td_labware.py

from typing import Dict, List

import anyio
from commands import load_module_command
from rich.console import Console
from rich.panel import Panel
from rich.prompt import Confirm, IntPrompt, Prompt
from rich.theme import Theme
from robot_client import RobotClient
from robot_interactions import RobotInteractions
from util import prompt
from wizard import Wizard

custom_theme = Theme({"info": "dim cyan", "warning": "magenta", "danger": "bold red"})

console = Console(theme=custom_theme)


async def app():
    console.print(
        Panel(
            "Hello, let us measure some Temperature Module labware definitions! :smiley: ",
            style="bold magenta",
        )
    )
    wizard = Wizard(console)
    robot_ip = wizard.validate_ip()
    robot_port = wizard.validate_port()
    async with RobotClient.make(host=f"http://{robot_ip}", port=robot_port, version="*") as robot_client:
        try:
            console.print("Let us make sure your robot is reachable.")
            health = await robot_client.get_health()
            console.print(f"Robot is reachable. Here is the {health.request.url} response")
            console.print(health.json())
            console.print(
                Panel(
                    "Now we will see what pipettes are attached.",
                    style="bold magenta",
                )
            )
            ri = RobotInteractions(robot_client=robot_client)
            pipettes = await robot_client.get_pipettes()
            console.print(pipettes.json())
            pipettes_json = pipettes.json()
            choices = []
            if not ((pipettes_json["left"]["name"] is None) or (pipettes_json["left"]["name"] == "none")):
                choices.append(pipettes_json["left"]["name"])
            if not ((pipettes_json["right"]["name"] is None) or (pipettes_json["right"]["name"] == "none")):
                choices.append(pipettes_json["right"]["name"])
            if len(choices) == 0:
                console.print(
                    "Looks like you have no pipettes attached.  Please attach a pipette and start over.",
                    style="danger",
                )
                raise RuntimeError("No pipettes attached.")
            default = None
            if len(choices) == 2:  # probably on Kansas robot select the right pipette
                default = choices[1]
            pipette = Prompt.ask(
                "Which pipette do you want to use?",
                choices=choices,
                default=default,
                show_default=False,
            )
            # this is necessary because you could have the same pipette on both sides.
            pipette_mount = Prompt.ask(
                "Which side is the pipette you chose on ?",
                choices=["left", "right"],
                default="right",
                show_default=False,
            )
            console.print(
                Panel(
                    f"Great, we will use pipette [bold green]{pipette}[/] on the [bold green]{pipette_mount}[/]",
                    style="bold magenta",
                )
            )
            use_tiprack = Confirm.ask("Will you be using a tiprack and picking up a tip?")
            tiprack_name = None
            tiprack_slot = None
            #############################
            if use_tiprack:
                tiprack_name = Prompt.ask(
                    """
What is the name of the tiprack you will use?
Some common ones are:
opentrons_96_tiprack_10ul
opentrons_96_tiprack_20ul
opentrons_96_tiprack_300ul
opentrons_96_tiprack_1000ul
"""
                )
                console.print(
                    Panel(
                        f"Great, we will use tiprack [bold green]{tiprack_name}[/]",
                        style="bold magenta",
                    )
                )
                tiprack_slot = str(IntPrompt.ask("What slot will the tiprack be in (1-11)?", console=console))
            ##############################
            td_id = await ri.get_module_id(module_model="temperatureModuleV2")
            # what location for the temperatureModuleV2?
            choices = ["1", "3", "4", "6"]
            if tiprack_slot:
                if tiprack_slot in choices:
                    choices.remove(tiprack_slot)
            td_slot = str(
                IntPrompt.ask(
                    "What slot will the Temperature Module be in?",
                    console=console,
                    choices=choices,
                )
            )
            td_labware = [
                "opentrons_96_aluminumblock_nest_wellplate_100ul",
                "opentrons_96_aluminumblock_biorad_wellplate_200ul",
                "opentrons_96_aluminumblock_generic_pcr_strip_200ul",
            ]
            labware = Prompt.ask("Which labware are you testing?", choices=td_labware)
            run_id = await ri.force_create_new_run()
            await ri.execute_command(
                run_id=run_id,
                req_body=load_module_command(model="temperatureModuleV2", slot_name=td_slot, module_id=td_id),
                print_command=False,
            )
            load_labware_command = {
                "data": {
                    "commandType": "loadLabware",
                    "params": {
                        "location": {"moduleId": td_id},
                        "loadName": labware,
                        "namespace": "opentrons",
                        "version": 1,
                        "labwareId": "target",
                    },
                }
            }
            await ri.execute_command(run_id=run_id, req_body=load_labware_command, print_command=False)

