9, 9), labware=None) - + input_location = Location(point=Point(2, 2, 2), labware=mock_well) decoy.when(mock_protocol_core.get_last_location(Mount.LEFT)).then_return( - last_location - ) - decoy.when( - mock_validation.validate_location( - location=input_location, last_location=last_location - ) - ).then_return(WellTarget(well=mock_well, location=None, in_place=False)) - decoy.when( - mock_validation.validate_location(location=None, last_location=last_location) - ).then_return(WellTarget(well=mock_well, location=None, in_place=False)) - decoy.when(mock_well.bottom(z=1.0)).then_return(bottom_location) - decoy.when(mock_well.top()).then_return(top_location) - decoy.when(mock_instrument_core.get_aspirate_flow_rate(1.23)).then_return(5.67) - decoy.when(mock_instrument_core.get_dispense_flow_rate(1.23)).then_return(5.67) + input_location, + ) # last location same as input_location, so in_place should be true + decoy.when(mock_instrument_core.get_aspirate_flow_rate()).then_return(100.0) + decoy.when(mock_instrument_core.get_dispense_flow_rate()).then_return(100.0) decoy.when(mock_instrument_core.has_tip()).then_return(True) - decoy.when(mock_instrument_core.get_has_clean_tip()).then_return(clean) decoy.when(mock_instrument_core.get_current_volume()).then_return(0.0) - decoy.when(mock_instrument_core.nozzle_configuration_valid_for_lld()).then_return( - True - ) - subject.liquid_presence_detection = True - subject.aspirate(volume=10.0, location=input_location, rate=1.23) + subject.mix( + repetitions=1, + volume=10.0, + location=input_location, + aspirate_flow_rate=300.0, + dispense_flow_rate=400.0, + ) decoy.verify( mock_instrument_core.aspirate( - bottom_location, - mock_well._core, - 10.0, - 1.23, - 5.67, - False, - None, + location=input_location, + well_core=mock_well._core, + volume=10.0, + rate=3.0, # requested aspirate_flow_rate is 3x default flow rate of 100 + flow_rate=300.0, + in_place=True, + meniscus_tracking=None, + ), + mock_instrument_core.dispense( + location=input_location, + well_core=mock_well._core, + volume=10.0, + rate=4.0, # requested dispense_flow_rate is 4x default flow rate of 100 + flow_rate=400.0, + in_place=True, + push_out=None, + meniscus_tracking=None, ), - times=1, - ) - decoy.verify( - mock_instrument_core.liquid_probe_with_recovery(mock_well._core, top_location), - times=expected, ) + # Should fail if you try to set both rate and aspirate_flow_rate/dispense_flow_rate: + with pytest.raises(ValueError): + subject.mix( + repetitions=1, + volume=10.0, + location=input_location, + rate=1.23, + aspirate_flow_rate=300.0, + dispense_flow_rate=400.0, + ) -@pytest.mark.parametrize( - "api_version", + # Bonus: If you only set aspirate_flow_rate, the dispense should use the pipette's + # default flow rate: + decoy.when(mock_instrument_core.get_aspirate_flow_rate(1)).then_return(100.0) + decoy.when(mock_instrument_core.get_dispense_flow_rate(1)).then_return(100.0) + subject.mix( + repetitions=1, + volume=10.0, + location=input_location, + aspirate_flow_rate=300.0, + ) + decoy.verify( + mock_instrument_core.aspirate( + location=input_location, + well_core=mock_well._core, + volume=10.0, + rate=3.0, # requested aspirate_flow_rate is 3x default flow rate of 100 + flow_rate=300.0, + in_place=True, + meniscus_tracking=None, + ), + mock_instrument_core.dispense( + location=input_location, + well_core=mock_well._core, + volume=10.0, + rate=1.0, + flow_rate=100.0, # the default dispense flow rate + in_place=True, + push_out=None, + meniscus_tracking=None, + ), + ) + + +def test_mix_with_delay_and_final_push_out( + decoy: Decoy, + mock_instrument_core: InstrumentCore, + subject: InstrumentContext, + mock_protocol_core: ProtocolCore, +) -> None: + """It should delay after the aspirate/dispense and emit the specified push out for the final dispense in a mix.""" + mock_well = decoy.mock(cls=Well) + input_location = Location(point=Point(2, 2, 2), labware=mock_well) + decoy.when(mock_protocol_core.get_last_location(Mount.LEFT)).then_return( + input_location, + ) # last location same as input_location, so in_place should be true + decoy.when(mock_instrument_core.get_aspirate_flow_rate(1)).then_return(4.56) + decoy.when(mock_instrument_core.get_dispense_flow_rate(1)).then_return(5.67) + decoy.when(mock_instrument_core.has_tip()).then_return(True) + decoy.when(mock_instrument_core.get_current_volume()).then_return(0.0) + + subject.mix( + repetitions=2, + volume=10.0, + location=input_location, + aspirate_delay=3, + dispense_delay=4, + final_push_out=2, + ) + decoy.verify( + mock_instrument_core.aspirate( + location=input_location, + well_core=mock_well._core, + volume=10.0, + rate=1, + flow_rate=4.56, + in_place=True, + meniscus_tracking=None, + ), + mock_protocol_core.delay(3, msg=None), # aspirate delay + mock_instrument_core.dispense( + location=input_location, + well_core=mock_well._core, + volume=10.0, + rate=1, + flow_rate=5.67, + in_place=True, + push_out=0.0, + meniscus_tracking=None, + ), + mock_protocol_core.delay(4, msg=None), # dispense delay + mock_instrument_core.aspirate( + location=input_location, + well_core=mock_well._core, + volume=10.0, + rate=1, + flow_rate=4.56, + in_place=True, + meniscus_tracking=None, + ), + mock_protocol_core.delay(3, msg=None), # aspirate delay + mock_instrument_core.dispense( + location=input_location, + well_core=mock_well._core, + volume=10.0, + rate=1, + flow_rate=5.67, + in_place=True, + push_out=2, # final push out + meniscus_tracking=None, + ), + mock_protocol_core.delay(4, msg=None), # dispense delay + ) + + +@pytest.mark.ot3_only +@pytest.mark.parametrize("clean,expected", [(True, 1), (False, 0)]) +def test_aspirate_with_lpd( + decoy: Decoy, + mock_instrument_core: InstrumentCore, + subject: InstrumentContext, + mock_protocol_core: ProtocolCore, + clean: bool, + expected: int, +) -> None: + """It should aspirate/dispense to a well several times and do 1 lpd.""" + mock_well = decoy.mock(cls=Well) + bottom_location = Location(point=Point(1, 2, 3), labware=mock_well) + top_location = Location(point=Point(3, 2, 1), labware=None) + last_location = Location(point=Point(9, 9, 9), labware=None) + + decoy.when(mock_protocol_core.get_last_location(Mount.LEFT)).then_return( + last_location + ) + decoy.when(mock_well.bottom(z=1.0)).then_return(bottom_location) + decoy.when(mock_well.top()).then_return(top_location) + decoy.when(mock_instrument_core.get_aspirate_flow_rate(1.23)).then_return(5.67) + decoy.when(mock_instrument_core.get_dispense_flow_rate(1.23)).then_return(5.67) + decoy.when(mock_instrument_core.has_tip()).then_return(True) + decoy.when(mock_instrument_core.get_has_clean_tip()).then_return(clean) + decoy.when(mock_instrument_core.get_current_volume()).then_return(0.0) + decoy.when(mock_instrument_core.nozzle_configuration_valid_for_lld()).then_return( + True + ) + + subject.liquid_presence_detection = True + subject.aspirate(volume=10.0, location=mock_well, rate=1.23) + decoy.verify( + mock_instrument_core.aspirate( + bottom_location, + mock_well._core, + 10.0, + 1.23, + 5.67, + False, + None, + ), + times=1, + ) + decoy.verify( + mock_instrument_core.liquid_probe_with_recovery(mock_well._core, top_location), + times=expected, + ) + + +@pytest.mark.parametrize( + "api_version", versions_between( low_exclusive_bound=APIVersion(2, 13), high_inclusive_bound=APIVersion(2, 21) ), @@ -1864,6 +2125,161 @@ def test_air_gap_uses_air_gap( decoy.verify(mock_instrument_core.air_gap_in_place(10, 11)) +def test_air_gap_in_place( + decoy: Decoy, + mock_instrument_core: InstrumentCore, + subject: InstrumentContext, + monkeypatch: pytest.MonkeyPatch, +) -> None: + """It should air gap in place when in_place=True.""" + decoy.when(mock_instrument_core.has_tip()).then_return(True) + decoy.when(mock_instrument_core.get_aspirate_flow_rate()).then_return(11) + monkeypatch.setattr(subject, "move_to", None) # pipette should not move + + subject.air_gap(volume=10, in_place=True) + + decoy.verify(mock_instrument_core.air_gap_in_place(10, 11)) + + # Should not allow height if in_place=True is specified. + with pytest.raises(ValueError): + subject.air_gap(volume=10, height=2, in_place=True) + # height=0 is also not allowed when in_place=True. + with pytest.raises(ValueError): + subject.air_gap(volume=10, height=0, in_place=True) + + +@pytest.mark.parametrize("api_version", versions_at_or_above(APIVersion(2, 24))) +def test_air_gap_has_rate( + decoy: Decoy, + mock_instrument_core: InstrumentCore, + mock_protocol_core: ProtocolCore, + subject: InstrumentContext, + monkeypatch: pytest.MonkeyPatch, +) -> None: + """It should use its own rate param.""" + mock_well = decoy.mock(cls=Well) + top_location = Location(point=Point(9, 9, 14), labware=mock_well) + last_location = Location(point=Point(9, 9, 9), labware=mock_well) + mock_move_to = decoy.mock(func=subject.move_to) + monkeypatch.setattr(subject, "move_to", mock_move_to) + + decoy.when(mock_instrument_core.has_tip()).then_return(True) + decoy.when(mock_protocol_core.get_last_location()).then_return(last_location) + decoy.when(mock_well.top(z=5.0)).then_return(top_location) + decoy.when(mock_instrument_core.get_aspirate_flow_rate()).then_return(100) + + subject.air_gap(volume=10, height=5, rate=1.2) + + decoy.verify(mock_move_to(top_location, publish=False)) + decoy.verify(mock_instrument_core.prepare_to_aspirate()) + decoy.verify( + mock_instrument_core.air_gap_in_place(10, 120) + ) # 120 is from the flow_rate calculated from the rate * aspirate_flow_rate param + + +@pytest.mark.parametrize("api_version", versions_at_or_above(APIVersion(2, 24))) +def test_air_gap_has_flow_rate( + decoy: Decoy, + mock_instrument_core: InstrumentCore, + mock_protocol_core: ProtocolCore, + subject: InstrumentContext, + monkeypatch: pytest.MonkeyPatch, +) -> None: + """It should use its own flow_rate param.""" + mock_well = decoy.mock(cls=Well) + top_location = Location(point=Point(9, 9, 14), labware=mock_well) + last_location = Location(point=Point(9, 9, 9), labware=mock_well) + mock_move_to = decoy.mock(func=subject.move_to) + monkeypatch.setattr(subject, "move_to", mock_move_to) + + decoy.when(mock_instrument_core.has_tip()).then_return(True) + decoy.when(mock_protocol_core.get_last_location()).then_return(last_location) + decoy.when(mock_well.top(z=5.0)).then_return(top_location) + + subject.air_gap(volume=10, height=5, flow_rate=100) + + decoy.verify(mock_move_to(top_location, publish=False)) + decoy.verify(mock_instrument_core.prepare_to_aspirate()) + decoy.verify( + mock_instrument_core.air_gap_in_place(10, 100) + ) # 100 is the flow_rate param + + +def test_air_gap_has_flow_rate_and_rate( + decoy: Decoy, + mock_instrument_core: InstrumentCore, + mock_protocol_core: ProtocolCore, + subject: InstrumentContext, + monkeypatch: pytest.MonkeyPatch, +) -> None: + """It raise an error when rate and flow_rate are specified.""" + mock_well = decoy.mock(cls=Well) + top_location = Location(point=Point(9, 9, 14), labware=mock_well) + last_location = Location(point=Point(9, 9, 9), labware=mock_well) + mock_move_to = decoy.mock(func=subject.move_to) + monkeypatch.setattr(subject, "move_to", mock_move_to) + + decoy.when(mock_instrument_core.has_tip()).then_return(True) + decoy.when(mock_protocol_core.get_last_location()).then_return(last_location) + decoy.when(mock_well.top(z=5.0)).then_return(top_location) + with pytest.raises(ValueError, match="Cannot define both flow_rate and rate."): + subject.air_gap(volume=10, height=5, flow_rate=100, rate=5.0) + + +@pytest.mark.parametrize("api_version", versions_at_or_above(APIVersion(2, 24))) +def test_air_gap_over_trash( + decoy: Decoy, + mock_instrument_core: InstrumentCore, + mock_protocol_core: ProtocolCore, + subject: InstrumentContext, + monkeypatch: pytest.MonkeyPatch, +) -> None: + """It should air gap over a disposal location.""" + mock_trash = decoy.mock(cls=TrashBin) + mock_trash_2 = decoy.mock(cls=TrashBin) + mock_move_to = decoy.mock(func=subject.move_to) + monkeypatch.setattr(subject, "move_to", mock_move_to) + + decoy.when(mock_instrument_core.has_tip()).then_return(True) + decoy.when(mock_protocol_core.get_last_location()).then_return(mock_trash) + decoy.when(mock_instrument_core.get_aspirate_flow_rate()).then_return(11) + decoy.when(mock_trash.top(11)).then_return(mock_trash_2) + + subject.air_gap(volume=10, height=11) + + decoy.verify(mock_move_to(mock_trash_2, publish=False)) + decoy.verify(mock_instrument_core.prepare_to_aspirate()) + decoy.verify(mock_instrument_core.air_gap_in_place(10, 11)) + + +@pytest.mark.parametrize( + "api_version", + versions_between( + low_exclusive_bound=APIVersion(2, 13), high_inclusive_bound=APIVersion(2, 23) + ), +) +def test_air_gap_over_trash_or_waste_chute_raises( + decoy: Decoy, + mock_instrument_core: InstrumentCore, + mock_protocol_core: ProtocolCore, + subject: InstrumentContext, +) -> None: + """It should raise if a disposal location is the last accessed on versions below 2.23.""" + mock_chute = decoy.mock(cls=WasteChute) + mock_trash = decoy.mock(cls=TrashBin) + + decoy.when(mock_instrument_core.has_tip()).then_return(True) + decoy.when(mock_protocol_core.get_last_location()).then_return(mock_chute) + + with pytest.raises(RuntimeError, match="not valid for air gap"): + subject.air_gap(volume=10, height=11) + + decoy.when(mock_protocol_core.get_last_location()).then_return(mock_trash) + + with pytest.raises(RuntimeError, match="not valid for air gap"): + subject.air_gap(volume=10, height=11) + + @pytest.mark.parametrize("robot_type", ["OT-2 Standard", "OT-3 Standard"]) def test_transfer_liquid_raises_for_invalid_locations( decoy: Decoy, @@ -1876,14 +2292,11 @@ def test_transfer_liquid_raises_for_invalid_locations( test_liq_class = LiquidClass.create(minimal_liquid_class_def2) mock_well = decoy.mock(cls=Well) decoy.when(mock_protocol_core.robot_type).then_return(robot_type) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2([mock_well]) - ).then_raise(ValueError("Oh no")) with pytest.raises(ValueError): subject.transfer_with_liquid_class( liquid_class=test_liq_class, volume=10, - source=[mock_well], + source=[], dest=[[mock_well]], ) @@ -1905,16 +2318,7 @@ def test_transfer_liquid_raises_for_unequal_source_and_dest( mock_nozzle_map = decoy.mock(cls=NozzleMapInterface) decoy.when(mock_nozzle_map.tip_count).then_return(1) decoy.when(mock_instrument_core.get_nozzle_map()).then_return(mock_nozzle_map) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2(mock_well) - ).then_return([mock_well, mock_well]) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2([mock_well]) - ).then_return([mock_well]) decoy.when(mock_instrument_core.get_current_volume()).then_return(0) - decoy.when( - mock_validation.ensure_valid_trash_location_for_transfer_v2(trash_location) - ).then_return(trash_location.move(Point(1, 2, 3))) with pytest.raises( ValueError, match="Sources and destinations should be of the same length" ): @@ -1922,7 +2326,7 @@ def test_transfer_liquid_raises_for_unequal_source_and_dest( liquid_class=test_liq_class, volume=10, source=mock_well, - dest=[mock_well], + dest=[mock_well, mock_well], trash_location=trash_location, ) @@ -1943,9 +2347,6 @@ def test_transfer_liquid_raises_for_non_liquid_handling_locations( mock_nozzle_map = decoy.mock(cls=NozzleMapInterface) decoy.when(mock_nozzle_map.tip_count).then_return(1) decoy.when(mock_instrument_core.get_nozzle_map()).then_return(mock_nozzle_map) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2([mock_well]) - ).then_return([mock_well]) decoy.when( mock_instrument_support.validate_takes_liquid( mock_well.top(), reject_module=True, reject_adapter=True @@ -1973,19 +2374,13 @@ def test_transfer_liquid_raises_for_bad_tip_policy( mock_nozzle_map = decoy.mock(cls=NozzleMapInterface) decoy.when(mock_nozzle_map.tip_count).then_return(1) decoy.when(mock_instrument_core.get_nozzle_map()).then_return(mock_nozzle_map) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2([mock_well]) - ).then_return([mock_well]) - decoy.when(mock_validation.ensure_new_tip_policy("once")).then_raise( - ValueError("Uh oh") - ) - with pytest.raises(ValueError, match="Uh oh"): + with pytest.raises(ValueError, match="invalid value for 'new_tip'"): subject.transfer_with_liquid_class( liquid_class=test_liq_class, volume=10, source=[mock_well], dest=[mock_well], - new_tip="once", + new_tip="twice", # type: ignore[arg-type] ) @@ -2005,12 +2400,6 @@ def test_transfer_liquid_raises_for_no_tip( mock_nozzle_map = decoy.mock(cls=NozzleMapInterface) decoy.when(mock_nozzle_map.tip_count).then_return(1) decoy.when(mock_instrument_core.get_nozzle_map()).then_return(mock_nozzle_map) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2([mock_well]) - ).then_return([mock_well]) - decoy.when(mock_validation.ensure_new_tip_policy("never")).then_return( - TransferTipPolicyV2.NEVER - ) with pytest.raises(RuntimeError, match="Pipette has no tip"): subject.transfer_with_liquid_class( liquid_class=test_liq_class, @@ -2039,12 +2428,6 @@ def test_transfer_liquid_raises_if_tip_has_liquid( subject.tip_racks = tip_racks decoy.when(mock_protocol_core.robot_type).then_return(robot_type) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2([mock_well]) - ).then_return([mock_well]) - decoy.when(mock_validation.ensure_new_tip_policy("never")).then_return( - TransferTipPolicyV2.ONCE - ) decoy.when(mock_instrument_core.get_nozzle_map()).then_return(MOCK_MAP) decoy.when(mock_instrument_core.get_active_channels()).then_return(2) decoy.when( @@ -2062,7 +2445,7 @@ def test_transfer_liquid_raises_if_tip_has_liquid( volume=10, source=[mock_well], dest=[mock_well], - new_tip="never", + new_tip="once", ) @@ -2086,18 +2469,9 @@ def test_transfer_liquid_delegates_to_engine_core( subject._tip_racks = tip_racks decoy.when(mock_protocol_core.robot_type).then_return(robot_type) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2([mock_well]) - ).then_return([mock_well]) - decoy.when(mock_validation.ensure_new_tip_policy("never")).then_return( - TransferTipPolicyV2.ONCE - ) decoy.when(mock_instrument_core.get_nozzle_map()).then_return(MOCK_MAP) decoy.when(mock_instrument_core.get_active_channels()).then_return(2) decoy.when(mock_instrument_core.get_current_volume()).then_return(0) - decoy.when( - mock_validation.ensure_valid_trash_location_for_transfer_v2(trash_location) - ).then_return(trash_location.move(Point(1, 2, 3))) decoy.when(next_tiprack.uri).then_return("tiprack-uri") decoy.when(mock_instrument_core.get_pipette_name()).then_return("pipette-name") subject.transfer_with_liquid_class( @@ -2105,7 +2479,7 @@ def test_transfer_liquid_delegates_to_engine_core( volume=10, source=[mock_well], dest=[mock_well], - new_tip="never", + new_tip="once", trash_location=trash_location, return_tip=True, ) @@ -2118,7 +2492,7 @@ def test_transfer_liquid_delegates_to_engine_core( new_tip=TransferTipPolicyV2.ONCE, tip_racks=[(Location(Point(), labware=tip_racks[0]), tip_racks[0]._core)], starting_tip=mock_starting_tip_well._core, - trash_location=trash_location.move(Point(1, 2, 3)), + trash_location=trash_location, return_tip=True, ) ) @@ -2144,14 +2518,6 @@ def test_transfer_liquid_multi_channel_delegates_to_engine_core( subject._tip_racks = tip_racks decoy.when(mock_protocol_core.robot_type).then_return(robot_type) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2( - [[mock_well, mock_well]] - ) - ).then_return([mock_well, mock_well]) - decoy.when(mock_validation.ensure_new_tip_policy("never")).then_return( - TransferTipPolicyV2.ONCE - ) mock_nozzle_map = decoy.mock(cls=NozzleMapInterface) decoy.when(mock_nozzle_map.tip_count).then_return(2) decoy.when(mock_instrument_core.get_nozzle_map()).then_return(mock_nozzle_map) @@ -2163,9 +2529,6 @@ def test_transfer_liquid_multi_channel_delegates_to_engine_core( decoy.when(mock_instrument_core.get_active_channels()).then_return(2) decoy.when(mock_instrument_core.get_current_volume()).then_return(0) - decoy.when( - mock_validation.ensure_valid_trash_location_for_transfer_v2(trash_location) - ).then_return(trash_location.move(Point(1, 2, 3))) decoy.when(next_tiprack.uri).then_return("tiprack-uri") decoy.when(mock_instrument_core.get_pipette_name()).then_return("pipette-name") subject.transfer_with_liquid_class( @@ -2173,7 +2536,7 @@ def test_transfer_liquid_multi_channel_delegates_to_engine_core( volume=10, source=[[mock_well, mock_well]], dest=[[mock_well, mock_well]], - new_tip="never", + new_tip="once", trash_location=trash_location, return_tip=True, ) @@ -2186,7 +2549,57 @@ def test_transfer_liquid_multi_channel_delegates_to_engine_core( new_tip=TransferTipPolicyV2.ONCE, tip_racks=[(Location(Point(), labware=tip_racks[0]), tip_racks[0]._core)], starting_tip=None, - trash_location=trash_location.move(Point(1, 2, 3)), + trash_location=trash_location, + return_tip=True, + ) + ) + + +@pytest.mark.parametrize("robot_type", ["OT-2 Standard", "OT-3 Standard"]) +def test_transfer_liquid_delegates_to_engine_core_with_trash_destination( + decoy: Decoy, + mock_protocol_core: ProtocolCore, + mock_instrument_core: InstrumentCore, + subject: InstrumentContext, + robot_type: RobotType, + minimal_liquid_class_def2: LiquidClassSchemaV1, +) -> None: + """It should delegate the transfer execution to core with a trash location as the destination.""" + test_liq_class = LiquidClass.create(minimal_liquid_class_def2) + mock_well = decoy.mock(cls=Well) + mock_starting_tip_well = decoy.mock(cls=Well) + mock_trash = decoy.mock(cls=TrashBin) + tip_racks = [decoy.mock(cls=Labware)] + trash_location = Location(point=Point(1, 2, 3), labware=mock_well) + next_tiprack = decoy.mock(cls=Labware) + subject.starting_tip = mock_starting_tip_well + subject._tip_racks = tip_racks + + decoy.when(mock_protocol_core.robot_type).then_return(robot_type) + decoy.when(mock_instrument_core.get_nozzle_map()).then_return(MOCK_MAP) + decoy.when(mock_instrument_core.get_active_channels()).then_return(2) + decoy.when(mock_instrument_core.get_current_volume()).then_return(0) + decoy.when(next_tiprack.uri).then_return("tiprack-uri") + decoy.when(mock_instrument_core.get_pipette_name()).then_return("pipette-name") + subject.transfer_with_liquid_class( + liquid_class=test_liq_class, + volume=10, + source=[mock_well], + dest=mock_trash, + new_tip="once", + trash_location=trash_location, + return_tip=True, + ) + decoy.verify( + mock_instrument_core.transfer_with_liquid_class( + liquid_class=test_liq_class, + volume=10, + source=[(Location(Point(), labware=mock_well), mock_well._core)], + dest=mock_trash, + new_tip=TransferTipPolicyV2.ONCE, + tip_racks=[(Location(Point(), labware=tip_racks[0]), tip_racks[0]._core)], + starting_tip=mock_starting_tip_well._core, + trash_location=trash_location, return_tip=True, ) ) @@ -2208,21 +2621,7 @@ def test_distribute_liquid_raises_if_more_than_one_source( mock_nozzle_map = decoy.mock(cls=NozzleMapInterface) decoy.when(mock_nozzle_map.tip_count).then_return(1) decoy.when(mock_instrument_core.get_nozzle_map()).then_return(mock_nozzle_map) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2( - [mock_well, mock_well] - ) - ).then_return([mock_well, mock_well]) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2([mock_well]) - ).then_return([mock_well]) - decoy.when(mock_validation.ensure_new_tip_policy("once")).then_return( - TransferTipPolicyV2.ONCE - ) decoy.when(mock_instrument_core.get_current_volume()).then_return(0) - decoy.when( - mock_validation.ensure_valid_trash_location_for_transfer_v2(trash_location) - ).then_return(trash_location) with pytest.raises(ValueError, match="Source should be a single well"): subject.distribute_with_liquid_class( liquid_class=test_liq_class, @@ -2249,12 +2648,6 @@ def test_distribute_liquid_raises_for_non_liquid_handling_locations( mock_nozzle_map = decoy.mock(cls=NozzleMapInterface) decoy.when(mock_nozzle_map.tip_count).then_return(1) decoy.when(mock_instrument_core.get_nozzle_map()).then_return(mock_nozzle_map) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2([mock_well]) - ).then_return([mock_well]) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2(mock_well) - ).then_return([mock_well]) decoy.when( mock_instrument_support.validate_takes_liquid( mock_well.top(), reject_module=True, reject_adapter=True @@ -2282,22 +2675,13 @@ def test_distribute_liquid_raises_for_bad_tip_policy( mock_nozzle_map = decoy.mock(cls=NozzleMapInterface) decoy.when(mock_nozzle_map.tip_count).then_return(1) decoy.when(mock_instrument_core.get_nozzle_map()).then_return(mock_nozzle_map) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2([mock_well]) - ).then_return([mock_well]) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2(mock_well) - ).then_return([mock_well]) - decoy.when(mock_validation.ensure_new_tip_policy("once")).then_raise( - ValueError("Uh oh") - ) - with pytest.raises(ValueError, match="Uh oh"): + with pytest.raises(ValueError, match="invalid value for 'new_tip'"): subject.distribute_with_liquid_class( liquid_class=test_liq_class, volume=10, source=mock_well, dest=[mock_well], - new_tip="once", + new_tip="twice", # type: ignore[arg-type] ) @@ -2317,15 +2701,6 @@ def test_distribute_liquid_raises_for_no_tip( mock_nozzle_map = decoy.mock(cls=NozzleMapInterface) decoy.when(mock_nozzle_map.tip_count).then_return(1) decoy.when(mock_instrument_core.get_nozzle_map()).then_return(mock_nozzle_map) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2([mock_well]) - ).then_return([mock_well]) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2(mock_well) - ).then_return([mock_well]) - decoy.when(mock_validation.ensure_new_tip_policy("never")).then_return( - TransferTipPolicyV2.NEVER - ) with pytest.raises(RuntimeError, match="Pipette has no tip"): subject.distribute_with_liquid_class( liquid_class=test_liq_class, @@ -2354,15 +2729,6 @@ def test_distribute_liquid_raises_if_tip_has_liquid( subject.tip_racks = tip_racks decoy.when(mock_protocol_core.robot_type).then_return(robot_type) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2([mock_well]) - ).then_return([mock_well]) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2(mock_well) - ).then_return([mock_well]) - decoy.when(mock_validation.ensure_new_tip_policy("never")).then_return( - TransferTipPolicyV2.ONCE - ) decoy.when(mock_instrument_core.get_nozzle_map()).then_return(MOCK_MAP) decoy.when(mock_instrument_core.get_active_channels()).then_return(2) decoy.when( @@ -2380,12 +2746,12 @@ def test_distribute_liquid_raises_if_tip_has_liquid( volume=10, source=mock_well, dest=[mock_well], - new_tip="never", + new_tip="once", ) @pytest.mark.parametrize("robot_type", ["OT-2 Standard", "OT-3 Standard"]) -@pytest.mark.parametrize("new_tip", ["always", "per source"]) +@pytest.mark.parametrize("new_tip", ["always", "per source", "per destination"]) def test_distribute_liquid_raises_for_incompatible_tip_policies( decoy: Decoy, mock_protocol_core: ProtocolCore, @@ -2402,22 +2768,7 @@ def test_distribute_liquid_raises_for_incompatible_tip_policies( mock_nozzle_map = decoy.mock(cls=NozzleMapInterface) decoy.when(mock_nozzle_map.tip_count).then_return(1) decoy.when(mock_instrument_core.get_nozzle_map()).then_return(mock_nozzle_map) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2([mock_well]) - ).then_return([mock_well]) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2(mock_well) - ).then_return([mock_well]) - decoy.when(mock_validation.ensure_new_tip_policy("per source")).then_return( - TransferTipPolicyV2.PER_SOURCE - ) - decoy.when(mock_validation.ensure_new_tip_policy("always")).then_return( - TransferTipPolicyV2.ALWAYS - ) decoy.when(mock_instrument_core.get_current_volume()).then_return(0) - decoy.when( - mock_validation.ensure_valid_trash_location_for_transfer_v2(trash_location) - ).then_return(trash_location.move(Point(1, 2, 3))) with pytest.raises(ValueError, match="Incompatible `new_tip` value"): subject.distribute_with_liquid_class( liquid_class=test_liq_class, @@ -2449,21 +2800,9 @@ def test_distribute_liquid_delegates_to_engine_core( subject._tip_racks = tip_racks decoy.when(mock_protocol_core.robot_type).then_return(robot_type) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2([mock_well]) - ).then_return([mock_well]) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2(mock_well) - ).then_return([mock_well]) - decoy.when(mock_validation.ensure_new_tip_policy("never")).then_return( - TransferTipPolicyV2.ONCE - ) decoy.when(mock_instrument_core.get_nozzle_map()).then_return(MOCK_MAP) decoy.when(mock_instrument_core.get_active_channels()).then_return(2) decoy.when(mock_instrument_core.get_current_volume()).then_return(0) - decoy.when( - mock_validation.ensure_valid_trash_location_for_transfer_v2(trash_location) - ).then_return(trash_location.move(Point(1, 2, 3))) decoy.when(next_tiprack.uri).then_return("tiprack-uri") decoy.when(mock_instrument_core.get_pipette_name()).then_return("pipette-name") subject.distribute_with_liquid_class( @@ -2471,7 +2810,7 @@ def test_distribute_liquid_delegates_to_engine_core( volume=10, source=mock_well, dest=[mock_well], - new_tip="never", + new_tip="once", trash_location=trash_location, return_tip=True, ) @@ -2484,7 +2823,7 @@ def test_distribute_liquid_delegates_to_engine_core( new_tip=TransferTipPolicyV2.ONCE, tip_racks=[(Location(Point(), labware=tip_racks[0]), tip_racks[0]._core)], starting_tip=mock_starting_tip_well._core, - trash_location=trash_location.move(Point(1, 2, 3)), + trash_location=trash_location, return_tip=True, ) ) @@ -2510,19 +2849,6 @@ def test_distribute_liquid_multi_channel_delegates_to_engine_core( subject._tip_racks = tip_racks decoy.when(mock_protocol_core.robot_type).then_return(robot_type) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2( - [mock_well, mock_well, mock_well] - ) - ).then_return([mock_well, mock_well, mock_well]) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2( - [[mock_well, mock_well]] - ) - ).then_return([mock_well, mock_well]) - decoy.when(mock_validation.ensure_new_tip_policy("never")).then_return( - TransferTipPolicyV2.ONCE - ) mock_nozzle_map = decoy.mock(cls=NozzleMapInterface) decoy.when(mock_nozzle_map.tip_count).then_return(2) decoy.when(mock_instrument_core.get_nozzle_map()).then_return(mock_nozzle_map) @@ -2539,9 +2865,6 @@ def test_distribute_liquid_multi_channel_delegates_to_engine_core( decoy.when(mock_instrument_core.get_active_channels()).then_return(2) decoy.when(mock_instrument_core.get_current_volume()).then_return(0) - decoy.when( - mock_validation.ensure_valid_trash_location_for_transfer_v2(trash_location) - ).then_return(trash_location.move(Point(1, 2, 3))) decoy.when(next_tiprack.uri).then_return("tiprack-uri") decoy.when(mock_instrument_core.get_pipette_name()).then_return("pipette-name") subject.distribute_with_liquid_class( @@ -2549,7 +2872,7 @@ def test_distribute_liquid_multi_channel_delegates_to_engine_core( volume=10, source=[mock_well, mock_well, mock_well], dest=[[mock_well, mock_well]], - new_tip="never", + new_tip="once", trash_location=trash_location, return_tip=True, ) @@ -2565,7 +2888,7 @@ def test_distribute_liquid_multi_channel_delegates_to_engine_core( new_tip=TransferTipPolicyV2.ONCE, tip_racks=[(Location(Point(), labware=tip_racks[0]), tip_racks[0]._core)], starting_tip=None, - trash_location=trash_location.move(Point(1, 2, 3)), + trash_location=trash_location, return_tip=True, ) ) @@ -2587,18 +2910,7 @@ def test_consolidate_liquid_raises_if_more_than_one_destination( mock_nozzle_map = decoy.mock(cls=NozzleMapInterface) decoy.when(mock_nozzle_map.tip_count).then_return(1) decoy.when(mock_instrument_core.get_nozzle_map()).then_return(mock_nozzle_map) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2( - [mock_well, mock_well] - ) - ).then_return([mock_well, mock_well]) - decoy.when(mock_validation.ensure_new_tip_policy("once")).then_return( - TransferTipPolicyV2.ONCE - ) decoy.when(mock_instrument_core.get_current_volume()).then_return(0) - decoy.when( - mock_validation.ensure_valid_trash_location_for_transfer_v2(trash_location) - ).then_return(trash_location) with pytest.raises(ValueError, match="Destination should be a single well"): subject.consolidate_with_liquid_class( liquid_class=test_liq_class, @@ -2625,12 +2937,6 @@ def test_consolidate_liquid_raises_for_non_liquid_handling_locations( mock_nozzle_map = decoy.mock(cls=NozzleMapInterface) decoy.when(mock_nozzle_map.tip_count).then_return(1) decoy.when(mock_instrument_core.get_nozzle_map()).then_return(mock_nozzle_map) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2([mock_well]) - ).then_return([mock_well]) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2(mock_well) - ).then_return([mock_well]) decoy.when( mock_instrument_support.validate_takes_liquid( mock_well.top(), reject_module=True, reject_adapter=True @@ -2658,16 +2964,7 @@ def test_consolidate_liquid_raises_for_bad_tip_policy( mock_nozzle_map = decoy.mock(cls=NozzleMapInterface) decoy.when(mock_nozzle_map.tip_count).then_return(1) decoy.when(mock_instrument_core.get_nozzle_map()).then_return(mock_nozzle_map) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2([mock_well]) - ).then_return([mock_well]) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2(mock_well) - ).then_return([mock_well]) - decoy.when(mock_validation.ensure_new_tip_policy("whenever")).then_raise( - ValueError("Uh oh") - ) - with pytest.raises(ValueError, match="Uh oh"): + with pytest.raises(ValueError, match="invalid value for 'new_tip'"): subject.consolidate_with_liquid_class( liquid_class=test_liq_class, volume=10, @@ -2693,15 +2990,6 @@ def test_consolidate_liquid_raises_for_no_tip( mock_nozzle_map = decoy.mock(cls=NozzleMapInterface) decoy.when(mock_nozzle_map.tip_count).then_return(1) decoy.when(mock_instrument_core.get_nozzle_map()).then_return(mock_nozzle_map) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2([mock_well]) - ).then_return([mock_well]) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2(mock_well) - ).then_return([mock_well]) - decoy.when(mock_validation.ensure_new_tip_policy("never")).then_return( - TransferTipPolicyV2.NEVER - ) with pytest.raises(RuntimeError, match="Pipette has no tip"): subject.consolidate_with_liquid_class( liquid_class=test_liq_class, @@ -2733,15 +3021,6 @@ def test_consolidate_liquid_raises_if_tip_has_liquid( mock_nozzle_map = decoy.mock(cls=NozzleMapInterface) decoy.when(mock_nozzle_map.tip_count).then_return(1) decoy.when(mock_instrument_core.get_nozzle_map()).then_return(mock_nozzle_map) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2([mock_well]) - ).then_return([mock_well]) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2(mock_well) - ).then_return([mock_well]) - decoy.when(mock_validation.ensure_new_tip_policy("never")).then_return( - TransferTipPolicyV2.ONCE - ) decoy.when(mock_instrument_core.get_current_volume()).then_return(1000) with pytest.raises(RuntimeError, match="liquid already in the tip"): subject.consolidate_with_liquid_class( @@ -2749,12 +3028,12 @@ def test_consolidate_liquid_raises_if_tip_has_liquid( volume=10, source=[mock_well], dest=mock_well, - new_tip="never", + new_tip="once", ) @pytest.mark.parametrize("robot_type", ["OT-2 Standard", "OT-3 Standard"]) -@pytest.mark.parametrize("new_tip", ["always", "per source"]) +@pytest.mark.parametrize("new_tip", ["always", "per source", "per destination"]) def test_consolidate_liquid_raises_for_incompatible_tip_policies( decoy: Decoy, mock_protocol_core: ProtocolCore, @@ -2771,22 +3050,7 @@ def test_consolidate_liquid_raises_for_incompatible_tip_policies( mock_nozzle_map = decoy.mock(cls=NozzleMapInterface) decoy.when(mock_nozzle_map.tip_count).then_return(1) decoy.when(mock_instrument_core.get_nozzle_map()).then_return(mock_nozzle_map) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2([mock_well]) - ).then_return([mock_well]) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2(mock_well) - ).then_return([mock_well]) - decoy.when(mock_validation.ensure_new_tip_policy("per source")).then_return( - TransferTipPolicyV2.PER_SOURCE - ) - decoy.when(mock_validation.ensure_new_tip_policy("always")).then_return( - TransferTipPolicyV2.ALWAYS - ) decoy.when(mock_instrument_core.get_current_volume()).then_return(0) - decoy.when( - mock_validation.ensure_valid_trash_location_for_transfer_v2(trash_location) - ).then_return(trash_location.move(Point(1, 2, 3))) with pytest.raises(ValueError, match="Incompatible `new_tip` value."): subject.consolidate_with_liquid_class( liquid_class=test_liq_class, @@ -2818,21 +3082,9 @@ def test_consolidate_liquid_delegates_to_engine_core( subject._tip_racks = tip_racks decoy.when(mock_protocol_core.robot_type).then_return(robot_type) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2([mock_well]) - ).then_return([mock_well]) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2(mock_well) - ).then_return([mock_well]) - decoy.when(mock_validation.ensure_new_tip_policy("never")).then_return( - TransferTipPolicyV2.ONCE - ) decoy.when(mock_instrument_core.get_nozzle_map()).then_return(MOCK_MAP) decoy.when(mock_instrument_core.get_active_channels()).then_return(2) decoy.when(mock_instrument_core.get_current_volume()).then_return(0) - decoy.when( - mock_validation.ensure_valid_trash_location_for_transfer_v2(trash_location) - ).then_return(trash_location.move(Point(1, 2, 3))) decoy.when(next_tiprack.uri).then_return("tiprack-uri") decoy.when(mock_instrument_core.get_pipette_name()).then_return("pipette-name") @@ -2841,7 +3093,7 @@ def test_consolidate_liquid_delegates_to_engine_core( volume=10, source=[mock_well], dest=mock_well, - new_tip="never", + new_tip="once", trash_location=trash_location, return_tip=True, ) @@ -2854,7 +3106,7 @@ def test_consolidate_liquid_delegates_to_engine_core( new_tip=TransferTipPolicyV2.ONCE, tip_racks=[(Location(Point(), labware=tip_racks[0]), tip_racks[0]._core)], starting_tip=mock_starting_tip_well._core, - trash_location=trash_location.move(Point(1, 2, 3)), + trash_location=trash_location, return_tip=True, ) ) @@ -2880,19 +3132,6 @@ def test_consolidate_liquid_multi_channel_delegates_to_engine_core( subject._tip_racks = tip_racks decoy.when(mock_protocol_core.robot_type).then_return(robot_type) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2( - [mock_well, mock_well, mock_well] - ) - ).then_return([mock_well, mock_well, mock_well]) - decoy.when( - mock_validation.ensure_valid_flat_wells_list_for_transfer_v2( - [[mock_well, mock_well]] - ) - ).then_return([mock_well, mock_well]) - decoy.when(mock_validation.ensure_new_tip_policy("never")).then_return( - TransferTipPolicyV2.ONCE - ) mock_nozzle_map = decoy.mock(cls=NozzleMapInterface) decoy.when(mock_nozzle_map.tip_count).then_return(2) decoy.when(mock_instrument_core.get_nozzle_map()).then_return(mock_nozzle_map) @@ -2909,9 +3148,6 @@ def test_consolidate_liquid_multi_channel_delegates_to_engine_core( decoy.when(mock_instrument_core.get_active_channels()).then_return(2) decoy.when(mock_instrument_core.get_current_volume()).then_return(0) - decoy.when( - mock_validation.ensure_valid_trash_location_for_transfer_v2(trash_location) - ).then_return(trash_location.move(Point(1, 2, 3))) decoy.when(next_tiprack.uri).then_return("tiprack-uri") decoy.when(mock_instrument_core.get_pipette_name()).then_return("pipette-name") @@ -2920,7 +3156,7 @@ def test_consolidate_liquid_multi_channel_delegates_to_engine_core( volume=10, source=[[mock_well, mock_well]], dest=[mock_well, mock_well, mock_well], - new_tip="never", + new_tip="once", trash_location=trash_location, return_tip=True, ) @@ -2936,7 +3172,58 @@ def test_consolidate_liquid_multi_channel_delegates_to_engine_core( new_tip=TransferTipPolicyV2.ONCE, tip_racks=[(Location(Point(), labware=tip_racks[0]), tip_racks[0]._core)], starting_tip=None, - trash_location=trash_location.move(Point(1, 2, 3)), + trash_location=trash_location, + return_tip=True, + ) + ) + + +@pytest.mark.parametrize("robot_type", ["OT-2 Standard", "OT-3 Standard"]) +def test_consolidate_liquid_delegates_to_engine_core_with_trash_destination( + decoy: Decoy, + mock_protocol_core: ProtocolCore, + mock_instrument_core: InstrumentCore, + subject: InstrumentContext, + robot_type: RobotType, + minimal_liquid_class_def2: LiquidClassSchemaV1, +) -> None: + """It should delegate the consolidate execution to core.""" + test_liq_class = LiquidClass.create(minimal_liquid_class_def2) + mock_well = decoy.mock(cls=Well) + mock_starting_tip_well = decoy.mock(cls=Well) + mock_waste_chute = decoy.mock(cls=WasteChute) + tip_racks = [decoy.mock(cls=Labware)] + trash_location = Location(point=Point(1, 2, 3), labware=mock_well) + next_tiprack = decoy.mock(cls=Labware) + subject.starting_tip = mock_starting_tip_well + subject._tip_racks = tip_racks + + decoy.when(mock_protocol_core.robot_type).then_return(robot_type) + decoy.when(mock_instrument_core.get_nozzle_map()).then_return(MOCK_MAP) + decoy.when(mock_instrument_core.get_active_channels()).then_return(2) + decoy.when(mock_instrument_core.get_current_volume()).then_return(0) + decoy.when(next_tiprack.uri).then_return("tiprack-uri") + decoy.when(mock_instrument_core.get_pipette_name()).then_return("pipette-name") + + subject.consolidate_with_liquid_class( + liquid_class=test_liq_class, + volume=10, + source=[mock_well], + dest=mock_waste_chute, + new_tip="once", + trash_location=trash_location, + return_tip=True, + ) + decoy.verify( + mock_instrument_core.consolidate_with_liquid_class( + liquid_class=test_liq_class, + volume=10, + source=[(Location(Point(), labware=mock_well), mock_well._core)], + dest=mock_waste_chute, + new_tip=TransferTipPolicyV2.ONCE, + tip_racks=[(Location(Point(), labware=tip_racks[0]), tip_racks[0]._core)], + starting_tip=mock_starting_tip_well._core, + trash_location=trash_location, return_tip=True, ) ) diff --git a/api/tests/opentrons/protocol_api/test_lc_touch_tip_properties.py b/api/tests/opentrons/protocol_api/test_lc_touch_tip_properties.py index 4ca75aed2949..6cbcfd0b20e0 100644 --- a/api/tests/opentrons/protocol_api/test_lc_touch_tip_properties.py +++ b/api/tests/opentrons/protocol_api/test_lc_touch_tip_properties.py @@ -25,7 +25,7 @@ def test_touch_tip_properties_enable_and_disable() -> None: tp = _build_touch_tip_properties( TouchTipProperties( enable=False, - params=LiquidClassTouchTipParams(zOffset=1, mmToEdge=1, speed=100), + params=LiquidClassTouchTipParams(zOffset=1, mmFromEdge=1, speed=100), ) ) tp.enabled = True @@ -38,19 +38,19 @@ def test_touch_tip_properties_none_instantiation_combos() -> None: """Test handling of None combinations in TouchTipProperties instantiation.""" with pytest.raises(ValidationError): _build_touch_tip_properties( - TouchTipProperties(enable=True, params=LiquidClassTouchTipParams(zOffset=None, mmToEdge=None, speed=None)) # type: ignore + TouchTipProperties(enable=True, params=LiquidClassTouchTipParams(zOffset=None, mmFromEdge=None, speed=None)) # type: ignore ) with pytest.raises(ValidationError): _build_touch_tip_properties( - TouchTipProperties(enable=None, params=LiquidClassTouchTipParams(zOffset=None, mmToEdge=1, speed=1)) # type: ignore + TouchTipProperties(enable=None, params=LiquidClassTouchTipParams(zOffset=None, mmFromEdge=1, speed=1)) # type: ignore ) with pytest.raises(ValidationError): _build_touch_tip_properties( - TouchTipProperties(enable=True, params=LiquidClassTouchTipParams(zOffset=1, mmToEdge=None, speed=1)) # type: ignore + TouchTipProperties(enable=True, params=LiquidClassTouchTipParams(zOffset=1, mmFromEdge=None, speed=1)) # type: ignore ) with pytest.raises(ValidationError): _build_touch_tip_properties( - TouchTipProperties(enable=True, params=LiquidClassTouchTipParams(zOffset=1, mmToEdge=1, speed=None)) # type: ignore + TouchTipProperties(enable=True, params=LiquidClassTouchTipParams(zOffset=1, mmFromEdge=1, speed=None)) # type: ignore ) @@ -62,13 +62,13 @@ def test_touch_tip_properties_enabled_bad_values(bad_value: Any) -> None: _build_touch_tip_properties( TouchTipProperties( enable=bad_value, - params=LiquidClassTouchTipParams(zOffset=1, mmToEdge=1, speed=1), + params=LiquidClassTouchTipParams(zOffset=1, mmFromEdge=1, speed=1), ) ) tp = _build_touch_tip_properties( TouchTipProperties( enable=False, - params=LiquidClassTouchTipParams(zOffset=1, mmToEdge=1, speed=1), + params=LiquidClassTouchTipParams(zOffset=1, mmFromEdge=1, speed=1), ) ) with pytest.raises(ValueError): @@ -82,13 +82,15 @@ def test_touch_tip_properties_z_offset(good_value: Union[int, float]) -> None: _build_touch_tip_properties( TouchTipProperties( enable=True, - params=LiquidClassTouchTipParams(zOffset=good_value, mmToEdge=1, speed=10), + params=LiquidClassTouchTipParams( + zOffset=good_value, mmFromEdge=1, speed=10 + ), ) ) tp = _build_touch_tip_properties( TouchTipProperties( enable=False, - params=LiquidClassTouchTipParams(zOffset=0, mmToEdge=1, speed=10), + params=LiquidClassTouchTipParams(zOffset=0, mmFromEdge=1, speed=10), ) ) tp.z_offset = good_value @@ -104,14 +106,14 @@ def test_touch_tip_properties_z_offset_bad_values(bad_value: Any) -> None: TouchTipProperties( enable=True, params=LiquidClassTouchTipParams( - zOffset=bad_value, mmToEdge=1, speed=10 + zOffset=bad_value, mmFromEdge=1, speed=10 ), ) ) tp = _build_touch_tip_properties( TouchTipProperties( enable=False, - params=LiquidClassTouchTipParams(zOffset=0, mmToEdge=1, speed=10), + params=LiquidClassTouchTipParams(zOffset=0, mmFromEdge=1, speed=10), ) ) with pytest.raises(ValueError): @@ -120,45 +122,47 @@ def test_touch_tip_properties_z_offset_bad_values(bad_value: Any) -> None: @given(good_value=reasonable_numbers) @settings(deadline=None, max_examples=50) -def test_touch_tip_properties_mm_to_edge(good_value: Union[int, float]) -> None: - """Test valid mm_to_edge.""" +def test_touch_tip_properties_mm_from_edge(good_value: Union[int, float]) -> None: + """Test valid mm_from_edge.""" _build_touch_tip_properties( TouchTipProperties( enable=True, - params=LiquidClassTouchTipParams(zOffset=0, mmToEdge=good_value, speed=10), + params=LiquidClassTouchTipParams( + zOffset=0, mmFromEdge=good_value, speed=10 + ), ) ) tp = _build_touch_tip_properties( TouchTipProperties( enable=False, - params=LiquidClassTouchTipParams(zOffset=0, mmToEdge=1, speed=10), + params=LiquidClassTouchTipParams(zOffset=0, mmFromEdge=1, speed=10), ) ) - tp.mm_to_edge = good_value - assert tp.mm_to_edge == float(good_value) + tp.mm_from_edge = good_value + assert tp.mm_from_edge == float(good_value) @given(bad_value=invalid_values) @settings(deadline=None, max_examples=50) -def test_touch_tip_properties_mm_to_edge_bad_values(bad_value: Any) -> None: - """Test invalid mm_to_edge values.""" +def test_touch_tip_properties_mm_from_edge_bad_values(bad_value: Any) -> None: + """Test invalid mm_from_edge values.""" with pytest.raises(ValidationError): _build_touch_tip_properties( TouchTipProperties( enable=True, params=LiquidClassTouchTipParams( - zOffset=bad_value, mmToEdge=1, speed=10 + zOffset=bad_value, mmFromEdge=1, speed=10 ), ) ) tp = _build_touch_tip_properties( TouchTipProperties( enable=True, - params=LiquidClassTouchTipParams(zOffset=0, mmToEdge=1, speed=10), + params=LiquidClassTouchTipParams(zOffset=0, mmFromEdge=1, speed=10), ) ) with pytest.raises(ValueError): - tp.mm_to_edge = bad_value + tp.mm_from_edge = bad_value @given(good_value=positive_non_zero_floats_and_ints) @@ -168,13 +172,13 @@ def test_touch_tip_properties_speed(good_value: Union[int, float]) -> None: _build_touch_tip_properties( TouchTipProperties( enable=True, - params=LiquidClassTouchTipParams(zOffset=0, mmToEdge=1, speed=good_value), + params=LiquidClassTouchTipParams(zOffset=0, mmFromEdge=1, speed=good_value), ) ) tp = _build_touch_tip_properties( TouchTipProperties( enable=False, - params=LiquidClassTouchTipParams(zOffset=0, mmToEdge=1, speed=10), + params=LiquidClassTouchTipParams(zOffset=0, mmFromEdge=1, speed=10), ) ) tp.speed = good_value @@ -190,14 +194,14 @@ def test_touch_tip_properties_speed_bad_values(bad_value: Any) -> None: TouchTipProperties( enable=True, params=LiquidClassTouchTipParams( - zOffset=0, mmToEdge=1, speed=bad_value + zOffset=0, mmFromEdge=1, speed=bad_value ), ) ) tp = _build_touch_tip_properties( TouchTipProperties( enable=False, - params=LiquidClassTouchTipParams(zOffset=0, mmToEdge=1, speed=10), + params=LiquidClassTouchTipParams(zOffset=0, mmFromEdge=1, speed=10), ) ) with pytest.raises(ValueError): diff --git a/api/tests/opentrons/protocol_api/test_liquid_class.py b/api/tests/opentrons/protocol_api/test_liquid_class.py index ec830f08eefb..9c585db2fd68 100644 --- a/api/tests/opentrons/protocol_api/test_liquid_class.py +++ b/api/tests/opentrons/protocol_api/test_liquid_class.py @@ -6,7 +6,9 @@ LiquidClassSchemaV1, ) from opentrons.protocol_api import LiquidClass + from opentrons.protocol_api import InstrumentContext, Labware +from opentrons.protocol_api._liquid_properties import build_transfer_properties from opentrons.protocols.advanced_control.transfers.common import ( NoLiquidClassPropertyError, ) @@ -15,7 +17,7 @@ def test_create_liquid_class( minimal_liquid_class_def1: LiquidClassSchemaV1, ) -> None: - """It should create a LiquidClass from provided definition.""" + """It should create a LiquidClass from the provided definition.""" assert LiquidClass.create(minimal_liquid_class_def1) == LiquidClass( _name="water1", _display_name="water 1", _by_pipette_setting={} ) @@ -54,3 +56,57 @@ def test_get_for_raises_for_incorrect_pipette_or_tip( with pytest.raises(NoLiquidClassPropertyError): liq_class.get_for("no_such_pipette", "opentrons_flex_96_tiprack_50ul") + + +def test_create_liquid_class_from_transfer_props( + minimal_liquid_class_def2: LiquidClassSchemaV1, +) -> None: + """Should create a new liquid class from given data.""" + transfer_props = build_transfer_properties( + minimal_liquid_class_def2.byPipette[0].byTipType[0] + ) + by_pip_setting = {"my_pipette": {"my_tiprack": transfer_props}} + new_liquid_class = LiquidClass.create_from( + name="foo", + display_name="bar", + by_pipette_setting=by_pip_setting, + ) + assert new_liquid_class.name == "foo" + assert new_liquid_class.display_name == "bar" + assert new_liquid_class.get_for("my_pipette", "my_tiprack") == transfer_props + + with pytest.raises(NoLiquidClassPropertyError): + new_liquid_class.get_for("my_pipette", "no_such_tiprack") + + +def test_update_for_liquid_class_props( + minimal_liquid_class_def2: LiquidClassSchemaV1, + maximal_liquid_class_def: LiquidClassSchemaV1, +) -> None: + """Should update the properties of the mentioned pipette and tip rack.""" + liq_class = LiquidClass.create(minimal_liquid_class_def2) + assert ( + liq_class.get_for( + "flex_1channel_50", "opentrons_flex_96_tiprack_50ul" + ).aspirate.mix.enabled + is False + ) + + sample_transfer_props = build_transfer_properties( + maximal_liquid_class_def.byPipette[0].byTipType[0] + ) + liq_class.update_for( + pipette="flex_1channel_50", + tip_rack="opentrons_flex_96_tiprack_50ul", + transfer_properties=sample_transfer_props, + ) + assert ( + liq_class.get_for("flex_1channel_50", "opentrons_flex_96_tiprack_50ul") + == sample_transfer_props + ) + assert ( + liq_class.get_for( + "flex_1channel_50", "opentrons_flex_96_tiprack_50ul" + ).aspirate.mix.enabled + is True + ) diff --git a/api/tests/opentrons/protocol_api/test_liquid_class_properties.py b/api/tests/opentrons/protocol_api/test_liquid_class_properties.py index ee269f378d5b..23d5e5355c6b 100644 --- a/api/tests/opentrons/protocol_api/test_liquid_class_properties.py +++ b/api/tests/opentrons/protocol_api/test_liquid_class_properties.py @@ -22,14 +22,21 @@ def test_build_aspirate_settings() -> None: aspirate_properties = build_aspirate_properties(aspirate_data) - assert aspirate_properties.submerge.position_reference.value == "liquid-meniscus" - assert aspirate_properties.submerge.offset == Coordinate(x=0, y=0, z=-5) + assert ( + aspirate_properties.submerge.start_position.position_reference.value + == "liquid-meniscus" + ) + assert aspirate_properties.submerge.start_position.offset == Coordinate( + x=0, y=0, z=-5 + ) assert aspirate_properties.submerge.speed == 100 assert aspirate_properties.submerge.delay.enabled is True assert aspirate_properties.submerge.delay.duration == 1.5 - assert aspirate_properties.retract.position_reference.value == "well-top" - assert aspirate_properties.retract.offset == Coordinate(x=0, y=0, z=5) + assert ( + aspirate_properties.retract.end_position.position_reference.value == "well-top" + ) + assert aspirate_properties.retract.end_position.offset == Coordinate(x=0, y=0, z=5) assert aspirate_properties.retract.speed == 100 assert aspirate_properties.retract.air_gap_by_volume.as_dict() == { 5.0: 3.0, @@ -37,13 +44,15 @@ def test_build_aspirate_settings() -> None: } assert aspirate_properties.retract.touch_tip.enabled is True assert aspirate_properties.retract.touch_tip.z_offset == 2 - assert aspirate_properties.retract.touch_tip.mm_to_edge == 1 + assert aspirate_properties.retract.touch_tip.mm_from_edge == 1 assert aspirate_properties.retract.touch_tip.speed == 50 assert aspirate_properties.retract.delay.enabled is True assert aspirate_properties.retract.delay.duration == 1 - assert aspirate_properties.position_reference.value == "well-bottom" - assert aspirate_properties.offset == Coordinate(x=0, y=0, z=-5) + assert ( + aspirate_properties.aspirate_position.position_reference.value == "well-bottom" + ) + assert aspirate_properties.aspirate_position.offset == Coordinate(x=0, y=0, z=-5) assert aspirate_properties.flow_rate_by_volume.as_dict() == {10: 50.0} assert aspirate_properties.correction_by_volume.as_dict() == { 1.0: -2.5, @@ -66,10 +75,15 @@ def test_aspirate_settings_overrides() -> None: aspirate_properties = build_aspirate_properties(aspirate_data) - aspirate_properties.submerge.position_reference = "well-bottom" # type: ignore[assignment] - assert aspirate_properties.submerge.position_reference.value == "well-bottom" - aspirate_properties.submerge.offset = 5, 0, 0 # type: ignore[assignment] - assert aspirate_properties.submerge.offset == Coordinate(x=5, y=0, z=0) + aspirate_properties.submerge.start_position.position_reference = "well-bottom" # type: ignore[assignment] + assert ( + aspirate_properties.submerge.start_position.position_reference.value + == "well-bottom" + ) + aspirate_properties.submerge.start_position.offset = 5, 0, 0 # type: ignore[assignment] + assert aspirate_properties.submerge.start_position.offset == Coordinate( + x=5, y=0, z=0 + ) aspirate_properties.submerge.speed = 123 assert aspirate_properties.submerge.speed == 123 aspirate_properties.submerge.delay.enabled = False @@ -77,18 +91,21 @@ def test_aspirate_settings_overrides() -> None: aspirate_properties.submerge.delay.duration = 5.1 assert aspirate_properties.submerge.delay.duration == 5.1 - aspirate_properties.retract.position_reference = "well-center" # type: ignore[assignment] - assert aspirate_properties.retract.position_reference.value == "well-center" - aspirate_properties.retract.offset = 0, 50, 0 # type: ignore[assignment] - assert aspirate_properties.retract.offset == Coordinate(x=0, y=50, z=0) + aspirate_properties.retract.end_position.position_reference = "well-center" # type: ignore[assignment] + assert ( + aspirate_properties.retract.end_position.position_reference.value + == "well-center" + ) + aspirate_properties.retract.end_position.offset = 0, 50, 0 # type: ignore[assignment] + assert aspirate_properties.retract.end_position.offset == Coordinate(x=0, y=50, z=0) aspirate_properties.retract.speed = 987 assert aspirate_properties.retract.speed == 987 aspirate_properties.retract.touch_tip.enabled = False assert aspirate_properties.retract.touch_tip.enabled is False aspirate_properties.retract.touch_tip.z_offset = 2.34 assert aspirate_properties.retract.touch_tip.z_offset == 2.34 - aspirate_properties.retract.touch_tip.mm_to_edge = 4.56 - assert aspirate_properties.retract.touch_tip.mm_to_edge == 4.56 + aspirate_properties.retract.touch_tip.mm_from_edge = 4.56 + assert aspirate_properties.retract.touch_tip.mm_from_edge == 4.56 aspirate_properties.retract.touch_tip.speed = 501 assert aspirate_properties.retract.touch_tip.speed == 501 aspirate_properties.retract.delay.enabled = False @@ -96,10 +113,13 @@ def test_aspirate_settings_overrides() -> None: aspirate_properties.retract.delay.duration = 0.5 assert aspirate_properties.retract.delay.duration == 0.5 - aspirate_properties.position_reference = "liquid-meniscus" # type: ignore[assignment] - assert aspirate_properties.position_reference.value == "liquid-meniscus" - aspirate_properties.offset = -1, -2, -3 # type: ignore[assignment] - assert aspirate_properties.offset == Coordinate(x=-1, y=-2, z=-3) + aspirate_properties.aspirate_position.position_reference = "liquid-meniscus" # type: ignore[assignment] + assert ( + aspirate_properties.aspirate_position.position_reference.value + == "liquid-meniscus" + ) + aspirate_properties.aspirate_position.offset = -1, -2, -3 # type: ignore[assignment] + assert aspirate_properties.aspirate_position.offset == Coordinate(x=-1, y=-2, z=-3) aspirate_properties.pre_wet = False assert aspirate_properties.pre_wet is False aspirate_properties.mix.enabled = False @@ -123,16 +143,23 @@ def test_build_single_dispense_settings() -> None: single_dispense_properties = build_single_dispense_properties(single_dispense_data) assert ( - single_dispense_properties.submerge.position_reference.value + single_dispense_properties.submerge.start_position.position_reference.value == "liquid-meniscus" ) - assert single_dispense_properties.submerge.offset == Coordinate(x=0, y=0, z=-5) + assert single_dispense_properties.submerge.start_position.offset == Coordinate( + x=0, y=0, z=-5 + ) assert single_dispense_properties.submerge.speed == 100 assert single_dispense_properties.submerge.delay.enabled is True assert single_dispense_properties.submerge.delay.duration == 1.5 - assert single_dispense_properties.retract.position_reference.value == "well-top" - assert single_dispense_properties.retract.offset == Coordinate(x=0, y=0, z=5) + assert ( + single_dispense_properties.retract.end_position.position_reference.value + == "well-top" + ) + assert single_dispense_properties.retract.end_position.offset == Coordinate( + x=0, y=0, z=5 + ) assert single_dispense_properties.retract.speed == 100 assert single_dispense_properties.retract.air_gap_by_volume.as_dict() == { 5.0: 3.0, @@ -140,7 +167,7 @@ def test_build_single_dispense_settings() -> None: } assert single_dispense_properties.retract.touch_tip.enabled is True assert single_dispense_properties.retract.touch_tip.z_offset == 2 - assert single_dispense_properties.retract.touch_tip.mm_to_edge == 1 + assert single_dispense_properties.retract.touch_tip.mm_from_edge == 1 assert single_dispense_properties.retract.touch_tip.speed == 50 assert single_dispense_properties.retract.blowout.enabled is True assert single_dispense_properties.retract.blowout.location is not None @@ -149,8 +176,13 @@ def test_build_single_dispense_settings() -> None: assert single_dispense_properties.retract.delay.enabled is True assert single_dispense_properties.retract.delay.duration == 1 - assert single_dispense_properties.position_reference.value == "well-bottom" - assert single_dispense_properties.offset == Coordinate(x=0, y=0, z=-5) + assert ( + single_dispense_properties.dispense_position.position_reference.value + == "well-bottom" + ) + assert single_dispense_properties.dispense_position.offset == Coordinate( + x=0, y=0, z=-5 + ) assert single_dispense_properties.flow_rate_by_volume.as_dict() == { 10.0: 40.0, 20.0: 30.0, @@ -179,10 +211,15 @@ def test_single_dispense_settings_override() -> None: single_dispense_properties = build_single_dispense_properties(single_dispense_data) - single_dispense_properties.submerge.position_reference = "well-bottom" # type: ignore[assignment] - assert single_dispense_properties.submerge.position_reference.value == "well-bottom" - single_dispense_properties.submerge.offset = 3, -2, 1 # type: ignore[assignment] - assert single_dispense_properties.submerge.offset == Coordinate(x=3, y=-2, z=1) + single_dispense_properties.submerge.start_position.position_reference = "well-bottom" # type: ignore[assignment] + assert ( + single_dispense_properties.submerge.start_position.position_reference.value + == "well-bottom" + ) + single_dispense_properties.submerge.start_position.offset = 3, -2, 1 # type: ignore[assignment] + assert single_dispense_properties.submerge.start_position.offset == Coordinate( + x=3, y=-2, z=1 + ) single_dispense_properties.submerge.speed = 111 assert single_dispense_properties.submerge.speed == 111 single_dispense_properties.submerge.delay.enabled = False @@ -190,18 +227,23 @@ def test_single_dispense_settings_override() -> None: single_dispense_properties.submerge.delay.duration = 5.1 assert single_dispense_properties.submerge.delay.duration == 5.1 - single_dispense_properties.retract.position_reference = "well-center" # type: ignore[assignment] - assert single_dispense_properties.retract.position_reference.value == "well-center" - single_dispense_properties.retract.offset = -9, -8, -7 # type: ignore[assignment] - assert single_dispense_properties.retract.offset == Coordinate(x=-9, y=-8, z=-7) + single_dispense_properties.retract.end_position.position_reference = "well-center" # type: ignore[assignment] + assert ( + single_dispense_properties.retract.end_position.position_reference.value + == "well-center" + ) + single_dispense_properties.retract.end_position.offset = -9, -8, -7 # type: ignore[assignment] + assert single_dispense_properties.retract.end_position.offset == Coordinate( + x=-9, y=-8, z=-7 + ) single_dispense_properties.retract.speed = 222 assert single_dispense_properties.retract.speed == 222 single_dispense_properties.retract.touch_tip.enabled = False assert single_dispense_properties.retract.touch_tip.enabled is False single_dispense_properties.retract.touch_tip.z_offset = 2.34 assert single_dispense_properties.retract.touch_tip.z_offset == 2.34 - single_dispense_properties.retract.touch_tip.mm_to_edge = 1.11 - assert single_dispense_properties.retract.touch_tip.mm_to_edge == 1.11 + single_dispense_properties.retract.touch_tip.mm_from_edge = 1.11 + assert single_dispense_properties.retract.touch_tip.mm_from_edge == 1.11 single_dispense_properties.retract.touch_tip.speed = 543 assert single_dispense_properties.retract.touch_tip.speed == 543 single_dispense_properties.retract.blowout.enabled = False @@ -216,10 +258,15 @@ def test_single_dispense_settings_override() -> None: single_dispense_properties.retract.delay.duration = 0.1 assert single_dispense_properties.retract.delay.duration == 0.1 - single_dispense_properties.position_reference = "liquid-meniscus" # type: ignore[assignment] - assert single_dispense_properties.position_reference.value == "liquid-meniscus" - single_dispense_properties.offset = 11, 22, -33 # type: ignore[assignment] - assert single_dispense_properties.offset == Coordinate(x=11, y=22, z=-33) + single_dispense_properties.dispense_position.position_reference = "liquid-meniscus" # type: ignore[assignment] + assert ( + single_dispense_properties.dispense_position.position_reference.value + == "liquid-meniscus" + ) + single_dispense_properties.dispense_position.offset = 11, 22, -33 # type: ignore[assignment] + assert single_dispense_properties.dispense_position.offset == Coordinate( + x=11, y=22, z=-33 + ) single_dispense_properties.mix.enabled = False assert single_dispense_properties.mix.enabled is False single_dispense_properties.mix.repetitions = 15 @@ -243,15 +290,23 @@ def test_build_multi_dispense_settings() -> None: assert multi_dispense_properties is not None assert ( - multi_dispense_properties.submerge.position_reference.value == "liquid-meniscus" + multi_dispense_properties.submerge.start_position.position_reference.value + == "liquid-meniscus" + ) + assert multi_dispense_properties.submerge.start_position.offset == Coordinate( + x=0, y=0, z=-5 ) - assert multi_dispense_properties.submerge.offset == Coordinate(x=0, y=0, z=-5) assert multi_dispense_properties.submerge.speed == 100 assert multi_dispense_properties.submerge.delay.enabled is True assert multi_dispense_properties.submerge.delay.duration == 1.5 - assert multi_dispense_properties.retract.position_reference.value == "well-top" - assert multi_dispense_properties.retract.offset == Coordinate(x=0, y=0, z=5) + assert ( + multi_dispense_properties.retract.end_position.position_reference.value + == "well-top" + ) + assert multi_dispense_properties.retract.end_position.offset == Coordinate( + x=0, y=0, z=5 + ) assert multi_dispense_properties.retract.speed == 100 assert multi_dispense_properties.retract.air_gap_by_volume.as_dict() == { 5.0: 3.0, @@ -259,7 +314,7 @@ def test_build_multi_dispense_settings() -> None: } assert multi_dispense_properties.retract.touch_tip.enabled is True assert multi_dispense_properties.retract.touch_tip.z_offset == 2 - assert multi_dispense_properties.retract.touch_tip.mm_to_edge == 1 + assert multi_dispense_properties.retract.touch_tip.mm_from_edge == 1 assert multi_dispense_properties.retract.touch_tip.speed == 50 assert multi_dispense_properties.retract.blowout.enabled is False assert multi_dispense_properties.retract.blowout.location is None @@ -267,8 +322,13 @@ def test_build_multi_dispense_settings() -> None: assert multi_dispense_properties.retract.delay.enabled is True assert multi_dispense_properties.retract.delay.duration == 1 - assert multi_dispense_properties.position_reference.value == "well-bottom" - assert multi_dispense_properties.offset == Coordinate(x=0, y=0, z=-5) + assert ( + multi_dispense_properties.dispense_position.position_reference.value + == "well-bottom" + ) + assert multi_dispense_properties.dispense_position.offset == Coordinate( + x=0, y=0, z=-5 + ) assert multi_dispense_properties.flow_rate_by_volume.as_dict() == { 10.0: 40.0, 20.0: 30.0, @@ -297,10 +357,15 @@ def test_multi_dispense_settings_override() -> None: multi_dispense_properties = build_multi_dispense_properties(multi_dispense_data) assert multi_dispense_properties is not None - multi_dispense_properties.submerge.position_reference = "well-bottom" # type: ignore[assignment] - assert multi_dispense_properties.submerge.position_reference.value == "well-bottom" - multi_dispense_properties.submerge.offset = 3, -2, 1 # type: ignore[assignment] - assert multi_dispense_properties.submerge.offset == Coordinate(x=3, y=-2, z=1) + multi_dispense_properties.submerge.start_position.position_reference = "well-bottom" # type: ignore[assignment] + assert ( + multi_dispense_properties.submerge.start_position.position_reference.value + == "well-bottom" + ) + multi_dispense_properties.submerge.start_position.offset = 3, -2, 1 # type: ignore[assignment] + assert multi_dispense_properties.submerge.start_position.offset == Coordinate( + x=3, y=-2, z=1 + ) multi_dispense_properties.submerge.speed = 111 assert multi_dispense_properties.submerge.speed == 111 multi_dispense_properties.submerge.delay.enabled = False @@ -308,18 +373,23 @@ def test_multi_dispense_settings_override() -> None: multi_dispense_properties.submerge.delay.duration = 5.1 assert multi_dispense_properties.submerge.delay.duration == 5.1 - multi_dispense_properties.retract.position_reference = "well-center" # type: ignore[assignment] - assert multi_dispense_properties.retract.position_reference.value == "well-center" - multi_dispense_properties.retract.offset = -9, -8, -7 # type: ignore[assignment] - assert multi_dispense_properties.retract.offset == Coordinate(x=-9, y=-8, z=-7) + multi_dispense_properties.retract.end_position.position_reference = "well-center" # type: ignore[assignment] + assert ( + multi_dispense_properties.retract.end_position.position_reference.value + == "well-center" + ) + multi_dispense_properties.retract.end_position.offset = -9, -8, -7 # type: ignore[assignment] + assert multi_dispense_properties.retract.end_position.offset == Coordinate( + x=-9, y=-8, z=-7 + ) multi_dispense_properties.retract.speed = 222 assert multi_dispense_properties.retract.speed == 222 multi_dispense_properties.retract.touch_tip.enabled = False assert multi_dispense_properties.retract.touch_tip.enabled is False multi_dispense_properties.retract.touch_tip.z_offset = 2.34 assert multi_dispense_properties.retract.touch_tip.z_offset == 2.34 - multi_dispense_properties.retract.touch_tip.mm_to_edge = 1.11 - assert multi_dispense_properties.retract.touch_tip.mm_to_edge == 1.11 + multi_dispense_properties.retract.touch_tip.mm_from_edge = 1.11 + assert multi_dispense_properties.retract.touch_tip.mm_from_edge == 1.11 multi_dispense_properties.retract.touch_tip.speed = 543 assert multi_dispense_properties.retract.touch_tip.speed == 543 multi_dispense_properties.retract.blowout.enabled = False @@ -334,10 +404,15 @@ def test_multi_dispense_settings_override() -> None: multi_dispense_properties.retract.delay.duration = 0.1 assert multi_dispense_properties.retract.delay.duration == 0.1 - multi_dispense_properties.position_reference = "liquid-meniscus" # type: ignore[assignment] - assert multi_dispense_properties.position_reference.value == "liquid-meniscus" - multi_dispense_properties.offset = 11, 22, -33 # type: ignore[assignment] - assert multi_dispense_properties.offset == Coordinate(x=11, y=22, z=-33) + multi_dispense_properties.dispense_position.position_reference = "liquid-meniscus" # type: ignore[assignment] + assert ( + multi_dispense_properties.dispense_position.position_reference.value + == "liquid-meniscus" + ) + multi_dispense_properties.dispense_position.offset = 11, 22, -33 # type: ignore[assignment] + assert multi_dispense_properties.dispense_position.offset == Coordinate( + x=11, y=22, z=-33 + ) multi_dispense_properties.delay.enabled = False assert multi_dispense_properties.delay.enabled is False multi_dispense_properties.delay.duration = 25.25 @@ -378,6 +453,22 @@ def test_liquid_handling_property_by_volume() -> None: assert subject.get_for_volume(1) == 50.0 assert subject.get_for_volume(1000) == 250.0 + # Test fixed overrides + subject.set_for_all_volumes(4321) + for volume in (0, 1, 7, 100): + assert subject.get_for_volume(volume) == 4321 + + # Test resetting to default + subject.reset_values() + assert subject.as_dict() == {5.0: 50, 10.0: 250} + assert subject.get_for_volume(7) == 130.0 + + # Test clearing all values + subject.clear_values() + assert subject.as_dict() == {} + with pytest.raises(ValueError, match="No properties found for any volumes"): + subject.get_for_volume(7) + def test_non_existent_property_raises_error() -> None: """It should raise an attribute error if the set property does not exist.""" diff --git a/api/tests/opentrons/protocol_api/test_protocol_context.py b/api/tests/opentrons/protocol_api/test_protocol_context.py index 843c54ec46b4..cd28c2e84d1e 100644 --- a/api/tests/opentrons/protocol_api/test_protocol_context.py +++ b/api/tests/opentrons/protocol_api/test_protocol_context.py @@ -1,13 +1,18 @@ """Tests for the ProtocolContext public interface.""" import inspect -from typing import cast +from typing import cast, Dict import pytest from decoy import Decoy, matchers +from opentrons_shared_data import liquid_classes +from opentrons_shared_data.liquid_classes.liquid_class_definition import ( + PositionReference, +) from opentrons_shared_data.pipette.types import PipetteNameType from opentrons_shared_data.labware.types import LabwareDefinition as LabwareDefDict from opentrons_shared_data.robot.types import RobotType +from opentrons_shared_data.liquid_classes.types import TransferPropertiesDict from opentrons.protocol_api._liquid import LiquidClass from opentrons.types import Mount, DeckSlotName, StagingSlotName @@ -1792,13 +1797,125 @@ def test_define_liquid_class( expected_liquid_class = LiquidClass( _name="volatile_100", _display_name="volatile 100%", _by_pipette_setting={} ) - decoy.when(mock_core.define_liquid_class("volatile_90")).then_return( + decoy.when(mock_core.define_liquid_class("volatile_90", 1)).then_return( expected_liquid_class ) decoy.when(mock_core.robot_type).then_return(robot_type) assert subject.define_liquid_class("volatile_90") == expected_liquid_class +@pytest.mark.parametrize("robot_type", ["OT-2 Standard", "OT-3 Standard"]) +def test_define_new_custom_liquid_class_from_dict( + decoy: Decoy, + mock_core: ProtocolCore, + subject: ProtocolContext, + robot_type: RobotType, + minimal_transfer_properties_dict: Dict[str, Dict[str, TransferPropertiesDict]], +) -> None: + """It should define a custom liquid class.""" + my_liquid_class = subject.define_custom_liquid_class( + name="my_liquid", + properties=minimal_transfer_properties_dict, + display_name="My liquid", + ) + decoy.when(mock_core.robot_type).then_return(robot_type) + my_liquid_class_props = my_liquid_class.get_for( + "flex_1channel_50", "opentrons/opentrons_flex_96_tiprack_50ul/1" + ) + assert my_liquid_class_props.aspirate.submerge.speed == 100 + assert ( + my_liquid_class_props.dispense.dispense_position.position_reference + == PositionReference.WELL_BOTTOM + ) + + +@pytest.mark.parametrize("robot_type", ["OT-2 Standard", "OT-3 Standard"]) +def test_customize_existing_liquid_class( + decoy: Decoy, + mock_core: ProtocolCore, + subject: ProtocolContext, + robot_type: RobotType, + minimal_transfer_properties_dict: Dict[str, Dict[str, TransferPropertiesDict]], + custom_pip_n_tip_transfer_properties_dict: Dict[ + str, Dict[str, TransferPropertiesDict] + ], +) -> None: + """It should create a new liquid class by modifying the existing liquid class.""" + existing_glycerol_class = LiquidClass.create( + liquid_classes.load_definition("glycerol_50", 1) + ) + assert ( + existing_glycerol_class.get_for( + "flex_1channel_50", "opentrons/opentrons_flex_96_tiprack_50ul/1" + ).aspirate.submerge.speed + == 4 + ) + assert ( + existing_glycerol_class.get_for( + "flex_8channel_50", "opentrons/opentrons_flex_96_tiprack_50ul/1" + ).aspirate.submerge.speed + == 4 + ) + + my_liquid_class = subject.define_custom_liquid_class( + name="my_liquid", + properties=minimal_transfer_properties_dict, + base_liquid_class=existing_glycerol_class, + display_name="My liquid", + ) + decoy.when(mock_core.robot_type).then_return(robot_type) + assert ( + my_liquid_class.get_for( + "flex_1channel_50", "opentrons/opentrons_flex_96_tiprack_50ul/1" + ).aspirate.submerge.speed + == 100 + ) + assert ( + my_liquid_class.get_for( + "flex_8channel_50", "opentrons/opentrons_flex_96_tiprack_50ul/1" + ).aspirate.submerge.speed + == 4 + ) + + # Test that new entries are created for pipettes and tipracks not present in the base liquid class + lc_with_custom_pip_n_tip = subject.define_custom_liquid_class( + name="my_liquid_2", + properties=custom_pip_n_tip_transfer_properties_dict, + base_liquid_class=existing_glycerol_class, + display_name="My liquid 2", + ) + assert ( + lc_with_custom_pip_n_tip.get_for( + "a_custom_pipette_type", "a_custom_tiprack_uri" + ).aspirate.submerge.speed + == 100 + ) + + # Test that only specified tiprack's props are updated when there are + # properties for multiple tipracks in the liquid class + modified_custom_dict = custom_pip_n_tip_transfer_properties_dict.copy() + modified_custom_dict["a_custom_pipette_type"] = { + "some_new_tiprack": minimal_transfer_properties_dict["flex_1channel_50"][ + "opentrons/opentrons_flex_96_tiprack_50ul/1" + ] + } + lc_with_new_tip_entry = subject.define_custom_liquid_class( + name="my_liquid_3", + properties=modified_custom_dict, + base_liquid_class=lc_with_custom_pip_n_tip, + display_name="My liquid 3", + ) + assert ( + lc_with_new_tip_entry.get_for( + "a_custom_pipette_type", "a_custom_tiprack_uri" + ).aspirate.submerge.speed + == lc_with_new_tip_entry.get_for( + "a_custom_pipette_type", "some_new_tiprack" + ).aspirate.submerge.speed + == 100 + ) + + def test_bundled_data( mock_core_map: LoadedCoreMap, mock_deck: Deck, mock_core: ProtocolCore ) -> None: diff --git a/api/tests/opentrons/protocol_api/test_validation.py b/api/tests/opentrons/protocol_api/test_validation.py index 6522762d6d1b..29be970966e5 100644 --- a/api/tests/opentrons/protocol_api/test_validation.py +++ b/api/tests/opentrons/protocol_api/test_validation.py @@ -581,6 +581,40 @@ def test_validate_last_location_with_labware(decoy: Decoy) -> None: assert result == subject.PointTarget(location=input_last_location, in_place=True) +def test_validate_location_with_trash_bin(decoy: Decoy) -> None: + """Should return a Trash Bin object.""" + mock_trash = decoy.mock(cls=TrashBin) + + result = subject.validate_location(location=None, last_location=mock_trash) + assert result.location is mock_trash + assert result.in_place + + result = subject.validate_location(location=mock_trash, last_location=None) + assert result.location is mock_trash + assert not result.in_place + + result = subject.validate_location(location=mock_trash, last_location=mock_trash) + assert result.location is mock_trash + assert result.in_place + + +def test_validate_location_with_waste_chute(decoy: Decoy) -> None: + """Should return a waste chute object.""" + mock_chute = decoy.mock(cls=WasteChute) + + result = subject.validate_location(location=None, last_location=mock_chute) + assert result.location is mock_chute + assert result.in_place + + result = subject.validate_location(location=mock_chute, last_location=None) + assert result.location is mock_chute + assert not result.in_place + + result = subject.validate_location(location=mock_chute, last_location=mock_chute) + assert result.location is mock_chute + assert result.in_place + + def test_ensure_boolean() -> None: """It should return a boolean value.""" assert subject.ensure_boolean(False) is False diff --git a/api/tests/opentrons/protocol_api_integration/test_liquid_classes.py b/api/tests/opentrons/protocol_api_integration/test_liquid_classes.py index b372ba6362a8..896719983027 100644 --- a/api/tests/opentrons/protocol_api_integration/test_liquid_classes.py +++ b/api/tests/opentrons/protocol_api_integration/test_liquid_classes.py @@ -1,7 +1,10 @@ """Tests for the APIs around liquid classes.""" +from typing import Dict + import pytest from opentrons.protocol_api import ProtocolContext +from opentrons_shared_data.liquid_classes.types import TransferPropertiesDict @pytest.mark.ot3_only @@ -42,3 +45,35 @@ def test_liquid_class_creation_and_property_fetching( with pytest.raises(ValueError, match="Liquid class definition not found"): simulated_protocol_context.define_liquid_class("non-existent-liquid") + + +@pytest.mark.ot3_only +@pytest.mark.parametrize( + "simulated_protocol_context", [("2.24", "Flex")], indirect=True +) +def test_custom_liquid_class_creation_and_property_fetching( + simulated_protocol_context: ProtocolContext, + minimal_transfer_properties_dict: Dict[str, Dict[str, TransferPropertiesDict]], +) -> None: + """It should create the liquid class and provide access to its properties.""" + pipette_load_name = "flex_1channel_50" + p50 = simulated_protocol_context.load_instrument(pipette_load_name, mount="left") + tiprack = simulated_protocol_context.load_labware( + "opentrons_flex_96_tiprack_50ul", "D1" + ) + custom_water = simulated_protocol_context.define_custom_liquid_class( + name="water_50", + properties=minimal_transfer_properties_dict, + display_name="Custom Aqueous", + ) + custom_water_props = custom_water.get_for(p50, tiprack) + assert custom_water_props.aspirate.submerge.speed == 100 + assert custom_water_props.dispense.flow_rate_by_volume.get_for_volume(20) == 30 + + with pytest.raises( + ValueError, + match="No properties found for flex_8channel_50 in water_50 liquid class", + ): + custom_water.get_for( + "flex_8channel_50", "opentrons/opentrons_flex_96_tiprack_50ul/1" + ) diff --git a/api/tests/opentrons/protocol_api_integration/test_transfer_with_liquid_classes.py b/api/tests/opentrons/protocol_api_integration/test_transfer_with_liquid_classes.py index ee6865a9fec3..7e5cd9e2c65d 100644 --- a/api/tests/opentrons/protocol_api_integration/test_transfer_with_liquid_classes.py +++ b/api/tests/opentrons/protocol_api_integration/test_transfer_with_liquid_classes.py @@ -233,10 +233,128 @@ def test_order_of_water_transfer_steps( alternate_tip_drop=True, ), ] - assert len(mock_manager.mock_calls) == 9 assert mock_manager.mock_calls == expected_calls +@pytest.mark.ot3_only +@pytest.mark.parametrize( + "simulated_protocol_context", [("2.23", "Flex")], indirect=True +) +def test_order_of_water_transfer_steps_with_new_tip_per_destination( + simulated_protocol_context: ProtocolContext, +) -> None: + """It should run the transfer steps while picking up a new tip only for a new destination.""" + trash = simulated_protocol_context.load_trash_bin("A3") + tiprack = simulated_protocol_context.load_labware( + "opentrons_flex_96_tiprack_50ul", "D1" + ) + pipette_50 = simulated_protocol_context.load_instrument( + "flex_1channel_50", mount="left", tip_racks=[tiprack] + ) + nest_plate = simulated_protocol_context.load_labware( + "nest_96_wellplate_200ul_flat", "C3" + ) + + water = simulated_protocol_context.define_liquid_class("water") + with ( + mock.patch.object( + InstrumentCore, + "pick_up_tip", + side_effect=InstrumentCore.pick_up_tip, + autospec=True, + ) as patched_pick_up_tip, + mock.patch.object( + InstrumentCore, + "aspirate_liquid_class", + side_effect=InstrumentCore.aspirate_liquid_class, + autospec=True, + ) as patched_aspirate, + mock.patch.object( + InstrumentCore, + "dispense_liquid_class", + side_effect=InstrumentCore.dispense_liquid_class, + autospec=True, + ) as patched_dispense, + mock.patch.object( + InstrumentCore, + "drop_tip_in_disposal_location", + side_effect=InstrumentCore.drop_tip_in_disposal_location, + autospec=True, + ) as patched_drop_tip, + ): + mock_manager = mock.Mock() + mock_manager.attach_mock(patched_pick_up_tip, "pick_up_tip") + mock_manager.attach_mock(patched_aspirate, "aspirate_liquid_class") + mock_manager.attach_mock(patched_dispense, "dispense_liquid_class") + mock_manager.attach_mock(patched_drop_tip, "drop_tip_in_disposal_location") + pipette_50.transfer_with_liquid_class( + liquid_class=water, + volume=60, + source=nest_plate.rows()[0][:2], + dest=nest_plate.rows()[1][:2], + new_tip="per destination", + trash_location=trash, + ) + expected_calls_per_tip = [ + mock.call.pick_up_tip( + mock.ANY, + location=mock.ANY, + well_core=mock.ANY, + presses=mock.ANY, + increment=mock.ANY, + ), + mock.call.aspirate_liquid_class( + mock.ANY, + volume=30, + source=mock.ANY, + transfer_properties=mock.ANY, + transfer_type=TransferType.ONE_TO_ONE, + tip_contents=[LiquidAndAirGapPair(liquid=0, air_gap=0)], + volume_for_pipette_mode_configuration=30, + ), + mock.call.dispense_liquid_class( + mock.ANY, + volume=30, + dest=mock.ANY, + source=mock.ANY, + transfer_properties=mock.ANY, + transfer_type=TransferType.ONE_TO_ONE, + tip_contents=[LiquidAndAirGapPair(liquid=30, air_gap=0.1)], + add_final_air_gap=True, + trash_location=mock.ANY, + ), + mock.call.aspirate_liquid_class( + mock.ANY, + volume=30, + source=mock.ANY, + transfer_properties=mock.ANY, + transfer_type=TransferType.ONE_TO_ONE, + tip_contents=[LiquidAndAirGapPair(liquid=0, air_gap=0.1)], + volume_for_pipette_mode_configuration=30, + ), + mock.call.dispense_liquid_class( + mock.ANY, + volume=30, + dest=mock.ANY, + source=mock.ANY, + transfer_properties=mock.ANY, + transfer_type=TransferType.ONE_TO_ONE, + tip_contents=[LiquidAndAirGapPair(liquid=30, air_gap=0.1)], + add_final_air_gap=True, + trash_location=mock.ANY, + ), + mock.call.drop_tip_in_disposal_location( + mock.ANY, + disposal_location=trash, + home_after=False, + alternate_tip_drop=True, + ), + ] + assert ( + mock_manager.mock_calls == expected_calls_per_tip + expected_calls_per_tip + ) + + @pytest.mark.ot3_only @pytest.mark.parametrize( "simulated_protocol_context", [("2.23", "Flex")], indirect=True @@ -615,6 +733,7 @@ def test_order_of_water_consolidate_steps( transfer_type=TransferType.MANY_TO_ONE, tip_contents=[LiquidAndAirGapPair(liquid=0, air_gap=0)], volume_for_pipette_mode_configuration=50, + current_volume=0.0, ), mock.call.aspirate_liquid_class( mock.ANY, @@ -624,6 +743,7 @@ def test_order_of_water_consolidate_steps( transfer_type=TransferType.MANY_TO_ONE, tip_contents=[LiquidAndAirGapPair(liquid=25, air_gap=0.1)], volume_for_pipette_mode_configuration=None, + current_volume=25.0, ), mock.call.dispense_liquid_class( mock.ANY, @@ -743,6 +863,7 @@ def test_order_of_water_consolidate_steps_larger_volume_than_tip( transfer_type=TransferType.MANY_TO_ONE, tip_contents=[LiquidAndAirGapPair(liquid=0, air_gap=0)], volume_for_pipette_mode_configuration=30, + current_volume=0.0, ), mock.call.dispense_liquid_class( mock.ANY, @@ -763,6 +884,7 @@ def test_order_of_water_consolidate_steps_larger_volume_than_tip( transfer_type=TransferType.MANY_TO_ONE, tip_contents=[LiquidAndAirGapPair(liquid=0, air_gap=0.1)], volume_for_pipette_mode_configuration=30, + current_volume=0.0, ), mock.call.dispense_liquid_class( mock.ANY, @@ -876,6 +998,7 @@ def test_order_of_water_consolidate_steps_with_no_new_tips( transfer_type=TransferType.MANY_TO_ONE, tip_contents=[LiquidAndAirGapPair(liquid=0, air_gap=0)], volume_for_pipette_mode_configuration=50, + current_volume=0.0, ), mock.call.aspirate_liquid_class( mock.ANY, @@ -885,6 +1008,7 @@ def test_order_of_water_consolidate_steps_with_no_new_tips( transfer_type=TransferType.MANY_TO_ONE, tip_contents=[LiquidAndAirGapPair(liquid=25, air_gap=0.1)], volume_for_pipette_mode_configuration=None, + current_volume=25.0, ), mock.call.dispense_liquid_class( mock.ANY, @@ -999,6 +1123,7 @@ def test_order_of_water_consolidate_steps_with_return_tip( transfer_type=TransferType.MANY_TO_ONE, tip_contents=[LiquidAndAirGapPair(liquid=0, air_gap=0)], volume_for_pipette_mode_configuration=50, + current_volume=0.0, ), mock.call.aspirate_liquid_class( mock.ANY, @@ -1008,6 +1133,7 @@ def test_order_of_water_consolidate_steps_with_return_tip( transfer_type=TransferType.MANY_TO_ONE, tip_contents=[LiquidAndAirGapPair(liquid=25, air_gap=0.1)], volume_for_pipette_mode_configuration=None, + current_volume=25.0, ), mock.call.dispense_liquid_class( mock.ANY, diff --git a/api/tests/opentrons/protocol_api_old/test_context.py b/api/tests/opentrons/protocol_api_old/test_context.py deleted file mode 100644 index 6d92b4ccf259..000000000000 --- a/api/tests/opentrons/protocol_api_old/test_context.py +++ /dev/null @@ -1,1302 +0,0 @@ -""" Test the functions and classes in the protocol context """ -from decoy import Decoy - -from typing import Any, Callable, Dict, List, Optional, Tuple -import pytest -import mock -from pytest import MonkeyPatch - -from opentrons_shared_data.labware.types import LabwareDefinition -from opentrons_shared_data.errors.exceptions import UnexpectedTipRemovalError -from opentrons.hardware_control.adapters import SynchronousAdapter -from opentrons.protocol_api import Labware - -import opentrons.protocol_api as papi -import opentrons.protocols.api_support as papi_support -from opentrons.protocols.api_support.labware_like import LabwareLike -import opentrons.protocols.geometry as papi_geometry -from opentrons.protocols.api_support.deck_type import STANDARD_OT2_DECK -from opentrons.protocols.api_support import instrument as instrument_support -from opentrons.calibration_storage import types as cs_types -from opentrons.util.helpers import utc_now -from opentrons_shared_data.pipette.types import LabwareUri - -from opentrons.protocol_api.module_contexts import ( - ThermocyclerContext, - HeaterShakerContext, -) -from opentrons.types import Mount, Point, Location, TransferTipPolicy -from opentrons.hardware_control import API, ThreadManagedHardware -from opentrons.hardware_control.instruments.ot2.pipette import Pipette -from opentrons.hardware_control.types import Axis, CriticalPoint -from opentrons.protocol_api.core.legacy.deck import Deck -from opentrons.hardware_control.modules import SimulatingModule -from opentrons.protocols.advanced_control.common import MixStrategy, Mix, MixOpts -from opentrons.protocols.advanced_control.transfers import transfer as tf -from opentrons.protocols.api_support.types import APIVersion - - -# TODO (lc 12-8-2022) Not sure if we plan to keep these tests, but if we do -# we should re-write them to be agnostic to the underlying hardware. Otherwise -# I wouldn't really consider these to be proper unit tests. -pytestmark = pytest.mark.ot2_only - - -def set_version_added(attr: str, mp: MonkeyPatch, version: str) -> str: - """helper to mock versionadded for an attr - - attr is the attr - mp is a monkeypatch fixture - version is an APIVersion - """ - - def get_wrapped(attr: str) -> str: - if hasattr(attr, "__wrapped__"): - return get_wrapped(attr.