opentrons 8.6.0a1__py3-none-any.whl

opentrons/hardware_control/instruments/ot3/gripper.py

@@ -0,0 +1,420 @@
+from __future__ import annotations
+
+""" Classes and functions for gripper state tracking
+"""
+import logging
+from typing import Any, Optional, Set, Dict, Tuple, Final
+
+from opentrons.types import Point
+from opentrons.config import gripper_config
+from opentrons.hardware_control.types import (
+    GripperProbe,
+    CriticalPoint,
+    GripperJawState,
+)
+from opentrons.hardware_control.errors import (
+    InvalidCriticalPoint,
+)
+from .instrument_calibration import (
+    GripperCalibrationOffset,
+    load_gripper_calibration_offset,
+    save_gripper_calibration_offset,
+    save_gripper_jaw_width_data,
+    load_gripper_jaw_width,
+)
+
+from ..instrument_abc import AbstractInstrument
+from opentrons.hardware_control.dev_types import AttachedGripper, GripperDict
+from opentrons_shared_data.errors.exceptions import (
+    CommandPreconditionViolated,
+    MotionFailedError,
+)
+
+from opentrons_shared_data.gripper import (
+    GripperDefinition,
+    GripForceProfile,
+    Geometry,
+)
+
+RECONFIG_KEYS = {"quirks", "grip_force_profile"}
+
+MAX_ACCEPTABLE_JAW_DISPLACEMENT: Final = 20
+
+mod_log = logging.getLogger(__name__)
+
+
+class Gripper(AbstractInstrument[GripperDefinition]):
+    """A class to gather and track gripper state and configs.
+
+    This class should not touch hardware or call back out to the hardware
+    control API. Its only purpose is to gather state.
+    """
+
+    def __init__(
+        self,
+        config: GripperDefinition,
+        gripper_cal_offset: GripperCalibrationOffset,
+        gripper_id: str,
+    ) -> None:
+        self._config = config
+        self._model = config.model
+
+        self._geometry = self._config.geometry
+        base_offset = Point(*self._geometry.base_offset_from_mount)
+        self._jaw_center_offset = (
+            Point(*self._geometry.jaw_center_offset_from_base) + base_offset
+        )
+        #: the distance between the gripper mount and the jaw center at home
+        self._front_calibration_pin_offset = (
+            Point(*self._geometry.pin_one_offset_from_base) + base_offset
+        )
+        #: the distance between the gripper mount and the front calibration pin
+        #: at home
+        self._rear_calibration_pin_offset = (
+            Point(*self._geometry.pin_two_offset_from_base) + base_offset
+        )
+        #: the distance between the gripper mount and the rear calibration pin
+        #: at home
+        self._calibration_offset = gripper_cal_offset
+        #: The output value of calibration - the additional vector added into
+        #: the critical point geometry based on gripper mount calibration
+        self._gripper_id = gripper_id
+        self._state = GripperJawState.UNHOMED
+        self._current_jaw_displacement = 0.0
+        self._attached_probe: Optional[GripperProbe] = None
+        self._log = mod_log.getChild(self._gripper_id)
+        self._log.info(
+            f"loaded: {self._model}, gripper offset: {self._calibration_offset}"
+        )
+        self._encoder_position_at_jaw_closed: Optional[float] = None
+
+    @property
+    def grip_force_profile(self) -> GripForceProfile:
+        return self._config.grip_force_profile
+
+    @property
+    def geometry(self) -> Geometry:
+        return self._geometry
+
+    @property
+    def attached_probe(self) -> Optional[GripperProbe]:
+        return self._attached_probe
+
+    def add_probe(self, probe: GripperProbe) -> None:
+        """This is used for finding the critical point during calibration."""
