puda-drivers 0.0.7__py3-none-any.whl → 0.0.9__py3-none-any.whl

puda_drivers/labware/polyelectric_8_wellplate_30000ul.json

@@ -0,0 +1,141 @@
+{
+    "ordering": [
+        [
+            "A1",
+            "B1"
+        ],
+        [
+            "A2",
+            "B2"
+        ],
+        [
+            "A3",
+            "B3"
+        ],
+        [
+            "A4",
+            "B4"
+        ]
+    ],
+    "brand": {
+        "brand": "Polyelectric",
+        "brandId": []
+    },
+    "metadata": {
+        "displayName": "Polyelectric 8 Well Plate 30000 µL",
+        "displayCategory": "wellPlate",
+        "displayVolumeUnits": "µL",
+        "tags": []
+    },
+    "dimensions": {
+        "xDimension": 128,
+        "yDimension": 85.5,
+        "zDimension": 74
+    },
+    "wells": {
+        "A1": {
+            "depth": 70.5,
+            "totalLiquidVolume": 30000,
+            "shape": "circular",
+            "diameter": 16.9,
+            "x": 25,
+            "y": 59,
+            "z": 3.5
+        },
+        "B1": {
+            "depth": 70.5,
+            "totalLiquidVolume": 30000,
+            "shape": "circular",
+            "diameter": 16.9,
+            "x": 25,
+            "y": 29,
+            "z": 3.5
+        },
+        "A2": {
+            "depth": 70.5,
+            "totalLiquidVolume": 30000,
+            "shape": "circular",
+            "diameter": 16.9,
+            "x": 54,
+            "y": 59,
+            "z": 3.5
+        },
+        "B2": {
+            "depth": 70.5,
+            "totalLiquidVolume": 30000,
+            "shape": "circular",
+            "diameter": 16.9,
+            "x": 54,
+            "y": 29,
+            "z": 3.5
+        },
+        "A3": {
+            "depth": 70.5,
+            "totalLiquidVolume": 30000,
+            "shape": "circular",
+            "diameter": 16.9,
+            "x": 83,
+            "y": 59,
+            "z": 3.5
+        },
+        "B3": {
+            "depth": 70.5,
+            "totalLiquidVolume": 30000,
+            "shape": "circular",
+            "diameter": 16.9,
+            "x": 83,
+            "y": 29,
+            "z": 3.5
+        },
+        "A4": {
+            "depth": 70.5,
+            "totalLiquidVolume": 30000,
+            "shape": "circular",
+            "diameter": 16.9,
+            "x": 112,
+            "y": 59,
+            "z": 3.5
+        },
+        "B4": {
+            "depth": 70.5,
+            "totalLiquidVolume": 30000,
+            "shape": "circular",
+            "diameter": 16.9,
+            "x": 112,
+            "y": 29,
+            "z": 3.5
+        }
+    },
+    "groups": [
+        {
+            "metadata": {
+                "wellBottomShape": "flat"
+            },
+            "wells": [
+                "A1",
+                "B1",
+                "A2",
+                "B2",
+                "A3",
+                "B3",
+                "A4",
+                "B4"
+            ]
+        }
+    ],
+    "parameters": {
+        "format": "irregular",
+        "quirks": [],
+        "isTiprack": false,
+        "isMagneticModuleCompatible": false,
+        "loadName": "polyelectric_8_wellplate_30000ul"
+    },
+    "namespace": "custom_beta",
+    "version": 1,
+    "schemaVersion": 2,
+    "cornerOffsetFromSlot": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+    }
+}