__wrapped__) - return attr - - if hasattr(attr, "fget"): - # this is a property probably - orig = get_wrapped(attr.fget) - else: - orig = get_wrapped(attr) - mp.setattr(orig, "__opentrons_version_added", version) - return attr - - -async def test_motion( - ctx: papi.ProtocolContext, hardware: ThreadManagedHardware -) -> None: - ctx.home() - instr = ctx.load_instrument("p10_single", Mount.RIGHT) - old_pos = await hardware.current_position(instr._core.get_mount()) - instr.home() - assert instr.move_to(Location(Point(0, 0, 0), None)) is instr - old_pos[Axis.X] = 0.0 - old_pos[Axis.Y] = 0.0 - old_pos[Axis.A] = 0.0 - old_pos[Axis.C] = 2.5 - assert await hardware.current_position(instr._core.get_mount()) == pytest.approx( - old_pos - ) - - -def test_max_speeds( - ctx: papi.ProtocolContext, monkeypatch: MonkeyPatch, hardware: ThreadManagedHardware -) -> None: - ctx.home() - with mock.patch.object(ctx._core.get_hardware(), "move_to") as mock_move: - instr = ctx.load_instrument("p10_single", Mount.RIGHT) - instr.move_to(Location(Point(0, 0, 0), None)) - assert all( - kwargs["max_speeds"] == {} for args, kwargs in mock_move.call_args_list - ) - - with mock.patch.object(ctx._core.get_hardware(), "move_to") as mock_move: - ctx.max_speeds["x"] = 10 - instr.move_to(Location(Point(0, 0, 1), None)) - assert all( - kwargs["max_speeds"] == {Axis.X: 10} - for args, kwargs in mock_move.call_args_list - ) - - with mock.patch.object(ctx._core.get_hardware(), "move_to") as mock_move: - ctx.max_speeds["x"] = None - instr.move_to(Location(Point(1, 0, 1), None)) - assert all( - kwargs["max_speeds"] == {} for args, kwargs in mock_move.call_args_list - ) - - -async def test_location_cache( - ctx: papi.ProtocolContext, monkeypatch: MonkeyPatch, hardware: ThreadManagedHardware -) -> None: - right = ctx.load_instrument("p10_single", Mount.RIGHT) - lw = ctx.load_labware("corning_96_wellplate_360ul_flat", 1) - ctx.home() - - test_args = None - - def fake_plan_move( - from_loc: Location, - to_loc: Location, - deck: Deck, - well_z_margin: Optional[float] = None, - lw_z_margin: Optional[float] = None, - force_direct: Optional[bool] = False, - minimum_z_height: Optional[float] = None, - ) -> List[Tuple[Point, Optional[CriticalPoint]]]: - nonlocal test_args - test_args = (from_loc, to_loc, deck, well_z_margin, lw_z_margin) - return [ - (Point(0, 1, 10), None), - (Point(1, 2, 10), None), - (Point(1, 2, 3), None), - ] - - monkeypatch.setattr(papi_geometry.planning, "plan_moves", fake_plan_move) - # When we move without a cache, the from location should be the gantry - # position - gantry_pos = await hardware.gantry_position(Mount.RIGHT) - right.move_to(lw.wells()[0].top()) - # The home position from hardware_control/simulator.py, taking into account - # that the right pipette is a p10 single which is a different height than - # the reference p300 single - assert test_args[0].point == gantry_pos # type: ignore[index] - assert test_args[0].labware.is_empty # type: ignore[index] - - # Once we have a location cache, that should be our from_loc - right.move_to(lw.wells()[1].top()) - assert test_args[0].labware.as_well() == lw.wells()[0] # type: ignore[index] - - -def test_location_cache_two_pipettes( - ctx: papi.ProtocolContext, hardware: ThreadManagedHardware -) -> None: - """It should be invalidated when next movement is a different pipette - than the cached location.""" - ctx.home() - left = ctx.load_instrument("p10_single", Mount.LEFT) - right = ctx.load_instrument("p10_single", Mount.RIGHT) - - left_loc = Location(point=Point(1, 2, 3), labware="1") - right_loc = Location(point=Point(3, 4, 5), labware="2") - - with mock.patch.object(papi_geometry.planning, "plan_moves") as m: - # The first moves. The location cache is empty. - left.move_to(left_loc) - assert m.call_args[0][0].labware.is_empty - assert m.call_args[0][1] == left_loc - # The second move the location cache is not used because we're moving - # a different pipette. - right.move_to(right_loc) - assert m.call_args[0][0].labware.is_empty - assert m.call_args[0][1] == right_loc - - -def test_location_cache_two_pipettes_fails_pre_2_10( - ctx: papi.ProtocolContext, hardware: ThreadManagedHardware -) -> None: - """It should reuse location cache even if cached location was set by - move of a different pipette.""" - ctx.home() - left = ctx.load_instrument("p10_single", Mount.LEFT) - right = ctx.load_instrument("p10_single", Mount.RIGHT) - assert hasattr(left._core, "_api_version") - assert hasattr(right._core, "_api_version") - left._core._api_version = APIVersion(2, 9) - right._core._api_version = APIVersion(2, 9) - - left_loc = Location(point=Point(1, 2, 3), labware="1") - right_loc = Location(point=Point(3, 4, 5), labware="2") - - with mock.patch.object(papi_geometry.planning, "plan_moves") as m: - # The first moves. The location cache is empty. - left.move_to(left_loc) - assert m.call_args[0][0].labware.is_empty - assert m.call_args[0][1] == left_loc - right.move_to(right_loc) - assert m.call_args[0][0].labware == left_loc.labware - assert m.call_args[0][1] == right_loc - - -def test_move_uses_arc( - ctx: papi.ProtocolContext, monkeypatch: MonkeyPatch, hardware: ThreadManagedHardware -) -> None: - ctx.home() - right = ctx.load_instrument("p10_single", Mount.RIGHT) - lw = ctx.load_labware("corning_96_wellplate_360ul_flat", 1) - ctx.home() - - with mock.patch.object( - ctx._core.get_hardware()._obj_to_adapt, "move_to" - ) as fake_move: - right.move_to(lw.wells()[0].top()) - assert len(fake_move.call_args_list) == 3 - assert fake_move.call_args_list[-1][0] == ( - Mount.RIGHT, - lw.wells()[0].top().point, - ) - - -def test_pipette_info(ctx: papi.ProtocolContext) -> None: - right = ctx.load_instrument("p300_multi", Mount.RIGHT) - left = ctx.load_instrument("p1000_single", Mount.LEFT) - assert right.type == "multi" - hardware = ctx._core.get_hardware() - name = hardware.attached_instruments[Mount.RIGHT]["name"] - model = hardware.attached_instruments[Mount.RIGHT]["model"] - assert right.name == name - assert right.model == model - assert left.type == "single" - name = hardware.attached_instruments[Mount.LEFT]["name"] - model = hardware.attached_instruments[Mount.LEFT]["model"] - assert left.name == name - assert left.model == model - - -def test_pick_up_and_drop_tip(ctx: papi.ProtocolContext) -> None: - ctx.home() - tiprack = ctx.load_labware("opentrons_96_tiprack_300ul", 1) - tip_length = tiprack.tip_length - mount = Mount.LEFT - - instr = ctx.load_instrument("p300_single", mount, tip_racks=[tiprack]) - - pipette: Pipette = ctx._core.get_hardware().hardware_instruments[mount] - nozzle_offset = Point(*pipette.config.nozzle_offset) - assert pipette.critical_point() == nozzle_offset - target_location = tiprack["A1"].top() - - instr.pick_up_tip(target_location) - assert pipette.ready_to_aspirate - assert not tiprack.wells()[0].has_tip - overlap = instr.hw_pipette["tip_overlap"][tiprack.uri] - new_offset = nozzle_offset - Point(0, 0, tip_length - overlap) - assert pipette.critical_point() == new_offset - assert pipette.has_tip - - instr.drop_tip(target_location) - assert not pipette.has_tip - assert pipette.critical_point() == nozzle_offset - - -def test_pick_up_without_prep_after(ctx: papi.ProtocolContext) -> None: - ctx.home() - tiprack = ctx.load_labware("opentrons_96_tiprack_300ul", 1) - lw = ctx.load_labware("corning_96_wellplate_360ul_flat", 2) - mount = Mount.LEFT - - instr = ctx.load_instrument("p300_single", mount, tip_racks=[tiprack]) - - pipette: Pipette = ctx._core.get_hardware().hardware_instruments[mount] - - # will not be prepared until after an aspirate - instr.pick_up_tip(tiprack["A2"].top(), prep_after=False) - assert not pipette.ready_to_aspirate - instr.aspirate(1, lw.wells()[0].bottom()) - assert pipette.ready_to_aspirate - instr.drop_tip(tiprack["A2"].top()) - - -def test_pick_up_tip_old_version( - hardware: ThreadManagedHardware, deck_definition_name: str -) -> None: - # API version 2.12, a pick-up tip would not prepare-for-aspirate - api_version = APIVersion(2, 12) - ctx = papi.create_protocol_context( - api_version=api_version, hardware_api=hardware, deck_type=deck_definition_name - ) - - ctx.home() - tiprack = ctx.load_labware("opentrons_96_tiprack_300ul", 1) - lw = ctx.load_labware("corning_96_wellplate_360ul_flat", 2) - mount = Mount.LEFT - - instr = ctx.load_instrument("p300_single", mount, tip_racks=[tiprack]) - - pipette: Pipette = ctx._core.get_hardware().hardware_instruments[mount] - - # will not be prepared until after an aspirate - assert not pipette.has_tip - instr.pick_up_tip(tiprack["A1"].top()) - assert not pipette.ready_to_aspirate - instr.aspirate(1, lw.wells()[0].bottom()) - assert pipette.ready_to_aspirate - instr.drop_tip() - - # cannot run pick_up_tip() with a prep_after= arg - assert not pipette.has_tip - with pytest.raises(papi_support.util.APIVersionError): - instr.pick_up_tip(tiprack["A2"].top(), prep_after=False) - with pytest.raises(papi_support.util.APIVersionError): - instr.pick_up_tip(tiprack["A2"].top(), prep_after=True) - - -def test_return_tip_old_version( - hardware: ThreadManagedHardware, deck_definition_name: str -) -> None: - # API version 2.2, a returned tip would be picked up by the - # next pick up tip call - api_version = APIVersion(2, 1) - ctx = papi.create_protocol_context( - api_version=api_version, hardware_api=hardware, deck_type=deck_definition_name - ) - ctx.home() - tiprack = ctx.load_labware("opentrons_96_tiprack_300ul", 1) - mount = Mount.LEFT - - instr = ctx.load_instrument("p300_single", mount, tip_racks=[tiprack]) - - with pytest.raises(TypeError): - instr.return_tip() - - pipette: Pipette = ctx._core.get_hardware().hardware_instruments[mount] - - target_location = tiprack["A1"].top() - instr.pick_up_tip(target_location) - assert not tiprack.wells()[0].has_tip - assert pipette.has_tip - - instr.return_tip() - assert not pipette.has_tip - assert tiprack.wells()[0].has_tip - - instr.pick_up_tip() - assert pipette.has_tip - assert not tiprack.wells()[0].has_tip - - -def test_return_tip(ctx: papi.ProtocolContext) -> None: - ctx.home() - tiprack = ctx.load_labware("opentrons_96_tiprack_300ul", 1) - mount = Mount.LEFT - - instr = ctx.load_instrument("p300_single", mount, tip_racks=[tiprack]) - - with pytest.raises(TypeError): - instr.return_tip() - - pipette: Pipette = ctx._core.get_hardware().hardware_instruments[mount] - - target_location = tiprack["A1"].top() - instr.pick_up_tip(target_location) - assert not tiprack.wells()[0].has_tip - assert pipette.has_tip - - instr.return_tip() - assert not pipette.has_tip - assert not tiprack.wells()[0].has_tip - - instr.pick_up_tip() - assert pipette.has_tip - assert not tiprack.wells()[1].has_tip - - -def test_use_filter_tips(ctx: papi.ProtocolContext) -> None: - ctx.home() - - tiprack = ctx.load_labware_by_name("opentrons_96_filtertiprack_200ul", 2) - - mount = Mount.LEFT - - instr = ctx.load_instrument("p300_single", mount, tip_racks=[tiprack]) - pipette: Pipette = ctx._core.get_hardware().hardware_instruments[mount] - - assert pipette.available_volume == pipette.liquid_class.max_volume - - instr.pick_up_tip() - assert pipette.available_volume < pipette.liquid_class.max_volume - - -@pytest.mark.parametrize("pipette_model", ["p10_single", "p20_single_gen2"]) -@pytest.mark.parametrize( - "tiprack_kind", ["opentrons_96_tiprack_10ul", "eppendorf_96_tiprack_10ul_eptips"] -) -def test_pick_up_tip_no_location( - ctx: papi.ProtocolContext, pipette_model: str, tiprack_kind: str -) -> None: - ctx.home() - - tiprack1 = ctx.load_labware(tiprack_kind, 1) - tip_length1 = tiprack1.tip_length - - tiprack2 = ctx.load_labware(tiprack_kind, 2) - tip_length2 = tip_length1 + 1.0 - tiprack2.tip_length = tip_length2 - - mount = Mount.LEFT - - instr = ctx.load_instrument(pipette_model, mount, tip_racks=[tiprack1, tiprack2]) - - pipette: Pipette = ctx._core.get_hardware().hardware_instruments[mount] - nozzle_offset = Point(*pipette.config.nozzle_offset) - assert pipette.critical_point() == nozzle_offset - - instr.pick_up_tip() - - assert "picking up tip" in ",".join([cmd.lower() for cmd in ctx.commands()]) - assert not tiprack1.wells()[0].has_tip - overlap = instr.hw_pipette["tip_overlap"][tiprack1.uri] - new_offset = nozzle_offset - Point(0, 0, tip_length1 - overlap) - assert pipette.critical_point() == new_offset - - # TODO: remove argument and verify once trash container is added - instr.drop_tip(tiprack1.wells()[0].top()) - assert not pipette.has_tip - assert pipette.critical_point() == nozzle_offset - - for well in tiprack1.wells(): - if well.has_tip: - tiprack1.use_tips(well) - - assert tiprack1.next_tip() is None - - assert tiprack2.wells()[0].has_tip - instr.pick_up_tip() - assert not tiprack2.wells()[0].has_tip - - -def test_instrument_trash(ctx: papi.ProtocolContext) -> None: - ctx.home() - - mount = Mount.LEFT - instr = ctx.load_instrument("p300_single", mount) - - assert isinstance(instr.trash_container, Labware) - - assert instr.trash_container.name == "opentrons_1_trash_1100ml_fixed" - - new_trash = ctx.load_labware("usascientific_12_reservoir_22ml", 2) - instr.trash_container = new_trash - - assert instr.trash_container.name == "usascientific_12_reservoir_22ml" - - -@pytest.mark.ot3_only -def test_instrument_trash_ot3(ctx: papi.ProtocolContext) -> None: - ctx.home() - - mount = Mount.LEFT - instr = ctx.load_instrument("flex_1channel_1000", mount) - - assert isinstance(instr, papi.ProtocolContext) - - assert instr.trash_container.name == "opentrons_1_trash_3200ml_fixed" - - -def test_aspirate(ctx: papi.ProtocolContext) -> None: - ctx.home() - lw = ctx.load_labware("corning_96_wellplate_360ul_flat", 1) - tiprack = ctx.load_labware("opentrons_96_tiprack_10ul", 2) - instr = ctx.load_instrument("p10_single", Mount.RIGHT, tip_racks=[tiprack]) - - with mock.patch.object( - ctx._core.get_hardware()._obj_to_adapt, "move_to" - ) as fake_move, mock.patch.object( - ctx._core.get_hardware()._obj_to_adapt, "aspirate" - ) as fake_hw_aspirate: - instr.pick_up_tip() - instr.aspirate(2.0, lw.wells()[0].bottom()) - assert "aspirating" in ",".join([cmd.lower() for cmd in ctx.commands()]) - - fake_hw_aspirate.assert_called_once_with(Mount.RIGHT, 2.0, 1.0) - assert fake_move.call_args_list[-1] == mock.call( - Mount.RIGHT, - lw.wells()[0].bottom().point, - critical_point=None, - speed=400, - max_speeds={}, - ) - - with mock.patch.object( - ctx._core.get_hardware()._obj_to_adapt, "move_to" - ) as fake_move, mock.patch.object( - ctx._core.get_hardware()._obj_to_adapt, "aspirate" - ) as fake_hw_aspirate: - instr.well_bottom_clearance.aspirate = 1.0 - instr.aspirate(2.0, lw.wells()[0]) - dest_point, dest_lw = lw.wells()[0].bottom() - assert isinstance(dest_point, Point) - dest_point = dest_point._replace(z=dest_point.z + 1.0) - assert len(fake_move.call_args_list) == 1 - assert fake_move.call_args_list[0] == mock.call( - Mount.RIGHT, dest_point, critical_point=None, speed=400, max_speeds={} - ) - - with mock.patch.object( - ctx._core.get_hardware()._obj_to_adapt, "move_to" - ) as fake_move, mock.patch.object( - ctx._core.get_hardware()._obj_to_adapt, "aspirate" - ) as fake_hw_aspirate: - hardware = ctx._core.get_hardware() - assert isinstance(hardware, SynchronousAdapter) - mount = hardware._obj_to_adapt.hardware_instruments[Mount.RIGHT] - assert mount is not None - mount._current_volume = 1 - - instr.aspirate(2.0) - fake_move.assert_not_called() - - instr.blow_out() - - with mock.patch.object( - ctx._core.get_hardware()._obj_to_adapt, "move_to" - ) as fake_move, mock.patch.object( - ctx._core.get_hardware()._obj_to_adapt, "aspirate" - ) as fake_hw_aspirate: - instr.aspirate(2.0) - assert len(fake_move.call_args_list) == 2 - assert isinstance(dest_lw, LabwareLike) - # reset plunger at the top of the well after blowout - assert fake_move.call_args_list[0] == mock.call( - Mount.RIGHT, - dest_lw.as_well().top().point, - critical_point=None, - speed=400, - max_speeds={}, - ) - assert fake_move.call_args_list[1] == mock.call( - Mount.RIGHT, dest_point, critical_point=None, speed=400, max_speeds={} - ) - - -def test_dispense(ctx: papi.ProtocolContext, monkeypatch: MonkeyPatch) -> None: - ctx.home() - lw = ctx.load_labware("corning_96_wellplate_360ul_flat", 1) - instr = ctx.load_instrument("p10_single", Mount.RIGHT) - - with mock.patch.object( - ctx._core.get_hardware()._obj_to_adapt, "move_to" - ) as fake_move, mock.patch.object( - ctx._core.get_hardware()._obj_to_adapt, "dispense" - ) as fake_hw_dispense: - instr.dispense(2.0, lw.wells()[0].bottom()) - assert "dispensing" in ",".join([cmd.lower() for cmd in ctx.commands()]) - fake_hw_dispense.assert_called_once_with(Mount.RIGHT, 2.0, 1.0) - fake_move.assert_called_with( - Mount.RIGHT, - lw.wells()[0].bottom().point, - critical_point=None, - speed=400, - max_speeds={}, - ) - - with mock.patch.object( - ctx._core.get_hardware()._obj_to_adapt, "move_to" - ) as fake_move, mock.patch.object( - ctx._core.get_hardware()._obj_to_adapt, "dispense" - ) as fake_hw_dispense: - instr.well_bottom_clearance.dispense = 2.0 - instr.dispense(2.0, lw.wells()[0]) - dest_point, dest_lw = lw.wells()[0].bottom() - assert isinstance(dest_point, Point) - dest_point = dest_point._replace(z=dest_point.z + 2.0) - fake_move.assert_called_with( - Mount.RIGHT, dest_point, critical_point=None, speed=400, max_speeds={} - ) - - with mock.patch.object( - ctx._core.get_hardware()._obj_to_adapt, "move_to" - ) as fake_move, mock.patch.object( - ctx._core.get_hardware()._obj_to_adapt, "dispense" - ) as fake_hw_dispense: - instr.well_bottom_clearance.dispense = 2.0 - instr.dispense(2.0, lw.wells()[0]) - dest_point, dest_lw = lw.wells()[0].bottom() - assert isinstance(dest_point, Point) - dest_point = dest_point._replace(z=dest_point.z + 2.0) - fake_move.assert_called_with( - Mount.RIGHT, dest_point, critical_point=None, speed=400, max_speeds={} - ) - instr.dispense(2.0) - fake_move.reset_mock() - fake_move.assert_not_called() - - -def test_prevent_liquid_handling_without_tip(ctx: papi.ProtocolContext) -> None: - ctx.home() - - tr = ctx.load_labware("opentrons_96_tiprack_300ul", "1") - plate = ctx.load_labware("corning_384_wellplate_112ul_flat", "2") - pipR = ctx.load_instrument("p300_single", Mount.RIGHT, tip_racks=[tr]) - - with pytest.raises(UnexpectedTipRemovalError): - pipR.aspirate(100, plate.wells()[0]) - - pipR.pick_up_tip() - - pipR.aspirate(100, plate.wells()[0]) - pipR.drop_tip() - - with pytest.raises(UnexpectedTipRemovalError): - pipR.dispense(100, plate.wells()[1]) - - -def test_starting_tip_and_reset_tipracks( - ctx: papi.ProtocolContext, monkeypatch: MonkeyPatch -) -> None: - ctx.home() - - tr = ctx.load_labware("opentrons_96_tiprack_300ul", 1) - tr_2 = ctx.load_labware("opentrons_96_tiprack_300ul", 2) - pipL = ctx.load_instrument("p300_single", Mount.LEFT, tip_racks=[tr, tr_2]) - pipR = ctx.load_instrument("p300_single", Mount.RIGHT, tip_racks=[tr, tr_2]) - - pipL.starting_tip = tr.wells()[2] - pipL.pick_up_tip() - assert pipL._last_tip_picked_up_from == tr.wells()[2] - pipL.drop_tip() - - pipR.starting_tip = tr.wells()[2] - pipR.pick_up_tip() - assert pipR._last_tip_picked_up_from == tr.wells()[3] - pipR.drop_tip() - - tr.wells()[95].has_tip = False - pipL.starting_tip = tr.wells()[95] - pipL.pick_up_tip() - assert pipL._last_tip_picked_up_from == tr_2.wells()[0] - - pipL.reset_tipracks() - assert tr.wells()[2].has_tip - assert tr.wells()[3].has_tip - - -def test_mix(ctx: papi.ProtocolContext, monkeypatch: MonkeyPatch) -> None: - ctx.home() - lw = ctx.load_labware("opentrons_24_tuberack_eppendorf_1.5ml_safelock_snapcap", 1) - tiprack = ctx.load_labware("opentrons_96_tiprack_300ul", 3) - instr = ctx.load_instrument("p300_single", Mount.RIGHT, tip_racks=[tiprack]) - - instr.pick_up_tip() - mix_steps = [] - aspirate_called_with = None - dispense_called_with = None - - def fake_aspirate( - vol: Optional[float] = None, - loc: Optional[Location] = None, - rate: Optional[int] = None, - ) -> None: - nonlocal aspirate_called_with - nonlocal mix_steps - aspirate_called_with = ("aspirate", vol, loc, rate) - mix_steps.append(aspirate_called_with) - - def fake_dispense( - vol: Optional[float] = None, - loc: Optional[Location] = None, - rate: Optional[int] = None, - ) -> None: - nonlocal dispense_called_with - nonlocal mix_steps - dispense_called_with = ("dispense", vol, loc, rate) - mix_steps.append(dispense_called_with) - - monkeypatch.setattr(instr, "aspirate", fake_aspirate) - monkeypatch.setattr(instr, "dispense", fake_dispense) - - repetitions = 2 - volume = 5 - location = lw.wells()[0] - rate = 2 - instr.mix(repetitions, volume, location, rate) - expected_mix_steps = [ - ("aspirate", volume, location, 2), - ("dispense", volume, None, 2), - ("aspirate", volume, None, 2), - ("dispense", volume, None, 2), - ] - - assert mix_steps == expected_mix_steps - - -def test_touch_tip_default_args( - monkeypatch: MonkeyPatch, hardware: ThreadManagedHardware, deck_definition_name: str -) -> None: - api_version = APIVersion(2, 3) - ctx = papi.create_protocol_context( - api_version=api_version, hardware_api=hardware, deck_type=deck_definition_name - ) - ctx.home() - lw = ctx.load_labware("opentrons_24_tuberack_eppendorf_1.5ml_safelock_snapcap", 1) - tiprack = ctx.load_labware("opentrons_96_tiprack_300ul", 3) - instr = ctx.load_instrument("p300_single", Mount.RIGHT, tip_racks=[tiprack]) - - instr.pick_up_tip() - - instr.aspirate(10, lw.wells()[0]) - with mock.patch.object( - ctx._core.get_hardware()._obj_to_adapt, "move_to" - ) as fake_move: - instr.touch_tip() - z_offset = Point(0, 0, 1) # default z offset of 1mm - speed = 60 # default speed - edges = [ - lw.wells()[0].from_center_cartesian(1, 0, 1) - z_offset, - lw.wells()[0].from_center_cartesian(-1, 0, 1) - z_offset, - lw.wells()[0].from_center_cartesian(0, 1, 1) - z_offset, - lw.wells()[0].from_center_cartesian(0, -1, 1) - z_offset, - ] - assert fake_move.call_count == 5 - for i in range(1, 5): - assert fake_move.call_args_list[i] == mock.call( - Mount.RIGHT, edges[i - 1], speed - ) - old_z = fake_move.call_args_list[1][0][1].z - # Check that the old api version initial well move has the same z height - # as the calculated edges. - with mock.patch.object( - ctx._core.get_hardware()._obj_to_adapt, "move_to" - ) as fake_move: - instr.touch_tip(v_offset=1) - assert fake_move.call_args_list[0][0][1].z != old_z - - -def test_touch_tip_new_default_args( - ctx: papi.ProtocolContext, monkeypatch: MonkeyPatch -) -> None: - ctx.home() - lw = ctx.load_labware("opentrons_24_tuberack_eppendorf_1.5ml_safelock_snapcap", 1) - tiprack = ctx.load_labware("opentrons_96_tiprack_300ul", 3) - instr = ctx.load_instrument("p300_single", Mount.RIGHT, tip_racks=[tiprack]) - - instr.pick_up_tip() - - instr.aspirate(10, lw.wells()[0]) - - z_offset = Point(0, 0, 1) # default z offset of 1mm - speed = 60.0 # default speed - edges = [ - lw.wells()[0].from_center_cartesian(1, 0, 1) - z_offset, - lw.wells()[0].from_center_cartesian(-1, 0, 1) - z_offset, - lw.wells()[0].from_center_cartesian(0, 0, 1) - z_offset, - lw.wells()[0].from_center_cartesian(0, 1, 1) - z_offset, - lw.wells()[0].from_center_cartesian(0, -1, 1) - z_offset, - ] - - with mock.patch.object( - ctx._core.get_hardware()._obj_to_adapt, "move_to" - ) as fake_move: - instr.touch_tip() - for i in range(1, 5): - assert fake_move.call_args_list[i] == mock.call( - Mount.RIGHT, edges[i - 1], speed - ) - old_z = fake_move.call_args_list[0][0][1].z - - # Check that the new api version initial well move has the same z height - # as the calculated edges. - with mock.patch.object( - ctx._core.get_hardware()._obj_to_adapt, "move_to" - ) as fake_move: - instr.touch_tip(v_offset=1) - assert fake_move.call_args_list[0][0][1].z != old_z - - -def test_touch_tip_disabled( - ctx: papi.ProtocolContext, - monkeypatch: MonkeyPatch, - get_labware_fixture: Callable[[str], LabwareDefinition], -) -> None: - ctx.home() - trough1 = get_labware_fixture("fixture_12_trough") - trough_lw = ctx.load_labware_from_definition(trough1, "1") - tiprack = ctx.load_labware("opentrons_96_tiprack_300ul", 3) - instr = ctx.load_instrument("p300_single", Mount.RIGHT, tip_racks=[tiprack]) - instr.pick_up_tip() - move_mock = mock.Mock() - monkeypatch.setattr(API, "move_to", move_mock) - instr.touch_tip(trough_lw["A1"]) - move_mock.assert_not_called() - - -def test_blow_out(ctx: papi.ProtocolContext, monkeypatch: MonkeyPatch) -> None: - ctx.home() - lw = ctx.load_labware("opentrons_24_tuberack_eppendorf_1.5ml_safelock_snapcap", 1) - tiprack = ctx.load_labware("opentrons_96_tiprack_300ul", 3) - instr = ctx.load_instrument("p300_single", Mount.RIGHT, tip_racks=[tiprack]) - - move_location = None - instr.pick_up_tip() - instr.aspirate(10, lw.wells()[0]) - - def fake_move(location: Point) -> None: - nonlocal move_location - move_location = location - - monkeypatch.setattr(instr._core, "move_to", fake_move) - - instr.blow_out() - # pipette should not move, if no location is passed - assert move_location is None - - instr.aspirate(10) - instr.blow_out(lw.wells()[0]) - # pipette should blow out at the top of the well as default - assert move_location == lw.wells()[0].top() - - instr.aspirate(10) - instr.blow_out(lw.wells()[0].bottom()) - # pipette should blow out at the location defined - assert move_location == lw.wells()[0].bottom() - - -def test_transfer_options(ctx: papi.ProtocolContext, monkeypatch: MonkeyPatch) -> None: - lw1 = ctx.load_labware("biorad_96_wellplate_200ul_pcr", 1) - lw2 = ctx.load_labware("corning_96_wellplate_360ul_flat", 2) - tiprack = ctx.load_labware("opentrons_96_tiprack_300ul", 3) - instr = ctx.load_instrument("p300_single", Mount.RIGHT, tip_racks=[tiprack]) - - ctx.home() - transfer_options = None - - def fake_execute_transfer(xfer_plan: tf.TransferPlan) -> None: - nonlocal transfer_options - transfer_options = xfer_plan._options - - monkeypatch.setattr(instr, "_execute_transfer", fake_execute_transfer) - instr.transfer( - 10, - lw1.columns()[0], - lw2.columns()[0], - new_tip="always", - mix_before=(2, 10), - mix_after=(3, 20), - blow_out=True, - ) - expected_xfer_options1 = tf.TransferOptions( - transfer=tf.Transfer( - new_tip=TransferTipPolicy.ALWAYS, - air_gap=0, - carryover=True, - gradient_function=None, - disposal_volume=0, - mix_strategy=MixStrategy.BOTH, - drop_tip_strategy=tf.DropTipStrategy.TRASH, - blow_out_strategy=tf.BlowOutStrategy.TRASH, - touch_tip_strategy=tf.TouchTipStrategy.NEVER, - ), - pick_up_tip=tf.PickUpTipOpts(), - mix=Mix( - mix_before=MixOpts(repetitions=2, volume=10, rate=None), - mix_after=MixOpts(repetitions=3, volume=20, rate=None), - ), - blow_out=tf.BlowOutOpts(), - touch_tip=tf.TouchTipOpts(), - aspirate=tf.AspirateOpts(), - dispense=tf.DispenseOpts(), - ) - assert transfer_options == expected_xfer_options1 - - instr.pick_up_tip() - instr.distribute( - 50, - lw1.rows()[0][0], - lw2.columns()[0], - new_tip="never", - touch_tip=True, - trash=False, - disposal_volume=10, - mix_before=(2, 30), - mix_after=(3, 20), - ) - instr.drop_tip() - expected_xfer_options2 = tf.TransferOptions( - transfer=tf.Transfer( - new_tip=TransferTipPolicy.NEVER, - air_gap=0, - carryover=True, - gradient_function=None, - disposal_volume=10, - mix_strategy=MixStrategy.BEFORE, - drop_tip_strategy=tf.DropTipStrategy.RETURN, - blow_out_strategy=tf.BlowOutStrategy.NONE, - touch_tip_strategy=tf.TouchTipStrategy.ALWAYS, - ), - pick_up_tip=tf.PickUpTipOpts(), - mix=Mix( - mix_before=MixOpts(repetitions=2, volume=30, rate=None), - mix_after=MixOpts(), - ), - blow_out=tf.BlowOutOpts(), - touch_tip=tf.TouchTipOpts(), - aspirate=tf.AspirateOpts(), - dispense=tf.DispenseOpts(), - ) - assert transfer_options == expected_xfer_options2 - with pytest.raises(ValueError, match="air_gap.*"): - instr.transfer(300, lw1["A1"], lw2["A1"], air_gap=300) - with pytest.raises(ValueError, match="air_gap.*"): - instr.transfer(300, lw1["A1"], lw2["A1"], air_gap=10000) - - -def test_flow_rate(ctx: papi.ProtocolContext, monkeypatch: MonkeyPatch) -> None: - instr = ctx.load_instrument("p300_single", Mount.RIGHT) - old_sfm = instr._core.set_flow_rate - - def pass_on( - aspirate: Optional[int] = None, - dispense: Optional[int] = None, - blow_out: Optional[int] = None, - ) -> None: - old_sfm(aspirate=aspirate, dispense=dispense, blow_out=blow_out) - - set_flow_rate = mock.Mock(side_effect=pass_on) - monkeypatch.setattr(instr._core, "set_flow_rate", set_flow_rate) - - ctx.home() - instr.flow_rate.aspirate = 1 - set_flow_rate.assert_called_once_with(aspirate=1) - set_flow_rate.reset_mock() - instr.flow_rate.dispense = 10 - set_flow_rate.assert_called_once_with(dispense=10) - set_flow_rate.reset_mock() - instr.flow_rate.blow_out = 2 - set_flow_rate.assert_called_once_with(blow_out=2) - assert instr.flow_rate.aspirate == 1 - assert instr.flow_rate.dispense == 10 - assert instr.flow_rate.blow_out == 2 - - -def test_pipette_speed(ctx: papi.ProtocolContext, monkeypatch: MonkeyPatch) -> None: - instr = ctx.load_instrument("p300_single", Mount.RIGHT) - assert hasattr(instr._core, "set_pipette_speed") - old_sfm = instr._core.set_pipette_speed - - def pass_on( - aspirate: Optional[int] = None, - dispense: Optional[int] = None, - blow_out: Optional[int] = None, - ) -> None: - old_sfm(aspirate=aspirate, dispense=dispense, blow_out=blow_out) - - set_speed = mock.Mock(side_effect=pass_on) - monkeypatch.setattr(instr._core, "set_pipette_speed", set_speed) - ctx.home() - instr.speed.aspirate = 1 - set_speed.assert_called_once_with(aspirate=1) - set_speed.reset_mock() - instr.speed.dispense = 10 - set_speed.assert_called_once_with(dispense=10) - set_speed.reset_mock() - instr.speed.blow_out = 2 - set_speed.assert_called_once_with(blow_out=2) - assert instr.speed.aspirate == 1 - assert instr.speed.dispense == 10 - assert instr.speed.blow_out == 2 - - -def test_loaded_labwares(ctx: papi.ProtocolContext) -> None: - assert ctx.loaded_labwares == {12: ctx.fixed_trash} - lw1 = ctx.load_labware("opentrons_96_tiprack_300ul", 3) - lw2 = ctx.load_labware("opentrons_96_tiprack_300ul", 8) - ctx.load_module("tempdeck", 4) - mod2 = ctx.load_module("magdeck", 5) - mod_lw = mod2.load_labware("biorad_96_wellplate_200ul_pcr") - assert ctx.loaded_labwares[3] == lw1 - assert ctx.loaded_labwares[8] == lw2 - assert ctx.loaded_labwares[5] == mod_lw - assert sorted(ctx.loaded_labwares.keys()) == sorted([3, 5, 8, 12]) - - -def _safe_cast_to_int(value: Any) -> int: - result = int(value) - return result - - -def test_loaded_modules(ctx: papi.ProtocolContext, monkeypatch: MonkeyPatch) -> None: - assert ctx.loaded_modules == {} - from collections import OrderedDict - - mag1 = ctx.load_module("magnetic module gen2", 1) - mag2 = ctx.load_module("magnetic module", 2) - temp1 = ctx.load_module("temperature module", 3) - temp2 = ctx.load_module("temperature module", 4) - - expected_load_order = OrderedDict( - { - _safe_cast_to_int(mod.geometry.parent): mod - for mod in [mag1, mag2, temp1, temp2] - } - ) - - assert ctx.loaded_modules == expected_load_order - assert ctx.loaded_modules[1] == mag1 - assert ctx.loaded_modules[2] == mag2 - assert ctx.loaded_modules[3] == temp1 - assert ctx.loaded_modules[4] == temp2 - - -def test_order_of_module_load() -> None: - import opentrons.hardware_control as hardware_control - import opentrons.protocol_api as protocol_api - - mods = { - "tempdeck": [ - SimulatingModule(serial_number="111", model="temperatureModuleV1"), - SimulatingModule(serial_number="333", model="temperatureModuleV2"), - ], - "thermocycler": [ - SimulatingModule(serial_number="222", model="thermocyclerModuleV2") - ], - } - thread_manager = hardware_control.ThreadManager( - hardware_control.API.build_hardware_simulator, attached_modules=mods - ) - fake_hardware = thread_manager.sync - - attached_modules = fake_hardware.attached_modules - hw_temp1 = attached_modules[0] - hw_temp2 = attached_modules[1] - - ctx1 = protocol_api.create_protocol_context( - api_version=APIVersion(2, 13), - hardware_api=fake_hardware, - deck_type=STANDARD_OT2_DECK, - ) - - temp1 = ctx1.load_module("tempdeck", 4) - ctx1.load_module("thermocycler") - temp2 = ctx1.load_module("tempdeck", 1) - async_temp1 = temp1._core._sync_module_hardware._obj_to_adapt # type: ignore[union-attr] - async_temp2 = temp2._core._sync_module_hardware._obj_to_adapt # type: ignore[union-attr] - - assert id(async_temp1) == id(hw_temp1) - assert id(async_temp2) == id(hw_temp2) - - # Test that the order remains the same for the - # hardware modules regardless of the slot it - # was loaded into - ctx2 = protocol_api.create_protocol_context( - api_version=APIVersion(2, 13), - hardware_api=fake_hardware, - deck_type=STANDARD_OT2_DECK, - ) - - ctx2.load_module("thermocycler") - temp1 = ctx2.load_module("tempdeck", 1) - temp2 = ctx2.load_module("tempdeck", 4) - - async_temp1 = temp1._core._sync_module_hardware._obj_to_adapt # type: ignore[union-attr] - async_temp2 = temp2._core._sync_module_hardware._obj_to_adapt # type: ignore[union-attr] - assert id(async_temp1) == id(hw_temp1) - assert id(async_temp2) == id(hw_temp2) - - -def test_tip_length_for_caldata( - ctx: papi.ProtocolContext, decoy: Decoy, monkeypatch: MonkeyPatch -) -> None: - # TODO (lc 10-27-2022) We need to investigate why the pipette id is - # being reported as none for this test (and probably all the others) - from opentrons.hardware_control.instruments.ot2 import ( - instrument_calibration as instr_cal, - ) - from opentrons.calibration_storage import types as CSTypes - - instr = ctx.load_instrument("p20_single_gen2", "left") - tip_rack = ctx.load_labware("geb_96_tiprack_10ul", "1") - - mock_load_tip_length = decoy.mock(func=instr_cal.load_tip_length_for_pipette) - monkeypatch.setattr(instr_cal, "load_tip_length_for_pipette", mock_load_tip_length) - - decoy.when(mock_load_tip_length(None, tip_rack._core.get_definition())).then_return( # type: ignore[arg-type] - instr_cal.TipLengthCalibration( - tip_length=2, - last_modified=utc_now(), - source=cs_types.SourceType.user, - status=CSTypes.CalibrationStatus(markedBad=False), - uri=LabwareUri("opentrons/geb_96_tiprack_10ul/1"), - tiprack="somehash", - pipette=None, # type: ignore[arg-type] - ) - ) - - assert ( - instrument_support.tip_length_for( - pipette=instr.hw_pipette, - tip_rack_definition=tip_rack._core.get_definition(), # type: ignore[arg-type] - ) - == 2 - ) - - decoy.when(mock_load_tip_length(None, tip_rack._core.get_definition())).then_raise( # type: ignore[arg-type] - cs_types.TipLengthCalNotFound("oh no") - ) - - assert instrument_support.tip_length_for( - pipette=instr.hw_pipette, - tip_rack_definition=tip_rack._core.get_definition(), # type: ignore[arg-type] - ) == ( - tip_rack._core.get_definition()["parameters"]["tipLength"] - - instr.hw_pipette["tip_overlap"]["opentrons/geb_96_tiprack_10ul/1"] - ) - - -def test_bundled_labware( - get_labware_fixture: Callable[[str], LabwareDefinition], - hardware: ThreadManagedHardware, -) -> None: - fixture_96_plate = get_labware_fixture("fixture_96_plate") - bundled_labware = {"fixture/fixture_96_plate/1": fixture_96_plate} - - ctx = papi.create_protocol_context( - api_version=APIVersion(2, 13), - hardware_api=hardware, - deck_type=STANDARD_OT2_DECK, - bundled_labware=bundled_labware, - ) - - lw1 = ctx.load_labware("fixture_96_plate", 3, namespace="fixture") - assert ctx.loaded_labwares[3] == lw1 - assert ctx.loaded_labwares[3]._core.get_definition() == fixture_96_plate - - -def test_bundled_labware_missing( - get_labware_fixture: Callable[[str], LabwareDefinition], - hardware: ThreadManagedHardware, -) -> None: - bundled_labware: Dict[str, Any] = {} - with pytest.raises( - RuntimeError, match="No labware found in bundle with load name fixture_96_plate" - ): - ctx = papi.create_protocol_context( - api_version=APIVersion(2, 13), - hardware_api=hardware, - deck_type=STANDARD_OT2_DECK, - bundled_labware=bundled_labware, - ) - ctx.load_labware("fixture_96_plate", 3, namespace="fixture") - - fixture_96_plate = get_labware_fixture("fixture_96_plate") - bundled_labware = {"fixture/fixture_96_plate/1": fixture_96_plate} - with pytest.raises( - RuntimeError, match="No labware found in bundle with load name fixture_96_plate" - ): - ctx = papi.create_protocol_context( - api_version=APIVersion(2, 13), - hardware_api=hardware, - deck_type=STANDARD_OT2_DECK, - bundled_labware={}, - extra_labware=bundled_labware, - ) - ctx.load_labware("fixture_96_plate", 3, namespace="fixture") - - -def test_bundled_data( - hardware: ThreadManagedHardware, deck_definition_name: str -) -> None: - bundled_data = {"foo": b"1,2,3"} - ctx = papi.create_protocol_context( - api_version=APIVersion(2, 13), - hardware_api=hardware, - deck_type=deck_definition_name, - bundled_data=bundled_data, - ) - - assert ctx.bundled_data == bundled_data - - -def test_extra_labware( - get_labware_fixture: Callable[[str], LabwareDefinition], - hardware: ThreadManagedHardware, - deck_definition_name: str, -) -> None: - fixture_96_plate = get_labware_fixture("fixture_96_plate") - bundled_labware = {"fixture/fixture_96_plate/1": fixture_96_plate} - ctx = papi.create_protocol_context( - api_version=APIVersion(2, 13), - hardware_api=hardware, - deck_type=deck_definition_name, - extra_labware=bundled_labware, - ) - - ls1 = ctx.load_labware("fixture_96_plate", 3, namespace="fixture") - assert ctx.loaded_labwares[3] == ls1 - assert ctx.loaded_labwares[3]._core.get_definition() == fixture_96_plate - - -def test_api_version_checking( - hardware: ThreadManagedHardware, deck_definition_name: str -) -> None: - minor_over = APIVersion( - papi.MAX_SUPPORTED_VERSION.major, - papi.MAX_SUPPORTED_VERSION.minor + 1, - ) - with pytest.raises(ValueError): - papi.create_protocol_context( - api_version=minor_over, - hardware_api=hardware, - deck_type=deck_definition_name, - ) - - major_over = APIVersion( - papi.MAX_SUPPORTED_VERSION.major + 1, - papi.MAX_SUPPORTED_VERSION.minor, - ) - with pytest.raises(ValueError): - papi.create_protocol_context( - api_version=major_over, - hardware_api=hardware, - deck_type=deck_definition_name, - ) - - -def test_api_per_call_checking( - monkeypatch: MonkeyPatch, hardware: ThreadManagedHardware, deck_definition_name: str -) -> None: - ctx = papi.create_protocol_context( - api_version=APIVersion(1, 9), - hardware_api=hardware, - deck_type=deck_definition_name, - ) - - assert ctx.deck # 1.9 < 2.0, but api version 1 is excepted from checking - - ctx = papi.create_protocol_context( - api_version=APIVersion(2, 1), - hardware_api=hardware, - deck_type=deck_definition_name, - ) - # versions > 2.0 are ok - assert ctx.deck - # set_rail_lights() was added in 2.5 - with pytest.raises(papi_support.util.APIVersionError): - ctx.set_rail_lights(on=True) - - -def test_home_plunger( - monkeypatch: MonkeyPatch, hardware: ThreadManagedHardware, deck_definition_name: str -) -> None: - ctx = papi.create_protocol_context( - api_version=APIVersion(2, 0), - hardware_api=hardware, - deck_type=deck_definition_name, - ) - ctx.home() - instr = ctx.load_instrument("p1000_single", "left") - instr.home_plunger() - - -def test_move_to_with_thermocycler( - ctx: papi.ProtocolContext, -) -> None: - """Test move_to raises for unsafe moves with thermocycler.""" - - def raiser(*args: Any, **kwargs: Any) -> None: - raise RuntimeError("Cannot") - - mod = ctx.load_module("thermocycler") - - assert isinstance(mod, ThermocyclerContext) - mod._core.flag_unsafe_move = mock.MagicMock(side_effect=raiser) # type: ignore[attr-defined] - instr = ctx.load_instrument("p1000_single", "left") - with pytest.raises(RuntimeError, match="Cannot"): - instr.move_to(Location(Point(0, 0, 0), None)) - mod._core.flag_unsafe_move.assert_called_once_with( # type: ignore[attr-defined] # type: ignore[attr-defined] - to_loc=Location(Point(0, 0, 0), None), from_loc=Location(Point(0, 0, 0), None) - ) - - -def test_move_to_with_heater_shaker( - ctx: papi.ProtocolContext, - hardware: ThreadManagedHardware, -) -> None: - """Test move_to raises for unsafe moves with heater-shaker.""" - - def raiser(*args: Any, **kwargs: Any) -> None: - raise RuntimeError("Cannot") - - mod = ctx.load_module("heaterShakerModuleV1", 1) - - assert isinstance(mod, HeaterShakerContext) - mod._core.flag_unsafe_move = mock.MagicMock(side_effect=raiser) # type: ignore[attr-defined] - - instr = ctx.load_instrument("p300_multi", "left") - with pytest.raises(RuntimeError, match="Cannot"): - instr.move_to(Location(Point(0, 0, 0), None)) - mod._core.flag_unsafe_move.assert_called_once_with( # type: ignore[attr-defined] - to_loc=Location(Point(0, 0, 0), None), - is_multichannel=True, - ) diff --git a/api/tests/opentrons/protocol_engine/commands/absorbance_reader/test_read.py b/api/tests/opentrons/protocol_engine/commands/absorbance_reader/test_read.py index f1ba389f03d7..844b32826c17 100644 --- a/api/tests/opentrons/protocol_engine/commands/absorbance_reader/test_read.py +++ b/api/tests/opentrons/protocol_engine/commands/absorbance_reader/test_read.py @@ -1,4 +1,5 @@ """Test absorbance reader initilize command.""" + import math from typing import Dict, List, Optional import pytest @@ -39,7 +40,7 @@ def _get_absorbance_map(data: Optional[List[float]] = None) -> Dict[str, float]: col = (i % 12) + 1 # Convert index to column (1-12) well_key = f"{row}{col}" # Truncate the value to the third decimal place - well_map[well_key] = math.floor(value * 1000) / 1000 + well_map[well_key] = max(math.floor(value * 1000) / 1000, 0) return well_map @@ -134,7 +135,7 @@ async def test_convert_absorbance_reader_data_points() -> None: assert converted["A1"] == 0.0 assert converted["A2"] == 1.348 assert converted["E1"] == 0.11 - assert converted["H11"] == -0.001 + assert converted["H11"] == 0.0 # tests the clamp-to-0 behaviora assert converted["H12"] == 0.248 # the data is flipped, so arr[0] == H12 # Test invalid data len 1 diff --git a/api/tests/opentrons/protocol_engine/commands/calibration/test_calibrate_gripper.py b/api/tests/opentrons/protocol_engine/commands/calibration/test_calibrate_gripper.py index 4145e1f0b5c3..ed85a50c6223 100644 --- a/api/tests/opentrons/protocol_engine/commands/calibration/test_calibrate_gripper.py +++ b/api/tests/opentrons/protocol_engine/commands/calibration/test_calibrate_gripper.py @@ -5,7 +5,7 @@ import inspect import pytest from datetime import datetime -from decoy import Decoy +from decoy import Decoy, matchers from typing import TYPE_CHECKING from opentrons.hardware_control import ot3_calibration @@ -93,6 +93,7 @@ async def test_calibrate_gripper_saves_calibration( status=CalibrationStatus(markedBad=False), last_modified=datetime(year=3000, month=1, day=1), ) + saved_delta_captor = matchers.Captor() decoy.when( await ot3_calibration.calibrate_gripper_jaw( ot3_hardware_api, probe=GripperProbe.REAR @@ -100,11 +101,13 @@ async def test_calibrate_gripper_saves_calibration( ).then_return(Point(1.1, 2.2, 3.3)) decoy.when( await ot3_hardware_api.save_instrument_offset( - mount=OT3Mount.GRIPPER, delta=Point(x=2.75, y=3.85, z=4.95) + mount=OT3Mount.GRIPPER, delta=saved_delta_captor ) ).then_return(expected_calibration_data) result = await subject.execute(params) + saved_delta: Point = saved_delta_captor.value assert result.public.jawOffset == Vec3f(x=1.1, y=2.2, z=3.3) + assert saved_delta.elementwise_isclose(Point(x=2.75, y=3.85, z=4.95)) assert result.public.savedCalibration == expected_calibration_data diff --git a/api/tests/opentrons/protocol_engine/commands/robot/test_close_gripper_jaw.py b/api/tests/opentrons/protocol_engine/commands/robot/test_close_gripper_jaw.py index c5ccd4bf48d3..fac7af2dfbda 100644 --- a/api/tests/opentrons/protocol_engine/commands/robot/test_close_gripper_jaw.py +++ b/api/tests/opentrons/protocol_engine/commands/robot/test_close_gripper_jaw.py @@ -1,28 +1,51 @@ """Test robot.open-gripper-jaw commands.""" + from decoy import Decoy from opentrons.hardware_control import OT3HardwareControlAPI from opentrons.protocol_engine.commands.command import SuccessData from opentrons.protocol_engine.commands.robot.close_gripper_jaw import ( - closeGripperJawParams, - closeGripperJawResult, - closeGripperJawImplementation, + CloseGripperJawParams, + CloseGripperJawResult, + CloseGripperJawImplementation, ) +from opentrons.protocol_engine.state.state import StateView async def test_close_gripper_jaw_implementation( decoy: Decoy, + state_view: StateView, ot3_hardware_api: OT3HardwareControlAPI, ) -> None: """Test the `robot.closeGripperJaw` implementation.""" - subject = closeGripperJawImplementation( - hardware_api=ot3_hardware_api, + subject = CloseGripperJawImplementation( + hardware_api=ot3_hardware_api, state_view=state_view ) + decoy.when(state_view.config.use_virtual_gripper).then_return(False) - params = closeGripperJawParams(force=10) + params = CloseGripperJawParams(force=10) result = await subject.execute(params=params) - assert result == SuccessData(public=closeGripperJawResult()) + assert result == SuccessData(public=CloseGripperJawResult()) decoy.verify(await ot3_hardware_api.grip(force_newtons=10)) + + +async def test_close_gripper_jaw_analysis( + decoy: Decoy, + state_view: StateView, + ot3_hardware_api: OT3HardwareControlAPI, +) -> None: + """Test that closeGripperJaw doesn't call the hardware controller in analysis.""" + subject = CloseGripperJawImplementation( + hardware_api=ot3_hardware_api, state_view=state_view + ) + decoy.when(state_view.config.use_virtual_gripper).then_return(True) + + params = CloseGripperJawParams(force=10) + + result = await subject.execute(params=params) + + assert result == SuccessData(public=CloseGripperJawResult()) + decoy.verify(await ot3_hardware_api.grip(force_newtons=10), times=0) diff --git a/api/tests/opentrons/protocol_engine/commands/robot/test_open_gripper_jaw.py b/api/tests/opentrons/protocol_engine/commands/robot/test_open_gripper_jaw.py index 6ded7932963d..dac5b4791a44 100644 --- a/api/tests/opentrons/protocol_engine/commands/robot/test_open_gripper_jaw.py +++ b/api/tests/opentrons/protocol_engine/commands/robot/test_open_gripper_jaw.py @@ -1,28 +1,51 @@ """Test robot.open-gripper-jaw commands.""" + from decoy import Decoy from opentrons.hardware_control import OT3HardwareControlAPI from opentrons.protocol_engine.commands.command import SuccessData from opentrons.protocol_engine.commands.robot.open_gripper_jaw import ( - openGripperJawParams, - openGripperJawResult, - openGripperJawImplementation, + OpenGripperJawParams, + OpenGripperJawResult, + OpenGripperJawImplementation, ) +from opentrons.protocol_engine.state.state import StateView async def test_open_gripper_jaw_implementation( decoy: Decoy, + state_view: StateView, ot3_hardware_api: OT3HardwareControlAPI, ) -> None: """Test the `robot.openGripperJaw` implementation.""" - subject = openGripperJawImplementation( - hardware_api=ot3_hardware_api, + subject = OpenGripperJawImplementation( + hardware_api=ot3_hardware_api, state_view=state_view ) + decoy.when(state_view.config.use_virtual_gripper).then_return(False) - params = openGripperJawParams() + params = OpenGripperJawParams() result = await subject.execute(params=params) - assert result == SuccessData(public=openGripperJawResult()) + assert result == SuccessData(public=OpenGripperJawResult()) decoy.verify(await ot3_hardware_api.home_gripper_jaw()) + + +async def test_open_gripper_jaw_analysis( + decoy: Decoy, + state_view: StateView, + ot3_hardware_api: OT3HardwareControlAPI, +) -> None: + """Test the `robot.openGripperJaw` implementation doesn't call the hardware controller in analysis.""" + subject = OpenGripperJawImplementation( + hardware_api=ot3_hardware_api, state_view=state_view + ) + decoy.when(state_view.config.use_virtual_gripper).then_return(True) + + params = OpenGripperJawParams() + + result = await subject.execute(params=params) + + assert result == SuccessData(public=OpenGripperJawResult()) + decoy.verify(await ot3_hardware_api.home_gripper_jaw(), times=0) diff --git a/api/tests/opentrons/protocol_engine/commands/test_aspirate_while_tracking.py b/api/tests/opentrons/protocol_engine/commands/test_aspirate_while_tracking.py index 406e994b4aaf..b3b57ee2e857 100644 --- a/api/tests/opentrons/protocol_engine/commands/test_aspirate_while_tracking.py +++ b/api/tests/opentrons/protocol_engine/commands/test_aspirate_while_tracking.py @@ -160,7 +160,7 @@ async def test_aspirate_while_tracking_implementation( force_direct=False, minimum_z_height=None, speed=None, - operation_volume=-123, + operation_volume=None, ), ).then_return(Point(x=4, y=5, z=6)) @@ -300,7 +300,7 @@ async def test_aspirate_raises_volume_error( force_direct=False, minimum_z_height=None, speed=None, - operation_volume=-50, + operation_volume=None, ), ).then_return(Point(x=4, y=5, z=6)) @@ -404,7 +404,7 @@ async def test_overpressure_error( force_direct=False, minimum_z_height=None, speed=None, - operation_volume=-50, + operation_volume=None, ), ).then_return(Point(x=4, y=5, z=6)) diff --git a/api/tests/opentrons/protocol_engine/commands/test_get_next_tip.py b/api/tests/opentrons/protocol_engine/commands/test_get_next_tip.py index 4221cae864db..94457aeea394 100644 --- a/api/tests/opentrons/protocol_engine/commands/test_get_next_tip.py +++ b/api/tests/opentrons/protocol_engine/commands/test_get_next_tip.py @@ -25,8 +25,8 @@ async def test_get_next_tip_implementation( ) mock_nozzle_map = decoy.mock(cls=NozzleMap) - decoy.when(state_view.tips.get_pipette_active_channels("abc")).then_return(42) - decoy.when(state_view.tips.get_pipette_nozzle_map("abc")).then_return( + decoy.when(state_view.pipettes.get_active_channels("abc")).then_return(42) + decoy.when(state_view.pipettes.get_nozzle_configuration("abc")).then_return( mock_nozzle_map ) decoy.when(mock_nozzle_map.configuration).then_return(NozzleConfigurationType.FULL) @@ -60,8 +60,8 @@ async def test_get_next_tip_implementation_multiple_tip_racks( ) mock_nozzle_map = decoy.mock(cls=NozzleMap) - decoy.when(state_view.tips.get_pipette_active_channels("abc")).then_return(42) - decoy.when(state_view.tips.get_pipette_nozzle_map("abc")).then_return( + decoy.when(state_view.pipettes.get_active_channels("abc")).then_return(42) + decoy.when(state_view.pipettes.get_nozzle_configuration("abc")).then_return( mock_nozzle_map ) decoy.when(mock_nozzle_map.configuration).then_return(NozzleConfigurationType.FULL) @@ -95,8 +95,8 @@ async def test_get_next_tip_implementation_no_tips( ) mock_nozzle_map = decoy.mock(cls=NozzleMap) - decoy.when(state_view.tips.get_pipette_active_channels("abc")).then_return(42) - decoy.when(state_view.tips.get_pipette_nozzle_map("abc")).then_return( + decoy.when(state_view.pipettes.get_active_channels("abc")).then_return(42) + decoy.when(state_view.pipettes.get_nozzle_configuration("abc")).then_return( mock_nozzle_map ) decoy.when(mock_nozzle_map.configuration).then_return(NozzleConfigurationType.FULL) @@ -124,8 +124,8 @@ async def test_get_next_tip_implementation_partial_with_starting_tip( ) mock_nozzle_map = decoy.mock(cls=NozzleMap) - decoy.when(state_view.tips.get_pipette_active_channels("abc")).then_return(42) - decoy.when(state_view.tips.get_pipette_nozzle_map("abc")).then_return( + decoy.when(state_view.pipettes.get_active_channels("abc")).then_return(42) + decoy.when(state_view.pipettes.get_nozzle_configuration("abc")).then_return( mock_nozzle_map ) decoy.when(mock_nozzle_map.configuration).then_return(NozzleConfigurationType.ROW) diff --git a/api/tests/opentrons/protocol_engine/commands/test_load_liquid_class.py b/api/tests/opentrons/protocol_engine/commands/test_load_liquid_class.py index 54de10f3bc21..c89899853d56 100644 --- a/api/tests/opentrons/protocol_engine/commands/test_load_liquid_class.py +++ b/api/tests/opentrons/protocol_engine/commands/test_load_liquid_class.py @@ -153,7 +153,9 @@ async def test_load_liquid_class_conflicting_definition_for_id( ) new_liquid_class_record = liquid_class_record.model_copy(deep=True) - new_liquid_class_record.aspirate.offset.x += 123 # make it different + new_liquid_class_record.aspirate.aspiratePosition.offset.x += ( + 123 # make it different + ) params = LoadLiquidClassParams( liquidClassId="liquid-class-1", liquidClassRecord=new_liquid_class_record ) diff --git a/api/tests/opentrons/protocol_engine/commands/test_pick_up_tip.py b/api/tests/opentrons/protocol_engine/commands/test_pick_up_tip.py index 1c33e023069f..6b9952f83871 100644 --- a/api/tests/opentrons/protocol_engine/commands/test_pick_up_tip.py +++ b/api/tests/opentrons/protocol_engine/commands/test_pick_up_tip.py @@ -78,6 +78,15 @@ async def test_success( ) ).then_return(TipGeometry(length=42, diameter=5, volume=300)) + decoy.when(state_view.pipettes.get_nozzle_configuration("pipette-id")).then_return( + sentinel.nozzle_configuration + ) + decoy.when( + state_view.tips.compute_tips_to_mark_as_used( + "labware-id", "A3", sentinel.nozzle_configuration + ) + ).then_return(sentinel.tips_to_mark_as_used) + result = await subject.execute( PickUpTipParams( pipetteId="pipette-id", @@ -105,7 +114,7 @@ async def test_success( tip_geometry=TipGeometry(length=42, diameter=5, volume=300), ), tips_used=update_types.TipsUsedUpdate( - pipette_id="pipette-id", labware_id="labware-id", well_name="A3" + labware_id="labware-id", well_names=sentinel.tips_to_mark_as_used ), pipette_aspirated_fluid=update_types.PipetteEmptyFluidUpdate( pipette_id="pipette-id", clean_tip=True @@ -165,6 +174,15 @@ async def test_tip_physically_missing_error( decoy.when(model_utils.generate_id()).then_return(error_id) decoy.when(model_utils.get_timestamp()).then_return(error_created_at) + decoy.when(state_view.pipettes.get_nozzle_configuration(pipette_id)).then_return( + sentinel.nozzle_configuration + ) + decoy.when( + state_view.tips.compute_tips_to_mark_as_used( + labware_id, well_name, sentinel.nozzle_configuration + ) + ).then_return(sentinel.tips_to_mark_as_used) + result = await subject.execute( PickUpTipParams(pipetteId=pipette_id, labwareId=labware_id, wellName=well_name) ) @@ -182,7 +200,7 @@ async def test_tip_physically_missing_error( new_deck_point=DeckPoint(x=111, y=222, z=333), ), tips_used=update_types.TipsUsedUpdate( - pipette_id="pipette-id", labware_id="labware-id", well_name="well-name" + labware_id="labware-id", well_names=sentinel.tips_to_mark_as_used ), pipette_aspirated_fluid=update_types.PipetteUnknownFluidUpdate( pipette_id="pipette-id" @@ -196,7 +214,7 @@ async def test_tip_physically_missing_error( pipette_id="pipette-id", clean_tip=True ), tips_used=update_types.TipsUsedUpdate( - pipette_id="pipette-id", labware_id="labware-id", well_name="well-name" + labware_id="labware-id", well_names=sentinel.tips_to_mark_as_used ), pipette_location=update_types.PipetteLocationUpdate( pipette_id="pipette-id", diff --git a/api/tests/opentrons/protocol_engine/commands/test_touch_tip.py b/api/tests/opentrons/protocol_engine/commands/test_touch_tip.py index 5756810c9eee..9e2e0ac745a9 100644 --- a/api/tests/opentrons/protocol_engine/commands/test_touch_tip.py +++ b/api/tests/opentrons/protocol_engine/commands/test_touch_tip.py @@ -150,7 +150,7 @@ async def test_touch_tip_implementation( ) -async def test_touch_tip_implementation_with_mm_to_edge( +async def test_touch_tip_implementation_with_mm_from_edge( decoy: Decoy, mock_state_view: StateView, mock_movement_handler: MovementHandler, diff --git a/api/tests/opentrons/protocol_engine/commands/unsafe/test_unsafe_drop_tip_in_place.py b/api/tests/opentrons/protocol_engine/commands/unsafe/test_unsafe_drop_tip_in_place.py index 27f2964ab741..6c6a875b53f8 100644 --- a/api/tests/opentrons/protocol_engine/commands/unsafe/test_unsafe_drop_tip_in_place.py +++ b/api/tests/opentrons/protocol_engine/commands/unsafe/test_unsafe_drop_tip_in_place.py @@ -49,9 +49,9 @@ async def test_drop_tip_implementation( decoy.when(state_view.motion.get_pipette_location(pipette_id="abc")).then_return( PipetteLocationData(mount=MountType.LEFT, critical_point=None) ) - decoy.when( - state_view.tips.get_pipette_active_channels(params.pipetteId) - ).then_return(channels) + decoy.when(state_view.pipettes.get_active_channels(params.pipetteId)).then_return( + channels + ) result = await subject.execute(params) diff --git a/api/tests/opentrons/protocol_engine/execution/test_labware_movement_handler.py b/api/tests/opentrons/protocol_engine/execution/test_labware_movement_handler.py index ea400011b229..43e9dd1a1a8d 100644 --- a/api/tests/opentrons/protocol_engine/execution/test_labware_movement_handler.py +++ b/api/tests/opentrons/protocol_engine/execution/test_labware_movement_handler.py @@ -563,7 +563,7 @@ async def test_ensure_movement_obstructed_by_thermocycler_raises( state_store.labware.get_parent_location(labware_id="labware-id") ).then_return(from_loc) decoy.when( - await thermocycler_movement_flagger.raise_if_labware_in_non_open_thermocycler( + await thermocycler_movement_flagger.ensure_labware_in_open_thermocycler( labware_parent=ModuleLocation(moduleId="a-thermocycler-id") ) ).then_raise(ThermocyclerNotOpenError("Thou shall not pass!")) diff --git a/api/tests/opentrons/protocol_engine/execution/test_movement_handler.py b/api/tests/opentrons/protocol_engine/execution/test_movement_handler.py index 73b293fdbeff..f3521943438b 100644 --- a/api/tests/opentrons/protocol_engine/execution/test_movement_handler.py +++ b/api/tests/opentrons/protocol_engine/execution/test_movement_handler.py @@ -24,6 +24,7 @@ ) from opentrons.protocol_engine.state.motion import PipetteLocationData from opentrons.protocol_engine.execution.movement import MovementHandler +from opentrons.protocol_engine.execution.equipment import EquipmentHandler from opentrons.protocol_engine.execution.thermocycler_movement_flagger import ( ThermocyclerMovementFlagger, ) @@ -64,6 +65,12 @@ def mock_gantry_mover(decoy: Decoy) -> GantryMover: return decoy.mock(cls=GantryMover) +@pytest.fixture +def mock_equipment_handler(decoy: Decoy) -> EquipmentHandler: + """Get a mock in the shape of an EquipmentHandler.""" + return decoy.mock(cls=EquipmentHandler) + + @pytest.fixture def subject( state_store: StateStore, @@ -71,6 +78,7 @@ def subject( thermocycler_movement_flagger: ThermocyclerMovementFlagger, heater_shaker_movement_flagger: HeaterShakerMovementFlagger, mock_gantry_mover: GantryMover, + mock_equipment_handler: EquipmentHandler, ) -> MovementHandler: """Create a MovementHandler with its dependencies mocked out.""" return MovementHandler( @@ -79,6 +87,7 @@ def subject( thermocycler_movement_flagger=thermocycler_movement_flagger, heater_shaker_movement_flagger=heater_shaker_movement_flagger, gantry_mover=mock_gantry_mover, + equipment=mock_equipment_handler, ) @@ -106,7 +115,7 @@ async def test_move_to_well( DeckSlotName.SLOT_1 ) - decoy.when(state_store.tips.get_pipette_channels("pipette-id")).then_return(1) + decoy.when(state_store.pipettes.get_channels("pipette-id")).then_return(1) decoy.when(state_store.labware.is_tiprack("labware-id")).then_return(False) decoy.when( @@ -179,7 +188,7 @@ async def test_move_to_well( assert result == Point(x=4, y=5, z=6) decoy.verify( - await thermocycler_movement_flagger.raise_if_labware_in_non_open_thermocycler( + await thermocycler_movement_flagger.ensure_labware_in_open_thermocycler( labware_parent=DeckSlotLocation(slotName=DeckSlotName.SLOT_1) ), heater_shaker_movement_flagger.raise_if_movement_restricted( @@ -221,7 +230,7 @@ async def test_move_to_well_from_starting_location( DeckSlotName.SLOT_1 ) - decoy.when(state_store.tips.get_pipette_channels("pipette-id")).then_return(1) + decoy.when(state_store.pipettes.get_channels("pipette-id")).then_return(1) decoy.when(state_store.labware.is_tiprack("labware-id")).then_return(False) decoy.when( @@ -287,7 +296,7 @@ async def test_move_to_well_from_starting_location( assert result == Point(4, 5, 6) decoy.verify( - await thermocycler_movement_flagger.raise_if_labware_in_non_open_thermocycler( + await thermocycler_movement_flagger.ensure_labware_in_open_thermocycler( labware_parent=DeckSlotLocation(slotName=DeckSlotName.SLOT_1) ), heater_shaker_movement_flagger.raise_if_movement_restricted( @@ -322,7 +331,7 @@ async def test_move_to_addressable_area( state_store.addressable_areas.get_addressable_area_base_slot("area-name") ).then_return(DeckSlotName.SLOT_1) - decoy.when(state_store.tips.get_pipette_channels("pipette-id")).then_return(1) + decoy.when(state_store.pipettes.get_channels("pipette-id")).then_return(1) decoy.when( state_store.motion.get_pipette_location( diff --git a/api/tests/opentrons/protocol_engine/execution/test_pipetting_handler.py b/api/tests/opentrons/protocol_engine/execution/test_pipetting_handler.py index 8fd017ec194a..a98ad3ec238f 100644 --- a/api/tests/opentrons/protocol_engine/execution/test_pipetting_handler.py +++ b/api/tests/opentrons/protocol_engine/execution/test_pipetting_handler.py @@ -334,7 +334,7 @@ async def test_hw_aspirate_while_tracking( mock_state_view.geometry.get_liquid_handling_z_change( labware_id="labware-id", well_name="A1", - pipette_id="pipette_id", + pipette_id="pipette-id", operation_volume=-25.0, ) ).then_return(4.544) @@ -349,6 +349,11 @@ async def test_hw_aspirate_while_tracking( ) # make sure hw aspirate_while_tracking runs without error assert result == 25 + decoy.verify( + await mock_hardware_api.aspirate_while_tracking( + mount=Mount.LEFT, z_distance=4.544, flow_rate=2.5, volume=25 + ) + ) async def test_hw_aspirate_in_place( diff --git a/api/tests/opentrons/protocol_engine/execution/test_thermocycler_movement_flagger.py b/api/tests/opentrons/protocol_engine/execution/test_thermocycler_movement_flagger.py index 415ff038b09e..1051918d8b4f 100644 --- a/api/tests/opentrons/protocol_engine/execution/test_thermocycler_movement_flagger.py +++ b/api/tests/opentrons/protocol_engine/execution/test_thermocycler_movement_flagger.py @@ -28,6 +28,7 @@ from opentrons.protocol_engine.execution.thermocycler_movement_flagger import ( ThermocyclerMovementFlagger, ) +from opentrons.protocol_engine.execution.equipment import EquipmentHandler @pytest.fixture @@ -42,15 +43,21 @@ def state_store(decoy: Decoy) -> StateStore: return decoy.mock(cls=StateStore) +@pytest.fixture +def equipment_handler(decoy: Decoy) -> EquipmentHandler: + """Get a mock in the shape of an EquipmentHandler.""" + return decoy.mock(cls=EquipmentHandler) + + @pytest.fixture def subject( state_store: StateStore, hardware_api: HardwareAPI, + equipment_handler: EquipmentHandler, ) -> ThermocyclerMovementFlagger: """Return a movement flagger initialized with mocked-out dependencies.""" return ThermocyclerMovementFlagger( - state_store=state_store, - hardware_api=hardware_api, + state_store=state_store, hardware_api=hardware_api, equipment=equipment_handler ) @@ -72,7 +79,7 @@ async def test_raises_depending_on_thermocycler_substate_lid_status( ) with pytest.raises(ThermocyclerNotOpenError): - await subject.raise_if_labware_in_non_open_thermocycler( + await subject.ensure_labware_in_open_thermocycler( labware_parent=ModuleLocation(moduleId="module-id"), ) @@ -140,9 +147,11 @@ async def test_raises_depending_on_thermocycler_hardware_lid_status( decoy.when(thermocycler.device_info).then_return({"serial": "module-serial"}) decoy.when(thermocycler.lid_status).then_return(lid_status) decoy.when(hardware_api.attached_modules).then_return([thermocycler]) - + decoy.when( + subject._equipment.get_module_hardware_api(ThermocyclerModuleId("module-id")) + ).then_return(thermocycler) with expected_raise_cm: - await subject.raise_if_labware_in_non_open_thermocycler( + await subject.ensure_labware_in_open_thermocycler( labware_parent=ModuleLocation(moduleId="module-id"), ) @@ -172,7 +181,7 @@ async def test_raises_if_hardware_module_has_gone_missing( decoy.when(hardware_api.attached_modules).then_return([]) with pytest.raises(ThermocyclerNotOpenError): - await subject.raise_if_labware_in_non_open_thermocycler( + await subject.ensure_labware_in_open_thermocycler( labware_parent=ModuleLocation(moduleId="module-id"), ) @@ -194,7 +203,7 @@ async def test_passes_if_virtual_module_lid_open( ), ) decoy.when(state_store.config.use_virtual_modules).then_return(True) - await subject.raise_if_labware_in_non_open_thermocycler( + await subject.ensure_labware_in_open_thermocycler( labware_parent=ModuleLocation(moduleId="module-id") ) @@ -209,7 +218,7 @@ async def test_passes_if_labware_on_non_thermocycler_module( decoy.when( state_store.modules.get_thermocycler_module_substate(module_id="module-id") ).then_raise(WrongModuleTypeError("Woops")) - await subject.raise_if_labware_in_non_open_thermocycler( + await subject.ensure_labware_in_open_thermocycler( ModuleLocation(moduleId="module-id") ) @@ -221,6 +230,6 @@ async def test_passes_if_labware_not_on_any_module( decoy: Decoy, ) -> None: """It shouldn't raise if the labware isn't on a module.""" - await subject.raise_if_labware_in_non_open_thermocycler( + await subject.ensure_labware_in_open_thermocycler( DeckSlotLocation(slotName=DeckSlotName.SLOT_1) ) diff --git a/api/tests/opentrons/protocol_engine/resources/test_pipette_data_provider.py b/api/tests/opentrons/protocol_engine/resources/test_pipette_data_provider.py index b65d3eb0d8fb..c909953ddf14 100644 --- a/api/tests/opentrons/protocol_engine/resources/test_pipette_data_provider.py +++ b/api/tests/opentrons/protocol_engine/resources/test_pipette_data_provider.py @@ -110,7 +110,10 @@ def test_configure_virtual_pipette_for_volume( nozzle_map=result1.nozzle_map, back_left_corner_offset=Point(-8.0, -22.0, -259.15), front_right_corner_offset=Point(-8.0, -22.0, -259.15), - pipette_lld_settings={"t50": {"minHeight": 1.0, "minVolume": 0.0}}, + pipette_lld_settings={ + "t20": {"minHeight": 1.5, "minVolume": 0.0}, + "t50": {"minHeight": 1.0, "minVolume": 0.0}, + }, plunger_positions={ "top": 0.0, "bottom": 71.5, @@ -144,7 +147,10 @@ def test_configure_virtual_pipette_for_volume( nozzle_map=result2.nozzle_map, back_left_corner_offset=Point(-8.0, -22.0, -259.15), front_right_corner_offset=Point(-8.0, -22.0, -259.15), - pipette_lld_settings={"t50": {"minHeight": 1.0, "minVolume": 0.0}}, + pipette_lld_settings={ + "t20": {"minHeight": 1.5, "minVolume": 0.0}, + "t50": {"minHeight": 1.0, "minVolume": 0.0}, + }, plunger_positions={ "top": 0.0, "bottom": 61.5, diff --git a/api/tests/opentrons/protocol_engine/state/inner_geometry_test_params.py b/api/tests/opentrons/protocol_engine/state/inner_geometry_test_params.py index 0a60bf4206c1..4c414f195bfb 100644 --- a/api/tests/opentrons/protocol_engine/state/inner_geometry_test_params.py +++ b/api/tests/opentrons/protocol_engine/state/inner_geometry_test_params.py @@ -8,8 +8,8 @@ [ "opentrons_10_tuberack_nest_4x50ml_6x15ml_conical", "conicalWell15mL", - 16.7, - 15546.9, + 16.69, + 15546.930, 3.0, 5.0, ], @@ -17,116 +17,144 @@ "opentrons_10_tuberack_nest_4x50ml_6x15ml_conical", "conicalWell50mL", 111.2, - 56110.3, + 56110.279, 3.0, 5.0, ], - ["opentrons_24_tuberack_nest_2ml_screwcap", "conicalWell", 66.6, 2104.9, 3.0, 3.0], + [ + "opentrons_24_tuberack_nest_2ml_screwcap", + "conicalWell", + 64.4, + 2035.5, + 2.96, + 4.22, + ], [ "opentrons_24_tuberack_nest_1.5ml_screwcap", "conicalWell", - 19.5, - 1750.8, + 18.8, + 1693.0, + 2.94, + 4.02, + ], + ["nest_1_reservoir_290ml", "cuboidalWell", 16570.12, 271690.52, 3.0, 3.0], + [ + "opentrons_24_tuberack_nest_2ml_snapcap", + "conicalWell", + 67.323, + 2077.6, + 2.946, + 4.06, + ], + ["nest_96_wellplate_2ml_deep", "cuboidalWell", 114.396, 1992.407, 2.93, 4.03], + [ + "opentrons_24_tuberack_nest_1.5ml_snapcap", + "conicalWell", + 27.8, + 1682.29, 3.0, 3.0, ], - ["nest_1_reservoir_290ml", "cuboidalWell", 16570.380, 271690.520, 3.0, 3.0], - ["opentrons_24_tuberack_nest_2ml_snapcap", "conicalWell", 69.62, 2148.5, 3.0, 3.0], - ["nest_96_wellplate_2ml_deep", "cuboidalWell", 118.3, 2060.4, 3.0, 3.0], - ["opentrons_24_tuberack_nest_1.5ml_snapcap", "conicalWell", 27.8, 1682.3, 3.0, 3.0], - ["nest_12_reservoir_15ml", "cuboidalWell", 1219.0, 13236.1, 3.0, 3.0], - ["nest_1_reservoir_195ml", "cuboidalWell", 14034.2, 172301.9, 3.0, 3.0], + ["nest_12_reservoir_15ml", "cuboidalWell", 1178.77, 13236.1, 2.93, 3.0], + ["nest_1_reservoir_195ml", "cuboidalWell", 14034.19, 172301.86, 3.0, 3.0], [ "opentrons_24_tuberack_nest_0.5ml_screwcap", "conicalWell", - 21.95, - 795.4, - 3.0, - 3.0, + 21.226, + 769.19, + 3.15, + 3.35, ], [ "opentrons_96_wellplate_200ul_pcr_full_skirt", "conicalWell", - 14.3, - 150.2, - 3.0, - 3.0, + 13.8, + 145.2, + 2.93, + 3.21, ], - ["nest_96_wellplate_100ul_pcr_full_skirt", "conicalWell", 15.5, 150.8, 3.0, 3.0], - ["nest_96_wellplate_200ul_flat", "conicalWell", 96.3, 259.8, 3.0, 3.0], + ["nest_96_wellplate_100ul_pcr_full_skirt", "conicalWell", 14.99, 145.79, 2.93, 3.2], + ["nest_96_wellplate_200ul_flat", "conicalWell", 93.1, 251.2, 2.9, 3.24], [ "opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical", "50mlconicalWell", - 163.9, - 57720.5, + 163.860, + 57720.510, 3.0, 3.0, ], [ "opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical", "15mlconicalWell", - 40.8, + 40.830, 15956.6, 3.0, 3.0, ], - ["usascientific_12_reservoir_22ml", "cuboidalWell", 529.36, 21111.5, 3.0, 3.0], - ["thermoscientificnunc_96_wellplate_2000ul", "conicalWell", 73.5, 1768.0, 3.0, 3.0], + ["usascientific_12_reservoir_22ml", "cuboidalWell", 66.17 * 8, 19797.38, 3.0, 6.0], [ - "usascientific_96_wellplate_2.4ml_deep", - "cuboidalWell", - 72.220, - 2241.360, - 3.0, + "thermoscientificnunc_96_wellplate_2000ul", + "conicalWell", + 71.1, + 1768.02, + 2.94, 3.0, ], - ["agilent_1_reservoir_290ml", "cuboidalWell", 15652.9, 268813.8, 3.0, 3.0], + ["usascientific_96_wellplate_2.4ml_deep", "cuboidalWell", 72.22, 2241.36, 3.0, 3.0], + ["agilent_1_reservoir_290ml", "cuboidalWell", 15652.89, 268813.81, 3.0, 3.0], [ "opentrons_24_tuberack_eppendorf_1.5ml_safelock_snapcap", "conicalWell", - 25.8, - 1576.1, + 25.75, + 1576.14, 3.0, 3.0, ], - ["thermoscientificnunc_96_wellplate_1300ul", "conicalWell", 73.5, 1155.1, 3.0, 3.0], - ["corning_12_wellplate_6.9ml_flat", "conicalWell", 1156.3, 5654.8, 3.0, 3.0], - ["corning_24_wellplate_3.4ml_flat", "conicalWell", 579.0, 2853.4, 3.0, 3.0], - ["corning_6_wellplate_16.8ml_flat", "conicalWell", 2862.1, 13901.9, 3.0, 3.0], - ["corning_48_wellplate_1.6ml_flat", "conicalWell", 268.9, 1327.0, 3.0, 3.0], - ["biorad_96_wellplate_200ul_pcr", "conicalWell", 17.9, 161.2, 3.0, 3.0], - ["axygen_1_reservoir_90ml", "cuboidalWell", 22373.4, 70450.6, 3.0, 3.0], - ["corning_384_wellplate_112ul_flat", "flatWell", 22.4, 77.4, 2.88, 3.0], - ["corning_96_wellplate_360ul_flat", "conicalWell", 97.2, 257.1, 3.0, 3.0], - ["biorad_384_wellplate_50ul", "conicalWell", 7.7, 27.8, 3.0, 3.0], + [ + "thermoscientificnunc_96_wellplate_1300ul", + "conicalWell", + 71.1, + 1117.0, + 2.94, + 3.71, + ], + ["corning_12_wellplate_6.9ml_flat", "conicalWell", 1118.1, 5468.2, 2.9, 3.46], + ["corning_24_wellplate_3.4ml_flat", "conicalWell", 559.9, 2759.3, 2.9, 3.46], + ["corning_6_wellplate_16.8ml_flat", "conicalWell", 2767.7, 13443.1, 2.9, 3.47], + ["corning_48_wellplate_1.6ml_flat", "conicalWell", 260.0, 1283.2, 2.9, 3.46], + ["biorad_96_wellplate_200ul_pcr", "conicalWell", 17.3, 155.9, 2.93, 3.23], + ["axygen_1_reservoir_90ml", "cuboidalWell", 14909.08, 72854.8, 2.0, 2.68], + ["corning_384_wellplate_112ul_flat", "flatWell", 22.43, 77.39, 2.88, 3.0], + ["corning_96_wellplate_360ul_flat", "conicalWell", 94.0, 248.6, 2.9, 3.24], + ["biorad_384_wellplate_50ul", "conicalWell", 7.7, 27.76, 3.0, 3.0], [ "appliedbiosystemsmicroamp_384_wellplate_40ul", "conicalWell", - 7.44, - 26.19, - 3.0, - 3.0, + 7.2, + 25.3, + 2.94, + 3.11, ], [ "opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap", "conicalWell", - 60.940, - 2163.980, + 60.94, + 2163.98, 3.0, 3.0, ], [ "opentrons_10_tuberack_nest_4x50ml_6x15ml_conical", "conicalWell15mL", - 16.690, - 15546.930, + 16.69, + 15546.93, 3.0, 5.0, ], [ "opentrons_10_tuberack_nest_4x50ml_6x15ml_conical", "conicalWell50mL", - 111.200, + 111.2, 56110.279, 3.0, 5.0, @@ -134,16 +162,16 @@ [ "opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical", "15mlconicalWell", - 40.830, - 15956.600, + 40.83, + 15956.6, 3.0, 3.0, ], [ "opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical", "50mlconicalWell", - 163.860, - 57720.510, + 163.86, + 57720.51, 3.0, 3.0, ], diff --git a/api/tests/opentrons/protocol_engine/state/test_command_view_old.py b/api/tests/opentrons/protocol_engine/state/test_command_view_old.py index de242d83f51f..6b0c5e3ee697 100644 --- a/api/tests/opentrons/protocol_engine/state/test_command_view_old.py +++ b/api/tests/opentrons/protocol_engine/state/test_command_view_old.py @@ -1000,8 +1000,8 @@ def test_get_slice_default_cursor_failed_command() -> None: result = subject.get_slice(cursor=None, length=3, include_fixit_commands=True) assert result == CommandSlice( - commands=[command_3, command_4], - cursor=2, + commands=[command_2, command_3, command_4], + cursor=1, total_length=4, ) @@ -1022,14 +1022,14 @@ def test_get_slice_default_cursor_running() -> None: result = subject.get_slice(cursor=None, length=2, include_fixit_commands=True) assert result == CommandSlice( - commands=[command_3, command_4], - cursor=2, + commands=[command_2, command_3], + cursor=1, total_length=5, ) def test_get_slice_without_fixit() -> None: - """It should select a cursor based on the running command, if present.""" + """It should filter out fixit commands when requested.""" command_1 = create_succeeded_command(command_id="command-id-1") command_2 = create_succeeded_command(command_id="command-id-2") command_3 = create_running_command(command_id="command-id-3") @@ -1071,3 +1071,44 @@ def test_get_slice_without_fixit() -> None: cursor=0, total_length=5, ) + + +def test_get_slice_large_length() -> None: + """It should handle cases where length is larger than available commands.""" + command_1 = create_succeeded_command(command_id="command-id-1") + command_2 = create_succeeded_command(command_id="command-id-2") + command_3 = create_running_command(command_id="command-id-3") + + subject = get_command_view( + commands=[command_1, command_2, command_3], + running_command_id="command-id-3", + ) + + result = subject.get_slice(cursor=None, length=10, include_fixit_commands=True) + + assert result == CommandSlice( + commands=[command_1, command_2, command_3], + cursor=0, + total_length=3, + ) + + +def test_get_slice_explicit_cursor_with_length() -> None: + """It should use the cursor as the start position when explicitly provided.""" + command_1 = create_succeeded_command(command_id="command-id-1") + command_2 = create_succeeded_command(command_id="command-id-2") + command_3 = create_succeeded_command(command_id="command-id-3") + command_4 = create_succeeded_command(command_id="command-id-4") + command_5 = create_succeeded_command(command_id="command-id-5") + + subject = get_command_view( + commands=[command_1, command_2, command_3, command_4, command_5], + ) + + result = subject.get_slice(cursor=1, length=3, include_fixit_commands=True) + + assert result == CommandSlice( + commands=[command_2, command_3, command_4], + cursor=1, + total_length=5, + ) diff --git a/api/tests/opentrons/protocol_engine/state/test_geometry_view.py b/api/tests/opentrons/protocol_engine/state/test_geometry_view.py index a775845dd49f..f1225da9d0de 100644 --- a/api/tests/opentrons/protocol_engine/state/test_geometry_view.py +++ b/api/tests/opentrons/protocol_engine/state/test_geometry_view.py @@ -1395,10 +1395,12 @@ def test_get_well_position( result = subject.get_well_position("labware-id", "B2") - assert result == Point( - x=slot_pos[0] + 1 + well_def.x, - y=slot_pos[1] - 2 + well_def.y, - z=slot_pos[2] + 3 + well_def.z + well_def.depth, + assert result.elementwise_isclose( + Point( + x=slot_pos[0] + 1 + well_def.x, + y=slot_pos[1] - 2 + well_def.y, + z=slot_pos[2] + 3 + well_def.z + well_def.depth, + ) ) @@ -1522,10 +1524,12 @@ def test_get_module_labware_well_position( ).then_return(OverlapOffset(x=0, y=0, z=0)) result = subject.get_well_position("labware-id", "B2") - assert result == Point( - x=slot_pos[0] + 1 + well_def.x + 4, - y=slot_pos[1] - 2 + well_def.y + 5, - z=slot_pos[2] + 3 + well_def.z + well_def.depth + 6, + assert result.elementwise_isclose( + Point( + x=slot_pos[0] + 1 + well_def.x + 4, + y=slot_pos[1] - 2 + well_def.y + 5, + z=slot_pos[2] + 3 + well_def.z + well_def.depth + 6, + ) ) @@ -1571,10 +1575,12 @@ def test_get_well_position_with_top_offset( ), ) - assert result == Point( - x=slot_pos[0] + 1 + well_def.x + 1, - y=slot_pos[1] - 2 + well_def.y + 2, - z=slot_pos[2] + 3 + well_def.z + well_def.depth + 3, + assert result.elementwise_isclose( + Point( + x=slot_pos[0] + 1 + well_def.x + 1, + y=slot_pos[1] - 2 + well_def.y + 2, + z=slot_pos[2] + 3 + well_def.z + well_def.depth + 3, + ) ) @@ -3835,7 +3841,7 @@ def _find_volume_from_height_(index: int) -> None: segment=segment, ) - assert isclose(found_height, frustum["height"][index]) + assert isclose(found_height, frustum["height"][index], abs_tol=0.001) for i in range(len(frustum["height"])): _find_volume_from_height_(i) diff --git a/api/tests/opentrons/protocol_engine/state/test_pipette_state.py b/api/tests/opentrons/protocol_engine/state/test_pipette_state.py new file mode 100644 index 000000000000..eb27e2a2f535 --- /dev/null +++ b/api/tests/opentrons/protocol_engine/state/test_pipette_state.py @@ -0,0 +1,226 @@ +"""Tests for the PipetteStore+PipetteState+PipetteView trifecta. + +The trifecta is tested here as a single unit, treating PipetteState as a private +implementation detail. +""" + +from collections import OrderedDict + +import pytest + +from opentrons_shared_data.pipette import pipette_definition + +from opentrons.hardware_control.nozzle_manager import NozzleMap +from opentrons.protocol_engine import actions, commands +from opentrons.protocol_engine.resources.pipette_data_provider import ( + LoadedStaticPipetteData, +) +from opentrons.protocol_engine.state import update_types +from opentrons.protocol_engine.state.pipettes import PipetteStore, PipetteView +from opentrons.protocol_engine.types import FlowRates +from opentrons.types import Point + +from ..pipette_fixtures import ( + EIGHT_CHANNEL_COLS, + EIGHT_CHANNEL_MAP, + EIGHT_CHANNEL_ROWS, + NINETY_SIX_COLS, + NINETY_SIX_MAP, + NINETY_SIX_ROWS, +) + + +def _dummy_command() -> commands.Command: + """Return a placeholder command.""" + return commands.Comment.model_construct() # type: ignore[call-arg] + + +def test_handle_pipette_config_action( + supported_tip_fixture: pipette_definition.SupportedTipsDefinition, +) -> None: + """Should add pipette channel to state.""" + subject = PipetteStore() + + config_update = update_types.PipetteConfigUpdate( + pipette_id="pipette-id", + serial_number="pipette-serial", + config=LoadedStaticPipetteData( + channels=8, + max_volume=15, + min_volume=3, + model="gen a", + display_name="display name", + flow_rates=FlowRates( + default_aspirate={}, + default_dispense={}, + default_blow_out={}, + ), + tip_configuration_lookup_table={15: supported_tip_fixture}, + nominal_tip_overlap={}, + nozzle_offset_z=1.23, + home_position=4.56, + 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", + valid_nozzle_maps=pipette_definition.ValidNozzleMaps( + maps={"Full": EIGHT_CHANNEL_COLS["1"]} + ), + ), + back_left_corner_offset=Point(x=1, y=2, z=3), + front_right_corner_offset=Point(x=4, y=5, z=6), + pipette_lld_settings={}, + plunger_positions={ + "top": 0.0, + "bottom": 5.0, + "blow_out": 19.0, + "drop_tip": 20.0, + }, + shaft_ul_per_mm=5.0, + available_sensors=pipette_definition.AvailableSensorDefinition( + sensors=["pressure", "capacitive", "environment"] + ), + ), + ) + subject.handle_action( + actions.SucceedCommandAction( + state_update=update_types.StateUpdate(pipette_config=config_update), + command=_dummy_command(), + ) + ) + + assert PipetteView(subject.state).get_channels("pipette-id") == 8 + assert PipetteView(subject.state).get_active_channels("pipette-id") == 8 + + +@pytest.mark.parametrize( + argnames=["nozzle_map", "expected_channels"], + argvalues=[ + ( + NozzleMap.build( + physical_nozzles=OrderedDict({"A1": Point(0, 0, 0)}), + physical_rows=OrderedDict({"A": ["A1"]}), + physical_columns=OrderedDict({"1": ["A1"]}), + starting_nozzle="A1", + back_left_nozzle="A1", + front_right_nozzle="A1", + valid_nozzle_maps=pipette_definition.ValidNozzleMaps( + maps={"A1": ["A1"]} + ), + ), + 1, + ), + ( + 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", + valid_nozzle_maps=pipette_definition.ValidNozzleMaps( + maps={ + "Full": sum( + [ + NINETY_SIX_ROWS["A"], + NINETY_SIX_ROWS["B"], + NINETY_SIX_ROWS["C"], + NINETY_SIX_ROWS["D"], + NINETY_SIX_ROWS["E"], + NINETY_SIX_ROWS["F"], + NINETY_SIX_ROWS["G"], + NINETY_SIX_ROWS["H"], + ], + [], + ) + } + ), + ), + 96, + ), + ( + 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="E1", + valid_nozzle_maps=pipette_definition.ValidNozzleMaps( + maps={"A1_E1": ["A1", "B1", "C1", "D1", "E1"]} + ), + ), + 5, + ), + ], +) +def test_active_channels( + supported_tip_fixture: pipette_definition.SupportedTipsDefinition, + nozzle_map: NozzleMap, + expected_channels: int, +) -> None: + """Should update active channels after pipette configuration change.""" + subject = PipetteStore() + + # Load pipette to update state + config_update = update_types.PipetteConfigUpdate( + pipette_id="pipette-id", + serial_number="pipette-serial", + config=LoadedStaticPipetteData( + channels=9, + max_volume=15, + min_volume=3, + model="gen a", + display_name="display name", + flow_rates=FlowRates( + default_aspirate={}, + default_dispense={}, + default_blow_out={}, + ), + tip_configuration_lookup_table={15: supported_tip_fixture}, + nominal_tip_overlap={}, + nozzle_offset_z=1.23, + home_position=4.56, + nozzle_map=nozzle_map, + back_left_corner_offset=Point(x=1, y=2, z=3), + front_right_corner_offset=Point(x=4, y=5, z=6), + pipette_lld_settings={}, + plunger_positions={ + "top": 0.0, + "bottom": 5.0, + "blow_out": 19.0, + "drop_tip": 20.0, + }, + shaft_ul_per_mm=5.0, + available_sensors=pipette_definition.AvailableSensorDefinition( + sensors=["pressure", "capacitive", "environment"] + ), + ), + ) + subject.handle_action( + actions.SucceedCommandAction( + state_update=update_types.StateUpdate(pipette_config=config_update), + command=_dummy_command(), + ) + ) + + # Configure nozzle for partial configuration + state_update = update_types.StateUpdate( + pipette_nozzle_map=update_types.PipetteNozzleMapUpdate( + pipette_id="pipette-id", + nozzle_map=nozzle_map, + ) + ) + subject.handle_action( + actions.SucceedCommandAction( + command=_dummy_command(), + state_update=state_update, + ) + ) + assert ( + PipetteView(subject.state).get_active_channels("pipette-id") + == expected_channels + ) diff --git a/api/tests/opentrons/protocol_engine/state/test_pipette_view_old.py b/api/tests/opentrons/protocol_engine/state/test_pipette_view_old.py index c9e180c35353..6036c6309caf 100644 --- a/api/tests/opentrons/protocol_engine/state/test_pipette_view_old.py +++ b/api/tests/opentrons/protocol_engine/state/test_pipette_view_old.py @@ -660,6 +660,8 @@ def test_nozzle_configuration_getters() -> None: valid_nozzle_maps=ValidNozzleMaps(maps={"A1": ["A1"]}), ) subject = get_pipette_view(nozzle_layout_by_id={"pipette-id": nozzle_map}) + assert subject.get_nozzle_configuration("pipette-id") == nozzle_map + assert subject.get_nozzle_configurations() == {"pipette-id": nozzle_map} 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" diff --git a/api/tests/opentrons/protocol_engine/state/test_tip_state.py b/api/tests/opentrons/protocol_engine/state/test_tip_state.py index 6fcf00db1f55..e469ac6d135e 100644 --- a/api/tests/opentrons/protocol_engine/state/test_tip_state.py +++ b/api/tests/opentrons/protocol_engine/state/test_tip_state.py @@ -1,7 +1,5 @@ """Tests for tip state store and selectors.""" -from collections import OrderedDict - import pytest from typing import Optional @@ -11,22 +9,17 @@ LabwareDefinition2, Parameters2 as LabwareDefinition2Parameters, ) -from opentrons_shared_data.pipette import pipette_definition from opentrons_shared_data.pipette.pipette_definition import ValidNozzleMaps from opentrons.hardware_control.nozzle_manager import NozzleMap from opentrons.protocol_engine import actions, commands from opentrons.protocol_engine.state import update_types -from opentrons.protocol_engine.state.tips import TipStore, TipView, TipRackWellState +from opentrons.protocol_engine.state.tips import TipStore, TipView from opentrons.protocol_engine.types import ( DeckSlotLocation, - FlowRates, OFF_DECK_LOCATION, ) -from opentrons.protocol_engine.resources.pipette_data_provider import ( - LoadedStaticPipetteData, -) -from opentrons.types import DeckSlotName, Point +from opentrons.types import DeckSlotName from opentrons_shared_data.pipette.types import PipetteNameType from opentrons_shared_data.pipette.pipette_definition import ( AvailableSensorDefinition, @@ -106,49 +99,9 @@ def _dummy_command() -> commands.Command: def test_get_next_tip_returns_none( load_labware_action: actions.SucceedCommandAction, subject: TipStore, - supported_tip_fixture: pipette_definition.SupportedTipsDefinition, - available_sensors: AvailableSensorDefinition, ) -> None: """It should start at the first tip in the labware.""" subject.handle_action(load_labware_action) - config_update = update_types.PipetteConfigUpdate( - pipette_id="pipette-id", - serial_number="pipette-serial", - config=LoadedStaticPipetteData( - channels=96, - max_volume=15, - min_volume=3, - model="gen a", - display_name="display name", - flow_rates=FlowRates( - default_aspirate={}, - default_dispense={}, - default_blow_out={}, - ), - tip_configuration_lookup_table={15: supported_tip_fixture}, - nominal_tip_overlap={}, - nozzle_offset_z=1.23, - home_position=4.56, - nozzle_map=get_default_nozzle_map(PipetteNameType.P1000_96), - back_left_corner_offset=Point(0, 0, 0), - front_right_corner_offset=Point(0, 0, 0), - pipette_lld_settings={}, - plunger_positions={ - "top": 0.0, - "bottom": 5.0, - "blow_out": 19.0, - "drop_tip": 20.0, - }, - shaft_ul_per_mm=5.0, - available_sensors=available_sensors, - ), - ) - subject.handle_action( - actions.SucceedCommandAction( - state_update=update_types.StateUpdate(pipette_config=config_update), - command=_dummy_command(), - ) - ) result = TipView(subject.state).get_next_tip( labware_id="cool-labware", @@ -165,58 +118,10 @@ def test_get_next_tip_returns_first_tip( load_labware_action: actions.SucceedCommandAction, subject: TipStore, input_tip_amount: int, - supported_tip_fixture: pipette_definition.SupportedTipsDefinition, - available_sensors: AvailableSensorDefinition, ) -> None: """It should start at the first tip in the labware.""" subject.handle_action(load_labware_action) - pipette_name_type = PipetteNameType.P1000_96 - if input_tip_amount == 1: - pipette_name_type = PipetteNameType.P300_SINGLE_GEN2 - elif input_tip_amount == 8: - pipette_name_type = PipetteNameType.P300_MULTI_GEN2 - else: - pipette_name_type = PipetteNameType.P1000_96 - config_update = update_types.PipetteConfigUpdate( - pipette_id="pipette-id", - serial_number="pipette-serial", - config=LoadedStaticPipetteData( - channels=input_tip_amount, - max_volume=15, - min_volume=3, - model="gen a", - display_name="display name", - flow_rates=FlowRates( - default_aspirate={}, - default_dispense={}, - default_blow_out={}, - ), - tip_configuration_lookup_table={15: supported_tip_fixture}, - nominal_tip_overlap={}, - nozzle_offset_z=1.23, - home_position=4.56, - nozzle_map=get_default_nozzle_map(pipette_name_type), - back_left_corner_offset=Point(0, 0, 0), - front_right_corner_offset=Point(0, 0, 0), - pipette_lld_settings={}, - plunger_positions={ - "top": 0.0, - "bottom": 5.0, - "blow_out": 19.0, - "drop_tip": 20.0, - }, - shaft_ul_per_mm=5.0, - available_sensors=available_sensors, - ), - ) - subject.handle_action( - actions.SucceedCommandAction( - state_update=update_types.StateUpdate(pipette_config=config_update), - command=_dummy_command(), - ) - ) - result = TipView(subject.state).get_next_tip( labware_id="cool-labware", num_tips=input_tip_amount, @@ -233,51 +138,10 @@ def test_get_next_tip_used_starting_tip( subject: TipStore, input_tip_amount: int, result_well_name: str, - supported_tip_fixture: pipette_definition.SupportedTipsDefinition, - available_sensors: AvailableSensorDefinition, ) -> None: """It should start searching at the given starting tip.""" subject.handle_action(load_labware_action) - config_update = update_types.PipetteConfigUpdate( - pipette_id="pipette-id", - serial_number="pipette-serial", - config=LoadedStaticPipetteData( - channels=input_tip_amount, - max_volume=15, - min_volume=3, - model="gen a", - display_name="display name", - flow_rates=FlowRates( - default_aspirate={}, - default_dispense={}, - default_blow_out={}, - ), - tip_configuration_lookup_table={15: supported_tip_fixture}, - nominal_tip_overlap={}, - nozzle_offset_z=1.23, - home_position=4.56, - nozzle_map=get_default_nozzle_map(PipetteNameType.P300_SINGLE_GEN2), - back_left_corner_offset=Point(0, 0, 0), - front_right_corner_offset=Point(0, 0, 0), - pipette_lld_settings={}, - plunger_positions={ - "top": 0.0, - "bottom": 5.0, - "blow_out": 19.0, - "drop_tip": 20.0, - }, - shaft_ul_per_mm=5.0, - available_sensors=available_sensors, - ), - ) - subject.handle_action( - actions.SucceedCommandAction( - state_update=update_types.StateUpdate(pipette_config=config_update), - command=_dummy_command(), - ) - ) - result = TipView(subject.state).get_next_tip( labware_id="cool-labware", num_tips=input_tip_amount, @@ -309,13 +173,10 @@ def test_get_next_tip_skips_picked_up_tip( get_next_tip_tips: int, input_starting_tip: Optional[str], result_well_name: Optional[str], - supported_tip_fixture: pipette_definition.SupportedTipsDefinition, - available_sensors: AvailableSensorDefinition, ) -> None: """It should get the next tip in the column if one has been picked up.""" subject.handle_action(load_labware_action) - channels_num = input_tip_amount if input_starting_tip is not None: pipette_name_type = PipetteNameType.P1000_96 if input_tip_amount == 1: @@ -325,7 +186,6 @@ def test_get_next_tip_skips_picked_up_tip( else: pipette_name_type = PipetteNameType.P1000_96 else: - channels_num = get_next_tip_tips pipette_name_type = PipetteNameType.P1000_96 if get_next_tip_tips == 1: pipette_name_type = PipetteNameType.P300_SINGLE_GEN2 @@ -333,50 +193,15 @@ def test_get_next_tip_skips_picked_up_tip( pipette_name_type = PipetteNameType.P300_MULTI_GEN2 else: pipette_name_type = PipetteNameType.P1000_96 - config_update = update_types.PipetteConfigUpdate( - pipette_id="pipette-id", - serial_number="pipette-serial", - config=LoadedStaticPipetteData( - channels=channels_num, - max_volume=15, - min_volume=3, - model="gen a", - display_name="display name", - flow_rates=FlowRates( - default_aspirate={}, - default_dispense={}, - default_blow_out={}, - ), - tip_configuration_lookup_table={15: supported_tip_fixture}, - nominal_tip_overlap={}, - nozzle_offset_z=1.23, - home_position=4.56, - nozzle_map=get_default_nozzle_map(pipette_name_type), - back_left_corner_offset=Point(0, 0, 0), - front_right_corner_offset=Point(0, 0, 0), - pipette_lld_settings={}, - plunger_positions={ - "top": 0.0, - "bottom": 5.0, - "blow_out": 19.0, - "drop_tip": 20.0, - }, - shaft_ul_per_mm=5.0, - available_sensors=available_sensors, - ), - ) - subject.handle_action( - actions.SucceedCommandAction( - state_update=update_types.StateUpdate(pipette_config=config_update), - command=_dummy_command(), - ) - ) + + nozzle_map = get_default_nozzle_map(pipette_name_type) pick_up_tip_state_update = update_types.StateUpdate( tips_used=update_types.TipsUsedUpdate( - pipette_id="pipette-id", labware_id="cool-labware", - well_name="A1", + well_names=TipView(subject.state).compute_tips_to_mark_as_used( + labware_id="cool-labware", well_name="A1", nozzle_map=nozzle_map + ), ) ) subject.handle_action( @@ -390,7 +215,7 @@ def test_get_next_tip_skips_picked_up_tip( labware_id="cool-labware", num_tips=get_next_tip_tips, starting_tip_name=input_starting_tip, - nozzle_map=config_update.config.nozzle_map, + nozzle_map=nozzle_map, ) assert result == result_well_name @@ -399,61 +224,27 @@ def test_get_next_tip_skips_picked_up_tip( def test_get_next_tip_with_starting_tip( subject: TipStore, load_labware_action: actions.SucceedCommandAction, - supported_tip_fixture: pipette_definition.SupportedTipsDefinition, - available_sensors: AvailableSensorDefinition, ) -> None: """It should return the starting tip, and then the following tip after that.""" + nozzle_map = get_default_nozzle_map(PipetteNameType.P300_SINGLE_GEN2) + subject.handle_action(load_labware_action) - config_update = update_types.PipetteConfigUpdate( - pipette_id="pipette-id", - serial_number="pipette-serial", - config=LoadedStaticPipetteData( - channels=1, - max_volume=15, - min_volume=3, - model="gen a", - display_name="display name", - flow_rates=FlowRates( - default_aspirate={}, - default_dispense={}, - default_blow_out={}, - ), - tip_configuration_lookup_table={15: supported_tip_fixture}, - nominal_tip_overlap={}, - nozzle_offset_z=1.23, - home_position=4.56, - nozzle_map=get_default_nozzle_map(PipetteNameType.P300_SINGLE_GEN2), - back_left_corner_offset=Point(x=1, y=2, z=3), - front_right_corner_offset=Point(x=4, y=5, z=6), - pipette_lld_settings={}, - plunger_positions={ - "top": 0.0, - "bottom": 5.0, - "blow_out": 19.0, - "drop_tip": 20.0, - }, - shaft_ul_per_mm=5.0, - available_sensors=available_sensors, - ), - ) - subject.handle_action( - actions.SucceedCommandAction( - state_update=update_types.StateUpdate(pipette_config=config_update), - command=_dummy_command(), - ) - ) result = TipView(subject.state).get_next_tip( labware_id="cool-labware", num_tips=1, starting_tip_name="B2", - nozzle_map=config_update.config.nozzle_map, + nozzle_map=nozzle_map, ) - assert result == "B2" pick_up_tip_state_update = update_types.StateUpdate( - tips_used=update_types.TipsUsedUpdate("pipette-id", "cool-labware", "B2") + tips_used=update_types.TipsUsedUpdate( + labware_id="cool-labware", + well_names=TipView(subject.state).compute_tips_to_mark_as_used( + labware_id="cool-labware", well_name="B2", nozzle_map=nozzle_map + ), + ) ) subject.handle_action( actions.SucceedCommandAction( @@ -466,59 +257,19 @@ def test_get_next_tip_with_starting_tip( labware_id="cool-labware", num_tips=1, starting_tip_name="B2", - nozzle_map=config_update.config.nozzle_map, + nozzle_map=nozzle_map, ) - assert result == "C2" def test_get_next_tip_with_starting_tip_8_channel( subject: TipStore, load_labware_action: actions.SucceedCommandAction, - supported_tip_fixture: pipette_definition.SupportedTipsDefinition, - available_sensors: AvailableSensorDefinition, ) -> None: """It should return the starting tip, and then the following tip after that.""" - subject.handle_action(load_labware_action) + nozzle_map = get_default_nozzle_map(PipetteNameType.P300_MULTI_GEN2) - config_update = update_types.PipetteConfigUpdate( - pipette_id="pipette-id", - serial_number="pipette-serial", - config=LoadedStaticPipetteData( - channels=8, - max_volume=15, - min_volume=3, - model="gen a", - display_name="display name", - flow_rates=FlowRates( - default_aspirate={}, - default_dispense={}, - default_blow_out={}, - ), - tip_configuration_lookup_table={15: supported_tip_fixture}, - nominal_tip_overlap={}, - nozzle_offset_z=1.23, - home_position=4.56, - nozzle_map=get_default_nozzle_map(PipetteNameType.P300_MULTI_GEN2), - back_left_corner_offset=Point(0, 0, 0), - front_right_corner_offset=Point(0, 0, 0), - pipette_lld_settings={}, - plunger_positions={ - "top": 0.0, - "bottom": 5.0, - "blow_out": 19.0, - "drop_tip": 20.0, - }, - shaft_ul_per_mm=5.0, - available_sensors=available_sensors, - ), - ) - subject.handle_action( - actions.SucceedCommandAction( - state_update=update_types.StateUpdate(pipette_config=config_update), - command=_dummy_command(), - ) - ) + subject.handle_action(load_labware_action) result = TipView(subject.state).get_next_tip( labware_id="cool-labware", @@ -526,12 +277,14 @@ def test_get_next_tip_with_starting_tip_8_channel( starting_tip_name="A2", nozzle_map=None, ) - assert result == "A2" pick_up_tip_state_update = update_types.StateUpdate( tips_used=update_types.TipsUsedUpdate( - pipette_id="pipette-id", labware_id="cool-labware", well_name="A2" + labware_id="cool-labware", + well_names=TipView(subject.state).compute_tips_to_mark_as_used( + labware_id="cool-labware", well_name="A2", nozzle_map=nozzle_map + ), ) ) subject.handle_action( @@ -554,107 +307,35 @@ def test_get_next_tip_with_starting_tip_8_channel( def test_get_next_tip_with_1_channel_followed_by_8_channel( subject: TipStore, load_labware_action: actions.SucceedCommandAction, - supported_tip_fixture: pipette_definition.SupportedTipsDefinition, - available_sensors: AvailableSensorDefinition, ) -> None: """It should return the first tip of column 2 for the 8 channel after performing a single tip pickup on column 1.""" - subject.handle_action(load_labware_action) + nozzle_map_1_channel = get_default_nozzle_map(PipetteNameType.P300_SINGLE_GEN2) + nozzle_map_8_channel = get_default_nozzle_map(PipetteNameType.P300_MULTI_GEN2) - config_update = update_types.PipetteConfigUpdate( - pipette_id="pipette-id", - serial_number="pipette-serial", - config=LoadedStaticPipetteData( - channels=1, - max_volume=15, - min_volume=3, - model="gen a", - display_name="display name", - flow_rates=FlowRates( - default_aspirate={}, - default_dispense={}, - default_blow_out={}, - ), - tip_configuration_lookup_table={15: supported_tip_fixture}, - nominal_tip_overlap={}, - nozzle_offset_z=1.23, - home_position=4.56, - nozzle_map=get_default_nozzle_map(PipetteNameType.P300_SINGLE_GEN2), - back_left_corner_offset=Point(0, 0, 0), - front_right_corner_offset=Point(0, 0, 0), - pipette_lld_settings={}, - plunger_positions={ - "top": 0.0, - "bottom": 5.0, - "blow_out": 19.0, - "drop_tip": 20.0, - }, - shaft_ul_per_mm=5.0, - available_sensors=available_sensors, - ), - ) - subject.handle_action( - actions.SucceedCommandAction( - state_update=update_types.StateUpdate(pipette_config=config_update), - command=_dummy_command(), - ) - ) - config_update_2 = update_types.PipetteConfigUpdate( - pipette_id="pipette-id2", - serial_number="pipette-serial2", - config=LoadedStaticPipetteData( - channels=8, - max_volume=15, - min_volume=3, - model="gen a", - display_name="display name2", - flow_rates=FlowRates( - default_aspirate={}, - default_dispense={}, - default_blow_out={}, - ), - tip_configuration_lookup_table={15: supported_tip_fixture}, - nominal_tip_overlap={}, - nozzle_offset_z=1.23, - home_position=4.56, - nozzle_map=get_default_nozzle_map(PipetteNameType.P300_MULTI_GEN2), - back_left_corner_offset=Point(0, 0, 0), - front_right_corner_offset=Point(0, 0, 0), - pipette_lld_settings={}, - plunger_positions={ - "top": 0.0, - "bottom": 5.0, - "blow_out": 19.0, - "drop_tip": 20.0, - }, - shaft_ul_per_mm=5.0, - available_sensors=available_sensors, - ), - ) - subject.handle_action( - actions.SucceedCommandAction( - state_update=update_types.StateUpdate(pipette_config=config_update_2), - command=_dummy_command(), - ) - ) + subject.handle_action(load_labware_action) result = TipView(subject.state).get_next_tip( labware_id="cool-labware", num_tips=1, starting_tip_name=None, - nozzle_map=get_default_nozzle_map(PipetteNameType.P300_SINGLE_GEN2), + nozzle_map=nozzle_map_1_channel, ) - assert result == "A1" - pick_up_tip_2_state_update = update_types.StateUpdate( + pick_up_tip_1_channel_state_update = update_types.StateUpdate( tips_used=update_types.TipsUsedUpdate( - pipette_id="pipette-id2", labware_id="cool-labware", well_name="A1" + labware_id="cool-labware", + well_names=TipView(subject.state).compute_tips_to_mark_as_used( + labware_id="cool-labware", + well_name="A1", + nozzle_map=nozzle_map_1_channel, + ), ) ) subject.handle_action( actions.SucceedCommandAction( command=_dummy_command(), - state_update=pick_up_tip_2_state_update, + state_update=pick_up_tip_1_channel_state_update, ) ) @@ -662,72 +343,34 @@ def test_get_next_tip_with_1_channel_followed_by_8_channel( labware_id="cool-labware", num_tips=8, starting_tip_name=None, - nozzle_map=get_default_nozzle_map(PipetteNameType.P300_MULTI_GEN2), + nozzle_map=nozzle_map_8_channel, ) - assert result == "A2" def test_get_next_tip_with_starting_tip_out_of_tips( subject: TipStore, load_labware_action: actions.SucceedCommandAction, - supported_tip_fixture: pipette_definition.SupportedTipsDefinition, - available_sensors: AvailableSensorDefinition, ) -> None: """It should return the starting tip of H12 and then None after that.""" subject.handle_action(load_labware_action) - config_update = update_types.PipetteConfigUpdate( - pipette_id="pipette-id", - serial_number="pipette-serial", - config=LoadedStaticPipetteData( - channels=1, - max_volume=15, - min_volume=3, - model="gen a", - display_name="display name", - flow_rates=FlowRates( - default_aspirate={}, - default_dispense={}, - default_blow_out={}, - ), - tip_configuration_lookup_table={15: supported_tip_fixture}, - nominal_tip_overlap={}, - nozzle_offset_z=1.23, - home_position=4.56, - nozzle_map=get_default_nozzle_map(PipetteNameType.P300_SINGLE_GEN2), - back_left_corner_offset=Point(0, 0, 0), - front_right_corner_offset=Point(0, 0, 0), - pipette_lld_settings={}, - plunger_positions={ - "top": 0.0, - "bottom": 5.0, - "blow_out": 19.0, - "drop_tip": 20.0, - }, - shaft_ul_per_mm=5.0, - available_sensors=available_sensors, - ), - ) - subject.handle_action( - actions.SucceedCommandAction( - state_update=update_types.StateUpdate(pipette_config=config_update), - command=_dummy_command(), - ) - ) - result = TipView(subject.state).get_next_tip( labware_id="cool-labware", num_tips=1, starting_tip_name="H12", nozzle_map=None, ) - assert result == "H12" pick_up_tip_state_update = update_types.StateUpdate( tips_used=update_types.TipsUsedUpdate( - pipette_id="pipette-id", labware_id="cool-labware", well_name="H12" + labware_id="cool-labware", + well_names=TipView(subject.state).compute_tips_to_mark_as_used( + labware_id="cool-labware", + well_name="H12", + nozzle_map=get_default_nozzle_map(PipetteNameType.P300_SINGLE_GEN2), + ), ) ) subject.handle_action( @@ -750,51 +393,10 @@ def test_get_next_tip_with_starting_tip_out_of_tips( def test_get_next_tip_with_column_and_starting_tip( subject: TipStore, load_labware_action: actions.SucceedCommandAction, - supported_tip_fixture: pipette_definition.SupportedTipsDefinition, - available_sensors: AvailableSensorDefinition, ) -> None: """It should return the first tip in a column, taking starting tip into account.""" subject.handle_action(load_labware_action) - config_update = update_types.PipetteConfigUpdate( - pipette_id="pipette-id", - serial_number="pipette-serial", - config=LoadedStaticPipetteData( - channels=8, - max_volume=15, - min_volume=3, - model="gen a", - display_name="display name", - flow_rates=FlowRates( - default_aspirate={}, - default_dispense={}, - default_blow_out={}, - ), - tip_configuration_lookup_table={15: supported_tip_fixture}, - nominal_tip_overlap={}, - nozzle_offset_z=1.23, - home_position=4.56, - nozzle_map=get_default_nozzle_map(PipetteNameType.P300_MULTI_GEN2), - back_left_corner_offset=Point(0, 0, 0), - front_right_corner_offset=Point(0, 0, 0), - pipette_lld_settings={}, - plunger_positions={ - "top": 0.0, - "bottom": 5.0, - "blow_out": 19.0, - "drop_tip": 20.0, - }, - shaft_ul_per_mm=5.0, - available_sensors=available_sensors, - ), - ) - subject.handle_action( - actions.SucceedCommandAction( - state_update=update_types.StateUpdate(pipette_config=config_update), - command=_dummy_command(), - ) - ) - result = TipView(subject.state).get_next_tip( labware_id="cool-labware", num_tips=8, @@ -808,60 +410,17 @@ def test_get_next_tip_with_column_and_starting_tip( def test_reset_tips( subject: TipStore, load_labware_action: actions.SucceedCommandAction, - supported_tip_fixture: pipette_definition.SupportedTipsDefinition, - available_sensors: AvailableSensorDefinition, ) -> None: """It should be able to reset tip tracking state.""" subject.handle_action(load_labware_action) - config_update = update_types.PipetteConfigUpdate( - pipette_id="pipette-id", - serial_number="pipette-serial", - config=LoadedStaticPipetteData( - channels=1, - max_volume=15, - min_volume=3, - model="gen a", - display_name="display name", - flow_rates=FlowRates( - default_aspirate={}, - default_dispense={}, - default_blow_out={}, - ), - tip_configuration_lookup_table={15: supported_tip_fixture}, - nominal_tip_overlap={}, - nozzle_offset_z=1.23, - home_position=4.56, - nozzle_map=get_default_nozzle_map(PipetteNameType.P300_SINGLE_GEN2), - back_left_corner_offset=Point(x=1, y=2, z=3), - front_right_corner_offset=Point(x=4, y=5, z=6), - pipette_lld_settings={}, - plunger_positions={ - "top": 0.0, - "bottom": 5.0, - "blow_out": 19.0, - "drop_tip": 20.0, - }, - shaft_ul_per_mm=5.0, - available_sensors=available_sensors, - ), - ) - - subject.handle_action( - actions.SucceedCommandAction( - state_update=update_types.StateUpdate(pipette_config=config_update), - command=_dummy_command(), - ) - ) - subject.handle_action( actions.SucceedCommandAction( command=_dummy_command(), state_update=update_types.StateUpdate( tips_used=update_types.TipsUsedUpdate( - pipette_id="pipette-id", labware_id="cool-labware", - well_name="A1", + well_names=["A1", "A2", "A3"], ) ), ) @@ -880,55 +439,6 @@ def get_result() -> str | None: assert get_result() == "A1" -def test_handle_pipette_config_action( - subject: TipStore, - supported_tip_fixture: pipette_definition.SupportedTipsDefinition, - available_sensors: AvailableSensorDefinition, -) -> None: - """Should add pipette channel to state.""" - config_update = update_types.PipetteConfigUpdate( - pipette_id="pipette-id", - serial_number="pipette-serial", - config=LoadedStaticPipetteData( - channels=8, - max_volume=15, - min_volume=3, - model="gen a", - display_name="display name", - flow_rates=FlowRates( - default_aspirate={}, - default_dispense={}, - default_blow_out={}, - ), - tip_configuration_lookup_table={15: supported_tip_fixture}, - nominal_tip_overlap={}, - nozzle_offset_z=1.23, - home_position=4.56, - nozzle_map=get_default_nozzle_map(PipetteNameType.P300_SINGLE_GEN2), - back_left_corner_offset=Point(x=1, y=2, z=3), - front_right_corner_offset=Point(x=4, y=5, z=6), - pipette_lld_settings={}, - plunger_positions={ - "top": 0.0, - "bottom": 5.0, - "blow_out": 19.0, - "drop_tip": 20.0, - }, - shaft_ul_per_mm=5.0, - available_sensors=available_sensors, - ), - ) - subject.handle_action( - actions.SucceedCommandAction( - state_update=update_types.StateUpdate(pipette_config=config_update), - command=_dummy_command(), - ) - ) - - assert TipView(subject.state).get_pipette_channels("pipette-id") == 8 - assert TipView(subject.state).get_pipette_active_channels("pipette-id") == 8 - - @pytest.mark.parametrize( "labware_definition", [ @@ -960,303 +470,28 @@ def test_has_tip_tip_rack( assert result is True -@pytest.mark.parametrize( - argnames=["nozzle_map", "expected_channels"], - argvalues=[ - ( - NozzleMap.build( - physical_nozzles=OrderedDict({"A1": Point(0, 0, 0)}), - physical_rows=OrderedDict({"A": ["A1"]}), - physical_columns=OrderedDict({"1": ["A1"]}), - starting_nozzle="A1", - back_left_nozzle="A1", - front_right_nozzle="A1", - valid_nozzle_maps=ValidNozzleMaps(maps={"A1": ["A1"]}), - ), - 1, - ), - ( - 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", - valid_nozzle_maps=ValidNozzleMaps( - maps={ - "Full": sum( - [ - NINETY_SIX_ROWS["A"], - NINETY_SIX_ROWS["B"], - NINETY_SIX_ROWS["C"], - NINETY_SIX_ROWS["D"], - NINETY_SIX_ROWS["E"], - NINETY_SIX_ROWS["F"], - NINETY_SIX_ROWS["G"], - NINETY_SIX_ROWS["H"], - ], - [], - ) - } - ), - ), - 96, - ), - ( - 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="E1", - valid_nozzle_maps=ValidNozzleMaps( - maps={"A1_E1": ["A1", "B1", "C1", "D1", "E1"]} - ), - ), - 5, - ), - ], -) -def test_active_channels( - subject: TipStore, - supported_tip_fixture: pipette_definition.SupportedTipsDefinition, - nozzle_map: NozzleMap, - expected_channels: int, - available_sensors: AvailableSensorDefinition, -) -> None: - """Should update active channels after pipette configuration change.""" - # Load pipette to update state - config_update = update_types.PipetteConfigUpdate( - pipette_id="pipette-id", - serial_number="pipette-serial", - config=LoadedStaticPipetteData( - channels=9, - max_volume=15, - min_volume=3, - model="gen a", - display_name="display name", - flow_rates=FlowRates( - default_aspirate={}, - default_dispense={}, - default_blow_out={}, - ), - tip_configuration_lookup_table={15: supported_tip_fixture}, - nominal_tip_overlap={}, - nozzle_offset_z=1.23, - home_position=4.56, - nozzle_map=nozzle_map, - back_left_corner_offset=Point(x=1, y=2, z=3), - front_right_corner_offset=Point(x=4, y=5, z=6), - pipette_lld_settings={}, - plunger_positions={ - "top": 0.0, - "bottom": 5.0, - "blow_out": 19.0, - "drop_tip": 20.0, - }, - shaft_ul_per_mm=5.0, - available_sensors=available_sensors, - ), - ) - subject.handle_action( - actions.SucceedCommandAction( - state_update=update_types.StateUpdate(pipette_config=config_update), - command=_dummy_command(), - ) - ) - - # Configure nozzle for partial configuration - state_update = update_types.StateUpdate( - pipette_nozzle_map=update_types.PipetteNozzleMapUpdate( - pipette_id="pipette-id", - nozzle_map=nozzle_map, - ) - ) - subject.handle_action( - actions.SucceedCommandAction( - command=_dummy_command(), - state_update=state_update, - ) - ) - assert ( - TipView(subject.state).get_pipette_active_channels("pipette-id") - == expected_channels - ) - - -def test_next_tip_uses_active_channels( - subject: TipStore, - supported_tip_fixture: pipette_definition.SupportedTipsDefinition, - load_labware_action: actions.SucceedCommandAction, - available_sensors: AvailableSensorDefinition, -) -> None: - """Test that tip tracking logic uses pipette's active channels.""" - # Load labware - subject.handle_action(load_labware_action) - - # Load pipette - config_update = update_types.PipetteConfigUpdate( - pipette_id="pipette-id", - serial_number="pipette-serial", - config=LoadedStaticPipetteData( - channels=96, - max_volume=15, - min_volume=3, - model="gen a", - display_name="display name", - flow_rates=FlowRates( - default_aspirate={}, - default_dispense={}, - default_blow_out={}, - ), - tip_configuration_lookup_table={15: supported_tip_fixture}, - nominal_tip_overlap={}, - nozzle_offset_z=1.23, - home_position=4.56, - nozzle_map=get_default_nozzle_map(PipetteNameType.P300_SINGLE_GEN2), - back_left_corner_offset=Point(x=1, y=2, z=3), - front_right_corner_offset=Point(x=4, y=5, z=6), - pipette_lld_settings={}, - plunger_positions={ - "top": 0.0, - "bottom": 5.0, - "blow_out": 19.0, - "drop_tip": 20.0, - }, - shaft_ul_per_mm=5.0, - available_sensors=available_sensors, - ), - ) - subject.handle_action( - actions.SucceedCommandAction( - state_update=update_types.StateUpdate(pipette_config=config_update), - command=_dummy_command(), - ) - ) - - # Configure nozzle for partial configuration - state_update = update_types.StateUpdate( - pipette_nozzle_map=update_types.PipetteNozzleMapUpdate( - pipette_id="pipette-id", - 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", - valid_nozzle_maps=ValidNozzleMaps( - maps={ - "A12_H12": [ - "A12", - "B12", - "C12", - "D12", - "E12", - "F12", - "G12", - "H12", - ] - } - ), - ), - ) - ) - subject.handle_action( - actions.SucceedCommandAction( - command=_dummy_command(), - state_update=state_update, - ) - ) - # Pick up partial tips - subject.handle_action( - actions.SucceedCommandAction( - command=_dummy_command(), - state_update=update_types.StateUpdate( - tips_used=update_types.TipsUsedUpdate( - pipette_id="pipette-id", - labware_id="cool-labware", - well_name="A1", - ) - ), - ) - ) - - result = TipView(subject.state).get_next_tip( - labware_id="cool-labware", - num_tips=5, - starting_tip_name=None, - nozzle_map=None, - ) - assert result == "A2" - - def test_next_tip_automatic_tip_tracking_with_partial_configurations( subject: TipStore, - supported_tip_fixture: pipette_definition.SupportedTipsDefinition, load_labware_action: actions.SucceedCommandAction, - available_sensors: AvailableSensorDefinition, ) -> None: """Test tip tracking logic using multiple pipette configurations.""" - # Load labware subject.handle_action(load_labware_action) - # Load pipette - config_update = update_types.PipetteConfigUpdate( - pipette_id="pipette-id", - serial_number="pipette-serial", - config=LoadedStaticPipetteData( - channels=96, - max_volume=15, - min_volume=3, - model="gen a", - display_name="display name", - flow_rates=FlowRates( - default_aspirate={}, - default_dispense={}, - default_blow_out={}, - ), - tip_configuration_lookup_table={15: supported_tip_fixture}, - nominal_tip_overlap={}, - nozzle_offset_z=1.23, - home_position=4.56, - nozzle_map=get_default_nozzle_map(PipetteNameType.P1000_96), - back_left_corner_offset=Point(x=1, y=2, z=3), - front_right_corner_offset=Point(x=4, y=5, z=6), - pipette_lld_settings={}, - plunger_positions={ - "top": 0.0, - "bottom": 5.0, - "blow_out": 19.0, - "drop_tip": 20.0, - }, - shaft_ul_per_mm=5.0, - available_sensors=available_sensors, - ), - ) - subject.handle_action( - actions.SucceedCommandAction( - state_update=update_types.StateUpdate(pipette_config=config_update), - command=_dummy_command(), - ) - ) - - def _assert_and_pickup(well: str, nozzle_map: NozzleMap) -> None: + def _assert_and_pickup(expected_next_tip: str, nozzle_map: NozzleMap) -> None: result = TipView(subject.state).get_next_tip( labware_id="cool-labware", num_tips=0, starting_tip_name=None, nozzle_map=nozzle_map, ) - assert result is not None and result == well + assert result is not None and result == expected_next_tip pick_up_tip_state_update = update_types.StateUpdate( tips_used=update_types.TipsUsedUpdate( - pipette_id="pipette-id", labware_id="cool-labware", - well_name=result, + well_names=TipView(subject.state).compute_tips_to_mark_as_used( + labware_id="cool-labware", well_name=result, nozzle_map=nozzle_map + ), ) ) @@ -1267,8 +502,8 @@ def _assert_and_pickup(well: str, nozzle_map: NozzleMap) -> None: ) ) - def _reconfigure_nozzle_layout(start: str, back_l: str, front_r: str) -> NozzleMap: - nozzle_map = NozzleMap.build( + def _build_nozzle_map(start: str, back_l: str, front_r: str) -> NozzleMap: + return NozzleMap.build( physical_nozzles=NINETY_SIX_MAP, physical_rows=NINETY_SIX_ROWS, physical_columns=NINETY_SIX_COLS, @@ -1324,86 +559,31 @@ def _reconfigure_nozzle_layout(start: str, back_l: str, front_r: str) -> NozzleM } ), ) - state_update = update_types.StateUpdate( - pipette_nozzle_map=update_types.PipetteNozzleMapUpdate( - pipette_id="pipette-id", - nozzle_map=nozzle_map, - ) - ) - subject.handle_action( - actions.SucceedCommandAction( - command=_dummy_command(), - state_update=state_update, - ) - ) - return nozzle_map - map = _reconfigure_nozzle_layout("A1", "A1", "H3") + map = _build_nozzle_map("A1", "A1", "H3") _assert_and_pickup("A10", map) - map = _reconfigure_nozzle_layout("A1", "A1", "F2") + map = _build_nozzle_map("A1", "A1", "F2") _assert_and_pickup("C8", map) # Configure to single tip pickups - map = _reconfigure_nozzle_layout("H12", "H12", "H12") + map = _build_nozzle_map("H12", "H12", "H12") _assert_and_pickup("A1", map) - map = _reconfigure_nozzle_layout("H1", "H1", "H1") + map = _build_nozzle_map("H1", "H1", "H1") _assert_and_pickup("A9", map) - map = _reconfigure_nozzle_layout("A12", "A12", "A12") + map = _build_nozzle_map("A12", "A12", "A12") _assert_and_pickup("H1", map) - map = _reconfigure_nozzle_layout("A1", "A1", "A1") + map = _build_nozzle_map("A1", "A1", "A1") _assert_and_pickup("B9", map) def test_next_tip_automatic_tip_tracking_tiprack_limits( subject: TipStore, - supported_tip_fixture: pipette_definition.SupportedTipsDefinition, load_labware_action: actions.SucceedCommandAction, - available_sensors: AvailableSensorDefinition, ) -> None: """Test tip tracking logic to ensure once a tiprack is consumed it returns None when consuming tips using multiple pipette configurations.""" # Load labware subject.handle_action(load_labware_action) - # Load pipette - config_update = update_types.PipetteConfigUpdate( - pipette_id="pipette-id", - serial_number="pipette-serial", - config=LoadedStaticPipetteData( - channels=96, - max_volume=15, - min_volume=3, - model="gen a", - display_name="display name", - flow_rates=FlowRates( - default_aspirate={}, - default_dispense={}, - default_blow_out={}, - ), - tip_configuration_lookup_table={15: supported_tip_fixture}, - nominal_tip_overlap={}, - nozzle_offset_z=1.23, - home_position=4.56, - nozzle_map=get_default_nozzle_map(PipetteNameType.P1000_96), - back_left_corner_offset=Point(x=1, y=2, z=3), - front_right_corner_offset=Point(x=4, y=5, z=6), - pipette_lld_settings={}, - plunger_positions={ - "top": 0.0, - "bottom": 5.0, - "blow_out": 19.0, - "drop_tip": 20.0, - }, - shaft_ul_per_mm=5.0, - available_sensors=available_sensors, - ), - ) - subject.handle_action( - actions.SucceedCommandAction( - state_update=update_types.StateUpdate(pipette_config=config_update), - command=_dummy_command(), - ) - ) - def _get_next_and_pickup(nozzle_map: NozzleMap) -> str | None: result = TipView(subject.state).get_next_tip( labware_id="cool-labware", @@ -1414,7 +594,12 @@ def _get_next_and_pickup(nozzle_map: NozzleMap) -> str | None: if result is not None: pick_up_tip_state_update = update_types.StateUpdate( tips_used=update_types.TipsUsedUpdate( - pipette_id="pipette-id", labware_id="cool-labware", well_name=result + labware_id="cool-labware", + well_names=TipView(subject.state).compute_tips_to_mark_as_used( + labware_id="cool-labware", + well_name=result, + nozzle_map=nozzle_map, + ), ) ) @@ -1427,8 +612,8 @@ def _get_next_and_pickup(nozzle_map: NozzleMap) -> str | None: return result - def _reconfigure_nozzle_layout(start: str, back_l: str, front_r: str) -> NozzleMap: - nozzle_map = NozzleMap.build( + def _build_nozzle_map(start: str, back_l: str, front_r: str) -> NozzleMap: + return NozzleMap.build( physical_nozzles=NINETY_SIX_MAP, physical_rows=NINETY_SIX_ROWS, physical_columns=NINETY_SIX_COLS, @@ -1457,39 +642,28 @@ def _reconfigure_nozzle_layout(start: str, back_l: str, front_r: str) -> NozzleM } ), ) - state_update = update_types.StateUpdate( - pipette_nozzle_map=update_types.PipetteNozzleMapUpdate( - pipette_id="pipette-id", nozzle_map=nozzle_map - ) - ) - subject.handle_action( - actions.SucceedCommandAction( - command=_dummy_command(), state_update=state_update - ) - ) - return nozzle_map - map = _reconfigure_nozzle_layout("A1", "A1", "A1") + map = _build_nozzle_map("A1", "A1", "A1") for _ in range(96): - _get_next_and_pickup(map) + assert _get_next_and_pickup(map) is not None assert _get_next_and_pickup(map) is None subject.handle_action(actions.ResetTipsAction(labware_id="cool-labware")) - map = _reconfigure_nozzle_layout("A12", "A12", "A12") + map = _build_nozzle_map("A12", "A12", "A12") for _ in range(96): - _get_next_and_pickup(map) + assert _get_next_and_pickup(map) is not None assert _get_next_and_pickup(map) is None subject.handle_action(actions.ResetTipsAction(labware_id="cool-labware")) - map = _reconfigure_nozzle_layout("H1", "H1", "H1") + map = _build_nozzle_map("H1", "H1", "H1") for _ in range(96): - _get_next_and_pickup(map) + assert _get_next_and_pickup(map) is not None assert _get_next_and_pickup(map) is None subject.handle_action(actions.ResetTipsAction(labware_id="cool-labware")) - map = _reconfigure_nozzle_layout("H12", "H12", "H12") + map = _build_nozzle_map("H12", "H12", "H12") for _ in range(96): - _get_next_and_pickup(map) + assert _get_next_and_pickup(map) is not None assert _get_next_and_pickup(map) is None @@ -1525,13 +699,7 @@ def test_handle_batch_labware_loaded_update( ) ) - assert "some-labware-id" in subject._state.tips_by_labware_id - assert "some-other-labware-id" in subject._state.tips_by_labware_id - for well_state in subject._state.tips_by_labware_id["some-labware-id"].values(): - assert well_state == TipRackWellState.CLEAN - for well_state in subject._state.tips_by_labware_id[ - "some-other-labware-id" - ].values(): - assert well_state == TipRackWellState.CLEAN - assert "some-labware-id" in subject._state.column_by_labware_id - assert "some-other-labware-id" in subject._state.column_by_labware_id + # The use of has_clean_tip() is arbitrary here. We just need anything that can make + # sure each labware in the batch has actually been ingested. + assert TipView(subject.state).has_clean_tip("some-labware-id", "A1") + assert TipView(subject.state).has_clean_tip("some-other-labware-id", "A1") diff --git a/api/tests/opentrons/protocol_runner/test_legacy_command_mapper.py b/api/tests/opentrons/protocol_runner/test_legacy_command_mapper.py index 605df5435ed8..a6026c32f03e 100644 --- a/api/tests/opentrons/protocol_runner/test_legacy_command_mapper.py +++ b/api/tests/opentrons/protocol_runner/test_legacy_command_mapper.py @@ -22,12 +22,11 @@ ModuleLoadInfo as LegacyModuleLoadInfo, ) from opentrons.protocol_engine import ( - DeckSlotLocation, - ModuleLocation, ModuleModel, ModuleDefinition, commands as pe_commands, actions as pe_actions, + types as pe_types, ) from opentrons.protocol_engine.error_recovery_policy import ErrorRecoveryType from opentrons.protocol_engine.resources import ( @@ -282,7 +281,7 @@ def test_map_labware_load(minimal_labware_def: LabwareDefinition2) -> None: expected_id_and_key = "commands.LOAD_LABWARE-0" expected_params = pe_commands.LoadLabwareParams( - location=DeckSlotLocation(slotName=DeckSlotName.SLOT_1), + location=pe_types.DeckSlotLocation(slotName=DeckSlotName.SLOT_1), namespace="some_namespace", loadName="some_load_name", version=123, @@ -317,6 +316,11 @@ def test_map_labware_load(minimal_labware_def: LabwareDefinition2) -> None: # get passed through correctly. definition=matchers.Anything(), offsetId="labware-offset-id-123", + locationSequence=[ + pe_types.OnAddressableAreaLocationSequenceComponent( + addressableAreaName="1" + ) + ], ), notes=[], ), @@ -325,7 +329,7 @@ def test_map_labware_load(minimal_labware_def: LabwareDefinition2) -> None: labware_id="labware-0", definition=matchers.Anything(), offset_id="labware-offset-id-123", - new_location=DeckSlotLocation(slotName=DeckSlotName.SLOT_1), + new_location=pe_types.DeckSlotLocation(slotName=DeckSlotName.SLOT_1), display_name="My special labware", ) ), @@ -426,7 +430,7 @@ def test_map_module_load( expected_id_and_key = "commands.LOAD_MODULE-0" expected_params = pe_commands.LoadModuleParams.model_construct( model=ModuleModel.TEMPERATURE_MODULE_V1, - location=DeckSlotLocation(slotName=DeckSlotName.SLOT_1), + location=pe_types.DeckSlotLocation(slotName=DeckSlotName.SLOT_1), moduleId=matchers.IsA(str), ) expected_queue = pe_actions.QueueCommandAction( @@ -483,7 +487,7 @@ def test_map_module_labware_load(minimal_labware_def: LabwareDefinition2) -> Non expected_id_and_key = "commands.LOAD_LABWARE-0" expected_params = pe_commands.LoadLabwareParams.model_construct( - location=ModuleLocation(moduleId="module-123"), + location=pe_types.ModuleLocation(moduleId="module-123"), namespace="some_namespace", loadName="some_load_name", version=123, @@ -518,6 +522,12 @@ def test_map_module_labware_load(minimal_labware_def: LabwareDefinition2) -> Non # get passed through correctly. definition=matchers.Anything(), offsetId="labware-offset-id-123", + locationSequence=[ + pe_types.OnModuleLocationSequenceComponent(moduleId="module-123"), + pe_types.OnAddressableAreaLocationSequenceComponent( + addressableAreaName="1" + ), + ], ), notes=[], ), @@ -526,7 +536,7 @@ def test_map_module_labware_load(minimal_labware_def: LabwareDefinition2) -> Non labware_id="labware-0", definition=matchers.Anything(), offset_id="labware-offset-id-123", - new_location=ModuleLocation(moduleId="module-123"), + new_location=pe_types.ModuleLocation(moduleId="module-123"), display_name="My very special module labware", ) ), diff --git a/api/tests/opentrons/protocols/advanced_control/transfers/test_common_functions.py b/api/tests/opentrons/protocols/advanced_control/transfers/test_common_functions.py index ed1f325505d8..9b4330d7ffe9 100644 --- a/api/tests/opentrons/protocols/advanced_control/transfers/test_common_functions.py +++ b/api/tests/opentrons/protocols/advanced_control/transfers/test_common_functions.py @@ -92,36 +92,62 @@ def test_expand_for_volume_constraints( @pytest.mark.parametrize( - argnames=["volumes", "targets", "max_volume", "expanded_list_result"], + argnames=["volumes", "targets", "max_volume", "air_gap", "expanded_list_result"], argvalues=[ ( [25, 25], ["dest1", "dest2"], 50, + 24.0, [(25, "dest1"), (25, "dest2")], ), ( [50, 50], ["dest1", "dest2"], 50, + 0.0, [(50, "dest1"), (50, "dest2")], ), + ( + [50, 50], + ["dest1", "dest2"], + 50, + 5.0, + [(25, "dest1"), (25, "dest1"), (25, "dest2"), (25, "dest2")], + ), ( [75, 75], ["dest1", "dest2"], 50, + 5.0, [(37.5, "dest1"), (37.5, "dest1"), (37.5, "dest2"), (37.5, "dest2")], ), ( [100, 100], ["dest1", "dest2"], 50, + 0.0, [(50, "dest1"), (50, "dest1"), (50, "dest2"), (50, "dest2")], ), + ( + [100, 100], + ["dest1", "dest2"], + 50, + 5.0, + [ + (100 / 3, "dest1"), + (100 / 3, "dest1"), + (100 / 3, "dest1"), + (100 / 3, "dest2"), + (100 / 3, "dest2"), + (100 / 3, "dest2"), + ], + ), ( [103, 103], ["dest1", "dest2"], 50, + 0.0, [ (103 / 3, "dest1"), (103 / 3, "dest1"), @@ -137,6 +163,7 @@ def test_expand_for_volume_constraints_for_liquid_classes( volumes: Iterable[float], targets: Iterable[Target], max_volume: float, + air_gap: float, expanded_list_result: List[Tuple[float, Target]], ) -> None: """It should create a list of volume and target transfers, splitting volumes equally if required.""" @@ -144,5 +171,6 @@ def test_expand_for_volume_constraints_for_liquid_classes( volumes=volumes, targets=targets, max_volume=max_volume, + air_gap=air_gap, ) assert list(result) == expanded_list_result diff --git a/api/tests/opentrons/protocols/geometry/test_frustum_helpers.py b/api/tests/opentrons/protocols/geometry/test_frustum_helpers.py index 4ec9a4a60322..b99269742590 100644 --- a/api/tests/opentrons/protocols/geometry/test_frustum_helpers.py +++ b/api/tests/opentrons/protocols/geometry/test_frustum_helpers.py @@ -1,6 +1,7 @@ import pytest from math import pi, isclose from typing import Any, List, cast +from hypothesis import given, strategies as st from opentrons_shared_data.labware.labware_definition import ( ConicalFrustum, @@ -19,9 +20,9 @@ _height_from_volume_circular, _height_from_volume_rectangular, _height_from_volume_spherical, - height_at_volume_within_section, - _get_segment_capacity, + find_height_at_well_volume, find_volume_at_well_height, + _get_segment_capacity, ) from opentrons.protocol_engine.errors.exceptions import InvalidLiquidHeightFound @@ -208,17 +209,29 @@ def test_cross_section_area_rectangular(x_dimension: float, y_dimension: float) @pytest.mark.parametrize("well", fake_frusta()) -def test_volume_and_height_circular(well: List[Any]) -> None: +@given(target_height_st=st.data()) +def test_volume_and_height_circular(well: List[Any], target_height_st: Any) -> None: """Test both volume and height calculations for circular frusta.""" if well[-1].shape == "spherical": return + if any([seg.shape != "conical" for seg in well]): + return for segment in well: if segment.shape == "conical": a = segment.topDiameter / 2 b = segment.bottomDiameter / 2 # test volume within a bunch of arbitrary heights segment_height = segment.topHeight - segment.bottomHeight - for target_height in range(round(segment_height)): + for i in range(50): + target_height = target_height_st.draw( + st.floats( + min_value=0, + max_value=segment_height, + allow_infinity=False, + allow_nan=False, + width=32, + ) + ) r_y = (target_height / segment_height) * (a - b) + b expected_volume = (pi * target_height / 3) * ( b**2 + b * r_y + r_y**2 @@ -232,7 +245,7 @@ def test_volume_and_height_circular(well: List[Any]) -> None: found_height = _height_from_volume_circular( target_volume=found_volume, segment=segment ) - assert isclose(found_height, target_height) + assert isclose(found_height, target_height, abs_tol=0.001) @pytest.mark.parametrize("well", fake_frusta()) @@ -319,14 +332,24 @@ def test_volume_and_height_spherical(well: List[Any]) -> None: @pytest.mark.parametrize("well", fake_frusta()) def test_height_at_volume_at_section_boundaries(well: List[Any]) -> None: """Test that finding the height when volume 0 or ~= capacity works.""" - for segment in well: - segment_height = segment.topHeight - segment.bottomHeight - height = height_at_volume_within_section(segment, 0.0, segment_height) - assert isclose(height, 0.0) - height = height_at_volume_within_section( - segment, _get_segment_capacity(segment), segment_height + inner_well_geometry = InnerWellGeometry(sections=well) + sorted_well = sorted( + inner_well_geometry.sections, key=lambda section: section.topHeight + ) + running_volume = 0.0 + height = find_height_at_well_volume( + target_volume=0.0, well_geometry=inner_well_geometry + ) + assert isinstance(height, float) + assert isclose(height, 0.0) + for segment in sorted_well: + running_volume += _get_segment_capacity(segment) + height = find_height_at_well_volume( + target_volume=running_volume, + well_geometry=inner_well_geometry, ) - assert isclose(height, segment_height) + assert isinstance(height, float) + assert isclose(height, segment.topHeight) @pytest.mark.parametrize("well", fake_frusta()) diff --git a/app-shell/electron-builder.config.js b/app-shell/electron-builder.config.js index 26bcf518e280..27f510d109b4 100644 --- a/app-shell/electron-builder.config.js +++ b/app-shell/electron-builder.config.js @@ -65,13 +65,14 @@ module.exports = async () => ({ }, win: { target: ['nsis'], - publisherName: 'Opentrons Labworks Inc.', icon: project === 'robot-stack' ? 'build/icon.ico' : 'build/three.ico', forceCodeSigning: WINDOWS_SIGN, - rfc3161TimeStampServer: 'http://timestamp.digicert.com', - sign: 'scripts/windows-custom-sign.js', - signDlls: true, - signingHashAlgorithms: ['sha256'], + azureSignOptions: { + publisherName: 'OPENTRONS LABWORKS INC.', + codeSigningAccountName: 'desktop-app-signing', + certificateProfileName: 'OpentronsDesktopApp', + endpoint: 'https://eus.codesigning.azure.net', + }, }, nsis: { oneClick: false, diff --git a/app-shell/package.json b/app-shell/package.json index 99dab77203d1..43c81f5cad46 100644 --- a/app-shell/package.json +++ b/app-shell/package.json @@ -24,7 +24,9 @@ }, "homepage": "https://github.com/Opentrons/opentrons", "workspaces": { - "nohoist": ["**"] + "nohoist": [ + "**" + ] }, "devDependencies": { "electron-notarize": "^1.2.1", @@ -41,6 +43,7 @@ "@types/lodash": "^4.14.191", "@types/pump": "^1.1.0", "@types/uuid": "^3.4.7", + "agent-base": "6.0.2", "ajv": "6.12.3", "axios": "^0.21.1", "dateformat": "3.0.3", diff --git a/app-shell/scripts/windows-custom-sign.js b/app-shell/scripts/windows-custom-sign.js deleted file mode 100644 index f0735a50989c..000000000000 --- a/app-shell/scripts/windows-custom-sign.js +++ /dev/null @@ -1,66 +0,0 @@ -// from https://github.com/electron-userland/electron-builder/issues/7605 - -'use strict' - -const { execSync } = require('node:child_process') - -exports.default = async configuration => { - const { WINDOWS_SIGN } = process.env - if (WINDOWS_SIGN !== 'true') { - return - } - const signCmd = `smctl sign --keypair-alias="${String( - process.env.SM_KEYPAIR_ALIAS - )}" --input "${String(configuration.path)}" --certificate="${String( - process.env.WINDOWS_CSC_FILEPATH - )}" --exit-non-zero-on-fail --failfast --verbose` - console.log(signCmd) - try { - const signProcess = execSync(signCmd, { - stdio: 'pipe', - }) - console.log(`Sign success!`) - console.log( - `Sign stdout: ${signProcess?.stdout?.toString() ?? ''}` - ) - console.log( - `Sign stderr: ${signProcess?.stderr?.toString() ?? ''}` - ) - console.log(`Sign code: ${signProcess.code}`) - } catch (err) { - console.error(`Exception running sign: ${err.status}! -Process stdout: - ${err?.stdout?.toString() ?? ''} -------------- -Process stderr: -${err?.stdout?.toString() ?? ''} -------------- -`) - throw err - } - const verifyCmd = `smctl sign verify --fingerprint="${String( - process.env.SM_CODE_SIGNING_CERT_SHA1_HASH - )}" --input="${String(configuration.path)}" --verbose` - console.log(verifyCmd) - try { - const verifyProcess = execSync(verifyCmd, { stdio: 'pipe' }) - console.log(`Verify success!`) - console.log( - `Verify stdout: ${verifyProcess?.stdout?.toString() ?? ''}` - ) - console.log( - `Verify stderr: ${verifyProcess?.stderr?.toString() ?? ''}` - ) - } catch (err) { - console.error(` -Exception running verification: ${err.status}! -Process stdout: - ${err?.stdout?.toString() ?? ''} --------------- -Process stderr: - ${err?.stderr?.toString() ?? ''} --------------- -`) - throw err - } -} diff --git a/app/src/organisms/Desktop/Devices/ProtocolRun/SetupLabwarePositionCheck/FlexSetupLPC/LPCSetupFlexBtns.tsx b/app/src/organisms/Desktop/Devices/ProtocolRun/SetupLabwarePositionCheck/FlexSetupLPC/LPCSetupFlexBtns.tsx index 55d58fa0b15d..e3ee22713c80 100644 --- a/app/src/organisms/Desktop/Devices/ProtocolRun/SetupLabwarePositionCheck/FlexSetupLPC/LPCSetupFlexBtns.tsx +++ b/app/src/organisms/Desktop/Devices/ProtocolRun/SetupLabwarePositionCheck/FlexSetupLPC/LPCSetupFlexBtns.tsx @@ -2,7 +2,6 @@ import { useState } from 'react' import { useTranslation } from 'react-i18next' import { useSelector } from 'react-redux' -import { useAddLabwareOffsetToRunMutation } from '@opentrons/react-api-client' import { Flex, JUSTIFY_CENTER, @@ -13,14 +12,17 @@ import { TOOLTIP_BOTTOM, useHoverTooltip, } from '@opentrons/components' +import { useAddLabwareOffsetToRunMutation } from '@opentrons/react-api-client' +import { FLEX_ROBOT_TYPE } from '@opentrons/shared-data' +import { useLPCAnalytics } from '/app/organisms/LabwarePositionCheck/LPCFlows' import { useToaster } from '/app/organisms/ToasterOven' -import { useLPCDisabledReason } from '/app/resources/runs' import { selectIsAnyNecessaryDefaultOffsetMissing, selectLabwareOffsetsToAddToRun, selectTotalCountNonHardCodedLSOffsets, } from '/app/redux/protocol-runs' +import { useLPCDisabledReason } from '/app/resources/runs' import type { SetupLabwarePositionCheckProps } from '/app/organisms/Desktop/Devices/ProtocolRun/SetupLabwarePositionCheck' @@ -39,6 +41,10 @@ export function LPCSetupFlexBtns({ }: LPCSetupFlexBtnsProps): JSX.Element { const { t } = useTranslation('protocol_setup') const { makeSnackbar } = useToaster() + const { reportApplyOffsets } = useLPCAnalytics({ + runId, + robotType: FLEX_ROBOT_TYPE, + }) const lpcDisabledReason = useLPCDisabledReason({ robotName, runId, @@ -103,6 +109,7 @@ export function LPCSetupFlexBtns({ ) .then(() => { setOffsetsConfirmed(true) + reportApplyOffsets() }) .catch(() => { makeSnackbar(t('failed_to_apply_offsets') as string) diff --git a/app/src/organisms/LabwareOffsetsConflictModal/index.tsx b/app/src/organisms/LabwareOffsetsConflictModal/index.tsx index 378364d03195..577fff5457c6 100644 --- a/app/src/organisms/LabwareOffsetsConflictModal/index.tsx +++ b/app/src/organisms/LabwareOffsetsConflictModal/index.tsx @@ -4,28 +4,30 @@ import { useDispatch, useSelector } from 'react-redux' import { css } from 'styled-components' import { + ALIGN_CENTER, COLORS, DIRECTION_COLUMN, Flex, - SPACING, - StyledText, - ModalShell, + JUSTIFY_END, + JUSTIFY_SPACE_BETWEEN, ModalHeader, + ModalShell, PrimaryButton, - JUSTIFY_SPACE_BETWEEN, - JUSTIFY_END, SecondaryButton, - ALIGN_CENTER, + SPACING, + StyledText, } from '@opentrons/components' +import { FLEX_ROBOT_TYPE } from '@opentrons/shared-data' +import { getModalPortalEl, getTopPortalEl } from '/app/App/portal' +import { SmallButton } from '/app/atoms/buttons' +import { OddModal } from '/app/molecules/OddModal' +import { useLPCAnalytics } from '/app/organisms/LabwarePositionCheck' import { selectConflictTimestampInfo, sourceOffsetsFromDatabase, sourceOffsetsFromRun, } from '/app/redux/protocol-runs' -import { SmallButton } from '/app/atoms/buttons' -import { getModalPortalEl, getTopPortalEl } from '/app/App/portal' -import { OddModal } from '/app/molecules/OddModal' import { formatTimestamp } from '/app/transformations/runs' import type { IconProps } from '@opentrons/components' @@ -43,13 +45,19 @@ export function LabwareOffsetsConflictModal({ const dispatch = useDispatch() const tsInfo = useSelector(selectConflictTimestampInfo(runId)) const tsFormatted = formatTimestamp(tsInfo.timestamp ?? '') + const { reportOffsetSourceResolution } = useLPCAnalytics({ + runId, + robotType: FLEX_ROBOT_TYPE, + }) const onRunRecordOffsets = (): void => { dispatch(sourceOffsetsFromRun(runId)) + reportOffsetSourceResolution('fromRunRecord') } const onDatabaseOffsets = (): void => { dispatch(sourceOffsetsFromDatabase(runId)) + reportOffsetSourceResolution('fromDatabase') } return createPortal( diff --git a/app/src/organisms/LabwarePositionCheck/LPCFlows/LPCFlows.tsx b/app/src/organisms/LabwarePositionCheck/LPCFlows/LPCFlows.tsx index 8f23132fe319..8f628594cce3 100644 --- a/app/src/organisms/LabwarePositionCheck/LPCFlows/LPCFlows.tsx +++ b/app/src/organisms/LabwarePositionCheck/LPCFlows/LPCFlows.tsx @@ -1,12 +1,13 @@ import { LPCWizardContainer } from '/app/organisms/LabwarePositionCheck/LPCWizardContainer' +import type { LabwareOffset } from '@opentrons/api-client' import type { - RobotType, CompletedProtocolAnalysis, DeckConfiguration, LabwareDefinition2, + RobotType, } from '@opentrons/shared-data' -import type { LabwareOffset } from '@opentrons/api-client' +import type { useLPCAnalytics } from '/app/organisms/LabwarePositionCheck' import type { LPCLabwareInfo } from '/app/redux/protocol-runs' // Inject the props specific to the legacy LPC flows, too. @@ -25,6 +26,7 @@ export interface LPCFlowsProps { analysis: CompletedProtocolAnalysis protocolName: string maintenanceRunId: string + analytics: ReturnType } export function LPCFlows(props: LegacySupportLPCFlowsProps): JSX.Element { diff --git a/app/src/organisms/LabwarePositionCheck/LPCFlows/index.ts b/app/src/organisms/LabwarePositionCheck/LPCFlows/index.ts index 5f8b4c9bb88b..25fbfada5caf 100644 --- a/app/src/organisms/LabwarePositionCheck/LPCFlows/index.ts +++ b/app/src/organisms/LabwarePositionCheck/LPCFlows/index.ts @@ -1,4 +1,5 @@ export { useLPCFlows } from './useLPCFlows' +export { useLPCAnalytics } from './useLPCAnalytics' export * from './LPCFlows' export type { UseLPCFlowsProps, UseLPCFlowsResult } from './useLPCFlows' diff --git a/app/src/organisms/LabwarePositionCheck/LPCFlows/useLPCAnalytics.ts b/app/src/organisms/LabwarePositionCheck/LPCFlows/useLPCAnalytics.ts new file mode 100644 index 000000000000..6a3dd3ca08f9 --- /dev/null +++ b/app/src/organisms/LabwarePositionCheck/LPCFlows/useLPCAnalytics.ts @@ -0,0 +1,184 @@ +import { useState } from 'react' + +import { ANY_LOCATION } from '@opentrons/api-client' +import { FLEX_ROBOT_TYPE, OT2_ROBOT_TYPE } from '@opentrons/shared-data' + +import { + ANALYTICS_LPC_APPLY_OFFSETS, + ANALYTICS_LPC_LAUNCH, + ANALYTICS_LPC_OFFSET_SOURCE_RESOLUTION, + ANALYTICS_LPC_SAVE_OFFSET, + ANALYTICS_LPC_SAVE_OFFSET_TO_RUN_RECORD, + useTrackEvent, +} from '/app/redux/analytics' + +import type { + LegacyLabwareOffsetLocation, + StoredLabwareOffset, +} from '@opentrons/api-client' +import type { RobotType, Coordinates } from '@opentrons/shared-data' +import type { ResolvedOffsetSource } from '/app/redux/protocol-runs' + +interface ReportSaveOffsetToRunRecordParams { + uri: string + locationDetails: LegacyLabwareOffsetLocation + vector: Coordinates + slot: string +} + +export interface UseLPCAnalyticsProps { + runId: string + robotType: RobotType +} + +export interface UseLPCAnalyticsResult { + /* Report when a user launches LPC, generating a wizard session id. */ + reportLaunchLpcWizard: () => void + /* Report when a user clicks the 'apply offsets' button. Effectively a Flex only event. */ + reportApplyOffsets: () => void + /* Report all the modified offsets when a user saves to the database. Flex only. */ + reportSaveOffset: ( + params: [StoredLabwareOffset[], StoredLabwareOffset[]] + ) => void + /* Report when an offset is `saved` to the run record. OT-2 only. */ + reportSaveOffsetToRunRecord: ( + params: ReportSaveOffsetToRunRecordParams + ) => void + /* Report the user-selected option whenever there is an offset source conflict. */ + reportOffsetSourceResolution: (resolvedSource: ResolvedOffsetSource) => void +} + +export function useLPCAnalytics({ + runId, + robotType, +}: UseLPCAnalyticsProps): UseLPCAnalyticsResult { + const doTrackEvent = useTrackEvent() + const [lpcWizardSessionId, setLpcWizardSessionId] = useState( + null + ) + + const reportLaunchLpcWizard = (): void => { + const wizardSessionId = `${runId}-${Date.now()}` + setLpcWizardSessionId(wizardSessionId) + + doTrackEvent({ + name: ANALYTICS_LPC_LAUNCH, + properties: { + robotType, + runSession: runId, + wizardSession: wizardSessionId, + }, + }) + } + + // Offsets are applied outside the LPC wizard and therefore not tied to a wizard session. + const reportApplyOffsets = (): void => { + if (robotType === OT2_ROBOT_TYPE) { + console.error('OT2 robot type should not report apply offsets.') + } else { + doTrackEvent({ + name: ANALYTICS_LPC_APPLY_OFFSETS, + properties: { + robotType, + runSession: runId, + }, + }) + } + } + + const reportSaveOffset = ( + params: [StoredLabwareOffset[], StoredLabwareOffset[]] + ): void => { + if (robotType === OT2_ROBOT_TYPE) { + console.error( + 'OT-2 should not report save offset. Use reportSaveOffsetToRunRecord instead.' + ) + } else { + const sendSaveOffsetEvent = (offset: StoredLabwareOffset): void => { + const offsetKind = + offset.locationSequence === ANY_LOCATION + ? 'default' + : 'appliedLocation' + + const slot = offset.locationSequence[offset.locationSequence.length - 1] + + const slotName = ((): string | null => { + if (typeof slot === 'string') { + return null + } else if (slot.kind === 'onAddressableArea') { + return slot.addressableAreaName + } + // The last location sequence component in a LabwareOffsetLocationSequence is + // always the addressable area, but we handle unexpected input to be safe. + else { + return null + } + })() + + doTrackEvent({ + name: ANALYTICS_LPC_SAVE_OFFSET, + properties: { + robotType, + runSession: runId, + wizardSession: lpcWizardSessionId, + uri: offset.definitionUri, + locationDetails: offset.locationSequence, + slot: slotName, + vector: offset.vector, + offsetKind, + }, + }) + } + const [updatedOffsets, deletedOffsets] = params + + updatedOffsets.forEach(sendSaveOffsetEvent) + deletedOffsets.forEach(sendSaveOffsetEvent) + } + } + + const reportSaveOffsetToRunRecord = ( + params: ReportSaveOffsetToRunRecordParams + ): void => { + if (robotType === FLEX_ROBOT_TYPE) { + console.error( + 'Flex should not report save offset to run record. Use reportSaveOffset instead.' + ) + } else { + doTrackEvent({ + name: ANALYTICS_LPC_SAVE_OFFSET_TO_RUN_RECORD, + properties: { + robotType, + runSession: runId, + wizardSession: lpcWizardSessionId, + ...params, + }, + }) + } + } + + // Offset conflicts are resolved outside the LPC wizard and therefore not tied to a wizard session. + const reportOffsetSourceResolution = ( + resolvedSource: ResolvedOffsetSource + ): void => { + if (robotType === OT2_ROBOT_TYPE) { + console.error('OT-2 should not report offset source resolution.') + } else { + doTrackEvent({ + name: ANALYTICS_LPC_OFFSET_SOURCE_RESOLUTION, + properties: { + robotType, + runSession: runId, + resolvedSource, + }, + }) + } + } + + return { + reportLaunchLpcWizard, + reportApplyOffsets, + reportSaveOffset, + reportSaveOffsetToRunRecord, + reportOffsetSourceResolution, + } +} diff --git a/app/src/organisms/LabwarePositionCheck/LPCFlows/useLPCFlows.ts b/app/src/organisms/LabwarePositionCheck/LPCFlows/useLPCFlows.ts index d9cf863e1675..95a78a75667d 100644 --- a/app/src/organisms/LabwarePositionCheck/LPCFlows/useLPCFlows.ts +++ b/app/src/organisms/LabwarePositionCheck/LPCFlows/useLPCFlows.ts @@ -7,23 +7,25 @@ import { } from '@opentrons/react-api-client' import { FLEX_ROBOT_TYPE } from '@opentrons/shared-data' +import { useInitLPCStore } from '/app/organisms/LabwarePositionCheck/LPCFlows/hooks/useInitLPCStore' +import { getRelevantOffsets } from '/app/organisms/LabwarePositionCheck/LPCFlows/utils' +import { useNotifyDeckConfigurationQuery } from '/app/resources/deck_configuration' import { useCreateTargetedMaintenanceRunMutation, useMostRecentCompletedAnalysis, useNotifyRunQuery, } from '/app/resources/runs' -import { useNotifyDeckConfigurationQuery } from '/app/resources/deck_configuration' -import { getRelevantOffsets } from '/app/organisms/LabwarePositionCheck/LPCFlows/utils' + import { - useLPCLabwareInfo, useCompatibleAnalysis, - useUpdateDeckConfig, useHandleClientAppliedOffsets, + useLPCLabwareInfo, + useMonitorMaintenanceRunForDeletion, useOffsetConflictTimestamp, + useUpdateDeckConfig, useUpdateLabware, - useMonitorMaintenanceRunForDeletion, } from './hooks' -import { useInitLPCStore } from '/app/organisms/LabwarePositionCheck/LPCFlows/hooks/useInitLPCStore' +import { useLPCAnalytics } from './useLPCAnalytics' import type { RobotType } from '@opentrons/shared-data' import type { @@ -60,6 +62,11 @@ export function useLPCFlows({ robotType, protocolName, }: UseLPCFlowsProps): UseLPCFlowsResult { + const analytics = useLPCAnalytics({ + robotType, + runId: runId ?? 