+        assert not self.attached_probe
+        self._attached_probe = probe
+
+    def remove_probe(self) -> None:
+        assert self.attached_probe
+        self._attached_probe = None
+
+    @property
+    def max_allowed_grip_error(self) -> float:
+        return self._geometry.max_allowed_grip_error
+
+    @property
+    def _jaw_min(self) -> float:
+        return self._config.geometry.jaw_width["min"]
+
+    @property
+    def _jaw_nominal_max(self) -> float:
+        return self._config.geometry.jaw_width["max"]
+
+    @property
+    def _jaw_max_offset(self) -> float | None:
+        if self._encoder_position_at_jaw_closed is None:
+            return None
+        return self._jaw_min - (
+            self._jaw_nominal_max - (self._encoder_position_at_jaw_closed * 2)
+        )
+
+    @property
+    def max_jaw_width(self) -> float:
+        return self._config.geometry.jaw_width["max"] + (self._jaw_max_offset or 0)
+
+    @property
+    def min_jaw_width(self) -> float:
+        return self._config.geometry.jaw_width["min"]
+
+    @property
+    def jaw_width(self) -> float:
+        return self.max_jaw_width - (self.current_jaw_displacement * 2.0)
+
+    @property
+    def current_jaw_displacement(self) -> float:
+        """The distance one side of the jaw has traveled from home."""
+        return self._current_jaw_displacement
+
+    @current_jaw_displacement.setter
+    def current_jaw_displacement(self, mm: float) -> None:
+        max_mm = self.max_jaw_displacement() + 2.0
+        if mm > max_mm:
+            self._log.warning(
+                f"jaw displacement {round(mm, 1)} mm exceeds max expected value: "
+                f"{max_mm} mm, setting value to max value instead."
+            )
+        self._current_jaw_displacement = min(mm, max_mm)
+
+    @property
+    def default_grip_force(self) -> float:
+        return self.grip_force_profile.default_grip_force
+
+    @property
+    def default_idle_force(self) -> float:
+        return self.grip_force_profile.default_idle_force
+
+    @property
+    def default_home_force(self) -> float:
+        return self.grip_force_profile.default_home_force
+
+    def max_jaw_displacement(self) -> float:
+        geometry = self._config.geometry
+        return (self.max_jaw_width - geometry.jaw_width["min"]) / 2
+
+    @property
+    def state(self) -> GripperJawState:
+        return self._state
+
+    @state.setter
+    def state(self, s: GripperJawState) -> None:
+        self._state = s
+
+    @property
+    def config(self) -> GripperDefinition:
+        return self._config
+
+    def update_config_item(self, elements: Dict[str, Any]) -> None:
+        raise NotImplementedError("Update config is not supported at this time.")
+
+    @property
+    def model(self) -> str:
+        return repr(self._model)
+
+    @property
+    def gripper_id(self) -> str:
+        return self._gripper_id
+
+    def reload_configurations(self) -> None:
+        return None
+
+    def update_jaw_open_position_from_closed_position(
+        self, jaw_at_closed: float | None
+    ) -> None:
+        """Update the estimation of the jaw position at open based on reading it at closed.
+
+        This is necessary because the gripper jaw has a well-defined positional hard stop
+        when fully closed and empty but _not_ when open. The open position can vary unit to
+        unit. You can calibrate this out by reading the position of the encoder when the jaw
+        is closed, and then altering the logical open position so that it is whatever it needs
+        to be for the logical closed position to be the same as the config.
+        """
+        if jaw_at_closed is None:
+            self._encoder_position_at_jaw_closed = jaw_at_closed
+            return
+        if (
+            abs((jaw_at_closed * 2) - (self._jaw_nominal_max - self._jaw_min))
+            > MAX_ACCEPTABLE_JAW_DISPLACEMENT
+        ):
+            raise MotionFailedError(
+                message="Gripper jaw calibration out of bounds",
+                detail={
+                    "type": "gripper-jaw-calibration-out-of-bounds",
+                    "actual-displacement": str(jaw_at_closed * 2),
+                    "nominal-displacement": str(self._jaw_nominal_max - self._jaw_min),
+                },
+            )
+        save_gripper_jaw_width_data(
+            gripper_id=self._gripper_id,
+            encoder_position_at_closed=jaw_at_closed,
+        )
+        self._encoder_position_at_jaw_closed = jaw_at_closed
+        self._log.info(
+            f"Gripper max jaw offset is now {self._jaw_max_offset} from input position {jaw_at_closed}"
+        )
+
+    @property
+    def has_jaw_width_calibration(self) -> bool:
+        if self._encoder_position_at_jaw_closed is not None:
+            return True
+        else:
+            load_gripper_jaw_width_data = load_gripper_jaw_width(
+                gripper_id=self._gripper_id
+            )
+            if load_gripper_jaw_width_data.encoder_position_at_jaw_closed is not None:
+                # update class members with data from the robot
+                self.update_jaw_open_position_from_closed_position(
+                    jaw_at_closed=load_gripper_jaw_width_data.encoder_position_at_jaw_closed
+                )
+                return True
+        return False
+
+    def reset_offset(self, to_default: bool) -> None:
+        """Tempoarily reset the gripper offsets to default values."""
