From a969fa34c17f2eed66febb9c42d354caac88ee42 Mon Sep 17 00:00:00 2001 From: ahiuchingau <20424172+ahiuchingau@users.noreply.github.com> Date: Tue, 30 Apr 2024 17:31:54 -0400 Subject: [PATCH] add absorbance reader command to protocol engine protocol eng commands draft initialize and initiate_read to protocol_api add initialize to module control add absorbance_reader/initialize absorbance_reader/measure draft2 add absorbance reader module context fix lint update protocol commands add addresseable areas for abs plate reader save abs reader in deck config add types --- api-client/src/modules/api-types.ts | 8 + api-client/src/modules/types.ts | 10 + .../drivers/absorbance_reader/async_byonoy.py | 4 +- .../hardware_control/modules/__init__.py | 2 + .../modules/absorbance_reader.py | 26 +- .../hardware_control/modules/types.py | 9 + api/src/opentrons/protocol_api/core/common.py | 2 + .../protocol_api/core/engine/module_core.py | 21 + .../protocol_api/core/engine/protocol.py | 2 + api/src/opentrons/protocol_api/core/module.py | 18 + .../opentrons/protocol_api/module_contexts.py | 29 + .../protocol_api/protocol_context.py | 5 + api/src/opentrons/protocol_api/validation.py | 2 + .../protocol_engine/clients/sync_client.py | 28 + .../commands/absorbance_reader/__init__.py | 32 + .../commands/absorbance_reader/initialize.py | 81 + .../commands/absorbance_reader/measure.py | 94 + .../commands/command_unions.py | 11 + .../protocol_engine/execution/equipment.py | 9 + .../state/module_substates/__init__.py | 5 +- .../absorbance_reader_substate.py | 9 +- .../protocol_engine/state/modules.py | 25 + api/src/opentrons/protocol_engine/types.py | 12 + .../AddFixtureModal.tsx | 20 + .../modules/module_data_mapper.py | 13 + .../robot_server/modules/module_models.py | 42 + .../deck/definitions/5/ot3_standard.json | 63 + shared-data/deck/types/schemaV5.ts | 5 + shared-data/js/constants.ts | 30 + shared-data/js/fixtures.ts | 8 + shared-data/js/modules.ts | 5 + shared-data/js/types.ts | 6 + .../definitions/3/absorbanceReaderV1.json | 3685 +---------------- 33 files changed, 721 insertions(+), 3600 deletions(-) create mode 100644 api/src/opentrons/protocol_engine/commands/absorbance_reader/__init__.py create mode 100644 api/src/opentrons/protocol_engine/commands/absorbance_reader/initialize.py create mode 100644 api/src/opentrons/protocol_engine/commands/absorbance_reader/measure.py diff --git a/api-client/src/modules/api-types.ts b/api-client/src/modules/api-types.ts index 68c4f3f26e7e..72e2a570f6a7 100644 --- a/api-client/src/modules/api-types.ts +++ b/api-client/src/modules/api-types.ts @@ -79,6 +79,12 @@ export interface HeaterShakerData { errorDetails: string | null status: HeaterShakerStatus } +export interface AbsorbanceReaderData { + lidStatus: 'open' | 'closed' | 'unknown' + platePresence: 'present' | 'absent' | 'unknown' + sampleWavelength: number | null + status: AbsorbanceReaderStatus +} export type TemperatureStatus = | 'idle' @@ -111,3 +117,5 @@ export type LatchStatus = | 'idle_closed' | 'idle_unknown' | 'unknown' + + export type AbsorbanceReaderStatus = 'idle' | 'measuring' | 'error' diff --git a/api-client/src/modules/types.ts b/api-client/src/modules/types.ts index f138680dafdd..7aaf48030ca8 100644 --- a/api-client/src/modules/types.ts +++ b/api-client/src/modules/types.ts @@ -3,13 +3,16 @@ import type { ThermocyclerModuleModel, MagneticModuleModel, HeaterShakerModuleModel, + AbsorbanceReaderModel, TEMPERATURE_MODULE_TYPE, MAGNETIC_MODULE_TYPE, THERMOCYCLER_MODULE_TYPE, HEATERSHAKER_MODULE_TYPE, + ABSORBANCE_READER_TYPE, } from '@opentrons/shared-data' import type * as ApiTypes from './api-types' +import { A } from 'vitest/dist/reporters-1evA5lom' export * from './api-types' @@ -44,11 +47,18 @@ export interface HeaterShakerModule extends CommonModuleInfo { data: ApiTypes.HeaterShakerData } +export interface AbsorbanceReaderModule extends CommonModuleInfo { + moduleType: typeof ABSORBANCE_READER_TYPE + moduleModel: AbsorbanceReaderModel + data: ApiTypes.AbsorbanceReaderData +} + export type AttachedModule = | TemperatureModule | MagneticModule | ThermocyclerModule | HeaterShakerModule + | AbsorbanceReaderModule export interface ModulesMeta { cursor: number diff --git a/api/src/opentrons/drivers/absorbance_reader/async_byonoy.py b/api/src/opentrons/drivers/absorbance_reader/async_byonoy.py index 1d5465db3422..b38c8f2e9105 100644 --- a/api/src/opentrons/drivers/absorbance_reader/async_byonoy.py +++ b/api/src/opentrons/drivers/absorbance_reader/async_byonoy.py @@ -5,7 +5,6 @@ from concurrent.futures.thread import ThreadPoolExecutor from functools import partial from typing import Optional, List, Dict -import usb.core as usb_core # type: ignore[import-untyped] from .hid_protocol import AbsorbanceHidInterface as AbsProtocol, ErrorCodeNames @@ -36,6 +35,8 @@ def serial_number_from_port(name: str) -> str: """ Get the serial number from a port using pyusb. """ + import usb.core as usb_core # type: ignore[import-untyped] + port_numbers = tuple(int(s) for s in name.split("-")[1].split(".")) device = usb_core.find(port_numbers=port_numbers) if device: @@ -232,6 +233,7 @@ async def get_device_static_info(self) -> Dict[str, str]: return { "serial": self._device.sn, "model": "ABS96", + "version": "1.0", } async def get_device_information(self) -> Dict[str, str]: diff --git a/api/src/opentrons/hardware_control/modules/__init__.py b/api/src/opentrons/hardware_control/modules/__init__.py index 3e4c14f0baf5..9bac782ef364 100644 --- a/api/src/opentrons/hardware_control/modules/__init__.py +++ b/api/src/opentrons/hardware_control/modules/__init__.py @@ -19,6 +19,7 @@ TemperatureStatus, MagneticStatus, HeaterShakerStatus, + AbsorbanceReaderStatus, SpeedStatus, LiveData, ) @@ -47,4 +48,5 @@ "SpeedStatus", "LiveData", "AbsorbanceReader", + "AbsorbanceReaderStatus", ] diff --git a/api/src/opentrons/hardware_control/modules/absorbance_reader.py b/api/src/opentrons/hardware_control/modules/absorbance_reader.py index 8f3c65e3acea..55c7932f3cd6 100644 --- a/api/src/opentrons/hardware_control/modules/absorbance_reader.py +++ b/api/src/opentrons/hardware_control/modules/absorbance_reader.py @@ -7,6 +7,11 @@ AbsorbanceReaderDriver, SimulatingDriver, ) +from opentrons.drivers.types import ( + AbsorbanceReaderLidStatus, + AbsorbanceReaderPlatePresence, +) + from opentrons.hardware_control.execution_manager import ExecutionManager from opentrons.hardware_control.modules import mod_abc from opentrons.hardware_control.modules.types import ( @@ -83,6 +88,14 @@ def status(self) -> AbsorbanceReaderStatus: """Return some string describing status.""" return AbsorbanceReaderStatus.IDLE + @property + def lid_status(self) -> AbsorbanceReaderLidStatus: + return AbsorbanceReaderLidStatus.UNKNOWN + + @property + def plate_presence(self) -> AbsorbanceReaderPlatePresence: + return AbsorbanceReaderPlatePresence.UNKNOWN + @property def device_info(self) -> Mapping[str, str]: """Return a dict of the module's static information (serial, etc)""" @@ -92,8 +105,10 @@ def device_info(self) -> Mapping[str, str]: def live_data(self) -> LiveData: """Return a dict of the module's dynamic information""" return { - "status": "idle", + "status": self.status.value, "data": { + "lidStatus": self.lid_status.value, + "platePresence": self.plate_presence.value, "sampleWavelength": 400, }, } @@ -159,9 +174,10 @@ async def set_sample_wavelength(self, wavelength: int) -> None: """Set the Absorbance Reader's active wavelength.""" await self._driver.initialize_measurement(wavelength) - async def start_measure(self, wavelength: int) -> None: + async def start_measure(self, wavelength: int) -> List[float]: """Initiate a single measurement.""" - await self._driver.get_single_measurement(wavelength) + measurement = await self._driver.get_single_measurement(wavelength) + return measurement async def get_supported_wavelengths(self) -> List[int]: """Get the Absorbance Reader's supported wavelengths.""" @@ -170,3 +186,7 @@ async def get_supported_wavelengths(self) -> List[int]: async def get_current_wavelength(self) -> None: """Get the Absorbance Reader's current active wavelength.""" pass + + async def get_lid_status(self) -> AbsorbanceReaderLidStatus: + """Get the Absorbance Reader's lid status.""" + return await self._driver.get_lid_status() diff --git a/api/src/opentrons/hardware_control/modules/types.py b/api/src/opentrons/hardware_control/modules/types.py index e538e603f8d0..1382961dc21a 100644 --- a/api/src/opentrons/hardware_control/modules/types.py +++ b/api/src/opentrons/hardware_control/modules/types.py @@ -80,6 +80,8 @@ def to_module_fixture_id(cls, module_type: ModuleType) -> str: return "heaterShakerModuleV1" if module_type == ModuleType.MAGNETIC_BLOCK: return "magneticBlockV1" + if module_type == ModuleType.ABSORBANCE_READER: + return "absorbanceReaderV1" else: raise ValueError( f"Module Type {module_type} does not have a related fixture ID." @@ -210,3 +212,10 @@ class AbsorbanceReaderStatus(str, Enum): IDLE = "idle" MEASURING = "measuring" ERROR = "error" + + +class LidStatus(str, Enum): + ON = "on" + OFF = "off" + UNKNOWN = "unknown" + ERROR = "error" diff --git a/api/src/opentrons/protocol_api/core/common.py b/api/src/opentrons/protocol_api/core/common.py index 1df2542ff0ca..5a63abb46b3f 100644 --- a/api/src/opentrons/protocol_api/core/common.py +++ b/api/src/opentrons/protocol_api/core/common.py @@ -10,6 +10,7 @@ AbstractThermocyclerCore, AbstractHeaterShakerCore, AbstractMagneticBlockCore, + AbstractAbsorbanceReaderCore, ) from .protocol import AbstractProtocol from .well import AbstractWellCore @@ -24,4 +25,5 @@ ThermocyclerCore = AbstractThermocyclerCore HeaterShakerCore = AbstractHeaterShakerCore MagneticBlockCore = AbstractMagneticBlockCore +AbsorbanceReaderCore = AbstractAbsorbanceReaderCore ProtocolCore = AbstractProtocol[InstrumentCore, LabwareCore, ModuleCore] diff --git a/api/src/opentrons/protocol_api/core/engine/module_core.py b/api/src/opentrons/protocol_api/core/engine/module_core.py index d0c395358050..67e67cc88f58 100644 --- a/api/src/opentrons/protocol_api/core/engine/module_core.py +++ b/api/src/opentrons/protocol_api/core/engine/module_core.py @@ -33,6 +33,7 @@ AbstractThermocyclerCore, AbstractHeaterShakerCore, AbstractMagneticBlockCore, + AbstractAbsorbanceReaderCore, ) from .exceptions import InvalidMagnetEngageHeightError @@ -467,3 +468,23 @@ def get_labware_latch_status(self) -> HeaterShakerLabwareLatchStatus: class MagneticBlockCore(NonConnectedModuleCore, AbstractMagneticBlockCore): """Magnetic Block control interface via a ProtocolEngine.""" + + +class AbsorbanceReaderCore(ModuleCore, AbstractAbsorbanceReaderCore): + """Absorbance Reader core logic implementation for Python protocols.""" + + _sync_module_hardware: SynchronousAdapter[hw_modules.AbsorbanceReader] + _initialized_value: Optional[int] = None + + def initialize(self, wavelength: int) -> None: + """Initialize the Absorbance Reader by taking zero reading.""" + self._engine_client.absorbance_reader_initialize( + module_id=self.module_id, wavelength=wavelength + ) + + def initiate_read(self) -> None: + """Initiate read on the Absorbance Reader.""" + if self._initialized_value: + self._engine_client.absorbance_reader_measure( + module_id=self.module_id, wavelength=self._initialized_value + ) diff --git a/api/src/opentrons/protocol_api/core/engine/protocol.py b/api/src/opentrons/protocol_api/core/engine/protocol.py index 4089dff4b4d1..ed9ba0c5eeec 100644 --- a/api/src/opentrons/protocol_api/core/engine/protocol.py +++ b/api/src/opentrons/protocol_api/core/engine/protocol.py @@ -64,6 +64,7 @@ HeaterShakerModuleCore, NonConnectedModuleCore, MagneticBlockCore, + AbsorbanceReaderCore, ) from .exceptions import InvalidModuleLocationError from . import load_labware_params @@ -455,6 +456,7 @@ def _create_module_core( ModuleType.MAGNETIC: MagneticModuleCore, ModuleType.THERMOCYCLER: ThermocyclerModuleCore, ModuleType.HEATER_SHAKER: HeaterShakerModuleCore, + ModuleType.ABSORBANCE_READER: AbsorbanceReaderCore, } module_type = load_module_result.model.as_type() diff --git a/api/src/opentrons/protocol_api/core/module.py b/api/src/opentrons/protocol_api/core/module.py index b26a2ce91c81..004bd5c85b61 