'UNKNOWN', + }) + const [maintenanceRunId, setMaintenanceRunId] = useState(null) const [isLaunching, setIsLaunching] = useState(false) const [hasCreatedLPCRun, setHasCreatedLPCRun] = useState(false) @@ -149,6 +156,7 @@ export function useLPCFlows({ const launchLPC = (): Promise => { // Avoid accidentally creating several maintenance runs if a request is ongoing. if (!isLaunching) { + analytics.reportLaunchLpcWizard() setIsLaunching(true) const labwareOffsets = getRelevantOffsets( robotType, @@ -207,6 +215,7 @@ export function useLPCFlows({ protocolName, maintenanceRunId, ot2Offsets, + analytics, }, } : { diff --git a/app/src/organisms/LabwarePositionCheck/__fixtures__/mockLPCContentProps.ts b/app/src/organisms/LabwarePositionCheck/__fixtures__/mockLPCContentProps.ts index 80c1d49a23a3..4eea9240ba05 100644 --- a/app/src/organisms/LabwarePositionCheck/__fixtures__/mockLPCContentProps.ts +++ b/app/src/organisms/LabwarePositionCheck/__fixtures__/mockLPCContentProps.ts @@ -7,4 +7,5 @@ export const mockLPCContentProps: LPCWizardContentProps = { commandUtils: {} as any, proceedStep: vi.fn(), goBackLastStep: vi.fn(), + analytics: {} as any, } diff --git a/app/src/organisms/LabwarePositionCheck/hooks/useLPCCommands/__tests__/useLPCHeaderCommands.test.tsx b/app/src/organisms/LabwarePositionCheck/hooks/useLPCCommands/__tests__/useLPCHeaderCommands.test.tsx index 375242b2bed7..d5cb4c82969e 100644 --- a/app/src/organisms/LabwarePositionCheck/hooks/useLPCCommands/__tests__/useLPCHeaderCommands.test.tsx +++ b/app/src/organisms/LabwarePositionCheck/hooks/useLPCCommands/__tests__/useLPCHeaderCommands.test.tsx @@ -64,6 +64,7 @@ describe('useLPCHeaderCommands', () => { proceedStep: mockProceedStep, goBackLastStep: vi.fn(), runId: mockRunId, + analytics: {} as any, } store = createStore(vi.fn(), {}) diff --git a/app/src/organisms/LabwarePositionCheck/hooks/useLPCCommands/__tests__/useSaveWorkingOffsets.test.ts b/app/src/organisms/LabwarePositionCheck/hooks/useLPCCommands/__tests__/useSaveWorkingOffsets.test.ts index 0c48d01abd2a..aa34580e3256 100644 --- a/app/src/organisms/LabwarePositionCheck/hooks/useLPCCommands/__tests__/useSaveWorkingOffsets.test.ts +++ b/app/src/organisms/LabwarePositionCheck/hooks/useLPCCommands/__tests__/useSaveWorkingOffsets.test.ts @@ -16,9 +16,11 @@ vi.mock('/app/redux/protocol-runs') describe('useSaveWorkingOffsets', () => { const mockRunId = 'mock_run_id' + const mockReportSaveOffset = vi.fn() const mockProps = { runId: mockRunId, + analytics: { reportSaveOffset: mockReportSaveOffset }, } as any const mockCreateLabwareOffsets = vi.fn() diff --git a/app/src/organisms/LabwarePositionCheck/hooks/useLPCCommands/useSaveWorkingOffsets.ts b/app/src/organisms/LabwarePositionCheck/hooks/useLPCCommands/useSaveWorkingOffsets.ts index cf0030224dbe..98ccba96365d 100644 --- a/app/src/organisms/LabwarePositionCheck/hooks/useLPCCommands/useSaveWorkingOffsets.ts +++ b/app/src/organisms/LabwarePositionCheck/hooks/useLPCCommands/useSaveWorkingOffsets.ts @@ -20,6 +20,7 @@ export interface UseBuildOffsetsToApplyResult { export function useSaveWorkingOffsets({ runId, + analytics, }: UseLPCCommandChildProps): UseBuildOffsetsToApplyResult { const [isLoading, setIsLoading] = useState(false) @@ -58,6 +59,7 @@ export function useSaveWorkingOffsets({ ]) .then(res => { setIsLoading(false) + analytics.reportSaveOffset(res) return res }) diff --git a/app/src/organisms/LabwarePositionCheck/types/content.ts b/app/src/organisms/LabwarePositionCheck/types/content.ts index 7dd7ec301dc0..b4ae5cb51d8d 100644 --- a/app/src/organisms/LabwarePositionCheck/types/content.ts +++ b/app/src/organisms/LabwarePositionCheck/types/content.ts @@ -3,7 +3,10 @@ import type { LPCWizardFlexProps } from '/app/organisms/LabwarePositionCheck/LPC import type { LPCStep } from '/app/redux/protocol-runs' import type { UseLPCHeaderCommandsResult } from '/app/organisms/LabwarePositionCheck/hooks/useLPCCommands/useLPCHeaderCommands' -export type LPCWizardContentProps = Pick & { +export type LPCWizardContentProps = Pick< + LPCWizardFlexProps, + 'runId' | 'analytics' +> & { proceedStep: (toStep?: LPCStep) => void goBackLastStep: () => void commandUtils: UseLPCCommandsResult & { diff --git a/app/src/organisms/LegacyLabwarePositionCheck/LegacyLabwarePositionCheckComponent.tsx b/app/src/organisms/LegacyLabwarePositionCheck/LegacyLabwarePositionCheckComponent.tsx index 1fd0e3939a9b..2c57843045e9 100644 --- a/app/src/organisms/LegacyLabwarePositionCheck/LegacyLabwarePositionCheckComponent.tsx +++ b/app/src/organisms/LegacyLabwarePositionCheck/LegacyLabwarePositionCheckComponent.tsx @@ -1,10 +1,10 @@ -import { useState, useEffect, useReducer, useMemo } from 'react' -import { createPortal } from 'react-dom' -import isEqual from 'lodash/isEqual' -import { useSelector } from 'react-redux' -import { useTranslation } from 'react-i18next' - -import { useConditionalConfirm, ModalShell } from '@opentrons/components' +import type { + CommandData, + LabwareOffset, + LegacyLabwareOffsetCreateData, + LegacyLabwareOffsetLocation, +} from '@opentrons/api-client' +import { ModalShell, useConditionalConfirm } from '@opentrons/components' import { useAddLabwareOffsetToRunMutation, useCreateMaintenanceCommandMutation, @@ -16,28 +16,6 @@ import { getVectorSum, IDENTITY_VECTOR, } from '@opentrons/shared-data' - -import { getTopPortalEl } from '/app/App/portal' -// import { useTrackEvent } from '/app/redux/analytics' -import { IntroScreen } from './IntroScreen' -import { ExitConfirmation } from './ExitConfirmation' -import { CheckItem } from './CheckItem' -import { WizardHeader } from '/app/molecules/WizardHeader' -import { getIsOnDevice } from '/app/redux/config' -import { AttachProbe } from './AttachProbe' -import { DetachProbe } from './DetachProbe' -import { PickUpTip } from './PickUpTip' -import { ReturnTip } from './ReturnTip' -import { ResultsSummary } from './ResultsSummary' -import { FatalError } from './FatalErrorModal' -import { RobotMotionLoader } from './RobotMotionLoader' -import { - useChainMaintenanceCommands, - useNotifyCurrentMaintenanceRun, -} from '/app/resources/maintenance_runs' -import { getLabwarePositionCheckSteps } from './getLabwarePositionCheckSteps' -import { getCurrentOffsetForLabwareInLocation } from '/app/transformations/analysis' - import type { CompletedProtocolAnalysis, Coordinates, @@ -45,13 +23,32 @@ import type { DropTipCreateCommand, RobotType, } from '@opentrons/shared-data' -import type { - LegacyLabwareOffsetCreateData, - LabwareOffset, - CommandData, - LegacyLabwareOffsetLocation, -} from '@opentrons/api-client' +import { getTopPortalEl } from '/app/App/portal' import type { Axis, Sign, StepSize } from '/app/molecules/JogControls/types' +import { WizardHeader } from '/app/molecules/WizardHeader' +import type { LegacySupportLPCFlowsProps } from '/app/organisms/LabwarePositionCheck' +import { getIsOnDevice } from '/app/redux/config' +import { + useChainMaintenanceCommands, + useNotifyCurrentMaintenanceRun, +} from '/app/resources/maintenance_runs' +import { getCurrentOffsetForLabwareInLocation } from '/app/transformations/analysis' +import isEqual from 'lodash/isEqual' +import { useEffect, useMemo, useReducer, useState } from 'react' +import { createPortal } from 'react-dom' +import { useTranslation } from 'react-i18next' +import { useSelector } from 'react-redux' +import { AttachProbe } from './AttachProbe' +import { CheckItem } from './CheckItem' +import { DetachProbe } from './DetachProbe' +import { ExitConfirmation } from './ExitConfirmation' +import { FatalError } from './FatalErrorModal' +import { getLabwarePositionCheckSteps } from './getLabwarePositionCheckSteps' +import { IntroScreen } from './IntroScreen' +import { PickUpTip } from './PickUpTip' +import { ResultsSummary } from './ResultsSummary' +import { ReturnTip } from './ReturnTip' +import { RobotMotionLoader } from './RobotMotionLoader' import type { RegisterPositionAction, WorkingOffset } from './types' const RUN_REFETCH_INTERVAL = 5000 @@ -65,6 +62,7 @@ interface LegacyLabwarePositionCheckModalProps { onCloseClick: () => unknown protocolName: string isDeletingMaintenanceRun: boolean + analytics: LegacySupportLPCFlowsProps['analytics'] setMaintenanceRunId?: (id: string | null) => void caughtError?: Error } @@ -82,6 +80,7 @@ export const LegacyLabwarePositionCheckComponent = ( setMaintenanceRunId, protocolName, isDeletingMaintenanceRun, + analytics, } = props const { t } = useTranslation(['labware_position_check', 'shared']) const isOnDevice = useSelector(getIsOnDevice) @@ -245,6 +244,12 @@ export const LegacyLabwarePositionCheckComponent = ( }) .then(() => { setIsApplyingOffsets(false) + analytics.reportSaveOffsetToRunRecord({ + uri: definitionUri, + vector: newOffset, + locationDetails: location, + slot: location.slotName, + }) }) .catch((e: Error) => { setFatalError(`error applying labware offsets: ${e.message}`) diff --git a/app/src/organisms/LegacyLabwarePositionCheck/index.tsx b/app/src/organisms/LegacyLabwarePositionCheck/index.tsx index 0ff9749c5a57..774868e64530 100644 --- a/app/src/organisms/LegacyLabwarePositionCheck/index.tsx +++ b/app/src/organisms/LegacyLabwarePositionCheck/index.tsx @@ -1,18 +1,21 @@ import { Component } from 'react' -import { useLogger } from '../../logger' -import { LegacyLabwarePositionCheckComponent } from './LegacyLabwarePositionCheckComponent' -import { FatalErrorModal } from './FatalErrorModal' -import { getIsOnDevice } from '/app/redux/config' import { useSelector } from 'react-redux' import { FLEX_ROBOT_TYPE } from '@opentrons/shared-data' +import { getIsOnDevice } from '/app/redux/config' + +import { useLogger } from '../../logger' +import { FatalErrorModal } from './FatalErrorModal' +import { LegacyLabwarePositionCheckComponent } from './LegacyLabwarePositionCheckComponent' + import type { ErrorInfo, ReactNode } from 'react' +import type { LabwareOffset } from '@opentrons/api-client' import type { CompletedProtocolAnalysis, RobotType, } from '@opentrons/shared-data' -import type { LabwareOffset } from '@opentrons/api-client' +import type { LegacySupportLPCFlowsProps } from '/app/organisms/LabwarePositionCheck' interface LabwarePositionCheckModalProps { onCloseClick: () => void @@ -22,6 +25,7 @@ interface LabwarePositionCheckModalProps { existingOffsets: LabwareOffset[] mostRecentAnalysis: CompletedProtocolAnalysis | null protocolName: string + analytics: LegacySupportLPCFlowsProps['analytics'] setMaintenanceRunId?: (id: string | null) => void isDeletingMaintenanceRun: boolean caughtError?: Error diff --git a/app/src/organisms/ODD/ProtocolSetup/ProtocolSetupOffsets/SetupOffsetsHeader.tsx b/app/src/organisms/ODD/ProtocolSetup/ProtocolSetupOffsets/SetupOffsetsHeader.tsx index 5717e1980a3c..212edb201e8e 100644 --- a/app/src/organisms/ODD/ProtocolSetup/ProtocolSetupOffsets/SetupOffsetsHeader.tsx +++ b/app/src/organisms/ODD/ProtocolSetup/ProtocolSetupOffsets/SetupOffsetsHeader.tsx @@ -1,25 +1,30 @@ +import { useState } from 'react' +import { useTranslation } from 'react-i18next' +import { useDispatch, useSelector } from 'react-redux' +import { css } from 'styled-components' + import { Chip, Flex, JUSTIFY_SPACE_BETWEEN, SPACING, } from '@opentrons/components' -import { ODDBackButton } from '/app/molecules/ODDBackButton' +import { useAddLabwareOffsetToRunMutation } from '@opentrons/react-api-client' +import { FLEX_ROBOT_TYPE } from '@opentrons/shared-data' + import { SmallButton } from '/app/atoms/buttons' -import { useTranslation } from 'react-i18next' -import type { ProtocolSetupOffsetsProps } from '/app/organisms/ODD/ProtocolSetup' -import { css } from 'styled-components' +import { ODDBackButton } from '/app/molecules/ODDBackButton' +import { useLPCAnalytics } from '/app/organisms/LabwarePositionCheck' import { useToaster } from '/app/organisms/ToasterOven' -import { useDispatch, useSelector } from 'react-redux' import { appliedOffsetsToRun, selectIsAnyNecessaryDefaultOffsetMissing, selectLabwareOffsetsToAddToRun, } from '/app/redux/protocol-runs' -import { useAddLabwareOffsetToRunMutation } from '@opentrons/react-api-client' -import { useState } from 'react' import { useUpdateClientLPC } from '/app/resources/client_data' +import type { ProtocolSetupOffsetsProps } from '/app/organisms/ODD/ProtocolSetup' + export function SetupOffsetsHeader({ runId, setSetupScreen, @@ -28,6 +33,10 @@ export function SetupOffsetsHeader({ const { t } = useTranslation('protocol_setup') const dispatch = useDispatch() const { makeSnackbar } = useToaster() + const { reportApplyOffsets } = useLPCAnalytics({ + runId, + robotType: FLEX_ROBOT_TYPE, + }) const { createLabwareOffset } = useAddLabwareOffsetToRunMutation() const isNecessaryDefaultOffsetMissing = useSelector( selectIsAnyNecessaryDefaultOffsetMissing(runId) @@ -50,6 +59,7 @@ export function SetupOffsetsHeader({ ) .then(() => { dispatch(appliedOffsetsToRun(runId)) + reportApplyOffsets() updateWithRunId(runId) setSetupScreen('prepare to run') }) diff --git a/app/src/organisms/ODD/QuickTransferFlow/constants.ts b/app/src/organisms/ODD/QuickTransferFlow/constants.ts index 36342247b0ae..c741f0615494 100644 --- a/app/src/organisms/ODD/QuickTransferFlow/constants.ts +++ b/app/src/organisms/ODD/QuickTransferFlow/constants.ts @@ -40,22 +40,22 @@ export const QUICK_TRANSFER_INCOMPATIBLE_LABWARE = [ // these lists are generated by the util generateCompatibleLabwareForPipette in ./utils export const SINGLE_CHANNEL_COMPATIBLE_LABWARE = [ - 'opentrons/agilent_1_reservoir_290ml/2', + 'opentrons/agilent_1_reservoir_290ml/3', 'opentrons/appliedbiosystemsmicroamp_384_wellplate_40ul/2', 'opentrons/axygen_1_reservoir_90ml/2', 'opentrons/biorad_384_wellplate_50ul/3', 'opentrons/biorad_96_wellplate_200ul_pcr/3', 'opentrons/corning_12_wellplate_6.9ml_flat/3', 'opentrons/corning_24_wellplate_3.4ml_flat/3', - 'opentrons/corning_384_wellplate_112ul_flat/3', - 'opentrons/corning_48_wellplate_1.6ml_flat/3', + 'opentrons/corning_384_wellplate_112ul_flat/4', + 'opentrons/corning_48_wellplate_1.6ml_flat/4', 'opentrons/corning_6_wellplate_16.8ml_flat/3', 'opentrons/corning_96_wellplate_360ul_flat/3', 'opentrons/geb_96_tiprack_1000ul/1', 'opentrons/geb_96_tiprack_10ul/1', 'opentrons/nest_12_reservoir_15ml/2', 'opentrons/nest_1_reservoir_195ml/3', - 'opentrons/nest_1_reservoir_290ml/2', + 'opentrons/nest_1_reservoir_290ml/3', 'opentrons/nest_96_wellplate_100ul_pcr_full_skirt/3', 'opentrons/nest_96_wellplate_200ul_flat/3', 'opentrons/nest_96_wellplate_2ml_deep/3', @@ -64,7 +64,7 @@ export const SINGLE_CHANNEL_COMPATIBLE_LABWARE = [ 'opentrons/opentrons_15_tuberack_falcon_15ml_conical/2', 'opentrons/opentrons_15_tuberack_nest_15ml_conical/2', 'opentrons/opentrons_24_aluminumblock_generic_2ml_screwcap/3', - 'opentrons/opentrons_24_aluminumblock_nest_0.5ml_screwcap/2', + 'opentrons/opentrons_24_aluminumblock_nest_0.5ml_screwcap/3', 'opentrons/opentrons_24_aluminumblock_nest_1.5ml_screwcap/2', 'opentrons/opentrons_24_aluminumblock_nest_1.5ml_snapcap/2', 'opentrons/opentrons_24_aluminumblock_nest_2ml_screwcap/2', @@ -72,7 +72,7 @@ export const SINGLE_CHANNEL_COMPATIBLE_LABWARE = [ 'opentrons/opentrons_24_tuberack_eppendorf_1.5ml_safelock_snapcap/2', 'opentrons/opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap/2', 'opentrons/opentrons_24_tuberack_generic_2ml_screwcap/2', - 'opentrons/opentrons_24_tuberack_nest_0.5ml_screwcap/2', + 'opentrons/opentrons_24_tuberack_nest_0.5ml_screwcap/3', 'opentrons/opentrons_24_tuberack_nest_1.5ml_screwcap/2', 'opentrons/opentrons_24_tuberack_nest_1.5ml_snapcap/2', 'opentrons/opentrons_24_tuberack_nest_2ml_screwcap/2', @@ -80,7 +80,7 @@ export const SINGLE_CHANNEL_COMPATIBLE_LABWARE = [ 'opentrons/opentrons_6_tuberack_falcon_50ml_conical/2', 'opentrons/opentrons_6_tuberack_nest_50ml_conical/2', 'opentrons/opentrons_96_aluminumblock_biorad_wellplate_200ul/1', - 'opentrons/opentrons_96_aluminumblock_generic_pcr_strip_200ul/3', + 'opentrons/opentrons_96_aluminumblock_generic_pcr_strip_200ul/4', 'opentrons/opentrons_96_aluminumblock_nest_wellplate_100ul/1', 'opentrons/opentrons_96_deep_well_adapter_nest_wellplate_2ml_deep/1', 'opentrons/opentrons_96_filtertiprack_1000ul/1', @@ -103,28 +103,28 @@ export const SINGLE_CHANNEL_COMPATIBLE_LABWARE = [ 'opentrons/opentrons_universal_flat_adapter_corning_384_wellplate_112ul_flat/1', 'opentrons/thermoscientificnunc_96_wellplate_1300ul/2', 'opentrons/thermoscientificnunc_96_wellplate_2000ul/2', - 'opentrons/usascientific_12_reservoir_22ml/2', + 'opentrons/usascientific_12_reservoir_22ml/3', 'opentrons/usascientific_96_wellplate_2.4ml_deep/2', ] export const EIGHT_CHANNEL_COMPATIBLE_LABWARE = [ - 'opentrons/agilent_1_reservoir_290ml/2', + 'opentrons/agilent_1_reservoir_290ml/3', 'opentrons/appliedbiosystemsmicroamp_384_wellplate_40ul/2', 'opentrons/axygen_1_reservoir_90ml/2', 'opentrons/biorad_384_wellplate_50ul/3', 'opentrons/biorad_96_wellplate_200ul_pcr/3', - 'opentrons/corning_384_wellplate_112ul_flat/3', + 'opentrons/corning_384_wellplate_112ul_flat/4', 'opentrons/corning_96_wellplate_360ul_flat/3', 'opentrons/geb_96_tiprack_1000ul/1', 'opentrons/geb_96_tiprack_10ul/1', 'opentrons/nest_12_reservoir_15ml/2', 'opentrons/nest_1_reservoir_195ml/3', - 'opentrons/nest_1_reservoir_290ml/2', + 'opentrons/nest_1_reservoir_290ml/3', 'opentrons/nest_96_wellplate_100ul_pcr_full_skirt/3', 'opentrons/nest_96_wellplate_200ul_flat/3', 'opentrons/nest_96_wellplate_2ml_deep/3', 'opentrons/opentrons_96_aluminumblock_biorad_wellplate_200ul/1', - 'opentrons/opentrons_96_aluminumblock_generic_pcr_strip_200ul/3', + 'opentrons/opentrons_96_aluminumblock_generic_pcr_strip_200ul/4', 'opentrons/opentrons_96_aluminumblock_nest_wellplate_100ul/1', 'opentrons/opentrons_96_deep_well_adapter_nest_wellplate_2ml_deep/1', 'opentrons/opentrons_96_filtertiprack_1000ul/1', @@ -147,28 +147,28 @@ export const EIGHT_CHANNEL_COMPATIBLE_LABWARE = [ 'opentrons/opentrons_universal_flat_adapter_corning_384_wellplate_112ul_flat/1', 'opentrons/thermoscientificnunc_96_wellplate_1300ul/2', 'opentrons/thermoscientificnunc_96_wellplate_2000ul/2', - 'opentrons/usascientific_12_reservoir_22ml/2', + 'opentrons/usascientific_12_reservoir_22ml/3', 'opentrons/usascientific_96_wellplate_2.4ml_deep/2', ] export const NINETY_SIX_CHANNEL_COMPATIBLE_LABWARE = [ - 'opentrons/agilent_1_reservoir_290ml/2', + 'opentrons/agilent_1_reservoir_290ml/3', 'opentrons/appliedbiosystemsmicroamp_384_wellplate_40ul/2', 'opentrons/axygen_1_reservoir_90ml/2', 'opentrons/biorad_384_wellplate_50ul/3', 'opentrons/biorad_96_wellplate_200ul_pcr/3', - 'opentrons/corning_384_wellplate_112ul_flat/3', + 'opentrons/corning_384_wellplate_112ul_flat/4', 'opentrons/corning_96_wellplate_360ul_flat/3', 'opentrons/geb_96_tiprack_1000ul/1', 'opentrons/geb_96_tiprack_10ul/1', 'opentrons/nest_12_reservoir_15ml/2', 'opentrons/nest_1_reservoir_195ml/3', - 'opentrons/nest_1_reservoir_290ml/2', + 'opentrons/nest_1_reservoir_290ml/3', 'opentrons/nest_96_wellplate_100ul_pcr_full_skirt/3', 'opentrons/nest_96_wellplate_200ul_flat/3', 'opentrons/nest_96_wellplate_2ml_deep/3', 'opentrons/opentrons_96_aluminumblock_biorad_wellplate_200ul/1', - 'opentrons/opentrons_96_aluminumblock_generic_pcr_strip_200ul/3', + 'opentrons/opentrons_96_aluminumblock_generic_pcr_strip_200ul/4', 'opentrons/opentrons_96_aluminumblock_nest_wellplate_100ul/1', 'opentrons/opentrons_96_deep_well_adapter_nest_wellplate_2ml_deep/1', 'opentrons/opentrons_96_filtertiprack_1000ul/1', @@ -191,6 +191,6 @@ export const NINETY_SIX_CHANNEL_COMPATIBLE_LABWARE = [ 'opentrons/opentrons_universal_flat_adapter_corning_384_wellplate_112ul_flat/1', 'opentrons/thermoscientificnunc_96_wellplate_1300ul/2', 'opentrons/thermoscientificnunc_96_wellplate_2000ul/2', - 'opentrons/usascientific_12_reservoir_22ml/2', + 'opentrons/usascientific_12_reservoir_22ml/3', 'opentrons/usascientific_96_wellplate_2.4ml_deep/2', ] diff --git a/app/src/redux/analytics/constants.ts b/app/src/redux/analytics/constants.ts index 945d37c4681f..51bb37664b29 100644 --- a/app/src/redux/analytics/constants.ts +++ b/app/src/redux/analytics/constants.ts @@ -121,6 +121,13 @@ export const ANALYTICS_LANGUAGE_UPDATED_DESKTOP_APP_SETTINGS: 'languageUpdatedDe */ export const ANALYTICS_LPC_ANALYSIS_KIND: 'lpcAnalysisKind' = 'lpcAnalysisKind' +export const ANALYTICS_LPC_LAUNCH: 'lpcLaunch' = 'lpcLaunch' +export const ANALYTICS_LPC_APPLY_OFFSETS: 'lpcApplyOffsets' = 'lpcApplyOffsets' +export const ANALYTICS_LPC_SAVE_OFFSET: 'lpcSaveOffset' = 'lpcSaveOffset' +export const ANALYTICS_LPC_SAVE_OFFSET_TO_RUN_RECORD: 'lpcSaveOffsetToRunRecord' = + 'lpcSaveOffsetToRunRecord' +export const ANALYTICS_LPC_OFFSET_SOURCE_RESOLUTION: 'lpcOffsetSourceResolution' = + 'lpcOffsetSourceResolution' /** * Module Actions Analytics diff --git a/app/src/redux/protocol-runs/types/lpc/labware.ts b/app/src/redux/protocol-runs/types/lpc/labware.ts index 7e9cec221918..402d30b784af 100644 --- a/app/src/redux/protocol-runs/types/lpc/labware.ts +++ b/app/src/redux/protocol-runs/types/lpc/labware.ts @@ -36,6 +36,11 @@ export type OffsetSources = | typeof OFFSETS_SOURCE_INITIALIZING | typeof OFFSETS_PENDING_SELECTION +export type ResolvedOffsetSource = Extract< + OffsetSources, + typeof OFFSETS_FROM_DATABASE | typeof OFFSETS_FROM_RUN_RECORD +> + export interface ConflictTimestampInfo { isInitialized: boolean timestamp: string | null diff --git a/g-code-testing/Makefile b/g-code-testing/Makefile index f4896ba3a189..a594a3f0cc7b 100644 --- a/g-code-testing/Makefile +++ b/g-code-testing/Makefile @@ -30,7 +30,7 @@ clean: .PHONY: teardown teardown: - $(pipenv) --rm + -$(pipenv) --rm .PHONY: test test: diff --git a/hardware-testing/Makefile b/hardware-testing/Makefile index b8db8ee31f00..dfc0d5a5fbde 100755 --- a/hardware-testing/Makefile +++ b/hardware-testing/Makefile @@ -55,7 +55,7 @@ setup: .PHONY: teardown teardown: - $(pipenv) --rm + -$(pipenv) --rm .PHONY: clean clean: @@ -229,7 +229,12 @@ push-no-restart-ot3: sdist Pipfile.lock $(call push-python-sdist,$(host),$(ssh_key),$(ssh_opts),$(sdist_file),/opt/opentrons-robot-server,"hardware_testing",,,$(version_file)) .PHONY: push-ot3 -push-ot3: push-no-restart-ot3 push-plot-webpage-ot3 push-description-ot3 push-labware-ot3 +push-ot3: + $(MAKE) push-no-restart-ot3 + $(MAKE) push-plot-webpage-ot3 + $(MAKE) push-description-ot3 + $(MAKE) push-labware-ot3 + cd ../ && $(MAKE) -C shared-data push-ot3 .PHONE: open-dev-app open-dev-app: @@ -280,27 +285,21 @@ echo "Restarting robot server" &&\ systemctl restart opentrons-robot-server" endef -.PHONY: sync-sw-ot3 -sync-sw-ot3: push-ot3 - cd .. && $(MAKE) push-ot3 host=$(host) +.PHONY: push-ot3-factory +push-ot3-factory: push-ot3 + cd ../ && $(MAKE) push-ot3 host=$(host) + $(MAKE) push-ot3 + +.PHONY: push-ot3-scripts +push-ot3-scripts: push-ot3 + $(MAKE) -C hardware-testing push-ot3 .PHONY: push-ot3-fixture push-ot3-fixture: $(MAKE) apply-patches-fixture - -$(MAKE) sync-sw-ot3 + -$(MAKE) push-ot3-factory $(MAKE) remove-patches-fixture - -.PHONY: push-ot3-lld -push-ot3-lld: - $(MAKE) apply-patches-fixture - cd ../ && $(MAKE) -C shared-data push-ot3 - cd ../ && $(MAKE) -C hardware push-ot3 - cd ../ && $(MAKE) -C hardware_testing push-ot3 - cd ../ && $(MAKE) -C api push-ot3 - $(MAKE) remove-patches-fixture - - .PHONY: apply-patches-fixture apply-patches-fixture: cd ../ && git apply ./hardware-testing/fixture_overrides/*.patch --allow-empty @@ -315,14 +314,7 @@ sync-fw-ot3: $(call push-and-update-fw,$(host),$(ssh_key),$(ssh_opts),$(zip),$(notdir $(zip))) .PHONY: sync-ot3 -sync-ot3: sync-sw-ot3 sync-fw-ot3 - -.PHONY: push-ot3-gravimetric -push-ot3-gravimetric: - $(MAKE) push-ot3 - $(MAKE) apply-patches-gravimetric - cd ../ && $(MAKE) -C shared-data push-ot3 - $(MAKE) remove-patches-gravimetric +sync-ot3: push-ot3-factory sync-fw-ot3 .PHONY: apply-patches-gravimetric apply-patches-gravimetric: diff --git a/hardware-testing/hardware_testing/gravimetric/helpers.py b/hardware-testing/hardware_testing/gravimetric/helpers.py index a5af737b87eb..3b9c54ffe113 100644 --- a/hardware-testing/hardware_testing/gravimetric/helpers.py +++ b/hardware-testing/hardware_testing/gravimetric/helpers.py @@ -1,4 +1,5 @@ """Opentrons helper methods.""" + import asyncio from random import random, randint from types import MethodType @@ -18,6 +19,7 @@ from opentrons.protocol_api._types import OffDeckType from opentrons.protocol_api._nozzle_layout import NozzleLayout from opentrons.protocols.types import APIVersion +from opentrons.protocols.api_support.deck_type import NoTrashDefinedError from opentrons.hardware_control.thread_manager import ThreadManager from opentrons.hardware_control.types import OT3Mount, Axis, HardwareFeatureFlags from opentrons.hardware_control.ot3api import OT3API @@ -365,22 +367,10 @@ def _drop_tip( if return_tip: pipette.return_tip(home_after=False) else: - if offset is not None: - # we don't actually need the offset, if this is an 8 channel we always center channel - # a1 over the back of the trash - trash_well = pipette.trash_container.well(0) # type: ignore[union-attr] - trash_container = trash_well.center().move( - Point(0, trash_well.width / 2, 0) # type: ignore[union-attr, operator] - ) - pipette.drop_tip( - trash_container, - home_after=False, - ) - else: - pipette.drop_tip(home_after=False) + pipette.drop_tip(home_after=False) if minimum_z_height > 0: cur_location = pipette._get_last_location_by_api_version() - if cur_location is not None: + if isinstance(cur_location, Location): pipette.move_to(cur_location.move(Point(0, 0, minimum_z_height))) @@ -439,7 +429,6 @@ def _load_pipette( if pipette_mount in loaded_pipettes.keys(): return loaded_pipettes[pipette_mount] - trash = ctx.load_labware("opentrons_1_trash_3200ml_fixed", "A3") pipette = ctx.load_instrument(pip_name, pipette_mount) loaded_pipettes = ctx.loaded_instruments assert pipette.max_volume == pipette_volume, ( @@ -462,7 +451,12 @@ def _load_pipette( pipette_movement_conflict.check_safe_for_pipette_movement = ( _override_check_safe_for_pipette_movement ) - pipette.trash_container = trash + try: + trash = pipette.trash_container + except NoTrashDefinedError: + trash = ctx.load_trash_bin("A3") + pipette.trash_container = trash + pass return pipette diff --git a/hardware-testing/hardware_testing/gravimetric/liquid_class/defaults.py b/hardware-testing/hardware_testing/gravimetric/liquid_class/defaults.py index e9fc477446fe..c7d4065daf94 100644 --- a/hardware-testing/hardware_testing/gravimetric/liquid_class/defaults.py +++ b/hardware-testing/hardware_testing/gravimetric/liquid_class/defaults.py @@ -11,8 +11,6 @@ _default_submerge_aspirate_mm = 1.5 _p50_multi_submerge_aspirate_mm = 1.5 _default_submerge_dispense_mm = 1.5 -_p200_default_submerge_aspirate_mm = 2.5 -_p200_default_submerge_dispense_mm = 3.0 _default_retract_mm = 5.0 _default_retract_discontinuity = 20 @@ -31,32 +29,29 @@ 1: DispenseSettings( # 1uL z_submerge_depth=_default_submerge_dispense_mm, plunger_acceleration=_default_accel_p50_ul_sec_sec, - plunger_flow_rate=57, # ul/sec + plunger_flow_rate=22, # ul/sec delay=_default_dispense_delay_seconds, z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, - blow_out_submerged=7, - blow_out_flow_rate=57, + blow_out_submerged=3.5, ), 10: DispenseSettings( # 10uL z_submerge_depth=_default_submerge_dispense_mm, plunger_acceleration=_default_accel_p50_ul_sec_sec, - plunger_flow_rate=57, # ul/sec + plunger_flow_rate=22, # ul/sec delay=_default_dispense_delay_seconds, z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, - blow_out_submerged=2, - blow_out_flow_rate=57, + blow_out_submerged=3.5, ), 20: DispenseSettings( # 20uL z_submerge_depth=_default_submerge_dispense_mm, plunger_acceleration=_default_accel_p50_ul_sec_sec, - plunger_flow_rate=57, # ul/sec + plunger_flow_rate=22, # ul/sec delay=_default_dispense_delay_seconds, z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, - blow_out_submerged=2, - blow_out_flow_rate=57, + blow_out_submerged=3.5, ), }, 50: { # T50 @@ -68,7 +63,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=7, - blow_out_flow_rate=57, ), 10: DispenseSettings( # 10uL z_submerge_depth=_default_submerge_dispense_mm, @@ -78,7 +72,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=2, - blow_out_flow_rate=57, ), 50: DispenseSettings( # 50uL z_submerge_depth=_default_submerge_dispense_mm, @@ -88,7 +81,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=2, - blow_out_flow_rate=57, ), }, }, @@ -102,7 +94,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=5, - blow_out_flow_rate=318, ), 10: DispenseSettings( # 10uL z_submerge_depth=_default_submerge_dispense_mm, @@ -112,7 +103,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=5, - blow_out_flow_rate=418, ), 50: DispenseSettings( # 10uL z_submerge_depth=_default_submerge_dispense_mm, @@ -122,7 +112,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=5, - blow_out_flow_rate=418, ), }, 200: { # T200 @@ -134,7 +123,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=5, - blow_out_flow_rate=716, ), 50: DispenseSettings( # 50uL z_submerge_depth=_default_submerge_dispense_mm, @@ -144,7 +132,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=5, - blow_out_flow_rate=716, ), 200: DispenseSettings( # 200uL z_submerge_depth=_default_submerge_dispense_mm, @@ -154,7 +141,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=5, - blow_out_flow_rate=716, ), }, 1000: { # T1000 @@ -166,7 +152,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=20, - blow_out_flow_rate=160, ), 100: DispenseSettings( # 100uL z_submerge_depth=_default_submerge_dispense_mm, @@ -176,7 +161,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=20, - blow_out_flow_rate=716, ), 1000: DispenseSettings( # 1000uL z_submerge_depth=_default_submerge_dispense_mm, @@ -186,7 +170,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=20, - blow_out_flow_rate=716, ), }, }, @@ -202,7 +185,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=6, - blow_out_flow_rate=57, ), 10: DispenseSettings( # 5uL z_submerge_depth=_default_submerge_dispense_mm, @@ -212,7 +194,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=2, - blow_out_flow_rate=57, ), 50: DispenseSettings( # 50uL z_submerge_depth=_default_submerge_dispense_mm, @@ -222,7 +203,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=2, - blow_out_flow_rate=57, ), }, }, @@ -236,7 +216,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=5, - blow_out_flow_rate=318, ), 10: DispenseSettings( # 10uL z_submerge_depth=_default_submerge_dispense_mm, @@ -246,7 +225,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=5, - blow_out_flow_rate=478, ), 50: DispenseSettings( # 50uL z_submerge_depth=_default_submerge_dispense_mm, @@ -256,7 +234,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=5, - blow_out_flow_rate=478, ), }, 200: { # T200 @@ -268,7 +245,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=5, - blow_out_flow_rate=716, ), 50: DispenseSettings( # 50uL z_submerge_depth=_default_submerge_dispense_mm, @@ -278,7 +254,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=5, - blow_out_flow_rate=716, ), 200: DispenseSettings( # 200uL z_submerge_depth=_default_submerge_dispense_mm, @@ -288,7 +263,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=5, - blow_out_flow_rate=716, ), }, 1000: { # T1000 @@ -300,7 +274,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=20, - blow_out_flow_rate=160, ), 100: DispenseSettings( # 100uL z_submerge_depth=_default_submerge_dispense_mm, @@ -310,7 +283,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=20, - blow_out_flow_rate=716, ), 1000: DispenseSettings( # 1000uL z_submerge_depth=_default_submerge_dispense_mm, @@ -320,7 +292,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=20, - blow_out_flow_rate=716, ), }, }, @@ -336,7 +307,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=5, - blow_out_flow_rate=80, ), 5: DispenseSettings( # 10uL z_submerge_depth=_default_submerge_dispense_mm, @@ -346,7 +316,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=5, - blow_out_flow_rate=80, ), 20: DispenseSettings( # 50uL z_submerge_depth=_default_submerge_dispense_mm, @@ -356,7 +325,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=5, - blow_out_flow_rate=80, ), }, 50: { # T50 @@ -368,7 +336,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=5, - blow_out_flow_rate=80, ), 10: DispenseSettings( # 10uL z_submerge_depth=_default_submerge_dispense_mm, @@ -378,7 +345,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=5, - blow_out_flow_rate=80, ), 50: DispenseSettings( # 50uL z_submerge_depth=_default_submerge_dispense_mm, @@ -388,7 +354,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=5, - blow_out_flow_rate=80, ), }, 200: { # T200 @@ -400,7 +365,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=5, - blow_out_flow_rate=80, ), 50: DispenseSettings( # 50uL z_submerge_depth=_default_submerge_dispense_mm, @@ -410,7 +374,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=5, - blow_out_flow_rate=80, ), 200: DispenseSettings( # 200uL z_submerge_depth=_default_submerge_dispense_mm, @@ -420,7 +383,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=5, - blow_out_flow_rate=80, ), }, 1000: { # T1000 @@ -432,7 +394,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=20, - blow_out_flow_rate=80, ), 100: DispenseSettings( # 100uL z_submerge_depth=_default_submerge_dispense_mm, @@ -442,7 +403,6 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=20, - blow_out_flow_rate=80, ), 1000: DispenseSettings( # 1000uL z_submerge_depth=_default_submerge_dispense_mm, @@ -452,105 +412,95 @@ z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=20, - blow_out_flow_rate=80, ), }, }, 200: { # P200 20: { # T20 1: DispenseSettings( # 5uL - z_submerge_depth=_p200_default_submerge_dispense_mm, + z_submerge_depth=_default_submerge_dispense_mm, plunger_acceleration=_default_accel_96ch_ul_sec_sec, plunger_flow_rate=6.5, # ul/sec delay=_default_dispense_delay_seconds, z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=3.5, - blow_out_flow_rate=22, ), 5: DispenseSettings( # 10uL - z_submerge_depth=_p200_default_submerge_dispense_mm, + z_submerge_depth=_default_submerge_dispense_mm, plunger_acceleration=_default_accel_96ch_ul_sec_sec, plunger_flow_rate=6.5, # ul/sec delay=_default_dispense_delay_seconds, z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=7, - blow_out_flow_rate=5, ), 20: DispenseSettings( # 20uL - z_submerge_depth=_p200_default_submerge_dispense_mm, + z_submerge_depth=_default_submerge_dispense_mm, plunger_acceleration=_default_accel_96ch_ul_sec_sec, plunger_flow_rate=6.5, # ul/sec delay=_default_dispense_delay_seconds, z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=7, - blow_out_flow_rate=5, ), }, 50: { # T50 5: DispenseSettings( # 5uL - z_submerge_depth=_p200_default_submerge_dispense_mm, + z_submerge_depth=_default_submerge_dispense_mm, plunger_acceleration=_default_accel_96ch_ul_sec_sec, - plunger_flow_rate=6.5, # ul/sec + plunger_flow_rate=80, # ul/sec delay=_default_dispense_delay_seconds, z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=5, - blow_out_flow_rate=10, ), 10: DispenseSettings( # 10uL - z_submerge_depth=_p200_default_submerge_dispense_mm, + z_submerge_depth=_default_submerge_dispense_mm, plunger_acceleration=_default_accel_96ch_ul_sec_sec, - plunger_flow_rate=6.5, # ul/sec + plunger_flow_rate=80, # ul/sec delay=_default_dispense_delay_seconds, z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=5, - blow_out_flow_rate=10, ), 50: DispenseSettings( # 50uL - z_submerge_depth=_p200_default_submerge_dispense_mm, + z_submerge_depth=_default_submerge_dispense_mm, plunger_acceleration=_default_accel_96ch_ul_sec_sec, - plunger_flow_rate=6.5, # ul/sec + plunger_flow_rate=80, # ul/sec delay=_default_dispense_delay_seconds, z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, blow_out_submerged=5, - blow_out_flow_rate=10, ), }, 200: { # T200 5: DispenseSettings( # 5uL - z_submerge_depth=_p200_default_submerge_dispense_mm, + z_submerge_depth=_default_submerge_dispense_mm, plunger_acceleration=_default_accel_96ch_ul_sec_sec, - plunger_flow_rate=15, # ul/sec + plunger_flow_rate=80, # ul/sec delay=_default_dispense_delay_seconds, z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, - blow_out_submerged=15, - blow_out_flow_rate=10, + blow_out_submerged=5, ), 50: DispenseSettings( # 50uL - z_submerge_depth=_p200_default_submerge_dispense_mm, + z_submerge_depth=_default_submerge_dispense_mm, plunger_acceleration=_default_accel_96ch_ul_sec_sec, - plunger_flow_rate=15, # ul/sec + plunger_flow_rate=80, # ul/sec delay=_default_dispense_delay_seconds, z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, - blow_out_submerged=15, - blow_out_flow_rate=10, + blow_out_submerged=5, ), 200: DispenseSettings( # 200uL - z_submerge_depth=_p200_default_submerge_dispense_mm, + z_submerge_depth=_default_submerge_dispense_mm, plunger_acceleration=_default_accel_96ch_ul_sec_sec, - plunger_flow_rate=15, # ul/sec + plunger_flow_rate=80, # ul/sec delay=_default_dispense_delay_seconds, z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, - blow_out_submerged=15, - blow_out_flow_rate=10, + blow_out_submerged=5, ), }, }, @@ -564,7 +514,7 @@ 1: AspirateSettings( # 1uL z_submerge_depth=_default_submerge_aspirate_mm, plunger_acceleration=_default_accel_p50_ul_sec_sec, - plunger_flow_rate=35, # ul/sec + plunger_flow_rate=22, # ul/sec delay=_default_aspirate_delay_seconds, z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, @@ -574,7 +524,7 @@ 10: AspirateSettings( # 10uL z_submerge_depth=_default_submerge_aspirate_mm, plunger_acceleration=_default_accel_p50_ul_sec_sec, - plunger_flow_rate=23.5, # ul/sec + plunger_flow_rate=22, # ul/sec delay=_default_aspirate_delay_seconds, z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, @@ -584,7 +534,7 @@ 20: AspirateSettings( # 20uL z_submerge_depth=_default_submerge_aspirate_mm, plunger_acceleration=_default_accel_p50_ul_sec_sec, - plunger_flow_rate=35, # ul/sec + plunger_flow_rate=22, # ul/sec delay=_default_aspirate_delay_seconds, z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, @@ -992,7 +942,7 @@ 200: { # P200 20: { # T20 1: AspirateSettings( # 5uL - z_submerge_depth=_p200_default_submerge_aspirate_mm, + z_submerge_depth=_default_submerge_aspirate_mm, plunger_acceleration=_default_accel_96ch_ul_sec_sec, plunger_flow_rate=6.5, # ul/sec delay=_default_aspirate_delay_seconds, @@ -1002,7 +952,7 @@ trailing_air_gap=0.1, ), 5: AspirateSettings( # 10uL - z_submerge_depth=_p200_default_submerge_aspirate_mm, + z_submerge_depth=_default_submerge_aspirate_mm, plunger_acceleration=_default_accel_96ch_ul_sec_sec, plunger_flow_rate=6.5, # ul/sec delay=_default_aspirate_delay_seconds, @@ -1012,7 +962,7 @@ trailing_air_gap=0.1, ), 20: AspirateSettings( # 20uL - z_submerge_depth=_p200_default_submerge_aspirate_mm, + z_submerge_depth=_default_submerge_aspirate_mm, plunger_acceleration=_default_accel_96ch_ul_sec_sec, plunger_flow_rate=6.5, # ul/sec delay=_default_aspirate_delay_seconds, @@ -1024,7 +974,7 @@ }, 50: { # T50 5: AspirateSettings( # 5uL - z_submerge_depth=_p200_default_submerge_aspirate_mm, + z_submerge_depth=_default_submerge_aspirate_mm, plunger_acceleration=_default_accel_96ch_ul_sec_sec, plunger_flow_rate=6.5, # ul/sec delay=_default_aspirate_delay_seconds, @@ -1034,7 +984,7 @@ trailing_air_gap=0.1, ), 10: AspirateSettings( # 10uL - z_submerge_depth=_p200_default_submerge_aspirate_mm, + z_submerge_depth=_default_submerge_aspirate_mm, plunger_acceleration=_default_accel_96ch_ul_sec_sec, plunger_flow_rate=6.5, # ul/sec delay=_default_aspirate_delay_seconds, @@ -1044,7 +994,7 @@ trailing_air_gap=0.1, ), 50: AspirateSettings( # 50uL - z_submerge_depth=_p200_default_submerge_aspirate_mm, + z_submerge_depth=_default_submerge_aspirate_mm, plunger_acceleration=_default_accel_96ch_ul_sec_sec, plunger_flow_rate=6.5, # ul/sec delay=_default_aspirate_delay_seconds, @@ -1056,9 +1006,9 @@ }, 200: { # T200 5: AspirateSettings( # 5uL - z_submerge_depth=_p200_default_submerge_aspirate_mm, + z_submerge_depth=_default_submerge_aspirate_mm, plunger_acceleration=_default_accel_96ch_ul_sec_sec, - plunger_flow_rate=15, # ul/sec + plunger_flow_rate=80, # ul/sec delay=_default_aspirate_delay_seconds, z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, @@ -1066,9 +1016,9 @@ trailing_air_gap=2, ), 50: AspirateSettings( # 50uL - z_submerge_depth=_p200_default_submerge_aspirate_mm, + z_submerge_depth=_default_submerge_aspirate_mm, plunger_acceleration=_default_accel_96ch_ul_sec_sec, - plunger_flow_rate=15, # ul/sec + plunger_flow_rate=80, # ul/sec delay=_default_aspirate_delay_seconds, z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, @@ -1076,9 +1026,9 @@ trailing_air_gap=3.5, ), 200: AspirateSettings( # 200uL - z_submerge_depth=_p200_default_submerge_aspirate_mm, + z_submerge_depth=_default_submerge_aspirate_mm, plunger_acceleration=_default_accel_96ch_ul_sec_sec, - plunger_flow_rate=15, # ul/sec + plunger_flow_rate=80, # ul/sec delay=_default_aspirate_delay_seconds, z_retract_discontinuity=_default_retract_discontinuity, z_retract_height=_default_retract_mm, diff --git a/hardware-testing/hardware_testing/gravimetric/liquid_class/definition.py b/hardware-testing/hardware_testing/gravimetric/liquid_class/definition.py index 9f03efe759a5..229d16c4b1ac 100644 --- a/hardware-testing/hardware_testing/gravimetric/liquid_class/definition.py +++ b/hardware-testing/hardware_testing/gravimetric/liquid_class/definition.py @@ -27,7 +27,6 @@ class DispenseSettings(LiquidSettings): """Dispense Settings.""" blow_out_submerged: float # microliters - blow_out_flow_rate: float # ul/s @dataclass @@ -91,8 +90,5 @@ def _interp(lower: float, upper: float) -> float: blow_out_submerged=_interp( a.dispense.blow_out_submerged, b.dispense.blow_out_submerged ), - blow_out_flow_rate=_interp( - a.dispense.blow_out_flow_rate, b.dispense.blow_out_flow_rate - ), ), ) diff --git a/hardware-testing/hardware_testing/gravimetric/liquid_class/pipetting.py b/hardware-testing/hardware_testing/gravimetric/liquid_class/pipetting.py index 81fb1180580a..36c802a55e41 100644 --- a/hardware-testing/hardware_testing/gravimetric/liquid_class/pipetting.py +++ b/hardware-testing/hardware_testing/gravimetric/liquid_class/pipetting.py @@ -313,7 +313,7 @@ def _dispense_on_retract() -> None: # PHASE 1: APPROACH pipette.flow_rate.aspirate = liquid_class.aspirate.plunger_flow_rate pipette.flow_rate.dispense = liquid_class.dispense.plunger_flow_rate - pipette.flow_rate.blow_out = liquid_class.dispense.blow_out_flow_rate + pipette.flow_rate.blow_out = liquid_class.dispense.plunger_flow_rate pipette.move_to(well.bottom(approach_mm).move(channel_offset)) _aspirate_on_approach() if aspirate or mix else _dispense_on_approach() diff --git a/hardware-testing/hardware_testing/gravimetric/overrides/hardware.patch b/hardware-testing/hardware_testing/gravimetric/overrides/hardware.patch deleted file mode 100644 index e69de29bb2d1..000000000000 diff --git a/hardware-testing/hardware_testing/gravimetric/overrides/robot-server.patch b/hardware-testing/hardware_testing/gravimetric/overrides/robot-server.patch deleted file mode 100644 index e69de29bb2d1..000000000000 diff --git a/hardware-testing/hardware_testing/gravimetric/workarounds.py b/hardware-testing/hardware_testing/gravimetric/workarounds.py index 116defac0fe1..cbe41fb278b4 100644 --- a/hardware-testing/hardware_testing/gravimetric/workarounds.py +++ b/hardware-testing/hardware_testing/gravimetric/workarounds.py @@ -83,17 +83,25 @@ def get_latest_offset_for_labware( labware_offsets: List[LabwareOffset], labware: Labware ) -> Point: """Get latest offset for labware.""" + lw_uri = str(labware.uri) def _is_offset_present(_o: LabwareOffset) -> bool: _v = _o.vector return _v.x != 0 or _v.y != 0 or _v.z != 0 def _offset_applies_to_labware(_o: LabwareOffset) -> bool: - if ( - _o.location.slotName.value != labware.parent - or _o.definitionUri != labware.uri - ): + if _o.location.slotName.value != labware.parent: return False + offset_uri = _o.definitionUri + if offset_uri[0:-1] != lw_uri[0:-1]: # drop schema version number + # ui.print_info(f"{_o} does not apply {offset_uri} != {lw_uri}") + # NOTE: we're allowing tip-rack adapters to share offsets + # because it doesn't make a difference which volume + # of tip it holds + o_is_adp = "custom_beta" in offset_uri and "_adp" in offset_uri + l_is_adp = "custom_beta" in lw_uri and "_adp" in lw_uri + if not o_is_adp or not l_is_adp: + return False return _is_offset_present(_o) lw_offsets = [ diff --git a/hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py b/hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py index 981c070db6d2..f13e0273aa2a 100644 --- a/hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py +++ b/hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py @@ -640,8 +640,8 @@ async def move_tip_motor_relative_ot3( current_gear_pos = api._backend.gear_motor_position or 0.0 target_pos = current_gear_pos + distance - if speed is not None and distance < 0: - speed *= -1 + # if speed is not None and distance < 0: + # speed *= -1 _move_coro = api._backend.tip_action(current_gear_pos, [(target_pos, speed or 400)]) if motor_current is None: @@ -1114,8 +1114,14 @@ def get_pipette_serial_ot3(pipette: Union[PipetteOT2, PipetteOT3]) -> str: """Get pipette serial number.""" model = pipette.model volume = model.split("_")[0].replace("p", "") - volume = "1K" if volume == "1000" else volume + # volume = "1K" if volume == "1000" else volume + if volume == "1000": + volume = "1K" + elif volume == "200": + volume = "2H" channels = "S" if "single" in model else "M" + if "96" in model: + channels = "H" version = model.split("v")[-1].strip().replace(".", "") assert pipette.pipette_id, f"no pipette_id found for pipette: {pipette}" if "P" in pipette.pipette_id: diff --git a/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_capacitance.py b/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_capacitance.py index 2a431ecaf9c5..f4189bfb4abb 100644 --- a/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_capacitance.py +++ b/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_capacitance.py @@ -45,6 +45,8 @@ ), } +PROBE_POSITIONS = [InstrumentProbeType.PRIMARY, InstrumentProbeType.SECONDARY] + def _get_test_tag(probe: InstrumentProbeType, reading: str) -> str: return f"{probe.name.lower()}-{reading}" @@ -53,7 +55,7 @@ def _get_test_tag(probe: InstrumentProbeType, reading: str) -> str: def build_csv_lines() -> List[Union[CSVLine, CSVLineRepeating]]: """Build CSV Lines.""" lines: List[Union[CSVLine, CSVLineRepeating]] = list() - for p in InstrumentProbeType: + for p in PROBE_POSITIONS: for r in PROBE_READINGS: lines.append(CSVLine(_get_test_tag(p, r), [float, CSVResult])) if "mm" in r: @@ -118,7 +120,7 @@ async def run( if not api.is_simulator: ui.get_user_ready("REMOVE everything from the deck") - for probe in InstrumentProbeType: + for probe in PROBE_POSITIONS: # store the thresolds (for reference) for k in THRESHOLDS.keys(): report(section, _get_test_tag(probe, f"{k}-min"), [THRESHOLDS[k][0]]) diff --git a/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_droplets.py b/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_droplets.py index 578e0d6ae42d..93f97bab96f2 100644 --- a/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_droplets.py +++ b/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_droplets.py @@ -100,14 +100,14 @@ def get_tiprack_partial_nominal(pipette: Literal[200, 1000]) -> Point: async def aspirate_and_wait( - api: OT3API, reservoir: Point, pipette: Literal[200, 1000], seconds: int = 30 + api: OT3API, reservoir: Point, volume: int, seconds: int = 30 ) -> Tuple[bool, float]: """Aspirate and wait.""" await helpers_ot3.move_to_arched_ot3(api, OT3Mount.LEFT, reservoir) await api.move_to( OT3Mount.LEFT, reservoir + Point(z=DEPTH_INTO_RESERVOIR_FOR_ASPIRATE) ) - await api.aspirate(OT3Mount.LEFT, pipette) + await api.aspirate(OT3Mount.LEFT, volume) await api.move_to(OT3Mount.LEFT, reservoir + Point(z=HOVER_HEIGHT_MM)) start_time = time() @@ -201,31 +201,46 @@ async def _find_reservoir_pos() -> None: reservoir_a1_actual = await api.gantry_position(OT3Mount.LEFT) # PICK-UP 96 TIPS - ui.print_header("JOG to 96-Tip RACK") - if not api.is_simulator: - ui.get_user_ready(f"ADD 96 tip-rack to slot #{TIP_RACK_96_SLOT}") - await helpers_ot3.move_to_arched_ot3( - api, OT3Mount.LEFT, tip_rack_96_a1_nominal + Point(z=30) - ) - await helpers_ot3.jog_mount_ot3(api, OT3Mount.LEFT) - print("picking up tips") - await api.pick_up_tip(OT3Mount.LEFT, helpers_ot3.get_default_tip_length(pipette)) - await api.home_z(OT3Mount.LEFT) - if not api.is_simulator: - ui.get_user_ready("about to move to RESERVOIR") - - # TEST DROPLETS for 96 TIPS - ui.print_header("96 Tips: ASPIRATE and WAIT") - await _find_reservoir_pos() - assert reservoir_a1_actual - result, duration = await aspirate_and_wait( - api, - reservoir_a1_actual, - pipette=pipette, - seconds=NUM_SECONDS_TO_WAIT, + droplets_result = True + for trial in range(2): + ui.print_header("JOG to 96-Tip RACK") + if trial == 0: + tip_rack = str(pipette) + "ul" + test_volume: int = pipette + else: + tip_rack = "50ul" + test_volume = 1 if pipette == 200 else 5 + if not api.is_simulator: + ui.get_user_ready(f"ADD 96 tip-rack-{tip_rack} to slot #{TIP_RACK_96_SLOT}") + await helpers_ot3.move_to_arched_ot3( + api, OT3Mount.LEFT, tip_rack_96_a1_nominal + Point(z=30) + ) + await helpers_ot3.jog_mount_ot3(api, OT3Mount.LEFT) + print("picking up tips") + await api.pick_up_tip( + OT3Mount.LEFT, helpers_ot3.get_default_tip_length(pipette) + ) + await api.home_z(OT3Mount.LEFT) + if reservoir_a1_actual is None: + if not api.is_simulator: + ui.get_user_ready("about to move to RESERVOIR") + + # TEST DROPLETS for 96 TIPS + ui.print_header("96 Tips: ASPIRATE and WAIT") + await _find_reservoir_pos() + assert reservoir_a1_actual + result, duration = await aspirate_and_wait( + api, + reservoir_a1_actual, + test_volume, + seconds=NUM_SECONDS_TO_WAIT, + ) + droplets_result = droplets_result & result + await _drop_tip(api, trash_nominal, pipette) + await api.home_z(OT3Mount.LEFT) + report( + section, "droplets-96-tips", [duration, CSVResult.from_bool(droplets_result)] ) - report(section, "droplets-96-tips", [duration, CSVResult.from_bool(result)]) - await _drop_tip(api, trash_nominal, pipette) # if not api.is_simulator: # ui.get_user_ready(f"REMOVE 96 tip-rack from slot #{TIP_RACK_96_SLOT}") diff --git a/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_pressure.py b/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_pressure.py index b3cf2a24252c..096f6d26fe84 100644 --- a/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_pressure.py +++ b/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_pressure.py @@ -24,18 +24,18 @@ ASPIRATE_VOLUME = 2 PRESSURE_READINGS = ["open-pa", "sealed-pa", "aspirate-pa", "dispense-pa"] -THRESHOLDS = { +THRESHOLDS_1000 = { "open-pa": ( - -10, - 10, + 0, + 20, ), "sealed-pa": ( - -30, - 30, + 5, + 50, ), "aspirate-pa": ( - -600, - -400, + -900, + -500, ), "dispense-pa": ( 2500, @@ -43,6 +43,27 @@ ), } +THRESHOLDS_200 = { + "open-pa": ( + -50, + 50, + ), + "sealed-pa": ( + -100, + 100, + ), + "aspirate-pa": ( + -2000, + -500, + ), + "dispense-pa": ( + 1000, + 2500, + ), +} + +PROBE_POSITIONS = [InstrumentProbeType.PRIMARY, InstrumentProbeType.SECONDARY] + def _get_test_tag(probe: InstrumentProbeType, reading: str) -> str: assert reading in PRESSURE_READINGS, f"{reading} not in PRESSURE_READINGS" @@ -52,7 +73,7 @@ def _get_test_tag(probe: InstrumentProbeType, reading: str) -> str: def build_csv_lines() -> List[Union[CSVLine, CSVLineRepeating]]: """Build CSV Lines.""" lines: List[Union[CSVLine, CSVLineRepeating]] = list() - for p in InstrumentProbeType: + for p in PROBE_POSITIONS: for r in PRESSURE_READINGS: tag = _get_test_tag(p, r) lines.append(CSVLine(tag, [float, CSVResult])) @@ -83,8 +104,14 @@ async def _read_from_sensor( return sum(readings) / num_readings -def check_value(test_value: float, test_name: str) -> CSVResult: +def check_value( + test_value: float, test_name: str, pipette: Literal[1000, 200] +) -> CSVResult: """Determine if value is within pass limits.""" + if pipette == 1000: + THRESHOLDS = THRESHOLDS_1000 + if pipette == 200: + THRESHOLDS = THRESHOLDS_200 low_limit = THRESHOLDS[test_name][0] high_limit = THRESHOLDS[test_name][1] @@ -103,7 +130,7 @@ async def run( home_pos = await api.gantry_position(OT3Mount.LEFT) await api.move_to(OT3Mount.LEFT, slot_5._replace(z=home_pos.z)) - for probe in InstrumentProbeType: + for probe in PROBE_POSITIONS: sensor_id = sensor_id_for_instrument(probe) ui.print_header(f"Sensor: {probe}") @@ -116,7 +143,7 @@ async def run( ui.print_error(f"{probe} pressure sensor not working, skipping") continue print(f"open-pa: {open_pa}") - open_result = check_value(open_pa, "open-pa") + open_result = check_value(open_pa, "open-pa", pipette) report(section, _get_test_tag(probe, "open-pa"), [open_pa, open_result]) # SEALED-Pa @@ -134,7 +161,7 @@ async def run( ui.print_error(f"{probe} pressure sensor not working, skipping") break print(f"sealed-pa: {sealed_pa}") - sealed_result = check_value(sealed_pa, "sealed-pa") + sealed_result = check_value(sealed_pa, "sealed-pa", pipette) report(section, _get_test_tag(probe, "sealed-pa"), [sealed_pa, sealed_result]) # ASPIRATE-Pa @@ -149,7 +176,7 @@ async def run( ui.print_error(f"{probe} pressure sensor not working, skipping") break print(f"aspirate-pa: {aspirate_pa}") - aspirate_result = check_value(aspirate_pa, "aspirate-pa") + aspirate_result = check_value(aspirate_pa, "aspirate-pa", pipette) report( section, _get_test_tag(probe, "aspirate-pa"), [aspirate_pa, aspirate_result] ) @@ -166,7 +193,7 @@ async def run( ui.print_error(f"{probe} pressure sensor not working, skipping") break print(f"dispense-pa: {dispense_pa}") - dispense_result = check_value(dispense_pa, "dispense-pa") + dispense_result = check_value(dispense_pa, "dispense-pa", pipette) report( section, _get_test_tag(probe, "dispense-pa"), [dispense_pa, dispense_result] ) diff --git a/hardware-testing/hardware_testing/protocols/96CH_LV_FILL_LIQUID_RevA1.3.py b/hardware-testing/hardware_testing/protocols/96CH_LV_FILL_LIQUID_RevA1.3.py new file mode 100644 index 000000000000..e570f3d215f6 --- /dev/null +++ b/hardware-testing/hardware_testing/protocols/96CH_LV_FILL_LIQUID_RevA1.3.py @@ -0,0 +1,70 @@ +# flake8: noqa + +from opentrons import protocol_api +from opentrons import types +import random + +metadata = { + "protocolName": "96CH_LV_FILL_LIQUID_RevA1.3", + "author": "Andy Hu ", +} +requirements = {"robotType": "Flex", "apiLevel": "2.20"} + + +def add_parameters(parameters: protocol_api.ParameterContext) -> None: + """Add test parameters.""" + parameters.add_int( + display_name="volume of dipensation", + variable_name="dispension_volume", + default=149, + minimum=1, + maximum=200, + description="Set the liquid volume", + ) + + +def run(protocol: protocol_api.ProtocolContext): + + volume = protocol.params.dispension_volume # type: ignore [attr-defined] + + # DECK SETUP AND LABWARE + pcr_plate1 = protocol.load_labware( + "armadillo_96_wellplate_200ul_pcr_full_skirt", "D1" + ) + pcr_plate2 = protocol.load_labware( + "armadillo_96_wellplate_200ul_pcr_full_skirt", "D2" + ) + pcr_plate3 = protocol.load_labware( + "armadillo_96_wellplate_200ul_pcr_full_skirt", "D3" + ) + pcr_plate4 = protocol.load_labware( + "armadillo_96_wellplate_200ul_pcr_full_skirt", "C2" + ) + pcr_plate5 = protocol.load_labware( + "armadillo_96_wellplate_200ul_pcr_full_skirt", "C3" + ) + pcrs = [pcr_plate1, pcr_plate2, pcr_plate3, pcr_plate4, pcr_plate5] + + reservoir = protocol.load_labware("nest_1_reservoir_195ml", "C1") + + tiprack_1000 = protocol.load_labware( + load_name="opentrons_flex_96_tiprack_1000ul", + location="B1", + adapter="opentrons_flex_96_tiprack_adapter", + ) + + trash_labware = protocol.load_trash_bin("A3") + + # LOAD PIPETTES + p1000 = protocol.load_instrument("flex_96channel_1000", "left") + p1000.trash_container = trash_labware + # COMMANDS + + p1000.pick_up_tip(tiprack_1000.wells_by_name()["A1"]) + + for pcr in pcrs: + p1000.aspirate(volume, reservoir.wells_by_name()["A1"]) + p1000.dispense(volume, pcr.wells_by_name()["A1"]) + p1000.blow_out() + + p1000.return_tip() diff --git a/hardware-testing/hardware_testing/protocols/96CH_LV_QC_PROTOCOL_RevA1.1.py b/hardware-testing/hardware_testing/protocols/96CH_LV_QC_PROTOCOL_RevA1.1.py new file mode 100644 index 000000000000..06c48f772201 --- /dev/null +++ b/hardware-testing/hardware_testing/protocols/96CH_LV_QC_PROTOCOL_RevA1.1.py @@ -0,0 +1,58 @@ +# flake8: noqa + +from opentrons import protocol_api +from opentrons import types +import random + +metadata = { + "protocolName": "96CH_LV_QC_Protocol_RevA1.1", + "author": "Jon Klar (updated by RSS)", +} +requirements = {"robotType": "Flex", "apiLevel": "2.20"} + + +def run(protocol: protocol_api.ProtocolContext): + + # DECK SETUP AND LABWARE + pcr_plate = protocol.load_labware( + "armadillo_96_wellplate_200ul_pcr_full_skirt", "D1" + ) + plate_396_1 = protocol.load_labware("biorad_384_wellplate_50ul", "A1") + plate_396_2 = protocol.load_labware("biorad_384_wellplate_50ul", "D3") + reservoir = protocol.load_labware("nest_1_reservoir_195ml", "C1") + tiprack_50 = protocol.load_labware( + load_name="opentrons_flex_96_tiprack_50ul", + location="C3", + adapter="opentrons_flex_96_tiprack_adapter", + ) + tiprack_50_2 = protocol.load_labware( + load_name="opentrons_flex_96_tiprack_50ul", + location="B3", + adapter="opentrons_flex_96_tiprack_adapter", + ) + tiprack_200 = protocol.load_labware( + load_name="opentrons_flex_96_tiprack_200ul", + location="A2", + adapter="opentrons_flex_96_tiprack_adapter", + ) + trash_labware = protocol.load_trash_bin("A3") + + # LOAD PIPETTES + p1000 = protocol.load_instrument("flex_96channel_200", "left") + p1000.trash_container = trash_labware + # COMMANDS + + p1000.pick_up_tip(tiprack_200.wells_by_name()["A1"]) + p1000.aspirate(200, reservoir.wells_by_name()["A1"]) + p1000.dispense(200, pcr_plate.wells_by_name()["A1"]) + p1000.drop_tip() + + p1000.pick_up_tip(tiprack_50.wells_by_name()["A1"]) + p1000.aspirate(10, reservoir.wells_by_name()["A1"]) + p1000.dispense(10, plate_396_1.wells_by_name()["A1"]) + p1000.drop_tip() + + p1000.pick_up_tip(tiprack_50_2.wells_by_name()["A1"]) + p1000.aspirate(1, reservoir.wells_by_name()["A1"]) + p1000.dispense(1, plate_396_2.wells_by_name()["A2"]) + p1000.drop_tip() diff --git a/hardware-testing/hardware_testing/protocols/96ch_preheat.py b/hardware-testing/hardware_testing/protocols/96ch_preheat.py new file mode 100644 index 000000000000..698d04767351 --- /dev/null +++ b/hardware-testing/hardware_testing/protocols/96ch_preheat.py @@ -0,0 +1,84 @@ +"""Heat up and wait for a 96ch to reach the desired temperature.""" + +from opentrons.protocol_api import ProtocolContext, ParameterContext +from opentrons.hardware_control.adapters import SynchronousAdapter +from opentrons.hardware_control.ot3api import OT3API +from opentrons.hardware_control.types import Axis +from opentrons_hardware.sensors.sensor_driver import SensorDriver +from opentrons_hardware.sensors.sensor_types import EnvironmentSensor +from opentrons_hardware.firmware_bindings.constants import NodeId, SensorId + + +def add_parameters(parameters: ParameterContext) -> None: + """Build the runtime parameters.""" + parameters.add_int( + display_name="model type", + variable_name="model_type", + default=200, + choices=[ + {"display_name": "200", "value": 200}, + {"display_name": "1000", "value": 1000}, + ], + description="Select model type.", + ) + + parameters.add_int( + display_name="Target Temperature", + variable_name="temp", + default=27, + minimum=20, + maximum=35, + description="Set the target temperature for the pre-heat", + ) + + +metadata = {"protocolName": "96ch Pre-heating protocol"} + +requirements = {"robotType": "Flex", "apiLevel": "2.21"} + + +async def read_sensor(self, sensor: EnvironmentSensor) -> float: # noqa: ANN001 + """Read and return the current sensor information.""" + s_driver = SensorDriver() + sensor_data = await s_driver.read( + can_messenger=self._backend._messenger, + sensor=sensor, + offset=False, + ) + assert sensor_data.temperature is not None # type: ignore [union-attr] + return sensor_data.temperature.to_float() # type: ignore [union-attr] + + +def get_motors_hot(ot3api: SynchronousAdapter) -> None: + """Adjust the motor hold currents to heat quicker.""" + axis_settings = [Axis.P_L, Axis.Q] + ot3api.engage_axes(axis_settings) + + +def run(ctx: ProtocolContext) -> None: + """Run.""" + ot3api = ctx._core.get_hardware() + if not ctx.is_simulating(): + OT3API.read_sensor = read_sensor # type: ignore [attr-defined] + primary = EnvironmentSensor.build( + sensor_id=SensorId.S0, + node_id=NodeId.pipette_left, + ) + secondary = EnvironmentSensor.build( + sensor_id=SensorId.S1, + node_id=NodeId.pipette_left, + ) + _ = ctx.load_instrument( + f"flex_96channel_{ctx.params.model_type}", "left" # type: ignore [attr-defined] + ) + if not ctx.is_simulating(): + current_temp_1 = ot3api.read_sensor(primary) + current_temp_2 = ot3api.read_sensor(secondary) + get_motors_hot(ot3api) # type: ignore [arg-type] + avg_temp = (current_temp_1 + current_temp_2) / 2 + target = ctx.params.temp # type: ignore [attr-defined] + while avg_temp < target: + current_temp_1 = ot3api.read_sensor(primary) + current_temp_2 = ot3api.read_sensor(secondary) + avg_temp = (current_temp_1 + current_temp_2) / 2 + ctx.delay(seconds=15, msg=f"Current temperature {avg_temp} target={target}") diff --git a/hardware-testing/hardware_testing/protocols/flex_diluent_for_96ch.py b/hardware-testing/hardware_testing/protocols/flex_diluent_for_96ch.py index 4f1a55f4940a..202aeb39473e 100644 --- a/hardware-testing/hardware_testing/protocols/flex_diluent_for_96ch.py +++ b/hardware-testing/hardware_testing/protocols/flex_diluent_for_96ch.py @@ -2,7 +2,12 @@ from math import pi from typing import List, Optional, Dict, Tuple -from opentrons.protocol_api import ProtocolContext, InstrumentContext, Labware +from opentrons.protocol_api import ( + ProtocolContext, + InstrumentContext, + Labware, + ParameterContext, +) ############################################## # EDIT - START # @@ -11,7 +16,7 @@ # FIXME: make these variables configurable through RUNTIME-VARIABLES metadata = {"protocolName": "Flex: Diluent for 96ch"} -requirements = {"robotType": "Flex", "apiLevel": "2.15"} +requirements = {"robotType": "Flex", "apiLevel": "2.21"} RETURN_TIP = False FILL_MULTIPLE_PLATES = True @@ -20,7 +25,6 @@ LIQUID_DESCRIPTION = "Artel MVS Diluent" LIQUID_COLOR = "#0000FF" -TARGET_VOLUME = 195 TARGET_PUSH_OUT = 15 TARGET_SOURCES = [ { @@ -57,6 +61,18 @@ } +def add_parameters(parameters: ParameterContext) -> None: + """Build the runtime parameters.""" + parameters.add_float( + display_name="Target volume of diluent", + variable_name="target_volume", + default=195, + minimum=1, + maximum=200, + description="How much diluent to put in each well", + ) + + class _LiquidHeightInFlatBottomWell: def __init__( self, @@ -160,7 +176,7 @@ def _assign_starting_volumes( ) for test in TARGET_SOURCES: src_ul_per_trial = _start_volumes_per_trial( - TARGET_VOLUME, + ctx.params.target_volume, # type: ignore[attr-defined] reservoir.load_name, pipette.channels, len(test["destinations"]), @@ -221,13 +237,15 @@ def run(ctx: ProtocolContext) -> None: plate = ctx.load_labware("corning_96_wellplate_360ul_flat", "D2") pipette = ctx.load_instrument("flex_8channel_1000", "left", tip_racks=[tips]) _assign_starting_volumes(ctx, pipette, reservoir) + + ctx.load_trash_bin("A3") for i in range(12): - pipette.configure_for_volume(TARGET_VOLUME) + pipette.configure_for_volume(ctx.params.target_volume) # type: ignore[attr-defined] pipette.pick_up_tip() for test in TARGET_SOURCES: _transfer( ctx, - TARGET_VOLUME, + ctx.params.target_volume, # type: ignore[attr-defined] pipette, reservoir, plate, diff --git a/hardware-testing/hardware_testing/protocols/universal_photometric.py b/hardware-testing/hardware_testing/protocols/universal_photometric.py new file mode 100644 index 000000000000..2d045fe9ec84 --- /dev/null +++ b/hardware-testing/hardware_testing/protocols/universal_photometric.py @@ -0,0 +1,458 @@ +"""Universal photometric test.""" +from typing import Tuple + +from opentrons import protocol_api +from opentrons.types import Mount + +metadata = {"protocolName": "96ch Universal Photometric Protocol"} +requirements = {"robotType": "Flex", "apiLevel": "2.23"} + +DYE_RESERVOIR_DEAD_VOLUME = 20000 # 20k uL + +TIPRACK_LOCATIONS = ["D1", "C1", "C2", "C3", "B1"] + + +def add_parameters(parameters: protocol_api.ParameterContext) -> None: + """Add test parameters.""" + parameters.add_int( + display_name="tip type", + variable_name="tip_type", + default=50, + choices=[ + {"display_name": "20", "value": 20}, + {"display_name": "50", "value": 50}, + {"display_name": "200", "value": 200}, + {"display_name": "1000", "value": 1000}, + ], + description="Select tip type", + ) + + parameters.add_int( + display_name="model type", + variable_name="model_type", + default=200, + choices=[ + {"display_name": "200", "value": 200}, + {"display_name": "1000", "value": 1000}, + ], + description="Select model type.", + ) + + parameters.add_int( + display_name="number of cycles", + variable_name="cycles", + default=5, + minimum=1, + maximum=100, + description="Set number of cycles", + ) + + parameters.add_float( + display_name="target volume", + variable_name="target_volume", + default=5, + minimum=0, + maximum=1000, + description="Set target aspirate volume.", + ) + parameters.add_int( + variable_name="number_of_tipracks", + display_name="Number of tipracks", + description="Choose 1 or 5 tipracks to load at the start.", + default=5, + choices=[ + {"display_name": "1", "value": 1}, + {"display_name": "5", "value": 5}, + ], + ) + + parameters.add_bool( + variable_name="use_pip_motion_defaults", + display_name="Use pipette motion defaults", + description="Use default values for pipette motion.", + default=True, + ) + + parameters.add_float( + display_name="conditioning volume", + variable_name="conditioning_volume", + default=0, + minimum=0, + maximum=1000, + description="Set conditioning aspirate volume.", + ) + + parameters.add_int( + display_name="aspirate flow rate min/max", + variable_name="asp_flow_rate", + default=22, + minimum=1, + maximum=200, + description="Set aspirate flow rate.", + ) + + parameters.add_int( + display_name="dispense flow rate min/max", + variable_name="disp_flow_rate", + default=22, + minimum=1, + maximum=200, + description="Set dispense flow rate", + ) + + parameters.add_int( + display_name="blowout flow rate min/max", + variable_name="blowout_flow_rate", + default=22, + minimum=1, + maximum=200, + description="Set blowout flow rate.", + ) + + parameters.add_float( + display_name="push out min/max", + variable_name="push_out", + default=3.5, + minimum=1, + maximum=10, + description="Set push out volume.", + ) + + parameters.add_int( + display_name="aspirate submerge speed", + variable_name="asp_submerge_speed", + default=50, + minimum=1, + maximum=100, + description="Set aspirate submerge speed.", + ) + + parameters.add_int( + display_name="dispense submerge speed", + variable_name="disp_submerge_speed", + default=50, + minimum=1, + maximum=100, + description="Set dispense submerge speed.", + ) + + parameters.add_int( + display_name="aspirate exit speed", + variable_name="asp_exit_speed", + default=50, + minimum=1, + maximum=100, + description="Set aspirate exit speed.", + ) + + parameters.add_int( + display_name="dispense exit speed", + variable_name="disp_exit_speed", + default=50, + minimum=1, + maximum=100, + description="Set dispense exit speed.", + ) + + parameters.add_float( + display_name="aspirate_submerge_depth", + variable_name="asp_sub_depth", + default=1.5, + minimum=0, + maximum=5, + description="Set aspirate submerge depth.", + ) + + parameters.add_float( + display_name="dispense_submerge_depth", + variable_name="disp_sub_depth", + default=1.5, + minimum=0, + maximum=5, + description="Set dispense submerge depth.", + ) + parameters.add_float( + display_name="Dye volume", + variable_name="dye_volume", + default=40000, + minimum=20000, + maximum=290000, + description="Set uL of Dye in the Reservoir.", + ) + + parameters.add_float( + display_name="submerged delay time", + variable_name="submerged_delay_time", + default=0, + minimum=0, + maximum=60, + description="Set submerged delay time.", + ) + + parameters.add_bool( + variable_name="pause_after_asp", + display_name="pause after aspirate", + description=("Pause protocol after aspiration."), + default=True, + ) + + parameters.add_str( + variable_name="reservoir_labware_loadname", + display_name="Source labware load name.", + description=("Load name of the source labware."), + choices=[ + {"display_name": "NEST 195mL", "value": "nest_1_reservoir_195ml"}, + {"display_name": "NEST 290mL", "value": "nest_1_reservoir_290ml"}, + {"display_name": "None", "value": "none"}, + ], + default="nest_1_reservoir_290ml", + ) + parameters.add_str( + variable_name="destination_labware_loadname", + display_name="Destination labware load name.", + description=("Load name of the destination labware."), + choices=[ + { + "display_name": "Corning 96 360uL flat", + "value": "corning_96_wellplate_360ul_flat", + }, + { + "display_name": "Nest 96 100uL pcr", + "value": "nest_96_wellplate_100ul_pcr_full_skirt", + }, + {"display_name": "None", "value": "none"}, + ], + default="corning_96_wellplate_360ul_flat", + ) + parameters.add_bool( + variable_name="lld", + display_name="enable lld", + description=("Use LLD to detect liquid height."), + default=True, + ) + + +def run(ctx: protocol_api.ProtocolContext) -> None: # noqa: C901 + """Run.""" + ctx.load_trash_bin("A3") + # tips + tipracks = [ + ctx.load_labware( + f"opentrons_flex_96_tiprack_{ctx.params.tip_type}uL", # type: ignore [attr-defined] + location=deck_slot, + adapter="opentrons_flex_96_tiprack_adapter", + ) + for deck_slot in TIPRACK_LOCATIONS + ] + + def _get_tiprack(trial_number: int) -> protocol_api.Labware: + if ctx.params.number_of_tipracks == 1: # type: ignore [attr-defined] + return tipracks[0] + return tipracks[trial_number] + + # pipette + pip = ctx.load_instrument( + f"flex_96channel_{ctx.params.model_type}", # type: ignore [attr-defined] + "left", + tip_racks=tipracks, + ) + + dye_source = ctx.load_labware( + ctx.params.reservoir_labware_loadname, # type: ignore [attr-defined] + "D2", + ) + dye = ctx.define_liquid( + name="Dye", + description="Food Coloring", + display_color="#FF0000", + ) + if not ctx.params.lld: # type: ignore [attr-defined] + dye_source["A1"].load_liquid(dye, ctx.params.dye_volume) # type: ignore [attr-defined] + + plate = ctx.load_labware( + ctx.params.destination_labware_loadname, # type: ignore [attr-defined] + location="D3", + ) + diluent = ctx.define_liquid( + name="Diluent", + description="Food Coloring", + display_color="#FE0000", + ) + + def _validate_dye_liquid_height() -> None: + + liquid_height_valid = False + retrying = False + nonlocal dye_source + while not liquid_height_valid: + # liquid probe and make sure there is enough volume for all trials + if ctx.params.lld or retrying: # type: ignore [attr-defined] + # if this detects no liquid, the protocol will exit + # if it detects liquid that is lower than expected, it will let you + # try again. + pip.detect_liquid_presence(dye_source["A1"]) + + actual_starting_dye_volume = dye_source["A1"].current_liquid_volume() + + needed_starting_dye_volume = ( + 96 + * ctx.params.cycles # type: ignore [attr-defined] + * ctx.params.target_volume # type: ignore [attr-defined] + ) + DYE_RESERVOIR_DEAD_VOLUME + # note: want to acct for needed dead volume here + if actual_starting_dye_volume > needed_starting_dye_volume: + liquid_height_valid = True + else: + pip._retract() + rounded = round(actual_starting_dye_volume, 2) # type: ignore[arg-type] + ctx.pause( + f"Need {round(needed_starting_dye_volume, 2)} uL dye to start. \ + Only {rounded} uL detected. Refill and try again." + ) + retrying = True + pip._retract() + if ctx.params.lld: # type: ignore [attr-defined] + pip.return_tip() + pip._retract() + ctx.pause("Replace tip rack.") + pip.pick_up_tip(tips["A1"]) + + def _set_pipettte_motion_settings() -> Tuple[float, float, float, float, float]: + if ctx.params.use_pip_motion_defaults: # type: ignore [attr-defined] + aspirate_submerge_speed = 50 + dispense_submerge_speed = 50 + aspirate_exit_speed = 50 + dispense_exit_speed = 50 + if not ctx.is_simulating(): + from hardware_testing.gravimetric.liquid_class.defaults import ( + get_liquid_class, + ) + + liquid_class = get_liquid_class( + pipette=ctx.params.model_type, # type: ignore [attr-defined] + channels=96, + tip=ctx.params.tip_type, # type: ignore [attr-defined] + volume=ctx.params.target_volume, # type: ignore [attr-defined] + ) + pip.flow_rate.aspirate = liquid_class.aspirate.plunger_flow_rate + pip.flow_rate.dispense = liquid_class.dispense.plunger_flow_rate + set_push_out = liquid_class.dispense.blow_out_submerged + else: # if simulating + pip.flow_rate.aspirate = ctx.params.asp_flow_rate # type: ignore [attr-defined] + pip.flow_rate.dispense = ctx.params.disp_flow_rate # type: ignore [attr-defined] + set_push_out = ctx.params.push_out # type: ignore [attr-defined] + else: + set_push_out = ctx.params.push_out # type: ignore [attr-defined] + pip.flow_rate.aspirate = ctx.params.asp_flow_rate # type: ignore [attr-defined] + pip.flow_rate.dispense = ctx.params.disp_flow_rate # type: ignore [attr-defined] + pip.flow_rate.blow_out = ctx.params.blowout_flow_rate # type: ignore [attr-defined] + aspirate_submerge_speed = ctx.params.asp_submerge_speed # type: ignore [attr-defined] + dispense_submerge_speed = ctx.params.disp_submerge_speed # type: ignore [attr-defined] + return ( + aspirate_submerge_speed, + aspirate_exit_speed, + dispense_submerge_speed, + dispense_exit_speed, + set_push_out, + ) + + ( + aspirate_submerge_speed, + aspirate_exit_speed, + dispense_submerge_speed, + dispense_exit_speed, + set_push_out, + ) = _set_pipettte_motion_settings() + for i in range(ctx.params.cycles): # type: ignore [attr-defined] + tips = _get_tiprack(i) + pip.pick_up_tip(tips["A1"]) + + if i == 0: + _validate_dye_liquid_height() + + aspirate_volume = ( + ctx.params.target_volume # type: ignore [attr-defined] + + ctx.params.conditioning_volume # type: ignore [attr-defined] + ) + aspirate_pos = ( + dye_source["A1"].estimate_liquid_height_after_pipetting( + Mount.LEFT, -1 * ctx.params.target_volume # type: ignore [attr-defined] + ) + - ctx.params.asp_sub_depth # type: ignore [attr-defined] + ) + # Move above reservoir + pip.move_to(location=dye_source["A1"].top()) + # Move to aspirate position at aspirate submerge speed + if ctx.is_simulating(): + aspirate_pos = 0.1 + pip.move_to( + location=dye_source["A1"].bottom(aspirate_pos), + speed=aspirate_submerge_speed, + ) + # Submerged delay time + ctx.delay(seconds=ctx.params.submerged_delay_time) # type: ignore [attr-defined] + # Aspirate in place + pip.aspirate( + volume=aspirate_volume, + location=None, + ) + # Dispense conditioning volume, if any, while submerged + if ctx.params.conditioning_volume: # type: ignore [attr-defined] + pip.dispense( + volume=ctx.params.conditioning_volume, # type: ignore [attr-defined] + location=None, + ) + # Exit liquid from aspirate position at aspirate exit speed + pip.move_to( + location=dye_source["A1"].top(), + speed=aspirate_exit_speed, + ) + # Retract pipette + pip._retract() + # Pause after aspiration + if ctx.params.pause_after_asp: # type: ignore [attr-defined] + ctx.pause("Inspect for dropouts.") + # we'll always end up with 200 uL after dispensing + prep_vol = 200 - ctx.params.target_volume # type: ignore [attr-defined] + plate.load_liquid(plate.wells(), prep_vol, diluent) + dispense_pos = plate["A1"].estimate_liquid_height_after_pipetting( + Mount.LEFT, ctx.params.target_volume # type: ignore [attr-defined] + ) + + # note: would probably be good to add a needed dead volume in this comparison + dispense_submerge_depth = ctx.params.disp_sub_depth # type: ignore [attr-defined] + if dispense_submerge_depth >= dispense_pos: # type: ignore [attr-defined] + raise ValueError( + f"submerge depth {dispense_submerge_depth} \ + too deep for dispense position {dispense_pos}" + ) + dispense_pos -= ctx.params.disp_sub_depth # type: ignore [attr-defined] + # Move to plate + pip.move_to(location=plate["A1"].top()) + # Move to dispense position at dispense submerge speed + pip.move_to( + location=plate["A1"].bottom(dispense_pos), # type: ignore [arg-type] + speed=dispense_submerge_speed, + ) + # Dispense + pip.dispense( + volume=ctx.params.target_volume, # type: ignore [attr-defined] + location=None, + push_out=set_push_out, # type: ignore [attr-defined] + ) + # Exit liquid from dispense position at dispense exit speed + blow_out_pos = plate["A1"].bottom( + dispense_pos + ctx.params.disp_sub_depth + 5 # type: ignore [attr-defined] + ) + pip.move_to( + location=blow_out_pos, + speed=dispense_exit_speed, + ) + # Perform blow out + pip.blow_out() + # Return tip to tip rack + pip.return_tip() + # Retract pipette + pip._retract() + # Pause protocol + ctx.pause("Replace tips and dispense plate.") diff --git a/hardware-testing/hardware_testing/scripts/faster_plunger_lifetime_test.py b/hardware-testing/hardware_testing/scripts/faster_plunger_lifetime_test.py new file mode 100644 index 000000000000..19be8a5d99fc --- /dev/null +++ b/hardware-testing/hardware_testing/scripts/faster_plunger_lifetime_test.py @@ -0,0 +1,239 @@ +"""Test Plunger.""" +from typing import Tuple, Dict, Literal, Optional +from typing_extensions import TypedDict + +from opentrons.hardware_control.ot3api import OT3API +from dataclasses import dataclass + +import time +from hardware_testing.opentrons_api import helpers_ot3 +from hardware_testing.opentrons_api.types import Axis, OT3Mount +import enum +import argparse +import csv +import asyncio +from datetime import datetime + + +class TestSection(enum.Enum): + """Test Section.""" + + PLUNGER = "PLUNGER" + + +@dataclass +class TestConfig: + """Test Config.""" + + simulate: bool + pipette: Literal[200, 1000] + + +class TestData(TypedDict): + """Test Data entry.""" + + time_sec: Optional[float] + cycle: Optional[int] + stall: Optional[str] + position: Optional[str] + position_check: Optional[bool] + error: Optional[str] + + +PLUNGER_MAX_SKIP_MM = 0.1 +SPEEDS_TO_TEST: float = 25 +CURRENTS_SPEEDS: Dict[float, float] = { + 0.7: SPEEDS_TO_TEST, +} + + +async def _is_plunger_still_aligned_with_encoder( + api: OT3API, +) -> Tuple[float, float, bool]: + enc_pos = await api.encoder_current_position_ot3(OT3Mount.LEFT) + motor_pos = await api.current_position_ot3(OT3Mount.LEFT) + p_enc = enc_pos[Axis.P_L] + p_est = motor_pos[Axis.P_L] + is_aligned = abs(p_est - p_enc) < PLUNGER_MAX_SKIP_MM + return p_enc, p_est, is_aligned + + +async def main(args: argparse.Namespace, cfg: TestConfig) -> None: + """Run.""" + pipette_string = "p1000_96_v3.4" if cfg.pipette == 1000 else "p200_96_v3.1" + + api = await helpers_ot3.build_async_ot3_hardware_api( + is_simulating=cfg.simulate, + pipette_left=pipette_string, + stall_detection_enable=False, + ) + ax = Axis.P_L + mount = OT3Mount.LEFT + settings = helpers_ot3.get_gantry_load_per_axis_motion_settings_ot3(api, ax) + settings.max_speed = 25 + settings.acceleration = 100 + settings.run_current = 0.7 + default_current = settings.run_current + default_speed = settings.max_speed + default_acceleration = 100 + top, bottom, _, _ = helpers_ot3.get_plunger_positions_ot3(api, mount) + print(f"Settings: {settings}") + + async def position_check() -> bool: + est, enc, aligned = await _is_plunger_still_aligned_with_encoder(api) + print(f"Estimate: {est}, Encoder: {enc}, Aligned: {aligned}") + return aligned + + await api.home_z(OT3Mount.LEFT) + # LOOP THROUGH CURRENTS + SPEEDS + await api.home() + today = datetime.now().strftime("%m-%d-%y_%H-%M") + with open( + f"/data/testing_data/P200H_test_plunger_speed_test_{today}.csv", "w", newline="" + ) as csvfile: + test_data: TestData = { + "time_sec": None, + "cycle": None, + "stall": None, + "position": None, + "position_check": None, + "error": None, + } + writer = csv.DictWriter(csvfile, test_data) + writer.writeheader() + start_time = time.time() + try: + currents = list(CURRENTS_SPEEDS.keys()) + for cycle in range(1, args.cycles + 1): + print(f"Cycle: {cycle}") + for current in sorted(currents, reverse=True): + speed = CURRENTS_SPEEDS[current] + # HOME + print("homing...") + await api.home([ax]) + + print(f"run-current set to {current} amps") + await helpers_ot3.set_gantry_load_per_axis_current_settings_ot3( + api, + ax, + run_current=current, + ) + await helpers_ot3.set_gantry_load_per_axis_motion_settings_ot3( + api, + ax, + default_max_speed=speed, + acceleration=default_acceleration, + ) + # MOVE DOWN + print(f"moving down {bottom} mm at {speed} mm/sec") + position_checked = await position_check() + print(f"position checked: {position_checked}") + try: + await helpers_ot3.move_plunger_absolute_ot3( + api, mount, bottom, speed=speed, motor_current=current + ) + down_passed = await position_check() + test_data["time_sec"] = time.time() - start_time + test_data["cycle"] = cycle + test_data["position"] = "bottom" + test_data["position_check"] = down_passed + test_data["stall"] = "NONE" + print(test_data) + writer.writerow(test_data) + csvfile.flush() + except Exception as e: + print("STALL DETECTION") + down_passed = await position_check() + test_data["position_check"] = down_passed + test_data["stall"] = str("Failed to move plunger down") + test_data["error"] = str(e) + print(test_data) + writer.writerow(test_data) + csvfile.flush() + print("homing...") + await helpers_ot3.set_gantry_load_per_axis_current_settings_ot3( + api, ax, run_current=default_current + ) + await helpers_ot3.set_gantry_load_per_axis_motion_settings_ot3( + api, + ax, + default_max_speed=default_speed, + acceleration=default_acceleration, + ) + await api._backend.set_active_current( + {Axis.P_L: default_current} + ) + await api.home([ax]) + await helpers_ot3.move_plunger_absolute_ot3( + api, + mount, + bottom, + speed=default_speed, + motor_current=default_current, + ) + # MOVE UP + print(f"moving up {top} mm at {speed} mm/sec") + position_checked = await position_check() + print(f"position checked: {position_checked}") + await helpers_ot3.set_gantry_load_per_axis_current_settings_ot3( + api, + ax, + run_current=current, + ) + await helpers_ot3.set_gantry_load_per_axis_motion_settings_ot3( + api, + ax, + default_max_speed=speed, + acceleration=default_acceleration, + ) + try: + await helpers_ot3.move_plunger_absolute_ot3( + api, mount, 0, speed=speed, motor_current=current + ) + up_passed = await position_check() + test_data["time_sec"] = time.time() - start_time + test_data["cycle"] = cycle + test_data["position"] = "top" + test_data["position_check"] = up_passed + print(test_data) + writer.writerow(test_data) + test_data["stall"] = "NONE" + csvfile.flush() + except Exception as e: + print("STALL DETECTION") + up_passed = await position_check() + test_data["stall"] = str("Failed to move plunger down") + test_data["position_check"] = up_passed + test_data["error"] = str(e) + print(test_data) + writer.writerow(test_data) + csvfile.flush() + # RESET CURRENTS AND HOME + print("homing...") + await helpers_ot3.set_gantry_load_per_axis_current_settings_ot3( + api, ax, run_current=default_current + ) + await helpers_ot3.set_gantry_load_per_axis_motion_settings_ot3( + api, + ax, + default_max_speed=default_speed, + acceleration=default_acceleration, + ) + await api._backend.set_active_current({Axis.P_L: default_current}) + + except Exception as e: + test_data["error"] = str(e) + writer.writerow(test_data) + csvfile.flush() + raise Exception(f"Error StallDetection: {e}") + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument("--cycles", type=int, default=100000) + parser.add_argument("--simulate", action="store_true") + parser.add_argument("--pipette", type=int, choices=[200, 1000], default=200) + args = parser.parse_args() + _config = TestConfig(simulate=args.simulate, pipette=args.pipette) + + asyncio.run(main(args, _config)) diff --git a/hardware/Makefile b/hardware/Makefile index 5d3cfaa971dd..a6f09a67e85a 100755 --- a/hardware/Makefile +++ b/hardware/Makefile @@ -79,6 +79,9 @@ dist/opentrons_hardware-%-py2.py3-none-any.whl: setup.py $(ot_sources) $(SHX) rm -rf build $(SHX) ls dist +# todo(mm, 2025-05-12): Evaluating $(wheel_file) here means we'll call pipenv and create +# a virtualenv whenever this Makefile is read--even if you're just doing something +# like `make teardown`. wheel: $(wheel_file) $(sdist_file): export OPENTRONS_PROJECT=$(project_rs_default) diff --git a/hardware/opentrons_hardware/hardware_control/motion_planning/move_utils.py b/hardware/opentrons_hardware/hardware_control/motion_planning/move_utils.py index fee27ee82cb0..1ef6e48de3f4 100644 --- a/hardware/opentrons_hardware/hardware_control/motion_planning/move_utils.py +++ b/hardware/opentrons_hardware/hardware_control/motion_planning/move_utils.py @@ -425,10 +425,10 @@ def build_blocks( - have at most one 0 acceleration coast phase at our max speed """ log = logging.getLogger("build_blocks") - assert abs(initial_speed) <= max_speed or np.isclose( + assert abs(initial_speed) <= abs(max_speed) or np.isclose( abs(initial_speed), max_speed ), f"initial speed {initial_speed} exceeds max speed {max_speed}" - assert abs(final_speed) <= max_speed or np.isclose( + assert abs(final_speed) <= abs(max_speed) or np.isclose( abs(final_speed), max_speed ), f"final speed {final_speed} exceeds max speed {max_speed}" diff --git a/opentrons-ai-server/Makefile b/opentrons-ai-server/Makefile index 2bc7170e9313..ec4776e7ac09 100644 --- a/opentrons-ai-server/Makefile +++ b/opentrons-ai-server/Makefile @@ -9,7 +9,7 @@ setup: install-pipenv .PHONY: teardown teardown: - python -m pipenv --rm + -python -m pipenv --rm .PHONY: black black: diff --git a/package.json b/package.json index 870fa1815064..b93153cd4d13 100755 --- a/package.json +++ b/package.json @@ -85,7 +85,7 @@ "decompress": "4.2.1", "download": "8.0.0", "electron": "33.2.1", - "electron-builder": "25.1.8", + "electron-builder": "26.0.15", "eslint": "^8.56.0", "eslint-config-prettier": "^8.1.0", "eslint-config-standard": "^16.0.2", diff --git a/performance-metrics/Makefile b/performance-metrics/Makefile index f3784af45c0d..160c1b50820e 100644 --- a/performance-metrics/Makefile +++ b/performance-metrics/Makefile @@ -50,7 +50,7 @@ setup: .PHONY: teardown teardown: - $(pipenv) --rm + -$(pipenv) --rm .PHONY: clean clean: diff --git a/protocol-designer/src/steplist/formLevel/handleFormChange/utils.ts b/protocol-designer/src/steplist/formLevel/handleFormChange/utils.ts index 169fc3256f0d..18cd17027006 100644 --- a/protocol-designer/src/steplist/formLevel/handleFormChange/utils.ts +++ b/protocol-designer/src/steplist/formLevel/handleFormChange/utils.ts @@ -1,7 +1,3 @@ -import round from 'lodash/round' -import uniq from 'lodash/uniq' -import { getWellSetForMultichannel, canPipetteUseLabware } from '../../../utils' -import { getPipetteCapacity } from '../../../pipettes/pipetteData' import type { LabwareDefinition2, PipetteChannels, @@ -10,8 +6,13 @@ import type { LabwareEntities, PipetteEntities, } from '@opentrons/step-generation' -import type { FormPatch } from '../../actions/types' +import round from 'lodash/round' +import uniq from 'lodash/uniq' import type { FormData, PathOption, StepFieldName } from '../../../form-types' +import { getPipetteCapacity } from '../../../pipettes/pipetteData' +import { canPipetteUseLabware, getWellSetForMultichannel } from '../../../utils' +import type { FormPatch } from '../../actions/types' + export function chainPatchUpdaters( initialPatch: FormPatch, fns: Array<(arg0: FormPatch) => FormPatch> diff --git a/robot-server/Makefile b/robot-server/Makefile index fbd0486ff0d7..bb9cd221a057 100755 --- a/robot-server/Makefile +++ b/robot-server/Makefile @@ -99,7 +99,7 @@ clean: .PHONY: teardown teardown: - $(pipenv) --rm + -$(pipenv) --rm .PHONY: wheel wheel: export OPENTRONS_PROJECT=$(project_rs_default) diff --git a/robot-server/robot_server/client_data/router.py b/robot-server/robot_server/client_data/router.py index 806e77106345..845284c8561f 100644 --- a/robot-server/robot_server/client_data/router.py +++ b/robot-server/robot_server/client_data/router.py @@ -25,7 +25,7 @@ Key = Annotated[ str, fastapi.Path( - pattern="^[a-zA-Z0-9-_]*$", + pattern="^[a-zA-Z0-9-_]+$", description=( "A key for storing and retrieving the piece of data." " This should be chosen to avoid colliding with other clients," diff --git a/robot-server/robot_server/commands/router.py b/robot-server/robot_server/commands/router.py index 4d23bb73fbe1..b8d935137c6a 100644 --- a/robot-server/robot_server/commands/router.py +++ b/robot-server/robot_server/commands/router.py @@ -135,7 +135,9 @@ async def get_commands_list( description=( "The starting index of the desired first command in the list." " If unspecified, a cursor will be selected automatically" - " based on the currently running or most recently executed command." + " based on the currently running or most recently executed command, " + " and the slice of commands returned is the previous `pageLength` commands" + " inclusive of the currently running or most recently executed command." ), ), ] = None, diff --git a/robot-server/robot_server/maintenance_runs/router/commands_router.py b/robot-server/robot_server/maintenance_runs/router/commands_router.py index 0bb3d64c1924..8903a74bfdb5 100644 --- a/robot-server/robot_server/maintenance_runs/router/commands_router.py +++ b/robot-server/robot_server/maintenance_runs/router/commands_router.py @@ -197,7 +197,9 @@ async def get_run_commands( description=( "The starting index of the desired first command in the list." " If unspecified, a cursor will be selected automatically" - " based on the currently running or most recently executed command." + " based on the currently running or most recently executed command, " + " and the slice of commands returned is the previous `length` commands" + " inclusive of the currently running or most recently executed command." ), ), ] = None, diff --git a/robot-server/robot_server/persistence/_migrations/v10_to_v11.py b/robot-server/robot_server/persistence/_migrations/v10_to_v11.py index 7d59fb67ecae..effd7a2f6dc3 100644 --- a/robot-server/robot_server/persistence/_migrations/v10_to_v11.py +++ b/robot-server/robot_server/persistence/_migrations/v10_to_v11.py @@ -44,7 +44,7 @@ class Migration10to11(Migration): # noqa: D101 def migrate(self, source_dir: Path, dest_dir: Path) -> None: - """Migrate the persistence directory from schema 9 to 10.""" + """Migrate the persistence directory from schema 10 to 11.""" copy_contents(source_dir=source_dir, dest_dir=dest_dir) with sql_engine_ctx( diff --git a/robot-server/robot_server/runs/router/base_router.py b/robot-server/robot_server/runs/router/base_router.py index 8e478c08de9a..7c33ac738507 100644 --- a/robot-server/robot_server/runs/router/base_router.py +++ b/robot-server/robot_server/runs/router/base_router.py @@ -473,7 +473,8 @@ async def get_run_commands_error( description=( "The starting index of the desired first command error in the list." " If unspecified, a cursor will be selected automatically" - " based on the last error added." + " based on the last error added, and the slice of errors returned " + " is the previous `pageLength` errors." ), ), ] = None, @@ -490,12 +491,9 @@ async def get_run_commands_error( all_errors_count = run_data_manager.get_command_errors_count(run_id=runId) if cursor is None: - if all_errors_count > 0: - # Get the most recent error, - # which we can find just at the end of the list. - cursor = all_errors_count - 1 - else: - cursor = 0 + cursor = max(all_errors_count - 1, 0) + cursor = max(cursor - pageLength + 1, 0) + cursor = min(cursor, all_errors_count) command_error_slice = run_data_manager.get_command_error_slice( run_id=runId, diff --git a/robot-server/robot_server/runs/router/commands_router.py b/robot-server/robot_server/runs/router/commands_router.py index b2cbb79b2bbf..6bbeaaca6291 100644 --- a/robot-server/robot_server/runs/router/commands_router.py +++ b/robot-server/robot_server/runs/router/commands_router.py @@ -276,7 +276,9 @@ async def get_run_commands( description=( "The starting index of the desired first command in the list." " If unspecified, a cursor will be selected automatically" - " based on the currently running or most recently executed command." + " based on the currently running or most recently executed command, " + " and the slice of commands returned is the previous `pageLength` commands" + " inclusive of the currently running or most recently executed command." ), ), ] = None, diff --git a/robot-server/robot_server/runs/run_orchestrator_store.py b/robot-server/robot_server/runs/run_orchestrator_store.py index 38a6c2e23c61..1033be8b6e75 100644 --- a/robot-server/robot_server/runs/run_orchestrator_store.py +++ b/robot-server/robot_server/runs/run_orchestrator_store.py @@ -245,7 +245,7 @@ async def create( notify_publishers=notify_publishers, ) - self._run_orchestrator = RunOrchestrator.build_orchestrator( + orchestrator = RunOrchestrator.build_orchestrator( run_id=run_id, protocol_engine=engine, hardware_api=self._hardware_api, @@ -257,19 +257,21 @@ async def create( # they will both "succeed" (with undefined results) instead of one # raising RunConflictError. if protocol: - await self.run_orchestrator.load( + await orchestrator.load( protocol.source, run_time_param_values=run_time_param_values, run_time_param_paths=run_time_param_paths, parse_mode=ParseMode.ALLOW_LEGACY_METADATA_AND_REQUIREMENTS, ) else: - self.run_orchestrator.prepare() + orchestrator.prepare() for offset in labware_offsets: - self.run_orchestrator.add_labware_offset(offset) + orchestrator.add_labware_offset(offset) - return self.run_orchestrator.get_state_summary() + summary = orchestrator.get_state_summary() + self._run_orchestrator = orchestrator + return summary async def clear(self) -> RunResult: """Remove the current run orchestrator. diff --git a/robot-server/tests/integration/http_api/runs/test_json_v6_run_failure.tavern.yaml b/robot-server/tests/integration/http_api/runs/test_json_v6_run_failure.tavern.yaml index 27f894fe4115..6478e6a64899 100644 --- a/robot-server/tests/integration/http_api/runs/test_json_v6_run_failure.tavern.yaml +++ b/robot-server/tests/integration/http_api/runs/test_json_v6_run_failure.tavern.yaml @@ -91,9 +91,36 @@ stages: key: !anystr createdAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))" meta: - cursor: 3 + cursor: 0 totalLength: 4 data: + - id: !anystr + key: !anystr + commandType: home + createdAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))" + startedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))" + completedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))" + status: succeeded + params: !anydict + notes: !anylist + - id: !anystr + key: !anystr + commandType: loadLabware + createdAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))" + startedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))" + completedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))" + status: succeeded + params: !anydict + notes: !anylist + - id: !anystr + key: !anystr + commandType: loadPipette + createdAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))" + startedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))" + completedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))" + status: succeeded + params: !anydict + notes: !anylist - id: !anystr key: !anystr commandType: aspirate @@ -115,12 +142,6 @@ stages: pipetteId: pipetteId labwareId: tipRackId wellName: A1 - wellLocation: - origin: bottom - offset: - x: 0 - y: 0 - z: 1 - volumeOffset: 0 - flowRate: 3.78 - volume: 100 + wellLocation: !anydict + flowRate: !anyfloat + volume: !anyfloat \ No newline at end of file diff --git a/robot-server/tests/integration/http_api/runs/test_papi_v2_run_failure.tavern.yaml b/robot-server/tests/integration/http_api/runs/test_papi_v2_run_failure.tavern.yaml index 804b0b0e620d..281188dc9eb8 100644 --- a/robot-server/tests/integration/http_api/runs/test_papi_v2_run_failure.tavern.yaml +++ b/robot-server/tests/integration/http_api/runs/test_papi_v2_run_failure.tavern.yaml @@ -92,17 +92,51 @@ stages: key: !anystr createdAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))" meta: - cursor: 3 + cursor: 0 totalLength: 4 data: - id: !anystr key: !anystr + commandType: home + createdAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))" + startedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))" + completedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))" + status: succeeded + params: !anydict + notes: !anylist + - id: !re_fullmatch "commands\\.LOAD_LABWARE-\\d+" + key: !re_fullmatch "commands\\.LOAD_LABWARE-\\d+" + commandType: loadLabware + createdAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))" + startedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))" + completedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))" + status: succeeded + params: + location: + slotName: "1" + loadName: opentrons_96_tiprack_300ul + namespace: opentrons + version: 1 + notes: !anylist + - id: !re_fullmatch "commands\\.LOAD_PIPETTE-\\d+" + key: !re_fullmatch "commands\\.LOAD_PIPETTE-\\d+" + commandType: loadPipette + createdAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))" + startedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))" + completedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))" + status: succeeded + params: + pipetteName: p300_single + mount: right + notes: !anylist + - id: !re_fullmatch "command\\.ASPIRATE-\\d+" + key: !re_fullmatch "command\\.ASPIRATE-\\d+" commandType: aspirate createdAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))" startedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))" completedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))" status: failed - notes: [] + notes: !anylist error: id: !anystr errorType: LegacyContextCommandError @@ -119,9 +153,9 @@ stages: wellLocation: origin: top offset: - x: 0 - y: 0 - z: 0 - volumeOffset: 0 - flowRate: 150 - volume: 100 + x: !anyfloat + y: !anyfloat + z: !anyfloat + volumeOffset: !anyfloat + flowRate: !anyfloat + volume: !anyfloat \ No newline at end of file diff --git a/robot-server/tests/integration/http_api/runs/test_protocol_run.tavern.yaml b/robot-server/tests/integration/http_api/runs/test_protocol_run.tavern.yaml index 038f510d1dc1..f53ff13b65d3 100644 --- a/robot-server/tests/integration/http_api/runs/test_protocol_run.tavern.yaml +++ b/robot-server/tests/integration/http_api/runs/test_protocol_run.tavern.yaml @@ -223,6 +223,7 @@ stages: # so we just trust that this is correct. definition: !anydict offsetId: '{labware_offset_id}' + locationSequence: !anylist createdAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))" startedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))" completedAt: !re_fullmatch "\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}\\.