feat(robot-server): Expose tip status in instruments #13160
Conversation
Laura-Danielle
requested review from
a team and
b-cooper
and removed request for
a team
Codecov Report
@@ Coverage Diff @@
## edge #13160 +/- ##
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Coverage 72.11% 72.11%
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Files 1531 1531
Lines 50773 50773
Branches 3144 3144
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Hits 36614 36614
Misses 13650 13650
Partials 509 509
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| class PipetteState(BaseModel): | ||
| """State from an attached pipette.""" | ||
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| tip_detected: bool = Field( |
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🐫-case for HTTP-facing field names.
| tip_detected: bool = Field( | |
| tipDetected: bool = Field( |
| @@ -217,6 +226,7 @@ def rehearse_instrument_retrievals() -> None: | |||
| last_modified=None, | |||
| ), | |||
| ), | |||
| state=PipetteState(tip_detected=True), | |||
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| state=PipetteState(tip_detected=True), | |
| state=PipetteState(tipDetected=True), |
| @@ -237,6 +247,7 @@ def rehearse_instrument_retrievals() -> None: | |||
| last_modified=None, | |||
| ), | |||
| ), | |||
| state=PipetteState(tip_detected=False), | |||
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| state=PipetteState(tip_detected=False), | |
| state=PipetteState(tipDetected=False), |
| class PipetteState(BaseModel): | ||
| """State from an attached pipette.""" | ||
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| tip_detected: bool = Field( | ||
| None, | ||
| description="Physical state of the tip photointerrupter on the Flex. Null for OT-2", | ||
| ) | ||
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| class Pipette(_GenericInstrument[PipetteModel, PipetteData]): | ||
| """Attached pipette info & configuration.""" | ||
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| instrumentType: Literal["pipette"] = "pipette" | ||
| instrumentName: PipetteName | ||
| instrumentModel: PipetteModel | ||
| data: PipetteData | ||
| state: Optional[PipetteState] |
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Confirmed in-person with @sanni-t:
Instead of what's written now, where tipDetected is inside data.state:
{
"data": {
"instrumentType": "pipette",
"data": {
"calibratedOffset": { /* ... */ }
// ..
}
"state": {
"tipDetected": true
}
// ...
},
"meta": { /* ... */ }
}We'd like data.state to not exist, and tipDetected to be directly inside the existing data.data, like this:
{
"data": {
"instrumentType": "pipette",
"data": {
"calibratedOffset": { /* ... */ }
"tipDetected": true
// ...
}
// ...
},
"meta": { /* ... */ }
}This is consistent with a gripper's jawState, for example.
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Just because it's consistent doesn't mean we should stick with what we've previously done. IMO jawState should also go into a similarly named state component of the body returned from /instruments -- though obviously let's not address that till post launch. I've already got sign off on this from JS devs.
tipDetected is in fact active state about the pipette whereas things listed in data can be considered "stored" state (albeit it can change from time to time but no where near as frequently as data).
Overview
We are now exposing the tip presence status (which is only valid on the Flex) through the
/instrumentsendpoint. Closes RSS-291Test Plan
Changelog
PipetteStateDictin the hardware controller. This is currently only used in the ot3api, but we can (and should) definitely expand on this state in the futureget_instrument_statefunction in theot3api.pywhich gets the current state of the tip ejector. Unfortunately we currently have to ask for the state each time this function is called because we currently don't have a state store for the hardware controller as it relates to specific hardware components (such as sensors).Review requests
Does it look OK for now? Anything you want me to add and/or take away?
Risk assessment
Low. New feature add.