100644 --- a/api/src/opentrons/protocol_api/core/module.py +++ b/api/src/opentrons/protocol_api/core/module.py @@ -343,3 +343,21 @@ class AbstractMagneticBlockCore(AbstractModuleCore): """Core control interface for an attached Magnetic Block.""" MODULE_TYPE: ClassVar = ModuleType.MAGNETIC_BLOCK + + +class AbstractAbsorbanceReaderCore(AbstractModuleCore): + """Core control interface for an attached Absorbance Reader Module.""" + + MODULE_TYPE: ClassVar = ModuleType.ABSORBANCE_READER + + @abstractmethod + def get_serial_number(self) -> str: + """Get the module's unique hardware serial number.""" + + @abstractmethod + def initialize(self, wavelength: int) -> None: + """Initialize the Absorbance Reader by taking zero reading.""" + + @abstractmethod + def initiate_read(self) -> None: + """Initiate read on the Absorbance Reader.""" diff --git a/api/src/opentrons/protocol_api/module_contexts.py b/api/src/opentrons/protocol_api/module_contexts.py index 654a6ec46c14..6cbb6e2295e0 100644 --- a/api/src/opentrons/protocol_api/module_contexts.py +++ b/api/src/opentrons/protocol_api/module_contexts.py @@ -22,6 +22,7 @@ ThermocyclerCore, HeaterShakerCore, MagneticBlockCore, + AbsorbanceReaderCore, ) from .core.core_map import LoadedCoreMap from .core.engine import ENGINE_CORE_API_VERSION @@ -955,3 +956,31 @@ class MagneticBlockContext(ModuleContext): """ _core: MagneticBlockCore + + +class AbsorbanceReaderContext(ModuleContext): + """An object representing a connected Absorbance Reader Module. + + It should not be instantiated directly; instead, it should be + created through :py:meth:`.ProtocolContext.load_module`. + + .. versionadded:: 2.17 + """ + + _core: AbsorbanceReaderCore + + @property + @requires_version(2, 17) + def get_serial_number(self) -> str: + """Get the module's unique hardware serial number.""" + return self._core.get_serial_number() + + @requires_version(2, 17) + def initialize(self, wavelength: int) -> None: + """Initialize the Absorbance Reader by taking zero reading.""" + self._core.initialize(wavelength) + + @requires_version(2, 17) + def initiate_read(self) -> None: + """Initiate read on the Absorbance Reader.""" + self._core.initiate_read() diff --git a/api/src/opentrons/protocol_api/protocol_context.py b/api/src/opentrons/protocol_api/protocol_context.py index feb8f56d91c0..2c5a6caf086c 100644 --- a/api/src/opentrons/protocol_api/protocol_context.py +++ b/api/src/opentrons/protocol_api/protocol_context.py @@ -50,6 +50,7 @@ AbstractThermocyclerCore, AbstractHeaterShakerCore, AbstractMagneticBlockCore, + AbstractAbsorbanceReaderCore, ) from .core.engine import ENGINE_CORE_API_VERSION from .core.legacy.legacy_protocol_core import LegacyProtocolCore @@ -66,6 +67,7 @@ ThermocyclerContext, HeaterShakerContext, MagneticBlockContext, + AbsorbanceReaderContext, ModuleContext, ) from ._parameters import Parameters @@ -80,6 +82,7 @@ ThermocyclerContext, HeaterShakerContext, MagneticBlockContext, + AbsorbanceReaderContext, ] @@ -1204,6 +1207,8 @@ def _create_module_context( module_cls = HeaterShakerContext elif isinstance(module_core, AbstractMagneticBlockCore): module_cls = MagneticBlockContext + elif isinstance(module_core, AbstractAbsorbanceReaderCore): + module_cls = AbsorbanceReaderContext else: assert False, "Unsupported module type" diff --git a/api/src/opentrons/protocol_api/validation.py b/api/src/opentrons/protocol_api/validation.py index eb72c6b6dfdf..e1c1902023fe 100644 --- a/api/src/opentrons/protocol_api/validation.py +++ b/api/src/opentrons/protocol_api/validation.py @@ -29,6 +29,7 @@ ThermocyclerModuleModel, HeaterShakerModuleModel, MagneticBlockModel, + AbsorbanceReaderModel, ThermocyclerStep, ) @@ -272,6 +273,7 @@ def ensure_definition_is_labware(definition: LabwareDefinition) -> None: "thermocyclerModuleV2": ThermocyclerModuleModel.THERMOCYCLER_V2, "heaterShakerModuleV1": HeaterShakerModuleModel.HEATER_SHAKER_V1, "magneticBlockV1": MagneticBlockModel.MAGNETIC_BLOCK_V1, + "absorbanceReaderV1": AbsorbanceReaderModel.ABSORBANCE_READER_V1, } diff --git a/api/src/opentrons/protocol_engine/clients/sync_client.py b/api/src/opentrons/protocol_engine/clients/sync_client.py index ed6a499090bd..ccd92b1aa8d1 100644 --- a/api/src/opentrons/protocol_engine/clients/sync_client.py +++ b/api/src/opentrons/protocol_engine/clients/sync_client.py @@ -873,3 +873,31 @@ def load_liquid( ) result = self._transport.execute_command(request=request) return cast(commands.LoadLiquidResult, result) + + def absorbance_reader_initialize( + self, + module_id: str, + wavelength: int, + ) -> commands.absorbance_reader.InitializeResult: + """Execute a `absorbanceReader/initialize` command and return the result.""" + request = commands.absorbance_reader.InitializeCreate( + params=commands.absorbance_reader.InitializeParams( + moduleId=module_id, sampleWavelength=wavelength + ) + ) + result = self._transport.execute_command(request=request) + return cast(commands.absorbance_reader.InitializeResult, result) + + def absorbance_reader_measure( + self, + module_id: str, + wavelength: int, + ) -> commands.absorbance_reader.MeasureAbsorbanceResult: + """Execute a `absorbanceReader/measure` command and return the result.""" + request = commands.absorbance_reader.MeasureAbsorbanceCreate( + params=commands.absorbance_reader.MeasureAbsorbanceParams( + moduleId=module_id, sampleWavelength=wavelength + ) + ) + result = self._transport.execute_command(request=request) + return cast(commands.absorbance_reader.MeasureAbsorbanceResult, result) diff --git a/api/src/opentrons/protocol_engine/commands/absorbance_reader/__init__.py b/api/src/opentrons/protocol_engine/commands/absorbance_reader/__init__.py new file mode 100644 index 000000000000..6f2db320b4f8 --- /dev/null +++ b/api/src/opentrons/protocol_engine/commands/absorbance_reader/__init__.py @@ -0,0 +1,32 @@ +"""Command models for Absorbance Reader commands.""" + +from .initialize import ( + InitializeCommandType, + InitializeParams, + InitializeResult, + Initialize, + InitializeCreate, +) + +from .measure import ( + MeasureAbsorbanceCommandType, + MeasureAbsorbanceParams, + MeasureAbsorbanceResult, + MeasureAbsorbance, + MeasureAbsorbanceCreate, +) + +__all__ = [ + # absorbanace_reader/initialize + "InitializeCommandType", + "InitializeParams", + "InitializeResult", + "Initialize", + "InitializeCreate", + # absorbanace_reader/measure + "MeasureAbsorbanceCommandType", + "MeasureAbsorbanceParams", + "MeasureAbsorbanceResult", + "MeasureAbsorbance", + "MeasureAbsorbanceCreate", +] diff --git a/api/src/opentrons/protocol_engine/commands/absorbance_reader/initialize.py b/api/src/opentrons/protocol_engine/commands/absorbance_reader/initialize.py new file mode 100644 index 000000000000..5e859986d908 --- /dev/null +++ b/api/src/opentrons/protocol_engine/commands/absorbance_reader/initialize.py @@ -0,0 +1,81 @@ +"""Command models to initialize an Absorbance Reader.""" +from __future__ import annotations +from typing import Optional, Literal, TYPE_CHECKING +from typing_extensions import Type + +from pydantic import BaseModel, Field + +from ..command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData +from ...errors.error_occurrence import ErrorOccurrence + +if TYPE_CHECKING: + from opentrons.protocol_engine.state import StateView + from opentrons.protocol_engine.execution import EquipmentHandler + + +InitializeCommandType = Literal["absorbanceReader/initialize"] + + +class InitializeParams(BaseModel): + """Input parameters to initialize an absorbance reading.""" + + moduleId: str = Field(..., description="Unique ID of the Thermocycler.") + sampleWavelength: int = Field(..., description="Sample wavelength in nm.") + + +class InitializeResult(BaseModel): + """Result data from initializing an aborbance reading.""" + + +class InitializeImpl( + AbstractCommandImpl[InitializeParams, SuccessData[InitializeResult, None]] +): + """Execution implementation of initializing an Absorbance Reader.""" + + def __init__( + self, + state_view: StateView, + equipment: EquipmentHandler, + **unused_dependencies: object, + ) -> None: + self._state_view = state_view + self._equipment = equipment + + async def execute( + self, params: InitializeParams + ) -> SuccessData[InitializeResult, None]: + """Initiate a single absorbance measurement.""" + abs_reader_substate = self._state_view.modules.get_absorbance_reader_substate( + module_id=params.moduleId + ) + # Allow propagation of ModuleNotAttachedError. + abs_reader = self._equipment.get_module_hardware_api( + abs_reader_substate.module_id + ) + + if abs_reader is not None: + await abs_reader.set_sample_wavelength(wavelength=params.sampleWavelength) + + return SuccessData( + public=InitializeResult(), + private=None, + ) + + +class Initialize(BaseCommand[InitializeParams, InitializeResult, ErrorOccurrence]): + """A command to initialize an Absorbance Reader.""" + + commandType: InitializeCommandType = "absorbanceReader/initialize" + params: InitializeParams + result: Optional[InitializeResult] + + _ImplementationCls: Type[InitializeImpl] = InitializeImpl + + +class InitializeCreate(BaseCommandCreate[InitializeParams]): + """A request to execute an Absorbance Reader measurement.""" + + commandType: InitializeCommandType = "absorbanceReader/initialize" + params: InitializeParams + + _CommandCls: Type[Initialize] = Initialize diff --git a/api/src/opentrons/protocol_engine/commands/absorbance_reader/measure.py b/api/src/opentrons/protocol_engine/commands/absorbance_reader/measure.py new file mode 100644 index 000000000000..6db8b6a02903 --- /dev/null +++ b/api/src/opentrons/protocol_engine/commands/absorbance_reader/measure.py @@ -0,0 +1,94 @@ +"""Command models to measure absorbance.""" +from __future__ import annotations +from typing import List, Optional, TYPE_CHECKING +from typing_extensions import Literal, Type + +from pydantic import BaseModel, Field + +from ..command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData +from ...errors.error_occurrence import ErrorOccurrence + +if TYPE_CHECKING: + from opentrons.protocol_engine.state import StateView + from opentrons.protocol_engine.execution import EquipmentHandler + + +MeasureAbsorbanceCommandType = Literal["absorbanceReader/measure"] + + +class MeasureAbsorbanceParams(BaseModel): + """Input parameters for a single absorbance reading.""" + + moduleId: str = Field(..., description="Unique ID of the Thermocycler.") + sampleWavelength: int = Field(..., description="Sample wavelength in nm.") + + +class MeasureAbsorbanceResult(BaseModel): + """Result data from running an aborbance reading.""" + + # TODO: Transform this into a more complex model, such as a map with well names. + data: Optional[List[float]] = Field( + ..., min_items=96, max_items=96, description="Absorbance data points." + ) + + +class MeasureAbsorbanceImpl( + AbstractCommandImpl[ + MeasureAbsorbanceParams, SuccessData[MeasureAbsorbanceResult, None] + ] +): + """Execution implementation of a Thermocycler's run profile command.""" + + def __init__( + self, + state_view: StateView, + equipment: EquipmentHandler, + **unused_dependencies: object, + ) -> None: + self._state_view = state_view + self._equipment = equipment + + async def execute( + self, params: MeasureAbsorbanceParams + ) -> SuccessData[MeasureAbsorbanceResult, None]: + """Initiate a single absorbance measurement.""" + abs_reader_substate = self._state_view.modules.get_absorbance_reader_substate( + module_id=params.moduleId + ) + # Allow propagation of ModuleNotAttachedError. + abs_reader = self._equipment.get_module_hardware_api( + abs_reader_substate.module_id + ) + + if abs_reader is not None: + result = await abs_reader.start_measure(wavelength=params.sampleWavelength) + return SuccessData( + public=MeasureAbsorbanceResult(data=result), + private=None, + ) + + return SuccessData( + public=MeasureAbsorbanceResult(data=None), + private=None, + ) + + +class MeasureAbsorbance( + BaseCommand[MeasureAbsorbanceParams, MeasureAbsorbanceResult, ErrorOccurrence] +): + """A command to execute an Absorbance Reader measurement.""" + + commandType: MeasureAbsorbanceCommandType = "absorbanceReader/measure" + params: MeasureAbsorbanceParams + result: Optional[MeasureAbsorbanceResult] + + _ImplementationCls: Type[MeasureAbsorbanceImpl] = MeasureAbsorbanceImpl + + +class MeasureAbsorbanceCreate(BaseCommandCreate[MeasureAbsorbanceParams]): + """A request to execute an Absorbance Reader measurement.""" + + commandType: MeasureAbsorbanceCommandType = "absorbanceReader/measure" + params: MeasureAbsorbanceParams + + _CommandCls: Type[MeasureAbsorbance] = MeasureAbsorbance diff --git a/api/src/opentrons/protocol_engine/commands/command_unions.py b/api/src/opentrons/protocol_engine/commands/command_unions.py index 9196cdf89cd3..b8a2fe336dd4 100644 --- a/api/src/opentrons/protocol_engine/commands/command_unions.py +++ b/api/src/opentrons/protocol_engine/commands/command_unions.py @@ -7,6 +7,7 @@ from .command import DefinedErrorData +from . import absorbance_reader from . import heater_shaker from . import magnetic_module from . import temperature_module @@ -357,6 +358,8 @@ thermocycler.OpenLid, thermocycler.CloseLid, thermocycler.RunProfile, + absorbance_reader.Initialize, + absorbance_reader.MeasureAbsorbance, calibration.CalibrateGripper, calibration.CalibratePipette, calibration.CalibrateModule, @@ -423,6 +426,8 @@ thermocycler.CloseLidParams, thermocycler.RunProfileParams, thermocycler.RunProfileStepParams, + absorbance_reader.InitializeParams, + absorbance_reader.MeasureAbsorbanceParams, calibration.CalibrateGripperParams, calibration.CalibratePipetteParams, calibration.CalibrateModuleParams, @@ -486,6 +491,8 @@ thermocycler.OpenLidCommandType, thermocycler.CloseLidCommandType, thermocycler.RunProfileCommandType, + absorbance_reader.InitializeCommandType, + absorbance_reader.MeasureAbsorbanceCommandType, calibration.CalibrateGripperCommandType, calibration.CalibratePipetteCommandType, calibration.CalibrateModuleCommandType, @@ -550,6 +557,8 @@ thermocycler.OpenLidCreate, thermocycler.CloseLidCreate, thermocycler.RunProfileCreate, + absorbance_reader.InitializeCreate, + absorbance_reader.MeasureAbsorbanceCreate, calibration.CalibrateGripperCreate, calibration.CalibratePipetteCreate, calibration.CalibrateModuleCreate, @@ -615,6 +624,8 @@ thermocycler.OpenLidResult, thermocycler.CloseLidResult, thermocycler.RunProfileResult, + absorbance_reader.InitializeResult, + absorbance_reader.MeasureAbsorbanceResult, calibration.CalibrateGripperResult, calibration.CalibratePipetteResult, calibration.CalibrateModuleResult, diff --git a/api/src/opentrons/protocol_engine/execution/equipment.py b/api/src/opentrons/protocol_engine/execution/equipment.py index 7dc2f3bcfaaf..d41894a4cb21 100644 --- a/api/src/opentrons/protocol_engine/execution/equipment.py +++ b/api/src/opentrons/protocol_engine/execution/equipment.py @@ -14,6 +14,7 @@ HeaterShaker, TempDeck, Thermocycler, + AbsorbanceReader, ) from opentrons.hardware_control.nozzle_manager import NozzleMap from opentrons.protocol_engine.state.module_substates import ( @@ -21,6 +22,7 @@ HeaterShakerModuleId, TemperatureModuleId, ThermocyclerModuleId, + AbsorbanceReaderId, ) from ..errors import ( FailedToLoadPipetteError, @@ -488,6 +490,13 @@ def get_module_hardware_api( ) -> Optional[Thermocycler]: ... + @overload + def get_module_hardware_api( + self, + module_id: AbsorbanceReaderId, + ) -> Optional[AbsorbanceReader]: + ... + def get_module_hardware_api(self, module_id: str) -> Optional[AbstractModule]: """Get the hardware API for a given module.""" use_virtual_modules = self._state_store.config.use_virtual_modules diff --git a/api/src/opentrons/protocol_engine/state/module_substates/__init__.py b/api/src/opentrons/protocol_engine/state/module_substates/__init__.py index 2e9b18ba17ba..3865982612be 100644 --- a/api/src/opentrons/protocol_engine/state/module_substates/__init__.py +++ b/api/src/opentrons/protocol_engine/state/module_substates/__init__.py @@ -12,7 +12,7 @@ ThermocyclerModuleId, ) from .magnetic_block_substate import MagneticBlockSubState, MagneticBlockId - +from .absorbance_reader_substate import AbsorbanceReaderSubState, AbsorbanceReaderId ModuleSubStateType = Union[ HeaterShakerModuleSubState, @@ -20,6 +20,7 @@ TemperatureModuleSubState, ThermocyclerModuleSubState, MagneticBlockSubState, + AbsorbanceReaderSubState, ] __all__ = [ @@ -33,6 +34,8 @@ "ThermocyclerModuleId", "MagneticBlockSubState", "MagneticBlockId", + "AbsorbanceReaderSubState", + "AbsorbanceReaderId", # Union of all module substates "ModuleSubStateType", ] diff --git a/api/src/opentrons/protocol_engine/state/module_substates/absorbance_reader_substate.py b/api/src/opentrons/protocol_engine/state/module_substates/absorbance_reader_substate.py index f694f798a71e..140e391cfaf7 100644 --- a/api/src/opentrons/protocol_engine/state/module_substates/absorbance_reader_substate.py +++ b/api/src/opentrons/protocol_engine/state/module_substates/absorbance_reader_substate.py @@ -1,6 +1,6 @@ """Heater-Shaker Module sub-state.""" from dataclasses import dataclass -from typing import List, NewType, Optional +from typing import NewType AbsorbanceReaderId = NewType("AbsorbanceReaderId", str) @@ -11,10 +11,3 @@ class AbsorbanceReaderSubState: """Absorbance-Plate-Reader-specific state.""" module_id: AbsorbanceReaderId - initialized: bool - is_lid_open: bool - is_loaded: bool - is_measuring: bool - temperature: float - sample_wavelength: Optional[int] - supported_wavelengths: Optional[List[int]] diff --git a/api/src/opentrons/protocol_engine/state/modules.py b/api/src/opentrons/protocol_engine/state/modules.py index 0e79dd53cf25..052d69876735 100644 --- a/api/src/opentrons/protocol_engine/state/modules.py +++ b/api/src/opentrons/protocol_engine/state/modules.py @@ -62,10 +62,12 @@ HeaterShakerModuleSubState, TemperatureModuleSubState, ThermocyclerModuleSubState, + AbsorbanceReaderSubState, MagneticModuleId, HeaterShakerModuleId, TemperatureModuleId, ThermocyclerModuleId, + AbsorbanceReaderId, MagneticBlockSubState, MagneticBlockId, ModuleSubStateType, @@ -321,6 +323,10 @@ def _add_module_substate( self._state.substate_by_module_id[module_id] = MagneticBlockSubState( module_id=MagneticBlockId(module_id) ) + elif