\\d+(Z|([+-]\\d{2}:\\d{2}))" diff --git a/robot-server/tests/runs/test_run_orchestrator_store.py b/robot-server/tests/runs/test_run_orchestrator_store.py index a8564cece993..a1412922d492 100644 --- a/robot-server/tests/runs/test_run_orchestrator_store.py +++ b/robot-server/tests/runs/test_run_orchestrator_store.py @@ -1,10 +1,11 @@ """Tests for the EngineStore interface.""" from datetime import datetime +from textwrap import dedent +from pathlib import Path import pytest from decoy import Decoy, matchers -from opentrons_shared_data import get_shared_data_root from opentrons_shared_data.robot.types import RobotType from opentrons.protocol_engine.error_recovery_policy import never_recover @@ -17,7 +18,8 @@ types as pe_types, ) from opentrons.protocol_runner import RunResult, RunOrchestrator -from opentrons.protocol_reader import ProtocolReader, ProtocolSource +from opentrons.protocol_reader import ProtocolReader +from opentrons.protocol_engine.resources import FileProvider from robot_server.runs.run_orchestrator_store import ( RunOrchestratorStore, @@ -25,7 +27,8 @@ NoRunOrchestrator, handle_estop_event, ) -from opentrons.protocol_engine.resources import FileProvider +from robot_server.protocols.protocol_store import ProtocolResource +from robot_server.protocols.protocol_models import ProtocolKind def mock_notify_publishers() -> None: @@ -48,12 +51,31 @@ async def subject( @pytest.fixture -async def json_protocol_source() -> ProtocolSource: - """Get a protocol source fixture.""" - simple_protocol = ( - get_shared_data_root() / "protocol" / "fixtures" / "6" / "simpleV6.json" +async def bad_python_protocol_source(tmp_path: Path) -> ProtocolResource: + """Get a protocol source for a bad python protocol.""" + with open(tmp_path / "bad_protocol.py", "w") as proto: + proto.write( + dedent( + """ + requirements = {'apiLevel': '2.20', 'robotType': 'Flex'} + a = 1/0 + + def run(ctx): + pass + """ + ) + ) + return ProtocolResource( + protocol_id="protocol-id", + created_at=datetime.now(), + source=( + await ProtocolReader().read_saved( + files=[tmp_path / "bad_protocol.py"], directory=None + ) + ), + protocol_kind=ProtocolKind.STANDARD, + protocol_key="some-name", ) - return await ProtocolReader().read_saved(files=[simple_protocol], directory=None) async def test_create_engine(decoy: Decoy, subject: RunOrchestratorStore) -> None: @@ -164,6 +186,23 @@ async def test_archives_state_if_engine_already_exists( assert subject.current_run_id == "run-id-1" +async def test_create_does_not_store_orchestrator_on_load_failure( + subject: RunOrchestratorStore, bad_python_protocol_source: ProtocolResource +) -> None: + """It should not store an orchestrator unless it could be loaded.""" + with pytest.raises(ZeroDivisionError): + await subject.create( + run_id="run-id", + labware_offsets=[], + initial_error_recovery_policy=never_recover, + deck_configuration=[], + protocol=bad_python_protocol_source, + file_provider=FileProvider(), + notify_publishers=mock_notify_publishers, + ) + assert subject.current_run_id is None + + async def test_clear_engine(subject: RunOrchestratorStore) -> None: """It should clear a stored engine entry.""" await subject.create( @@ -185,9 +224,7 @@ async def test_clear_engine(subject: RunOrchestratorStore) -> None: subject.run_orchestrator -async def test_clear_engine_not_stopped_or_idle( - subject: RunOrchestratorStore, json_protocol_source: ProtocolSource -) -> None: +async def test_clear_engine_not_stopped_or_idle(subject: RunOrchestratorStore) -> None: """It should raise a conflict if the engine is not stopped.""" await subject.create( run_id="run-id", diff --git a/scripts/command_schema_diff.py b/scripts/command_schema_diff.py new file mode 100644 index 000000000000..2be7bf4f62f8 --- /dev/null +++ b/scripts/command_schema_diff.py @@ -0,0 +1,101 @@ +# /// script +# requires-python = "==3.10.*" +# dependencies = [ +# "rich", +# "requests", +# ] +# /// + +import requests +import sys +import json +import difflib +from rich.prompt import IntPrompt, Prompt +from rich.console import Console +from rich.progress import Progress +from rich.syntax import Syntax +from rich.panel import Panel + +console = Console() + +BASE_URL_TEMPLATE = "https://raw.githubusercontent.com/Opentrons/opentrons/{branch}/shared-data/command/schemas/{schema}.json" + + +def fetch_schema(branch, schema_number): + """Fetches the schema file from GitHub for a given branch and schema number.""" + url = BASE_URL_TEMPLATE.format(branch=branch, schema=schema_number) + console.print(f"[bold blue]Fetching schema from:[/bold blue] {url}") + + try: + with Progress() as progress: + task = progress.add_task("[green]Downloading...", total=100) + response = requests.get(url, timeout=10) + progress.update(task, advance=100) + + if response.status_code == 200: + console.print( + f"[bold green]Download successful from {branch}![/bold green]" + ) + return response.json() + else: + console.print( + f"[bold red]Failed to retrieve schema from {branch}: {response.status_code}[/bold red]" + ) + return None + except requests.RequestException as e: + console.print(f"[bold red]Error:[/bold red] {e}") + return None + + +def compare_schemas(schema1, schema2): + """Compares two JSON schemas and prints the differences.""" + schema1_str = json.dumps(schema1, indent=2, sort_keys=True) + schema2_str = json.dumps(schema2, indent=2, sort_keys=True) + + if schema1_str == schema2_str: + console.print("[bold green]No differences found! ✅[/bold green]") + return + + console.print("[bold yellow]Differences found:[/bold yellow] â—") + diff = difflib.unified_diff( + schema1_str.splitlines(), + schema2_str.splitlines(), + fromfile="edge.json", + tofile="branch.json", + lineterm="", + ) + + diff_output = "\n".join(diff) + console.print( + Panel(Syntax(diff_output, "diff", theme="monokai", line_numbers=True)) + ) + + +def main(): + """Main function to handle interactive and non-interactive modes.""" + if len(sys.argv) > 2: + try: + schema_number = int(sys.argv[1]) + branch = sys.argv[2] + except ValueError: + console.print( + "[bold red]Invalid input. Schema number must be an integer.[/bold red]" + ) + sys.exit(1) + else: + schema_number = IntPrompt.ask( + "[bold yellow]Enter the schema number[/bold yellow]" + ) + branch = Prompt.ask( + "[bold yellow]Enter the branch to compare against edge[/bold yellow]" + ) + + schema_edge = fetch_schema("edge", schema_number) + schema_branch = fetch_schema(branch, schema_number) + + if schema_edge and schema_branch: + compare_schemas(schema_edge, schema_branch) + + +if __name__ == "__main__": + main() diff --git a/server-utils/Makefile b/server-utils/Makefile index a1e69fdfe859..72d188bff25d 100755 --- a/server-utils/Makefile +++ b/server-utils/Makefile @@ -70,7 +70,7 @@ clean: .PHONY: teardown teardown: - $(pipenv) --rm + -$(pipenv) --rm .PHONY: wheel wheel: export OPENTRONS_PROJECT=$(project_rs_default) diff --git a/shared-data/command/index.ts b/shared-data/command/index.ts index 9fafaacb3717..ed21e37a20ad 100644 --- a/shared-data/command/index.ts +++ b/shared-data/command/index.ts @@ -2,7 +2,18 @@ import commandSchemaV7 from './schemas/7.json' import commandSchemaV8 from './schemas/8.json' import commandSchemaV9 from './schemas/9.json' import commandSchemaV10 from './schemas/10.json' +import commandSchemaV11 from './schemas/11.json' +import commandSchemaV12 from './schemas/12.json' +import commandSchemaV13 from './schemas/13.json' export * from './types/index' -export const commandSchemaLatest = commandSchemaV10 +export const commandSchemaLatest = commandSchemaV13 -export { commandSchemaV7, commandSchemaV8, commandSchemaV9, commandSchemaV10 } +export { + commandSchemaV7, + commandSchemaV8, + commandSchemaV9, + commandSchemaV10, + commandSchemaV11, + commandSchemaV12, + commandSchemaV13, +} diff --git a/shared-data/command/schemas/13.json b/shared-data/command/schemas/13.json new file mode 100644 index 000000000000..443d65b572c6 --- /dev/null +++ b/shared-data/command/schemas/13.json @@ -0,0 +1,7039 @@ +{ + "$defs": { + "AddressableAreaLocation": { + "description": "The location of something place in an addressable area. This is a superset of deck slots.", + "properties": { + "addressableAreaName": { + "description": "The name of the addressable area that you want to use. Valid values are the `id`s of `addressableArea`s in the [deck definition](https://github.com/Opentrons/opentrons/tree/edge/shared-data/deck).", + "title": "Addressableareaname", + "type": "string" + } + }, + "required": ["addressableAreaName"], + "title": "AddressableAreaLocation", + "type": "object" + }, + "AddressableOffsetVector": { + "description": "Offset, in deck coordinates, from nominal to actual position of an addressable area.", + "properties": { + "x": { + "title": "X", + "type": "number" + }, + "y": { + "title": "Y", + "type": "number" + }, + "z": { + "title": "Z", + "type": "number" + } + }, + "required": ["x", "y", "z"], + "title": "AddressableOffsetVector", + "type": "object" + }, + "AirGapInPlaceCreate": { + "description": "AirGapInPlace command request model.", + "properties": { + "commandType": { + "const": "airGapInPlace", + "default": "airGapInPlace", + "enum": ["airGapInPlace"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/AirGapInPlaceParams" + } + }, + "required": ["params"], + "title": "AirGapInPlaceCreate", + "type": "object" + }, + "AirGapInPlaceParams": { + "description": "Payload required to air gap in place.", + "properties": { + "correctionVolume": { + "anyOf": [ + { + "type": "number" + }, + { + "type": "null" + } + ], + "default": null, + "description": "The correction volume in uL.", + "title": "Correctionvolume" + }, + "flowRate": { + "description": "Speed in \u00b5L/s configured for the pipette", + "exclusiveMinimum": 0.0, + "title": "Flowrate", + "type": "number" + }, + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + }, + "volume": { + "description": "The amount of liquid to aspirate, in \u00b5L. Must not be greater than the remaining available amount, which depends on the pipette (see `loadPipette`), its configuration (see `configureForVolume`), the tip (see `pickUpTip`), and the amount you've aspirated so far. There is some tolerance for floating point rounding errors.", + "minimum": 0.0, + "title": "Volume", + "type": "number" + } + }, + "required": ["flowRate", "volume", "pipetteId"], + "title": "AirGapInPlaceParams", + "type": "object" + }, + "AllNozzleLayoutConfiguration": { + "description": "All basemodel to represent a reset to the nozzle configuration. Sending no parameters resets to default.", + "properties": { + "style": { + "const": "ALL", + "default": "ALL", + "enum": ["ALL"], + "title": "Style", + "type": "string" + } + }, + "title": "AllNozzleLayoutConfiguration", + "type": "object" + }, + "AspirateCreate": { + "description": "Create aspirate command request model.", + "properties": { + "commandType": { + "const": "aspirate", + "default": "aspirate", + "enum": ["aspirate"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/AspirateParams" + } + }, + "required": ["params"], + "title": "AspirateCreate", + "type": "object" + }, + "AspirateInPlaceCreate": { + "description": "AspirateInPlace command request model.", + "properties": { + "commandType": { + "const": "aspirateInPlace", + "default": "aspirateInPlace", + "enum": ["aspirateInPlace"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/AspirateInPlaceParams" + } + }, + "required": ["params"], + "title": "AspirateInPlaceCreate", + "type": "object" + }, + "AspirateInPlaceParams": { + "description": "Payload required to aspirate in place.", + "properties": { + "correctionVolume": { + "anyOf": [ + { + "type": "number" + }, + { + "type": "null" + } + ], + "default": null, + "description": "The correction volume in uL.", + "title": "Correctionvolume" + }, + "flowRate": { + "description": "Speed in \u00b5L/s configured for the pipette", + "exclusiveMinimum": 0.0, + "title": "Flowrate", + "type": "number" + }, + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + }, + "volume": { + "description": "The amount of liquid to aspirate, in \u00b5L. Must not be greater than the remaining available amount, which depends on the pipette (see `loadPipette`), its configuration (see `configureForVolume`), the tip (see `pickUpTip`), and the amount you've aspirated so far. There is some tolerance for floating point rounding errors.", + "minimum": 0.0, + "title": "Volume", + "type": "number" + } + }, + "required": ["flowRate", "volume", "pipetteId"], + "title": "AspirateInPlaceParams", + "type": "object" + }, + "AspirateParams": { + "description": "Parameters required to aspirate from a specific well.", + "properties": { + "correctionVolume": { + "anyOf": [ + { + "type": "number" + }, + { + "type": "null" + } + ], + "default": null, + "description": "The correction volume in uL.", + "title": "Correctionvolume" + }, + "flowRate": { + "description": "Speed in \u00b5L/s configured for the pipette", + "exclusiveMinimum": 0.0, + "title": "Flowrate", + "type": "number" + }, + "labwareId": { + "description": "Identifier of labware to use.", + "title": "Labwareid", + "type": "string" + }, + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + }, + "volume": { + "description": "The amount of liquid to aspirate, in \u00b5L. Must not be greater than the remaining available amount, which depends on the pipette (see `loadPipette`), its configuration (see `configureForVolume`), the tip (see `pickUpTip`), and the amount you've aspirated so far. There is some tolerance for floating point rounding errors.", + "minimum": 0.0, + "title": "Volume", + "type": "number" + }, + "wellLocation": { + "$ref": "#/$defs/LiquidHandlingWellLocation", + "description": "Relative well location at which to perform the operation" + }, + "wellName": { + "description": "Name of well to use in labware.", + "title": "Wellname", + "type": "string" + } + }, + "required": ["labwareId", "wellName", "flowRate", "volume", "pipetteId"], + "title": "AspirateParams", + "type": "object" + }, + "AspirateProperties": { + "description": "Properties specific to the aspirate function.", + "properties": { + "aspiratePosition": { + "$ref": "#/$defs/TipPosition", + "description": "Tip position during aspirate." + }, + "correctionByVolume": { + "description": "Settings for volume correction keyed by by target aspiration volume, representing additional volume the plunger should move to accurately hit target volume.", + "items": { + "maxItems": 2, + "minItems": 2, + "prefixItems": [ + { + "anyOf": [ + { + "minimum": 0, + "type": "integer" + }, + { + "minimum": 0.0, + "type": "number" + } + ] + }, + { + "anyOf": [ + { + "type": "integer" + }, + { + "type": "number" + } + ] + } + ], + "type": "array" + }, + "title": "Correctionbyvolume", + "type": "array" + }, + "delay": { + "$ref": "#/$defs/DelayProperties", + "description": "Delay settings after an aspirate" + }, + "flowRateByVolume": { + "description": "Settings for flow rate keyed by target aspiration volume.", + "items": { + "maxItems": 2, + "minItems": 2, + "prefixItems": [ + { + "anyOf": [ + { + "minimum": 0, + "type": "integer" + }, + { + "minimum": 0.0, + "type": "number" + } + ] + }, + { + "anyOf": [ + { + "minimum": 0, + "type": "integer" + }, + { + "minimum": 0.0, + "type": "number" + } + ] + } + ], + "type": "array" + }, + "title": "Flowratebyvolume", + "type": "array" + }, + "mix": { + "$ref": "#/$defs/MixProperties", + "description": "Mixing settings for before an aspirate" + }, + "preWet": { + "description": "Whether to perform a pre-wet action.", + "title": "Prewet", + "type": "boolean" + }, + "retract": { + "$ref": "#/$defs/RetractAspirate", + "description": "Pipette retract settings after an aspirate." + }, + "submerge": { + "$ref": "#/$defs/Submerge", + "description": "Submerge settings for aspirate." + } + }, + "required": [ + "submerge", + "retract", + "aspiratePosition", + "flowRateByVolume", + "correctionByVolume", + "preWet", + "mix", + "delay" + ], + "title": "AspirateProperties", + "type": "object" + }, + "AspirateWhileTrackingCreate": { + "description": "Create aspirateWhileTracking command request model.", + "properties": { + "commandType": { + "const": "aspirateWhileTracking", + "default": "aspirateWhileTracking", + "enum": ["aspirateWhileTracking"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/AspirateWhileTrackingParams" + } + }, + "required": ["params"], + "title": "AspirateWhileTrackingCreate", + "type": "object" + }, + "AspirateWhileTrackingParams": { + "description": "Parameters required to aspirate from a specific well.", + "properties": { + "correctionVolume": { + "anyOf": [ + { + "type": "number" + }, + { + "type": "null" + } + ], + "default": null, + "description": "The correction volume in uL.", + "title": "Correctionvolume" + }, + "flowRate": { + "description": "Speed in \u00b5L/s configured for the pipette", + "exclusiveMinimum": 0.0, + "title": "Flowrate", + "type": "number" + }, + "labwareId": { + "description": "Identifier of labware to use.", + "title": "Labwareid", + "type": "string" + }, + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + }, + "volume": { + "description": "The amount of liquid to aspirate, in \u00b5L. Must not be greater than the remaining available amount, which depends on the pipette (see `loadPipette`), its configuration (see `configureForVolume`), the tip (see `pickUpTip`), and the amount you've aspirated so far. There is some tolerance for floating point rounding errors.", + "minimum": 0.0, + "title": "Volume", + "type": "number" + }, + "wellLocation": { + "$ref": "#/$defs/LiquidHandlingWellLocation", + "description": "Relative well location at which to perform the operation" + }, + "wellName": { + "description": "Name of well to use in labware.", + "title": "Wellname", + "type": "string" + } + }, + "required": ["labwareId", "wellName", "flowRate", "volume", "pipetteId"], + "title": "AspirateWhileTrackingParams", + "type": "object" + }, + "BlowOutCreate": { + "description": "Create blow-out command request model.", + "properties": { + "commandType": { + "const": "blowout", + "default": "blowout", + "enum": ["blowout"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/BlowOutParams" + } + }, + "required": ["params"], + "title": "BlowOutCreate", + "type": "object" + }, + "BlowOutInPlaceCreate": { + "description": "BlowOutInPlace command request model.", + "properties": { + "commandType": { + "const": "blowOutInPlace", + "default": "blowOutInPlace", + "enum": ["blowOutInPlace"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/BlowOutInPlaceParams" + } + }, + "required": ["params"], + "title": "BlowOutInPlaceCreate", + "type": "object" + }, + "BlowOutInPlaceParams": { + "description": "Payload required to blow-out in place.", + "properties": { + "flowRate": { + "description": "Speed in \u00b5L/s configured for the pipette", + "exclusiveMinimum": 0.0, + "title": "Flowrate", + "type": "number" + }, + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + } + }, + "required": ["flowRate", "pipetteId"], + "title": "BlowOutInPlaceParams", + "type": "object" + }, + "BlowOutParams": { + "description": "Payload required to blow-out a specific well.", + "properties": { + "flowRate": { + "description": "Speed in \u00b5L/s configured for the pipette", + "exclusiveMinimum": 0.0, + "title": "Flowrate", + "type": "number" + }, + "labwareId": { + "description": "Identifier of labware to use.", + "title": "Labwareid", + "type": "string" + }, + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + }, + "wellLocation": { + "$ref": "#/$defs/WellLocation", + "description": "Relative well location at which to perform the operation" + }, + "wellName": { + "description": "Name of well to use in labware.", + "title": "Wellname", + "type": "string" + } + }, + "required": ["labwareId", "wellName", "flowRate", "pipetteId"], + "title": "BlowOutParams", + "type": "object" + }, + "BlowoutLocation": { + "description": "Location for blowout during a transfer function.", + "enum": ["source", "destination", "trash"], + "title": "BlowoutLocation", + "type": "string" + }, + "BlowoutParams": { + "description": "Parameters for blowout.", + "properties": { + "flowRate": { + "anyOf": [ + { + "exclusiveMinimum": 0, + "type": "integer" + }, + { + "exclusiveMinimum": 0.0, + "type": "number" + } + ], + "description": "Flow rate for blow out, in microliters per second.", + "title": "Flowrate" + }, + "location": { + "$ref": "#/$defs/BlowoutLocation", + "description": "Location well or trash entity for blow out." + } + }, + "required": ["location", "flowRate"], + "title": "BlowoutParams", + "type": "object" + }, + "BlowoutProperties": { + "description": "Blowout properties.", + "properties": { + "enable": { + "description": "Whether blow-out is enabled.", + "title": "Enable", + "type": "boolean" + }, + "params": { + "$ref": "#/$defs/BlowoutParams", + "description": "Parameters for the blowout function.", + "title": "Params" + } + }, + "required": ["enable"], + "title": "BlowoutProperties", + "type": "object" + }, + "CalibrateGripperCreate": { + "description": "A request to create a `calibrateGripper` command.", + "properties": { + "commandType": { + "const": "calibration/calibrateGripper", + "default": "calibration/calibrateGripper", + "enum": ["calibration/calibrateGripper"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/CalibrateGripperParams" + } + }, + "required": ["params"], + "title": "CalibrateGripperCreate", + "type": "object" + }, + "CalibrateGripperParams": { + "description": "Parameters for a `calibrateGripper` command.", + "properties": { + "jaw": { + "$ref": "#/$defs/CalibrateGripperParamsJaw", + "description": "Which of the gripper's jaws to use to measure its offset. The robot will assume that a human operator has already attached the capacitive probe to the jaw and none is attached to the other jaw." + }, + "otherJawOffset": { + "$ref": "#/$defs/Vec3f", + "description": "If an offset for the other probe is already found, then specifying it here will enable the CalibrateGripper command to complete the calibration process by calculating the total offset and saving it to disk. If this param is not specified then the command will only find and return the offset for the specified probe.", + "title": "Otherjawoffset" + } + }, + "required": ["jaw"], + "title": "CalibrateGripperParams", + "type": "object" + }, + "CalibrateGripperParamsJaw": { + "enum": ["front", "rear"], + "title": "CalibrateGripperParamsJaw", + "type": "string" + }, + "CalibrateModuleCreate": { + "description": "Create calibrate-module command request model.", + "properties": { + "commandType": { + "const": "calibration/calibrateModule", + "default": "calibration/calibrateModule", + "enum": ["calibration/calibrateModule"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/CalibrateModuleParams" + } + }, + "required": ["params"], + "title": "CalibrateModuleCreate", + "type": "object" + }, + "CalibrateModuleParams": { + "description": "Payload required to calibrate-module.", + "properties": { + "labwareId": { + "description": "The unique id of module calibration adapter labware.", + "title": "Labwareid", + "type": "string" + }, + "moduleId": { + "description": "The unique id of module to calibrate.", + "title": "Moduleid", + "type": "string" + }, + "mount": { + "$ref": "#/$defs/MountType", + "description": "The instrument mount used to calibrate the module." + } + }, + "required": ["moduleId", "labwareId", "mount"], + "title": "CalibrateModuleParams", + "type": "object" + }, + "CalibratePipetteCreate": { + "description": "Create calibrate-pipette command request model.", + "properties": { + "commandType": { + "const": "calibration/calibratePipette", + "default": "calibration/calibratePipette", + "enum": ["calibration/calibratePipette"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/CalibratePipetteParams" + } + }, + "required": ["params"], + "title": "CalibratePipetteCreate", + "type": "object" + }, + "CalibratePipetteParams": { + "description": "Payload required to calibrate-pipette.", + "properties": { + "mount": { + "$ref": "#/$defs/MountType", + "description": "Instrument mount to calibrate." + } + }, + "required": ["mount"], + "title": "CalibratePipetteParams", + "type": "object" + }, + "CloseGripperJawCreate": { + "description": "CloseGripperJaw command request model.", + "properties": { + "commandType": { + "const": "robot/closeGripperJaw", + "default": "robot/closeGripperJaw", + "enum": ["robot/closeGripperJaw"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/CloseGripperJawParams" + } + }, + "required": ["params"], + "title": "CloseGripperJawCreate", + "type": "object" + }, + "CloseGripperJawParams": { + "description": "Payload required to close a gripper.", + "properties": { + "force": { + "description": "The force the gripper should use to hold the jaws, falls to default if none is provided.", + "title": "Force", + "type": "number" + } + }, + "title": "CloseGripperJawParams", + "type": "object" + }, + "CloseLabwareLatchCreate": { + "description": "A request to create a Heater-Shaker's close latch command.", + "properties": { + "commandType": { + "const": "heaterShaker/closeLabwareLatch", + "default": "heaterShaker/closeLabwareLatch", + "enum": ["heaterShaker/closeLabwareLatch"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/CloseLabwareLatchParams" + } + }, + "required": ["params"], + "title": "CloseLabwareLatchCreate", + "type": "object" + }, + "CloseLabwareLatchParams": { + "description": "Input parameters to close a Heater-Shaker Module's labware latch.", + "properties": { + "moduleId": { + "description": "Unique ID of the Heater-Shaker Module.", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId"], + "title": "CloseLabwareLatchParams", + "type": "object" + }, + "CloseLatchCreate": { + "description": "A request to execute a Flex Stacker CloseLatch command.", + "properties": { + "commandType": { + "const": "flexStacker/closeLatch", + "default": "flexStacker/closeLatch", + "enum": ["flexStacker/closeLatch"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/CloseLatchParams" + } + }, + "required": ["params"], + "title": "CloseLatchCreate", + "type": "object" + }, + "CloseLatchParams": { + "description": "The parameters defining how a stacker should close its latch.", + "properties": { + "moduleId": { + "description": "Unique ID of the Flex Stacker", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId"], + "title": "CloseLatchParams", + "type": "object" + }, + "ColumnNozzleLayoutConfiguration": { + "description": "Information required for nozzle configurations of type ROW and COLUMN.", + "properties": { + "primaryNozzle": { + "description": "The primary nozzle to use in the layout configuration. This nozzle will update the critical point of the current pipette. For now, this is also the back left corner of your rectangle.", + "enum": ["A1", "H1", "A12", "H12"], + "title": "Primarynozzle", + "type": "string" + }, + "style": { + "const": "COLUMN", + "default": "COLUMN", + "enum": ["COLUMN"], + "title": "Style", + "type": "string" + } + }, + "required": ["primaryNozzle"], + "title": "ColumnNozzleLayoutConfiguration", + "type": "object" + }, + "CommandIntent": { + "description": "Run intent for a given command.\n\nProps:\n PROTOCOL: the command is part of the protocol run itself.\n SETUP: the command is part of the setup phase of a run.", + "enum": ["protocol", "setup", "fixit"], + "title": "CommandIntent", + "type": "string" + }, + "CommentCreate": { + "description": "Comment command request model.", + "properties": { + "commandType": { + "const": "comment", + "default": "comment", + "enum": ["comment"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/CommentParams" + } + }, + "required": ["params"], + "title": "CommentCreate", + "type": "object" + }, + "CommentParams": { + "description": "Payload required to annotate execution with a comment.", + "properties": { + "message": { + "description": "A user-facing message", + "title": "Message", + "type": "string" + } + }, + "required": ["message"], + "title": "CommentParams", + "type": "object" + }, + "ConfigureForVolumeCreate": { + "description": "Configure for volume command creation request model.", + "properties": { + "commandType": { + "const": "configureForVolume", + "default": "configureForVolume", + "enum": ["configureForVolume"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/ConfigureForVolumeParams" + } + }, + "required": ["params"], + "title": "ConfigureForVolumeCreate", + "type": "object" + }, + "ConfigureForVolumeParams": { + "description": "Parameters required to configure volume for a specific pipette.", + "properties": { + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + }, + "tipOverlapNotAfterVersion": { + "description": "A version of tip overlap data to not exceed. The highest-versioned tip overlap data that does not exceed this version will be used. Versions are expressed as vN where N is an integer, counting up from v0. If None, the current highest version will be used.", + "title": "Tipoverlapnotafterversion", + "type": "string" + }, + "volume": { + "description": "Amount of liquid in uL. Must be at least 0 and no greater than a pipette-specific maximum volume.", + "minimum": 0.0, + "title": "Volume", + "type": "number" + } + }, + "required": ["pipetteId", "volume"], + "title": "ConfigureForVolumeParams", + "type": "object" + }, + "ConfigureNozzleLayoutCreate": { + "description": "Configure nozzle layout creation request model.", + "properties": { + "commandType": { + "const": "configureNozzleLayout", + "default": "configureNozzleLayout", + "enum": ["configureNozzleLayout"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/ConfigureNozzleLayoutParams" + } + }, + "required": ["params"], + "title": "ConfigureNozzleLayoutCreate", + "type": "object" + }, + "ConfigureNozzleLayoutParams": { + "description": "Parameters required to configure the nozzle layout for a specific pipette.", + "properties": { + "configurationParams": { + "anyOf": [ + { + "$ref": "#/$defs/AllNozzleLayoutConfiguration" + }, + { + "$ref": "#/$defs/SingleNozzleLayoutConfiguration" + }, + { + "$ref": "#/$defs/RowNozzleLayoutConfiguration" + }, + { + "$ref": "#/$defs/ColumnNozzleLayoutConfiguration" + }, + { + "$ref": "#/$defs/QuadrantNozzleLayoutConfiguration" + } + ], + "title": "Configurationparams" + }, + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + } + }, + "required": ["pipetteId", "configurationParams"], + "title": "ConfigureNozzleLayoutParams", + "type": "object" + }, + "Coordinate": { + "description": "Three-dimensional coordinates.", + "properties": { + "x": { + "anyOf": [ + { + "type": "integer" + }, + { + "type": "number" + } + ], + "title": "X" + }, + "y": { + "anyOf": [ + { + "type": "integer" + }, + { + "type": "number" + } + ], + "title": "Y" + }, + "z": { + "anyOf": [ + { + "type": "integer" + }, + { + "type": "number" + } + ], + "title": "Z" + } + }, + "required": ["x", "y", "z"], + "title": "Coordinate", + "type": "object" + }, + "CustomCreate": { + "description": "A request to create a custom command.", + "properties": { + "commandType": { + "const": "custom", + "default": "custom", + "enum": ["custom"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/CustomParams" + } + }, + "required": ["params"], + "title": "CustomCreate", + "type": "object" + }, + "CustomParams": { + "additionalProperties": true, + "description": "Payload used by a custom command.", + "properties": {}, + "title": "CustomParams", + "type": "object" + }, + "DeactivateBlockCreate": { + "description": "A request to create a Thermocycler's deactivate block command.", + "properties": { + "commandType": { + "const": "thermocycler/deactivateBlock", + "default": "thermocycler/deactivateBlock", + "enum": ["thermocycler/deactivateBlock"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/DeactivateBlockParams" + } + }, + "required": ["params"], + "title": "DeactivateBlockCreate", + "type": "object" + }, + "DeactivateBlockParams": { + "description": "Input parameters to unset a Thermocycler's target block temperature.", + "properties": { + "moduleId": { + "description": "Unique ID of the Thermocycler.", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId"], + "title": "DeactivateBlockParams", + "type": "object" + }, + "DeactivateHeaterCreate": { + "description": "A request to create a Heater-Shaker's deactivate heater command.", + "properties": { + "commandType": { + "const": "heaterShaker/deactivateHeater", + "default": "heaterShaker/deactivateHeater", + "enum": ["heaterShaker/deactivateHeater"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/DeactivateHeaterParams" + } + }, + "required": ["params"], + "title": "DeactivateHeaterCreate", + "type": "object" + }, + "DeactivateHeaterParams": { + "description": "Input parameters to unset a Heater-Shaker's target temperature.", + "properties": { + "moduleId": { + "description": "Unique ID of the Heater-Shaker Module.", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId"], + "title": "DeactivateHeaterParams", + "type": "object" + }, + "DeactivateLidCreate": { + "description": "A request to create a Thermocycler's deactivate lid command.", + "properties": { + "commandType": { + "const": "thermocycler/deactivateLid", + "default": "thermocycler/deactivateLid", + "enum": ["thermocycler/deactivateLid"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/DeactivateLidParams" + } + }, + "required": ["params"], + "title": "DeactivateLidCreate", + "type": "object" + }, + "DeactivateLidParams": { + "description": "Input parameters to unset a Thermocycler's target lid temperature.", + "properties": { + "moduleId": { + "description": "Unique ID of the Thermocycler.", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId"], + "title": "DeactivateLidParams", + "type": "object" + }, + "DeactivateShakerCreate": { + "description": "A request to create a Heater-Shaker's deactivate shaker command.", + "properties": { + "commandType": { + "const": "heaterShaker/deactivateShaker", + "default": "heaterShaker/deactivateShaker", + "enum": ["heaterShaker/deactivateShaker"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/DeactivateShakerParams" + } + }, + "required": ["params"], + "title": "DeactivateShakerCreate", + "type": "object" + }, + "DeactivateShakerParams": { + "description": "Input parameters to deactivate shaker for a Heater-Shaker Module.", + "properties": { + "moduleId": { + "description": "Unique ID of the Heater-Shaker Module.", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId"], + "title": "DeactivateShakerParams", + "type": "object" + }, + "DeactivateTemperatureCreate": { + "description": "A request to deactivate a Temperature Module.", + "properties": { + "commandType": { + "const": "temperatureModule/deactivate", + "default": "temperatureModule/deactivate", + "enum": ["temperatureModule/deactivate"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/DeactivateTemperatureParams" + } + }, + "required": ["params"], + "title": "DeactivateTemperatureCreate", + "type": "object" + }, + "DeactivateTemperatureParams": { + "description": "Input parameters to deactivate a Temperature Module.", + "properties": { + "moduleId": { + "description": "Unique ID of the Temperature Module.", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId"], + "title": "DeactivateTemperatureParams", + "type": "object" + }, + "DeckPoint": { + "description": "Coordinates of a point in deck space.", + "properties": { + "x": { + "title": "X", + "type": "number" + }, + "y": { + "title": "Y", + "type": "number" + }, + "z": { + "title": "Z", + "type": "number" + } + }, + "required": ["x", "y", "z"], + "title": "DeckPoint", + "type": "object" + }, + "DeckSlotLocation": { + "description": "The location of something placed in a single deck slot.", + "properties": { + "slotName": { + "$ref": "#/$defs/DeckSlotName", + "description": "A slot on the robot's deck.\n\nThe plain numbers like `\"5\"` are for the OT-2, and the coordinates like `\"C2\"` are for the Flex.\n\nWhen you provide one of these values, you can use either style. It will automatically be converted to match the robot.\n\nWhen one of these values is returned, it will always match the robot." + } + }, + "required": ["slotName"], + "title": "DeckSlotLocation", + "type": "object" + }, + "DeckSlotName": { + "description": "Deck slot identifiers.", + "enum": [ + "1", + "2", + "3", + "4", + "5", + "6", + "7", + "8", + "9", + "10", + "11", + "12", + "A1", + "A2", + "A3", + "B1", + "B2", + "B3", + "C1", + "C2", + "C3", + "D1", + "D2", + "D3" + ], + "title": "DeckSlotName", + "type": "string" + }, + "DelayParams": { + "description": "Parameters for delay.", + "properties": { + "duration": { + "anyOf": [ + { + "minimum": 0, + "type": "integer" + }, + { + "minimum": 0.0, + "type": "number" + } + ], + "description": "Duration of delay, in seconds.", + "title": "Duration" + } + }, + "required": ["duration"], + "title": "DelayParams", + "type": "object" + }, + "DelayProperties": { + "description": "Shared properties for delay..", + "properties": { + "enable": { + "description": "Whether delay is enabled.", + "title": "Enable", + "type": "boolean" + }, + "params": { + "$ref": "#/$defs/DelayParams", + "description": "Parameters for the delay function.", + "title": "Params" + } + }, + "required": ["enable"], + "title": "DelayProperties", + "type": "object" + }, + "DisengageCreate": { + "description": "A request to create a Magnetic Module disengage command.", + "properties": { + "commandType": { + "const": "magneticModule/disengage", + "default": "magneticModule/disengage", + "enum": ["magneticModule/disengage"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/DisengageParams" + } + }, + "required": ["params"], + "title": "DisengageCreate", + "type": "object" + }, + "DisengageParams": { + "description": "Input data to disengage a Magnetic Module's magnets.", + "properties": { + "moduleId": { + "description": "The ID of the Magnetic Module whose magnets you want to disengage, from a prior `loadModule` command.", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId"], + "title": "DisengageParams", + "type": "object" + }, + "DispenseCreate": { + "description": "Create dispense command request model.", + "properties": { + "commandType": { + "const": "dispense", + "default": "dispense", + "enum": ["dispense"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/DispenseParams" + } + }, + "required": ["params"], + "title": "DispenseCreate", + "type": "object" + }, + "DispenseInPlaceCreate": { + "description": "DispenseInPlace command request model.", + "properties": { + "commandType": { + "const": "dispenseInPlace", + "default": "dispenseInPlace", + "enum": ["dispenseInPlace"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/DispenseInPlaceParams" + } + }, + "required": ["params"], + "title": "DispenseInPlaceCreate", + "type": "object" + }, + "DispenseInPlaceParams": { + "description": "Payload required to dispense in place.", + "properties": { + "correctionVolume": { + "anyOf": [ + { + "type": "number" + }, + { + "type": "null" + } + ], + "default": null, + "description": "The correction volume in uL.", + "title": "Correctionvolume" + }, + "flowRate": { + "description": "Speed in \u00b5L/s configured for the pipette", + "exclusiveMinimum": 0.0, + "title": "Flowrate", + "type": "number" + }, + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + }, + "pushOut": { + "description": "push the plunger a small amount farther than necessary for accurate low-volume dispensing", + "title": "Pushout", + "type": "number" + }, + "volume": { + "description": "The amount of liquid to dispense, in \u00b5L. Must not be greater than the currently aspirated volume. There is some tolerance for floating point rounding errors.", + "minimum": 0.0, + "title": "Volume", + "type": "number" + } + }, + "required": ["flowRate", "volume", "pipetteId"], + "title": "DispenseInPlaceParams", + "type": "object" + }, + "DispenseParams": { + "description": "Payload required to dispense to a specific well.", + "properties": { + "correctionVolume": { + "anyOf": [ + { + "type": "number" + }, + { + "type": "null" + } + ], + "default": null, + "description": "The correction volume in uL.", + "title": "Correctionvolume" + }, + "flowRate": { + "description": "Speed in \u00b5L/s configured for the pipette", + "exclusiveMinimum": 0.0, + "title": "Flowrate", + "type": "number" + }, + "labwareId": { + "description": "Identifier of labware to use.", + "title": "Labwareid", + "type": "string" + }, + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + }, + "pushOut": { + "description": "push the plunger a small amount farther than necessary for accurate low-volume dispensing", + "title": "Pushout", + "type": "number" + }, + "volume": { + "description": "The amount of liquid to dispense, in \u00b5L. Must not be greater than the currently aspirated volume. There is some tolerance for floating point rounding errors.", + "minimum": 0.0, + "title": "Volume", + "type": "number" + }, + "wellLocation": { + "$ref": "#/$defs/LiquidHandlingWellLocation", + "description": "Relative well location at which to perform the operation" + }, + "wellName": { + "description": "Name of well to use in labware.", + "title": "Wellname", + "type": "string" + } + }, + "required": ["labwareId", "wellName", "flowRate", "volume", "pipetteId"], + "title": "DispenseParams", + "type": "object" + }, + "DispenseWhileTrackingCreate": { + "description": "Create dispenseWhileTracking command request model.", + "properties": { + "commandType": { + "const": "dispenseWhileTracking", + "default": "dispenseWhileTracking", + "enum": ["dispenseWhileTracking"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/DispenseWhileTrackingParams" + } + }, + "required": ["params"], + "title": "DispenseWhileTrackingCreate", + "type": "object" + }, + "DispenseWhileTrackingParams": { + "description": "Payload required to dispense to a specific well.", + "properties": { + "correctionVolume": { + "anyOf": [ + { + "type": "number" + }, + { + "type": "null" + } + ], + "default": null, + "description": "The correction volume in uL.", + "title": "Correctionvolume" + }, + "flowRate": { + "description": "Speed in \u00b5L/s configured for the pipette", + "exclusiveMinimum": 0.0, + "title": "Flowrate", + "type": "number" + }, + "labwareId": { + "description": "Identifier of labware to use.", + "title": "Labwareid", + "type": "string" + }, + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + }, + "pushOut": { + "description": "push the plunger a small amount farther than necessary for accurate low-volume dispensing", + "title": "Pushout", + "type": "number" + }, + "volume": { + "description": "The amount of liquid to dispense, in \u00b5L. Must not be greater than the currently aspirated volume. There is some tolerance for floating point rounding errors.", + "minimum": 0.0, + "title": "Volume", + "type": "number" + }, + "wellLocation": { + "$ref": "#/$defs/LiquidHandlingWellLocation", + "description": "Relative well location at which to perform the operation" + }, + "wellName": { + "description": "Name of well to use in labware.", + "title": "Wellname", + "type": "string" + } + }, + "required": ["labwareId", "wellName", "flowRate", "volume", "pipetteId"], + "title": "DispenseWhileTrackingParams", + "type": "object" + }, + "DropTipCreate": { + "description": "Drop tip command creation request model.", + "properties": { + "commandType": { + "const": "dropTip", + "default": "dropTip", + "enum": ["dropTip"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/DropTipParams" + } + }, + "required": ["params"], + "title": "DropTipCreate", + "type": "object" + }, + "DropTipInPlaceCreate": { + "description": "Drop tip in place command creation request model.", + "properties": { + "commandType": { + "const": "dropTipInPlace", + "default": "dropTipInPlace", + "enum": ["dropTipInPlace"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/DropTipInPlaceParams" + } + }, + "required": ["params"], + "title": "DropTipInPlaceCreate", + "type": "object" + }, + "DropTipInPlaceParams": { + "description": "Payload required to drop a tip in place.", + "properties": { + "homeAfter": { + "description": "Whether to home this pipette's plunger after dropping the tip. You should normally leave this unspecified to let the robot choose a safe default depending on its hardware.", + "title": "Homeafter", + "type": "boolean" + }, + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + } + }, + "required": ["pipetteId"], + "title": "DropTipInPlaceParams", + "type": "object" + }, + "DropTipParams": { + "description": "Payload required to drop a tip in a specific well.", + "properties": { + "alternateDropLocation": { + "description": "Whether to alternate location where tip is dropped within the labware. If True, this command will ignore the wellLocation provided and alternate between dropping tips at two predetermined locations inside the specified labware well. If False, the tip will be dropped at the top center of the well.", + "title": "Alternatedroplocation", + "type": "boolean" + }, + "homeAfter": { + "description": "Whether to home this pipette's plunger after dropping the tip. You should normally leave this unspecified to let the robot choose a safe default depending on its hardware.", + "title": "Homeafter", + "type": "boolean" + }, + "labwareId": { + "description": "Identifier of labware to use.", + "title": "Labwareid", + "type": "string" + }, + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + }, + "scrape_tips": { + "description": "Whether or not to scrape off the tips with the ejector all the way down. If True, and the target location is a tip rack well, it will move the pipette. Towards the center of the tip rack with the ejector in the 'drop_tip' position. If False, no horizontal movement will occur.", + "title": "Scrape Tips", + "type": "boolean" + }, + "wellLocation": { + "$ref": "#/$defs/DropTipWellLocation", + "description": "Relative well location at which to drop the tip." + }, + "wellName": { + "description": "Name of well to use in labware.", + "title": "Wellname", + "type": "string" + } + }, + "required": ["pipetteId", "labwareId", "wellName"], + "title": "DropTipParams", + "type": "object" + }, + "DropTipWellLocation": { + "description": "Like WellLocation, but for dropping tips.\n\nUnlike a typical WellLocation, the location for a drop tip\ndefaults to location based on the tip length rather than the well's top.", + "properties": { + "offset": { + "$ref": "#/$defs/WellOffset" + }, + "origin": { + "$ref": "#/$defs/DropTipWellOrigin", + "default": "default" + } + }, + "title": "DropTipWellLocation", + "type": "object" + }, + "DropTipWellOrigin": { + "description": "The origin of a DropTipWellLocation offset.\n\nProps:\n TOP: the top-center of the well\n BOTTOM: the bottom-center of the well\n CENTER: the middle-center of the well\n DEFAULT: the default drop-tip location of the well,\n based on pipette configuration and length of the tip.", + "enum": ["top", "bottom", "center", "default"], + "title": "DropTipWellOrigin", + "type": "string" + }, + "EmptyCreate": { + "description": "A request to execute a Flex Stacker empty command.", + "properties": { + "commandType": { + "const": "flexStacker/empty", + "default": "flexStacker/empty", + "enum": ["flexStacker/empty"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/EmptyParams" + } + }, + "required": ["params"], + "title": "EmptyCreate", + "type": "object" + }, + "EmptyParams": { + "description": "The parameters defining how a stacker should be emptied.", + "properties": { + "count": { + "anyOf": [ + { + "minimum": 0, + "type": "integer" + }, + { + "type": "null" + } + ], + "default": null, + "description": "The new count of labware in the pool. If None, default to an empty pool. If this number is larger than the amount of labware currently in the pool, default to the smaller amount. Do not use the value in the parameters as an outside observer; instead, use the count value from the results.", + "title": "Count" + }, + "message": { + "default": null, + "description": "The message to display on connected clients during a manualWithPause strategy empty.", + "title": "Message", + "type": "string" + }, + "moduleId": { + "description": "Unique ID of the Flex Stacker", + "title": "Moduleid", + "type": "string" + }, + "strategy": { + "$ref": "#/$defs/StackerFillEmptyStrategy", + "description": "How to empty the stacker. If manualWithPause, pause the protocol until the client sends an interaction, and mark the labware pool as empty thereafter. If logical, do not pause but immediately apply the specified count." + } + }, + "required": ["moduleId", "strategy"], + "title": "EmptyParams", + "type": "object" + }, + "EngageCreate": { + "description": "A request to create a Magnetic Module engage command.", + "properties": { + "commandType": { + "const": "magneticModule/engage", + "default": "magneticModule/engage", + "enum": ["magneticModule/engage"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/EngageParams" + } + }, + "required": ["params"], + "title": "EngageCreate", + "type": "object" + }, + "EngageParams": { + "description": "Input data to engage a Magnetic Module.", + "properties": { + "height": { + "description": "How high, in millimeters, to raise the magnets.\n\nZero means the tops of the magnets are level with the ledge that the labware rests on. This will be slightly above the magnets' minimum height, the hardware home position. Negative values are allowed, to put the magnets below the ledge.\n\nUnits are always true millimeters. This is unlike certain labware definitions, engage commands in the Python Protocol API, and engage commands in older versions of the JSON protocol schema. Take care to convert properly.", + "title": "Height", + "type": "number" + }, + "moduleId": { + "description": "The ID of the Magnetic Module whose magnets you want to raise, from a prior `loadModule` command.", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId", "height"], + "title": "EngageParams", + "type": "object" + }, + "FillCreate": { + "description": "A request to execute a Flex Stacker fill command.", + "properties": { + "commandType": { + "const": "flexStacker/fill", + "default": "flexStacker/fill", + "enum": ["flexStacker/fill"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/FillParams" + } + }, + "required": ["params"], + "title": "FillCreate", + "type": "object" + }, + "FillParams": { + "description": "The parameters defining how a stacker should be filled.", + "properties": { + "count": { + "anyOf": [ + { + "minimum": 1, + "type": "integer" + }, + { + "type": "null" + } + ], + "default": null, + "description": "How full the labware pool should now be. If None, default to the maximum amount of the currently-configured labware the pool can hold. If this number is larger than the maximum the pool can hold, it will be clamped to the maximum. If this number is smaller than the current amount of labware the pool holds, it will be clamped to that minimum. Do not use the value in the parameters as an outside observer; instead, use the count value from the results.", + "title": "Count" + }, + "message": { + "default": null, + "description": "The message to display on connected clients during a manualWithPause strategy fill.", + "title": "Message", + "type": "string" + }, + "moduleId": { + "description": "Unique ID of the Flex Stacker", + "title": "Moduleid", + "type": "string" + }, + "strategy": { + "$ref": "#/$defs/StackerFillEmptyStrategy", + "description": "How to fill the stacker. If manualWithPause, pause the protocol until the client sends an interaction, and apply the new specified count thereafter. If logical, do not pause but immediately apply the specified count." + } + }, + "required": ["moduleId", "strategy"], + "title": "FillParams", + "type": "object" + }, + "GetNextTipCreate": { + "description": "Get next tip command creation request model.", + "properties": { + "commandType": { + "const": "getNextTip", + "default": "getNextTip", + "enum": ["getNextTip"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/GetNextTipParams" + } + }, + "required": ["params"], + "title": "GetNextTipCreate", + "type": "object" + }, + "GetNextTipParams": { + "description": "Payload needed to resolve the next available tip.", + "properties": { + "labwareIds": { + "description": "Labware ID(s) of tip racks to resolve next available tip(s) from Labware IDs will be resolved sequentially", + "items": { + "type": "string" + }, + "title": "Labwareids", + "type": "array" + }, + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + }, + "startingTipWell": { + "description": "Name of starting tip rack 'well'. This only applies to the first tip rack in the list provided in labwareIDs", + "title": "Startingtipwell", + "type": "string" + } + }, + "required": ["pipetteId", "labwareIds"], + "title": "GetNextTipParams", + "type": "object" + }, + "GetTipPresenceCreate": { + "description": "GetTipPresence command creation request model.", + "properties": { + "commandType": { + "const": "getTipPresence", + "default": "getTipPresence", + "enum": ["getTipPresence"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/GetTipPresenceParams" + } + }, + "required": ["params"], + "title": "GetTipPresenceCreate", + "type": "object" + }, + "GetTipPresenceParams": { + "description": "Payload required for a GetTipPresence command.", + "properties": { + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + } + }, + "required": ["pipetteId"], + "title": "GetTipPresenceParams", + "type": "object" + }, + "HomeCreate": { + "description": "Data to create a Home command.", + "properties": { + "commandType": { + "const": "home", + "default": "home", + "enum": ["home"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/HomeParams" + } + }, + "required": ["params"], + "title": "HomeCreate", + "type": "object" + }, + "HomeParams": { + "description": "Payload required for a Home command.", + "properties": { + "axes": { + "description": "Axes to return to their home positions. If omitted, will home all motors. Extra axes may be implicitly homed to ensure accurate homing of the explicitly specified axes.", + "items": { + "$ref": "#/$defs/MotorAxis" + }, + "title": "Axes", + "type": "array" + }, + "skipIfMountPositionOk": { + "$ref": "#/$defs/MountType", + "description": "If this parameter is provided, the gantry will only be homed if the specified mount has an invalid position. If omitted, the homing action will be executed unconditionally.", + "title": "Skipifmountpositionok" + } + }, + "title": "HomeParams", + "type": "object" + }, + "InitializeCreate": { + "description": "A request to execute an Absorbance Reader measurement.", + "properties": { + "commandType": { + "const": "absorbanceReader/initialize", + "default": "absorbanceReader/initialize", + "enum": ["absorbanceReader/initialize"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/InitializeParams" + } + }, + "required": ["params"], + "title": "InitializeCreate", + "type": "object" + }, + "InitializeParams": { + "description": "Input parameters to initialize an absorbance reading.", + "properties": { + "measureMode": { + "description": "Initialize single or multi measurement mode.", + "enum": ["single", "multi"], + "title": "Measuremode", + "type": "string" + }, + "moduleId": { + "description": "Unique ID of the absorbance reader.", + "title": "Moduleid", + "type": "string" + }, + "referenceWavelength": { + "description": "Optional reference wavelength in nm.", + "title": "Referencewavelength", + "type": "integer" + }, + "sampleWavelengths": { + "description": "Sample wavelengths in nm.", + "items": { + "type": "integer" + }, + "title": "Samplewavelengths", + "type": "array" + } + }, + "required": ["moduleId", "measureMode", "sampleWavelengths"], + "title": "InitializeParams", + "type": "object" + }, + "InstrumentSensorId": { + "description": "Primary and secondary sensor ids.", + "enum": ["primary", "secondary", "both"], + "title": "InstrumentSensorId", + "type": "string" + }, + "LabwareMovementStrategy": { + "description": "Strategy to use for labware movement.", + "enum": ["usingGripper", "manualMoveWithPause", "manualMoveWithoutPause"], + "title": "LabwareMovementStrategy", + "type": "string" + }, + "LabwareOffsetVector": { + "description": "Offset, in deck coordinates from nominal to actual position.", + "properties": { + "x": { + "title": "X", + "type": "number" + }, + "y": { + "title": "Y", + "type": "number" + }, + "z": { + "title": "Z", + "type": "number" + } + }, + "required": ["x", "y", "z"], + "title": "LabwareOffsetVector", + "type": "object" + }, + "LiquidClassRecord": { + "description": "LiquidClassRecord is our internal representation of an (immutable) liquid class.\n\nConceptually, a liquid class record is the tuple (name, pipette, tip, transfer properties).\nWe consider two liquid classes to be the same if every entry in that tuple is the same; and liquid\nclasses are different if any entry in the tuple is different.\n\nThis class defines the tuple via inheritance so that we can reuse the definitions from shared_data.", + "properties": { + "aspirate": { + "$ref": "#/$defs/AspirateProperties", + "description": "Aspirate parameters for this tip type." + }, + "liquidClassName": { + "description": "Identifier for the liquid of this liquid class, e.g. glycerol50.", + "title": "Liquidclassname", + "type": "string" + }, + "multiDispense": { + "$ref": "#/$defs/MultiDispenseProperties", + "description": "Optional multi-dispense parameters for this tip type.", + "title": "Multidispense" + }, + "pipetteModel": { + "description": "Identifier for the pipette of this liquid class.", + "title": "Pipettemodel", + "type": "string" + }, + "singleDispense": { + "$ref": "#/$defs/SingleDispenseProperties", + "description": "Single dispense parameters for this tip type." + }, + "tiprack": { + "description": "The name of tiprack whose tip will be used when handling this specific liquid class with this pipette", + "title": "Tiprack", + "type": "string" + } + }, + "required": [ + "aspirate", + "singleDispense", + "tiprack", + "liquidClassName", + "pipetteModel" + ], + "title": "LiquidClassRecord", + "type": "object" + }, + "LiquidClassTouchTipParams": { + "description": "Parameters for touch-tip.", + "properties": { + "mmFromEdge": { + "anyOf": [ + { + "type": "integer" + }, + { + "type": "number" + } + ], + "description": "Offset away from the the well edge, in millimeters.", + "title": "Mmfromedge" + }, + "speed": { + "anyOf": [ + { + "exclusiveMinimum": 0, + "type": "integer" + }, + { + "exclusiveMinimum": 0.0, + "type": "number" + } + ], + "description": "Touch-tip speed, in millimeters per second.", + "title": "Speed" + }, + "zOffset": { + "anyOf": [ + { + "type": "integer" + }, + { + "type": "number" + } + ], + "description": "Offset from the top of the well for touch-tip, in millimeters.", + "title": "Zoffset" + } + }, + "required": ["zOffset", "mmFromEdge", "speed"], + "title": "LiquidClassTouchTipParams", + "type": "object" + }, + "LiquidHandlingWellLocation": { + "description": "A relative location in reference to a well's location.\n\nTo be used with commands that handle liquids.", + "properties": { + "offset": { + "$ref": "#/$defs/WellOffset" + }, + "origin": { + "$ref": "#/$defs/WellOrigin", + "default": "top" + }, + "volumeOffset": { + "anyOf": [ + { + "type": "number" + }, + { + "const": "operationVolume", + "enum": ["operationVolume"], + "type": "string" + } + ], + "default": 0.0, + "description": "A volume of liquid, in \u00b5L, to offset the z-axis offset. When \"operationVolume\" is specified, this volume is pulled from the command volume parameter.", + "title": "Volumeoffset" + } + }, + "title": "LiquidHandlingWellLocation", + "type": "object" + }, + "LiquidProbeCreate": { + "description": "The request model for a `liquidProbe` command.", + "properties": { + "commandType": { + "const": "liquidProbe", + "default": "liquidProbe", + "enum": ["liquidProbe"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/LiquidProbeParams" + } + }, + "required": ["params"], + "title": "LiquidProbeCreate", + "type": "object" + }, + "LiquidProbeParams": { + "description": "Parameters required for a `liquidProbe` command.", + "properties": { + "labwareId": { + "description": "Identifier of labware to use.", + "title": "Labwareid", + "type": "string" + }, + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + }, + "wellLocation": { + "$ref": "#/$defs/WellLocation", + "description": "Relative well location at which to perform the operation" + }, + "wellName": { + "description": "Name of well to use in labware.", + "title": "Wellname", + "type": "string" + } + }, + "required": ["labwareId", "wellName", "pipetteId"], + "title": "LiquidProbeParams", + "type": "object" + }, + "LoadLabwareCreate": { + "description": "Load labware command creation request.", + "properties": { + "commandType": { + "const": "loadLabware", + "default": "loadLabware", + "enum": ["loadLabware"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/LoadLabwareParams" + } + }, + "required": ["params"], + "title": "LoadLabwareCreate", + "type": "object" + }, + "LoadLabwareParams": { + "description": "Payload required to load a labware into a slot.", + "properties": { + "displayName": { + "description": "An optional user-specified display name or label for this labware.", + "title": "Displayname", + "type": "string" + }, + "labwareId": { + "description": "An optional ID to assign to this labware. If None, an ID will be generated.", + "title": "Labwareid", + "type": "string" + }, + "loadName": { + "description": "Name used to reference a labware definition.", + "title": "Loadname", + "type": "string" + }, + "location": { + "anyOf": [ + { + "$ref": "#/$defs/DeckSlotLocation" + }, + { + "$ref": "#/$defs/ModuleLocation" + }, + { + "$ref": "#/$defs/OnLabwareLocation" + }, + { + "const": "offDeck", + "enum": ["offDeck"], + "type": "string" + }, + { + "const": "systemLocation", + "enum": ["systemLocation"], + "type": "string" + }, + { + "$ref": "#/$defs/AddressableAreaLocation" + } + ], + "description": "Location the labware should be loaded into.", + "title": "Location" + }, + "namespace": { + "description": "The namespace the labware definition belongs to.", + "title": "Namespace", + "type": "string" + }, + "version": { + "description": "The labware definition version.", + "title": "Version", + "type": "integer" + } + }, + "required": ["location", "loadName", "namespace", "version"], + "title": "LoadLabwareParams", + "type": "object" + }, + "LoadLidCreate": { + "description": "Load lid command creation request.", + "properties": { + "commandType": { + "const": "loadLid", + "default": "loadLid", + "enum": ["loadLid"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/LoadLidParams" + } + }, + "required": ["params"], + "title": "LoadLidCreate", + "type": "object" + }, + "LoadLidParams": { + "description": "Payload required to load a lid onto a labware.", + "properties": { + "loadName": { + "description": "Name used to reference a lid labware definition.", + "title": "Loadname", + "type": "string" + }, + "location": { + "anyOf": [ + { + "$ref": "#/$defs/DeckSlotLocation" + }, + { + "$ref": "#/$defs/ModuleLocation" + }, + { + "$ref": "#/$defs/OnLabwareLocation" + }, + { + "const": "offDeck", + "enum": ["offDeck"], + "type": "string" + }, + { + "const": "systemLocation", + "enum": ["systemLocation"], + "type": "string" + }, + { + "$ref": "#/$defs/AddressableAreaLocation" + } + ], + "description": "Labware the lid should be loaded onto.", + "title": "Location" + }, + "namespace": { + "description": "The namespace the lid labware definition belongs to.", + "title": "Namespace", + "type": "string" + }, + "version": { + "description": "The lid labware definition version.", + "title": "Version", + "type": "integer" + } + }, + "required": ["location", "loadName", "namespace", "version"], + "title": "LoadLidParams", + "type": "object" + }, + "LoadLidStackCreate": { + "description": "Load lid stack command creation request.", + "properties": { + "commandType": { + "const": "loadLidStack", + "default": "loadLidStack", + "enum": ["loadLidStack"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/LoadLidStackParams" + } + }, + "required": ["params"], + "title": "LoadLidStackCreate", + "type": "object" + }, + "LoadLidStackParams": { + "description": "Payload required to load a lid stack onto a location.", + "properties": { + "labwareIds": { + "description": "An optional list of IDs to assign to the lids in the stack.If None, an ID will be generated.", + "items": { + "type": "string" + }, + "title": "Labwareids", + "type": "array" + }, + "loadName": { + "description": "Name used to reference a lid labware definition.", + "title": "Loadname", + "type": "string" + }, + "location": { + "anyOf": [ + { + "$ref": "#/$defs/DeckSlotLocation" + }, + { + "$ref": "#/$defs/ModuleLocation" + }, + { + "$ref": "#/$defs/OnLabwareLocation" + }, + { + "const": "offDeck", + "enum": ["offDeck"], + "type": "string" + }, + { + "const": "systemLocation", + "enum": ["systemLocation"], + "type": "string" + }, + { + "$ref": "#/$defs/AddressableAreaLocation" + } + ], + "description": "Location the lid stack should be loaded into.", + "title": "Location" + }, + "namespace": { + "description": "The namespace the lid labware definition belongs to.", + "title": "Namespace", + "type": "string" + }, + "quantity": { + "description": "The quantity of lids to load.", + "title": "Quantity", + "type": "integer" + }, + "stackLabwareId": { + "description": "An optional ID to assign to the lid stack labware object created.If None, an ID will be generated.", + "title": "Stacklabwareid", + "type": "string" + }, + "version": { + "description": "The lid labware definition version.", + "title": "Version", + "type": "integer" + } + }, + "required": ["location", "loadName", "namespace", "version", "quantity"], + "title": "LoadLidStackParams", + "type": "object" + }, + "LoadLiquidClassCreate": { + "description": "Load Liquid Class command creation request.", + "properties": { + "commandType": { + "const": "loadLiquidClass", + "default": "loadLiquidClass", + "enum": ["loadLiquidClass"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/LoadLiquidClassParams" + } + }, + "required": ["params"], + "title": "LoadLiquidClassCreate", + "type": "object" + }, + "LoadLiquidClassParams": { + "description": "The liquid class transfer properties to store.", + "properties": { + "liquidClassId": { + "description": "Unique identifier for the liquid class to store. If you do not supply a liquidClassId, we will generate one.", + "title": "Liquidclassid", + "type": "string" + }, + "liquidClassRecord": { + "$ref": "#/$defs/LiquidClassRecord", + "description": "The liquid class to store." + } + }, + "required": ["liquidClassRecord"], + "title": "LoadLiquidClassParams", + "type": "object" + }, + "LoadLiquidCreate": { + "description": "Load liquid command creation request.", + "properties": { + "commandType": { + "const": "loadLiquid", + "default": "loadLiquid", + "enum": ["loadLiquid"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/LoadLiquidParams" + } + }, + "required": ["params"], + "title": "LoadLiquidCreate", + "type": "object" + }, + "LoadLiquidParams": { + "description": "Payload required to load a liquid into a well.", + "properties": { + "labwareId": { + "description": "Unique identifier of labware to load liquid into.", + "title": "Labwareid", + "type": "string" + }, + "liquidId": { + "anyOf": [ + { + "type": "string" + }, + { + "const": "EMPTY", + "enum": ["EMPTY"], + "type": "string" + } + ], + "description": "Unique identifier of the liquid to load. If this is the sentinel value EMPTY, all values of volumeByWell must be 0.", + "title": "Liquidid" + }, + "volumeByWell": { + "additionalProperties": { + "type": "number" + }, + "description": "Volume of liquid, in \u00b5L, loaded into each well by name, in this labware. If the liquid id is the sentinel value EMPTY, all volumes must be 0.", + "title": "Volumebywell", + "type": "object" + } + }, + "required": ["liquidId", "labwareId", "volumeByWell"], + "title": "LoadLiquidParams", + "type": "object" + }, + "LoadModuleCreate": { + "description": "The model for a creation request for a load module command.", + "properties": { + "commandType": { + "const": "loadModule", + "default": "loadModule", + "enum": ["loadModule"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/LoadModuleParams" + } + }, + "required": ["params"], + "title": "LoadModuleCreate", + "type": "object" + }, + "LoadModuleParams": { + "description": "Payload required to load a module.", + "properties": { + "location": { + "$ref": "#/$defs/DeckSlotLocation", + "description": "The location into which this module should be loaded.\n\nFor the Thermocycler Module, which occupies multiple deck slots, this should be the front-most occupied slot (normally slot 7)." + }, + "model": { + "$ref": "#/$defs/ModuleModel", + "description": "The model name of the module to load.\n\nProtocol Engine will look for a connected module that either exactly matches this one, or is compatible.\n\n For example, if you request a `temperatureModuleV1` here, Protocol Engine might load a `temperatureModuleV1` or a `temperatureModuleV2`.\n\n The model that it finds connected will be available through `result.model`." + }, + "moduleId": { + "description": "An optional ID to assign to this module. If None, an ID will be generated.", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["model", "location"], + "title": "LoadModuleParams", + "type": "object" + }, + "LoadPipetteCreate": { + "description": "Load pipette command creation request model.", + "properties": { + "commandType": { + "const": "loadPipette", + "default": "loadPipette", + "enum": ["loadPipette"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/LoadPipetteParams" + } + }, + "required": ["params"], + "title": "LoadPipetteCreate", + "type": "object" + }, + "LoadPipetteParams": { + "description": "Payload needed to load a pipette on to a mount.", + "properties": { + "liquidPresenceDetection": { + "description": "Enable liquid presence detection for this pipette. Defaults to False.", + "title": "Liquidpresencedetection", + "type": "boolean" + }, + "mount": { + "$ref": "#/$defs/MountType", + "description": "The mount the pipette should be present on." + }, + "pipetteId": { + "description": "An optional ID to assign to this pipette. If None, an ID will be generated.", + "title": "Pipetteid", + "type": "string" + }, + "pipetteName": { + "$ref": "#/$defs/PipetteNameType", + "description": "The load name of the pipette to be required." + }, + "tipOverlapNotAfterVersion": { + "description": "A version of tip overlap data to not exceed. The highest-versioned tip overlap data that does not exceed this version will be used. Versions are expressed as vN where N is an integer, counting up from v0. If None, the current highest version will be used.", + "title": "Tipoverlapnotafterversion", + "type": "string" + } + }, + "required": ["pipetteName", "mount"], + "title": "LoadPipetteParams", + "type": "object" + }, + "MaintenancePosition": { + "description": "Maintenance position options.", + "enum": ["attachPlate", "attachInstrument"], + "title": "MaintenancePosition", + "type": "string" + }, + "MixParams": { + "description": "Parameters for mix.", + "properties": { + "repetitions": { + "description": "Number of mixing repetitions. 