+        if to_default:
+            self._calibration_offset = load_gripper_calibration_offset(gripper_id=None)
+        else:
+            self._calibration_offset = load_gripper_calibration_offset(
+                gripper_id=self._gripper_id
+            )
+
+    def reset_jaw_width_calibration(self, to_default: bool) -> None:
+        """Reset the gripper jaw width measurement in the protocol engine."""
+        if to_default:
+            loaded_jaw_width_data = load_gripper_jaw_width(gripper_id=None)
+        else:
+            loaded_jaw_width_data = load_gripper_jaw_width(gripper_id=self._gripper_id)
+        self.update_jaw_open_position_from_closed_position(
+            jaw_at_closed=loaded_jaw_width_data.encoder_position_at_jaw_closed
+        )
+
+    def save_offset(self, delta: Point) -> GripperCalibrationOffset:
+        """Save a new gripper offset."""
+        save_gripper_calibration_offset(self.gripper_id, delta)
+        self._calibration_offset = load_gripper_calibration_offset(self.gripper_id)
+        return self._calibration_offset
+
+    def check_calibration_pin_location_is_accurate(self) -> None:
+        if not self.attached_probe:
+            raise CommandPreconditionViolated(
+                "Cannot calibrate gripper without attaching a calibration probe",
+                detail={
+                    "probe": str(self._attached_probe),
+                    "jaw_state": str(self.state),
+                },
+            )
+        if self.state != GripperJawState.GRIPPING:
+            raise CommandPreconditionViolated(
+                "Cannot calibrate gripper if jaw is not in gripping state",
+                detail={
+                    "probe": str(self._attached_probe),
+                    "jaw_state": str(self.state),
+                },
+            )
+
+    def critical_point(self, cp_override: Optional[CriticalPoint] = None) -> Point:
+        """
+        The vector from the gripper mount to the critical point, which is selectable
+        between the center of the gripper engagement volume and the calibration pins.
+        """
+        if cp_override in [CriticalPoint.NOZZLE, CriticalPoint.TIP]:
+            raise InvalidCriticalPoint(cp_override.name, "gripper")
+
+        if not self._attached_probe:
+            cp = cp_override or CriticalPoint.GRIPPER_JAW_CENTER
+        else:
+            if self._attached_probe is GripperProbe.REAR:
+                cp = cp_override or CriticalPoint.GRIPPER_REAR_CALIBRATION_PIN
+            else:
+                cp = cp_override or CriticalPoint.GRIPPER_FRONT_CALIBRATION_PIN
+
+        if cp in [CriticalPoint.GRIPPER_JAW_CENTER, CriticalPoint.XY_CENTER]:
+            return self._jaw_center_offset + Point(*self._calibration_offset.offset)
+        elif cp == CriticalPoint.GRIPPER_FRONT_CALIBRATION_PIN:
+            self.check_calibration_pin_location_is_accurate()
+            return (
+                self._front_calibration_pin_offset
+                + Point(*self._calibration_offset.offset)
+                + Point(y=self.current_jaw_displacement)
+                - Point(y=(self._jaw_max_offset or 0))
+            )
+        elif cp == CriticalPoint.GRIPPER_REAR_CALIBRATION_PIN:
+            self.check_calibration_pin_location_is_accurate()
+            return (
+                self._rear_calibration_pin_offset
+                + Point(*self._calibration_offset.offset)
+                - Point(y=self.current_jaw_displacement)
+                + Point(y=(self._jaw_max_offset or 0))
+            )
+        else:
+            raise InvalidCriticalPoint(cp.name, "gripper")
+
+    def duty_cycle_by_force(self, newton: float) -> float:
+        return gripper_config.duty_cycle_by_force(newton, self.grip_force_profile)
+
+    def __str__(self) -> str:
+        return f"{self._config.display_name}"
+
+    def __repr__(self) -> str:
+        return f"<{self.__class__.__name__}: {self._config.display_name} {id(self)}"
+
+    def as_dict(self) -> GripperDict:
+        d: GripperDict = {
+            "model": self._config.model,
+            "gripper_id": self._gripper_id,
+            "display_name": self._config.display_name,
+            "state": self._state,
+            "calibration_offset": self._calibration_offset,
+        }
+        return d
+
+
+def _reload_gripper(
+    new_config: GripperDefinition,
+    attached_instr: Gripper,
+    cal_offset: GripperCalibrationOffset,
+) -> Tuple[Gripper, bool]:
+    # Once we have determined that the new and attached grippers
+    # are similar enough that we might skip, see if the configs
+    # match closely enough.