ModuleModel.is_absorbance_reader(actual_model): + self._state.substate_by_module_id[module_id] = AbsorbanceReaderSubState( + module_id=AbsorbanceReaderId(module_id) + ) def _update_additional_slots_occupied_by_thermocycler( self, @@ -644,6 +650,22 @@ def get_thermocycler_module_substate( expected_name="Thermocycler Module", ) + def get_absorbance_reader_substate( + self, module_id: str + ) -> AbsorbanceReaderSubState: + """Return a `AbsorbanceReaderSubState` for the given Absorbance Reader. + + Raises: + ModuleNotLoadedError: If module_id has not been loaded. + WrongModuleTypeError: If module_id has been loaded, + but it's not an Absorbance Reader. + """ + return self._get_module_substate( + module_id=module_id, + expected_type=AbsorbanceReaderSubState, + expected_name="Thermocycler Module", + ) + def get_location(self, module_id: str) -> DeckSlotLocation: """Get the slot location of the given module.""" location = self.get(module_id).location @@ -1187,6 +1209,9 @@ def ensure_and_convert_module_fixture_location( ] elif model == ModuleModel.THERMOCYCLER_MODULE_V2: return "thermocyclerModuleV2" + elif model == ModuleModel.ABSORBANCE_READER_V1: + valid_slots = ["A3", "B3", "C3", "D3"] + return "absorbanceReaderV1D3" else: raise ValueError( f"Unknown module {model.name} has no addressable areas to provide." diff --git a/api/src/opentrons/protocol_engine/types.py b/api/src/opentrons/protocol_engine/types.py index 77ab6231b71a..65936d689dcd 100644 --- a/api/src/opentrons/protocol_engine/types.py +++ b/api/src/opentrons/protocol_engine/types.py @@ -314,6 +314,7 @@ class ModuleModel(str, Enum): THERMOCYCLER_MODULE_V2 = "thermocyclerModuleV2" HEATER_SHAKER_MODULE_V1 = "heaterShakerModuleV1" MAGNETIC_BLOCK_V1 = "magneticBlockV1" + ABSORBANCE_READER_V1 = "absorbanceReaderV1" def as_type(self) -> ModuleType: """Get the ModuleType of this model.""" @@ -327,6 +328,8 @@ def as_type(self) -> ModuleType: return ModuleType.HEATER_SHAKER elif ModuleModel.is_magnetic_block(self): return ModuleType.MAGNETIC_BLOCK + elif ModuleModel.is_absorbance_reader(self): + return ModuleType.ABSORBANCE_READER assert False, f"Invalid ModuleModel {self}" @@ -363,6 +366,13 @@ def is_magnetic_block(cls, model: ModuleModel) -> TypeGuard[MagneticBlockModel]: """Whether a given model is a Magnetic block.""" return model == cls.MAGNETIC_BLOCK_V1 + @classmethod + def is_absorbance_reader( + cls, model: ModuleModel + ) -> TypeGuard[AbsorbanceReaderModel]: + """Whether a given model is a Magnetic block.""" + return model == cls.ABSORBANCE_READER_V1 + TemperatureModuleModel = Literal[ ModuleModel.TEMPERATURE_MODULE_V1, ModuleModel.TEMPERATURE_MODULE_V2 @@ -375,6 +385,7 @@ def is_magnetic_block(cls, model: ModuleModel) -> TypeGuard[MagneticBlockModel]: ] HeaterShakerModuleModel = Literal[ModuleModel.HEATER_SHAKER_MODULE_V1] MagneticBlockModel = Literal[ModuleModel.MAGNETIC_BLOCK_V1] +AbsorbanceReaderModel = Literal[ModuleModel.ABSORBANCE_READER_V1] class ModuleDimensions(BaseModel): @@ -729,6 +740,7 @@ class AreaType(Enum): HEATER_SHAKER = "heaterShaker" TEMPERATURE = "temperatureModule" MAGNETICBLOCK = "magneticBlock" + ABSORBANCE_READER = "absorbanceReader" @dataclass(frozen=True) diff --git a/app/src/organisms/DeviceDetailsDeckConfiguration/AddFixtureModal.tsx b/app/src/organisms/DeviceDetailsDeckConfiguration/AddFixtureModal.tsx index b8297db8f847..7be620ffe19f 100644 --- a/app/src/organisms/DeviceDetailsDeckConfiguration/AddFixtureModal.tsx +++ b/app/src/organisms/DeviceDetailsDeckConfiguration/AddFixtureModal.tsx @@ -22,6 +22,9 @@ import { import { getCutoutDisplayName, getFixtureDisplayName, + ABSORBANCE_READER_CUTOUTS, + ABSORBANCE_READER_V1, + ABSORBANCE_READER_V1_FIXTURE, HEATER_SHAKER_CUTOUTS, HEATERSHAKER_MODULE_V1, HEATERSHAKER_MODULE_V1_FIXTURE, @@ -234,6 +237,23 @@ export function AddFixtureModal({ ...unconfiguredTemperatureModules, ] } + if ( + ABSORBANCE_READER_CUTOUTS.includes(cutoutId) && + unconfiguredMods.some(m => m.moduleModel === ABSORBANCE_READER_V1) + ) { + const unconfiguredAbsorbanceReaders = unconfiguredMods + .filter(mod => mod.moduleModel === ABSORBANCE_READER_V1) + .map(mod => [ + { + cutoutId, + cutoutFixtureId: ABSORBANCE_READER_V1_FIXTURE, + }, + ]) + availableOptions = [ + ...availableOptions, + ...unconfiguredAbsorbanceReaders, + ] + } } } else if (optionStage === 'wasteChuteOptions') { availableOptions = WASTE_CHUTE_FIXTURES.map(fixture => [ diff --git a/robot-server/robot_server/modules/module_data_mapper.py b/robot-server/robot_server/modules/module_data_mapper.py index 4a501f2b32d9..5c5edefc732d 100644 --- a/robot-server/robot_server/modules/module_data_mapper.py +++ b/robot-server/robot_server/modules/module_data_mapper.py @@ -8,11 +8,14 @@ TemperatureStatus, HeaterShakerStatus, SpeedStatus, + AbsorbanceReaderStatus, ) from opentrons.hardware_control.modules.magdeck import OFFSET_TO_LABWARE_BOTTOM from opentrons.drivers.types import ( ThermocyclerLidStatus, HeaterShakerLabwareLatchStatus, + AbsorbanceReaderLidStatus, + AbsorbanceReaderPlatePresence, ) from opentrons.drivers.rpi_drivers.types import USBPort as HardwareUSBPort @@ -31,6 +34,8 @@ ThermocyclerModuleData, HeaterShakerModule, HeaterShakerModuleData, + AbsorbanceReaderModule, + AbsorbanceReaderModuleData, UsbPort, ) @@ -122,6 +127,14 @@ def map_data( targetTemperature=cast(float, live_data["data"].get("targetTemp")), errorDetails=cast(str, live_data["data"].get("errorDetails")), ) + elif module_type == ModuleType.ABSORBANCE_READER: + module_cls = AbsorbanceReaderModule + module_data = AbsorbanceReaderModuleData( + status=AbsorbanceReaderStatus(live_data["status"]), + lidStatus=cast(AbsorbanceReaderLidStatus, live_data["data"].get("lidStatus")), + platePresence=cast(AbsorbanceReaderPlatePresence, live_data["data"].get("platePresence")), + sampleWavelength=cast(int, live_data["data"].get("sampleWavelength")), + ) else: assert False, f"Invalid module type {module_type}" diff --git a/robot-server/robot_server/modules/module_models.py b/robot-server/robot_server/modules/module_models.py index a82e941fbb63..01d9cddd1d07 100644 --- a/robot-server/robot_server/modules/module_models.py +++ b/robot-server/robot_server/modules/module_models.py @@ -12,10 +12,13 @@ MagneticStatus, HeaterShakerStatus, SpeedStatus, + AbsorbanceReaderStatus, ) from opentrons.drivers.types import ( ThermocyclerLidStatus, HeaterShakerLabwareLatchStatus, + AbsorbanceReaderLidStatus, + AbsorbanceReaderPlatePresence, ) from opentrons.protocol_engine import ModuleModel from opentrons.protocol_engine.types import Vec3f @@ -302,11 +305,49 @@ class HeaterShakerModule( data: HeaterShakerModuleData +class AbsorbanceReaderModuleData(BaseModel): + """Live data from an Absorbance Reader module.""" + + status: AbsorbanceReaderStatus = Field( + ..., + description="Overall status of the module.", + ) + lidStatus: AbsorbanceReaderLidStatus = Field( + ..., + description="Lid status.", + ) + platePresence: AbsorbanceReaderPlatePresence = Field( + ..., + description="Plate presence status.", + ) + sampleWavelength: int = Field( + ..., + description="The current sample wavelength, in nanometers.", + ) + + + +class AbsorbanceReaderModule( + _GenericModule[ + Literal[ModuleType.ABSORBANCE_READER], + Literal[ModuleModel.ABSORBANCE_READER_V1], + AbsorbanceReaderModuleData, + ] +): + """An attached Heater-Shaker Module.""" + + moduleType: Literal[ModuleType.ABSORBANCE_READER] + moduleModel: Literal[ModuleModel.ABSORBANCE_READER_V1] + data: AbsorbanceReaderModuleData + + + AttachedModule = Union[ TemperatureModule, MagneticModule, ThermocyclerModule, HeaterShakerModule, + AbsorbanceReaderModule, ] @@ -315,4 +356,5 @@ class HeaterShakerModule( MagneticModuleData, ThermocyclerModuleData, HeaterShakerModuleData, + AbsorbanceReaderModuleData, ] diff --git a/shared-data/deck/definitions/5/ot3_standard.json b/shared-data/deck/definitions/5/ot3_standard.json index 85dcbf64792e..12f22dd85bf0 100644 --- a/shared-data/deck/definitions/5/ot3_standard.json +++ b/shared-data/deck/definitions/5/ot3_standard.json @@ -672,6 +672,50 @@ "zDimension": 0 }, "displayName": "Magnetic Block in A3" + }, + { + "id": "absorbanceReaderV1D3", + "areaType": "absorbanceReader", + "offsetFromCutoutFixture": [0.0, 0.0, 10.65], + "boundingBox": { + "xDimension": 127.8, + "yDimension": 85.5, + "zDimension": 0 + }, + "displayName": "Absorbance Reader in D3" + }, + { + "id": "absorbanceReaderV1C3", + "areaType": "absorbanceReader", + "offsetFromCutoutFixture": [0.0, 0.0, 10.65], + "boundingBox": { + "xDimension": 127.8, + "yDimension": 85.5, + "zDimension": 0 + }, + "displayName": "Absorbance Reader in C3" + }, + { + "id": "absorbanceReaderV1B3", + "areaType": "absorbanceReader", + "offsetFromCutoutFixture": [0.0, 0.0, 10.65], + "boundingBox": { + "xDimension": 127.8, + "yDimension": 85.5, + "zDimension": 0 + }, + "displayName": "Absorbance Reader in B3" + }, + { + "id": "absorbanceReaderV1A3", + "areaType": "absorbanceReader", + "offsetFromCutoutFixture": [0.0, 0.0, 10.65], + "boundingBox": { + "xDimension": 127.8, + "yDimension": 85.5, + "zDimension": 0 + }, + "displayName": "Absorbance Reader in A3" } ], "cutouts": [ @@ -1023,6 +1067,25 @@ }, "fixtureGroup": {}, "height": 38.0 + }, + { + "id": "absorbanceReaderV1", + "expectOpentronsModuleSerialNumber": true, + "mayMountTo": [ + "cutoutD3", + "cutoutC3", + "cutoutB3", + "cutoutA3" + ], + "displayName": "Slot With an Absorbance Reader and a Lid Dock", + "providesAddressableAreas": { + "cutoutD3": ["absorbanceReaderV1D3"], + "cutoutC3": ["absorbanceReaderV1C3"], + "cutoutB3": ["absorbanceReaderV1B3"], + "cutoutA3": ["absorbanceReaderV1A3"] + }, + "fixtureGroup": {}, + "height": 10.65 } ], "gripperOffsets": { diff --git a/shared-data/deck/types/schemaV5.ts b/shared-data/deck/types/schemaV5.ts index e763b893bdeb..e558f3f44f61 100644 --- a/shared-data/deck/types/schemaV5.ts +++ b/shared-data/deck/types/schemaV5.ts @@ -56,6 +56,10 @@ export type FlexAddressableAreaName = | 'magneticBlockV1B3' | 'magneticBlockV1C3' | 'magneticBlockV1D3' + | 'absorbanceReaderV1A3' + | 'absorbanceReaderV1B3' + | 'absorbanceReaderV1C3' + | 'absorbanceReaderV1D3' export type OT2AddressableAreaName = | '1' @@ -126,6 +130,7 @@ export type FlexModuleCutoutFixtureId = | 'stagingAreaSlotWithMagneticBlockV1' | 'thermocyclerModuleV2Rear' | 'thermocyclerModuleV2Front' + | 'absorbanceReaderV1' export type OT2SingleStandardSlot = 'singleStandardSlot' diff --git a/shared-data/js/constants.ts b/shared-data/js/constants.ts index 71b4813c07ef..4a2bcd0d0645 100644 --- a/shared-data/js/constants.ts +++ b/shared-data/js/constants.ts @@ -41,6 +41,8 @@ export const THERMOCYCLER_MODULE_V2: 'thermocyclerModuleV2' = 'thermocyclerModuleV2' export const HEATERSHAKER_MODULE_V1: 'heaterShakerModuleV1' = 'heaterShakerModuleV1' +export const ABSORBANCE_READER_V1: 'absorbanceReaderV1' = + 'absorbanceReaderV1' export const MAGNETIC_BLOCK_V1: 'magneticBlockV1' = 'magneticBlockV1' @@ -75,6 +77,8 @@ export const THERMOCYCLER_MODULE_TYPE: 'thermocyclerModuleType' = export const HEATERSHAKER_MODULE_TYPE: 'heaterShakerModuleType' = 'heaterShakerModuleType' export const MAGNETIC_BLOCK_TYPE: 'magneticBlockType' = 'magneticBlockType' +export const ABSORBANCE_READER_TYPE: 'absorbanceReaderType' = + 'absorbanceReaderType' export const MAGNETIC_MODULE_MODELS = [MAGNETIC_MODULE_V1, MAGNETIC_MODULE_V2] @@ -92,6 +96,8 @@ export const THERMOCYCLER_MODULE_MODELS = [ export const HEATERSHAKER_MODULE_MODELS = [HEATERSHAKER_MODULE_V1] +export const ABSORBANCE_READER_MODELS = [ABSORBANCE_READER_V1] + export const MAGNETIC_BLOCK_MODELS = [MAGNETIC_BLOCK_V1] export const MODULE_MODELS = [ @@ -100,6 +106,7 @@ export const MODULE_MODELS = [ ...THERMOCYCLER_MODULE_MODELS, ...HEATERSHAKER_MODULE_MODELS, ...MAGNETIC_BLOCK_MODELS, + ...ABSORBANCE_READER_MODELS, ] export const MODULE_MODELS_OT2_ONLY = [ @@ -114,6 +121,7 @@ export const MODULE_TYPES = [ THERMOCYCLER_MODULE_TYPE, HEATERSHAKER_MODULE_TYPE, MAGNETIC_BLOCK_TYPE, + ABSORBANCE_READER_TYPE, ] export const GEN_ONE_MULTI_PIPETTES = ['p10_multi', 'p50_multi', 'p300_multi'] @@ -239,6 +247,7 @@ export const HEATER_SHAKER_CUTOUTS: CutoutId[] = [ ...SINGLE_LEFT_CUTOUTS, ] export const THERMOCYCLER_MODULE_CUTOUTS: CutoutId[] = ['cutoutA1', 'cutoutB1'] +export