0 is valid, but no mixing will occur.", + "minimum": 0, + "title": "Repetitions", + "type": "integer" + }, + "volume": { + "anyOf": [ + { + "exclusiveMinimum": 0, + "type": "integer" + }, + { + "exclusiveMinimum": 0.0, + "type": "number" + } + ], + "description": "Volume used for mixing, in microliters.", + "title": "Volume" + } + }, + "required": ["repetitions", "volume"], + "title": "MixParams", + "type": "object" + }, + "MixProperties": { + "description": "Mixing properties.", + "properties": { + "enable": { + "description": "Whether mix is enabled.", + "title": "Enable", + "type": "boolean" + }, + "params": { + "$ref": "#/$defs/MixParams", + "description": "Parameters for the mix function.", + "title": "Params" + } + }, + "required": ["enable"], + "title": "MixProperties", + "type": "object" + }, + "ModuleLocation": { + "description": "The location of something placed atop a hardware module.", + "properties": { + "moduleId": { + "description": "The ID of a loaded module from a prior `loadModule` command.", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId"], + "title": "ModuleLocation", + "type": "object" + }, + "ModuleModel": { + "description": "All available modules' models.", + "enum": [ + "temperatureModuleV1", + "temperatureModuleV2", + "magneticModuleV1", + "magneticModuleV2", + "thermocyclerModuleV1", + "thermocyclerModuleV2", + "heaterShakerModuleV1", + "magneticBlockV1", + "absorbanceReaderV1", + "flexStackerModuleV1" + ], + "title": "ModuleModel", + "type": "string" + }, + "MotorAxis": { + "description": "Motor axis on which to issue a home command.", + "enum": [ + "x", + "y", + "leftZ", + "rightZ", + "leftPlunger", + "rightPlunger", + "extensionZ", + "extensionJaw", + "axis96ChannelCam" + ], + "title": "MotorAxis", + "type": "string" + }, + "MountType": { + "enum": ["left", "right", "extension"], + "title": "MountType", + "type": "string" + }, + "MoveAxesRelativeCreate": { + "description": "MoveAxesRelative command request model.", + "properties": { + "commandType": { + "const": "robot/moveAxesRelative", + "default": "robot/moveAxesRelative", + "enum": ["robot/moveAxesRelative"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/MoveAxesRelativeParams" + } + }, + "required": ["params"], + "title": "MoveAxesRelativeCreate", + "type": "object" + }, + "MoveAxesRelativeParams": { + "description": "Payload required to move axes relative to position.", + "properties": { + "axis_map": { + "additionalProperties": { + "type": "number" + }, + "description": "A dictionary mapping axes to relative movements in mm.", + "title": "Axis Map", + "type": "object" + }, + "speed": { + "description": "The max velocity to move the axes at. Will fall to hardware defaults if none provided.", + "title": "Speed", + "type": "number" + } + }, + "required": ["axis_map"], + "title": "MoveAxesRelativeParams", + "type": "object" + }, + "MoveAxesToCreate": { + "description": "MoveAxesTo command request model.", + "properties": { + "commandType": { + "const": "robot/moveAxesTo", + "default": "robot/moveAxesTo", + "enum": ["robot/moveAxesTo"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/MoveAxesToParams" + } + }, + "required": ["params"], + "title": "MoveAxesToCreate", + "type": "object" + }, + "MoveAxesToParams": { + "description": "Payload required to move axes to absolute position.", + "properties": { + "axis_map": { + "additionalProperties": { + "type": "number" + }, + "description": "The specified axes to move to an absolute deck position with.", + "title": "Axis Map", + "type": "object" + }, + "critical_point": { + "additionalProperties": { + "type": "number" + }, + "description": "The critical point to move the mount with.", + "title": "Critical Point", + "type": "object" + }, + "speed": { + "description": "The max velocity to move the axes at. Will fall to hardware defaults if none provided.", + "title": "Speed", + "type": "number" + } + }, + "required": ["axis_map"], + "title": "MoveAxesToParams", + "type": "object" + }, + "MoveLabwareCreate": { + "description": "A request to create a ``moveLabware`` command.", + "properties": { + "commandType": { + "const": "moveLabware", + "default": "moveLabware", + "enum": ["moveLabware"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/MoveLabwareParams" + } + }, + "required": ["params"], + "title": "MoveLabwareCreate", + "type": "object" + }, + "MoveLabwareParams": { + "description": "Input parameters for a ``moveLabware`` command.", + "properties": { + "dropOffset": { + "$ref": "#/$defs/LabwareOffsetVector", + "description": "Offset to use when dropping off labware. Experimental param, subject to change", + "title": "Dropoffset" + }, + "labwareId": { + "description": "The ID of the labware to move.", + "title": "Labwareid", + "type": "string" + }, + "newLocation": { + "anyOf": [ + { + "$ref": "#/$defs/DeckSlotLocation" + }, + { + "$ref": "#/$defs/ModuleLocation" + }, + { + "$ref": "#/$defs/OnLabwareLocation" + }, + { + "const": "offDeck", + "enum": ["offDeck"], + "type": "string" + }, + { + "const": "systemLocation", + "enum": ["systemLocation"], + "type": "string" + }, + { + "$ref": "#/$defs/AddressableAreaLocation" + } + ], + "description": "Where to move the labware.", + "title": "Newlocation" + }, + "pickUpOffset": { + "$ref": "#/$defs/LabwareOffsetVector", + "description": "Offset to use when picking up labware. Experimental param, subject to change", + "title": "Pickupoffset" + }, + "strategy": { + "$ref": "#/$defs/LabwareMovementStrategy", + "description": "Whether to use the gripper to perform the labware movement or to perform a manual movement with an option to pause." + } + }, + "required": ["labwareId", "newLocation", "strategy"], + "title": "MoveLabwareParams", + "type": "object" + }, + "MoveRelativeCreate": { + "description": "Data to create a MoveRelative command.", + "properties": { + "commandType": { + "const": "moveRelative", + "default": "moveRelative", + "enum": ["moveRelative"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/MoveRelativeParams" + } + }, + "required": ["params"], + "title": "MoveRelativeCreate", + "type": "object" + }, + "MoveRelativeParams": { + "description": "Payload required for a MoveRelative command.", + "properties": { + "axis": { + "$ref": "#/$defs/MovementAxis", + "description": "Axis along which to move." + }, + "distance": { + "description": "Distance to move in millimeters. A positive number will move towards the right (x), back (y), top (z) of the deck.", + "title": "Distance", + "type": "number" + }, + "pipetteId": { + "description": "Pipette to move.", + "title": "Pipetteid", + "type": "string" + } + }, + "required": ["pipetteId", "axis", "distance"], + "title": "MoveRelativeParams", + "type": "object" + }, + "MoveToAddressableAreaCreate": { + "description": "Move to addressable area command creation request model.", + "properties": { + "commandType": { + "const": "moveToAddressableArea", + "default": "moveToAddressableArea", + "enum": ["moveToAddressableArea"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/MoveToAddressableAreaParams" + } + }, + "required": ["params"], + "title": "MoveToAddressableAreaCreate", + "type": "object" + }, + "MoveToAddressableAreaForDropTipCreate": { + "description": "Move to addressable area for drop tip command creation request model.", + "properties": { + "commandType": { + "const": "moveToAddressableAreaForDropTip", + "default": "moveToAddressableAreaForDropTip", + "enum": ["moveToAddressableAreaForDropTip"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/MoveToAddressableAreaForDropTipParams" + } + }, + "required": ["params"], + "title": "MoveToAddressableAreaForDropTipCreate", + "type": "object" + }, + "MoveToAddressableAreaForDropTipParams": { + "description": "Payload required to move a pipette to a specific addressable area.\n\nAn *addressable area* is a space in the robot that may or may not be usable depending on how\nthe robot's deck is configured. For example, if a Flex is configured with a waste chute, it will\nhave additional addressable areas representing the opening of the waste chute, where tips and\nlabware can be dropped.\n\nThis moves the pipette so all of its nozzles are centered over the addressable area.\nIf the pipette is currently configured with a partial tip layout, this centering is over all\nthe pipette's physical nozzles, not just the nozzles that are active.\n\nThe z-position will be chosen to put the bottom of the tips---or the bottom of the nozzles,\nif there are no tips---level with the top of the addressable area.\n\nWhen this command is executed, Protocol Engine will make sure the robot's deck is configured\nsuch that the requested addressable area actually exists. For example, if you request\nthe addressable area B4, it will make sure the robot is set up with a B3/B4 staging area slot.\nIf that's not the case, the command will fail.", + "properties": { + "addressableAreaName": { + "description": "The name of the addressable area that you want to use. Valid values are the `id`s of `addressableArea`s in the [deck definition](https://github.com/Opentrons/opentrons/tree/edge/shared-data/deck).", + "title": "Addressableareaname", + "type": "string" + }, + "alternateDropLocation": { + "description": "Whether to alternate location where tip is dropped within the addressable area. If True, this command will ignore the offset provided and alternate between dropping tips at two predetermined locations inside the specified labware well. If False, the tip will be dropped at the top center of the area.", + "title": "Alternatedroplocation", + "type": "boolean" + }, + "forceDirect": { + "default": false, + "description": "If true, moving from one labware/well to another will not arc to the default safe z, but instead will move directly to the specified location. This will also force the `minimumZHeight` param to be ignored. A 'direct' movement is in X/Y/Z simultaneously.", + "title": "Forcedirect", + "type": "boolean" + }, + "ignoreTipConfiguration": { + "description": "Whether to utilize the critical point of the tip configuraiton when moving to an addressable area. If True, this command will ignore the tip configuration and use the center of the entire instrument as the critical point for movement. If False, this command will use the critical point provided by the current tip configuration.", + "title": "Ignoretipconfiguration", + "type": "boolean" + }, + "minimumZHeight": { + "description": "Optional minimal Z margin in mm. If this is larger than the API's default safe Z margin, it will make the arc higher. If it's smaller, it will have no effect.", + "title": "Minimumzheight", + "type": "number" + }, + "offset": { + "$ref": "#/$defs/AddressableOffsetVector", + "default": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "description": "Relative offset of addressable area to move pipette's critical point." + }, + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + }, + "speed": { + "description": "Override the travel speed in mm/s. This controls the straight linear speed of motion.", + "title": "Speed", + "type": "number" + } + }, + "required": ["pipetteId", "addressableAreaName"], + "title": "MoveToAddressableAreaForDropTipParams", + "type": "object" + }, + "MoveToAddressableAreaParams": { + "description": "Payload required to move a pipette to a specific addressable area.\n\nAn *addressable area* is a space in the robot that may or may not be usable depending on how\nthe robot's deck is configured. For example, if a Flex is configured with a waste chute, it will\nhave additional addressable areas representing the opening of the waste chute, where tips and\nlabware can be dropped.\n\nThis moves the pipette so all of its nozzles are centered over the addressable area.\nIf the pipette is currently configured with a partial tip layout, this centering is over all\nthe pipette's physical nozzles, not just the nozzles that are active.\n\nThe z-position will be chosen to put the bottom of the tips---or the bottom of the nozzles,\nif there are no tips---level with the top of the addressable area.\n\nWhen this command is executed, Protocol Engine will make sure the robot's deck is configured\nsuch that the requested addressable area actually exists. For example, if you request\nthe addressable area B4, it will make sure the robot is set up with a B3/B4 staging area slot.\nIf that's not the case, the command will fail.", + "properties": { + "addressableAreaName": { + "description": "The name of the addressable area that you want to use. Valid values are the `id`s of `addressableArea`s in the [deck definition](https://github.com/Opentrons/opentrons/tree/edge/shared-data/deck).", + "title": "Addressableareaname", + "type": "string" + }, + "forceDirect": { + "default": false, + "description": "If true, moving from one labware/well to another will not arc to the default safe z, but instead will move directly to the specified location. This will also force the `minimumZHeight` param to be ignored. A 'direct' movement is in X/Y/Z simultaneously.", + "title": "Forcedirect", + "type": "boolean" + }, + "minimumZHeight": { + "description": "Optional minimal Z margin in mm. If this is larger than the API's default safe Z margin, it will make the arc higher. If it's smaller, it will have no effect.", + "title": "Minimumzheight", + "type": "number" + }, + "offset": { + "$ref": "#/$defs/AddressableOffsetVector", + "default": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "description": "Relative offset of addressable area to move pipette's critical point." + }, + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + }, + "speed": { + "description": "Override the travel speed in mm/s. This controls the straight linear speed of motion.", + "title": "Speed", + "type": "number" + }, + "stayAtHighestPossibleZ": { + "default": false, + "description": "If `true`, the pipette will retract to its highest possible height and stay there instead of descending to the destination. `minimumZHeight` will be ignored.", + "title": "Stayathighestpossiblez", + "type": "boolean" + } + }, + "required": ["pipetteId", "addressableAreaName"], + "title": "MoveToAddressableAreaParams", + "type": "object" + }, + "MoveToCoordinatesCreate": { + "description": "Move to coordinates command creation request model.", + "properties": { + "commandType": { + "const": "moveToCoordinates", + "default": "moveToCoordinates", + "enum": ["moveToCoordinates"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/MoveToCoordinatesParams" + } + }, + "required": ["params"], + "title": "MoveToCoordinatesCreate", + "type": "object" + }, + "MoveToCoordinatesParams": { + "description": "Payload required to move a pipette to coordinates.", + "properties": { + "coordinates": { + "$ref": "#/$defs/DeckPoint", + "description": "X, Y and Z coordinates in mm from deck's origin location (left-front-bottom corner of work space)" + }, + "forceDirect": { + "default": false, + "description": "If true, moving from one labware/well to another will not arc to the default safe z, but instead will move directly to the specified location. This will also force the `minimumZHeight` param to be ignored. A 'direct' movement is in X/Y/Z simultaneously.", + "title": "Forcedirect", + "type": "boolean" + }, + "minimumZHeight": { + "description": "Optional minimal Z margin in mm. If this is larger than the API's default safe Z margin, it will make the arc higher. If it's smaller, it will have no effect.", + "title": "Minimumzheight", + "type": "number" + }, + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + }, + "speed": { + "description": "Override the travel speed in mm/s. This controls the straight linear speed of motion.", + "title": "Speed", + "type": "number" + } + }, + "required": ["pipetteId", "coordinates"], + "title": "MoveToCoordinatesParams", + "type": "object" + }, + "MoveToCreate": { + "description": "MoveTo command request model.", + "properties": { + "commandType": { + "const": "robot/moveTo", + "default": "robot/moveTo", + "enum": ["robot/moveTo"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/MoveToParams" + } + }, + "required": ["params"], + "title": "MoveToCreate", + "type": "object" + }, + "MoveToMaintenancePositionCreate": { + "description": "Calibration set up position command creation request model.", + "properties": { + "commandType": { + "const": "calibration/moveToMaintenancePosition", + "default": "calibration/moveToMaintenancePosition", + "enum": ["calibration/moveToMaintenancePosition"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/MoveToMaintenancePositionParams" + } + }, + "required": ["params"], + "title": "MoveToMaintenancePositionCreate", + "type": "object" + }, + "MoveToMaintenancePositionParams": { + "description": "Calibration set up position command parameters.", + "properties": { + "maintenancePosition": { + "$ref": "#/$defs/MaintenancePosition", + "default": "attachInstrument", + "description": "The position the gantry mount needs to move to." + }, + "mount": { + "$ref": "#/$defs/MountType", + "description": "Gantry mount to move maintenance position." + } + }, + "required": ["mount"], + "title": "MoveToMaintenancePositionParams", + "type": "object" + }, + "MoveToParams": { + "description": "Payload required to move to a destination position.", + "properties": { + "destination": { + "$ref": "#/$defs/DeckPoint", + "description": "X, Y and Z coordinates in mm from deck's origin location (left-front-bottom corner of work space)" + }, + "mount": { + "$ref": "#/$defs/MountType", + "description": "The mount to move to the destination point." + }, + "speed": { + "description": "The max velocity to move the axes at. Will fall to hardware defaults if none provided.", + "title": "Speed", + "type": "number" + } + }, + "required": ["mount", "destination"], + "title": "MoveToParams", + "type": "object" + }, + "MoveToWellCreate": { + "description": "Move to well command creation request model.", + "properties": { + "commandType": { + "const": "moveToWell", + "default": "moveToWell", + "enum": ["moveToWell"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/MoveToWellParams" + } + }, + "required": ["params"], + "title": "MoveToWellCreate", + "type": "object" + }, + "MoveToWellParams": { + "description": "Payload required to move a pipette to a specific well.", + "properties": { + "forceDirect": { + "default": false, + "description": "If true, moving from one labware/well to another will not arc to the default safe z, but instead will move directly to the specified location. This will also force the `minimumZHeight` param to be ignored. A 'direct' movement is in X/Y/Z simultaneously.", + "title": "Forcedirect", + "type": "boolean" + }, + "labwareId": { + "description": "Identifier of labware to use.", + "title": "Labwareid", + "type": "string" + }, + "minimumZHeight": { + "description": "Optional minimal Z margin in mm. If this is larger than the API's default safe Z margin, it will make the arc higher. If it's smaller, it will have no effect.", + "title": "Minimumzheight", + "type": "number" + }, + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + }, + "speed": { + "description": "Override the travel speed in mm/s. This controls the straight linear speed of motion.", + "title": "Speed", + "type": "number" + }, + "wellLocation": { + "$ref": "#/$defs/LiquidHandlingWellLocation", + "description": "Relative well location at which to perform the operation" + }, + "wellName": { + "description": "Name of well to use in labware.", + "title": "Wellname", + "type": "string" + } + }, + "required": ["labwareId", "wellName", "pipetteId"], + "title": "MoveToWellParams", + "type": "object" + }, + "MovementAxis": { + "description": "Axis on which to issue a relative movement.", + "enum": ["x", "y", "z"], + "title": "MovementAxis", + "type": "string" + }, + "MultiDispenseProperties": { + "description": "Properties specific to the multi-dispense function.", + "properties": { + "conditioningByVolume": { + "description": "Settings for conditioning volume keyed by target dispense volume.", + "items": { + "maxItems": 2, + "minItems": 2, + "prefixItems": [ + { + "anyOf": [ + { + "minimum": 0, + "type": "integer" + }, + { + "minimum": 0.0, + "type": "number" + } + ] + }, + { + "anyOf": [ + { + "minimum": 0, + "type": "integer" + }, + { + "minimum": 0.0, + "type": "number" + } + ] + } + ], + "type": "array" + }, + "title": "Conditioningbyvolume", + "type": "array" + }, + "correctionByVolume": { + "description": "Settings for volume correction keyed by by target dispense volume, representing additional volume the plunger should move to accurately hit target volume.", + "items": { + "maxItems": 2, + "minItems": 2, + "prefixItems": [ + { + "anyOf": [ + { + "minimum": 0, + "type": "integer" + }, + { + "minimum": 0.0, + "type": "number" + } + ] + }, + { + "anyOf": [ + { + "type": "integer" + }, + { + "type": "number" + } + ] + } + ], + "type": "array" + }, + "title": "Correctionbyvolume", + "type": "array" + }, + "delay": { + "$ref": "#/$defs/DelayProperties", + "description": "Delay settings after each dispense" + }, + "dispensePosition": { + "$ref": "#/$defs/TipPosition", + "description": "Tip position during dispense." + }, + "disposalByVolume": { + "description": "Settings for disposal volume keyed by target dispense volume.", + "items": { + "maxItems": 2, + "minItems": 2, + "prefixItems": [ + { + "anyOf": [ + { + "minimum": 0, + "type": "integer" + }, + { + "minimum": 0.0, + "type": "number" + } + ] + }, + { + "anyOf": [ + { + "minimum": 0, + "type": "integer" + }, + { + "minimum": 0.0, + "type": "number" + } + ] + } + ], + "type": "array" + }, + "title": "Disposalbyvolume", + "type": "array" + }, + "flowRateByVolume": { + "description": "Settings for flow rate keyed by target dispense volume.", + "items": { + "maxItems": 2, + "minItems": 2, + "prefixItems": [ + { + "anyOf": [ + { + "minimum": 0, + "type": "integer" + }, + { + "minimum": 0.0, + "type": "number" + } + ] + }, + { + "anyOf": [ + { + "minimum": 0, + "type": "integer" + }, + { + "minimum": 0.0, + "type": "number" + } + ] + } + ], + "type": "array" + }, + "title": "Flowratebyvolume", + "type": "array" + }, + "retract": { + "$ref": "#/$defs/RetractDispense", + "description": "Pipette retract settings after a multi-dispense." + }, + "submerge": { + "$ref": "#/$defs/Submerge", + "description": "Submerge settings for multi-dispense." + } + }, + "required": [ + "submerge", + "retract", + "dispensePosition", + "flowRateByVolume", + "correctionByVolume", + "conditioningByVolume", + "disposalByVolume", + "delay" + ], + "title": "MultiDispenseProperties", + "type": "object" + }, + "OnLabwareLocation": { + "description": "The location of something placed atop another labware.", + "properties": { + "labwareId": { + "description": "The ID of a loaded Labware from a prior `loadLabware` command.", + "title": "Labwareid", + "type": "string" + } + }, + "required": ["labwareId"], + "title": "OnLabwareLocation", + "type": "object" + }, + "OpenGripperJawCreate": { + "description": "openGripperJaw command request model.", + "properties": { + "commandType": { + "const": "robot/openGripperJaw", + "default": "robot/openGripperJaw", + "enum": ["robot/openGripperJaw"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/OpenGripperJawParams" + } + }, + "required": ["params"], + "title": "OpenGripperJawCreate", + "type": "object" + }, + "OpenGripperJawParams": { + "description": "Payload required to release a gripper.", + "properties": {}, + "title": "OpenGripperJawParams", + "type": "object" + }, + "OpenLabwareLatchCreate": { + "description": "A request to create a Heater-Shaker's open labware latch command.", + "properties": { + "commandType": { + "const": "heaterShaker/openLabwareLatch", + "default": "heaterShaker/openLabwareLatch", + "enum": ["heaterShaker/openLabwareLatch"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/OpenLabwareLatchParams" + } + }, + "required": ["params"], + "title": "OpenLabwareLatchCreate", + "type": "object" + }, + "OpenLabwareLatchParams": { + "description": "Input parameters to open a Heater-Shaker Module's labware latch.", + "properties": { + "moduleId": { + "description": "Unique ID of the Heater-Shaker Module.", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId"], + "title": "OpenLabwareLatchParams", + "type": "object" + }, + "OpenLatchCreate": { + "description": "A request to execute a Flex Stacker OpenLatch command.", + "properties": { + "commandType": { + "const": "flexStacker/openLatch", + "default": "flexStacker/openLatch", + "enum": ["flexStacker/openLatch"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/OpenLatchParams" + } + }, + "required": ["params"], + "title": "OpenLatchCreate", + "type": "object" + }, + "OpenLatchParams": { + "description": "The parameters defining how a stacker should open its latch.", + "properties": { + "moduleId": { + "description": "Unique ID of the Flex Stacker", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId"], + "title": "OpenLatchParams", + "type": "object" + }, + "PickUpTipCreate": { + "description": "Pick up tip command creation request model.", + "properties": { + "commandType": { + "const": "pickUpTip", + "default": "pickUpTip", + "enum": ["pickUpTip"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/PickUpTipParams" + } + }, + "required": ["params"], + "title": "PickUpTipCreate", + "type": "object" + }, + "PickUpTipParams": { + "description": "Payload needed to move a pipette to a specific well.", + "properties": { + "labwareId": { + "description": "Identifier of labware to use.", + "title": "Labwareid", + "type": "string" + }, + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + }, + "wellLocation": { + "$ref": "#/$defs/PickUpTipWellLocation", + "description": "Relative well location at which to pick up the tip." + }, + "wellName": { + "description": "Name of well to use in labware.", + "title": "Wellname", + "type": "string" + } + }, + "required": ["pipetteId", "labwareId", "wellName"], + "title": "PickUpTipParams", + "type": "object" + }, + "PickUpTipWellLocation": { + "description": "A relative location in reference to a well's location.\n\nTo be used for picking up tips.", + "properties": { + "offset": { + "$ref": "#/$defs/WellOffset" + }, + "origin": { + "$ref": "#/$defs/PickUpTipWellOrigin", + "default": "top" + } + }, + "title": "PickUpTipWellLocation", + "type": "object" + }, + "PickUpTipWellOrigin": { + "description": "The origin of a PickUpTipWellLocation offset.\n\nProps:\n TOP: the top-center of the well\n BOTTOM: the bottom-center of the well\n CENTER: the middle-center of the well", + "enum": ["top", "bottom", "center"], + "title": "PickUpTipWellOrigin", + "type": "string" + }, + "PipetteNameType": { + "description": "Pipette load name values.", + "enum": [ + "p10_single", + "p10_multi", + "p20_single_gen2", + "p20_multi_gen2", + "p50_single", + "p50_multi", + "p50_single_flex", + "p50_multi_flex", + "p300_single", + "p300_multi", + "p300_single_gen2", + "p300_multi_gen2", + "p1000_single", + "p1000_single_gen2", + "p1000_single_flex", + "p1000_multi_flex", + "p1000_multi_em_flex", + "p1000_96", + "p200_96" + ], + "title": "PipetteNameType", + "type": "string" + }, + "PositionReference": { + "description": "Positional reference for liquid handling operations.", + "enum": ["well-bottom", "well-top", "well-center", "liquid-meniscus"], + "title": "PositionReference", + "type": "string" + }, + "PrepareShuttleCreate": { + "description": "A request to execute a Flex Stacker PrepareShuttle command.", + "properties": { + "commandType": { + "const": "flexStacker/prepareShuttle", + "default": "flexStacker/prepareShuttle", + "enum": ["flexStacker/prepareShuttle"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/PrepareShuttleParams" + } + }, + "required": ["params"], + "title": "PrepareShuttleCreate", + "type": "object" + }, + "PrepareShuttleParams": { + "description": "The parameters for a PrepareShuttle command.", + "properties": { + "ignoreLatch": { + "default": false, + "description": "Ignore the latch state of the shuttle", + "title": "Ignorelatch", + "type": "boolean" + }, + "moduleId": { + "description": "Unique ID of the Flex Stacker", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId"], + "title": "PrepareShuttleParams", + "type": "object" + }, + "PrepareToAspirateCreate": { + "description": "Prepare for aspirate command creation request model.", + "properties": { + "commandType": { + "const": "prepareToAspirate", + "default": "prepareToAspirate", + "enum": ["prepareToAspirate"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/PrepareToAspirateParams" + } + }, + "required": ["params"], + "title": "PrepareToAspirateCreate", + "type": "object" + }, + "PrepareToAspirateParams": { + "description": "Parameters required to prepare a specific pipette for aspiration.", + "properties": { + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + } + }, + "required": ["pipetteId"], + "title": "PrepareToAspirateParams", + "type": "object" + }, + "PressureDispenseCreate": { + "description": "PressureDispense command request model.", + "properties": { + "commandType": { + "const": "pressureDispense", + "default": "pressureDispense", + "enum": ["pressureDispense"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/PressureDispenseParams" + } + }, + "required": ["params"], + "title": "PressureDispenseCreate", + "type": "object" + }, + "PressureDispenseParams": { + "description": "Payload required to pressure dispense in place.", + "properties": { + "correctionVolume": { + "anyOf": [ + { + "type": "number" + }, + { + "type": "null" + } + ], + "default": null, + "description": "The correction volume in uL.", + "title": "Correctionvolume" + }, + "flowRate": { + "description": "Speed in \u00b5L/s configured for the pipette", + "exclusiveMinimum": 0.0, + "title": "Flowrate", + "type": "number" + }, + "labwareId": { + "description": "Identifier of labware to use.", + "title": "Labwareid", + "type": "string" + }, + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + }, + "volume": { + "description": "The amount of liquid to dispense, in \u00b5L. Must not be greater than the currently aspirated volume. There is some tolerance for floating point rounding errors.", + "minimum": 0.0, + "title": "Volume", + "type": "number" + }, + "wellLocation": { + "$ref": "#/$defs/LiquidHandlingWellLocation", + "description": "Relative well location at which to perform the operation" + }, + "wellName": { + "description": "Name of well to use in labware.", + "title": "Wellname", + "type": "string" + } + }, + "required": ["labwareId", "wellName", "flowRate", "volume", "pipetteId"], + "title": "PressureDispenseParams", + "type": "object" + }, + "ProfileCycle": { + "description": "An individual cycle in a Thermocycler extended profile.", + "properties": { + "repetitions": { + "description": "Number of times to repeat the steps.", + "title": "Repetitions", + "type": "integer" + }, + "steps": { + "description": "Steps to repeat.", + "items": { + "$ref": "#/$defs/ProfileStep" + }, + "title": "Steps", + "type": "array" + } + }, + "required": ["steps", "repetitions"], + "title": "ProfileCycle", + "type": "object" + }, + "ProfileStep": { + "description": "An individual step in a Thermocycler extended profile.", + "properties": { + "celsius": { + "description": "Target temperature in \u00b0C.", + "title": "Celsius", + "type": "number" + }, + "holdSeconds": { + "description": "Time to hold target temperature in seconds.", + "title": "Holdseconds", + "type": "number" + } + }, + "required": ["celsius", "holdSeconds"], + "title": "ProfileStep", + "type": "object" + }, + "QuadrantNozzleLayoutConfiguration": { + "description": "Information required for nozzle configurations of type QUADRANT.", + "properties": { + "backLeftNozzle": { + "description": "The back left nozzle in your configuration.", + "pattern": "[A-Z]\\d{1,2}", + "title": "Backleftnozzle", + "type": "string" + }, + "frontRightNozzle": { + "description": "The front right nozzle in your configuration.", + "pattern": "[A-Z]\\d{1,2}", + "title": "Frontrightnozzle", + "type": "string" + }, + "primaryNozzle": { + "description": "The primary nozzle to use in the layout configuration. This nozzle will update the critical point of the current pipette. For now, this is also the back left corner of your rectangle.", + "enum": ["A1", "H1", "A12", "H12"], + "title": "Primarynozzle", + "type": "string" + }, + "style": { + "const": "QUADRANT", + "default": "QUADRANT", + "enum": ["QUADRANT"], + "title": "Style", + "type": "string" + } + }, + "required": ["primaryNozzle", "frontRightNozzle", "backLeftNozzle"], + "title": "QuadrantNozzleLayoutConfiguration", + "type": "object" + }, + "ReadAbsorbanceCreate": { + "description": "A request to execute an Absorbance Reader measurement.", + "properties": { + "commandType": { + "const": "absorbanceReader/read", + "default": "absorbanceReader/read", + "enum": ["absorbanceReader/read"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/ReadAbsorbanceParams" + } + }, + "required": ["params"], + "title": "ReadAbsorbanceCreate", + "type": "object" + }, + "ReadAbsorbanceParams": { + "description": "Input parameters for an absorbance reading.", + "properties": { + "fileName": { + "description": "Optional file name to use when storing the results of a measurement.", + "title": "Filename", + "type": "string" + }, + "moduleId": { + "description": "Unique ID of the Absorbance Reader.", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId"], + "title": "ReadAbsorbanceParams", + "type": "object" + }, + "ReloadLabwareCreate": { + "description": "Reload labware command creation request.", + "properties": { + "commandType": { + "const": "reloadLabware", + "default": "reloadLabware", + "enum": ["reloadLabware"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/ReloadLabwareParams" + } + }, + "required": ["params"], + "title": "ReloadLabwareCreate", + "type": "object" + }, + "ReloadLabwareParams": { + "description": "Payload required to load a labware into a slot.", + "properties": { + "labwareId": { + "description": "The already-loaded labware instance to update.", + "title": "Labwareid", + "type": "string" + } + }, + "required": ["labwareId"], + "title": "ReloadLabwareParams", + "type": "object" + }, + "RetractAspirate": { + "description": "Shared properties for the retract function after aspiration.", + "properties": { + "airGapByVolume": { + "description": "Settings for air gap keyed by target aspiration volume.", + "items": { + "maxItems": 2, + "minItems": 2, + "prefixItems": [ + { + "anyOf": [ + { + "minimum": 0, + "type": "integer" + }, + { + "minimum": 0.0, + "type": "number" + } + ] + }, + { + "anyOf": [ + { + "minimum": 0, + "type": "integer" + }, + { + "minimum": 0.0, + "type": "number" + } + ] + } + ], + "type": "array" + }, + "title": "Airgapbyvolume", + "type": "array" + }, + "delay": { + "$ref": "#/$defs/DelayProperties", + "description": "Delay settings for retract after aspirate." + }, + "endPosition": { + "$ref": "#/$defs/TipPosition", + "description": "Tip position at the end of the retract." + }, + "speed": { + "anyOf": [ + { + "minimum": 0, + "type": "integer" + }, + { + "minimum": 0.0, + "type": "number" + } + ], + "description": "Speed of retraction, in millimeters per second.", + "title": "Speed" + }, + "touchTip": { + "$ref": "#/$defs/TouchTipProperties", + "description": "Touch tip settings for retract after aspirate." + } + }, + "required": [ + "endPosition", + "speed", + "airGapByVolume", + "touchTip", + "delay" + ], + "title": "RetractAspirate", + "type": "object" + }, + "RetractAxisCreate": { + "description": "Data to create a Retract Axis command.", + "properties": { + "commandType": { + "const": "retractAxis", + "default": "retractAxis", + "enum": ["retractAxis"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/RetractAxisParams" + } + }, + "required": ["params"], + "title": "RetractAxisCreate", + "type": "object" + }, + "RetractAxisParams": { + "description": "Payload required for a Retract Axis command.", + "properties": { + "axis": { + "$ref": "#/$defs/MotorAxis", + "description": "Axis to retract to its home position as quickly as safely possible. The difference between retracting an axis and homing an axis using the home command is that a home will always probe the limit switch and will work as the first motion command a robot will need to execute; On the other hand, retraction will rely on this previously determined home position to move to it as fast as safely possible. So on the Flex, it will move (fast) the axis to the previously recorded home position and on the OT2, it will move (fast) the axis a safe distance from the previously recorded home position, and then slowly approach the limit switch." + } + }, + "required": ["axis"], + "title": "RetractAxisParams", + "type": "object" + }, + "RetractDispense": { + "description": "Shared properties for the retract function after dispense.", + "properties": { + "airGapByVolume": { + "description": "Settings for air gap keyed by target aspiration volume.", + "items": { + "maxItems": 2, + "minItems": 2, + "prefixItems": [ + { + "anyOf": [ + { + "minimum": 0, + "type": "integer" + }, + { + "minimum": 0.0, + "type": "number" + } + ] + }, + { + "anyOf": [ + { + "minimum": 0, + "type": "integer" + }, + { + "minimum": 0.0, + "type": "number" + } + ] + } + ], + "type": "array" + }, + "title": "Airgapbyvolume", + "type": "array" + }, + "blowout": { + "$ref": "#/$defs/BlowoutProperties", + "description": "Blowout properties for retract after dispense." + }, + "delay": { + "$ref": "#/$defs/DelayProperties", + "description": "Delay settings for retract after dispense." + }, + "endPosition": { + "$ref": "#/$defs/TipPosition", + "description": "Tip position at the end of the retract." + }, + "speed": { + "anyOf": [ + { + "minimum": 0, + "type": "integer" + }, + { + "minimum": 0.0, + "type": "number" + } + ], + "description": "Speed of retraction, in millimeters per second.", + "title": "Speed" + }, + "touchTip": { + "$ref": "#/$defs/TouchTipProperties", + "description": "Touch tip settings for retract after dispense." + } + }, + "required": [ + "endPosition", + "speed", + "airGapByVolume", + "blowout", + "touchTip", + "delay" + ], + "title": "RetractDispense", + "type": "object" + }, + "RetrieveCreate": { + "description": "A request to execute a Flex Stacker retrieve command.", + "properties": { + "commandType": { + "const": "flexStacker/retrieve", + "default": "flexStacker/retrieve", + "enum": ["flexStacker/retrieve"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/RetrieveParams" + } + }, + "required": ["params"], + "title": "RetrieveCreate", + "type": "object" + }, + "RetrieveParams": { + "description": "Input parameters for a labware retrieval command.", + "properties": { + "adapterId": { + "description": "An optional ID to assign to an adapter. If None, an ID will be generated.", + "title": "Adapterid", + "type": "string" + }, + "displayName": { + "description": "An optional user-specified display name or label for this labware.", + "title": "Displayname", + "type": "string" + }, + "labwareId": { + "description": "An optional ID to assign to this labware. If None, an ID will be generated.", + "title": "Labwareid", + "type": "string" + }, + "lidId": { + "description": "An optional ID to assign to a lid. If None, an ID will be generated.", + "title": "Lidid", + "type": "string" + }, + "moduleId": { + "description": "Unique ID of the Flex Stacker.", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId"], + "title": "RetrieveParams", + "type": "object" + }, + "RowNozzleLayoutConfiguration": { + "description": "Minimum information required for a new nozzle configuration.", + "properties": { + "primaryNozzle": { + "description": "The primary nozzle to use in the layout configuration. This nozzle will update the critical point of the current pipette. For now, this is also the back left corner of your rectangle.", + "enum": ["A1", "H1", "A12", "H12"], + "title": "Primarynozzle", + "type": "string" + }, + "style": { + "const": "ROW", + "default": "ROW", + "enum": ["ROW"], + "title": "Style", + "type": "string" + } + }, + "required": ["primaryNozzle"], + "title": "RowNozzleLayoutConfiguration", + "type": "object" + }, + "RunExtendedProfileCreate": { + "description": "A request to execute a Thermocycler profile run.", + "properties": { + "commandType": { + "const": "thermocycler/runExtendedProfile", + "default": "thermocycler/runExtendedProfile", + "enum": ["thermocycler/runExtendedProfile"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/RunExtendedProfileParams" + } + }, + "required": ["params"], + "title": "RunExtendedProfileCreate", + "type": "object" + }, + "RunExtendedProfileParams": { + "description": "Input parameters for an individual Thermocycler profile step.", + "properties": { + "blockMaxVolumeUl": { + "description": "Amount of liquid in uL of the most-full well in labware loaded onto the thermocycler.", + "title": "Blockmaxvolumeul", + "type": "number" + }, + "moduleId": { + "description": "Unique ID of the Thermocycler.", + "title": "Moduleid", + "type": "string" + }, + "profileElements": { + "description": "Elements of the profile. Each can be either a step or a cycle.", + "items": { + "anyOf": [ + { + "$ref": "#/$defs/ProfileStep" + }, + { + "$ref": "#/$defs/ProfileCycle" + } + ] + }, + "title": "Profileelements", + "type": "array" + } + }, + "required": ["moduleId", "profileElements"], + "title": "RunExtendedProfileParams", + "type": "object" + }, + "RunProfileCreate": { + "description": "A request to execute a Thermocycler profile run.", + "properties": { + "commandType": { + "const": "thermocycler/runProfile", + "default": "thermocycler/runProfile", + "enum": ["thermocycler/runProfile"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/RunProfileParams" + } + }, + "required": ["params"], + "title": "RunProfileCreate", + "type": "object" + }, + "RunProfileParams": { + "description": "Input parameters to run a Thermocycler profile.", + "properties": { + "blockMaxVolumeUl": { + "description": "Amount of liquid in uL of the most-full well in labware loaded onto the thermocycler.", + "title": "Blockmaxvolumeul", + "type": "number" + }, + "moduleId": { + "description": "Unique ID of the Thermocycler.", + "title": "Moduleid", + "type": "string" + }, + "profile": { + "description": "Array of profile steps with target temperature and temperature hold time.", + "items": { + "$ref": "#/$defs/RunProfileStepParams" + }, + "title": "Profile", + "type": "array" + } + }, + "required": ["moduleId", "profile"], + "title": "RunProfileParams", + "type": "object" + }, + "RunProfileStepParams": { + "description": "Input parameters for an individual Thermocycler profile step.", + "properties": { + "celsius": { + "description": "Target temperature in \u00b0C.", + "title": "Celsius", + "type": "number" + }, + "holdSeconds": { + "description": "Time to hold target temperature at in seconds.", + "title": "Holdseconds", + "type": "number" + } + }, + "required": ["celsius", "holdSeconds"], + "title": "RunProfileStepParams", + "type": "object" + }, + "SavePositionCreate": { + "description": "Save position command creation request model.", + "properties": { + "commandType": { + "const": "savePosition", + "default": "savePosition", + "enum": ["savePosition"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/SavePositionParams" + } + }, + "required": ["params"], + "title": "SavePositionCreate", + "type": "object" + }, + "SavePositionParams": { + "description": "Payload needed to save a pipette's current position.", + "properties": { + "failOnNotHomed": { + "description": "Require all axes to be homed before saving position.", + "title": "Failonnothomed", + "type": "boolean" + }, + "pipetteId": { + "description": "Unique identifier of the pipette in question.", + "title": "Pipetteid", + "type": "string" + }, + "positionId": { + "description": "An optional ID to assign to this command instance. Auto-assigned if not defined.", + "title": "Positionid", + "type": "string" + } + }, + "required": ["pipetteId"], + "title": "SavePositionParams", + "type": "object" + }, + "SealPipetteToTipCreate": { + "description": "Seal tip command creation request model.", + "properties": { + "commandType": { + "const": "sealPipetteToTip", + "default": "sealPipetteToTip", + "enum": ["sealPipetteToTip"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/SealPipetteToTipParams" + } + }, + "required": ["params"], + "title": "SealPipetteToTipCreate", + "type": "object" + }, + "SealPipetteToTipParams": { + "description": "Payload needed to seal resin tips to a pipette.", + "properties": { + "labwareId": { + "description": "Identifier of labware to use.", + "title": "Labwareid", + "type": "string" + }, + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + }, + "tipPickUpParams": { + "anyOf": [ + { + "$ref": "#/$defs/TipPickUpParams" + }, + { + "type": "null" + } + ], + "default": null, + "description": "Specific parameters for " + }, + "wellLocation": { + "$ref": "#/$defs/PickUpTipWellLocation", + "description": "Relative well location at which to pick up the tip." + }, + "wellName": { + "description": "Name of well to use in labware.", + "title": "Wellname", + "type": "string" + } + }, + "required": ["pipetteId", "labwareId", "wellName"], + "title": "SealPipetteToTipParams", + "type": "object" + }, + "SetAndWaitForShakeSpeedCreate": { + "description": "A request to create a Heater-Shaker's set and wait for shake speed command.", + "properties": { + "commandType": { + "const": "heaterShaker/setAndWaitForShakeSpeed", + "default": "heaterShaker/setAndWaitForShakeSpeed", + "enum": ["heaterShaker/setAndWaitForShakeSpeed"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/SetAndWaitForShakeSpeedParams" + } + }, + "required": ["params"], + "title": "SetAndWaitForShakeSpeedCreate", + "type": "object" + }, + "SetAndWaitForShakeSpeedParams": { + "description": "Input parameters to set and wait for a shake speed for a Heater-Shaker Module.", + "properties": { + "moduleId": { + "description": "Unique ID of the Heater-Shaker Module.", + "title": "Moduleid", + "type": "string" + }, + "rpm": { + "description": "Target speed in rotations per minute.", + "title": "Rpm", + "type": "number" + } + }, + "required": ["moduleId", "rpm"], + "title": "SetAndWaitForShakeSpeedParams", + "type": "object" + }, + "SetRailLightsCreate": { + "description": "setRailLights command request model.", + "properties": { + "commandType": { + "const": "setRailLights", + "default": "setRailLights", + "enum": ["setRailLights"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/SetRailLightsParams" + } + }, + "required": ["params"], + "title": "SetRailLightsCreate", + "type": "object" + }, + "SetRailLightsParams": { + "description": "Payload required to set the rail lights on or off.", + "properties": { + "on": { + "description": "The field that determines if the light is turned off or on.", + "title": "On", + "type": "boolean" + } + }, + "required": ["on"], + "title": "SetRailLightsParams", + "type": "object" + }, + "SetStatusBarCreate": { + "description": "setStatusBar command request model.", + "properties": { + "commandType": { + "const": "setStatusBar", + "default": "setStatusBar", + "enum": ["setStatusBar"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/SetStatusBarParams" + } + }, + "required": ["params"], + "title": "SetStatusBarCreate", + "type": "object" + }, + "SetStatusBarParams": { + "description": "Payload required to set the status bar to run an animation.", + "properties": { + "animation": { + "$ref": "#/$defs/StatusBarAnimation", + "description": "The animation that should be executed on the status bar." + } + }, + "required": ["animation"], + "title": "SetStatusBarParams", + "type": "object" + }, + "SetStoredLabwareCreate": { + "description": "A request to execute a Flex Stacker SetStoredLabware command.", + "properties": { + "commandType": { + "const": "flexStacker/setStoredLabware", + "default": "flexStacker/setStoredLabware", + "enum": ["flexStacker/setStoredLabware"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/SetStoredLabwareParams" + } + }, + "required": ["params"], + "title": "SetStoredLabwareCreate", + "type": "object" + }, + "SetStoredLabwareParams": { + "description": "Input parameters for a setStoredLabware command.", + "properties": { + "adapterLabware": { + "$ref": "#/$defs/StackerStoredLabwareDetails", + "default": null, + "description": "The details of the adapter under the primary labware, if any.", + "title": "Adapterlabware" + }, + "initialCount": { + "anyOf": [ + { + "minimum": 0, + "type": "integer" + }, + { + "type": "null" + } + ], + "default": null, + "description": "The number of labware that should be initially stored in the stacker. This number will be silently clamped to the maximum number of labware that will fit; do not rely on the parameter to know how many labware are in the stacker.", + "title": "Initialcount" + }, + "lidLabware": { + "$ref": "#/$defs/StackerStoredLabwareDetails", + "default": null, + "description": "The details of the lid on the primary labware, if any.", + "title": "Lidlabware" + }, + "moduleId": { + "description": "Unique ID of the Flex Stacker.", + "title": "Moduleid", + "type": "string" + }, + "primaryLabware": { + "$ref": "#/$defs/StackerStoredLabwareDetails", + "description": "The details of the primary labware (i.e. not the lid or adapter, if any) stored in the stacker." + } + }, + "required": ["moduleId", "primaryLabware"], + "title": "SetStoredLabwareParams", + "type": "object" + }, + "SetTargetBlockTemperatureCreate": { + "description": "A request to create a Thermocycler's set block temperature command.", + "properties": { + "commandType": { + "const": "thermocycler/setTargetBlockTemperature", + "default": "thermocycler/setTargetBlockTemperature", + "enum": ["thermocycler/setTargetBlockTemperature"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/SetTargetBlockTemperatureParams" + } + }, + "required": ["params"], + "title": "SetTargetBlockTemperatureCreate", + "type": "object" + }, + "SetTargetBlockTemperatureParams": { + "description": "Input parameters to set a Thermocycler's target block temperature.", + "properties": { + "blockMaxVolumeUl": { + "description": "Amount of liquid in uL of the most-full well in labware loaded onto the thermocycler.", + "title": "Blockmaxvolumeul", + "type": "number" + }, + "celsius": { + "description": "Target temperature in \u00b0C.", + "title": "Celsius", + "type": "number" + }, + "holdTimeSeconds": { + "description": "Amount of time, in seconds, to hold the temperature for. If specified, a waitForBlockTemperature command will block until the given hold time has elapsed.", + "title": "Holdtimeseconds", + "type": "number" + }, + "moduleId": { + "description": "Unique ID of the Thermocycler Module.", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId", "celsius"], + "title": "SetTargetBlockTemperatureParams", + "type": "object" + }, + "SetTargetLidTemperatureCreate": { + "description": "A request to create a Thermocycler's set lid temperature command.", + "properties": { + "commandType": { + "const": "thermocycler/setTargetLidTemperature", + "default": "thermocycler/setTargetLidTemperature", + "enum": ["thermocycler/setTargetLidTemperature"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/SetTargetLidTemperatureParams" + } + }, + "required": ["params"], + "title": "SetTargetLidTemperatureCreate", + "type": "object" + }, + "SetTargetLidTemperatureParams": { + "description": "Input parameters to set a Thermocycler's target lid temperature.", + "properties": { + "celsius": { + "description": "Target temperature in \u00b0C.", + "title": "Celsius", + "type": "number" + }, + "moduleId": { + "description": "Unique ID of the Thermocycler Module.", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId", "celsius"], + "title": "SetTargetLidTemperatureParams", + "type": "object" + }, + "SingleDispenseProperties": { + "description": "Properties specific to the single-dispense function.", + "properties": { + "correctionByVolume": { + "description": "Settings for volume correction keyed by by target dispense volume, representing additional volume the plunger should move to accurately hit target volume.", + "items": { + "maxItems": 2, + "minItems": 2, + "prefixItems": [ + { + "anyOf": [ + { + "minimum": 0, + "type": "integer" + }, + { + "minimum": 0.0, + "type": "number" + } + ] + }, + { + "anyOf": [ + { + "type": "integer" + }, + { + "type": "number" + } + ] + } + ], + "type": "array" + }, + "title": "Correctionbyvolume", + "type": "array" + }, + "delay": { + "$ref": "#/$defs/DelayProperties", + "description": "Delay after dispense, in seconds." + }, + "dispensePosition": { + "$ref": "#/$defs/TipPosition", + "description": "Tip position during dispense." + }, + "flowRateByVolume": { + "description": "Settings for flow rate keyed by target dispense volume.", + "items": { + "maxItems": 2, + "minItems": 2, + "prefixItems": [ + { + "anyOf": [ + { + "minimum": 0, + "type": "integer" + }, + { + "minimum": 0.0, + "type": "number" + } + ] + }, + { + "anyOf": [ + { + "minimum": 0, + "type": "integer" + }, + { + "minimum": 0.0, + "type": "number" + } + ] + } + ], + "type": "array" + }, + "title": "Flowratebyvolume", + "type": "array" + }, + "mix": { + "$ref": "#/$defs/MixProperties", + "description": "Mixing settings for after a dispense" + }, + "pushOutByVolume": { + "description": "Settings for pushout keyed by target dispense volume.", + "items": { + "maxItems": 2, + "minItems": 2, + "prefixItems": [ + { + "anyOf": [ + { + "minimum": 0, + "type": "integer" + }, + { + "minimum": 0.0, + "type": "number" + } + ] + }, + { + "anyOf": [ + { + "minimum": 0, + "type": "integer" + }, + { + "minimum": 0.0, + "type": "number" + } + ] + } + ], + "type": "array" + }, + "title": "Pushoutbyvolume", + "type": "array" + }, + "retract": { + "$ref": "#/$defs/RetractDispense", + "description": "Pipette retract settings after a single dispense." + }, + "submerge": { + "$ref": "#/$defs/Submerge", + "description": "Submerge settings for single dispense." + } + }, + "required": [ + "submerge", + "retract", + "dispensePosition", + "flowRateByVolume", + "correctionByVolume", + "mix", + "pushOutByVolume", + "delay" + ], + "title": "SingleDispenseProperties", + "type": "object" + }, + "SingleNozzleLayoutConfiguration": { + "description": "Minimum information required for a new nozzle configuration.", + "properties": { + "primaryNozzle": { + "description": "The primary nozzle to use in the layout configuration. This nozzle will update the critical point of the current pipette. For now, this is also the back left corner of your rectangle.", + "enum": ["A1", "H1", "A12", "H12"], + "title": "Primarynozzle", + "type": "string" + }, + "style": { + "const": "SINGLE", + "default": "SINGLE", + "enum": ["SINGLE"], + "title": "Style", + "type": "string" + } + }, + "required": ["primaryNozzle"], + "title": "SingleNozzleLayoutConfiguration", + "type": "object" + }, + "StackerFillEmptyStrategy": { + "description": "Strategy to use for filling or emptying a stacker.", + "enum": ["manualWithPause", "logical"], + "title": "StackerFillEmptyStrategy", + "type": "string" + }, + "StackerStoredLabwareDetails": { + "description": "The parameters defining a labware to be stored in the stacker.", + "properties": { + "loadName": { + "description": "Name used to reference the definition of this labware.", + "title": "Loadname", + "type": "string" + }, + "namespace": { + "description": "Namespace of the definition of this labware.", + "title": "Namespace", + "type": "string" + }, + "version": { + "description": "Version of the definition of this labware.", + "title": "Version", + "type": "integer" + } + }, + "required": ["loadName", "namespace", "version"], + "title": "StackerStoredLabwareDetails", + "type": "object" + }, + "StatusBarAnimation": { + "description": "Status Bar animation options.", + "enum": ["idle", "confirm", "updating", "disco", "off"], + "title": "StatusBarAnimation", + "type": "string" + }, + "StoreCreate": { + "description": "A request to execute a Flex Stacker store command.", + "properties": { + "commandType": { + "const": "flexStacker/store", + "default": "flexStacker/store", + "enum": ["flexStacker/store"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/StoreParams" + } + }, + "required": ["params"], + "title": "StoreCreate", + "type": "object" + }, + "StoreParams": { + "description": "Input parameters for a labware storage command.", + "properties": { + "moduleId": { + "description": "Unique ID of the flex stacker.", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId"], + "title": "StoreParams", + "type": "object" + }, + "Submerge": { + "description": "Shared properties for the submerge function before aspiration or dispense.", + "properties": { + "delay": { + "$ref": "#/$defs/DelayProperties", + "description": "Delay settings for submerge." + }, + "speed": { + "anyOf": [ + { + "minimum": 0, + "type": "integer" + }, + { + "minimum": 0.0, + "type": "number" + } + ], + "description": "Speed of submerging, in millimeters per second.", + "title": "Speed" + }, + "startPosition": { + "$ref": "#/$defs/TipPosition", + "description": "Tip position before starting the submerge." + } + }, + "required": ["startPosition", "speed", "delay"], + "title": "Submerge", + "type": "object" + }, + "TipPickUpParams": { + "description": "Payload used to specify press-tip parameters for a seal command.", + "properties": { + "ejectorPushMm": { + "default": 0, + "description": "The distance to back off to ensure that the tip presence sensors are not triggered.", + "title": "Ejectorpushmm", + "type": "number" + }, + "prepDistance": { + "default": 0, + "description": "The distance to move down to fit the tips on.", + "title": "Prepdistance", + "type": "number" + }, + "pressDistance": { + "default": 0, + "description": "The distance to press on tips.", + "title": "Pressdistance", + "type": "number" + } + }, + "title": "TipPickUpParams", + "type": "object" + }, + "TipPosition": { + "description": "Properties for tip position reference and relative offset.", + "properties": { + "offset": { + "$ref": "#/$defs/Coordinate", + "description": "Relative offset from position reference." + }, + "positionReference": { + "$ref": "#/$defs/PositionReference", + "description": "Position reference for tip position." + } + }, + "required": ["positionReference", "offset"], + "title": "TipPosition", + "type": "object" + }, + "TipPresenceStatus": { + "description": "Tip presence status reported by a pipette.", + "enum": ["present", "absent", "unknown"], + "title": "TipPresenceStatus", + "type": "string" + }, + "TouchTipCreate": { + "description": "Touch tip command creation request model.", + "properties": { + "commandType": { + "const": "touchTip", + "default": "touchTip", + "enum": ["touchTip"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/TouchTipParams" + } + }, + "required": ["params"], + "title": "TouchTipCreate", + "type": "object" + }, + "TouchTipParams": { + "description": "Payload needed to touch a pipette tip the sides of a specific well.", + "properties": { + "labwareId": { + "description": "Identifier of labware to use.", + "title": "Labwareid", + "type": "string" + }, + "mmFromEdge": { + "description": "Offset away from the the well edge, in millimeters.Incompatible when a radius is included as a non 1.0 value.", + "title": "Mmfromedge", + "type": "number" + }, + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + }, + "radius": { + "default": 1.0, + "description": "The proportion of the target well's radius the pipette tip will move towards.", + "title": "Radius", + "type": "number" + }, + "speed": { + "description": "Override the travel speed in mm/s. This controls the straight linear speed of motion.", + "title": "Speed", + "type": "number" + }, + "wellLocation": { + "$ref": "#/$defs/WellLocation", + "description": "Relative well location at which to perform the operation" + }, + "wellName": { + "description": "Name of well to use in labware.", + "title": "Wellname", + "type": "string" + } + }, + "required": ["labwareId", "wellName", "pipetteId"], + "title": "TouchTipParams", + "type": "object" + }, + "TouchTipProperties": { + "description": "Shared properties for the touch-tip function.", + "properties": { + "enable": { + "description": "Whether touch-tip is enabled.", + "title": "Enable", + "type": "boolean" + }, + "params": { + "$ref": "#/$defs/LiquidClassTouchTipParams", + "description": "Parameters for the touch-tip function.", + "title": "Params" + } + }, + "required": ["enable"], + "title": "TouchTipProperties", + "type": "object" + }, + "TryLiquidProbeCreate": { + "description": "The request model for a `tryLiquidProbe` command.", + "properties": { + "commandType": { + "const": "tryLiquidProbe", + "default": "tryLiquidProbe", + "enum": ["tryLiquidProbe"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/TryLiquidProbeParams" + } + }, + "required": ["params"], + "title": "TryLiquidProbeCreate", + "type": "object" + }, + "TryLiquidProbeParams": { + "description": "Parameters required for a `tryLiquidProbe` command.", + "properties": { + "labwareId": { + "description": "Identifier of labware to use.", + "title": "Labwareid", + "type": "string" + }, + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + }, + "wellLocation": { + "$ref": "#/$defs/WellLocation", + "description": "Relative well location at which to perform the operation" + }, + "wellName": { + "description": "Name of well to use in labware.", + "title": "Wellname", + "type": "string" + } + }, + "required": ["labwareId", "wellName", "pipetteId"], + "title": "TryLiquidProbeParams", + "type": "object" + }, + "UnsafeBlowOutInPlaceCreate": { + "description": "UnsafeBlowOutInPlace command request model.", + "properties": { + "commandType": { + "const": "unsafe/blowOutInPlace", + "default": "unsafe/blowOutInPlace", + "enum": ["unsafe/blowOutInPlace"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/UnsafeBlowOutInPlaceParams" + } + }, + "required": ["params"], + "title": "UnsafeBlowOutInPlaceCreate", + "type": "object" + }, + "UnsafeBlowOutInPlaceParams": { + "description": "Payload required to blow-out in place while position is unknown.", + "properties": { + "flowRate": { + "description": "Speed in \u00b5L/s configured for the pipette", + "exclusiveMinimum": 0.0, + "title": "Flowrate", + "type": "number" + }, + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + } + }, + "required": ["flowRate", "pipetteId"], + "title": "UnsafeBlowOutInPlaceParams", + "type": "object" + }, + "UnsafeDropTipInPlaceCreate": { + "description": "Drop tip in place command creation request model.", + "properties": { + "commandType": { + "const": "unsafe/dropTipInPlace", + "default": "unsafe/dropTipInPlace", + "enum": ["unsafe/dropTipInPlace"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/UnsafeDropTipInPlaceParams" + } + }, + "required": ["params"], + "title": "UnsafeDropTipInPlaceCreate", + "type": "object" + }, + "UnsafeDropTipInPlaceParams": { + "description": "Payload required to drop a tip in place even if the plunger position is not known.", + "properties": { + "homeAfter": { + "description": "Whether to home this pipette's plunger after dropping the tip. You should normally leave this unspecified to let the robot choose a safe default depending on its hardware.", + "title": "Homeafter", + "type": "boolean" + }, + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + } + }, + "required": ["pipetteId"], + "title": "UnsafeDropTipInPlaceParams", + "type": "object" + }, + "UnsafeEngageAxesCreate": { + "description": "UnsafeEngageAxes command request model.", + "properties": { + "commandType": { + "const": "unsafe/engageAxes", + "default": "unsafe/engageAxes", + "enum": ["unsafe/engageAxes"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/UnsafeEngageAxesParams" + } + }, + "required": ["params"], + "title": "UnsafeEngageAxesCreate", + "type": "object" + }, + "UnsafeEngageAxesParams": { + "description": "Payload required for an UnsafeEngageAxes command.", + "properties": { + "axes": { + "description": "The axes for which to enable.", + "items": { + "$ref": "#/$defs/MotorAxis" + }, + "title": "Axes", + "type": "array" + } + }, + "required": ["axes"], + "title": "UnsafeEngageAxesParams", + "type": "object" + }, + "UnsafePlaceLabwareCreate": { + "description": "UnsafePlaceLabware command request model.", + "properties": { + "commandType": { + "const": "unsafe/placeLabware", + "default": "unsafe/placeLabware", + "enum": ["unsafe/placeLabware"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/UnsafePlaceLabwareParams" + } + }, + "required": ["params"], + "title": "UnsafePlaceLabwareCreate", + "type": "object" + }, + "UnsafePlaceLabwareParams": { + "description": "Payload required for an UnsafePlaceLabware command.", + "properties": { + "labwareURI": { + "description": "Labware URI for labware.", + "title": "Labwareuri", + "type": "string" + }, + "location": { + "anyOf": [ + { + "$ref": "#/$defs/DeckSlotLocation" + }, + { + "$ref": "#/$defs/ModuleLocation" + }, + { + "$ref": "#/$defs/OnLabwareLocation" + }, + { + "$ref": "#/$defs/AddressableAreaLocation" + } + ], + "description": "Where to place the labware.", + "title": "Location" + } + }, + "required": ["labwareURI", "location"], + "title": "UnsafePlaceLabwareParams", + "type": "object" + }, + "UnsafeUngripLabwareCreate": { + "description": "UnsafeEngageAxes command request model.", + "properties": { + "commandType": { + "const": "unsafe/ungripLabware", + "default": "unsafe/ungripLabware", + "enum": ["unsafe/ungripLabware"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/UnsafeUngripLabwareParams" + } + }, + "required": ["params"], + "title": "UnsafeUngripLabwareCreate", + "type": "object" + }, + "UnsafeUngripLabwareParams": { + "description": "Payload required for an UngripLabware command.", + "properties": {}, + "title": "UnsafeUngripLabwareParams", + "type": "object" + }, + "UnsealPipetteFromTipCreate": { + "description": "Unseal pipette command creation request model.", + "properties": { + "commandType": { + "const": "unsealPipetteFromTip", + "default": "unsealPipetteFromTip", + "enum": ["unsealPipetteFromTip"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/UnsealPipetteFromTipParams" + } + }, + "required": ["params"], + "title": "UnsealPipetteFromTipCreate", + "type": "object" + }, + "UnsealPipetteFromTipParams": { + "description": "Payload required to drop a tip in a specific well.", + "properties": { + "labwareId": { + "description": "Identifier of labware to use.", + "title": "Labwareid", + "type": "string" + }, + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + }, + "wellLocation": { + "$ref": "#/$defs/DropTipWellLocation", + "description": "Relative well location at which to drop the tip." + }, + "wellName": { + "description": "Name of well to use in labware.", + "title": "Wellname", + "type": "string" + } + }, + "required": ["pipetteId", "labwareId", "wellName"], + "title": "UnsealPipetteFromTipParams", + "type": "object" + }, + "UpdatePositionEstimatorsCreate": { + "description": "UpdatePositionEstimators command request model.", + "properties": { + "commandType": { + "const": "unsafe/updatePositionEstimators", + "default": "unsafe/updatePositionEstimators", + "enum": ["unsafe/updatePositionEstimators"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/UpdatePositionEstimatorsParams" + } + }, + "required": ["params"], + "title": "UpdatePositionEstimatorsCreate", + "type": "object" + }, + "UpdatePositionEstimatorsParams": { + "description": "Payload required for an UpdatePositionEstimators command.", + "properties": { + "axes": { + "description": "The axes for which to update the position estimators. Any axes that are not physically present will be ignored.", + "items": { + "$ref": "#/$defs/MotorAxis" + }, + "title": "Axes", + "type": "array" + } + }, + "required": ["axes"], + "title": "UpdatePositionEstimatorsParams", + "type": "object" + }, + "Vec3f": { + "description": "A 3D vector of floats.", + "properties": { + "x": { + "title": "X", + "type": "number" + }, + "y": { + "title": "Y", + "type": "number" + }, + "z": { + "title": "Z", + "type": "number" + } + }, + "required": ["x", "y", "z"], + "title": "Vec3f", + "type": "object" + }, + "VerifyTipPresenceCreate": { + "description": "VerifyTipPresence command creation request model.", + "properties": { + "commandType": { + "const": "verifyTipPresence", + "default": "verifyTipPresence", + "enum": ["verifyTipPresence"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/VerifyTipPresenceParams" + } + }, + "required": ["params"], + "title": "VerifyTipPresenceCreate", + "type": "object" + }, + "VerifyTipPresenceParams": { + "description": "Payload required for a VerifyTipPresence command.", + "properties": { + "expectedState": { + "$ref": "#/$defs/TipPresenceStatus", + "description": "The expected tip presence status on the pipette." + }, + "followSingularSensor": { + "$ref": "#/$defs/InstrumentSensorId", + "description": "The sensor id to follow if the other can be ignored.", + "title": "Followsingularsensor" + }, + "pipetteId": { + "description": "Identifier of pipette to use for liquid handling.", + "title": "Pipetteid", + "type": "string" + } + }, + "required": ["pipetteId", "expectedState"], + "title": "VerifyTipPresenceParams", + "type": "object" + }, + "WaitForBlockTemperatureCreate": { + "description": "A request to create Thermocycler's wait for block temperature command.", + "properties": { + "commandType": { + "const": "thermocycler/waitForBlockTemperature", + "default": "thermocycler/waitForBlockTemperature", + "enum": ["thermocycler/waitForBlockTemperature"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/WaitForBlockTemperatureParams" + } + }, + "required": ["params"], + "title": "WaitForBlockTemperatureCreate", + "type": "object" + }, + "WaitForBlockTemperatureParams": { + "description": "Input parameters to wait for Thermocycler's target block temperature.", + "properties": { + "moduleId": { + "description": "Unique ID of the Thermocycler Module.", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId"], + "title": "WaitForBlockTemperatureParams", + "type": "object" + }, + "WaitForDurationCreate": { + "description": "Wait for duration command request model.", + "properties": { + "commandType": { + "const": "waitForDuration", + "default": "waitForDuration", + "enum": ["waitForDuration"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/WaitForDurationParams" + } + }, + "required": ["params"], + "title": "WaitForDurationCreate", + "type": "object" + }, + "WaitForDurationParams": { + "description": "Payload required to pause the protocol.", + "properties": { + "message": { + "description": "A user-facing message associated with the pause", + "title": "Message", + "type": "string" + }, + "seconds": { + "description": "Duration, in seconds, to wait for.", + "title": "Seconds", + "type": "number" + } + }, + "required": ["seconds"], + "title": "WaitForDurationParams", + "type": "object" + }, + "WaitForLidTemperatureCreate": { + "description": "A request to create Thermocycler's wait for lid temperature command.", + "properties": { + "commandType": { + "const": "thermocycler/waitForLidTemperature", + "default": "thermocycler/waitForLidTemperature", + "enum": ["thermocycler/waitForLidTemperature"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/WaitForLidTemperatureParams" + } + }, + "required": ["params"], + "title": "WaitForLidTemperatureCreate", + "type": "object" + }, + "WaitForLidTemperatureParams": { + "description": "Input parameters to wait for Thermocycler's lid temperature.", + "properties": { + "moduleId": { + "description": "Unique ID of the Thermocycler Module.", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId"], + "title": "WaitForLidTemperatureParams", + "type": "object" + }, + "WaitForResumeCreate": { + "description": "Wait for resume command request model.", + "properties": { + "commandType": { + "default": "waitForResume", + "enum": ["waitForResume", "pause"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/WaitForResumeParams" + } + }, + "required": ["params"], + "title": "WaitForResumeCreate", + "type": "object" + }, + "WaitForResumeParams": { + "description": "Payload required to pause the protocol.", + "properties": { + "message": { + "description": "A user-facing message associated with the pause", + "title": "Message", + "type": "string" + } + }, + "title": "WaitForResumeParams", + "type": "object" + }, + "WellLocation": { + "description": "A relative location in reference to a well's location.", + "properties": { + "offset": { + "$ref": "#/$defs/WellOffset" + }, + "origin": { + "$ref": "#/$defs/WellOrigin", + "default": "top" + }, + "volumeOffset": { + "default": 0.0, + "description": "A volume of liquid, in \u00b5L, to offset the z-axis offset.", + "title": "Volumeoffset", + "type": "number" + } + }, + "title": "WellLocation", + "type": "object" + }, + "WellOffset": { + "description": "An offset vector in (x, y, z).", + "properties": { + "x": { + "default": 0, + "title": "X", + "type": "number" + }, + "y": { + "default": 0, + "title": "Y", + "type": "number" + }, + "z": { + "default": 0, + "title": "Z", + "type": "number" + } + }, + "title": "WellOffset", + "type": "object" + }, + "WellOrigin": { + "description": "Origin of WellLocation offset.\n\nProps:\n TOP: the top-center of the well\n BOTTOM: the bottom-center of the well\n CENTER: the middle-center of the well\n MENISCUS: the meniscus-center of the well", + "enum": ["top", "bottom", "center", "meniscus"], + "title": "WellOrigin", + "type": "string" + }, + "opentrons__protocol_engine__commands__absorbance_reader__close_lid__CloseLidCreate": { + "description": "A request to execute an Absorbance Reader close lid command.", + "properties": { + "commandType": { + "const": "absorbanceReader/closeLid", + "default": "absorbanceReader/closeLid", + "enum": ["absorbanceReader/closeLid"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/opentrons__protocol_engine__commands__absorbance_reader__close_lid__CloseLidParams" + } + }, + "required": ["params"], + "title": "CloseLidCreate", + "type": "object" + }, + "opentrons__protocol_engine__commands__absorbance_reader__close_lid__CloseLidParams": { + "description": "Input parameters to close the lid on an absorbance reading.", + "properties": { + "moduleId": { + "description": "Unique ID of the absorbance reader.", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId"], + "title": "CloseLidParams", + "type": "object" + }, + "opentrons__protocol_engine__commands__absorbance_reader__open_lid__OpenLidCreate": { + "description": "A request to execute an Absorbance Reader open lid command.", + "properties": { + "commandType": { + "const": "absorbanceReader/openLid", + "default": "absorbanceReader/openLid", + "enum": ["absorbanceReader/openLid"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/opentrons__protocol_engine__commands__absorbance_reader__open_lid__OpenLidParams" + } + }, + "required": ["params"], + "title": "OpenLidCreate", + "type": "object" + }, + "opentrons__protocol_engine__commands__absorbance_reader__open_lid__OpenLidParams": { + "description": "Input parameters to open the lid on an absorbance reading.", + "properties": { + "moduleId": { + "description": "Unique ID of the absorbance reader.", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId"], + "title": "OpenLidParams", + "type": "object" + }, + "opentrons__protocol_engine__commands__heater_shaker__set_target_temperature__SetTargetTemperatureCreate": { + "description": "A request to create a Heater-Shaker's set temperature command.", + "properties": { + "commandType": { + "const": "heaterShaker/setTargetTemperature", + "default": "heaterShaker/setTargetTemperature", + "enum": ["heaterShaker/setTargetTemperature"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/opentrons__protocol_engine__commands__heater_shaker__set_target_temperature__SetTargetTemperatureParams" + } + }, + "required": ["params"], + "title": "SetTargetTemperatureCreate", + "type": "object" + }, + "opentrons__protocol_engine__commands__heater_shaker__set_target_temperature__SetTargetTemperatureParams": { + "description": "Input parameters to set a Heater-Shaker's target temperature.", + "properties": { + "celsius": { + "description": "Target temperature in \u00b0C.", + "title": "Celsius", + "type": "number" + }, + "moduleId": { + "description": "Unique ID of the Heater-Shaker Module.", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId", "celsius"], + "title": "SetTargetTemperatureParams", + "type": "object" + }, + "opentrons__protocol_engine__commands__heater_shaker__wait_for_temperature__WaitForTemperatureCreate": { + "description": "A request to create a Heater-Shaker's wait for temperature command.", + "properties": { + "commandType": { + "const": "heaterShaker/waitForTemperature", + "default": "heaterShaker/waitForTemperature", + "enum": ["heaterShaker/waitForTemperature"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/opentrons__protocol_engine__commands__heater_shaker__wait_for_temperature__WaitForTemperatureParams" + } + }, + "required": ["params"], + "title": "WaitForTemperatureCreate", + "type": "object" + }, + "opentrons__protocol_engine__commands__heater_shaker__wait_for_temperature__WaitForTemperatureParams": { + "description": "Input parameters to wait for a Heater-Shaker's target temperature.", + "properties": { + "celsius": { + "description": "Target temperature in \u00b0C. If not specified, will default to the module's target temperature. Specifying a celsius parameter other than the target temperature could lead to unpredictable behavior and hence is not recommended for use. This parameter can be removed in a future version without prior notice.", + "title": "Celsius", + "type": "number" + }, + "moduleId": { + "description": "Unique ID of the Heater-Shaker Module.", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId"], + "title": "WaitForTemperatureParams", + "type": "object" + }, + "opentrons__protocol_engine__commands__temperature_module__set_target_temperature__SetTargetTemperatureCreate": { + "description": "A request to create a Temperature Module's set temperature command.", + "properties": { + "commandType": { + "const": "temperatureModule/setTargetTemperature", + "default": "temperatureModule/setTargetTemperature", + "enum": ["temperatureModule/setTargetTemperature"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/opentrons__protocol_engine__commands__temperature_module__set_target_temperature__SetTargetTemperatureParams" + } + }, + "required": ["params"], + "title": "SetTargetTemperatureCreate", + "type": "object" + }, + "opentrons__protocol_engine__commands__temperature_module__set_target_temperature__SetTargetTemperatureParams": { + "description": "Input parameters to set a Temperature Module's target temperature.", + "properties": { + "celsius": { + "description": "Target temperature in \u00b0C.", + "title": "Celsius", + "type": "number" + }, + "moduleId": { + "description": "Unique ID of the Temperature Module.", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId", "celsius"], + "title": "SetTargetTemperatureParams", + "type": "object" + }, + "opentrons__protocol_engine__commands__temperature_module__wait_for_temperature__WaitForTemperatureCreate": { + "description": "A request to create a Temperature Module's wait for temperature command.", + "properties": { + "commandType": { + "const": "temperatureModule/waitForTemperature", + "default": "temperatureModule/waitForTemperature", + "enum": ["temperatureModule/waitForTemperature"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/opentrons__protocol_engine__commands__temperature_module__wait_for_temperature__WaitForTemperatureParams" + } + }, + "required": ["params"], + "title": "WaitForTemperatureCreate", + "type": "object" + }, + "opentrons__protocol_engine__commands__temperature_module__wait_for_temperature__WaitForTemperatureParams": { + "description": "Input parameters to wait for a Temperature Module's target temperature.", + "properties": { + "celsius": { + "description": "Target temperature in \u00b0C. If not specified, will default to the module's target temperature. Specifying a celsius parameter other than the target temperature could lead to unpredictable behavior and hence is not recommended for use. This parameter can be removed in a future version without prior notice.", + "title": "Celsius", + "type": "number" + }, + "moduleId": { + "description": "Unique ID of the Temperature Module.", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId"], + "title": "WaitForTemperatureParams", + "type": "object" + }, + "opentrons__protocol_engine__commands__thermocycler__close_lid__CloseLidCreate": { + "description": "A request to close a Thermocycler's lid.", + "properties": { + "commandType": { + "const": "thermocycler/closeLid", + "default": "thermocycler/closeLid", + "enum": ["thermocycler/closeLid"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/opentrons__protocol_engine__commands__thermocycler__close_lid__CloseLidParams" + } + }, + "required": ["params"], + "title": "CloseLidCreate", + "type": "object" + }, + "opentrons__protocol_engine__commands__thermocycler__close_lid__CloseLidParams": { + "description": "Input parameters to close a Thermocycler's lid.", + "properties": { + "moduleId": { + "description": "Unique ID of the Thermocycler.", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId"], + "title": "CloseLidParams", + "type": "object" + }, + "opentrons__protocol_engine__commands__thermocycler__open_lid__OpenLidCreate": { + "description": "A request to open a Thermocycler's lid.", + "properties": { + "commandType": { + "const": "thermocycler/openLid", + "default": "thermocycler/openLid", + "enum": ["thermocycler/openLid"], + "title": "Commandtype", + "type": "string" + }, + "intent": { + "$ref": "#/$defs/CommandIntent", + "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.", + "title": "Intent" + }, + "key": { + "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.", + "title": "Key", + "type": "string" + }, + "params": { + "$ref": "#/$defs/opentrons__protocol_engine__commands__thermocycler__open_lid__OpenLidParams" + } + }, + "required": ["params"], + "title": "OpenLidCreate", + "type": "object" + }, + "opentrons__protocol_engine__commands__thermocycler__open_lid__OpenLidParams": { + "description": "Input parameters to open a Thermocycler's lid.", + "properties": { + "moduleId": { + "description": "Unique ID of the Thermocycler.", + "title": "Moduleid", + "type": "string" + } + }, + "required": ["moduleId"], + "title": "OpenLidParams", + "type": "object" + } + }, + "$id": "opentronsCommandSchemaV13", + "$schema": "http://json-schema.org/draft-07/schema#", + "discriminator": { + "mapping": { + "absorbanceReader/closeLid": "#/$defs/opentrons__protocol_engine__commands__absorbance_reader__close_lid__CloseLidCreate", + "absorbanceReader/initialize": "#/$defs/InitializeCreate", + "absorbanceReader/openLid": "#/$defs/opentrons__protocol_engine__commands__absorbance_reader__open_lid__OpenLidCreate", + "absorbanceReader/read": "#/$defs/ReadAbsorbanceCreate", + "airGapInPlace": "#/$defs/AirGapInPlaceCreate", + "aspirate": "#/$defs/AspirateCreate", + "aspirateInPlace": "#/$defs/AspirateInPlaceCreate", + "aspirateWhileTracking": "#/$defs/AspirateWhileTrackingCreate", + "blowOutInPlace": "#/$defs/BlowOutInPlaceCreate", + "blowout": "#/$defs/BlowOutCreate", + "calibration/calibrateGripper": "#/$defs/CalibrateGripperCreate", + "calibration/calibrateModule": "#/$defs/CalibrateModuleCreate", + "calibration/calibratePipette": "#/$defs/CalibratePipetteCreate", + "calibration/moveToMaintenancePosition": "#/$defs/MoveToMaintenancePositionCreate", + "comment": "#/$defs/CommentCreate", + "configureForVolume": "#/$defs/ConfigureForVolumeCreate", + "configureNozzleLayout": "#/$defs/ConfigureNozzleLayoutCreate", + "custom": "#/$defs/CustomCreate", + "dispense": "#/$defs/DispenseCreate", + "dispenseInPlace": "#/$defs/DispenseInPlaceCreate", + "dispenseWhileTracking": "#/$defs/DispenseWhileTrackingCreate", + "dropTip": "#/$defs/DropTipCreate", + "dropTipInPlace": "#/$defs/DropTipInPlaceCreate", + "flexStacker/closeLatch": "#/$defs/CloseLatchCreate", + "flexStacker/empty": "#/$defs/EmptyCreate", + "flexStacker/fill": "#/$defs/FillCreate", + "flexStacker/openLatch": "#/$defs/OpenLatchCreate", + "flexStacker/prepareShuttle": "#/$defs/PrepareShuttleCreate", + "flexStacker/retrieve": "#/$defs/RetrieveCreate", + "flexStacker/setStoredLabware": "#/$defs/SetStoredLabwareCreate", + "flexStacker/store": "#/$defs/StoreCreate", + "getNextTip": "#/$defs/GetNextTipCreate", + "getTipPresence": "#/$defs/GetTipPresenceCreate", + "heaterShaker/closeLabwareLatch": "#/$defs/CloseLabwareLatchCreate", + "heaterShaker/deactivateHeater": "#/$defs/DeactivateHeaterCreate", + "heaterShaker/deactivateShaker": "#/$defs/DeactivateShakerCreate", + "heaterShaker/openLabwareLatch": "#/$defs/OpenLabwareLatchCreate", + "heaterShaker/setAndWaitForShakeSpeed": "#/$defs/SetAndWaitForShakeSpeedCreate", + "heaterShaker/setTargetTemperature": "#/$defs/opentrons__protocol_engine__commands__heater_shaker__set_target_temperature__SetTargetTemperatureCreate", + "heaterShaker/waitForTemperature": "#/$defs/opentrons__protocol_engine__commands__heater_shaker__wait_for_temperature__WaitForTemperatureCreate", + "home": "#/$defs/HomeCreate", + "liquidProbe": "#/$defs/LiquidProbeCreate", + "loadLabware": "#/$defs/LoadLabwareCreate", + "loadLid": "#/$defs/LoadLidCreate", + "loadLidStack": "#/$defs/LoadLidStackCreate", + "loadLiquid": "#/$defs/LoadLiquidCreate", + "loadLiquidClass": "#/$defs/LoadLiquidClassCreate", + "loadModule": "#/$defs/LoadModuleCreate", + "loadPipette": "#/$defs/LoadPipetteCreate", + "magneticModule/disengage": "#/$defs/DisengageCreate", + "magneticModule/engage": "#/$defs/EngageCreate", + "moveLabware": "#/$defs/MoveLabwareCreate", + "moveRelative": "#/$defs/MoveRelativeCreate", + "moveToAddressableArea": "#/$defs/MoveToAddressableAreaCreate", + "moveToAddressableAreaForDropTip": "#/$defs/MoveToAddressableAreaForDropTipCreate", + "moveToCoordinates": "#/$defs/MoveToCoordinatesCreate", + "moveToWell": "#/$defs/MoveToWellCreate", + "pause": "#/$defs/WaitForResumeCreate", + "pickUpTip": "#/$defs/PickUpTipCreate", + "prepareToAspirate": "#/$defs/PrepareToAspirateCreate", + "pressureDispense": "#/$defs/PressureDispenseCreate", + "reloadLabware": "#/$defs/ReloadLabwareCreate", + "retractAxis": "#/$defs/RetractAxisCreate", + "robot/closeGripperJaw": "#/$defs/CloseGripperJawCreate", + "robot/moveAxesRelative": "#/$defs/MoveAxesRelativeCreate", + "robot/moveAxesTo": "#/$defs/MoveAxesToCreate", + "robot/moveTo": "#/$defs/MoveToCreate", + "robot/openGripperJaw": "#/$defs/OpenGripperJawCreate", + "savePosition": "#/$defs/SavePositionCreate", + "sealPipetteToTip": "#/$defs/SealPipetteToTipCreate", + "setRailLights": "#/$defs/SetRailLightsCreate", + "setStatusBar": "#/$defs/SetStatusBarCreate", + "temperatureModule/deactivate": "#/$defs/DeactivateTemperatureCreate", + "temperatureModule/setTargetTemperature": "#/$defs/opentrons__protocol_engine__commands__temperature_module__set_target_temperature__SetTargetTemperatureCreate", + "temperatureModule/waitForTemperature": "#/$defs/opentrons__protocol_engine__commands__temperature_module__wait_for_temperature__WaitForTemperatureCreate", + "thermocycler/closeLid": "#/$defs/opentrons__protocol_engine__commands__thermocycler__close_lid__CloseLidCreate", + "thermocycler/deactivateBlock": "#/$defs/DeactivateBlockCreate", + "thermocycler/deactivateLid": "#/$defs/DeactivateLidCreate", + "thermocycler/openLid": "#/$defs/opentrons__protocol_engine__commands__thermocycler__open_lid__OpenLidCreate", + "thermocycler/runExtendedProfile": "#/$defs/RunExtendedProfileCreate", + "thermocycler/runProfile": "#/$defs/RunProfileCreate", + "thermocycler/setTargetBlockTemperature": "#/$defs/SetTargetBlockTemperatureCreate", + "thermocycler/setTargetLidTemperature": "#/$defs/SetTargetLidTemperatureCreate", + "thermocycler/waitForBlockTemperature": "#/$defs/WaitForBlockTemperatureCreate", + "thermocycler/waitForLidTemperature": "#/$defs/WaitForLidTemperatureCreate", + "touchTip": "#/$defs/TouchTipCreate", + "tryLiquidProbe": "#/$defs/TryLiquidProbeCreate", + "unsafe/blowOutInPlace": "#/$defs/UnsafeBlowOutInPlaceCreate", + "unsafe/dropTipInPlace": "#/$defs/UnsafeDropTipInPlaceCreate", + "unsafe/engageAxes": "#/$defs/UnsafeEngageAxesCreate", + "unsafe/placeLabware": "#/$defs/UnsafePlaceLabwareCreate", + "unsafe/ungripLabware": "#/$defs/UnsafeUngripLabwareCreate", + "unsafe/updatePositionEstimators": "#/$defs/UpdatePositionEstimatorsCreate", + "unsealPipetteFromTip": "#/$defs/UnsealPipetteFromTipCreate", + "verifyTipPresence": "#/$defs/VerifyTipPresenceCreate", + "waitForDuration": "#/$defs/WaitForDurationCreate", + "waitForResume": "#/$defs/WaitForResumeCreate" + }, + "propertyName": "commandType" + }, + "oneOf": [ + { + "$ref": "#/$defs/AirGapInPlaceCreate" + }, + { + "$ref": "#/$defs/AspirateCreate" + }, + { + "$ref": "#/$defs/AspirateWhileTrackingCreate" + }, + { + "$ref": "#/$defs/AspirateInPlaceCreate" + }, + { + "$ref": "#/$defs/CommentCreate" + }, + { + "$ref": "#/$defs/ConfigureForVolumeCreate" + }, + { + "$ref": "#/$defs/ConfigureNozzleLayoutCreate" + }, + { + "$ref": "#/$defs/CustomCreate" + }, + { + "$ref": "#/$defs/DispenseCreate" + }, + { + "$ref": "#/$defs/DispenseInPlaceCreate" + }, + { + "$ref": "#/$defs/DispenseWhileTrackingCreate" + }, + { + "$ref": "#/$defs/BlowOutCreate" + }, + { + "$ref": "#/$defs/BlowOutInPlaceCreate" + }, + { + "$ref": "#/$defs/DropTipCreate" + }, + { + "$ref": "#/$defs/DropTipInPlaceCreate" + }, + { + "$ref": "#/$defs/HomeCreate" + }, + { + "$ref": "#/$defs/RetractAxisCreate" + }, + { + "$ref": "#/$defs/LoadLabwareCreate" + }, + { + "$ref": "#/$defs/ReloadLabwareCreate" + }, + { + "$ref": "#/$defs/LoadLiquidCreate" + }, + { + "$ref": "#/$defs/LoadLiquidClassCreate" + }, + { + "$ref": "#/$defs/LoadModuleCreate" + }, + { + "$ref": "#/$defs/LoadPipetteCreate" + }, + { + "$ref": "#/$defs/LoadLidStackCreate" + }, + { + "$ref": "#/$defs/LoadLidCreate" + }, + { + "$ref": "#/$defs/MoveLabwareCreate" + }, + { + "$ref": "#/$defs/MoveRelativeCreate" + }, + { + "$ref": "#/$defs/MoveToCoordinatesCreate" + }, + { + "$ref": "#/$defs/MoveToWellCreate" + }, + { + "$ref": "#/$defs/MoveToAddressableAreaCreate" + }, + { + "$ref": "#/$defs/MoveToAddressableAreaForDropTipCreate" + }, + { + "$ref": "#/$defs/PrepareToAspirateCreate" + }, + { + "$ref": "#/$defs/WaitForResumeCreate" + }, + { + "$ref": "#/$defs/WaitForDurationCreate" + }, + { + "$ref": "#/$defs/PickUpTipCreate" + }, + { + "$ref": "#/$defs/SavePositionCreate" + }, + { + "$ref": "#/$defs/SetRailLightsCreate" + }, + { + "$ref": "#/$defs/TouchTipCreate" + }, + { + "$ref": "#/$defs/SetStatusBarCreate" + }, + { + "$ref": "#/$defs/VerifyTipPresenceCreate" + }, + { + "$ref": "#/$defs/GetTipPresenceCreate" + }, + { + "$ref": "#/$defs/GetNextTipCreate" + }, + { + "$ref": "#/$defs/LiquidProbeCreate" + }, + { + "$ref": "#/$defs/TryLiquidProbeCreate" + }, + { + "$ref": "#/$defs/SealPipetteToTipCreate" + }, + { + "$ref": "#/$defs/PressureDispenseCreate" + }, + { + "$ref": "#/$defs/UnsealPipetteFromTipCreate" + }, + { + "$ref": "#/$defs/opentrons__protocol_engine__commands__heater_shaker__wait_for_temperature__WaitForTemperatureCreate" + }, + { + "$ref": "#/$defs/opentrons__protocol_engine__commands__heater_shaker__set_target_temperature__SetTargetTemperatureCreate" + }, + { + "$ref": "#/$defs/DeactivateHeaterCreate" + }, + { + "$ref": "#/$defs/SetAndWaitForShakeSpeedCreate" + }, + { + "$ref": "#/$defs/DeactivateShakerCreate" + }, + { + "$ref": "#/$defs/OpenLabwareLatchCreate" + }, + { + "$ref": "#/$defs/CloseLabwareLatchCreate" + }, + { + "$ref": "#/$defs/DisengageCreate" + }, + { + "$ref": "#/$defs/EngageCreate" + }, + { + "$ref": "#/$defs/opentrons__protocol_engine__commands__temperature_module__set_target_temperature__SetTargetTemperatureCreate" + }, + { + "$ref": "#/$defs/opentrons__protocol_engine__commands__temperature_module__wait_for_temperature__WaitForTemperatureCreate" + }, + { + "$ref": "#/$defs/DeactivateTemperatureCreate" + }, + { + "$ref": "#/$defs/SetTargetBlockTemperatureCreate" + }, + { + "$ref": "#/$defs/WaitForBlockTemperatureCreate" + }, + { + "$ref": "#/$defs/SetTargetLidTemperatureCreate" + }, + { + "$ref": "#/$defs/WaitForLidTemperatureCreate" + }, + { + "$ref": "#/$defs/DeactivateBlockCreate" + }, + { + "$ref": "#/$defs/DeactivateLidCreate" + }, + { + "$ref": "#/$defs/opentrons__protocol_engine__commands__thermocycler__open_lid__OpenLidCreate" + }, + { + "$ref": "#/$defs/opentrons__protocol_engine__commands__thermocycler__close_lid__CloseLidCreate" + }, + { + "$ref": "#/$defs/RunProfileCreate" + }, + { + "$ref": "#/$defs/RunExtendedProfileCreate" + }, + { + "$ref": "#/$defs/opentrons__protocol_engine__commands__absorbance_reader__close_lid__CloseLidCreate" + }, + { + "$ref": "#/$defs/opentrons__protocol_engine__commands__absorbance_reader__open_lid__OpenLidCreate" + }, + { + "$ref": "#/$defs/InitializeCreate" + }, + { + "$ref": "#/$defs/ReadAbsorbanceCreate" + }, + { + "$ref": "#/$defs/RetrieveCreate" + }, + { + "$ref": "#/$defs/StoreCreate" + }, + { + "$ref": "#/$defs/SetStoredLabwareCreate" + }, + { + "$ref": "#/$defs/FillCreate" + }, + { + "$ref": "#/$defs/EmptyCreate" + }, + { + "$ref": "#/$defs/CloseLatchCreate" + }, + { + "$ref": "#/$defs/OpenLatchCreate" + }, + { + "$ref": "#/$defs/PrepareShuttleCreate" + }, + { + "$ref": "#/$defs/CalibrateGripperCreate" + }, + { + "$ref": "#/$defs/CalibratePipetteCreate" + }, + { + "$ref": "#/$defs/CalibrateModuleCreate" + }, + { + "$ref": "#/$defs/MoveToMaintenancePositionCreate" + }, + { + "$ref": "#/$defs/UnsafeBlowOutInPlaceCreate" + }, + { + "$ref": "#/$defs/UnsafeDropTipInPlaceCreate" + }, + { + "$ref": "#/$defs/UpdatePositionEstimatorsCreate" + }, + { + "$ref": "#/$defs/UnsafeEngageAxesCreate" + }, + { + "$ref": "#/$defs/UnsafeUngripLabwareCreate" + }, + { + "$ref": "#/$defs/UnsafePlaceLabwareCreate" + }, + { + "$ref": "#/$defs/MoveAxesRelativeCreate" + }, + { + "$ref": "#/$defs/MoveAxesToCreate" + }, + { + "$ref": "#/$defs/MoveToCreate" + }, + { + "$ref": "#/$defs/OpenGripperJawCreate" + }, + { + "$ref": "#/$defs/CloseGripperJawCreate" + } + ] +} diff --git a/shared-data/js/__tests__/labwareDefSchemaV2.test.ts b/shared-data/js/__tests__/labwareDefSchemaV2.test.ts index 5b5f3ea2d83e..d76b00a14409 100644 --- a/shared-data/js/__tests__/labwareDefSchemaV2.test.ts +++ b/shared-data/js/__tests__/labwareDefSchemaV2.test.ts @@ -148,7 +148,7 @@ const expectedWellsNotMatchingZDimension: Record> = { 'nest_96_wellplate_100ul_pcr_full_skirt/3.json': standard96WellNames, 'opentrons_24_tuberack_nest_1.5ml_screwcap/2.json': standard24WellNames, 'opentrons_24_tuberack_nest_2ml_screwcap/2.json': standard24WellNames, - 'usascientific_12_reservoir_22ml/2.json': generateStandardWellNames(1, 12), + 'usascientific_12_reservoir_22ml/2.json': generateStandardWellNames(1, 12), // Fixed in v3 of this labware. 