puda_drivers/labware/trash_bin.json

@@ -0,0 +1,41 @@
+{
+  "ordering": [
+    ["A1"]
+  ],
+  "brand": {
+    "brand": "custom"
+  },
+  "metadata": {
+    "displayName": "Trash Bin"
+  },
+  "dimensions": {
+    "xDimension": 127.76,
+    "yDimension": 85.48,
+    "zDimension": 20
+  },
+  "wells": {
+    "A1": {
+      "depth": 0.0,
+      "shape": "rectangular",
+      "width": 10.0,
+      "height": 10.0,
+      "x": 60.0,
+      "y": 42.0
+    }
+  },
+  "groups": [
+    {
+      "metadata": {},
+      "wells": [
+        "A1"
+      ]
+    }
+  ],
+  "version": 1,
+  "schemaVersion": 2,
+  "cornerOffsetFromSlot": {
+    "x": 0,
+    "y": 0,
+    "z": 0
+  }
+}

puda_drivers/machines/__init__.py

@@ -0,0 +1,3 @@
+from .first import First
+
+__all__ = ["First"]

puda_drivers/machines/first.py

@@ -0,0 +1,255 @@
+"""
+First machine class containing Deck, GCodeController, and SartoriusController.
+
+This class demonstrates the integration of:
+- GCodeController: Handles motion control (hardware-specific)
+- Deck: Manages labware layout (configuration-agnostic)
+- SartoriusController: Handles liquid handling operations
+"""
+
+import time
+from typing import Optional, Dict, Tuple, Type, Union
+from puda_drivers.move import GCodeController, Deck
+from puda_drivers.core import Position
+from puda_drivers.transfer.liquid.sartorius import SartoriusController
+from puda_drivers.labware import StandardLabware
+from puda_drivers.cv import CameraController
+
+
+class First:
+    """
+    First machine class integrating motion control, deck management, liquid handling, and camera.
+    
+    The deck has 16 slots arranged in a 4x4 grid (A1-D4).
+    Each slot's origin location is stored for absolute movement calculation.
+    """
+    
+    # Default configuration values
+    DEFAULT_QUBOT_PORT = "/dev/ttyACM0"
+    DEFAULT_QUBOT_BAUDRATE = 9600
+    DEFAULT_QUBOT_FEEDRATE = 3000
+    
+    DEFAULT_SARTORIUS_PORT = "/dev/ttyUSB0"
+    DEFAULT_SARTORIUS_BAUDRATE = 9600
+    
+    DEFAULT_CAMERA_INDEX = 0
+    
+    # origin position of Z and A axes
+    Z_ORIGIN = Position(x=0, y=0, z=0)
+    A_ORIGIN = Position(x=60, y=0, a=0)
+    
+    # Default axis limits - customize based on your hardware
+    DEFAULT_AXIS_LIMITS = {
+        "X": (0, 330),
+        "Y": (-440, 0),
+        "Z": (-140, 0),
+        "A": (-175, 0),
+    }
+    
+    # Height from z and a origin to the deck
+    CEILING_HEIGHT = 192.2
+    
+    # Tip length
+    TIP_LENGTH = 59
+    
+    # Slot origins (the bottom left corner of the slot relative to the deck origin)
+    SLOT_ORIGINS = {
+        "A1": Position(x=-2, y=-424),
+        "A2": Position(x=98, y=-424),
+        "A3": Position(x=198, y=-424),
+        "A4": Position(x=298, y=-424),
+        "B1": Position(x=-2, y=-274),
+        "B2": Position(x=98, y=-274),
+        "B3": Position(x=198, y=-274),
+        "B4": Position(x=298, y=-274),
+        "C1": Position(x=-2, y=-124),
+        "C2": Position(x=98, y=-124),
+        "C3": Position(x=198, y=-124),
+        "C4": Position(x=298, y=-124),
+    }
+    
+    def __init__(
+        self,
+        qubot_port: Optional[str] = None,
+        sartorius_port: Optional[str] = None,
+        camera_index: Optional[Union[int, str]] = None,
+        axis_limits: Optional[Dict[str, Tuple[float, float]]] = None,
+    ):
+        """
+        Initialize the First machine.
+        
+        Args:
+            qubot_port: Serial port for GCodeController (e.g., '/dev/ttyACM0')
+            sartorius_port: Serial port for SartoriusController (e.g., '/dev/ttyUSB0')
+            camera_index: Camera device index (0 for default) or device path/identifier.
+                         Defaults to 0.
+            axis_limits: Dictionary mapping axis names to (min, max) limits.
+                        Defaults to DEFAULT_AXIS_LIMITS.
+        """
+        # Initialize deck
+        self.deck = Deck(rows=4, cols=4)
+
+        # Initialize controllers
+        self.qubot = GCodeController(
+            port_name=qubot_port or self.DEFAULT_QUBOT_PORT,
+        )
+        # Set axis limits
+        limits = axis_limits or self.DEFAULT_AXIS_LIMITS
+        for axis, (min_val, max_val) in limits.items():
+            self.qubot.set_axis_limits(axis, min_val, max_val)
+
+        # Initialize pipette
+        self.pipette = SartoriusController(
+            port_name=sartorius_port or self.DEFAULT_SARTORIUS_PORT,
+        )
+        
+        # Initialize camera
+        self.camera = CameraController(
+            camera_index=camera_index if camera_index is not None else self.DEFAULT_CAMERA_INDEX,
+        )
+        
+    def connect(self):
+        """Connect all controllers."""
+        self.qubot.connect()
+        self.pipette.connect()
+        self.camera.connect()
+        
+    def disconnect(self):
+        """Disconnect all controllers."""
+        self.qubot.disconnect()
+        self.pipette.disconnect()
+        self.camera.disconnect()
+        
+    def load_labware(self, slot: str, labware_name: str):