const ABSORBANCE_READER_CUTOUTS: CutoutId[] = [...SINGLE_RIGHT_CUTOUTS] export const WASTE_CHUTE_CUTOUT: 'cutoutD3' = 'cutoutD3' @@ -344,6 +353,15 @@ export const MAGNETIC_BLOCK_C3_ADDRESSABLE_AREA: 'magneticBlockV1C3' = 'magneticBlockV1C3' export const MAGNETIC_BLOCK_D3_ADDRESSABLE_AREA: 'magneticBlockV1D3' = 'magneticBlockV1D3' +export const ABSORBANCE_READER_D3_ADDRESSABLE_AREA: 'absorbanceReaderV1D3' = + 'absorbanceReaderV1D3' +export const ABSORBANCE_READER_C3_ADDRESSABLE_AREA: 'absorbanceReaderV1C3' = + 'absorbanceReaderV1C3' +export const ABSORBANCE_READER_B3_ADDRESSABLE_AREA: 'absorbanceReaderV1B3' = + 'absorbanceReaderV1B3' +export const ABSORBANCE_READER_A3_ADDRESSABLE_AREA: 'absorbanceReaderV1A3' = + 'absorbanceReaderV1A3' + export const MAGNETIC_BLOCK_ADDRESSABLE_AREAS: AddressableAreaName[] = [ MAGNETIC_BLOCK_A1_ADDRESSABLE_AREA, @@ -382,8 +400,16 @@ export const HEATERSHAKER_ADDRESSABLE_AREAS: AddressableAreaName[] = [ HEATERSHAKER_D3_ADDRESSABLE_AREA, ] +export const ABSORBANCE_READER_ADDRESSABLE_AREAS: AddressableAreaName[] = [ + ABSORBANCE_READER_A3_ADDRESSABLE_AREA, + ABSORBANCE_READER_B3_ADDRESSABLE_AREA, + ABSORBANCE_READER_C3_ADDRESSABLE_AREA, + ABSORBANCE_READER_D3_ADDRESSABLE_AREA, +] + export const FLEX_USB_MODULE_ADDRESSABLE_AREAS: AddressableAreaName[] = [ THERMOCYCLER_ADDRESSABLE_AREA, + ...ABSORBANCE_READER_ADDRESSABLE_AREAS, ...HEATERSHAKER_ADDRESSABLE_AREAS, ...TEMPERATURE_MODULE_ADDRESSABLE_AREAS, ] @@ -488,6 +514,8 @@ export const THERMOCYCLER_V2_REAR_FIXTURE: 'thermocyclerModuleV2Rear' = 'thermocyclerModuleV2Rear' export const THERMOCYCLER_V2_FRONT_FIXTURE: 'thermocyclerModuleV2Front' = 'thermocyclerModuleV2Front' +export const ABSORBANCE_READER_V1_FIXTURE: 'absorbanceReaderV1' = + 'absorbanceReaderV1' export const MODULE_FIXTURES_BY_MODEL: { [moduleModel in ModuleModel]?: CutoutFixtureId[] @@ -499,6 +527,7 @@ export const MODULE_FIXTURES_BY_MODEL: { THERMOCYCLER_V2_REAR_FIXTURE, THERMOCYCLER_V2_FRONT_FIXTURE, ], + [ABSORBANCE_READER_V1]: [ABSORBANCE_READER_V1_FIXTURE], } export const FLEX_USB_MODULE_FIXTURES: CutoutFixtureId[] = [ @@ -506,6 +535,7 @@ export const FLEX_USB_MODULE_FIXTURES: CutoutFixtureId[] = [ TEMPERATURE_MODULE_V2_FIXTURE, THERMOCYCLER_V2_REAR_FIXTURE, THERMOCYCLER_V2_FRONT_FIXTURE, + ABSORBANCE_READER_V1_FIXTURE, ] export const MAGNETIC_BLOCK_FIXTURES: CutoutFixtureId[] = [ diff --git a/shared-data/js/fixtures.ts b/shared-data/js/fixtures.ts index 057bce01503d..4f13a8b03210 100644 --- a/shared-data/js/fixtures.ts +++ b/shared-data/js/fixtures.ts @@ -38,6 +38,8 @@ import { THERMOCYCLER_V2_REAR_FIXTURE, THERMOCYCLER_MODULE_V2, THERMOCYCLER_V2_FRONT_FIXTURE, + ABSORBANCE_READER_V1_FIXTURE, + ABSORBANCE_READER_V1, MODULE_FIXTURES_BY_MODEL, STAGING_AREA_SLOT_WITH_MAGNETIC_BLOCK_V1_FIXTURE, } from './constants' @@ -282,6 +284,12 @@ export function getFixtureDisplayName( THERMOCYCLER_MODULE_V2 )} in USB-${usbPortNumber}` : getModuleDisplayName(THERMOCYCLER_MODULE_V2) + case ABSORBANCE_READER_V1_FIXTURE: + return usbPortNumber != null + ? `${getModuleDisplayName( + ABSORBANCE_READER_V1 + )} in USB-${usbPortNumber}` + : getModuleDisplayName(ABSORBANCE_READER_V1) default: return 'Slot' } diff --git a/shared-data/js/modules.ts b/shared-data/js/modules.ts index c3e8f6b5c625..4771f748558c 100644 --- a/shared-data/js/modules.ts +++ b/shared-data/js/modules.ts @@ -6,6 +6,7 @@ import thermocyclerModuleV1 from '../module/definitions/3/thermocyclerModuleV1.j import thermocyclerModuleV2 from '../module/definitions/3/thermocyclerModuleV2.json' import heaterShakerModuleV1 from '../module/definitions/3/heaterShakerModuleV1.json' import magneticBlockV1 from '../module/definitions/3/magneticBlockV1.json' +import absorbanceReaderV1 from '../module/definitions/3/absorbanceReaderV1.json' import { MAGDECK, @@ -19,6 +20,7 @@ import { THERMOCYCLER_MODULE_V2, HEATERSHAKER_MODULE_V1, MAGNETIC_BLOCK_V1, + ABSORBANCE_READER_V1, } from './constants' import type { @@ -56,6 +58,9 @@ export const getModuleDef2 = (moduleModel: ModuleModel): ModuleDefinition => { case MAGNETIC_BLOCK_V1: return (magneticBlockV1 as unknown) as ModuleDefinition + case ABSORBANCE_READER_V1: + return (absorbanceReaderV1 as unknown) as ModuleDefinition + default: throw new Error(`Invalid module model ${moduleModel as string}`) } diff --git a/shared-data/js/types.ts b/shared-data/js/types.ts index 5eab9ebaa08f..2e3aca6d40a5 100644 --- a/shared-data/js/types.ts +++ b/shared-data/js/types.ts @@ -9,11 +9,13 @@ import type { 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, GEN1, GEN2, FLEX, @@ -201,6 +203,7 @@ export type ModuleType = | typeof THERMOCYCLER_MODULE_TYPE | typeof HEATERSHAKER_MODULE_TYPE | typeof MAGNETIC_BLOCK_TYPE + | typeof ABSORBANCE_READER_TYPE // ModuleModel corresponds to top-level keys in shared-data/module/definitions/2 export type MagneticModuleModel = @@ -219,12 +222,15 @@ export type HeaterShakerModuleModel = typeof HEATERSHAKER_MODULE_V1 export type MagneticBlockModel = typeof MAGNETIC_BLOCK_V1 +export type AbsorbanceReaderModel = typeof ABSORBANCE_READER_V1 + export type ModuleModel = | MagneticModuleModel | TemperatureModuleModel | ThermocyclerModuleModel | HeaterShakerModuleModel | MagneticBlockModel + | AbsorbanceReaderModel export type GripperModel = | typeof GRIPPER_V1 diff --git a/shared-data/module/definitions/3/absorbanceReaderV1.json b/shared-data/module/definitions/3/absorbanceReaderV1.json index 7b3172c377d9..f23a785ebaa9 100644 --- a/shared-data/module/definitions/3/absorbanceReaderV1.json +++ b/shared-data/module/definitions/3/absorbanceReaderV1.json @@ -5,20 +5,20 @@ "labwareOffset": { "x": 0.0, "y": 0.0, - "z": 108.96 + "z": 16.0 }, "dimensions": { - "bareOverallHeight": 108.96, + "bareOverallHeight": 18.5, "overLabwareHeight": 0.0, - "lidHeight": 61.7, - "xDimension": 172, - "yDimension": 245.2, - "labwareInterfaceXDimension": 128, - "labwareInterfaceYDimension": 86 + "lidHeight": 60.0, + "xDimension": 95.5, + "yDimension": 155.3, + "labwareInterfaceXDimension": 127.8, + "labwareInterfaceYDimension": 85.5 }, 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