+    # Returns a gripper object
+    if new_config == attached_instr.config:
+        # Same config, good enough
+        return attached_instr, True
+    else:
+        newdict = new_config.model_dump()
+        olddict = attached_instr.config.model_dump()
+        changed: Set[str] = set()
+        for k in newdict.keys():
+            if newdict[k] != olddict[k]:
+                changed.add(k)
+        if changed.intersection(RECONFIG_KEYS):
+            # Something has changed that requires reconfig
+            # we shoud recalibrate the jaw as well
+            return (
+                Gripper(
+                    new_config,
+                    cal_offset,
+                    attached_instr._gripper_id,
+                ),
+                False,
+            )
+        else:
+            # update just the cal offset and update info
+            attached_instr._calibration_offset = cal_offset
+            return attached_instr, True
+
+
+def compare_gripper_config_and_check_skip(
+    freshly_detected: AttachedGripper,
+    attached: Optional[Gripper],
+    cal_offset: GripperCalibrationOffset,
+) -> Tuple[Optional[Gripper], bool]:
+    """
+    Given the gripper config for an attached gripper (if any) freshly read
+    from disk, and any attached instruments,
+
+    - Compare the new and configured gripper configs
+    - Load the new configs if they differ
+    - Return a bool indicating whether hardware reconfiguration may be
+      skipped
+    """
+    config = freshly_detected.get("config")
+    serial = freshly_detected.get("id") or ""
+
+    if not config and not attached:
+        # nothing attached now, nothing used to be attached, nothing
+        # to reconfigure
+        return attached, True
+
+    if config and attached:
+        # something was attached and something is attached. are they
+        # the same? we can tell by comparing serials
+        if serial == attached.gripper_id:
+            # similar enough to check
+            return _reload_gripper(config, attached, cal_offset)
+
+    if config:
+        return Gripper(config, cal_offset, serial), False
+    else:
+        return None, False

opentrons/hardware_control/instruments/ot3/gripper_handler.py

@@ -0,0 +1,173 @@
+from typing import Optional
+import logging
+import math
+
+from opentrons.types import Point
+from .instrument_calibration import (
+    GripperCalibrationOffset,
+    load_gripper_calibration_offset,
+)
+from opentrons.hardware_control.dev_types import GripperDict
+from opentrons.hardware_control.types import (
+    CriticalPoint,
+    GripperJawState,
+    GripperProbe,
+)
+from opentrons.hardware_control.errors import InvalidCriticalPoint
+from opentrons_shared_data.errors.exceptions import (
+    GripperNotPresentError,
+    CommandPreconditionViolated,
+)
+from .gripper import Gripper
+
+
+MOD_LOG = logging.getLogger(__name__)
+
+
+class GripperHandler:
+    GH_LOG = MOD_LOG.getChild("GripperHandler")
+
+    def __init__(self, gripper: Optional[Gripper] = None):
+        self._gripper = gripper
+        self._log = self.GH_LOG.getChild(str(id(self)))
+
+    def has_gripper(self) -> bool:
+        return bool(self._gripper)
+
+    def get_gripper(self) -> Gripper:
+        gripper = self._gripper
+        if not gripper:
+            raise GripperNotPresentError(
+                message="Cannot perform action without gripper attached"
+            )
+        return gripper
+
+    def reset_gripper(self) -> None:
+        """Reset the internal state of the gripper."""
+        og_gripper = self._gripper
+        if not og_gripper:
+            return
+        new_gripper = Gripper(
+            og_gripper.config,
+            load_gripper_calibration_offset(og_gripper.gripper_id),
+            og_gripper.gripper_id,
+        )
+        self._gripper = new_gripper
+
+    async def reset(self) -> None:
+        self._gripper = None
+
+    @property
+    def gripper(self) -> Optional[Gripper]:
+        return self._gripper
+
+    @gripper.setter
+    def gripper(self, gripper: Optional[Gripper] = None) -> None:
+        self._gripper = gripper
+
+    def reset_instrument_offset(self, to_default: bool) -> None:
+        """
+        Temporarily reset the gripper offsets to default values.