+        """Load a labware object into a slot."""
+        self.deck.load_labware(slot=slot, labware_name=labware_name)
+    
+    def load_deck(self, deck_layout: Dict[str, Type[StandardLabware]]):
+        """
+        Load multiple labware into the deck at once.
+        
+        Args:
+            deck_layout: Dictionary mapping slot names (e.g., "A1") to labware classes.
+                        Each class will be instantiated automatically.
+        
+        Example:
+            machine.load_deck({
+                "A1": Opentrons96TipRack300,
+                "B1": Opentrons96TipRack300,
+                "C1": Rubbish,
+            })
+        """
+        for slot, labware_name in deck_layout.items():
+            self.load_labware(slot=slot, labware_name=labware_name)
+        
+    def attach_tip(self, slot: str, well: Optional[str] = None):
+        """Attach a tip from a slot."""
+        if self.pipette.is_tip_attached():
+            raise ValueError("Tip already attached")
+        
+        pos = self.get_absolute_z_position(slot, well)
+        # return the offset from the origin
+        self.qubot.move_absolute(position=pos)
+        
+        # attach tip (move slowly down)
+        self.qubot.move_relative(
+            position=Position(z=-self.deck[slot].get_insert_depth()),
+            feed=500
+        )
+        self.pipette.set_tip_attached(attached=True)
+        # must home Z axis after, as pressing in tip might cause it to lose steps
+        self.qubot.home(axis="Z")
+        
+    def drop_tip(self, slot: str, well: str):
+        """Drop a tip into a slot."""
+        if not self.pipette.is_tip_attached():
+            raise ValueError("Tip not attached")
+        
+        pos = self.get_absolute_z_position(slot, well)
+        # move up by the tip length
+        pos += Position(z=self.TIP_LENGTH)
+        print("moving Z to", pos)
+        self.qubot.move_absolute(position=pos)
+
+        self.pipette.eject_tip()
+        time.sleep(5)
+        self.pipette.set_tip_attached(attached=False)
+        
+    def aspirate_from(self, slot:str, well:str, amount:int):
+        """Aspirate a volume of liquid from a slot."""
+        if not self.pipette.is_tip_attached():
+            raise ValueError("Tip not attached")
+        
+        pos = self.get_absolute_z_position(slot, well)
+        print("moving Z to", pos)
+        self.qubot.move_absolute(position=pos)
+        self.pipette.aspirate(amount=amount)
+        time.sleep(5)
+        
+    def dispense_to(self, slot:str, well:str, amount:int):
+        """Dispense a volume of liquid to a slot."""
+        if not self.pipette.is_tip_attached():
+            raise ValueError("Tip not attached")
+        
+        pos = self.get_absolute_z_position(slot, well)
+        print("moving Z to", pos)
+        self.qubot.move_absolute(position=pos)
+        self.pipette.dispense(amount=amount)
+        time.sleep(5)
+        
+    def get_slot_origin(self, slot: str) -> Position:
+        """
+        Get the origin coordinates of a slot.
+        
+        Args:
+            slot: Slot name (e.g., 'A1', 'B2')
+            
+        Returns:
+            Position for the slot origin
+            
+        Raises:
+            KeyError: If slot name is invalid
+        """
+        slot = slot.upper()
+        if slot not in self.SLOT_ORIGINS:
+            raise KeyError(f"Invalid slot name: {slot}. Must be one of {list(self.SLOT_ORIGINS.keys())}")
+        return self.SLOT_ORIGINS[slot]
+    
+    def get_absolute_z_position(self, slot: str, well: Optional[str] = None) -> Position:
+        """
+        Get the absolute position for a slot (and optionally a well within that slot) based on the origin
+        
+        Args:
+            slot: Slot name (e.g., 'A1', 'B2')
+            well: Optional well name within the slot (e.g., 'A1' for a well in a tiprack)
+            
+        Returns:
+            Position with absolute coordinates
+        """
+        # Get slot origin
+        pos = self.get_slot_origin(slot)
+
+        # relative well position from slot origin
+        if well:
+            well_pos = self.deck[slot].get_well_position(well).get_xy()
+            # the deck is rotated 90 degrees clockwise for this machine
+            pos += well_pos.swap_xy()
+            # get z
+            z = Position(z=self.deck[slot].get_height() - self.CEILING_HEIGHT)
+            pos += z
+        return pos
+    
+    def get_absolute_a_position(self, slot: str, well: Optional[str] = None) -> Position:
+        """
+        Get the absolute position for a slot (and optionally a well within that slot) based on the origin
+        """
+        pos = self.get_slot_origin(slot)
+        
+        if well:
+            well_pos = self.deck[slot].get_well_position(well).get_xy()
+            pos += well_pos.swap_xy()
+            
+            # get a
+            a = Position(a=self.deck[slot].get_height() - self.CEILING_HEIGHT)
+            pos += a
+        return pos