'corning_12_wellplate_6.9ml_flat/3.json': generateStandardWellNames(3, 4), 'biorad_96_wellplate_200ul_pcr/3.json': standard96WellNames, } @@ -309,7 +309,7 @@ const checkGeometryDefinitions = (labwareDef: LabwareDefinition2): void => { const labwareWithWellDepthMismatches = [ // todo(mm, 2025-03-17): Investigate and resolve these mismatches. - 'agilent_1_reservoir_290ml/2', + 'agilent_1_reservoir_290ml/2', // Fixed in v3 of this labware. 'corning_24_wellplate_3.4ml_flat/3', 'corning_6_wellplate_16.8ml_flat/3', 'corning_96_wellplate_360ul_flat/3', diff --git a/shared-data/js/liquidClasses.ts b/shared-data/js/liquidClasses.ts index ac598312e42b..d1a66605a5c6 100644 --- a/shared-data/js/liquidClasses.ts +++ b/shared-data/js/liquidClasses.ts @@ -1,12 +1,13 @@ -import ethanol80V1Uncasted from '../liquid-class/definitions/1/ethanol_80.json' -import glycerol50V1Uncasted from '../liquid-class/definitions/1/glycerol_50.json' -import waterV1Uncasted from '../liquid-class/definitions/1/water.json' +import ethanol80V1Uncasted from '../liquid-class/definitions/1/ethanol_80/1.json' +import glycerol50V1Uncasted from '../liquid-class/definitions/1/glycerol_50/1.json' +import waterV1Uncasted from '../liquid-class/definitions/1/water/1.json' + import type { LiquidClass } from '.' const ethanol80V1 = ethanol80V1Uncasted as LiquidClass const glycerol50V1 = glycerol50V1Uncasted as LiquidClass const waterV1 = waterV1Uncasted as LiquidClass -const defs = { ethanol80V1, glycerol50V1, waterV1 } +const defs = { waterV1, glycerol50V1, ethanol80V1 } export const getAllLiquidClassDefs = (): Record => defs diff --git a/shared-data/js/types.ts b/shared-data/js/types.ts index d8f6ade42128..62c57292fbdc 100644 --- a/shared-data/js/types.ts +++ b/shared-data/js/types.ts @@ -1,43 +1,43 @@ +import type { LoadedLabwareLocation, RunTimeCommand } from '../command/types' +import type { CommandAnnotation } from '../commandAnnotation/types' +import type { AddressableAreaName, CutoutFixtureId, CutoutId } from '../deck' import type { - MAGDECK, - TEMPDECK, - THERMOCYCLER, - MAGNETIC_MODULE_V1, - MAGNETIC_MODULE_V2, - TEMPERATURE_MODULE_V1, - TEMPERATURE_MODULE_V2, - THERMOCYCLER_MODULE_V1, - THERMOCYCLER_MODULE_V2, - HEATERSHAKER_MODULE_V1, - ABSORBANCE_READER_V1, - MAGNETIC_MODULE_TYPE, - TEMPERATURE_MODULE_TYPE, - THERMOCYCLER_MODULE_TYPE, - HEATERSHAKER_MODULE_TYPE, - MAGNETIC_BLOCK_TYPE, ABSORBANCE_READER_TYPE, + ABSORBANCE_READER_V1, + EXTENSION, + FLEX, + FLEX_STACKER_MODULE_TYPE, + FLEX_STACKER_MODULE_V1, GEN1, GEN2, - FLEX, - LEFT, - RIGHT, GRIPPER_V1, GRIPPER_V1_1, GRIPPER_V1_2, GRIPPER_V1_3, - EXTENSION, + HEATERSHAKER_MODULE_TYPE, + HEATERSHAKER_MODULE_V1, + LEFT, + LIQUID_MENISCUS, + MAGDECK, + MAGNETIC_BLOCK_TYPE, MAGNETIC_BLOCK_V1, - FLEX_STACKER_MODULE_V1, - FLEX_STACKER_MODULE_TYPE, + MAGNETIC_MODULE_TYPE, + MAGNETIC_MODULE_V1, + MAGNETIC_MODULE_V2, + RIGHT, + TEMPDECK, + TEMPERATURE_MODULE_TYPE, + TEMPERATURE_MODULE_V1, + TEMPERATURE_MODULE_V2, + THERMOCYCLER, + THERMOCYCLER_MODULE_TYPE, + THERMOCYCLER_MODULE_V1, + THERMOCYCLER_MODULE_V2, WELL_BOTTOM, WELL_CENTER, WELL_TOP, - LIQUID_MENISCUS, } from './constants' -import type { RunTimeCommand, LoadedLabwareLocation } from '../command/types' -import type { AddressableAreaName, CutoutFixtureId, CutoutId } from '../deck' import type { PipetteName } from './pipettes' -import type { CommandAnnotation } from '../commandAnnotation/types' export type RobotType = 'OT-2 Standard' | 'OT-3 Standard' @@ -727,13 +727,17 @@ type BlowoutLocation = 'source' | 'destination' | 'trash' interface DelayParams { duration: number } -interface DelayProperties { +export interface TipPosition { + positionReference: PositionReference + offset: Coordinates +} +export interface DelayProperties { enable: boolean params?: DelayParams } interface TouchTipParams { zOffset: number - mmToEdge: number + mmFromEdge: number speed: number } interface TouchTipProperties { @@ -757,15 +761,13 @@ interface BlowoutProperties { enable: boolean params?: BlowoutParams } -interface Submerge { - positionReference: PositionReference - offset: Coordinates +export interface Submerge { + startPosition: TipPosition speed: number delay: DelayProperties } interface BaseRetract { - positionReference: PositionReference - offset: Coordinates + endPosition: TipPosition speed: number airGapByVolume: LiquidHandlingPropertyByVolume touchTip: TouchTipProperties @@ -778,23 +780,25 @@ interface RetractDispense extends BaseRetract { interface BaseLiquidHandlingProperties { submerge: Submerge retract: RetractType - positionReference: PositionReference - offset: Coordinates flowRateByVolume: LiquidHandlingPropertyByVolume correctionByVolume: LiquidHandlingPropertyByVolume delay: DelayProperties } export interface AspirateProperties extends BaseLiquidHandlingProperties { + aspiratePosition: TipPosition preWet: boolean mix: MixProperties } export interface SingleDispenseProperties extends BaseLiquidHandlingProperties { + dispensePosition: TipPosition mix: MixProperties pushOutByVolume: LiquidHandlingPropertyByVolume } -export interface MultiDispenseProperties { +export interface MultiDispenseProperties + extends BaseLiquidHandlingProperties { + dispensePosition: TipPosition conditioningByVolume: LiquidHandlingPropertyByVolume disposalByVolume: LiquidHandlingPropertyByVolume } diff --git a/shared-data/labware/definitions/2/agilent_1_reservoir_290ml/3.json b/shared-data/labware/definitions/2/agilent_1_reservoir_290ml/3.json new file mode 100644 index 000000000000..0de84dd662ff --- /dev/null +++ b/shared-data/labware/definitions/2/agilent_1_reservoir_290ml/3.json @@ -0,0 +1,80 @@ +{ + "ordering": [["A1"]], + "brand": { + "brand": "Agilent", + "brandId": ["201252-100"], + "links": ["https://www.agilent.com/store/en_US/Prod-201252-100/201252-100"] + }, + "metadata": { + "displayName": "Agilent 1 Well Reservoir 290 mL", + "displayCategory": "reservoir", + "displayVolumeUnits": "mL", + "tags": [] + }, + "dimensions": { + "xDimension": 127.76, + "yDimension": 85.57, + "zDimension": 44.04 + }, + "wells": { + "A1": { + "depth": 39.23, + "shape": "rectangular", + "xDimension": 108, + "yDimension": 72, + "totalLiquidVolume": 290000, + "x": 63.88, + "y": 42.785, + "z": 4.81, + "geometryDefinitionId": "cuboidalWell" + } + }, + "groups": [ + { + "wells": ["A1"], + "metadata": { + "wellBottomShape": "v" + } + } + ], + "parameters": { + "format": "trough", + "isTiprack": false, + "isMagneticModuleCompatible": false, + "loadName": "agilent_1_reservoir_290ml", + "quirks": ["centerMultichannelOnWells", "touchTipDisabled"] + }, + "namespace": "opentrons", + "version": 3, + "schemaVersion": 2, + "cornerOffsetFromSlot": { + "x": 0, + "y": 0, + "z": 0 + }, + "innerLabwareGeometry": { + "cuboidalWell": { + "sections": [ + { + "shape": "cuboidal", + "topXDimension": 107.5, + "topYDimension": 71.25, + "bottomXDimension": 106.785, + "bottomYDimension": 71.0, + "topHeight": 39.23, + "bottomHeight": 2.0 + }, + { + "shape": "cuboidal", + "topXDimension": 106.785, + "topYDimension": 8, + "bottomXDimension": 100.75, + "bottomYDimension": 1.66, + "topHeight": 2, + "bottomHeight": 0, + "yCount": 8 + } + ] + } + } +} diff --git a/shared-data/labware/definitions/2/corning_384_wellplate_112ul_flat/4.json b/shared-data/labware/definitions/2/corning_384_wellplate_112ul_flat/4.json new file mode 100644 index 000000000000..976e41290d51 --- /dev/null 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"diameter": 5.46, + "totalLiquidVolume": 200, + "x": 95.38, + "y": 38.25, + "z": 5.31, + "geometryDefinitionId": "pcrWell" + }, + "D10": { + "shape": "circular", + "depth": 20.3, + "diameter": 5.46, + "totalLiquidVolume": 200, + "x": 95.38, + "y": 47.25, + "z": 5.31, + "geometryDefinitionId": "pcrWell" + }, + "C10": { + "shape": "circular", + "depth": 20.3, + "diameter": 5.46, + "totalLiquidVolume": 200, + "x": 95.38, + "y": 56.25, + "z": 5.31, + "geometryDefinitionId": "pcrWell" + }, + "B10": { + "shape": "circular", + "depth": 20.3, + "diameter": 5.46, + "totalLiquidVolume": 200, + "x": 95.38, + "y": 65.25, + "z": 5.31, + "geometryDefinitionId": "pcrWell" + }, + "A10": { + "shape": "circular", + "depth": 20.3, + "diameter": 5.46, + "totalLiquidVolume": 200, + "x": 95.38, + "y": 74.25, + "z": 5.31, + "geometryDefinitionId": "pcrWell" + }, + "H11": { + "shape": "circular", + "depth": 20.3, + "diameter": 5.46, + "totalLiquidVolume": 200, + "x": 104.38, + "y": 11.25, + "z": 5.31, + "geometryDefinitionId": "pcrWell" + }, + "G11": { + "shape": "circular", + "depth": 20.3, + "diameter": 5.46, + "totalLiquidVolume": 200, + "x": 104.38, + "y": 20.25, + "z": 5.31, + "geometryDefinitionId": "pcrWell" + }, + "F11": { + "shape": "circular", + "depth": 20.3, + "diameter": 5.46, + "totalLiquidVolume": 200, + "x": 104.38, + "y": 29.25, + "z": 5.31, + "geometryDefinitionId": "pcrWell" + }, + "E11": { + "shape": "circular", + "depth": 20.3, + "diameter": 5.46, + "totalLiquidVolume": 200, + "x": 104.38, + "y": 38.25, + "z": 5.31, + "geometryDefinitionId": "pcrWell" + }, + "D11": { + "shape": "circular", + "depth": 20.3, + "diameter": 5.46, + "totalLiquidVolume": 200, + "x": 104.38, + "y": 47.25, + "z": 5.31, + "geometryDefinitionId": "pcrWell" + }, + "C11": { + "shape": "circular", + "depth": 20.3, + "diameter": 5.46, + "totalLiquidVolume": 200, + "x": 104.38, + "y": 56.25, + "z": 5.31, + "geometryDefinitionId": "pcrWell" + }, + "B11": { + "shape": "circular", + "depth": 20.3, + "diameter": 5.46, + "totalLiquidVolume": 200, + "x": 104.38, + "y": 65.25, + "z": 5.31, + "geometryDefinitionId": "pcrWell" + }, + "A11": { + "shape": "circular", + "depth": 20.3, + "diameter": 5.46, + "totalLiquidVolume": 200, + "x": 104.38, + "y": 74.25, + "z": 5.31, + "geometryDefinitionId": "pcrWell" + }, + "H12": { + "shape": "circular", + "depth": 20.3, + "diameter": 5.46, + "totalLiquidVolume": 200, + "x": 113.38, + "y": 11.25, + "z": 5.31, + "geometryDefinitionId": "pcrWell" + }, + "G12": { + "shape": "circular", + "depth": 20.3, + "diameter": 5.46, + "totalLiquidVolume": 200, + "x": 113.38, + "y": 20.25, + "z": 5.31, + "geometryDefinitionId": "pcrWell" + }, + "F12": { + "shape": "circular", + "depth": 20.3, + "diameter": 5.46, + "totalLiquidVolume": 200, + "x": 113.38, + "y": 29.25, + "z": 5.31, + "geometryDefinitionId": "pcrWell" + }, + "E12": { + "shape": "circular", + "depth": 20.3, + "diameter": 5.46, + "totalLiquidVolume": 200, + "x": 113.38, + "y": 38.25, + "z": 5.31, + "geometryDefinitionId": "pcrWell" + }, + "D12": { + "shape": "circular", + "depth": 20.3, + "diameter": 5.46, + "totalLiquidVolume": 200, + "x": 113.38, + "y": 47.25, + "z": 5.31, + "geometryDefinitionId": "pcrWell" + }, + "C12": { + "shape": "circular", + "depth": 20.3, + "diameter": 5.46, + "totalLiquidVolume": 200, + "x": 113.38, + "y": 56.25, + "z": 5.31, + "geometryDefinitionId": "pcrWell" + }, + "B12": { + "shape": "circular", + "depth": 20.3, + "diameter": 5.46, + "totalLiquidVolume": 200, + "x": 113.38, + "y": 65.25, + "z": 5.31, + "geometryDefinitionId": "pcrWell" + }, + "A12": { + "shape": "circular", + "depth": 20.3, + "diameter": 5.46, + "totalLiquidVolume": 200, + "x": 113.38, + "y": 74.25, + "z": 5.31, + "geometryDefinitionId": "pcrWell" + } + }, + "brand": { + "brand": "Opentrons", + "brandId": [], + "links": [ + "https://shop.opentrons.com/collections/hardware-modules/products/aluminum-block-set" + ] + }, + "groups": [ + { + "wells": [ + "A1", + "B1", + "C1", + "D1", + "E1", + "F1", + "G1", + "H1", + "A2", + "B2", + "C2", + "D2", + "E2", + "F2", + "G2", + "H2", + "A3", + "B3", + "C3", + "D3", + "E3", + "F3", + "G3", + "H3", + "A4", + "B4", + "C4", + "D4", + "E4", + "F4", + "G4", + "H4", + "A5", + "B5", + "C5", + "D5", + "E5", + "F5", + "G5", + "H5", + "A6", + "B6", + "C6", + "D6", + "E6", + "F6", + "G6", + "H6", + "A7", + "B7", + "C7", + "D7", + "E7", + "F7", + "G7", + "H7", + "A8", + "B8", + "C8", + "D8", + "E8", + "F8", + "G8", + "H8", + "A9", + "B9", + "C9", + "D9", + "E9", + "F9", + "G9", + "H9", + "A10", + "B10", + "C10", + "D10", + "E10", + "F10", + "G10", + "H10", + "A11", + "B11", + "C11", + "D11", + "E11", + "F11", + "G11", + "H11", + "A12", + "B12", + "C12", + "D12", + "E12", + "F12", + "G12", + "H12" + ], + "metadata": { + "displayName": "Generic 12x8x0.2 mL PCR Strip", + "displayCategory": "tubeRack", + "wellBottomShape": "v" + }, + "brand": { + "brand": "generic", + "brandId": [], + "links": [] + } + } + ], + "cornerOffsetFromSlot": { + "x": 0, + "y": 0, + "z": 0 + }, + "innerLabwareGeometry": { + "pcrWell": { + "sections": [ + { + "shape": "conical", + "bottomDiameter": 5.3, + "topDiameter": 5.46, + "topHeight": 20.3, + "bottomHeight": 11.35 + }, + { + "shape": "conical", + "bottomDiameter": 2.33, + "topDiameter": 5.3, + "topHeight": 11.35, + "bottomHeight": 0.8 + }, + { + "shape": "spherical", + "radiusOfCurvature": 1.25, + "topHeight": 0.8, + "bottomHeight": 0.0 + } + ] + } + } +} diff --git a/shared-data/labware/definitions/2/usascientific_12_reservoir_22ml/3.json b/shared-data/labware/definitions/2/usascientific_12_reservoir_22ml/3.json new file mode 100644 index 000000000000..83f22fb0a3e5 --- /dev/null +++ b/shared-data/labware/definitions/2/usascientific_12_reservoir_22ml/3.json @@ -0,0 +1,237 @@ +{ + "ordering": [ + ["A1"], + ["A2"], + ["A3"], + ["A4"], + ["A5"], + ["A6"], + ["A7"], + ["A8"], + ["A9"], + ["A10"], + ["A11"], + ["A12"] + ], + "schemaVersion": 2, + "version": 3, + "namespace": "opentrons", + "metadata": { + "displayName": "USA Scientific 12 Well Reservoir 22 mL", + "displayVolumeUnits": "mL", + "displayCategory": "reservoir", + "tags": [] + }, + "dimensions": { + "xDimension": 127.76, + "yDimension": 85.8, + "zDimension": 44.2 + }, + "parameters": { + "format": "trough", + "isTiprack": false, + "isMagneticModuleCompatible": false, + "loadName": "usascientific_12_reservoir_22ml", + "quirks": ["centerMultichannelOnWells", "touchTipDisabled"] + }, + "wells": { + "A1": { + "shape": "rectangular", + "depth": 41.75, + "xDimension": 8.33, + "yDimension": 71.88, + "totalLiquidVolume": 22000, + "x": 13.94, + "y": 42.9, + "z": 2.45, + "geometryDefinitionId": "cuboidalWell" + }, + "A2": { + "shape": "rectangular", + "depth": 41.75, + "xDimension": 8.33, + "yDimension": 71.88, + "totalLiquidVolume": 22000, + "x": 23.03, + "y": 42.9, + "z": 2.45, + "geometryDefinitionId": "cuboidalWell" + }, + "A3": { + "shape": "rectangular", + "depth": 41.75, + "xDimension": 8.33, + "yDimension": 71.88, + "totalLiquidVolume": 22000, + "x": 32.12, + "y": 42.9, + "z": 2.45, + "geometryDefinitionId": "cuboidalWell" + }, + "A4": { + "shape": "rectangular", + "depth": 41.75, + "xDimension": 8.33, + "yDimension": 71.88, + "totalLiquidVolume": 22000, + "x": 41.21, + "y": 42.9, + "z": 2.45, + "geometryDefinitionId": "cuboidalWell" + }, + "A5": { + "shape": "rectangular", + "depth": 41.75, + "xDimension": 8.33, + "yDimension": 71.88, + "totalLiquidVolume": 22000, + "x": 50.3, + "y": 42.9, + "z": 2.45, + "geometryDefinitionId": "cuboidalWell" + }, + "A6": { + "shape": "rectangular", + "depth": 41.75, + "xDimension": 8.33, + "yDimension": 71.88, + "totalLiquidVolume": 22000, + "x": 59.39, + "y": 42.9, + "z": 2.45, + "geometryDefinitionId": "cuboidalWell" + }, + "A7": { + "shape": "rectangular", + "depth": 41.75, + "xDimension": 8.33, + "yDimension": 71.88, + "totalLiquidVolume": 22000, + "x": 68.48, + "y": 42.9, + "z": 2.45, + "geometryDefinitionId": "cuboidalWell" + }, + "A8": { + "shape": "rectangular", + "depth": 41.75, + "xDimension": 8.33, + "yDimension": 71.88, + "totalLiquidVolume": 22000, + "x": 77.57, + "y": 42.9, + "z": 2.45, + "geometryDefinitionId": "cuboidalWell" + }, + "A9": { + "shape": "rectangular", + "depth": 41.75, + "xDimension": 8.33, + "yDimension": 71.88, + "totalLiquidVolume": 22000, + "x": 86.66, + "y": 42.9, + "z": 2.45, + "geometryDefinitionId": "cuboidalWell" + }, + "A10": { + "shape": "rectangular", + "depth": 41.75, + "xDimension": 8.33, + "yDimension": 71.88, + "totalLiquidVolume": 22000, + "x": 95.75, + "y": 42.9, + "z": 2.45, + "geometryDefinitionId": "cuboidalWell" + }, + "A11": { + "shape": "rectangular", + "depth": 41.75, + "xDimension": 8.33, + "yDimension": 71.88, + "totalLiquidVolume": 22000, + "x": 104.84, + "y": 42.9, + "z": 2.45, + "geometryDefinitionId": "cuboidalWell" + }, + "A12": { + "shape": "rectangular", + "depth": 41.75, + "xDimension": 8.33, + "yDimension": 71.88, + "totalLiquidVolume": 22000, + "x": 113.93, + "y": 42.9, + "z": 2.45, + "geometryDefinitionId": "cuboidalWell" + } + }, + "groups": [ + { + "wells": [ + "A1", + "A2", + "A3", + "A4", + "A5", + "A6", + "A7", + "A8", + "A9", + "A10", + "A11", + "A12" + ], + "metadata": { + "wellBottomShape": "v" + } + } + ], + "brand": { + "brand": "USA Scientific", + "brandId": ["1061-8150"], + "links": [ + "https://www.usascientific.com/12-channel-automation-reservoir.aspx" + ] + }, + "cornerOffsetFromSlot": { + "x": 0, + "y": 0, + "z": 0 + }, + "innerLabwareGeometry": { + "cuboidalWell": { + "sections": [ + { + "shape": "cuboidal", + "topXDimension": 8.317, + "topYDimension": 71.88, + "bottomXDimension": 8.139, + "bottomYDimension": 71.75, + "topHeight": 41.75, + "bottomHeight": 4.0 + }, + { + "shape": "squaredcone", + "bottomCrossSection": "circular", + "circleDiameter": 1.06, + "rectangleXDimension": 8.1, + "rectangleYDimension": 8.75, + "topHeight": 4.0, + "bottomHeight": 0.25, + "xCount": 1, + "yCount": 8 + }, + { + "shape": "spherical", + "radiusOfCurvature": 0.687, + "topHeight": 0.25, + "bottomHeight": 0.0, + "yCount": 8 + } + ] + } + } +} diff --git a/shared-data/liquid-class/definitions/1/ethanol_80.json b/shared-data/liquid-class/definitions/1/ethanol_80/1.json similarity index 77% rename from shared-data/liquid-class/definitions/1/ethanol_80.json rename to shared-data/liquid-class/definitions/1/ethanol_80/1.json index 71812c6be9f1..926bdbedbef1 100644 --- a/shared-data/liquid-class/definitions/1/ethanol_80.json +++ b/shared-data/liquid-class/definitions/1/ethanol_80/1.json @@ -3,6 +3,7 @@ "displayName": "Volatile", "description": "80% ethanol", "schemaVersion": 1, + "version": 1, "namespace": "opentrons", "byPipette": [ { @@ -12,11 +13,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -27,11 +30,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -43,7 +48,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -54,11 +59,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 7.0], @@ -87,11 +94,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -102,11 +111,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -121,7 +132,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -132,11 +143,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 30.0]], "correctionByVolume": [ @@ -161,11 +174,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -176,11 +191,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -199,7 +216,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -210,11 +227,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 30.0]], "correctionByVolume": [ @@ -246,11 +265,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -261,11 +282,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -277,7 +300,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -288,11 +311,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 7.0], @@ -321,11 +346,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -336,11 +363,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -355,7 +384,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -366,11 +395,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 30.0]], "correctionByVolume": [ @@ -395,11 +426,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -410,11 +443,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -433,7 +468,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -444,11 +479,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 30.0]], "correctionByVolume": [ @@ -485,11 +522,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -500,11 +539,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -516,7 +557,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -527,11 +568,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 7.0], @@ -560,11 +603,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -575,11 +620,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -594,7 +641,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -605,11 +652,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 30.0]], "correctionByVolume": [ @@ -634,11 +683,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -649,11 +700,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -672,7 +725,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -683,11 +736,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 30.0]], "correctionByVolume": [ @@ -719,11 +774,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -734,11 +791,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -750,7 +809,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -761,11 +820,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 7.0], @@ -794,11 +855,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -809,11 +872,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -828,7 +893,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -839,11 +904,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 30.0]], "correctionByVolume": [ @@ -868,11 +935,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -883,11 +952,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -906,7 +977,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -917,11 +988,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 30.0]], "correctionByVolume": [ @@ -958,11 +1031,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -973,11 +1048,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -989,7 +1066,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1000,11 +1077,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 7.0], @@ -1033,11 +1112,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -1048,11 +1129,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -1067,7 +1150,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1078,11 +1161,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 125.0]], "correctionByVolume": [ @@ -1112,11 +1197,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -1127,11 +1214,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -1150,7 +1239,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1161,11 +1250,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 125.0]], "correctionByVolume": [ @@ -1197,11 +1288,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -1212,11 +1305,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -1228,7 +1323,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1239,11 +1334,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 7.0], @@ -1272,11 +1369,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -1287,11 +1386,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -1306,7 +1407,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1317,11 +1418,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 125.0]], "correctionByVolume": [ @@ -1351,11 +1454,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -1366,11 +1471,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -1389,7 +1496,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1400,11 +1507,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 125.0]], "correctionByVolume": [ @@ -1436,11 +1545,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_200ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -1451,11 +1562,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -1467,7 +1580,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1478,11 +1591,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [5.0, 7.0], @@ -1511,11 +1626,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -1526,11 +1643,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -1545,7 +1664,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1556,11 +1675,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 125.0]], "correctionByVolume": [ @@ -1589,11 +1710,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -1604,11 +1727,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -1627,7 +1752,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1638,11 +1763,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 125.0]], "correctionByVolume": [ @@ -1674,11 +1801,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_200ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -1689,11 +1818,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -1705,7 +1836,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1716,11 +1847,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [5.0, 7.0], @@ -1749,11 +1882,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -1764,11 +1899,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -1783,7 +1920,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1794,12 +1931,14 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 - }, + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } + }, "flowRateByVolume": [[0.0, 125.0]], "correctionByVolume": [ [5.0, -1.5], @@ -1827,11 +1966,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -1842,11 +1983,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -1865,7 +2008,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1876,11 +2019,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 125.0]], "correctionByVolume": [ @@ -1912,11 +2057,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_1000ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -1927,11 +2074,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -1943,7 +2092,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1954,11 +2103,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [10.0, 10.0], @@ -1987,11 +2138,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -2002,11 +2155,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -2021,7 +2176,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2032,11 +2187,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 250.0]], "correctionByVolume": [ @@ -2065,11 +2222,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -2080,11 +2239,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -2103,7 +2264,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2114,11 +2275,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 250.0]], "correctionByVolume": [ @@ -2150,11 +2313,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_1000ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -2165,11 +2330,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -2181,7 +2348,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2192,11 +2359,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [10.0, 10.0], @@ -2225,11 +2394,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -2240,11 +2411,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -2259,7 +2432,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2270,11 +2443,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 250.0]], "correctionByVolume": [ @@ -2303,11 +2478,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -2318,11 +2495,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -2341,7 +2520,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2352,11 +2531,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 250.0]], "correctionByVolume": [ @@ -2393,11 +2574,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -2408,11 +2591,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -2424,7 +2609,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2435,11 +2620,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 7.0], @@ -2468,11 +2655,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -2483,11 +2672,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -2502,7 +2693,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2513,11 +2704,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 125.0]], "correctionByVolume": [ @@ -2547,11 +2740,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -2562,11 +2757,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -2585,7 +2782,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2596,11 +2793,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 125.0]], "correctionByVolume": [ @@ -2632,11 +2831,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -2647,11 +2848,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -2663,7 +2866,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2674,11 +2877,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 7.0], @@ -2707,11 +2912,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -2722,11 +2929,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -2741,7 +2950,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2752,11 +2961,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 125.0]], "correctionByVolume": [ @@ -2786,11 +2997,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -2801,11 +3014,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -2824,7 +3039,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2835,11 +3050,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 125.0]], "correctionByVolume": [ @@ -2871,11 +3088,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_200ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -2886,11 +3105,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -2902,7 +3123,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2913,11 +3134,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [5.0, 7.0], @@ -2946,11 +3169,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -2961,11 +3186,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -2980,7 +3207,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2991,11 +3218,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 125.0]], "correctionByVolume": [ @@ -3024,11 +3253,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -3039,11 +3270,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -3062,7 +3295,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3073,11 +3306,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 125.0]], "correctionByVolume": [ @@ -3109,11 +3344,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_200ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -3124,11 +3361,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -3140,7 +3379,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3151,11 +3390,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [5.0, 7.0], @@ -3184,11 +3425,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -3199,11 +3442,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -3218,7 +3463,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3229,11 +3474,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 125.0]], "correctionByVolume": [ @@ -3262,11 +3509,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -3277,11 +3526,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -3300,7 +3551,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3311,11 +3562,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 125.0]], "correctionByVolume": [ @@ -3347,11 +3600,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_1000ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -3362,11 +3617,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -3378,7 +3635,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3389,11 +3646,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [10.0, 10.0], @@ -3422,11 +3681,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -3437,11 +3698,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -3456,7 +3719,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3467,11 +3730,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 250.0]], "correctionByVolume": [ @@ -3500,11 +3765,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -3515,11 +3782,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -3538,7 +3807,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3549,11 +3818,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 250.0]], "correctionByVolume": [ @@ -3585,11 +3856,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_1000ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -3600,11 +3873,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -3616,7 +3891,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3627,11 +3902,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [10.0, 10.0], @@ -3660,11 +3937,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -3675,11 +3954,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -3694,7 +3975,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3705,11 +3986,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 250.0]], "correctionByVolume": [ @@ -3738,11 +4021,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -3753,11 +4038,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "airGapByVolume": [ @@ -3776,7 +4063,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3787,11 +4074,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 250.0]], "correctionByVolume": [ @@ -3828,11 +4117,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -3843,11 +4134,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -3859,7 +4152,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3870,11 +4163,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 7.0], @@ -3903,11 +4198,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -3918,11 +4215,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -3937,7 +4236,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3948,11 +4247,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 125.0]], "correctionByVolume": [ @@ -3982,11 +4283,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -3997,11 +4300,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -4020,7 +4325,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4031,11 +4336,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 125.0]], "correctionByVolume": [ @@ -4067,11 +4374,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -4080,13 +4389,15 @@ "duration": 0.0 } } - }, - "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + }, + "retract": { + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -4098,7 +4409,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4109,11 +4420,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 7.0], @@ -4142,11 +4455,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -4157,11 +4472,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -4176,7 +4493,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4187,11 +4504,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 125.0]], "correctionByVolume": [ @@ -4221,11 +4540,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -4236,11 +4557,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -4259,7 +4582,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4270,11 +4593,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 125.0]], "correctionByVolume": [ @@ -4306,11 +4631,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_200ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -4321,11 +4648,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -4337,7 +4666,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4348,11 +4677,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [5.0, 7.0], @@ -4381,11 +4712,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -4396,11 +4729,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -4415,7 +4750,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4426,11 +4761,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 125.0]], "correctionByVolume": [ @@ -4459,11 +4796,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -4474,11 +4813,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -4497,7 +4838,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4508,11 +4849,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 125.0]], "correctionByVolume": [ @@ -4544,11 +4887,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_200ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -4559,11 +4904,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -4575,7 +4922,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4586,11 +4933,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [5.0, 7.0], @@ -4619,11 +4968,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -4634,11 +4985,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -4653,7 +5006,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4664,11 +5017,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 125.0]], "correctionByVolume": [ @@ -4697,11 +5052,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -4712,11 +5069,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -4735,7 +5094,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4746,11 +5105,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 125.0]], "correctionByVolume": [ @@ -4782,11 +5143,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_1000ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -4797,11 +5160,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -4813,7 +5178,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4824,11 +5189,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [10.0, 10.0], @@ -4857,11 +5224,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -4872,11 +5241,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -4891,7 +5262,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4902,11 +5273,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 200.0]], "correctionByVolume": [ @@ -4935,11 +5308,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -4950,11 +5325,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -4973,7 +5350,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4984,11 +5361,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 200.0]], "correctionByVolume": [ @@ -5020,11 +5399,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_1000ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -5035,11 +5416,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -5051,7 +5434,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -5062,11 +5445,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [10.0, 10.0], @@ -5095,11 +5480,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -5110,11 +5497,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -5129,7 +5518,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -5140,11 +5529,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 200.0]], "correctionByVolume": [ @@ -5173,11 +5564,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -5188,11 +5581,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -5211,7 +5606,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -5222,11 +5617,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 200.0]], "correctionByVolume": [ diff --git a/shared-data/liquid-class/definitions/1/glycerol_50.json b/shared-data/liquid-class/definitions/1/glycerol_50/1.json similarity index 76% rename from shared-data/liquid-class/definitions/1/glycerol_50.json rename to shared-data/liquid-class/definitions/1/glycerol_50/1.json index 8d00cfe4bc17..4a31d6f6c144 100644 --- a/shared-data/liquid-class/definitions/1/glycerol_50.json +++ b/shared-data/liquid-class/definitions/1/glycerol_50/1.json @@ -3,6 +3,7 @@ "displayName": "Viscous", "description": "50% glycerol", "schemaVersion": 1, + "version": 1, "namespace": "opentrons", "byPipette": [ { @@ -12,11 +13,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -27,11 +30,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -39,7 +44,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -50,11 +55,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 7.0], @@ -83,11 +90,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -98,11 +107,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -113,7 +124,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -124,11 +135,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 25.0]], "correctionByVolume": [ @@ -158,11 +171,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -173,11 +188,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -192,7 +209,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -203,11 +220,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 25.0]], "correctionByVolume": [ @@ -239,11 +258,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -254,11 +275,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -266,7 +289,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -277,11 +300,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 7.0], @@ -310,11 +335,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -325,11 +352,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -340,7 +369,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -351,11 +380,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 25.0]], "correctionByVolume": [ @@ -385,11 +416,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -400,11 +433,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -419,7 +454,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -430,11 +465,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 25.0]], "correctionByVolume": [ @@ -471,11 +508,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -486,11 +525,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -498,7 +539,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -509,11 +550,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 7.0], @@ -542,11 +585,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -557,11 +602,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -572,7 +619,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -583,11 +630,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 25.0]], "correctionByVolume": [ @@ -617,11 +666,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -632,11 +683,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -651,7 +704,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -662,11 +715,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 25.0]], "correctionByVolume": [ @@ -698,11 +753,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -713,11 +770,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -725,7 +784,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -736,11 +795,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 7.0], @@ -769,11 +830,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -784,11 +847,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -799,7 +864,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -810,11 +875,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 25.0]], "correctionByVolume": [ @@ -844,11 +911,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -859,11 +928,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -878,7 +949,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -889,11 +960,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 25.0]], "correctionByVolume": [ @@ -930,11 +1003,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -945,11 +1020,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -957,7 +1034,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -968,11 +1045,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 7.0], @@ -1001,11 +1080,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -1016,11 +1097,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -1031,7 +1114,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1042,11 +1125,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 50.0]], "correctionByVolume": [ @@ -1075,11 +1160,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -1090,11 +1177,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -1109,7 +1198,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1120,11 +1209,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 50.0]], "correctionByVolume": [ @@ -1156,11 +1247,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -1171,11 +1264,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -1183,7 +1278,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1194,11 +1289,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 7.0], @@ -1227,11 +1324,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -1242,11 +1341,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -1257,7 +1358,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1268,11 +1369,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 50.0]], "correctionByVolume": [ @@ -1301,11 +1404,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -1316,11 +1421,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -1335,7 +1442,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1346,11 +1453,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 50.0]], "correctionByVolume": [ @@ -1382,11 +1491,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_200ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -1397,11 +1508,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -1409,7 +1522,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1420,11 +1533,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [5.0, 10.0], @@ -1453,11 +1568,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -1468,11 +1585,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -1483,7 +1602,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1494,11 +1613,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 50.0]], "correctionByVolume": [ @@ -1523,11 +1644,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -1538,11 +1661,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -1557,7 +1682,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1568,11 +1693,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 50.0]], "correctionByVolume": [ @@ -1604,11 +1731,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_200ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -1619,11 +1748,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -1631,7 +1762,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1642,11 +1773,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [5.0, 10.0], @@ -1675,11 +1808,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -1690,11 +1825,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -1705,7 +1842,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1716,11 +1853,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 50.0]], "correctionByVolume": [ @@ -1745,11 +1884,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -1760,11 +1901,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -1779,7 +1922,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1790,11 +1933,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 50.0]], "correctionByVolume": [ @@ -1826,11 +1971,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_1000ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -1841,11 +1988,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -1853,7 +2002,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1864,11 +2013,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [10.0, 10.0], @@ -1897,11 +2048,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -1912,11 +2065,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -1927,7 +2082,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1938,11 +2093,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 250.0]], "correctionByVolume": [ @@ -1967,11 +2124,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -1982,11 +2141,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -2001,7 +2162,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2012,11 +2173,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 250.0]], "correctionByVolume": [ @@ -2048,11 +2211,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_1000ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -2063,11 +2228,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -2075,7 +2242,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2086,11 +2253,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [10.0, 10.0], @@ -2119,11 +2288,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -2134,11 +2305,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -2149,7 +2322,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2160,11 +2333,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 250.0]], "correctionByVolume": [ @@ -2189,11 +2364,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -2204,11 +2381,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -2223,7 +2402,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2234,11 +2413,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 250.0]], "correctionByVolume": [ @@ -2275,11 +2456,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -2290,11 +2473,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -2302,7 +2487,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2313,11 +2498,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 7.0], @@ -2346,11 +2533,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -2361,11 +2550,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -2376,7 +2567,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2387,11 +2578,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 50.0]], "correctionByVolume": [ @@ -2420,11 +2613,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -2435,11 +2630,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -2454,7 +2651,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2465,11 +2662,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 50.0]], "correctionByVolume": [ @@ -2501,11 +2700,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -2516,11 +2717,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -2528,7 +2731,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2539,11 +2742,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 7.0], @@ -2572,11 +2777,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -2587,11 +2794,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -2602,7 +2811,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2613,11 +2822,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 50.0]], "correctionByVolume": [ @@ -2646,11 +2857,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -2661,11 +2874,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -2680,7 +2895,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2691,11 +2906,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 50.0]], "correctionByVolume": [ @@ -2727,11 +2944,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_200ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -2742,11 +2961,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -2754,7 +2975,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2765,11 +2986,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [5.0, 10.0], @@ -2798,11 +3021,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -2813,11 +3038,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -2828,7 +3055,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2839,11 +3066,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 50.0]], "correctionByVolume": [ @@ -2868,11 +3097,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -2883,11 +3114,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -2902,7 +3135,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2913,11 +3146,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 50.0]], "correctionByVolume": [ @@ -2949,11 +3184,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_200ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -2964,11 +3201,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -2976,7 +3215,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2987,11 +3226,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [5.0, 10.0], @@ -3020,11 +3261,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -3035,11 +3278,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -3050,7 +3295,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3061,11 +3306,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 50.0]], "correctionByVolume": [ @@ -3090,11 +3337,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -3105,11 +3354,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -3124,7 +3375,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3135,11 +3386,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 50.0]], "correctionByVolume": [ @@ -3171,11 +3424,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_1000ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -3186,11 +3441,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -3198,7 +3455,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3209,11 +3466,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [10.0, 10.0], @@ -3242,11 +3501,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -3257,11 +3518,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -3272,7 +3535,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3283,11 +3546,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 250.0]], "correctionByVolume": [ @@ -3312,11 +3577,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -3327,11 +3594,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -3346,7 +3615,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3357,11 +3626,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 250.0]], "correctionByVolume": [ @@ -3393,11 +3664,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_1000ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -3408,11 +3681,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -3420,7 +3695,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3431,11 +3706,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [10.0, 10.0], @@ -3464,11 +3741,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -3479,11 +3758,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -3494,7 +3775,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3505,11 +3786,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 250.0]], "correctionByVolume": [ @@ -3534,11 +3817,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -3549,11 +3834,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -3568,7 +3855,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3579,11 +3866,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 250.0]], "correctionByVolume": [ @@ -3620,11 +3909,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -3635,11 +3926,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -3647,7 +3940,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3658,11 +3951,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 7.0], @@ -3691,11 +3986,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -3706,11 +4003,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -3721,7 +4020,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3732,11 +4031,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 7.0], @@ -3769,11 +4070,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -3784,11 +4087,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -3803,7 +4108,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3814,11 +4119,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 7.0], @@ -3854,11 +4161,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -3867,13 +4176,15 @@ "duration": 0.0 } } - }, - "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + }, + "retract": { + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -3881,7 +4192,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3892,11 +4203,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 7.0], @@ -3925,11 +4238,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -3940,11 +4255,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -3955,7 +4272,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3966,11 +4283,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 7.0], @@ -4003,11 +4322,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -4018,11 +4339,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -4037,7 +4360,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4048,11 +4371,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 7.0], @@ -4088,11 +4413,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_200ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -4103,11 +4430,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -4115,7 +4444,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4126,11 +4455,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [5.0, 10.0], @@ -4159,11 +4490,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -4174,11 +4507,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -4189,7 +4524,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4200,11 +4535,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 50.0]], "correctionByVolume": [ @@ -4229,11 +4566,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -4244,11 +4583,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -4263,7 +4604,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4274,11 +4615,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 50.0]], "correctionByVolume": [ @@ -4310,11 +4653,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_200ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -4325,11 +4670,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -4337,7 +4684,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4348,11 +4695,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [5.0, 10.0], @@ -4381,11 +4730,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -4396,11 +4747,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -4411,7 +4764,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4422,11 +4775,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 50.0]], "correctionByVolume": [ @@ -4451,11 +4806,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -4466,11 +4823,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -4485,7 +4844,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4496,11 +4855,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 50.0]], "correctionByVolume": [ @@ -4532,11 +4893,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_1000ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -4547,11 +4910,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -4559,7 +4924,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4570,11 +4935,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [10.0, 10.0], @@ -4604,11 +4971,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -4619,11 +4988,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -4634,7 +5005,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4645,11 +5016,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 250.0]], "correctionByVolume": [ @@ -4674,11 +5047,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -4689,11 +5064,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -4708,7 +5085,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4719,11 +5096,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 200.0]], "correctionByVolume": [ @@ -4755,11 +5134,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_1000ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -4770,11 +5151,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -4782,7 +5165,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4793,11 +5176,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [10.0, 10.0], @@ -4827,11 +5212,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -4842,11 +5229,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -4857,7 +5246,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4868,11 +5257,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 250.0]], "correctionByVolume": [ @@ -4897,11 +5288,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "delay": { @@ -4912,11 +5305,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 4, "airGapByVolume": [[0.0, 0.0]], @@ -4931,7 +5326,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4942,11 +5337,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[0.0, 200.0]], "correctionByVolume": [ diff --git a/shared-data/liquid-class/definitions/1/water.json b/shared-data/liquid-class/definitions/1/water/1.json similarity index 75% rename from shared-data/liquid-class/definitions/1/water.json rename to shared-data/liquid-class/definitions/1/water/1.json index 3e75e3de532b..259dfa376bda 100644 --- a/shared-data/liquid-class/definitions/1/water.json +++ b/shared-data/liquid-class/definitions/1/water/1.json @@ -3,6 +3,7 @@ "displayName": "Aqueous", "description": "Deionized water", "schemaVersion": 1, + "version": 1, "namespace": "opentrons", "byPipette": [ { @@ -12,11 +13,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -27,11 +30,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -43,7 +48,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -54,11 +59,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 35.0], @@ -83,11 +90,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -98,11 +107,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -117,7 +128,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -128,11 +139,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 50.0]], "correctionByVolume": [[0.0, 0.0]], @@ -159,11 +172,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -174,11 +189,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -197,7 +214,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -208,11 +225,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[50.0, 50.0]], "correctionByVolume": [[0.0, 0.0]], @@ -238,11 +257,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -253,11 +274,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -269,7 +292,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -280,11 +303,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 35.0], @@ -309,11 +334,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -324,11 +351,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -343,7 +372,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -354,11 +383,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 50.0]], "correctionByVolume": [[0.0, 0.0]], @@ -385,11 +416,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -400,11 +433,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -423,7 +458,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -434,11 +469,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[50.0, 50.0]], "correctionByVolume": [[0.0, 0.0]], @@ -469,11 +506,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -484,11 +523,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -500,7 +541,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -511,11 +552,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 35.0], @@ -540,11 +583,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -555,11 +600,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -574,7 +621,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -585,11 +632,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 50.0]], "correctionByVolume": [[0.0, 0.0]], @@ -616,11 +665,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -631,11 +682,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -654,7 +707,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -665,11 +718,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 50.0]], "correctionByVolume": [[0.0, 0.0]], @@ -695,11 +750,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -710,11 +767,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -726,7 +785,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -737,11 +796,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [1.0, 35.0], @@ -766,11 +827,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -781,11 +844,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -800,7 +865,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -811,11 +876,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 50.0]], "correctionByVolume": [[0.0, 0.0]], @@ -842,11 +909,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -857,11 +926,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -880,7 +951,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -891,11 +962,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 50.0]], "correctionByVolume": [[0.0, 0.0]], @@ -926,11 +999,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -941,11 +1016,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -957,7 +1034,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -968,11 +1045,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [5.0, 318.0], @@ -997,11 +1076,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -1012,11 +1093,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -1031,7 +1114,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1042,11 +1125,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [5.0, 318.0], @@ -1071,11 +1156,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -1086,11 +1173,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -1109,7 +1198,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1120,16 +1209,18 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 - }, - "flowRateByVolume": [ - [5.0, 318.0], - [10.0, 478.0], - [50.0, 478.0] + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } + }, + "flowRateByVolume": [ + [5.0, 318.0], + [10.0, 478.0], + [50.0, 478.0] ], "correctionByVolume": [[0.0, 0.0]], "conditioningByVolume": [ @@ -1154,11 +1245,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -1169,11 +1262,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -1185,7 +1280,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1196,11 +1291,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [5.0, 318.0], @@ -1225,11 +1322,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -1240,11 +1339,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -1259,7 +1360,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1270,11 +1371,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [5.0, 318.0], @@ -1299,11 +1402,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -1314,11 +1419,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -1337,7 +1444,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1348,11 +1455,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [5.0, 318.0], @@ -1382,11 +1491,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_200ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -1397,11 +1508,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -1413,7 +1526,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1424,11 +1537,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 716.0]], "correctionByVolume": [[0.0, 0.0]], @@ -1449,11 +1564,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -1464,11 +1581,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -1483,7 +1602,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1494,11 +1613,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 716.0]], "correctionByVolume": [[0.0, 0.0]], @@ -1519,11 +1640,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -1534,11 +1657,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -1557,7 +1682,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1568,11 +1693,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 716.0]], "correctionByVolume": [[0.0, 0.0]], @@ -1598,11 +1725,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_200ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -1613,11 +1742,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -1629,7 +1760,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1640,11 +1771,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 716.0]], "correctionByVolume": [[0.0, 0.0]], @@ -1665,11 +1798,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -1680,11 +1815,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -1699,7 +1836,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1710,11 +1847,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 716.0]], "correctionByVolume": [[0.0, 0.0]], @@ -1735,11 +1874,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -1750,11 +1891,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -1773,7 +1916,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1784,11 +1927,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 716.0]], "correctionByVolume": [[0.0, 0.0]], @@ -1814,11 +1959,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_1000ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -1829,11 +1976,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -1845,7 +1994,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1856,11 +2005,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 716.0]], "correctionByVolume": [[0.0, 0.0]], @@ -1881,11 +2032,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -1896,11 +2049,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -1915,7 +2070,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -1926,11 +2081,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 716.0]], "correctionByVolume": [[0.0, 0.0]], @@ -1951,11 +2108,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -1966,11 +2125,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -1989,7 +2150,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2000,11 +2161,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 716.0]], "correctionByVolume": [[0.0, 0.0]], @@ -2030,11 +2193,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_1000ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -2045,11 +2210,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -2061,7 +2228,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2072,11 +2239,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 716.0]], "correctionByVolume": [[0.0, 0.0]], @@ -2097,11 +2266,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -2112,11 +2283,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -2131,7 +2304,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2142,11 +2315,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 716.0]], "correctionByVolume": [[0.0, 0.0]], @@ -2167,11 +2342,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -2182,11 +2359,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -2205,7 +2384,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2216,11 +2395,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 716.0]], "correctionByVolume": [[0.0, 0.0]], @@ -2251,11 +2432,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -2266,11 +2449,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -2282,7 +2467,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2293,11 +2478,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [5.0, 318.0], @@ -2322,11 +2509,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -2337,11 +2526,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -2356,7 +2547,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2367,11 +2558,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [5.0, 318.0], @@ -2396,11 +2589,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -2411,11 +2606,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -2434,7 +2631,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2445,11 +2642,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [5.0, 318.0], @@ -2479,11 +2678,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -2494,11 +2695,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -2510,7 +2713,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2521,11 +2724,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [5.0, 318.0], @@ -2550,11 +2755,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -2565,11 +2772,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -2584,7 +2793,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2595,11 +2804,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [5.0, 318.0], @@ -2624,11 +2835,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -2639,11 +2852,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -2662,7 +2877,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2673,11 +2888,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [ [5.0, 318.0], @@ -2707,11 +2924,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_200ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -2722,11 +2941,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -2738,7 +2959,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2749,11 +2970,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 716.0]], "correctionByVolume": [[0.0, 0.0]], @@ -2774,11 +2997,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -2789,11 +3014,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -2808,7 +3035,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2819,11 +3046,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 716.0]], "correctionByVolume": [[0.0, 0.0]], @@ -2844,11 +3073,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -2859,11 +3090,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -2882,7 +3115,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2893,11 +3126,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 716.0]], "correctionByVolume": [[0.0, 0.0]], @@ -2923,11 +3158,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_200ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -2938,11 +3175,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -2954,7 +3193,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -2965,11 +3204,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 716.0]], "correctionByVolume": [[0.0, 0.0]], @@ -2990,11 +3231,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -3005,11 +3248,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -3024,7 +3269,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3035,11 +3280,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 716.0]], "correctionByVolume": [[0.0, 0.0]], @@ -3060,11 +3307,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -3075,11 +3324,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -3098,7 +3349,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3109,11 +3360,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 716.0]], "correctionByVolume": [[0.0, 0.0]], @@ -3139,11 +3392,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_1000ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -3154,11 +3409,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -3170,7 +3427,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3181,11 +3438,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 716.0]], "correctionByVolume": [[0.0, 0.0]], @@ -3206,11 +3465,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -3221,11 +3482,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -3240,7 +3503,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3251,11 +3514,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 716.0]], "correctionByVolume": [[0.0, 0.0]], @@ -3276,11 +3541,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -3291,11 +3558,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -3314,7 +3583,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3325,11 +3594,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 716.0]], "correctionByVolume": [[0.0, 0.0]], @@ -3355,11 +3626,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_1000ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -3370,11 +3643,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -3386,7 +3661,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3397,11 +3672,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 716.0]], "correctionByVolume": [[0.0, 0.0]], @@ -3422,11 +3699,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -3437,11 +3716,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -3456,7 +3737,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3467,11 +3748,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 716.0]], "correctionByVolume": [[0.0, 0.0]], @@ -3492,11 +3775,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 100, "delay": { @@ -3507,11 +3792,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 50, "airGapByVolume": [ @@ -3530,7 +3817,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3541,11 +3828,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 716.0]], "correctionByVolume": [[0.0, 0.0]], @@ -3576,11 +3865,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -3591,11 +3882,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -3607,7 +3900,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3618,11 +3911,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 200.0]], "correctionByVolume": [[0.0, 0.0]], @@ -3643,11 +3938,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -3658,11 +3955,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -3677,7 +3976,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3688,11 +3987,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 200.0]], "correctionByVolume": [[0.0, 0.0]], @@ -3713,11 +4014,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -3728,11 +4031,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -3751,7 +4056,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3762,11 +4067,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 200.0]], "correctionByVolume": [[0.0, 0.0]], @@ -3792,11 +4099,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_50ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -3805,13 +4114,15 @@ "duration": 0.0 } } - }, - "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + }, + "retract": { + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -3823,7 +4134,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3834,11 +4145,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 200.0]], "correctionByVolume": [[0.0, 0.0]], @@ -3859,11 +4172,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -3874,11 +4189,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -3893,7 +4210,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3904,11 +4221,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 200.0]], "correctionByVolume": [[0.0, 0.0]], @@ -3929,11 +4248,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -3944,11 +4265,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -3967,7 +4290,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -3978,11 +4301,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 200.0]], "correctionByVolume": [[0.0, 0.0]], @@ -4008,11 +4333,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_200ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -4023,11 +4350,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -4039,7 +4368,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4050,11 +4379,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 200.0]], "correctionByVolume": [[0.0, 0.0]], @@ -4075,11 +4406,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -4090,11 +4423,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -4109,7 +4444,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4120,11 +4455,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 200.0]], "correctionByVolume": [[0.0, 0.0]], @@ -4145,11 +4482,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -4160,11 +4499,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -4183,7 +4524,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4194,11 +4535,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 200.0]], "correctionByVolume": [[0.0, 0.0]], @@ -4224,11 +4567,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_200ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -4239,11 +4584,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -4255,7 +4602,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4266,11 +4613,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 200.0]], "correctionByVolume": [[0.0, 0.0]], @@ -4291,11 +4640,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -4306,11 +4657,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -4325,7 +4678,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4336,11 +4689,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 200.0]], "correctionByVolume": [[0.0, 0.0]], @@ -4361,11 +4716,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -4376,11 +4733,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -4399,7 +4758,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4410,11 +4769,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 200.0]], "correctionByVolume": [[0.0, 0.0]], @@ -4440,11 +4801,13 @@ "tiprack": "opentrons/opentrons_flex_96_tiprack_1000ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -4455,11 +4818,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -4471,7 +4836,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4482,11 +4847,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 200.0]], "correctionByVolume": [[0.0, 0.0]], @@ -4507,11 +4874,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -4522,11 +4891,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -4541,7 +4912,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4552,11 +4923,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 200.0]], "correctionByVolume": [[0.0, 0.0]], @@ -4577,11 +4950,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -4592,11 +4967,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -4615,7 +4992,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4626,11 +5003,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 200.0]], "correctionByVolume": [[0.0, 0.0]], @@ -4656,11 +5035,13 @@ "tiprack": "opentrons/opentrons_flex_96_filtertiprack_1000ul/1", "aspirate": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -4671,11 +5052,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -4687,7 +5070,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4698,11 +5081,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 200.0]], "correctionByVolume": [[0.0, 0.0]], @@ -4723,11 +5108,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -4738,11 +5125,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -4757,7 +5146,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4768,11 +5157,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 200.0]], "correctionByVolume": [[0.0, 0.0]], @@ -4793,11 +5184,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "startPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "delay": { @@ -4808,11 +5201,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "speed": 35, "airGapByVolume": [ @@ -4831,7 +5226,7 @@ "enable": false, "params": { "zOffset": -1, - "mmToEdge": 0.5, + "mmFromEdge": 0.5, "speed": 30 } }, @@ -4842,11 +5237,13 @@ } } }, - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 2 + "dispensePosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 2 + } }, "flowRateByVolume": [[1.0, 200.0]], "correctionByVolume": [[0.0, 0.0]], diff --git a/shared-data/liquid-class/fixtures/1/fixture_glycerol50.json b/shared-data/liquid-class/fixtures/1/fixture_glycerol50.json index 1d8b9cef49fa..0f6c7ff7b0ef 100644 --- a/shared-data/liquid-class/fixtures/1/fixture_glycerol50.json +++ b/shared-data/liquid-class/fixtures/1/fixture_glycerol50.json @@ -3,6 +3,7 @@ "displayName": "Viscous", "description": "50% glycerol", "schemaVersion": 1, + "version": 1, "namespace": "opentrons", "byPipette": [ { @@ -12,11 +13,13 @@ "tiprack": "opentrons_96_tiprack_20ul", "aspirate": { "submerge": { - "positionReference": "liquid-meniscus", - "offset": { - "x": 0, - "y": 0, - "z": -5 + "startPosition": { + "positionReference": "liquid-meniscus", + "offset": { + "x": 0, + "y": 0, + "z": -5 + } }, "speed": 100, "delay": { @@ -27,11 +30,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 5 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 5 + } }, "speed": 100, "airGapByVolume": [ @@ -42,7 +47,7 @@ "enable": true, "params": { "zOffset": 2, - "mmToEdge": 1, + "mmFromEdge": 1, "speed": 50 } }, @@ -53,11 +58,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": -5 + "aspiratePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": -5 + } }, "flowRateByVolume": [[10.0, 50.0]], "correctionByVolume": [ @@ -81,11 +88,13 @@ }, "singleDispense": { "submerge": { - "positionReference": "liquid-meniscus", - "offset": { - "x": 0, - "y": 0, - "z": -5 + "startPosition": { + "positionReference": "liquid-meniscus", + "offset": { + "x": 0, + "y": 0, + "z": -5 + } }, "speed": 100, "delay": { @@ -96,11 +105,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 5 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 5 + } }, "speed": 100, "airGapByVolume": [ @@ -118,7 +129,7 @@ "enable": true, "params": { "zOffset": 2, - "mmToEdge": 1, + "mmFromEdge": 1, "speed": 50 } }, @@ -129,11 +140,13 @@ } } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": -5 + "dispensePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": -5 + } }, "flowRateByVolume": [ [10.0, 40.0], @@ -163,11 +176,13 @@ }, "multiDispense": { "submerge": { - "positionReference": "liquid-meniscus", - "offset": { - "x": 0, - "y": 0, - "z": -5 + "startPosition": { + "positionReference": "liquid-meniscus", + "offset": { + "x": 0, + "y": 0, + "z": -5 + } }, "speed": 100, "delay": { @@ -178,11 +193,13 @@ } }, "retract": { - "positionReference": "well-top", - "offset": { - "x": 0, - "y": 0, - "z": 5 + "endPosition": { + "positionReference": "well-top", + "offset": { + "x": 0, + "y": 0, + "z": 5 + } }, "speed": 100, "airGapByVolume": [ @@ -193,7 +210,7 @@ "enable": true, "params": { "zOffset": 2, - "mmToEdge": 1, + "mmFromEdge": 1, "speed": 50 } }, @@ -207,11 +224,13 @@ "enable": false } }, - "positionReference": "well-bottom", - "offset": { - "x": 0, - "y": 0, - "z": -5 + "dispensePosition": { + "positionReference": "well-bottom", + "offset": { + "x": 0, + "y": 0, + "z": -5 + } }, "flowRateByVolume": [ [10.0, 40.0], diff --git a/shared-data/liquid-class/schemas/1.json b/shared-data/liquid-class/schemas/1.json index c965c10562d9..d64bb4118cb4 100644 --- a/shared-data/liquid-class/schemas/1.json +++ b/shared-data/liquid-class/schemas/1.json @@ -58,6 +58,20 @@ "required": ["x", "y", "z"], "additionalProperties": false }, + "tipPosition": { + "type": "object", + "description": "Positional reference and relative offset for where a tip should go.", + "properties": { + "positionReference": { + "$ref": "#/definitions/positionReference" + }, + "offset": { + "$ref": "#/definitions/coordinate" + } + }, + "required": ["positionReference", "offset"], + "additionalProperties": false + }, "touchTip": { "type": "object", "description": "Shared properties for the touch-tip function.", @@ -73,7 +87,7 @@ "type": "number", "description": "Offset from the top of the well for touch-tip, in millimeters." }, - "mmToEdge": { + "mmFromEdge": { "type": "number", "description": "Offset away from the the well edge, in millimeters." }, @@ -82,7 +96,7 @@ "description": "Touch-tip speed, in millimeters per second." } }, - "required": ["zOffset", "mmToEdge", "speed"], + "required": ["zOffset", "mmFromEdge", "speed"], "additionalProperties": false } }, @@ -214,11 +228,8 @@ "type": "object", "description": "Shared properties for the submerge function before aspiration or dispense.", "properties": { - "positionReference": { - "$ref": "#/definitions/positionReference" - }, - "offset": { - "$ref": "#/definitions/coordinate" + "startPosition": { + "$ref": "#/definitions/tipPosition" }, "speed": { "$ref": "#/definitions/positiveNumber", @@ -228,18 +239,15 @@ "$ref": "#/definitions/delay" } }, - "required": ["positionReference", "offset", "speed", "delay"], + "required": ["startPosition", "speed", "delay"], "additionalProperties": false }, "retractAspirate": { "type": "object", "description": "Shared properties for the retract function after aspiration or dispense.", "properties": { - "positionReference": { - "$ref": "#/definitions/positionReference" - }, - "offset": { - "$ref": "#/definitions/coordinate" + "endPosition": { + "$ref": "#/definitions/tipPosition" }, "speed": { "$ref": "#/definitions/positiveNumber", @@ -255,24 +263,15 @@ "$ref": "#/definitions/delay" } }, - "required": [ - "positionReference", - "offset", - "speed", - "airGapByVolume", - "delay" - ], + "required": ["endPosition", "speed", "airGapByVolume", "delay"], "additionalProperties": false }, "retractDispense": { "type": "object", "description": "Shared properties for the retract function after aspiration or dispense.", "properties": { - "positionReference": { - "$ref": "#/definitions/positionReference" - }, - "offset": { - "$ref": "#/definitions/coordinate" + "endPosition": { + "$ref": "#/definitions/tipPosition" }, "speed": { "$ref": "#/definitions/positiveNumber", @@ -292,8 +291,7 @@ } }, "required": [ - "positionReference", - "offset", + "endPosition", "speed", "airGapByVolume", "blowout", @@ -312,11 +310,8 @@ "retract": { "$ref": "#/definitions/retractAspirate" }, - "positionReference": { - "$ref": "#/definitions/positionReference" - }, - "offset": { - "$ref": "#/definitions/coordinate" + "aspiratePosition": { + "$ref": "#/definitions/tipPosition" }, "flowRateByVolume": { "$ref": "#/definitions/flowRateByVolume" @@ -338,8 +333,7 @@ "required": [ "submerge", "retract", - "positionReference", - "offset", + "aspiratePosition", "flowRateByVolume", "correctionByVolume", "preWet", @@ -358,11 +352,8 @@ "retract": { "$ref": "#/definitions/retractDispense" }, - "positionReference": { - "$ref": "#/definitions/positionReference" - }, - "offset": { - "$ref": "#/definitions/coordinate" + "dispensePosition": { + "$ref": "#/definitions/tipPosition" }, "flowRateByVolume": { "$ref": "#/definitions/flowRateByVolume" @@ -383,8 +374,7 @@ "required": [ "submerge", "retract", - "positionReference", - "offset", + "dispensePosition", "flowRateByVolume", "correctionByVolume", "mix", @@ -403,11 +393,8 @@ "retract": { "$ref": "#/definitions/retractDispense" }, - "positionReference": { - "$ref": "#/definitions/positionReference" - }, - "offset": { - "$ref": "#/definitions/coordinate" + "dispensePosition": { + "$ref": "#/definitions/tipPosition" }, "flowRateByVolume": { "$ref": "#/definitions/flowRateByVolume" @@ -428,8 +415,7 @@ "required": [ "submerge", "retract", - "positionReference", - "offset", + "dispensePosition", "flowRateByVolume", "correctionByVolume", "conditioningByVolume", @@ -457,6 +443,11 @@ "type": "number", "enum": [1] }, + "version": { + "description": "Version of the liquid class definition itself (eg water v1/v2/v3). An incrementing integer", + "type": "integer", + "minimum": 1 + }, "namespace": { "$ref": "#/definitions/safeString" }, @@ -506,6 +497,7 @@ "displayName", "description", "schemaVersion", + "version", "namespace", "byPipette" ], diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_5.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_5.json index 4bd9c9048f9d..3005948ff04a 100644 --- a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_5.json +++ b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_5.json @@ -39,6 +39,10 @@ "H1": [-8.0, -79.0, -259.15] }, "lldSettings": { + "t20": { + "minHeight": 1.5, + "minVolume": 0 + }, "t50": { "minHeight": 1.0, "minVolume": 0 diff --git a/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p200/3_0.json b/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p200/3_0.json index 437830a58c57..a37cf94915a7 100644 --- a/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p200/3_0.json +++ b/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p200/3_0.json @@ -293,6 +293,10 @@ "H12": [63.0, -88.5, -259.15] }, "lldSettings": { + "t20": { + "minHeight": 1.5, + "minVolume": 0 + }, "t50": { "minHeight": 1.5, "minVolume": 0 diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p50/3_6.json b/shared-data/pipette/definitions/2/geometry/single_channel/p50/3_6.json index 3b5953516896..18499eb3b47b 100644 --- a/shared-data/pipette/definitions/2/geometry/single_channel/p50/3_6.json +++ b/shared-data/pipette/definitions/2/geometry/single_channel/p50/3_6.json @@ -12,6 +12,10 @@ "A1": [-8.0, -22.0, -259.15] }, "lldSettings": { + "t20": { + "minHeight": 1.5, + "minVolume": 0 + }, "t50": { "minHeight": 1.0, "minVolume": 0 diff --git a/shared-data/pipette/definitions/2/liquid/ninety_six_channel/p200/default/1_0.json b/shared-data/pipette/definitions/2/liquid/ninety_six_channel/p200/default/1_0.json index 845d7bc7e3ba..7d73d09c5621 100644 --- a/shared-data/pipette/definitions/2/liquid/ninety_six_channel/p200/default/1_0.json +++ b/shared-data/pipette/definitions/2/liquid/ninety_six_channel/p200/default/1_0.json @@ -2,7 +2,7 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteLiquidPropertiesSchema.json", "supportedTips": { "t20": { - "uiMaxFlowRate": 189.1, + "uiMaxFlowRate": 23, "defaultAspirateFlowRate": { "default": 6, "valuesByApiLevel": { "2.14": 6 } @@ -12,8 +12,8 @@ "valuesByApiLevel": { "2.14": 6 } }, "defaultBlowOutFlowRate": { - "default": 80, - "valuesByApiLevel": { "2.14": 80 } + "default": 23, + "valuesByApiLevel": { "2.14": 23 } }, "defaultFlowAcceleration": 16000.0, "defaultTipLength": 57.9, @@ -62,8 +62,8 @@ "valuesByApiLevel": { "2.14": 6 } }, "defaultBlowOutFlowRate": { - "default": 80, - "valuesByApiLevel": { "2.14": 80 } + "default": 23, + "valuesByApiLevel": { "2.14": 23 } }, "defaultFlowAcceleration": 16000.0, "defaultTipLength": 57.9, @@ -168,16 +168,16 @@ }, "t200": { "defaultAspirateFlowRate": { - "default": 80, - "valuesByApiLevel": { "2.14": 80 } + "default": 23, + "valuesByApiLevel": { "2.14": 23 } }, "defaultDispenseFlowRate": { - "default": 80, - "valuesByApiLevel": { "2.14": 80 } + "default": 23, + "valuesByApiLevel": { "2.14": 23 } }, "defaultBlowOutFlowRate": { - "default": 80, - "valuesByApiLevel": { "2.14": 80 } + "default": 23, + "valuesByApiLevel": { "2.14": 23 } }, "defaultFlowAcceleration": 16000.0, "defaultTipLength": 58.35, diff --git a/shared-data/pipette/definitions/2/liquid/ninety_six_channel/p200/default/3_0.json b/shared-data/pipette/definitions/2/liquid/ninety_six_channel/p200/default/3_0.json index 4faa944089de..e5aa5ef509b5 100644 --- a/shared-data/pipette/definitions/2/liquid/ninety_six_channel/p200/default/3_0.json +++ b/shared-data/pipette/definitions/2/liquid/ninety_six_channel/p200/default/3_0.json @@ -2,7 +2,7 @@ "$otSharedSchema": "#/pipette/schemas/2/pipetteLiquidPropertiesSchema.json", "supportedTips": { "t20": { - "uiMaxFlowRate": 45, + "uiMaxFlowRate": 23, "defaultAspirateFlowRate": { "default": 6.5, "valuesByApiLevel": { "2.14": 6.5 } @@ -51,14 +51,14 @@ "defaultPushOutVolume": 2 }, "t50": { - "uiMaxFlowRate": 45, + "uiMaxFlowRate": 23, "defaultAspirateFlowRate": { - "default": 6.5, - "valuesByApiLevel": { "2.14": 6.5 } + "default": 6, + "valuesByApiLevel": { "2.14": 6 } }, "defaultDispenseFlowRate": { - "default": 6.5, - "valuesByApiLevel": { "2.14": 6.5 } + "default": 6, + "valuesByApiLevel": { "2.14": 6 } }, "defaultBlowOutFlowRate": { "default": 10, @@ -114,14 +114,14 @@ "defaultPushOutVolume": 7 }, "t200": { - "uiMaxFlowRate": 45, + "uiMaxFlowRate": 23, "defaultAspirateFlowRate": { - "default": 15, - "valuesByApiLevel": { "2.14": 15 } + "default": 10, + "valuesByApiLevel": { "2.14": 10 } }, "defaultDispenseFlowRate": { - "default": 15, - "valuesByApiLevel": { "2.14": 15 } + "default": 10, + "valuesByApiLevel": { "2.14": 10 } }, "defaultBlowOutFlowRate": { "default": 10, @@ -166,7 +166,7 @@ ] } }, - "defaultPushOutVolume": 5 + "defaultPushOutVolume": 10 } }, "maxVolume": 200, diff --git a/shared-data/pipette/definitions/2/liquid/single_channel/p50/default/3_6.json b/shared-data/pipette/definitions/2/liquid/single_channel/p50/default/3_6.json index e6506c77bb80..b04ec62bad26 100644 --- a/shared-data/pipette/definitions/2/liquid/single_channel/p50/default/3_6.json +++ b/shared-data/pipette/definitions/2/liquid/single_channel/p50/default/3_6.json @@ -4,12 +4,12 @@ "t20": { "uiMaxFlowRate": 57, "defaultAspirateFlowRate": { - "default": 35, - "valuesByApiLevel": { "2.14": 35 } + "default": 22, + "valuesByApiLevel": { "2.14": 22 } }, "defaultDispenseFlowRate": { - "default": 57, - "valuesByApiLevel": { "2.14": 57 } + "default": 22, + "valuesByApiLevel": { "2.14": 22 } }, "defaultBlowOutFlowRate": { "default": 57, @@ -64,7 +64,7 @@ ] } }, - "defaultPushOutVolume": 2 + "defaultPushOutVolume": 3.5 }, "t50": { "uiMaxFlowRate": 57, diff --git a/shared-data/pipette/definitions/2/liquid/single_channel/p50/lowVolumeDefault/3_6.json b/shared-data/pipette/definitions/2/liquid/single_channel/p50/lowVolumeDefault/3_6.json index 320494037fc6..a31e5e983029 100644 --- a/shared-data/pipette/definitions/2/liquid/single_channel/p50/lowVolumeDefault/3_6.json +++ b/shared-data/pipette/definitions/2/liquid/single_channel/p50/lowVolumeDefault/3_6.json @@ -4,12 +4,12 @@ "t20": { "uiMaxFlowRate": 26.7, "defaultAspirateFlowRate": { - "default": 26.7, - "valuesByApiLevel": { "2.14": 26.7 } + "default": 22, + "valuesByApiLevel": { "2.14": 22 } }, "defaultDispenseFlowRate": { - "default": 26.7, - "valuesByApiLevel": { "2.14": 26.7 } + "default": 22, + "valuesByApiLevel": { "2.14": 22 } }, "defaultBlowOutFlowRate": { "default": 26.7, @@ -62,7 +62,7 @@ ] } }, - "defaultPushOutVolume": 7 + "defaultPushOutVolume": 3.5 }, "t50": { "uiMaxFlowRate": 26.7, diff --git a/shared-data/python/Makefile b/shared-data/python/Makefile index b1b6f59024db..dc74ff629ace 100644 --- a/shared-data/python/Makefile +++ b/shared-data/python/Makefile @@ -69,7 +69,7 @@ teardown: teardown-py .PHONY: teardown-py teardown-py: - $(pipenv) --rm + -$(pipenv) --rm .PHONY: clean diff --git a/shared-data/python/opentrons_shared_data/labware/__init__.py b/shared-data/python/opentrons_shared_data/labware/__init__.py index 1a9fa1c2800d..ca5271f2473b 100644 --- a/shared-data/python/opentrons_shared_data/labware/__init__.py +++ b/shared-data/python/opentrons_shared_data/labware/__init__.py @@ -1,20 +1,34 @@ """ opentrons_shared_data.labware: types and functions for accessing labware defs """ + +from __future__ import annotations import json -from typing import Any, Dict, NewType, TYPE_CHECKING +from typing import Any, Dict, NewType, TYPE_CHECKING, overload, Literal from .. import load_shared_data if TYPE_CHECKING: - from .types import LabwareDefinition + from .types import LabwareDefinition, LabwareDefinition2, LabwareDefinition3 Schema = NewType("Schema", Dict[str, Any]) +@overload +def load_definition( + loadname: str, version: int, schema: Literal[2] = 2 +) -> LabwareDefinition2: + ... + + +@overload def load_definition( - loadname: str, version: int, schema: int = 2 -) -> "LabwareDefinition": + loadname: str, version: int, schema: Literal[3] +) -> LabwareDefinition3: + ... + + +def load_definition(loadname: str, version: int, schema: int = 2) -> LabwareDefinition: return json.loads( load_shared_data(f"labware/definitions/{schema}/{loadname}/{version}.json") ) diff --git a/shared-data/python/opentrons_shared_data/labware/labware_definition.py b/shared-data/python/opentrons_shared_data/labware/labware_definition.py index 439f9f0a382a..256cc2bc6c20 100644 --- a/shared-data/python/opentrons_shared_data/labware/labware_definition.py +++ b/shared-data/python/opentrons_shared_data/labware/labware_definition.py @@ -34,6 +34,7 @@ ) SAFE_STRING_REGEX = "^[a-z0-9._]+$" +RECURSIVE_SEARCH_VOLUME_TOLERANCE = 0.001 _StrictNonNegativeInt = Annotated[int, Field(strict=True, ge=0)] @@ -186,29 +187,70 @@ class ConicalFrustum(BaseModel): xCount: _StrictNonNegativeInt = 1 yCount: _StrictNonNegativeInt = 1 - @cached_property - def height_to_volume_table(self) -> dict[float, float]: - """Return a lookup table of heights to volumes.""" - # the accuracy of this method is approximately +- 10*dx so for dx of 0.001 we have a +- 0.01 ul - dx = 0.005 + def height_from_volume_search(self, target_volume: float) -> float: total_height = self.topHeight - self.bottomHeight - y = 0.0 - table: dict[float, float] = {} - # fill in the table - a = self.topDiameter / 2 - b = self.bottomDiameter / 2 - while y < total_height: - r_y = (y / total_height) * (a - b) + b - table[y] = (pi * y / 3) * (b**2 + b * r_y + r_y**2) - y = y + dx - - # we always want to include the volume at the max height - table[total_height] = (pi * total_height / 3) * (b**2 + a * b + a**2) - return table - - @cached_property - def volume_to_height_table(self) -> dict[float, float]: - return dict((v, k) for k, v in self.height_to_volume_table.items()) + max_height, min_height = total_height, 0.0 + volume_at_max_height = self.volume_from_height_circular( + top_radius=self.topDiameter / 2, + bottom_radius=self.bottomDiameter / 2, + target_height=total_height, + total_height=total_height, + ) + if target_volume == volume_at_max_height: + return max_height + volume_at_min_height = self.volume_from_height_circular( + top_radius=self.topDiameter / 2, + bottom_radius=self.bottomDiameter / 2, + target_height=0, + total_height=total_height, + ) + if target_volume == volume_at_min_height: + return min_height + + y = total_height / 2 + volume_at_y = self.volume_from_height_circular( + top_radius=self.topDiameter / 2, + bottom_radius=self.bottomDiameter / 2, + target_height=y, + total_height=total_height, + ) + guesses = [ + (volume_at_min_height, min_height), + (volume_at_max_height, max_height), + ] + while abs(volume_at_y - target_volume) > RECURSIVE_SEARCH_VOLUME_TOLERANCE: + max_height, max_volume = guesses[-1][1], guesses[-1][0] + min_height, min_volume = guesses[0][1], guesses[0][0] + + # between volume_at_y and max value- undershot + if volume_at_y < target_volume < max_volume: + guesses = [(volume_at_y, y), (max_volume, max_height)] + # overshot + elif min_volume < target_volume < volume_at_y: + guesses = [(min_volume, min_height), (volume_at_y, y)] + y = (guesses[0][1] + guesses[1][1]) / 2 + + volume_at_y = self.volume_from_height_circular( + top_radius=self.topDiameter / 2, + bottom_radius=self.bottomDiameter / 2, + target_height=y, + total_height=total_height, + ) + return y + + def volume_from_height_circular( + self, + top_radius: float, + bottom_radius: float, + target_height: float, + total_height: float, + ) -> float: + r_y = (target_height / total_height) * ( + top_radius - bottom_radius + ) + bottom_radius + return (pi * target_height / 3) * ( + bottom_radius**2 + bottom_radius * r_y + r_y**2 + ) @cached_property def count(self) -> int: diff --git a/shared-data/python/opentrons_shared_data/liquid_classes/__init__.py b/shared-data/python/opentrons_shared_data/liquid_classes/__init__.py index 1b8458adf251..52de8550e3fd 100644 --- a/shared-data/python/opentrons_shared_data/liquid_classes/__init__.py +++ b/shared-data/python/opentrons_shared_data/liquid_classes/__init__.py @@ -1,26 +1,44 @@ """Types and functions for accessing liquid class definitions.""" - -from .. import load_shared_data +from pathlib import Path +from .. import load_shared_data, get_shared_data_root from .liquid_class_definition import LiquidClassSchemaV1 -DEFAULT_VERSION = 1 +DEFAULT_SCHEMA_VERSION = 1 +DEFAULT_LC_VERSION = 1 class LiquidClassDefinitionDoesNotExist(Exception): """Specified liquid class definition does not exist.""" -def load_definition(name: str, version: int = DEFAULT_VERSION) -> LiquidClassSchemaV1: +def load_definition( + name: str, + version: int = DEFAULT_LC_VERSION, + schema_version: int = DEFAULT_SCHEMA_VERSION, +) -> LiquidClassSchemaV1: """Load the specified liquid class' definition as a LiquidClassSchemaV1 object. Note: this is an expensive operation and should be called sparingly. """ try: return LiquidClassSchemaV1.model_validate_json( - load_shared_data(f"liquid-class/definitions/{version}/{name}.json") + load_shared_data( + f"liquid-class/definitions/{schema_version}/{name}/{version}.json" + ) ) except FileNotFoundError: raise LiquidClassDefinitionDoesNotExist( - f"No definition found for liquid class '{name}'" + f"No definition found for liquid class '{name}' version {version}" ) + + +def definition_exists( + name: str, + version: int = DEFAULT_LC_VERSION, +) -> bool: + """Return whether a definition exists for the specified liquid class name..""" + return Path( + get_shared_data_root() + / f"liquid-class/definitions/{DEFAULT_SCHEMA_VERSION}/{name}/{version}.json" + ).exists() diff --git a/shared-data/python/opentrons_shared_data/liquid_classes/liquid_class_definition.py b/shared-data/python/opentrons_shared_data/liquid_classes/liquid_class_definition.py index d240e1802e5a..155f4d146425 100644 --- a/shared-data/python/opentrons_shared_data/liquid_classes/liquid_class_definition.py +++ b/shared-data/python/opentrons_shared_data/liquid_classes/liquid_class_definition.py @@ -1,9 +1,10 @@ """Python shared data models for liquid class definitions.""" from enum import Enum -from typing import Literal, Union, Optional, Sequence, Tuple, Any +from typing import Literal, Union, Optional, Sequence, Tuple, Any, Type from pydantic import ( + ConfigDict, BaseModel, field_validator, ValidationInfo, @@ -11,6 +12,7 @@ StrictInt, StrictFloat, StrictBool, + model_validator, ) from pydantic.json_schema import SkipJsonSchema from typing_extensions import Annotated @@ -41,6 +43,16 @@ def _remove_default(s: dict[str, Any]) -> None: s.pop("default") +# Make sure these always match the values in the Enums below +POSITION_REFERENCE_VALUE_TYPE = Literal[ + "well-bottom", "well-top", "well-center", "liquid-meniscus" +] +"""Values for positionReference.""" + +BLOWOUT_LOCATION_VALUE_TYPE = Literal["source", "destination", "trash"] + + +# Make sure the values of these Enums always match the Literals above class PositionReference(Enum): """Positional reference for liquid handling operations.""" @@ -66,7 +78,26 @@ class Coordinate(BaseModel): z: _Number -class DelayParams(BaseModel): +class BaseLiquidClassModel(BaseModel): + """Base class for liquid class definitions.""" + + model_config = ConfigDict(populate_by_name=True) + + +class TipPosition(BaseLiquidClassModel): + """Properties for tip position reference and relative offset.""" + + positionReference: PositionReference = Field( + ..., + alias="position_reference", + description="Position reference for tip position.", + ) + offset: Coordinate = Field( + ..., description="Relative offset from position reference." + ) + + +class DelayParams(BaseLiquidClassModel): """Parameters for delay.""" duration: _NonNegativeNumber = Field( @@ -74,7 +105,7 @@ class DelayParams(BaseModel): ) -class DelayProperties(BaseModel): +class DelayProperties(BaseLiquidClassModel): """Shared properties for delay..""" enable: StrictBool = Field(..., description="Whether delay is enabled.") @@ -84,6 +115,27 @@ class DelayProperties(BaseModel): json_schema_extra=_remove_default, ) + @model_validator(mode="before") + @classmethod + def reshape(cls, data: Any) -> Any: + """Move any params specified as top-level keys into the 'params' value.""" + if isinstance(data, dict): + if None not in (data.get("enable"), data.get("enabled")): + raise ValueError( + "Delay properties should specify either 'enable' or 'enabled', not both." + ) + if data.get("enabled") is not None: + data["enable"] = data["enabled"] + data.pop("enabled") + if "duration" in data.keys(): + if data.get("params"): + raise ValueError( + "Delay properties should specify either duration or params, not both." + ) + data["params"] = DelayParams(duration=data["duration"]) + data.pop("duration") + return data + @field_validator("params") @classmethod def _validate_params( @@ -94,7 +146,7 @@ def _validate_params( return v -class LiquidClassTouchTipParams(BaseModel): +class LiquidClassTouchTipParams(BaseLiquidClassModel): """Parameters for touch-tip.""" # Note: Do not call this `TouchTipParams`, because that class name is used by the @@ -103,17 +155,20 @@ class LiquidClassTouchTipParams(BaseModel): zOffset: _Number = Field( ..., + alias="z_offset", description="Offset from the top of the well for touch-tip, in millimeters.", ) - mmToEdge: _Number = Field( - ..., description="Offset away from the the well edge, in millimeters." + mmFromEdge: _Number = Field( + ..., + alias="mm_from_edge", + description="Offset away from the the well edge, in millimeters.", ) speed: _GreaterThanZeroNumber = Field( - ..., description="Touch-tip speed, in millimeters per second." + ..., alias="speed", description="Touch-tip speed, in millimeters per second." ) -class TouchTipProperties(BaseModel): +class TouchTipProperties(BaseLiquidClassModel): """Shared properties for the touch-tip function.""" enable: StrictBool = Field(..., description="Whether touch-tip is enabled.") @@ -123,6 +178,16 @@ class TouchTipProperties(BaseModel): json_schema_extra=_remove_default, ) + @model_validator(mode="before") + @classmethod + def reshape(cls, data: Any) -> Any: + """Move any params specified as top-level keys into the 'params' value.""" + return reshape_glob( + data=data, + params_model=LiquidClassTouchTipParams, + property_name="Touch tip properties", + ) + @field_validator("params") @classmethod def _validate_params( @@ -135,19 +200,20 @@ def _validate_params( return v -class MixParams(BaseModel): +class MixParams(BaseLiquidClassModel): """Parameters for mix.""" repetitions: _StrictNonNegativeInt = Field( ..., + alias="repetitions", description="Number of mixing repetitions. 0 is valid, but no mixing will occur.", ) volume: _GreaterThanZeroNumber = Field( - ..., description="Volume used for mixing, in microliters." + ..., alias="volume", description="Volume used for mixing, in microliters." ) -class MixProperties(BaseModel): +class MixProperties(BaseLiquidClassModel): """Mixing properties.""" enable: StrictBool = Field(..., description="Whether mix is enabled.") @@ -157,6 +223,14 @@ class MixProperties(BaseModel): json_schema_extra=_remove_default, ) + @model_validator(mode="before") + @classmethod + def reshape(cls, data: Any) -> Any: + """Move any params specified as top-level keys into the 'params' value.""" + return reshape_glob( + data=data, params_model=MixParams, property_name="Mix properties" + ) + @field_validator("params") @classmethod def _validate_params( @@ -167,18 +241,20 @@ def _validate_params( return v -class BlowoutParams(BaseModel): +class BlowoutParams(BaseLiquidClassModel): """Parameters for blowout.""" location: BlowoutLocation = Field( - ..., description="Location well or trash entity for blow out." + ..., alias="location", description="Location well or trash entity for blow out." ) flowRate: _GreaterThanZeroNumber = Field( - ..., description="Flow rate for blow out, in microliters per second." + ..., + alias="flow_rate", + description="Flow rate for blow out, in microliters per second.", ) -class BlowoutProperties(BaseModel): +class BlowoutProperties(BaseLiquidClassModel): """Blowout properties.""" enable: StrictBool = Field(..., description="Whether blow-out is enabled.") @@ -188,6 +264,14 @@ class BlowoutProperties(BaseModel): json_schema_extra=_remove_default, ) + @model_validator(mode="before") + @classmethod + def reshape(cls, data: Any) -> Any: + """Move any params specified as top-level keys into the 'params' value.""" + return reshape_glob( + data=data, params_model=BlowoutParams, property_name="Blowout properties" + ) + @field_validator("params") @classmethod def _validate_params( @@ -200,96 +284,150 @@ def _validate_params( return v -class Submerge(BaseModel): +def reshape_glob( + data: Any, + params_model: Type[ + Union[LiquidClassTouchTipParams, BlowoutParams, DelayParams, MixParams] + ], + property_name: str, +) -> Any: + """Move any params specified as top-level keys into the 'params' value. + + Also move value of 'enabled' key into 'enable' key. + """ + # NOTE: This does not check that the input dictionary is strictly in the shape of + # a TransferPropertiesDict. Specifically, it doesn't check that it receives the + # 'enabled' key when params are specified as top-level keys. So something like this + # dict will still convert successfully- {'enable': True, 'repetitions': 1, 'volume': 1} + # To conform to TransferPropertiesDict, the enable key should be 'enabled'. + # I am allowing this since it still can be converted to a valid LC params model. + + if isinstance(data, dict): + if None not in (data.get("enable"), data.get("enabled")): + raise ValueError( + f"{property_name} should specify either 'enable' or 'enabled', not both." + ) + if data.get("enabled") is not None: + data["enable"] = data["enabled"] + data.pop("enabled") + + params_list = [meta.alias for field, meta in params_model.model_fields.items()] + list_of_presence_of_params = [param in data.keys() for param in params_list] + if any(list_of_presence_of_params): + if not all(list_of_presence_of_params): + raise ValueError( + f"{property_name} should specify either all of the params-" + f"{params_list} - or none of them." + ) + if data.get("params"): + raise ValueError( + f"{property_name} should specify either all of" + f" {params_list} or 'params', not both." + ) + data["params"] = params_model.model_validate( + {param: data[param] for param in params_list} + ) + for param in params_list: + data.pop(param) + return data + + +class Submerge(BaseLiquidClassModel): """Shared properties for the submerge function before aspiration or dispense.""" - positionReference: PositionReference = Field( - ..., description="Position reference for submerge." + startPosition: TipPosition = Field( + ..., + alias="start_position", + description="Tip position before starting the submerge.", ) - offset: Coordinate = Field(..., description="Relative offset for submerge.") speed: _NonNegativeNumber = Field( ..., description="Speed of submerging, in millimeters per second." ) delay: DelayProperties = Field(..., description="Delay settings for submerge.") -class RetractAspirate(BaseModel): +class RetractAspirate(BaseLiquidClassModel): """Shared properties for the retract function after aspiration.""" - positionReference: PositionReference = Field( - ..., description="Position reference for retract after aspirate." - ) - offset: Coordinate = Field( - ..., description="Relative offset for retract after aspirate." + endPosition: TipPosition = Field( + ..., alias="end_position", description="Tip position at the end of the retract." ) speed: _NonNegativeNumber = Field( ..., description="Speed of retraction, in millimeters per second." ) airGapByVolume: LiquidHandlingPropertyByVolume = Field( - ..., description="Settings for air gap keyed by target aspiration volume." + ..., + alias="air_gap_by_volume", + description="Settings for air gap keyed by target aspiration volume.", ) touchTip: TouchTipProperties = Field( - ..., description="Touch tip settings for retract after aspirate." + ..., + alias="touch_tip", + description="Touch tip settings for retract after aspirate.", ) delay: DelayProperties = Field( ..., description="Delay settings for retract after aspirate." ) -class RetractDispense(BaseModel): +class RetractDispense(BaseLiquidClassModel): """Shared properties for the retract function after dispense.""" - positionReference: PositionReference = Field( - ..., description="Position reference for retract after dispense." - ) - offset: Coordinate = Field( - ..., description="Relative offset for retract after dispense." + endPosition: TipPosition = Field( + ..., alias="end_position", description="Tip position at the end of the retract." ) speed: _NonNegativeNumber = Field( ..., description="Speed of retraction, in millimeters per second." ) airGapByVolume: LiquidHandlingPropertyByVolume = Field( - ..., description="Settings for air gap keyed by target aspiration volume." + ..., + alias="air_gap_by_volume", + description="Settings for air gap keyed by target aspiration volume.", ) blowout: BlowoutProperties = Field( ..., description="Blowout properties for retract after dispense." ) touchTip: TouchTipProperties = Field( - ..., description="Touch tip settings for retract after dispense." + ..., + alias="touch_tip", + description="Touch tip settings for retract after dispense.", ) delay: DelayProperties = Field( ..., description="Delay settings for retract after dispense." ) -class AspirateProperties(BaseModel): +class AspirateProperties(BaseLiquidClassModel): """Properties specific to the aspirate function.""" submerge: Submerge = Field(..., description="Submerge settings for aspirate.") retract: RetractAspirate = Field( ..., description="Pipette retract settings after an aspirate." ) - positionReference: PositionReference = Field( - ..., description="Position reference for aspiration." + aspiratePosition: TipPosition = Field( + ..., alias="aspirate_position", description="Tip position during aspirate." ) - offset: Coordinate = Field(..., description="Relative offset for aspiration.") flowRateByVolume: LiquidHandlingPropertyByVolume = Field( ..., + alias="flow_rate_by_volume", description="Settings for flow rate keyed by target aspiration volume.", ) correctionByVolume: CorrectionByVolume = Field( ..., + alias="correction_by_volume", description="Settings for volume correction keyed by by target aspiration volume," " representing additional volume the plunger should move to accurately hit target volume.", ) - preWet: bool = Field(..., description="Whether to perform a pre-wet action.") + preWet: bool = Field( + ..., alias="pre_wet", description="Whether to perform a pre-wet action." + ) mix: MixProperties = Field( ..., description="Mixing settings for before an aspirate" ) delay: DelayProperties = Field(..., description="Delay settings after an aspirate") -class SingleDispenseProperties(BaseModel): +class SingleDispenseProperties(BaseLiquidClassModel): """Properties specific to the single-dispense function.""" submerge: Submerge = Field( @@ -298,81 +436,94 @@ class SingleDispenseProperties(BaseModel): retract: RetractDispense = Field( ..., description="Pipette retract settings after a single dispense." ) - positionReference: PositionReference = Field( - ..., description="Position reference for single dispense." + dispensePosition: TipPosition = Field( + ..., alias="dispense_position", description="Tip position during dispense." ) - offset: Coordinate = Field(..., description="Relative offset for single dispense.") flowRateByVolume: LiquidHandlingPropertyByVolume = Field( ..., + alias="flow_rate_by_volume", description="Settings for flow rate keyed by target dispense volume.", ) correctionByVolume: CorrectionByVolume = Field( ..., + alias="correction_by_volume", description="Settings for volume correction keyed by by target dispense volume," " representing additional volume the plunger should move to accurately hit target volume.", ) mix: MixProperties = Field(..., description="Mixing settings for after a dispense") pushOutByVolume: LiquidHandlingPropertyByVolume = Field( - ..., description="Settings for pushout keyed by target dispense volume." + ..., + alias="push_out_by_volume", + description="Settings for pushout keyed by target dispense volume.", ) delay: DelayProperties = Field(..., description="Delay after dispense, in seconds.") -class MultiDispenseProperties(BaseModel): +class MultiDispenseProperties(BaseLiquidClassModel): """Properties specific to the multi-dispense function.""" submerge: Submerge = Field(..., description="Submerge settings for multi-dispense.") retract: RetractDispense = Field( ..., description="Pipette retract settings after a multi-dispense." ) - positionReference: PositionReference = Field( - ..., description="Position reference for multi-dispense." - ) - offset: Coordinate = Field( - ..., description="Relative offset for single multi-dispense." + dispensePosition: TipPosition = Field( + ..., alias="dispense_position", description="Tip position during dispense." ) flowRateByVolume: LiquidHandlingPropertyByVolume = Field( ..., + alias="flow_rate_by_volume", description="Settings for flow rate keyed by target dispense volume.", ) correctionByVolume: CorrectionByVolume = Field( ..., + alias="correction_by_volume", description="Settings for volume correction keyed by by target dispense volume," " representing additional volume the plunger should move to accurately hit target volume.", ) conditioningByVolume: LiquidHandlingPropertyByVolume = Field( ..., + alias="conditioning_by_volume", description="Settings for conditioning volume keyed by target dispense volume.", ) disposalByVolume: LiquidHandlingPropertyByVolume = Field( - ..., description="Settings for disposal volume keyed by target dispense volume." + ..., + alias="disposal_by_volume", + description="Settings for disposal volume keyed by target dispense volume.", ) delay: DelayProperties = Field( ..., description="Delay settings after each dispense" ) -class ByTipTypeSetting(BaseModel): - """Settings for each kind of tip this pipette can use.""" +class TransferProperties(BaseLiquidClassModel): + """Properties used during a transfer.""" - tiprack: str = Field( - ..., - description="The name of tiprack whose tip will be used when handling this specific liquid class with this pipette", - ) aspirate: AspirateProperties = Field( ..., description="Aspirate parameters for this tip type." ) singleDispense: SingleDispenseProperties = Field( - ..., description="Single dispense parameters for this tip type." + ..., + alias="dispense", + description="Single dispense parameters for this tip type.", ) multiDispense: MultiDispenseProperties | SkipJsonSchema[None] = Field( None, + alias="multi-dispense", description="Optional multi-dispense parameters for this tip type.", json_schema_extra=_remove_default, ) -class ByPipetteSetting(BaseModel): +class ByTipTypeSetting(TransferProperties): + """Settings for each kind of tip this pipette can use.""" + + tiprack: str = Field( + ..., + description="The name of tiprack whose tip will be used when handling this specific liquid class with this pipette", + ) + + +class ByPipetteSetting(BaseLiquidClassModel): """The settings for this liquid class when used with a specific kind of pipette.""" pipetteModel: str = Field(..., description="The pipette model this applies to.") @@ -381,7 +532,7 @@ class ByPipetteSetting(BaseModel): ) -class LiquidClassSchemaV1(BaseModel): +class LiquidClassSchemaV1(BaseLiquidClassModel): """Defines a single liquid class's properties for liquid handling functions.""" liquidClassName: str = Field( @@ -394,6 +545,9 @@ class LiquidClassSchemaV1(BaseModel): schemaVersion: Literal[1] = Field( ..., description="Which schema version a liquid class is using" ) + version: int = Field( + ..., description="Version of the specific liquid class definition" + ) namespace: str = Field(...) byPipette: Sequence[ByPipetteSetting] = Field( ..., diff --git a/shared-data/python/opentrons_shared_data/liquid_classes/types.py b/shared-data/python/opentrons_shared_data/liquid_classes/types.py new file mode 100644 index 000000000000..d253762f71fc --- /dev/null +++ b/shared-data/python/opentrons_shared_data/liquid_classes/types.py @@ -0,0 +1,129 @@ +"""Type definitions for liquid classes.""" +from typing import Sequence, Tuple, TypedDict +from typing_extensions import NotRequired +from .liquid_class_definition import ( + POSITION_REFERENCE_VALUE_TYPE, + BLOWOUT_LOCATION_VALUE_TYPE, +) + + +class Offset(TypedDict): + """A dict representing an offset.""" + + x: float + y: float + z: float + + +class TipPositionDict(TypedDict): + """A dict representing a tip position.""" + + position_reference: POSITION_REFERENCE_VALUE_TYPE + offset: Offset + + +class DelayPropertiesDict(TypedDict): + """A dict representing a delay.""" + + enabled: bool + duration: NotRequired[float] + + +class TouchTipPropertiesDict(TypedDict): + """A dict representing touch tip properties.""" + + enabled: bool + z_offset: NotRequired[float] + mm_from_edge: NotRequired[float] + speed: NotRequired[float] + + +class MixPropertiesDict(TypedDict): + """A dict representing mix properties.""" + + enabled: bool + repetitions: NotRequired[int] + volume: NotRequired[float] + + +class BlowoutPropertiesDict(TypedDict): + """A dict representing blowout properties.""" + + enabled: bool + location: NotRequired[BLOWOUT_LOCATION_VALUE_TYPE] + flow_rate: NotRequired[float] + + +class SubmergeDict(TypedDict): + """A dict representing submerge properties.""" + + start_position: TipPositionDict + speed: float + delay: DelayPropertiesDict + + +class RetractAspirateDict(TypedDict): + """A dict representing retract aspirate properties.""" + + end_position: TipPositionDict + speed: float + delay: DelayPropertiesDict + air_gap_by_volume: Sequence[Tuple[float, float]] + touch_tip: TouchTipPropertiesDict + + +class RetractDispenseDict(TypedDict): + """A dict representing retract dispense properties.""" + + end_position: TipPositionDict + speed: float + delay: DelayPropertiesDict + air_gap_by_volume: Sequence[Tuple[float, float]] + touch_tip: TouchTipPropertiesDict + blowout: BlowoutPropertiesDict + + +class AspiratePropertiesDict(TypedDict): + """A dict representing aspirate properties.""" + + submerge: SubmergeDict + flow_rate_by_volume: Sequence[Tuple[float, float]] + correction_by_volume: Sequence[Tuple[float, float]] + delay: DelayPropertiesDict + aspirate_position: TipPositionDict + retract: RetractAspirateDict + pre_wet: bool + mix: MixPropertiesDict + + +class SingleDispensePropertiesDict(TypedDict): + """A dict representing single dispense properties.""" + + submerge: SubmergeDict + flow_rate_by_volume: Sequence[Tuple[float, float]] + correction_by_volume: Sequence[Tuple[float, float]] + delay: DelayPropertiesDict + dispense_position: TipPositionDict + retract: RetractDispenseDict + push_out_by_volume: Sequence[Tuple[float, float]] + mix: MixPropertiesDict + + +class MultiDispensePropertiesDict(TypedDict): + """A dict representing multi dispense properties.""" + + submerge: SubmergeDict + flow_rate_by_volume: Sequence[Tuple[float, float]] + correction_by_volume: Sequence[Tuple[float, float]] + delay: DelayPropertiesDict + dispense_position: TipPositionDict + retract: RetractDispenseDict + conditioning_by_volume: Sequence[Tuple[float, float]] + + +class TransferPropertiesDict(TypedDict): + """A dict representing transfer properties for a specific pipette and tiprack.""" + + aspirate: AspiratePropertiesDict + dispense: SingleDispensePropertiesDict + multi_dispense: NotRequired[MultiDispensePropertiesDict] diff --git a/shared-data/python/tests/labware/test_typechecks.py b/shared-data/python/tests/labware/test_typechecks.py index 57a3e8991c11..35a6fe0e0a52 100644 --- a/shared-data/python/tests/labware/test_typechecks.py +++ b/shared-data/python/tests/labware/test_typechecks.py @@ -1,5 +1,6 @@ """Test that our bindings can validate and parse our standard labware definitions.""" +from typing import Literal import pytest import typeguard @@ -45,7 +46,7 @@ def test_schema_3_types(loadname: str, version: int) -> None: + [(loadname, version, 3) for loadname, version in get_ot_defs(schema=3)], ) def test_all_schema_union_types( - loadname: str, version: int, schema_version: int + loadname: str, version: int, schema_version: Literal[2, 3] ) -> None: """Test parsing and validating into the types that represent a union of all schemas.""" defdict = load_definition( diff --git a/shared-data/python/tests/liquid_classes/test_load.py b/shared-data/python/tests/liquid_classes/test_load.py index d0d96fd00feb..65ed5e78026f 100644 --- a/shared-data/python/tests/liquid_classes/test_load.py +++ b/shared-data/python/tests/liquid_classes/test_load.py @@ -1,11 +1,12 @@ import json from opentrons_shared_data import load_shared_data -from opentrons_shared_data.liquid_classes import load_definition +from opentrons_shared_data.liquid_classes import load_definition, definition_exists from opentrons_shared_data.liquid_classes.liquid_class_definition import ( LiquidClassSchemaV1, PositionReference, Coordinate, + TipPosition, Submerge, DelayParams, DelayProperties, @@ -13,7 +14,7 @@ def test_load_liquid_class_schema_v1() -> None: - fixture_data = load_shared_data("liquid-class/definitions/1/water.json") + fixture_data = load_shared_data("liquid-class/definitions/1/water/1.json") liquid_class_model = LiquidClassSchemaV1.model_validate_json(fixture_data) liquid_class_def_from_model = json.loads( liquid_class_model.model_dump_json(exclude_unset=True) @@ -23,12 +24,22 @@ def test_load_liquid_class_schema_v1() -> None: def test_load_definition() -> None: - water_definition = load_definition(name="water", version=1) + water_definition = load_definition(name="water", version=1, schema_version=1) assert type(water_definition) is LiquidClassSchemaV1 assert water_definition.byPipette[0].pipetteModel == "flex_1channel_50" assert water_definition.byPipette[0].byTipType[0].aspirate.submerge == Submerge( - positionReference=PositionReference.WELL_TOP, - offset=Coordinate(x=0, y=0, z=2), + startPosition=TipPosition( + positionReference=PositionReference.WELL_TOP, + offset=Coordinate(x=0, y=0, z=2), + ), speed=100, delay=DelayProperties(enable=False, params=DelayParams(duration=0)), ) + + +def test_definition_exists() -> None: + """Should return whether specified definition exists in shared data or not.""" + assert definition_exists(name="water", version=1) is True + assert definition_exists(name="glycerol_50", version=1) is True + assert definition_exists(name="glycerol_oh_no", version=1) is False + assert definition_exists(name="glycerol_50", version=2) is False diff --git a/shared-data/python/tests/liquid_classes/test_validations.py b/shared-data/python/tests/liquid_classes/test_validations.py index 6df6902b0532..110850512d6a 100644 --- a/shared-data/python/tests/liquid_classes/test_validations.py +++ b/shared-data/python/tests/liquid_classes/test_validations.py @@ -4,6 +4,13 @@ from opentrons_shared_data import get_shared_data_root from opentrons_shared_data.liquid_classes import load_definition +from opentrons_shared_data.liquid_classes.liquid_class_definition import ( + DelayProperties, + MixProperties, + TouchTipProperties, + BlowoutProperties, + BlowoutLocation, +) def _get_all_liquid_classes() -> List[str]: @@ -18,7 +25,7 @@ def _get_all_liquid_classes() -> List[str]: @pytest.mark.parametrize("liquid_class_name", list(_get_all_liquid_classes())) def test_validate_unique_pipette_keys(liquid_class_name: str) -> None: """A liquid class definition should contain only one set of properties per pipette model.""" - definition_dict = load_definition(liquid_class_name, version=1) + definition_dict = load_definition(liquid_class_name, version=1, schema_version=1) pipette_models = [prop.pipetteModel for prop in definition_dict.byPipette] assert len(pipette_models) == len(set(pipette_models)) @@ -26,8 +33,94 @@ def test_validate_unique_pipette_keys(liquid_class_name: str) -> None: @pytest.mark.parametrize("liquid_class_name", list(_get_all_liquid_classes())) def test_validate_unique_tip_keys(liquid_class_name: str) -> None: """A liquid class definition should contain only one set of properties per tip type.""" - definition_dict = load_definition(liquid_class_name, version=1) + definition_dict = load_definition(liquid_class_name, version=1, schema_version=1) for by_pip_prop in definition_dict.byPipette: tipracks = [tip_prop.tiprack for tip_prop in by_pip_prop.byTipType] assert len(tipracks) == len(set(tipracks)) + + +def test_validate_delay_properties_dict() -> None: + """Delay properties model validator should convert valid dict to DelayProperties.""" + obj = DelayProperties.model_validate({"enable": True, "duration": 2}) + assert isinstance(obj, DelayProperties) + assert obj.enable is True + assert obj.params.duration == 2 # type: ignore[union-attr] + + with pytest.raises( + ValueError, + match="Delay properties should specify either duration or params, not both", + ): + DelayProperties.model_validate( + {"enable": False, "params": {"duration": 2}, "duration": 2} + ) + + +def test_validate_mix_properties_dict() -> None: + """Mix properties model validator should convert valid dict to MixProperties.""" + obj = MixProperties.model_validate({"enable": True, "repetitions": 2, "volume": 3}) + assert isinstance(obj, MixProperties) + assert obj.enable is True + assert obj.params is not None + assert obj.params.repetitions == 2 + assert obj.params.volume == 3 + + with pytest.raises( + ValueError, + match="either all of \\['repetitions', 'volume'\\] or 'params', not both", + ): + MixProperties.model_validate( + {"enable": True, "repetitions": 2, "volume": 3, "params": {"foo": "bar"}} + ) + + +def test_validate_touchtip_properties_dict() -> None: + """Touch tip properties model validator should convert valid dict to TouchTipProperties.""" + obj = TouchTipProperties.model_validate( + {"enable": True, "z_offset": 2, "mm_from_edge": 3, "speed": 4} + ) + assert isinstance(obj, TouchTipProperties) + assert obj.enable is True + assert obj.params is not None + assert obj.params.mmFromEdge == 3 + assert obj.params.speed == 4 + assert obj.params.zOffset == 2 + + with pytest.raises( + ValueError, + match="either all of \\['z_offset', 'mm_from_edge', 'speed'\\] or 'params', not both", + ): + TouchTipProperties.model_validate( + { + "enable": True, + "z_offset": 2, + "mm_from_edge": 3, + "speed": 4, + "params": {"foo": "bar"}, + } + ) + + +def test_validate_blowout_properties_dict() -> None: + """Blowout properties model validator should convert valid dict to BlowoutProperties.""" + obj = BlowoutProperties.model_validate( + {"enable": True, "location": "source", "flow_rate": 3} + ) + assert isinstance(obj, BlowoutProperties) + assert obj.enable is True + assert obj.params is not None + assert obj.params.location == BlowoutLocation.SOURCE + assert obj.params.flowRate == 3 + + with pytest.raises( + ValueError, + match="either all of \\['location', 'flow_rate'\\] or 'params', not both", + ): + BlowoutProperties.model_validate( + { + "enable": True, + "location": "source", + "flow_rate": 3, + "params": {"foo": "bar"}, + } + ) diff --git a/system-server/Makefile b/system-server/Makefile index f9c318b0f277..135c05c387aa 100644 --- a/system-server/Makefile +++ b/system-server/Makefile @@ -58,7 +58,7 @@ clean: .PHONY: teardown teardown: - $(pipenv) --rm + -$(pipenv) --rm .PHONY: test test: diff --git a/test-data-generation/Makefile b/test-data-generation/Makefile index 6033591bdf83..bbf65b139638 100644 --- a/test-data-generation/Makefile +++ b/test-data-generation/Makefile @@ -16,7 +16,7 @@ setup: .PHONY: teardown teardown: - $(pipenv) --rm + -$(pipenv) --rm .PHONY: clean clean: diff --git a/update-server/Makefile b/update-server/Makefile index e4b9532a0fc6..383e7191de79 100644 --- a/update-server/Makefile +++ b/update-server/Makefile @@ -50,7 +50,7 @@ clean: .PHONY: teardown teardown: - $(pipenv) --rm + -$(pipenv) --rm .PHONY: test test: diff --git a/usb-bridge/Makefile b/usb-bridge/Makefile index 96727ab75899..ae5f851fb144 100644 --- a/usb-bridge/Makefile +++ b/usb-bridge/Makefile @@ -50,7 +50,7 @@ clean: .PHONY: teardown teardown: - $(pipenv) --rm + -$(pipenv) --rm .PHONY: test test: diff --git a/yarn.lock b/yarn.lock index dbae6c3ed833..6dc4948c6a72 100644 --- a/yarn.lock +++ b/yarn.lock @@ -2338,15 +2338,24 @@ resolved "https://registry.yarnpkg.com/@ebay/nice-modal-react/-/nice-modal-react-1.2.13.tgz#7e8229fe3a48a11f27cd7f5e21190d82d6f609ce" integrity sha512-jx8xIWe/Up4tpNuM02M+rbnLoxdngTGk3Y8LjJsLGXXcSoKd/+eZStZcAlIO/jwxyz/bhPZnpqPJZWAmhOofuA== -"@electron/asar@^3.2.7": - version "3.2.17" - resolved "https://registry.yarnpkg.com/@electron/asar/-/asar-3.2.17.tgz#91d28087aad80d1a1c8cc4e667c6476edf50f949" - integrity sha512-OcWImUI686w8LkghQj9R2ynZ2ME693Ek6L1SiaAgqGKzBaTIZw3fHDqN82Rcl+EU1Gm9EgkJ5KLIY/q5DCRbbA== +"@electron/asar@3.4.1", "@electron/asar@^3.3.1": + version "3.4.1" + resolved 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- "@electron/asar" "^3.2.7" + "@electron/asar" "^3.3.1" "@malept/cross-spawn-promise" "^2.0.0" debug "^4.3.1" dir-compare "^4.2.0" @@ -6752,7 +6761,7 @@ agent-base@5: resolved "https://registry.yarnpkg.com/agent-base/-/agent-base-5.1.1.tgz#e8fb3f242959db44d63be665db7a8e739537a32c" integrity sha512-TMeqbNl2fMW0nMjTEPOwe3J/PRFP4vqeoNuQMG0HlMrtm5QxKqdvAkZ1pRBQ/ulIyDD5Yq0nJ7YbdD8ey0TO3g== -agent-base@6, agent-base@^6.0.0, agent-base@^6.0.2: +agent-base@6, agent-base@6.0.2, agent-base@^6.0.0, agent-base@^6.0.2: version "6.0.2" resolved "https://registry.yarnpkg.com/agent-base/-/agent-base-6.0.2.tgz#49fff58577cfee3f37176feab4c22e00f86d7f77" integrity sha512-RZNwNclF7+MS/8bDg70amg32dyeZGZxiDuQmZxKLAlQjr3jGyLx+4Kkk58UO7D2QdgFIQCovuSuZESne6RG6XQ== @@ -6915,35 +6924,35 @@ app-builder-bin@2.0.0: resolved "https://registry.yarnpkg.com/app-builder-bin/-/app-builder-bin-2.0.0.tgz#bda985bee14370b254841a9982753b8f383415c5" integrity 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+app-builder-lib@26.0.15: + version "26.0.15" + resolved "https://registry.yarnpkg.com/app-builder-lib/-/app-builder-lib-26.0.15.tgz#3b68b71d6d9d75eb6b318bcf0c830fd3fc1147d3" + integrity sha512-KVIsAHkBLaO2fvYVAccGbQPlbGFeGkx7IJXi/nDSBDXaMwHxauIXpAtf/NpopgudG6Ovyixl4QIWeHMPIvx0kg== dependencies: "@develar/schema-utils" "~2.6.5" + "@electron/asar" "3.4.1" + "@electron/fuses" "^1.8.0" "@electron/notarize" "2.5.0" - "@electron/osx-sign" "1.3.1" - "@electron/rebuild" "3.6.1" - "@electron/universal" "2.0.1" + "@electron/osx-sign" "1.3.3" + "@electron/rebuild" "3.7.2" + "@electron/universal" "2.0.3" "@malept/flatpak-bundler" "^0.4.0" "@types/fs-extra" "9.0.13" async-exit-hook "^2.0.1" - bluebird-lst "^1.0.9" - builder-util "25.1.7" - builder-util-runtime "9.2.10" + builder-util "26.0.13" + builder-util-runtime "9.3.2" chromium-pickle-js "^0.2.0" config-file-ts "0.2.8-rc1" debug "^4.3.4" dotenv "^16.4.5" dotenv-expand "^11.0.6" ejs "^3.1.8" - electron-publish "25.1.7" - form-data "^4.0.0" + electron-publish "26.0.13" fs-extra "^10.1.0" hosted-git-info "^4.1.0" is-ci "^3.0.0" @@ -6952,11 +6961,12 @@ app-builder-lib@25.1.8: json5 "^2.2.3" lazy-val "^1.0.5" minimatch "^10.0.0" + plist "3.1.0" resedit "^1.7.0" - sanitize-filename "^1.6.3" semver "^7.3.8" tar "^6.1.12" temp-file "^3.4.0" + tiny-async-pool "1.3.0" app-module-path@^2.2.0: version "2.2.0" @@ -6973,11 +6983,6 @@ append-field@^1.0.0: resolved "https://registry.yarnpkg.com/append-field/-/append-field-1.0.0.tgz#1e3440e915f0b1203d23748e78edd7b9b5b43e56" integrity sha512-klpgFSWLW1ZEs8svjfb7g4qWY0YS5imI82dTg+QahUvJ8YqAY0P10Uk8tTyh9ZGuYEZEMaeJYCF5BFuX552hsw== -"aproba@^1.0.3 || ^2.0.0": - version "2.0.0" - resolved "https://registry.yarnpkg.com/aproba/-/aproba-2.0.0.tgz#52520b8ae5b569215b354efc0caa3fe1e45a8adc" - integrity sha512-lYe4Gx7QT+MKGbDsA+Z+he/Wtef0BiwDOlK/XkBrdfsh9J/jPPXbX0tE9x9cl27Tmu5gg3QUbUrQYa/y+KOHPQ== - aproba@^1.1.1: version "1.2.0" resolved "https://registry.yarnpkg.com/aproba/-/aproba-1.2.0.tgz#6802e6264efd18c790a1b0d517f0f2627bf2c94a" @@ -6995,14 +7000,6 @@ archive-type@^4.0.0: dependencies: file-type "^4.2.0" -are-we-there-yet@^3.0.0: - version "3.0.1" - resolved "https://registry.yarnpkg.com/are-we-there-yet/-/are-we-there-yet-3.0.1.tgz#679df222b278c64f2cdba1175cdc00b0d96164bd" - integrity sha512-QZW4EDmGwlYur0Yyf/b2uGucHQMa8aFUP7eu9ddR73vvhFyt4V0Vl3QHPcTNJ8l6qYOBdxgXdnBXQrHilfRQBg== - dependencies: - delegates "^1.0.0" - readable-stream "^3.6.0" - argparse@^1.0.7: version "1.0.10" resolved "https://registry.yarnpkg.com/argparse/-/argparse-1.0.10.tgz#bcd6791ea5ae09725e17e5ad988134cd40b3d911" @@ -7642,7 +7639,7 @@ blob-util@^2.0.2: resolved "https://registry.yarnpkg.com/blob-util/-/blob-util-2.0.2.tgz#3b4e3c281111bb7f11128518006cdc60b403a1eb" integrity sha512-T7JQa+zsXXEa6/8ZhHcQEW1UFfVM49Ts65uBkFL6fz2QmrElqmbajIDJvuA0tEhRe5eIjpV9ZF+0RfZR9voJFQ== -bluebird-lst@^1.0.5, bluebird-lst@^1.0.9: +bluebird-lst@^1.0.5: version "1.0.9" resolved "https://registry.yarnpkg.com/bluebird-lst/-/bluebird-lst-1.0.9.tgz#a64a0e4365658b9ab5fe875eb9dfb694189bb41c" integrity sha512-7B1Rtx82hjnSD4PGLAjVWeYH3tHAcVUmChh85a3lltKQm6FresXh9ErQo6oAv6CqxttczC3/kEg8SY5NluPuUw== @@ -7976,6 +7973,14 @@ builder-util-runtime@9.2.10: debug "^4.3.4" sax "^1.2.4" +builder-util-runtime@9.3.2: + version "9.3.2" + resolved "https://registry.yarnpkg.com/builder-util-runtime/-/builder-util-runtime-9.3.2.tgz#2a69a239b50e26accf4ed4ea1730406a3117213c" + integrity sha512-7QDXJ1FwT6d9ZhG4kuObUUPY8/ENBS/Ky26O4hR5vbeoRGavgekS2Jxv+8sCn/v23aPGU2DXRWEeJuijN2ooYA== + dependencies: + debug "^4.3.4" + sax "^1.2.4" + builder-util-runtime@^4.4.0, builder-util-runtime@^4.4.1: version "4.4.1" resolved "https://registry.yarnpkg.com/builder-util-runtime/-/builder-util-runtime-4.4.1.tgz#2770d03241e51fde46acacc7ed3ed8a9f45f02cb" @@ -7986,27 +7991,28 @@ builder-util-runtime@^4.4.0, builder-util-runtime@^4.4.1: fs-extra-p "^4.6.1" sax "^1.2.4" -builder-util@25.1.7: - version "25.1.7" - resolved "https://registry.yarnpkg.com/builder-util/-/builder-util-25.1.7.tgz#a07b404f0cb1a635aa165902be65297d58932ff8" - integrity sha512-7jPjzBwEGRbwNcep0gGNpLXG9P94VA3CPAZQCzxkFXiV2GMQKlziMbY//rXPI7WKfhsvGgFXjTcXdBEwgXw9ww== +builder-util@26.0.13: + version "26.0.13" + resolved "https://registry.yarnpkg.com/builder-util/-/builder-util-26.0.13.tgz#a2c11f8e89e5392719e540d610d70d8413943d74" + integrity sha512-6b64uHzywaL2KAG+rVcqk/Prta1m3I2Jo1d4d2CrApb6EeSk2V384tmSL0EniH+P8jaNbMp6qhg7cIALw32zRA== dependencies: "7zip-bin" "~5.2.0" "@types/debug" "^4.1.6" - app-builder-bin "5.0.0-alpha.10" - bluebird-lst "^1.0.9" - builder-util-runtime "9.2.10" + app-builder-bin "5.0.0-alpha.12" + builder-util-runtime "9.3.2" chalk "^4.1.2" - cross-spawn "^7.0.3" + cross-spawn "^7.0.6" debug "^4.3.4" fs-extra "^10.1.0" http-proxy-agent "^7.0.0" https-proxy-agent "^7.0.0" is-ci "^3.0.0" js-yaml "^4.1.0" + sanitize-filename "^1.6.3" source-map-support "^0.5.19" stat-mode "^1.0.0" temp-file "^3.4.0" + tiny-async-pool "1.3.0" builder-util@^5.13.0: version "5.20.1" @@ -8356,7 +8362,7 @@ chalk@^3.0.0: ansi-styles "^4.1.0" supports-color "^7.1.0" -chalk@^4.0.0, chalk@^4.0.2, chalk@^4.1.0, chalk@^4.1.2: +chalk@^4.0.0, chalk@^4.0.2, chalk@^4.1.0, chalk@^4.1.1, chalk@^4.1.2: version "4.1.2" resolved "https://registry.yarnpkg.com/chalk/-/chalk-4.1.2.tgz#aac4e2b7734a740867aeb16bf02aad556a1e7a01" integrity sha512-oKnbhFyRIXpUuez8iBMmyEa4nbj4IOQyuhc/wy9kY7/WVPcwIO9VA668Pu8RkO7+0G76SLROeyw9CpQ061i4mA== @@ -8698,11 +8704,6 @@ color-string@^1.6.0: color-name "^1.0.0" simple-swizzle "^0.2.2" -color-support@^1.1.3: - version "1.1.3" - resolved "https://registry.yarnpkg.com/color-support/-/color-support-1.1.3.tgz#93834379a1cc9a0c61f82f52f0d04322251bd5a2" - integrity sha512-qiBjkpbMLO/HL68y+lh4q0/O1MZFj2RX6X/KmMa3+gJD3z+WwI1ZzDHysvqHGS3mP6mznPckpXmw1nI9cJjyRg== - color@^3.0.0, color@^3.1.3: version "3.2.1" resolved "https://registry.yarnpkg.com/color/-/color-3.2.1.tgz#3544dc198caf4490c3ecc9a790b54fe9ff45e164" @@ -8912,11 +8913,6 @@ console-browserify@^1.1.0: resolved "https://registry.yarnpkg.com/console-browserify/-/console-browserify-1.2.0.tgz#67063cef57ceb6cf4993a2ab3a55840ae8c49336" integrity sha512-ZMkYO/LkF17QvCPqM0gxw8yUzigAOZOSWSHg91FH6orS7vcEj5dVZTidN2fQ14yBSdg97RqhSNwLUXInd52OTA== -console-control-strings@^1.1.0: - version "1.1.0" - resolved "https://registry.yarnpkg.com/console-control-strings/-/console-control-strings-1.1.0.tgz#3d7cf4464db6446ea644bf4b39507f9851008e8e" - integrity sha512-ty/fTekppD2fIwRvnZAVdeOiGd1c7YXEixbgJTNzqcxJWKQnjJ/V1bNEEE6hygpM3WjwHFUVK6HTjWSzV4a8sQ== - constants-browserify@^1.0.0: version "1.0.0" resolved "https://registry.yarnpkg.com/constants-browserify/-/constants-browserify-1.0.0.tgz#c20b96d8c617748aaf1c16021760cd27fcb8cb75" @@ -9264,6 +9260,15 @@ cross-spawn@^7.0.0, cross-spawn@^7.0.1, cross-spawn@^7.0.2, cross-spawn@^7.0.3: shebang-command "^2.0.0" which "^2.0.1" +cross-spawn@^7.0.6: + version "7.0.6" + resolved "https://registry.yarnpkg.com/cross-spawn/-/cross-spawn-7.0.6.tgz#8a58fe78f00dcd70c370451759dfbfaf03e8ee9f" + integrity sha512-uV2QOWP2nWzsy2aMp8aRibhi9dlzF5Hgh5SHaB9OiTGEyDTiJJyx0uy51QXdyWbtAHNua4XJzUKca3OzKUd3vA== + dependencies: + path-key "^3.1.0" + shebang-command "^2.0.0" + which "^2.0.1" + crypto-browserify@^3.11.0: version "3.12.0" resolved "https://registry.yarnpkg.com/crypto-browserify/-/crypto-browserify-3.12.0.tgz#396cf9f3137f03e4b8e532c58f698254e00f80ec" @@ -10028,11 +10033,6 @@ delayed-stream@~1.0.0: resolved "https://registry.yarnpkg.com/delayed-stream/-/delayed-stream-1.0.0.tgz#df3ae199acadfb7d440aaae0b29e2272b24ec619" integrity sha512-ZySD7Nf91aLB0RxL4KGrKHBXl7Eds1DAmEdcoVawXnLD7SDhpNgtuII2aAkg7a7QS41jxPSZ17p4VdGnMHk3MQ== -delegates@^1.0.0: - version "1.0.0" - resolved "https://registry.yarnpkg.com/delegates/-/delegates-1.0.0.tgz#84c6e159b81904fdca59a0ef44cd870d31250f9a" - integrity sha512-bd2L678uiWATM6m5Z1VzNCErI3jiGzt6HGY8OVICs40JQq/HALfbyNJmp0UDakEY4pMMaN0Ly5om/B1VI/+xfQ== - depd@2.0.0: version "2.0.0" resolved "https://registry.yarnpkg.com/depd/-/depd-2.0.0.tgz#b696163cc757560d09cf22cc8fad1571b79e76df" @@ -10243,14 +10243,14 @@ dir-glob@^3.0.1: dependencies: path-type "^4.0.0" -dmg-builder@25.1.8: - version "25.1.8" - resolved "https://registry.yarnpkg.com/dmg-builder/-/dmg-builder-25.1.8.tgz#41f3b725edd896156e891016a44129e1bd580430" - integrity sha512-NoXo6Liy2heSklTI5OIZbCgXC1RzrDQsZkeEwXhdOro3FT1VBOvbubvscdPnjVuQ4AMwwv61oaH96AbiYg9EnQ== +dmg-builder@26.0.15: + version "26.0.15" + resolved "https://registry.yarnpkg.com/dmg-builder/-/dmg-builder-26.0.15.tgz#0cc63db379f9713e8726d5f4ac30709b86720506" + integrity sha512-RXbDCcrPw2B0q2HIcPI2H7pIFeQiDsLW+ykRVKkW2ke2H3pTgI36r86xLmQZ6397uFCNUjpegRFv6bB+BCWJIA== dependencies: - app-builder-lib "25.1.8" - builder-util "25.1.7" - builder-util-runtime "9.2.10" + app-builder-lib "26.0.15" + builder-util "26.0.13" + builder-util-runtime "9.3.2" fs-extra "^10.1.0" iconv-lite "^0.6.2" js-yaml "^4.1.0" @@ -10534,16 +10534,16 @@ ejs@^3.1.8: dependencies: jake "^10.8.5" -electron-builder@25.1.8: - version "25.1.8" - resolved "https://registry.yarnpkg.com/electron-builder/-/electron-builder-25.1.8.tgz#b0e310f1600787610bb84c3f39bc7aadb2548486" - integrity sha512-poRgAtUHHOnlzZnc9PK4nzG53xh74wj2Jy7jkTrqZ0MWPoHGh1M2+C//hGeYdA+4K8w4yiVCNYoLXF7ySj2Wig== +electron-builder@26.0.15: + version "26.0.15" + resolved "https://registry.yarnpkg.com/electron-builder/-/electron-builder-26.0.15.tgz#db1cd0569e079686107c0c6315435b57fbcb7bb0" + integrity sha512-1nDY/7bbbORdWPQkIyFPfLfEHR4d22QfI5yec+etFL0y/PdmVz/wcxXc2KRpTQeIt75njm2/ocrtgp7LJvZC3Q== dependencies: - app-builder-lib "25.1.8" - builder-util "25.1.7" - builder-util-runtime "9.2.10" + app-builder-lib "26.0.15" + builder-util "26.0.13" + builder-util-runtime "9.3.2" chalk "^4.1.2" - dmg-builder "25.1.8" + dmg-builder "26.0.15" fs-extra "^10.1.0" is-ci "^3.0.0" lazy-val "^1.0.5" @@ -10619,15 +10619,16 @@ electron-notarize@^1.2.1: debug "^4.1.1" fs-extra "^9.0.1" -electron-publish@25.1.7: - version "25.1.7" - resolved "https://registry.yarnpkg.com/electron-publish/-/electron-publish-25.1.7.tgz#14e50c2a3fafdc1c454eadbbc47ead89a48bb554" - integrity sha512-+jbTkR9m39eDBMP4gfbqglDd6UvBC7RLh5Y0MhFSsc6UkGHj9Vj9TWobxevHYMMqmoujL11ZLjfPpMX+Pt6YEg== +electron-publish@26.0.13: + version "26.0.13" + resolved "https://registry.yarnpkg.com/electron-publish/-/electron-publish-26.0.13.tgz#04340520e6e9de5262fecfa011658cfcc3fc8917" + integrity sha512-O5hfHSwli5cegQ4JS3Dp0dZcheex6UCRE/qYyRQvhB6DhSwojiwTnAGEuQCJXc8K8Zxz2lku5Du3VwYHf8d5Lw== dependencies: "@types/fs-extra" "^9.0.11" - builder-util "25.1.7" - builder-util-runtime "9.2.10" + builder-util "26.0.13" + builder-util-runtime "9.3.2" chalk "^4.1.2" + form-data "^4.0.0" fs-extra "^10.1.0" lazy-val "^1.0.5" mime "^2.5.2" @@ -12465,20 +12466,6 @@ functions-have-names@^1.2.3: resolved "https://registry.yarnpkg.com/functions-have-names/-/functions-have-names-1.2.3.tgz#0404fe4ee2ba2f607f0e0ec3c80bae994133b834" integrity sha512-xckBUXyTIqT97tq2x2AMb+g163b5JFysYk0x4qxNFwbfQkmNZoiRHb6sPzI9/QV33WeuvVYBUIiD4NzNIyqaRQ== -gauge@^4.0.3: - version "4.0.4" - resolved "https://registry.yarnpkg.com/gauge/-/gauge-4.0.4.tgz#52ff0652f2bbf607a989793d53b751bef2328dce" - integrity sha512-f9m+BEN5jkg6a0fZjleidjN51VE1X+mPFQ2DJ0uv1V39oCLCbsGe6yjbBnp7eK7z/+GAon99a3nHuqbuuthyPg== - dependencies: - aproba "^1.0.3 || ^2.0.0" - color-support "^1.1.3" - console-control-strings "^1.1.0" - has-unicode "^2.0.1" - signal-exit "^3.0.7" - string-width "^4.2.3" - strip-ansi "^6.0.1" - wide-align "^1.1.5" - gensync@^1.0.0-beta.2: version "1.0.0-beta.2" resolved "https://registry.yarnpkg.com/gensync/-/gensync-1.0.0-beta.2.tgz#32a6ee76c3d7f52d46b2b1ae5d93fea8580a25e0" @@ -13111,11 +13098,6 @@ has-tostringtag@^1.0.0, has-tostringtag@^1.0.2: dependencies: has-symbols "^1.0.3" -has-unicode@^2.0.1: - version "2.0.1" - resolved "https://registry.yarnpkg.com/has-unicode/-/has-unicode-2.0.1.tgz#e0e6fe6a28cf51138855e086d1691e771de2a8b9" - integrity sha512-8Rf9Y83NBReMnx0gFzA8JImQACstCYWUplepDa9xprwwtmgEZUF0h/i5xSA625zB/I37EtrswSST6OXxwaaIJQ== - has-value@^0.3.1: version "0.3.1" resolved "https://registry.yarnpkg.com/has-value/-/has-value-0.3.1.tgz#7b1f58bada62ca827ec0a2078025654845995e1f" @@ -15488,7 +15470,7 @@ make-dir@^4.0.0: dependencies: semver "^7.5.3" -make-fetch-happen@^10.0.3, make-fetch-happen@^10.2.1: +make-fetch-happen@^10.2.1: version "10.2.1" resolved "https://registry.yarnpkg.com/make-fetch-happen/-/make-fetch-happen-10.2.1.tgz#f5e3835c5e9817b617f2770870d9492d28678164" integrity sha512-NgOPbRiaQM10DYXvN3/hhGVI2M5MtITFryzBGxHM5p4wnFxsVCbxkrBrDsk+EZ5OB4jEOT7AjDxtdF+KVEFT7w== @@ -16657,23 +16639,6 @@ node-gyp-build@^4.3.0, node-gyp-build@^4.5.0: resolved "https://registry.yarnpkg.com/node-gyp-build/-/node-gyp-build-4.8.0.tgz#3fee9c1731df4581a3f9ead74664369ff00d26dd" integrity sha512-u6fs2AEUljNho3EYTJNBfImO5QTo/J/1Etd+NVdCj7qWKUSN/bSLkZwhDv7I+w/MSC6qJ4cknepkAYykDdK8og== -node-gyp@^9.0.0: - version "9.4.1" - resolved "https://registry.yarnpkg.com/node-gyp/-/node-gyp-9.4.1.tgz#8a1023e0d6766ecb52764cc3a734b36ff275e185" - integrity sha512-OQkWKbjQKbGkMf/xqI1jjy3oCTgMKJac58G2+bjZb3fza6gW2YrCSdMQYaoTb70crvE//Gngr4f0AgVHmqHvBQ== - dependencies: - env-paths "^2.2.0" - exponential-backoff "^3.1.1" - glob "^7.1.4" - graceful-fs "^4.2.6" - make-fetch-happen "^10.0.3" - nopt "^6.0.0" - npmlog "^6.0.0" - rimraf "^3.0.2" - semver "^7.3.5" - tar "^6.1.2" - which "^2.0.2" - node-int64@^0.4.0: version "0.4.0" resolved "https://registry.yarnpkg.com/node-int64/-/node-int64-0.4.0.tgz#87a9065cdb355d3182d8f94ce11188b825c68a3b" @@ -16829,16 +16794,6 @@ npm-run-path@^5.1.0: dependencies: path-key "^4.0.0" -npmlog@^6.0.0: - version "6.0.2" - resolved "https://registry.yarnpkg.com/npmlog/-/npmlog-6.0.2.tgz#c8166017a42f2dea92d6453168dd865186a70830" - integrity sha512-/vBvz5Jfr9dT/aFWd0FIRf+T/Q2WBsLENygUaFUqstqsycmZAP/t5BvFJTK0viFmSUxiUKTUplWy5vt+rvKIxg== - dependencies: - are-we-there-yet "^3.0.0" - console-control-strings "^1.1.0" - gauge "^4.0.3" - set-blocking "^2.0.0" - ntee@^2.0.0: version "2.0.0" resolved "https://registry.yarnpkg.com/ntee/-/ntee-2.0.0.tgz#8c1e7410d9ae9b3a026f57ef1b8dabf8a0d8dd21" @@ -17650,7 +17605,7 @@ playwright@^1.49.0: optionalDependencies: fsevents "2.3.2" -plist@^3.0.4, plist@^3.0.5, plist@^3.1.0: +plist@3.1.0, plist@^3.0.4, plist@^3.0.5, plist@^3.1.0: version "3.1.0" resolved "https://registry.yarnpkg.com/plist/-/plist-3.1.0.tgz#797a516a93e62f5bde55e0b9cc9c967f860893c9" integrity sha512-uysumyrvkUX0rX/dEVqt8gC3sTBzd4zoWfLeS29nb53imdaXVvLINYXTI2GNqzaMuvacNx4uJQ8+b3zXR0pkgQ== @@ -21015,16 +20970,7 @@ strict-uri-encode@^2.0.0: resolved "https://registry.yarnpkg.com/strict-uri-encode/-/strict-uri-encode-2.0.0.tgz#b9c7330c7042862f6b142dc274bbcc5866ce3546" integrity sha512-QwiXZgpRcKkhTj2Scnn++4PKtWsH0kpzZ62L2R6c/LUVYv7hVnZqcg2+sMuT6R7Jusu1vviK/MFsu6kNJfWlEQ== -"string-width-cjs@npm:string-width@^4.2.0": - version "4.2.3" - resolved "https://registry.yarnpkg.com/string-width/-/string-width-4.2.3.tgz#269c7117d27b05ad2e536830a8ec895ef9c6d010" - integrity sha512-wKyQRQpjJ0sIp62ErSZdGsjMJWsap5oRNihHhu6G7JVO/9jIB6UyevL+tXuOqrng8j/cxKTWyWUwvSTriiZz/g== - dependencies: - emoji-regex "^8.0.0" - is-fullwidth-code-point "^3.0.0" - strip-ansi "^6.0.1" - -"string-width@^1.0.2 || 2 || 3 || 4", string-width@^4.1.0, string-width@^4.2.0, string-width@^4.2.3: +"string-width-cjs@npm:string-width@^4.2.0", string-width@^4.1.0, string-width@^4.2.0, string-width@^4.2.3: version "4.2.3" resolved "https://registry.yarnpkg.com/string-width/-/string-width-4.2.3.tgz#269c7117d27b05ad2e536830a8ec895ef9c6d010" integrity sha512-wKyQRQpjJ0sIp62ErSZdGsjMJWsap5oRNihHhu6G7JVO/9jIB6UyevL+tXuOqrng8j/cxKTWyWUwvSTriiZz/g== @@ -21550,7 +21496,7 @@ tar-stream@^2.1.4: inherits "^2.0.3" readable-stream "^3.1.1" -tar@^6.0.5, tar@^6.1.11, tar@^6.1.12, tar@^6.1.2, tar@^6.2.0, tar@^6.2.1: +tar@^6.0.5, tar@^6.1.11, tar@^6.1.12, tar@^6.2.0, tar@^6.2.1: version "6.2.1" resolved "https://registry.yarnpkg.com/tar/-/tar-6.2.1.tgz#717549c541bc3c2af15751bea94b1dd068d4b03a" integrity sha512-DZ4yORTwrbTj/7MZYq2w+/ZFdI6OZ/f9SFHR+71gIVUZhOQPHzVCLpvRnPgyaMpfWxxk/4ONva3GQSyNIKRv6A== @@ -21734,6 +21680,13 @@ timsort@^0.3.0: resolved "https://registry.yarnpkg.com/timsort/-/timsort-0.3.0.tgz#405411a8e7e6339fe64db9a234de11dc31e02bd4" integrity sha512-qsdtZH+vMoCARQtyod4imc2nIJwg9Cc7lPRrw9CzF8ZKR0khdr8+2nX80PBhET3tcyTtJDxAffGh2rXH4tyU8A== +tiny-async-pool@1.3.0: + version "1.3.0" + resolved "https://registry.yarnpkg.com/tiny-async-pool/-/tiny-async-pool-1.3.0.tgz#c013e1b369095e7005db5595f95e646cca6ef8a5" + integrity sha512-01EAw5EDrcVrdgyCLgoSPvqznC0sVxDSVeiOz09FUpjh71G79VCqneOr+xvt7T1r76CF6ZZfPjHorN2+d+3mqA== + dependencies: + semver "^5.5.0" + tiny-case@^1.0.3: version "1.0.3" resolved "https://registry.yarnpkg.com/tiny-case/-/tiny-case-1.0.3.tgz#d980d66bc72b5d5a9ca86fb7c9ffdb9c898ddd03" @@ -23377,13 +23330,6 @@ why-is-node-running@^2.3.0: siginfo "^2.0.0" stackback "0.0.2" -wide-align@^1.1.5: - version "1.1.5" - resolved "https://registry.yarnpkg.com/wide-align/-/wide-align-1.1.5.tgz#df1d4c206854369ecf3c9a4898f1b23fbd9d15d3" - integrity sha512-eDMORYaPNZ4sQIuuYPDHdQvf4gyCF9rEEV/yPxGfwPkRodwEgiMUUXTx/dex+Me0wxx53S+NgUHaP7y3MGlDmg== - dependencies: - string-width "^1.0.2 || 2 || 3 || 4" - window-size@0.1.4: version "0.1.4" resolved "https://registry.yarnpkg.com/window-size/-/window-size-0.1.4.tgz#f8e1aa1ee5a53ec5bf151ffa09742a6ad7697876"