+        """
+        gripper = self.get_gripper()
+        gripper.reset_offset(to_default)
+        gripper.reset_jaw_width_calibration(to_default)
+
+    def save_instrument_offset(self, delta: Point) -> GripperCalibrationOffset:
+        """
+        Save a new instrument offset.
+        :param delta: The offset to set for the pipette.
+        """
+        gripper = self.get_gripper()
+        self._log.info(f"Saving gripper {gripper.gripper_id} offset: {delta}")
+        return gripper.save_offset(delta)
+
+    def get_critical_point(self, cp_override: Optional[CriticalPoint] = None) -> Point:
+        if not self._gripper:
+            raise GripperNotPresentError()
+        if cp_override == CriticalPoint.MOUNT:
+            raise InvalidCriticalPoint(
+                cp_override.name,
+                "gripper",
+                "The gripper mount may not be moved directly.",
+            )
+        return self._gripper.critical_point(cp_override)
+
+    def get_gripper_dict(self) -> Optional[GripperDict]:
+        if not self._gripper:
+            # TODO (spp, 2023-04-19): Should this raise an error if fetching info of
+            #  gripper that's not attached, like we do with pipettes?
+            return None
+        else:
+            return self._gripper.as_dict()
+
+    def get_attached_probe(self) -> Optional[GripperProbe]:
+        return self.get_gripper().attached_probe
+
+    def add_probe(self, probe: GripperProbe) -> None:
+        """This is used for finding the critical point during calibration."""
+        gripper = self.get_gripper()
+        current_probe = self.get_attached_probe()
+        if not current_probe:
+            gripper.add_probe(probe)
+        else:
+            self._log.warning("add probe called with a probe already attached.")
+
+    def remove_probe(self) -> None:
+        gripper = self.get_gripper()
+        current_probe = self.get_attached_probe()
+        if current_probe:
+            gripper.remove_probe()
+        else:
+            self._log.warning("remove probe called without a probe attached")
+
+    def check_ready_for_calibration(self) -> None:
+        """Raise an exception if a probe is not attached before calibration."""
+        gripper = self.get_gripper()
+        gripper.check_calibration_pin_location_is_accurate()
+
+    def check_ready_for_jaw_move(self, command: str) -> None:
+        """Raise an exception if it is not currently valid to move the jaw."""
+        gripper = self.get_gripper()
+        if gripper.state == GripperJawState.UNHOMED:
+            raise CommandPreconditionViolated(
+                message=f"Cannot {command} gripper jaw before homing",
+                detail={
+                    "command": command,
+                    "jaw_state": str(gripper.state),
+                },
+            )
+
+    def is_ready_for_idle(self) -> bool:
+        """Gripper can idle when the jaw is not currently gripping."""
+        gripper = self.get_gripper()
+        if gripper.state == GripperJawState.UNHOMED:
+            self._log.warning(
+                "Gripper jaw is not homed and cannot move to idle position."
+            )
+            return False
+        return gripper.state != GripperJawState.GRIPPING
+
+    def is_ready_for_jaw_home(self) -> bool:
+        """Raise an exception if it is not currently valid to home the jaw."""
+        gripper = self.get_gripper()
+        if gripper.state == GripperJawState.GRIPPING and not math.isclose(
+            gripper.jaw_width, gripper.geometry.jaw_width["min"], abs_tol=5.0
+        ):
+            return False
+        return True
+
+    def set_jaw_state(self, state: GripperJawState) -> None:
+        self.get_gripper().state = state
+
+    def get_duty_cycle_by_grip_force(self, newton: float) -> float:
+        gripper = self.get_gripper()
+        return gripper.duty_cycle_by_force(newton)
+
+    def set_jaw_displacement(self, mm: float) -> None:
+        gripper = self.get_gripper()
+        gripper.current_jaw_displacement = mm
+
+    def is_valid_jaw_width(self, mm: float) -> bool:
+        conf = self.get_gripper().geometry
+        return conf.jaw_width["min"] <= mm <= conf.jaw_width["max"]