puda_drivers/move/__init__.py

@@ -1 +1,4 @@
 from .gcode import GCodeController
+from .deck import Deck
+
+__all__ = ["GCodeController", "Deck"]

puda_drivers/move/deck.py

@@ -0,0 +1,47 @@
+# src/puda_drivers/move/deck.py
+
+from puda_drivers.labware import StandardLabware
+
+
+class Deck:
+    """
+    Deck class for managing labware layout.
+    """
+    def __init__(self, rows: int, cols: int):
+        """
+        Initialize the deck.
+        
+        Args:
+            rows: The number of rows in the deck.
+            cols: The number of columns in the deck.
+        """
+        # A dictionary mapping Slot Names (A1, B4) to Labware Objects
+        self.slots = {}
+        for row in range(rows):
+            for col in range(cols):
+                slot = f"{chr(65 + row)}{col + 1}"
+                self.slots[slot] = None
+
+    def load_labware(self, slot: str, labware_name: str):
+        """
+        Load labware into a slot.
+        """
+        if slot.upper() not in self.slots:
+            raise KeyError(f"Slot {slot} not found in deck")
+        self.slots[slot.upper()] = StandardLabware(labware_name=labware_name)
+        
+    def __str__(self):
+        """
+        Return a string representation of the deck layout.
+        """
+        lines = []
+        for slot, labware in self.slots.items():
+            if labware is None:
+                continue
+            else:
+                lines.append(f"{slot}: {labware.name}")
+        return "\n".join(lines)
+
+    def __getitem__(self, key):
+        """Allows syntax for: my_deck['B4']"""
+        return self.slots[key.upper()]