fixture height calculation correction and fixture group map structure

Opentrons · Apr 3, 2024 · 2b4ddd9 · 2b4ddd9
1 parent 0fc0f57
commit 2b4ddd9
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Showing 4 changed files with 62 additions and 39 deletions.
diff --git a/robot-server/robot_server/deck_configuration/validation.py b/robot-server/robot_server/deck_configuration/validation.py
@@ -149,21 +149,30 @@ def get_configuration_errors(  # noqa: C901
                     )
                 )
 
-            for fixture_id in found_cutout_fixture["fixtureGroup"]:
-                result = [
-                    placement.cutout_fixture_id
-                    for placement in placements
-                    if fixture_id in placement.cutout_fixture_id
-                ]
-                if len(result) == 0:
-                    errors.add(
-                        MissingGroupFixtureError(
-                            cutout_id=placement.cutout_id,
-                            cutout_fixture_id=placement.cutout_fixture_id,
-                            missing_fixture_id=fixture_id,
-                        )
-                    )
-
+            for cutout_id in found_cutout_fixture["fixtureGroup"]:
+                if cutout_id == placement.cutout_id:
+                    map = found_cutout_fixture["fixtureGroup"][cutout_id]
+                    member_found = False
+                    for item in map:
+                        for group_member_cutout_id in item:
+                            group_member_fixtures = item[group_member_cutout_id]
+                            for group_member in group_member_fixtures:
+                                for deck_item in placements:
+                                    if (
+                                        group_member == deck_item.cutout_fixture_id
+                                        and group_member_cutout_id
+                                        == deck_item.cutout_id
+                                    ):
+                                        member_found = True
+                                if member_found is False:
+                                    errors.add(
+                                        MissingGroupFixtureError(
+                                            cutout_id=placement.cutout_id,
+                                            cutout_fixture_id=placement.cutout_fixture_id,
+                                            missing_fixture_id=group_member,
+                                        )
+                                    )
+                                member_found = False
     return errors
 
 

