Added height offset to remove&replace lids

AD-SDL · May 3, 2024 · cedee65 · cedee65
1 parent f27c217
commit cedee65
Showing 1 changed file with 32 additions and 6 deletions.
diff --git a/src/platecrane_rest_node.py b/src/platecrane_rest_node.py
@@ -215,6 +215,8 @@ def do_action(action_handle: str, action_vars):
     print("Target location: " + str(target))
     plate_type = action_args.get("plate_type", "96_well")
     print("Plate type: " + str(target))
+    height_offset = action_args.get("height_offset", 0)
+    print("Height Offset: " + str(height_offset))
 
     if action_handle == "transfer":
         print("Starting the transfer request")
@@ -229,9 +231,6 @@ def do_action(action_handle: str, action_vars):
             print("Please provide source and target transfer types!")
             state = ModuleStatus.ERROR
 
-        height_offset = action_args.get("height_offset", 0)
-        print("Height Offset: " + str(height_offset))
-
         try:
             platecrane.transfer(
                 source,
@@ -252,9 +251,15 @@ def do_action(action_handle: str, action_vars):
             state = ModuleStatus.IDLE
         print("Finished Action: " + action_handle.upper())
         return response
+
     elif action_handle == "remove_lid":
         try:
-            platecrane.remove_lid(source=source, target=target, plate_type=plate_type)
+            platecrane.remove_lid(
+                source=source,
+                target=target,
+                plate_type=plate_type,
+                height_offset=height_offset,
+            )
         except Exception as err:
             response.action_response = StepStatus.FAILED
             response.action_log = "Remove lid failed. Error:" + str(err)
@@ -266,17 +271,38 @@ def do_action(action_handle: str, action_vars):
             state = ModuleStatus.IDLE
         print("Finished Action: " + action_handle.upper())
         return response
+
     elif action_handle == "replace_lid":
         try:
-            platecrane.replace_lid(source=source, target=target, plate_type=plate_type)
+            platecrane.replace_lid(
+                source=source,
+                target=target,
+                plate_type=plate_type,
+                height_offset=height_offset,
+            )
         except Exception as err:
             response.action_response = StepStatus.FAILED
             response.action_log = "Replace lid failed. Error:" + str(err)
             print(str(err))
             state = ModuleStatus.ERROR
         else:
             response.action_response = StepStatus.SUCCEEDED
-            response.action_msg = "Replace lid  successfully completed"
+            response.action_msg = "Replace lid successfully completed"
+            state = ModuleStatus.IDLE
+        print("Finished Action: " + action_handle.upper())
+        return response
+
+    elif action_handle == "move_safe":
+        try:
+            platecrane.move_location("Safe")
+        except Exception as err:
+            response.action_response = StepStatus.FAILED
+            response.action_log = "Move Safe Failed. Error:" + str(err)
+            print(str(err))
+            state = ModuleStatus.ERROR
+        else:
+            response.action_response = StepStatus.SUCCEEDED
+            response.action_msg = "Move Safe successfully completed"
             state = ModuleStatus.IDLE
         print("Finished Action: " + action_handle.upper())
         return response