            load_pipette_command = {
                "data": {
                    "commandType": "loadPipette",
                    "params": {
                        "pipetteName": pipette,
                        "mount": pipette_mount,
                        "pipetteId": "pipette",
                    },
                }
            }
            await ri.execute_command(run_id=run_id, req_body=load_pipette_command, print_command=False)
            ########################
            console.print(
                Panel(
                    f"""
Now we are ready to do work and move the pipette.
Please set up your robot.
{f'Place [bold green]{tiprack_name}[/] tiprack in slot [bold green]{tiprack_slot}[/]' if use_tiprack  else ''}
Place the [bold green]Temperature Module V2[/] in slot [bold green]{td_slot}[/]
With its [bold green]{labware}[/] on top.
Clear the rest of the deck so there are no collisions.
""",
                    style="bold magenta",
                )
            )
            if use_tiprack:
                load_tiprack_command = {
                    "data": {
                        "commandType": "loadLabware",
                        "params": {
                            "location": {"slotName": tiprack_slot},
                            "loadName": tiprack_name,
                            "namespace": "opentrons",
                            "version": 1,
                            "labwareId": "tips",
                        },
                    }
                }
                await ri.execute_command(run_id=run_id, req_body=load_tiprack_command, print_command=False)

                pickup_tip_command = {
                    "data": {
                        "commandType": "pickUpTip",
                        "params": {
                            "pipetteId": "pipette",
                            "labwareId": "tips",
                            "wellName": "A1",
                        },
                    }
                }
                await prompt("When you are ready to pick up the tip hit enter.")
                console.print("Picking up tip.")
                await ri.execute_command(run_id=run_id, req_body=pickup_tip_command, print_command=False)
            #########################
            await prompt("When you are ready to move to pipette to the Temperature Module press enter.")
            mapping: Dict[str, List[str]] = {
                "opentrons_96_aluminumblock_nest_wellplate_100ul": [
                    "A1",
                    "A12",
                    "H1",
                    "H12",
                    "D6",
                ],
                "opentrons_96_aluminumblock_biorad_wellplate_200ul": [
                    "A1",
                    "A12",
                    "H1",
                    "H12",
                    "D6",
                ],
                "opentrons_96_aluminumblock_generic_pcr_strip_200ul": [
                    "A1",
                    "A12",
                    "H1",
                    "H12",
                    "D6",
                ],
            }
            wells_on_hs = mapping[labware]
            for well in wells_on_hs:
                move_to_well_command = {
                    "data": {
                        "commandType": "moveToWell",
                        "params": {
                            "pipetteId": "pipette",
                            "labwareId": "target",
                            "wellName": well,
                        },
                    }
                }
                await ri.execute_command(run_id=run_id, req_body=move_to_well_command, print_command=False)
                await prompt(f"At well {well} press Enter to move to the next well.")
            if use_tiprack:
                drop_tip_command = {
                    "data": {
                        "commandType": "dropTip",
                        "params": {
                            "pipetteId": "pipette",
                            "labwareId": "tips",
                            "wellName": "A1",
                        },
                    }
                }
                await prompt("When you are ready to drop the tip hit enter.")
                print("Dropping tip.")
                await ri.execute_command(run_id=run_id, req_body=drop_tip_command, print_command=False)
            await prompt("When you are ready to home hit enter.")
            home_command = {
                "data": {
                    "commandType": "home",
                    "params": {},
                }
            }
            console.print("Homing.", style="info")
            await ri.execute_command(run_id=run_id, req_body=home_command, print_command=False)
        except Exception:
            console.print_exception()


if __name__ == "__main__":
    anyio.run(app)