diff --git a/shared-data/deck/definitions/5/ot3_standard.json b/shared-data/deck/definitions/5/ot3_standard.json
@@ -758,7 +758,7 @@
         "cutoutB1": ["B1"],
         "cutoutA1": ["A1"]
       },
-      "fixtureGroup": [],
+      "fixtureGroup": {},
       "height": 0
     },
     {
@@ -772,7 +772,7 @@
         "cutoutB2": ["B2"],
         "cutoutA2": ["A2"]
       },
-      "fixtureGroup": [],
+      "fixtureGroup": {},
       "height": 0
     },
     {
@@ -786,7 +786,7 @@
         "cutoutB3": ["B3"],
         "cutoutA3": ["A3"]
       },
-      "fixtureGroup": [],
+      "fixtureGroup": {},
       "height": 0
     },
     {
@@ -800,7 +800,7 @@
         "cutoutB3": ["B3", "B4"],
         "cutoutA3": ["A3", "A4"]
       },
-      "fixtureGroup": [],
+      "fixtureGroup": {},
       "height": 0
     },
     {
@@ -827,7 +827,7 @@
         "cutoutB3": ["movableTrashB3"],
         "cutoutA3": ["movableTrashA3"]
       },
-      "fixtureGroup": [],
+      "fixtureGroup": {},
       "height": 40
     },
     {
@@ -838,7 +838,7 @@
       "providesAddressableAreas": {
         "cutoutD3": ["1ChannelWasteChute", "8ChannelWasteChute"]
       },
-      "fixtureGroup": [],
+      "fixtureGroup": {},
       "height": 124.5
     },
     {
@@ -854,7 +854,7 @@
           "gripperWasteChute"
         ]
       },
-      "fixtureGroup": [],
+      "fixtureGroup": {},
       "height": 124.5
     },
     {
@@ -865,7 +865,7 @@
       "providesAddressableAreas": {
         "cutoutD3": ["1ChannelWasteChute", "8ChannelWasteChute", "D4"]
       },
-      "fixtureGroup": [],
+      "fixtureGroup": {},
       "height": 124.5
     },
     {
@@ -882,7 +882,7 @@
           "D4"
         ]
       },
-      "fixtureGroup": [],
+      "fixtureGroup": {},
       "height": 124.5
     },
     {
@@ -893,8 +893,10 @@
       "providesAddressableAreas": {
         "cutoutA1": []
       },
-      "fixtureGroup": ["thermocyclerModuleV2Rear", "thermocyclerModuleV2Front"],
-      "height": 211.91
+      "fixtureGroup": {
+        "cutoutA1": [{"cutoutA1": ["thermocyclerModuleV2Rear"]}, {"cutoutB1": ["thermocyclerModuleV2Front"]}]
+      },
+      "height": 72.35
     },
     {
       "id": "thermocyclerModuleV2Front",
@@ -904,8 +906,10 @@
       "providesAddressableAreas": {
         "cutoutB1": ["thermocyclerModuleV2"]
       },
-      "fixtureGroup": ["thermocyclerModuleV2Rear", "thermocyclerModuleV2Front"],
-      "height": 170.66
+      "fixtureGroup": {
+        "cutoutB1": [{"cutoutA1": ["thermocyclerModuleV2Rear"]}, {"cutoutB1": ["thermocyclerModuleV2Front"]}]
+      },
+      "height": 72.35
     },
     {
       "id": "heaterShakerModuleV1",
@@ -931,8 +935,8 @@
         "cutoutB3": ["heaterShakerV1B3"],
         "cutoutA3": ["heaterShakerV1A3"]
       },
-      "fixtureGroup": [],
-      "height": 82
+      "fixtureGroup": {},
+      "height": 18.95
     },
     {
       "id": "temperatureModuleV2",
@@ -958,8 +962,8 @@
         "cutoutB3": ["temperatureModuleV2B3"],
         "cutoutA3": ["temperatureModuleV2A3"]
       },
-      "fixtureGroup": [],
-      "height": 84
+      "fixtureGroup": {},
+      "height": 9.0
     },
     {
       "id": "magneticBlockV1",
@@ -993,8 +997,8 @@
         "cutoutB3": ["magneticBlockV1B3"],
         "cutoutA3": ["magneticBlockV1A3"]
       },
-      "fixtureGroup": [],
-      "height": 45
+      "fixtureGroup": {},
+      "height": 38.0
     }
   ],
   "gripperOffsets": {

diff --git a/shared-data/deck/schemas/5.json b/shared-data/deck/schemas/5.json
@@ -260,6 +260,7 @@
           "mayMountTo",
           "displayName",
           "providesAddressableAreas",
+          "fixtureGroup",
           "height"
         ],
         "properties": {
@@ -293,10 +294,19 @@
             }
           },
           "fixtureGroup": {
-            "description": "The group of fixtures that must exist in the deck configuration if this fixture exists.",
-            "type": "array",
-            "items": {
-              "type": "string"
+            "description": "The map of fixtures that must exist in the deck configuration if this fixture exists, with the mounting location acting as a key to determine the location of the rest of the group.",
+            "type": "object",
+            "additionalProperties": {
+              "type": "array",
+              "items": {
+                "type": "object",
+                "additionalProperties": {
+                  "type": "array",
+                  "items": {
+                    "type": "string"
+                  }
+                }
+              }
             }
           },
           "height": {

diff --git a/shared-data/python/opentrons_shared_data/deck/dev_types.py b/shared-data/python/opentrons_shared_data/deck/dev_types.py
@@ -116,7 +116,7 @@ class CutoutFixture(TypedDict):
     mayMountTo: List[str]
     displayName: str
     providesAddressableAreas: Dict[str, List[str]]
-    fixtureGroup: List[str]
+    fixtureGroup: Dict[str, List[Dict[str, List[str]]]]
     height: float