Pipetting robot

asyncroscopy/instruments/pipetting_robot/opentrons.py

@@ -0,0 +1,235 @@
+'''
+Opentrons Pipetting Robot Tango Device
+'''
+
+import tango
+import numpy as np
+
+from asyncroscopy.instruments.instrument import Instrument
+
+
+class Opentrons(Instrument):
+    """Opentrons pipetting robot device."""
+    # ------------------------------------------------------------------
+    # Instrument level Device properties — configure in Tango DB per deployment
+    # ------------------------------------------------------------------
+    data_device_address = tango.server.device_property(
+        dtype=str,
+        default_value="",
+        doc="Optional Tango device address for the DATA device, e.g. 'asyncroscopy/data/default'.",
+    )
+
+    testing_mode_bool = tango.server.device_property(
+        dtype=bool, 
+        default_value=False,
+        doc="When True - used for running tests, passed in conftest.py")
+
+    # ------------------------------------------------------------------
+    # Instrument Attributes
+    # ------------------------------------------------------------------
+
+    instrument_type = tango.server.attribute(
+        label="Instrument Type",
+        dtype=str,
+        access=tango.AttrWriteType.READ,
+        doc="Opentrons",
+    )
+
+    location_x = tango.server.attribute(
+        label="Robot X Position",
+        dtype=float,
+        access=tango.AttrWriteType.READ,
+        unit = "",
+        doc="Current tip grabber position in the X direction in xunits",
+    )
+
+    location_y = tango.server.attribute(
+        label="Robot Y Position",
+        dtype=float,
+        access=tango.AttrWriteType.READ,
+        unit = "",
+        doc="Current tip grabber position in the Y direction in xunits",
+    )
+
+    location_z = tango.server.attribute(
+        label="Robot Z Position",
+        dtype=float,
+        access=tango.AttrWriteType.READ,
+        unit = "",
+        doc="Current tip grabber position in the Z direction in xunits",
+    )
+
+    has_tip = tango.server.attribute(
+        label="Robot Z Position",
+        dtype=bool,
+        access=tango.AttrWriteType.READ,
+        doc="Indicates if the robot has picked up a pipette tip or if the pipette holder is empty",
+    )
+
+    # ------------------------------------------------------------------
+    # Initialization
+    # ------------------------------------------------------------------
+    def init_device(self) -> None:
+        tango.server.Device.init_device(self)
+        self.set_state(tango.DevState.INIT)
+
+        self._init_device_attributes()
+        self._connect()
+
+    # ------------------------------------------------------------------
+    # Instrument methods
+    # ------------------------------------------------------------------
+    @abstractmethod
+    def read_instrument_type(self) -> str:
+        pass
+
+    @abstractmethod
+    def _init_device_attributes(self) -> None:
+        """
+        Initialize device-specific attributes.
+
+        Define attributes that are specific to a particular instrument type (STEMMicroscope, SPMMicroscope, etc.).
+        """
+        pass
+
+    @abstractmethod
+    def _connect(self):
+        pass
+
+    @abstractmethod
+    def _disconnect(self):
+        pass
+
+    @abstractmethod
+    def _pick_up_tip(self):
+        #pick up tip if robot does not already have tip
+        self.pick_up_tip(location, presses, increment, prep_after)
+        pass
+
+    @abstractmethod
+    def _return_tip(self):
+        #try to drop tip if robot is holding a tip
+        self.return_tip(home_after)
+        pass
+
+    @abstractmethod
+    def _transfer(self):
+        #try to drop tip if robot is holding a tip
+        self.transfer(volume, source, dest)
+        pass
+
+
+    # ------------------------------------------------------------------
+    # Commands
+    # ------------------------------------------------------------------
+
+    @tango.server.command
+    def Connect(self) -> None:
+        """
+        Explicitly (re)connect to Opentrons hardware. Useful after a fault.
+        """
+        self._connect()
+
+    @tango.server.command
+    def Disconnect(self) -> None:
+        """Disconnect from Opentrons hardware gracefully."""
+        self.set_state(tango.server.DevState.OFF)
+        self._disconnect()
+
+
+    @tango.server.command
+    def pick_up_tip(self) -> None:
+        """
+
+        """
+        self._pick_up_tip()
+        self.has_tip()
+
+
+
+
+class TemperatureModule(Instrument):
+    """Temperature Module located within Opentrons pipetting robot device."""
+    # ------------------------------------------------------------------
+    # Instrument level Device properties — configure in Tango DB per deployment
+    # ------------------------------------------------------------------
+    data_device_address = tango.server.device_property(
+        dtype=str,
+        default_value="",
+        doc="Optional Tango device address for the DATA device, e.g. 'asyncroscopy/data/default'.",
+    )
+
+    testing_mode_bool = tango.server.device_property(
+        dtype=bool, 
+        default_value=False,
+        doc="When True - used for running tests, passed in conftest.py")
+
+    # ------------------------------------------------------------------
+    # Instrument Attributes
+    # ------------------------------------------------------------------
+
+    instrument_type = tango.server.attribute(
+        label="Instrument Type",
+        dtype=str,
+        access=tango.AttrWriteType.READ,
+        doc="Opentrons",
+    )
+
+    temperature = tango.server.attribute(
+        label="Robot X Position",
+        dtype=float,
+        access=tango.AttrWriteType.READ,
+        unit = "degrees C",
+        doc="Current tip grabber position in the X direction in xunits",
+    )
+
+    # ------------------------------------------------------------------
+    # Initialization
+    # ------------------------------------------------------------------
+    def init_device(self) -> None:
+        tango.server.Device.init_device(self)
+        self.set_state(tango.DevState.INIT)
+
+        self._init_device_attributes()
+        self._connect()
+
+    # ------------------------------------------------------------------
+    # Instrument methods
+    # ------------------------------------------------------------------
+    @abstractmethod
+    def read_instrument_type(self) -> str:
+        pass
+
+    @abstractmethod
+    def _init_device_attributes(self) -> None:
+        """
+        Initialize device-specific attributes.
+
+        Define attributes that are specific to a particular instrument type (STEMMicroscope, SPMMicroscope, etc.).
+        """
+        pass
+
+    @abstractmethod
+    def _connect(self):
+        pass
+
+    @abstractmethod
+    def _disconnect(self):
+        pass
+
+    # ------------------------------------------------------------------
+    # Commands
+    # ------------------------------------------------------------------
+
+    @tango.server.command
+    def Connect(self) -> None:
+        """
+        Explicitly (re)connect to Opentrons hardware. Useful after a fault.
+        """
+        self._connect()
+
+    @tango.server.command
+    def Disconnect(self) -> None:
+        """Disconnect from Opentrons hardware gracefully."""
+        self.set_state(tango.server.DevState.OFF)
+        self._disconnect()